
==============================================================================
Feature extraction
==============================================================================

Processed file [1/62]
  Name:            DJI_20200223_163016_842.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        12849
Processed file [2/62]
  Name:            DJI_20200223_163017_967.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        8198
Processed file [3/62]
  Name:            DJI_20200223_163018_942.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        8760
Processed file [4/62]
  Name:            DJI_20200223_163019_752.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        8417
Processed file [5/62]
  Name:            DJI_20200223_163020_712.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        8708
Processed file [6/62]
  Name:            DJI_20200223_163021_627.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        9034
Processed file [7/62]
  Name:            DJI_20200223_163022_557.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        9621
Processed file [8/62]
  Name:            DJI_20200223_163023_427.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        9614
Processed file [9/62]
  Name:            DJI_20200223_163024_597.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        9515
Processed file [10/62]
  Name:            DJI_20200223_163025_977.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        9313
Processed file [11/62]
  Name:            DJI_20200223_163028_017.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        8334
Processed file [12/62]
  Name:            DJI_20200223_163029_038.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        8637
Processed file [13/62]
  Name:            DJI_20200223_163029_877.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        8406
Processed file [14/62]
  Name:            DJI_20200223_163030_687.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        8423
Processed file [15/62]
  Name:            DJI_20200223_163031_602.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        13782
Processed file [16/62]
  Name:            DJI_20200223_163032_532.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        13230
Processed file [17/62]
  Name:            DJI_20200223_163033_432.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        13196
Processed file [18/62]
  Name:            DJI_20200223_163034_287.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        13460
Processed file [19/62]
  Name:            DJI_20200223_163035_787.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        12190
Processed file [20/62]
  Name:            DJI_20200223_163036_792.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        12649
Processed file [21/62]
  Name:            DJI_20200223_163042_402.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        13155
Processed file [22/62]
  Name:            DJI_20200223_163043_257.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        13040
Processed file [23/62]
  Name:            DJI_20200223_163045_537.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        12895
Processed file [24/62]
  Name:            DJI_20200223_163046_438.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        13946
Processed file [25/62]
  Name:            DJI_20200223_163047_307.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        8451
Processed file [26/62]
  Name:            DJI_20200223_163048_057.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        8555
Processed file [27/62]
  Name:            DJI_20200223_163049_048.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        8661
Processed file [28/62]
  Name:            DJI_20200223_163050_292.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        9988
Processed file [29/62]
  Name:            DJI_20200223_163052_122.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        9604
Processed file [30/62]
  Name:            DJI_20200223_163053_007.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        9730
Processed file [31/62]
  Name:            DJI_20200223_163053_863.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        8672
Processed file [32/62]
  Name:            DJI_20200223_163054_672.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        8641
Processed file [33/62]
  Name:            DJI_20200223_163055_437.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        9077
Processed file [34/62]
  Name:            DJI_20200223_163056_232.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        8775
Processed file [35/62]
  Name:            DJI_20200223_163056_982.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        8588
Processed file [36/62]
  Name:            DJI_20200223_163057_732.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        12830
Processed file [37/62]
  Name:            DJI_20200223_163058_602.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        13424
Processed file [38/62]
  Name:            DJI_20200223_163101_047.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        12494
Processed file [39/62]
  Name:            DJI_20200223_163101_947.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        12384
Processed file [40/62]
  Name:            DJI_20200223_163102_892.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        12829
Processed file [41/62]
  Name:            DJI_20200223_163103_777.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        13565
Processed file [42/62]
  Name:            DJI_20200223_163104_557.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        13616
Processed file [43/62]
  Name:            DJI_20200223_163105_427.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        8255
Processed file [44/62]
  Name:            DJI_20200223_163106_343.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        8557
Processed file [45/62]
  Name:            DJI_20200223_163156_668.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        13483
Processed file [46/62]
  Name:            DJI_20200223_163157_823.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        8811
Processed file [47/62]
  Name:            DJI_20200223_163159_803.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        9551
Processed file [48/62]
  Name:            DJI_20200223_163200_643.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        9409
Processed file [49/62]
  Name:            DJI_20200223_163201_633.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        9495
Processed file [50/62]
  Name:            DJI_20200223_163202_443.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        9011
Processed file [51/62]
  Name:            DJI_20200223_163203_267.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        8857
Processed file [52/62]
  Name:            DJI_20200223_163204_077.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        13783
Processed file [53/62]
  Name:            DJI_20200223_163204_859.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        8354
Processed file [54/62]
  Name:            DJI_20200223_163205_713.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        12134
Processed file [55/62]
  Name:            DJI_20200223_163206_598.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        13255
Processed file [56/62]
  Name:            DJI_20200223_163208_008.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        11354
Processed file [57/62]
  Name:            DJI_20200223_163208_938.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        10686
Processed file [58/62]
  Name:            DJI_20200223_163209_763.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        11215
Processed file [59/62]
  Name:            DJI_20200223_163210_513.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        11928
Processed file [60/62]
  Name:            DJI_20200223_163222_378.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        13452
Processed file [61/62]
  Name:            DJI_20200223_163224_103.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        13585
Processed file [62/62]
  Name:            DJI_20200223_163225_243.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        8836
Elapsed time: 0.117 [minutes]

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

Matching block [1/2, 1/2] in 39.140s
Matching block [1/2, 2/2] in 1.973s
Matching block [2/2, 1/2] in 14.243s
Matching block [2/2, 2/2] in 1.578s
Elapsed time: 0.953 [minutes]

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

Loading cameras... 1 in 0.000s
Loading matches... 1891 in 0.045s
Loading images... 62 in 0.024s (connected 62)
Building correspondence graph... in 0.483s (ignored 0)

Elapsed time: 0.009 [minutes]


==============================================================================
Initializing with image pair #23 and #37
==============================================================================


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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  1.115519e+03    0.00e+00    4.11e+05   0.00e+00   0.00e+00  1.00e+04        0    5.84e-03    1.53e-02
   1  5.177896e+02    5.98e+02    1.98e+05   3.19e+00   9.20e-01  2.45e+04        1    8.46e-03    2.38e-02
   2  4.481811e+02    6.96e+01    4.33e+04   4.79e+00   9.66e-01  7.34e+04        1    7.91e-03    3.17e-02
   3  4.439861e+02    4.20e+00    1.35e+03   6.62e+00   9.97e-01  2.20e+05        1    7.86e-03    3.96e-02
   4  4.437088e+02    2.77e-01    1.57e+03   6.09e+00   9.64e-01  6.61e+05        1    7.86e-03    4.75e-02
   5  4.436968e+02    1.20e-02    1.03e+04   8.09e+00   4.88e-02  3.81e+05        1    7.87e-03    5.53e-02
   6  4.433699e+02    3.27e-01    2.96e+03   4.03e+00   9.47e-01  1.14e+06        1    7.88e-03    6.32e-02
   7  4.438458e+02   -4.76e-01    0.00e+00   1.00e+01  -1.75e+00  5.71e+05        1    2.53e-03    6.58e-02
   8  4.432731e+02    9.68e-02    5.53e+03   5.45e+00   6.00e-01  5.76e+05        1    7.87e-03    7.37e-02
   9  4.431346e+02    1.38e-01    4.67e+03   5.02e+00   7.50e-01  6.58e+05        1    7.90e-03    8.16e-02
  10  4.430282e+02    1.06e-01    4.95e+03   5.18e+00   6.71e-01  6.85e+05        1    7.93e-03    8.95e-02
  11  4.429214e+02    1.07e-01    4.33e+03   4.86e+00   7.27e-01  7.56e+05        1    7.94e-03    9.75e-02
  12  4.428353e+02    8.61e-02    4.17e+03   4.78e+00   6.97e-01  8.05e+05        1    7.91e-03    1.05e-01
  13  4.427576e+02    7.77e-02    3.70e+03   4.51e+00   7.24e-01  8.85e+05        1    7.86e-03    1.13e-01
  14  4.426942e+02    6.34e-02    3.42e+03   4.35e+00   7.14e-01  9.60e+05        1    7.86e-03    1.21e-01
  15  4.426402e+02    5.41e-02    3.02e+03   4.09e+00   7.31e-01  1.06e+06        1    7.86e-03    1.29e-01
  16  4.425967e+02    4.35e-02    2.72e+03   3.89e+00   7.29e-01  1.18e+06        1    7.87e-03    1.37e-01
  17  4.425612e+02    3.55e-02    2.36e+03   3.64e+00   7.43e-01  1.33e+06        1    7.86e-03    1.45e-01
  18  4.425336e+02    2.76e-02    2.06e+03   3.40e+00   7.46e-01  1.51e+06        1    7.92e-03    1.53e-01
  19  4.425124e+02    2.13e-02    1.74e+03   3.13e+00   7.60e-01  1.76e+06        1    7.87e-03    1.61e-01
  20  4.424968e+02    1.56e-02    1.46e+03   2.87e+00   7.68e-01  2.08e+06        1    7.86e-03    1.68e-01
  21  4.424857e+02    1.11e-02    1.17e+03   2.57e+00   7.86e-01  2.56e+06        1    7.86e-03    1.76e-01
  22  4.424783e+02    7.35e-03    9.08e+02   2.27e+00   8.00e-01  3.26e+06        1    7.85e-03    1.84e-01
  23  4.424738e+02    4.52e-03    6.56e+02   1.93e+00   8.25e-01  4.50e+06        1    7.85e-03    1.92e-01
  24  4.424714e+02    2.43e-03    4.38e+02   1.58e+00   8.51e-01  6.86e+06        1    7.90e-03    2.00e-01
  25  4.424703e+02    1.08e-03    2.43e+02   1.18e+00   8.91e-01  1.31e+07        1    7.86e-03    2.08e-01
  26  4.424700e+02    3.31e-04    9.94e+01   7.53e-01   9.38e-01  3.94e+07        1    7.91e-03    2.16e-01
  27  4.424699e+02    4.85e-05    1.84e+01   3.24e-01   9.85e-01  1.18e+08        1    7.86e-03    2.24e-01
  28  4.424699e+02    1.33e-06    1.85e+00   5.15e-02   1.00e+00  3.55e+08        1    7.90e-03    2.31e-01
  29  4.424699e+02    2.37e-09    3.05e-02   2.91e-03   1.01e+00  1.06e+09        1    7.86e-03    2.39e-01


Bundle adjustment report
------------------------
    Residuals : 9780
   Parameters : 7342
   Iterations : 30
         Time : 0.23976 [s]
 Initial cost : 0.33773 [px]
   Final cost : 0.212702 [px]
  Termination : Convergence

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

==============================================================================
Registering image #36 (3)
==============================================================================

  => Image sees 1901 / 9751 points

Pose refinement report
----------------------
    Residuals : 3802
   Parameters : 8
   Iterations : 13
         Time : 0.0466001 [s]
 Initial cost : 0.404088 [px]
   Final cost : 0.368368 [px]
  Termination : Convergence

  => Continued observations: 1901
  => Added observations: 7335

Bundle adjustment report
------------------------
    Residuals : 28252
   Parameters : 17185
   Iterations : 26
         Time : 0.703662 [s]
 Initial cost : 0.614719 [px]
   Final cost : 0.293214 [px]
  Termination : No convergence

  => Merged observations: 4
  => Completed observations: 47
  => Filtered observations: 353
  => Changed observations: 0.028600

Bundle adjustment report
------------------------
    Residuals : 26950
   Parameters : 16243
   Iterations : 9
         Time : 0.236927 [s]
 Initial cost : 0.326678 [px]
   Final cost : 0.316996 [px]
  Termination : Convergence

  => Merged observations: 0
  => Completed observations: 13
  => Filtered observations: 13
  => Changed observations: 0.001929

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

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

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  2.749771e+03    0.00e+00    1.57e+02   0.00e+00   0.00e+00  1.00e+04        0    1.69e-02    4.03e-02
   1  2.741389e+03    8.38e+00    8.72e+01   2.02e+00   1.00e+00  3.00e+04        1    2.62e-02    6.66e-02
   2  2.741381e+03    8.68e-03    2.13e+01   2.35e-01   1.00e+00  9.00e+04        1    2.45e-02    9.10e-02
   3  2.741381e+03    2.26e-04    1.91e+00   7.03e-02   1.01e+00  2.70e+05        1    2.44e-02    1.16e-01
   4  2.741381e+03    9.60e-06    1.71e+00   3.53e-02   1.00e+00  8.10e+05        1    2.45e-02    1.40e-01
   5  2.741381e+03    1.99e-06    1.49e+00   3.92e-02   1.00e+00  2.43e+06        1    2.43e-02    1.64e-01
   6  2.741381e+03    2.27e-07    1.64e+00   1.68e-02   1.00e+00  7.29e+06        1    2.46e-02    1.89e-01
   7  2.741381e+03    4.80e-09    3.38e-01   2.63e-03   1.03e+00  2.19e+07        1    2.46e-02    2.14e-01
   8  2.741381e+03   -3.59e-11    0.00e+00   1.54e-04  -2.17e+00  1.09e+07        1    8.26e-03    2.22e-01
   9  2.741381e+03   -5.00e-12    0.00e+00   1.51e-04  -3.03e-01  2.73e+06        1    7.95e-03    2.30e-01
  10  2.741381e+03    2.41e-11    1.88e-02   1.37e-04   1.48e+00  8.20e+06        1    2.40e-02    2.54e-01


Bundle adjustment report
------------------------
    Residuals : 26922
   Parameters : 16219
   Iterations : 11
         Time : 0.254918 [s]
 Initial cost : 0.319591 [px]
   Final cost : 0.319103 [px]
  Termination : Convergence

  => Merged observations: 0
  => Completed observations: 0
  => Filtered observations: 2
  => Changed observations: 0.000149
  => Filtered images: 0

==============================================================================
Registering image #21 (4)
==============================================================================

  => Image sees 3665 / 9928 points

Pose refinement report
----------------------
    Residuals : 7334
   Parameters : 6
   Iterations : 10
         Time : 0.0636489 [s]
 Initial cost : 0.55434 [px]
   Final cost : 0.449759 [px]
  Termination : Convergence

  => Continued observations: 3663
  => Added observations: 3588

Bundle adjustment report
------------------------
    Residuals : 41418
   Parameters : 21046
   Iterations : 22
         Time : 0.974846 [s]
 Initial cost : 0.360132 [px]
   Final cost : 0.335012 [px]
  Termination : Convergence

  => Merged observations: 33
  => Completed observations: 230
  => Filtered observations: 109
  => Changed observations: 0.017963

Bundle adjustment report
------------------------
    Residuals : 41632
   Parameters : 21142
   Iterations : 8
         Time : 0.36216 [s]
 Initial cost : 0.384354 [px]
   Final cost : 0.374671 [px]
  Termination : Convergence

  => Merged observations: 0
  => Completed observations: 80
  => Filtered observations: 3
  => Changed observations: 0.003987

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

  => Merged observations: 1
  => Completed observations: 0
  => Retriangulated observations: 0

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  6.031615e+03    0.00e+00    5.47e+03   0.00e+00   0.00e+00  1.00e+04        0    2.82e-02    6.77e-02
   1  6.011154e+03    2.05e+01    5.32e+02   3.99e+00   1.00e+00  3.00e+04        1    4.64e-02    1.14e-01
   2  6.010935e+03    2.18e-01    3.54e+02   2.09e+00   1.00e+00  9.00e+04        1    4.27e-02    1.57e-01
   3  6.010871e+03    6.41e-02    1.46e+02   1.66e+00   1.00e+00  2.70e+05        1    4.22e-02    1.99e-01
   4  6.010865e+03    6.22e-03    4.12e+01   5.36e-01   1.00e+00  8.10e+05        1    4.20e-02    2.41e-01
   5  6.010865e+03    3.18e-04    8.21e+00   3.62e-01   1.00e+00  2.43e+06        1    4.21e-02    2.83e-01
   6  6.010865e+03    2.64e-05    2.00e+00   1.60e-01   1.01e+00  7.29e+06        1    4.17e-02    3.25e-01
   7  6.010865e+03    5.40e-07    1.96e+00   2.50e-02   1.01e+00  2.19e+07        1    4.18e-02    3.67e-01
   8  6.010865e+03    2.25e-09    3.44e-01   1.53e-03   1.02e+00  6.56e+07        1    4.18e-02    4.09e-01
   9  6.010865e+03   -5.91e-11    0.00e+00   5.61e-05  -1.40e+01  3.28e+07        1    1.51e-02    4.24e-01
  10  6.010865e+03   -5.09e-11    0.00e+00   5.58e-05  -1.22e+01  8.20e+06        1    1.45e-02    4.38e-01
  11  6.010865e+03    5.46e-12    1.53e-02   5.40e-05   6.20e-01  8.32e+06        1    4.19e-02    4.80e-01


Bundle adjustment report
------------------------
    Residuals : 41782
   Parameters : 21235
   Iterations : 12
         Time : 0.482308 [s]
 Initial cost : 0.379946 [px]
   Final cost : 0.379292 [px]
  Termination : Convergence

  => Merged observations: 0
  => Completed observations: 0
  => Filtered observations: 16
  => Changed observations: 0.000766

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  5.933520e+03    0.00e+00    1.40e+02   0.00e+00   0.00e+00  1.00e+04        0    3.13e-02    6.98e-02
   1  5.933250e+03    2.70e-01    4.35e+01   1.53e+00   1.00e+00  3.00e+04        1    4.76e-02    1.17e-01
   2  5.933197e+03    5.38e-02    3.14e+01   2.13e+00   1.00e+00  9.00e+04        1    4.23e-02    1.60e-01
   3  5.933174e+03    2.25e-02    2.31e+01   2.28e+00   1.00e+00  2.70e+05        1    4.23e-02    2.02e-01
   4  5.933169e+03    4.82e-03    1.95e+00   2.06e+00   1.00e+00  8.10e+05        1    4.21e-02    2.44e-01
   5  5.933168e+03    1.45e-03    2.45e+01   1.66e+00   1.00e+00  2.43e+06        1    4.19e-02    2.86e-01
   6  5.933168e+03    1.64e-04    4.69e+00   6.65e-01   1.01e+00  7.29e+06        1    5.15e-02    3.38e-01
   7  5.933168e+03    3.42e-06    1.69e+00   1.03e-01   1.01e+00  2.19e+07        1    4.47e-02    3.82e-01
   8  5.933168e+03    1.46e-08    7.79e-01   6.34e-03   1.04e+00  6.56e+07        1    4.18e-02    4.24e-01
   9  5.933168e+03   -1.56e-10    0.00e+00   2.31e-04  -6.60e+00  3.28e+07        1    1.50e-02    4.39e-01
  10  5.933168e+03   -1.21e-10    0.00e+00   2.30e-04  -5.35e+00  8.20e+06        1    1.46e-02    4.54e-01
  11  5.933168e+03   -8.19e-11    0.00e+00   2.23e-04  -3.93e+00  1.03e+06        1    1.47e-02    4.69e-01
  12  5.933168e+03   -1.26e-10    0.00e+00   1.72e-04  -5.73e+00  6.41e+04        1    1.46e-02    4.83e-01
  13  5.933168e+03   -1.02e-10    0.00e+00   4.00e-05  -7.49e+00  2.00e+03        1    1.47e-02    4.98e-01
  14  5.933168e+03   -1.38e-10    0.00e+00   5.10e-06  -1.62e+01  3.13e+01        1    1.45e-02    5.12e-01
  15  5.933168e+03   -1.38e-10    0.00e+00   6.10e-07  -3.82e+01  2.44e-01        1    1.46e-02    5.27e-01
  16  5.933168e+03   -8.09e-11    0.00e+00   3.62e-08  -7.87e+01  9.55e-04        1    1.46e-02    5.42e-01
  17  5.933168e+03   -1.53e-10    0.00e+00   1.80e-10  -2.01e+04  1.86e-06        1    1.46e-02    5.56e-01
  18  5.933168e+03   -3.27e-11    0.00e+00   3.40e-13  -3.38e+06  1.82e-09        1    1.46e-02    5.71e-01


Bundle adjustment report
------------------------
    Residuals : 41728
   Parameters : 21202
   Iterations : 19
         Time : 0.587975 [s]
 Initial cost : 0.377088 [px]
   Final cost : 0.377077 [px]
  Termination : Convergence

  => Merged observations: 0
  => Completed observations: 0
  => Filtered observations: 0
  => Changed observations: 0.000000
  => Filtered images: 0

==============================================================================
Registering image #22 (5)
==============================================================================

  => Image sees 4562 / 9977 points

Pose refinement report
----------------------
    Residuals : 9160
   Parameters : 6
   Iterations : 13
         Time : 0.097044 [s]
 Initial cost : 0.559331 [px]
   Final cost : 0.483247 [px]
  Termination : Convergence

  => Continued observations: 4560
  => Added observations: 2385

Bundle adjustment report
------------------------
    Residuals : 55618
   Parameters : 24148
   Iterations : 26
         Time : 0.850947 [s]
 Initial cost : 0.404144 [px]
   Final cost : 0.377871 [px]
  Termination : No convergence

  => Merged observations: 94
  => Completed observations: 258
  => Filtered observations: 169
  => Changed observations: 0.018735

Bundle adjustment report
------------------------
    Residuals : 55752
   Parameters : 24139
   Iterations : 9
         Time : 0.335261 [s]
 Initial cost : 0.436442 [px]
   Final cost : 0.426313 [px]
  Termination : Convergence

  => Merged observations: 0
  => Completed observations: 87
  => Filtered observations: 1
  => Changed observations: 0.003157

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

  => Merged observations: 4
  => Completed observations: 0
  => Retriangulated observations: 0

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  1.039870e+04    0.00e+00    9.53e+03   0.00e+00   0.00e+00  1.00e+04        0    1.88e-02    7.54e-02
   1  1.036899e+04    2.97e+01    6.42e+00   8.04e+00   1.00e+00  3.00e+04        1    4.40e-02    1.19e-01
   2  1.036886e+04    1.30e-01    3.51e+00   2.34e+00   1.00e+00  9.00e+04        1    3.13e-02    1.51e-01
   3  1.036884e+04    1.37e-02    2.17e+01   1.88e+00   1.00e+00  2.70e+05        1    2.93e-02    1.80e-01
   4  1.036884e+04    5.94e-03    2.15e+01   2.24e+00   1.00e+00  8.10e+05        1    2.96e-02    2.10e-01
   5  1.036883e+04    2.70e-03    5.51e+01   2.10e+00   1.00e+00  2.43e+06        1    3.04e-02    2.40e-01
   6  1.036883e+04    3.61e-04    1.20e+01   9.39e-01   1.00e+00  7.29e+06        1    3.07e-02    2.71e-01
   7  1.036883e+04    8.84e-06    8.65e-01   1.59e-01   1.01e+00  2.19e+07        1    3.10e-02    3.02e-01
   8  1.036883e+04    4.40e-08    1.14e+00   1.03e-02   1.03e+00  6.56e+07        1    3.19e-02    3.34e-01
   9  1.036883e+04   -2.11e-10    0.00e+00   4.18e-04  -1.81e+00  3.28e+07        1    2.17e-02    3.56e-01
  10  1.036883e+04   -8.55e-11    0.00e+00   4.16e-04  -5.49e-01  8.20e+06        1    2.17e-02    3.77e-01
  11  1.036883e+04   -1.02e-10    0.00e+00   4.01e-04  -7.14e-01  1.03e+06        1    2.23e-02    4.00e-01
  12  1.036883e+04   -2.36e-10    0.00e+00   3.03e-04  -2.16e+00  6.41e+04        1    2.25e-02    4.22e-01
  13  1.036883e+04    5.46e-12    1.87e-02   6.93e-05   5.85e-01  6.44e+04        1    3.04e-02    4.53e-01


Bundle adjustment report
------------------------
    Residuals : 55928
   Parameters : 24226
   Iterations : 14
         Time : 0.456433 [s]
 Initial cost : 0.431196 [px]
   Final cost : 0.430576 [px]
  Termination : Convergence

  => Merged observations: 0
  => Completed observations: 0
  => Filtered observations: 6
  => Changed observations: 0.000215
  => Filtered images: 0

==============================================================================
Registering image #20 (6)
==============================================================================

  => Image sees 4636 / 9517 points

Pose refinement report
----------------------
    Residuals : 9290
   Parameters : 6
   Iterations : 38
         Time : 0.314961 [s]
 Initial cost : 0.716994 [px]
   Final cost : 0.616792 [px]
  Termination : Convergence

  => Continued observations: 4629
  => Added observations: 2717

Bundle adjustment report
------------------------
    Residuals : 70582
   Parameters : 27424
   Iterations : 26
         Time : 1.01307 [s]
 Initial cost : 0.483762 [px]
   Final cost : 0.431745 [px]
  Termination : No convergence

  => Merged observations: 81
  => Completed observations: 215
  => Filtered observations: 278
  => Changed observations: 0.016265

Bundle adjustment report
------------------------
    Residuals : 70362
   Parameters : 27274
   Iterations : 9
         Time : 0.404836 [s]
 Initial cost : 0.514652 [px]
   Final cost : 0.501764 [px]
  Termination : Convergence

  => Merged observations: 20
  => Completed observations: 66
  => Filtered observations: 2
  => Changed observations: 0.002501

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

  => Merged observations: 5
  => Completed observations: 0
  => Retriangulated observations: 0

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  1.792680e+04    0.00e+00    2.92e+03   0.00e+00   0.00e+00  1.00e+04        0    2.46e-02    9.96e-02
   1  1.789709e+04    2.97e+01    1.68e+01   5.99e+00   1.00e+00  3.00e+04        1    5.14e-02    1.51e-01
   2  1.789700e+04    8.71e-02    2.70e+01   9.73e-01   1.00e+00  9.00e+04        1    3.92e-02    1.90e-01
   3  1.789699e+04    9.34e-03    6.30e+01   1.09e+00   9.96e-01  2.70e+05        1    3.75e-02    2.28e-01
   4  1.789698e+04    9.03e-03    1.08e+02   2.10e+00   9.98e-01  8.10e+05        1    3.76e-02    2.65e-01
   5  1.789698e+04    3.98e-03    7.86e+01   2.02e+00   1.00e+00  2.43e+06        1    3.85e-02    3.04e-01
   6  1.789698e+04    4.31e-04    1.16e+01   8.06e-01   1.01e+00  7.29e+06        1    3.84e-02    3.42e-01
   7  1.789698e+04    8.75e-06    1.70e+00   1.22e-01   1.02e+00  2.19e+07        1    3.86e-02    3.81e-01
   8  1.789698e+04    4.53e-08    9.30e-01   7.89e-03   1.04e+00  6.56e+07        1    4.04e-02    4.22e-01
   9  1.789698e+04    1.93e-10    6.05e-02   3.86e-04   1.28e+00  1.97e+08        1    4.07e-02    4.62e-01


Bundle adjustment report
------------------------
    Residuals : 70500
   Parameters : 27328
   Iterations : 10
         Time : 0.467611 [s]
 Initial cost : 0.504263 [px]
   Final cost : 0.503843 [px]
  Termination : Convergence

  => Merged observations: 1
  => Completed observations: 0
  => Filtered observations: 3
  => Changed observations: 0.000113
  => Filtered images: 0

==============================================================================
Registering image #15 (7)
==============================================================================

  => Image sees 4958 / 10067 points

Pose refinement report
----------------------
    Residuals : 9900
   Parameters : 6
   Iterations : 18
         Time : 0.143569 [s]
 Initial cost : 0.718898 [px]
   Final cost : 0.550468 [px]
  Termination : Convergence

  => Continued observations: 4932
  => Added observations: 4255

Bundle adjustment report
------------------------
    Residuals : 84394
   Parameters : 25837
   Iterations : 26
         Time : 1.15205 [s]
 Initial cost : 0.488817 [px]
   Final cost : 0.460799 [px]
  Termination : No convergence

  => Merged observations: 126
  => Completed observations: 293
  => Filtered observations: 299
  => Changed observations: 0.017015

Bundle adjustment report
------------------------
    Residuals : 84344
   Parameters : 25729
   Iterations : 4
         Time : 0.238299 [s]
 Initial cost : 0.549535 [px]
   Final cost : 0.537475 [px]
  Termination : Convergence

  => Merged observations: 20
  => Completed observations: 94
  => Filtered observations: 3
  => Changed observations: 0.002774

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

  => Merged observations: 4
  => Completed observations: 0
  => Retriangulated observations: 0

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  2.569157e+04    0.00e+00    1.09e+05   0.00e+00   0.00e+00  1.00e+04        0    2.95e-02    1.26e-01
   1  2.521736e+04    4.74e+02    6.05e+05   4.11e+01   9.27e-01  2.65e+04        1    6.21e-02    1.88e-01
   2  2.513105e+04    8.63e+01    2.02e+05   3.20e+01   9.56e-01  7.95e+04        1    4.54e-02    2.34e-01
   3  2.508649e+04    4.46e+01    2.41e+05   8.49e+01   8.61e-01  1.28e+05        1    4.46e-02    2.78e-01
   4  2.504443e+04    4.21e+01    2.11e+05   1.06e+02   8.75e-01  2.21e+05        1    4.54e-02    3.24e-01
   5  2.501486e+04    2.96e+01    2.15e+05   1.14e+02   8.22e-01  3.01e+05        1    4.51e-02    3.69e-01
   6  2.499709e+04    1.78e+01    1.16e+05   8.43e+01   9.05e-01  6.43e+05        1    4.38e-02    4.13e-01
   7  2.499099e+04    6.10e+00    6.83e+04   6.44e+01   9.04e-01  1.36e+06        1    4.63e-02    4.59e-01
   8  2.498965e+04    1.34e+00    1.34e+04   2.86e+01   9.85e-01  4.08e+06        1    4.45e-02    5.04e-01
   9  2.498959e+04    5.99e-02    8.11e+02   7.11e+00   1.01e+00  1.22e+07        1    4.63e-02    5.50e-01
  10  2.498959e+04    4.30e-04    6.42e+00   6.85e-01   1.03e+00  3.67e+07        1    4.48e-02    5.95e-01
  11  2.498959e+04    1.30e-06    1.50e+00   3.62e-02   1.05e+00  1.10e+08        1    4.97e-02    6.44e-01
  12  2.498959e+04    3.69e-09    3.79e-01   1.85e-03   1.07e+00  3.31e+08        1    4.67e-02    6.91e-01
  13  2.498959e+04   -4.00e-10    0.00e+00   8.74e-05  -4.24e+01  1.65e+08        1    3.12e-02    7.22e-01
  14  2.498959e+04   -1.16e-10    0.00e+00   8.73e-05  -9.33e+00  4.13e+07        1    3.31e-02    7.56e-01
  15  2.498959e+04   -4.15e-10    0.00e+00   8.68e-05  -4.41e+01  5.17e+06        1    3.06e-02    7.86e-01
  16  2.498959e+04   -4.22e-10    0.00e+00   8.20e-05  -4.50e+01  3.23e+05        1    3.13e-02    8.18e-01
  17  2.498959e+04   -4.44e-10    0.00e+00   4.33e-05  -5.44e+01  1.01e+04        1    3.16e-02    8.49e-01
  18  2.498959e+04   -4.44e-10    0.00e+00   4.40e-06  -8.73e+01  1.58e+02        1    3.15e-02    8.81e-01
  19  2.498959e+04   -2.00e-10    0.00e+00   4.68e-07  -5.00e+01  1.23e+00        1    3.15e-02    9.12e-01
  20  2.498959e+04   -3.35e-10    0.00e+00   2.52e-08  -1.50e+02  4.81e-03        1    3.17e-02    9.44e-01
  21  2.498959e+04   -6.40e-10    0.00e+00   1.17e-10  -2.07e+04  9.40e-06        1    3.19e-02    9.76e-01
  22  2.498959e+04   -3.75e-10    0.00e+00   2.16e-13  -5.87e+06  9.18e-09        1    3.28e-02    1.01e+00
  23  2.498959e+04   -3.64e-11    0.00e+00   6.94e-18   0.00e+00  4.48e-12        1    3.06e-02    1.04e+00


Bundle adjustment report
------------------------
    Residuals : 88988
   Parameters : 32473
   Iterations : 24
         Time : 1.07728 [s]
 Initial cost : 0.537316 [px]
   Final cost : 0.529924 [px]
  Termination : Convergence

  => Merged observations: 21
  => Completed observations: 8
  => Filtered observations: 6
  => Changed observations: 0.000787

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  2.508276e+04    0.00e+00    2.15e+04   0.00e+00   0.00e+00  1.00e+04        0    2.88e-02    1.26e-01
   1  2.503496e+04    4.78e+01    1.29e+03   3.38e+00   1.00e+00  3.00e+04        1    6.25e-02    1.88e-01
   2  2.503481e+04    1.56e-01    3.18e+02   9.56e-01   1.00e+00  9.00e+04        1    4.54e-02    2.34e-01
   3  2.503475e+04    5.45e-02    2.87e+02   2.07e+00   9.99e-01  2.70e+05        1    4.65e-02    2.80e-01
   4  2.503469e+04    6.14e-02    5.44e+02   3.78e+00   1.00e+00  8.10e+05        1    4.62e-02    3.26e-01
   5  2.503466e+04    2.72e-02    4.33e+02   3.54e+00   1.00e+00  2.43e+06        1    4.79e-02    3.74e-01
   6  2.503466e+04    2.93e-03    6.48e+01   1.39e+00   1.01e+00  7.29e+06        1    4.89e-02    4.23e-01
   7  2.503466e+04    5.98e-05    1.94e+00   2.08e-01   1.02e+00  2.19e+07        1    4.69e-02    4.70e-01
   8  2.503466e+04    3.22e-07    2.00e+00   1.36e-02   1.04e+00  6.56e+07        1    4.59e-02    5.16e-01
   9  2.503466e+04    1.15e-09    2.02e-01   6.89e-04   1.21e+00  1.97e+08        1    5.17e-02    5.68e-01
  10  2.503466e+04   -2.04e-10    0.00e+00   3.40e-05  -7.96e+01  9.84e+07        1    3.47e-02    6.02e-01
  11  2.503466e+04    3.64e-12    1.05e-02   3.40e-05   2.90e+00  2.95e+08        1    4.56e-02    6.48e-01


Bundle adjustment report
------------------------
    Residuals : 89018
   Parameters : 32470
   Iterations : 12
         Time : 0.654438 [s]
 Initial cost : 0.530822 [px]
   Final cost : 0.530313 [px]
  Termination : Convergence

  => Merged observations: 6
  => Completed observations: 0
  => Filtered observations: 1
  => Changed observations: 0.000157
  => Filtered images: 0

==============================================================================
Registering image #16 (8)
==============================================================================

  => Image sees 5631 / 10006 points

Pose refinement report
----------------------
    Residuals : 11272
   Parameters : 6
   Iterations : 13
         Time : 0.130678 [s]
 Initial cost : 0.55092 [px]
   Final cost : 0.473042 [px]
  Termination : Convergence

  => Continued observations: 5606
  => Added observations: 3343

Bundle adjustment report
------------------------
    Residuals : 97040
   Parameters : 24913
   Iterations : 15
         Time : 0.710393 [s]
 Initial cost : 0.477671 [px]
   Final cost : 0.461818 [px]
  Termination : Convergence

  => Merged observations: 146
  => Completed observations: 250
  => Filtered observations: 328
  => Changed observations: 0.014922

Bundle adjustment report
------------------------
    Residuals : 96814
   Parameters : 24757
   Iterations : 4
         Time : 0.255998 [s]
 Initial cost : 0.549213 [px]
   Final cost : 0.539107 [px]
  Termination : Convergence

  => Merged observations: 33
  => Completed observations: 105
  => Filtered observations: 8
  => Changed observations: 0.003016

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

  => Merged observations: 5
  => Completed observations: 0
  => Retriangulated observations: 0

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  3.089795e+04    0.00e+00    2.90e+05   0.00e+00   0.00e+00  1.00e+04        0    3.34e-02    1.53e-01
   1  3.068469e+04    2.13e+02    1.20e+05   1.47e+01   9.96e-01  3.00e+04        1    7.08e-02    2.24e-01
   2  3.067382e+04    1.09e+01    3.24e+04   9.87e+00   9.93e-01  9.00e+04        1    5.24e-02    2.76e-01
   3  3.066636e+04    7.46e+00    3.47e+04   2.50e+01   9.84e-01  2.70e+05        1    5.50e-02    3.31e-01
   4  3.065813e+04    8.23e+00    6.95e+04   4.48e+01   9.38e-01  8.10e+05        1    5.52e-02    3.87e-01
   5  3.065409e+04    4.04e+00    5.63e+04   4.15e+01   9.19e-01  1.97e+06        1    5.29e-02    4.40e-01
   6  3.065330e+04    7.86e-01    8.06e+03   1.58e+01   9.96e-01  5.90e+06        1    5.57e-02    4.95e-01
   7  3.065328e+04    1.98e-02    2.60e+02   2.91e+00   1.01e+00  1.77e+07        1    5.36e-02    5.49e-01
   8  3.065328e+04    9.18e-05    1.97e+00   2.27e-01   1.04e+00  5.31e+07        1    5.30e-02    6.02e-01
   9  3.065328e+04    2.97e-07    1.97e+00   1.20e-02   1.05e+00  1.59e+08        1    5.53e-02    6.57e-01
  10  3.065328e+04    2.62e-10    2.17e-01   6.17e-04   3.22e-01  1.52e+08        1    5.29e-02    7.10e-01
  11  3.065328e+04    2.07e-10    1.10e-02   3.03e-05   1.08e+02  4.57e+08        1    5.24e-02    7.63e-01


Bundle adjustment report
------------------------
    Residuals : 106868
   Parameters : 36409
   Iterations : 12
         Time : 0.770178 [s]
 Initial cost : 0.537701 [px]
   Final cost : 0.535568 [px]
  Termination : Convergence

  => Merged observations: 6
  => Completed observations: 5
  => Filtered observations: 7
  => Changed observations: 0.000337
  => Filtered images: 0

==============================================================================
Registering image #17 (9)
==============================================================================

  => Image sees 5932 / 9898 points

Pose refinement report
----------------------
    Residuals : 11940
   Parameters : 6
   Iterations : 11
         Time : 0.109106 [s]
 Initial cost : 0.637694 [px]
   Final cost : 0.471412 [px]
  Termination : Convergence

  => Continued observations: 5904
  => Added observations: 3150

Bundle adjustment report
------------------------
    Residuals : 109418
   Parameters : 25075
   Iterations : 17
         Time : 0.850354 [s]
 Initial cost : 0.478946 [px]
   Final cost : 0.462812 [px]
  Termination : Convergence

  => Merged observations: 383
  => Completed observations: 228
  => Filtered observations: 369
  => Changed observations: 0.017913

Bundle adjustment report
------------------------
    Residuals : 109088
   Parameters : 24814
   Iterations : 3
         Time : 0.22515 [s]
 Initial cost : 0.545882 [px]
   Final cost : 0.537081 [px]
  Termination : Convergence

  => Merged observations: 22
  => Completed observations: 135
  => Filtered observations: 2
  => Changed observations: 0.002915

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

  => Merged observations: 10
  => Completed observations: 0
  => Retriangulated observations: 0

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  3.637651e+04    0.00e+00    1.64e+05   0.00e+00   0.00e+00  1.00e+04        0    3.84e-02    1.83e-01
   1  3.622809e+04    1.48e+02    6.00e+04   1.41e+01   9.98e-01  3.00e+04        1    7.98e-02    2.63e-01
   2  3.622275e+04    5.34e+00    5.53e+03   9.44e+00   1.00e+00  9.00e+04        1    6.98e-02    3.33e-01
   3  3.622059e+04    2.16e+00    2.58e+03   1.45e+01   1.00e+00  2.70e+05        1    6.71e-02    4.00e-01
   4  3.621843e+04    2.16e+00    1.44e+04   2.20e+01   9.92e-01  8.10e+05        1    7.10e-02    4.71e-01
   5  3.621760e+04    8.33e-01    1.09e+04   1.84e+01   9.89e-01  2.43e+06        1    6.88e-02    5.40e-01
   6  3.621752e+04    8.33e-02    1.29e+03   6.40e+00   1.01e+00  7.29e+06        1    6.48e-02    6.05e-01
   7  3.621752e+04    1.31e-03    2.15e+01   8.44e-01   1.02e+00  2.19e+07        1    6.43e-02    6.69e-01
   8  3.621752e+04    4.76e-06    1.87e+00   4.84e-02   1.04e+00  6.56e+07        1    6.65e-02    7.36e-01
   9  3.621752e+04    1.10e-08    7.17e-01   2.10e-03   1.06e+00  1.97e+08        1    6.65e-02    8.02e-01
  10  3.621752e+04    6.55e-11    3.50e-02   8.90e-05   5.00e+00  5.90e+08        1    6.52e-02    8.67e-01


Bundle adjustment report
------------------------
    Residuals : 124822
   Parameters : 39871
   Iterations : 11
         Time : 0.876094 [s]
 Initial cost : 0.53984 [px]
   Final cost : 0.538659 [px]
  Termination : Convergence

  => Merged observations: 12
  => Completed observations: 9
  => Filtered observations: 15
  => Changed observations: 0.000577

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  3.618463e+04    0.00e+00    3.47e+03   0.00e+00   0.00e+00  1.00e+04        0    4.04e-02    1.83e-01
   1  3.616445e+04    2.02e+01    3.12e+02   2.71e+00   1.00e+00  3.00e+04        1    7.86e-02    2.62e-01
   2  3.616440e+04    4.99e-02    1.36e+02   6.91e-01   1.00e+00  9.00e+04        1    6.35e-02    3.25e-01
   3  3.616436e+04    3.72e-02    1.75e+02   1.67e+00   9.99e-01  2.70e+05        1    6.51e-02    3.91e-01
   4  3.616432e+04    3.84e-02    2.97e+02   2.84e+00   1.00e+00  8.10e+05        1    6.42e-02    4.55e-01
   5  3.616431e+04    1.46e-02    1.96e+02   2.41e+00   1.00e+00  2.43e+06        1    6.44e-02    5.19e-01
   6  3.616431e+04    1.27e-03    2.30e+01   8.41e-01   1.01e+00  7.29e+06        1    6.59e-02    5.85e-01
   7  3.616431e+04    2.04e-05    1.99e+00   1.11e-01   1.02e+00  2.19e+07        1    6.30e-02    6.48e-01
   8  3.616431e+04    8.46e-08    1.65e+00   6.38e-03   1.04e+00  6.56e+07        1    6.16e-02    7.10e-01
   9  3.616431e+04   -6.62e-10    0.00e+00   2.77e-04  -3.35e+00  3.28e+07        1    4.33e-02    7.53e-01
  10  3.616431e+04   -2.62e-10    0.00e+00   2.76e-04  -1.23e+00  8.20e+06        1    4.18e-02    7.95e-01
  11  3.616431e+04   -2.33e-10    0.00e+00   2.68e-04  -1.08e+00  1.03e+06        1    4.27e-02    8.38e-01
  12  3.616431e+04   -4.80e-10    0.00e+00   2.15e-04  -2.46e+00  6.41e+04        1    4.14e-02    8.79e-01
  13  3.616431e+04   -4.95e-10    0.00e+00   5.33e-05  -3.95e+00  2.00e+03        1    4.05e-02    9.20e-01
  14  3.616431e+04   -3.86e-10    0.00e+00   5.18e-06  -4.41e+00  3.13e+01        1    4.11e-02    9.61e-01
  15  3.616431e+04   -1.67e-10    0.00e+00   4.92e-07  -2.23e+00  2.44e-01        1    4.09e-02    1.00e+00
  16  3.616431e+04   -2.26e-10    0.00e+00   1.73e-08  -9.39e+00  9.55e-04        1    4.08e-02    1.04e+00
  17  3.616431e+04   -8.00e-10    0.00e+00   7.06e-11  -5.97e+03  1.86e-06        1    4.11e-02    1.08e+00
  18  3.616431e+04   -2.91e-10    0.00e+00   1.29e-13  -1.04e+06  1.82e-09        1    4.07e-02    1.12e+00


Bundle adjustment report
------------------------
    Residuals : 124752
   Parameters : 39841
   Iterations : 19
         Time : 1.17319 [s]
 Initial cost : 0.538565 [px]
   Final cost : 0.538414 [px]
  Termination : Convergence

  => Merged observations: 1
  => Completed observations: 0
  => Filtered observations: 1
  => Changed observations: 0.000032
  => Filtered images: 0

==============================================================================
Registering image #18 (10)
==============================================================================

  => Image sees 5863 / 9450 points

Pose refinement report
----------------------
    Residuals : 11804
   Parameters : 6
   Iterations : 11
         Time : 0.109661 [s]
 Initial cost : 0.614866 [px]
   Final cost : 0.502859 [px]
  Termination : Convergence

  => Continued observations: 5849
  => Added observations: 3292

Bundle adjustment report
------------------------
    Residuals : 117802
   Parameters : 23788
   Iterations : 26
         Time : 1.3403 [s]
 Initial cost : 0.480259 [px]
   Final cost : 0.462176 [px]
  Termination : No convergence

  => Merged observations: 183
  => Completed observations: 315
  => Filtered observations: 398
  => Changed observations: 0.015212

Bundle adjustment report
------------------------
    Residuals : 117548
   Parameters : 23602
   Iterations : 3
         Time : 0.233309 [s]
 Initial cost : 0.553825 [px]
   Final cost : 0.54558 [px]
  Termination : Convergence

  => Merged observations: 40
  => Completed observations: 122
  => Filtered observations: 9
  => Changed observations: 0.002909

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

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

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  4.240289e+04    0.00e+00    6.34e+04   0.00e+00   0.00e+00  1.00e+04        0    4.68e-02    2.15e-01
   1  4.210581e+04    2.97e+02    1.37e+05   2.22e+01   9.99e-01  3.00e+04        1    9.25e-02    3.07e-01
   2  4.208543e+04    2.04e+01    1.07e+04   2.06e+01   1.00e+00  9.00e+04        1    7.82e-02    3.86e-01
   3  4.206857e+04    1.69e+01    4.69e+04   4.06e+01   9.87e-01  2.70e+05        1    7.82e-02    4.64e-01
   4  4.205286e+04    1.57e+01    1.18e+05   6.19e+01   9.27e-01  7.18e+05        1    7.60e-02    5.40e-01
   5  4.204660e+04    6.25e+00    6.57e+04   4.66e+01   9.44e-01  2.15e+06        1    7.73e-02    6.17e-01
   6  4.204577e+04    8.35e-01    7.78e+03   1.63e+01   9.97e-01  6.46e+06        1    7.73e-02    6.94e-01
   7  4.204576e+04    1.23e-02    1.23e+02   2.10e+00   1.01e+00  1.94e+07        1    7.67e-02    7.71e-01
   8  4.204576e+04    2.45e-05    1.83e+00   1.08e-01   1.03e+00  5.82e+07        1    7.83e-02    8.50e-01
   9  4.204576e+04    3.84e-08    9.90e-01   3.83e-03   1.03e+00  1.75e+08        1    7.60e-02    9.26e-01


Bundle adjustment report
------------------------
    Residuals : 142954
   Parameters : 43516
   Iterations : 10
         Time : 0.935036 [s]
 Initial cost : 0.544627 [px]
   Final cost : 0.542329 [px]
  Termination : Convergence

  => Merged observations: 16
  => Completed observations: 6
  => Filtered observations: 45
  => Changed observations: 0.000937

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  4.188416e+04    0.00e+00    1.10e+04   0.00e+00   0.00e+00  1.00e+04        0    4.55e-02    2.19e-01
   1  4.183440e+04    4.98e+01    1.97e+02   5.34e+00   1.00e+00  3.00e+04        1    8.74e-02    3.06e-01
   2  4.183421e+04    1.89e-01    1.52e+01   1.11e+00   1.00e+00  9.00e+04        1    7.20e-02    3.78e-01
   3  4.183420e+04    6.44e-03    1.36e+01   6.07e-01   1.00e+00  2.70e+05        1    7.09e-02    4.49e-01
   4  4.183420e+04    5.29e-03    3.74e+01   9.06e-01   1.00e+00  8.10e+05        1    7.21e-02    5.21e-01
   5  4.183420e+04    1.74e-03    2.26e+01   6.99e-01   1.00e+00  2.43e+06        1    7.12e-02    5.92e-01
   6  4.183420e+04    1.24e-04    2.22e+00   2.18e-01   1.01e+00  7.29e+06        1    7.21e-02    6.64e-01
   7  4.183420e+04    1.52e-06    1.98e+00   2.50e-02   1.02e+00  2.19e+07        1    7.25e-02    7.37e-01
   8  4.183420e+04    3.75e-09    4.36e-01   1.19e-03   8.58e-01  3.45e+07        1    7.28e-02    8.10e-01


Bundle adjustment report
------------------------
    Residuals : 142710
   Parameters : 43420
   Iterations : 9
         Time : 0.819185 [s]
 Initial cost : 0.541748 [px]
   Final cost : 0.541425 [px]
  Termination : Convergence

  => Merged observations: 2
  => Completed observations: 0
  => Filtered observations: 1
  => Changed observations: 0.000042
  => Filtered images: 0

==============================================================================
Registering image #19 (11)
==============================================================================

  => Image sees 5944 / 8647 points

Pose refinement report
----------------------
    Residuals : 12008
   Parameters : 6
   Iterations : 7
         Time : 0.069572 [s]
 Initial cost : 0.515669 [px]
   Final cost : 0.480717 [px]
  Termination : Convergence

  => Continued observations: 5922
  => Added observations: 2256

Bundle adjustment report
------------------------
    Residuals : 127004
   Parameters : 22213
   Iterations : 25
         Time : 1.32221 [s]
 Initial cost : 0.472194 [px]
   Final cost : 0.458765 [px]
  Termination : Convergence

  => Merged observations: 322
  => Completed observations: 223
  => Filtered observations: 306
  => Changed observations: 0.013401

Bundle adjustment report
------------------------
    Residuals : 126910
   Parameters : 22087
   Iterations : 3
         Time : 0.236609 [s]
 Initial cost : 0.548197 [px]
   Final cost : 0.541544 [px]
  Termination : Convergence

  => Merged observations: 30
  => Completed observations: 68
  => Filtered observations: 5
  => Changed observations: 0.001623

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

  => Merged observations: 14
  => Completed observations: 0
  => Retriangulated observations: 0

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  4.740462e+04    0.00e+00    2.28e+05   0.00e+00   0.00e+00  1.00e+04        0    4.97e-02    2.41e-01
   1  4.721119e+04    1.93e+02    5.19e+04   1.30e+01   9.99e-01  3.00e+04        1    9.54e-02    3.36e-01
   2  4.720447e+04    6.72e+00    2.74e+03   1.08e+01   1.00e+00  9.00e+04        1    8.24e-02    4.19e-01
   3  4.719961e+04    4.85e+00    7.55e+03   1.84e+01   1.00e+00  2.70e+05        1    8.81e-02    5.07e-01
   4  4.719521e+04    4.40e+00    3.00e+04   2.67e+01   9.85e-01  8.10e+05        1    8.50e-02    5.92e-01
   5  4.719376e+04    1.45e+00    1.78e+04   2.01e+01   9.85e-01  2.43e+06        1    8.40e-02    6.76e-01
   6  4.719364e+04    1.19e-01    1.61e+03   6.10e+00   1.00e+00  7.29e+06        1    8.18e-02    7.58e-01
   7  4.719364e+04    1.31e-03    1.95e+01   6.81e-01   1.01e+00  2.19e+07        1    8.05e-02    8.38e-01
   8  4.719364e+04    3.01e-06    1.78e+00   3.14e-02   1.03e+00  6.56e+07        1    8.12e-02    9.20e-01
   9  4.719364e+04    3.92e-09    3.90e-01   1.04e-03   9.51e-01  1.97e+08        1    8.14e-02    1.00e+00


Bundle adjustment report
------------------------
    Residuals : 158958
   Parameters : 45835
   Iterations : 10
         Time : 1.0107 [s]
 Initial cost : 0.546096 [px]
   Final cost : 0.54488 [px]
  Termination : Convergence

  => Merged observations: 7
  => Completed observations: 0
  => Filtered observations: 33
  => Changed observations: 0.000503

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  4.706711e+04    0.00e+00    2.27e+03   0.00e+00   0.00e+00  1.00e+04        0    4.94e-02    2.38e-01
   1  4.704746e+04    1.97e+01    8.46e+00   2.36e+00   1.00e+00  3.00e+04        1    9.80e-02    3.36e-01
   2  4.704738e+04    7.44e-02    2.58e+01   7.65e-01   1.00e+00  9.00e+04        1    8.65e-02    4.23e-01
   3  4.704737e+04    1.31e-02    5.87e+01   8.58e-01   9.99e-01  2.70e+05        1    8.43e-02    5.07e-01
   4  4.704736e+04    1.11e-02    8.68e+01   1.32e+00   1.00e+00  8.10e+05        1    8.71e-02    5.94e-01
   5  4.704735e+04    3.48e-03    4.54e+01   9.97e-01   1.00e+00  2.43e+06        1    8.48e-02    6.79e-01
   6  4.704735e+04    2.35e-04    3.96e+00   3.01e-01   1.01e+00  7.29e+06        1    8.51e-02    7.64e-01
   7  4.704735e+04    2.70e-06    1.66e+00   3.34e-02   1.01e+00  2.19e+07        1    9.11e-02    8.56e-01
   8  4.704735e+04    7.52e-09    5.01e-01   1.53e-03   1.08e+00  6.56e+07        1    8.32e-02    9.39e-01


Bundle adjustment report
------------------------
    Residuals : 158694
   Parameters : 45751
   Iterations : 9
         Time : 0.948809 [s]
 Initial cost : 0.544601 [px]
   Final cost : 0.544487 [px]
  Termination : Convergence

  => Merged observations: 1
  => Completed observations: 0
  => Filtered observations: 0
  => Changed observations: 0.000013
  => Filtered images: 0

==============================================================================
Registering image #24 (12)
==============================================================================

  => Image sees 6109 / 10024 points

Pose refinement report
----------------------
    Residuals : 12306
   Parameters : 6
   Iterations : 10
         Time : 0.104122 [s]
 Initial cost : 0.620859 [px]
   Final cost : 0.537282 [px]
  Termination : Convergence

  => Continued observations: 6082
  => Added observations: 2910

Bundle adjustment report
------------------------
    Residuals : 134904
   Parameters : 23587
   Iterations : 26
         Time : 1.49552 [s]
 Initial cost : 0.483786 [px]
   Final cost : 0.463421 [px]
  Termination : No convergence

  => Merged observations: 244
  => Completed observations: 341
  => Filtered observations: 342
  => Changed observations: 0.013743

Bundle adjustment report
------------------------
    Residuals : 134854
   Parameters : 23467
   Iterations : 3
         Time : 0.25318 [s]
 Initial cost : 0.558469 [px]
   Final cost : 0.551413 [px]
  Termination : Convergence

  => Merged observations: 20
  => Completed observations: 139
  => Filtered observations: 20
  => Changed observations: 0.002655

==============================================================================
Registering image #1 (13)
==============================================================================

  => Image sees 5749 / 8295 points

Pose refinement report
----------------------
    Residuals : 11616
   Parameters : 6
   Iterations : 11
         Time : 0.103147 [s]
 Initial cost : 0.540698 [px]
   Final cost : 0.5184 [px]
  Termination : Convergence

  => Continued observations: 5726
  => Added observations: 1953

Bundle adjustment report
------------------------
    Residuals : 136076
   Parameters : 21607
   Iterations : 23
         Time : 1.30826 [s]
 Initial cost : 0.479798 [px]
   Final cost : 0.462868 [px]
  Termination : Convergence

  => Merged observations: 401
  => Completed observations: 225
  => Filtered observations: 350
  => Changed observations: 0.014345

Bundle adjustment report
------------------------
    Residuals : 135898
   Parameters : 21466
   Iterations : 3
         Time : 0.240455 [s]
 Initial cost : 0.556547 [px]
   Final cost : 0.549682 [px]
  Termination : Convergence

  => Merged observations: 0
  => Completed observations: 63
  => Filtered observations: 5
  => Changed observations: 0.001001

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

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

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  6.033432e+04    0.00e+00    4.50e+05   0.00e+00   0.00e+00  1.00e+04        0    5.63e-02    3.02e-01
   1  5.971257e+04    6.22e+02    1.44e+04   2.31e+01   1.00e+00  3.00e+04        1    1.15e-01    4.17e-01
   2  5.965792e+04    5.47e+01    5.83e+04   1.96e+01   9.94e-01  9.00e+04        1    9.79e-02    5.15e-01
   3  5.964294e+04    1.50e+01    7.03e+04   2.92e+01   9.78e-01  2.70e+05        1    1.05e-01    6.20e-01
   4  5.963548e+04    7.46e+00    4.78e+04   3.57e+01   9.81e-01  8.10e+05        1    1.05e-01    7.25e-01
   5  5.963399e+04    1.49e+00    1.24e+04   1.98e+01   9.96e-01  2.43e+06        1    1.05e-01    8.30e-01
   6  5.963393e+04    5.86e-02    5.35e+02   4.21e+00   1.01e+00  7.29e+06        1    1.01e-01    9.31e-01
   7  5.963393e+04    3.11e-04    3.30e+00   3.28e-01   1.01e+00  2.19e+07        1    9.82e-02    1.03e+00
   8  5.963393e+04    4.59e-07    1.97e+00   1.13e-02   1.03e+00  6.56e+07        1    9.98e-02    1.13e+00
   9  5.963393e+04   -1.75e-10    0.00e+00   3.09e-04  -3.86e-01  3.28e+07        1    6.85e-02    1.20e+00
  10  5.963393e+04    2.55e-10    1.06e-01   3.08e-04   6.49e-01  3.37e+07        1    9.84e-02    1.30e+00


Bundle adjustment report
------------------------
    Residuals : 191938
   Parameters : 51145
   Iterations : 11
         Time : 1.30716 [s]
 Initial cost : 0.560663 [px]
   Final cost : 0.557399 [px]
  Termination : Convergence

  => Merged observations: 20
  => Completed observations: 44
  => Filtered observations: 35
  => Changed observations: 0.001032

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  5.967086e+04    0.00e+00    1.25e+03   0.00e+00   0.00e+00  1.00e+04        0    6.09e-02    2.97e-01
   1  5.961301e+04    5.78e+01    1.98e+02   8.93e+00   9.99e-01  3.00e+04        1    1.17e-01    4.15e-01
   2  5.961267e+04    3.41e-01    2.72e+01   2.09e+00   9.99e-01  9.00e+04        1    9.54e-02    5.10e-01
   3  5.961266e+04    1.26e-02    4.56e+01   9.22e-01   9.99e-01  2.70e+05        1    9.82e-02    6.08e-01
   4  5.961265e+04    6.24e-03    3.92e+01   1.09e+00   1.00e+00  8.10e+05        1    9.99e-02    7.08e-01
   5  5.961265e+04    1.17e-03    1.08e+01   6.03e-01   1.00e+00  2.43e+06        1    9.78e-02    8.06e-01
   6  5.961265e+04    4.18e-05    2.00e+00   1.28e-01   1.01e+00  7.29e+06        1    1.02e-01    9.08e-01
   7  5.961265e+04    2.50e-07    1.91e+00   9.94e-03   1.02e+00  2.19e+07        1    1.00e-01    1.01e+00
   8  5.961265e+04    3.49e-10    1.00e-01   3.43e-04   9.14e-01  5.04e+07        1    9.95e-02    1.11e+00


Bundle adjustment report
------------------------
    Residuals : 191816
   Parameters : 51070
   Iterations : 9
         Time : 1.11939 [s]
 Initial cost : 0.557749 [px]
   Final cost : 0.557477 [px]
  Termination : Convergence

  => Merged observations: 4
  => Completed observations: 0
  => Filtered observations: 4
  => Changed observations: 0.000083
  => Filtered images: 0

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

  => Image sees 4440 / 6399 points

Pose refinement report
----------------------
    Residuals : 9004
   Parameters : 6
   Iterations : 11
         Time : 0.0837789 [s]
 Initial cost : 0.671802 [px]
   Final cost : 0.530049 [px]
  Termination : Convergence

  => Continued observations: 4411
  => Added observations: 1380

Bundle adjustment report
------------------------
    Residuals : 130632
   Parameters : 16144
   Iterations : 25
         Time : 1.28008 [s]
 Initial cost : 0.477597 [px]
   Final cost : 0.466861 [px]
  Termination : Convergence

  => Merged observations: 320
  => Completed observations: 186
  => Filtered observations: 326
  => Changed observations: 0.012738

Bundle adjustment report
------------------------
    Residuals : 130406
   Parameters : 16012
   Iterations : 3
         Time : 0.220014 [s]
 Initial cost : 0.563586 [px]
   Final cost : 0.557566 [px]
  Termination : Convergence

  => Merged observations: 19
  => Completed observations: 85
  => Filtered observations: 6
  => Changed observations: 0.001687

==============================================================================
Registering image #3 (15)
==============================================================================

  => Image sees 4319 / 6281 points

Pose refinement report
----------------------
    Residuals : 8734
   Parameters : 6
   Iterations : 10
         Time : 0.0758371 [s]
 Initial cost : 0.606633 [px]
   Final cost : 0.565308 [px]
  Termination : Convergence

  => Continued observations: 4272
  => Added observations: 1545

Bundle adjustment report
------------------------
    Residuals : 131282
   Parameters : 15892
   Iterations : 23
         Time : 1.16377 [s]
 Initial cost : 0.49239 [px]
   Final cost : 0.480421 [px]
  Termination : Convergence

  => Merged observations: 333
  => Completed observations: 181
  => Filtered observations: 431
  => Changed observations: 0.014396

Bundle adjustment report
------------------------
    Residuals : 130856
   Parameters : 15754
   Iterations : 3
         Time : 0.223974 [s]
 Initial cost : 0.570322 [px]
   Final cost : 0.563883 [px]
  Termination : Convergence

  => Merged observations: 46
  => Completed observations: 64
  => Filtered observations: 7
  => Changed observations: 0.001788

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

  => Merged observations: 40
  => Completed observations: 40
  => Retriangulated observations: 0

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  7.119045e+04    0.00e+00    1.99e+06   0.00e+00   0.00e+00  1.00e+04        0    6.71e-02    3.60e-01
   1  7.066445e+04    5.26e+02    5.74e+03   1.07e+01   1.00e+00  3.00e+04        1    1.26e-01    4.87e-01
   2  7.066104e+04    3.41e+00    6.95e+03   9.29e+00   9.99e-01  9.00e+04        1    1.11e-01    5.97e-01
   3  7.065743e+04    3.61e+00    1.17e+04   1.85e+01   9.98e-01  2.70e+05        1    1.10e-01    7.08e-01
   4  7.065508e+04    2.35e+00    1.31e+04   2.20e+01   9.97e-01  8.10e+05        1    1.10e-01    8.17e-01
   5  7.065464e+04    4.37e-01    3.69e+03   1.18e+01   1.00e+00  2.43e+06        1    1.13e-01    9.30e-01
   6  7.065463e+04    1.54e-02    1.53e+02   2.44e+00   1.01e+00  7.29e+06        1    1.09e-01    1.04e+00
   7  7.065463e+04    8.30e-05    2.00e+00   1.83e-01   1.01e+00  2.19e+07        1    1.16e-01    1.16e+00
   8  7.065463e+04    1.14e-07    9.93e-01   5.98e-03   1.02e+00  6.56e+07        1    1.11e-01    1.27e+00


Bundle adjustment report
------------------------
    Residuals : 214496
   Parameters : 54382
   Iterations : 9
         Time : 1.2784 [s]
 Initial cost : 0.576105 [px]
   Final cost : 0.573932 [px]
  Termination : Convergence

  => Merged observations: 3
  => Completed observations: 0
  => Filtered observations: 7
  => Changed observations: 0.000093
  => Filtered images: 0

==============================================================================
Registering image #2 (16)
==============================================================================

  => Image sees 4527 / 6024 points

Pose refinement report
----------------------
    Residuals : 9260
   Parameters : 6
   Iterations : 10
         Time : 0.0776088 [s]
 Initial cost : 0.600776 [px]
   Final cost : 0.560194 [px]
  Termination : Convergence

  => Continued observations: 4499
  => Added observations: 1325

Bundle adjustment report
------------------------
    Residuals : 128472
   Parameters : 14620
   Iterations : 16
         Time : 0.768415 [s]
 Initial cost : 0.495112 [px]
   Final cost : 0.485465 [px]
  Termination : Convergence

  => Merged observations: 399
  => Completed observations: 204
  => Filtered observations: 470
  => Changed observations: 0.016704

Bundle adjustment report
------------------------
    Residuals : 127828
   Parameters : 14365
   Iterations : 3
         Time : 0.204026 [s]
 Initial cost : 0.58364 [px]
   Final cost : 0.576795 [px]
  Termination : Convergence

  => Merged observations: 89
  => Completed observations: 107
  => Filtered observations: 13
  => Changed observations: 0.003270

==============================================================================
Registering image #4 (17)
==============================================================================

  => Image sees 4611 / 6284 points

Pose refinement report
----------------------
    Residuals : 9392
   Parameters : 6
   Iterations : 11
         Time : 0.0923629 [s]
 Initial cost : 0.670274 [px]
   Final cost : 0.615896 [px]
  Termination : Convergence

  => Continued observations: 4575
  => Added observations: 1285

Bundle adjustment report
------------------------
    Residuals : 121902
   Parameters : 13513
   Iterations : 20
         Time : 0.918443 [s]
 Initial cost : 0.523747 [px]
   Final cost : 0.510251 [px]
  Termination : Convergence

  => Merged observations: 393
  => Completed observations: 167
  => Filtered observations: 578
  => Changed observations: 0.018671

Bundle adjustment report
------------------------
    Residuals : 121264
   Parameters : 13354
   Iterations : 3
         Time : 0.194759 [s]
 Initial cost : 0.611763 [px]
   Final cost : 0.60465 [px]
  Termination : Convergence

  => Merged observations: 25
  => Completed observations: 107
  => Filtered observations: 7
  => Changed observations: 0.002293

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

  => Merged observations: 45
  => Completed observations: 18
  => Retriangulated observations: 0

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  8.543907e+04    0.00e+00    2.07e+06   0.00e+00   0.00e+00  1.00e+04        0    7.00e-02    3.73e-01
   1  8.429372e+04    1.15e+03    1.21e+05   2.06e+01   1.00e+00  3.00e+04        1    1.41e-01    5.14e-01
   2  8.424561e+04    4.81e+01    1.75e+04   2.22e+01   1.00e+00  9.00e+04        1    1.21e-01    6.35e-01
   3  8.421823e+04    2.74e+01    2.66e+04   3.57e+01   1.00e+00  2.70e+05        1    1.26e-01    7.61e-01
   4  8.420255e+04    1.57e+01    7.84e+04   4.06e+01   9.81e-01  8.10e+05        1    1.23e-01    8.84e-01
   5  8.419957e+04    2.98e+00    2.20e+04   2.08e+01   9.93e-01  2.43e+06        1    1.25e-01    1.01e+00
   6  8.419946e+04    1.08e-01    8.22e+02   4.04e+00   1.00e+00  7.29e+06        1    1.23e-01    1.13e+00
   7  8.419946e+04    4.48e-04    3.53e+00   2.86e-01   1.01e+00  2.19e+07        1    1.24e-01    1.26e+00
   8  8.419946e+04    5.33e-07    1.95e+00   8.81e-03   1.02e+00  6.56e+07        1    1.24e-01    1.38e+00
   9  8.419946e+04   -2.76e-10    0.00e+00   2.21e-04  -7.23e-01  3.28e+07        1    8.08e-02    1.46e+00
  10  8.419946e+04    2.76e-10    7.70e-02   2.20e-04   6.51e-01  3.37e+07        1    1.15e-01    1.58e+00


Bundle adjustment report
------------------------
    Residuals : 236806
   Parameters : 57049
   Iterations : 11
         Time : 1.58891 [s]
 Initial cost : 0.600664 [px]
   Final cost : 0.596291 [px]
  Termination : Convergence

  => Merged observations: 25
  => Completed observations: 5
  => Filtered observations: 8
  => Changed observations: 0.000321
  => Filtered images: 0

==============================================================================
Registering image #5 (18)
==============================================================================

  => Image sees 4514 / 6297 points

Pose refinement report
----------------------
    Residuals : 9208
   Parameters : 6
   Iterations : 11
         Time : 0.088521 [s]
 Initial cost : 0.668647 [px]
   Final cost : 0.568808 [px]
  Termination : Convergence

  => Continued observations: 4479
  => Added observations: 1382

Bundle adjustment report
------------------------
    Residuals : 112848
   Parameters : 13084
   Iterations : 23
         Time : 0.978412 [s]
 Initial cost : 0.530005 [px]
   Final cost : 0.515168 [px]
  Termination : Convergence

  => Merged observations: 353
  => Completed observations: 197
  => Filtered observations: 409
  => Changed observations: 0.016996

Bundle adjustment report
------------------------
    Residuals : 112596
   Parameters : 12979
   Iterations : 3
         Time : 0.196638 [s]
 Initial cost : 0.626409 [px]
   Final cost : 0.619104 [px]
  Termination : Convergence

  => Merged observations: 64
  => Completed observations: 85
  => Filtered observations: 7
  => Changed observations: 0.002771

==============================================================================
Registering image #6 (19)
==============================================================================

  => Image sees 4364 / 6550 points

Pose refinement report
----------------------
    Residuals : 8936
   Parameters : 6
   Iterations : 12
         Time : 0.093854 [s]
 Initial cost : 0.647831 [px]
   Final cost : 0.58202 [px]
  Termination : Convergence

  => Continued observations: 4329
  => Added observations: 1473

Bundle adjustment report
------------------------
    Residuals : 110104
   Parameters : 12559
   Iterations : 26
         Time : 1.0467 [s]
 Initial cost : 0.536908 [px]
   Final cost : 0.521734 [px]
  Termination : No convergence

  => Merged observations: 190
  => Completed observations: 200
  => Filtered observations: 405
  => Changed observations: 0.014441

Bundle adjustment report
------------------------
    Residuals : 109940
   Parameters : 12490
   Iterations : 3
         Time : 0.180474 [s]
 Initial cost : 0.63804 [px]
   Final cost : 0.630738 [px]
  Termination : Convergence

  => Merged observations: 30
  => Completed observations: 93
  => Filtered observations: 10
  => Changed observations: 0.002420

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

  => Merged observations: 43
  => Completed observations: 107
  => Retriangulated observations: 0

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  9.713377e+04    0.00e+00    2.56e+04   0.00e+00   0.00e+00  1.00e+04        0    6.90e-02    4.12e-01
   1  9.602044e+04    1.11e+03    1.37e+04   1.05e+01   1.00e+00  3.00e+04        1    1.51e-01    5.63e-01
   2  9.601624e+04    4.20e+00    3.36e+03   5.20e+00   9.99e-01  9.00e+04        1    1.37e-01    7.01e-01
   3  9.601456e+04    1.67e+00    5.88e+03   9.08e+00   9.97e-01  2.70e+05        1    1.31e-01    8.32e-01
   4  9.601360e+04    9.65e-01    5.69e+03   1.02e+01   9.97e-01  8.10e+05        1    1.35e-01    9.67e-01
   5  9.601344e+04    1.55e-01    1.38e+03   5.11e+00   9.99e-01  2.43e+06        1    1.31e-01    1.10e+00
   6  9.601344e+04    4.52e-03    4.78e+01   9.60e-01   1.00e+00  7.29e+06        1    1.48e-01    1.25e+00
   7  9.601344e+04    1.93e-05    1.93e+00   6.32e-02   1.01e+00  2.19e+07        1    1.31e-01    1.38e+00
   8  9.601344e+04    1.91e-08    4.57e-01   1.68e-03   1.01e+00  6.56e+07        1    1.31e-01    1.51e+00


Bundle adjustment report
------------------------
    Residuals : 259650
   Parameters : 60304
   Iterations : 9
         Time : 1.5215 [s]
 Initial cost : 0.611633 [px]
   Final cost : 0.608096 [px]
  Termination : Convergence

  => Merged observations: 31
  => Completed observations: 19
  => Filtered observations: 19
  => Changed observations: 0.000531

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  9.609770e+04    0.00e+00    1.75e+04   0.00e+00   0.00e+00  1.00e+04        0    7.57e-02    4.12e-01
   1  9.604006e+04    5.76e+01    3.00e+02   2.66e+00   1.00e+00  3.00e+04        1    1.56e-01    5.68e-01
   2  9.603998e+04    7.33e-02    1.43e+01   7.19e-01   1.00e+00  9.00e+04        1    1.34e-01    7.02e-01
   3  9.603997e+04    9.48e-03    2.69e+01   5.92e-01   9.99e-01  2.70e+05        1    1.38e-01    8.40e-01
   4  9.603997e+04    5.44e-03    3.15e+01   6.55e-01   9.99e-01  8.10e+05        1    1.39e-01    9.80e-01
   5  9.603997e+04    8.66e-04    7.76e+00   3.28e-01   1.00e+00  2.43e+06        1    1.40e-01    1.12e+00
   6  9.603997e+04    2.47e-05    1.99e+00   6.13e-02   1.00e+00  7.29e+06        1    1.40e-01    1.26e+00
   7  9.603997e+04    1.06e-07    9.92e-01   4.02e-03   1.00e+00  2.19e+07        1    1.38e-01    1.40e+00


Bundle adjustment report
------------------------
    Residuals : 259656
   Parameters : 60289
   Iterations : 8
         Time : 1.4115 [s]
 Initial cost : 0.608355 [px]
   Final cost : 0.608173 [px]
  Termination : Convergence

  => Merged observations: 3
  => Completed observations: 0
  => Filtered observations: 2
  => Changed observations: 0.000039
  => Filtered images: 0

==============================================================================
Registering image #13 (20)
==============================================================================

  => Image sees 4674 / 6357 points

Pose refinement report
----------------------
    Residuals : 9688
   Parameters : 6
   Iterations : 18
         Time : 0.142251 [s]
 Initial cost : 0.697692 [px]
   Final cost : 0.616714 [px]
  Termination : Convergence

  => Continued observations: 4648
  => Added observations: 1304

Bundle adjustment report
------------------------
    Residuals : 111514
   Parameters : 12700
   Iterations : 26
         Time : 1.05686 [s]
 Initial cost : 0.547752 [px]
   Final cost : 0.534296 [px]
  Termination : No convergence

  => Merged observations: 283
  => Completed observations: 197
  => Filtered observations: 610
  => Changed observations: 0.019549

Bundle adjustment report
------------------------
    Residuals : 110894
   Parameters : 12559
   Iterations : 3
         Time : 0.200405 [s]
 Initial cost : 0.646589 [px]
   Final cost : 0.639128 [px]
  Termination : Convergence

  => Merged observations: 48
  => Completed observations: 95
  => Filtered observations: 5
  => Changed observations: 0.002669

==============================================================================
Registering image #12 (21)
==============================================================================

  => Image sees 4471 / 6515 points

Pose refinement report
----------------------
    Residuals : 9158
   Parameters : 6
   Iterations : 10
         Time : 0.078316 [s]
 Initial cost : 0.642055 [px]
   Final cost : 0.593307 [px]
  Termination : Convergence

  => Continued observations: 4436
  => Added observations: 1379

Bundle adjustment report
------------------------
    Residuals : 104342
   Parameters : 11782
   Iterations : 19
         Time : 0.786118 [s]
 Initial cost : 0.555471 [px]
   Final cost : 0.540772 [px]
  Termination : Convergence

  => Merged observations: 248
  => Completed observations: 208
  => Filtered observations: 471
  => Changed observations: 0.017768

Bundle adjustment report
------------------------
    Residuals : 103800
   Parameters : 11659
   Iterations : 3
         Time : 0.173708 [s]
 Initial cost : 0.656803 [px]
   Final cost : 0.649816 [px]
  Termination : Convergence

  => Merged observations: 65
  => Completed observations: 106
  => Filtered observations: 8
  => Changed observations: 0.003449

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

  => Merged observations: 81
  => Completed observations: 62
  => Retriangulated observations: 0

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  1.115583e+05    0.00e+00    3.30e+05   0.00e+00   0.00e+00  1.00e+04        0    8.36e-02    5.01e-01
   1  1.093659e+05    2.19e+03    1.12e+05   2.14e+01   1.00e+00  3.00e+04        1    1.68e-01    6.70e-01
   2  1.093124e+05    5.35e+01    2.22e+03   1.12e+01   1.00e+00  9.00e+04        1    1.48e-01    8.17e-01
   3  1.093068e+05    5.55e+00    2.62e+03   1.07e+01   1.00e+00  2.70e+05        1    1.51e-01    9.68e-01
   4  1.093050e+05    1.78e+00    8.93e+03   1.25e+01   9.97e-01  8.10e+05        1    1.52e-01    1.12e+00
   5  1.093047e+05    2.92e-01    2.62e+03   6.46e+00   9.97e-01  2.43e+06        1    1.52e-01    1.27e+00
   6  1.093047e+05    8.77e-03    9.41e+01   1.23e+00   1.00e+00  7.29e+06        1    1.50e-01    1.42e+00
   7  1.093047e+05    3.67e-05    1.97e+00   8.02e-02   1.01e+00  2.19e+07        1    1.44e-01    1.57e+00
   8  1.093047e+05    3.45e-08    5.41e-01   2.03e-03   1.01e+00  6.56e+07        1    1.48e-01    1.71e+00


Bundle adjustment report
------------------------
    Residuals : 282234
   Parameters : 63280
   Iterations : 9
         Time : 1.72924 [s]
 Initial cost : 0.628704 [px]
   Final cost : 0.622322 [px]
  Termination : Convergence

  => Merged observations: 48
  => Completed observations: 38
  => Filtered observations: 21
  => Changed observations: 0.000758

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  1.094995e+05    0.00e+00    1.30e+04   0.00e+00   0.00e+00  1.00e+04        0    7.72e-02    4.48e-01
   1  1.093980e+05    1.01e+02    4.68e+02   3.23e+00   1.00e+00  3.00e+04        1    1.57e-01    6.05e-01
   2  1.093979e+05    8.96e-02    1.30e+01   4.35e-01   1.00e+00  9.00e+04        1    1.49e-01    7.54e-01
   3  1.093979e+05    6.34e-03    2.04e+00   3.82e-01   1.00e+00  2.70e+05        1    1.43e-01    8.97e-01
   4  1.093979e+05    2.73e-03    1.45e+01   4.50e-01   9.99e-01  8.10e+05        1    1.42e-01    1.04e+00
   5  1.093979e+05    4.41e-04    4.00e+00   2.30e-01   9.98e-01  2.43e+06        1    1.44e-01    1.18e+00
   6  1.093979e+05    1.28e-05    1.97e+00   4.33e-02   1.00e+00  7.29e+06        1    1.44e-01    1.33e+00
   7  1.093979e+05    5.37e-08    7.66e-01   2.82e-03   9.92e-01  2.19e+07        1    1.47e-01    1.47e+00


Bundle adjustment report
------------------------
    Residuals : 282266
   Parameters : 63262
   Iterations : 8
         Time : 1.48796 [s]
 Initial cost : 0.62284 [px]
   Final cost : 0.622551 [px]
  Termination : Convergence

  => Merged observations: 10
  => Completed observations: 0
  => Filtered observations: 6
  => Changed observations: 0.000113
  => Filtered images: 0

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

  => Image sees 4571 / 6781 points

Pose refinement report
----------------------
    Residuals : 9398
   Parameters : 6
   Iterations : 9
         Time : 0.0711679 [s]
 Initial cost : 0.594411 [px]
   Final cost : 0.582134 [px]
  Termination : Convergence

  => Continued observations: 4541
  => Added observations: 1391

Bundle adjustment report
------------------------
    Residuals : 104724
   Parameters : 12298
   Iterations : 26
         Time : 0.976144 [s]
 Initial cost : 0.55374 [px]
   Final cost : 0.537867 [px]
  Termination : No convergence

  => Merged observations: 236
  => Completed observations: 197
  => Filtered observations: 420
  => Changed observations: 0.016290

Bundle adjustment report
------------------------
    Residuals : 104368
   Parameters : 12163
   Iterations : 3
         Time : 0.166636 [s]
 Initial cost : 0.656735 [px]
   Final cost : 0.650106 [px]
  Termination : Convergence

  => Merged observations: 78
  => Completed observations: 70
  => Filtered observations: 10
  => Changed observations: 0.003028

==============================================================================
Registering image #35 (23)
==============================================================================

  => Image sees 4846 / 6505 points

Pose refinement report
----------------------
    Residuals : 10024
   Parameters : 6
   Iterations : 15
         Time : 0.125985 [s]
 Initial cost : 0.731113 [px]
   Final cost : 0.588738 [px]
  Termination : Convergence

  => Continued observations: 4794
  => Added observations: 1075

Bundle adjustment report
------------------------
    Residuals : 126526
   Parameters : 11113
   Iterations : 26
         Time : 1.1445 [s]
 Initial cost : 0.537094 [px]
   Final cost : 0.527989 [px]
  Termination : No convergence

  => Merged observations: 424
  => Completed observations: 161
  => Filtered observations: 636
  => Changed observations: 0.019300

Bundle adjustment report
------------------------
    Residuals : 124256
   Parameters : 10768
   Iterations : 3
         Time : 0.1957 [s]
 Initial cost : 0.659366 [px]
   Final cost : 0.652914 [px]
  Termination : Convergence

  => Merged observations: 60
  => Completed observations: 127
  => Filtered observations: 11
  => Changed observations: 0.003187

==============================================================================
Registering image #25 (24)
==============================================================================

  => Image sees 4692 / 6431 points

Pose refinement report
----------------------
    Residuals : 9782
   Parameters : 6
   Iterations : 13
         Time : 0.101188 [s]
 Initial cost : 0.591314 [px]
   Final cost : 0.58513 [px]
  Termination : Convergence

  => Continued observations: 4650
  => Added observations: 1294

Bundle adjustment report
------------------------
    Residuals : 111926
   Parameters : 10516
   Iterations : 24
         Time : 0.935858 [s]
 Initial cost : 0.556702 [px]
   Final cost : 0.545096 [px]
  Termination : Convergence

  => Merged observations: 444
  => Completed observations: 183
  => Filtered observations: 556
  => Changed observations: 0.021139

Bundle adjustment report
------------------------
    Residuals : 111242
   Parameters : 10324
   Iterations : 3
         Time : 0.179847 [s]
 Initial cost : 0.660366 [px]
   Final cost : 0.653368 [px]
  Termination : Convergence

  => Merged observations: 20
  => Completed observations: 118
  => Filtered observations: 11
  => Changed observations: 0.002679

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

  => Merged observations: 109
  => Completed observations: 236
  => Retriangulated observations: 0

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  1.304419e+05    0.00e+00    1.07e+06   0.00e+00   0.00e+00  1.00e+04        0    8.73e-02    5.11e-01
   1  1.292042e+05    1.24e+03    7.30e+03   9.36e+00   1.00e+00  3.00e+04        1    1.86e-01    6.97e-01
   2  1.291822e+05    2.20e+01    3.30e+04   1.75e+01   9.96e-01  9.00e+04        1    1.66e-01    8.63e-01
   3  1.291555e+05    2.67e+01    8.06e+04   3.22e+01   9.87e-01  2.70e+05        1    1.68e-01    1.03e+00
   4  1.291404e+05    1.51e+01    8.70e+04   3.48e+01   9.77e-01  8.10e+05        1    1.67e-01    1.20e+00
   5  1.291379e+05    2.49e+00    1.92e+04   1.67e+01   9.91e-01  2.43e+06        1    1.68e-01    1.37e+00
   6  1.291378e+05    7.02e-02    5.77e+02   2.91e+00   9.99e-01  7.29e+06        1    1.70e-01    1.54e+00
   7  1.291378e+05    2.07e-04    2.16e+00   1.70e-01   1.01e+00  2.19e+07        1    1.73e-01    1.71e+00
   8  1.291378e+05    1.48e-07    8.65e-01   3.73e-03   1.02e+00  6.56e+07        1    1.66e-01    1.87e+00


Bundle adjustment report
------------------------
    Residuals : 316194
   Parameters : 67189
   Iterations : 9
         Time : 1.88999 [s]
 Initial cost : 0.642291 [px]
   Final cost : 0.639072 [px]
  Termination : Convergence

  => Merged observations: 43
  => Completed observations: 95
  => Filtered observations: 48
  => Changed observations: 0.001176

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  1.291785e+05    0.00e+00    1.25e+04   0.00e+00   0.00e+00  1.00e+04        0    8.86e-02    5.10e-01
   1  1.290809e+05    9.76e+01    9.28e+01   4.33e+00   1.00e+00  3.00e+04        1    1.84e-01    6.94e-01
   2  1.290808e+05    1.25e-01    2.19e+01   6.19e-01   1.00e+00  9.00e+04        1    1.63e-01    8.57e-01
   3  1.290808e+05    3.32e-02    8.71e+01   1.07e+00   9.99e-01  2.70e+05        1    1.70e-01    1.03e+00
   4  1.290807e+05    1.87e-02    1.06e+02   1.17e+00   9.98e-01  8.10e+05        1    1.69e-01    1.20e+00
   5  1.290807e+05    2.67e-03    2.34e+01   5.52e-01   9.97e-01  2.43e+06        1    1.60e-01    1.36e+00
   6  1.290807e+05    6.59e-05    2.00e+00   9.53e-02   9.99e-01  7.29e+06        1    1.66e-01    1.52e+00
   7  1.290807e+05    2.28e-07    1.04e+00   5.54e-03   1.01e+00  2.19e+07        1    1.60e-01    1.68e+00
   8  1.290807e+05    3.20e-10    3.44e-02   1.21e-04   1.78e+00  6.56e+07        1    1.59e-01    1.84e+00


Bundle adjustment report
------------------------
    Residuals : 316090
   Parameters : 67120
   Iterations : 9
         Time : 1.85821 [s]
 Initial cost : 0.639278 [px]
   Final cost : 0.639036 [px]
  Termination : Convergence

  => Merged observations: 2
  => Completed observations: 0
  => Filtered observations: 10
  => Changed observations: 0.000076
  => Filtered images: 0

==============================================================================
Registering image #11 (25)
==============================================================================

  => Image sees 4210 / 6089 points

Pose refinement report
----------------------
    Residuals : 8670
   Parameters : 6
   Iterations : 10
         Time : 0.0743711 [s]
 Initial cost : 0.676881 [px]
   Final cost : 0.593926 [px]
  Termination : Convergence

  => Continued observations: 4160
  => Added observations: 1461

Bundle adjustment report
------------------------
    Residuals : 95820
   Parameters : 10465
   Iterations : 13
         Time : 0.498001 [s]
 Initial cost : 0.577515 [px]
   Final cost : 0.564213 [px]
  Termination : Convergence

  => Merged observations: 227
  => Completed observations: 221
  => Filtered observations: 557
  => Changed observations: 0.020977

Bundle adjustment report
------------------------
    Residuals : 100158
   Parameters : 10285
   Iterations : 3
         Time : 0.163502 [s]
 Initial cost : 0.670179 [px]
   Final cost : 0.662366 [px]
  Termination : Convergence

  => Merged observations: 52
  => Completed observations: 125
  => Filtered observations: 11
  => Changed observations: 0.003754

==============================================================================
Registering image #34 (26)
==============================================================================

  => Image sees 4798 / 6558 points

Pose refinement report
----------------------
    Residuals : 10046
   Parameters : 6
   Iterations : 10
         Time : 0.0865948 [s]
 Initial cost : 0.670926 [px]
   Final cost : 0.57244 [px]
  Termination : Convergence

  => Continued observations: 4758
  => Added observations: 1079

Bundle adjustment report
------------------------
    Residuals : 123786
   Parameters : 10648
   Iterations : 26
         Time : 1.19786 [s]
 Initial cost : 0.543563 [px]
   Final cost : 0.534531 [px]
  Termination : No convergence

  => Merged observations: 393
  => Completed observations: 188
  => Filtered observations: 572
  => Changed observations: 0.018629

Bundle adjustment report
------------------------
    Residuals : 123078
   Parameters : 10486
   Iterations : 3
         Time : 0.194582 [s]
 Initial cost : 0.645447 [px]
   Final cost : 0.639148 [px]
  Termination : Convergence

  => Merged observations: 115
  => Completed observations: 109
  => Filtered observations: 10
  => Changed observations: 0.003802

==============================================================================
Registering image #26 (27)
==============================================================================

  => Image sees 4626 / 6422 points

Pose refinement report
----------------------
    Residuals : 9632
   Parameters : 6
   Iterations : 17
         Time : 0.137986 [s]
 Initial cost : 0.717565 [px]
   Final cost : 0.617002 [px]
  Termination : Convergence

  => Continued observations: 4578
  => Added observations: 1376

Bundle adjustment report
------------------------
    Residuals : 103738
   Parameters : 9898
   Iterations : 26
         Time : 0.961408 [s]
 Initial cost : 0.580748 [px]
   Final cost : 0.56863 [px]
  Termination : No convergence

  => Merged observations: 414
  => Completed observations: 176
  => Filtered observations: 699
  => Changed observations: 0.024851

Bundle adjustment report
------------------------
    Residuals : 108126
   Parameters : 9850
   Iterations : 3
         Time : 0.174076 [s]
 Initial cost : 0.681399 [px]
   Final cost : 0.673983 [px]
  Termination : Convergence

  => Merged observations: 26
  => Completed observations: 123
  => Filtered observations: 13
  => Changed observations: 0.002997

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

  => Merged observations: 125
  => Completed observations: 258
  => Retriangulated observations: 0

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  1.497575e+05    0.00e+00    1.66e+06   0.00e+00   0.00e+00  1.00e+04        0    8.76e-02    5.93e-01
   1  1.484931e+05    1.26e+03    4.36e+03   9.37e+00   1.00e+00  3.00e+04        1    2.06e-01    7.99e-01
   2  1.484913e+05    1.78e+00    8.77e+02   2.78e+00   1.00e+00  9.00e+04        1    1.95e-01    9.94e-01
   3  1.484912e+05    1.57e-01    5.04e+02   2.21e+00   9.98e-01  2.70e+05        1    1.80e-01    1.17e+00
   4  1.484911e+05    5.07e-02    3.08e+02   2.04e+00   9.97e-01  8.10e+05        1    1.90e-01    1.36e+00
   5  1.484911e+05    7.03e-03    6.14e+01   9.35e-01   9.96e-01  2.43e+06        1    1.84e-01    1.55e+00
   6  1.484911e+05    1.68e-04    1.98e+00   1.58e-01   9.98e-01  7.29e+06        1    1.86e-01    1.73e+00
   7  1.484911e+05    5.45e-07    1.57e+00   8.86e-03   1.01e+00  2.19e+07        1    1.93e-01    1.93e+00
   8  1.484911e+05   -6.11e-10    0.00e+00   1.81e-04  -1.62e+00  1.09e+07        1    1.24e-01    2.05e+00
   9  1.484911e+05    8.15e-10    4.45e-02   1.80e-04   2.16e+00  3.28e+07        1    1.81e-01    2.23e+00


Bundle adjustment report
------------------------
    Residuals : 349028
   Parameters : 71128
   Iterations : 10
         Time : 2.24937 [s]
 Initial cost : 0.655034 [px]
   Final cost : 0.652259 [px]
  Termination : Convergence

  => Merged observations: 41
  => Completed observations: 28
  => Filtered observations: 36
  => Changed observations: 0.000602

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  1.484895e+05    0.00e+00    1.19e+04   0.00e+00   0.00e+00  1.00e+04        0    8.25e-02    5.61e-01
   1  1.484170e+05    7.25e+01    9.61e+01   3.05e+00   1.00e+00  3.00e+04        1    1.97e-01    7.57e-01
   2  1.484169e+05    1.17e-01    2.65e+00   7.73e-01   1.00e+00  9.00e+04        1    1.71e-01    9.28e-01
   3  1.484169e+05    1.77e-03    1.96e+00   1.20e-01   1.00e+00  2.70e+05        1    1.71e-01    1.10e+00
   4  1.484169e+05    1.23e-04    1.99e+00   8.18e-02   9.98e-01  8.10e+05        1    1.80e-01    1.28e+00
   5  1.484169e+05    1.66e-05    2.00e+00   3.87e-02   9.96e-01  2.43e+06        1    1.78e-01    1.46e+00
   6  1.484169e+05    3.93e-07    1.25e+00   6.55e-03   9.97e-01  7.29e+06        1    1.80e-01    1.64e+00
   7  1.484169e+05    1.11e-09    1.03e-01   3.66e-04   8.73e-01  1.25e+07        1    1.83e-01    1.82e+00


Bundle adjustment report
------------------------
    Residuals : 349026
   Parameters : 71116
   Iterations : 8
         Time : 1.83771 [s]
 Initial cost : 0.652257 [px]
   Final cost : 0.652098 [px]
  Termination : Convergence

  => Merged observations: 4
  => Completed observations: 26
  => Filtered observations: 10
  => Changed observations: 0.000229
  => Filtered images: 0

==============================================================================
Registering image #40 (28)
==============================================================================

  => Image sees 6721 / 9259 points

Pose refinement report
----------------------
    Residuals : 13856
   Parameters : 6
   Iterations : 21
         Time : 0.228432 [s]
 Initial cost : 0.692367 [px]
   Final cost : 0.635662 [px]
  Termination : Convergence

  => Continued observations: 6668
  => Added observations: 1767

Bundle adjustment report
------------------------
    Residuals : 143032
   Parameters : 16045
   Iterations : 26
         Time : 1.39947 [s]
 Initial cost : 0.566681 [px]
   Final cost : 0.552362 [px]
  Termination : No convergence

  => Merged observations: 380
  => Completed observations: 169
  => Filtered observations: 965
  => Changed observations: 0.021170

Bundle adjustment report
------------------------
    Residuals : 140936
   Parameters : 16015
   Iterations : 3
         Time : 0.234283 [s]
 Initial cost : 0.659543 [px]
   Final cost : 0.652661 [px]
  Termination : Convergence

  => Merged observations: 68
  => Completed observations: 154
  => Filtered observations: 22
  => Changed observations: 0.003463

==============================================================================
Registering image #41 (29)
==============================================================================

  => Image sees 6680 / 9261 points

Pose refinement report
----------------------
    Residuals : 13888
   Parameters : 6
   Iterations : 13
         Time : 0.15472 [s]
 Initial cost : 0.590454 [px]
   Final cost : 0.58041 [px]
  Termination : Convergence

  => Continued observations: 6629
  => Added observations: 1841

Bundle adjustment report
------------------------
    Residuals : 141352
   Parameters : 15550
   Iterations : 23
         Time : 1.20966 [s]
 Initial cost : 0.556218 [px]
   Final cost : 0.544426 [px]
  Termination : Convergence

  => Merged observations: 548
  => Completed observations: 230
  => Filtered observations: 777
  => Changed observations: 0.022002

Bundle adjustment report
------------------------
    Residuals : 140338
   Parameters : 15319
   Iterations : 3
         Time : 0.223833 [s]
 Initial cost : 0.653202 [px]
   Final cost : 0.646683 [px]
  Termination : Convergence

  => Merged observations: 54
  => Completed observations: 164
  => Filtered observations: 11
  => Changed observations: 0.003264

==============================================================================
Registering image #42 (30)
==============================================================================

  => Image sees 6677 / 9247 points

Pose refinement report
----------------------
    Residuals : 13912
   Parameters : 6
   Iterations : 15
         Time : 0.165485 [s]
 Initial cost : 0.691356 [px]
   Final cost : 0.600836 [px]
  Termination : Convergence

  => Continued observations: 6613
  => Added observations: 1904

Bundle adjustment report
------------------------
    Residuals : 137876
   Parameters : 15190
   Iterations : 26
         Time : 1.31446 [s]
 Initial cost : 0.579319 [px]
   Final cost : 0.565682 [px]
  Termination : No convergence

  => Merged observations: 645
  => Completed observations: 247
  => Filtered observations: 871
  => Changed observations: 0.025574

Bundle adjustment report
------------------------
    Residuals : 138036
   Parameters : 14980
   Iterations : 3
         Time : 0.216342 [s]
 Initial cost : 0.672142 [px]
   Final cost : 0.664962 [px]
  Termination : Convergence

  => Merged observations: 55
  => Completed observations: 178
  => Filtered observations: 48
  => Changed observations: 0.004071

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

  => Merged observations: 223
  => Completed observations: 383
  => Retriangulated observations: 0

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  1.827659e+05    0.00e+00    7.82e+06   0.00e+00   0.00e+00  1.00e+04        0    1.00e-01    6.46e-01
   1  1.780668e+05    4.70e+03    1.21e+05   2.27e+01   1.00e+00  3.00e+04        1    2.24e-01    8.70e-01
   2  1.779647e+05    1.02e+02    1.49e+05   3.41e+01   9.93e-01  9.00e+04        1    2.02e-01    1.07e+00
   3  1.778590e+05    1.06e+02    3.03e+05   5.38e+01   9.72e-01  2.70e+05        1    2.04e-01    1.28e+00
   4  1.778068e+05    5.22e+01    2.66e+05   5.10e+01   9.55e-01  8.10e+05        1    2.08e-01    1.48e+00
   5  1.777987e+05    8.07e+00    4.44e+04   2.05e+01   9.88e-01  2.43e+06        1    2.10e-01    1.69e+00
   6  1.777985e+05    1.68e-01    9.25e+02   2.96e+00   9.98e-01  7.29e+06        1    1.92e-01    1.89e+00
   7  1.777985e+05    2.75e-04    2.00e+00   1.38e-01   1.01e+00  2.19e+07        1    2.00e-01    2.09e+00
   8  1.777985e+05    1.40e-07    6.36e-01   2.40e-03   1.02e+00  6.56e+07        1    2.07e-01    2.29e+00


Bundle adjustment report
------------------------
    Residuals : 396832
   Parameters : 77005
   Iterations : 9
         Time : 2.31205 [s]
 Initial cost : 0.678647 [px]
   Final cost : 0.669362 [px]
  Termination : Convergence

  => Merged observations: 128
  => Completed observations: 131
  => Filtered observations: 50
  => Changed observations: 0.001557

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  1.784084e+05    0.00e+00    7.90e+04   0.00e+00   0.00e+00  1.00e+04        0    1.01e-01    6.60e-01
   1  1.781952e+05    2.13e+02    1.89e+03   5.04e+00   1.00e+00  3.00e+04        1    2.28e-01    8.88e-01
   2  1.781943e+05    8.61e-01    8.86e+02   2.34e+00   9.99e-01  9.00e+04        1    2.09e-01    1.10e+00
   3  1.781939e+05    4.55e-01    1.33e+03   3.35e+00   9.97e-01  2.70e+05        1    2.07e-01    1.30e+00
   4  1.781937e+05    2.11e-01    1.09e+03   3.18e+00   9.96e-01  8.10e+05        1    2.10e-01    1.51e+00
   5  1.781936e+05    2.38e-02    1.80e+02   1.30e+00   9.95e-01  2.43e+06        1    2.05e-01    1.72e+00
   6  1.781936e+05    4.30e-04    3.66e+00   1.88e-01   9.97e-01  7.29e+06        1    2.02e-01    1.92e+00
   7  1.781936e+05    1.02e-06    1.70e+00   8.78e-03   1.00e+00  2.19e+07        1    1.97e-01    2.12e+00
   8  1.781936e+05    1.43e-09    4.44e-02   1.52e-04   2.35e+00  6.56e+07        1    1.98e-01    2.32e+00


Bundle adjustment report
------------------------
    Residuals : 396984
   Parameters : 76975
   Iterations : 9
         Time : 2.33469 [s]
 Initial cost : 0.67038 [px]
   Final cost : 0.669977 [px]
  Termination : Convergence

  => Merged observations: 35
  => Completed observations: 54
  => Filtered observations: 12
  => Changed observations: 0.000509

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  1.783402e+05    0.00e+00    1.62e+04   0.00e+00   0.00e+00  1.00e+04        0    1.03e-01    6.55e-01
   1  1.782952e+05    4.50e+01    2.91e+02   2.93e+00   1.00e+00  3.00e+04        1    2.47e-01    9.02e-01
   2  1.782951e+05    9.46e-02    8.41e+01   8.32e-01   9.99e-01  9.00e+04        1    2.25e-01    1.13e+00
   3  1.782950e+05    3.55e-02    1.05e+02   9.32e-01   9.97e-01  2.70e+05        1    2.12e-01    1.34e+00
   4  1.782950e+05    1.64e-02    8.52e+01   8.86e-01   9.96e-01  8.10e+05        1    2.10e-01    1.55e+00
   5  1.782950e+05    1.85e-03    1.40e+01   3.61e-01   9.95e-01  2.43e+06        1    2.12e-01    1.76e+00
   6  1.782950e+05    3.33e-05    1.96e+00   5.24e-02   9.97e-01  7.29e+06        1    2.21e-01    1.98e+00
   7  1.782950e+05    7.93e-08    6.16e-01   2.44e-03   1.01e+00  2.19e+07        1    2.32e-01    2.21e+00


Bundle adjustment report
------------------------
    Residuals : 397024
   Parameters : 76966
   Iterations : 8
         Time : 2.23214 [s]
 Initial cost : 0.670218 [px]
   Final cost : 0.670133 [px]
  Termination : Convergence

  => Merged observations: 12
  => Completed observations: 22
  => Filtered observations: 4
  => Changed observations: 0.000191
  => Filtered images: 0

==============================================================================
Registering image #8 (31)
==============================================================================

  => Image sees 4592 / 6531 points

Pose refinement report
----------------------
    Residuals : 9600
   Parameters : 6
   Iterations : 10
         Time : 0.0854659 [s]
 Initial cost : 0.613384 [px]
   Final cost : 0.590978 [px]
  Termination : Convergence

  => Continued observations: 4558
  => Added observations: 1357

Bundle adjustment report
------------------------
    Residuals : 97010
   Parameters : 10738
   Iterations : 26
         Time : 0.94832 [s]
 Initial cost : 0.58082 [px]
   Final cost : 0.5662 [px]
  Termination : No convergence

  => Merged observations: 344
  => Completed observations: 172
  => Filtered observations: 465
  => Changed observations: 0.020225

Bundle adjustment report
------------------------
    Residuals : 96702
   Parameters : 10615
   Iterations : 3
         Time : 0.163503 [s]
 Initial cost : 0.701148 [px]
   Final cost : 0.694234 [px]
  Termination : Convergence

  => Merged observations: 37
  => Completed observations: 82
  => Filtered observations: 12
  => Changed observations: 0.002709

==============================================================================
Registering image #27 (32)
==============================================================================

  => Image sees 4529 / 6358 points

Pose refinement report
----------------------
    Residuals : 9534
   Parameters : 6
   Iterations : 9
         Time : 0.073019 [s]
 Initial cost : 0.595442 [px]
   Final cost : 0.576137 [px]
  Termination : Convergence

  => Continued observations: 4485
  => Added observations: 1265

Bundle adjustment report
------------------------
    Residuals : 95720
   Parameters : 9391
   Iterations : 26
         Time : 0.921826 [s]
 Initial cost : 0.582928 [px]
   Final cost : 0.569854 [px]
  Termination : No convergence

  => Merged observations: 296
  => Completed observations: 195
  => Filtered observations: 578
  => Changed observations: 0.022336

Bundle adjustment report
------------------------
    Residuals : 95232
   Parameters : 9259
   Iterations : 3
         Time : 0.167305 [s]
 Initial cost : 0.69665 [px]
   Final cost : 0.688788 [px]
  Termination : Convergence

  => Merged observations: 94
  => Completed observations: 101
  => Filtered observations: 8
  => Changed observations: 0.004263

==============================================================================
Registering image #39 (33)
==============================================================================

  => Image sees 6877 / 8939 points

Pose refinement report
----------------------
    Residuals : 14434
   Parameters : 6
   Iterations : 12
         Time : 0.136971 [s]
 Initial cost : 0.600787 [px]
   Final cost : 0.567703 [px]
  Termination : Convergence

  => Continued observations: 6828
  => Added observations: 1783

Bundle adjustment report
------------------------
    Residuals : 140740
   Parameters : 14260
   Iterations : 17
         Time : 0.868242 [s]
 Initial cost : 0.564125 [px]
   Final cost : 0.554157 [px]
  Termination : Convergence

  => Merged observations: 357
  => Completed observations: 286
  => Filtered observations: 698
  => Changed observations: 0.019056

Bundle adjustment report
------------------------
    Residuals : 139924
   Parameters : 14059
   Iterations : 4
         Time : 0.265576 [s]
 Initial cost : 0.679307 [px]
   Final cost : 0.671873 [px]
  Termination : Convergence

  => Merged observations: 73
  => Completed observations: 147
  => Filtered observations: 5
  => Changed observations: 0.003216

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

  => Merged observations: 179
  => Completed observations: 331
  => Retriangulated observations: 0

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  2.014926e+05    0.00e+00    3.43e+05   0.00e+00   0.00e+00  1.00e+04        0    1.11e-01    7.26e-01
   1  1.999315e+05    1.56e+03    1.66e+04   9.51e+00   1.00e+00  3.00e+04        1    2.63e-01    9.89e-01
   2  1.999272e+05    4.27e+00    3.89e+03   5.96e+00   1.00e+00  9.00e+04        1    2.29e-01    1.22e+00
   3  1.999244e+05    2.83e+00    7.91e+03   8.43e+00   9.97e-01  2.70e+05        1    2.24e-01    1.44e+00
   4  1.999231e+05    1.31e+00    6.77e+03   7.93e+00   9.95e-01  8.10e+05        1    2.39e-01    1.68e+00
   5  1.999229e+05    1.47e-01    1.10e+03   3.20e+00   9.95e-01  2.43e+06        1    2.34e-01    1.92e+00
   6  1.999229e+05    2.61e-03    2.24e+01   4.60e-01   9.97e-01  7.29e+06        1    2.41e-01    2.16e+00
   7  1.999229e+05    6.10e-06    2.00e+00   2.14e-02   1.01e+00  2.19e+07        1    2.31e-01    2.39e+00
   8  1.999229e+05    3.32e-09    1.06e-01   3.76e-04   9.96e-01  6.56e+07        1    2.28e-01    2.62e+00


Bundle adjustment report
------------------------
    Residuals : 436174
   Parameters : 81571
   Iterations : 9
         Time : 2.63472 [s]
 Initial cost : 0.679672 [px]
   Final cost : 0.67702 [px]
  Termination : Convergence

  => Merged observations: 66
  => Completed observations: 147
  => Filtered observations: 64
  => Changed observations: 0.001270

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  1.999853e+05    0.00e+00    8.00e+03   0.00e+00   0.00e+00  1.00e+04        0    1.12e-01    7.09e-01
   1  1.998799e+05    1.05e+02    8.04e+02   2.62e+00   1.00e+00  3.00e+04        1    2.57e-01    9.65e-01
   2  1.998795e+05    3.26e-01    4.19e+02   1.75e+00   9.99e-01  9.00e+04        1    2.43e-01    1.21e+00
   3  1.998793e+05    2.68e-01    7.57e+02   2.75e+00   9.98e-01  2.70e+05        1    2.44e-01    1.45e+00
   4  1.998792e+05    1.24e-01    6.40e+02   2.60e+00   9.96e-01  8.10e+05        1    2.48e-01    1.70e+00
   5  1.998791e+05    1.37e-02    1.03e+02   1.05e+00   9.95e-01  2.43e+06        1    2.43e-01    1.94e+00
   6  1.998791e+05    2.41e-04    2.05e+00   1.50e-01   9.97e-01  7.29e+06        1    2.24e-01    2.17e+00
   7  1.998791e+05    5.65e-07    1.12e+00   6.96e-03   1.01e+00  2.19e+07        1    2.26e-01    2.39e+00
   8  1.998791e+05    1.43e-09    3.24e-02   1.22e-04   4.63e+00  6.56e+07        1    2.23e-01    2.62e+00


Bundle adjustment report
------------------------
    Residuals : 436144
   Parameters : 81535
   Iterations : 9
         Time : 2.63698 [s]
 Initial cost : 0.677149 [px]
   Final cost : 0.676969 [px]
  Termination : Convergence

  => Merged observations: 13
  => Completed observations: 129
  => Filtered observations: 8
  => Changed observations: 0.000688

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  1.999791e+05    0.00e+00    8.43e+03   0.00e+00   0.00e+00  1.00e+04        0    1.02e-01    7.06e-01
   1  1.999597e+05    1.94e+01    1.05e+02   9.10e-01   1.00e+00  3.00e+04        1    2.57e-01    9.63e-01
   2  1.999597e+05    2.50e-02    2.64e+01   4.09e-01   9.99e-01  9.00e+04        1    2.36e-01    1.20e+00
   3  1.999597e+05    1.71e-02    4.71e+01   6.88e-01   9.98e-01  2.70e+05        1    2.30e-01    1.43e+00
   4  1.999597e+05    7.94e-03    4.10e+01   6.56e-01   9.96e-01  8.10e+05        1    2.23e-01    1.65e+00
   5  1.999597e+05    8.75e-04    6.67e+00   2.64e-01   9.95e-01  2.43e+06        1    2.20e-01    1.87e+00
   6  1.999597e+05    1.54e-05    2.00e+00   3.80e-02   9.97e-01  7.29e+06        1    2.21e-01    2.09e+00
   7  1.999597e+05    3.46e-08    4.22e-01   1.76e-03   9.63e-01  2.19e+07        1    2.36e-01    2.33e+00


Bundle adjustment report
------------------------
    Residuals : 436154
   Parameters : 81517
   Iterations : 8
         Time : 2.34681 [s]
 Initial cost : 0.67713 [px]
   Final cost : 0.677098 [px]
  Termination : Convergence

  => Merged observations: 2
  => Completed observations: 0
  => Filtered observations: 1
  => Changed observations: 0.000014
  => Filtered images: 0

==============================================================================
Registering image #52 (34)
==============================================================================

  => Image sees 6986 / 9394 points

Pose refinement report
----------------------
    Residuals : 14680
   Parameters : 6
   Iterations : 16
         Time : 0.193868 [s]
 Initial cost : 0.702207 [px]
   Final cost : 0.637565 [px]
  Termination : Convergence

  => Continued observations: 6938
  => Added observations: 1513

Bundle adjustment report
------------------------
    Residuals : 139196
   Parameters : 14734
   Iterations : 20
         Time : 1.01977 [s]
 Initial cost : 0.594532 [px]
   Final cost : 0.58078 [px]
  Termination : Convergence

  => Merged observations: 413
  => Completed observations: 212
  => Filtered observations: 892
  => Changed observations: 0.021797

Bundle adjustment report
------------------------
    Residuals : 138182
   Parameters : 14584
   Iterations : 3
         Time : 0.222695 [s]
 Initial cost : 0.707879 [px]
   Final cost : 0.700849 [px]
  Termination : Convergence

  => Merged observations: 103
  => Completed observations: 111
  => Filtered observations: 15
  => Changed observations: 0.003314

==============================================================================
Registering image #33 (35)
==============================================================================

  => Image sees 5050 / 6555 points

Pose refinement report
----------------------
    Residuals : 10874
   Parameters : 6
   Iterations : 21
         Time : 0.184597 [s]
 Initial cost : 0.792989 [px]
   Final cost : 0.647178 [px]
  Termination : Convergence

  => Continued observations: 5000
  => Added observations: 1053

Bundle adjustment report
------------------------
    Residuals : 112458
   Parameters : 8965
   Iterations : 26
         Time : 1.12504 [s]
 Initial cost : 0.601265 [px]
   Final cost : 0.591616 [px]
  Termination : No convergence

  => Merged observations: 485
  => Completed observations: 177
  => Filtered observations: 811
  => Changed observations: 0.026196

Bundle adjustment report
------------------------
    Residuals : 111188
   Parameters : 8713
   Iterations : 3
         Time : 0.177161 [s]
 Initial cost : 0.726761 [px]
   Final cost : 0.71974 [px]
  Termination : Convergence

  => Merged observations: 50
  => Completed observations: 124
  => Filtered observations: 40
  => Changed observations: 0.003849

==============================================================================
Registering image #38 (36)
==============================================================================

  => Image sees 6794 / 8641 points

Pose refinement report
----------------------
    Residuals : 14322
   Parameters : 6
   Iterations : 9
         Time : 0.102369 [s]
 Initial cost : 0.620017 [px]
   Final cost : 0.555707 [px]
  Termination : Convergence

  => Continued observations: 6746
  => Added observations: 1528

Bundle adjustment report
------------------------
    Residuals : 136362
   Parameters : 13189
   Iterations : 26
         Time : 1.29131 [s]
 Initial cost : 0.57541 [px]
   Final cost : 0.561859 [px]
  Termination : No convergence

  => Merged observations: 375
  => Completed observations: 301
  => Filtered observations: 730
  => Changed observations: 0.020622

Bundle adjustment report
------------------------
    Residuals : 135862
   Parameters : 13033
   Iterations : 3
         Time : 0.218279 [s]
 Initial cost : 0.687083 [px]
   Final cost : 0.679852 [px]
  Termination : Convergence

  => Merged observations: 89
  => Completed observations: 106
  => Filtered observations: 11
  => Changed observations: 0.003032

==============================================================================
Registering image #32 (37)
==============================================================================

  => Image sees 4673 / 6475 points

Pose refinement report
----------------------
    Residuals : 10006
   Parameters : 6
   Iterations : 15
         Time : 0.11795 [s]
 Initial cost : 0.792334 [px]
   Final cost : 0.630346 [px]
  Termination : Convergence

  => Continued observations: 4616
  => Added observations: 1205

Bundle adjustment report
------------------------
    Residuals : 100582
   Parameters : 8377
   Iterations : 26
         Time : 1.01575 [s]
 Initial cost : 0.615472 [px]
   Final cost : 0.602725 [px]
  Termination : No convergence

  => Merged observations: 353
  => Completed observations: 193
  => Filtered observations: 771
  => Changed observations: 0.026188

Bundle adjustment report
------------------------
    Residuals : 99578
   Parameters : 8155
   Iterations : 3
         Time : 0.161634 [s]
 Initial cost : 0.720561 [px]
   Final cost : 0.713533 [px]
  Termination : Convergence

  => Merged observations: 48
  => Completed observations: 140
  => Filtered observations: 8
  => Changed observations: 0.003937

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

  => Merged observations: 284
  => Completed observations: 542
  => Retriangulated observations: 0

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  2.380748e+05    0.00e+00    5.94e+05   0.00e+00   0.00e+00  1.00e+04        0    1.23e-01    8.19e-01
   1  2.351513e+05    2.92e+03    1.71e+02   1.38e+01   1.00e+00  3.00e+04        1    2.73e-01    1.09e+00
   2  2.351449e+05    6.44e+00    1.15e+03   6.36e+00   1.00e+00  9.00e+04        1    2.60e-01    1.35e+00
   3  2.351416e+05    3.24e+00    6.92e+03   9.31e+00   9.98e-01  2.70e+05        1    2.57e-01    1.61e+00
   4  2.351402e+05    1.48e+00    7.19e+03   8.97e+00   9.96e-01  8.10e+05        1    2.73e-01    1.88e+00
   5  2.351400e+05    1.63e-01    1.16e+03   3.61e+00   9.97e-01  2.43e+06        1    2.67e-01    2.15e+00
   6  2.351400e+05    2.91e-03    2.42e+01   5.21e-01   1.00e+00  7.29e+06        1    2.62e-01    2.41e+00
   7  2.351400e+05    7.16e-06    2.00e+00   2.51e-02   1.01e+00  2.19e+07        1    2.56e-01    2.67e+00
   8  2.351400e+05    3.78e-09    1.14e-01   4.84e-04   8.56e-01  3.43e+07        1    2.40e-01    2.91e+00


Bundle adjustment report
------------------------
    Residuals : 489820
   Parameters : 86719
   Iterations : 9
         Time : 2.92898 [s]
 Initial cost : 0.69717 [px]
   Final cost : 0.692859 [px]
  Termination : Convergence

  => Merged observations: 89
  => Completed observations: 128
  => Filtered observations: 56
  => Changed observations: 0.001115

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  2.354849e+05    0.00e+00    4.04e+03   0.00e+00   0.00e+00  1.00e+04        0    1.22e-01    8.24e-01
   1  2.353479e+05    1.37e+02    3.42e+01   2.28e+00   1.00e+00  3.00e+04        1    2.87e-01    1.11e+00
   2  2.353478e+05    1.04e-01    1.35e+01   4.04e-01   1.00e+00  9.00e+04        1    2.75e-01    1.39e+00
   3  2.353478e+05    5.10e-03    1.51e+01   3.10e-01   9.98e-01  2.70e+05        1    2.76e-01    1.66e+00
   4  2.353478e+05    1.95e-03    1.01e+01   2.73e-01   9.97e-01  8.10e+05        1    2.55e-01    1.92e+00
   5  2.353478e+05    2.10e-04    2.00e+00   1.08e-01   9.97e-01  2.43e+06        1    2.52e-01    2.17e+00
   6  2.353478e+05    3.71e-06    2.00e+00   1.55e-02   1.00e+00  7.29e+06        1    2.60e-01    2.43e+00
   7  2.353478e+05    8.93e-09    1.97e-01   7.42e-04   9.82e-01  2.19e+07        1    2.71e-01    2.70e+00


Bundle adjustment report
------------------------
    Residuals : 489868
   Parameters : 86683
   Iterations : 8
         Time : 2.72286 [s]
 Initial cost : 0.693333 [px]
   Final cost : 0.693131 [px]
  Termination : Convergence

  => Merged observations: 15
  => Completed observations: 23
  => Filtered observations: 20
  => Changed observations: 0.000237
  => Filtered images: 0

==============================================================================
Registering image #9 (38)
==============================================================================

  => Image sees 4343 / 6110 points

Pose refinement report
----------------------
    Residuals : 9172
   Parameters : 6
   Iterations : 12
         Time : 0.13271 [s]
 Initial cost : 0.694876 [px]
   Final cost : 0.620122 [px]
  Termination : Convergence

  => Continued observations: 4292
  => Added observations: 1148

Bundle adjustment report
------------------------
    Residuals : 88986
   Parameters : 9769
   Iterations : 26
         Time : 0.881587 [s]
 Initial cost : 0.605025 [px]
   Final cost : 0.587754 [px]
  Termination : No convergence

  => Merged observations: 353
  => Completed observations: 161
  => Filtered observations: 492
  => Changed observations: 0.022610

Bundle adjustment report
------------------------
    Residuals : 87146
   Parameters : 9796
   Iterations : 3
         Time : 0.144342 [s]
 Initial cost : 0.731987 [px]
   Final cost : 0.72417 [px]
  Termination : Convergence

  => Merged observations: 82
  => Completed observations: 86
  => Filtered observations: 37
  => Changed observations: 0.004705

==============================================================================
Registering image #31 (39)
==============================================================================

  => Image sees 4545 / 6613 points

Pose refinement report
----------------------
    Residuals : 9654
   Parameters : 6
   Iterations : 12
         Time : 0.093538 [s]
 Initial cost : 0.704756 [px]
   Final cost : 0.604658 [px]
  Termination : Convergence

  => Continued observations: 4474
  => Added observations: 1262

Bundle adjustment report
------------------------
    Residuals : 97536
   Parameters : 8266
   Iterations : 26
         Time : 1.00395 [s]
 Initial cost : 0.626261 [px]
   Final cost : 0.613329 [px]
  Termination : No convergence

  => Merged observations: 285
  => Completed observations: 170
  => Filtered observations: 690
  => Changed observations: 0.023479

Bundle adjustment report
------------------------
    Residuals : 96652
   Parameters : 8071
   Iterations : 3
         Time : 0.167265 [s]
 Initial cost : 0.7436 [px]
   Final cost : 0.735885 [px]
  Termination : Convergence

  => Merged observations: 68
  => Completed observations: 120
  => Filtered observations: 22
  => Changed observations: 0.004345

==============================================================================
Registering image #45 (40)
==============================================================================

  => Image sees 5682 / 8488 points

Pose refinement report
----------------------
    Residuals : 11980
   Parameters : 6
   Iterations : 10
         Time : 0.0994709 [s]
 Initial cost : 0.628048 [px]
   Final cost : 0.602787 [px]
  Termination : Convergence

  => Continued observations: 5616
  => Added observations: 1643

Bundle adjustment report
------------------------
    Residuals : 125710
   Parameters : 11782
   Iterations : 18
         Time : 0.842427 [s]
 Initial cost : 0.593001 [px]
   Final cost : 0.577656 [px]
  Termination : Convergence

  => Merged observations: 360
  => Completed observations: 189
  => Filtered observations: 785
  => Changed observations: 0.021223

Bundle adjustment report
------------------------
    Residuals : 124680
   Parameters : 11599
   Iterations : 3
         Time : 0.193924 [s]
 Initial cost : 0.702814 [px]
   Final cost : 0.695656 [px]
  Termination : Convergence

  => Merged observations: 117
  => Completed observations: 133
  => Filtered observations: 34
  => Changed observations: 0.004556

==============================================================================
Registering image #43 (41)
==============================================================================

  => Image sees 4759 / 6058 points

Pose refinement report
----------------------
    Residuals : 10560
   Parameters : 6
   Iterations : 9
         Time : 0.106126 [s]
 Initial cost : 0.665555 [px]
   Final cost : 0.626252 [px]
  Termination : Convergence

  => Continued observations: 4708
  => Added observations: 1218

Bundle adjustment report
------------------------
    Residuals : 96434
   Parameters : 7762
   Iterations : 26
         Time : 0.976458 [s]
 Initial cost : 0.624872 [px]
   Final cost : 0.612926 [px]
  Termination : No convergence

  => Merged observations: 645
  => Completed observations: 254
  => Filtered observations: 1029
  => Changed observations: 0.039986

Bundle adjustment report
------------------------
    Residuals : 99744
   Parameters : 7585
   Iterations : 3
         Time : 0.182062 [s]
 Initial cost : 0.730588 [px]
   Final cost : 0.72268 [px]
  Termination : Convergence

  => Merged observations: 54
  => Completed observations: 172
  => Filtered observations: 99
  => Changed observations: 0.006517

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

  => Merged observations: 504
  => Completed observations: 864
  => Retriangulated observations: 0

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  2.787750e+05    0.00e+00    2.25e+07   0.00e+00   0.00e+00  1.00e+04        0    1.22e-01    8.97e-01
   1  2.636217e+05    1.52e+04    2.57e+04   1.08e+01   1.00e+00  3.00e+04        1    3.12e-01    1.21e+00
   2  2.636019e+05    1.98e+01    2.26e+04   1.18e+01   9.98e-01  9.00e+04        1    2.77e-01    1.49e+00
   3  2.635829e+05    1.90e+01    5.02e+04   1.95e+01   9.94e-01  2.70e+05        1    2.82e-01    1.77e+00
   4  2.635746e+05    8.35e+00    4.06e+04   1.79e+01   9.92e-01  8.10e+05        1    2.70e-01    2.04e+00
   5  2.635737e+05    8.89e-01    5.98e+03   6.95e+00   9.95e-01  2.43e+06        1    2.67e-01    2.31e+00
   6  2.635737e+05    1.48e-02    1.13e+02   9.57e-01   9.99e-01  7.29e+06        1    2.67e-01    2.57e+00
   7  2.635737e+05    3.10e-05    2.00e+00   4.31e-02   1.01e+00  2.19e+07        1    2.76e-01    2.85e+00
   8  2.635737e+05    1.53e-08    1.87e-01   7.56e-04   9.30e-01  6.02e+07        1    2.70e-01    3.12e+00


Bundle adjustment report
------------------------
    Residuals : 535526
   Parameters : 91873
   Iterations : 9
         Time : 3.14216 [s]
 Initial cost : 0.7215 [px]
   Final cost : 0.701553 [px]
  Termination : Convergence

  => Merged observations: 202
  => Completed observations: 314
  => Filtered observations: 141
  => Changed observations: 0.002454

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  2.640884e+05    0.00e+00    3.48e+05   0.00e+00   0.00e+00  1.00e+04        0    1.29e-01    9.08e-01
   1  2.638179e+05    2.70e+02    2.61e+02   5.31e+00   1.00e+00  3.00e+04        1    3.14e-01    1.22e+00
   2  2.638177e+05    2.62e-01    2.66e+01   8.43e-01   1.00e+00  9.00e+04        1    2.69e-01    1.49e+00
   3  2.638177e+05    1.78e-02    4.61e+01   5.91e-01   9.98e-01  2.70e+05        1    2.74e-01    1.77e+00
   4  2.638177e+05    7.21e-03    3.50e+01   5.26e-01   9.97e-01  8.10e+05        1    2.67e-01    2.03e+00
   5  2.638176e+05    7.28e-04    4.98e+00   2.01e-01   9.96e-01  2.43e+06        1    2.77e-01    2.31e+00
   6  2.638176e+05    1.17e-05    1.99e+00   2.74e-02   9.98e-01  7.29e+06        1    2.75e-01    2.58e+00
   7  2.638176e+05    2.58e-08    2.85e-01   1.22e-03   1.02e+00  2.19e+07        1    2.69e-01    2.85e+00


Bundle adjustment report
------------------------
    Residuals : 535588
   Parameters : 91777
   Iterations : 8
         Time : 2.87646 [s]
 Initial cost : 0.702197 [px]
   Final cost : 0.701837 [px]
  Termination : Convergence

  => Merged observations: 24
  => Completed observations: 37
  => Filtered observations: 26
  => Changed observations: 0.000325
  => Filtered images: 0

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

  => Image sees 4725 / 6277 points

Pose refinement report
----------------------
    Residuals : 10388
   Parameters : 6
   Iterations : 8
         Time : 0.073585 [s]
 Initial cost : 0.636848 [px]
   Final cost : 0.579099 [px]
  Termination : Convergence

  => Continued observations: 4682
  => Added observations: 1181

Bundle adjustment report
------------------------
    Residuals : 95446
   Parameters : 9205
   Iterations : 26
         Time : 1.00461 [s]
 Initial cost : 0.637404 [px]
   Final cost : 0.626261 [px]
  Termination : No convergence

  => Merged observations: 467
  => Completed observations: 206
  => Filtered observations: 853
  => Changed observations: 0.031976

Bundle adjustment report
------------------------
    Residuals : 94436
   Parameters : 8974
   Iterations : 3
         Time : 0.148243 [s]
 Initial cost : 0.764345 [px]
   Final cost : 0.756329 [px]
  Termination : Convergence

  => Merged observations: 39
  => Completed observations: 231
  => Filtered observations: 15
  => Changed observations: 0.006036

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

  => Image sees 4858 / 7018 points

Pose refinement report
----------------------
    Residuals : 10464
   Parameters : 6
   Iterations : 12
         Time : 0.102878 [s]
 Initial cost : 0.710309 [px]
   Final cost : 0.613679 [px]
  Termination : Convergence

  => Continued observations: 4802
  => Added observations: 1443

Bundle adjustment report
------------------------
    Residuals : 88204
   Parameters : 8989
   Iterations : 26
         Time : 0.92247 [s]
 Initial cost : 0.633294 [px]
   Final cost : 0.615476 [px]
  Termination : No convergence

  => Merged observations: 281
  => Completed observations: 235
  => Filtered observations: 784
  => Changed observations: 0.029477

Bundle adjustment report
------------------------
    Residuals : 87558
   Parameters : 8779
   Iterations : 3
         Time : 0.143817 [s]
 Initial cost : 0.746306 [px]
   Final cost : 0.73898 [px]
  Termination : Convergence

  => Merged observations: 142
  => Completed observations: 137
  => Filtered observations: 13
  => Changed observations: 0.006670

==============================================================================
Registering image #28 (44)
==============================================================================

  => Image sees 4934 / 6478 points

Pose refinement report
----------------------
    Residuals : 10690
   Parameters : 6
   Iterations : 10
         Time : 0.0972159 [s]
 Initial cost : 0.6375 [px]
   Final cost : 0.590154 [px]
  Termination : Convergence

  => Continued observations: 4878
  => Added observations: 1263

Bundle adjustment report
------------------------
    Residuals : 91230
   Parameters : 9181
   Iterations : 26
         Time : 0.977568 [s]
 Initial cost : 0.612257 [px]
   Final cost : 0.597542 [px]
  Termination : No convergence

  => Merged observations: 562
  => Completed observations: 247
  => Filtered observations: 644
  => Changed observations: 0.031854

Bundle adjustment report
------------------------
    Residuals : 89548
   Parameters : 9265
   Iterations : 3
         Time : 0.145518 [s]
 Initial cost : 0.72418 [px]
   Final cost : 0.71524 [px]
  Termination : Convergence

  => Merged observations: 127
  => Completed observations: 137
  => Filtered observations: 29
  => Changed observations: 0.006544

==============================================================================
Registering image #10 (45)
==============================================================================

  => Image sees 4749 / 5903 points

Pose refinement report
----------------------
    Residuals : 10226
   Parameters : 6
   Iterations : 9
         Time : 0.0774181 [s]
 Initial cost : 0.654249 [px]
   Final cost : 0.590045 [px]
  Termination : Convergence

  => Continued observations: 4700
  => Added observations: 1033

Bundle adjustment report
------------------------
    Residuals : 87252
   Parameters : 8653
   Iterations : 26
         Time : 0.875248 [s]
 Initial cost : 0.612711 [px]
   Final cost : 0.598267 [px]
  Termination : No convergence

  => Merged observations: 369
  => Completed observations: 249
  => Filtered observations: 578
  => Changed observations: 0.027415

Bundle adjustment report
------------------------
    Residuals : 86864
   Parameters : 8536
   Iterations : 3
         Time : 0.136281 [s]
 Initial cost : 0.735868 [px]
   Final cost : 0.729114 [px]
  Termination : Convergence

  => Merged observations: 41
  => Completed observations: 110
  => Filtered observations: 13
  => Changed observations: 0.003776

==============================================================================
Registering image #29 (46)
==============================================================================

  => Image sees 4863 / 6830 points

Pose refinement report
----------------------
    Residuals : 10528
   Parameters : 6
   Iterations : 10
         Time : 0.0842721 [s]
 Initial cost : 0.62003 [px]
   Final cost : 0.59956 [px]
  Termination : Convergence

  => Continued observations: 4809
  => Added observations: 1169

Bundle adjustment report
------------------------
    Residuals : 89256
   Parameters : 8791
   Iterations : 26
         Time : 0.938436 [s]
 Initial cost : 0.619865 [px]
   Final cost : 0.60374 [px]
  Termination : No convergence

  => Merged observations: 722
  => Completed observations: 262
  => Filtered observations: 700
  => Changed observations: 0.037734

Bundle adjustment report
------------------------
    Residuals : 87778
   Parameters : 8599
   Iterations : 3
         Time : 0.140534 [s]
 Initial cost : 0.72691 [px]
   Final cost : 0.718599 [px]
  Termination : Convergence

  => Merged observations: 144
  => Completed observations: 157
  => Filtered observations: 40
  => Changed observations: 0.007770

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

  => Merged observations: 363
  => Completed observations: 885
  => Retriangulated observations: 0

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  3.008986e+05    0.00e+00    8.13e+06   0.00e+00   0.00e+00  1.00e+04        0    1.42e-01    1.00e+00
   1  2.962288e+05    4.67e+03    1.32e+04   1.39e+01   1.00e+00  3.00e+04        1    3.40e-01    1.34e+00
   2  2.962042e+05    2.46e+01    1.40e+04   1.39e+01   9.98e-01  9.00e+04        1    2.96e-01    1.64e+00
   3  2.961780e+05    2.61e+01    6.25e+04   2.28e+01   9.93e-01  2.70e+05        1    3.06e-01    1.95e+00
   4  2.961667e+05    1.13e+01    5.32e+04   2.10e+01   9.90e-01  8.10e+05        1    3.04e-01    2.25e+00
   5  2.961656e+05    1.17e+00    7.61e+03   8.01e+00   9.94e-01  2.43e+06        1    3.04e-01    2.55e+00
   6  2.961655e+05    1.84e-02    1.35e+02   1.07e+00   9.97e-01  7.29e+06        1    2.98e-01    2.85e+00
   7  2.961655e+05    3.37e-05    2.00e+00   4.50e-02   1.00e+00  2.19e+07        1    3.00e-01    3.15e+00
   8  2.961655e+05    1.62e-08    1.48e-01   6.71e-04   1.13e+00  6.56e+07        1    3.10e-01    3.46e+00


Bundle adjustment report
------------------------
    Residuals : 592470
   Parameters : 97456
   Iterations : 9
         Time : 3.48845 [s]
 Initial cost : 0.712651 [px]
   Final cost : 0.707024 [px]
  Termination : Convergence

  => Merged observations: 131
  => Completed observations: 589
  => Filtered observations: 150
  => Changed observations: 0.002937

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  2.962600e+05    0.00e+00    9.52e+04   0.00e+00   0.00e+00  1.00e+04        0    1.43e-01    1.01e+00
   1  2.960314e+05    2.29e+02    8.47e+01   2.97e+00   1.00e+00  3.00e+04        1    3.48e-01    1.36e+00
   2  2.960312e+05    1.56e-01    5.92e+00   4.96e-01   1.00e+00  9.00e+04        1    3.06e-01    1.66e+00
   3  2.960312e+05    2.51e-02    5.15e+01   6.42e-01   9.98e-01  2.70e+05        1    3.16e-01    1.98e+00
   4  2.960312e+05    1.04e-02    4.78e+01   6.02e-01   9.96e-01  8.10e+05        1    3.15e-01    2.30e+00
   5  2.960312e+05    1.02e-03    6.74e+00   2.28e-01   9.95e-01  2.43e+06        1    3.28e-01    2.62e+00
   6  2.960312e+05    1.55e-05    2.00e+00   3.02e-02   9.96e-01  7.29e+06        1    3.27e-01    2.95e+00
   7  2.960312e+05    3.15e-08    2.75e-01   1.26e-03   1.06e+00  2.19e+07        1    3.23e-01    3.27e+00


Bundle adjustment report
------------------------
    Residuals : 592336
   Parameters : 97303
   Iterations : 8
         Time : 3.29815 [s]
 Initial cost : 0.707217 [px]
   Final cost : 0.706943 [px]
  Termination : Convergence

  => Merged observations: 23
  => Completed observations: 102
  => Filtered observations: 28
  => Changed observations: 0.000517

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  2.959347e+05    0.00e+00    2.12e+04   0.00e+00   0.00e+00  1.00e+04        0    1.32e-01    9.85e-01
   1  2.958838e+05    5.09e+01    1.34e+01   6.60e-01   1.00e+00  3.00e+04        1    3.25e-01    1.31e+00
   2  2.958838e+05    4.64e-03    1.99e+00   5.09e-02   1.00e+00  9.00e+04        1    3.06e-01    1.62e+00
   3  2.958838e+05    1.56e-04    2.00e+00   5.46e-02   9.97e-01  2.70e+05        1    3.00e-01    1.92e+00
   4  2.958838e+05    5.66e-05    1.99e+00   4.51e-02   9.96e-01  8.10e+05        1    3.01e-01    2.22e+00
   5  2.958838e+05    5.50e-06    2.00e+00   1.68e-02   9.95e-01  2.43e+06        1    2.90e-01    2.51e+00
   6  2.958838e+05    8.31e-08    4.77e-01   2.22e-03   9.92e-01  7.29e+06        1    2.98e-01    2.81e+00


Bundle adjustment report
------------------------
    Residuals : 592326
   Parameters : 97291
   Iterations : 7
         Time : 2.82984 [s]
 Initial cost : 0.706834 [px]
   Final cost : 0.706773 [px]
  Termination : Convergence

  => Merged observations: 4
  => Completed observations: 0
  => Filtered observations: 8
  => Changed observations: 0.000041
  => Filtered images: 0

==============================================================================
Registering image #46 (47)
==============================================================================

  => Image sees 4614 / 6331 points

Pose refinement report
----------------------
    Residuals : 9946
   Parameters : 6
   Iterations : 10
         Time : 0.082268 [s]
 Initial cost : 0.70806 [px]
   Final cost : 0.606096 [px]
  Termination : Convergence

  => Continued observations: 4560
  => Added observations: 921

Bundle adjustment report
------------------------
    Residuals : 89748
   Parameters : 8773
   Iterations : 25
         Time : 0.867286 [s]
 Initial cost : 0.610521 [px]
   Final cost : 0.596792 [px]
  Termination : Convergence

  => Merged observations: 439
  => Completed observations: 159
  => Filtered observations: 745
  => Changed observations: 0.029928

Bundle adjustment report
------------------------
    Residuals : 88620
   Parameters : 8524
   Iterations : 3
         Time : 0.158643 [s]
 Initial cost : 0.714796 [px]
   Final cost : 0.706725 [px]
  Termination : Convergence

  => Merged observations: 32
  => Completed observations: 143
  => Filtered observations: 13
  => Changed observations: 0.004243

==============================================================================
Registering image #51 (48)
==============================================================================

  => Image sees 4881 / 6265 points

Pose refinement report
----------------------
    Residuals : 10740
   Parameters : 6
   Iterations : 15
         Time : 0.128249 [s]
 Initial cost : 0.718832 [px]
   Final cost : 0.687289 [px]
  Termination : Convergence

  => Continued observations: 4815
  => Added observations: 1090

Bundle adjustment report
------------------------
    Residuals : 107208
   Parameters : 7414
   Iterations : 26
         Time : 1.11095 [s]
 Initial cost : 0.637149 [px]
   Final cost : 0.626411 [px]
  Termination : No convergence

  => Merged observations: 419
  => Completed observations: 143
  => Filtered observations: 958
  => Changed observations: 0.028356

Bundle adjustment report
------------------------
    Residuals : 101474
   Parameters : 7033
   Iterations : 3
         Time : 0.171662 [s]
 Initial cost : 0.774302 [px]
   Final cost : 0.766617 [px]
  Termination : Convergence

  => Merged observations: 58
  => Completed observations: 143
  => Filtered observations: 88
  => Changed observations: 0.005696

==============================================================================
Registering image #50 (49)
==============================================================================

  => Image sees 4891 / 6366 points

Pose refinement report
----------------------
    Residuals : 10676
   Parameters : 6
   Iterations : 13
         Time : 0.113196 [s]
 Initial cost : 0.763053 [px]
   Final cost : 0.694177 [px]
  Termination : Convergence

  => Continued observations: 4788
  => Added observations: 1218

Bundle adjustment report
------------------------
    Residuals : 98818
   Parameters : 7720
   Iterations : 26
         Time : 1.01046 [s]
 Initial cost : 0.65873 [px]
   Final cost : 0.644708 [px]
  Termination : No convergence

  => Merged observations: 576
  => Completed observations: 258
  => Filtered observations: 1109
  => Changed observations: 0.039325

Bundle adjustment report
------------------------
    Residuals : 97340
   Parameters : 7459
   Iterations : 3
         Time : 0.155846 [s]
 Initial cost : 0.780278 [px]
   Final cost : 0.772189 [px]
  Termination : Convergence

  => Merged observations: 68
  => Completed observations: 176
  => Filtered observations: 32
  => Changed observations: 0.005671

==============================================================================
Registering image #49 (50)
==============================================================================

  => Image sees 4807 / 6388 points

Pose refinement report
----------------------
    Residuals : 10472
   Parameters : 6
   Iterations : 13
         Time : 0.126273 [s]
 Initial cost : 0.71576 [px]
   Final cost : 0.661807 [px]
  Termination : Convergence

  => Continued observations: 4741
  => Added observations: 1326

Bundle adjustment report
------------------------
    Residuals : 88536
   Parameters : 8251
   Iterations : 26
         Time : 0.968201 [s]
 Initial cost : 0.655087 [px]
   Final cost : 0.641654 [px]
  Termination : No convergence

  => Merged observations: 591
  => Completed observations: 247
  => Filtered observations: 847
  => Changed observations: 0.038064

Bundle adjustment report
------------------------
    Residuals : 87508
   Parameters : 7984
   Iterations : 3
         Time : 0.1417 [s]
 Initial cost : 0.781109 [px]
   Final cost : 0.773008 [px]
  Termination : Convergence

  => Merged observations: 136
  => Completed observations: 206
  => Filtered observations: 51
  => Changed observations: 0.008982

==============================================================================
Registering image #61 (51)
==============================================================================

  => Image sees 6448 / 8350 points

Pose refinement report
----------------------
    Residuals : 14036
   Parameters : 6
   Iterations : 13
         Time : 0.142831 [s]
 Initial cost : 0.716974 [px]
   Final cost : 0.651867 [px]
  Termination : Convergence

  => Continued observations: 6380
  => Added observations: 1350

Bundle adjustment report
------------------------
    Residuals : 125758
   Parameters : 11281
   Iterations : 18
         Time : 0.837128 [s]
 Initial cost : 0.624339 [px]
   Final cost : 0.60826 [px]
  Termination : Convergence

  => Merged observations: 981
  => Completed observations: 321
  => Filtered observations: 970
  => Changed observations: 0.036133

Bundle adjustment report
------------------------
    Residuals : 125018
   Parameters : 11065
   Iterations : 3
         Time : 0.197033 [s]
 Initial cost : 0.74598 [px]
   Final cost : 0.738806 [px]
  Termination : Convergence

  => Merged observations: 221
  => Completed observations: 168
  => Filtered observations: 15
  => Changed observations: 0.006463

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

  => Merged observations: 468
  => Completed observations: 1068
  => Retriangulated observations: 0

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  3.481203e+05    0.00e+00    8.57e+06   0.00e+00   0.00e+00  1.00e+04        0    1.52e-01    1.21e+00

CHOLMOD version 3.0.11, May 4, 2016: Symbolic Analysis: status: OK
  Architecture: Linux
    sizeof(int):      4
    sizeof(SuiteSparse_long):  8
    sizeof(void *):   8
    sizeof(double):   8
    sizeof(Int):      4 (CHOLMOD's basic integer)
    sizeof(BLAS_INT): 4 (integer used in the BLAS)
  Results from most recent analysis:
    Cholesky flop count: 9.1357e+06
    Nonzeros in L:       45451
  memory blocks in use:          11
  memory in use (MB):           0.0
  peak memory usage (MB):       0.2
  maxrank:    update/downdate rank:   8
  supernodal control: 1 40 (supernodal if flops/lnz >= 40)
  nmethods:   number of ordering methods to try: 1
    method 0: natural
        flop count: 9.1357e+06
        nnz(L):     45451
  OK
   1  3.411598e+05    6.96e+03    4.09e+04   1.35e+01   1.00e+00  3.00e+04        1    1.06e+00    2.26e+00
   2  3.411246e+05    3.52e+01    3.54e+04   1.70e+01   9.98e-01  9.00e+04        1    3.76e-01    2.64e+00
   3  3.410892e+05    3.54e+01    9.02e+04   2.56e+01   9.93e-01  2.70e+05        1    3.76e-01    3.02e+00
   4  3.410750e+05    1.43e+01    6.53e+04   2.20e+01   9.92e-01  8.10e+05        1    3.79e-01    3.39e+00
   5  3.410736e+05    1.38e+00    8.42e+03   7.99e+00   9.97e-01  2.43e+06        1    3.69e-01    3.76e+00
   6  3.410736e+05    2.04e-02    1.40e+02   1.04e+00   1.00e+00  7.29e+06        1    3.73e-01    4.14e+00
   7  3.410736e+05    3.90e-05    2.00e+00   4.52e-02   1.01e+00  2.19e+07        1    3.78e-01    4.51e+00
   8  3.410736e+05    1.83e-08    1.77e-01   8.03e-04   9.45e-01  6.56e+07        1    3.83e-01    4.90e+00


Bundle adjustment report
------------------------
    Residuals : 649490
   Parameters : 102811
   Iterations : 9
         Time : 4.92432 [s]
 Initial cost : 0.732114 [px]
   Final cost : 0.724666 [px]
  Termination : Convergence

  => Merged observations: 193
  => Completed observations: 234
  => Filtered observations: 149
  => Changed observations: 0.001774

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  3.413578e+05    0.00e+00    1.56e+05   0.00e+00   0.00e+00  1.00e+04        0    1.53e-01    1.23e+00

CHOLMOD version 3.0.11, May 4, 2016: Symbolic Analysis: status: OK
  Architecture: Linux
    sizeof(int):      4
    sizeof(SuiteSparse_long):  8
    sizeof(void *):   8
    sizeof(double):   8
    sizeof(Int):      4 (CHOLMOD's basic integer)
    sizeof(BLAS_INT): 4 (integer used in the BLAS)
  Results from most recent analysis:
    Cholesky flop count: 9.1357e+06
    Nonzeros in L:       45451
  memory blocks in use:          11
  memory in use (MB):           0.0
  peak memory usage (MB):       0.2
  maxrank:    update/downdate rank:   8
  supernodal control: 1 40 (supernodal if flops/lnz >= 40)
  nmethods:   number of ordering methods to try: 1
    method 0: natural
        flop count: 9.1357e+06
        nnz(L):     45451
  OK
   1  3.410917e+05    2.66e+02    5.87e+02   2.63e+00   1.00e+00  3.00e+04        1    1.02e+00    2.25e+00
   2  3.410915e+05    1.29e-01    7.10e+00   4.09e-01   1.00e+00  9.00e+04        1    3.49e-01    2.60e+00
   3  3.410915e+05    2.22e-02    4.15e+01   5.54e-01   9.99e-01  2.70e+05        1    3.71e-01    2.97e+00
   4  3.410915e+05    8.53e-03    3.70e+01   5.04e-01   9.98e-01  8.10e+05        1    3.64e-01    3.34e+00
   5  3.410915e+05    7.69e-04    4.71e+00   1.82e-01   9.98e-01  2.43e+06        1    3.64e-01    3.70e+00
   6  3.410915e+05    1.10e-05    2.00e+00   2.34e-02   1.00e+00  7.29e+06        1    3.66e-01    4.07e+00
   7  3.410915e+05    2.21e-08    2.17e-01   1.01e-03   9.96e-01  2.19e+07        1    3.42e-01    4.41e+00


Bundle adjustment report
------------------------
    Residuals : 649474
   Parameters : 102706
   Iterations : 8
         Time : 4.43377 [s]
 Initial cost : 0.724977 [px]
   Final cost : 0.724694 [px]
  Termination : Convergence

  => Merged observations: 40
  => Completed observations: 186
  => Filtered observations: 31
  => Changed observations: 0.000791

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  3.411001e+05    0.00e+00    2.05e+04   0.00e+00   0.00e+00  1.00e+04        0    1.47e-01    1.19e+00

CHOLMOD version 3.0.11, May 4, 2016: Symbolic Analysis: status: OK
  Architecture: Linux
    sizeof(int):      4
    sizeof(SuiteSparse_long):  8
    sizeof(void *):   8
    sizeof(double):   8
    sizeof(Int):      4 (CHOLMOD's basic integer)
    sizeof(BLAS_INT): 4 (integer used in the BLAS)
  Results from most recent analysis:
    Cholesky flop count: 9.1357e+06
    Nonzeros in L:       45451
  memory blocks in use:          11
  memory in use (MB):           0.0
  peak memory usage (MB):       0.2
  maxrank:    update/downdate rank:   8
  supernodal control: 1 40 (supernodal if flops/lnz >= 40)
  nmethods:   number of ordering methods to try: 1
    method 0: natural
        flop count: 9.1357e+06
        nnz(L):     45451
  OK
   1  3.410447e+05    5.54e+01    2.59e+01   1.84e+00   1.00e+00  3.00e+04        1    1.03e+00    2.22e+00
   2  3.410447e+05    3.47e-02    3.06e+00   1.93e-01   1.00e+00  9.00e+04        1    3.57e-01    2.58e+00
   3  3.410447e+05    3.10e-04    1.99e+00   6.65e-02   9.99e-01  2.70e+05        1    3.68e-01    2.94e+00
   4  3.410447e+05    8.93e-05    2.00e+00   5.27e-02   9.98e-01  8.10e+05        1    3.64e-01    3.31e+00
   5  3.410447e+05    8.01e-06    2.00e+00   1.86e-02   9.98e-01  2.43e+06        1    3.69e-01    3.68e+00
   6  3.410447e+05    1.14e-07    4.89e-01   2.38e-03   9.98e-01  7.29e+06        1    3.65e-01    4.04e+00


Bundle adjustment report
------------------------
    Residuals : 649492
   Parameters : 102691
   Iterations : 7
         Time : 4.06924 [s]
 Initial cost : 0.724693 [px]
   Final cost : 0.724634 [px]
  Termination : Convergence

  => Merged observations: 15
  => Completed observations: 0
  => Filtered observations: 13
  => Changed observations: 0.000086
  => Filtered images: 0

==============================================================================
Registering image #48 (52)
==============================================================================

  => Image sees 4605 / 6058 points

Pose refinement report
----------------------
    Residuals : 9980
   Parameters : 6
   Iterations : 11
         Time : 0.0919099 [s]
 Initial cost : 0.643859 [px]
   Final cost : 0.622905 [px]
  Termination : Convergence

  => Continued observations: 4529
  => Added observations: 1329

Bundle adjustment report
------------------------
    Residuals : 89902
   Parameters : 9226
   Iterations : 26
         Time : 0.917689 [s]
 Initial cost : 0.639819 [px]
   Final cost : 0.624387 [px]
  Termination : No convergence

  => Merged observations: 310
  => Completed observations: 200
  => Filtered observations: 781
  => Changed observations: 0.028720

Bundle adjustment report
------------------------
    Residuals : 88746
   Parameters : 8983
   Iterations : 3
         Time : 0.149107 [s]
 Initial cost : 0.749478 [px]
   Final cost : 0.740633 [px]
  Termination : Convergence

  => Merged observations: 90
  => Completed observations: 175
  => Filtered observations: 17
  => Changed observations: 0.006355

==============================================================================
Registering image #60 (53)
==============================================================================

  => Image sees 6688 / 8373 points

Pose refinement report
----------------------
    Residuals : 14694
   Parameters : 6
   Iterations : 14
         Time : 0.161087 [s]
 Initial cost : 0.674495 [px]
   Final cost : 0.641445 [px]
  Termination : Convergence

  => Continued observations: 6612
  => Added observations: 1353

Bundle adjustment report
------------------------
    Residuals : 126128
   Parameters : 11362
   Iterations : 26
         Time : 1.18543 [s]
 Initial cost : 0.631213 [px]
   Final cost : 0.617813 [px]
  Termination : No convergence

  => Merged observations: 512
  => Completed observations: 265
  => Filtered observations: 879
  => Changed observations: 0.026259

Bundle adjustment report
------------------------
    Residuals : 125036
   Parameters : 11122
   Iterations : 3
         Time : 0.1974 [s]
 Initial cost : 0.762042 [px]
   Final cost : 0.755185 [px]
  Termination : Convergence

  => Merged observations: 126
  => Completed observations: 150
  => Filtered observations: 31
  => Changed observations: 0.004911

==============================================================================
Registering image #62 (54)
==============================================================================

  => Image sees 4723 / 5854 points

Pose refinement report
----------------------
    Residuals : 10630
   Parameters : 6
   Iterations : 22
         Time : 0.184777 [s]
 Initial cost : 0.721994 [px]
   Final cost : 0.679314 [px]
  Termination : Convergence

  => Continued observations: 4641
  => Added observations: 1000

Bundle adjustment report
------------------------
    Residuals : 91424
   Parameters : 7261
   Iterations : 26
         Time : 0.947203 [s]
 Initial cost : 0.671119 [px]
   Final cost : 0.656691 [px]
  Termination : No convergence

  => Merged observations: 373
  => Completed observations: 223
  => Filtered observations: 960
  => Changed observations: 0.034039

Bundle adjustment report
------------------------
    Residuals : 89188
   Parameters : 7078
   Iterations : 3
         Time : 0.169499 [s]
 Initial cost : 0.786358 [px]
   Final cost : 0.777902 [px]
  Termination : Convergence

  => Merged observations: 85
  => Completed observations: 184
  => Filtered observations: 60
  => Changed observations: 0.007378

==============================================================================
Registering image #54 (55)
==============================================================================

  => Image sees 6988 / 8542 points

Pose refinement report
----------------------
    Residuals : 15414
   Parameters : 6
   Iterations : 9
         Time : 0.112426 [s]
 Initial cost : 0.614532 [px]
   Final cost : 0.592122 [px]
  Termination : Convergence

  => Continued observations: 6930
  => Added observations: 1208

Bundle adjustment report
------------------------
    Residuals : 133026
   Parameters : 11215
   Iterations : 26
         Time : 1.25773 [s]
 Initial cost : 0.618972 [px]
   Final cost : 0.605181 [px]
  Termination : No convergence

  => Merged observations: 940
  => Completed observations: 298
  => Filtered observations: 894
  => Changed observations: 0.032054

Bundle adjustment report
------------------------
    Residuals : 132342
   Parameters : 11032
   Iterations : 3
         Time : 0.20929 [s]
 Initial cost : 0.744581 [px]
   Final cost : 0.73761 [px]
  Termination : Convergence

  => Merged observations: 173
  => Completed observations: 156
  => Filtered observations: 65
  => Changed observations: 0.005954

==============================================================================
Registering image #55 (56)
==============================================================================

  => Image sees 7000 / 8515 points

Pose refinement report
----------------------
    Residuals : 15218
   Parameters : 6
   Iterations : 11
         Time : 0.133746 [s]
 Initial cost : 0.660704 [px]
   Final cost : 0.633985 [px]
  Termination : Convergence

  => Continued observations: 6927
  => Added observations: 1237

Bundle adjustment report
------------------------
    Residuals : 132372
   Parameters : 11425
   Iterations : 26
         Time : 1.24179 [s]
 Initial cost : 0.627517 [px]
   Final cost : 0.61455 [px]
  Termination : No convergence

  => Merged observations: 463
  => Completed observations: 321
  => Filtered observations: 1056
  => Changed observations: 0.027800

Bundle adjustment report
------------------------
    Residuals : 133598
   Parameters : 11308
   Iterations : 3
         Time : 0.227792 [s]
 Initial cost : 0.747032 [px]
   Final cost : 0.740086 [px]
  Termination : Convergence

  => Merged observations: 251
  => Completed observations: 133
  => Filtered observations: 21
  => Changed observations: 0.006063

==============================================================================
Registering image #53 (57)
==============================================================================

  => Image sees 4967 / 5816 points

Pose refinement report
----------------------
    Residuals : 11536
   Parameters : 6
   Iterations : 9
         Time : 0.084929 [s]
 Initial cost : 0.668532 [px]
   Final cost : 0.632264 [px]
  Termination : Convergence

  => Continued observations: 4897
  => Added observations: 1072

Bundle adjustment report
------------------------
    Residuals : 114032
   Parameters : 6637
   Iterations : 26
         Time : 1.15281 [s]
 Initial cost : 0.614977 [px]
   Final cost : 0.605332 [px]
  Termination : No convergence

  => Merged observations: 820
  => Completed observations: 257
  => Filtered observations: 863
  => Changed observations: 0.034026

Bundle adjustment report
------------------------
    Residuals : 109046
   Parameters : 6379
   Iterations : 3
         Time : 0.179015 [s]
 Initial cost : 0.764446 [px]
   Final cost : 0.75718 [px]
  Termination : Convergence

  => Merged observations: 92
  => Completed observations: 180
  => Filtered observations: 58
  => Changed observations: 0.006052

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

  => Merged observations: 598
  => Completed observations: 1566
  => Retriangulated observations: 0

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  4.014070e+05    0.00e+00    8.38e+06   0.00e+00   0.00e+00  1.00e+04        0    1.58e-01    1.31e+00

CHOLMOD version 3.0.11, May 4, 2016: Symbolic Analysis: status: OK
  Architecture: Linux
    sizeof(int):      4
    sizeof(SuiteSparse_long):  8
    sizeof(void *):   8
    sizeof(double):   8
    sizeof(Int):      4 (CHOLMOD's basic integer)
    sizeof(BLAS_INT): 4 (integer used in the BLAS)
  Results from most recent analysis:
    Cholesky flop count: 1.2814e+07
    Nonzeros in L:       56953
  memory blocks in use:          11
  memory in use (MB):           0.0
  peak memory usage (MB):       0.2
  maxrank:    update/downdate rank:   8
  supernodal control: 1 40 (supernodal if flops/lnz >= 40)
  nmethods:   number of ordering methods to try: 1
    method 0: natural
        flop count: 1.2814e+07
        nnz(L):     56953
  OK
   1  3.957982e+05    5.61e+03    3.69e+04   1.09e+01   1.00e+00  3.00e+04        1    1.25e+00    2.57e+00
   2  3.957890e+05    9.26e+00    7.11e+03   7.56e+00   9.99e-01  9.00e+04        1    4.24e-01    2.99e+00
   3  3.957815e+05    7.48e+00    1.82e+04   1.09e+01   9.97e-01  2.70e+05        1    4.16e-01    3.41e+00
   4  3.957787e+05    2.78e+00    1.21e+04   8.97e+00   9.97e-01  8.10e+05        1    4.02e-01    3.81e+00
   5  3.957785e+05    2.32e-01    1.39e+03   3.05e+00   9.97e-01  2.43e+06        1    4.04e-01    4.22e+00
   6  3.957785e+05    2.97e-03    1.99e+01   3.68e-01   9.99e-01  7.29e+06        1    4.13e-01    4.63e+00
   7  3.957785e+05    5.06e-06    1.95e+00   1.47e-02   1.01e+00  2.19e+07        1    3.94e-01    5.02e+00
   8  3.957785e+05    2.21e-09    4.87e-02   2.31e-04   1.02e+00  6.56e+07        1    4.02e-01    5.43e+00


Bundle adjustment report
------------------------
    Residuals : 727408
   Parameters : 108892
   Iterations : 9
         Time : 5.45477 [s]
 Initial cost : 0.742854 [px]
   Final cost : 0.737627 [px]
  Termination : Convergence

  => Merged observations: 185
  => Completed observations: 692
  => Filtered observations: 156
  => Changed observations: 0.002840

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  3.963049e+05    0.00e+00    1.37e+05   0.00e+00   0.00e+00  1.00e+04        0    1.63e-01    1.32e+00

CHOLMOD version 3.0.11, May 4, 2016: Symbolic Analysis: status: OK
  Architecture: Linux
    sizeof(int):      4
    sizeof(SuiteSparse_long):  8
    sizeof(void *):   8
    sizeof(double):   8
    sizeof(Int):      4 (CHOLMOD's basic integer)
    sizeof(BLAS_INT): 4 (integer used in the BLAS)
  Results from most recent analysis:
    Cholesky flop count: 1.2814e+07
    Nonzeros in L:       56953
  memory blocks in use:          11
  memory in use (MB):           0.0
  peak memory usage (MB):       0.2
  maxrank:    update/downdate rank:   8
  supernodal control: 1 40 (supernodal if flops/lnz >= 40)
  nmethods:   number of ordering methods to try: 1
    method 0: natural
        flop count: 1.2814e+07
        nnz(L):     56953
  OK
   1  3.959825e+05    3.22e+02    4.19e+02   4.07e+00   1.00e+00  3.00e+04        1    1.25e+00    2.58e+00
   2  3.959823e+05    1.73e-01    5.01e+01   7.06e-01   1.00e+00  9.00e+04        1    4.13e-01    2.99e+00
   3  3.959823e+05    3.86e-02    9.60e+01   7.51e-01   9.98e-01  2.70e+05        1    4.05e-01    3.40e+00
   4  3.959823e+05    1.39e-02    5.99e+01   6.01e-01   9.98e-01  8.10e+05        1    4.00e-01    3.80e+00
   5  3.959823e+05    1.14e-03    6.50e+00   2.03e-01   9.97e-01  2.43e+06        1    4.04e-01    4.20e+00
   6  3.959823e+05    1.45e-05    2.00e+00   2.43e-02   9.99e-01  7.29e+06        1    4.08e-01    4.61e+00
   7  3.959823e+05    2.28e-08    2.01e-01   9.65e-04   9.24e-01  1.86e+07        1    4.23e-01    5.03e+00


Bundle adjustment report
------------------------
    Residuals : 727404
   Parameters : 108772
   Iterations : 8
         Time : 5.06051 [s]
 Initial cost : 0.73812 [px]
   Final cost : 0.737819 [px]
  Termination : Convergence

  => Merged observations: 39
  => Completed observations: 23
  => Filtered observations: 38
  => Changed observations: 0.000275
  => Filtered images: 0

==============================================================================
Registering image #47 (58)
==============================================================================

  => Image sees 4199 / 5145 points

Pose refinement report
----------------------
    Residuals : 9138
   Parameters : 6
   Iterations : 10
         Time : 0.077462 [s]
 Initial cost : 0.682944 [px]
   Final cost : 0.615081 [px]
  Termination : Convergence

  => Continued observations: 4146
  => Added observations: 767

Bundle adjustment report
------------------------
    Residuals : 89066
   Parameters : 8284
   Iterations : 26
         Time : 0.933404 [s]
 Initial cost : 0.624819 [px]
   Final cost : 0.610316 [px]
  Termination : No convergence

  => Merged observations: 256
  => Completed observations: 202
  => Filtered observations: 661
  => Changed observations: 0.025127

Bundle adjustment report
------------------------
    Residuals : 89720
   Parameters : 8083
   Iterations : 3
         Time : 0.140406 [s]
 Initial cost : 0.756695 [px]
   Final cost : 0.748962 [px]
  Termination : Convergence

  => Merged observations: 97
  => Completed observations: 107
  => Filtered observations: 21
  => Changed observations: 0.005016

==============================================================================
Registering image #59 (59)
==============================================================================

  => Image sees 6076 / 7285 points

Pose refinement report
----------------------
    Residuals : 13472
   Parameters : 6
   Iterations : 34
         Time : 0.388925 [s]
 Initial cost : 0.876784 [px]
   Final cost : 0.702565 [px]
  Termination : Convergence

  => Continued observations: 6001
  => Added observations: 1041

Bundle adjustment report
------------------------
    Residuals : 120952
   Parameters : 9208
   Iterations : 26
         Time : 1.1776 [s]
 Initial cost : 0.667706 [px]
   Final cost : 0.654348 [px]
  Termination : No convergence

  => Merged observations: 491
  => Completed observations: 251
  => Filtered observations: 1479
  => Changed observations: 0.036725

Bundle adjustment report
------------------------
    Residuals : 120910
   Parameters : 8938
   Iterations : 3
         Time : 0.190556 [s]
 Initial cost : 0.764327 [px]
   Final cost : 0.756769 [px]
  Termination : Convergence

  => Merged observations: 356
  => Completed observations: 137
  => Filtered observations: 63
  => Changed observations: 0.009197

==============================================================================
Registering image #58 (60)
==============================================================================

  => Image sees 5680 / 6952 points

Pose refinement report
----------------------
    Residuals : 12534
   Parameters : 6
   Iterations : 28
         Time : 0.271341 [s]
 Initial cost : 0.727737 [px]
   Final cost : 0.656818 [px]
  Termination : Convergence

  => Continued observations: 5605
  => Added observations: 1147

Bundle adjustment report
------------------------
    Residuals : 116354
   Parameters : 8647
   Iterations : 21
         Time : 0.96298 [s]
 Initial cost : 0.662231 [px]
   Final cost : 0.649472 [px]
  Termination : Convergence

  => Merged observations: 716
  => Completed observations: 251
  => Filtered observations: 1297
  => Changed observations: 0.038916

Bundle adjustment report
------------------------
    Residuals : 114708
   Parameters : 8320
   Iterations : 3
         Time : 0.190483 [s]
 Initial cost : 0.785858 [px]
   Final cost : 0.778162 [px]
  Termination : Convergence

  => Merged observations: 60
  => Completed observations: 217
  => Filtered observations: 262
  => Changed observations: 0.009398

==============================================================================
Registering image #57 (61)
==============================================================================

  => Image sees 5285 / 6534 points

Pose refinement report
----------------------
    Residuals : 11648
   Parameters : 6
   Iterations : 15
         Time : 0.14182 [s]
 Initial cost : 0.702744 [px]
   Final cost : 0.624575 [px]
  Termination : Convergence

  => Continued observations: 5241
  => Added observations: 1246

Bundle adjustment report
------------------------
    Residuals : 108616
   Parameters : 8260
   Iterations : 26
         Time : 1.11936 [s]
 Initial cost : 0.628203 [px]
   Final cost : 0.614948 [px]
  Termination : No convergence

  => Merged observations: 904
  => Completed observations: 326
  => Filtered observations: 937
  => Changed observations: 0.039902

Bundle adjustment report
------------------------
    Residuals : 107580
   Parameters : 7942
   Iterations : 3
         Time : 0.161956 [s]
 Initial cost : 0.753741 [px]
   Final cost : 0.745225 [px]
  Termination : Convergence

  => Merged observations: 116
  => Completed observations: 208
  => Filtered observations: 291
  => Changed observations: 0.011433

==============================================================================
Registering image #56 (62)
==============================================================================

  => Image sees 5258 / 6166 points

Pose refinement report
----------------------
    Residuals : 11368
   Parameters : 6
   Iterations : 13
         Time : 0.123977 [s]
 Initial cost : 0.717825 [px]
   Final cost : 0.630365 [px]
  Termination : Convergence

  => Continued observations: 5218
  => Added observations: 818

Bundle adjustment report
------------------------
    Residuals : 111020
   Parameters : 7792
   Iterations : 26
         Time : 1.13053 [s]
 Initial cost : 0.615631 [px]
   Final cost : 0.602353 [px]
  Termination : No convergence

  => Merged observations: 575
  => Completed observations: 290
  => Filtered observations: 738
  => Changed observations: 0.028878

Bundle adjustment report
------------------------
    Residuals : 110466
   Parameters : 7624
   Iterations : 3
         Time : 0.175249 [s]
 Initial cost : 0.74714 [px]
   Final cost : 0.741173 [px]
  Termination : Convergence

  => Merged observations: 234
  => Completed observations: 129
  => Filtered observations: 13
  => Changed observations: 0.006808

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

  => Merged observations: 910
  => Completed observations: 1607
  => Retriangulated observations: 0

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  4.577826e+05    0.00e+00    3.05e+07   0.00e+00   0.00e+00  1.00e+04        0    1.70e-01    1.48e+00

CHOLMOD version 3.0.11, May 4, 2016: Symbolic Analysis: status: OK
  Architecture: Linux
    sizeof(int):      4
    sizeof(SuiteSparse_long):  8
    sizeof(void *):   8
    sizeof(double):   8
    sizeof(Int):      4 (CHOLMOD's basic integer)
    sizeof(BLAS_INT): 4 (integer used in the BLAS)
  Results from most recent analysis:
    Cholesky flop count: 1.6544e+07
    Nonzeros in L:       67528
  memory blocks in use:          11
  memory in use (MB):           0.0
  peak memory usage (MB):       0.3
  maxrank:    update/downdate rank:   8
  supernodal control: 1 40 (supernodal if flops/lnz >= 40)
  nmethods:   number of ordering methods to try: 1
    method 0: natural
        flop count: 1.6544e+07
        nnz(L):     67528
  OK
   1  4.379544e+05    1.98e+04    9.18e+04   1.06e+01   1.00e+00  3.00e+04        1    1.42e+00    2.91e+00
   2  4.379454e+05    9.01e+00    1.56e+03   3.01e+00   1.00e+00  9.00e+04        1    4.75e-01    3.38e+00
   3  4.379448e+05    5.51e-01    1.00e+02   1.46e+00   9.99e-01  2.70e+05        1    4.40e-01    3.82e+00
   4  4.379448e+05    1.28e-02    3.24e+01   4.44e-01   9.98e-01  8.10e+05        1    4.37e-01    4.26e+00
   5  4.379448e+05    3.08e-04    2.16e+00   1.06e-01   9.98e-01  2.43e+06        1    4.37e-01    4.69e+00
   6  4.379448e+05    3.52e-06    1.72e+00   1.18e-02   1.00e+00  7.29e+06        1    4.58e-01    5.15e+00
   7  4.379448e+05    4.19e-09    9.16e-02   4.57e-04   6.83e-01  7.67e+06        1    4.65e-01    5.62e+00


Bundle adjustment report
------------------------
    Residuals : 783952
   Parameters : 112702
   Iterations : 8
         Time : 5.64769 [s]
 Initial cost : 0.764161 [px]
   Final cost : 0.74742 [px]
  Termination : Convergence

  => Merged observations: 415
  => Completed observations: 691
  => Filtered observations: 238
  => Changed observations: 0.003429

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  4.394025e+05    0.00e+00    6.79e+05   0.00e+00   0.00e+00  1.00e+04        0    1.67e-01    1.44e+00

CHOLMOD version 3.0.11, May 4, 2016: Symbolic Analysis: status: OK
  Architecture: Linux
    sizeof(int):      4
    sizeof(SuiteSparse_long):  8
    sizeof(void *):   8
    sizeof(double):   8
    sizeof(Int):      4 (CHOLMOD's basic integer)
    sizeof(BLAS_INT): 4 (integer used in the BLAS)
  Results from most recent analysis:
    Cholesky flop count: 1.6544e+07
    Nonzeros in L:       67528
  memory blocks in use:          11
  memory in use (MB):           0.0
  peak memory usage (MB):       0.3
  maxrank:    update/downdate rank:   8
  supernodal control: 1 40 (supernodal if flops/lnz >= 40)
  nmethods:   number of ordering methods to try: 1
    method 0: natural
        flop count: 1.6544e+07
        nnz(L):     67528
  OK
   1  4.388820e+05    5.20e+02    1.29e+03   2.71e+00   1.00e+00  3.00e+04        1    1.38e+00    2.82e+00
   2  4.388819e+05    1.82e-01    2.45e+01   3.20e-01   1.00e+00  9.00e+04        1    4.39e-01    3.25e+00
   3  4.388819e+05    8.80e-04    2.00e+00   3.87e-02   1.00e+00  2.70e+05        1    4.41e-01    3.70e+00
   4  4.388819e+05    8.18e-06    1.00e+00   5.06e-03   1.00e+00  8.10e+05        1    4.40e-01    4.14e+00
   5  4.388819e+05    2.06e-08    6.99e-02   2.47e-04   1.12e+00  2.43e+06        1    4.43e-01    4.58e+00


Bundle adjustment report
------------------------
    Residuals : 784262
   Parameters : 112576
   Iterations : 6
         Time : 4.61078 [s]
 Initial cost : 0.748515 [px]
   Final cost : 0.748072 [px]
  Termination : Convergence

  => Merged observations: 70
  => Completed observations: 170
  => Filtered observations: 57
  => Changed observations: 0.000757

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  4.388767e+05    0.00e+00    8.58e+04   0.00e+00   0.00e+00  1.00e+04        0    1.79e-01    1.47e+00

CHOLMOD version 3.0.11, May 4, 2016: Symbolic Analysis: status: OK
  Architecture: Linux
    sizeof(int):      4
    sizeof(SuiteSparse_long):  8
    sizeof(void *):   8
    sizeof(double):   8
    sizeof(Int):      4 (CHOLMOD's basic integer)
    sizeof(BLAS_INT): 4 (integer used in the BLAS)
  Results from most recent analysis:
    Cholesky flop count: 1.6544e+07
    Nonzeros in L:       67528
  memory blocks in use:          11
  memory in use (MB):           0.0
  peak memory usage (MB):       0.3
  maxrank:    update/downdate rank:   8
  supernodal control: 1 40 (supernodal if flops/lnz >= 40)
  nmethods:   number of ordering methods to try: 1
    method 0: natural
        flop count: 1.6544e+07
        nnz(L):     67528
  OK
   1  4.387844e+05    9.23e+01    1.58e+02   1.56e+00   1.00e+00  3.00e+04        1    1.42e+00    2.89e+00
   2  4.387844e+05    3.01e-02    1.11e+01   1.99e-01   1.00e+00  9.00e+04        1    4.62e-01    3.35e+00
   3  4.387844e+05    2.53e-03    7.43e+00   1.92e-01   9.98e-01  2.70e+05        1    4.53e-01    3.81e+00
   4  4.387844e+05    8.06e-04    3.93e+00   1.43e-01   9.97e-01  8.10e+05        1    4.55e-01    4.26e+00
   5  4.387844e+05    6.33e-05    2.00e+00   4.66e-02   9.97e-01  2.43e+06        1    4.63e-01    4.72e+00
   6  4.387844e+05    7.67e-07    8.93e-01   5.44e-03   9.98e-01  7.29e+06        1    4.66e-01    5.19e+00


Bundle adjustment report
------------------------
    Residuals : 784288
   Parameters : 112564
   Iterations : 7
         Time : 5.22214 [s]
 Initial cost : 0.748055 [px]
   Final cost : 0.747976 [px]
  Termination : Convergence

  => Merged observations: 20
  => Completed observations: 0
  => Filtered observations: 28
  => Changed observations: 0.000122
  => Filtered images: 0

Elapsed time: 4.090 [minutes]
