Meshroom: [question] Failed at StructureFromMotion - Bundle Adjustment failed, the solution is not usable.
Can anyone advise what might be causing the error in my scan based on the error? I am using over 4,000 images of an alley in the city. The lighting was overcast so it is even and consistent throughout, however some items in the alley were moved between shots (not in many of them) -- could this be the reason for the error?
Thx for your help!
Program called with the following parameters:
* describerTypes = "sift"
* extraInfoFolder = "C:/Users/adventure#/Documents/MeshroomCache/StructureFromMotion/48901c9245108ab1c31e0f46e57c89225294c8a9"
* featuresFolders = = [C:/Users/adventure#/Documents/MeshroomCache/FeatureExtraction/484447040326733aee6acc21e7492b80d50e1ab3]
* initialPairA = ""
* initialPairB = ""
* input = "C:/Users/adventure#/Documents/MeshroomCache/CameraInit/1b4864e0ffc529b2b6107feb6f497f474e40bfe1/cameraInit.sfm"
* interFileExtension = ".abc"
* localBAGraphDistance = 1
* localizerEstimator = Unknown Type "enum aliceVision::robustEstimation::ERobustEstimator"
* localizerEstimatorError = 0
* localizerEstimatorMaxIterations = 4096
* lockAllIntrinsics = 0
* lockScenePreviouslyReconstructed = 0
* matchesFolders = = [C:/Users/adventure#/Documents/MeshroomCache/FeatureMatching/ec917d64a6a3b2e51b9499a370f778f7ffb7559b]
* maxAngleInitialPair = 40
* maxNumberOfMatches = 0
* maxReprojectionError = 4
* minAngleForLandmark = 2
* minAngleForTriangulation = 3
* minAngleInitialPair = 5
* minInputTrackLength = 2
* minNumberOfObservationsForTriangulation = 2
* output = "C:/Users/adventure#/Documents/MeshroomCache/StructureFromMotion/48901c9245108ab1c31e0f46e57c89225294c8a9/sfm.abc"
* outputViewsAndPoses = "C:/Users/adventure#/Documents/MeshroomCache/StructureFromMotion/48901c9245108ab1c31e0f46e57c89225294c8a9/cameras.sfm"
* useLocalBA = 1
* useOnlyMatchesFromInputFolder = 0
* useRigConstraint = 1
* useTrackFiltering = 1 (default)
* verboseLevel = "info"
Loading features
0% 10 20 30 40 50 60 70 80 90 100%
|----|----|----|----|----|----|----|----|----|----|
[21:32:15.117546][info] Supported CUDA-Enabled GPU detected.
***************************************************
[21:36:26.365582][info] Fuse matches into tracks:
- # tracks: 4924664
- # images in tracks: 4331
[21:36:26.547098][info] TrackLength, Occurrence
[21:36:26.548095][info] 2 2591119
[21:36:26.548095][info] 3 978698
[21:36:26.548095][info] 4 458248
[21:36:26.548095][info] 5 262034
[21:36:26.548095][info] 6 172047
[21:36:26.548095][info] 7 114736
[21:36:26.548095][info] 8 80114
[21:36:26.548095][info] 9 57981
[21:36:26.548095][info] 10 43118
[21:36:26.548095][info] 11 32971
[21:36:26.548095][info] 12 25249
[21:36:26.548095][info] 13 19750
[21:36:26.548095][info] 14 15639
[21:36:26.548095][info] 15 12371
[21:36:26.548095][info] 16 9749
[21:36:26.548095][info] 17 7930
[21:36:26.548095][info] 18 6533
[21:36:26.548095][info] 19 5489
[21:36:26.548095][info] 20 4563
[21:36:26.548095][info] 21 3743
[21:36:26.548095][info] 22 3178
[21:36:26.548095][info] 23 2743
[21:36:26.548095][info] 24 2224
[21:36:26.548095][info] 25 1903
[21:36:26.548095][info] 26 1716
[21:36:26.548095][info] 27 1459
[21:36:26.548095][info] 28 1218
[21:36:26.548095][info] 29 1137
[21:36:26.548095][info] 30 962
[21:36:26.548095][info] 31 795
[21:36:26.548095][info] 32 689
[21:36:26.548095][info] 33 613
[21:36:26.548095][info] 34 526
[21:36:26.548095][info] 35 429
[21:36:26.548095][info] 36 338
[21:36:26.548095][info] 37 351
[21:36:26.548095][info] 38 287
[21:36:26.548095][info] 39 229
[21:36:26.548095][info] 40 199
[21:36:26.549090][info] 41 186
[21:36:26.549090][info] 42 159
[21:36:26.549090][info] 43 127
[21:36:26.549090][info] 44 119
[21:36:26.549090][info] 45 106
[21:36:26.549090][info] 46 102
[21:36:26.549090][info] 47 80
[21:36:26.549090][info] 48 64
[21:36:26.549090][info] 49 57
[21:36:26.549090][info] 50 54
[21:36:26.549090][info] 51 45
[21:36:26.549090][info] 52 43
[21:36:26.549090][info] 53 52
[21:36:26.549090][info] 54 33
[21:36:26.549090][info] 55 29
[21:36:26.549090][info] 56 40
[21:36:26.549090][info] 57 20
[21:36:26.549090][info] 58 25
[21:36:26.549090][info] 59 19
[21:36:26.549090][info] 60 28
[21:36:26.549090][info] 61 16
[21:36:26.549090][info] 62 16
[21:36:26.549090][info] 63 18
[21:36:26.549090][info] 64 14
[21:36:26.549090][info] 65 8
[21:36:26.549090][info] 66 11
[21:36:26.549090][info] 67 12
[21:36:26.549090][info] 68 7
[21:36:26.549090][info] 69 5
[21:36:26.549090][info] 70 4
[21:36:26.549090][info] 71 5
[21:36:26.549090][info] 72 3
[21:36:26.549090][info] 73 5
[21:36:26.549090][info] 74 4
[21:36:26.549090][info] 75 3
[21:36:26.549090][info] 76 3
[21:36:26.549090][info] 77 5
[21:36:26.549090][info] 78 5
[21:36:26.549090][info] 79 5
[21:36:26.549090][info] 81 1
[21:36:26.549090][info] 82 4
[21:36:26.549090][info] 83 3
[21:36:26.549090][info] 84 2
[21:36:26.549090][info] 85 3
[21:36:26.549090][info] 86 2
[21:36:26.549090][info] 87 1
[21:36:26.549090][info] 88 1
[21:36:26.549090][info] 89 1
[21:36:26.549090][info] 91 2
[21:36:26.549090][info] 92 1
[21:36:26.549090][info] 95 2
[21:36:26.549090][info] 97 1
[21:36:26.549090][info] 98 4
[21:36:26.549090][info] 102 1
[21:36:26.549090][info] 105 2
[21:36:26.549090][info] 107 1
[21:36:26.549090][info] 110 1
[21:36:26.549090][info] 112 1
[21:36:26.549090][info] 113 1
[21:36:26.549090][info] 114 1
[21:36:26.549090][info] 116 2
[21:36:26.550087][info] 118 1
[21:36:26.550087][info] 120 1
[21:36:26.550087][info] 126 2
[21:36:26.550087][info] 129 1
[21:36:26.550087][info] 130 2
[21:36:26.550087][info] 136 1
[21:36:26.550087][info] 138 1
[21:36:26.550087][info] 139 1
[21:36:26.550087][info] 145 1
Automatic selection of an initial pair:
0% 10 20 30 40 50 60 70 80 90 100%
|----|----|----|----|----|----|----|----|----|----|
***************************************************
[21:44:22.448298][info] Initial pair is:
- [A] view id: 739147376, filepath: D:/IMG_2309.JPG
- [B] view id: 770716373, filepath: D:/IMG_1911.JPG
[21:44:22.451289][info] 2533 matches in the image pair for the initial pose estimation.
[21:44:23.377813][info] Bundle adjustment start.
[21:44:23.381802][info] Start bundle adjustment iteration: 0
[21:44:23.470563][info] Bundle Adjustment Statistics:
- local strategy enabled: no
- adjustment duration: 0.050617 s
- poses:
- # refined: 2
- # constant: 0
- # ignored: 0
- landmarks:
- # refined: 5014
- # constant: 0
- # ignored: 0
- intrinsics:
- # refined: 0
- # constant: 1
- # ignored: 2
- # residual blocks: 10028
- # successful iterations: 3
- # unsuccessful iterations: 0
- initial RMSE: 0.510605
- final RMSE: 0.440102
[21:44:23.476549][info] Remove outliers:
- # outliers residual error: 5
- # outliers angular error: 0
[21:44:23.476549][info] Bundle adjustment iteration: 0 took 94 msec.
[21:44:23.476549][info] Start bundle adjustment iteration: 1
[21:44:23.498489][warning] Bundle Adjustment failed, the solution is not usable.
[21:44:23.503476][info] Initial pair is:
- [A] view id: 123816785, filepath: D:/IMG_1737.JPG
- [B] view id: 2026055009, filepath: D:/IMG_2185.JPG
[21:44:23.507465][info] 2080 matches in the image pair for the initial pose estimation.
[21:44:24.346226][info] Bundle adjustment start.
[21:44:24.348218][info] Start bundle adjustment iteration: 0
[21:44:24.408057][info] Bundle Adjustment Statistics:
- local strategy enabled: no
- adjustment duration: 0.0340049 s
- poses:
- # refined: 2
- # constant: 0
- # ignored: 0
- landmarks:
- # refined: 4076
- # constant: 0
- # ignored: 0
- intrinsics:
- # refined: 0
- # constant: 1
- # ignored: 2
- # residual blocks: 8152
- # successful iterations: 3
- # unsuccessful iterations: 0
- initial RMSE: 0.56913
- final RMSE: 0.492434
[21:44:24.412048][info] Remove outliers:
- # outliers residual error: 6
- # outliers angular error: 0
[21:44:24.413047][info] Bundle adjustment iteration: 0 took 64 msec.
[21:44:24.413047][info] Start bundle adjustment iteration: 1
[21:44:24.429004][warning] Bundle Adjustment failed, the solution is not usable.
[21:44:24.434984][info] Initial pair is:
- [A] view id: 739147376, filepath: D:/IMG_2309.JPG
- [B] view id: 1542730406, filepath: D:/IMG_1910.JPG
[21:44:24.439971][info] 2268 matches in the image pair for the initial pose estimation.
[21:44:25.228864][info] Bundle adjustment start.
[21:44:25.230858][info] Start bundle adjustment iteration: 0
[21:44:25.291693][info] Bundle Adjustment Statistics:
- local strategy enabled: no
- adjustment duration: 0.0355062 s
- poses:
- # refined: 2
- # constant: 0
- # ignored: 0
- landmarks:
- # refined: 4476
- # constant: 0
- # ignored: 0
- intrinsics:
- # refined: 0
- # constant: 1
- # ignored: 2
- # residual blocks: 8952
- # successful iterations: 3
- # unsuccessful iterations: 0
- initial RMSE: 0.509759
- final RMSE: 0.482634
[21:44:25.296687][info] Remove outliers:
- # outliers residual error: 1
- # outliers angular error: 0
[21:44:25.297678][info] Bundle adjustment iteration: 0 took 66 msec.
[21:44:25.297678][info] Start bundle adjustment iteration: 1
[21:44:25.314633][warning] Bundle Adjustment failed, the solution is not usable.
[21:44:25.317623][info] Initial pair is:
- [A] view id: 704762092, filepath: D:/IMG_1755.JPG
- [B] view id: 1578679170, filepath: D:/IMG_2184.JPG
[21:44:25.323608][info] 2411 matches in the image pair for the initial pose estimation.
[21:44:26.169345][info] Bundle adjustment start.
[21:44:26.170342][info] Start bundle adjustment iteration: 0
[21:44:26.238161][info] Bundle Adjustment Statistics:
- local strategy enabled: no
- adjustment duration: 0.039149 s
- poses:
- # refined: 2
- # constant: 0
- # ignored: 0
- landmarks:
- # refined: 4726
- # constant: 0
- # ignored: 0
- intrinsics:
- # refined: 0
- # constant: 1
- # ignored: 2
- # residual blocks: 9452
- # successful iterations: 3
- # unsuccessful iterations: 0
- initial RMSE: 0.58512
- final RMSE: 0.568254
[21:44:26.243149][info] Remove outliers:
- # outliers residual error: 0
- # outliers angular error: 0
[21:44:26.243149][info] Bundle adjustment iteration: 0 took 73 msec.
[21:44:26.243149][info] Bundle adjustment with 1 iterations took 74 msec.
[21:44:26.246146][info] Initial pair is: 704762092, 1578679170
[21:44:26.248135][info] Begin Incremental Reconstruction:
- mode: SfM augmentation
- # images in input: 4358
- # images in resection: 4356
- # landmarks in input: 2363
- # cameras already calibrated: 2
[21:44:26.248135][info] Incremental Reconstruction start iteration 0:
- # number of resection groups: 0
- # number of poses: 2
- # number of landmarks: 2363
- # remaining images: 4356
[21:44:26.506444][info] Update Reconstruction:
- resection id: 0
- # images in the resection group: 1
- # images remaining: 4356
[21:44:26.508439][info] [3/4358] Robust Resection of view: 451350000
[21:44:26.951258][info] Robust Resection information:
- resection status: true
- threshold (error max): 6.81299
- # points used for resection: 1585
- # points validated by robust resection: 1551
... and so on...
cdobie
All 12 comments
having the same issue with a similar task, some pictures has blur becouse i tried to catch a moving target
jNullj
on 9 Oct 2019
When you have a large number of cameras, it could make sense to do something like:
To improve the robustness of the initial reconstruction, you can use a SfM with minInputTrackLength set to 3 or 4 or more to use only the most robust matches first (and so improve the ratio inliers/outliers). Then, you can chain another SfM with the standard parameters, so the second one will try again to localize the cameras not found by the first one but with different parameters.
As recommended here: https://github.com/alicevision/meshroom/wiki/Reconstruction-parameters
fabiencastan
on 9 Oct 2019
This issue has been automatically marked as stale because it has not had recent activity. It will be closed if no further activity occurs. Thank you for your contributions.
![stale[bot] picture](https://avatars3.githubusercontent.com/in/1724?v=4&s=40)
stale[bot]
on 6 Feb 2020
This issue is closed due to inactivity. Feel free to re-open if new information is available.
stale[bot]
on 13 Feb 2020
Hi, i comment here because this is happening to me right now @fabiencastan i've changed the minInputTrackLenght to 4 and 5 and enabled the guided matching. But i keep receiving this '[warning] Bundle Adjustment failed, the solution is not usable.' i'd like to know if it's there any other workaround to this problem
claudito1991
on 20 Jun 2020
@claudito1991 It is already challenging to provide recommendations without seeing the dataset, but obviously we cannot help without any description. Number of images, type of scene, cameras, optics, etc. Did it fail? Did you get a result? If yes, what is the percentage of the missing cameras? Some screenshots, etc.
fabiencastan
on 20 Jun 2020
oh my god, sorry you are right. i'm attaching an image of my model. I get a result and it seems pretty good, but i'm guessing that with a correct bundle adjustment it could improve. I also tried the second SfM node but it did't recover the lost cameras.
i will copy the first SfM node log here:
Program called with the following parameters:
- describerTypes = "sift"
- extraInfoFolder = "C:/Users/clau_/Desktop/Photogrammetry/Cubito video/MeshroomCache/StructureFromMotion/77804c87418a938b855612d6d5f41b9371401707"
- featuresFolders = = [C:/Users/clau_/Desktop/Photogrammetry/Cubito video/MeshroomCache/FeatureExtraction/b5bfda1e5b6b11ad730b54587b8334b770f60003]
- initialPairA = ""
- initialPairB = ""
- input = "C:/Users/clau_/Desktop/Photogrammetry/Cubito video/MeshroomCache/CameraInit/85872f1a9cafcfe75b85c836d65b3cc39927a8d7/cameraInit.sfm"
- interFileExtension = ".abc"
- localBAGraphDistance = 1
- localizerEstimator = Unknown Type "enum aliceVision::robustEstimation::ERobustEstimator"
- localizerEstimatorError = 0
- localizerEstimatorMaxIterations = 4096
- lockAllIntrinsics = 0
- lockScenePreviouslyReconstructed = 0
- matchesFolders = = [C:/Users/clau_/Desktop/Photogrammetry/Cubito video/MeshroomCache/FeatureMatching/4c6a7135653a181be01cb760110d1541702b87d9]
- maxAngleInitialPair = 40
- maxNumberOfMatches = 0
- maxReprojectionError = 4
- minAngleForLandmark = 2
- minAngleForTriangulation = 3
- minAngleInitialPair = 5
- minInputTrackLength = 5
- minNumberOfObservationsForTriangulation = 2
- output = "C:/Users/clau_/Desktop/Photogrammetry/Cubito video/MeshroomCache/StructureFromMotion/77804c87418a938b855612d6d5f41b9371401707/sfm.abc"
- outputViewsAndPoses = "C:/Users/clau_/Desktop/Photogrammetry/Cubito video/MeshroomCache/StructureFromMotion/77804c87418a938b855612d6d5f41b9371401707/cameras.sfm"
- useLocalBA = 1
- useOnlyMatchesFromInputFolder = 0
- useRigConstraint = 1
- useTrackFiltering = 1 (default)
- verboseLevel = "info"
Loading features
0% 10 20 30 40 50 60 70 80 90 100%
|----|----|----|----|----|----|----|----|----|----|
[15:18:14.712175][info] Supported CUDA-Enabled GPU detected.
[15:18:20.659249][info] Fuse matches into tracks:
- # tracks: 13465
- # images in tracks: 263
[15:18:20.660249][info] TrackLength, Occurrence
[15:18:20.660249][info] 5 3959
[15:18:20.660249][info] 6 2598
[15:18:20.660249][info] 7 1601
[15:18:20.660249][info] 8 1047
[15:18:20.660249][info] 9 800
[15:18:20.660249][info] 10 607
[15:18:20.660249][info] 11 476
[15:18:20.660249][info] 12 351
[15:18:20.660249][info] 13 335
[15:18:20.660249][info] 14 249
[15:18:20.660249][info] 15 200
[15:18:20.660249][info] 16 153
[15:18:20.660249][info] 17 159
[15:18:20.660249][info] 18 116
[15:18:20.660249][info] 19 102
[15:18:20.660249][info] 20 91
[15:18:20.660249][info] 21 73
[15:18:20.660249][info] 22 61
[15:18:20.660249][info] 23 54
[15:18:20.660249][info] 24 50
[15:18:20.660249][info] 25 54
[15:18:20.660249][info] 26 43
[15:18:20.660249][info] 27 34
[15:18:20.660249][info] 28 27
[15:18:20.660249][info] 29 28
[15:18:20.660249][info] 30 26
[15:18:20.660249][info] 31 14
[15:18:20.660249][info] 32 18
[15:18:20.660249][info] 33 15
[15:18:20.660249][info] 34 10
[15:18:20.660249][info] 35 3
[15:18:20.660249][info] 36 5
[15:18:20.661249][info] 37 7
[15:18:20.661249][info] 38 5
[15:18:20.661249][info] 39 4
[15:18:20.661249][info] 40 4
[15:18:20.661249][info] 41 7
[15:18:20.661249][info] 42 8
[15:18:20.661249][info] 43 5
[15:18:20.661249][info] 44 6
[15:18:20.661249][info] 45 3
[15:18:20.661249][info] 46 3
[15:18:20.661249][info] 47 3
[15:18:20.661249][info] 48 1
[15:18:20.661249][info] 49 5
[15:18:20.661249][info] 50 2
[15:18:20.661249][info] 52 2
[15:18:20.661249][info] 53 2
[15:18:20.661249][info] 54 2
[15:18:20.661249][info] 55 2
[15:18:20.661249][info] 56 3
[15:18:20.661249][info] 59 1
[15:18:20.661249][info] 62 2
[15:18:20.661249][info] 63 4
[15:18:20.661249][info] 64 1
[15:18:20.661249][info] 65 1
[15:18:20.661249][info] 67 1
[15:18:20.661249][info] 68 1
[15:18:20.661249][info] 69 1
[15:18:20.661249][info] 76 1
[15:18:20.661249][info] 77 1
[15:18:20.661249][info] 78 2
[15:18:20.661249][info] 79 2
[15:18:20.661249][info] 81 1
[15:18:20.661249][info] 82 2
[15:18:20.661249][info] 84 1
[15:18:20.661249][info] 85 1
[15:18:20.661249][info] 86 1
[15:18:20.661249][info] 87 1
[15:18:20.661249][info] 93 1
[15:18:20.662248][info] 101 1
[15:18:20.662248][info] 106 2
[15:18:20.662248][info] 120 1
[15:18:20.662248][info] 123 1
[15:18:20.662248][info] 135 1
Automatic selection of an initial pair:
0% 10 20 30 40 50 60 70 80 90 100%
|----|----|----|----|----|----|----|----|----|----|
[15:18:40.242972][info] Initial pair is:
- [A] view id: 811304552, filepath: C:/Users/clau_/Desktop/Photogrammetry/Cubito video/Imagenes juntas/1090.jpg
- [B] view id: 1918813061, filepath: C:/Users/clau_/Desktop/Photogrammetry/Cubito video/Imagenes juntas/1178.jpg
[15:18:40.243972][info] 278 matches in the image pair for the initial pose estimation.
[15:18:40.387925][info] Bundle adjustment start.
[15:18:40.387925][info] Start bundle adjustment iteration: 0
[15:18:40.394923][info] Bundle Adjustment Statistics:
- local strategy enabled: no
- adjustment duration: 0.0046925 s
- poses:
- # refined: 2
- # constant: 0
- # ignored: 0
- landmarks:
- # refined: 506
- # constant: 0
- # ignored: 0
- intrinsics:
- # refined: 0
- # constant: 1
- # ignored: 3
- # residual blocks: 1012
- # successful iterations: 6
- # unsuccessful iterations: 0
- initial RMSE: 0.831769
- final RMSE: 0.732313
[15:18:40.394923][info] Remove outliers:
- # outliers residual error: 4
- # outliers angular error: 0
[15:18:40.395923][info] Bundle adjustment iteration: 0 took 7 msec.
[15:18:40.395923][info] Start bundle adjustment iteration: 1
[15:18:40.396923][warning] Bundle Adjustment failed, the solution is not usable.
[15:18:40.396923][info] Initial pair is:
- [A] view id: 409470491, filepath: C:/Users/clau_/Desktop/Photogrammetry/Cubito video/Imagenes juntas/1147.jpg
- [B] view id: 421486917, filepath: C:/Users/clau_/Desktop/Photogrammetry/Cubito video/Imagenes juntas/1068.jpg
[15:18:40.396923][info] 241 matches in the image pair for the initial pose estimation.
[15:18:40.526881][info] Bundle adjustment start.
[15:18:40.526881][info] Start bundle adjustment iteration: 0
[15:18:40.538878][info] Bundle Adjustment Statistics:
- local strategy enabled: no
- adjustment duration: 0.0046962 s
- poses:
- # refined: 2
- # constant: 0
- # ignored: 0
- landmarks:
- # refined: 338
- # constant: 0
- # ignored: 0
- intrinsics:
- # refined: 0
- # constant: 1
- # ignored: 3
- # residual blocks: 676
- # successful iterations: 9
- # unsuccessful iterations: 0
- initial RMSE: 0.967925
- final RMSE: 0.671443
[15:18:40.538878][info] Remove outliers:
- # outliers residual error: 5
- # outliers angular error: 0
[15:18:40.538878][info] Bundle adjustment iteration: 0 took 12 msec.
[15:18:40.538878][info] Start bundle adjustment iteration: 1
[15:18:40.539877][warning] Bundle Adjustment failed, the solution is not usable.
[15:18:40.539877][info] Initial pair is:
- [A] view id: 421486917, filepath: C:/Users/clau_/Desktop/Photogrammetry/Cubito video/Imagenes juntas/1068.jpg
- [B] view id: 810451966, filepath: C:/Users/clau_/Desktop/Photogrammetry/Cubito video/Imagenes juntas/1165.jpg
[15:18:40.540877][info] 161 matches in the image pair for the initial pose estimation.
[15:18:40.650842][info] Bundle adjustment start.
[15:18:40.650842][info] Start bundle adjustment iteration: 0
[15:18:40.660838][info] Bundle Adjustment Statistics:
- local strategy enabled: no
- adjustment duration: 0.0026851 s
- poses:
- # refined: 2
- # constant: 0
- # ignored: 0
- landmarks:
- # refined: 248
- # constant: 0
- # ignored: 0
- intrinsics:
- # refined: 0
- # constant: 1
- # ignored: 3
- # residual blocks: 496
- # successful iterations: 6
- # unsuccessful iterations: 0
- initial RMSE: 0.894429
- final RMSE: 0.760595
[15:18:40.660838][info] Remove outliers:
- # outliers residual error: 3
- # outliers angular error: 0
[15:18:40.660838][info] Bundle adjustment iteration: 0 took 9 msec.
[15:18:40.660838][info] Start bundle adjustment iteration: 1
[15:18:40.661838][warning] Bundle Adjustment failed, the solution is not usable.
[15:18:40.661838][info] Initial pair is:
- [A] view id: 1540698463, filepath: C:/Users/clau_/Desktop/Photogrammetry/Cubito video/Imagenes juntas/mod (3).jpg
- [B] view id: 1625219191, filepath: C:/Users/clau_/Desktop/Photogrammetry/Cubito video/Imagenes juntas/1135.jpg
[15:18:40.662837][info] 279 matches in the image pair for the initial pose estimation.
[15:18:40.797794][info] Bundle adjustment start.
[15:18:40.797794][info] Start bundle adjustment iteration: 0
[15:18:40.808791][info] Bundle Adjustment Statistics:
- local strategy enabled: no
- adjustment duration: 0.004274 s
- poses:
- # refined: 2
- # constant: 0
- # ignored: 0
- landmarks:
- # refined: 388
- # constant: 0
- # ignored: 0
- intrinsics:
- # refined: 0
- # constant: 1
- # ignored: 3
- # residual blocks: 776
- # successful iterations: 6
- # unsuccessful iterations: 0
- initial RMSE: 0.762533
- final RMSE: 0.698659
[15:18:40.808791][info] Remove outliers:
- # outliers residual error: 2
- # outliers angular error: 0
[15:18:40.808791][info] Bundle adjustment iteration: 0 took 11 msec.
[15:18:40.809791][info] Start bundle adjustment iteration: 1
[15:18:40.809791][warning] Bundle Adjustment failed, the solution is not usable.
[15:18:40.810790][info] Initial pair is:
- [A] view id: 297563532, filepath: C:/Users/clau_/Desktop/Photogrammetry/Cubito video/Imagenes juntas/1388.jpg
- [B] view id: 731330472, filepath: C:/Users/clau_/Desktop/Photogrammetry/Cubito video/Imagenes juntas/1477.jpg
[15:18:40.810790][info] 194 matches in the image pair for the initial pose estimation.
[15:18:40.928752][info] Bundle adjustment start.
[15:18:40.928752][info] Start bundle adjustment iteration: 0
[15:18:40.940749][info] Bundle Adjustment Statistics:
- local strategy enabled: no
- adjustment duration: 0.0050772 s
- poses:
- # refined: 2
- # constant: 0
- # ignored: 0
- landmarks:
- # refined: 382
- # constant: 0
- # ignored: 0
- intrinsics:
- # refined: 0
- # constant: 1
- # ignored: 3
- # residual blocks: 764
- # successful iterations: 7
- # unsuccessful iterations: 0
- initial RMSE: 0.525222
- final RMSE: 0.493103
[15:18:40.941748][info] Remove outliers:
- # outliers residual error: 1
- # outliers angular error: 0
[15:18:40.941748][info] Bundle adjustment iteration: 0 took 12 msec.
[15:18:40.941748][info] Start bundle adjustment iteration: 1
[15:18:40.942747][warning] Bundle Adjustment failed, the solution is not usable.
[15:18:40.942747][info] Initial pair is:
- [A] view id: 1540698463, filepath: C:/Users/clau_/Desktop/Photogrammetry/Cubito video/Imagenes juntas/mod (3).jpg
- [B] view id: 1918813061, filepath: C:/Users/clau_/Desktop/Photogrammetry/Cubito video/Imagenes juntas/1178.jpg
[15:18:40.942747][info] 319 matches in the image pair for the initial pose estimation.
[15:18:41.082703][info] Bundle adjustment start.
[15:18:41.083703][info] Start bundle adjustment iteration: 0
[15:18:41.095699][info] Bundle Adjustment Statistics:
- local strategy enabled: no
- adjustment duration: 0.004554 s
- poses:
- # refined: 2
- # constant: 0
- # ignored: 0
- landmarks:
- # refined: 604
- # constant: 0
- # ignored: 0
- intrinsics:
- # refined: 0
- # constant: 1
- # ignored: 3
- # residual blocks: 1208
- # successful iterations: 5
- # unsuccessful iterations: 0
- initial RMSE: 0.725601
- final RMSE: 0.705483
[15:18:41.095699][info] Remove outliers:
- # outliers residual error: 6
- # outliers angular error: 0
[15:18:41.095699][info] Bundle adjustment iteration: 0 took 12 msec.
[15:18:41.095699][info] Start bundle adjustment iteration: 1
[15:18:41.097698][warning] Bundle Adjustment failed, the solution is not usable.
[15:18:41.097698][info] Initial pair is:
- [A] view id: 318783754, filepath: C:/Users/clau_/Desktop/Photogrammetry/Cubito video/Imagenes juntas/1392.jpg
- [B] view id: 1698117752, filepath: C:/Users/clau_/Desktop/Photogrammetry/Cubito video/Imagenes juntas/1297.jpg
[15:18:41.098698][info] 425 matches in the image pair for the initial pose estimation.
[15:18:41.276641][info] Bundle adjustment start.
[15:18:41.276641][info] Start bundle adjustment iteration: 0
[15:18:41.294635][info] Bundle Adjustment Statistics:
- local strategy enabled: no
- adjustment duration: 0.0096726 s
- poses:
- # refined: 2
- # constant: 0
- # ignored: 0
- landmarks:
- # refined: 846
- # constant: 0
- # ignored: 0
- intrinsics:
- # refined: 0
- # constant: 1
- # ignored: 3
- # residual blocks: 1692
- # successful iterations: 7
- # unsuccessful iterations: 0
- initial RMSE: 0.379499
- final RMSE: 0.345913
[15:18:41.295634][info] Remove outliers:
- # outliers residual error: 0
- # outliers angular error: 0
[15:18:41.295634][info] Bundle adjustment iteration: 0 took 18 msec.
[15:18:41.295634][info] Bundle adjustment with 1 iterations took 18 msec.
[15:18:41.295634][info] Initial pair is: 318783754, 1698117752
[15:18:41.295634][info] Begin Incremental Reconstruction:
- mode: SfM augmentation
- # images in input: 263
- # images in resection: 261
- # landmarks in input: 423
- # cameras already calibrated: 2
[15:18:41.295634][info] Incremental Reconstruction start iteration 0:
- # number of resection groups: 0
- # number of poses: 2
- # number of landmarks: 423
- # remaining images: 261
[15:18:41.296635][info] Update Reconstruction:
- resection id: 0
- # images in the resection group: 1
- # images remaining: 261
[15:18:41.296635][info] [3/263] Robust Resection of view: 1798987656
[15:18:41.355615][info] Robust Resection information:
- resection status: true
- threshold (error max): 5.62474
- # points used for resection: 249
- # points validated by robust resection: 243
[15:18:41.362613][info] Bundle adjustment start.
[15:18:41.362613][info] Start bundle adjustment iteration: 0
[15:18:41.528560][info] Bundle Adjustment Statistics:
- local strategy enabled: no
- adjustment duration: 0.15453 s
- poses:
- # refined: 3
- # constant: 0
- # ignored: 0
- landmarks:
- # refined: 1912
- # constant: 0
- # ignored: 0
- intrinsics:
- # refined: 1
- # constant: 0
- # ignored: 3
- # residual blocks: 3824
- # successful iterations: 36
- # unsuccessful iterations: 0
- initial RMSE: 0.71256
- final RMSE: 0.334594
[15:18:41.529560][info] Remove outliers:
- # outliers residual error: 2
- # outliers angular error: 0
[15:18:41.530560][info] Bundle adjustment iteration: 0 took 167 msec.
[15:18:41.530560][info] Bundle adjustment with 1 iterations took 167 msec.
[15:18:41.779509][info] Update Reconstruction:
- resection id: 1
- # images in the resection group: 1
- # images remaining: 260
[15:18:41.779509][info] [4/263] Robust Resection of view: 554411537
[15:18:41.906469][info] Robust Resection information:
- resection status: true
- threshold (error max): 4.66883
- # points used for resection: 562
- # points validated by robust resection: 523
[15:18:41.916465][info] Bundle adjustment start.
[15:18:41.916465][info] Start bundle adjustment iteration: 0
[15:18:42.317337][info] Bundle Adjustment Statistics:
- local strategy enabled: no
- adjustment duration: 0.386457 s
- poses:
- # refined: 4
- # constant: 0
- # ignored: 0
- landmarks:
- # refined: 2973
- # constant: 0
- # ignored: 0
- intrinsics:
- # refined: 1
- # constant: 0
- # ignored: 3
- # residual blocks: 5946
- # successful iterations: 49
- # unsuccessful iterations: 2
- initial RMSE: 0.635211
- final RMSE: 0.405238
[15:18:42.320336][info] Remove outliers:
- # outliers residual error: 9
- # outliers angular error: 0
[15:18:42.320336][info] Bundle adjustment iteration: 0 took 403 msec.
[15:18:42.320336][info] Bundle adjustment with 1 iterations took 404 msec.
[15:18:42.323335][info] Update Reconstruction:
- resection id: 2
- # images in the resection group: 1
- # images remaining: 259
[15:18:42.323335][info] [5/263] Robust Resection of view: 68660319
[15:18:42.510293][info] Robust Resection information:
- resection status: true
- threshold (error max): 3.2165
- # points used for resection: 866
- # points validated by robust resection: 818
[15:18:42.524270][info] Bundle adjustment start.
[15:18:42.524270][info] Start bundle adjustment iteration: 0
[15:18:43.020111][info] Bundle Adjustment Statistics:
- local strategy enabled: no
- adjustment duration: 0.478856 s
- poses:
- # refined: 5
- # constant: 0
- # ignored: 0
- landmarks:
- # refined: 4254
- # constant: 0
- # ignored: 0
- intrinsics:
- # refined: 1
- # constant: 0
- # ignored: 3
- # residual blocks: 8508
- # successful iterations: 51
- # unsuccessful iterations: 0
- initial RMSE: 0.637815
- final RMSE: 0.392946
[15:18:43.025110][info] Remove outliers:
- # outliers residual error: 4
- # outliers angular error: 0
[15:18:43.025110][info] Bundle adjustment iteration: 0 took 500 msec.
[15:18:43.025110][info] Bundle adjustment with 1 iterations took 500 msec.
[15:18:43.027109][info] Update Reconstruction:
- resection id: 3
- # images in the resection group: 1
- # images remaining: 258
[15:18:43.028109][info] [6/263] Robust Resection of view: 501941505
[15:18:43.169064][info] Robust Resection information:
- resection status: true
- threshold (error max): 5.76568
- # points used for resection: 636
- # points validated by robust resection: 609
[15:18:43.196055][info] Bundle adjustment start.
[15:18:43.197055][info] Start bundle adjustment iteration: 0
[15:18:43.789864][info] Bundle Adjustment Statistics:
- local strategy enabled: no
- adjustment duration: 0.573927 s
- poses:
- # refined: 6
- # constant: 0
- # ignored: 0
- landmarks:
- # refined: 4972
- # constant: 0
- # ignored: 0
- intrinsics:
- # refined: 1
- # constant: 0
- # ignored: 3
- # residual blocks: 9944
- # successful iterations: 49
- # unsuccessful iterations: 2
- initial RMSE: 0.748513
- final RMSE: 0.530694
[15:18:43.795863][info] Remove outliers:
- # outliers residual error: 15
- # outliers angular error: 1
[15:18:43.795863][info] Bundle adjustment iteration: 0 took 599 msec.
[15:18:43.795863][info] Bundle adjustment with 1 iterations took 599 msec.
[15:18:44.016792][info] Update Reconstruction:
- resection id: 4
- # images in the resection group: 1
- # images remaining: 257
[15:18:44.017792][info] [7/263] Robust Resection of view: 1371443899
[15:18:44.235723][info] Robust Resection information:
- resection status: true
- threshold (error max): 2.39057
- # points used for resection: 1015
- # points validated by robust resection: 966
[15:18:44.298702][info] Bundle adjustment start.
[15:18:44.298702][info] Start bundle adjustment iteration: 0
[15:18:44.982482][info] Bundle Adjustment Statistics:
- local strategy enabled: no
- adjustment duration: 0.662442 s
- poses:
- # refined: 7
- # constant: 0
- # ignored: 0
- landmarks:
- # refined: 6048
- # constant: 0
- # ignored: 0
- intrinsics:
- # refined: 1
- # constant: 0
- # ignored: 3
- # residual blocks: 12096
- # successful iterations: 51
- # unsuccessful iterations: 0
- initial RMSE: 0.771189
- final RMSE: 0.531698
[15:18:44.990480][info] Remove outliers:
- # outliers residual error: 20
- # outliers angular error: 2
[15:18:44.991479][info] Bundle adjustment iteration: 0 took 692 msec.
[15:18:44.991479][info] Bundle adjustment with 1 iterations took 693 msec.
[15:18:44.993479][info] Update Reconstruction:
- resection id: 5
- # images in the resection group: 1
- # images remaining: 256
[15:18:44.994479][info] [8/263] Robust Resection of view: 944701299
[15:18:45.163425][info] Robust Resection information:
- resection status: true
- threshold (error max): 3.85643
- # points used for resection: 776
- # points validated by robust resection: 733
[15:18:45.229403][info] Bundle adjustment start.
[15:18:45.229403][info] Start bundle adjustment iteration: 0
[15:18:46.049140][info] Bundle Adjustment Statistics:
- local strategy enabled: no
- adjustment duration: 0.79679 s
- poses:
- # refined: 8
- # constant: 0
- # ignored: 0
- landmarks:
- # refined: 6999
- # constant: 0
- # ignored: 0
- intrinsics:
- # refined: 1
- # constant: 0
- # ignored: 3
- # residual blocks: 13998
- # successful iterations: 51
- # unsuccessful iterations: 0
- initial RMSE: 0.709831
- final RMSE: 0.537342
[15:18:46.059137][info] Remove outliers:
- # outliers residual error: 15
- # outliers angular error: 1
[15:18:46.059137][info] Bundle adjustment iteration: 0 took 829 msec.
[15:18:46.059137][info] Bundle adjustment with 1 iterations took 830 msec.
[15:18:46.061137][info] Update Reconstruction:
- resection id: 6
- # images in the resection group: 1
- # images remaining: 255
[15:18:46.062136][info] [9/263] Robust Resection of view: 1903296822
[15:18:46.153107][info] Robust Resection information:
- resection status: true
- threshold (error max): 5.32211
- # points used for resection: 379
- # points validated by robust resection: 349
[15:18:46.190095][info] Bundle adjustment start.
[15:18:46.191095][info] Start bundle adjustment iteration: 0
[15:18:47.084809][info] Bundle Adjustment Statistics:
- local strategy enabled: no
- adjustment duration: 0.86896 s
- poses:
- # refined: 9
- # constant: 0
- # ignored: 0
- landmarks:
- # refined: 7540
- # constant: 0
- # ignored: 0
- intrinsics:
- # refined: 1
- # constant: 0
- # ignored: 3
- # residual blocks: 15080
- # successful iterations: 51
- # unsuccessful iterations: 0
- initial RMSE: 0.648311
- final RMSE: 0.563729
[15:18:47.095805][info] Remove outliers:
- # outliers residual error: 23
- # outliers angular error: 3
[15:18:47.095805][info] Bundle adjustment iteration: 0 took 905 msec.
[15:18:47.095805][info] Bundle adjustment with 1 iterations took 905 msec.
[15:18:47.317734][info] Update Reconstruction:
- resection id: 7
- # images in the resection group: 1
- # images remaining: 254
[15:18:47.317734][info] [10/263] Robust Resection of view: 737561838
[15:18:47.376715][info] Robust Resection information:
- resection status: true
- threshold (error max): 6.02125
- # points used for resection: 250
- # points validated by robust resection: 234
[15:18:47.401707][info] Bundle adjustment start.
[15:18:47.401707][info] Start bundle adjustment iteration: 0
[15:18:48.368397][info] Bundle Adjustment Statistics:
- local strategy enabled: no
- adjustment duration: 0.940245 s
- poses:
- # refined: 10
- # constant: 0
- # ignored: 0
- landmarks:
- # refined: 8056
- # constant: 0
- # ignored: 0
- intrinsics:
- # refined: 1
- # constant: 0
- # ignored: 3
- # residual blocks: 16112
- # successful iterations: 47
- # unsuccessful iterations: 4
- initial RMSE: 0.68949
- final RMSE: 0.592622
[15:18:48.380393][info] Remove outliers:
- # outliers residual error: 41
- # outliers angular error: 3
[15:18:48.380393][info] Bundle adjustment iteration: 0 took 978 msec.
[15:18:48.380393][info] Bundle adjustment with 1 iterations took 979 msec.
[15:18:48.384392][info] Update Reconstruction:
- resection id: 8
- # images in the resection group: 1
- # images remaining: 253
[15:18:48.385392][info] [11/263] Robust Resection of view: 2038057213
[15:18:48.486359][info] Robust Resection information:
- resection status: true
- threshold (error max): 7.65597
- # points used for resection: 417
- # points validated by robust resection: 400
[15:18:48.534344][info] Bundle adjustment start.
[15:18:48.535344][info] Start bundle adjustment iteration: 0
[15:18:49.571011][info] Bundle Adjustment Statistics:
- local strategy enabled: no
- adjustment duration: 1.0053 s
- poses:
- # refined: 11
- # constant: 0
- # ignored: 0
- landmarks:
- # refined: 8584
- # constant: 0
- # ignored: 0
- intrinsics:
- # refined: 1
- # constant: 0
- # ignored: 3
- # residual blocks: 17168
- # successful iterations: 51
- # unsuccessful iterations: 0
- initial RMSE: 0.720366
- final RMSE: 0.61338
[15:18:49.583008][info] Remove outliers:
- # outliers residual error: 38
- # outliers angular error: 6
[15:18:49.584007][info] Bundle adjustment iteration: 0 took 1048 msec.
[15:18:49.584007][info] Bundle adjustment with 1 iterations took 1049 msec.
[15:18:49.587006][info] Update Reconstruction:
- resection id: 9
- # images in the resection group: 1
- # images remaining: 252
[15:18:49.588006][info] [12/263] Robust Resection of view: 1978762745
[15:18:49.638990][info] Robust Resection information:
- resection status: true
- threshold (error max): 11.1428
- # points used for resection: 218
- # points validated by robust resection: 203
[15:18:49.670979][info] Bundle adjustment start.
[15:18:49.670979][info] Start bundle adjustment iteration: 0
[15:18:50.722642][info] Bundle Adjustment Statistics:
- local strategy enabled: no
- adjustment duration: 1.02135 s
- poses:
- # refined: 12
- # constant: 0
- # ignored: 0
- landmarks:
- # refined: 8906
- # constant: 0
- # ignored: 0
- intrinsics:
- # refined: 1
- # constant: 0
- # ignored: 3
- # residual blocks: 17812
- # successful iterations: 49
- # unsuccessful iterations: 2
- initial RMSE: 0.717818
- final RMSE: 0.644228
[15:18:50.735638][info] Remove outliers:
- # outliers residual error: 64
- # outliers angular error: 4
[15:18:50.736638][info] Bundle adjustment iteration: 0 took 1064 msec.
[15:18:50.736638][info] Start bundle adjustment iteration: 1
[15:18:50.754632][warning] Bundle Adjustment failed, the solution is not usable.
[15:18:50.975561][info] Update Reconstruction:
- resection id: 10
- # images in the resection group: 1
- # images remaining: 251
[15:18:50.976561][info] [13/263] Robust Resection of view: 1276752418
[15:18:51.062533][info] Robust Resection information:
- resection status: true
- threshold (error max): 7.59657
- # points used for resection: 362
- # points validated by robust resection: 330
[15:18:51.107519][info] Bundle adjustment start.
[15:18:51.108518][info] Start bundle adjustment iteration: 0
[15:18:52.249153][info] Bundle Adjustment Statistics:
- local strategy enabled: no
- adjustment duration: 1.08241 s
- poses:
- # refined: 13
- # constant: 0
- # ignored: 0
- landmarks:
- # refined: 9396
- # constant: 0
- # ignored: 0
- intrinsics:
- # refined: 1
- # constant: 0
- # ignored: 3
- # residual blocks: 18792
- # successful iterations: 50
- # unsuccessful iterations: 1
- initial RMSE: 0.759942
- final RMSE: 0.68348
[15:18:52.263148][info] Remove outliers:
- # outliers residual error: 100
- # outliers angular error: 1
[15:18:52.263148][info] Bundle adjustment iteration: 0 took 1154 msec.
[15:18:52.263148][info] Start bundle adjustment iteration: 1
[15:18:52.282143][warning] Bundle Adjustment failed, the solution is not usable.
[15:18:52.290140][info] Update Reconstruction:
- resection id: 11
- # images in the resection group: 1
- # images remaining: 250
[15:18:52.290140][info] [14/263] Robust Resection of view: 1192124473
[15:18:52.335126][info] Robust Resection information:
- resection status: true
- threshold (error max): 6.8233
- # points used for resection: 190
- # points validated by robust resection: 181
[15:18:52.358118][info] Bundle adjustment start.
[15:18:52.359118][info] Start bundle adjustment iteration: 0
[15:18:53.474760][info] Bundle Adjustment Statistics:
- local strategy enabled: no
- adjustment duration: 1.08522 s
- poses:
- # refined: 14
- # constant: 0
- # ignored: 0
- landmarks:
- # refined: 9601
- # constant: 0
- # ignored: 0
- intrinsics:
- # refined: 1
- # constant: 0
- # ignored: 3
- # residual blocks: 19202
- # successful iterations: 51
- # unsuccessful iterations: 0
- initial RMSE: 0.737728
- final RMSE: 0.687447
[15:18:53.489755][info] Remove outliers:
- # outliers residual error: 98
- # outliers angular error: 0
[15:18:53.489755][info] Bundle adjustment iteration: 0 took 1130 msec.
[15:18:53.489755][info] Start bundle adjustment iteration: 1
[15:18:53.509749][warning] Bundle Adjustment failed, the solution is not usable.
[15:18:53.517747][info] Update Reconstruction:
- resection id: 12
- # images in the resection group: 1
- # images remaining: 249
[15:18:53.518746][info] [15/263] Robust Resection of view: 1471252279
[15:18:53.567731][info] Robust Resection information:
- resection status: true
- threshold (error max): 9.75116
- # points used for resection: 206
- # points validated by robust resection: 191
[15:18:53.591723][info] Bundle adjustment start.
[15:18:53.592723][info] Start bundle adjustment iteration: 0
[15:18:54.771345][info] Bundle Adjustment Statistics:
- local strategy enabled: no
- adjustment duration: 1.11664 s
- poses:
- # refined: 15
- # constant: 0
- # ignored: 0
- landmarks:
- # refined: 9849
- # constant: 0
- # ignored: 0
- intrinsics:
- # refined: 1
- # constant: 0
- # ignored: 3
- # residual blocks: 19698
- # successful iterations: 51
- # unsuccessful iterations: 0
- initial RMSE: 0.762463
- final RMSE: 0.707964
[15:18:54.786339][info] Remove outliers:
- # outliers residual error: 127
- # outliers angular error: 2
[15:18:54.786339][info] Bundle adjustment iteration: 0 took 1193 msec.
[15:18:54.786339][info] Start bundle adjustment iteration: 1
[15:18:54.806333][warning] Bundle Adjustment failed, the solution is not usable.
[15:18:55.020265][info] Update Reconstruction:
- resection id: 13
- # images in the resection group: 1
- # images remaining: 248
[15:18:55.020265][info] [16/263] Robust Resection of view: 2018967298
[15:18:55.073248][info] Robust Resection information:
- resection status: true
- threshold (error max): 17.0183
- # points used for resection: 224
- # points validated by robust resection: 163
[15:18:55.149223][info] Bundle adjustment start.
[15:18:55.150223][info] Start bundle adjustment iteration: 0
[15:18:56.072927][info] Bundle Adjustment Statistics:
- local strategy enabled: no
- adjustment duration: 0.889787 s
- poses:
- # refined: 16
- # constant: 0
- # ignored: 0
- landmarks:
- # refined: 10151
- # constant: 0
- # ignored: 0
- intrinsics:
- # refined: 2
- # constant: 0
- # ignored: 2
- # residual blocks: 20302
- # successful iterations: 47
- # unsuccessful iterations: 0
- initial RMSE: 0.77558
- final RMSE: 0.698183
[15:18:56.088922][info] Remove outliers:
- # outliers residual error: 89
- # outliers angular error: 3
[15:18:56.088922][info] Bundle adjustment iteration: 0 took 938 msec.
[15:18:56.088922][info] Start bundle adjustment iteration: 1
[15:18:56.109915][warning] Bundle Adjustment failed, the solution is not usable.
[15:18:56.117913][info] Update Reconstruction:
- resection id: 14
- # images in the resection group: 1
- # images remaining: 247
[15:18:56.118913][info] [17/263] Robust Resection of view: 1859581407
[15:18:56.170896][info] Robust Resection information:
- resection status: true
- threshold (error max): 11.8146
- # points used for resection: 219
- # points validated by robust resection: 172
[15:18:56.200886][info] Bundle adjustment start.
[15:18:56.200886][info] Start bundle adjustment iteration: 0
[15:18:57.141585][info] Bundle Adjustment Statistics:
- local strategy enabled: no
- adjustment duration: 0.907805 s
- poses:
- # refined: 17
- # constant: 0
- # ignored: 0
- landmarks:
- # refined: 10411
- # constant: 0
- # ignored: 0
- intrinsics:
- # refined: 2
- # constant: 0
- # ignored: 2
- # residual blocks: 20822
- # successful iterations: 42
- # unsuccessful iterations: 1
- initial RMSE: 0.78484
- final RMSE: 0.724531
[15:18:57.158579][info] Remove outliers:
- # outliers residual error: 120
- # outliers angular error: 6
[15:18:57.159579][info] Bundle adjustment iteration: 0 took 958 msec.
[15:18:57.159579][info] Start bundle adjustment iteration: 1
[15:18:57.180572][warning] Bundle Adjustment failed, the solution is not usable.
[15:18:57.188570][info] Update Reconstruction:
- resection id: 15
- # images in the resection group: 1
- # images remaining: 246
[15:18:57.188570][info] [18/263] Robust Resection of view: 165090316
[15:18:57.271543][info] Robust Resection information:
- resection status: true
- threshold (error max): 7.61627
- # points used for resection: 343
- # points validated by robust resection: 291
[15:18:57.327525][info] Bundle adjustment start.
[15:18:57.327525][info] Start bundle adjustment iteration: 0
[15:18:58.253228][info] Bundle Adjustment Statistics:
- local strategy enabled: no
- adjustment duration: 0.892756 s
- poses:
- # refined: 18
- # constant: 0
- # ignored: 0
- landmarks:
- # refined: 10729
- # constant: 0
- # ignored: 0
- intrinsics:
- # refined: 2
- # constant: 0
- # ignored: 2
- # residual blocks: 21458
- # successful iterations: 43
- # unsuccessful iterations: 1
- initial RMSE: 0.810612
- final RMSE: 0.74538
[15:18:58.270223][info] Remove outliers:
- # outliers residual error: 142
- # outliers angular error: 8
[15:18:58.271223][info] Bundle adjustment iteration: 0 took 943 msec.
[15:18:58.271223][info] Start bundle adjustment iteration: 1
[15:18:58.293216][warning] Bundle Adjustment failed, the solution is not usable.
[15:18:58.512145][info] Update Reconstruction:
- resection id: 16
- # images in the resection group: 1
- # images remaining: 245
[15:18:58.513145][info] [19/263] Robust Resection of view: 1177451068
[15:18:58.563129][info] Robust Resection information:
- resection status: true
- threshold (error max): 13.3109
- # points used for resection: 212
- # points validated by robust resection: 182
[15:18:58.593119][info] Bundle adjustment start.
[15:18:58.593119][info] Start bundle adjustment iteration: 0
[15:18:59.900700][info] Bundle Adjustment Statistics:
- local strategy enabled: no
- adjustment duration: 1.27245 s
- poses:
- # refined: 19
- # constant: 0
- # ignored: 0
- landmarks:
- # refined: 11148
- # constant: 0
- # ignored: 0
- intrinsics:
- # refined: 2
- # constant: 0
- # ignored: 2
- # residual blocks: 22296
- # successful iterations: 51
- # unsuccessful iterations: 0
- initial RMSE: 0.833924
- final RMSE: 0.758334
[15:18:59.918694][info] Remove outliers:
- # outliers residual error: 158
- # outliers angular error: 9
[15:18:59.918694][info] Bundle adjustment iteration: 0 took 1325 msec.
[15:18:59.918694][info] Start bundle adjustment iteration: 1
[15:18:59.943687][warning] Bundle Adjustment failed, the solution is not usable.
[15:18:59.953683][info] Update Reconstruction:
- resection id: 17
- # images in the resection group: 1
- # images remaining: 244
[15:18:59.953683][info] [20/263] Robust Resection of view: 723108286
[15:19:00.035657][info] Robust Resection information:
- resection status: true
- threshold (error max): 8.9691
- # points used for resection: 335
- # points validated by robust resection: 301
[15:19:00.085641][info] Bundle adjustment start.
[15:19:00.086641][info] Start bundle adjustment iteration: 0
[15:19:01.401219][info] Bundle Adjustment Statistics:
- local strategy enabled: no
- adjustment duration: 1.27784 s
- poses:
- # refined: 20
- # constant: 0
- # ignored: 0
- landmarks:
- # refined: 11650
- # constant: 0
- # ignored: 0
- intrinsics:
- # refined: 2
- # constant: 0
- # ignored: 2
- # residual blocks: 23300
- # successful iterations: 51
- # unsuccessful iterations: 0
- initial RMSE: 0.867712
- final RMSE: 0.772641
[15:19:01.420213][info] Remove outliers:
- # outliers residual error: 180
- # outliers angular error: 7
[15:19:01.420213][info] Bundle adjustment iteration: 0 took 1333 msec.
[15:19:01.420213][info] Start bundle adjustment iteration: 1
[15:19:01.444206][warning] Bundle Adjustment failed, the solution is not usable.
[15:19:01.453203][info] Update Reconstruction:
- resection id: 18
- # images in the resection group: 1
- # images remaining: 243
[15:19:01.454202][info] [21/263] Robust Resection of view: 1431142508
[15:19:01.533178][info] Robust Resection information:
- resection status: true
- threshold (error max): 13.2152
- # points used for resection: 334
- # points validated by robust resection: 305
[15:19:01.585160][info] Bundle adjustment start.
[15:19:01.586160][info] Start bundle adjustment iteration: 0
[15:19:02.911735][info] Bundle Adjustment Statistics:
- local strategy enabled: no
- adjustment duration: 1.28699 s
- poses:
- # refined: 21
- # constant: 0
- # ignored: 0
- landmarks:
- # refined: 11964
- # constant: 0
- # ignored: 0
- intrinsics:
- # refined: 2
- # constant: 0
- # ignored: 2
- # residual blocks: 23928
- # successful iterations: 45
- # unsuccessful iterations: 2
- initial RMSE: 0.851881
- final RMSE: 0.782058
[15:19:02.930729][info] Remove outliers:
- # outliers residual error: 208
- # outliers angular error: 5
[15:19:02.931728][info] Bundle adjustment iteration: 0 took 1345 msec.
[15:19:02.931728][info] Start bundle adjustment iteration: 1
[15:19:02.957721][warning] Bundle Adjustment failed, the solution is not usable.
[15:19:03.175651][info] Update Reconstruction:
- resection id: 19
- # images in the resection group: 1
- # images remaining: 242
[15:19:03.175651][info] [22/263] Robust Resection of view: 140005967
[15:19:03.225634][info] Robust Resection information:
- resection status: true
- threshold (error max): 10.8579
- # points used for resection: 213
- # points validated by robust resection: 192
[15:19:03.260623][info] Bundle adjustment start.
[15:19:03.260623][info] Start bundle adjustment iteration: 0
[15:19:04.553209][info] Bundle Adjustment Statistics:
- local strategy enabled: no
- adjustment duration: 1.25485 s
- poses:
- # refined: 22
- # constant: 0
- # ignored: 0
- landmarks:
- # refined: 12120
- # constant: 0
- # ignored: 0
- intrinsics:
- # refined: 2
- # constant: 0
- # ignored: 2
- # residual blocks: 24240
- # successful iterations: 47
- # unsuccessful iterations: 0
- initial RMSE: 0.808041
- final RMSE: 0.746664
[15:19:04.573202][info] Remove outliers:
- # outliers residual error: 145
- # outliers angular error: 1
[15:19:04.574202][info] Bundle adjustment iteration: 0 took 1312 msec.
[15:19:04.574202][info] Start bundle adjustment iteration: 1
[15:19:04.598195][warning] Bundle Adjustment failed, the solution is not usable.
[15:19:04.607192][info] Update Reconstruction:
- resection id: 20
- # images in the resection group: 1
- # images remaining: 241
[15:19:04.608192][info] [23/263] Robust Resection of view: 1292682418
[15:19:04.696163][info] Robust Resection information:
- resection status: true
- threshold (error max): 7.19503
- # points used for resection: 369
- # points validated by robust resection: 333
[15:19:04.744148][info] Bundle adjustment start.
[15:19:04.744148][info] Start bundle adjustment iteration: 0
[15:19:06.207678][info] Bundle Adjustment Statistics:
- local strategy enabled: no
- adjustment duration: 1.42025 s
- poses:
- # refined: 23
- # constant: 0
- # ignored: 0
- landmarks:
- # refined: 12542
- # constant: 0
- # ignored: 0
- intrinsics:
- # refined: 2
- # constant: 0
- # ignored: 2
- # residual blocks: 25084
- # successful iterations: 45
- # unsuccessful iterations: 0
- initial RMSE: 0.808259
- final RMSE: 0.753218
[15:19:06.227672][info] Remove outliers:
- # outliers residual error: 156
- # outliers angular error: 2
[15:19:06.228672][info] Bundle adjustment iteration: 0 took 1483 msec.
[15:19:06.228672][info] Start bundle adjustment iteration: 1
[15:19:06.259662][warning] Bundle Adjustment failed, the solution is not usable.
[15:19:06.269659][info] Update Reconstruction:
- resection id: 21
- # images in the resection group: 1
- # images remaining: 240
[15:19:06.270659][info] [24/263] Robust Resection of view: 1127892622
[15:19:06.306647][info] Robust Resection information:
- resection status: true
- threshold (error max): 9.28597
- # points used for resection: 148
- # points validated by robust resection: 110
[15:19:06.334638][info] Bundle adjustment start.
[15:19:06.335638][info] Start bundle adjustment iteration: 0
[15:19:07.755183][info] Bundle Adjustment Statistics:
- local strategy enabled: no
- adjustment duration: 1.37831 s
- poses:
- # refined: 24
- # constant: 0
- # ignored: 0
- landmarks:
- # refined: 12722
- # constant: 0
- # ignored: 0
- intrinsics:
- # refined: 2
- # constant: 0
- # ignored: 2
- # residual blocks: 25444
- # successful iterations: 45
- # unsuccessful iterations: 1
- initial RMSE: 0.828897
- final RMSE: 0.777003
[15:19:07.778175][info] Remove outliers:
- # outliers residual error: 201
- # outliers angular error: 6
[15:19:07.779175][info] Bundle adjustment iteration: 0 took 1443 msec.
[15:19:07.779175][info] Start bundle adjustment iteration: 1
[15:19:07.810165][warning] Bundle Adjustment failed, the solution is not usable.
[15:19:08.042091][info] Update Reconstruction:
- resection id: 22
- # images in the resection group: 1
- # images remaining: 239
[15:19:08.043090][info] [25/263] Robust Resection of view: 702704092
[15:19:08.094074][info] Robust Resection information:
- resection status: true
- threshold (error max): 6.56503
- # points used for resection: 203
- # points validated by robust resection: 159
[15:19:08.137060][info] Bundle adjustment start.
[15:19:08.138060][info] Start bundle adjustment iteration: 0
[15:19:09.889498][info] Bundle Adjustment Statistics:
- local strategy enabled: no
- adjustment duration: 1.71227 s
- poses:
- # refined: 25
- # constant: 0
- # ignored: 0
- landmarks:
- # refined: 12888
- # constant: 0
- # ignored: 0
- intrinsics:
- # refined: 2
- # constant: 0
- # ignored: 2
- # residual blocks: 25776
- # successful iterations: 46
- # unsuccessful iterations: 0
- initial RMSE: 0.816668
- final RMSE: 0.768318
[15:19:09.911491][info] Remove outliers:
- # outliers residual error: 189
- # outliers angular error: 7
[15:19:09.912491][info] Bundle adjustment iteration: 0 took 1774 msec.
[15:19:09.912491][info] Start bundle adjustment iteration: 1
[15:19:09.942481][warning] Bundle Adjustment failed, the solution is not usable.
[15:19:09.971472][info] Update Reconstruction:
- resection id: 23
- # images in the resection group: 1
- # images remaining: 238
[15:19:09.972472][info] [26/263] Robust Resection of view: 106315918
[15:19:10.094433][info] Robust Resection information:
- resection status: true
- threshold (error max): 4.38082
- # points used for resection: 495
- # points validated by robust resection: 468
[15:19:10.150415][info] Bundle adjustment start.
[15:19:10.151415][info] Start bundle adjustment iteration: 0
[15:19:11.826877][info] Bundle Adjustment Statistics:
- local strategy enabled: no
- adjustment duration: 1.62935 s
- poses:
- # refined: 26
- # constant: 0
- # ignored: 0
- landmarks:
- # refined: 13270
- # constant: 0
- # ignored: 0
- intrinsics:
- # refined: 2
- # constant: 0
- # ignored: 2
- # residual blocks: 26540
- # successful iterations: 43
- # unsuccessful iterations: 0
- initial RMSE: 0.765131
- final RMSE: 0.720482
[15:19:11.850870][info] Remove outliers:
- # outliers residual error: 73
- # outliers angular error: 0
[15:19:11.851870][info] Bundle adjustment iteration: 0 took 1700 msec.
[15:19:11.851870][info] Start bundle adjustment iteration: 1
[15:19:11.886858][warning] Bundle Adjustment failed, the solution is not usable.
[15:19:11.898855][info] Update Reconstruction:
- resection id: 24
- # images in the resection group: 1
- # images remaining: 237
[15:19:11.899854][info] [27/263] Robust Resection of view: 409470491
[15:19:11.925845][info] Robust Resection information:
- resection status: true
- threshold (error max): 18.8799
- # points used for resection: 98
- # points validated by robust resection: 81
[15:19:11.951838][info] Bundle adjustment start.
[15:19:11.952837][info] Start bundle adjustment iteration: 0
[15:19:13.711273][info] Bundle Adjustment Statistics:
- local strategy enabled: no
- adjustment duration: 1.71087 s
- poses:
- # refined: 27
- # constant: 0
- # ignored: 0
- landmarks:
- # refined: 13604
- # constant: 0
- # ignored: 0
- intrinsics:
- # refined: 2
- # constant: 0
- # ignored: 2
- # residual blocks: 27208
- # successful iterations: 48
- # unsuccessful iterations: 2
- initial RMSE: 0.818734
- final RMSE: 0.752034
[15:19:13.736265][info] Remove outliers:
- # outliers residual error: 135
- # outliers angular error: 3
[15:19:13.737265][info] Bundle adjustment iteration: 0 took 1784 msec.
[15:19:13.737265][info] Start bundle adjustment iteration: 1
[15:19:13.764256][warning] Bundle Adjustment failed, the solution is not usable.
[15:19:13.985186][info] Update Reconstruction:
- resection id: 25
- # images in the resection group: 1
- # images remaining: 236
[15:19:13.986185][info] [28/263] Robust Resection of view: 1540698463
[15:19:14.035169][info] Robust Resection information:
- resection status: true
- threshold (error max): 17.2031
- # points used for resection: 204
- # points validated by robust resection: 189
[15:19:14.057162][info] Bundle adjustment start.
[15:19:14.058162][info] Start bundle adjustment iteration: 0
[15:19:15.714631][info] Bundle Adjustment Statistics:
- local strategy enabled: no
- adjustment duration: 1.61465 s
- poses:
- # refined: 28
- # constant: 0
- # ignored: 0
- landmarks:
- # refined: 14121
- # constant: 0
- # ignored: 0
- intrinsics:
- # refined: 2
- # constant: 0
- # ignored: 2
- # residual blocks: 28242
- # successful iterations: 51
- # unsuccessful iterations: 0
- initial RMSE: 0.86437
- final RMSE: 0.791687
[15:19:15.740623][info] Remove outliers:
- # outliers residual error: 208
- # outliers angular error: 3
[15:19:15.740623][info] Bundle adjustment iteration: 0 took 1683 msec.
[15:19:15.740623][info] Start bundle adjustment iteration: 1
[15:19:15.773613][warning] Bundle Adjustment failed, the solution is not usable.
[15:19:15.782609][info] Update Reconstruction:
- resection id: 26
- # images in the resection group: 1
- # images remaining: 235
[15:19:15.783609][info] [29/263] Robust Resection of view: 1918813061
[15:19:15.852587][info] Robust Resection information:
- resection status: true
- threshold (error max): 7.44955
- # points used for resection: 285
- # points validated by robust resection: 224
[15:19:15.888575][info] Bundle adjustment start.
[15:19:15.889575][info] Start bundle adjustment iteration: 0
[15:19:17.687998][info] Bundle Adjustment Statistics:
- local strategy enabled: no
- adjustment duration: 1.75154 s
- poses:
- # refined: 29
- # constant: 0
- # ignored: 0
- landmarks:
- # refined: 15434
- # constant: 0
- # ignored: 0
- intrinsics:
- # refined: 2
- # constant: 0
- # ignored: 2
- # residual blocks: 30868
- # successful iterations: 51
- # unsuccessful iterations: 0
- initial RMSE: 0.844202
- final RMSE: 0.771563
[15:19:17.713991][info] Remove outliers:
- # outliers residual error: 217
- # outliers angular error: 19
[15:19:17.714990][info] Bundle adjustment iteration: 0 took 1825 msec.
[15:19:17.714990][info] Start bundle adjustment iteration: 1
[15:19:17.751978][warning] Bundle Adjustment failed, the solution is not usable.
[15:19:17.764974][info] Update Reconstruction:
- resection id: 27
- # images in the resection group: 1
- # images remaining: 234
[15:19:17.765974][info] [30/263] Robust Resection of view: 1470193310
[15:19:17.916926][info] Robust Resection information:
- resection status: true
- threshold (error max): 6.40521
- # points used for resection: 676
- # points validated by robust resection: 612
[15:19:17.950915][info] Bundle adjustment start.
[15:19:17.951914][info] Start bundle adjustment iteration: 0
[15:19:19.960270][info] Bundle Adjustment Statistics:
- local strategy enabled: no
- adjustment duration: 1.95744 s
- poses:
- # refined: 30
- # constant: 0
- # ignored: 0
- landmarks:
- # refined: 16292
- # constant: 0
- # ignored: 0
- intrinsics:
- # refined: 2
- # constant: 0
- # ignored: 2
- # residual blocks: 32584
- # successful iterations: 50
- # unsuccessful iterations: 1
- initial RMSE: 0.867048
- final RMSE: 0.781122
[15:19:19.987261][info] Remove outliers:
- # outliers residual error: 259
- # outliers angular error: 24
[15:19:19.988261][info] Bundle adjustment iteration: 0 took 2035 msec.
[15:19:19.988261][info] Start bundle adjustment iteration: 1
[15:19:20.025250][warning] Bundle Adjustment failed, the solution is not usable.
[15:19:20.246179][info] Update Reconstruction:
- resection id: 28
- # images in the resection group: 15
- # images remaining: 233
[15:19:20.247179][info] [31/263] Robust Resection of view: 27791449
[15:19:20.247179][info] [31/263] Robust Resection of view: 564140901
[15:19:20.247179][info] [31/263] Robust Resection of view: 1793582365
[15:19:20.247179][info] [31/263] Robust Resection of view: 352741026
[15:19:20.247179][info] [31/263] Robust Resection of view: 421486917
[15:19:20.247179][info] [31/263] Robust Resection of view: 810451966
[15:19:20.247179][info] [31/263] Robust Resection of view: 1040414140
[15:19:20.247179][info] [31/263] Robust Resection of view: 743025615
[15:19:20.277169][info] Robust Resection information:
- resection status: true
- threshold (error max): 25.888
- # points used for resection: 111
- # points validated by robust resection: 101
[15:19:20.280168][info] [32/263] Robust Resection of view: 1458094372
[15:19:20.282167][info] Robust Resection information:
- resection status: true
- threshold (error max): 25.2206
- # points used for resection: 124
- # points validated by robust resection: 116
[15:19:20.295163][info] Robust Resection information:
- resection status: true
- threshold (error max): 16.184
- # points used for resection: 155
- # points validated by robust resection: 142
[15:19:20.298162][info] [34/263] Robust Resection of view: 1803771307
[15:19:20.306159][info] Robust Resection information:
- resection status: true
- threshold (error max): 28.1853
- # points used for resection: 206
- # points validated by robust resection: 174
[15:19:20.310159][info] [35/263] Robust Resection of view: 811304552
[15:19:20.314157][info] Robust Resection information:
- resection status: true
- threshold (error max): 48.959
- # points used for resection: 263
- # points validated by robust resection: 255
[15:19:20.320155][info] [36/263] Robust Resection of view: 1583004995
[15:19:20.324154][info] Robust Resection information:
- resection status: true
- threshold (error max): 6.45465
- # points used for resection: 168
- # points validated by robust resection: 137
[15:19:20.335150][info] Robust Resection information:
- resection status: true
- threshold (error max): 17.9467
- # points used for resection: 316
- # points validated by robust resection: 292
[15:19:20.335150][info] Robust Resection information:
- resection status: true
- threshold (error max): 21.7066
- # points used for resection: 139
- # points validated by robust resection: 117
[15:19:20.341148][info] [39/263] Robust Resection of view: 198426163
[15:19:20.373138][info] Robust Resection information:
- resection status: true
- threshold (error max): 10.8669
- # points used for resection: 374
- # points validated by robust resection: 313
[15:19:20.379136][info] [40/263] Robust Resection of view: 559785488
[15:19:20.386134][info] Robust Resection information:
- resection status: true
- threshold (error max): 19.4361
- # points used for resection: 272
- # points validated by robust resection: 234
[15:19:20.392132][info] Robust Resection information:
- resection status: true
- threshold (error max): 16.9134
- # points used for resection: 321
- # points validated by robust resection: 296
[15:19:20.399129][info] Robust Resection information:
- resection status: true
- threshold (error max): 6.20652
- # points used for resection: 582
- # points validated by robust resection: 539
[15:19:20.407127][info] [43/263] Robust Resection of view: 1625219191
[15:19:20.459110][info] Robust Resection information:
- resection status: true
- threshold (error max): 20.8451
- # points used for resection: 331
- # points validated by robust resection: 287
[15:19:20.472107][info] Robust Resection information:
- resection status: true
- threshold (error max): 7.79427
- # points used for resection: 515
- # points validated by robust resection: 473
[15:19:20.592068][info] Robust Resection information:
- resection status: true
- threshold (error max): 6.55307
- # points used for resection: 709
- # points validated by robust resection: 675
[15:19:20.857982][info] Bundle adjustment start.
[15:19:20.861982][info] Start bundle adjustment iteration: 0
[15:19:23.828030][info] Bundle Adjustment Statistics:
- local strategy enabled: no
- adjustment duration: 2.89574 s
- poses:
- # refined: 45
- # constant: 0
- # ignored: 0
- landmarks:
- # refined: 24391
- # constant: 0
- # ignored: 0
- intrinsics:
- # refined: 2
- # constant: 0
- # ignored: 2
- # residual blocks: 48782
- # successful iterations: 51
- # unsuccessful iterations: 0
- initial RMSE: 1.31679
- final RMSE: 1.06097
[15:19:23.872016][info] Remove outliers:
- # outliers residual error: 1562
- # outliers angular error: 30
[15:19:23.873016][info] Bundle adjustment iteration: 0 took 3010 msec.
[15:19:23.873016][info] Start bundle adjustment iteration: 1
[15:19:23.921003][warning] Bundle Adjustment failed, the solution is not usable.
[15:19:23.937995][info] Update Reconstruction:
- resection id: 29
- # images in the resection group: 5
- # images remaining: 218
[15:19:23.938995][info] [46/263] Robust Resection of view: 1305197754
[15:19:23.938995][info] [46/263] Robust Resection of view: 1359729163
[15:19:23.938995][info] [46/263] Robust Resection of view: 1276381204
[15:19:23.938995][info] [46/263] Robust Resection of view: 307963766
[15:19:23.938995][info] [46/263] Robust Resection of view: 775984418
[15:19:23.965986][info] Robust Resection information:
- resection status: true
- threshold (error max): 12.1735
- # points used for resection: 102
- # points validated by robust resection: 93
[15:19:24.008972][info] Robust Resection information:
- resection status: true
- threshold (error max): 12.4012
- # points used for resection: 273
- # points validated by robust resection: 246
[15:19:24.050959][info] Robust Resection information:
- resection status: true
- threshold (error max): 11.5226
- # points used for resection: 452
- # points validated by robust resection: 423
[15:19:24.059956][info] Robust Resection information:
- resection status: true
- threshold (error max): 10.6328
- # points used for resection: 490
- # points validated by robust resection: 454
[15:19:24.063955][info] Robust Resection information:
- resection status: true
- threshold (error max): 8.68633
- # points used for resection: 509
- # points validated by robust resection: 472
[15:19:24.175919][info] Bundle adjustment start.
[15:19:24.177918][info] Start bundle adjustment iteration: 0
[15:19:27.296919][info] Bundle Adjustment Statistics:
- local strategy enabled: no
- adjustment duration: 3.01855 s
- poses:
- # refined: 50
- # constant: 0
- # ignored: 0
- landmarks:
- # refined: 25556
- # constant: 0
- # ignored: 0
- intrinsics:
- # refined: 2
- # constant: 0
- # ignored: 2
- # residual blocks: 51112
- # successful iterations: 51
- # unsuccessful iterations: 0
- initial RMSE: 1.08512
- final RMSE: 0.936361
[15:19:27.340904][info] Remove outliers:
- # outliers residual error: 888
- # outliers angular error: 7
[15:19:27.342904][info] Bundle adjustment iteration: 0 took 3164 msec.
[15:19:27.342904][info] Start bundle adjustment iteration: 1
[15:19:27.381893][warning] Bundle Adjustment failed, the solution is not usable.
[15:19:27.395887][info] Update Reconstruction:
- resection id: 30
- # images in the resection group: 5
- # images remaining: 213
[15:19:27.396887][info] [51/263] Robust Resection of view: 185780102
[15:19:27.396887][info] [51/263] Robust Resection of view: 1228368848
[15:19:27.396887][info] [51/263] Robust Resection of view: 717709766
[15:19:27.396887][info] [51/263] Robust Resection of view: 2084721127
[15:19:27.396887][info] [51/263] Robust Resection of view: 297563532
[15:19:27.430876][info] Robust Resection information:
- resection status: true
- threshold (error max): 9.1237
- # points used for resection: 136
- # points validated by robust resection: 118
[15:19:27.437873][info] Robust Resection information:
- resection status: true
- threshold (error max): 10.2179
- # points used for resection: 162
- # points validated by robust resection: 144
[15:19:27.451869][info] Robust Resection information:
- resection status: true
- threshold (error max): 9.82382
- # points used for resection: 214
- # points validated by robust resection: 187
[15:19:27.456867][info] Robust Resection information:
- resection status: true
- threshold (error max): 18.1132
- # points used for resection: 249
- # points validated by robust resection: 220
[15:19:27.474861][info] Robust Resection information:
- resection status: true
- threshold (error max): 18.258
- # points used for resection: 326
- # points validated by robust resection: 292
[15:19:27.626813][info] Bundle adjustment start.
[15:19:27.628812][info] Start bundle adjustment iteration: 0
[15:19:30.401923][info] Bundle Adjustment Statistics:
- local strategy enabled: no
- adjustment duration: 2.69513 s
- poses:
- # refined: 55
- # constant: 0
- # ignored: 0
- landmarks:
- # refined: 27153
- # constant: 0
- # ignored: 0
- intrinsics:
- # refined: 3
- # constant: 0
- # ignored: 1
- # residual blocks: 54306
- # successful iterations: 51
- # unsuccessful iterations: 0
- initial RMSE: 1.07331
- final RMSE: 0.932199
[15:19:30.447908][info] Remove outliers:
- # outliers residual error: 894
- # outliers angular error: 9
[15:19:30.449908][info] Bundle adjustment iteration: 0 took 2821 msec.
[15:19:30.449908][info] Start bundle adjustment iteration: 1
[15:19:30.497893][warning] Bundle Adjustment failed, the solution is not usable.
[15:19:30.720821][info] Update Reconstruction:
- resection id: 31
- # images in the resection group: 19
- # images remaining: 208
[15:19:30.721821][info] [56/263] Robust Resection of view: 2053571198
[15:19:30.721821][info] [56/263] Robust Resection of view: 439620602
[15:19:30.721821][info] [56/263] Robust Resection of view: 404523202
[15:19:30.721821][info] [56/263] Robust Resection of view: 1328942333
[15:19:30.721821][info] [56/263] Robust Resection of view: 408773659
[15:19:30.721821][info] [56/263] Robust Resection of view: 1263979261
[15:19:30.721821][info] [56/263] Robust Resection of view: 1570265068
[15:19:30.721821][info] [56/263] Robust Resection of view: 123866758
[15:19:30.745813][info] Robust Resection information:
- resection status: true
- threshold (error max): 18.339
- # points used for resection: 76
- # points validated by robust resection: 68
[15:19:30.747812][info] Robust Resection information:
- resection status: true
- threshold (error max): 14.3532
- # points used for resection: 95
- # points validated by robust resection: 85
[15:19:30.747812][info] Robust Resection information:
- resection status: true
- threshold (error max): 38.1873
- # points used for resection: 91
- # points validated by robust resection: 81
[15:19:30.748812][info] [57/263] Robust Resection of view: 1927431996
[15:19:30.751812][info] [58/263] Robust Resection of view: 1203838107
[15:19:30.752811][info] [59/263] Robust Resection of view: 1344721705
[15:19:30.752811][info] Robust Resection information:
- resection status: true
- threshold (error max): 84.8265
- # points used for resection: 112
- # points validated by robust resection: 109
[15:19:30.757809][info] [60/263] Robust Resection of view: 578470222
[15:19:30.760808][info] Robust Resection information:
- resection status: true
- threshold (error max): 10.2745
- # points used for resection: 136
- # points validated by robust resection: 130
[15:19:30.763808][info] [61/263] Robust Resection of view: 1033501662
[15:19:30.772804][info] Robust Resection information:
- resection status: true
- threshold (error max): 19.978
- # points used for resection: 189
- # points validated by robust resection: 173
[15:19:30.775803][info] Robust Resection information:
- resection status: true
- threshold (error max): 7.86713
- # points used for resection: 196
- # points validated by robust resection: 164
[15:19:30.776803][info] [62/263] Robust Resection of view: 1894779456
[15:19:30.778803][info] [63/263] Robust Resection of view: 1062660307
[15:19:30.786800][info] Robust Resection information:
- resection status: true
- threshold (error max): 81.7493
- # points used for resection: 76
- # points validated by robust resection: 75
[15:19:30.790798][info] Robust Resection information:
- resection status: true
- threshold (error max): 14.0274
- # points used for resection: 155
- # points validated by robust resection: 145
[15:19:30.792798][info] Robust Resection information:
- resection status: true
- threshold (error max): 13.9633
- # points used for resection: 230
- # points validated by robust resection: 206
[15:19:30.796797][info] [66/263] Robust Resection of view: 890808561
[15:19:30.810792][info] Robust Resection information:
- resection status: true
- threshold (error max): 19.0625
- # points used for resection: 234
- # points validated by robust resection: 213
[15:19:30.812791][info] Robust Resection information:
- resection status: true
- threshold (error max): 10.2432
- # points used for resection: 196
- # points validated by robust resection: 167
[15:19:30.827787][info] Robust Resection information:
- resection status: true
- threshold (error max): 4.21721
- # points used for resection: 280
- # points validated by robust resection: 247
[15:19:30.829786][info] Robust Resection information:
- resection status: true
- threshold (error max): 18.5375
- # points used for resection: 196
- # points validated by robust resection: 184
[15:19:30.834785][info] [70/263] Robust Resection of view: 1393127397
[15:19:30.835784][info] Robust Resection information:
- resection status: true
- threshold (error max): 8.00014
- # points used for resection: 238
- # points validated by robust resection: 218
[15:19:30.838783][info] [71/263] Robust Resection of view: 1285008328
[15:19:30.868774][info] Robust Resection information:
- resection status: true
- threshold (error max): 9.6155
- # points used for resection: 285
- # points validated by robust resection: 269
[15:19:30.873772][info] [72/263] Robust Resection of view: 1386505301
[15:19:30.913760][info] Robust Resection information:
- resection status: true
- threshold (error max): 4.14759
- # points used for resection: 321
- # points validated by robust resection: 281
[15:19:30.919757][info] Robust Resection information:
- resection status: true
- threshold (error max): 7.69549
- # points used for resection: 356
- # points validated by robust resection: 303
[15:19:30.922756][info] Robust Resection information:
- resection status: true
- threshold (error max): 11.4731
- # points used for resection: 200
- # points validated by robust resection: 178
[15:19:31.288639][info] Bundle adjustment start.
[15:19:31.292637][info] Start bundle adjustment iteration: 0
[15:19:35.050434][info] Bundle Adjustment Statistics:
- local strategy enabled: no
- adjustment duration: 3.67582 s
- poses:
- # refined: 74
- # constant: 0
- # ignored: 0
- landmarks:
- # refined: 35022
- # constant: 0
- # ignored: 0
- intrinsics:
- # refined: 3
- # constant: 0
- # ignored: 1
- # residual blocks: 70044
- # successful iterations: 51
- # unsuccessful iterations: 0
- initial RMSE: 1.30208
- final RMSE: 1.07165
[15:19:35.110414][info] Remove outliers:
- # outliers residual error: 2025
- # outliers angular error: 51
[15:19:35.112413][info] Bundle adjustment iteration: 0 took 3819 msec.
[15:19:35.112413][info] Start bundle adjustment iteration: 1
[15:19:35.168398][warning] Bundle Adjustment failed, the solution is not usable.
[15:19:35.188389][info] Update Reconstruction:
- resection id: 32
- # images in the resection group: 30
- # images remaining: 189
[15:19:35.190389][info] [75/263] Robust Resection of view: 1751005854
[15:19:35.190389][info] [75/263] Robust Resection of view: 1883422523
[15:19:35.190389][info] [75/263] Robust Resection of view: 498794205
[15:19:35.190389][info] [75/263] Robust Resection of view: 2085459360
[15:19:35.190389][info] [75/263] Robust Resection of view: 668403924
[15:19:35.190389][info] [75/263] Robust Resection of view: 820576088
[15:19:35.190389][info] [75/263] Robust Resection of view: 1549985068
[15:19:35.191389][info] [75/263] Robust Resection of view: 412842070
[15:19:35.221378][info] Robust Resection information:
- resection status: true
- threshold (error max): 71.6333
- # points used for resection: 118
- # points validated by robust resection: 112
[15:19:35.226377][info] Robust Resection information:
- resection status: true
- threshold (error max): 8.75906
- # points used for resection: 134
- # points validated by robust resection: 90
[15:19:35.227376][info] [76/263] Robust Resection of view: 459094707
[15:19:35.229376][info] [77/263] Robust Resection of view: 731330472
[15:19:35.240372][info] Robust Resection information:
- resection status: true
- threshold (error max): 15.6188
- # points used for resection: 186
- # points validated by robust resection: 162
[15:19:35.241372][info] Robust Resection information:
- resection status: true
- threshold (error max): 15.0914
- # points used for resection: 160
- # points validated by robust resection: 137
[15:19:35.244371][info] [79/263] Robust Resection of view: 1408840065
[15:19:35.244371][info] [79/263] Robust Resection of view: 48052846
[15:19:35.253368][info] Robust Resection information:
- resection status: true
- threshold (error max): 10.4153
- # points used for resection: 228
- # points validated by robust resection: 207
[15:19:35.257367][info] [80/263] Robust Resection of view: 1322009744
[15:19:35.258367][info] Robust Resection information:
- resection status: true
- threshold (error max): 28.7759
- # points used for resection: 156
- # points validated by robust resection: 134
[15:19:35.262365][info] [81/263] Robust Resection of view: 590565467
[15:19:35.267364][info] Robust Resection information:
- resection status: true
- threshold (error max): 19.7407
- # points used for resection: 284
- # points validated by robust resection: 239
[15:19:35.273362][info] Robust Resection information:
- resection status: true
- threshold (error max): 20.8303
- # points used for resection: 167
- # points validated by robust resection: 156
[15:19:35.273362][info] [82/263] Robust Resection of view: 1129928682
[15:19:35.276361][info] Robust Resection information:
- resection status: true
- threshold (error max): 11.4619
- # points used for resection: 321
- # points validated by robust resection: 292
[15:19:35.277360][info] [83/263] Robust Resection of view: 2078347017
[15:19:35.281359][info] [84/263] Robust Resection of view: 1450310357
[15:19:35.304352][info] Robust Resection information:
- resection status: true
- threshold (error max): 16.1911
- # points used for resection: 217
- # points validated by robust resection: 200
[15:19:35.306351][info] Robust Resection information:
- resection status: true
- threshold (error max): 15.4014
- # points used for resection: 169
- # points validated by robust resection: 140
[15:19:35.308350][info] [85/263] Robust Resection of view: 1315435778
[15:19:35.310350][info] [86/263] Robust Resection of view: 866420151
[15:19:35.310350][info] Robust Resection information:
- resection status: true
- threshold (error max): 19.3488
- # points used for resection: 170
- # points validated by robust resection: 163
[15:19:35.314348][info] [87/263] Robust Resection of view: 1911517036
[15:19:35.316348][info] Robust Resection information:
- resection status: true
- threshold (error max): 25.8951
- # points used for resection: 162
- # points validated by robust resection: 152
[15:19:35.318348][info] Robust Resection information:
- resection status: true
- threshold (error max): 14.9855
- # points used for resection: 306
- # points validated by robust resection: 280
[15:19:35.320347][info] [88/263] Robust Resection of view: 1122288247
[15:19:35.323345][info] Robust Resection information:
- resection status: true
- threshold (error max): 12.5318
- # points used for resection: 174
- # points validated by robust resection: 140
[15:19:35.324346][info] [89/263] Robust Resection of view: 1323869460
[15:19:35.325345][info] Robust Resection information:
- resection status: true
- threshold (error max): 28.075
- # points used for resection: 159
- # points validated by robust resection: 153
[15:19:35.329344][info] [91/263] Robust Resection of view: 1866435339
[15:19:35.338341][info] Robust Resection information:
- resection status: true
- threshold (error max): 10.0337
- # points used for resection: 353
- # points validated by robust resection: 284
[15:19:35.344339][info] [92/263] Robust Resection of view: 1095724580
[15:19:35.350337][info] Robust Resection information:
- resection status: true
- threshold (error max): 12.5117
- # points used for resection: 138
- # points validated by robust resection: 119
[15:19:35.354336][info] [93/263] Robust Resection of view: 2131374928
[15:19:35.356335][info] Robust Resection information:
- resection status: true
- threshold (error max): 33.9379
- # points used for resection: 136
- # points validated by robust resection: 129
[15:19:35.361334][info] [94/263] Robust Resection of view: 1678802010
[15:19:35.373329][info] Robust Resection information:
- resection status: true
- threshold (error max): 26.2636
- # points used for resection: 171
- # points validated by robust resection: 151
[15:19:35.377328][info] [95/263] Robust Resection of view: 328654280
[15:19:35.379328][info] Robust Resection information:
- resection status: true
- threshold (error max): 12.1195
- # points used for resection: 130
- # points validated by robust resection: 106
[15:19:35.382327][info] [96/263] Robust Resection of view: 1414327421
[15:19:35.390324][info] Robust Resection information:
- resection status: true
- threshold (error max): 14.909
- # points used for resection: 224
- # points validated by robust resection: 189
[15:19:35.396322][info] Robust Resection information:
- resection status: true
- threshold (error max): 14.2536
- # points used for resection: 324
- # points validated by robust resection: 287
[15:19:35.398322][info] Robust Resection information:
- resection status: true
- threshold (error max): 4.66177
- # points used for resection: 341
- # points validated by robust resection: 300
[15:19:35.402321][info] [98/263] Robust Resection of view: 1957751587
[15:19:35.404320][info] [99/263] Robust Resection of view: 927645294
[15:19:35.416316][info] Robust Resection information:
- resection status: true
- threshold (error max): 8.37103
- # points used for resection: 253
- # points validated by robust resection: 185
[15:19:35.437309][info] Robust Resection information:
- resection status: true
- threshold (error max): 13.8044
- # points used for resection: 287
- # points validated by robust resection: 266
[15:19:35.444307][info] Robust Resection information:
- resection status: true
- threshold (error max): 11.7831
- # points used for resection: 268
- # points validated by robust resection: 251
[15:19:35.452305][info] Robust Resection information:
- resection status: true
- threshold (error max): 8.63566
- # points used for resection: 270
- # points validated by robust resection: 218
[15:19:35.464300][info] Robust Resection information:
- resection status: true
- threshold (error max): 16.5014
- # points used for resection: 253
- # points validated by robust resection: 236
[15:19:35.502288][info] Robust Resection information:
- resection status: true
- threshold (error max): 15.7648
- # points used for resection: 405
- # points validated by robust resection: 383
[15:19:36.025122][info] Bundle adjustment start.
[15:19:36.036119][info] Start bundle adjustment iteration: 0
[15:19:37.016803][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 74 cameras
- D = 1: 0 cameras
- D > 1: 0 cameras
- adjustment duration: 0.873931 s
- poses:
- # refined: 104
- # constant: 0
- # ignored: 0
- landmarks:
- # refined: 43732
- # constant: 0
- # ignored: 0
- intrinsics:
- # refined: 1
- # constant: 2
- # ignored: 1
- # residual blocks: 87464
- # successful iterations: 7
- # unsuccessful iterations: 0
- initial RMSE: 1.42597
- final RMSE: 1.16339
[15:19:37.093778][info] Remove outliers:
- # outliers residual error: 3590
- # outliers angular error: 93
[15:19:37.095778][info] Bundle adjustment iteration: 0 took 1059 msec.
[15:19:37.095778][info] Start bundle adjustment iteration: 1
[15:19:37.168756][warning] Bundle Adjustment failed, the solution is not usable.
[15:19:37.189748][info] Update Reconstruction:
- resection id: 33
- # images in the resection group: 16
- # images remaining: 159
[15:19:37.191747][info] [105/263] Robust Resection of view: 428631101
[15:19:37.191747][info] [105/263] Robust Resection of view: 1033905052
[15:19:37.191747][info] [105/263] Robust Resection of view: 792697793
[15:19:37.191747][info] [105/263] Robust Resection of view: 553996662
[15:19:37.191747][info] [105/263] Robust Resection of view: 1129179429
[15:19:37.191747][info] [105/263] Robust Resection of view: 585002969
[15:19:37.191747][info] [105/263] Robust Resection of view: 962711197
[15:19:37.191747][info] [105/263] Robust Resection of view: 491871260
[15:19:37.217739][info] Robust Resection information:
- resection status: true
- threshold (error max): 23.7669
- # points used for resection: 96
- # points validated by robust resection: 78
[15:19:37.219738][info] Robust Resection information:
- resection status: true
- threshold (error max): 40.6377
- # points used for resection: 103
- # points validated by robust resection: 95
[15:19:37.221737][info] [106/263] Robust Resection of view: 146348017
[15:19:37.223736][info] Robust Resection information:
- resection status: true
- threshold (error max): 26.5076
- # points used for resection: 124
- # points validated by robust resection: 90
[15:19:37.224736][info] [107/263] Robust Resection of view: 635281592
[15:19:37.227735][info] [108/263] Robust Resection of view: 1676246786
[15:19:37.234733][info] Robust Resection information:
- resection status: true
- threshold (error max): 20.0241
- # points used for resection: 159
- # points validated by robust resection: 148
[15:19:37.238732][info] [109/263] Robust Resection of view: 1963269508
[15:19:37.239731][info] Robust Resection information:
- resection status: true
- threshold (error max): 32.3753
- # points used for resection: 56
- # points validated by robust resection: 51
[15:19:37.239731][info] Robust Resection information:
- resection status: true
- threshold (error max): 56.6371
- # points used for resection: 144
- # points validated by robust resection: 139
[15:19:37.244730][info] Robust Resection information:
- resection status: true
- threshold (error max): 13.7816
- # points used for resection: 205
- # points validated by robust resection: 193
[15:19:37.244730][info] Robust Resection information:
- resection status: true
- threshold (error max): 9.46563
- # points used for resection: 205
- # points validated by robust resection: 150
[15:19:37.246729][info] [111/263] Robust Resection of view: 144993473
[15:19:37.248729][info] [113/263] Robust Resection of view: 300720069
[15:19:37.248729][info] [113/263] Robust Resection of view: 516270858
[15:19:37.250728][info] Robust Resection information:
- resection status: true
- threshold (error max): 11.1714
- # points used for resection: 212
- # points validated by robust resection: 202
[15:19:37.255726][info] [114/263] Robust Resection of view: 821883633
[15:19:37.260725][info] Robust Resection information:
- resection status: true
- threshold (error max): 49.9006
- # points used for resection: 134
- # points validated by robust resection: 130
[15:19:37.280718][info] Robust Resection information:
- resection status: true
- threshold (error max): 5.29229
- # points used for resection: 209
- # points validated by robust resection: 143
[15:19:37.285717][info] Robust Resection information:
- resection status: true
- threshold (error max): 12.4175
- # points used for resection: 137
- # points validated by robust resection: 128
[15:19:37.287716][info] Robust Resection information:
- resection status: true
- threshold (error max): 16.5027
- # points used for resection: 155
- # points validated by robust resection: 138
[15:19:37.289715][info] Robust Resection information:
- resection status: true
- threshold (error max): 12.9548
- # points used for resection: 205
- # points validated by robust resection: 164
[15:19:37.303711][info] Robust Resection information:
- resection status: true
- threshold (error max): 41.7099
- # points used for resection: 215
- # points validated by robust resection: 203
[15:19:37.311708][info] Robust Resection information:
- resection status: true
- threshold (error max): 15.4382
- # points used for resection: 226
- # points validated by robust resection: 210
[15:19:37.639603][info] Bundle adjustment start.
[15:19:37.647600][info] Start bundle adjustment iteration: 0
[15:19:37.993489][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 43 cameras
- D = 1: 0 cameras
- D > 1: 61 cameras
- adjustment duration: 0.288762 s
- poses:
- # refined: 59
- # constant: 43
- # ignored: 18
- landmarks:
- # refined: 23050
- # constant: 0
- # ignored: 3330
- intrinsics:
- # refined: 1
- # constant: 2
- # ignored: 1
- # residual blocks: 46100
- # successful iterations: 6
- # unsuccessful iterations: 0
- initial RMSE: 1.42056
- final RMSE: 1.2273
[15:19:38.079462][info] Remove outliers:
- # outliers residual error: 2654
- # outliers angular error: 65
[15:19:38.087460][info] Bundle adjustment iteration: 0 took 440 msec.
[15:19:38.087460][info] Start bundle adjustment iteration: 1
[15:19:38.124448][warning] Bundle Adjustment failed, the solution is not usable.
[15:19:38.349375][info] Update Reconstruction:
- resection id: 34
- # images in the resection group: 11
- # images remaining: 143
[15:19:38.351376][info] [119/263] Robust Resection of view: 1073703326
[15:19:38.351376][info] [119/263] Robust Resection of view: 1306769444
[15:19:38.351376][info] [119/263] Robust Resection of view: 252233916
[15:19:38.351376][info] [119/263] Robust Resection of view: 1734509421
[15:19:38.351376][info] [119/263] Robust Resection of view: 863752794
[15:19:38.351376][info] [119/263] Robust Resection of view: 1697428695
[15:19:38.352375][info] [119/263] Robust Resection of view: 1494049772
[15:19:38.353375][info] [119/263] Robust Resection of view: 1721385678
[15:19:38.379366][info] Robust Resection information:
- resection status: true
- threshold (error max): 18.789
- # points used for resection: 107
- # points validated by robust resection: 100
[15:19:38.386364][info] Robust Resection information:
- resection status: true
- threshold (error max): 11.6688
- # points used for resection: 126
- # points validated by robust resection: 117
[15:19:38.388363][info] Robust Resection information:
- resection status: true
- threshold (error max): 11.1127
- # points used for resection: 145
- # points validated by robust resection: 138
[15:19:38.388363][info] Robust Resection information:
- resection status: true
- threshold (error max): 11.7535
- # points used for resection: 128
- # points validated by robust resection: 110
[15:19:38.388363][info] Robust Resection information:
- resection status: true
- threshold (error max): 15.0191
- # points used for resection: 123
- # points validated by robust resection: 115
[15:19:38.392362][info] [124/263] Robust Resection of view: 81556741
[15:19:38.399360][info] Robust Resection information:
- resection status: true
- threshold (error max): 13.0728
- # points used for resection: 176
- # points validated by robust resection: 162
[15:19:38.411356][info] Robust Resection information:
- resection status: true
- threshold (error max): 8.19869
- # points used for resection: 228
- # points validated by robust resection: 187
[15:19:38.411356][info] Robust Resection information:
- resection status: true
- threshold (error max): 6.97308
- # points used for resection: 221
- # points validated by robust resection: 185
[15:19:38.415355][info] [127/263] Robust Resection of view: 337593241
[15:19:38.416354][info] [127/263] Robust Resection of view: 2091549386
[15:19:38.447344][info] Robust Resection information:
- resection status: true
- threshold (error max): 10.6236
- # points used for resection: 216
- # points validated by robust resection: 185
[15:19:38.460340][info] Robust Resection information:
- resection status: true
- threshold (error max): 8.78924
- # points used for resection: 178
- # points validated by robust resection: 151
[15:19:38.462340][info] Robust Resection information:
- resection status: true
- threshold (error max): 7.47343
- # points used for resection: 182
- # points validated by robust resection: 150
[15:19:38.683269][info] Bundle adjustment start.
[15:19:38.691266][info] Start bundle adjustment iteration: 0
[15:19:39.013163][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 39 cameras
- D = 1: 0 cameras
- D > 1: 79 cameras
- adjustment duration: 0.264679 s
- poses:
- # refined: 50
- # constant: 50
- # ignored: 29
- landmarks:
- # refined: 22578
- # constant: 0
- # ignored: 3718
- intrinsics:
- # refined: 1
- # constant: 2
- # ignored: 1
- # residual blocks: 45156
- # successful iterations: 6
- # unsuccessful iterations: 0
- initial RMSE: 1.20595
- final RMSE: 1.06033
[15:19:39.102135][info] Remove outliers:
- # outliers residual error: 1276
- # outliers angular error: 21
[15:19:39.105134][info] Bundle adjustment iteration: 0 took 414 msec.
[15:19:39.105134][info] Start bundle adjustment iteration: 1
[15:19:39.143122][warning] Bundle Adjustment failed, the solution is not usable.
[15:19:39.158117][info] Update Reconstruction:
- resection id: 35
- # images in the resection group: 13
- # images remaining: 132
[15:19:39.160116][info] [130/263] Robust Resection of view: 1460106765
[15:19:39.160116][info] [130/263] Robust Resection of view: 1875149011
[15:19:39.160116][info] [130/263] Robust Resection of view: 1906858277
[15:19:39.160116][info] [130/263] Robust Resection of view: 1713476451
[15:19:39.160116][info] [130/263] Robust Resection of view: 511003111
[15:19:39.160116][info] [130/263] Robust Resection of view: 612023638
[15:19:39.160116][info] [130/263] Robust Resection of view: 1347926578
[15:19:39.163115][info] [130/263] Robust Resection of view: 1545626208
[15:19:39.194105][info] Robust Resection information:
- resection status: true
- threshold (error max): 17.0484
- # points used for resection: 119
- # points validated by robust resection: 108
[15:19:39.196104][info] Robust Resection information:
- resection status: true
- threshold (error max): 14.44
- # points used for resection: 134
- # points validated by robust resection: 125
[15:19:39.208100][info] Robust Resection information:
- resection status: true
- threshold (error max): 9.81684
- # points used for resection: 182
- # points validated by robust resection: 168
[15:19:39.212099][info] [133/263] Robust Resection of view: 283116099
[15:19:39.220096][info] Robust Resection information:
- resection status: true
- threshold (error max): 7.48072
- # points used for resection: 234
- # points validated by robust resection: 217
[15:19:39.223095][info] Robust Resection information:
- resection status: true
- threshold (error max): 11.3871
- # points used for resection: 238
- # points validated by robust resection: 220
[15:19:39.226095][info] [134/263] Robust Resection of view: 1911487193
[15:19:39.227094][info] Robust Resection information:
- resection status: true
- threshold (error max): 11.2599
- # points used for resection: 219
- # points validated by robust resection: 208
[15:19:39.228094][info] [135/263] Robust Resection of view: 1129880839
[15:19:39.232093][info] [136/263] Robust Resection of view: 1197446006
[15:19:39.233093][info] Robust Resection information:
- resection status: true
- threshold (error max): 7.30003
- # points used for resection: 263
- # points validated by robust resection: 229
[15:19:39.257085][info] Robust Resection information:
- resection status: true
- threshold (error max): 7.35248
- # points used for resection: 350
- # points validated by robust resection: 322
[15:19:39.262083][info] [138/263] Robust Resection of view: 884958592
[15:19:39.274079][info] Robust Resection information:
- resection status: true
- threshold (error max): 13.7773
- # points used for resection: 152
- # points validated by robust resection: 142
[15:19:39.274079][info] Robust Resection information:
- resection status: true
- threshold (error max): 9.21181
- # points used for resection: 223
- # points validated by robust resection: 197
[15:19:39.281077][info] Robust Resection information:
- resection status: true
- threshold (error max): 15.0843
- # points used for resection: 211
- # points validated by robust resection: 196
[15:19:39.286075][info] Robust Resection information:
- resection status: true
- threshold (error max): 11.6514
- # points used for resection: 239
- # points validated by robust resection: 223
[15:19:39.322064][info] Robust Resection information:
- resection status: true
- threshold (error max): 10.2669
- # points used for resection: 237
- # points validated by robust resection: 219
[15:19:39.598975][info] Bundle adjustment start.
[15:19:39.608972][info] Start bundle adjustment iteration: 0
[15:19:39.832900][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 29 cameras
- D = 1: 0 cameras
- D > 1: 100 cameras
- adjustment duration: 0.173408 s
- poses:
- # refined: 42
- # constant: 53
- # ignored: 47
- landmarks:
- # refined: 19379
- # constant: 0
- # ignored: 5179
- intrinsics:
- # refined: 1
- # constant: 2
- # ignored: 1
- # residual blocks: 38758
- # successful iterations: 4
- # unsuccessful iterations: 0
- initial RMSE: 1.32993
- final RMSE: 1.16534
[15:19:39.932868][info] Remove outliers:
- # outliers residual error: 2176
- # outliers angular error: 78
[15:19:39.936867][info] Bundle adjustment iteration: 0 took 328 msec.
[15:19:39.936867][info] Start bundle adjustment iteration: 1
[15:19:39.966860][warning] Bundle Adjustment failed, the solution is not usable.
[15:19:39.977854][info] Update Reconstruction:
- resection id: 36
- # images in the resection group: 10
- # images remaining: 119
[15:19:39.979853][info] [143/263] Robust Resection of view: 676811132
[15:19:39.979853][info] [143/263] Robust Resection of view: 1836556886
[15:19:39.979853][info] [143/263] Robust Resection of view: 1370406800
[15:19:39.979853][info] [143/263] Robust Resection of view: 760099488
[15:19:39.979853][info] [143/263] Robust Resection of view: 2053232322
[15:19:39.979853][info] [143/263] Robust Resection of view: 1781549583
[15:19:39.979853][info] [143/263] Robust Resection of view: 1626766369
[15:19:39.979853][info] [143/263] Robust Resection of view: 613856043
[15:19:40.010843][info] Robust Resection information:
- resection status: true
- threshold (error max): 13.0838
- # points used for resection: 91
- # points validated by robust resection: 84
[15:19:40.021839][info] Robust Resection information:
- resection status: true
- threshold (error max): 11.2619
- # points used for resection: 161
- # points validated by robust resection: 151
[15:19:40.024839][info] Robust Resection information:
- resection status: true
- threshold (error max): 9.87043
- # points used for resection: 176
- # points validated by robust resection: 164
[15:19:40.031836][info] Robust Resection information:
- resection status: true
- threshold (error max): 9.27073
- # points used for resection: 199
- # points validated by robust resection: 160
[15:19:40.033836][info] Robust Resection information:
- resection status: true
- threshold (error max): 14.6684
- # points used for resection: 208
- # points validated by robust resection: 198
[15:19:40.035835][info] Robust Resection information:
- resection status: true
- threshold (error max): 12.5583
- # points used for resection: 210
- # points validated by robust resection: 183
[15:19:40.038834][info] [149/263] Robust Resection of view: 331302283
[15:19:40.049830][info] Robust Resection information:
- resection status: true
- threshold (error max): 7.99496
- # points used for resection: 268
- # points validated by robust resection: 249
[15:19:40.073823][info] Robust Resection information:
- resection status: true
- threshold (error max): 10.4603
- # points used for resection: 362
- # points validated by robust resection: 343
[15:19:40.080820][info] [151/263] Robust Resection of view: 1230804196
[15:19:40.081820][info] Robust Resection information:
- resection status: true
- threshold (error max): 15.3369
- # points used for resection: 173
- # points validated by robust resection: 163
[15:19:40.153797][info] Robust Resection information:
- resection status: true
- threshold (error max): 12.6393
- # points used for resection: 334
- # points validated by robust resection: 324
[15:19:40.363730][info] Bundle adjustment start.
[15:19:40.374726][info] Start bundle adjustment iteration: 0
[15:19:40.586658][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 30 cameras
- D = 1: 0 cameras
- D > 1: 112 cameras
- adjustment duration: 0.161318 s
- poses:
- # refined: 40
- # constant: 46
- # ignored: 66
- landmarks:
- # refined: 19555
- # constant: 0
- # ignored: 5604
- intrinsics:
- # refined: 1
- # constant: 2
- # ignored: 1
- # residual blocks: 39110
- # successful iterations: 4
- # unsuccessful iterations: 0
- initial RMSE: 1.24759
- final RMSE: 1.10147
[15:19:40.690625][info] Remove outliers:
- # outliers residual error: 1542
- # outliers angular error: 32
[15:19:40.694624][info] Bundle adjustment iteration: 0 took 319 msec.
[15:19:40.694624][info] Start bundle adjustment iteration: 1
[15:19:40.724617][warning] Bundle Adjustment failed, the solution is not usable.
[15:19:40.956540][info] Update Reconstruction:
- resection id: 37
- # images in the resection group: 13
- # images remaining: 109
[15:19:40.958539][info] [153/263] Robust Resection of view: 2132715101
[15:19:40.958539][info] [153/263] Robust Resection of view: 931960625
[15:19:40.958539][info] [153/263] Robust Resection of view: 335627266
[15:19:40.958539][info] [153/263] Robust Resection of view: 670180316
[15:19:40.958539][info] [153/263] Robust Resection of view: 2047667665
[15:19:40.958539][info] [153/263] Robust Resection of view: 1910678394
[15:19:40.958539][info] [153/263] Robust Resection of view: 2081071261
[15:19:40.958539][info] [153/263] Robust Resection of view: 393183499
[15:19:40.993528][info] Robust Resection information:
- resection status: true
- threshold (error max): 21.8173
- # points used for resection: 128
- # points validated by robust resection: 109
[15:19:40.998526][info] [154/263] Robust Resection of view: 403341615
[15:19:41.000526][info] Robust Resection information:
- resection status: true
- threshold (error max): 26.4774
- # points used for resection: 133
- # points validated by robust resection: 108
[15:19:41.001526][info] Robust Resection information:
- resection status: true
- threshold (error max): 19.7288
- # points used for resection: 165
- # points validated by robust resection: 142
[15:19:41.001526][info] Robust Resection information:
- resection status: true
- threshold (error max): 10.4294
- # points used for resection: 157
- # points validated by robust resection: 123
[15:19:41.002525][info] Robust Resection information:
- resection status: true
- threshold (error max): 10.7492
- # points used for resection: 161
- # points validated by robust resection: 128
[15:19:41.005525][info] [158/263] Robust Resection of view: 686623486
[15:19:41.006524][info] [158/263] Robust Resection of view: 399246031
[15:19:41.006524][info] [158/263] Robust Resection of view: 1437630814
[15:19:41.010523][info] Robust Resection information:
- resection status: true
- threshold (error max): 15.4472
- # points used for resection: 193
- # points validated by robust resection: 154
[15:19:41.019520][info] Robust Resection information:
- resection status: true
- threshold (error max): 16.1845
- # points used for resection: 234
- # points validated by robust resection: 202
[15:19:41.025518][info] [160/263] Robust Resection of view: 1055079494
[15:19:41.038514][info] Robust Resection information:
- resection status: true
- threshold (error max): 14.5401
- # points used for resection: 151
- # points validated by robust resection: 126
[15:19:41.047511][info] Robust Resection information:
- resection status: true
- threshold (error max): 8.50398
- # points used for resection: 343
- # points validated by robust resection: 326
[15:19:41.053509][info] Robust Resection information:
- resection status: true
- threshold (error max): 20.7228
- # points used for resection: 192
- # points validated by robust resection: 167
[15:19:41.054508][info] Robust Resection information:
- resection status: true
- threshold (error max): 17.5848
- # points used for resection: 192
- # points validated by robust resection: 161
[15:19:41.107492][info] Robust Resection information:
- resection status: true
- threshold (error max): 4.70168
- # points used for resection: 416
- # points validated by robust resection: 364
[15:19:41.132484][info] Robust Resection information:
- resection status: true
- threshold (error max): 4.85747
- # points used for resection: 438
- # points validated by robust resection: 364
[15:19:41.519360][info] Bundle adjustment start.
[15:19:41.534355][info] Start bundle adjustment iteration: 0
[15:19:41.799270][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 35 cameras
- D = 1: 0 cameras
- D > 1: 117 cameras
- adjustment duration: 0.206291 s
- poses:
- # refined: 48
- # constant: 46
- # ignored: 71
- landmarks:
- # refined: 22536
- # constant: 0
- # ignored: 6183
- intrinsics:
- # refined: 1
- # constant: 2
- # ignored: 1
- # residual blocks: 45072
- # successful iterations: 4
- # unsuccessful iterations: 0
- initial RMSE: 1.47986
- final RMSE: 1.20339
[15:19:41.913233][info] Remove outliers:
- # outliers residual error: 2498
- # outliers angular error: 89
[15:19:41.917232][info] Bundle adjustment iteration: 0 took 383 msec.
[15:19:41.917232][info] Start bundle adjustment iteration: 1
[15:19:41.954238][warning] Bundle Adjustment failed, the solution is not usable.
[15:19:41.964217][info] Update Reconstruction:
- resection id: 38
- # images in the resection group: 4
- # images remaining: 96
[15:19:41.966217][info] [166/263] Robust Resection of view: 1968290158
[15:19:41.966217][info] [166/263] Robust Resection of view: 1581992045
[15:19:41.966217][info] [166/263] Robust Resection of view: 351388477
[15:19:41.966217][info] [166/263] Robust Resection of view: 573125297
[15:19:42.001206][info] Robust Resection information:
- resection status: true
- threshold (error max): 26.3433
- # points used for resection: 138
- # points validated by robust resection: 115
[15:19:42.025197][info] Robust Resection information:
- resection status: true
- threshold (error max): 16.8321
- # points used for resection: 237
- # points validated by robust resection: 168
[15:19:42.040193][info] Robust Resection information:
- resection status: true
- threshold (error max): 24.3478
- # points used for resection: 296
- # points validated by robust resection: 246
[15:19:42.062186][info] Robust Resection information:
- resection status: true
- threshold (error max): 8.89626
- # points used for resection: 396
- # points validated by robust resection: 330
[15:19:42.286114][info] Bundle adjustment start.
[15:19:42.295111][info] Start bundle adjustment iteration: 0
[15:19:42.711977][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 45 cameras
- D = 1: 0 cameras
- D > 1: 120 cameras
- adjustment duration: 0.357047 s
- poses:
- # refined: 49
- # constant: 54
- # ignored: 66
- landmarks:
- # refined: 22892
- # constant: 0
- # ignored: 6094
- intrinsics:
- # refined: 1
- # constant: 2
- # ignored: 1
- # residual blocks: 45784
- # successful iterations: 7
- # unsuccessful iterations: 0
- initial RMSE: 1.24091
- final RMSE: 1.09937
[15:19:42.828940][info] Remove outliers:
- # outliers residual error: 1618
- # outliers angular error: 55
[15:19:42.832939][info] Bundle adjustment iteration: 0 took 538 msec.
[15:19:42.832939][info] Start bundle adjustment iteration: 1
[15:19:42.871931][warning] Bundle Adjustment failed, the solution is not usable.
[15:19:42.884922][info] Update Reconstruction:
- resection id: 39
- # images in the resection group: 2
- # images remaining: 92
[15:19:42.886921][info] [170/263] Robust Resection of view: 376413387
[15:19:42.886921][info] [170/263] Robust Resection of view: 450468398
[15:19:42.914912][info] Robust Resection information:
- resection status: true
- threshold (error max): 16.0004
- # points used for resection: 112
- # points validated by robust resection: 86
[15:19:42.918911][info] Robust Resection information:
- resection status: true
- threshold (error max): 9.49522
- # points used for resection: 130
- # points validated by robust resection: 96
[15:19:43.002884][info] Bundle adjustment start.
[15:19:43.011881][info] Start bundle adjustment iteration: 0
[15:19:43.220814][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 28 cameras
- D = 1: 0 cameras
- D > 1: 141 cameras
- adjustment duration: 0.161238 s
- poses:
- # refined: 30
- # constant: 62
- # ignored: 79
- landmarks:
- # refined: 16105
- # constant: 0
- # ignored: 7065
- intrinsics:
- # refined: 1
- # constant: 2
- # ignored: 1
- # residual blocks: 32210
- # successful iterations: 6
- # unsuccessful iterations: 0
- initial RMSE: 1.04484
- final RMSE: 0.987147
[15:19:43.337777][info] Remove outliers:
- # outliers residual error: 667
- # outliers angular error: 15
[15:19:43.341776][info] Bundle adjustment iteration: 0 took 329 msec.
[15:19:43.341776][info] Start bundle adjustment iteration: 1
[15:19:43.369780][warning] Bundle Adjustment failed, the solution is not usable.
[15:19:43.621736][info] Update Reconstruction:
- resection id: 40
- # images in the resection group: 1
- # images remaining: 90
[15:19:43.623736][info] [172/263] Robust Resection of view: 1986517825
[15:19:43.672719][info] Robust Resection information:
- resection status: true
- threshold (error max): 9.91907
- # points used for resection: 206
- # points validated by robust resection: 173
[15:19:43.713707][info] Bundle adjustment start.
[15:19:43.723703][info] Start bundle adjustment iteration: 0
[15:19:43.848663][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 15 cameras
- D = 1: 0 cameras
- D > 1: 156 cameras
- adjustment duration: 0.0872314 s
- poses:
- # refined: 16
- # constant: 57
- # ignored: 99
- landmarks:
- # refined: 11361
- # constant: 0
- # ignored: 7588
- intrinsics:
- # refined: 1
- # constant: 2
- # ignored: 1
- # residual blocks: 22722
- # successful iterations: 4
- # unsuccessful iterations: 0
- initial RMSE: 0.76278
- final RMSE: 0.728313
[15:19:43.966626][info] Remove outliers:
- # outliers residual error: 1057
- # outliers angular error: 32
[15:19:43.978622][info] Bundle adjustment iteration: 0 took 254 msec.
[15:19:43.978622][info] Start bundle adjustment iteration: 1
[15:19:43.997617][warning] Bundle Adjustment failed, the solution is not usable.
[15:19:44.004613][info] Update Reconstruction:
- resection id: 41
- # images in the resection group: 1
- # images remaining: 89
[15:19:44.006612][info] [172/263] Robust Resection of view: 1407536723
[15:19:44.028605][info] Robust Resection information:
- resection status: true
- threshold (error max): 10.8543
- # points used for resection: 86
- # points validated by robust resection: 58
[15:19:44.088586][info] Bundle adjustment start.
[15:19:44.097583][info] Start bundle adjustment iteration: 0
[15:19:44.290521][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 24 cameras
- D = 1: 0 cameras
- D > 1: 147 cameras
- adjustment duration: 0.150095 s
- poses:
- # refined: 25
- # constant: 67
- # ignored: 80
- landmarks:
- # refined: 13370
- # constant: 0
- # ignored: 7319
- intrinsics:
- # refined: 1
- # constant: 2
- # ignored: 1
- # residual blocks: 26740
- # successful iterations: 6
- # unsuccessful iterations: 0
- initial RMSE: 0.961396
- final RMSE: 0.888264
[15:19:44.406485][info] Remove outliers:
- # outliers residual error: 179
- # outliers angular error: 5
[15:19:44.410483][info] Bundle adjustment iteration: 0 took 312 msec.
[15:19:44.410483][info] Start bundle adjustment iteration: 1
[15:19:44.431477][warning] Bundle Adjustment failed, the solution is not usable.
[15:19:44.439474][info] Update Reconstruction:
- resection id: 42
- # images in the resection group: 1
- # images remaining: 88
[15:19:44.441473][info] [173/263] Robust Resection of view: 1448748759
[15:19:44.473463][info] Robust Resection information:
- resection status: true
- threshold (error max): 8.87673
- # points used for resection: 129
- # points validated by robust resection: 92
[15:19:44.552437][info] Bundle adjustment start.
[15:19:44.561435][info] Start bundle adjustment iteration: 0
[15:19:44.887330][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 24 cameras
- D = 1: 0 cameras
- D > 1: 148 cameras
- adjustment duration: 0.288842 s
- poses:
- # refined: 25
- # constant: 61
- # ignored: 87
- landmarks:
- # refined: 11809
- # constant: 0
- # ignored: 7557
- intrinsics:
- # refined: 1
- # constant: 2
- # ignored: 1
- # residual blocks: 23618
- # successful iterations: 13
- # unsuccessful iterations: 0
- initial RMSE: 5.27908
- final RMSE: 0.898064
[15:19:45.007292][info] Remove outliers:
- # outliers residual error: 254
- # outliers angular error: 9
[15:19:45.011291][info] Bundle adjustment iteration: 0 took 449 msec.
[15:19:45.011291][info] Start bundle adjustment iteration: 1
[15:19:45.030285][warning] Bundle Adjustment failed, the solution is not usable.
[15:19:45.258212][info] Update Reconstruction:
- resection id: 43
- # images in the resection group: 1
- # images remaining: 87
[15:19:45.260211][info] [174/263] Robust Resection of view: 1905636605
[15:19:45.309195][info] Robust Resection information:
- resection status: true
- threshold (error max): 8.23904
- # points used for resection: 209
- # points validated by robust resection: 177
[15:19:45.377173][info] Bundle adjustment start.
[15:19:45.387170][info] Start bundle adjustment iteration: 0
[15:19:45.553117][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 24 cameras
- D = 1: 0 cameras
- D > 1: 149 cameras
- adjustment duration: 0.127387 s
- poses:
- # refined: 25
- # constant: 62
- # ignored: 87
- landmarks:
- # refined: 12159
- # constant: 0
- # ignored: 7578
- intrinsics:
- # refined: 1
- # constant: 2
- # ignored: 1
- # residual blocks: 24318
- # successful iterations: 7
- # unsuccessful iterations: 0
- initial RMSE: 0.998483
- final RMSE: 0.909314
[15:19:45.671080][info] Remove outliers:
- # outliers residual error: 276
- # outliers angular error: 19
[15:19:45.675078][info] Bundle adjustment iteration: 0 took 287 msec.
[15:19:45.675078][info] Start bundle adjustment iteration: 1
[15:19:45.696071][warning] Bundle Adjustment failed, the solution is not usable.
[15:19:45.703069][info] Update Reconstruction:
- resection id: 44
- # images in the resection group: 2
- # images remaining: 86
[15:19:45.705068][info] [175/263] Robust Resection of view: 723940475
[15:19:45.705068][info] [175/263] Robust Resection of view: 1776515089
[15:19:45.739057][info] Robust Resection information:
- resection status: true
- threshold (error max): 43.5619
- # points used for resection: 132
- # points validated by robust resection: 122
[15:19:45.743056][info] Robust Resection information:
- resection status: true
- threshold (error max): 18.4955
- # points used for resection: 154
- # points validated by robust resection: 138
[15:19:45.845024][info] Bundle adjustment start.
[15:19:45.855020][info] Start bundle adjustment iteration: 0
[15:19:46.141928][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 27 cameras
- D = 1: 0 cameras
- D > 1: 147 cameras
- adjustment duration: 0.2468 s
- poses:
- # refined: 29
- # constant: 66
- # ignored: 81
- landmarks:
- # refined: 13918
- # constant: 0
- # ignored: 7354
- intrinsics:
- # refined: 1
- # constant: 2
- # ignored: 1
- # residual blocks: 27836
- # successful iterations: 10
- # unsuccessful iterations: 0
- initial RMSE: 1.03737
- final RMSE: 0.918201
[15:19:46.260890][info] Remove outliers:
- # outliers residual error: 329
- # outliers angular error: 15
[15:19:46.264889][info] Bundle adjustment iteration: 0 took 409 msec.
[15:19:46.264889][info] Start bundle adjustment iteration: 1
[15:19:46.288882][warning] Bundle Adjustment failed, the solution is not usable.
[15:19:46.295879][info] Update Reconstruction:
- resection id: 45
- # images in the resection group: 1
- # images remaining: 84
[15:19:46.297878][info] [177/263] Robust Resection of view: 214079714
[15:19:46.313873][info] Robust Resection information:
- resection status: true
- threshold (error max): 19.2358
- # points used for resection: 57
- # points validated by robust resection: 52
[15:19:46.327869][info] Bundle adjustment start.
[15:19:46.336865][info] Start bundle adjustment iteration: 0
[15:19:46.410842][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 10 cameras
- D = 1: 0 cameras
- D > 1: 166 cameras
- adjustment duration: 0.0425188 s
- poses:
- # refined: 11
- # constant: 47
- # ignored: 119
- landmarks:
- # refined: 9388
- # constant: 0
- # ignored: 7990
- intrinsics:
- # refined: 1
- # constant: 2
- # ignored: 1
- # residual blocks: 18776
- # successful iterations: 4
- # unsuccessful iterations: 0
- initial RMSE: 0.739133
- final RMSE: 0.714211
[15:19:46.529804][info] Remove outliers:
- # outliers residual error: 178
- # outliers angular error: 1
[15:19:46.533803][info] Bundle adjustment iteration: 0 took 196 msec.
[15:19:46.533803][info] Start bundle adjustment iteration: 1
[15:19:46.549799][warning] Bundle Adjustment failed, the solution is not usable.
[15:19:46.789721][info] Update Reconstruction:
- resection id: 46
- # images in the resection group: 1
- # images remaining: 83
[15:19:46.791720][info] [178/263] Robust Resection of view: 702700331
[15:19:46.813713][info] Robust Resection information:
- resection status: true
- threshold (error max): 12.8787
- # points used for resection: 84
- # points validated by robust resection: 76
[15:19:46.831707][info] Bundle adjustment start.
[15:19:46.841704][info] Start bundle adjustment iteration: 0
[15:19:46.922678][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 10 cameras
- D = 1: 0 cameras
- D > 1: 167 cameras
- adjustment duration: 0.0620333 s
- poses:
- # refined: 11
- # constant: 39
- # ignored: 128
- landmarks:
- # refined: 3586
- # constant: 0
- # ignored: 8918
- intrinsics:
- # refined: 1
- # constant: 2
- # ignored: 1
- # residual blocks: 7172
- # successful iterations: 4
- # unsuccessful iterations: 0
- initial RMSE: 0.957344
- final RMSE: 0.897797
[15:19:47.043639][info] Remove outliers:
- # outliers residual error: 674
- # outliers angular error: 27
[15:19:47.047638][info] Bundle adjustment iteration: 0 took 205 msec.
[15:19:47.047638][info] Start bundle adjustment iteration: 1
[15:19:47.054636][warning] Bundle Adjustment failed, the solution is not usable.
[15:19:47.058634][info] Update Reconstruction:
- resection id: 47
- # images in the resection group: 1
- # images remaining: 82
[15:19:47.060634][info] [179/263] Robust Resection of view: 221920195
[15:19:47.086625][info] Robust Resection information:
- resection status: true
- threshold (error max): 8.14096
- # points used for resection: 103
- # points validated by robust resection: 81
[15:19:47.111617][info] Bundle adjustment start.
[15:19:47.122614][info] Start bundle adjustment iteration: 0
[15:19:47.679435][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 23 cameras
- D = 1: 0 cameras
- D > 1: 155 cameras
- adjustment duration: 0.532724 s
- poses:
- # refined: 24
- # constant: 61
- # ignored: 94
- landmarks:
- # refined: 6426
- # constant: 0
- # ignored: 8483
- intrinsics:
- # refined: 1
- # constant: 2
- # ignored: 1
- # residual blocks: 12852
- # successful iterations: 51
- # unsuccessful iterations: 0
- initial RMSE: 2.9517
- final RMSE: 0.90285
[15:19:47.799397][info] Remove outliers:
- # outliers residual error: 290
- # outliers angular error: 3
[15:19:47.804396][info] Bundle adjustment iteration: 0 took 681 msec.
[15:19:47.804396][info] Start bundle adjustment iteration: 1
[15:19:47.814392][warning] Bundle Adjustment failed, the solution is not usable.
[15:19:47.821390][info] Update Reconstruction:
- resection id: 48
- # images in the resection group: 1
- # images remaining: 81
[15:19:47.823389][info] [180/263] Robust Resection of view: 1684926499
[15:19:47.875372][info] Robust Resection information:
- resection status: true
- threshold (error max): 79.5781
- # points used for resection: 221
- # points validated by robust resection: 205
[15:19:48.022325][info] Bundle adjustment start.
[15:19:48.031322][info] Start bundle adjustment iteration: 0
[15:19:48.638128][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 13 cameras
- D = 1: 0 cameras
- D > 1: 166 cameras
- adjustment duration: 0.577319 s
- poses:
- # refined: 14
- # constant: 33
- # ignored: 133
- landmarks:
- # refined: 8346
- # constant: 0
- # ignored: 8207
- intrinsics:
- # refined: 2
- # constant: 2
- # ignored: 0
- # residual blocks: 16692
- # successful iterations: 50
- # unsuccessful iterations: 1
- initial RMSE: 1.29107
- final RMSE: 1.05336
[15:19:48.760090][info] Remove outliers:
- # outliers residual error: 738
- # outliers angular error: 30
[15:19:48.764088][info] Bundle adjustment iteration: 0 took 732 msec.
[15:19:48.764088][info] Start bundle adjustment iteration: 1
[15:19:48.778084][warning] Bundle Adjustment failed, the solution is not usable.
[15:19:49.005010][info] Update Reconstruction:
- resection id: 49
- # images in the resection group: 1
- # images remaining: 80
[15:19:49.007010][info] [181/263] Robust Resection of view: 964076207
[15:19:49.068990][info] Robust Resection information:
- resection status: true
- threshold (error max): 54.9139
- # points used for resection: 265
- # points validated by robust resection: 247
[15:19:49.186952][info] Bundle adjustment start.
[15:19:49.195949][info] Start bundle adjustment iteration: 0
[15:19:49.845742][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 14 cameras
- D = 1: 0 cameras
- D > 1: 166 cameras
- adjustment duration: 0.620348 s
- poses:
- # refined: 15
- # constant: 33
- # ignored: 133
- landmarks:
- # refined: 8658
- # constant: 0
- # ignored: 8204
- intrinsics:
- # refined: 2
- # constant: 2
- # ignored: 0
- # residual blocks: 17316
- # successful iterations: 50
- # unsuccessful iterations: 1
- initial RMSE: 1.20976
- final RMSE: 1.08058
[15:19:49.965702][info] Remove outliers:
- # outliers residual error: 803
- # outliers angular error: 42
[15:19:49.969702][info] Bundle adjustment iteration: 0 took 773 msec.
[15:19:49.969702][info] Start bundle adjustment iteration: 1
[15:19:49.983698][warning] Bundle Adjustment failed, the solution is not usable.
[15:19:49.988695][info] Update Reconstruction:
- resection id: 50
- # images in the resection group: 1
- # images remaining: 79
[15:19:49.990694][info] [182/263] Robust Resection of view: 699510850
[15:19:50.008689][info] Robust Resection information:
- resection status: true
- threshold (error max): 10.1325
- # points used for resection: 65
- # points validated by robust resection: 46
[15:19:50.036680][info] Bundle adjustment start.
[15:19:50.045677][info] Start bundle adjustment iteration: 0
[15:19:50.740454][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 26 cameras
- D = 1: 0 cameras
- D > 1: 155 cameras
- adjustment duration: 0.662671 s
- poses:
- # refined: 27
- # constant: 65
- # ignored: 90
- landmarks:
- # refined: 9675
- # constant: 0
- # ignored: 8029
- intrinsics:
- # refined: 2
- # constant: 2
- # ignored: 0
- # residual blocks: 19350
- # successful iterations: 41
- # unsuccessful iterations: 2
- initial RMSE: 0.966922
- final RMSE: 0.835222
[15:19:50.860416][info] Remove outliers:
- # outliers residual error: 155
- # outliers angular error: 0
[15:19:50.863415][info] Bundle adjustment iteration: 0 took 817 msec.
[15:19:50.864414][info] Start bundle adjustment iteration: 1
[15:19:50.881409][warning] Bundle Adjustment failed, the solution is not usable.
[15:19:50.887408][info] Update Reconstruction:
- resection id: 51
- # images in the resection group: 1
- # images remaining: 78
[15:19:50.889406][info] [183/263] Robust Resection of view: 1958934270
[15:19:50.913399][info] Robust Resection information:
- resection status: true
- threshold (error max): 7.22177
- # points used for resection: 97
- # points validated by robust resection: 78
[15:19:50.939390][info] Bundle adjustment start.
[15:19:50.948387][info] Start bundle adjustment iteration: 0
[15:19:51.115334][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 26 cameras
- D = 1: 0 cameras
- D > 1: 156 cameras
- adjustment duration: 0.135566 s
- poses:
- # refined: 27
- # constant: 65
- # ignored: 91
- landmarks:
- # refined: 9315
- # constant: 0
- # ignored: 8061
- intrinsics:
- # refined: 2
- # constant: 2
- # ignored: 0
- # residual blocks: 18630
- # successful iterations: 9
- # unsuccessful iterations: 0
- initial RMSE: 0.864606
- final RMSE: 0.834589
[15:19:51.233296][info] Remove outliers:
- # outliers residual error: 166
- # outliers angular error: 2
[15:19:51.237295][info] Bundle adjustment iteration: 0 took 288 msec.
[15:19:51.237295][info] Start bundle adjustment iteration: 1
[15:19:51.254291][warning] Bundle Adjustment failed, the solution is not usable.
[15:19:51.503210][info] Update Reconstruction:
- resection id: 52
- # images in the resection group: 1
- # images remaining: 77
[15:19:51.505209][info] [184/263] Robust Resection of view: 168854831
[15:19:51.566189][info] Robust Resection information:
- resection status: true
- threshold (error max): 59.7147
- # points used for resection: 255
- # points validated by robust resection: 242
[15:19:51.675154][info] Bundle adjustment start.
[15:19:51.685151][info] Start bundle adjustment iteration: 0
[15:19:52.519884][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 18 cameras
- D = 1: 0 cameras
- D > 1: 165 cameras
- adjustment duration: 0.800331 s
- poses:
- # refined: 19
- # constant: 39
- # ignored: 126
- landmarks:
- # refined: 10568
- # constant: 0
- # ignored: 8038
- intrinsics:
- # refined: 2
- # constant: 2
- # ignored: 0
- # residual blocks: 21136
- # successful iterations: 51
- # unsuccessful iterations: 0
- initial RMSE: 1.22917
- final RMSE: 1.0892
[15:19:52.639845][info] Remove outliers:
- # outliers residual error: 764
- # outliers angular error: 42
[15:19:52.643845][info] Bundle adjustment iteration: 0 took 959 msec.
[15:19:52.643845][info] Start bundle adjustment iteration: 1
[15:19:52.660857][warning] Bundle Adjustment failed, the solution is not usable.
[15:19:52.666837][info] Update Reconstruction:
- resection id: 53
- # images in the resection group: 1
- # images remaining: 76
[15:19:52.669835][info] [185/263] Robust Resection of view: 1465639930
[15:19:52.747810][info] Robust Resection information:
- resection status: true
- threshold (error max): 7.20311
- # points used for resection: 333
- # points validated by robust resection: 232
[15:19:52.874770][info] Bundle adjustment start.
[15:19:52.884767][info] Start bundle adjustment iteration: 0
[15:19:53.645523][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 15 cameras
- D = 1: 0 cameras
- D > 1: 169 cameras
- adjustment duration: 0.729685 s
- poses:
- # refined: 16
- # constant: 34
- # ignored: 135
- landmarks:
- # refined: 8993
- # constant: 0
- # ignored: 8312
- intrinsics:
- # refined: 2
- # constant: 2
- # ignored: 0
- # residual blocks: 17986
- # successful iterations: 51
- # unsuccessful iterations: 0
- initial RMSE: 1.26042
- final RMSE: 1.09511
[15:19:53.766484][info] Remove outliers:
- # outliers residual error: 952
- # outliers angular error: 24
[15:19:53.770483][info] Bundle adjustment iteration: 0 took 885 msec.
[15:19:53.770483][info] Start bundle adjustment iteration: 1
[15:19:53.785479][warning] Bundle Adjustment failed, the solution is not usable.
[15:19:53.791476][info] Update Reconstruction:
- resection id: 54
- # images in the resection group: 1
- # images remaining: 75
[15:19:53.793476][info] [186/263] Robust Resection of view: 1406770412
[15:19:53.882447][info] Robust Resection information:
- resection status: true
- threshold (error max): 4.99587
- # points used for resection: 380
- # points validated by robust resection: 277
[15:19:54.015404][info] Bundle adjustment start.
[15:19:54.025401][info] Start bundle adjustment iteration: 0
[15:19:54.875129][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 18 cameras
- D = 1: 0 cameras
- D > 1: 167 cameras
- adjustment duration: 0.821378 s
- poses:
- # refined: 19
- # constant: 33
- # ignored: 134
- landmarks:
- # refined: 10058
- # constant: 0
- # ignored: 8189
- intrinsics:
- # refined: 2
- # constant: 2
- # ignored: 0
- # residual blocks: 20116
- # successful iterations: 51
- # unsuccessful iterations: 0
- initial RMSE: 1.24441
- final RMSE: 1.10668
[15:19:54.998090][info] Remove outliers:
- # outliers residual error: 944
- # outliers angular error: 18
[15:19:55.003088][info] Bundle adjustment iteration: 0 took 977 msec.
[15:19:55.003088][info] Start bundle adjustment iteration: 1
[15:19:55.019083][warning] Bundle Adjustment failed, the solution is not usable.
[15:19:55.248009][info] Update Reconstruction:
- resection id: 55
- # images in the resection group: 1
- # images remaining: 74
[15:19:55.250009][info] [187/263] Robust Resection of view: 2109966410
[15:19:55.314988][info] Robust Resection information:
- resection status: true
- threshold (error max): 21.2101
- # points used for resection: 277
- # points validated by robust resection: 225
[15:19:55.428951][info] Bundle adjustment start.
[15:19:55.438948][info] Start bundle adjustment iteration: 0
[15:19:56.410637][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 19 cameras
- D = 1: 0 cameras
- D > 1: 167 cameras
- adjustment duration: 0.933383 s
- poses:
- # refined: 20
- # constant: 41
- # ignored: 126
- landmarks:
- # refined: 11649
- # constant: 0
- # ignored: 8045
- intrinsics:
- # refined: 2
- # constant: 2
- # ignored: 0
- # residual blocks: 23298
- # successful iterations: 51
- # unsuccessful iterations: 0
- initial RMSE: 1.19181
- final RMSE: 1.06479
[15:19:56.532598][info] Remove outliers:
- # outliers residual error: 785
- # outliers angular error: 15
[15:19:56.536596][info] Bundle adjustment iteration: 0 took 1097 msec.
[15:19:56.536596][info] Start bundle adjustment iteration: 1
[15:19:56.555592][warning] Bundle Adjustment failed, the solution is not usable.
[15:19:56.561588][info] Update Reconstruction:
- resection id: 56
- # images in the resection group: 1
- # images remaining: 73
[15:19:56.563587][info] [188/263] Robust Resection of view: 1803602650
[15:19:56.616571][info] Robust Resection information:
- resection status: true
- threshold (error max): 63.9346
- # points used for resection: 227
- # points validated by robust resection: 217
[15:19:56.721537][info] Bundle adjustment start.
[15:19:56.731533][info] Start bundle adjustment iteration: 0
[15:19:57.905158][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 23 cameras
- D = 1: 0 cameras
- D > 1: 164 cameras
- adjustment duration: 1.13089 s
- poses:
- # refined: 24
- # constant: 36
- # ignored: 128
- landmarks:
- # refined: 13118
- # constant: 0
- # ignored: 7837
- intrinsics:
- # refined: 2
- # constant: 2
- # ignored: 0
- # residual blocks: 26236
- # successful iterations: 51
- # unsuccessful iterations: 0
- initial RMSE: 1.1405
- final RMSE: 1.01517
[15:19:58.024119][info] Remove outliers:
- # outliers residual error: 629
- # outliers angular error: 19
[15:19:58.027119][info] Bundle adjustment iteration: 0 took 1296 msec.
[15:19:58.027119][info] Start bundle adjustment iteration: 1
[15:19:58.048130][warning] Bundle Adjustment failed, the solution is not usable.
[15:19:58.056109][info] Update Reconstruction:
- resection id: 57
- # images in the resection group: 1
- # images remaining: 72
[15:19:58.058108][info] [189/263] Robust Resection of view: 499892382
[15:19:58.118089][info] Robust Resection information:
- resection status: true
- threshold (error max): 67.722
- # points used for resection: 249
- # points validated by robust resection: 238
[15:19:58.253046][info] Bundle adjustment start.
[15:19:58.261044][info] Start bundle adjustment iteration: 0
[15:19:59.510643][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 24 cameras
- D = 1: 0 cameras
- D > 1: 164 cameras
- adjustment duration: 1.21203 s
- poses:
- # refined: 25
- # constant: 38
- # ignored: 126
- landmarks:
- # refined: 14469
- # constant: 0
- # ignored: 7672
- intrinsics:
- # refined: 2
- # constant: 2
- # ignored: 0
- # residual blocks: 28938
- # successful iterations: 51
- # unsuccessful iterations: 0
- initial RMSE: 1.10032
- final RMSE: 0.986855
[15:19:59.632604][info] Remove outliers:
- # outliers residual error: 601
- # outliers angular error: 15
[15:19:59.637602][info] Bundle adjustment iteration: 0 took 1376 msec.
[15:19:59.637602][info] Start bundle adjustment iteration: 1
[15:19:59.661612][warning] Bundle Adjustment failed, the solution is not usable.
[15:19:59.890521][info] Update Reconstruction:
- resection id: 58
- # images in the resection group: 1
- # images remaining: 71
[15:19:59.892520][info] [190/263] Robust Resection of view: 1672269384
[15:19:59.968496][info] Robust Resection information:
- resection status: true
- threshold (error max): 10.5412
- # points used for resection: 325
- # points validated by robust resection: 245
[15:20:00.124446][info] Bundle adjustment start.
[15:20:00.134443][info] Start bundle adjustment iteration: 0
[15:20:01.321063][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 23 cameras
- D = 1: 0 cameras
- D > 1: 166 cameras
- adjustment duration: 1.14824 s
- poses:
- # refined: 24
- # constant: 35
- # ignored: 131
- landmarks:
- # refined: 12810
- # constant: 0
- # ignored: 8049
- intrinsics:
- # refined: 2
- # constant: 2
- # ignored: 0
- # residual blocks: 25620
- # successful iterations: 51
- # unsuccessful iterations: 0
- initial RMSE: 1.19026
- final RMSE: 1.02066
[15:20:01.443023][info] Remove outliers:
- # outliers residual error: 743
- # outliers angular error: 15
[15:20:01.447022][info] Bundle adjustment iteration: 0 took 1311 msec.
[15:20:01.447022][info] Start bundle adjustment iteration: 1
[15:20:01.468017][warning] Bundle Adjustment failed, the solution is not usable.
[15:20:01.475013][info] Update Reconstruction:
- resection id: 59
- # images in the resection group: 1
- # images remaining: 70
[15:20:01.477013][info] [191/263] Robust Resection of view: 1657736494
[15:20:01.573981][info] Robust Resection information:
- resection status: true
- threshold (error max): 8.02634
- # points used for resection: 415
- # points validated by robust resection: 333
[15:20:01.727933][info] Bundle adjustment start.
[15:20:01.736929][info] Start bundle adjustment iteration: 0
[15:20:02.843575][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 22 cameras
- D = 1: 0 cameras
- D > 1: 168 cameras
- adjustment duration: 1.06737 s
- poses:
- # refined: 23
- # constant: 31
- # ignored: 137
- landmarks:
- # refined: 12245
- # constant: 0
- # ignored: 8172
- intrinsics:
- # refined: 2
- # constant: 2
- # ignored: 0
- # residual blocks: 24490
- # successful iterations: 51
- # unsuccessful iterations: 0
- initial RMSE: 1.16702
- final RMSE: 1.02815
[15:20:02.968535][info] Remove outliers:
- # outliers residual error: 815
- # outliers angular error: 17
[15:20:02.972533][info] Bundle adjustment iteration: 0 took 1234 msec.
[15:20:02.972533][info] Start bundle adjustment iteration: 1
[15:20:02.991529][warning] Bundle Adjustment failed, the solution is not usable.
[15:20:02.998525][info] Update Reconstruction:
- resection id: 60
- # images in the resection group: 1
- # images remaining: 69
[15:20:03.000525][info] [192/263] Robust Resection of view: 663357846
[15:20:03.078499][info] Robust Resection information:
- resection status: true
- threshold (error max): 7.71133
- # points used for resection: 323
- # points validated by robust resection: 226
[15:20:03.205458][info] Bundle adjustment start.
[15:20:03.215455][info] Start bundle adjustment iteration: 0
[15:20:04.287112][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 17 cameras
- D = 1: 0 cameras
- D > 1: 174 cameras
- adjustment duration: 1.03538 s
- poses:
- # refined: 18
- # constant: 31
- # ignored: 143
- landmarks:
- # refined: 11738
- # constant: 0
- # ignored: 8326
- intrinsics:
- # refined: 2
- # constant: 2
- # ignored: 0
- # residual blocks: 23476
- # successful iterations: 51
- # unsuccessful iterations: 0
- initial RMSE: 1.13391
- final RMSE: 1.01059
[15:20:04.412072][info] Remove outliers:
- # outliers residual error: 743
- # outliers angular error: 21
[15:20:04.417070][info] Bundle adjustment iteration: 0 took 1202 msec.
[15:20:04.417070][info] Start bundle adjustment iteration: 1
[15:20:04.437082][warning] Bundle Adjustment failed, the solution is not usable.
[15:20:04.675987][info] Update Reconstruction:
- resection id: 61
- # images in the resection group: 1
- # images remaining: 68
[15:20:04.677986][info] [193/263] Robust Resection of view: 211482362
[15:20:04.721972][info] Robust Resection information:
- resection status: true
- threshold (error max): 19.6663
- # points used for resection: 177
- # points validated by robust resection: 141
[15:20:04.776955][info] Bundle adjustment start.
[15:20:04.788951][info] Start bundle adjustment iteration: 0
[15:20:05.811623][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 14 cameras
- D = 1: 0 cameras
- D > 1: 178 cameras
- adjustment duration: 0.989996 s
- poses:
- # refined: 15
- # constant: 32
- # ignored: 146
- landmarks:
- # refined: 8649
- # constant: 0
- # ignored: 8773
- intrinsics:
- # refined: 2
- # constant: 2
- # ignored: 0
- # residual blocks: 17298
- # successful iterations: 50
- # unsuccessful iterations: 1
- initial RMSE: 1.08927
- final RMSE: 0.986561
[15:20:05.933584][info] Remove outliers:
- # outliers residual error: 1361
- # outliers angular error: 20
[15:20:05.938583][info] Bundle adjustment iteration: 0 took 1149 msec.
[15:20:05.938583][info] Start bundle adjustment iteration: 1
[15:20:05.956576][warning] Bundle Adjustment failed, the solution is not usable.
[15:20:05.965573][info] Update Reconstruction:
- resection id: 62
- # images in the resection group: 1
- # images remaining: 67
[15:20:05.968573][info] [194/263] Robust Resection of view: 502882524
[15:20:06.026554][info] Robust Resection information:
- resection status: true
- threshold (error max): 6.26467
- # points used for resection: 244
- # points validated by robust resection: 165
[15:20:06.157512][info] Bundle adjustment start.
[15:20:06.167510][info] Start bundle adjustment iteration: 0
[15:20:07.216173][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 16 cameras
- D = 1: 0 cameras
- D > 1: 177 cameras
- adjustment duration: 1.01681 s
- poses:
- # refined: 17
- # constant: 29
- # ignored: 148
- landmarks:
- # refined: 9687
- # constant: 0
- # ignored: 8627
- intrinsics:
- # refined: 2
- # constant: 2
- # ignored: 0
- # residual blocks: 19374
- # successful iterations: 51
- # unsuccessful iterations: 0
- initial RMSE: 1.07318
- final RMSE: 0.961902
[15:20:07.339134][info] Remove outliers:
- # outliers residual error: 536
- # outliers angular error: 13
[15:20:07.343133][info] Bundle adjustment iteration: 0 took 1174 msec.
[15:20:07.343133][info] Start bundle adjustment iteration: 1
[15:20:07.361127][warning] Bundle Adjustment failed, the solution is not usable.
[15:20:07.369124][info] Update Reconstruction:
- resection id: 63
- # images in the resection group: 1
- # images remaining: 66
[15:20:07.372123][info] [195/263] Robust Resection of view: 1899240242
[15:20:07.445099][info] Robust Resection information:
- resection status: true
- threshold (error max): 6.38776
- # points used for resection: 312
- # points validated by robust resection: 249
[15:20:07.595051][info] Bundle adjustment start.
[15:20:07.605048][info] Start bundle adjustment iteration: 0
[15:20:08.762677][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 17 cameras
- D = 1: 0 cameras
- D > 1: 177 cameras
- adjustment duration: 1.12245 s
- poses:
- # refined: 18
- # constant: 29
- # ignored: 148
- landmarks:
- # refined: 10107
- # constant: 0
- # ignored: 8620
- intrinsics:
- # refined: 2
- # constant: 2
- # ignored: 0
- # residual blocks: 20214
- # successful iterations: 49
- # unsuccessful iterations: 2
- initial RMSE: 1.11746
- final RMSE: 1.0047
[15:20:08.884638][info] Remove outliers:
- # outliers residual error: 680
- # outliers angular error: 18
[15:20:08.888637][info] Bundle adjustment iteration: 0 took 1283 msec.
[15:20:08.888637][info] Start bundle adjustment iteration: 1
[15:20:08.904632][warning] Bundle Adjustment failed, the solution is not usable.
[15:20:09.148553][info] Update Reconstruction:
- resection id: 64
- # images in the resection group: 1
- # images remaining: 65
[15:20:09.150553][info] [196/263] Robust Resection of view: 1746068240
[15:20:09.202536][info] Robust Resection information:
- resection status: true
- threshold (error max): 128.989
- # points used for resection: 205
- # points validated by robust resection: 198
[15:20:09.310502][info] Bundle adjustment start.
[15:20:09.321498][info] Start bundle adjustment iteration: 0
[15:20:10.622081][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 20 cameras
- D = 1: 0 cameras
- D > 1: 175 cameras
- adjustment duration: 1.26279 s
- poses:
- # refined: 21
- # constant: 34
- # ignored: 141
- landmarks:
- # refined: 11820
- # constant: 0
- # ignored: 8301
- intrinsics:
- # refined: 2
- # constant: 2
- # ignored: 0
- # residual blocks: 23640
- # successful iterations: 51
- # unsuccessful iterations: 0
- initial RMSE: 0.999696
- final RMSE: 0.918468
[15:20:10.745042][info] Remove outliers:
- # outliers residual error: 632
- # outliers angular error: 12
[15:20:10.749041][info] Bundle adjustment iteration: 0 took 1427 msec.
[15:20:10.749041][info] Start bundle adjustment iteration: 1
[15:20:10.772034][warning] Bundle Adjustment failed, the solution is not usable.
[15:20:10.779031][info] Update Reconstruction:
- resection id: 65
- # images in the resection group: 1
- # images remaining: 64
[15:20:10.781030][info] [197/263] Robust Resection of view: 1658867741
[15:20:10.828015][info] Robust Resection information:
- resection status: true
- threshold (error max): 118.739
- # points used for resection: 187
- # points validated by robust resection: 181
[15:20:10.903991][info] Bundle adjustment start.
[15:20:10.914987][info] Start bundle adjustment iteration: 0
[15:20:12.014635][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 18 cameras
- D = 1: 0 cameras
- D > 1: 178 cameras
- adjustment duration: 1.06805 s
- poses:
- # refined: 19
- # constant: 32
- # ignored: 146
- landmarks:
- # refined: 9607
- # constant: 0
- # ignored: 8666
- intrinsics:
- # refined: 2
- # constant: 2
- # ignored: 0
- # residual blocks: 19214
- # successful iterations: 51
- # unsuccessful iterations: 0
- initial RMSE: 1.04747
- final RMSE: 0.930734
[15:20:12.139595][info] Remove outliers:
- # outliers residual error: 535
- # outliers angular error: 8
[15:20:12.143594][info] Bundle adjustment iteration: 0 took 1229 msec.
[15:20:12.143594][info] Start bundle adjustment iteration: 1
[15:20:12.159589][warning] Bundle Adjustment failed, the solution is not usable.
[15:20:12.164587][info] Update Reconstruction:
- resection id: 66
- # images in the resection group: 1
- # images remaining: 63
[15:20:12.167586][info] [198/263] Robust Resection of view: 753922312
[15:20:12.219569][info] Robust Resection information:
- resection status: true
- threshold (error max): 112.881
- # points used for resection: 208
- # points validated by robust resection: 197
[15:20:12.315538][info] Bundle adjustment start.
[15:20:12.325535][info] Start bundle adjustment iteration: 0
[15:20:13.494160][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 19 cameras
- D = 1: 0 cameras
- D > 1: 178 cameras
- adjustment duration: 1.1364 s
- poses:
- # refined: 20
- # constant: 32
- # ignored: 146
- landmarks:
- # refined: 9691
- # constant: 0
- # ignored: 8657
- intrinsics:
- # refined: 2
- # constant: 2
- # ignored: 0
- # residual blocks: 19382
- # successful iterations: 51
- # unsuccessful iterations: 0
- initial RMSE: 0.983562
- final RMSE: 0.910535
[15:20:13.619120][info] Remove outliers:
- # outliers residual error: 539
- # outliers angular error: 4
[15:20:13.623119][info] Bundle adjustment iteration: 0 took 1297 msec.
[15:20:13.623119][info] Start bundle adjustment iteration: 1
[15:20:13.639114][warning] Bundle Adjustment failed, the solution is not usable.
[15:20:13.876038][info] Update Reconstruction:
- resection id: 67
- # images in the resection group: 1
- # images remaining: 62
[15:20:13.878037][info] [199/263] Robust Resection of view: 1498146844
[15:20:13.932020][info] Robust Resection information:
- resection status: true
- threshold (error max): 6.43082
- # points used for resection: 220
- # points validated by robust resection: 129
[15:20:14.005996][info] Bundle adjustment start.
[15:20:14.016993][info] Start bundle adjustment iteration: 0
[15:20:15.319576][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 20 cameras
- D = 1: 0 cameras
- D > 1: 178 cameras
- adjustment duration: 1.26795 s
- poses:
- # refined: 21
- # constant: 32
- # ignored: 146
- landmarks:
- # refined: 9880
- # constant: 0
- # ignored: 8649
- intrinsics:
- # refined: 2
- # constant: 2
- # ignored: 0
- # residual blocks: 19760
- # successful iterations: 48
- # unsuccessful iterations: 0
- initial RMSE: 0.992308
- final RMSE: 0.924151
[15:20:15.445535][info] Remove outliers:
- # outliers residual error: 487
- # outliers angular error: 4
[15:20:15.449534][info] Bundle adjustment iteration: 0 took 1432 msec.
[15:20:15.449534][info] Start bundle adjustment iteration: 1
[15:20:15.470528][warning] Bundle Adjustment failed, the solution is not usable.
[15:20:15.476525][info] Update Reconstruction:
- resection id: 68
- # images in the resection group: 1
- # images remaining: 61
[15:20:15.478524][info] [200/263] Robust Resection of view: 1533954917
[15:20:15.540504][info] Robust Resection information:
- resection status: true
- threshold (error max): 7.70171
- # points used for resection: 259
- # points validated by robust resection: 210
[15:20:15.665464][info] Bundle adjustment start.
[15:20:15.676461][info] Start bundle adjustment iteration: 0
[15:20:17.178979][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 24 cameras
- D = 1: 0 cameras
- D > 1: 175 cameras
- adjustment duration: 1.46472 s
- poses:
- # refined: 25
- # constant: 32
- # ignored: 143
- landmarks:
- # refined: 13117
- # constant: 0
- # ignored: 8238
- intrinsics:
- # refined: 2
- # constant: 2
- # ignored: 0
- # residual blocks: 26234
- # successful iterations: 50
- # unsuccessful iterations: 1
- initial RMSE: 1.05265
- final RMSE: 0.929823
[15:20:17.304939][info] Remove outliers:
- # outliers residual error: 538
- # outliers angular error: 11
[15:20:17.308938][info] Bundle adjustment iteration: 0 took 1632 msec.
[15:20:17.308938][info] Start bundle adjustment iteration: 1
[15:20:17.330931][warning] Bundle Adjustment failed, the solution is not usable.
[15:20:17.339927][info] Update Reconstruction:
- resection id: 69
- # images in the resection group: 1
- # images remaining: 60
[15:20:17.340927][info] [201/263] Robust Resection of view: 1059252159
[15:20:17.391911][info] Robust Resection information:
- resection status: true
- threshold (error max): 108.98
- # points used for resection: 202
- # points validated by robust resection: 187
[15:20:17.492879][info] Bundle adjustment start.
[15:20:17.508874][info] Start bundle adjustment iteration: 0
[15:20:18.679498][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 19 cameras
- D = 1: 0 cameras
- D > 1: 181 cameras
- adjustment duration: 1.12241 s
- poses:
- # refined: 20
- # constant: 21
- # ignored: 160
- landmarks:
- # refined: 7380
- # constant: 0
- # ignored: 9125
- intrinsics:
- # refined: 2
- # constant: 2
- # ignored: 0
- # residual blocks: 14760
- # successful iterations: 51
- # unsuccessful iterations: 0
- initial RMSE: 1.06607
- final RMSE: 0.95006
[15:20:18.806458][info] Remove outliers:
- # outliers residual error: 563
- # outliers angular error: 4
[15:20:18.810456][info] Bundle adjustment iteration: 0 took 1301 msec.
[15:20:18.810456][info] Start bundle adjustment iteration: 1
[15:20:18.823454][warning] Bundle Adjustment failed, the solution is not usable.
[15:20:19.054378][info] Update Reconstruction:
- resection id: 70
- # images in the resection group: 1
- # images remaining: 59
[15:20:19.056378][info] [202/263] Robust Resection of view: 881242713
[15:20:19.101363][info] Robust Resection information:
- resection status: true
- threshold (error max): 134.275
- # points used for resection: 186
- # points validated by robust resection: 178
[15:20:19.191334][info] Bundle adjustment start.
[15:20:19.201331][info] Start bundle adjustment iteration: 0
[15:20:20.531904][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 23 cameras
- D = 1: 0 cameras
- D > 1: 178 cameras
- adjustment duration: 1.29203 s
- poses:
- # refined: 24
- # constant: 45
- # ignored: 133
- landmarks:
- # refined: 11715
- # constant: 0
- # ignored: 8446
- intrinsics:
- # refined: 2
- # constant: 2
- # ignored: 0
- # residual blocks: 23430
- # successful iterations: 51
- # unsuccessful iterations: 0
- initial RMSE: 0.956978
- final RMSE: 0.86354
[15:20:20.656864][info] Remove outliers:
- # outliers residual error: 511
- # outliers angular error: 5
[15:20:20.661863][info] Bundle adjustment iteration: 0 took 1460 msec.
[15:20:20.661863][info] Start bundle adjustment iteration: 1
[15:20:20.682857][warning] Bundle Adjustment failed, the solution is not usable.
[15:20:20.692853][info] Update Reconstruction:
- resection id: 71
- # images in the resection group: 1
- # images remaining: 58
[15:20:20.694852][info] [203/263] Robust Resection of view: 717565192
[15:20:20.735839][info] Robust Resection information:
- resection status: true
- threshold (error max): 102.326
- # points used for resection: 167
- # points validated by robust resection: 154
[15:20:20.834808][info] Bundle adjustment start.
[15:20:20.844804][info] Start bundle adjustment iteration: 0
[15:20:21.963445][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 21 cameras
- D = 1: 0 cameras
- D > 1: 181 cameras
- adjustment duration: 1.09042 s
- poses:
- # refined: 22
- # constant: 24
- # ignored: 157
- landmarks:
- # refined: 7828
- # constant: 0
- # ignored: 9116
- intrinsics:
- # refined: 2
- # constant: 2
- # ignored: 0
- # residual blocks: 15656
- # successful iterations: 51
- # unsuccessful iterations: 0
- initial RMSE: 1.09066
- final RMSE: 0.97273
[15:20:22.095403][info] Remove outliers:
- # outliers residual error: 491
- # outliers angular error: 6
[15:20:22.099402][info] Bundle adjustment iteration: 0 took 1253 msec.
[15:20:22.099402][info] Start bundle adjustment iteration: 1
[15:20:22.111416][warning] Bundle Adjustment failed, the solution is not usable.
[15:20:22.117397][info] Update Reconstruction:
- resection id: 72
- # images in the resection group: 1
- # images remaining: 57
[15:20:22.120395][info] [204/263] Robust Resection of view: 1046462544
[15:20:22.165381][info] Robust Resection information:
- resection status: true
- threshold (error max): 118.81
- # points used for resection: 179
- # points validated by robust resection: 168
[15:20:22.273346][info] Bundle adjustment start.
[15:20:22.283343][info] Start bundle adjustment iteration: 0
[15:20:23.880831][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 25 cameras
- D = 1: 0 cameras
- D > 1: 178 cameras
- adjustment duration: 1.55852 s
- poses:
- # refined: 26
- # constant: 48
- # ignored: 130
- landmarks:
- # refined: 12500
- # constant: 0
- # ignored: 8435
- intrinsics:
- # refined: 2
- # constant: 2
- # ignored: 0
- # residual blocks: 25000
- # successful iterations: 51
- # unsuccessful iterations: 0
- initial RMSE: 0.956203
- final RMSE: 0.893259
[15:20:24.002792][info] Remove outliers:
- # outliers residual error: 2178
- # outliers angular error: 13
[15:20:24.039780][info] Bundle adjustment iteration: 0 took 1755 msec.
[15:20:24.039780][info] Start bundle adjustment iteration: 1
[15:20:24.061774][warning] Bundle Adjustment failed, the solution is not usable.
[15:20:24.299697][info] Update Reconstruction:
- resection id: 73
- # images in the resection group: 1
- # images remaining: 56
[15:20:24.302696][info] [185/263] Robust Resection of view: 1213085830
[15:20:24.362676][info] Robust Resection information:
- resection status: true
- threshold (error max): 8.32167
- # points used for resection: 246
- # points validated by robust resection: 165
[15:20:24.464644][info] Bundle adjustment start.
[15:20:24.474640][info] Start bundle adjustment iteration: 0
[15:20:26.131109][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 25 cameras
- D = 1: 0 cameras
- D > 1: 159 cameras
- adjustment duration: 1.61818 s
- poses:
- # refined: 26
- # constant: 46
- # ignored: 113
- landmarks:
- # refined: 12689
- # constant: 0
- # ignored: 8150
- intrinsics:
- # refined: 2
- # constant: 2
- # ignored: 0
- # residual blocks: 25378
- # successful iterations: 51
- # unsuccessful iterations: 0
- initial RMSE: 0.952865
- final RMSE: 0.897127
[15:20:26.256070][info] Remove outliers:
- # outliers residual error: 553
- # outliers angular error: 3
[15:20:26.260068][info] Bundle adjustment iteration: 0 took 1785 msec.
[15:20:26.260068][info] Start bundle adjustment iteration: 1
[15:20:26.282063][warning] Bundle Adjustment failed, the solution is not usable.
[15:20:26.291059][info] Update Reconstruction:
- resection id: 74
- # images in the resection group: 1
- # images remaining: 55
[15:20:26.294057][info] [186/263] Robust Resection of view: 1598258157
[15:20:26.348040][info] Robust Resection information:
- resection status: true
- threshold (error max): 7.90927
- # points used for resection: 214
- # points validated by robust resection: 148
[15:20:26.444009][info] Bundle adjustment start.
[15:20:26.454006][info] Start bundle adjustment iteration: 0
[15:20:27.806573][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 25 cameras
- D = 1: 0 cameras
- D > 1: 160 cameras
- adjustment duration: 1.31677 s
- poses:
- # refined: 26
- # constant: 43
- # ignored: 117
- landmarks:
- # refined: 10218
- # constant: 0
- # ignored: 8494
- intrinsics:
- # refined: 2
- # constant: 2
- # ignored: 0
- # residual blocks: 20436
- # successful iterations: 51
- # unsuccessful iterations: 0
- initial RMSE: 0.96668
- final RMSE: 0.912246
[15:20:27.929533][info] Remove outliers:
- # outliers residual error: 493
- # outliers angular error: 4
[15:20:27.935532][info] Bundle adjustment iteration: 0 took 1481 msec.
[15:20:27.935532][info] Start bundle adjustment iteration: 1
[15:20:27.957525][warning] Bundle Adjustment failed, the solution is not usable.
[15:20:27.963522][info] Update Reconstruction:
- resection id: 75
- # images in the resection group: 1
- # images remaining: 54
[15:20:27.965522][info] [187/263] Robust Resection of view: 814711391
[15:20:28.005509][info] Robust Resection information:
- resection status: true
- threshold (error max): 84.6896
- # points used for resection: 159
- # points validated by robust resection: 147
[15:20:28.079485][info] Bundle adjustment start.
[15:20:28.099478][info] Start bundle adjustment iteration: 0
[15:20:29.491033][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 27 cameras
- D = 1: 0 cameras
- D > 1: 159 cameras
- adjustment duration: 1.3535 s
- poses:
- # refined: 28
- # constant: 26
- # ignored: 133
- landmarks:
- # refined: 10641
- # constant: 0
- # ignored: 8491
- intrinsics:
- # refined: 2
- # constant: 2
- # ignored: 0
- # residual blocks: 21282
- # successful iterations: 50
- # unsuccessful iterations: 1
- initial RMSE: 0.97692
- final RMSE: 0.908696
[15:20:29.611994][info] Remove outliers:
- # outliers residual error: 521
- # outliers angular error: 1
[15:20:29.615993][info] Bundle adjustment iteration: 0 took 1515 msec.
[15:20:29.615993][info] Start bundle adjustment iteration: 1
[15:20:29.638986][warning] Bundle Adjustment failed, the solution is not usable.
[15:20:29.902901][info] Update Reconstruction:
- resection id: 76
- # images in the resection group: 1
- # images remaining: 53
[15:20:29.904900][info] [188/263] Robust Resection of view: 13895244
[15:20:29.930891][info] Robust Resection information:
- resection status: true
- threshold (error max): 4.18875
- # points used for resection: 104
- # points validated by robust resection: 46
[15:20:29.985874][info] Bundle adjustment start.
[15:20:29.995871][info] Start bundle adjustment iteration: 0
[15:20:30.190809][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 31 cameras
- D = 1: 0 cameras
- D > 1: 156 cameras
- adjustment duration: 0.134066 s
- poses:
- # refined: 32
- # constant: 85
- # ignored: 71
- landmarks:
- # refined: 19560
- # constant: 0
- # ignored: 7185
- intrinsics:
- # refined: 1
- # constant: 3
- # ignored: 0
- # residual blocks: 39120
- # successful iterations: 4
- # unsuccessful iterations: 0
- initial RMSE: 0.84342
- final RMSE: 0.815433
[15:20:30.312769][info] Remove outliers:
- # outliers residual error: 435
- # outliers angular error: 1
[15:20:30.316768][info] Bundle adjustment iteration: 0 took 320 msec.
[15:20:30.316768][info] Start bundle adjustment iteration: 1
[15:20:30.349758][warning] Bundle Adjustment failed, the solution is not usable.
[15:20:30.363753][info] Update Reconstruction:
- resection id: 77
- # images in the resection group: 1
- # images remaining: 52
[15:20:30.364752][info] [189/263] Robust Resection of view: 621934253
[15:20:30.402740][info] Robust Resection information:
- resection status: true
- threshold (error max): 16.1947
- # points used for resection: 153
- # points validated by robust resection: 111
[15:20:30.480716][info] Bundle adjustment start.
[15:20:30.491712][info] Start bundle adjustment iteration: 0
[15:20:30.557691][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 10 cameras
- D = 1: 0 cameras
- D > 1: 178 cameras
- adjustment duration: 0.0368411 s
- poses:
- # refined: 11
- # constant: 37
- # ignored: 141
- landmarks:
- # refined: 7987
- # constant: 0
- # ignored: 9012
- intrinsics:
- # refined: 1
- # constant: 3
- # ignored: 0
- # residual blocks: 15974
- # successful iterations: 3
- # unsuccessful iterations: 0
- initial RMSE: 1.02732
- final RMSE: 0.948451
[15:20:30.693648][info] Remove outliers:
- # outliers residual error: 522
- # outliers angular error: 4
[15:20:30.697647][info] Bundle adjustment iteration: 0 took 205 msec.
[15:20:30.697647][info] Start bundle adjustment iteration: 1
[15:20:30.711642][warning] Bundle Adjustment failed, the solution is not usable.
[15:20:30.716640][info] Update Reconstruction:
- resection id: 78
- # images in the resection group: 1
- # images remaining: 51
[15:20:30.718639][info] [190/263] Robust Resection of view: 1887549894
[15:20:30.747630][info] Robust Resection information:
- resection status: true
- threshold (error max): 64.6316
- # points used for resection: 118
- # points validated by robust resection: 110
[15:20:30.804611][info] Bundle adjustment start.
[15:20:30.814608][info] Start bundle adjustment iteration: 0
[15:20:30.869591][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 10 cameras
- D = 1: 0 cameras
- D > 1: 179 cameras
- adjustment duration: 0.0292692 s
- poses:
- # refined: 11
- # constant: 31
- # ignored: 148
- landmarks:
- # refined: 6312
- # constant: 0
- # ignored: 9197
- intrinsics:
- # refined: 1
- # constant: 3
- # ignored: 0
- # residual blocks: 12624
- # successful iterations: 3
- # unsuccessful iterations: 0
- initial RMSE: 0.970467
- final RMSE: 0.912759
[15:20:30.988552][info] Remove outliers:
- # outliers residual error: 338
- # outliers angular error: 0
[15:20:30.992551][info] Bundle adjustment iteration: 0 took 178 msec.
[15:20:30.992551][info] Start bundle adjustment iteration: 1
[15:20:31.003548][warning] Bundle Adjustment failed, the solution is not usable.
[15:20:31.255469][info] Update Reconstruction:
- resection id: 79
- # images in the resection group: 1
- # images remaining: 50
[15:20:31.257466][info] [191/263] Robust Resection of view: 2084842121
[15:20:31.287457][info] Robust Resection information:
- resection status: true
- threshold (error max): 54.3522
- # points used for resection: 109
- # points validated by robust resection: 90
[15:20:31.346438][info] Bundle adjustment start.
[15:20:31.358434][info] Start bundle adjustment iteration: 0
[15:20:31.428412][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 10 cameras
- D = 1: 0 cameras
- D > 1: 180 cameras
- adjustment duration: 0.0356527 s
- poses:
- # refined: 11
- # constant: 49
- # ignored: 131
- landmarks:
- # refined: 8742
- # constant: 0
- # ignored: 8808
- intrinsics:
- # refined: 1
- # constant: 3
- # ignored: 0
- # residual blocks: 17484
- # successful iterations: 3
- # unsuccessful iterations: 0
- initial RMSE: 0.812441
- final RMSE: 0.769214
[15:20:31.555372][info] Remove outliers:
- # outliers residual error: 406
- # outliers angular error: 3
[15:20:31.559371][info] Bundle adjustment iteration: 0 took 201 msec.
[15:20:31.559371][info] Start bundle adjustment iteration: 1
[15:20:31.577364][warning] Bundle Adjustment failed, the solution is not usable.
[15:20:31.586361][info] Update Reconstruction:
- resection id: 80
- # images in the resection group: 1
- # images remaining: 49
[15:20:31.588360][info] [192/263] Robust Resection of view: 1047561676
[15:20:31.617352][info] Robust Resection information:
- resection status: true
- threshold (error max): 4.48705
- # points used for resection: 108
- # points validated by robust resection: 50
[15:20:31.682330][info] Bundle adjustment start.
[15:20:31.693327][info] Start bundle adjustment iteration: 0
[15:20:31.821286][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 10 cameras
- D = 1: 0 cameras
- D > 1: 181 cameras
- adjustment duration: 0.0973615 s
- poses:
- # refined: 11
- # constant: 50
- # ignored: 131
- landmarks:
- # refined: 8968
- # constant: 0
- # ignored: 8668
- intrinsics:
- # refined: 1
- # constant: 3
- # ignored: 0
- # residual blocks: 17936
- # successful iterations: 9
- # unsuccessful iterations: 0
- initial RMSE: 0.725305
- final RMSE: 0.692382
[15:20:31.949245][info] Remove outliers:
- # outliers residual error: 387
- # outliers angular error: 0
[15:20:31.955243][info] Bundle adjustment iteration: 0 took 261 msec.
[15:20:31.955243][info] Start bundle adjustment iteration: 1
[15:20:31.971238][warning] Bundle Adjustment failed, the solution is not usable.
[15:20:31.978236][info] Update Reconstruction:
- resection id: 81
- # images in the resection group: 1
- # images remaining: 48
[15:20:31.980235][info] [193/263] Robust Resection of view: 602670449
[15:20:32.024220][info] Robust Resection information:
- resection status: true
- threshold (error max): 4.48791
- # points used for resection: 180
- # points validated by robust resection: 102
[15:20:32.109193][info] Bundle adjustment start.
[15:20:32.121190][info] Start bundle adjustment iteration: 0
[15:20:32.157178][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 10 cameras
- D = 1: 0 cameras
- D > 1: 182 cameras
- adjustment duration: 0.0160925 s
- poses:
- # refined: 11
- # constant: 35
- # ignored: 147
- landmarks:
- # refined: 3153
- # constant: 0
- # ignored: 9538
- intrinsics:
- # refined: 1
- # constant: 3
- # ignored: 0
- # residual blocks: 6306
- # successful iterations: 3
- # unsuccessful iterations: 0
- initial RMSE: 1.0801
- final RMSE: 0.953764
[15:20:32.282138][info] Remove outliers:
- # outliers residual error: 372
- # outliers angular error: 0
[15:20:32.286137][info] Bundle adjustment iteration: 0 took 165 msec.
[15:20:32.287137][info] Start bundle adjustment iteration: 1
[15:20:32.292135][warning] Bundle Adjustment failed, the solution is not usable.
[15:20:32.517063][info] Update Reconstruction:
- resection id: 82
- # images in the resection group: 1
- # images remaining: 47
[15:20:32.520062][info] [194/263] Robust Resection of view: 665138752
[15:20:32.550052][info] Robust Resection information:
- resection status: true
- threshold (error max): 6.19864
- # points used for resection: 123
- # points validated by robust resection: 84
[15:20:32.608033][info] Bundle adjustment start.
[15:20:32.618030][info] Start bundle adjustment iteration: 0
[15:20:32.694006][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 10 cameras
- D = 1: 0 cameras
- D > 1: 183 cameras
- adjustment duration: 0.0427403 s
- poses:
- # refined: 11
- # constant: 41
- # ignored: 142
- landmarks:
- # refined: 9766
- # constant: 0
- # ignored: 8584
- intrinsics:
- # refined: 1
- # constant: 3
- # ignored: 0
- # residual blocks: 19532
- # successful iterations: 3
- # unsuccessful iterations: 0
- initial RMSE: 0.737534
- final RMSE: 0.705945
[15:20:32.816968][info] Remove outliers:
- # outliers residual error: 323
- # outliers angular error: 3
[15:20:32.820965][info] Bundle adjustment iteration: 0 took 202 msec.
[15:20:32.820965][info] Start bundle adjustment iteration: 1
[15:20:32.837960][warning] Bundle Adjustment failed, the solution is not usable.
[15:20:32.842959][info] Update Reconstruction:
- resection id: 83
- # images in the resection group: 1
- # images remaining: 46
[15:20:32.844957][info] [195/263] Robust Resection of view: 383370402
[15:20:32.862952][info] Robust Resection information:
- resection status: true
- threshold (error max): 108.272
- # points used for resection: 70
- # points validated by robust resection: 66
[15:20:32.909936][info] Bundle adjustment start.
[15:20:32.920934][info] Start bundle adjustment iteration: 0
[15:20:33.007906][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 10 cameras
- D = 1: 0 cameras
- D > 1: 184 cameras
- adjustment duration: 0.054798 s
- poses:
- # refined: 11
- # constant: 52
- # ignored: 132
- landmarks:
- # refined: 9058
- # constant: 0
- # ignored: 8689
- intrinsics:
- # refined: 1
- # constant: 3
- # ignored: 0
- # residual blocks: 18116
- # successful iterations: 6
- # unsuccessful iterations: 0
- initial RMSE: 0.734461
- final RMSE: 0.691288
[15:20:33.127867][info] Remove outliers:
- # outliers residual error: 245
- # outliers angular error: 4
[15:20:33.140863][info] Bundle adjustment iteration: 0 took 219 msec.
[15:20:33.140863][info] Start bundle adjustment iteration: 1
[15:20:33.155871][warning] Bundle Adjustment failed, the solution is not usable.
[15:20:33.160857][info] Update Reconstruction:
- resection id: 84
- # images in the resection group: 1
- # images remaining: 45
[15:20:33.162856][info] [195/263] Robust Resection of view: 281914171
[15:20:33.191846][info] Robust Resection information:
- resection status: true
- threshold (error max): 135.339
- # points used for resection: 116
- # points validated by robust resection: 111
[15:20:33.253826][info] Bundle adjustment start.
[15:20:33.263823][info] Start bundle adjustment iteration: 0
[15:20:33.319805][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 10 cameras
- D = 1: 0 cameras
- D > 1: 184 cameras
- adjustment duration: 0.0295586 s
- poses:
- # refined: 11
- # constant: 42
- # ignored: 142
- landmarks:
- # refined: 7104
- # constant: 0
- # ignored: 8956
- intrinsics:
- # refined: 1
- # constant: 3
- # ignored: 0
- # residual blocks: 14208
- # successful iterations: 4
- # unsuccessful iterations: 0
- initial RMSE: 0.707604
- final RMSE: 0.656134
[15:20:33.440766][info] Remove outliers:
- # outliers residual error: 359
- # outliers angular error: 2
[15:20:33.445765][info] Bundle adjustment iteration: 0 took 181 msec.
[15:20:33.445765][info] Start bundle adjustment iteration: 1
[15:20:33.458778][warning] Bundle Adjustment failed, the solution is not usable.
[15:20:33.786656][info] Update Reconstruction:
- resection id: 85
- # images in the resection group: 1
- # images remaining: 44
[15:20:33.788656][info] [196/263] Robust Resection of view: 1637016435
[15:20:33.818646][info] Robust Resection information:
- resection status: true
- threshold (error max): 5.98775
- # points used for resection: 110
- # points validated by robust resection: 55
[15:20:33.899620][info] Bundle adjustment start.
[15:20:33.910616][info] Start bundle adjustment iteration: 0
[15:20:34.017582][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 10 cameras
- D = 1: 0 cameras
- D > 1: 185 cameras
- adjustment duration: 0.0688211 s
- poses:
- # refined: 11
- # constant: 59
- # ignored: 126
- landmarks:
- # refined: 10965
- # constant: 0
- # ignored: 8482
- intrinsics:
- # refined: 1
- # constant: 3
- # ignored: 0
- # residual blocks: 21930
- # successful iterations: 4
- # unsuccessful iterations: 0
- initial RMSE: 0.737623
- final RMSE: 0.713029
[15:20:34.140542][info] Remove outliers:
- # outliers residual error: 408
- # outliers angular error: 0
[15:20:34.144541][info] Bundle adjustment iteration: 0 took 233 msec.
[15:20:34.144541][info] Start bundle adjustment iteration: 1
[15:20:34.162553][warning] Bundle Adjustment failed, the solution is not usable.
[15:20:34.169533][info] Update Reconstruction:
- resection id: 86
- # images in the resection group: 1
- # images remaining: 43
[15:20:34.171532][info] [197/263] Robust Resection of view: 258553392
[15:20:34.203522][info] Robust Resection information:
- resection status: true
- threshold (error max): 5.40457
- # points used for resection: 133
- # points validated by robust resection: 65
[15:20:34.278498][info] Bundle adjustment start.
[15:20:34.288495][info] Start bundle adjustment iteration: 0
[15:20:34.364470][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 10 cameras
- D = 1: 0 cameras
- D > 1: 186 cameras
- adjustment duration: 0.0469728 s
- poses:
- # refined: 11
- # constant: 47
- # ignored: 139
- landmarks:
- # refined: 8932
- # constant: 0
- # ignored: 8753
- intrinsics:
- # refined: 1
- # constant: 3
- # ignored: 0
- # residual blocks: 17864
- # successful iterations: 5
- # unsuccessful iterations: 0
- initial RMSE: 0.715562
- final RMSE: 0.691264
[15:20:34.487431][info] Remove outliers:
- # outliers residual error: 325
- # outliers angular error: 4
[15:20:34.491430][info] Bundle adjustment iteration: 0 took 202 msec.
[15:20:34.491430][info] Start bundle adjustment iteration: 1
[15:20:34.507425][warning] Bundle Adjustment failed, the solution is not usable.
[15:20:34.512424][info] Update Reconstruction:
- resection id: 87
- # images in the resection group: 1
- # images remaining: 42
[15:20:34.514422][info] [198/263] Robust Resection of view: 401119236
[15:20:34.544412][info] Robust Resection information:
- resection status: true
- threshold (error max): 11.4549
- # points used for resection: 120
- # points validated by robust resection: 84
[15:20:34.614390][info] Bundle adjustment start.
[15:20:34.625387][info] Start bundle adjustment iteration: 0
[15:20:34.706361][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 10 cameras
- D = 1: 0 cameras
- D > 1: 187 cameras
- adjustment duration: 0.0495208 s
- poses:
- # refined: 11
- # constant: 50
- # ignored: 137
- landmarks:
- # refined: 9214
- # constant: 0
- # ignored: 8749
- intrinsics:
- # refined: 1
- # constant: 3
- # ignored: 0
- # residual blocks: 18428
- # successful iterations: 5
- # unsuccessful iterations: 0
- initial RMSE: 0.730679
- final RMSE: 0.684555
[15:20:34.830322][info] Remove outliers:
- # outliers residual error: 372
- # outliers angular error: 2
[15:20:34.835320][info] Bundle adjustment iteration: 0 took 210 msec.
[15:20:34.835320][info] Start bundle adjustment iteration: 1
[15:20:34.849315][warning] Bundle Adjustment failed, the solution is not usable.
[15:20:35.081241][info] Update Reconstruction:
- resection id: 88
- # images in the resection group: 1
- # images remaining: 41
[15:20:35.083240][info] [199/263] Robust Resection of view: 1565201061
[15:20:35.114230][info] Robust Resection information:
- resection status: true
- threshold (error max): 7.01995
- # points used for resection: 127
- # points validated by robust resection: 80
[15:20:35.179209][info] Bundle adjustment start.
[15:20:35.189206][info] Start bundle adjustment iteration: 0
[15:20:35.258185][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 10 cameras
- D = 1: 0 cameras
- D > 1: 188 cameras
- adjustment duration: 0.037347 s
- poses:
- # refined: 11
- # constant: 42
- # ignored: 146
- landmarks:
- # refined: 9125
- # constant: 0
- # ignored: 8765
- intrinsics:
- # refined: 1
- # constant: 3
- # ignored: 0
- # residual blocks: 18250
- # successful iterations: 3
- # unsuccessful iterations: 0
- initial RMSE: 0.756393
- final RMSE: 0.714702
[15:20:35.380145][info] Remove outliers:
- # outliers residual error: 376
- # outliers angular error: 2
[15:20:35.384144][info] Bundle adjustment iteration: 0 took 194 msec.
[15:20:35.384144][info] Start bundle adjustment iteration: 1
[15:20:35.399140][warning] Bundle Adjustment failed, the solution is not usable.
[15:20:35.405137][info] Update Reconstruction:
- resection id: 89
- # images in the resection group: 1
- # images remaining: 40
[15:20:35.407136][info] [200/263] Robust Resection of view: 849057606
[15:20:35.440126][info] Robust Resection information:
- resection status: true
- threshold (error max): 5.35865
- # points used for resection: 133
- # points validated by robust resection: 96
[15:20:35.500106][info] Bundle adjustment start.
[15:20:35.510103][info] Start bundle adjustment iteration: 0
[15:20:35.592077][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 10 cameras
- D = 1: 0 cameras
- D > 1: 189 cameras
- adjustment duration: 0.0469894 s
- poses:
- # refined: 11
- # constant: 42
- # ignored: 147
- landmarks:
- # refined: 9123
- # constant: 0
- # ignored: 8804
- intrinsics:
- # refined: 1
- # constant: 3
- # ignored: 0
- # residual blocks: 18246
- # successful iterations: 3
- # unsuccessful iterations: 0
- initial RMSE: 0.765202
- final RMSE: 0.70984
[15:20:35.723035][info] Remove outliers:
- # outliers residual error: 378
- # outliers angular error: 2
[15:20:35.728033][info] Bundle adjustment iteration: 0 took 216 msec.
[15:20:35.728033][info] Start bundle adjustment iteration: 1
[15:20:35.743047][warning] Bundle Adjustment failed, the solution is not usable.
[15:20:35.749027][info] Update Reconstruction:
- resection id: 90
- # images in the resection group: 1
- # images remaining: 39
[15:20:35.752026][info] [201/263] Robust Resection of view: 1349891790
[15:20:35.798011][info] Robust Resection information:
- resection status: true
- threshold (error max): 9.69089
- # points used for resection: 196
- # points validated by robust resection: 150
[15:20:35.880984][info] Bundle adjustment start.
[15:20:35.891981][info] Start bundle adjustment iteration: 0
[15:20:35.960959][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 10 cameras
- D = 1: 0 cameras
- D > 1: 190 cameras
- adjustment duration: 0.0394614 s
- poses:
- # refined: 11
- # constant: 40
- # ignored: 150
- landmarks:
- # refined: 8475
- # constant: 0
- # ignored: 8910
- intrinsics:
- # refined: 1
- # constant: 3
- # ignored: 0
- # residual blocks: 16950
- # successful iterations: 4
- # unsuccessful iterations: 0
- initial RMSE: 0.769352
- final RMSE: 0.711387
[15:20:36.082919][info] Remove outliers:
- # outliers residual error: 420
- # outliers angular error: 4
[15:20:36.087918][info] Bundle adjustment iteration: 0 took 195 msec.
[15:20:36.087918][info] Start bundle adjustment iteration: 1
[15:20:36.101914][warning] Bundle Adjustment failed, the solution is not usable.
[15:20:36.336839][info] Update Reconstruction:
- resection id: 91
- # images in the resection group: 1
- # images remaining: 38
[15:20:36.338837][info] [202/263] Robust Resection of view: 1702611222
[15:20:36.376825][info] Robust Resection information:
- resection status: true
- threshold (error max): 19.9524
- # points used for resection: 153
- # points validated by robust resection: 131
[15:20:36.433808][info] Bundle adjustment start.
[15:20:36.443804][info] Start bundle adjustment iteration: 0
[15:20:36.524778][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 10 cameras
- D = 1: 0 cameras
- D > 1: 191 cameras
- adjustment duration: 0.052459 s
- poses:
- # refined: 11
- # constant: 36
- # ignored: 155
- landmarks:
- # refined: 7833
- # constant: 0
- # ignored: 8996
- intrinsics:
- # refined: 1
- # constant: 3
- # ignored: 0
- # residual blocks: 15666
- # successful iterations: 6
- # unsuccessful iterations: 0
- initial RMSE: 0.800225
- final RMSE: 0.731899
[15:20:36.647739][info] Remove outliers:
- # outliers residual error: 393
- # outliers angular error: 0
[15:20:36.653737][info] Bundle adjustment iteration: 0 took 209 msec.
[15:20:36.653737][info] Start bundle adjustment iteration: 1
[15:20:36.666733][warning] Bundle Adjustment failed, the solution is not usable.
[15:20:36.673730][info] Update Reconstruction:
- resection id: 92
- # images in the resection group: 1
- # images remaining: 37
[15:20:36.675730][info] [203/263] Robust Resection of view: 1192398303
[15:20:36.712717][info] Robust Resection information:
- resection status: true
- threshold (error max): 8.51436
- # points used for resection: 151
- # points validated by robust resection: 118
[15:20:36.775698][info] Bundle adjustment start.
[15:20:36.785694][info] Start bundle adjustment iteration: 0
[15:20:36.839677][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 10 cameras
- D = 1: 0 cameras
- D > 1: 192 cameras
- adjustment duration: 0.0288513 s
- poses:
- # refined: 11
- # constant: 33
- # ignored: 159
- landmarks:
- # refined: 6908
- # constant: 0
- # ignored: 9162
- intrinsics:
- # refined: 1
- # constant: 3
- # ignored: 0
- # residual blocks: 13816
- # successful iterations: 4
- # unsuccessful iterations: 0
- initial RMSE: 0.802635
- final RMSE: 0.716555
[15:20:36.966636][info] Remove outliers:
- # outliers residual error: 355
- # outliers angular error: 5
[15:20:36.971635][info] Bundle adjustment iteration: 0 took 185 msec.
[15:20:36.971635][info] Start bundle adjustment iteration: 1
[15:20:36.982631][warning] Bundle Adjustment failed, the solution is not usable.
[15:20:36.988629][info] Update Reconstruction:
- resection id: 93
- # images in the resection group: 1
- # images remaining: 36
[15:20:36.990628][info] [204/263] Robust Resection of view: 1217038490
[15:20:37.026617][info] Robust Resection information:
- resection status: true
- threshold (error max): 6.4012
- # points used for resection: 151
- # points validated by robust resection: 132
[15:20:37.098594][info] Bundle adjustment start.
[15:20:37.109590][info] Start bundle adjustment iteration: 0
[15:20:37.157575][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 10 cameras
- D = 1: 0 cameras
- D > 1: 193 cameras
- adjustment duration: 0.0233568 s
- poses:
- # refined: 11
- # constant: 33
- # ignored: 160
- landmarks:
- # refined: 6874
- # constant: 0
- # ignored: 9197
- intrinsics:
- # refined: 1
- # constant: 3
- # ignored: 0
- # residual blocks: 13748
- # successful iterations: 3
- # unsuccessful iterations: 0
- initial RMSE: 0.795659
- final RMSE: 0.734996
[15:20:37.283535][info] Remove outliers:
- # outliers residual error: 385
- # outliers angular error: 2
[15:20:37.288533][info] Bundle adjustment iteration: 0 took 178 msec.
[15:20:37.288533][info] Start bundle adjustment iteration: 1
[15:20:37.299530][warning] Bundle Adjustment failed, the solution is not usable.
[15:20:37.526457][info] Update Reconstruction:
- resection id: 94
- # images in the resection group: 1
- # images remaining: 35
[15:20:37.528456][info] [205/263] Robust Resection of view: 128705160
[15:20:37.562445][info] Robust Resection information:
- resection status: true
- threshold (error max): 21.4172
- # points used for resection: 140
- # points validated by robust resection: 120
[15:20:37.637421][info] Bundle adjustment start.
[15:20:37.648418][info] Start bundle adjustment iteration: 0
[15:20:37.685406][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 10 cameras
- D = 1: 0 cameras
- D > 1: 194 cameras
- adjustment duration: 0.0158738 s
- poses:
- # refined: 11
- # constant: 31
- # ignored: 163
- landmarks:
- # refined: 4674
- # constant: 0
- # ignored: 9533
- intrinsics:
- # refined: 1
- # constant: 3
- # ignored: 0
- # residual blocks: 9348
- # successful iterations: 3
- # unsuccessful iterations: 0
- initial RMSE: 0.883234
- final RMSE: 0.799703
[15:20:37.811366][info] Remove outliers:
- # outliers residual error: 506
- # outliers angular error: 4
[15:20:37.815365][info] Bundle adjustment iteration: 0 took 167 msec.
[15:20:37.815365][info] Start bundle adjustment iteration: 1
[15:20:37.824361][warning] Bundle Adjustment failed, the solution is not usable.
[15:20:37.827361][info] Update Reconstruction:
- resection id: 95
- # images in the resection group: 1
- # images remaining: 34
[15:20:37.829360][info] [206/263] Robust Resection of view: 1733211612
[15:20:37.877344][info] Robust Resection information:
- resection status: true
- threshold (error max): 9.50867
- # points used for resection: 200
- # points validated by robust resection: 175
[15:20:37.963317][info] Bundle adjustment start.
[15:20:37.974313][info] Start bundle adjustment iteration: 0
[15:20:38.025297][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 11 cameras
- D = 1: 0 cameras
- D > 1: 194 cameras
- adjustment duration: 0.0245994 s
- poses:
- # refined: 12
- # constant: 34
- # ignored: 160
- landmarks:
- # refined: 7154
- # constant: 0
- # ignored: 9185
- intrinsics:
- # refined: 1
- # constant: 3
- # ignored: 0
- # residual blocks: 14308
- # successful iterations: 3
- # unsuccessful iterations: 0
- initial RMSE: 0.839303
- final RMSE: 0.766703
[15:20:38.148257][info] Remove outliers:
- # outliers residual error: 589
- # outliers angular error: 0
[15:20:38.153256][info] Bundle adjustment iteration: 0 took 178 msec.
[15:20:38.153256][info] Start bundle adjustment iteration: 1
[15:20:38.164253][warning] Bundle Adjustment failed, the solution is not usable.
[15:20:38.169251][info] Update Reconstruction:
- resection id: 96
- # images in the resection group: 1
- # images remaining: 33
[15:20:38.171250][info] [207/263] Robust Resection of view: 1858561182
[15:20:38.218236][info] Robust Resection information:
- resection status: true
- threshold (error max): 5.40517
- # points used for resection: 197
- # points validated by robust resection: 179
[15:20:38.308206][info] Bundle adjustment start.
[15:20:38.319203][info] Start bundle adjustment iteration: 0
[15:20:38.366188][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 10 cameras
- D = 1: 0 cameras
- D > 1: 196 cameras
- adjustment duration: 0.0250193 s
- poses:
- # refined: 11
- # constant: 31
- # ignored: 165
- landmarks:
- # refined: 5884
- # constant: 0
- # ignored: 9425
- intrinsics:
- # refined: 1
- # constant: 3
- # ignored: 0
- # residual blocks: 11768
- # successful iterations: 4
- # unsuccessful iterations: 0
- initial RMSE: 0.852487
- final RMSE: 0.770143
[15:20:38.490148][info] Remove outliers:
- # outliers residual error: 476
- # outliers angular error: 2
[15:20:38.494147][info] Bundle adjustment iteration: 0 took 175 msec.
[15:20:38.494147][info] Start bundle adjustment iteration: 1
[15:20:38.504144][warning] Bundle Adjustment failed, the solution is not usable.
[15:20:38.731071][info] Update Reconstruction:
- resection id: 97
- # images in the resection group: 1
- # images remaining: 32
[15:20:38.732070][info] [208/263] Robust Resection of view: 241210419
[15:20:38.763060][info] Robust Resection information:
- resection status: true
- threshold (error max): 4.18857
- # points used for resection: 122
- # points validated by robust resection: 95
[15:20:38.813045][info] Bundle adjustment start.
[15:20:38.824041][info] Start bundle adjustment iteration: 0
[15:20:38.858030][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 10 cameras
- D = 1: 0 cameras
- D > 1: 197 cameras
- adjustment duration: 0.0174461 s
- poses:
- # refined: 11
- # constant: 33
- # ignored: 164
- landmarks:
- # refined: 2920
- # constant: 0
- # ignored: 9798
- intrinsics:
- # refined: 1
- # constant: 3
- # ignored: 0
- # residual blocks: 5840
- # successful iterations: 5
- # unsuccessful iterations: 0
- initial RMSE: 0.931618
- final RMSE: 0.830694
[15:20:38.982990][info] Remove outliers:
- # outliers residual error: 342
- # outliers angular error: 0
[15:20:38.987989][info] Bundle adjustment iteration: 0 took 163 msec.
[15:20:38.987989][info] Start bundle adjustment iteration: 1
[15:20:38.992987][warning] Bundle Adjustment failed, the solution is not usable.
[15:20:38.995986][info] Update Reconstruction:
- resection id: 98
- # images in the resection group: 1
- # images remaining: 31
[15:20:38.997985][info] [209/263] Robust Resection of view: 2066088171
[15:20:39.023977][info] Robust Resection information:
- resection status: true
- threshold (error max): 9.99136
- # points used for resection: 104
- # points validated by robust resection: 77
[15:20:39.075960][info] Bundle adjustment start.
[15:20:39.086957][info] Start bundle adjustment iteration: 0
[15:20:39.165932][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 10 cameras
- D = 1: 0 cameras
- D > 1: 198 cameras
- adjustment duration: 0.042984 s
- poses:
- # refined: 11
- # constant: 52
- # ignored: 146
- landmarks:
- # refined: 10364
- # constant: 0
- # ignored: 8763
- intrinsics:
- # refined: 1
- # constant: 3
- # ignored: 0
- # residual blocks: 20728
- # successful iterations: 3
- # unsuccessful iterations: 0
- initial RMSE: 0.785458
- final RMSE: 0.745015
[15:20:39.289892][info] Remove outliers:
- # outliers residual error: 412
- # outliers angular error: 1
[15:20:39.293890][info] Bundle adjustment iteration: 0 took 206 msec.
[15:20:39.293890][info] Start bundle adjustment iteration: 1
[15:20:39.311902][warning] Bundle Adjustment failed, the solution is not usable.
[15:20:39.318882][info] Update Reconstruction:
- resection id: 99
- # images in the resection group: 1
- # images remaining: 30
[15:20:39.320882][info] [210/263] Robust Resection of view: 1334802525
[15:20:39.347873][info] Robust Resection information:
- resection status: true
- threshold (error max): 9.94624
- # points used for resection: 113
- # points validated by robust resection: 80
[15:20:39.403855][info] Bundle adjustment start.
[15:20:39.414852][info] Start bundle adjustment iteration: 0
[15:20:39.458837][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 10 cameras
- D = 1: 0 cameras
- D > 1: 199 cameras
- adjustment duration: 0.0216778 s
- poses:
- # refined: 11
- # constant: 41
- # ignored: 158
- landmarks:
- # refined: 5795
- # constant: 0
- # ignored: 9484
- intrinsics:
- # refined: 1
- # constant: 3
- # ignored: 0
- # residual blocks: 11590
- # successful iterations: 4
- # unsuccessful iterations: 0
- initial RMSE: 0.786751
- final RMSE: 0.734488
[15:20:39.581798][info] Remove outliers:
- # outliers residual error: 485
- # outliers angular error: 3
[15:20:39.586797][info] Bundle adjustment iteration: 0 took 172 msec.
[15:20:39.586797][info] Start bundle adjustment iteration: 1
[15:20:39.595793][warning] Bundle Adjustment failed, the solution is not usable.
[15:20:39.936685][info] Update Reconstruction:
- resection id: 100
- # images in the resection group: 1
- # images remaining: 29
[15:20:39.939683][info] [211/263] Robust Resection of view: 674243266
[15:20:39.970674][info] Robust Resection information:
- resection status: true
- threshold (error max): 25.5572
- # points used for resection: 125
- # points validated by robust resection: 115
[15:20:40.037652][info] Bundle adjustment start.
[15:20:40.047649][info] Start bundle adjustment iteration: 0
[15:20:40.088636][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 10 cameras
- D = 1: 0 cameras
- D > 1: 200 cameras
- adjustment duration: 0.0176593 s
- poses:
- # refined: 11
- # constant: 37
- # ignored: 163
- landmarks:
- # refined: 5519
- # constant: 0
- # ignored: 9537
- intrinsics:
- # refined: 1
- # constant: 3
- # ignored: 0
- # residual blocks: 11038
- # successful iterations: 3
- # unsuccessful iterations: 0
- initial RMSE: 0.858997
- final RMSE: 0.759064
[15:20:40.218594][info] Remove outliers:
- # outliers residual error: 472
- # outliers angular error: 0
[15:20:40.222593][info] Bundle adjustment iteration: 0 took 174 msec.
[15:20:40.222593][info] Start bundle adjustment iteration: 1
[15:20:40.231590][warning] Bundle Adjustment failed, the solution is not usable.
[15:20:40.235589][info] Update Reconstruction:
- resection id: 101
- # images in the resection group: 1
- # images remaining: 28
[15:20:40.238587][info] [212/263] Robust Resection of view: 29699728
[15:20:40.273576][info] Robust Resection information:
- resection status: true
- threshold (error max): 5.89572
- # points used for resection: 145
- # points validated by robust resection: 109
[15:20:40.327559][info] Bundle adjustment start.
[15:20:40.339555][info] Start bundle adjustment iteration: 0
[15:20:40.397537][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 10 cameras
- D = 1: 0 cameras
- D > 1: 201 cameras
- adjustment duration: 0.0284888 s
- poses:
- # refined: 11
- # constant: 54
- # ignored: 147
- landmarks:
- # refined: 8691
- # constant: 0
- # ignored: 8973
- intrinsics:
- # refined: 1
- # constant: 3
- # ignored: 0
- # residual blocks: 17382
- # successful iterations: 3
- # unsuccessful iterations: 0
- initial RMSE: 0.755299
- final RMSE: 0.716742
[15:20:40.521497][info] Remove outliers:
- # outliers residual error: 534
- # outliers angular error: 1
[15:20:40.525496][info] Bundle adjustment iteration: 0 took 186 msec.
[15:20:40.525496][info] Start bundle adjustment iteration: 1
[15:20:40.540492][warning] Bundle Adjustment failed, the solution is not usable.
[15:20:40.545490][info] Update Reconstruction:
- resection id: 102
- # images in the resection group: 1
- # images remaining: 27
[15:20:40.547488][info] [213/263] Robust Resection of view: 2046695223
[15:20:40.583477][info] Robust Resection information:
- resection status: true
- threshold (error max): 5.25999
- # points used for resection: 148
- # points validated by robust resection: 117
[15:20:40.646457][info] Bundle adjustment start.
[15:20:40.657453][info] Start bundle adjustment iteration: 0
[15:20:40.689443][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 10 cameras
- D = 1: 0 cameras
- D > 1: 202 cameras
- adjustment duration: 0.0150525 s
- poses:
- # refined: 11
- # constant: 33
- # ignored: 169
- landmarks:
- # refined: 3085
- # constant: 0
- # ignored: 9844
- intrinsics:
- # refined: 1
- # constant: 3
- # ignored: 0
- # residual blocks: 6170
- # successful iterations: 4
- # unsuccessful iterations: 0
- initial RMSE: 0.954452
- final RMSE: 0.866558
[15:20:40.816403][info] Remove outliers:
- # outliers residual error: 482
- # outliers angular error: 3
[15:20:40.821401][info] Bundle adjustment iteration: 0 took 163 msec.
[15:20:40.821401][info] Start bundle adjustment iteration: 1
[15:20:40.827399][warning] Bundle Adjustment failed, the solution is not usable.
[15:20:41.054326][info] Update Reconstruction:
- resection id: 103
- # images in the resection group: 1
- # images remaining: 26
[15:20:41.056325][info] [214/263] Robust Resection of view: 1373602148
[15:20:41.092314][info] Robust Resection information:
- resection status: true
- threshold (error max): 4.66646
- # points used for resection: 149
- # points validated by robust resection: 127
[15:20:41.150296][info] Bundle adjustment start.
[15:20:41.160292][info] Start bundle adjustment iteration: 0
[15:20:41.189283][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 10 cameras
- D = 1: 0 cameras
- D > 1: 203 cameras
- adjustment duration: 0.0122592 s
- poses:
- # refined: 11
- # constant: 30
- # ignored: 173
- landmarks:
- # refined: 3091
- # constant: 0
- # ignored: 9858
- intrinsics:
- # refined: 1
- # constant: 3
- # ignored: 0
- # residual blocks: 6182
- # successful iterations: 3
- # unsuccessful iterations: 0
- initial RMSE: 0.973526
- final RMSE: 0.843149
[15:20:41.318242][info] Remove outliers:
- # outliers residual error: 391
- # outliers angular error: 3
[15:20:41.322240][info] Bundle adjustment iteration: 0 took 162 msec.
[15:20:41.323240][info] Start bundle adjustment iteration: 1
[15:20:41.328238][warning] Bundle Adjustment failed, the solution is not usable.
[15:20:41.331237][info] Update Reconstruction:
- resection id: 104
- # images in the resection group: 1
- # images remaining: 25
[15:20:41.333237][info] [215/263] Robust Resection of view: 1275624581
[15:20:41.373224][info] Robust Resection information:
- resection status: true
- threshold (error max): 8.8251
- # points used for resection: 172
- # points validated by robust resection: 147
[15:20:41.450199][info] Bundle adjustment start.
[15:20:41.460196][info] Start bundle adjustment iteration: 0
[15:20:41.520177][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 10 cameras
- D = 1: 0 cameras
- D > 1: 204 cameras
- adjustment duration: 0.0296015 s
- poses:
- # refined: 11
- # constant: 53
- # ignored: 151
- landmarks:
- # refined: 8738
- # constant: 0
- # ignored: 9018
- intrinsics:
- # refined: 1
- # constant: 3
- # ignored: 0
- # residual blocks: 17476
- # successful iterations: 3
- # unsuccessful iterations: 0
- initial RMSE: 0.797047
- final RMSE: 0.731879
[15:20:41.647136][info] Remove outliers:
- # outliers residual error: 614
- # outliers angular error: 3
[15:20:41.652135][info] Bundle adjustment iteration: 0 took 191 msec.
[15:20:41.652135][info] Start bundle adjustment iteration: 1
[15:20:41.668130][warning] Bundle Adjustment failed, the solution is not usable.
[15:20:41.674128][info] Update Reconstruction:
- resection id: 105
- # images in the resection group: 1
- # images remaining: 24
[15:20:41.676126][info] [216/263] Robust Resection of view: 79206180
[15:20:41.720113][info] Robust Resection information:
- resection status: true
- threshold (error max): 4.69502
- # points used for resection: 178
- # points validated by robust resection: 145
[15:20:41.792089][info] Bundle adjustment start.
[15:20:41.802086][info] Start bundle adjustment iteration: 0
[15:20:41.835077][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 10 cameras
- D = 1: 0 cameras
- D > 1: 205 cameras
- adjustment duration: 0.0153204 s
- poses:
- # refined: 11
- # constant: 27
- # ignored: 178
- landmarks:
- # refined: 3169
- # constant: 0
- # ignored: 9919
- intrinsics:
- # refined: 1
- # constant: 3
- # ignored: 0
- # residual blocks: 6338
- # successful iterations: 4
- # unsuccessful iterations: 0
- initial RMSE: 0.996368
- final RMSE: 0.862948
[15:20:41.961036][info] Remove outliers:
- # outliers residual error: 539
- # outliers angular error: 1
[15:20:41.965034][info] Bundle adjustment iteration: 0 took 163 msec.
[15:20:41.965034][info] Start bundle adjustment iteration: 1
[15:20:41.972032][warning] Bundle Adjustment failed, the solution is not usable.
[15:20:42.197960][info] Update Reconstruction:
- resection id: 106
- # images in the resection group: 1
- # images remaining: 23
[15:20:42.199959][info] [217/263] Robust Resection of view: 871607833
[15:20:42.243945][info] Robust Resection information:
- resection status: true
- threshold (error max): 5.52622
- # points used for resection: 183
- # points validated by robust resection: 153
[15:20:42.322920][info] Bundle adjustment start.
[15:20:42.333916][info] Start bundle adjustment iteration: 0
[15:20:42.367906][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 10 cameras
- D = 1: 0 cameras
- D > 1: 206 cameras
- adjustment duration: 0.0160347 s
- poses:
- # refined: 11
- # constant: 24
- # ignored: 182
- landmarks:
- # refined: 2981
- # constant: 0
- # ignored: 9981
- intrinsics:
- # refined: 1
- # constant: 3
- # ignored: 0
- # residual blocks: 5962
- # successful iterations: 4
- # unsuccessful iterations: 0
- initial RMSE: 1.00245
- final RMSE: 0.880834
[15:20:42.493865][info] Remove outliers:
- # outliers residual error: 652
- # outliers angular error: 3
[15:20:42.498863][info] Bundle adjustment iteration: 0 took 164 msec.
[15:20:42.498863][info] Start bundle adjustment iteration: 1
[15:20:42.504862][warning] Bundle Adjustment failed, the solution is not usable.
[15:20:42.507861][info] Update Reconstruction:
- resection id: 107
- # images in the resection group: 1
- # images remaining: 22
[15:20:42.509859][info] [218/263] Robust Resection of view: 977018367
[15:20:42.563842][info] Robust Resection information:
- resection status: true
- threshold (error max): 7.53937
- # points used for resection: 229
- # points validated by robust resection: 215
[15:20:42.645816][info] Bundle adjustment start.
[15:20:42.657812][info] Start bundle adjustment iteration: 0
[15:20:42.692801][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 12 cameras
- D = 1: 0 cameras
- D > 1: 205 cameras
- adjustment duration: 0.0171975 s
- poses:
- # refined: 13
- # constant: 27
- # ignored: 178
- landmarks:
- # refined: 3533
- # constant: 0
- # ignored: 9915
- intrinsics:
- # refined: 1
- # constant: 3
- # ignored: 0
- # residual blocks: 7066
- # successful iterations: 4
- # unsuccessful iterations: 0
- initial RMSE: 1.03769
- final RMSE: 0.896007
[15:20:42.820760][info] Remove outliers:
- # outliers residual error: 605
- # outliers angular error: 4
[15:20:42.825759][info] Bundle adjustment iteration: 0 took 167 msec.
[15:20:42.825759][info] Start bundle adjustment iteration: 1
[15:20:42.833756][warning] Bundle Adjustment failed, the solution is not usable.
[15:20:42.838754][info] Update Reconstruction:
- resection id: 108
- # images in the resection group: 1
- # images remaining: 21
[15:20:42.840753][info] [219/263] Robust Resection of view: 86375559
[15:20:42.875742][info] Robust Resection information:
- resection status: true
- threshold (error max): 6.85621
- # points used for resection: 147
- # points validated by robust resection: 132
[15:20:42.936723][info] Bundle adjustment start.
[15:20:42.948719][info] Start bundle adjustment iteration: 0
[15:20:42.978709][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 10 cameras
- D = 1: 0 cameras
- D > 1: 208 cameras
- adjustment duration: 0.0144884 s
- poses:
- # refined: 11
- # constant: 23
- # ignored: 185
- landmarks:
- # refined: 2372
- # constant: 0
- # ignored: 10136
- intrinsics:
- # refined: 1
- # constant: 3
- # ignored: 0
- # residual blocks: 4744
- # successful iterations: 4
- # unsuccessful iterations: 0
- initial RMSE: 1.11238
- final RMSE: 0.985331
[15:20:43.109667][info] Remove outliers:
- # outliers residual error: 385
- # outliers angular error: 3
[15:20:43.113666][info] Bundle adjustment iteration: 0 took 165 msec.
[15:20:43.113666][info] Start bundle adjustment iteration: 1
[15:20:43.118666][warning] Bundle Adjustment failed, the solution is not usable.
[15:20:43.344592][info] Update Reconstruction:
- resection id: 109
- # images in the resection group: 1
- # images remaining: 20
[15:20:43.346591][info] [220/263] Robust Resection of view: 1333489122
[15:20:43.388578][info] Robust Resection information:
- resection status: true
- threshold (error max): 6.55553
- # points used for resection: 173
- # points validated by robust resection: 152
[15:20:43.454557][info] Bundle adjustment start.
[15:20:43.465553][info] Start bundle adjustment iteration: 0
[15:20:43.498543][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 14 cameras
- D = 1: 0 cameras
- D > 1: 205 cameras
- adjustment duration: 0.0154669 s
- poses:
- # refined: 15
- # constant: 23
- # ignored: 182
- landmarks:
- # refined: 3709
- # constant: 0
- # ignored: 9931
- intrinsics:
- # refined: 1
- # constant: 3
- # ignored: 0
- # residual blocks: 7418
- # successful iterations: 3
- # unsuccessful iterations: 0
- initial RMSE: 0.97536
- final RMSE: 0.850961
[15:20:43.629501][info] Remove outliers:
- # outliers residual error: 401
- # outliers angular error: 0
[15:20:43.634500][info] Bundle adjustment iteration: 0 took 168 msec.
[15:20:43.634500][info] Start bundle adjustment iteration: 1
[15:20:43.640497][warning] Bundle Adjustment failed, the solution is not usable.
[15:20:43.644496][info] Update Reconstruction:
- resection id: 110
- # images in the resection group: 1
- # images remaining: 19
[15:20:43.646495][info] [221/263] Robust Resection of view: 2116655337
[15:20:43.700478][info] Robust Resection information:
- resection status: true
- threshold (error max): 6.25751
- # points used for resection: 226
- # points validated by robust resection: 204
[15:20:43.784504][info] Bundle adjustment start.
[15:20:43.794448][info] Start bundle adjustment iteration: 0
[15:20:43.822439][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 12 cameras
- D = 1: 0 cameras
- D > 1: 208 cameras
- adjustment duration: 0.0114098 s
- poses:
- # refined: 13
- # constant: 23
- # ignored: 185
- landmarks:
- # refined: 2777
- # constant: 0
- # ignored: 10140
- intrinsics:
- # refined: 1
- # constant: 3
- # ignored: 0
- # residual blocks: 5554
- # successful iterations: 3
- # unsuccessful iterations: 0
- initial RMSE: 1.13835
- final RMSE: 0.981627
[15:20:43.956396][info] Remove outliers:
- # outliers residual error: 640
- # outliers angular error: 9
[15:20:43.960395][info] Bundle adjustment iteration: 0 took 165 msec.
[15:20:43.960395][info] Start bundle adjustment iteration: 1
[15:20:43.965393][warning] Bundle Adjustment failed, the solution is not usable.
[15:20:43.969393][info] Update Reconstruction:
- resection id: 111
- # images in the resection group: 1
- # images remaining: 18
[15:20:43.972391][info] [222/263] Robust Resection of view: 704484836
[15:20:44.025374][info] Robust Resection information:
- resection status: true
- threshold (error max): 5.0835
- # points used for resection: 216
- # points validated by robust resection: 180
[15:20:44.096351][info] Bundle adjustment start.
[15:20:44.108347][info] Start bundle adjustment iteration: 0
[15:20:44.149334][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 16 cameras
- D = 1: 0 cameras
- D > 1: 205 cameras
- adjustment duration: 0.0225059 s
- poses:
- # refined: 17
- # constant: 23
- # ignored: 182
- landmarks:
- # refined: 4168
- # constant: 0
- # ignored: 9923
- intrinsics:
- # refined: 1
- # constant: 3
- # ignored: 0
- # residual blocks: 8336
- # successful iterations: 4
- # unsuccessful iterations: 0
- initial RMSE: 1.02086
- final RMSE: 0.873133
[15:20:44.277293][info] Remove outliers:
- # outliers residual error: 471
- # outliers angular error: 1
[15:20:44.282292][info] Bundle adjustment iteration: 0 took 174 msec.
[15:20:44.282292][info] Start bundle adjustment iteration: 1
[15:20:44.290307][warning] Bundle Adjustment failed, the solution is not usable.
[15:20:44.523214][info] Update Reconstruction:
- resection id: 112
- # images in the resection group: 1
- # images remaining: 17
[15:20:44.525214][info] [223/263] Robust Resection of view: 1039998433
[15:20:44.581195][info] Robust Resection information:
- resection status: true
- threshold (error max): 4.79794
- # points used for resection: 239
- # points validated by robust resection: 213
[15:20:44.661169][info] Bundle adjustment start.
[15:20:44.672166][info] Start bundle adjustment iteration: 0
[15:20:44.716152][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 17 cameras
- D = 1: 0 cameras
- D > 1: 205 cameras
- adjustment duration: 0.0253612 s
- poses:
- # refined: 18
- # constant: 29
- # ignored: 176
- landmarks:
- # refined: 4645
- # constant: 0
- # ignored: 9868
- intrinsics:
- # refined: 1
- # constant: 3
- # ignored: 0
- # residual blocks: 9290
- # successful iterations: 4
- # unsuccessful iterations: 0
- initial RMSE: 1.00156
- final RMSE: 0.882599
[15:20:44.851110][info] Remove outliers:
- # outliers residual error: 498
- # outliers angular error: 1
[15:20:44.855108][info] Bundle adjustment iteration: 0 took 183 msec.
[15:20:44.855108][info] Start bundle adjustment iteration: 1
[15:20:44.863105][warning] Bundle Adjustment failed, the solution is not usable.
[15:20:44.866104][info] Update Reconstruction:
- resection id: 113
- # images in the resection group: 1
- # images remaining: 16
[15:20:44.868104][info] [224/263] Robust Resection of view: 584116719
[15:20:44.920087][info] Robust Resection information:
- resection status: true
- threshold (error max): 4.75627
- # points used for resection: 214
- # points validated by robust resection: 192
[15:20:44.992064][info] Bundle adjustment start.
[15:20:45.003060][info] Start bundle adjustment iteration: 0
[15:20:45.049045][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 12 cameras
- D = 1: 0 cameras
- D > 1: 211 cameras
- adjustment duration: 0.0269698 s
- poses:
- # refined: 13
- # constant: 29
- # ignored: 182
- landmarks:
- # refined: 4419
- # constant: 0
- # ignored: 9943
- intrinsics:
- # refined: 1
- # constant: 3
- # ignored: 0
- # residual blocks: 8838
- # successful iterations: 4
- # unsuccessful iterations: 0
- initial RMSE: 0.992997
- final RMSE: 0.87789
[15:20:45.179004][info] Remove outliers:
- # outliers residual error: 498
- # outliers angular error: 1
[15:20:45.184003][info] Bundle adjustment iteration: 0 took 181 msec.
[15:20:45.184003][info] Start bundle adjustment iteration: 1
[15:20:45.192018][warning] Bundle Adjustment failed, the solution is not usable.
[15:20:45.194999][info] Update Reconstruction:
- resection id: 114
- # images in the resection group: 1
- # images remaining: 15
[15:20:45.196998][info] [225/263] Robust Resection of view: 1485231094
[15:20:45.233987][info] Robust Resection information:
- resection status: true
- threshold (error max): 25.4487
- # points used for resection: 151
- # points validated by robust resection: 136
[15:20:45.318959][info] Bundle adjustment start.
[15:20:45.328956][info] Start bundle adjustment iteration: 0
[15:20:45.354948][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 13 cameras
- D = 1: 0 cameras
- D > 1: 211 cameras
- adjustment duration: 0.0116274 s
- poses:
- # refined: 14
- # constant: 17
- # ignored: 194
- landmarks:
- # refined: 2011
- # constant: 0
- # ignored: 10269
- intrinsics:
- # refined: 1
- # constant: 3
- # ignored: 0
- # residual blocks: 4022
- # successful iterations: 4
- # unsuccessful iterations: 0
- initial RMSE: 1.24333
- final RMSE: 1.01306
[15:20:45.489921][info] Remove outliers:
- # outliers residual error: 700
- # outliers angular error: 1
[15:20:45.493903][info] Bundle adjustment iteration: 0 took 165 msec.
[15:20:45.493903][info] Start bundle adjustment iteration: 1
[15:20:45.497902][warning] Bundle Adjustment failed, the solution is not usable.
[15:20:45.730827][info] Update Reconstruction:
- resection id: 115
- # images in the resection group: 1
- # images remaining: 14
[15:20:45.732826][info] [226/263] Robust Resection of view: 297557486
[15:20:45.785809][info] Robust Resection information:
- resection status: true
- threshold (error max): 7.40786
- # points used for resection: 213
- # points validated by robust resection: 140
[15:20:45.887777][info] Bundle adjustment start.
[15:20:45.898773][info] Start bundle adjustment iteration: 0
[15:20:45.923765][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 10 cameras
- D = 1: 0 cameras
- D > 1: 215 cameras
- adjustment duration: 0.0110242 s
- poses:
- # refined: 11
- # constant: 19
- # ignored: 196
- landmarks:
- # refined: 2250
- # constant: 0
- # ignored: 10260
- intrinsics:
- # refined: 1
- # constant: 3
- # ignored: 0
- # residual blocks: 4500
- # successful iterations: 4
- # unsuccessful iterations: 0
- initial RMSE: 1.18377
- final RMSE: 1.02554
[15:20:46.057723][info] Remove outliers:
- # outliers residual error: 605
- # outliers angular error: 4
[15:20:46.061721][info] Bundle adjustment iteration: 0 took 163 msec.
[15:20:46.061721][info] Start bundle adjustment iteration: 1
[15:20:46.065720][warning] Bundle Adjustment failed, the solution is not usable.
[15:20:46.069719][info] Update Reconstruction:
- resection id: 116
- # images in the resection group: 1
- # images remaining: 13
[15:20:46.071717][info] [227/263] Robust Resection of view: 917192142
[15:20:46.105707][info] Robust Resection information:
- resection status: true
- threshold (error max): 7.02131
- # points used for resection: 142
- # points validated by robust resection: 112
[15:20:46.175684][info] Bundle adjustment start.
[15:20:46.187680][info] Start bundle adjustment iteration: 0
[15:20:46.253659][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 13 cameras
- D = 1: 0 cameras
- D > 1: 213 cameras
- adjustment duration: 0.0345375 s
- poses:
- # refined: 14
- # constant: 54
- # ignored: 159
- landmarks:
- # refined: 9270
- # constant: 0
- # ignored: 9224
- intrinsics:
- # refined: 1
- # constant: 3
- # ignored: 0
- # residual blocks: 18540
- # successful iterations: 3
- # unsuccessful iterations: 0
- initial RMSE: 0.830372
- final RMSE: 0.773629
[15:20:46.386618][info] Remove outliers:
- # outliers residual error: 756
- # outliers angular error: 0
[15:20:46.391616][info] Bundle adjustment iteration: 0 took 204 msec.
[15:20:46.391616][info] Start bundle adjustment iteration: 1
[15:20:46.408628][warning] Bundle Adjustment failed, the solution is not usable.
[15:20:46.412609][info] Update Reconstruction:
- resection id: 117
- # images in the resection group: 1
- # images remaining: 12
[15:20:46.414608][info] [228/263] Robust Resection of view: 8547941
[15:20:46.451597][info] Robust Resection information:
- resection status: true
- threshold (error max): 6.75371
- # points used for resection: 150
- # points validated by robust resection: 127
[15:20:46.524573][info] Bundle adjustment start.
[15:20:46.536569][info] Start bundle adjustment iteration: 0
[15:20:46.595550][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 12 cameras
- D = 1: 0 cameras
- D > 1: 215 cameras
- adjustment duration: 0.026235 s
- poses:
- # refined: 13
- # constant: 49
- # ignored: 166
- landmarks:
- # refined: 8183
- # constant: 0
- # ignored: 9402
- intrinsics:
- # refined: 1
- # constant: 3
- # ignored: 0
- # residual blocks: 16366
- # successful iterations: 3
- # unsuccessful iterations: 0
- initial RMSE: 0.836799
- final RMSE: 0.773768
[15:20:46.729507][info] Remove outliers:
- # outliers residual error: 629
- # outliers angular error: 0
[15:20:46.733506][info] Bundle adjustment iteration: 0 took 196 msec.
[15:20:46.733506][info] Start bundle adjustment iteration: 1
[15:20:46.747519][warning] Bundle Adjustment failed, the solution is not usable.
[15:20:46.978427][info] Update Reconstruction:
- resection id: 118
- # images in the resection group: 1
- # images remaining: 11
[15:20:46.980427][info] [229/263] Robust Resection of view: 167020411
[15:20:47.021413][info] Robust Resection information:
- resection status: true
- threshold (error max): 5.7735
- # points used for resection: 169
- # points validated by robust resection: 152
[15:20:47.093391][info] Bundle adjustment start.
[15:20:47.106386][info] Start bundle adjustment iteration: 0
[15:20:47.138376][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 12 cameras
- D = 1: 0 cameras
- D > 1: 216 cameras
- adjustment duration: 0.0161946 s
- poses:
- # refined: 13
- # constant: 27
- # ignored: 189
- landmarks:
- # refined: 2613
- # constant: 0
- # ignored: 10266
- intrinsics:
- # refined: 1
- # constant: 3
- # ignored: 0
- # residual blocks: 5226
- # successful iterations: 4
- # unsuccessful iterations: 0
- initial RMSE: 1.14442
- final RMSE: 1.00726
[15:20:47.272333][info] Remove outliers:
- # outliers residual error: 721
- # outliers angular error: 3
[15:20:47.277332][info] Bundle adjustment iteration: 0 took 171 msec.
[15:20:47.277332][info] Start bundle adjustment iteration: 1
[15:20:47.281331][warning] Bundle Adjustment failed, the solution is not usable.
[15:20:47.285329][info] Update Reconstruction:
- resection id: 119
- # images in the resection group: 1
- # images remaining: 10
[15:20:47.287330][info] [230/263] Robust Resection of view: 1563510281
[15:20:47.321317][info] Robust Resection information:
- resection status: true
- threshold (error max): 11.3339
- # points used for resection: 144
- # points validated by robust resection: 88
[15:20:47.387296][info] Bundle adjustment start.
[15:20:47.398292][info] Start bundle adjustment iteration: 0
[15:20:47.465271][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 10 cameras
- D = 1: 0 cameras
- D > 1: 219 cameras
- adjustment duration: 0.0378286 s
- poses:
- # refined: 11
- # constant: 41
- # ignored: 178
- landmarks:
- # refined: 8458
- # constant: 0
- # ignored: 9528
- intrinsics:
- # refined: 1
- # constant: 3
- # ignored: 0
- # residual blocks: 16916
- # successful iterations: 3
- # unsuccessful iterations: 0
- initial RMSE: 0.979206
- final RMSE: 0.914768
[15:20:47.599228][info] Remove outliers:
- # outliers residual error: 667
- # outliers angular error: 1
[15:20:47.604226][info] Bundle adjustment iteration: 0 took 206 msec.
[15:20:47.604226][info] Start bundle adjustment iteration: 1
[15:20:47.619223][warning] Bundle Adjustment failed, the solution is not usable.
[15:20:47.624220][info] Update Reconstruction:
- resection id: 120
- # images in the resection group: 1
- # images remaining: 9
[15:20:47.626219][info] [231/263] Robust Resection of view: 935981772
[15:20:47.650212][info] Robust Resection information:
- resection status: true
- threshold (error max): 12.2905
- # points used for resection: 95
- # points validated by robust resection: 67
[15:20:47.718191][info] Bundle adjustment start.
[15:20:47.729186][info] Start bundle adjustment iteration: 0
[15:20:47.797165][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 10 cameras
- D = 1: 0 cameras
- D > 1: 220 cameras
- adjustment duration: 0.0327378 s
- poses:
- # refined: 11
- # constant: 78
- # ignored: 142
- landmarks:
- # refined: 9958
- # constant: 0
- # ignored: 9143
- intrinsics:
- # refined: 1
- # constant: 3
- # ignored: 0
- # residual blocks: 19916
- # successful iterations: 3
- # unsuccessful iterations: 0
- initial RMSE: 0.800466
- final RMSE: 0.753913
[15:20:47.932121][info] Remove outliers:
- # outliers residual error: 588
- # outliers angular error: 1
[15:20:47.937120][info] Bundle adjustment iteration: 0 took 208 msec.
[15:20:47.937120][info] Start bundle adjustment iteration: 1
[15:20:47.954114][warning] Bundle Adjustment failed, the solution is not usable.
[15:20:48.190039][info] Update Reconstruction:
- resection id: 121
- # images in the resection group: 1
- # images remaining: 8
[15:20:48.192038][info] [232/263] Robust Resection of view: 1388653520
[15:20:48.224028][info] Robust Resection information:
- resection status: true
- threshold (error max): 6.32137
- # points used for resection: 133
- # points validated by robust resection: 114
[15:20:48.277011][info] Bundle adjustment start.
[15:20:48.288007][info] Start bundle adjustment iteration: 0
[15:20:48.324995][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 10 cameras
- D = 1: 0 cameras
- D > 1: 221 cameras
- adjustment duration: 0.0156994 s
- poses:
- # refined: 11
- # constant: 52
- # ignored: 169
- landmarks:
- # refined: 5208
- # constant: 0
- # ignored: 9898
- intrinsics:
- # refined: 1
- # constant: 3
- # ignored: 0
- # residual blocks: 10416
- # successful iterations: 3
- # unsuccessful iterations: 0
- initial RMSE: 0.912534
- final RMSE: 0.840274
[15:20:48.459953][info] Remove outliers:
- # outliers residual error: 749
- # outliers angular error: 4
[15:20:48.464951][info] Bundle adjustment iteration: 0 took 176 msec.
[15:20:48.465951][info] Start bundle adjustment iteration: 1
[15:20:48.475952][warning] Bundle Adjustment failed, the solution is not usable.
[15:20:48.478965][info] Update Reconstruction:
- resection id: 122
- # images in the resection group: 1
- # images remaining: 7
[15:20:48.480946][info] [233/263] Robust Resection of view: 1874492859
[15:20:48.509936][info] Robust Resection information:
- resection status: true
- threshold (error max): 10.4852
- # points used for resection: 115
- # points validated by robust resection: 91
[15:20:48.580913][info] Bundle adjustment start.
[15:20:48.592909][info] Start bundle adjustment iteration: 0
[15:20:48.668885][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 10 cameras
- D = 1: 0 cameras
- D > 1: 222 cameras
- adjustment duration: 0.0414313 s
- poses:
- # refined: 11
- # constant: 74
- # ignored: 148
- landmarks:
- # refined: 9180
- # constant: 0
- # ignored: 9215
- intrinsics:
- # refined: 1
- # constant: 3
- # ignored: 0
- # residual blocks: 18360
- # successful iterations: 3
- # unsuccessful iterations: 0
- initial RMSE: 0.723851
- final RMSE: 0.69008
[15:20:48.801861][info] Remove outliers:
- # outliers residual error: 743
- # outliers angular error: 1
[15:20:48.805860][info] Bundle adjustment iteration: 0 took 213 msec.
[15:20:48.805860][info] Start bundle adjustment iteration: 1
[15:20:48.822849][warning] Bundle Adjustment failed, the solution is not usable.
[15:20:48.826847][info] Update Reconstruction:
- resection id: 123
- # images in the resection group: 1
- # images remaining: 6
[15:20:48.829834][info] [234/263] Robust Resection of view: 1164205710
[15:20:48.856825][info] Robust Resection information:
- resection status: true
- threshold (error max): 7.15153
- # points used for resection: 111
- # points validated by robust resection: 76
[15:20:48.922803][info] Bundle adjustment start.
[15:20:48.933801][info] Start bundle adjustment iteration: 0
[15:20:48.989782][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 10 cameras
- D = 1: 0 cameras
- D > 1: 223 cameras
- adjustment duration: 0.0299428 s
- poses:
- # refined: 11
- # constant: 76
- # ignored: 147
- landmarks:
- # refined: 7584
- # constant: 0
- # ignored: 9440
- intrinsics:
- # refined: 1
- # constant: 3
- # ignored: 0
- # residual blocks: 15168
- # successful iterations: 4
- # unsuccessful iterations: 0
- initial RMSE: 0.717397
- final RMSE: 0.698436
[15:20:49.123740][info] Remove outliers:
- # outliers residual error: 725
- # outliers angular error: 1
[15:20:49.128738][info] Bundle adjustment iteration: 0 took 195 msec.
[15:20:49.128738][info] Start bundle adjustment iteration: 1
[15:20:49.142751][warning] Bundle Adjustment failed, the solution is not usable.
[15:20:49.374659][info] Update Reconstruction:
- resection id: 124
- # images in the resection group: 1
- # images remaining: 5
[15:20:49.375659][info] [235/263] Robust Resection of view: 334798915
[15:20:49.407648][info] Robust Resection information:
- resection status: true
- threshold (error max): 10.8889
- # points used for resection: 126
- # points validated by robust resection: 104
[15:20:49.475627][info] Bundle adjustment start.
[15:20:49.486623][info] Start bundle adjustment iteration: 0
[15:20:49.554601][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 10 cameras
- D = 1: 0 cameras
- D > 1: 224 cameras
- adjustment duration: 0.0346222 s
- poses:
- # refined: 11
- # constant: 76
- # ignored: 148
- landmarks:
- # refined: 9171
- # constant: 0
- # ignored: 9234
- intrinsics:
- # refined: 1
- # constant: 3
- # ignored: 0
- # residual blocks: 18342
- # successful iterations: 3
- # unsuccessful iterations: 0
- initial RMSE: 0.71766
- final RMSE: 0.695752
[15:20:49.689558][info] Remove outliers:
- # outliers residual error: 724
- # outliers angular error: 1
[15:20:49.693575][info] Bundle adjustment iteration: 0 took 206 msec.
[15:20:49.693575][info] Start bundle adjustment iteration: 1
[15:20:49.709552][warning] Bundle Adjustment failed, the solution is not usable.
[15:20:49.713550][info] Update Reconstruction:
- resection id: 125
- # images in the resection group: 1
- # images remaining: 4
[15:20:49.716549][info] [236/263] Robust Resection of view: 2014752152
[15:20:49.750539][info] Robust Resection information:
- resection status: true
- threshold (error max): 14.4006
- # points used for resection: 135
- # points validated by robust resection: 118
[15:20:49.823515][info] Bundle adjustment start.
[15:20:49.834513][info] Start bundle adjustment iteration: 0
[15:20:49.886495][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 10 cameras
- D = 1: 0 cameras
- D > 1: 225 cameras
- adjustment duration: 0.0249025 s
- poses:
- # refined: 11
- # constant: 67
- # ignored: 158
- landmarks:
- # refined: 7338
- # constant: 0
- # ignored: 9505
- intrinsics:
- # refined: 1
- # constant: 3
- # ignored: 0
- # residual blocks: 14676
- # successful iterations: 3
- # unsuccessful iterations: 0
- initial RMSE: 0.722281
- final RMSE: 0.692201
[15:20:50.024451][info] Remove outliers:
- # outliers residual error: 794
- # outliers angular error: 0
[15:20:50.028450][info] Bundle adjustment iteration: 0 took 194 msec.
[15:20:50.028450][info] Start bundle adjustment iteration: 1
[15:20:50.041463][warning] Bundle Adjustment failed, the solution is not usable.
[15:20:50.045444][info] Update Reconstruction:
- resection id: 126
- # images in the resection group: 1
- # images remaining: 3
[15:20:50.047443][info] [237/263] Robust Resection of view: 1993208421
[15:20:50.080433][info] Robust Resection information:
- resection status: true
- threshold (error max): 11.2491
- # points used for resection: 133
- # points validated by robust resection: 115
[15:20:50.143412][info] Bundle adjustment start.
[15:20:50.155409][info] Start bundle adjustment iteration: 0
[15:20:50.214391][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 10 cameras
- D = 1: 0 cameras
- D > 1: 226 cameras
- adjustment duration: 0.0307553 s
- poses:
- # refined: 11
- # constant: 65
- # ignored: 161
- landmarks:
- # refined: 7390
- # constant: 0
- # ignored: 9493
- intrinsics:
- # refined: 1
- # constant: 3
- # ignored: 0
- # residual blocks: 14780
- # successful iterations: 3
- # unsuccessful iterations: 0
- initial RMSE: 0.700869
- final RMSE: 0.670531
[15:20:50.347347][info] Remove outliers:
- # outliers residual error: 862
- # outliers angular error: 0
[15:20:50.352347][info] Bundle adjustment iteration: 0 took 197 msec.
[15:20:50.352347][info] Start bundle adjustment iteration: 1
[15:20:50.365343][warning] Bundle Adjustment failed, the solution is not usable.
[15:20:50.597267][info] Update Reconstruction:
- resection id: 127
- # images in the resection group: 1
- # images remaining: 2
[15:20:50.599266][info] [238/263] Robust Resection of view: 425188580
[15:20:50.607264][info] Robust Resection information:
- resection status: false
- threshold (error max): 7.45667
- # points used for resection: 16
- # points validated by robust resection: 16
[15:20:50.607264][info] Resection of view 425188580 failed.
[15:20:50.610263][info] Update Reconstruction:
- resection id: 127
- # images in the resection group: 1
- # images remaining: 1
[15:20:50.613262][info] [238/263] Robust Resection of view: 1912239828
[15:20:50.623258][info] Robust Resection information:
- resection status: true
- threshold (error max): 148.366
- # points used for resection: 31
- # points validated by robust resection: 31
[15:20:50.635255][info] Bundle adjustment start.
[15:20:50.646252][info] Start bundle adjustment iteration: 0
[15:20:51.321035][info] Bundle Adjustment Statistics:
- local strategy enabled: yes
- graph-distances distribution:
- not connected: 0 cameras
- D = 0: 14 cameras
- D = 1: 0 cameras
- D > 1: 223 cameras
- adjustment duration: 0.641928 s
- poses:
- # refined: 15
- # constant: 67
- # ignored: 156
- landmarks:
- # refined: 9811
- # constant: 0
- # ignored: 9199
- intrinsics:
- # refined: 1
- # constant: 3
- # ignored: 0
- # residual blocks: 19622
- # successful iterations: 42
- # unsuccessful iterations: 1
- initial RMSE: 0.87049
- final RMSE: 0.835054
[15:20:51.453993][info] Remove outliers:
- # outliers residual error: 60
- # outliers angular error: 1
[15:20:51.468989][info] Bundle adjustment iteration: 0 took 822 msec.
[15:20:51.468989][info] Start bundle adjustment iteration: 1
[15:20:51.484983][warning] Bundle Adjustment failed, the solution is not usable.
[15:20:51.487982][info] Incremental Reconstruction start iteration 1:
- # number of resection groups: 128
- # number of poses: 237
- # number of landmarks: 10668
- # remaining images: 0
[15:20:51.487982][info] Incremental Reconstruction completed with 2 iterations:
- # number of resection groups: 128
- # number of poses: 237
- # number of landmarks: 10668
- # remaining images: 0
[15:20:51.512974][info] Structure from Motion statistics:
- # input images: 263
- # cameras calibrated: 237
- # poses: 237
- # landmarks: 10668
- elapsed time: 130.192
- residual RMSE: 1.22347
[15:20:51.547962][info] Histogram of residuals:
0 | 5.1e+04
0.5 | 3.6e+04
1 | 2.2e+04
1.5 | 1.4e+04
2 | 7.8e+03
2.5 | 4.5e+03
3 | 2.3e+03
3.5 | 8.4e+02
4
[15:20:51.548962][info] # landmarks: 10668
[15:20:51.548962][info] # overall observations: 68889
[15:20:51.548962][info] Landmarks observations length min: 2, mean: 6.45754, median: 5, max: 78
[15:20:51.548962][info] Histogram of observations length:
2 | 509
3 | 970
4 | 1275
5 | 2728
6 | 1683
7 | 1055
8 | 636
9 | 470
10 | 310
11 | 217
12 | 154
13 | 139
14 | 91
15 | 84
16 | 67
17 | 52
18 | 29
19 | 29
20 | 25
21 | 19
22 | 14
23 | 14
24 | 9
25 | 9
26 | 9
27 | 6
28 | 7
29 | 11
30 | 5
31 | 3
32 | 6
33 | 3
34 | 4
35 | 4
36 | 4
37 | 1
38 | 0
39 | 3
40 | 0
41 | 0
42 | 3
43 | 0
44 | 2
45 | 2
46 | 0
47 | 1
48 | 0
49 | 0
50 | 1
51 | 1
52 | 0
53 | 0
54 | 0
55 | 0
56 | 0
57 | 0
58 | 1
59 | 0
60 | 1
61 | 0
62 | 0
63 | 0
64 | 0
65 | 0
66 | 0
67 | 0
68 | 0
69 | 0
70 | 0
71 | 0
72 | 0
73 | 0
74 | 0
75 | 0
76 | 0
77 | 0
78 | 2
79
[15:20:51.569957][info] Landmarks per view min: 95, mean: 404.346, median: 365, max: 1161
[15:20:51.569957][info] Histogram of nb landmarks per view:
95 | 41
201 | 59
308 | 31
415 | 43
521 | 27
628 | 16
735 | 10
841 | 4
948 | 4
1055 | 2
1162
Compute scene structure color
0% 10 20 30 40 50 60 70 80 90 100%
|----|----|----|----|----|----|----|----|----|----|
[15:21:11.332621][info] Structure from motion took (s): 172.173000
[15:21:11.332621][info] Generating HTML report...
[15:21:11.380605][info] Export SfMData to disk: C:/Users/clau_/Desktop/Photogrammetry/Cubito video/MeshroomCache/StructureFromMotion/77804c87418a938b855612d6d5f41b9371401707/sfm.abc
[15:21:11.898441][info] Structure from Motion results:
- # input images: 263
- # cameras calibrated: 237
- # poses: 237
- # landmarks: 10668
claudito1991
on 20 Jun 2020
@claudito1991 I think your reconstruction can be improved drastically if you take close up images. At the moment the environment takes up 80% of your image frame. The object of interest should fill the image.
natowi
on 20 Jun 2020
Sounds like a reasonable result:
Structure from Motion results:
- # input images: 263
- # cameras calibrated: 237
Only images taken from distance are not reconstructed, maybe because there is not enough in-between images during the scale change. But as @natowi said, you don't need large captures like that if you only want to reconstruct the small object in the middle. You'll get considerable improvements by only taking close-ups of the object.
fabiencastan
on 20 Jun 2020
@natowi @fabiencastan i will certainly follow your advice of the close ups. I'd just like to know if i could get rid of the bundle adjustment problem just by increasing the amount of images in the dataset.
claudito1991
on 20 Jun 2020
I think the problem in the BA also come from the background that is largely present in the dataset, but not enough to be well constrained. If you want to reconstruct the room you need to have more different angles looking at the same area.
So the background as a large place in the images but is not well constrained by the shooting angles and also the background seems to be quite defocus.
The quality of the shooting is the source of all information. Improvements to the results can be easily achieved by improving the shooting. What you can do from parameters is much more limited.
fabiencastan
on 20 Jun 2020
@fabiencastan thanks for your help ! i understand, i will try to improve the shooting to keep trying and learning from it! see you
claudito1991
on 20 Jun 2020
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Most helpful comment
@claudito1991 I think your reconstruction can be improved drastically if you take close up images. At the moment the environment takes up 80% of your image frame. The object of interest should fill the image.