File: /home/panomity.de/gsplat-apartment/log-mapper2.txt
I20260707 08:16:13.754076 84886 misc.cc:198]
==============================================================================
Loading database
==============================================================================
I20260707 08:16:13.755709 84886 database_cache.cc:54] Loading cameras...
I20260707 08:16:13.755957 84886 database_cache.cc:64] 1 in 0.000s
I20260707 08:16:13.755976 84886 database_cache.cc:72] Loading matches...
I20260707 08:16:13.817700 84886 database_cache.cc:78] 2349 in 0.062s
I20260707 08:16:13.817842 84886 database_cache.cc:94] Loading images...
I20260707 08:16:13.911216 84886 database_cache.cc:143] 528 in 0.093s (connected 506)
I20260707 08:16:13.911366 84886 database_cache.cc:154] Building correspondence graph...
I20260707 08:16:14.192420 84886 database_cache.cc:190] in 0.281s (ignored 0)
I20260707 08:16:14.193293 84886 timer.cc:91] Elapsed time: 0.007 [minutes]
I20260707 08:16:14.239609 84886 misc.cc:198]
==============================================================================
Finding good initial image pair
==============================================================================
I20260707 08:16:15.012532 84886 misc.cc:198]
==============================================================================
Initializing with image pair #48 and #127
==============================================================================
I20260707 08:16:15.016683 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 1.699205e+03 0.00e+00 1.76e+04 0.00e+00 0.00e+00 1.00e+04 0 2.08e-03 8.74e-03
1 1.145768e+03 5.53e+02 1.58e+04 0.00e+00 9.95e-01 3.00e+04 1 4.47e-03 1.34e-02
2 1.141949e+03 3.82e+00 6.25e+02 3.98e-01 9.89e-01 9.00e+04 1 1.70e-03 1.51e-02
3 1.141858e+03 9.10e-02 2.55e+01 9.94e-02 1.01e+00 2.70e+05 1 1.65e-03 1.68e-02
4 1.141857e+03 6.89e-04 1.39e+00 9.51e-03 1.03e+00 8.10e+05 1 1.64e-03 1.85e-02
5 1.141857e+03 2.66e-06 2.61e-01 5.85e-04 1.06e+00 2.43e+06 1 1.70e-03 2.03e-02
6 1.141857e+03 1.10e-08 1.52e-02 3.76e-05 1.06e+00 7.29e+06 1 1.64e-03 2.20e-02
I20260707 08:16:15.048477 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:15.048592 84886 bundle_adjustment.cc:942]
Residuals : 1584
Parameters : 1193
Iterations : 7
Time : 0.022208 [s]
Initial cost : 1.03573 [px]
Final cost : 0.84904 [px]
Termination : Convergence
I20260707 08:16:15.049923 84886 incremental_mapper.cc:160] => Filtered observations: 36
I20260707 08:16:15.049997 84886 incremental_mapper.cc:167] => Filtered images: 0
I20260707 08:16:15.068970 84886 misc.cc:198]
==============================================================================
Registering image #129 (3)
==============================================================================
I20260707 08:16:15.069077 84886 incremental_mapper.cc:495] => Image sees 289 / 2966 points
I20260707 08:16:15.084925 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:16:15.085034 84886 bundle_adjustment.cc:942]
Residuals : 526
Parameters : 6
Iterations : 14
Time : 0.0112391 [s]
Initial cost : 0.428007 [px]
Final cost : 0.414336 [px]
Termination : Convergence
I20260707 08:16:15.085747 84886 incremental_mapper.cc:40] => Continued observations: 262
I20260707 08:16:15.091822 84886 incremental_mapper.cc:43] => Added observations: 823
I20260707 08:16:15.202906 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:15.203042 84886 bundle_adjustment.cc:942]
Residuals : 3682
Parameters : 2123
Iterations : 18
Time : 0.108 [s]
Initial cost : 0.7017 [px]
Final cost : 0.566148 [px]
Termination : Convergence
I20260707 08:16:15.210868 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:16:15.210989 84886 incremental_mapper.cc:79] => Completed observations: 1
I20260707 08:16:15.210997 84886 incremental_mapper.cc:81] => Filtered observations: 259
I20260707 08:16:15.211002 84886 incremental_mapper.cc:90] => Changed observations: 0.141228
I20260707 08:16:15.227620 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:15.227872 84886 bundle_adjustment.cc:942]
Residuals : 2856
Parameters : 1664
Iterations : 3
Time : 0.014303 [s]
Initial cost : 0.48985 [px]
Final cost : 0.4722 [px]
Termination : Convergence
I20260707 08:16:15.243775 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:16:15.243935 84886 incremental_mapper.cc:79] => Completed observations: 143
I20260707 08:16:15.243955 84886 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 08:16:15.243961 84886 incremental_mapper.cc:90] => Changed observations: 0.100140
I20260707 08:16:15.244072 84886 misc.cc:198]
==============================================================================
Retriangulation
==============================================================================
I20260707 08:16:15.245847 84886 incremental_mapper.cc:175] => Completed observations: 1
I20260707 08:16:15.247334 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:16:15.247426 84886 incremental_mapper.cc:105] => Retriangulated observations: 0
I20260707 08:16:15.251675 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 1.104325e+03 0.00e+00 1.54e+03 0.00e+00 0.00e+00 1.00e+04 0 4.47e-03 1.05e-02
1 1.077337e+03 2.70e+01 3.11e+01 0.00e+00 9.99e-01 3.00e+04 1 6.33e-03 1.70e-02
2 1.076851e+03 4.86e-01 3.60e+01 5.44e+01 9.62e-01 9.00e+04 1 5.79e-03 2.29e-02
3 1.076750e+03 1.01e-01 9.65e+00 3.03e+01 9.90e-01 2.70e+05 1 6.27e-03 2.93e-02
4 1.076745e+03 4.51e-03 1.75e+00 6.72e+00 1.01e+00 8.10e+05 1 7.12e-03 3.65e-02
5 1.076745e+03 2.36e-05 1.90e-01 5.45e-01 1.01e+00 2.43e+06 1 5.81e-03 4.25e-02
6 1.076745e+03 3.61e-08 3.68e-03 2.00e-02 1.03e+00 7.29e+06 1 5.46e-03 4.81e-02
I20260707 08:16:15.304530 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:15.304675 84886 bundle_adjustment.cc:942]
Residuals : 3144
Parameters : 1823
Iterations : 7
Time : 0.0484748 [s]
Initial cost : 0.592662 [px]
Final cost : 0.585215 [px]
Termination : Convergence
I20260707 08:16:15.309664 84886 incremental_mapper.cc:175] => Completed observations: 0
I20260707 08:16:15.310674 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:16:15.311338 84886 incremental_mapper.cc:160] => Filtered observations: 35
I20260707 08:16:15.311393 84886 incremental_mapper.cc:119] => Changed observations: 0.022265
I20260707 08:16:15.311424 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 8.509355e+02 0.00e+00 3.39e+02 0.00e+00 0.00e+00 1.00e+04 0 4.26e-03 7.24e-03
1 8.501129e+02 8.23e-01 2.15e+01 0.00e+00 1.00e+00 3.00e+04 1 6.74e-03 1.41e-02
2 8.500046e+02 1.08e-01 1.02e+01 1.71e+01 1.00e+00 9.00e+04 1 6.35e-03 2.06e-02
3 8.499979e+02 6.68e-03 1.94e+00 4.52e+00 1.01e+00 2.70e+05 1 5.87e-03 2.66e-02
4 8.499979e+02 6.07e-05 6.14e-01 4.61e-01 1.01e+00 8.10e+05 1 6.06e-03 3.29e-02
5 8.499979e+02 1.07e-07 5.20e-03 1.93e-02 1.02e+00 2.43e+06 1 6.24e-03 3.92e-02
I20260707 08:16:15.353843 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:15.354041 84886 bundle_adjustment.cc:942]
Residuals : 3006
Parameters : 1745
Iterations : 6
Time : 0.039778 [s]
Initial cost : 0.532052 [px]
Final cost : 0.531758 [px]
Termination : Convergence
I20260707 08:16:15.360206 84886 incremental_mapper.cc:175] => Completed observations: 0
I20260707 08:16:15.361487 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:16:15.362475 84886 incremental_mapper.cc:160] => Filtered observations: 2
I20260707 08:16:15.362569 84886 incremental_mapper.cc:119] => Changed observations: 0.001331
I20260707 08:16:15.362623 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 8.382660e+02 0.00e+00 1.84e+02 0.00e+00 0.00e+00 1.00e+04 0 4.26e-03 1.06e-02
1 8.379802e+02 2.86e-01 1.87e+00 0.00e+00 1.00e+00 3.00e+04 1 4.70e-03 1.54e-02
2 8.379716e+02 8.61e-03 1.98e+00 4.71e+00 1.00e+00 9.00e+04 1 3.99e-03 1.95e-02
3 8.379711e+02 4.95e-04 1.02e+00 1.28e+00 1.01e+00 2.70e+05 1 4.79e-03 2.44e-02
4 8.379711e+02 4.68e-06 8.33e-02 1.31e-01 1.01e+00 8.10e+05 1 3.96e-03 2.84e-02
I20260707 08:16:15.395188 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:15.395291 84886 bundle_adjustment.cc:942]
Residuals : 3000
Parameters : 1742
Iterations : 5
Time : 0.0287559 [s]
Initial cost : 0.528604 [px]
Final cost : 0.528511 [px]
Termination : Convergence
I20260707 08:16:15.401628 84886 incremental_mapper.cc:175] => Completed observations: 0
I20260707 08:16:15.403175 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:16:15.404250 84886 incremental_mapper.cc:160] => Filtered observations: 2
I20260707 08:16:15.404343 84886 incremental_mapper.cc:119] => Changed observations: 0.001333
I20260707 08:16:15.404395 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 8.257638e+02 0.00e+00 1.83e+02 0.00e+00 0.00e+00 1.00e+04 0 4.52e-03 1.51e-02
1 8.254633e+02 3.01e-01 1.43e+00 0.00e+00 1.00e+00 3.00e+04 1 6.12e-03 2.14e-02
2 8.254544e+02 8.85e-03 1.06e+00 4.68e+00 1.00e+00 9.00e+04 1 5.30e-03 2.68e-02
3 8.254539e+02 5.04e-04 1.00e+00 1.26e+00 1.01e+00 2.70e+05 1 5.48e-03 3.23e-02
4 8.254539e+02 4.71e-06 8.34e-02 1.28e-01 1.01e+00 8.10e+05 1 5.17e-03 3.76e-02
I20260707 08:16:15.447608 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:15.447821 84886 bundle_adjustment.cc:942]
Residuals : 2994
Parameters : 1739
Iterations : 5
Time : 0.0381169 [s]
Initial cost : 0.525173 [px]
Final cost : 0.525074 [px]
Termination : Convergence
I20260707 08:16:15.453269 84886 incremental_mapper.cc:175] => Completed observations: 0
I20260707 08:16:15.454425 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:16:15.454975 84886 incremental_mapper.cc:160] => Filtered observations: 0
I20260707 08:16:15.455039 84886 incremental_mapper.cc:119] => Changed observations: 0.000000
I20260707 08:16:15.455063 84886 incremental_mapper.cc:167] => Filtered images: 0
I20260707 08:16:15.480315 84886 misc.cc:198]
==============================================================================
Registering image #32 (4)
==============================================================================
I20260707 08:16:15.480548 84886 incremental_mapper.cc:495] => Image sees 341 / 3335 points
I20260707 08:16:15.501032 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:16:15.501154 84886 bundle_adjustment.cc:942]
Residuals : 528
Parameters : 6
Iterations : 29
Time : 0.013726 [s]
Initial cost : 0.693832 [px]
Final cost : 0.643551 [px]
Termination : Convergence
I20260707 08:16:15.501758 84886 incremental_mapper.cc:40] => Continued observations: 257
I20260707 08:16:15.509217 84886 incremental_mapper.cc:43] => Added observations: 2409
I20260707 08:16:15.774520 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:15.774680 84886 bundle_adjustment.cc:942]
Residuals : 8326
Parameters : 5153
Iterations : 18
Time : 0.259417 [s]
Initial cost : 0.789376 [px]
Final cost : 0.690268 [px]
Termination : Convergence
I20260707 08:16:15.784677 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:16:15.784761 84886 incremental_mapper.cc:79] => Completed observations: 220
I20260707 08:16:15.784767 84886 incremental_mapper.cc:81] => Filtered observations: 399
I20260707 08:16:15.784772 84886 incremental_mapper.cc:90] => Changed observations: 0.148691
I20260707 08:16:15.863914 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:15.864048 84886 bundle_adjustment.cc:942]
Residuals : 7720
Parameters : 4760
Iterations : 4
Time : 0.0745311 [s]
Initial cost : 0.448513 [px]
Final cost : 0.407875 [px]
Termination : Convergence
I20260707 08:16:15.885172 84886 incremental_mapper.cc:78] => Merged observations: 6
I20260707 08:16:15.885336 84886 incremental_mapper.cc:79] => Completed observations: 97
I20260707 08:16:15.885355 84886 incremental_mapper.cc:81] => Filtered observations: 16
I20260707 08:16:15.885363 84886 incremental_mapper.cc:90] => Changed observations: 0.030829
I20260707 08:16:15.885576 84886 misc.cc:198]
==============================================================================
Retriangulation
==============================================================================
I20260707 08:16:15.888924 84886 incremental_mapper.cc:175] => Completed observations: 4
I20260707 08:16:15.890513 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:16:15.890589 84886 incremental_mapper.cc:105] => Retriangulated observations: 0
I20260707 08:16:15.890861 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 1.381557e+03 0.00e+00 2.80e+02 0.00e+00 0.00e+00 1.00e+04 0 1.15e-02 3.16e-02
1 1.356805e+03 2.48e+01 4.20e+00 0.00e+00 1.00e+00 3.00e+04 1 9.58e-03 4.14e-02
2 1.356492e+03 3.13e-01 1.36e+00 4.71e+00 1.21e+00 9.00e+04 1 6.99e-03 4.85e-02
3 1.356464e+03 2.81e-02 1.93e+00 6.09e+00 1.24e+00 2.70e+05 1 6.50e-03 5.50e-02
4 1.356461e+03 2.37e-03 1.96e+00 1.91e+00 1.26e+00 8.10e+05 1 7.32e-03 6.23e-02
5 1.356461e+03 1.80e-04 1.70e+00 4.10e-01 1.27e+00 2.43e+06 1 7.28e-03 6.96e-02
6 1.356461e+03 1.34e-05 5.40e-01 9.41e-02 1.27e+00 7.29e+06 1 8.82e-03 7.85e-02
7 1.356461e+03 9.85e-07 1.45e-01 2.46e-02 1.27e+00 2.19e+07 1 8.32e-03 8.69e-02
8 1.356461e+03 7.22e-08 4.01e-02 6.50e-03 1.27e+00 6.56e+07 1 8.78e-03 9.57e-02
I20260707 08:16:15.994801 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:15.994933 84886 bundle_adjustment.cc:942]
Residuals : 7856
Parameters : 4838
Iterations : 9
Time : 0.0964029 [s]
Initial cost : 0.419357 [px]
Final cost : 0.415531 [px]
Termination : Convergence
I20260707 08:16:16.001571 84886 incremental_mapper.cc:175] => Completed observations: 0
I20260707 08:16:16.002776 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:16:16.003628 84886 incremental_mapper.cc:160] => Filtered observations: 2
I20260707 08:16:16.003674 84886 incremental_mapper.cc:119] => Changed observations: 0.000509
I20260707 08:16:16.003705 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 1.341367e+03 0.00e+00 5.82e+01 0.00e+00 0.00e+00 1.00e+04 0 1.22e-02 2.47e-02
1 1.338803e+03 2.56e+00 3.64e+00 0.00e+00 9.83e-01 3.00e+04 1 1.83e-02 4.31e-02
2 1.338746e+03 5.70e-02 1.70e+00 5.18e-01 1.12e+00 9.00e+04 1 1.71e-02 6.04e-02
3 1.338744e+03 2.09e-03 9.46e-01 1.94e-01 1.20e+00 2.70e+05 1 1.55e-02 7.59e-02
4 1.338744e+03 1.39e-04 5.75e-01 1.03e-01 1.24e+00 8.10e+05 1 1.08e-02 8.69e-02
5 1.338744e+03 1.02e-05 2.71e-01 2.43e-02 1.26e+00 2.43e+06 1 1.22e-02 9.91e-02
6 1.338744e+03 7.47e-07 7.62e-02 5.49e-03 1.27e+00 7.29e+06 1 1.78e-02 1.17e-01
I20260707 08:16:16.128273 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:16.128466 84886 bundle_adjustment.cc:942]
Residuals : 7852
Parameters : 4835
Iterations : 7
Time : 0.118448 [s]
Initial cost : 0.413317 [px]
Final cost : 0.412913 [px]
Termination : Convergence
I20260707 08:16:16.144672 84886 incremental_mapper.cc:175] => Completed observations: 0
I20260707 08:16:16.148620 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:16:16.151239 84886 incremental_mapper.cc:160] => Filtered observations: 0
I20260707 08:16:16.151340 84886 incremental_mapper.cc:119] => Changed observations: 0.000000
I20260707 08:16:16.151378 84886 incremental_mapper.cc:167] => Filtered images: 0
I20260707 08:16:16.174775 84886 misc.cc:198]
==============================================================================
Registering image #45 (5)
==============================================================================
I20260707 08:16:16.174933 84886 incremental_mapper.cc:495] => Image sees 922 / 2405 points
I20260707 08:16:16.237630 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:16:16.237879 84886 bundle_adjustment.cc:942]
Residuals : 1834
Parameters : 6
Iterations : 18
Time : 0.0527549 [s]
Initial cost : 0.40777 [px]
Final cost : 0.356007 [px]
Termination : Convergence
I20260707 08:16:16.241384 84886 incremental_mapper.cc:40] => Continued observations: 899
I20260707 08:16:16.249817 84886 incremental_mapper.cc:43] => Added observations: 623
I20260707 08:16:16.852020 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:16.852298 84886 bundle_adjustment.cc:942]
Residuals : 10896
Parameters : 5573
Iterations : 26
Time : 0.58555 [s]
Initial cost : 0.507459 [px]
Final cost : 0.463593 [px]
Termination : No convergence
I20260707 08:16:16.885094 84886 incremental_mapper.cc:78] => Merged observations: 11
I20260707 08:16:16.885279 84886 incremental_mapper.cc:79] => Completed observations: 84
I20260707 08:16:16.885293 84886 incremental_mapper.cc:81] => Filtered observations: 178
I20260707 08:16:16.885303 84886 incremental_mapper.cc:90] => Changed observations: 0.050110
I20260707 08:16:17.041628 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:17.042189 84886 bundle_adjustment.cc:942]
Residuals : 10614
Parameters : 5339
Iterations : 5
Time : 0.142403 [s]
Initial cost : 0.437301 [px]
Final cost : 0.416295 [px]
Termination : Convergence
I20260707 08:16:17.076792 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:16:17.076994 84886 incremental_mapper.cc:79] => Completed observations: 62
I20260707 08:16:17.077028 84886 incremental_mapper.cc:81] => Filtered observations: 2
I20260707 08:16:17.077035 84886 incremental_mapper.cc:90] => Changed observations: 0.012060
I20260707 08:16:17.077363 84886 misc.cc:198]
==============================================================================
Retriangulation
==============================================================================
I20260707 08:16:17.082858 84886 incremental_mapper.cc:175] => Completed observations: 8
I20260707 08:16:17.086714 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:16:17.086796 84886 incremental_mapper.cc:105] => Retriangulated observations: 0
I20260707 08:16:17.087153 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 2.119932e+03 0.00e+00 2.13e+03 0.00e+00 0.00e+00 1.00e+04 0 8.51e-03 3.37e-02
1 2.088929e+03 3.10e+01 1.38e+02 0.00e+00 1.00e+00 3.00e+04 1 1.33e-02 4.70e-02
2 2.088740e+03 1.89e-01 2.32e+02 7.74e-01 1.00e+00 9.00e+04 1 1.31e-02 6.02e-02
3 2.088579e+03 1.61e-01 1.29e+03 1.26e+00 9.98e-01 2.70e+05 1 1.12e-02 7.15e-02
4 2.088427e+03 1.52e-01 3.89e+03 1.51e+00 9.91e-01 8.10e+05 1 1.09e-02 8.24e-02
5 2.088334e+03 9.33e-02 4.00e+03 1.09e+00 9.86e-01 2.43e+06 1 1.28e-02 9.53e-02
6 2.088308e+03 2.64e-02 1.02e+03 4.28e-01 9.91e-01 7.29e+06 1 1.40e-02 1.09e-01
7 2.088305e+03 2.77e-03 1.07e+02 8.90e-02 1.00e+00 2.19e+07 1 1.17e-02 1.21e-01
8 2.088305e+03 9.49e-05 2.07e+01 6.96e-03 1.05e+00 6.56e+07 1 1.14e-02 1.33e-01
9 2.088305e+03 1.45e-06 2.73e+00 6.63e-04 1.09e+00 1.97e+08 1 1.15e-02 1.44e-01
10 2.088305e+03 1.85e-08 1.82e+00 7.52e-05 1.12e+00 5.90e+08 1 1.35e-02 1.58e-01
11 2.088305e+03 3.92e-10 1.79e-01 2.42e-05 1.22e+00 1.77e+09 1 2.01e-02 1.78e-01
12 2.088305e+03 8.19e-12 2.02e-02 7.98e-06 4.36e-01 1.77e+09 1 2.64e-02 2.04e-01
I20260707 08:16:17.310405 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:17.310617 84886 bundle_adjustment.cc:942]
Residuals : 10746
Parameters : 5390
Iterations : 13
Time : 0.206376 [s]
Initial cost : 0.444158 [px]
Final cost : 0.440832 [px]
Termination : Convergence
I20260707 08:16:17.327252 84886 incremental_mapper.cc:175] => Completed observations: 0
I20260707 08:16:17.329483 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:16:17.330741 84886 incremental_mapper.cc:160] => Filtered observations: 9
I20260707 08:16:17.330803 84886 incremental_mapper.cc:119] => Changed observations: 0.001675
I20260707 08:16:17.330834 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 2.013356e+03 0.00e+00 3.18e+02 0.00e+00 0.00e+00 1.00e+04 0 1.24e-02 4.97e-02
1 2.010409e+03 2.95e+00 1.40e+02 0.00e+00 1.00e+00 3.00e+04 1 1.64e-02 6.62e-02
2 2.010359e+03 5.04e-02 1.00e+02 2.93e-01 9.99e-01 9.00e+04 1 1.41e-02 8.04e-02
3 2.010320e+03 3.91e-02 6.07e+01 4.60e-01 9.98e-01 2.70e+05 1 1.36e-02 9.41e-02
4 2.010303e+03 1.69e-02 3.48e+01 5.54e-01 1.00e+00 8.10e+05 1 2.03e-02 1.14e-01
5 2.010300e+03 3.02e-03 4.95e+01 3.90e-01 1.01e+00 2.43e+06 1 2.56e-02 1.40e-01
6 2.010299e+03 4.93e-04 3.38e+01 1.23e-01 1.01e+00 7.29e+06 1 2.25e-02 1.63e-01
7 2.010299e+03 7.16e-05 1.22e+01 1.88e-02 1.01e+00 2.19e+07 1 1.42e-02 1.77e-01
8 2.010299e+03 2.78e-06 2.58e+00 2.75e-03 1.03e+00 6.56e+07 1 1.39e-02 1.91e-01
9 2.010299e+03 2.97e-08 1.89e+00 4.60e-04 1.08e+00 1.97e+08 1 1.62e-02 2.07e-01
10 2.010299e+03 4.66e-10 1.36e-01 7.41e-05 1.21e+00 5.90e+08 1 2.54e-02 2.33e-01
11 2.010299e+03 3.55e-11 7.49e-03 1.51e-05 1.90e+00 1.77e+09 1 2.51e-02 2.58e-01
I20260707 08:16:17.608038 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:17.608244 84886 bundle_adjustment.cc:942]
Residuals : 10720
Parameters : 5378
Iterations : 12
Time : 0.259505 [s]
Initial cost : 0.433374 [px]
Final cost : 0.433045 [px]
Termination : Convergence
I20260707 08:16:17.619521 84886 incremental_mapper.cc:175] => Completed observations: 0
I20260707 08:16:17.621495 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:16:17.622397 84886 incremental_mapper.cc:160] => Filtered observations: 2
I20260707 08:16:17.622427 84886 incremental_mapper.cc:119] => Changed observations: 0.000373
I20260707 08:16:17.622447 84886 incremental_mapper.cc:167] => Filtered images: 0
I20260707 08:16:17.646328 84886 misc.cc:198]
==============================================================================
Registering image #68 (6)
==============================================================================
I20260707 08:16:17.646521 84886 incremental_mapper.cc:495] => Image sees 361 / 5046 points
I20260707 08:16:17.671967 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:16:17.672212 84886 bundle_adjustment.cc:942]
Residuals : 400
Parameters : 6
Iterations : 23
Time : 0.017036 [s]
Initial cost : 0.876207 [px]
Final cost : 0.838535 [px]
Termination : Convergence
I20260707 08:16:17.673079 84886 incremental_mapper.cc:40] => Continued observations: 200
I20260707 08:16:17.678867 84886 incremental_mapper.cc:43] => Added observations: 720
I20260707 08:16:18.309188 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:18.309443 84886 bundle_adjustment.cc:942]
Residuals : 12554
Parameters : 6305
Iterations : 26
Time : 0.613507 [s]
Initial cost : 0.782113 [px]
Final cost : 0.667109 [px]
Termination : No convergence
I20260707 08:16:18.338937 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:16:18.339156 84886 incremental_mapper.cc:79] => Completed observations: 72
I20260707 08:16:18.339201 84886 incremental_mapper.cc:81] => Filtered observations: 416
I20260707 08:16:18.339210 84886 incremental_mapper.cc:90] => Changed observations: 0.077744
I20260707 08:16:18.546689 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:18.546936 84886 bundle_adjustment.cc:942]
Residuals : 11736
Parameters : 5837
Iterations : 7
Time : 0.195879 [s]
Initial cost : 0.498343 [px]
Final cost : 0.461292 [px]
Termination : Convergence
I20260707 08:16:18.568197 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:16:18.568305 84886 incremental_mapper.cc:79] => Completed observations: 55
I20260707 08:16:18.568315 84886 incremental_mapper.cc:81] => Filtered observations: 7
I20260707 08:16:18.568321 84886 incremental_mapper.cc:90] => Changed observations: 0.010566
I20260707 08:16:18.568362 84886 misc.cc:198]
==============================================================================
Retriangulation
==============================================================================
I20260707 08:16:18.572023 84886 incremental_mapper.cc:175] => Completed observations: 5
I20260707 08:16:18.578156 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:16:18.578313 84886 incremental_mapper.cc:105] => Retriangulated observations: 225
I20260707 08:16:18.581746 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 1.006653e+05 0.00e+00 2.36e+04 0.00e+00 0.00e+00 1.00e+04 0 1.58e-02 5.67e-02
1 5.766662e+04 4.30e+04 6.52e+04 0.00e+00 9.27e-01 2.66e+04 1 1.56e-02 7.24e-02
2 5.284728e+04 4.82e+03 5.59e+04 9.50e+02 8.81e-01 4.79e+04 1 1.47e-02 8.72e-02
3 5.247388e+04 3.73e+02 1.48e+05 5.36e+03 3.54e-01 4.67e+04 1 2.04e-02 1.08e-01
4 5.203626e+04 4.38e+02 8.80e+04 2.32e+04 6.64e-01 4.84e+04 1 2.98e-02 1.38e-01
5 5.191592e+04 1.20e+02 1.73e+04 3.28e+04 7.99e-01 6.17e+04 1 2.73e-02 1.65e-01
6 5.188410e+04 3.18e+01 5.63e+03 4.14e+04 8.43e-01 9.11e+04 1 2.15e-02 1.87e-01
7 5.187641e+04 7.69e+00 2.16e+03 6.18e+04 8.41e-01 1.33e+05 1 3.58e-02 2.23e-01
8 5.187450e+04 1.91e+00 4.92e+02 8.34e+04 7.93e-01 1.67e+05 1 1.62e-02 2.39e-01
9 5.187392e+04 5.80e-01 4.54e+01 7.32e+04 8.59e-01 2.65e+05 1 1.53e-02 2.54e-01
10 5.187373e+04 1.91e-01 1.14e+01 7.76e+04 8.28e-01 3.70e+05 1 1.57e-02 2.70e-01
11 5.187363e+04 9.88e-02 2.59e+00 7.10e+04 8.54e-01 5.74e+05 1 1.91e-02 2.89e-01
12 5.187356e+04 7.60e-02 1.98e+00 7.90e+04 8.56e-01 8.97e+05 1 2.13e-02 3.11e-01
13 5.187349e+04 6.33e-02 1.77e+00 9.04e+04 8.58e-01 1.42e+06 1 1.85e-02 3.29e-01
14 5.187344e+04 5.41e-02 1.97e+00 1.05e+05 8.58e-01 2.24e+06 1 1.44e-02 3.44e-01
15 5.187339e+04 4.64e-02 1.06e+00 1.23e+05 8.58e-01 3.55e+06 1 1.36e-02 3.57e-01
16 5.187335e+04 3.99e-02 9.97e-01 1.43e+05 8.58e-01 5.61e+06 1 1.37e-02 3.71e-01
17 5.187332e+04 3.42e-02 8.98e-01 1.67e+05 8.58e-01 8.88e+06 1 1.82e-02 3.89e-01
18 5.187329e+04 2.94e-02 8.99e-01 1.94e+05 8.58e-01 1.40e+07 1 1.94e-02 4.09e-01
19 5.187326e+04 2.52e-02 8.49e-01 2.26e+05 8.58e-01 2.22e+07 1 2.73e-02 4.36e-01
20 5.187324e+04 2.16e-02 7.86e-01 2.64e+05 8.58e-01 3.51e+07 1 1.53e-02 4.52e-01
21 5.187322e+04 1.86e-02 7.08e-01 3.07e+05 8.58e-01 5.56e+07 1 2.95e-02 4.81e-01
22 5.187321e+04 1.59e-02 6.30e-01 3.58e+05 8.58e-01 8.79e+07 1 2.83e-02 5.10e-01
23 5.187319e+04 1.37e-02 5.54e-01 4.17e+05 8.58e-01 1.39e+08 1 2.54e-02 5.35e-01
24 5.187318e+04 1.17e-02 4.84e-01 4.86e+05 8.58e-01 2.20e+08 1 2.69e-02 5.62e-01
25 5.187317e+04 1.01e-02 4.21e-01 5.66e+05 8.58e-01 3.48e+08 1 2.68e-02 5.89e-01
26 5.187316e+04 8.64e-03 3.65e-01 6.59e+05 8.58e-01 5.51e+08 1 2.46e-02 6.14e-01
27 5.187316e+04 7.42e-03 3.15e-01 7.68e+05 8.58e-01 8.71e+08 1 2.07e-02 6.35e-01
28 5.187315e+04 6.36e-03 2.72e-01 8.95e+05 8.58e-01 1.38e+09 1 2.14e-02 6.56e-01
29 5.187314e+04 5.46e-03 2.34e-01 1.04e+06 8.58e-01 2.18e+09 1 2.81e-02 6.84e-01
30 5.187314e+04 4.69e-03 2.01e-01 1.22e+06 8.58e-01 3.45e+09 1 2.71e-02 7.12e-01
31 5.187314e+04 4.02e-03 1.73e-01 1.42e+06 8.58e-01 5.45e+09 1 2.79e-02 7.40e-01
32 5.187313e+04 3.45e-03 1.49e-01 1.65e+06 8.58e-01 8.62e+09 1 2.84e-02 7.68e-01
33 5.187313e+04 2.96e-03 1.28e-01 1.92e+06 8.58e-01 1.36e+10 1 2.61e-02 7.95e-01
34 5.187313e+04 2.54e-03 1.10e-01 2.24e+06 8.58e-01 2.16e+10 1 2.92e-02 8.24e-01
35 5.187312e+04 2.18e-03 9.43e-02 2.61e+06 8.58e-01 3.41e+10 1 2.69e-02 8.51e-01
I20260707 08:16:19.454044 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:19.454264 84886 bundle_adjustment.cc:942]
Residuals : 12278
Parameters : 6152
Iterations : 36
Time : 0.852838 [s]
Initial cost : 2.86336 [px]
Final cost : 2.05545 [px]
Termination : Convergence
I20260707 08:16:19.463089 84886 incremental_mapper.cc:175] => Completed observations: 18
I20260707 08:16:19.464607 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:16:19.467993 84886 incremental_mapper.cc:160] => Filtered observations: 424
I20260707 08:16:19.468175 84886 incremental_mapper.cc:119] => Changed observations: 0.071999
I20260707 08:16:19.468264 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 3.239764e+03 0.00e+00 1.20e+04 0.00e+00 0.00e+00 1.00e+04 0 1.79e-02 4.85e-02
1 2.381381e+03 8.58e+02 1.04e+05 0.00e+00 9.78e-01 3.00e+04 1 2.32e-02 7.18e-02
2 2.329869e+03 5.15e+01 2.72e+04 4.62e+01 9.89e-01 9.00e+04 1 1.34e-02 8.53e-02
3 2.320714e+03 9.15e+00 3.05e+04 2.90e+01 9.76e-01 2.70e+05 1 6.86e-03 9.22e-02
4 2.318723e+03 1.99e+00 2.61e+04 1.09e+01 9.64e-01 8.10e+05 1 5.80e-03 9.80e-02
5 2.318352e+03 3.71e-01 4.27e+03 3.14e+00 8.96e-01 1.60e+06 1 5.82e-03 1.04e-01
6 2.318303e+03 4.93e-02 4.85e+02 4.45e-01 5.65e-01 1.61e+06 1 1.17e-02 1.16e-01
7 2.318293e+03 9.75e-03 2.36e+02 3.66e-01 2.36e-01 1.40e+06 1 8.52e-03 1.24e-01
8 2.318289e+03 3.95e-03 6.72e+01 3.13e-01 1.37e-01 1.01e+06 1 1.28e-02 1.37e-01
9 2.318286e+03 2.88e-03 2.02e+01 2.56e-01 1.28e-01 7.18e+05 1 8.61e-03 1.45e-01
10 2.318284e+03 2.05e-03 7.39e+00 2.24e-01 1.19e-01 4.98e+05 1 1.04e-02 1.56e-01
11 2.318282e+03 1.77e-03 4.55e+00 1.86e-01 1.32e-01 3.56e+05 1 1.11e-02 1.67e-01
12 2.318281e+03 1.34e-03 5.50e+00 1.57e-01 1.34e-01 2.56e+05 1 1.14e-02 1.78e-01
13 2.318280e+03 1.13e-03 3.49e+00 1.31e-01 1.50e-01 1.90e+05 1 1.21e-02 1.91e-01
14 2.318279e+03 8.52e-04 3.86e+00 1.09e-01 1.59e-01 1.45e+05 1 8.46e-03 1.99e-01
15 2.318278e+03 6.66e-04 2.54e+00 8.89e-02 1.77e-01 1.14e+05 1 1.20e-02 2.11e-01
16 2.318278e+03 4.77e-04 2.50e+00 7.12e-02 1.91e-01 9.22e+04 1 2.04e-02 2.32e-01
17 2.318278e+03 3.35e-04 1.88e+00 5.59e-02 2.10e-01 7.71e+04 1 1.50e-02 2.47e-01
18 2.318277e+03 2.17e-04 1.95e+00 4.26e-02 2.25e-01 6.62e+04 1 1.51e-02 2.62e-01
19 2.318277e+03 1.34e-04 1.01e+00 3.19e-02 2.42e-01 5.82e+04 1 1.45e-02 2.76e-01
20 2.318277e+03 7.75e-05 1.90e+00 2.31e-02 2.56e-01 5.21e+04 1 1.46e-02 2.91e-01
21 2.318277e+03 4.26e-05 1.73e+00 1.65e-02 2.70e-01 4.75e+04 1 1.98e-02 3.11e-01
22 2.318277e+03 2.21e-05 9.29e-01 1.15e-02 2.82e-01 4.39e+04 1 1.83e-02 3.29e-01
23 2.318277e+03 1.10e-05 8.78e-01 7.81e-03 2.94e-01 4.10e+04 1 1.51e-02 3.44e-01
24 2.318277e+03 5.21e-06 1.91e+00 5.23e-03 3.05e-01 3.87e+04 1 1.48e-02 3.59e-01
25 2.318277e+03 2.40e-06 1.69e+00 3.44e-03 3.16e-01 3.69e+04 1 1.42e-02 3.74e-01
26 2.318277e+03 1.08e-06 9.82e-01 2.23e-03 3.30e-01 3.55e+04 1 1.99e-02 3.94e-01
27 2.318277e+03 4.89e-07 8.10e-01 1.43e-03 3.51e-01 3.46e+04 1 1.79e-02 4.12e-01
28 2.318277e+03 2.31e-07 5.70e-01 9.06e-04 3.87e-01 3.42e+04 1 1.51e-02 4.27e-01
29 2.318277e+03 1.21e-07 3.77e-01 5.71e-04 4.54e-01 3.42e+04 1 1.48e-02 4.42e-01
30 2.318277e+03 7.56e-08 2.41e-01 3.61e-04 5.67e-01 3.43e+04 1 1.43e-02 4.56e-01
31 2.318277e+03 5.63e-08 2.24e-01 2.27e-04 7.10e-01 3.70e+04 1 1.92e-02 4.75e-01
32 2.318277e+03 5.03e-08 2.36e-01 1.47e-04 8.44e-01 5.49e+04 1 1.87e-02 4.94e-01
33 2.318277e+03 6.49e-08 3.34e-01 1.03e-04 9.38e-01 1.65e+05 1 1.51e-02 5.09e-01
34 2.318277e+03 1.57e-07 7.80e-01 1.08e-04 9.85e-01 4.94e+05 1 1.50e-02 5.24e-01
35 2.318277e+03 2.77e-07 1.60e+00 1.76e-04 9.93e-01 1.48e+06 1 1.71e-02 5.41e-01
36 2.318277e+03 2.42e-07 2.00e+00 2.25e-04 9.95e-01 4.45e+06 1 1.54e-02 5.57e-01
37 2.318277e+03 6.49e-08 1.54e+00 1.63e-04 9.83e-01 1.33e+07 1 1.45e-02 5.71e-01
38 2.318277e+03 3.66e-09 4.97e-01 7.55e-05 8.09e-01 1.75e+07 1 1.99e-02 5.91e-01
39 2.318277e+03 1.35e-10 5.15e-02 5.65e-05 1.63e-01 1.34e+07 1 1.70e-02 6.08e-01
I20260707 08:16:20.095155 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:20.095250 84886 bundle_adjustment.cc:942]
Residuals : 11428
Parameters : 5753
Iterations : 40
Time : 0.609054 [s]
Initial cost : 0.532441 [px]
Final cost : 0.450399 [px]
Termination : Convergence
I20260707 08:16:20.104403 84886 incremental_mapper.cc:175] => Completed observations: 19
I20260707 08:16:20.105844 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:16:20.106810 84886 incremental_mapper.cc:160] => Filtered observations: 8
I20260707 08:16:20.106848 84886 incremental_mapper.cc:119] => Changed observations: 0.004725
I20260707 08:16:20.106870 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 2.315475e+03 0.00e+00 9.85e+02 0.00e+00 0.00e+00 1.00e+04 0 1.06e-02 2.22e-02
1 2.296747e+03 1.87e+01 5.32e+01 0.00e+00 9.97e-01 3.00e+04 1 2.38e-02 4.61e-02
2 2.295214e+03 1.53e+00 6.77e+01 1.24e+00 1.31e+00 9.00e+04 1 1.39e-02 6.01e-02
3 2.294584e+03 6.31e-01 1.78e+02 1.30e+00 1.45e+00 2.70e+05 1 1.75e-02 7.77e-02
4 2.294325e+03 2.58e-01 4.01e+02 1.88e+00 1.46e+00 8.10e+05 1 1.74e-02 9.51e-02
5 2.294228e+03 9.69e-02 6.19e+02 1.56e+00 1.48e+00 2.43e+06 1 1.64e-02 1.12e-01
6 2.294195e+03 3.32e-02 2.35e+02 5.53e-01 1.55e+00 7.29e+06 1 1.73e-02 1.29e-01
7 2.294183e+03 1.18e-02 1.94e+01 1.33e-01 1.59e+00 2.19e+07 1 1.76e-02 1.47e-01
8 2.294179e+03 4.30e-03 2.00e+00 6.35e-02 1.61e+00 6.56e+07 1 1.70e-02 1.64e-01
9 2.294178e+03 1.60e-03 1.93e+00 3.86e-02 1.61e+00 1.97e+08 1 1.69e-02 1.81e-01
10 2.294177e+03 5.95e-04 1.44e+00 2.32e-02 1.61e+00 5.90e+08 1 1.77e-02 1.98e-01
11 2.294177e+03 2.22e-04 7.22e-01 1.43e-02 1.61e+00 1.77e+09 1 1.72e-02 2.16e-01
12 2.294177e+03 8.26e-05 1.81e+00 8.63e-03 1.61e+00 5.31e+09 1 1.31e-02 2.29e-01
13 2.294177e+03 3.08e-05 1.62e+00 5.32e-03 1.61e+00 1.59e+10 1 1.20e-02 2.41e-01
14 2.294177e+03 1.15e-05 9.71e-01 3.22e-03 1.61e+00 4.78e+10 1 1.72e-02 2.58e-01
15 2.294177e+03 4.29e-06 7.30e-01 1.99e-03 1.61e+00 1.43e+11 1 1.67e-02 2.75e-01
16 2.294177e+03 1.60e-06 4.82e-01 1.20e-03 1.61e+00 4.30e+11 1 1.73e-02 2.92e-01
17 2.294177e+03 5.98e-07 3.00e-01 7.41e-04 1.61e+00 1.29e+12 1 1.06e-02 3.03e-01
18 2.294177e+03 2.23e-07 1.86e-01 4.49e-04 1.61e+00 3.87e+12 1 9.53e-03 3.12e-01
19 2.294177e+03 8.33e-08 1.13e-01 2.76e-04 1.61e+00 1.16e+13 1 8.09e-03 3.21e-01
20 2.294177e+03 3.11e-08 6.97e-02 1.68e-04 1.61e+00 3.49e+13 1 8.29e-03 3.29e-01
I20260707 08:16:20.444763 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:20.444908 84886 bundle_adjustment.cc:942]
Residuals : 11430
Parameters : 5732
Iterations : 21
Time : 0.329811 [s]
Initial cost : 0.450087 [px]
Final cost : 0.448013 [px]
Termination : Convergence
I20260707 08:16:20.454789 84886 incremental_mapper.cc:175] => Completed observations: 0
I20260707 08:16:20.456691 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:16:20.457832 84886 incremental_mapper.cc:160] => Filtered observations: 0
I20260707 08:16:20.457886 84886 incremental_mapper.cc:119] => Changed observations: 0.000000
I20260707 08:16:20.457904 84886 incremental_mapper.cc:167] => Filtered images: 0
I20260707 08:16:20.468878 84886 misc.cc:198]
==============================================================================
Registering image #513 (7)
==============================================================================
I20260707 08:16:20.468930 84886 incremental_mapper.cc:495] => Image sees 492 / 2778 points
I20260707 08:16:20.515652 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:16:20.515803 84886 bundle_adjustment.cc:942]
Residuals : 466
Parameters : 6
Iterations : 35
Time : 0.0346251 [s]
Initial cost : 0.684675 [px]
Final cost : 0.617779 [px]
Termination : Convergence
I20260707 08:16:20.517212 84886 incremental_mapper.cc:40] => Continued observations: 228
I20260707 08:16:20.523799 84886 incremental_mapper.cc:43] => Added observations: 483
I20260707 08:16:20.895767 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:20.895895 84886 bundle_adjustment.cc:942]
Residuals : 12208
Parameters : 5609
Iterations : 26
Time : 0.355087 [s]
Initial cost : 0.688587 [px]
Final cost : 0.620274 [px]
Termination : No convergence
I20260707 08:16:20.906693 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:16:20.906772 84886 incremental_mapper.cc:79] => Completed observations: 120
I20260707 08:16:20.906777 84886 incremental_mapper.cc:81] => Filtered observations: 277
I20260707 08:16:20.906780 84886 incremental_mapper.cc:90] => Changed observations: 0.064490
I20260707 08:16:21.008203 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:21.008378 84886 bundle_adjustment.cc:942]
Residuals : 11852
Parameters : 5342
Iterations : 6
Time : 0.0949821 [s]
Initial cost : 0.459889 [px]
Final cost : 0.434041 [px]
Termination : Convergence
I20260707 08:16:21.026028 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:16:21.026212 84886 incremental_mapper.cc:79] => Completed observations: 43
I20260707 08:16:21.026232 84886 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 08:16:21.026237 84886 incremental_mapper.cc:90] => Changed observations: 0.007193
I20260707 08:16:21.026326 84886 misc.cc:198]
==============================================================================
Retriangulation
==============================================================================
I20260707 08:16:21.030830 84886 incremental_mapper.cc:175] => Completed observations: 8
I20260707 08:16:21.035154 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:16:21.035261 84886 incremental_mapper.cc:105] => Retriangulated observations: 43
I20260707 08:16:21.036576 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 1.719767e+04 0.00e+00 9.27e+03 0.00e+00 0.00e+00 1.00e+04 0 1.03e-02 3.22e-02
1 1.466304e+04 2.53e+03 8.54e+03 0.00e+00 9.92e-01 3.00e+04 1 1.66e-02 4.89e-02
2 1.462708e+04 3.60e+01 1.36e+04 5.01e+00 1.02e+00 9.00e+04 1 1.55e-02 6.45e-02
3 1.461246e+04 1.46e+01 4.39e+04 1.21e+01 9.94e-01 2.70e+05 1 1.31e-02 7.77e-02
4 1.460845e+04 4.00e+00 3.87e+04 1.35e+01 9.53e-01 8.10e+05 1 9.47e-03 8.72e-02
5 1.460806e+04 3.93e-01 2.43e+03 3.58e+00 9.98e-01 2.43e+06 1 8.95e-03 9.62e-02
6 1.460806e+04 6.82e-03 9.68e+01 3.49e-01 1.04e+00 7.29e+06 1 1.37e-02 1.10e-01
7 1.460806e+04 1.39e-04 9.74e+00 1.77e-02 1.13e+00 2.19e+07 1 1.35e-02 1.23e-01
8 1.460806e+04 5.85e-06 1.94e+00 1.94e-03 1.27e+00 6.56e+07 1 9.53e-03 1.33e-01
9 1.460806e+04 4.91e-07 3.85e-01 5.56e-04 1.31e+00 1.97e+08 1 8.98e-03 1.42e-01
10 1.460806e+04 4.88e-08 6.73e-02 2.16e-04 1.32e+00 5.90e+08 1 1.05e-02 1.53e-01
I20260707 08:16:21.204452 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:21.204543 84886 bundle_adjustment.cc:942]
Residuals : 12684
Parameters : 6242
Iterations : 11
Time : 0.15378 [s]
Initial cost : 1.16441 [px]
Final cost : 1.07317 [px]
Termination : Convergence
I20260707 08:16:21.215997 84886 incremental_mapper.cc:175] => Completed observations: 4
I20260707 08:16:21.217801 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:16:21.219343 84886 incremental_mapper.cc:160] => Filtered observations: 66
I20260707 08:16:21.219431 84886 incremental_mapper.cc:119] => Changed observations: 0.011038
I20260707 08:16:21.219466 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 2.674389e+03 0.00e+00 8.81e+03 0.00e+00 0.00e+00 1.00e+04 0 7.37e-03 2.42e-02
1 2.433629e+03 2.41e+02 3.57e+03 0.00e+00 9.88e-01 3.00e+04 1 1.08e-02 3.51e-02
2 2.408324e+03 2.53e+01 2.52e+04 4.27e+00 9.83e-01 9.00e+04 1 9.98e-03 4.51e-02
3 2.397363e+03 1.10e+01 6.15e+04 5.90e+00 1.03e+00 2.70e+05 1 1.04e-02 5.56e-02
4 2.393198e+03 4.17e+00 8.00e+04 7.17e+00 1.00e+00 8.10e+05 1 1.49e-02 7.07e-02
5 2.391856e+03 1.34e+00 6.54e+04 7.19e+00 9.61e-01 2.43e+06 1 9.52e-03 8.02e-02
6 2.391536e+03 3.20e-01 3.01e+04 4.45e+00 9.30e-01 6.71e+06 1 9.01e-03 8.93e-02
7 2.391485e+03 5.10e-02 4.98e+03 9.90e-01 1.01e+00 2.01e+07 1 9.16e-03 9.85e-02
8 2.391482e+03 2.46e-03 1.52e+02 6.87e-02 1.13e+00 6.04e+07 1 1.23e-02 1.11e-01
9 2.391482e+03 1.95e-04 1.86e+00 1.03e-02 1.45e+00 1.81e+08 1 2.31e-02 1.34e-01
10 2.391482e+03 4.07e-05 1.77e+00 5.03e-03 1.46e+00 5.43e+08 1 2.06e-02 1.55e-01
11 2.391482e+03 8.65e-06 9.17e-01 2.33e-03 1.46e+00 1.63e+09 1 1.60e-02 1.71e-01
12 2.391482e+03 1.84e-06 4.85e-01 1.09e-03 1.46e+00 4.89e+09 1 1.52e-02 1.86e-01
13 2.391482e+03 3.91e-07 2.46e-01 5.01e-04 1.46e+00 1.47e+10 1 1.87e-02 2.05e-01
14 2.391482e+03 8.31e-08 1.07e-01 2.32e-04 1.46e+00 4.40e+10 1 2.79e-02 2.33e-01
15 2.391482e+03 1.77e-08 5.26e-02 1.07e-04 1.46e+00 1.32e+11 1 1.65e-02 2.49e-01
I20260707 08:16:21.479861 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:21.479993 84886 bundle_adjustment.cc:942]
Residuals : 12550
Parameters : 6158
Iterations : 16
Time : 0.250967 [s]
Initial cost : 0.461626 [px]
Final cost : 0.436528 [px]
Termination : Convergence
I20260707 08:16:21.492275 84886 incremental_mapper.cc:175] => Completed observations: 3
I20260707 08:16:21.494375 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:16:21.495958 84886 incremental_mapper.cc:160] => Filtered observations: 0
I20260707 08:16:21.496024 84886 incremental_mapper.cc:119] => Changed observations: 0.000478
I20260707 08:16:21.496047 84886 incremental_mapper.cc:167] => Filtered images: 0
I20260707 08:16:21.506884 84886 misc.cc:198]
==============================================================================
Registering image #501 (8)
==============================================================================
I20260707 08:16:21.506945 84886 incremental_mapper.cc:495] => Image sees 419 / 4420 points
I20260707 08:16:21.529673 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:16:21.529711 84886 bundle_adjustment.cc:942]
Residuals : 264
Parameters : 6
Iterations : 17
Time : 0.00176716 [s]
Initial cost : 0.770225 [px]
Final cost : 0.706982 [px]
Termination : Convergence
I20260707 08:16:21.529829 84886 incremental_mapper.cc:40] => Continued observations: 132
I20260707 08:16:21.531633 84886 incremental_mapper.cc:43] => Added observations: 706
I20260707 08:16:21.838804 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:21.838898 84886 bundle_adjustment.cc:942]
Residuals : 11322
Parameters : 4478
Iterations : 23
Time : 0.301804 [s]
Initial cost : 0.629151 [px]
Final cost : 0.547914 [px]
Termination : Convergence
I20260707 08:16:21.848673 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:16:21.848762 84886 incremental_mapper.cc:79] => Completed observations: 33
I20260707 08:16:21.848768 84886 incremental_mapper.cc:81] => Filtered observations: 183
I20260707 08:16:21.848770 84886 incremental_mapper.cc:90] => Changed observations: 0.035133
I20260707 08:16:21.899029 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:21.899176 84886 bundle_adjustment.cc:942]
Residuals : 11014
Parameters : 4253
Iterations : 3
Time : 0.0422621 [s]
Initial cost : 0.460702 [px]
Final cost : 0.448493 [px]
Termination : Convergence
I20260707 08:16:21.912869 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:16:21.912967 84886 incremental_mapper.cc:79] => Completed observations: 15
I20260707 08:16:21.912974 84886 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 08:16:21.912976 84886 incremental_mapper.cc:90] => Changed observations: 0.002503
I20260707 08:16:21.913015 84886 misc.cc:198]
==============================================================================
Retriangulation
==============================================================================
I20260707 08:16:21.914791 84886 incremental_mapper.cc:175] => Completed observations: 2
I20260707 08:16:21.916256 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:16:21.916286 84886 incremental_mapper.cc:105] => Retriangulated observations: 12
I20260707 08:16:21.916832 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 4.997825e+03 0.00e+00 1.39e+04 0.00e+00 0.00e+00 1.00e+04 0 9.14e-03 2.58e-02
1 4.313499e+03 6.84e+02 2.95e+03 0.00e+00 9.56e-01 3.00e+04 1 1.35e-02 3.94e-02
2 4.276440e+03 3.71e+01 1.51e+03 3.50e+00 1.17e+00 9.00e+04 1 1.29e-02 5.24e-02
3 4.267943e+03 8.50e+00 6.32e+03 5.49e+00 1.17e+00 2.70e+05 1 1.54e-02 6.78e-02
4 4.265947e+03 2.00e+00 1.73e+04 8.30e+00 1.09e+00 8.10e+05 1 1.97e-02 8.76e-02
5 4.265411e+03 5.36e-01 3.24e+04 6.17e+00 9.72e-01 2.43e+06 1 1.84e-02 1.06e-01
6 4.265267e+03 1.44e-01 1.19e+04 2.06e+00 9.95e-01 7.29e+06 1 1.30e-02 1.19e-01
7 4.265243e+03 2.45e-02 1.57e+03 4.03e-01 1.01e+00 2.19e+07 1 1.63e-02 1.35e-01
8 4.265240e+03 2.86e-03 3.07e+02 6.53e-02 1.00e+00 6.56e+07 1 1.94e-02 1.55e-01
9 4.265240e+03 1.45e-04 3.25e+01 1.06e-02 1.01e+00 1.97e+08 1 1.75e-02 1.73e-01
10 4.265240e+03 1.96e-06 3.24e+00 1.21e-03 1.05e+00 5.90e+08 1 1.93e-02 1.92e-01
11 4.265240e+03 3.53e-08 9.89e-01 1.44e-04 1.26e+00 1.77e+09 1 1.74e-02 2.10e-01
12 4.265240e+03 2.87e-09 1.81e-02 3.85e-05 1.30e+00 5.31e+09 1 1.40e-02 2.24e-01
I20260707 08:16:22.150061 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:22.150179 84886 bundle_adjustment.cc:942]
Residuals : 13978
Parameters : 7004
Iterations : 13
Time : 0.224437 [s]
Initial cost : 0.597954 [px]
Final cost : 0.552394 [px]
Termination : Convergence
I20260707 08:16:22.156836 84886 incremental_mapper.cc:175] => Completed observations: 2
I20260707 08:16:22.157919 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:16:22.158524 84886 incremental_mapper.cc:160] => Filtered observations: 22
I20260707 08:16:22.158537 84886 incremental_mapper.cc:119] => Changed observations: 0.003434
I20260707 08:16:22.158548 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 2.860112e+03 0.00e+00 2.64e+03 0.00e+00 0.00e+00 1.00e+04 0 5.67e-03 1.15e-02
1 2.705411e+03 1.55e+02 1.68e+03 0.00e+00 1.00e+00 3.00e+04 1 8.91e-03 2.04e-02
2 2.694296e+03 1.11e+01 7.48e+02 1.30e+00 1.17e+00 9.00e+04 1 1.25e-02 3.30e-02
3 2.691341e+03 2.95e+00 4.62e+03 1.21e+00 1.30e+00 2.70e+05 1 7.83e-03 4.09e-02
4 2.690095e+03 1.25e+00 2.62e+04 2.31e+00 1.17e+00 8.10e+05 1 9.96e-03 5.09e-02
5 2.689205e+03 8.89e-01 8.21e+04 3.96e+00 1.02e+00 2.43e+06 1 9.09e-03 6.00e-02
6 2.688830e+03 3.75e-01 9.33e+04 3.69e+00 9.11e-01 5.45e+06 1 9.67e-03 6.97e-02
7 2.688715e+03 1.15e-01 3.59e+04 1.28e+00 9.21e-01 1.36e+07 1 8.85e-03 7.86e-02
8 2.688688e+03 2.73e-02 6.03e+03 1.53e-01 1.00e+00 4.07e+07 1 1.98e-02 9.84e-02
9 2.688687e+03 1.41e-03 2.18e+02 1.48e-02 1.10e+00 1.22e+08 1 2.09e-02 1.19e-01
10 2.688686e+03 8.92e-05 2.37e+00 4.70e-03 1.45e+00 3.66e+08 1 1.71e-02 1.37e-01
11 2.688686e+03 1.94e-05 9.55e-01 2.26e-03 1.47e+00 1.10e+09 1 1.72e-02 1.54e-01
12 2.688686e+03 4.36e-06 6.43e-01 1.08e-03 1.47e+00 3.29e+09 1 2.25e-02 1.77e-01
13 2.688686e+03 9.76e-07 3.23e-01 5.09e-04 1.47e+00 9.88e+09 1 2.15e-02 1.98e-01
14 2.688686e+03 2.19e-07 1.58e-01 2.42e-04 1.47e+00 2.96e+10 1 1.70e-02 2.15e-01
15 2.688686e+03 4.90e-08 7.41e-02 1.14e-04 1.47e+00 8.89e+10 1 2.14e-02 2.37e-01
I20260707 08:16:22.401819 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:22.401955 84886 bundle_adjustment.cc:942]
Residuals : 13938
Parameters : 6974
Iterations : 16
Time : 0.238207 [s]
Initial cost : 0.452993 [px]
Final cost : 0.439208 [px]
Termination : Convergence
I20260707 08:16:22.418151 84886 incremental_mapper.cc:175] => Completed observations: 1
I20260707 08:16:22.420336 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:16:22.421450 84886 incremental_mapper.cc:160] => Filtered observations: 0
I20260707 08:16:22.421492 84886 incremental_mapper.cc:119] => Changed observations: 0.000143
I20260707 08:16:22.421512 84886 incremental_mapper.cc:167] => Filtered images: 0
I20260707 08:16:22.435518 84886 misc.cc:198]
==============================================================================
Registering image #7 (9)
==============================================================================
I20260707 08:16:22.435618 84886 incremental_mapper.cc:495] => Image sees 537 / 3501 points
I20260707 08:16:22.450557 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:16:22.450634 84886 bundle_adjustment.cc:942]
Residuals : 588
Parameters : 6
Iterations : 12
Time : 0.00574613 [s]
Initial cost : 0.72833 [px]
Final cost : 0.602273 [px]
Termination : Convergence
I20260707 08:16:22.451226 84886 incremental_mapper.cc:40] => Continued observations: 261
I20260707 08:16:22.457310 84886 incremental_mapper.cc:43] => Added observations: 835
I20260707 08:16:22.979828 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:22.979904 84886 bundle_adjustment.cc:942]
Residuals : 12972
Parameters : 5081
Iterations : 21
Time : 0.500207 [s]
Initial cost : 0.734161 [px]
Final cost : 0.515153 [px]
Termination : Convergence
I20260707 08:16:22.988523 84886 incremental_mapper.cc:78] => Merged observations: 8
I20260707 08:16:22.988580 84886 incremental_mapper.cc:79] => Completed observations: 26
I20260707 08:16:22.988588 84886 incremental_mapper.cc:81] => Filtered observations: 222
I20260707 08:16:22.988592 84886 incremental_mapper.cc:90] => Changed observations: 0.039366
I20260707 08:16:23.097586 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:23.097687 84886 bundle_adjustment.cc:942]
Residuals : 12572
Parameters : 4886
Iterations : 6
Time : 0.0983331 [s]
Initial cost : 0.457691 [px]
Final cost : 0.445828 [px]
Termination : Convergence
I20260707 08:16:23.113969 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:16:23.114068 84886 incremental_mapper.cc:79] => Completed observations: 38
I20260707 08:16:23.114075 84886 incremental_mapper.cc:81] => Filtered observations: 1
I20260707 08:16:23.114079 84886 incremental_mapper.cc:90] => Changed observations: 0.006188
I20260707 08:16:23.114138 84886 misc.cc:198]
==============================================================================
Retriangulation
==============================================================================
I20260707 08:16:23.116832 84886 incremental_mapper.cc:175] => Completed observations: 19
I20260707 08:16:23.119426 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:16:23.119491 84886 incremental_mapper.cc:105] => Retriangulated observations: 2
I20260707 08:16:23.120033 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 4.956165e+03 0.00e+00 1.02e+04 0.00e+00 0.00e+00 1.00e+04 0 6.53e-03 1.74e-02
1 4.633865e+03 3.22e+02 2.80e+02 0.00e+00 1.00e+00 3.00e+04 1 9.02e-03 2.65e-02
2 4.633363e+03 5.02e-01 2.70e+02 2.22e-01 1.07e+00 9.00e+04 1 7.89e-03 3.44e-02
3 4.633159e+03 2.04e-01 1.74e+02 1.31e-01 1.06e+00 2.70e+05 1 9.99e-03 4.44e-02
4 4.633092e+03 6.74e-02 1.12e+02 6.50e-02 1.05e+00 8.10e+05 1 1.17e-02 5.62e-02
5 4.633081e+03 1.02e-02 1.02e+02 7.75e-02 1.08e+00 2.43e+06 1 1.30e-02 6.92e-02
6 4.633080e+03 1.75e-03 7.55e+01 3.03e-02 1.11e+00 7.29e+06 1 1.60e-02 8.52e-02
7 4.633079e+03 2.62e-04 2.12e+01 7.67e-03 1.17e+00 2.19e+07 1 1.23e-02 9.75e-02
8 4.633079e+03 3.26e-05 4.20e+00 2.92e-03 1.34e+00 6.56e+07 1 1.17e-02 1.09e-01
9 4.633079e+03 5.64e-06 1.94e+00 1.27e-03 1.45e+00 1.97e+08 1 1.44e-02 1.24e-01
10 4.633079e+03 1.19e-06 3.53e-01 5.80e-04 1.46e+00 5.90e+08 1 1.49e-02 1.39e-01
11 4.633079e+03 2.53e-07 1.67e-01 2.67e-04 1.46e+00 1.77e+09 1 1.43e-02 1.53e-01
12 4.633079e+03 5.40e-08 7.73e-02 1.23e-04 1.46e+00 5.31e+09 1 1.33e-02 1.66e-01
I20260707 08:16:23.301467 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:23.301543 84886 bundle_adjustment.cc:942]
Residuals : 15848
Parameters : 8033
Iterations : 13
Time : 0.167458 [s]
Initial cost : 0.559224 [px]
Final cost : 0.540689 [px]
Termination : Convergence
I20260707 08:16:23.311192 84886 incremental_mapper.cc:175] => Completed observations: 1
I20260707 08:16:23.313097 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:16:23.314673 84886 incremental_mapper.cc:160] => Filtered observations: 11
I20260707 08:16:23.314730 84886 incremental_mapper.cc:119] => Changed observations: 0.001514
I20260707 08:16:23.314760 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 3.344945e+03 0.00e+00 1.78e+03 0.00e+00 0.00e+00 1.00e+04 0 9.37e-03 2.45e-02
1 3.325966e+03 1.90e+01 2.69e+02 0.00e+00 1.00e+00 3.00e+04 1 2.11e-02 4.56e-02
2 3.325917e+03 4.86e-02 1.30e+02 8.17e-02 1.01e+00 9.00e+04 1 1.76e-02 6.34e-02
3 3.325880e+03 3.66e-02 4.15e+01 1.68e-01 1.00e+00 2.70e+05 1 1.37e-02 7.71e-02
4 3.325861e+03 1.93e-02 6.82e+01 3.38e-01 1.00e+00 8.10e+05 1 1.36e-02 9.08e-02
5 3.325855e+03 6.03e-03 1.43e+02 3.86e-01 1.00e+00 2.43e+06 1 1.88e-02 1.10e-01
6 3.325854e+03 9.61e-04 8.25e+01 1.86e-01 1.00e+00 7.29e+06 1 1.98e-02 1.29e-01
7 3.325854e+03 4.34e-05 7.77e+00 3.17e-02 1.01e+00 2.19e+07 1 2.20e-02 1.52e-01
8 3.325854e+03 8.41e-07 1.39e+00 1.91e-03 1.12e+00 6.56e+07 1 2.18e-02 1.74e-01
9 3.325854e+03 6.12e-08 7.01e-01 1.68e-04 1.42e+00 1.97e+08 1 2.10e-02 1.95e-01
10 3.325854e+03 1.20e-08 4.09e-02 6.09e-05 1.45e+00 5.90e+08 1 2.00e-02 2.15e-01
I20260707 08:16:23.539623 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:23.539713 84886 bundle_adjustment.cc:942]
Residuals : 15828
Parameters : 8030
Iterations : 11
Time : 0.215993 [s]
Initial cost : 0.459707 [px]
Final cost : 0.458394 [px]
Termination : Convergence
I20260707 08:16:23.551970 84886 incremental_mapper.cc:175] => Completed observations: 3
I20260707 08:16:23.555787 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:16:23.558029 84886 incremental_mapper.cc:160] => Filtered observations: 0
I20260707 08:16:23.558161 84886 incremental_mapper.cc:119] => Changed observations: 0.000379
I20260707 08:16:23.558194 84886 incremental_mapper.cc:167] => Filtered images: 0
I20260707 08:16:23.569432 84886 misc.cc:198]
==============================================================================
Registering image #18 (10)
==============================================================================
I20260707 08:16:23.569545 84886 incremental_mapper.cc:495] => Image sees 1078 / 2435 points
I20260707 08:16:23.585863 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:16:23.585976 84886 bundle_adjustment.cc:942]
Residuals : 2154
Parameters : 6
Iterations : 6
Time : 0.00734401 [s]
Initial cost : 0.516075 [px]
Final cost : 0.456406 [px]
Termination : Convergence
I20260707 08:16:23.587111 84886 incremental_mapper.cc:40] => Continued observations: 1022
I20260707 08:16:23.591113 84886 incremental_mapper.cc:43] => Added observations: 654
I20260707 08:16:24.243384 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:24.243851 84886 bundle_adjustment.cc:942]
Residuals : 15050
Parameters : 4586
Iterations : 26
Time : 0.639456 [s]
Initial cost : 0.629 [px]
Final cost : 0.573889 [px]
Termination : No convergence
I20260707 08:16:24.285732 84886 incremental_mapper.cc:78] => Merged observations: 10
I20260707 08:16:24.285841 84886 incremental_mapper.cc:79] => Completed observations: 49
I20260707 08:16:24.285849 84886 incremental_mapper.cc:81] => Filtered observations: 330
I20260707 08:16:24.285856 84886 incremental_mapper.cc:90] => Changed observations: 0.049247
I20260707 08:16:24.486243 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:24.486387 84886 bundle_adjustment.cc:942]
Residuals : 14492
Parameters : 4226
Iterations : 5
Time : 0.176771 [s]
Initial cost : 0.470704 [px]
Final cost : 0.459109 [px]
Termination : Convergence
I20260707 08:16:24.500715 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:16:24.500768 84886 incremental_mapper.cc:79] => Completed observations: 118
I20260707 08:16:24.500775 84886 incremental_mapper.cc:81] => Filtered observations: 5
I20260707 08:16:24.500782 84886 incremental_mapper.cc:90] => Changed observations: 0.016296
I20260707 08:16:24.500821 84886 misc.cc:198]
==============================================================================
Retriangulation
==============================================================================
I20260707 08:16:24.503153 84886 incremental_mapper.cc:175] => Completed observations: 17
I20260707 08:16:24.505236 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:16:24.505257 84886 incremental_mapper.cc:105] => Retriangulated observations: 115
I20260707 08:16:24.505864 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 5.884599e+04 0.00e+00 5.41e+04 0.00e+00 0.00e+00 1.00e+04 0 1.49e-02 3.88e-02
1 4.223316e+04 1.66e+04 2.00e+04 0.00e+00 9.93e-01 3.00e+04 1 2.74e-02 6.63e-02
2 4.200061e+04 2.33e+02 1.06e+04 3.80e+00 1.04e+00 9.00e+04 1 2.71e-02 9.34e-02
3 4.198875e+04 1.19e+01 4.55e+04 2.69e+00 1.15e+00 2.70e+05 1 4.16e-02 1.35e-01
4 4.198602e+04 2.74e+00 9.71e+04 3.04e+00 1.08e+00 8.10e+05 1 3.97e-02 1.75e-01
5 4.198524e+04 7.79e-01 7.78e+04 2.47e+00 1.03e+00 2.43e+06 1 4.50e-02 2.20e-01
6 4.198510e+04 1.42e-01 3.26e+04 1.47e+00 1.02e+00 7.29e+06 1 3.94e-02 2.60e-01
7 4.198508e+04 1.37e-02 7.28e+03 6.17e-01 1.03e+00 2.19e+07 1 3.88e-02 2.98e-01
8 4.198508e+04 8.95e-04 8.67e+02 1.29e-01 1.05e+00 6.56e+07 1 4.69e-02 3.46e-01
9 4.198508e+04 8.48e-05 4.18e+01 1.25e-02 1.02e+00 1.97e+08 1 3.51e-02 3.81e-01
10 4.198508e+04 1.13e-05 3.17e+00 1.81e-03 9.31e-01 5.48e+08 1 4.81e-02 4.29e-01
11 4.198508e+04 2.05e-06 4.50e-01 1.05e-03 8.32e-01 7.75e+08 1 5.03e-02 4.80e-01
I20260707 08:16:25.001260 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:25.001454 84886 bundle_adjustment.cc:942]
Residuals : 18958
Parameters : 8639
Iterations : 12
Time : 0.482743 [s]
Initial cost : 1.76182 [px]
Final cost : 1.48817 [px]
Termination : Convergence
I20260707 08:16:25.032189 84886 incremental_mapper.cc:175] => Completed observations: 18
I20260707 08:16:25.047727 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:16:25.054344 84886 incremental_mapper.cc:160] => Filtered observations: 477
I20260707 08:16:25.054438 84886 incremental_mapper.cc:119] => Changed observations: 0.052221
I20260707 08:16:25.054471 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 5.935837e+03 0.00e+00 5.09e+04 0.00e+00 0.00e+00 1.00e+04 0 2.77e-02 7.76e-02
1 3.930637e+03 2.01e+03 3.25e+03 0.00e+00 9.94e-01 3.00e+04 1 4.68e-02 1.25e-01
2 3.901936e+03 2.87e+01 1.62e+03 2.30e+00 9.83e-01 9.00e+04 1 4.49e-02 1.70e-01
3 3.898881e+03 3.06e+00 6.90e+03 7.53e-01 1.07e+00 2.70e+05 1 4.38e-02 2.14e-01
4 3.897289e+03 1.59e+00 4.04e+04 1.37e+00 1.02e+00 8.10e+05 1 4.56e-02 2.59e-01
5 3.895622e+03 1.67e+00 1.24e+05 3.17e+00 9.73e-01 2.43e+06 1 3.42e-02 2.94e-01
6 3.894991e+03 6.31e-01 1.14e+05 3.78e+00 9.21e-01 6.03e+06 1 2.37e-02 3.17e-01
7 3.894877e+03 1.14e-01 9.08e+03 1.44e+00 9.98e-01 1.81e+07 1 2.61e-02 3.44e-01
8 3.894875e+03 2.22e-03 3.45e+02 2.34e-01 1.01e+00 5.42e+07 1 3.73e-02 3.81e-01
9 3.894875e+03 1.49e-05 4.24e+00 1.55e-02 1.06e+00 1.63e+08 1 3.58e-02 4.17e-01
10 3.894875e+03 4.02e-07 1.73e+00 8.55e-04 1.36e+00 4.88e+08 1 3.96e-02 4.57e-01
11 3.894875e+03 6.25e-08 1.27e-01 1.76e-04 1.43e+00 1.46e+09 1 3.67e-02 4.93e-01
I20260707 08:16:25.562963 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:25.563063 84886 bundle_adjustment.cc:942]
Residuals : 17924
Parameters : 8303
Iterations : 12
Time : 0.495312 [s]
Initial cost : 0.575471 [px]
Final cost : 0.466154 [px]
Termination : Convergence
I20260707 08:16:25.579643 84886 incremental_mapper.cc:175] => Completed observations: 95
I20260707 08:16:25.583652 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:16:25.585489 84886 incremental_mapper.cc:160] => Filtered observations: 13
I20260707 08:16:25.585530 84886 incremental_mapper.cc:119] => Changed observations: 0.012051
I20260707 08:16:25.585552 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 3.935920e+03 0.00e+00 7.23e+03 0.00e+00 0.00e+00 1.00e+04 0 1.74e-02 3.35e-02
1 3.856908e+03 7.90e+01 7.87e+01 0.00e+00 1.00e+00 3.00e+04 1 2.48e-02 5.85e-02
2 3.856382e+03 5.26e-01 1.08e+02 3.49e-01 1.02e+00 9.00e+04 1 2.21e-02 8.06e-02
3 3.856264e+03 1.18e-01 6.83e+01 1.98e-01 1.06e+00 2.70e+05 1 2.49e-02 1.06e-01
4 3.856242e+03 2.22e-02 4.55e+02 2.35e-01 1.06e+00 8.10e+05 1 4.53e-02 1.51e-01
5 3.856233e+03 8.32e-03 1.10e+03 3.85e-01 1.02e+00 2.43e+06 1 4.20e-02 1.93e-01
6 3.856230e+03 3.23e-03 1.16e+03 3.48e-01 1.01e+00 7.29e+06 1 3.17e-02 2.25e-01
7 3.856229e+03 8.54e-04 4.60e+02 1.33e-01 1.00e+00 2.19e+07 1 4.84e-02 2.73e-01
8 3.856229e+03 1.15e-04 3.34e+01 1.75e-02 1.00e+00 6.56e+07 1 3.93e-02 3.13e-01
9 3.856229e+03 4.14e-06 5.24e+00 9.42e-04 1.02e+00 1.97e+08 1 2.91e-02 3.42e-01
10 3.856229e+03 6.14e-08 1.98e+00 1.37e-04 1.24e+00 5.90e+08 1 3.28e-02 3.75e-01
11 3.856229e+03 7.81e-09 8.14e-02 4.56e-05 1.44e+00 1.77e+09 1 4.88e-02 4.24e-01
I20260707 08:16:26.024834 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:26.025031 84886 bundle_adjustment.cc:942]
Residuals : 18080
Parameters : 8288
Iterations : 12
Time : 0.427018 [s]
Initial cost : 0.466578 [px]
Final cost : 0.46183 [px]
Termination : Convergence
I20260707 08:16:26.054819 84886 incremental_mapper.cc:175] => Completed observations: 0
I20260707 08:16:26.059404 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:16:26.061127 84886 incremental_mapper.cc:160] => Filtered observations: 0
I20260707 08:16:26.061211 84886 incremental_mapper.cc:119] => Changed observations: 0.000000
I20260707 08:16:26.061233 84886 incremental_mapper.cc:167] => Filtered images: 0
I20260707 08:16:26.077312 84886 misc.cc:198]
==============================================================================
Registering image #8 (11)
==============================================================================
I20260707 08:16:26.077407 84886 incremental_mapper.cc:495] => Image sees 826 / 2523 points
I20260707 08:16:26.091346 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:16:26.091445 84886 bundle_adjustment.cc:942]
Residuals : 1128
Parameters : 6
Iterations : 5
Time : 0.00546098 [s]
Initial cost : 0.562233 [px]
Final cost : 0.51221 [px]
Termination : Convergence
I20260707 08:16:26.092577 84886 incremental_mapper.cc:40] => Continued observations: 524
I20260707 08:16:26.100055 84886 incremental_mapper.cc:43] => Added observations: 844
I20260707 08:16:26.968291 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:26.968367 84886 bundle_adjustment.cc:942]
Residuals : 16026
Parameters : 4691
Iterations : 26
Time : 0.835792 [s]
Initial cost : 0.690847 [px]
Final cost : 0.600269 [px]
Termination : No convergence
I20260707 08:16:26.985800 84886 incremental_mapper.cc:78] => Merged observations: 39
I20260707 08:16:26.985862 84886 incremental_mapper.cc:79] => Completed observations: 164
I20260707 08:16:26.985868 84886 incremental_mapper.cc:81] => Filtered observations: 400
I20260707 08:16:26.985873 84886 incremental_mapper.cc:90] => Changed observations: 0.072354
I20260707 08:16:27.065476 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:27.065645 84886 bundle_adjustment.cc:942]
Residuals : 15326
Parameters : 4217
Iterations : 3
Time : 0.0715702 [s]
Initial cost : 0.479263 [px]
Final cost : 0.466373 [px]
Termination : Convergence
I20260707 08:16:27.092159 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:16:27.092278 84886 incremental_mapper.cc:79] => Completed observations: 151
I20260707 08:16:27.092288 84886 incremental_mapper.cc:81] => Filtered observations: 14
I20260707 08:16:27.092293 84886 incremental_mapper.cc:90] => Changed observations: 0.020666
I20260707 08:16:27.092383 84886 misc.cc:198]
==============================================================================
Retriangulation
==============================================================================
I20260707 08:16:27.098438 84886 incremental_mapper.cc:175] => Completed observations: 19
I20260707 08:16:27.104599 84886 incremental_mapper.cc:178] => Merged observations: 18
I20260707 08:16:27.104657 84886 incremental_mapper.cc:105] => Retriangulated observations: 114
I20260707 08:16:27.106274 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 3.673469e+04 0.00e+00 8.22e+04 0.00e+00 0.00e+00 1.00e+04 0 2.00e-02 6.10e-02
1 2.635945e+04 1.04e+04 5.45e+04 0.00e+00 9.85e-01 3.00e+04 1 3.84e-02 9.95e-02
2 2.601577e+04 3.44e+02 1.16e+05 5.50e+00 9.54e-01 9.00e+04 1 3.83e-02 1.38e-01
3 2.585460e+04 1.61e+02 7.92e+05 1.64e+01 9.66e-01 2.70e+05 1 3.97e-02 1.78e-01
4 2.638524e+04 -5.31e+02 7.92e+05 5.06e+01 -2.29e+00 1.35e+05 1 1.45e-02 1.92e-01
5 2.575158e+04 1.03e+02 2.28e+06 3.00e+01 6.25e-01 1.37e+05 1 3.45e-02 2.27e-01
6 2.563045e+04 1.21e+02 1.65e+06 2.07e+01 8.22e-01 1.87e+05 1 2.54e-02 2.52e-01
7 2.557096e+04 5.95e+01 7.92e+05 1.11e+01 9.60e-01 5.62e+05 1 3.00e-02 2.82e-01
8 2.571788e+04 -1.47e+02 7.92e+05 9.68e+00 -5.55e+00 2.81e+05 1 9.74e-03 2.92e-01
9 2.555523e+04 1.57e+01 7.88e+05 5.26e+00 9.45e-01 8.42e+05 1 2.69e-02 3.19e-01
10 2.556329e+04 -8.06e+00 7.88e+05 5.15e+00 -6.35e-01 4.21e+05 1 1.01e-02 3.29e-01
11 2.554787e+04 7.37e+00 3.57e+05 2.72e+00 9.91e-01 1.26e+06 1 3.27e-02 3.62e-01
12 2.554948e+04 -1.62e+00 3.57e+05 2.97e+00 -2.46e-01 6.32e+05 1 9.04e-03 3.71e-01
13 2.554440e+04 3.46e+00 5.47e+05 1.54e+00 9.79e-01 1.90e+06 1 2.53e-02 3.96e-01
14 2.554225e+04 2.15e+00 8.79e+06 1.82e+00 5.43e-01 1.90e+06 1 3.23e-02 4.29e-01
15 2.554021e+04 2.04e+00 2.87e+06 1.61e-01 9.45e-01 5.69e+06 1 2.81e-02 4.57e-01
16 2.553970e+04 5.11e-01 8.32e+06 3.10e-01 6.74e-01 5.94e+06 1 2.68e-02 4.84e-01
17 2.553932e+04 3.85e-01 3.70e+06 7.97e-02 9.35e-01 1.75e+07 1 2.65e-02 5.10e-01
18 2.553911e+04 2.01e-01 1.53e+07 1.27e-01 7.01e-01 1.87e+07 1 2.93e-02 5.40e-01
19 2.553899e+04 1.28e-01 7.11e+06 2.54e-02 9.27e-01 4.95e+07 1 2.92e-02 5.69e-01
20 2.553892e+04 6.93e-02 1.81e+07 3.65e-02 8.18e-01 6.67e+07 1 2.91e-02 5.98e-01
21 2.553888e+04 3.55e-02 1.32e+07 1.16e-02 9.07e-01 1.45e+08 1 2.58e-02 6.24e-01
22 2.553886e+04 2.25e-02 2.65e+07 1.11e-02 8.54e-01 2.26e+08 1 2.55e-02 6.50e-01
23 2.553885e+04 1.17e-02 2.65e+07 4.57e-03 8.91e-01 4.32e+08 1 2.58e-02 6.75e-01
24 2.553884e+04 7.03e-03 4.20e+07 3.27e-03 8.67e-01 7.15e+08 1 2.37e-02 6.99e-01
25 2.553884e+04 3.87e-03 4.85e+07 1.62e-03 8.86e-01 1.32e+09 1 3.21e-02 7.31e-01
26 2.553883e+04 2.27e-03 7.28e+07 1.04e-03 8.69e-01 2.21e+09 1 3.80e-02 7.69e-01
27 2.553883e+04 1.26e-03 8.64e+07 5.29e-04 8.83e-01 4.03e+09 1 3.27e-02 8.02e-01
28 2.553883e+04 7.35e-04 1.24e+08 3.31e-04 8.74e-01 6.92e+09 1 3.70e-02 8.39e-01
29 2.553883e+04 4.12e-04 1.57e+08 1.78e-04 8.79e-01 1.23e+10 1 3.66e-02 8.76e-01
30 2.553883e+04 2.36e-04 2.14e+08 1.05e-04 8.75e-01 2.12e+10 1 3.41e-02 9.10e-01
31 2.553883e+04 1.34e-04 2.71e+08 5.81e-05 8.84e-01 3.87e+10 1 2.74e-02 9.38e-01
32 2.553883e+04 7.67e-05 4.36e+08 3.56e-05 8.45e-01 5.77e+10 1 2.33e-02 9.61e-01
33 2.553883e+04 4.30e-05 3.47e+08 1.55e-05 9.57e-01 1.73e+11 1 2.57e-02 9.87e-01
34 2.553883e+04 -3.30e-04 3.47e+08 2.11e-05 -7.03e+00 8.66e+10 1 1.03e-02 9.97e-01
35 2.553883e+04 1.98e-05 5.57e+08 1.06e-05 7.87e-01 1.07e+11 1 2.32e-02 1.02e+00
36 2.553883e+04 1.25e-05 7.31e+07 3.42e-06 1.30e+00 3.20e+11 1 2.72e-02 1.05e+00
37 2.553883e+04 8.36e-07 6.67e+09 1.01e-05 3.93e-02 1.80e+11 1 2.66e-02 1.07e+00
38 2.553883e+04 1.90e-05 2.42e+09 4.00e-07 1.07e+00 5.39e+11 1 3.25e-02 1.11e+00
39 2.553883e+04 -1.10e-05 2.42e+09 8.61e-07 -5.32e-01 2.70e+11 1 1.44e-02 1.12e+00
40 2.553883e+04 -9.80e-05 2.42e+09 4.32e-07 -7.88e+00 6.74e+10 1 1.41e-02 1.14e+00
41 2.553883e+04 -1.07e-05 2.42e+09 1.10e-07 -1.70e+00 8.43e+09 1 1.39e-02 1.15e+00
42 2.553883e+04 -8.41e-06 2.42e+09 2.15e-08 -1.86e+00 5.27e+08 1 1.48e-02 1.16e+00
43 2.553883e+04 2.52e-06 1.36e+09 1.60e-08 5.88e-01 5.30e+08 1 3.64e-02 1.20e+00
44 2.553883e+04 -3.48e-06 1.36e+09 7.63e-09 -5.15e+00 2.65e+08 1 1.43e-02 1.22e+00
45 2.553883e+04 1.35e-06 2.07e+09 7.59e-09 2.01e+00 7.94e+08 1 3.67e-02 1.25e+00
46 2.553883e+04 -6.04e-07 2.07e+09 3.90e-09 -5.70e-01 3.97e+08 1 1.43e-02 1.27e+00
47 2.553883e+04 -3.24e-06 2.07e+09 3.62e-09 -3.11e+00 9.93e+07 1 1.23e-02 1.28e+00
48 2.553883e+04 2.42e-06 1.30e+09 3.51e-09 2.35e+00 2.98e+08 1 3.15e-02 1.31e+00
49 2.553883e+04 -2.16e-06 1.30e+09 1.96e-09 -2.07e+00 1.49e+08 1 8.80e-03 1.32e+00
50 2.553883e+04 -5.71e-06 1.30e+09 1.74e-09 -5.54e+00 3.72e+07 1 1.17e-02 1.33e+00
I20260707 08:16:28.458176 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:28.458258 84886 bundle_adjustment.cc:942]
Residuals : 20634
Parameters : 9002
Iterations : 51
Time : 1.33209 [s]
Initial cost : 1.33428 [px]
Final cost : 1.11252 [px]
Termination : No convergence
I20260707 08:16:28.468202 84886 incremental_mapper.cc:175] => Completed observations: 29
I20260707 08:16:28.470733 84886 incremental_mapper.cc:178] => Merged observations: 8
I20260707 08:16:28.472164 84886 incremental_mapper.cc:160] => Filtered observations: 211
I20260707 08:16:28.472201 84886 incremental_mapper.cc:119] => Changed observations: 0.024038
I20260707 08:16:28.472218 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 5.425574e+03 0.00e+00 8.81e+03 0.00e+00 0.00e+00 1.00e+04 0 1.63e-02 4.00e-02
1 4.810489e+03 6.15e+02 7.39e+03 0.00e+00 9.81e-01 3.00e+04 1 2.38e-02 6.38e-02
2 4.722069e+03 8.84e+01 1.12e+04 2.85e+01 8.43e-01 4.44e+04 1 2.59e-02 8.97e-02
3 4.685577e+03 3.65e+01 3.88e+03 2.02e+01 9.79e-01 1.33e+05 1 3.41e-02 1.24e-01
4 4.680283e+03 5.29e+00 1.56e+03 1.14e+01 1.01e+00 3.99e+05 1 2.97e-02 1.54e-01
5 4.679861e+03 4.22e-01 1.24e+02 2.67e+00 1.09e+00 1.20e+06 1 2.68e-02 1.80e-01
6 4.679841e+03 1.99e-02 4.60e+00 2.43e-01 1.28e+00 3.59e+06 1 4.10e-02 2.22e-01
7 4.679839e+03 2.30e-03 1.60e+00 3.01e-02 1.38e+00 1.08e+07 1 3.97e-02 2.61e-01
8 4.679839e+03 3.60e-04 6.25e-01 9.98e-03 1.40e+00 3.23e+07 1 3.76e-02 2.99e-01
I20260707 08:16:28.781795 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:28.781884 84886 bundle_adjustment.cc:942]
Residuals : 20156
Parameters : 8747
Iterations : 9
Time : 0.300389 [s]
Initial cost : 0.518825 [px]
Final cost : 0.481852 [px]
Termination : Convergence
I20260707 08:16:28.808813 84886 incremental_mapper.cc:175] => Completed observations: 4
I20260707 08:16:28.817107 84886 incremental_mapper.cc:178] => Merged observations: 7
I20260707 08:16:28.820940 84886 incremental_mapper.cc:160] => Filtered observations: 28
I20260707 08:16:28.821017 84886 incremental_mapper.cc:119] => Changed observations: 0.003870
I20260707 08:16:28.821049 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 4.502587e+03 0.00e+00 5.28e+03 0.00e+00 0.00e+00 1.00e+04 0 2.41e-02 5.96e-02
1 4.464059e+03 3.85e+01 8.83e+02 0.00e+00 9.94e-01 3.00e+04 1 3.23e-02 9.21e-02
2 4.453128e+03 1.09e+01 8.78e+02 4.02e+00 1.00e+00 9.00e+04 1 3.40e-02 1.26e-01
3 4.451246e+03 1.88e+00 5.73e+02 3.97e+00 1.03e+00 2.70e+05 1 2.96e-02 1.56e-01
4 4.451070e+03 1.76e-01 6.12e+01 1.60e+00 1.09e+00 8.10e+05 1 3.41e-02 1.90e-01
5 4.451060e+03 1.01e-02 2.76e+00 2.80e-01 1.22e+00 2.43e+06 1 2.23e-02 2.12e-01
6 4.451059e+03 8.96e-04 1.62e+00 3.54e-02 1.35e+00 7.29e+06 1 2.71e-02 2.39e-01
7 4.451059e+03 1.29e-04 1.60e+00 7.77e-03 1.40e+00 2.19e+07 1 3.37e-02 2.73e-01
8 4.451059e+03 2.07e-05 1.08e+00 2.65e-03 1.40e+00 6.56e+07 1 3.71e-02 3.10e-01
9 4.451059e+03 3.39e-06 5.99e-01 1.03e-03 1.40e+00 1.97e+08 1 3.00e-02 3.40e-01
I20260707 08:16:29.184389 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:29.184615 84886 bundle_adjustment.cc:942]
Residuals : 20080
Parameters : 8708
Iterations : 10
Time : 0.34365 [s]
Initial cost : 0.473532 [px]
Final cost : 0.470815 [px]
Termination : Convergence
I20260707 08:16:29.221709 84886 incremental_mapper.cc:175] => Completed observations: 1
I20260707 08:16:29.233372 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:16:29.242887 84886 incremental_mapper.cc:160] => Filtered observations: 6
I20260707 08:16:29.243053 84886 incremental_mapper.cc:119] => Changed observations: 0.000697
I20260707 08:16:29.243124 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 4.413547e+03 0.00e+00 8.80e+02 0.00e+00 0.00e+00 1.00e+04 0 2.70e-02 9.48e-02
1 4.401895e+03 1.17e+01 2.27e+02 0.00e+00 1.00e+00 3.00e+04 1 3.44e-02 1.29e-01
2 4.399435e+03 2.46e+00 1.66e+02 1.26e+00 1.01e+00 9.00e+04 1 2.54e-02 1.55e-01
3 4.398987e+03 4.48e-01 3.91e+01 5.47e-01 1.05e+00 2.70e+05 1 3.49e-02 1.90e-01
4 4.398955e+03 3.14e-02 4.16e+00 6.38e-02 1.16e+00 8.10e+05 1 3.74e-02 2.27e-01
5 4.398953e+03 2.21e-03 1.73e+00 4.02e-02 1.28e+00 2.43e+06 1 3.28e-02 2.60e-01
6 4.398953e+03 2.54e-04 8.18e-01 1.25e-02 1.37e+00 7.29e+06 1 3.71e-02 2.97e-01
I20260707 08:16:29.573166 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:29.573335 84886 bundle_adjustment.cc:942]
Residuals : 20066
Parameters : 8702
Iterations : 7
Time : 0.299759 [s]
Initial cost : 0.46899 [px]
Final cost : 0.468214 [px]
Termination : Convergence
I20260707 08:16:29.601528 84886 incremental_mapper.cc:175] => Completed observations: 0
I20260707 08:16:29.608887 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:16:29.611244 84886 incremental_mapper.cc:160] => Filtered observations: 0
I20260707 08:16:29.611290 84886 incremental_mapper.cc:119] => Changed observations: 0.000000
I20260707 08:16:29.611307 84886 incremental_mapper.cc:167] => Filtered images: 0
I20260707 08:16:29.623888 84886 misc.cc:198]
==============================================================================
Registering image #144 (12)
==============================================================================
I20260707 08:16:29.623955 84886 incremental_mapper.cc:495] => Image sees 646 / 2828 points
I20260707 08:16:29.667342 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:16:29.667551 84886 bundle_adjustment.cc:942]
Residuals : 574
Parameters : 6
Iterations : 12
Time : 0.0203381 [s]
Initial cost : 0.802281 [px]
Final cost : 0.781033 [px]
Termination : Convergence
I20260707 08:16:29.672052 84886 incremental_mapper.cc:40] => Continued observations: 270
I20260707 08:16:29.685689 84886 incremental_mapper.cc:43] => Added observations: 1092
I20260707 08:16:30.077162 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:30.077239 84886 bundle_adjustment.cc:942]
Residuals : 13740
Parameters : 4028
Iterations : 26
Time : 0.376992 [s]
Initial cost : 0.918267 [px]
Final cost : 0.852453 [px]
Termination : No convergence
I20260707 08:16:30.086683 84886 incremental_mapper.cc:78] => Merged observations: 5
I20260707 08:16:30.086725 84886 incremental_mapper.cc:79] => Completed observations: 237
I20260707 08:16:30.086730 84886 incremental_mapper.cc:81] => Filtered observations: 627
I20260707 08:16:30.086732 84886 incremental_mapper.cc:90] => Changed observations: 0.112028
I20260707 08:16:30.131191 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:30.131260 84886 bundle_adjustment.cc:942]
Residuals : 12846
Parameters : 3389
Iterations : 4
Time : 0.0381939 [s]
Initial cost : 0.563275 [px]
Final cost : 0.524107 [px]
Termination : Convergence
I20260707 08:16:30.139726 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:16:30.139772 84886 incremental_mapper.cc:79] => Completed observations: 124
I20260707 08:16:30.139776 84886 incremental_mapper.cc:81] => Filtered observations: 19
I20260707 08:16:30.139778 84886 incremental_mapper.cc:90] => Changed observations: 0.019562
I20260707 08:16:30.139803 84886 misc.cc:198]
==============================================================================
Retriangulation
==============================================================================
I20260707 08:16:30.142007 84886 incremental_mapper.cc:175] => Completed observations: 31
I20260707 08:16:30.143988 84886 incremental_mapper.cc:178] => Merged observations: 8
I20260707 08:16:30.144007 84886 incremental_mapper.cc:105] => Retriangulated observations: 192
I20260707 08:16:30.144905 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 8.035531e+04 0.00e+00 5.76e+04 0.00e+00 0.00e+00 1.00e+04 0 1.03e-02 2.23e-02
1 6.282605e+04 1.75e+04 4.50e+03 0.00e+00 9.76e-01 3.00e+04 1 1.60e-02 3.83e-02
2 6.238639e+04 4.40e+02 2.36e+03 1.62e+01 9.81e-01 9.00e+04 1 1.87e-02 5.71e-02
3 6.238150e+04 4.89e+00 5.19e+02 8.32e+00 9.90e-01 2.70e+05 1 2.36e-02 8.07e-02
4 6.238124e+04 2.57e-01 6.08e+01 2.10e+00 1.04e+00 8.10e+05 1 1.91e-02 9.98e-02
5 6.238123e+04 7.57e-03 2.54e+00 3.08e-01 1.09e+00 2.43e+06 1 1.46e-02 1.14e-01
6 6.238123e+04 2.24e-04 1.35e+00 3.63e-02 1.13e+00 7.29e+06 1 1.66e-02 1.31e-01
7 6.238123e+04 8.98e-06 4.84e-01 6.85e-03 1.16e+00 2.19e+07 1 1.98e-02 1.51e-01
I20260707 08:16:30.305297 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:30.305354 84886 bundle_adjustment.cc:942]
Residuals : 22544
Parameters : 9824
Iterations : 8
Time : 0.152167 [s]
Initial cost : 1.88796 [px]
Final cost : 1.66346 [px]
Termination : Convergence
I20260707 08:16:30.315606 84886 incremental_mapper.cc:175] => Completed observations: 38
I20260707 08:16:30.319170 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:16:30.321368 84886 incremental_mapper.cc:160] => Filtered observations: 430
I20260707 08:16:30.321404 84886 incremental_mapper.cc:119] => Changed observations: 0.041519
I20260707 08:16:30.321425 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 5.853837e+03 0.00e+00 1.64e+04 0.00e+00 0.00e+00 1.00e+04 0 2.02e-02 4.69e-02
1 4.843767e+03 1.01e+03 1.46e+03 0.00e+00 9.89e-01 3.00e+04 1 3.68e-02 8.38e-02
2 4.811124e+03 3.26e+01 1.43e+03 1.86e+01 9.82e-01 9.00e+04 1 3.33e-02 1.17e-01
3 4.806170e+03 4.95e+00 7.86e+02 1.35e+01 1.00e+00 2.70e+05 1 3.44e-02 1.52e-01
4 4.805794e+03 3.76e-01 9.93e+01 4.77e+00 1.03e+00 8.10e+05 1 3.28e-02 1.85e-01
5 4.805783e+03 1.07e-02 2.96e+00 6.82e-01 1.08e+00 2.43e+06 1 2.99e-02 2.15e-01
6 4.805783e+03 2.06e-04 1.50e+00 5.15e-02 1.14e+00 7.29e+06 1 3.14e-02 2.46e-01
7 4.805783e+03 5.80e-06 5.81e-01 4.96e-03 1.21e+00 2.19e+07 1 2.47e-02 2.71e-01
I20260707 08:16:30.606302 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:30.606387 84886 bundle_adjustment.cc:942]
Residuals : 21700
Parameters : 9470
Iterations : 8
Time : 0.272477 [s]
Initial cost : 0.519386 [px]
Final cost : 0.4706 [px]
Termination : Convergence
I20260707 08:16:30.619513 84886 incremental_mapper.cc:175] => Completed observations: 49
I20260707 08:16:30.621847 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:16:30.623059 84886 incremental_mapper.cc:160] => Filtered observations: 6
I20260707 08:16:30.623080 84886 incremental_mapper.cc:119] => Changed observations: 0.005069
I20260707 08:16:30.623098 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 4.884332e+03 0.00e+00 2.16e+03 0.00e+00 0.00e+00 1.00e+04 0 1.01e-02 2.49e-02
1 4.790633e+03 9.37e+01 2.24e+02 0.00e+00 9.87e-01 3.00e+04 1 2.49e-02 4.98e-02
2 4.787490e+03 3.14e+00 2.64e+01 6.71e+00 1.03e+00 9.00e+04 1 2.99e-02 7.97e-02
3 4.787339e+03 1.52e-01 1.86e+01 1.90e+00 1.05e+00 2.70e+05 1 2.79e-02 1.08e-01
4 4.787330e+03 9.08e-03 2.91e+00 6.09e-01 1.06e+00 8.10e+05 1 1.94e-02 1.27e-01
5 4.787329e+03 3.20e-04 8.93e-01 1.00e-01 1.10e+00 2.43e+06 1 1.91e-02 1.46e-01
I20260707 08:16:30.780272 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:30.780339 84886 bundle_adjustment.cc:942]
Residuals : 21780
Parameters : 9467
Iterations : 6
Time : 0.147893 [s]
Initial cost : 0.473559 [px]
Final cost : 0.468833 [px]
Termination : Convergence
I20260707 08:16:30.789561 84886 incremental_mapper.cc:175] => Completed observations: 6
I20260707 08:16:30.791666 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:16:30.792634 84886 incremental_mapper.cc:160] => Filtered observations: 3
I20260707 08:16:30.792652 84886 incremental_mapper.cc:119] => Changed observations: 0.000826
I20260707 08:16:30.792665 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 4.781979e+03 0.00e+00 3.45e+02 0.00e+00 0.00e+00 1.00e+04 0 1.10e-02 2.24e-02
1 4.765712e+03 1.63e+01 1.75e+01 0.00e+00 9.98e-01 3.00e+04 1 2.62e-02 4.86e-02
2 4.765576e+03 1.36e-01 2.42e+00 1.75e+00 1.04e+00 9.00e+04 1 2.95e-02 7.82e-02
3 4.765571e+03 4.63e-03 1.78e+00 2.68e-01 1.08e+00 2.70e+05 1 2.19e-02 1.00e-01
4 4.765571e+03 1.71e-04 7.54e-01 4.79e-02 1.09e+00 8.10e+05 1 1.64e-02 1.17e-01
I20260707 08:16:30.917924 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:30.917971 84886 bundle_adjustment.cc:942]
Residuals : 21786
Parameters : 9467
Iterations : 5
Time : 0.117265 [s]
Initial cost : 0.468506 [px]
Final cost : 0.467701 [px]
Termination : Convergence
I20260707 08:16:30.928889 84886 incremental_mapper.cc:175] => Completed observations: 0
I20260707 08:16:30.931146 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:16:30.932376 84886 incremental_mapper.cc:160] => Filtered observations: 2
I20260707 08:16:30.932396 84886 incremental_mapper.cc:119] => Changed observations: 0.000184
I20260707 08:16:30.932407 84886 incremental_mapper.cc:167] => Filtered images: 0
I20260707 08:16:30.943496 84886 misc.cc:198]
==============================================================================
Registering image #143 (13)
==============================================================================
I20260707 08:16:30.943555 84886 incremental_mapper.cc:495] => Image sees 705 / 3118 points
I20260707 08:16:30.962383 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:16:30.962527 84886 bundle_adjustment.cc:942]
Residuals : 924
Parameters : 6
Iterations : 9
Time : 0.00862598 [s]
Initial cost : 0.573066 [px]
Final cost : 0.550902 [px]
Termination : Convergence
I20260707 08:16:30.963742 84886 incremental_mapper.cc:40] => Continued observations: 442
I20260707 08:16:30.972035 84886 incremental_mapper.cc:43] => Added observations: 1026
I20260707 08:16:31.353125 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:31.353260 84886 bundle_adjustment.cc:942]
Residuals : 15058
Parameters : 3971
Iterations : 26
Time : 0.360376 [s]
Initial cost : 0.868975 [px]
Final cost : 0.789152 [px]
Termination : No convergence
I20260707 08:16:31.373898 84886 incremental_mapper.cc:78] => Merged observations: 31
I20260707 08:16:31.373996 84886 incremental_mapper.cc:79] => Completed observations: 109
I20260707 08:16:31.374001 84886 incremental_mapper.cc:81] => Filtered observations: 530
I20260707 08:16:31.374004 84886 incremental_mapper.cc:90] => Changed observations: 0.081232
I20260707 08:16:31.447062 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:31.447199 84886 bundle_adjustment.cc:942]
Residuals : 14060
Parameters : 3470
Iterations : 3
Time : 0.0568161 [s]
Initial cost : 0.532958 [px]
Final cost : 0.505458 [px]
Termination : Convergence
I20260707 08:16:31.468118 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:16:31.468243 84886 incremental_mapper.cc:79] => Completed observations: 98
I20260707 08:16:31.468281 84886 incremental_mapper.cc:81] => Filtered observations: 10
I20260707 08:16:31.468284 84886 incremental_mapper.cc:90] => Changed observations: 0.013597
I20260707 08:16:31.479051 84886 misc.cc:198]
==============================================================================
Registering image #57 (14)
==============================================================================
I20260707 08:16:31.479166 84886 incremental_mapper.cc:495] => Image sees 310 / 3531 points
I20260707 08:16:31.495570 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:16:31.495679 84886 bundle_adjustment.cc:942]
Residuals : 312
Parameters : 6
Iterations : 30
Time : 0.00707889 [s]
Initial cost : 0.922864 [px]
Final cost : 0.8276 [px]
Termination : Convergence
I20260707 08:16:31.496032 84886 incremental_mapper.cc:40] => Continued observations: 156
I20260707 08:16:31.506345 84886 incremental_mapper.cc:43] => Added observations: 3182
I20260707 08:16:31.954102 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:31.954248 84886 bundle_adjustment.cc:942]
Residuals : 16220
Parameters : 6398
Iterations : 26
Time : 0.426739 [s]
Initial cost : 0.874638 [px]
Final cost : 0.653699 [px]
Termination : No convergence
I20260707 08:16:31.984876 84886 incremental_mapper.cc:78] => Merged observations: 10
I20260707 08:16:31.984972 84886 incremental_mapper.cc:79] => Completed observations: 116
I20260707 08:16:31.984979 84886 incremental_mapper.cc:81] => Filtered observations: 1674
I20260707 08:16:31.984983 84886 incremental_mapper.cc:90] => Changed observations: 0.189374
I20260707 08:16:32.066864 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:32.066979 84886 bundle_adjustment.cc:942]
Residuals : 13558
Parameters : 2819
Iterations : 3
Time : 0.0651209 [s]
Initial cost : 0.540984 [px]
Final cost : 0.513674 [px]
Termination : Convergence
I20260707 08:16:32.083534 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:16:32.083616 84886 incremental_mapper.cc:79] => Completed observations: 37
I20260707 08:16:32.083622 84886 incremental_mapper.cc:81] => Filtered observations: 4
I20260707 08:16:32.083626 84886 incremental_mapper.cc:90] => Changed observations: 0.005443
I20260707 08:16:32.083657 84886 misc.cc:198]
==============================================================================
Retriangulation
==============================================================================
I20260707 08:16:32.087916 84886 incremental_mapper.cc:175] => Completed observations: 25
I20260707 08:16:32.092257 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:16:32.092314 84886 incremental_mapper.cc:105] => Retriangulated observations: 215
I20260707 08:16:32.097386 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 9.011478e+04 0.00e+00 5.57e+04 0.00e+00 0.00e+00 1.00e+04 0 1.19e-02 3.24e-02
1 1.649918e+06 -1.56e+06 5.57e+04 0.00e+00 -4.25e+01 5.00e+03 1 7.52e-03 3.99e-02
2 2.732902e+05 -1.83e+05 5.57e+04 0.00e+00 -5.05e+00 1.25e+03 1 6.30e-03 4.63e-02
3 5.971327e+04 3.04e+04 7.66e+03 0.00e+00 8.77e-01 2.19e+03 1 1.79e-02 6.42e-02
4 5.464548e+04 5.07e+03 3.74e+03 3.64e+01 9.93e-01 6.57e+03 1 1.77e-02 8.19e-02
5 5.413816e+04 5.07e+02 4.68e+03 4.20e+01 9.59e-01 1.97e+04 1 1.81e-02 1.00e-01
6 5.400340e+04 1.35e+02 8.88e+03 2.28e+01 9.52e-01 5.92e+04 1 2.64e-02 1.26e-01
7 5.396571e+04 3.77e+01 4.22e+03 1.71e+01 1.02e+00 1.78e+05 1 1.87e-02 1.45e-01
8 5.395991e+04 5.80e+00 5.21e+02 5.56e+00 1.11e+00 5.33e+05 1 2.72e-02 1.72e-01
9 5.395954e+04 3.68e-01 2.58e+01 8.37e-01 1.28e+00 1.60e+06 1 3.12e-02 2.04e-01
10 5.395950e+04 4.03e-02 7.49e+00 1.05e-01 1.36e+00 4.79e+06 1 3.66e-02 2.40e-01
11 5.395950e+04 5.56e-03 3.22e+00 2.54e-02 1.38e+00 1.44e+07 1 2.72e-02 2.68e-01
12 5.395950e+04 8.20e-04 1.92e+00 9.07e-03 1.39e+00 4.31e+07 1 3.44e-02 3.02e-01
13 5.395950e+04 1.25e-04 1.23e+00 3.54e-03 1.39e+00 1.29e+08 1 3.65e-02 3.39e-01
14 5.395950e+04 1.93e-05 1.35e+00 1.42e-03 1.39e+00 3.88e+08 1 3.61e-02 3.75e-01
15 5.395950e+04 3.01e-06 1.19e+00 5.68e-04 1.39e+00 1.16e+09 1 3.12e-02 4.06e-01
16 5.395950e+04 4.70e-07 5.76e-01 2.28e-04 1.40e+00 3.49e+09 1 2.44e-02 4.31e-01
I20260707 08:16:32.546120 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:32.546221 84886 bundle_adjustment.cc:942]
Residuals : 25128
Parameters : 10616
Iterations : 17
Time : 0.432628 [s]
Initial cost : 1.89373 [px]
Final cost : 1.4654 [px]
Termination : Convergence
I20260707 08:16:32.560628 84886 incremental_mapper.cc:175] => Completed observations: 48
I20260707 08:16:32.563599 84886 incremental_mapper.cc:178] => Merged observations: 21
I20260707 08:16:32.565737 84886 incremental_mapper.cc:160] => Filtered observations: 437
I20260707 08:16:32.565768 84886 incremental_mapper.cc:119] => Changed observations: 0.040274
I20260707 08:16:32.565781 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 8.716831e+03 0.00e+00 2.07e+04 0.00e+00 0.00e+00 1.00e+04 0 1.31e-02 3.78e-02
1 6.892279e+03 1.82e+03 6.28e+03 0.00e+00 7.58e-01 1.16e+04 1 2.10e-02 5.89e-02
2 6.296371e+03 5.96e+02 4.31e+03 5.87e+01 8.82e-01 2.10e+04 1 1.85e-02 7.74e-02
3 6.196199e+03 1.00e+02 3.20e+03 3.52e+01 9.62e-01 6.29e+04 1 1.74e-02 9.48e-02
4 6.186073e+03 1.01e+01 1.63e+03 1.66e+01 9.99e-01 1.89e+05 1 2.08e-02 1.16e-01
5 6.185182e+03 8.91e-01 2.01e+02 5.26e+00 1.04e+00 5.66e+05 1 2.24e-02 1.38e-01
6 6.185150e+03 3.22e-02 1.00e+01 8.41e-01 1.12e+00 1.70e+06 1 3.05e-02 1.69e-01
7 6.185149e+03 1.18e-03 1.62e+00 8.57e-02 1.21e+00 5.09e+06 1 2.68e-02 1.96e-01
8 6.185149e+03 6.33e-05 8.91e-01 1.51e-02 1.24e+00 1.53e+07 1 2.53e-02 2.21e-01
I20260707 08:16:32.802702 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:32.802829 84886 bundle_adjustment.cc:942]
Residuals : 24268
Parameters : 10175
Iterations : 9
Time : 0.223181 [s]
Initial cost : 0.599325 [px]
Final cost : 0.504845 [px]
Termination : Convergence
I20260707 08:16:32.831107 84886 incremental_mapper.cc:175] => Completed observations: 54
I20260707 08:16:32.838902 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:16:32.844604 84886 incremental_mapper.cc:160] => Filtered observations: 32
I20260707 08:16:32.844683 84886 incremental_mapper.cc:119] => Changed observations: 0.007088
I20260707 08:16:32.844719 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 5.950764e+03 0.00e+00 1.97e+03 0.00e+00 0.00e+00 1.00e+04 0 1.80e-02 7.12e-02
1 5.815477e+03 1.35e+02 4.59e+02 0.00e+00 8.53e-01 1.54e+04 1 2.49e-02 9.61e-02
2 5.786992e+03 2.85e+01 1.29e+02 3.37e+01 9.70e-01 4.62e+04 1 2.41e-02 1.20e-01
3 5.785247e+03 1.75e+00 8.68e+01 1.15e+01 1.00e+00 1.39e+05 1 2.65e-02 1.47e-01
4 5.785195e+03 5.18e-02 1.42e+01 1.48e+00 1.05e+00 4.16e+05 1 2.42e-02 1.71e-01
5 5.785194e+03 1.26e-03 2.00e+00 1.15e-01 1.11e+00 1.25e+06 1 2.62e-02 1.97e-01
6 5.785194e+03 2.75e-05 3.01e-01 1.79e-02 1.15e+00 3.74e+06 1 2.56e-02 2.23e-01
I20260707 08:16:33.096551 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:33.096640 84886 bundle_adjustment.cc:942]
Residuals : 24302
Parameters : 10148
Iterations : 7
Time : 0.224495 [s]
Initial cost : 0.494841 [px]
Final cost : 0.487908 [px]
Termination : Convergence
I20260707 08:16:33.110762 84886 incremental_mapper.cc:175] => Completed observations: 7
I20260707 08:16:33.113719 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:16:33.115199 84886 incremental_mapper.cc:160] => Filtered observations: 8
I20260707 08:16:33.115224 84886 incremental_mapper.cc:119] => Changed observations: 0.001234
I20260707 08:16:33.115238 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 5.767858e+03 0.00e+00 1.64e+03 0.00e+00 0.00e+00 1.00e+04 0 1.22e-02 3.11e-02
1 5.746390e+03 2.15e+01 1.53e+01 0.00e+00 9.99e-01 3.00e+04 1 1.84e-02 4.95e-02
2 5.746171e+03 2.19e-01 2.71e+00 6.20e+00 1.03e+00 9.00e+04 1 2.00e-02 6.95e-02
3 5.746161e+03 9.53e-03 2.00e+00 1.14e+00 1.06e+00 2.70e+05 1 1.76e-02 8.72e-02
4 5.746161e+03 4.23e-04 1.24e+00 1.49e-01 1.11e+00 8.10e+05 1 1.42e-02 1.01e-01
5 5.746161e+03 1.71e-05 3.13e-01 2.43e-02 1.15e+00 2.43e+06 1 1.80e-02 1.19e-01
I20260707 08:16:33.249439 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:33.249519 84886 bundle_adjustment.cc:942]
Residuals : 24294
Parameters : 10139
Iterations : 6
Time : 0.122087 [s]
Initial cost : 0.487257 [px]
Final cost : 0.486339 [px]
Termination : Convergence
I20260707 08:16:33.258682 84886 incremental_mapper.cc:175] => Completed observations: 0
I20260707 08:16:33.260812 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:16:33.261871 84886 incremental_mapper.cc:160] => Filtered observations: 0
I20260707 08:16:33.261886 84886 incremental_mapper.cc:119] => Changed observations: 0.000000
I20260707 08:16:33.261894 84886 incremental_mapper.cc:167] => Filtered images: 0
I20260707 08:16:33.269310 84886 misc.cc:198]
==============================================================================
Registering image #115 (15)
==============================================================================
I20260707 08:16:33.269351 84886 incremental_mapper.cc:495] => Image sees 315 / 4496 points
I20260707 08:16:33.293664 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:16:33.293766 84886 bundle_adjustment.cc:942]
Residuals : 216
Parameters : 6
Iterations : 28
Time : 0.00534201 [s]
Initial cost : 0.964004 [px]
Final cost : 0.929836 [px]
Termination : Convergence
I20260707 08:16:33.294166 84886 incremental_mapper.cc:40] => Continued observations: 106
I20260707 08:16:33.302157 84886 incremental_mapper.cc:43] => Added observations: 1749
I20260707 08:16:33.661329 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:33.661388 84886 bundle_adjustment.cc:942]
Residuals : 12972
Parameters : 4109
Iterations : 26
Time : 0.34064 [s]
Initial cost : 1.23401 [px]
Final cost : 0.911407 [px]
Termination : No convergence
I20260707 08:16:33.670697 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:16:33.670748 84886 incremental_mapper.cc:79] => Completed observations: 202
I20260707 08:16:33.670754 84886 incremental_mapper.cc:81] => Filtered observations: 1102
I20260707 08:16:33.670756 84886 incremental_mapper.cc:90] => Changed observations: 0.196711
I20260707 08:16:33.708534 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:33.708582 84886 bundle_adjustment.cc:942]
Residuals : 7296
Parameters : 2048
Iterations : 8
Time : 0.0337448 [s]
Initial cost : 0.720814 [px]
Final cost : 0.63819 [px]
Termination : Convergence
I20260707 08:16:33.720767 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:16:33.720853 84886 incremental_mapper.cc:79] => Completed observations: 144
I20260707 08:16:33.720858 84886 incremental_mapper.cc:81] => Filtered observations: 46
I20260707 08:16:33.720860 84886 incremental_mapper.cc:90] => Changed observations: 0.044258
I20260707 08:16:33.720916 84886 misc.cc:198]
==============================================================================
Retriangulation
==============================================================================
I20260707 08:16:33.726929 84886 incremental_mapper.cc:175] => Completed observations: 16
I20260707 08:16:33.730990 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:16:33.731040 84886 incremental_mapper.cc:105] => Retriangulated observations: 430
I20260707 08:16:33.733363 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 1.465084e+05 0.00e+00 3.62e+05 0.00e+00 0.00e+00 1.00e+04 0 1.77e-02 3.10e-02
1 7.820640e+04 6.83e+04 4.03e+04 0.00e+00 9.69e-01 3.00e+04 1 4.27e-02 7.38e-02
2 7.582324e+04 2.38e+03 8.02e+03 1.12e+02 9.97e-01 9.00e+04 1 3.10e-02 1.05e-01
3 7.573686e+04 8.64e+01 2.85e+03 1.20e+02 1.05e+00 2.70e+05 1 4.45e-02 1.50e-01
4 7.571948e+04 1.74e+01 3.27e+02 1.03e+02 1.15e+00 8.10e+05 1 4.17e-02 1.91e-01
5 7.571617e+04 3.31e+00 8.16e+01 6.75e+01 1.25e+00 2.43e+06 1 2.71e-02 2.19e-01
6 7.571552e+04 6.47e-01 4.67e+01 3.31e+01 1.36e+00 7.29e+06 1 2.43e-02 2.43e-01
7 7.571539e+04 1.29e-01 2.09e+01 1.47e+01 1.45e+00 2.19e+07 1 2.00e-02 2.63e-01
8 7.571536e+04 2.81e-02 9.78e+00 6.57e+00 1.47e+00 6.56e+07 1 1.78e-02 2.81e-01
9 7.571536e+04 6.28e-03 4.56e+00 3.08e+00 1.47e+00 1.97e+08 1 2.15e-02 3.02e-01
10 7.571535e+04 1.41e-03 2.17e+00 1.44e+00 1.47e+00 5.90e+08 1 4.40e-02 3.46e-01
11 7.571535e+04 3.18e-04 1.09e+00 6.83e-01 1.47e+00 1.77e+09 1 4.61e-02 3.93e-01
12 7.571535e+04 7.15e-05 1.84e+00 3.22e-01 1.47e+00 5.31e+09 1 4.61e-02 4.39e-01
13 7.571535e+04 1.61e-05 1.65e+00 1.53e-01 1.47e+00 1.59e+10 1 3.61e-02 4.75e-01
14 7.571535e+04 3.62e-06 1.35e+00 7.23e-02 1.47e+00 4.78e+10 1 2.66e-02 5.02e-01
15 7.571535e+04 8.15e-07 4.46e-01 3.44e-02 1.47e+00 1.43e+11 1 2.17e-02 5.23e-01
I20260707 08:16:34.268095 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:34.268159 84886 bundle_adjustment.cc:942]
Residuals : 27148
Parameters : 11732
Iterations : 16
Time : 0.524324 [s]
Initial cost : 2.32307 [px]
Final cost : 1.67003 [px]
Termination : Convergence
I20260707 08:16:34.276489 84886 incremental_mapper.cc:175] => Completed observations: 38
I20260707 08:16:34.278792 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:16:34.280479 84886 incremental_mapper.cc:160] => Filtered observations: 905
I20260707 08:16:34.280494 84886 incremental_mapper.cc:119] => Changed observations: 0.069471
I20260707 08:16:34.280504 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 9.046549e+03 0.00e+00 3.14e+04 0.00e+00 0.00e+00 1.00e+04 0 1.00e-02 2.11e-02
1 7.370568e+03 1.68e+03 1.08e+04 0.00e+00 9.86e-01 3.00e+04 1 1.60e-02 3.71e-02
2 7.281264e+03 8.93e+01 8.56e+03 2.60e+01 8.99e-01 6.10e+04 1 2.62e-02 6.33e-02
3 7.256258e+03 2.50e+01 2.44e+03 1.97e+01 9.75e-01 1.83e+05 1 2.77e-02 9.11e-02
4 7.253560e+03 2.70e+00 3.43e+02 9.13e+00 1.02e+00 5.49e+05 1 2.42e-02 1.15e-01
5 7.253474e+03 8.57e-02 1.75e+01 1.56e+00 1.08e+00 1.65e+06 1 3.11e-02 1.47e-01
6 7.253472e+03 1.94e-03 1.99e+00 1.10e-01 1.21e+00 4.94e+06 1 2.71e-02 1.74e-01
7 7.253472e+03 9.98e-05 1.16e+00 9.19e-03 1.23e+00 1.48e+07 1 2.65e-02 2.00e-01
8 7.253472e+03 5.66e-06 2.59e-01 1.43e-03 1.24e+00 4.44e+07 1 2.72e-02 2.28e-01
I20260707 08:16:34.518684 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:34.518774 84886 bundle_adjustment.cc:942]
Residuals : 25244
Parameters : 10736
Iterations : 9
Time : 0.229646 [s]
Initial cost : 0.598635 [px]
Final cost : 0.536036 [px]
Termination : Convergence
I20260707 08:16:34.539906 84886 incremental_mapper.cc:175] => Completed observations: 38
I20260707 08:16:34.544868 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:16:34.547821 84886 incremental_mapper.cc:160] => Filtered observations: 51
I20260707 08:16:34.547871 84886 incremental_mapper.cc:119] => Changed observations: 0.007051
I20260707 08:16:34.547899 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 6.854440e+03 0.00e+00 6.57e+03 0.00e+00 0.00e+00 1.00e+04 0 1.87e-02 5.40e-02
1 6.455589e+03 3.99e+02 5.93e+02 0.00e+00 9.97e-01 3.00e+04 1 3.49e-02 8.90e-02
2 6.451412e+03 4.18e+00 1.16e+02 4.92e+00 1.02e+00 9.00e+04 1 3.77e-02 1.27e-01
3 6.451101e+03 3.11e-01 2.06e+01 8.02e-01 1.08e+00 2.70e+05 1 3.59e-02 1.63e-01
4 6.451076e+03 2.49e-02 2.94e+00 2.53e-01 1.17e+00 8.10e+05 1 4.20e-02 2.05e-01
5 6.451075e+03 1.48e-03 1.95e+00 4.46e-02 1.21e+00 2.43e+06 1 3.51e-02 2.40e-01
6 6.451074e+03 7.98e-05 5.27e-01 1.03e-02 1.22e+00 7.29e+06 1 3.81e-02 2.78e-01
I20260707 08:16:34.847221 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:34.847347 84886 bundle_adjustment.cc:942]
Residuals : 25206
Parameters : 10685
Iterations : 7
Time : 0.28073 [s]
Initial cost : 0.521476 [px]
Final cost : 0.505899 [px]
Termination : Convergence
I20260707 08:16:34.870002 84886 incremental_mapper.cc:175] => Completed observations: 3
I20260707 08:16:34.874825 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:16:34.877398 84886 incremental_mapper.cc:160] => Filtered observations: 19
I20260707 08:16:34.877480 84886 incremental_mapper.cc:119] => Changed observations: 0.001746
I20260707 08:16:34.877506 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 6.274909e+03 0.00e+00 3.38e+03 0.00e+00 0.00e+00 1.00e+04 0 2.25e-02 7.34e-02
1 6.182490e+03 9.24e+01 1.15e+02 0.00e+00 1.00e+00 3.00e+04 1 3.61e-02 1.10e-01
2 6.181703e+03 7.88e-01 3.71e+01 1.73e+00 1.01e+00 9.00e+04 1 3.18e-02 1.41e-01
3 6.181616e+03 8.69e-02 2.18e+01 8.02e-01 1.03e+00 2.70e+05 1 2.57e-02 1.67e-01
4 6.181609e+03 6.29e-03 3.43e+00 2.02e-01 1.07e+00 8.10e+05 1 2.79e-02 1.95e-01
5 6.181609e+03 2.35e-04 9.06e-01 2.35e-02 1.14e+00 2.43e+06 1 4.20e-02 2.37e-01
I20260707 08:16:35.140838 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:35.140965 84886 bundle_adjustment.cc:942]
Residuals : 25172
Parameters : 10667
Iterations : 6
Time : 0.239674 [s]
Initial cost : 0.499281 [px]
Final cost : 0.495555 [px]
Termination : Convergence
I20260707 08:16:35.165723 84886 incremental_mapper.cc:175] => Completed observations: 13
I20260707 08:16:35.173692 84886 incremental_mapper.cc:178] => Merged observations: 7
I20260707 08:16:35.179886 84886 incremental_mapper.cc:160] => Filtered observations: 2
I20260707 08:16:35.179977 84886 incremental_mapper.cc:119] => Changed observations: 0.001748
I20260707 08:16:35.180017 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 6.248607e+03 0.00e+00 4.36e+03 0.00e+00 0.00e+00 1.00e+04 0 2.56e-02 7.05e-02
1 6.207414e+03 4.12e+01 1.10e+01 0.00e+00 9.99e-01 3.00e+04 1 4.40e-02 1.15e-01
2 6.207253e+03 1.61e-01 1.00e+01 1.16e+00 1.01e+00 9.00e+04 1 2.64e-02 1.41e-01
3 6.207234e+03 1.90e-02 5.13e+00 4.75e-01 1.02e+00 2.70e+05 1 3.27e-02 1.74e-01
4 6.207232e+03 1.74e-03 1.98e+00 1.72e-01 1.04e+00 8.10e+05 1 3.72e-02 2.11e-01
5 6.207232e+03 6.19e-05 7.49e-01 2.71e-02 1.10e+00 2.43e+06 1 3.74e-02 2.49e-01
I20260707 08:16:35.458640 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:35.458762 84886 bundle_adjustment.cc:942]
Residuals : 25194
Parameters : 10664
Iterations : 6
Time : 0.250976 [s]
Initial cost : 0.498016 [px]
Final cost : 0.496364 [px]
Termination : Convergence
I20260707 08:16:35.483108 84886 incremental_mapper.cc:175] => Completed observations: 11
I20260707 08:16:35.489935 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:16:35.494297 84886 incremental_mapper.cc:160] => Filtered observations: 4
I20260707 08:16:35.494388 84886 incremental_mapper.cc:119] => Changed observations: 0.001191
I20260707 08:16:35.494410 84886 incremental_mapper.cc:167] => Filtered images: 0
I20260707 08:16:35.506772 84886 misc.cc:198]
==============================================================================
Registering image #52 (16)
==============================================================================
I20260707 08:16:35.506848 84886 incremental_mapper.cc:495] => Image sees 380 / 2675 points
I20260707 08:16:35.519656 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:16:35.519767 84886 bundle_adjustment.cc:942]
Residuals : 462
Parameters : 6
Iterations : 12
Time : 0.00453711 [s]
Initial cost : 0.799862 [px]
Final cost : 0.686246 [px]
Termination : Convergence
I20260707 08:16:35.520421 84886 incremental_mapper.cc:40] => Continued observations: 222
I20260707 08:16:35.532555 84886 incremental_mapper.cc:43] => Added observations: 1024
I20260707 08:16:35.852854 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:35.852933 84886 bundle_adjustment.cc:942]
Residuals : 14876
Parameters : 3623
Iterations : 26
Time : 0.302105 [s]
Initial cost : 0.964295 [px]
Final cost : 0.765977 [px]
Termination : No convergence
I20260707 08:16:35.868149 84886 incremental_mapper.cc:78] => Merged observations: 34
I20260707 08:16:35.868199 84886 incremental_mapper.cc:79] => Completed observations: 133
I20260707 08:16:35.868203 84886 incremental_mapper.cc:81] => Filtered observations: 529
I20260707 08:16:35.868206 84886 incremental_mapper.cc:90] => Changed observations: 0.082075
I20260707 08:16:35.910989 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:35.911056 84886 bundle_adjustment.cc:942]
Residuals : 14918
Parameters : 2999
Iterations : 3
Time : 0.035434 [s]
Initial cost : 0.575468 [px]
Final cost : 0.555608 [px]
Termination : Convergence
I20260707 08:16:35.924703 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:16:35.924744 84886 incremental_mapper.cc:79] => Completed observations: 89
I20260707 08:16:35.924749 84886 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 08:16:35.924751 84886 incremental_mapper.cc:90] => Changed observations: 0.011316
I20260707 08:16:35.931586 84886 misc.cc:198]
==============================================================================
Registering image #499 (17)
==============================================================================
I20260707 08:16:35.931620 84886 incremental_mapper.cc:495] => Image sees 411 / 2907 points
I20260707 08:16:35.943063 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:16:35.943112 84886 bundle_adjustment.cc:942]
Residuals : 494
Parameters : 6
Iterations : 29
Time : 0.00598693 [s]
Initial cost : 0.836594 [px]
Final cost : 0.717099 [px]
Termination : Convergence
I20260707 08:16:35.943346 84886 incremental_mapper.cc:40] => Continued observations: 235
I20260707 08:16:35.948738 84886 incremental_mapper.cc:43] => Added observations: 897
I20260707 08:16:36.111930 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:36.111981 84886 bundle_adjustment.cc:942]
Residuals : 10114
Parameters : 1976
Iterations : 26
Time : 0.157468 [s]
Initial cost : 0.981669 [px]
Final cost : 0.878004 [px]
Termination : No convergence
I20260707 08:16:36.119844 84886 incremental_mapper.cc:78] => Merged observations: 31
I20260707 08:16:36.119884 84886 incremental_mapper.cc:79] => Completed observations: 151
I20260707 08:16:36.119887 84886 incremental_mapper.cc:81] => Filtered observations: 493
I20260707 08:16:36.119889 84886 incremental_mapper.cc:90] => Changed observations: 0.108312
I20260707 08:16:36.134491 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:36.134528 84886 bundle_adjustment.cc:942]
Residuals : 7240
Parameters : 1361
Iterations : 3
Time : 0.0107009 [s]
Initial cost : 0.662157 [px]
Final cost : 0.63538 [px]
Termination : Convergence
I20260707 08:16:36.143777 84886 incremental_mapper.cc:78] => Merged observations: 11
I20260707 08:16:36.143829 84886 incremental_mapper.cc:79] => Completed observations: 81
I20260707 08:16:36.143834 84886 incremental_mapper.cc:81] => Filtered observations: 9
I20260707 08:16:36.143837 84886 incremental_mapper.cc:90] => Changed observations: 0.018953
I20260707 08:16:36.143860 84886 misc.cc:198]
==============================================================================
Retriangulation
==============================================================================
I20260707 08:16:36.148329 84886 incremental_mapper.cc:175] => Completed observations: 22
I20260707 08:16:36.154003 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:16:36.154090 84886 incremental_mapper.cc:105] => Retriangulated observations: 864
I20260707 08:16:36.163491 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 3.815620e+05 0.00e+00 7.91e+05 0.00e+00 0.00e+00 1.00e+04 0 1.98e-02 6.12e-02
1 2.377337e+05 1.44e+05 1.06e+06 0.00e+00 9.67e-01 3.00e+04 1 3.65e-02 9.78e-02
2 2.335783e+05 4.16e+03 2.74e+05 2.77e+01 8.61e-01 4.82e+04 1 3.16e-02 1.29e-01
3 2.329745e+05 6.04e+02 2.45e+05 4.36e+01 6.31e-01 4.90e+04 1 4.40e-02 1.73e-01
4 2.324976e+05 4.77e+02 4.16e+04 1.89e+01 8.12e-01 6.47e+04 1 7.09e-02 2.44e-01
5 2.322550e+05 2.43e+02 1.52e+04 1.38e+01 8.47e-01 9.74e+04 1 7.23e-02 3.17e-01
6 2.321710e+05 8.41e+01 1.83e+04 8.00e+00 8.47e-01 1.46e+05 1 7.16e-02 3.89e-01
7 2.321344e+05 3.66e+01 1.14e+04 3.57e+00 1.01e+00 4.38e+05 1 7.12e-02 4.60e-01
8 2.321159e+05 1.85e+01 6.84e+03 4.87e+00 1.12e+00 1.31e+06 1 7.06e-02 5.31e-01
9 2.321058e+05 1.01e+01 4.03e+03 1.06e+01 1.21e+00 3.94e+06 1 7.03e-02 6.01e-01
10 2.320999e+05 5.87e+00 2.84e+03 2.67e+01 1.28e+00 1.18e+07 1 7.31e-02 6.74e-01
11 2.320963e+05 3.60e+00 1.95e+03 7.83e+01 1.35e+00 3.55e+07 1 7.42e-02 7.49e-01
12 2.320941e+05 2.27e+00 1.55e+03 1.33e+02 1.57e+00 1.06e+08 1 7.43e-02 8.23e-01
13 2.320926e+05 1.49e+00 1.25e+03 9.89e+01 1.71e+00 3.19e+08 1 7.43e-02 8.97e-01
14 2.320915e+05 1.02e+00 1.07e+03 1.54e+02 1.72e+00 9.58e+08 1 7.19e-02 9.69e-01
15 2.320908e+05 7.07e-01 8.82e+02 2.25e+02 1.73e+00 2.88e+09 1 6.83e-02 1.04e+00
16 2.320903e+05 4.93e-01 7.53e+02 3.25e+02 1.74e+00 8.63e+09 1 7.10e-02 1.11e+00
17 2.320900e+05 3.46e-01 6.27e+02 4.69e+02 1.75e+00 2.59e+10 1 6.61e-02 1.18e+00
18 2.320898e+05 2.44e-01 5.34e+02 6.77e+02 1.76e+00 7.76e+10 1 5.74e-02 1.23e+00
19 2.320896e+05 1.72e-01 4.46e+02 9.77e+02 1.77e+00 2.33e+11 1 4.28e-02 1.28e+00
20 2.320895e+05 1.21e-01 3.78e+02 1.41e+03 1.77e+00 6.99e+11 1 2.23e-02 1.30e+00
21 2.320894e+05 8.52e-02 3.16e+02 2.03e+03 1.77e+00 2.10e+12 1 2.52e-02 1.32e+00
22 2.320893e+05 5.99e-02 2.67e+02 2.93e+03 1.78e+00 6.29e+12 1 3.75e-02 1.36e+00
23 2.320893e+05 4.22e-02 2.24e+02 4.23e+03 1.78e+00 1.89e+13 1 2.99e-02 1.39e+00
24 2.320892e+05 2.96e-02 1.88e+02 6.10e+03 1.78e+00 5.66e+13 1 2.33e-02 1.41e+00
25 2.320892e+05 2.08e-02 1.58e+02 8.80e+03 1.78e+00 1.70e+14 1 2.33e-02 1.44e+00
26 2.320892e+05 1.46e-02 1.32e+02 1.27e+04 1.79e+00 5.09e+14 1 2.13e-02 1.46e+00
27 2.320892e+05 1.02e-02 1.11e+02 1.83e+04 1.79e+00 1.53e+15 1 1.99e-02 1.48e+00
28 2.320892e+05 7.15e-03 9.29e+01 2.64e+04 1.79e+00 4.58e+15 1 2.11e-02 1.50e+00
29 2.320892e+05 5.01e-03 7.76e+01 3.81e+04 1.79e+00 1.00e+16 1 2.06e-02 1.52e+00
30 2.320892e+05 3.49e-03 6.50e+01 4.00e+04 1.80e+00 1.00e+16 1 1.94e-02 1.54e+00
31 2.320892e+05 2.43e-03 5.43e+01 2.29e+04 1.82e+00 1.00e+16 1 1.78e-02 1.56e+00
32 2.320892e+05 1.69e-03 4.54e+01 1.76e+04 1.82e+00 1.00e+16 1 2.38e-02 1.58e+00
33 2.320892e+05 1.18e-03 3.79e+01 1.47e+04 1.82e+00 1.00e+16 1 2.64e-02 1.61e+00
34 2.320892e+05 8.26e-04 3.17e+01 1.28e+04 1.82e+00 1.00e+16 1 3.52e-02 1.64e+00
35 2.320892e+05 5.77e-04 2.65e+01 1.14e+04 1.82e+00 1.00e+16 1 3.11e-02 1.67e+00
36 2.320892e+05 4.03e-04 2.22e+01 1.04e+04 1.82e+00 1.00e+16 1 1.83e-02 1.69e+00
37 2.320892e+05 2.82e-04 1.85e+01 9.56e+03 1.82e+00 1.00e+16 1 1.56e-02 1.71e+00
38 2.320892e+05 1.97e-04 1.55e+01 8.88e+03 1.81e+00 1.00e+16 1 4.09e-02 1.75e+00
39 2.320892e+05 1.38e-04 1.29e+01 8.31e+03 1.81e+00 1.00e+16 1 3.29e-02 1.78e+00
40 2.320892e+05 9.65e-05 1.08e+01 7.83e+03 1.80e+00 1.00e+16 1 3.47e-02 1.82e+00
41 2.320892e+05 6.77e-05 9.00e+00 7.41e+03 1.79e+00 1.00e+16 1 3.05e-02 1.85e+00
42 2.320892e+05 4.75e-05 7.52e+00 7.04e+03 1.78e+00 1.00e+16 1 3.62e-02 1.88e+00
43 2.320892e+05 3.35e-05 6.27e+00 6.72e+03 1.77e+00 1.00e+16 1 4.87e-02 1.93e+00
44 2.320892e+05 2.36e-05 5.24e+00 6.43e+03 1.75e+00 1.00e+16 1 4.56e-02 1.98e+00
45 2.320892e+05 1.68e-05 4.37e+00 6.17e+03 1.73e+00 1.00e+16 1 4.45e-02 2.02e+00
46 2.320892e+05 1.20e-05 3.65e+00 5.94e+03 1.70e+00 1.00e+16 1 4.58e-02 2.07e+00
47 2.320892e+05 8.58e-06 3.05e+00 5.72e+03 1.66e+00 1.00e+16 1 4.53e-02 2.11e+00
48 2.320892e+05 6.23e-06 2.55e+00 5.53e+03 1.62e+00 1.00e+16 1 4.42e-02 2.16e+00
49 2.320892e+05 4.57e-06 2.12e+00 5.35e+03 1.57e+00 1.00e+16 1 4.23e-02 2.20e+00
50 2.320892e+05 3.40e-06 1.77e+00 5.19e+03 1.51e+00 1.00e+16 1 4.54e-02 2.25e+00
I20260707 08:16:38.439109 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:38.439244 84886 bundle_adjustment.cc:942]
Residuals : 29850
Parameters : 12227
Iterations : 51
Time : 2.24958 [s]
Initial cost : 3.57528 [px]
Final cost : 2.7884 [px]
Termination : No convergence
I20260707 08:16:38.468396 84886 incremental_mapper.cc:175] => Completed observations: 92
I20260707 08:16:38.476673 84886 incremental_mapper.cc:178] => Merged observations: 16
I20260707 08:16:38.485203 84886 incremental_mapper.cc:160] => Filtered observations: 1408
I20260707 08:16:38.485284 84886 incremental_mapper.cc:119] => Changed observations: 0.101575
I20260707 08:16:38.485319 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 1.228707e+04 0.00e+00 5.83e+04 0.00e+00 0.00e+00 1.00e+04 0 2.54e-02 7.57e-02
1 8.283992e+03 4.00e+03 3.17e+04 0.00e+00 9.54e-01 3.00e+04 1 4.12e-02 1.17e-01
2 8.000737e+03 2.83e+02 1.39e+04 3.56e+01 8.48e-01 4.52e+04 1 4.10e-02 1.58e-01
3 7.916089e+03 8.46e+01 3.55e+03 2.84e+01 9.58e-01 1.36e+05 1 4.15e-02 2.00e-01
4 7.905195e+03 1.09e+01 1.23e+03 1.90e+01 9.66e-01 4.07e+05 1 4.20e-02 2.42e-01
5 7.904372e+03 8.22e-01 7.28e+01 5.34e+00 1.01e+00 1.22e+06 1 4.29e-02 2.85e-01
6 7.904366e+03 6.81e-03 1.91e+00 5.16e-01 1.05e+00 3.66e+06 1 3.12e-02 3.16e-01
7 7.904366e+03 5.36e-05 8.78e-01 2.90e-02 1.12e+00 1.10e+07 1 2.84e-02 3.45e-01
I20260707 08:16:38.858494 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:38.858615 84886 bundle_adjustment.cc:942]
Residuals : 27020
Parameters : 11093
Iterations : 8
Time : 0.346956 [s]
Initial cost : 0.674344 [px]
Final cost : 0.540867 [px]
Termination : Convergence
I20260707 08:16:38.881876 84886 incremental_mapper.cc:175] => Completed observations: 100
I20260707 08:16:38.890249 84886 incremental_mapper.cc:178] => Merged observations: 9
I20260707 08:16:38.895524 84886 incremental_mapper.cc:160] => Filtered observations: 68
I20260707 08:16:38.895596 84886 incremental_mapper.cc:119] => Changed observations: 0.013101
I20260707 08:16:38.895627 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 7.580412e+03 0.00e+00 1.21e+04 0.00e+00 0.00e+00 1.00e+04 0 2.55e-02 7.77e-02
1 7.250872e+03 3.30e+02 2.21e+03 0.00e+00 9.79e-01 3.00e+04 1 4.08e-02 1.19e-01
2 7.224875e+03 2.60e+01 7.23e+02 1.80e+00 1.06e+00 9.00e+04 1 4.08e-02 1.60e-01
3 7.220606e+03 4.27e+00 2.15e+02 1.63e+00 1.14e+00 2.70e+05 1 4.18e-02 2.01e-01
4 7.220140e+03 4.67e-01 2.72e+01 7.25e-01 1.22e+00 8.10e+05 1 4.01e-02 2.42e-01
5 7.220102e+03 3.80e-02 2.25e+00 1.74e-01 1.26e+00 2.43e+06 1 2.90e-02 2.71e-01
6 7.220099e+03 2.91e-03 1.93e+00 3.91e-02 1.27e+00 7.29e+06 1 2.75e-02 2.98e-01
7 7.220099e+03 2.19e-04 1.43e+00 9.78e-03 1.27e+00 2.19e+07 1 2.80e-02 3.26e-01
8 7.220099e+03 1.64e-05 5.52e-01 2.58e-03 1.27e+00 6.56e+07 1 2.80e-02 3.55e-01
I20260707 08:16:39.277905 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:39.277995 84886 bundle_adjustment.cc:942]
Residuals : 27030
Parameters : 11006
Iterations : 9
Time : 0.35676 [s]
Initial cost : 0.52957 [px]
Final cost : 0.516831 [px]
Termination : Convergence
I20260707 08:16:39.301508 84886 incremental_mapper.cc:175] => Completed observations: 12
I20260707 08:16:39.308069 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:16:39.312090 84886 incremental_mapper.cc:160] => Filtered observations: 13
I20260707 08:16:39.312182 84886 incremental_mapper.cc:119] => Changed observations: 0.001850
I20260707 08:16:39.312217 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 7.170385e+03 0.00e+00 5.65e+03 0.00e+00 0.00e+00 1.00e+04 0 1.67e-02 5.73e-02
1 7.089679e+03 8.07e+01 8.72e+01 0.00e+00 1.00e+00 3.00e+04 1 2.67e-02 8.41e-02
2 7.088966e+03 7.13e-01 4.58e+01 4.72e-01 1.08e+00 9.00e+04 1 3.09e-02 1.15e-01
3 7.088900e+03 6.57e-02 2.40e+01 3.97e-01 1.08e+00 2.70e+05 1 2.75e-02 1.43e-01
4 7.088895e+03 4.82e-03 2.34e+00 1.80e-01 1.08e+00 8.10e+05 1 2.83e-02 1.71e-01
5 7.088895e+03 1.68e-04 1.07e+00 3.27e-02 1.13e+00 2.43e+06 1 2.57e-02 1.97e-01
6 7.088895e+03 5.11e-06 2.88e-01 3.36e-03 1.19e+00 7.29e+06 1 2.20e-02 2.19e-01
I20260707 08:16:39.553946 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:39.554004 84886 bundle_adjustment.cc:942]
Residuals : 27022
Parameters : 10991
Iterations : 7
Time : 0.219906 [s]
Initial cost : 0.515125 [px]
Final cost : 0.512189 [px]
Termination : Convergence
I20260707 08:16:39.563265 84886 incremental_mapper.cc:175] => Completed observations: 3
I20260707 08:16:39.566143 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:16:39.567548 84886 incremental_mapper.cc:160] => Filtered observations: 6
I20260707 08:16:39.567588 84886 incremental_mapper.cc:119] => Changed observations: 0.000666
I20260707 08:16:39.567601 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 7.071764e+03 0.00e+00 9.41e+02 0.00e+00 0.00e+00 1.00e+04 0 1.28e-02 3.00e-02
1 7.058292e+03 1.35e+01 1.79e+01 0.00e+00 1.00e+00 3.00e+04 1 2.00e-02 5.00e-02
2 7.058269e+03 2.29e-02 1.96e+00 1.04e-01 1.05e+00 9.00e+04 1 1.96e-02 6.96e-02
3 7.058266e+03 3.14e-03 1.92e+00 5.15e-02 1.16e+00 2.70e+05 1 1.95e-02 8.92e-02
4 7.058265e+03 3.39e-04 1.40e+00 7.86e-03 1.24e+00 8.10e+05 1 2.08e-02 1.10e-01
5 7.058265e+03 2.91e-05 6.83e-01 2.34e-03 1.26e+00 2.43e+06 1 2.13e-02 1.31e-01
I20260707 08:16:39.710752 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:39.710799 84886 bundle_adjustment.cc:942]
Residuals : 27006
Parameters : 10979
Iterations : 6
Time : 0.132323 [s]
Initial cost : 0.511722 [px]
Final cost : 0.511233 [px]
Termination : Convergence
I20260707 08:16:39.719280 84886 incremental_mapper.cc:175] => Completed observations: 1
I20260707 08:16:39.721634 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:16:39.722749 84886 incremental_mapper.cc:160] => Filtered observations: 3
I20260707 08:16:39.722762 84886 incremental_mapper.cc:119] => Changed observations: 0.000296
I20260707 08:16:39.722769 84886 incremental_mapper.cc:167] => Filtered images: 0
I20260707 08:16:39.728648 84886 misc.cc:198]
==============================================================================
Registering image #503 (18)
==============================================================================
I20260707 08:16:39.728667 84886 incremental_mapper.cc:495] => Image sees 451 / 3001 points
I20260707 08:16:39.733769 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:16:39.733803 84886 bundle_adjustment.cc:942]
Residuals : 750
Parameters : 6
Iterations : 8
Time : 0.00237918 [s]
Initial cost : 0.620476 [px]
Final cost : 0.417183 [px]
Termination : Convergence
I20260707 08:16:39.734037 84886 incremental_mapper.cc:40] => Continued observations: 370
I20260707 08:16:39.740377 84886 incremental_mapper.cc:43] => Added observations: 652
I20260707 08:16:39.967000 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:39.967289 84886 bundle_adjustment.cc:942]
Residuals : 10150
Parameters : 2615
Iterations : 26
Time : 0.222189 [s]
Initial cost : 0.732366 [px]
Final cost : 0.584857 [px]
Termination : No convergence
I20260707 08:16:40.015506 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:16:40.015635 84886 incremental_mapper.cc:79] => Completed observations: 46
I20260707 08:16:40.015645 84886 incremental_mapper.cc:81] => Filtered observations: 255
I20260707 08:16:40.015650 84886 incremental_mapper.cc:90] => Changed observations: 0.053645
I20260707 08:16:40.163794 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:40.163993 84886 bundle_adjustment.cc:942]
Residuals : 9500
Parameters : 2270
Iterations : 7
Time : 0.127919 [s]
Initial cost : 0.543778 [px]
Final cost : 0.527738 [px]
Termination : Convergence
I20260707 08:16:40.208622 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:16:40.208776 84886 incremental_mapper.cc:79] => Completed observations: 54
I20260707 08:16:40.208789 84886 incremental_mapper.cc:81] => Filtered observations: 1
I20260707 08:16:40.208796 84886 incremental_mapper.cc:90] => Changed observations: 0.010405
I20260707 08:16:40.229101 84886 misc.cc:198]
==============================================================================
Registering image #514 (19)
==============================================================================
I20260707 08:16:40.229264 84886 incremental_mapper.cc:495] => Image sees 538 / 2022 points
I20260707 08:16:40.246563 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:16:40.246703 84886 bundle_adjustment.cc:942]
Residuals : 710
Parameters : 6
Iterations : 11
Time : 0.00582886 [s]
Initial cost : 0.71768 [px]
Final cost : 0.599414 [px]
Termination : Convergence
I20260707 08:16:40.247608 84886 incremental_mapper.cc:40] => Continued observations: 335
I20260707 08:16:40.260531 84886 incremental_mapper.cc:43] => Added observations: 2007
I20260707 08:16:40.600914 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:40.601043 84886 bundle_adjustment.cc:942]
Residuals : 11614
Parameters : 3062
Iterations : 26
Time : 0.326512 [s]
Initial cost : 0.820864 [px]
Final cost : 0.737244 [px]
Termination : No convergence
I20260707 08:16:40.626957 84886 incremental_mapper.cc:78] => Merged observations: 54
I20260707 08:16:40.627068 84886 incremental_mapper.cc:79] => Completed observations: 249
I20260707 08:16:40.627077 84886 incremental_mapper.cc:81] => Filtered observations: 323
I20260707 08:16:40.627081 84886 incremental_mapper.cc:90] => Changed observations: 0.089839
I20260707 08:16:40.694530 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:40.694657 84886 bundle_adjustment.cc:942]
Residuals : 11432
Parameters : 2795
Iterations : 3
Time : 0.0539861 [s]
Initial cost : 0.517898 [px]
Final cost : 0.484029 [px]
Termination : Convergence
I20260707 08:16:40.712174 84886 incremental_mapper.cc:78] => Merged observations: 10
I20260707 08:16:40.712266 84886 incremental_mapper.cc:79] => Completed observations: 52
I20260707 08:16:40.712271 84886 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 08:16:40.712275 84886 incremental_mapper.cc:90] => Changed observations: 0.010194
I20260707 08:16:40.712328 84886 misc.cc:198]
==============================================================================
Retriangulation
==============================================================================
I20260707 08:16:40.717885 84886 incremental_mapper.cc:175] => Completed observations: 14
I20260707 08:16:40.724396 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:16:40.724452 84886 incremental_mapper.cc:105] => Retriangulated observations: 463
I20260707 08:16:40.735361 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 2.092848e+05 0.00e+00 3.67e+05 0.00e+00 0.00e+00 1.00e+04 0 2.32e-02 1.05e-01
1 1.249900e+05 8.43e+04 7.56e+04 0.00e+00 9.69e-01 3.00e+04 1 3.56e-02 1.41e-01
2 1.226653e+05 2.32e+03 7.05e+04 3.09e+01 8.31e-01 4.23e+04 1 3.34e-02 1.74e-01
3 1.217416e+05 9.24e+02 9.20e+04 3.55e+01 9.40e-01 1.27e+05 1 3.20e-02 2.06e-01
4 1.212621e+05 4.80e+02 3.51e+05 1.02e+02 6.91e-01 1.34e+05 1 3.68e-02 2.43e-01
5 1.209025e+05 3.60e+02 1.31e+05 1.82e+02 7.76e-01 1.62e+05 1 2.98e-02 2.73e-01
6 1.207451e+05 1.57e+02 3.66e+04 2.66e+02 8.32e-01 2.29e+05 1 3.01e-02 3.03e-01
7 1.206861e+05 5.90e+01 8.94e+03 4.08e+02 9.31e-01 6.36e+05 1 3.20e-02 3.35e-01
8 1.206651e+05 2.10e+01 2.82e+03 1.18e+03 9.38e-01 1.91e+06 1 2.77e-02 3.63e-01
9 1.206553e+05 9.80e+00 1.04e+03 3.66e+03 9.51e-01 5.73e+06 1 2.71e-02 3.90e-01
10 1.206503e+05 4.98e+00 6.42e+02 1.12e+04 1.02e+00 1.72e+07 1 2.60e-02 4.16e-01
11 1.206475e+05 2.88e+00 4.56e+02 1.27e+04 1.28e+00 5.15e+07 1 4.80e-02 4.64e-01
12 1.206458e+05 1.62e+00 3.43e+02 1.27e+04 1.46e+00 1.55e+08 1 4.82e-02 5.12e-01
13 1.206449e+05 9.69e-01 2.68e+02 1.89e+04 1.66e+00 4.64e+08 1 5.15e-02 5.64e-01
14 1.206442e+05 6.34e-01 2.13e+02 2.74e+04 1.69e+00 1.39e+09 1 3.16e-02 5.95e-01
15 1.206438e+05 4.26e-01 1.71e+02 3.95e+04 1.71e+00 4.18e+09 1 2.79e-02 6.23e-01
16 1.206435e+05 2.90e-01 1.39e+02 5.71e+04 1.71e+00 1.25e+10 1 2.52e-02 6.49e-01
17 1.206433e+05 1.99e-01 1.14e+02 8.24e+04 1.71e+00 3.76e+10 1 2.33e-02 6.72e-01
18 1.206432e+05 1.38e-01 9.41e+01 1.19e+05 1.72e+00 1.13e+11 1 2.61e-02 6.98e-01
19 1.206431e+05 9.59e-02 7.81e+01 1.71e+05 1.72e+00 3.38e+11 1 2.40e-02 7.22e-01
20 1.206430e+05 6.70e-02 6.49e+01 2.47e+05 1.72e+00 1.01e+12 1 2.22e-02 7.44e-01
21 1.206430e+05 4.70e-02 5.42e+01 3.57e+05 1.73e+00 3.04e+12 1 2.36e-02 7.68e-01
22 1.206429e+05 3.31e-02 4.53e+01 5.15e+05 1.73e+00 9.13e+12 1 6.82e-02 8.36e-01
23 1.206429e+05 2.34e-02 3.80e+01 7.43e+05 1.73e+00 2.74e+13 1 2.86e-02 8.65e-01
24 1.206429e+05 1.65e-02 3.19e+01 1.07e+06 1.73e+00 8.22e+13 1 2.11e-02 8.86e-01
25 1.206429e+05 1.17e-02 2.68e+01 1.55e+06 1.74e+00 2.47e+14 1 2.16e-02 9.08e-01
26 1.206429e+05 8.31e-03 2.25e+01 2.23e+06 1.74e+00 7.40e+14 1 4.85e-02 9.56e-01
27 1.206429e+05 5.90e-03 1.90e+01 3.22e+06 1.74e+00 2.22e+15 1 6.11e-02 1.02e+00
28 1.206429e+05 4.20e-03 1.60e+01 4.64e+06 1.75e+00 6.66e+15 1 5.44e-02 1.07e+00
29 1.206429e+05 2.99e-03 1.35e+01 6.69e+06 1.75e+00 1.00e+16 1 2.73e-02 1.10e+00
30 1.206429e+05 2.10e-03 1.14e+01 4.83e+06 1.80e+00 1.00e+16 1 2.54e-02 1.12e+00
31 1.206429e+05 1.49e-03 9.60e+00 3.24e+06 1.82e+00 1.00e+16 1 2.26e-02 1.15e+00
32 1.206429e+05 1.06e-03 8.11e+00 2.58e+06 1.82e+00 1.00e+16 1 1.94e-02 1.17e+00
33 1.206429e+05 7.59e-04 6.85e+00 2.18e+06 1.82e+00 1.00e+16 1 1.97e-02 1.19e+00
34 1.206429e+05 5.43e-04 5.79e+00 1.92e+06 1.82e+00 1.00e+16 1 2.07e-02 1.21e+00
35 1.206429e+05 3.89e-04 4.89e+00 1.72e+06 1.82e+00 1.00e+16 1 3.77e-02 1.24e+00
36 1.206429e+05 2.79e-04 4.14e+00 1.57e+06 1.82e+00 1.00e+16 1 6.05e-02 1.31e+00
37 1.206429e+05 2.00e-04 3.50e+00 1.45e+06 1.81e+00 1.00e+16 1 6.13e-02 1.37e+00
38 1.206429e+05 1.44e-04 2.96e+00 1.35e+06 1.81e+00 1.00e+16 1 6.25e-02 1.43e+00
39 1.206429e+05 1.03e-04 2.50e+00 1.27e+06 1.80e+00 1.00e+16 1 6.23e-02 1.49e+00
40 1.206429e+05 7.45e-05 2.11e+00 1.19e+06 1.79e+00 1.00e+16 1 6.26e-02 1.55e+00
41 1.206429e+05 5.38e-05 1.79e+00 1.13e+06 1.77e+00 1.00e+16 1 6.24e-02 1.62e+00
42 1.206429e+05 3.90e-05 1.89e+00 1.08e+06 1.75e+00 1.00e+16 1 6.21e-02 1.68e+00
43 1.206429e+05 2.83e-05 1.70e+00 1.03e+06 1.73e+00 1.00e+16 1 5.73e-02 1.74e+00
44 1.206429e+05 2.07e-05 1.66e+00 9.85e+05 1.71e+00 1.00e+16 1 3.80e-02 1.77e+00
45 1.206429e+05 1.52e-05 1.97e+00 9.46e+05 1.68e+00 1.00e+16 1 4.11e-02 1.82e+00
46 1.206429e+05 1.13e-05 1.96e+00 9.11e+05 1.64e+00 1.00e+16 1 4.05e-02 1.86e+00
47 1.206429e+05 8.42e-06 1.75e+00 8.79e+05 1.59e+00 1.00e+16 1 3.25e-02 1.89e+00
48 1.206429e+05 6.36e-06 1.81e+00 8.50e+05 1.54e+00 1.00e+16 1 2.71e-02 1.92e+00
49 1.206429e+05 4.87e-06 1.94e+00 8.23e+05 1.49e+00 1.00e+16 1 2.96e-02 1.95e+00
50 1.206429e+05 3.79e-06 1.83e+00 7.98e+05 1.43e+00 1.00e+16 1 2.77e-02 1.97e+00
I20260707 08:16:42.735533 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:42.735589 84886 bundle_adjustment.cc:942]
Residuals : 33994
Parameters : 13433
Iterations : 51
Time : 1.97448 [s]
Initial cost : 2.48123 [px]
Final cost : 1.88386 [px]
Termination : No convergence
I20260707 08:16:42.746631 84886 incremental_mapper.cc:175] => Completed observations: 104
I20260707 08:16:42.750149 84886 incremental_mapper.cc:178] => Merged observations: 8
I20260707 08:16:42.752699 84886 incremental_mapper.cc:160] => Filtered observations: 862
I20260707 08:16:42.752722 84886 incremental_mapper.cc:119] => Changed observations: 0.057304
I20260707 08:16:42.752737 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 1.243031e+04 0.00e+00 6.21e+04 0.00e+00 0.00e+00 1.00e+04 0 2.29e-02 3.99e-02
1 8.489996e+03 3.94e+03 1.96e+05 0.00e+00 9.52e-01 3.00e+04 1 5.39e-02 9.38e-02
2 8.100769e+03 3.89e+02 9.55e+04 2.22e+01 8.25e-01 4.13e+04 1 5.19e-02 1.46e-01
3 7.940740e+03 1.60e+02 7.47e+04 9.04e+00 9.96e-01 1.24e+05 1 5.26e-02 1.99e-01
4 7.869576e+03 7.12e+01 2.94e+05 6.48e+00 8.99e-01 2.52e+05 1 4.29e-02 2.42e-01
5 7.806312e+03 6.33e+01 3.04e+05 1.75e+00 8.72e-01 4.29e+05 1 3.03e-02 2.72e-01
6 7.758451e+03 4.79e+01 2.35e+05 5.32e+00 9.27e-01 1.14e+06 1 2.26e-02 2.95e-01
7 7.733877e+03 2.46e+01 3.10e+05 1.42e+01 7.45e-01 1.29e+06 1 5.88e-02 3.53e-01
8 7.717628e+03 1.62e+01 9.82e+04 8.40e+00 9.73e-01 3.88e+06 1 6.27e-02 4.16e-01
9 7.714254e+03 3.37e+00 8.83e+04 8.09e+00 8.79e-01 6.90e+06 1 6.21e-02 4.78e-01
10 7.713332e+03 9.22e-01 9.35e+03 2.75e+00 1.02e+00 2.07e+07 1 6.20e-02 5.40e-01
11 7.713292e+03 4.00e-02 6.07e+02 7.34e-01 1.09e+00 6.21e+07 1 6.20e-02 6.02e-01
12 7.713290e+03 1.68e-03 1.36e+01 7.90e-02 1.20e+00 1.86e+08 1 4.64e-02 6.49e-01
13 7.713290e+03 9.73e-05 2.18e+00 6.72e-03 1.25e+00 5.59e+08 1 3.48e-02 6.84e-01
14 7.713290e+03 6.77e-06 8.33e-01 9.84e-04 1.26e+00 1.68e+09 1 2.85e-02 7.12e-01
I20260707 08:16:43.479869 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:43.479943 84886 bundle_adjustment.cc:942]
Residuals : 31814
Parameters : 12536
Iterations : 15
Time : 0.714235 [s]
Initial cost : 0.625075 [px]
Final cost : 0.492392 [px]
Termination : Convergence
I20260707 08:16:43.493502 84886 incremental_mapper.cc:175] => Completed observations: 97
I20260707 08:16:43.496660 84886 incremental_mapper.cc:178] => Merged observations: 8
I20260707 08:16:43.498123 84886 incremental_mapper.cc:160] => Filtered observations: 16
I20260707 08:16:43.498155 84886 incremental_mapper.cc:119] => Changed observations: 0.007607
I20260707 08:16:43.498168 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 7.844902e+03 0.00e+00 6.14e+03 0.00e+00 0.00e+00 1.00e+04 0 2.26e-02 4.30e-02
1 7.720356e+03 1.25e+02 1.39e+02 0.00e+00 1.00e+00 3.00e+04 1 2.37e-02 6.67e-02
2 7.719055e+03 1.30e+00 9.48e+01 1.51e+00 1.05e+00 9.00e+04 1 2.93e-02 9.60e-02
3 7.718697e+03 3.57e-01 1.24e+02 9.41e-01 1.05e+00 2.70e+05 1 2.71e-02 1.23e-01
4 7.718467e+03 2.30e-01 5.20e+02 2.95e-01 1.01e+00 8.10e+05 1 2.58e-02 1.49e-01
5 7.718121e+03 3.46e-01 1.49e+03 6.44e-01 1.01e+00 2.43e+06 1 2.76e-02 1.77e-01
6 7.717800e+03 3.21e-01 3.49e+03 1.28e+00 1.01e+00 7.29e+06 1 3.60e-02 2.13e-01
7 7.717688e+03 1.12e-01 2.82e+03 1.04e+00 1.04e+00 2.19e+07 1 2.62e-02 2.39e-01
8 7.717675e+03 1.32e-02 3.36e+02 3.04e-01 1.14e+00 6.56e+07 1 2.49e-02 2.64e-01
9 7.717674e+03 8.50e-04 2.86e+01 3.13e-02 1.22e+00 1.97e+08 1 2.57e-02 2.90e-01
10 7.717674e+03 5.35e-05 1.94e+00 2.74e-03 1.24e+00 5.90e+08 1 2.99e-02 3.20e-01
11 7.717674e+03 3.45e-06 6.85e-01 7.63e-04 1.25e+00 1.77e+09 1 4.59e-02 3.66e-01
I20260707 08:16:43.881712 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:43.881829 84886 bundle_adjustment.cc:942]
Residuals : 31974
Parameters : 12521
Iterations : 12
Time : 0.369057 [s]
Initial cost : 0.495331 [px]
Final cost : 0.491298 [px]
Termination : Convergence
I20260707 08:16:43.914981 84886 incremental_mapper.cc:175] => Completed observations: 9
I20260707 08:16:43.925165 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:16:43.927868 84886 incremental_mapper.cc:160] => Filtered observations: 7
I20260707 08:16:43.927902 84886 incremental_mapper.cc:119] => Changed observations: 0.001001
I20260707 08:16:43.927920 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 7.711547e+03 0.00e+00 9.58e+02 0.00e+00 0.00e+00 1.00e+04 0 1.77e-02 4.63e-02
1 7.674388e+03 3.72e+01 1.39e+02 0.00e+00 1.00e+00 3.00e+04 1 2.70e-02 7.33e-02
2 7.674331e+03 5.71e-02 3.36e+01 9.93e-02 1.01e+00 9.00e+04 1 3.54e-02 1.09e-01
3 7.674321e+03 9.84e-03 2.76e+01 8.18e-02 1.03e+00 2.70e+05 1 2.63e-02 1.35e-01
4 7.674309e+03 1.15e-02 1.46e+02 1.91e-01 1.01e+00 8.10e+05 1 3.79e-02 1.73e-01
5 7.674292e+03 1.67e-02 5.57e+02 3.24e-01 1.01e+00 2.43e+06 1 5.41e-02 2.27e-01
6 7.674279e+03 1.36e-02 9.67e+02 3.24e-01 1.02e+00 7.29e+06 1 3.26e-02 2.60e-01
7 7.674274e+03 4.73e-03 4.87e+02 1.67e-01 1.07e+00 2.19e+07 1 3.13e-02 2.91e-01
8 7.674273e+03 6.29e-04 5.62e+01 4.15e-02 1.17e+00 6.56e+07 1 3.90e-02 3.30e-01
9 7.674273e+03 4.78e-05 2.80e+00 6.35e-03 1.22e+00 1.97e+08 1 4.13e-02 3.72e-01
10 7.674273e+03 3.06e-06 7.78e-01 1.16e-03 1.24e+00 5.90e+08 1 4.46e-02 4.16e-01
I20260707 08:16:44.363080 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:44.363173 84886 bundle_adjustment.cc:942]
Residuals : 31972
Parameters : 12515
Iterations : 11
Time : 0.419159 [s]
Initial cost : 0.491118 [px]
Final cost : 0.48993 [px]
Termination : Convergence
I20260707 08:16:44.383525 84886 incremental_mapper.cc:175] => Completed observations: 5
I20260707 08:16:44.388926 84886 incremental_mapper.cc:178] => Merged observations: 11
I20260707 08:16:44.391856 84886 incremental_mapper.cc:160] => Filtered observations: 2
I20260707 08:16:44.391904 84886 incremental_mapper.cc:119] => Changed observations: 0.001126
I20260707 08:16:44.391947 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 7.704190e+03 0.00e+00 1.24e+03 0.00e+00 0.00e+00 1.00e+04 0 2.66e-02 9.42e-02
1 7.666985e+03 3.72e+01 1.31e+01 0.00e+00 1.00e+00 3.00e+04 1 3.51e-02 1.29e-01
2 7.666966e+03 1.87e-02 3.07e+00 5.06e-02 1.01e+00 9.00e+04 1 2.82e-02 1.58e-01
3 7.666963e+03 3.28e-03 2.00e+00 4.66e-02 1.02e+00 2.70e+05 1 2.36e-02 1.81e-01
4 7.666963e+03 3.14e-04 1.46e+00 2.12e-02 1.06e+00 8.10e+05 1 4.67e-02 2.28e-01
5 7.666963e+03 5.27e-05 1.92e+00 1.14e-02 1.02e+00 2.43e+06 1 4.23e-02 2.70e-01
6 7.666963e+03 4.44e-05 3.09e+00 1.40e-02 1.02e+00 7.29e+06 1 3.12e-02 3.02e-01
7 7.666963e+03 1.65e-05 1.76e+00 9.49e-03 1.06e+00 2.19e+07 1 3.93e-02 3.41e-01
8 7.666963e+03 2.12e-06 9.47e-01 2.77e-03 1.16e+00 6.56e+07 1 5.18e-02 3.93e-01
I20260707 08:16:44.817260 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:44.817354 84886 bundle_adjustment.cc:942]
Residuals : 31978
Parameters : 12512
Iterations : 9
Time : 0.39545 [s]
Initial cost : 0.490838 [px]
Final cost : 0.48965 [px]
Termination : Convergence
I20260707 08:16:44.834656 84886 incremental_mapper.cc:175] => Completed observations: 0
I20260707 08:16:44.838634 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:16:44.840559 84886 incremental_mapper.cc:160] => Filtered observations: 3
I20260707 08:16:44.840590 84886 incremental_mapper.cc:119] => Changed observations: 0.000188
I20260707 08:16:44.840605 84886 incremental_mapper.cc:167] => Filtered images: 0
I20260707 08:16:44.854012 84886 misc.cc:198]
==============================================================================
Registering image #526 (20)
==============================================================================
I20260707 08:16:44.854172 84886 incremental_mapper.cc:495] => Image sees 933 / 1650 points
I20260707 08:16:44.884155 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:16:44.884296 84886 bundle_adjustment.cc:942]
Residuals : 1776
Parameters : 6
Iterations : 9
Time : 0.020148 [s]
Initial cost : 0.751361 [px]
Final cost : 0.544672 [px]
Termination : Convergence
I20260707 08:16:44.886094 84886 incremental_mapper.cc:40] => Continued observations: 776
I20260707 08:16:44.899626 84886 incremental_mapper.cc:43] => Added observations: 1361
I20260707 08:16:45.384248 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:45.384362 84886 bundle_adjustment.cc:942]
Residuals : 21398
Parameters : 4904
Iterations : 26
Time : 0.447787 [s]
Initial cost : 0.732203 [px]
Final cost : 0.662922 [px]
Termination : No convergence
I20260707 08:16:45.416424 84886 incremental_mapper.cc:78] => Merged observations: 221
I20260707 08:16:45.416517 84886 incremental_mapper.cc:79] => Completed observations: 298
I20260707 08:16:45.416530 84886 incremental_mapper.cc:81] => Filtered observations: 550
I20260707 08:16:45.416536 84886 incremental_mapper.cc:90] => Changed observations: 0.091282
I20260707 08:16:45.549611 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:45.549788 84886 bundle_adjustment.cc:942]
Residuals : 20346
Parameters : 3788
Iterations : 3
Time : 0.118248 [s]
Initial cost : 0.520147 [px]
Final cost : 0.498847 [px]
Termination : Convergence
I20260707 08:16:45.605872 84886 incremental_mapper.cc:78] => Merged observations: 30
I20260707 08:16:45.606034 84886 incremental_mapper.cc:79] => Completed observations: 171
I20260707 08:16:45.606113 84886 incremental_mapper.cc:81] => Filtered observations: 7
I20260707 08:16:45.606127 84886 incremental_mapper.cc:90] => Changed observations: 0.019060
I20260707 08:16:45.624100 84886 misc.cc:198]
==============================================================================
Registering image #35 (21)
==============================================================================
I20260707 08:16:45.624287 84886 incremental_mapper.cc:495] => Image sees 662 / 1605 points
I20260707 08:16:45.657444 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:16:45.657553 84886 bundle_adjustment.cc:942]
Residuals : 1268
Parameters : 6
Iterations : 12
Time : 0.0227392 [s]
Initial cost : 0.629297 [px]
Final cost : 0.518974 [px]
Termination : Convergence
I20260707 08:16:45.658499 84886 incremental_mapper.cc:40] => Continued observations: 562
I20260707 08:16:45.663237 84886 incremental_mapper.cc:43] => Added observations: 614
I20260707 08:16:46.208853 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:46.209048 84886 bundle_adjustment.cc:942]
Residuals : 14358
Parameters : 2774
Iterations : 26
Time : 0.528971 [s]
Initial cost : 0.725496 [px]
Final cost : 0.639517 [px]
Termination : No convergence
I20260707 08:16:46.264281 84886 incremental_mapper.cc:78] => Merged observations: 106
I20260707 08:16:46.264451 84886 incremental_mapper.cc:79] => Completed observations: 211
I20260707 08:16:46.264461 84886 incremental_mapper.cc:81] => Filtered observations: 318
I20260707 08:16:46.264467 84886 incremental_mapper.cc:90] => Changed observations: 0.074794
I20260707 08:16:46.355983 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:46.356088 84886 bundle_adjustment.cc:942]
Residuals : 13062
Parameters : 2021
Iterations : 3
Time : 0.0669448 [s]
Initial cost : 0.546205 [px]
Final cost : 0.52527 [px]
Termination : Convergence
I20260707 08:16:46.375293 84886 incremental_mapper.cc:78] => Merged observations: 11
I20260707 08:16:46.375355 84886 incremental_mapper.cc:79] => Completed observations: 75
I20260707 08:16:46.375362 84886 incremental_mapper.cc:81] => Filtered observations: 1
I20260707 08:16:46.375368 84886 incremental_mapper.cc:90] => Changed observations: 0.012002
I20260707 08:16:46.375418 84886 misc.cc:198]
==============================================================================
Retriangulation
==============================================================================
I20260707 08:16:46.382843 84886 incremental_mapper.cc:175] => Completed observations: 88
I20260707 08:16:46.390322 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:16:46.390362 84886 incremental_mapper.cc:105] => Retriangulated observations: 593
I20260707 08:16:46.394487 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 1.882024e+05 0.00e+00 3.72e+05 0.00e+00 0.00e+00 1.00e+04 0 1.88e-02 4.21e-02
1 2.615056e+05 -7.33e+04 3.72e+05 0.00e+00 -8.61e-01 5.00e+03 1 3.67e-02 7.88e-02
2 1.166113e+05 7.16e+04 4.22e+04 0.00e+00 8.42e-01 7.35e+03 1 3.52e-02 1.14e-01
3 1.048418e+05 1.18e+04 3.41e+03 2.16e+01 8.73e-01 1.25e+04 1 6.23e-02 1.76e-01
4 1.029397e+05 1.90e+03 3.94e+03 2.49e+01 9.42e-01 3.76e+04 1 6.78e-02 2.44e-01
5 1.024335e+05 5.06e+02 3.89e+04 4.90e+01 1.06e+00 1.13e+05 1 6.90e-02 3.13e-01
6 1.020591e+05 3.74e+02 2.17e+05 1.42e+02 9.69e-01 3.39e+05 1 4.94e-02 3.63e-01
7 1.018254e+05 2.34e+02 1.59e+05 4.63e+02 8.78e-01 5.97e+05 1 4.62e-02 4.09e-01
8 1.017359e+05 8.96e+01 3.19e+04 9.12e+02 8.51e-01 9.11e+05 1 5.26e-02 4.62e-01
9 1.017097e+05 2.62e+01 9.08e+03 1.52e+03 8.25e-01 1.26e+06 1 4.12e-02 5.03e-01
10 1.016999e+05 9.77e+00 6.74e+02 2.19e+03 8.72e-01 2.14e+06 1 3.78e-02 5.41e-01
11 1.016957e+05 4.26e+00 5.94e+02 3.69e+03 7.98e-01 2.71e+06 1 3.66e-02 5.78e-01
12 1.016937e+05 1.96e+00 3.88e+02 4.74e+03 7.98e-01 3.44e+06 1 3.01e-02 6.08e-01
13 1.016928e+05 9.01e-01 3.15e+02 5.63e+03 7.22e-01 3.77e+06 1 2.96e-02 6.37e-01
14 1.016924e+05 4.45e-01 2.21e+02 5.29e+03 6.69e-01 3.93e+06 1 5.48e-02 6.92e-01
15 1.016921e+05 2.29e-01 1.99e+02 5.02e+03 5.93e-01 3.95e+06 1 9.49e-02 7.87e-01
16 1.016920e+05 1.30e-01 1.30e+02 4.57e+03 5.39e-01 3.95e+06 1 1.03e-01 8.91e-01
17 1.016919e+05 7.63e-02 1.27e+02 3.54e+03 4.97e-01 3.95e+06 1 9.91e-02 9.90e-01
18 1.016919e+05 4.96e-02 8.04e+01 2.98e+03 4.76e-01 3.95e+06 1 8.36e-02 1.07e+00
19 1.016918e+05 3.55e-02 8.31e+01 2.62e+03 4.80e-01 3.95e+06 1 4.59e-02 1.12e+00
20 1.016918e+05 2.59e-02 5.34e+01 2.30e+03 4.90e-01 3.95e+06 1 3.09e-02 1.15e+00
21 1.016918e+05 2.01e-02 5.58e+01 2.04e+03 5.16e-01 3.95e+06 1 3.19e-02 1.18e+00
22 1.016918e+05 1.61e-02 3.98e+01 1.86e+03 5.49e-01 3.96e+06 1 5.17e-02 1.23e+00
23 1.016918e+05 1.34e-02 3.81e+01 1.71e+03 5.91e-01 3.98e+06 1 2.64e-02 1.26e+00
24 1.016918e+05 1.13e-02 2.90e+01 1.60e+03 6.36e-01 4.06e+06 1 5.42e-02 1.31e+00
25 1.016917e+05 9.98e-03 2.63e+01 1.53e+03 6.86e-01 4.28e+06 1 3.50e-02 1.35e+00
26 1.016917e+05 9.16e-03 2.08e+01 1.52e+03 7.38e-01 4.80e+06 1 2.37e-02 1.37e+00
27 1.016917e+05 8.99e-03 1.83e+01 1.61e+03 7.93e-01 6.01e+06 1 3.24e-02 1.41e+00
28 1.016917e+05 9.81e-03 1.48e+01 1.90e+03 8.46e-01 8.99e+06 1 4.60e-02 1.45e+00
29 1.016917e+05 1.25e-02 1.27e+01 2.65e+03 8.88e-01 1.69e+07 1 4.93e-02 1.50e+00
30 1.016917e+05 1.91e-02 1.04e+01 4.56e+03 8.99e-01 3.45e+07 1 5.77e-02 1.56e+00
31 1.016917e+05 2.78e-02 8.96e+00 8.03e+03 8.78e-01 6.06e+07 1 3.04e-02 1.59e+00
32 1.016916e+05 3.00e-02 7.34e+00 1.12e+04 8.60e-01 9.66e+07 1 4.10e-02 1.63e+00
33 1.016916e+05 2.70e-02 6.24e+00 1.34e+04 8.57e-01 1.52e+08 1 4.94e-02 1.68e+00
34 1.016916e+05 2.36e-02 5.17e+00 1.57e+04 8.57e-01 2.39e+08 1 4.52e-02 1.73e+00
35 1.016916e+05 2.05e-02 4.37e+00 1.83e+04 8.57e-01 3.76e+08 1 5.32e-02 1.78e+00
36 1.016915e+05 1.77e-02 3.64e+00 2.14e+04 8.57e-01 5.91e+08 1 4.85e-02 1.83e+00
37 1.016915e+05 1.53e-02 3.06e+00 2.49e+04 8.58e-01 9.32e+08 1 6.64e-02 1.89e+00
38 1.016915e+05 1.32e-02 2.55e+00 2.90e+04 8.58e-01 1.47e+09 1 6.65e-02 1.96e+00
39 1.016915e+05 1.14e-02 2.15e+00 3.38e+04 8.58e-01 2.32e+09 1 6.71e-02 2.03e+00
40 1.016915e+05 9.78e-03 1.83e+00 3.94e+04 8.58e-01 3.66e+09 1 5.67e-02 2.08e+00
41 1.016915e+05 8.41e-03 1.93e+00 4.59e+04 8.58e-01 5.78e+09 1 3.82e-02 2.12e+00
42 1.016915e+05 7.24e-03 1.77e+00 5.36e+04 8.58e-01 9.13e+09 1 3.39e-02 2.16e+00
43 1.016915e+05 6.22e-03 1.41e+00 6.24e+04 8.58e-01 1.44e+10 1 3.19e-02 2.19e+00
44 1.016915e+05 5.35e-03 1.55e+00 7.28e+04 8.58e-01 2.28e+10 1 2.87e-02 2.22e+00
45 1.016915e+05 4.59e-03 1.80e+00 8.48e+04 8.58e-01 3.60e+10 1 4.71e-02 2.26e+00
46 1.016915e+05 3.95e-03 1.78e+00 9.88e+04 8.58e-01 5.70e+10 1 4.42e-02 2.31e+00
47 1.016915e+05 3.39e-03 1.77e+00 1.15e+05 8.58e-01 9.01e+10 1 4.22e-02 2.35e+00
48 1.016914e+05 2.91e-03 1.40e+00 1.34e+05 8.58e-01 1.42e+11 1 4.60e-02 2.40e+00
49 1.016914e+05 2.50e-03 1.47e+00 1.56e+05 8.58e-01 2.25e+11 1 7.09e-02 2.47e+00
50 1.016914e+05 2.15e-03 8.66e-01 1.82e+05 8.58e-01 3.56e+11 1 7.06e-02 2.54e+00
I20260707 08:16:48.960990 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:48.961110 84886 bundle_adjustment.cc:942]
Residuals : 39260
Parameters : 14309
Iterations : 51
Time : 2.54463 [s]
Initial cost : 2.18946 [px]
Final cost : 1.60941 [px]
Termination : No convergence
I20260707 08:16:49.009366 84886 incremental_mapper.cc:175] => Completed observations: 202
I20260707 08:16:49.022864 84886 incremental_mapper.cc:178] => Merged observations: 7
I20260707 08:16:49.036049 84886 incremental_mapper.cc:160] => Filtered observations: 926
I20260707 08:16:49.036171 84886 incremental_mapper.cc:119] => Changed observations: 0.057820
I20260707 08:16:49.036223 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 1.447711e+04 0.00e+00 4.97e+04 0.00e+00 0.00e+00 1.00e+04 0 2.25e-02 6.99e-02
1 9.889845e+03 4.59e+03 6.38e+04 0.00e+00 9.86e-01 3.00e+04 1 3.27e-02 1.03e-01
2 9.616973e+03 2.73e+02 9.43e+04 1.70e+01 1.03e+00 9.00e+04 1 2.97e-02 1.32e-01
3 9.545899e+03 7.11e+01 2.74e+05 1.24e+01 9.74e-01 2.70e+05 1 3.27e-02 1.65e-01
4 9.501109e+03 4.48e+01 5.56e+05 1.31e+01 7.86e-01 3.32e+05 1 3.03e-02 1.95e-01
5 9.462146e+03 3.90e+01 3.15e+05 1.08e+01 8.92e-01 6.39e+05 1 2.69e-02 2.22e-01
6 9.437684e+03 2.45e+01 3.85e+05 1.46e+01 7.35e-01 7.13e+05 1 4.20e-02 2.64e-01
7 9.416780e+03 2.09e+01 2.46e+05 1.30e+01 8.90e-01 1.36e+06 1 4.76e-02 3.12e-01
8 9.407128e+03 9.65e+00 2.42e+05 1.43e+01 8.15e-01 1.82e+06 1 4.16e-02 3.54e-01
9 9.402204e+03 4.92e+00 1.00e+05 1.01e+01 9.20e-01 4.47e+06 1 4.68e-02 4.01e-01
10 9.400990e+03 1.21e+00 3.58e+04 6.63e+00 9.53e-01 1.34e+07 1 4.59e-02 4.47e-01
11 9.400847e+03 1.43e-01 3.39e+03 2.11e+00 1.02e+00 4.03e+07 1 5.93e-02 5.06e-01
12 9.400844e+03 2.63e-03 8.65e+01 2.59e-01 1.09e+00 1.21e+08 1 6.13e-02 5.67e-01
13 9.400844e+03 5.48e-05 1.86e+00 2.15e-02 1.18e+00 3.62e+08 1 6.62e-02 6.34e-01
14 9.400844e+03 2.00e-06 5.33e-01 2.28e-03 1.20e+00 1.09e+09 1 3.97e-02 6.73e-01
I20260707 08:16:49.765213 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:49.765304 84886 bundle_adjustment.cc:942]
Residuals : 37458
Parameters : 13517
Iterations : 15
Time : 0.676622 [s]
Initial cost : 0.621682 [px]
Final cost : 0.500969 [px]
Termination : Convergence
I20260707 08:16:49.786513 84886 incremental_mapper.cc:175] => Completed observations: 126
I20260707 08:16:49.791316 84886 incremental_mapper.cc:178] => Merged observations: 41
I20260707 08:16:49.793421 84886 incremental_mapper.cc:160] => Filtered observations: 48
I20260707 08:16:49.793444 84886 incremental_mapper.cc:119] => Changed observations: 0.011480
I20260707 08:16:49.793459 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 9.328364e+03 0.00e+00 1.16e+04 0.00e+00 0.00e+00 1.00e+04 0 1.84e-02 4.39e-02
1 8.996344e+03 3.32e+02 3.59e+02 0.00e+00 9.99e-01 3.00e+04 1 3.50e-02 7.90e-02
2 8.989472e+03 6.87e+00 4.55e+02 8.26e+00 1.04e+00 9.00e+04 1 2.78e-02 1.07e-01
3 8.988071e+03 1.40e+00 1.84e+03 2.12e+00 1.02e+00 2.70e+05 1 2.66e-02 1.33e-01
4 8.986431e+03 1.64e+00 7.52e+03 3.72e+00 1.00e+00 8.10e+05 1 4.04e-02 1.74e-01
5 8.984553e+03 1.88e+00 2.14e+04 6.09e+00 9.93e-01 2.43e+06 1 3.39e-02 2.08e-01
6 8.983540e+03 1.01e+00 1.92e+04 5.80e+00 9.78e-01 7.29e+06 1 5.22e-02 2.60e-01
7 8.983354e+03 1.87e-01 3.75e+03 2.65e+00 1.00e+00 2.19e+07 1 6.69e-02 3.27e-01
8 8.983346e+03 7.70e-03 1.69e+02 5.08e-01 1.04e+00 6.56e+07 1 6.86e-02 3.96e-01
9 8.983346e+03 9.18e-05 1.98e+00 4.33e-02 1.10e+00 1.97e+08 1 5.74e-02 4.54e-01
10 8.983346e+03 1.41e-06 1.70e-01 2.84e-03 1.13e+00 5.90e+08 1 4.36e-02 4.97e-01
I20260707 08:16:50.310974 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:50.311058 84886 bundle_adjustment.cc:942]
Residuals : 37592
Parameters : 13472
Iterations : 11
Time : 0.500452 [s]
Initial cost : 0.498144 [px]
Final cost : 0.488845 [px]
Termination : Convergence
I20260707 08:16:50.331182 84886 incremental_mapper.cc:175] => Completed observations: 24
I20260707 08:16:50.336681 84886 incremental_mapper.cc:178] => Merged observations: 9
I20260707 08:16:50.338965 84886 incremental_mapper.cc:160] => Filtered observations: 4
I20260707 08:16:50.338995 84886 incremental_mapper.cc:119] => Changed observations: 0.001969
I20260707 08:16:50.339013 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 9.083872e+03 0.00e+00 2.61e+03 0.00e+00 0.00e+00 1.00e+04 0 2.98e-02 8.64e-02
1 9.036033e+03 4.78e+01 5.78e+01 0.00e+00 1.00e+00 3.00e+04 1 4.57e-02 1.32e-01
2 9.035839e+03 1.94e-01 3.31e+01 4.08e-01 1.06e+00 9.00e+04 1 2.91e-02 1.61e-01
3 9.035819e+03 2.00e-02 2.56e+01 3.61e-02 1.06e+00 2.70e+05 1 5.75e-02 2.19e-01
4 9.035801e+03 1.77e-02 8.13e+01 2.78e-02 1.01e+00 8.10e+05 1 4.72e-02 2.66e-01
5 9.035780e+03 2.10e-02 2.40e+02 1.43e-02 1.01e+00 2.43e+06 1 6.49e-02 3.31e-01
6 9.035770e+03 1.05e-02 3.03e+02 5.55e-02 1.03e+00 7.29e+06 1 6.08e-02 3.92e-01
7 9.035768e+03 1.60e-03 7.45e+01 4.58e-02 1.08e+00 2.19e+07 1 5.80e-02 4.50e-01
8 9.035768e+03 8.81e-05 3.98e+00 1.33e-02 1.14e+00 6.56e+07 1 3.56e-02 4.86e-01
9 9.035768e+03 3.00e-06 7.93e-01 2.13e-03 1.16e+00 1.97e+08 1 2.70e-02 5.13e-01
I20260707 08:16:50.871873 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:50.871953 84886 bundle_adjustment.cc:942]
Residuals : 37628
Parameters : 13466
Iterations : 10
Time : 0.514842 [s]
Initial cost : 0.491338 [px]
Final cost : 0.490035 [px]
Termination : Convergence
I20260707 08:16:50.899430 84886 incremental_mapper.cc:175] => Completed observations: 1
I20260707 08:16:50.904785 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:16:50.907159 84886 incremental_mapper.cc:160] => Filtered observations: 5
I20260707 08:16:50.907188 84886 incremental_mapper.cc:119] => Changed observations: 0.000319
I20260707 08:16:50.907222 84886 incremental_mapper.cc:167] => Filtered images: 0
I20260707 08:16:50.917461 84886 misc.cc:198]
==============================================================================
Registering image #112 (22)
==============================================================================
I20260707 08:16:50.917583 84886 incremental_mapper.cc:495] => Image sees 368 / 4071 points
I20260707 08:16:50.930402 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:16:50.930501 84886 bundle_adjustment.cc:942]
Residuals : 404
Parameters : 6
Iterations : 31
Time : 0.00569081 [s]
Initial cost : 0.761782 [px]
Final cost : 0.671688 [px]
Termination : Convergence
I20260707 08:16:50.930945 84886 incremental_mapper.cc:40] => Continued observations: 201
I20260707 08:16:50.938422 84886 incremental_mapper.cc:43] => Added observations: 1266
I20260707 08:16:51.300885 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:51.300976 84886 bundle_adjustment.cc:942]
Residuals : 11068
Parameters : 3146
Iterations : 26
Time : 0.351157 [s]
Initial cost : 0.843645 [px]
Final cost : 0.726641 [px]
Termination : No convergence
I20260707 08:16:51.345114 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:16:51.345278 84886 incremental_mapper.cc:79] => Completed observations: 357
I20260707 08:16:51.345288 84886 incremental_mapper.cc:81] => Filtered observations: 522
I20260707 08:16:51.345294 84886 incremental_mapper.cc:90] => Changed observations: 0.131607
I20260707 08:16:51.494288 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:51.494362 84886 bundle_adjustment.cc:942]
Residuals : 11062
Parameters : 2543
Iterations : 8
Time : 0.128287 [s]
Initial cost : 0.60935 [px]
Final cost : 0.575218 [px]
Termination : Convergence
I20260707 08:16:51.517645 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:16:51.517778 84886 incremental_mapper.cc:79] => Completed observations: 100
I20260707 08:16:51.517787 84886 incremental_mapper.cc:81] => Filtered observations: 11
I20260707 08:16:51.517793 84886 incremental_mapper.cc:90] => Changed observations: 0.019982
I20260707 08:16:51.531795 84886 misc.cc:198]
==============================================================================
Registering image #10 (23)
==============================================================================
I20260707 08:16:51.531859 84886 incremental_mapper.cc:495] => Image sees 873 / 2233 points
I20260707 08:16:51.543267 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:16:51.543320 84886 bundle_adjustment.cc:942]
Residuals : 1658
Parameters : 6
Iterations : 6
Time : 0.00486898 [s]
Initial cost : 0.444541 [px]
Final cost : 0.431554 [px]
Termination : Convergence
I20260707 08:16:51.543972 84886 incremental_mapper.cc:40] => Continued observations: 791
I20260707 08:16:51.547242 84886 incremental_mapper.cc:43] => Added observations: 592
I20260707 08:16:51.904335 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:51.904408 84886 bundle_adjustment.cc:942]
Residuals : 16736
Parameters : 3068
Iterations : 26
Time : 0.348847 [s]
Initial cost : 0.572818 [px]
Final cost : 0.542998 [px]
Termination : No convergence
I20260707 08:16:51.921437 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:16:51.921507 84886 incremental_mapper.cc:79] => Completed observations: 85
I20260707 08:16:51.921515 84886 incremental_mapper.cc:81] => Filtered observations: 278
I20260707 08:16:51.921519 84886 incremental_mapper.cc:90] => Changed observations: 0.038388
I20260707 08:16:51.978875 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:51.978937 84886 bundle_adjustment.cc:942]
Residuals : 16206
Parameters : 2717
Iterations : 3
Time : 0.046916 [s]
Initial cost : 0.518165 [px]
Final cost : 0.50834 [px]
Termination : Convergence
I20260707 08:16:51.991808 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:16:51.991852 84886 incremental_mapper.cc:79] => Completed observations: 87
I20260707 08:16:51.991856 84886 incremental_mapper.cc:81] => Filtered observations: 5
I20260707 08:16:51.991858 84886 incremental_mapper.cc:90] => Changed observations: 0.010009
I20260707 08:16:51.991887 84886 misc.cc:198]
==============================================================================
Retriangulation
==============================================================================
I20260707 08:16:51.995424 84886 incremental_mapper.cc:175] => Completed observations: 36
I20260707 08:16:52.000036 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:16:52.000080 84886 incremental_mapper.cc:105] => Retriangulated observations: 934
I20260707 08:16:52.006577 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 1.739160e+05 0.00e+00 1.03e+05 0.00e+00 0.00e+00 1.00e+04 0 3.53e-02 9.27e-02
1 9.398935e+04 7.99e+04 9.61e+04 0.00e+00 8.89e-01 1.89e+04 1 6.78e-02 1.61e-01
2 8.484741e+04 9.14e+03 1.12e+04 3.27e+01 9.26e-01 4.97e+04 1 5.08e-02 2.11e-01
3 8.410711e+04 7.40e+02 5.57e+04 1.54e+01 9.54e-01 1.49e+05 1 4.31e-02 2.55e-01
4 8.401537e+04 9.17e+01 3.68e+05 1.83e+01 9.42e-01 4.48e+05 1 3.88e-02 2.93e-01
5 8.398230e+04 3.31e+01 1.11e+06 2.40e+01 4.72e-01 4.48e+05 1 3.95e-02 3.33e-01
6 8.392536e+04 5.69e+01 2.79e+05 1.01e+01 9.76e-01 1.34e+06 1 5.29e-02 3.86e-01
7 8.391627e+04 9.09e+00 5.56e+05 1.06e+01 6.23e-01 1.36e+06 1 3.32e-02 4.19e-01
8 8.390780e+04 8.47e+00 9.63e+04 4.27e+00 9.94e-01 4.09e+06 1 4.70e-02 4.66e-01
9 8.390676e+04 1.04e+00 8.42e+04 3.51e+00 9.30e-01 1.13e+07 1 6.41e-02 5.30e-01
10 8.390652e+04 2.45e-01 1.36e+04 1.63e+00 1.02e+00 3.38e+07 1 3.97e-02 5.70e-01
11 8.390651e+04 1.05e-02 7.32e+02 4.04e-01 1.06e+00 1.01e+08 1 3.91e-02 6.09e-01
12 8.390651e+04 1.91e-04 1.56e+01 5.28e-02 1.13e+00 3.04e+08 1 7.18e-02 6.81e-01
13 8.390651e+04 4.43e-06 2.00e+00 6.70e-03 1.16e+00 9.13e+08 1 7.96e-02 7.61e-01
14 8.390651e+04 1.31e-07 8.78e-01 1.14e-03 1.18e+00 2.74e+09 1 1.16e-01 8.77e-01
I20260707 08:16:52.924901 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:52.925127 84886 bundle_adjustment.cc:942]
Residuals : 44496
Parameters : 15974
Iterations : 15
Time : 0.884371 [s]
Initial cost : 1.97701 [px]
Final cost : 1.37321 [px]
Termination : Convergence
I20260707 08:16:52.963562 84886 incremental_mapper.cc:175] => Completed observations: 131
I20260707 08:16:52.970793 84886 incremental_mapper.cc:178] => Merged observations: 26
I20260707 08:16:52.975147 84886 incremental_mapper.cc:160] => Filtered observations: 1037
I20260707 08:16:52.975190 84886 incremental_mapper.cc:119] => Changed observations: 0.053668
I20260707 08:16:52.975207 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 1.480524e+04 0.00e+00 3.23e+04 0.00e+00 0.00e+00 1.00e+04 0 3.58e-02 7.09e-02
1 1.202502e+04 2.78e+03 3.52e+04 0.00e+00 9.86e-01 3.00e+04 1 7.44e-02 1.45e-01
2 1.192442e+04 1.01e+02 3.18e+03 1.69e+01 9.78e-01 9.00e+04 1 1.10e-01 2.56e-01
3 1.191556e+04 8.86e+00 1.22e+04 6.30e+00 1.00e+00 2.70e+05 1 5.63e-02 3.12e-01
4 1.190776e+04 7.80e+00 8.26e+04 2.61e+00 9.83e-01 8.10e+05 1 4.46e-02 3.57e-01
5 1.189856e+04 9.21e+00 2.71e+05 4.79e+00 8.55e-01 1.26e+06 1 3.95e-02 3.97e-01
6 1.189280e+04 5.76e+00 1.91e+05 4.64e+00 8.85e-01 2.32e+06 1 6.47e-02 4.61e-01
7 1.189062e+04 2.17e+00 8.46e+04 3.98e+00 9.44e-01 6.97e+06 1 6.29e-02 5.24e-01
8 1.189019e+04 4.32e-01 2.02e+04 2.79e+00 9.86e-01 2.09e+07 1 7.04e-02 5.95e-01
9 1.189017e+04 2.60e-02 8.93e+02 8.08e-01 1.02e+00 6.27e+07 1 9.68e-02 6.92e-01
10 1.189017e+04 2.83e-04 1.17e+01 8.82e-02 1.06e+00 1.88e+08 1 7.05e-02 7.62e-01
11 1.189017e+04 2.60e-06 8.54e-01 5.75e-03 1.10e+00 5.64e+08 1 3.52e-02 7.98e-01
I20260707 08:16:53.804952 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:53.805050 84886 bundle_adjustment.cc:942]
Residuals : 42508
Parameters : 14951
Iterations : 12
Time : 0.798797 [s]
Initial cost : 0.590164 [px]
Final cost : 0.528882 [px]
Termination : Convergence
I20260707 08:16:53.828685 84886 incremental_mapper.cc:175] => Completed observations: 106
I20260707 08:16:53.832981 84886 incremental_mapper.cc:178] => Merged observations: 14
I20260707 08:16:53.835156 84886 incremental_mapper.cc:160] => Filtered observations: 70
I20260707 08:16:53.835186 84886 incremental_mapper.cc:119] => Changed observations: 0.008939
I20260707 08:16:53.835201 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 1.176223e+04 0.00e+00 6.15e+03 0.00e+00 0.00e+00 1.00e+04 0 2.80e-02 7.38e-02
1 1.150204e+04 2.60e+02 9.81e+02 0.00e+00 1.00e+00 3.00e+04 1 4.77e-02 1.22e-01
2 1.149916e+04 2.88e+00 9.41e+02 3.12e+00 1.02e+00 9.00e+04 1 5.24e-02 1.74e-01
3 1.149784e+04 1.31e+00 2.81e+03 6.38e-01 1.00e+00 2.70e+05 1 4.47e-02 2.19e-01
4 1.149595e+04 1.90e+00 1.29e+04 7.79e-01 9.98e-01 8.10e+05 1 3.53e-02 2.54e-01
5 1.149459e+04 1.35e+00 1.68e+04 7.44e-01 9.97e-01 2.43e+06 1 3.29e-02 2.87e-01
6 1.149430e+04 2.94e-01 3.86e+03 1.84e-01 1.02e+00 7.29e+06 1 3.06e-02 3.18e-01
7 1.149428e+04 1.66e-02 1.35e+02 2.74e-01 1.05e+00 2.19e+07 1 3.71e-02 3.55e-01
8 1.149428e+04 3.88e-04 4.82e+00 6.25e-02 1.08e+00 6.56e+07 1 3.81e-02 3.93e-01
9 1.149428e+04 5.97e-06 4.80e-01 5.24e-03 1.11e+00 1.97e+08 1 3.47e-02 4.28e-01
I20260707 08:16:54.288040 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:54.288111 84886 bundle_adjustment.cc:942]
Residuals : 42530
Parameters : 14858
Iterations : 10
Time : 0.430866 [s]
Initial cost : 0.525893 [px]
Final cost : 0.519868 [px]
Termination : Convergence
I20260707 08:16:54.301859 84886 incremental_mapper.cc:175] => Completed observations: 22
I20260707 08:16:54.305491 84886 incremental_mapper.cc:178] => Merged observations: 9
I20260707 08:16:54.307102 84886 incremental_mapper.cc:160] => Filtered observations: 33
I20260707 08:16:54.307119 84886 incremental_mapper.cc:119] => Changed observations: 0.003010
I20260707 08:16:54.307142 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 1.138125e+04 0.00e+00 3.83e+03 0.00e+00 0.00e+00 1.00e+04 0 2.23e-02 5.80e-02
1 1.130288e+04 7.84e+01 4.59e+02 0.00e+00 1.00e+00 3.00e+04 1 3.51e-02 9.31e-02
2 1.130210e+04 7.83e-01 5.32e+02 1.07e+00 1.03e+00 9.00e+04 1 2.90e-02 1.22e-01
3 1.130155e+04 5.52e-01 1.17e+03 2.35e-01 1.00e+00 2.70e+05 1 3.87e-02 1.61e-01
4 1.130077e+04 7.82e-01 3.73e+03 2.35e-01 1.00e+00 8.10e+05 1 3.90e-02 2.00e-01
5 1.130025e+04 5.15e-01 3.98e+03 2.95e-01 1.01e+00 2.43e+06 1 4.35e-02 2.44e-01
6 1.130014e+04 1.14e-01 7.21e+02 7.10e-01 1.02e+00 7.29e+06 1 2.56e-02 2.69e-01
7 1.130013e+04 8.69e-03 1.20e+02 3.79e-01 1.05e+00 2.19e+07 1 2.34e-02 2.93e-01
8 1.130013e+04 2.49e-04 4.65e+00 6.52e-02 1.09e+00 6.56e+07 1 2.47e-02 3.17e-01
9 1.130013e+04 4.50e-06 6.25e-01 5.23e-03 1.13e+00 1.97e+08 1 2.95e-02 3.47e-01
I20260707 08:16:54.686527 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:54.686574 84886 bundle_adjustment.cc:942]
Residuals : 42472
Parameters : 14807
Iterations : 10
Time : 0.348098 [s]
Initial cost : 0.517659 [px]
Final cost : 0.515811 [px]
Termination : Convergence
I20260707 08:16:54.697880 84886 incremental_mapper.cc:175] => Completed observations: 12
I20260707 08:16:54.701756 84886 incremental_mapper.cc:178] => Merged observations: 15
I20260707 08:16:54.703507 84886 incremental_mapper.cc:160] => Filtered observations: 21
I20260707 08:16:54.703522 84886 incremental_mapper.cc:119] => Changed observations: 0.002260
I20260707 08:16:54.703534 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 1.127100e+04 0.00e+00 4.90e+03 0.00e+00 0.00e+00 1.00e+04 0 2.33e-02 4.89e-02
1 1.121682e+04 5.42e+01 1.86e+02 0.00e+00 1.00e+00 3.00e+04 1 3.10e-02 7.99e-02
2 1.121629e+04 5.29e-01 9.44e+01 4.99e-01 1.04e+00 9.00e+04 1 2.82e-02 1.08e-01
3 1.121624e+04 5.20e-02 5.53e+01 1.92e-01 1.03e+00 2.70e+05 1 3.63e-02 1.45e-01
4 1.121621e+04 2.93e-02 1.00e+02 2.19e-01 1.00e+00 8.10e+05 1 6.31e-02 2.08e-01
5 1.121618e+04 2.94e-02 3.43e+02 4.48e-01 1.00e+00 2.43e+06 1 6.18e-02 2.70e-01
6 1.121616e+04 1.26e-02 2.98e+02 4.89e-01 1.01e+00 7.29e+06 1 6.40e-02 3.34e-01
7 1.121616e+04 1.48e-03 4.65e+01 2.06e-01 1.03e+00 2.19e+07 1 5.48e-02 3.89e-01
8 1.121616e+04 4.60e-05 1.26e+00 3.21e-02 1.09e+00 6.56e+07 1 3.09e-02 4.19e-01
9 1.121616e+04 8.83e-07 3.98e-01 2.55e-03 1.13e+00 1.97e+08 1 3.34e-02 4.53e-01
I20260707 08:16:55.173041 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:55.173084 84886 bundle_adjustment.cc:942]
Residuals : 42446
Parameters : 14774
Iterations : 10
Time : 0.454279 [s]
Initial cost : 0.515303 [px]
Final cost : 0.514048 [px]
Termination : Convergence
I20260707 08:16:55.184996 84886 incremental_mapper.cc:175] => Completed observations: 16
I20260707 08:16:55.188712 84886 incremental_mapper.cc:178] => Merged observations: 25
I20260707 08:16:55.190361 84886 incremental_mapper.cc:160] => Filtered observations: 25
I20260707 08:16:55.190377 84886 incremental_mapper.cc:119] => Changed observations: 0.003110
I20260707 08:16:55.190387 84886 incremental_mapper.cc:167] => Filtered images: 0
I20260707 08:16:55.196192 84886 misc.cc:198]
==============================================================================
Registering image #179 (24)
==============================================================================
I20260707 08:16:55.196236 84886 incremental_mapper.cc:495] => Image sees 546 / 2380 points
I20260707 08:16:55.219465 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:16:55.219521 84886 bundle_adjustment.cc:942]
Residuals : 506
Parameters : 6
Iterations : 12
Time : 0.00519109 [s]
Initial cost : 0.757053 [px]
Final cost : 0.747721 [px]
Termination : Convergence
I20260707 08:16:55.219947 84886 incremental_mapper.cc:40] => Continued observations: 234
I20260707 08:16:55.223142 84886 incremental_mapper.cc:43] => Added observations: 778
I20260707 08:16:55.416610 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:55.416654 84886 bundle_adjustment.cc:942]
Residuals : 16966
Parameters : 3551
Iterations : 26
Time : 0.186508 [s]
Initial cost : 0.778743 [px]
Final cost : 0.721764 [px]
Termination : No convergence
I20260707 08:16:55.425335 84886 incremental_mapper.cc:78] => Merged observations: 4
I20260707 08:16:55.425357 84886 incremental_mapper.cc:79] => Completed observations: 169
I20260707 08:16:55.425360 84886 incremental_mapper.cc:81] => Filtered observations: 616
I20260707 08:16:55.425362 84886 incremental_mapper.cc:90] => Changed observations: 0.082782
I20260707 08:16:55.494491 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:55.494532 84886 bundle_adjustment.cc:942]
Residuals : 14534
Parameters : 2822
Iterations : 10
Time : 0.0637269 [s]
Initial cost : 0.602012 [px]
Final cost : 0.585464 [px]
Termination : Convergence
I20260707 08:16:55.501965 84886 incremental_mapper.cc:78] => Merged observations: 6
I20260707 08:16:55.501993 84886 incremental_mapper.cc:79] => Completed observations: 51
I20260707 08:16:55.501996 84886 incremental_mapper.cc:81] => Filtered observations: 8
I20260707 08:16:55.501998 84886 incremental_mapper.cc:90] => Changed observations: 0.007847
I20260707 08:16:55.507217 84886 misc.cc:198]
==============================================================================
Registering image #517 (25)
==============================================================================
I20260707 08:16:55.507244 84886 incremental_mapper.cc:495] => Image sees 733 / 1900 points
I20260707 08:16:55.526266 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:16:55.526304 84886 bundle_adjustment.cc:942]
Residuals : 1034
Parameters : 6
Iterations : 29
Time : 0.0114639 [s]
Initial cost : 0.553511 [px]
Final cost : 0.444837 [px]
Termination : Convergence
I20260707 08:16:55.526657 84886 incremental_mapper.cc:40] => Continued observations: 490
I20260707 08:16:55.530472 84886 incremental_mapper.cc:43] => Added observations: 578
I20260707 08:16:55.673918 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:55.673957 84886 bundle_adjustment.cc:942]
Residuals : 11370
Parameters : 2180
Iterations : 26
Time : 0.138682 [s]
Initial cost : 0.749471 [px]
Final cost : 0.676766 [px]
Termination : No convergence
I20260707 08:16:55.679970 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:16:55.679987 84886 incremental_mapper.cc:79] => Completed observations: 84
I20260707 08:16:55.679991 84886 incremental_mapper.cc:81] => Filtered observations: 280
I20260707 08:16:55.679992 84886 incremental_mapper.cc:90] => Changed observations: 0.053084
I20260707 08:16:55.719487 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:55.719516 84886 bundle_adjustment.cc:942]
Residuals : 10824
Parameters : 1859
Iterations : 8
Time : 0.0354121 [s]
Initial cost : 0.508449 [px]
Final cost : 0.496208 [px]
Termination : Convergence
I20260707 08:16:55.724781 84886 incremental_mapper.cc:78] => Merged observations: 14
I20260707 08:16:55.724802 84886 incremental_mapper.cc:79] => Completed observations: 45
I20260707 08:16:55.724805 84886 incremental_mapper.cc:81] => Filtered observations: 1
I20260707 08:16:55.724807 84886 incremental_mapper.cc:90] => Changed observations: 0.009113
I20260707 08:16:55.728821 84886 misc.cc:198]
==============================================================================
Registering image #177 (26)
==============================================================================
I20260707 08:16:55.728832 84886 incremental_mapper.cc:495] => Image sees 498 / 2109 points
I20260707 08:16:55.749357 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:16:55.749382 84886 bundle_adjustment.cc:942]
Residuals : 482
Parameters : 6
Iterations : 15
Time : 0.00272799 [s]
Initial cost : 0.770228 [px]
Final cost : 0.727462 [px]
Termination : Convergence
I20260707 08:16:55.749599 84886 incremental_mapper.cc:40] => Continued observations: 224
I20260707 08:16:55.751744 84886 incremental_mapper.cc:43] => Added observations: 595
I20260707 08:16:55.919895 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:55.919934 84886 bundle_adjustment.cc:942]
Residuals : 14332
Parameters : 2030
Iterations : 26
Time : 0.162969 [s]
Initial cost : 0.733179 [px]
Final cost : 0.684421 [px]
Termination : No convergence
I20260707 08:16:55.925765 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:16:55.925786 84886 incremental_mapper.cc:79] => Completed observations: 121
I20260707 08:16:55.925789 84886 incremental_mapper.cc:81] => Filtered observations: 429
I20260707 08:16:55.925791 84886 incremental_mapper.cc:90] => Changed observations: 0.069200
I20260707 08:16:55.954180 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:55.954210 84886 bundle_adjustment.cc:942]
Residuals : 13638
Parameters : 1676
Iterations : 4
Time : 0.023957 [s]
Initial cost : 0.512469 [px]
Final cost : 0.499734 [px]
Termination : Convergence
I20260707 08:16:55.959349 84886 incremental_mapper.cc:78] => Merged observations: 21
I20260707 08:16:55.959367 84886 incremental_mapper.cc:79] => Completed observations: 48
I20260707 08:16:55.959369 84886 incremental_mapper.cc:81] => Filtered observations: 4
I20260707 08:16:55.959371 84886 incremental_mapper.cc:90] => Changed observations: 0.009570
I20260707 08:16:55.959384 84886 misc.cc:198]
==============================================================================
Retriangulation
==============================================================================
I20260707 08:16:55.962138 84886 incremental_mapper.cc:175] => Completed observations: 44
I20260707 08:16:55.965374 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:16:55.965387 84886 incremental_mapper.cc:105] => Retriangulated observations: 505
I20260707 08:16:55.968772 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 1.932420e+05 0.00e+00 1.88e+05 0.00e+00 0.00e+00 1.00e+04 0 1.69e-02 3.59e-02
1 1.422169e+05 5.10e+04 5.29e+04 0.00e+00 9.71e-01 3.00e+04 1 2.97e-02 6.56e-02
2 1.411242e+05 1.09e+03 2.02e+05 1.69e+01 1.01e+00 9.00e+04 1 3.08e-02 9.65e-02
3 1.402865e+05 8.38e+02 6.69e+05 6.15e+00 9.85e-01 2.70e+05 1 2.83e-02 1.25e-01
4 1.377499e+05 2.54e+03 4.91e+06 1.73e+01 5.28e-01 2.70e+05 1 2.87e-02 1.54e-01
5 1.817928e+05 -4.40e+04 4.91e+06 1.53e+01 -1.36e+01 1.35e+05 1 1.23e-02 1.66e-01
6 1.410676e+05 -3.32e+03 4.91e+06 1.31e+01 -1.04e+00 3.38e+04 1 1.12e-02 1.77e-01
7 1.351473e+05 2.60e+03 2.30e+05 7.84e+00 9.02e-01 7.05e+04 1 2.92e-02 2.06e-01
8 1.346662e+05 4.81e+02 9.84e+04 4.80e+00 9.63e-01 2.11e+05 1 3.15e-02 2.38e-01
9 1.346381e+05 2.81e+01 1.20e+06 2.96e+00 4.13e-01 2.10e+05 1 3.44e-02 2.72e-01
10 1.345898e+05 4.83e+01 7.18e+04 1.22e+00 9.96e-01 6.31e+05 1 2.99e-02 3.02e-01
11 1.345711e+05 1.87e+01 9.54e+04 1.90e+00 9.82e-01 1.89e+06 1 2.84e-02 3.31e-01
12 1.345469e+05 2.42e+01 1.94e+05 2.81e+00 9.30e-01 5.18e+06 1 3.00e-02 3.61e-01
13 1.345217e+05 2.52e+01 1.66e+05 3.07e+00 9.54e-01 1.55e+07 1 2.89e-02 3.90e-01
14 1.343681e+05 1.54e+02 7.25e+06 1.01e+01 3.14e-01 1.48e+07 1 2.99e-02 4.20e-01
15 1.352277e+05 -8.60e+02 7.25e+06 1.56e+01 -1.44e+00 7.39e+06 1 1.34e-02 4.33e-01
16 1.342356e+05 1.32e+02 7.50e+06 1.29e+01 2.36e-01 6.44e+06 1 3.15e-02 4.64e-01
17 1.337867e+05 4.49e+02 4.01e+06 3.67e+00 9.23e-01 1.63e+07 1 3.32e-02 4.98e-01
18 1.339231e+05 -1.36e+02 4.01e+06 6.32e+00 -1.81e+00 8.15e+06 1 1.33e-02 5.11e-01
19 1.337328e+05 5.39e+01 2.81e+06 4.00e+00 8.31e-01 1.15e+07 1 3.02e-02 5.41e-01
20 1.337484e+05 -1.56e+01 2.81e+06 1.73e+00 -8.63e-01 5.73e+06 1 1.32e-02 5.54e-01
21 1.337644e+05 -3.16e+01 2.81e+06 1.13e+00 -2.13e+00 1.43e+06 1 1.09e-02 5.65e-01
22 1.342704e+05 -5.38e+02 2.81e+06 5.47e-01 -4.61e+01 1.79e+05 1 1.05e-02 5.76e-01
23 1.337235e+05 9.27e+00 8.36e+05 2.23e-01 9.20e-01 4.38e+05 1 2.63e-02 6.02e-01
24 1.337227e+05 8.61e-01 1.12e+05 1.37e-01 9.20e-01 1.07e+06 1 2.76e-02 6.30e-01
25 1.337218e+05 8.88e-01 2.67e+04 1.01e-01 9.91e-01 3.21e+06 1 2.83e-02 6.58e-01
26 1.337187e+05 3.06e+00 1.23e+05 3.90e-01 9.89e-01 9.63e+06 1 2.78e-02 6.86e-01
27 1.337118e+05 6.90e+00 8.94e+05 1.75e+00 7.66e-01 1.13e+07 1 2.85e-02 7.14e-01
28 1.337247e+05 -1.29e+01 8.94e+05 3.29e+00 -1.18e+00 5.67e+06 1 1.16e-02 7.26e-01
29 1.339826e+05 -2.71e+02 8.94e+05 2.05e+00 -3.44e+01 1.42e+06 1 1.04e-02 7.36e-01
30 1.337192e+05 -7.39e+00 8.94e+05 8.20e-01 -1.72e+00 1.77e+05 1 1.01e-02 7.47e-01
31 1.337096e+05 2.25e+00 1.94e+05 1.78e-01 8.64e-01 2.89e+05 1 2.55e-02 7.72e-01
32 1.337091e+05 4.53e-01 2.77e+04 8.51e-02 8.63e-01 4.68e+05 1 2.87e-02 8.01e-01
33 1.337085e+05 6.37e-01 4.64e+04 7.79e-02 1.03e+00 1.40e+06 1 3.19e-02 8.33e-01
34 1.337065e+05 1.99e+00 1.44e+05 2.93e-01 9.97e-01 4.21e+06 1 3.06e-02 8.63e-01
35 1.337017e+05 4.77e+00 7.00e+05 1.64e+00 8.43e-01 6.22e+06 1 2.99e-02 8.93e-01
36 1.336976e+05 4.17e+00 2.56e+05 2.68e+00 7.56e-01 7.18e+06 1 5.87e-02 9.52e-01
37 1.336950e+05 2.55e+00 1.29e+06 6.47e-01 6.11e-01 7.26e+06 1 3.90e-02 9.91e-01
38 1.336953e+05 -2.83e-01 1.29e+06 1.27e+00 -1.25e-01 3.63e+06 1 1.21e-02 1.00e+00
39 1.337005e+05 -5.43e+00 1.29e+06 7.95e-01 -2.90e+00 9.07e+05 1 1.05e-02 1.01e+00
40 1.336943e+05 7.31e-01 2.13e+06 3.17e-01 4.97e-01 9.07e+05 1 2.62e-02 1.04e+00
41 1.336936e+05 7.10e-01 2.03e+05 6.59e-02 9.80e-01 2.72e+06 1 2.65e-02 1.07e+00
42 1.336935e+05 1.14e-01 4.48e+03 1.06e-01 1.00e+00 8.16e+06 1 2.71e-02 1.09e+00
43 1.336932e+05 2.72e-01 1.02e+05 2.52e-01 9.96e-01 2.45e+07 1 2.94e-02 1.12e+00
44 1.336927e+05 5.29e-01 2.97e+05 4.77e-01 9.77e-01 7.35e+07 1 3.07e-02 1.15e+00
45 1.336915e+05 1.18e+00 5.70e+05 1.53e+00 7.92e-01 9.19e+07 1 2.89e-02 1.18e+00
46 1.336915e+05 -2.58e-02 5.70e+05 3.99e+00 -1.19e-02 4.59e+07 1 1.20e-02 1.19e+00
47 1.336906e+05 8.42e-01 5.15e+05 2.92e+00 4.43e-01 4.59e+07 1 2.72e-02 1.22e+00
48 1.336895e+05 1.18e+00 2.00e+05 2.40e+00 8.31e-01 6.45e+07 1 2.83e-02 1.25e+00
49 1.336892e+05 2.60e-01 4.04e+04 6.65e-01 1.02e+00 1.93e+08 1 2.95e-02 1.28e+00
50 1.336892e+05 9.06e-03 4.30e+03 9.56e-02 9.65e-01 5.80e+08 1 2.92e-02 1.31e+00
I20260707 08:16:57.292505 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:57.292539 84886 bundle_adjustment.cc:942]
Residuals : 47236
Parameters : 16415
Iterations : 51
Time : 1.30978 [s]
Initial cost : 2.02262 [px]
Final cost : 1.68233 [px]
Termination : No convergence
I20260707 08:16:57.301918 84886 incremental_mapper.cc:175] => Completed observations: 107
I20260707 08:16:57.305630 84886 incremental_mapper.cc:178] => Merged observations: 128
I20260707 08:16:57.307874 84886 incremental_mapper.cc:160] => Filtered observations: 901
I20260707 08:16:57.307891 84886 incremental_mapper.cc:119] => Changed observations: 0.048099
I20260707 08:16:57.307901 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 1.474741e+04 0.00e+00 3.19e+04 0.00e+00 0.00e+00 1.00e+04 0 1.78e-02 3.86e-02
1 1.245549e+04 2.29e+03 1.15e+04 0.00e+00 9.99e-01 3.00e+04 1 2.86e-02 6.73e-02
2 1.237710e+04 7.84e+01 2.98e+04 2.06e+00 1.00e+00 9.00e+04 1 2.91e-02 9.64e-02
3 1.225945e+04 1.18e+02 2.23e+05 2.50e+00 9.62e-01 2.70e+05 1 2.91e-02 1.26e-01
4 1.216577e+04 9.37e+01 8.49e+05 3.44e+00 7.09e-01 2.91e+05 1 2.77e-02 1.53e-01
5 1.208637e+04 7.94e+01 3.25e+04 1.79e+00 1.01e+00 8.74e+05 1 2.77e-02 1.81e-01
6 1.206214e+04 2.42e+01 7.92e+05 2.27e+00 6.79e-01 9.15e+05 1 3.62e-02 2.17e-01
7 1.203893e+04 2.32e+01 3.79e+04 1.01e+00 1.01e+00 2.75e+06 1 6.75e-02 2.85e-01
8 1.202878e+04 1.02e+01 5.21e+05 1.09e+00 8.34e-01 3.91e+06 1 3.47e-02 3.20e-01
9 1.201586e+04 1.29e+01 8.26e+04 7.57e-01 1.00e+00 1.17e+07 1 2.55e-02 3.45e-01
10 1.197852e+04 3.73e+01 1.34e+06 1.83e+00 9.57e-01 3.52e+07 1 2.50e-02 3.70e-01
11 1.210135e+04 -1.23e+02 1.34e+06 2.97e+00 -9.74e-01 1.76e+07 1 1.00e-02 3.80e-01
12 1.192892e+04 4.96e+01 4.52e+06 2.34e+00 6.06e-01 1.78e+07 1 2.46e-02 4.05e-01
13 1.194302e+04 -1.41e+01 4.52e+06 1.55e+00 -1.33e-01 8.88e+06 1 1.06e-02 4.15e-01
14 1.188305e+04 4.59e+01 2.06e+07 8.87e-01 5.88e-01 8.92e+06 1 2.68e-02 4.42e-01
15 1.184729e+04 3.58e+01 5.02e+06 1.69e+00 5.00e-01 8.92e+06 1 2.82e-02 4.70e-01
16 1.180637e+04 4.09e+01 1.65e+07 1.57e+00 6.41e-01 9.13e+06 1 2.95e-02 5.00e-01
17 1.177727e+04 2.91e+01 4.39e+07 1.24e+00 7.48e-01 1.04e+07 1 2.91e-02 5.29e-01
18 1.176252e+04 1.47e+01 2.58e+07 9.91e-01 8.09e-01 1.36e+07 1 2.93e-02 5.58e-01
19 1.175638e+04 6.14e+00 1.33e+07 7.42e-01 8.74e-01 2.35e+07 1 3.10e-02 5.89e-01
20 1.175457e+04 1.82e+00 1.21e+07 4.84e-01 9.36e-01 6.91e+07 1 3.18e-02 6.21e-01
21 1.175429e+04 2.79e-01 1.29e+08 2.30e-01 8.79e-01 1.23e+08 1 3.20e-02 6.53e-01
22 1.175425e+04 3.78e-02 1.37e+08 3.97e-02 7.00e-01 1.31e+08 1 3.02e-02 6.83e-01
23 1.175423e+04 1.73e-02 5.03e+07 6.78e-03 9.27e-01 3.48e+08 1 2.82e-02 7.12e-01
W20260707 08:16:58.041437 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
24 1.175423e+04 0.00e+00 5.03e+07 0.00e+00 0.00e+00 1.74e+08 1 8.25e-03 7.20e-01
25 1.175423e+04 2.74e-03 1.03e+07 2.25e-03 9.83e-01 5.22e+08 1 2.65e-02 7.46e-01
W20260707 08:16:58.076437 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
26 1.175423e+04 0.00e+00 1.03e+07 0.00e+00 0.00e+00 2.61e+08 1 8.47e-03 7.55e-01
W20260707 08:16:58.084009 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
27 1.175423e+04 0.00e+00 1.03e+07 0.00e+00 0.00e+00 6.52e+07 1 7.56e-03 7.62e-01
28 1.175423e+04 4.83e-04 1.28e+06 3.63e-04 9.92e-01 1.96e+08 1 2.71e-02 7.89e-01
W20260707 08:16:58.119789 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
29 1.175423e+04 0.00e+00 1.28e+06 0.00e+00 0.00e+00 9.78e+07 1 8.68e-03 7.98e-01
30 1.175423e+04 4.42e-04 2.28e+05 5.18e-04 9.95e-01 2.94e+08 1 2.78e-02 8.26e-01
31 1.175422e+04 3.86e-03 8.25e+05 2.36e-03 1.00e+00 8.81e+08 1 2.71e-02 8.53e-01
W20260707 08:16:58.182998 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
32 1.175422e+04 0.00e+00 8.25e+05 0.00e+00 0.00e+00 4.40e+08 1 8.22e-03 8.61e-01
W20260707 08:16:58.190405 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
33 1.175422e+04 0.00e+00 8.25e+05 0.00e+00 0.00e+00 1.10e+08 1 7.40e-03 8.69e-01
34 1.175422e+04 1.79e-04 3.55e+04 2.25e-04 9.94e-01 3.30e+08 1 2.66e-02 8.95e-01
W20260707 08:16:58.224951 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
35 1.175422e+04 0.00e+00 3.55e+04 0.00e+00 0.00e+00 1.65e+08 1 7.98e-03 9.03e-01
W20260707 08:16:58.232394 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
36 1.175422e+04 0.00e+00 3.55e+04 0.00e+00 0.00e+00 4.13e+07 1 7.43e-03 9.11e-01
37 1.175422e+04 7.04e-05 1.49e+03 3.97e-05 9.91e-01 1.24e+08 1 2.66e-02 9.37e-01
38 1.175422e+04 2.28e-04 5.38e+03 1.88e-04 9.98e-01 3.72e+08 1 2.66e-02 9.64e-01
W20260707 08:16:58.294302 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
39 1.175422e+04 0.00e+00 5.38e+03 0.00e+00 0.00e+00 1.86e+08 1 8.68e-03 9.73e-01
W20260707 08:16:58.302008 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
40 1.175422e+04 0.00e+00 5.38e+03 0.00e+00 0.00e+00 4.64e+07 1 7.69e-03 9.80e-01
41 1.175422e+04 1.26e-04 9.53e+02 8.77e-05 9.98e-01 1.39e+08 1 2.50e-02 1.01e+00
W20260707 08:16:58.335013 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
42 1.175422e+04 0.00e+00 9.53e+02 0.00e+00 0.00e+00 6.97e+07 1 7.96e-03 1.01e+00
43 1.175422e+04 1.89e-04 1.26e+03 2.11e-04 9.99e-01 2.09e+08 1 2.38e-02 1.04e+00
W20260707 08:16:58.366457 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
44 1.175422e+04 0.00e+00 1.26e+03 0.00e+00 0.00e+00 1.04e+08 1 7.58e-03 1.04e+00
45 1.175422e+04 3.64e-04 8.89e+02 2.69e-04 1.00e+00 3.13e+08 1 2.34e-02 1.07e+00
W20260707 08:16:58.397562 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
46 1.175422e+04 0.00e+00 8.89e+02 0.00e+00 0.00e+00 1.57e+08 1 7.69e-03 1.08e+00
W20260707 08:16:58.404768 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
47 1.175422e+04 0.00e+00 8.89e+02 0.00e+00 0.00e+00 3.92e+07 1 7.20e-03 1.08e+00
48 1.175422e+04 1.52e-04 9.40e+02 1.50e-04 1.00e+00 1.18e+08 1 2.65e-02 1.11e+00
W20260707 08:16:58.439802 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
49 1.175422e+04 0.00e+00 9.40e+02 0.00e+00 0.00e+00 5.88e+07 1 8.52e-03 1.12e+00
50 1.175422e+04 2.36e-04 1.44e+03 1.95e-04 1.00e+00 1.76e+08 1 2.81e-02 1.15e+00
I20260707 08:16:58.470359 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:58.470388 84886 bundle_adjustment.cc:942]
Residuals : 45532
Parameters : 15647
Iterations : 51
Time : 1.14721 [s]
Initial cost : 0.569114 [px]
Final cost : 0.508088 [px]
Termination : No convergence
I20260707 08:16:58.480168 84886 incremental_mapper.cc:175] => Completed observations: 99
I20260707 08:16:58.483566 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:16:58.485105 84886 incremental_mapper.cc:160] => Filtered observations: 45
I20260707 08:16:58.485114 84886 incremental_mapper.cc:119] => Changed observations: 0.006325
I20260707 08:16:58.485123 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 1.167279e+04 0.00e+00 3.33e+03 0.00e+00 0.00e+00 1.00e+04 0 1.73e-02 3.79e-02
1 1.151538e+04 1.57e+02 4.21e+02 0.00e+00 1.00e+00 3.00e+04 1 2.69e-02 6.48e-02
2 1.151421e+04 1.17e+00 7.25e+02 2.87e-01 1.02e+00 9.00e+04 1 2.76e-02 9.24e-02
3 1.151367e+04 5.42e-01 1.74e+03 1.68e-01 1.01e+00 2.70e+05 1 3.00e-02 1.22e-01
4 1.151271e+04 9.59e-01 3.12e+03 7.70e-02 9.99e-01 8.10e+05 1 2.72e-02 1.50e-01
5 1.151055e+04 2.16e+00 1.25e+04 1.24e-01 9.99e-01 2.43e+06 1 2.76e-02 1.77e-01
6 1.150669e+04 3.86e+00 7.97e+04 2.92e-01 9.93e-01 7.29e+06 1 2.78e-02 2.05e-01
7 1.150227e+04 4.42e+00 3.53e+05 1.07e+00 8.74e-01 1.25e+07 1 3.00e-02 2.35e-01
8 1.149961e+04 2.66e+00 4.11e+05 1.75e+00 7.33e-01 1.39e+07 1 2.92e-02 2.64e-01
9 1.149774e+04 1.87e+00 1.92e+05 1.42e+00 8.97e-01 2.79e+07 1 2.81e-02 2.93e-01
10 1.149718e+04 5.63e-01 1.20e+05 1.24e+00 8.61e-01 4.49e+07 1 2.88e-02 3.21e-01
11 1.149701e+04 1.67e-01 2.37e+04 5.79e-01 9.93e-01 1.35e+08 1 3.02e-02 3.52e-01
12 1.149700e+04 1.08e-02 2.84e+03 1.90e-01 1.04e+00 4.04e+08 1 3.03e-02 3.82e-01
13 1.149700e+04 2.97e-04 1.01e+02 2.43e-02 1.08e+00 1.21e+09 1 2.94e-02 4.11e-01
14 1.149700e+04 7.07e-06 6.55e+01 1.95e-03 6.81e-01 1.27e+09 1 3.14e-02 4.43e-01
15 1.149700e+04 7.21e-07 5.51e+01 2.76e-04 2.01e-01 1.05e+09 1 3.08e-02 4.74e-01
16 1.149700e+04 4.04e-07 4.57e+01 4.41e-05 1.67e-01 8.09e+08 1 2.90e-02 5.03e-01
17 1.149700e+04 2.75e-07 3.84e+01 6.05e-05 1.63e-01 6.20e+08 1 2.76e-02 5.30e-01
18 1.149700e+04 1.96e-07 3.19e+01 5.52e-05 1.67e-01 4.78e+08 1 2.85e-02 5.59e-01
19 1.149700e+04 1.36e-07 2.67e+01 5.64e-05 1.66e-01 3.68e+08 1 3.21e-02 5.91e-01
20 1.149700e+04 9.59e-08 2.21e+01 5.75e-05 1.69e-01 2.85e+08 1 3.12e-02 6.22e-01
21 1.149700e+04 6.64e-08 1.84e+01 5.91e-05 1.70e-01 2.21e+08 1 3.11e-02 6.53e-01
22 1.149700e+04 4.67e-08 1.52e+01 6.06e-05 1.73e-01 1.73e+08 1 3.47e-02 6.88e-01
23 1.149700e+04 3.21e-08 1.26e+01 6.18e-05 1.75e-01 1.36e+08 1 3.91e-02 7.27e-01
24 1.149700e+04 2.24e-08 1.03e+01 6.23e-05 1.81e-01 1.08e+08 1 3.32e-02 7.60e-01
25 1.149700e+04 1.52e-08 8.42e+00 6.18e-05 1.83e-01 8.59e+07 1 3.78e-02 7.98e-01
26 1.149700e+04 1.05e-08 6.83e+00 6.01e-05 1.90e-01 6.93e+07 1 3.18e-02 8.30e-01
27 1.149700e+04 6.99e-09 5.50e+00 5.72e-05 1.94e-01 5.64e+07 1 3.17e-02 8.62e-01
28 1.149700e+04 4.63e-09 4.39e+00 5.32e-05 2.00e-01 4.64e+07 1 3.08e-02 8.93e-01
29 1.149700e+04 3.06e-09 3.48e+00 4.83e-05 2.10e-01 3.88e+07 1 3.03e-02 9.23e-01
30 1.149700e+04 1.80e-09 2.72e+00 4.25e-05 2.01e-01 3.20e+07 1 3.11e-02 9.54e-01
31 1.149700e+04 1.35e-09 2.10e+00 3.67e-05 2.48e-01 2.83e+07 1 3.26e-02 9.87e-01
32 1.149700e+04 6.18e-10 1.83e+00 3.06e-05 1.91e-01 2.29e+07 1 3.16e-02 1.02e+00
33 1.149700e+04 5.71e-10 1.95e+00 2.51e-05 3.05e-01 2.16e+07 1 2.96e-02 1.05e+00
34 1.149700e+04 2.13e-10 1.49e+00 1.99e-05 2.06e-01 1.80e+07 1 3.00e-02 1.08e+00
35 1.149700e+04 1.69e-10 1.77e+00 1.53e-05 2.85e-01 1.66e+07 1 3.01e-02 1.11e+00
36 1.149700e+04 1.26e-10 1.55e+00 1.17e-05 3.27e-01 1.60e+07 1 3.19e-02 1.14e+00
37 1.149700e+04 1.02e-10 1.14e+00 8.43e-06 7.19e-01 1.74e+07 1 3.05e-02 1.17e+00
38 1.149700e+04 8.37e-11 6.70e-01 6.00e-06 7.04e-01 1.87e+07 1 3.30e-02 1.20e+00
I20260707 08:16:59.703307 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:16:59.703347 84886 bundle_adjustment.cc:942]
Residuals : 45616
Parameters : 15608
Iterations : 39
Time : 1.20455 [s]
Initial cost : 0.505858 [px]
Final cost : 0.502035 [px]
Termination : Convergence
I20260707 08:16:59.713641 84886 incremental_mapper.cc:175] => Completed observations: 10
I20260707 08:16:59.717123 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:16:59.718765 84886 incremental_mapper.cc:160] => Filtered observations: 12
I20260707 08:16:59.718782 84886 incremental_mapper.cc:119] => Changed observations: 0.000965
I20260707 08:16:59.718792 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 1.147750e+04 0.00e+00 1.44e+03 0.00e+00 0.00e+00 1.00e+04 0 1.84e-02 4.19e-02
1 1.143040e+04 4.71e+01 1.99e+02 0.00e+00 9.99e-01 3.00e+04 1 3.04e-02 7.24e-02
2 1.143032e+04 7.93e-02 1.16e+02 1.18e-01 1.02e+00 9.00e+04 1 2.95e-02 1.02e-01
3 1.143028e+04 4.88e-02 7.86e+01 4.24e-02 1.00e+00 2.70e+05 1 3.05e-02 1.32e-01
4 1.143017e+04 1.11e-01 4.72e+02 8.30e-02 9.97e-01 8.10e+05 1 2.93e-02 1.62e-01
5 1.142995e+04 2.17e-01 1.58e+03 1.45e-01 9.99e-01 2.43e+06 1 2.96e-02 1.91e-01
6 1.142962e+04 3.31e-01 6.09e+03 1.96e-01 9.98e-01 7.29e+06 1 2.93e-02 2.21e-01
7 1.142929e+04 3.26e-01 1.49e+04 2.36e-01 9.93e-01 2.19e+07 1 2.87e-02 2.49e-01
8 1.142916e+04 1.35e-01 1.12e+04 1.89e-01 1.00e+00 6.56e+07 1 2.86e-02 2.78e-01
9 1.142914e+04 1.85e-02 2.49e+03 7.73e-02 1.04e+00 1.97e+08 1 2.66e-02 3.05e-01
10 1.142914e+04 9.39e-04 1.51e+02 2.24e-02 1.11e+00 5.90e+08 1 2.61e-02 3.31e-01
11 1.142914e+04 2.83e-05 1.57e+01 3.52e-03 1.14e+00 1.77e+09 1 2.60e-02 3.57e-01
12 1.142914e+04 8.33e-07 9.28e+00 5.01e-04 1.03e+00 5.31e+09 1 2.67e-02 3.84e-01
13 1.142914e+04 3.86e-08 7.89e+00 6.95e-05 3.99e-01 5.27e+09 1 2.95e-02 4.13e-01
14 1.142914e+04 1.02e-08 6.29e+00 1.62e-05 2.03e-01 4.35e+09 1 3.00e-02 4.43e-01
15 1.142914e+04 6.17e-09 5.09e+00 4.16e-06 1.90e-01 3.52e+09 1 3.04e-02 4.74e-01
16 1.142914e+04 4.03e-09 4.11e+00 4.15e-06 1.88e-01 2.83e+09 1 3.16e-02 5.05e-01
17 1.142914e+04 2.74e-09 3.32e+00 3.24e-06 2.00e-01 2.32e+09 1 2.95e-02 5.35e-01
18 1.142914e+04 1.88e-09 2.68e+00 2.75e-06 2.06e-01 1.93e+09 1 2.73e-02 5.62e-01
19 1.142914e+04 1.08e-09 2.16e+00 2.31e-06 1.84e-01 1.54e+09 1 2.81e-02 5.90e-01
20 1.142914e+04 6.69e-10 1.86e+00 1.99e-06 1.85e-01 1.23e+09 1 2.73e-02 6.18e-01
21 1.142914e+04 4.77e-10 1.98e+00 1.75e-06 2.01e-01 1.02e+09 1 2.77e-02 6.45e-01
22 1.142914e+04 3.69e-10 1.72e+00 1.56e-06 2.41e-01 8.93e+08 1 2.49e-02 6.70e-01
23 1.142914e+04 1.53e-10 1.66e+00 1.38e-06 1.52e-01 6.68e+08 1 2.69e-02 6.97e-01
24 1.142914e+04 8.91e-11 1.78e+00 1.27e-06 1.38e-01 4.84e+08 1 2.80e-02 7.25e-01
25 1.142914e+04 1.86e-10 1.69e+00 1.27e-06 4.26e-01 4.82e+08 1 2.77e-02 7.53e-01
26 1.142914e+04 -7.64e-11 1.69e+00 1.16e-06 -2.47e-01 2.41e+08 1 1.14e-02 7.64e-01
27 1.142914e+04 3.09e-11 1.18e+00 1.57e-06 1.36e-01 1.74e+08 1 2.62e-02 7.91e-01
28 1.142914e+04 -4.73e-11 1.18e+00 1.90e-06 -2.87e-01 8.70e+07 1 1.14e-02 8.02e-01
29 1.142914e+04 5.64e-11 1.01e+00 2.69e-06 2.97e-01 8.16e+07 1 2.80e-02 8.30e-01
30 1.142914e+04 3.64e-12 1.01e+00 3.07e-06 -1.02e-01 4.08e+07 1 1.19e-02 8.42e-01
31 1.142914e+04 -9.64e-11 1.01e+00 4.01e-06 -1.04e+00 1.02e+07 1 1.06e-02 8.53e-01
32 1.142914e+04 2.18e-11 9.06e-01 6.59e-06 6.92e-02 6.22e+06 1 2.71e-02 8.80e-01
I20260707 08:17:00.614291 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:00.614327 84886 bundle_adjustment.cc:942]
Residuals : 45604
Parameters : 15596
Iterations : 33
Time : 0.880558 [s]
Initial cost : 0.501675 [px]
Final cost : 0.500617 [px]
Termination : Convergence
I20260707 08:17:00.623063 84886 incremental_mapper.cc:175] => Completed observations: 5
I20260707 08:17:00.626026 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:17:00.627377 84886 incremental_mapper.cc:160] => Filtered observations: 8
I20260707 08:17:00.627388 84886 incremental_mapper.cc:119] => Changed observations: 0.000570
I20260707 08:17:00.627395 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 1.140375e+04 0.00e+00 6.54e+02 0.00e+00 0.00e+00 1.00e+04 0 1.72e-02 3.44e-02
1 1.137620e+04 2.76e+01 2.21e+02 0.00e+00 9.99e-01 3.00e+04 1 2.80e-02 6.24e-02
2 1.137617e+04 3.09e-02 2.90e+02 6.70e-02 1.01e+00 9.00e+04 1 2.72e-02 8.96e-02
3 1.137616e+04 6.57e-03 3.62e+02 1.70e-02 1.01e+00 2.70e+05 1 2.86e-02 1.18e-01
4 1.137615e+04 7.46e-03 3.20e+02 1.26e-02 9.99e-01 8.10e+05 1 2.93e-02 1.48e-01
5 1.137614e+04 1.24e-02 1.96e+02 2.26e-02 1.00e+00 2.43e+06 1 2.96e-02 1.77e-01
6 1.137612e+04 1.68e-02 1.07e+02 7.58e-02 1.00e+00 7.29e+06 1 2.89e-02 2.06e-01
7 1.137611e+04 1.75e-02 3.23e+02 1.38e-01 1.00e+00 2.19e+07 1 2.86e-02 2.35e-01
8 1.137610e+04 9.28e-03 1.52e+02 1.11e-01 1.02e+00 6.56e+07 1 2.84e-02 2.63e-01
9 1.137610e+04 1.61e-03 1.19e+02 2.82e-02 1.05e+00 1.97e+08 1 2.98e-02 2.93e-01
10 1.137610e+04 9.44e-05 1.62e+01 5.42e-03 1.11e+00 5.90e+08 1 2.74e-02 3.20e-01
11 1.137610e+04 3.13e-06 1.08e+01 1.01e-03 1.12e+00 1.77e+09 1 2.69e-02 3.47e-01
12 1.137610e+04 1.03e-07 7.49e+00 1.62e-04 6.94e-01 1.88e+09 1 2.68e-02 3.74e-01
13 1.137610e+04 1.10e-08 6.44e+00 2.00e-05 2.18e-01 1.60e+09 1 2.91e-02 4.03e-01
14 1.137610e+04 5.65e-09 5.29e+00 9.07e-06 1.71e-01 1.24e+09 1 2.95e-02 4.33e-01
15 1.137610e+04 4.05e-09 4.39e+00 4.81e-06 1.79e-01 9.81e+08 1 2.96e-02 4.62e-01
16 1.137610e+04 2.60e-09 3.63e+00 4.95e-06 1.67e-01 7.57e+08 1 2.82e-02 4.91e-01
17 1.137610e+04 1.87e-09 3.00e+00 4.64e-06 1.76e-01 5.95e+08 1 2.80e-02 5.19e-01
18 1.137610e+04 1.22e-09 2.48e+00 4.55e-06 1.71e-01 4.63e+08 1 2.87e-02 5.47e-01
19 1.137610e+04 8.00e-10 2.04e+00 4.52e-06 1.64e-01 3.55e+08 1 2.88e-02 5.76e-01
20 1.137610e+04 6.51e-10 1.78e+00 4.58e-06 1.95e-01 2.89e+08 1 2.82e-02 6.04e-01
21 1.137610e+04 3.37e-10 2.00e+00 4.58e-06 1.43e-01 2.12e+08 1 2.88e-02 6.33e-01
22 1.137610e+04 3.46e-10 1.84e+00 4.68e-06 2.22e-01 1.81e+08 1 2.89e-02 6.62e-01
23 1.137610e+04 2.36e-10 1.50e+00 4.66e-06 2.43e-01 1.59e+08 1 2.82e-02 6.90e-01
24 1.137610e+04 7.64e-11 1.86e+00 4.27e-06 1.35e-01 1.14e+08 1 2.89e-02 7.19e-01
25 1.137610e+04 2.09e-10 1.81e+00 4.20e-06 4.93e-01 1.14e+08 1 2.88e-02 7.48e-01
26 1.137610e+04 -1.04e-10 1.81e+00 3.88e-06 -4.07e-01 5.72e+07 1 1.19e-02 7.60e-01
27 1.137610e+04 -6.73e-11 1.81e+00 5.18e-06 -2.82e-01 1.43e+07 1 1.12e-02 7.71e-01
28 1.137610e+04 2.36e-11 1.18e+00 9.44e-06 3.18e-02 7.85e+06 1 2.80e-02 7.99e-01
29 1.137610e+04 -8.55e-11 1.18e+00 1.00e-05 -5.38e-01 3.93e+06 1 1.19e-02 8.11e-01
30 1.137610e+04 3.46e-11 7.43e-01 9.83e-06 3.60e-01 3.84e+06 1 2.81e-02 8.39e-01
I20260707 08:17:01.480538 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:01.480573 84886 bundle_adjustment.cc:942]
Residuals : 45596
Parameters : 15587
Iterations : 31
Time : 0.840197 [s]
Initial cost : 0.500104 [px]
Final cost : 0.499497 [px]
Termination : Convergence
I20260707 08:17:01.490078 84886 incremental_mapper.cc:175] => Completed observations: 0
I20260707 08:17:01.493538 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:17:01.495126 84886 incremental_mapper.cc:160] => Filtered observations: 2
I20260707 08:17:01.495144 84886 incremental_mapper.cc:119] => Changed observations: 0.000088
I20260707 08:17:01.495153 84886 incremental_mapper.cc:167] => Filtered images: 0
I20260707 08:17:01.500753 84886 misc.cc:198]
==============================================================================
Registering image #22 (27)
==============================================================================
I20260707 08:17:01.500771 84886 incremental_mapper.cc:495] => Image sees 630 / 1634 points
I20260707 08:17:01.509109 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:17:01.509155 84886 bundle_adjustment.cc:942]
Residuals : 1234
Parameters : 6
Iterations : 6
Time : 0.00272298 [s]
Initial cost : 0.613433 [px]
Final cost : 0.553095 [px]
Termination : Convergence
I20260707 08:17:01.509521 84886 incremental_mapper.cc:40] => Continued observations: 546
I20260707 08:17:01.512235 84886 incremental_mapper.cc:43] => Added observations: 428
W20260707 08:17:01.609543 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W20260707 08:17:01.610407 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W20260707 08:17:01.624193 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W20260707 08:17:01.625039 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W20260707 08:17:01.633886 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W20260707 08:17:01.635699 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W20260707 08:17:01.653115 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W20260707 08:17:01.675457 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
I20260707 08:17:01.676374 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:01.676406 84886 bundle_adjustment.cc:942]
Residuals : 17198
Parameters : 2690
Iterations : 26
Time : 0.156302 [s]
Initial cost : 0.562676 [px]
Final cost : 0.535486 [px]
Termination : No convergence
I20260707 08:17:01.692086 84886 incremental_mapper.cc:78] => Merged observations: 12
I20260707 08:17:01.692138 84886 incremental_mapper.cc:79] => Completed observations: 98
I20260707 08:17:01.692145 84886 incremental_mapper.cc:81] => Filtered observations: 235
I20260707 08:17:01.692149 84886 incremental_mapper.cc:90] => Changed observations: 0.034618
I20260707 08:17:01.751940 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:01.751991 84886 bundle_adjustment.cc:942]
Residuals : 16938
Parameters : 2510
Iterations : 4
Time : 0.0502748 [s]
Initial cost : 0.559562 [px]
Final cost : 0.548731 [px]
Termination : Convergence
I20260707 08:17:01.765974 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:17:01.766031 84886 incremental_mapper.cc:79] => Completed observations: 77
I20260707 08:17:01.766036 84886 incremental_mapper.cc:81] => Filtered observations: 4
I20260707 08:17:01.766038 84886 incremental_mapper.cc:90] => Changed observations: 0.008239
I20260707 08:17:01.778014 84886 misc.cc:198]
==============================================================================
Registering image #158 (28)
==============================================================================
I20260707 08:17:01.778085 84886 incremental_mapper.cc:495] => Image sees 411 / 2612 points
I20260707 08:17:01.793509 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:17:01.793570 84886 bundle_adjustment.cc:942]
Residuals : 432
Parameters : 6
Iterations : 12
Time : 0.00346994 [s]
Initial cost : 0.775957 [px]
Final cost : 0.746044 [px]
Termination : Convergence
I20260707 08:17:01.793919 84886 incremental_mapper.cc:40] => Continued observations: 207
I20260707 08:17:01.796991 84886 incremental_mapper.cc:43] => Added observations: 911
I20260707 08:17:02.026569 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:02.026621 84886 bundle_adjustment.cc:942]
Residuals : 12980
Parameters : 2636
Iterations : 26
Time : 0.219574 [s]
Initial cost : 0.734101 [px]
Final cost : 0.686616 [px]
Termination : No convergence
I20260707 08:17:02.034961 84886 incremental_mapper.cc:78] => Merged observations: 7
I20260707 08:17:02.034991 84886 incremental_mapper.cc:79] => Completed observations: 163
I20260707 08:17:02.034996 84886 incremental_mapper.cc:81] => Filtered observations: 408
I20260707 08:17:02.034997 84886 incremental_mapper.cc:90] => Changed observations: 0.075378
I20260707 08:17:02.057920 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:02.057958 84886 bundle_adjustment.cc:942]
Residuals : 10290
Parameters : 2426
Iterations : 3
Time : 0.0172801 [s]
Initial cost : 0.647639 [px]
Final cost : 0.628119 [px]
Termination : Convergence
I20260707 08:17:02.064072 84886 incremental_mapper.cc:78] => Merged observations: 14
I20260707 08:17:02.064096 84886 incremental_mapper.cc:79] => Completed observations: 52
I20260707 08:17:02.064100 84886 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 08:17:02.064101 84886 incremental_mapper.cc:90] => Changed observations: 0.009849
I20260707 08:17:02.069114 84886 misc.cc:198]
==============================================================================
Registering image #164 (29)
==============================================================================
I20260707 08:17:02.069147 84886 incremental_mapper.cc:495] => Image sees 622 / 1966 points
I20260707 08:17:02.080160 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:17:02.080193 84886 bundle_adjustment.cc:942]
Residuals : 948
Parameters : 6
Iterations : 11
Time : 0.00380898 [s]
Initial cost : 0.710157 [px]
Final cost : 0.675005 [px]
Termination : Convergence
I20260707 08:17:02.080503 84886 incremental_mapper.cc:40] => Continued observations: 431
I20260707 08:17:02.084264 84886 incremental_mapper.cc:43] => Added observations: 1052
I20260707 08:17:02.337790 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:02.337839 84886 bundle_adjustment.cc:942]
Residuals : 18678
Parameters : 3332
Iterations : 26
Time : 0.246302 [s]
Initial cost : 0.719765 [px]
Final cost : 0.661038 [px]
Termination : No convergence
I20260707 08:17:02.348218 84886 incremental_mapper.cc:78] => Merged observations: 48
I20260707 08:17:02.348253 84886 incremental_mapper.cc:79] => Completed observations: 179
I20260707 08:17:02.348255 84886 incremental_mapper.cc:81] => Filtered observations: 602
I20260707 08:17:02.348258 84886 incremental_mapper.cc:90] => Changed observations: 0.086014
I20260707 08:17:02.381916 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:02.381963 84886 bundle_adjustment.cc:942]
Residuals : 15306
Parameters : 2777
Iterations : 3
Time : 0.0264611 [s]
Initial cost : 0.602352 [px]
Final cost : 0.585278 [px]
Termination : Convergence
I20260707 08:17:02.391592 84886 incremental_mapper.cc:78] => Merged observations: 35
I20260707 08:17:02.391619 84886 incremental_mapper.cc:79] => Completed observations: 170
I20260707 08:17:02.391623 84886 incremental_mapper.cc:81] => Filtered observations: 12
I20260707 08:17:02.391638 84886 incremental_mapper.cc:90] => Changed observations: 0.023791
I20260707 08:17:02.391657 84886 misc.cc:198]
==============================================================================
Retriangulation
==============================================================================
I20260707 08:17:02.395759 84886 incremental_mapper.cc:175] => Completed observations: 68
I20260707 08:17:02.400835 84886 incremental_mapper.cc:178] => Merged observations: 8
I20260707 08:17:02.400861 84886 incremental_mapper.cc:105] => Retriangulated observations: 356
I20260707 08:17:02.403290 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 1.490627e+05 0.00e+00 8.04e+04 0.00e+00 0.00e+00 1.00e+04 0 6.78e-03 3.91e-02
1 1.527454e+05 -3.68e+03 8.04e+04 0.00e+00 -1.14e-01 5.00e+03 1 1.26e-02 5.17e-02
2 1.408358e+05 8.23e+03 6.37e+04 0.00e+00 2.58e-01 4.49e+03 1 1.52e-02 6.70e-02
3 1.192689e+05 2.16e+04 1.54e+04 8.01e+01 8.74e-01 7.71e+03 1 1.64e-02 8.34e-02
4 1.167743e+05 2.49e+03 1.14e+04 2.44e+01 8.93e-01 1.50e+04 1 1.67e-02 1.00e-01
5 1.165156e+05 2.59e+02 1.37e+04 1.35e+01 9.70e-01 4.51e+04 1 1.93e-02 1.19e-01
6 1.164297e+05 8.58e+01 3.40e+04 7.03e+00 1.01e+00 1.35e+05 1 2.01e-02 1.40e-01
7 1.162362e+05 1.93e+02 7.44e+04 3.92e+00 9.94e-01 4.05e+05 1 2.18e-02 1.61e-01
8 1.157132e+05 5.23e+02 3.56e+05 1.47e+01 8.97e-01 8.11e+05 1 2.24e-02 1.84e-01
9 1.152734e+05 4.40e+02 3.52e+05 2.30e+01 7.75e-01 9.72e+05 1 2.35e-02 2.07e-01
10 1.151049e+05 1.68e+02 1.81e+05 5.98e+00 9.52e-01 2.92e+06 1 2.02e-02 2.28e-01
11 1.150874e+05 1.75e+01 3.28e+04 1.17e+00 1.01e+00 8.75e+06 1 2.15e-02 2.49e-01
12 1.150867e+05 6.72e-01 1.13e+04 1.24e+00 1.04e+00 2.63e+07 1 2.10e-02 2.70e-01
13 1.150867e+05 3.94e-02 1.10e+03 4.69e-01 1.07e+00 7.88e+07 1 2.26e-02 2.93e-01
14 1.150867e+05 9.67e-04 1.94e+01 5.91e-02 1.14e+00 2.36e+08 1 2.35e-02 3.17e-01
15 1.150867e+05 2.58e-05 1.47e+00 5.55e-03 1.16e+00 7.09e+08 1 2.14e-02 3.38e-01
16 1.150867e+05 7.79e-07 1.18e-01 7.09e-04 1.17e+00 2.13e+09 1 1.92e-02 3.57e-01
I20260707 08:17:02.783669 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:02.783715 84886 bundle_adjustment.cc:942]
Residuals : 52068
Parameters : 17891
Iterations : 17
Time : 0.35926 [s]
Initial cost : 1.69199 [px]
Final cost : 1.48671 [px]
Termination : Convergence
I20260707 08:17:02.800436 84886 incremental_mapper.cc:175] => Completed observations: 104
I20260707 08:17:02.804912 84886 incremental_mapper.cc:178] => Merged observations: 71
I20260707 08:17:02.807340 84886 incremental_mapper.cc:160] => Filtered observations: 741
I20260707 08:17:02.807355 84886 incremental_mapper.cc:119] => Changed observations: 0.035185
I20260707 08:17:02.807367 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 1.645033e+04 0.00e+00 2.50e+04 0.00e+00 0.00e+00 1.00e+04 0 5.56e-03 3.11e-02
1 1.485155e+04 1.60e+03 2.27e+04 0.00e+00 8.94e-01 1.96e+04 1 1.60e-02 4.72e-02
2 1.459366e+04 2.58e+02 6.49e+03 3.40e+01 9.88e-01 5.87e+04 1 1.63e-02 6.35e-02
3 1.452383e+04 6.98e+01 6.75e+04 3.30e+00 1.00e+00 1.76e+05 1 1.73e-02 8.09e-02
4 1.443997e+04 8.39e+01 4.43e+05 2.07e+00 9.78e-01 5.29e+05 1 1.66e-02 9.75e-02
5 1.435990e+04 8.01e+01 8.16e+05 3.66e+00 9.71e-01 1.59e+06 1 1.63e-02 1.14e-01
6 1.428076e+04 7.91e+01 1.41e+06 6.07e+00 9.18e-01 3.83e+06 1 1.55e-02 1.29e-01
7 1.420153e+04 7.92e+01 3.05e+06 9.44e+00 7.07e-01 4.12e+06 1 1.73e-02 1.47e-01
8 1.411992e+04 8.16e+01 9.91e+05 5.99e+00 9.67e-01 1.24e+07 1 1.77e-02 1.64e-01
9 1.409961e+04 2.03e+01 2.26e+06 6.37e+00 3.60e-01 1.21e+07 1 1.95e-02 1.84e-01
10 1.406902e+04 3.06e+01 1.59e+06 2.93e+00 5.68e-01 1.21e+07 1 1.92e-02 2.03e-01
11 1.404565e+04 2.34e+01 6.00e+05 1.52e+00 8.35e-01 1.74e+07 1 1.87e-02 2.22e-01
12 1.404046e+04 5.19e+00 1.45e+05 1.01e+00 9.43e-01 5.21e+07 1 1.74e-02 2.39e-01
13 1.404004e+04 4.12e-01 1.50e+04 5.05e-01 1.00e+00 1.56e+08 1 1.84e-02 2.58e-01
14 1.404004e+04 6.32e-03 1.88e+02 7.34e-02 1.04e+00 4.69e+08 1 1.63e-02 2.74e-01
15 1.404004e+04 5.95e-05 4.03e+00 1.06e-02 1.16e+00 1.41e+09 1 1.98e-02 2.94e-01
16 1.404004e+04 1.66e-06 5.06e-01 1.93e-03 1.17e+00 4.22e+09 1 2.03e-02 3.14e-01
I20260707 08:17:03.140769 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:03.140817 84886 bundle_adjustment.cc:942]
Residuals : 50662
Parameters : 17174
Iterations : 17
Time : 0.315942 [s]
Initial cost : 0.569831 [px]
Final cost : 0.526433 [px]
Termination : Convergence
I20260707 08:17:03.155956 84886 incremental_mapper.cc:175] => Completed observations: 62
I20260707 08:17:03.160269 84886 incremental_mapper.cc:178] => Merged observations: 17
I20260707 08:17:03.162293 84886 incremental_mapper.cc:160] => Filtered observations: 51
I20260707 08:17:03.162310 84886 incremental_mapper.cc:119] => Changed observations: 0.005132
I20260707 08:17:03.162322 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 1.373566e+04 0.00e+00 8.28e+03 0.00e+00 0.00e+00 1.00e+04 0 6.43e-03 3.48e-02
1 1.349485e+04 2.41e+02 1.63e+03 0.00e+00 9.96e-01 3.00e+04 1 1.92e-02 5.40e-02
2 1.348716e+04 7.69e+00 7.19e+02 2.34e+00 1.03e+00 9.00e+04 1 1.99e-02 7.39e-02
3 1.348456e+04 2.59e+00 1.52e+03 2.03e+00 1.01e+00 2.70e+05 1 2.19e-02 9.58e-02
4 1.348144e+04 3.12e+00 8.50e+03 7.71e-01 1.00e+00 8.10e+05 1 2.06e-02 1.17e-01
5 1.347715e+04 4.29e+00 3.68e+04 5.50e-01 9.96e-01 2.43e+06 1 2.01e-02 1.37e-01
6 1.347324e+04 3.91e+00 6.79e+04 8.35e-01 9.91e-01 7.29e+06 1 2.03e-02 1.57e-01
7 1.347096e+04 2.28e+00 1.09e+05 6.16e-01 9.70e-01 2.19e+07 1 1.88e-02 1.76e-01
8 1.347017e+04 7.99e-01 1.69e+05 8.22e-01 7.65e-01 2.57e+07 1 1.91e-02 1.95e-01
9 1.346979e+04 3.79e-01 2.90e+04 4.48e-01 9.94e-01 7.71e+07 1 2.04e-02 2.15e-01
10 1.346977e+04 2.09e-02 3.83e+03 2.02e-01 1.03e+00 2.31e+08 1 2.20e-02 2.38e-01
11 1.346976e+04 5.99e-04 7.25e+01 2.96e-02 1.10e+00 6.94e+08 1 2.03e-02 2.58e-01
12 1.346976e+04 1.26e-05 3.86e+00 4.49e-03 1.16e+00 2.08e+09 1 1.96e-02 2.78e-01
13 1.346976e+04 3.74e-07 1.18e+00 8.74e-04 1.17e+00 6.25e+09 1 1.92e-02 2.97e-01
14 1.346976e+04 1.22e-08 3.54e-01 1.69e-04 1.16e+00 1.87e+10 1 1.82e-02 3.15e-01
I20260707 08:17:03.498390 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:03.498461 84886 bundle_adjustment.cc:942]
Residuals : 50656
Parameters : 17138
Iterations : 15
Time : 0.316872 [s]
Initial cost : 0.520726 [px]
Final cost : 0.515661 [px]
Termination : Convergence
I20260707 08:17:03.514683 84886 incremental_mapper.cc:175] => Completed observations: 18
I20260707 08:17:03.518747 84886 incremental_mapper.cc:178] => Merged observations: 27
I20260707 08:17:03.520654 84886 incremental_mapper.cc:160] => Filtered observations: 14
I20260707 08:17:03.520668 84886 incremental_mapper.cc:119] => Changed observations: 0.002329
I20260707 08:17:03.520680 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 1.350641e+04 0.00e+00 2.53e+03 0.00e+00 0.00e+00 1.00e+04 0 5.45e-03 3.20e-02
1 1.345829e+04 4.81e+01 1.84e+02 0.00e+00 1.00e+00 3.00e+04 1 1.75e-02 4.95e-02
2 1.345795e+04 3.41e-01 1.58e+02 3.61e-01 1.01e+00 9.00e+04 1 1.68e-02 6.64e-02
3 1.345764e+04 3.03e-01 3.08e+02 3.95e-01 1.01e+00 2.70e+05 1 1.78e-02 8.42e-02
4 1.345735e+04 2.92e-01 1.25e+03 3.71e-01 1.01e+00 8.10e+05 1 1.94e-02 1.04e-01
5 1.345695e+04 4.03e-01 5.63e+03 1.09e-01 1.00e+00 2.43e+06 1 1.98e-02 1.23e-01
6 1.345648e+04 4.65e-01 1.28e+04 1.93e-01 1.00e+00 7.29e+06 1 1.84e-02 1.42e-01
7 1.345621e+04 2.70e-01 9.52e+03 1.91e-01 1.01e+00 2.19e+07 1 1.55e-02 1.57e-01
8 1.345614e+04 7.63e-02 1.21e+04 2.79e-01 1.00e+00 6.56e+07 1 1.58e-02 1.73e-01
9 1.345613e+04 9.70e-03 2.20e+03 1.62e-01 1.04e+00 1.97e+08 1 1.78e-02 1.91e-01
10 1.345613e+04 3.58e-04 5.85e+01 2.74e-02 1.10e+00 5.90e+08 1 1.73e-02 2.08e-01
11 1.345613e+04 8.21e-06 2.00e+00 3.35e-03 1.15e+00 1.77e+09 1 1.67e-02 2.25e-01
12 1.345613e+04 2.31e-07 3.92e-01 6.59e-04 1.17e+00 5.31e+09 1 1.66e-02 2.42e-01
I20260707 08:17:03.782102 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:03.782159 84886 bundle_adjustment.cc:942]
Residuals : 50654
Parameters : 17120
Iterations : 13
Time : 0.243363 [s]
Initial cost : 0.516373 [px]
Final cost : 0.51541 [px]
Termination : Convergence
I20260707 08:17:03.798902 84886 incremental_mapper.cc:175] => Completed observations: 2
I20260707 08:17:03.803124 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:17:03.805014 84886 incremental_mapper.cc:160] => Filtered observations: 18
I20260707 08:17:03.805027 84886 incremental_mapper.cc:119] => Changed observations: 0.000790
I20260707 08:17:03.805038 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 1.339058e+04 0.00e+00 1.19e+03 0.00e+00 0.00e+00 1.00e+04 0 5.54e-03 3.05e-02
1 1.338007e+04 1.05e+01 1.08e+02 0.00e+00 9.99e-01 3.00e+04 1 1.78e-02 4.84e-02
2 1.337990e+04 1.70e-01 5.96e+01 1.07e-01 1.02e+00 9.00e+04 1 2.07e-02 6.92e-02
3 1.337983e+04 7.42e-02 9.54e+01 1.89e-01 1.01e+00 2.70e+05 1 2.05e-02 8.97e-02
4 1.337976e+04 6.36e-02 1.81e+02 2.27e-01 1.01e+00 8.10e+05 1 1.82e-02 1.08e-01
5 1.337969e+04 7.26e-02 7.71e+02 1.34e-01 1.00e+00 2.43e+06 1 1.92e-02 1.27e-01
6 1.337963e+04 6.03e-02 1.30e+03 8.22e-02 1.01e+00 7.29e+06 1 1.97e-02 1.47e-01
7 1.337961e+04 2.06e-02 8.69e+02 4.99e-02 1.02e+00 2.19e+07 1 2.00e-02 1.67e-01
8 1.337961e+04 3.43e-03 4.36e+02 3.57e-02 1.04e+00 6.56e+07 1 1.96e-02 1.87e-01
9 1.337961e+04 2.95e-04 6.16e+01 1.93e-02 1.08e+00 1.97e+08 1 2.17e-02 2.08e-01
10 1.337961e+04 1.14e-05 2.00e+00 3.98e-03 1.13e+00 5.90e+08 1 2.07e-02 2.29e-01
11 1.337961e+04 3.18e-07 1.75e-01 6.77e-04 1.16e+00 1.77e+09 1 2.05e-02 2.50e-01
I20260707 08:17:04.074811 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:04.074887 84886 bundle_adjustment.cc:942]
Residuals : 50564
Parameters : 17078
Iterations : 12
Time : 0.252545 [s]
Initial cost : 0.514611 [px]
Final cost : 0.5144 [px]
Termination : Convergence
I20260707 08:17:04.097445 84886 incremental_mapper.cc:175] => Completed observations: 0
I20260707 08:17:04.102852 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:17:04.104950 84886 incremental_mapper.cc:160] => Filtered observations: 5
I20260707 08:17:04.104967 84886 incremental_mapper.cc:119] => Changed observations: 0.000198
I20260707 08:17:04.104979 84886 incremental_mapper.cc:167] => Filtered images: 0
I20260707 08:17:04.111264 84886 misc.cc:198]
==============================================================================
Registering image #194 (30)
==============================================================================
I20260707 08:17:04.111291 84886 incremental_mapper.cc:495] => Image sees 585 / 1742 points
I20260707 08:17:04.120988 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:17:04.121026 84886 bundle_adjustment.cc:942]
Residuals : 990
Parameters : 6
Iterations : 16
Time : 0.00611401 [s]
Initial cost : 0.592855 [px]
Final cost : 0.548729 [px]
Termination : Convergence
I20260707 08:17:04.121352 84886 incremental_mapper.cc:40] => Continued observations: 467
I20260707 08:17:04.124408 84886 incremental_mapper.cc:43] => Added observations: 869
I20260707 08:17:04.421247 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:04.421288 84886 bundle_adjustment.cc:942]
Residuals : 18576
Parameters : 3350
Iterations : 26
Time : 0.289608 [s]
Initial cost : 0.60403 [px]
Final cost : 0.567168 [px]
Termination : No convergence
I20260707 08:17:04.429607 84886 incremental_mapper.cc:78] => Merged observations: 72
I20260707 08:17:04.429634 84886 incremental_mapper.cc:79] => Completed observations: 388
I20260707 08:17:04.429637 84886 incremental_mapper.cc:81] => Filtered observations: 284
I20260707 08:17:04.429639 84886 incremental_mapper.cc:90] => Changed observations: 0.074229
I20260707 08:17:04.464665 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:04.464707 84886 bundle_adjustment.cc:942]
Residuals : 18596
Parameters : 2981
Iterations : 3
Time : 0.0287611 [s]
Initial cost : 0.525208 [px]
Final cost : 0.508852 [px]
Termination : Convergence
I20260707 08:17:04.473632 84886 incremental_mapper.cc:78] => Merged observations: 15
I20260707 08:17:04.473660 84886 incremental_mapper.cc:79] => Completed observations: 90
I20260707 08:17:04.473664 84886 incremental_mapper.cc:81] => Filtered observations: 9
I20260707 08:17:04.473666 84886 incremental_mapper.cc:90] => Changed observations: 0.011679
I20260707 08:17:04.478554 84886 misc.cc:198]
==============================================================================
Registering image #176 (31)
==============================================================================
I20260707 08:17:04.478575 84886 incremental_mapper.cc:495] => Image sees 398 / 1712 points
I20260707 08:17:04.485033 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:17:04.485065 84886 bundle_adjustment.cc:942]
Residuals : 566
Parameters : 6
Iterations : 11
Time : 0.00233507 [s]
Initial cost : 0.628663 [px]
Final cost : 0.614312 [px]
Termination : Convergence
I20260707 08:17:04.485257 84886 incremental_mapper.cc:40] => Continued observations: 256
I20260707 08:17:04.487241 84886 incremental_mapper.cc:43] => Added observations: 336
I20260707 08:17:04.644102 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:04.644152 84886 bundle_adjustment.cc:942]
Residuals : 13256
Parameters : 1505
Iterations : 26
Time : 0.151293 [s]
Initial cost : 0.570275 [px]
Final cost : 0.54104 [px]
Termination : No convergence
I20260707 08:17:04.650264 84886 incremental_mapper.cc:78] => Merged observations: 11
I20260707 08:17:04.650290 84886 incremental_mapper.cc:79] => Completed observations: 78
I20260707 08:17:04.650293 84886 incremental_mapper.cc:81] => Filtered observations: 200
I20260707 08:17:04.650295 84886 incremental_mapper.cc:90] => Changed observations: 0.036778
I20260707 08:17:04.706247 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:04.706282 84886 bundle_adjustment.cc:942]
Residuals : 12934
Parameters : 1298
Iterations : 9
Time : 0.050998 [s]
Initial cost : 0.524571 [px]
Final cost : 0.514791 [px]
Termination : Convergence
I20260707 08:17:04.712103 84886 incremental_mapper.cc:78] => Merged observations: 45
I20260707 08:17:04.712126 84886 incremental_mapper.cc:79] => Completed observations: 40
I20260707 08:17:04.712133 84886 incremental_mapper.cc:81] => Filtered observations: 1
I20260707 08:17:04.712136 84886 incremental_mapper.cc:90] => Changed observations: 0.011173
I20260707 08:17:04.717578 84886 misc.cc:198]
==============================================================================
Registering image #512 (32)
==============================================================================
I20260707 08:17:04.717605 84886 incremental_mapper.cc:495] => Image sees 307 / 1658 points
I20260707 08:17:04.722128 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:17:04.722168 84886 bundle_adjustment.cc:942]
Residuals : 486
Parameters : 6
Iterations : 10
Time : 0.00184512 [s]
Initial cost : 0.670553 [px]
Final cost : 0.507333 [px]
Termination : Convergence
I20260707 08:17:04.722330 84886 incremental_mapper.cc:40] => Continued observations: 240
I20260707 08:17:04.725013 84886 incremental_mapper.cc:43] => Added observations: 219
W20260707 08:17:04.848245 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W20260707 08:17:04.848886 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W20260707 08:17:04.849499 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
I20260707 08:17:04.849973 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:04.849990 84886 bundle_adjustment.cc:942]
Residuals : 15182
Parameters : 1067
Iterations : 26
Time : 0.117798 [s]
Initial cost : 0.6046 [px]
Final cost : 0.559563 [px]
Termination : No convergence
I20260707 08:17:04.858088 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:17:04.858109 84886 incremental_mapper.cc:79] => Completed observations: 43
I20260707 08:17:04.858112 84886 incremental_mapper.cc:81] => Filtered observations: 137
I20260707 08:17:04.858114 84886 incremental_mapper.cc:90] => Changed observations: 0.019649
I20260707 08:17:04.889312 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:04.889348 84886 bundle_adjustment.cc:942]
Residuals : 14892
Parameters : 923
Iterations : 4
Time : 0.0251961 [s]
Initial cost : 0.536957 [px]
Final cost : 0.527098 [px]
Termination : Convergence
I20260707 08:17:04.897240 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:17:04.897262 84886 incremental_mapper.cc:79] => Completed observations: 23
I20260707 08:17:04.897265 84886 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 08:17:04.897267 84886 incremental_mapper.cc:90] => Changed observations: 0.002551
I20260707 08:17:04.897279 84886 misc.cc:198]
==============================================================================
Retriangulation
==============================================================================
I20260707 08:17:04.900802 84886 incremental_mapper.cc:175] => Completed observations: 32
I20260707 08:17:04.905020 84886 incremental_mapper.cc:178] => Merged observations: 32
I20260707 08:17:04.905037 84886 incremental_mapper.cc:105] => Retriangulated observations: 204
I20260707 08:17:04.907975 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 1.121318e+05 0.00e+00 2.53e+05 0.00e+00 0.00e+00 1.00e+04 0 6.29e-03 3.67e-02
1 9.294884e+04 1.92e+04 2.56e+04 0.00e+00 7.86e-01 1.23e+04 1 2.04e-02 5.71e-02
2 8.796321e+04 4.99e+03 9.22e+03 5.26e+01 9.63e-01 3.69e+04 1 1.97e-02 7.68e-02
3 8.767048e+04 2.93e+02 1.17e+04 5.88e+00 1.02e+00 1.11e+05 1 1.99e-02 9.68e-02
4 8.763500e+04 3.55e+01 8.34e+03 1.83e+00 1.12e+00 3.32e+05 1 2.24e-02 1.19e-01
5 8.761154e+04 2.35e+01 5.21e+04 9.99e-01 1.05e+00 9.97e+05 1 1.99e-02 1.39e-01
6 8.757584e+04 3.57e+01 2.86e+05 1.29e+00 9.94e-01 2.99e+06 1 2.17e-02 1.61e-01
7 8.754879e+04 2.70e+01 1.25e+06 2.27e+00 6.89e-01 3.16e+06 1 2.11e-02 1.82e-01
8 8.752329e+04 2.55e+01 8.70e+05 2.45e+00 8.35e-01 4.52e+06 1 2.74e-02 2.10e-01
9 8.751118e+04 1.21e+01 8.84e+05 2.74e+00 8.61e-01 7.24e+06 1 3.03e-02 2.40e-01
10 8.750593e+04 5.25e+00 7.12e+05 2.68e+00 8.75e-01 1.25e+07 1 2.79e-02 2.68e-01
11 8.750378e+04 2.16e+00 4.34e+05 2.27e+00 8.82e-01 2.26e+07 1 2.81e-02 2.96e-01
12 8.750295e+04 8.25e-01 2.00e+05 1.65e+00 9.29e-01 6.11e+07 1 2.79e-02 3.24e-01
13 8.750274e+04 2.16e-01 9.38e+04 1.08e+00 9.61e-01 1.83e+08 1 2.55e-02 3.50e-01
14 8.750271e+04 2.92e-02 1.03e+04 3.57e-01 1.05e+00 5.50e+08 1 2.19e-02 3.72e-01
15 8.750271e+04 1.36e-03 2.10e+02 4.83e-02 1.34e+00 1.65e+09 1 1.68e-02 3.89e-01
16 8.750271e+04 3.17e-04 3.39e+00 4.79e-03 1.60e+00 4.95e+09 1 1.95e-02 4.08e-01
17 8.750271e+04 1.22e-04 2.10e+00 2.31e-03 1.63e+00 1.48e+10 1 1.88e-02 4.27e-01
18 8.750271e+04 4.92e-05 1.41e+00 1.41e-03 1.64e+00 4.45e+10 1 2.03e-02 4.47e-01
19 8.750271e+04 2.01e-05 1.96e+00 8.99e-04 1.64e+00 1.34e+11 1 1.76e-02 4.65e-01
20 8.750271e+04 8.24e-06 1.35e+00 5.54e-04 1.64e+00 4.01e+11 1 1.83e-02 4.83e-01
21 8.750271e+04 3.39e-06 1.77e+00 3.60e-04 1.64e+00 1.20e+12 1 1.73e-02 5.00e-01
22 8.750271e+04 1.39e-06 1.23e+00 2.25e-04 1.64e+00 3.61e+12 1 2.04e-02 5.21e-01
23 8.750271e+04 5.72e-07 1.04e+00 1.47e-04 1.64e+00 1.08e+13 1 2.21e-02 5.43e-01
24 8.750271e+04 2.35e-07 7.36e-01 9.23e-05 1.64e+00 3.25e+13 1 2.06e-02 5.64e-01
I20260707 08:17:05.494069 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:05.494146 84886 bundle_adjustment.cc:942]
Residuals : 55566
Parameters : 18371
Iterations : 25
Time : 0.565434 [s]
Initial cost : 1.42056 [px]
Final cost : 1.25489 [px]
Termination : Convergence
I20260707 08:17:05.508802 84886 incremental_mapper.cc:175] => Completed observations: 36
I20260707 08:17:05.513411 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:17:05.515947 84886 incremental_mapper.cc:160] => Filtered observations: 505
I20260707 08:17:05.515966 84886 incremental_mapper.cc:119] => Changed observations: 0.019472
I20260707 08:17:05.515976 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 1.669281e+04 0.00e+00 3.48e+04 0.00e+00 0.00e+00 1.00e+04 0 5.64e-03 3.27e-02
1 1.523898e+04 1.45e+03 1.15e+04 0.00e+00 8.66e-01 1.65e+04 1 2.03e-02 5.30e-02
2 1.492318e+04 3.16e+02 8.67e+03 5.12e+01 9.82e-01 4.95e+04 1 2.29e-02 7.59e-02
3 1.487857e+04 4.46e+01 9.74e+03 1.55e+01 9.77e-01 1.48e+05 1 2.14e-02 9.73e-02
4 1.485513e+04 2.34e+01 3.25e+04 1.25e+00 9.98e-01 4.45e+05 1 1.93e-02 1.17e-01
5 1.483389e+04 2.12e+01 1.20e+05 1.54e+00 9.70e-01 1.34e+06 1 1.99e-02 1.37e-01
6 1.481499e+04 1.89e+01 4.38e+05 1.78e+00 8.39e-01 1.94e+06 1 2.03e-02 1.57e-01
7 1.480036e+04 1.46e+01 6.24e+05 2.46e+00 8.60e-01 3.10e+06 1 2.11e-02 1.78e-01
8 1.479183e+04 8.54e+00 6.69e+05 3.13e+00 7.59e-01 3.60e+06 1 2.09e-02 1.99e-01
9 1.478578e+04 6.04e+00 3.42e+05 2.73e+00 8.92e-01 6.96e+06 1 2.08e-02 2.20e-01
10 1.478328e+04 2.51e+00 2.33e+05 3.16e+00 8.11e-01 9.16e+06 1 1.85e-02 2.38e-01
11 1.478197e+04 1.30e+00 6.07e+04 2.21e+00 9.48e-01 2.75e+07 1 1.79e-02 2.56e-01
12 1.478165e+04 3.23e-01 5.06e+04 1.86e+00 9.10e-01 6.12e+07 1 1.95e-02 2.76e-01
13 1.478159e+04 5.86e-02 6.03e+03 6.32e-01 1.01e+00 1.84e+08 1 1.97e-02 2.96e-01
14 1.478159e+04 1.40e-03 2.76e+02 1.11e-01 1.05e+00 5.51e+08 1 2.08e-02 3.17e-01
15 1.478159e+04 1.93e-05 6.19e+00 7.86e-03 1.12e+00 1.65e+09 1 2.17e-02 3.38e-01
16 1.478159e+04 4.05e-07 1.86e+00 6.00e-04 1.14e+00 4.96e+09 1 1.99e-02 3.58e-01
17 1.478159e+04 1.10e-08 5.52e-01 7.51e-05 1.11e+00 1.49e+10 1 2.31e-02 3.81e-01
I20260707 08:17:05.918923 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:05.918985 84886 bundle_adjustment.cc:942]
Residuals : 54554
Parameters : 17909
Iterations : 18
Time : 0.384049 [s]
Initial cost : 0.553161 [px]
Final cost : 0.520532 [px]
Termination : Convergence
I20260707 08:17:05.935585 84886 incremental_mapper.cc:175] => Completed observations: 55
I20260707 08:17:05.940847 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:17:05.943332 84886 incremental_mapper.cc:160] => Filtered observations: 40
I20260707 08:17:05.943353 84886 incremental_mapper.cc:119] => Changed observations: 0.003483
I20260707 08:17:05.943367 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 1.464882e+04 0.00e+00 4.94e+03 0.00e+00 0.00e+00 1.00e+04 0 7.51e-03 4.14e-02
1 1.458063e+04 6.82e+01 2.01e+02 0.00e+00 9.97e-01 3.00e+04 1 2.02e-02 6.16e-02
2 1.457999e+04 6.37e-01 1.96e+02 2.09e+00 1.01e+00 9.00e+04 1 2.17e-02 8.35e-02
3 1.457979e+04 2.05e-01 1.42e+02 2.00e-01 1.01e+00 2.70e+05 1 2.26e-02 1.06e-01
4 1.457973e+04 5.85e-02 1.26e+02 3.07e-01 1.03e+00 8.10e+05 1 2.07e-02 1.27e-01
5 1.457969e+04 4.48e-02 4.59e+02 1.13e-01 1.01e+00 2.43e+06 1 2.04e-02 1.47e-01
6 1.457963e+04 5.57e-02 1.04e+03 7.16e-02 1.01e+00 7.29e+06 1 1.87e-02 1.66e-01
7 1.457959e+04 4.00e-02 2.37e+03 9.69e-02 1.01e+00 2.19e+07 1 2.11e-02 1.87e-01
8 1.457958e+04 1.35e-02 2.20e+03 8.32e-02 1.02e+00 6.56e+07 1 3.15e-02 2.19e-01
9 1.457958e+04 1.72e-03 4.49e+02 5.33e-02 1.06e+00 1.97e+08 1 1.99e-02 2.39e-01
10 1.457958e+04 7.75e-05 1.83e+01 1.23e-02 1.12e+00 5.90e+08 1 1.78e-02 2.57e-01
11 1.457958e+04 2.14e-06 1.04e+00 1.34e-03 1.15e+00 1.77e+09 1 1.70e-02 2.74e-01
12 1.457958e+04 5.75e-08 7.44e-02 2.21e-04 1.16e+00 5.31e+09 1 1.84e-02 2.92e-01
I20260707 08:17:06.258960 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:06.259008 84886 bundle_adjustment.cc:942]
Residuals : 54484
Parameters : 17840
Iterations : 13
Time : 0.293689 [s]
Initial cost : 0.518522 [px]
Final cost : 0.517295 [px]
Termination : Convergence
I20260707 08:17:06.273772 84886 incremental_mapper.cc:175] => Completed observations: 15
I20260707 08:17:06.278515 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:17:06.280581 84886 incremental_mapper.cc:160] => Filtered observations: 7
I20260707 08:17:06.280597 84886 incremental_mapper.cc:119] => Changed observations: 0.000808
I20260707 08:17:06.280608 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 1.458013e+04 0.00e+00 5.24e+03 0.00e+00 0.00e+00 1.00e+04 0 6.22e-03 4.33e-02
1 1.454921e+04 3.09e+01 2.61e+02 0.00e+00 9.99e-01 3.00e+04 1 1.94e-02 6.28e-02
2 1.454873e+04 4.77e-01 2.34e+02 1.08e+00 1.00e+00 9.00e+04 1 1.90e-02 8.18e-02
3 1.454860e+04 1.32e-01 2.15e+02 2.34e-01 1.02e+00 2.70e+05 1 2.05e-02 1.02e-01
4 1.454855e+04 4.54e-02 1.13e+02 1.71e-01 1.01e+00 8.10e+05 1 1.96e-02 1.22e-01
5 1.454850e+04 5.67e-02 4.16e+02 1.23e-01 1.00e+00 2.43e+06 1 2.07e-02 1.43e-01
6 1.454843e+04 7.06e-02 1.02e+03 1.42e-01 1.00e+00 7.29e+06 1 2.06e-02 1.63e-01
7 1.454838e+04 4.61e-02 1.73e+03 1.14e-01 1.01e+00 2.19e+07 1 2.01e-02 1.84e-01
8 1.454836e+04 1.50e-02 2.49e+03 9.42e-02 1.02e+00 6.56e+07 1 1.98e-02 2.03e-01
9 1.454836e+04 1.93e-03 5.53e+02 7.15e-02 1.05e+00 1.97e+08 1 2.04e-02 2.24e-01
10 1.454836e+04 8.23e-05 2.12e+01 1.56e-02 1.10e+00 5.90e+08 1 2.17e-02 2.46e-01
11 1.454836e+04 1.95e-06 1.05e+00 1.50e-03 1.14e+00 1.77e+09 1 2.11e-02 2.67e-01
12 1.454836e+04 4.52e-08 1.54e-01 2.40e-04 1.15e+00 5.31e+09 1 1.99e-02 2.87e-01
I20260707 08:17:06.589066 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:06.589125 84886 bundle_adjustment.cc:942]
Residuals : 54484
Parameters : 17825
Iterations : 13
Time : 0.28854 [s]
Initial cost : 0.517304 [px]
Final cost : 0.516741 [px]
Termination : Convergence
I20260707 08:17:06.602708 84886 incremental_mapper.cc:175] => Completed observations: 12
I20260707 08:17:06.606904 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:17:06.608680 84886 incremental_mapper.cc:160] => Filtered observations: 2
I20260707 08:17:06.608690 84886 incremental_mapper.cc:119] => Changed observations: 0.000514
I20260707 08:17:06.608700 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 1.458407e+04 0.00e+00 5.60e+03 0.00e+00 0.00e+00 1.00e+04 0 5.76e-03 3.07e-02
1 1.456758e+04 1.65e+01 1.31e+02 0.00e+00 1.00e+00 3.00e+04 1 1.75e-02 4.82e-02
2 1.456755e+04 3.53e-02 9.22e+01 6.51e-01 1.00e+00 9.00e+04 1 2.05e-02 6.87e-02
3 1.456752e+04 3.42e-02 1.18e+02 8.21e-02 1.00e+00 2.70e+05 1 1.93e-02 8.80e-02
4 1.456745e+04 6.89e-02 4.60e+02 6.14e-02 1.00e+00 8.10e+05 1 1.92e-02 1.07e-01
5 1.456732e+04 1.31e-01 2.10e+03 5.99e-02 9.99e-01 2.43e+06 1 2.00e-02 1.27e-01
6 1.456717e+04 1.45e-01 5.42e+03 5.24e-02 9.99e-01 7.29e+06 1 2.02e-02 1.47e-01
7 1.456710e+04 7.35e-02 4.65e+03 2.81e-01 1.00e+00 2.19e+07 1 2.06e-02 1.68e-01
8 1.456708e+04 2.04e-02 2.58e+03 3.90e-01 1.01e+00 6.56e+07 1 2.02e-02 1.88e-01
9 1.456707e+04 2.56e-03 6.45e+02 1.86e-01 1.02e+00 1.97e+08 1 1.95e-02 2.08e-01
10 1.456707e+04 8.56e-05 2.35e+01 3.12e-02 1.06e+00 5.90e+08 1 1.87e-02 2.27e-01
11 1.456707e+04 1.34e-06 9.61e-01 2.06e-03 1.11e+00 1.77e+09 1 2.07e-02 2.47e-01
I20260707 08:17:06.875072 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:06.875119 84886 bundle_adjustment.cc:942]
Residuals : 54500
Parameters : 17822
Iterations : 12
Time : 0.249083 [s]
Initial cost : 0.517298 [px]
Final cost : 0.516997 [px]
Termination : Convergence
I20260707 08:17:06.891175 84886 incremental_mapper.cc:175] => Completed observations: 0
I20260707 08:17:06.896212 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:17:06.898554 84886 incremental_mapper.cc:160] => Filtered observations: 5
I20260707 08:17:06.898572 84886 incremental_mapper.cc:119] => Changed observations: 0.000183
I20260707 08:17:06.898584 84886 incremental_mapper.cc:167] => Filtered images: 0
I20260707 08:17:06.903702 84886 misc.cc:198]
==============================================================================
Registering image #63 (33)
==============================================================================
I20260707 08:17:06.903721 84886 incremental_mapper.cc:495] => Image sees 320 / 2561 points
I20260707 08:17:06.909858 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:17:06.909886 84886 bundle_adjustment.cc:942]
Residuals : 372
Parameters : 6
Iterations : 10
Time : 0.0014298 [s]
Initial cost : 0.809159 [px]
Final cost : 0.616703 [px]
Termination : Convergence
I20260707 08:17:06.909999 84886 incremental_mapper.cc:40] => Continued observations: 186
I20260707 08:17:06.914031 84886 incremental_mapper.cc:43] => Added observations: 402
I20260707 08:17:07.077940 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:07.077983 84886 bundle_adjustment.cc:942]
Residuals : 13516
Parameters : 2396
Iterations : 26
Time : 0.157888 [s]
Initial cost : 0.671137 [px]
Final cost : 0.612304 [px]
Termination : No convergence
I20260707 08:17:07.086871 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:17:07.086905 84886 incremental_mapper.cc:79] => Completed observations: 81
I20260707 08:17:07.086908 84886 incremental_mapper.cc:81] => Filtered observations: 214
I20260707 08:17:07.086925 84886 incremental_mapper.cc:90] => Changed observations: 0.040334
I20260707 08:17:07.112650 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:07.112682 84886 bundle_adjustment.cc:942]
Residuals : 13156
Parameters : 2129
Iterations : 3
Time : 0.020215 [s]
Initial cost : 0.568021 [px]
Final cost : 0.551214 [px]
Termination : Convergence
I20260707 08:17:07.121335 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:17:07.121356 84886 incremental_mapper.cc:79] => Completed observations: 19
I20260707 08:17:07.121359 84886 incremental_mapper.cc:81] => Filtered observations: 4
I20260707 08:17:07.121361 84886 incremental_mapper.cc:90] => Changed observations: 0.003193
I20260707 08:17:07.126627 84886 misc.cc:198]
==============================================================================
Registering image #47 (34)
==============================================================================
I20260707 08:17:07.126655 84886 incremental_mapper.cc:495] => Image sees 593 / 1321 points
I20260707 08:17:07.137346 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:17:07.137380 84886 bundle_adjustment.cc:942]
Residuals : 874
Parameters : 6
Iterations : 12
Time : 0.00389099 [s]
Initial cost : 0.536825 [px]
Final cost : 0.501727 [px]
Termination : Convergence
I20260707 08:17:07.137732 84886 incremental_mapper.cc:40] => Continued observations: 424
I20260707 08:17:07.140673 84886 incremental_mapper.cc:43] => Added observations: 743
I20260707 08:17:07.286202 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:07.286238 84886 bundle_adjustment.cc:942]
Residuals : 11532
Parameters : 2510
Iterations : 26
Time : 0.140225 [s]
Initial cost : 0.781295 [px]
Final cost : 0.708264 [px]
Termination : No convergence
I20260707 08:17:07.293046 84886 incremental_mapper.cc:78] => Merged observations: 68
I20260707 08:17:07.293081 84886 incremental_mapper.cc:79] => Completed observations: 155
I20260707 08:17:07.293084 84886 incremental_mapper.cc:81] => Filtered observations: 348
I20260707 08:17:07.293087 84886 incremental_mapper.cc:90] => Changed observations: 0.088665
I20260707 08:17:07.346014 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:07.346046 84886 bundle_adjustment.cc:942]
Residuals : 11908
Parameters : 1928
Iterations : 9
Time : 0.048342 [s]
Initial cost : 0.564635 [px]
Final cost : 0.546602 [px]
Termination : Convergence
I20260707 08:17:07.352264 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:17:07.352285 84886 incremental_mapper.cc:79] => Completed observations: 77
I20260707 08:17:07.352288 84886 incremental_mapper.cc:81] => Filtered observations: 5
I20260707 08:17:07.352290 84886 incremental_mapper.cc:90] => Changed observations: 0.013531
I20260707 08:17:07.356751 84886 misc.cc:198]
==============================================================================
Registering image #31 (35)
==============================================================================
I20260707 08:17:07.356774 84886 incremental_mapper.cc:495] => Image sees 622 / 1353 points
I20260707 08:17:07.364652 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:17:07.364683 84886 bundle_adjustment.cc:942]
Residuals : 1054
Parameters : 6
Iterations : 9
Time : 0.0034411 [s]
Initial cost : 0.825103 [px]
Final cost : 0.507012 [px]
Termination : Convergence
I20260707 08:17:07.365013 84886 incremental_mapper.cc:40] => Continued observations: 491
I20260707 08:17:07.367869 84886 incremental_mapper.cc:43] => Added observations: 666
I20260707 08:17:07.506297 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:07.506361 84886 bundle_adjustment.cc:942]
Residuals : 13272
Parameters : 2759
Iterations : 21
Time : 0.132856 [s]
Initial cost : 0.597551 [px]
Final cost : 0.562253 [px]
Termination : Convergence
I20260707 08:17:07.514909 84886 incremental_mapper.cc:78] => Merged observations: 108
I20260707 08:17:07.514943 84886 incremental_mapper.cc:79] => Completed observations: 140
I20260707 08:17:07.514948 84886 incremental_mapper.cc:81] => Filtered observations: 199
I20260707 08:17:07.514951 84886 incremental_mapper.cc:90] => Changed observations: 0.062605
I20260707 08:17:07.552417 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:07.552479 84886 bundle_adjustment.cc:942]
Residuals : 12778
Parameters : 2519
Iterations : 3
Time : 0.0307579 [s]
Initial cost : 0.585941 [px]
Final cost : 0.569448 [px]
Termination : Convergence
I20260707 08:17:07.563076 84886 incremental_mapper.cc:78] => Merged observations: 20
I20260707 08:17:07.563118 84886 incremental_mapper.cc:79] => Completed observations: 49
I20260707 08:17:07.563122 84886 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 08:17:07.563125 84886 incremental_mapper.cc:90] => Changed observations: 0.009786
I20260707 08:17:07.568599 84886 misc.cc:198]
==============================================================================
Registering image #107 (36)
==============================================================================
I20260707 08:17:07.568629 84886 incremental_mapper.cc:495] => Image sees 299 / 1968 points
I20260707 08:17:07.577503 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:17:07.577541 84886 bundle_adjustment.cc:942]
Residuals : 374
Parameters : 6
Iterations : 32
Time : 0.004637 [s]
Initial cost : 0.797106 [px]
Final cost : 0.766522 [px]
Termination : Convergence
I20260707 08:17:07.577708 84886 incremental_mapper.cc:40] => Continued observations: 183
I20260707 08:17:07.581915 84886 incremental_mapper.cc:43] => Added observations: 2059
I20260707 08:17:07.774507 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:07.774566 84886 bundle_adjustment.cc:942]
Residuals : 12032
Parameters : 3803
Iterations : 26
Time : 0.182472 [s]
Initial cost : 0.914717 [px]
Final cost : 0.694506 [px]
Termination : No convergence
I20260707 08:17:07.782212 84886 incremental_mapper.cc:78] => Merged observations: 24
I20260707 08:17:07.782243 84886 incremental_mapper.cc:79] => Completed observations: 223
I20260707 08:17:07.782245 84886 incremental_mapper.cc:81] => Filtered observations: 949
I20260707 08:17:07.782248 84886 incremental_mapper.cc:90] => Changed observations: 0.152902
I20260707 08:17:07.851480 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:07.851541 84886 bundle_adjustment.cc:942]
Residuals : 9412
Parameters : 1601
Iterations : 12
Time : 0.0643511 [s]
Initial cost : 0.676544 [px]
Final cost : 0.652078 [px]
Termination : Convergence
I20260707 08:17:07.861541 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:17:07.861583 84886 incremental_mapper.cc:79] => Completed observations: 62
I20260707 08:17:07.861588 84886 incremental_mapper.cc:81] => Filtered observations: 2
I20260707 08:17:07.861590 84886 incremental_mapper.cc:90] => Changed observations: 0.009872
I20260707 08:17:07.861613 84886 misc.cc:198]
==============================================================================
Retriangulation
==============================================================================
I20260707 08:17:07.867394 84886 incremental_mapper.cc:175] => Completed observations: 21
I20260707 08:17:07.874773 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:17:07.874807 84886 incremental_mapper.cc:105] => Retriangulated observations: 377
I20260707 08:17:07.882601 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 1.575699e+05 0.00e+00 4.01e+06 0.00e+00 0.00e+00 1.00e+04 0 1.10e-02 5.21e-02
1 1.104574e+05 4.71e+04 9.69e+05 0.00e+00 9.89e-01 3.00e+04 1 3.31e-02 8.52e-02
2 1.094176e+05 1.04e+03 2.46e+05 2.11e+01 1.00e+00 9.00e+04 1 4.03e-02 1.26e-01
3 1.091254e+05 2.92e+02 7.62e+04 7.91e+00 9.97e-01 2.70e+05 1 3.89e-02 1.65e-01
4 1.088741e+05 2.51e+02 4.07e+05 7.75e+00 9.90e-01 8.10e+05 1 4.03e-02 2.05e-01
5 1.085086e+05 3.66e+02 1.81e+06 2.12e+01 6.69e-01 8.43e+05 1 4.19e-02 2.47e-01
6 1.082347e+05 2.74e+02 6.99e+05 7.00e+00 8.80e-01 1.51e+06 1 3.49e-02 2.82e-01
7 1.081639e+05 7.09e+01 6.32e+05 1.01e+01 9.15e-01 3.53e+06 1 2.85e-02 3.10e-01
8 1.081474e+05 1.65e+01 4.81e+05 1.64e+01 7.02e-01 3.78e+06 1 3.68e-02 3.47e-01
9 1.081375e+05 9.87e+00 8.83e+04 7.94e+00 9.95e-01 1.13e+07 1 2.79e-02 3.75e-01
10 1.081369e+05 5.83e-01 1.24e+04 3.41e+00 1.07e+00 3.40e+07 1 3.61e-02 4.11e-01
11 1.081369e+05 3.28e-02 4.43e+02 6.52e-01 1.24e+00 1.02e+08 1 3.98e-02 4.51e-01
12 1.081369e+05 3.35e-03 1.48e+02 1.37e-01 1.38e+00 3.06e+08 1 4.16e-02 4.93e-01
13 1.081369e+05 5.04e-04 6.84e+01 3.93e-02 1.40e+00 9.18e+08 1 3.79e-02 5.31e-01
14 1.081369e+05 8.04e-05 2.94e+01 1.42e-02 1.40e+00 2.75e+09 1 3.84e-02 5.69e-01
15 1.081369e+05 1.30e-05 1.25e+01 5.35e-03 1.40e+00 8.26e+09 1 4.33e-02 6.13e-01
16 1.081369e+05 2.11e-06 5.17e+00 2.14e-03 1.40e+00 2.48e+10 1 3.59e-02 6.49e-01
17 1.081369e+05 3.42e-07 2.13e+00 8.44e-04 1.40e+00 7.44e+10 1 3.18e-02 6.81e-01
18 1.081369e+05 5.58e-08 1.01e+00 3.41e-04 1.41e+00 2.23e+11 1 3.98e-02 7.20e-01
19 1.081369e+05 9.28e-09 5.01e-01 1.36e-04 1.48e+00 6.69e+11 1 3.42e-02 7.55e-01
I20260707 08:17:08.666453 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:08.666509 84886 bundle_adjustment.cc:942]
Residuals : 61974
Parameters : 19973
Iterations : 20
Time : 0.757009 [s]
Initial cost : 1.59453 [px]
Final cost : 1.32094 [px]
Termination : Convergence
I20260707 08:17:08.686249 84886 incremental_mapper.cc:175] => Completed observations: 52
I20260707 08:17:08.693872 84886 incremental_mapper.cc:178] => Merged observations: 7
I20260707 08:17:08.697142 84886 incremental_mapper.cc:160] => Filtered observations: 558
I20260707 08:17:08.697172 84886 incremental_mapper.cc:119] => Changed observations: 0.019912
I20260707 08:17:08.697185 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 1.965668e+04 0.00e+00 6.56e+04 0.00e+00 0.00e+00 1.00e+04 0 1.78e-02 5.50e-02
1 1.752898e+04 2.13e+03 8.52e+04 0.00e+00 9.89e-01 3.00e+04 1 3.72e-02 9.23e-02
2 1.737054e+04 1.58e+02 5.75e+04 9.60e+00 9.97e-01 9.00e+04 1 3.59e-02 1.28e-01
3 1.725092e+04 1.20e+02 1.81e+05 3.51e+00 9.74e-01 2.70e+05 1 4.51e-02 1.73e-01
4 1.714008e+04 1.11e+02 3.12e+05 2.57e+00 9.46e-01 8.10e+05 1 4.12e-02 2.15e-01
5 1.707488e+04 6.52e+01 3.41e+05 1.33e+00 9.74e-01 2.43e+06 1 4.52e-02 2.60e-01
6 1.704858e+04 2.63e+01 6.91e+05 1.18e+00 9.75e-01 7.29e+06 1 3.81e-02 2.98e-01
7 1.703909e+04 9.49e+00 3.74e+06 2.50e+00 2.46e-01 6.44e+06 1 4.95e-02 3.48e-01
8 1.700062e+04 3.85e+01 2.27e+06 2.30e+00 7.43e-01 7.28e+06 1 3.30e-02 3.81e-01
9 1.698287e+04 1.77e+01 1.89e+06 2.85e+00 5.63e-01 7.30e+06 1 3.77e-02 4.19e-01
10 1.696705e+04 1.58e+01 1.28e+06 2.99e+00 5.99e-01 7.35e+06 1 3.67e-02 4.55e-01
11 1.695552e+04 1.15e+01 7.62e+05 3.04e+00 6.21e-01 7.46e+06 1 2.78e-02 4.83e-01
12 1.694747e+04 8.05e+00 3.65e+05 2.70e+00 7.41e-01 8.40e+06 1 3.10e-02 5.14e-01
13 1.694389e+04 3.58e+00 1.17e+05 1.89e+00 9.02e-01 1.75e+07 1 3.21e-02 5.47e-01
14 1.694331e+04 5.78e-01 2.14e+04 1.01e+00 9.85e-01 5.26e+07 1 3.17e-02 5.78e-01
15 1.694328e+04 2.51e-02 9.60e+02 2.28e-01 1.03e+00 1.58e+08 1 3.06e-02 6.09e-01
16 1.694328e+04 2.44e-04 1.18e+01 2.12e-02 1.12e+00 4.74e+08 1 3.69e-02 6.46e-01
17 1.694328e+04 4.82e-06 1.10e+00 2.12e-03 1.14e+00 1.42e+09 1 3.77e-02 6.84e-01
18 1.694328e+04 1.14e-07 1.12e-01 3.22e-04 1.12e+00 4.26e+09 1 3.01e-02 7.14e-01
I20260707 08:17:09.437084 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:09.437144 84886 bundle_adjustment.cc:942]
Residuals : 60832
Parameters : 19400
Iterations : 19
Time : 0.716433 [s]
Initial cost : 0.568446 [px]
Final cost : 0.527755 [px]
Termination : Convergence
I20260707 08:17:09.462385 84886 incremental_mapper.cc:175] => Completed observations: 55
I20260707 08:17:09.476706 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:17:09.482739 84886 incremental_mapper.cc:160] => Filtered observations: 34
I20260707 08:17:09.482791 84886 incremental_mapper.cc:119] => Changed observations: 0.002926
I20260707 08:17:09.482815 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 1.686415e+04 0.00e+00 2.96e+04 0.00e+00 0.00e+00 1.00e+04 0 2.09e-02 1.01e-01
1 1.667839e+04 1.86e+02 1.15e+03 0.00e+00 1.00e+00 3.00e+04 1 4.07e-02 1.42e-01
2 1.667565e+04 2.74e+00 1.34e+03 1.99e+00 9.99e-01 9.00e+04 1 3.35e-02 1.75e-01
3 1.667270e+04 2.95e+00 4.38e+03 1.27e+00 1.01e+00 2.70e+05 1 2.59e-02 2.01e-01
4 1.666940e+04 3.30e+00 7.99e+03 9.64e-01 1.02e+00 8.10e+05 1 4.89e-02 2.50e-01
5 1.666769e+04 1.71e+00 5.75e+03 7.05e-01 1.03e+00 2.43e+06 1 4.80e-02 2.98e-01
6 1.666719e+04 4.98e-01 2.48e+03 5.88e-01 1.02e+00 7.29e+06 1 2.90e-02 3.27e-01
7 1.666705e+04 1.50e-01 6.13e+03 2.56e-01 1.02e+00 2.19e+07 1 3.11e-02 3.59e-01
8 1.666702e+04 2.32e-02 2.20e+03 1.66e-01 1.04e+00 6.56e+07 1 3.20e-02 3.91e-01
9 1.666702e+04 1.14e-03 1.00e+02 4.63e-02 1.10e+00 1.97e+08 1 3.14e-02 4.22e-01
10 1.666702e+04 2.72e-05 1.44e+00 5.26e-03 1.14e+00 5.90e+08 1 2.99e-02 4.52e-01
11 1.666702e+04 6.33e-07 2.31e-01 7.26e-04 1.15e+00 1.77e+09 1 3.08e-02 4.83e-01
I20260707 08:17:10.010869 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:10.010946 84886 bundle_adjustment.cc:942]
Residuals : 60864
Parameters : 19376
Iterations : 12
Time : 0.488371 [s]
Initial cost : 0.526383 [px]
Final cost : 0.523298 [px]
Termination : Convergence
I20260707 08:17:10.034459 84886 incremental_mapper.cc:175] => Completed observations: 11
I20260707 08:17:10.040333 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:17:10.043111 84886 incremental_mapper.cc:160] => Filtered observations: 10
I20260707 08:17:10.043138 84886 incremental_mapper.cc:119] => Changed observations: 0.000690
I20260707 08:17:10.043171 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 1.665262e+04 0.00e+00 1.30e+03 0.00e+00 0.00e+00 1.00e+04 0 6.88e-03 4.25e-02
1 1.662244e+04 3.02e+01 8.87e+01 0.00e+00 1.00e+00 3.00e+04 1 2.08e-02 6.33e-02
2 1.662234e+04 1.00e-01 7.05e+01 1.07e-01 1.00e+00 9.00e+04 1 2.09e-02 8.43e-02
3 1.662226e+04 8.04e-02 1.03e+02 3.12e-01 1.00e+00 2.70e+05 1 1.83e-02 1.03e-01
4 1.662219e+04 6.65e-02 2.84e+02 3.01e-01 1.00e+00 8.10e+05 1 1.86e-02 1.21e-01
5 1.662215e+04 4.45e-02 5.64e+02 2.57e-01 1.01e+00 2.43e+06 1 1.84e-02 1.40e-01
6 1.662213e+04 1.43e-02 3.23e+02 2.83e-01 1.02e+00 7.29e+06 1 2.08e-02 1.61e-01
7 1.662213e+04 2.23e-03 7.37e+01 1.83e-01 1.03e+00 2.19e+07 1 1.93e-02 1.80e-01
8 1.662213e+04 1.26e-04 5.68e+00 4.72e-02 1.06e+00 6.56e+07 1 2.02e-02 2.00e-01
9 1.662213e+04 3.03e-06 9.70e-01 4.78e-03 1.12e+00 1.97e+08 1 2.06e-02 2.21e-01
I20260707 08:17:10.292987 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:10.293041 84886 bundle_adjustment.cc:942]
Residuals : 60854
Parameters : 19367
Iterations : 10
Time : 0.222619 [s]
Initial cost : 0.523114 [px]
Final cost : 0.522635 [px]
Termination : Convergence
I20260707 08:17:10.311216 84886 incremental_mapper.cc:175] => Completed observations: 5
I20260707 08:17:10.316288 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:17:10.318576 84886 incremental_mapper.cc:160] => Filtered observations: 1
I20260707 08:17:10.318598 84886 incremental_mapper.cc:119] => Changed observations: 0.000197
I20260707 08:17:10.318611 84886 incremental_mapper.cc:167] => Filtered images: 0
I20260707 08:17:10.324433 84886 misc.cc:198]
==============================================================================
Registering image #174 (37)
==============================================================================
I20260707 08:17:10.324455 84886 incremental_mapper.cc:495] => Image sees 418 / 983 points
I20260707 08:17:10.333284 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:17:10.333321 84886 bundle_adjustment.cc:942]
Residuals : 562
Parameters : 6
Iterations : 10
Time : 0.00212598 [s]
Initial cost : 0.640938 [px]
Final cost : 0.572931 [px]
Termination : Convergence
I20260707 08:17:10.333550 84886 incremental_mapper.cc:40] => Continued observations: 271
I20260707 08:17:10.335716 84886 incremental_mapper.cc:43] => Added observations: 418
I20260707 08:17:10.517586 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:10.517630 84886 bundle_adjustment.cc:942]
Residuals : 14244
Parameters : 2288
Iterations : 26
Time : 0.175175 [s]
Initial cost : 0.640969 [px]
Final cost : 0.600838 [px]
Termination : No convergence
I20260707 08:17:10.524842 84886 incremental_mapper.cc:78] => Merged observations: 10
I20260707 08:17:10.524873 84886 incremental_mapper.cc:79] => Completed observations: 49
I20260707 08:17:10.524875 84886 incremental_mapper.cc:81] => Filtered observations: 213
I20260707 08:17:10.524878 84886 incremental_mapper.cc:90] => Changed observations: 0.035500
I20260707 08:17:10.558005 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:10.558041 84886 bundle_adjustment.cc:942]
Residuals : 13880
Parameters : 2114
Iterations : 4
Time : 0.0271351 [s]
Initial cost : 0.600687 [px]
Final cost : 0.589891 [px]
Termination : Convergence
I20260707 08:17:10.565050 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:17:10.565073 84886 incremental_mapper.cc:79] => Completed observations: 34
I20260707 08:17:10.565078 84886 incremental_mapper.cc:81] => Filtered observations: 1
I20260707 08:17:10.565079 84886 incremental_mapper.cc:90] => Changed observations: 0.004469
I20260707 08:17:10.569896 84886 misc.cc:198]
==============================================================================
Registering image #159 (38)
==============================================================================
I20260707 08:17:10.569924 84886 incremental_mapper.cc:495] => Image sees 436 / 1812 points
I20260707 08:17:10.578558 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:17:10.578593 84886 bundle_adjustment.cc:942]
Residuals : 726
Parameters : 6
Iterations : 13
Time : 0.00535393 [s]
Initial cost : 0.633346 [px]
Final cost : 0.620496 [px]
Termination : Convergence
I20260707 08:17:10.578840 84886 incremental_mapper.cc:40] => Continued observations: 333
I20260707 08:17:10.581043 84886 incremental_mapper.cc:43] => Added observations: 623
I20260707 08:17:10.773245 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:10.773288 84886 bundle_adjustment.cc:942]
Residuals : 14482
Parameters : 2276
Iterations : 26
Time : 0.184652 [s]
Initial cost : 0.670001 [px]
Final cost : 0.633063 [px]
Termination : No convergence
I20260707 08:17:10.781085 84886 incremental_mapper.cc:78] => Merged observations: 218
I20260707 08:17:10.781113 84886 incremental_mapper.cc:79] => Completed observations: 173
I20260707 08:17:10.781116 84886 incremental_mapper.cc:81] => Filtered observations: 315
I20260707 08:17:10.781118 84886 incremental_mapper.cc:90] => Changed observations: 0.090711
I20260707 08:17:10.803205 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:10.803233 84886 bundle_adjustment.cc:942]
Residuals : 11924
Parameters : 1904
Iterations : 3
Time : 0.0167232 [s]
Initial cost : 0.653648 [px]
Final cost : 0.637545 [px]
Termination : Convergence
I20260707 08:17:10.809772 84886 incremental_mapper.cc:78] => Merged observations: 33
I20260707 08:17:10.809793 84886 incremental_mapper.cc:79] => Completed observations: 119
I20260707 08:17:10.809796 84886 incremental_mapper.cc:81] => Filtered observations: 8
I20260707 08:17:10.809798 84886 incremental_mapper.cc:90] => Changed observations: 0.021142
I20260707 08:17:10.814550 84886 misc.cc:198]
==============================================================================
Registering image #11 (39)
==============================================================================
I20260707 08:17:10.814580 84886 incremental_mapper.cc:495] => Image sees 434 / 1699 points
I20260707 08:17:10.822599 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:17:10.822671 84886 bundle_adjustment.cc:942]
Residuals : 628
Parameters : 6
Iterations : 6
Time : 0.00334692 [s]
Initial cost : 0.431582 [px]
Final cost : 0.418482 [px]
Termination : Convergence
I20260707 08:17:10.823097 84886 incremental_mapper.cc:40] => Continued observations: 303
I20260707 08:17:10.826144 84886 incremental_mapper.cc:43] => Added observations: 383
I20260707 08:17:10.948050 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:10.948092 84886 bundle_adjustment.cc:942]
Residuals : 10552
Parameters : 1445
Iterations : 26
Time : 0.116457 [s]
Initial cost : 0.719988 [px]
Final cost : 0.641926 [px]
Termination : No convergence
I20260707 08:17:10.954937 84886 incremental_mapper.cc:78] => Merged observations: 41
I20260707 08:17:10.954967 84886 incremental_mapper.cc:79] => Completed observations: 50
I20260707 08:17:10.954970 84886 incremental_mapper.cc:81] => Filtered observations: 217
I20260707 08:17:10.954972 84886 incremental_mapper.cc:90] => Changed observations: 0.046865
I20260707 08:17:10.977907 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:10.977943 84886 bundle_adjustment.cc:942]
Residuals : 11804
Parameters : 1166
Iterations : 3
Time : 0.0181561 [s]
Initial cost : 0.482888 [px]
Final cost : 0.475228 [px]
Termination : Convergence
I20260707 08:17:10.985242 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:17:10.985268 84886 incremental_mapper.cc:79] => Completed observations: 41
I20260707 08:17:10.985271 84886 incremental_mapper.cc:81] => Filtered observations: 1
I20260707 08:17:10.985275 84886 incremental_mapper.cc:90] => Changed observations: 0.006638
I20260707 08:17:10.990514 84886 misc.cc:198]
==============================================================================
Registering image #49 (40)
==============================================================================
I20260707 08:17:10.990545 84886 incremental_mapper.cc:495] => Image sees 261 / 1069 points
I20260707 08:17:10.994529 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:17:10.994561 84886 bundle_adjustment.cc:942]
Residuals : 414
Parameters : 6
Iterations : 9
Time : 0.00155401 [s]
Initial cost : 0.461532 [px]
Final cost : 0.435904 [px]
Termination : Convergence
I20260707 08:17:10.994701 84886 incremental_mapper.cc:40] => Continued observations: 205
I20260707 08:17:10.997016 84886 incremental_mapper.cc:43] => Added observations: 255
I20260707 08:17:11.113487 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:11.113524 84886 bundle_adjustment.cc:942]
Residuals : 9878
Parameters : 908
Iterations : 26
Time : 0.111746 [s]
Initial cost : 0.691416 [px]
Final cost : 0.632016 [px]
Termination : No convergence
I20260707 08:17:11.119457 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:17:11.119479 84886 incremental_mapper.cc:79] => Completed observations: 24
I20260707 08:17:11.119482 84886 incremental_mapper.cc:81] => Filtered observations: 144
I20260707 08:17:11.119484 84886 incremental_mapper.cc:90] => Changed observations: 0.031764
I20260707 08:17:11.134377 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:11.134405 84886 bundle_adjustment.cc:942]
Residuals : 6308
Parameters : 722
Iterations : 4
Time : 0.0110822 [s]
Initial cost : 0.652012 [px]
Final cost : 0.646348 [px]
Termination : Convergence
I20260707 08:17:11.140578 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:17:11.140600 84886 incremental_mapper.cc:79] => Completed observations: 10
I20260707 08:17:11.140604 84886 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 08:17:11.140605 84886 incremental_mapper.cc:90] => Changed observations: 0.001952
I20260707 08:17:11.140616 84886 misc.cc:198]
==============================================================================
Retriangulation
==============================================================================
I20260707 08:17:11.144937 84886 incremental_mapper.cc:175] => Completed observations: 37
I20260707 08:17:11.150391 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:17:11.150413 84886 incremental_mapper.cc:105] => Retriangulated observations: 138
I20260707 08:17:11.152247 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 7.168730e+04 0.00e+00 5.58e+06 0.00e+00 0.00e+00 1.00e+04 0 9.50e-03 5.59e-02
1 5.703308e+04 1.47e+04 1.10e+06 0.00e+00 9.69e-01 3.00e+04 1 3.22e-02 8.81e-02
2 5.624054e+04 7.93e+02 6.08e+04 2.64e+01 8.84e-01 5.50e+04 1 3.06e-02 1.19e-01
3 5.582609e+04 4.14e+02 5.59e+04 1.78e+01 9.05e-01 1.17e+05 1 3.46e-02 1.53e-01
4 5.530969e+04 5.16e+02 1.38e+05 5.16e+00 7.95e-01 1.48e+05 1 3.36e-02 1.87e-01
5 5.494372e+04 3.66e+02 3.97e+05 1.44e+01 6.73e-01 1.54e+05 1 3.42e-02 2.21e-01
6 5.468276e+04 2.61e+02 8.81e+04 5.93e+00 9.84e-01 4.63e+05 1 4.01e-02 2.61e-01
7 5.465177e+04 3.10e+01 4.29e+05 4.52e+00 7.16e-01 5.04e+05 1 3.30e-02 2.94e-01
8 5.463269e+04 1.91e+01 6.94e+04 1.36e+00 1.00e+00 1.51e+06 1 3.24e-02 3.27e-01
9 5.462631e+04 6.38e+00 3.30e+05 2.30e+00 9.22e-01 3.79e+06 1 3.68e-02 3.64e-01
10 5.462186e+04 4.45e+00 5.72e+05 2.65e+00 8.47e-01 5.69e+06 1 3.48e-02 3.99e-01
11 5.461953e+04 2.33e+00 2.74e+05 1.84e+00 9.25e-01 1.47e+07 1 3.48e-02 4.34e-01
12 5.461894e+04 5.96e-01 1.07e+05 1.19e+00 9.58e-01 4.42e+07 1 3.75e-02 4.71e-01
13 5.461888e+04 6.26e-02 9.91e+03 4.38e-01 1.02e+00 1.33e+08 1 3.11e-02 5.02e-01
14 5.461888e+04 1.16e-03 1.66e+02 7.30e-02 1.05e+00 3.98e+08 1 3.17e-02 5.34e-01
15 5.461888e+04 4.52e-05 9.30e+01 5.20e-03 9.04e-01 8.43e+08 1 3.39e-02 5.68e-01
16 5.461888e+04 7.58e-06 5.47e+01 1.06e-03 6.79e-01 8.84e+08 1 3.77e-02 6.06e-01
17 5.461888e+04 1.80e-06 3.32e+01 3.94e-04 5.41e-01 8.84e+08 1 3.04e-02 6.36e-01
18 5.461888e+04 5.15e-07 1.97e+01 1.61e-04 4.67e-01 8.84e+08 1 3.65e-02 6.73e-01
19 5.461888e+04 1.64e-07 1.19e+01 6.41e-05 4.30e-01 8.82e+08 1 2.76e-02 7.00e-01
20 5.461888e+04 5.56e-08 7.10e+00 2.84e-05 4.15e-01 8.77e+08 1 3.31e-02 7.34e-01
21 5.461888e+04 1.96e-08 4.26e+00 1.28e-05 4.09e-01 8.72e+08 1 3.78e-02 7.71e-01
22 5.461888e+04 7.04e-09 2.55e+00 6.50e-06 3.95e-01 8.64e+08 1 2.59e-02 7.97e-01
23 5.461888e+04 2.50e-09 1.99e+00 3.47e-06 4.16e-01 8.60e+08 1 2.72e-02 8.25e-01
24 5.461888e+04 1.02e-09 1.35e+00 1.97e-06 4.76e-01 8.60e+08 1 3.79e-02 8.63e-01
25 5.461888e+04 2.91e-10 1.60e+00 1.15e-06 2.39e-01 7.53e+08 1 3.87e-02 9.01e-01
26 5.461888e+04 1.53e-10 1.14e+00 6.80e-07 4.87e-01 7.53e+08 1 3.21e-02 9.33e-01
27 5.461888e+04 -7.28e-11 1.14e+00 4.09e-07 -1.00e+00 3.77e+08 1 2.57e-02 9.59e-01
28 5.461888e+04 -2.04e-10 1.14e+00 4.26e-07 -2.29e+00 9.41e+07 1 2.31e-02 9.82e-01
29 5.461888e+04 -1.24e-10 1.14e+00 5.57e-07 -1.50e+00 1.18e+07 1 1.85e-02 1.00e+00
30 5.461888e+04 -2.91e-11 1.14e+00 1.43e-06 -5.75e-01 7.35e+05 1 1.86e-02 1.02e+00
31 5.461888e+04 -2.18e-11 1.14e+00 2.28e-06 -6.70e-01 2.30e+04 1 1.82e-02 1.04e+00
32 5.461888e+04 -1.16e-10 1.14e+00 5.85e-07 -9.44e+00 3.59e+02 1 1.89e-02 1.06e+00
33 5.461888e+04 -2.55e-10 1.14e+00 3.18e-08 -3.47e+01 2.81e+00 1 2.14e-02 1.08e+00
34 5.461888e+04 -1.46e-11 1.14e+00 1.17e-09 -5.64e+00 1.10e-02 1 2.27e-02 1.10e+00
35 5.461888e+04 1.46e-11 1.14e+00 9.80e-12 -3.64e+01 2.14e-05 1 2.19e-02 1.12e+00
36 5.461888e+04 -5.82e-11 1.14e+00 1.88e-14 -1.07e+05 2.09e-08 1 2.23e-02 1.15e+00
I20260707 08:17:12.345160 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:12.345238 84886 bundle_adjustment.cc:942]
Residuals : 65496
Parameters : 20513
Iterations : 37
Time : 1.16951 [s]
Initial cost : 1.0462 [px]
Final cost : 0.913196 [px]
Termination : Convergence
I20260707 08:17:12.378539 84886 incremental_mapper.cc:175] => Completed observations: 54
I20260707 08:17:12.393357 84886 incremental_mapper.cc:178] => Merged observations: 63
I20260707 08:17:12.400041 84886 incremental_mapper.cc:160] => Filtered observations: 279
I20260707 08:17:12.400111 84886 incremental_mapper.cc:119] => Changed observations: 0.012092
I20260707 08:17:12.400151 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 2.066495e+04 0.00e+00 3.83e+04 0.00e+00 0.00e+00 1.00e+04 0 1.67e-02 1.02e-01
1 1.960332e+04 1.06e+03 1.89e+04 0.00e+00 9.83e-01 3.00e+04 1 5.52e-02 1.57e-01
2 1.947869e+04 1.25e+02 1.35e+04 6.75e+00 9.98e-01 9.00e+04 1 3.05e-02 1.88e-01
3 1.942424e+04 5.45e+01 1.59e+05 5.01e+00 9.95e-01 2.70e+05 1 3.01e-02 2.18e-01
4 1.938906e+04 3.52e+01 2.69e+05 1.46e+00 9.99e-01 8.10e+05 1 2.60e-02 2.44e-01
5 1.937728e+04 1.18e+01 8.17e+05 1.83e+00 9.99e-01 2.43e+06 1 3.42e-02 2.78e-01
6 1.936699e+04 1.03e+01 2.29e+05 2.15e+00 9.69e-01 7.29e+06 1 4.35e-02 3.22e-01
7 1.935614e+04 1.08e+01 8.30e+05 1.65e+00 9.82e-01 2.19e+07 1 2.98e-02 3.52e-01
8 1.933316e+04 2.30e+01 1.62e+07 2.27e+00 9.19e-01 5.31e+07 1 3.18e-02 3.84e-01
9 1.930297e+04 3.02e+01 4.25e+06 2.40e+00 9.68e-01 1.59e+08 1 3.08e-02 4.15e-01
10 2.032686e+04 -1.02e+03 4.25e+06 2.68e+01 -3.18e+00 7.97e+07 1 2.73e-02 4.42e-01
11 1.925530e+04 4.77e+01 1.36e+07 1.78e+01 2.23e-01 6.82e+07 1 3.29e-02 4.75e-01
12 8.066279e+04 -6.14e+04 1.36e+07 3.55e+01 -1.20e+02 3.41e+07 1 2.35e-02 4.98e-01
13 2.970956e+04 -1.05e+04 1.36e+07 2.89e+01 -2.30e+01 8.52e+06 1 2.10e-02 5.19e-01
14 1.906942e+04 1.86e+02 1.40e+07 1.48e+01 6.04e-01 8.60e+06 1 3.77e-02 5.57e-01
15 1.890765e+04 1.62e+02 5.19e+06 6.81e+00 8.86e-01 1.59e+07 1 3.56e-02 5.93e-01
16 1.912835e+04 -2.21e+02 5.19e+06 1.06e+01 -2.02e+00 7.97e+06 1 2.09e-02 6.14e-01
17 1.885261e+04 5.50e+01 5.96e+06 6.58e+00 7.33e-01 8.87e+06 1 3.68e-02 6.51e-01
18 1.881751e+04 3.51e+01 8.14e+06 3.35e+00 8.09e-01 1.16e+07 1 2.97e-02 6.80e-01
19 1.880813e+04 9.39e+00 2.23e+06 1.94e+00 5.60e-01 1.17e+07 1 2.51e-02 7.06e-01
20 1.894450e+04 -1.36e+02 2.23e+06 5.19e+00 -2.98e+00 5.83e+06 1 2.53e-02 7.31e-01
21 1.883759e+04 -2.95e+01 2.23e+06 2.97e+00 -1.01e+00 1.46e+06 1 1.97e-02 7.51e-01
22 1.885173e+04 -4.36e+01 2.23e+06 9.01e-01 -3.37e+00 1.82e+05 1 2.01e-02 7.71e-01
23 1.880433e+04 3.79e+00 4.59e+06 1.65e-01 5.45e-01 1.82e+05 1 3.72e-02 8.09e-01
24 1.880131e+04 3.02e+00 3.74e+05 6.58e-02 9.71e-01 5.47e+05 1 3.56e-02 8.45e-01
25 1.880029e+04 1.02e+00 5.67e+04 1.19e-01 1.01e+00 1.64e+06 1 3.86e-02 8.83e-01
26 1.879871e+04 1.58e+00 1.21e+06 2.22e-01 9.87e-01 4.92e+06 1 2.15e-02 9.05e-01
27 1.879793e+04 7.81e-01 8.69e+05 9.08e-02 1.00e+00 1.48e+07 1 2.45e-02 9.29e-01
28 1.881316e+04 -1.52e+01 8.69e+05 1.11e-01 -1.86e+01 7.38e+06 1 1.76e-02 9.47e-01
29 1.879752e+04 4.04e-01 2.95e+06 5.46e-02 9.77e-01 2.21e+07 1 4.03e-02 9.87e-01
30 1.879726e+04 2.63e-01 5.65e+06 3.33e-02 9.77e-01 6.64e+07 1 2.16e-02 1.01e+00
31 1.879805e+04 -7.95e-01 5.65e+06 2.41e-02 -4.27e+00 3.32e+07 1 1.50e-02 1.02e+00
32 1.879717e+04 8.83e-02 1.40e+07 1.21e-02 8.97e-01 6.66e+07 1 2.16e-02 1.05e+00
33 1.879713e+04 4.42e-02 1.49e+07 4.54e-03 9.19e-01 1.62e+08 1 2.32e-02 1.07e+00
34 1.879709e+04 3.61e-02 1.23e+07 7.36e-03 9.66e-01 4.87e+08 1 2.12e-02 1.09e+00
W20260707 08:17:13.546104 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
35 1.879709e+04 0.00e+00 1.23e+07 0.00e+00 0.00e+00 2.44e+08 1 1.41e-02 1.10e+00
W20260707 08:17:13.561146 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
36 1.879709e+04 0.00e+00 1.23e+07 0.00e+00 0.00e+00 6.09e+07 1 1.50e-02 1.12e+00
37 1.879708e+04 9.97e-03 1.10e+06 2.75e-03 9.98e-01 1.83e+08 1 2.05e-02 1.14e+00
38 1.879706e+04 1.95e-02 6.50e+06 2.89e-03 9.89e-01 5.48e+08 1 2.16e-02 1.16e+00
W20260707 08:17:13.617801 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
39 1.879706e+04 0.00e+00 6.50e+06 0.00e+00 0.00e+00 2.74e+08 1 1.45e-02 1.18e+00
W20260707 08:17:13.630102 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
40 1.879706e+04 0.00e+00 6.50e+06 0.00e+00 0.00e+00 6.85e+07 1 1.23e-02 1.19e+00
41 1.879706e+04 3.50e-03 7.62e+05 9.46e-04 1.00e+00 2.05e+08 1 2.13e-02 1.21e+00
W20260707 08:17:13.665210 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
42 1.879706e+04 0.00e+00 7.62e+05 0.00e+00 0.00e+00 1.03e+08 1 1.37e-02 1.22e+00
W20260707 08:17:13.678426 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
43 1.879706e+04 0.00e+00 7.62e+05 0.00e+00 0.00e+00 2.57e+07 1 1.32e-02 1.24e+00
44 1.879706e+04 2.05e-03 5.15e+04 2.65e-04 1.00e+00 7.71e+07 1 2.04e-02 1.26e+00
45 1.879705e+04 5.92e-03 3.73e+04 7.63e-04 1.00e+00 2.31e+08 1 2.31e-02 1.28e+00
W20260707 08:17:13.755543 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
46 1.879705e+04 0.00e+00 3.73e+04 0.00e+00 0.00e+00 1.16e+08 1 3.36e-02 1.31e+00
47 1.879703e+04 2.49e-02 1.08e+07 5.66e-03 9.94e-01 3.47e+08 1 6.44e-02 1.38e+00
W20260707 08:17:13.848697 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
48 1.879703e+04 0.00e+00 1.08e+07 0.00e+00 0.00e+00 1.73e+08 1 2.86e-02 1.41e+00
W20260707 08:17:13.868525 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
49 1.879703e+04 0.00e+00 1.08e+07 0.00e+00 0.00e+00 4.33e+07 1 1.97e-02 1.43e+00
50 1.879702e+04 1.01e-03 2.54e+05 3.94e-04 1.00e+00 1.30e+08 1 5.70e-02 1.48e+00
I20260707 08:17:13.939668 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:13.939898 84886 bundle_adjustment.cc:942]
Residuals : 64970
Parameters : 20174
Iterations : 51
Time : 1.49152 [s]
Initial cost : 0.563976 [px]
Final cost : 0.537883 [px]
Termination : No convergence
I20260707 08:17:14.028086 84886 incremental_mapper.cc:175] => Completed observations: 23
I20260707 08:17:14.052444 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:17:14.071516 84886 incremental_mapper.cc:160] => Filtered observations: 25
I20260707 08:17:14.071664 84886 incremental_mapper.cc:119] => Changed observations: 0.001478
I20260707 08:17:14.071691 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 1.871364e+04 0.00e+00 2.55e+05 0.00e+00 0.00e+00 1.00e+04 0 2.59e-02 1.37e-01
1 1.865105e+04 6.26e+01 3.22e+03 0.00e+00 1.00e+00 3.00e+04 1 4.69e-02 1.84e-01
2 1.864666e+04 4.40e+00 3.64e+03 1.02e+01 9.98e-01 9.00e+04 1 5.45e-02 2.38e-01
3 1.864442e+04 2.24e+00 6.92e+03 6.76e+00 9.93e-01 2.70e+05 1 8.41e-02 3.22e-01
4 1.864396e+04 4.61e-01 7.76e+03 3.12e+00 1.02e+00 8.10e+05 1 1.11e-01 4.34e-01
5 1.864393e+04 3.14e-02 4.32e+03 6.94e-01 1.05e+00 2.43e+06 1 1.07e-01 5.41e-01
6 1.864392e+04 3.90e-03 2.46e+03 7.67e-02 1.05e+00 7.29e+06 1 8.47e-02 6.25e-01
7 1.864392e+04 1.70e-03 5.72e+03 9.90e-03 1.03e+00 2.19e+07 1 9.07e-02 7.16e-01
8 1.864392e+04 3.06e-03 2.18e+04 3.83e-03 1.00e+00 6.56e+07 1 9.17e-02 8.08e-01
9 1.864391e+04 1.23e-02 1.11e+05 2.01e-03 1.00e+00 1.97e+08 1 9.60e-02 9.04e-01
W20260707 08:17:15.052810 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
10 1.864391e+04 0.00e+00 1.11e+05 0.00e+00 0.00e+00 9.84e+07 1 4.58e-02 9.50e-01
11 1.864389e+04 1.12e-02 2.20e+05 2.15e-03 1.00e+00 2.95e+08 1 4.60e-02 9.96e-01
W20260707 08:17:15.120208 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
12 1.864389e+04 0.00e+00 2.20e+05 0.00e+00 0.00e+00 1.48e+08 1 2.13e-02 1.02e+00
13 1.864386e+04 3.50e-02 5.14e+05 9.00e-03 1.00e+00 4.43e+08 1 9.18e-02 1.11e+00
14 1.864377e+04 8.76e-02 1.40e+08 3.40e-02 8.64e-01 7.21e+08 1 9.95e-02 1.21e+00
W20260707 08:17:15.366743 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
15 1.864377e+04 0.00e+00 1.40e+08 0.00e+00 0.00e+00 3.60e+08 1 5.26e-02 1.26e+00
W20260707 08:17:15.384788 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
16 1.864377e+04 0.00e+00 1.40e+08 0.00e+00 0.00e+00 9.01e+07 1 1.80e-02 1.28e+00
17 1.864376e+04 1.39e-02 5.81e+07 2.36e-03 9.09e-01 1.98e+08 1 4.29e-02 1.32e+00
18 1.864394e+04 -1.85e-01 5.81e+07 2.17e-03 -5.29e+01 9.91e+07 1 4.22e-02 1.37e+00
19 1.864376e+04 2.20e-03 1.25e+07 8.48e-04 9.80e-01 2.97e+08 1 9.38e-02 1.46e+00
W20260707 08:17:15.611936 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
20 1.864376e+04 0.00e+00 1.25e+07 0.00e+00 0.00e+00 1.49e+08 1 4.81e-02 1.51e+00
W20260707 08:17:15.665174 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
21 1.864376e+04 0.00e+00 1.25e+07 0.00e+00 0.00e+00 3.72e+07 1 5.31e-02 1.56e+00
22 1.864375e+04 3.42e-04 4.93e+05 2.26e-04 1.00e+00 1.11e+08 1 9.79e-02 1.66e+00
23 1.864375e+04 8.47e-04 7.61e+04 1.96e-04 1.00e+00 3.34e+08 1 9.89e-02 1.76e+00
W20260707 08:17:15.904337 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
24 1.864375e+04 0.00e+00 7.61e+04 0.00e+00 0.00e+00 1.67e+08 1 4.21e-02 1.80e+00
W20260707 08:17:15.948125 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
25 1.864375e+04 0.00e+00 7.61e+04 0.00e+00 0.00e+00 4.18e+07 1 4.39e-02 1.85e+00
26 1.864375e+04 2.25e-04 1.32e+04 6.40e-05 1.00e+00 1.25e+08 1 8.87e-02 1.93e+00
W20260707 08:17:16.093506 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
27 1.864375e+04 0.00e+00 1.32e+04 0.00e+00 0.00e+00 6.27e+07 1 5.65e-02 1.99e+00
28 1.864375e+04 2.89e-04 5.86e+03 4.29e-05 1.00e+00 1.88e+08 1 9.78e-02 2.09e+00
W20260707 08:17:16.215059 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
29 1.864375e+04 0.00e+00 5.86e+03 0.00e+00 0.00e+00 9.40e+07 1 2.35e-02 2.11e+00
30 1.864375e+04 5.16e-04 2.67e+04 6.60e-05 1.00e+00 2.82e+08 1 4.95e-02 2.16e+00
W20260707 08:17:16.314723 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
31 1.864375e+04 0.00e+00 2.67e+04 0.00e+00 0.00e+00 1.41e+08 1 5.01e-02 2.21e+00
W20260707 08:17:16.360083 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
32 1.864375e+04 0.00e+00 2.67e+04 0.00e+00 0.00e+00 3.53e+07 1 4.54e-02 2.26e+00
33 1.864375e+04 1.55e-04 7.15e+03 3.93e-05 1.00e+00 1.06e+08 1 1.19e-01 2.38e+00
W20260707 08:17:16.526988 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
34 1.864375e+04 0.00e+00 7.15e+03 0.00e+00 0.00e+00 5.29e+07 1 4.77e-02 2.42e+00
35 1.864375e+04 1.72e-04 1.24e+04 3.27e-05 1.00e+00 1.59e+08 1 7.91e-02 2.50e+00
36 1.864375e+04 4.63e-04 4.32e+04 1.91e-04 1.00e+00 4.76e+08 1 1.06e-01 2.61e+00
W20260707 08:17:16.766042 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
37 1.864375e+04 0.00e+00 4.32e+04 0.00e+00 0.00e+00 2.38e+08 1 5.39e-02 2.66e+00
W20260707 08:17:16.814730 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
38 1.864375e+04 0.00e+00 4.32e+04 0.00e+00 0.00e+00 5.95e+07 1 4.86e-02 2.71e+00
39 1.864375e+04 1.53e-04 8.89e+03 3.75e-05 1.00e+00 1.79e+08 1 7.59e-02 2.79e+00
W20260707 08:17:16.942332 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
40 1.864375e+04 0.00e+00 8.89e+03 0.00e+00 0.00e+00 8.93e+07 1 5.15e-02 2.84e+00
41 1.864375e+04 3.09e-04 1.32e+04 5.91e-05 1.00e+00 2.68e+08 1 7.04e-02 2.91e+00
W20260707 08:17:17.026904 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
42 1.864375e+04 0.00e+00 1.32e+04 0.00e+00 0.00e+00 1.34e+08 1 1.40e-02 2.92e+00
43 1.864375e+04 6.15e-04 2.38e+04 1.30e-04 1.00e+00 4.02e+08 1 4.40e-02 2.97e+00
W20260707 08:17:17.090444 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
44 1.864375e+04 0.00e+00 2.38e+04 0.00e+00 0.00e+00 2.01e+08 1 1.95e-02 2.99e+00
W20260707 08:17:17.114401 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
45 1.864375e+04 0.00e+00 2.38e+04 0.00e+00 0.00e+00 5.02e+07 1 2.39e-02 3.01e+00
46 1.864375e+04 1.01e-04 8.46e+03 3.08e-05 1.00e+00 1.51e+08 1 6.87e-02 3.08e+00
W20260707 08:17:17.233711 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
47 1.864375e+04 0.00e+00 8.46e+03 0.00e+00 0.00e+00 7.53e+07 1 5.06e-02 3.13e+00
48 1.864375e+04 1.71e-04 6.99e+03 3.06e-05 1.00e+00 2.26e+08 1 8.40e-02 3.22e+00
W20260707 08:17:17.366941 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
49 1.864375e+04 0.00e+00 6.99e+03 0.00e+00 0.00e+00 1.13e+08 1 4.90e-02 3.26e+00
W20260707 08:17:17.415982 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
50 1.864375e+04 0.00e+00 6.99e+03 0.00e+00 0.00e+00 2.82e+07 1 4.90e-02 3.31e+00
I20260707 08:17:17.427639 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:17.427773 84886 bundle_adjustment.cc:942]
Residuals : 64960
Parameters : 20162
Iterations : 51
Time : 3.31961 [s]
Initial cost : 0.53673 [px]
Final cost : 0.535727 [px]
Termination : No convergence
I20260707 08:17:17.504645 84886 incremental_mapper.cc:175] => Completed observations: 1
I20260707 08:17:17.529251 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:17:17.538265 84886 incremental_mapper.cc:160] => Filtered observations: 9
I20260707 08:17:17.538331 84886 incremental_mapper.cc:119] => Changed observations: 0.000308
I20260707 08:17:17.538364 84886 incremental_mapper.cc:167] => Filtered images: 0
I20260707 08:17:17.557771 84886 misc.cc:198]
==============================================================================
Registering image #148 (41)
==============================================================================
I20260707 08:17:17.557926 84886 incremental_mapper.cc:495] => Image sees 420 / 2780 points
I20260707 08:17:17.570744 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:17:17.570847 84886 bundle_adjustment.cc:942]
Residuals : 540
Parameters : 6
Iterations : 7
Time : 0.00376201 [s]
Initial cost : 0.623949 [px]
Final cost : 0.586793 [px]
Termination : Convergence
I20260707 08:17:17.571482 84886 incremental_mapper.cc:40] => Continued observations: 262
I20260707 08:17:17.576525 84886 incremental_mapper.cc:43] => Added observations: 493
I20260707 08:17:17.998807 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:17.998956 84886 bundle_adjustment.cc:942]
Residuals : 13322
Parameters : 1751
Iterations : 18
Time : 0.400818 [s]
Initial cost : 0.657323 [px]
Final cost : 0.630162 [px]
Termination : Convergence
I20260707 08:17:18.047449 84886 incremental_mapper.cc:78] => Merged observations: 43
I20260707 08:17:18.047821 84886 incremental_mapper.cc:79] => Completed observations: 90
I20260707 08:17:18.047843 84886 incremental_mapper.cc:81] => Filtered observations: 257
I20260707 08:17:18.047850 84886 incremental_mapper.cc:90] => Changed observations: 0.053286
I20260707 08:17:18.143209 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:18.143271 84886 bundle_adjustment.cc:942]
Residuals : 12896
Parameters : 1532
Iterations : 3
Time : 0.063611 [s]
Initial cost : 0.637141 [px]
Final cost : 0.620287 [px]
Termination : Convergence
I20260707 08:17:18.162376 84886 incremental_mapper.cc:78] => Merged observations: 5
I20260707 08:17:18.162431 84886 incremental_mapper.cc:79] => Completed observations: 56
I20260707 08:17:18.162436 84886 incremental_mapper.cc:81] => Filtered observations: 8
I20260707 08:17:18.162439 84886 incremental_mapper.cc:90] => Changed observations: 0.009710
I20260707 08:17:18.177613 84886 misc.cc:198]
==============================================================================
Registering image #110 (42)
==============================================================================
I20260707 08:17:18.177676 84886 incremental_mapper.cc:495] => Image sees 255 / 1969 points
I20260707 08:17:18.182854 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:17:18.182941 84886 bundle_adjustment.cc:942]
Residuals : 356
Parameters : 6
Iterations : 8
Time : 0.0019331 [s]
Initial cost : 0.59044 [px]
Final cost : 0.539445 [px]
Termination : Convergence
I20260707 08:17:18.183552 84886 incremental_mapper.cc:40] => Continued observations: 177
I20260707 08:17:18.189678 84886 incremental_mapper.cc:43] => Added observations: 470
I20260707 08:17:18.618484 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:18.618631 84886 bundle_adjustment.cc:942]
Residuals : 9570
Parameters : 1403
Iterations : 26
Time : 0.415453 [s]
Initial cost : 0.847099 [px]
Final cost : 0.725341 [px]
Termination : No convergence
I20260707 08:17:18.644831 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:17:18.644943 84886 incremental_mapper.cc:79] => Completed observations: 65
I20260707 08:17:18.644949 84886 incremental_mapper.cc:81] => Filtered observations: 199
I20260707 08:17:18.644953 84886 incremental_mapper.cc:90] => Changed observations: 0.039711
I20260707 08:17:18.705755 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:18.705890 84886 bundle_adjustment.cc:942]
Residuals : 9390
Parameters : 1244
Iterations : 3
Time : 0.0467882 [s]
Initial cost : 0.657186 [px]
Final cost : 0.644227 [px]
Termination : Convergence
I20260707 08:17:18.743207 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:17:18.743350 84886 incremental_mapper.cc:79] => Completed observations: 27
I20260707 08:17:18.743359 84886 incremental_mapper.cc:81] => Filtered observations: 1
I20260707 08:17:18.743366 84886 incremental_mapper.cc:90] => Changed observations: 0.004283
I20260707 08:17:18.756561 84886 misc.cc:198]
==============================================================================
Registering image #166 (43)
==============================================================================
I20260707 08:17:18.756659 84886 incremental_mapper.cc:495] => Image sees 286 / 1606 points
I20260707 08:17:18.766350 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:17:18.766475 84886 bundle_adjustment.cc:942]
Residuals : 492
Parameters : 6
Iterations : 12
Time : 0.00522995 [s]
Initial cost : 0.759015 [px]
Final cost : 0.643021 [px]
Termination : Convergence
I20260707 08:17:18.767117 84886 incremental_mapper.cc:40] => Continued observations: 223
I20260707 08:17:18.770483 84886 incremental_mapper.cc:43] => Added observations: 373
I20260707 08:17:19.068500 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:19.068662 84886 bundle_adjustment.cc:942]
Residuals : 11356
Parameters : 1223
Iterations : 26
Time : 0.281265 [s]
Initial cost : 0.633163 [px]
Final cost : 0.590153 [px]
Termination : No convergence
I20260707 08:17:19.097374 84886 incremental_mapper.cc:78] => Merged observations: 19
I20260707 08:17:19.097549 84886 incremental_mapper.cc:79] => Completed observations: 68
I20260707 08:17:19.097563 84886 incremental_mapper.cc:81] => Filtered observations: 191
I20260707 08:17:19.097566 84886 incremental_mapper.cc:90] => Changed observations: 0.044310
I20260707 08:17:19.153779 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:19.153901 84886 bundle_adjustment.cc:942]
Residuals : 11046
Parameters : 977
Iterations : 3
Time : 0.038775 [s]
Initial cost : 0.628253 [px]
Final cost : 0.616919 [px]
Termination : Convergence
I20260707 08:17:19.174220 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:17:19.174337 84886 incremental_mapper.cc:79] => Completed observations: 57
I20260707 08:17:19.174345 84886 incremental_mapper.cc:81] => Filtered observations: 2
I20260707 08:17:19.174350 84886 incremental_mapper.cc:90] => Changed observations: 0.009652
I20260707 08:17:19.187115 84886 misc.cc:198]
==============================================================================
Registering image #93 (44)
==============================================================================
I20260707 08:17:19.187223 84886 incremental_mapper.cc:495] => Image sees 105 / 1843 points
I20260707 08:17:19.201083 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:17:19.201223 84886 bundle_adjustment.cc:942]
Residuals : 82
Parameters : 6
Iterations : 89
Time : 0.006567 [s]
Initial cost : 0.850518 [px]
Final cost : 0.809837 [px]
Termination : Convergence
I20260707 08:17:19.201444 84886 incremental_mapper.cc:40] => Continued observations: 41
I20260707 08:17:19.203384 84886 incremental_mapper.cc:43] => Added observations: 345
I20260707 08:17:19.423004 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:19.423147 84886 bundle_adjustment.cc:942]
Residuals : 6198
Parameters : 1100
Iterations : 26
Time : 0.212367 [s]
Initial cost : 0.822662 [px]
Final cost : 0.686821 [px]
Termination : No convergence
I20260707 08:17:19.433389 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:17:19.433455 84886 incremental_mapper.cc:79] => Completed observations: 112
I20260707 08:17:19.433462 84886 incremental_mapper.cc:81] => Filtered observations: 160
I20260707 08:17:19.433466 84886 incremental_mapper.cc:90] => Changed observations: 0.067227
I20260707 08:17:19.512192 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:19.512485 84886 bundle_adjustment.cc:942]
Residuals : 6068
Parameters : 911
Iterations : 4
Time : 0.0658259 [s]
Initial cost : 0.621388 [px]
Final cost : 0.6034 [px]
Termination : Convergence
I20260707 08:17:19.545001 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:17:19.545255 84886 incremental_mapper.cc:79] => Completed observations: 30
I20260707 08:17:19.545295 84886 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 08:17:19.545301 84886 incremental_mapper.cc:90] => Changed observations: 0.007536
I20260707 08:17:19.545393 84886 misc.cc:198]
==============================================================================
Retriangulation
==============================================================================
I20260707 08:17:19.589990 84886 incremental_mapper.cc:175] => Completed observations: 49
I20260707 08:17:19.644002 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:17:19.644093 84886 incremental_mapper.cc:105] => Retriangulated observations: 309
I20260707 08:17:19.658773 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 1.139182e+05 0.00e+00 2.85e+05 0.00e+00 0.00e+00 1.00e+04 0 1.65e-02 2.65e-01
1 9.305545e+04 2.09e+04 2.58e+04 0.00e+00 7.45e-01 1.13e+04 1 9.80e-02 3.63e-01
2 8.685981e+04 6.20e+03 1.22e+04 2.91e+01 9.16e-01 2.68e+04 1 9.48e-02 4.58e-01
3 8.593251e+04 9.27e+02 2.21e+04 1.00e+01 9.85e-01 8.03e+04 1 4.69e-02 5.05e-01
4 8.581907e+04 1.13e+02 3.47e+04 7.45e+00 1.01e+00 2.41e+05 1 5.81e-02 5.63e-01
5 8.578559e+04 3.35e+01 1.05e+05 3.20e+00 9.61e-01 7.22e+05 1 7.77e-02 6.41e-01
6 8.575978e+04 2.58e+01 4.13e+05 2.86e+00 9.78e-01 2.17e+06 1 1.08e-01 7.49e-01
7 8.572927e+04 3.05e+01 1.19e+06 7.46e+00 8.02e-01 2.78e+06 1 1.08e-01 8.57e-01
8 8.570863e+04 2.06e+01 8.60e+05 7.79e+00 7.61e-01 3.24e+06 1 1.11e-01 9.68e-01
9 8.569886e+04 9.77e+00 1.90e+05 4.70e+00 9.66e-01 9.72e+06 1 9.87e-02 1.07e+00
10 8.569794e+04 9.24e-01 3.10e+04 3.16e+00 9.91e-01 2.92e+07 1 1.05e-01 1.17e+00
11 8.569788e+04 5.54e-02 2.93e+03 1.07e+00 1.01e+00 8.75e+07 1 1.07e-01 1.28e+00
12 8.569788e+04 1.14e-03 4.74e+02 1.47e-01 9.15e-01 2.04e+08 1 1.14e-01 1.39e+00
13 8.569788e+04 3.30e-05 4.36e+02 1.40e-02 2.28e-01 1.75e+08 1 3.97e-02 1.43e+00
14 8.569788e+04 1.49e-05 3.62e+02 1.39e-03 1.51e-01 1.31e+08 1 1.26e-01 1.56e+00
15 8.569788e+04 9.91e-06 3.21e+02 1.00e-03 1.40e-01 9.54e+07 1 1.17e-01 1.68e+00
16 8.569788e+04 7.88e-06 2.66e+02 7.70e-04 1.51e-01 7.11e+07 1 1.10e-01 1.79e+00
17 8.569788e+04 5.51e-06 2.32e+02 7.40e-04 1.46e-01 5.25e+07 1 1.12e-01 1.90e+00
18 8.569788e+04 4.28e-06 1.92e+02 7.31e-04 1.56e-01 3.96e+07 1 8.90e-02 1.99e+00
19 8.569788e+04 3.03e-06 1.65e+02 7.37e-04 1.56e-01 2.99e+07 1 9.43e-02 2.08e+00
20 8.569788e+04 2.29e-06 1.36e+02 7.40e-04 1.66e-01 2.30e+07 1 6.72e-02 2.15e+00
21 8.569788e+04 1.61e-06 1.14e+02 7.33e-04 1.70e-01 1.79e+07 1 5.31e-02 2.20e+00
22 8.569788e+04 1.18e-06 9.28e+01 7.07e-04 1.81e-01 1.42e+07 1 3.71e-02 2.24e+00
23 8.569788e+04 8.10e-07 7.58e+01 6.63e-04 1.88e-01 1.14e+07 1 8.68e-02 2.33e+00
24 8.569788e+04 5.61e-07 6.02e+01 6.01e-04 2.00e-01 9.40e+06 1 9.92e-02 2.43e+00
25 8.569788e+04 3.69e-07 4.77e+01 5.28e-04 2.10e-01 7.86e+06 1 1.46e-01 2.57e+00
26 8.569788e+04 2.39e-07 3.68e+01 4.47e-04 2.22e-01 6.71e+06 1 1.30e-01 2.70e+00
27 8.569788e+04 1.47e-07 2.81e+01 3.67e-04 2.33e-01 5.83e+06 1 1.26e-01 2.83e+00
28 8.569788e+04 8.80e-08 2.10e+01 2.93e-04 2.44e-01 5.14e+06 1 1.24e-01 2.95e+00
29 8.569788e+04 5.02e-08 1.55e+01 2.27e-04 2.54e-01 4.59e+06 1 1.06e-01 3.06e+00
30 8.569788e+04 2.76e-08 1.12e+01 1.72e-04 2.65e-01 4.16e+06 1 7.13e-02 3.13e+00
31 8.569788e+04 1.48e-08 7.94e+00 1.27e-04 2.79e-01 3.83e+06 1 3.96e-02 3.17e+00
32 8.569788e+04 7.71e-09 5.55e+00 9.16e-05 2.95e-01 3.58e+06 1 9.95e-02 3.27e+00
33 8.569788e+04 3.67e-09 3.83e+00 6.48e-05 2.57e-01 3.21e+06 1 8.79e-02 3.36e+00
34 8.569788e+04 1.57e-09 2.59e+00 4.53e-05 2.94e-01 3.01e+06 1 3.97e-02 3.40e+00
35 8.569788e+04 7.13e-10 1.72e+00 3.11e-05 3.48e-01 2.92e+06 1 5.22e-02 3.45e+00
36 8.569788e+04 4.22e-10 1.13e+00 2.06e-05 4.75e-01 2.92e+06 1 8.03e-02 3.53e+00
37 8.569788e+04 -1.60e-10 1.13e+00 1.36e-05 -2.33e-01 1.46e+06 1 5.76e-02 3.59e+00
38 8.569788e+04 1.46e-10 6.77e-01 1.41e-05 3.90e-01 1.45e+06 1 7.07e-02 3.66e+00
I20260707 08:17:23.482772 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:23.482921 84886 bundle_adjustment.cc:942]
Residuals : 69350
Parameters : 21719
Iterations : 39
Time : 3.66863 [s]
Initial cost : 1.28166 [px]
Final cost : 1.11163 [px]
Termination : Convergence
I20260707 08:17:23.556027 84886 incremental_mapper.cc:175] => Completed observations: 90
I20260707 08:17:23.579063 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:17:23.589800 84886 incremental_mapper.cc:160] => Filtered observations: 520
I20260707 08:17:23.589879 84886 incremental_mapper.cc:119] => Changed observations: 0.017592
I20260707 08:17:23.589908 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 2.332189e+04 0.00e+00 3.94e+04 0.00e+00 0.00e+00 1.00e+04 0 3.45e-02 1.90e-01
1 2.095038e+04 2.37e+03 1.61e+04 0.00e+00 9.80e-01 3.00e+04 1 4.52e-02 2.35e-01
2 2.080736e+04 1.43e+02 2.13e+04 1.58e+01 9.97e-01 9.00e+04 1 9.20e-02 3.27e-01
3 2.075178e+04 5.56e+01 5.20e+04 1.05e+01 9.61e-01 2.70e+05 1 9.83e-02 4.26e-01
4 2.068064e+04 7.11e+01 3.55e+05 5.83e+00 9.73e-01 8.10e+05 1 1.02e-01 5.27e-01
5 2.060022e+04 8.04e+01 8.34e+05 4.88e+00 9.51e-01 2.43e+06 1 9.00e-02 6.18e-01
6 2.052136e+04 7.89e+01 1.19e+06 7.14e+00 8.95e-01 4.80e+06 1 8.82e-02 7.06e-01
7 2.047003e+04 5.13e+01 1.57e+06 5.45e+00 7.46e-01 5.45e+06 1 9.83e-02 8.04e-01
8 2.043754e+04 3.25e+01 1.28e+06 2.42e+00 7.47e-01 6.20e+06 1 3.93e-02 8.44e-01
9 2.042027e+04 1.73e+01 8.08e+05 1.91e+00 7.61e-01 7.22e+06 1 4.58e-02 8.89e-01
10 2.041200e+04 8.27e+00 3.83e+05 1.91e+00 8.47e-01 1.08e+07 1 5.46e-02 9.44e-01
11 2.040943e+04 2.57e+00 1.53e+05 1.79e+00 9.05e-01 2.31e+07 1 1.01e-01 1.05e+00
12 2.040892e+04 5.11e-01 3.57e+04 1.20e+00 9.82e-01 6.94e+07 1 1.02e-01 1.15e+00
13 2.040889e+04 3.36e-02 2.37e+03 3.92e-01 1.03e+00 2.08e+08 1 1.17e-01 1.26e+00
14 2.040889e+04 4.94e-04 4.13e+01 4.73e-02 1.10e+00 6.24e+08 1 1.14e-01 1.38e+00
15 2.040889e+04 8.98e-06 1.80e+00 4.39e-03 1.14e+00 1.87e+09 1 1.07e-01 1.49e+00
16 2.040889e+04 2.00e-07 1.60e-01 5.12e-04 1.15e+00 5.62e+09 1 1.24e-01 1.61e+00
I20260707 08:17:25.271626 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:25.271802 84886 bundle_adjustment.cc:942]
Residuals : 68404
Parameters : 21317
Iterations : 17
Time : 1.61873 [s]
Initial cost : 0.583903 [px]
Final cost : 0.546222 [px]
Termination : Convergence
I20260707 08:17:25.369392 84886 incremental_mapper.cc:175] => Completed observations: 93
I20260707 08:17:25.397341 84886 incremental_mapper.cc:178] => Merged observations: 8
I20260707 08:17:25.400979 84886 incremental_mapper.cc:160] => Filtered observations: 32
I20260707 08:17:25.401001 84886 incremental_mapper.cc:119] => Changed observations: 0.003889
I20260707 08:17:25.401014 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 2.038305e+04 0.00e+00 1.84e+04 0.00e+00 0.00e+00 1.00e+04 0 2.15e-02 1.25e-01
1 2.022779e+04 1.55e+02 1.93e+02 0.00e+00 9.99e-01 3.00e+04 1 5.77e-02 1.83e-01
2 2.022723e+04 5.65e-01 1.86e+02 1.93e-01 1.01e+00 9.00e+04 1 1.20e-01 3.03e-01
3 2.022694e+04 2.90e-01 1.37e+02 6.05e-01 1.00e+00 2.70e+05 1 1.05e-01 4.08e-01
4 2.022678e+04 1.59e-01 2.29e+02 6.72e-01 1.00e+00 8.10e+05 1 1.47e-01 5.54e-01
5 2.022666e+04 1.14e-01 5.46e+02 2.84e-01 1.01e+00 2.43e+06 1 1.33e-01 6.88e-01
6 2.022658e+04 8.72e-02 1.35e+03 1.66e-01 1.01e+00 7.29e+06 1 1.14e-01 8.02e-01
7 2.022653e+04 4.57e-02 3.16e+03 3.86e-01 1.01e+00 2.19e+07 1 1.07e-01 9.09e-01
8 2.022652e+04 1.18e-02 1.58e+03 3.58e-01 1.02e+00 6.56e+07 1 2.69e-02 9.36e-01
9 2.022652e+04 8.90e-04 1.28e+02 1.16e-01 1.06e+00 1.97e+08 1 7.21e-02 1.01e+00
10 2.022652e+04 2.18e-05 3.11e+00 1.41e-02 1.11e+00 5.90e+08 1 1.08e-01 1.12e+00
11 2.022652e+04 4.31e-07 2.61e-01 1.16e-03 1.14e+00 1.77e+09 1 9.08e-02 1.21e+00
I20260707 08:17:26.688391 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:26.688490 84886 bundle_adjustment.cc:942]
Residuals : 68490
Parameters : 21272
Iterations : 12
Time : 1.21179 [s]
Initial cost : 0.545533 [px]
Final cost : 0.543434 [px]
Termination : Convergence
I20260707 08:17:26.738371 84886 incremental_mapper.cc:175] => Completed observations: 5
I20260707 08:17:26.762171 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:17:26.772318 84886 incremental_mapper.cc:160] => Filtered observations: 15
I20260707 08:17:26.772385 84886 incremental_mapper.cc:119] => Changed observations: 0.000584
I20260707 08:17:26.772414 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 2.008531e+04 0.00e+00 1.02e+04 0.00e+00 0.00e+00 1.00e+04 0 3.51e-02 1.89e-01
1 1.989290e+04 1.92e+02 1.56e+03 0.00e+00 9.99e-01 3.00e+04 1 4.41e-02 2.33e-01
2 1.989115e+04 1.75e+00 3.24e+02 6.29e-01 1.01e+00 9.00e+04 1 3.65e-02 2.70e-01
3 1.989092e+04 2.26e-01 2.21e+02 1.21e-01 9.98e-01 2.70e+05 1 8.07e-02 3.51e-01
4 1.989076e+04 1.63e-01 9.77e+02 4.46e-02 9.99e-01 8.10e+05 1 8.49e-02 4.36e-01
5 1.989053e+04 2.26e-01 3.37e+03 9.02e-02 1.00e+00 2.43e+06 1 9.73e-02 5.33e-01
6 1.989035e+04 1.87e-01 5.19e+03 2.79e-01 1.01e+00 7.29e+06 1 1.27e-01 6.61e-01
7 1.989029e+04 5.92e-02 2.29e+03 4.64e-01 1.02e+00 2.19e+07 1 8.96e-02 7.50e-01
8 1.989028e+04 7.41e-03 4.06e+02 3.37e-01 1.02e+00 6.56e+07 1 9.69e-02 8.47e-01
9 1.989028e+04 3.63e-04 3.40e+01 9.45e-02 1.04e+00 1.97e+08 1 8.26e-02 9.30e-01
10 1.989028e+04 6.33e-06 1.50e+00 1.05e-02 1.08e+00 5.90e+08 1 4.69e-02 9.77e-01
11 1.989028e+04 8.73e-08 1.71e-01 7.56e-04 1.12e+00 1.77e+09 1 4.83e-02 1.03e+00
I20260707 08:17:27.898509 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:27.898630 84886 bundle_adjustment.cc:942]
Residuals : 68460
Parameters : 21257
Iterations : 12
Time : 1.04306 [s]
Initial cost : 0.541653 [px]
Final cost : 0.539016 [px]
Termination : Convergence
I20260707 08:17:27.970490 84886 incremental_mapper.cc:175] => Completed observations: 14
I20260707 08:17:28.002547 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:17:28.010535 84886 incremental_mapper.cc:160] => Filtered observations: 1
I20260707 08:17:28.010589 84886 incremental_mapper.cc:119] => Changed observations: 0.000438
I20260707 08:17:28.010643 84886 incremental_mapper.cc:167] => Filtered images: 0
I20260707 08:17:28.020740 84886 misc.cc:198]
==============================================================================
Registering image #126 (45)
==============================================================================
I20260707 08:17:28.020776 84886 incremental_mapper.cc:495] => Image sees 132 / 1269 points
I20260707 08:17:28.024281 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:17:28.024312 84886 bundle_adjustment.cc:942]
Residuals : 188
Parameters : 6
Iterations : 11
Time : 0.000844002 [s]
Initial cost : 0.657545 [px]
Final cost : 0.60944 [px]
Termination : Convergence
I20260707 08:17:28.024400 84886 incremental_mapper.cc:40] => Continued observations: 92
I20260707 08:17:28.025866 84886 incremental_mapper.cc:43] => Added observations: 276
I20260707 08:17:28.301818 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:28.301988 84886 bundle_adjustment.cc:942]
Residuals : 13362
Parameters : 1346
Iterations : 26
Time : 0.265343 [s]
Initial cost : 0.588552 [px]
Final cost : 0.558426 [px]
Termination : No convergence
I20260707 08:17:28.323515 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:17:28.323597 84886 incremental_mapper.cc:79] => Completed observations: 30
I20260707 08:17:28.323602 84886 incremental_mapper.cc:81] => Filtered observations: 111
I20260707 08:17:28.323606 84886 incremental_mapper.cc:90] => Changed observations: 0.019481
I20260707 08:17:28.362025 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:28.362119 84886 bundle_adjustment.cc:942]
Residuals : 10220
Parameters : 1115
Iterations : 3
Time : 0.027797 [s]
Initial cost : 0.658657 [px]
Final cost : 0.650354 [px]
Termination : Convergence
I20260707 08:17:28.382999 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:17:28.383086 84886 incremental_mapper.cc:79] => Completed observations: 14
I20260707 08:17:28.383091 84886 incremental_mapper.cc:81] => Filtered observations: 2
I20260707 08:17:28.383093 84886 incremental_mapper.cc:90] => Changed observations: 0.002304
I20260707 08:17:28.395608 84886 misc.cc:198]
==============================================================================
Registering image #209 (46)
==============================================================================
I20260707 08:17:28.395704 84886 incremental_mapper.cc:495] => Image sees 149 / 1025 points
I20260707 08:17:28.402632 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:17:28.402730 84886 bundle_adjustment.cc:942]
Residuals : 170
Parameters : 6
Iterations : 9
Time : 0.00100613 [s]
Initial cost : 0.694603 [px]
Final cost : 0.674257 [px]
Termination : Convergence
I20260707 08:17:28.402993 84886 incremental_mapper.cc:40] => Continued observations: 80
I20260707 08:17:28.403807 84886 incremental_mapper.cc:43] => Added observations: 149
I20260707 08:17:28.519842 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:28.519939 84886 bundle_adjustment.cc:942]
Residuals : 10250
Parameters : 677
Iterations : 11
Time : 0.105147 [s]
Initial cost : 0.533035 [px]
Final cost : 0.503126 [px]
Termination : Convergence
I20260707 08:17:28.531729 84886 incremental_mapper.cc:78] => Merged observations: 8
I20260707 08:17:28.531798 84886 incremental_mapper.cc:79] => Completed observations: 30
I20260707 08:17:28.531803 84886 incremental_mapper.cc:81] => Filtered observations: 75
I20260707 08:17:28.531805 84886 incremental_mapper.cc:90] => Changed observations: 0.016766
I20260707 08:17:28.580565 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:28.580696 84886 bundle_adjustment.cc:942]
Residuals : 10152
Parameters : 590
Iterations : 4
Time : 0.0403731 [s]
Initial cost : 0.583663 [px]
Final cost : 0.578065 [px]
Termination : Convergence
I20260707 08:17:28.602715 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:17:28.602824 84886 incremental_mapper.cc:79] => Completed observations: 4
I20260707 08:17:28.602830 84886 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 08:17:28.602833 84886 incremental_mapper.cc:90] => Changed observations: 0.000598
I20260707 08:17:28.614842 84886 misc.cc:198]
==============================================================================
Registering image #178 (47)
==============================================================================
I20260707 08:17:28.614933 84886 incremental_mapper.cc:495] => Image sees 158 / 943 points
I20260707 08:17:28.619663 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:17:28.619781 84886 bundle_adjustment.cc:942]
Residuals : 230
Parameters : 6
Iterations : 17
Time : 0.00193095 [s]
Initial cost : 0.703581 [px]
Final cost : 0.675783 [px]
Termination : Convergence
I20260707 08:17:28.620064 84886 incremental_mapper.cc:40] => Continued observations: 110
I20260707 08:17:28.621891 84886 incremental_mapper.cc:43] => Added observations: 224
I20260707 08:17:28.776417 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:28.776510 84886 bundle_adjustment.cc:942]
Residuals : 8086
Parameters : 716
Iterations : 26
Time : 0.143834 [s]
Initial cost : 0.599817 [px]
Final cost : 0.550475 [px]
Termination : No convergence
I20260707 08:17:28.791244 84886 incremental_mapper.cc:78] => Merged observations: 12
I20260707 08:17:28.791317 84886 incremental_mapper.cc:79] => Completed observations: 47
I20260707 08:17:28.791322 84886 incremental_mapper.cc:81] => Filtered observations: 124
I20260707 08:17:28.791325 84886 incremental_mapper.cc:90] => Changed observations: 0.036747
I20260707 08:17:28.823014 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:28.823105 84886 bundle_adjustment.cc:942]
Residuals : 8214
Parameters : 539
Iterations : 3
Time : 0.0246198 [s]
Initial cost : 0.600278 [px]
Final cost : 0.589973 [px]
Termination : Convergence
I20260707 08:17:28.840565 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:17:28.840649 84886 incremental_mapper.cc:79] => Completed observations: 17
I20260707 08:17:28.840654 84886 incremental_mapper.cc:81] => Filtered observations: 2
I20260707 08:17:28.840657 84886 incremental_mapper.cc:90] => Changed observations: 0.003979
I20260707 08:17:28.849400 84886 misc.cc:198]
==============================================================================
Registering image #192 (48)
==============================================================================
I20260707 08:17:28.849471 84886 incremental_mapper.cc:495] => Image sees 157 / 1242 points
I20260707 08:17:28.854386 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:17:28.854494 84886 bundle_adjustment.cc:942]
Residuals : 256
Parameters : 6
Iterations : 11
Time : 0.00173497 [s]
Initial cost : 0.655263 [px]
Final cost : 0.639362 [px]
Termination : Convergence
I20260707 08:17:28.854863 84886 incremental_mapper.cc:40] => Continued observations: 119
I20260707 08:17:28.856403 84886 incremental_mapper.cc:43] => Added observations: 112
I20260707 08:17:29.085654 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:29.085765 84886 bundle_adjustment.cc:942]
Residuals : 10596
Parameters : 698
Iterations : 16
Time : 0.217648 [s]
Initial cost : 0.550227 [px]
Final cost : 0.521181 [px]
Termination : Convergence
I20260707 08:17:29.108060 84886 incremental_mapper.cc:78] => Merged observations: 25
I20260707 08:17:29.108152 84886 incremental_mapper.cc:79] => Completed observations: 25
I20260707 08:17:29.108160 84886 incremental_mapper.cc:81] => Filtered observations: 67
I20260707 08:17:29.108165 84886 incremental_mapper.cc:90] => Changed observations: 0.016922
I20260707 08:17:29.171931 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:29.172039 84886 bundle_adjustment.cc:942]
Residuals : 10484
Parameters : 632
Iterations : 3
Time : 0.047282 [s]
Initial cost : 0.592133 [px]
Final cost : 0.586142 [px]
Termination : Convergence
I20260707 08:17:29.183645 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:17:29.183723 84886 incremental_mapper.cc:79] => Completed observations: 15
I20260707 08:17:29.183730 84886 incremental_mapper.cc:81] => Filtered observations: 5
I20260707 08:17:29.183735 84886 incremental_mapper.cc:90] => Changed observations: 0.002916
I20260707 08:17:29.190862 84886 misc.cc:198]
==============================================================================
Registering image #142 (49)
==============================================================================
I20260707 08:17:29.190904 84886 incremental_mapper.cc:495] => Image sees 125 / 1287 points
I20260707 08:17:29.194598 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:17:29.194749 84886 bundle_adjustment.cc:942]
Residuals : 156
Parameters : 6
Iterations : 9
Time : 0.00116897 [s]
Initial cost : 0.692893 [px]
Final cost : 0.565372 [px]
Termination : Convergence
I20260707 08:17:29.195191 84886 incremental_mapper.cc:40] => Continued observations: 76
I20260707 08:17:29.197486 84886 incremental_mapper.cc:43] => Added observations: 344
I20260707 08:17:29.296016 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:29.296177 84886 bundle_adjustment.cc:942]
Residuals : 4570
Parameters : 881
Iterations : 26
Time : 0.0944099 [s]
Initial cost : 0.806698 [px]
Final cost : 0.763958 [px]
Termination : No convergence
I20260707 08:17:29.310086 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:17:29.310186 84886 incremental_mapper.cc:79] => Completed observations: 6
I20260707 08:17:29.310194 84886 incremental_mapper.cc:81] => Filtered observations: 145
I20260707 08:17:29.310197 84886 incremental_mapper.cc:90] => Changed observations: 0.052213
I20260707 08:17:29.326316 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:29.326423 84886 bundle_adjustment.cc:942]
Residuals : 5334
Parameters : 581
Iterations : 2
Time : 0.00997901 [s]
Initial cost : 0.702794 [px]
Final cost : 0.694145 [px]
Termination : Convergence
I20260707 08:17:29.340678 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:17:29.340790 84886 incremental_mapper.cc:79] => Completed observations: 11
I20260707 08:17:29.340795 84886 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 08:17:29.340797 84886 incremental_mapper.cc:90] => Changed observations: 0.003360
I20260707 08:17:29.340843 84886 misc.cc:198]
==============================================================================
Retriangulation
==============================================================================
I20260707 08:17:29.361307 84886 incremental_mapper.cc:175] => Completed observations: 12
I20260707 08:17:29.385877 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:17:29.385968 84886 incremental_mapper.cc:105] => Retriangulated observations: 136
I20260707 08:17:29.393311 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 5.349155e+04 0.00e+00 2.53e+06 0.00e+00 0.00e+00 1.00e+04 0 3.27e-02 1.88e-01
1 4.419044e+04 9.30e+03 5.13e+05 0.00e+00 9.87e-01 3.00e+04 1 1.04e-01 2.93e-01
2 4.383521e+04 3.55e+02 1.11e+05 3.95e+01 9.54e-01 9.00e+04 1 9.11e-02 3.84e-01
3 4.367472e+04 1.60e+02 8.03e+04 5.89e+01 6.45e-01 9.23e+04 1 5.60e-02 4.40e-01
4 4.353237e+04 1.42e+02 2.66e+04 3.84e+01 9.32e-01 2.59e+05 1 3.71e-02 4.77e-01
5 4.348661e+04 4.58e+01 2.78e+05 2.55e+01 9.66e-01 7.77e+05 1 7.98e-02 5.57e-01
6 4.345847e+04 2.81e+01 7.41e+04 9.44e+00 1.00e+00 2.33e+06 1 8.94e-02 6.47e-01
7 4.341849e+04 4.00e+01 3.78e+05 9.70e+00 9.93e-01 6.99e+06 1 2.97e-02 6.76e-01
8 4.335977e+04 5.87e+01 6.72e+05 1.02e+01 9.95e-01 2.10e+07 1 5.84e-02 7.35e-01
9 4.332906e+04 3.07e+01 8.25e+06 1.31e+01 3.85e-01 2.07e+07 1 8.62e-02 8.21e-01
10 4.326573e+04 6.33e+01 5.21e+06 8.60e+00 7.33e-01 2.31e+07 1 9.73e-02 9.19e-01
11 4.324422e+04 2.15e+01 4.15e+06 5.99e+00 4.59e-01 2.30e+07 1 1.11e-01 1.03e+00
12 4.323021e+04 1.40e+01 2.76e+06 6.05e+00 3.51e-01 2.25e+07 1 1.08e-01 1.14e+00
13 4.321738e+04 1.28e+01 1.53e+06 1.04e+01 3.79e-01 2.21e+07 1 1.20e-01 1.26e+00
14 4.319989e+04 1.75e+01 5.70e+05 1.49e+01 7.49e-01 2.53e+07 1 1.21e-01 1.38e+00
15 4.319388e+04 6.01e+00 8.41e+04 5.39e+00 9.75e-01 7.58e+07 1 4.68e-02 1.43e+00
16 4.319370e+04 1.85e-01 3.86e+03 1.10e+01 9.74e-01 2.27e+08 1 1.06e-01 1.53e+00
17 4.319369e+04 1.08e-02 3.38e+01 1.87e+01 7.72e-01 2.71e+08 1 9.98e-02 1.63e+00
18 4.319368e+04 2.90e-03 3.36e+00 1.12e+01 8.67e-01 4.49e+08 1 1.02e-01 1.73e+00
19 4.319368e+04 2.19e-03 2.95e+00 1.34e+01 8.50e-01 6.83e+08 1 9.48e-02 1.83e+00
20 4.319368e+04 1.73e-03 2.35e+00 1.46e+01 8.59e-01 1.08e+09 1 8.62e-02 1.92e+00
21 4.319368e+04 1.48e-03 2.02e+00 1.70e+01 8.59e-01 1.72e+09 1 8.72e-02 2.00e+00
22 4.319368e+04 1.27e-03 1.73e+00 1.98e+01 8.59e-01 2.72e+09 1 5.45e-02 2.06e+00
23 4.319368e+04 1.08e-03 1.82e+00 2.31e+01 8.59e-01 4.31e+09 1 3.62e-02 2.09e+00
24 4.319368e+04 9.29e-04 1.27e+00 2.69e+01 8.59e-01 6.83e+09 1 7.48e-02 2.17e+00
25 4.319367e+04 7.96e-04 1.38e+00 3.14e+01 8.59e-01 1.08e+10 1 1.06e-01 2.28e+00
26 4.319367e+04 6.82e-04 1.94e+00 3.66e+01 8.58e-01 1.71e+10 1 9.36e-02 2.37e+00
27 4.319367e+04 5.85e-04 1.43e+00 4.26e+01 8.58e-01 2.71e+10 1 1.15e-01 2.48e+00
28 4.319367e+04 5.01e-04 6.89e-01 4.97e+01 8.58e-01 4.30e+10 1 9.17e-02 2.58e+00
I20260707 08:17:32.043833 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:32.043933 84886 bundle_adjustment.cc:942]
Residuals : 71124
Parameters : 22361
Iterations : 29
Time : 2.58115 [s]
Initial cost : 0.86723 [px]
Final cost : 0.779295 [px]
Termination : Convergence
I20260707 08:17:32.125888 84886 incremental_mapper.cc:175] => Completed observations: 42
I20260707 08:17:32.155714 84886 incremental_mapper.cc:178] => Merged observations: 7
I20260707 08:17:32.172410 84886 incremental_mapper.cc:160] => Filtered observations: 299
I20260707 08:17:32.172483 84886 incremental_mapper.cc:119] => Changed observations: 0.009786
I20260707 08:17:32.172524 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 2.276124e+04 0.00e+00 9.72e+03 0.00e+00 0.00e+00 1.00e+04 0 3.82e-02 1.49e-01
1 2.119501e+04 1.57e+03 2.80e+04 0.00e+00 9.99e-01 3.00e+04 1 6.36e-02 2.13e-01
2 2.108108e+04 1.14e+02 2.01e+04 2.99e+01 9.68e-01 9.00e+04 1 3.99e-02 2.53e-01
3 2.100566e+04 7.54e+01 4.19e+04 4.66e+01 7.50e-01 1.03e+05 1 5.83e-02 3.11e-01
4 2.094410e+04 6.16e+01 2.29e+04 2.22e+01 9.78e-01 3.08e+05 1 9.95e-02 4.11e-01
5 2.089745e+04 4.67e+01 5.19e+04 2.51e+01 9.60e-01 9.25e+05 1 1.21e-01 5.32e-01
6 2.082523e+04 7.22e+01 3.20e+05 2.02e+01 8.82e-01 1.67e+06 1 8.42e-02 6.16e-01
7 2.079440e+04 3.08e+01 5.56e+05 8.65e+00 6.60e-01 1.73e+06 1 9.34e-02 7.10e-01
8 2.077064e+04 2.38e+01 6.57e+04 2.28e+00 9.98e-01 5.18e+06 1 9.08e-02 8.01e-01
9 2.076762e+04 3.03e+00 1.95e+05 2.33e+00 7.85e-01 6.36e+06 1 7.76e-02 8.78e-01
10 2.076604e+04 1.58e+00 3.28e+04 1.67e+00 9.94e-01 1.91e+07 1 6.57e-02 9.44e-01
11 2.076584e+04 2.06e-01 1.83e+04 1.48e+00 9.82e-01 5.72e+07 1 9.93e-02 1.04e+00
12 2.076582e+04 2.08e-02 1.45e+03 4.86e-01 1.03e+00 1.72e+08 1 7.66e-02 1.12e+00
13 2.076582e+04 3.70e-04 3.06e+01 6.00e-02 1.09e+00 5.15e+08 1 8.85e-02 1.21e+00
14 2.076582e+04 6.07e-06 1.35e+00 4.64e-03 1.14e+00 1.55e+09 1 9.88e-02 1.31e+00
15 2.076582e+04 1.31e-07 1.93e-01 6.05e-04 1.15e+00 4.64e+09 1 1.09e-01 1.42e+00
I20260707 08:17:33.682843 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:33.682936 84886 bundle_adjustment.cc:942]
Residuals : 70512
Parameters : 22034
Iterations : 16
Time : 1.42957 [s]
Initial cost : 0.568154 [px]
Final cost : 0.542679 [px]
Termination : Convergence
I20260707 08:17:33.774725 84886 incremental_mapper.cc:175] => Completed observations: 49
I20260707 08:17:33.804167 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:17:33.819707 84886 incremental_mapper.cc:160] => Filtered observations: 19
I20260707 08:17:33.819836 84886 incremental_mapper.cc:119] => Changed observations: 0.001929
I20260707 08:17:33.819904 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 2.079898e+04 0.00e+00 5.72e+03 0.00e+00 0.00e+00 1.00e+04 0 2.31e-02 9.69e-02
1 2.065997e+04 1.39e+02 4.20e+02 0.00e+00 9.85e-01 3.00e+04 1 1.07e-01 2.04e-01
2 2.064869e+04 1.13e+01 2.61e+02 6.85e+00 1.14e+00 9.00e+04 1 1.38e-01 3.43e-01
3 2.064611e+04 2.58e+00 7.26e+02 6.01e+00 1.08e+00 2.70e+05 1 9.97e-02 4.43e-01
4 2.064487e+04 1.24e+00 1.39e+03 5.04e+00 1.02e+00 8.10e+05 1 1.19e-01 5.62e-01
5 2.064411e+04 7.60e-01 1.81e+03 2.83e+00 1.01e+00 2.43e+06 1 7.53e-02 6.37e-01
6 2.064344e+04 6.66e-01 1.01e+04 1.38e+00 1.00e+00 7.29e+06 1 1.23e-01 7.61e-01
7 2.064318e+04 2.62e-01 1.32e+04 6.75e-01 1.01e+00 2.19e+07 1 8.21e-02 8.43e-01
8 2.064315e+04 3.75e-02 3.09e+03 2.67e-01 1.04e+00 6.56e+07 1 5.90e-02 9.02e-01
9 2.064314e+04 1.85e-03 1.73e+02 8.63e-02 1.08e+00 1.97e+08 1 9.76e-02 1.00e+00
10 2.064314e+04 4.20e-05 3.89e+00 1.19e-02 1.13e+00 5.90e+08 1 9.59e-02 1.10e+00
11 2.064314e+04 8.99e-07 3.14e-01 1.54e-03 1.15e+00 1.77e+09 1 3.75e-02 1.13e+00
I20260707 08:17:35.046782 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:35.046926 84886 bundle_adjustment.cc:942]
Residuals : 70568
Parameters : 22019
Iterations : 12
Time : 1.13551 [s]
Initial cost : 0.542897 [px]
Final cost : 0.540859 [px]
Termination : Convergence
I20260707 08:17:35.094640 84886 incremental_mapper.cc:175] => Completed observations: 11
I20260707 08:17:35.115713 84886 incremental_mapper.cc:178] => Merged observations: 8
I20260707 08:17:35.136966 84886 incremental_mapper.cc:160] => Filtered observations: 6
I20260707 08:17:35.137095 84886 incremental_mapper.cc:119] => Changed observations: 0.000709
I20260707 08:17:35.137176 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 2.067223e+04 0.00e+00 7.12e+03 0.00e+00 0.00e+00 1.00e+04 0 4.28e-02 2.37e-01
1 2.064506e+04 2.72e+01 1.14e+02 0.00e+00 9.79e-01 3.00e+04 1 1.14e-01 3.51e-01
2 2.064476e+04 2.92e-01 3.17e+01 2.21e-01 1.02e+00 9.00e+04 1 8.41e-02 4.35e-01
3 2.064471e+04 5.14e-02 2.22e+01 5.85e-01 1.01e+00 2.70e+05 1 6.95e-02 5.05e-01
4 2.064469e+04 2.67e-02 3.97e+01 6.48e-01 1.00e+00 8.10e+05 1 5.52e-02 5.60e-01
5 2.064467e+04 1.30e-02 6.53e+01 3.75e-01 1.01e+00 2.43e+06 1 8.92e-02 6.50e-01
6 2.064467e+04 6.14e-03 7.55e+01 1.86e-01 1.01e+00 7.29e+06 1 9.54e-02 7.45e-01
7 2.064467e+04 1.81e-03 5.71e+01 1.58e-01 1.01e+00 2.19e+07 1 8.70e-02 8.32e-01
8 2.064467e+04 2.87e-04 2.51e+01 8.59e-02 1.01e+00 6.56e+07 1 9.27e-02 9.25e-01
9 2.064467e+04 1.35e-05 2.00e+00 1.96e-02 1.03e+00 1.97e+08 1 9.96e-02 1.02e+00
10 2.064467e+04 2.12e-07 3.10e-01 1.87e-03 1.09e+00 5.90e+08 1 8.51e-02 1.11e+00
I20260707 08:17:36.332955 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:36.333061 84886 bundle_adjustment.cc:942]
Residuals : 70572
Parameters : 22007
Iterations : 11
Time : 1.11643 [s]
Initial cost : 0.541225 [px]
Final cost : 0.540864 [px]
Termination : Convergence
I20260707 08:17:36.369309 84886 incremental_mapper.cc:175] => Completed observations: 1
I20260707 08:17:36.380606 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:17:36.387727 84886 incremental_mapper.cc:160] => Filtered observations: 1
I20260707 08:17:36.387797 84886 incremental_mapper.cc:119] => Changed observations: 0.000057
I20260707 08:17:36.387830 84886 incremental_mapper.cc:167] => Filtered images: 0
I20260707 08:17:36.394496 84886 misc.cc:198]
==============================================================================
Registering image #141 (50)
==============================================================================
I20260707 08:17:36.394533 84886 incremental_mapper.cc:495] => Image sees 138 / 1045 points
I20260707 08:17:36.397411 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:17:36.397446 84886 bundle_adjustment.cc:942]
Residuals : 248
Parameters : 6
Iterations : 11
Time : 0.00119281 [s]
Initial cost : 0.587323 [px]
Final cost : 0.521648 [px]
Termination : Convergence
I20260707 08:17:36.397578 84886 incremental_mapper.cc:40] => Continued observations: 122
I20260707 08:17:36.399430 84886 incremental_mapper.cc:43] => Added observations: 200
I20260707 08:17:36.494031 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:36.494232 84886 bundle_adjustment.cc:942]
Residuals : 5558
Parameters : 851
Iterations : 22
Time : 0.0903828 [s]
Initial cost : 0.679005 [px]
Final cost : 0.657356 [px]
Termination : Convergence
I20260707 08:17:36.516788 84886 incremental_mapper.cc:78] => Merged observations: 9
I20260707 08:17:36.516973 84886 incremental_mapper.cc:79] => Completed observations: 32
I20260707 08:17:36.516981 84886 incremental_mapper.cc:81] => Filtered observations: 57
I20260707 08:17:36.516986 84886 incremental_mapper.cc:90] => Changed observations: 0.025481
I20260707 08:17:36.538053 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:36.538192 84886 bundle_adjustment.cc:942]
Residuals : 6556
Parameters : 845
Iterations : 2
Time : 0.0134521 [s]
Initial cost : 0.737164 [px]
Final cost : 0.726905 [px]
Termination : Convergence
I20260707 08:17:36.548259 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:17:36.548332 84886 incremental_mapper.cc:79] => Completed observations: 12
I20260707 08:17:36.548337 84886 incremental_mapper.cc:81] => Filtered observations: 1
I20260707 08:17:36.548339 84886 incremental_mapper.cc:90] => Changed observations: 0.003640
I20260707 08:17:36.566185 84886 misc.cc:198]
==============================================================================
Registering image #121 (51)
==============================================================================
I20260707 08:17:36.566423 84886 incremental_mapper.cc:495] => Image sees 149 / 678 points
I20260707 08:17:36.576152 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:17:36.576445 84886 bundle_adjustment.cc:942]
Residuals : 284
Parameters : 6
Iterations : 12
Time : 0.00553417 [s]
Initial cost : 0.6147 [px]
Final cost : 0.596984 [px]
Termination : Convergence
I20260707 08:17:36.577385 84886 incremental_mapper.cc:40] => Continued observations: 130
I20260707 08:17:36.580937 84886 incremental_mapper.cc:43] => Added observations: 217
I20260707 08:17:36.972182 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:36.972254 84886 bundle_adjustment.cc:942]
Residuals : 10362
Parameters : 1115
Iterations : 18
Time : 0.357755 [s]
Initial cost : 0.593636 [px]
Final cost : 0.573664 [px]
Termination : Convergence
I20260707 08:17:36.983165 84886 incremental_mapper.cc:78] => Merged observations: 51
I20260707 08:17:36.983211 84886 incremental_mapper.cc:79] => Completed observations: 45
I20260707 08:17:36.983215 84886 incremental_mapper.cc:81] => Filtered observations: 63
I20260707 08:17:36.983218 84886 incremental_mapper.cc:90] => Changed observations: 0.022878
I20260707 08:17:37.015859 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:37.015926 84886 bundle_adjustment.cc:942]
Residuals : 10094
Parameters : 1034
Iterations : 3
Time : 0.0237091 [s]
Initial cost : 0.6603 [px]
Final cost : 0.651967 [px]
Termination : Convergence
I20260707 08:17:37.024204 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:17:37.024237 84886 incremental_mapper.cc:79] => Completed observations: 15
I20260707 08:17:37.024241 84886 incremental_mapper.cc:81] => Filtered observations: 3
I20260707 08:17:37.024243 84886 incremental_mapper.cc:90] => Changed observations: 0.002603
I20260707 08:17:37.029126 84886 misc.cc:198]
==============================================================================
Registering image #42 (52)
==============================================================================
I20260707 08:17:37.029163 84886 incremental_mapper.cc:495] => Image sees 111 / 634 points
I20260707 08:17:37.033350 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:17:37.033383 84886 bundle_adjustment.cc:942]
Residuals : 140
Parameters : 6
Iterations : 35
Time : 0.00200701 [s]
Initial cost : 0.765571 [px]
Final cost : 0.742824 [px]
Termination : Convergence
I20260707 08:17:37.033460 84886 incremental_mapper.cc:40] => Continued observations: 66
I20260707 08:17:37.034410 84886 incremental_mapper.cc:43] => Added observations: 233
I20260707 08:17:37.109742 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:37.109874 84886 bundle_adjustment.cc:942]
Residuals : 3596
Parameters : 653
Iterations : 26
Time : 0.0710511 [s]
Initial cost : 0.879966 [px]
Final cost : 0.830598 [px]
Termination : No convergence
I20260707 08:17:37.124389 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:17:37.124496 84886 incremental_mapper.cc:79] => Completed observations: 24
I20260707 08:17:37.124502 84886 incremental_mapper.cc:81] => Filtered observations: 81
I20260707 08:17:37.124504 84886 incremental_mapper.cc:90] => Changed observations: 0.028226
I20260707 08:17:37.135717 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:37.135804 84886 bundle_adjustment.cc:942]
Residuals : 3552
Parameters : 617
Iterations : 3
Time : 0.00842214 [s]
Initial cost : 0.690713 [px]
Final cost : 0.666658 [px]
Termination : Convergence
I20260707 08:17:37.140395 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:17:37.140450 84886 incremental_mapper.cc:79] => Completed observations: 17
I20260707 08:17:37.140455 84886 incremental_mapper.cc:81] => Filtered observations: 2
I20260707 08:17:37.140457 84886 incremental_mapper.cc:90] => Changed observations: 0.009989
I20260707 08:17:37.150360 84886 misc.cc:198]
==============================================================================
Registering image #98 (53)
==============================================================================
I20260707 08:17:37.150449 84886 incremental_mapper.cc:495] => Image sees 147 / 2023 points
I20260707 08:17:37.153873 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:17:37.153951 84886 bundle_adjustment.cc:942]
Residuals : 214
Parameters : 6
Iterations : 9
Time : 0.00106311 [s]
Initial cost : 0.480184 [px]
Final cost : 0.391826 [px]
Termination : Convergence
I20260707 08:17:37.154146 84886 incremental_mapper.cc:40] => Continued observations: 107
I20260707 08:17:37.156527 84886 incremental_mapper.cc:43] => Added observations: 115
I20260707 08:17:37.288657 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:37.288774 84886 bundle_adjustment.cc:942]
Residuals : 6704
Parameters : 539
Iterations : 26
Time : 0.123074 [s]
Initial cost : 0.721508 [px]
Final cost : 0.664863 [px]
Termination : No convergence
I20260707 08:17:37.302469 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:17:37.302536 84886 incremental_mapper.cc:79] => Completed observations: 5
I20260707 08:17:37.302539 84886 incremental_mapper.cc:81] => Filtered observations: 77
I20260707 08:17:37.302542 84886 incremental_mapper.cc:90] => Changed observations: 0.017336
I20260707 08:17:37.344110 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:37.344218 84886 bundle_adjustment.cc:942]
Residuals : 7838
Parameters : 530
Iterations : 5
Time : 0.033036 [s]
Initial cost : 0.638806 [px]
Final cost : 0.636524 [px]
Termination : Convergence
I20260707 08:17:37.360291 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:17:37.360366 84886 incremental_mapper.cc:79] => Completed observations: 2
I20260707 08:17:37.360371 84886 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 08:17:37.360374 84886 incremental_mapper.cc:90] => Changed observations: 0.000339
I20260707 08:17:37.384757 84886 misc.cc:198]
==============================================================================
Registering image #30 (54)
==============================================================================
I20260707 08:17:37.384994 84886 incremental_mapper.cc:495] => Image sees 85 / 783 points
I20260707 08:17:37.391427 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:17:37.391620 84886 bundle_adjustment.cc:942]
Residuals : 108
Parameters : 6
Iterations : 17
Time : 0.00282979 [s]
Initial cost : 0.744325 [px]
Final cost : 0.718369 [px]
Termination : Convergence
I20260707 08:17:37.391966 84886 incremental_mapper.cc:40] => Continued observations: 53
I20260707 08:17:37.395035 84886 incremental_mapper.cc:43] => Added observations: 302
I20260707 08:17:37.590198 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:37.590380 84886 bundle_adjustment.cc:942]
Residuals : 4018
Parameters : 779
Iterations : 26
Time : 0.183612 [s]
Initial cost : 0.751297 [px]
Final cost : 0.622199 [px]
Termination : No convergence
I20260707 08:17:37.600415 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:17:37.600505 84886 incremental_mapper.cc:79] => Completed observations: 18
I20260707 08:17:37.600512 84886 incremental_mapper.cc:81] => Filtered observations: 90
I20260707 08:17:37.600515 84886 incremental_mapper.cc:90] => Changed observations: 0.048539
I20260707 08:17:37.636616 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:37.636792 84886 bundle_adjustment.cc:942]
Residuals : 3862
Parameters : 680
Iterations : 4
Time : 0.0305679 [s]
Initial cost : 0.607797 [px]
Final cost : 0.592674 [px]
Termination : Convergence
I20260707 08:17:37.649351 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:17:37.649454 84886 incremental_mapper.cc:79] => Completed observations: 33
I20260707 08:17:37.649462 84886 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 08:17:37.649466 84886 incremental_mapper.cc:90] => Changed observations: 0.015370
I20260707 08:17:37.649508 84886 misc.cc:198]
==============================================================================
Retriangulation
==============================================================================
I20260707 08:17:37.670567 84886 incremental_mapper.cc:175] => Completed observations: 5
I20260707 08:17:37.698113 84886 incremental_mapper.cc:178] => Merged observations: 19
I20260707 08:17:37.698220 84886 incremental_mapper.cc:105] => Retriangulated observations: 41
I20260707 08:17:37.723320 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 4.315748e+04 0.00e+00 4.78e+04 0.00e+00 0.00e+00 1.00e+04 0 3.38e-02 2.63e-01
1 3.330611e+04 9.85e+03 4.49e+03 0.00e+00 9.89e-01 3.00e+04 1 1.28e-01 3.91e-01
2 3.313819e+04 1.68e+02 6.92e+03 1.50e+01 1.01e+00 9.00e+04 1 8.75e-02 4.79e-01
3 3.312856e+04 9.63e+00 2.83e+04 5.23e+00 1.00e+00 2.70e+05 1 8.56e-02 5.65e-01
4 3.311820e+04 1.04e+01 3.88e+04 2.46e+00 9.98e-01 8.10e+05 1 4.21e-02 6.07e-01
5 3.310625e+04 1.20e+01 1.38e+05 1.71e+00 9.74e-01 2.43e+06 1 4.67e-02 6.54e-01
6 3.309893e+04 7.32e+00 2.19e+05 1.96e+00 9.12e-01 5.49e+06 1 6.10e-02 7.15e-01
7 3.309641e+04 2.52e+00 5.86e+04 1.47e+00 9.89e-01 1.65e+07 1 1.28e-01 8.43e-01
8 3.309615e+04 2.55e-01 6.23e+03 5.61e-01 1.03e+00 4.95e+07 1 8.96e-02 9.33e-01
9 3.309614e+04 7.67e-03 2.39e+02 7.96e-02 1.08e+00 1.48e+08 1 8.91e-02 1.02e+00
10 3.309614e+04 1.52e-04 8.18e+00 1.08e-02 1.12e+00 4.45e+08 1 8.70e-02 1.11e+00
11 3.309614e+04 2.89e-06 5.59e-01 1.63e-03 1.13e+00 1.34e+09 1 8.69e-02 1.20e+00
I20260707 08:17:39.008422 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:39.008525 84886 bundle_adjustment.cc:942]
Residuals : 73302
Parameters : 23072
Iterations : 12
Time : 1.20293 [s]
Initial cost : 0.767309 [px]
Final cost : 0.67194 [px]
Termination : Convergence
I20260707 08:17:39.099061 84886 incremental_mapper.cc:175] => Completed observations: 12
I20260707 08:17:39.148862 84886 incremental_mapper.cc:178] => Merged observations: 5
I20260707 08:17:39.159998 84886 incremental_mapper.cc:160] => Filtered observations: 83
I20260707 08:17:39.160063 84886 incremental_mapper.cc:119] => Changed observations: 0.002728
I20260707 08:17:39.160105 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 2.212256e+04 0.00e+00 1.55e+04 0.00e+00 0.00e+00 1.00e+04 0 2.14e-02 1.93e-01
1 2.182780e+04 2.95e+02 2.15e+03 0.00e+00 1.00e+00 3.00e+04 1 1.37e-01 3.30e-01
2 2.181556e+04 1.22e+01 6.12e+03 3.93e-01 1.01e+00 9.00e+04 1 8.44e-02 4.14e-01
3 2.180807e+04 7.49e+00 2.87e+04 4.42e-01 9.99e-01 2.70e+05 1 8.21e-02 4.97e-01
4 2.179838e+04 9.69e+00 4.51e+04 5.34e-01 9.99e-01 8.10e+05 1 8.58e-02 5.83e-01
5 2.178639e+04 1.20e+01 1.30e+05 4.71e-01 9.85e-01 2.43e+06 1 8.45e-02 6.67e-01
6 2.177800e+04 8.39e+00 3.03e+05 5.33e-01 9.17e-01 5.78e+06 1 9.32e-02 7.60e-01
7 2.177500e+04 3.00e+00 1.12e+05 4.45e-01 9.78e-01 1.74e+07 1 6.66e-02 8.27e-01
8 2.177466e+04 3.45e-01 1.01e+04 4.28e-01 1.02e+00 5.21e+07 1 7.48e-02 9.02e-01
9 2.177465e+04 1.18e-02 7.06e+02 1.59e-01 1.05e+00 1.56e+08 1 1.03e-01 1.00e+00
10 2.177465e+04 2.02e-04 1.19e+01 2.06e-02 1.10e+00 4.68e+08 1 9.22e-02 1.10e+00
11 2.177465e+04 3.41e-06 6.93e-01 2.04e-03 1.13e+00 1.41e+09 1 1.11e-01 1.21e+00
I20260707 08:17:40.429498 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:40.429651 84886 bundle_adjustment.cc:942]
Residuals : 73144
Parameters : 22997
Iterations : 12
Time : 1.22142 [s]
Initial cost : 0.549957 [px]
Final cost : 0.545615 [px]
Termination : Convergence
I20260707 08:17:40.530714 84886 incremental_mapper.cc:175] => Completed observations: 8
I20260707 08:17:40.588196 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:17:40.612706 84886 incremental_mapper.cc:160] => Filtered observations: 0
I20260707 08:17:40.612892 84886 incremental_mapper.cc:119] => Changed observations: 0.000219
I20260707 08:17:40.612988 84886 incremental_mapper.cc:167] => Filtered images: 0
I20260707 08:17:40.633882 84886 misc.cc:198]
==============================================================================
Registering image #62 (55)
==============================================================================
I20260707 08:17:40.633975 84886 incremental_mapper.cc:495] => Image sees 101 / 562 points
I20260707 08:17:40.645820 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:17:40.646029 84886 bundle_adjustment.cc:942]
Residuals : 122
Parameters : 6
Iterations : 17
Time : 0.00657487 [s]
Initial cost : 0.680979 [px]
Final cost : 0.652032 [px]
Termination : Convergence
I20260707 08:17:40.646415 84886 incremental_mapper.cc:40] => Continued observations: 61
I20260707 08:17:40.656059 84886 incremental_mapper.cc:43] => Added observations: 227
I20260707 08:17:40.868256 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:40.868500 84886 bundle_adjustment.cc:942]
Residuals : 5104
Parameters : 779
Iterations : 26
Time : 0.197411 [s]
Initial cost : 0.741854 [px]
Final cost : 0.697205 [px]
Termination : No convergence
I20260707 08:17:40.879755 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:17:40.879858 84886 incremental_mapper.cc:79] => Completed observations: 23
I20260707 08:17:40.879865 84886 incremental_mapper.cc:81] => Filtered observations: 116
I20260707 08:17:40.879870 84886 incremental_mapper.cc:90] => Changed observations: 0.052197
I20260707 08:17:40.909955 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:40.910228 84886 bundle_adjustment.cc:942]
Residuals : 4958
Parameters : 671
Iterations : 3
Time : 0.0255239 [s]
Initial cost : 0.662859 [px]
Final cost : 0.643024 [px]
Termination : Convergence
I20260707 08:17:40.935767 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:17:40.935963 84886 incremental_mapper.cc:79] => Completed observations: 21
I20260707 08:17:40.935990 84886 incremental_mapper.cc:81] => Filtered observations: 2
I20260707 08:17:40.935997 84886 incremental_mapper.cc:90] => Changed observations: 0.008880
I20260707 08:17:40.957154 84886 misc.cc:198]
==============================================================================
Registering image #161 (56)
==============================================================================
I20260707 08:17:40.957305 84886 incremental_mapper.cc:495] => Image sees 84 / 2204 points
I20260707 08:17:40.966017 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:17:40.966158 84886 bundle_adjustment.cc:942]
Residuals : 82
Parameters : 6
Iterations : 19
Time : 0.00177217 [s]
Initial cost : 0.600037 [px]
Final cost : 0.575711 [px]
Termination : Convergence
I20260707 08:17:40.966339 84886 incremental_mapper.cc:40] => Continued observations: 40
I20260707 08:17:40.969506 84886 incremental_mapper.cc:43] => Added observations: 271
I20260707 08:17:41.136368 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:41.136509 84886 bundle_adjustment.cc:942]
Residuals : 2994
Parameters : 848
Iterations : 26
Time : 0.159751 [s]
Initial cost : 0.837402 [px]
Final cost : 0.704757 [px]
Termination : No convergence
I20260707 08:17:41.144438 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:17:41.144533 84886 incremental_mapper.cc:79] => Completed observations: 6
I20260707 08:17:41.144542 84886 incremental_mapper.cc:81] => Filtered observations: 51
I20260707 08:17:41.144548 84886 incremental_mapper.cc:90] => Changed observations: 0.034111
I20260707 08:17:41.157857 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:41.157974 84886 bundle_adjustment.cc:942]
Residuals : 3046
Parameters : 782
Iterations : 2
Time : 0.00964499 [s]
Initial cost : 0.667762 [px]
Final cost : 0.659153 [px]
Termination : Convergence
I20260707 08:17:41.165376 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:17:41.165453 84886 incremental_mapper.cc:79] => Completed observations: 8
I20260707 08:17:41.165460 84886 incremental_mapper.cc:81] => Filtered observations: 1
I20260707 08:17:41.165467 84886 incremental_mapper.cc:90] => Changed observations: 0.005549
I20260707 08:17:41.189888 84886 misc.cc:198]
==============================================================================
Registering image #500 (57)
==============================================================================
I20260707 08:17:41.190061 84886 incremental_mapper.cc:495] => Image sees 79 / 1200 points
I20260707 08:17:41.202162 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:17:41.202366 84886 bundle_adjustment.cc:942]
Residuals : 56
Parameters : 6
Iterations : 16
Time : 0.00171709 [s]
Initial cost : 0.895346 [px]
Final cost : 0.833862 [px]
Termination : Convergence
I20260707 08:17:41.202638 84886 incremental_mapper.cc:40] => Continued observations: 28
I20260707 08:17:41.205751 84886 incremental_mapper.cc:43] => Added observations: 258
I20260707 08:17:41.422902 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:41.423098 84886 bundle_adjustment.cc:942]
Residuals : 4630
Parameters : 770
Iterations : 21
Time : 0.199476 [s]
Initial cost : 0.671367 [px]
Final cost : 0.600678 [px]
Termination : Convergence
I20260707 08:17:41.441464 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:17:41.441601 84886 incremental_mapper.cc:79] => Completed observations: 1
I20260707 08:17:41.441617 84886 incremental_mapper.cc:81] => Filtered observations: 100
I20260707 08:17:41.441689 84886 incremental_mapper.cc:90] => Changed observations: 0.037970
I20260707 08:17:41.472908 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:41.473067 84886 bundle_adjustment.cc:942]
Residuals : 3386
Parameters : 731
Iterations : 3
Time : 0.0239358 [s]
Initial cost : 0.66627 [px]
Final cost : 0.637889 [px]
Termination : Convergence
I20260707 08:17:41.486575 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:17:41.486688 84886 incremental_mapper.cc:79] => Completed observations: 22
I20260707 08:17:41.486701 84886 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 08:17:41.486707 84886 incremental_mapper.cc:90] => Changed observations: 0.012202
I20260707 08:17:41.507680 84886 misc.cc:198]
==============================================================================
Registering image #61 (58)
==============================================================================
I20260707 08:17:41.507833 84886 incremental_mapper.cc:495] => Image sees 102 / 1217 points
I20260707 08:17:41.516964 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:17:41.517122 84886 bundle_adjustment.cc:942]
Residuals : 124
Parameters : 6
Iterations : 19
Time : 0.00336194 [s]
Initial cost : 0.864461 [px]
Final cost : 0.830305 [px]
Termination : Convergence
I20260707 08:17:41.517551 84886 incremental_mapper.cc:40] => Continued observations: 62
I20260707 08:17:41.520747 84886 incremental_mapper.cc:43] => Added observations: 259
I20260707 08:17:41.640493 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:41.640617 84886 bundle_adjustment.cc:942]
Residuals : 2836
Parameters : 1073
Iterations : 26
Time : 0.11419 [s]
Initial cost : 0.921379 [px]
Final cost : 0.823851 [px]
Termination : No convergence
I20260707 08:17:41.653311 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:17:41.653450 84886 incremental_mapper.cc:79] => Completed observations: 6
I20260707 08:17:41.653463 84886 incremental_mapper.cc:81] => Filtered observations: 124
I20260707 08:17:41.653469 84886 incremental_mapper.cc:90] => Changed observations: 0.085922
I20260707 08:17:41.673930 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:41.674070 84886 bundle_adjustment.cc:942]
Residuals : 2312
Parameters : 935
Iterations : 3
Time : 0.0152941 [s]
Initial cost : 0.776162 [px]
Final cost : 0.747966 [px]
Termination : Convergence
I20260707 08:17:41.688124 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:17:41.688333 84886 incremental_mapper.cc:79] => Completed observations: 22
I20260707 08:17:41.688355 84886 incremental_mapper.cc:81] => Filtered observations: 1
I20260707 08:17:41.688360 84886 incremental_mapper.cc:90] => Changed observations: 0.016487
I20260707 08:17:41.708271 84886 misc.cc:198]
==============================================================================
Registering image #105 (59)
==============================================================================
I20260707 08:17:41.708379 84886 incremental_mapper.cc:495] => Image sees 115 / 1729 points
I20260707 08:17:41.715960 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:17:41.716048 84886 bundle_adjustment.cc:942]
Residuals : 148
Parameters : 6
Iterations : 15
Time : 0.00232983 [s]
Initial cost : 0.79456 [px]
Final cost : 0.736534 [px]
Termination : Convergence
I20260707 08:17:41.716341 84886 incremental_mapper.cc:40] => Continued observations: 74
I20260707 08:17:41.719201 84886 incremental_mapper.cc:43] => Added observations: 429
I20260707 08:17:41.843082 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:41.843158 84886 bundle_adjustment.cc:942]
Residuals : 3112
Parameters : 1313
Iterations : 21
Time : 0.118922 [s]
Initial cost : 0.744268 [px]
Final cost : 0.704127 [px]
Termination : Convergence
I20260707 08:17:41.847445 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:17:41.847481 84886 incremental_mapper.cc:79] => Completed observations: 3
I20260707 08:17:41.847487 84886 incremental_mapper.cc:81] => Filtered observations: 76
I20260707 08:17:41.847492 84886 incremental_mapper.cc:90] => Changed observations: 0.035779
I20260707 08:17:41.862751 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:41.862887 84886 bundle_adjustment.cc:942]
Residuals : 2966
Parameters : 1232
Iterations : 3
Time : 0.0116611 [s]
Initial cost : 0.763278 [px]
Final cost : 0.743248 [px]
Termination : Convergence
I20260707 08:17:41.871021 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:17:41.871086 84886 incremental_mapper.cc:79] => Completed observations: 10
I20260707 08:17:41.871093 84886 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 08:17:41.871097 84886 incremental_mapper.cc:90] => Changed observations: 0.004684
I20260707 08:17:41.884377 84886 misc.cc:198]
==============================================================================
Registering image #125 (60)
==============================================================================
I20260707 08:17:41.884464 84886 incremental_mapper.cc:495] => Image sees 118 / 2331 points
I20260707 08:17:41.893559 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:17:41.893666 84886 bundle_adjustment.cc:942]
Residuals : 96
Parameters : 6
Iterations : 10
Time : 0.000797033 [s]
Initial cost : 0.721902 [px]
Final cost : 0.697521 [px]
Termination : Convergence
I20260707 08:17:41.893990 84886 incremental_mapper.cc:40] => Continued observations: 48
I20260707 08:17:41.897809 84886 incremental_mapper.cc:43] => Added observations: 637
I20260707 08:17:42.150408 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:42.150679 84886 bundle_adjustment.cc:942]
Residuals : 3834
Parameters : 1529
Iterations : 26
Time : 0.247646 [s]
Initial cost : 0.794807 [px]
Final cost : 0.750112 [px]
Termination : No convergence
I20260707 08:17:42.169746 84886 incremental_mapper.cc:78] => Merged observations: 5
I20260707 08:17:42.169931 84886 incremental_mapper.cc:79] => Completed observations: 2
I20260707 08:17:42.169957 84886 incremental_mapper.cc:81] => Filtered observations: 93
I20260707 08:17:42.169965 84886 incremental_mapper.cc:90] => Changed observations: 0.049950
I20260707 08:17:42.213457 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:42.213724 84886 bundle_adjustment.cc:942]
Residuals : 3652
Parameters : 1409
Iterations : 3
Time : 0.0330091 [s]
Initial cost : 0.633531 [px]
Final cost : 0.622363 [px]
Termination : Convergence
I20260707 08:17:42.234804 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:17:42.235016 84886 incremental_mapper.cc:79] => Completed observations: 15
I20260707 08:17:42.235044 84886 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 08:17:42.235051 84886 incremental_mapper.cc:90] => Changed observations: 0.007849
I20260707 08:17:42.235189 84886 misc.cc:198]
==============================================================================
Retriangulation
==============================================================================
I20260707 08:17:42.292837 84886 incremental_mapper.cc:175] => Completed observations: 4
I20260707 08:17:42.369761 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:17:42.370111 84886 incremental_mapper.cc:105] => Retriangulated observations: 98
I20260707 08:17:42.391892 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 5.590372e+04 0.00e+00 3.46e+04 0.00e+00 0.00e+00 1.00e+04 0 4.41e-02 2.18e-01
1 4.020208e+04 1.57e+04 6.65e+04 0.00e+00 9.89e-01 3.00e+04 1 1.67e-01 3.86e-01
2 4.003659e+04 1.65e+02 1.24e+04 9.92e+00 1.00e+00 9.00e+04 1 1.04e-01 4.90e-01
3 4.001173e+04 2.49e+01 5.67e+04 4.56e+00 9.86e-01 2.70e+05 1 1.21e-01 6.11e-01
4 3.998833e+04 2.34e+01 2.82e+05 2.47e+00 9.84e-01 8.10e+05 1 3.52e-02 6.46e-01
5 3.996894e+04 1.94e+01 3.65e+05 2.28e+00 9.93e-01 2.43e+06 1 4.54e-02 6.92e-01
6 3.994751e+04 2.14e+01 8.60e+05 3.32e+00 9.78e-01 7.29e+06 1 7.43e-02 7.66e-01
7 3.991957e+04 2.79e+01 3.07e+06 4.67e+00 8.93e-01 1.41e+07 1 1.06e-01 8.72e-01
8 3.989612e+04 2.34e+01 4.99e+05 3.11e+00 9.95e-01 4.24e+07 1 1.04e-01 9.76e-01
9 3.990919e+04 -1.31e+01 4.99e+05 2.04e+00 -5.26e-01 2.12e+07 1 7.58e-02 1.05e+00
10 3.988259e+04 1.35e+01 4.40e+06 1.71e+00 8.17e-01 2.85e+07 1 1.38e-01 1.19e+00
11 3.987410e+04 8.49e+00 2.29e+06 6.94e-01 8.52e-01 4.38e+07 1 1.16e-01 1.31e+00
12 3.987948e+04 -5.38e+00 2.29e+06 1.57e+00 -4.61e-01 2.19e+07 1 7.76e-02 1.38e+00
13 3.986731e+04 6.79e+00 2.68e+06 8.12e-01 8.68e-01 3.64e+07 1 1.03e-01 1.49e+00
14 3.986381e+04 3.50e+00 1.49e+06 4.81e-01 7.56e-01 4.20e+07 1 5.12e-02 1.54e+00
15 3.986657e+04 -2.76e+00 1.49e+06 2.48e+00 -3.36e-01 2.10e+07 1 4.83e-02 1.59e+00
16 3.985992e+04 3.89e+00 1.98e+06 1.40e+00 6.76e-01 2.20e+07 1 1.40e-01 1.73e+00
17 3.985651e+04 3.41e+00 1.10e+06 1.18e+00 6.76e-01 2.30e+07 1 7.57e-02 1.80e+00
18 3.985425e+04 2.26e+00 1.17e+06 2.55e+00 4.50e-01 2.30e+07 1 6.29e-02 1.87e+00
19 3.985105e+04 3.20e+00 5.08e+05 1.86e+00 8.00e-01 2.93e+07 1 7.95e-02 1.95e+00
20 3.985001e+04 1.04e+00 1.16e+05 1.18e+00 9.60e-01 8.80e+07 1 9.37e-02 2.04e+00
21 3.984993e+04 7.58e-02 1.68e+04 4.72e-01 9.95e-01 2.64e+08 1 1.03e-01 2.14e+00
22 3.984993e+04 1.81e-03 4.13e+02 6.58e-02 1.01e+00 7.92e+08 1 8.72e-02 2.23e+00
23 3.984993e+04 2.07e-05 1.36e+02 4.70e-03 5.93e-01 7.97e+08 1 1.00e-01 2.33e+00
24 3.984993e+04 3.77e-06 9.65e+01 5.24e-04 4.19e-01 7.93e+08 1 1.16e-01 2.45e+00
25 3.984993e+04 1.27e-06 5.48e+01 5.68e-05 4.10e-01 7.89e+08 1 1.15e-01 2.56e+00
26 3.984993e+04 4.41e-07 3.28e+01 4.82e-05 4.09e-01 7.84e+08 1 6.33e-02 2.63e+00
27 3.984993e+04 1.54e-07 1.93e+01 2.61e-05 4.09e-01 7.79e+08 1 8.48e-02 2.71e+00
28 3.984993e+04 5.36e-08 1.14e+01 1.59e-05 4.09e-01 7.75e+08 1 1.00e-01 2.81e+00
29 3.984993e+04 1.89e-08 6.72e+00 9.36e-06 4.13e-01 7.71e+08 1 8.98e-02 2.90e+00
30 3.984993e+04 6.49e-09 3.97e+00 5.56e-06 4.08e-01 7.66e+08 1 1.06e-01 3.01e+00
31 3.984993e+04 2.17e-09 2.34e+00 3.29e-06 3.87e-01 7.57e+08 1 8.49e-02 3.09e+00
32 3.984993e+04 6.26e-10 1.38e+00 1.95e-06 3.35e-01 7.31e+08 1 8.39e-02 3.18e+00
33 3.984993e+04 4.29e-10 8.16e-01 1.17e-06 7.78e-01 8.84e+08 1 1.02e-01 3.28e+00
I20260707 08:17:45.773860 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:45.774070 84886 bundle_adjustment.cc:942]
Residuals : 77278
Parameters : 25631
Iterations : 34
Time : 3.29211 [s]
Initial cost : 0.850535 [px]
Final cost : 0.718102 [px]
Termination : Convergence
I20260707 08:17:45.815045 84886 incremental_mapper.cc:175] => Completed observations: 17
I20260707 08:17:45.838478 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:17:45.845758 84886 incremental_mapper.cc:160] => Filtered observations: 164
I20260707 08:17:45.845875 84886 incremental_mapper.cc:119] => Changed observations: 0.004684
I20260707 08:17:45.845924 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 2.461837e+04 0.00e+00 2.35e+04 0.00e+00 0.00e+00 1.00e+04 0 5.77e-02 4.33e-01
1 2.370892e+04 9.09e+02 1.04e+04 0.00e+00 1.00e+00 3.00e+04 1 6.13e-02 4.95e-01
2 2.368318e+04 2.57e+01 3.10e+04 6.29e+00 1.00e+00 9.00e+04 1 7.24e-02 5.67e-01
3 2.367212e+04 1.11e+01 1.59e+04 4.83e+00 9.93e-01 2.70e+05 1 9.39e-02 6.61e-01
4 2.366101e+04 1.11e+01 2.76e+04 3.44e+00 9.84e-01 8.10e+05 1 4.40e-02 7.05e-01
5 2.363721e+04 2.38e+01 9.27e+04 2.63e+00 9.79e-01 2.43e+06 1 6.96e-02 7.75e-01
6 2.360654e+04 3.07e+01 2.81e+05 4.72e+00 8.64e-01 3.96e+06 1 9.70e-02 8.72e-01
7 2.359505e+04 1.15e+01 2.35e+05 1.57e+00 9.21e-01 9.79e+06 1 9.20e-02 9.64e-01
8 2.359287e+04 2.18e+00 7.11e+04 1.00e+00 9.82e-01 2.94e+07 1 8.86e-02 1.05e+00
9 2.359269e+04 1.79e-01 1.15e+04 6.63e-01 1.02e+00 8.81e+07 1 8.41e-02 1.14e+00
10 2.359268e+04 6.07e-03 4.01e+02 1.59e-01 1.09e+00 2.64e+08 1 9.10e-02 1.23e+00
11 2.359268e+04 1.62e-04 1.62e+01 2.41e-02 1.21e+00 7.93e+08 1 1.10e-01 1.34e+00
12 2.359268e+04 9.26e-06 4.42e+00 4.85e-03 1.26e+00 2.38e+09 1 6.36e-02 1.40e+00
13 2.359268e+04 6.53e-07 1.22e+00 1.19e-03 1.27e+00 7.13e+09 1 1.11e-01 1.51e+00
14 2.359268e+04 4.82e-08 3.31e-01 3.17e-04 1.27e+00 2.14e+10 1 9.88e-02 1.61e+00
I20260707 08:17:47.629866 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:47.629973 84886 bundle_adjustment.cc:942]
Residuals : 76948
Parameters : 25484
Iterations : 15
Time : 1.62478 [s]
Initial cost : 0.565628 [px]
Final cost : 0.55372 [px]
Termination : Convergence
I20260707 08:17:47.720474 84886 incremental_mapper.cc:175] => Completed observations: 33
I20260707 08:17:47.749993 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:17:47.768829 84886 incremental_mapper.cc:160] => Filtered observations: 24
I20260707 08:17:47.768908 84886 incremental_mapper.cc:119] => Changed observations: 0.001482
I20260707 08:17:47.768944 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 2.353340e+04 0.00e+00 1.40e+04 0.00e+00 0.00e+00 1.00e+04 0 5.76e-02 2.54e-01
1 2.338486e+04 1.49e+02 4.06e+03 0.00e+00 9.98e-01 3.00e+04 1 1.64e-01 4.18e-01
2 2.338224e+04 2.62e+00 4.13e+02 7.30e-01 1.01e+00 9.00e+04 1 9.75e-02 5.15e-01
3 2.338159e+04 6.49e-01 1.23e+03 1.04e+00 9.96e-01 2.70e+05 1 1.05e-01 6.21e-01
4 2.338105e+04 5.38e-01 2.42e+03 6.06e-01 9.92e-01 8.10e+05 1 1.01e-01 7.21e-01
5 2.338043e+04 6.16e-01 2.08e+03 3.20e-01 1.00e+00 2.43e+06 1 6.17e-02 7.83e-01
6 2.337999e+04 4.44e-01 5.81e+03 4.21e-01 1.00e+00 7.29e+06 1 3.96e-02 8.23e-01
7 2.337988e+04 1.05e-01 4.44e+03 1.57e-01 1.02e+00 2.19e+07 1 9.16e-02 9.15e-01
8 2.337988e+04 8.56e-03 5.66e+02 1.28e-01 1.06e+00 6.56e+07 1 5.21e-02 9.67e-01
9 2.337988e+04 2.96e-04 2.02e+01 3.67e-02 1.12e+00 1.97e+08 1 4.62e-02 1.01e+00
10 2.337988e+04 9.02e-06 3.28e+00 5.63e-03 1.19e+00 5.90e+08 1 8.04e-02 1.09e+00
11 2.337988e+04 4.32e-07 8.57e-01 1.06e-03 1.24e+00 1.77e+09 1 8.61e-02 1.18e+00
I20260707 08:17:49.088665 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:49.088899 84886 bundle_adjustment.cc:942]
Residuals : 76960
Parameters : 25454
Iterations : 12
Time : 1.18865 [s]
Initial cost : 0.55298 [px]
Final cost : 0.551174 [px]
Termination : Convergence
I20260707 08:17:49.224709 84886 incremental_mapper.cc:175] => Completed observations: 16
I20260707 08:17:49.286234 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:17:49.316903 84886 incremental_mapper.cc:160] => Filtered observations: 8
I20260707 08:17:49.317047 84886 incremental_mapper.cc:119] => Changed observations: 0.000624
I20260707 08:17:49.317124 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 2.339079e+04 0.00e+00 1.13e+04 0.00e+00 0.00e+00 1.00e+04 0 4.80e-02 3.52e-01
1 2.333181e+04 5.90e+01 5.49e+02 0.00e+00 1.00e+00 3.00e+04 1 1.30e-01 4.82e-01
2 2.333157e+04 2.41e-01 1.08e+02 4.24e-01 1.00e+00 9.00e+04 1 1.39e-01 6.20e-01
3 2.333149e+04 7.29e-02 1.52e+02 3.23e-01 1.00e+00 2.70e+05 1 7.19e-02 6.92e-01
4 2.333141e+04 7.80e-02 6.37e+02 2.97e-01 9.97e-01 8.10e+05 1 3.91e-02 7.31e-01
5 2.333134e+04 7.82e-02 8.44e+02 3.00e-01 9.98e-01 2.43e+06 1 4.94e-02 7.81e-01
6 2.333129e+04 4.62e-02 4.99e+02 3.18e-01 1.01e+00 7.29e+06 1 1.16e-01 8.97e-01
7 2.333128e+04 9.86e-03 1.07e+02 1.82e-01 1.02e+00 2.19e+07 1 1.34e-01 1.03e+00
8 2.333128e+04 5.35e-04 1.06e+01 4.16e-02 1.05e+00 6.56e+07 1 1.19e-01 1.15e+00
9 2.333128e+04 1.07e-05 1.03e+00 3.55e-03 1.10e+00 1.97e+08 1 1.22e-01 1.27e+00
10 2.333128e+04 1.80e-07 2.14e-01 3.17e-04 1.13e+00 5.90e+08 1 1.06e-01 1.38e+00
I20260707 08:17:50.854072 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:50.854177 84886 bundle_adjustment.cc:942]
Residuals : 76976
Parameters : 25448
Iterations : 11
Time : 1.38494 [s]
Initial cost : 0.551245 [px]
Final cost : 0.550543 [px]
Termination : Convergence
I20260707 08:17:50.919346 84886 incremental_mapper.cc:175] => Completed observations: 7
I20260707 08:17:50.936995 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:17:50.945465 84886 incremental_mapper.cc:160] => Filtered observations: 0
I20260707 08:17:50.945528 84886 incremental_mapper.cc:119] => Changed observations: 0.000182
I20260707 08:17:50.945555 84886 incremental_mapper.cc:167] => Filtered images: 0
I20260707 08:17:50.965835 84886 misc.cc:198]
==============================================================================
Registering image #522 (61)
==============================================================================
I20260707 08:17:50.966023 84886 incremental_mapper.cc:495] => Image sees 159 / 1932 points
I20260707 08:17:50.973306 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:17:50.973419 84886 bundle_adjustment.cc:942]
Residuals : 188
Parameters : 6
Iterations : 15
Time : 0.00261807 [s]
Initial cost : 0.825973 [px]
Final cost : 0.759836 [px]
Termination : Convergence
I20260707 08:17:50.973771 84886 incremental_mapper.cc:40] => Continued observations: 93
I20260707 08:17:50.979241 84886 incremental_mapper.cc:43] => Added observations: 541
I20260707 08:17:51.121668 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:51.121819 84886 bundle_adjustment.cc:942]
Residuals : 5028
Parameters : 2075
Iterations : 26
Time : 0.132615 [s]
Initial cost : 0.818395 [px]
Final cost : 0.745083 [px]
Termination : No convergence
I20260707 08:17:51.130235 84886 incremental_mapper.cc:78] => Merged observations: 11
I20260707 08:17:51.130308 84886 incremental_mapper.cc:79] => Completed observations: 10
I20260707 08:17:51.130316 84886 incremental_mapper.cc:81] => Filtered observations: 168
I20260707 08:17:51.130319 84886 incremental_mapper.cc:90] => Changed observations: 0.072636
I20260707 08:17:51.157021 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:51.157246 84886 bundle_adjustment.cc:942]
Residuals : 4308
Parameters : 1853
Iterations : 3
Time : 0.022027 [s]
Initial cost : 0.699404 [px]
Final cost : 0.682403 [px]
Termination : Convergence
I20260707 08:17:51.169027 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:17:51.169092 84886 incremental_mapper.cc:79] => Completed observations: 22
I20260707 08:17:51.169098 84886 incremental_mapper.cc:81] => Filtered observations: 1
I20260707 08:17:51.169101 84886 incremental_mapper.cc:90] => Changed observations: 0.009415
I20260707 08:17:51.179334 84886 misc.cc:198]
==============================================================================
Registering image #9 (62)
==============================================================================
I20260707 08:17:51.179399 84886 incremental_mapper.cc:495] => Image sees 205 / 2510 points
I20260707 08:17:51.187551 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:17:51.187602 84886 bundle_adjustment.cc:942]
Residuals : 206
Parameters : 6
Iterations : 15
Time : 0.00251222 [s]
Initial cost : 0.753294 [px]
Final cost : 0.668921 [px]
Termination : Convergence
I20260707 08:17:51.187813 84886 incremental_mapper.cc:40] => Continued observations: 103
I20260707 08:17:51.191304 84886 incremental_mapper.cc:43] => Added observations: 944
I20260707 08:17:51.437651 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:51.437896 84886 bundle_adjustment.cc:942]
Residuals : 4910
Parameters : 2369
Iterations : 26
Time : 0.241702 [s]
Initial cost : 0.782807 [px]
Final cost : 0.732455 [px]
Termination : No convergence
I20260707 08:17:51.456270 84886 incremental_mapper.cc:78] => Merged observations: 5
I20260707 08:17:51.456373 84886 incremental_mapper.cc:79] => Completed observations: 8
I20260707 08:17:51.456382 84886 incremental_mapper.cc:81] => Filtered observations: 144
I20260707 08:17:51.456387 84886 incremental_mapper.cc:90] => Changed observations: 0.056740
I20260707 08:17:51.487238 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:51.487370 84886 bundle_adjustment.cc:942]
Residuals : 4638
Parameters : 2189
Iterations : 3
Time : 0.0243108 [s]
Initial cost : 0.666981 [px]
Final cost : 0.645521 [px]
Termination : Convergence
I20260707 08:17:51.498935 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:17:51.499024 84886 incremental_mapper.cc:79] => Completed observations: 13
I20260707 08:17:51.499032 84886 incremental_mapper.cc:81] => Filtered observations: 2
I20260707 08:17:51.499039 84886 incremental_mapper.cc:90] => Changed observations: 0.005701
I20260707 08:17:51.513849 84886 misc.cc:198]
==============================================================================
Registering image #140 (63)
==============================================================================
I20260707 08:17:51.513957 84886 incremental_mapper.cc:495] => Image sees 266 / 2763 points
I20260707 08:17:51.522730 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:17:51.522861 84886 bundle_adjustment.cc:942]
Residuals : 378
Parameters : 6
Iterations : 19
Time : 0.00545788 [s]
Initial cost : 0.723395 [px]
Final cost : 0.711846 [px]
Termination : Convergence
I20260707 08:17:51.523276 84886 incremental_mapper.cc:40] => Continued observations: 186
I20260707 08:17:51.527160 84886 incremental_mapper.cc:43] => Added observations: 854
I20260707 08:17:51.727809 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:51.727909 84886 bundle_adjustment.cc:942]
Residuals : 6276
Parameters : 3296
Iterations : 24
Time : 0.195108 [s]
Initial cost : 0.710125 [px]
Final cost : 0.645588 [px]
Termination : Convergence
I20260707 08:17:51.736095 84886 incremental_mapper.cc:78] => Merged observations: 10
I20260707 08:17:51.736183 84886 incremental_mapper.cc:79] => Completed observations: 12
I20260707 08:17:51.736191 84886 incremental_mapper.cc:81] => Filtered observations: 131
I20260707 08:17:51.736195 84886 incremental_mapper.cc:90] => Changed observations: 0.046646
I20260707 08:17:51.771354 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:51.771503 84886 bundle_adjustment.cc:942]
Residuals : 6040
Parameters : 3134
Iterations : 3
Time : 0.0294528 [s]
Initial cost : 0.619844 [px]
Final cost : 0.597272 [px]
Termination : Convergence
I20260707 08:17:51.781255 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:17:51.781330 84886 incremental_mapper.cc:79] => Completed observations: 22
I20260707 08:17:51.781337 84886 incremental_mapper.cc:81] => Filtered observations: 2
I20260707 08:17:51.781339 84886 incremental_mapper.cc:90] => Changed observations: 0.007590
I20260707 08:17:51.781378 84886 misc.cc:198]
==============================================================================
Retriangulation
==============================================================================
I20260707 08:17:51.801800 84886 incremental_mapper.cc:175] => Completed observations: 0
I20260707 08:17:51.830948 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:17:51.831058 84886 incremental_mapper.cc:105] => Retriangulated observations: 83
I20260707 08:17:51.836059 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 5.583014e+04 0.00e+00 3.09e+04 0.00e+00 0.00e+00 1.00e+04 0 7.74e-02 2.21e-01
1 3.835951e+04 1.75e+04 1.96e+04 0.00e+00 9.86e-01 3.00e+04 1 2.14e-01 4.36e-01
2 3.817579e+04 1.84e+02 3.07e+03 6.10e+01 9.23e-01 7.63e+04 1 1.24e-01 5.60e-01
3 3.815884e+04 1.69e+01 2.38e+03 5.86e+01 9.00e-01 1.56e+05 1 1.03e-01 6.63e-01
4 3.815626e+04 2.58e+00 1.12e+03 3.69e+01 9.61e-01 4.69e+05 1 1.08e-01 7.71e-01
5 3.815590e+04 3.56e-01 1.27e+03 1.41e+01 9.96e-01 1.41e+06 1 1.05e-01 8.76e-01
6 3.815563e+04 2.74e-01 3.84e+03 1.58e+00 9.99e-01 4.22e+06 1 8.48e-02 9.61e-01
7 3.815542e+04 2.13e-01 5.23e+03 1.66e+00 9.97e-01 1.27e+07 1 5.97e-02 1.02e+00
8 3.815535e+04 6.58e-02 4.73e+03 1.18e+00 1.00e+00 3.80e+07 1 1.00e-01 1.12e+00
9 3.815535e+04 5.62e-03 5.58e+02 3.43e-01 1.04e+00 1.14e+08 1 1.19e-01 1.24e+00
10 3.815535e+04 1.52e-04 1.30e+01 4.24e-02 1.14e+00 3.42e+08 1 1.30e-01 1.37e+00
11 3.815535e+04 5.75e-06 3.73e+00 4.90e-03 1.23e+00 1.03e+09 1 1.13e-01 1.48e+00
12 3.815535e+04 3.64e-07 1.74e+00 9.40e-04 1.25e+00 3.08e+09 1 1.14e-01 1.60e+00
13 3.815535e+04 2.63e-08 9.86e-01 2.33e-04 1.22e+00 9.24e+09 1 1.01e-01 1.70e+00
I20260707 08:17:53.660559 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:53.660776 84886 bundle_adjustment.cc:942]
Residuals : 81870
Parameters : 28433
Iterations : 14
Time : 1.71005 [s]
Initial cost : 0.825794 [px]
Final cost : 0.682677 [px]
Termination : Convergence
I20260707 08:17:53.747218 84886 incremental_mapper.cc:175] => Completed observations: 31
I20260707 08:17:53.761396 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:17:53.768460 84886 incremental_mapper.cc:160] => Filtered observations: 107
I20260707 08:17:53.768505 84886 incremental_mapper.cc:119] => Changed observations: 0.003371
I20260707 08:17:53.768527 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 2.584751e+04 0.00e+00 1.87e+04 0.00e+00 0.00e+00 1.00e+04 0 3.84e-02 2.44e-01
1 2.507074e+04 7.77e+02 8.22e+03 0.00e+00 9.97e-01 3.00e+04 1 1.25e-01 3.69e-01
2 2.506543e+04 5.31e+00 9.28e+02 3.55e+00 1.00e+00 9.00e+04 1 8.26e-02 4.52e-01
3 2.506497e+04 4.61e-01 8.67e+02 1.05e+00 1.00e+00 2.70e+05 1 8.04e-02 5.33e-01
4 2.506433e+04 6.46e-01 1.76e+03 6.95e-01 1.00e+00 8.10e+05 1 9.36e-02 6.26e-01
5 2.506336e+04 9.70e-01 5.88e+03 1.05e+00 1.00e+00 2.43e+06 1 9.04e-02 7.17e-01
6 2.506258e+04 7.76e-01 1.22e+04 1.47e+00 1.00e+00 7.29e+06 1 4.76e-02 7.65e-01
7 2.506237e+04 2.11e-01 6.23e+03 1.14e+00 1.01e+00 2.19e+07 1 1.02e-01 8.67e-01
8 2.506236e+04 1.40e-02 6.33e+02 3.80e-01 1.03e+00 6.56e+07 1 9.60e-02 9.63e-01
9 2.506235e+04 2.41e-04 2.02e+01 5.30e-02 1.06e+00 1.97e+08 1 9.41e-02 1.06e+00
10 2.506235e+04 2.76e-06 4.47e+00 3.90e-03 1.11e+00 5.90e+08 1 1.02e-01 1.16e+00
11 2.506235e+04 8.00e-08 2.25e+00 4.01e-04 1.10e+00 1.77e+09 1 9.88e-02 1.26e+00
12 2.506235e+04 5.34e-09 9.40e-01 8.33e-05 9.38e-01 5.31e+09 1 1.03e-01 1.36e+00
I20260707 08:17:55.204061 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:55.204142 84886 bundle_adjustment.cc:942]
Residuals : 81704
Parameters : 28307
Iterations : 13
Time : 1.36733 [s]
Initial cost : 0.562455 [px]
Final cost : 0.553846 [px]
Termination : Convergence
I20260707 08:17:55.251627 84886 incremental_mapper.cc:175] => Completed observations: 12
I20260707 08:17:55.265594 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:17:55.279270 84886 incremental_mapper.cc:160] => Filtered observations: 10
I20260707 08:17:55.279348 84886 incremental_mapper.cc:119] => Changed observations: 0.000539
I20260707 08:17:55.279383 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 2.498172e+04 0.00e+00 2.94e+03 0.00e+00 0.00e+00 1.00e+04 0 5.18e-02 3.07e-01
1 2.486346e+04 1.18e+02 1.40e+04 0.00e+00 9.69e-01 3.00e+04 1 1.61e-01 4.68e-01
2 2.485702e+04 6.44e+00 2.14e+03 8.29e-01 9.94e-01 9.00e+04 1 1.44e-01 6.12e-01
3 2.485667e+04 3.46e-01 1.06e+03 6.87e-01 9.90e-01 2.70e+05 1 7.16e-02 6.83e-01
4 2.485651e+04 1.61e-01 4.94e+02 4.73e-01 9.97e-01 8.10e+05 1 6.65e-02 7.50e-01
5 2.485640e+04 1.17e-01 6.36e+02 2.41e-01 1.00e+00 2.43e+06 1 8.93e-02 8.39e-01
6 2.485635e+04 4.62e-02 5.48e+02 1.57e-01 1.01e+00 7.29e+06 1 9.48e-02 9.34e-01
7 2.485634e+04 6.00e-03 1.24e+02 6.05e-02 1.03e+00 2.19e+07 1 5.31e-02 9.87e-01
8 2.485634e+04 2.53e-04 1.27e+01 1.03e-02 1.07e+00 6.56e+07 1 1.15e-01 1.10e+00
9 2.485634e+04 5.51e-06 1.03e+00 2.81e-03 1.11e+00 1.97e+08 1 1.20e-01 1.22e+00
10 2.485634e+04 1.22e-07 2.73e-01 4.96e-04 1.17e+00 5.90e+08 1 1.36e-01 1.36e+00
I20260707 08:17:56.778070 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:56.778205 84886 bundle_adjustment.cc:942]
Residuals : 81708
Parameters : 28292
Iterations : 11
Time : 1.3695 [s]
Initial cost : 0.552941 [px]
Final cost : 0.551552 [px]
Termination : Convergence
I20260707 08:17:56.887099 84886 incremental_mapper.cc:175] => Completed observations: 11
I20260707 08:17:56.910009 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:17:56.920707 84886 incremental_mapper.cc:160] => Filtered observations: 0
I20260707 08:17:56.920769 84886 incremental_mapper.cc:119] => Changed observations: 0.000269
I20260707 08:17:56.920809 84886 incremental_mapper.cc:167] => Filtered images: 0
I20260707 08:17:56.932216 84886 misc.cc:198]
==============================================================================
Registering image #187 (64)
==============================================================================
I20260707 08:17:56.932279 84886 incremental_mapper.cc:495] => Image sees 196 / 3891 points
I20260707 08:17:56.940115 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:17:56.940203 84886 bundle_adjustment.cc:942]
Residuals : 182
Parameters : 6
Iterations : 16
Time : 0.00227404 [s]
Initial cost : 0.880767 [px]
Final cost : 0.708243 [px]
Termination : Convergence
I20260707 08:17:56.940490 84886 incremental_mapper.cc:40] => Continued observations: 89
I20260707 08:17:56.944746 84886 incremental_mapper.cc:43] => Added observations: 525
I20260707 08:17:57.178491 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:57.178611 84886 bundle_adjustment.cc:942]
Residuals : 6482
Parameters : 3434
Iterations : 26
Time : 0.219247 [s]
Initial cost : 0.725608 [px]
Final cost : 0.679563 [px]
Termination : No convergence
I20260707 08:17:57.187886 84886 incremental_mapper.cc:78] => Merged observations: 5
I20260707 08:17:57.187978 84886 incremental_mapper.cc:79] => Completed observations: 5
I20260707 08:17:57.187988 84886 incremental_mapper.cc:81] => Filtered observations: 133
I20260707 08:17:57.187992 84886 incremental_mapper.cc:90] => Changed observations: 0.040339
I20260707 08:17:57.213563 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:57.213706 84886 bundle_adjustment.cc:942]
Residuals : 6226
Parameters : 3263
Iterations : 3
Time : 0.020205 [s]
Initial cost : 0.631783 [px]
Final cost : 0.614334 [px]
Termination : Convergence
I20260707 08:17:57.222831 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:17:57.222898 84886 incremental_mapper.cc:79] => Completed observations: 14
I20260707 08:17:57.222904 84886 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 08:17:57.222908 84886 incremental_mapper.cc:90] => Changed observations: 0.004097
I20260707 08:17:57.234692 84886 misc.cc:198]
==============================================================================
Registering image #28 (65)
==============================================================================
I20260707 08:17:57.234768 84886 incremental_mapper.cc:495] => Image sees 206 / 1831 points
I20260707 08:17:57.240339 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:17:57.240386 84886 bundle_adjustment.cc:942]
Residuals : 218
Parameters : 6
Iterations : 11
Time : 0.00132418 [s]
Initial cost : 0.748665 [px]
Final cost : 0.743882 [px]
Termination : Convergence
I20260707 08:17:57.240628 84886 incremental_mapper.cc:40] => Continued observations: 107
I20260707 08:17:57.243532 84886 incremental_mapper.cc:43] => Added observations: 467
I20260707 08:17:57.477897 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:57.478186 84886 bundle_adjustment.cc:942]
Residuals : 6190
Parameters : 2366
Iterations : 24
Time : 0.22884 [s]
Initial cost : 0.702112 [px]
Final cost : 0.652926 [px]
Termination : Convergence
I20260707 08:17:57.489236 84886 incremental_mapper.cc:78] => Merged observations: 9
I20260707 08:17:57.489311 84886 incremental_mapper.cc:79] => Completed observations: 9
I20260707 08:17:57.489317 84886 incremental_mapper.cc:81] => Filtered observations: 123
I20260707 08:17:57.489321 84886 incremental_mapper.cc:90] => Changed observations: 0.042663
I20260707 08:17:57.531229 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:57.531309 84886 bundle_adjustment.cc:942]
Residuals : 5962
Parameters : 2216
Iterations : 3
Time : 0.0362329 [s]
Initial cost : 0.621552 [px]
Final cost : 0.604684 [px]
Termination : Convergence
I20260707 08:17:57.547029 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:17:57.547231 84886 incremental_mapper.cc:79] => Completed observations: 14
I20260707 08:17:57.547254 84886 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 08:17:57.547262 84886 incremental_mapper.cc:90] => Changed observations: 0.004387
I20260707 08:17:57.562785 84886 misc.cc:198]
==============================================================================
Registering image #43 (66)
==============================================================================
I20260707 08:17:57.562853 84886 incremental_mapper.cc:495] => Image sees 241 / 1544 points
I20260707 08:17:57.573951 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:17:57.574028 84886 bundle_adjustment.cc:942]
Residuals : 332
Parameters : 6
Iterations : 30
Time : 0.00809002 [s]
Initial cost : 0.750609 [px]
Final cost : 0.738289 [px]
Termination : Convergence
I20260707 08:17:57.574558 84886 incremental_mapper.cc:40] => Continued observations: 160
I20260707 08:17:57.578291 84886 incremental_mapper.cc:43] => Added observations: 730
I20260707 08:17:57.804023 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:57.804162 84886 bundle_adjustment.cc:942]
Residuals : 5482
Parameters : 2171
Iterations : 26
Time : 0.212978 [s]
Initial cost : 0.941693 [px]
Final cost : 0.882325 [px]
Termination : No convergence
I20260707 08:17:57.813566 84886 incremental_mapper.cc:78] => Merged observations: 27
I20260707 08:17:57.813642 84886 incremental_mapper.cc:79] => Completed observations: 18
I20260707 08:17:57.813647 84886 incremental_mapper.cc:81] => Filtered observations: 229
I20260707 08:17:57.813650 84886 incremental_mapper.cc:90] => Changed observations: 0.084049
I20260707 08:17:57.852420 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:57.852662 84886 bundle_adjustment.cc:942]
Residuals : 5488
Parameters : 2519
Iterations : 3
Time : 0.032758 [s]
Initial cost : 0.692793 [px]
Final cost : 0.67051 [px]
Termination : Convergence
I20260707 08:17:57.865947 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:17:57.866016 84886 incremental_mapper.cc:79] => Completed observations: 35
I20260707 08:17:57.866022 84886 incremental_mapper.cc:81] => Filtered observations: 5
I20260707 08:17:57.866026 84886 incremental_mapper.cc:90] => Changed observations: 0.012792
I20260707 08:17:57.883431 84886 misc.cc:198]
==============================================================================
Registering image #123 (67)
==============================================================================
I20260707 08:17:57.883525 84886 incremental_mapper.cc:495] => Image sees 300 / 1657 points
I20260707 08:17:57.889097 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:17:57.889201 84886 bundle_adjustment.cc:942]
Residuals : 570
Parameters : 6
Iterations : 7
Time : 0.00231409 [s]
Initial cost : 0.495017 [px]
Final cost : 0.484662 [px]
Termination : Convergence
I20260707 08:17:57.889870 84886 incremental_mapper.cc:40] => Continued observations: 281
I20260707 08:17:57.892086 84886 incremental_mapper.cc:43] => Added observations: 252
I20260707 08:17:58.106549 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:58.106793 84886 bundle_adjustment.cc:942]
Residuals : 6090
Parameters : 1658
Iterations : 26
Time : 0.209466 [s]
Initial cost : 0.632133 [px]
Final cost : 0.602758 [px]
Termination : No convergence
I20260707 08:17:58.128371 84886 incremental_mapper.cc:78] => Merged observations: 15
I20260707 08:17:58.128475 84886 incremental_mapper.cc:79] => Completed observations: 13
I20260707 08:17:58.128484 84886 incremental_mapper.cc:81] => Filtered observations: 90
I20260707 08:17:58.128489 84886 incremental_mapper.cc:90] => Changed observations: 0.036409
I20260707 08:17:58.189687 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:58.189894 84886 bundle_adjustment.cc:942]
Residuals : 5936
Parameters : 1592
Iterations : 2
Time : 0.042387 [s]
Initial cost : 0.63968 [px]
Final cost : 0.62721 [px]
Termination : Convergence
I20260707 08:17:58.214542 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:17:58.214742 84886 incremental_mapper.cc:79] => Completed observations: 37
I20260707 08:17:58.214775 84886 incremental_mapper.cc:81] => Filtered observations: 1
I20260707 08:17:58.214782 84886 incremental_mapper.cc:90] => Changed observations: 0.012075
I20260707 08:17:58.241886 84886 misc.cc:198]
==============================================================================
Registering image #109 (68)
==============================================================================
I20260707 08:17:58.242069 84886 incremental_mapper.cc:495] => Image sees 287 / 2289 points
I20260707 08:17:58.257103 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:17:58.257344 84886 bundle_adjustment.cc:942]
Residuals : 506
Parameters : 6
Iterations : 8
Time : 0.00866508 [s]
Initial cost : 0.659596 [px]
Final cost : 0.550465 [px]
Termination : Convergence
I20260707 08:17:58.259043 84886 incremental_mapper.cc:40] => Continued observations: 246
I20260707 08:17:58.269840 84886 incremental_mapper.cc:43] => Added observations: 689
I20260707 08:17:58.686755 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:58.686956 84886 bundle_adjustment.cc:942]
Residuals : 7132
Parameters : 2552
Iterations : 26
Time : 0.404465 [s]
Initial cost : 0.782888 [px]
Final cost : 0.729306 [px]
Termination : No convergence
I20260707 08:17:58.711187 84886 incremental_mapper.cc:78] => Merged observations: 30
I20260707 08:17:58.711333 84886 incremental_mapper.cc:79] => Completed observations: 38
I20260707 08:17:58.711354 84886 incremental_mapper.cc:81] => Filtered observations: 246
I20260707 08:17:58.711360 84886 incremental_mapper.cc:90] => Changed observations: 0.083091
I20260707 08:17:58.746922 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:17:58.746973 84886 bundle_adjustment.cc:942]
Residuals : 6632
Parameters : 2237
Iterations : 3
Time : 0.0249732 [s]
Initial cost : 0.64068 [px]
Final cost : 0.624013 [px]
Termination : Convergence
I20260707 08:17:58.751622 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:17:58.751652 84886 incremental_mapper.cc:79] => Completed observations: 52
I20260707 08:17:58.751655 84886 incremental_mapper.cc:81] => Filtered observations: 2
I20260707 08:17:58.751658 84886 incremental_mapper.cc:90] => Changed observations: 0.015276
I20260707 08:17:58.751689 84886 misc.cc:198]
==============================================================================
Retriangulation
==============================================================================
I20260707 08:17:58.758886 84886 incremental_mapper.cc:175] => Completed observations: 6
I20260707 08:17:58.787070 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:17:58.787180 84886 incremental_mapper.cc:105] => Retriangulated observations: 123
I20260707 08:17:58.794389 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 7.171905e+04 0.00e+00 7.48e+04 0.00e+00 0.00e+00 1.00e+04 0 5.25e-02 2.08e-01
1 6.317867e+04 8.54e+03 1.03e+05 0.00e+00 3.97e-01 9.91e+03 1 1.51e-01 3.58e-01
2 5.064133e+04 1.25e+04 2.01e+03 1.63e+01 9.72e-01 2.97e+04 1 1.09e-01 4.67e-01
3 5.026555e+04 3.76e+02 3.05e+03 5.89e+00 9.96e-01 8.92e+04 1 1.08e-01 5.76e-01
4 5.025568e+04 9.87e+00 1.04e+04 1.03e+00 9.94e-01 2.68e+05 1 9.56e-02 6.71e-01
5 5.024447e+04 1.12e+01 1.43e+04 1.30e+00 9.94e-01 8.03e+05 1 1.09e-01 7.80e-01
6 5.023821e+04 6.25e+00 3.05e+04 1.32e+00 9.92e-01 2.41e+06 1 9.95e-02 8.80e-01
7 5.023728e+04 9.32e-01 1.14e+04 9.98e-01 1.01e+00 7.23e+06 1 5.07e-02 9.31e-01
8 5.023720e+04 8.47e-02 1.72e+03 8.14e-01 1.04e+00 2.17e+07 1 1.28e-01 1.06e+00
9 5.023719e+04 6.46e-03 3.94e+02 3.18e-01 1.06e+00 6.50e+07 1 1.31e-01 1.19e+00
10 5.023719e+04 2.58e-04 2.14e+01 5.52e-02 1.17e+00 1.95e+08 1 1.22e-01 1.31e+00
11 5.023719e+04 1.47e-05 5.28e+00 8.18e-03 1.27e+00 5.85e+08 1 1.07e-01 1.42e+00
12 5.023719e+04 1.23e-06 2.22e+00 1.63e-03 1.28e+00 1.76e+09 1 1.28e-01 1.55e+00
13 5.023719e+04 1.10e-07 3.59e-01 5.42e-04 1.25e+00 5.27e+09 1 1.33e-01 1.68e+00
I20260707 08:18:00.633143 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:00.633263 84886 bundle_adjustment.cc:942]
Residuals : 87780
Parameters : 31295
Iterations : 14
Time : 1.69599 [s]
Initial cost : 0.903898 [px]
Final cost : 0.75651 [px]
Termination : Convergence
I20260707 08:18:00.742476 84886 incremental_mapper.cc:175] => Completed observations: 30
I20260707 08:18:00.776580 84886 incremental_mapper.cc:178] => Merged observations: 5
I20260707 08:18:00.793314 84886 incremental_mapper.cc:160] => Filtered observations: 317
I20260707 08:18:00.793401 84886 incremental_mapper.cc:119] => Changed observations: 0.008020
I20260707 08:18:00.793437 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 2.958937e+04 0.00e+00 9.98e+03 0.00e+00 0.00e+00 1.00e+04 0 7.03e-02 5.67e-01
1 2.735894e+04 2.23e+03 4.05e+04 0.00e+00 8.86e-01 1.85e+04 1 1.64e-01 7.31e-01
2 2.702029e+04 3.39e+02 9.02e+02 1.31e+01 9.95e-01 5.56e+04 1 4.63e-02 7.77e-01
3 2.701166e+04 8.63e+00 4.08e+03 5.49e+00 9.95e-01 1.67e+05 1 9.20e-02 8.69e-01
4 2.700864e+04 3.02e+00 7.60e+03 2.26e+00 9.94e-01 5.00e+05 1 1.17e-01 9.87e-01
5 2.700711e+04 1.54e+00 3.17e+03 7.46e-01 1.00e+00 1.50e+06 1 8.11e-02 1.07e+00
6 2.700603e+04 1.08e+00 1.79e+04 5.16e-01 9.98e-01 4.50e+06 1 7.52e-02 1.14e+00
7 2.700551e+04 5.14e-01 2.25e+04 8.53e-01 9.80e-01 1.35e+07 1 1.29e-01 1.27e+00
8 2.700541e+04 1.04e-01 6.14e+03 7.06e-01 1.01e+00 4.05e+07 1 1.24e-01 1.40e+00
9 2.700540e+04 5.74e-03 2.69e+02 2.08e-01 1.05e+00 1.21e+08 1 1.26e-01 1.52e+00
10 2.700540e+04 1.10e-04 7.82e+00 2.67e-02 1.14e+00 3.64e+08 1 1.18e-01 1.64e+00
11 2.700540e+04 3.30e-06 1.84e+00 3.38e-03 1.20e+00 1.09e+09 1 1.17e-01 1.76e+00
12 2.700540e+04 1.51e-07 4.86e-01 6.03e-04 1.23e+00 3.28e+09 1 1.51e-01 1.91e+00
I20260707 08:18:02.819096 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:02.819370 84886 bundle_adjustment.cc:942]
Residuals : 87184
Parameters : 30941
Iterations : 13
Time : 1.92124 [s]
Initial cost : 0.582572 [px]
Final cost : 0.556554 [px]
Termination : Convergence
I20260707 08:18:02.914081 84886 incremental_mapper.cc:175] => Completed observations: 40
I20260707 08:18:02.978709 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:18:02.996742 84886 incremental_mapper.cc:160] => Filtered observations: 9
I20260707 08:18:02.996850 84886 incremental_mapper.cc:119] => Changed observations: 0.001124
I20260707 08:18:02.996898 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 2.711319e+04 0.00e+00 3.60e+03 0.00e+00 0.00e+00 1.00e+04 0 5.05e-02 4.90e-01
1 2.704615e+04 6.70e+01 4.88e+02 0.00e+00 1.00e+00 3.00e+04 1 1.65e-01 6.56e-01
2 2.704598e+04 1.74e-01 1.06e+02 3.53e-01 1.00e+00 9.00e+04 1 6.46e-02 7.21e-01
3 2.704596e+04 2.37e-02 5.14e+01 6.02e-02 9.95e-01 2.70e+05 1 5.76e-02 7.78e-01
4 2.704594e+04 1.83e-02 4.41e+01 5.30e-02 9.93e-01 8.10e+05 1 8.65e-02 8.65e-01
5 2.704592e+04 1.47e-02 1.82e+02 6.01e-02 1.01e+00 2.43e+06 1 1.09e-01 9.73e-01
6 2.704591e+04 9.21e-03 2.91e+02 1.37e-01 1.01e+00 7.29e+06 1 1.11e-01 1.09e+00
7 2.704591e+04 3.03e-03 1.57e+02 1.45e-01 1.01e+00 2.19e+07 1 1.11e-01 1.20e+00
8 2.704591e+04 3.34e-04 2.31e+01 6.43e-02 1.03e+00 6.56e+07 1 1.32e-01 1.33e+00
9 2.704591e+04 1.05e-05 1.95e+00 1.14e-02 1.09e+00 1.97e+08 1 1.03e-01 1.43e+00
10 2.704591e+04 2.61e-07 5.57e-01 1.23e-03 1.19e+00 5.90e+08 1 1.24e-01 1.56e+00
I20260707 08:18:04.706032 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:04.706182 84886 bundle_adjustment.cc:942]
Residuals : 87242
Parameters : 30929
Iterations : 11
Time : 1.56695 [s]
Initial cost : 0.557478 [px]
Final cost : 0.556786 [px]
Termination : Convergence
I20260707 08:18:04.784029 84886 incremental_mapper.cc:175] => Completed observations: 3
I20260707 08:18:04.795205 84886 incremental_mapper.cc:178] => Merged observations: 5
I20260707 08:18:04.799525 84886 incremental_mapper.cc:160] => Filtered observations: 0
I20260707 08:18:04.799551 84886 incremental_mapper.cc:119] => Changed observations: 0.000183
I20260707 08:18:04.799566 84886 incremental_mapper.cc:167] => Filtered images: 0
I20260707 08:18:04.804711 84886 misc.cc:198]
==============================================================================
Registering image #120 (69)
==============================================================================
I20260707 08:18:04.804740 84886 incremental_mapper.cc:495] => Image sees 382 / 1414 points
I20260707 08:18:04.809257 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:18:04.809388 84886 bundle_adjustment.cc:942]
Residuals : 742
Parameters : 6
Iterations : 5
Time : 0.00220895 [s]
Initial cost : 0.407439 [px]
Final cost : 0.404415 [px]
Termination : Convergence
I20260707 08:18:04.810773 84886 incremental_mapper.cc:40] => Continued observations: 365
I20260707 08:18:04.816936 84886 incremental_mapper.cc:43] => Added observations: 326
I20260707 08:18:04.989192 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:04.989250 84886 bundle_adjustment.cc:942]
Residuals : 7532
Parameters : 1898
Iterations : 20
Time : 0.160065 [s]
Initial cost : 0.565988 [px]
Final cost : 0.537143 [px]
Termination : Convergence
I20260707 08:18:05.002192 84886 incremental_mapper.cc:78] => Merged observations: 5
I20260707 08:18:05.002228 84886 incremental_mapper.cc:79] => Completed observations: 22
I20260707 08:18:05.002231 84886 incremental_mapper.cc:81] => Filtered observations: 99
I20260707 08:18:05.002233 84886 incremental_mapper.cc:90] => Changed observations: 0.032299
I20260707 08:18:05.016160 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:05.016220 84886 bundle_adjustment.cc:942]
Residuals : 7312
Parameters : 1787
Iterations : 2
Time : 0.010458 [s]
Initial cost : 0.594214 [px]
Final cost : 0.580557 [px]
Termination : Convergence
I20260707 08:18:05.024099 84886 incremental_mapper.cc:78] => Merged observations: 6
I20260707 08:18:05.024178 84886 incremental_mapper.cc:79] => Completed observations: 46
I20260707 08:18:05.024183 84886 incremental_mapper.cc:81] => Filtered observations: 1
I20260707 08:18:05.024184 84886 incremental_mapper.cc:90] => Changed observations: 0.013980
I20260707 08:18:05.033423 84886 misc.cc:198]
==============================================================================
Registering image #101 (70)
==============================================================================
I20260707 08:18:05.033512 84886 incremental_mapper.cc:495] => Image sees 433 / 1406 points
I20260707 08:18:05.042948 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:18:05.043041 84886 bundle_adjustment.cc:942]
Residuals : 828
Parameters : 6
Iterations : 8
Time : 0.00490904 [s]
Initial cost : 0.527975 [px]
Final cost : 0.461668 [px]
Termination : Convergence
I20260707 08:18:05.043967 84886 incremental_mapper.cc:40] => Continued observations: 406
I20260707 08:18:05.048280 84886 incremental_mapper.cc:43] => Added observations: 458
I20260707 08:18:05.346451 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:05.346562 84886 bundle_adjustment.cc:942]
Residuals : 8394
Parameters : 2429
Iterations : 23
Time : 0.284217 [s]
Initial cost : 0.596623 [px]
Final cost : 0.553868 [px]
Termination : Convergence
I20260707 08:18:05.361522 84886 incremental_mapper.cc:78] => Merged observations: 25
I20260707 08:18:05.361701 84886 incremental_mapper.cc:79] => Completed observations: 86
I20260707 08:18:05.361711 84886 incremental_mapper.cc:81] => Filtered observations: 142
I20260707 08:18:05.361713 84886 incremental_mapper.cc:90] => Changed observations: 0.056435
I20260707 08:18:05.404896 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:05.405007 84886 bundle_adjustment.cc:942]
Residuals : 8040
Parameters : 2057
Iterations : 3
Time : 0.0356679 [s]
Initial cost : 0.601487 [px]
Final cost : 0.584134 [px]
Termination : Convergence
I20260707 08:18:05.420231 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:18:05.420344 84886 incremental_mapper.cc:79] => Completed observations: 84
I20260707 08:18:05.420358 84886 incremental_mapper.cc:81] => Filtered observations: 9
I20260707 08:18:05.420363 84886 incremental_mapper.cc:90] => Changed observations: 0.021558
I20260707 08:18:05.433571 84886 misc.cc:198]
==============================================================================
Registering image #46 (71)
==============================================================================
I20260707 08:18:05.433688 84886 incremental_mapper.cc:495] => Image sees 375 / 2215 points
I20260707 08:18:05.444821 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:18:05.444891 84886 bundle_adjustment.cc:942]
Residuals : 606
Parameters : 6
Iterations : 14
Time : 0.00662613 [s]
Initial cost : 0.847345 [px]
Final cost : 0.741289 [px]
Termination : Convergence
I20260707 08:18:05.445905 84886 incremental_mapper.cc:40] => Continued observations: 288
I20260707 08:18:05.451592 84886 incremental_mapper.cc:43] => Added observations: 812
I20260707 08:18:05.745714 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:05.745896 84886 bundle_adjustment.cc:942]
Residuals : 8770
Parameters : 2552
Iterations : 25
Time : 0.27928 [s]
Initial cost : 0.773479 [px]
Final cost : 0.695347 [px]
Termination : Convergence
I20260707 08:18:05.763921 84886 incremental_mapper.cc:78] => Merged observations: 38
I20260707 08:18:05.763998 84886 incremental_mapper.cc:79] => Completed observations: 110
I20260707 08:18:05.764005 84886 incremental_mapper.cc:81] => Filtered observations: 266
I20260707 08:18:05.764009 84886 incremental_mapper.cc:90] => Changed observations: 0.089205
I20260707 08:18:05.811911 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:05.812048 84886 bundle_adjustment.cc:942]
Residuals : 8430
Parameters : 2312
Iterations : 3
Time : 0.0411179 [s]
Initial cost : 0.64091 [px]
Final cost : 0.611331 [px]
Termination : Convergence
I20260707 08:18:05.824707 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:18:05.824826 84886 incremental_mapper.cc:79] => Completed observations: 51
I20260707 08:18:05.824843 84886 incremental_mapper.cc:81] => Filtered observations: 2
I20260707 08:18:05.824849 84886 incremental_mapper.cc:90] => Changed observations: 0.011859
I20260707 08:18:05.838742 84886 misc.cc:198]
==============================================================================
Registering image #60 (72)
==============================================================================
I20260707 08:18:05.838819 84886 incremental_mapper.cc:495] => Image sees 440 / 2107 points
I20260707 08:18:05.857038 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:18:05.857175 84886 bundle_adjustment.cc:942]
Residuals : 724
Parameters : 6
Iterations : 16
Time : 0.0124149 [s]
Initial cost : 0.748624 [px]
Final cost : 0.731285 [px]
Termination : Convergence
I20260707 08:18:05.858858 84886 incremental_mapper.cc:40] => Continued observations: 343
I20260707 08:18:05.863679 84886 incremental_mapper.cc:43] => Added observations: 906
I20260707 08:18:06.155678 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:06.156004 84886 bundle_adjustment.cc:942]
Residuals : 9374
Parameters : 2978
Iterations : 22
Time : 0.283751 [s]
Initial cost : 0.74677 [px]
Final cost : 0.692132 [px]
Termination : Convergence
I20260707 08:18:06.174870 84886 incremental_mapper.cc:78] => Merged observations: 45
I20260707 08:18:06.175015 84886 incremental_mapper.cc:79] => Completed observations: 99
I20260707 08:18:06.175032 84886 incremental_mapper.cc:81] => Filtered observations: 268
I20260707 08:18:06.175037 84886 incremental_mapper.cc:90] => Changed observations: 0.083148
I20260707 08:18:06.224637 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:06.224733 84886 bundle_adjustment.cc:942]
Residuals : 9008
Parameters : 2753
Iterations : 3
Time : 0.0403218 [s]
Initial cost : 0.680295 [px]
Final cost : 0.651995 [px]
Termination : Convergence
I20260707 08:18:06.235543 84886 incremental_mapper.cc:78] => Merged observations: 11
I20260707 08:18:06.235605 84886 incremental_mapper.cc:79] => Completed observations: 57
I20260707 08:18:06.235639 84886 incremental_mapper.cc:81] => Filtered observations: 2
I20260707 08:18:06.235644 84886 incremental_mapper.cc:90] => Changed observations: 0.014669
I20260707 08:18:06.246042 84886 misc.cc:198]
==============================================================================
Registering image #37 (73)
==============================================================================
I20260707 08:18:06.246100 84886 incremental_mapper.cc:495] => Image sees 473 / 1740 points
I20260707 08:18:06.257445 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:18:06.257531 84886 bundle_adjustment.cc:942]
Residuals : 738
Parameters : 6
Iterations : 10
Time : 0.00611115 [s]
Initial cost : 0.681612 [px]
Final cost : 0.623866 [px]
Termination : Convergence
I20260707 08:18:06.258473 84886 incremental_mapper.cc:40] => Continued observations: 354
I20260707 08:18:06.262919 84886 incremental_mapper.cc:43] => Added observations: 578
I20260707 08:18:06.619048 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:06.619395 84886 bundle_adjustment.cc:942]
Residuals : 8830
Parameters : 2210
Iterations : 26
Time : 0.342738 [s]
Initial cost : 0.750043 [px]
Final cost : 0.695744 [px]
Termination : No convergence
I20260707 08:18:06.666999 84886 incremental_mapper.cc:78] => Merged observations: 39
I20260707 08:18:06.667202 84886 incremental_mapper.cc:79] => Completed observations: 63
I20260707 08:18:06.667236 84886 incremental_mapper.cc:81] => Filtered observations: 252
I20260707 08:18:06.667245 84886 incremental_mapper.cc:90] => Changed observations: 0.068805
I20260707 08:18:06.866357 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:06.866603 84886 bundle_adjustment.cc:942]
Residuals : 8386
Parameters : 1961
Iterations : 11
Time : 0.185856 [s]
Initial cost : 0.702335 [px]
Final cost : 0.679968 [px]
Termination : Convergence
I20260707 08:18:06.887526 84886 incremental_mapper.cc:78] => Merged observations: 8
I20260707 08:18:06.887656 84886 incremental_mapper.cc:79] => Completed observations: 71
I20260707 08:18:06.887666 84886 incremental_mapper.cc:81] => Filtered observations: 2
I20260707 08:18:06.887672 84886 incremental_mapper.cc:90] => Changed observations: 0.016453
I20260707 08:18:06.902972 84886 misc.cc:198]
==============================================================================
Registering image #516 (74)
==============================================================================
I20260707 08:18:06.903102 84886 incremental_mapper.cc:495] => Image sees 449 / 2172 points
I20260707 08:18:06.913849 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:18:06.913947 84886 bundle_adjustment.cc:942]
Residuals : 692
Parameters : 6
Iterations : 6
Time : 0.00425196 [s]
Initial cost : 0.645786 [px]
Final cost : 0.643702 [px]
Termination : Convergence
I20260707 08:18:06.915190 84886 incremental_mapper.cc:40] => Continued observations: 313
I20260707 08:18:06.921628 84886 incremental_mapper.cc:43] => Added observations: 845
I20260707 08:18:07.157155 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:07.157295 84886 bundle_adjustment.cc:942]
Residuals : 9536
Parameters : 2600
Iterations : 26
Time : 0.220216 [s]
Initial cost : 0.818193 [px]
Final cost : 0.7451 [px]
Termination : No convergence
I20260707 08:18:07.173473 84886 incremental_mapper.cc:78] => Merged observations: 71
I20260707 08:18:07.173548 84886 incremental_mapper.cc:79] => Completed observations: 91
I20260707 08:18:07.173553 84886 incremental_mapper.cc:81] => Filtered observations: 351
I20260707 08:18:07.173556 84886 incremental_mapper.cc:90] => Changed observations: 0.099035
I20260707 08:18:07.210254 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:07.210359 84886 bundle_adjustment.cc:942]
Residuals : 8860
Parameters : 2054
Iterations : 3
Time : 0.029196 [s]
Initial cost : 0.663463 [px]
Final cost : 0.640008 [px]
Termination : Convergence
I20260707 08:18:07.222985 84886 incremental_mapper.cc:78] => Merged observations: 19
I20260707 08:18:07.223067 84886 incremental_mapper.cc:79] => Completed observations: 73
I20260707 08:18:07.223073 84886 incremental_mapper.cc:81] => Filtered observations: 5
I20260707 08:18:07.223076 84886 incremental_mapper.cc:90] => Changed observations: 0.019357
I20260707 08:18:07.223115 84886 misc.cc:198]
==============================================================================
Retriangulation
==============================================================================
I20260707 08:18:07.254281 84886 incremental_mapper.cc:175] => Completed observations: 27
I20260707 08:18:07.274569 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:18:07.274612 84886 incremental_mapper.cc:105] => Retriangulated observations: 31
I20260707 08:18:07.275297 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 4.645863e+04 0.00e+00 2.85e+04 0.00e+00 0.00e+00 1.00e+04 0 5.66e-02 3.07e-01
1 3.640173e+04 1.01e+04 2.75e+03 0.00e+00 9.94e-01 3.00e+04 1 1.71e-01 4.79e-01
2 3.632116e+04 8.06e+01 4.77e+03 9.96e-01 9.94e-01 9.00e+04 1 1.03e-01 5.82e-01
3 3.631981e+04 1.35e+00 8.24e+03 4.10e-01 9.99e-01 2.70e+05 1 5.79e-02 6.40e-01
4 3.631895e+04 8.56e-01 1.44e+04 4.95e-01 9.98e-01 8.10e+05 1 1.03e-01 7.43e-01
5 3.631862e+04 3.34e-01 7.77e+03 3.87e-01 9.99e-01 2.43e+06 1 1.24e-01 8.67e-01
6 3.631852e+04 9.24e-02 1.29e+03 3.51e-01 1.00e+00 7.29e+06 1 1.19e-01 9.87e-01
7 3.631850e+04 2.55e-02 4.95e+02 3.79e-01 1.00e+00 2.19e+07 1 9.94e-02 1.09e+00
8 3.631849e+04 1.13e-02 8.02e+02 2.34e-01 1.00e+00 6.56e+07 1 1.09e-01 1.20e+00
9 3.631848e+04 9.14e-03 4.73e+02 6.48e-02 9.99e-01 1.97e+08 1 6.15e-02 1.26e+00
10 3.631848e+04 1.30e-03 1.18e+02 1.12e-02 1.00e+00 5.90e+08 1 4.59e-02 1.30e+00
11 3.631848e+04 9.28e-06 5.08e+00 9.11e-04 1.02e+00 1.77e+09 1 6.78e-02 1.37e+00
12 3.631848e+04 1.38e-08 5.49e-01 7.58e-05 1.04e+00 5.31e+09 1 1.12e-01 1.48e+00
I20260707 08:18:08.828421 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:08.828522 84886 bundle_adjustment.cc:942]
Residuals : 97766
Parameters : 34439
Iterations : 13
Time : 1.4914 [s]
Initial cost : 0.689349 [px]
Final cost : 0.609495 [px]
Termination : Convergence
I20260707 08:18:08.944119 84886 incremental_mapper.cc:175] => Completed observations: 8
I20260707 08:18:08.985185 84886 incremental_mapper.cc:178] => Merged observations: 36
I20260707 08:18:09.015962 84886 incremental_mapper.cc:160] => Filtered observations: 101
I20260707 08:18:09.016094 84886 incremental_mapper.cc:119] => Changed observations: 0.002966
I20260707 08:18:09.016198 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 3.172430e+04 0.00e+00 6.89e+03 0.00e+00 0.00e+00 1.00e+04 0 4.10e-02 3.40e-01
1 3.154662e+04 1.78e+02 2.59e+02 0.00e+00 1.00e+00 3.00e+04 1 8.69e-02 4.27e-01
2 3.154634e+04 2.81e-01 3.22e+02 3.43e-01 1.00e+00 9.00e+04 1 9.01e-02 5.17e-01
3 3.154617e+04 1.61e-01 5.84e+02 2.33e-01 1.00e+00 2.70e+05 1 1.00e-01 6.18e-01
4 3.154607e+04 1.00e-01 7.20e+02 9.00e-02 9.99e-01 8.10e+05 1 1.04e-01 7.22e-01
5 3.154605e+04 2.83e-02 3.01e+02 8.33e-02 1.00e+00 2.43e+06 1 1.29e-01 8.51e-01
6 3.154604e+04 8.70e-03 7.74e+01 8.64e-02 1.00e+00 7.29e+06 1 1.18e-01 9.69e-01
7 3.154603e+04 7.22e-03 2.11e+02 6.61e-02 1.00e+00 2.19e+07 1 6.97e-02 1.04e+00
8 3.154603e+04 3.96e-03 2.25e+02 2.11e-02 1.00e+00 6.56e+07 1 1.42e-01 1.18e+00
9 3.154603e+04 1.19e-03 1.02e+02 3.56e-03 1.00e+00 1.97e+08 1 1.15e-01 1.30e+00
10 3.154603e+04 1.96e-04 5.58e+01 2.25e-03 1.00e+00 5.90e+08 1 1.00e-01 1.40e+00
11 3.154603e+04 1.38e-05 1.85e+01 7.19e-04 1.00e+00 1.77e+09 1 1.15e-01 1.51e+00
12 3.154603e+04 2.63e-07 2.94e+00 1.10e-04 1.01e+00 5.31e+09 1 1.09e-01 1.62e+00
13 3.154603e+04 1.10e-09 6.36e-01 7.65e-06 1.08e+00 1.59e+10 1 4.29e-02 1.66e+00
I20260707 08:18:10.816768 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:10.816826 84886 bundle_adjustment.cc:942]
Residuals : 97526
Parameters : 34322
Iterations : 14
Time : 1.6692 [s]
Initial cost : 0.570343 [px]
Final cost : 0.568738 [px]
Termination : Convergence
I20260707 08:18:10.888963 84886 incremental_mapper.cc:175] => Completed observations: 7
I20260707 08:18:10.926326 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:18:10.975623 84886 incremental_mapper.cc:160] => Filtered observations: 5
I20260707 08:18:10.975824 84886 incremental_mapper.cc:119] => Changed observations: 0.000246
I20260707 08:18:10.975934 84886 incremental_mapper.cc:167] => Filtered images: 0
I20260707 08:18:10.996454 84886 misc.cc:198]
==============================================================================
Registering image #136 (75)
==============================================================================
I20260707 08:18:10.996558 84886 incremental_mapper.cc:495] => Image sees 392 / 1675 points
I20260707 08:18:11.023291 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:18:11.023591 84886 bundle_adjustment.cc:942]
Residuals : 620
Parameters : 6
Iterations : 27
Time : 0.0220239 [s]
Initial cost : 0.767617 [px]
Final cost : 0.70015 [px]
Termination : Convergence
I20260707 08:18:11.025717 84886 incremental_mapper.cc:40] => Continued observations: 304
I20260707 08:18:11.043658 84886 incremental_mapper.cc:43] => Added observations: 460
W20260707 08:18:11.292973 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W20260707 08:18:11.294909 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W20260707 08:18:11.296720 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W20260707 08:18:11.314669 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W20260707 08:18:11.316901 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W20260707 08:18:11.337277 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W20260707 08:18:11.358836 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W20260707 08:18:11.378983 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
I20260707 08:18:11.381181 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:11.381357 84886 bundle_adjustment.cc:942]
Residuals : 9100
Parameters : 1901
Iterations : 26
Time : 0.305524 [s]
Initial cost : 0.698132 [px]
Final cost : 0.639014 [px]
Termination : No convergence
I20260707 08:18:11.417896 84886 incremental_mapper.cc:78] => Merged observations: 18
I20260707 08:18:11.418066 84886 incremental_mapper.cc:79] => Completed observations: 96
I20260707 08:18:11.418085 84886 incremental_mapper.cc:81] => Filtered observations: 185
I20260707 08:18:11.418092 84886 incremental_mapper.cc:90] => Changed observations: 0.056575
W20260707 08:18:11.507980 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W20260707 08:18:11.509378 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W20260707 08:18:11.523854 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W20260707 08:18:11.550800 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W20260707 08:18:11.576845 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W20260707 08:18:11.578421 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W20260707 08:18:11.579964 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W20260707 08:18:11.621256 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
I20260707 08:18:11.622258 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:11.622318 84886 bundle_adjustment.cc:942]
Residuals : 9542
Parameters : 1751
Iterations : 26
Time : 0.186114 [s]
Initial cost : 0.675859 [px]
Final cost : 0.657725 [px]
Termination : No convergence
I20260707 08:18:11.642657 84886 incremental_mapper.cc:78] => Merged observations: 6
I20260707 08:18:11.642728 84886 incremental_mapper.cc:79] => Completed observations: 47
I20260707 08:18:11.642735 84886 incremental_mapper.cc:81] => Filtered observations: 3
I20260707 08:18:11.642738 84886 incremental_mapper.cc:90] => Changed observations: 0.010838
I20260707 08:18:11.650027 84886 misc.cc:198]
==============================================================================
Registering image #505 (76)
==============================================================================
I20260707 08:18:11.650058 84886 incremental_mapper.cc:495] => Image sees 467 / 1978 points
I20260707 08:18:11.658573 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:18:11.658610 84886 bundle_adjustment.cc:942]
Residuals : 690
Parameters : 6
Iterations : 10
Time : 0.00268292 [s]
Initial cost : 0.756355 [px]
Final cost : 0.743939 [px]
Termination : Convergence
I20260707 08:18:11.659001 84886 incremental_mapper.cc:40] => Continued observations: 304
I20260707 08:18:11.661409 84886 incremental_mapper.cc:43] => Added observations: 976
I20260707 08:18:11.977221 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:11.977349 84886 bundle_adjustment.cc:942]
Residuals : 9930
Parameters : 2873
Iterations : 26
Time : 0.311601 [s]
Initial cost : 0.855267 [px]
Final cost : 0.801024 [px]
Termination : No convergence
I20260707 08:18:11.993652 84886 incremental_mapper.cc:78] => Merged observations: 30
I20260707 08:18:11.993727 84886 incremental_mapper.cc:79] => Completed observations: 123
I20260707 08:18:11.993736 84886 incremental_mapper.cc:81] => Filtered observations: 356
I20260707 08:18:11.993739 84886 incremental_mapper.cc:90] => Changed observations: 0.090344
I20260707 08:18:12.038836 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:12.038976 84886 bundle_adjustment.cc:942]
Residuals : 9372
Parameters : 2552
Iterations : 3
Time : 0.0364709 [s]
Initial cost : 0.718033 [px]
Final cost : 0.69323 [px]
Termination : Convergence
I20260707 08:18:12.054086 84886 incremental_mapper.cc:78] => Merged observations: 7
I20260707 08:18:12.054198 84886 incremental_mapper.cc:79] => Completed observations: 80
I20260707 08:18:12.054207 84886 incremental_mapper.cc:81] => Filtered observations: 4
I20260707 08:18:12.054210 84886 incremental_mapper.cc:90] => Changed observations: 0.017547
I20260707 08:18:12.067504 84886 misc.cc:198]
==============================================================================
Registering image #502 (77)
==============================================================================
I20260707 08:18:12.067605 84886 incremental_mapper.cc:495] => Image sees 618 / 2565 points
I20260707 08:18:12.082302 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:18:12.082389 84886 bundle_adjustment.cc:942]
Residuals : 1082
Parameters : 6
Iterations : 10
Time : 0.00873208 [s]
Initial cost : 0.806433 [px]
Final cost : 0.60502 [px]
Termination : Convergence
I20260707 08:18:12.083630 84886 incremental_mapper.cc:40] => Continued observations: 485
I20260707 08:18:12.090492 84886 incremental_mapper.cc:43] => Added observations: 798
I20260707 08:18:12.605545 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:12.605810 84886 bundle_adjustment.cc:942]
Residuals : 11362
Parameters : 2972
Iterations : 26
Time : 0.49052 [s]
Initial cost : 0.843619 [px]
Final cost : 0.794822 [px]
Termination : No convergence
I20260707 08:18:12.655716 84886 incremental_mapper.cc:78] => Merged observations: 28
I20260707 08:18:12.655835 84886 incremental_mapper.cc:79] => Completed observations: 108
I20260707 08:18:12.655843 84886 incremental_mapper.cc:81] => Filtered observations: 390
I20260707 08:18:12.655849 84886 incremental_mapper.cc:90] => Changed observations: 0.084921
I20260707 08:18:12.769840 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:12.769982 84886 bundle_adjustment.cc:942]
Residuals : 10644
Parameters : 2579
Iterations : 3
Time : 0.0882809 [s]
Initial cost : 0.724949 [px]
Final cost : 0.699214 [px]
Termination : Convergence
I20260707 08:18:12.808915 84886 incremental_mapper.cc:78] => Merged observations: 72
I20260707 08:18:12.809005 84886 incremental_mapper.cc:79] => Completed observations: 123
I20260707 08:18:12.809011 84886 incremental_mapper.cc:81] => Filtered observations: 3
I20260707 08:18:12.809016 84886 incremental_mapper.cc:90] => Changed observations: 0.033933
I20260707 08:18:12.818483 84886 misc.cc:198]
==============================================================================
Registering image #521 (78)
==============================================================================
I20260707 08:18:12.818535 84886 incremental_mapper.cc:495] => Image sees 630 / 1596 points
I20260707 08:18:12.827790 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:18:12.827826 84886 bundle_adjustment.cc:942]
Residuals : 1094
Parameters : 6
Iterations : 8
Time : 0.00506306 [s]
Initial cost : 0.561284 [px]
Final cost : 0.558162 [px]
Termination : Convergence
I20260707 08:18:12.828248 84886 incremental_mapper.cc:40] => Continued observations: 504
I20260707 08:18:12.833611 84886 incremental_mapper.cc:43] => Added observations: 574
I20260707 08:18:13.267575 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:13.267813 84886 bundle_adjustment.cc:942]
Residuals : 11282
Parameters : 2558
Iterations : 26
Time : 0.427669 [s]
Initial cost : 0.750557 [px]
Final cost : 0.705604 [px]
Termination : No convergence
I20260707 08:18:13.305218 84886 incremental_mapper.cc:78] => Merged observations: 48
I20260707 08:18:13.305363 84886 incremental_mapper.cc:79] => Completed observations: 90
I20260707 08:18:13.305382 84886 incremental_mapper.cc:81] => Filtered observations: 316
I20260707 08:18:13.305387 84886 incremental_mapper.cc:90] => Changed observations: 0.072815
I20260707 08:18:13.384821 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:13.384992 84886 bundle_adjustment.cc:942]
Residuals : 10674
Parameters : 2237
Iterations : 3
Time : 0.0628929 [s]
Initial cost : 0.701216 [px]
Final cost : 0.677599 [px]
Termination : Convergence
I20260707 08:18:13.415771 84886 incremental_mapper.cc:78] => Merged observations: 16
I20260707 08:18:13.415912 84886 incremental_mapper.cc:79] => Completed observations: 111
I20260707 08:18:13.415927 84886 incremental_mapper.cc:81] => Filtered observations: 2
I20260707 08:18:13.415932 84886 incremental_mapper.cc:90] => Changed observations: 0.021750
I20260707 08:18:13.426606 84886 misc.cc:198]
==============================================================================
Registering image #12 (79)
==============================================================================
I20260707 08:18:13.426700 84886 incremental_mapper.cc:495] => Image sees 527 / 2562 points
I20260707 08:18:13.437984 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:18:13.438076 84886 bundle_adjustment.cc:942]
Residuals : 836
Parameters : 6
Iterations : 10
Time : 0.0055759 [s]
Initial cost : 0.702067 [px]
Final cost : 0.66189 [px]
Termination : Convergence
I20260707 08:18:13.438994 84886 incremental_mapper.cc:40] => Continued observations: 403
I20260707 08:18:13.445083 84886 incremental_mapper.cc:43] => Added observations: 1003
I20260707 08:18:13.802124 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:13.802233 84886 bundle_adjustment.cc:942]
Residuals : 10150
Parameters : 2774
Iterations : 24
Time : 0.347405 [s]
Initial cost : 0.748291 [px]
Final cost : 0.693649 [px]
Termination : Convergence
I20260707 08:18:13.815519 84886 incremental_mapper.cc:78] => Merged observations: 13
I20260707 08:18:13.815599 84886 incremental_mapper.cc:79] => Completed observations: 115
I20260707 08:18:13.815606 84886 incremental_mapper.cc:81] => Filtered observations: 313
I20260707 08:18:13.815611 84886 incremental_mapper.cc:90] => Changed observations: 0.078792
I20260707 08:18:13.858937 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:13.859047 84886 bundle_adjustment.cc:942]
Residuals : 9686
Parameters : 2468
Iterations : 3
Time : 0.03528 [s]
Initial cost : 0.681118 [px]
Final cost : 0.652154 [px]
Termination : Convergence
I20260707 08:18:13.879940 84886 incremental_mapper.cc:78] => Merged observations: 7
I20260707 08:18:13.880074 84886 incremental_mapper.cc:79] => Completed observations: 71
I20260707 08:18:13.880090 84886 incremental_mapper.cc:81] => Filtered observations: 4
I20260707 08:18:13.880097 84886 incremental_mapper.cc:90] => Changed observations: 0.015233
I20260707 08:18:13.897683 84886 misc.cc:198]
==============================================================================
Registering image #1 (80)
==============================================================================
I20260707 08:18:13.897761 84886 incremental_mapper.cc:495] => Image sees 705 / 2108 points
I20260707 08:18:13.912959 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:18:13.913048 84886 bundle_adjustment.cc:942]
Residuals : 1204
Parameters : 6
Iterations : 8
Time : 0.00971603 [s]
Initial cost : 0.557919 [px]
Final cost : 0.534956 [px]
Termination : Convergence
I20260707 08:18:13.914057 84886 incremental_mapper.cc:40] => Continued observations: 577
I20260707 08:18:13.921155 84886 incremental_mapper.cc:43] => Added observations: 729
I20260707 08:18:14.375475 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:14.375584 84886 bundle_adjustment.cc:942]
Residuals : 12178
Parameters : 2747
Iterations : 26
Time : 0.446573 [s]
Initial cost : 0.734842 [px]
Final cost : 0.674265 [px]
Termination : No convergence
I20260707 08:18:14.404683 84886 incremental_mapper.cc:78] => Merged observations: 32
I20260707 08:18:14.404765 84886 incremental_mapper.cc:79] => Completed observations: 99
I20260707 08:18:14.404773 84886 incremental_mapper.cc:81] => Filtered observations: 306
I20260707 08:18:14.404778 84886 incremental_mapper.cc:90] => Changed observations: 0.068895
I20260707 08:18:14.471561 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:14.471690 84886 bundle_adjustment.cc:942]
Residuals : 11090
Parameters : 2450
Iterations : 3
Time : 0.050338 [s]
Initial cost : 0.661306 [px]
Final cost : 0.637981 [px]
Termination : Convergence
I20260707 08:18:14.505805 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:18:14.505932 84886 incremental_mapper.cc:79] => Completed observations: 85
I20260707 08:18:14.505942 84886 incremental_mapper.cc:81] => Filtered observations: 2
I20260707 08:18:14.505949 84886 incremental_mapper.cc:90] => Changed observations: 0.014347
I20260707 08:18:14.506080 84886 misc.cc:198]
==============================================================================
Retriangulation
==============================================================================
I20260707 08:18:14.560509 84886 incremental_mapper.cc:175] => Completed observations: 51
I20260707 08:18:14.629858 84886 incremental_mapper.cc:178] => Merged observations: 9
I20260707 08:18:14.629979 84886 incremental_mapper.cc:105] => Retriangulated observations: 82
I20260707 08:18:14.638573 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 9.249261e+04 0.00e+00 7.75e+04 0.00e+00 0.00e+00 1.00e+04 0 6.59e-02 3.32e-01
1 6.756155e+04 2.49e+04 1.70e+03 0.00e+00 9.90e-01 3.00e+04 1 8.18e-02 4.14e-01
2 6.745568e+04 1.06e+02 1.85e+02 1.23e+00 9.89e-01 9.00e+04 1 6.88e-02 4.83e-01
3 6.745538e+04 3.03e-01 2.11e+02 3.16e-01 1.00e+00 2.70e+05 1 1.19e-01 6.02e-01
4 6.745529e+04 9.06e-02 1.65e+02 1.35e-01 1.02e+00 8.10e+05 1 6.61e-02 6.68e-01
5 6.745527e+04 1.23e-02 7.07e+01 3.53e-02 1.05e+00 2.43e+06 1 4.51e-02 7.13e-01
6 6.745527e+04 1.89e-03 3.99e+01 3.55e-02 1.03e+00 7.29e+06 1 3.76e-02 7.51e-01
7 6.745527e+04 4.57e-04 2.69e+01 4.29e-02 1.02e+00 2.19e+07 1 3.40e-02 7.85e-01
8 6.745527e+04 4.53e-05 4.32e+00 2.08e-02 1.04e+00 6.56e+07 1 7.07e-02 8.56e-01
9 6.745527e+04 1.51e-06 8.08e-01 3.89e-03 1.11e+00 1.97e+08 1 8.05e-02 9.36e-01
I20260707 08:18:15.664796 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:15.664897 84886 bundle_adjustment.cc:942]
Residuals : 109794
Parameters : 38183
Iterations : 10
Time : 0.943901 [s]
Initial cost : 0.917834 [px]
Final cost : 0.783824 [px]
Termination : Convergence
I20260707 08:18:15.773761 84886 incremental_mapper.cc:175] => Completed observations: 36
I20260707 08:18:15.833703 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:18:15.845852 84886 incremental_mapper.cc:160] => Filtered observations: 202
I20260707 08:18:15.845923 84886 incremental_mapper.cc:119] => Changed observations: 0.004335
I20260707 08:18:15.845943 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 3.751023e+04 0.00e+00 3.92e+04 0.00e+00 0.00e+00 1.00e+04 0 1.54e-02 2.12e-01
1 3.691796e+04 5.92e+02 3.87e+02 0.00e+00 1.00e+00 3.00e+04 1 1.15e-01 3.28e-01
2 3.691744e+04 5.16e-01 1.55e+02 4.42e-01 1.00e+00 9.00e+04 1 6.11e-02 3.89e-01
3 3.691707e+04 3.69e-01 2.18e+02 7.66e-02 1.00e+00 2.70e+05 1 7.22e-02 4.61e-01
4 3.691682e+04 2.56e-01 2.74e+02 7.13e-02 1.00e+00 8.10e+05 1 8.47e-02 5.46e-01
5 3.691674e+04 7.82e-02 2.07e+02 5.18e-02 1.02e+00 2.43e+06 1 6.92e-02 6.15e-01
6 3.691673e+04 1.02e-02 9.82e+01 3.47e-02 1.03e+00 7.29e+06 1 8.84e-02 7.04e-01
7 3.691673e+04 6.75e-04 2.36e+01 3.56e-02 1.05e+00 2.19e+07 1 1.33e-01 8.37e-01
8 3.691673e+04 3.75e-05 3.70e+00 1.68e-02 1.06e+00 6.56e+07 1 9.35e-02 9.31e-01
9 3.691673e+04 1.13e-06 1.91e+00 3.10e-03 1.11e+00 1.97e+08 1 7.14e-02 1.00e+00
10 3.691673e+04 3.17e-08 2.54e-01 3.62e-04 1.20e+00 5.90e+08 1 5.59e-02 1.06e+00
I20260707 08:18:16.974427 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:16.974479 84886 bundle_adjustment.cc:942]
Residuals : 109406
Parameters : 38018
Iterations : 11
Time : 1.06439 [s]
Initial cost : 0.585537 [px]
Final cost : 0.580886 [px]
Termination : Convergence
I20260707 08:18:17.083654 84886 incremental_mapper.cc:175] => Completed observations: 31
I20260707 08:18:17.121170 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:18:17.143455 84886 incremental_mapper.cc:160] => Filtered observations: 9
I20260707 08:18:17.143555 84886 incremental_mapper.cc:119] => Changed observations: 0.000731
I20260707 08:18:17.143597 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 3.690915e+04 0.00e+00 4.74e+03 0.00e+00 0.00e+00 1.00e+04 0 6.21e-02 2.72e-01
1 3.683612e+04 7.30e+01 6.15e+01 0.00e+00 1.00e+00 3.00e+04 1 1.63e-01 4.35e-01
2 3.683606e+04 5.94e-02 2.65e+01 8.01e-02 1.01e+00 9.00e+04 1 7.34e-02 5.08e-01
3 3.683605e+04 6.27e-03 3.17e+01 2.49e-02 1.00e+00 2.70e+05 1 5.47e-02 5.63e-01
4 3.683605e+04 8.32e-03 5.40e+01 1.18e-02 1.00e+00 8.10e+05 1 5.71e-02 6.20e-01
5 3.683604e+04 5.93e-03 6.62e+01 1.30e-02 1.01e+00 2.43e+06 1 9.40e-02 7.14e-01
6 3.683604e+04 1.25e-03 3.45e+01 7.92e-03 1.02e+00 7.29e+06 1 1.51e-01 8.66e-01
7 3.683604e+04 9.06e-05 6.99e+00 4.29e-03 1.05e+00 2.19e+07 1 1.14e-01 9.80e-01
8 3.683604e+04 4.05e-06 1.57e+00 3.09e-03 1.07e+00 6.56e+07 1 7.51e-02 1.06e+00
9 3.683604e+04 1.12e-07 4.82e-01 7.02e-04 1.12e+00 1.97e+08 1 4.42e-02 1.10e+00
I20260707 08:18:18.372763 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:18.372809 84886 bundle_adjustment.cc:942]
Residuals : 109442
Parameters : 38006
Iterations : 10
Time : 1.10474 [s]
Initial cost : 0.580731 [px]
Final cost : 0.580156 [px]
Termination : Convergence
I20260707 08:18:18.402681 84886 incremental_mapper.cc:175] => Completed observations: 8
I20260707 08:18:18.424815 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:18:18.434068 84886 incremental_mapper.cc:160] => Filtered observations: 0
I20260707 08:18:18.434159 84886 incremental_mapper.cc:119] => Changed observations: 0.000146
I20260707 08:18:18.434201 84886 incremental_mapper.cc:167] => Filtered images: 0
I20260707 08:18:18.448207 84886 misc.cc:198]
==============================================================================
Registering image #23 (81)
==============================================================================
I20260707 08:18:18.448338 84886 incremental_mapper.cc:495] => Image sees 527 / 2457 points
I20260707 08:18:18.473886 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:18:18.474026 84886 bundle_adjustment.cc:942]
Residuals : 700
Parameters : 6
Iterations : 20
Time : 0.017626 [s]
Initial cost : 0.854142 [px]
Final cost : 0.754856 [px]
Termination : Convergence
I20260707 08:18:18.476076 84886 incremental_mapper.cc:40] => Continued observations: 333
I20260707 08:18:18.486840 84886 incremental_mapper.cc:43] => Added observations: 945
I20260707 08:18:18.801143 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:18.801187 84886 bundle_adjustment.cc:942]
Residuals : 13156
Parameters : 2957
Iterations : 26
Time : 0.286615 [s]
Initial cost : 0.767533 [px]
Final cost : 0.704978 [px]
Termination : No convergence
I20260707 08:18:18.808455 84886 incremental_mapper.cc:78] => Merged observations: 31
I20260707 08:18:18.808490 84886 incremental_mapper.cc:79] => Completed observations: 167
I20260707 08:18:18.808494 84886 incremental_mapper.cc:81] => Filtered observations: 355
I20260707 08:18:18.808496 84886 incremental_mapper.cc:90] => Changed observations: 0.077505
I20260707 08:18:18.842103 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:18.842154 84886 bundle_adjustment.cc:942]
Residuals : 12830
Parameters : 2828
Iterations : 3
Time : 0.0223329 [s]
Initial cost : 0.688901 [px]
Final cost : 0.662408 [px]
Termination : Convergence
I20260707 08:18:18.853336 84886 incremental_mapper.cc:78] => Merged observations: 24
I20260707 08:18:18.853415 84886 incremental_mapper.cc:79] => Completed observations: 60
I20260707 08:18:18.853421 84886 incremental_mapper.cc:81] => Filtered observations: 2
I20260707 08:18:18.853423 84886 incremental_mapper.cc:90] => Changed observations: 0.012412
I20260707 08:18:18.863294 84886 misc.cc:198]
==============================================================================
Registering image #27 (82)
==============================================================================
I20260707 08:18:18.863368 84886 incremental_mapper.cc:495] => Image sees 582 / 1885 points
I20260707 08:18:18.878667 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:18:18.878782 84886 bundle_adjustment.cc:942]
Residuals : 922
Parameters : 6
Iterations : 14
Time : 0.0101609 [s]
Initial cost : 0.647207 [px]
Final cost : 0.621605 [px]
Termination : Convergence
I20260707 08:18:18.880116 84886 incremental_mapper.cc:40] => Continued observations: 441
I20260707 08:18:18.884480 84886 incremental_mapper.cc:43] => Added observations: 559
I20260707 08:18:19.116613 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:19.116743 84886 bundle_adjustment.cc:942]
Residuals : 12234
Parameters : 2474
Iterations : 26
Time : 0.220558 [s]
Initial cost : 0.748001 [px]
Final cost : 0.699768 [px]
Termination : No convergence
I20260707 08:18:19.147586 84886 incremental_mapper.cc:78] => Merged observations: 12
I20260707 08:18:19.147696 84886 incremental_mapper.cc:79] => Completed observations: 113
I20260707 08:18:19.147703 84886 incremental_mapper.cc:81] => Filtered observations: 286
I20260707 08:18:19.147707 84886 incremental_mapper.cc:90] => Changed observations: 0.059265
I20260707 08:18:19.205240 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:19.205356 84886 bundle_adjustment.cc:942]
Residuals : 12336
Parameters : 2243
Iterations : 3
Time : 0.040273 [s]
Initial cost : 0.67181 [px]
Final cost : 0.652374 [px]
Termination : Convergence
I20260707 08:18:19.222797 84886 incremental_mapper.cc:78] => Merged observations: 37
I20260707 08:18:19.222884 84886 incremental_mapper.cc:79] => Completed observations: 61
I20260707 08:18:19.222890 84886 incremental_mapper.cc:81] => Filtered observations: 2
I20260707 08:18:19.222893 84886 incremental_mapper.cc:90] => Changed observations: 0.014892
I20260707 08:18:19.232110 84886 misc.cc:198]
==============================================================================
Registering image #483 (83)
==============================================================================
I20260707 08:18:19.232213 84886 incremental_mapper.cc:495] => Image sees 560 / 2919 points
I20260707 08:18:19.242601 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:18:19.242681 84886 bundle_adjustment.cc:942]
Residuals : 774
Parameters : 6
Iterations : 11
Time : 0.00403094 [s]
Initial cost : 0.82817 [px]
Final cost : 0.667919 [px]
Termination : Convergence
I20260707 08:18:19.243394 84886 incremental_mapper.cc:40] => Continued observations: 350
I20260707 08:18:19.246174 84886 incremental_mapper.cc:43] => Added observations: 723
I20260707 08:18:19.474599 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:19.474773 84886 bundle_adjustment.cc:942]
Residuals : 12036
Parameters : 2627
Iterations : 26
Time : 0.22112 [s]
Initial cost : 0.805418 [px]
Final cost : 0.770865 [px]
Termination : No convergence
I20260707 08:18:19.514626 84886 incremental_mapper.cc:78] => Merged observations: 21
I20260707 08:18:19.514731 84886 incremental_mapper.cc:79] => Completed observations: 110
I20260707 08:18:19.514752 84886 incremental_mapper.cc:81] => Filtered observations: 343
I20260707 08:18:19.514758 84886 incremental_mapper.cc:90] => Changed observations: 0.072234
I20260707 08:18:19.603008 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:19.603185 84886 bundle_adjustment.cc:942]
Residuals : 11506
Parameters : 2360
Iterations : 3
Time : 0.0668252 [s]
Initial cost : 0.755248 [px]
Final cost : 0.737109 [px]
Termination : Convergence
I20260707 08:18:19.638650 84886 incremental_mapper.cc:78] => Merged observations: 21
I20260707 08:18:19.638767 84886 incremental_mapper.cc:79] => Completed observations: 61
I20260707 08:18:19.638782 84886 incremental_mapper.cc:81] => Filtered observations: 2
I20260707 08:18:19.638787 84886 incremental_mapper.cc:90] => Changed observations: 0.013342
I20260707 08:18:19.653762 84886 misc.cc:198]
==============================================================================
Registering image #484 (84)
==============================================================================
I20260707 08:18:19.653863 84886 incremental_mapper.cc:495] => Image sees 633 / 2807 points
I20260707 08:18:19.672008 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:18:19.672154 84886 bundle_adjustment.cc:942]
Residuals : 1056
Parameters : 6
Iterations : 7
Time : 0.010237 [s]
Initial cost : 0.620609 [px]
Final cost : 0.615282 [px]
Termination : Convergence
I20260707 08:18:19.674165 84886 incremental_mapper.cc:40] => Continued observations: 476
I20260707 08:18:19.681854 84886 incremental_mapper.cc:43] => Added observations: 551
I20260707 08:18:20.189901 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:20.190061 84886 bundle_adjustment.cc:942]
Residuals : 12942
Parameters : 2585
Iterations : 25
Time : 0.48444 [s]
Initial cost : 0.778596 [px]
Final cost : 0.741496 [px]
Termination : Convergence
I20260707 08:18:20.229861 84886 incremental_mapper.cc:78] => Merged observations: 64
I20260707 08:18:20.229967 84886 incremental_mapper.cc:79] => Completed observations: 82
I20260707 08:18:20.229977 84886 incremental_mapper.cc:81] => Filtered observations: 334
I20260707 08:18:20.229981 84886 incremental_mapper.cc:90] => Changed observations: 0.068788
I20260707 08:18:20.301347 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:20.301494 84886 bundle_adjustment.cc:942]
Residuals : 12308
Parameters : 2288
Iterations : 2
Time : 0.0498781 [s]
Initial cost : 0.746508 [px]
Final cost : 0.72985 [px]
Termination : Convergence
I20260707 08:18:20.334075 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:18:20.334170 84886 incremental_mapper.cc:79] => Completed observations: 72
I20260707 08:18:20.334182 84886 incremental_mapper.cc:81] => Filtered observations: 5
I20260707 08:18:20.334187 84886 incremental_mapper.cc:90] => Changed observations: 0.011558
I20260707 08:18:20.345768 84886 misc.cc:198]
==============================================================================
Registering image #55 (85)
==============================================================================
I20260707 08:18:20.345837 84886 incremental_mapper.cc:495] => Image sees 685 / 1560 points
I20260707 08:18:20.366516 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:18:20.366636 84886 bundle_adjustment.cc:942]
Residuals : 1220
Parameters : 6
Iterations : 9
Time : 0.0141659 [s]
Initial cost : 0.681173 [px]
Final cost : 0.67788 [px]
Termination : Convergence
I20260707 08:18:20.369055 84886 incremental_mapper.cc:40] => Continued observations: 536
I20260707 08:18:20.376063 84886 incremental_mapper.cc:43] => Added observations: 802
I20260707 08:18:20.674397 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:20.674487 84886 bundle_adjustment.cc:942]
Residuals : 14112
Parameters : 2699
Iterations : 26
Time : 0.273154 [s]
Initial cost : 0.80035 [px]
Final cost : 0.759686 [px]
Termination : No convergence
I20260707 08:18:20.693895 84886 incremental_mapper.cc:78] => Merged observations: 114
I20260707 08:18:20.693958 84886 incremental_mapper.cc:79] => Completed observations: 131
I20260707 08:18:20.693964 84886 incremental_mapper.cc:81] => Filtered observations: 464
I20260707 08:18:20.693965 84886 incremental_mapper.cc:90] => Changed observations: 0.093032
I20260707 08:18:20.764967 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:20.765041 84886 bundle_adjustment.cc:942]
Residuals : 13276
Parameters : 2285
Iterations : 7
Time : 0.061754 [s]
Initial cost : 0.740793 [px]
Final cost : 0.718972 [px]
Termination : Convergence
I20260707 08:18:20.776875 84886 incremental_mapper.cc:78] => Merged observations: 13
I20260707 08:18:20.776918 84886 incremental_mapper.cc:79] => Completed observations: 101
I20260707 08:18:20.776922 84886 incremental_mapper.cc:81] => Filtered observations: 9
I20260707 08:18:20.776924 84886 incremental_mapper.cc:90] => Changed observations: 0.017442
I20260707 08:18:20.787241 84886 misc.cc:198]
==============================================================================
Registering image #76 (86)
==============================================================================
I20260707 08:18:20.787329 84886 incremental_mapper.cc:495] => Image sees 612 / 2327 points
I20260707 08:18:20.807346 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:18:20.807435 84886 bundle_adjustment.cc:942]
Residuals : 988
Parameters : 6
Iterations : 10
Time : 0.012008 [s]
Initial cost : 0.710292 [px]
Final cost : 0.690184 [px]
Termination : Convergence
I20260707 08:18:20.808773 84886 incremental_mapper.cc:40] => Continued observations: 420
I20260707 08:18:20.814018 84886 incremental_mapper.cc:43] => Added observations: 877
I20260707 08:18:20.987767 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:20.987818 84886 bundle_adjustment.cc:942]
Residuals : 12856
Parameters : 2528
Iterations : 26
Time : 0.162716 [s]
Initial cost : 0.895605 [px]
Final cost : 0.833253 [px]
Termination : No convergence
I20260707 08:18:20.993832 84886 incremental_mapper.cc:78] => Merged observations: 79
I20260707 08:18:20.993851 84886 incremental_mapper.cc:79] => Completed observations: 126
I20260707 08:18:20.993853 84886 incremental_mapper.cc:81] => Filtered observations: 462
I20260707 08:18:20.993855 84886 incremental_mapper.cc:90] => Changed observations: 0.095123
I20260707 08:18:21.069346 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:21.069387 84886 bundle_adjustment.cc:942]
Residuals : 12106
Parameters : 2165
Iterations : 9
Time : 0.067416 [s]
Initial cost : 0.781636 [px]
Final cost : 0.760569 [px]
Termination : Convergence
I20260707 08:18:21.077093 84886 incremental_mapper.cc:78] => Merged observations: 15
I20260707 08:18:21.077126 84886 incremental_mapper.cc:79] => Completed observations: 90
I20260707 08:18:21.077134 84886 incremental_mapper.cc:81] => Filtered observations: 8
I20260707 08:18:21.077138 84886 incremental_mapper.cc:90] => Changed observations: 0.017390
I20260707 08:18:21.082383 84886 misc.cc:198]
==============================================================================
Registering image #82 (87)
==============================================================================
I20260707 08:18:21.082424 84886 incremental_mapper.cc:495] => Image sees 537 / 2107 points
I20260707 08:18:21.094352 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:18:21.094472 84886 bundle_adjustment.cc:942]
Residuals : 892
Parameters : 6
Iterations : 16
Time : 0.00713706 [s]
Initial cost : 0.757133 [px]
Final cost : 0.729081 [px]
Termination : Convergence
I20260707 08:18:21.096006 84886 incremental_mapper.cc:40] => Continued observations: 389
I20260707 08:18:21.100010 84886 incremental_mapper.cc:43] => Added observations: 783
I20260707 08:18:21.422288 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:21.422420 84886 bundle_adjustment.cc:942]
Residuals : 11992
Parameters : 2438
Iterations : 26
Time : 0.301813 [s]
Initial cost : 0.900907 [px]
Final cost : 0.853196 [px]
Termination : No convergence
I20260707 08:18:21.452577 84886 incremental_mapper.cc:78] => Merged observations: 44
I20260707 08:18:21.452673 84886 incremental_mapper.cc:79] => Completed observations: 125
I20260707 08:18:21.452682 84886 incremental_mapper.cc:81] => Filtered observations: 452
I20260707 08:18:21.452685 84886 incremental_mapper.cc:90] => Changed observations: 0.092027
I20260707 08:18:21.515529 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:21.515663 84886 bundle_adjustment.cc:942]
Residuals : 11242
Parameters : 1958
Iterations : 3
Time : 0.0490291 [s]
Initial cost : 0.769162 [px]
Final cost : 0.745823 [px]
Termination : Convergence
I20260707 08:18:21.544221 84886 incremental_mapper.cc:78] => Merged observations: 44
I20260707 08:18:21.544330 84886 incremental_mapper.cc:79] => Completed observations: 57
I20260707 08:18:21.544337 84886 incremental_mapper.cc:81] => Filtered observations: 2
I20260707 08:18:21.544338 84886 incremental_mapper.cc:90] => Changed observations: 0.016605
I20260707 08:18:21.544409 84886 misc.cc:198]
==============================================================================
Retriangulation
==============================================================================
I20260707 08:18:21.580636 84886 incremental_mapper.cc:175] => Completed observations: 66
I20260707 08:18:21.626847 84886 incremental_mapper.cc:178] => Merged observations: 5
I20260707 08:18:21.626961 84886 incremental_mapper.cc:105] => Retriangulated observations: 329
I20260707 08:18:21.638851 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 2.318223e+05 0.00e+00 4.22e+04 0.00e+00 0.00e+00 1.00e+04 0 4.84e-02 3.85e-01
1 1.689686e+05 6.29e+04 1.73e+05 0.00e+00 9.99e-01 3.00e+04 1 1.06e-01 4.91e-01
2 1.680156e+05 9.53e+02 1.40e+05 4.45e+00 1.00e+00 9.00e+04 1 7.14e-02 5.63e-01
3 1.684041e+05 -3.88e+02 1.40e+05 7.43e+00 -2.26e+00 4.50e+04 1 3.67e-02 5.99e-01
4 1.678862e+05 1.29e+02 1.23e+06 6.03e+00 9.80e-01 1.35e+05 1 5.64e-02 6.56e-01
5 1.679224e+05 -3.63e+01 1.23e+06 3.08e+00 -6.98e-01 6.75e+04 1 4.70e-02 7.03e-01
6 1.678549e+05 3.13e+01 6.71e+06 2.39e+00 8.37e-01 9.74e+04 1 4.68e-02 7.50e-01
7 1.678428e+05 1.21e+01 9.88e+06 8.84e-01 7.45e-01 1.11e+05 1 5.20e-02 8.02e-01
8 1.678342e+05 8.61e+00 5.96e+06 4.00e-01 9.20e-01 2.71e+05 1 5.08e-02 8.53e-01
9 1.678273e+05 6.87e+00 1.69e+07 5.30e-01 8.50e-01 4.12e+05 1 4.17e-02 8.95e-01
10 1.678223e+05 4.98e+00 2.02e+07 4.08e-01 8.92e-01 7.97e+05 1 4.18e-02 9.36e-01
11 1.678197e+05 2.61e+00 4.39e+07 3.86e-01 7.92e-01 9.96e+05 1 8.61e-02 1.02e+00
12 1.678183e+05 1.43e+00 3.15e+07 2.55e-01 9.02e-01 2.08e+06 1 9.42e-02 1.12e+00
13 1.678177e+05 5.64e-01 5.57e+07 2.79e-01 8.08e-01 2.71e+06 1 9.73e-02 1.21e+00
14 1.678174e+05 2.82e-01 4.09e+07 1.53e-01 8.97e-01 5.45e+06 1 1.92e-01 1.41e+00
15 1.678173e+05 1.49e-01 6.10e+07 1.19e-01 8.71e-01 9.22e+06 1 1.79e-01 1.59e+00
16 1.678172e+05 8.11e-02 7.61e+07 5.75e-02 8.75e-01 1.59e+07 1 1.77e-01 1.76e+00
17 1.678172e+05 4.59e-02 9.67e+07 2.94e-02 8.80e-01 2.85e+07 1 1.83e-01 1.94e+00
18 1.678171e+05 2.63e-02 1.32e+08 1.59e-02 8.76e-01 4.96e+07 1 1.64e-01 2.11e+00
19 1.678171e+05 1.47e-02 1.74e+08 8.29e-03 8.75e-01 8.57e+07 1 1.63e-01 2.27e+00
20 1.678171e+05 8.33e-03 2.21e+08 5.79e-03 8.81e-01 1.54e+08 1 1.52e-01 2.42e+00
21 1.678171e+05 4.90e-03 3.04e+08 5.03e-03 8.78e-01 2.70e+08 1 1.36e-01 2.56e+00
W20260707 08:18:24.410992 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
22 1.678171e+05 0.00e+00 3.04e+08 0.00e+00 0.00e+00 1.35e+08 1 5.43e-02 2.61e+00
23 1.678171e+05 1.61e-03 1.07e+08 2.50e-04 9.69e-01 4.05e+08 1 8.05e-02 2.70e+00
W20260707 08:18:24.536407 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
24 1.678171e+05 0.00e+00 1.07e+08 0.00e+00 0.00e+00 2.02e+08 1 4.49e-02 2.74e+00
W20260707 08:18:24.571795 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
25 1.678171e+05 0.00e+00 1.07e+08 0.00e+00 0.00e+00 5.06e+07 1 3.52e-02 2.78e+00
26 1.678171e+05 2.81e-04 7.78e+06 1.27e-04 9.99e-01 1.52e+08 1 5.78e-02 2.83e+00
27 1.678171e+05 6.63e-04 2.05e+06 3.29e-03 1.00e+00 4.56e+08 1 5.30e-02 2.89e+00
W20260707 08:18:24.709864 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
28 1.678171e+05 0.00e+00 2.05e+06 0.00e+00 0.00e+00 2.28e+08 1 2.71e-02 2.91e+00
W20260707 08:18:24.732117 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
29 1.678171e+05 0.00e+00 2.05e+06 0.00e+00 0.00e+00 5.69e+07 1 2.22e-02 2.94e+00
30 1.678171e+05 1.77e-04 8.21e+04 1.44e-04 1.00e+00 1.71e+08 1 4.37e-02 2.98e+00
W20260707 08:18:24.796558 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
31 1.678171e+05 0.00e+00 8.21e+04 0.00e+00 0.00e+00 8.54e+07 1 2.08e-02 3.00e+00
32 1.678171e+05 2.35e-04 1.66e+04 1.95e-04 1.00e+00 2.56e+08 1 6.93e-02 3.07e+00
W20260707 08:18:24.887089 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
33 1.678171e+05 0.00e+00 1.66e+04 0.00e+00 0.00e+00 1.28e+08 1 2.11e-02 3.09e+00
W20260707 08:18:24.959100 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
34 1.678171e+05 0.00e+00 1.66e+04 0.00e+00 0.00e+00 3.20e+07 1 7.23e-02 3.16e+00
35 1.678171e+05 7.69e-05 7.70e+04 4.72e-05 1.00e+00 9.61e+07 1 2.03e-01 3.37e+00
36 1.678171e+05 2.60e-04 2.54e+04 3.73e-04 1.00e+00 2.88e+08 1 1.53e-01 3.52e+00
W20260707 08:18:25.399588 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
37 1.678171e+05 0.00e+00 2.54e+04 0.00e+00 0.00e+00 1.44e+08 1 8.39e-02 3.60e+00
W20260707 08:18:25.479885 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
38 1.678171e+05 0.00e+00 2.54e+04 0.00e+00 0.00e+00 3.60e+07 1 8.02e-02 3.68e+00
39 1.678171e+05 7.19e-05 6.35e+04 3.22e-05 1.00e+00 1.08e+08 1 1.43e-01 3.83e+00
W20260707 08:18:25.710724 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
40 1.678171e+05 0.00e+00 6.35e+04 0.00e+00 0.00e+00 5.40e+07 1 8.73e-02 3.91e+00
41 1.678171e+05 1.01e-04 7.57e+04 9.94e-05 1.00e+00 1.62e+08 1 2.00e-01 4.12e+00
W20260707 08:18:25.992604 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
42 1.678171e+05 0.00e+00 7.57e+04 0.00e+00 0.00e+00 8.11e+07 1 8.12e-02 4.20e+00
43 1.678171e+05 1.51e-04 2.39e+04 1.53e-04 1.00e+00 2.43e+08 1 1.72e-01 4.37e+00
W20260707 08:18:26.236857 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
44 1.678171e+05 0.00e+00 2.39e+04 0.00e+00 0.00e+00 1.22e+08 1 7.19e-02 4.44e+00
45 1.678171e+05 1.96e-04 9.96e+04 2.42e-04 1.00e+00 3.65e+08 1 1.32e-01 4.57e+00
W20260707 08:18:26.428311 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
46 1.678171e+05 0.00e+00 9.96e+04 0.00e+00 0.00e+00 1.82e+08 1 5.94e-02 4.63e+00
47 1.678171e+05 0.00e+00 9.96e+04 0.00e+00 0.00e+00 4.56e+07 1 5.46e-02 4.69e+00
48 1.678171e+05 6.06e-05 1.05e+05 3.88e-05 1.00e+00 1.37e+08 1 8.47e-02 4.77e+00
W20260707 08:18:26.617455 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
49 1.678171e+05 0.00e+00 1.05e+05 0.00e+00 0.00e+00 6.84e+07 1 4.97e-02 4.82e+00
W20260707 08:18:26.655874 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
50 1.678171e+05 0.00e+00 1.05e+05 0.00e+00 0.00e+00 1.71e+07 1 3.85e-02 4.86e+00
I20260707 08:18:26.672797 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:26.672874 84886 bundle_adjustment.cc:942]
Residuals : 123078
Parameters : 42398
Iterations : 51
Time : 4.87046 [s]
Initial cost : 1.37242 [px]
Final cost : 1.16769 [px]
Termination : No convergence
I20260707 08:18:26.733819 84886 incremental_mapper.cc:175] => Completed observations: 68
I20260707 08:18:26.754015 84886 incremental_mapper.cc:178] => Merged observations: 48
I20260707 08:18:26.762814 84886 incremental_mapper.cc:160] => Filtered observations: 685
I20260707 08:18:26.762843 84886 incremental_mapper.cc:119] => Changed observations: 0.013016
I20260707 08:18:26.762861 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 4.578862e+04 0.00e+00 7.71e+04 0.00e+00 0.00e+00 1.00e+04 0 3.18e-02 2.84e-01
1 4.393406e+04 1.85e+03 1.17e+05 0.00e+00 9.91e-01 3.00e+04 1 6.48e-02 3.49e-01
2 4.389834e+04 3.57e+01 1.54e+05 1.98e+01 9.98e-01 9.00e+04 1 7.50e-02 4.24e-01
3 4.389511e+04 3.23e+00 8.70e+04 3.31e+00 9.91e-01 2.70e+05 1 1.30e-01 5.54e-01
4 4.389434e+04 7.65e-01 8.57e+04 6.02e-01 9.99e-01 8.10e+05 1 1.69e-01 7.23e-01
5 4.389408e+04 2.60e-01 9.11e+04 1.28e-01 1.00e+00 2.43e+06 1 1.48e-01 8.72e-01
6 4.389388e+04 2.02e-01 3.29e+05 7.69e-02 1.00e+00 7.29e+06 1 9.49e-02 9.67e-01
7 4.389365e+04 2.25e-01 1.97e+06 7.64e-02 1.00e+00 2.19e+07 1 8.08e-02 1.05e+00
8 4.389352e+04 1.31e-01 4.76e+06 6.09e-02 1.00e+00 6.56e+07 1 6.01e-02 1.11e+00
9 4.389349e+04 3.38e-02 5.02e+06 1.08e-02 1.00e+00 1.97e+08 1 4.94e-02 1.16e+00
W20260707 08:18:28.052044 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
10 4.389349e+04 0.00e+00 5.02e+06 0.00e+00 0.00e+00 9.84e+07 1 2.25e-02 1.18e+00
W20260707 08:18:28.069519 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
11 4.389349e+04 0.00e+00 5.02e+06 0.00e+00 0.00e+00 2.46e+07 1 1.75e-02 1.20e+00
12 4.389348e+04 7.78e-03 1.03e+06 1.88e-03 1.00e+00 7.38e+07 1 3.56e-02 1.23e+00
13 4.389346e+04 2.52e-02 9.78e+05 1.41e-03 1.00e+00 2.21e+08 1 8.86e-02 1.32e+00
W20260707 08:18:28.252991 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
14 4.389346e+04 0.00e+00 9.78e+05 0.00e+00 0.00e+00 1.11e+08 1 5.92e-02 1.38e+00
W20260707 08:18:28.311281 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
15 4.389346e+04 0.00e+00 9.78e+05 0.00e+00 0.00e+00 2.77e+07 1 5.83e-02 1.44e+00
16 4.389343e+04 2.69e-02 3.05e+05 5.09e-04 1.00e+00 8.30e+07 1 8.86e-02 1.53e+00
17 4.389323e+04 1.97e-01 7.58e+05 4.68e-03 1.00e+00 2.49e+08 1 5.99e-02 1.59e+00
W20260707 08:18:28.491034 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
18 4.389323e+04 0.00e+00 7.58e+05 0.00e+00 0.00e+00 1.25e+08 1 3.10e-02 1.62e+00
19 4.388936e+04 3.87e+00 1.21e+06 1.25e-01 1.00e+00 3.74e+08 1 1.71e-01 1.79e+00
W20260707 08:18:28.738620 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
20 4.388936e+04 0.00e+00 1.21e+06 0.00e+00 0.00e+00 1.87e+08 1 7.65e-02 1.87e+00
W20260707 08:18:28.810014 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
21 4.388936e+04 0.00e+00 1.21e+06 0.00e+00 0.00e+00 4.67e+07 1 7.14e-02 1.94e+00
22 4.384417e+04 4.52e+01 7.56e+06 3.29e+00 9.86e-01 1.40e+08 1 1.07e-01 2.04e+00
W20260707 08:18:28.947403 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
23 4.384417e+04 0.00e+00 7.56e+06 0.00e+00 0.00e+00 7.01e+07 1 3.04e-02 2.08e+00
24 4.382961e+04 1.46e+01 1.64e+06 8.99e-01 9.48e-01 2.10e+08 1 4.49e-02 2.12e+00
W20260707 08:18:29.018249 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
25 4.382961e+04 0.00e+00 1.64e+06 0.00e+00 0.00e+00 1.05e+08 1 2.59e-02 2.15e+00
26 4.382061e+04 9.00e+00 5.63e+05 3.77e-01 9.76e-01 3.15e+08 1 4.76e-02 2.19e+00
W20260707 08:18:29.088549 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
27 4.382061e+04 0.00e+00 5.63e+05 0.00e+00 0.00e+00 1.58e+08 1 2.26e-02 2.22e+00
W20260707 08:18:29.109447 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
28 4.382061e+04 0.00e+00 5.63e+05 0.00e+00 0.00e+00 3.94e+07 1 2.09e-02 2.24e+00
29 4.381821e+04 2.40e+00 1.17e+05 1.28e-01 9.98e-01 1.18e+08 1 6.68e-02 2.30e+00
30 4.381411e+04 4.11e+00 2.91e+05 3.25e-01 9.98e-01 3.55e+08 1 5.86e-02 2.36e+00
31 4.380187e+04 1.22e+01 5.71e+05 6.88e-01 9.92e-01 1.06e+09 1 9.16e-02 2.45e+00
32 4.384568e+04 -4.38e+01 5.71e+05 7.84e+00 -2.67e-01 5.32e+08 1 6.25e-02 2.52e+00
33 4.381138e+04 -9.52e+00 5.71e+05 7.62e+00 -6.19e-02 1.33e+08 1 4.90e-02 2.57e+00
34 4.373640e+04 6.55e+01 3.04e+06 6.71e+00 5.15e-01 1.33e+08 1 1.01e-01 2.67e+00
35 4.372159e+04 1.48e+01 4.88e+05 3.26e+00 1.83e-01 1.06e+08 1 6.80e-02 2.74e+00
36 4.365215e+04 6.94e+01 1.07e+05 4.24e-01 9.40e-01 3.18e+08 1 1.02e-01 2.84e+00
37 4.363637e+04 1.58e+01 2.15e+04 6.80e-01 9.91e-01 9.54e+08 1 1.14e-01 2.95e+00
38 4.362793e+04 8.45e+00 7.59e+03 8.15e-01 9.98e-01 2.86e+09 1 1.31e-01 3.08e+00
39 4.362541e+04 2.51e+00 2.41e+03 6.09e-01 1.00e+00 8.58e+09 1 5.62e-02 3.14e+00
40 4.362447e+04 9.48e-01 4.36e+03 7.68e-01 1.00e+00 2.57e+10 1 9.99e-02 3.24e+00
41 4.362418e+04 2.89e-01 2.46e+03 5.99e-01 1.01e+00 7.72e+10 1 8.12e-02 3.32e+00
42 4.362415e+04 2.68e-02 2.79e+02 2.00e-01 1.03e+00 2.32e+11 1 7.29e-02 3.39e+00
43 4.362415e+04 8.21e-04 1.70e+01 3.38e-02 1.07e+00 6.95e+11 1 8.23e-02 3.47e+00
44 4.362415e+04 1.62e-05 4.53e+00 5.69e-03 1.17e+00 2.09e+12 1 9.22e-02 3.57e+00
45 4.362415e+04 6.96e-07 1.25e+00 1.19e-03 1.24e+00 6.26e+12 1 1.04e-01 3.67e+00
46 4.362415e+04 4.33e-08 3.00e-01 2.90e-04 1.26e+00 1.88e+13 1 6.69e-02 3.74e+00
I20260707 08:18:30.647101 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:30.647346 84886 bundle_adjustment.cc:942]
Residuals : 121768
Parameters : 41879
Iterations : 47
Time : 3.76076 [s]
Initial cost : 0.613214 [px]
Final cost : 0.598545 [px]
Termination : Convergence
I20260707 08:18:30.752979 84886 incremental_mapper.cc:175] => Completed observations: 111
I20260707 08:18:30.772993 84886 incremental_mapper.cc:178] => Merged observations: 10
I20260707 08:18:30.778373 84886 incremental_mapper.cc:160] => Filtered observations: 35
I20260707 08:18:30.778390 84886 incremental_mapper.cc:119] => Changed observations: 0.002562
I20260707 08:18:30.778403 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 4.375322e+04 0.00e+00 3.36e+03 0.00e+00 0.00e+00 1.00e+04 0 2.37e-02 3.61e-01
1 4.356986e+04 1.83e+02 3.99e+03 0.00e+00 1.00e+00 3.00e+04 1 7.05e-02 4.31e-01
2 4.356076e+04 9.10e+00 4.19e+03 4.07e+00 1.00e+00 9.00e+04 1 5.98e-02 4.91e-01
3 4.355710e+04 3.67e+00 6.21e+03 1.62e+00 9.97e-01 2.70e+05 1 1.02e-01 5.94e-01
4 4.355647e+04 6.23e-01 2.68e+03 4.54e-01 1.00e+00 8.10e+05 1 1.37e-01 7.30e-01
5 4.355638e+04 9.40e-02 3.09e+02 1.46e-01 1.01e+00 2.43e+06 1 8.62e-02 8.17e-01
6 4.355635e+04 2.54e-02 2.23e+02 9.20e-02 1.01e+00 7.29e+06 1 6.50e-02 8.82e-01
7 4.355635e+04 3.56e-03 1.07e+02 2.66e-02 1.03e+00 2.19e+07 1 5.21e-02 9.34e-01
8 4.355635e+04 1.77e-04 1.15e+01 1.16e-02 1.07e+00 6.56e+07 1 4.17e-02 9.76e-01
9 4.355635e+04 4.52e-06 1.06e+00 3.14e-03 1.12e+00 1.97e+08 1 6.59e-02 1.04e+00
10 4.355635e+04 1.07e-07 3.21e-01 4.56e-04 1.17e+00 5.90e+08 1 9.09e-02 1.13e+00
I20260707 08:18:32.048604 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:32.048676 84886 bundle_adjustment.cc:942]
Residuals : 121894
Parameters : 41843
Iterations : 11
Time : 1.13857 [s]
Initial cost : 0.59912 [px]
Final cost : 0.597771 [px]
Termination : Convergence
I20260707 08:18:32.252911 84886 incremental_mapper.cc:175] => Completed observations: 19
I20260707 08:18:32.343942 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:18:32.357578 84886 incremental_mapper.cc:160] => Filtered observations: 14
I20260707 08:18:32.357652 84886 incremental_mapper.cc:119] => Changed observations: 0.000541
I20260707 08:18:32.357677 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 4.355408e+04 0.00e+00 1.32e+03 0.00e+00 0.00e+00 1.00e+04 0 2.01e-02 4.09e-01
1 4.350359e+04 5.05e+01 2.48e+01 0.00e+00 9.99e-01 3.00e+04 1 1.00e-01 5.09e-01
2 4.350356e+04 3.06e-02 2.19e+01 1.27e-01 9.99e-01 9.00e+04 1 7.84e-02 5.87e-01
3 4.350355e+04 6.17e-03 3.00e+01 2.40e-02 1.00e+00 2.70e+05 1 4.84e-02 6.36e-01
4 4.350355e+04 2.09e-03 1.72e+01 8.89e-03 1.00e+00 8.10e+05 1 3.29e-02 6.69e-01
5 4.350355e+04 6.85e-04 5.96e+00 9.13e-03 1.00e+00 2.43e+06 1 1.00e-01 7.69e-01
6 4.350355e+04 2.38e-04 5.28e+00 1.56e-02 1.00e+00 7.29e+06 1 8.16e-02 8.50e-01
7 4.350355e+04 3.93e-05 2.43e+00 1.33e-02 1.01e+00 2.19e+07 1 7.03e-02 9.21e-01
8 4.350355e+04 2.10e-06 1.94e+00 4.86e-03 1.02e+00 6.56e+07 1 8.48e-02 1.01e+00
9 4.350355e+04 4.29e-08 1.84e-01 7.46e-04 1.09e+00 1.97e+08 1 1.32e-01 1.14e+00
I20260707 08:18:33.579609 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:33.579731 84886 bundle_adjustment.cc:942]
Residuals : 121898
Parameters : 41834
Iterations : 10
Time : 1.1535 [s]
Initial cost : 0.597745 [px]
Final cost : 0.597398 [px]
Termination : Convergence
I20260707 08:18:33.722492 84886 incremental_mapper.cc:175] => Completed observations: 4
I20260707 08:18:33.744210 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:18:33.752969 84886 incremental_mapper.cc:160] => Filtered observations: 8
I20260707 08:18:33.752998 84886 incremental_mapper.cc:119] => Changed observations: 0.000197
I20260707 08:18:33.753017 84886 incremental_mapper.cc:167] => Filtered images: 0
I20260707 08:18:33.758205 84886 misc.cc:198]
==============================================================================
Registering image #87 (88)
==============================================================================
I20260707 08:18:33.758229 84886 incremental_mapper.cc:495] => Image sees 713 / 1942 points
I20260707 08:18:33.768569 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:18:33.768606 84886 bundle_adjustment.cc:942]
Residuals : 1374
Parameters : 6
Iterations : 11
Time : 0.00586915 [s]
Initial cost : 0.687051 [px]
Final cost : 0.673004 [px]
Termination : Convergence
I20260707 08:18:33.769194 84886 incremental_mapper.cc:40] => Continued observations: 589
I20260707 08:18:33.772758 84886 incremental_mapper.cc:43] => Added observations: 725
I20260707 08:18:33.951445 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:33.951586 84886 bundle_adjustment.cc:942]
Residuals : 15092
Parameters : 3038
Iterations : 19
Time : 0.170126 [s]
Initial cost : 0.771084 [px]
Final cost : 0.743464 [px]
Termination : Convergence
I20260707 08:18:33.987972 84886 incremental_mapper.cc:78] => Merged observations: 80
I20260707 08:18:33.988113 84886 incremental_mapper.cc:79] => Completed observations: 104
I20260707 08:18:33.988124 84886 incremental_mapper.cc:81] => Filtered observations: 409
I20260707 08:18:33.988127 84886 incremental_mapper.cc:90] => Changed observations: 0.072832
I20260707 08:18:34.074962 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:34.075155 84886 bundle_adjustment.cc:942]
Residuals : 14356
Parameters : 2705
Iterations : 3
Time : 0.0670781 [s]
Initial cost : 0.779853 [px]
Final cost : 0.76087 [px]
Termination : Convergence
I20260707 08:18:34.110939 84886 incremental_mapper.cc:78] => Merged observations: 6
I20260707 08:18:34.111047 84886 incremental_mapper.cc:79] => Completed observations: 116
I20260707 08:18:34.111054 84886 incremental_mapper.cc:81] => Filtered observations: 9
I20260707 08:18:34.111057 84886 incremental_mapper.cc:90] => Changed observations: 0.016895
I20260707 08:18:34.121502 84886 misc.cc:198]
==============================================================================
Registering image #172 (89)
==============================================================================
I20260707 08:18:34.121587 84886 incremental_mapper.cc:495] => Image sees 334 / 2590 points
I20260707 08:18:34.131410 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:18:34.131512 84886 bundle_adjustment.cc:942]
Residuals : 402
Parameters : 6
Iterations : 27
Time : 0.00545788 [s]
Initial cost : 0.794441 [px]
Final cost : 0.782831 [px]
Termination : Convergence
I20260707 08:18:34.132001 84886 incremental_mapper.cc:40] => Continued observations: 198
I20260707 08:18:34.135607 84886 incremental_mapper.cc:43] => Added observations: 913
I20260707 08:18:34.350800 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:34.350951 84886 bundle_adjustment.cc:942]
Residuals : 9916
Parameters : 2729
Iterations : 26
Time : 0.203189 [s]
Initial cost : 0.759584 [px]
Final cost : 0.70606 [px]
Termination : No convergence
I20260707 08:18:34.380491 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:18:34.380604 84886 incremental_mapper.cc:79] => Completed observations: 153
I20260707 08:18:34.380614 84886 incremental_mapper.cc:81] => Filtered observations: 271
I20260707 08:18:34.380620 84886 incremental_mapper.cc:90] => Changed observations: 0.072590
I20260707 08:18:34.416814 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:34.416945 84886 bundle_adjustment.cc:942]
Residuals : 9572
Parameters : 2258
Iterations : 3
Time : 0.02707 [s]
Initial cost : 0.65068 [px]
Final cost : 0.624592 [px]
Termination : Convergence
I20260707 08:18:34.444586 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:18:34.444698 84886 incremental_mapper.cc:79] => Completed observations: 44
I20260707 08:18:34.444705 84886 incremental_mapper.cc:81] => Filtered observations: 2
I20260707 08:18:34.444708 84886 incremental_mapper.cc:90] => Changed observations: 0.008530
I20260707 08:18:34.458112 84886 misc.cc:198]
==============================================================================
Registering image #168 (90)
==============================================================================
I20260707 08:18:34.458236 84886 incremental_mapper.cc:495] => Image sees 496 / 3543 points
I20260707 08:18:34.470510 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:18:34.470691 84886 bundle_adjustment.cc:942]
Residuals : 796
Parameters : 6
Iterations : 8
Time : 0.00569892 [s]
Initial cost : 0.558275 [px]
Final cost : 0.52402 [px]
Termination : Convergence
I20260707 08:18:34.472221 84886 incremental_mapper.cc:40] => Continued observations: 390
I20260707 08:18:34.478749 84886 incremental_mapper.cc:43] => Added observations: 690
I20260707 08:18:34.771750 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:34.771829 84886 bundle_adjustment.cc:942]
Residuals : 10468
Parameters : 2558
Iterations : 26
Time : 0.275013 [s]
Initial cost : 0.635779 [px]
Final cost : 0.598746 [px]
Termination : No convergence
I20260707 08:18:34.784399 84886 incremental_mapper.cc:78] => Merged observations: 21
I20260707 08:18:34.784446 84886 incremental_mapper.cc:79] => Completed observations: 92
I20260707 08:18:34.784449 84886 incremental_mapper.cc:81] => Filtered observations: 179
I20260707 08:18:34.784452 84886 incremental_mapper.cc:90] => Changed observations: 0.047619
I20260707 08:18:34.815515 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:34.815580 84886 bundle_adjustment.cc:942]
Residuals : 10568
Parameters : 2405
Iterations : 3
Time : 0.0240059 [s]
Initial cost : 0.647686 [px]
Final cost : 0.631782 [px]
Termination : Convergence
I20260707 08:18:34.827411 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:18:34.827447 84886 incremental_mapper.cc:79] => Completed observations: 58
I20260707 08:18:34.827451 84886 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 08:18:34.827453 84886 incremental_mapper.cc:90] => Changed observations: 0.009385
I20260707 08:18:34.833540 84886 misc.cc:198]
==============================================================================
Registering image #180 (91)
==============================================================================
I20260707 08:18:34.833581 84886 incremental_mapper.cc:495] => Image sees 562 / 3176 points
I20260707 08:18:34.842896 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:18:34.842939 84886 bundle_adjustment.cc:942]
Residuals : 852
Parameters : 6
Iterations : 12
Time : 0.00559402 [s]
Initial cost : 0.684433 [px]
Final cost : 0.559327 [px]
Termination : Convergence
I20260707 08:18:34.843428 84886 incremental_mapper.cc:40] => Continued observations: 417
I20260707 08:18:34.847975 84886 incremental_mapper.cc:43] => Added observations: 771
I20260707 08:18:35.124308 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:35.124476 84886 bundle_adjustment.cc:942]
Residuals : 11066
Parameters : 2819
Iterations : 26
Time : 0.27022 [s]
Initial cost : 0.799897 [px]
Final cost : 0.737317 [px]
Termination : No convergence
I20260707 08:18:35.166311 84886 incremental_mapper.cc:78] => Merged observations: 49
I20260707 08:18:35.166419 84886 incremental_mapper.cc:79] => Completed observations: 93
I20260707 08:18:35.166428 84886 incremental_mapper.cc:81] => Filtered observations: 369
I20260707 08:18:35.166432 84886 incremental_mapper.cc:90] => Changed observations: 0.079151
I20260707 08:18:35.244944 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:35.245066 84886 bundle_adjustment.cc:942]
Residuals : 10406
Parameters : 2405
Iterations : 3
Time : 0.0583479 [s]
Initial cost : 0.65911 [px]
Final cost : 0.633799 [px]
Termination : Convergence
I20260707 08:18:35.268704 84886 incremental_mapper.cc:78] => Merged observations: 15
I20260707 08:18:35.268805 84886 incremental_mapper.cc:79] => Completed observations: 69
I20260707 08:18:35.268810 84886 incremental_mapper.cc:81] => Filtered observations: 5
I20260707 08:18:35.268812 84886 incremental_mapper.cc:90] => Changed observations: 0.014531
I20260707 08:18:35.281359 84886 misc.cc:198]
==============================================================================
Registering image #185 (92)
==============================================================================
I20260707 08:18:35.281431 84886 incremental_mapper.cc:495] => Image sees 648 / 3154 points
I20260707 08:18:35.290786 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:18:35.290885 84886 bundle_adjustment.cc:942]
Residuals : 1128
Parameters : 6
Iterations : 7
Time : 0.00433683 [s]
Initial cost : 0.597497 [px]
Final cost : 0.470442 [px]
Termination : Convergence
I20260707 08:18:35.291771 84886 incremental_mapper.cc:40] => Continued observations: 544
I20260707 08:18:35.302608 84886 incremental_mapper.cc:43] => Added observations: 1194
I20260707 08:18:35.542060 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:35.542102 84886 bundle_adjustment.cc:942]
Residuals : 13060
Parameters : 3191
Iterations : 26
Time : 0.228126 [s]
Initial cost : 0.69586 [px]
Final cost : 0.624425 [px]
Termination : No convergence
I20260707 08:18:35.552587 84886 incremental_mapper.cc:78] => Merged observations: 151
I20260707 08:18:35.552615 84886 incremental_mapper.cc:79] => Completed observations: 191
I20260707 08:18:35.552618 84886 incremental_mapper.cc:81] => Filtered observations: 294
I20260707 08:18:35.552620 84886 incremental_mapper.cc:90] => Changed observations: 0.085163
I20260707 08:18:35.597783 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:35.597937 84886 bundle_adjustment.cc:942]
Residuals : 12612
Parameters : 2801
Iterations : 3
Time : 0.035779 [s]
Initial cost : 0.62425 [px]
Final cost : 0.605927 [px]
Termination : Convergence
I20260707 08:18:35.630221 84886 incremental_mapper.cc:78] => Merged observations: 25
I20260707 08:18:35.630312 84886 incremental_mapper.cc:79] => Completed observations: 105
I20260707 08:18:35.630317 84886 incremental_mapper.cc:81] => Filtered observations: 8
I20260707 08:18:35.630321 84886 incremental_mapper.cc:90] => Changed observations: 0.019058
I20260707 08:18:35.639696 84886 misc.cc:198]
==============================================================================
Registering image #162 (93)
==============================================================================
I20260707 08:18:35.639762 84886 incremental_mapper.cc:495] => Image sees 694 / 2162 points
I20260707 08:18:35.648773 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:18:35.648840 84886 bundle_adjustment.cc:942]
Residuals : 1298
Parameters : 6
Iterations : 6
Time : 0.00452399 [s]
Initial cost : 0.491561 [px]
Final cost : 0.487836 [px]
Termination : Convergence
I20260707 08:18:35.649765 84886 incremental_mapper.cc:40] => Continued observations: 634
I20260707 08:18:35.657209 84886 incremental_mapper.cc:43] => Added observations: 586
I20260707 08:18:35.996236 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:35.996443 84886 bundle_adjustment.cc:942]
Residuals : 13654
Parameters : 2900
Iterations : 25
Time : 0.328564 [s]
Initial cost : 0.647668 [px]
Final cost : 0.595625 [px]
Termination : Convergence
I20260707 08:18:36.025746 84886 incremental_mapper.cc:78] => Merged observations: 55
I20260707 08:18:36.025797 84886 incremental_mapper.cc:79] => Completed observations: 169
I20260707 08:18:36.025801 84886 incremental_mapper.cc:81] => Filtered observations: 241
I20260707 08:18:36.025805 84886 incremental_mapper.cc:90] => Changed observations: 0.060888
I20260707 08:18:36.055177 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:36.055222 84886 bundle_adjustment.cc:942]
Residuals : 13366
Parameters : 2633
Iterations : 3
Time : 0.0229142 [s]
Initial cost : 0.617352 [px]
Final cost : 0.598619 [px]
Termination : Convergence
I20260707 08:18:36.065389 84886 incremental_mapper.cc:78] => Merged observations: 25
I20260707 08:18:36.065420 84886 incremental_mapper.cc:79] => Completed observations: 77
I20260707 08:18:36.065424 84886 incremental_mapper.cc:81] => Filtered observations: 3
I20260707 08:18:36.065428 84886 incremental_mapper.cc:90] => Changed observations: 0.014015
I20260707 08:18:36.070434 84886 misc.cc:198]
==============================================================================
Registering image #25 (94)
==============================================================================
I20260707 08:18:36.070461 84886 incremental_mapper.cc:495] => Image sees 344 / 1308 points
I20260707 08:18:36.077849 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:18:36.077888 84886 bundle_adjustment.cc:942]
Residuals : 360
Parameters : 6
Iterations : 12
Time : 0.00166702 [s]
Initial cost : 0.746333 [px]
Final cost : 0.741544 [px]
Termination : Convergence
I20260707 08:18:36.078051 84886 incremental_mapper.cc:40] => Continued observations: 176
I20260707 08:18:36.082810 84886 incremental_mapper.cc:43] => Added observations: 827
I20260707 08:18:36.415025 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:36.415148 84886 bundle_adjustment.cc:942]
Residuals : 9414
Parameters : 1883
Iterations : 26
Time : 0.320863 [s]
Initial cost : 0.775286 [px]
Final cost : 0.734479 [px]
Termination : No convergence
I20260707 08:18:36.430867 84886 incremental_mapper.cc:78] => Merged observations: 30
I20260707 08:18:36.430925 84886 incremental_mapper.cc:79] => Completed observations: 89
I20260707 08:18:36.430931 84886 incremental_mapper.cc:81] => Filtered observations: 223
I20260707 08:18:36.430936 84886 incremental_mapper.cc:90] => Changed observations: 0.062193
I20260707 08:18:36.485260 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:36.485334 84886 bundle_adjustment.cc:942]
Residuals : 9072
Parameters : 1667
Iterations : 3
Time : 0.043982 [s]
Initial cost : 0.736137 [px]
Final cost : 0.719367 [px]
Termination : Convergence
I20260707 08:18:36.497946 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:18:36.498030 84886 incremental_mapper.cc:79] => Completed observations: 25
I20260707 08:18:36.498037 84886 incremental_mapper.cc:81] => Filtered observations: 1
I20260707 08:18:36.498042 84886 incremental_mapper.cc:90] => Changed observations: 0.004850
I20260707 08:18:36.498097 84886 misc.cc:198]
==============================================================================
Retriangulation
==============================================================================
I20260707 08:18:36.556910 84886 incremental_mapper.cc:175] => Completed observations: 56
I20260707 08:18:36.631376 84886 incremental_mapper.cc:178] => Merged observations: 12
I20260707 08:18:36.631531 84886 incremental_mapper.cc:105] => Retriangulated observations: 82
I20260707 08:18:36.639454 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 8.144377e+04 0.00e+00 6.05e+04 0.00e+00 0.00e+00 1.00e+04 0 2.74e-02 2.95e-01
1 7.076317e+04 1.07e+04 1.08e+05 0.00e+00 1.01e+00 3.00e+04 1 1.29e-01 4.24e-01
2 7.059438e+04 1.69e+02 1.60e+05 1.62e+00 1.13e+00 9.00e+04 1 4.18e-02 4.66e-01
3 7.055391e+04 4.05e+01 2.55e+05 1.68e+00 9.98e-01 2.70e+05 1 7.74e-02 5.43e-01
4 7.054118e+04 1.27e+01 7.43e+04 9.20e-01 9.89e-01 8.10e+05 1 8.25e-02 6.26e-01
5 7.054005e+04 1.12e+00 6.59e+03 2.11e-01 1.04e+00 2.43e+06 1 5.57e-02 6.81e-01
6 7.053992e+04 1.30e-01 1.54e+03 1.48e-01 1.03e+00 7.29e+06 1 8.08e-02 7.62e-01
7 7.053990e+04 2.14e-02 4.17e+02 1.46e-01 1.02e+00 2.19e+07 1 1.19e-01 8.81e-01
8 7.053990e+04 2.05e-03 6.43e+01 8.11e-02 1.03e+00 6.56e+07 1 1.27e-01 1.01e+00
9 7.053990e+04 7.11e-05 9.82e+00 1.76e-02 1.06e+00 1.97e+08 1 5.25e-02 1.06e+00
10 7.053990e+04 1.36e-06 1.94e+00 2.26e-03 1.17e+00 5.90e+08 1 5.99e-02 1.12e+00
11 7.053990e+04 5.63e-08 3.85e-01 3.60e-04 1.23e+00 1.77e+09 1 9.26e-02 1.21e+00
I20260707 08:18:38.055984 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:38.056113 84886 bundle_adjustment.cc:942]
Residuals : 137306
Parameters : 46538
Iterations : 12
Time : 1.224 [s]
Initial cost : 0.770166 [px]
Final cost : 0.716758 [px]
Termination : Convergence
I20260707 08:18:38.251394 84886 incremental_mapper.cc:175] => Completed observations: 23
I20260707 08:18:38.295581 84886 incremental_mapper.cc:178] => Merged observations: 19
I20260707 08:18:38.326843 84886 incremental_mapper.cc:160] => Filtered observations: 167
I20260707 08:18:38.326897 84886 incremental_mapper.cc:119] => Changed observations: 0.003044
I20260707 08:18:38.326930 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 5.033249e+04 0.00e+00 1.98e+05 0.00e+00 0.00e+00 1.00e+04 0 7.83e-02 4.92e-01
1 5.006107e+04 2.71e+02 1.11e+04 0.00e+00 1.00e+00 3.00e+04 1 1.17e-01 6.09e-01
2 5.005697e+04 4.10e+00 4.15e+03 3.59e-01 1.02e+00 9.00e+04 1 8.26e-02 6.91e-01
3 5.005444e+04 2.53e+00 2.29e+03 5.74e-01 1.08e+00 2.70e+05 1 8.15e-02 7.73e-01
4 5.005363e+04 8.16e-01 8.18e+02 4.06e-01 1.17e+00 8.10e+05 1 8.58e-02 8.59e-01
5 5.005346e+04 1.67e-01 3.10e+02 1.31e-01 1.23e+00 2.43e+06 1 6.00e-02 9.19e-01
6 5.005343e+04 2.95e-02 1.39e+02 4.92e-02 1.24e+00 7.29e+06 1 6.09e-02 9.80e-01
7 5.005343e+04 4.63e-03 7.14e+01 2.04e-02 1.25e+00 2.19e+07 1 7.81e-02 1.06e+00
8 5.005342e+04 7.11e-04 1.94e+01 7.17e-03 1.23e+00 6.56e+07 1 7.79e-02 1.14e+00
9 5.005342e+04 8.58e-05 7.32e+00 1.95e-03 1.29e+00 1.97e+08 1 8.83e-02 1.22e+00
10 5.005342e+04 1.03e-05 2.77e+00 6.03e-04 1.37e+00 5.90e+08 1 1.11e-01 1.34e+00
11 5.005342e+04 1.45e-06 1.58e+00 2.30e-04 1.38e+00 1.77e+09 1 5.75e-02 1.39e+00
12 5.005342e+04 2.08e-07 9.79e-01 8.66e-05 1.38e+00 5.31e+09 1 4.75e-02 1.44e+00
I20260707 08:18:39.934685 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:39.934760 84886 bundle_adjustment.cc:942]
Residuals : 136970
Parameters : 46394
Iterations : 13
Time : 1.44942 [s]
Initial cost : 0.606194 [px]
Final cost : 0.604511 [px]
Termination : Convergence
I20260707 08:18:40.018774 84886 incremental_mapper.cc:175] => Completed observations: 21
I20260707 08:18:40.058885 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:18:40.075523 84886 incremental_mapper.cc:160] => Filtered observations: 15
I20260707 08:18:40.075573 84886 incremental_mapper.cc:119] => Changed observations: 0.000526
I20260707 08:18:40.075603 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 5.005351e+04 0.00e+00 1.89e+03 0.00e+00 0.00e+00 1.00e+04 0 1.95e-02 2.40e-01
1 5.000494e+04 4.86e+01 2.04e+02 0.00e+00 1.00e+00 3.00e+04 1 7.86e-02 3.19e-01
2 5.000473e+04 2.13e-01 1.60e+02 4.58e-01 1.00e+00 9.00e+04 1 5.68e-02 3.76e-01
3 5.000466e+04 7.27e-02 1.29e+02 2.94e-01 1.00e+00 2.70e+05 1 4.91e-02 4.25e-01
4 5.000464e+04 1.60e-02 8.92e+01 1.26e-01 9.95e-01 8.10e+05 1 4.73e-02 4.72e-01
5 5.000464e+04 5.97e-03 6.89e+01 2.18e-02 9.98e-01 2.43e+06 1 4.52e-02 5.18e-01
6 5.000463e+04 5.01e-03 1.38e+02 1.66e-02 1.00e+00 7.29e+06 1 4.23e-02 5.60e-01
7 5.000463e+04 4.86e-03 1.71e+02 1.27e-02 1.00e+00 2.19e+07 1 4.19e-02 6.02e-01
8 5.000462e+04 2.67e-03 2.27e+02 1.69e-02 1.00e+00 6.56e+07 1 5.33e-02 6.55e-01
9 5.000462e+04 6.14e-04 9.03e+01 1.03e-02 1.00e+00 1.97e+08 1 5.56e-02 7.11e-01
10 5.000462e+04 5.08e-05 1.49e+01 3.41e-03 1.00e+00 5.90e+08 1 4.74e-02 7.58e-01
11 5.000462e+04 1.06e-06 1.87e+00 5.75e-04 1.00e+00 1.77e+09 1 4.67e-02 8.05e-01
12 5.000462e+04 4.26e-09 5.91e-01 5.30e-05 1.03e+00 5.31e+09 1 4.03e-02 8.46e-01
I20260707 08:18:41.081246 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:41.081290 84886 bundle_adjustment.cc:942]
Residuals : 136970
Parameters : 46379
Iterations : 13
Time : 0.851508 [s]
Initial cost : 0.604511 [px]
Final cost : 0.604216 [px]
Termination : Convergence
I20260707 08:18:41.128034 84886 incremental_mapper.cc:175] => Completed observations: 4
I20260707 08:18:41.144984 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:18:41.152586 84886 incremental_mapper.cc:160] => Filtered observations: 2
I20260707 08:18:41.152623 84886 incremental_mapper.cc:119] => Changed observations: 0.000088
I20260707 08:18:41.152639 84886 incremental_mapper.cc:167] => Filtered images: 0
I20260707 08:18:41.158094 84886 misc.cc:198]
==============================================================================
Registering image #92 (95)
==============================================================================
I20260707 08:18:41.158124 84886 incremental_mapper.cc:495] => Image sees 384 / 1295 points
I20260707 08:18:41.165663 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:18:41.165699 84886 bundle_adjustment.cc:942]
Residuals : 538
Parameters : 6
Iterations : 13
Time : 0.00370216 [s]
Initial cost : 0.655865 [px]
Final cost : 0.621665 [px]
Termination : Convergence
I20260707 08:18:41.166023 84886 incremental_mapper.cc:40] => Continued observations: 253
I20260707 08:18:41.169320 84886 incremental_mapper.cc:43] => Added observations: 453
I20260707 08:18:41.274108 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:41.274152 84886 bundle_adjustment.cc:942]
Residuals : 9196
Parameters : 1697
Iterations : 26
Time : 0.0990901 [s]
Initial cost : 0.774789 [px]
Final cost : 0.743568 [px]
Termination : No convergence
I20260707 08:18:41.280484 84886 incremental_mapper.cc:78] => Merged observations: 22
I20260707 08:18:41.280508 84886 incremental_mapper.cc:79] => Completed observations: 31
I20260707 08:18:41.280511 84886 incremental_mapper.cc:81] => Filtered observations: 208
I20260707 08:18:41.280514 84886 incremental_mapper.cc:90] => Changed observations: 0.048867
I20260707 08:18:41.295857 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:41.295889 84886 bundle_adjustment.cc:942]
Residuals : 8732
Parameters : 1496
Iterations : 3
Time : 0.0116658 [s]
Initial cost : 0.771802 [px]
Final cost : 0.760319 [px]
Termination : Convergence
I20260707 08:18:41.301513 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:18:41.301533 84886 incremental_mapper.cc:79] => Completed observations: 36
I20260707 08:18:41.301537 84886 incremental_mapper.cc:81] => Filtered observations: 5
I20260707 08:18:41.301539 84886 incremental_mapper.cc:90] => Changed observations: 0.008027
I20260707 08:18:41.306739 84886 misc.cc:198]
==============================================================================
Registering image #518 (96)
==============================================================================
I20260707 08:18:41.306758 84886 incremental_mapper.cc:495] => Image sees 472 / 1133 points
I20260707 08:18:41.313787 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:18:41.313812 84886 bundle_adjustment.cc:942]
Residuals : 750
Parameters : 6
Iterations : 12
Time : 0.00330091 [s]
Initial cost : 0.676369 [px]
Final cost : 0.621075 [px]
Termination : Convergence
I20260707 08:18:41.314071 84886 incremental_mapper.cc:40] => Continued observations: 356
I20260707 08:18:41.315924 84886 incremental_mapper.cc:43] => Added observations: 434
I20260707 08:18:41.451540 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:41.451581 84886 bundle_adjustment.cc:942]
Residuals : 12360
Parameters : 1790
Iterations : 26
Time : 0.130395 [s]
Initial cost : 0.751021 [px]
Final cost : 0.693876 [px]
Termination : No convergence
I20260707 08:18:41.458994 84886 incremental_mapper.cc:78] => Merged observations: 46
I20260707 08:18:41.459015 84886 incremental_mapper.cc:79] => Completed observations: 56
I20260707 08:18:41.459018 84886 incremental_mapper.cc:81] => Filtered observations: 234
I20260707 08:18:41.459021 84886 incremental_mapper.cc:90] => Changed observations: 0.049734
I20260707 08:18:41.480715 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:41.480751 84886 bundle_adjustment.cc:942]
Residuals : 11920
Parameters : 1529
Iterations : 3
Time : 0.0166891 [s]
Initial cost : 0.720974 [px]
Final cost : 0.709389 [px]
Termination : Convergence
I20260707 08:18:41.487457 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:18:41.487478 84886 incremental_mapper.cc:79] => Completed observations: 26
I20260707 08:18:41.487481 84886 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 08:18:41.487484 84886 incremental_mapper.cc:90] => Changed observations: 0.003977
I20260707 08:18:41.491808 84886 misc.cc:198]
==============================================================================
Registering image #74 (97)
==============================================================================
I20260707 08:18:41.491832 84886 incremental_mapper.cc:495] => Image sees 470 / 1868 points
I20260707 08:18:41.497134 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:18:41.497160 84886 bundle_adjustment.cc:942]
Residuals : 764
Parameters : 6
Iterations : 9
Time : 0.00272989 [s]
Initial cost : 0.652282 [px]
Final cost : 0.632591 [px]
Termination : Convergence
I20260707 08:18:41.497437 84886 incremental_mapper.cc:40] => Continued observations: 336
I20260707 08:18:41.500487 84886 incremental_mapper.cc:43] => Added observations: 810
I20260707 08:18:41.624975 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:41.625017 84886 bundle_adjustment.cc:942]
Residuals : 11038
Parameters : 2108
Iterations : 26
Time : 0.119152 [s]
Initial cost : 0.942399 [px]
Final cost : 0.881981 [px]
Termination : No convergence
I20260707 08:18:41.631856 84886 incremental_mapper.cc:78] => Merged observations: 34
I20260707 08:18:41.631880 84886 incremental_mapper.cc:79] => Completed observations: 77
I20260707 08:18:41.631883 84886 incremental_mapper.cc:81] => Filtered observations: 398
I20260707 08:18:41.631886 84886 incremental_mapper.cc:90] => Changed observations: 0.077698
I20260707 08:18:41.654152 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:41.654181 84886 bundle_adjustment.cc:942]
Residuals : 10272
Parameters : 1664
Iterations : 4
Time : 0.0179439 [s]
Initial cost : 0.825557 [px]
Final cost : 0.809397 [px]
Termination : Convergence
I20260707 08:18:41.660487 84886 incremental_mapper.cc:78] => Merged observations: 41
I20260707 08:18:41.660506 84886 incremental_mapper.cc:79] => Completed observations: 96
I20260707 08:18:41.660509 84886 incremental_mapper.cc:81] => Filtered observations: 5
I20260707 08:18:41.660511 84886 incremental_mapper.cc:90] => Changed observations: 0.023026
I20260707 08:18:41.665066 84886 misc.cc:198]
==============================================================================
Registering image #77 (98)
==============================================================================
I20260707 08:18:41.665087 84886 incremental_mapper.cc:495] => Image sees 385 / 1019 points
I20260707 08:18:41.671697 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:18:41.671718 84886 bundle_adjustment.cc:942]
Residuals : 590
Parameters : 6
Iterations : 17
Time : 0.00340581 [s]
Initial cost : 0.667734 [px]
Final cost : 0.649224 [px]
Termination : Convergence
I20260707 08:18:41.671895 84886 incremental_mapper.cc:40] => Continued observations: 261
I20260707 08:18:41.673430 84886 incremental_mapper.cc:43] => Added observations: 382
I20260707 08:18:41.747008 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:41.747040 84886 bundle_adjustment.cc:942]
Residuals : 7104
Parameters : 1439
Iterations : 26
Time : 0.0704989 [s]
Initial cost : 0.812973 [px]
Final cost : 0.768909 [px]
Termination : No convergence
I20260707 08:18:41.751696 84886 incremental_mapper.cc:78] => Merged observations: 9
I20260707 08:18:41.751713 84886 incremental_mapper.cc:79] => Completed observations: 33
I20260707 08:18:41.751715 84886 incremental_mapper.cc:81] => Filtered observations: 176
I20260707 08:18:41.751717 84886 incremental_mapper.cc:90] => Changed observations: 0.051054
I20260707 08:18:41.763353 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:41.763374 84886 bundle_adjustment.cc:942]
Residuals : 6714
Parameters : 1181
Iterations : 3
Time : 0.00852489 [s]
Initial cost : 0.839334 [px]
Final cost : 0.826848 [px]
Termination : Convergence
I20260707 08:18:41.767736 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:18:41.767747 84886 incremental_mapper.cc:79] => Completed observations: 37
I20260707 08:18:41.767750 84886 incremental_mapper.cc:81] => Filtered observations: 3
I20260707 08:18:41.767763 84886 incremental_mapper.cc:90] => Changed observations: 0.009350
I20260707 08:18:41.772406 84886 misc.cc:198]
==============================================================================
Registering image #6 (99)
==============================================================================
I20260707 08:18:41.772419 84886 incremental_mapper.cc:495] => Image sees 412 / 1176 points
I20260707 08:18:41.777312 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:18:41.777335 84886 bundle_adjustment.cc:942]
Residuals : 590
Parameters : 6
Iterations : 9
Time : 0.0019021 [s]
Initial cost : 0.587529 [px]
Final cost : 0.582407 [px]
Termination : Convergence
I20260707 08:18:41.777532 84886 incremental_mapper.cc:40] => Continued observations: 285
I20260707 08:18:41.779457 84886 incremental_mapper.cc:43] => Added observations: 520
I20260707 08:18:41.880692 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:41.880726 84886 bundle_adjustment.cc:942]
Residuals : 10458
Parameters : 1607
Iterations : 23
Time : 0.0967231 [s]
Initial cost : 0.770242 [px]
Final cost : 0.717762 [px]
Termination : Convergence
I20260707 08:18:41.886655 84886 incremental_mapper.cc:78] => Merged observations: 62
I20260707 08:18:41.886675 84886 incremental_mapper.cc:79] => Completed observations: 106
I20260707 08:18:41.886678 84886 incremental_mapper.cc:81] => Filtered observations: 225
I20260707 08:18:41.886680 84886 incremental_mapper.cc:90] => Changed observations: 0.065785
I20260707 08:18:41.903023 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:41.903050 84886 bundle_adjustment.cc:942]
Residuals : 9854
Parameters : 1307
Iterations : 3
Time : 0.0123632 [s]
Initial cost : 0.65906 [px]
Final cost : 0.644308 [px]
Termination : Convergence
I20260707 08:18:41.907992 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:18:41.908008 84886 incremental_mapper.cc:79] => Completed observations: 33
I20260707 08:18:41.908011 84886 incremental_mapper.cc:81] => Filtered observations: 2
I20260707 08:18:41.908013 84886 incremental_mapper.cc:90] => Changed observations: 0.005996
I20260707 08:18:41.912271 84886 misc.cc:198]
==============================================================================
Registering image #56 (100)
==============================================================================
I20260707 08:18:41.912289 84886 incremental_mapper.cc:495] => Image sees 442 / 1046 points
I20260707 08:18:41.919466 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:18:41.919486 84886 bundle_adjustment.cc:942]
Residuals : 782
Parameters : 6
Iterations : 14
Time : 0.00368714 [s]
Initial cost : 0.681081 [px]
Final cost : 0.659691 [px]
Termination : Convergence
I20260707 08:18:41.919759 84886 incremental_mapper.cc:40] => Continued observations: 340
I20260707 08:18:41.921195 84886 incremental_mapper.cc:43] => Added observations: 294
I20260707 08:18:41.981448 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:41.981480 84886 bundle_adjustment.cc:942]
Residuals : 10114
Parameters : 1409
Iterations : 14
Time : 0.055933 [s]
Initial cost : 0.750295 [px]
Final cost : 0.718629 [px]
Termination : Convergence
I20260707 08:18:41.987136 84886 incremental_mapper.cc:78] => Merged observations: 38
I20260707 08:18:41.987152 84886 incremental_mapper.cc:79] => Completed observations: 72
I20260707 08:18:41.987155 84886 incremental_mapper.cc:81] => Filtered observations: 200
I20260707 08:18:41.987157 84886 incremental_mapper.cc:90] => Changed observations: 0.053894
I20260707 08:18:42.002579 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:42.002600 84886 bundle_adjustment.cc:942]
Residuals : 9826
Parameters : 1241
Iterations : 3
Time : 0.0117848 [s]
Initial cost : 0.798558 [px]
Final cost : 0.782856 [px]
Termination : Convergence
I20260707 08:18:42.007752 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:18:42.007771 84886 incremental_mapper.cc:79] => Completed observations: 28
I20260707 08:18:42.007773 84886 incremental_mapper.cc:81] => Filtered observations: 1
I20260707 08:18:42.007776 84886 incremental_mapper.cc:90] => Changed observations: 0.005172
I20260707 08:18:42.011794 84886 misc.cc:198]
==============================================================================
Registering image #40 (101)
==============================================================================
I20260707 08:18:42.011806 84886 incremental_mapper.cc:495] => Image sees 474 / 959 points
I20260707 08:18:42.019598 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:18:42.019618 84886 bundle_adjustment.cc:942]
Residuals : 832
Parameters : 6
Iterations : 15
Time : 0.00433898 [s]
Initial cost : 0.745643 [px]
Final cost : 0.637012 [px]
Termination : Convergence
I20260707 08:18:42.019891 84886 incremental_mapper.cc:40] => Continued observations: 373
I20260707 08:18:42.021950 84886 incremental_mapper.cc:43] => Added observations: 418
I20260707 08:18:42.093824 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:42.093858 84886 bundle_adjustment.cc:942]
Residuals : 10018
Parameters : 1574
Iterations : 19
Time : 0.067791 [s]
Initial cost : 0.780652 [px]
Final cost : 0.744332 [px]
Termination : Convergence
I20260707 08:18:42.100215 84886 incremental_mapper.cc:78] => Merged observations: 42
I20260707 08:18:42.100239 84886 incremental_mapper.cc:79] => Completed observations: 69
I20260707 08:18:42.100241 84886 incremental_mapper.cc:81] => Filtered observations: 243
I20260707 08:18:42.100243 84886 incremental_mapper.cc:90] => Changed observations: 0.060554
I20260707 08:18:42.117717 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:42.117753 84886 bundle_adjustment.cc:942]
Residuals : 9612
Parameters : 1367
Iterations : 3
Time : 0.0130939 [s]
Initial cost : 0.803643 [px]
Final cost : 0.783933 [px]
Termination : Convergence
I20260707 08:18:42.124696 84886 incremental_mapper.cc:78] => Merged observations: 23
I20260707 08:18:42.124719 84886 incremental_mapper.cc:79] => Completed observations: 79
I20260707 08:18:42.124722 84886 incremental_mapper.cc:81] => Filtered observations: 5
I20260707 08:18:42.124724 84886 incremental_mapper.cc:90] => Changed observations: 0.018641
I20260707 08:18:42.129087 84886 misc.cc:198]
==============================================================================
Registering image #137 (102)
==============================================================================
I20260707 08:18:42.129110 84886 incremental_mapper.cc:495] => Image sees 398 / 1171 points
I20260707 08:18:42.135557 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:18:42.135583 84886 bundle_adjustment.cc:942]
Residuals : 620
Parameters : 6
Iterations : 14
Time : 0.00329804 [s]
Initial cost : 0.702245 [px]
Final cost : 0.663486 [px]
Termination : Convergence
I20260707 08:18:42.135780 84886 incremental_mapper.cc:40] => Continued observations: 294
I20260707 08:18:42.138449 84886 incremental_mapper.cc:43] => Added observations: 379
I20260707 08:18:42.239507 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:42.239539 84886 bundle_adjustment.cc:942]
Residuals : 11130
Parameters : 1418
Iterations : 21
Time : 0.0963449 [s]
Initial cost : 0.72175 [px]
Final cost : 0.681346 [px]
Termination : Convergence
I20260707 08:18:42.246050 84886 incremental_mapper.cc:78] => Merged observations: 27
I20260707 08:18:42.246070 84886 incremental_mapper.cc:79] => Completed observations: 82
I20260707 08:18:42.246073 84886 incremental_mapper.cc:81] => Filtered observations: 198
I20260707 08:18:42.246075 84886 incremental_mapper.cc:90] => Changed observations: 0.048362
I20260707 08:18:42.264168 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:42.264194 84886 bundle_adjustment.cc:942]
Residuals : 10870
Parameters : 1283
Iterations : 3
Time : 0.014004 [s]
Initial cost : 0.753059 [px]
Final cost : 0.736287 [px]
Termination : Convergence
I20260707 08:18:42.270255 84886 incremental_mapper.cc:78] => Merged observations: 28
I20260707 08:18:42.270270 84886 incremental_mapper.cc:79] => Completed observations: 51
I20260707 08:18:42.270273 84886 incremental_mapper.cc:81] => Filtered observations: 1
I20260707 08:18:42.270275 84886 incremental_mapper.cc:90] => Changed observations: 0.012868
I20260707 08:18:42.274320 84886 misc.cc:198]
==============================================================================
Registering image #70 (103)
==============================================================================
I20260707 08:18:42.274336 84886 incremental_mapper.cc:495] => Image sees 524 / 1079 points
I20260707 08:18:42.282711 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:18:42.282732 84886 bundle_adjustment.cc:942]
Residuals : 946
Parameters : 6
Iterations : 8
Time : 0.00255013 [s]
Initial cost : 0.687913 [px]
Final cost : 0.683407 [px]
Termination : Convergence
I20260707 08:18:42.282979 84886 incremental_mapper.cc:40] => Continued observations: 384
I20260707 08:18:42.284862 84886 incremental_mapper.cc:43] => Added observations: 511
I20260707 08:18:42.419941 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:42.419979 84886 bundle_adjustment.cc:942]
Residuals : 11724
Parameters : 1739
Iterations : 26
Time : 0.130731 [s]
Initial cost : 0.88073 [px]
Final cost : 0.836744 [px]
Termination : No convergence
I20260707 08:18:42.426061 84886 incremental_mapper.cc:78] => Merged observations: 81
I20260707 08:18:42.426080 84886 incremental_mapper.cc:79] => Completed observations: 87
I20260707 08:18:42.426084 84886 incremental_mapper.cc:81] => Filtered observations: 352
I20260707 08:18:42.426086 84886 incremental_mapper.cc:90] => Changed observations: 0.081123
I20260707 08:18:42.473657 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:42.473711 84886 bundle_adjustment.cc:942]
Residuals : 10798
Parameters : 1490
Iterations : 11
Time : 0.0437682 [s]
Initial cost : 0.811831 [px]
Final cost : 0.797291 [px]
Termination : Convergence
I20260707 08:18:42.479383 84886 incremental_mapper.cc:78] => Merged observations: 24
I20260707 08:18:42.479406 84886 incremental_mapper.cc:79] => Completed observations: 63
I20260707 08:18:42.479409 84886 incremental_mapper.cc:81] => Filtered observations: 5
I20260707 08:18:42.479411 84886 incremental_mapper.cc:90] => Changed observations: 0.015364
I20260707 08:18:42.483448 84886 misc.cc:198]
==============================================================================
Registering image #488 (104)
==============================================================================
I20260707 08:18:42.483471 84886 incremental_mapper.cc:495] => Image sees 229 / 1519 points
I20260707 08:18:42.496304 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:18:42.496335 84886 bundle_adjustment.cc:942]
Residuals : 160
Parameters : 6
Iterations : 28
Time : 0.00160503 [s]
Initial cost : 0.760203 [px]
Final cost : 0.738705 [px]
Termination : Convergence
I20260707 08:18:42.496421 84886 incremental_mapper.cc:40] => Continued observations: 79
I20260707 08:18:42.498284 84886 incremental_mapper.cc:43] => Added observations: 341
I20260707 08:18:42.549244 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:42.549284 84886 bundle_adjustment.cc:942]
Residuals : 4222
Parameters : 1094
Iterations : 26
Time : 0.0483189 [s]
Initial cost : 0.882699 [px]
Final cost : 0.794674 [px]
Termination : No convergence
I20260707 08:18:42.553330 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:18:42.553349 84886 incremental_mapper.cc:79] => Completed observations: 9
I20260707 08:18:42.553351 84886 incremental_mapper.cc:81] => Filtered observations: 118
I20260707 08:18:42.553354 84886 incremental_mapper.cc:90] => Changed observations: 0.043374
I20260707 08:18:42.561358 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:42.561380 84886 bundle_adjustment.cc:942]
Residuals : 4004
Parameters : 947
Iterations : 3
Time : 0.00589991 [s]
Initial cost : 0.783818 [px]
Final cost : 0.76715 [px]
Termination : Convergence
I20260707 08:18:42.564853 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:18:42.564867 84886 incremental_mapper.cc:79] => Completed observations: 10
I20260707 08:18:42.564870 84886 incremental_mapper.cc:81] => Filtered observations: 1
I20260707 08:18:42.564872 84886 incremental_mapper.cc:90] => Changed observations: 0.004118
I20260707 08:18:42.564880 84886 misc.cc:198]
==============================================================================
Retriangulation
==============================================================================
I20260707 08:18:42.575320 84886 incremental_mapper.cc:175] => Completed observations: 78
I20260707 08:18:42.590368 84886 incremental_mapper.cc:178] => Merged observations: 27
I20260707 08:18:42.590394 84886 incremental_mapper.cc:105] => Retriangulated observations: 259
I20260707 08:18:42.595194 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 2.176383e+05 0.00e+00 9.83e+04 0.00e+00 0.00e+00 1.00e+04 0 1.80e-02 1.51e-01
1 1.546545e+05 6.30e+04 1.64e+05 0.00e+00 9.50e-01 3.00e+04 1 7.66e-02 2.28e-01
2 1.515803e+05 3.07e+03 1.36e+06 2.15e+02 8.69e-01 5.02e+04 1 4.49e-02 2.73e-01
3 1.511147e+05 4.66e+02 4.24e+07 3.03e+02 7.79e-01 6.08e+04 1 4.87e-02 3.21e-01
4 1.509590e+05 1.56e+02 9.35e+06 3.35e+02 9.10e-01 1.36e+05 1 4.70e-02 3.69e-01
5 1.509151e+05 4.39e+01 2.42e+06 2.93e+02 9.35e-01 3.98e+05 1 4.58e-02 4.14e-01
6 1.508456e+05 6.95e+01 1.37e+06 1.65e+02 9.57e-01 1.19e+06 1 4.41e-02 4.59e-01
7 1.507723e+05 7.32e+01 4.34e+05 3.66e+01 9.51e-01 3.58e+06 1 4.66e-02 5.05e-01
8 1.507210e+05 5.13e+01 4.43e+05 2.88e+01 6.96e-01 3.81e+06 1 4.86e-02 5.54e-01
9 1.507000e+05 2.10e+01 1.13e+05 1.38e+00 8.37e-01 5.50e+06 1 5.02e-02 6.04e-01
10 1.506958e+05 4.22e+00 3.06e+03 4.08e-01 9.99e-01 1.65e+07 1 4.76e-02 6.52e-01
11 1.506958e+05 1.83e-02 1.09e+03 2.86e-01 9.42e-01 4.95e+07 1 6.28e-02 7.15e-01
12 1.506958e+05 1.86e-03 1.33e+02 5.40e-02 7.35e-01 5.52e+07 1 8.43e-02 7.99e-01
13 1.506958e+05 2.11e-04 7.63e+01 3.56e-02 3.51e-01 5.38e+07 1 5.02e-02 8.49e-01
14 1.506958e+05 7.94e-05 6.11e+01 1.68e-02 2.73e-01 4.92e+07 1 4.16e-02 8.91e-01
15 1.506958e+05 4.18e-05 4.32e+01 1.41e-02 2.67e-01 4.46e+07 1 4.36e-02 9.35e-01
16 1.506958e+05 2.23e-05 3.23e+01 9.93e-03 2.65e-01 4.04e+07 1 4.58e-02 9.80e-01
17 1.506958e+05 1.21e-05 2.34e+01 7.38e-03 2.67e-01 3.67e+07 1 4.76e-02 1.03e+00
18 1.506958e+05 6.46e-06 1.73e+01 5.37e-03 2.67e-01 3.33e+07 1 5.37e-02 1.08e+00
19 1.506958e+05 3.48e-06 1.26e+01 3.93e-03 2.68e-01 3.03e+07 1 5.14e-02 1.13e+00
20 1.506958e+05 1.86e-06 9.22e+00 2.87e-03 2.68e-01 2.76e+07 1 5.27e-02 1.19e+00
21 1.506958e+05 9.95e-07 6.71e+00 2.09e-03 2.70e-01 2.51e+07 1 4.97e-02 1.24e+00
22 1.506958e+05 5.29e-07 4.90e+00 1.52e-03 2.71e-01 2.29e+07 1 5.02e-02 1.29e+00
23 1.506958e+05 2.81e-07 3.55e+00 1.10e-03 2.71e-01 2.09e+07 1 5.10e-02 1.34e+00
24 1.506958e+05 1.49e-07 2.58e+00 7.99e-04 2.73e-01 1.91e+07 1 4.88e-02 1.39e+00
25 1.506958e+05 7.86e-08 1.87e+00 5.77e-04 2.76e-01 1.75e+07 1 4.52e-02 1.43e+00
26 1.506958e+05 4.18e-08 1.35e+00 4.17e-04 2.77e-01 1.61e+07 1 4.34e-02 1.47e+00
27 1.506958e+05 2.15e-08 9.74e-01 3.00e-04 2.73e-01 1.47e+07 1 4.06e-02 1.52e+00
I20260707 08:18:44.175953 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:44.175995 84886 bundle_adjustment.cc:942]
Residuals : 149128
Parameters : 49868
Iterations : 28
Time : 1.5217 [s]
Initial cost : 1.20806 [px]
Final cost : 1.00524 [px]
Termination : Convergence
I20260707 08:18:44.227000 84886 incremental_mapper.cc:175] => Completed observations: 80
I20260707 08:18:44.245368 84886 incremental_mapper.cc:178] => Merged observations: 104
I20260707 08:18:44.254067 84886 incremental_mapper.cc:160] => Filtered observations: 569
I20260707 08:18:44.254096 84886 incremental_mapper.cc:119] => Changed observations: 0.010099
I20260707 08:18:44.254112 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 5.913849e+04 0.00e+00 3.39e+04 0.00e+00 0.00e+00 1.00e+04 0 1.56e-02 1.47e-01
1 5.641239e+04 2.73e+03 4.80e+04 0.00e+00 9.99e-01 3.00e+04 1 7.07e-02 2.18e-01
2 5.622369e+04 1.89e+02 1.54e+05 6.76e+00 9.95e-01 9.00e+04 1 4.45e-02 2.63e-01
3 5.605482e+04 1.69e+02 8.91e+05 8.41e+00 9.57e-01 2.70e+05 1 4.76e-02 3.10e-01
4 5.623312e+04 -1.78e+02 8.91e+05 4.51e+00 -1.95e+00 1.35e+05 1 3.14e-02 3.42e-01
5 5.600135e+04 5.35e+01 2.90e+06 3.01e+00 8.93e-01 2.63e+05 1 4.23e-02 3.84e-01
6 5.608376e+04 -8.24e+01 2.90e+06 1.53e+00 -2.65e+00 1.32e+05 1 3.75e-02 4.22e-01
7 5.598163e+04 1.97e+01 2.39e+06 9.99e-01 9.09e-01 2.91e+05 1 4.45e-02 4.66e-01
8 5.597818e+04 3.45e+00 2.28e+07 8.98e-01 2.23e-01 2.48e+05 1 4.51e-02 5.11e-01
9 5.596332e+04 1.49e+01 8.65e+06 3.40e-01 9.35e-01 7.30e+05 1 4.39e-02 5.55e-01
10 5.596079e+04 2.53e+00 3.67e+07 3.95e-01 4.86e-01 7.30e+05 1 4.20e-02 5.97e-01
11 5.595710e+04 3.69e+00 1.67e+07 2.03e-01 9.24e-01 1.87e+06 1 4.13e-02 6.39e-01
12 5.595625e+04 8.55e-01 3.67e+07 2.32e-01 7.14e-01 2.03e+06 1 4.58e-02 6.84e-01
13 5.595573e+04 5.16e-01 1.93e+07 1.09e-01 9.14e-01 4.69e+06 1 4.67e-02 7.31e-01
14 5.595552e+04 2.12e-01 3.35e+07 6.96e-02 8.38e-01 6.79e+06 1 5.14e-02 7.83e-01
15 5.595529e+04 2.25e-01 3.07e+07 7.18e-02 9.42e-01 2.04e+07 1 5.21e-02 8.35e-01
16 5.595523e+04 6.01e-02 2.66e+08 9.00e-02 4.13e-01 2.03e+07 1 4.76e-02 8.82e-01
17 5.595515e+04 8.84e-02 8.57e+07 1.56e-02 9.42e-01 6.08e+07 1 5.79e-02 9.40e-01
18 5.595514e+04 9.50e-03 1.63e+08 3.48e-03 6.42e-01 6.22e+07 1 5.73e-02 9.98e-01
19 5.595513e+04 6.89e-03 7.55e+07 7.28e-04 9.17e-01 1.48e+08 1 5.23e-02 1.05e+00
20 5.595513e+04 3.07e-03 1.15e+08 9.00e-04 8.76e-01 2.58e+08 1 5.76e-02 1.11e+00
21 5.595512e+04 1.70e-03 1.55e+08 4.78e-04 8.70e-01 4.34e+08 1 5.63e-02 1.16e+00
22 5.595512e+04 9.56e-04 1.85e+08 2.65e-04 8.85e-01 7.98e+08 1 5.27e-02 1.22e+00
23 5.595512e+04 5.66e-04 2.75e+08 1.67e-04 8.72e-01 1.36e+09 1 5.13e-02 1.27e+00
24 5.595512e+04 3.12e-04 3.22e+08 8.82e-05 8.87e-01 2.54e+09 1 4.36e-02 1.31e+00
25 5.595512e+04 1.86e-04 5.09e+08 5.55e-05 8.66e-01 4.17e+09 1 4.37e-02 1.36e+00
26 5.595512e+04 1.02e-04 5.44e+08 2.69e-05 8.94e-01 8.16e+09 1 5.66e-02 1.41e+00
27 5.595512e+04 6.47e-05 7.76e+08 1.86e-05 8.86e-01 1.51e+10 1 4.36e-02 1.46e+00
28 5.595512e+04 3.28e-05 1.44e+09 9.64e-06 8.15e-01 2.01e+10 1 5.04e-02 1.51e+00
29 5.595512e+04 1.55e-05 2.77e+09 3.99e-06 7.39e-01 2.26e+10 1 4.37e-02 1.55e+00
W20260707 08:18:45.889649 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
30 5.595512e+04 0.00e+00 2.77e+09 0.00e+00 0.00e+00 1.13e+10 1 2.42e-02 1.57e+00
31 5.595512e+04 7.59e-06 1.34e+08 8.88e-07 9.99e-01 3.39e+10 1 4.12e-02 1.62e+00
W20260707 08:18:45.962994 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
32 5.595512e+04 0.00e+00 1.34e+08 0.00e+00 0.00e+00 1.70e+10 1 3.21e-02 1.65e+00
W20260707 08:18:45.989840 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
33 5.595512e+04 0.00e+00 1.34e+08 0.00e+00 0.00e+00 4.24e+09 1 2.68e-02 1.67e+00
34 5.595512e+04 2.99e-07 9.01e+08 2.68e-07 4.44e-01 4.23e+09 1 4.55e-02 1.72e+00
35 5.595512e+04 4.48e-07 1.09e+09 2.33e-07 4.59e-01 4.23e+09 1 4.89e-02 1.77e+00
36 5.595512e+04 9.96e-07 3.81e+08 2.22e-07 9.29e-01 1.14e+10 1 4.69e-02 1.82e+00
37 5.595512e+04 -4.50e-07 3.81e+08 5.58e-07 -3.06e-01 5.71e+09 1 3.41e-02 1.85e+00
38 5.595512e+04 -8.10e-08 3.81e+08 2.76e-07 -9.91e-02 1.43e+09 1 2.93e-02 1.88e+00
39 5.595512e+04 -2.49e-06 3.81e+08 6.74e-08 -9.66e+00 1.79e+08 1 3.42e-02 1.91e+00
40 5.595512e+04 -1.47e-07 3.81e+08 7.64e-09 -1.48e+00 1.12e+07 1 3.11e-02 1.94e+00
41 5.595512e+04 -3.19e-07 3.81e+08 3.84e-09 -4.10e+00 3.49e+05 1 2.35e-02 1.97e+00
42 5.595512e+04 -1.03e-06 3.81e+08 2.48e-09 -1.35e+01 5.45e+03 1 2.44e-02 1.99e+00
43 5.595512e+04 2.47e-08 3.81e+08 1.50e-09 3.24e-01 5.22e+03 1 3.81e-02 2.03e+00
44 5.595512e+04 1.53e-10 3.81e+08 4.23e-10 3.51e-03 2.64e+03 1 4.35e-02 2.07e+00
45 5.595512e+04 -3.06e-10 3.81e+08 7.24e-11 -6.06e-03 1.32e+03 1 3.11e-02 2.11e+00
I20260707 08:18:46.456452 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:46.456498 84886 bundle_adjustment.cc:942]
Residuals : 148060
Parameters : 49373
Iterations : 46
Time : 2.13517 [s]
Initial cost : 0.631999 [px]
Final cost : 0.614754 [px]
Termination : Convergence
I20260707 08:18:46.497403 84886 incremental_mapper.cc:175] => Completed observations: 80
I20260707 08:18:46.513520 84886 incremental_mapper.cc:178] => Merged observations: 24
I20260707 08:18:46.519826 84886 incremental_mapper.cc:160] => Filtered observations: 32
I20260707 08:18:46.519850 84886 incremental_mapper.cc:119] => Changed observations: 0.001837
I20260707 08:18:46.519863 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 5.610131e+04 0.00e+00 1.16e+10 0.00e+00 0.00e+00 1.00e+04 0 1.39e-02 1.30e-01
1 5.596971e+04 1.32e+02 5.63e+08 0.00e+00 1.00e+00 3.00e+04 1 7.45e-02 2.05e-01
2 5.596901e+04 6.97e-01 1.09e+08 1.63e+00 1.00e+00 9.00e+04 1 4.60e-02 2.51e-01
3 5.596872e+04 2.98e-01 1.72e+09 1.57e-01 1.00e+00 2.70e+05 1 5.50e-02 3.06e-01
4 5.596852e+04 2.00e-01 1.73e+09 1.46e-01 1.00e+00 8.10e+05 1 4.82e-02 3.54e-01
5 5.596843e+04 8.85e-02 3.39e+09 1.00e-01 1.00e+00 2.43e+06 1 5.42e-02 4.09e-01
6 5.596839e+04 3.36e-02 5.52e+08 5.41e-02 1.01e+00 7.29e+06 1 5.90e-02 4.68e-01
7 5.596839e+04 6.93e-03 1.18e+09 2.38e-02 1.01e+00 2.19e+07 1 5.59e-02 5.24e-01
8 5.596839e+04 5.67e-04 3.40e+09 7.41e-03 1.02e+00 6.56e+07 1 4.29e-02 5.67e-01
9 5.596839e+04 2.05e-05 1.70e+09 1.33e-03 9.56e-01 1.97e+08 1 4.42e-02 6.11e-01
10 5.596839e+04 2.46e-06 7.74e+08 1.52e-04 9.26e-01 5.15e+08 1 5.80e-02 6.69e-01
11 5.596839e+04 -1.80e-08 7.74e+08 2.17e-05 -9.75e-03 2.57e+08 1 3.71e-02 7.06e-01
12 5.596839e+04 8.28e-08 1.64e+09 2.17e-05 8.01e-02 1.62e+08 1 4.22e-02 7.48e-01
13 5.596839e+04 7.68e-07 1.40e+09 9.18e-06 5.26e-01 1.62e+08 1 4.73e-02 7.96e-01
14 5.596839e+04 -1.26e-06 1.40e+09 3.62e-06 -1.05e+00 8.08e+07 1 3.88e-02 8.35e-01
15 5.596839e+04 5.93e-07 1.00e+09 3.64e-06 6.28e-01 8.22e+07 1 5.22e-02 8.87e-01
16 5.596839e+04 -1.74e-06 1.00e+09 1.98e-06 -2.86e+00 4.11e+07 1 3.48e-02 9.22e-01
17 5.596839e+04 -6.34e-07 1.00e+09 1.98e-06 -1.32e+00 1.03e+07 1 2.61e-02 9.48e-01
18 5.596839e+04 -6.72e-07 1.00e+09 1.96e-06 -1.75e+00 1.28e+06 1 2.58e-02 9.74e-01
19 5.596839e+04 -1.75e-06 1.00e+09 1.76e-06 -4.91e+00 8.03e+04 1 2.33e-02 9.97e-01
20 5.596839e+04 2.63e-07 4.74e+08 8.97e-07 7.48e-01 9.14e+04 1 4.69e-02 1.04e+00
21 5.596839e+04 -1.81e-08 4.74e+08 5.50e-07 -2.04e-01 4.57e+04 1 3.80e-02 1.08e+00
22 5.596839e+04 6.81e-08 1.80e+08 4.05e-07 7.68e-01 5.40e+04 1 5.36e-02 1.14e+00
23 5.596839e+04 -5.53e-08 1.80e+08 3.01e-07 -2.64e+00 2.70e+04 1 3.41e-02 1.17e+00
24 5.596839e+04 -9.05e-09 1.80e+08 2.01e-07 -4.34e-01 6.75e+03 1 2.78e-02 1.20e+00
25 5.596839e+04 6.48e-09 1.63e+08 5.89e-08 3.13e-01 6.41e+03 1 5.14e-02 1.25e+00
26 5.596839e+04 3.52e-09 1.63e+08 6.61e-08 2.46e-01 5.67e+03 1 5.41e-02 1.30e+00
27 5.596839e+04 -1.24e-09 1.63e+08 5.69e-08 -1.15e-01 2.83e+03 1 3.32e-02 1.34e+00
28 5.596839e+04 -6.62e-10 1.63e+08 2.87e-08 -6.15e-02 7.08e+02 1 2.71e-02 1.36e+00
29 5.596839e+04 3.93e-10 1.63e+08 6.93e-09 3.65e-02 3.94e+02 1 4.35e-02 1.41e+00
30 5.596839e+04 9.09e-10 1.63e+08 3.82e-09 8.37e-02 2.50e+02 1 5.83e-02 1.47e+00
31 5.596839e+04 -8.73e-11 1.63e+08 2.43e-09 -1.45e-02 1.25e+02 1 3.90e-02 1.50e+00
32 5.596839e+04 -2.91e-11 1.63e+08 1.21e-09 -8.42e-03 3.12e+01 1 2.57e-02 1.53e+00
33 5.596839e+04 5.82e-11 1.63e+08 3.03e-10 7.66e-04 3.91e+00 1 2.84e-02 1.56e+00
34 5.596839e+04 1.46e-11 1.63e+08 3.79e-11 -3.85e-03 2.44e-01 1 2.91e-02 1.59e+00
35 5.596839e+04 7.28e-12 1.63e+08 2.35e-12 -6.50e-03 7.63e-03 1 3.15e-02 1.62e+00
36 5.596839e+04 4.37e-11 1.63e+08 6.41e-14 -1.50e-02 1.19e-04 1 2.88e-02 1.65e+00
37 5.596839e+04 3.64e-11 1.63e+08 2.23e-17 -1.85e+00 9.31e-07 1 3.21e-02 1.68e+00
I20260707 08:18:48.300731 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:48.300781 84886 bundle_adjustment.cc:942]
Residuals : 148142
Parameters : 49346
Iterations : 38
Time : 1.71895 [s]
Initial cost : 0.615386 [px]
Final cost : 0.614656 [px]
Termination : Convergence
I20260707 08:18:48.351084 84886 incremental_mapper.cc:175] => Completed observations: 10
I20260707 08:18:48.366535 84886 incremental_mapper.cc:178] => Merged observations: 24
I20260707 08:18:48.374218 84886 incremental_mapper.cc:160] => Filtered observations: 13
I20260707 08:18:48.374250 84886 incremental_mapper.cc:119] => Changed observations: 0.000635
I20260707 08:18:48.374267 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 5.594526e+04 0.00e+00 2.18e+09 0.00e+00 0.00e+00 1.00e+04 0 1.86e-02 2.04e-01
1 5.592067e+04 2.46e+01 1.03e+08 0.00e+00 1.00e+00 3.00e+04 1 8.54e-02 2.89e-01
2 5.592055e+04 1.20e-01 2.69e+08 5.52e-01 1.00e+00 9.00e+04 1 5.03e-02 3.39e-01
3 5.592050e+04 5.16e-02 1.31e+09 7.76e-02 1.00e+00 2.70e+05 1 4.56e-02 3.85e-01
4 5.592047e+04 2.28e-02 2.21e+09 5.61e-02 1.00e+00 8.10e+05 1 4.30e-02 4.28e-01
5 5.592046e+04 9.70e-03 1.28e+09 4.25e-02 9.98e-01 2.43e+06 1 4.71e-02 4.75e-01
6 5.592046e+04 2.94e-03 6.80e+08 2.35e-02 1.01e+00 7.29e+06 1 4.95e-02 5.25e-01
7 5.592046e+04 4.82e-04 3.94e+08 7.80e-03 1.02e+00 2.19e+07 1 6.27e-02 5.88e-01
8 5.592046e+04 3.70e-05 1.66e+09 1.98e-03 9.89e-01 6.56e+07 1 1.03e-01 6.91e-01
9 5.592046e+04 2.18e-06 1.38e+09 3.60e-04 7.27e-01 7.24e+07 1 5.20e-02 7.43e-01
10 5.592046e+04 -3.49e-06 1.38e+09 4.61e-05 -2.81e+00 3.62e+07 1 3.20e-02 7.75e-01
11 5.592046e+04 6.86e-07 8.68e+08 4.46e-05 6.42e-01 3.70e+07 1 4.43e-02 8.19e-01
12 5.592046e+04 -7.05e-07 8.68e+08 7.71e-06 -1.26e+00 1.85e+07 1 3.07e-02 8.50e-01
13 5.592046e+04 4.20e-07 3.49e+08 7.34e-06 8.90e-01 3.53e+07 1 3.75e-02 8.87e-01
14 5.592046e+04 -3.00e-06 3.49e+08 4.40e-06 -1.37e+01 1.76e+07 1 3.03e-02 9.18e-01
15 5.592046e+04 -1.45e-06 3.49e+08 4.34e-06 -1.07e+01 4.41e+06 1 2.66e-02 9.44e-01
16 5.592046e+04 -3.38e-07 3.49e+08 4.08e-06 -4.65e+00 5.51e+05 1 2.82e-02 9.73e-01
17 5.592046e+04 -8.13e-07 3.49e+08 2.97e-06 -1.49e+01 3.45e+04 1 2.69e-02 1.00e+00
18 5.592046e+04 1.39e-08 2.90e+08 8.81e-07 2.67e-01 3.13e+04 1 4.11e-02 1.04e+00
19 5.592046e+04 -7.58e-09 2.90e+08 5.40e-07 -1.99e-01 1.57e+04 1 3.36e-02 1.07e+00
20 5.592046e+04 1.20e-08 2.30e+08 3.20e-07 3.14e-01 1.49e+04 1 4.23e-02 1.12e+00
21 5.592046e+04 1.32e-08 1.59e+08 2.78e-07 5.02e-01 1.49e+04 1 4.49e-02 1.16e+00
22 5.592046e+04 -6.68e-09 1.59e+08 2.36e-07 -5.03e-01 7.44e+03 1 3.48e-02 1.20e+00
23 5.592046e+04 4.02e-09 1.45e+08 1.27e-07 3.02e-01 7.01e+03 1 4.01e-02 1.24e+00
24 5.592046e+04 -4.37e-11 1.45e+08 1.14e-07 -3.95e-03 3.50e+03 1 3.02e-02 1.27e+00
25 5.592046e+04 -8.37e-10 1.45e+08 5.79e-08 -9.01e-02 8.76e+02 1 2.66e-02 1.29e+00
26 5.592046e+04 1.44e-09 1.40e+08 1.40e-08 1.58e-01 6.63e+02 1 4.03e-02 1.33e+00
27 5.592046e+04 4.73e-10 1.40e+08 1.06e-08 5.87e-02 3.93e+02 1 4.12e-02 1.38e+00
28 5.592046e+04 1.09e-10 1.40e+08 6.29e-09 1.65e-02 2.06e+02 1 4.81e-02 1.42e+00
29 5.592046e+04 1.46e-10 1.40e+08 3.32e-09 1.71e-02 1.09e+02 1 4.72e-02 1.47e+00
30 5.592046e+04 -4.80e-10 1.40e+08 1.75e-09 -6.92e-02 5.43e+01 1 3.12e-02 1.50e+00
31 5.592046e+04 -3.06e-10 1.40e+08 8.73e-10 -4.44e-02 1.36e+01 1 2.75e-02 1.53e+00
32 5.592046e+04 -3.64e-10 1.40e+08 2.18e-10 -5.27e-02 1.70e+00 1 2.93e-02 1.56e+00
33 5.592046e+04 -3.78e-10 1.40e+08 2.73e-11 -5.59e-02 1.06e-01 1 2.84e-02 1.59e+00
34 5.592046e+04 -3.64e-11 1.40e+08 1.71e-12 -1.32e-02 3.31e-03 1 2.98e-02 1.62e+00
35 5.592046e+04 1.46e-11 1.40e+08 3.65e-14 4.52e-02 1.89e-03 1 4.01e-02 1.66e+00
36 5.592046e+04 -5.09e-11 1.40e+08 1.35e-14 -5.50e-01 9.45e-04 1 2.94e-02 1.69e+00
37 5.592046e+04 -2.91e-11 1.40e+08 1.70e-15 -6.25e-01 2.36e-04 1 2.56e-02 1.71e+00
38 5.592046e+04 1.46e-11 1.40e+08 2.20e-16 1.25e+00 7.09e-04 1 3.76e-02 1.75e+00
I20260707 08:18:50.228617 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:50.228662 84886 bundle_adjustment.cc:942]
Residuals : 148130
Parameters : 49331
Iterations : 39
Time : 1.78443 [s]
Initial cost : 0.614554 [px]
Final cost : 0.614418 [px]
Termination : Convergence
I20260707 08:18:50.266536 84886 incremental_mapper.cc:175] => Completed observations: 2
I20260707 08:18:50.280359 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:18:50.286453 84886 incremental_mapper.cc:160] => Filtered observations: 3
I20260707 08:18:50.286471 84886 incremental_mapper.cc:119] => Changed observations: 0.000068
I20260707 08:18:50.286482 84886 incremental_mapper.cc:167] => Filtered images: 0
I20260707 08:18:50.291296 84886 misc.cc:198]
==============================================================================
Registering image #171 (105)
==============================================================================
I20260707 08:18:50.291318 84886 incremental_mapper.cc:495] => Image sees 223 / 1532 points
I20260707 08:18:50.312562 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:18:50.312589 84886 bundle_adjustment.cc:942]
Residuals : 116
Parameters : 6
Iterations : 62
Time : 0.00253606 [s]
Initial cost : 0.846244 [px]
Final cost : 0.83271 [px]
Termination : Convergence
I20260707 08:18:50.312664 84886 incremental_mapper.cc:40] => Continued observations: 57
I20260707 08:18:50.314944 84886 incremental_mapper.cc:43] => Added observations: 469
I20260707 08:18:50.402351 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:50.402390 84886 bundle_adjustment.cc:942]
Residuals : 8764
Parameters : 1523
Iterations : 26
Time : 0.0825841 [s]
Initial cost : 0.81912 [px]
Final cost : 0.749263 [px]
Termination : No convergence
I20260707 08:18:50.407799 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:18:50.407819 84886 incremental_mapper.cc:79] => Completed observations: 30
I20260707 08:18:50.407822 84886 incremental_mapper.cc:81] => Filtered observations: 208
I20260707 08:18:50.407824 84886 incremental_mapper.cc:90] => Changed observations: 0.045716
I20260707 08:18:50.422844 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:50.422875 84886 bundle_adjustment.cc:942]
Residuals : 9326
Parameters : 1322
Iterations : 3
Time : 0.0115569 [s]
Initial cost : 0.763073 [px]
Final cost : 0.750253 [px]
Termination : Convergence
I20260707 08:18:50.428035 84886 incremental_mapper.cc:78] => Merged observations: 16
I20260707 08:18:50.428059 84886 incremental_mapper.cc:79] => Completed observations: 24
I20260707 08:18:50.428062 84886 incremental_mapper.cc:81] => Filtered observations: 3
I20260707 08:18:50.428073 84886 incremental_mapper.cc:90] => Changed observations: 0.008556
I20260707 08:18:50.432580 84886 misc.cc:198]
==============================================================================
Registering image #169 (106)
==============================================================================
I20260707 08:18:50.432602 84886 incremental_mapper.cc:495] => Image sees 368 / 2605 points
I20260707 08:18:50.440337 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:18:50.440364 84886 bundle_adjustment.cc:942]
Residuals : 552
Parameters : 6
Iterations : 25
Time : 0.00476098 [s]
Initial cost : 0.899867 [px]
Final cost : 0.590495 [px]
Termination : Convergence
I20260707 08:18:50.440582 84886 incremental_mapper.cc:40] => Continued observations: 271
I20260707 08:18:50.443189 84886 incremental_mapper.cc:43] => Added observations: 532
I20260707 08:18:50.559784 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:50.559823 84886 bundle_adjustment.cc:942]
Residuals : 10760
Parameters : 1541
Iterations : 26
Time : 0.11182 [s]
Initial cost : 0.726982 [px]
Final cost : 0.677788 [px]
Termination : No convergence
I20260707 08:18:50.566308 84886 incremental_mapper.cc:78] => Merged observations: 42
I20260707 08:18:50.566331 84886 incremental_mapper.cc:79] => Completed observations: 86
I20260707 08:18:50.566335 84886 incremental_mapper.cc:81] => Filtered observations: 271
I20260707 08:18:50.566337 84886 incremental_mapper.cc:90] => Changed observations: 0.061413
I20260707 08:18:50.586246 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:50.586277 84886 bundle_adjustment.cc:942]
Residuals : 10928
Parameters : 1259
Iterations : 3
Time : 0.0152578 [s]
Initial cost : 0.641427 [px]
Final cost : 0.620311 [px]
Termination : Convergence
I20260707 08:18:50.592482 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:18:50.592502 84886 incremental_mapper.cc:79] => Completed observations: 55
I20260707 08:18:50.592505 84886 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 08:18:50.592507 84886 incremental_mapper.cc:90] => Changed observations: 0.008779
I20260707 08:18:50.596903 84886 misc.cc:198]
==============================================================================
Registering image #157 (107)
==============================================================================
I20260707 08:18:50.596922 84886 incremental_mapper.cc:495] => Image sees 217 / 4783 points
I20260707 08:18:50.606658 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:18:50.606683 84886 bundle_adjustment.cc:942]
Residuals : 164
Parameters : 6
Iterations : 53
Time : 0.00310993 [s]
Initial cost : 0.865972 [px]
Final cost : 0.833067 [px]
Termination : Convergence
I20260707 08:18:50.606760 84886 incremental_mapper.cc:40] => Continued observations: 82
I20260707 08:18:50.608412 84886 incremental_mapper.cc:43] => Added observations: 596
I20260707 08:18:50.701840 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:50.701882 84886 bundle_adjustment.cc:942]
Residuals : 7868
Parameters : 1316
Iterations : 25
Time : 0.089633 [s]
Initial cost : 0.839828 [px]
Final cost : 0.764881 [px]
Termination : Convergence
I20260707 08:18:50.707402 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:18:50.707427 84886 incremental_mapper.cc:79] => Completed observations: 117
I20260707 08:18:50.707429 84886 incremental_mapper.cc:81] => Filtered observations: 225
I20260707 08:18:50.707432 84886 incremental_mapper.cc:90] => Changed observations: 0.070837
I20260707 08:18:50.722774 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:50.722805 84886 bundle_adjustment.cc:942]
Residuals : 7630
Parameters : 1088
Iterations : 3
Time : 0.0116849 [s]
Initial cost : 0.773402 [px]
Final cost : 0.755033 [px]
Termination : Convergence
I20260707 08:18:50.727696 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:18:50.727715 84886 incremental_mapper.cc:79] => Completed observations: 41
I20260707 08:18:50.727718 84886 incremental_mapper.cc:81] => Filtered observations: 3
I20260707 08:18:50.727720 84886 incremental_mapper.cc:90] => Changed observations: 0.009346
I20260707 08:18:50.733081 84886 misc.cc:198]
==============================================================================
Registering image #24 (108)
==============================================================================
I20260707 08:18:50.733098 84886 incremental_mapper.cc:495] => Image sees 370 / 949 points
I20260707 08:18:50.738598 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:18:50.738626 84886 bundle_adjustment.cc:942]
Residuals : 598
Parameters : 6
Iterations : 11
Time : 0.00241899 [s]
Initial cost : 0.62715 [px]
Final cost : 0.587222 [px]
Termination : Convergence
I20260707 08:18:50.738837 84886 incremental_mapper.cc:40] => Continued observations: 282
I20260707 08:18:50.740849 84886 incremental_mapper.cc:43] => Added observations: 282
I20260707 08:18:50.820747 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:50.820786 84886 bundle_adjustment.cc:942]
Residuals : 8256
Parameters : 1178
Iterations : 24
Time : 0.0764451 [s]
Initial cost : 0.702192 [px]
Final cost : 0.673385 [px]
Termination : Convergence
I20260707 08:18:50.825984 84886 incremental_mapper.cc:78] => Merged observations: 51
I20260707 08:18:50.826009 84886 incremental_mapper.cc:79] => Completed observations: 63
I20260707 08:18:50.826012 84886 incremental_mapper.cc:81] => Filtered observations: 118
I20260707 08:18:50.826014 84886 incremental_mapper.cc:90] => Changed observations: 0.054155
I20260707 08:18:50.841696 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:50.841730 84886 bundle_adjustment.cc:942]
Residuals : 8104
Parameters : 1076
Iterations : 4
Time : 0.012861 [s]
Initial cost : 0.730151 [px]
Final cost : 0.715857 [px]
Termination : Convergence
I20260707 08:18:50.846598 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:18:50.846617 84886 incremental_mapper.cc:79] => Completed observations: 28
I20260707 08:18:50.846619 84886 incremental_mapper.cc:81] => Filtered observations: 2
I20260707 08:18:50.846621 84886 incremental_mapper.cc:90] => Changed observations: 0.007129
I20260707 08:18:50.850660 84886 misc.cc:198]
==============================================================================
Registering image #202 (109)
==============================================================================
I20260707 08:18:50.850680 84886 incremental_mapper.cc:495] => Image sees 215 / 4552 points
I20260707 08:18:50.856331 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:18:50.856356 84886 bundle_adjustment.cc:942]
Residuals : 194
Parameters : 6
Iterations : 29
Time : 0.002069 [s]
Initial cost : 0.89091 [px]
Final cost : 0.805414 [px]
Termination : Convergence
I20260707 08:18:50.856446 84886 incremental_mapper.cc:40] => Continued observations: 97
I20260707 08:18:50.857576 84886 incremental_mapper.cc:43] => Added observations: 384
I20260707 08:18:50.970271 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:50.970307 84886 bundle_adjustment.cc:942]
Residuals : 9614
Parameters : 1124
Iterations : 26
Time : 0.108869 [s]
Initial cost : 0.718265 [px]
Final cost : 0.667192 [px]
Termination : No convergence
I20260707 08:18:50.974334 84886 incremental_mapper.cc:78] => Merged observations: 8
I20260707 08:18:50.974354 84886 incremental_mapper.cc:79] => Completed observations: 101
I20260707 08:18:50.974356 84886 incremental_mapper.cc:81] => Filtered observations: 188
I20260707 08:18:50.974359 84886 incremental_mapper.cc:90] => Changed observations: 0.054949
I20260707 08:18:50.994072 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:50.994099 84886 bundle_adjustment.cc:942]
Residuals : 9386
Parameters : 872
Iterations : 4
Time : 0.016417 [s]
Initial cost : 0.596947 [px]
Final cost : 0.585231 [px]
Termination : Convergence
I20260707 08:18:50.997594 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:18:50.997611 84886 incremental_mapper.cc:79] => Completed observations: 21
I20260707 08:18:50.997614 84886 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 08:18:50.997617 84886 incremental_mapper.cc:90] => Changed observations: 0.003970
I20260707 08:18:51.002523 84886 misc.cc:198]
==============================================================================
Registering image #274 (110)
==============================================================================
I20260707 08:18:51.002545 84886 incremental_mapper.cc:495] => Image sees 227 / 1237 points
I20260707 08:18:51.009955 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:18:51.009984 84886 bundle_adjustment.cc:942]
Residuals : 208
Parameters : 6
Iterations : 16
Time : 0.00122714 [s]
Initial cost : 0.847901 [px]
Final cost : 0.696801 [px]
Termination : Convergence
I20260707 08:18:51.010087 84886 incremental_mapper.cc:40] => Continued observations: 101
I20260707 08:18:51.010988 84886 incremental_mapper.cc:43] => Added observations: 384
I20260707 08:18:51.136150 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:51.136191 84886 bundle_adjustment.cc:942]
Residuals : 10784
Parameters : 1106
Iterations : 26
Time : 0.120016 [s]
Initial cost : 0.758766 [px]
Final cost : 0.73206 [px]
Termination : No convergence
I20260707 08:18:51.141628 84886 incremental_mapper.cc:78] => Merged observations: 5
I20260707 08:18:51.141654 84886 incremental_mapper.cc:79] => Completed observations: 49
I20260707 08:18:51.141656 84886 incremental_mapper.cc:81] => Filtered observations: 227
I20260707 08:18:51.141657 84886 incremental_mapper.cc:90] => Changed observations: 0.045235
I20260707 08:18:51.159562 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:51.159591 84886 bundle_adjustment.cc:942]
Residuals : 9926
Parameters : 875
Iterations : 3
Time : 0.013376 [s]
Initial cost : 0.72006 [px]
Final cost : 0.707612 [px]
Termination : Convergence
I20260707 08:18:51.164557 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:18:51.164575 84886 incremental_mapper.cc:79] => Completed observations: 25
I20260707 08:18:51.164578 84886 incremental_mapper.cc:81] => Filtered observations: 1
I20260707 08:18:51.164579 84886 incremental_mapper.cc:90] => Changed observations: 0.004234
I20260707 08:18:51.169095 84886 misc.cc:198]
==============================================================================
Registering image #153 (111)
==============================================================================
I20260707 08:18:51.169117 84886 incremental_mapper.cc:495] => Image sees 199 / 4186 points
I20260707 08:18:51.171954 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:18:51.171977 84886 bundle_adjustment.cc:942]
Residuals : 248
Parameters : 6
Iterations : 9
Time : 0.000824928 [s]
Initial cost : 0.609277 [px]
Final cost : 0.50683 [px]
Termination : Convergence
I20260707 08:18:51.172067 84886 incremental_mapper.cc:40] => Continued observations: 123
I20260707 08:18:51.176148 84886 incremental_mapper.cc:43] => Added observations: 223
I20260707 08:18:51.278074 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:51.278137 84886 bundle_adjustment.cc:942]
Residuals : 7454
Parameters : 848
Iterations : 19
Time : 0.098654 [s]
Initial cost : 0.68222 [px]
Final cost : 0.635133 [px]
Termination : Convergence
I20260707 08:18:51.289294 84886 incremental_mapper.cc:78] => Merged observations: 6
I20260707 08:18:51.289328 84886 incremental_mapper.cc:79] => Completed observations: 36
I20260707 08:18:51.289332 84886 incremental_mapper.cc:81] => Filtered observations: 86
I20260707 08:18:51.289336 84886 incremental_mapper.cc:90] => Changed observations: 0.028225
I20260707 08:18:51.309144 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:51.309176 84886 bundle_adjustment.cc:942]
Residuals : 7354
Parameters : 821
Iterations : 3
Time : 0.0143452 [s]
Initial cost : 0.762389 [px]
Final cost : 0.755807 [px]
Termination : Convergence
I20260707 08:18:51.316896 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:18:51.316913 84886 incremental_mapper.cc:79] => Completed observations: 22
I20260707 08:18:51.316916 84886 incremental_mapper.cc:81] => Filtered observations: 1
I20260707 08:18:51.316918 84886 incremental_mapper.cc:90] => Changed observations: 0.004939
I20260707 08:18:51.321394 84886 misc.cc:198]
==============================================================================
Registering image #5 (112)
==============================================================================
I20260707 08:18:51.321409 84886 incremental_mapper.cc:495] => Image sees 202 / 753 points
I20260707 08:18:51.324995 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:18:51.325019 84886 bundle_adjustment.cc:942]
Residuals : 220
Parameters : 6
Iterations : 11
Time : 0.000891924 [s]
Initial cost : 0.785377 [px]
Final cost : 0.639853 [px]
Termination : Convergence
I20260707 08:18:51.325138 84886 incremental_mapper.cc:40] => Continued observations: 106
I20260707 08:18:51.326076 84886 incremental_mapper.cc:43] => Added observations: 194
I20260707 08:18:51.386541 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:51.386580 84886 bundle_adjustment.cc:942]
Residuals : 5218
Parameters : 638
Iterations : 26
Time : 0.058038 [s]
Initial cost : 0.709808 [px]
Final cost : 0.66643 [px]
Termination : No convergence
I20260707 08:18:51.390311 84886 incremental_mapper.cc:78] => Merged observations: 7
I20260707 08:18:51.390339 84886 incremental_mapper.cc:79] => Completed observations: 33
I20260707 08:18:51.390343 84886 incremental_mapper.cc:81] => Filtered observations: 61
I20260707 08:18:51.390345 84886 incremental_mapper.cc:90] => Changed observations: 0.033644
I20260707 08:18:51.410852 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:51.410890 84886 bundle_adjustment.cc:942]
Residuals : 5174
Parameters : 587
Iterations : 8
Time : 0.0182822 [s]
Initial cost : 0.714858 [px]
Final cost : 0.706023 [px]
Termination : Convergence
I20260707 08:18:51.414163 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:18:51.414184 84886 incremental_mapper.cc:79] => Completed observations: 6
I20260707 08:18:51.414187 84886 incremental_mapper.cc:81] => Filtered observations: 2
I20260707 08:18:51.414189 84886 incremental_mapper.cc:90] => Changed observations: 0.002685
I20260707 08:18:51.419199 84886 misc.cc:198]
==============================================================================
Registering image #122 (113)
==============================================================================
I20260707 08:18:51.419226 84886 incremental_mapper.cc:495] => Image sees 262 / 890 points
I20260707 08:18:51.423786 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:18:51.423817 84886 bundle_adjustment.cc:942]
Residuals : 442
Parameters : 6
Iterations : 10
Time : 0.00168204 [s]
Initial cost : 0.671214 [px]
Final cost : 0.637203 [px]
Termination : Convergence
I20260707 08:18:51.423997 84886 incremental_mapper.cc:40] => Continued observations: 198
I20260707 08:18:51.425155 84886 incremental_mapper.cc:43] => Added observations: 242
I20260707 08:18:51.497838 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:51.497874 84886 bundle_adjustment.cc:942]
Residuals : 7060
Parameters : 938
Iterations : 26
Time : 0.069382 [s]
Initial cost : 0.770621 [px]
Final cost : 0.727256 [px]
Termination : No convergence
I20260707 08:18:51.501526 84886 incremental_mapper.cc:78] => Merged observations: 50
I20260707 08:18:51.501540 84886 incremental_mapper.cc:79] => Completed observations: 43
I20260707 08:18:51.501542 84886 incremental_mapper.cc:81] => Filtered observations: 145
I20260707 08:18:51.501544 84886 incremental_mapper.cc:90] => Changed observations: 0.060025
I20260707 08:18:51.510421 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:51.510435 84886 bundle_adjustment.cc:942]
Residuals : 5922
Parameters : 782
Iterations : 3
Time : 0.00656986 [s]
Initial cost : 0.81479 [px]
Final cost : 0.802705 [px]
Termination : Convergence
I20260707 08:18:51.513549 84886 incremental_mapper.cc:78] => Merged observations: 18
I20260707 08:18:51.513559 84886 incremental_mapper.cc:79] => Completed observations: 29
I20260707 08:18:51.513561 84886 incremental_mapper.cc:81] => Filtered observations: 1
I20260707 08:18:51.513563 84886 incremental_mapper.cc:90] => Changed observations: 0.012500
I20260707 08:18:51.517333 84886 misc.cc:198]
==============================================================================
Registering image #106 (114)
==============================================================================
I20260707 08:18:51.517345 84886 incremental_mapper.cc:495] => Image sees 214 / 1223 points
I20260707 08:18:51.520252 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:18:51.520273 84886 bundle_adjustment.cc:942]
Residuals : 324
Parameters : 6
Iterations : 11
Time : 0.00124288 [s]
Initial cost : 0.603939 [px]
Final cost : 0.588633 [px]
Termination : Convergence
I20260707 08:18:51.520358 84886 incremental_mapper.cc:40] => Continued observations: 154
I20260707 08:18:51.521539 84886 incremental_mapper.cc:43] => Added observations: 313
W20260707 08:18:51.564443 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W20260707 08:18:51.575256 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W20260707 08:18:51.575560 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W20260707 08:18:51.575842 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W20260707 08:18:51.578794 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W20260707 08:18:51.579088 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
I20260707 08:18:51.579284 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:51.579301 84886 bundle_adjustment.cc:942]
Residuals : 7096
Parameters : 1019
Iterations : 26
Time : 0.0550849 [s]
Initial cost : 0.846376 [px]
Final cost : 0.779624 [px]
Termination : No convergence
I20260707 08:18:51.582784 84886 incremental_mapper.cc:78] => Merged observations: 38
I20260707 08:18:51.582798 84886 incremental_mapper.cc:79] => Completed observations: 39
I20260707 08:18:51.582800 84886 incremental_mapper.cc:81] => Filtered observations: 163
I20260707 08:18:51.582803 84886 incremental_mapper.cc:90] => Changed observations: 0.062680
I20260707 08:18:51.610281 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:51.610311 84886 bundle_adjustment.cc:942]
Residuals : 6722
Parameters : 767
Iterations : 21
Time : 0.0250912 [s]
Initial cost : 0.814674 [px]
Final cost : 0.804707 [px]
Termination : Convergence
I20260707 08:18:51.613642 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:18:51.613656 84886 incremental_mapper.cc:79] => Completed observations: 29
I20260707 08:18:51.613659 84886 incremental_mapper.cc:81] => Filtered observations: 1
I20260707 08:18:51.613662 84886 incremental_mapper.cc:90] => Changed observations: 0.007909
I20260707 08:18:51.617625 84886 misc.cc:198]
==============================================================================
Registering image #38 (115)
==============================================================================
I20260707 08:18:51.617641 84886 incremental_mapper.cc:495] => Image sees 165 / 718 points
I20260707 08:18:51.621464 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:18:51.621482 84886 bundle_adjustment.cc:942]
Residuals : 166
Parameters : 6
Iterations : 13
Time : 0.000778913 [s]
Initial cost : 0.694161 [px]
Final cost : 0.663273 [px]
Termination : Convergence
I20260707 08:18:51.621536 84886 incremental_mapper.cc:40] => Continued observations: 79
I20260707 08:18:51.622524 84886 incremental_mapper.cc:43] => Added observations: 315
I20260707 08:18:51.704146 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:51.704176 84886 bundle_adjustment.cc:942]
Residuals : 7354
Parameters : 887
Iterations : 26
Time : 0.078161 [s]
Initial cost : 0.723714 [px]
Final cost : 0.676941 [px]
Termination : No convergence
I20260707 08:18:51.708796 84886 incremental_mapper.cc:78] => Merged observations: 9
I20260707 08:18:51.708817 84886 incremental_mapper.cc:79] => Completed observations: 27
I20260707 08:18:51.708818 84886 incremental_mapper.cc:81] => Filtered observations: 95
I20260707 08:18:51.708820 84886 incremental_mapper.cc:90] => Changed observations: 0.029027
I20260707 08:18:51.740518 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:51.740545 84886 bundle_adjustment.cc:942]
Residuals : 7588
Parameters : 986
Iterations : 9
Time : 0.0280678 [s]
Initial cost : 0.771826 [px]
Final cost : 0.762631 [px]
Termination : Convergence
I20260707 08:18:51.745061 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:18:51.745081 84886 incremental_mapper.cc:79] => Completed observations: 13
I20260707 08:18:51.745085 84886 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 08:18:51.745086 84886 incremental_mapper.cc:90] => Changed observations: 0.002674
I20260707 08:18:51.745096 84886 misc.cc:198]
==============================================================================
Retriangulation
==============================================================================
I20260707 08:18:51.757164 84886 incremental_mapper.cc:175] => Completed observations: 56
I20260707 08:18:51.770488 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:18:51.770509 84886 incremental_mapper.cc:105] => Retriangulated observations: 288
I20260707 08:18:51.778890 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 1.887534e+05 0.00e+00 1.60e+08 0.00e+00 0.00e+00 1.00e+04 0 1.70e-02 1.39e-01
1 1.231604e+05 6.56e+04 1.60e+08 0.00e+00 9.78e-01 3.00e+04 1 8.43e-02 2.23e-01
2 1.222731e+05 8.87e+02 1.60e+08 1.59e+01 9.97e-01 9.00e+04 1 4.95e-02 2.73e-01
3 1.222596e+05 1.35e+01 1.60e+08 2.81e+00 9.92e-01 2.70e+05 1 4.86e-02 3.21e-01
4 1.222527e+05 6.86e+00 5.52e+08 6.20e-01 1.02e+00 8.10e+05 1 4.69e-02 3.68e-01
5 1.222401e+05 1.26e+01 5.42e+08 5.74e-01 1.09e+00 2.43e+06 1 4.63e-02 4.15e-01
6 1.222171e+05 2.30e+01 1.94e+09 1.19e+00 1.31e+00 7.29e+06 1 4.35e-02 4.58e-01
7 1.222051e+05 1.20e+01 1.56e+09 1.05e+00 1.18e+00 2.19e+07 1 4.66e-02 5.05e-01
8 1.222040e+05 1.13e+00 1.61e+09 8.92e-01 1.10e+00 6.56e+07 1 4.71e-02 5.52e-01
9 1.222038e+05 1.18e-01 2.72e+09 4.89e-01 1.12e+00 1.97e+08 1 4.65e-02 5.99e-01
10 1.222038e+05 7.65e-03 1.22e+09 1.39e-01 1.19e+00 5.90e+08 1 4.72e-02 6.46e-01
11 1.222038e+05 3.91e-04 1.57e+09 2.83e-02 1.19e+00 1.77e+09 1 4.78e-02 6.94e-01
12 1.222038e+05 1.24e-04 6.34e+08 5.89e-03 1.04e+00 5.31e+09 1 4.89e-02 7.43e-01
13 1.222038e+05 4.83e-04 3.56e+08 1.14e-03 1.00e+00 1.59e+10 1 4.96e-02 7.92e-01
W20260707 08:18:52.655414 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
14 1.222038e+05 0.00e+00 3.56e+08 0.00e+00 0.00e+00 7.97e+09 1 3.26e-02 8.25e-01
W20260707 08:18:52.680321 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
15 1.222038e+05 0.00e+00 3.56e+08 0.00e+00 0.00e+00 1.99e+09 1 2.49e-02 8.50e-01
16 1.222038e+05 6.67e-04 1.60e+09 2.53e-04 9.99e-01 5.98e+09 1 4.59e-02 8.96e-01
W20260707 08:18:52.754638 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
17 1.222038e+05 0.00e+00 1.60e+09 0.00e+00 0.00e+00 2.99e+09 1 2.83e-02 9.24e-01
W20260707 08:18:52.780942 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
18 1.222038e+05 0.00e+00 1.60e+09 0.00e+00 0.00e+00 7.47e+08 1 2.63e-02 9.51e-01
W20260707 08:18:52.809489 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
19 1.222038e+05 0.00e+00 1.60e+09 0.00e+00 0.00e+00 9.34e+07 1 2.86e-02 9.79e-01
20 1.222038e+05 8.79e-05 1.03e+09 6.61e-05 9.96e-01 2.80e+08 1 4.40e-02 1.02e+00
21 1.222038e+05 2.89e-04 1.20e+09 3.45e-05 9.98e-01 8.41e+08 1 4.70e-02 1.07e+00
W20260707 08:18:52.930644 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
22 1.222038e+05 0.00e+00 1.20e+09 0.00e+00 0.00e+00 4.20e+08 1 3.01e-02 1.10e+00
W20260707 08:18:52.957582 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
23 1.222038e+05 0.00e+00 1.20e+09 0.00e+00 0.00e+00 1.05e+08 1 2.69e-02 1.13e+00
24 1.222038e+05 1.45e-04 2.40e+09 1.67e-05 9.81e-01 3.15e+08 1 4.33e-02 1.17e+00
25 1.222038e+05 5.08e-04 2.84e+09 3.53e-05 9.95e-01 9.46e+08 1 4.97e-02 1.22e+00
W20260707 08:18:53.079389 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
26 1.222038e+05 0.00e+00 2.84e+09 0.00e+00 0.00e+00 4.73e+08 1 2.87e-02 1.25e+00
W20260707 08:18:53.100126 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
27 1.222038e+05 0.00e+00 2.84e+09 0.00e+00 0.00e+00 1.18e+08 1 2.07e-02 1.27e+00
28 1.222038e+05 2.91e-04 7.71e+08 1.91e-05 9.99e-01 3.55e+08 1 4.08e-02 1.31e+00
W20260707 08:18:53.164933 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
29 1.222038e+05 0.00e+00 7.71e+08 0.00e+00 0.00e+00 1.77e+08 1 2.40e-02 1.33e+00
W20260707 08:18:53.189038 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
30 1.222038e+05 0.00e+00 7.71e+08 0.00e+00 0.00e+00 4.43e+07 1 2.41e-02 1.36e+00
31 1.222038e+05 1.31e-04 2.08e+09 9.00e-06 9.89e-01 1.33e+08 1 4.44e-02 1.40e+00
32 1.222038e+05 4.35e-04 1.50e+09 2.89e-05 9.98e-01 3.99e+08 1 4.60e-02 1.45e+00
W20260707 08:18:53.309165 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
33 1.222038e+05 0.00e+00 1.50e+09 0.00e+00 0.00e+00 2.00e+08 1 2.96e-02 1.48e+00
34 1.222038e+05 8.44e-04 1.22e+09 5.59e-05 9.99e-01 5.99e+08 1 4.37e-02 1.52e+00
W20260707 08:18:53.378492 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
35 1.222038e+05 0.00e+00 1.22e+09 0.00e+00 0.00e+00 2.99e+08 1 2.55e-02 1.55e+00
W20260707 08:18:53.401592 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
36 1.222038e+05 0.00e+00 1.22e+09 0.00e+00 0.00e+00 7.48e+07 1 2.31e-02 1.57e+00
37 1.222038e+05 4.84e-04 1.47e+09 3.14e-05 9.99e-01 2.24e+08 1 4.49e-02 1.62e+00
38 1.222038e+05 1.79e-03 2.33e+09 1.19e-04 9.99e-01 6.73e+08 1 4.70e-02 1.66e+00
W20260707 08:18:53.519025 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
39 1.222038e+05 0.00e+00 2.33e+09 0.00e+00 0.00e+00 3.37e+08 1 2.55e-02 1.69e+00
W20260707 08:18:53.538386 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
40 1.222038e+05 0.00e+00 2.33e+09 0.00e+00 0.00e+00 8.42e+07 1 1.93e-02 1.71e+00
41 1.222038e+05 1.25e-03 2.57e+09 8.14e-05 9.98e-01 2.53e+08 1 4.03e-02 1.75e+00
W20260707 08:18:53.606628 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
42 1.222038e+05 0.00e+00 2.57e+09 0.00e+00 0.00e+00 1.26e+08 1 2.78e-02 1.78e+00
W20260707 08:18:53.631016 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
43 1.222038e+05 0.00e+00 2.57e+09 0.00e+00 0.00e+00 3.16e+07 1 2.44e-02 1.80e+00
44 1.222038e+05 6.65e-04 1.36e+09 4.32e-05 9.99e-01 9.47e+07 1 4.73e-02 1.85e+00
45 1.222038e+05 2.33e-03 1.29e+09 1.55e-04 1.00e+00 2.84e+08 1 4.95e-02 1.90e+00
W20260707 08:18:53.755111 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
46 1.222038e+05 0.00e+00 1.29e+09 0.00e+00 0.00e+00 1.42e+08 1 2.72e-02 1.92e+00
47 1.222038e+05 5.63e-03 1.74e+09 3.74e-04 1.00e+00 4.26e+08 1 4.46e-02 1.97e+00
W20260707 08:18:53.825907 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
48 1.222038e+05 0.00e+00 1.74e+09 0.00e+00 0.00e+00 2.13e+08 1 2.62e-02 2.00e+00
W20260707 08:18:53.847957 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
49 1.222038e+05 0.00e+00 1.74e+09 0.00e+00 0.00e+00 5.33e+07 1 2.20e-02 2.02e+00
50 1.222038e+05 4.83e-03 1.10e+09 3.17e-04 1.00e+00 1.60e+08 1 4.50e-02 2.06e+00
I20260707 08:18:53.907019 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:53.907065 84886 bundle_adjustment.cc:942]
Residuals : 157416
Parameters : 52736
Iterations : 51
Time : 2.06934 [s]
Initial cost : 1.09502 [px]
Final cost : 0.881085 [px]
Termination : No convergence
I20260707 08:18:53.952313 84886 incremental_mapper.cc:175] => Completed observations: 66
I20260707 08:18:53.967650 84886 incremental_mapper.cc:178] => Merged observations: 32
I20260707 08:18:53.975123 84886 incremental_mapper.cc:160] => Filtered observations: 560
I20260707 08:18:53.975152 84886 incremental_mapper.cc:119] => Changed observations: 0.008360
I20260707 08:18:53.975167 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 6.128963e+04 0.00e+00 4.01e+09 0.00e+00 0.00e+00 1.00e+04 0 1.84e-02 1.47e-01
1 5.963332e+04 1.66e+03 1.41e+08 0.00e+00 9.90e-01 3.00e+04 1 8.66e-02 2.33e-01
2 5.959953e+04 3.38e+01 8.97e+08 8.47e+00 9.97e-01 9.00e+04 1 4.80e-02 2.81e-01
3 5.959438e+04 5.14e+00 6.38e+08 2.16e+00 9.93e-01 2.70e+05 1 4.59e-02 3.27e-01
4 5.959231e+04 2.07e+00 6.32e+08 6.02e-01 1.00e+00 8.10e+05 1 5.13e-02 3.79e-01
5 5.959148e+04 8.28e-01 9.25e+08 2.47e-01 1.00e+00 2.43e+06 1 6.72e-02 4.46e-01
6 5.959120e+04 2.86e-01 6.00e+08 1.20e-01 1.01e+00 7.29e+06 1 7.27e-02 5.19e-01
7 5.959115e+04 5.06e-02 1.17e+09 6.29e-02 1.02e+00 2.19e+07 1 7.97e-02 5.98e-01
8 5.959114e+04 4.61e-03 1.13e+09 1.86e-02 1.03e+00 6.56e+07 1 6.98e-02 6.68e-01
9 5.959114e+04 2.93e-03 1.23e+09 3.79e-03 1.00e+00 1.97e+08 1 7.81e-02 7.46e-01
W20260707 08:18:54.810446 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
10 5.959114e+04 0.00e+00 1.23e+09 0.00e+00 0.00e+00 9.84e+07 1 4.28e-02 7.89e-01
11 5.959114e+04 1.70e-03 6.35e+08 5.48e-04 1.00e+00 2.95e+08 1 7.02e-02 8.59e-01
W20260707 08:18:54.919515 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
12 5.959114e+04 0.00e+00 6.35e+08 0.00e+00 0.00e+00 1.48e+08 1 3.88e-02 8.98e-01
W20260707 08:18:54.955559 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
13 5.959114e+04 0.00e+00 6.35e+08 0.00e+00 0.00e+00 3.69e+07 1 3.60e-02 9.34e-01
14 5.959114e+04 2.71e-04 1.56e+09 1.10e-04 9.96e-01 1.11e+08 1 6.92e-02 1.00e+00
15 5.959114e+04 6.79e-04 2.40e+09 7.08e-05 9.96e-01 3.32e+08 1 7.44e-02 1.08e+00
W20260707 08:18:55.135650 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
16 5.959114e+04 0.00e+00 2.40e+09 0.00e+00 0.00e+00 1.66e+08 1 3.65e-02 1.11e+00
W20260707 08:18:55.179519 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
17 5.959114e+04 0.00e+00 2.40e+09 0.00e+00 0.00e+00 4.15e+07 1 4.39e-02 1.16e+00
18 5.959114e+04 1.52e-04 1.91e+09 2.05e-05 9.93e-01 1.25e+08 1 6.67e-02 1.22e+00
19 5.959114e+04 3.91e-04 1.77e+09 4.24e-05 9.96e-01 3.74e+08 1 6.31e-02 1.29e+00
W20260707 08:18:55.344471 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
20 5.959114e+04 0.00e+00 1.77e+09 0.00e+00 0.00e+00 1.87e+08 1 3.50e-02 1.32e+00
21 5.959113e+04 3.88e-04 1.04e+09 4.41e-05 9.99e-01 5.61e+08 1 6.69e-02 1.39e+00
W20260707 08:18:55.453394 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
22 5.959113e+04 0.00e+00 1.04e+09 0.00e+00 0.00e+00 2.80e+08 1 4.19e-02 1.43e+00
W20260707 08:18:55.489332 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
23 5.959113e+04 0.00e+00 1.04e+09 0.00e+00 0.00e+00 7.01e+07 1 3.59e-02 1.47e+00
24 5.959113e+04 8.63e-05 1.24e+09 9.15e-06 9.94e-01 2.10e+08 1 6.27e-02 1.53e+00
W20260707 08:18:55.586422 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
25 5.959113e+04 0.00e+00 1.24e+09 0.00e+00 0.00e+00 1.05e+08 1 3.44e-02 1.57e+00
26 5.959113e+04 1.13e-04 1.71e+09 1.34e-05 9.92e-01 3.15e+08 1 7.01e-02 1.64e+00
27 5.959113e+04 2.79e-04 9.57e+08 3.15e-05 9.99e-01 9.46e+08 1 7.29e-02 1.71e+00
28 5.959113e+04 4.67e-04 2.04e+09 5.32e-05 9.97e-01 2.84e+09 1 6.66e-02 1.77e+00
29 5.959113e+04 2.65e-04 1.74e+09 2.97e-05 9.96e-01 8.51e+09 1 7.20e-02 1.85e+00
30 5.959113e+04 5.46e-05 2.26e+09 6.45e-06 9.72e-01 2.55e+10 1 9.23e-02 1.94e+00
31 5.959113e+04 2.54e-05 4.26e+09 3.41e-06 8.11e-01 3.37e+10 1 9.44e-02 2.03e+00
32 5.959113e+04 7.87e-06 2.42e+09 3.71e-07 8.23e-01 4.61e+10 1 1.08e-01 2.14e+00
33 5.959113e+04 -4.14e-07 2.42e+09 2.98e-07 -8.82e-02 2.30e+10 1 6.25e-02 2.20e+00
34 5.959113e+04 -2.11e-07 2.42e+09 1.75e-07 -6.59e-02 5.76e+09 1 5.44e-02 2.26e+00
35 5.959113e+04 3.10e-07 2.13e+09 8.74e-08 1.50e-01 4.29e+09 1 6.72e-02 2.33e+00
36 5.959113e+04 -9.49e-06 2.13e+09 3.44e-08 -4.69e+00 2.14e+09 1 4.95e-02 2.38e+00
37 5.959113e+04 5.62e-07 2.16e+09 2.79e-08 2.97e-01 2.01e+09 1 7.33e-02 2.45e+00
38 5.959113e+04 -5.97e-06 2.16e+09 2.21e-08 -4.11e+00 1.00e+09 1 4.64e-02 2.50e+00
39 5.959113e+04 -1.94e-06 2.16e+09 1.78e-08 -1.40e+00 2.51e+08 1 5.06e-02 2.55e+00
40 5.959113e+04 -2.31e-06 2.16e+09 1.49e-08 -1.72e+00 3.14e+07 1 4.84e-02 2.59e+00
41 5.959113e+04 -1.20e-06 2.16e+09 1.41e-08 -9.02e-01 1.96e+06 1 4.69e-02 2.64e+00
42 5.959113e+04 -1.34e-06 2.16e+09 1.30e-08 -1.01e+00 6.13e+04 1 3.97e-02 2.68e+00
43 5.959113e+04 1.08e-06 1.00e+09 5.65e-09 8.09e-01 8.03e+04 1 5.36e-02 2.73e+00
44 5.959113e+04 3.44e-08 1.11e+09 4.54e-09 1.35e-01 5.78e+04 1 4.61e-02 2.78e+00
45 5.959113e+04 -4.07e-09 1.11e+09 2.12e-09 -1.85e-02 2.89e+04 1 3.60e-02 2.82e+00
46 5.959113e+04 1.14e-08 1.09e+09 1.39e-09 5.18e-02 1.68e+04 1 7.07e-02 2.89e+00
47 5.959113e+04 7.51e-09 1.07e+09 8.19e-10 3.60e-02 9.34e+03 1 4.69e-02 2.93e+00
48 5.959113e+04 1.36e-07 2.80e+08 4.28e-10 6.76e-01 9.77e+03 1 5.17e-02 2.99e+00
49 5.959113e+04 -8.67e-08 2.80e+08 4.20e-10 -1.33e+00 4.88e+03 1 3.43e-02 3.02e+00
50 5.959113e+04 -8.54e-08 2.80e+08 2.18e-10 -1.32e+00 1.22e+03 1 3.03e-02 3.05e+00
I20260707 08:18:57.082033 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:57.082074 84886 bundle_adjustment.cc:942]
Residuals : 156312
Parameters : 52271
Iterations : 51
Time : 3.05463 [s]
Initial cost : 0.626177 [px]
Final cost : 0.61744 [px]
Termination : No convergence
I20260707 08:18:57.121491 84886 incremental_mapper.cc:175] => Completed observations: 57
I20260707 08:18:57.134689 84886 incremental_mapper.cc:178] => Merged observations: 34
I20260707 08:18:57.140494 84886 incremental_mapper.cc:160] => Filtered observations: 27
I20260707 08:18:57.140509 84886 incremental_mapper.cc:119] => Changed observations: 0.001510
I20260707 08:18:57.140522 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 5.964457e+04 0.00e+00 5.10e+09 0.00e+00 0.00e+00 1.00e+04 0 1.72e-02 1.59e-01
1 5.954592e+04 9.86e+01 1.43e+09 0.00e+00 1.00e+00 3.00e+04 1 8.40e-02 2.43e-01
2 5.954585e+04 7.27e-02 1.34e+09 1.89e-01 1.01e+00 9.00e+04 1 4.81e-02 2.91e-01
3 5.954581e+04 4.23e-02 9.14e+08 8.89e-02 1.00e+00 2.70e+05 1 4.67e-02 3.38e-01
4 5.954579e+04 2.05e-02 1.10e+09 5.92e-02 9.99e-01 8.10e+05 1 5.39e-02 3.92e-01
5 5.954578e+04 5.13e-03 1.17e+09 2.37e-02 9.96e-01 2.43e+06 1 5.51e-02 4.47e-01
6 5.954578e+04 1.15e-03 1.54e+09 7.87e-03 1.00e+00 7.29e+06 1 5.41e-02 5.01e-01
7 5.954578e+04 4.29e-04 1.27e+09 4.65e-03 1.01e+00 2.19e+07 1 5.10e-02 5.53e-01
8 5.954578e+04 1.07e-04 2.96e+09 2.84e-03 9.89e-01 6.56e+07 1 5.05e-02 6.03e-01
9 5.954578e+04 9.79e-06 2.34e+09 9.27e-04 8.97e-01 1.31e+08 1 4.67e-02 6.50e-01
10 5.954578e+04 -5.65e-06 2.34e+09 1.39e-04 -3.55e+00 6.55e+07 1 3.04e-02 6.80e-01
11 5.954578e+04 -1.72e-06 2.34e+09 1.32e-04 -1.09e+00 1.64e+07 1 2.65e-02 7.07e-01
12 5.954578e+04 -6.65e-07 2.34e+09 1.05e-04 -4.24e-01 2.05e+06 1 2.75e-02 7.34e-01
13 5.954578e+04 2.22e-07 1.49e+09 4.98e-05 1.49e-01 1.52e+06 1 4.14e-02 7.76e-01
14 5.954578e+04 6.84e-08 1.38e+09 1.89e-05 5.24e-02 8.85e+05 1 5.00e-02 8.26e-01
15 5.954578e+04 -9.70e-07 1.38e+09 9.57e-06 -7.75e-01 4.42e+05 1 3.36e-02 8.59e-01
16 5.954578e+04 -1.70e-07 1.38e+09 5.68e-06 -1.37e-01 1.11e+05 1 2.85e-02 8.88e-01
17 5.954578e+04 7.07e-07 9.32e+08 2.58e-06 5.70e-01 1.11e+05 1 4.37e-02 9.32e-01
18 5.954578e+04 -1.11e-06 9.32e+08 1.88e-06 -2.07e+00 5.55e+04 1 3.29e-02 9.65e-01
19 5.954578e+04 -1.73e-07 9.32e+08 1.30e-06 -3.24e-01 1.39e+04 1 2.90e-02 9.94e-01
20 5.954578e+04 -1.15e-07 9.32e+08 4.92e-07 -2.15e-01 1.73e+03 1 3.08e-02 1.02e+00
21 5.954578e+04 -1.10e-07 9.32e+08 8.45e-08 -2.05e-01 1.08e+02 1 2.93e-02 1.05e+00
22 5.954578e+04 -1.09e-07 9.32e+08 1.51e-08 -2.04e-01 3.38e+00 1 2.62e-02 1.08e+00
23 5.954578e+04 -1.09e-07 9.32e+08 1.44e-09 -2.08e-01 5.29e-02 1 2.66e-02 1.11e+00
24 5.954578e+04 9.63e-09 9.32e+08 4.68e-11 8.39e-02 3.36e-02 1 4.60e-02 1.15e+00
25 5.954578e+04 1.19e-09 9.32e+08 2.88e-11 1.61e-02 1.76e-02 1 6.57e-02 1.22e+00
26 5.954578e+04 -1.75e-10 9.32e+08 1.49e-11 -5.63e-03 8.80e-03 1 5.69e-02 1.28e+00
27 5.954578e+04 -6.55e-11 9.32e+08 7.49e-12 -5.78e-03 2.20e-03 1 3.99e-02 1.32e+00
28 5.954578e+04 -1.31e-10 9.32e+08 1.88e-12 -3.45e-02 2.75e-04 1 4.72e-02 1.36e+00
29 5.954578e+04 2.91e-11 9.32e+08 2.34e-13 -4.21e-02 1.72e-05 1 4.56e-02 1.41e+00
30 5.954578e+04 -1.46e-11 9.32e+08 1.50e-14 -1.68e+00 5.37e-07 1 4.19e-02 1.45e+00
31 5.954578e+04 7.28e-11 9.32e+08 8.06e-18 1.08e+01 1.61e-06 1 6.60e-02 1.52e+00
I20260707 08:18:58.770450 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:58.770501 84886 bundle_adjustment.cc:942]
Residuals : 156342
Parameters : 52238
Iterations : 32
Time : 1.57413 [s]
Initial cost : 0.617657 [px]
Final cost : 0.617146 [px]
Termination : Convergence
I20260707 08:18:58.836272 84886 incremental_mapper.cc:175] => Completed observations: 1
I20260707 08:18:58.863624 84886 incremental_mapper.cc:178] => Merged observations: 9
I20260707 08:18:58.873252 84886 incremental_mapper.cc:160] => Filtered observations: 3
I20260707 08:18:58.873274 84886 incremental_mapper.cc:119] => Changed observations: 0.000166
I20260707 08:18:58.873288 84886 incremental_mapper.cc:167] => Filtered images: 0
I20260707 08:18:58.878485 84886 misc.cc:198]
==============================================================================
Registering image #139 (116)
==============================================================================
I20260707 08:18:58.878525 84886 incremental_mapper.cc:495] => Image sees 254 / 829 points
I20260707 08:18:58.882705 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:18:58.882735 84886 bundle_adjustment.cc:942]
Residuals : 466
Parameters : 6
Iterations : 10
Time : 0.00219703 [s]
Initial cost : 0.695919 [px]
Final cost : 0.564961 [px]
Termination : Convergence
I20260707 08:18:58.882937 84886 incremental_mapper.cc:40] => Continued observations: 226
I20260707 08:18:58.885843 84886 incremental_mapper.cc:43] => Added observations: 155
I20260707 08:18:59.021143 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:59.021196 84886 bundle_adjustment.cc:942]
Residuals : 10096
Parameters : 1295
Iterations : 26
Time : 0.127276 [s]
Initial cost : 0.672508 [px]
Final cost : 0.659111 [px]
Termination : No convergence
I20260707 08:18:59.031234 84886 incremental_mapper.cc:78] => Merged observations: 11
I20260707 08:18:59.031278 84886 incremental_mapper.cc:79] => Completed observations: 32
I20260707 08:18:59.031286 84886 incremental_mapper.cc:81] => Filtered observations: 112
I20260707 08:18:59.031288 84886 incremental_mapper.cc:90] => Changed observations: 0.026033
I20260707 08:18:59.051738 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:59.051781 84886 bundle_adjustment.cc:942]
Residuals : 9880
Parameters : 1193
Iterations : 3
Time : 0.015429 [s]
Initial cost : 0.780396 [px]
Final cost : 0.771412 [px]
Termination : Convergence
I20260707 08:18:59.060292 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:18:59.060333 84886 incremental_mapper.cc:79] => Completed observations: 25
I20260707 08:18:59.060338 84886 incremental_mapper.cc:81] => Filtered observations: 1
I20260707 08:18:59.060341 84886 incremental_mapper.cc:90] => Changed observations: 0.004530
I20260707 08:18:59.066766 84886 misc.cc:198]
==============================================================================
Registering image #506 (117)
==============================================================================
I20260707 08:18:59.066802 84886 incremental_mapper.cc:495] => Image sees 183 / 513 points
I20260707 08:18:59.070792 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:18:59.070829 84886 bundle_adjustment.cc:942]
Residuals : 286
Parameters : 6
Iterations : 16
Time : 0.00190401 [s]
Initial cost : 0.731317 [px]
Final cost : 0.71383 [px]
Termination : Convergence
I20260707 08:18:59.071004 84886 incremental_mapper.cc:40] => Continued observations: 135
I20260707 08:18:59.071822 84886 incremental_mapper.cc:43] => Added observations: 164
I20260707 08:18:59.147876 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:59.147927 84886 bundle_adjustment.cc:942]
Residuals : 5164
Parameters : 686
Iterations : 26
Time : 0.0730648 [s]
Initial cost : 0.712139 [px]
Final cost : 0.677124 [px]
Termination : No convergence
I20260707 08:18:59.151490 84886 incremental_mapper.cc:78] => Merged observations: 10
I20260707 08:18:59.151515 84886 incremental_mapper.cc:79] => Completed observations: 10
I20260707 08:18:59.151518 84886 incremental_mapper.cc:81] => Filtered observations: 99
I20260707 08:18:59.151520 84886 incremental_mapper.cc:90] => Changed observations: 0.043431
I20260707 08:18:59.163645 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:59.163678 84886 bundle_adjustment.cc:942]
Residuals : 6172
Parameters : 536
Iterations : 3
Time : 0.00930882 [s]
Initial cost : 0.728278 [px]
Final cost : 0.719355 [px]
Termination : Convergence
I20260707 08:18:59.167861 84886 incremental_mapper.cc:78] => Merged observations: 12
I20260707 08:18:59.167886 84886 incremental_mapper.cc:79] => Completed observations: 15
I20260707 08:18:59.167889 84886 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 08:18:59.167891 84886 incremental_mapper.cc:90] => Changed observations: 0.008393
I20260707 08:18:59.172581 84886 misc.cc:198]
==============================================================================
Registering image #155 (118)
==============================================================================
I20260707 08:18:59.172605 84886 incremental_mapper.cc:495] => Image sees 161 / 3893 points
I20260707 08:18:59.175181 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:18:59.175206 84886 bundle_adjustment.cc:942]
Residuals : 214
Parameters : 6
Iterations : 11
Time : 0.000961065 [s]
Initial cost : 0.680757 [px]
Final cost : 0.581125 [px]
Termination : Convergence
I20260707 08:18:59.175300 84886 incremental_mapper.cc:40] => Continued observations: 106
I20260707 08:18:59.182770 84886 incremental_mapper.cc:43] => Added observations: 124
I20260707 08:18:59.316958 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:59.317035 84886 bundle_adjustment.cc:942]
Residuals : 7590
Parameters : 626
Iterations : 18
Time : 0.128762 [s]
Initial cost : 0.682585 [px]
Final cost : 0.628443 [px]
Termination : Convergence
I20260707 08:18:59.334239 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:18:59.334300 84886 incremental_mapper.cc:79] => Completed observations: 26
I20260707 08:18:59.334306 84886 incremental_mapper.cc:81] => Filtered observations: 71
I20260707 08:18:59.334311 84886 incremental_mapper.cc:90] => Changed observations: 0.021110
I20260707 08:18:59.361510 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:59.361583 84886 bundle_adjustment.cc:942]
Residuals : 7200
Parameters : 560
Iterations : 3
Time : 0.022161 [s]
Initial cost : 0.759496 [px]
Final cost : 0.749088 [px]
Termination : Convergence
I20260707 08:18:59.378398 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:18:59.378448 84886 incremental_mapper.cc:79] => Completed observations: 23
I20260707 08:18:59.378454 84886 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 08:18:59.378458 84886 incremental_mapper.cc:90] => Changed observations: 0.005082
I20260707 08:18:59.387159 84886 misc.cc:198]
==============================================================================
Registering image #278 (119)
==============================================================================
I20260707 08:18:59.387223 84886 incremental_mapper.cc:495] => Image sees 159 / 1030 points
I20260707 08:18:59.390807 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:18:59.390892 84886 bundle_adjustment.cc:942]
Residuals : 208
Parameters : 6
Iterations : 9
Time : 0.00115991 [s]
Initial cost : 0.590964 [px]
Final cost : 0.568655 [px]
Termination : Convergence
I20260707 08:18:59.391043 84886 incremental_mapper.cc:40] => Continued observations: 103
I20260707 08:18:59.392650 84886 incremental_mapper.cc:43] => Added observations: 193
I20260707 08:18:59.671918 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:59.671988 84886 bundle_adjustment.cc:942]
Residuals : 9632
Parameters : 722
Iterations : 26
Time : 0.268493 [s]
Initial cost : 0.676287 [px]
Final cost : 0.649094 [px]
Termination : No convergence
I20260707 08:18:59.684114 84886 incremental_mapper.cc:78] => Merged observations: 12
I20260707 08:18:59.684171 84886 incremental_mapper.cc:79] => Completed observations: 19
I20260707 08:18:59.684177 84886 incremental_mapper.cc:81] => Filtered observations: 109
I20260707 08:18:59.684182 84886 incremental_mapper.cc:90] => Changed observations: 0.024748
I20260707 08:18:59.720842 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:18:59.720911 84886 bundle_adjustment.cc:942]
Residuals : 9414
Parameters : 614
Iterations : 3
Time : 0.027667 [s]
Initial cost : 0.686188 [px]
Final cost : 0.679515 [px]
Termination : Convergence
I20260707 08:18:59.728464 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:18:59.728495 84886 incremental_mapper.cc:79] => Completed observations: 23
I20260707 08:18:59.728498 84886 incremental_mapper.cc:81] => Filtered observations: 2
I20260707 08:18:59.728500 84886 incremental_mapper.cc:90] => Changed observations: 0.004506
I20260707 08:18:59.734421 84886 misc.cc:198]
==============================================================================
Registering image #279 (120)
==============================================================================
I20260707 08:18:59.734467 84886 incremental_mapper.cc:495] => Image sees 201 / 2071 points
I20260707 08:18:59.739711 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:18:59.739770 84886 bundle_adjustment.cc:942]
Residuals : 312
Parameters : 6
Iterations : 11
Time : 0.00293684 [s]
Initial cost : 0.675941 [px]
Final cost : 0.598381 [px]
Termination : Convergence
I20260707 08:18:59.739948 84886 incremental_mapper.cc:40] => Continued observations: 153
I20260707 08:18:59.743621 84886 incremental_mapper.cc:43] => Added observations: 202
I20260707 08:19:00.000461 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:19:00.000501 84886 bundle_adjustment.cc:942]
Residuals : 10468
Parameters : 800
Iterations : 26
Time : 0.247585 [s]
Initial cost : 0.669221 [px]
Final cost : 0.645619 [px]
Termination : No convergence
I20260707 08:19:00.013167 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:19:00.013441 84886 incremental_mapper.cc:79] => Completed observations: 26
I20260707 08:19:00.013468 84886 incremental_mapper.cc:81] => Filtered observations: 114
I20260707 08:19:00.013482 84886 incremental_mapper.cc:90] => Changed observations: 0.022124
I20260707 08:19:00.044857 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:19:00.044898 84886 bundle_adjustment.cc:942]
Residuals : 10202
Parameters : 683
Iterations : 2
Time : 0.016223 [s]
Initial cost : 0.694132 [px]
Final cost : 0.68891 [px]
Termination : Convergence
I20260707 08:19:00.052203 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:19:00.052224 84886 incremental_mapper.cc:79] => Completed observations: 43
I20260707 08:19:00.052227 84886 incremental_mapper.cc:81] => Filtered observations: 9
I20260707 08:19:00.052229 84886 incremental_mapper.cc:90] => Changed observations: 0.008394
I20260707 08:19:00.056833 84886 misc.cc:198]
==============================================================================
Registering image #181 (121)
==============================================================================
I20260707 08:19:00.056860 84886 incremental_mapper.cc:495] => Image sees 180 / 808 points
I20260707 08:19:00.060808 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:19:00.060837 84886 bundle_adjustment.cc:942]
Residuals : 278
Parameters : 6
Iterations : 17
Time : 0.00168014 [s]
Initial cost : 0.712173 [px]
Final cost : 0.634584 [px]
Termination : Convergence
I20260707 08:19:00.060922 84886 incremental_mapper.cc:40] => Continued observations: 138
I20260707 08:19:00.062354 84886 incremental_mapper.cc:43] => Added observations: 201
I20260707 08:19:00.114818 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:19:00.114850 84886 bundle_adjustment.cc:942]
Residuals : 7044
Parameters : 629
Iterations : 17
Time : 0.049623 [s]
Initial cost : 0.715022 [px]
Final cost : 0.666537 [px]
Termination : Convergence
I20260707 08:19:00.119009 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:19:00.119029 84886 incremental_mapper.cc:79] => Completed observations: 26
I20260707 08:19:00.119032 84886 incremental_mapper.cc:81] => Filtered observations: 155
I20260707 08:19:00.119035 84886 incremental_mapper.cc:90] => Changed observations: 0.049945
I20260707 08:19:00.126183 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:19:00.126209 84886 bundle_adjustment.cc:942]
Residuals : 3986
Parameters : 485
Iterations : 3
Time : 0.005229 [s]
Initial cost : 0.738256 [px]
Final cost : 0.716491 [px]
Termination : Convergence
I20260707 08:19:00.129371 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:19:00.129387 84886 incremental_mapper.cc:79] => Completed observations: 25
I20260707 08:19:00.129390 84886 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 08:19:00.129392 84886 incremental_mapper.cc:90] => Changed observations: 0.009276
I20260707 08:19:00.133652 84886 misc.cc:198]
==============================================================================
Registering image #235 (122)
==============================================================================
I20260707 08:19:00.133669 84886 incremental_mapper.cc:495] => Image sees 118 / 3555 points
I20260707 08:19:00.136420 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:19:00.136451 84886 bundle_adjustment.cc:942]
Residuals : 138
Parameters : 6
Iterations : 22
Time : 0.00121999 [s]
Initial cost : 0.853417 [px]
Final cost : 0.761007 [px]
Termination : Convergence
I20260707 08:19:00.136525 84886 incremental_mapper.cc:40] => Continued observations: 68
I20260707 08:19:00.137384 84886 incremental_mapper.cc:43] => Added observations: 264
I20260707 08:19:00.184336 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:19:00.184370 84886 bundle_adjustment.cc:942]
Residuals : 8082
Parameters : 878
Iterations : 12
Time : 0.0432041 [s]
Initial cost : 0.576029 [px]
Final cost : 0.530363 [px]
Termination : Convergence
I20260707 08:19:00.188781 84886 incremental_mapper.cc:78] => Merged observations: 9
I20260707 08:19:00.188803 84886 incremental_mapper.cc:79] => Completed observations: 55
I20260707 08:19:00.188807 84886 incremental_mapper.cc:81] => Filtered observations: 41
I20260707 08:19:00.188808 84886 incremental_mapper.cc:90] => Changed observations: 0.021238
I20260707 08:19:00.216578 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:19:00.216620 84886 bundle_adjustment.cc:942]
Residuals : 8104
Parameters : 827
Iterations : 6
Time : 0.0240569 [s]
Initial cost : 0.621891 [px]
Final cost : 0.611818 [px]
Termination : Convergence
I20260707 08:19:00.220842 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:19:00.220868 84886 incremental_mapper.cc:79] => Completed observations: 6
I20260707 08:19:00.220885 84886 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 08:19:00.220888 84886 incremental_mapper.cc:90] => Changed observations: 0.001211
I20260707 08:19:00.226675 84886 misc.cc:198]
==============================================================================
Registering image #226 (123)
==============================================================================
I20260707 08:19:00.226708 84886 incremental_mapper.cc:495] => Image sees 197 / 3931 points
I20260707 08:19:00.230122 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:19:00.230198 84886 bundle_adjustment.cc:942]
Residuals : 304
Parameters : 6
Iterations : 8
Time : 0.00157285 [s]
Initial cost : 0.538085 [px]
Final cost : 0.493806 [px]
Termination : Convergence
I20260707 08:19:00.230582 84886 incremental_mapper.cc:40] => Continued observations: 151
I20260707 08:19:00.235627 84886 incremental_mapper.cc:43] => Added observations: 170
I20260707 08:19:00.536834 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:19:00.536911 84886 bundle_adjustment.cc:942]
Residuals : 8716
Parameters : 947
Iterations : 26
Time : 0.281557 [s]
Initial cost : 0.546989 [px]
Final cost : 0.519031 [px]
Termination : No convergence
I20260707 08:19:00.548189 84886 incremental_mapper.cc:78] => Merged observations: 7
I20260707 08:19:00.548250 84886 incremental_mapper.cc:79] => Completed observations: 29
I20260707 08:19:00.548255 84886 incremental_mapper.cc:81] => Filtered observations: 38
I20260707 08:19:00.548259 84886 incremental_mapper.cc:90] => Changed observations: 0.014082
I20260707 08:19:00.586551 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:19:00.586617 84886 bundle_adjustment.cc:942]
Residuals : 8688
Parameters : 911
Iterations : 4
Time : 0.032886 [s]
Initial cost : 0.604927 [px]
Final cost : 0.599662 [px]
Termination : Convergence
I20260707 08:19:00.599651 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:19:00.599786 84886 incremental_mapper.cc:79] => Completed observations: 5
I20260707 08:19:00.599792 84886 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 08:19:00.599795 84886 incremental_mapper.cc:90] => Changed observations: 0.000954
I20260707 08:19:00.615142 84886 misc.cc:198]
==============================================================================
Registering image #228 (124)
==============================================================================
I20260707 08:19:00.615195 84886 incremental_mapper.cc:495] => Image sees 208 / 4202 points
I20260707 08:19:00.620530 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:19:00.620626 84886 bundle_adjustment.cc:942]
Residuals : 348
Parameters : 6
Iterations : 6
Time : 0.00174999 [s]
Initial cost : 0.430058 [px]
Final cost : 0.407019 [px]
Termination : Convergence
I20260707 08:19:00.621009 84886 incremental_mapper.cc:40] => Continued observations: 173
I20260707 08:19:00.630759 84886 incremental_mapper.cc:43] => Added observations: 281
I20260707 08:19:00.815590 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:19:00.815677 84886 bundle_adjustment.cc:942]
Residuals : 9358
Parameters : 1148
Iterations : 26
Time : 0.17885 [s]
Initial cost : 0.571031 [px]
Final cost : 0.524365 [px]
Termination : No convergence
I20260707 08:19:00.831796 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:19:00.831840 84886 incremental_mapper.cc:79] => Completed observations: 26
I20260707 08:19:00.831845 84886 incremental_mapper.cc:81] => Filtered observations: 38
I20260707 08:19:00.831847 84886 incremental_mapper.cc:90] => Changed observations: 0.011467
I20260707 08:19:00.863934 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:19:00.864037 84886 bundle_adjustment.cc:942]
Residuals : 9342
Parameters : 1148
Iterations : 4
Time : 0.0274889 [s]
Initial cost : 0.577088 [px]
Final cost : 0.568449 [px]
Termination : Convergence
I20260707 08:19:00.878489 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:19:00.878528 84886 incremental_mapper.cc:79] => Completed observations: 2
I20260707 08:19:00.878532 84886 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 08:19:00.878535 84886 incremental_mapper.cc:90] => Changed observations: 0.000401
I20260707 08:19:00.885865 84886 misc.cc:198]
==============================================================================
Registering image #201 (125)
==============================================================================
I20260707 08:19:00.885933 84886 incremental_mapper.cc:495] => Image sees 275 / 3504 points
I20260707 08:19:00.890777 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:19:00.890873 84886 bundle_adjustment.cc:942]
Residuals : 438
Parameters : 6
Iterations : 9
Time : 0.002491 [s]
Initial cost : 0.449238 [px]
Final cost : 0.443323 [px]
Termination : Convergence
I20260707 08:19:00.891459 84886 incremental_mapper.cc:40] => Continued observations: 219
I20260707 08:19:00.896915 84886 incremental_mapper.cc:43] => Added observations: 371
I20260707 08:19:01.265494 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:19:01.265765 84886 bundle_adjustment.cc:942]
Residuals : 5770
Parameters : 1172
Iterations : 26
Time : 0.360731 [s]
Initial cost : 0.9191 [px]
Final cost : 0.676119 [px]
Termination : No convergence
I20260707 08:19:01.304143 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:19:01.304394 84886 incremental_mapper.cc:79] => Completed observations: 65
I20260707 08:19:01.304425 84886 incremental_mapper.cc:81] => Filtered observations: 114
I20260707 08:19:01.304432 84886 incremental_mapper.cc:90] => Changed observations: 0.046773
I20260707 08:19:01.393934 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:19:01.394166 84886 bundle_adjustment.cc:942]
Residuals : 5534
Parameters : 974
Iterations : 6
Time : 0.0734038 [s]
Initial cost : 0.60303 [px]
Final cost : 0.594176 [px]
Termination : Convergence
I20260707 08:19:01.426681 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:19:01.426844 84886 incremental_mapper.cc:79] => Completed observations: 9
I20260707 08:19:01.426859 84886 incremental_mapper.cc:81] => Filtered observations: 1
I20260707 08:19:01.426867 84886 incremental_mapper.cc:90] => Changed observations: 0.002695
I20260707 08:19:01.448096 84886 misc.cc:198]
==============================================================================
Registering image #198 (126)
==============================================================================
I20260707 08:19:01.448307 84886 incremental_mapper.cc:495] => Image sees 202 / 2224 points
I20260707 08:19:01.459357 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:19:01.459574 84886 bundle_adjustment.cc:942]
Residuals : 326
Parameters : 6
Iterations : 11
Time : 0.00555897 [s]
Initial cost : 0.438567 [px]
Final cost : 0.435602 [px]
Termination : Convergence
I20260707 08:19:01.460341 84886 incremental_mapper.cc:40] => Continued observations: 160
I20260707 08:19:01.480332 84886 incremental_mapper.cc:43] => Added observations: 417
I20260707 08:19:01.831439 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:19:01.831620 84886 bundle_adjustment.cc:942]
Residuals : 6128
Parameters : 959
Iterations : 26
Time : 0.333247 [s]
Initial cost : 0.847438 [px]
Final cost : 0.731027 [px]
Termination : No convergence
I20260707 08:19:01.878392 84886 incremental_mapper.cc:78] => Merged observations: 7
I20260707 08:19:01.878549 84886 incremental_mapper.cc:79] => Completed observations: 62
I20260707 08:19:01.878568 84886 incremental_mapper.cc:81] => Filtered observations: 145
I20260707 08:19:01.878656 84886 incremental_mapper.cc:90] => Changed observations: 0.053393
I20260707 08:19:01.936048 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:19:01.936267 84886 bundle_adjustment.cc:942]
Residuals : 5816
Parameters : 746
Iterations : 3
Time : 0.0407109 [s]
Initial cost : 0.605715 [px]
Final cost : 0.588933 [px]
Termination : Convergence
I20260707 08:19:01.969683 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:19:01.969827 84886 incremental_mapper.cc:79] => Completed observations: 28
I20260707 08:19:01.969838 84886 incremental_mapper.cc:81] => Filtered observations: 7
I20260707 08:19:01.969844 84886 incremental_mapper.cc:90] => Changed observations: 0.009086
I20260707 08:19:01.984690 84886 misc.cc:198]
==============================================================================
Registering image #146 (127)
==============================================================================
I20260707 08:19:01.984771 84886 incremental_mapper.cc:495] => Image sees 168 / 688 points
I20260707 08:19:01.994743 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:19:01.994793 84886 bundle_adjustment.cc:942]
Residuals : 268
Parameters : 6
Iterations : 27
Time : 0.00652885 [s]
Initial cost : 0.69899 [px]
Final cost : 0.683973 [px]
Termination : Convergence
I20260707 08:19:01.994959 84886 incremental_mapper.cc:40] => Continued observations: 132
I20260707 08:19:01.996290 84886 incremental_mapper.cc:43] => Added observations: 200
I20260707 08:19:02.088768 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:19:02.088828 84886 bundle_adjustment.cc:942]
Residuals : 6074
Parameters : 689
Iterations : 16
Time : 0.087364 [s]
Initial cost : 0.687566 [px]
Final cost : 0.661617 [px]
Termination : Convergence
I20260707 08:19:02.104007 84886 incremental_mapper.cc:78] => Merged observations: 10
I20260707 08:19:02.104167 84886 incremental_mapper.cc:79] => Completed observations: 41
I20260707 08:19:02.104190 84886 incremental_mapper.cc:81] => Filtered observations: 66
I20260707 08:19:02.104194 84886 incremental_mapper.cc:90] => Changed observations: 0.026983
I20260707 08:19:02.172353 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:19:02.172442 84886 bundle_adjustment.cc:942]
Residuals : 8268
Parameters : 623
Iterations : 3
Time : 0.044121 [s]
Initial cost : 0.657009 [px]
Final cost : 0.646266 [px]
Termination : Convergence
I20260707 08:19:02.187516 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:19:02.187580 84886 incremental_mapper.cc:79] => Completed observations: 26
I20260707 08:19:02.187587 84886 incremental_mapper.cc:81] => Filtered observations: 2
I20260707 08:19:02.187590 84886 incremental_mapper.cc:90] => Changed observations: 0.006510
I20260707 08:19:02.187624 84886 misc.cc:198]
==============================================================================
Retriangulation
==============================================================================
I20260707 08:19:02.232744 84886 incremental_mapper.cc:175] => Completed observations: 29
I20260707 08:19:02.324103 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:19:02.324189 84886 incremental_mapper.cc:105] => Retriangulated observations: 280
I20260707 08:19:02.368377 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 2.098962e+05 0.00e+00 2.98e+09 0.00e+00 0.00e+00 1.00e+04 0 7.64e-02 6.29e-01
1 1.359018e+05 7.40e+04 5.92e+08 0.00e+00 9.81e-01 3.00e+04 1 1.96e-01 8.25e-01
2 1.347186e+05 1.18e+03 1.01e+09 4.85e+00 9.81e-01 9.00e+04 1 1.47e-01 9.72e-01
3 1.346930e+05 2.57e+01 3.45e+08 1.29e+00 8.99e-01 1.83e+05 1 2.25e-01 1.20e+00
4 1.346878e+05 5.16e+00 1.19e+09 5.40e-01 8.77e-01 3.20e+05 1 2.09e-01 1.41e+00
5 1.346856e+05 2.19e+00 9.02e+08 4.75e-01 8.92e-01 6.18e+05 1 2.26e-01 1.63e+00
6 1.346836e+05 2.03e+00 1.11e+09 9.59e-01 9.33e-01 1.77e+06 1 1.87e-01 1.82e+00
7 1.346820e+05 1.58e+00 1.37e+09 2.04e+00 9.44e-01 5.30e+06 1 2.41e-01 2.06e+00
8 1.346816e+05 4.51e-01 1.13e+09 4.47e+00 8.98e-01 1.07e+07 1 1.64e-01 2.22e+00
9 1.346815e+05 4.45e-02 2.16e+09 1.04e+01 6.42e-01 1.09e+07 1 2.79e-01 2.50e+00
10 1.346815e+05 9.90e-03 1.97e+09 1.38e+01 6.59e-01 1.13e+07 1 2.39e-01 2.74e+00
11 1.346815e+05 3.26e-03 3.60e+09 1.45e+01 7.39e-01 1.27e+07 1 1.92e-01 2.94e+00
12 1.346815e+05 1.50e-03 1.99e+09 1.61e+01 7.64e-01 1.49e+07 1 1.26e-01 3.06e+00
13 1.346815e+05 6.66e-04 2.55e+09 1.11e+01 8.66e-01 2.46e+07 1 1.98e-01 3.26e+00
14 1.346815e+05 6.37e-04 2.80e+09 1.31e+01 8.79e-01 4.35e+07 1 2.00e-01 3.46e+00
15 1.346815e+05 7.38e-04 2.25e+09 1.66e+01 8.99e-01 8.88e+07 1 2.32e-01 3.69e+00
16 1.346815e+05 1.19e-03 2.02e+09 2.37e+01 9.32e-01 2.51e+08 1 1.29e-01 3.82e+00
17 1.346815e+05 3.89e-03 5.33e+09 4.41e+01 9.78e-01 7.54e+08 1 1.60e-01 3.98e+00
18 1.346815e+05 2.20e-02 1.17e+09 7.42e+01 1.03e+00 2.26e+09 1 2.48e-01 4.23e+00
19 1.346814e+05 5.73e-02 3.49e+09 1.03e+02 1.54e+00 6.79e+09 1 2.46e-01 4.48e+00
20 1.346813e+05 9.07e-02 1.31e+09 1.32e+02 1.45e+00 2.04e+10 1 2.60e-01 4.74e+00
W20260707 08:19:07.542114 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
21 1.346813e+05 0.00e+00 1.31e+09 0.00e+00 0.00e+00 1.02e+10 1 1.19e-01 4.85e+00
W20260707 08:19:07.646090 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
22 1.346813e+05 0.00e+00 1.31e+09 0.00e+00 0.00e+00 2.55e+09 1 1.04e-01 4.96e+00
W20260707 08:19:07.712867 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
23 1.346813e+05 0.00e+00 1.31e+09 0.00e+00 0.00e+00 3.18e+08 1 6.66e-02 5.02e+00
24 1.346813e+05 4.84e-02 1.29e+09 2.96e+00 1.36e+00 9.55e+08 1 7.05e-02 5.10e+00
25 1.346812e+05 1.86e-02 3.52e+09 7.90e+00 1.39e+00 2.86e+09 1 2.48e-01 5.34e+00
W20260707 08:19:08.081233 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
26 1.346812e+05 0.00e+00 3.52e+09 0.00e+00 0.00e+00 1.43e+09 1 5.00e-02 5.39e+00
W20260707 08:19:08.133735 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
27 1.346812e+05 0.00e+00 3.52e+09 0.00e+00 0.00e+00 3.58e+08 1 5.24e-02 5.45e+00
28 1.346812e+05 6.38e-03 5.34e+09 2.95e+00 1.36e+00 1.07e+09 1 1.99e-01 5.64e+00
29 1.346812e+05 2.38e-03 4.44e+09 8.87e+00 1.36e+00 3.22e+09 1 2.14e-01 5.86e+00
W20260707 08:19:08.629205 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
30 1.346812e+05 0.00e+00 4.44e+09 0.00e+00 0.00e+00 1.61e+09 1 8.25e-02 5.94e+00
31 1.346812e+05 8.09e-04 3.69e+09 1.31e+01 1.33e+00 4.83e+09 1 1.79e-01 6.12e+00
W20260707 08:19:08.891038 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
32 1.346812e+05 0.00e+00 3.69e+09 0.00e+00 0.00e+00 2.42e+09 1 8.24e-02 6.20e+00
W20260707 08:19:08.946530 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
33 1.346812e+05 0.00e+00 3.69e+09 0.00e+00 0.00e+00 6.04e+08 1 5.55e-02 6.26e+00
W20260707 08:19:09.030682 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
34 1.346812e+05 0.00e+00 3.69e+09 0.00e+00 0.00e+00 7.55e+07 1 8.41e-02 6.34e+00
35 1.346812e+05 3.32e-04 1.29e+09 5.90e-01 1.20e+00 2.27e+08 1 1.84e-01 6.53e+00
W20260707 08:19:09.348727 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
36 1.346812e+05 0.00e+00 1.29e+09 0.00e+00 0.00e+00 1.13e+08 1 1.34e-01 6.66e+00
37 1.346812e+05 2.13e-04 2.74e+09 8.83e-01 1.14e+00 3.40e+08 1 2.17e-01 6.88e+00
W20260707 08:19:09.679618 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
38 1.346812e+05 0.00e+00 2.74e+09 0.00e+00 0.00e+00 1.70e+08 1 1.14e-01 6.99e+00
W20260707 08:19:09.770092 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
39 1.346812e+05 0.00e+00 2.74e+09 0.00e+00 0.00e+00 4.25e+07 1 9.05e-02 7.08e+00
40 1.346812e+05 3.97e-05 1.22e+09 3.33e-01 1.17e+00 1.27e+08 1 1.48e-01 7.23e+00
41 1.346812e+05 1.59e-05 2.89e+09 9.98e-01 9.13e-01 2.92e+08 1 1.58e-01 7.39e+00
W20260707 08:19:10.191870 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
42 1.346812e+05 0.00e+00 2.89e+09 0.00e+00 0.00e+00 1.46e+08 1 1.16e-01 7.50e+00
43 1.346812e+05 1.45e-05 1.36e+09 1.14e+00 1.06e+00 4.38e+08 1 2.14e-01 7.72e+00
44 1.346812e+05 4.41e-06 2.62e+09 3.41e+00 6.38e-01 4.48e+08 1 2.42e-01 7.96e+00
W20260707 08:19:10.740885 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
45 1.346812e+05 0.00e+00 2.62e+09 0.00e+00 0.00e+00 2.24e+08 1 9.22e-02 8.05e+00
W20260707 08:19:10.809721 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
46 1.346812e+05 0.00e+00 2.62e+09 0.00e+00 0.00e+00 5.60e+07 1 6.88e-02 8.12e+00
47 1.346812e+05 1.89e-06 3.89e+09 4.30e-01 4.57e-01 5.59e+07 1 1.12e-01 8.23e+00
48 1.346812e+05 4.97e-07 2.05e+09 4.29e-01 1.55e-01 4.21e+07 1 1.43e-01 8.38e+00
49 1.346812e+05 7.27e-07 2.23e+09 3.23e-01 2.29e-01 3.63e+07 1 1.44e-01 8.52e+00
50 1.346812e+05 1.04e-06 2.81e+09 2.78e-01 3.74e-01 3.58e+07 1 1.06e-01 8.63e+00
I20260707 08:19:11.365069 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:19:11.365245 84886 bundle_adjustment.cc:942]
Residuals : 164304
Parameters : 54431
Iterations : 51
Time : 8.64945 [s]
Initial cost : 1.13026 [px]
Final cost : 0.905377 [px]
Termination : No convergence
I20260707 08:19:11.644464 84886 incremental_mapper.cc:175] => Completed observations: 46
I20260707 08:19:11.819728 84886 incremental_mapper.cc:178] => Merged observations: 29
I20260707 08:19:11.886070 84886 incremental_mapper.cc:160] => Filtered observations: 572
I20260707 08:19:11.886211 84886 incremental_mapper.cc:119] => Changed observations: 0.007876
I20260707 08:19:11.886268 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 6.375098e+04 0.00e+00 1.07e+10 0.00e+00 0.00e+00 1.00e+04 0 1.22e-01 1.01e+00
1 6.192525e+04 1.83e+03 6.83e+08 0.00e+00 9.98e-01 3.00e+04 1 2.90e-01 1.30e+00
2 6.191502e+04 1.02e+01 4.08e+08 4.22e+00 1.00e+00 9.00e+04 1 2.25e-01 1.53e+00
3 6.191261e+04 2.41e+00 2.92e+08 1.12e+00 1.01e+00 2.70e+05 1 1.62e-01 1.69e+00
4 6.191141e+04 1.20e+00 2.01e+09 3.53e-01 1.01e+00 8.10e+05 1 1.51e-01 1.84e+00
5 6.191083e+04 5.75e-01 9.21e+08 2.59e-01 1.01e+00 2.43e+06 1 2.17e-01 2.06e+00
6 6.191067e+04 1.64e-01 1.23e+09 1.10e-01 1.02e+00 7.29e+06 1 1.93e-01 2.25e+00
7 6.191064e+04 2.66e-02 3.09e+09 4.14e-02 1.06e+00 2.19e+07 1 2.30e-01 2.48e+00
8 6.191064e+04 3.81e-03 1.87e+09 1.64e-02 1.11e+00 6.56e+07 1 2.47e-01 2.73e+00
9 6.191064e+04 4.95e-04 3.23e+09 6.11e-03 1.20e+00 1.97e+08 1 1.49e-01 2.88e+00
10 6.191064e+04 5.62e-05 6.25e+09 1.96e-03 1.14e+00 5.90e+08 1 2.09e-01 3.08e+00
11 6.191064e+04 1.03e-05 6.64e+09 7.93e-04 5.17e-01 5.91e+08 1 2.09e-01 3.29e+00
12 6.191064e+04 1.25e-05 3.45e+09 3.71e-04 8.02e-01 7.58e+08 1 2.10e-01 3.50e+00
13 6.191064e+04 -1.53e-07 3.45e+09 1.76e-04 -3.41e-02 3.79e+08 1 1.50e-01 3.65e+00
14 6.191064e+04 2.27e-06 3.58e+09 1.76e-04 5.09e-01 3.79e+08 1 1.80e-01 3.83e+00
15 6.191064e+04 -5.82e-07 3.58e+09 8.38e-05 -2.31e-01 1.90e+08 1 7.19e-02 3.91e+00
16 6.191064e+04 -1.79e-05 3.58e+09 8.37e-05 -7.14e+00 4.74e+07 1 8.02e-02 3.99e+00
17 6.191064e+04 4.09e-07 3.06e+09 8.36e-05 1.64e-01 3.63e+07 1 1.97e-01 4.18e+00
18 6.191064e+04 -1.62e-06 3.06e+09 3.98e-05 -7.50e-01 1.82e+07 1 1.67e-01 4.35e+00
19 6.191064e+04 1.69e-07 1.94e+09 3.96e-05 7.84e-02 1.14e+07 1 2.06e-01 4.56e+00
20 6.191064e+04 -4.39e-06 1.94e+09 1.90e-05 -2.19e+00 5.68e+06 1 1.77e-01 4.73e+00
21 6.191064e+04 -5.88e-07 1.94e+09 1.88e-05 -2.94e-01 1.42e+06 1 7.97e-02 4.81e+00
22 6.191064e+04 4.58e-07 1.63e+09 1.80e-05 2.28e-01 1.22e+06 1 1.71e-01 4.98e+00
23 6.191064e+04 -1.17e-06 1.63e+09 9.07e-06 -7.53e-01 6.12e+05 1 1.06e-01 5.09e+00
24 6.191064e+04 5.08e-07 2.05e+09 8.63e-06 3.28e-01 5.88e+05 1 1.10e-01 5.20e+00
25 6.191064e+04 -1.39e-06 2.05e+09 4.47e-06 -1.33e+00 2.94e+05 1 1.36e-01 5.34e+00
26 6.191064e+04 9.35e-07 5.45e+08 4.11e-06 8.96e-01 5.84e+05 1 2.39e-01 5.57e+00
27 6.191064e+04 -1.56e-06 5.45e+08 2.51e-06 -1.43e+01 2.92e+05 1 1.14e-01 5.69e+00
28 6.191064e+04 -2.40e-06 5.45e+08 2.25e-06 -2.20e+01 7.30e+04 1 9.69e-02 5.79e+00
29 6.191064e+04 5.52e-08 3.75e+08 1.62e-06 5.06e-01 7.30e+04 1 1.33e-01 5.92e+00
30 6.191064e+04 -3.93e-08 3.75e+08 1.15e-06 -7.33e-01 3.65e+04 1 1.11e-01 6.03e+00
31 6.191064e+04 1.14e-08 3.89e+08 8.53e-07 2.13e-01 3.07e+04 1 1.76e-01 6.21e+00
32 6.191064e+04 2.62e-09 3.53e+08 5.79e-07 6.08e-02 1.83e+04 1 2.14e-01 6.42e+00
33 6.191064e+04 1.28e-08 3.30e+08 2.95e-07 3.18e-01 1.75e+04 1 1.60e-01 6.58e+00
34 6.191064e+04 -1.03e-09 3.30e+08 2.39e-07 -4.06e-02 8.73e+03 1 4.13e-02 6.62e+00
35 6.191064e+04 3.16e-09 3.43e+08 1.35e-07 1.13e-01 5.97e+03 1 1.22e-01 6.74e+00
36 6.191064e+04 3.27e-10 3.47e+08 9.18e-08 9.44e-03 3.07e+03 1 1.91e-01 6.93e+00
37 6.191064e+04 4.07e-09 3.62e+08 4.56e-08 1.64e-01 2.36e+03 1 2.13e-01 7.15e+00
38 6.191064e+04 -1.99e-09 3.62e+08 3.49e-08 -1.07e-01 1.18e+03 1 1.34e-01 7.28e+00
39 6.191064e+04 -1.27e-09 3.62e+08 1.71e-08 -7.12e-02 2.95e+02 1 1.09e-01 7.39e+00
40 6.191064e+04 -1.14e-09 3.62e+08 4.22e-09 -6.43e-02 3.68e+01 1 5.27e-02 7.44e+00
41 6.191064e+04 -7.64e-10 3.62e+08 5.57e-10 -4.58e-02 2.30e+00 1 1.07e-01 7.55e+00
42 6.191064e+04 -2.11e-09 3.62e+08 3.55e-11 -1.14e-01 7.19e-02 1 7.23e-02 7.62e+00
43 6.191064e+04 9.46e-11 3.62e+08 1.18e-12 -7.47e-03 1.12e-03 1 6.00e-02 7.68e+00
44 6.191064e+04 -2.18e-11 3.62e+08 8.17e-15 -9.84e-01 8.78e-06 1 1.11e-01 7.79e+00
45 6.191064e+04 8.00e-11 3.62e+08 4.86e-19 -5.21e+01 3.43e-08 1 1.37e-01 7.93e+00
I20260707 08:19:20.260058 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:19:20.260214 84886 bundle_adjustment.cc:942]
Residuals : 163146
Parameters : 54092
Iterations : 46
Time : 8.05443 [s]
Initial cost : 0.625108 [px]
Final cost : 0.616019 [px]
Termination : Convergence
I20260707 08:19:20.481997 84886 incremental_mapper.cc:175] => Completed observations: 134
I20260707 08:19:20.523805 84886 incremental_mapper.cc:178] => Merged observations: 13
I20260707 08:19:20.568833 84886 incremental_mapper.cc:160] => Filtered observations: 15
I20260707 08:19:20.568921 84886 incremental_mapper.cc:119] => Changed observations: 0.001986
I20260707 08:19:20.568969 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 6.227043e+04 0.00e+00 4.30e+09 0.00e+00 0.00e+00 1.00e+04 0 6.83e-02 8.61e-01
1 6.205731e+04 2.13e+02 1.36e+09 0.00e+00 1.00e+00 3.00e+04 1 2.16e-01 1.08e+00
2 6.205703e+04 2.79e-01 1.37e+09 2.58e-01 1.01e+00 9.00e+04 1 1.06e-01 1.18e+00
3 6.205698e+04 5.54e-02 9.04e+08 2.35e-01 1.03e+00 2.70e+05 1 1.77e-01 1.36e+00
4 6.205696e+04 1.66e-02 2.90e+09 6.45e-02 1.04e+00 8.10e+05 1 2.00e-01 1.56e+00
5 6.205695e+04 9.59e-03 3.79e+09 2.82e-02 1.02e+00 2.43e+06 1 1.94e-01 1.75e+00
6 6.205695e+04 3.84e-03 8.85e+08 7.41e-03 1.02e+00 7.29e+06 1 1.51e-01 1.91e+00
7 6.205695e+04 6.19e-04 1.46e+09 7.24e-03 1.04e+00 2.19e+07 1 1.37e-01 2.04e+00
8 6.205695e+04 7.10e-05 1.68e+09 2.67e-03 1.06e+00 6.56e+07 1 1.97e-01 2.24e+00
9 6.205695e+04 1.11e-05 2.55e+09 9.98e-04 9.47e-01 1.97e+08 1 1.68e-01 2.41e+00
10 6.205695e+04 1.74e-06 1.27e+09 2.91e-04 6.81e-01 2.07e+08 1 1.65e-01 2.57e+00
11 6.205695e+04 -1.15e-06 1.27e+09 8.97e-05 -9.95e-01 1.03e+08 1 8.34e-02 2.66e+00
12 6.205695e+04 -1.04e-06 1.27e+09 8.92e-05 -9.01e-01 2.58e+07 1 5.26e-02 2.71e+00
13 6.205695e+04 -4.07e-07 1.27e+09 8.70e-05 -3.55e-01 3.23e+06 1 1.11e-01 2.82e+00
14 6.205695e+04 4.81e-07 1.91e+09 8.23e-05 4.21e-01 3.22e+06 1 1.67e-01 2.99e+00
15 6.205695e+04 -1.40e-06 1.91e+09 4.14e-05 -1.91e+00 1.61e+06 1 1.21e-01 3.11e+00
16 6.205695e+04 -2.90e-07 1.91e+09 4.00e-05 -3.95e-01 4.02e+05 1 1.45e-01 3.26e+00
17 6.205695e+04 -1.19e-06 1.91e+09 3.63e-05 -1.63e+00 5.03e+04 1 1.16e-01 3.37e+00
18 6.205695e+04 6.20e-07 5.29e+08 2.25e-05 8.50e-01 7.64e+04 1 1.39e-01 3.51e+00
19 6.205695e+04 -8.58e-07 5.29e+08 2.29e-05 -6.87e+00 3.82e+04 1 9.82e-02 3.61e+00
20 6.205695e+04 -5.83e-07 5.29e+08 1.76e-05 -4.70e+00 9.55e+03 1 1.13e-01 3.72e+00
21 6.205695e+04 1.08e-07 2.35e+08 6.32e-06 8.92e-01 1.84e+04 1 9.08e-02 3.81e+00
22 6.205695e+04 -7.16e-07 2.35e+08 1.18e-05 -3.98e+01 9.18e+03 1 1.11e-01 3.92e+00
23 6.205695e+04 3.38e-09 2.35e+08 6.98e-06 2.05e-01 7.62e+03 1 2.12e-01 4.13e+00
24 6.205695e+04 -7.42e-07 2.35e+08 5.28e-06 -4.77e+01 3.81e+03 1 1.73e-01 4.31e+00
25 6.205695e+04 2.07e-09 2.46e+08 2.72e-06 1.46e-01 2.81e+03 1 2.03e-01 4.51e+00
26 6.205695e+04 -7.34e-07 2.46e+08 2.04e-06 -5.35e+01 1.41e+03 1 1.19e-01 4.63e+00
27 6.205695e+04 -7.28e-07 2.46e+08 9.88e-07 -5.44e+01 3.52e+02 1 1.24e-01 4.75e+00
28 6.205695e+04 -7.48e-07 2.46e+08 2.39e-07 -5.73e+01 4.40e+01 1 1.28e-01 4.88e+00
29 6.205695e+04 -7.48e-07 2.46e+08 3.21e-08 -5.78e+01 2.75e+00 1 1.43e-01 5.03e+00
30 6.205695e+04 -7.48e-07 2.46e+08 2.09e-09 -5.86e+01 8.59e-02 1 1.16e-01 5.14e+00
31 6.205695e+04 -1.16e-10 2.46e+08 7.09e-11 -2.16e-02 1.34e-03 1 1.10e-01 5.25e+00
32 6.205695e+04 -4.37e-11 2.46e+08 1.14e-12 -3.08e-01 1.05e-05 1 8.07e-02 5.33e+00
33 6.205695e+04 -5.09e-11 2.46e+08 3.64e-15 -4.69e+01 4.09e-08 1 4.27e-02 5.38e+00
34 6.205695e+04 -6.55e-11 2.46e+08 1.08e-19 -1.60e+04 8.00e-11 1 8.70e-02 5.46e+00
I20260707 08:19:26.438899 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:19:26.439039 84886 bundle_adjustment.cc:942]
Residuals : 163372
Parameters : 54077
Iterations : 35
Time : 5.58981 [s]
Initial cost : 0.617379 [px]
Final cost : 0.61632 [px]
Termination : Convergence
I20260707 08:19:26.659854 84886 incremental_mapper.cc:175] => Completed observations: 23
I20260707 08:19:26.747254 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:19:26.793534 84886 incremental_mapper.cc:160] => Filtered observations: 5
I20260707 08:19:26.793663 84886 incremental_mapper.cc:119] => Changed observations: 0.000343
I20260707 08:19:26.793756 84886 incremental_mapper.cc:167] => Filtered images: 0
I20260707 08:19:26.810318 84886 misc.cc:198]
==============================================================================
Registering image #188 (128)
==============================================================================
I20260707 08:19:26.810431 84886 incremental_mapper.cc:495] => Image sees 159 / 973 points
I20260707 08:19:26.819002 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:19:26.819120 84886 bundle_adjustment.cc:942]
Residuals : 212
Parameters : 6
Iterations : 14
Time : 0.00290608 [s]
Initial cost : 0.710399 [px]
Final cost : 0.686913 [px]
Termination : Convergence
I20260707 08:19:26.819676 84886 incremental_mapper.cc:40] => Continued observations: 105
I20260707 08:19:26.825825 84886 incremental_mapper.cc:43] => Added observations: 146
I20260707 08:19:26.977942 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:19:26.978111 84886 bundle_adjustment.cc:942]
Residuals : 7342
Parameters : 1025
Iterations : 19
Time : 0.131441 [s]
Initial cost : 0.687349 [px]
Final cost : 0.661388 [px]
Termination : Convergence
I20260707 08:19:26.997886 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:19:26.998071 84886 incremental_mapper.cc:79] => Completed observations: 29
I20260707 08:19:26.998093 84886 incremental_mapper.cc:81] => Filtered observations: 87
I20260707 08:19:26.998106 84886 incremental_mapper.cc:90] => Changed observations: 0.026563
I20260707 08:19:27.043196 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:19:27.043288 84886 bundle_adjustment.cc:942]
Residuals : 7194
Parameters : 956
Iterations : 3
Time : 0.0308669 [s]
Initial cost : 0.792833 [px]
Final cost : 0.783773 [px]
Termination : Convergence
I20260707 08:19:27.064850 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:19:27.064924 84886 incremental_mapper.cc:79] => Completed observations: 15
I20260707 08:19:27.064929 84886 incremental_mapper.cc:81] => Filtered observations: 1
I20260707 08:19:27.064934 84886 incremental_mapper.cc:90] => Changed observations: 0.003727
I20260707 08:19:27.074679 84886 misc.cc:198]
==============================================================================
Registering image #504 (129)
==============================================================================
I20260707 08:19:27.074734 84886 incremental_mapper.cc:495] => Image sees 209 / 694 points
I20260707 08:19:27.083279 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:19:27.083382 84886 bundle_adjustment.cc:942]
Residuals : 368
Parameters : 6
Iterations : 13
Time : 0.00462389 [s]
Initial cost : 0.692429 [px]
Final cost : 0.609792 [px]
Termination : Convergence
I20260707 08:19:27.083977 84886 incremental_mapper.cc:40] => Continued observations: 167
I20260707 08:19:27.085340 84886 incremental_mapper.cc:43] => Added observations: 104
I20260707 08:19:27.183856 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:19:27.183961 84886 bundle_adjustment.cc:942]
Residuals : 5920
Parameters : 629
Iterations : 23
Time : 0.093004 [s]
Initial cost : 0.664731 [px]
Final cost : 0.636117 [px]
Termination : Convergence
I20260707 08:19:27.198539 84886 incremental_mapper.cc:78] => Merged observations: 58
I20260707 08:19:27.198668 84886 incremental_mapper.cc:79] => Completed observations: 21
I20260707 08:19:27.198675 84886 incremental_mapper.cc:81] => Filtered observations: 64
I20260707 08:19:27.198678 84886 incremental_mapper.cc:90] => Changed observations: 0.047086
I20260707 08:19:27.242267 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:19:27.242406 84886 bundle_adjustment.cc:942]
Residuals : 5884
Parameters : 572
Iterations : 3
Time : 0.0331941 [s]
Initial cost : 0.729278 [px]
Final cost : 0.720154 [px]
Termination : Convergence
I20260707 08:19:27.259915 84886 incremental_mapper.cc:78] => Merged observations: 15
I20260707 08:19:27.260025 84886 incremental_mapper.cc:79] => Completed observations: 12
I20260707 08:19:27.260036 84886 incremental_mapper.cc:81] => Filtered observations: 2
I20260707 08:19:27.260040 84886 incremental_mapper.cc:90] => Changed observations: 0.009609
I20260707 08:19:27.270730 84886 misc.cc:198]
==============================================================================
Registering image #525 (130)
==============================================================================
I20260707 08:19:27.270817 84886 incremental_mapper.cc:495] => Image sees 198 / 531 points
I20260707 08:19:27.274821 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:19:27.274914 84886 bundle_adjustment.cc:942]
Residuals : 336
Parameters : 6
Iterations : 9
Time : 0.00161815 [s]
Initial cost : 0.660254 [px]
Final cost : 0.643406 [px]
Termination : Convergence
I20260707 08:19:27.275369 84886 incremental_mapper.cc:40] => Continued observations: 148
I20260707 08:19:27.276858 84886 incremental_mapper.cc:43] => Added observations: 229
I20260707 08:19:27.408836 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:19:27.409042 84886 bundle_adjustment.cc:942]
Residuals : 4722
Parameters : 701
Iterations : 26
Time : 0.122104 [s]
Initial cost : 0.863237 [px]
Final cost : 0.826746 [px]
Termination : No convergence
I20260707 08:19:27.425078 84886 incremental_mapper.cc:78] => Merged observations: 55
I20260707 08:19:27.425181 84886 incremental_mapper.cc:79] => Completed observations: 37
I20260707 08:19:27.425189 84886 incremental_mapper.cc:81] => Filtered observations: 114
I20260707 08:19:27.425194 84886 incremental_mapper.cc:90] => Changed observations: 0.061732
I20260707 08:19:27.451503 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:19:27.451607 84886 bundle_adjustment.cc:942]
Residuals : 4512
Parameters : 569
Iterations : 4
Time : 0.0210478 [s]
Initial cost : 0.769323 [px]
Final cost : 0.756118 [px]
Termination : Convergence
I20260707 08:19:27.464838 84886 incremental_mapper.cc:78] => Merged observations: 15
I20260707 08:19:27.464933 84886 incremental_mapper.cc:79] => Completed observations: 17
I20260707 08:19:27.464943 84886 incremental_mapper.cc:81] => Filtered observations: 2
I20260707 08:19:27.464948 84886 incremental_mapper.cc:90] => Changed observations: 0.012691
I20260707 08:19:27.475800 84886 misc.cc:198]
==============================================================================
Registering image #186 (131)
==============================================================================
I20260707 08:19:27.475880 84886 incremental_mapper.cc:495] => Image sees 147 / 560 points
I20260707 08:19:27.480934 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:19:27.480999 84886 bundle_adjustment.cc:942]
Residuals : 222
Parameters : 6
Iterations : 16
Time : 0.00288296 [s]
Initial cost : 0.638082 [px]
Final cost : 0.63598 [px]
Termination : Convergence
I20260707 08:19:27.481244 84886 incremental_mapper.cc:40] => Continued observations: 105
I20260707 08:19:27.482551 84886 incremental_mapper.cc:43] => Added observations: 200
I20260707 08:19:27.575011 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:19:27.577625 84886 bundle_adjustment.cc:942]
Residuals : 4016
Parameters : 599
Iterations : 17
Time : 0.088042 [s]
Initial cost : 0.677318 [px]
Final cost : 0.646937 [px]
Termination : Convergence
I20260707 08:19:27.587059 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:19:27.587162 84886 incremental_mapper.cc:79] => Completed observations: 19
I20260707 08:19:27.587170 84886 incremental_mapper.cc:81] => Filtered observations: 56
I20260707 08:19:27.587174 84886 incremental_mapper.cc:90] => Changed observations: 0.033363
I20260707 08:19:27.611465 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:19:27.611589 84886 bundle_adjustment.cc:942]
Residuals : 3938
Parameters : 542
Iterations : 4
Time : 0.019923 [s]
Initial cost : 0.683227 [px]
Final cost : 0.674139 [px]
Termination : Convergence
I20260707 08:19:27.619320 84886 incremental_mapper.cc:78] => Merged observations: 11
I20260707 08:19:27.619397 84886 incremental_mapper.cc:79] => Completed observations: 2
I20260707 08:19:27.619405 84886 incremental_mapper.cc:81] => Filtered observations: 1
I20260707 08:19:27.619407 84886 incremental_mapper.cc:90] => Changed observations: 0.006338
I20260707 08:19:27.629609 84886 misc.cc:198]
==============================================================================
Registering image #4 (132)
==============================================================================
I20260707 08:19:27.629681 84886 incremental_mapper.cc:495] => Image sees 211 / 384 points
I20260707 08:19:27.636250 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:19:27.636320 84886 bundle_adjustment.cc:942]
Residuals : 378
Parameters : 6
Iterations : 11
Time : 0.00332499 [s]
Initial cost : 0.588138 [px]
Final cost : 0.57007 [px]
Termination : Convergence
I20260707 08:19:27.636838 84886 incremental_mapper.cc:40] => Continued observations: 177
I20260707 08:19:27.638284 84886 incremental_mapper.cc:43] => Added observations: 126
I20260707 08:19:27.717584 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:19:27.717748 84886 bundle_adjustment.cc:942]
Residuals : 4056
Parameters : 653
Iterations : 17
Time : 0.07459 [s]
Initial cost : 0.677319 [px]
Final cost : 0.648176 [px]
Termination : Convergence
I20260707 08:19:27.734612 84886 incremental_mapper.cc:78] => Merged observations: 37
I20260707 08:19:27.734711 84886 incremental_mapper.cc:79] => Completed observations: 36
I20260707 08:19:27.734723 84886 incremental_mapper.cc:81] => Filtered observations: 50
I20260707 08:19:27.734728 84886 incremental_mapper.cc:90] => Changed observations: 0.050143
I20260707 08:19:27.754981 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:19:27.755084 84886 bundle_adjustment.cc:942]
Residuals : 3968
Parameters : 602
Iterations : 3
Time : 0.0141761 [s]
Initial cost : 0.86445 [px]
Final cost : 0.851983 [px]
Termination : Convergence
I20260707 08:19:27.765592 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:19:27.765671 84886 incremental_mapper.cc:79] => Completed observations: 15
I20260707 08:19:27.765678 84886 incremental_mapper.cc:81] => Filtered observations: 1
I20260707 08:19:27.765682 84886 incremental_mapper.cc:90] => Changed observations: 0.005422
I20260707 08:19:27.775805 84886 misc.cc:198]
==============================================================================
Registering image #175 (133)
==============================================================================
I20260707 08:19:27.775883 84886 incremental_mapper.cc:495] => Image sees 106 / 856 points
I20260707 08:19:27.780049 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:19:27.780113 84886 bundle_adjustment.cc:942]
Residuals : 130
Parameters : 6
Iterations : 20
Time : 0.00220799 [s]
Initial cost : 0.738632 [px]
Final cost : 0.721345 [px]
Termination : Convergence
I20260707 08:19:27.780270 84886 incremental_mapper.cc:40] => Continued observations: 64
I20260707 08:19:27.782203 84886 incremental_mapper.cc:43] => Added observations: 353
I20260707 08:19:27.975014 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:19:27.975081 84886 bundle_adjustment.cc:942]
Residuals : 4954
Parameters : 1043
Iterations : 26
Time : 0.18555 [s]
Initial cost : 0.764743 [px]
Final cost : 0.742666 [px]
Termination : No convergence
I20260707 08:19:27.980608 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:19:27.980644 84886 incremental_mapper.cc:79] => Completed observations: 22
I20260707 08:19:27.980647 84886 incremental_mapper.cc:81] => Filtered observations: 79
I20260707 08:19:27.980650 84886 incremental_mapper.cc:90] => Changed observations: 0.035476
I20260707 08:19:27.994138 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:19:27.994180 84886 bundle_adjustment.cc:942]
Residuals : 4896
Parameters : 809
Iterations : 4
Time : 0.0105081 [s]
Initial cost : 0.745839 [px]
Final cost : 0.736971 [px]
Termination : Convergence
I20260707 08:19:27.999789 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:19:27.999823 84886 incremental_mapper.cc:79] => Completed observations: 11
I20260707 08:19:27.999826 84886 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 08:19:27.999828 84886 incremental_mapper.cc:90] => Changed observations: 0.003880
I20260707 08:19:28.008204 84886 misc.cc:198]
==============================================================================
Registering image #227 (134)
==============================================================================
I20260707 08:19:28.008337 84886 incremental_mapper.cc:495] => Image sees 110 / 2982 points
I20260707 08:19:28.012483 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:19:28.012565 84886 bundle_adjustment.cc:942]
Residuals : 130
Parameters : 6
Iterations : 9
Time : 0.000693798 [s]
Initial cost : 0.45872 [px]
Final cost : 0.403513 [px]
Termination : Convergence
I20260707 08:19:28.012707 84886 incremental_mapper.cc:40] => Continued observations: 65
I20260707 08:19:28.016077 84886 incremental_mapper.cc:43] => Added observations: 216
I20260707 08:19:28.114248 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:19:28.114353 84886 bundle_adjustment.cc:942]
Residuals : 3386
Parameters : 659
Iterations : 26
Time : 0.0910449 [s]
Initial cost : 0.867764 [px]
Final cost : 0.706658 [px]
Termination : No convergence
I20260707 08:19:28.126067 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:19:28.126176 84886 incremental_mapper.cc:79] => Completed observations: 470
I20260707 08:19:28.126183 84886 incremental_mapper.cc:81] => Filtered observations: 120
I20260707 08:19:28.126185 84886 incremental_mapper.cc:90] => Changed observations: 0.211394
I20260707 08:19:28.215919 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:19:28.216049 84886 bundle_adjustment.cc:942]
Residuals : 4084
Parameters : 1187
Iterations : 23
Time : 0.0827971 [s]
Initial cost : 0.78833 [px]
Final cost : 0.716626 [px]
Termination : Convergence
I20260707 08:19:28.232439 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:19:28.232533 84886 incremental_mapper.cc:79] => Completed observations: 9
I20260707 08:19:28.232539 84886 incremental_mapper.cc:81] => Filtered observations: 227
I20260707 08:19:28.232543 84886 incremental_mapper.cc:90] => Changed observations: 0.070134
I20260707 08:19:28.245235 84886 misc.cc:198]
==============================================================================
Registering image #124 (135)
==============================================================================
I20260707 08:19:28.245373 84886 incremental_mapper.cc:495] => Image sees 124 / 926 points
I20260707 08:19:28.252754 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:19:28.252882 84886 bundle_adjustment.cc:942]
Residuals : 178
Parameters : 6
Iterations : 27
Time : 0.00369191 [s]
Initial cost : 0.815311 [px]
Final cost : 0.763632 [px]
Termination : Convergence
I20260707 08:19:28.253271 84886 incremental_mapper.cc:40] => Continued observations: 80
I20260707 08:19:28.255779 84886 incremental_mapper.cc:43] => Added observations: 194
I20260707 08:19:28.447631 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:19:28.447791 84886 bundle_adjustment.cc:942]
Residuals : 5522
Parameters : 605
Iterations : 26
Time : 0.182046 [s]
Initial cost : 0.901619 [px]
Final cost : 0.836557 [px]
Termination : No convergence
I20260707 08:19:28.461616 84886 incremental_mapper.cc:78] => Merged observations: 19
I20260707 08:19:28.461761 84886 incremental_mapper.cc:79] => Completed observations: 28
I20260707 08:19:28.461768 84886 incremental_mapper.cc:81] => Filtered observations: 157
I20260707 08:19:28.461774 84886 incremental_mapper.cc:90] => Changed observations: 0.062827
I20260707 08:19:28.499426 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:19:28.499555 84886 bundle_adjustment.cc:942]
Residuals : 5246
Parameters : 461
Iterations : 3
Time : 0.0253611 [s]
Initial cost : 0.806633 [px]
Final cost : 0.788162 [px]
Termination : Convergence
I20260707 08:19:28.512025 84886 incremental_mapper.cc:78] => Merged observations: 14
I20260707 08:19:28.512094 84886 incremental_mapper.cc:79] => Completed observations: 15
I20260707 08:19:28.512101 84886 incremental_mapper.cc:81] => Filtered observations: 3
I20260707 08:19:28.512113 84886 incremental_mapper.cc:90] => Changed observations: 0.010468
I20260707 08:19:28.525198 84886 misc.cc:198]
==============================================================================
Registering image #183 (136)
==============================================================================
I20260707 08:19:28.525290 84886 incremental_mapper.cc:495] => Image sees 161 / 411 points
I20260707 08:19:28.529062 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:19:28.529106 84886 bundle_adjustment.cc:942]
Residuals : 268
Parameters : 6
Iterations : 9
Time : 0.00140882 [s]
Initial cost : 0.724932 [px]
Final cost : 0.569582 [px]
Termination : Convergence
I20260707 08:19:28.529335 84886 incremental_mapper.cc:40] => Continued observations: 129
I20260707 08:19:28.530383 84886 incremental_mapper.cc:43] => Added observations: 62
I20260707 08:19:28.558214 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:19:28.558363 84886 bundle_adjustment.cc:942]
Residuals : 4194
Parameters : 470
Iterations : 12
Time : 0.0241401 [s]
Initial cost : 0.724475 [px]
Final cost : 0.704868 [px]
Termination : Convergence
I20260707 08:19:28.566941 84886 incremental_mapper.cc:78] => Merged observations: 23
I20260707 08:19:28.566979 84886 incremental_mapper.cc:79] => Completed observations: 20
I20260707 08:19:28.566983 84886 incremental_mapper.cc:81] => Filtered observations: 43
I20260707 08:19:28.566985 84886 incremental_mapper.cc:90] => Changed observations: 0.027977
I20260707 08:19:28.575057 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:19:28.575088 84886 bundle_adjustment.cc:942]
Residuals : 4238
Parameters : 431
Iterations : 3
Time : 0.00630403 [s]
Initial cost : 0.68703 [px]
Final cost : 0.675054 [px]
Termination : Convergence
I20260707 08:19:28.577517 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:19:28.577534 84886 incremental_mapper.cc:79] => Completed observations: 7
I20260707 08:19:28.577538 84886 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 08:19:28.577539 84886 incremental_mapper.cc:90] => Changed observations: 0.003088
I20260707 08:19:28.582396 84886 misc.cc:198]
==============================================================================
Registering image #89 (137)
==============================================================================
I20260707 08:19:28.582480 84886 incremental_mapper.cc:495] => Image sees 176 / 1848 points
I20260707 08:19:28.586241 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:19:28.586310 84886 bundle_adjustment.cc:942]
Residuals : 348
Parameters : 6
Iterations : 10
Time : 0.00143313 [s]
Initial cost : 0.692244 [px]
Final cost : 0.670004 [px]
Termination : Convergence
I20260707 08:19:28.586555 84886 incremental_mapper.cc:40] => Continued observations: 151
I20260707 08:19:28.587391 84886 incremental_mapper.cc:43] => Added observations: 147
I20260707 08:19:28.693372 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:19:28.693507 84886 bundle_adjustment.cc:942]
Residuals : 7648
Parameters : 650
Iterations : 14
Time : 0.0995638 [s]
Initial cost : 0.714285 [px]
Final cost : 0.688775 [px]
Termination : Convergence
I20260707 08:19:28.714727 84886 incremental_mapper.cc:78] => Merged observations: 6
I20260707 08:19:28.714833 84886 incremental_mapper.cc:79] => Completed observations: 29
I20260707 08:19:28.714840 84886 incremental_mapper.cc:81] => Filtered observations: 100
I20260707 08:19:28.714844 84886 incremental_mapper.cc:90] => Changed observations: 0.030222
I20260707 08:19:28.754537 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:19:28.754679 84886 bundle_adjustment.cc:942]
Residuals : 7442
Parameters : 518
Iterations : 4
Time : 0.0302231 [s]
Initial cost : 0.835135 [px]
Final cost : 0.828741 [px]
Termination : Convergence
I20260707 08:19:28.773610 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:19:28.773749 84886 incremental_mapper.cc:79] => Completed observations: 34
I20260707 08:19:28.773756 84886 incremental_mapper.cc:81] => Filtered observations: 2
I20260707 08:19:28.773758 84886 incremental_mapper.cc:90] => Changed observations: 0.007539
I20260707 08:19:28.789273 84886 misc.cc:198]
==============================================================================
Registering image #193 (138)
==============================================================================
I20260707 08:19:28.789371 84886 incremental_mapper.cc:495] => Image sees 205 / 2216 points
I20260707 08:19:28.797147 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:19:28.797240 84886 bundle_adjustment.cc:942]
Residuals : 338
Parameters : 6
Iterations : 13
Time : 0.00436711 [s]
Initial cost : 0.658815 [px]
Final cost : 0.644362 [px]
Termination : Convergence
I20260707 08:19:28.797737 84886 incremental_mapper.cc:40] => Continued observations: 163
I20260707 08:19:28.801039 84886 incremental_mapper.cc:43] => Added observations: 361
I20260707 08:19:29.106823 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:19:29.107023 84886 bundle_adjustment.cc:942]
Residuals : 10608
Parameters : 1145
Iterations : 26
Time : 0.291665 [s]
Initial cost : 0.659401 [px]
Final cost : 0.624923 [px]
Termination : No convergence
I20260707 08:19:29.136996 84886 incremental_mapper.cc:78] => Merged observations: 38
I20260707 08:19:29.137109 84886 incremental_mapper.cc:79] => Completed observations: 74
I20260707 08:19:29.137127 84886 incremental_mapper.cc:81] => Filtered observations: 168
I20260707 08:19:29.137151 84886 incremental_mapper.cc:90] => Changed observations: 0.045707
I20260707 08:19:29.186887 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:19:29.186981 84886 bundle_adjustment.cc:942]
Residuals : 10356
Parameters : 947
Iterations : 3
Time : 0.033895 [s]
Initial cost : 0.640497 [px]
Final cost : 0.630788 [px]
Termination : Convergence
I20260707 08:19:29.204597 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:19:29.204670 84886 incremental_mapper.cc:79] => Completed observations: 67
I20260707 08:19:29.204676 84886 incremental_mapper.cc:81] => Filtered observations: 10
I20260707 08:19:29.204679 84886 incremental_mapper.cc:90] => Changed observations: 0.012833
I20260707 08:19:29.212425 84886 misc.cc:198]
==============================================================================
Registering image #489 (139)
==============================================================================
I20260707 08:19:29.212495 84886 incremental_mapper.cc:495] => Image sees 155 / 3613 points
I20260707 08:19:29.216041 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:19:29.216109 84886 bundle_adjustment.cc:942]
Residuals : 276
Parameters : 6
Iterations : 10
Time : 0.00135303 [s]
Initial cost : 0.591617 [px]
Final cost : 0.581726 [px]
Termination : Convergence
I20260707 08:19:29.216363 84886 incremental_mapper.cc:40] => Continued observations: 126
I20260707 08:19:29.217769 84886 incremental_mapper.cc:43] => Added observations: 141
I20260707 08:19:29.314713 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:19:29.314828 84886 bundle_adjustment.cc:942]
Residuals : 6114
Parameters : 542
Iterations : 19
Time : 0.0919001 [s]
Initial cost : 0.682674 [px]
Final cost : 0.649477 [px]
Termination : Convergence
I20260707 08:19:29.327709 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:19:29.327818 84886 incremental_mapper.cc:79] => Completed observations: 25
I20260707 08:19:29.327826 84886 incremental_mapper.cc:81] => Filtered observations: 83
I20260707 08:19:29.327832 84886 incremental_mapper.cc:90] => Changed observations: 0.033655
I20260707 08:19:29.352293 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:19:29.352432 84886 bundle_adjustment.cc:942]
Residuals : 5936
Parameters : 437
Iterations : 3
Time : 0.0180569 [s]
Initial cost : 0.713751 [px]
Final cost : 0.707231 [px]
Termination : Convergence
I20260707 08:19:29.364853 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:19:29.364936 84886 incremental_mapper.cc:79] => Completed observations: 25
I20260707 08:19:29.364943 84886 incremental_mapper.cc:81] => Filtered observations: 5
I20260707 08:19:29.364944 84886 incremental_mapper.cc:90] => Changed observations: 0.009615
I20260707 08:19:29.376686 84886 misc.cc:198]
==============================================================================
Registering image #90 (140)
==============================================================================
I20260707 08:19:29.376796 84886 incremental_mapper.cc:495] => Image sees 146 / 602 points
I20260707 08:19:29.383399 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:19:29.383541 84886 bundle_adjustment.cc:942]
Residuals : 286
Parameters : 6
Iterations : 9
Time : 0.00275683 [s]
Initial cost : 0.740909 [px]
Final cost : 0.614693 [px]
Termination : Convergence
I20260707 08:19:29.383939 84886 incremental_mapper.cc:40] => Continued observations: 133
I20260707 08:19:29.384958 84886 incremental_mapper.cc:43] => Added observations: 79
I20260707 08:19:29.449404 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:19:29.449470 84886 bundle_adjustment.cc:942]
Residuals : 4334
Parameters : 578
Iterations : 22
Time : 0.056757 [s]
Initial cost : 0.776208 [px]
Final cost : 0.755503 [px]
Termination : Convergence
I20260707 08:19:29.456050 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:19:29.456105 84886 incremental_mapper.cc:79] => Completed observations: 25
I20260707 08:19:29.456110 84886 incremental_mapper.cc:81] => Filtered observations: 71
I20260707 08:19:29.456111 84886 incremental_mapper.cc:90] => Changed observations: 0.030918
I20260707 08:19:29.466259 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:19:29.466333 84886 bundle_adjustment.cc:942]
Residuals : 4198
Parameters : 503
Iterations : 2
Time : 0.0064311 [s]
Initial cost : 0.860829 [px]
Final cost : 0.851541 [px]
Termination : Convergence
I20260707 08:19:29.472492 84886 incremental_mapper.cc:78] => Merged observations: 8
I20260707 08:19:29.472533 84886 incremental_mapper.cc:79] => Completed observations: 8
I20260707 08:19:29.472536 84886 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 08:19:29.472539 84886 incremental_mapper.cc:90] => Changed observations: 0.005268
I20260707 08:19:29.472555 84886 misc.cc:198]
==============================================================================
Retriangulation
==============================================================================
I20260707 08:19:29.505373 84886 incremental_mapper.cc:175] => Completed observations: 46
I20260707 08:19:29.580540 84886 incremental_mapper.cc:178] => Merged observations: 20
I20260707 08:19:29.580638 84886 incremental_mapper.cc:105] => Retriangulated observations: 264
I20260707 08:19:29.598533 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 1.849443e+05 0.00e+00 1.40e+06 0.00e+00 0.00e+00 1.00e+04 0 1.07e-01 7.53e-01
1 1.244804e+05 6.05e+04 1.05e+05 0.00e+00 9.87e-01 3.00e+04 1 2.67e-01 1.02e+00
2 1.237366e+05 7.44e+02 4.23e+04 7.20e+00 9.94e-01 9.00e+04 1 2.57e-01 1.28e+00
3 1.231869e+05 5.50e+02 2.99e+05 9.13e+00 9.49e-01 2.70e+05 1 1.99e-01 1.48e+00
4 1.230194e+05 1.68e+02 8.23e+05 1.21e+01 2.27e-01 2.32e+05 1 1.46e-01 1.62e+00
5 1.223131e+05 7.06e+02 1.56e+05 5.10e+00 9.91e-01 6.97e+05 1 1.76e-01 1.80e+00
6 1.223241e+05 -1.10e+01 1.56e+05 3.57e+00 -1.89e-01 3.49e+05 1 5.26e-02 1.85e+00
7 1.222685e+05 4.46e+01 9.37e+05 2.71e+00 9.20e-01 8.52e+05 1 1.63e-01 2.01e+00
8 1.222938e+05 -2.53e+01 9.37e+05 2.29e+00 -1.32e+00 4.26e+05 1 1.35e-01 2.15e+00
9 1.222533e+05 1.52e+01 1.30e+06 1.60e+00 9.84e-01 1.28e+06 1 1.89e-01 2.34e+00
10 1.614227e+05 -3.92e+04 1.30e+06 1.70e+00 -6.42e+03 6.39e+05 1 1.19e-01 2.46e+00
11 1.222488e+05 4.41e+00 2.67e+06 1.21e+00 9.62e-01 1.92e+06 1 1.25e-01 2.58e+00
12 1.222578e+05 -8.90e+00 2.67e+06 1.10e+00 -3.82e+00 9.58e+05 1 1.28e-01 2.71e+00
13 1.222472e+05 1.67e+00 3.74e+06 8.18e-01 9.53e-01 2.87e+06 1 1.92e-01 2.90e+00
14 1.222479e+05 -6.77e-01 3.74e+06 6.11e-01 -7.61e-01 1.44e+06 1 1.38e-01 3.04e+00
15 1.222466e+05 6.11e-01 4.23e+06 4.74e-01 9.39e-01 4.31e+06 1 2.03e-01 3.24e+00
16 1.222465e+05 5.61e-02 4.78e+07 2.96e-01 1.45e-01 3.17e+06 1 1.00e-01 3.34e+00
17 1.222461e+05 3.68e-01 9.02e+06 8.39e-02 9.69e-01 9.51e+06 1 1.61e-01 3.50e+00
18 1.222460e+05 9.05e-02 7.97e+06 1.52e-01 8.91e-01 1.82e+07 1 2.08e-01 3.71e+00
19 1.222459e+05 1.22e-01 1.13e+07 3.69e-01 9.45e-01 5.46e+07 1 2.44e-01 3.96e+00
20 1.222460e+05 -1.08e-01 1.13e+07 1.48e+00 -3.88e-01 2.73e+07 1 7.70e-02 4.03e+00
21 1.222457e+05 2.20e-01 1.23e+07 1.05e+00 1.01e+00 8.18e+07 1 8.33e-02 4.12e+00
22 1.222456e+05 1.44e-01 9.37e+07 1.61e+00 9.84e-01 2.45e+08 1 1.44e-01 4.26e+00
W20260707 08:19:34.189771 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
23 1.222456e+05 0.00e+00 9.37e+07 0.00e+00 0.00e+00 1.23e+08 1 4.99e-02 4.31e+00
24 1.222456e+05 1.08e-02 1.90e+07 1.81e-01 1.04e+00 3.68e+08 1 1.81e-01 4.49e+00
W20260707 08:19:34.457821 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
25 1.222456e+05 0.00e+00 1.90e+07 0.00e+00 0.00e+00 1.84e+08 1 8.70e-02 4.58e+00
W20260707 08:19:34.531239 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
26 1.222456e+05 0.00e+00 1.90e+07 0.00e+00 0.00e+00 4.60e+07 1 7.33e-02 4.65e+00
27 1.222456e+05 5.84e-04 2.41e+06 6.07e-02 1.03e+00 1.38e+08 1 1.65e-01 4.82e+00
W20260707 08:19:34.792273 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
28 1.222456e+05 0.00e+00 2.41e+06 0.00e+00 0.00e+00 6.90e+07 1 9.58e-02 4.91e+00
29 1.222455e+05 1.40e-03 2.85e+06 1.15e-02 1.00e+00 2.07e+08 1 1.31e-01 5.04e+00
W20260707 08:19:35.034821 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
30 1.222455e+05 0.00e+00 2.85e+06 0.00e+00 0.00e+00 1.04e+08 1 1.12e-01 5.16e+00
W20260707 08:19:35.126298 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
31 1.222455e+05 0.00e+00 2.85e+06 0.00e+00 0.00e+00 2.59e+07 1 9.15e-02 5.25e+00
32 1.222455e+05 4.24e-05 8.93e+04 2.00e-03 1.00e+00 7.77e+07 1 1.91e-01 5.44e+00
33 1.222455e+05 8.51e-05 2.28e+03 5.44e-04 1.00e+00 2.33e+08 1 1.73e-01 5.61e+00
W20260707 08:19:35.597709 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
34 1.222455e+05 0.00e+00 2.28e+03 0.00e+00 0.00e+00 1.17e+08 1 1.07e-01 5.72e+00
W20260707 08:19:35.693460 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
35 1.222455e+05 0.00e+00 2.28e+03 0.00e+00 0.00e+00 2.91e+07 1 9.56e-02 5.81e+00
36 1.222455e+05 3.62e-05 5.11e+03 7.26e-05 1.00e+00 8.74e+07 1 9.64e-02 5.91e+00
37 1.222455e+05 1.67e-04 4.73e+03 6.09e-05 1.00e+00 2.62e+08 1 2.49e-01 6.16e+00
W20260707 08:19:36.152359 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
38 1.222455e+05 0.00e+00 4.73e+03 0.00e+00 0.00e+00 1.31e+08 1 1.13e-01 6.27e+00
39 1.222455e+05 1.10e-04 1.41e+04 5.47e-05 1.00e+00 3.93e+08 1 2.58e-01 6.53e+00
W20260707 08:19:36.535979 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
40 1.222455e+05 0.00e+00 1.41e+04 0.00e+00 0.00e+00 1.97e+08 1 1.25e-01 6.66e+00
W20260707 08:19:36.616416 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
41 1.222455e+05 0.00e+00 1.41e+04 0.00e+00 0.00e+00 4.92e+07 1 8.02e-02 6.74e+00
42 1.222455e+05 2.55e-05 7.16e+03 7.32e-06 1.00e+00 1.47e+08 1 1.33e-01 6.87e+00
W20260707 08:19:36.854674 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
43 1.222455e+05 0.00e+00 7.16e+03 0.00e+00 0.00e+00 7.37e+07 1 1.05e-01 6.98e+00
44 1.222455e+05 5.46e-05 1.45e+04 1.15e-05 1.00e+00 2.21e+08 1 1.17e-01 7.09e+00
W20260707 08:19:37.076048 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
45 1.222455e+05 0.00e+00 1.45e+04 0.00e+00 0.00e+00 1.11e+08 1 1.04e-01 7.20e+00
46 1.222455e+05 3.42e-05 1.58e+04 1.01e-05 1.00e+00 3.32e+08 1 1.83e-01 7.38e+00
W20260707 08:19:37.357095 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
47 1.222455e+05 0.00e+00 1.58e+04 0.00e+00 0.00e+00 1.66e+08 1 9.83e-02 7.48e+00
W20260707 08:19:37.444201 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
48 1.222455e+05 0.00e+00 1.58e+04 0.00e+00 0.00e+00 4.15e+07 1 8.70e-02 7.57e+00
49 1.222455e+05 1.99e-05 6.10e+03 4.87e-06 1.00e+00 1.24e+08 1 1.32e-01 7.70e+00
50 1.222455e+05 9.90e-05 7.80e+03 2.04e-05 1.00e+00 3.73e+08 1 1.51e-01 7.85e+00
I20260707 08:19:37.769063 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:19:37.769207 84886 bundle_adjustment.cc:942]
Residuals : 170362
Parameters : 56018
Iterations : 51
Time : 7.86818 [s]
Initial cost : 1.04192 [px]
Final cost : 0.847091 [px]
Termination : No convergence
I20260707 08:19:37.947913 84886 incremental_mapper.cc:175] => Completed observations: 71
I20260707 08:19:38.035009 84886 incremental_mapper.cc:178] => Merged observations: 21
I20260707 08:19:38.078004 84886 incremental_mapper.cc:160] => Filtered observations: 548
I20260707 08:19:38.078091 84886 incremental_mapper.cc:119] => Changed observations: 0.007513
I20260707 08:19:38.078145 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 6.830561e+04 0.00e+00 1.03e+05 0.00e+00 0.00e+00 1.00e+04 0 2.46e-02 6.63e-01
1 6.602304e+04 2.28e+03 2.64e+04 0.00e+00 9.94e-01 3.00e+04 1 1.82e-01 8.45e-01
2 6.592785e+04 9.52e+01 3.72e+04 3.73e+00 9.94e-01 9.00e+04 1 1.40e-01 9.86e-01
3 6.584918e+04 7.87e+01 2.28e+05 1.80e+00 9.83e-01 2.70e+05 1 1.91e-01 1.18e+00
4 6.579448e+04 5.47e+01 1.39e+05 1.24e+00 9.96e-01 8.10e+05 1 1.83e-01 1.36e+00
5 6.573943e+04 5.51e+01 2.65e+05 1.20e+00 9.97e-01 2.43e+06 1 1.95e-01 1.55e+00
6 6.566399e+04 7.54e+01 2.33e+06 1.41e+00 9.07e-01 5.26e+06 1 1.66e-01 1.72e+00
7 6.561283e+04 5.12e+01 4.84e+06 1.83e+00 4.81e-01 5.26e+06 1 1.98e-01 1.92e+00
8 6.554364e+04 6.92e+01 3.37e+06 1.78e+00 5.83e-01 5.28e+06 1 2.00e-01 2.12e+00
9 6.548677e+04 5.69e+01 1.59e+06 1.46e+00 7.28e-01 5.84e+06 1 1.77e-01 2.30e+00
10 6.546131e+04 2.55e+01 5.13e+05 9.12e-01 8.77e-01 1.02e+07 1 1.15e-01 2.41e+00
11 6.545677e+04 4.53e+00 7.78e+04 3.83e-01 9.84e-01 3.07e+07 1 2.32e-01 2.64e+00
12 6.545660e+04 1.75e-01 1.11e+05 8.33e-02 1.02e+00 9.20e+07 1 2.64e-01 2.91e+00
13 6.545658e+04 2.06e-02 1.16e+06 1.26e-02 9.98e-01 2.76e+08 1 2.20e-01 3.13e+00
W20260707 08:19:41.412209 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
14 6.545658e+04 0.00e+00 1.16e+06 0.00e+00 0.00e+00 1.38e+08 1 4.98e-02 3.18e+00
15 6.545658e+04 2.64e-03 6.77e+05 2.08e-03 9.92e-01 4.14e+08 1 1.40e-01 3.32e+00
W20260707 08:19:41.624023 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
16 6.545658e+04 0.00e+00 6.77e+05 0.00e+00 0.00e+00 2.07e+08 1 7.22e-02 3.39e+00
W20260707 08:19:41.672227 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
17 6.545658e+04 0.00e+00 6.77e+05 0.00e+00 0.00e+00 5.18e+07 1 4.81e-02 3.44e+00
18 6.545657e+04 5.99e-04 6.34e+04 6.15e-04 1.00e+00 1.55e+08 1 2.18e-01 3.66e+00
W20260707 08:19:42.023702 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
19 6.545657e+04 0.00e+00 6.34e+04 0.00e+00 0.00e+00 7.76e+07 1 1.33e-01 3.79e+00
W20260707 08:19:42.166625 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
20 6.545657e+04 0.00e+00 6.34e+04 0.00e+00 0.00e+00 1.94e+07 1 1.43e-01 3.93e+00
21 6.545657e+04 1.64e-04 1.57e+04 2.12e-04 1.00e+00 5.82e+07 1 2.28e-01 4.16e+00
22 6.545657e+04 4.68e-04 2.12e+04 1.23e-04 1.00e+00 1.75e+08 1 9.86e-02 4.26e+00
W20260707 08:19:42.595453 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
23 6.545657e+04 0.00e+00 2.12e+04 0.00e+00 0.00e+00 8.73e+07 1 1.02e-01 4.36e+00
24 6.545657e+04 5.75e-04 5.09e+04 9.38e-05 1.00e+00 2.62e+08 1 2.23e-01 4.58e+00
W20260707 08:19:42.931738 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
25 6.545657e+04 0.00e+00 5.09e+04 0.00e+00 0.00e+00 1.31e+08 1 1.13e-01 4.70e+00
W20260707 08:19:43.016438 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
26 6.545657e+04 0.00e+00 5.09e+04 0.00e+00 0.00e+00 3.28e+07 1 8.45e-02 4.78e+00
27 6.545657e+04 1.93e-04 2.21e+04 3.13e-05 1.00e+00 9.83e+07 1 1.21e-01 4.90e+00
28 6.545657e+04 5.13e-04 7.18e+03 5.90e-05 1.00e+00 2.95e+08 1 1.64e-01 5.07e+00
W20260707 08:19:43.399914 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
29 6.545657e+04 0.00e+00 7.18e+03 0.00e+00 0.00e+00 1.47e+08 1 9.81e-02 5.17e+00
W20260707 08:19:43.486896 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
30 6.545657e+04 0.00e+00 7.18e+03 0.00e+00 0.00e+00 3.68e+07 1 8.70e-02 5.25e+00
31 6.545657e+04 1.64e-04 1.98e+04 1.82e-05 1.00e+00 1.11e+08 1 1.68e-01 5.42e+00
W20260707 08:19:43.767297 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
32 6.545657e+04 0.00e+00 1.98e+04 0.00e+00 0.00e+00 5.53e+07 1 1.12e-01 5.53e+00
33 6.545657e+04 2.32e-04 1.43e+04 2.38e-05 1.00e+00 1.66e+08 1 1.22e-01 5.65e+00
W20260707 08:19:43.962956 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
34 6.545657e+04 0.00e+00 1.43e+04 0.00e+00 0.00e+00 8.29e+07 1 7.36e-02 5.73e+00
35 6.545657e+04 3.06e-04 2.39e+04 3.08e-05 1.00e+00 2.49e+08 1 1.57e-01 5.89e+00
W20260707 08:19:44.170714 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
36 6.545657e+04 0.00e+00 2.39e+04 0.00e+00 0.00e+00 1.24e+08 1 5.04e-02 5.94e+00
W20260707 08:19:44.259069 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
37 6.545657e+04 0.00e+00 2.39e+04 0.00e+00 0.00e+00 3.11e+07 1 8.85e-02 6.02e+00
38 6.545657e+04 1.13e-04 1.89e+04 1.06e-05 1.00e+00 9.33e+07 1 2.18e-01 6.24e+00
39 6.545657e+04 3.77e-04 1.50e+04 2.89e-05 1.00e+00 2.80e+08 1 2.33e-01 6.48e+00
W20260707 08:19:44.842063 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
40 6.545657e+04 0.00e+00 1.50e+04 0.00e+00 0.00e+00 1.40e+08 1 1.32e-01 6.61e+00
W20260707 08:19:44.925999 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
41 6.545657e+04 0.00e+00 1.50e+04 0.00e+00 0.00e+00 3.50e+07 1 8.38e-02 6.69e+00
42 6.545657e+04 1.13e-04 3.43e+04 9.75e-06 1.00e+00 1.05e+08 1 1.62e-01 6.85e+00
W20260707 08:19:45.132476 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
43 6.545657e+04 0.00e+00 3.43e+04 0.00e+00 0.00e+00 5.25e+07 1 4.45e-02 6.90e+00
44 6.545657e+04 1.54e-04 3.11e+04 1.33e-05 1.00e+00 1.57e+08 1 1.71e-01 7.07e+00
W20260707 08:19:45.401568 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
45 6.545657e+04 0.00e+00 3.11e+04 0.00e+00 0.00e+00 7.87e+07 1 9.80e-02 7.17e+00
46 6.545657e+04 2.35e-04 4.96e+04 1.88e-05 1.00e+00 2.36e+08 1 1.97e-01 7.36e+00
W20260707 08:19:45.689705 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
47 6.545657e+04 0.00e+00 4.96e+04 0.00e+00 0.00e+00 1.18e+08 1 9.14e-02 7.45e+00
W20260707 08:19:45.768224 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
48 6.545657e+04 0.00e+00 4.96e+04 0.00e+00 0.00e+00 2.95e+07 1 7.84e-02 7.53e+00
49 6.545657e+04 7.54e-05 4.55e+04 6.43e-06 1.00e+00 8.85e+07 1 8.63e-02 7.62e+00
50 6.545657e+04 2.29e-04 7.57e+04 1.94e-05 1.00e+00 2.66e+08 1 2.14e-01 7.83e+00
I20260707 08:19:46.137933 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:19:46.138041 84886 bundle_adjustment.cc:942]
Residuals : 169322
Parameters : 55595
Iterations : 51
Time : 7.88302 [s]
Initial cost : 0.635143 [px]
Final cost : 0.621756 [px]
Termination : No convergence
I20260707 08:19:46.399358 84886 incremental_mapper.cc:175] => Completed observations: 105
I20260707 08:19:46.486666 84886 incremental_mapper.cc:178] => Merged observations: 11
I20260707 08:19:46.530315 84886 incremental_mapper.cc:160] => Filtered observations: 39
I20260707 08:19:46.530414 84886 incremental_mapper.cc:119] => Changed observations: 0.001831
I20260707 08:19:46.530472 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 6.542452e+04 0.00e+00 9.54e+04 0.00e+00 0.00e+00 1.00e+04 0 7.77e-02 6.78e-01
1 6.525200e+04 1.73e+02 1.57e+05 0.00e+00 1.00e+00 3.00e+04 1 2.32e-01 9.10e-01
2 6.525053e+04 1.47e+00 8.26e+04 2.04e+00 1.00e+00 9.00e+04 1 2.05e-01 1.12e+00
3 6.524865e+04 1.87e+00 5.74e+04 5.03e-01 1.00e+00 2.70e+05 1 2.40e-01 1.36e+00
4 6.524566e+04 2.99e+00 5.33e+04 2.83e-01 9.99e-01 8.10e+05 1 2.15e-01 1.57e+00
5 6.524185e+04 3.81e+00 9.42e+04 2.71e-01 9.99e-01 2.43e+06 1 1.70e-01 1.74e+00
6 6.523843e+04 3.41e+00 8.04e+04 3.64e-01 9.72e-01 7.29e+06 1 1.23e-01 1.86e+00
7 6.523710e+04 1.33e+00 8.01e+04 3.12e-01 9.58e-01 2.19e+07 1 2.25e-01 2.09e+00
8 6.523694e+04 1.61e-01 2.87e+04 9.58e-02 1.03e+00 6.56e+07 1 2.79e-01 2.37e+00
9 6.523693e+04 2.55e-03 4.62e+04 1.47e-02 1.07e+00 1.97e+08 1 2.33e-01 2.60e+00
W20260707 08:19:49.437244 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
10 6.523693e+04 0.00e+00 4.62e+04 0.00e+00 0.00e+00 9.84e+07 1 1.01e-01 2.70e+00
11 6.523693e+04 3.22e-04 1.00e+05 2.03e-03 1.01e+00 2.95e+08 1 2.24e-01 2.93e+00
W20260707 08:19:49.718277 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
12 6.523693e+04 0.00e+00 1.00e+05 0.00e+00 0.00e+00 1.48e+08 1 5.67e-02 2.99e+00
W20260707 08:19:49.801862 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
13 6.523693e+04 0.00e+00 1.00e+05 0.00e+00 0.00e+00 3.69e+07 1 8.36e-02 3.07e+00
14 6.523693e+04 9.76e-05 2.27e+04 5.33e-04 1.00e+00 1.11e+08 1 2.07e-01 3.28e+00
W20260707 08:19:50.085216 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
15 6.523693e+04 0.00e+00 2.27e+04 0.00e+00 0.00e+00 5.54e+07 1 7.61e-02 3.35e+00
16 6.523693e+04 1.60e-04 1.03e+05 7.71e-05 1.00e+00 1.66e+08 1 1.90e-01 3.54e+00
W20260707 08:19:50.384614 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
17 6.523693e+04 0.00e+00 1.03e+05 0.00e+00 0.00e+00 8.30e+07 1 1.09e-01 3.65e+00
18 6.523693e+04 2.08e-04 3.00e+04 7.81e-05 1.00e+00 2.49e+08 1 2.18e-01 3.87e+00
W20260707 08:19:50.720561 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
19 6.523693e+04 0.00e+00 3.00e+04 0.00e+00 0.00e+00 1.25e+08 1 1.17e-01 3.99e+00
W20260707 08:19:50.811506 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
20 6.523693e+04 0.00e+00 3.00e+04 0.00e+00 0.00e+00 3.11e+07 1 9.10e-02 4.08e+00
21 6.523693e+04 6.94e-05 6.22e+04 2.25e-05 1.00e+00 9.34e+07 1 1.38e-01 4.22e+00
22 6.523693e+04 2.57e-04 6.88e+04 3.38e-05 1.00e+00 2.80e+08 1 2.51e-01 4.47e+00
W20260707 08:19:51.301205 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
23 6.523693e+04 0.00e+00 6.88e+04 0.00e+00 0.00e+00 1.40e+08 1 1.00e-01 4.57e+00
W20260707 08:19:51.395366 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
24 6.523693e+04 0.00e+00 6.88e+04 0.00e+00 0.00e+00 3.50e+07 1 9.41e-02 4.66e+00
25 6.523693e+04 6.45e-05 7.43e+04 1.09e-05 1.00e+00 1.05e+08 1 2.17e-01 4.88e+00
26 6.523693e+04 1.88e-04 1.45e+05 3.09e-05 1.00e+00 3.15e+08 1 2.34e-01 5.11e+00
W20260707 08:19:51.892391 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
27 6.523693e+04 0.00e+00 1.45e+05 0.00e+00 0.00e+00 1.58e+08 1 4.63e-02 5.16e+00
W20260707 08:19:51.950436 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
28 6.523693e+04 0.00e+00 1.45e+05 0.00e+00 0.00e+00 3.94e+07 1 5.81e-02 5.22e+00
29 6.523693e+04 6.50e-05 1.91e+05 9.91e-06 1.00e+00 1.18e+08 1 1.93e-01 5.41e+00
30 6.523693e+04 2.75e-04 4.92e+04 3.05e-05 1.00e+00 3.55e+08 1 2.37e-01 5.65e+00
W20260707 08:19:52.504504 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
31 6.523693e+04 0.00e+00 4.92e+04 0.00e+00 0.00e+00 1.77e+08 1 1.24e-01 5.77e+00
W20260707 08:19:52.600293 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
32 6.523693e+04 0.00e+00 4.92e+04 0.00e+00 0.00e+00 4.43e+07 1 9.57e-02 5.87e+00
33 6.523693e+04 6.81e-05 3.55e+04 9.85e-06 1.00e+00 1.33e+08 1 2.08e-01 6.08e+00
W20260707 08:19:52.931432 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
34 6.523693e+04 0.00e+00 3.55e+04 0.00e+00 0.00e+00 6.65e+07 1 1.23e-01 6.20e+00
35 6.523693e+04 1.03e-04 1.30e+05 1.38e-05 1.00e+00 2.00e+08 1 2.01e-01 6.40e+00
W20260707 08:19:53.257582 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
36 6.523693e+04 0.00e+00 1.30e+05 0.00e+00 0.00e+00 9.98e+07 1 1.25e-01 6.52e+00
37 6.523693e+04 1.40e-04 9.83e+04 2.18e-05 1.00e+00 2.99e+08 1 1.64e-01 6.69e+00
W20260707 08:19:53.514400 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
38 6.523693e+04 0.00e+00 9.83e+04 0.00e+00 0.00e+00 1.50e+08 1 9.22e-02 6.78e+00
W20260707 08:19:53.611624 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
39 6.523693e+04 0.00e+00 9.83e+04 0.00e+00 0.00e+00 3.74e+07 1 9.71e-02 6.88e+00
40 6.523693e+04 5.41e-05 6.80e+04 6.90e-06 1.00e+00 1.12e+08 1 2.53e-01 7.13e+00
W20260707 08:19:53.999547 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
41 6.523693e+04 0.00e+00 6.80e+04 0.00e+00 0.00e+00 5.61e+07 1 1.34e-01 7.27e+00
42 6.523693e+04 7.53e-05 1.89e+04 9.49e-06 1.00e+00 1.68e+08 1 2.44e-01 7.51e+00
W20260707 08:19:54.340103 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
43 6.523693e+04 0.00e+00 1.89e+04 0.00e+00 0.00e+00 8.42e+07 1 9.62e-02 7.61e+00
W20260707 08:19:54.403062 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
44 6.523693e+04 0.00e+00 1.89e+04 0.00e+00 0.00e+00 2.10e+07 1 6.29e-02 7.67e+00
45 6.523693e+04 2.85e-05 9.34e+04 3.55e-06 1.00e+00 6.31e+07 1 1.68e-01 7.84e+00
46 6.523693e+04 8.46e-05 7.93e+04 1.05e-05 1.00e+00 1.89e+08 1 2.46e-01 8.08e+00
W20260707 08:19:54.927806 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
47 6.523693e+04 0.00e+00 7.93e+04 0.00e+00 0.00e+00 9.47e+07 1 1.11e-01 8.19e+00
48 6.523693e+04 5.05e-04 9.16e+04 1.76e-05 1.00e+00 2.84e+08 1 2.62e-01 8.46e+00
W20260707 08:19:55.312323 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
49 6.523693e+04 0.00e+00 9.16e+04 0.00e+00 0.00e+00 1.42e+08 1 1.23e-01 8.58e+00
50 6.523693e+04 3.40e-04 1.01e+05 2.75e-05 1.00e+00 4.26e+08 1 1.10e-01 8.69e+00
I20260707 08:19:55.444427 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:19:55.444496 84886 bundle_adjustment.cc:942]
Residuals : 169424
Parameters : 55553
Iterations : 51
Time : 8.69785 [s]
Initial cost : 0.621417 [px]
Final cost : 0.620525 [px]
Termination : No convergence
I20260707 08:19:55.722533 84886 incremental_mapper.cc:175] => Completed observations: 11
I20260707 08:19:55.914110 84886 incremental_mapper.cc:178] => Merged observations: 11
I20260707 08:19:55.980051 84886 incremental_mapper.cc:160] => Filtered observations: 13
I20260707 08:19:55.980206 84886 incremental_mapper.cc:119] => Changed observations: 0.000413
I20260707 08:19:55.980291 84886 incremental_mapper.cc:167] => Filtered images: 0
I20260707 08:19:55.999010 84886 misc.cc:198]
==============================================================================
Registering image #515 (141)
==============================================================================
I20260707 08:19:55.999198 84886 incremental_mapper.cc:495] => Image sees 199 / 270 points
I20260707 08:19:56.012462 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:19:56.013546 84886 bundle_adjustment.cc:942]
Residuals : 398
Parameters : 6
Iterations : 7
Time : 0.00265503 [s]
Initial cost : 0.605095 [px]
Final cost : 0.591385 [px]
Termination : Convergence
I20260707 08:19:56.014310 84886 incremental_mapper.cc:40] => Continued observations: 174
I20260707 08:19:56.020164 84886 incremental_mapper.cc:43] => Added observations: 76
I20260707 08:19:56.235682 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:19:56.235816 84886 bundle_adjustment.cc:942]
Residuals : 7112
Parameters : 1079
Iterations : 19
Time : 0.197325 [s]
Initial cost : 0.711988 [px]
Final cost : 0.696324 [px]
Termination : Convergence
I20260707 08:19:56.262504 84886 incremental_mapper.cc:78] => Merged observations: 12
I20260707 08:19:56.262712 84886 incremental_mapper.cc:79] => Completed observations: 41
I20260707 08:19:56.262737 84886 incremental_mapper.cc:81] => Filtered observations: 97
I20260707 08:19:56.262744 84886 incremental_mapper.cc:90] => Changed observations: 0.033083
I20260707 08:19:56.339582 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:19:56.339866 84886 bundle_adjustment.cc:942]
Residuals : 6426
Parameters : 1013
Iterations : 3
Time : 0.051017 [s]
Initial cost : 0.85949 [px]
Final cost : 0.842946 [px]
Termination : Convergence
I20260707 08:19:56.385270 84886 incremental_mapper.cc:78] => Merged observations: 12
I20260707 08:19:56.385414 84886 incremental_mapper.cc:79] => Completed observations: 17
I20260707 08:19:56.385430 84886 incremental_mapper.cc:81] => Filtered observations: 1
I20260707 08:19:56.385437 84886 incremental_mapper.cc:90] => Changed observations: 0.007153
I20260707 08:19:56.405053 84886 misc.cc:198]
==============================================================================
Registering image #485 (142)
==============================================================================
I20260707 08:19:56.405247 84886 incremental_mapper.cc:495] => Image sees 148 / 579 points
I20260707 08:19:56.413376 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:19:56.413595 84886 bundle_adjustment.cc:942]
Residuals : 228
Parameters : 6
Iterations : 8
Time : 0.00347996 [s]
Initial cost : 0.607093 [px]
Final cost : 0.595519 [px]
Termination : Convergence
I20260707 08:19:56.414346 84886 incremental_mapper.cc:40] => Continued observations: 102
I20260707 08:19:56.418015 84886 incremental_mapper.cc:43] => Added observations: 124
I20260707 08:19:56.493032 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:19:56.493211 84886 bundle_adjustment.cc:942]
Residuals : 3566
Parameters : 434
Iterations : 23
Time : 0.063061 [s]
Initial cost : 0.850807 [px]
Final cost : 0.827333 [px]
Termination : Convergence
I20260707 08:19:56.505712 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:19:56.505785 84886 incremental_mapper.cc:79] => Completed observations: 20
I20260707 08:19:56.505791 84886 incremental_mapper.cc:81] => Filtered observations: 89
I20260707 08:19:56.505796 84886 incremental_mapper.cc:90] => Changed observations: 0.039110
I20260707 08:19:56.521545 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:19:56.521651 84886 bundle_adjustment.cc:942]
Residuals : 3438
Parameters : 344
Iterations : 3
Time : 0.0111449 [s]
Initial cost : 0.908242 [px]
Final cost : 0.893619 [px]
Termination : Convergence
I20260707 08:19:56.531811 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:19:56.531880 84886 incremental_mapper.cc:79] => Completed observations: 13
I20260707 08:19:56.531885 84886 incremental_mapper.cc:81] => Filtered observations: 2
I20260707 08:19:56.531890 84886 incremental_mapper.cc:90] => Changed observations: 0.005509
I20260707 08:19:56.544564 84886 misc.cc:198]
==============================================================================
Registering image #419 (143)
==============================================================================
I20260707 08:19:56.544708 84886 incremental_mapper.cc:495] => Image sees 97 / 970 points
I20260707 08:19:56.564798 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:19:56.565021 84886 bundle_adjustment.cc:942]
Residuals : 38
Parameters : 6
Iterations : 19
Time : 0.00149584 [s]
Initial cost : 0.640411 [px]
Final cost : 0.627778 [px]
Termination : Convergence
I20260707 08:19:56.565269 84886 incremental_mapper.cc:40] => Continued observations: 19
I20260707 08:19:56.566555 84886 incremental_mapper.cc:43] => Added observations: 27
I20260707 08:19:56.801597 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:19:56.801829 84886 bundle_adjustment.cc:942]
Residuals : 3352
Parameters : 677
Iterations : 26
Time : 0.221901 [s]
Initial cost : 0.63728 [px]
Final cost : 0.620165 [px]
Termination : No convergence
I20260707 08:19:56.821336 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:19:56.821535 84886 incremental_mapper.cc:79] => Completed observations: 0
I20260707 08:19:56.821561 84886 incremental_mapper.cc:81] => Filtered observations: 25
I20260707 08:19:56.821568 84886 incremental_mapper.cc:90] => Changed observations: 0.013492
I20260707 08:19:56.860251 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:19:56.860513 84886 bundle_adjustment.cc:942]
Residuals : 3306
Parameters : 656
Iterations : 4
Time : 0.028785 [s]
Initial cost : 0.672774 [px]
Final cost : 0.66757 [px]
Termination : Convergence
I20260707 08:19:56.879346 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:19:56.879524 84886 incremental_mapper.cc:79] => Completed observations: 2
I20260707 08:19:56.879544 84886 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 08:19:56.879550 84886 incremental_mapper.cc:90] => Changed observations: 0.001093
I20260707 08:19:56.901958 84886 misc.cc:198]
==============================================================================
Registering image #58 (144)
==============================================================================
I20260707 08:19:56.902197 84886 incremental_mapper.cc:495] => Image sees 89 / 453 points
I20260707 08:19:56.910058 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:19:56.910912 84886 bundle_adjustment.cc:942]
Residuals : 100
Parameters : 6
Iterations : 19
Time : 0.00301099 [s]
Initial cost : 0.758418 [px]
Final cost : 0.647586 [px]
Termination : Convergence
I20260707 08:19:56.911471 84886 incremental_mapper.cc:40] => Continued observations: 49
I20260707 08:19:56.914358 84886 incremental_mapper.cc:43] => Added observations: 244
I20260707 08:19:57.223778 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:19:57.224035 84886 bundle_adjustment.cc:942]
Residuals : 5836
Parameters : 680
Iterations : 26
Time : 0.29038 [s]
Initial cost : 0.665462 [px]
Final cost : 0.609909 [px]
Termination : No convergence
I20260707 08:19:57.255656 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:19:57.255841 84886 incremental_mapper.cc:79] => Completed observations: 14
I20260707 08:19:57.255862 84886 incremental_mapper.cc:81] => Filtered observations: 84
I20260707 08:19:57.255870 84886 incremental_mapper.cc:90] => Changed observations: 0.031664
I20260707 08:19:57.326900 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:19:57.327064 84886 bundle_adjustment.cc:942]
Residuals : 4652
Parameters : 557
Iterations : 4
Time : 0.0507689 [s]
Initial cost : 0.774182 [px]
Final cost : 0.765492 [px]
Termination : Convergence
I20260707 08:19:57.361083 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:19:57.361356 84886 incremental_mapper.cc:79] => Completed observations: 10
I20260707 08:19:57.361390 84886 incremental_mapper.cc:81] => Filtered observations: 1
I20260707 08:19:57.361692 84886 incremental_mapper.cc:90] => Changed observations: 0.003412
I20260707 08:19:57.384310 84886 misc.cc:198]
==============================================================================
Registering image #496 (145)
==============================================================================
I20260707 08:19:57.384581 84886 incremental_mapper.cc:495] => Image sees 104 / 1158 points
I20260707 08:19:57.393685 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:19:57.393875 84886 bundle_adjustment.cc:942]
Residuals : 198
Parameters : 6
Iterations : 11
Time : 0.00327802 [s]
Initial cost : 0.579905 [px]
Final cost : 0.572675 [px]
Termination : Convergence
I20260707 08:19:57.394347 84886 incremental_mapper.cc:40] => Continued observations: 98
I20260707 08:19:57.397683 84886 incremental_mapper.cc:43] => Added observations: 63
I20260707 08:19:57.665928 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:19:57.666091 84886 bundle_adjustment.cc:942]
Residuals : 5488
Parameters : 458
Iterations : 26
Time : 0.251224 [s]
Initial cost : 0.682541 [px]
Final cost : 0.666111 [px]
Termination : No convergence
I20260707 08:19:57.696897 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:19:57.697048 84886 incremental_mapper.cc:79] => Completed observations: 13
I20260707 08:19:57.697059 84886 incremental_mapper.cc:81] => Filtered observations: 39
I20260707 08:19:57.697064 84886 incremental_mapper.cc:90] => Changed observations: 0.014570
I20260707 08:19:57.794031 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:19:57.794314 84886 bundle_adjustment.cc:942]
Residuals : 5702
Parameters : 410
Iterations : 3
Time : 0.077697 [s]
Initial cost : 0.822141 [px]
Final cost : 0.817603 [px]
Termination : Convergence
I20260707 08:19:57.823951 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:19:57.824185 84886 incremental_mapper.cc:79] => Completed observations: 6
I20260707 08:19:57.824231 84886 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 08:19:57.824240 84886 incremental_mapper.cc:90] => Changed observations: 0.001701
I20260707 08:19:57.844556 84886 misc.cc:198]
==============================================================================
Registering image #394 (146)
==============================================================================
I20260707 08:19:57.844666 84886 incremental_mapper.cc:495] => Image sees 96 / 1334 points
I20260707 08:19:57.867034 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:19:57.867252 84886 bundle_adjustment.cc:942]
Residuals : 38
Parameters : 6
Iterations : 8
Time : 0.000658989 [s]
Initial cost : 0.831231 [px]
Final cost : 0.765331 [px]
Termination : Convergence
I20260707 08:19:57.867417 84886 incremental_mapper.cc:40] => Continued observations: 19
I20260707 08:19:57.869172 84886 incremental_mapper.cc:43] => Added observations: 53
I20260707 08:19:58.199729 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:19:58.199836 84886 bundle_adjustment.cc:942]
Residuals : 8854
Parameters : 1115
Iterations : 26
Time : 0.31776 [s]
Initial cost : 0.614499 [px]
Final cost : 0.590448 [px]
Termination : No convergence
I20260707 08:19:58.222010 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:19:58.222123 84886 incremental_mapper.cc:79] => Completed observations: 1
I20260707 08:19:58.222128 84886 incremental_mapper.cc:81] => Filtered observations: 58
I20260707 08:19:58.222146 84886 incremental_mapper.cc:90] => Changed observations: 0.012713
I20260707 08:19:58.270490 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:19:58.270581 84886 bundle_adjustment.cc:942]
Residuals : 7478
Parameters : 1352
Iterations : 3
Time : 0.0335119 [s]
Initial cost : 0.749148 [px]
Final cost : 0.745741 [px]
Termination : Convergence
I20260707 08:19:58.285661 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:19:58.285727 84886 incremental_mapper.cc:79] => Completed observations: 2
I20260707 08:19:58.285733 84886 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 08:19:58.285737 84886 incremental_mapper.cc:90] => Changed observations: 0.000400
I20260707 08:19:58.295442 84886 misc.cc:198]
==============================================================================
Registering image #152 (147)
==============================================================================
I20260707 08:19:58.295495 84886 incremental_mapper.cc:495] => Image sees 124 / 1532 points
I20260707 08:19:58.300379 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:19:58.300448 84886 bundle_adjustment.cc:942]
Residuals : 224
Parameters : 6
Iterations : 11
Time : 0.00203681 [s]
Initial cost : 0.803371 [px]
Final cost : 0.577613 [px]
Termination : Convergence
I20260707 08:19:58.300627 84886 incremental_mapper.cc:40] => Continued observations: 108
I20260707 08:19:58.307659 84886 incremental_mapper.cc:43] => Added observations: 87
I20260707 08:19:58.635231 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:19:58.635592 84886 bundle_adjustment.cc:942]
Residuals : 7100
Parameters : 476
Iterations : 17
Time : 0.3027 [s]
Initial cost : 0.615721 [px]
Final cost : 0.591604 [px]
Termination : Convergence
I20260707 08:19:58.671679 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:19:58.671841 84886 incremental_mapper.cc:79] => Completed observations: 28
I20260707 08:19:58.671864 84886 incremental_mapper.cc:81] => Filtered observations: 52
I20260707 08:19:58.671871 84886 incremental_mapper.cc:90] => Changed observations: 0.020351
I20260707 08:19:58.728252 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:19:58.728420 84886 bundle_adjustment.cc:942]
Residuals : 5930
Parameters : 401
Iterations : 3
Time : 0.0427079 [s]
Initial cost : 0.684597 [px]
Final cost : 0.673717 [px]
Termination : Convergence
I20260707 08:19:58.757622 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:19:58.757792 84886 incremental_mapper.cc:79] => Completed observations: 15
I20260707 08:19:58.757812 84886 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 08:19:58.757818 84886 incremental_mapper.cc:90] => Changed observations: 0.004483
I20260707 08:19:58.775728 84886 misc.cc:198]
==============================================================================
Registering image #130 (148)
==============================================================================
I20260707 08:19:58.775873 84886 incremental_mapper.cc:495] => Image sees 110 / 468 points
I20260707 08:19:58.779966 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:19:58.780042 84886 bundle_adjustment.cc:942]
Residuals : 154
Parameters : 6
Iterations : 22
Time : 0.00171185 [s]
Initial cost : 0.756811 [px]
Final cost : 0.705713 [px]
Termination : Convergence
I20260707 08:19:58.780198 84886 incremental_mapper.cc:40] => Continued observations: 73
I20260707 08:19:58.781023 84886 incremental_mapper.cc:43] => Added observations: 100
I20260707 08:19:58.913363 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:19:58.913467 84886 bundle_adjustment.cc:942]
Residuals : 6886
Parameters : 389
Iterations : 20
Time : 0.122652 [s]
Initial cost : 0.608745 [px]
Final cost : 0.597149 [px]
Termination : Convergence
I20260707 08:19:58.929919 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:19:58.929993 84886 incremental_mapper.cc:79] => Completed observations: 23
I20260707 08:19:58.929999 84886 incremental_mapper.cc:81] => Filtered observations: 57
I20260707 08:19:58.930004 84886 incremental_mapper.cc:90] => Changed observations: 0.014925
I20260707 08:19:58.960397 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:19:58.960500 84886 bundle_adjustment.cc:942]
Residuals : 4832
Parameters : 332
Iterations : 3
Time : 0.023001 [s]
Initial cost : 0.757463 [px]
Final cost : 0.748299 [px]
Termination : Convergence
I20260707 08:19:58.981711 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:19:58.981832 84886 incremental_mapper.cc:79] => Completed observations: 14
I20260707 08:19:58.981841 84886 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 08:19:58.981845 84886 incremental_mapper.cc:90] => Changed observations: 0.003762
I20260707 08:19:58.993757 84886 misc.cc:198]
==============================================================================
Registering image #94 (149)
==============================================================================
I20260707 08:19:58.993875 84886 incremental_mapper.cc:495] => Image sees 101 / 3692 points
I20260707 08:19:59.000051 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:19:59.000229 84886 bundle_adjustment.cc:942]
Residuals : 160
Parameters : 6
Iterations : 13
Time : 0.00190592 [s]
Initial cost : 0.657501 [px]
Final cost : 0.488539 [px]
Termination : Convergence
I20260707 08:19:59.000609 84886 incremental_mapper.cc:40] => Continued observations: 80
I20260707 08:19:59.003674 84886 incremental_mapper.cc:43] => Added observations: 138
I20260707 08:19:59.138440 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:19:59.138556 84886 bundle_adjustment.cc:942]
Residuals : 6670
Parameters : 659
Iterations : 26
Time : 0.124134 [s]
Initial cost : 0.660704 [px]
Final cost : 0.598755 [px]
Termination : No convergence
I20260707 08:19:59.152881 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:19:59.152961 84886 incremental_mapper.cc:79] => Completed observations: 25
I20260707 08:19:59.152968 84886 incremental_mapper.cc:81] => Filtered observations: 91
I20260707 08:19:59.152974 84886 incremental_mapper.cc:90] => Changed observations: 0.031058
I20260707 08:19:59.193701 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:19:59.193897 84886 bundle_adjustment.cc:942]
Residuals : 6442
Parameters : 443
Iterations : 3
Time : 0.0338979 [s]
Initial cost : 0.56607 [px]
Final cost : 0.55554 [px]
Termination : Convergence
I20260707 08:19:59.216759 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:19:59.216867 84886 incremental_mapper.cc:79] => Completed observations: 7
I20260707 08:19:59.216873 84886 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 08:19:59.216878 84886 incremental_mapper.cc:90] => Changed observations: 0.002041
I20260707 08:19:59.229998 84886 misc.cc:198]
==============================================================================
Registering image #156 (150)
==============================================================================
I20260707 08:19:59.230069 84886 incremental_mapper.cc:495] => Image sees 104 / 723 points
I20260707 08:19:59.234254 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:19:59.234357 84886 bundle_adjustment.cc:942]
Residuals : 194
Parameters : 6
Iterations : 9
Time : 0.00169897 [s]
Initial cost : 0.647762 [px]
Final cost : 0.504499 [px]
Termination : Convergence
I20260707 08:19:59.234589 84886 incremental_mapper.cc:40] => Continued observations: 94
I20260707 08:19:59.237285 84886 incremental_mapper.cc:43] => Added observations: 303
I20260707 08:19:59.303742 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:19:59.303941 84886 bundle_adjustment.cc:942]
Residuals : 3516
Parameters : 830
Iterations : 9
Time : 0.0609601 [s]
Initial cost : 0.657104 [px]
Final cost : 0.637326 [px]
Termination : Convergence
I20260707 08:19:59.314965 84886 incremental_mapper.cc:78] => Merged observations: 9
I20260707 08:19:59.315088 84886 incremental_mapper.cc:79] => Completed observations: 16
I20260707 08:19:59.315096 84886 incremental_mapper.cc:81] => Filtered observations: 27
I20260707 08:19:59.315100 84886 incremental_mapper.cc:90] => Changed observations: 0.022414
I20260707 08:19:59.331349 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:19:59.331465 84886 bundle_adjustment.cc:942]
Residuals : 3476
Parameters : 797
Iterations : 2
Time : 0.0102909 [s]
Initial cost : 0.725687 [px]
Final cost : 0.716909 [px]
Termination : Convergence
I20260707 08:19:59.340128 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:19:59.340238 84886 incremental_mapper.cc:79] => Completed observations: 8
I20260707 08:19:59.340245 84886 incremental_mapper.cc:81] => Filtered observations: 3
I20260707 08:19:59.340248 84886 incremental_mapper.cc:90] => Changed observations: 0.004785
I20260707 08:19:59.353538 84886 misc.cc:198]
==============================================================================
Registering image #154 (151)
==============================================================================
I20260707 08:19:59.353763 84886 incremental_mapper.cc:495] => Image sees 106 / 643 points
I20260707 08:19:59.362438 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:19:59.362715 84886 bundle_adjustment.cc:942]
Residuals : 148
Parameters : 6
Iterations : 21
Time : 0.00377798 [s]
Initial cost : 0.532287 [px]
Final cost : 0.519247 [px]
Termination : Convergence
I20260707 08:19:59.363469 84886 incremental_mapper.cc:40] => Continued observations: 74
I20260707 08:19:59.367858 84886 incremental_mapper.cc:43] => Added observations: 131
I20260707 08:19:59.585929 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:19:59.586053 84886 bundle_adjustment.cc:942]
Residuals : 5472
Parameters : 398
Iterations : 25
Time : 0.195737 [s]
Initial cost : 0.664692 [px]
Final cost : 0.614337 [px]
Termination : Convergence
I20260707 08:19:59.596276 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:19:59.596354 84886 incremental_mapper.cc:79] => Completed observations: 13
I20260707 08:19:59.596359 84886 incremental_mapper.cc:81] => Filtered observations: 43
I20260707 08:19:59.596364 84886 incremental_mapper.cc:90] => Changed observations: 0.018754
I20260707 08:19:59.621924 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:19:59.622102 84886 bundle_adjustment.cc:942]
Residuals : 5390
Parameters : 359
Iterations : 3
Time : 0.0202589 [s]
Initial cost : 0.657521 [px]
Final cost : 0.649625 [px]
Termination : Convergence
I20260707 08:19:59.645176 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:19:59.645254 84886 incremental_mapper.cc:79] => Completed observations: 11
I20260707 08:19:59.645262 84886 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 08:19:59.645265 84886 incremental_mapper.cc:90] => Changed observations: 0.003890
I20260707 08:19:59.656293 84886 misc.cc:198]
==============================================================================
Registering image #91 (152)
==============================================================================
I20260707 08:19:59.656365 84886 incremental_mapper.cc:495] => Image sees 105 / 2114 points
I20260707 08:19:59.660504 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:19:59.660563 84886 bundle_adjustment.cc:942]
Residuals : 196
Parameters : 6
Iterations : 13
Time : 0.00198507 [s]
Initial cost : 0.48255 [px]
Final cost : 0.448174 [px]
Termination : Convergence
I20260707 08:19:59.660739 84886 incremental_mapper.cc:40] => Continued observations: 98
I20260707 08:19:59.665231 84886 incremental_mapper.cc:43] => Added observations: 40
I20260707 08:19:59.732613 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:19:59.732698 84886 bundle_adjustment.cc:942]
Residuals : 6692
Parameters : 494
Iterations : 13
Time : 0.058919 [s]
Initial cost : 0.509258 [px]
Final cost : 0.489203 [px]
Termination : Convergence
I20260707 08:19:59.743757 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:19:59.743835 84886 incremental_mapper.cc:79] => Completed observations: 13
I20260707 08:19:59.743840 84886 incremental_mapper.cc:81] => Filtered observations: 33
I20260707 08:19:59.743844 84886 incremental_mapper.cc:90] => Changed observations: 0.013666
I20260707 08:19:59.773326 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:19:59.773489 84886 bundle_adjustment.cc:942]
Residuals : 6826
Parameters : 746
Iterations : 3
Time : 0.0225091 [s]
Initial cost : 0.607518 [px]
Final cost : 0.603852 [px]
Termination : Convergence
I20260707 08:19:59.789736 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:19:59.789803 84886 incremental_mapper.cc:79] => Completed observations: 7
I20260707 08:19:59.789808 84886 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 08:19:59.789811 84886 incremental_mapper.cc:90] => Changed observations: 0.001603
I20260707 08:19:59.799817 84886 misc.cc:198]
==============================================================================
Registering image #170 (153)
==============================================================================
I20260707 08:19:59.799938 84886 incremental_mapper.cc:495] => Image sees 92 / 885 points
I20260707 08:19:59.802702 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:19:59.802790 84886 bundle_adjustment.cc:942]
Residuals : 152
Parameters : 6
Iterations : 8
Time : 0.000776052 [s]
Initial cost : 0.668305 [px]
Final cost : 0.577036 [px]
Termination : Convergence
I20260707 08:19:59.802977 84886 incremental_mapper.cc:40] => Continued observations: 75
I20260707 08:19:59.805994 84886 incremental_mapper.cc:43] => Added observations: 125
I20260707 08:19:59.979389 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:19:59.979538 84886 bundle_adjustment.cc:942]
Residuals : 5988
Parameters : 452
Iterations : 17
Time : 0.165249 [s]
Initial cost : 0.710612 [px]
Final cost : 0.687832 [px]
Termination : Convergence
I20260707 08:20:00.017524 84886 incremental_mapper.cc:78] => Merged observations: 15
I20260707 08:20:00.017704 84886 incremental_mapper.cc:79] => Completed observations: 31
I20260707 08:20:00.017727 84886 incremental_mapper.cc:81] => Filtered observations: 54
I20260707 08:20:00.017736 84886 incremental_mapper.cc:90] => Changed observations: 0.024091
I20260707 08:20:00.085572 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:20:00.085781 84886 bundle_adjustment.cc:942]
Residuals : 5920
Parameters : 395
Iterations : 3
Time : 0.047776 [s]
Initial cost : 0.823002 [px]
Final cost : 0.818121 [px]
Termination : Convergence
I20260707 08:20:00.125550 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:20:00.125737 84886 incremental_mapper.cc:79] => Completed observations: 6
I20260707 08:20:00.125756 84886 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 08:20:00.125762 84886 incremental_mapper.cc:90] => Changed observations: 0.001457
I20260707 08:20:00.146710 84886 misc.cc:198]
==============================================================================
Registering image #111 (154)
==============================================================================
I20260707 08:20:00.146890 84886 incremental_mapper.cc:495] => Image sees 148 / 746 points
I20260707 08:20:00.155539 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:20:00.155728 84886 bundle_adjustment.cc:942]
Residuals : 232
Parameters : 6
Iterations : 10
Time : 0.00373101 [s]
Initial cost : 0.476333 [px]
Final cost : 0.458188 [px]
Termination : Convergence
I20260707 08:20:00.156306 84886 incremental_mapper.cc:40] => Continued observations: 113
I20260707 08:20:00.159118 84886 incremental_mapper.cc:43] => Added observations: 226
I20260707 08:20:00.646409 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:20:00.646541 84886 bundle_adjustment.cc:942]
Residuals : 14238
Parameters : 899
Iterations : 26
Time : 0.467917 [s]
Initial cost : 0.601453 [px]
Final cost : 0.583153 [px]
Termination : No convergence
I20260707 08:20:00.666064 84886 incremental_mapper.cc:78] => Merged observations: 25
I20260707 08:20:00.666158 84886 incremental_mapper.cc:79] => Completed observations: 32
I20260707 08:20:00.666167 84886 incremental_mapper.cc:81] => Filtered observations: 136
I20260707 08:20:00.666172 84886 incremental_mapper.cc:90] => Changed observations: 0.023180
I20260707 08:20:00.728454 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:20:00.728569 84886 bundle_adjustment.cc:942]
Residuals : 14768
Parameters : 743
Iterations : 3
Time : 0.0462661 [s]
Initial cost : 0.541975 [px]
Final cost : 0.53823 [px]
Termination : Convergence
I20260707 08:20:00.768219 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:20:00.768435 84886 incremental_mapper.cc:79] => Completed observations: 18
I20260707 08:20:00.768457 84886 incremental_mapper.cc:81] => Filtered observations: 5
I20260707 08:20:00.768467 84886 incremental_mapper.cc:90] => Changed observations: 0.002807
I20260707 08:20:00.768549 84886 misc.cc:198]
==============================================================================
Retriangulation
==============================================================================
I20260707 08:20:00.859786 84886 incremental_mapper.cc:175] => Completed observations: 34
I20260707 08:20:00.943773 84886 incremental_mapper.cc:178] => Merged observations: 18
I20260707 08:20:00.943856 84886 incremental_mapper.cc:105] => Retriangulated observations: 146
I20260707 08:20:00.965263 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 1.200499e+05 0.00e+00 1.44e+13 0.00e+00 0.00e+00 1.00e+04 0 1.02e-01 6.13e-01
1 9.981301e+04 2.02e+04 4.41e+12 0.00e+00 9.36e-01 2.98e+04 1 2.72e-01 8.85e-01
2 9.811143e+04 1.70e+03 3.64e+12 6.70e+00 1.00e+00 8.94e+04 1 2.56e-01 1.14e+00
3 9.807182e+04 3.96e+01 3.44e+12 1.70e+00 1.01e+00 2.68e+05 1 3.02e-01 1.44e+00
4 9.803978e+04 3.20e+01 3.33e+12 8.80e-01 8.42e-01 3.95e+05 1 2.79e-01 1.72e+00
5 9.801504e+04 2.47e+01 4.19e+12 5.21e-01 1.00e+00 1.19e+06 1 2.03e-01 1.93e+00
6 9.800710e+04 7.94e+00 3.25e+12 5.50e-01 4.16e-01 1.18e+06 1 1.99e-01 2.12e+00
7 9.799188e+04 1.52e+01 4.19e+12 2.59e-01 9.63e-01 3.54e+06 1 2.78e-01 2.40e+00
8 9.799011e+04 1.77e+00 3.25e+12 2.32e-01 3.02e-01 3.33e+06 1 2.67e-01 2.67e+00
9 9.798516e+04 4.95e+00 4.19e+12 8.51e-02 9.51e-01 1.00e+07 1 2.64e-01 2.93e+00
10 9.798444e+04 7.23e-01 3.25e+12 6.43e-02 3.84e-01 9.87e+06 1 1.94e-01 3.13e+00
11 9.798299e+04 1.44e+00 4.19e+12 1.80e-02 9.39e-01 2.96e+07 1 1.67e-01 3.29e+00
12 9.798267e+04 3.24e-01 3.25e+12 2.34e-02 4.57e-01 2.96e+07 1 1.86e-01 3.48e+00
13 9.798219e+04 4.76e-01 4.19e+12 7.87e-03 9.30e-01 8.13e+07 1 2.11e-01 3.69e+00
14 9.798203e+04 1.60e-01 3.25e+12 8.67e-03 6.91e-01 8.61e+07 1 1.94e-01 3.89e+00
W20260707 08:20:05.159925 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
15 9.798203e+04 0.00e+00 3.25e+12 0.00e+00 0.00e+00 4.31e+07 1 1.16e-01 4.00e+00
16 9.798194e+04 9.47e-02 4.19e+12 2.64e-03 9.79e-01 1.29e+08 1 1.84e-01 4.19e+00
W20260707 08:20:05.437711 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
17 9.798194e+04 0.00e+00 4.19e+12 0.00e+00 0.00e+00 6.46e+07 1 9.36e-02 4.28e+00
18 9.798191e+04 3.00e-02 3.25e+12 2.04e-03 9.87e-01 1.94e+08 1 2.21e-01 4.50e+00
W20260707 08:20:05.778748 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
19 9.798191e+04 0.00e+00 3.25e+12 0.00e+00 0.00e+00 9.69e+07 1 1.20e-01 4.62e+00
20 9.798188e+04 2.64e-02 1.03e+13 1.62e-03 8.95e-01 1.92e+08 1 1.77e-01 4.80e+00
W20260707 08:20:06.002209 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
21 9.798188e+04 0.00e+00 1.03e+13 0.00e+00 0.00e+00 9.58e+07 1 4.64e-02 4.84e+00
22 9.798186e+04 2.06e-02 2.40e+12 1.01e-03 9.88e-01 2.87e+08 1 1.18e-01 4.96e+00
W20260707 08:20:06.202598 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
23 9.798186e+04 0.00e+00 2.40e+12 0.00e+00 0.00e+00 1.44e+08 1 8.20e-02 5.04e+00
W20260707 08:20:06.283517 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
24 9.798186e+04 0.00e+00 2.40e+12 0.00e+00 0.00e+00 3.59e+07 1 8.09e-02 5.13e+00
25 9.798186e+04 4.78e-03 2.03e+12 4.38e-04 9.76e-01 1.08e+08 1 1.39e-01 5.26e+00
26 9.798185e+04 1.25e-02 2.06e+12 5.84e-04 9.90e-01 3.23e+08 1 1.47e-01 5.41e+00
W20260707 08:20:06.632576 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
27 9.798185e+04 0.00e+00 2.06e+12 0.00e+00 0.00e+00 1.62e+08 1 6.20e-02 5.47e+00
28 9.798183e+04 1.28e-02 5.59e+12 5.56e-04 9.31e-01 4.52e+08 1 1.16e-01 5.59e+00
W20260707 08:20:06.812614 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
29 9.798183e+04 0.00e+00 5.59e+12 0.00e+00 0.00e+00 2.26e+08 1 6.35e-02 5.65e+00
W20260707 08:20:06.880892 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
30 9.798183e+04 0.00e+00 5.59e+12 0.00e+00 0.00e+00 5.65e+07 1 6.82e-02 5.72e+00
31 9.798183e+04 3.98e-03 1.85e+12 1.92e-04 9.72e-01 1.69e+08 1 1.31e-01 5.85e+00
W20260707 08:20:07.085561 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
32 9.798183e+04 0.00e+00 1.85e+12 0.00e+00 0.00e+00 8.47e+07 1 7.36e-02 5.93e+00
W20260707 08:20:07.152232 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
33 9.798183e+04 0.00e+00 1.85e+12 0.00e+00 0.00e+00 2.12e+07 1 6.65e-02 5.99e+00
34 9.798183e+04 1.07e-03 1.88e+12 9.47e-05 9.12e-01 4.82e+07 1 1.54e-01 6.15e+00
35 9.798183e+04 2.32e-03 1.90e+12 1.11e-04 9.57e-01 1.45e+08 1 1.56e-01 6.30e+00
W20260707 08:20:07.535012 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
36 9.798183e+04 0.00e+00 1.90e+12 0.00e+00 0.00e+00 7.23e+07 1 7.27e-02 6.38e+00
37 9.798182e+04 3.18e-03 1.94e+12 1.27e-04 9.67e-01 2.17e+08 1 1.53e-01 6.53e+00
W20260707 08:20:07.766502 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
38 9.798182e+04 0.00e+00 1.94e+12 0.00e+00 0.00e+00 1.08e+08 1 7.82e-02 6.61e+00
39 9.798182e+04 4.22e-03 1.96e+12 1.54e-04 9.75e-01 3.25e+08 1 1.16e-01 6.72e+00
W20260707 08:20:07.962951 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
40 9.798182e+04 0.00e+00 1.96e+12 0.00e+00 0.00e+00 1.63e+08 1 8.03e-02 6.80e+00
41 9.798181e+04 5.19e-03 2.17e+12 1.86e-04 9.61e-01 4.88e+08 1 1.60e-01 6.96e+00
W20260707 08:20:08.196571 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
42 9.798181e+04 0.00e+00 2.17e+12 0.00e+00 0.00e+00 2.44e+08 1 7.40e-02 7.04e+00
W20260707 08:20:08.269343 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
43 9.798181e+04 0.00e+00 2.17e+12 0.00e+00 0.00e+00 6.10e+07 1 7.27e-02 7.11e+00
44 9.798181e+04 1.68e-03 1.55e+12 6.73e-05 9.52e-01 1.83e+08 1 1.45e-01 7.26e+00
W20260707 08:20:08.475386 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
45 9.798181e+04 0.00e+00 1.55e+12 0.00e+00 0.00e+00 9.15e+07 1 6.10e-02 7.32e+00
W20260707 08:20:08.573863 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
46 9.798181e+04 0.00e+00 1.55e+12 0.00e+00 0.00e+00 2.29e+07 1 9.85e-02 7.42e+00
47 9.798181e+04 5.50e-04 1.55e+12 3.10e-05 8.84e-01 4.19e+07 1 1.36e-01 7.55e+00
48 9.798181e+04 9.54e-04 1.59e+12 3.90e-05 9.29e-01 1.14e+08 1 1.35e-01 7.69e+00
49 9.798181e+04 2.47e-03 1.55e+12 8.50e-05 9.72e-01 3.41e+08 1 1.42e-01 7.83e+00
W20260707 08:20:09.075229 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
50 9.798181e+04 0.00e+00 1.55e+12 0.00e+00 0.00e+00 1.70e+08 1 8.65e-02 7.92e+00
I20260707 08:20:09.114588 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:20:09.114692 84886 bundle_adjustment.cc:942]
Residuals : 174266
Parameters : 56861
Iterations : 51
Time : 7.93709 [s]
Initial cost : 0.829993 [px]
Final cost : 0.749836 [px]
Termination : No convergence
I20260707 08:20:09.227032 84886 incremental_mapper.cc:175] => Completed observations: 31
I20260707 08:20:09.262390 84886 incremental_mapper.cc:178] => Merged observations: 5
I20260707 08:20:09.274412 84886 incremental_mapper.cc:160] => Filtered observations: 315
I20260707 08:20:09.274447 84886 incremental_mapper.cc:119] => Changed observations: 0.004028
I20260707 08:20:09.274464 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 6.812584e+04 0.00e+00 8.17e+12 0.00e+00 0.00e+00 1.00e+04 0 9.28e-02 4.32e-01
1 6.668040e+04 1.45e+03 2.03e+12 0.00e+00 9.58e-01 3.00e+04 1 2.59e-01 6.91e-01
2 6.654432e+04 1.36e+02 9.67e+11 1.73e+00 9.88e-01 9.00e+04 1 1.41e-01 8.32e-01
3 6.652222e+04 2.21e+01 8.56e+11 1.38e+00 9.89e-01 2.70e+05 1 1.56e-01 9.88e-01
4 6.651576e+04 6.47e+00 8.48e+11 7.82e-01 1.00e+00 8.10e+05 1 1.35e-01 1.12e+00
5 6.650923e+04 6.53e+00 8.41e+11 5.70e-01 1.00e+00 2.43e+06 1 1.43e-01 1.27e+00
6 6.650563e+04 3.60e+00 8.29e+11 3.94e-01 9.79e-01 7.29e+06 1 1.91e-01 1.46e+00
7 6.650386e+04 1.77e+00 8.47e+11 1.70e-01 1.00e+00 2.19e+07 1 2.21e-01 1.68e+00
8 6.650157e+04 2.29e+00 8.22e+11 7.23e-02 9.99e-01 6.56e+07 1 1.15e-01 1.79e+00
9 6.649979e+04 1.78e+00 8.63e+11 4.74e-02 1.00e+00 1.97e+08 1 1.60e-01 1.95e+00
W20260707 08:20:11.551023 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
10 6.649979e+04 0.00e+00 8.63e+11 0.00e+00 0.00e+00 9.84e+07 1 1.48e-01 2.10e+00
11 6.649960e+04 1.91e-01 8.39e+11 5.33e-03 1.00e+00 2.95e+08 1 1.40e-01 2.24e+00
W20260707 08:20:11.729848 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
12 6.649960e+04 0.00e+00 8.39e+11 0.00e+00 0.00e+00 1.48e+08 1 3.90e-02 2.28e+00
W20260707 08:20:11.762671 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
13 6.649960e+04 0.00e+00 8.39e+11 0.00e+00 0.00e+00 3.69e+07 1 3.28e-02 2.31e+00
14 6.649956e+04 3.55e-02 8.13e+11 1.00e-03 1.00e+00 1.11e+08 1 1.58e-01 2.47e+00
W20260707 08:20:12.028565 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
15 6.649956e+04 0.00e+00 8.13e+11 0.00e+00 0.00e+00 5.54e+07 1 1.08e-01 2.58e+00
16 6.649952e+04 4.52e-02 8.35e+11 1.21e-03 1.00e+00 1.66e+08 1 1.57e-01 2.74e+00
W20260707 08:20:12.234961 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
17 6.649952e+04 0.00e+00 8.35e+11 0.00e+00 0.00e+00 8.30e+07 1 4.88e-02 2.79e+00
18 6.649946e+04 5.38e-02 8.51e+11 1.42e-03 1.00e+00 2.49e+08 1 9.44e-02 2.88e+00
W20260707 08:20:12.412328 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
19 6.649946e+04 0.00e+00 8.51e+11 0.00e+00 0.00e+00 1.25e+08 1 8.30e-02 2.96e+00
W20260707 08:20:12.546192 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
20 6.649946e+04 0.00e+00 8.51e+11 0.00e+00 0.00e+00 3.11e+07 1 1.34e-01 3.10e+00
21 6.649945e+04 1.48e-02 8.84e+11 3.95e-04 9.99e-01 9.34e+07 1 2.04e-01 3.30e+00
22 6.649941e+04 3.95e-02 6.18e+12 1.06e-03 9.81e-01 2.80e+08 1 8.64e-02 3.39e+00
W20260707 08:20:12.881389 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
23 6.649941e+04 0.00e+00 6.18e+12 0.00e+00 0.00e+00 1.40e+08 1 4.48e-02 3.43e+00
24 6.649936e+04 4.60e-02 2.53e+12 1.20e-03 9.97e-01 4.20e+08 1 2.13e-01 3.65e+00
W20260707 08:20:13.210736 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
25 6.649936e+04 0.00e+00 2.53e+12 0.00e+00 0.00e+00 2.10e+08 1 1.16e-01 3.76e+00
W20260707 08:20:13.275570 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
26 6.649936e+04 0.00e+00 2.53e+12 0.00e+00 0.00e+00 5.25e+07 1 6.48e-02 3.83e+00
27 6.649935e+04 1.18e-02 9.22e+11 3.09e-04 9.98e-01 1.58e+08 1 1.18e-01 3.94e+00
W20260707 08:20:13.454361 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
28 6.649935e+04 0.00e+00 9.22e+11 0.00e+00 0.00e+00 7.88e+07 1 6.08e-02 4.01e+00
29 6.649934e+04 1.57e-02 9.00e+11 4.15e-04 9.99e-01 2.36e+08 1 1.98e-01 4.20e+00
W20260707 08:20:13.707159 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
30 6.649934e+04 0.00e+00 9.00e+11 0.00e+00 0.00e+00 1.18e+08 1 5.49e-02 4.26e+00
W20260707 08:20:13.772086 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
31 6.649934e+04 0.00e+00 9.00e+11 0.00e+00 0.00e+00 2.96e+07 1 6.51e-02 4.32e+00
32 6.649933e+04 5.02e-03 8.42e+11 1.34e-04 9.97e-01 8.87e+07 1 1.50e-01 4.47e+00
33 6.649932e+04 1.39e-02 4.46e+12 3.77e-04 9.70e-01 2.66e+08 1 7.59e-02 4.55e+00
W20260707 08:20:14.034119 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
34 6.649932e+04 0.00e+00 4.46e+12 0.00e+00 0.00e+00 1.33e+08 1 3.62e-02 4.59e+00
W20260707 08:20:14.110518 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
35 6.649932e+04 0.00e+00 4.46e+12 0.00e+00 0.00e+00 3.33e+07 1 7.63e-02 4.66e+00
36 6.649931e+04 4.57e-03 4.50e+12 1.21e-04 9.15e-01 7.79e+07 1 2.35e-01 4.90e+00
37 6.649930e+04 1.05e-02 9.44e+11 2.68e-04 9.98e-01 2.34e+08 1 2.48e-01 5.15e+00
W20260707 08:20:14.763756 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
38 6.649930e+04 0.00e+00 9.44e+11 0.00e+00 0.00e+00 1.17e+08 1 1.70e-01 5.32e+00
W20260707 08:20:14.861811 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
39 6.649930e+04 0.00e+00 9.44e+11 0.00e+00 0.00e+00 2.92e+07 1 9.80e-02 5.41e+00
40 6.649930e+04 3.36e-03 8.51e+11 8.92e-05 9.95e-01 8.77e+07 1 2.46e-01 5.66e+00
41 6.649929e+04 9.63e-03 8.37e+11 2.55e-04 9.99e-01 2.63e+08 1 2.19e-01 5.88e+00
W20260707 08:20:15.423497 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
42 6.649929e+04 0.00e+00 8.37e+11 0.00e+00 0.00e+00 1.32e+08 1 9.68e-02 5.98e+00
W20260707 08:20:15.536669 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
43 6.649929e+04 0.00e+00 8.37e+11 0.00e+00 0.00e+00 3.29e+07 1 1.13e-01 6.09e+00
44 6.649929e+04 3.16e-03 9.00e+11 8.44e-05 9.93e-01 9.86e+07 1 1.78e-01 6.27e+00
W20260707 08:20:15.776481 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
45 6.649929e+04 0.00e+00 9.00e+11 0.00e+00 0.00e+00 4.93e+07 1 6.15e-02 6.33e+00
46 6.649928e+04 4.55e-03 8.59e+11 1.20e-04 9.97e-01 1.48e+08 1 7.35e-02 6.40e+00
W20260707 08:20:15.887473 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
47 6.649928e+04 0.00e+00 8.59e+11 0.00e+00 0.00e+00 7.40e+07 1 3.74e-02 6.44e+00
48 6.649928e+04 6.39e-03 7.93e+11 1.69e-04 9.98e-01 2.22e+08 1 6.11e-02 6.50e+00
W20260707 08:20:16.025928 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
49 6.649928e+04 0.00e+00 7.93e+11 0.00e+00 0.00e+00 1.11e+08 1 7.72e-02 6.58e+00
50 6.649927e+04 8.70e-03 8.96e+11 2.30e-04 9.97e-01 3.33e+08 1 1.79e-01 6.76e+00
I20260707 08:20:16.275841 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:20:16.276047 84886 bundle_adjustment.cc:942]
Residuals : 173674
Parameters : 56624
Iterations : 51
Time : 6.78968 [s]
Initial cost : 0.626309 [px]
Final cost : 0.618787 [px]
Termination : No convergence
I20260707 08:20:16.626726 84886 incremental_mapper.cc:175] => Completed observations: 55
I20260707 08:20:16.801932 84886 incremental_mapper.cc:178] => Merged observations: 22
I20260707 08:20:16.881268 84886 incremental_mapper.cc:160] => Filtered observations: 8
I20260707 08:20:16.881493 84886 incremental_mapper.cc:119] => Changed observations: 0.000979
I20260707 08:20:16.881628 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 6.669374e+04 0.00e+00 2.39e+12 0.00e+00 0.00e+00 1.00e+04 0 3.39e-02 4.77e-01
1 6.658998e+04 1.04e+02 2.39e+12 0.00e+00 9.88e-01 3.00e+04 1 1.89e-01 6.65e-01
2 6.658837e+04 1.61e+00 2.47e+12 2.97e-01 9.98e-01 9.00e+04 1 1.34e-01 8.00e-01
3 6.658834e+04 3.48e-02 2.87e+12 3.07e-02 9.98e-01 2.70e+05 1 2.22e-01 1.02e+00
4 6.658832e+04 1.59e-02 2.39e+12 1.85e-02 9.94e-01 8.10e+05 1 3.17e-01 1.34e+00
5 6.658831e+04 6.07e-03 2.87e+12 1.09e-02 9.74e-01 2.43e+06 1 3.61e-01 1.70e+00
6 6.658831e+04 1.67e-03 2.39e+12 4.76e-03 9.38e-01 7.29e+06 1 3.02e-01 2.00e+00
7 6.658831e+04 6.11e-04 2.87e+12 2.45e-03 7.79e-01 8.83e+06 1 2.31e-01 2.23e+00
8 6.658831e+04 6.63e-04 2.39e+12 4.59e-04 8.46e-01 1.32e+07 1 1.53e-01 2.39e+00
9 6.658831e+04 8.42e-04 2.87e+12 7.93e-05 8.28e-01 1.84e+07 1 1.28e-01 2.51e+00
10 6.658831e+04 1.28e-03 2.39e+12 3.57e-05 9.13e-01 4.20e+07 1 8.94e-02 2.60e+00
11 6.658831e+04 2.70e-03 2.87e+12 7.25e-05 9.40e-01 1.26e+08 1 6.44e-02 2.67e+00
12 6.658830e+04 7.85e-03 3.08e+12 2.06e-04 9.76e-01 3.78e+08 1 6.90e-02 2.74e+00
W20260707 08:20:20.104231 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
13 6.658830e+04 0.00e+00 3.08e+12 0.00e+00 0.00e+00 1.89e+08 1 4.05e-02 2.78e+00
W20260707 08:20:20.137487 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
14 6.658830e+04 0.00e+00 3.08e+12 0.00e+00 0.00e+00 4.73e+07 1 3.32e-02 2.81e+00
15 6.658830e+04 2.62e-03 2.39e+12 6.74e-05 9.53e-01 1.42e+08 1 7.55e-02 2.89e+00
16 6.658829e+04 7.27e-03 2.87e+12 1.92e-04 9.75e-01 4.25e+08 1 1.24e-01 3.01e+00
W20260707 08:20:20.459942 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
17 6.658829e+04 0.00e+00 2.87e+12 0.00e+00 0.00e+00 2.13e+08 1 1.23e-01 3.13e+00
W20260707 08:20:20.571365 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
18 6.658829e+04 0.00e+00 2.87e+12 0.00e+00 0.00e+00 5.32e+07 1 1.11e-01 3.25e+00
19 6.658829e+04 2.38e-03 2.98e+12 6.26e-05 9.31e-01 1.48e+08 1 2.76e-01 3.52e+00
W20260707 08:20:20.986433 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
20 6.658829e+04 0.00e+00 2.98e+12 0.00e+00 0.00e+00 7.38e+07 1 1.39e-01 3.66e+00
21 6.658828e+04 3.13e-03 3.02e+12 8.23e-05 9.45e-01 2.21e+08 1 2.77e-01 3.94e+00
W20260707 08:20:21.392524 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
22 6.658828e+04 0.00e+00 3.02e+12 0.00e+00 0.00e+00 1.11e+08 1 1.28e-01 4.07e+00
W20260707 08:20:21.524067 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
23 6.658828e+04 0.00e+00 3.02e+12 0.00e+00 0.00e+00 2.77e+07 1 1.32e-01 4.20e+00
24 6.658828e+04 1.15e-03 2.39e+12 2.91e-05 8.99e-01 5.62e+07 1 2.19e-01 4.42e+00
25 6.658828e+04 2.14e-03 2.91e+12 5.72e-05 9.26e-01 1.47e+08 1 1.34e-01 4.55e+00
26 6.658827e+04 5.38e-03 3.31e+12 1.43e-04 9.59e-01 4.41e+08 1 1.08e-01 4.66e+00
W20260707 08:20:22.030750 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
27 6.658827e+04 0.00e+00 3.31e+12 0.00e+00 0.00e+00 2.20e+08 1 4.53e-02 4.70e+00
W20260707 08:20:22.069310 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
28 6.658827e+04 0.00e+00 3.31e+12 0.00e+00 0.00e+00 5.51e+07 1 3.85e-02 4.74e+00
29 6.658827e+04 1.79e-03 3.32e+12 4.72e-05 8.85e-01 1.02e+08 1 6.68e-02 4.81e+00
30 6.658827e+04 3.31e-03 1.98e+12 8.31e-05 9.74e-01 3.05e+08 1 1.38e-01 4.95e+00
W20260707 08:20:22.322592 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
31 6.658827e+04 0.00e+00 1.98e+12 0.00e+00 0.00e+00 1.52e+08 1 4.81e-02 5.00e+00
W20260707 08:20:22.358913 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
32 6.658827e+04 0.00e+00 1.98e+12 0.00e+00 0.00e+00 3.81e+07 1 3.64e-02 5.03e+00
33 6.658827e+04 9.52e-04 3.31e+12 2.90e-05 8.07e-01 4.96e+07 1 1.86e-01 5.22e+00
34 6.658827e+04 1.54e-03 1.96e+12 3.64e-05 9.50e-01 1.49e+08 1 7.24e-02 5.29e+00
W20260707 08:20:22.654639 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
35 6.658827e+04 0.00e+00 1.96e+12 0.00e+00 0.00e+00 7.44e+07 1 3.68e-02 5.33e+00
36 6.658826e+04 2.00e-03 2.04e+12 5.28e-05 9.57e-01 2.23e+08 1 1.17e-01 5.45e+00
W20260707 08:20:22.886382 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
37 6.658826e+04 0.00e+00 2.04e+12 0.00e+00 0.00e+00 1.12e+08 1 1.14e-01 5.56e+00
38 6.658826e+04 2.85e-03 2.11e+12 7.49e-05 9.70e-01 3.35e+08 1 2.08e-01 5.77e+00
W20260707 08:20:23.198756 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
39 6.658826e+04 0.00e+00 2.11e+12 0.00e+00 0.00e+00 1.67e+08 1 1.04e-01 5.87e+00
W20260707 08:20:23.299875 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
40 6.658826e+04 0.00e+00 2.11e+12 0.00e+00 0.00e+00 4.19e+07 1 1.01e-01 5.97e+00
41 6.658826e+04 9.92e-04 2.07e+12 2.61e-05 9.18e-01 1.01e+08 1 1.25e-01 6.10e+00
W20260707 08:20:23.498653 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
42 6.658826e+04 0.00e+00 2.07e+12 0.00e+00 0.00e+00 5.05e+07 1 7.35e-02 6.17e+00
43 6.658826e+04 1.02e-03 3.31e+12 3.05e-05 8.16e-01 6.75e+07 1 1.35e-01 6.31e+00
44 6.658826e+04 1.65e-03 1.96e+12 3.94e-05 9.52e-01 2.03e+08 1 2.13e-01 6.52e+00
W20260707 08:20:23.901424 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
45 6.658826e+04 0.00e+00 1.96e+12 0.00e+00 0.00e+00 1.01e+08 1 5.40e-02 6.58e+00
46 6.658826e+04 2.12e-03 2.27e+12 5.65e-05 9.49e-01 3.04e+08 1 1.57e-01 6.73e+00
W20260707 08:20:24.186059 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
47 6.658826e+04 0.00e+00 2.27e+12 0.00e+00 0.00e+00 1.52e+08 1 1.27e-01 6.86e+00
W20260707 08:20:24.292105 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
48 6.658826e+04 0.00e+00 2.27e+12 0.00e+00 0.00e+00 3.80e+07 1 1.06e-01 6.97e+00
49 6.658825e+04 7.93e-04 2.09e+12 1.99e-05 9.08e-01 8.34e+07 1 1.49e-01 7.12e+00
50 6.658825e+04 1.62e-03 2.09e+12 4.26e-05 9.46e-01 2.50e+08 1 6.97e-02 7.18e+00
I20260707 08:20:24.525804 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:20:24.525856 84886 bundle_adjustment.cc:942]
Residuals : 173764
Parameters : 56615
Iterations : 51
Time : 7.19179 [s]
Initial cost : 0.61953 [px]
Final cost : 0.61904 [px]
Termination : No convergence
I20260707 08:20:24.643046 84886 incremental_mapper.cc:175] => Completed observations: 14
I20260707 08:20:24.709681 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:20:24.759646 84886 incremental_mapper.cc:160] => Filtered observations: 5
I20260707 08:20:24.759809 84886 incremental_mapper.cc:119] => Changed observations: 0.000219
I20260707 08:20:24.759925 84886 incremental_mapper.cc:167] => Filtered images: 0
I20260707 08:20:24.778712 84886 misc.cc:198]
==============================================================================
Registering image #128 (155)
==============================================================================
I20260707 08:20:24.778842 84886 incremental_mapper.cc:495] => Image sees 131 / 1472 points
I20260707 08:20:24.783802 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:20:24.783929 84886 bundle_adjustment.cc:942]
Residuals : 208
Parameters : 6
Iterations : 6
Time : 0.00195193 [s]
Initial cost : 0.520535 [px]
Final cost : 0.506466 [px]
Termination : Convergence
I20260707 08:20:24.784250 84886 incremental_mapper.cc:40] => Continued observations: 104
I20260707 08:20:24.790776 84886 incremental_mapper.cc:43] => Added observations: 64
I20260707 08:20:25.390276 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:20:25.390432 84886 bundle_adjustment.cc:942]
Residuals : 15932
Parameters : 998
Iterations : 26
Time : 0.582187 [s]
Initial cost : 0.497007 [px]
Final cost : 0.480168 [px]
Termination : No convergence
I20260707 08:20:25.418648 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:20:25.418717 84886 incremental_mapper.cc:79] => Completed observations: 8
I20260707 08:20:25.418723 84886 incremental_mapper.cc:81] => Filtered observations: 65
I20260707 08:20:25.418726 84886 incremental_mapper.cc:90] => Changed observations: 0.009049
I20260707 08:20:25.456779 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:20:25.456835 84886 bundle_adjustment.cc:942]
Residuals : 15764
Parameters : 929
Iterations : 2
Time : 0.0248959 [s]
Initial cost : 0.554793 [px]
Final cost : 0.551286 [px]
Termination : Convergence
I20260707 08:20:25.473490 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:20:25.473532 84886 incremental_mapper.cc:79] => Completed observations: 7
I20260707 08:20:25.473536 84886 incremental_mapper.cc:81] => Filtered observations: 4
I20260707 08:20:25.473539 84886 incremental_mapper.cc:90] => Changed observations: 0.001378
I20260707 08:20:25.479596 84886 misc.cc:198]
==============================================================================
Registering image #138 (156)
==============================================================================
I20260707 08:20:25.479638 84886 incremental_mapper.cc:495] => Image sees 79 / 352 points
I20260707 08:20:25.482039 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:20:25.482103 84886 bundle_adjustment.cc:942]
Residuals : 154
Parameters : 6
Iterations : 13
Time : 0.00107098 [s]
Initial cost : 0.555439 [px]
Final cost : 0.533102 [px]
Termination : Convergence
I20260707 08:20:25.482260 84886 incremental_mapper.cc:40] => Continued observations: 77
I20260707 08:20:25.482769 84886 incremental_mapper.cc:43] => Added observations: 29
I20260707 08:20:25.570282 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:20:25.570344 84886 bundle_adjustment.cc:942]
Residuals : 4098
Parameters : 578
Iterations : 26
Time : 0.0833011 [s]
Initial cost : 0.562966 [px]
Final cost : 0.552465 [px]
Termination : No convergence
I20260707 08:20:25.573798 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:20:25.573838 84886 incremental_mapper.cc:79] => Completed observations: 12
I20260707 08:20:25.573843 84886 incremental_mapper.cc:81] => Filtered observations: 9
I20260707 08:20:25.573845 84886 incremental_mapper.cc:90] => Changed observations: 0.009333
I20260707 08:20:25.581879 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:20:25.581930 84886 bundle_adjustment.cc:942]
Residuals : 4098
Parameters : 569
Iterations : 2
Time : 0.00573492 [s]
Initial cost : 0.671798 [px]
Final cost : 0.665845 [px]
Termination : Convergence
I20260707 08:20:25.586205 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:20:25.586285 84886 incremental_mapper.cc:79] => Completed observations: 1
I20260707 08:20:25.586290 84886 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 08:20:25.586293 84886 incremental_mapper.cc:90] => Changed observations: 0.000444
I20260707 08:20:25.593524 84886 misc.cc:198]
==============================================================================
Registering image #20 (157)
==============================================================================
I20260707 08:20:25.593586 84886 incremental_mapper.cc:495] => Image sees 84 / 415 points
I20260707 08:20:25.595644 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:20:25.595678 84886 bundle_adjustment.cc:942]
Residuals : 148
Parameters : 6
Iterations : 8
Time : 0.000576973 [s]
Initial cost : 0.576446 [px]
Final cost : 0.563155 [px]
Termination : Convergence
I20260707 08:20:25.595764 84886 incremental_mapper.cc:40] => Continued observations: 73
I20260707 08:20:25.596774 84886 incremental_mapper.cc:43] => Added observations: 176
I20260707 08:20:25.706614 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:20:25.706681 84886 bundle_adjustment.cc:942]
Residuals : 4072
Parameters : 455
Iterations : 26
Time : 0.105033 [s]
Initial cost : 0.626384 [px]
Final cost : 0.605469 [px]
Termination : No convergence
I20260707 08:20:25.711395 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:20:25.711436 84886 incremental_mapper.cc:79] => Completed observations: 53
I20260707 08:20:25.711439 84886 incremental_mapper.cc:81] => Filtered observations: 34
I20260707 08:20:25.711441 84886 incremental_mapper.cc:90] => Changed observations: 0.037662
I20260707 08:20:25.725992 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:20:25.726059 84886 bundle_adjustment.cc:942]
Residuals : 5004
Parameters : 458
Iterations : 3
Time : 0.010994 [s]
Initial cost : 0.762532 [px]
Final cost : 0.752732 [px]
Termination : Convergence
I20260707 08:20:25.736194 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:20:25.736254 84886 incremental_mapper.cc:79] => Completed observations: 11
I20260707 08:20:25.736261 84886 incremental_mapper.cc:81] => Filtered observations: 1
I20260707 08:20:25.736264 84886 incremental_mapper.cc:90] => Changed observations: 0.003855
I20260707 08:20:25.743417 84886 misc.cc:198]
==============================================================================
Registering image #355 (158)
==============================================================================
I20260707 08:20:25.743497 84886 incremental_mapper.cc:495] => Image sees 51 / 429 points
I20260707 08:20:25.758806 84886 incremental_mapper.cc:535] => Could not register, trying another image.
I20260707 08:20:25.758914 84886 misc.cc:198]
==============================================================================
Registering image #71 (158)
==============================================================================
I20260707 08:20:25.758925 84886 incremental_mapper.cc:495] => Image sees 91 / 418 points
I20260707 08:20:25.765111 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:20:25.765249 84886 bundle_adjustment.cc:942]
Residuals : 174
Parameters : 6
Iterations : 10
Time : 0.00273108 [s]
Initial cost : 0.796271 [px]
Final cost : 0.620683 [px]
Termination : Convergence
I20260707 08:20:25.765524 84886 incremental_mapper.cc:40] => Continued observations: 77
I20260707 08:20:25.766669 84886 incremental_mapper.cc:43] => Added observations: 114
I20260707 08:20:25.862289 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:20:25.862347 84886 bundle_adjustment.cc:942]
Residuals : 5654
Parameters : 485
Iterations : 21
Time : 0.0861011 [s]
Initial cost : 0.624056 [px]
Final cost : 0.611717 [px]
Termination : Convergence
I20260707 08:20:25.866114 84886 incremental_mapper.cc:78] => Merged observations: 7
I20260707 08:20:25.866154 84886 incremental_mapper.cc:79] => Completed observations: 25
I20260707 08:20:25.866158 84886 incremental_mapper.cc:81] => Filtered observations: 44
I20260707 08:20:25.866161 84886 incremental_mapper.cc:90] => Changed observations: 0.025333
I20260707 08:20:25.881948 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:20:25.882062 84886 bundle_adjustment.cc:942]
Residuals : 5608
Parameters : 443
Iterations : 2
Time : 0.0129571 [s]
Initial cost : 0.748544 [px]
Final cost : 0.741634 [px]
Termination : Convergence
I20260707 08:20:25.894981 84886 incremental_mapper.cc:78] => Merged observations: 10
I20260707 08:20:25.895064 84886 incremental_mapper.cc:79] => Completed observations: 10
I20260707 08:20:25.895072 84886 incremental_mapper.cc:81] => Filtered observations: 1
I20260707 08:20:25.895077 84886 incremental_mapper.cc:90] => Changed observations: 0.007054
I20260707 08:20:25.906255 84886 misc.cc:198]
==============================================================================
Registering image #97 (159)
==============================================================================
I20260707 08:20:25.906368 84886 incremental_mapper.cc:495] => Image sees 70 / 1167 points
I20260707 08:20:25.914546 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:20:25.914635 84886 bundle_adjustment.cc:942]
Residuals : 58
Parameters : 6
Iterations : 6
Time : 0.000463963 [s]
Initial cost : 0.324033 [px]
Final cost : 0.317722 [px]
Termination : Convergence
I20260707 08:20:25.914762 84886 incremental_mapper.cc:40] => Continued observations: 29
I20260707 08:20:25.919993 84886 incremental_mapper.cc:43] => Added observations: 341
I20260707 08:20:26.007040 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:20:26.007169 84886 bundle_adjustment.cc:942]
Residuals : 4522
Parameters : 806
Iterations : 26
Time : 0.0824101 [s]
Initial cost : 0.821628 [px]
Final cost : 0.736526 [px]
Termination : No convergence
I20260707 08:20:26.015930 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:20:26.015985 84886 incremental_mapper.cc:79] => Completed observations: 13
I20260707 08:20:26.015988 84886 incremental_mapper.cc:81] => Filtered observations: 177
I20260707 08:20:26.015992 84886 incremental_mapper.cc:90] => Changed observations: 0.070059
W20260707 08:20:26.048612 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W20260707 08:20:26.048812 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W20260707 08:20:26.052778 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W20260707 08:20:26.052964 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W20260707 08:20:26.055006 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W20260707 08:20:26.055197 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W20260707 08:20:26.057331 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W20260707 08:20:26.059988 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
I20260707 08:20:26.063524 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:20:26.063611 84886 bundle_adjustment.cc:942]
Residuals : 4566
Parameters : 179
Iterations : 26
Time : 0.0432611 [s]
Initial cost : 0.567946 [px]
Final cost : 0.566743 [px]
Termination : No convergence
I20260707 08:20:26.079258 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:20:26.079370 84886 incremental_mapper.cc:79] => Completed observations: 2
I20260707 08:20:26.079381 84886 incremental_mapper.cc:81] => Filtered observations: 2
I20260707 08:20:26.079386 84886 incremental_mapper.cc:90] => Changed observations: 0.001321
I20260707 08:20:26.093464 84886 misc.cc:198]
==============================================================================
Registering image #39 (160)
==============================================================================
I20260707 08:20:26.093547 84886 incremental_mapper.cc:495] => Image sees 61 / 376 points
I20260707 08:20:26.097355 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:20:26.097453 84886 bundle_adjustment.cc:942]
Residuals : 122
Parameters : 6
Iterations : 14
Time : 0.00159597 [s]
Initial cost : 0.637715 [px]
Final cost : 0.523127 [px]
Termination : Convergence
I20260707 08:20:26.097697 84886 incremental_mapper.cc:40] => Continued observations: 61
I20260707 08:20:26.098429 84886 incremental_mapper.cc:43] => Added observations: 0
I20260707 08:20:26.364009 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:20:26.364200 84886 bundle_adjustment.cc:942]
Residuals : 7102
Parameters : 215
Iterations : 26
Time : 0.252319 [s]
Initial cost : 0.574567 [px]
Final cost : 0.572306 [px]
Termination : No convergence
I20260707 08:20:26.387696 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:20:26.387807 84886 incremental_mapper.cc:79] => Completed observations: 7
I20260707 08:20:26.387823 84886 incremental_mapper.cc:81] => Filtered observations: 9
I20260707 08:20:26.387828 84886 incremental_mapper.cc:90] => Changed observations: 0.004347
I20260707 08:20:26.547037 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:20:26.547195 84886 bundle_adjustment.cc:942]
Residuals : 7090
Parameters : 209
Iterations : 24
Time : 0.144089 [s]
Initial cost : 0.726127 [px]
Final cost : 0.72419 [px]
Termination : Convergence
I20260707 08:20:26.562265 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:20:26.562361 84886 incremental_mapper.cc:79] => Completed observations: 0
I20260707 08:20:26.562368 84886 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 08:20:26.562373 84886 incremental_mapper.cc:90] => Changed observations: 0.000000
I20260707 08:20:26.572506 84886 misc.cc:198]
==============================================================================
Registering image #273 (161)
==============================================================================
I20260707 08:20:26.572573 84886 incremental_mapper.cc:495] => Image sees 53 / 511 points
I20260707 08:20:26.574772 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:20:26.574847 84886 bundle_adjustment.cc:942]
Residuals : 100
Parameters : 6
Iterations : 8
Time : 0.000874043 [s]
Initial cost : 0.55113 [px]
Final cost : 0.542177 [px]
Termination : Convergence
I20260707 08:20:26.574949 84886 incremental_mapper.cc:40] => Continued observations: 49
I20260707 08:20:26.575507 84886 incremental_mapper.cc:43] => Added observations: 48
I20260707 08:20:26.758831 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:20:26.759044 84886 bundle_adjustment.cc:942]
Residuals : 8142
Parameters : 815
Iterations : 21
Time : 0.17418 [s]
Initial cost : 0.589302 [px]
Final cost : 0.583618 [px]
Termination : Convergence
I20260707 08:20:26.800809 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:20:26.800993 84886 incremental_mapper.cc:79] => Completed observations: 7
I20260707 08:20:26.801007 84886 incremental_mapper.cc:81] => Filtered observations: 11
I20260707 08:20:26.801013 84886 incremental_mapper.cc:90] => Changed observations: 0.003904
I20260707 08:20:26.897780 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:20:26.898000 84886 bundle_adjustment.cc:942]
Residuals : 8128
Parameters : 800
Iterations : 3
Time : 0.0679169 [s]
Initial cost : 0.718083 [px]
Final cost : 0.714771 [px]
Termination : Convergence
I20260707 08:20:26.935344 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:20:26.935998 84886 incremental_mapper.cc:79] => Completed observations: 2
I20260707 08:20:26.936065 84886 incremental_mapper.cc:81] => Filtered observations: 1
I20260707 08:20:26.936074 84886 incremental_mapper.cc:90] => Changed observations: 0.000652
I20260707 08:20:26.953011 84886 misc.cc:198]
==============================================================================
Registering image #108 (162)
==============================================================================
I20260707 08:20:26.953186 84886 incremental_mapper.cc:495] => Image sees 55 / 331 points
I20260707 08:20:26.957605 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:20:26.957762 84886 bundle_adjustment.cc:942]
Residuals : 108
Parameters : 6
Iterations : 11
Time : 0.00166702 [s]
Initial cost : 0.665413 [px]
Final cost : 0.637529 [px]
Termination : Convergence
I20260707 08:20:26.957996 84886 incremental_mapper.cc:40] => Continued observations: 51
I20260707 08:20:26.958762 84886 incremental_mapper.cc:43] => Added observations: 34
I20260707 08:20:27.017429 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:20:27.017491 84886 bundle_adjustment.cc:942]
Residuals : 2958
Parameters : 236
Iterations : 16
Time : 0.049664 [s]
Initial cost : 0.716861 [px]
Final cost : 0.694962 [px]
Termination : Convergence
I20260707 08:20:27.021178 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:20:27.021216 84886 incremental_mapper.cc:79] => Completed observations: 6
I20260707 08:20:27.021220 84886 incremental_mapper.cc:81] => Filtered observations: 27
I20260707 08:20:27.021222 84886 incremental_mapper.cc:90] => Changed observations: 0.017205
I20260707 08:20:27.026959 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:20:27.027001 84886 bundle_adjustment.cc:942]
Residuals : 2894
Parameters : 191
Iterations : 2
Time : 0.00349402 [s]
Initial cost : 0.932249 [px]
Final cost : 0.925713 [px]
Termination : Convergence
I20260707 08:20:27.030623 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:20:27.030671 84886 incremental_mapper.cc:79] => Completed observations: 1
I20260707 08:20:27.030676 84886 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 08:20:27.030679 84886 incremental_mapper.cc:90] => Changed observations: 0.000445
I20260707 08:20:27.036329 84886 misc.cc:198]
==============================================================================
Registering image #104 (163)
==============================================================================
I20260707 08:20:27.036374 84886 incremental_mapper.cc:495] => Image sees 71 / 2255 points
I20260707 08:20:27.039830 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:20:27.039880 84886 bundle_adjustment.cc:942]
Residuals : 128
Parameters : 6
Iterations : 6
Time : 0.000684977 [s]
Initial cost : 0.580571 [px]
Final cost : 0.567867 [px]
Termination : Convergence
I20260707 08:20:27.039976 84886 incremental_mapper.cc:40] => Continued observations: 60
I20260707 08:20:27.040341 84886 incremental_mapper.cc:43] => Added observations: 59
I20260707 08:20:27.109107 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:20:27.109160 84886 bundle_adjustment.cc:942]
Residuals : 6076
Parameters : 305
Iterations : 17
Time : 0.0636349 [s]
Initial cost : 0.734003 [px]
Final cost : 0.724362 [px]
Termination : Convergence
I20260707 08:20:27.114158 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:20:27.114190 84886 incremental_mapper.cc:79] => Completed observations: 7
I20260707 08:20:27.114193 84886 incremental_mapper.cc:81] => Filtered observations: 30
I20260707 08:20:27.114195 84886 incremental_mapper.cc:90] => Changed observations: 0.009129
I20260707 08:20:27.125955 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:20:27.125998 84886 bundle_adjustment.cc:942]
Residuals : 6042
Parameters : 278
Iterations : 2
Time : 0.00670695 [s]
Initial cost : 0.893844 [px]
Final cost : 0.890175 [px]
Termination : Convergence
I20260707 08:20:27.131165 84886 incremental_mapper.cc:78] => Merged observations: 6
I20260707 08:20:27.131261 84886 incremental_mapper.cc:79] => Completed observations: 0
I20260707 08:20:27.131265 84886 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 08:20:27.131268 84886 incremental_mapper.cc:90] => Changed observations: 0.001487
I20260707 08:20:27.138500 84886 misc.cc:198]
==============================================================================
Registering image #487 (164)
==============================================================================
I20260707 08:20:27.138584 84886 incremental_mapper.cc:495] => Image sees 43 / 3441 points
I20260707 08:20:27.157464 84886 incremental_mapper.cc:535] => Could not register, trying another image.
I20260707 08:20:27.157675 84886 misc.cc:198]
==============================================================================
Registering image #78 (164)
==============================================================================
I20260707 08:20:27.157699 84886 incremental_mapper.cc:495] => Image sees 49 / 879 points
I20260707 08:20:27.162061 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:20:27.162156 84886 bundle_adjustment.cc:942]
Residuals : 64
Parameters : 6
Iterations : 54
Time : 0.00207305 [s]
Initial cost : 0.896364 [px]
Final cost : 0.754244 [px]
Termination : Convergence
I20260707 08:20:27.162245 84886 incremental_mapper.cc:40] => Continued observations: 32
I20260707 08:20:27.164057 84886 incremental_mapper.cc:43] => Added observations: 502
I20260707 08:20:27.225412 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:20:27.225477 84886 bundle_adjustment.cc:942]
Residuals : 2928
Parameters : 845
Iterations : 26
Time : 0.0587769 [s]
Initial cost : 1.50556 [px]
Final cost : 1.0009 [px]
Termination : No convergence
I20260707 08:20:27.228679 84886 incremental_mapper.cc:78] => Merged observations: 4
I20260707 08:20:27.228716 84886 incremental_mapper.cc:79] => Completed observations: 97
I20260707 08:20:27.228719 84886 incremental_mapper.cc:81] => Filtered observations: 279
I20260707 08:20:27.228722 84886 incremental_mapper.cc:90] => Changed observations: 0.196382
I20260707 08:20:27.257952 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:20:27.258018 84886 bundle_adjustment.cc:942]
Residuals : 3280
Parameters : 485
Iterations : 10
Time : 0.026773 [s]
Initial cost : 0.659937 [px]
Final cost : 0.6234 [px]
Termination : Convergence
I20260707 08:20:27.262408 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:20:27.262458 84886 incremental_mapper.cc:79] => Completed observations: 48
I20260707 08:20:27.262462 84886 incremental_mapper.cc:81] => Filtered observations: 4
I20260707 08:20:27.262465 84886 incremental_mapper.cc:90] => Changed observations: 0.024598
I20260707 08:20:27.280519 84886 misc.cc:198]
==============================================================================
Registering image #75 (165)
==============================================================================
I20260707 08:20:27.280707 84886 incremental_mapper.cc:495] => Image sees 112 / 1643 points
I20260707 08:20:27.289932 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:20:27.290124 84886 bundle_adjustment.cc:942]
Residuals : 124
Parameters : 6
Iterations : 52
Time : 0.00524497 [s]
Initial cost : 0.691677 [px]
Final cost : 0.649873 [px]
Termination : Convergence
I20260707 08:20:27.290506 84886 incremental_mapper.cc:40] => Continued observations: 62
I20260707 08:20:27.296411 84886 incremental_mapper.cc:43] => Added observations: 449
I20260707 08:20:27.466842 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:20:27.467047 84886 bundle_adjustment.cc:942]
Residuals : 2618
Parameters : 1037
Iterations : 26
Time : 0.16312 [s]
Initial cost : 1.61865 [px]
Final cost : 1.12853 [px]
Termination : No convergence
I20260707 08:20:27.482586 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:20:27.482690 84886 incremental_mapper.cc:79] => Completed observations: 60
I20260707 08:20:27.482695 84886 incremental_mapper.cc:81] => Filtered observations: 375
I20260707 08:20:27.482697 84886 incremental_mapper.cc:90] => Changed observations: 0.249141
I20260707 08:20:27.497460 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:20:27.497545 84886 bundle_adjustment.cc:942]
Residuals : 1844
Parameters : 593
Iterations : 9
Time : 0.01191 [s]
Initial cost : 0.948077 [px]
Final cost : 0.851203 [px]
Termination : Convergence
I20260707 08:20:27.504032 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:20:27.504127 84886 incremental_mapper.cc:79] => Completed observations: 66
I20260707 08:20:27.504159 84886 incremental_mapper.cc:81] => Filtered observations: 6
I20260707 08:20:27.504163 84886 incremental_mapper.cc:90] => Changed observations: 0.041284
I20260707 08:20:27.513700 84886 misc.cc:198]
==============================================================================
Registering image #79 (166)
==============================================================================
I20260707 08:20:27.513778 84886 incremental_mapper.cc:495] => Image sees 105 / 1487 points
I20260707 08:20:27.517309 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:20:27.517373 84886 bundle_adjustment.cc:942]
Residuals : 200
Parameters : 6
Iterations : 18
Time : 0.00186801 [s]
Initial cost : 0.593964 [px]
Final cost : 0.551582 [px]
Termination : Convergence
I20260707 08:20:27.517513 84886 incremental_mapper.cc:40] => Continued observations: 99
I20260707 08:20:27.520334 84886 incremental_mapper.cc:43] => Added observations: 43
I20260707 08:20:27.549193 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:20:27.549278 84886 bundle_adjustment.cc:942]
Residuals : 2160
Parameters : 623
Iterations : 18
Time : 0.0272329 [s]
Initial cost : 0.842009 [px]
Final cost : 0.629075 [px]
Termination : Convergence
I20260707 08:20:27.553575 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:20:27.553627 84886 incremental_mapper.cc:79] => Completed observations: 16
I20260707 08:20:27.553632 84886 incremental_mapper.cc:81] => Filtered observations: 72
I20260707 08:20:27.553634 84886 incremental_mapper.cc:90] => Changed observations: 0.081481
I20260707 08:20:27.567195 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:20:27.567276 84886 bundle_adjustment.cc:942]
Residuals : 1972
Parameters : 536
Iterations : 9
Time : 0.01229 [s]
Initial cost : 0.665891 [px]
Final cost : 0.633278 [px]
Termination : Convergence
I20260707 08:20:27.571345 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:20:27.571391 84886 incremental_mapper.cc:79] => Completed observations: 8
I20260707 08:20:27.571394 84886 incremental_mapper.cc:81] => Filtered observations: 1
I20260707 08:20:27.571398 84886 incremental_mapper.cc:90] => Changed observations: 0.009128
I20260707 08:20:27.580124 84886 misc.cc:198]
==============================================================================
Registering image #113 (167)
==============================================================================
I20260707 08:20:27.580188 84886 incremental_mapper.cc:495] => Image sees 56 / 458 points
I20260707 08:20:27.582366 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:20:27.582412 84886 bundle_adjustment.cc:942]
Residuals : 80
Parameters : 6
Iterations : 11
Time : 0.000524998 [s]
Initial cost : 0.577706 [px]
Final cost : 0.510885 [px]
Termination : Convergence
I20260707 08:20:27.582489 84886 incremental_mapper.cc:40] => Continued observations: 40
I20260707 08:20:27.583674 84886 incremental_mapper.cc:43] => Added observations: 81
I20260707 08:20:27.616171 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:20:27.616220 84886 bundle_adjustment.cc:942]
Residuals : 2740
Parameters : 218
Iterations : 20
Time : 0.028625 [s]
Initial cost : 0.754259 [px]
Final cost : 0.722537 [px]
Termination : Convergence
I20260707 08:20:27.622272 84886 incremental_mapper.cc:78] => Merged observations: 12
I20260707 08:20:27.622324 84886 incremental_mapper.cc:79] => Completed observations: 14
I20260707 08:20:27.622328 84886 incremental_mapper.cc:81] => Filtered observations: 26
I20260707 08:20:27.622331 84886 incremental_mapper.cc:90] => Changed observations: 0.018827
I20260707 08:20:27.634047 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:20:27.634104 84886 bundle_adjustment.cc:942]
Residuals : 2704
Parameters : 188
Iterations : 4
Time : 0.00737691 [s]
Initial cost : 0.898986 [px]
Final cost : 0.892423 [px]
Termination : Convergence
I20260707 08:20:27.640470 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:20:27.640496 84886 incremental_mapper.cc:79] => Completed observations: 11
I20260707 08:20:27.640501 84886 incremental_mapper.cc:81] => Filtered observations: 1
I20260707 08:20:27.640502 84886 incremental_mapper.cc:90] => Changed observations: 0.003560
I20260707 08:20:27.646054 84886 misc.cc:198]
==============================================================================
Registering image #26 (168)
==============================================================================
I20260707 08:20:27.646077 84886 incremental_mapper.cc:495] => Image sees 52 / 595 points
I20260707 08:20:27.647655 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:20:27.647673 84886 bundle_adjustment.cc:942]
Residuals : 98
Parameters : 6
Iterations : 6
Time : 0.000310183 [s]
Initial cost : 0.487613 [px]
Final cost : 0.475052 [px]
Termination : Convergence
I20260707 08:20:27.647718 84886 incremental_mapper.cc:40] => Continued observations: 49
I20260707 08:20:27.647993 84886 incremental_mapper.cc:43] => Added observations: 55
I20260707 08:20:27.663300 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:20:27.663338 84886 bundle_adjustment.cc:942]
Residuals : 1882
Parameters : 281
Iterations : 14
Time : 0.014199 [s]
Initial cost : 0.563497 [px]
Final cost : 0.545333 [px]
Termination : Convergence
I20260707 08:20:27.664649 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:20:27.664669 84886 incremental_mapper.cc:79] => Completed observations: 3
I20260707 08:20:27.664672 84886 incremental_mapper.cc:81] => Filtered observations: 22
I20260707 08:20:27.664674 84886 incremental_mapper.cc:90] => Changed observations: 0.024108
I20260707 08:20:27.667563 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:20:27.667585 84886 bundle_adjustment.cc:942]
Residuals : 1834
Parameters : 257
Iterations : 2
Time : 0.00207615 [s]
Initial cost : 0.601649 [px]
Final cost : 0.595629 [px]
Termination : Convergence
I20260707 08:20:27.668601 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:20:27.668617 84886 incremental_mapper.cc:79] => Completed observations: 9
I20260707 08:20:27.668619 84886 incremental_mapper.cc:81] => Filtered observations: 1
I20260707 08:20:27.668622 84886 incremental_mapper.cc:90] => Changed observations: 0.009872
I20260707 08:20:27.673012 84886 misc.cc:198]
==============================================================================
Registering image #236 (169)
==============================================================================
I20260707 08:20:27.673027 84886 incremental_mapper.cc:495] => Image sees 37 / 4303 points
I20260707 08:20:27.675935 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:20:27.675983 84886 bundle_adjustment.cc:942]
Residuals : 34
Parameters : 6
Iterations : 9
Time : 0.000348091 [s]
Initial cost : 0.390533 [px]
Final cost : 0.388172 [px]
Termination : Convergence
I20260707 08:20:27.676028 84886 incremental_mapper.cc:40] => Continued observations: 17
I20260707 08:20:27.679629 84886 incremental_mapper.cc:43] => Added observations: 98
I20260707 08:20:27.820541 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:20:27.820771 84886 bundle_adjustment.cc:942]
Residuals : 3968
Parameters : 248
Iterations : 26
Time : 0.136582 [s]
Initial cost : 0.754421 [px]
Final cost : 0.667359 [px]
Termination : No convergence
I20260707 08:20:27.842900 84886 incremental_mapper.cc:78] => Merged observations: 4
I20260707 08:20:27.842993 84886 incremental_mapper.cc:79] => Completed observations: 9
I20260707 08:20:27.843007 84886 incremental_mapper.cc:81] => Filtered observations: 64
I20260707 08:20:27.843014 84886 incremental_mapper.cc:90] => Changed observations: 0.024775
I20260707 08:20:27.868592 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:20:27.868705 84886 bundle_adjustment.cc:942]
Residuals : 1912
Parameters : 164
Iterations : 5
Time : 0.0173631 [s]
Initial cost : 0.896253 [px]
Final cost : 0.843321 [px]
Termination : Convergence
I20260707 08:20:27.886225 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:20:27.886308 84886 incremental_mapper.cc:79] => Completed observations: 8
I20260707 08:20:27.886317 84886 incremental_mapper.cc:81] => Filtered observations: 3
I20260707 08:20:27.886322 84886 incremental_mapper.cc:90] => Changed observations: 0.005283
I20260707 08:20:27.901262 84886 misc.cc:198]
==============================================================================
Registering image #208 (170)
==============================================================================
I20260707 08:20:27.901350 84886 incremental_mapper.cc:495] => Image sees 46 / 1693 points
I20260707 08:20:27.904374 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:20:27.904462 84886 bundle_adjustment.cc:942]
Residuals : 64
Parameters : 6
Iterations : 10
Time : 0.000751972 [s]
Initial cost : 0.568861 [px]
Final cost : 0.531021 [px]
Termination : Convergence
I20260707 08:20:27.904620 84886 incremental_mapper.cc:40] => Continued observations: 32
I20260707 08:20:27.906042 84886 incremental_mapper.cc:43] => Added observations: 238
I20260707 08:20:28.002305 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:20:28.002405 84886 bundle_adjustment.cc:942]
Residuals : 4268
Parameters : 497
Iterations : 16
Time : 0.0803092 [s]
Initial cost : 0.848038 [px]
Final cost : 0.637686 [px]
Termination : Convergence
I20260707 08:20:28.012801 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:20:28.012862 84886 incremental_mapper.cc:79] => Completed observations: 30
I20260707 08:20:28.012867 84886 incremental_mapper.cc:81] => Filtered observations: 41
I20260707 08:20:28.012871 84886 incremental_mapper.cc:90] => Changed observations: 0.018446
I20260707 08:20:28.028460 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:20:28.028527 84886 bundle_adjustment.cc:942]
Residuals : 4258
Parameters : 488
Iterations : 3
Time : 0.0101609 [s]
Initial cost : 0.748334 [px]
Final cost : 0.73836 [px]
Termination : Convergence
I20260707 08:20:28.035425 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:20:28.035465 84886 incremental_mapper.cc:79] => Completed observations: 10
I20260707 08:20:28.035470 84886 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 08:20:28.035472 84886 incremental_mapper.cc:90] => Changed observations: 0.002603
I20260707 08:20:28.035488 84886 misc.cc:198]
==============================================================================
Retriangulation
==============================================================================
I20260707 08:20:28.061509 84886 incremental_mapper.cc:175] => Completed observations: 32
I20260707 08:20:28.111253 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:20:28.111306 84886 incremental_mapper.cc:105] => Retriangulated observations: 2055
I20260707 08:20:28.124423 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 3.227564e+05 0.00e+00 6.38e+12 0.00e+00 0.00e+00 1.00e+04 0 1.74e-01 6.47e-01
1 1.760256e+05 1.47e+05 2.23e+12 0.00e+00 9.58e-01 3.00e+04 1 1.83e-01 8.30e-01
2 1.704342e+05 5.59e+03 4.01e+12 1.16e+02 8.26e-01 4.15e+04 1 1.04e-01 9.34e-01
3 1.692716e+05 1.16e+03 1.36e+12 9.96e+01 7.59e-01 4.82e+04 1 1.83e-01 1.12e+00
4 1.686519e+05 6.20e+02 1.36e+12 1.20e+02 9.47e-01 1.45e+05 1 2.12e-01 1.33e+00
5 1.685190e+05 1.33e+02 3.91e+12 2.90e+02 9.12e-01 3.29e+05 1 1.19e-01 1.45e+00
6 1.684741e+05 4.49e+01 1.36e+12 6.52e+02 9.13e-01 7.51e+05 1 1.03e-01 1.55e+00
7 1.684438e+05 3.03e+01 1.36e+12 1.52e+03 8.97e-01 1.51e+06 1 1.65e-01 1.72e+00
8 1.684238e+05 2.00e+01 3.91e+12 3.14e+03 8.20e-01 2.04e+06 1 2.58e-01 1.98e+00
9 1.684074e+05 1.64e+01 1.36e+12 4.34e+03 4.26e-01 2.04e+06 1 1.55e-01 2.13e+00
10 1.690690e+05 -6.62e+02 1.36e+12 4.34e+03 -5.08e+00 1.02e+06 1 9.11e-02 2.22e+00
11 1.711330e+05 -2.73e+03 1.36e+12 2.18e+03 -2.20e+01 2.55e+05 1 6.56e-02 2.29e+00
12 1.682916e+05 1.16e+02 1.41e+12 5.45e+02 1.05e+00 7.64e+05 1 1.70e-01 2.46e+00
13 1.682851e+05 6.44e+00 3.91e+12 1.63e+03 2.19e-01 6.48e+05 1 2.14e-01 2.67e+00
14 1.682580e+05 2.71e+01 1.36e+12 1.39e+03 8.41e-01 9.51e+05 1 1.01e-01 2.77e+00
15 1.682545e+05 3.46e+00 1.40e+12 2.03e+03 3.82e-01 9.39e+05 1 1.05e-01 2.88e+00
16 1.682512e+05 3.37e+00 3.91e+12 2.01e+03 4.39e-01 9.37e+05 1 1.03e-01 2.98e+00
17 1.682482e+05 2.94e+00 1.36e+12 2.00e+03 6.09e-01 9.47e+05 1 1.55e-01 3.13e+00
18 1.682469e+05 1.38e+00 1.40e+12 2.02e+03 5.26e-01 9.47e+05 1 7.92e-02 3.21e+00
19 1.682457e+05 1.14e+00 3.91e+12 2.02e+03 7.24e-01 1.04e+06 1 1.10e-01 3.32e+00
20 1.682449e+05 8.22e-01 1.36e+12 2.22e+03 7.41e-01 1.17e+06 1 2.06e-01 3.53e+00
21 1.682442e+05 6.98e-01 1.40e+12 2.50e+03 9.17e-01 2.79e+06 1 1.25e-01 3.65e+00
22 1.682431e+05 1.15e+00 3.91e+12 5.90e+03 8.57e-01 4.39e+06 1 1.02e-01 3.76e+00
23 1.682419e+05 1.17e+00 1.36e+12 6.56e+03 9.78e-01 1.32e+07 1 1.82e-01 3.94e+00
24 1.682420e+05 -1.29e-01 1.36e+12 1.40e+04 -5.16e-02 6.58e+06 1 9.56e-02 4.03e+00
25 1.682405e+05 1.35e+00 1.36e+12 7.03e+03 9.40e-01 1.98e+07 1 9.31e-02 4.13e+00
26 1.682420e+05 -1.44e+00 1.36e+12 1.53e+04 -7.18e-01 9.88e+06 1 8.22e-02 4.21e+00
27 1.682395e+05 1.04e+00 3.91e+12 7.65e+03 8.77e-01 1.73e+07 1 1.26e-01 4.34e+00
28 1.682382e+05 1.33e+00 1.36e+12 9.95e+03 7.85e-01 2.12e+07 1 2.07e-01 4.54e+00
29 1.682375e+05 6.30e-01 1.36e+12 8.79e+03 5.60e-01 2.12e+07 1 9.51e-02 4.64e+00
30 1.682368e+05 7.49e-01 3.91e+12 6.84e+03 6.77e-01 2.22e+07 1 1.25e-01 4.76e+00
31 1.682364e+05 3.78e-01 1.36e+12 6.01e+03 6.50e-01 2.28e+07 1 1.80e-01 4.95e+00
32 1.682361e+05 2.87e-01 1.36e+12 5.35e+03 7.17e-01 2.49e+07 1 1.05e-01 5.05e+00
33 1.682359e+05 1.79e-01 3.91e+12 5.17e+03 7.95e-01 3.13e+07 1 9.73e-02 5.15e+00
34 1.682358e+05 1.50e-01 1.36e+12 5.84e+03 8.48e-01 4.72e+07 1 1.55e-01 5.30e+00
35 1.682357e+05 1.41e-01 3.91e+12 7.84e+03 9.09e-01 1.04e+08 1 9.36e-02 5.40e+00
W20260707 08:20:33.737164 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
36 1.682357e+05 0.00e+00 3.91e+12 0.00e+00 0.00e+00 5.21e+07 1 6.94e-02 5.47e+00
37 1.682355e+05 1.07e-01 1.36e+12 7.48e+03 9.25e-01 1.35e+08 1 1.66e-01 5.63e+00
W20260707 08:20:33.999513 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
38 1.682355e+05 0.00e+00 1.36e+12 0.00e+00 0.00e+00 6.73e+07 1 9.61e-02 5.73e+00
39 1.682355e+05 8.73e-02 3.91e+12 8.48e+03 9.53e-01 2.02e+08 1 8.10e-02 5.81e+00
W20260707 08:20:34.122390 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
40 1.682355e+05 0.00e+00 3.91e+12 0.00e+00 0.00e+00 1.01e+08 1 4.18e-02 5.85e+00
41 1.682354e+05 8.67e-02 4.22e+12 1.11e+04 9.52e-01 3.03e+08 1 1.82e-01 6.03e+00
W20260707 08:20:34.391839 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
42 1.682354e+05 0.00e+00 4.22e+12 0.00e+00 0.00e+00 1.51e+08 1 8.77e-02 6.12e+00
W20260707 08:20:34.438292 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
43 1.682354e+05 0.00e+00 4.22e+12 0.00e+00 0.00e+00 3.79e+07 1 4.65e-02 6.17e+00
44 1.682354e+05 2.20e-02 1.05e+12 3.52e+03 9.62e-01 1.14e+08 1 1.12e-01 6.28e+00
W20260707 08:20:34.605705 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
45 1.682354e+05 0.00e+00 1.05e+12 0.00e+00 0.00e+00 5.68e+07 1 5.52e-02 6.33e+00
46 1.682353e+05 2.55e-02 1.10e+12 5.02e+03 9.86e-01 1.70e+08 1 1.98e-01 6.53e+00
W20260707 08:20:34.872575 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
47 1.682353e+05 0.00e+00 1.10e+12 0.00e+00 0.00e+00 8.52e+07 1 6.82e-02 6.60e+00
48 1.682353e+05 3.13e-02 1.05e+12 7.02e+03 9.96e-01 2.56e+08 1 6.49e-02 6.67e+00
W20260707 08:20:34.995066 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
49 1.682353e+05 0.00e+00 1.05e+12 0.00e+00 0.00e+00 1.28e+08 1 5.76e-02 6.72e+00
W20260707 08:20:35.054751 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
50 1.682353e+05 0.00e+00 1.05e+12 0.00e+00 0.00e+00 3.19e+07 1 5.96e-02 6.78e+00
I20260707 08:20:35.085497 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:20:35.085590 84886 bundle_adjustment.cc:942]
Residuals : 182196
Parameters : 60176
Iterations : 51
Time : 6.79842 [s]
Initial cost : 1.33097 [px]
Final cost : 0.960924 [px]
Termination : No convergence
I20260707 08:20:35.252100 84886 incremental_mapper.cc:175] => Completed observations: 78
I20260707 08:20:35.274045 84886 incremental_mapper.cc:178] => Merged observations: 10
I20260707 08:20:35.290490 84886 incremental_mapper.cc:160] => Filtered observations: 1409
I20260707 08:20:35.290591 84886 incremental_mapper.cc:119] => Changed observations: 0.016433
I20260707 08:20:35.290633 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 7.071950e+04 0.00e+00 8.20e+12 0.00e+00 0.00e+00 1.00e+04 0 2.50e-02 3.60e-01
1 6.890416e+04 1.82e+03 2.75e+12 0.00e+00 9.90e-01 3.00e+04 1 2.10e-01 5.70e-01
2 6.879613e+04 1.08e+02 1.23e+12 3.42e+00 1.01e+00 9.00e+04 1 9.03e-02 6.61e-01
3 6.874283e+04 5.33e+01 1.11e+12 1.07e+00 9.98e-01 2.70e+05 1 1.29e-01 7.90e-01
4 6.867350e+04 6.93e+01 1.10e+12 1.57e+00 9.83e-01 8.10e+05 1 1.18e-01 9.08e-01
5 6.862932e+04 4.42e+01 1.09e+12 2.69e+00 9.32e-01 2.29e+06 1 6.81e-02 9.76e-01
6 6.862021e+04 9.11e+00 1.08e+12 1.04e+00 9.29e-01 6.22e+06 1 6.39e-02 1.04e+00
7 6.861792e+04 2.29e+00 1.10e+12 4.38e-01 1.00e+00 1.86e+07 1 6.80e-02 1.11e+00
8 6.861615e+04 1.77e+00 1.08e+12 8.42e-02 1.00e+00 5.59e+07 1 8.08e-02 1.19e+00
9 6.861531e+04 8.42e-01 1.08e+12 1.01e-02 1.00e+00 1.68e+08 1 6.06e-02 1.25e+00
W20260707 08:20:36.696255 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
10 6.861531e+04 0.00e+00 1.08e+12 0.00e+00 0.00e+00 8.39e+07 1 3.95e-02 1.29e+00
11 6.861520e+04 1.05e-01 1.12e+12 1.23e-03 9.99e-01 2.52e+08 1 6.10e-02 1.35e+00
W20260707 08:20:36.796146 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
12 6.861520e+04 0.00e+00 1.12e+12 0.00e+00 0.00e+00 1.26e+08 1 3.88e-02 1.39e+00
W20260707 08:20:36.839704 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
13 6.861520e+04 0.00e+00 1.12e+12 0.00e+00 0.00e+00 3.15e+07 1 4.36e-02 1.43e+00
14 6.861518e+04 1.91e-02 1.09e+12 1.70e-04 9.99e-01 9.44e+07 1 7.01e-02 1.50e+00
15 6.861514e+04 4.83e-02 1.35e+12 1.29e-04 9.99e-01 2.83e+08 1 8.03e-02 1.58e+00
W20260707 08:20:37.029465 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
16 6.861514e+04 0.00e+00 1.35e+12 0.00e+00 0.00e+00 1.42e+08 1 3.92e-02 1.62e+00
W20260707 08:20:37.069614 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
17 6.861514e+04 0.00e+00 1.35e+12 0.00e+00 0.00e+00 3.54e+07 1 4.01e-02 1.66e+00
18 6.861512e+04 1.12e-02 1.19e+12 3.66e-05 9.97e-01 1.06e+08 1 5.93e-02 1.72e+00
W20260707 08:20:37.167243 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
19 6.861512e+04 0.00e+00 1.19e+12 0.00e+00 0.00e+00 5.31e+07 1 3.83e-02 1.76e+00
20 6.861511e+04 1.47e-02 1.14e+12 4.07e-05 9.97e-01 1.59e+08 1 6.53e-02 1.83e+00
W20260707 08:20:37.272676 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
21 6.861511e+04 0.00e+00 1.14e+12 0.00e+00 0.00e+00 7.97e+07 1 4.01e-02 1.87e+00
22 6.861509e+04 1.83e-02 1.14e+12 5.41e-05 9.98e-01 2.39e+08 1 6.59e-02 1.93e+00
W20260707 08:20:37.376422 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
23 6.861509e+04 0.00e+00 1.14e+12 0.00e+00 0.00e+00 1.19e+08 1 3.78e-02 1.97e+00
24 6.861507e+04 2.05e-02 6.83e+12 6.49e-05 9.57e-01 3.58e+08 1 5.82e-02 2.03e+00
W20260707 08:20:37.476015 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
25 6.861507e+04 0.00e+00 6.83e+12 0.00e+00 0.00e+00 1.79e+08 1 4.14e-02 2.07e+00
W20260707 08:20:37.509403 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
26 6.861507e+04 0.00e+00 6.83e+12 0.00e+00 0.00e+00 4.48e+07 1 3.34e-02 2.10e+00
27 6.861506e+04 6.21e-03 4.34e+12 1.91e-05 9.35e-01 1.31e+08 1 5.19e-02 2.15e+00
W20260707 08:20:37.597429 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
28 6.861506e+04 0.00e+00 4.34e+12 0.00e+00 0.00e+00 6.53e+07 1 3.61e-02 2.19e+00
29 6.861506e+04 7.97e-03 1.06e+12 2.58e-05 9.96e-01 1.96e+08 1 5.52e-02 2.25e+00
W20260707 08:20:37.689549 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
30 6.861506e+04 0.00e+00 1.06e+12 0.00e+00 0.00e+00 9.80e+07 1 3.69e-02 2.28e+00
31 6.861505e+04 9.90e-03 1.11e+12 3.52e-05 9.98e-01 2.94e+08 1 5.97e-02 2.34e+00
W20260707 08:20:37.786391 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
32 6.861505e+04 0.00e+00 1.11e+12 0.00e+00 0.00e+00 1.47e+08 1 3.71e-02 2.38e+00
33 6.861504e+04 1.14e-02 6.67e+12 4.67e-05 9.29e-01 4.00e+08 1 6.02e-02 2.44e+00
W20260707 08:20:37.885761 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
34 6.861504e+04 0.00e+00 6.67e+12 0.00e+00 0.00e+00 2.00e+08 1 3.91e-02 2.48e+00
W20260707 08:20:37.918826 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
35 6.861504e+04 0.00e+00 6.67e+12 0.00e+00 0.00e+00 5.00e+07 1 3.31e-02 2.51e+00
36 6.861503e+04 3.65e-03 4.34e+12 1.36e-05 8.93e-01 9.68e+07 1 6.28e-02 2.57e+00
37 6.861503e+04 5.81e-03 4.34e+12 2.55e-05 9.35e-01 2.85e+08 1 6.83e-02 2.64e+00
W20260707 08:20:38.098650 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
38 6.861503e+04 0.00e+00 4.34e+12 0.00e+00 0.00e+00 1.42e+08 1 4.86e-02 2.69e+00
W20260707 08:20:38.135691 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
39 6.861503e+04 0.00e+00 4.34e+12 0.00e+00 0.00e+00 3.56e+07 1 3.70e-02 2.73e+00
40 6.861502e+04 1.54e-03 5.59e+12 8.63e-06 6.83e-01 3.74e+07 1 6.10e-02 2.79e+00
41 6.861502e+04 2.41e-03 1.98e+12 8.93e-06 9.34e-01 1.08e+08 1 7.80e-02 2.87e+00
W20260707 08:20:38.323153 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
42 6.861502e+04 0.00e+00 1.98e+12 0.00e+00 0.00e+00 5.39e+07 1 4.83e-02 2.92e+00
43 6.861502e+04 2.65e-03 1.88e+12 1.25e-05 9.77e-01 1.62e+08 1 7.20e-02 2.99e+00
W20260707 08:20:38.435362 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
44 6.861502e+04 0.00e+00 1.88e+12 0.00e+00 0.00e+00 8.08e+07 1 4.01e-02 3.03e+00
45 6.861502e+04 3.43e-03 3.52e+12 1.82e-05 9.32e-01 2.27e+08 1 6.41e-02 3.09e+00
W20260707 08:20:38.538759 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
46 6.861502e+04 0.00e+00 3.52e+12 0.00e+00 0.00e+00 1.14e+08 1 3.93e-02 3.13e+00
47 6.861501e+04 4.66e-03 2.21e+12 2.43e-05 9.60e-01 3.41e+08 1 7.49e-02 3.21e+00
W20260707 08:20:38.657382 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
48 6.861501e+04 0.00e+00 2.21e+12 0.00e+00 0.00e+00 1.70e+08 1 4.37e-02 3.25e+00
W20260707 08:20:38.699807 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
49 6.861501e+04 0.00e+00 2.21e+12 0.00e+00 0.00e+00 4.26e+07 1 4.24e-02 3.29e+00
50 6.861501e+04 1.44e-03 3.61e+12 8.51e-06 8.48e-01 6.42e+07 1 7.22e-02 3.37e+00
I20260707 08:20:38.790675 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:20:38.790719 84886 bundle_adjustment.cc:942]
Residuals : 177624
Parameters : 57881
Iterations : 51
Time : 3.37472 [s]
Initial cost : 0.630985 [px]
Final cost : 0.621525 [px]
Termination : No convergence
I20260707 08:20:38.838819 84886 incremental_mapper.cc:175] => Completed observations: 74
I20260707 08:20:38.856529 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:20:38.866406 84886 incremental_mapper.cc:160] => Filtered observations: 32
I20260707 08:20:38.866442 84886 incremental_mapper.cc:119] => Changed observations: 0.001194
I20260707 08:20:38.866458 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 6.854516e+04 0.00e+00 1.49e+13 0.00e+00 0.00e+00 1.00e+04 0 2.44e-02 2.18e-01
1 6.823340e+04 3.12e+02 3.66e+12 0.00e+00 9.87e-01 3.00e+04 1 1.06e-01 3.24e-01
2 6.820341e+04 3.00e+01 2.19e+12 4.05e+00 1.01e+00 9.00e+04 1 6.39e-02 3.87e-01
3 6.819880e+04 4.61e+00 3.36e+12 7.74e-01 1.01e+00 2.70e+05 1 6.63e-02 4.54e-01
4 6.819607e+04 2.73e+00 2.01e+12 1.86e-01 1.01e+00 8.10e+05 1 7.78e-02 5.32e-01
5 6.819523e+04 8.46e-01 3.36e+12 1.86e-01 1.04e+00 2.43e+06 1 6.63e-02 5.98e-01
6 6.819506e+04 1.70e-01 2.01e+12 1.07e-01 1.16e+00 7.29e+06 1 7.00e-02 6.68e-01
7 6.819502e+04 3.48e-02 3.36e+12 4.28e-02 1.23e+00 2.19e+07 1 6.70e-02 7.35e-01
8 6.819502e+04 5.84e-03 2.01e+12 9.92e-03 1.16e+00 6.56e+07 1 7.09e-02 8.06e-01
9 6.819501e+04 4.64e-03 3.36e+12 2.13e-03 9.71e-01 1.97e+08 1 8.41e-02 8.90e-01
W20260707 08:20:39.893245 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
10 6.819501e+04 0.00e+00 3.36e+12 0.00e+00 0.00e+00 9.84e+07 1 5.97e-02 9.50e-01
11 6.819501e+04 4.57e-03 9.02e+12 5.53e-04 7.37e-01 1.10e+08 1 9.02e-02 1.04e+00
W20260707 08:20:40.022982 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
12 6.819501e+04 0.00e+00 9.02e+12 0.00e+00 0.00e+00 5.51e+07 1 3.93e-02 1.08e+00
13 6.819500e+04 3.30e-03 7.38e+12 1.59e-04 7.36e-01 6.16e+07 1 5.80e-02 1.14e+00
14 6.819500e+04 3.03e-03 7.38e+12 5.00e-05 7.28e-01 6.80e+07 1 7.01e-02 1.21e+00
15 6.819500e+04 3.04e-03 7.54e+12 2.14e-05 7.29e-01 7.53e+07 1 6.02e-02 1.27e+00
16 6.819499e+04 4.16e-03 2.01e+12 1.55e-05 9.82e-01 2.26e+08 1 6.24e-02 1.33e+00
W20260707 08:20:40.314543 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
17 6.819499e+04 0.00e+00 2.01e+12 0.00e+00 0.00e+00 1.13e+08 1 4.06e-02 1.37e+00
W20260707 08:20:40.349047 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
18 6.819499e+04 0.00e+00 2.01e+12 0.00e+00 0.00e+00 2.82e+07 1 3.45e-02 1.41e+00
19 6.819499e+04 1.07e-03 2.01e+12 5.42e-06 9.29e-01 7.66e+07 1 6.16e-02 1.47e+00
20 6.819499e+04 1.86e-03 5.03e+12 1.36e-05 6.46e-01 7.85e+07 1 6.67e-02 1.53e+00
21 6.819499e+04 3.43e-03 3.11e+12 1.33e-05 9.35e-01 2.31e+08 1 6.40e-02 1.60e+00
W20260707 08:20:40.586369 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
22 6.819499e+04 0.00e+00 3.11e+12 0.00e+00 0.00e+00 1.15e+08 1 4.48e-02 1.64e+00
W20260707 08:20:40.622187 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
23 6.819499e+04 0.00e+00 3.11e+12 0.00e+00 0.00e+00 2.89e+07 1 3.58e-02 1.68e+00
24 6.819499e+04 1.08e-03 1.14e+12 4.67e-06 9.79e-01 8.66e+07 1 5.65e-02 1.74e+00
W20260707 08:20:40.714408 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
25 6.819499e+04 0.00e+00 1.14e+12 0.00e+00 0.00e+00 4.33e+07 1 3.57e-02 1.77e+00
26 6.819498e+04 1.32e-03 6.50e+11 6.97e-06 9.90e-01 1.30e+08 1 5.05e-02 1.82e+00
27 6.819498e+04 3.08e-03 5.81e+12 2.05e-05 8.15e-01 1.73e+08 1 5.89e-02 1.88e+00
W20260707 08:20:40.861230 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
28 6.819498e+04 0.00e+00 5.81e+12 0.00e+00 0.00e+00 8.66e+07 1 3.73e-02 1.92e+00
W20260707 08:20:40.900996 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
29 6.819498e+04 0.00e+00 5.81e+12 0.00e+00 0.00e+00 2.16e+07 1 3.98e-02 1.96e+00
30 6.819498e+04 1.25e-03 5.54e+11 3.16e-06 9.98e-01 6.49e+07 1 5.80e-02 2.02e+00
31 6.819498e+04 1.66e-03 5.67e+11 9.64e-06 1.01e+00 1.95e+08 1 6.14e-02 2.08e+00
W20260707 08:20:41.060487 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
32 6.819498e+04 0.00e+00 5.67e+11 0.00e+00 0.00e+00 9.74e+07 1 3.99e-02 2.12e+00
33 6.819498e+04 1.60e-03 5.89e+12 1.40e-05 6.88e-01 1.03e+08 1 5.47e-02 2.17e+00
W20260707 08:20:41.160665 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
34 6.819498e+04 0.00e+00 5.89e+12 0.00e+00 0.00e+00 5.14e+07 1 4.54e-02 2.22e+00
35 6.819497e+04 1.79e-03 8.96e+11 7.10e-06 9.77e-01 1.54e+08 1 6.62e-02 2.28e+00
36 6.819497e+04 3.28e-03 4.41e+11 2.10e-05 1.00e+00 4.63e+08 1 7.96e-02 2.36e+00
W20260707 08:20:41.355217 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
37 6.819497e+04 0.00e+00 4.41e+11 0.00e+00 0.00e+00 2.31e+08 1 4.86e-02 2.41e+00
W20260707 08:20:41.393105 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
38 6.819497e+04 0.00e+00 4.41e+11 0.00e+00 0.00e+00 5.79e+07 1 3.79e-02 2.45e+00
39 6.819497e+04 1.10e-03 4.87e+11 7.39e-06 1.01e+00 1.74e+08 1 6.98e-02 2.52e+00
40 6.819497e+04 2.69e-03 4.54e+12 2.20e-05 8.60e-01 2.76e+08 1 6.63e-02 2.59e+00
W20260707 08:20:41.564822 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
41 6.819497e+04 0.00e+00 4.54e+12 0.00e+00 0.00e+00 1.38e+08 1 3.55e-02 2.62e+00
42 6.819496e+04 2.61e-03 1.08e+12 1.64e-05 9.90e-01 4.14e+08 1 5.29e-02 2.67e+00
W20260707 08:20:41.651443 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
43 6.819496e+04 0.00e+00 1.08e+12 0.00e+00 0.00e+00 2.07e+08 1 3.36e-02 2.71e+00
W20260707 08:20:41.684000 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
44 6.819496e+04 0.00e+00 1.08e+12 0.00e+00 0.00e+00 5.18e+07 1 3.25e-02 2.74e+00
45 6.819496e+04 8.20e-04 5.48e+11 5.88e-06 1.05e+00 1.55e+08 1 5.67e-02 2.80e+00
W20260707 08:20:41.780718 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
46 6.819496e+04 0.00e+00 5.48e+11 0.00e+00 0.00e+00 7.77e+07 1 4.00e-02 2.84e+00
47 6.819496e+04 1.09e-03 2.80e+11 8.74e-06 9.76e-01 2.33e+08 1 6.21e-02 2.90e+00
W20260707 08:20:41.884845 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
48 6.819496e+04 0.00e+00 2.80e+11 0.00e+00 0.00e+00 1.17e+08 1 4.19e-02 2.94e+00
W20260707 08:20:41.925880 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
49 6.819496e+04 0.00e+00 2.80e+11 0.00e+00 0.00e+00 2.91e+07 1 4.10e-02 2.98e+00
50 6.819496e+04 4.00e-04 6.07e+10 3.17e-06 1.01e+00 8.74e+07 1 6.65e-02 3.05e+00
I20260707 08:20:42.007124 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:20:42.007179 84886 bundle_adjustment.cc:942]
Residuals : 177694
Parameters : 57851
Iterations : 51
Time : 3.05601 [s]
Initial cost : 0.621086 [px]
Final cost : 0.619498 [px]
Termination : No convergence
I20260707 08:20:42.058027 84886 incremental_mapper.cc:175] => Completed observations: 35
I20260707 08:20:42.081605 84886 incremental_mapper.cc:178] => Merged observations: 5
I20260707 08:20:42.091439 84886 incremental_mapper.cc:160] => Filtered observations: 18
I20260707 08:20:42.091480 84886 incremental_mapper.cc:119] => Changed observations: 0.000653
I20260707 08:20:42.091497 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 6.823483e+04 0.00e+00 5.09e+12 0.00e+00 0.00e+00 1.00e+04 0 2.26e-02 1.89e-01
1 6.806964e+04 1.65e+02 2.44e+12 0.00e+00 9.87e-01 3.00e+04 1 1.07e-01 2.96e-01
2 6.806125e+04 8.39e+00 3.36e+12 1.40e+00 1.01e+00 9.00e+04 1 5.98e-02 3.56e-01
3 6.806011e+04 1.14e+00 2.01e+12 2.54e-01 1.02e+00 2.70e+05 1 5.91e-02 4.15e-01
4 6.805969e+04 4.23e-01 3.36e+12 1.01e-01 1.05e+00 8.10e+05 1 5.72e-02 4.73e-01
5 6.805953e+04 1.58e-01 2.01e+12 8.20e-02 1.09e+00 2.43e+06 1 6.16e-02 5.34e-01
6 6.805950e+04 3.07e-02 3.36e+12 5.71e-02 1.10e+00 7.29e+06 1 5.41e-02 5.88e-01
7 6.805950e+04 3.04e-03 2.01e+12 2.41e-02 1.06e+00 2.19e+07 1 5.77e-02 6.46e-01
8 6.805950e+04 2.79e-04 3.36e+12 4.86e-03 5.89e-01 2.20e+07 1 6.54e-02 7.12e-01
9 6.805950e+04 4.10e-04 2.01e+12 6.08e-04 8.05e-01 2.85e+07 1 6.26e-02 7.74e-01
10 6.805949e+04 2.03e-04 3.36e+12 1.05e-04 4.67e-01 2.85e+07 1 6.01e-02 8.34e-01
11 6.805949e+04 4.95e-04 2.01e+12 1.87e-05 8.60e-01 4.53e+07 1 5.74e-02 8.92e-01
12 6.805949e+04 4.02e-04 3.36e+12 6.51e-06 6.42e-01 4.64e+07 1 5.60e-02 9.48e-01
13 6.805949e+04 6.66e-04 2.01e+12 4.99e-06 8.64e-01 7.53e+07 1 5.41e-02 1.00e+00
14 6.805949e+04 7.10e-04 3.49e+12 7.75e-06 7.56e-01 8.71e+07 1 5.98e-02 1.06e+00
15 6.805949e+04 9.28e-04 3.57e+12 8.74e-06 7.78e-01 1.05e+08 1 6.10e-02 1.12e+00
16 6.805949e+04 1.09e-03 3.51e+12 1.03e-05 8.06e-01 1.36e+08 1 6.54e-02 1.19e+00
W20260707 08:20:43.397535 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
17 6.805949e+04 0.00e+00 3.51e+12 0.00e+00 0.00e+00 6.82e+07 1 4.26e-02 1.23e+00
18 6.805949e+04 7.05e-04 3.52e+12 6.48e-06 7.66e-01 8.03e+07 1 6.93e-02 1.30e+00
19 6.805949e+04 8.91e-04 2.01e+12 7.51e-06 8.73e-01 1.37e+08 1 6.60e-02 1.37e+00
20 6.805949e+04 1.19e-03 3.36e+12 1.26e-05 8.63e-01 2.23e+08 1 6.06e-02 1.43e+00
W20260707 08:20:43.630892 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
21 6.805949e+04 0.00e+00 3.36e+12 0.00e+00 0.00e+00 1.11e+08 1 3.73e-02 1.46e+00
22 6.805949e+04 9.14e-04 3.76e+12 9.81e-06 7.54e-01 1.28e+08 1 6.43e-02 1.53e+00
W20260707 08:20:43.736864 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
23 6.805949e+04 0.00e+00 3.76e+12 0.00e+00 0.00e+00 6.41e+07 1 4.16e-02 1.57e+00
24 6.805949e+04 7.08e-04 2.01e+12 5.48e-06 8.54e-01 9.94e+07 1 5.62e-02 1.63e+00
25 6.805949e+04 6.90e-04 3.36e+12 8.39e-06 7.36e-01 1.11e+08 1 6.84e-02 1.70e+00
26 6.805948e+04 1.02e-03 2.01e+12 9.12e-06 9.24e-01 2.86e+08 1 7.19e-02 1.77e+00
W20260707 08:20:43.972478 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
27 6.805948e+04 0.00e+00 2.01e+12 0.00e+00 0.00e+00 1.43e+08 1 3.89e-02 1.81e+00
W20260707 08:20:44.008536 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
28 6.805948e+04 0.00e+00 2.01e+12 0.00e+00 0.00e+00 3.57e+07 1 3.60e-02 1.84e+00
29 6.805948e+04 1.25e-04 3.36e+12 2.84e-06 3.39e-01 3.46e+07 1 6.93e-02 1.91e+00
30 6.805948e+04 3.99e-04 2.01e+12 2.75e-06 8.16e-01 4.63e+07 1 6.87e-02 1.98e+00
31 6.805948e+04 1.86e-04 3.36e+12 3.64e-06 4.37e-01 4.62e+07 1 6.17e-02 2.04e+00
32 6.805948e+04 3.26e-04 3.47e+12 3.59e-06 5.77e-01 4.63e+07 1 6.17e-02 2.10e+00
33 6.805948e+04 4.91e-04 2.01e+12 3.56e-06 8.68e-01 7.70e+07 1 6.07e-02 2.16e+00
W20260707 08:20:44.365348 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
34 6.805948e+04 0.00e+00 2.01e+12 0.00e+00 0.00e+00 3.85e+07 1 3.44e-02 2.20e+00
35 6.805948e+04 1.04e-04 3.36e+12 2.93e-06 2.87e-01 3.58e+07 1 5.36e-02 2.25e+00
36 6.805948e+04 3.61e-04 2.01e+12 2.69e-06 7.56e-01 4.13e+07 1 5.70e-02 2.31e+00
37 6.805948e+04 1.78e-04 3.42e+12 3.09e-06 4.86e-01 4.13e+07 1 6.42e-02 2.37e+00
38 6.805948e+04 4.18e-04 2.01e+12 3.06e-06 8.19e-01 5.57e+07 1 6.61e-02 2.44e+00
39 6.805948e+04 2.21e-04 3.36e+12 4.09e-06 4.89e-01 5.57e+07 1 7.73e-02 2.52e+00
40 6.805948e+04 4.23e-04 2.01e+12 4.03e-06 7.15e-01 6.05e+07 1 1.20e-01 2.64e+00
41 6.805948e+04 3.51e-04 3.39e+12 4.32e-06 7.46e-01 6.87e+07 1 8.94e-02 2.73e+00
W20260707 08:20:44.936573 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
42 6.805948e+04 0.00e+00 3.39e+12 0.00e+00 0.00e+00 3.43e+07 1 4.28e-02 2.77e+00
43 6.805948e+04 3.39e-04 2.01e+12 2.42e-06 7.57e-01 3.97e+07 1 6.88e-02 2.84e+00
44 6.805948e+04 1.01e-04 3.36e+12 2.78e-06 3.08e-01 3.76e+07 1 6.76e-02 2.91e+00
45 6.805948e+04 3.64e-04 2.01e+12 2.61e-06 7.90e-01 4.67e+07 1 6.12e-02 2.97e+00
46 6.805948e+04 7.38e-05 3.36e+12 3.21e-06 2.02e-01 3.86e+07 1 5.72e-02 3.03e+00
47 6.805948e+04 4.13e-04 2.01e+12 2.62e-06 9.00e-01 7.93e+07 1 5.85e-02 3.08e+00
48 6.805948e+04 2.89e-04 3.36e+12 5.36e-06 5.32e-01 7.93e+07 1 5.83e-02 3.14e+00
49 6.805948e+04 5.05e-04 3.46e+12 5.25e-06 7.42e-01 8.94e+07 1 5.75e-02 3.20e+00
50 6.805948e+04 5.91e-04 2.01e+12 5.83e-06 8.07e-01 1.16e+08 1 5.99e-02 3.26e+00
I20260707 08:20:45.440215 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:20:45.440250 84886 bundle_adjustment.cc:942]
Residuals : 177718
Parameters : 57830
Iterations : 51
Time : 3.26629 [s]
Initial cost : 0.619637 [px]
Final cost : 0.61884 [px]
Termination : No convergence
I20260707 08:20:45.483469 84886 incremental_mapper.cc:175] => Completed observations: 36
I20260707 08:20:45.498616 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:20:45.505736 84886 incremental_mapper.cc:160] => Filtered observations: 5
I20260707 08:20:45.505756 84886 incremental_mapper.cc:119] => Changed observations: 0.000461
I20260707 08:20:45.505770 84886 incremental_mapper.cc:167] => Filtered images: 0
I20260707 08:20:45.509927 84886 misc.cc:198]
==============================================================================
Registering image #224 (171)
==============================================================================
I20260707 08:20:45.509944 84886 incremental_mapper.cc:495] => Image sees 117 / 1049 points
I20260707 08:20:45.511914 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:20:45.511931 84886 bundle_adjustment.cc:942]
Residuals : 214
Parameters : 6
Iterations : 9
Time : 0.000720024 [s]
Initial cost : 0.486767 [px]
Final cost : 0.476089 [px]
Termination : Convergence
I20260707 08:20:45.511991 84886 incremental_mapper.cc:40] => Continued observations: 104
I20260707 08:20:45.513773 84886 incremental_mapper.cc:43] => Added observations: 127
I20260707 08:20:45.560521 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:20:45.560554 84886 bundle_adjustment.cc:942]
Residuals : 7850
Parameters : 1043
Iterations : 14
Time : 0.042207 [s]
Initial cost : 0.604881 [px]
Final cost : 0.582771 [px]
Termination : Convergence
I20260707 08:20:45.565125 84886 incremental_mapper.cc:78] => Merged observations: 11
I20260707 08:20:45.565147 84886 incremental_mapper.cc:79] => Completed observations: 22
I20260707 08:20:45.565150 84886 incremental_mapper.cc:81] => Filtered observations: 69
I20260707 08:20:45.565163 84886 incremental_mapper.cc:90] => Changed observations: 0.022135
I20260707 08:20:45.575575 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:20:45.575596 84886 bundle_adjustment.cc:942]
Residuals : 6326
Parameters : 971
Iterations : 3
Time : 0.00729918 [s]
Initial cost : 0.756705 [px]
Final cost : 0.745648 [px]
Termination : Convergence
I20260707 08:20:45.579285 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:20:45.579298 84886 incremental_mapper.cc:79] => Completed observations: 10
I20260707 08:20:45.579299 84886 incremental_mapper.cc:81] => Filtered observations: 1
I20260707 08:20:45.579301 84886 incremental_mapper.cc:90] => Changed observations: 0.002420
I20260707 08:20:45.583283 84886 misc.cc:198]
==============================================================================
Registering image #195 (172)
==============================================================================
I20260707 08:20:45.583298 84886 incremental_mapper.cc:495] => Image sees 72 / 472 points
I20260707 08:20:45.585184 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:20:45.585202 84886 bundle_adjustment.cc:942]
Residuals : 136
Parameters : 6
Iterations : 8
Time : 0.000421047 [s]
Initial cost : 0.555718 [px]
Final cost : 0.514332 [px]
Termination : Convergence
I20260707 08:20:45.585240 84886 incremental_mapper.cc:40] => Continued observations: 66
I20260707 08:20:45.585911 84886 incremental_mapper.cc:43] => Added observations: 61
I20260707 08:20:45.621466 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:20:45.621487 84886 bundle_adjustment.cc:942]
Residuals : 4046
Parameters : 293
Iterations : 22
Time : 0.0338361 [s]
Initial cost : 0.640791 [px]
Final cost : 0.605954 [px]
Termination : Convergence
I20260707 08:20:45.623518 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:20:45.623528 84886 incremental_mapper.cc:79] => Completed observations: 5
I20260707 08:20:45.623530 84886 incremental_mapper.cc:81] => Filtered observations: 36
I20260707 08:20:45.623531 84886 incremental_mapper.cc:90] => Changed observations: 0.016824
I20260707 08:20:45.629732 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:20:45.629746 84886 bundle_adjustment.cc:942]
Residuals : 3974
Parameters : 245
Iterations : 3
Time : 0.00470996 [s]
Initial cost : 0.704568 [px]
Final cost : 0.697664 [px]
Termination : Convergence
I20260707 08:20:45.631693 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:20:45.631701 84886 incremental_mapper.cc:79] => Completed observations: 6
I20260707 08:20:45.631703 84886 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 08:20:45.631705 84886 incremental_mapper.cc:90] => Changed observations: 0.002499
I20260707 08:20:45.635834 84886 misc.cc:198]
==============================================================================
Registering image #211 (173)
==============================================================================
I20260707 08:20:45.635845 84886 incremental_mapper.cc:495] => Image sees 72 / 1151 points
I20260707 08:20:45.637713 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:20:45.637732 84886 bundle_adjustment.cc:942]
Residuals : 100
Parameters : 6
Iterations : 15
Time : 0.000553846 [s]
Initial cost : 0.55831 [px]
Final cost : 0.52582 [px]
Termination : Convergence
I20260707 08:20:45.637763 84886 incremental_mapper.cc:40] => Continued observations: 49
I20260707 08:20:45.639499 84886 incremental_mapper.cc:43] => Added observations: 107
I20260707 08:20:45.658671 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:20:45.658692 84886 bundle_adjustment.cc:942]
Residuals : 1806
Parameters : 353
Iterations : 26
Time : 0.0179961 [s]
Initial cost : 1.10672 [px]
Final cost : 0.691308 [px]
Termination : No convergence
I20260707 08:20:45.661597 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:20:45.661607 84886 incremental_mapper.cc:79] => Completed observations: 17
I20260707 08:20:45.661609 84886 incremental_mapper.cc:81] => Filtered observations: 47
I20260707 08:20:45.661612 84886 incremental_mapper.cc:90] => Changed observations: 0.039144
I20260707 08:20:45.666646 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:20:45.666661 84886 bundle_adjustment.cc:942]
Residuals : 2920
Parameters : 215
Iterations : 3
Time : 0.00374293 [s]
Initial cost : 0.722802 [px]
Final cost : 0.717377 [px]
Termination : Convergence
I20260707 08:20:45.669487 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:20:45.669497 84886 incremental_mapper.cc:79] => Completed observations: 1
I20260707 08:20:45.669498 84886 incremental_mapper.cc:81] => Filtered observations: 1
I20260707 08:20:45.669500 84886 incremental_mapper.cc:90] => Changed observations: 0.001061
I20260707 08:20:45.673821 84886 misc.cc:198]
==============================================================================
Registering image #482 (174)
==============================================================================
I20260707 08:20:45.673831 84886 incremental_mapper.cc:495] => Image sees 38 / 718 points
I20260707 08:20:45.675585 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:20:45.675595 84886 bundle_adjustment.cc:942]
Residuals : 76
Parameters : 6
Iterations : 17
Time : 0.00049901 [s]
Initial cost : 0.78973 [px]
Final cost : 0.597107 [px]
Termination : Convergence
I20260707 08:20:45.675621 84886 incremental_mapper.cc:40] => Continued observations: 38
I20260707 08:20:45.676964 84886 incremental_mapper.cc:43] => Added observations: 10
I20260707 08:20:45.703584 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:20:45.703617 84886 bundle_adjustment.cc:942]
Residuals : 4610
Parameters : 179
Iterations : 13
Time : 0.0242598 [s]
Initial cost : 0.67866 [px]
Final cost : 0.630609 [px]
Termination : Convergence
I20260707 08:20:45.707587 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:20:45.707607 84886 incremental_mapper.cc:79] => Completed observations: 1
I20260707 08:20:45.707610 84886 incremental_mapper.cc:81] => Filtered observations: 12
I20260707 08:20:45.707612 84886 incremental_mapper.cc:90] => Changed observations: 0.004739
I20260707 08:20:45.714092 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:20:45.714121 84886 bundle_adjustment.cc:942]
Residuals : 4572
Parameters : 158
Iterations : 2
Time : 0.0043869 [s]
Initial cost : 0.798849 [px]
Final cost : 0.796886 [px]
Termination : Convergence
I20260707 08:20:45.718240 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:20:45.718261 84886 incremental_mapper.cc:79] => Completed observations: 0
I20260707 08:20:45.718263 84886 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 08:20:45.718266 84886 incremental_mapper.cc:90] => Changed observations: 0.000000
I20260707 08:20:45.722373 84886 misc.cc:198]
==============================================================================
Registering image #371 (175)
==============================================================================
I20260707 08:20:45.722399 84886 incremental_mapper.cc:495] => Image sees 34 / 1100 points
I20260707 08:20:45.728925 84886 incremental_mapper.cc:535] => Could not register, trying another image.
I20260707 08:20:45.728958 84886 misc.cc:198]
==============================================================================
Registering image #173 (175)
==============================================================================
I20260707 08:20:45.728962 84886 incremental_mapper.cc:495] => Image sees 44 / 312 points
I20260707 08:20:45.730949 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:20:45.730983 84886 bundle_adjustment.cc:942]
Residuals : 90
Parameters : 6
Iterations : 9
Time : 0.000358105 [s]
Initial cost : 0.675498 [px]
Final cost : 0.58784 [px]
Termination : Convergence
I20260707 08:20:45.731022 84886 incremental_mapper.cc:40] => Continued observations: 44
I20260707 08:20:45.731340 84886 incremental_mapper.cc:43] => Added observations: 48
I20260707 08:20:45.746842 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:20:45.746870 84886 bundle_adjustment.cc:942]
Residuals : 2722
Parameters : 236
Iterations : 12
Time : 0.014003 [s]
Initial cost : 0.537605 [px]
Final cost : 0.524989 [px]
Termination : Convergence
I20260707 08:20:45.748596 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:20:45.748612 84886 incremental_mapper.cc:79] => Completed observations: 29
I20260707 08:20:45.748615 84886 incremental_mapper.cc:81] => Filtered observations: 9
I20260707 08:20:45.748617 84886 incremental_mapper.cc:90] => Changed observations: 0.024235
I20260707 08:20:45.753626 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:20:45.753647 84886 bundle_adjustment.cc:942]
Residuals : 3542
Parameters : 224
Iterations : 2
Time : 0.00339699 [s]
Initial cost : 0.667882 [px]
Final cost : 0.660727 [px]
Termination : Convergence
I20260707 08:20:45.755460 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:20:45.755473 84886 incremental_mapper.cc:79] => Completed observations: 4
I20260707 08:20:45.755476 84886 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 08:20:45.755478 84886 incremental_mapper.cc:90] => Changed observations: 0.002110
I20260707 08:20:45.759505 84886 misc.cc:198]
==============================================================================
Registering image #233 (176)
==============================================================================
I20260707 08:20:45.759518 84886 incremental_mapper.cc:495] => Image sees 49 / 1832 points
I20260707 08:20:45.761229 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:20:45.761253 84886 bundle_adjustment.cc:942]
Residuals : 98
Parameters : 6
Iterations : 9
Time : 0.000386953 [s]
Initial cost : 0.41702 [px]
Final cost : 0.414629 [px]
Termination : Convergence
I20260707 08:20:45.761289 84886 incremental_mapper.cc:40] => Continued observations: 49
I20260707 08:20:45.762998 84886 incremental_mapper.cc:43] => Added observations: 0
I20260707 08:20:45.798864 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:20:45.798902 84886 bundle_adjustment.cc:942]
Residuals : 7180
Parameters : 203
Iterations : 10
Time : 0.0321639 [s]
Initial cost : 0.519386 [px]
Final cost : 0.517182 [px]
Termination : Convergence
I20260707 08:20:45.803936 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:20:45.803958 84886 incremental_mapper.cc:79] => Completed observations: 1
I20260707 08:20:45.803962 84886 incremental_mapper.cc:81] => Filtered observations: 7
I20260707 08:20:45.803964 84886 incremental_mapper.cc:90] => Changed observations: 0.001731
I20260707 08:20:45.814556 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:20:45.814584 84886 bundle_adjustment.cc:942]
Residuals : 7166
Parameters : 197
Iterations : 2
Time : 0.00720906 [s]
Initial cost : 0.638849 [px]
Final cost : 0.637877 [px]
Termination : Convergence
I20260707 08:20:45.819494 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:20:45.819511 84886 incremental_mapper.cc:79] => Completed observations: 0
I20260707 08:20:45.819514 84886 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 08:20:45.819516 84886 incremental_mapper.cc:90] => Changed observations: 0.000000
I20260707 08:20:45.823921 84886 misc.cc:198]
==============================================================================
Registering image #72 (177)
==============================================================================
I20260707 08:20:45.823944 84886 incremental_mapper.cc:495] => Image sees 33 / 263 points
I20260707 08:20:45.829825 84886 incremental_mapper.cc:535] => Could not register, trying another image.
I20260707 08:20:45.829850 84886 misc.cc:198]
==============================================================================
Registering image #244 (177)
==============================================================================
I20260707 08:20:45.829854 84886 incremental_mapper.cc:495] => Image sees 34 / 5579 points
I20260707 08:20:45.831787 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:20:45.831808 84886 bundle_adjustment.cc:942]
Residuals : 32
Parameters : 6
Iterations : 17
Time : 0.000266075 [s]
Initial cost : 0.682011 [px]
Final cost : 0.644569 [px]
Termination : Convergence
I20260707 08:20:45.831832 84886 incremental_mapper.cc:40] => Continued observations: 16
I20260707 08:20:45.833032 84886 incremental_mapper.cc:43] => Added observations: 276
I20260707 08:20:45.861207 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:20:45.861238 84886 bundle_adjustment.cc:942]
Residuals : 2554
Parameters : 500
Iterations : 26
Time : 0.0269158 [s]
Initial cost : 1.03663 [px]
Final cost : 0.888444 [px]
Termination : No convergence
I20260707 08:20:45.863299 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:20:45.863314 84886 incremental_mapper.cc:79] => Completed observations: 69
I20260707 08:20:45.863317 84886 incremental_mapper.cc:81] => Filtered observations: 148
I20260707 08:20:45.863318 84886 incremental_mapper.cc:90] => Changed observations: 0.152925
I20260707 08:20:45.868121 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:20:45.868141 84886 bundle_adjustment.cc:942]
Residuals : 2950
Parameters : 419
Iterations : 3
Time : 0.00365901 [s]
Initial cost : 0.562689 [px]
Final cost : 0.553954 [px]
Termination : Convergence
I20260707 08:20:45.869952 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:20:45.869961 84886 incremental_mapper.cc:79] => Completed observations: 3
I20260707 08:20:45.869963 84886 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 08:20:45.869966 84886 incremental_mapper.cc:90] => Changed observations: 0.001684
I20260707 08:20:45.874451 84886 misc.cc:198]
==============================================================================
Registering image #251 (178)
==============================================================================
I20260707 08:20:45.874464 84886 incremental_mapper.cc:495] => Image sees 86 / 5428 points
I20260707 08:20:45.876561 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:20:45.876582 84886 bundle_adjustment.cc:942]
Residuals : 152
Parameters : 6
Iterations : 8
Time : 0.000468016 [s]
Initial cost : 0.560367 [px]
Final cost : 0.538416 [px]
Termination : Convergence
I20260707 08:20:45.876643 84886 incremental_mapper.cc:40] => Continued observations: 76
I20260707 08:20:45.882436 84886 incremental_mapper.cc:43] => Added observations: 333
I20260707 08:20:45.910620 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:20:45.910660 84886 bundle_adjustment.cc:942]
Residuals : 3112
Parameters : 671
Iterations : 26
Time : 0.0266311 [s]
Initial cost : 1.21838 [px]
Final cost : 1.00625 [px]
Termination : No convergence
I20260707 08:20:45.916983 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:20:45.917006 84886 incremental_mapper.cc:79] => Completed observations: 34
I20260707 08:20:45.917008 84886 incremental_mapper.cc:81] => Filtered observations: 201
I20260707 08:20:45.917011 84886 incremental_mapper.cc:90] => Changed observations: 0.112440
I20260707 08:20:45.922075 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:20:45.922109 84886 bundle_adjustment.cc:942]
Residuals : 3236
Parameters : 485
Iterations : 3
Time : 0.00386691 [s]
Initial cost : 0.57764 [px]
Final cost : 0.562655 [px]
Termination : Convergence
I20260707 08:20:45.928340 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:20:45.928359 84886 incremental_mapper.cc:79] => Completed observations: 22
I20260707 08:20:45.928361 84886 incremental_mapper.cc:81] => Filtered observations: 4
I20260707 08:20:45.928364 84886 incremental_mapper.cc:90] => Changed observations: 0.013556
I20260707 08:20:45.933101 84886 misc.cc:198]
==============================================================================
Registering image #225 (179)
==============================================================================
I20260707 08:20:45.933117 84886 incremental_mapper.cc:495] => Image sees 82 / 3937 points
I20260707 08:20:45.935154 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:20:45.935171 84886 bundle_adjustment.cc:942]
Residuals : 126
Parameters : 6
Iterations : 16
Time : 0.000708818 [s]
Initial cost : 0.548308 [px]
Final cost : 0.533305 [px]
Termination : Convergence
I20260707 08:20:45.935210 84886 incremental_mapper.cc:40] => Continued observations: 63
I20260707 08:20:45.943216 84886 incremental_mapper.cc:43] => Added observations: 2606
I20260707 08:20:46.030385 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:20:46.030417 84886 bundle_adjustment.cc:942]
Residuals : 6560
Parameters : 2939
Iterations : 26
Time : 0.084908 [s]
Initial cost : 0.824392 [px]
Final cost : 0.578915 [px]
Termination : No convergence
I20260707 08:20:46.035599 84886 incremental_mapper.cc:78] => Merged observations: 5
I20260707 08:20:46.035620 84886 incremental_mapper.cc:79] => Completed observations: 76
I20260707 08:20:46.035624 84886 incremental_mapper.cc:81] => Filtered observations: 961
I20260707 08:20:46.035625 84886 incremental_mapper.cc:90] => Changed observations: 0.312350
I20260707 08:20:46.040236 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:20:46.040261 84886 bundle_adjustment.cc:942]
Residuals : 2566
Parameters : 359
Iterations : 3
Time : 0.00340796 [s]
Initial cost : 0.615805 [px]
Final cost : 0.603175 [px]
Termination : Convergence
I20260707 08:20:46.048092 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:20:46.048115 84886 incremental_mapper.cc:79] => Completed observations: 23
I20260707 08:20:46.048118 84886 incremental_mapper.cc:81] => Filtered observations: 2
I20260707 08:20:46.048120 84886 incremental_mapper.cc:90] => Changed observations: 0.019455
I20260707 08:20:46.052923 84886 misc.cc:198]
==============================================================================
Registering image #249 (180)
==============================================================================
I20260707 08:20:46.052950 84886 incremental_mapper.cc:495] => Image sees 72 / 4814 points
I20260707 08:20:46.055361 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:20:46.055385 84886 bundle_adjustment.cc:942]
Residuals : 118
Parameters : 6
Iterations : 14
Time : 0.000684023 [s]
Initial cost : 0.696662 [px]
Final cost : 0.575594 [px]
Termination : Convergence
I20260707 08:20:46.055445 84886 incremental_mapper.cc:40] => Continued observations: 59
I20260707 08:20:46.064702 84886 incremental_mapper.cc:43] => Added observations: 354
W20260707 08:20:46.088423 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W20260707 08:20:46.088742 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W20260707 08:20:46.090688 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W20260707 08:20:46.094338 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W20260707 08:20:46.094559 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W20260707 08:20:46.096504 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W20260707 08:20:46.096724 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W20260707 08:20:46.098675 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W20260707 08:20:46.098910 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
I20260707 08:20:46.099049 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:20:46.099063 84886 bundle_adjustment.cc:942]
Residuals : 4098
Parameters : 785
Iterations : 26
Time : 0.0323451 [s]
Initial cost : 1.25381 [px]
Final cost : 1.04035 [px]
Termination : No convergence
I20260707 08:20:46.108170 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:20:46.108186 84886 incremental_mapper.cc:79] => Completed observations: 20
I20260707 08:20:46.108188 84886 incremental_mapper.cc:81] => Filtered observations: 210
I20260707 08:20:46.108191 84886 incremental_mapper.cc:90] => Changed observations: 0.099524
I20260707 08:20:46.116041 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:20:46.116060 84886 bundle_adjustment.cc:942]
Residuals : 3722
Parameters : 533
Iterations : 4
Time : 0.00655603 [s]
Initial cost : 0.568904 [px]
Final cost : 0.556837 [px]
Termination : Convergence
I20260707 08:20:46.125223 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:20:46.125237 84886 incremental_mapper.cc:79] => Completed observations: 53
I20260707 08:20:46.125240 84886 incremental_mapper.cc:81] => Filtered observations: 2
I20260707 08:20:46.125242 84886 incremental_mapper.cc:90] => Changed observations: 0.028826
I20260707 08:20:46.129827 84886 misc.cc:198]
==============================================================================
Registering image #256 (181)
==============================================================================
I20260707 08:20:46.129839 84886 incremental_mapper.cc:495] => Image sees 75 / 3918 points
I20260707 08:20:46.132280 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:20:46.132297 84886 bundle_adjustment.cc:942]
Residuals : 126
Parameters : 6
Iterations : 26
Time : 0.00124812 [s]
Initial cost : 0.528602 [px]
Final cost : 0.494885 [px]
Termination : Convergence
I20260707 08:20:46.132359 84886 incremental_mapper.cc:40] => Continued observations: 63
I20260707 08:20:46.139484 84886 incremental_mapper.cc:43] => Added observations: 168
I20260707 08:20:46.158480 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:20:46.158526 84886 bundle_adjustment.cc:942]
Residuals : 1634
Parameters : 443
Iterations : 26
Time : 0.0179958 [s]
Initial cost : 1.36858 [px]
Final cost : 0.946821 [px]
Termination : No convergence
I20260707 08:20:46.166790 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:20:46.166814 84886 incremental_mapper.cc:79] => Completed observations: 17
I20260707 08:20:46.166818 84886 incremental_mapper.cc:81] => Filtered observations: 96
I20260707 08:20:46.166821 84886 incremental_mapper.cc:90] => Changed observations: 0.126682
I20260707 08:20:46.169665 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:20:46.169700 84886 bundle_adjustment.cc:942]
Residuals : 1228
Parameters : 296
Iterations : 3
Time : 0.00211787 [s]
Initial cost : 0.727309 [px]
Final cost : 0.70955 [px]
Termination : Convergence
I20260707 08:20:46.177438 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:20:46.177453 84886 incremental_mapper.cc:79] => Completed observations: 5
I20260707 08:20:46.177456 84886 incremental_mapper.cc:81] => Filtered observations: 1
I20260707 08:20:46.177459 84886 incremental_mapper.cc:90] => Changed observations: 0.007916
I20260707 08:20:46.182029 84886 misc.cc:198]
==============================================================================
Registering image #239 (182)
==============================================================================
I20260707 08:20:46.182046 84886 incremental_mapper.cc:495] => Image sees 64 / 4135 points
I20260707 08:20:46.183694 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:20:46.183715 84886 bundle_adjustment.cc:942]
Residuals : 120
Parameters : 6
Iterations : 6
Time : 0.000304222 [s]
Initial cost : 0.419819 [px]
Final cost : 0.395796 [px]
Termination : Convergence
I20260707 08:20:46.183756 84886 incremental_mapper.cc:40] => Continued observations: 60
I20260707 08:20:46.189441 84886 incremental_mapper.cc:43] => Added observations: 164
I20260707 08:20:46.208144 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:20:46.208163 84886 bundle_adjustment.cc:942]
Residuals : 1544
Parameters : 434
Iterations : 26
Time : 0.0180211 [s]
Initial cost : 0.891997 [px]
Final cost : 0.727968 [px]
Termination : No convergence
I20260707 08:20:46.213917 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:20:46.213928 84886 incremental_mapper.cc:79] => Completed observations: 23
I20260707 08:20:46.213932 84886 incremental_mapper.cc:81] => Filtered observations: 76
I20260707 08:20:46.213932 84886 incremental_mapper.cc:90] => Changed observations: 0.122525
I20260707 08:20:46.216521 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:20:46.216533 84886 bundle_adjustment.cc:942]
Residuals : 1406
Parameters : 341
Iterations : 3
Time : 0.00204206 [s]
Initial cost : 0.658085 [px]
Final cost : 0.631271 [px]
Termination : Convergence
I20260707 08:20:46.222227 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:20:46.222237 84886 incremental_mapper.cc:79] => Completed observations: 0
I20260707 08:20:46.222239 84886 incremental_mapper.cc:81] => Filtered observations: 3
I20260707 08:20:46.222241 84886 incremental_mapper.cc:90] => Changed observations: 0.004060
I20260707 08:20:46.226660 84886 misc.cc:198]
==============================================================================
Registering image #165 (183)
==============================================================================
I20260707 08:20:46.226681 84886 incremental_mapper.cc:495] => Image sees 38 / 182 points
I20260707 08:20:46.227962 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:20:46.227983 84886 bundle_adjustment.cc:942]
Residuals : 72
Parameters : 6
Iterations : 8
Time : 0.000360012 [s]
Initial cost : 0.443764 [px]
Final cost : 0.43863 [px]
Termination : Convergence
I20260707 08:20:46.228014 84886 incremental_mapper.cc:40] => Continued observations: 35
I20260707 08:20:46.228420 84886 incremental_mapper.cc:43] => Added observations: 9
I20260707 08:20:46.241637 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:20:46.241668 84886 bundle_adjustment.cc:942]
Residuals : 2684
Parameters : 152
Iterations : 11
Time : 0.011764 [s]
Initial cost : 0.554576 [px]
Final cost : 0.550623 [px]
Termination : Convergence
I20260707 08:20:46.243268 84886 incremental_mapper.cc:78] => Merged observations: 9
I20260707 08:20:46.243279 84886 incremental_mapper.cc:79] => Completed observations: 3
I20260707 08:20:46.243292 84886 incremental_mapper.cc:81] => Filtered observations: 5
I20260707 08:20:46.243294 84886 incremental_mapper.cc:90] => Changed observations: 0.010119
I20260707 08:20:46.246654 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:20:46.246668 84886 bundle_adjustment.cc:942]
Residuals : 2676
Parameters : 146
Iterations : 2
Time : 0.002244 [s]
Initial cost : 0.681686 [px]
Final cost : 0.678872 [px]
Termination : Convergence
I20260707 08:20:46.248008 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:20:46.248016 84886 incremental_mapper.cc:79] => Completed observations: 0
I20260707 08:20:46.248019 84886 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 08:20:46.248021 84886 incremental_mapper.cc:90] => Changed observations: 0.000000
I20260707 08:20:46.251312 84886 misc.cc:198]
==============================================================================
Registering image #59 (184)
==============================================================================
I20260707 08:20:46.251322 84886 incremental_mapper.cc:495] => Image sees 44 / 254 points
I20260707 08:20:46.253034 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:20:46.253043 84886 bundle_adjustment.cc:942]
Residuals : 84
Parameters : 6
Iterations : 17
Time : 0.000541925 [s]
Initial cost : 0.593352 [px]
Final cost : 0.550984 [px]
Termination : Convergence
I20260707 08:20:46.253067 84886 incremental_mapper.cc:40] => Continued observations: 42
I20260707 08:20:46.253249 84886 incremental_mapper.cc:43] => Added observations: 14
I20260707 08:20:46.291535 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:20:46.291567 84886 bundle_adjustment.cc:942]
Residuals : 8050
Parameters : 254
Iterations : 11
Time : 0.0347829 [s]
Initial cost : 0.509289 [px]
Final cost : 0.506269 [px]
Termination : Convergence
I20260707 08:20:46.295207 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:20:46.295224 84886 incremental_mapper.cc:79] => Completed observations: 5
I20260707 08:20:46.295228 84886 incremental_mapper.cc:81] => Filtered observations: 8
I20260707 08:20:46.295229 84886 incremental_mapper.cc:90] => Changed observations: 0.002769
I20260707 08:20:46.305621 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:20:46.305642 84886 bundle_adjustment.cc:942]
Residuals : 8044
Parameters : 248
Iterations : 2
Time : 0.007056 [s]
Initial cost : 0.615692 [px]
Final cost : 0.613313 [px]
Termination : Convergence
I20260707 08:20:46.309224 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:20:46.309238 84886 incremental_mapper.cc:79] => Completed observations: 0
I20260707 08:20:46.309242 84886 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 08:20:46.309242 84886 incremental_mapper.cc:90] => Changed observations: 0.000000
I20260707 08:20:46.312683 84886 misc.cc:198]
==============================================================================
Registering image #369 (185)
==============================================================================
I20260707 08:20:46.312696 84886 incremental_mapper.cc:495] => Image sees 29 / 291 points
I20260707 08:20:46.317230 84886 incremental_mapper.cc:535] => Could not register, trying another image.
I20260707 08:20:46.317252 84886 misc.cc:198]
==============================================================================
Registering image #95 (185)
==============================================================================
I20260707 08:20:46.317255 84886 incremental_mapper.cc:495] => Image sees 26 / 2046 points
I20260707 08:20:46.320606 84886 incremental_mapper.cc:535] => Could not register, trying another image.
I20260707 08:20:46.320611 84886 misc.cc:198]
==============================================================================
Registering image #413 (185)
==============================================================================
I20260707 08:20:46.320621 84886 incremental_mapper.cc:495] => Image sees 28 / 1292 points
I20260707 08:20:46.322386 84886 incremental_mapper.cc:535] => Could not register, trying another image.
I20260707 08:20:46.322389 84886 misc.cc:198]
==============================================================================
Registering image #429 (185)
==============================================================================
I20260707 08:20:46.322391 84886 incremental_mapper.cc:495] => Image sees 26 / 3257 points
I20260707 08:20:46.324061 84886 incremental_mapper.cc:535] => Could not register, trying another image.
I20260707 08:20:46.324065 84886 misc.cc:198]
==============================================================================
Registering image #392 (185)
==============================================================================
I20260707 08:20:46.324067 84886 incremental_mapper.cc:495] => Image sees 25 / 355 points
I20260707 08:20:46.331272 84886 incremental_mapper.cc:535] => Could not register, trying another image.
I20260707 08:20:46.331291 84886 misc.cc:198]
==============================================================================
Registering image #16 (185)
==============================================================================
I20260707 08:20:46.331293 84886 incremental_mapper.cc:495] => Image sees 31 / 2281 points
I20260707 08:20:46.332643 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:20:46.332653 84886 bundle_adjustment.cc:942]
Residuals : 52
Parameters : 6
Iterations : 12
Time : 0.000299931 [s]
Initial cost : 0.623188 [px]
Final cost : 0.6125 [px]
Termination : Convergence
I20260707 08:20:46.332679 84886 incremental_mapper.cc:40] => Continued observations: 25
I20260707 08:20:46.332993 84886 incremental_mapper.cc:43] => Added observations: 39
I20260707 08:20:46.388609 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:20:46.388641 84886 bundle_adjustment.cc:942]
Residuals : 6738
Parameters : 200
Iterations : 19
Time : 0.0519118 [s]
Initial cost : 0.488791 [px]
Final cost : 0.481493 [px]
Termination : Convergence
I20260707 08:20:46.392432 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:20:46.392452 84886 incremental_mapper.cc:79] => Completed observations: 2
I20260707 08:20:46.392455 84886 incremental_mapper.cc:81] => Filtered observations: 20
I20260707 08:20:46.392457 84886 incremental_mapper.cc:90] => Changed observations: 0.005411
I20260707 08:20:46.404023 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:20:46.404045 84886 bundle_adjustment.cc:942]
Residuals : 6694
Parameters : 176
Iterations : 3
Time : 0.00860906 [s]
Initial cost : 0.574201 [px]
Final cost : 0.572053 [px]
Termination : Convergence
I20260707 08:20:46.407444 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:20:46.407459 84886 incremental_mapper.cc:79] => Completed observations: 9
I20260707 08:20:46.407461 84886 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 08:20:46.407462 84886 incremental_mapper.cc:90] => Changed observations: 0.002226
I20260707 08:20:46.411597 84886 misc.cc:198]
==============================================================================
Registering image #191 (186)
==============================================================================
I20260707 08:20:46.411616 84886 incremental_mapper.cc:495] => Image sees 38 / 275 points
I20260707 08:20:46.414644 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:20:46.414664 84886 bundle_adjustment.cc:942]
Residuals : 66
Parameters : 6
Iterations : 67
Time : 0.00170207 [s]
Initial cost : 0.590945 [px]
Final cost : 0.558182 [px]
Termination : Convergence
I20260707 08:20:46.414688 84886 incremental_mapper.cc:40] => Continued observations: 33
I20260707 08:20:46.414923 84886 incremental_mapper.cc:43] => Added observations: 61
W20260707 08:20:46.464236 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
I20260707 08:20:46.466521 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:20:46.466540 84886 bundle_adjustment.cc:942]
Residuals : 5494
Parameters : 275
Iterations : 26
Time : 0.048981 [s]
Initial cost : 0.516006 [px]
Final cost : 0.475916 [px]
Termination : No convergence
I20260707 08:20:46.469456 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:20:46.469468 84886 incremental_mapper.cc:79] => Completed observations: 8
I20260707 08:20:46.469471 84886 incremental_mapper.cc:81] => Filtered observations: 35
I20260707 08:20:46.469473 84886 incremental_mapper.cc:90] => Changed observations: 0.013804
I20260707 08:20:46.480702 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:20:46.480723 84886 bundle_adjustment.cc:942]
Residuals : 5414
Parameters : 221
Iterations : 4
Time : 0.00900698 [s]
Initial cost : 0.553328 [px]
Final cost : 0.548224 [px]
Termination : Convergence
I20260707 08:20:46.483338 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:20:46.483350 84886 incremental_mapper.cc:79] => Completed observations: 6
I20260707 08:20:46.483353 84886 incremental_mapper.cc:81] => Filtered observations: 4
I20260707 08:20:46.483355 84886 incremental_mapper.cc:90] => Changed observations: 0.003252
I20260707 08:20:46.486819 84886 misc.cc:198]
==============================================================================
Registering image #21 (187)
==============================================================================
I20260707 08:20:46.486835 84886 incremental_mapper.cc:495] => Image sees 40 / 255 points
I20260707 08:20:46.488488 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:20:46.488505 84886 bundle_adjustment.cc:942]
Residuals : 82
Parameters : 6
Iterations : 16
Time : 0.00056386 [s]
Initial cost : 0.665905 [px]
Final cost : 0.660125 [px]
Termination : Convergence
I20260707 08:20:46.488529 84886 incremental_mapper.cc:40] => Continued observations: 40
I20260707 08:20:46.488693 84886 incremental_mapper.cc:43] => Added observations: 0
I20260707 08:20:46.515229 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:20:46.515262 84886 bundle_adjustment.cc:942]
Residuals : 7976
Parameters : 290
Iterations : 7
Time : 0.0229352 [s]
Initial cost : 0.59145 [px]
Final cost : 0.589605 [px]
Termination : Convergence
I20260707 08:20:46.519217 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:20:46.519236 84886 incremental_mapper.cc:79] => Completed observations: 0
I20260707 08:20:46.519239 84886 incremental_mapper.cc:81] => Filtered observations: 10
I20260707 08:20:46.519241 84886 incremental_mapper.cc:90] => Changed observations: 0.001986
I20260707 08:20:46.531699 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:20:46.531733 84886 bundle_adjustment.cc:942]
Residuals : 9168
Parameters : 401
Iterations : 2
Time : 0.00876093 [s]
Initial cost : 0.688759 [px]
Final cost : 0.687706 [px]
Termination : Convergence
I20260707 08:20:46.535913 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:20:46.535935 84886 incremental_mapper.cc:79] => Completed observations: 0
I20260707 08:20:46.535938 84886 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 08:20:46.535940 84886 incremental_mapper.cc:90] => Changed observations: 0.000000
I20260707 08:20:46.539858 84886 misc.cc:198]
==============================================================================
Registering image #13 (188)
==============================================================================
I20260707 08:20:46.539877 84886 incremental_mapper.cc:495] => Image sees 24 / 377 points
I20260707 08:20:46.541779 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:20:46.541807 84886 bundle_adjustment.cc:942]
Residuals : 40
Parameters : 6
Iterations : 35
Time : 0.000627995 [s]
Initial cost : 0.515901 [px]
Final cost : 0.460996 [px]
Termination : Convergence
I20260707 08:20:46.541833 84886 incremental_mapper.cc:40] => Continued observations: 20
I20260707 08:20:46.541992 84886 incremental_mapper.cc:43] => Added observations: 0
I20260707 08:20:46.579491 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:20:46.579526 84886 bundle_adjustment.cc:942]
Residuals : 6420
Parameters : 533
Iterations : 12
Time : 0.033237 [s]
Initial cost : 0.614179 [px]
Final cost : 0.613229 [px]
Termination : Convergence
I20260707 08:20:46.583719 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:20:46.583741 84886 incremental_mapper.cc:79] => Completed observations: 0
I20260707 08:20:46.583745 84886 incremental_mapper.cc:81] => Filtered observations: 1
I20260707 08:20:46.583748 84886 incremental_mapper.cc:90] => Changed observations: 0.000233
I20260707 08:20:46.583757 84886 misc.cc:198]
==============================================================================
Retriangulation
==============================================================================
I20260707 08:20:46.601851 84886 incremental_mapper.cc:175] => Completed observations: 18
I20260707 08:20:46.629547 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:20:46.629593 84886 incremental_mapper.cc:105] => Retriangulated observations: 514
I20260707 08:20:46.677947 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 2.060564e+05 0.00e+00 4.93e+12 0.00e+00 0.00e+00 1.00e+04 0 1.94e-02 1.82e-01
1 1.287597e+05 7.73e+04 3.79e+12 0.00e+00 9.52e-01 3.00e+04 1 1.14e-01 2.96e-01
2 1.232980e+05 5.46e+03 2.01e+12 6.20e+01 8.78e-01 5.29e+04 1 6.73e-02 3.63e-01
3 1.224868e+05 8.11e+02 3.36e+12 9.65e+01 6.48e-01 5.44e+04 1 6.52e-02 4.28e-01
4 1.220637e+05 4.23e+02 2.01e+12 1.53e+02 8.10e-01 7.15e+04 1 6.03e-02 4.89e-01
5 1.219515e+05 1.12e+02 3.36e+12 2.57e+02 8.12e-01 9.44e+04 1 6.39e-02 5.53e-01
6 1.219054e+05 4.61e+01 2.01e+12 3.62e+02 8.55e-01 1.47e+05 1 6.69e-02 6.20e-01
7 1.218750e+05 3.04e+01 3.36e+12 5.68e+02 8.65e-01 2.40e+05 1 6.71e-02 6.87e-01
8 1.218519e+05 2.31e+01 2.01e+12 9.30e+02 8.79e-01 4.26e+05 1 7.82e-02 7.65e-01
9 1.218299e+05 2.19e+01 3.36e+12 1.65e+03 9.06e-01 9.16e+05 1 6.68e-02 8.32e-01
10 1.217998e+05 3.02e+01 2.01e+12 3.53e+03 9.51e-01 2.75e+06 1 6.35e-02 8.95e-01
11 1.231176e+05 -1.32e+03 2.01e+12 1.04e+04 -2.62e+01 1.37e+06 1 4.95e-02 9.45e-01
12 1.217619e+05 3.79e+01 3.36e+12 5.26e+03 9.59e-01 4.12e+06 1 6.40e-02 1.01e+00
13 1.217309e+05 3.10e+01 2.01e+12 1.55e+04 9.13e-01 9.41e+06 1 6.68e-02 1.08e+00
14 1.217186e+05 1.23e+01 3.36e+12 1.06e+04 8.69e-01 1.58e+07 1 6.63e-02 1.14e+00
15 1.217136e+05 4.94e+00 2.01e+12 1.36e+04 6.55e-01 1.62e+07 1 6.68e-02 1.21e+00
16 1.217345e+05 -2.08e+01 2.01e+12 1.24e+04 -3.59e+00 8.12e+06 1 4.69e-02 1.26e+00
17 1.217104e+05 3.28e+00 3.36e+12 6.23e+03 7.85e-01 9.97e+06 1 5.90e-02 1.31e+00
18 1.217078e+05 2.56e+00 2.01e+12 7.46e+03 9.68e-01 2.99e+07 1 6.83e-02 1.38e+00
19 1.217401e+05 -3.23e+01 2.01e+12 2.19e+04 -8.14e+00 1.50e+07 1 5.16e-02 1.43e+00
20 1.217059e+05 1.94e+00 3.36e+12 1.10e+04 9.47e-01 4.49e+07 1 6.30e-02 1.50e+00
21 1.217920e+05 -8.62e+01 3.36e+12 2.54e+04 -1.90e+01 2.24e+07 1 5.02e-02 1.55e+00
22 1.217036e+05 2.21e+00 2.01e+12 1.27e+04 9.39e-01 6.73e+07 1 6.01e-02 1.61e+00
23 1.217038e+05 -1.82e-01 2.01e+12 2.97e+04 -6.16e-02 3.37e+07 1 4.76e-02 1.66e+00
24 1.217027e+05 9.26e-01 3.36e+12 1.49e+04 5.78e-01 3.38e+07 1 6.46e-02 1.72e+00
25 1.217223e+05 -1.96e+01 3.36e+12 1.28e+04 -6.40e+00 1.69e+07 1 5.49e-02 1.78e+00
26 1.217139e+05 -1.11e+01 3.36e+12 6.43e+03 -5.03e+00 4.22e+06 1 4.97e-02 1.83e+00
27 1.217025e+05 2.13e-01 2.01e+12 1.61e+03 1.47e-01 3.12e+06 1 6.72e-02 1.89e+00
28 1.217020e+05 4.87e-01 3.36e+12 1.18e+03 4.73e-01 3.12e+06 1 7.34e-02 1.97e+00
29 1.217019e+05 9.90e-02 2.01e+12 1.17e+03 2.10e-01 2.62e+06 1 7.25e-02 2.04e+00
30 1.217018e+05 1.30e-01 3.36e+12 9.62e+02 3.80e-01 2.58e+06 1 8.25e-02 2.12e+00
31 1.217017e+05 8.06e-02 2.01e+12 9.32e+02 3.03e-01 2.43e+06 1 8.01e-02 2.20e+00
32 1.217016e+05 8.22e-02 3.36e+12 8.63e+02 4.29e-01 2.42e+06 1 7.42e-02 2.28e+00
33 1.217016e+05 6.80e-02 2.01e+12 8.48e+02 4.29e-01 2.42e+06 1 6.72e-02 2.34e+00
34 1.217015e+05 6.28e-02 3.36e+12 8.33e+02 5.27e-01 2.42e+06 1 6.56e-02 2.41e+00
35 1.217014e+05 5.97e-02 2.01e+12 8.22e+02 5.64e-01 2.42e+06 1 6.50e-02 2.47e+00
36 1.217014e+05 5.38e-02 3.36e+12 8.13e+02 6.39e-01 2.48e+06 1 6.02e-02 2.53e+00
37 1.217013e+05 5.47e-02 2.01e+12 8.21e+02 6.87e-01 2.61e+06 1 6.41e-02 2.60e+00
38 1.217013e+05 5.16e-02 3.36e+12 8.56e+02 7.40e-01 2.94e+06 1 6.94e-02 2.67e+00
39 1.217012e+05 5.81e-02 2.01e+12 9.51e+02 7.70e-01 3.49e+06 1 7.24e-02 2.74e+00
40 1.217012e+05 6.12e-02 3.36e+12 1.11e+03 7.78e-01 4.21e+06 1 7.59e-02 2.82e+00
41 1.217011e+05 7.40e-02 2.01e+12 1.31e+03 7.51e-01 4.82e+06 1 6.49e-02 2.88e+00
42 1.217010e+05 7.10e-02 3.36e+12 1.45e+03 6.67e-01 5.01e+06 1 6.87e-02 2.95e+00
43 1.217009e+05 7.17e-02 2.01e+12 1.46e+03 5.26e-01 5.01e+06 1 7.16e-02 3.02e+00
44 1.217009e+05 5.43e-02 3.36e+12 1.41e+03 3.63e-01 4.91e+06 1 7.27e-02 3.09e+00
45 1.217008e+05 3.97e-02 2.01e+12 1.34e+03 1.83e-01 3.91e+06 1 7.30e-02 3.17e+00
46 1.217008e+05 4.76e-02 3.36e+12 1.04e+03 1.96e-01 3.20e+06 1 9.52e-02 3.26e+00
47 1.217008e+05 3.33e-02 2.01e+12 8.29e+02 1.20e-01 2.22e+06 1 1.18e-01 3.38e+00
48 1.217007e+05 7.65e-02 3.36e+12 5.67e+02 3.48e-01 2.16e+06 1 1.13e-01 3.49e+00
49 1.217006e+05 4.10e-02 2.01e+12 5.45e+02 3.03e-01 2.04e+06 1 9.94e-02 3.59e+00
50 1.217006e+05 3.81e-02 3.36e+12 5.08e+02 4.41e-01 2.03e+06 1 1.16e-01 3.71e+00
I20260707 08:20:50.483485 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:20:50.483548 84886 bundle_adjustment.cc:942]
Residuals : 182244
Parameters : 59276
Iterations : 51
Time : 3.71988 [s]
Initial cost : 1.06333 [px]
Final cost : 0.817184 [px]
Termination : No convergence
I20260707 08:20:50.561630 84886 incremental_mapper.cc:175] => Completed observations: 53
I20260707 08:20:50.595836 84886 incremental_mapper.cc:178] => Merged observations: 12
I20260707 08:20:50.610983 84886 incremental_mapper.cc:160] => Filtered observations: 548
I20260707 08:20:50.611037 84886 incremental_mapper.cc:119] => Changed observations: 0.006727
I20260707 08:20:50.611090 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 7.110546e+04 0.00e+00 1.17e+13 0.00e+00 0.00e+00 1.00e+04 0 2.65e-02 2.66e-01
1 6.967548e+04 1.43e+03 1.17e+13 0.00e+00 9.83e-01 3.00e+04 1 1.62e-01 4.28e-01
2 6.953990e+04 1.36e+02 1.19e+13 6.63e+00 1.01e+00 9.00e+04 1 8.61e-02 5.14e-01
3 6.951587e+04 2.40e+01 1.68e+13 3.39e+00 1.03e+00 2.70e+05 1 9.50e-02 6.09e-01
4 6.951070e+04 5.17e+00 1.34e+13 1.68e+00 1.04e+00 8.10e+05 1 1.14e-01 7.24e-01
5 6.950927e+04 1.43e+00 1.62e+13 6.92e-01 1.02e+00 2.43e+06 1 7.62e-02 8.00e-01
6 6.950877e+04 5.05e-01 1.35e+13 2.16e-01 1.01e+00 7.29e+06 1 8.29e-02 8.83e-01
7 6.950869e+04 7.58e-02 1.62e+13 1.07e-01 9.97e-01 2.19e+07 1 6.54e-02 9.48e-01
8 6.950869e+04 4.32e-03 1.35e+13 3.57e-02 7.18e-01 2.38e+07 1 6.75e-02 1.02e+00
9 6.950869e+04 1.35e-03 7.99e+12 1.97e-02 6.14e-01 2.41e+07 1 7.81e-02 1.09e+00
10 6.950869e+04 7.21e-04 4.36e+12 7.88e-03 7.86e-01 2.97e+07 1 7.61e-02 1.17e+00
11 6.950869e+04 -1.43e-04 4.36e+12 4.06e-03 -4.34e-01 1.48e+07 1 5.15e-02 1.22e+00
12 6.950869e+04 -2.29e-04 4.36e+12 4.05e-03 -8.36e-01 3.71e+06 1 4.64e-02 1.27e+00
13 6.950869e+04 -2.85e-04 4.36e+12 4.04e-03 -1.23e+00 4.64e+05 1 4.46e-02 1.31e+00
14 6.950869e+04 -3.20e-04 4.36e+12 3.96e-03 -1.45e+00 2.90e+04 1 4.62e-02 1.36e+00
15 6.950869e+04 -2.29e-04 4.36e+12 3.03e-03 -1.05e+00 9.06e+02 1 4.74e-02 1.41e+00
16 6.950869e+04 -3.09e-04 4.36e+12 3.28e-04 -1.42e+00 1.42e+01 1 4.76e-02 1.45e+00
17 6.950869e+04 -2.92e-04 4.36e+12 1.43e-05 -1.35e+00 1.11e-01 1 4.60e-02 1.50e+00
18 6.950869e+04 3.03e-05 4.15e+12 2.57e-07 2.59e-01 9.95e-02 1 6.08e-02 1.56e+00
19 6.950869e+04 1.74e-05 4.04e+12 2.11e-07 2.03e-01 8.22e-02 1 6.15e-02 1.62e+00
20 6.950869e+04 7.04e-06 4.02e+12 1.62e-07 1.04e-01 5.49e-02 1 6.30e-02 1.69e+00
21 6.950869e+04 -2.17e-06 4.02e+12 1.04e-07 -4.31e-02 2.75e-02 1 5.01e-02 1.74e+00
22 6.950869e+04 5.23e-07 4.01e+12 5.29e-08 1.82e-02 1.45e-02 1 6.35e-02 1.80e+00
23 6.950869e+04 -3.47e-06 4.01e+12 2.76e-08 -2.15e-01 7.25e-03 1 5.51e-02 1.85e+00
24 6.950869e+04 2.01e-07 4.01e+12 1.39e-08 2.39e-02 3.89e-03 1 7.13e-02 1.93e+00
25 6.950869e+04 1.34e-07 4.01e+12 7.42e-09 2.90e-02 2.12e-03 1 7.19e-02 2.00e+00
26 6.950869e+04 6.65e-08 4.01e+12 4.04e-09 2.63e-02 1.14e-03 1 6.57e-02 2.06e+00
27 6.950869e+04 6.65e-08 4.01e+12 2.18e-09 4.84e-02 6.59e-04 1 6.75e-02 2.13e+00
28 6.950869e+04 2.91e-11 4.01e+12 1.25e-09 0.00e+00 3.30e-04 1 5.39e-02 2.19e+00
29 6.950869e+04 4.37e-11 4.01e+12 6.27e-10 3.66e-05 8.24e-05 1 4.43e-02 2.23e+00
30 6.950869e+04 1.46e-11 4.01e+12 1.57e-10 -1.46e-04 1.03e-05 1 4.68e-02 2.28e+00
31 6.950869e+04 5.82e-11 4.01e+12 1.96e-11 2.34e-03 5.19e-06 1 6.38e-02 2.34e+00
32 6.950869e+04 1.46e-11 4.01e+12 9.87e-12 -6.96e-03 2.59e-06 1 5.10e-02 2.39e+00
33 6.950869e+04 -8.73e-11 4.01e+12 4.93e-12 -4.64e-02 6.48e-07 1 5.79e-02 2.45e+00
34 6.950869e+04 1.46e-11 4.01e+12 1.23e-12 -5.57e-02 8.10e-08 1 5.55e-02 2.50e+00
35 6.950869e+04 -2.91e-11 4.01e+12 1.54e-13 -8.91e-01 5.06e-09 1 7.53e-02 2.58e+00
36 6.950869e+04 -5.82e-11 4.01e+12 9.43e-15 -1.90e+01 1.58e-10 1 7.22e-02 2.65e+00
I20260707 08:20:53.450981 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:20:53.451041 84886 bundle_adjustment.cc:942]
Residuals : 180982
Parameters : 58601
Iterations : 37
Time : 2.72626 [s]
Initial cost : 0.626807 [px]
Final cost : 0.619729 [px]
Termination : Convergence
I20260707 08:20:53.532491 84886 incremental_mapper.cc:175] => Completed observations: 36
I20260707 08:20:53.573278 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:20:53.588966 84886 incremental_mapper.cc:160] => Filtered observations: 38
I20260707 08:20:53.589013 84886 incremental_mapper.cc:119] => Changed observations: 0.000818
I20260707 08:20:53.589038 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 6.935890e+04 0.00e+00 1.21e+12 0.00e+00 0.00e+00 1.00e+04 0 3.01e-02 3.39e-01
1 6.918087e+04 1.78e+02 1.27e+12 0.00e+00 9.96e-01 3.00e+04 1 1.82e-01 5.21e-01
2 6.917846e+04 2.41e+00 1.26e+12 1.56e+00 1.02e+00 9.00e+04 1 1.04e-01 6.25e-01
3 6.917824e+04 2.15e-01 1.26e+12 6.73e-01 1.07e+00 2.70e+05 1 9.24e-02 7.18e-01
4 6.917822e+04 2.33e-02 1.26e+12 2.73e-01 1.11e+00 8.10e+05 1 8.70e-02 8.05e-01
5 6.917822e+04 3.92e-03 1.26e+12 1.11e-01 1.13e+00 2.43e+06 1 1.27e-01 9.32e-01
6 6.917822e+04 8.93e-04 1.26e+12 5.41e-02 1.12e+00 7.29e+06 1 1.23e-01 1.05e+00
7 6.917822e+04 1.47e-04 1.28e+12 2.32e-02 8.43e-01 1.08e+07 1 8.90e-02 1.14e+00
8 6.917822e+04 9.71e-05 1.22e+12 9.43e-03 1.44e+00 3.23e+07 1 1.02e-01 1.25e+00
9 6.917822e+04 9.09e-05 1.24e+12 3.78e-03 6.77e-01 3.38e+07 1 7.86e-02 1.32e+00
10 6.917822e+04 1.62e-04 1.26e+12 1.56e-03 1.18e+00 1.01e+08 1 9.43e-02 1.42e+00
11 6.917822e+04 3.60e-04 1.21e+12 6.44e-04 9.52e-01 3.04e+08 1 7.52e-02 1.49e+00
W20260707 08:20:55.240258 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
12 6.917822e+04 0.00e+00 1.21e+12 0.00e+00 0.00e+00 1.52e+08 1 4.76e-02 1.54e+00
13 6.917822e+04 1.05e-04 4.77e+12 2.70e-04 1.93e-01 1.24e+08 1 6.52e-02 1.61e+00
14 6.917822e+04 -3.27e-03 4.77e+12 1.12e-04 -4.18e+00 6.18e+07 1 5.38e-02 1.66e+00
15 6.917822e+04 3.83e-04 4.08e+12 1.12e-04 6.62e-01 6.39e+07 1 1.71e-01 1.83e+00
16 6.917821e+04 3.07e-04 3.87e+12 4.69e-05 7.88e-01 7.91e+07 1 1.51e-01 1.98e+00
17 6.917821e+04 2.78e-04 3.76e+12 1.96e-05 6.81e-01 8.31e+07 1 1.67e-01 2.15e+00
W20260707 08:20:55.916401 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
18 6.917821e+04 0.00e+00 3.76e+12 0.00e+00 0.00e+00 4.15e+07 1 6.78e-02 2.22e+00
19 6.917821e+04 1.05e-04 3.72e+12 8.22e-06 3.84e-01 4.10e+07 1 2.04e-01 2.42e+00
20 6.917821e+04 1.57e-04 3.69e+12 3.53e-06 5.83e-01 4.12e+07 1 2.68e-01 2.69e+00
21 6.917821e+04 -3.01e-04 3.69e+12 1.72e-06 -1.13e+00 2.06e+07 1 1.88e-01 2.88e+00
22 6.917821e+04 -3.96e-04 3.69e+12 1.49e-06 -1.95e+00 5.15e+06 1 1.09e-01 2.99e+00
23 6.917821e+04 -3.45e-04 3.69e+12 1.40e-06 -2.23e+00 6.44e+05 1 1.27e-01 3.11e+00
24 6.917821e+04 -3.43e-04 3.69e+12 1.36e-06 -2.44e+00 4.02e+04 1 1.27e-01 3.24e+00
25 6.917821e+04 -3.99e-04 3.69e+12 1.09e-06 -2.87e+00 1.26e+03 1 1.31e-01 3.37e+00
26 6.917821e+04 -3.98e-04 3.69e+12 1.28e-07 -2.86e+00 1.97e+01 1 1.48e-01 3.52e+00
27 6.917821e+04 -3.82e-04 3.69e+12 5.91e-09 -2.76e+00 1.54e-01 1 1.43e-01 3.66e+00
28 6.917821e+04 5.45e-06 3.68e+12 1.10e-10 6.97e-02 9.38e-02 1 1.87e-01 3.85e+00
29 6.917821e+04 4.45e-06 3.68e+12 6.18e-11 7.63e-02 5.83e-02 1 1.89e-01 4.04e+00
30 6.917821e+04 -1.22e-06 3.68e+12 3.67e-11 -2.94e-02 2.91e-02 1 1.25e-01 4.17e+00
31 6.917821e+04 3.71e-07 3.67e+12 1.88e-11 1.57e-02 1.53e-02 1 2.15e-01 4.38e+00
32 6.917821e+04 -2.42e-06 3.67e+12 9.70e-12 -1.83e-01 7.63e-03 1 1.35e-01 4.51e+00
33 6.917821e+04 -3.94e-07 3.67e+12 4.88e-12 -5.73e-02 1.91e-03 1 1.45e-01 4.66e+00
34 6.917821e+04 -3.93e-07 3.67e+12 1.23e-12 -2.22e-01 2.39e-04 1 1.69e-01 4.83e+00
35 6.917821e+04 -5.82e-11 3.67e+12 1.53e-13 -5.21e-04 1.49e-05 1 1.55e-01 4.98e+00
36 6.917821e+04 8.73e-11 3.67e+12 9.25e-15 2.08e-03 7.50e-06 1 2.17e-01 5.20e+00
37 6.917821e+04 1.46e-11 3.67e+12 4.75e-15 0.00e+00 3.75e-06 1 1.50e-01 5.35e+00
38 6.917821e+04 1.02e-10 3.67e+12 1.90e-15 2.48e-02 2.02e-06 1 1.97e-01 5.55e+00
39 6.917821e+04 1.16e-10 3.67e+12 1.26e-15 -7.69e-02 1.01e-06 1 1.88e-01 5.74e+00
40 6.917821e+04 1.75e-10 3.67e+12 1.00e-18 -9.23e-02 2.52e-07 1 1.65e-01 5.90e+00
41 6.917821e+04 2.33e-10 3.67e+12 1.09e-19 -1.23e-01 3.15e-08 1 1.56e-01 6.06e+00
I20260707 08:20:59.924969 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:20:59.925175 84886 bundle_adjustment.cc:942]
Residuals : 180958
Parameters : 58559
Iterations : 42
Time : 6.19747 [s]
Initial cost : 0.619102 [px]
Final cost : 0.618295 [px]
Termination : Convergence
I20260707 08:21:00.132117 84886 incremental_mapper.cc:175] => Completed observations: 5
I20260707 08:21:00.223861 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:21:00.280952 84886 incremental_mapper.cc:160] => Filtered observations: 12
I20260707 08:21:00.281041 84886 incremental_mapper.cc:119] => Changed observations: 0.000188
I20260707 08:21:00.281190 84886 incremental_mapper.cc:167] => Filtered images: 0
I20260707 08:21:00.291922 84886 misc.cc:198]
==============================================================================
Registering image #430 (189)
==============================================================================
I20260707 08:21:00.291987 84886 incremental_mapper.cc:495] => Image sees 21 / 304 points
I20260707 08:21:00.297468 84886 incremental_mapper.cc:535] => Could not register, trying another image.
I20260707 08:21:00.297844 84886 misc.cc:198]
==============================================================================
Registering image #133 (189)
==============================================================================
I20260707 08:21:00.297904 84886 incremental_mapper.cc:495] => Image sees 34 / 157 points
I20260707 08:21:00.302677 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:21:00.302834 84886 bundle_adjustment.cc:942]
Residuals : 64
Parameters : 6
Iterations : 10
Time : 0.000841856 [s]
Initial cost : 0.606521 [px]
Final cost : 0.592289 [px]
Termination : Convergence
I20260707 08:21:00.303035 84886 incremental_mapper.cc:40] => Continued observations: 32
I20260707 08:21:00.306996 84886 incremental_mapper.cc:43] => Added observations: 18
I20260707 08:21:00.622984 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:21:00.623304 84886 bundle_adjustment.cc:942]
Residuals : 6714
Parameters : 443
Iterations : 24
Time : 0.30278 [s]
Initial cost : 0.6707 [px]
Final cost : 0.66715 [px]
Termination : Convergence
I20260707 08:21:00.656666 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:21:00.656795 84886 incremental_mapper.cc:79] => Completed observations: 6
I20260707 08:21:00.656802 84886 incremental_mapper.cc:81] => Filtered observations: 22
I20260707 08:21:00.656807 84886 incremental_mapper.cc:90] => Changed observations: 0.006393
I20260707 08:21:00.716970 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:21:00.717255 84886 bundle_adjustment.cc:942]
Residuals : 6706
Parameters : 440
Iterations : 3
Time : 0.052645 [s]
Initial cost : 0.846965 [px]
Final cost : 0.843023 [px]
Termination : Convergence
I20260707 08:21:00.744805 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:21:00.745056 84886 incremental_mapper.cc:79] => Completed observations: 6
I20260707 08:21:00.745075 84886 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 08:21:00.745085 84886 incremental_mapper.cc:90] => Changed observations: 0.001371
I20260707 08:21:00.764961 84886 misc.cc:198]
==============================================================================
Registering image #262 (190)
==============================================================================
I20260707 08:21:00.765081 84886 incremental_mapper.cc:495] => Image sees 25 / 1997 points
I20260707 08:21:00.767495 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:21:00.767594 84886 bundle_adjustment.cc:942]
Residuals : 40
Parameters : 6
Iterations : 13
Time : 0.000565767 [s]
Initial cost : 0.517232 [px]
Final cost : 0.488872 [px]
Termination : Convergence
I20260707 08:21:00.767664 84886 incremental_mapper.cc:40] => Continued observations: 20
I20260707 08:21:00.772893 84886 incremental_mapper.cc:43] => Added observations: 756
I20260707 08:21:00.888556 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:21:00.888706 84886 bundle_adjustment.cc:942]
Residuals : 2766
Parameters : 935
Iterations : 26
Time : 0.110844 [s]
Initial cost : 1.37209 [px]
Final cost : 1.13496 [px]
Termination : No convergence
I20260707 08:21:00.897127 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:21:00.897228 84886 incremental_mapper.cc:79] => Completed observations: 157
I20260707 08:21:00.897239 84886 incremental_mapper.cc:81] => Filtered observations: 218
I20260707 08:21:00.897244 84886 incremental_mapper.cc:90] => Changed observations: 0.260417
I20260707 08:21:00.921772 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:21:00.921856 84886 bundle_adjustment.cc:942]
Residuals : 2512
Parameters : 698
Iterations : 5
Time : 0.0206029 [s]
Initial cost : 0.674921 [px]
Final cost : 0.578627 [px]
Termination : Convergence
I20260707 08:21:00.926924 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:21:00.926991 84886 incremental_mapper.cc:79] => Completed observations: 97
I20260707 08:21:00.926996 84886 incremental_mapper.cc:81] => Filtered observations: 4
I20260707 08:21:00.926999 84886 incremental_mapper.cc:90] => Changed observations: 0.075940
I20260707 08:21:00.935860 84886 misc.cc:198]
==============================================================================
Registering image #275 (191)
==============================================================================
I20260707 08:21:00.935915 84886 incremental_mapper.cc:495] => Image sees 198 / 2210 points
I20260707 08:21:00.939448 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:21:00.939512 84886 bundle_adjustment.cc:942]
Residuals : 382
Parameters : 6
Iterations : 8
Time : 0.00145292 [s]
Initial cost : 0.467565 [px]
Final cost : 0.417907 [px]
Termination : Convergence
I20260707 08:21:00.939831 84886 incremental_mapper.cc:40] => Continued observations: 191
I20260707 08:21:00.943507 84886 incremental_mapper.cc:43] => Added observations: 746
I20260707 08:21:01.042635 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:21:01.042879 84886 bundle_adjustment.cc:942]
Residuals : 4532
Parameters : 1625
Iterations : 26
Time : 0.0957599 [s]
Initial cost : 1.07598 [px]
Final cost : 0.939556 [px]
Termination : No convergence
I20260707 08:21:01.067359 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:21:01.067512 84886 incremental_mapper.cc:79] => Completed observations: 80
I20260707 08:21:01.067530 84886 incremental_mapper.cc:81] => Filtered observations: 260
I20260707 08:21:01.067538 84886 incremental_mapper.cc:90] => Changed observations: 0.148992
W20260707 08:21:01.172549 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W20260707 08:21:01.178398 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W20260707 08:21:01.179502 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W20260707 08:21:01.180505 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W20260707 08:21:01.196019 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W20260707 08:21:01.197196 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W20260707 08:21:01.203056 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
I20260707 08:21:01.203956 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:21:01.204044 84886 bundle_adjustment.cc:942]
Residuals : 3848
Parameters : 1325
Iterations : 26
Time : 0.127289 [s]
Initial cost : 0.659249 [px]
Final cost : 0.612174 [px]
Termination : No convergence
I20260707 08:21:01.216007 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:21:01.216114 84886 incremental_mapper.cc:79] => Completed observations: 82
I20260707 08:21:01.216120 84886 incremental_mapper.cc:81] => Filtered observations: 9
I20260707 08:21:01.216122 84886 incremental_mapper.cc:90] => Changed observations: 0.044111
I20260707 08:21:01.229287 84886 misc.cc:198]
==============================================================================
Registering image #261 (192)
==============================================================================
I20260707 08:21:01.229400 84886 incremental_mapper.cc:495] => Image sees 279 / 1422 points
I20260707 08:21:01.237673 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:21:01.237794 84886 bundle_adjustment.cc:942]
Residuals : 544
Parameters : 6
Iterations : 9
Time : 0.00454116 [s]
Initial cost : 0.540463 [px]
Final cost : 0.481127 [px]
Termination : Convergence
I20260707 08:21:01.238566 84886 incremental_mapper.cc:40] => Continued observations: 271
I20260707 08:21:01.244709 84886 incremental_mapper.cc:43] => Added observations: 441
W20260707 08:21:01.367834 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W20260707 08:21:01.374092 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W20260707 08:21:01.379354 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W20260707 08:21:01.380123 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W20260707 08:21:01.380856 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
I20260707 08:21:01.390751 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:21:01.390842 84886 bundle_adjustment.cc:942]
Residuals : 5262
Parameters : 1739
Iterations : 26
Time : 0.139566 [s]
Initial cost : 0.84235 [px]
Final cost : 0.720546 [px]
Termination : No convergence
I20260707 08:21:01.400595 84886 incremental_mapper.cc:78] => Merged observations: 13
I20260707 08:21:01.400667 84886 incremental_mapper.cc:79] => Completed observations: 154
I20260707 08:21:01.400672 84886 incremental_mapper.cc:81] => Filtered observations: 168
I20260707 08:21:01.400676 84886 incremental_mapper.cc:90] => Changed observations: 0.125468
I20260707 08:21:01.441627 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:21:01.441721 84886 bundle_adjustment.cc:942]
Residuals : 5098
Parameters : 1517
Iterations : 9
Time : 0.0374119 [s]
Initial cost : 0.591962 [px]
Final cost : 0.565484 [px]
Termination : Convergence
I20260707 08:21:01.449402 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:21:01.449461 84886 incremental_mapper.cc:79] => Completed observations: 53
I20260707 08:21:01.449466 84886 incremental_mapper.cc:81] => Filtered observations: 5
I20260707 08:21:01.449469 84886 incremental_mapper.cc:90] => Changed observations: 0.022437
I20260707 08:21:01.460228 84886 misc.cc:198]
==============================================================================
Registering image #255 (193)
==============================================================================
I20260707 08:21:01.460309 84886 incremental_mapper.cc:495] => Image sees 88 / 1781 points
I20260707 08:21:01.463304 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:21:01.463351 84886 bundle_adjustment.cc:942]
Residuals : 158
Parameters : 6
Iterations : 6
Time : 0.000858068 [s]
Initial cost : 0.338042 [px]
Final cost : 0.331378 [px]
Termination : Convergence
I20260707 08:21:01.463503 84886 incremental_mapper.cc:40] => Continued observations: 79
I20260707 08:21:01.465917 84886 incremental_mapper.cc:43] => Added observations: 225
I20260707 08:21:01.547911 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:21:01.547999 84886 bundle_adjustment.cc:942]
Residuals : 2492
Parameters : 560
Iterations : 26
Time : 0.0769281 [s]
Initial cost : 1.38549 [px]
Final cost : 1.02839 [px]
Termination : No convergence
I20260707 08:21:01.553079 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:21:01.553146 84886 incremental_mapper.cc:79] => Completed observations: 22
I20260707 08:21:01.553154 84886 incremental_mapper.cc:81] => Filtered observations: 203
I20260707 08:21:01.553159 84886 incremental_mapper.cc:90] => Changed observations: 0.138206
I20260707 08:21:01.578862 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:21:01.578984 84886 bundle_adjustment.cc:942]
Residuals : 2514
Parameters : 440
Iterations : 7
Time : 0.0229681 [s]
Initial cost : 0.728425 [px]
Final cost : 0.69382 [px]
Termination : Convergence
I20260707 08:21:01.589116 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:21:01.589237 84886 incremental_mapper.cc:79] => Completed observations: 44
I20260707 08:21:01.589251 84886 incremental_mapper.cc:81] => Filtered observations: 2
I20260707 08:21:01.589257 84886 incremental_mapper.cc:90] => Changed observations: 0.027300
I20260707 08:21:01.603652 84886 misc.cc:198]
==============================================================================
Registering image #271 (194)
==============================================================================
I20260707 08:21:01.603771 84886 incremental_mapper.cc:495] => Image sees 112 / 953 points
I20260707 08:21:01.611202 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:21:01.611326 84886 bundle_adjustment.cc:942]
Residuals : 200
Parameters : 6
Iterations : 7
Time : 0.00132489 [s]
Initial cost : 0.453488 [px]
Final cost : 0.45004 [px]
Termination : Convergence
I20260707 08:21:01.611639 84886 incremental_mapper.cc:40] => Continued observations: 100
I20260707 08:21:01.612979 84886 incremental_mapper.cc:43] => Added observations: 138
I20260707 08:21:01.710824 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:21:01.710918 84886 bundle_adjustment.cc:942]
Residuals : 3110
Parameters : 572
Iterations : 26
Time : 0.093617 [s]
Initial cost : 0.64623 [px]
Final cost : 0.602856 [px]
Termination : No convergence
I20260707 08:21:01.715000 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:21:01.715057 84886 incremental_mapper.cc:79] => Completed observations: 18
I20260707 08:21:01.715062 84886 incremental_mapper.cc:81] => Filtered observations: 38
I20260707 08:21:01.715067 84886 incremental_mapper.cc:90] => Changed observations: 0.029365
I20260707 08:21:01.759737 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:21:01.759838 84886 bundle_adjustment.cc:942]
Residuals : 3056
Parameters : 527
Iterations : 9
Time : 0.041893 [s]
Initial cost : 0.628943 [px]
Final cost : 0.62023 [px]
Termination : Convergence
I20260707 08:21:01.764623 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:21:01.764706 84886 incremental_mapper.cc:79] => Completed observations: 6
I20260707 08:21:01.764712 84886 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 08:21:01.764717 84886 incremental_mapper.cc:90] => Changed observations: 0.003191
I20260707 08:21:01.775789 84886 misc.cc:198]
==============================================================================
Registering image #210 (195)
==============================================================================
I20260707 08:21:01.775852 84886 incremental_mapper.cc:495] => Image sees 95 / 1638 points
I20260707 08:21:01.781279 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:21:01.781355 84886 bundle_adjustment.cc:942]
Residuals : 140
Parameters : 6
Iterations : 24
Time : 0.00284791 [s]
Initial cost : 0.794199 [px]
Final cost : 0.717442 [px]
Termination : Convergence
I20260707 08:21:01.781513 84886 incremental_mapper.cc:40] => Continued observations: 70
I20260707 08:21:01.786003 84886 incremental_mapper.cc:43] => Added observations: 1104
I20260707 08:21:01.926576 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:21:01.926736 84886 bundle_adjustment.cc:942]
Residuals : 5300
Parameters : 1427
Iterations : 26
Time : 0.135081 [s]
Initial cost : 2.09812 [px]
Final cost : 1.03261 [px]
Termination : No convergence
I20260707 08:21:01.938505 84886 incremental_mapper.cc:78] => Merged observations: 10
I20260707 08:21:01.938585 84886 incremental_mapper.cc:79] => Completed observations: 69
I20260707 08:21:01.938592 84886 incremental_mapper.cc:81] => Filtered observations: 291
I20260707 08:21:01.938596 84886 incremental_mapper.cc:90] => Changed observations: 0.120757
I20260707 08:21:01.976567 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:21:01.976696 84886 bundle_adjustment.cc:942]
Residuals : 4398
Parameters : 1238
Iterations : 5
Time : 0.0339072 [s]
Initial cost : 0.641227 [px]
Final cost : 0.572119 [px]
Termination : Convergence
I20260707 08:21:01.984793 84886 incremental_mapper.cc:78] => Merged observations: 4
I20260707 08:21:01.984907 84886 incremental_mapper.cc:79] => Completed observations: 129
I20260707 08:21:01.984915 84886 incremental_mapper.cc:81] => Filtered observations: 4
I20260707 08:21:01.984918 84886 incremental_mapper.cc:90] => Changed observations: 0.054844
I20260707 08:21:01.996914 84886 misc.cc:198]
==============================================================================
Registering image #238 (196)
==============================================================================
I20260707 08:21:01.997020 84886 incremental_mapper.cc:495] => Image sees 34 / 3189 points
I20260707 08:21:02.003849 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:21:02.004087 84886 bundle_adjustment.cc:942]
Residuals : 32
Parameters : 6
Iterations : 20
Time : 0.00102592 [s]
Initial cost : 0.915438 [px]
Final cost : 0.874006 [px]
Termination : Convergence
I20260707 08:21:02.004391 84886 incremental_mapper.cc:40] => Continued observations: 16
I20260707 08:21:02.008513 84886 incremental_mapper.cc:43] => Added observations: 670
I20260707 08:21:02.088730 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:21:02.088852 84886 bundle_adjustment.cc:942]
Residuals : 3236
Parameters : 989
Iterations : 14
Time : 0.076288 [s]
Initial cost : 1.40303 [px]
Final cost : 0.435253 [px]
Termination : Convergence
I20260707 08:21:02.101831 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:21:02.101965 84886 incremental_mapper.cc:79] => Completed observations: 38
I20260707 08:21:02.101984 84886 incremental_mapper.cc:81] => Filtered observations: 20
I20260707 08:21:02.101989 84886 incremental_mapper.cc:90] => Changed observations: 0.033623
I20260707 08:21:02.134258 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:21:02.134367 84886 bundle_adjustment.cc:942]
Residuals : 3262
Parameters : 971
Iterations : 5
Time : 0.0260911 [s]
Initial cost : 0.552691 [px]
Final cost : 0.547953 [px]
Termination : Convergence
I20260707 08:21:02.139349 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:21:02.139412 84886 incremental_mapper.cc:79] => Completed observations: 1
I20260707 08:21:02.139417 84886 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 08:21:02.139421 84886 incremental_mapper.cc:90] => Changed observations: 0.000478
I20260707 08:21:02.154924 84886 misc.cc:198]
==============================================================================
Registering image #241 (197)
==============================================================================
I20260707 08:21:02.155033 84886 incremental_mapper.cc:495] => Image sees 185 / 2047 points
I20260707 08:21:02.160701 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:21:02.160781 84886 bundle_adjustment.cc:942]
Residuals : 314
Parameters : 6
Iterations : 9
Time : 0.00244999 [s]
Initial cost : 0.297357 [px]
Final cost : 0.293481 [px]
Termination : Convergence
I20260707 08:21:02.161108 84886 incremental_mapper.cc:40] => Continued observations: 157
I20260707 08:21:02.164300 84886 incremental_mapper.cc:43] => Added observations: 128
I20260707 08:21:02.290424 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:21:02.290527 84886 bundle_adjustment.cc:942]
Residuals : 3418
Parameters : 848
Iterations : 26
Time : 0.122346 [s]
Initial cost : 0.607704 [px]
Final cost : 0.517695 [px]
Termination : No convergence
I20260707 08:21:02.299975 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:21:02.300074 84886 incremental_mapper.cc:79] => Completed observations: 20
I20260707 08:21:02.300088 84886 incremental_mapper.cc:81] => Filtered observations: 45
I20260707 08:21:02.300096 84886 incremental_mapper.cc:90] => Changed observations: 0.035852
I20260707 08:21:02.321919 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:21:02.322168 84886 bundle_adjustment.cc:942]
Residuals : 3350
Parameters : 779
Iterations : 3
Time : 0.014194 [s]
Initial cost : 0.558409 [px]
Final cost : 0.549974 [px]
Termination : Convergence
I20260707 08:21:02.333909 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:21:02.333977 84886 incremental_mapper.cc:79] => Completed observations: 2
I20260707 08:21:02.333983 84886 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 08:21:02.333987 84886 incremental_mapper.cc:90] => Changed observations: 0.000937
I20260707 08:21:02.348264 84886 misc.cc:198]
==============================================================================
Registering image #237 (198)
==============================================================================
I20260707 08:21:02.348372 84886 incremental_mapper.cc:495] => Image sees 73 / 1612 points
I20260707 08:21:02.351985 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:21:02.352097 84886 bundle_adjustment.cc:942]
Residuals : 104
Parameters : 6
Iterations : 10
Time : 0.000980854 [s]
Initial cost : 0.366592 [px]
Final cost : 0.35186 [px]
Termination : Convergence
I20260707 08:21:02.352305 84886 incremental_mapper.cc:40] => Continued observations: 52
I20260707 08:21:02.358297 84886 incremental_mapper.cc:43] => Added observations: 125
I20260707 08:21:02.451269 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:21:02.451391 84886 bundle_adjustment.cc:942]
Residuals : 3074
Parameters : 479
Iterations : 23
Time : 0.089458 [s]
Initial cost : 0.637572 [px]
Final cost : 0.520064 [px]
Termination : Convergence
I20260707 08:21:02.458314 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:21:02.458351 84886 incremental_mapper.cc:79] => Completed observations: 8
I20260707 08:21:02.458355 84886 incremental_mapper.cc:81] => Filtered observations: 44
I20260707 08:21:02.458359 84886 incremental_mapper.cc:90] => Changed observations: 0.031611
I20260707 08:21:02.490530 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:21:02.490615 84886 bundle_adjustment.cc:942]
Residuals : 3322
Parameters : 638
Iterations : 9
Time : 0.0302629 [s]
Initial cost : 0.584335 [px]
Final cost : 0.576213 [px]
Termination : Convergence
I20260707 08:21:02.497783 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:21:02.497838 84886 incremental_mapper.cc:79] => Completed observations: 5
I20260707 08:21:02.497843 84886 incremental_mapper.cc:81] => Filtered observations: 1
I20260707 08:21:02.497844 84886 incremental_mapper.cc:90] => Changed observations: 0.003132
I20260707 08:21:02.505267 84886 misc.cc:198]
==============================================================================
Registering image #406 (199)
==============================================================================
I20260707 08:21:02.505347 84886 incremental_mapper.cc:495] => Image sees 25 / 1866 points
I20260707 08:21:02.517866 84886 incremental_mapper.cc:535] => Could not register, trying another image.
I20260707 08:21:02.518003 84886 misc.cc:198]
==============================================================================
Registering image #119 (199)
==============================================================================
I20260707 08:21:02.518013 84886 incremental_mapper.cc:495] => Image sees 29 / 152 points
I20260707 08:21:02.522400 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:21:02.522535 84886 bundle_adjustment.cc:942]
Residuals : 58
Parameters : 6
Iterations : 30
Time : 0.002105 [s]
Initial cost : 0.511286 [px]
Final cost : 0.484989 [px]
Termination : Convergence
I20260707 08:21:02.522671 84886 incremental_mapper.cc:40] => Continued observations: 29
I20260707 08:21:02.522837 84886 incremental_mapper.cc:43] => Added observations: 0
I20260707 08:21:02.593431 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:21:02.593641 84886 bundle_adjustment.cc:942]
Residuals : 6546
Parameters : 164
Iterations : 7
Time : 0.053453 [s]
Initial cost : 0.638182 [px]
Final cost : 0.637014 [px]
Termination : Convergence
I20260707 08:21:02.610070 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:21:02.610193 84886 incremental_mapper.cc:79] => Completed observations: 0
I20260707 08:21:02.610200 84886 incremental_mapper.cc:81] => Filtered observations: 1
I20260707 08:21:02.610204 84886 incremental_mapper.cc:90] => Changed observations: 0.000243
I20260707 08:21:02.623682 84886 misc.cc:198]
==============================================================================
Registering image #73 (200)
==============================================================================
I20260707 08:21:02.623826 84886 incremental_mapper.cc:495] => Image sees 25 / 455 points
I20260707 08:21:02.628317 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:21:02.628465 84886 bundle_adjustment.cc:942]
Residuals : 42
Parameters : 6
Iterations : 9
Time : 0.000630856 [s]
Initial cost : 0.359314 [px]
Final cost : 0.34047 [px]
Termination : Convergence
I20260707 08:21:02.628597 84886 incremental_mapper.cc:40] => Continued observations: 21
I20260707 08:21:02.629488 84886 incremental_mapper.cc:43] => Added observations: 31
I20260707 08:21:02.692951 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:21:02.693156 84886 bundle_adjustment.cc:942]
Residuals : 1668
Parameters : 182
Iterations : 26
Time : 0.058315 [s]
Initial cost : 0.88217 [px]
Final cost : 0.632802 [px]
Termination : No convergence
I20260707 08:21:02.702157 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:21:02.702275 84886 incremental_mapper.cc:79] => Completed observations: 5
I20260707 08:21:02.702296 84886 incremental_mapper.cc:81] => Filtered observations: 11
I20260707 08:21:02.702301 84886 incremental_mapper.cc:90] => Changed observations: 0.012628
I20260707 08:21:02.726306 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:21:02.726420 84886 bundle_adjustment.cc:942]
Residuals : 1658
Parameters : 176
Iterations : 10
Time : 0.0189891 [s]
Initial cost : 0.716552 [px]
Final cost : 0.70972 [px]
Termination : Convergence
I20260707 08:21:02.730338 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:21:02.730420 84886 incremental_mapper.cc:79] => Completed observations: 2
I20260707 08:21:02.730427 84886 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 08:21:02.730432 84886 incremental_mapper.cc:90] => Changed observations: 0.001585
I20260707 08:21:02.740840 84886 misc.cc:198]
==============================================================================
Registering image #44 (201)
==============================================================================
I20260707 08:21:02.740926 84886 incremental_mapper.cc:495] => Image sees 29 / 261 points
I20260707 08:21:02.746225 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:21:02.746286 84886 bundle_adjustment.cc:942]
Residuals : 58
Parameters : 6
Iterations : 5
Time : 0.000410795 [s]
Initial cost : 0.424078 [px]
Final cost : 0.411773 [px]
Termination : Convergence
I20260707 08:21:02.746364 84886 incremental_mapper.cc:40] => Continued observations: 29
I20260707 08:21:02.746595 84886 incremental_mapper.cc:43] => Added observations: 0
I20260707 08:21:02.887074 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:21:02.887310 84886 bundle_adjustment.cc:942]
Residuals : 9354
Parameters : 152
Iterations : 7
Time : 0.124811 [s]
Initial cost : 0.457769 [px]
Final cost : 0.456728 [px]
Termination : Convergence
I20260707 08:21:02.910944 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:21:02.911049 84886 incremental_mapper.cc:79] => Completed observations: 0
I20260707 08:21:02.911103 84886 incremental_mapper.cc:81] => Filtered observations: 2
I20260707 08:21:02.911108 84886 incremental_mapper.cc:90] => Changed observations: 0.000379
I20260707 08:21:02.920943 84886 misc.cc:198]
==============================================================================
Registering image #230 (202)
==============================================================================
I20260707 08:21:02.921034 84886 incremental_mapper.cc:495] => Image sees 17 / 884 points
I20260707 08:21:02.925295 84886 incremental_mapper.cc:535] => Could not register, trying another image.
I20260707 08:21:02.925333 84886 misc.cc:198]
==============================================================================
Registering image #409 (202)
==============================================================================
I20260707 08:21:02.925338 84886 incremental_mapper.cc:495] => Image sees 17 / 1748 points
I20260707 08:21:02.931499 84886 incremental_mapper.cc:535] => Could not register, trying another image.
I20260707 08:21:02.931571 84886 misc.cc:198]
==============================================================================
Registering image #396 (202)
==============================================================================
I20260707 08:21:02.931576 84886 incremental_mapper.cc:495] => Image sees 16 / 153 points
I20260707 08:21:02.932907 84886 incremental_mapper.cc:535] => Could not register, trying another image.
I20260707 08:21:02.933023 84886 misc.cc:198]
==============================================================================
Registering image #19 (202)
==============================================================================
I20260707 08:21:02.933048 84886 incremental_mapper.cc:495] => Image sees 21 / 380 points
I20260707 08:21:02.935755 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:21:02.935947 84886 bundle_adjustment.cc:942]
Residuals : 42
Parameters : 6
Iterations : 9
Time : 0.000695944 [s]
Initial cost : 0.514296 [px]
Final cost : 0.471461 [px]
Termination : Convergence
I20260707 08:21:02.936117 84886 incremental_mapper.cc:40] => Continued observations: 21
I20260707 08:21:02.936383 84886 incremental_mapper.cc:43] => Added observations: 0
I20260707 08:21:03.038341 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:21:03.038487 84886 bundle_adjustment.cc:942]
Residuals : 6266
Parameters : 92
Iterations : 8
Time : 0.0806749 [s]
Initial cost : 0.493671 [px]
Final cost : 0.49287 [px]
Termination : Convergence
I20260707 08:21:03.065641 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:21:03.065724 84886 incremental_mapper.cc:79] => Completed observations: 0
I20260707 08:21:03.065732 84886 incremental_mapper.cc:81] => Filtered observations: 1
I20260707 08:21:03.065735 84886 incremental_mapper.cc:90] => Changed observations: 0.000261
I20260707 08:21:03.075254 84886 misc.cc:198]
==============================================================================
Registering image #2 (203)
==============================================================================
I20260707 08:21:03.075342 84886 incremental_mapper.cc:495] => Image sees 17 / 213 points
I20260707 08:21:03.076519 84886 incremental_mapper.cc:535] => Could not register, trying another image.
I20260707 08:21:03.076568 84886 misc.cc:198]
==============================================================================
Registering image #361 (203)
==============================================================================
I20260707 08:21:03.076573 84886 incremental_mapper.cc:495] => Image sees 15 / 107 points
I20260707 08:21:03.077721 84886 incremental_mapper.cc:535] => Could not register, trying another image.
I20260707 08:21:03.077759 84886 misc.cc:198]
==============================================================================
Registering image #498 (203)
==============================================================================
I20260707 08:21:03.077764 84886 incremental_mapper.cc:495] => Image sees 15 / 174 points
I20260707 08:21:03.078665 84886 incremental_mapper.cc:535] => Could not register, trying another image.
I20260707 08:21:03.078701 84886 misc.cc:198]
==============================================================================
Registering image #528 (203)
==============================================================================
I20260707 08:21:03.078703 84886 incremental_mapper.cc:495] => Image sees 17 / 168 points
I20260707 08:21:03.079991 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:21:03.080045 84886 bundle_adjustment.cc:942]
Residuals : 34
Parameters : 6
Iterations : 13
Time : 0.000380993 [s]
Initial cost : 0.483558 [px]
Final cost : 0.451266 [px]
Termination : Convergence
I20260707 08:21:03.080094 84886 incremental_mapper.cc:40] => Continued observations: 17
I20260707 08:21:03.080297 84886 incremental_mapper.cc:43] => Added observations: 38
I20260707 08:21:03.153779 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:21:03.153918 84886 bundle_adjustment.cc:942]
Residuals : 5262
Parameters : 239
Iterations : 11
Time : 0.065897 [s]
Initial cost : 0.459251 [px]
Final cost : 0.455928 [px]
Termination : Convergence
I20260707 08:21:03.172055 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:21:03.172188 84886 incremental_mapper.cc:79] => Completed observations: 0
I20260707 08:21:03.172209 84886 incremental_mapper.cc:81] => Filtered observations: 21
I20260707 08:21:03.172214 84886 incremental_mapper.cc:90] => Changed observations: 0.006243
I20260707 08:21:03.213815 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:21:03.213902 84886 bundle_adjustment.cc:942]
Residuals : 4620
Parameters : 179
Iterations : 6
Time : 0.0297129 [s]
Initial cost : 0.598816 [px]
Final cost : 0.596127 [px]
Termination : Convergence
I20260707 08:21:03.220108 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:21:03.220165 84886 incremental_mapper.cc:79] => Completed observations: 41
I20260707 08:21:03.220170 84886 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 08:21:03.220171 84886 incremental_mapper.cc:90] => Changed observations: 0.012338
I20260707 08:21:03.225157 84886 misc.cc:198]
==============================================================================
Registering image #355 (204)
==============================================================================
I20260707 08:21:03.225184 84886 incremental_mapper.cc:495] => Image sees 52 / 429 points
I20260707 08:21:03.238507 84886 incremental_mapper.cc:535] => Could not register, trying another image.
I20260707 08:21:03.238621 84886 misc.cc:198]
==============================================================================
Registering image #487 (204)
==============================================================================
I20260707 08:21:03.238627 84886 incremental_mapper.cc:495] => Image sees 42 / 3441 points
I20260707 08:21:03.252116 84886 incremental_mapper.cc:535] => Could not register, trying another image.
I20260707 08:21:03.252233 84886 misc.cc:198]
==============================================================================
Registering image #371 (204)
==============================================================================
I20260707 08:21:03.252239 84886 incremental_mapper.cc:495] => Image sees 34 / 1100 points
I20260707 08:21:03.264271 84886 incremental_mapper.cc:535] => Could not register, trying another image.
I20260707 08:21:03.264495 84886 misc.cc:198]
==============================================================================
Registering image #72 (204)
==============================================================================
I20260707 08:21:03.264506 84886 incremental_mapper.cc:495] => Image sees 33 / 263 points
I20260707 08:21:03.278012 84886 incremental_mapper.cc:535] => Could not register, trying another image.
I20260707 08:21:03.278162 84886 misc.cc:198]
==============================================================================
Registering image #369 (204)
==============================================================================
I20260707 08:21:03.278209 84886 incremental_mapper.cc:495] => Image sees 29 / 291 points
I20260707 08:21:03.284361 84886 incremental_mapper.cc:535] => Could not register, trying another image.
I20260707 08:21:03.284471 84886 misc.cc:198]
==============================================================================
Registering image #413 (204)
==============================================================================
I20260707 08:21:03.284477 84886 incremental_mapper.cc:495] => Image sees 28 / 1292 points
I20260707 08:21:03.288633 84886 incremental_mapper.cc:535] => Could not register, trying another image.
I20260707 08:21:03.288748 84886 misc.cc:198]
==============================================================================
Registering image #429 (204)
==============================================================================
I20260707 08:21:03.288767 84886 incremental_mapper.cc:495] => Image sees 26 / 3257 points
I20260707 08:21:03.291591 84886 incremental_mapper.cc:535] => Could not register, trying another image.
I20260707 08:21:03.291711 84886 misc.cc:198]
==============================================================================
Registering image #392 (204)
==============================================================================
I20260707 08:21:03.291731 84886 incremental_mapper.cc:495] => Image sees 25 / 355 points
I20260707 08:21:03.301971 84886 incremental_mapper.cc:535] => Could not register, trying another image.
I20260707 08:21:03.302066 84886 misc.cc:198]
==============================================================================
Registering image #95 (204)
==============================================================================
I20260707 08:21:03.302074 84886 incremental_mapper.cc:495] => Image sees 25 / 2046 points
I20260707 08:21:03.307367 84886 incremental_mapper.cc:535] => Could not register, trying another image.
I20260707 08:21:03.307413 84886 misc.cc:198]
==============================================================================
Registering image #430 (204)
==============================================================================
I20260707 08:21:03.307420 84886 incremental_mapper.cc:495] => Image sees 21 / 304 points
I20260707 08:21:03.312094 84886 incremental_mapper.cc:535] => Could not register, trying another image.
I20260707 08:21:03.312211 84886 misc.cc:198]
==============================================================================
Registering image #406 (204)
==============================================================================
I20260707 08:21:03.312227 84886 incremental_mapper.cc:495] => Image sees 25 / 1866 points
I20260707 08:21:03.327652 84886 incremental_mapper.cc:535] => Could not register, trying another image.
I20260707 08:21:03.327732 84886 misc.cc:198]
==============================================================================
Registering image #230 (204)
==============================================================================
I20260707 08:21:03.327739 84886 incremental_mapper.cc:495] => Image sees 17 / 884 points
I20260707 08:21:03.334057 84886 incremental_mapper.cc:535] => Could not register, trying another image.
I20260707 08:21:03.334182 84886 misc.cc:198]
==============================================================================
Registering image #409 (204)
==============================================================================
I20260707 08:21:03.334208 84886 incremental_mapper.cc:495] => Image sees 17 / 1748 points
I20260707 08:21:03.340987 84886 incremental_mapper.cc:535] => Could not register, trying another image.
I20260707 08:21:03.341361 84886 misc.cc:198]
==============================================================================
Registering image #396 (204)
==============================================================================
I20260707 08:21:03.341380 84886 incremental_mapper.cc:495] => Image sees 16 / 153 points
I20260707 08:21:03.342639 84886 incremental_mapper.cc:535] => Could not register, trying another image.
I20260707 08:21:03.342707 84886 misc.cc:198]
==============================================================================
Registering image #2 (204)
==============================================================================
I20260707 08:21:03.342713 84886 incremental_mapper.cc:495] => Image sees 17 / 213 points
I20260707 08:21:03.344074 84886 incremental_mapper.cc:535] => Could not register, trying another image.
I20260707 08:21:03.344161 84886 misc.cc:198]
==============================================================================
Registering image #361 (204)
==============================================================================
I20260707 08:21:03.344172 84886 incremental_mapper.cc:495] => Image sees 15 / 107 points
I20260707 08:21:03.345880 84886 incremental_mapper.cc:535] => Could not register, trying another image.
I20260707 08:21:03.345901 84886 misc.cc:198]
==============================================================================
Registering image #498 (204)
==============================================================================
I20260707 08:21:03.345907 84886 incremental_mapper.cc:495] => Image sees 15 / 174 points
I20260707 08:21:03.347478 84886 incremental_mapper.cc:535] => Could not register, trying another image.
I20260707 08:21:03.347515 84886 misc.cc:198]
==============================================================================
Retriangulation
==============================================================================
I20260707 08:21:03.391400 84886 incremental_mapper.cc:175] => Completed observations: 49
I20260707 08:21:03.437536 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:21:03.437610 84886 incremental_mapper.cc:105] => Retriangulated observations: 244
I20260707 08:21:03.453014 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 1.784634e+05 0.00e+00 9.86e+12 0.00e+00 0.00e+00 1.00e+04 0 1.27e-01 1.07e+00
1 1.125586e+05 6.59e+04 7.75e+12 0.00e+00 8.06e-01 1.30e+04 1 4.88e-01 1.56e+00
2 9.833334e+04 1.42e+04 7.39e+12 1.69e+01 9.00e-01 2.66e+04 1 1.70e-01 1.73e+00
3 9.659175e+04 1.74e+03 1.04e+13 2.01e+01 9.60e-01 7.98e+04 1 2.26e-01 1.96e+00
4 9.636919e+04 2.23e+02 2.96e+12 3.78e+01 9.33e-01 2.29e+05 1 2.35e-01 2.19e+00
5 9.620259e+04 1.67e+02 2.16e+12 7.65e+01 6.84e-01 2.41e+05 1 2.79e-01 2.47e+00
6 9.606014e+04 1.42e+02 2.16e+12 8.28e+01 5.59e-01 2.41e+05 1 2.27e-01 2.70e+00
7 9.589105e+04 1.69e+02 2.18e+12 8.59e+01 7.51e-01 2.76e+05 1 2.47e-01 2.94e+00
8 9.578933e+04 1.02e+02 2.18e+12 9.93e+01 9.22e-01 6.91e+05 1 1.99e-01 3.14e+00
9 9.573400e+04 5.53e+01 2.19e+12 2.44e+02 1.14e+00 2.07e+06 1 2.67e-01 3.41e+00
10 9.570976e+04 2.42e+01 2.18e+12 7.54e+02 1.02e+00 6.22e+06 1 2.91e-01 3.70e+00
11 9.570676e+04 3.00e+00 2.25e+12 2.54e+03 5.97e-01 6.26e+06 1 1.91e-01 3.89e+00
12 9.570543e+04 1.32e+00 2.23e+12 2.76e+03 8.32e-01 8.87e+06 1 1.92e-01 4.08e+00
13 9.570516e+04 2.73e-01 2.19e+12 4.01e+03 7.27e-01 9.78e+06 1 1.97e-01 4.28e+00
14 9.570505e+04 1.07e-01 2.25e+12 4.47e+03 7.69e-01 1.16e+07 1 3.05e-01 4.59e+00
15 9.570500e+04 5.59e-02 2.20e+12 5.34e+03 7.78e-01 1.40e+07 1 1.84e-01 4.77e+00
16 9.570496e+04 3.74e-02 2.24e+12 6.50e+03 7.94e-01 1.76e+07 1 1.88e-01 4.96e+00
17 9.570493e+04 2.73e-02 2.26e+12 5.57e+03 8.23e-01 2.41e+07 1 2.23e-01 5.18e+00
18 9.570491e+04 2.59e-02 2.25e+12 5.70e+03 8.50e-01 3.66e+07 1 2.59e-01 5.44e+00
19 9.570487e+04 3.56e-02 2.20e+12 7.09e+03 8.91e-01 7.00e+07 1 1.57e-01 5.60e+00
20 9.570479e+04 8.30e-02 2.20e+12 1.15e+04 9.22e-01 1.76e+08 1 2.29e-01 5.83e+00
W20260707 08:21:09.672115 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
21 9.570479e+04 0.00e+00 2.20e+12 0.00e+00 0.00e+00 8.78e+07 1 1.05e-01 5.93e+00
22 9.570472e+04 6.90e-02 2.35e+12 1.26e+04 8.70e-01 1.47e+08 1 2.47e-01 6.18e+00
W20260707 08:21:10.038748 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
23 9.570472e+04 0.00e+00 2.35e+12 0.00e+00 0.00e+00 7.37e+07 1 1.19e-01 6.30e+00
24 9.570471e+04 1.41e-02 2.16e+12 7.76e+03 9.60e-01 2.21e+08 1 1.58e-01 6.46e+00
W20260707 08:21:10.285356 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
25 9.570471e+04 0.00e+00 2.16e+12 0.00e+00 0.00e+00 1.11e+08 1 8.87e-02 6.54e+00
26 9.570470e+04 1.48e-03 1.11e+13 9.13e+03 3.89e-01 1.09e+08 1 1.96e-01 6.74e+00
27 9.570470e+04 2.94e-03 8.77e+12 7.24e+03 7.19e-01 1.19e+08 1 2.14e-01 6.95e+00
28 9.570470e+04 -1.94e-03 8.77e+12 6.86e+03 -7.16e-01 5.97e+07 1 1.47e-01 7.10e+00
29 9.570470e+04 1.64e-03 3.53e+12 3.43e+03 8.92e-01 1.15e+08 1 1.92e-01 7.29e+00
W20260707 08:21:11.158416 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
30 9.570470e+04 0.00e+00 3.53e+12 0.00e+00 0.00e+00 5.75e+07 1 1.24e-01 7.42e+00
31 9.570470e+04 7.03e-04 3.53e+12 3.12e+03 7.96e-01 7.25e+07 1 2.37e-01 7.65e+00
32 9.570470e+04 8.03e-04 3.71e+12 3.74e+03 8.43e-01 1.07e+08 1 2.20e-01 7.87e+00
W20260707 08:21:11.701920 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
33 9.570470e+04 0.00e+00 3.71e+12 0.00e+00 0.00e+00 5.35e+07 1 8.61e-02 7.96e+00
34 9.570470e+04 1.02e-04 6.94e+12 2.57e+03 1.56e-01 4.03e+07 1 1.38e-01 8.10e+00
35 9.570470e+04 7.33e-04 3.53e+12 1.82e+03 8.51e-01 6.16e+07 1 2.64e-01 8.36e+00
36 9.570470e+04 1.33e-04 6.95e+12 2.67e+03 2.10e-01 5.15e+07 1 2.63e-01 8.63e+00
37 9.570470e+04 7.39e-04 3.53e+12 2.11e+03 8.35e-01 7.37e+07 1 2.30e-01 8.86e+00
38 9.570470e+04 6.61e-05 6.94e+12 2.89e+03 1.05e-01 4.93e+07 1 2.12e-01 9.07e+00
39 9.570470e+04 6.96e-04 3.53e+12 1.83e+03 8.59e-01 7.82e+07 1 2.35e-01 9.30e+00
40 9.570470e+04 4.98e-05 6.94e+12 2.80e+03 8.58e-02 4.98e+07 1 3.10e-01 9.61e+00
41 9.570470e+04 6.49e-04 3.53e+12 1.70e+03 8.41e-01 7.29e+07 1 1.86e-01 9.80e+00
42 9.570470e+04 -7.63e-05 3.53e+12 2.41e+03 -1.53e-01 3.64e+07 1 1.47e-01 9.95e+00
43 9.570470e+04 -2.04e-04 3.53e+12 1.20e+03 -6.43e-01 9.11e+06 1 1.48e-01 1.01e+01
44 9.570470e+04 -3.53e-04 3.53e+12 3.01e+02 -1.94e+00 1.14e+06 1 1.35e-01 1.02e+01
45 9.570470e+04 -3.81e-04 3.53e+12 3.76e+01 -2.68e+00 7.12e+04 1 1.58e-01 1.04e+01
46 9.570470e+04 -3.74e-04 3.53e+12 2.35e+00 -2.74e+00 2.22e+03 1 1.06e-01 1.05e+01
47 9.570470e+04 -3.62e-04 3.53e+12 7.33e-02 -2.66e+00 3.47e+01 1 1.11e-01 1.06e+01
48 9.570470e+04 -3.97e-04 3.53e+12 1.11e-03 -2.91e+00 2.71e-01 1 2.00e-01 1.08e+01
49 9.570470e+04 7.25e-06 3.53e+12 9.60e-06 7.49e-02 1.68e-01 1 2.98e-01 1.11e+01
50 9.570470e+04 -3.73e-06 3.53e+12 5.78e-06 -4.89e-02 8.41e-02 1 1.57e-01 1.13e+01
I20260707 08:21:15.056814 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:21:15.056917 84886 bundle_adjustment.cc:942]
Residuals : 191180
Parameters : 62723
Iterations : 51
Time : 11.2846 [s]
Initial cost : 0.96617 [px]
Final cost : 0.707531 [px]
Termination : No convergence
I20260707 08:21:15.205776 84886 incremental_mapper.cc:175] => Completed observations: 60
I20260707 08:21:15.259799 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:21:15.269783 84886 incremental_mapper.cc:160] => Filtered observations: 384
I20260707 08:21:15.269865 84886 incremental_mapper.cc:119] => Changed observations: 0.004645
I20260707 08:21:15.269906 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 7.316194e+04 0.00e+00 4.08e+12 0.00e+00 0.00e+00 1.00e+04 0 1.06e-01 7.74e-01
1 7.162137e+04 1.54e+03 3.64e+12 0.00e+00 9.97e-01 3.00e+04 1 3.77e-01 1.15e+00
2 7.156250e+04 5.89e+01 1.43e+13 1.38e+00 9.97e-01 9.00e+04 1 1.92e-01 1.34e+00
3 7.151297e+04 4.95e+01 3.85e+12 7.21e-01 9.04e-01 1.90e+05 1 2.29e-01 1.57e+00
4 7.148027e+04 3.27e+01 7.35e+12 4.00e-01 8.09e-01 2.49e+05 1 2.99e-01 1.87e+00
5 7.146121e+04 1.91e+01 3.45e+12 2.60e-01 9.57e-01 7.47e+05 1 2.68e-01 2.14e+00
6 7.145471e+04 6.51e+00 3.45e+12 3.15e-01 9.06e-01 1.60e+06 1 2.05e-01 2.34e+00
7 7.145139e+04 3.32e+00 7.35e+12 2.57e-01 9.92e-01 4.81e+06 1 1.85e-01 2.53e+00
8 7.145022e+04 1.17e+00 3.45e+12 2.26e-01 9.79e-01 1.44e+07 1 1.67e-01 2.70e+00
9 7.145006e+04 1.60e-01 3.45e+12 8.97e-02 1.02e+00 4.33e+07 1 2.72e-01 2.97e+00
10 7.145005e+04 3.80e-03 7.35e+12 1.45e-02 9.39e-01 1.30e+08 1 2.51e-01 3.22e+00
11 7.145005e+04 5.88e-04 3.56e+12 1.77e-03 8.65e-01 2.13e+08 1 2.10e-01 3.43e+00
W20260707 08:21:19.012643 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
12 7.145005e+04 0.00e+00 3.56e+12 0.00e+00 0.00e+00 1.06e+08 1 1.01e-01 3.53e+00
W20260707 08:21:19.097951 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
13 7.145005e+04 0.00e+00 3.56e+12 0.00e+00 0.00e+00 2.66e+07 1 8.53e-02 3.62e+00
14 7.145005e+04 -4.28e-04 3.56e+12 2.22e-04 -3.03e+00 3.32e+06 1 1.60e-01 3.78e+00
15 7.145005e+04 -4.40e-04 3.56e+12 1.90e-04 -3.44e+00 2.08e+05 1 1.59e-01 3.94e+00
16 7.145005e+04 -4.86e-04 3.56e+12 1.47e-04 -3.85e+00 6.49e+03 1 7.87e-02 4.01e+00
17 7.145005e+04 -4.77e-04 3.56e+12 9.53e-05 -3.79e+00 1.01e+02 1 1.22e-01 4.14e+00
18 7.145005e+04 -4.33e-04 3.56e+12 2.26e-05 -3.44e+00 7.92e-01 1 1.58e-01 4.30e+00
19 7.145005e+04 -4.20e-04 3.56e+12 5.78e-07 -3.63e+00 3.09e-03 1 1.72e-01 4.47e+00
20 7.145005e+04 3.49e-10 3.56e+12 3.68e-09 1.05e-04 6.04e-06 1 2.06e-01 4.67e+00
I20260707 08:21:20.305576 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:21:20.305639 84886 bundle_adjustment.cc:942]
Residuals : 190406
Parameters : 62369
Iterations : 21
Time : 4.81456 [s]
Initial cost : 0.619872 [px]
Final cost : 0.612577 [px]
Termination : Convergence
I20260707 08:21:20.541162 84886 incremental_mapper.cc:175] => Completed observations: 63
I20260707 08:21:20.641600 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:21:20.671656 84886 incremental_mapper.cc:160] => Filtered observations: 26
I20260707 08:21:20.671762 84886 incremental_mapper.cc:119] => Changed observations: 0.000935
I20260707 08:21:20.671835 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 7.143569e+04 0.00e+00 7.45e+12 0.00e+00 0.00e+00 1.00e+04 0 7.64e-02 7.63e-01
1 7.127464e+04 1.61e+02 3.44e+12 0.00e+00 9.99e-01 3.00e+04 1 4.16e-01 1.18e+00
2 7.127010e+04 4.54e+00 7.45e+12 5.91e-01 1.00e+00 9.00e+04 1 2.33e-01 1.41e+00
3 7.126689e+04 3.21e+00 3.28e+12 3.84e-01 1.00e+00 2.70e+05 1 1.73e-01 1.59e+00
4 7.126407e+04 2.82e+00 3.33e+12 2.50e-01 9.88e-01 8.10e+05 1 1.99e-01 1.79e+00
5 7.126256e+04 1.52e+00 7.45e+12 1.55e-01 9.57e-01 2.43e+06 1 2.26e-01 2.01e+00
6 7.126213e+04 4.28e-01 3.28e+12 8.42e-02 9.87e-01 7.29e+06 1 2.10e-01 2.22e+00
7 7.126208e+04 4.89e-02 3.45e+12 4.32e-02 1.01e+00 2.19e+07 1 1.61e-01 2.38e+00
8 7.126208e+04 1.36e-03 7.45e+12 1.11e-02 7.28e-01 2.42e+07 1 2.72e-01 2.65e+00
9 7.126208e+04 5.82e-04 3.28e+12 1.40e-03 9.35e-01 7.03e+07 1 2.60e-01 2.91e+00
10 7.126208e+04 -4.42e-04 3.28e+12 2.20e-04 -2.86e+00 3.51e+07 1 1.69e-01 3.08e+00
11 7.126208e+04 -4.82e-04 3.28e+12 2.16e-04 -3.57e+00 8.78e+06 1 5.84e-02 3.14e+00
12 7.126208e+04 -4.98e-04 3.28e+12 1.93e-04 -4.13e+00 1.10e+06 1 1.36e-01 3.28e+00
13 7.126208e+04 -4.64e-04 3.28e+12 1.18e-04 -4.00e+00 6.86e+04 1 2.17e-01 3.50e+00
14 7.126208e+04 -4.77e-04 3.28e+12 7.53e-05 -4.14e+00 2.14e+03 1 1.95e-01 3.69e+00
15 7.126208e+04 -4.75e-04 3.28e+12 4.18e-05 -4.12e+00 3.35e+01 1 1.37e-01 3.83e+00
16 7.126208e+04 -4.92e-04 3.28e+12 6.22e-06 -4.28e+00 2.62e-01 1 7.78e-02 3.91e+00
17 7.126208e+04 -1.51e-05 3.28e+12 1.54e-07 -1.88e-01 1.02e-03 1 1.17e-01 4.02e+00
18 7.126208e+04 8.73e-11 3.28e+12 7.70e-10 1.97e-05 2.00e-06 1 1.27e-01 4.15e+00
19 7.126208e+04 -2.91e-11 3.28e+12 1.51e-12 -7.01e-02 1.95e-09 1 1.74e-01 4.32e+00
20 7.126208e+04 1.16e-10 3.28e+12 1.35e-15 3.08e+01 5.85e-09 1 2.82e-01 4.61e+00
21 7.126208e+04 1.46e-11 3.28e+12 3.54e-15 -2.73e+01 2.93e-09 1 1.59e-01 4.77e+00
22 7.126208e+04 7.28e-11 3.28e+12 1.62e-15 -2.73e+01 7.31e-10 1 1.43e-01 4.91e+00
23 7.126208e+04 8.73e-11 3.28e+12 1.21e-17 -8.20e+01 9.14e-11 1 1.04e-01 5.01e+00
24 7.126208e+04 -4.37e-11 3.28e+12 1.99e-18 -2.63e+03 5.71e-12 1 1.36e-01 5.15e+00
25 7.126208e+04 -1.46e-10 3.28e+12 8.47e-22 -6.65e+04 1.79e-13 1 1.71e-01 5.32e+00
I20260707 08:21:26.496229 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:21:26.496373 84886 bundle_adjustment.cc:942]
Residuals : 190472
Parameters : 62354
Iterations : 26
Time : 5.53278 [s]
Initial cost : 0.61241 [px]
Final cost : 0.611665 [px]
Termination : Convergence
I20260707 08:21:26.644799 84886 incremental_mapper.cc:175] => Completed observations: 7
I20260707 08:21:26.780859 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:21:26.853607 84886 incremental_mapper.cc:160] => Filtered observations: 10
I20260707 08:21:26.853729 84886 incremental_mapper.cc:119] => Changed observations: 0.000179
I20260707 08:21:26.853832 84886 incremental_mapper.cc:167] => Filtered images: 0
I20260707 08:21:26.854084 84886 misc.cc:198]
==============================================================================
Registering image #355 (204)
==============================================================================
I20260707 08:21:26.854128 84886 incremental_mapper.cc:495] => Image sees 52 / 429 points
I20260707 08:21:26.876745 84886 incremental_mapper.cc:535] => Could not register, trying another image.
I20260707 08:21:26.876945 84886 misc.cc:198]
==============================================================================
Registering image #487 (204)
==============================================================================
I20260707 08:21:26.876968 84886 incremental_mapper.cc:495] => Image sees 42 / 3441 points
I20260707 08:21:26.895527 84886 incremental_mapper.cc:535] => Could not register, trying another image.
I20260707 08:21:26.895618 84886 misc.cc:198]
==============================================================================
Registering image #371 (204)
==============================================================================
I20260707 08:21:26.895625 84886 incremental_mapper.cc:495] => Image sees 34 / 1100 points
I20260707 08:21:26.908104 84886 incremental_mapper.cc:535] => Could not register, trying another image.
I20260707 08:21:26.908216 84886 misc.cc:198]
==============================================================================
Registering image #72 (204)
==============================================================================
I20260707 08:21:26.908224 84886 incremental_mapper.cc:495] => Image sees 33 / 263 points
I20260707 08:21:26.920217 84886 incremental_mapper.cc:535] => Could not register, trying another image.
I20260707 08:21:26.920310 84886 misc.cc:198]
==============================================================================
Registering image #369 (204)
==============================================================================
I20260707 08:21:26.920317 84886 incremental_mapper.cc:495] => Image sees 29 / 291 points
I20260707 08:21:26.927415 84886 incremental_mapper.cc:535] => Could not register, trying another image.
I20260707 08:21:26.927595 84886 misc.cc:198]
==============================================================================
Registering image #413 (204)
==============================================================================
I20260707 08:21:26.927618 84886 incremental_mapper.cc:495] => Image sees 28 / 1292 points
I20260707 08:21:26.931849 84886 incremental_mapper.cc:535] => Could not register, trying another image.
I20260707 08:21:26.931982 84886 misc.cc:198]
==============================================================================
Registering image #429 (204)
==============================================================================
I20260707 08:21:26.932004 84886 incremental_mapper.cc:495] => Image sees 26 / 3257 points
I20260707 08:21:26.935262 84886 incremental_mapper.cc:535] => Could not register, trying another image.
I20260707 08:21:26.935407 84886 misc.cc:198]
==============================================================================
Registering image #392 (204)
==============================================================================
I20260707 08:21:26.935428 84886 incremental_mapper.cc:495] => Image sees 25 / 355 points
I20260707 08:21:26.946849 84886 incremental_mapper.cc:535] => Could not register, trying another image.
I20260707 08:21:26.947064 84886 misc.cc:198]
==============================================================================
Registering image #430 (204)
==============================================================================
I20260707 08:21:26.947088 84886 incremental_mapper.cc:495] => Image sees 21 / 304 points
I20260707 08:21:26.953313 84886 incremental_mapper.cc:535] => Could not register, trying another image.
I20260707 08:21:26.953444 84886 misc.cc:198]
==============================================================================
Registering image #95 (204)
==============================================================================
I20260707 08:21:26.953464 84886 incremental_mapper.cc:495] => Image sees 21 / 2046 points
I20260707 08:21:26.963516 84886 incremental_mapper.cc:535] => Could not register, trying another image.
I20260707 08:21:26.963616 84886 misc.cc:198]
==============================================================================
Registering image #406 (204)
==============================================================================
I20260707 08:21:26.963624 84886 incremental_mapper.cc:495] => Image sees 25 / 1866 points
I20260707 08:21:26.980508 84886 incremental_mapper.cc:535] => Could not register, trying another image.
I20260707 08:21:26.980615 84886 misc.cc:198]
==============================================================================
Registering image #230 (204)
==============================================================================
I20260707 08:21:26.980623 84886 incremental_mapper.cc:495] => Image sees 17 / 884 points
I20260707 08:21:26.984994 84886 incremental_mapper.cc:535] => Could not register, trying another image.
I20260707 08:21:26.985100 84886 misc.cc:198]
==============================================================================
Registering image #409 (204)
==============================================================================
I20260707 08:21:26.985107 84886 incremental_mapper.cc:495] => Image sees 17 / 1748 points
I20260707 08:21:26.990621 84886 incremental_mapper.cc:535] => Could not register, trying another image.
I20260707 08:21:26.990674 84886 misc.cc:198]
==============================================================================
Registering image #396 (204)
==============================================================================
I20260707 08:21:26.990680 84886 incremental_mapper.cc:495] => Image sees 16 / 153 points
I20260707 08:21:26.991904 84886 incremental_mapper.cc:535] => Could not register, trying another image.
I20260707 08:21:26.991994 84886 misc.cc:198]
==============================================================================
Registering image #2 (204)
==============================================================================
I20260707 08:21:26.992002 84886 incremental_mapper.cc:495] => Image sees 17 / 213 points
I20260707 08:21:26.993221 84886 incremental_mapper.cc:535] => Could not register, trying another image.
I20260707 08:21:26.993238 84886 misc.cc:198]
==============================================================================
Registering image #361 (204)
==============================================================================
I20260707 08:21:26.993242 84886 incremental_mapper.cc:495] => Image sees 15 / 107 points
I20260707 08:21:26.995625 84886 incremental_mapper.cc:535] => Could not register, trying another image.
I20260707 08:21:26.995795 84886 misc.cc:198]
==============================================================================
Registering image #498 (204)
==============================================================================
I20260707 08:21:26.995813 84886 incremental_mapper.cc:495] => Image sees 15 / 174 points
I20260707 08:21:26.998710 84886 incremental_mapper.cc:535] => Could not register, trying another image.
I20260707 08:21:26.998857 84886 misc.cc:198]
==============================================================================
Retriangulation
==============================================================================
I20260707 08:21:27.086473 84886 incremental_mapper.cc:175] => Completed observations: 0
I20260707 08:21:27.182276 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:21:27.182384 84886 incremental_mapper.cc:105] => Retriangulated observations: 39
I20260707 08:21:27.188380 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 9.469045e+04 0.00e+00 1.61e+13 0.00e+00 0.00e+00 1.00e+04 0 7.19e-02 7.14e-01
1 8.324104e+04 1.14e+04 5.39e+12 0.00e+00 8.92e-01 1.92e+04 1 4.59e-01 1.17e+00
2 8.157321e+04 1.67e+03 5.41e+12 3.12e+00 9.67e-01 5.77e+04 1 2.19e-01 1.39e+00
3 8.131029e+04 2.63e+02 5.43e+12 1.70e+00 1.05e+00 1.73e+05 1 1.83e-01 1.58e+00
4 8.121589e+04 9.44e+01 5.45e+12 1.20e+00 9.98e-01 5.19e+05 1 2.66e-01 1.84e+00
5 8.118570e+04 3.02e+01 5.46e+12 1.01e+00 8.47e-01 7.80e+05 1 2.78e-01 2.12e+00
6 8.117468e+04 1.10e+01 5.33e+12 3.71e-01 1.04e+00 2.34e+06 1 1.87e-01 2.31e+00
7 8.117420e+04 4.82e-01 5.39e+12 1.48e-01 1.14e+00 7.02e+06 1 1.77e-01 2.48e+00
8 8.117412e+04 7.31e-02 5.33e+12 3.99e-02 1.17e+00 2.11e+07 1 1.52e-01 2.64e+00
9 8.117412e+04 8.58e-03 5.39e+12 1.12e-02 1.24e+00 6.32e+07 1 2.78e-01 2.91e+00
10 8.117411e+04 1.12e-03 5.33e+12 3.99e-03 9.78e-01 1.89e+08 1 2.83e-01 3.20e+00
W20260707 08:21:30.768354 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
11 8.117411e+04 0.00e+00 5.33e+12 0.00e+00 0.00e+00 9.47e+07 1 1.35e-01 3.33e+00
12 8.117412e+04 -3.32e-03 5.33e+12 1.50e-03 -7.09e+00 2.37e+07 1 1.59e-01 3.49e+00
13 8.117411e+04 1.23e-04 5.39e+12 1.50e-03 2.89e-01 2.20e+07 1 1.85e-01 3.67e+00
14 8.117411e+04 6.82e-05 5.33e+12 5.97e-04 2.06e-01 1.83e+07 1 2.67e-01 3.94e+00
15 8.117411e+04 -6.65e-05 5.33e+12 2.35e-04 -2.16e-01 9.15e+06 1 1.55e-01 4.10e+00
16 8.117411e+04 -2.32e-05 5.33e+12 2.35e-04 -7.66e-02 2.29e+06 1 1.85e-01 4.28e+00
17 8.117411e+04 -1.76e-05 5.33e+12 2.35e-04 -5.89e-02 2.86e+05 1 1.17e-01 4.40e+00
18 8.117411e+04 -1.49e-05 5.33e+12 2.31e-04 -5.00e-02 1.79e+04 1 8.35e-02 4.48e+00
19 8.117411e+04 -5.07e-06 5.33e+12 1.81e-04 -1.71e-02 5.59e+02 1 1.39e-01 4.62e+00
20 8.117411e+04 -9.39e-05 5.33e+12 5.23e-05 -3.18e-01 8.73e+00 1 1.55e-01 4.78e+00
21 8.117411e+04 -3.22e-05 5.33e+12 4.11e-06 -1.09e-01 6.82e-02 1 1.75e-01 4.95e+00
22 8.117411e+04 -1.49e-05 5.33e+12 1.03e-07 -1.55e-01 2.66e-04 1 1.78e-01 5.13e+00
23 8.117411e+04 -1.16e-10 5.33e+12 4.45e-10 -7.22e-04 5.20e-07 1 1.36e-01 5.27e+00
24 8.117411e+04 1.75e-10 5.33e+12 8.70e-13 -7.39e-02 5.08e-10 1 1.53e-01 5.42e+00
25 8.117411e+04 2.91e-11 5.33e+12 9.16e-16 -2.27e+02 2.48e-13 1 1.06e-01 5.53e+00
I20260707 08:21:33.204489 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:21:33.204638 84886 bundle_adjustment.cc:942]
Residuals : 190544
Parameters : 62366
Iterations : 26
Time : 5.73971 [s]
Initial cost : 0.704945 [px]
Final cost : 0.652696 [px]
Termination : Convergence
I20260707 08:21:33.521806 84886 incremental_mapper.cc:175] => Completed observations: 84
I20260707 08:21:33.654512 84886 incremental_mapper.cc:178] => Merged observations: 8
I20260707 08:21:33.671665 84886 incremental_mapper.cc:160] => Filtered observations: 98
I20260707 08:21:33.671706 84886 incremental_mapper.cc:119] => Changed observations: 0.001994
I20260707 08:21:33.671725 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 7.212128e+04 0.00e+00 1.02e+13 0.00e+00 0.00e+00 1.00e+04 0 1.02e-01 8.88e-01
1 7.151223e+04 6.09e+02 1.69e+12 0.00e+00 9.48e-01 3.00e+04 1 3.25e-01 1.21e+00
2 7.141792e+04 9.43e+01 7.34e+11 1.02e+00 1.01e+00 9.00e+04 1 2.03e-01 1.42e+00
3 7.138111e+04 3.68e+01 5.61e+11 7.70e-01 1.05e+00 2.70e+05 1 2.35e-01 1.65e+00
4 7.136103e+04 2.01e+01 5.52e+11 6.44e-01 8.25e-01 3.72e+05 1 2.16e-01 1.87e+00
5 7.135120e+04 9.83e+00 5.46e+11 3.40e-01 3.99e-01 3.69e+05 1 2.13e-01 2.08e+00
6 7.137088e+04 -1.97e+01 5.46e+11 2.84e-01 -5.36e-01 1.84e+05 1 1.22e-01 2.20e+00
7 7.133457e+04 1.66e+01 5.39e+11 2.23e-01 4.76e-01 1.84e+05 1 2.17e-01 2.42e+00
8 7.136184e+04 -2.73e+01 5.39e+11 2.49e-01 -6.44e-01 9.21e+04 1 1.79e-01 2.60e+00
9 7.130721e+04 2.74e+01 5.34e+11 1.70e-01 7.24e-01 1.01e+05 1 2.06e-01 2.81e+00
10 7.131657e+04 -9.36e+00 5.34e+11 2.09e-01 -2.74e-01 5.06e+04 1 1.33e-01 2.94e+00
11 7.128328e+04 2.39e+01 5.29e+11 1.29e-01 8.76e-01 8.82e+04 1 2.49e-01 3.19e+00
12 7.131612e+04 -3.28e+01 5.29e+11 2.15e-01 -1.11e+00 4.41e+04 1 1.69e-01 3.36e+00
13 7.126775e+04 1.55e+01 5.25e+11 1.29e-01 7.57e-01 5.11e+04 1 2.44e-01 3.60e+00
14 7.125818e+04 9.57e+00 5.22e+11 1.61e-01 3.46e-01 4.96e+04 1 1.84e-01 3.78e+00
15 7.124296e+04 1.52e+01 5.19e+11 1.80e-01 3.28e-01 4.77e+04 1 1.78e-01 3.96e+00
16 7.122523e+04 1.77e+01 5.17e+11 1.93e-01 2.79e-01 4.39e+04 1 2.17e-01 4.18e+00
17 7.119304e+04 3.22e+01 5.15e+11 1.89e-01 4.10e-01 4.36e+04 1 2.59e-01 4.44e+00
18 7.116256e+04 3.05e+01 5.13e+11 1.82e-01 4.02e-01 4.33e+04 1 2.14e-01 4.65e+00
19 7.112561e+04 3.69e+01 5.12e+11 1.65e-01 5.38e-01 4.33e+04 1 1.84e-01 4.84e+00
20 7.109458e+04 3.10e+01 5.11e+11 1.44e-01 6.52e-01 4.46e+04 1 1.94e-01 5.03e+00
21 7.107556e+04 1.90e+01 5.11e+11 1.30e-01 7.29e-01 4.93e+04 1 2.09e-01 5.24e+00
22 7.106605e+04 9.51e+00 5.10e+11 1.32e-01 7.68e-01 5.83e+04 1 1.69e-01 5.41e+00
23 7.106154e+04 4.51e+00 5.09e+11 1.46e-01 8.11e-01 7.67e+04 1 2.59e-01 5.67e+00
24 7.105963e+04 1.91e+00 5.09e+11 1.64e-01 8.42e-01 1.13e+05 1 2.19e-01 5.89e+00
25 7.105886e+04 7.65e-01 5.09e+11 1.67e-01 8.95e-01 2.23e+05 1 1.60e-01 6.05e+00
26 7.105854e+04 3.25e-01 5.09e+11 1.44e-01 9.70e-01 6.69e+05 1 1.81e-01 6.23e+00
27 7.105821e+04 3.30e-01 5.10e+11 9.38e-02 1.02e+00 2.01e+06 1 1.27e-01 6.36e+00
28 7.105766e+04 5.48e-01 5.16e+11 6.98e-02 1.00e+00 6.02e+06 1 1.92e-01 6.55e+00
29 7.105714e+04 5.19e-01 5.33e+11 6.48e-02 9.97e-01 1.81e+07 1 2.03e-01 6.75e+00
30 7.105703e+04 1.13e-01 5.00e+11 1.77e-02 9.71e-01 5.42e+07 1 1.55e-01 6.91e+00
31 7.105700e+04 2.93e-02 4.92e+11 8.37e-03 5.34e-01 5.42e+07 1 1.71e-01 7.08e+00
32 7.105697e+04 2.85e-02 4.92e+11 3.23e-03 9.45e-01 1.63e+08 1 2.80e-01 7.36e+00
W20260707 08:21:41.417876 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
33 7.105697e+04 0.00e+00 4.92e+11 0.00e+00 0.00e+00 8.13e+07 1 1.16e-01 7.47e+00
34 7.105696e+04 5.83e-03 4.92e+11 2.08e-03 9.87e-01 2.44e+08 1 1.77e-01 7.65e+00
W20260707 08:21:41.711648 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
35 7.105696e+04 0.00e+00 4.92e+11 0.00e+00 0.00e+00 1.22e+08 1 1.17e-01 7.77e+00
36 7.105696e+04 2.67e-03 1.02e+13 1.50e-03 5.30e-01 1.22e+08 1 1.90e-01 7.96e+00
W20260707 08:21:42.018558 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
37 7.105696e+04 0.00e+00 1.02e+13 0.00e+00 0.00e+00 6.10e+07 1 1.17e-01 8.07e+00
38 7.105696e+04 2.52e-03 8.10e+11 8.13e-04 9.92e-01 1.83e+08 1 2.21e-01 8.29e+00
W20260707 08:21:42.302649 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
39 7.105696e+04 0.00e+00 8.10e+11 0.00e+00 0.00e+00 9.15e+07 1 6.34e-02 8.36e+00
40 7.105696e+04 3.11e-04 5.24e+11 5.19e-04 1.43e+00 2.74e+08 1 1.78e-01 8.54e+00
W20260707 08:21:42.586910 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
41 7.105696e+04 0.00e+00 5.24e+11 0.00e+00 0.00e+00 1.37e+08 1 1.06e-01 8.64e+00
W20260707 08:21:42.713686 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
42 7.105696e+04 0.00e+00 5.24e+11 0.00e+00 0.00e+00 3.43e+07 1 1.27e-01 8.77e+00
43 7.105696e+04 -5.66e-05 5.24e+11 3.30e-04 -6.59e-01 4.29e+06 1 1.61e-01 8.93e+00
44 7.105696e+04 -8.22e-05 5.24e+11 3.26e-04 -5.86e+00 2.68e+05 1 1.48e-01 9.08e+00
45 7.105696e+04 -1.31e-04 5.24e+11 2.77e-04 -2.95e+01 8.37e+03 1 1.22e-01 9.20e+00
46 7.105696e+04 -1.07e-04 5.24e+11 1.16e-04 -2.99e+01 1.31e+02 1 2.01e-01 9.40e+00
47 7.105696e+04 -9.17e-05 5.24e+11 5.40e-06 -3.26e+01 1.02e+00 1 1.38e-01 9.54e+00
48 7.105696e+04 -5.09e-05 5.24e+11 1.11e-07 -1.97e+01 3.99e-03 1 1.32e-01 9.67e+00
49 7.105696e+04 7.01e-07 5.24e+11 6.16e-10 9.02e+00 1.20e-02 1 1.56e-01 9.83e+00
50 7.105696e+04 -7.64e-06 5.24e+11 1.83e-09 -3.43e+01 5.99e-03 1 1.71e-01 1.00e+01
I20260707 08:21:44.026769 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:21:44.027016 84886 bundle_adjustment.cc:942]
Residuals : 190468
Parameters : 62261
Iterations : 51
Time : 10.0296 [s]
Initial cost : 0.615348 [px]
Final cost : 0.610791 [px]
Termination : No convergence
I20260707 08:21:44.283619 84886 incremental_mapper.cc:175] => Completed observations: 127
I20260707 08:21:44.329931 84886 incremental_mapper.cc:178] => Merged observations: 32
I20260707 08:21:44.352828 84886 incremental_mapper.cc:160] => Filtered observations: 277
I20260707 08:21:44.352883 84886 incremental_mapper.cc:119] => Changed observations: 0.004578
I20260707 08:21:44.352921 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 7.108321e+04 0.00e+00 3.11e+13 0.00e+00 0.00e+00 1.00e+04 0 1.08e-01 6.89e-01
1 7.087907e+04 2.04e+02 1.18e+13 0.00e+00 9.94e-01 3.00e+04 1 3.70e-01 1.06e+00
2 7.087681e+04 2.27e+00 4.21e+12 4.42e-01 5.83e-01 3.01e+04 1 3.01e-01 1.36e+00
3 7.087499e+04 1.82e+00 2.29e+12 1.74e-01 1.03e+00 9.04e+04 1 2.16e-01 1.58e+00
4 7.087426e+04 7.26e-01 2.29e+12 3.67e-01 6.94e-01 9.60e+04 1 1.76e-01 1.75e+00
5 7.087360e+04 6.66e-01 2.29e+12 1.59e-01 1.01e+00 2.88e+05 1 2.84e-01 2.04e+00
6 7.087316e+04 4.35e-01 2.29e+12 3.49e-01 7.72e-01 3.43e+05 1 2.65e-01 2.30e+00
7 7.087286e+04 3.06e-01 2.29e+12 1.80e-01 1.01e+00 1.03e+06 1 1.90e-01 2.49e+00
8 7.087280e+04 5.53e-02 2.37e+12 3.70e-01 3.61e-01 1.01e+06 1 2.22e-01 2.71e+00
9 7.087269e+04 1.16e-01 2.37e+12 1.48e-01 1.01e+00 3.02e+06 1 1.80e-01 2.90e+00
10 7.087270e+04 -1.03e-02 2.37e+12 3.24e-01 -2.21e-01 1.51e+06 1 1.38e-01 3.03e+00
11 7.087266e+04 2.05e-02 2.36e+12 1.69e-01 8.10e-01 1.98e+06 1 2.03e-01 3.24e+00
12 7.087265e+04 1.90e-02 2.35e+12 1.39e-01 9.49e-01 5.95e+06 1 2.28e-01 3.47e+00
13 7.087264e+04 1.21e-03 2.33e+12 2.75e-01 4.14e-02 3.36e+06 1 1.71e-01 3.64e+00
14 7.087261e+04 3.11e-02 2.32e+12 6.27e-02 1.00e+00 1.01e+07 1 1.81e-01 3.82e+00
15 7.087261e+04 6.94e-03 2.30e+12 1.53e-01 5.53e-01 1.01e+07 1 2.37e-01 4.05e+00
16 7.087260e+04 1.04e-02 2.36e+12 7.62e-02 9.99e-01 3.03e+07 1 2.06e-01 4.26e+00
17 7.087260e+04 -2.26e-03 2.36e+12 1.52e-01 -2.17e-01 1.51e+07 1 1.11e-01 4.37e+00
18 7.087259e+04 4.72e-03 2.31e+12 7.72e-02 8.81e-01 2.72e+07 1 1.29e-01 4.50e+00
19 7.087259e+04 5.18e-03 2.29e+12 8.36e-02 8.69e-01 4.55e+07 1 2.29e-01 4.73e+00
20 7.087258e+04 4.58e-03 2.39e+12 7.07e-02 8.91e-01 8.73e+07 1 2.46e-01 4.98e+00
W20260707 08:21:49.611451 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
21 7.087258e+04 0.00e+00 2.39e+12 0.00e+00 0.00e+00 4.36e+07 1 1.04e-01 5.08e+00
22 7.087258e+04 2.47e-03 2.37e+12 3.10e-02 9.94e-01 1.31e+08 1 1.51e-01 5.23e+00
W20260707 08:21:49.861280 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
23 7.087258e+04 0.00e+00 2.37e+12 0.00e+00 0.00e+00 6.55e+07 1 9.81e-02 5.33e+00
24 7.087258e+04 1.82e-03 2.31e+12 2.95e-02 9.10e-01 1.45e+08 1 1.36e-01 5.47e+00
W20260707 08:21:50.097905 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
25 7.087258e+04 0.00e+00 2.31e+12 0.00e+00 0.00e+00 7.26e+07 1 1.00e-01 5.57e+00
26 7.087258e+04 1.41e-03 2.32e+12 1.88e-02 9.89e-01 2.18e+08 1 2.18e-01 5.78e+00
W20260707 08:21:50.408624 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
27 7.087258e+04 0.00e+00 2.32e+12 0.00e+00 0.00e+00 1.09e+08 1 9.26e-02 5.88e+00
W20260707 08:21:50.513724 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
28 7.087258e+04 0.00e+00 2.32e+12 0.00e+00 0.00e+00 2.72e+07 1 1.05e-01 5.98e+00
29 7.087258e+04 3.36e-04 2.33e+12 4.51e-03 8.34e-01 3.87e+07 1 1.62e-01 6.14e+00
30 7.087258e+04 4.02e-04 2.29e+12 5.67e-03 8.14e-01 5.15e+07 1 2.74e-01 6.42e+00
31 7.087257e+04 5.24e-04 2.29e+12 6.37e-03 9.16e-01 1.21e+08 1 2.68e-01 6.69e+00
W20260707 08:21:51.350317 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
32 7.087257e+04 0.00e+00 2.29e+12 0.00e+00 0.00e+00 6.07e+07 1 1.32e-01 6.82e+00
33 7.087257e+04 5.17e-04 2.37e+12 6.11e-03 9.09e-01 1.34e+08 1 1.41e-01 6.96e+00
W20260707 08:21:51.579722 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
34 7.087257e+04 0.00e+00 2.37e+12 0.00e+00 0.00e+00 6.68e+07 1 8.83e-02 7.05e+00
35 7.087257e+04 4.85e-04 2.45e+12 5.39e-03 9.08e-01 1.46e+08 1 2.24e-01 7.27e+00
W20260707 08:21:51.928601 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
36 7.087257e+04 0.00e+00 2.45e+12 0.00e+00 0.00e+00 7.28e+07 1 1.25e-01 7.40e+00
37 7.087257e+04 6.10e-04 2.34e+12 4.73e-03 9.01e-01 1.51e+08 1 2.22e-01 7.62e+00
W20260707 08:21:52.270161 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
38 7.087257e+04 0.00e+00 2.34e+12 0.00e+00 0.00e+00 7.55e+07 1 1.20e-01 7.74e+00
39 7.087257e+04 3.63e-04 2.34e+12 3.96e-03 9.70e-01 2.26e+08 1 1.08e-01 7.85e+00
W20260707 08:21:52.432330 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
40 7.087257e+04 0.00e+00 2.34e+12 0.00e+00 0.00e+00 1.13e+08 1 5.38e-02 7.90e+00
41 7.087257e+04 3.29e-04 2.74e+12 4.87e-03 6.87e-01 1.19e+08 1 1.72e-01 8.07e+00
W20260707 08:21:52.667552 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
42 7.087257e+04 0.00e+00 2.74e+12 0.00e+00 0.00e+00 5.97e+07 1 6.32e-02 8.14e+00
43 7.087257e+04 1.80e-04 2.32e+12 1.95e-03 6.86e-01 6.30e+07 1 1.97e-01 8.33e+00
44 7.087257e+04 2.25e-04 2.30e+12 1.82e-03 9.94e-01 1.89e+08 1 2.43e-01 8.58e+00
W20260707 08:21:53.196662 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
45 7.087257e+04 0.00e+00 2.30e+12 0.00e+00 0.00e+00 9.44e+07 1 8.80e-02 8.67e+00
46 7.087257e+04 1.88e-04 2.68e+12 2.41e-03 6.49e-01 9.70e+07 1 2.33e-01 8.90e+00
W20260707 08:21:53.489642 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
47 7.087257e+04 0.00e+00 2.68e+12 0.00e+00 0.00e+00 4.85e+07 1 6.00e-02 8.96e+00
48 7.087257e+04 1.46e-04 2.40e+12 1.04e-03 7.73e-01 5.80e+07 1 2.29e-01 9.19e+00
49 7.087257e+04 1.52e-04 2.29e+12 1.14e-03 8.74e-01 9.97e+07 1 2.92e-01 9.48e+00
W20260707 08:21:54.119164 84886 levenberg_marquardt_strategy.cc:123] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
50 7.087257e+04 0.00e+00 2.29e+12 0.00e+00 0.00e+00 4.99e+07 1 1.08e-01 9.59e+00
I20260707 08:21:54.145726 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:21:54.145807 84886 bundle_adjustment.cc:942]
Residuals : 189200
Parameters : 61460
Iterations : 51
Time : 9.59932 [s]
Initial cost : 0.612947 [px]
Final cost : 0.612038 [px]
Termination : No convergence
I20260707 08:21:54.272042 84886 incremental_mapper.cc:175] => Completed observations: 24
I20260707 08:21:54.345916 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:21:54.380117 84886 incremental_mapper.cc:160] => Filtered observations: 6
I20260707 08:21:54.380301 84886 incremental_mapper.cc:119] => Changed observations: 0.000317
I20260707 08:21:54.380445 84886 incremental_mapper.cc:167] => Filtered images: 0
I20260707 08:21:54.534617 84886 misc.cc:198]
==============================================================================
Finding good initial image pair
==============================================================================
I20260707 08:21:54.952595 84886 misc.cc:198]
==============================================================================
Initializing with image pair #475 and #468
==============================================================================
I20260707 08:21:54.953665 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 1.130931e+08 0.00e+00 1.02e+10 0.00e+00 0.00e+00 1.00e+04 0 3.72e-04 9.14e-04
1 3.435036e+07 7.87e+07 1.27e+09 0.00e+00 6.97e-01 1.06e+04 1 6.08e-04 1.60e-03
2 8.689956e+06 2.57e+07 1.92e+08 2.50e+02 7.49e-01 1.21e+04 1 4.67e-04 2.13e-03
3 1.404132e+07 -5.35e+06 1.92e+08 8.69e+02 -6.23e-01 6.07e+03 1 2.35e-04 2.40e-03
4 2.194810e+07 -1.33e+07 1.92e+08 4.93e+02 -1.54e+00 1.52e+03 1 1.41e-04 2.57e-03
5 2.753274e+06 5.94e+06 2.75e+07 1.74e+02 6.91e-01 1.61e+03 1 4.12e-04 3.00e-03
6 4.137740e+05 2.34e+06 4.23e+06 1.41e+02 8.75e-01 2.79e+03 1 4.75e-04 3.49e-03
7 9.452528e+04 3.19e+05 8.24e+05 2.43e+02 9.46e-01 8.36e+03 1 4.48e-04 3.97e-03
8 7.602928e+04 1.85e+04 4.96e+04 7.33e+02 9.87e-01 2.51e+04 1 4.83e-04 4.47e-03
9 7.582465e+04 2.05e+02 1.19e+03 2.21e+03 6.54e-01 2.58e+04 1 3.57e-04 4.86e-03
10 7.579382e+04 3.08e+01 2.34e+02 2.28e+03 6.99e-01 2.76e+04 1 3.72e-04 5.24e-03
11 7.578283e+04 1.10e+01 2.77e+01 2.29e+03 7.33e-01 3.07e+04 1 3.74e-04 5.63e-03
12 7.577703e+04 5.80e+00 6.39e+00 2.03e+03 7.86e-01 3.77e+04 1 3.41e-04 6.01e-03
13 7.577329e+04 3.73e+00 1.09e+01 1.78e+03 8.14e-01 5.02e+04 1 4.14e-04 6.43e-03
14 7.577046e+04 2.84e+00 9.58e+00 1.78e+03 8.19e-01 6.78e+04 1 4.15e-04 6.89e-03
15 7.576819e+04 2.27e+00 7.84e+00 1.92e+03 8.19e-01 9.17e+04 1 4.82e-04 7.40e-03
16 7.576637e+04 1.82e+00 6.06e+00 2.14e+03 8.24e-01 1.26e+05 1 4.36e-04 7.87e-03
17 7.576497e+04 1.39e+00 4.22e+00 2.34e+03 8.49e-01 1.91e+05 1 4.56e-04 8.36e-03
18 7.576379e+04 1.18e+00 3.09e+00 2.77e+03 8.61e-01 3.06e+05 1 4.29e-04 8.82e-03
19 7.576273e+04 1.07e+00 2.42e+00 3.42e+03 8.62e-01 4.93e+05 1 3.95e-04 9.23e-03
20 7.576178e+04 9.50e-01 1.88e+00 4.13e+03 8.61e-01 7.89e+05 1 4.36e-04 9.69e-03
21 7.576094e+04 8.33e-01 1.61e+00 4.92e+03 8.59e-01 1.25e+06 1 4.17e-04 1.01e-02
22 7.576023e+04 7.18e-01 1.58e+00 5.77e+03 8.58e-01 1.98e+06 1 4.42e-04 1.06e-02
23 7.575961e+04 6.17e-01 1.19e+00 6.74e+03 8.58e-01 3.13e+06 1 4.13e-04 1.10e-02
24 7.575908e+04 5.30e-01 1.77e+00 7.86e+03 8.58e-01 4.96e+06 1 4.83e-04 1.16e-02
25 7.575862e+04 4.55e-01 8.26e-01 9.16e+03 8.58e-01 7.84e+06 1 4.57e-04 1.20e-02
26 7.575823e+04 3.90e-01 1.30e+00 1.07e+04 8.58e-01 1.24e+07 1 4.94e-04 1.26e-02
27 7.575790e+04 3.35e-01 1.94e+00 1.24e+04 8.58e-01 1.96e+07 1 4.23e-04 1.30e-02
28 7.575761e+04 2.87e-01 1.31e+00 1.45e+04 8.58e-01 3.10e+07 1 4.31e-04 1.35e-02
29 7.575737e+04 2.47e-01 4.46e-01 1.69e+04 8.58e-01 4.91e+07 1 4.60e-04 1.39e-02
30 7.575715e+04 2.12e-01 4.62e-01 1.97e+04 8.58e-01 7.77e+07 1 4.65e-04 1.44e-02
31 7.575697e+04 1.82e-01 1.14e+00 2.29e+04 8.58e-01 1.23e+08 1 4.24e-04 1.49e-02
32 7.575682e+04 1.56e-01 1.30e+00 2.67e+04 8.58e-01 1.94e+08 1 4.25e-04 1.54e-02
33 7.575668e+04 1.34e-01 1.61e+00 3.11e+04 8.58e-01 3.07e+08 1 4.75e-04 1.59e-02
34 7.575657e+04 1.15e-01 1.89e+00 3.63e+04 8.58e-01 4.86e+08 1 5.18e-04 1.64e-02
35 7.575647e+04 9.86e-02 1.94e+00 4.23e+04 8.58e-01 7.69e+08 1 3.60e-04 1.68e-02
36 7.575638e+04 8.46e-02 1.83e+00 4.93e+04 8.58e-01 1.22e+09 1 3.04e-04 1.71e-02
37 7.575631e+04 7.26e-02 1.62e+00 5.74e+04 8.58e-01 1.93e+09 1 3.20e-04 1.75e-02
38 7.575625e+04 6.23e-02 1.39e+00 6.69e+04 8.58e-01 3.05e+09 1 3.97e-04 1.79e-02
39 7.575620e+04 5.35e-02 1.16e+00 7.79e+04 8.58e-01 4.82e+09 1 6.28e-04 1.85e-02
40 7.575615e+04 4.59e-02 9.56e-01 9.08e+04 8.58e-01 7.62e+09 1 5.90e-04 1.92e-02
41 7.575611e+04 3.94e-02 7.79e-01 1.06e+05 8.58e-01 1.21e+10 1 6.16e-04 1.98e-02
42 7.575608e+04 3.38e-02 6.34e-01 1.23e+05 8.58e-01 1.91e+10 1 5.78e-04 2.04e-02
43 7.575605e+04 2.90e-02 5.84e-01 1.44e+05 8.58e-01 3.02e+10 1 5.78e-04 2.10e-02
44 7.575602e+04 2.49e-02 5.29e-01 1.67e+05 8.58e-01 4.77e+10 1 5.72e-04 2.16e-02
45 7.575600e+04 2.14e-02 4.73e-01 1.95e+05 8.58e-01 7.55e+10 1 5.30e-04 2.22e-02
46 7.575598e+04 1.83e-02 4.19e-01 2.27e+05 8.58e-01 1.19e+11 1 5.61e-04 2.28e-02
47 7.575597e+04 1.57e-02 3.68e-01 2.65e+05 8.58e-01 1.89e+11 1 5.43e-04 2.34e-02
48 7.575595e+04 1.35e-02 3.22e-01 3.09e+05 8.58e-01 2.99e+11 1 4.90e-04 2.39e-02
49 7.575594e+04 1.16e-02 2.81e-01 3.59e+05 8.58e-01 4.72e+11 1 3.26e-04 2.43e-02
50 7.575593e+04 9.95e-03 2.44e-01 4.19e+05 8.58e-01 7.47e+11 1 3.49e-04 2.46e-02
51 7.575592e+04 8.54e-03 2.12e-01 4.88e+05 8.58e-01 1.18e+12 1 3.88e-04 2.50e-02
52 7.575592e+04 7.33e-03 1.83e-01 5.69e+05 8.58e-01 1.87e+12 1 4.37e-04 2.55e-02
53 7.575591e+04 6.29e-03 1.58e-01 6.63e+05 8.58e-01 2.96e+12 1 4.24e-04 2.59e-02
54 7.575590e+04 5.40e-03 1.37e-01 7.72e+05 8.58e-01 4.68e+12 1 4.26e-04 2.64e-02
55 7.575590e+04 4.63e-03 1.18e-01 8.99e+05 8.58e-01 7.40e+12 1 4.29e-04 2.68e-02
56 7.575590e+04 3.98e-03 1.01e-01 1.05e+06 8.58e-01 1.17e+13 1 4.06e-04 2.73e-02
57 7.575589e+04 3.41e-03 8.73e-02 1.22e+06 8.58e-01 1.85e+13 1 4.37e-04 2.77e-02
I20260707 08:21:54.982689 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:21:54.982753 84886 bundle_adjustment.cc:942]
Residuals : 420
Parameters : 320
Iterations : 58
Time : 0.027787 [s]
Initial cost : 518.912 [px]
Final cost : 13.4302 [px]
Termination : Convergence
I20260707 08:21:54.983768 84886 incremental_mapper.cc:160] => Filtered observations: 192
I20260707 08:21:54.983911 84886 incremental_mapper.cc:167] => Filtered images: 0
I20260707 08:21:55.042233 84886 misc.cc:198]
==============================================================================
Finding good initial image pair
==============================================================================
I20260707 08:21:55.615789 84886 misc.cc:198]
==============================================================================
Initializing with image pair #411 and #397
==============================================================================
I20260707 08:21:55.618417 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 1.536125e+02 0.00e+00 2.05e+03 0.00e+00 0.00e+00 1.00e+04 0 1.33e-03 3.03e-03
1 1.198828e+02 3.37e+01 1.70e+01 0.00e+00 9.99e-01 3.00e+04 1 2.26e-03 5.39e-03
2 1.188631e+02 1.02e+00 1.41e+02 5.02e-02 1.18e+00 9.00e+04 1 2.39e-03 7.88e-03
3 1.177689e+02 1.09e+00 2.84e+02 7.00e-02 1.27e+00 2.70e+05 1 1.94e-03 9.91e-03
4 1.172552e+02 5.14e-01 1.78e+02 3.70e-02 1.34e+00 8.10e+05 1 1.96e-03 1.19e-02
5 1.171764e+02 7.88e-02 2.32e+02 2.40e-02 1.32e+00 2.43e+06 1 2.02e-03 1.40e-02
6 1.171660e+02 1.04e-02 3.97e+02 7.65e-02 1.19e+00 7.29e+06 1 2.00e-03 1.61e-02
7 1.171606e+02 5.41e-03 3.93e+02 2.08e-01 9.51e-01 2.19e+07 1 2.14e-03 1.83e-02
8 1.171631e+02 -2.52e-03 3.93e+02 4.78e-01 -2.65e-01 1.09e+07 1 1.05e-03 1.94e-02
9 1.171558e+02 4.72e-03 5.28e+02 2.73e-01 7.83e-01 1.33e+07 1 2.43e-03 2.19e-02
10 1.171508e+02 5.03e-03 3.67e+02 2.71e-01 8.49e-01 2.02e+07 1 2.01e-03 2.40e-02
11 1.171476e+02 3.25e-03 5.54e+02 3.09e-01 6.27e-01 2.06e+07 1 1.87e-03 2.59e-02
12 1.171437e+02 3.84e-03 2.63e+02 2.26e-01 8.90e-01 3.92e+07 1 1.95e-03 2.79e-02
13 1.171425e+02 1.24e-03 4.29e+02 2.58e-01 5.27e-01 3.92e+07 1 1.79e-03 2.97e-02
14 1.171408e+02 1.68e-03 1.00e+02 1.40e-01 9.70e-01 1.18e+08 1 1.89e-03 3.17e-02
15 1.171405e+02 2.58e-04 1.45e+02 1.41e-01 6.81e-01 1.23e+08 1 2.05e-03 3.38e-02
16 1.171404e+02 1.56e-04 2.37e+00 3.26e-02 1.02e+00 3.70e+08 1 1.99e-03 3.58e-02
17 1.171404e+02 6.15e-06 6.98e+00 2.53e-02 7.90e-01 4.60e+08 1 2.05e-03 3.80e-02
18 1.171404e+02 1.07e-06 3.79e-01 2.36e-03 5.97e-01 4.63e+08 1 2.03e-03 4.01e-02
19 1.171404e+02 2.30e-07 7.05e-01 5.41e-03 3.70e-01 4.55e+08 1 2.06e-03 4.22e-02
20 1.171404e+02 8.94e-08 2.45e-01 2.58e-03 3.37e-01 4.40e+08 1 1.98e-03 4.42e-02
21 1.171404e+02 3.85e-08 1.14e-01 2.04e-03 3.22e-01 4.21e+08 1 2.35e-03 4.66e-02
22 1.171404e+02 1.73e-08 6.45e-02 1.26e-03 3.22e-01 4.03e+08 1 2.12e-03 4.88e-02
I20260707 08:21:55.669972 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:21:55.670086 84886 bundle_adjustment.cc:942]
Residuals : 1548
Parameters : 1166
Iterations : 23
Time : 0.049047 [s]
Initial cost : 0.315012 [px]
Final cost : 0.275086 [px]
Termination : Convergence
I20260707 08:21:55.672353 84886 incremental_mapper.cc:160] => Filtered observations: 0
I20260707 08:21:55.672472 84886 incremental_mapper.cc:167] => Filtered images: 0
I20260707 08:21:55.688045 84886 misc.cc:198]
==============================================================================
Registering image #406 (3)
==============================================================================
I20260707 08:21:55.688181 84886 incremental_mapper.cc:495] => Image sees 191 / 1866 points
I20260707 08:21:55.694772 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:21:55.694911 84886 bundle_adjustment.cc:942]
Residuals : 380
Parameters : 6
Iterations : 4
Time : 0.00193119 [s]
Initial cost : 0.192522 [px]
Final cost : 0.189857 [px]
Termination : Convergence
I20260707 08:21:55.695422 84886 incremental_mapper.cc:40] => Continued observations: 189
I20260707 08:21:55.697877 84886 incremental_mapper.cc:43] => Added observations: 35
I20260707 08:21:55.763017 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:21:55.763124 84886 bundle_adjustment.cc:942]
Residuals : 1996
Parameters : 1214
Iterations : 26
Time : 0.0636411 [s]
Initial cost : 0.319653 [px]
Final cost : 0.284016 [px]
Termination : No convergence
I20260707 08:21:55.767871 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:21:55.767978 84886 incremental_mapper.cc:79] => Completed observations: 1
I20260707 08:21:55.767987 84886 incremental_mapper.cc:81] => Filtered observations: 5
I20260707 08:21:55.767992 84886 incremental_mapper.cc:90] => Changed observations: 0.006012
I20260707 08:21:55.776268 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:21:55.776412 84886 bundle_adjustment.cc:942]
Residuals : 1988
Parameters : 1208
Iterations : 2
Time : 0.00645089 [s]
Initial cost : 0.298397 [px]
Final cost : 0.287273 [px]
Termination : Convergence
I20260707 08:21:55.781162 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:21:55.781242 84886 incremental_mapper.cc:79] => Completed observations: 2
I20260707 08:21:55.781248 84886 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 08:21:55.781255 84886 incremental_mapper.cc:90] => Changed observations: 0.002012
I20260707 08:21:55.781288 84886 misc.cc:198]
==============================================================================
Retriangulation
==============================================================================
I20260707 08:21:55.781644 84886 incremental_mapper.cc:175] => Completed observations: 1
I20260707 08:21:55.781888 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:21:55.781917 84886 incremental_mapper.cc:105] => Retriangulated observations: 0
I20260707 08:21:55.784687 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 1.742428e+02 0.00e+00 8.30e+01 0.00e+00 0.00e+00 1.00e+04 0 2.01e-03 4.35e-03
1 1.721189e+02 2.12e+00 4.68e+00 0.00e+00 9.72e-01 3.00e+04 1 3.29e-03 7.72e-03
2 1.719529e+02 1.66e-01 3.48e+00 5.02e+00 1.06e+00 9.00e+04 1 3.09e-03 1.09e-02
3 1.719267e+02 2.62e-02 2.45e+00 2.11e+00 1.16e+00 2.70e+05 1 3.14e-03 1.41e-02
4 1.719141e+02 1.26e-02 1.95e+00 2.24e+00 1.03e+00 8.10e+05 1 2.97e-03 1.71e-02
5 1.718828e+02 3.13e-02 2.15e+00 6.23e+00 9.93e-01 2.43e+06 1 3.13e-03 2.03e-02
6 1.717974e+02 8.53e-02 1.43e+01 1.82e+01 9.57e-01 7.29e+06 1 3.07e-03 2.34e-02
7 1.716869e+02 1.11e-01 9.69e+01 5.07e+01 4.80e-01 7.29e+06 1 3.01e-03 2.65e-02
8 1.714663e+02 2.21e-01 7.17e+01 4.81e+01 7.56e-01 8.43e+06 1 2.99e-03 2.96e-02
9 1.713081e+02 1.58e-01 7.00e+01 5.26e+01 6.76e-01 8.81e+06 1 2.89e-03 3.25e-02
10 1.711501e+02 1.58e-01 5.68e+01 5.22e+01 7.42e-01 9.94e+06 1 2.78e-03 3.53e-02
11 1.710231e+02 1.27e-01 5.33e+01 5.57e+01 7.03e-01 1.07e+07 1 2.59e-03 3.80e-02
12 1.709035e+02 1.20e-01 4.55e+01 5.65e+01 7.36e-01 1.19e+07 1 2.35e-03 4.04e-02
13 1.708021e+02 1.01e-01 4.20e+01 5.97e+01 7.15e-01 1.29e+07 1 2.25e-03 4.27e-02
14 1.707089e+02 9.32e-02 3.68e+01 6.14e+01 7.32e-01 1.44e+07 1 2.10e-03 4.48e-02
15 1.706279e+02 8.10e-02 3.37e+01 6.44e+01 7.21e-01 1.58e+07 1 2.05e-03 4.69e-02
16 1.705545e+02 7.34e-02 2.99e+01 6.65e+01 7.31e-01 1.75e+07 1 1.97e-03 4.89e-02
17 1.704899e+02 6.46e-02 2.72e+01 6.95e+01 7.24e-01 1.92e+07 1 1.81e-03 5.07e-02
18 1.704318e+02 5.81e-02 2.43e+01 7.20e+01 7.30e-01 2.13e+07 1 1.67e-03 5.24e-02
19 1.703804e+02 5.14e-02 2.20e+01 7.50e+01 7.26e-01 2.34e+07 1 1.66e-03 5.41e-02
20 1.703345e+02 4.59e-02 1.98e+01 7.77e+01 7.29e-01 2.60e+07 1 1.82e-03 5.59e-02
21 1.702938e+02 4.07e-02 1.79e+01 8.08e+01 7.28e-01 2.87e+07 1 1.77e-03 5.77e-02
22 1.702576e+02 3.62e-02 1.61e+01 8.36e+01 7.30e-01 3.17e+07 1 2.02e-03 5.98e-02
23 1.702255e+02 3.21e-02 1.45e+01 8.67e+01 7.29e-01 3.51e+07 1 2.37e-03 6.22e-02
24 1.701970e+02 2.85e-02 1.31e+01 8.97e+01 7.30e-01 3.89e+07 1 2.64e-03 6.49e-02
25 1.701718e+02 2.52e-02 1.18e+01 9.28e+01 7.30e-01 4.30e+07 1 2.63e-03 6.76e-02
26 1.701495e+02 2.23e-02 1.06e+01 9.59e+01 7.31e-01 4.77e+07 1 2.71e-03 7.03e-02
27 1.701298e+02 1.97e-02 9.54e+00 9.90e+01 7.31e-01 5.29e+07 1 2.61e-03 7.30e-02
28 1.701124e+02 1.74e-02 8.58e+00 1.02e+02 7.31e-01 5.88e+07 1 2.64e-03 7.57e-02
29 1.700971e+02 1.53e-02 7.72e+00 1.05e+02 7.32e-01 6.53e+07 1 2.66e-03 7.84e-02
30 1.700837e+02 1.34e-02 6.94e+00 1.08e+02 7.33e-01 7.26e+07 1 2.84e-03 8.13e-02
31 1.700720e+02 1.18e-02 6.24e+00 1.11e+02 7.33e-01 8.07e+07 1 3.06e-03 8.44e-02
32 1.700617e+02 1.03e-02 5.60e+00 1.14e+02 7.34e-01 8.99e+07 1 3.07e-03 8.75e-02
33 1.700527e+02 8.96e-03 5.03e+00 1.17e+02 7.35e-01 1.00e+08 1 3.13e-03 9.07e-02
34 1.700449e+02 7.79e-03 4.50e+00 1.19e+02 7.36e-01 1.12e+08 1 3.00e-03 9.38e-02
35 1.700382e+02 6.75e-03 4.03e+00 1.22e+02 7.37e-01 1.25e+08 1 2.75e-03 9.66e-02
36 1.700324e+02 5.83e-03 3.60e+00 1.24e+02 7.38e-01 1.40e+08 1 2.69e-03 9.93e-02
37 1.700273e+02 5.01e-03 3.22e+00 1.26e+02 7.39e-01 1.58e+08 1 2.63e-03 1.02e-01
38 1.700231e+02 4.29e-03 2.87e+00 1.28e+02 7.40e-01 1.77e+08 1 2.83e-03 1.05e-01
39 1.700194e+02 3.65e-03 2.55e+00 1.29e+02 7.42e-01 2.00e+08 1 2.77e-03 1.08e-01
40 1.700163e+02 3.09e-03 2.26e+00 1.30e+02 7.44e-01 2.26e+08 1 2.83e-03 1.11e-01
41 1.700137e+02 2.59e-03 2.00e+00 1.31e+02 7.46e-01 2.57e+08 1 2.82e-03 1.14e-01
42 1.700116e+02 2.16e-03 1.76e+00 1.31e+02 7.49e-01 2.93e+08 1 2.71e-03 1.16e-01
43 1.700098e+02 1.79e-03 1.54e+00 1.30e+02 7.52e-01 3.36e+08 1 2.76e-03 1.19e-01
44 1.700083e+02 1.46e-03 1.34e+00 1.29e+02 7.55e-01 3.88e+08 1 2.77e-03 1.22e-01
45 1.700071e+02 1.18e-03 1.16e+00 1.27e+02 7.60e-01 4.51e+08 1 2.68e-03 1.25e-01
46 1.700062e+02 9.34e-04 1.85e+00 1.25e+02 7.65e-01 5.30e+08 1 2.81e-03 1.28e-01
47 1.700055e+02 7.27e-04 1.75e+00 1.21e+02 7.71e-01 6.30e+08 1 2.84e-03 1.30e-01
48 1.700049e+02 5.53e-04 1.72e+00 1.16e+02 7.79e-01 7.62e+08 1 2.98e-03 1.33e-01
49 1.700045e+02 4.08e-04 1.07e+00 1.10e+02 7.89e-01 9.44e+08 1 2.89e-03 1.36e-01
50 1.700042e+02 2.90e-04 2.00e+00 1.03e+02 8.01e-01 1.21e+09 1 2.60e-03 1.39e-01
51 1.700040e+02 1.95e-04 1.51e+00 9.46e+01 8.18e-01 1.63e+09 1 2.59e-03 1.42e-01
52 1.700039e+02 1.22e-04 1.33e+00 8.40e+01 8.41e-01 2.38e+09 1 2.59e-03 1.44e-01
53 1.700038e+02 6.82e-05 1.62e+00 7.13e+01 8.73e-01 4.07e+09 1 2.61e-03 1.47e-01
54 1.700038e+02 3.20e-05 1.27e+00 5.60e+01 9.23e-01 1.04e+10 1 2.73e-03 1.50e-01
55 1.700038e+02 1.09e-05 1.02e+00 3.74e+01 1.00e+00 3.11e+10 1 2.74e-03 1.53e-01
56 1.700038e+02 1.90e-06 1.22e+00 1.53e+01 1.09e+00 9.32e+10 1 2.76e-03 1.55e-01
57 1.700038e+02 1.21e-07 4.05e-01 4.42e+00 1.19e+00 2.80e+11 1 2.77e-03 1.58e-01
58 1.700038e+02 7.78e-09 2.36e-02 1.14e+00 1.25e+00 8.39e+11 1 2.83e-03 1.61e-01
I20260707 08:21:55.948637 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:21:55.948769 84886 bundle_adjustment.cc:942]
Residuals : 1994
Parameters : 1211
Iterations : 59
Time : 0.161413 [s]
Initial cost : 0.295607 [px]
Final cost : 0.291989 [px]
Termination : Convergence
I20260707 08:21:55.951333 84886 incremental_mapper.cc:175] => Completed observations: 0
I20260707 08:21:55.951766 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:21:55.952029 84886 incremental_mapper.cc:160] => Filtered observations: 0
I20260707 08:21:55.952055 84886 incremental_mapper.cc:119] => Changed observations: 0.000000
I20260707 08:21:55.952076 84886 incremental_mapper.cc:167] => Filtered images: 0
I20260707 08:21:55.969092 84886 misc.cc:198]
==============================================================================
Registering image #424 (4)
==============================================================================
I20260707 08:21:55.969254 84886 incremental_mapper.cc:495] => Image sees 89 / 3030 points
I20260707 08:21:55.980412 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:21:55.980559 84886 bundle_adjustment.cc:942]
Residuals : 166
Parameters : 6
Iterations : 37
Time : 0.00694299 [s]
Initial cost : 0.848122 [px]
Final cost : 0.82617 [px]
Termination : Convergence
I20260707 08:21:55.980819 84886 incremental_mapper.cc:40] => Continued observations: 83
I20260707 08:21:55.983007 84886 incremental_mapper.cc:43] => Added observations: 570
I20260707 08:21:56.089097 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:21:56.089252 84886 bundle_adjustment.cc:942]
Residuals : 3300
Parameters : 2063
Iterations : 26
Time : 0.102657 [s]
Initial cost : 0.631731 [px]
Final cost : 0.37759 [px]
Termination : No convergence
I20260707 08:21:56.094353 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:21:56.094437 84886 incremental_mapper.cc:79] => Completed observations: 176
I20260707 08:21:56.094446 84886 incremental_mapper.cc:81] => Filtered observations: 8
I20260707 08:21:56.094451 84886 incremental_mapper.cc:90] => Changed observations: 0.111515
I20260707 08:21:56.244814 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:21:56.244916 84886 bundle_adjustment.cc:942]
Residuals : 3630
Parameters : 2054
Iterations : 26
Time : 0.146973 [s]
Initial cost : 0.560026 [px]
Final cost : 0.478004 [px]
Termination : No convergence
I20260707 08:21:56.248095 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:21:56.248173 84886 incremental_mapper.cc:79] => Completed observations: 33
I20260707 08:21:56.248181 84886 incremental_mapper.cc:81] => Filtered observations: 1
I20260707 08:21:56.248185 84886 incremental_mapper.cc:90] => Changed observations: 0.018733
I20260707 08:21:56.248219 84886 misc.cc:198]
==============================================================================
Retriangulation
==============================================================================
I20260707 08:21:56.248607 84886 incremental_mapper.cc:175] => Completed observations: 0
I20260707 08:21:56.248865 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:21:56.248886 84886 incremental_mapper.cc:105] => Retriangulated observations: 0
I20260707 08:21:56.249121 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 1.011558e+03 0.00e+00 3.54e+04 0.00e+00 0.00e+00 1.00e+04 0 3.76e-03 7.50e-03
1 9.572601e+02 5.43e+01 2.31e+02 0.00e+00 1.00e+00 3.00e+04 1 6.62e-03 1.43e-02
2 9.564359e+02 8.24e-01 1.02e+03 2.22e-01 9.92e-01 9.00e+04 1 5.47e-03 1.98e-02
3 9.559127e+02 5.23e-01 1.63e+03 5.42e-01 9.81e-01 2.70e+05 1 4.63e-03 2.45e-02
4 9.547164e+02 1.20e+00 1.17e+03 1.53e+00 1.00e+00 8.10e+05 1 6.79e-03 3.13e-02
5 9.512409e+02 3.48e+00 1.24e+03 4.47e+00 1.01e+00 2.43e+06 1 7.61e-03 3.90e-02
6 9.493864e+02 1.85e+00 1.35e+04 1.24e+01 1.86e-01 1.95e+06 1 7.60e-03 4.67e-02
7 9.363821e+02 1.30e+01 2.01e+04 8.89e+00 7.54e-01 2.24e+06 1 7.20e-03 5.40e-02
8 9.304168e+02 5.97e+00 2.41e+04 9.02e+00 4.31e-01 2.24e+06 1 6.69e-03 6.08e-02
9 9.209283e+02 9.49e+00 2.61e+04 7.71e+00 5.59e-01 2.24e+06 1 5.02e-03 6.58e-02
10 9.118057e+02 9.12e+00 2.45e+04 6.49e+00 5.88e-01 2.25e+06 1 4.20e-03 7.01e-02
11 9.035493e+02 8.26e+00 2.16e+04 5.37e+00 6.30e-01 2.29e+06 1 3.58e-03 7.37e-02
12 8.967278e+02 6.82e+00 1.85e+04 4.41e+00 6.68e-01 2.38e+06 1 4.17e-03 7.79e-02
13 8.914724e+02 5.26e+00 1.62e+04 3.62e+00 7.00e-01 2.55e+06 1 4.72e-03 8.26e-02
14 8.876337e+02 3.84e+00 1.38e+04 2.97e+00 7.28e-01 2.81e+06 1 6.03e-03 8.87e-02
15 8.849549e+02 2.68e+00 1.13e+04 2.44e+00 7.53e-01 3.23e+06 1 5.68e-03 9.44e-02
16 8.831876e+02 1.77e+00 8.89e+03 1.99e+00 7.78e-01 3.90e+06 1 5.44e-03 9.99e-02
17 8.821070e+02 1.08e+00 6.57e+03 1.60e+00 8.04e-01 5.02e+06 1 5.81e-03 1.06e-01
18 8.815197e+02 5.87e-01 4.41e+03 1.24e+00 8.33e-01 7.12e+06 1 5.71e-03 1.12e-01
19 8.812552e+02 2.64e-01 2.51e+03 8.96e-01 8.68e-01 1.19e+07 1 5.08e-03 1.17e-01
20 8.811701e+02 8.51e-02 1.05e+03 5.65e-01 9.10e-01 2.64e+07 1 7.01e-03 1.24e-01
21 8.811558e+02 1.42e-02 2.51e+02 2.57e-01 9.56e-01 7.91e+07 1 7.14e-03 1.31e-01
22 8.811552e+02 6.49e-04 2.47e+01 4.76e-02 1.03e+00 2.37e+08 1 6.54e-03 1.38e-01
23 8.811552e+02 9.21e-06 2.85e-01 2.80e-03 1.16e+00 7.12e+08 1 4.15e-03 1.42e-01
24 8.811552e+02 3.93e-07 2.87e-01 8.59e-04 1.23e+00 2.13e+09 1 3.88e-03 1.46e-01
25 8.811552e+02 2.72e-08 1.10e-01 2.79e-05 1.24e+00 6.40e+09 1 3.73e-03 1.49e-01
26 8.811552e+02 2.03e-09 2.94e-02 4.56e-05 1.24e+00 1.92e+10 1 3.53e-03 1.53e-01
I20260707 08:21:56.404525 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:21:56.404572 84886 bundle_adjustment.cc:942]
Residuals : 3690
Parameters : 2051
Iterations : 27
Time : 0.15319 [s]
Initial cost : 0.523579 [px]
Final cost : 0.488667 [px]
Termination : Convergence
I20260707 08:21:56.406376 84886 incremental_mapper.cc:175] => Completed observations: 10
I20260707 08:21:56.406682 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:21:56.406939 84886 incremental_mapper.cc:160] => Filtered observations: 1
I20260707 08:21:56.406955 84886 incremental_mapper.cc:119] => Changed observations: 0.005962
I20260707 08:21:56.406970 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 9.205737e+02 0.00e+00 6.77e+02 0.00e+00 0.00e+00 1.00e+04 0 2.09e-03 4.09e-03
1 9.118961e+02 8.68e+00 1.58e+01 0.00e+00 1.01e+00 3.00e+04 1 3.06e-03 7.18e-03
2 9.116976e+02 1.98e-01 5.79e+01 4.95e-01 1.04e+00 9.00e+04 1 2.91e-03 1.01e-02
3 9.115195e+02 1.78e-01 8.67e+01 1.31e+00 1.02e+00 2.70e+05 1 2.90e-03 1.30e-02
4 9.111258e+02 3.94e-01 6.98e+01 3.61e+00 9.99e-01 8.10e+05 1 3.00e-03 1.61e-02
5 9.102875e+02 8.38e-01 1.72e+02 8.94e+00 9.65e-01 2.43e+06 1 4.04e-03 2.01e-02
6 9.095013e+02 7.86e-01 8.02e+02 1.61e+01 6.59e-01 2.51e+06 1 5.48e-03 2.57e-02
7 9.087904e+02 7.11e-01 2.70e+02 8.68e+00 9.40e-01 7.53e+06 1 7.65e-03 3.34e-02
8 9.086391e+02 1.51e-01 2.51e+02 7.54e+00 8.12e-01 9.96e+06 1 6.84e-03 4.04e-02
9 9.086052e+02 3.39e-02 2.51e+01 1.62e+00 1.00e+00 2.99e+07 1 6.53e-03 4.70e-02
10 9.086047e+02 5.02e-04 1.87e+00 3.79e-01 1.05e+00 8.96e+07 1 5.82e-03 5.28e-02
11 9.086047e+02 1.66e-05 9.24e-01 1.24e-02 1.20e+00 2.69e+08 1 5.51e-03 5.84e-02
12 9.086047e+02 9.93e-07 2.70e-01 9.14e-03 1.22e+00 8.07e+08 1 5.22e-03 6.37e-02
13 9.086047e+02 6.89e-08 1.31e-01 2.51e-04 1.23e+00 2.42e+09 1 4.41e-03 6.81e-02
14 9.086047e+02 4.85e-09 2.46e-02 5.69e-04 1.22e+00 7.26e+09 1 4.19e-03 7.23e-02
I20260707 08:21:56.481256 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:21:56.481328 84886 bundle_adjustment.cc:942]
Residuals : 3704
Parameters : 2048
Iterations : 15
Time : 0.0725501 [s]
Initial cost : 0.498533 [px]
Final cost : 0.495281 [px]
Termination : Convergence
I20260707 08:21:56.484604 84886 incremental_mapper.cc:175] => Completed observations: 0
I20260707 08:21:56.485090 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:21:56.485543 84886 incremental_mapper.cc:160] => Filtered observations: 0
I20260707 08:21:56.485579 84886 incremental_mapper.cc:119] => Changed observations: 0.000000
I20260707 08:21:56.485594 84886 incremental_mapper.cc:167] => Filtered images: 0
I20260707 08:21:56.499298 84886 misc.cc:198]
==============================================================================
Registering image #426 (5)
==============================================================================
I20260707 08:21:56.499397 84886 incremental_mapper.cc:495] => Image sees 208 / 1452 points
I20260707 08:21:56.512194 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:21:56.512362 84886 bundle_adjustment.cc:942]
Residuals : 402
Parameters : 6
Iterations : 10
Time : 0.00839305 [s]
Initial cost : 0.492979 [px]
Final cost : 0.442984 [px]
Termination : Convergence
I20260707 08:21:56.513069 84886 incremental_mapper.cc:40] => Continued observations: 201
I20260707 08:21:56.514992 84886 incremental_mapper.cc:43] => Added observations: 6
I20260707 08:21:56.623622 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:21:56.623741 84886 bundle_adjustment.cc:942]
Residuals : 4118
Parameters : 2060
Iterations : 11
Time : 0.0972099 [s]
Initial cost : 0.425522 [px]
Final cost : 0.403742 [px]
Termination : Convergence
I20260707 08:21:56.631736 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:21:56.631832 84886 incremental_mapper.cc:79] => Completed observations: 0
I20260707 08:21:56.631850 84886 incremental_mapper.cc:81] => Filtered observations: 8
I20260707 08:21:56.631855 84886 incremental_mapper.cc:90] => Changed observations: 0.003885
I20260707 08:21:56.685408 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:21:56.685454 84886 bundle_adjustment.cc:942]
Residuals : 4100
Parameters : 2051
Iterations : 9
Time : 0.048547 [s]
Initial cost : 0.50443 [px]
Final cost : 0.49075 [px]
Termination : Convergence
I20260707 08:21:56.687022 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:21:56.687053 84886 incremental_mapper.cc:79] => Completed observations: 1
I20260707 08:21:56.687057 84886 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 08:21:56.687058 84886 incremental_mapper.cc:90] => Changed observations: 0.000488
I20260707 08:21:56.687067 84886 misc.cc:198]
==============================================================================
Retriangulation
==============================================================================
I20260707 08:21:56.687232 84886 incremental_mapper.cc:175] => Completed observations: 0
I20260707 08:21:56.687340 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:21:56.687345 84886 incremental_mapper.cc:105] => Retriangulated observations: 0
I20260707 08:21:56.688020 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 9.953878e+02 0.00e+00 2.76e+02 0.00e+00 0.00e+00 1.00e+04 0 1.28e-03 2.60e-03
1 9.941848e+02 1.20e+00 1.98e+00 0.00e+00 1.00e+00 3.00e+04 1 1.89e-03 4.50e-03
2 9.941800e+02 4.81e-03 1.86e+00 2.00e-02 1.00e+00 9.00e+04 1 1.78e-03 6.29e-03
3 9.941784e+02 1.55e-03 1.64e+00 1.88e-02 1.03e+00 2.70e+05 1 1.74e-03 8.04e-03
4 9.941783e+02 1.64e-04 1.78e+00 2.26e-02 1.11e+00 8.10e+05 1 1.92e-03 9.97e-03
5 9.941782e+02 4.30e-05 1.89e+00 5.00e-02 1.02e+00 2.43e+06 1 2.77e-03 1.27e-02
6 9.941782e+02 4.98e-05 1.66e+00 9.50e-02 9.72e-01 7.29e+06 1 3.42e-03 1.62e-02
7 9.941781e+02 2.59e-05 1.16e+00 1.01e-01 9.42e-01 2.19e+07 1 4.38e-03 2.06e-02
8 9.941781e+02 2.83e-06 3.90e-01 4.00e-02 9.59e-01 6.56e+07 1 3.40e-03 2.40e-02
9 9.941781e+02 7.36e-08 8.55e-02 3.27e-03 1.15e+00 1.97e+08 1 3.31e-03 2.73e-02
I20260707 08:21:56.716826 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:21:56.716903 84886 bundle_adjustment.cc:942]
Residuals : 4102
Parameters : 2051
Iterations : 10
Time : 0.0275109 [s]
Initial cost : 0.492604 [px]
Final cost : 0.492305 [px]
Termination : Convergence
I20260707 08:21:56.718814 84886 incremental_mapper.cc:175] => Completed observations: 0
I20260707 08:21:56.719040 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:21:56.719261 84886 incremental_mapper.cc:160] => Filtered observations: 0
I20260707 08:21:56.719274 84886 incremental_mapper.cc:119] => Changed observations: 0.000000
I20260707 08:21:56.719282 84886 incremental_mapper.cc:167] => Filtered images: 0
I20260707 08:21:56.730288 84886 misc.cc:198]
==============================================================================
Registering image #427 (6)
==============================================================================
I20260707 08:21:56.730450 84886 incremental_mapper.cc:495] => Image sees 160 / 1628 points
I20260707 08:21:56.735772 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:21:56.735872 84886 bundle_adjustment.cc:942]
Residuals : 308
Parameters : 6
Iterations : 10
Time : 0.00186992 [s]
Initial cost : 0.694007 [px]
Final cost : 0.411573 [px]
Termination : Convergence
I20260707 08:21:56.736028 84886 incremental_mapper.cc:40] => Continued observations: 154
I20260707 08:21:56.739070 84886 incremental_mapper.cc:43] => Added observations: 87
I20260707 08:21:56.933092 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:21:56.933341 84886 bundle_adjustment.cc:942]
Residuals : 4584
Parameters : 2147
Iterations : 21
Time : 0.189398 [s]
Initial cost : 0.60544 [px]
Final cost : 0.527597 [px]
Termination : Convergence
I20260707 08:21:56.948335 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:21:56.948462 84886 incremental_mapper.cc:79] => Completed observations: 10
I20260707 08:21:56.948472 84886 incremental_mapper.cc:81] => Filtered observations: 63
I20260707 08:21:56.948477 84886 incremental_mapper.cc:90] => Changed observations: 0.031850
I20260707 08:21:56.997990 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:21:56.998044 84886 bundle_adjustment.cc:942]
Residuals : 4432
Parameters : 2069
Iterations : 7
Time : 0.0441639 [s]
Initial cost : 0.505538 [px]
Final cost : 0.487489 [px]
Termination : Convergence
I20260707 08:21:57.001921 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:21:57.001952 84886 incremental_mapper.cc:79] => Completed observations: 0
I20260707 08:21:57.001957 84886 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 08:21:57.001959 84886 incremental_mapper.cc:90] => Changed observations: 0.000000
I20260707 08:21:57.001973 84886 misc.cc:198]
==============================================================================
Retriangulation
==============================================================================
I20260707 08:21:57.002230 84886 incremental_mapper.cc:175] => Completed observations: 2
I20260707 08:21:57.002384 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:21:57.002393 84886 incremental_mapper.cc:105] => Retriangulated observations: 0
I20260707 08:21:57.004391 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 1.068539e+03 0.00e+00 9.24e+02 0.00e+00 0.00e+00 1.00e+04 0 1.78e-03 3.60e-03
1 1.066046e+03 2.49e+00 2.09e+01 0.00e+00 1.00e+00 3.00e+04 1 2.61e-03 6.24e-03
2 1.065975e+03 7.14e-02 1.11e+01 3.44e-02 1.04e+00 9.00e+04 1 2.49e-03 8.75e-03
3 1.065958e+03 1.67e-02 7.30e+00 1.70e-02 1.11e+00 2.70e+05 1 2.50e-03 1.13e-02
4 1.065956e+03 2.33e-03 4.63e+00 5.82e-02 1.14e+00 8.10e+05 1 2.52e-03 1.38e-02
5 1.065954e+03 1.68e-03 2.59e+00 1.53e-01 1.01e+00 2.43e+06 1 2.51e-03 1.63e-02
6 1.065952e+03 1.84e-03 2.56e+00 2.66e-01 9.70e-01 7.29e+06 1 2.59e-03 1.89e-02
7 1.065951e+03 7.19e-04 1.71e+00 2.36e-01 9.47e-01 2.19e+07 1 2.57e-03 2.15e-02
8 1.065951e+03 5.47e-05 1.84e+00 7.27e-02 9.86e-01 6.56e+07 1 2.54e-03 2.41e-02
9 1.065951e+03 1.22e-06 3.63e-01 4.92e-03 1.14e+00 1.97e+08 1 2.44e-03 2.65e-02
10 1.065951e+03 4.17e-08 7.44e-02 8.88e-04 1.21e+00 5.90e+08 1 2.34e-03 2.89e-02
I20260707 08:21:57.034955 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:21:57.034983 84886 bundle_adjustment.cc:942]
Residuals : 4436
Parameters : 2069
Iterations : 11
Time : 0.0289679 [s]
Initial cost : 0.490794 [px]
Final cost : 0.4902 [px]
Termination : Convergence
I20260707 08:21:57.036095 84886 incremental_mapper.cc:175] => Completed observations: 0
I20260707 08:21:57.036319 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:21:57.036463 84886 incremental_mapper.cc:160] => Filtered observations: 0
I20260707 08:21:57.036469 84886 incremental_mapper.cc:119] => Changed observations: 0.000000
I20260707 08:21:57.036475 84886 incremental_mapper.cc:167] => Filtered images: 0
I20260707 08:21:57.046295 84886 misc.cc:198]
==============================================================================
Registering image #388 (7)
==============================================================================
I20260707 08:21:57.046373 84886 incremental_mapper.cc:495] => Image sees 312 / 1787 points
I20260707 08:21:57.074755 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:21:57.074923 84886 bundle_adjustment.cc:942]
Residuals : 652
Parameters : 6
Iterations : 21
Time : 0.0234621 [s]
Initial cost : 0.723815 [px]
Final cost : 0.64185 [px]
Termination : Convergence
I20260707 08:21:57.075678 84886 incremental_mapper.cc:40] => Continued observations: 292
I20260707 08:21:57.079557 84886 incremental_mapper.cc:43] => Added observations: 280
I20260707 08:21:57.257618 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:21:57.257764 84886 bundle_adjustment.cc:942]
Residuals : 5162
Parameters : 1757
Iterations : 22
Time : 0.169536 [s]
Initial cost : 0.682893 [px]
Final cost : 0.661434 [px]
Termination : Convergence
I20260707 08:21:57.265468 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:21:57.265599 84886 incremental_mapper.cc:79] => Completed observations: 45
I20260707 08:21:57.265612 84886 incremental_mapper.cc:81] => Filtered observations: 181
I20260707 08:21:57.265617 84886 incremental_mapper.cc:90] => Changed observations: 0.087292
I20260707 08:21:57.321359 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:21:57.321532 84886 bundle_adjustment.cc:942]
Residuals : 4828
Parameters : 1619
Iterations : 4
Time : 0.0481679 [s]
Initial cost : 0.552306 [px]
Final cost : 0.507954 [px]
Termination : Convergence
I20260707 08:21:57.332937 84886 incremental_mapper.cc:78] => Merged observations: 6
I20260707 08:21:57.333041 84886 incremental_mapper.cc:79] => Completed observations: 40
I20260707 08:21:57.333056 84886 incremental_mapper.cc:81] => Filtered observations: 14
I20260707 08:21:57.333062 84886 incremental_mapper.cc:90] => Changed observations: 0.024773
I20260707 08:21:57.333122 84886 misc.cc:198]
==============================================================================
Retriangulation
==============================================================================
I20260707 08:21:57.334339 84886 incremental_mapper.cc:175] => Completed observations: 5
I20260707 08:21:57.335256 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:21:57.335306 84886 incremental_mapper.cc:105] => Retriangulated observations: 0
I20260707 08:21:57.335619 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 1.414340e+03 0.00e+00 2.59e+03 0.00e+00 0.00e+00 1.00e+04 0 4.24e-03 1.03e-02
1 1.372774e+03 4.16e+01 3.00e+02 0.00e+00 1.01e+00 3.00e+04 1 5.12e-03 1.54e-02
2 1.370889e+03 1.88e+00 2.97e+02 4.37e-01 1.06e+00 9.00e+04 1 3.02e-03 1.85e-02
3 1.370565e+03 3.25e-01 1.50e+02 2.84e-01 1.12e+00 2.70e+05 1 3.13e-03 2.17e-02
4 1.370481e+03 8.40e-02 9.64e+01 5.69e-01 1.04e+00 8.10e+05 1 4.49e-03 2.62e-02
5 1.370397e+03 8.43e-02 4.22e+01 1.07e+00 9.89e-01 2.43e+06 1 3.79e-03 3.00e-02
6 1.370350e+03 4.63e-02 1.62e+01 1.16e+00 9.73e-01 7.29e+06 1 5.28e-03 3.53e-02
7 1.370344e+03 6.27e-03 3.19e+00 5.03e-01 9.90e-01 2.19e+07 1 6.69e-03 4.20e-02
8 1.370344e+03 1.77e-04 1.96e+00 6.83e-02 1.08e+00 6.56e+07 1 1.34e-02 5.55e-02
9 1.370344e+03 3.28e-06 1.60e-01 6.10e-03 1.15e+00 1.97e+08 1 1.04e-02 6.60e-02
10 1.370344e+03 9.13e-08 6.23e-02 7.90e-04 1.19e+00 5.90e+08 1 1.06e-02 7.67e-02
I20260707 08:21:57.420672 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:21:57.420837 84886 bundle_adjustment.cc:942]
Residuals : 5288
Parameters : 2234
Iterations : 11
Time : 0.0774539 [s]
Initial cost : 0.517167 [px]
Final cost : 0.50906 [px]
Termination : Convergence
I20260707 08:21:57.428535 84886 incremental_mapper.cc:175] => Completed observations: 0
I20260707 08:21:57.428908 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:21:57.429191 84886 incremental_mapper.cc:160] => Filtered observations: 1
I20260707 08:21:57.429209 84886 incremental_mapper.cc:119] => Changed observations: 0.000378
I20260707 08:21:57.429224 84886 incremental_mapper.cc:167] => Filtered images: 0
I20260707 08:21:57.436470 84886 misc.cc:198]
==============================================================================
Registering image #413 (8)
==============================================================================
I20260707 08:21:57.436518 84886 incremental_mapper.cc:495] => Image sees 212 / 1292 points
I20260707 08:21:57.440074 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:21:57.440146 84886 bundle_adjustment.cc:942]
Residuals : 422
Parameters : 6
Iterations : 6
Time : 0.0014112 [s]
Initial cost : 0.416497 [px]
Final cost : 0.398892 [px]
Termination : Convergence
I20260707 08:21:57.440335 84886 incremental_mapper.cc:40] => Continued observations: 210
I20260707 08:21:57.442797 84886 incremental_mapper.cc:43] => Added observations: 163
I20260707 08:21:57.497479 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:21:57.497586 84886 bundle_adjustment.cc:942]
Residuals : 4226
Parameters : 851
Iterations : 17
Time : 0.0521381 [s]
Initial cost : 0.549312 [px]
Final cost : 0.513323 [px]
Termination : Convergence
I20260707 08:21:57.505503 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:21:57.505599 84886 incremental_mapper.cc:79] => Completed observations: 26
I20260707 08:21:57.505609 84886 incremental_mapper.cc:81] => Filtered observations: 40
I20260707 08:21:57.505612 84886 incremental_mapper.cc:90] => Changed observations: 0.029294
I20260707 08:21:57.529632 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:21:57.529713 84886 bundle_adjustment.cc:942]
Residuals : 4188
Parameters : 806
Iterations : 4
Time : 0.0202129 [s]
Initial cost : 0.524759 [px]
Final cost : 0.493544 [px]
Termination : Convergence
I20260707 08:21:57.533963 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:21:57.534003 84886 incremental_mapper.cc:79] => Completed observations: 5
I20260707 08:21:57.534008 84886 incremental_mapper.cc:81] => Filtered observations: 1
I20260707 08:21:57.534010 84886 incremental_mapper.cc:90] => Changed observations: 0.002686
I20260707 08:21:57.534026 84886 misc.cc:198]
==============================================================================
Retriangulation
==============================================================================
I20260707 08:21:57.534442 84886 incremental_mapper.cc:175] => Completed observations: 5
I20260707 08:21:57.534730 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:21:57.534744 84886 incremental_mapper.cc:105] => Retriangulated observations: 0
I20260707 08:21:57.534926 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 1.538550e+03 0.00e+00 9.83e+02 0.00e+00 0.00e+00 1.00e+04 0 2.64e-03 5.97e-03
1 1.525834e+03 1.27e+01 3.04e+01 0.00e+00 1.00e+00 3.00e+04 1 3.88e-03 9.88e-03
2 1.525628e+03 2.06e-01 5.35e+01 1.18e-01 9.97e-01 9.00e+04 1 3.79e-03 1.37e-02
3 1.525561e+03 6.71e-02 8.22e+01 2.58e-01 1.01e+00 2.70e+05 1 4.66e-03 1.84e-02
4 1.525489e+03 7.14e-02 5.28e+01 6.19e-01 9.96e-01 8.10e+05 1 5.65e-03 2.41e-02
5 1.525396e+03 9.32e-02 3.91e+01 1.15e+00 9.84e-01 2.43e+06 1 5.10e-03 2.93e-02
6 1.525347e+03 4.97e-02 2.85e+01 1.21e+00 9.76e-01 7.29e+06 1 5.35e-03 3.47e-02
7 1.525340e+03 6.88e-03 5.66e+00 5.40e-01 9.96e-01 2.19e+07 1 5.57e-03 4.03e-02
8 1.525339e+03 2.03e-04 1.73e+00 8.19e-02 1.07e+00 6.56e+07 1 5.17e-03 4.55e-02
9 1.525339e+03 3.47e-06 4.66e-01 6.85e-03 1.14e+00 1.97e+08 1 4.97e-03 5.05e-02
10 1.525339e+03 8.82e-08 8.91e-02 8.53e-04 1.18e+00 5.90e+08 1 5.19e-03 5.58e-02
I20260707 08:21:57.593526 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:21:57.593595 84886 bundle_adjustment.cc:942]
Residuals : 6012
Parameters : 2384
Iterations : 11
Time : 0.0560598 [s]
Initial cost : 0.505879 [px]
Final cost : 0.503702 [px]
Termination : Convergence
I20260707 08:21:57.596870 84886 incremental_mapper.cc:175] => Completed observations: 0
I20260707 08:21:57.597335 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:21:57.597599 84886 incremental_mapper.cc:160] => Filtered observations: 0
I20260707 08:21:57.597609 84886 incremental_mapper.cc:119] => Changed observations: 0.000000
I20260707 08:21:57.597620 84886 incremental_mapper.cc:167] => Filtered images: 0
I20260707 08:21:57.605866 84886 misc.cc:198]
==============================================================================
Registering image #409 (9)
==============================================================================
I20260707 08:21:57.605926 84886 incremental_mapper.cc:495] => Image sees 118 / 1748 points
I20260707 08:21:57.609032 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:21:57.609089 84886 bundle_adjustment.cc:942]
Residuals : 192
Parameters : 6
Iterations : 6
Time : 0.00116992 [s]
Initial cost : 0.308871 [px]
Final cost : 0.296956 [px]
Termination : Convergence
I20260707 08:21:57.609213 84886 incremental_mapper.cc:40] => Continued observations: 96
I20260707 08:21:57.610181 84886 incremental_mapper.cc:43] => Added observations: 0
I20260707 08:21:57.631731 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:21:57.631933 84886 bundle_adjustment.cc:942]
Residuals : 1600
Parameters : 539
Iterations : 7
Time : 0.0195448 [s]
Initial cost : 0.502314 [px]
Final cost : 0.493201 [px]
Termination : Convergence
I20260707 08:21:57.639864 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:21:57.640007 84886 incremental_mapper.cc:79] => Completed observations: 0
I20260707 08:21:57.640018 84886 incremental_mapper.cc:81] => Filtered observations: 2
I20260707 08:21:57.640024 84886 incremental_mapper.cc:90] => Changed observations: 0.001617
I20260707 08:21:57.651805 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:21:57.651958 84886 bundle_adjustment.cc:942]
Residuals : 1596
Parameters : 536
Iterations : 2
Time : 0.00796485 [s]
Initial cost : 0.607802 [px]
Final cost : 0.603494 [px]
Termination : Convergence
I20260707 08:21:57.659793 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:21:57.659943 84886 incremental_mapper.cc:79] => Completed observations: 0
I20260707 08:21:57.659958 84886 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 08:21:57.659965 84886 incremental_mapper.cc:90] => Changed observations: 0.000000
I20260707 08:21:57.660014 84886 misc.cc:198]
==============================================================================
Retriangulation
==============================================================================
I20260707 08:21:57.662037 84886 incremental_mapper.cc:175] => Completed observations: 0
I20260707 08:21:57.663934 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:21:57.664044 84886 incremental_mapper.cc:105] => Retriangulated observations: 0
I20260707 08:21:57.666352 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 1.539532e+03 0.00e+00 1.85e+00 0.00e+00 0.00e+00 1.00e+04 0 9.01e-03 2.62e-02
1 1.539511e+03 2.13e-02 1.83e+00 0.00e+00 1.04e+00 3.00e+04 1 1.47e-02 4.10e-02
2 1.539509e+03 1.85e-03 1.84e+00 1.73e-02 1.11e+00 9.00e+04 1 1.45e-02 5.56e-02
3 1.539509e+03 5.85e-04 1.91e+00 2.73e-02 1.03e+00 2.70e+05 1 1.41e-02 6.98e-02
4 1.539508e+03 8.95e-04 1.86e+00 6.90e-02 9.98e-01 8.10e+05 1 1.42e-02 8.42e-02
5 1.539506e+03 1.23e-03 1.80e+00 1.31e-01 9.90e-01 2.43e+06 1 1.39e-02 9.81e-02
6 1.539506e+03 6.80e-04 1.93e+00 1.40e-01 9.84e-01 7.29e+06 1 1.37e-02 1.12e-01
7 1.539506e+03 9.24e-05 1.11e+00 6.27e-02 9.97e-01 2.19e+07 1 1.36e-02 1.26e-01
8 1.539506e+03 2.69e-06 8.82e-02 9.51e-03 1.07e+00 6.56e+07 1 1.39e-02 1.40e-01
I20260707 08:21:57.817708 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:21:57.817903 84886 bundle_adjustment.cc:942]
Residuals : 6200
Parameters : 2387
Iterations : 9
Time : 0.140683 [s]
Initial cost : 0.498309 [px]
Final cost : 0.498304 [px]
Termination : Convergence
I20260707 08:21:57.830183 84886 incremental_mapper.cc:175] => Completed observations: 0
I20260707 08:21:57.832355 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:21:57.834295 84886 incremental_mapper.cc:160] => Filtered observations: 0
I20260707 08:21:57.834388 84886 incremental_mapper.cc:119] => Changed observations: 0.000000
I20260707 08:21:57.834417 84886 incremental_mapper.cc:167] => Filtered images: 0
I20260707 08:21:57.860666 84886 misc.cc:198]
==============================================================================
Registering image #429 (10)
==============================================================================
I20260707 08:21:57.860810 84886 incremental_mapper.cc:495] => Image sees 87 / 3257 points
I20260707 08:21:57.864593 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:21:57.864699 84886 bundle_adjustment.cc:942]
Residuals : 166
Parameters : 6
Iterations : 9
Time : 0.00131702 [s]
Initial cost : 0.403444 [px]
Final cost : 0.393745 [px]
Termination : Convergence
I20260707 08:21:57.864897 84886 incremental_mapper.cc:40] => Continued observations: 83
I20260707 08:21:57.869604 84886 incremental_mapper.cc:43] => Added observations: 18
I20260707 08:21:58.009778 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:21:58.009886 84886 bundle_adjustment.cc:942]
Residuals : 4770
Parameters : 1238
Iterations : 26
Time : 0.132207 [s]
Initial cost : 0.516605 [px]
Final cost : 0.470263 [px]
Termination : No convergence
I20260707 08:21:58.016109 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:21:58.016180 84886 incremental_mapper.cc:79] => Completed observations: 0
I20260707 08:21:58.016184 84886 incremental_mapper.cc:81] => Filtered observations: 22
I20260707 08:21:58.016186 84886 incremental_mapper.cc:90] => Changed observations: 0.008811
I20260707 08:21:58.056915 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:21:58.057014 84886 bundle_adjustment.cc:942]
Residuals : 4718
Parameters : 1208
Iterations : 10
Time : 0.0384641 [s]
Initial cost : 0.522944 [px]
Final cost : 0.517252 [px]
Termination : Convergence
I20260707 08:21:58.063410 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:21:58.063509 84886 incremental_mapper.cc:79] => Completed observations: 0
I20260707 08:21:58.063549 84886 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 08:21:58.063553 84886 incremental_mapper.cc:90] => Changed observations: 0.000000
I20260707 08:21:58.063580 84886 misc.cc:198]
==============================================================================
Retriangulation
==============================================================================
I20260707 08:21:58.064441 84886 incremental_mapper.cc:175] => Completed observations: 0
I20260707 08:21:58.065482 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:21:58.065546 84886 incremental_mapper.cc:105] => Retriangulated observations: 8
I20260707 08:21:58.070300 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 3.751794e+03 0.00e+00 3.33e+06 0.00e+00 0.00e+00 1.00e+04 0 8.99e-03 2.78e-02
1 1.825811e+03 1.93e+03 2.32e+05 0.00e+00 9.93e-01 3.00e+04 1 1.45e-02 4.24e-02
2 1.817341e+03 8.47e+00 8.37e+03 2.73e-02 9.79e-01 9.00e+04 1 1.42e-02 5.67e-02
3 1.817069e+03 2.72e-01 3.74e+02 4.14e-02 9.96e-01 2.70e+05 1 1.75e-02 7.42e-02
4 1.816870e+03 1.99e-01 1.67e+03 4.82e-02 9.99e-01 8.10e+05 1 1.46e-02 8.89e-02
5 1.816641e+03 2.29e-01 7.17e+03 4.54e-02 9.91e-01 2.43e+06 1 1.51e-02 1.04e-01
6 1.816436e+03 2.06e-01 1.75e+04 3.31e-02 9.50e-01 7.29e+06 1 1.50e-02 1.19e-01
7 1.816321e+03 1.15e-01 1.91e+04 2.60e-02 9.09e-01 1.61e+07 1 1.54e-02 1.35e-01
8 1.816268e+03 5.27e-02 9.23e+03 6.08e-02 9.56e-01 4.82e+07 1 1.48e-02 1.50e-01
9 1.816253e+03 1.49e-02 4.83e+03 5.95e-02 9.84e-01 1.45e+08 1 1.42e-02 1.64e-01
10 1.816251e+03 2.32e-03 1.21e+03 4.59e-02 1.04e+00 4.34e+08 1 1.36e-02 1.78e-01
11 1.816251e+03 2.36e-04 2.72e+02 4.76e-02 1.02e+00 1.30e+09 1 1.20e-02 1.90e-01
12 1.816251e+03 3.59e-05 3.65e+01 3.28e-02 9.92e-01 3.91e+09 1 9.91e-03 2.00e-01
13 1.816251e+03 1.96e-06 1.29e+00 8.89e-03 1.02e+00 1.17e+10 1 9.55e-03 2.09e-01
14 1.816251e+03 3.35e-08 1.20e-01 8.48e-04 1.10e+00 3.52e+10 1 9.12e-03 2.19e-01
I20260707 08:21:58.300406 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:21:58.300493 84886 bundle_adjustment.cc:942]
Residuals : 6366
Parameters : 2402
Iterations : 15
Time : 0.219252 [s]
Initial cost : 0.76769 [px]
Final cost : 0.534139 [px]
Termination : Convergence
I20260707 08:21:58.305848 84886 incremental_mapper.cc:175] => Completed observations: 0
I20260707 08:21:58.306591 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:21:58.307153 84886 incremental_mapper.cc:160] => Filtered observations: 6
I20260707 08:21:58.307193 84886 incremental_mapper.cc:119] => Changed observations: 0.001885
I20260707 08:21:58.307214 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 1.514649e+03 0.00e+00 3.20e+05 0.00e+00 0.00e+00 1.00e+04 0 2.75e-03 6.02e-03
1 1.504058e+03 1.06e+01 1.09e+03 0.00e+00 1.00e+00 3.00e+04 1 4.37e-03 1.04e-02
2 1.504047e+03 1.10e-02 4.01e+01 4.22e-03 1.00e+00 9.00e+04 1 4.28e-03 1.47e-02
3 1.504026e+03 2.05e-02 8.46e+01 1.00e-02 1.00e+00 2.70e+05 1 4.40e-03 1.92e-02
4 1.503982e+03 4.47e-02 3.67e+02 2.06e-02 1.00e+00 8.10e+05 1 4.30e-03 2.35e-02
5 1.503906e+03 7.56e-02 1.56e+03 3.47e-02 9.99e-01 2.43e+06 1 4.27e-03 2.78e-02
6 1.503844e+03 6.22e-02 3.17e+03 3.10e-02 9.91e-01 7.29e+06 1 4.24e-03 3.20e-02
7 1.503826e+03 1.76e-02 1.99e+03 6.89e-03 9.92e-01 2.19e+07 1 4.25e-03 3.63e-02
8 1.503824e+03 2.38e-03 4.30e+02 2.44e-02 1.04e+00 6.56e+07 1 4.10e-03 4.04e-02
9 1.503824e+03 2.50e-04 1.64e+02 2.39e-02 1.08e+00 1.97e+08 1 4.10e-03 4.45e-02
10 1.503824e+03 6.86e-05 4.77e+01 2.96e-02 1.00e+00 5.90e+08 1 4.16e-03 4.87e-02
11 1.503824e+03 2.50e-05 4.65e+00 2.61e-02 9.84e-01 1.77e+09 1 4.07e-03 5.28e-02
12 1.503824e+03 2.49e-06 1.27e+00 9.61e-03 1.01e+00 5.31e+09 1 3.90e-03 5.67e-02
13 1.503824e+03 6.03e-08 4.41e-01 1.22e-03 1.09e+00 1.59e+10 1 3.81e-03 6.06e-02
I20260707 08:21:58.371300 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:21:58.371337 84886 bundle_adjustment.cc:942]
Residuals : 6354
Parameters : 2393
Iterations : 14
Time : 0.0606918 [s]
Initial cost : 0.488239 [px]
Final cost : 0.486491 [px]
Termination : Convergence
I20260707 08:21:58.373126 84886 incremental_mapper.cc:175] => Completed observations: 0
I20260707 08:21:58.373385 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:21:58.373576 84886 incremental_mapper.cc:160] => Filtered observations: 0
I20260707 08:21:58.373584 84886 incremental_mapper.cc:119] => Changed observations: 0.000000
I20260707 08:21:58.373588 84886 incremental_mapper.cc:167] => Filtered images: 0
I20260707 08:21:58.379587 84886 misc.cc:198]
==============================================================================
Registering image #394 (11)
==============================================================================
I20260707 08:21:58.379612 84886 incremental_mapper.cc:495] => Image sees 134 / 1334 points
I20260707 08:21:58.382527 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:21:58.382572 84886 bundle_adjustment.cc:942]
Residuals : 270
Parameters : 6
Iterations : 6
Time : 0.0014081 [s]
Initial cost : 0.426335 [px]
Final cost : 0.422984 [px]
Termination : Convergence
I20260707 08:21:58.382669 84886 incremental_mapper.cc:40] => Continued observations: 134
I20260707 08:21:58.384507 84886 incremental_mapper.cc:43] => Added observations: 38
I20260707 08:21:58.583237 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:21:58.583427 84886 bundle_adjustment.cc:942]
Residuals : 4534
Parameters : 662
Iterations : 26
Time : 0.196731 [s]
Initial cost : 0.488977 [px]
Final cost : 0.472919 [px]
Termination : No convergence
I20260707 08:21:58.598107 84886 incremental_mapper.cc:78] => Merged observations: 7
I20260707 08:21:58.598297 84886 incremental_mapper.cc:79] => Completed observations: 3
I20260707 08:21:58.598316 84886 incremental_mapper.cc:81] => Filtered observations: 33
I20260707 08:21:58.598323 84886 incremental_mapper.cc:90] => Changed observations: 0.018121
I20260707 08:21:58.623113 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:21:58.623270 84886 bundle_adjustment.cc:942]
Residuals : 4462
Parameters : 623
Iterations : 3
Time : 0.0179522 [s]
Initial cost : 0.524352 [px]
Final cost : 0.518015 [px]
Termination : Convergence
I20260707 08:21:58.628182 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:21:58.628239 84886 incremental_mapper.cc:79] => Completed observations: 4
I20260707 08:21:58.628244 84886 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 08:21:58.628247 84886 incremental_mapper.cc:90] => Changed observations: 0.001712
I20260707 08:21:58.628268 84886 misc.cc:198]
==============================================================================
Retriangulation
==============================================================================
I20260707 08:21:58.628861 84886 incremental_mapper.cc:175] => Completed observations: 0
I20260707 08:21:58.629272 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:21:58.629298 84886 incremental_mapper.cc:105] => Retriangulated observations: 5
I20260707 08:21:58.630426 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 1.662168e+03 0.00e+00 1.74e+03 0.00e+00 0.00e+00 1.00e+04 0 3.63e-03 8.67e-03
1 1.649099e+03 1.31e+01 7.97e+01 0.00e+00 1.00e+00 3.00e+04 1 5.85e-03 1.46e-02
2 1.649007e+03 9.18e-02 3.79e+01 2.67e-01 1.07e+00 9.00e+04 1 5.95e-03 2.06e-02
3 1.648986e+03 2.17e-02 3.88e+01 4.26e-02 1.02e+00 2.70e+05 1 5.32e-03 2.60e-02
4 1.648966e+03 1.95e-02 1.86e+02 1.93e-02 1.00e+00 8.10e+05 1 4.72e-03 3.07e-02
5 1.648923e+03 4.30e-02 8.26e+02 2.79e-02 9.99e-01 2.43e+06 1 4.40e-03 3.51e-02
6 1.648833e+03 9.01e-02 4.44e+03 6.23e-02 9.88e-01 7.29e+06 1 4.39e-03 3.95e-02
7 1.648722e+03 1.11e-01 1.40e+04 1.31e-01 8.90e-01 1.39e+07 1 4.40e-03 4.40e-02
8 1.648659e+03 6.23e-02 2.18e+04 1.91e-01 7.20e-01 1.52e+07 1 4.13e-03 4.81e-02
9 1.648608e+03 5.19e-02 1.12e+04 1.86e-01 9.05e-01 3.22e+07 1 4.06e-03 5.22e-02
10 1.648569e+03 3.89e-02 1.21e+04 3.42e-01 8.53e-01 4.98e+07 1 4.08e-03 5.63e-02
11 1.648522e+03 4.68e-02 3.46e+03 4.33e-01 9.86e-01 1.49e+08 1 4.14e-03 6.04e-02
12 1.648468e+03 5.34e-02 3.46e+03 7.92e-01 9.80e-01 4.48e+08 1 4.11e-03 6.46e-02
13 1.648443e+03 2.59e-02 4.76e+03 7.97e-01 9.21e-01 1.11e+09 1 4.24e-03 6.88e-02
14 1.648438e+03 5.02e-03 1.43e+03 3.16e-01 9.79e-01 3.32e+09 1 4.23e-03 7.31e-02
15 1.648437e+03 2.36e-04 1.03e+02 5.48e-02 1.03e+00 9.97e+09 1 4.49e-03 7.76e-02
16 1.648437e+03 2.78e-06 2.10e+00 4.26e-03 1.11e+00 2.99e+10 1 4.37e-03 8.20e-02
17 1.648437e+03 6.02e-08 4.46e-01 5.26e-04 1.18e+00 8.97e+10 1 4.42e-03 8.64e-02
I20260707 08:21:58.720512 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:21:58.720563 84886 bundle_adjustment.cc:942]
Residuals : 6642
Parameters : 2408
Iterations : 18
Time : 0.0866799 [s]
Initial cost : 0.500251 [px]
Final cost : 0.498181 [px]
Termination : Convergence
I20260707 08:21:58.723178 84886 incremental_mapper.cc:175] => Completed observations: 0
I20260707 08:21:58.723522 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:21:58.723773 84886 incremental_mapper.cc:160] => Filtered observations: 3
I20260707 08:21:58.723783 84886 incremental_mapper.cc:119] => Changed observations: 0.000903
I20260707 08:21:58.723794 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 1.623537e+03 0.00e+00 1.10e+03 0.00e+00 0.00e+00 1.00e+04 0 3.00e-03 6.66e-03
1 1.619179e+03 4.36e+00 2.36e+01 0.00e+00 9.98e-01 3.00e+04 1 4.51e-03 1.12e-02
2 1.619174e+03 4.70e-03 1.34e+01 3.16e-02 1.02e+00 9.00e+04 1 4.17e-03 1.54e-02
3 1.619171e+03 3.09e-03 1.27e+01 5.59e-03 1.00e+00 2.70e+05 1 4.07e-03 1.95e-02
4 1.619166e+03 4.90e-03 4.66e+01 7.81e-03 9.99e-01 8.10e+05 1 3.95e-03 2.34e-02
5 1.619155e+03 1.10e-02 2.88e+02 1.63e-02 9.98e-01 2.43e+06 1 3.82e-03 2.73e-02
6 1.619133e+03 2.22e-02 1.53e+03 3.36e-02 9.90e-01 7.29e+06 1 3.92e-03 3.12e-02
7 1.619106e+03 2.69e-02 4.70e+03 5.70e-02 9.43e-01 2.19e+07 1 3.95e-03 3.52e-02
8 1.619093e+03 1.35e-02 5.26e+03 7.37e-02 8.48e-01 3.30e+07 1 4.00e-03 3.92e-02
9 1.619088e+03 4.69e-03 1.78e+03 6.16e-02 9.79e-01 9.89e+07 1 3.92e-03 4.31e-02
10 1.619086e+03 1.60e-03 1.17e+03 1.10e-01 9.62e-01 2.97e+08 1 3.93e-03 4.71e-02
11 1.619085e+03 1.05e-03 3.38e+02 1.37e-01 9.85e-01 8.90e+08 1 4.34e-03 5.14e-02
12 1.619085e+03 2.08e-04 8.13e+01 7.90e-02 9.93e-01 2.67e+09 1 4.50e-03 5.59e-02
13 1.619085e+03 9.27e-06 7.10e+00 1.61e-02 1.05e+00 8.01e+09 1 3.93e-03 5.99e-02
14 1.619085e+03 1.77e-07 1.11e+00 1.33e-03 1.14e+00 2.40e+10 1 6.50e-03 6.64e-02
15 1.619085e+03 4.67e-09 2.56e-02 1.51e-04 1.18e+00 7.21e+10 1 6.16e-03 7.26e-02
I20260707 08:21:58.799401 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:21:58.799445 84886 bundle_adjustment.cc:942]
Residuals : 6636
Parameters : 2408
Iterations : 16
Time : 0.07287 [s]
Initial cost : 0.494627 [px]
Final cost : 0.493948 [px]
Termination : Convergence
I20260707 08:21:58.801683 84886 incremental_mapper.cc:175] => Completed observations: 0
I20260707 08:21:58.802024 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:21:58.802270 84886 incremental_mapper.cc:160] => Filtered observations: 0
I20260707 08:21:58.802284 84886 incremental_mapper.cc:119] => Changed observations: 0.000000
I20260707 08:21:58.802291 84886 incremental_mapper.cc:167] => Filtered images: 0
I20260707 08:21:58.807962 84886 misc.cc:198]
==============================================================================
Registering image #395 (12)
==============================================================================
I20260707 08:21:58.807988 84886 incremental_mapper.cc:495] => Image sees 147 / 1434 points
I20260707 08:21:58.811234 84886 misc.cc:205]
Pose refinement report
----------------------
I20260707 08:21:58.811266 84886 bundle_adjustment.cc:942]
Residuals : 258
Parameters : 6
Iterations : 16
Time : 0.00174904 [s]
Initial cost : 0.430162 [px]
Final cost : 0.395236 [px]
Termination : Convergence
I20260707 08:21:58.811363 84886 incremental_mapper.cc:40] => Continued observations: 124
I20260707 08:21:58.812393 84886 incremental_mapper.cc:43] => Added observations: 222
I20260707 08:21:58.863481 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:21:58.863533 84886 bundle_adjustment.cc:942]
Residuals : 3202
Parameters : 794
Iterations : 26
Time : 0.0496421 [s]
Initial cost : 0.724813 [px]
Final cost : 0.659686 [px]
Termination : No convergence
I20260707 08:21:58.865361 84886 incremental_mapper.cc:78] => Merged observations: 0
I20260707 08:21:58.865386 84886 incremental_mapper.cc:79] => Completed observations: 318
I20260707 08:21:58.865391 84886 incremental_mapper.cc:81] => Filtered observations: 68
I20260707 08:21:58.865392 84886 incremental_mapper.cc:90] => Changed observations: 0.208311
I20260707 08:21:58.874877 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:21:58.874922 84886 bundle_adjustment.cc:942]
Residuals : 3696
Parameters : 1193
Iterations : 4
Time : 0.00813699 [s]
Initial cost : 0.561138 [px]
Final cost : 0.528021 [px]
Termination : Convergence
I20260707 08:21:58.876701 84886 incremental_mapper.cc:78] => Merged observations: 10
I20260707 08:21:58.876736 84886 incremental_mapper.cc:79] => Completed observations: 84
I20260707 08:21:58.876758 84886 incremental_mapper.cc:81] => Filtered observations: 2
I20260707 08:21:58.876761 84886 incremental_mapper.cc:90] => Changed observations: 0.051948
I20260707 08:21:58.876777 84886 misc.cc:198]
==============================================================================
Retriangulation
==============================================================================
I20260707 08:21:58.877246 84886 incremental_mapper.cc:175] => Completed observations: 2
I20260707 08:21:58.877575 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:21:58.877588 84886 incremental_mapper.cc:105] => Retriangulated observations: 0
I20260707 08:21:58.877761 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 2.267242e+03 0.00e+00 6.48e+03 0.00e+00 0.00e+00 1.00e+04 0 5.23e-03 1.52e-02
1 2.072530e+03 1.95e+02 8.61e+02 0.00e+00 1.01e+00 3.00e+04 1 1.07e-02 2.60e-02
2 2.068964e+03 3.57e+00 1.37e+02 3.11e-01 1.23e+00 9.00e+04 1 1.31e-02 3.92e-02
3 2.068447e+03 5.17e-01 1.06e+02 1.20e-01 1.30e+00 2.70e+05 1 1.24e-02 5.17e-02
4 2.068360e+03 8.69e-02 1.68e+02 4.18e-02 1.28e+00 8.10e+05 1 1.24e-02 6.42e-02
5 2.068324e+03 3.65e-02 7.65e+02 4.73e-02 1.09e+00 2.43e+06 1 1.24e-02 7.67e-02
6 2.068253e+03 7.03e-02 4.99e+03 1.32e-01 9.89e-01 7.29e+06 1 1.25e-02 8.92e-02
7 2.068104e+03 1.49e-01 2.56e+04 3.88e-01 8.33e-01 1.03e+07 1 9.20e-03 9.85e-02
8 2.067888e+03 2.16e-01 2.52e+04 5.27e-01 8.81e-01 1.85e+07 1 7.49e-03 1.06e-01
9 2.067575e+03 3.13e-01 2.98e+04 8.75e-01 8.80e-01 3.30e+07 1 7.63e-03 1.14e-01
10 2.067120e+03 4.55e-01 2.67e+04 1.37e+00 9.16e-01 7.79e+07 1 7.83e-03 1.22e-01
11 2.066552e+03 5.68e-01 3.56e+04 2.43e+00 8.21e-01 1.06e+08 1 7.76e-03 1.29e-01
12 2.066111e+03 4.42e-01 4.15e+04 2.28e+00 8.02e-01 1.36e+08 1 1.12e-02 1.41e-01
13 2.065825e+03 2.85e-01 3.03e+04 1.87e+00 8.39e-01 1.97e+08 1 1.29e-02 1.54e-01
14 2.065682e+03 1.43e-01 1.95e+04 1.49e+00 8.64e-01 3.21e+08 1 1.29e-02 1.67e-01
15 2.065626e+03 5.62e-02 1.03e+04 1.05e+00 9.05e-01 6.83e+08 1 1.30e-02 1.80e-01
16 2.065612e+03 1.42e-02 3.78e+03 5.83e-01 9.61e-01 2.05e+09 1 1.27e-02 1.92e-01
17 2.065610e+03 1.63e-03 6.10e+02 1.82e-01 1.04e+00 6.14e+09 1 1.12e-02 2.04e-01
18 2.065610e+03 7.58e-05 2.81e+01 2.48e-02 1.20e+00 1.84e+10 1 8.16e-03 2.12e-01
19 2.065610e+03 6.26e-06 1.86e+00 5.34e-03 1.36e+00 5.53e+10 1 8.82e-03 2.21e-01
20 2.065610e+03 8.77e-07 6.82e-01 1.26e-03 1.39e+00 1.66e+11 1 8.77e-03 2.30e-01
I20260707 08:21:59.112799 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:21:59.112924 84886 bundle_adjustment.cc:942]
Residuals : 7992
Parameters : 3080
Iterations : 21
Time : 0.230385 [s]
Initial cost : 0.532625 [px]
Final cost : 0.508389 [px]
Termination : Convergence
I20260707 08:21:59.122773 84886 incremental_mapper.cc:175] => Completed observations: 21
I20260707 08:21:59.124295 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:21:59.125557 84886 incremental_mapper.cc:160] => Filtered observations: 7
I20260707 08:21:59.125591 84886 incremental_mapper.cc:119] => Changed observations: 0.007007
I20260707 08:21:59.125607 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 2.084943e+03 0.00e+00 2.77e+03 0.00e+00 0.00e+00 1.00e+04 0 4.51e-03 1.16e-02
1 1.994080e+03 9.09e+01 3.61e+02 0.00e+00 1.02e+00 3.00e+04 1 7.05e-03 1.87e-02
2 1.988623e+03 5.46e+00 2.14e+01 3.34e-01 1.32e+00 9.00e+04 1 6.78e-03 2.55e-02
3 1.987605e+03 1.02e+00 7.48e+00 1.51e-01 1.37e+00 2.70e+05 1 6.89e-03 3.25e-02
4 1.987414e+03 1.91e-01 1.02e+01 6.70e-02 1.41e+00 8.10e+05 1 6.52e-03 3.91e-02
5 1.987378e+03 3.67e-02 3.83e+01 3.29e-02 1.39e+00 2.43e+06 1 6.28e-03 4.54e-02
6 1.987367e+03 1.04e-02 2.22e+02 4.05e-02 1.23e+00 7.29e+06 1 5.54e-03 5.09e-02
7 1.987357e+03 1.03e-02 1.09e+03 1.01e-01 1.03e+00 2.19e+07 1 5.39e-03 5.63e-02
8 1.987336e+03 2.08e-02 3.35e+03 2.56e-01 9.70e-01 6.56e+07 1 5.32e-03 6.17e-02
9 1.987291e+03 4.49e-02 3.35e+03 6.12e-01 9.84e-01 1.97e+08 1 5.34e-03 6.70e-02
10 1.987232e+03 5.94e-02 3.99e+03 1.12e+00 9.73e-01 5.90e+08 1 5.58e-03 7.26e-02
11 1.987203e+03 2.86e-02 7.45e+03 1.13e+00 8.85e-01 1.09e+09 1 5.94e-03 7.86e-02
12 1.987196e+03 6.87e-03 2.46e+03 4.17e-01 9.81e-01 3.26e+09 1 5.97e-03 8.46e-02
13 1.987196e+03 5.60e-04 2.56e+02 1.05e-01 1.06e+00 9.78e+09 1 5.92e-03 9.05e-02
14 1.987196e+03 2.11e-05 9.05e+00 1.22e-02 1.25e+00 2.93e+10 1 5.71e-03 9.63e-02
15 1.987196e+03 2.13e-06 1.59e+00 2.96e-03 1.38e+00 8.80e+10 1 5.43e-03 1.02e-01
16 1.987196e+03 3.37e-07 2.16e-01 6.11e-04 1.41e+00 2.64e+11 1 5.17e-03 1.07e-01
I20260707 08:21:59.237040 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:21:59.237080 84886 bundle_adjustment.cc:942]
Residuals : 8020
Parameters : 3071
Iterations : 17
Time : 0.107119 [s]
Initial cost : 0.50987 [px]
Final cost : 0.497775 [px]
Termination : Convergence
I20260707 08:21:59.239590 84886 incremental_mapper.cc:175] => Completed observations: 8
I20260707 08:21:59.239961 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:21:59.240253 84886 incremental_mapper.cc:160] => Filtered observations: 11
I20260707 08:21:59.240265 84886 incremental_mapper.cc:119] => Changed observations: 0.004738
I20260707 08:21:59.240275 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 1.931333e+03 0.00e+00 2.06e+03 0.00e+00 0.00e+00 1.00e+04 0 3.44e-03 7.53e-03
1 1.877836e+03 5.35e+01 5.47e+01 0.00e+00 9.84e-01 3.00e+04 1 5.41e-03 1.30e-02
2 1.873813e+03 4.02e+00 2.13e+01 6.56e-01 1.14e+00 9.00e+04 1 5.01e-03 1.80e-02
3 1.873329e+03 4.83e-01 9.96e+00 4.16e-01 1.18e+00 2.70e+05 1 4.94e-03 2.30e-02
4 1.873285e+03 4.47e-02 3.74e+01 1.29e-01 1.21e+00 8.10e+05 1 4.73e-03 2.77e-02
5 1.873273e+03 1.21e-02 3.28e+02 4.45e-02 1.06e+00 2.43e+06 1 4.79e-03 3.25e-02
6 1.873250e+03 2.27e-02 1.93e+03 1.02e-01 9.94e-01 7.29e+06 1 4.78e-03 3.73e-02
7 1.873199e+03 5.06e-02 7.98e+03 2.60e-01 9.26e-01 1.90e+07 1 4.63e-03 4.19e-02
8 1.873102e+03 9.72e-02 1.53e+04 5.68e-01 8.28e-01 2.65e+07 1 7.09e-03 4.90e-02
9 1.872957e+03 1.45e-01 9.37e+03 6.91e-01 9.60e-01 7.96e+07 1 6.09e-03 5.52e-02
10 1.872701e+03 2.56e-01 1.83e+04 1.62e+00 9.36e-01 2.35e+08 1 9.99e-03 6.53e-02
11 1.872457e+03 2.44e-01 3.00e+04 2.66e+00 7.54e-01 2.71e+08 1 6.84e-03 7.21e-02
12 1.872309e+03 1.48e-01 2.12e+04 1.51e+00 8.64e-01 4.40e+08 1 4.93e-03 7.71e-02
13 1.872262e+03 4.71e-02 8.94e+03 9.58e-01 9.13e-01 1.01e+09 1 5.85e-03 8.30e-02
14 1.872253e+03 8.62e-03 2.75e+03 4.66e-01 9.58e-01 3.03e+09 1 7.78e-03 9.08e-02
15 1.872253e+03 6.24e-04 2.96e+02 1.05e-01 1.02e+00 9.09e+09 1 7.81e-03 9.87e-02
16 1.872253e+03 1.19e-05 7.50e+00 9.22e-03 1.12e+00 2.73e+10 1 1.03e-02 1.09e-01
17 1.872253e+03 4.49e-07 1.96e+00 1.67e-03 1.30e+00 8.18e+10 1 1.24e-02 1.22e-01
18 1.872253e+03 4.84e-08 4.97e-02 2.20e-04 1.37e+00 2.45e+11 1 1.21e-02 1.34e-01
I20260707 08:21:59.378201 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:21:59.378298 84886 bundle_adjustment.cc:942]
Residuals : 8012
Parameters : 3056
Iterations : 19
Time : 0.13455 [s]
Initial cost : 0.490974 [px]
Final cost : 0.483406 [px]
Termination : Convergence
I20260707 08:21:59.388942 84886 incremental_mapper.cc:175] => Completed observations: 20
I20260707 08:21:59.390568 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:21:59.392208 84886 incremental_mapper.cc:160] => Filtered observations: 120
I20260707 08:21:59.392263 84886 incremental_mapper.cc:119] => Changed observations: 0.034948
I20260707 08:21:59.392289 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 1.929796e+03 0.00e+00 3.02e+03 0.00e+00 0.00e+00 1.00e+04 0 6.92e-03 1.99e-02
1 1.827637e+03 1.02e+02 4.67e+01 0.00e+00 1.00e+00 3.00e+04 1 1.21e-02 3.21e-02
2 1.826090e+03 1.55e+00 3.25e+01 6.37e-01 1.18e+00 9.00e+04 1 1.15e-02 4.36e-02
3 1.825728e+03 3.63e-01 1.12e+01 4.70e-01 1.28e+00 2.70e+05 1 1.13e-02 5.50e-02
4 1.825656e+03 7.16e-02 1.87e+01 2.37e-01 1.34e+00 8.10e+05 1 1.16e-02 6.66e-02
5 1.825640e+03 1.64e-02 1.43e+02 1.01e-01 1.27e+00 2.43e+06 1 1.07e-02 7.74e-02
6 1.825627e+03 1.29e-02 8.53e+02 7.37e-02 1.05e+00 7.29e+06 1 7.42e-03 8.49e-02
7 1.825602e+03 2.54e-02 3.59e+03 1.64e-01 9.65e-01 2.19e+07 1 8.74e-03 9.37e-02
8 1.825548e+03 5.32e-02 1.02e+04 4.08e-01 8.67e-01 3.61e+07 1 7.39e-03 1.01e-01
9 1.825466e+03 8.25e-02 7.70e+03 5.72e-01 9.60e-01 1.08e+08 1 7.42e-03 1.09e-01
10 1.825331e+03 1.35e-01 1.22e+04 1.24e+00 9.42e-01 3.25e+08 1 8.22e-03 1.17e-01
11 1.825224e+03 1.07e-01 1.57e+04 1.75e+00 8.24e-01 4.47e+08 1 7.42e-03 1.24e-01
12 1.825180e+03 4.44e-02 8.67e+03 8.81e-01 9.20e-01 1.09e+09 1 7.89e-03 1.32e-01
13 1.825172e+03 8.00e-03 2.43e+03 4.31e-01 9.62e-01 3.28e+09 1 7.26e-03 1.40e-01
14 1.825171e+03 5.21e-04 2.40e+02 8.86e-02 1.02e+00 9.84e+09 1 7.25e-03 1.47e-01
15 1.825171e+03 7.89e-06 5.95e+00 8.14e-03 1.10e+00 2.95e+10 1 6.73e-03 1.54e-01
16 1.825171e+03 1.67e-07 1.38e+00 1.19e-03 1.20e+00 8.86e+10 1 9.43e-03 1.63e-01
17 1.825171e+03 8.19e-09 3.10e-02 1.34e-04 1.26e+00 2.66e+11 1 1.21e-02 1.75e-01
I20260707 08:21:59.576449 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:21:59.576612 84886 bundle_adjustment.cc:942]
Residuals : 7576
Parameters : 2699
Iterations : 18
Time : 0.176097 [s]
Initial cost : 0.504703 [px]
Final cost : 0.490831 [px]
Termination : Convergence
I20260707 08:21:59.586324 84886 incremental_mapper.cc:175] => Completed observations: 0
I20260707 08:21:59.587693 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:21:59.588562 84886 incremental_mapper.cc:160] => Filtered observations: 5
I20260707 08:21:59.588599 84886 incremental_mapper.cc:119] => Changed observations: 0.001320
I20260707 08:21:59.588620 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 1.803271e+03 0.00e+00 6.33e+02 0.00e+00 0.00e+00 1.00e+04 0 4.59e-03 1.17e-02
1 1.802627e+03 6.44e-01 1.09e+01 0.00e+00 1.01e+00 3.00e+04 1 5.90e-03 1.77e-02
2 1.802602e+03 2.53e-02 5.13e+00 3.53e-02 1.02e+00 9.00e+04 1 5.32e-03 2.30e-02
3 1.802600e+03 1.63e-03 1.96e+00 7.03e-03 1.09e+00 2.70e+05 1 5.31e-03 2.83e-02
4 1.802600e+03 2.62e-04 2.71e+00 2.16e-03 1.02e+00 8.10e+05 1 5.24e-03 3.36e-02
5 1.802600e+03 1.70e-04 3.84e+00 1.89e-03 1.00e+00 2.43e+06 1 5.22e-03 3.88e-02
6 1.802600e+03 3.53e-04 1.88e+01 4.00e-03 9.96e-01 7.29e+06 1 5.05e-03 4.39e-02
7 1.802599e+03 5.58e-04 8.77e+01 9.10e-03 9.90e-01 2.19e+07 1 5.14e-03 4.91e-02
8 1.802599e+03 4.41e-04 2.28e+02 1.90e-02 9.84e-01 6.56e+07 1 5.05e-03 5.41e-02
9 1.802598e+03 2.62e-04 2.52e+02 3.89e-02 9.90e-01 1.97e+08 1 5.14e-03 5.93e-02
10 1.802598e+03 2.52e-04 1.08e+02 6.64e-02 9.85e-01 5.90e+08 1 5.32e-03 6.46e-02
11 1.802598e+03 1.14e-04 3.45e+01 6.35e-02 9.77e-01 1.77e+09 1 5.35e-03 7.00e-02
12 1.802598e+03 1.23e-05 8.56e+00 2.37e-02 1.01e+00 5.31e+09 1 5.02e-03 7.51e-02
13 1.802598e+03 3.52e-07 1.87e+00 2.82e-03 1.11e+00 1.59e+10 1 4.79e-03 7.99e-02
14 1.802598e+03 8.46e-09 9.46e-02 3.12e-04 1.16e+00 4.78e+10 1 4.74e-03 8.46e-02
I20260707 08:21:59.677786 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:21:59.677822 84886 bundle_adjustment.cc:942]
Residuals : 7558
Parameters : 2690
Iterations : 15
Time : 0.0847971 [s]
Initial cost : 0.488458 [px]
Final cost : 0.488367 [px]
Termination : Convergence
I20260707 08:21:59.680117 84886 incremental_mapper.cc:175] => Completed observations: 0
I20260707 08:21:59.680476 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:21:59.680734 84886 incremental_mapper.cc:160] => Filtered observations: 0
I20260707 08:21:59.680743 84886 incremental_mapper.cc:119] => Changed observations: 0.000000
I20260707 08:21:59.680749 84886 incremental_mapper.cc:167] => Filtered images: 0
I20260707 08:21:59.686324 84886 misc.cc:198]
==============================================================================
Registering image #68 (13)
==============================================================================
I20260707 08:21:59.686350 84886 incremental_mapper.cc:495] => Image sees 15 / 5046 points
I20260707 08:21:59.695735 84886 incremental_mapper.cc:535] => Could not register, trying another image.
I20260707 08:21:59.695786 84886 misc.cc:198]
==============================================================================
Retriangulation
==============================================================================
I20260707 08:21:59.696467 84886 incremental_mapper.cc:175] => Completed observations: 0
I20260707 08:21:59.696831 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:21:59.696841 84886 incremental_mapper.cc:105] => Retriangulated observations: 48
I20260707 08:21:59.697516 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 6.204095e+03 0.00e+00 1.79e+04 0.00e+00 0.00e+00 1.00e+04 0 3.23e-03 7.14e-03
1 4.929503e+03 1.27e+03 6.35e+02 0.00e+00 1.00e+00 3.00e+04 1 4.95e-03 1.21e-02
2 4.923158e+03 6.34e+00 8.00e+01 3.10e-01 1.30e+00 9.00e+04 1 4.55e-03 1.67e-02
3 4.921424e+03 1.73e+00 1.01e+02 3.19e-01 1.55e+00 2.70e+05 1 4.32e-03 2.10e-02
4 4.920559e+03 8.65e-01 6.94e+01 1.52e-01 1.61e+00 8.10e+05 1 4.36e-03 2.54e-02
5 4.920092e+03 4.67e-01 5.89e+02 1.44e-01 1.58e+00 2.43e+06 1 5.18e-03 3.06e-02
6 4.919811e+03 2.81e-01 3.92e+03 1.30e-01 1.47e+00 7.29e+06 1 7.73e-03 3.83e-02
7 4.919610e+03 2.01e-01 1.54e+04 3.00e-01 1.18e+00 2.19e+07 1 1.20e-02 5.04e-02
8 4.919432e+03 1.77e-01 3.15e+04 7.14e-01 7.25e-01 2.41e+07 1 6.02e-03 5.64e-02
9 4.919144e+03 2.88e-01 9.57e+03 6.87e-01 1.02e+00 7.22e+07 1 4.67e-03 6.11e-02
10 4.918774e+03 3.70e-01 3.15e+03 1.64e+00 1.01e+00 2.17e+08 1 4.47e-03 6.56e-02
11 4.918459e+03 3.15e-01 3.82e+04 2.85e+00 7.33e-01 2.41e+08 1 4.38e-03 7.00e-02
12 4.918230e+03 2.29e-01 2.67e+04 1.72e+00 8.64e-01 3.93e+08 1 5.57e-03 7.56e-02
13 4.918138e+03 9.20e-02 1.17e+04 1.25e+00 9.16e-01 9.25e+08 1 1.00e-02 8.56e-02
14 4.918108e+03 2.97e-02 5.01e+03 7.28e-01 1.04e+00 2.77e+09 1 6.44e-03 9.21e-02
15 4.918101e+03 6.95e-03 9.18e+02 2.30e-01 1.33e+00 8.32e+09 1 6.43e-03 9.85e-02
16 4.918099e+03 2.43e-03 8.38e+01 4.48e-02 1.65e+00 2.50e+10 1 6.40e-03 1.05e-01
17 4.918098e+03 1.27e-03 4.28e+01 2.48e-02 1.69e+00 7.49e+10 1 6.47e-03 1.11e-01
18 4.918097e+03 6.86e-04 8.16e+00 1.07e-02 1.69e+00 2.25e+11 1 6.41e-03 1.18e-01
19 4.918097e+03 3.72e-04 9.83e+00 1.13e-02 1.68e+00 6.74e+11 1 6.48e-03 1.24e-01
20 4.918096e+03 2.02e-04 2.08e+00 5.34e-03 1.68e+00 2.02e+12 1 7.35e-03 1.32e-01
21 4.918096e+03 1.10e-04 2.90e+00 6.12e-03 1.68e+00 6.07e+12 1 6.55e-03 1.38e-01
22 4.918096e+03 5.96e-05 1.49e+00 2.84e-03 1.67e+00 1.82e+13 1 6.49e-03 1.45e-01
23 4.918096e+03 3.23e-05 1.99e+00 3.36e-03 1.67e+00 5.46e+13 1 6.45e-03 1.51e-01
24 4.918096e+03 1.76e-05 1.31e+00 1.51e-03 1.67e+00 1.64e+14 1 6.92e-03 1.58e-01
25 4.918096e+03 9.53e-06 1.97e+00 1.85e-03 1.66e+00 4.92e+14 1 6.75e-03 1.65e-01
26 4.918096e+03 5.18e-06 4.97e-01 8.05e-04 1.66e+00 1.47e+15 1 6.55e-03 1.72e-01
I20260707 08:21:59.872978 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:21:59.873080 84886 bundle_adjustment.cc:942]
Residuals : 7654
Parameters : 2735
Iterations : 27
Time : 0.172327 [s]
Initial cost : 0.900316 [px]
Final cost : 0.801594 [px]
Termination : Convergence
I20260707 08:21:59.882205 84886 incremental_mapper.cc:175] => Completed observations: 2
I20260707 08:21:59.883490 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:21:59.884908 84886 incremental_mapper.cc:160] => Filtered observations: 71
I20260707 08:21:59.884954 84886 incremental_mapper.cc:119] => Changed observations: 0.019075
I20260707 08:21:59.885016 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 2.126360e+03 0.00e+00 1.67e+04 0.00e+00 0.00e+00 1.00e+04 0 6.92e-03 2.00e-02
1 1.831940e+03 2.94e+02 8.19e+02 0.00e+00 9.91e-01 3.00e+04 1 1.21e-02 3.22e-02
2 1.830028e+03 1.91e+00 1.25e+02 2.90e-01 1.04e+00 9.00e+04 1 6.79e-03 3.90e-02
3 1.829915e+03 1.13e-01 1.46e+02 8.24e-02 1.09e+00 2.70e+05 1 6.08e-03 4.51e-02
4 1.829886e+03 2.85e-02 4.89e+01 2.14e-02 1.03e+00 8.10e+05 1 6.47e-03 5.16e-02
5 1.829863e+03 2.28e-02 7.63e+02 5.24e-02 1.00e+00 2.43e+06 1 5.88e-03 5.76e-02
6 1.829816e+03 4.75e-02 4.58e+03 1.36e-01 9.81e-01 7.29e+06 1 5.28e-03 6.29e-02
7 1.829733e+03 8.28e-02 1.73e+04 3.28e-01 8.22e-01 9.95e+06 1 5.01e-03 6.79e-02
8 1.829622e+03 1.11e-01 1.31e+04 3.82e-01 9.02e-01 2.08e+07 1 4.79e-03 7.27e-02
9 1.829448e+03 1.74e-01 1.45e+04 6.85e-01 9.02e-01 4.33e+07 1 4.72e-03 7.74e-02
10 1.829139e+03 3.08e-01 7.87e+03 1.20e+00 9.84e-01 1.30e+08 1 4.47e-03 8.19e-02
11 1.828682e+03 4.58e-01 2.00e+04 2.49e+00 9.25e-01 3.35e+08 1 4.42e-03 8.64e-02
12 1.828479e+03 2.03e-01 4.95e+04 2.95e+00 5.25e-01 3.35e+08 1 4.36e-03 9.07e-02
13 1.828250e+03 2.28e-01 2.16e+04 1.26e+00 9.15e-01 7.84e+08 1 4.11e-03 9.48e-02
14 1.828215e+03 3.52e-02 7.18e+03 7.78e-01 9.23e-01 1.98e+09 1 3.93e-03 9.88e-02
15 1.828211e+03 3.90e-03 1.13e+03 2.17e-01 9.96e-01 5.95e+09 1 3.82e-03 1.03e-01
16 1.828211e+03 8.84e-05 4.36e+01 2.60e-02 1.04e+00 1.78e+10 1 3.81e-03 1.06e-01
17 1.828211e+03 9.62e-07 1.87e+00 2.77e-03 1.15e+00 5.35e+10 1 3.82e-03 1.10e-01
18 1.828211e+03 2.89e-08 2.78e-01 3.67e-04 1.19e+00 1.61e+11 1 3.92e-03 1.14e-01
I20260707 08:22:00.007355 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:22:00.007383 84886 bundle_adjustment.cc:942]
Residuals : 7512
Parameters : 2669
Iterations : 19
Time : 0.114302 [s]
Initial cost : 0.532035 [px]
Final cost : 0.493328 [px]
Termination : Convergence
I20260707 08:22:00.009050 84886 incremental_mapper.cc:175] => Completed observations: 4
I20260707 08:22:00.009333 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:22:00.009662 84886 incremental_mapper.cc:160] => Filtered observations: 1
I20260707 08:22:00.009675 84886 incremental_mapper.cc:119] => Changed observations: 0.001331
I20260707 08:22:00.009684 84886 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 1.818395e+03 0.00e+00 4.88e+02 0.00e+00 0.00e+00 1.00e+04 0 2.74e-03 5.45e-03
1 1.814765e+03 3.63e+00 5.32e+00 0.00e+00 1.00e+00 3.00e+04 1 7.97e-03 1.35e-02
2 1.814747e+03 1.75e-02 1.48e+00 1.13e-02 1.01e+00 9.00e+04 1 1.11e-02 2.46e-02
3 1.814746e+03 8.71e-04 1.55e+00 2.96e-03 1.14e+00 2.70e+05 1 1.13e-02 3.60e-02
4 1.814746e+03 3.34e-05 9.62e-01 8.73e-04 1.18e+00 8.10e+05 1 9.87e-03 4.59e-02
I20260707 08:22:00.058718 84886 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 08:22:00.058821 84886 bundle_adjustment.cc:942]
Residuals : 7518
Parameters : 2669
Iterations : 5
Time : 0.046468 [s]
Initial cost : 0.491805 [px]
Final cost : 0.491311 [px]
Termination : Convergence
I20260707 08:22:00.065871 84886 incremental_mapper.cc:175] => Completed observations: 0
I20260707 08:22:00.067003 84886 incremental_mapper.cc:178] => Merged observations: 0
I20260707 08:22:00.067821 84886 incremental_mapper.cc:160] => Filtered observations: 0
I20260707 08:22:00.067862 84886 incremental_mapper.cc:119] => Changed observations: 0.000000
I20260707 08:22:00.067885 84886 incremental_mapper.cc:167] => Filtered images: 0
I20260707 08:22:00.068028 84886 misc.cc:198]
==============================================================================
Registering image #68 (13)
==============================================================================
I20260707 08:22:00.068035 84886 incremental_mapper.cc:495] => Image sees 15 / 5046 points
I20260707 08:22:00.079295 84886 incremental_mapper.cc:535] => Could not register, trying another image.
I20260707 08:22:00.122551 84886 misc.cc:198]
==============================================================================
Finding good initial image pair
==============================================================================
I20260707 08:22:01.438453 84886 incremental_mapper.cc:404] => No good initial image pair found.
I20260707 08:22:01.440066 84886 timer.cc:91] Elapsed time: 5.795 [minutes]