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

Processed file [1/55]
  Name:            DJI_20200223_163548_810.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        12061
Processed file [2/55]
  Name:            DJI_20200223_163551_210.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        8359
Processed file [3/55]
  Name:            DJI_20200223_163551_990.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        12134
Processed file [4/55]
  Name:            DJI_20200223_163553_010.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        11164
Processed file [5/55]
  Name:            DJI_20200223_163553_790.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        11431
Processed file [6/55]
  Name:            DJI_20200223_163554_630.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        11198
Processed file [7/55]
  Name:            DJI_20200223_163555_770.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        12592
Processed file [8/55]
  Name:            DJI_20200223_163556_700.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        12007
Processed file [9/55]
  Name:            DJI_20200223_163557_660.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        12268
Processed file [10/55]
  Name:            DJI_20200223_163558_500.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        12024
Processed file [11/55]
  Name:            DJI_20200223_163559_325.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        11955
Processed file [12/55]
  Name:            DJI_20200223_163600_150.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        11936
Processed file [13/55]
  Name:            DJI_20200223_163600_960.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        12126
Processed file [14/55]
  Name:            DJI_20200223_163601_770.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        11475
Processed file [15/55]
  Name:            DJI_20200223_163602_580.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        8319
Processed file [16/55]
  Name:            DJI_20200223_163603_540.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        12588
Processed file [17/55]
  Name:            DJI_20200223_163604_605.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        11080
Processed file [18/55]
  Name:            DJI_20200223_163605_490.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        11624
Processed file [19/55]
  Name:            DJI_20200223_163606_270.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        11998
Processed file [20/55]
  Name:            DJI_20200223_163607_050.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        13143
Processed file [21/55]
  Name:            DJI_20200223_163607_906.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        12174
Processed file [22/55]
  Name:            DJI_20200223_163608_715.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        12623
Processed file [23/55]
  Name:            DJI_20200223_163609_435.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        12423
Processed file [24/55]
  Name:            DJI_20200223_163610_185.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        12285
Processed file [25/55]
  Name:            DJI_20200223_163611_160.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        12870
Processed file [26/55]
  Name:            DJI_20200223_163614_400.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        11435
Processed file [27/55]
  Name:            DJI_20200223_163615_330.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        11814
Processed file [28/55]
  Name:            DJI_20200223_163616_140.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        12531
Processed file [29/55]
  Name:            DJI_20200223_163616_980.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        11504
Processed file [30/55]
  Name:            DJI_20200223_163617_790.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        11578
Processed file [31/55]
  Name:            DJI_20200223_163618_570.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        11358
Processed file [32/55]
  Name:            DJI_20200223_163619_411.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        8303
Processed file [33/55]
  Name:            DJI_20200223_163620_700.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        11289
Processed file [34/55]
  Name:            DJI_20200223_163621_570.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        10915
Processed file [35/55]
  Name:            DJI_20200223_163622_290.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        11253
Processed file [36/55]
  Name:            DJI_20200223_163623_310.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        10976
Processed file [37/55]
  Name:            DJI_20200223_163624_060.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        11226
Processed file [38/55]
  Name:            DJI_20200223_163624_765.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        13169
Processed file [39/55]
  Name:            DJI_20200223_163625_486.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        8530
Processed file [40/55]
  Name:            DJI_20200223_163627_196.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        11419
Processed file [41/55]
  Name:            DJI_20200223_163639_916.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        13207
Processed file [42/55]
  Name:            DJI_20200223_163640_741.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        12963
Processed file [43/55]
  Name:            DJI_20200223_163641_521.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        12677
Processed file [44/55]
  Name:            DJI_20200223_163642_330.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        12614
Processed file [45/55]
  Name:            DJI_20200223_163643_411.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        12584
Processed file [46/55]
  Name:            DJI_20200223_163644_295.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        8478
Processed file [47/55]
  Name:            DJI_20200223_163645_060.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        8275
Processed file [48/55]
  Name:            DJI_20200223_163645_961.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        12169
Processed file [49/55]
  Name:            DJI_20200223_163646_755.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        11500
Processed file [50/55]
  Name:            DJI_20200223_163647_626.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        8285
Processed file [51/55]
  Name:            DJI_20200223_163648_601.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        8348
Processed file [52/55]
  Name:            DJI_20200223_163649_576.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        12750
Processed file [53/55]
  Name:            DJI_20200223_163651_301.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        13046
Processed file [54/55]
  Name:            DJI_20200223_163652_711.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        8229
Processed file [55/55]
  Name:            DJI_20200223_163654_571.jpg
  Dimensions:      4032 x 3024
  Camera:          #1 - SIMPLE_RADIAL
  Focal Length:    3225.60px (Prior)
  Features:        11590
Elapsed time: 0.100 [minutes]

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

Matching block [1/2, 1/2] in 40.852s
Matching block [1/2, 2/2] in 0.345s
Matching block [2/2, 1/2] in 7.760s
Matching block [2/2, 2/2] in 0.350s
Elapsed time: 0.826 [minutes]

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

Loading cameras... 1 in 0.000s
Loading matches... 1485 in 0.035s
Loading images... 55 in 0.023s (connected 55)
Building correspondence graph... in 0.297s (ignored 0)

Elapsed time: 0.006 [minutes]


==============================================================================
Initializing with image pair #20 and #23
==============================================================================


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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  1.179938e+03    0.00e+00    1.07e+05   0.00e+00   0.00e+00  1.00e+04        0    3.65e-03    9.56e-03
   1  5.532587e+02    6.27e+02    3.25e+04   2.17e+01   9.93e-01  3.00e+04        1    5.26e-03    1.48e-02
   2  5.209847e+02    3.23e+01    1.75e+04   2.55e+01   9.42e-01  9.00e+04        1    4.88e-03    1.97e-02
   3  5.132785e+02    7.71e+00    1.44e+03   1.52e+01   1.00e+00  2.70e+05        1    4.89e-03    2.46e-02
   4  5.129622e+02    3.16e-01    2.45e+02   4.35e+00   1.01e+00  8.10e+05        1    4.96e-03    2.96e-02
   5  5.129515e+02    1.07e-02    6.51e+02   2.10e+00   8.91e-01  1.55e+06        1    4.93e-03    3.45e-02
   6  5.129448e+02    6.70e-03    1.73e+03   3.28e+00   3.91e-01  1.54e+06        1    4.92e-03    3.95e-02
   7  5.129285e+02    1.62e-02    1.68e+03   3.22e+00   6.24e-01  1.56e+06        1    4.91e-03    4.44e-02
   8  5.129133e+02    1.52e-02    1.73e+03   3.27e+00   5.95e-01  1.57e+06        1    4.93e-03    4.93e-02
   9  5.128977e+02    1.56e-02    1.75e+03   3.28e+00   5.95e-01  1.58e+06        1    4.92e-03    5.42e-02
  10  5.128820e+02    1.57e-02    1.78e+03   3.30e+00   5.91e-01  1.59e+06        1    4.95e-03    5.92e-02
  11  5.128662e+02    1.58e-02    1.80e+03   3.31e+00   5.87e-01  1.60e+06        1    5.05e-03    6.43e-02
  12  5.128503e+02    1.59e-02    1.82e+03   3.33e+00   5.84e-01  1.61e+06        1    5.17e-03    6.94e-02
  13  5.128343e+02    1.60e-02    1.84e+03   3.34e+00   5.81e-01  1.62e+06        1    5.84e-03    7.53e-02
  14  5.128183e+02    1.60e-02    1.86e+03   3.35e+00   5.79e-01  1.62e+06        1    6.53e-03    8.19e-02
  15  5.128022e+02    1.61e-02    1.88e+03   3.35e+00   5.77e-01  1.63e+06        1    7.17e-03    8.91e-02
  16  5.127860e+02    1.61e-02    1.89e+03   3.36e+00   5.75e-01  1.63e+06        1    7.10e-03    9.62e-02
  17  5.127698e+02    1.62e-02    1.90e+03   3.36e+00   5.73e-01  1.64e+06        1    5.90e-03    1.02e-01
  18  5.127536e+02    1.62e-02    1.92e+03   3.37e+00   5.71e-01  1.64e+06        1    5.06e-03    1.07e-01
  19  5.127374e+02    1.63e-02    1.93e+03   3.37e+00   5.69e-01  1.65e+06        1    5.03e-03    1.12e-01
  20  5.127211e+02    1.63e-02    1.94e+03   3.38e+00   5.68e-01  1.65e+06        1    5.00e-03    1.17e-01
  21  5.127048e+02    1.63e-02    1.95e+03   3.38e+00   5.67e-01  1.66e+06        1    4.92e-03    1.22e-01
  22  5.126884e+02    1.63e-02    1.96e+03   3.38e+00   5.66e-01  1.66e+06        1    4.91e-03    1.27e-01
  23  5.126721e+02    1.63e-02    1.97e+03   3.38e+00   5.64e-01  1.66e+06        1    4.90e-03    1.32e-01
  24  5.126557e+02    1.64e-02    1.98e+03   3.38e+00   5.63e-01  1.67e+06        1    4.92e-03    1.37e-01
  25  5.126394e+02    1.64e-02    1.99e+03   3.38e+00   5.62e-01  1.67e+06        1    4.91e-03    1.42e-01
  26  5.126230e+02    1.64e-02    2.00e+03   3.38e+00   5.62e-01  1.67e+06        1    4.91e-03    1.47e-01
  27  5.126066e+02    1.64e-02    2.01e+03   3.38e+00   5.61e-01  1.68e+06        1    4.91e-03    1.52e-01
  28  5.125903e+02    1.64e-02    2.02e+03   3.38e+00   5.60e-01  1.68e+06        1    4.88e-03    1.57e-01
  29  5.125739e+02    1.64e-02    2.02e+03   3.38e+00   5.59e-01  1.68e+06        1    4.96e-03    1.62e-01
  30  5.125575e+02    1.64e-02    2.03e+03   3.38e+00   5.59e-01  1.69e+06        1    4.91e-03    1.66e-01
  31  5.125411e+02    1.64e-02    2.04e+03   3.38e+00   5.58e-01  1.69e+06        1    4.89e-03    1.71e-01
  32  5.125247e+02    1.64e-02    2.04e+03   3.38e+00   5.57e-01  1.69e+06        1    4.90e-03    1.76e-01
  33  5.125084e+02    1.64e-02    2.05e+03   3.38e+00   5.57e-01  1.69e+06        1    4.92e-03    1.81e-01
  34  5.124920e+02    1.64e-02    2.06e+03   3.37e+00   5.56e-01  1.70e+06        1    4.89e-03    1.86e-01
  35  5.124757e+02    1.64e-02    2.06e+03   3.37e+00   5.56e-01  1.70e+06        1    4.99e-03    1.91e-01
  36  5.124593e+02    1.63e-02    2.07e+03   3.37e+00   5.55e-01  1.70e+06        1    4.88e-03    1.96e-01
  37  5.124430e+02    1.63e-02    2.07e+03   3.37e+00   5.55e-01  1.70e+06        1    4.97e-03    2.01e-01
  38  5.124267e+02    1.63e-02    2.08e+03   3.36e+00   5.55e-01  1.70e+06        1    4.91e-03    2.06e-01
  39  5.124104e+02    1.63e-02    2.09e+03   3.36e+00   5.54e-01  1.71e+06        1    4.91e-03    2.11e-01
  40  5.123941e+02    1.63e-02    2.09e+03   3.36e+00   5.54e-01  1.71e+06        1    4.91e-03    2.16e-01
  41  5.123778e+02    1.63e-02    2.10e+03   3.35e+00   5.54e-01  1.71e+06        1    4.97e-03    2.21e-01
  42  5.123615e+02    1.63e-02    2.10e+03   3.35e+00   5.53e-01  1.71e+06        1    4.96e-03    2.26e-01
  43  5.123453e+02    1.62e-02    2.11e+03   3.35e+00   5.53e-01  1.71e+06        1    4.91e-03    2.31e-01
  44  5.123291e+02    1.62e-02    2.11e+03   3.34e+00   5.53e-01  1.72e+06        1    4.90e-03    2.35e-01
  45  5.123129e+02    1.62e-02    2.11e+03   3.34e+00   5.53e-01  1.72e+06        1    4.99e-03    2.40e-01
  46  5.122967e+02    1.62e-02    2.12e+03   3.34e+00   5.52e-01  1.72e+06        1    4.94e-03    2.45e-01
  47  5.122805e+02    1.62e-02    2.12e+03   3.33e+00   5.52e-01  1.72e+06        1    4.90e-03    2.50e-01
  48  5.122644e+02    1.61e-02    2.13e+03   3.33e+00   5.52e-01  1.72e+06        1    4.90e-03    2.55e-01
  49  5.122482e+02    1.61e-02    2.13e+03   3.33e+00   5.52e-01  1.73e+06        1    4.90e-03    2.60e-01
  50  5.122321e+02    1.61e-02    2.14e+03   3.32e+00   5.52e-01  1.73e+06        1    4.92e-03    2.65e-01
  51  5.122161e+02    1.61e-02    2.14e+03   3.32e+00   5.52e-01  1.73e+06        1    4.87e-03    2.70e-01
  52  5.122000e+02    1.61e-02    2.14e+03   3.31e+00   5.52e-01  1.73e+06        1    4.92e-03    2.75e-01
  53  5.121840e+02    1.60e-02    2.15e+03   3.31e+00   5.51e-01  1.73e+06        1    4.90e-03    2.80e-01
  54  5.121680e+02    1.60e-02    2.15e+03   3.31e+00   5.51e-01  1.74e+06        1    4.96e-03    2.85e-01
  55  5.121520e+02    1.60e-02    2.15e+03   3.30e+00   5.51e-01  1.74e+06        1    4.91e-03    2.90e-01
  56  5.121361e+02    1.59e-02    2.16e+03   3.30e+00   5.51e-01  1.74e+06        1    4.90e-03    2.95e-01
  57  5.121202e+02    1.59e-02    2.16e+03   3.29e+00   5.51e-01  1.74e+06        1    4.94e-03    3.00e-01
  58  5.121043e+02    1.59e-02    2.16e+03   3.29e+00   5.51e-01  1.74e+06        1    4.91e-03    3.04e-01
  59  5.120884e+02    1.59e-02    2.17e+03   3.28e+00   5.51e-01  1.75e+06        1    4.91e-03    3.09e-01
  60  5.120726e+02    1.58e-02    2.17e+03   3.28e+00   5.51e-01  1.75e+06        1    4.89e-03    3.14e-01
  61  5.120568e+02    1.58e-02    2.17e+03   3.27e+00   5.51e-01  1.75e+06        1    4.92e-03    3.19e-01
  62  5.120410e+02    1.58e-02    2.17e+03   3.27e+00   5.51e-01  1.75e+06        1    4.91e-03    3.24e-01
  63  5.120253e+02    1.57e-02    2.18e+03   3.26e+00   5.51e-01  1.75e+06        1    5.04e-03    3.29e-01
  64  5.120096e+02    1.57e-02    2.18e+03   3.26e+00   5.51e-01  1.76e+06        1    4.95e-03    3.34e-01
  65  5.119939e+02    1.57e-02    2.18e+03   3.25e+00   5.51e-01  1.76e+06        1    4.97e-03    3.39e-01
  66  5.119783e+02    1.56e-02    2.18e+03   3.25e+00   5.51e-01  1.76e+06        1    4.91e-03    3.44e-01
  67  5.119627e+02    1.56e-02    2.19e+03   3.24e+00   5.51e-01  1.76e+06        1    4.95e-03    3.49e-01
  68  5.119471e+02    1.56e-02    2.19e+03   3.24e+00   5.51e-01  1.76e+06        1    4.94e-03    3.54e-01
  69  5.119316e+02    1.55e-02    2.19e+03   3.23e+00   5.52e-01  1.76e+06        1    4.97e-03    3.59e-01
  70  5.119161e+02    1.55e-02    2.19e+03   3.23e+00   5.52e-01  1.77e+06        1    4.94e-03    3.64e-01
  71  5.119006e+02    1.55e-02    2.19e+03   3.22e+00   5.52e-01  1.77e+06        1    4.92e-03    3.69e-01
  72  5.118852e+02    1.54e-02    2.20e+03   3.22e+00   5.52e-01  1.77e+06        1    4.92e-03    3.74e-01
  73  5.118698e+02    1.54e-02    2.20e+03   3.21e+00   5.52e-01  1.77e+06        1    4.91e-03    3.79e-01
  74  5.118545e+02    1.53e-02    2.20e+03   3.21e+00   5.52e-01  1.77e+06        1    4.90e-03    3.83e-01
  75  5.118392e+02    1.53e-02    2.20e+03   3.20e+00   5.52e-01  1.78e+06        1    4.91e-03    3.88e-01
  76  5.118239e+02    1.53e-02    2.20e+03   3.19e+00   5.52e-01  1.78e+06        1    4.92e-03    3.93e-01
  77  5.118087e+02    1.52e-02    2.20e+03   3.19e+00   5.52e-01  1.78e+06        1    4.91e-03    3.98e-01
  78  5.117935e+02    1.52e-02    2.21e+03   3.18e+00   5.52e-01  1.78e+06        1    4.90e-03    4.03e-01
  79  5.117783e+02    1.52e-02    2.21e+03   3.18e+00   5.53e-01  1.78e+06        1    4.88e-03    4.08e-01
  80  5.117632e+02    1.51e-02    2.21e+03   3.17e+00   5.53e-01  1.79e+06        1    4.95e-03    4.13e-01
  81  5.117481e+02    1.51e-02    2.21e+03   3.17e+00   5.53e-01  1.79e+06        1    4.92e-03    4.18e-01
  82  5.117331e+02    1.50e-02    2.21e+03   3.16e+00   5.53e-01  1.79e+06        1    4.91e-03    4.23e-01
  83  5.117181e+02    1.50e-02    2.21e+03   3.16e+00   5.53e-01  1.79e+06        1    4.97e-03    4.28e-01
  84  5.117032e+02    1.49e-02    2.21e+03   3.15e+00   5.53e-01  1.80e+06        1    4.93e-03    4.33e-01
  85  5.116883e+02    1.49e-02    2.21e+03   3.14e+00   5.53e-01  1.80e+06        1    4.87e-03    4.38e-01
  86  5.116734e+02    1.49e-02    2.22e+03   3.14e+00   5.54e-01  1.80e+06        1    4.91e-03    4.43e-01
  87  5.116586e+02    1.48e-02    2.22e+03   3.13e+00   5.54e-01  1.80e+06        1    4.91e-03    4.47e-01
  88  5.116438e+02    1.48e-02    2.22e+03   3.13e+00   5.54e-01  1.80e+06        1    4.87e-03    4.52e-01
  89  5.116291e+02    1.47e-02    2.22e+03   3.12e+00   5.54e-01  1.81e+06        1    4.92e-03    4.57e-01
  90  5.116144e+02    1.47e-02    2.22e+03   3.11e+00   5.54e-01  1.81e+06        1    4.95e-03    4.62e-01
  91  5.115998e+02    1.46e-02    2.22e+03   3.11e+00   5.54e-01  1.81e+06        1    4.87e-03    4.67e-01
  92  5.115852e+02    1.46e-02    2.22e+03   3.10e+00   5.55e-01  1.81e+06        1    4.88e-03    4.72e-01
  93  5.115707e+02    1.45e-02    2.22e+03   3.10e+00   5.55e-01  1.82e+06        1    4.92e-03    4.77e-01
  94  5.115562e+02    1.45e-02    2.22e+03   3.09e+00   5.55e-01  1.82e+06        1    4.88e-03    4.82e-01
  95  5.115417e+02    1.44e-02    2.22e+03   3.09e+00   5.55e-01  1.82e+06        1    4.94e-03    4.87e-01
  96  5.115273e+02    1.44e-02    2.22e+03   3.08e+00   5.55e-01  1.82e+06        1    4.91e-03    4.92e-01
  97  5.115130e+02    1.44e-02    2.22e+03   3.07e+00   5.56e-01  1.83e+06        1    4.95e-03    4.97e-01
  98  5.114987e+02    1.43e-02    2.22e+03   3.07e+00   5.56e-01  1.83e+06        1    4.89e-03    5.02e-01
  99  5.114844e+02    1.43e-02    2.22e+03   3.06e+00   5.56e-01  1.83e+06        1    4.91e-03    5.06e-01
 100  5.114702e+02    1.42e-02    2.22e+03   3.05e+00   5.56e-01  1.83e+06        1    4.89e-03    5.11e-01


Bundle adjustment report
------------------------
    Residuals : 6232
   Parameters : 4681
   Iterations : 101
         Time : 0.511646 [s]
 Initial cost : 0.435127 [px]
   Final cost : 0.286481 [px]
  Termination : No convergence

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

==============================================================================
Registering image #22 (3)
==============================================================================

  => Image sees 1182 / 7877 points

Pose refinement report
----------------------
    Residuals : 2358
   Parameters : 8
   Iterations : 8
         Time : 0.0195541 [s]
 Initial cost : 0.722268 [px]
   Final cost : 0.375681 [px]
  Termination : Convergence

  => Continued observations: 1179
  => Added observations: 2991

Bundle adjustment report
------------------------
    Residuals : 14572
   Parameters : 8527
   Iterations : 26
         Time : 0.338083 [s]
 Initial cost : 0.467512 [px]
   Final cost : 0.331992 [px]
  Termination : No convergence

  => Merged observations: 0
  => Completed observations: 842
  => Filtered observations: 64
  => Changed observations: 0.124348

Bundle adjustment report
------------------------
    Residuals : 16088
   Parameters : 9526
   Iterations : 26
         Time : 0.384793 [s]
 Initial cost : 0.366258 [px]
   Final cost : 0.354485 [px]
  Termination : No convergence

  => Merged observations: 0
  => Completed observations: 758
  => Filtered observations: 4
  => Changed observations: 0.094729

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

  => Merged observations: 3
  => 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  2.472184e+03    0.00e+00    2.20e+04   0.00e+00   0.00e+00  1.00e+04        0    1.15e-02    2.56e-02
   1  2.451654e+03    2.05e+01    8.03e+02   6.02e+00   1.00e+00  3.00e+04        1    1.65e-02    4.22e-02
   2  2.451028e+03    6.27e-01    2.35e+02   4.22e+00   1.01e+00  9.00e+04        1    1.59e-02    5.81e-02
   3  2.450829e+03    1.98e-01    8.35e+02   6.42e+00   9.98e-01  2.70e+05        1    1.57e-02    7.38e-02
   4  2.450421e+03    4.09e-01    6.69e+03   1.87e+01   9.20e-01  6.60e+05        1    1.57e-02    8.96e-02
   5  2.450462e+03   -4.15e-02    0.00e+00   4.48e+01  -3.84e-02  3.30e+05        1    5.20e-03    9.48e-02
   6  2.449926e+03    4.95e-01    9.52e+03   2.26e+01   8.72e-01  5.63e+05        1    1.56e-02    1.10e-01
   7  2.449549e+03    3.76e-01    2.66e+04   3.77e+01   3.96e-01  5.58e+05        1    1.57e-02    1.26e-01
   8  2.448653e+03    8.97e-01    2.53e+04   3.64e+01   6.32e-01  5.68e+05        1    1.57e-02    1.42e-01
   9  2.447829e+03    8.24e-01    2.53e+04   3.61e+01   6.09e-01  5.74e+05        1    1.58e-02    1.58e-01
  10  2.447007e+03    8.22e-01    2.50e+04   3.56e+01   6.14e-01  5.81e+05        1    1.57e-02    1.73e-01
  11  2.446206e+03    8.01e-01    2.47e+04   3.51e+01   6.12e-01  5.88e+05        1    1.57e-02    1.89e-01
  12  2.445422e+03    7.84e-01    2.44e+04   3.46e+01   6.12e-01  5.94e+05        1    1.57e-02    2.05e-01
  13  2.444657e+03    7.65e-01    2.40e+04   3.41e+01   6.11e-01  6.01e+05        1    1.57e-02    2.21e-01
  14  2.443910e+03    7.46e-01    2.37e+04   3.35e+01   6.11e-01  6.07e+05        1    1.58e-02    2.36e-01
  15  2.443183e+03    7.28e-01    2.33e+04   3.30e+01   6.11e-01  6.14e+05        1    1.58e-02    2.52e-01
  16  2.442474e+03    7.09e-01    2.29e+04   3.25e+01   6.11e-01  6.21e+05        1    1.55e-02    2.68e-01
  17  2.441784e+03    6.90e-01    2.25e+04   3.20e+01   6.11e-01  6.28e+05        1    1.54e-02    2.83e-01
  18  2.441112e+03    6.71e-01    2.21e+04   3.15e+01   6.12e-01  6.35e+05        1    1.68e-02    3.00e-01
  19  2.440459e+03    6.53e-01    2.17e+04   3.10e+01   6.12e-01  6.42e+05        1    1.87e-02    3.19e-01
  20  2.439825e+03    6.35e-01    2.13e+04   3.05e+01   6.13e-01  6.50e+05        1    1.89e-02    3.38e-01
  21  2.439208e+03    6.16e-01    2.09e+04   3.00e+01   6.13e-01  6.57e+05        1    1.88e-02    3.56e-01
  22  2.438610e+03    5.98e-01    2.06e+04   2.95e+01   6.14e-01  6.65e+05        1    1.88e-02    3.75e-01
  23  2.438030e+03    5.81e-01    2.02e+04   2.90e+01   6.14e-01  6.73e+05        1    1.89e-02    3.94e-01
  24  2.437466e+03    5.63e-01    1.98e+04   2.85e+01   6.15e-01  6.82e+05        1    1.89e-02    4.13e-01
  25  2.436921e+03    5.46e-01    1.94e+04   2.81e+01   6.16e-01  6.90e+05        1    1.88e-02    4.32e-01
  26  2.436392e+03    5.29e-01    1.90e+04   2.76e+01   6.16e-01  6.99e+05        1    1.88e-02    4.51e-01
  27  2.435880e+03    5.12e-01    1.86e+04   2.71e+01   6.17e-01  7.08e+05        1    1.96e-02    4.70e-01
  28  2.435384e+03    4.96e-01    1.82e+04   2.67e+01   6.18e-01  7.18e+05        1    1.91e-02    4.89e-01
  29  2.434904e+03    4.80e-01    1.78e+04   2.63e+01   6.19e-01  7.27e+05        1    2.30e-02    5.12e-01
  30  2.434441e+03    4.64e-01    1.75e+04   2.58e+01   6.20e-01  7.37e+05        1    2.06e-02    5.33e-01
  31  2.433992e+03    4.48e-01    1.71e+04   2.54e+01   6.20e-01  7.48e+05        1    1.57e-02    5.49e-01
  32  2.433560e+03    4.33e-01    1.67e+04   2.50e+01   6.21e-01  7.59e+05        1    1.57e-02    5.64e-01
  33  2.433142e+03    4.18e-01    1.63e+04   2.46e+01   6.22e-01  7.70e+05        1    1.55e-02    5.80e-01
  34  2.432739e+03    4.03e-01    1.60e+04   2.42e+01   6.23e-01  7.81e+05        1    1.56e-02    5.96e-01
  35  2.432350e+03    3.89e-01    1.56e+04   2.38e+01   6.24e-01  7.94e+05        1    1.55e-02    6.11e-01
  36  2.431976e+03    3.74e-01    1.52e+04   2.34e+01   6.25e-01  8.06e+05        1    1.55e-02    6.27e-01
  37  2.431616e+03    3.60e-01    1.49e+04   2.30e+01   6.26e-01  8.19e+05        1    1.54e-02    6.42e-01
  38  2.431269e+03    3.47e-01    1.45e+04   2.26e+01   6.27e-01  8.33e+05        1    1.57e-02    6.58e-01
  39  2.430935e+03    3.34e-01    1.42e+04   2.22e+01   6.28e-01  8.47e+05        1    1.56e-02    6.73e-01
  40  2.430615e+03    3.20e-01    1.38e+04   2.18e+01   6.29e-01  8.61e+05        1    1.56e-02    6.89e-01
  41  2.430307e+03    3.08e-01    1.35e+04   2.14e+01   6.30e-01  8.77e+05        1    1.56e-02    7.04e-01
  42  2.430012e+03    2.95e-01    1.32e+04   2.11e+01   6.31e-01  8.92e+05        1    1.55e-02    7.20e-01
  43  2.429729e+03    2.83e-01    1.28e+04   2.07e+01   6.32e-01  9.09e+05        1    1.55e-02    7.35e-01
  44  2.429458e+03    2.71e-01    1.25e+04   2.03e+01   6.33e-01  9.26e+05        1    1.62e-02    7.52e-01
  45  2.429198e+03    2.59e-01    1.22e+04   2.00e+01   6.34e-01  9.44e+05        1    1.59e-02    7.68e-01
  46  2.428950e+03    2.48e-01    1.18e+04   1.96e+01   6.35e-01  9.63e+05        1    1.56e-02    7.83e-01
  47  2.428714e+03    2.37e-01    1.15e+04   1.93e+01   6.36e-01  9.83e+05        1    1.56e-02    7.99e-01
  48  2.428488e+03    2.26e-01    1.12e+04   1.89e+01   6.37e-01  1.00e+06        1    1.55e-02    8.14e-01
  49  2.428272e+03    2.15e-01    1.09e+04   1.86e+01   6.38e-01  1.03e+06        1    1.54e-02    8.30e-01
  50  2.428067e+03    2.05e-01    1.05e+04   1.82e+01   6.40e-01  1.05e+06        1    1.55e-02    8.45e-01
  51  2.427872e+03    1.95e-01    1.02e+04   1.79e+01   6.41e-01  1.07e+06        1    1.55e-02    8.61e-01
  52  2.427686e+03    1.85e-01    9.92e+03   1.76e+01   6.42e-01  1.10e+06        1    1.59e-02    8.77e-01
  53  2.427511e+03    1.76e-01    9.61e+03   1.72e+01   6.43e-01  1.12e+06        1    1.59e-02    8.93e-01
  54  2.427344e+03    1.67e-01    9.31e+03   1.69e+01   6.45e-01  1.15e+06        1    1.56e-02    9.08e-01
  55  2.427186e+03    1.58e-01    9.00e+03   1.66e+01   6.46e-01  1.18e+06        1    1.56e-02    9.24e-01
  56  2.427037e+03    1.49e-01    8.70e+03   1.62e+01   6.48e-01  1.21e+06        1    1.55e-02    9.39e-01
  57  2.426897e+03    1.40e-01    8.41e+03   1.59e+01   6.49e-01  1.25e+06        1    1.55e-02    9.55e-01
  58  2.426765e+03    1.32e-01    8.11e+03   1.56e+01   6.51e-01  1.28e+06        1    1.55e-02    9.70e-01
  59  2.426640e+03    1.24e-01    7.82e+03   1.52e+01   6.52e-01  1.32e+06        1    1.54e-02    9.86e-01
  60  2.426524e+03    1.17e-01    7.53e+03   1.49e+01   6.54e-01  1.36e+06        1    1.55e-02    1.00e+00
  61  2.426414e+03    1.09e-01    7.25e+03   1.46e+01   6.56e-01  1.40e+06        1    1.55e-02    1.02e+00
  62  2.426312e+03    1.02e-01    6.97e+03   1.42e+01   6.57e-01  1.44e+06        1    1.55e-02    1.03e+00
  63  2.426217e+03    9.53e-02    6.69e+03   1.39e+01   6.59e-01  1.49e+06        1    1.55e-02    1.05e+00
  64  2.426128e+03    8.86e-02    6.41e+03   1.36e+01   6.61e-01  1.54e+06        1    1.56e-02    1.06e+00
  65  2.426046e+03    8.23e-02    6.13e+03   1.32e+01   6.63e-01  1.60e+06        1    1.54e-02    1.08e+00
  66  2.425970e+03    7.61e-02    5.86e+03   1.29e+01   6.65e-01  1.66e+06        1    1.57e-02    1.09e+00
  67  2.425900e+03    7.03e-02    5.59e+03   1.26e+01   6.67e-01  1.72e+06        1    1.57e-02    1.11e+00
  68  2.425835e+03    6.46e-02    5.33e+03   1.23e+01   6.70e-01  1.79e+06        1    1.57e-02    1.13e+00
  69  2.425776e+03    5.93e-02    5.06e+03   1.19e+01   6.72e-01  1.87e+06        1    1.55e-02    1.14e+00
  70  2.425721e+03    5.42e-02    4.81e+03   1.16e+01   6.75e-01  1.95e+06        1    1.56e-02    1.16e+00
  71  2.425672e+03    4.93e-02    4.55e+03   1.12e+01   6.77e-01  2.04e+06        1    1.57e-02    1.17e+00
  72  2.425628e+03    4.47e-02    4.29e+03   1.09e+01   6.80e-01  2.14e+06        1    1.55e-02    1.19e+00
  73  2.425587e+03    4.03e-02    4.04e+03   1.06e+01   6.83e-01  2.26e+06        1    1.56e-02    1.20e+00
  74  2.425551e+03    3.61e-02    3.80e+03   1.02e+01   6.86e-01  2.38e+06        1    1.55e-02    1.22e+00
  75  2.425519e+03    3.23e-02    3.55e+03   9.85e+00   6.90e-01  2.52e+06        1    1.54e-02    1.23e+00
  76  2.425490e+03    2.86e-02    3.31e+03   9.49e+00   6.93e-01  2.67e+06        1    1.55e-02    1.25e+00
  77  2.425465e+03    2.52e-02    3.07e+03   9.13e+00   6.97e-01  2.85e+06        1    1.55e-02    1.27e+00
  78  2.425443e+03    2.20e-02    2.84e+03   8.76e+00   7.02e-01  3.04e+06        1    1.54e-02    1.28e+00
  79  2.425424e+03    1.90e-02    2.61e+03   8.38e+00   7.06e-01  3.27e+06        1    1.55e-02    1.30e+00
  80  2.425408e+03    1.63e-02    2.38e+03   8.00e+00   7.11e-01  3.54e+06        1    1.54e-02    1.31e+00
  81  2.425394e+03    1.38e-02    2.16e+03   7.61e+00   7.17e-01  3.85e+06        1    1.54e-02    1.33e+00
  82  2.425382e+03    1.16e-02    1.95e+03   7.21e+00   7.23e-01  4.23e+06        1    1.56e-02    1.34e+00
  83  2.425373e+03    9.53e-03    1.73e+03   6.79e+00   7.29e-01  4.68e+06        1    1.55e-02    1.36e+00
  84  2.425365e+03    7.70e-03    1.53e+03   6.37e+00   7.37e-01  5.24e+06        1    1.56e-02    1.37e+00
  85  2.425359e+03    6.09e-03    1.33e+03   5.92e+00   7.46e-01  5.94e+06        1    1.56e-02    1.39e+00
  86  2.425354e+03    4.68e-03    1.13e+03   5.46e+00   7.56e-01  6.86e+06        1    1.56e-02    1.41e+00
  87  2.425351e+03    3.48e-03    9.43e+02   4.98e+00   7.67e-01  8.10e+06        1    1.56e-02    1.42e+00
  88  2.425348e+03    2.48e-03    7.63e+02   4.48e+00   7.81e-01  9.86e+06        1    1.54e-02    1.44e+00
  89  2.425347e+03    1.66e-03    5.93e+02   3.95e+00   7.98e-01  1.25e+07        1    1.55e-02    1.45e+00
  90  2.425346e+03    1.03e-03    4.34e+02   3.37e+00   8.20e-01  1.70e+07        1    1.59e-02    1.47e+00
  91  2.425345e+03    5.63e-04    2.90e+02   2.76e+00   8.47e-01  2.55e+07        1    1.56e-02    1.48e+00
  92  2.425345e+03    2.55e-04    1.66e+02   2.08e+00   8.83e-01  4.64e+07        1    1.57e-02    1.50e+00
  93  2.425345e+03    8.15e-05    6.96e+01   1.35e+00   9.29e-01  1.27e+08        1    1.55e-02    1.51e+00
  94  2.425345e+03    1.30e-05    1.45e+01   6.14e-01   9.75e-01  3.80e+08        1    1.55e-02    1.53e+00
  95  2.425345e+03    4.44e-07    1.91e+00   1.10e-01   9.95e-01  1.14e+09        1    1.56e-02    1.55e+00
  96  2.425345e+03    8.87e-10    3.24e-02   5.78e-03   1.03e+00  3.42e+09        1    1.55e-02    1.56e+00


Bundle adjustment report
------------------------
    Residuals : 17596
   Parameters : 10591
   Iterations : 97
         Time : 1.56186 [s]
 Initial cost : 0.374829 [px]
   Final cost : 0.371261 [px]
  Termination : Convergence

  => Merged observations: 0
  => Completed observations: 0
  => Filtered observations: 6
  => Changed observations: 0.000682

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  2.374431e+03    0.00e+00    8.08e+02   0.00e+00   0.00e+00  1.00e+04        0    1.10e-02    2.50e-02
   1  2.363903e+03    1.05e+01    1.32e+02   8.51e-01   1.00e+00  3.00e+04        1    1.67e-02    4.18e-02
   2  2.363876e+03    2.73e-02    8.15e+01   5.65e-01   1.02e+00  9.00e+04        1    1.57e-02    5.75e-02
   3  2.363872e+03    3.39e-03    2.77e+01   3.78e-01   1.04e+00  2.70e+05        1    1.57e-02    7.32e-02
   4  2.363872e+03    4.12e-04    8.09e+00   1.85e-01   1.03e+00  8.10e+05        1    1.57e-02    8.89e-02
   5  2.363872e+03    2.60e-04    1.23e+01   5.01e-01   1.00e+00  2.43e+06        1    1.56e-02    1.05e-01
   6  2.363871e+03    6.40e-04    7.72e+01   1.42e+00   9.88e-01  7.29e+06        1    1.57e-02    1.20e-01
   7  2.363870e+03    1.08e-03    4.22e+02   3.33e+00   8.33e-01  1.04e+07        1    1.56e-02    1.36e-01
   8  2.363869e+03    9.68e-04    4.34e+02   3.37e+00   8.08e-01  1.35e+07        1    1.56e-02    1.51e-01
   9  2.363868e+03    6.82e-04    3.18e+02   2.88e+00   8.46e-01  2.02e+07        1    1.56e-02    1.67e-01
  10  2.363868e+03    3.60e-04    2.23e+02   2.41e+00   8.54e-01  3.13e+07        1    1.56e-02    1.83e-01
  11  2.363868e+03    1.53e-04    1.08e+02   1.68e+00   9.11e-01  7.06e+07        1    1.56e-02    1.98e-01
  12  2.363868e+03    3.70e-05    3.86e+01   1.00e+00   9.47e-01  2.12e+08        1    1.57e-02    2.14e-01
  13  2.363868e+03    3.51e-06    3.79e+00   3.13e-01   9.88e-01  6.36e+08        1    1.61e-02    2.30e-01
  14  2.363868e+03    3.29e-08    3.27e-01   3.12e-02   9.95e-01  1.91e+09        1    1.56e-02    2.46e-01
  15  2.363868e+03   -9.09e-13    0.00e+00   7.53e-04  -4.74e-01  9.53e+08        1    5.16e-03    2.51e-01
  16  2.363868e+03    3.00e-11    3.30e-03   7.43e-04   9.91e-01  2.86e+09        1    1.53e-02    2.66e-01


Bundle adjustment report
------------------------
    Residuals : 17580
   Parameters : 10585
   Iterations : 17
         Time : 0.267012 [s]
 Initial cost : 0.367511 [px]
   Final cost : 0.366693 [px]
  Termination : Convergence

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

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

  => Image sees 2359 / 7862 points

Pose refinement report
----------------------
    Residuals : 4700
   Parameters : 6
   Iterations : 9
         Time : 0.0447199 [s]
 Initial cost : 0.468929 [px]
   Final cost : 0.42462 [px]
  Termination : Convergence

  => Continued observations: 2350
  => Added observations: 4223

Bundle adjustment report
------------------------
    Residuals : 30726
   Parameters : 16024
   Iterations : 15
         Time : 0.467692 [s]
 Initial cost : 0.410202 [px]
   Final cost : 0.384703 [px]
  Termination : Convergence

  => Merged observations: 4
  => Completed observations: 191
  => Filtered observations: 163
  => Changed observations: 0.023303

Bundle adjustment report
------------------------
    Residuals : 30744
   Parameters : 15967
   Iterations : 15
         Time : 0.464729 [s]
 Initial cost : 0.425208 [px]
   Final cost : 0.409452 [px]
  Termination : Convergence

  => Merged observations: 0
  => Completed observations: 65
  => Filtered observations: 0
  => Changed observations: 0.004228

==============================================================================
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  5.376354e+03    0.00e+00    3.11e+03   0.00e+00   0.00e+00  1.00e+04        0    2.09e-02    4.77e-02
   1  5.363285e+03    1.31e+01    5.64e+01   1.40e+00   1.00e+00  3.00e+04        1    3.28e-02    8.05e-02
   2  5.363252e+03    3.24e-02    5.95e+00   4.78e-01   1.01e+00  9.00e+04        1    2.98e-02    1.10e-01
   3  5.363250e+03    2.42e-03    1.98e+00   2.58e-01   1.00e+00  2.70e+05        1    2.98e-02    1.40e-01
   4  5.363250e+03    1.37e-04    1.99e+00   1.57e-01   1.00e+00  8.10e+05        1    2.98e-02    1.70e-01
   5  5.363250e+03    7.60e-05    2.61e+00   2.63e-01   9.96e-01  2.43e+06        1    2.97e-02    2.00e-01
   6  5.363249e+03    1.78e-04    2.16e+01   6.75e-01   9.87e-01  7.29e+06        1    2.96e-02    2.29e-01
   7  5.363249e+03    2.90e-04    9.90e+01   1.44e+00   9.49e-01  2.19e+07        1    2.98e-02    2.59e-01
   8  5.363249e+03    2.03e-04    1.71e+02   1.89e+00   8.54e-01  3.40e+07        1    3.17e-02    2.91e-01
   9  5.363249e+03    4.98e-05    3.36e+01   8.39e-01   9.31e-01  9.49e+07        1    3.15e-02    3.22e-01
  10  5.363249e+03    2.82e-06    3.42e+00   2.68e-01   9.05e-01  2.02e+08        1    3.05e-02    3.53e-01
  11  5.363249e+03    1.59e-08    1.70e-01   4.22e-03   1.01e+00  6.06e+08        1    3.04e-02    3.83e-01
  12  5.363249e+03    1.69e-10    3.56e-02   8.01e-04   7.01e+00  1.82e+09        1    3.04e-02    4.14e-01


Bundle adjustment report
------------------------
    Residuals : 30876
   Parameters : 16042
   Iterations : 13
         Time : 0.414886 [s]
 Initial cost : 0.417286 [px]
   Final cost : 0.416777 [px]
  Termination : Convergence

  => Merged observations: 0
  => Completed observations: 0
  => Filtered observations: 10
  => Changed observations: 0.000648

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  5.286109e+03    0.00e+00    3.70e+02   0.00e+00   0.00e+00  1.00e+04        0    2.08e-02    4.73e-02
   1  5.285811e+03    2.98e-01    1.39e+02   8.19e-01   1.00e+00  3.00e+04        1    3.21e-02    7.94e-02
   2  5.285787e+03    2.39e-02    5.71e+01   5.87e-01   1.01e+00  9.00e+04        1    3.00e-02    1.09e-01
   3  5.285785e+03    2.12e-03    1.47e+01   2.92e-01   1.02e+00  2.70e+05        1    2.97e-02    1.39e-01
   4  5.285784e+03    1.29e-03    2.22e+01   8.13e-01   1.00e+00  8.10e+05        1    2.97e-02    1.69e-01
   5  5.285780e+03    3.45e-03    1.48e+02   2.42e+00   9.92e-01  2.43e+06        1    2.97e-02    1.99e-01
   6  5.285772e+03    7.74e-03    1.02e+03   6.43e+00   9.13e-01  5.54e+06        1    2.98e-02    2.29e-01
   7  5.285766e+03    6.50e-03    3.08e+03   1.12e+01   5.13e-01  5.54e+06        1    3.58e-02    2.64e-01
   8  5.285755e+03    1.05e-02    1.67e+03   8.20e+00   8.48e-01  8.37e+06        1    3.46e-02    2.99e-01
   9  5.285751e+03    4.45e-03    1.67e+03   8.20e+00   7.01e-01  8.95e+06        1    3.11e-02    3.30e-01
  10  5.285748e+03    3.30e-03    7.57e+02   5.51e+00   8.85e-01  1.65e+07        1    3.07e-02    3.61e-01
  11  5.285747e+03    1.08e-03    6.31e+02   5.03e+00   7.79e-01  2.00e+07        1    3.08e-02    3.92e-01
  12  5.285746e+03    4.48e-04    1.58e+02   2.52e+00   9.38e-01  5.99e+07        1    3.07e-02    4.22e-01
  13  5.285746e+03    5.39e-05    5.61e+01   1.50e+00   8.84e-01  1.10e+08        1    3.06e-02    4.53e-01
  14  5.285746e+03    2.52e-06    9.32e-01   1.69e-01   9.84e-01  3.30e+08        1    3.06e-02    4.84e-01
  15  5.285746e+03    2.13e-09    8.12e-02   2.69e-03   9.99e-01  9.89e+08        1    3.06e-02    5.14e-01


Bundle adjustment report
------------------------
    Residuals : 30846
   Parameters : 16027
   Iterations : 16
         Time : 0.515407 [s]
 Initial cost : 0.41397 [px]
   Final cost : 0.413956 [px]
  Termination : Convergence

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

==============================================================================
Registering image #53 (5)
==============================================================================

  => Image sees 3034 / 7881 points

Pose refinement report
----------------------
    Residuals : 6016
   Parameters : 6
   Iterations : 16
         Time : 0.0806429 [s]
 Initial cost : 0.709772 [px]
   Final cost : 0.639988 [px]
  Termination : Convergence

  => Continued observations: 2993
  => Added observations: 2127

Bundle adjustment report
------------------------
    Residuals : 41086
   Parameters : 18745
   Iterations : 26
         Time : 1.10216 [s]
 Initial cost : 0.520527 [px]
   Final cost : 0.436204 [px]
  Termination : No convergence

  => Merged observations: 90
  => Completed observations: 108
  => Filtered observations: 514
  => Changed observations: 0.034659

Bundle adjustment report
------------------------
    Residuals : 39758
   Parameters : 17986
   Iterations : 9
         Time : 0.399496 [s]
 Initial cost : 0.472541 [px]
   Final cost : 0.457873 [px]
  Termination : Convergence

  => Merged observations: 0
  => Completed observations: 104
  => Filtered observations: 5
  => Changed observations: 0.005483

==============================================================================
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  8.666711e+03    0.00e+00    5.20e+03   0.00e+00   0.00e+00  1.00e+04        0    2.78e-02    6.24e-02
   1  8.624390e+03    4.23e+01    7.83e+01   5.32e+00   1.00e+00  3.00e+04        1    4.46e-02    1.07e-01
   2  8.624265e+03    1.25e-01    2.16e+02   1.46e+00   1.00e+00  9.00e+04        1    4.17e-02    1.49e-01
   3  8.624202e+03    6.32e-02    4.31e+02   2.75e+00   1.00e+00  2.70e+05        1    4.28e-02    1.91e-01
   4  8.624147e+03    5.49e-02    6.20e+02   5.43e+00   1.00e+00  8.10e+05        1    4.25e-02    2.34e-01
   5  8.624121e+03    2.55e-02    4.66e+02   5.41e+00   9.99e-01  2.43e+06        1    4.22e-02    2.76e-01
   6  8.624118e+03    3.00e-03    7.72e+01   2.24e+00   1.00e+00  7.29e+06        1    4.22e-02    3.18e-01
   7  8.624118e+03    6.13e-05    1.76e+00   3.44e-01   1.01e+00  2.19e+07        1    4.22e-02    3.61e-01
   8  8.624118e+03    1.98e-07    1.46e-01   1.94e-02   1.01e+00  6.56e+07        1    4.17e-02    4.02e-01
   9  8.624118e+03    2.33e-10    3.47e-03   5.02e-04   1.37e+00  1.97e+08        1    4.21e-02    4.44e-01


Bundle adjustment report
------------------------
    Residuals : 39948
   Parameters : 18082
   Iterations : 10
         Time : 0.446637 [s]
 Initial cost : 0.465779 [px]
   Final cost : 0.464633 [px]
  Termination : Convergence

  => Merged observations: 1
  => Completed observations: 0
  => Filtered observations: 6
  => Changed observations: 0.000350
  => Filtered images: 0

==============================================================================
Registering image #54 (6)
==============================================================================

  => Image sees 2515 / 5519 points

Pose refinement report
----------------------
    Residuals : 5028
   Parameters : 6
   Iterations : 9
         Time : 0.04196 [s]
 Initial cost : 0.603199 [px]
   Final cost : 0.542458 [px]
  Termination : Convergence

  => Continued observations: 2493
  => Added observations: 1591

Bundle adjustment report
------------------------
    Residuals : 48098
   Parameters : 19987
   Iterations : 26
         Time : 1.36512 [s]
 Initial cost : 0.470195 [px]
   Final cost : 0.452327 [px]
  Termination : No convergence

  => Merged observations: 109
  => Completed observations: 165
  => Filtered observations: 324
  => Changed observations: 0.024866

Bundle adjustment report
------------------------
    Residuals : 47706
   Parameters : 19765
   Iterations : 8
         Time : 0.436804 [s]
 Initial cost : 0.508999 [px]
   Final cost : 0.49505 [px]
  Termination : Convergence

  => Merged observations: 6
  => Completed observations: 110
  => Filtered observations: 1
  => Changed observations: 0.004905

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

  => Merged observations: 6
  => 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  1.202702e+04    0.00e+00    5.32e+03   0.00e+00   0.00e+00  1.00e+04        0    3.42e-02    7.57e-02
   1  1.199116e+04    3.59e+01    4.01e+00   4.31e+00   1.00e+00  3.00e+04        1    5.80e-02    1.34e-01
   2  1.199112e+04    4.37e-02    1.69e+01   7.18e-01   1.00e+00  9.00e+04        1    5.28e-02    1.86e-01
   3  1.199111e+04    4.52e-03    2.54e+01   5.42e-01   1.00e+00  2.70e+05        1    5.28e-02    2.39e-01
   4  1.199111e+04    2.00e-03    2.07e+01   9.02e-01   1.00e+00  8.10e+05        1    5.25e-02    2.92e-01
   5  1.199111e+04    6.09e-04    8.43e+00   7.33e-01   1.00e+00  2.43e+06        1    5.26e-02    3.44e-01
   6  1.199111e+04    4.33e-05    1.66e+00   2.31e-01   1.00e+00  7.29e+06        1    5.44e-02    3.99e-01
   7  1.199111e+04    4.94e-07    1.81e-01   2.60e-02   1.00e+00  2.19e+07        1    5.73e-02    4.56e-01
   8  1.199111e+04    8.75e-10    7.60e-03   1.06e-03   1.01e+00  6.56e+07        1    5.26e-02    5.09e-01


Bundle adjustment report
------------------------
    Residuals : 47936
   Parameters : 19885
   Iterations : 9
         Time : 0.511168 [s]
 Initial cost : 0.500897 [px]
   Final cost : 0.500148 [px]
  Termination : Convergence

  => Merged observations: 0
  => Completed observations: 0
  => Filtered observations: 6
  => Changed observations: 0.000250
  => Filtered images: 0

==============================================================================
Registering image #52 (7)
==============================================================================

  => Image sees 3082 / 7891 points

Pose refinement report
----------------------
    Residuals : 6104
   Parameters : 6
   Iterations : 14
         Time : 0.0700521 [s]
 Initial cost : 0.628336 [px]
   Final cost : 0.570098 [px]
  Termination : Convergence

  => Continued observations: 3033
  => Added observations: 2791

Bundle adjustment report
------------------------
    Residuals : 56000
   Parameters : 18034
   Iterations : 24
         Time : 0.652504 [s]
 Initial cost : 0.507763 [px]
   Final cost : 0.472887 [px]
  Termination : Convergence

  => Merged observations: 101
  => Completed observations: 152
  => Filtered observations: 391
  => Changed observations: 0.023000

Bundle adjustment report
------------------------
    Residuals : 55480
   Parameters : 17833
   Iterations : 3
         Time : 0.131781 [s]
 Initial cost : 0.537165 [px]
   Final cost : 0.524284 [px]
  Termination : Convergence

  => Merged observations: 8
  => Completed observations: 95
  => Filtered observations: 6
  => Changed observations: 0.003929

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

  => Merged observations: 7
  => 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  1.621900e+04    0.00e+00    2.56e+03   0.00e+00   0.00e+00  1.00e+04        0    1.98e-02    7.52e-02
   1  1.609517e+04    1.24e+02    8.28e+02   1.40e+01   1.00e+00  3.00e+04        1    4.53e-02    1.20e-01
   2  1.609363e+04    1.55e+00    1.55e+03   6.63e+00   1.00e+00  9.00e+04        1    3.23e-02    1.53e-01
   3  1.609234e+04    1.29e+00    5.58e+03   1.35e+01   9.94e-01  2.70e+05        1    2.86e-02    1.81e-01
   4  1.609116e+04    1.19e+00    9.98e+03   2.06e+01   9.80e-01  8.10e+05        1    2.86e-02    2.10e-01
   5  1.609077e+04    3.83e-01    5.24e+03   1.53e+01   9.83e-01  2.43e+06        1    2.85e-02    2.39e-01
   6  1.609074e+04    2.97e-02    4.54e+02   4.51e+00   9.98e-01  7.29e+06        1    3.31e-02    2.72e-01
   7  1.609074e+04    2.77e-04    4.81e+00   4.69e-01   1.00e+00  2.19e+07        1    3.01e-02    3.02e-01
   8  1.609074e+04    3.45e-07    1.20e-01   1.68e-02   1.01e+00  6.56e+07        1    2.87e-02    3.31e-01
   9  1.609074e+04    1.55e-10    1.44e-03   2.77e-04   1.12e+00  1.97e+08        1    2.85e-02    3.59e-01


Bundle adjustment report
------------------------
    Residuals : 59230
   Parameters : 23254
   Iterations : 10
         Time : 0.362529 [s]
 Initial cost : 0.523289 [px]
   Final cost : 0.521215 [px]
  Termination : Convergence

  => Merged observations: 3
  => Completed observations: 0
  => Filtered observations: 15
  => Changed observations: 0.000608

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  1.602885e+04    0.00e+00    1.21e+03   0.00e+00   0.00e+00  1.00e+04        0    2.00e-02    8.98e-02
   1  1.601563e+04    1.32e+01    1.72e+00   1.40e+00   1.00e+00  3.00e+04        1    4.36e-02    1.33e-01
   2  1.601561e+04    2.60e-02    1.48e+01   4.65e-01   1.00e+00  9.00e+04        1    3.27e-02    1.66e-01
   3  1.601560e+04    3.70e-03    1.48e+01   2.59e-01   1.01e+00  2.70e+05        1    2.92e-02    1.95e-01
   4  1.601560e+04    7.46e-04    8.00e+00   3.27e-01   1.00e+00  8.10e+05        1    2.83e-02    2.24e-01
   5  1.601560e+04    1.88e-04    2.60e+00   2.56e-01   1.00e+00  2.43e+06        1    2.85e-02    2.52e-01
   6  1.601560e+04    1.19e-05    6.57e-01   7.56e-02   1.00e+00  7.29e+06        1    2.92e-02    2.81e-01
   7  1.601560e+04    1.16e-07    9.40e-02   7.84e-03   1.00e+00  2.19e+07        1    2.94e-02    3.11e-01


Bundle adjustment report
------------------------
    Residuals : 59182
   Parameters : 23227
   Iterations : 8
         Time : 0.314399 [s]
 Initial cost : 0.520423 [px]
   Final cost : 0.520208 [px]
  Termination : Convergence

  => Merged observations: 2
  => Completed observations: 0
  => Filtered observations: 1
  => Changed observations: 0.000101
  => Filtered images: 0

==============================================================================
Registering image #29 (8)
==============================================================================

  => Image sees 3624 / 7323 points

Pose refinement report
----------------------
    Residuals : 7220
   Parameters : 6
   Iterations : 18
         Time : 0.112547 [s]
 Initial cost : 0.635305 [px]
   Final cost : 0.59942 [px]
  Termination : Convergence

  => Continued observations: 3567
  => Added observations: 2211

Bundle adjustment report
------------------------
    Residuals : 63098
   Parameters : 16690
   Iterations : 18
         Time : 0.531364 [s]
 Initial cost : 0.521967 [px]
   Final cost : 0.502901 [px]
  Termination : Convergence

  => Merged observations: 186
  => Completed observations: 279
  => Filtered observations: 501
  => Changed observations: 0.030619

Bundle adjustment report
------------------------
    Residuals : 62618
   Parameters : 16510
   Iterations : 3
         Time : 0.131134 [s]
 Initial cost : 0.57376 [px]
   Final cost : 0.560175 [px]
  Termination : Convergence

  => Merged observations: 25
  => Completed observations: 94
  => Filtered observations: 8
  => Changed observations: 0.004056

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

  => Merged observations: 3
  => Completed observations: 6
  => Retriangulated observations: 0

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  2.216503e+04    0.00e+00    1.35e+05   0.00e+00   0.00e+00  1.00e+04        0    2.30e-02    9.10e-02
   1  2.206935e+04    9.57e+01    1.08e+03   7.20e+00   1.00e+00  3.00e+04        1    5.12e-02    1.42e-01
   2  2.206641e+04    2.94e+00    6.11e+03   7.57e+00   9.99e-01  9.00e+04        1    3.49e-02    1.77e-01
   3  2.206274e+04    3.67e+00    1.45e+04   1.68e+01   9.90e-01  2.70e+05        1    3.43e-02    2.12e-01
   4  2.205975e+04    2.99e+00    2.09e+04   2.37e+01   9.73e-01  8.10e+05        1    3.41e-02    2.46e-01
   5  2.205891e+04    8.38e-01    8.78e+03   1.57e+01   9.83e-01  2.43e+06        1    3.42e-02    2.80e-01
   6  2.205886e+04    5.38e-02    5.91e+02   4.02e+00   1.00e+00  7.29e+06        1    3.47e-02    3.15e-01
   7  2.205886e+04    3.68e-04    5.56e+00   3.66e-01   1.00e+00  2.19e+07        1    3.46e-02    3.49e-01
   8  2.205886e+04    4.28e-07    1.64e-01   1.22e-02   1.02e+00  6.56e+07        1    3.43e-02    3.83e-01
   9  2.205886e+04    2.44e-10    1.99e-03   2.38e-04   7.59e-01  7.63e+07        1    3.42e-02    4.18e-01


Bundle adjustment report
------------------------
    Residuals : 70394
   Parameters : 25747
   Iterations : 10
         Time : 0.422059 [s]
 Initial cost : 0.561134 [px]
   Final cost : 0.559788 [px]
  Termination : Convergence

  => Merged observations: 3
  => Completed observations: 0
  => Filtered observations: 5
  => Changed observations: 0.000227
  => Filtered images: 0

==============================================================================
Registering image #28 (9)
==============================================================================

  => Image sees 3780 / 7356 points

Pose refinement report
----------------------
    Residuals : 7470
   Parameters : 6
   Iterations : 11
         Time : 0.070976 [s]
 Initial cost : 0.612778 [px]
   Final cost : 0.577746 [px]
  Termination : Convergence

  => Continued observations: 3687
  => Added observations: 2192

Bundle adjustment report
------------------------
    Residuals : 70502
   Parameters : 16642
   Iterations : 22
         Time : 0.682554 [s]
 Initial cost : 0.54603 [px]
   Final cost : 0.531928 [px]
  Termination : Convergence

  => Merged observations: 167
  => Completed observations: 246
  => Filtered observations: 638
  => Changed observations: 0.029815

Bundle adjustment report
------------------------
    Residuals : 69648
   Parameters : 16315
   Iterations : 3
         Time : 0.144302 [s]
 Initial cost : 0.591598 [px]
   Final cost : 0.578698 [px]
  Termination : Convergence

  => Merged observations: 24
  => Completed observations: 175
  => Filtered observations: 1
  => Changed observations: 0.005743

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

  => Merged observations: 8
  => 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  2.800489e+04    0.00e+00    9.54e+04   0.00e+00   0.00e+00  1.00e+04        0    2.96e-02    1.21e-01
   1  2.787754e+04    1.27e+02    5.16e+02   6.31e+00   1.00e+00  3.00e+04        1    5.68e-02    1.78e-01
   2  2.787644e+04    1.10e+00    1.82e+03   4.53e+00   1.00e+00  9.00e+04        1    4.10e-02    2.19e-01
   3  2.787507e+04    1.37e+00    4.63e+03   9.90e+00   9.98e-01  2.70e+05        1    3.90e-02    2.58e-01
   4  2.787401e+04    1.07e+00    6.77e+03   1.33e+01   9.92e-01  8.10e+05        1    4.00e-02    2.98e-01
   5  2.787375e+04    2.55e-01    2.60e+03   8.36e+00   9.95e-01  2.43e+06        1    3.91e-02    3.37e-01
   6  2.787374e+04    1.23e-02    1.55e+02   2.01e+00   1.00e+00  7.29e+06        1    4.00e-02    3.77e-01
   7  2.787374e+04    8.03e-05    2.00e+00   1.69e-01   1.01e+00  2.19e+07        1    4.04e-02    4.18e-01
   8  2.787374e+04    1.10e-07    6.43e-02   5.31e-03   1.02e+00  6.56e+07        1    4.02e-02    4.58e-01


Bundle adjustment report
------------------------
    Residuals : 81624
   Parameters : 28072
   Iterations : 9
         Time : 0.463087 [s]
 Initial cost : 0.585744 [px]
   Final cost : 0.584371 [px]
  Termination : Convergence

  => Merged observations: 10
  => Completed observations: 0
  => Filtered observations: 7
  => Changed observations: 0.000417
  => Filtered images: 0

==============================================================================
Registering image #30 (10)
==============================================================================

  => Image sees 3992 / 7335 points

Pose refinement report
----------------------
    Residuals : 7998
   Parameters : 6
   Iterations : 12
         Time : 0.0788779 [s]
 Initial cost : 0.63549 [px]
   Final cost : 0.579879 [px]
  Termination : Convergence

  => Continued observations: 3920
  => Added observations: 2386

Bundle adjustment report
------------------------
    Residuals : 79904
   Parameters : 17692
   Iterations : 25
         Time : 0.838772 [s]
 Initial cost : 0.56163 [px]
   Final cost : 0.540404 [px]
  Termination : Convergence

  => Merged observations: 277
  => Completed observations: 263
  => Filtered observations: 649
  => Changed observations: 0.029761

Bundle adjustment report
------------------------
    Residuals : 79110
   Parameters : 17389
   Iterations : 3
         Time : 0.152244 [s]
 Initial cost : 0.613875 [px]
   Final cost : 0.601105 [px]
  Termination : Convergence

  => Merged observations: 11
  => Completed observations: 169
  => Filtered observations: 13
  => Changed observations: 0.004879

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

  => Merged observations: 13
  => 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  3.434096e+04    0.00e+00    1.00e+05   0.00e+00   0.00e+00  1.00e+04        0    2.92e-02    1.25e-01
   1  3.419448e+04    1.46e+02    4.95e+03   1.02e+01   1.00e+00  3.00e+04        1    6.11e-02    1.86e-01
   2  3.419111e+04    3.36e+00    1.46e+03   7.86e+00   1.00e+00  9.00e+04        1    4.77e-02    2.34e-01
   3  3.418928e+04    1.84e+00    9.03e+02   1.13e+01   1.00e+00  2.70e+05        1    4.65e-02    2.80e-01
   4  3.418803e+04    1.24e+00    6.56e+03   1.37e+01   9.95e-01  8.10e+05        1    4.68e-02    3.27e-01
   5  3.418775e+04    2.82e-01    2.72e+03   8.25e+00   9.96e-01  2.43e+06        1    4.73e-02    3.74e-01
   6  3.418774e+04    1.30e-02    1.56e+02   1.93e+00   1.00e+00  7.29e+06        1    4.71e-02    4.21e-01
   7  3.418774e+04    8.34e-05    1.91e+00   1.61e-01   1.01e+00  2.19e+07        1    4.70e-02    4.68e-01
   8  3.418774e+04    1.22e-07    4.68e-02   5.24e-03   1.02e+00  6.56e+07        1    4.78e-02    5.16e-01


Bundle adjustment report
------------------------
    Residuals : 93676
   Parameters : 30538
   Iterations : 9
         Time : 0.521815 [s]
 Initial cost : 0.605469 [px]
   Final cost : 0.604117 [px]
  Termination : Convergence

  => Merged observations: 4
  => Completed observations: 22
  => Filtered observations: 4
  => Changed observations: 0.000641

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  3.423794e+04    0.00e+00    2.41e+03   0.00e+00   0.00e+00  1.00e+04        0    2.92e-02    1.27e-01
   1  3.422427e+04    1.37e+01    2.60e+01   1.23e+00   1.00e+00  3.00e+04        1    6.17e-02    1.88e-01
   2  3.422425e+04    2.08e-02    1.32e+01   2.58e-01   1.00e+00  9.00e+04        1    4.64e-02    2.35e-01
   3  3.422425e+04    3.55e-03    1.70e+01   4.32e-01   1.00e+00  2.70e+05        1    4.51e-02    2.80e-01
   4  3.422425e+04    2.42e-03    1.66e+01   5.90e-01   1.00e+00  8.10e+05        1    4.54e-02    3.25e-01
   5  3.422425e+04    5.38e-04    5.91e+00   3.63e-01   1.00e+00  2.43e+06        1    4.47e-02    3.70e-01
   6  3.422425e+04    2.33e-05    9.16e-01   8.55e-02   1.00e+00  7.29e+06        1    4.49e-02    4.15e-01


Bundle adjustment report
------------------------
    Residuals : 93666
   Parameters : 30523
   Iterations : 7
         Time : 0.420652 [s]
 Initial cost : 0.604593 [px]
   Final cost : 0.604472 [px]
  Termination : Convergence

  => Merged observations: 0
  => Completed observations: 0
  => Filtered observations: 2
  => Changed observations: 0.000043
  => Filtered images: 0

==============================================================================
Registering image #31 (11)
==============================================================================

  => Image sees 3814 / 7231 points

Pose refinement report
----------------------
    Residuals : 7652
   Parameters : 6
   Iterations : 8
         Time : 0.053061 [s]
 Initial cost : 0.590054 [px]
   Final cost : 0.568782 [px]
  Termination : Convergence

  => Continued observations: 3748
  => Added observations: 2598

Bundle adjustment report
------------------------
    Residuals : 84044
   Parameters : 15781
   Iterations : 26
         Time : 0.906561 [s]
 Initial cost : 0.567239 [px]
   Final cost : 0.5424 [px]
  Termination : No convergence

  => Merged observations: 251
  => Completed observations: 257
  => Filtered observations: 615
  => Changed observations: 0.026724

Bundle adjustment report
------------------------
    Residuals : 83310
   Parameters : 15556
   Iterations : 3
         Time : 0.150399 [s]
 Initial cost : 0.624038 [px]
   Final cost : 0.612507 [px]
  Termination : Convergence

  => Merged observations: 0
  => Completed observations: 171
  => Filtered observations: 5
  => Changed observations: 0.004225

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

  => Merged observations: 9
  => Completed observations: 10
  => Retriangulated observations: 0

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  3.993524e+04    0.00e+00    2.15e+05   0.00e+00   0.00e+00  1.00e+04        0    3.45e-02    1.49e-01
   1  3.979714e+04    1.38e+02    7.66e+02   8.24e+00   1.00e+00  3.00e+04        1    6.77e-02    2.17e-01
   2  3.979583e+04    1.30e+00    4.19e+02   4.31e+00   1.00e+00  9.00e+04        1    5.09e-02    2.68e-01
   3  3.979536e+04    4.73e-01    6.99e+01   5.61e+00   1.00e+00  2.70e+05        1    5.04e-02    3.18e-01
   4  3.979506e+04    2.99e-01    1.56e+03   6.64e+00   1.00e+00  8.10e+05        1    5.11e-02    3.69e-01
   5  3.979500e+04    6.50e-02    6.43e+02   3.96e+00   1.00e+00  2.43e+06        1    5.60e-02    4.25e-01
   6  3.979499e+04    2.82e-03    3.69e+01   9.21e-01   1.00e+00  7.29e+06        1    5.29e-02    4.78e-01
   7  3.979499e+04    1.94e-05    7.64e-01   7.81e-02   1.01e+00  2.19e+07        1    5.14e-02    5.29e-01


Bundle adjustment report
------------------------
    Residuals : 105892
   Parameters : 33262
   Iterations : 8
         Time : 0.535598 [s]
 Initial cost : 0.614111 [px]
   Final cost : 0.613031 [px]
  Termination : Convergence

  => Merged observations: 4
  => Completed observations: 0
  => Filtered observations: 9
  => Changed observations: 0.000246
  => Filtered images: 0

==============================================================================
Registering image #19 (12)
==============================================================================

  => Image sees 4166 / 7525 points

Pose refinement report
----------------------
    Residuals : 8376
   Parameters : 6
   Iterations : 15
         Time : 0.122242 [s]
 Initial cost : 0.654814 [px]
   Final cost : 0.58764 [px]
  Termination : Convergence

  => Continued observations: 4090
  => Added observations: 1796

Bundle adjustment report
------------------------
    Residuals : 92192
   Parameters : 16273
   Iterations : 17
         Time : 0.658752 [s]
 Initial cost : 0.55631 [px]
   Final cost : 0.541226 [px]
  Termination : Convergence

  => Merged observations: 280
  => Completed observations: 193
  => Filtered observations: 614
  => Changed observations: 0.023581

Bundle adjustment report
------------------------
    Residuals : 91334
   Parameters : 16006
   Iterations : 3
         Time : 0.160772 [s]
 Initial cost : 0.632202 [px]
   Final cost : 0.621792 [px]
  Termination : Convergence

  => Merged observations: 30
  => Completed observations: 122
  => Filtered observations: 10
  => Changed observations: 0.003547

==============================================================================
Registering image #27 (13)
==============================================================================

  => Image sees 4080 / 7077 points

Pose refinement report
----------------------
    Residuals : 8182
   Parameters : 6
   Iterations : 23
         Time : 0.156384 [s]
 Initial cost : 0.720398 [px]
   Final cost : 0.613981 [px]
  Termination : Convergence

  => Continued observations: 3992
  => Added observations: 2171

Bundle adjustment report
------------------------
    Residuals : 97692
   Parameters : 16150
   Iterations : 26
         Time : 0.980828 [s]
 Initial cost : 0.57122 [px]
   Final cost : 0.554663 [px]
  Termination : No convergence

  => Merged observations: 238
  => Completed observations: 261
  => Filtered observations: 694
  => Changed observations: 0.024424

Bundle adjustment report
------------------------
    Residuals : 96826
   Parameters : 15916
   Iterations : 3
         Time : 0.16358 [s]
 Initial cost : 0.645764 [px]
   Final cost : 0.635232 [px]
  Termination : Convergence

  => Merged observations: 12
  => Completed observations: 134
  => Filtered observations: 15
  => Changed observations: 0.003326

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

  => Merged observations: 45
  => 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  5.319575e+04    0.00e+00    1.13e+05   0.00e+00   0.00e+00  1.00e+04        0    4.22e-02    1.78e-01
   1  5.284372e+04    3.52e+02    2.70e+04   2.27e+01   1.00e+00  3.00e+04        1    7.97e-02    2.58e-01
   2  5.281246e+04    3.13e+01    1.19e+04   2.25e+01   1.00e+00  9.00e+04        1    6.64e-02    3.24e-01
   3  5.279863e+04    1.38e+01    2.31e+02   2.95e+01   9.98e-01  2.70e+05        1    6.24e-02    3.86e-01
   4  5.279087e+04    7.76e+00    3.91e+04   3.34e+01   9.79e-01  8.10e+05        1    6.26e-02    4.49e-01
   5  5.278916e+04    1.70e+00    1.45e+04   1.89e+01   9.90e-01  2.43e+06        1    6.52e-02    5.14e-01
   6  5.278908e+04    8.25e-02    7.13e+02   4.17e+00   1.00e+00  7.29e+06        1    6.49e-02    5.79e-01
   7  5.278908e+04    4.41e-04    4.29e+00   3.37e-01   1.01e+00  2.19e+07        1    6.31e-02    6.42e-01
   8  5.278908e+04    6.56e-07    1.77e-01   1.18e-02   1.03e+00  6.56e+07        1    6.62e-02    7.08e-01


Bundle adjustment report
------------------------
    Residuals : 128602
   Parameters : 37381
   Iterations : 9
         Time : 0.715709 [s]
 Initial cost : 0.643153 [px]
   Final cost : 0.64069 [px]
  Termination : Convergence

  => Merged observations: 13
  => Completed observations: 10
  => Filtered observations: 39
  => Changed observations: 0.000964

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  5.269980e+04    0.00e+00    2.46e+03   0.00e+00   0.00e+00  1.00e+04        0    4.05e-02    1.79e-01
   1  5.265030e+04    4.95e+01    3.88e+01   4.49e+00   1.00e+00  3.00e+04        1    8.35e-02    2.62e-01
   2  5.265023e+04    6.95e-02    1.30e+01   3.18e-01   1.00e+00  9.00e+04        1    6.87e-02    3.31e-01
   3  5.265023e+04    1.09e-03    6.40e+00   1.46e-01   1.00e+00  2.70e+05        1    6.67e-02    3.98e-01
   4  5.265023e+04    3.01e-04    2.77e+00   1.97e-01   1.00e+00  8.10e+05        1    6.86e-02    4.66e-01
   5  5.265023e+04    5.72e-05    1.78e+00   1.15e-01   1.00e+00  2.43e+06        1    6.75e-02    5.34e-01
   6  5.265023e+04    2.19e-06    4.10e-01   2.52e-02   1.01e+00  7.29e+06        1    6.59e-02    6.00e-01


Bundle adjustment report
------------------------
    Residuals : 128488
   Parameters : 37300
   Iterations : 7
         Time : 0.607011 [s]
 Initial cost : 0.640432 [px]
   Final cost : 0.640131 [px]
  Termination : Convergence

  => Merged observations: 1
  => Completed observations: 0
  => Filtered observations: 4
  => Changed observations: 0.000078
  => Filtered images: 0

==============================================================================
Registering image #55 (14)
==============================================================================

  => Image sees 4088 / 7118 points

Pose refinement report
----------------------
    Residuals : 8238
   Parameters : 6
   Iterations : 12
         Time : 0.0906529 [s]
 Initial cost : 0.649427 [px]
   Final cost : 0.564152 [px]
  Termination : Convergence

  => Continued observations: 4025
  => Added observations: 1882

Bundle adjustment report
------------------------
    Residuals : 101568
   Parameters : 15445
   Iterations : 26
         Time : 1.02429 [s]
 Initial cost : 0.567841 [px]
   Final cost : 0.549857 [px]
  Termination : No convergence

  => Merged observations: 208
  => Completed observations: 212
  => Filtered observations: 631
  => Changed observations: 0.020695

Bundle adjustment report
------------------------
    Residuals : 100732
   Parameters : 15157
   Iterations : 3
         Time : 0.170861 [s]
 Initial cost : 0.642866 [px]
   Final cost : 0.633832 [px]
  Termination : Convergence

  => Merged observations: 49
  => Completed observations: 142
  => Filtered observations: 7
  => Changed observations: 0.003931

==============================================================================
Registering image #24 (15)
==============================================================================

  => Image sees 4173 / 7122 points

Pose refinement report
----------------------
    Residuals : 8378
   Parameters : 6
   Iterations : 11
         Time : 0.0937009 [s]
 Initial cost : 0.680131 [px]
   Final cost : 0.571336 [px]
  Termination : Convergence

  => Continued observations: 4090
  => Added observations: 2410

Bundle adjustment report
------------------------
    Residuals : 105636
   Parameters : 16261
   Iterations : 26
         Time : 1.03887 [s]
 Initial cost : 0.573647 [px]
   Final cost : 0.549906 [px]
  Termination : No convergence

  => Merged observations: 225
  => Completed observations: 239
  => Filtered observations: 642
  => Changed observations: 0.020940

Bundle adjustment report
------------------------
    Residuals : 104740
   Parameters : 16024
   Iterations : 3
         Time : 0.175959 [s]
 Initial cost : 0.64507 [px]
   Final cost : 0.635259 [px]
  Termination : Convergence

  => Merged observations: 37
  => Completed observations: 148
  => Filtered observations: 11
  => Changed observations: 0.003743

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

  => Merged observations: 54
  => 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  6.415441e+04    0.00e+00    1.83e+05   0.00e+00   0.00e+00  1.00e+04        0    4.53e-02    2.13e-01
   1  6.385388e+04    3.01e+02    3.26e+03   8.91e+00   1.00e+00  3.00e+04        1    8.98e-02    3.03e-01
   2  6.384961e+04    4.27e+00    9.41e+03   7.70e+00   1.00e+00  9.00e+04        1    7.63e-02    3.79e-01
   3  6.384492e+04    4.69e+00    1.79e+04   1.64e+01   9.95e-01  2.70e+05        1    7.70e-02    4.56e-01
   4  6.384186e+04    3.06e+00    2.00e+04   2.01e+01   9.91e-01  8.10e+05        1    7.84e-02    5.35e-01
   5  6.384127e+04    5.97e-01    5.71e+03   1.10e+01   9.99e-01  2.43e+06        1    7.86e-02    6.13e-01
   6  6.384124e+04    2.28e-02    2.49e+02   2.31e+00   1.01e+00  7.29e+06        1    7.63e-02    6.90e-01
   7  6.384124e+04    1.24e-04    2.00e+00   1.80e-01   1.01e+00  2.19e+07        1    7.94e-02    7.69e-01
   8  6.384124e+04    1.86e-07    1.12e-01   6.18e-03   1.03e+00  6.56e+07        1    7.72e-02    8.46e-01


Bundle adjustment report
------------------------
    Residuals : 152148
   Parameters : 41914
   Iterations : 9
         Time : 0.854406 [s]
 Initial cost : 0.649352 [px]
   Final cost : 0.647765 [px]
  Termination : Convergence

  => Merged observations: 7
  => Completed observations: 20
  => Filtered observations: 24
  => Changed observations: 0.000670

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  6.379785e+04    0.00e+00    5.15e+03   0.00e+00   0.00e+00  1.00e+04        0    4.63e-02    2.27e-01
   1  6.376405e+04    3.38e+01    1.24e+01   5.09e+00   1.00e+00  3.00e+04        1    9.11e-02    3.18e-01
   2  6.376403e+04    2.64e-02    1.99e+00   3.21e-01   1.00e+00  9.00e+04        1    7.53e-02    3.94e-01
   3  6.376403e+04    5.95e-05    8.62e-01   1.97e-02   1.00e+00  2.70e+05        1    7.74e-02    4.71e-01


Bundle adjustment report
------------------------
    Residuals : 152066
   Parameters : 41860
   Iterations : 4
         Time : 0.47905 [s]
 Initial cost : 0.647719 [px]
   Final cost : 0.647548 [px]
  Termination : Convergence

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

==============================================================================
Registering image #26 (16)
==============================================================================

  => Image sees 4420 / 6655 points

Pose refinement report
----------------------
    Residuals : 8930
   Parameters : 6
   Iterations : 10
         Time : 0.0728531 [s]
 Initial cost : 0.608438 [px]
   Final cost : 0.535454 [px]
  Termination : Convergence

  => Continued observations: 4326
  => Added observations: 1579

Bundle adjustment report
------------------------
    Residuals : 102486
   Parameters : 14194
   Iterations : 26
         Time : 0.978235 [s]
 Initial cost : 0.567004 [px]
   Final cost : 0.555117 [px]
  Termination : No convergence

  => Merged observations: 323
  => Completed observations: 197
  => Filtered observations: 628
  => Changed observations: 0.022403

Bundle adjustment report
------------------------
    Residuals : 103848
   Parameters : 14119
   Iterations : 3
         Time : 0.166269 [s]
 Initial cost : 0.646935 [px]
   Final cost : 0.639345 [px]
  Termination : Convergence

  => Merged observations: 0
  => Completed observations: 129
  => Filtered observations: 6
  => Changed observations: 0.002600

==============================================================================
Registering image #25 (17)
==============================================================================

  => Image sees 4269 / 6396 points

Pose refinement report
----------------------
    Residuals : 8652
   Parameters : 6
   Iterations : 9
         Time : 0.0692301 [s]
 Initial cost : 0.734275 [px]
   Final cost : 0.567543 [px]
  Termination : Convergence

  => Continued observations: 4197
  => Added observations: 1789

Bundle adjustment report
------------------------
    Residuals : 96914
   Parameters : 13612
   Iterations : 26
         Time : 0.926154 [s]
 Initial cost : 0.561549 [px]
   Final cost : 0.540992 [px]
  Termination : No convergence

  => Merged observations: 193
  => Completed observations: 208
  => Filtered observations: 550
  => Changed observations: 0.019626

Bundle adjustment report
------------------------
    Residuals : 96318
   Parameters : 13414
   Iterations : 3
         Time : 0.159054 [s]
 Initial cost : 0.645538 [px]
   Final cost : 0.636859 [px]
  Termination : Convergence

  => Merged observations: 32
  => Completed observations: 114
  => Filtered observations: 9
  => Changed observations: 0.003219

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

  => Merged observations: 59
  => Completed observations: 53
  => Retriangulated observations: 0

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  7.464739e+04    0.00e+00    1.31e+06   0.00e+00   0.00e+00  1.00e+04        0    5.19e-02    2.51e-01
   1  7.404802e+04    5.99e+02    1.11e+03   9.47e+00   1.00e+00  3.00e+04        1    9.86e-02    3.49e-01
   2  7.404222e+04    5.80e+00    1.38e+03   9.20e+00   9.99e-01  9.00e+04        1    8.66e-02    4.36e-01
   3  7.403622e+04    6.00e+00    1.27e+04   1.56e+01   9.98e-01  2.70e+05        1    9.13e-02    5.27e-01
   4  7.403258e+04    3.64e+00    2.28e+04   1.75e+01   9.91e-01  8.10e+05        1    8.70e-02    6.14e-01
   5  7.403193e+04    6.53e-01    6.26e+03   8.99e+00   9.99e-01  2.43e+06        1    8.60e-02    7.00e-01
   6  7.403190e+04    2.24e-02    2.41e+02   1.77e+00   1.01e+00  7.29e+06        1    8.73e-02    7.88e-01
   7  7.403190e+04    1.05e-04    2.00e+00   1.28e-01   1.01e+00  2.19e+07        1    8.77e-02    8.75e-01
   8  7.403190e+04    1.31e-07    1.05e-01   4.02e-03   1.02e+00  6.56e+07        1    8.53e-02    9.61e-01


Bundle adjustment report
------------------------
    Residuals : 174680
   Parameters : 45352
   Iterations : 9
         Time : 0.969749 [s]
 Initial cost : 0.653711 [px]
   Final cost : 0.65101 [px]
  Termination : Convergence

  => Merged observations: 11
  => Completed observations: 0
  => Filtered observations: 27
  => Changed observations: 0.000435
  => Filtered images: 0

==============================================================================
Registering image #48 (18)
==============================================================================

  => Image sees 4219 / 7428 points

Pose refinement report
----------------------
    Residuals : 8562
   Parameters : 6
   Iterations : 9
         Time : 0.0675111 [s]
 Initial cost : 0.636661 [px]
   Final cost : 0.572155 [px]
  Termination : Convergence

  => Continued observations: 4122
  => Added observations: 2175

Bundle adjustment report
------------------------
    Residuals : 98130
   Parameters : 13441
   Iterations : 26
         Time : 0.930825 [s]
 Initial cost : 0.584795 [px]
   Final cost : 0.57199 [px]
  Termination : No convergence

  => Merged observations: 461
  => Completed observations: 243
  => Filtered observations: 690
  => Changed observations: 0.028411

Bundle adjustment report
------------------------
    Residuals : 97378
   Parameters : 13159
   Iterations : 3
         Time : 0.16044 [s]
 Initial cost : 0.664259 [px]
   Final cost : 0.65482 [px]
  Termination : Convergence

  => Merged observations: 36
  => Completed observations: 126
  => Filtered observations: 3
  => Changed observations: 0.003389

==============================================================================
Registering image #47 (19)
==============================================================================

  => Image sees 3328 / 5394 points

Pose refinement report
----------------------
    Residuals : 6794
   Parameters : 6
   Iterations : 11
         Time : 0.064018 [s]
 Initial cost : 0.638692 [px]
   Final cost : 0.610922 [px]
  Termination : Convergence

  => Continued observations: 3209
  => Added observations: 1666

Bundle adjustment report
------------------------
    Residuals : 88864
   Parameters : 9469
   Iterations : 26
         Time : 0.898789 [s]
 Initial cost : 0.614022 [px]
   Final cost : 0.600862 [px]
  Termination : No convergence

  => Merged observations: 417
  => Completed observations: 216
  => Filtered observations: 825
  => Changed observations: 0.032814

Bundle adjustment report
------------------------
    Residuals : 87724
   Parameters : 9154
   Iterations : 3
         Time : 0.140791 [s]
 Initial cost : 0.686008 [px]
   Final cost : 0.676539 [px]
  Termination : Convergence

  => Merged observations: 47
  => Completed observations: 186
  => Filtered observations: 6
  => Changed observations: 0.005449

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

  => Merged observations: 82
  => Completed observations: 110
  => Retriangulated observations: 0

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  8.661439e+04    0.00e+00    9.51e+05   0.00e+00   0.00e+00  1.00e+04        0    5.38e-02    2.84e-01
   1  8.573897e+04    8.75e+02    3.97e+02   7.43e+00   1.00e+00  3.00e+04        1    1.13e-01    3.97e-01
   2  8.573825e+04    7.23e-01    5.31e+02   1.30e+00   1.00e+00  9.00e+04        1    1.01e-01    4.98e-01
   3  8.573818e+04    7.10e-02    3.39e+02   9.94e-01   1.00e+00  2.70e+05        1    1.00e-01    5.98e-01
   4  8.573816e+04    2.09e-02    1.56e+02   1.15e+00   1.00e+00  8.10e+05        1    1.01e-01    6.99e-01
   5  8.573816e+04    3.01e-03    2.81e+01   5.62e-01   1.00e+00  2.43e+06        1    1.01e-01    8.01e-01
   6  8.573816e+04    8.12e-05    1.94e+00   1.02e-01   1.01e+00  7.29e+06        1    1.01e-01    9.02e-01
   7  8.573816e+04    3.52e-07    1.99e-01   6.76e-03   1.01e+00  2.19e+07        1    1.04e-01    1.01e+00


Bundle adjustment report
------------------------
    Residuals : 195404
   Parameters : 49252
   Iterations : 8
         Time : 1.01602 [s]
 Initial cost : 0.665776 [px]
   Final cost : 0.6624 [px]
  Termination : Convergence

  => Merged observations: 16
  => Completed observations: 21
  => Filtered observations: 20
  => Changed observations: 0.000583

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  8.571604e+04    0.00e+00    4.52e+02   0.00e+00   0.00e+00  1.00e+04        0    5.66e-02    2.90e-01
   1  8.566669e+04    4.94e+01    5.44e+01   3.54e+00   1.00e+00  3.00e+04        1    1.19e-01    4.10e-01
   2  8.566658e+04    1.07e-01    1.53e+00   4.00e-01   1.00e+00  9.00e+04        1    1.02e-01    5.12e-01
   3  8.566658e+04    3.61e-04    1.60e+00   6.02e-02   1.00e+00  2.70e+05        1    1.03e-01    6.15e-01
   4  8.566658e+04    5.34e-05    1.20e+00   5.78e-02   1.00e+00  8.10e+05        1    9.82e-02    7.13e-01
   5  8.566658e+04    7.82e-06    7.88e-01   2.73e-02   1.00e+00  2.43e+06        1    9.62e-02    8.09e-01


Bundle adjustment report
------------------------
    Residuals : 195378
   Parameters : 49234
   Iterations : 6
         Time : 0.818684 [s]
 Initial cost : 0.662359 [px]
   Final cost : 0.662168 [px]
  Termination : Convergence

  => Merged observations: 7
  => Completed observations: 0
  => Filtered observations: 4
  => Changed observations: 0.000113
  => Filtered images: 0

==============================================================================
Registering image #12 (20)
==============================================================================

  => Image sees 4434 / 7479 points

Pose refinement report
----------------------
    Residuals : 8986
   Parameters : 6
   Iterations : 12
         Time : 0.095392 [s]
 Initial cost : 0.713438 [px]
   Final cost : 0.601015 [px]
  Termination : Convergence

  => Continued observations: 4324
  => Added observations: 1932

Bundle adjustment report
------------------------
    Residuals : 99978
   Parameters : 13132
   Iterations : 26
         Time : 0.981088 [s]
 Initial cost : 0.583872 [px]
   Final cost : 0.567951 [px]
  Termination : No convergence

  => Merged observations: 466
  => Completed observations: 241
  => Filtered observations: 728
  => Changed observations: 0.028706

Bundle adjustment report
------------------------
    Residuals : 99102
   Parameters : 12706
   Iterations : 3
         Time : 0.189202 [s]
 Initial cost : 0.675099 [px]
   Final cost : 0.665479 [px]
  Termination : Convergence

  => Merged observations: 84
  => Completed observations: 167
  => Filtered observations: 10
  => Changed observations: 0.005267

==============================================================================
Registering image #11 (21)
==============================================================================

  => Image sees 4437 / 7419 points

Pose refinement report
----------------------
    Residuals : 8962
   Parameters : 6
   Iterations : 12
         Time : 0.0901971 [s]
 Initial cost : 0.667406 [px]
   Final cost : 0.61978 [px]
  Termination : Convergence

  => Continued observations: 4304
  => Added observations: 2254

Bundle adjustment report
------------------------
    Residuals : 98816
   Parameters : 12988
   Iterations : 26
         Time : 0.990756 [s]
 Initial cost : 0.609237 [px]
   Final cost : 0.588805 [px]
  Termination : No convergence

  => Merged observations: 411
  => Completed observations: 243
  => Filtered observations: 902
  => Changed observations: 0.031493

Bundle adjustment report
------------------------
    Residuals : 97704
   Parameters : 12619
   Iterations : 3
         Time : 0.158414 [s]
 Initial cost : 0.669754 [px]
   Final cost : 0.660187 [px]
  Termination : Convergence

  => Merged observations: 19
  => Completed observations: 181
  => Filtered observations: 15
  => Changed observations: 0.004401

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

  => Merged observations: 59
  => Completed observations: 65
  => Retriangulated observations: 0

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  1.005924e+05    0.00e+00    8.65e+05   0.00e+00   0.00e+00  1.00e+04        0    6.43e-02    3.34e-01
   1  9.964088e+04    9.52e+02    1.07e+04   8.75e+00   1.00e+00  3.00e+04        1    1.33e-01    4.67e-01
   2  9.963893e+04    1.95e+00    5.72e+02   3.23e+00   1.00e+00  9.00e+04        1    1.14e-01    5.81e-01
   3  9.963834e+04    5.84e-01    7.88e+02   4.20e+00   1.00e+00  2.70e+05        1    1.15e-01    6.97e-01
   4  9.963805e+04    2.92e-01    1.66e+03   4.19e+00   1.00e+00  8.10e+05        1    1.12e-01    8.09e-01
   5  9.963801e+04    4.03e-02    3.71e+02   1.91e+00   1.00e+00  2.43e+06        1    1.14e-01    9.23e-01
   6  9.963801e+04    1.00e-03    1.04e+01   3.29e-01   1.01e+00  7.29e+06        1    1.10e-01    1.03e+00
   7  9.963801e+04    3.99e-06    5.86e-01   2.09e-02   1.01e+00  2.19e+07        1    1.17e-01    1.15e+00


Bundle adjustment report
------------------------
    Residuals : 219274
   Parameters : 53710
   Iterations : 8
         Time : 1.16107 [s]
 Initial cost : 0.677312 [px]
   Final cost : 0.674092 [px]
  Termination : Convergence

  => Merged observations: 32
  => Completed observations: 16
  => Filtered observations: 25
  => Changed observations: 0.000666

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  9.972730e+04    0.00e+00    4.25e+03   0.00e+00   0.00e+00  1.00e+04        0    5.37e-02    3.22e-01
   1  9.965871e+04    6.86e+01    3.57e+01   2.42e+00   1.00e+00  3.00e+04        1    1.26e-01    4.48e-01
   2  9.965863e+04    7.25e-02    3.53e+00   2.52e-01   1.00e+00  9.00e+04        1    1.10e-01    5.59e-01
   3  9.965863e+04    5.17e-04    8.05e-01   8.61e-02   1.00e+00  2.70e+05        1    1.13e-01    6.72e-01


Bundle adjustment report
------------------------
    Residuals : 219276
   Parameters : 53686
   Iterations : 4
         Time : 0.682161 [s]
 Initial cost : 0.674391 [px]
   Final cost : 0.674158 [px]
  Termination : Convergence

  => Merged observations: 3
  => Completed observations: 14
  => Filtered observations: 6
  => Changed observations: 0.000210
  => Filtered images: 0

==============================================================================
Registering image #46 (22)
==============================================================================

  => Image sees 3423 / 5074 points

Pose refinement report
----------------------
    Residuals : 7040
   Parameters : 6
   Iterations : 10
         Time : 0.068588 [s]
 Initial cost : 0.695724 [px]
   Final cost : 0.636756 [px]
  Termination : Convergence

  => Continued observations: 3268
  => Added observations: 1572

Bundle adjustment report
------------------------
    Residuals : 87376
   Parameters : 8917
   Iterations : 26
         Time : 0.927151 [s]
 Initial cost : 0.63577 [px]
   Final cost : 0.618992 [px]
  Termination : No convergence

  => Merged observations: 341
  => Completed observations: 206
  => Filtered observations: 1022
  => Changed observations: 0.035914

Bundle adjustment report
------------------------
    Residuals : 86152
   Parameters : 8530
   Iterations : 3
         Time : 0.132659 [s]
 Initial cost : 0.701634 [px]
   Final cost : 0.691175 [px]
  Termination : Convergence

  => Merged observations: 104
  => Completed observations: 211
  => Filtered observations: 15
  => Changed observations: 0.007661

==============================================================================
Registering image #13 (23)
==============================================================================

  => Image sees 4684 / 7687 points

Pose refinement report
----------------------
    Residuals : 9636
   Parameters : 6
   Iterations : 10
         Time : 0.0839889 [s]
 Initial cost : 0.647356 [px]
   Final cost : 0.576692 [px]
  Termination : Convergence

  => Continued observations: 4548
  => Added observations: 1924

Bundle adjustment report
------------------------
    Residuals : 100310
   Parameters : 12091
   Iterations : 26
         Time : 0.922207 [s]
 Initial cost : 0.619205 [px]
   Final cost : 0.605924 [px]
  Termination : No convergence

  => Merged observations: 515
  => Completed observations: 214
  => Filtered observations: 933
  => Changed observations: 0.033137

Bundle adjustment report
------------------------
    Residuals : 99518
   Parameters : 11845
   Iterations : 3
         Time : 0.156331 [s]
 Initial cost : 0.69142 [px]
   Final cost : 0.681544 [px]
  Termination : Convergence

  => Merged observations: 26
  => Completed observations: 242
  => Filtered observations: 15
  => Changed observations: 0.005687

==============================================================================
Registering image #45 (24)
==============================================================================

  => Image sees 4055 / 6571 points

Pose refinement report
----------------------
    Residuals : 8336
   Parameters : 6
   Iterations : 9
         Time : 0.065362 [s]
 Initial cost : 0.652688 [px]
   Final cost : 0.6042 [px]
  Termination : Convergence

  => Continued observations: 3921
  => Added observations: 1717

Bundle adjustment report
------------------------
    Residuals : 92644
   Parameters : 10159
   Iterations : 26
         Time : 0.85576 [s]
 Initial cost : 0.608161 [px]
   Final cost : 0.591527 [px]
  Termination : No convergence

  => Merged observations: 522
  => Completed observations: 210
  => Filtered observations: 889
  => Changed observations: 0.034994

Bundle adjustment report
------------------------
    Residuals : 89928
   Parameters : 9520
   Iterations : 3
         Time : 0.154504 [s]
 Initial cost : 0.68704 [px]
   Final cost : 0.677409 [px]
  Termination : Convergence

  => Merged observations: 83
  => Completed observations: 194
  => Filtered observations: 9
  => Changed observations: 0.006361

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

  => Merged observations: 107
  => Completed observations: 32
  => Retriangulated observations: 0

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  1.181957e+05    0.00e+00    8.57e+05   0.00e+00   0.00e+00  1.00e+04        0    6.60e-02    3.93e-01
   1  1.172577e+05    9.38e+02    2.89e+02   9.47e+00   1.00e+00  3.00e+04        1    1.59e-01    5.52e-01
   2  1.172554e+05    2.34e+00    1.09e+03   4.18e+00   1.00e+00  9.00e+04        1    1.27e-01    6.79e-01
   3  1.172544e+05    1.01e+00    5.96e+02   5.42e+00   1.00e+00  2.70e+05        1    1.27e-01    8.06e-01
   4  1.172539e+05    4.66e-01    2.60e+03   5.28e+00   1.00e+00  8.10e+05        1    1.24e-01    9.30e-01
   5  1.172539e+05    6.44e-02    6.26e+02   2.40e+00   1.00e+00  2.43e+06        1    1.33e-01    1.06e+00
   6  1.172539e+05    1.62e-03    2.03e+01   4.15e-01   1.01e+00  7.29e+06        1    1.29e-01    1.19e+00
   7  1.172539e+05    6.48e-06    7.24e-01   2.66e-02   1.01e+00  2.19e+07        1    1.32e-01    1.32e+00


Bundle adjustment report
------------------------
    Residuals : 249834
   Parameters : 58387
   Iterations : 8
         Time : 1.33685 [s]
 Initial cost : 0.687821 [px]
   Final cost : 0.685074 [px]
  Termination : Convergence

  => Merged observations: 24
  => Completed observations: 63
  => Filtered observations: 43
  => Changed observations: 0.001041

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  1.171375e+05    0.00e+00    1.11e+04   0.00e+00   0.00e+00  1.00e+04        0    6.45e-02    3.79e-01
   1  1.170377e+05    9.98e+01    7.48e+01   3.21e+00   1.00e+00  3.00e+04        1    1.46e-01    5.25e-01
   2  1.170377e+05    9.60e-02    1.99e+00   3.82e-01   1.00e+00  9.00e+04        1    1.30e-01    6.55e-01
   3  1.170377e+05    2.88e-04    1.60e+00   5.61e-02   1.00e+00  2.70e+05        1    1.26e-01    7.82e-01
   4  1.170377e+05    4.74e-05    1.43e+00   5.32e-02   1.00e+00  8.10e+05        1    1.24e-01    9.06e-01
   5  1.170377e+05    6.54e-06    7.31e-01   2.43e-02   1.00e+00  2.43e+06        1    1.25e-01    1.03e+00


Bundle adjustment report
------------------------
    Residuals : 249780
   Parameters : 58354
   Iterations : 6
         Time : 1.04262 [s]
 Initial cost : 0.684809 [px]
   Final cost : 0.684517 [px]
  Termination : Convergence

  => Merged observations: 8
  => Completed observations: 0
  => Filtered observations: 4
  => Changed observations: 0.000096
  => Filtered images: 0

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

  => Image sees 4886 / 7725 points

Pose refinement report
----------------------
    Residuals : 10008
   Parameters : 6
   Iterations : 8
         Time : 0.063869 [s]
 Initial cost : 0.605498 [px]
   Final cost : 0.566473 [px]
  Termination : Convergence

  => Continued observations: 4751
  => Added observations: 1786

Bundle adjustment report
------------------------
    Residuals : 104552
   Parameters : 12238
   Iterations : 26
         Time : 0.975814 [s]
 Initial cost : 0.620007 [px]
   Final cost : 0.605828 [px]
  Termination : No convergence

  => Merged observations: 449
  => Completed observations: 239
  => Filtered observations: 889
  => Changed observations: 0.030167

Bundle adjustment report
------------------------
    Residuals : 103314
   Parameters : 11836
   Iterations : 3
         Time : 0.1628 [s]
 Initial cost : 0.697038 [px]
   Final cost : 0.687775 [px]
  Termination : Convergence

  => Merged observations: 71
  => Completed observations: 222
  => Filtered observations: 9
  => Changed observations: 0.005846

==============================================================================
Registering image #49 (26)
==============================================================================

  => Image sees 4551 / 7150 points

Pose refinement report
----------------------
    Residuals : 9356
   Parameters : 6
   Iterations : 14
         Time : 0.117201 [s]
 Initial cost : 0.642979 [px]
   Final cost : 0.613748 [px]
  Termination : Convergence

  => Continued observations: 4393
  => Added observations: 2267

Bundle adjustment report
------------------------
    Residuals : 95682
   Parameters : 11233
   Iterations : 26
         Time : 0.929735 [s]
 Initial cost : 0.634501 [px]
   Final cost : 0.611467 [px]
  Termination : No convergence

  => Merged observations: 499
  => Completed observations: 271
  => Filtered observations: 1015
  => Changed observations: 0.037311

Bundle adjustment report
------------------------
    Residuals : 94324
   Parameters : 10792
   Iterations : 3
         Time : 0.151924 [s]
 Initial cost : 0.694852 [px]
   Final cost : 0.684489 [px]
  Termination : Convergence

  => Merged observations: 68
  => Completed observations: 237
  => Filtered observations: 8
  => Changed observations: 0.006637

==============================================================================
Registering image #14 (27)
==============================================================================

  => Image sees 4919 / 7420 points

Pose refinement report
----------------------
    Residuals : 10174
   Parameters : 6
   Iterations : 9
         Time : 0.074708 [s]
 Initial cost : 0.691911 [px]
   Final cost : 0.582952 [px]
  Termination : Convergence

  => Continued observations: 4768
  => Added observations: 2154

Bundle adjustment report
------------------------
    Residuals : 100432
   Parameters : 12019
   Iterations : 26
         Time : 0.968391 [s]
 Initial cost : 0.630751 [px]
   Final cost : 0.614009 [px]
  Termination : No convergence

  => Merged observations: 547
  => Completed observations: 308
  => Filtered observations: 993
  => Changed observations: 0.036801

Bundle adjustment report
------------------------
    Residuals : 99058
   Parameters : 11593
   Iterations : 3
         Time : 0.154095 [s]
 Initial cost : 0.702836 [px]
   Final cost : 0.692194 [px]
  Termination : Convergence

  => Merged observations: 100
  => Completed observations: 216
  => Filtered observations: 8
  => Changed observations: 0.006542

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

  => Merged observations: 137
  => Completed observations: 253
  => Retriangulated observations: 0

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  1.389191e+05    0.00e+00    1.59e+06   0.00e+00   0.00e+00  1.00e+04        0    7.84e-02    4.41e-01
   1  1.374292e+05    1.49e+03    1.35e+04   1.31e+01   1.00e+00  3.00e+04        1    1.70e-01    6.11e-01
   2  1.374164e+05    1.28e+01    6.97e+03   1.13e+01   1.00e+00  9.00e+04        1    1.55e-01    7.66e-01
   3  1.374076e+05    8.88e+00    1.17e+04   1.60e+01   1.00e+00  2.70e+05        1    1.57e-01    9.23e-01
   4  1.374032e+05    4.34e+00    2.59e+04   1.57e+01   9.96e-01  8.10e+05        1    1.51e-01    1.07e+00
   5  1.374026e+05    6.10e-01    5.80e+03   7.01e+00   1.00e+00  2.43e+06        1    1.52e-01    1.23e+00
   6  1.374026e+05    1.54e-02    1.74e+02   1.19e+00   1.01e+00  7.29e+06        1    1.50e-01    1.38e+00
   7  1.374026e+05    5.52e-05    1.91e+00   7.42e-02   1.01e+00  2.19e+07        1    1.53e-01    1.53e+00
   8  1.374026e+05    5.09e-08    5.87e-02   2.01e-03   1.02e+00  6.56e+07        1    1.67e-01    1.70e+00


Bundle adjustment report
------------------------
    Residuals : 287148
   Parameters : 64195
   Iterations : 9
         Time : 1.70966 [s]
 Initial cost : 0.695549 [px]
   Final cost : 0.691743 [px]
  Termination : Convergence

  => Merged observations: 38
  => Completed observations: 20
  => Filtered observations: 39
  => Changed observations: 0.000676

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  1.373746e+05    0.00e+00    1.34e+04   0.00e+00   0.00e+00  1.00e+04        0    7.65e-02    4.36e-01
   1  1.372941e+05    8.06e+01    2.50e+01   4.14e+00   1.00e+00  3.00e+04        1    1.62e-01    5.98e-01
   2  1.372940e+05    1.07e-01    1.99e+00   5.38e-01   1.00e+00  9.00e+04        1    1.53e-01    7.51e-01
   3  1.372940e+05    2.12e-04    7.54e-01   2.96e-02   1.00e+00  2.70e+05        1    1.49e-01    9.00e-01


Bundle adjustment report
------------------------
    Residuals : 287142
   Parameters : 64189
   Iterations : 4
         Time : 0.913031 [s]
 Initial cost : 0.691679 [px]
   Final cost : 0.691476 [px]
  Termination : Convergence

  => Merged observations: 8
  => Completed observations: 0
  => Filtered observations: 4
  => Changed observations: 0.000084
  => Filtered images: 0

==============================================================================
Registering image #43 (28)
==============================================================================

  => Image sees 4780 / 7445 points

Pose refinement report
----------------------
    Residuals : 9876
   Parameters : 6
   Iterations : 12
         Time : 0.105004 [s]
 Initial cost : 0.622142 [px]
   Final cost : 0.59468 [px]
  Termination : Convergence

  => Continued observations: 4653
  => Added observations: 1728

Bundle adjustment report
------------------------
    Residuals : 101552
   Parameters : 11317
   Iterations : 20
         Time : 0.724056 [s]
 Initial cost : 0.625755 [px]
   Final cost : 0.61078 [px]
  Termination : Convergence

  => Merged observations: 488
  => Completed observations: 222
  => Filtered observations: 929
  => Changed observations: 0.032279

Bundle adjustment report
------------------------
    Residuals : 100266
   Parameters : 10990
   Iterations : 3
         Time : 0.151783 [s]
 Initial cost : 0.704809 [px]
   Final cost : 0.694761 [px]
  Termination : Convergence

  => Merged observations: 43
  => Completed observations: 157
  => Filtered observations: 8
  => Changed observations: 0.004149

==============================================================================
Registering image #10 (29)
==============================================================================

  => Image sees 4658 / 6855 points

Pose refinement report
----------------------
    Residuals : 9598
   Parameters : 6
   Iterations : 10
         Time : 0.0769711 [s]
 Initial cost : 0.651152 [px]
   Final cost : 0.609393 [px]
  Termination : Convergence

  => Continued observations: 4505
  => Added observations: 2035

Bundle adjustment report
------------------------
    Residuals : 96802
   Parameters : 10825
   Iterations : 26
         Time : 0.903966 [s]
 Initial cost : 0.635907 [px]
   Final cost : 0.611434 [px]
  Termination : No convergence

  => Merged observations: 465
  => Completed observations: 289
  => Filtered observations: 952
  => Changed observations: 0.035247

Bundle adjustment report
------------------------
    Residuals : 95642
   Parameters : 10426
   Iterations : 3
         Time : 0.150202 [s]
 Initial cost : 0.698614 [px]
   Final cost : 0.688634 [px]
  Termination : Convergence

  => Merged observations: 41
  => Completed observations: 190
  => Filtered observations: 6
  => Changed observations: 0.004956

==============================================================================
Registering image #6 (30)
==============================================================================

  => Image sees 4543 / 6437 points

Pose refinement report
----------------------
    Residuals : 9398
   Parameters : 6
   Iterations : 9
         Time : 0.066896 [s]
 Initial cost : 0.646911 [px]
   Final cost : 0.567935 [px]
  Termination : Convergence

  => Continued observations: 4404
  => Added observations: 1703

Bundle adjustment report
------------------------
    Residuals : 93104
   Parameters : 9904
   Iterations : 25
         Time : 0.860484 [s]
 Initial cost : 0.62098 [px]
   Final cost : 0.602428 [px]
  Termination : Convergence

  => Merged observations: 536
  => Completed observations: 257
  => Filtered observations: 860
  => Changed observations: 0.035509

Bundle adjustment report
------------------------
    Residuals : 91874
   Parameters : 9562
   Iterations : 3
         Time : 0.139923 [s]
 Initial cost : 0.695186 [px]
   Final cost : 0.68444 [px]
  Termination : Convergence

  => Merged observations: 60
  => Completed observations: 171
  => Filtered observations: 11
  => Changed observations: 0.005268

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

  => Merged observations: 127
  => Completed observations: 363
  => Retriangulated observations: 0

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  1.577808e+05    0.00e+00    1.82e+06   0.00e+00   0.00e+00  1.00e+04        0    8.37e-02    5.45e-01
   1  1.561765e+05    1.60e+03    2.96e+03   9.27e+00   1.00e+00  3.00e+04        1    1.76e-01    7.21e-01
   2  1.561729e+05    3.59e+00    2.21e+03   3.11e+00   1.00e+00  9.00e+04        1    1.68e-01    8.89e-01
   3  1.561725e+05    3.53e-01    3.86e+02   1.43e+00   1.00e+00  2.70e+05        1    1.64e-01    1.05e+00
   4  1.561725e+05    1.00e-02    1.96e+00   3.60e-01   1.00e+00  8.10e+05        1    1.61e-01    1.21e+00
   5  1.561725e+05    1.25e-04    1.97e+00   9.04e-02   1.00e+00  2.43e+06        1    1.62e-01    1.38e+00
   6  1.561725e+05    2.15e-06    5.07e-01   1.43e-02   1.01e+00  7.29e+06        1    1.61e-01    1.54e+00


Bundle adjustment report
------------------------
    Residuals : 322260
   Parameters : 69319
   Iterations : 7
         Time : 1.55057 [s]
 Initial cost : 0.699719 [px]
   Final cost : 0.696144 [px]
  Termination : Convergence

  => Merged observations: 32
  => Completed observations: 23
  => Filtered observations: 43
  => Changed observations: 0.000608

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  1.560827e+05    0.00e+00    7.79e+03   0.00e+00   0.00e+00  1.00e+04        0    8.85e-02    5.05e-01
   1  1.560224e+05    6.03e+01    1.33e+01   1.99e+00   1.00e+00  3.00e+04        1    1.84e-01    6.89e-01
   2  1.560223e+05    9.03e-02    1.26e+01   3.86e-01   1.00e+00  9.00e+04        1    1.66e-01    8.55e-01
   3  1.560223e+05    1.27e-03    7.00e+00   8.92e-02   1.00e+00  2.70e+05        1    1.65e-01    1.02e+00
   4  1.560223e+05    2.24e-04    2.66e+00   9.30e-02   1.00e+00  8.10e+05        1    1.63e-01    1.18e+00
   5  1.560223e+05    2.90e-05    1.40e+00   4.37e-02   1.00e+00  2.43e+06        1    1.71e-01    1.35e+00
   6  1.560223e+05    7.16e-07    3.01e-01   7.57e-03   1.01e+00  7.29e+06        1    1.70e-01    1.52e+00


Bundle adjustment report
------------------------
    Residuals : 322214
   Parameters : 69289
   Iterations : 7
         Time : 1.53801 [s]
 Initial cost : 0.695994 [px]
   Final cost : 0.695859 [px]
  Termination : Convergence

  => Merged observations: 10
  => Completed observations: 10
  => Filtered observations: 4
  => Changed observations: 0.000149
  => Filtered images: 0

==============================================================================
Registering image #5 (31)
==============================================================================

  => Image sees 4808 / 6745 points

Pose refinement report
----------------------
    Residuals : 9934
   Parameters : 6
   Iterations : 9
         Time : 0.070014 [s]
 Initial cost : 0.592616 [px]
   Final cost : 0.565611 [px]
  Termination : Convergence

  => Continued observations: 4650
  => Added observations: 1873

Bundle adjustment report
------------------------
    Residuals : 96172
   Parameters : 10822
   Iterations : 26
         Time : 0.913296 [s]
 Initial cost : 0.625573 [px]
   Final cost : 0.608586 [px]
  Termination : No convergence

  => Merged observations: 408
  => Completed observations: 271
  => Filtered observations: 1020
  => Changed observations: 0.035333

Bundle adjustment report
------------------------
    Residuals : 94790
   Parameters : 10408
   Iterations : 3
         Time : 0.167962 [s]
 Initial cost : 0.699067 [px]
   Final cost : 0.689076 [px]
  Termination : Convergence

  => Merged observations: 36
  => Completed observations: 214
  => Filtered observations: 5
  => Changed observations: 0.005380

==============================================================================
Registering image #4 (32)
==============================================================================

  => Image sees 4765 / 6900 points

Pose refinement report
----------------------
    Residuals : 9916
   Parameters : 6
   Iterations : 9
         Time : 0.078922 [s]
 Initial cost : 0.658356 [px]
   Final cost : 0.567997 [px]
  Termination : Convergence

  => Continued observations: 4616
  => Added observations: 1851

Bundle adjustment report
------------------------
    Residuals : 96058
   Parameters : 10054
   Iterations : 26
         Time : 0.890621 [s]
 Initial cost : 0.622405 [px]
   Final cost : 0.606823 [px]
  Termination : No convergence

  => Merged observations: 558
  => Completed observations: 252
  => Filtered observations: 990
  => Changed observations: 0.037477

Bundle adjustment report
------------------------
    Residuals : 94682
   Parameters : 9580
   Iterations : 3
         Time : 0.149979 [s]
 Initial cost : 0.686427 [px]
   Final cost : 0.676853 [px]
  Termination : Convergence

  => Merged observations: 56
  => Completed observations: 234
  => Filtered observations: 7
  => Changed observations: 0.006274

==============================================================================
Registering image #18 (33)
==============================================================================

  => Image sees 4515 / 7008 points

Pose refinement report
----------------------
    Residuals : 9298
   Parameters : 6
   Iterations : 10
         Time : 0.078444 [s]
 Initial cost : 0.632512 [px]
   Final cost : 0.590955 [px]
  Termination : Convergence

  => Continued observations: 4367
  => Added observations: 1956

Bundle adjustment report
------------------------
    Residuals : 94056
   Parameters : 9922
   Iterations : 26
         Time : 0.940648 [s]
 Initial cost : 0.645621 [px]
   Final cost : 0.620529 [px]
  Termination : No convergence

  => Merged observations: 505
  => Completed observations: 202
  => Filtered observations: 976
  => Changed observations: 0.035787

Bundle adjustment report
------------------------
    Residuals : 92584
   Parameters : 9496
   Iterations : 3
         Time : 0.14482 [s]
 Initial cost : 0.707382 [px]
   Final cost : 0.698077 [px]
  Termination : Convergence

  => Merged observations: 80
  => Completed observations: 239
  => Filtered observations: 7
  => Changed observations: 0.007042

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

  => Merged observations: 146
  => Completed observations: 213
  => Retriangulated observations: 0

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  1.760220e+05    0.00e+00    7.90e+05   0.00e+00   0.00e+00  1.00e+04        0    8.62e-02    5.70e-01
   1  1.738439e+05    2.18e+03    9.37e+03   9.64e+00   1.00e+00  3.00e+04        1    1.95e-01    7.65e-01
   2  1.738417e+05    2.24e+00    5.39e+02   3.44e+00   1.00e+00  9.00e+04        1    1.89e-01    9.54e-01
   3  1.738406e+05    1.08e+00    1.88e+03   4.88e+00   1.00e+00  2.70e+05        1    1.91e-01    1.14e+00
   4  1.738400e+05    5.69e-01    3.65e+03   5.02e+00   1.00e+00  8.10e+05        1    1.84e-01    1.33e+00
   5  1.738399e+05    8.22e-02    8.65e+02   2.35e+00   1.00e+00  2.43e+06        1    2.00e-01    1.53e+00
   6  1.738399e+05    2.16e-03    2.64e+01   4.17e-01   1.01e+00  7.29e+06        1    1.95e-01    1.72e+00
   7  1.738399e+05    8.91e-06    8.95e-01   2.72e-02   1.01e+00  2.19e+07        1    1.88e-01    1.91e+00


Bundle adjustment report
------------------------
    Residuals : 357678
   Parameters : 74632
   Iterations : 8
         Time : 1.92796 [s]
 Initial cost : 0.701516 [px]
   Final cost : 0.697154 [px]
  Termination : Convergence

  => Merged observations: 38
  => Completed observations: 57
  => Filtered observations: 48
  => Changed observations: 0.000800

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  1.737841e+05    0.00e+00    2.09e+04   0.00e+00   0.00e+00  1.00e+04        0    8.71e-02    5.54e-01
   1  1.736981e+05    8.61e+01    4.29e+01   3.65e+00   1.00e+00  3.00e+04        1    2.01e-01    7.56e-01
   2  1.736980e+05    4.76e-02    5.98e+00   2.89e-01   1.00e+00  9.00e+04        1    2.01e-01    9.57e-01
   3  1.736980e+05    3.41e-03    1.37e+01   2.58e-01   1.00e+00  2.70e+05        1    1.86e-01    1.14e+00
   4  1.736980e+05    1.72e-03    1.17e+01   2.85e-01   1.00e+00  8.10e+05        1    1.79e-01    1.32e+00
   5  1.736980e+05    2.46e-04    2.13e+00   1.35e-01   1.00e+00  2.43e+06        1    1.79e-01    1.50e+00
   6  1.736980e+05    6.42e-06    8.33e-01   2.40e-02   1.01e+00  7.29e+06        1    1.92e-01    1.69e+00


Bundle adjustment report
------------------------
    Residuals : 357634
   Parameters : 74599
   Iterations : 7
         Time : 1.70795 [s]
 Initial cost : 0.697085 [px]
   Final cost : 0.696912 [px]
  Termination : Convergence

  => Merged observations: 10
  => Completed observations: 0
  => Filtered observations: 8
  => Changed observations: 0.000101
  => Filtered images: 0

==============================================================================
Registering image #51 (34)
==============================================================================

  => Image sees 3399 / 5203 points

Pose refinement report
----------------------
    Residuals : 7132
   Parameters : 6
   Iterations : 11
         Time : 0.0696871 [s]
 Initial cost : 0.674039 [px]
   Final cost : 0.631868 [px]
  Termination : Convergence

  => Continued observations: 3278
  => Added observations: 1372

Bundle adjustment report
------------------------
    Residuals : 84286
   Parameters : 7861
   Iterations : 26
         Time : 0.948331 [s]
 Initial cost : 0.683076 [px]
   Final cost : 0.660707 [px]
  Termination : No convergence

  => Merged observations: 264
  => Completed observations: 198
  => Filtered observations: 929
  => Changed observations: 0.033007

Bundle adjustment report
------------------------
    Residuals : 85788
   Parameters : 7357
   Iterations : 3
         Time : 0.133807 [s]
 Initial cost : 0.724509 [px]
   Final cost : 0.713877 [px]
  Termination : Convergence

  => Merged observations: 53
  => Completed observations: 200
  => Filtered observations: 14
  => Changed observations: 0.006225

==============================================================================
Registering image #50 (35)
==============================================================================

  => Image sees 3533 / 5075 points

Pose refinement report
----------------------
    Residuals : 7552
   Parameters : 6
   Iterations : 12
         Time : 0.074254 [s]
 Initial cost : 0.668703 [px]
   Final cost : 0.612804 [px]
  Termination : Convergence

  => Continued observations: 3401
  => Added observations: 1499

Bundle adjustment report
------------------------
    Residuals : 85214
   Parameters : 7408
   Iterations : 26
         Time : 0.931443 [s]
 Initial cost : 0.642186 [px]
   Final cost : 0.623344 [px]
  Termination : No convergence

  => Merged observations: 376
  => Completed observations: 220
  => Filtered observations: 896
  => Changed observations: 0.035018

Bundle adjustment report
------------------------
    Residuals : 84478
   Parameters : 7000
   Iterations : 3
         Time : 0.130262 [s]
 Initial cost : 0.718997 [px]
   Final cost : 0.709421 [px]
  Termination : Convergence

  => Merged observations: 82
  => Completed observations: 194
  => Filtered observations: 9
  => Changed observations: 0.006747

==============================================================================
Registering image #42 (36)
==============================================================================

  => Image sees 4945 / 7524 points

Pose refinement report
----------------------
    Residuals : 10308
   Parameters : 6
   Iterations : 8
         Time : 0.0729499 [s]
 Initial cost : 0.660585 [px]
   Final cost : 0.586878 [px]
  Termination : Convergence

  => Continued observations: 4769
  => Added observations: 2019

Bundle adjustment report
------------------------
    Residuals : 99122
   Parameters : 10459
   Iterations : 26
         Time : 1.00579 [s]
 Initial cost : 0.63646 [px]
   Final cost : 0.617702 [px]
  Termination : No convergence

  => Merged observations: 563
  => Completed observations: 241
  => Filtered observations: 968
  => Changed observations: 0.035754

Bundle adjustment report
------------------------
    Residuals : 99038
   Parameters : 10177
   Iterations : 3
         Time : 0.154925 [s]
 Initial cost : 0.710294 [px]
   Final cost : 0.700445 [px]
  Termination : Convergence

  => Merged observations: 95
  => Completed observations: 185
  => Filtered observations: 20
  => Changed observations: 0.006058

==============================================================================
Registering image #3 (37)
==============================================================================

  => Image sees 4924 / 6848 points

Pose refinement report
----------------------
    Residuals : 10410
   Parameters : 6
   Iterations : 10
         Time : 0.0840001 [s]
 Initial cost : 0.677863 [px]
   Final cost : 0.578965 [px]
  Termination : Convergence

  => Continued observations: 4771
  => Added observations: 1561

Bundle adjustment report
------------------------
    Residuals : 95974
   Parameters : 9700
   Iterations : 26
         Time : 0.864416 [s]
 Initial cost : 0.64274 [px]
   Final cost : 0.625708 [px]
  Termination : No convergence

  => Merged observations: 786
  => Completed observations: 249
  => Filtered observations: 1002
  => Changed observations: 0.042449

Bundle adjustment report
------------------------
    Residuals : 94414
   Parameters : 9220
   Iterations : 3
         Time : 0.145142 [s]
 Initial cost : 0.709007 [px]
   Final cost : 0.69895 [px]
  Termination : Convergence

  => Merged observations: 52
  => Completed observations: 219
  => Filtered observations: 8
  => Changed observations: 0.005910

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

  => Merged observations: 180
  => Completed observations: 624
  => Retriangulated observations: 0

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  1.979512e+05    0.00e+00    9.48e+05   0.00e+00   0.00e+00  1.00e+04        0    9.87e-02    6.47e-01
   1  1.964861e+05    1.47e+03    4.00e+01   1.07e+01   1.00e+00  3.00e+04        1    2.29e-01    8.76e-01
   2  1.964831e+05    3.05e+00    1.68e+02   4.45e+00   1.00e+00  9.00e+04        1    2.14e-01    1.09e+00
   3  1.964811e+05    1.96e+00    5.64e+03   6.85e+00   1.00e+00  2.70e+05        1    2.23e-01    1.31e+00
   4  1.964800e+05    1.12e+00    7.84e+03   7.33e+00   1.00e+00  8.10e+05        1    2.22e-01    1.53e+00
   5  1.964798e+05    1.69e-01    1.87e+03   3.52e+00   1.00e+00  2.43e+06        1    2.08e-01    1.74e+00
   6  1.964798e+05    4.68e-03    6.50e+01   6.41e-01   1.01e+00  7.29e+06        1    2.04e-01    1.95e+00
   7  1.964798e+05    1.99e-05    1.23e+00   4.28e-02   1.01e+00  2.19e+07        1    2.05e-01    2.15e+00
   8  1.964798e+05    1.88e-08    4.43e-02   1.20e-03   1.02e+00  6.56e+07        1    2.07e-01    2.36e+00


Bundle adjustment report
------------------------
    Residuals : 398632
   Parameters : 80242
   Iterations : 9
         Time : 2.37606 [s]
 Initial cost : 0.704682 [px]
   Final cost : 0.702058 [px]
  Termination : Convergence

  => Merged observations: 57
  => Completed observations: 154
  => Filtered observations: 53
  => Changed observations: 0.001325

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  1.965473e+05    0.00e+00    5.94e+03   0.00e+00   0.00e+00  1.00e+04        0    1.04e-01    6.52e-01
   1  1.964301e+05    1.17e+02    4.02e+01   3.06e+00   1.00e+00  3.00e+04        1    2.43e-01    8.95e-01
   2  1.964299e+05    1.44e-01    2.09e+01   4.13e-01   1.00e+00  9.00e+04        1    2.08e-01    1.10e+00
   3  1.964299e+05    7.45e-03    3.54e+01   3.37e-01   1.00e+00  2.70e+05        1    2.08e-01    1.31e+00
   4  1.964299e+05    3.94e-03    3.21e+01   3.73e-01   1.00e+00  8.10e+05        1    2.02e-01    1.51e+00
   5  1.964299e+05    5.89e-04    7.49e+00   1.80e-01   1.00e+00  2.43e+06        1    2.15e-01    1.73e+00
   6  1.964299e+05    1.61e-05    1.11e+00   3.28e-02   1.01e+00  7.29e+06        1    2.26e-01    1.96e+00
   7  1.964299e+05    6.93e-08    1.05e-01   2.19e-03   1.01e+00  2.19e+07        1    2.04e-01    2.16e+00


Bundle adjustment report
------------------------
    Residuals : 398622
   Parameters : 80194
   Iterations : 8
         Time : 2.17642 [s]
 Initial cost : 0.702187 [px]
   Final cost : 0.701977 [px]
  Termination : Convergence

  => Merged observations: 12
  => Completed observations: 9
  => Filtered observations: 14
  => Changed observations: 0.000176
  => Filtered images: 0

==============================================================================
Registering image #15 (38)
==============================================================================

  => Image sees 3573 / 5161 points

Pose refinement report
----------------------
    Residuals : 7742
   Parameters : 6
   Iterations : 10
         Time : 0.0890541 [s]
 Initial cost : 0.6736 [px]
   Final cost : 0.644302 [px]
  Termination : Convergence

  => Continued observations: 3418
  => Added observations: 1413

Bundle adjustment report
------------------------
    Residuals : 82896
   Parameters : 7765
   Iterations : 26
         Time : 0.826134 [s]
 Initial cost : 0.660765 [px]
   Final cost : 0.64307 [px]
  Termination : No convergence

  => Merged observations: 594
  => Completed observations: 199
  => Filtered observations: 1059
  => Changed observations: 0.044682

Bundle adjustment report
------------------------
    Residuals : 85148
   Parameters : 7228
   Iterations : 3
         Time : 0.136334 [s]
 Initial cost : 0.732611 [px]
   Final cost : 0.721394 [px]
  Termination : Convergence

  => Merged observations: 164
  => Completed observations: 231
  => Filtered observations: 18
  => Changed observations: 0.009701

==============================================================================
Registering image #32 (39)
==============================================================================

  => Image sees 3495 / 4876 points

Pose refinement report
----------------------
    Residuals : 7540
   Parameters : 6
   Iterations : 11
         Time : 0.0739031 [s]
 Initial cost : 0.655776 [px]
   Final cost : 0.64675 [px]
  Termination : Convergence

  => Continued observations: 3371
  => Added observations: 1430

Bundle adjustment report
------------------------
    Residuals : 85606
   Parameters : 7132
   Iterations : 26
         Time : 0.938337 [s]
 Initial cost : 0.681576 [px]
   Final cost : 0.660145 [px]
  Termination : No convergence

  => Merged observations: 308
  => Completed observations: 203
  => Filtered observations: 1059
  => Changed observations: 0.036680

Bundle adjustment report
------------------------
    Residuals : 83990
   Parameters : 6757
   Iterations : 3
         Time : 0.124016 [s]
 Initial cost : 0.763067 [px]
   Final cost : 0.752119 [px]
  Termination : Convergence

  => Merged observations: 45
  => Completed observations: 155
  => Filtered observations: 10
  => Changed observations: 0.005001

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

  => Image sees 4788 / 7059 points

Pose refinement report
----------------------
    Residuals : 9936
   Parameters : 6
   Iterations : 9
         Time : 0.073015 [s]
 Initial cost : 0.591519 [px]
   Final cost : 0.558853 [px]
  Termination : Convergence

  => Continued observations: 4619
  => Added observations: 1637

Bundle adjustment report
------------------------
    Residuals : 94206
   Parameters : 9709
   Iterations : 26
         Time : 0.939365 [s]
 Initial cost : 0.645116 [px]
   Final cost : 0.624274 [px]
  Termination : No convergence

  => Merged observations: 480
  => Completed observations: 290
  => Filtered observations: 956
  => Changed observations: 0.036643

Bundle adjustment report
------------------------
    Residuals : 92928
   Parameters : 9346
   Iterations : 3
         Time : 0.145108 [s]
 Initial cost : 0.706729 [px]
   Final cost : 0.696522 [px]
  Termination : Convergence

  => Merged observations: 162
  => Completed observations: 188
  => Filtered observations: 12
  => Changed observations: 0.007791

==============================================================================
Registering image #9 (41)
==============================================================================

  => Image sees 4502 / 6180 points

Pose refinement report
----------------------
    Residuals : 9288
   Parameters : 6
   Iterations : 10
         Time : 0.0785511 [s]
 Initial cost : 0.623567 [px]
   Final cost : 0.594337 [px]
  Termination : Convergence

  => Continued observations: 4317
  => Added observations: 1581

Bundle adjustment report
------------------------
    Residuals : 93788
   Parameters : 8899
   Iterations : 26
         Time : 0.976614 [s]
 Initial cost : 0.667425 [px]
   Final cost : 0.636686 [px]
  Termination : No convergence

  => Merged observations: 359
  => Completed observations: 208
  => Filtered observations: 1016
  => Changed observations: 0.033757

Bundle adjustment report
------------------------
    Residuals : 92322
   Parameters : 8464
   Iterations : 3
         Time : 0.14332 [s]
 Initial cost : 0.711983 [px]
   Final cost : 0.702755 [px]
  Termination : Convergence

  => Merged observations: 77
  => Completed observations: 231
  => Filtered observations: 11
  => Changed observations: 0.006911

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

  => Merged observations: 257
  => Completed observations: 619
  => Retriangulated observations: 0

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  2.199603e+05    0.00e+00    4.39e+05   0.00e+00   0.00e+00  1.00e+04        0    1.04e-01    7.18e-01
   1  2.180086e+05    1.95e+03    4.32e+03   9.40e+00   1.00e+00  3.00e+04        1    2.54e-01    9.72e-01
   2  2.180050e+05    3.63e+00    5.85e+03   2.38e+00   1.00e+00  9.00e+04        1    2.28e-01    1.20e+00
   3  2.180041e+05    8.99e-01    5.13e+03   2.82e+00   1.00e+00  2.70e+05        1    2.31e-01    1.43e+00
   4  2.180038e+05    3.06e-01    2.68e+03   3.16e+00   1.00e+00  8.10e+05        1    2.27e-01    1.66e+00
   5  2.180037e+05    4.45e-02    4.97e+02   1.55e+00   1.00e+00  2.43e+06        1    2.21e-01    1.88e+00
   6  2.180037e+05    1.21e-03    1.50e+01   2.83e-01   1.00e+00  7.29e+06        1    2.24e-01    2.10e+00
   7  2.180037e+05    5.12e-06    7.68e-01   1.88e-02   1.01e+00  2.19e+07        1    2.32e-01    2.34e+00


Bundle adjustment report
------------------------
    Residuals : 437510
   Parameters : 85180
   Iterations : 8
         Time : 2.35433 [s]
 Initial cost : 0.709052 [px]
   Final cost : 0.705892 [px]
  Termination : Convergence

  => Merged observations: 49
  => Completed observations: 100
  => Filtered observations: 69
  => Changed observations: 0.000997

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  2.178613e+05    0.00e+00    1.48e+04   0.00e+00   0.00e+00  1.00e+04        0    1.24e-01    7.50e-01
   1  2.177545e+05    1.07e+02    1.66e+01   1.73e+00   1.00e+00  3.00e+04        1    2.54e-01    1.00e+00
   2  2.177545e+05    7.54e-02    3.28e+00   3.43e-01   1.00e+00  9.00e+04        1    2.22e-01    1.23e+00
   3  2.177545e+05    3.79e-03    6.46e+00   2.28e-01   1.00e+00  2.70e+05        1    2.22e-01    1.45e+00
   4  2.177544e+05    1.80e-03    1.28e+01   2.37e-01   1.00e+00  8.10e+05        1    2.22e-01    1.67e+00
   5  2.177544e+05    2.68e-04    3.46e+00   1.14e-01   1.00e+00  2.43e+06        1    2.22e-01    1.89e+00
   6  2.177544e+05    7.28e-06    8.93e-01   2.06e-02   1.00e+00  7.29e+06        1    2.23e-01    2.11e+00


Bundle adjustment report
------------------------
    Residuals : 437450
   Parameters : 85147
   Iterations : 7
         Time : 2.13302 [s]
 Initial cost : 0.705709 [px]
   Final cost : 0.705536 [px]
  Termination : Convergence

  => Merged observations: 16
  => Completed observations: 103
  => Filtered observations: 19
  => Changed observations: 0.000631

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  2.177076e+05    0.00e+00    6.92e+02   0.00e+00   0.00e+00  1.00e+04        0    1.11e-01    7.14e-01
   1  2.176646e+05    4.30e+01    1.60e+01   6.23e-01   1.00e+00  3.00e+04        1    2.54e-01    9.68e-01
   2  2.176646e+05    4.17e-03    2.00e+00   3.34e-02   1.00e+00  9.00e+04        1    2.34e-01    1.20e+00
   3  2.176646e+05    2.17e-05    9.03e-01   1.68e-02   1.00e+00  2.70e+05        1    2.29e-01    1.43e+00


Bundle adjustment report
------------------------
    Residuals : 437444
   Parameters : 85135
   Iterations : 4
         Time : 1.44884 [s]
 Initial cost : 0.705465 [px]
   Final cost : 0.705395 [px]
  Termination : Convergence

  => Merged observations: 3
  => Completed observations: 0
  => Filtered observations: 3
  => Changed observations: 0.000027
  => Filtered images: 0

==============================================================================
Registering image #17 (42)
==============================================================================

  => Image sees 4358 / 5891 points

Pose refinement report
----------------------
    Residuals : 9150
   Parameters : 6
   Iterations : 9
         Time : 0.0685482 [s]
 Initial cost : 0.641035 [px]
   Final cost : 0.583891 [px]
  Termination : Convergence

  => Continued observations: 4198
  => Added observations: 1633

Bundle adjustment report
------------------------
    Residuals : 94720
   Parameters : 9190
   Iterations : 26
         Time : 0.985513 [s]
 Initial cost : 0.670249 [px]
   Final cost : 0.645505 [px]
  Termination : No convergence

  => Merged observations: 394
  => Completed observations: 236
  => Filtered observations: 968
  => Changed observations: 0.033742

Bundle adjustment report
------------------------
    Residuals : 93182
   Parameters : 8758
   Iterations : 3
         Time : 0.143196 [s]
 Initial cost : 0.730612 [px]
   Final cost : 0.720703 [px]
  Termination : Convergence

  => Merged observations: 110
  => Completed observations: 226
  => Filtered observations: 8
  => Changed observations: 0.007383

==============================================================================
Registering image #16 (43)
==============================================================================

  => Image sees 4783 / 6412 points

Pose refinement report
----------------------
    Residuals : 10124
   Parameters : 6
   Iterations : 10
         Time : 0.082171 [s]
 Initial cost : 0.624536 [px]
   Final cost : 0.590642 [px]
  Termination : Convergence

  => Continued observations: 4633
  => Added observations: 1575

Bundle adjustment report
------------------------
    Residuals : 93772
   Parameters : 9307
   Iterations : 24
         Time : 0.829862 [s]
 Initial cost : 0.647625 [px]
   Final cost : 0.625398 [px]
  Termination : Convergence

  => Merged observations: 438
  => Completed observations: 280
  => Filtered observations: 951
  => Changed observations: 0.035597

Bundle adjustment report
------------------------
    Residuals : 92612
   Parameters : 8929
   Iterations : 3
         Time : 0.138094 [s]
 Initial cost : 0.729065 [px]
   Final cost : 0.718492 [px]
  Termination : Convergence

  => Merged observations: 104
  => Completed observations: 170
  => Filtered observations: 14
  => Changed observations: 0.006219

==============================================================================
Registering image #8 (44)
==============================================================================

  => Image sees 4612 / 6353 points

Pose refinement report
----------------------
    Residuals : 9652
   Parameters : 6
   Iterations : 11
         Time : 0.0867569 [s]
 Initial cost : 0.659721 [px]
   Final cost : 0.598318 [px]
  Termination : Convergence

  => Continued observations: 4440
  => Added observations: 1321

Bundle adjustment report
------------------------
    Residuals : 89262
   Parameters : 8701
   Iterations : 26
         Time : 0.913605 [s]
 Initial cost : 0.659376 [px]
   Final cost : 0.630344 [px]
  Termination : No convergence

  => Merged observations: 488
  => Completed observations: 231
  => Filtered observations: 959
  => Changed observations: 0.037597

Bundle adjustment report
------------------------
    Residuals : 87932
   Parameters : 8362
   Iterations : 3
         Time : 0.133517 [s]
 Initial cost : 0.716957 [px]
   Final cost : 0.706845 [px]
  Termination : Convergence

  => Merged observations: 36
  => Completed observations: 201
  => Filtered observations: 17
  => Changed observations: 0.005777

==============================================================================
Registering image #7 (45)
==============================================================================

  => Image sees 4711 / 6150 points

Pose refinement report
----------------------
    Residuals : 9956
   Parameters : 6
   Iterations : 8
         Time : 0.065613 [s]
 Initial cost : 0.605047 [px]
   Final cost : 0.600269 [px]
  Termination : Convergence

  => Continued observations: 4543
  => Added observations: 1477

Bundle adjustment report
------------------------
    Residuals : 89460
   Parameters : 8923
   Iterations : 23
         Time : 0.789593 [s]
 Initial cost : 0.656102 [px]
   Final cost : 0.630992 [px]
  Termination : Convergence

  => Merged observations: 641
  => Completed observations: 247
  => Filtered observations: 1009
  => Changed observations: 0.042410

Bundle adjustment report
------------------------
    Residuals : 87796
   Parameters : 8461
   Iterations : 3
         Time : 0.147615 [s]
 Initial cost : 0.715559 [px]
   Final cost : 0.70487 [px]
  Termination : Convergence

  => Merged observations: 55
  => Completed observations: 218
  => Filtered observations: 10
  => Changed observations: 0.006447

==============================================================================
Registering image #35 (46)
==============================================================================

  => Image sees 4335 / 6446 points

Pose refinement report
----------------------
    Residuals : 8936
   Parameters : 6
   Iterations : 11
         Time : 0.081202 [s]
 Initial cost : 0.669047 [px]
   Final cost : 0.615856 [px]
  Termination : Convergence

  => Continued observations: 4124
  => Added observations: 1487

Bundle adjustment report
------------------------
    Residuals : 91576
   Parameters : 7786
   Iterations : 26
         Time : 0.920801 [s]
 Initial cost : 0.665532 [px]
   Final cost : 0.640689 [px]
  Termination : No convergence

  => Merged observations: 399
  => Completed observations: 244
  => Filtered observations: 977
  => Changed observations: 0.035380

Bundle adjustment report
------------------------
    Residuals : 90810
   Parameters : 7282
   Iterations : 3
         Time : 0.141377 [s]
 Initial cost : 0.75542 [px]
   Final cost : 0.745831 [px]
  Termination : Convergence

  => Merged observations: 96
  => Completed observations: 209
  => Filtered observations: 26
  => Changed observations: 0.007290

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

  => Merged observations: 327
  => Completed observations: 1254
  => Retriangulated observations: 0

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  2.510534e+05    0.00e+00    1.38e+06   0.00e+00   0.00e+00  1.00e+04        0    1.19e-01    8.00e-01
   1  2.475469e+05    3.51e+03    3.68e+04   1.04e+01   1.00e+00  3.00e+04        1    3.03e-01    1.10e+00
   2  2.475363e+05    1.06e+01    2.09e+04   4.11e+00   1.00e+00  9.00e+04        1    2.82e-01    1.39e+00
   3  2.475330e+05    3.27e+00    1.84e+04   5.39e+00   9.99e-01  2.70e+05        1    2.82e-01    1.67e+00
   4  2.475318e+05    1.21e+00    9.96e+03   5.90e+00   1.00e+00  8.10e+05        1    2.82e-01    1.95e+00
   5  2.475316e+05    1.73e-01    1.84e+03   2.83e+00   1.00e+00  2.43e+06        1    2.77e-01    2.23e+00
   6  2.475316e+05    4.55e-03    5.48e+01   5.05e-01   1.00e+00  7.29e+06        1    2.78e-01    2.50e+00
   7  2.475316e+05    1.79e-05    1.05e+00   3.25e-02   1.01e+00  2.19e+07        1    2.62e-01    2.77e+00
   8  2.475316e+05    1.50e-08    3.87e-02   8.43e-04   1.05e+00  6.56e+07        1    2.67e-01    3.03e+00


Bundle adjustment report
------------------------
    Residuals : 491266
   Parameters : 91399
   Iterations : 9
         Time : 3.05412 [s]
 Initial cost : 0.714866 [px]
   Final cost : 0.709834 [px]
  Termination : Convergence

  => Merged observations: 72
  => Completed observations: 166
  => Filtered observations: 77
  => Changed observations: 0.001282

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  2.474903e+05    0.00e+00    7.04e+03   0.00e+00   0.00e+00  1.00e+04        0    1.12e-01    8.01e-01
   1  2.473366e+05    1.54e+02    3.64e+01   1.97e+00   1.00e+00  3.00e+04        1    2.85e-01    1.09e+00
   2  2.473365e+05    8.32e-02    2.10e+01   2.38e-01   1.00e+00  9.00e+04        1    2.51e-01    1.34e+00
   3  2.473365e+05    7.93e-03    3.63e+01   2.60e-01   1.00e+00  2.70e+05        1    2.49e-01    1.59e+00
   4  2.473365e+05    3.79e-03    2.69e+01   2.85e-01   1.00e+00  8.10e+05        1    2.58e-01    1.84e+00
   5  2.473365e+05    5.47e-04    5.03e+00   1.36e-01   1.00e+00  2.43e+06        1    2.45e-01    2.09e+00
   6  2.473365e+05    1.43e-05    1.02e+00   2.42e-02   1.00e+00  7.29e+06        1    2.69e-01    2.36e+00
   7  2.473365e+05    5.64e-08    9.22e-02   1.56e-03   9.94e-01  2.19e+07        1    2.69e-01    2.63e+00


Bundle adjustment report
------------------------
    Residuals : 491230
   Parameters : 91342
   Iterations : 8
         Time : 2.64664 [s]
 Initial cost : 0.709801 [px]
   Final cost : 0.70958 [px]
  Termination : Convergence

  => Merged observations: 14
  => Completed observations: 0
  => Filtered observations: 24
  => Changed observations: 0.000155
  => Filtered images: 0

==============================================================================
Registering image #34 (47)
==============================================================================

  => Image sees 4451 / 6269 points

Pose refinement report
----------------------
    Residuals : 9320
   Parameters : 6
   Iterations : 11
         Time : 0.0833929 [s]
 Initial cost : 0.642213 [px]
   Final cost : 0.60878 [px]
  Termination : Convergence

  => Continued observations: 4246
  => Added observations: 1366

Bundle adjustment report
------------------------
    Residuals : 94336
   Parameters : 8476
   Iterations : 19
         Time : 0.760694 [s]
 Initial cost : 0.662404 [px]
   Final cost : 0.642191 [px]
  Termination : Convergence

  => Merged observations: 510
  => Completed observations: 202
  => Filtered observations: 1005
  => Changed observations: 0.036402

Bundle adjustment report
------------------------
    Residuals : 92906
   Parameters : 8083
   Iterations : 3
         Time : 0.152833 [s]
 Initial cost : 0.73182 [px]
   Final cost : 0.7218 [px]
  Termination : Convergence

  => Merged observations: 157
  => Completed observations: 220
  => Filtered observations: 10
  => Changed observations: 0.008331

==============================================================================
Registering image #36 (48)
==============================================================================

  => Image sees 4483 / 6203 points

Pose refinement report
----------------------
    Residuals : 9428
   Parameters : 6
   Iterations : 14
         Time : 0.108738 [s]
 Initial cost : 0.72471 [px]
   Final cost : 0.626013 [px]
  Termination : Convergence

  => Continued observations: 4305
  => Added observations: 1890

Bundle adjustment report
------------------------
    Residuals : 90114
   Parameters : 8134
   Iterations : 26
         Time : 0.954976 [s]
 Initial cost : 0.670492 [px]
   Final cost : 0.652843 [px]
  Termination : No convergence

  => Merged observations: 670
  => Completed observations: 262
  => Filtered observations: 1012
  => Changed observations: 0.043145

Bundle adjustment report
------------------------
    Residuals : 91674
   Parameters : 7933
   Iterations : 3
         Time : 0.141999 [s]
 Initial cost : 0.721175 [px]
   Final cost : 0.711014 [px]
  Termination : Convergence

  => Merged observations: 48
  => Completed observations: 215
  => Filtered observations: 14
  => Changed observations: 0.006043

==============================================================================
Registering image #37 (49)
==============================================================================

  => Image sees 4870 / 6490 points

Pose refinement report
----------------------
    Residuals : 10158
   Parameters : 6
   Iterations : 11
         Time : 0.092149 [s]
 Initial cost : 0.627358 [px]
   Final cost : 0.603146 [px]
  Termination : Convergence

  => Continued observations: 4664
  => Added observations: 1617

Bundle adjustment report
------------------------
    Residuals : 90914
   Parameters : 8446
   Iterations : 26
         Time : 0.924642 [s]
 Initial cost : 0.670714 [px]
   Final cost : 0.651337 [px]
  Termination : No convergence

  => Merged observations: 693
  => Completed observations: 261
  => Filtered observations: 1049
  => Changed observations: 0.044064

Bundle adjustment report
------------------------
    Residuals : 89718
   Parameters : 8062
   Iterations : 3
         Time : 0.143548 [s]
 Initial cost : 0.730515 [px]
   Final cost : 0.720193 [px]
  Termination : Convergence

  => Merged observations: 59
  => Completed observations: 240
  => Filtered observations: 9
  => Changed observations: 0.006866

==============================================================================
Registering image #38 (50)
==============================================================================

  => Image sees 5070 / 6677 points

Pose refinement report
----------------------
    Residuals : 10742
   Parameters : 6
   Iterations : 10
         Time : 0.0863378 [s]
 Initial cost : 0.646269 [px]
   Final cost : 0.616103 [px]
  Termination : Convergence

  => Continued observations: 4891
  => Added observations: 1598

Bundle adjustment report
------------------------
    Residuals : 94366
   Parameters : 8764
   Iterations : 26
         Time : 0.973563 [s]
 Initial cost : 0.665456 [px]
   Final cost : 0.64668 [px]
  Termination : No convergence

  => Merged observations: 543
  => Completed observations: 254
  => Filtered observations: 1075
  => Changed observations: 0.039675

Bundle adjustment report
------------------------
    Residuals : 93050
   Parameters : 8377
   Iterations : 3
         Time : 0.150654 [s]
 Initial cost : 0.742759 [px]
   Final cost : 0.733376 [px]
  Termination : Convergence

  => Merged observations: 79
  => Completed observations: 219
  => Filtered observations: 6
  => Changed observations: 0.006534

==============================================================================
Registering image #33 (51)
==============================================================================

  => Image sees 4645 / 5757 points

Pose refinement report
----------------------
    Residuals : 9978
   Parameters : 6
   Iterations : 11
         Time : 0.110239 [s]
 Initial cost : 0.6265 [px]
   Final cost : 0.605484 [px]
  Termination : Convergence

  => Continued observations: 4473
  => Added observations: 1466

Bundle adjustment report
------------------------
    Residuals : 90040
   Parameters : 8188
   Iterations : 26
         Time : 0.889762 [s]
 Initial cost : 0.678561 [px]
   Final cost : 0.654724 [px]
  Termination : No convergence

  => Merged observations: 899
  => Completed observations: 304
  => Filtered observations: 1103
  => Changed observations: 0.051222

Bundle adjustment report
------------------------
    Residuals : 88622
   Parameters : 7735
   Iterations : 3
         Time : 0.139463 [s]
 Initial cost : 0.730242 [px]
   Final cost : 0.719904 [px]
  Termination : Convergence

  => Merged observations: 77
  => Completed observations: 238
  => Filtered observations: 11
  => Changed observations: 0.007357

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

  => Merged observations: 367
  => Completed observations: 1345
  => Retriangulated observations: 0

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  2.846394e+05    0.00e+00    7.64e+06   0.00e+00   0.00e+00  1.00e+04        0    1.33e-01    9.79e-01

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  2.804635e+05    4.18e+03    1.46e+05   1.11e+01   1.00e+00  3.00e+04        1    9.14e-01    1.89e+00
   2  2.803789e+05    8.46e+01    2.13e+05   1.51e+01   9.89e-01  9.00e+04        1    3.06e-01    2.20e+00
   3  2.803116e+05    6.73e+01    3.01e+05   2.58e+01   9.73e-01  2.70e+05        1    3.05e-01    2.50e+00
   4  2.802777e+05    3.39e+01    2.17e+05   2.66e+01   9.72e-01  8.10e+05        1    3.02e-01    2.81e+00
   5  2.802725e+05    5.25e+00    3.93e+04   1.19e+01   9.95e-01  2.43e+06        1    3.18e-01    3.12e+00
   6  2.802724e+05    1.31e-01    1.06e+03   1.97e+00   1.00e+00  7.29e+06        1    3.03e-01    3.43e+00
   7  2.802724e+05    3.63e-04    3.18e+00   1.18e-01   1.01e+00  2.19e+07        1    3.00e-01    3.73e+00
   8  2.802724e+05    2.42e-07    1.54e-01   2.86e-03   1.01e+00  6.56e+07        1    2.99e-01    4.03e+00


Bundle adjustment report
------------------------
    Residuals : 546830
   Parameters : 97609
   Iterations : 9
         Time : 4.04833 [s]
 Initial cost : 0.721475 [px]
   Final cost : 0.715919 [px]
  Termination : Convergence

  => Merged observations: 125
  => Completed observations: 249
  => Filtered observations: 119
  => Changed observations: 0.001803

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  2.805527e+05    0.00e+00    5.21e+04   0.00e+00   0.00e+00  1.00e+04        0    1.27e-01    9.72e-01

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  2.803024e+05    2.50e+02    1.47e+02   3.38e+00   1.00e+00  3.00e+04        1    8.97e-01    1.87e+00
   2  2.803020e+05    4.02e-01    5.93e+02   8.52e-01   1.00e+00  9.00e+04        1    3.02e-01    2.17e+00
   3  2.803018e+05    2.04e-01    8.80e+02   1.32e+00   1.00e+00  2.70e+05        1    3.12e-01    2.48e+00
   4  2.803017e+05    9.82e-02    6.33e+02   1.36e+00   1.00e+00  8.10e+05        1    2.99e-01    2.78e+00
   5  2.803017e+05    1.27e-02    1.13e+02   6.03e-01   1.00e+00  2.43e+06        1    3.02e-01    3.08e+00
   6  2.803017e+05    2.89e-04    2.58e+00   9.96e-02   1.00e+00  7.29e+06        1    2.96e-01    3.38e+00
   7  2.803017e+05    9.91e-07    3.60e-01   5.94e-03   1.01e+00  2.19e+07        1    2.91e-01    3.67e+00


Bundle adjustment report
------------------------
    Residuals : 546762
   Parameters : 97471
   Iterations : 8
         Time : 3.69349 [s]
 Initial cost : 0.716322 [px]
   Final cost : 0.716001 [px]
  Termination : Convergence

  => Merged observations: 23
  => Completed observations: 22
  => Filtered observations: 29
  => Changed observations: 0.000271
  => Filtered images: 0

==============================================================================
Registering image #2 (52)
==============================================================================

  => Image sees 3842 / 4905 points

Pose refinement report
----------------------
    Residuals : 8574
   Parameters : 6
   Iterations : 11
         Time : 0.0795169 [s]
 Initial cost : 0.669115 [px]
   Final cost : 0.637027 [px]
  Termination : Convergence

  => Continued observations: 3713
  => Added observations: 1441

Bundle adjustment report
------------------------
    Residuals : 86484
   Parameters : 7615
   Iterations : 26
         Time : 0.968802 [s]
 Initial cost : 0.65824 [px]
   Final cost : 0.641503 [px]
  Termination : No convergence

  => Merged observations: 482
  => Completed observations: 214
  => Filtered observations: 1039
  => Changed observations: 0.040123

Bundle adjustment report
------------------------
    Residuals : 84618
   Parameters : 7213
   Iterations : 3
         Time : 0.134703 [s]
 Initial cost : 0.729745 [px]
   Final cost : 0.719094 [px]
  Termination : Convergence

  => Merged observations: 165
  => Completed observations: 207
  => Filtered observations: 27
  => Changed observations: 0.009431

==============================================================================
Registering image #40 (53)
==============================================================================

  => Image sees 4458 / 6118 points

Pose refinement report
----------------------
    Residuals : 9506
   Parameters : 6
   Iterations : 9
         Time : 0.0715671 [s]
 Initial cost : 0.639028 [px]
   Final cost : 0.574256 [px]
  Termination : Convergence

  => Continued observations: 4317
  => Added observations: 1301

Bundle adjustment report
------------------------
    Residuals : 86026
   Parameters : 7150
   Iterations : 26
         Time : 0.889496 [s]
 Initial cost : 0.637162 [px]
   Final cost : 0.619998 [px]
  Termination : No convergence

  => Merged observations: 491
  => Completed observations: 217
  => Filtered observations: 842
  => Changed observations: 0.036036

Bundle adjustment report
------------------------
    Residuals : 85042
   Parameters : 6883
   Iterations : 3
         Time : 0.134738 [s]
 Initial cost : 0.714168 [px]
   Final cost : 0.705984 [px]
  Termination : Convergence

  => Merged observations: 138
  => Completed observations: 150
  => Filtered observations: 8
  => Changed observations: 0.006961

==============================================================================
Registering image #39 (54)
==============================================================================

  => Image sees 3416 / 4688 points

Pose refinement report
----------------------
    Residuals : 7332
   Parameters : 6
   Iterations : 18
         Time : 0.103495 [s]
 Initial cost : 0.784351 [px]
   Final cost : 0.714517 [px]
  Termination : Convergence

  => Continued observations: 3273
  => Added observations: 985

Bundle adjustment report
------------------------
    Residuals : 76246
   Parameters : 5644
   Iterations : 26
         Time : 0.852261 [s]
 Initial cost : 0.682053 [px]
   Final cost : 0.665019 [px]
  Termination : No convergence

  => Merged observations: 296
  => Completed observations: 187
  => Filtered observations: 1009
  => Changed observations: 0.039136

Bundle adjustment report
------------------------
    Residuals : 74830
   Parameters : 5368
   Iterations : 3
         Time : 0.125943 [s]
 Initial cost : 0.770704 [px]
   Final cost : 0.761773 [px]
  Termination : Convergence

  => Merged observations: 154
  => Completed observations: 180
  => Filtered observations: 40
  => Changed observations: 0.009996

==============================================================================
Registering image #1 (55)
==============================================================================

  => Image sees 4445 / 5440 points

Pose refinement report
----------------------
    Residuals : 9558
   Parameters : 6
   Iterations : 10
         Time : 0.0854809 [s]
 Initial cost : 0.629887 [px]
   Final cost : 0.602884 [px]
  Termination : Convergence

  => Continued observations: 4269
  => Added observations: 1122

Bundle adjustment report
------------------------
    Residuals : 85212
   Parameters : 7174
   Iterations : 26
         Time : 0.939881 [s]
 Initial cost : 0.648572 [px]
   Final cost : 0.627574 [px]
  Termination : No convergence

  => Merged observations: 640
  => Completed observations: 228
  => Filtered observations: 922
  => Changed observations: 0.042013

Bundle adjustment report
------------------------
    Residuals : 84030
   Parameters : 6859
   Iterations : 3
         Time : 0.143718 [s]
 Initial cost : 0.716138 [px]
   Final cost : 0.706226 [px]
  Termination : Convergence

  => Merged observations: 128
  => Completed observations: 173
  => Filtered observations: 11
  => Changed observations: 0.007426

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

  => Merged observations: 348
  => Completed observations: 912
  => Retriangulated observations: 0

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  3.068112e+05    0.00e+00    6.00e+05   0.00e+00   0.00e+00  1.00e+04        0    1.43e-01    1.08e+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: 1.1496e+07
    Nonzeros in L:       52975
  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: 1.1496e+07
        nnz(L):     52975
  OK
   1  3.045253e+05    2.29e+03    3.75e+04   8.37e+00   1.00e+00  3.00e+04        1    9.93e-01    2.07e+00
   2  3.045214e+05    3.91e+00    3.14e+02   3.18e+00   1.00e+00  9.00e+04        1    3.21e-01    2.39e+00
   3  3.045189e+05    2.53e+00    5.79e+03   4.85e+00   1.00e+00  2.70e+05        1    3.25e-01    2.71e+00
   4  3.045176e+05    1.31e+00    7.61e+03   4.95e+00   1.00e+00  8.10e+05        1    3.24e-01    3.04e+00
   5  3.045174e+05    1.74e-01    1.57e+03   2.21e+00   1.00e+00  2.43e+06        1    3.18e-01    3.36e+00
   6  3.045174e+05    4.08e-03    4.58e+01   3.70e-01   1.00e+00  7.29e+06        1    3.21e-01    3.68e+00
   7  3.045174e+05    1.43e-05    9.61e-01   2.24e-02   1.01e+00  2.19e+07        1    3.16e-01    3.99e+00


Bundle adjustment report
------------------------
    Residuals : 583318
   Parameters : 101077
   Iterations : 8
         Time : 4.01835 [s]
 Initial cost : 0.725242 [px]
   Final cost : 0.722526 [px]
  Termination : Convergence

  => Merged observations: 90
  => Completed observations: 163
  => Filtered observations: 99
  => Changed observations: 0.001207

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  3.045006e+05    0.00e+00    5.15e+04   0.00e+00   0.00e+00  1.00e+04        0    1.34e-01    1.08e+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: 1.1496e+07
    Nonzeros in L:       52975
  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: 1.1496e+07
        nnz(L):     52975
  OK
   1  3.043503e+05    1.50e+02    1.64e+01   1.63e+00   1.00e+00  3.00e+04        1    1.02e+00    2.10e+00
   2  3.043503e+05    4.69e-02    6.40e+00   2.00e-01   1.00e+00  9.00e+04        1    3.41e-01    2.44e+00
   3  3.043502e+05    8.13e-03    2.53e+01   2.86e-01   1.00e+00  2.70e+05        1    3.41e-01    2.78e+00
   4  3.043502e+05    4.26e-03    2.72e+01   2.94e-01   1.00e+00  8.10e+05        1    3.30e-01    3.11e+00
   5  3.043502e+05    5.64e-04    5.78e+00   1.32e-01   1.00e+00  2.43e+06        1    3.28e-01    3.44e+00
   6  3.043502e+05    1.32e-05    9.52e-01   2.21e-02   1.00e+00  7.29e+06        1    3.26e-01    3.77e+00


Bundle adjustment report
------------------------
    Residuals : 583284
   Parameters : 101035
   Iterations : 7
         Time : 3.79018 [s]
 Initial cost : 0.722527 [px]
   Final cost : 0.722349 [px]
  Termination : Convergence

  => Merged observations: 20
  => Completed observations: 123
  => Filtered observations: 22
  => Changed observations: 0.000566

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  3.042844e+05    0.00e+00    1.07e+04   0.00e+00   0.00e+00  1.00e+04        0    1.39e-01    1.05e+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: 1.1496e+07
    Nonzeros in L:       52975
  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: 1.1496e+07
        nnz(L):     52975
  OK
   1  3.042522e+05    3.23e+01    4.79e+01   7.50e-01   1.00e+00  3.00e+04        1    9.89e-01    2.04e+00
   2  3.042522e+05    3.76e-03    4.18e+00   4.26e-02   1.00e+00  9.00e+04        1    3.17e-01    2.36e+00
   3  3.042522e+05    1.59e-04    8.37e-01   2.09e-02   1.00e+00  2.70e+05        1    3.21e-01    2.68e+00


Bundle adjustment report
------------------------
    Residuals : 583280
   Parameters : 101029
   Iterations : 4
         Time : 2.70301 [s]
 Initial cost : 0.722273 [px]
   Final cost : 0.722235 [px]
  Termination : Convergence

  => Merged observations: 5
  => Completed observations: 70
  => Filtered observations: 4
  => Changed observations: 0.000271
  => Filtered images: 0

Elapsed time: 2.654 [minutes]
