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ssampang/with GPS priors

Created October 6, 2017 17:33
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with GPS priors
Sequential/Incremental reconstruction
Perform incremental SfM (Initial Pair Essential + Resection).
- Features Loading -
0% 10 20 30 40 50 60 70 80 90 100%
|----|----|----|----|----|----|----|----|----|----|
***************************************************
Track building
Track filtering
Track export to internal struct
Track stats
------------------
-- Tracks Stats --
Tracks number: 131499
Images Id:
0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146,
------------------
TrackLength, Occurrence
2 64257
3 28646
4 15133
5 8767
6 5432
7 3288
8 2077
9 1401
10 839
11 578
12 352
13 237
14 164
15 125
16 75
17 38
18 38
19 16
20 19
21 5
22 5
23 4
24 2
29 1
Automatic selection of an initial pair:
0% 10 20 30 40 50 60 70 80 90 100%
|----|----|----|----|----|----|----|----|----|----|
***************************************************
A-Contrario initial pair residual: 42.6308
Bundle Adjustment statistics (approximated RMSE):
#views: 2
#poses: 2
#intrinsics: 1
#tracks: 159
#residuals: 636
Initial RMSE: 4.87815
Final RMSE: 3.77426
Time (s): 0.0397275
SequentialSfMReconstructionEngine::ComputeResidualsMSE.
-- #Tracks: 155
-- Residual min: 0.002372
-- Residual median: 1.41086
-- Residual max: 25.254
-- Residual mean: 2.29795
=========================
MSE Residual InitialPair Inlier: 2.29795
=========================
-------------------------------
-- Robust Resection of view: 135
nfa=-121 inliers=121/131 precisionNormalized=0.0193044 precision=320.118 (iter=0 ,sample=106,18,118,)
nfa=-356.748 inliers=103/131 precisionNormalized=3.71474e-05 precision=14.0426 (iter=0 ,sample=106,18,118,)
nfa=-409.097 inliers=114/131 precisionNormalized=3.58125e-05 precision=13.7879 (iter=3 ,sample=82,1,3,)
nfa=-415.677 inliers=119/131 precisionNormalized=5.08077e-05 precision=16.4228 (iter=5 ,sample=8,80,48,)
nfa=-421.694 inliers=122/131 precisionNormalized=5.9872e-05 precision=17.8277 (iter=13 ,sample=60,126,118,)
nfa=-446.597 inliers=120/131 precisionNormalized=3.03296e-05 precision=12.6887 (iter=22 ,sample=48,85,41,)
nfa=-453.295 inliers=114/131 precisionNormalized=1.42455e-05 precision=8.69605 (iter=74 ,sample=0,73,11,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 131
-- #Points validated by robust Resection: 114
-- Threshold: 8.69605
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 114
#residuals: 228
Initial RMSE: 2.42665
Final RMSE: 2.26822
Time (s): 0.000966907
-------------------------------
-- Robust Resection of view: 134
nfa=-110.887 inliers=190/670 precisionNormalized=0.00869274 precision=214.813 (iter=0 ,sample=545,91,607,)
nfa=-2769.22 inliers=644/670 precisionNormalized=1.22581e-05 precision=8.06668 (iter=0 ,sample=545,91,607,)
nfa=-2830.49 inliers=637/670 precisionNormalized=8.44377e-06 precision=6.695 (iter=8 ,sample=55,214,458,)
nfa=-2850.7 inliers=609/670 precisionNormalized=4.20841e-06 precision=4.72652 (iter=15 ,sample=367,147,473,)
nfa=-2876.18 inliers=618/670 precisionNormalized=4.6794e-06 precision=4.98399 (iter=18 ,sample=264,462,446,)
nfa=-2911.21 inliers=614/670 precisionNormalized=3.72962e-06 precision=4.44954 (iter=19 ,sample=290,193,593,)
nfa=-2926.76 inliers=617/670 precisionNormalized=3.76362e-06 precision=4.46977 (iter=22 ,sample=622,31,90,)
nfa=-2927.71 inliers=618/670 precisionNormalized=3.83748e-06 precision=4.51342 (iter=335 ,sample=361,555,350,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 670
-- #Points validated by robust Resection: 618
-- Threshold: 4.51342
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 618
#residuals: 1236
Initial RMSE: 1.167
Final RMSE: 0.841672
Time (s): 0.00230159
-------------------------------
-- Robust Resection of view: 137
nfa=-1400.51 inliers=625/670 precisionNormalized=0.00131887 precision=83.6728 (iter=0 ,sample=545,91,607,)
nfa=-1541.02 inliers=624/670 precisionNormalized=0.000773134 precision=64.0634 (iter=0 ,sample=545,91,607,)
nfa=-1759.6 inliers=627/670 precisionNormalized=0.000359708 precision=43.6976 (iter=2 ,sample=551,611,349,)
nfa=-1986.55 inliers=627/670 precisionNormalized=0.000155613 precision=28.7412 (iter=10 ,sample=341,504,127,)
nfa=-2071.34 inliers=623/670 precisionNormalized=0.000106279 precision=23.7523 (iter=11 ,sample=610,562,118,)
nfa=-2161.68 inliers=599/670 precisionNormalized=4.93822e-05 precision=16.1908 (iter=24 ,sample=273,219,404,)
nfa=-2168.74 inliers=626/670 precisionNormalized=7.80043e-05 precision=20.3489 (iter=133 ,sample=102,230,472,)
nfa=-2170.93 inliers=622/670 precisionNormalized=7.20992e-05 precision=19.5636 (iter=152 ,sample=645,654,330,)
nfa=-2195.26 inliers=618/670 precisionNormalized=6.12991e-05 precision=18.0389 (iter=195 ,sample=193,360,534,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 670
-- #Points validated by robust Resection: 618
-- Threshold: 18.0389
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 618
#residuals: 1236
Initial RMSE: 4.59139
Final RMSE: 4.01205
Time (s): 0.00237162
-------------------------------
-- Robust Resection of view: 138
nfa=-1664.7 inliers=803/854 precisionNormalized=0.00201514 precision=103.427 (iter=0 ,sample=695,116,773,)
nfa=-1804.68 inliers=816/854 precisionNormalized=0.00153937 precision=90.3971 (iter=0 ,sample=695,116,773,)
nfa=-2461.3 inliers=818/854 precisionNormalized=0.00024573 precision=36.117 (iter=1 ,sample=3,406,310,)
nfa=-2486.65 inliers=805/854 precisionNormalized=0.000193937 precision=32.0858 (iter=3 ,sample=32,251,103,)
nfa=-2586.4 inliers=826/854 precisionNormalized=0.000191552 precision=31.8879 (iter=11 ,sample=112,85,156,)
nfa=-2591.32 inliers=808/854 precisionNormalized=0.000149316 precision=28.1537 (iter=163 ,sample=115,162,736,)
nfa=-2630.41 inliers=796/854 precisionNormalized=0.000113872 precision=24.5861 (iter=188 ,sample=726,276,630,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 854
-- #Points validated by robust Resection: 796
-- Threshold: 24.5861
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 796
#residuals: 1592
Initial RMSE: 6.40769
Final RMSE: 5.44466
Time (s): 0.0029875
-------------------------------
-- Robust Resection of view: 142
nfa=-1102.62 inliers=669/689 precisionNormalized=0.00593063 precision=177.432 (iter=0 ,sample=561,94,624,)
nfa=-1595.31 inliers=676/689 precisionNormalized=0.00119016 precision=79.4849 (iter=1 ,sample=469,523,571,)
nfa=-1855.29 inliers=632/689 precisionNormalized=0.000252185 precision=36.5883 (iter=2 ,sample=466,550,241,)
nfa=-1961 inliers=628/689 precisionNormalized=0.000160716 precision=29.2087 (iter=6 ,sample=43,184,616,)
nfa=-1967.86 inliers=619/689 precisionNormalized=0.00013567 precision=26.8364 (iter=10 ,sample=555,620,95,)
nfa=-1997.34 inliers=608/689 precisionNormalized=0.000101366 precision=23.1968 (iter=14 ,sample=581,312,90,)
nfa=-2005.01 inliers=617/689 precisionNormalized=0.000114256 precision=24.6276 (iter=16 ,sample=644,296,6,)
nfa=-2038.56 inliers=605/689 precisionNormalized=8.23337e-05 precision=20.906 (iter=17 ,sample=630,171,211,)
nfa=-2072.47 inliers=596/689 precisionNormalized=6.18282e-05 precision=18.1166 (iter=22 ,sample=600,127,138,)
nfa=-2092.77 inliers=544/689 precisionNormalized=2.13824e-05 precision=10.6539 (iter=77 ,sample=188,393,491,)
nfa=-2101.27 inliers=588/689 precisionNormalized=4.78942e-05 precision=15.945 (iter=188 ,sample=352,667,650,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 689
-- #Points validated by robust Resection: 588
-- Threshold: 15.945
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 588
#residuals: 1176
Initial RMSE: 3.74265
Final RMSE: 3.02226
Time (s): 0.00224192
-------------------------------
-- Robust Resection of view: 141
nfa=-1817.66 inliers=1333/1494 precisionNormalized=0.00914621 precision=220.345 (iter=0 ,sample=1217,203,1353,)
nfa=-4482.12 inliers=1336/1494 precisionNormalized=9.27643e-05 precision=22.1908 (iter=0 ,sample=1217,203,1353,)
nfa=-4516.33 inliers=1411/1494 precisionNormalized=0.000154219 precision=28.6122 (iter=11 ,sample=1404,1346,433,)
nfa=-4572.63 inliers=1359/1494 precisionNormalized=9.48244e-05 precision=22.4358 (iter=19 ,sample=606,1446,1228,)
nfa=-4578.63 inliers=1373/1494 precisionNormalized=0.000104496 precision=23.5522 (iter=24 ,sample=471,257,220,)
nfa=-4633.36 inliers=1363/1494 precisionNormalized=8.82184e-05 precision=21.6402 (iter=26 ,sample=830,1338,1309,)
nfa=-4688.17 inliers=1370/1494 precisionNormalized=8.49007e-05 precision=21.2294 (iter=30 ,sample=1408,923,594,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1494
-- #Points validated by robust Resection: 1370
-- Threshold: 21.2294
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1370
#residuals: 2740
Initial RMSE: 4.5205
Final RMSE: 4.04524
Time (s): 0.00493418
-------------------------------
-- Robust Resection of view: 140
nfa=-740.816 inliers=1388/1614 precisionNormalized=0.0568995 precision=549.587 (iter=0 ,sample=1314,219,1462,)
nfa=-3348.23 inliers=1573/1614 precisionNormalized=0.00204205 precision=104.116 (iter=0 ,sample=1314,219,1462,)
nfa=-3799.28 inliers=1532/1614 precisionNormalized=0.000828958 precision=66.3359 (iter=1 ,sample=756,743,318,)
nfa=-4747.72 inliers=1558/1614 precisionNormalized=0.000236704 precision=35.4475 (iter=3 ,sample=654,985,1,)
nfa=-4761.43 inliers=1532/1614 precisionNormalized=0.000194563 precision=32.1375 (iter=394 ,sample=1167,599,950,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1614
-- #Points validated by robust Resection: 1532
-- Threshold: 32.1375
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1532
#residuals: 3064
Initial RMSE: 6.09032
Final RMSE: 5.64249
Time (s): 0.00907846
-------------------------------
-- Robust Resection of view: 139
nfa=-3610.83 inliers=1659/1712 precisionNormalized=0.00179252 precision=97.5472 (iter=0 ,sample=1394,232,1550,)
nfa=-3628.51 inliers=1656/1712 precisionNormalized=0.00172186 precision=95.6052 (iter=1 ,sample=1503,747,824,)
nfa=-4457.59 inliers=1617/1712 precisionNormalized=0.000431663 precision=47.8691 (iter=2 ,sample=48,795,209,)
nfa=-5157.18 inliers=1586/1712 precisionNormalized=0.000130033 precision=26.273 (iter=3 ,sample=1314,1183,1258,)
nfa=-5160.64 inliers=1620/1712 precisionNormalized=0.000161348 precision=29.2661 (iter=171 ,sample=1578,819,677,)
nfa=-5170.39 inliers=1607/1712 precisionNormalized=0.000146261 precision=27.8642 (iter=346 ,sample=963,450,730,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1712
-- #Points validated by robust Resection: 1607
-- Threshold: 27.8642
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1607
#residuals: 3214
Initial RMSE: 6.55333
Final RMSE: 5.51448
Time (s): 0.00576644
-------------------------------
-- Robust Resection of view: 144
nfa=-535.825 inliers=938/1493 precisionNormalized=0.0289209 precision=391.822 (iter=0 ,sample=1216,203,1352,)
nfa=-3276.59 inliers=1473/1493 precisionNormalized=0.00171673 precision=95.4626 (iter=0 ,sample=1216,203,1352,)
nfa=-4326.93 inliers=1379/1493 precisionNormalized=0.000167049 precision=29.7786 (iter=2 ,sample=14,760,205,)
nfa=-4583.13 inliers=1398/1493 precisionNormalized=0.000125612 precision=25.8225 (iter=11 ,sample=881,374,1001,)
nfa=-4611.5 inliers=1397/1493 precisionNormalized=0.000118954 precision=25.1288 (iter=30 ,sample=687,1059,971,)
nfa=-4702.69 inliers=1355/1493 precisionNormalized=7.37834e-05 precision=19.7907 (iter=44 ,sample=1124,718,878,)
nfa=-4720.31 inliers=1370/1493 precisionNormalized=8.05674e-05 precision=20.6805 (iter=96 ,sample=1116,685,333,)
nfa=-4723.09 inliers=1328/1493 precisionNormalized=5.74174e-05 precision=17.4584 (iter=164 ,sample=1223,914,754,)
nfa=-4787.86 inliers=1327/1493 precisionNormalized=5.08742e-05 precision=16.4335 (iter=167 ,sample=1301,1128,210,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1493
-- #Points validated by robust Resection: 1327
-- Threshold: 16.4335
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1327
#residuals: 2654
Initial RMSE: 4.16129
Final RMSE: 3.77829
Time (s): 0.0047657
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 11
#intrinsics: 1
#tracks: 7885
#residuals: 48733
Initial RMSE: 3.23619
Final RMSE: 0.465634
Time (s): 31.8042
Usable motion priors: 1
Pose prior statistics (user units):
- Starting median fitting error: 4.6481
- Final fitting error:
min: 1.15802
mean: 4.009
median: 4.37693
max: 6.25952
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 11
#intrinsics: 1
#tracks: 6916
#residuals: 44711
Initial RMSE: 0.359157
Final RMSE: 0.316313
Time (s): 5.32172
Usable motion priors: 1
Pose prior statistics (user units):
- Starting median fitting error: 3.45266
- Final fitting error:
min: 1.27934
mean: 4.00777
median: 4.45709
max: 6.02855
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 11
#intrinsics: 1
#tracks: 6738
#residuals: 43989
Initial RMSE: 0.324879
Final RMSE: 0.316385
Time (s): 7.4322
Usable motion priors: 1
Pose prior statistics (user units):
- Starting median fitting error: 3.17745
- Final fitting error:
min: 1.28156
mean: 4.00765
median: 4.4568
max: 6.02637
-------------------------------
-- Robust Resection of view: 145
nfa=10.199 inliers=29/1193 precisionNormalized=0.00240417 precision=56.5108 (iter=0 ,sample=971,162,1080,)
nfa=-3731.63 inliers=1150/1193 precisionNormalized=0.000147758 precision=14.0095 (iter=0 ,sample=971,162,1080,)
nfa=-3984.23 inliers=1168/1193 precisionNormalized=0.000106593 precision=11.8991 (iter=1 ,sample=325,865,1022,)
nfa=-5010.45 inliers=1110/1193 precisionNormalized=6.94142e-06 precision=3.0365 (iter=3 ,sample=963,50,42,)
nfa=-5044.71 inliers=1107/1193 precisionNormalized=6.22156e-06 precision=2.87474 (iter=19 ,sample=117,777,396,)
nfa=-5059.73 inliers=1106/1193 precisionNormalized=5.95173e-06 precision=2.81171 (iter=89 ,sample=267,942,611,)
nfa=-5065.93 inliers=1101/1193 precisionNormalized=5.51941e-06 precision=2.70766 (iter=280 ,sample=469,23,1058,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1193
-- #Points validated by robust Resection: 1101
-- Threshold: 2.70766
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1101
#residuals: 2202
Initial RMSE: 0.53982
Final RMSE: 0.526053
Time (s): 0.00263564
-------------------------------
-- Robust Resection of view: 146
nfa=-0.289474 inliers=39/1291 precisionNormalized=0.00160267 precision=46.1392 (iter=0 ,sample=1051,175,1169,)
nfa=-4683.23 inliers=1237/1291 precisionNormalized=4.15567e-05 precision=7.42966 (iter=0 ,sample=1051,175,1169,)
nfa=-5121.37 inliers=1190/1291 precisionNormalized=1.10905e-05 precision=3.83816 (iter=11 ,sample=176,241,1215,)
nfa=-5240.7 inliers=1213/1291 precisionNormalized=1.12839e-05 precision=3.87149 (iter=18 ,sample=328,1094,576,)
nfa=-5274.87 inliers=1206/1291 precisionNormalized=9.78795e-06 precision=3.60574 (iter=19 ,sample=821,159,83,)
nfa=-5322.62 inliers=1167/1291 precisionNormalized=5.75009e-06 precision=2.76367 (iter=50 ,sample=231,1288,307,)
nfa=-5336.34 inliers=1176/1291 precisionNormalized=6.20198e-06 precision=2.87021 (iter=98 ,sample=1046,739,290,)
nfa=-5356.44 inliers=1174/1291 precisionNormalized=5.8223e-06 precision=2.78097 (iter=237 ,sample=1094,786,2,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1291
-- #Points validated by robust Resection: 1174
-- Threshold: 2.78097
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1174
#residuals: 2348
Initial RMSE: 0.539966
Final RMSE: 0.514854
Time (s): 0.00397701
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 13
#intrinsics: 1
#tracks: 8279
#residuals: 56445
Initial RMSE: 0.366236
Final RMSE: 0.330336
Time (s): 10.0795
Usable motion priors: 1
Pose prior statistics (user units):
- Starting median fitting error: 3.14604
- Final fitting error:
min: 2.3044
mean: 4.04452
median: 4.41799
max: 6.0047
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 13
#intrinsics: 1
#tracks: 8185
#residuals: 56039
Initial RMSE: 0.323852
Final RMSE: 0.318164
Time (s): 9.498
Usable motion priors: 1
Pose prior statistics (user units):
- Starting median fitting error: 3.15372
- Final fitting error:
min: 2.30759
mean: 4.04665
median: 4.42285
max: 6.00454
-------------------------------
-- Robust Resection of view: 2
nfa=-615.225 inliers=906/1244 precisionNormalized=0.0288586 precision=195.571 (iter=0 ,sample=1013,169,1126,)
nfa=-5425.36 inliers=1152/1244 precisionNormalized=4.3238e-06 precision=2.39386 (iter=0 ,sample=1013,169,1126,)
nfa=-5426.02 inliers=1165/1244 precisionNormalized=5.0576e-06 precision=2.58904 (iter=10 ,sample=1152,413,1053,)
nfa=-5430.31 inliers=1169/1244 precisionNormalized=5.26154e-06 precision=2.64072 (iter=22 ,sample=408,1050,942,)
nfa=-5454.61 inliers=1154/1244 precisionNormalized=4.17231e-06 precision=2.35155 (iter=98 ,sample=658,128,773,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1244
-- #Points validated by robust Resection: 1154
-- Threshold: 2.35155
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1154
#residuals: 2308
Initial RMSE: 0.452682
Final RMSE: 0.44446
Time (s): 0.00287778
-------------------------------
-- Robust Resection of view: 3
nfa=-74.1621 inliers=246/1264 precisionNormalized=0.0111972 precision=121.821 (iter=0 ,sample=1029,172,1145,)
nfa=-4936.93 inliers=1207/1264 precisionNormalized=2.0277e-05 precision=5.18404 (iter=0 ,sample=1029,172,1145,)
nfa=-5054.33 inliers=1199/1264 precisionNormalized=1.48331e-05 precision=4.43386 (iter=3 ,sample=608,70,893,)
nfa=-5090.84 inliers=1190/1264 precisionNormalized=1.25222e-05 precision=4.07387 (iter=4 ,sample=228,30,114,)
nfa=-5242.77 inliers=1203/1264 precisionNormalized=1.07539e-05 precision=3.77528 (iter=7 ,sample=1248,912,984,)
nfa=-5318.95 inliers=1184/1264 precisionNormalized=7.47118e-06 precision=3.14674 (iter=10 ,sample=278,240,1090,)
nfa=-5329.41 inliers=1175/1264 precisionNormalized=6.59625e-06 precision=2.95675 (iter=20 ,sample=301,354,1019,)
nfa=-5330.02 inliers=1169/1264 precisionNormalized=6.14437e-06 precision=2.85368 (iter=37 ,sample=522,72,427,)
nfa=-5359.74 inliers=1188/1264 precisionNormalized=7.21623e-06 precision=3.09259 (iter=89 ,sample=845,1086,707,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1264
-- #Points validated by robust Resection: 1188
-- Threshold: 3.09259
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1188
#residuals: 2376
Initial RMSE: 0.615797
Final RMSE: 0.559832
Time (s): 0.0025117
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 15
#intrinsics: 1
#tracks: 9284
#residuals: 66487
Initial RMSE: 0.351144
Final RMSE: 0.325536
Time (s): 5.5895
Usable motion priors: 1
Pose prior statistics (user units):
- Starting median fitting error: 3.95568
- Final fitting error:
min: 1.41691
mean: 4.0846
median: 4.29066
max: 6.04175
-------------------------------
-- Robust Resection of view: 4
nfa=-71.7896 inliers=127/1218 precisionNormalized=0.00272122 precision=60.3998 (iter=0 ,sample=992,165,1103,)
nfa=-4817.58 inliers=1127/1218 precisionNormalized=1.19645e-05 precision=4.00498 (iter=0 ,sample=992,165,1103,)
nfa=-4881.53 inliers=1115/1218 precisionNormalized=9.11819e-06 precision=3.4963 (iter=3 ,sample=441,934,852,)
nfa=-4901.73 inliers=1126/1218 precisionNormalized=9.93537e-06 precision=3.64961 (iter=64 ,sample=568,57,599,)
nfa=-4948.92 inliers=1105/1218 precisionNormalized=7.02691e-06 precision=3.06928 (iter=95 ,sample=902,719,906,)
nfa=-4950.33 inliers=1097/1218 precisionNormalized=6.36246e-06 precision=2.92056 (iter=116 ,sample=913,949,252,)
nfa=-4952.56 inliers=1105/1218 precisionNormalized=6.97272e-06 precision=3.05742 (iter=148 ,sample=825,1042,322,)
nfa=-4954.45 inliers=1118/1218 precisionNormalized=8.1062e-06 precision=3.29657 (iter=297 ,sample=83,645,373,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1218
-- #Points validated by robust Resection: 1118
-- Threshold: 3.29657
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1118
#residuals: 2236
Initial RMSE: 0.67978
Final RMSE: 0.623744
Time (s): 0.00290974
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 16
#intrinsics: 1
#tracks: 10182
#residuals: 73048
Initial RMSE: 0.33924
Final RMSE: 0.325418
Time (s): 5.96977
Usable motion priors: 1
Pose prior statistics (user units):
- Starting median fitting error: 3.96875
- Final fitting error:
min: 1.16228
mean: 3.9764
median: 4.41576
max: 6.06157
-------------------------------
-- Robust Resection of view: 5
nfa=13.6311 inliers=4/1239 precisionNormalized=0.00704422 precision=97.2371 (iter=0 ,sample=1009,168,1122,)
nfa=12.2731 inliers=4/1239 precisionNormalized=0.000308779 precision=20.3582 (iter=0 ,sample=1009,168,1122,)
nfa=-4688.04 inliers=1152/1239 precisionNormalized=1.95756e-05 precision=5.12593 (iter=0 ,sample=1009,168,1122,)
nfa=-4741.67 inliers=1185/1239 precisionNormalized=2.50292e-05 precision=5.79615 (iter=1 ,sample=115,952,627,)
nfa=-4859.5 inliers=1156/1239 precisionNormalized=1.44741e-05 precision=4.40769 (iter=14 ,sample=108,904,296,)
nfa=-5088.93 inliers=1157/1239 precisionNormalized=9.21533e-06 precision=3.51699 (iter=19 ,sample=446,1076,529,)
nfa=-5095.54 inliers=1134/1239 precisionNormalized=6.96012e-06 precision=3.0565 (iter=105 ,sample=978,142,1028,)
nfa=-5108.01 inliers=1146/1239 precisionNormalized=7.80655e-06 precision=3.23702 (iter=164 ,sample=847,986,1170,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1239
-- #Points validated by robust Resection: 1146
-- Threshold: 3.23702
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1146
#residuals: 2292
Initial RMSE: 0.596257
Final RMSE: 0.585252
Time (s): 0.00271631
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 17
#intrinsics: 1
#tracks: 10666
#residuals: 77673
Initial RMSE: 0.340687
Final RMSE: 0.328582
Time (s): 3.01785
Usable motion priors: 1
Pose prior statistics (user units):
- Starting median fitting error: 3.83294
- Final fitting error:
min: 1.00277
mean: 3.9325
median: 4.44388
max: 6.2217
-------------------------------
-- Robust Resection of view: 6
nfa=3.60019 inliers=83/1093 precisionNormalized=0.00728683 precision=99.0485 (iter=0 ,sample=890,148,990,)
nfa=-6.22987 inliers=46/1093 precisionNormalized=0.00189649 precision=50.5305 (iter=0 ,sample=890,148,990,)
nfa=-3888.67 inliers=1036/1093 precisionNormalized=4.29329e-05 precision=7.6028 (iter=0 ,sample=890,148,990,)
nfa=-4285.9 inliers=986/1093 precisionNormalized=9.37521e-06 precision=3.55279 (iter=6 ,sample=518,399,878,)
nfa=-4438.99 inliers=975/1093 precisionNormalized=5.61056e-06 precision=2.74841 (iter=18 ,sample=174,95,219,)
nfa=-4471.74 inliers=980/1093 precisionNormalized=5.5515e-06 precision=2.73391 (iter=29 ,sample=1035,396,111,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1093
-- #Points validated by robust Resection: 980
-- Threshold: 2.73391
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 980
#residuals: 1960
Initial RMSE: 0.510249
Final RMSE: 0.503941
Time (s): 0.00248991
-------------------------------
-- Robust Resection of view: 7
nfa=-1024.2 inliers=1083/1186 precisionNormalized=0.0253459 precision=184.728 (iter=0 ,sample=966,161,1074,)
nfa=-3079.11 inliers=1138/1186 precisionNormalized=0.000505172 precision=26.0794 (iter=0 ,sample=966,161,1074,)
nfa=-4238.87 inliers=1106/1186 precisionNormalized=3.41401e-05 precision=6.7797 (iter=1 ,sample=55,190,772,)
nfa=-4611.99 inliers=1116/1186 precisionNormalized=1.74873e-05 precision=4.85222 (iter=2 ,sample=1100,1024,1017,)
nfa=-4730.72 inliers=1103/1186 precisionNormalized=1.17313e-05 precision=3.97422 (iter=8 ,sample=1110,46,754,)
nfa=-4810.53 inliers=1095/1186 precisionNormalized=9.00423e-06 precision=3.48178 (iter=15 ,sample=592,974,610,)
nfa=-4830.44 inliers=1092/1186 precisionNormalized=8.32223e-06 precision=3.34733 (iter=44 ,sample=1075,955,991,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1186
-- #Points validated by robust Resection: 1092
-- Threshold: 3.34733
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1092
#residuals: 2184
Initial RMSE: 0.736344
Final RMSE: 0.611779
Time (s): 0.00256702
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 19
#intrinsics: 1
#tracks: 11851
#residuals: 88023
Initial RMSE: 0.351791
Final RMSE: 0.335321
Time (s): 7.71724
Usable motion priors: 1
Pose prior statistics (user units):
- Starting median fitting error: 4.16949
- Final fitting error:
min: 1.19004
mean: 4.08527
median: 4.44999
max: 6.01861
-------------------------------
-- Robust Resection of view: 8
nfa=-712.404 inliers=594/1166 precisionNormalized=0.00486916 precision=81.2871 (iter=0 ,sample=949,158,1056,)
nfa=-3373.93 inliers=1123/1166 precisionNormalized=0.000256537 precision=18.6582 (iter=0 ,sample=949,158,1056,)
nfa=-4699.96 inliers=1030/1166 precisionNormalized=5.35914e-06 precision=2.69676 (iter=1 ,sample=528,67,569,)
nfa=-4717.19 inliers=1043/1166 precisionNormalized=6.08802e-06 precision=2.8743 (iter=206 ,sample=641,825,838,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1166
-- #Points validated by robust Resection: 1043
-- Threshold: 2.8743
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1043
#residuals: 2086
Initial RMSE: 0.58141
Final RMSE: 0.550891
Time (s): 0.00285178
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 20
#intrinsics: 1
#tracks: 13009
#residuals: 95440
Initial RMSE: 0.34345
Final RMSE: 0.332469
Time (s): 6.8932
Usable motion priors: 1
Pose prior statistics (user units):
- Starting median fitting error: 4.22493
- Final fitting error:
min: 1.28322
mean: 4.20588
median: 4.60686
max: 5.93843
-------------------------------
-- Robust Resection of view: 9
nfa=5.45383 inliers=32/1243 precisionNormalized=0.00177356 precision=48.9903 (iter=0 ,sample=1012,169,1126,)
nfa=-5025.81 inliers=1168/1243 precisionNormalized=1.17379e-05 precision=3.9855 (iter=0 ,sample=1012,169,1126,)
nfa=-5070.86 inliers=1134/1243 precisionNormalized=7.26068e-06 precision=3.13455 (iter=64 ,sample=648,17,320,)
nfa=-5076.8 inliers=1155/1243 precisionNormalized=9.14384e-06 precision=3.51764 (iter=109 ,sample=938,460,661,)
nfa=-5113.72 inliers=1146/1243 precisionNormalized=7.64586e-06 precision=3.21662 (iter=113 ,sample=643,808,316,)
nfa=-5123.34 inliers=1149/1243 precisionNormalized=7.76283e-06 precision=3.24114 (iter=144 ,sample=42,522,1141,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1243
-- #Points validated by robust Resection: 1149
-- Threshold: 3.24114
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1149
#residuals: 2298
Initial RMSE: 0.640322
Final RMSE: 0.61725
Time (s): 0.00314587
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 21
#intrinsics: 1
#tracks: 13995
#residuals: 102045
Initial RMSE: 0.344599
Final RMSE: 0.331286
Time (s): 8.7044
Usable motion priors: 1
Pose prior statistics (user units):
- Starting median fitting error: 4.25595
- Final fitting error:
min: 1.42586
mean: 4.35083
median: 4.52439
max: 6.50456
-------------------------------
-- Robust Resection of view: 10
nfa=-835.123 inliers=1126/1323 precisionNormalized=0.0342348 precision=214.889 (iter=0 ,sample=1077,180,1198,)
nfa=-3862.49 inliers=1300/1323 precisionNormalized=0.000300038 precision=20.1173 (iter=0 ,sample=1077,180,1198,)
nfa=-4603.8 inliers=1278/1323 precisionNormalized=6.54168e-05 precision=9.39346 (iter=2 ,sample=1193,196,785,)
nfa=-5196.72 inliers=1253/1323 precisionNormalized=1.73224e-05 precision=4.83376 (iter=4 ,sample=1232,736,876,)
nfa=-5512.58 inliers=1224/1323 precisionNormalized=7.02612e-06 precision=3.0785 (iter=11 ,sample=676,586,484,)
nfa=-5519.41 inliers=1228/1323 precisionNormalized=7.24646e-06 precision=3.12639 (iter=13 ,sample=1104,818,1224,)
nfa=-5536.15 inliers=1220/1323 precisionNormalized=6.42453e-06 precision=2.94375 (iter=48 ,sample=290,681,1026,)
nfa=-5542.58 inliers=1190/1323 precisionNormalized=4.52048e-06 precision=2.4693 (iter=103 ,sample=753,530,86,)
nfa=-5597.79 inliers=1220/1323 precisionNormalized=5.70421e-06 precision=2.77382 (iter=113 ,sample=808,1013,14,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1323
-- #Points validated by robust Resection: 1220
-- Threshold: 2.77382
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1220
#residuals: 2440
Initial RMSE: 0.498092
Final RMSE: 0.486739
Time (s): 0.00323575
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 22
#intrinsics: 1
#tracks: 15089
#residuals: 109018
Initial RMSE: 0.332858
Final RMSE: 0.326323
Time (s): 4.83746
Usable motion priors: 1
Pose prior statistics (user units):
- Starting median fitting error: 4.32566
- Final fitting error:
min: 1.38467
mean: 4.26668
median: 4.50915
max: 6.69731
-------------------------------
-- Robust Resection of view: 11
nfa=-5053.48 inliers=1217/1303 precisionNormalized=1.63965e-05 precision=4.70206 (iter=0 ,sample=1061,177,1180,)
nfa=-5278.71 inliers=1173/1303 precisionNormalized=6.56413e-06 precision=2.9751 (iter=7 ,sample=378,852,811,)
nfa=-5388.95 inliers=1186/1303 precisionNormalized=6.10314e-06 precision=2.86873 (iter=18 ,sample=829,809,1068,)
nfa=-5415.31 inliers=1194/1303 precisionNormalized=6.34176e-06 precision=2.92427 (iter=26 ,sample=0,546,1056,)
nfa=-5449.42 inliers=1158/1303 precisionNormalized=3.90254e-06 precision=2.29396 (iter=59 ,sample=374,211,984,)
nfa=-5464.85 inliers=1173/1303 precisionNormalized=4.51413e-06 precision=2.46717 (iter=89 ,sample=677,596,697,)
nfa=-5482.49 inliers=1163/1303 precisionNormalized=3.87041e-06 precision=2.2845 (iter=103 ,sample=1056,486,865,)
nfa=-5497.58 inliers=1175/1303 precisionNormalized=4.32568e-06 precision=2.41512 (iter=302 ,sample=21,451,935,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1303
-- #Points validated by robust Resection: 1175
-- Threshold: 2.41512
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1175
#residuals: 2350
Initial RMSE: 0.463057
Final RMSE: 0.445603
Time (s): 0.00309207
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 23
#intrinsics: 1
#tracks: 16257
#residuals: 116385
Initial RMSE: 0.331273
Final RMSE: 0.322748
Time (s): 9.13776
Usable motion priors: 1
Pose prior statistics (user units):
- Starting median fitting error: 4.65173
- Final fitting error:
min: 1.49691
mean: 4.53758
median: 4.67024
max: 9.64272
-------------------------------
-- Robust Resection of view: 13
nfa=-32.1405 inliers=460/1239 precisionNormalized=0.0432075 precision=241.391 (iter=0 ,sample=1009,168,1122,)
nfa=-4653.16 inliers=1173/1239 precisionNormalized=2.6236e-05 precision=5.94826 (iter=0 ,sample=1009,168,1122,)
nfa=-5232.19 inliers=1145/1239 precisionNormalized=5.98065e-06 precision=2.83998 (iter=1 ,sample=15,120,590,)
nfa=-5294.32 inliers=1121/1239 precisionNormalized=3.92123e-06 precision=2.2996 (iter=22 ,sample=906,160,201,)
nfa=-5300.01 inliers=1121/1239 precisionNormalized=3.87418e-06 precision=2.28576 (iter=89 ,sample=311,886,1174,)
nfa=-5313.14 inliers=1128/1239 precisionNormalized=4.11064e-06 precision=2.35449 (iter=140 ,sample=396,1070,602,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1239
-- #Points validated by robust Resection: 1128
-- Threshold: 2.35449
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1128
#residuals: 2256
Initial RMSE: 0.415835
Final RMSE: 0.41244
Time (s): 0.0029631
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 24
#intrinsics: 1
#tracks: 17361
#residuals: 123200
Initial RMSE: 0.324675
Final RMSE: 0.318704
Time (s): 8.44698
Usable motion priors: 1
Pose prior statistics (user units):
- Starting median fitting error: 4.34684
- Final fitting error:
min: 1.58747
mean: 4.58408
median: 4.7683
max: 9.80597
-------------------------------
-- Robust Resection of view: 14
nfa=12.6588 inliers=4/1234 precisionNormalized=0.000765998 precision=32.1498 (iter=0 ,sample=1005,168,1117,)
nfa=-4774.2 inliers=1173/1234 precisionNormalized=2.09143e-05 precision=5.31234 (iter=0 ,sample=1005,168,1117,)
nfa=-5126.59 inliers=1122/1234 precisionNormalized=5.71772e-06 precision=2.77764 (iter=2 ,sample=437,458,1056,)
nfa=-5209.6 inliers=1104/1234 precisionNormalized=3.84023e-06 precision=2.27637 (iter=14 ,sample=920,799,1036,)
nfa=-5213.91 inliers=1083/1234 precisionNormalized=2.90757e-06 precision=1.98075 (iter=44 ,sample=853,1220,469,)
nfa=-5239.24 inliers=1073/1234 precisionNormalized=2.40744e-06 precision=1.80236 (iter=69 ,sample=634,1121,1018,)
nfa=-5297.61 inliers=1093/1234 precisionNormalized=2.75317e-06 precision=1.92744 (iter=109 ,sample=914,401,167,)
nfa=-5297.66 inliers=1106/1234 precisionNormalized=3.25658e-06 precision=2.09626 (iter=142 ,sample=361,679,1087,)
nfa=-5327.26 inliers=1093/1234 precisionNormalized=2.5788e-06 precision=1.8654 (iter=230 ,sample=354,1084,555,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1234
-- #Points validated by robust Resection: 1093
-- Threshold: 1.8654
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1093
#residuals: 2186
Initial RMSE: 0.399405
Final RMSE: 0.381869
Time (s): 0.00301611
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 25
#intrinsics: 1
#tracks: 18497
#residuals: 130121
Initial RMSE: 0.322765
Final RMSE: 0.314684
Time (s): 11.2422
Usable motion priors: 1
Pose prior statistics (user units):
- Starting median fitting error: 4.08472
- Final fitting error:
min: 1.51252
mean: 4.72566
median: 4.99087
max: 8.64176
-------------------------------
-- Robust Resection of view: 15
nfa=-177.931 inliers=481/1209 precisionNormalized=0.0235942 precision=178.403 (iter=0 ,sample=985,164,1095,)
nfa=-4870.36 inliers=1099/1209 precisionNormalized=7.88591e-06 precision=3.26155 (iter=0 ,sample=985,164,1095,)
nfa=-4994.35 inliers=1093/1209 precisionNormalized=5.62036e-06 precision=2.75347 (iter=1 ,sample=728,270,353,)
nfa=-5056.93 inliers=1083/1209 precisionNormalized=4.32919e-06 precision=2.41658 (iter=19 ,sample=853,1014,679,)
nfa=-5085.28 inliers=1083/1209 precisionNormalized=4.06832e-06 precision=2.34264 (iter=100 ,sample=431,693,350,)
nfa=-5086.45 inliers=1081/1209 precisionNormalized=3.95546e-06 precision=2.30992 (iter=114 ,sample=679,211,520,)
nfa=-5087.13 inliers=1088/1209 precisionNormalized=4.31774e-06 precision=2.41338 (iter=163 ,sample=417,185,546,)
nfa=-5091.73 inliers=1081/1209 precisionNormalized=3.90973e-06 precision=2.29653 (iter=262 ,sample=973,331,303,)
nfa=-5096.57 inliers=1087/1209 precisionNormalized=4.17634e-06 precision=2.37354 (iter=325 ,sample=637,538,940,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1209
-- #Points validated by robust Resection: 1087
-- Threshold: 2.37354
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1087
#residuals: 2174
Initial RMSE: 0.451976
Final RMSE: 0.425328
Time (s): 0.00306899
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 26
#intrinsics: 1
#tracks: 19510
#residuals: 136484
Initial RMSE: 0.31716
Final RMSE: 0.311773
Time (s): 3.64014
Usable motion priors: 1
Pose prior statistics (user units):
- Starting median fitting error: 4.3585
- Final fitting error:
min: 1.59497
mean: 4.73676
median: 4.93563
max: 9.27597
-------------------------------
-- Robust Resection of view: 16
nfa=15.7143 inliers=4/1149 precisionNormalized=1.24452 precision=1295.83 (iter=0 ,sample=936,156,1040,)
nfa=-93.6387 inliers=244/1149 precisionNormalized=0.0101959 precision=117.29 (iter=0 ,sample=936,156,1040,)
nfa=-3317.96 inliers=1117/1149 precisionNormalized=0.000286755 precision=19.6699 (iter=0 ,sample=936,156,1040,)
nfa=-4735.7 inliers=1067/1149 precisionNormalized=8.22546e-06 precision=3.3314 (iter=1 ,sample=1087,789,879,)
nfa=-4838.3 inliers=1062/1149 precisionNormalized=6.15726e-06 precision=2.88231 (iter=16 ,sample=114,418,890,)
nfa=-4867.33 inliers=1055/1149 precisionNormalized=5.27262e-06 precision=2.66723 (iter=22 ,sample=1067,409,686,)
nfa=-4875.8 inliers=1060/1149 precisionNormalized=5.52107e-06 precision=2.72935 (iter=114 ,sample=88,960,483,)
nfa=-4881.34 inliers=1037/1149 precisionNormalized=4.02694e-06 precision=2.33096 (iter=130 ,sample=304,977,375,)
nfa=-4888.56 inliers=1061/1149 precisionNormalized=5.43657e-06 precision=2.70838 (iter=157 ,sample=682,627,971,)
nfa=-4892.44 inliers=1055/1149 precisionNormalized=4.98419e-06 precision=2.59325 (iter=278 ,sample=793,838,643,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1149
-- #Points validated by robust Resection: 1055
-- Threshold: 2.59325
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1055
#residuals: 2110
Initial RMSE: 0.494289
Final RMSE: 0.469847
Time (s): 0.00285276
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 27
#intrinsics: 1
#tracks: 20390
#residuals: 142209
Initial RMSE: 0.315021
Final RMSE: 0.309628
Time (s): 7.75202
Usable motion priors: 1
Pose prior statistics (user units):
- Starting median fitting error: 4.89865
- Final fitting error:
min: 1.5736
mean: 4.70831
median: 4.93947
max: 8.85205
-------------------------------
-- Robust Resection of view: 17
nfa=-1964.87 inliers=889/932 precisionNormalized=0.00154148 precision=45.6037 (iter=0 ,sample=759,127,844,)
nfa=-3387.13 inliers=882/932 precisionNormalized=3.46619e-05 precision=6.83844 (iter=1 ,sample=921,154,332,)
nfa=-3424.62 inliers=871/932 precisionNormalized=2.69712e-05 precision=6.03228 (iter=2 ,sample=881,274,893,)
nfa=-3593.91 inliers=882/932 precisionNormalized=2.01154e-05 precision=5.20949 (iter=3 ,sample=244,131,387,)
nfa=-3845.83 inliers=862/932 precisionNormalized=7.60975e-06 precision=3.20417 (iter=4 ,sample=325,598,581,)
nfa=-3849.11 inliers=878/932 precisionNormalized=9.64557e-06 precision=3.60741 (iter=10 ,sample=46,896,181,)
nfa=-3949.46 inliers=841/932 precisionNormalized=4.08039e-06 precision=2.34629 (iter=19 ,sample=569,803,564,)
nfa=-4002 inliers=838/932 precisionNormalized=3.34282e-06 precision=2.12367 (iter=22 ,sample=683,801,150,)
nfa=-4008.43 inliers=844/932 precisionNormalized=3.63017e-06 precision=2.21307 (iter=29 ,sample=329,505,80,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 932
-- #Points validated by robust Resection: 844
-- Threshold: 2.21307
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 844
#residuals: 1688
Initial RMSE: 0.412009
Final RMSE: 0.399126
Time (s): 0.00243212
-------------------------------
-- Robust Resection of view: 132
nfa=-77.6063 inliers=144/746 precisionNormalized=0.00589359 precision=89.1704 (iter=0 ,sample=607,101,675,)
nfa=-77.6063 inliers=144/746 precisionNormalized=0.00589359 precision=89.1704 (iter=0 ,sample=607,101,675,)
nfa=-2333.95 inliers=730/746 precisionNormalized=0.000170544 precision=15.1687 (iter=0 ,sample=607,101,675,)
nfa=-2795.91 inliers=711/746 precisionNormalized=2.82555e-05 precision=6.17423 (iter=2 ,sample=352,84,622,)
nfa=-2820.07 inliers=710/746 precisionNormalized=2.56564e-05 precision=5.88341 (iter=8 ,sample=568,257,692,)
nfa=-2907.85 inliers=706/746 precisionNormalized=1.79059e-05 precision=4.91507 (iter=14 ,sample=219,575,96,)
nfa=-2990.39 inliers=699/746 precisionNormalized=1.19722e-05 precision=4.01899 (iter=17 ,sample=316,566,631,)
nfa=-3021.81 inliers=693/746 precisionNormalized=9.62175e-06 precision=3.60295 (iter=19 ,sample=479,46,496,)
nfa=-3022.25 inliers=680/746 precisionNormalized=7.4834e-06 precision=3.17746 (iter=66 ,sample=462,642,225,)
nfa=-3034.09 inliers=698/746 precisionNormalized=1.01506e-05 precision=3.70064 (iter=105 ,sample=549,175,719,)
nfa=-3037.27 inliers=705/746 precisionNormalized=1.14607e-05 precision=3.9322 (iter=218 ,sample=66,52,298,)
nfa=-3040.38 inliers=697/746 precisionNormalized=9.75216e-06 precision=3.62728 (iter=224 ,sample=210,177,38,)
nfa=-3042.02 inliers=684/746 precisionNormalized=7.55593e-06 precision=3.19282 (iter=241 ,sample=169,574,679,)
nfa=-3045.38 inliers=668/746 precisionNormalized=5.44399e-06 precision=2.71013 (iter=349 ,sample=615,658,526,)
nfa=-3048.06 inliers=670/746 precisionNormalized=5.61377e-06 precision=2.75206 (iter=370 ,sample=342,95,370,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 746
-- #Points validated by robust Resection: 670
-- Threshold: 2.75206
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 670
#residuals: 1340
Initial RMSE: 0.610302
Final RMSE: 0.594209
Time (s): 0.00165193
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 29
#intrinsics: 1
#tracks: 23019
#residuals: 157425
Initial RMSE: 0.334117
Final RMSE: 0.306441
Time (s): 11.1452
Usable motion priors: 1
Pose prior statistics (user units):
- Starting median fitting error: 4.99813
- Final fitting error:
min: 1.62027
mean: 4.80399
median: 4.76744
max: 9.35546
-------------------------------
-- Robust Resection of view: 131
nfa=-53.7662 inliers=274/1234 precisionNormalized=0.0168041 precision=150.535 (iter=0 ,sample=1005,168,1117,)
nfa=-69.3565 inliers=559/1234 precisionNormalized=0.049791 precision=259.122 (iter=0 ,sample=1005,168,1117,)
nfa=-4960.62 inliers=1190/1234 precisionNormalized=1.74617e-05 precision=4.85258 (iter=0 ,sample=1005,168,1117,)
nfa=-5013.77 inliers=1137/1234 precisionNormalized=8.62991e-06 precision=3.4114 (iter=4 ,sample=207,472,885,)
nfa=-5060.52 inliers=1182/1234 precisionNormalized=1.31244e-05 precision=4.20696 (iter=10 ,sample=998,806,1026,)
nfa=-5298.1 inliers=1175/1234 precisionNormalized=7.55832e-06 precision=3.19258 (iter=14 ,sample=420,763,1165,)
nfa=-5310.36 inliers=1156/1234 precisionNormalized=5.88235e-06 precision=2.81647 (iter=20 ,sample=38,871,353,)
nfa=-5314.48 inliers=1128/1234 precisionNormalized=4.1449e-06 precision=2.36421 (iter=60 ,sample=566,1085,724,)
nfa=-5323.57 inliers=1148/1234 precisionNormalized=5.19842e-06 precision=2.64768 (iter=272 ,sample=825,1152,931,)
nfa=-5328.04 inliers=1130/1234 precisionNormalized=4.12958e-06 precision=2.35984 (iter=408 ,sample=290,378,4,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1234
-- #Points validated by robust Resection: 1130
-- Threshold: 2.35984
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1130
#residuals: 2260
Initial RMSE: 0.523016
Final RMSE: 0.512453
Time (s): 0.00303662
-------------------------------
-- Robust Resection of view: 18
nfa=10.5067 inliers=5/946 precisionNormalized=0.000117393 precision=12.582 (iter=0 ,sample=770,129,857,)
nfa=-41.1109 inliers=155/946 precisionNormalized=0.00943805 precision=112.816 (iter=0 ,sample=770,129,857,)
nfa=-2239.07 inliers=933/946 precisionNormalized=0.00112613 precision=38.9694 (iter=0 ,sample=770,129,857,)
nfa=-4112.43 inliers=875/946 precisionNormalized=4.34106e-06 precision=2.41951 (iter=1 ,sample=580,625,344,)
nfa=-4162.1 inliers=867/946 precisionNormalized=3.32514e-06 precision=2.11755 (iter=24 ,sample=530,940,206,)
nfa=-4176.55 inliers=861/946 precisionNormalized=2.88977e-06 precision=1.97406 (iter=27 ,sample=674,420,887,)
nfa=-4194.68 inliers=849/946 precisionNormalized=2.23565e-06 precision=1.73632 (iter=98 ,sample=87,199,794,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 946
-- #Points validated by robust Resection: 849
-- Threshold: 1.73632
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 849
#residuals: 1698
Initial RMSE: 0.339768
Final RMSE: 0.332944
Time (s): 0.00216002
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 31
#intrinsics: 1
#tracks: 25665
#residuals: 172303
Initial RMSE: 0.312467
Final RMSE: 0.300759
Time (s): 4.19574
Usable motion priors: 1
Pose prior statistics (user units):
- Starting median fitting error: 4.76782
- Final fitting error:
min: 1.59386
mean: 4.71599
median: 4.76164
max: 9.40975
-------------------------------
-- Robust Resection of view: 130
nfa=-5627.01 inliers=1434/1479 precisionNormalized=3.16222e-05 precision=6.5338 (iter=0 ,sample=1204,201,1339,)
nfa=-6590.51 inliers=1401/1479 precisionNormalized=4.73134e-06 precision=2.52733 (iter=1 ,sample=1368,92,496,)
nfa=-6591.79 inliers=1402/1479 precisionNormalized=4.76973e-06 precision=2.53756 (iter=9 ,sample=739,745,1007,)
nfa=-6618.8 inliers=1382/1479 precisionNormalized=3.70362e-06 precision=2.23606 (iter=18 ,sample=515,745,1129,)
nfa=-6639.27 inliers=1371/1479 precisionNormalized=3.18301e-06 precision=2.07295 (iter=96 ,sample=185,503,1331,)
nfa=-6663.21 inliers=1375/1479 precisionNormalized=3.18543e-06 precision=2.07374 (iter=113 ,sample=1043,860,246,)
nfa=-6672.29 inliers=1393/1479 precisionNormalized=3.79066e-06 precision=2.26218 (iter=195 ,sample=478,344,1102,)
nfa=-6684.64 inliers=1404/1479 precisionNormalized=4.16249e-06 precision=2.37053 (iter=325 ,sample=175,763,142,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1479
-- #Points validated by robust Resection: 1404
-- Threshold: 2.37053
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1404
#residuals: 2808
Initial RMSE: 0.411894
Final RMSE: 0.404489
Time (s): 0.00380354
-------------------------------
-- Robust Resection of view: 19
nfa=7.03754 inliers=14/1143 precisionNormalized=0.000481657 precision=25.4999 (iter=0 ,sample=931,155,1035,)
nfa=-4913.65 inliers=1054/1143 precisionNormalized=4.7602e-06 precision=2.53502 (iter=0 ,sample=931,155,1035,)
nfa=-4965.17 inliers=1064/1143 precisionNormalized=4.84131e-06 precision=2.55653 (iter=10 ,sample=192,1028,575,)
nfa=-4966.98 inliers=1066/1143 precisionNormalized=4.95068e-06 precision=2.58525 (iter=17 ,sample=236,45,393,)
nfa=-4996.83 inliers=1054/1143 precisionNormalized=3.94733e-06 precision=2.30845 (iter=22 ,sample=182,240,507,)
nfa=-5024.3 inliers=1073/1143 precisionNormalized=4.78309e-06 precision=2.54111 (iter=59 ,sample=745,606,231,)
nfa=-5051.29 inliers=1056/1143 precisionNormalized=3.58624e-06 precision=2.20034 (iter=66 ,sample=511,687,1112,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1143
-- #Points validated by robust Resection: 1056
-- Threshold: 2.20034
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1056
#residuals: 2112
Initial RMSE: 0.371455
Final RMSE: 0.365271
Time (s): 0.0025421
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 33
#intrinsics: 1
#tracks: 28369
#residuals: 188239
Initial RMSE: 0.300459
Final RMSE: 0.294099
Time (s): 10.0712
Usable motion priors: 1
Pose prior statistics (user units):
- Starting median fitting error: 4.58608
- Final fitting error:
min: 1.08648
mean: 4.75542
median: 4.90696
max: 9.84942
-------------------------------
-- Robust Resection of view: 129
nfa=-6486.45 inliers=1379/1463 precisionNormalized=4.65977e-06 precision=2.50853 (iter=0 ,sample=1191,199,1325,)
nfa=-6607.41 inliers=1400/1463 precisionNormalized=4.71593e-06 precision=2.5236 (iter=17 ,sample=167,677,1133,)
nfa=-6632.05 inliers=1406/1463 precisionNormalized=4.81585e-06 precision=2.55019 (iter=43 ,sample=947,373,653,)
nfa=-6648.54 inliers=1366/1463 precisionNormalized=3.0662e-06 precision=2.03487 (iter=53 ,sample=1106,732,1313,)
nfa=-6713.88 inliers=1375/1463 precisionNormalized=3.01409e-06 precision=2.0175 (iter=77 ,sample=1433,237,617,)
nfa=-6774.69 inliers=1368/1463 precisionNormalized=2.50964e-06 precision=1.84095 (iter=94 ,sample=94,301,1243,)
nfa=-6776.32 inliers=1386/1463 precisionNormalized=3.04588e-06 precision=2.02812 (iter=96 ,sample=417,297,817,)
nfa=-6779.73 inliers=1395/1463 precisionNormalized=3.3366e-06 precision=2.1227 (iter=159 ,sample=6,1414,1392,)
nfa=-6788.91 inliers=1393/1463 precisionNormalized=3.21449e-06 precision=2.0835 (iter=193 ,sample=87,833,691,)
nfa=-6789.63 inliers=1369/1463 precisionNormalized=2.47137e-06 precision=1.82686 (iter=241 ,sample=912,1068,660,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1463
-- #Points validated by robust Resection: 1369
-- Threshold: 1.82686
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1369
#residuals: 2738
Initial RMSE: 0.346892
Final RMSE: 0.342759
Time (s): 0.00378602
-------------------------------
-- Robust Resection of view: 20
nfa=-135.719 inliers=447/1301 precisionNormalized=0.022782 precision=175.401 (iter=0 ,sample=1059,177,1178,)
nfa=-4435.81 inliers=1219/1301 precisionNormalized=5.44266e-05 precision=8.57318 (iter=0 ,sample=1059,177,1178,)
nfa=-5670.09 inliers=1192/1301 precisionNormalized=3.75509e-06 precision=2.25189 (iter=1 ,sample=1024,674,353,)
nfa=-5681.36 inliers=1169/1301 precisionNormalized=2.77862e-06 precision=1.93709 (iter=22 ,sample=269,130,579,)
nfa=-5686.99 inliers=1167/1301 precisionNormalized=2.67947e-06 precision=1.90222 (iter=77 ,sample=320,315,1110,)
nfa=-5695.92 inliers=1157/1301 precisionNormalized=2.32106e-06 precision=1.77043 (iter=105 ,sample=722,586,928,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1301
-- #Points validated by robust Resection: 1157
-- Threshold: 1.77043
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1157
#residuals: 2314
Initial RMSE: 0.356996
Final RMSE: 0.331261
Time (s): 0.00282522
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 35
#intrinsics: 1
#tracks: 30865
#residuals: 203603
Initial RMSE: 0.294676
Final RMSE: 0.289063
Time (s): 11.1247
Usable motion priors: 1
Pose prior statistics (user units):
- Starting median fitting error: 4.63486
- Final fitting error:
min: 0.695696
mean: 4.84873
median: 5.02205
max: 9.73107
-------------------------------
-- Robust Resection of view: 21
nfa=13.0991 inliers=4/1426 precisionNormalized=0.0010235 precision=37.1808 (iter=0 ,sample=1161,194,1291,)
nfa=-5396.62 inliers=1366/1426 precisionNormalized=2.84603e-05 precision=6.20004 (iter=0 ,sample=1161,194,1291,)
nfa=-5972.56 inliers=1312/1426 precisionNormalized=6.1903e-06 precision=2.89155 (iter=1 ,sample=1076,1352,1337,)
nfa=-6020.58 inliers=1335/1426 precisionNormalized=7.19716e-06 precision=3.11785 (iter=4 ,sample=124,1031,822,)
nfa=-6026.14 inliers=1332/1426 precisionNormalized=6.91205e-06 precision=3.05547 (iter=6 ,sample=7,755,884,)
nfa=-6041.77 inliers=1321/1426 precisionNormalized=6.0036e-06 precision=2.84761 (iter=8 ,sample=161,358,1004,)
nfa=-6207.2 inliers=1310/1426 precisionNormalized=3.97017e-06 precision=2.31568 (iter=13 ,sample=866,651,161,)
nfa=-6241.7 inliers=1310/1426 precisionNormalized=3.72906e-06 precision=2.24427 (iter=24 ,sample=1410,1159,86,)
nfa=-6279.83 inliers=1298/1426 precisionNormalized=3.04848e-06 precision=2.02916 (iter=27 ,sample=1238,285,575,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1426
-- #Points validated by robust Resection: 1298
-- Threshold: 2.02916
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1298
#residuals: 2596
Initial RMSE: 0.386127
Final RMSE: 0.369607
Time (s): 0.00349634
-------------------------------
-- Robust Resection of view: 128
nfa=-200.521 inliers=208/1096 precisionNormalized=0.00226976 precision=55.3687 (iter=0 ,sample=892,149,992,)
nfa=-1166.72 inliers=1048/1096 precisionNormalized=0.0196894 precision=163.076 (iter=0 ,sample=892,149,992,)
nfa=-3144.98 inliers=1083/1096 precisionNormalized=0.000356543 precision=21.9447 (iter=1 ,sample=741,342,492,)
nfa=-4667.63 inliers=1023/1096 precisionNormalized=6.22169e-06 precision=2.89887 (iter=2 ,sample=361,336,84,)
nfa=-4870.75 inliers=1013/1096 precisionNormalized=3.37611e-06 precision=2.13542 (iter=9 ,sample=960,993,188,)
nfa=-4920.74 inliers=1008/1096 precisionNormalized=2.7899e-06 precision=1.94119 (iter=105 ,sample=751,336,265,)
nfa=-4933.18 inliers=1030/1096 precisionNormalized=3.71407e-06 precision=2.23975 (iter=169 ,sample=406,572,1029,)
nfa=-4945.56 inliers=1021/1096 precisionNormalized=3.17441e-06 precision=2.07065 (iter=261 ,sample=887,944,282,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1096
-- #Points validated by robust Resection: 1021
-- Threshold: 2.07065
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1021
#residuals: 2042
Initial RMSE: 0.392865
Final RMSE: 0.385293
Time (s): 0.00244948
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 37
#intrinsics: 1
#tracks: 33106
#residuals: 217443
Initial RMSE: 0.293564
Final RMSE: 0.28633
Time (s): 6.30698
Usable motion priors: 1
Pose prior statistics (user units):
- Starting median fitting error: 5.06385
- Final fitting error:
min: 1.11097
mean: 4.90626
median: 4.91309
max: 10.0743
-------------------------------
-- Robust Resection of view: 22
nfa=-164.195 inliers=1116/1365 precisionNormalized=0.123832 precision=409.091 (iter=0 ,sample=1112,185,1236,)
nfa=-3809.23 inliers=1341/1365 precisionNormalized=0.000405651 precision=23.4143 (iter=0 ,sample=1112,185,1236,)
nfa=-5818.25 inliers=1245/1365 precisionNormalized=4.53096e-06 precision=2.47457 (iter=1 ,sample=882,638,1163,)
nfa=-5843.51 inliers=1258/1365 precisionNormalized=4.98826e-06 precision=2.59644 (iter=10 ,sample=862,194,729,)
nfa=-5854.23 inliers=1231/1365 precisionNormalized=3.61156e-06 precision=2.20929 (iter=19 ,sample=557,330,500,)
nfa=-5877.58 inliers=1234/1365 precisionNormalized=3.57225e-06 precision=2.19723 (iter=26 ,sample=912,950,560,)
nfa=-5885.01 inliers=1235/1365 precisionNormalized=3.56179e-06 precision=2.19401 (iter=103 ,sample=266,312,987,)
nfa=-5894.46 inliers=1230/1365 precisionNormalized=3.30223e-06 precision=2.11255 (iter=130 ,sample=278,146,1156,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1365
-- #Points validated by robust Resection: 1230
-- Threshold: 2.11255
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1230
#residuals: 2460
Initial RMSE: 0.398295
Final RMSE: 0.374055
Time (s): 0.00342276
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 38
#intrinsics: 1
#tracks: 34174
#residuals: 224322
Initial RMSE: 0.287943
Final RMSE: 0.284239
Time (s): 4.39203
Usable motion priors: 1
Pose prior statistics (user units):
- Starting median fitting error: 4.9519
- Final fitting error:
min: 0.728709
mean: 4.86618
median: 4.98596
max: 10.026
-------------------------------
-- Robust Resection of view: 24
nfa=-1633.8 inliers=999/1071 precisionNormalized=0.00545547 precision=85.8678 (iter=0 ,sample=872,145,970,)
nfa=-2804.87 inliers=983/1071 precisionNormalized=0.000312664 precision=20.5567 (iter=1 ,sample=444,139,513,)
nfa=-3872.54 inliers=1023/1071 precisionNormalized=4.08415e-05 precision=7.42959 (iter=2 ,sample=859,356,982,)
nfa=-3928.2 inliers=1018/1071 precisionNormalized=3.39182e-05 precision=6.77065 (iter=11 ,sample=609,231,145,)
nfa=-3968.19 inliers=1024/1071 precisionNormalized=3.32845e-05 precision=6.7071 (iter=18 ,sample=900,633,411,)
nfa=-4235.94 inliers=1007/1071 precisionNormalized=1.46182e-05 precision=4.44488 (iter=22 ,sample=626,1054,338,)
nfa=-4346.62 inliers=986/1071 precisionNormalized=8.5749e-06 precision=3.40431 (iter=113 ,sample=564,538,512,)
nfa=-4351.98 inliers=976/1071 precisionNormalized=7.40019e-06 precision=3.16254 (iter=342 ,sample=894,80,674,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1071
-- #Points validated by robust Resection: 976
-- Threshold: 3.16254
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 976
#residuals: 1952
Initial RMSE: 0.640147
Final RMSE: 0.614734
Time (s): 0.00271505
-------------------------------
-- Robust Resection of view: 127
nfa=-2727.29 inliers=852/879 precisionNormalized=0.000164504 precision=14.9108 (iter=0 ,sample=716,119,796,)
nfa=-3541.59 inliers=807/879 precisionNormalized=8.80708e-06 precision=3.45009 (iter=4 ,sample=510,82,693,)
nfa=-3657.37 inliers=791/879 precisionNormalized=4.79076e-06 precision=2.54458 (iter=11 ,sample=490,121,545,)
nfa=-3657.93 inliers=789/879 precisionNormalized=4.62014e-06 precision=2.49886 (iter=20 ,sample=588,48,138,)
nfa=-3730.39 inliers=776/879 precisionNormalized=2.93973e-06 precision=1.99328 (iter=44 ,sample=743,145,285,)
nfa=-3732.63 inliers=775/879 precisionNormalized=2.86644e-06 precision=1.96827 (iter=129 ,sample=669,348,187,)
nfa=-3749.58 inliers=783/879 precisionNormalized=3.14659e-06 precision=2.06222 (iter=130 ,sample=351,333,403,)
nfa=-3751.44 inliers=793/879 precisionNormalized=3.741e-06 precision=2.24858 (iter=247 ,sample=58,378,693,)
nfa=-3761.88 inliers=790/879 precisionNormalized=3.43686e-06 precision=2.15524 (iter=284 ,sample=692,827,335,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 879
-- #Points validated by robust Resection: 790
-- Threshold: 2.15524
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 790
#residuals: 1580
Initial RMSE: 0.435741
Final RMSE: 0.386548
Time (s): 0.00200416
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 40
#intrinsics: 1
#tracks: 35976
#residuals: 235196
Initial RMSE: 0.292864
Final RMSE: 0.284345
Time (s): 7.27843
Usable motion priors: 1
Pose prior statistics (user units):
- Starting median fitting error: 5.23061
- Final fitting error:
min: 1.06811
mean: 4.86287
median: 4.94648
max: 10.1712
-------------------------------
-- Robust Resection of view: 25
nfa=-208.31 inliers=485/1236 precisionNormalized=0.0202003 precision=165.251 (iter=0 ,sample=1006,168,1119,)
nfa=-4752.87 inliers=1162/1236 precisionNormalized=1.92784e-05 precision=5.10505 (iter=0 ,sample=1006,168,1119,)
nfa=-4812 inliers=1154/1236 precisionNormalized=1.56917e-05 precision=4.60574 (iter=7 ,sample=1089,220,418,)
nfa=-4879.85 inliers=1162/1236 precisionNormalized=1.49535e-05 precision=4.49608 (iter=25 ,sample=71,461,367,)
nfa=-4890.41 inliers=1095/1236 precisionNormalized=6.80356e-06 precision=3.03272 (iter=29 ,sample=459,1140,172,)
nfa=-4934.32 inliers=1144/1236 precisionNormalized=1.09532e-05 precision=3.848 (iter=42 ,sample=652,1065,797,)
nfa=-4937.51 inliers=1082/1236 precisionNormalized=5.25138e-06 precision=2.66441 (iter=122 ,sample=1227,1201,395,)
nfa=-4943.23 inliers=1160/1236 precisionNormalized=1.28792e-05 precision=4.17261 (iter=128 ,sample=94,631,784,)
nfa=-5015.55 inliers=1153/1236 precisionNormalized=1.02854e-05 precision=3.72884 (iter=176 ,sample=546,178,363,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1236
-- #Points validated by robust Resection: 1153
-- Threshold: 3.72884
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1153
#residuals: 2306
Initial RMSE: 0.687431
Final RMSE: 0.658512
Time (s): 0.00326322
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 41
#intrinsics: 1
#tracks: 36820
#residuals: 240927
Initial RMSE: 0.292849
Final RMSE: 0.285179
Time (s): 7.73193
Usable motion priors: 1
Pose prior statistics (user units):
- Starting median fitting error: 5.23948
- Final fitting error:
min: 0.820892
mean: 4.89481
median: 4.97114
max: 10.1809
-------------------------------
-- Robust Resection of view: 26
nfa=-3780.55 inliers=1169/1209 precisionNormalized=0.000153249 precision=14.3979 (iter=0 ,sample=985,164,1095,)
nfa=-3846.1 inliers=1132/1209 precisionNormalized=9.46073e-05 precision=11.3126 (iter=5 ,sample=1200,353,381,)
nfa=-3917.72 inliers=1163/1209 precisionNormalized=0.000110273 precision=12.2134 (iter=6 ,sample=179,280,1156,)
nfa=-4316.94 inliers=1131/1209 precisionNormalized=3.57652e-05 precision=6.95554 (iter=10 ,sample=161,231,1028,)
nfa=-4523.37 inliers=1136/1209 precisionNormalized=2.47299e-05 precision=5.78379 (iter=14 ,sample=48,675,609,)
nfa=-4653.73 inliers=1119/1209 precisionNormalized=1.56785e-05 precision=4.60525 (iter=17 ,sample=554,668,333,)
nfa=-4674.49 inliers=1116/1209 precisionNormalized=1.45167e-05 precision=4.43134 (iter=22 ,sample=1065,1036,480,)
nfa=-4763.04 inliers=1113/1209 precisionNormalized=1.16578e-05 precision=3.97109 (iter=26 ,sample=839,418,1121,)
nfa=-4826.11 inliers=1114/1209 precisionNormalized=1.03331e-05 precision=3.73866 (iter=28 ,sample=958,42,857,)
nfa=-4904.33 inliers=1119/1209 precisionNormalized=9.3006e-06 precision=3.54696 (iter=96 ,sample=395,969,250,)
nfa=-4962.51 inliers=1111/1209 precisionNormalized=7.48588e-06 precision=3.18216 (iter=108 ,sample=29,137,246,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1209
-- #Points validated by robust Resection: 1111
-- Threshold: 3.18216
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1111
#residuals: 2222
Initial RMSE: 0.646513
Final RMSE: 0.638789
Time (s): 0.00317721
-------------------------------
-- Robust Resection of view: 27
nfa=12.6814 inliers=5/1448 precisionNormalized=0.000399623 precision=23.2502 (iter=0 ,sample=1179,197,1311,)
nfa=-17.7924 inliers=240/1448 precisionNormalized=0.0158502 precision=146.426 (iter=0 ,sample=1179,197,1311,)
nfa=-4758.69 inliers=1386/1448 precisionNormalized=9.39774e-05 precision=11.2749 (iter=0 ,sample=1179,197,1311,)
nfa=-5289.6 inliers=1346/1448 precisionNormalized=2.72165e-05 precision=6.0676 (iter=9 ,sample=367,685,596,)
nfa=-5522.89 inliers=1367/1448 precisionNormalized=2.20775e-05 precision=5.46482 (iter=14 ,sample=52,811,42,)
nfa=-5685.11 inliers=1305/1448 precisionNormalized=9.26429e-06 precision=3.54003 (iter=19 ,sample=410,1252,549,)
nfa=-5822.91 inliers=1342/1448 precisionNormalized=1.04241e-05 precision=3.7551 (iter=21 ,sample=749,148,376,)
nfa=-5831.81 inliers=1334/1448 precisionNormalized=9.49387e-06 precision=3.58363 (iter=66 ,sample=1270,659,124,)
nfa=-5850.86 inliers=1326/1448 precisionNormalized=8.48645e-06 precision=3.38816 (iter=98 ,sample=821,492,364,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1448
-- #Points validated by robust Resection: 1326
-- Threshold: 3.38816
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1326
#residuals: 2652
Initial RMSE: 0.671471
Final RMSE: 0.633795
Time (s): 0.00324199
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 43
#intrinsics: 1
#tracks: 38489
#residuals: 252933
Initial RMSE: 0.29868
Final RMSE: 0.287033
Time (s): 16.2545
Usable motion priors: 1
Pose prior statistics (user units):
- Starting median fitting error: 5.10345
- Final fitting error:
min: 0.621026
mean: 4.83285
median: 4.79388
max: 10.1952
-------------------------------
-- Robust Resection of view: 28
nfa=-894.126 inliers=899/1229 precisionNormalized=0.0140286 precision=137.859 (iter=0 ,sample=1001,167,1113,)
nfa=-3377.04 inliers=1065/1229 precisionNormalized=0.00013038 precision=13.2903 (iter=0 ,sample=1001,167,1113,)
nfa=-4677.67 inliers=1126/1229 precisionNormalized=1.54097e-05 precision=4.56904 (iter=1 ,sample=798,643,685,)
nfa=-4760.03 inliers=1143/1229 precisionNormalized=1.57021e-05 precision=4.61219 (iter=2 ,sample=529,30,612,)
nfa=-4811.04 inliers=1153/1229 precisionNormalized=1.58137e-05 precision=4.62855 (iter=8 ,sample=90,341,108,)
nfa=-4848.27 inliers=1140/1229 precisionNormalized=1.26848e-05 precision=4.14544 (iter=31 ,sample=943,779,971,)
nfa=-4870.38 inliers=1127/1229 precisionNormalized=1.04599e-05 precision=3.76436 (iter=36 ,sample=344,67,411,)
nfa=-4876.39 inliers=1138/1229 precisionNormalized=1.17082e-05 precision=3.98266 (iter=44 ,sample=451,750,194,)
nfa=-4889.18 inliers=1120/1229 precisionNormalized=9.28083e-06 precision=3.54586 (iter=55 ,sample=507,252,760,)
nfa=-4904.4 inliers=1149/1229 precisionNormalized=1.25209e-05 precision=4.11857 (iter=70 ,sample=1154,643,446,)
nfa=-4911.82 inliers=1122/1229 precisionNormalized=9.06006e-06 precision=3.50343 (iter=90 ,sample=359,46,380,)
nfa=-4922.51 inliers=1121/1229 precisionNormalized=8.75805e-06 precision=3.44454 (iter=95 ,sample=840,207,566,)
nfa=-4971.36 inliers=1115/1229 precisionNormalized=7.36897e-06 precision=3.15959 (iter=176 ,sample=1017,593,909,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1229
-- #Points validated by robust Resection: 1115
-- Threshold: 3.15959
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1115
#residuals: 2230
Initial RMSE: 0.691387
Final RMSE: 0.639711
Time (s): 0.0031128
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 44
#intrinsics: 1
#tracks: 39420
#residuals: 259398
Initial RMSE: 0.29408
Final RMSE: 0.288596
Time (s): 5.15917
Usable motion priors: 1
Pose prior statistics (user units):
- Starting median fitting error: 5.26306
- Final fitting error:
min: 0.775344
mean: 4.86304
median: 4.89727
max: 10.2679
-------------------------------
-- Robust Resection of view: 29
nfa=13.81 inliers=4/1068 precisionNormalized=0.0223726 precision=174.178 (iter=0 ,sample=870,145,967,)
nfa=-2502.04 inliers=894/1068 precisionNormalized=0.000282935 precision=19.5875 (iter=0 ,sample=870,145,967,)
nfa=-3254.5 inliers=991/1068 precisionNormalized=0.000119164 precision=12.7119 (iter=1 ,sample=824,152,653,)
nfa=-3941.32 inliers=996/1068 precisionNormalized=2.54556e-05 precision=5.87527 (iter=3 ,sample=846,220,952,)
nfa=-4233.8 inliers=967/1068 precisionNormalized=8.78366e-06 precision=3.45124 (iter=4 ,sample=259,232,94,)
nfa=-4269.22 inliers=968/1068 precisionNormalized=8.17107e-06 precision=3.32871 (iter=15 ,sample=727,416,216,)
nfa=-4269.28 inliers=966/1068 precisionNormalized=7.95215e-06 precision=3.28382 (iter=210 ,sample=1038,316,25,)
nfa=-4273.48 inliers=960/1068 precisionNormalized=7.25528e-06 precision=3.13663 (iter=258 ,sample=1008,768,426,)
nfa=-4290.44 inliers=959/1068 precisionNormalized=6.86557e-06 precision=3.05123 (iter=371 ,sample=839,773,1062,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1068
-- #Points validated by robust Resection: 959
-- Threshold: 3.05123
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 959
#residuals: 1918
Initial RMSE: 0.611521
Final RMSE: 0.579961
Time (s): 0.00281081
-------------------------------
-- Robust Resection of view: 126
nfa=-52.3288 inliers=229/870 precisionNormalized=0.0186566 precision=159.057 (iter=0 ,sample=708,118,788,)
nfa=-3138.6 inliers=830/870 precisionNormalized=4.06186e-05 precision=7.42163 (iter=0 ,sample=708,118,788,)
nfa=-3244.75 inliers=813/870 precisionNormalized=2.34054e-05 precision=5.63372 (iter=8 ,sample=738,327,724,)
nfa=-3602.35 inliers=806/870 precisionNormalized=7.47364e-06 precision=3.18349 (iter=9 ,sample=421,393,840,)
nfa=-3660.38 inliers=789/870 precisionNormalized=4.71303e-06 precision=2.52806 (iter=10 ,sample=700,285,291,)
nfa=-3737.36 inliers=781/870 precisionNormalized=3.23636e-06 precision=2.09491 (iter=22 ,sample=809,564,127,)
nfa=-3754.91 inliers=773/870 precisionNormalized=2.64592e-06 precision=1.8942 (iter=66 ,sample=690,610,182,)
nfa=-3762.65 inliers=793/870 precisionNormalized=3.7191e-06 precision=2.24572 (iter=69 ,sample=148,565,137,)
nfa=-3770.38 inliers=783/870 precisionNormalized=3.03298e-06 precision=2.02802 (iter=233 ,sample=32,237,248,)
nfa=-3770.74 inliers=784/870 precisionNormalized=3.08543e-06 precision=2.04548 (iter=405 ,sample=570,498,148,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 870
-- #Points validated by robust Resection: 784
-- Threshold: 2.04548
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 784
#residuals: 1568
Initial RMSE: 0.370476
Final RMSE: 0.364884
Time (s): 0.00206268
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 46
#intrinsics: 1
#tracks: 41385
#residuals: 270998
Initial RMSE: 0.293318
Final RMSE: 0.287966
Time (s): 12.1503
Usable motion priors: 1
Pose prior statistics (user units):
- Starting median fitting error: 5.00649
- Final fitting error:
min: 1.1888
mean: 4.85705
median: 4.85892
max: 10.2465
-------------------------------
-- Robust Resection of view: 30
nfa=-886.148 inliers=828/985 precisionNormalized=0.0154533 precision=144.789 (iter=0 ,sample=802,134,892,)
nfa=-2595.74 inliers=942/985 precisionNormalized=0.000442007 precision=24.4873 (iter=0 ,sample=802,134,892,)
nfa=-3491.3 inliers=928/985 precisionNormalized=4.10844e-05 precision=7.46559 (iter=1 ,sample=489,452,227,)
nfa=-3720.05 inliers=902/985 precisionNormalized=1.63176e-05 precision=4.70494 (iter=2 ,sample=638,774,712,)
nfa=-3850.43 inliers=876/985 precisionNormalized=8.01032e-06 precision=3.29648 (iter=3 ,sample=630,853,224,)
nfa=-3853.22 inliers=847/985 precisionNormalized=5.12935e-06 precision=2.63789 (iter=4 ,sample=862,57,293,)
nfa=-3883.34 inliers=879/985 precisionNormalized=7.66725e-06 precision=3.22512 (iter=17 ,sample=959,857,855,)
nfa=-3913.28 inliers=876/985 precisionNormalized=6.76842e-06 precision=3.03019 (iter=263 ,sample=976,716,440,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 985
-- #Points validated by robust Resection: 876
-- Threshold: 3.03019
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 876
#residuals: 1752
Initial RMSE: 0.571631
Final RMSE: 0.562757
Time (s): 0.00258677
-------------------------------
-- Robust Resection of view: 124
nfa=-17.5744 inliers=62/918 precisionNormalized=0.00261883 precision=59.6045 (iter=0 ,sample=747,125,831,)
nfa=-3584.68 inliers=851/918 precisionNormalized=1.37058e-05 precision=4.31199 (iter=0 ,sample=747,125,831,)
nfa=-3821.08 inliers=808/918 precisionNormalized=3.5288e-06 precision=2.18796 (iter=2 ,sample=637,809,152,)
nfa=-3845 inliers=822/918 precisionNormalized=4.17232e-06 precision=2.37911 (iter=3 ,sample=882,310,263,)
nfa=-3899.36 inliers=828/918 precisionNormalized=3.94531e-06 precision=2.31348 (iter=24 ,sample=445,98,77,)
nfa=-3907.59 inliers=803/918 precisionNormalized=2.49725e-06 precision=1.84059 (iter=65 ,sample=508,126,49,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 918
-- #Points validated by robust Resection: 803
-- Threshold: 1.84059
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 803
#residuals: 1606
Initial RMSE: 0.370119
Final RMSE: 0.355849
Time (s): 0.00202619
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 48
#intrinsics: 1
#tracks: 43226
#residuals: 282014
Initial RMSE: 0.291696
Final RMSE: 0.287639
Time (s): 14.3109
Usable motion priors: 1
Pose prior statistics (user units):
- Starting median fitting error: 5.03212
- Final fitting error:
min: 1.22474
mean: 4.82277
median: 4.88728
max: 10.3036
-------------------------------
-- Robust Resection of view: 123
nfa=-1936.52 inliers=936/961 precisionNormalized=0.00230097 precision=55.8658 (iter=0 ,sample=782,131,870,)
nfa=-2745.9 inliers=918/961 precisionNormalized=0.00025518 precision=18.6043 (iter=2 ,sample=89,696,677,)
nfa=-3925.6 inliers=852/961 precisionNormalized=4.8149e-06 precision=2.55555 (iter=3 ,sample=30,643,554,)
nfa=-3954.1 inliers=872/961 precisionNormalized=6.08485e-06 precision=2.87287 (iter=8 ,sample=75,165,638,)
nfa=-3958.06 inliers=872/961 precisionNormalized=6.02e-06 precision=2.85752 (iter=18 ,sample=700,681,263,)
nfa=-3961.96 inliers=840/961 precisionNormalized=3.58271e-06 precision=2.20443 (iter=28 ,sample=510,903,748,)
nfa=-3971.46 inliers=836/961 precisionNormalized=3.26407e-06 precision=2.10412 (iter=39 ,sample=564,879,539,)
nfa=-3974.83 inliers=828/961 precisionNormalized=2.8266e-06 precision=1.95805 (iter=59 ,sample=431,758,80,)
nfa=-3977.01 inliers=868/961 precisionNormalized=5.3748e-06 precision=2.70005 (iter=129 ,sample=652,390,471,)
nfa=-3992.48 inliers=824/961 precisionNormalized=2.5072e-06 precision=1.84411 (iter=138 ,sample=582,375,595,)
nfa=-3996.59 inliers=864/961 precisionNormalized=4.7851e-06 precision=2.54763 (iter=188 ,sample=932,580,600,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 961
-- #Points validated by robust Resection: 864
-- Threshold: 2.54763
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 864
#residuals: 1728
Initial RMSE: 0.451756
Final RMSE: 0.429379
Time (s): 0.00255455
-------------------------------
-- Robust Resection of view: 31
nfa=-266.105 inliers=727/945 precisionNormalized=0.065389 precision=297.813 (iter=0 ,sample=769,128,856,)
nfa=-1599.78 inliers=916/945 precisionNormalized=0.00475781 precision=80.3331 (iter=0 ,sample=769,128,856,)
nfa=-1599.78 inliers=916/945 precisionNormalized=0.00475781 precision=80.3331 (iter=0 ,sample=769,128,856,)
nfa=-3563.75 inliers=876/945 precisionNormalized=1.91989e-05 precision=5.10304 (iter=1 ,sample=393,821,376,)
nfa=-3626.24 inliers=855/945 precisionNormalized=1.19921e-05 precision=4.0331 (iter=10 ,sample=569,895,616,)
nfa=-3634.93 inliers=860/945 precisionNormalized=1.26042e-05 precision=4.13475 (iter=22 ,sample=173,462,620,)
nfa=-3636.24 inliers=859/945 precisionNormalized=1.23766e-05 precision=4.09724 (iter=99 ,sample=467,819,173,)
nfa=-3668.32 inliers=856/945 precisionNormalized=1.08503e-05 precision=3.83629 (iter=169 ,sample=719,538,763,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 945
-- #Points validated by robust Resection: 856
-- Threshold: 3.83629
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 856
#residuals: 1712
Initial RMSE: 0.762709
Final RMSE: 0.746072
Time (s): 0.00211958
-------------------------------
-- Robust Resection of view: 33
nfa=-44.4965 inliers=171/1197 precisionNormalized=0.00833044 precision=106.298 (iter=0 ,sample=975,163,1084,)
nfa=-3541.24 inliers=1169/1197 precisionNormalized=0.000255077 precision=18.6006 (iter=0 ,sample=975,163,1084,)
nfa=-4450.96 inliers=1135/1197 precisionNormalized=2.92443e-05 precision=6.29813 (iter=4 ,sample=1038,620,794,)
nfa=-4591.48 inliers=1116/1197 precisionNormalized=1.77573e-05 precision=4.90772 (iter=11 ,sample=138,715,177,)
nfa=-4680.01 inliers=1121/1197 precisionNormalized=1.56295e-05 precision=4.6043 (iter=19 ,sample=877,770,390,)
nfa=-4760.5 inliers=1091/1197 precisionNormalized=9.31444e-06 precision=3.55442 (iter=30 ,sample=866,178,192,)
nfa=-4779.62 inliers=1106/1197 precisionNormalized=1.06735e-05 precision=3.80492 (iter=105 ,sample=465,1133,383,)
nfa=-4793.23 inliers=1080/1197 precisionNormalized=7.6072e-06 precision=3.21221 (iter=221 ,sample=877,588,202,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1197
-- #Points validated by robust Resection: 1080
-- Threshold: 3.21221
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1080
#residuals: 2160
Initial RMSE: 0.616194
Final RMSE: 0.604068
Time (s): 0.00274409
-------------------------------
-- Robust Resection of view: 32
nfa=-1849.59 inliers=1089/1810 precisionNormalized=0.002011 precision=52.2272 (iter=0 ,sample=1474,246,1639,)
nfa=-7046.29 inliers=1737/1810 precisionNormalized=2.25803e-05 precision=5.53421 (iter=0 ,sample=1474,246,1639,)
nfa=-7221.66 inliers=1713/1810 precisionNormalized=1.49099e-05 precision=4.49706 (iter=3 ,sample=1452,1695,306,)
nfa=-7355.21 inliers=1674/1810 precisionNormalized=9.19039e-06 precision=3.53068 (iter=6 ,sample=529,893,1016,)
nfa=-7502.79 inliers=1667/1810 precisionNormalized=7.06931e-06 precision=3.09656 (iter=22 ,sample=700,1331,1709,)
nfa=-7560.87 inliers=1651/1810 precisionNormalized=5.71795e-06 precision=2.78491 (iter=70 ,sample=209,376,314,)
nfa=-7571.6 inliers=1644/1810 precisionNormalized=5.31547e-06 precision=2.68511 (iter=168 ,sample=1548,686,1694,)
nfa=-7587.09 inliers=1674/1810 precisionNormalized=6.64413e-06 precision=3.002 (iter=169 ,sample=976,492,881,)
nfa=-7591.21 inliers=1668/1810 precisionNormalized=6.29234e-06 precision=2.92144 (iter=282 ,sample=68,1095,1067,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1810
-- #Points validated by robust Resection: 1668
-- Threshold: 2.92144
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1668
#residuals: 3336
Initial RMSE: 0.531716
Final RMSE: 0.523168
Time (s): 0.00413174
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 52
#intrinsics: 1
#tracks: 46206
#residuals: 303492
Initial RMSE: 0.303664
Final RMSE: 0.289351
Time (s): 19.1895
Usable motion priors: 1
Pose prior statistics (user units):
- Starting median fitting error: 5.20317
- Final fitting error:
min: 1.37498
mean: 4.79582
median: 4.71503
max: 10.4365
-------------------------------
-- Robust Resection of view: 35
nfa=-197.541 inliers=783/1258 precisionNormalized=0.0592261 precision=283.544 (iter=0 ,sample=1024,171,1139,)
nfa=-3830.78 inliers=1220/1258 precisionNormalized=0.000192758 precision=16.176 (iter=0 ,sample=1024,171,1139,)
nfa=-4257.67 inliers=1176/1258 precisionNormalized=5.63326e-05 precision=8.74469 (iter=2 ,sample=244,651,682,)
nfa=-4780.22 inliers=1136/1258 precisionNormalized=1.30882e-05 precision=4.21506 (iter=6 ,sample=1004,511,1021,)
nfa=-4785.01 inliers=1174/1258 precisionNormalized=1.95132e-05 precision=5.14669 (iter=16 ,sample=678,1194,35,)
nfa=-4798.14 inliers=1149/1258 precisionNormalized=1.45413e-05 precision=4.4429 (iter=19 ,sample=1190,270,210,)
nfa=-4861.21 inliers=1146/1258 precisionNormalized=1.23813e-05 precision=4.09965 (iter=22 ,sample=297,213,1113,)
nfa=-4948.48 inliers=1085/1258 precisionNormalized=5.09816e-06 precision=2.6307 (iter=29 ,sample=906,1123,686,)
nfa=-4949.14 inliers=1088/1258 precisionNormalized=5.27945e-06 precision=2.67706 (iter=235 ,sample=465,702,32,)
nfa=-4965.04 inliers=1108/1258 precisionNormalized=6.47786e-06 precision=2.96538 (iter=369 ,sample=993,389,465,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1258
-- #Points validated by robust Resection: 1108
-- Threshold: 2.96538
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1108
#residuals: 2216
Initial RMSE: 0.516292
Final RMSE: 0.511871
Time (s): 0.00315953
-------------------------------
-- Robust Resection of view: 122
nfa=8.4995 inliers=8/976 precisionNormalized=0.000188489 precision=15.9958 (iter=0 ,sample=795,133,884,)
nfa=-3151.65 inliers=902/976 precisionNormalized=7.21632e-05 precision=9.89743 (iter=0 ,sample=795,133,884,)
nfa=-3572.98 inliers=922/976 precisionNormalized=3.18631e-05 precision=6.57671 (iter=1 ,sample=741,294,206,)
nfa=-3933.77 inliers=870/976 precisionNormalized=5.98795e-06 precision=2.85104 (iter=3 ,sample=690,227,783,)
nfa=-3966.35 inliers=879/976 precisionNormalized=6.28828e-06 precision=2.92166 (iter=8 ,sample=529,422,694,)
nfa=-4015.16 inliers=870/976 precisionNormalized=4.8008e-06 precision=2.55282 (iter=14 ,sample=754,837,327,)
nfa=-4054.78 inliers=850/976 precisionNormalized=3.12498e-06 precision=2.05962 (iter=16 ,sample=753,112,774,)
nfa=-4056.39 inliers=868/976 precisionNormalized=4.15715e-06 precision=2.37554 (iter=17 ,sample=411,841,711,)
nfa=-4059.13 inliers=878/976 precisionNormalized=4.82607e-06 precision=2.55954 (iter=27 ,sample=828,514,357,)
nfa=-4090.26 inliers=874/976 precisionNormalized=4.16682e-06 precision=2.3783 (iter=29 ,sample=649,499,430,)
nfa=-4098.47 inliers=873/976 precisionNormalized=4.01083e-06 precision=2.33336 (iter=297 ,sample=312,480,428,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 976
-- #Points validated by robust Resection: 873
-- Threshold: 2.33336
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 873
#residuals: 1746
Initial RMSE: 0.404777
Final RMSE: 0.393791
Time (s): 0.00222616
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 54
#intrinsics: 1
#tracks: 48117
#residuals: 316166
Initial RMSE: 0.295921
Final RMSE: 0.29069
Time (s): 12.4018
Usable motion priors: 1
Pose prior statistics (user units):
- Starting median fitting error: 5.57006
- Final fitting error:
min: 1.43013
mean: 4.98674
median: 4.46066
max: 15.3546
-------------------------------
-- Robust Resection of view: 36
nfa=-2303.27 inliers=1073/1189 precisionNormalized=0.00153482 precision=45.6581 (iter=0 ,sample=968,161,1077,)
nfa=-4504.01 inliers=1085/1189 precisionNormalized=1.53261e-05 precision=4.56252 (iter=0 ,sample=968,161,1077,)
nfa=-4726.05 inliers=1045/1189 precisionNormalized=5.82767e-06 precision=2.81344 (iter=10 ,sample=164,703,175,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1189
-- #Points validated by robust Resection: 1045
-- Threshold: 2.81344
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1045
#residuals: 2090
Initial RMSE: 0.51955
Final RMSE: 0.519293
Time (s): 0.00299469
-------------------------------
-- Robust Resection of view: 37
nfa=-683.914 inliers=1117/1462 precisionNormalized=0.0369872 precision=224.138 (iter=0 ,sample=1191,198,1324,)
nfa=-4265.57 inliers=1439/1462 precisionNormalized=0.000307977 precision=20.4526 (iter=0 ,sample=1191,198,1324,)
nfa=-5942.34 inliers=1297/1462 precisionNormalized=5.24254e-06 precision=2.66846 (iter=2 ,sample=845,1133,360,)
nfa=-5959.72 inliers=1285/1462 precisionNormalized=4.48196e-06 precision=2.46731 (iter=168 ,sample=1346,1292,1185,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1462
-- #Points validated by robust Resection: 1285
-- Threshold: 2.46731
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1285
#residuals: 2570
Initial RMSE: 0.461375
Final RMSE: 0.449833
Time (s): 0.00320878
-------------------------------
-- Robust Resection of view: 121
nfa=-1303.11 inliers=796/965 precisionNormalized=0.00399699 precision=73.6811 (iter=0 ,sample=786,131,874,)
nfa=-1886.07 inliers=942/965 precisionNormalized=0.00270788 precision=60.6463 (iter=0 ,sample=786,131,874,)
nfa=-3932.2 inliers=880/965 precisionNormalized=7.2086e-06 precision=3.12907 (iter=1 ,sample=864,301,944,)
nfa=-3972.05 inliers=884/965 precisionNormalized=6.88623e-06 precision=3.0583 (iter=17 ,sample=530,792,726,)
nfa=-4025.11 inliers=867/965 precisionNormalized=4.59011e-06 precision=2.4969 (iter=19 ,sample=842,551,620,)
nfa=-4052.16 inliers=866/965 precisionNormalized=4.19526e-06 precision=2.38709 (iter=24 ,sample=286,418,58,)
nfa=-4054.91 inliers=866/965 precisionNormalized=4.16377e-06 precision=2.37811 (iter=66 ,sample=423,137,152,)
nfa=-4095.81 inliers=865/965 precisionNormalized=3.6614e-06 precision=2.23004 (iter=120 ,sample=56,173,142,)
nfa=-4100.02 inliers=863/965 precisionNormalized=3.50364e-06 precision=2.18147 (iter=157 ,sample=714,332,891,)
nfa=-4100.73 inliers=862/965 precisionNormalized=3.4403e-06 precision=2.16166 (iter=278 ,sample=150,714,699,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 965
-- #Points validated by robust Resection: 862
-- Threshold: 2.16166
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 862
#residuals: 1724
Initial RMSE: 0.429911
Final RMSE: 0.399227
Time (s): 0.00212959
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 57
#intrinsics: 1
#tracks: 50029
#residuals: 330841
Initial RMSE: 0.300335
Final RMSE: 0.291872
Time (s): 13.5716
Usable motion priors: 1
Pose prior statistics (user units):
- Starting median fitting error: 4.74054
- Final fitting error:
min: 0.900578
mean: 5.23994
median: 4.7978
max: 14.2039
-------------------------------
-- Robust Resection of view: 38
nfa=14.4186 inliers=4/1145 precisionNormalized=0.0641154 precision=294.965 (iter=0 ,sample=932,155,1037,)
nfa=-7.37055 inliers=121/1145 precisionNormalized=0.00898137 precision=110.398 (iter=0 ,sample=932,155,1037,)
nfa=-4198.8 inliers=1050/1145 precisionNormalized=2.20943e-05 precision=5.47558 (iter=0 ,sample=932,155,1037,)
nfa=-4464.76 inliers=1021/1145 precisionNormalized=8.57475e-06 precision=3.41115 (iter=4 ,sample=1019,403,358,)
nfa=-4470.25 inliers=1029/1145 precisionNormalized=9.35833e-06 precision=3.5636 (iter=17 ,sample=874,276,191,)
nfa=-4473.32 inliers=1053/1145 precisionNormalized=1.24711e-05 precision=4.11379 (iter=24 ,sample=1042,817,668,)
nfa=-4682.43 inliers=1006/1145 precisionNormalized=4.25324e-06 precision=2.40242 (iter=34 ,sample=994,481,999,)
nfa=-4697.44 inliers=1025/1145 precisionNormalized=5.2885e-06 precision=2.6789 (iter=45 ,sample=121,237,829,)
nfa=-4714.82 inliers=1004/1145 precisionNormalized=3.83393e-06 precision=2.28093 (iter=146 ,sample=642,170,780,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1145
-- #Points validated by robust Resection: 1004
-- Threshold: 2.28093
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1004
#residuals: 2008
Initial RMSE: 0.412706
Final RMSE: 0.410702
Time (s): 0.00296224
-------------------------------
-- Robust Resection of view: 120
nfa=-219.372 inliers=431/1006 precisionNormalized=0.0187023 precision=159.308 (iter=0 ,sample=819,137,911,)
nfa=-2504.4 inliers=956/1006 precisionNormalized=0.000593204 precision=28.3721 (iter=0 ,sample=819,137,911,)
nfa=-4189.8 inliers=919/1006 precisionNormalized=5.86684e-06 precision=2.82158 (iter=1 ,sample=607,195,888,)
nfa=-4196.95 inliers=897/1006 precisionNormalized=4.13786e-06 precision=2.36961 (iter=3 ,sample=692,802,385,)
nfa=-4240.41 inliers=910/1006 precisionNormalized=4.49986e-06 precision=2.47109 (iter=10 ,sample=158,234,83,)
nfa=-4247.24 inliers=915/1006 precisionNormalized=4.76739e-06 precision=2.54349 (iter=39 ,sample=400,359,579,)
nfa=-4262.51 inliers=903/1006 precisionNormalized=3.81571e-06 precision=2.2755 (iter=59 ,sample=515,181,270,)
nfa=-4266.05 inliers=897/1006 precisionNormalized=3.4439e-06 precision=2.1618 (iter=246 ,sample=910,552,555,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1006
-- #Points validated by robust Resection: 897
-- Threshold: 2.1618
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 897
#residuals: 1794
Initial RMSE: 0.407108
Final RMSE: 0.39732
Time (s): 0.00226376
-------------------------------
-- Robust Resection of view: 39
nfa=-293.291 inliers=1365/1377 precisionNormalized=0.180786 precision=495.304 (iter=0 ,sample=1121,187,1247,)
nfa=-5394.64 inliers=1260/1377 precisionNormalized=1.14745e-05 precision=3.946 (iter=0 ,sample=1121,187,1247,)
nfa=-5451.53 inliers=1237/1377 precisionNormalized=8.14157e-06 precision=3.32387 (iter=8 ,sample=451,193,427,)
nfa=-5482.36 inliers=1235/1377 precisionNormalized=7.51964e-06 precision=3.19439 (iter=13 ,sample=389,442,193,)
nfa=-5489.42 inliers=1218/1377 precisionNormalized=6.1883e-06 precision=2.89785 (iter=14 ,sample=422,1141,1180,)
nfa=-5493.61 inliers=1223/1377 precisionNormalized=6.47777e-06 precision=2.96485 (iter=98 ,sample=1078,3,811,)
nfa=-5512.81 inliers=1226/1377 precisionNormalized=6.44746e-06 precision=2.9579 (iter=153 ,sample=935,1331,1254,)
nfa=-5524.42 inliers=1212/1377 precisionNormalized=5.41735e-06 precision=2.71133 (iter=237 ,sample=1310,1235,1054,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1377
-- #Points validated by robust Resection: 1212
-- Threshold: 2.71133
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1212
#residuals: 2424
Initial RMSE: 0.488729
Final RMSE: 0.480098
Time (s): 0.00309634
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 60
#intrinsics: 1
#tracks: 53026
#residuals: 351052
Initial RMSE: 0.297435
Final RMSE: 0.291149
Time (s): 15.2411
Usable motion priors: 1
Pose prior statistics (user units):
- Starting median fitting error: 5.09952
- Final fitting error:
min: 0.693807
mean: 5.48608
median: 5.21659
max: 13.444
-------------------------------
-- Robust Resection of view: 40
nfa=-144.475 inliers=232/1186 precisionNormalized=0.00528836 precision=84.7286 (iter=0 ,sample=966,161,1074,)
nfa=-4708.24 inliers=1069/1186 precisionNormalized=8.20913e-06 precision=3.33824 (iter=0 ,sample=966,161,1074,)
nfa=-4763.79 inliers=1079/1186 precisionNormalized=8.21034e-06 precision=3.33849 (iter=10 ,sample=549,446,676,)
nfa=-4832.47 inliers=1039/1186 precisionNormalized=4.26492e-06 precision=2.40616 (iter=19 ,sample=306,132,531,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1186
-- #Points validated by robust Resection: 1039
-- Threshold: 2.40616
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1039
#residuals: 2078
Initial RMSE: 0.454837
Final RMSE: 0.446002
Time (s): 0.00306437
-------------------------------
-- Robust Resection of view: 119
nfa=7.40087 inliers=23/993 precisionNormalized=0.00162283 precision=46.936 (iter=0 ,sample=809,135,899,)
nfa=-3213.41 inliers=945/993 precisionNormalized=9.80087e-05 precision=11.5346 (iter=0 ,sample=809,135,899,)
nfa=-3530.23 inliers=925/993 precisionNormalized=3.50272e-05 precision=6.8956 (iter=1 ,sample=506,300,450,)
nfa=-3607.73 inliers=951/993 precisionNormalized=4.02833e-05 precision=7.39489 (iter=2 ,sample=577,99,786,)
nfa=-3962.63 inliers=862/993 precisionNormalized=4.69022e-06 precision=2.52328 (iter=3 ,sample=401,408,282,)
nfa=-3963.69 inliers=892/993 precisionNormalized=7.34813e-06 precision=3.15833 (iter=10 ,sample=695,356,138,)
nfa=-3973.84 inliers=877/993 precisionNormalized=5.72206e-06 precision=2.78705 (iter=60 ,sample=321,911,460,)
nfa=-3983.11 inliers=886/993 precisionNormalized=6.38817e-06 precision=2.94481 (iter=83 ,sample=589,190,242,)
nfa=-3985.31 inliers=880/993 precisionNormalized=5.8052e-06 precision=2.80723 (iter=84 ,sample=888,629,470,)
nfa=-3985.78 inliers=875/993 precisionNormalized=5.37555e-06 precision=2.70135 (iter=143 ,sample=690,772,705,)
nfa=-3986.16 inliers=887/993 precisionNormalized=6.43164e-06 precision=2.95481 (iter=205 ,sample=217,611,286,)
nfa=-3992.84 inliers=884/993 precisionNormalized=6.04174e-06 precision=2.86385 (iter=223 ,sample=687,580,825,)
nfa=-4000.34 inliers=879/993 precisionNormalized=5.49219e-06 precision=2.7305 (iter=359 ,sample=897,360,321,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 993
-- #Points validated by robust Resection: 879
-- Threshold: 2.7305
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 879
#residuals: 1758
Initial RMSE: 0.475071
Final RMSE: 0.472468
Time (s): 0.00223537
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 62
#intrinsics: 1
#tracks: 54864
#residuals: 362864
Initial RMSE: 0.296024
Final RMSE: 0.291339
Time (s): 8.09974
Usable motion priors: 1
Pose prior statistics (user units):
- Starting median fitting error: 5.92468
- Final fitting error:
min: 0.705402
mean: 5.56
median: 5.21942
max: 13.0452
-------------------------------
-- Robust Resection of view: 41
nfa=-4114.17 inliers=1034/1105 precisionNormalized=2.44891e-05 precision=5.76579 (iter=0 ,sample=900,150,1001,)
nfa=-4510.88 inliers=1005/1105 precisionNormalized=6.88013e-06 precision=3.05612 (iter=3 ,sample=237,807,619,)
nfa=-4582.21 inliers=1022/1105 precisionNormalized=7.29631e-06 precision=3.1472 (iter=10 ,sample=1036,776,1088,)
nfa=-4603.72 inliers=991/1105 precisionNormalized=4.57303e-06 precision=2.49158 (iter=45 ,sample=268,828,984,)
nfa=-4609.39 inliers=978/1105 precisionNormalized=3.76248e-06 precision=2.26001 (iter=73 ,sample=849,671,448,)
nfa=-4613.08 inliers=997/1105 precisionNormalized=4.85653e-06 precision=2.56765 (iter=108 ,sample=881,943,803,)
nfa=-4647.91 inliers=987/1105 precisionNormalized=3.89002e-06 precision=2.29799 (iter=115 ,sample=647,503,771,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1105
-- #Points validated by robust Resection: 987
-- Threshold: 2.29799
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 987
#residuals: 1974
Initial RMSE: 0.478791
Final RMSE: 0.442126
Time (s): 0.00291377
-------------------------------
-- Robust Resection of view: 118
nfa=-18.2849 inliers=509/966 precisionNormalized=0.0749501 precision=318.977 (iter=0 ,sample=787,131,875,)
nfa=-3387.22 inliers=937/966 precisionNormalized=6.36156e-05 precision=9.29297 (iter=0 ,sample=787,131,875,)
nfa=-3729.26 inliers=844/966 precisionNormalized=7.24683e-06 precision=3.13651 (iter=3 ,sample=938,555,160,)
nfa=-3867.05 inliers=848/966 precisionNormalized=5.25261e-06 precision=2.6703 (iter=9 ,sample=200,410,719,)
nfa=-3870.3 inliers=853/966 precisionNormalized=5.62787e-06 precision=2.76404 (iter=237 ,sample=480,711,362,)
nfa=-3871.31 inliers=846/966 precisionNormalized=5.02975e-06 precision=2.61304 (iter=325 ,sample=699,253,66,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 966
-- #Points validated by robust Resection: 846
-- Threshold: 2.61304
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 846
#residuals: 1692
Initial RMSE: 0.518104
Final RMSE: 0.50593
Time (s): 0.00224225
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 64
#intrinsics: 1
#tracks: 56603
#residuals: 373732
Initial RMSE: 0.297541
Final RMSE: 0.291273
Time (s): 19.7306
Usable motion priors: 1
Pose prior statistics (user units):
- Starting median fitting error: 5.72445
- Final fitting error:
min: 1.0658
mean: 5.66041
median: 5.25861
max: 12.7687
-------------------------------
-- Robust Resection of view: 42
nfa=-198.562 inliers=605/938 precisionNormalized=0.0521107 precision=265.982 (iter=0 ,sample=764,127,849,)
nfa=-3120.34 inliers=904/938 precisionNormalized=9.0566e-05 precision=11.0885 (iter=0 ,sample=764,127,849,)
nfa=-3783.56 inliers=868/938 precisionNormalized=9.69528e-06 precision=3.62801 (iter=1 ,sample=880,571,497,)
nfa=-3793.36 inliers=853/938 precisionNormalized=7.50761e-06 precision=3.19256 (iter=3 ,sample=655,659,288,)
nfa=-3896.21 inliers=843/938 precisionNormalized=4.81647e-06 precision=2.55713 (iter=19 ,sample=501,492,300,)
nfa=-3903.5 inliers=869/938 precisionNormalized=7.12246e-06 precision=3.10959 (iter=151 ,sample=650,934,589,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 938
-- #Points validated by robust Resection: 869
-- Threshold: 3.10959
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 869
#residuals: 1738
Initial RMSE: 0.668522
Final RMSE: 0.666128
Time (s): 0.00257024
-------------------------------
-- Robust Resection of view: 117
nfa=-178.572 inliers=345/877 precisionNormalized=0.0161623 precision=148.129 (iter=0 ,sample=714,119,794,)
nfa=-2930.94 inliers=841/877 precisionNormalized=8.21228e-05 precision=10.5589 (iter=0 ,sample=714,119,794,)
nfa=-3137.27 inliers=777/877 precisionNormalized=1.81584e-05 precision=4.96509 (iter=1 ,sample=608,759,664,)
nfa=-3142.16 inliers=802/877 precisionNormalized=2.6081e-05 precision=5.95046 (iter=3 ,sample=684,198,270,)
nfa=-3303.1 inliers=785/877 precisionNormalized=1.25432e-05 precision=4.12661 (iter=4 ,sample=263,232,797,)
nfa=-3425.23 inliers=749/877 precisionNormalized=4.73178e-06 precision=2.53455 (iter=6 ,sample=698,174,273,)
nfa=-3426.93 inliers=764/877 precisionNormalized=6.10686e-06 precision=2.87937 (iter=10 ,sample=678,146,269,)
nfa=-3480.3 inliers=736/877 precisionNormalized=3.13281e-06 precision=2.06232 (iter=16 ,sample=230,556,693,)
nfa=-3483.6 inliers=768/877 precisionNormalized=5.49279e-06 precision=2.73077 (iter=196 ,sample=203,156,600,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 877
-- #Points validated by robust Resection: 768
-- Threshold: 2.73077
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 768
#residuals: 1536
Initial RMSE: 0.502045
Final RMSE: 0.484828
Time (s): 0.00202074
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 66
#intrinsics: 1
#tracks: 58652
#residuals: 385338
Initial RMSE: 0.296414
Final RMSE: 0.290624
Time (s): 20.0935
Usable motion priors: 1
Pose prior statistics (user units):
- Starting median fitting error: 5.85887
- Final fitting error:
min: 1.37694
mean: 5.70592
median: 5.17572
max: 12.5286
-------------------------------
-- Robust Resection of view: 116
nfa=12.3555 inliers=4/921 precisionNormalized=0.00164946 precision=47.3251 (iter=0 ,sample=750,125,834,)
nfa=-2381.42 inliers=836/921 precisionNormalized=0.000304634 precision=20.3381 (iter=0 ,sample=750,125,834,)
nfa=-3050.94 inliers=864/921 precisionNormalized=6.89888e-05 precision=9.67853 (iter=1 ,sample=458,86,193,)
nfa=-3374.38 inliers=853/921 precisionNormalized=2.48229e-05 precision=5.80559 (iter=2 ,sample=418,910,323,)
nfa=-3598.09 inliers=821/921 precisionNormalized=8.27184e-06 precision=3.35136 (iter=3 ,sample=325,895,586,)
nfa=-3663.55 inliers=823/921 precisionNormalized=7.08172e-06 precision=3.10091 (iter=9 ,sample=650,202,59,)
nfa=-3666.29 inliers=827/921 precisionNormalized=7.48636e-06 precision=3.18827 (iter=92 ,sample=494,315,524,)
nfa=-3679.82 inliers=824/921 precisionNormalized=6.86882e-06 precision=3.05395 (iter=107 ,sample=459,78,472,)
nfa=-3683.92 inliers=821/921 precisionNormalized=6.4709e-06 precision=2.96417 (iter=213 ,sample=114,124,321,)
nfa=-3688.17 inliers=828/921 precisionNormalized=7.14773e-06 precision=3.11533 (iter=272 ,sample=269,531,306,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 921
-- #Points validated by robust Resection: 828
-- Threshold: 3.11533
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 828
#residuals: 1656
Initial RMSE: 0.588116
Final RMSE: 0.572209
Time (s): 0.00245433
-------------------------------
-- Robust Resection of view: 43
nfa=-1048.95 inliers=680/921 precisionNormalized=0.00397571 precision=73.473 (iter=0 ,sample=750,125,834,)
nfa=-3468.15 inliers=869/921 precisionNormalized=2.41924e-05 precision=5.73138 (iter=1 ,sample=589,884,726,)
nfa=-3699.98 inliers=843/921 precisionNormalized=8.7483e-06 precision=3.44653 (iter=6 ,sample=739,565,269,)
nfa=-3779.09 inliers=826/921 precisionNormalized=5.34226e-06 precision=2.69329 (iter=22 ,sample=348,825,683,)
nfa=-3783.77 inliers=830/921 precisionNormalized=5.62574e-06 precision=2.76382 (iter=27 ,sample=273,15,361,)
nfa=-3811.62 inliers=830/921 precisionNormalized=5.19699e-06 precision=2.65642 (iter=45 ,sample=659,557,725,)
nfa=-3835.57 inliers=842/921 precisionNormalized=5.9e-06 precision=2.83039 (iter=73 ,sample=301,129,591,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 921
-- #Points validated by robust Resection: 842
-- Threshold: 2.83039
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 842
#residuals: 1684
Initial RMSE: 0.569678
Final RMSE: 0.549739
Time (s): 0.00222558
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 68
#intrinsics: 1
#tracks: 60580
#residuals: 396462
Initial RMSE: 0.293807
Final RMSE: 0.290152
Time (s): 14.3625
Usable motion priors: 1
Pose prior statistics (user units):
- Starting median fitting error: 5.39044
- Final fitting error:
min: 1.33274
mean: 5.7118
median: 5.16813
max: 12.3949
-------------------------------
-- Robust Resection of view: 115
nfa=-1004.22 inliers=950/1025 precisionNormalized=0.0203398 precision=166.187 (iter=0 ,sample=835,139,928,)
nfa=-1844.04 inliers=974/1025 precisionNormalized=0.00317812 precision=65.6915 (iter=0 ,sample=835,139,928,)
nfa=-2094.99 inliers=849/1025 precisionNormalized=0.0005931 precision=28.3784 (iter=1 ,sample=11,135,285,)
nfa=-4128.74 inliers=915/1025 precisionNormalized=6.16171e-06 precision=2.89251 (iter=2 ,sample=296,797,725,)
nfa=-4168.78 inliers=907/1025 precisionNormalized=4.94065e-06 precision=2.5901 (iter=36 ,sample=139,723,266,)
nfa=-4169.37 inliers=921/1025 precisionNormalized=6.05517e-06 precision=2.86739 (iter=124 ,sample=572,116,816,)
nfa=-4173.85 inliers=912/1025 precisionNormalized=5.24943e-06 precision=2.66981 (iter=144 ,sample=192,687,516,)
nfa=-4185.09 inliers=905/1025 precisionNormalized=4.59567e-06 precision=2.49803 (iter=242 ,sample=358,651,860,)
nfa=-4185.85 inliers=913/1025 precisionNormalized=5.1643e-06 precision=2.64807 (iter=282 ,sample=904,537,111,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1025
-- #Points validated by robust Resection: 913
-- Threshold: 2.64807
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 913
#residuals: 1826
Initial RMSE: 0.494965
Final RMSE: 0.478075
Time (s): 0.00270717
-------------------------------
-- Robust Resection of view: 44
nfa=-83.3486 inliers=233/910 precisionNormalized=0.0133849 precision=134.813 (iter=0 ,sample=741,124,824,)
nfa=-785.458 inliers=570/910 precisionNormalized=0.00436714 precision=77.0056 (iter=0 ,sample=741,124,824,)
nfa=-3386.87 inliers=824/910 precisionNormalized=1.62699e-05 precision=4.70021 (iter=1 ,sample=172,169,296,)
nfa=-3523.95 inliers=837/910 precisionNormalized=1.34595e-05 precision=4.27502 (iter=3 ,sample=484,345,706,)
nfa=-3543.89 inliers=840/910 precisionNormalized=1.33244e-05 precision=4.25352 (iter=8 ,sample=352,630,244,)
nfa=-3604.25 inliers=833/910 precisionNormalized=1.01145e-05 precision=3.70591 (iter=18 ,sample=858,619,386,)
nfa=-3670.36 inliers=799/910 precisionNormalized=4.83577e-06 precision=2.56246 (iter=19 ,sample=635,864,618,)
nfa=-3680.46 inliers=819/910 precisionNormalized=6.52707e-06 precision=2.97703 (iter=46 ,sample=451,192,187,)
nfa=-3702.52 inliers=801/910 precisionNormalized=4.54669e-06 precision=2.48469 (iter=66 ,sample=794,587,176,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 910
-- #Points validated by robust Resection: 801
-- Threshold: 2.48469
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 801
#residuals: 1602
Initial RMSE: 0.485489
Final RMSE: 0.477123
Time (s): 0.00206597
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 70
#intrinsics: 1
#tracks: 62229
#residuals: 406630
Initial RMSE: 0.292969
Final RMSE: 0.28995
Time (s): 6.24597
Usable motion priors: 1
Pose prior statistics (user units):
- Starting median fitting error: 5.62453
- Final fitting error:
min: 1.29091
mean: 5.66314
median: 5.10899
max: 12.3888
-------------------------------
-- Robust Resection of view: 113
nfa=4.37986 inliers=43/1182 precisionNormalized=0.00277374 precision=61.3658 (iter=0 ,sample=963,160,1070,)
nfa=-645.942 inliers=903/1182 precisionNormalized=0.0289808 precision=198.358 (iter=0 ,sample=963,160,1070,)
nfa=-3510.06 inliers=1134/1182 precisionNormalized=0.000205313 precision=16.6956 (iter=1 ,sample=1001,678,650,)
nfa=-4021.9 inliers=1103/1182 precisionNormalized=5.26464e-05 precision=8.45431 (iter=3 ,sample=152,293,846,)
nfa=-4403.86 inliers=1045/1182 precisionNormalized=1.21752e-05 precision=4.06567 (iter=4 ,sample=85,699,914,)
nfa=-4451.94 inliers=1068/1182 precisionNormalized=1.43287e-05 precision=4.4106 (iter=26 ,sample=127,934,640,)
nfa=-4471.71 inliers=1060/1182 precisionNormalized=1.24995e-05 precision=4.11946 (iter=70 ,sample=672,1067,487,)
nfa=-4502.53 inliers=1057/1182 precisionNormalized=1.12728e-05 precision=3.91209 (iter=109 ,sample=265,1096,548,)
nfa=-4504.02 inliers=1066/1182 precisionNormalized=1.2494e-05 precision=4.11855 (iter=399 ,sample=266,149,460,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1182
-- #Points validated by robust Resection: 1066
-- Threshold: 4.11855
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1066
#residuals: 2132
Initial RMSE: 0.844331
Final RMSE: 0.840993
Time (s): 0.00318042
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 71
#intrinsics: 1
#tracks: 63099
#residuals: 412257
Initial RMSE: 0.298863
Final RMSE: 0.291167
Time (s): 13.945
Usable motion priors: 1
Pose prior statistics (user units):
- Starting median fitting error: 5.6774
- Final fitting error:
min: 1.30225
mean: 5.63232
median: 5.10794
max: 12.3677
-------------------------------
-- Robust Resection of view: 112
nfa=-56.2574 inliers=233/1009 precisionNormalized=0.015566 precision=145.428 (iter=0 ,sample=822,137,914,)
nfa=-89.4928 inliers=427/1009 precisionNormalized=0.0368255 precision=223.683 (iter=0 ,sample=822,137,914,)
nfa=-477.129 inliers=759/1009 precisionNormalized=0.0342036 precision=215.573 (iter=0 ,sample=822,137,914,)
nfa=-3786.23 inliers=866/1009 precisionNormalized=7.76096e-06 precision=3.24726 (iter=0 ,sample=822,137,914,)
nfa=-3791.13 inliers=899/1009 precisionNormalized=1.22326e-05 precision=4.07679 (iter=34 ,sample=585,315,735,)
nfa=-3818.39 inliers=863/1009 precisionNormalized=6.805e-06 precision=3.0407 (iter=35 ,sample=240,703,890,)
nfa=-3832.24 inliers=883/1009 precisionNormalized=8.77063e-06 precision=3.45203 (iter=39 ,sample=553,619,260,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1009
-- #Points validated by robust Resection: 883
-- Threshold: 3.45203
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 883
#residuals: 1766
Initial RMSE: 0.650926
Final RMSE: 0.645973
Time (s): 0.00265842
-------------------------------
-- Robust Resection of view: 46
nfa=-600.727 inliers=688/802 precisionNormalized=0.0253293 precision=185.512 (iter=0 ,sample=653,109,726,)
nfa=-3156.84 inliers=716/802 precisionNormalized=7.73178e-06 precision=3.24115 (iter=0 ,sample=653,109,726,)
nfa=-3205.38 inliers=717/802 precisionNormalized=6.71494e-06 precision=3.02051 (iter=1 ,sample=445,644,566,)
nfa=-3226.46 inliers=718/802 precisionNormalized=6.38237e-06 precision=2.94476 (iter=3 ,sample=679,343,360,)
nfa=-3241.26 inliers=720/802 precisionNormalized=6.30862e-06 precision=2.9277 (iter=75 ,sample=634,675,55,)
nfa=-3257.25 inliers=722/802 precisionNormalized=6.21234e-06 precision=2.90527 (iter=97 ,sample=378,462,107,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 802
-- #Points validated by robust Resection: 722
-- Threshold: 2.90527
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 722
#residuals: 1444
Initial RMSE: 0.525642
Final RMSE: 0.516834
Time (s): 0.00188495
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 73
#intrinsics: 1
#tracks: 65000
#residuals: 423159
Initial RMSE: 0.295553
Final RMSE: 0.290918
Time (s): 10.1644
Usable motion priors: 1
Pose prior statistics (user units):
- Starting median fitting error: 5.3602
- Final fitting error:
min: 1.2384
mean: 5.56052
median: 4.97342
max: 12.3848
-------------------------------
-- Robust Resection of view: 111
nfa=-1107.6 inliers=728/1007 precisionNormalized=0.00403203 precision=74.0277 (iter=0 ,sample=820,137,912,)
nfa=-2443.78 inliers=840/1007 precisionNormalized=0.000216823 precision=17.1666 (iter=0 ,sample=820,137,912,)
nfa=-3901.09 inliers=885/1007 precisionNormalized=7.55698e-06 precision=3.20484 (iter=1 ,sample=470,370,332,)
nfa=-3928.12 inliers=889/1007 precisionNormalized=7.45613e-06 precision=3.18338 (iter=4 ,sample=918,671,780,)
nfa=-3928.38 inliers=886/1007 precisionNormalized=7.13269e-06 precision=3.11357 (iter=22 ,sample=812,56,68,)
nfa=-3940 inliers=886/1007 precisionNormalized=6.91621e-06 precision=3.06596 (iter=31 ,sample=372,574,66,)
nfa=-3956.12 inliers=897/1007 precisionNormalized=7.7772e-06 precision=3.2512 (iter=34 ,sample=772,346,773,)
nfa=-3976.66 inliers=869/1007 precisionNormalized=4.86168e-06 precision=2.57055 (iter=48 ,sample=24,466,661,)
nfa=-4001.88 inliers=879/1007 precisionNormalized=5.28433e-06 precision=2.67995 (iter=59 ,sample=637,20,553,)
nfa=-4002.99 inliers=882/1007 precisionNormalized=5.5114e-06 precision=2.73693 (iter=241 ,sample=124,218,987,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1007
-- #Points validated by robust Resection: 882
-- Threshold: 2.73693
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 882
#residuals: 1764
Initial RMSE: 0.526792
Final RMSE: 0.514188
Time (s): 0.0026399
-------------------------------
-- Robust Resection of view: 47
nfa=-2365.57 inliers=735/764 precisionNormalized=0.000152682 precision=14.4054 (iter=0 ,sample=622,104,692,)
nfa=-2897.16 inliers=678/764 precisionNormalized=1.04297e-05 precision=3.76503 (iter=1 ,sample=422,471,449,)
nfa=-2927.89 inliers=677/764 precisionNormalized=9.20584e-06 precision=3.53724 (iter=60 ,sample=594,309,416,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 764
-- #Points validated by robust Resection: 677
-- Threshold: 3.53724
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 677
#residuals: 1354
Initial RMSE: 0.661148
Final RMSE: 0.647462
Time (s): 0.00181085
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 75
#intrinsics: 1
#tracks: 66572
#residuals: 432683
Initial RMSE: 0.295713
Final RMSE: 0.291363
Time (s): 11.5595
Usable motion priors: 1
Pose prior statistics (user units):
- Starting median fitting error: 5.20949
- Final fitting error:
min: 1.18188
mean: 5.47875
median: 4.68429
max: 12.4024
-------------------------------
-- Robust Resection of view: 110
nfa=-913.088 inliers=660/802 precisionNormalized=0.00709079 precision=98.1728 (iter=0 ,sample=653,109,726,)
nfa=-2304.69 inliers=769/802 precisionNormalized=0.000252664 precision=18.5317 (iter=0 ,sample=653,109,726,)
nfa=-2535.62 inliers=786/802 precisionNormalized=0.000161201 precision=14.8023 (iter=1 ,sample=633,368,644,)
nfa=-2619.56 inliers=778/802 precisionNormalized=0.000111831 precision=12.3289 (iter=3 ,sample=798,692,160,)
nfa=-2873.1 inliers=764/802 precisionNormalized=4.22183e-05 precision=7.57521 (iter=8 ,sample=239,255,776,)
nfa=-3048.43 inliers=731/802 precisionNormalized=1.42881e-05 precision=4.40688 (iter=9 ,sample=582,433,531,)
nfa=-3145.98 inliers=731/802 precisionNormalized=1.04632e-05 precision=3.77117 (iter=19 ,sample=799,165,217,)
nfa=-3159.47 inliers=722/802 precisionNormalized=8.5406e-06 precision=3.40712 (iter=69 ,sample=648,588,724,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 802
-- #Points validated by robust Resection: 722
-- Threshold: 3.40712
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 722
#residuals: 1444
Initial RMSE: 0.717666
Final RMSE: 0.694205
Time (s): 0.00229682
-------------------------------
-- Robust Resection of view: 48
nfa=-2345.27 inliers=622/667 precisionNormalized=3.81263e-05 precision=7.19873 (iter=0 ,sample=543,91,604,)
nfa=-2483.99 inliers=621/667 precisionNormalized=2.22651e-05 precision=5.50119 (iter=8 ,sample=334,69,134,)
nfa=-2594.82 inliers=596/667 precisionNormalized=8.69503e-06 precision=3.43779 (iter=10 ,sample=605,483,187,)
nfa=-2605.42 inliers=595/667 precisionNormalized=8.16098e-06 precision=3.33054 (iter=85 ,sample=176,593,606,)
nfa=-2606.23 inliers=578/667 precisionNormalized=5.57837e-06 precision=2.75358 (iter=89 ,sample=399,218,496,)
nfa=-2608.92 inliers=592/667 precisionNormalized=7.53944e-06 precision=3.20121 (iter=181 ,sample=409,418,506,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 667
-- #Points validated by robust Resection: 592
-- Threshold: 3.20121
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 592
#residuals: 1184
Initial RMSE: 0.626833
Final RMSE: 0.618771
Time (s): 0.00163028
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 77
#intrinsics: 1
#tracks: 68393
#residuals: 442775
Initial RMSE: 0.296521
Final RMSE: 0.291759
Time (s): 8.98314
Usable motion priors: 1
Pose prior statistics (user units):
- Starting median fitting error: 5.29775
- Final fitting error:
min: 1.12238
mean: 5.41079
median: 4.66344
max: 12.4684
-------------------------------
-- Robust Resection of view: 109
nfa=14.1124 inliers=4/1029 precisionNormalized=0.0540838 precision=271.109 (iter=0 ,sample=838,140,932,)
nfa=-135.877 inliers=649/1029 precisionNormalized=0.0663647 precision=300.316 (iter=0 ,sample=838,140,932,)
nfa=-4173.56 inliers=969/1029 precisionNormalized=1.15939e-05 precision=3.96939 (iter=0 ,sample=838,140,932,)
nfa=-4271.41 inliers=927/1029 precisionNormalized=5.04037e-06 precision=2.61723 (iter=8 ,sample=291,399,686,)
nfa=-4286.9 inliers=932/1029 precisionNormalized=5.21327e-06 precision=2.66174 (iter=13 ,sample=815,190,15,)
nfa=-4324.57 inliers=936/1029 precisionNormalized=5.02443e-06 precision=2.61308 (iter=22 ,sample=197,493,288,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1029
-- #Points validated by robust Resection: 936
-- Threshold: 2.61308
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 936
#residuals: 1872
Initial RMSE: 0.580863
Final RMSE: 0.575504
Time (s): 0.00271805
-------------------------------
-- Robust Resection of view: 49
nfa=-905.257 inliers=692/789 precisionNormalized=0.00975593 precision=115.145 (iter=0 ,sample=642,107,714,)
nfa=-3091.74 inliers=735/789 precisionNormalized=1.39597e-05 precision=4.3556 (iter=1 ,sample=534,509,126,)
nfa=-3133.86 inliers=742/789 precisionNormalized=1.38063e-05 precision=4.33161 (iter=4 ,sample=184,785,513,)
nfa=-3236.83 inliers=707/789 precisionNormalized=5.23364e-06 precision=2.66693 (iter=6 ,sample=715,483,16,)
nfa=-3263.4 inliers=710/789 precisionNormalized=5.07179e-06 precision=2.62537 (iter=11 ,sample=507,594,699,)
nfa=-3273.24 inliers=721/789 precisionNormalized=6.04643e-06 precision=2.86655 (iter=39 ,sample=578,517,698,)
nfa=-3274.27 inliers=704/789 precisionNormalized=4.35572e-06 precision=2.43299 (iter=114 ,sample=591,359,698,)
nfa=-3301.24 inliers=717/789 precisionNormalized=5.11336e-06 precision=2.63611 (iter=151 ,sample=262,367,89,)
nfa=-3308.95 inliers=713/789 precisionNormalized=4.61643e-06 precision=2.50474 (iter=196 ,sample=744,186,512,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 789
-- #Points validated by robust Resection: 713
-- Threshold: 2.50474
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 713
#residuals: 1426
Initial RMSE: 0.559431
Final RMSE: 0.476254
Time (s): 0.00185868
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 79
#intrinsics: 1
#tracks: 70118
#residuals: 453167
Initial RMSE: 0.295709
Final RMSE: 0.291639
Time (s): 7.8035
Usable motion priors: 1
Pose prior statistics (user units):
- Starting median fitting error: 4.7958
- Final fitting error:
min: 1.08661
mean: 5.35799
median: 4.64191
max: 12.456
-------------------------------
-- Robust Resection of view: 108
nfa=-6.78964 inliers=184/1165 precisionNormalized=0.0158747 precision=146.878 (iter=0 ,sample=949,158,1055,)
nfa=-4672.02 inliers=1092/1165 precisionNormalized=1.22978e-05 precision=4.08808 (iter=0 ,sample=949,158,1055,)
nfa=-4673.81 inliers=1056/1165 precisionNormalized=7.91549e-06 precision=3.27978 (iter=1 ,sample=433,554,156,)
nfa=-4732.36 inliers=1063/1165 precisionNormalized=7.58423e-06 precision=3.21041 (iter=3 ,sample=1038,466,1113,)
nfa=-4807.09 inliers=1083/1165 precisionNormalized=8.25013e-06 precision=3.34839 (iter=8 ,sample=986,673,313,)
nfa=-4833 inliers=1078/1165 precisionNormalized=7.3307e-06 precision=3.1563 (iter=10 ,sample=790,513,305,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1165
-- #Points validated by robust Resection: 1078
-- Threshold: 3.1563
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1078
#residuals: 2156
Initial RMSE: 0.552797
Final RMSE: 0.546222
Time (s): 0.00318131
-------------------------------
-- Robust Resection of view: 50
nfa=-95.7188 inliers=204/963 precisionNormalized=0.00815186 precision=105.253 (iter=0 ,sample=784,131,872,)
nfa=-181.84 inliers=321/963 precisionNormalized=0.0116508 precision=125.83 (iter=0 ,sample=784,131,872,)
nfa=-2372.33 inliers=873/963 precisionNormalized=0.000411963 precision=23.6611 (iter=0 ,sample=784,131,872,)
nfa=-3892.53 inliers=894/963 precisionNormalized=9.91434e-06 precision=3.6706 (iter=1 ,sample=305,49,322,)
nfa=-4069.84 inliers=895/963 precisionNormalized=6.32209e-06 precision=2.93113 (iter=15 ,sample=844,724,793,)
nfa=-4100.33 inliers=872/963 precisionNormalized=4.06902e-06 precision=2.35153 (iter=16 ,sample=395,539,325,)
nfa=-4112.56 inliers=873/963 precisionNormalized=3.99906e-06 precision=2.33122 (iter=168 ,sample=360,413,285,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 963
-- #Points validated by robust Resection: 873
-- Threshold: 2.33122
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 873
#residuals: 1746
Initial RMSE: 0.451519
Final RMSE: 0.428486
Time (s): 0.00228161
-------------------------------
-- Robust Resection of view: 107
nfa=-234.969 inliers=779/1269 precisionNormalized=0.0517036 precision=265.073 (iter=0 ,sample=1033,172,1149,)
nfa=-4823.79 inliers=1200/1269 precisionNormalized=2.31426e-05 precision=5.60805 (iter=0 ,sample=1033,172,1149,)
nfa=-5213.82 inliers=1126/1269 precisionNormalized=4.64327e-06 precision=2.51199 (iter=3 ,sample=312,389,1052,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1269
-- #Points validated by robust Resection: 1126
-- Threshold: 2.51199
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1126
#residuals: 2252
Initial RMSE: 0.510761
Final RMSE: 0.499014
Time (s): 0.00284296
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 82
#intrinsics: 1
#tracks: 72308
#residuals: 468592
Initial RMSE: 0.297678
Final RMSE: 0.292022
Time (s): 7.13339
Usable motion priors: 1
Pose prior statistics (user units):
- Starting median fitting error: 5.36826
- Final fitting error:
min: 1.03289
mean: 5.32562
median: 4.66133
max: 12.4411
-------------------------------
-- Robust Resection of view: 51
nfa=-98.8666 inliers=1134/1141 precisionNormalized=0.244988 precision=577.035 (iter=0 ,sample=929,155,1033,)
nfa=-4879.51 inliers=1045/1141 precisionNormalized=4.58577e-06 precision=2.49652 (iter=0 ,sample=929,155,1033,)
nfa=-4890.42 inliers=1041/1141 precisionNormalized=4.24086e-06 precision=2.4008 (iter=50 ,sample=281,485,643,)
nfa=-4925.34 inliers=1029/1141 precisionNormalized=3.32453e-06 precision=2.12566 (iter=105 ,sample=541,372,276,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1141
-- #Points validated by robust Resection: 1029
-- Threshold: 2.12566
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1029
#residuals: 2058
Initial RMSE: 0.397811
Final RMSE: 0.39065
Time (s): 0.00301315
-------------------------------
-- Robust Resection of view: 106
nfa=10.7569 inliers=10/1089 precisionNormalized=0.000666522 precision=30.0979 (iter=0 ,sample=887,148,986,)
nfa=10.0254 inliers=5/1089 precisionNormalized=4.41003e-05 precision=7.74195 (iter=0 ,sample=887,148,986,)
nfa=-4281.23 inliers=977/1089 precisionNormalized=8.50595e-06 precision=3.40009 (iter=0 ,sample=887,148,986,)
nfa=-4429.54 inliers=990/1089 precisionNormalized=7.09827e-06 precision=3.10603 (iter=11 ,sample=691,406,820,)
nfa=-4433.54 inliers=974/1089 precisionNormalized=5.66065e-06 precision=2.77372 (iter=36 ,sample=85,1043,357,)
nfa=-4434.24 inliers=974/1089 precisionNormalized=5.65113e-06 precision=2.77138 (iter=58 ,sample=476,64,42,)
nfa=-4443.33 inliers=968/1089 precisionNormalized=5.08818e-06 precision=2.62973 (iter=84 ,sample=787,509,777,)
nfa=-4462.88 inliers=978/1089 precisionNormalized=5.57072e-06 precision=2.7516 (iter=89 ,sample=567,175,562,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1089
-- #Points validated by robust Resection: 978
-- Threshold: 2.7516
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 978
#residuals: 1956
Initial RMSE: 0.481375
Final RMSE: 0.474405
Time (s): 0.00256004
-------------------------------
-- Robust Resection of view: 52
nfa=-25.5901 inliers=185/1670 precisionNormalized=0.00849401 precision=107.445 (iter=0 ,sample=1360,227,1512,)
nfa=-7065.47 inliers=1543/1670 precisionNormalized=5.91939e-06 precision=2.8364 (iter=0 ,sample=1360,227,1512,)
nfa=-7206.79 inliers=1507/1670 precisionNormalized=3.42495e-06 precision=2.15753 (iter=21 ,sample=965,325,669,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1670
-- #Points validated by robust Resection: 1507
-- Threshold: 2.15753
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1507
#residuals: 3014
Initial RMSE: 0.431933
Final RMSE: 0.425978
Time (s): 0.00403329
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 85
#intrinsics: 1
#tracks: 75614
#residuals: 489449
Initial RMSE: 0.295907
Final RMSE: 0.289931
Time (s): 10.508
Usable motion priors: 1
Pose prior statistics (user units):
- Starting median fitting error: 5.09096
- Final fitting error:
min: 0.966131
mean: 5.22036
median: 4.54785
max: 12.5016
-------------------------------
-- Robust Resection of view: 53
nfa=-293.201 inliers=1106/1869 precisionNormalized=0.0536891 precision=270.194 (iter=0 ,sample=1522,254,1693,)
nfa=-7255.78 inliers=1764/1869 precisionNormalized=1.87775e-05 precision=5.05304 (iter=0 ,sample=1522,254,1693,)
nfa=-7777.52 inliers=1759/1869 precisionNormalized=9.08069e-06 precision=3.51393 (iter=1 ,sample=873,1110,306,)
nfa=-7821.02 inliers=1729/1869 precisionNormalized=6.79612e-06 precision=3.03993 (iter=40 ,sample=326,362,785,)
nfa=-7871.69 inliers=1713/1869 precisionNormalized=5.59029e-06 precision=2.75709 (iter=64 ,sample=624,1174,167,)
nfa=-7885.29 inliers=1750/1869 precisionNormalized=7.33862e-06 precision=3.15893 (iter=97 ,sample=564,1533,529,)
nfa=-7904.83 inliers=1742/1869 precisionNormalized=6.71657e-06 precision=3.02209 (iter=130 ,sample=1341,269,882,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1869
-- #Points validated by robust Resection: 1742
-- Threshold: 3.02209
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1742
#residuals: 3484
Initial RMSE: 0.56997
Final RMSE: 0.544846
Time (s): 0.00485294
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 86
#intrinsics: 1
#tracks: 76290
#residuals: 495752
Initial RMSE: 0.294361
Final RMSE: 0.290691
Time (s): 11.2386
Usable motion priors: 1
Pose prior statistics (user units):
- Starting median fitting error: 5.14143
- Final fitting error:
min: 0.956873
mean: 5.19136
median: 4.55344
max: 12.5041
-------------------------------
-- Robust Resection of view: 105
nfa=15.3397 inliers=4/1031 precisionNormalized=0.903854 precision=1108.67 (iter=0 ,sample=839,140,934,)
nfa=-205.802 inliers=690/1031 precisionNormalized=0.059619 precision=284.737 (iter=0 ,sample=839,140,934,)
nfa=-2502.42 inliers=949/1031 precisionNormalized=0.000518865 precision=26.5631 (iter=0 ,sample=839,140,934,)
nfa=-4245.83 inliers=925/1031 precisionNormalized=5.19892e-06 precision=2.65894 (iter=1 ,sample=498,632,828,)
nfa=-4345.1 inliers=920/1031 precisionNormalized=3.73916e-06 precision=2.25496 (iter=11 ,sample=179,688,625,)
nfa=-4365.22 inliers=931/1031 precisionNormalized=4.18744e-06 precision=2.3863 (iter=89 ,sample=414,992,556,)
nfa=-4365.65 inliers=935/1031 precisionNormalized=4.43862e-06 precision=2.45683 (iter=261 ,sample=302,103,445,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1031
-- #Points validated by robust Resection: 935
-- Threshold: 2.45683
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 935
#residuals: 1870
Initial RMSE: 0.469906
Final RMSE: 0.456618
Time (s): 0.00273917
-------------------------------
-- Robust Resection of view: 104
nfa=-50.737 inliers=227/1044 precisionNormalized=0.0151016 precision=143.305 (iter=0 ,sample=850,142,945,)
nfa=-2901.33 inliers=995/1044 precisionNormalized=0.000302485 precision=20.2817 (iter=0 ,sample=850,142,945,)
nfa=-4236.22 inliers=969/1044 precisionNormalized=9.55048e-06 precision=3.60383 (iter=1 ,sample=533,784,625,)
nfa=-4311.72 inliers=951/1044 precisionNormalized=6.18984e-06 precision=2.90129 (iter=9 ,sample=518,844,389,)
nfa=-4328.31 inliers=956/1044 precisionNormalized=6.37584e-06 precision=2.94456 (iter=22 ,sample=253,1036,322,)
nfa=-4339.76 inliers=957/1044 precisionNormalized=6.28659e-06 precision=2.92387 (iter=27 ,sample=767,593,386,)
nfa=-4342.55 inliers=969/1044 precisionNormalized=7.38569e-06 precision=3.16918 (iter=280 ,sample=291,528,519,)
nfa=-4347.68 inliers=951/1044 precisionNormalized=5.66215e-06 precision=2.77487 (iter=306 ,sample=107,583,733,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1044
-- #Points validated by robust Resection: 951
-- Threshold: 2.77487
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 951
#residuals: 1902
Initial RMSE: 0.590722
Final RMSE: 0.550846
Time (s): 0.00245744
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 88
#intrinsics: 1
#tracks: 77440
#residuals: 504616
Initial RMSE: 0.294704
Final RMSE: 0.291147
Time (s): 10.5536
Usable motion priors: 1
Pose prior statistics (user units):
- Starting median fitting error: 4.94
- Final fitting error:
min: 0.982409
mean: 5.14763
median: 4.55507
max: 12.5831
-------------------------------
-- Robust Resection of view: 102
nfa=-221.393 inliers=626/1037 precisionNormalized=0.0443205 precision=245.553 (iter=0 ,sample=844,141,939,)
nfa=-4120.97 inliers=975/1037 precisionNormalized=1.39235e-05 precision=4.35228 (iter=0 ,sample=844,141,939,)
nfa=-4408.64 inliers=952/1037 precisionNormalized=5.02989e-06 precision=2.61591 (iter=3 ,sample=733,460,93,)
nfa=-4442.92 inliers=949/1037 precisionNormalized=4.42041e-06 precision=2.4523 (iter=115 ,sample=555,970,542,)
nfa=-4445.7 inliers=945/1037 precisionNormalized=4.13835e-06 precision=2.37278 (iter=258 ,sample=685,162,704,)
nfa=-4451.29 inliers=955/1037 precisionNormalized=4.72644e-06 precision=2.53577 (iter=392 ,sample=798,145,195,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1037
-- #Points validated by robust Resection: 955
-- Threshold: 2.53577
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 955
#residuals: 1910
Initial RMSE: 0.532281
Final RMSE: 0.522763
Time (s): 0.00286124
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 89
#intrinsics: 1
#tracks: 77980
#residuals: 508901
Initial RMSE: 0.294041
Final RMSE: 0.291587
Time (s): 10.8504
Usable motion priors: 1
Pose prior statistics (user units):
- Starting median fitting error: 4.45307
- Final fitting error:
min: 0.952893
mean: 5.12421
median: 4.35184
max: 12.6316
-------------------------------
-- Robust Resection of view: 101
nfa=-2358.33 inliers=924/946 precisionNormalized=0.000760948 precision=32.1766 (iter=0 ,sample=770,129,857,)
nfa=-3228.73 inliers=902/946 precisionNormalized=6.50124e-05 precision=9.40503 (iter=1 ,sample=440,711,809,)
nfa=-3706.12 inliers=859/946 precisionNormalized=1.02064e-05 precision=3.72649 (iter=2 ,sample=561,860,587,)
nfa=-3771.66 inliers=873/946 precisionNormalized=1.05324e-05 precision=3.78553 (iter=3 ,sample=553,127,905,)
nfa=-3879.3 inliers=850/946 precisionNormalized=5.52348e-06 precision=2.74138 (iter=4 ,sample=453,561,162,)
nfa=-3879.52 inliers=841/946 precisionNormalized=4.78189e-06 precision=2.55072 (iter=160 ,sample=756,364,941,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 946
-- #Points validated by robust Resection: 841
-- Threshold: 2.55072
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 841
#residuals: 1682
Initial RMSE: 0.5576
Final RMSE: 0.556572
Time (s): 0.00256887
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 90
#intrinsics: 1
#tracks: 78609
#residuals: 513354
Initial RMSE: 0.294419
Final RMSE: 0.291902
Time (s): 12.3718
Usable motion priors: 1
Pose prior statistics (user units):
- Starting median fitting error: 4.91093
- Final fitting error:
min: 0.995137
mean: 5.13257
median: 4.4841
max: 12.7025
-------------------------------
-- Robust Resection of view: 100
nfa=-706.501 inliers=527/744 precisionNormalized=0.00581386 precision=88.9332 (iter=0 ,sample=606,101,674,)
nfa=-1920.4 inliers=727/744 precisionNormalized=0.000613042 precision=28.8786 (iter=0 ,sample=606,101,674,)
nfa=-2059.45 inliers=714/744 precisionNormalized=0.000327423 precision=21.105 (iter=1 ,sample=374,62,468,)
nfa=-2304.33 inliers=710/744 precisionNormalized=0.000139335 precision=13.7677 (iter=2 ,sample=516,178,426,)
nfa=-2358.52 inliers=687/744 precisionNormalized=8.16216e-05 precision=10.5374 (iter=3 ,sample=442,13,699,)
nfa=-2753.37 inliers=668/744 precisionNormalized=1.52764e-05 precision=4.55871 (iter=4 ,sample=569,34,336,)
nfa=-2862.45 inliers=678/744 precisionNormalized=1.25905e-05 precision=4.13859 (iter=11 ,sample=653,331,512,)
nfa=-2885.03 inliers=674/744 precisionNormalized=1.08037e-05 precision=3.83369 (iter=13 ,sample=84,742,336,)
nfa=-2950.42 inliers=671/744 precisionNormalized=8.12327e-06 precision=3.32427 (iter=39 ,sample=89,29,382,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 744
-- #Points validated by robust Resection: 671
-- Threshold: 3.32427
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 671
#residuals: 1342
Initial RMSE: 0.66716
Final RMSE: 0.665586
Time (s): 0.00211559
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 91
#intrinsics: 1
#tracks: 79100
#residuals: 516763
Initial RMSE: 0.294571
Final RMSE: 0.292656
Time (s): 11.3264
Usable motion priors: 1
Pose prior statistics (user units):
- Starting median fitting error: 4.84722
- Final fitting error:
min: 1.02422
mean: 5.13596
median: 4.4113
max: 12.7888
-------------------------------
-- Robust Resection of view: 99
nfa=-160.026 inliers=362/691 precisionNormalized=0.028449 precision=196.711 (iter=0 ,sample=562,94,626,)
nfa=-1798.39 inliers=638/691 precisionNormalized=0.000336671 precision=21.3992 (iter=0 ,sample=562,94,626,)
nfa=-1943.87 inliers=669/691 precisionNormalized=0.000320095 precision=20.8657 (iter=1 ,sample=285,247,226,)
nfa=-2124.38 inliers=660/691 precisionNormalized=0.000147984 precision=14.1874 (iter=2 ,sample=354,76,348,)
nfa=-2232.96 inliers=642/691 precisionNormalized=7.44815e-05 precision=10.0651 (iter=6 ,sample=389,318,646,)
nfa=-2330.42 inliers=656/691 precisionNormalized=6.69805e-05 precision=9.54485 (iter=7 ,sample=287,511,47,)
nfa=-2464.13 inliers=651/691 precisionNormalized=3.8118e-05 precision=7.20045 (iter=10 ,sample=98,149,505,)
nfa=-2499.89 inliers=617/691 precisionNormalized=1.76296e-05 precision=4.89684 (iter=14 ,sample=627,101,269,)
nfa=-2517.48 inliers=624/691 precisionNormalized=1.89084e-05 precision=5.07133 (iter=215 ,sample=256,156,352,)
nfa=-2530.94 inliers=623/691 precisionNormalized=1.76356e-05 precision=4.89767 (iter=282 ,sample=529,412,592,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 691
-- #Points validated by robust Resection: 623
-- Threshold: 4.89767
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 623
#residuals: 1246
Initial RMSE: 1.02598
Final RMSE: 1.01557
Time (s): 0.00208358
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 92
#intrinsics: 1
#tracks: 79826
#residuals: 521006
Initial RMSE: 0.298139
Final RMSE: 0.293827
Time (s): 8.23358
Usable motion priors: 1
Pose prior statistics (user units):
- Starting median fitting error: 5.47564
- Final fitting error:
min: 0.955817
mean: 5.15181
median: 4.50757
max: 12.7625
-------------------------------
-- Robust Resection of view: 98
nfa=7.47996 inliers=6/710 precisionNormalized=4.61182e-05 precision=7.91946 (iter=0 ,sample=578,97,643,)
nfa=-2548.46 inliers=662/710 precisionNormalized=3.18619e-05 precision=6.58256 (iter=0 ,sample=578,97,643,)
nfa=-2607.93 inliers=628/710 precisionNormalized=1.36225e-05 precision=4.30415 (iter=4 ,sample=109,66,103,)
nfa=-2608.55 inliers=644/710 precisionNormalized=1.84695e-05 precision=5.01172 (iter=19 ,sample=76,531,245,)
nfa=-2646.34 inliers=655/710 precisionNormalized=1.98345e-05 precision=5.19361 (iter=31 ,sample=275,555,576,)
nfa=-2664.89 inliers=649/710 precisionNormalized=1.6575e-05 precision=4.74772 (iter=36 ,sample=260,408,241,)
nfa=-2672.73 inliers=649/710 precisionNormalized=1.61145e-05 precision=4.68132 (iter=114 ,sample=442,689,699,)
nfa=-2697.04 inliers=648/710 precisionNormalized=1.44859e-05 precision=4.43845 (iter=152 ,sample=413,406,456,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 710
-- #Points validated by robust Resection: 648
-- Threshold: 4.43845
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 648
#residuals: 1296
Initial RMSE: 0.897354
Final RMSE: 0.885779
Time (s): 0.00203765
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 93
#intrinsics: 1
#tracks: 80990
#residuals: 526963
Initial RMSE: 0.297749
Final RMSE: 0.293879
Time (s): 10.837
Usable motion priors: 1
Pose prior statistics (user units):
- Starting median fitting error: 4.64374
- Final fitting error:
min: 0.906159
mean: 5.14254
median: 4.5384
max: 12.7901
-------------------------------
-- Robust Resection of view: 97
nfa=-39.5526 inliers=77/851 precisionNormalized=0.00227095 precision=55.5743 (iter=0 ,sample=693,116,771,)
nfa=-3139.08 inliers=806/851 precisionNormalized=3.04761e-05 precision=6.43798 (iter=0 ,sample=693,116,771,)
nfa=-3331.96 inliers=779/851 precisionNormalized=1.13093e-05 precision=3.92182 (iter=6 ,sample=522,470,214,)
nfa=-3435.78 inliers=766/851 precisionNormalized=6.63131e-06 precision=3.0031 (iter=10 ,sample=644,635,761,)
nfa=-3457.91 inliers=759/851 precisionNormalized=5.48045e-06 precision=2.7301 (iter=44 ,sample=37,565,115,)
nfa=-3472.3 inliers=764/851 precisionNormalized=5.72295e-06 precision=2.78984 (iter=130 ,sample=40,73,628,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 851
-- #Points validated by robust Resection: 764
-- Threshold: 2.78984
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 764
#residuals: 1528
Initial RMSE: 0.57235
Final RMSE: 0.570143
Time (s): 0.00240954
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 94
#intrinsics: 1
#tracks: 81918
#residuals: 532262
Initial RMSE: 0.296094
Final RMSE: 0.294003
Time (s): 8.50913
Usable motion priors: 1
Pose prior statistics (user units):
- Starting median fitting error: 5.14082
- Final fitting error:
min: 0.858837
mean: 5.14303
median: 4.54504
max: 12.8448
-------------------------------
-- Robust Resection of view: 96
nfa=-1224.34 inliers=1104/1147 precisionNormalized=0.020355 precision=166.387 (iter=0 ,sample=934,156,1039,)
nfa=-4744.75 inliers=1012/1147 precisionNormalized=3.96567e-06 precision=2.32243 (iter=0 ,sample=934,156,1039,)
nfa=-4772.15 inliers=1062/1147 precisionNormalized=7.16369e-06 precision=3.12142 (iter=3 ,sample=356,145,309,)
nfa=-4818.06 inliers=1042/1147 precisionNormalized=4.99452e-06 precision=2.60634 (iter=94 ,sample=237,812,956,)
nfa=-4819.41 inliers=1058/1147 precisionNormalized=6.12975e-06 precision=2.88739 (iter=320 ,sample=590,525,834,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1147
-- #Points validated by robust Resection: 1058
-- Threshold: 2.88739
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1058
#residuals: 2116
Initial RMSE: 0.628881
Final RMSE: 0.552631
Time (s): 0.0031526
-------------------------------
-- Robust Resection of view: 95
nfa=-4341.87 inliers=1074/1179 precisionNormalized=1.96198e-05 precision=5.16574 (iter=0 ,sample=960,160,1068,)
nfa=-4371.41 inliers=1066/1179 precisionNormalized=1.68017e-05 precision=4.78037 (iter=10 ,sample=354,240,759,)
nfa=-4392.83 inliers=1052/1179 precisionNormalized=1.3633e-05 precision=4.30606 (iter=14 ,sample=307,738,806,)
nfa=-4456.84 inliers=1047/1179 precisionNormalized=1.11481e-05 precision=3.8939 (iter=29 ,sample=300,840,743,)
nfa=-4535.08 inliers=1054/1179 precisionNormalized=1.01867e-05 precision=3.7222 (iter=114 ,sample=102,166,505,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1179
-- #Points validated by robust Resection: 1054
-- Threshold: 3.7222
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1054
#residuals: 2108
Initial RMSE: 0.858289
Final RMSE: 0.849712
Time (s): 0.0028241
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 96
#intrinsics: 1
#tracks: 83611
#residuals: 543864
Initial RMSE: 0.302702
Final RMSE: 0.29476
Time (s): 12.3002
Usable motion priors: 1
Pose prior statistics (user units):
- Starting median fitting error: 5.12524
- Final fitting error:
min: 0.814531
mean: 5.09431
median: 4.50539
max: 12.9441
-------------------------------
-- Robust Resection of view: 94
nfa=14.4343 inliers=4/1254 precisionNormalized=0.0421535 precision=239.48 (iter=0 ,sample=1021,170,1136,)
nfa=-625.932 inliers=962/1254 precisionNormalized=0.0339802 precision=215.013 (iter=0 ,sample=1021,170,1136,)
nfa=-4517.59 inliers=1169/1254 precisionNormalized=3.17522e-05 precision=6.57263 (iter=0 ,sample=1021,170,1136,)
nfa=-4929.29 inliers=1157/1254 precisionNormalized=1.22854e-05 precision=4.08834 (iter=2 ,sample=278,1216,670,)
nfa=-4971.98 inliers=1113/1254 precisionNormalized=6.8235e-06 precision=3.04688 (iter=10 ,sample=1182,832,734,)
nfa=-5025.58 inliers=1139/1254 precisionNormalized=8.24838e-06 precision=3.34993 (iter=15 ,sample=588,999,670,)
nfa=-5050.46 inliers=1138/1254 precisionNormalized=7.74708e-06 precision=3.24654 (iter=27 ,sample=1024,663,63,)
nfa=-5069.89 inliers=1135/1254 precisionNormalized=7.18862e-06 precision=3.12734 (iter=36 ,sample=616,981,1014,)
nfa=-5090.95 inliers=1138/1254 precisionNormalized=7.12673e-06 precision=3.11385 (iter=59 ,sample=1203,921,47,)
nfa=-5126.12 inliers=1130/1254 precisionNormalized=6.03289e-06 precision=2.86494 (iter=64 ,sample=929,266,871,)
nfa=-5136.17 inliers=1126/1254 precisionNormalized=5.6339e-06 precision=2.76858 (iter=263 ,sample=96,1018,265,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1254
-- #Points validated by robust Resection: 1126
-- Threshold: 2.76858
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1126
#residuals: 2252
Initial RMSE: 0.54524
Final RMSE: 0.532929
Time (s): 0.00337181
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 97
#intrinsics: 1
#tracks: 84775
#residuals: 550897
Initial RMSE: 0.296905
Final RMSE: 0.294582
Time (s): 13.3737
Usable motion priors: 1
Pose prior statistics (user units):
- Starting median fitting error: 5.28142
- Final fitting error:
min: 0.764103
mean: 5.06199
median: 4.47062
max: 12.9759
-------------------------------
-- Robust Resection of view: 93
nfa=-892.904 inliers=719/1405 precisionNormalized=0.00448241 precision=78.0935 (iter=0 ,sample=1144,191,1272,)
nfa=-892.904 inliers=719/1405 precisionNormalized=0.00448241 precision=78.0935 (iter=0 ,sample=1144,191,1272,)
nfa=-5538.39 inliers=1311/1405 precisionNormalized=1.38665e-05 precision=4.34353 (iter=0 ,sample=1144,191,1272,)
nfa=-6087.01 inliers=1283/1405 precisionNormalized=3.84525e-06 precision=2.28729 (iter=10 ,sample=376,309,680,)
nfa=-6092.66 inliers=1276/1405 precisionNormalized=3.52199e-06 precision=2.18904 (iter=16 ,sample=81,250,508,)
nfa=-6100.52 inliers=1264/1405 precisionNormalized=3.03391e-06 precision=2.0317 (iter=24 ,sample=949,888,453,)
nfa=-6107.18 inliers=1266/1405 precisionNormalized=3.06427e-06 precision=2.04185 (iter=65 ,sample=495,216,1203,)
nfa=-6124.25 inliers=1301/1405 precisionNormalized=4.36981e-06 precision=2.43832 (iter=108 ,sample=547,667,2,)
nfa=-6130.88 inliers=1290/1405 precisionNormalized=3.82894e-06 precision=2.28243 (iter=167 ,sample=1215,1361,898,)
nfa=-6182.63 inliers=1271/1405 precisionNormalized=2.81116e-06 precision=1.9557 (iter=203 ,sample=435,317,873,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1405
-- #Points validated by robust Resection: 1271
-- Threshold: 1.9557
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1271
#residuals: 2542
Initial RMSE: 0.369411
Final RMSE: 0.360341
Time (s): 0.00376016
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 98
#intrinsics: 1
#tracks: 85730
#residuals: 557396
Initial RMSE: 0.295751
Final RMSE: 0.294083
Time (s): 13.1417
Usable motion priors: 1
Pose prior statistics (user units):
- Starting median fitting error: 5.31419
- Final fitting error:
min: 0.776087
mean: 5.02203
median: 4.45311
max: 12.9786
-------------------------------
-- Robust Resection of view: 91
nfa=-528.98 inliers=740/1452 precisionNormalized=0.0150916 precision=143.295 (iter=0 ,sample=1182,197,1315,)
nfa=-5270.02 inliers=1379/1452 precisionNormalized=3.73342e-05 precision=7.12716 (iter=0 ,sample=1182,197,1315,)
nfa=-5327.87 inliers=1387/1452 precisionNormalized=3.63486e-05 precision=7.03245 (iter=1 ,sample=492,340,735,)
nfa=-5353.62 inliers=1404/1452 precisionNormalized=4.04516e-05 precision=7.41875 (iter=2 ,sample=27,994,667,)
nfa=-6343.06 inliers=1330/1452 precisionNormalized=3.66106e-06 precision=2.23186 (iter=3 ,sample=720,441,10,)
nfa=-6358.37 inliers=1291/1452 precisionNormalized=2.32007e-06 precision=1.7767 (iter=10 ,sample=780,72,902,)
nfa=-6376.53 inliers=1303/1452 precisionNormalized=2.5662e-06 precision=1.86857 (iter=26 ,sample=459,1010,1271,)
nfa=-6381.92 inliers=1274/1452 precisionNormalized=1.82427e-06 precision=1.57546 (iter=36 ,sample=785,1224,1032,)
nfa=-6386.3 inliers=1313/1452 precisionNormalized=2.81559e-06 precision=1.95726 (iter=60 ,sample=576,433,238,)
nfa=-6403.2 inliers=1313/1452 precisionNormalized=2.72972e-06 precision=1.92718 (iter=98 ,sample=781,981,763,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1452
-- #Points validated by robust Resection: 1313
-- Threshold: 1.92718
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1313
#residuals: 2626
Initial RMSE: 0.331858
Final RMSE: 0.329692
Time (s): 0.00378558
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 99
#intrinsics: 1
#tracks: 86543
#residuals: 563441
Initial RMSE: 0.295531
Final RMSE: 0.293732
Time (s): 13.9077
Usable motion priors: 1
Pose prior statistics (user units):
- Starting median fitting error: 5.31294
- Final fitting error:
min: 0.85134
mean: 5.00317
median: 4.45818
max: 12.9506
-------------------------------
-- Robust Resection of view: 90
nfa=13.853 inliers=4/1407 precisionNormalized=0.00621208 precision=91.9315 (iter=0 ,sample=1146,191,1274,)
nfa=-206.198 inliers=530/1407 precisionNormalized=0.02116 precision=169.669 (iter=0 ,sample=1146,191,1274,)
nfa=-6029.78 inliers=1301/1407 precisionNormalized=5.16766e-06 precision=2.65151 (iter=0 ,sample=1146,191,1274,)
nfa=-6109.51 inliers=1278/1407 precisionNormalized=3.4759e-06 precision=2.1746 (iter=3 ,sample=793,447,879,)
nfa=-6204.22 inliers=1270/1407 precisionNormalized=2.65757e-06 precision=1.90147 (iter=8 ,sample=1263,165,289,)
nfa=-6234.21 inliers=1259/1407 precisionNormalized=2.20926e-06 precision=1.73368 (iter=19 ,sample=769,345,55,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1407
-- #Points validated by robust Resection: 1259
-- Threshold: 1.73368
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1259
#residuals: 2518
Initial RMSE: 0.332765
Final RMSE: 0.312956
Time (s): 0.00363471
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 100
#intrinsics: 1
#tracks: 87476
#residuals: 569940
Initial RMSE: 0.296112
Final RMSE: 0.293575
Time (s): 11.3456
Usable motion priors: 1
Pose prior statistics (user units):
- Starting median fitting error: 5.1224
- Final fitting error:
min: 0.816185
mean: 5.03843
median: 4.44366
max: 12.9
-------------------------------
-- Robust Resection of view: 89
nfa=-5872.13 inliers=1320/1401 precisionNormalized=8.46551e-06 precision=3.39385 (iter=0 ,sample=1141,190,1269,)
nfa=-6033.89 inliers=1280/1401 precisionNormalized=4.13858e-06 precision=2.37297 (iter=1 ,sample=654,776,208,)
nfa=-6308.55 inliers=1264/1401 precisionNormalized=2.05325e-06 precision=1.67142 (iter=2 ,sample=168,283,608,)
nfa=-6321.55 inliers=1264/1401 precisionNormalized=2.00227e-06 precision=1.65054 (iter=171 ,sample=9,940,5,)
nfa=-6322.63 inliers=1285/1401 precisionNormalized=2.5537e-06 precision=1.86402 (iter=251 ,sample=961,905,489,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1401
-- #Points validated by robust Resection: 1285
-- Threshold: 1.86402
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1285
#residuals: 2570
Initial RMSE: 0.326775
Final RMSE: 0.321007
Time (s): 0.00376441
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 101
#intrinsics: 1
#tracks: 88430
#residuals: 576465
Initial RMSE: 0.294742
Final RMSE: 0.293151
Time (s): 10.9989
Usable motion priors: 1
Pose prior statistics (user units):
- Starting median fitting error: 4.94426
- Final fitting error:
min: 0.84415
mean: 5.05562
median: 4.43323
max: 12.8473
-------------------------------
-- Robust Resection of view: 88
nfa=14.7553 inliers=4/1461 precisionNormalized=0.0410843 precision=236.421 (iter=0 ,sample=1190,198,1323,)
nfa=-136.112 inliers=336/1461 precisionNormalized=0.0109573 precision=122.095 (iter=0 ,sample=1190,198,1323,)
nfa=-5300.78 inliers=1376/1461 precisionNormalized=3.38832e-05 precision=6.78952 (iter=0 ,sample=1190,198,1323,)
nfa=-5879.27 inliers=1371/1461 precisionNormalized=1.2177e-05 precision=4.07021 (iter=1 ,sample=1347,1219,1282,)
nfa=-6043.45 inliers=1364/1461 precisionNormalized=8.59962e-06 precision=3.42048 (iter=3 ,sample=1363,618,587,)
nfa=-6450.63 inliers=1339/1461 precisionNormalized=3.26863e-06 precision=2.10878 (iter=8 ,sample=169,646,89,)
nfa=-6473.43 inliers=1342/1461 precisionNormalized=3.24108e-06 precision=2.09987 (iter=15 ,sample=1357,547,616,)
nfa=-6510.07 inliers=1336/1461 precisionNormalized=2.84438e-06 precision=1.96717 (iter=18 ,sample=112,609,1390,)
nfa=-6528.45 inliers=1342/1461 precisionNormalized=2.93769e-06 precision=1.99917 (iter=63 ,sample=843,337,90,)
nfa=-6548.2 inliers=1326/1461 precisionNormalized=2.37739e-06 precision=1.79845 (iter=89 ,sample=1450,524,402,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1461
-- #Points validated by robust Resection: 1326
-- Threshold: 1.79845
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1326
#residuals: 2652
Initial RMSE: 0.353437
Final RMSE: 0.339339
Time (s): 0.00367674
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 102
#intrinsics: 1
#tracks: 89135
#residuals: 582116
Initial RMSE: 0.294481
Final RMSE: 0.293004
Time (s): 10.2267
Usable motion priors: 1
Pose prior statistics (user units):
- Starting median fitting error: 5.24022
- Final fitting error:
min: 0.835545
mean: 5.05785
median: 4.39946
max: 12.8011
-------------------------------
-- Robust Resection of view: 87
nfa=-873.277 inliers=1037/1394 precisionNormalized=0.0206593 precision=167.648 (iter=0 ,sample=1135,189,1262,)
nfa=-3403.2 inliers=1305/1394 precisionNormalized=0.000589022 precision=28.3078 (iter=0 ,sample=1135,189,1262,)
nfa=-4256.23 inliers=1366/1394 precisionNormalized=0.000212794 precision=17.0145 (iter=1 ,sample=1022,449,1379,)
nfa=-6043.15 inliers=1284/1394 precisionNormalized=4.31011e-06 precision=2.4215 (iter=2 ,sample=428,291,354,)
nfa=-6170.35 inliers=1268/1394 precisionNormalized=2.84092e-06 precision=1.96593 (iter=48 ,sample=1382,293,344,)
nfa=-6210.84 inliers=1259/1394 precisionNormalized=2.36947e-06 precision=1.79542 (iter=69 ,sample=759,909,666,)
nfa=-6256.81 inliers=1269/1394 precisionNormalized=2.43811e-06 precision=1.82124 (iter=95 ,sample=141,1005,319,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1394
-- #Points validated by robust Resection: 1269
-- Threshold: 1.82124
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1269
#residuals: 2538
Initial RMSE: 0.34593
Final RMSE: 0.336764
Time (s): 0.00333595
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 103
#intrinsics: 1
#tracks: 89674
#residuals: 587233
Initial RMSE: 0.295593
Final RMSE: 0.293134
Time (s): 10.3079
Usable motion priors: 1
Pose prior statistics (user units):
- Starting median fitting error: 4.75666
- Final fitting error:
min: 0.78149
mean: 5.05914
median: 4.38919
max: 12.7674
-------------------------------
-- Robust Resection of view: 86
nfa=-1.3324 inliers=43/1151 precisionNormalized=0.00205674 precision=52.8939 (iter=0 ,sample=937,156,1042,)
nfa=-3991.91 inliers=1073/1151 precisionNormalized=4.41772e-05 precision=7.75203 (iter=0 ,sample=937,156,1042,)
nfa=-4693.13 inliers=1053/1151 precisionNormalized=7.54593e-06 precision=3.20386 (iter=4 ,sample=287,273,127,)
nfa=-4696.77 inliers=1044/1151 precisionNormalized=6.67892e-06 precision=3.01418 (iter=19 ,sample=867,268,68,)
nfa=-4733.01 inliers=995/1151 precisionNormalized=3.20159e-06 precision=2.08689 (iter=26 ,sample=867,1138,183,)
nfa=-4791.2 inliers=1026/1151 precisionNormalized=4.25831e-06 precision=2.40677 (iter=53 ,sample=776,656,727,)
nfa=-4802.05 inliers=1022/1151 precisionNormalized=3.93541e-06 precision=2.31372 (iter=121 ,sample=547,10,529,)
nfa=-4832.3 inliers=1024/1151 precisionNormalized=3.76833e-06 precision=2.26408 (iter=189 ,sample=934,148,1098,)
nfa=-4834.41 inliers=1011/1151 precisionNormalized=3.1382e-06 precision=2.06613 (iter=237 ,sample=581,462,710,)
nfa=-4848.28 inliers=1024/1151 precisionNormalized=3.63068e-06 precision=2.22234 (iter=308 ,sample=337,972,801,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1151
-- #Points validated by robust Resection: 1024
-- Threshold: 2.22234
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1024
#residuals: 2048
Initial RMSE: 0.444658
Final RMSE: 0.398126
Time (s): 0.00280537
-------------------------------
-- Robust Resection of view: 85
nfa=-215.691 inliers=1000/1193 precisionNormalized=0.111192 precision=388.914 (iter=0 ,sample=971,162,1080,)
nfa=-3663.59 inliers=1104/1193 precisionNormalized=0.000109721 precision=12.2169 (iter=1 ,sample=275,536,1003,)
nfa=-5002.87 inliers=1033/1193 precisionNormalized=2.61774e-06 precision=1.88703 (iter=2 ,sample=650,908,616,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1193
-- #Points validated by robust Resection: 1033
-- Threshold: 1.88703
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1033
#residuals: 2066
Initial RMSE: 0.382698
Final RMSE: 0.362819
Time (s): 0.00255781
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 105
#intrinsics: 1
#tracks: 90299
#residuals: 594747
Initial RMSE: 0.295722
Final RMSE: 0.293856
Time (s): 9.24302
Usable motion priors: 1
Pose prior statistics (user units):
- Starting median fitting error: 4.25283
- Final fitting error:
min: 0.769265
mean: 4.99014
median: 4.34448
max: 12.77
-------------------------------
-- Robust Resection of view: 84
nfa=-1597.7 inliers=1009/1047 precisionNormalized=0.00681651 precision=96.296 (iter=0 ,sample=853,142,948,)
nfa=-4204.53 inliers=950/1047 precisionNormalized=7.89459e-06 precision=3.27711 (iter=0 ,sample=853,142,948,)
nfa=-4279.23 inliers=939/1047 precisionNormalized=5.61784e-06 precision=2.76447 (iter=14 ,sample=127,798,407,)
nfa=-4282.82 inliers=914/1047 precisionNormalized=3.86465e-06 precision=2.29289 (iter=36 ,sample=242,45,905,)
nfa=-4298.14 inliers=928/1047 precisionNormalized=4.56873e-06 precision=2.49301 (iter=59 ,sample=459,743,286,)
nfa=-4312.84 inliers=902/1047 precisionNormalized=2.97556e-06 precision=2.01192 (iter=234 ,sample=61,293,843,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1047
-- #Points validated by robust Resection: 902
-- Threshold: 2.01192
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 902
#residuals: 1804
Initial RMSE: 0.409508
Final RMSE: 0.389784
Time (s): 0.00254509
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 106
#intrinsics: 1
#tracks: 90632
#residuals: 598516
Initial RMSE: 0.295758
Final RMSE: 0.294417
Time (s): 8.36042
Usable motion priors: 1
Pose prior statistics (user units):
- Starting median fitting error: 4.84564
- Final fitting error:
min: 0.780196
mean: 4.97641
median: 4.36107
max: 12.8107
-------------------------------
-- Robust Resection of view: 82
nfa=-54.5268 inliers=171/917 precisionNormalized=0.00977756 precision=115.351 (iter=0 ,sample=747,125,830,)
nfa=-2709.81 inliers=897/917 precisionNormalized=0.000258774 precision=18.7657 (iter=0 ,sample=747,125,830,)
nfa=-3587.18 inliers=832/917 precisionNormalized=1.02352e-05 precision=3.73209 (iter=2 ,sample=401,659,411,)
nfa=-3637.68 inliers=852/917 precisionNormalized=1.20715e-05 precision=4.05308 (iter=3 ,sample=42,56,230,)
nfa=-3691.21 inliers=834/917 precisionNormalized=7.88129e-06 precision=3.27494 (iter=17 ,sample=154,318,40,)
nfa=-3692.79 inliers=785/917 precisionNormalized=3.49417e-06 precision=2.1806 (iter=64 ,sample=309,467,680,)
nfa=-3709.01 inliers=833/917 precisionNormalized=7.37863e-06 precision=3.16878 (iter=175 ,sample=24,701,80,)
nfa=-3710.76 inliers=823/917 precisionNormalized=6.25749e-06 precision=2.91813 (iter=241 ,sample=205,322,883,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 917
-- #Points validated by robust Resection: 823
-- Threshold: 2.91813
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 823
#residuals: 1646
Initial RMSE: 0.53351
Final RMSE: 0.528027
Time (s): 0.00240534
-------------------------------
-- Robust Resection of view: 83
nfa=-3824.16 inliers=1067/1137 precisionNormalized=6.17361e-05 precision=9.16588 (iter=0 ,sample=926,154,1030,)
nfa=-4128.3 inliers=1092/1137 precisionNormalized=4.21964e-05 precision=7.57778 (iter=1 ,sample=850,386,914,)
nfa=-4582.93 inliers=1048/1137 precisionNormalized=9.37414e-06 precision=3.57166 (iter=2 ,sample=172,773,156,)
nfa=-4586.54 inliers=1039/1137 precisionNormalized=8.30535e-06 precision=3.36189 (iter=4 ,sample=365,370,172,)
nfa=-4677.92 inliers=1051/1137 precisionNormalized=7.87564e-06 precision=3.27376 (iter=8 ,sample=365,27,755,)
nfa=-4693.55 inliers=1052/1137 precisionNormalized=7.70304e-06 precision=3.23769 (iter=71 ,sample=570,497,677,)
nfa=-4704.5 inliers=1033/1137 precisionNormalized=5.88539e-06 precision=2.83004 (iter=167 ,sample=883,814,124,)
nfa=-4715.15 inliers=1041/1137 precisionNormalized=6.37373e-06 precision=2.94511 (iter=371 ,sample=624,597,1036,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1137
-- #Points validated by robust Resection: 1041
-- Threshold: 2.94511
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1041
#residuals: 2082
Initial RMSE: 0.560612
Final RMSE: 0.547759
Time (s): 0.00260075
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 108
#intrinsics: 1
#tracks: 91338
#residuals: 606106
Initial RMSE: 0.298317
Final RMSE: 0.295974
Time (s): 11.3696
Usable motion priors: 1
Pose prior statistics (user units):
- Starting median fitting error: 4.79862
- Final fitting error:
min: 0.568399
mean: 4.98587
median: 4.55018
max: 12.9517
-------------------------------
-- Robust Resection of view: 80
nfa=-42.9072 inliers=146/691 precisionNormalized=0.0116597 precision=126.026 (iter=0 ,sample=562,94,626,)
nfa=-1778.75 inliers=681/691 precisionNormalized=0.000677066 precision=30.3689 (iter=0 ,sample=562,94,626,)
nfa=-2266.7 inliers=667/691 precisionNormalized=0.000101235 precision=11.743 (iter=1 ,sample=102,106,235,)
nfa=-2380.45 inliers=665/691 precisionNormalized=6.58248e-05 precision=9.4691 (iter=3 ,sample=411,64,643,)
nfa=-2473.92 inliers=660/691 precisionNormalized=4.33863e-05 precision=7.68759 (iter=9 ,sample=167,156,293,)
nfa=-2542.94 inliers=649/691 precisionNormalized=2.77197e-05 precision=6.14481 (iter=10 ,sample=483,22,251,)
nfa=-2567.11 inliers=626/691 precisionNormalized=1.63398e-05 precision=4.71778 (iter=13 ,sample=130,213,47,)
nfa=-2751.29 inliers=631/691 precisionNormalized=9.11033e-06 precision=3.52274 (iter=14 ,sample=15,404,465,)
nfa=-2753.3 inliers=635/691 precisionNormalized=9.81796e-06 precision=3.657 (iter=21 ,sample=484,1,38,)
nfa=-2762.45 inliers=629/691 precisionNormalized=8.38515e-06 precision=3.37963 (iter=24 ,sample=104,89,286,)
nfa=-2797.95 inliers=623/691 precisionNormalized=6.46734e-06 precision=2.96809 (iter=43 ,sample=208,550,109,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 691
-- #Points validated by robust Resection: 623
-- Threshold: 2.96809
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 623
#residuals: 1246
Initial RMSE: 0.648971
Final RMSE: 0.610904
Time (s): 0.00193562
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 109
#intrinsics: 1
#tracks: 91734
#residuals: 609551
Initial RMSE: 0.298036
Final RMSE: 0.296694
Time (s): 9.80814
Usable motion priors: 1
Pose prior statistics (user units):
- Starting median fitting error: 4.87002
- Final fitting error:
min: 0.669584
mean: 4.98755
median: 4.46229
max: 12.948
-------------------------------
-- Robust Resection of view: 76
nfa=11.5484 inliers=4/511 precisionNormalized=0.0049302 precision=81.9728 (iter=0 ,sample=416,70,463,)
nfa=-958.971 inliers=494/511 precisionNormalized=0.00291225 precision=63.0016 (iter=0 ,sample=416,70,463,)
nfa=-1824.05 inliers=488/511 precisionNormalized=4.33627e-05 precision=7.68769 (iter=1 ,sample=199,241,257,)
nfa=-1951.12 inliers=480/511 precisionNormalized=1.92102e-05 precision=5.11686 (iter=7 ,sample=195,346,462,)
nfa=-1974.48 inliers=468/511 precisionNormalized=1.24338e-05 precision=4.11661 (iter=9 ,sample=498,32,119,)
nfa=-2014.9 inliers=467/511 precisionNormalized=9.87911e-06 precision=3.66941 (iter=18 ,sample=72,119,232,)
nfa=-2025.52 inliers=478/511 precisionNormalized=1.26725e-05 precision=4.15594 (iter=26 ,sample=215,470,3,)
nfa=-2030.9 inliers=470/511 precisionNormalized=9.90935e-06 precision=3.67502 (iter=70 ,sample=396,47,253,)
nfa=-2038.36 inliers=450/511 precisionNormalized=5.38366e-06 precision=2.7088 (iter=76 ,sample=249,214,89,)
nfa=-2050.68 inliers=478/511 precisionNormalized=1.12034e-05 precision=3.90761 (iter=84 ,sample=169,311,326,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 511
-- #Points validated by robust Resection: 478
-- Threshold: 3.90761
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 478
#residuals: 956
Initial RMSE: 0.786934
Final RMSE: 0.770288
Time (s): 0.00159398
-------------------------------
-- Robust Resection of view: 79
nfa=0.681836 inliers=93/631 precisionNormalized=0.0143752 precision=139.973 (iter=0 ,sample=514,86,571,)
nfa=-1611.59 inliers=614/631 precisionNormalized=0.000621189 precision=29.0971 (iter=0 ,sample=514,86,571,)
nfa=-2116.18 inliers=607/631 precisionNormalized=8.10753e-05 precision=10.5119 (iter=1 ,sample=529,54,461,)
nfa=-2217.28 inliers=609/631 precisionNormalized=5.73215e-05 precision=8.83886 (iter=3 ,sample=294,205,302,)
nfa=-2372.77 inliers=584/631 precisionNormalized=1.88122e-05 precision=5.06358 (iter=9 ,sample=459,80,446,)
nfa=-2378.5 inliers=603/631 precisionNormalized=2.73804e-05 precision=6.10882 (iter=10 ,sample=566,326,393,)
nfa=-2408.14 inliers=597/631 precisionNormalized=2.15312e-05 precision=5.41716 (iter=24 ,sample=276,593,156,)
nfa=-2420.72 inliers=589/631 precisionNormalized=1.72954e-05 precision=4.85516 (iter=39 ,sample=358,587,460,)
nfa=-2436.77 inliers=596/631 precisionNormalized=1.88514e-05 precision=5.06885 (iter=86 ,sample=279,480,540,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 631
-- #Points validated by robust Resection: 596
-- Threshold: 5.06885
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 596
#residuals: 1192
Initial RMSE: 1.06226
Final RMSE: 0.997719
Time (s): 0.00150224
-------------------------------
-- Robust Resection of view: 77
nfa=-317.894 inliers=644/757 precisionNormalized=0.0596449 precision=285.118 (iter=0 ,sample=616,103,685,)
nfa=-2319.23 inliers=737/757 precisionNormalized=0.000188024 precision=16.0083 (iter=0 ,sample=616,103,685,)
nfa=-3018.86 inliers=703/757 precisionNormalized=1.12356e-05 precision=3.91323 (iter=1 ,sample=86,77,544,)
nfa=-3095.1 inliers=692/757 precisionNormalized=7.06757e-06 precision=3.10365 (iter=27 ,sample=170,214,491,)
nfa=-3122.32 inliers=692/757 precisionNormalized=6.44264e-06 precision=2.96326 (iter=301 ,sample=521,321,19,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 757
-- #Points validated by robust Resection: 692
-- Threshold: 2.96326
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 692
#residuals: 1384
Initial RMSE: 0.61807
Final RMSE: 0.598914
Time (s): 0.00175974
-------------------------------
-- Robust Resection of view: 136
nfa=8.62005 inliers=11/415 precisionNormalized=0.00181387 precision=49.7211 (iter=0 ,sample=338,57,376,)
nfa=-1129.3 inliers=368/415 precisionNormalized=0.000162059 precision=14.8619 (iter=0 ,sample=338,57,376,)
nfa=-1182.99 inliers=360/415 precisionNormalized=9.25301e-05 precision=11.23 (iter=14 ,sample=24,290,0,)
nfa=-1204.14 inliers=325/415 precisionNormalized=2.76614e-05 precision=6.14009 (iter=24 ,sample=97,358,109,)
nfa=-1234.02 inliers=356/415 precisionNormalized=5.92074e-05 precision=8.98309 (iter=31 ,sample=319,196,327,)
nfa=-1239.01 inliers=351/415 precisionNormalized=4.9368e-05 precision=8.20277 (iter=80 ,sample=89,326,216,)
nfa=-1255.46 inliers=345/415 precisionNormalized=3.67895e-05 precision=7.08108 (iter=146 ,sample=234,403,199,)
nfa=-1255.56 inliers=334/415 precisionNormalized=2.58547e-05 precision=5.93618 (iter=217 ,sample=0,296,270,)
nfa=-1278.71 inliers=351/415 precisionNormalized=3.79372e-05 precision=7.19068 (iter=303 ,sample=301,73,163,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 415
-- #Points validated by robust Resection: 351
-- Threshold: 7.19068
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 351
#residuals: 702
Initial RMSE: 1.49338
Final RMSE: 1.48313
Time (s): 0.00102241
-------------------------------
-- Robust Resection of view: 78
nfa=-35.8691 inliers=264/694 precisionNormalized=0.0368203 precision=224.017 (iter=0 ,sample=565,94,628,)
nfa=-2671.17 inliers=651/694 precisionNormalized=1.79663e-05 precision=4.94842 (iter=0 ,sample=565,94,628,)
nfa=-2687.74 inliers=648/694 precisionNormalized=1.59693e-05 precision=4.66531 (iter=22 ,sample=584,114,263,)
nfa=-2702.86 inliers=653/694 precisionNormalized=1.66798e-05 precision=4.76796 (iter=26 ,sample=398,414,179,)
nfa=-2707.56 inliers=652/694 precisionNormalized=1.60847e-05 precision=4.68214 (iter=148 ,sample=670,130,231,)
nfa=-2720.27 inliers=655/694 precisionNormalized=1.63022e-05 precision=4.71369 (iter=213 ,sample=468,83,182,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 694
-- #Points validated by robust Resection: 655
-- Threshold: 4.71369
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 655
#residuals: 1310
Initial RMSE: 0.92161
Final RMSE: 0.87462
Time (s): 0.00163773
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 114
#intrinsics: 1
#tracks: 92778
#residuals: 620034
Initial RMSE: 0.312077
Final RMSE: 0.30278
Time (s): 10.1159
Usable motion priors: 1
Pose prior statistics (user units):
- Starting median fitting error: 5.01912
- Final fitting error:
min: 0.516761
mean: 5.03931
median: 4.52147
max: 13.0099
-------------------------------
-- Robust Resection of view: 75
nfa=-9.89595 inliers=43/638 precisionNormalized=0.00244395 precision=57.6946 (iter=0 ,sample=519,87,578,)
nfa=-2225.32 inliers=628/638 precisionNormalized=7.75738e-05 precision=10.2789 (iter=0 ,sample=519,87,578,)
nfa=-2592.46 inliers=616/638 precisionNormalized=1.53591e-05 precision=4.57375 (iter=2 ,sample=445,505,313,)
nfa=-2668.69 inliers=605/638 precisionNormalized=8.99666e-06 precision=3.5005 (iter=4 ,sample=541,494,505,)
nfa=-2679.9 inliers=600/638 precisionNormalized=7.69233e-06 precision=3.23682 (iter=13 ,sample=262,623,374,)
nfa=-2708.2 inliers=596/638 precisionNormalized=6.27889e-06 precision=2.92436 (iter=29 ,sample=307,169,447,)
nfa=-2712.72 inliers=598/638 precisionNormalized=6.45931e-06 precision=2.96608 (iter=84 ,sample=455,354,368,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 638
-- #Points validated by robust Resection: 598
-- Threshold: 2.96608
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 598
#residuals: 1196
Initial RMSE: 0.572183
Final RMSE: 0.550294
Time (s): 0.00183678
-------------------------------
-- Robust Resection of view: 125
nfa=10.9571 inliers=4/485 precisionNormalized=0.00164219 precision=47.2934 (iter=0 ,sample=395,66,439,)
nfa=-17.5878 inliers=42/485 precisionNormalized=0.00200919 precision=52.3118 (iter=0 ,sample=395,66,439,)
nfa=-460.452 inliers=415/485 precisionNormalized=0.0141977 precision=139.059 (iter=0 ,sample=395,66,439,)
nfa=-548.704 inliers=407/485 precisionNormalized=0.00780519 precision=103.105 (iter=1 ,sample=144,121,257,)
nfa=-1126.59 inliers=400/485 precisionNormalized=0.000248878 precision=18.4112 (iter=1 ,sample=144,121,257,)
nfa=-1196.92 inliers=403/485 precisionNormalized=0.000177197 precision=15.5352 (iter=2 ,sample=355,483,174,)
nfa=-1393.42 inliers=439/485 precisionNormalized=0.000136111 precision=13.6156 (iter=3 ,sample=298,280,450,)
nfa=-1449.27 inliers=441/485 precisionNormalized=0.000106208 precision=12.0273 (iter=6 ,sample=73,166,437,)
nfa=-1596.66 inliers=407/485 precisionNormalized=1.97618e-05 precision=5.18802 (iter=9 ,sample=473,385,155,)
nfa=-1624.99 inliers=404/485 precisionNormalized=1.54073e-05 precision=4.58091 (iter=10 ,sample=476,385,161,)
nfa=-1639.55 inliers=408/485 precisionNormalized=1.59015e-05 precision=4.6538 (iter=28 ,sample=427,154,277,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 485
-- #Points validated by robust Resection: 408
-- Threshold: 4.6538
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 408
#residuals: 816
Initial RMSE: 1.06181
Final RMSE: 0.978734
Time (s): 0.00112985
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 116
#intrinsics: 1
#tracks: 94745
#residuals: 630594
Initial RMSE: 0.306213
Final RMSE: 0.302651
Time (s): 10.5951
Usable motion priors: 1
Pose prior statistics (user units):
- Starting median fitting error: 4.62314
- Final fitting error:
min: 0.497406
mean: 5.03057
median: 4.50872
max: 13.0934
-------------------------------
-- Robust Resection of view: 114
nfa=-3556.08 inliers=1187/1250 precisionNormalized=0.000250308 precision=18.4617 (iter=0 ,sample=1018,170,1132,)
nfa=-4297.95 inliers=1159/1250 precisionNormalized=4.48707e-05 precision=7.81656 (iter=1 ,sample=111,70,705,)
nfa=-4689.68 inliers=1136/1250 precisionNormalized=1.60232e-05 precision=4.67099 (iter=4 ,sample=580,244,1000,)
nfa=-4801.76 inliers=1127/1250 precisionNormalized=1.1523e-05 precision=3.96112 (iter=9 ,sample=850,1235,711,)
nfa=-4914.58 inliers=1111/1250 precisionNormalized=7.58508e-06 precision=3.21377 (iter=10 ,sample=1123,570,147,)
nfa=-4938.74 inliers=1112/1250 precisionNormalized=7.29258e-06 precision=3.15119 (iter=14 ,sample=217,478,836,)
nfa=-4939.27 inliers=1087/1250 precisionNormalized=5.41065e-06 precision=2.71431 (iter=19 ,sample=28,797,1232,)
nfa=-4988.38 inliers=1102/1250 precisionNormalized=5.83097e-06 precision=2.81776 (iter=31 ,sample=1074,329,1062,)
nfa=-5011.13 inliers=1097/1250 precisionNormalized=5.22877e-06 precision=2.6683 (iter=84 ,sample=1135,88,1170,)
nfa=-5014.65 inliers=1072/1250 precisionNormalized=3.80892e-06 precision=2.27738 (iter=185 ,sample=1224,166,138,)
nfa=-5032.56 inliers=1069/1250 precisionNormalized=3.52328e-06 precision=2.19032 (iter=206 ,sample=451,1080,507,)
nfa=-5035.37 inliers=1077/1250 precisionNormalized=3.87475e-06 precision=2.29697 (iter=272 ,sample=45,122,1029,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1250
-- #Points validated by robust Resection: 1077
-- Threshold: 2.29697
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1077
#residuals: 2154
Initial RMSE: 0.433967
Final RMSE: 0.429529
Time (s): 0.00293405
-------------------------------
-- Robust Resection of view: 1
nfa=-2474.92 inliers=1188/1304 precisionNormalized=0.00182717 precision=49.8797 (iter=0 ,sample=1062,177,1181,)
nfa=-3572.84 inliers=1234/1304 precisionNormalized=0.000312748 precision=20.6363 (iter=0 ,sample=1062,177,1181,)
nfa=-4736.94 inliers=1205/1304 precisionNormalized=2.65734e-05 precision=6.01531 (iter=1 ,sample=1111,854,515,)
nfa=-4782.94 inliers=1177/1304 precisionNormalized=1.83152e-05 precision=4.9939 (iter=2 ,sample=982,1202,308,)
nfa=-4918.6 inliers=1164/1304 precisionNormalized=1.22063e-05 precision=4.07686 (iter=3 ,sample=161,727,946,)
nfa=-5187.95 inliers=1156/1304 precisionNormalized=6.49255e-06 precision=2.97332 (iter=8 ,sample=233,118,275,)
nfa=-5305.17 inliers=1142/1304 precisionNormalized=4.33918e-06 precision=2.43074 (iter=26 ,sample=450,540,1093,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1304
-- #Points validated by robust Resection: 1142
-- Threshold: 2.43074
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1142
#residuals: 2284
Initial RMSE: 0.493136
Final RMSE: 0.464266
Time (s): 0.0028036
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 118
#intrinsics: 1
#tracks: 96603
#residuals: 642714
Initial RMSE: 0.305028
Final RMSE: 0.302258
Time (s): 11.128
Usable motion priors: 1
Pose prior statistics (user units):
- Starting median fitting error: 4.76144
- Final fitting error:
min: 0.478888
mean: 5.12652
median: 4.64887
max: 13.1594
-------------------------------
-- Robust Resection of view: 12
nfa=-3719.12 inliers=1195/1270 precisionNormalized=0.000186036 precision=15.9088 (iter=0 ,sample=1034,172,1150,)
nfa=-3936.29 inliers=1201/1270 precisionNormalized=0.00012897 precision=13.246 (iter=1 ,sample=867,157,308,)
nfa=-4315.49 inliers=1184/1270 precisionNormalized=5.28391e-05 precision=8.47844 (iter=2 ,sample=422,759,145,)
nfa=-4315.58 inliers=1174/1270 precisionNormalized=4.79772e-05 precision=8.07896 (iter=3 ,sample=806,1202,1237,)
nfa=-4640.65 inliers=1093/1270 precisionNormalized=1.06295e-05 precision=3.80271 (iter=6 ,sample=258,1208,297,)
nfa=-4868.29 inliers=1081/1270 precisionNormalized=5.65941e-06 precision=2.77475 (iter=8 ,sample=1156,528,169,)
nfa=-4889.45 inliers=1063/1270 precisionNormalized=4.33661e-06 precision=2.42892 (iter=59 ,sample=789,989,307,)
nfa=-4899.21 inliers=1064/1270 precisionNormalized=4.29623e-06 precision=2.41759 (iter=113 ,sample=657,757,427,)
nfa=-4901.71 inliers=1078/1270 precisionNormalized=5.07365e-06 precision=2.62723 (iter=203 ,sample=1261,100,319,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1270
-- #Points validated by robust Resection: 1078
-- Threshold: 2.62723
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1078
#residuals: 2156
Initial RMSE: 0.518849
Final RMSE: 0.478211
Time (s): 0.00295768
-------------------------------
-- Robust Resection of view: 103
nfa=15.1649 inliers=4/1174 precisionNormalized=0.315345 precision=654.984 (iter=0 ,sample=956,159,1063,)
nfa=-3486.99 inliers=1109/1174 precisionNormalized=0.00017434 precision=15.4005 (iter=0 ,sample=956,159,1063,)
nfa=-4557.28 inliers=1072/1174 precisionNormalized=1.21548e-05 precision=4.06642 (iter=2 ,sample=382,242,425,)
nfa=-4687.01 inliers=1055/1174 precisionNormalized=7.44031e-06 precision=3.18151 (iter=4 ,sample=621,141,242,)
nfa=-4688.8 inliers=1044/1174 precisionNormalized=6.45962e-06 precision=2.96443 (iter=29 ,sample=82,545,256,)
nfa=-4696.09 inliers=1046/1174 precisionNormalized=6.51642e-06 precision=2.97744 (iter=44 ,sample=224,495,960,)
nfa=-4709.21 inliers=1037/1174 precisionNormalized=5.6442e-06 precision=2.77102 (iter=115 ,sample=173,49,594,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1174
-- #Points validated by robust Resection: 1037
-- Threshold: 2.77102
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1037
#residuals: 2074
Initial RMSE: 0.490441
Final RMSE: 0.476321
Time (s): 0.0025409
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 120
#intrinsics: 1
#tracks: 98294
#residuals: 653890
Initial RMSE: 0.304192
Final RMSE: 0.302205
Time (s): 9.28729
Usable motion priors: 1
Pose prior statistics (user units):
- Starting median fitting error: 4.68153
- Final fitting error:
min: 0.461143
mean: 5.18177
median: 4.66442
max: 13.2193
-------------------------------
-- Robust Resection of view: 23
nfa=11.7164 inliers=4/1177 precisionNormalized=0.000110751 precision=12.2707 (iter=0 ,sample=958,160,1066,)
nfa=11.7164 inliers=4/1177 precisionNormalized=0.000110751 precision=12.2707 (iter=0 ,sample=958,160,1066,)
nfa=10.7891 inliers=12/1177 precisionNormalized=0.000805691 precision=33.0962 (iter=0 ,sample=958,160,1066,)
nfa=-4.78221 inliers=65/1177 precisionNormalized=0.0035586 precision=69.5558 (iter=1 ,sample=982,150,1140,)
nfa=-3389.07 inliers=1092/1177 precisionNormalized=0.000181533 precision=15.7098 (iter=1 ,sample=982,150,1140,)
nfa=-3948.7 inliers=1087/1177 precisionNormalized=5.27231e-05 precision=8.4663 (iter=2 ,sample=509,646,637,)
nfa=-4147.06 inliers=1070/1177 precisionNormalized=2.87429e-05 precision=6.25113 (iter=4 ,sample=413,171,646,)
nfa=-4267.3 inliers=1040/1177 precisionNormalized=1.57437e-05 precision=4.62644 (iter=8 ,sample=171,132,218,)
nfa=-4499.04 inliers=1011/1177 precisionNormalized=6.5313e-06 precision=2.97984 (iter=14 ,sample=565,280,872,)
nfa=-4508.03 inliers=1009/1177 precisionNormalized=6.23508e-06 precision=2.91148 (iter=19 ,sample=469,397,520,)
nfa=-4524.08 inliers=999/1177 precisionNormalized=5.2774e-06 precision=2.67857 (iter=69 ,sample=942,665,829,)
nfa=-4543.2 inliers=1006/1177 precisionNormalized=5.52543e-06 precision=2.74079 (iter=188 ,sample=881,634,601,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1177
-- #Points validated by robust Resection: 1006
-- Threshold: 2.74079
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1006
#residuals: 2012
Initial RMSE: 0.520918
Final RMSE: 0.48766
Time (s): 0.00274562
-------------------------------
-- Robust Resection of view: 92
nfa=-1293.48 inliers=954/1035 precisionNormalized=0.0100462 precision=116.867 (iter=0 ,sample=843,141,937,)
nfa=-2379.8 inliers=996/1035 precisionNormalized=0.00105402 precision=37.8545 (iter=0 ,sample=843,141,937,)
nfa=-3794.25 inliers=933/1035 precisionNormalized=1.7923e-05 precision=4.93626 (iter=1 ,sample=975,729,311,)
nfa=-4028.83 inliers=868/1035 precisionNormalized=3.89718e-06 precision=2.3018 (iter=3 ,sample=395,866,533,)
nfa=-4035.59 inliers=881/1035 precisionNormalized=4.66199e-06 precision=2.51755 (iter=272 ,sample=19,522,119,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1035
-- #Points validated by robust Resection: 881
-- Threshold: 2.51755
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 881
#residuals: 1762
Initial RMSE: 0.484695
Final RMSE: 0.47061
Time (s): 0.00214596
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 122
#intrinsics: 1
#tracks: 99853
#residuals: 664074
Initial RMSE: 0.304621
Final RMSE: 0.301976
Time (s): 11.3751
Usable motion priors: 1
Pose prior statistics (user units):
- Starting median fitting error: 4.60055
- Final fitting error:
min: 0.45844
mean: 5.16022
median: 4.69902
max: 13.2771
-------------------------------
-- Robust Resection of view: 34
nfa=12.2582 inliers=4/1083 precisionNormalized=0.000585465 precision=28.2052 (iter=0 ,sample=882,147,981,)
nfa=-286.134 inliers=659/1083 precisionNormalized=0.0373174 precision=225.182 (iter=0 ,sample=882,147,981,)
nfa=-2254.93 inliers=1007/1083 precisionNormalized=0.0013407 precision=42.6819 (iter=0 ,sample=882,147,981,)
nfa=-3251.59 inliers=1011/1083 precisionNormalized=0.00014196 precision=13.8887 (iter=1 ,sample=963,954,741,)
nfa=-3673.11 inliers=956/1083 precisionNormalized=2.86756e-05 precision=6.24216 (iter=2 ,sample=779,531,673,)
nfa=-4144.52 inliers=894/1083 precisionNormalized=3.82044e-06 precision=2.27843 (iter=3 ,sample=688,588,385,)
nfa=-4160.35 inliers=902/1083 precisionNormalized=4.12311e-06 precision=2.36696 (iter=9 ,sample=870,332,109,)
nfa=-4184.08 inliers=886/1083 precisionNormalized=3.04452e-06 precision=2.03394 (iter=11 ,sample=150,379,652,)
nfa=-4193.59 inliers=888/1083 precisionNormalized=3.05936e-06 precision=2.03889 (iter=24 ,sample=374,672,322,)
nfa=-4193.97 inliers=890/1083 precisionNormalized=3.15095e-06 precision=2.06919 (iter=30 ,sample=762,517,665,)
nfa=-4204.08 inliers=884/1083 precisionNormalized=2.79603e-06 precision=1.94917 (iter=114 ,sample=132,560,738,)
nfa=-4217.64 inliers=883/1083 precisionNormalized=2.65283e-06 precision=1.8986 (iter=153 ,sample=31,722,647,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1083
-- #Points validated by robust Resection: 883
-- Threshold: 1.8986
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 883
#residuals: 1766
Initial RMSE: 0.354738
Final RMSE: 0.348547
Time (s): 0.00252166
-------------------------------
-- Robust Resection of view: 81
nfa=-110.152 inliers=196/891 precisionNormalized=0.00681558 precision=96.2343 (iter=0 ,sample=725,121,807,)
nfa=-599.619 inliers=792/891 precisionNormalized=0.0362242 precision=221.859 (iter=0 ,sample=725,121,807,)
nfa=-1481.7 inliers=861/891 precisionNormalized=0.00498109 precision=82.2698 (iter=0 ,sample=725,121,807,)
nfa=-2218.16 inliers=795/891 precisionNormalized=0.00033285 precision=21.2668 (iter=1 ,sample=4,720,96,)
nfa=-3216.09 inliers=793/891 precisionNormalized=1.7637e-05 precision=4.89543 (iter=6 ,sample=450,699,530,)
nfa=-3353.59 inliers=773/891 precisionNormalized=8.55078e-06 precision=3.40864 (iter=27 ,sample=436,231,878,)
nfa=-3363.21 inliers=775/891 precisionNormalized=8.58043e-06 precision=3.41455 (iter=85 ,sample=706,47,571,)
nfa=-3366.9 inliers=768/891 precisionNormalized=7.56409e-06 precision=3.20595 (iter=158 ,sample=692,176,371,)
nfa=-3371.76 inliers=778/891 precisionNormalized=8.77975e-06 precision=3.45398 (iter=399 ,sample=300,53,144,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 891
-- #Points validated by robust Resection: 778
-- Threshold: 3.45398
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 778
#residuals: 1556
Initial RMSE: 0.669065
Final RMSE: 0.662659
Time (s): 0.00199792
-------------------------------
-- Robust Resection of view: 45
nfa=-3244.41 inliers=1112/1200 precisionNormalized=0.000278162 precision=19.4414 (iter=0 ,sample=977,163,1087,)
nfa=-4122.87 inliers=1041/1200 precisionNormalized=2.09886e-05 precision=5.34035 (iter=2 ,sample=745,759,928,)
nfa=-4394.08 inliers=1027/1200 precisionNormalized=9.69004e-06 precision=3.62862 (iter=8 ,sample=185,6,400,)
nfa=-4414.8 inliers=1000/1200 precisionNormalized=6.62342e-06 precision=2.99999 (iter=11 ,sample=463,165,623,)
nfa=-4485.81 inliers=994/1200 precisionNormalized=5.18592e-06 precision=2.65455 (iter=19 ,sample=143,879,267,)
nfa=-4531.48 inliers=985/1200 precisionNormalized=4.1295e-06 precision=2.36879 (iter=55 ,sample=113,590,694,)
nfa=-4548.91 inliers=993/1200 precisionNormalized=4.40408e-06 precision=2.44628 (iter=84 ,sample=965,734,1128,)
nfa=-4553.21 inliers=995/1200 precisionNormalized=4.47553e-06 precision=2.46604 (iter=372 ,sample=1030,785,222,)
nfa=-4563.79 inliers=999/1200 precisionNormalized=4.59973e-06 precision=2.50003 (iter=395 ,sample=725,580,1039,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1200
-- #Points validated by robust Resection: 999
-- Threshold: 2.50003
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 999
#residuals: 1998
Initial RMSE: 0.499367
Final RMSE: 0.496199
Time (s): 0.00250108
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 125
#intrinsics: 1
#tracks: 102238
#residuals: 679175
Initial RMSE: 0.305577
Final RMSE: 0.30149
Time (s): 11.3948
Usable motion priors: 1
Pose prior statistics (user units):
- Starting median fitting error: 5.05766
- Final fitting error:
min: 0.494045
mean: 5.19937
median: 4.69907
max: 13.4163
-------------------------------
-- Robust Resection of view: 54
nfa=-666.095 inliers=959/1449 precisionNormalized=0.0236696 precision=179.321 (iter=0 ,sample=1180,197,1312,)
nfa=-4074.19 inliers=1374/1449 precisionNormalized=0.000268786 precision=19.109 (iter=0 ,sample=1180,197,1312,)
nfa=-5576.16 inliers=1262/1449 precisionNormalized=7.34562e-06 precision=3.159 (iter=1 ,sample=867,178,1446,)
nfa=-5658.15 inliers=1223/1449 precisionNormalized=4.1755e-06 precision=2.38172 (iter=11 ,sample=404,144,1432,)
nfa=-5675.69 inliers=1201/1449 precisionNormalized=3.16083e-06 precision=2.07222 (iter=28 ,sample=1065,94,441,)
nfa=-5707.88 inliers=1199/1449 precisionNormalized=2.89718e-06 precision=1.98392 (iter=38 ,sample=1127,1265,1013,)
nfa=-5724.83 inliers=1205/1449 precisionNormalized=2.99882e-06 precision=2.01842 (iter=69 ,sample=425,25,976,)
nfa=-5727.45 inliers=1208/1449 precisionNormalized=3.0864e-06 precision=2.04768 (iter=123 ,sample=639,884,380,)
nfa=-5731.52 inliers=1203/1449 precisionNormalized=2.89245e-06 precision=1.9823 (iter=144 ,sample=305,896,870,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1449
-- #Points validated by robust Resection: 1203
-- Threshold: 1.9823
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1203
#residuals: 2406
Initial RMSE: 0.338776
Final RMSE: 0.336992
Time (s): 0.0032738
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 126
#intrinsics: 1
#tracks: 103367
#residuals: 686254
Initial RMSE: 0.302464
Final RMSE: 0.30086
Time (s): 11.9362
Usable motion priors: 1
Pose prior statistics (user units):
- Starting median fitting error: 4.60889
- Final fitting error:
min: 0.491643
mean: 5.19501
median: 4.75453
max: 13.4508
-------------------------------
-- Robust Resection of view: 70
nfa=-6.60307 inliers=46/967 precisionNormalized=0.00213159 precision=53.8117 (iter=0 ,sample=787,131,876,)
nfa=-1580.44 inliers=930/967 precisionNormalized=0.00516431 precision=83.7589 (iter=0 ,sample=787,131,876,)
nfa=-2500.13 inliers=876/967 precisionNormalized=0.000299924 precision=20.1851 (iter=1 ,sample=506,354,209,)
nfa=-2599.17 inliers=928/967 precisionNormalized=0.000402441 precision=23.3817 (iter=2 ,sample=592,352,745,)
nfa=-3449.69 inliers=849/967 precisionNormalized=1.68249e-05 precision=4.78081 (iter=3 ,sample=898,461,61,)
nfa=-3600.61 inliers=841/967 precisionNormalized=9.8838e-06 precision=3.66426 (iter=4 ,sample=142,443,181,)
nfa=-3676.26 inliers=845/967 precisionNormalized=8.50296e-06 precision=3.39868 (iter=10 ,sample=666,653,639,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 967
-- #Points validated by robust Resection: 845
-- Threshold: 3.39868
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 845
#residuals: 1690
Initial RMSE: 0.641666
Final RMSE: 0.622326
Time (s): 0.00239603
-------------------------------
-- Robust Resection of view: 59
nfa=-2349.79 inliers=1234/1268 precisionNormalized=0.00338673 precision=67.829 (iter=0 ,sample=1033,172,1148,)
nfa=-3884.99 inliers=1208/1268 precisionNormalized=0.000152171 precision=14.3777 (iter=0 ,sample=1033,172,1148,)
nfa=-4571.77 inliers=1164/1268 precisionNormalized=2.62601e-05 precision=5.97273 (iter=1 ,sample=194,529,316,)
nfa=-4771.59 inliers=1130/1268 precisionNormalized=1.22232e-05 precision=4.07491 (iter=10 ,sample=870,1025,88,)
nfa=-4824.19 inliers=1145/1268 precisionNormalized=1.29305e-05 precision=4.19114 (iter=14 ,sample=68,1102,171,)
nfa=-4835.57 inliers=1145/1268 precisionNormalized=1.26345e-05 precision=4.1429 (iter=113 ,sample=327,436,784,)
nfa=-4841.96 inliers=1137/1268 precisionNormalized=1.14227e-05 precision=3.93921 (iter=163 ,sample=82,796,70,)
nfa=-4842.32 inliers=1143/1268 precisionNormalized=1.21925e-05 precision=4.06978 (iter=282 ,sample=369,177,875,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1268
-- #Points validated by robust Resection: 1143
-- Threshold: 4.06978
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1143
#residuals: 2286
Initial RMSE: 0.750683
Final RMSE: 0.710386
Time (s): 0.00273647
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 128
#intrinsics: 1
#tracks: 105365
#residuals: 698336
Initial RMSE: 0.304736
Final RMSE: 0.301041
Time (s): 12.1467
Usable motion priors: 1
Pose prior statistics (user units):
- Starting median fitting error: 4.5868
- Final fitting error:
min: 0.588149
mean: 5.29202
median: 4.75103
max: 13.4844
-------------------------------
-- Robust Resection of view: 0
nfa=-446.82 inliers=727/1460 precisionNormalized=0.0184073 precision=158.097 (iter=0 ,sample=1189,198,1322,)
nfa=-2496.25 inliers=1408/1460 precisionNormalized=0.00445455 precision=77.7733 (iter=0 ,sample=1189,198,1322,)
nfa=-2496.25 inliers=1408/1460 precisionNormalized=0.00445455 precision=77.7733 (iter=0 ,sample=1189,198,1322,)
nfa=-5714.96 inliers=1319/1460 precisionNormalized=9.85605e-06 precision=3.65831 (iter=1 ,sample=1401,1142,657,)
nfa=-5980.84 inliers=1296/1460 precisionNormalized=4.85366e-06 precision=2.56722 (iter=3 ,sample=934,340,944,)
nfa=-5996.73 inliers=1281/1460 precisionNormalized=4.02563e-06 precision=2.33801 (iter=45 ,sample=398,250,165,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1460
-- #Points validated by robust Resection: 1281
-- Threshold: 2.33801
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1281
#residuals: 2562
Initial RMSE: 0.487315
Final RMSE: 0.482656
Time (s): 0.00341818
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 129
#intrinsics: 1
#tracks: 106358
#residuals: 704998
Initial RMSE: 0.302799
Final RMSE: 0.300637
Time (s): 12.4204
Usable motion priors: 1
Pose prior statistics (user units):
- Starting median fitting error: 4.62113
- Final fitting error:
min: 0.586805
mean: 5.29469
median: 4.74456
max: 13.4863
-------------------------------
-- Robust Resection of view: 74
nfa=-598.574 inliers=429/613 precisionNormalized=0.00495059 precision=81.9907 (iter=0 ,sample=499,83,555,)
nfa=-2332.56 inliers=596/613 precisionNormalized=3.11931e-05 precision=6.50826 (iter=0 ,sample=499,83,555,)
nfa=-2520.6 inliers=587/613 precisionNormalized=1.21814e-05 precision=4.0671 (iter=1 ,sample=91,382,359,)
nfa=-2537.8 inliers=583/613 precisionNormalized=1.03713e-05 precision=3.75278 (iter=22 ,sample=501,276,271,)
nfa=-2544.73 inliers=591/613 precisionNormalized=1.21353e-05 precision=4.0594 (iter=24 ,sample=160,469,471,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 613
-- #Points validated by robust Resection: 591
-- Threshold: 4.0594
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 591
#residuals: 1182
Initial RMSE: 0.837586
Final RMSE: 0.807684
Time (s): 0.00178052
-------------------------------
-- Robust Resection of view: 73
nfa=-2997.46 inliers=725/775 precisionNormalized=1.66996e-05 precision=4.762 (iter=0 ,sample=631,105,702,)
nfa=-3119.85 inliers=730/775 precisionNormalized=1.23253e-05 precision=4.09105 (iter=1 ,sample=469,349,218,)
nfa=-3130.49 inliers=714/775 precisionNormalized=8.90454e-06 precision=3.4773 (iter=72 ,sample=191,384,458,)
nfa=-3134.78 inliers=717/775 precisionNormalized=9.27789e-06 precision=3.54945 (iter=108 ,sample=601,125,678,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 775
-- #Points validated by robust Resection: 717
-- Threshold: 3.54945
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 717
#residuals: 1434
Initial RMSE: 0.683368
Final RMSE: 0.673701
Time (s): 0.00179422
-------------------------------
-- Robust Resection of view: 55
nfa=11.3126 inliers=4/545 precisionNormalized=0.00207365 precision=53.0645 (iter=0 ,sample=444,74,493,)
nfa=-1000.2 inliers=506/545 precisionNormalized=0.00236735 precision=56.698 (iter=0 ,sample=444,74,493,)
nfa=-1810.22 inliers=483/545 precisionNormalized=3.43471e-05 precision=6.82938 (iter=1 ,sample=136,271,292,)
nfa=-1851.7 inliers=478/545 precisionNormalized=2.49533e-05 precision=5.82104 (iter=40 ,sample=290,336,485,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 545
-- #Points validated by robust Resection: 478
-- Threshold: 5.82104
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 478
#residuals: 956
Initial RMSE: 1.28507
Final RMSE: 1.23369
Time (s): 0.00127969
-------------------------------
-- Robust Resection of view: 72
nfa=14.234 inliers=4/899 precisionNormalized=0.14076 precision=437.195 (iter=0 ,sample=732,122,814,)
nfa=-66.7908 inliers=132/899 precisionNormalized=0.00460005 precision=79.0347 (iter=0 ,sample=732,122,814,)
nfa=-2442.68 inliers=881/899 precisionNormalized=0.000462333 precision=25.0561 (iter=0 ,sample=732,122,814,)
nfa=-3408.79 inliers=848/899 precisionNormalized=2.25739e-05 precision=5.53656 (iter=1 ,sample=692,784,77,)
nfa=-3426.01 inliers=869/899 precisionNormalized=2.93046e-05 precision=6.30818 (iter=12 ,sample=104,441,678,)
nfa=-3555.81 inliers=836/899 precisionNormalized=1.25538e-05 precision=4.1288 (iter=18 ,sample=273,712,441,)
nfa=-3584.62 inliers=821/899 precisionNormalized=9.15797e-06 precision=3.52643 (iter=20 ,sample=494,514,817,)
nfa=-3585.76 inliers=844/899 precisionNormalized=1.30648e-05 precision=4.21199 (iter=26 ,sample=723,381,625,)
nfa=-3604.65 inliers=819/899 precisionNormalized=8.37802e-06 precision=3.37293 (iter=168 ,sample=725,101,277,)
nfa=-3608.63 inliers=824/899 precisionNormalized=8.96937e-06 precision=3.48993 (iter=397 ,sample=514,710,694,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 899
-- #Points validated by robust Resection: 824
-- Threshold: 3.48993
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 824
#residuals: 1648
Initial RMSE: 0.676749
Final RMSE: 0.675483
Time (s): 0.00208238
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 133
#intrinsics: 1
#tracks: 107997
#residuals: 718918
Initial RMSE: 0.310474
Final RMSE: 0.302109
Time (s): 11.8541
Usable motion priors: 1
Pose prior statistics (user units):
- Starting median fitting error: 4.65754
- Final fitting error:
min: 0.537888
mean: 5.24947
median: 4.71989
max: 13.545
-------------------------------
-- Robust Resection of view: 71
nfa=-2981.96 inliers=888/906 precisionNormalized=0.000119572 precision=12.7444 (iter=0 ,sample=738,123,820,)
nfa=-3680.5 inliers=804/906 precisionNormalized=5.15903e-06 precision=2.64721 (iter=2 ,sample=49,641,119,)
nfa=-3694.17 inliers=808/906 precisionNormalized=5.29758e-06 precision=2.68252 (iter=15 ,sample=619,634,173,)
nfa=-3701.64 inliers=801/906 precisionNormalized=4.60894e-06 precision=2.5021 (iter=69 ,sample=172,648,553,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 906
-- #Points validated by robust Resection: 801
-- Threshold: 2.5021
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 801
#residuals: 1602
Initial RMSE: 0.484445
Final RMSE: 0.467964
Time (s): 0.00228238
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 134
#intrinsics: 1
#tracks: 108487
#residuals: 723187
Initial RMSE: 0.303818
Final RMSE: 0.301996
Time (s): 12.801
Usable motion priors: 1
Pose prior statistics (user units):
- Starting median fitting error: 4.54601
- Final fitting error:
min: 0.526178
mean: 5.22815
median: 4.64802
max: 13.5355
-------------------------------
-- Robust Resection of view: 69
nfa=11.6936 inliers=4/633 precisionNormalized=0.00235342 precision=56.5389 (iter=0 ,sample=515,86,573,)
nfa=-210.246 inliers=424/633 precisionNormalized=0.0369668 precision=224.08 (iter=0 ,sample=515,86,573,)
nfa=-2356.56 inliers=603/633 precisionNormalized=2.9492e-05 precision=6.32921 (iter=0 ,sample=515,86,573,)
nfa=-2425.8 inliers=590/633 precisionNormalized=1.71575e-05 precision=4.82752 (iter=3 ,sample=63,363,279,)
nfa=-2483.39 inliers=586/633 precisionNormalized=1.25223e-05 precision=4.12421 (iter=41 ,sample=57,357,437,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 633
-- #Points validated by robust Resection: 586
-- Threshold: 4.12421
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 586
#residuals: 1172
Initial RMSE: 0.874335
Final RMSE: 0.853504
Time (s): 0.00180441
-------------------------------
-- Robust Resection of view: 56
nfa=-10.6906 inliers=101/625 precisionNormalized=0.0124349 precision=129.963 (iter=0 ,sample=509,85,566,)
nfa=-1582.54 inliers=604/625 precisionNormalized=0.000611923 precision=28.8301 (iter=0 ,sample=509,85,566,)
nfa=-2367.05 inliers=563/625 precisionNormalized=1.25316e-05 precision=4.12574 (iter=1 ,sample=5,261,390,)
nfa=-2434.74 inliers=560/625 precisionNormalized=8.83079e-06 precision=3.46336 (iter=8 ,sample=84,577,157,)
nfa=-2445.2 inliers=559/625 precisionNormalized=8.25938e-06 precision=3.34943 (iter=24 ,sample=602,73,511,)
nfa=-2450.21 inliers=570/625 precisionNormalized=1.03981e-05 precision=3.75816 (iter=30 ,sample=528,449,586,)
nfa=-2492.76 inliers=551/625 precisionNormalized=5.58851e-06 precision=2.75515 (iter=35 ,sample=127,102,113,)
nfa=-2494.68 inliers=555/625 precisionNormalized=6.10037e-06 precision=2.87856 (iter=41 ,sample=63,369,438,)
nfa=-2536.83 inliers=545/625 precisionNormalized=3.98494e-06 precision=2.32653 (iter=53 ,sample=430,412,389,)
nfa=-2559.53 inliers=550/625 precisionNormalized=4.08947e-06 precision=2.35685 (iter=75 ,sample=530,188,119,)
nfa=-2561.42 inliers=549/625 precisionNormalized=3.95622e-06 precision=2.31813 (iter=138 ,sample=130,161,474,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 625
-- #Points validated by robust Resection: 549
-- Threshold: 2.31813
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 549
#residuals: 1098
Initial RMSE: 0.480807
Final RMSE: 0.47696
Time (s): 0.00141162
-------------------------------
-- Robust Resection of view: 58
nfa=12.8196 inliers=4/541 precisionNormalized=0.0691442 precision=306.461 (iter=0 ,sample=440,74,490,)
nfa=-1711.1 inliers=485/541 precisionNormalized=5.89351e-05 precision=8.94715 (iter=0 ,sample=440,74,490,)
nfa=-1766.53 inliers=472/541 precisionNormalized=3.33964e-05 precision=6.73515 (iter=16 ,sample=190,189,136,)
nfa=-1804.65 inliers=495/541 precisionNormalized=4.7392e-05 precision=8.02325 (iter=21 ,sample=187,224,442,)
nfa=-1821.27 inliers=479/541 precisionNormalized=3.01733e-05 precision=6.4019 (iter=40 ,sample=197,172,319,)
nfa=-1844.71 inliers=489/541 precisionNormalized=3.41451e-05 precision=6.81023 (iter=58 ,sample=40,76,183,)
nfa=-1851.31 inliers=471/541 precisionNormalized=2.14497e-05 precision=5.39769 (iter=265 ,sample=453,97,172,)
nfa=-1882.06 inliers=472/541 precisionNormalized=1.88884e-05 precision=5.06518 (iter=278 ,sample=340,273,456,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 541
-- #Points validated by robust Resection: 472
-- Threshold: 5.06518
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 472
#residuals: 944
Initial RMSE: 1.27817
Final RMSE: 1.16765
Time (s): 0.0012928
-------------------------------
-- Robust Resection of view: 57
nfa=14.0311 inliers=4/586 precisionNormalized=0.753798 precision=1011.87 (iter=0 ,sample=477,80,530,)
nfa=-2074.13 inliers=552/586 precisionNormalized=4.01126e-05 precision=7.38138 (iter=0 ,sample=477,80,530,)
nfa=-2258.11 inliers=534/586 precisionNormalized=1.21482e-05 precision=4.06212 (iter=3 ,sample=209,573,301,)
nfa=-2306.61 inliers=534/586 precisionNormalized=9.82129e-06 precision=3.65243 (iter=22 ,sample=128,94,259,)
nfa=-2312.56 inliers=537/586 precisionNormalized=1.02871e-05 precision=3.73804 (iter=29 ,sample=541,82,146,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 586
-- #Points validated by robust Resection: 537
-- Threshold: 3.73804
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 537
#residuals: 1074
Initial RMSE: 0.711552
Final RMSE: 0.708609
Time (s): 0.00136874
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 138
#intrinsics: 1
#tracks: 109169
#residuals: 730835
Initial RMSE: 0.30888
Final RMSE: 0.303852
Time (s): 13.2489
Usable motion priors: 1
Pose prior statistics (user units):
- Starting median fitting error: 5.01165
- Final fitting error:
min: 0.498619
mean: 5.2335
median: 4.69104
max: 13.4507
-------------------------------
-- Robust Resection of view: 68
nfa=-2345.41 inliers=557/614 precisionNormalized=1.25629e-05 precision=4.13191 (iter=0 ,sample=500,84,556,)
nfa=-2399.13 inliers=548/614 precisionNormalized=8.12828e-06 precision=3.32357 (iter=3 ,sample=442,348,236,)
nfa=-2419.66 inliers=553/614 precisionNormalized=8.37583e-06 precision=3.3738 (iter=27 ,sample=485,516,115,)
nfa=-2432.62 inliers=558/614 precisionNormalized=8.91257e-06 precision=3.48022 (iter=109 ,sample=91,505,515,)
nfa=-2440.21 inliers=557/614 precisionNormalized=8.43313e-06 precision=3.38532 (iter=209 ,sample=34,396,451,)
nfa=-2444.55 inliers=552/614 precisionNormalized=7.3585e-06 precision=3.16228 (iter=336 ,sample=484,256,578,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 614
-- #Points validated by robust Resection: 552
-- Threshold: 3.16228
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 552
#residuals: 1104
Initial RMSE: 0.676123
Final RMSE: 0.636517
Time (s): 0.00154494
-------------------------------
-- Robust Resection of view: 67
nfa=-547.726 inliers=612/635 precisionNormalized=0.0328599 precision=211.319 (iter=0 ,sample=517,86,575,)
nfa=-657.462 inliers=614/635 precisionNormalized=0.0221302 precision=173.42 (iter=0 ,sample=517,86,575,)
nfa=-2283.97 inliers=595/635 precisionNormalized=3.29012e-05 precision=6.68669 (iter=1 ,sample=557,250,63,)
nfa=-2531.03 inliers=572/635 precisionNormalized=7.48458e-06 precision=3.18925 (iter=9 ,sample=525,57,128,)
nfa=-2546.09 inliers=578/635 precisionNormalized=8.07011e-06 precision=3.31165 (iter=39 ,sample=481,108,274,)
nfa=-2558.46 inliers=579/635 precisionNormalized=7.85106e-06 precision=3.2664 (iter=109 ,sample=240,135,154,)
nfa=-2569.78 inliers=581/635 precisionNormalized=7.84871e-06 precision=3.26591 (iter=175 ,sample=97,233,464,)
nfa=-2574.42 inliers=581/635 precisionNormalized=7.70269e-06 precision=3.23539 (iter=251 ,sample=96,414,37,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 635
-- #Points validated by robust Resection: 581
-- Threshold: 3.23539
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 581
#residuals: 1162
Initial RMSE: 0.696411
Final RMSE: 0.681794
Time (s): 0.0015073
-------------------------------
-- Robust Resection of view: 60
nfa=-272.742 inliers=380/513 precisionNormalized=0.0261617 precision=188.555 (iter=0 ,sample=417,70,464,)
nfa=-1040.49 inliers=461/513 precisionNormalized=0.00112495 precision=39.0996 (iter=0 ,sample=417,70,464,)
nfa=-1445.8 inliers=443/513 precisionNormalized=9.85833e-05 precision=11.5746 (iter=2 ,sample=377,310,263,)
nfa=-1651.86 inliers=420/513 precisionNormalized=1.83712e-05 precision=4.99659 (iter=3 ,sample=165,146,97,)
nfa=-1652.17 inliers=438/513 precisionNormalized=2.94359e-05 precision=6.32476 (iter=19 ,sample=510,143,270,)
nfa=-1663.4 inliers=434/513 precisionNormalized=2.50115e-05 precision=5.83009 (iter=55 ,sample=236,232,261,)
nfa=-1672.63 inliers=453/513 precisionNormalized=3.84943e-05 precision=7.23275 (iter=91 ,sample=276,188,150,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 513
-- #Points validated by robust Resection: 453
-- Threshold: 7.23275
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 453
#residuals: 906
Initial RMSE: 1.44053
Final RMSE: 1.37264
Time (s): 0.00122853
-------------------------------
-- Robust Resection of view: 66
nfa=-2120.45 inliers=656/700 precisionNormalized=0.00013513 precision=13.5513 (iter=0 ,sample=570,95,634,)
nfa=-2379.78 inliers=639/700 precisionNormalized=4.00791e-05 precision=7.38013 (iter=1 ,sample=241,392,407,)
nfa=-2574.37 inliers=643/700 precisionNormalized=2.13085e-05 precision=5.38123 (iter=3 ,sample=591,11,41,)
nfa=-2648.62 inliers=625/700 precisionNormalized=1.14297e-05 precision=3.94114 (iter=10 ,sample=534,59,101,)
nfa=-2649.06 inliers=629/700 precisionNormalized=1.2359e-05 precision=4.09823 (iter=27 ,sample=77,19,259,)
nfa=-2661.48 inliers=634/700 precisionNormalized=1.30327e-05 precision=4.20846 (iter=60 ,sample=223,316,127,)
nfa=-2661.54 inliers=632/700 precisionNormalized=1.25242e-05 precision=4.12553 (iter=293 ,sample=418,346,118,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 700
-- #Points validated by robust Resection: 632
-- Threshold: 4.12553
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 632
#residuals: 1264
Initial RMSE: 0.820847
Final RMSE: 0.788234
Time (s): 0.00161586
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 142
#intrinsics: 1
#tracks: 112163
#residuals: 750685
Initial RMSE: 0.322988
Final RMSE: 0.30668
Time (s): 12.2306
Usable motion priors: 1
Pose prior statistics (user units):
- Starting median fitting error: 5.27263
- Final fitting error:
min: 0.517534
mean: 5.25127
median: 4.78062
max: 13.4212
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 142
#intrinsics: 1
#tracks: 112049
#residuals: 750189
Initial RMSE: 0.308069
Final RMSE: 0.306598
Time (s): 11.9289
Usable motion priors: 1
Pose prior statistics (user units):
- Starting median fitting error: 5.2468
- Final fitting error:
min: 0.518073
mean: 5.25109
median: 4.78075
max: 13.4197
-------------------------------
-- Robust Resection of view: 61
nfa=6.70625 inliers=21/1282 precisionNormalized=0.00093063 precision=35.5676 (iter=0 ,sample=1044,174,1161,)
nfa=-15.1872 inliers=69/1282 precisionNormalized=0.00249178 precision=58.1998 (iter=0 ,sample=1044,174,1161,)
nfa=-4048.99 inliers=1190/1282 precisionNormalized=9.14085e-05 precision=11.147 (iter=0 ,sample=1044,174,1161,)
nfa=-4450.49 inliers=1173/1282 precisionNormalized=3.54783e-05 precision=6.94461 (iter=1 ,sample=319,1269,946,)
nfa=-4776.42 inliers=1096/1282 precisionNormalized=8.0514e-06 precision=3.30828 (iter=15 ,sample=19,774,1069,)
nfa=-4781.15 inliers=1122/1282 precisionNormalized=1.06802e-05 precision=3.81027 (iter=73 ,sample=595,1153,740,)
nfa=-4796.36 inliers=1124/1282 precisionNormalized=1.05791e-05 precision=3.79219 (iter=204 ,sample=782,983,22,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1282
-- #Points validated by robust Resection: 1124
-- Threshold: 3.79219
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1124
#residuals: 2248
Initial RMSE: 0.741409
Final RMSE: 0.73961
Time (s): 0.00300633
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 143
#intrinsics: 1
#tracks: 113139
#residuals: 757144
Initial RMSE: 0.310476
Final RMSE: 0.306861
Time (s): 14.6349
Usable motion priors: 1
Pose prior statistics (user units):
- Starting median fitting error: 5.03583
- Final fitting error:
min: 0.507943
mean: 5.2317
median: 4.775
max: 13.4326
-------------------------------
-- Robust Resection of view: 62
nfa=-474.822 inliers=681/1039 precisionNormalized=0.0228835 precision=176.399 (iter=0 ,sample=846,141,941,)
nfa=-2700.78 inliers=865/1039 precisionNormalized=0.000132121 precision=13.4036 (iter=1 ,sample=388,99,777,)
nfa=-3524.11 inliers=907/1039 precisionNormalized=2.51787e-05 precision=5.85129 (iter=2 ,sample=671,533,198,)
nfa=-3572.65 inliers=951/1039 precisionNormalized=3.8354e-05 precision=7.22172 (iter=13 ,sample=661,425,546,)
nfa=-3594.56 inliers=853/1039 precisionNormalized=1.01747e-05 precision=3.71959 (iter=93 ,sample=269,328,284,)
nfa=-3610.47 inliers=844/1039 precisionNormalized=8.56407e-06 precision=3.41252 (iter=98 ,sample=170,219,635,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1039
-- #Points validated by robust Resection: 844
-- Threshold: 3.41252
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 844
#residuals: 1688
Initial RMSE: 0.67296
Final RMSE: 0.647389
Time (s): 0.00230589
-------------------------------
-- Robust Resection of view: 65
nfa=-81.6053 inliers=612/974 precisionNormalized=0.0784854 precision=326.685 (iter=0 ,sample=793,132,882,)
nfa=-3130.54 inliers=913/974 precisionNormalized=8.74622e-05 precision=10.9055 (iter=0 ,sample=793,132,882,)
nfa=-3556.34 inliers=891/974 precisionNormalized=2.21431e-05 precision=5.48725 (iter=3 ,sample=484,561,818,)
nfa=-3593.07 inliers=890/974 precisionNormalized=1.98479e-05 precision=5.19509 (iter=8 ,sample=217,368,394,)
nfa=-3615.04 inliers=900/974 precisionNormalized=2.14774e-05 precision=5.40414 (iter=126 ,sample=276,129,767,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 974
-- #Points validated by robust Resection: 900
-- Threshold: 5.40414
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 900
#residuals: 1800
Initial RMSE: 1.1225
Final RMSE: 1.04997
Time (s): 0.00229468
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 145
#intrinsics: 1
#tracks: 114566
#residuals: 767040
Initial RMSE: 0.313531
Final RMSE: 0.307704
Time (s): 14.7275
Usable motion priors: 1
Pose prior statistics (user units):
- Starting median fitting error: 5.28342
- Final fitting error:
min: 0.470832
mean: 5.22052
median: 4.7729
max: 13.4813
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 145
#intrinsics: 1
#tracks: 114511
#residuals: 766814
Initial RMSE: 0.308611
Final RMSE: 0.307645
Time (s): 14.3765
Usable motion priors: 1
Pose prior statistics (user units):
- Starting median fitting error: 5.28464
- Final fitting error:
min: 0.469468
mean: 5.22043
median: 4.7725
max: 13.4823
-------------------------------
-- Robust Resection of view: 64
nfa=-9.7998 inliers=39/1140 precisionNormalized=0.00100372 precision=36.9417 (iter=0 ,sample=928,155,1032,)
nfa=-2228.22 inliers=1020/1140 precisionNormalized=0.00137315 precision=43.2085 (iter=0 ,sample=928,155,1032,)
nfa=-3608.85 inliers=1095/1140 precisionNormalized=0.000129534 precision=13.271 (iter=1 ,sample=791,1061,1089,)
nfa=-3998.26 inliers=1054/1140 precisionNormalized=3.64001e-05 precision=7.03497 (iter=3 ,sample=326,616,928,)
nfa=-4229.89 inliers=1056/1140 precisionNormalized=2.23765e-05 precision=5.51578 (iter=7 ,sample=991,349,214,)
nfa=-4235.9 inliers=1059/1140 precisionNormalized=2.28603e-05 precision=5.57509 (iter=15 ,sample=589,954,895,)
nfa=-4238.05 inliers=1073/1140 precisionNormalized=2.67114e-05 precision=6.02641 (iter=21 ,sample=705,381,822,)
nfa=-4372.12 inliers=1028/1140 precisionNormalized=1.16829e-05 precision=3.98553 (iter=22 ,sample=872,788,87,)
nfa=-4391.3 inliers=1041/1140 precisionNormalized=1.31045e-05 precision=4.22105 (iter=43 ,sample=998,212,642,)
nfa=-4392.37 inliers=1021/1140 precisionNormalized=1.02347e-05 precision=3.73034 (iter=121 ,sample=610,195,835,)
nfa=-4405.46 inliers=1019/1140 precisionNormalized=9.68826e-06 precision=3.62939 (iter=130 ,sample=312,1131,1022,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1140
-- #Points validated by robust Resection: 1019
-- Threshold: 3.62939
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1019
#residuals: 2038
Initial RMSE: 0.801236
Final RMSE: 0.781152
Time (s): 0.00267377
-------------------------------
-- Robust Resection of view: 63
nfa=11.339 inliers=6/1466 precisionNormalized=0.000163833 precision=14.9249 (iter=0 ,sample=1194,199,1328,)
nfa=-59.896 inliers=441/1466 precisionNormalized=0.0285736 precision=197.103 (iter=0 ,sample=1194,199,1328,)
nfa=-1089.39 inliers=1112/1466 precisionNormalized=0.0156209 precision=145.735 (iter=0 ,sample=1194,199,1328,)
nfa=-5499.84 inliers=1350/1466 precisionNormalized=1.89763e-05 precision=5.07944 (iter=1 ,sample=407,681,140,)
nfa=-5534.78 inliers=1373/1466 precisionNormalized=2.20111e-05 precision=5.47055 (iter=13 ,sample=1214,72,380,)
nfa=-5559.55 inliers=1361/1466 precisionNormalized=1.89334e-05 precision=5.0737 (iter=29 ,sample=192,416,395,)
nfa=-5589.11 inliers=1358/1466 precisionNormalized=1.75145e-05 precision=4.87989 (iter=30 ,sample=36,17,892,)
nfa=-5616.5 inliers=1363/1466 precisionNormalized=1.74977e-05 precision=4.87754 (iter=49 ,sample=550,1154,1028,)
nfa=-5645.15 inliers=1345/1466 precisionNormalized=1.41039e-05 precision=4.37905 (iter=60 ,sample=1052,331,1104,)
nfa=-5657.94 inliers=1347/1466 precisionNormalized=1.40554e-05 precision=4.37151 (iter=74 ,sample=888,512,647,)
nfa=-5669.14 inliers=1376/1466 precisionNormalized=1.80266e-05 precision=4.95071 (iter=252 ,sample=1109,478,817,)
nfa=-5687.57 inliers=1377/1466 precisionNormalized=1.76356e-05 precision=4.89672 (iter=282 ,sample=371,336,1102,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1466
-- #Points validated by robust Resection: 1377
-- Threshold: 4.89672
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1377
#residuals: 2754
Initial RMSE: 0.893186
Final RMSE: 0.886785
Time (s): 0.00344065
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 147
#intrinsics: 1
#tracks: 116438
#residuals: 779838
Initial RMSE: 0.314894
Final RMSE: 0.308208
Time (s): 13.166
Usable motion priors: 1
Pose prior statistics (user units):
- Starting median fitting error: 4.74918
- Final fitting error:
min: 0.457859
mean: 5.21711
median: 4.82716
max: 13.5301
-------------------------------
-- Structure from Motion (statistics):
-- #Camera calibrated: 147 from 147 input images.
-- #Tracks, #3D points: 116421
-------------------------------
SequentialSfMReconstructionEngine::ComputeResidualsMSE.
-- #Tracks: 116421
-- Residual min: 1.15251e-08
-- Residual median: 0.147425
-- Residual max: 3.98794
-- Residual mean: 0.263531
Histogram of residuals:
0 | 619400
0.399 | 107168
0.798 | 32169
1.2 | 11896
1.6 | 4877
1.99 | 2186
2.39 | 961
2.79 | 453
3.19 | 172
3.59 | 43
3.99
Total Ac-Sfm took (s): 977
...Generating SfM_Report.html
...Export SfM_Data to disk.
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