Dense point cloud generation error

Question

Dense point cloud generation error

bigeyesung opened this issue 4 years ago · comments

Hi, I was using 104 aerial photos to generate the point clouds. The image matching and sparse point cloud were run properly, but the dense one failed. Below is the error message.

19603 dog done
13386 harris done
DoG running...19603 dog done
19606 dog done
19603 dog done
19602 dog done
done
adding seeds
refinePatchBFGS failed!
refinePatchBFGS failed!
refinePatchBFGS failed!
refinePatchBFGS failed!
(93,888)(68,2523)(90,7212)refinePatchBFGS failed!
(12,5386)(81,5222)(19,7594)(59,6327)refinePatchBFGS failed!
(74,7702)(89,2329)refinePatchBFGS failed!
refinePatchBFGS failed!
(96,369)(24,2694)(23,2042)refinePatchBFGS failed!
(58,469)(87,99)(99,4481)(16,3515)(31,5117)refinePatchBFGS failed!
(66,1167)(1,1236)(73,982)(7,41)(61,1169)refinePatchBFGS failed!
(17,2735)(78,386)(76,6195)refinePatchBFGS failed!
(22,60)(92,77)(6,23)(21,319)(75,0)(33,3690)refinePatchBFGS failed!
(37,1567)(69,0)(83,261)(85,13)(94,0)(80,0)(14,0)(44,1956)(88,199)(95,0)(102,646)(30,4)(86,0)(71,5)(8,3274)(35,264)(53,2232)(57,736)(97,2)(36,7)refinePatchBFGS failed!
(63,405)(98,257)(91,1)(2,133)(103,324)(56,0)(51,1667)(46,141)refinePatchBFGS failed!
(54,1020)(20,8)(13,1)(28,274)(84,34)(79,0)(49,1638)(100,0)(38,50)(65,3851)(18,17)(39,0)(50,473)(29,0)(77,0)(52,53)(101,540)(48,81)(41,0)(64,5)(11,11)(60,0)(0,38)(82,0)(34,0)(15,0)(3,0)(62,0)(67,2)(32,0)(70,0)(25,3)(4,1)(10,76)(9,17)(72,1)(47,1)(55,0)(5,178)(40,2956)(27,65)(26,24)(42,141)(43,14)(45,6)done
---- Initial: 0 secs ----
Total pass fail0 fail1 refinepatch: 5247413 146160 4386956 714297 860457
Total pass fail0 fail1 refinepatch: 100 2.78537 83.6023 13.6124 16.3977
Expanding patches...refinePatchBFGS failed!
refinePatchBFGS failed!
refinePatchBFGS failed!
refinePatchBFGS failed!
refinePatchBFGS failed!
refinePatchBFGS failed!
refinePatchBFGS failed!
refinePatchBFGS failed!
refinePatchBFGS failed!
refinePatchBFGS failed!
refinePatchBFGS failed!

---- EXPANSION: 4134 secs ----
Total pass fail0 fail1 refinepatch: 16592166 16163244 153495 275427 16438671
Total pass fail0 fail1 refinepatch: 100 97.4149 0.925105 1.65998 99.0749
FilterOutside
mainbody:
Gain (ave/var): 1.69006 0.866914
16252656 -> 16164352 (99.4567%) 0 secs

Liangliang Nan · Answer 1 · Sun Jun 28 2020 02:33:58 GMT+0800 (China Standard Time)

Is it the complete log? Seems not.

Did you see any points in the visualization (after all computation)? How does it look like?

The error message indicated that the intermediate optimization on some patches (out of a huge number) has failed, which is very common during the reconstruction. But one should still be able to obtain the reconstructed point cloud (which is saved as /porject_root/pmvs/models/dense.ply by default).

Chenhsi · Answer 2 · Tue Jun 30 2020 20:32:28 GMT+0800 (China Standard Time)

I run the whole process again, and this time I got the dense point cloud. It looks good to me.
Still see some error messages, but as you said it is common and I got the dense point cloud, so it should be fine.

One thing to notice is this time the program run until it finished. While the last time it did not. I remembered last time my RAM is almost full while running other processes at the same time. Is it the RAM issue which crashed the program so it could not finish last time?

Chenhsi · Answer 3 · Tue Jun 30 2020 20:33:29 GMT+0800 (China Standard Time)

`[SfM] focal length for image 32: 3524.37 (3283.2)
[SfM] focal length for image 33: 3685.28 (3283.2)
[SfM] focal length for image 34: 4019.13 (3283.2)
[SfM] focal length for image 35: 3992 (3283.2)
[SfM] focal length for image 36: 4757.51 (3283.2)
[SfM] focal length for image 37: 3317.27 (3283.2)
[SfM] focal length for image 38: 3702.35 (3283.2)
[SfM] focal length for image 39: 3717.76 (3283.2)
[SfM] focal length for image 40: 4477.67 (3283.2)
[SfM] focal length for image 41: 4980.71 (3283.2)
[SfM] focal length for image 42: 3869.38 (3283.2)
[SfM] focal length for image 43: 3826.6 (3283.2)
[SfM] focal length for image 44: 3946.69 (3283.2)
[SfM] focal length for image 45: 3842.37 (3283.2)
[SfM] focal length for image 46: 3913.61 (3283.2)
[SfM] focal length for image 47: 4037.01 (3283.2)
[SfM] focal length for image 48: 3965.14 (3283.2)
[SfM] focal length for image 49: 3571.18 (3283.2)
[SfM] focal length for image 50: 5728.77 (3283.2)
[SfM] focal length for image 51: 3878.94 (3283.2)
[SfM] focal length for image 52: 3859.57 (3283.2)
[SfM] focal length for image 53: 3958.19 (3283.2)
[SfM] focal length for image 54: 3890.49 (3283.2)
[SfM] focal length for image 55: 3625.42 (3283.2)
[SfM] focal length for image 56: 2858.83 (3283.2)
[SfM] focal length for image 57: 3995.87 (3283.2)
existing_matches[0] = 162
score[0] = 162.000
existing_matches[1] = 56
score[1] = 56.000
existing_matches[7] = 713
score[7] = 713.000
existing_matches[8] = 394
score[8] = 394.000
existing_matches[9] = 67
score[9] = 67.000
existing_matches[10] = 2
score[10] = 2.000
existing_matches[11] = 2
score[11] = 2.000
existing_matches[12] = 5
score[12] = 5.000
existing_matches[13] = 20
score[13] = 20.000
existing_matches[14] = 337
score[14] = 337.000
existing_matches[15] = 745
score[15] = 745.000
existing_matches[21] = 303
score[21] = 303.000
existing_matches[22] = 100
score[22] = 100.000
existing_matches[23] = 23
score[23] = 23.000
existing_matches[24] = 260
score[24] = 260.000
existing_matches[25] = 112
score[25] = 112.000
existing_matches[31] = 835
score[31] = 835.000
existing_matches[32] = 680
score[32] = 680.000
existing_matches[33] = 273
score[33] = 273.000
existing_matches[34] = 20
score[34] = 20.000
existing_matches[35] = 4
score[35] = 4.000
existing_matches[36] = 4
score[36] = 4.000
existing_matches[37] = 132
score[37] = 132.000
existing_matches[44] = 198
score[44] = 198.000
existing_matches[45] = 579
score[45] = 579.000
existing_matches[46] = 123
score[46] = 123.000
existing_matches[47] = 281
score[47] = 281.000
existing_matches[54] = 728
score[54] = 728.000
existing_matches[55] = 413
score[55] = 413.000
existing_matches[56] = 71
score[56] = 71.000
existing_matches[57] = 4
score[57] = 4.000
existing_matches[58] = 9
score[58] = 9.000
existing_matches[59] = 182
score[59] = 182.000
existing_matches[60] = 641
score[60] = 641.000
existing_matches[67] = 432
score[67] = 432.000
existing_matches[68] = 200
score[68] = 200.000
existing_matches[78] = 556
score[78] = 556.000
existing_matches[79] = 185
score[79] = 185.000
existing_matches[80] = 16
score[80] = 16.000
existing_matches[81] = 40
score[81] = 40.000
existing_matches[82] = 277
score[82] = 277.000
existing_matches[83] = 756
score[83] = 756.000
existing_matches[92] = 249
score[92] = 249.000
existing_matches[101] = 673
score[101] = 673.000
existing_matches[102] = 440
score[102] = 440.000
existing_matches[103] = 143
score[103] = 143.000
Error: parent not found
[SifterApp::BundleAdjust] max_matches = 835
[SifterApp::BundleAdjustFast] Registering 8 images
[SifterApp::BundleAdjustFast] Adjusting camera 7
[SifterApp::BundleAdjustFast] Adjusting camera 15
[SifterApp::BundleAdjustFast] Adjusting camera 31
[SifterApp::BundleAdjustFast] Adjusting camera 32
[SifterApp::BundleAdjustFast] Adjusting camera 54
[SifterApp::BundleAdjustFast] Adjusting camera 60
[SifterApp::BundleAdjustFast] Adjusting camera 83
[SifterApp::BundleAdjustFast] Adjusting camera 101
[SifterApp::BundleAdjust[11]] Adjusting camera 7 (parent = -1)
[SfM] setting tracks for image 7
[BundleInitializeImage] Connecting existing matches...
[BundleInitializeImage] Initializing camera...
[find_projection_3x4_ransac] num_inliers = 683 (out of 713)
[find_projection_3x4_ransac] error = 1.531
[find_projection_3x4_ransac] Reverting to old solution
New error: 1.157e+00
[FindAndVerifyCamera] Removing point [27383] (reproj. error = 3727.987)
[FindAndVerifyCamera] Removing point [42882] (reproj. error = 6293.429)
[FindAndVerifyCamera] Removing point [24185] (reproj. error = 4237.700)
[FindAndVerifyCamera] Removing point [5173] (reproj. error = 6693.061)
[FindAndVerifyCamera] Removing point [10809] (reproj. error = 2580.566)
[FindAndVerifyCamera] Removing point [7038] (reproj. error = 6062.348)
[FindAndVerifyCamera] Removing point [11469] (reproj. error = 6425.535)
[FindAndVerifyCamera] Removing point [4343] (reproj. error = 6564.752)
[FindAndVerifyCamera] Removing point [459] (reproj. error = 6507.716)
[FindAndVerifyCamera] Removing point [40974] (reproj. error = 170.884)
[FindAndVerifyCamera] Removing point [21955] (reproj. error = 6949.254)
[FindAndVerifyCamera] Removing point [25070] (reproj. error = 7594.264)
[FindAndVerifyCamera] Removing point [24309] (reproj. error = 666.359)
[FindAndVerifyCamera] Removing point [21949] (reproj. error = 2116.380)
[BundleInitializeImage] Camera has initial focal length of 3283.200
[BundleInitializeImage] Adjusting...
[RefineCameraParameters] Calling with 699 points
[RefineCameraParameters] Error: 0.971
[RefineCameraParameters] Threshold = 8.000
[RefineCameraParameters] Exiting after 1 rounds with 699 / 699 points
[SifterApp::BundleAdjust[11]] Adjusting camera 15 (parent = -1)
[SfM] setting tracks for image 15
[BundleInitializeImage] Connecting existing matches...
[BundleInitializeImage] Initializing camera...
[find_projection_3x4_ransac] num_inliers = 719 (out of 745)
[find_projection_3x4_ransac] error = 1.370
[find_projection_3x4_ransac] Reverting to old solution
New error: 1.151e+00
[FindAndVerifyCamera] Removing point [27383] (reproj. error = 3655.826)
[FindAndVerifyCamera] Removing point [42882] (reproj. error = 6168.092)
[FindAndVerifyCamera] Removing point [43759] (reproj. error = 5480.208)
[FindAndVerifyCamera] Removing point [27669] (reproj. error = 4895.830)
[FindAndVerifyCamera] Removing point [25938] (reproj. error = 4322.279)
[FindAndVerifyCamera] Removing point [7038] (reproj. error = 6010.548)
[FindAndVerifyCamera] Removing point [4343] (reproj. error = 6434.403)
[FindAndVerifyCamera] Removing point [459] (reproj. error = 6438.408)
[FindAndVerifyCamera] Removing point [6269] (reproj. error = 3946.329)
[FindAndVerifyCamera] Removing point [4102] (reproj. error = 3095.280)
[FindAndVerifyCamera] Removing point [30208] (reproj. error = 5892.940)
[FindAndVerifyCamera] Removing point [25991] (reproj. error = 1646.942)
[FindAndVerifyCamera] Removing point [3166] (reproj. error = 3089.637)
[FindAndVerifyCamera] Removing point [5135] (reproj. error = 4543.051)
[FindAndVerifyCamera] Removing point [2726] (reproj. error = 8125.996)
[FindAndVerifyCamera] Removing point [30283] (reproj. error = 3416.309)
[FindAndVerifyCamera] Removing point [18096] (reproj. error = 1607.788)
[BundleInitializeImage] Camera has initial focal length of 3283.200
[BundleInitializeImage] Adjusting...
[RefineCameraParameters] Calling with 728 points
[RefineCameraParameters] Error: 1.022
[RefineCameraParameters] Threshold = 8.000
[RefineCameraParameters] Removing point [44409] with reprojection error 14.678
[RefineCameraParameters] Calling with 727 points
[RefineCameraParameters] Error: 1.003
[RefineCameraParameters] Threshold = 8.000
[RefineCameraParameters] Exiting after 2 rounds with 727 / 728 points
[SifterApp::BundleAdjust[11]] Adjusting camera 31 (parent = -1)
[SfM] setting tracks for image 31
[BundleInitializeImage] Connecting existing matches...
[BundleInitializeImage] Initializing camera...
[find_projection_3x4_ransac] num_inliers = 797 (out of 835)
[find_projection_3x4_ransac] error = 1.455
[find_projection_3x4_ransac] Reverting to old solution
New error: 1.204e+00
[FindAndVerifyCamera] Removing point [27383] (reproj. error = 3821.757)
[FindAndVerifyCamera] Removing point [42882] (reproj. error = 6176.488)
[FindAndVerifyCamera] Removing point [3875] (reproj. error = 5553.683)
[FindAndVerifyCamera] Removing point [10796] (reproj. error = 896.423)
[FindAndVerifyCamera] Removing point [24309] (reproj. error = 674.745)
[FindAndVerifyCamera] Removing point [6269] (reproj. error = 4178.013)
[FindAndVerifyCamera] Removing point [10901] (reproj. error = 2660.317)
[FindAndVerifyCamera] Removing point [25991] (reproj. error = 1706.433)
[FindAndVerifyCamera] Removing point [3166] (reproj. error = 3251.735)
[FindAndVerifyCamera] Removing point [26023] (reproj. error = 2235.493)
[FindAndVerifyCamera] Removing point [2602] (reproj. error = 6493.938)
[FindAndVerifyCamera] Removing point [4537] (reproj. error = 4894.681)
[FindAndVerifyCamera] Removing point [11061] (reproj. error = 2216.021)
[FindAndVerifyCamera] Removing point [3498] (reproj. error = 3365.986)
[FindAndVerifyCamera] Removing point [2901] (reproj. error = 4723.237)
[FindAndVerifyCamera] Removing point [2882] (reproj. error = 3918.655)
[BundleInitializeImage] Camera has initial focal length of 3283.200
[BundleInitializeImage] Adjusting...
[RefineCameraParameters] Calling with 819 points
[RefineCameraParameters] Error: 1.070
[RefineCameraParameters] Threshold = 8.000
[RefineCameraParameters] Exiting after 1 rounds with 819 / 819 points
[SifterApp::BundleAdjust[11]] Adjusting camera 32 (parent = -1)
[SfM] setting tracks for image 32
[BundleInitializeImage] Connecting existing matches...
[BundleInitializeImage] Initializing camera...
[find_projection_3x4_ransac] num_inliers = 645 (out of 680)
[find_projection_3x4_ransac] error = 1.555
[find_projection_3x4_ransac] Reverting to old solution
New error: 1.249e+00
[FindAndVerifyCamera] Removing point [27383] (reproj. error = 3764.397)
[FindAndVerifyCamera] Removing point [42882] (reproj. error = 6115.256)
[FindAndVerifyCamera] Removing point [10809] (reproj. error = 2660.679)
[FindAndVerifyCamera] Removing point [4343] (reproj. error = 6684.739)
[FindAndVerifyCamera] Removing point [459] (reproj. error = 6900.133)
[FindAndVerifyCamera] Removing point [40296] (reproj. error = 3292.982)
[FindAndVerifyCamera] Removing point [6269] (reproj. error = 4142.848)
[FindAndVerifyCamera] Removing point [4102] (reproj. error = 3240.053)
[FindAndVerifyCamera] Removing point [15584] (reproj. error = 4707.727)
[FindAndVerifyCamera] Removing point [4401] (reproj. error = 3392.378)
[FindAndVerifyCamera] Removing point [10901] (reproj. error = 2627.733)
[FindAndVerifyCamera] Removing point [25991] (reproj. error = 1693.545)
[FindAndVerifyCamera] Removing point [3166] (reproj. error = 3228.524)
[FindAndVerifyCamera] Removing point [416] (reproj. error = 4095.598)
[FindAndVerifyCamera] Removing point [33663] (reproj. error = 3361.706)
[FindAndVerifyCamera] Removing point [6858] (reproj. error = 282.385)
[FindAndVerifyCamera] Removing point [2901] (reproj. error = 4688.608)
[FindAndVerifyCamera] Removing point [4528] (reproj. error = 3669.985)
[BundleInitializeImage] Camera has initial focal length of 3283.200
[BundleInitializeImage] Adjusting...
[RefineCameraParameters] Calling with 662 points
[RefineCameraParameters] Error: 1.152
[RefineCameraParameters] Threshold = 8.000
[RefineCameraParameters] Removing point [44409] with reprojection error 20.851
[RefineCameraParameters] Removing point [4552] with reprojection error 8.237
[RefineCameraParameters] Calling with 660 points
[RefineCameraParameters] Error: 1.094
[RefineCameraParameters] Threshold = 8.000
[RefineCameraParameters] Exiting after 2 rounds with 660 / 662 points
[SifterApp::BundleAdjust[11]] Adjusting camera 54 (parent = -1)
[SfM] setting tracks for image 54
[BundleInitializeImage] Connecting existing matches...
[BundleInitializeImage] Initializing camera...
[find_projection_3x4_ransac] num_inliers = 699 (out of 728)
[find_projection_3x4_ransac] error = 1.562
[find_projection_3x4_ransac] Reverting to old solution
New error: 1.185e+00
[FindAndVerifyCamera] Removing point [27437] (reproj. error = 4370.079)
[FindAndVerifyCamera] Removing point [10901] (reproj. error = 2623.104)
[FindAndVerifyCamera] Removing point [25951] (reproj. error = 1020.460)
[FindAndVerifyCamera] Removing point [44552] (reproj. error = 3523.457)
[FindAndVerifyCamera] Removing point [6858] (reproj. error = 278.863)
[FindAndVerifyCamera] Removing point [19041] (reproj. error = 4738.883)
[FindAndVerifyCamera] Removing point [24989] (reproj. error = 2985.004)
[FindAndVerifyCamera] Removing point [2934] (reproj. error = 7380.204)
[FindAndVerifyCamera] Removing point [3821] (reproj. error = 1946.714)
[FindAndVerifyCamera] Removing point [6567] (reproj. error = 6976.820)
[FindAndVerifyCamera] Removing point [3425] (reproj. error = 5006.627)
[FindAndVerifyCamera] Removing point [6305] (reproj. error = 8018.079)
[FindAndVerifyCamera] Removing point [15222] (reproj. error = 3567.038)
[FindAndVerifyCamera] Removing point [2556] (reproj. error = 4556.701)
[FindAndVerifyCamera] Removing point [21297] (reproj. error = 2493.850)
[FindAndVerifyCamera] Removing point [2471] (reproj. error = 4152.615)
[FindAndVerifyCamera] Removing point [2290] (reproj. error = 5597.489)
[BundleInitializeImage] Camera has initial focal length of 3283.200
[BundleInitializeImage] Adjusting...
[RefineCameraParameters] Calling with 711 points
[RefineCameraParameters] Error: 1.028
[RefineCameraParameters] Threshold = 8.000
[RefineCameraParameters] Exiting after 1 rounds with 711 / 711 points
[SifterApp::BundleAdjust[11]] Adjusting camera 60 (parent = -1)
[SfM] setting tracks for image 60
[BundleInitializeImage] Connecting existing matches...
[BundleInitializeImage] Initializing camera...
[find_projection_3x4_ransac] num_inliers = 614 (out of 641)
[find_projection_3x4_ransac] error = 1.569
[find_projection_3x4_ransac] Reverting to old solution
New error: 1.262e+00
[FindAndVerifyCamera] Removing point [31048] (reproj. error = 3698.677)
[FindAndVerifyCamera] Removing point [18086] (reproj. error = 5648.244)
[FindAndVerifyCamera] Removing point [44552] (reproj. error = 3453.661)
[FindAndVerifyCamera] Removing point [17642] (reproj. error = 1030.734)
[FindAndVerifyCamera] Removing point [3457] (reproj. error = 4694.626)
[FindAndVerifyCamera] Removing point [24581] (reproj. error = 4119.406)
[FindAndVerifyCamera] Removing point [7178] (reproj. error = 5485.020)
[FindAndVerifyCamera] Removing point [3821] (reproj. error = 1885.821)
[FindAndVerifyCamera] Removing point [15222] (reproj. error = 3484.811)
[FindAndVerifyCamera] Removing point [2556] (reproj. error = 4422.627)
[FindAndVerifyCamera] Removing point [21297] (reproj. error = 2436.819)
[FindAndVerifyCamera] Removing point [2290] (reproj. error = 5467.056)
[FindAndVerifyCamera] Removing point [21296] (reproj. error = 2436.819)
[FindAndVerifyCamera] Removing point [16999] (reproj. error = 6350.622)
[BundleInitializeImage] Camera has initial focal length of 3283.200
[BundleInitializeImage] Adjusting...
[RefineCameraParameters] Calling with 627 points
[RefineCameraParameters] Error: 1.117
[RefineCameraParameters] Threshold = 8.000
[RefineCameraParameters] Exiting after 1 rounds with 627 / 627 points
[SifterApp::BundleAdjust[11]] Adjusting camera 83 (parent = -1)
[SfM] setting tracks for image 83
[BundleInitializeImage] Connecting existing matches...
[BundleInitializeImage] Initializing camera...
[find_projection_3x4_ransac] num_inliers = 727 (out of 756)
[find_projection_3x4_ransac] error = 1.755
[find_projection_3x4_ransac] Reverting to old solution
New error: 1.168e+00
[FindAndVerifyCamera] Removing point [929] (reproj. error = 7833.166)
[FindAndVerifyCamera] Removing point [17858] (reproj. error = 6010.586)
[FindAndVerifyCamera] Removing point [4582] (reproj. error = 2366.114)
[FindAndVerifyCamera] Removing point [3746] (reproj. error = 2499.354)
[FindAndVerifyCamera] Removing point [2722] (reproj. error = 3495.767)
[FindAndVerifyCamera] Removing point [4414] (reproj. error = 1698.212)
[BundleInitializeImage] Camera has initial focal length of 3283.200
[BundleInitializeImage] Adjusting...
[RefineCameraParameters] Calling with 750 points
[RefineCameraParameters] Error: 1.016
[RefineCameraParameters] Threshold = 8.000
[RefineCameraParameters] Removing point [15147] with reprojection error 12.392
[RefineCameraParameters] Calling with 749 points
[RefineCameraParameters] Error: 1.001
[RefineCameraParameters] Threshold = 8.000
[RefineCameraParameters] Exiting after 2 rounds with 749 / 750 points
[SifterApp::BundleAdjust[11]] Adjusting camera 101 (parent = -1)
[SfM] setting tracks for image 101
[BundleInitializeImage] Connecting existing matches...
[BundleInitializeImage] Initializing camera...
[find_projection_3x4_ransac] num_inliers = 657 (out of 673)
[find_projection_3x4_ransac] error = 1.320
[find_projection_3x4_ransac] Reverting to old solution
New error: 1.108e+00
[FindAndVerifyCamera] Removing point [6268] (reproj. error = 4672.727)
[FindAndVerifyCamera] Removing point [929] (reproj. error = 7946.446)
[FindAndVerifyCamera] Removing point [2812] (reproj. error = 4078.540)
[FindAndVerifyCamera] Removing point [2891] (reproj. error = 4435.638)
[FindAndVerifyCamera] Removing point [3167] (reproj. error = 3563.682)
[FindAndVerifyCamera] Removing point [2427] (reproj. error = 6790.761)
[FindAndVerifyCamera] Removing point [3305] (reproj. error = 3577.338)
[FindAndVerifyCamera] Removing point [10446] (reproj. error = 6037.961)
[FindAndVerifyCamera] Removing point [2393] (reproj. error = 8064.102)
[FindAndVerifyCamera] Removing point [1035] (reproj. error = 4121.271)
[FindAndVerifyCamera] Removing point [1667] (reproj. error = 5341.038)
[FindAndVerifyCamera] Removing point [9249] (reproj. error = 3047.547)
[BundleInitializeImage] Camera has initial focal length of 3283.200
[BundleInitializeImage] Adjusting...
[RefineCameraParameters] Calling with 661 points
[RefineCameraParameters] Error: 0.936
[RefineCameraParameters] Threshold = 8.000
[RefineCameraParameters] Exiting after 1 rounds with 661 / 661 points
[SifterApp::BundleAdjust] Adding new matches
[AddAllNewPoints] Added 5110 new points
[AddAllNewPoints] Ill-conditioned tracks: 1
[AddAllNewPoints] Bad reprojections: 174
[AddAllNewPoints] Failed cheirality checks: 3
[SifterApp::BundleAdjust] Number of points = 50710
initial motstr-SBA error 85554.9 [0.44151]
[run_sfm] Number of iterations: 59
info[6] = 8.000
[SfM] bundle adjustment took 97.5 seconds
[SfM] removing 0 outliers
[RemoveBadPointsAndCameras] Pruned 0 points
[SfM] focal length for image 0: 3712.62 (3283.2)
[SfM] focal length for image 1: 3326.34 (3283.2)
[SfM] focal length for image 2: 3269.9 (3283.2)
[SfM] focal length for image 3: 3425.72 (3283.2)
[SfM] focal length for image 4: 3911.08 (3283.2)
[SfM] focal length for image 5: 3520.04 (3283.2)
[SfM] focal length for image 6: 3453.57 (3283.2)
[SfM] focal length for image 7: 3415.73 (3283.2)
[SfM] focal length for image 8: 3755.94 (3283.2)
[SfM] focal length for image 9: 4039.77 (3283.2)
[SfM] focal length for image 10: 3759.33 (3283.2)
[SfM] focal length for image 11: 3526.46 (3283.2)
[SfM] focal length for image 12: 3752.63 (3283.2)
[SfM] focal length for image 13: 4162.3 (3283.2)
[SfM] focal length for image 14: 4503.8 (3283.2)
[SfM] focal length for image 15: 3771.93 (3283.2)
[SfM] focal length for image 16: 3680.98 (3283.2)
[SfM] focal length for image 17: 3540.99 (3283.2)
[SfM] focal length for image 18: 4081.2 (3283.2)
[SfM] focal length for image 19: 3220.27 (3283.2)
[SfM] focal length for image 20: 4054.95 (3283.2)
[SfM] focal length for image 21: 3689.03 (3283.2)
[SfM] focal length for image 22: 3783.93 (3283.2)
[SfM] focal length for image 23: 3869.58 (3283.2)
[SfM] focal length for image 24: 3398.25 (3283.2)
[SfM] focal length for image 25: 3890.97 (3283.2)
[SfM] focal length for image 26: 3419.66 (3283.2)
[SfM] focal length for image 27: 4203.46 (3283.2)
[SfM] focal length for image 28: 3909.83 (3283.2)
[SfM] focal length for image 29: 3773.96 (3283.2)
[SfM] focal length for image 30: 3731.45 (3283.2)
[SfM] focal length for image 31: 3778.28 (3283.2)
[SfM] focal length for image 32: 3559.9 (3283.2)
[SfM] focal length for image 33: 3714.52 (3283.2)
[SfM] focal length for image 34: 4054.54 (3283.2)
[SfM] focal length for image 35: 4025.09 (3283.2)
[SfM] focal length for image 36: 4786.6 (3283.2)
[SfM] focal length for image 37: 3338.28 (3283.2)
[SfM] focal length for image 38: 3728.21 (3283.2)
[SfM] focal length for image 39: 3746.63 (3283.2)
[SfM] focal length for image 40: 4508.16 (3283.2)
[SfM] focal length for image 41: 5004.45 (3283.2)
[SfM] focal length for image 42: 3872.89 (3283.2)
[SfM] focal length for image 43: 3829.32 (3283.2)
[SfM] focal length for image 44: 3954 (3283.2)
[SfM] focal length for image 45: 3858.07 (3283.2)
[SfM] focal length for image 46: 3940.04 (3283.2)
[SfM] focal length for image 47: 4063.29 (3283.2)
[SfM] focal length for image 48: 3975.78 (3283.2)
[SfM] focal length for image 49: 3600.54 (3283.2)
[SfM] focal length for image 50: 5766.66 (3283.2)
[SfM] focal length for image 51: 3885.17 (3283.2)
[SfM] focal length for image 52: 3858.78 (3283.2)
[SfM] focal length for image 53: 3942.02 (3283.2)
[SfM] focal length for image 54: 3900.22 (3283.2)
[SfM] focal length for image 55: 3673.5 (3283.2)
[SfM] focal length for image 56: 3006.86 (3283.2)
[SfM] focal length for image 57: 3993.21 (3283.2)
[SfM] focal length for image 58: 3721.56 (3283.2)
[SfM] focal length for image 59: 3524.15 (3283.2)
[SfM] focal length for image 60: 3436.84 (3283.2)
[SfM] focal length for image 61: 3116.02 (3283.2)
[SfM] focal length for image 62: 2870.1 (3283.2)
[SfM] focal length for image 63: 3216.5 (3283.2)
[SfM] focal length for image 64: 3488.77 (3283.2)
[SfM] focal length for image 65: 3789.56 (3283.2)
existing_matches[0] = 162
score[0] = 162.000
existing_matches[1] = 56
score[1] = 56.000
existing_matches[8] = 971
score[8] = 971.000
existing_matches[9] = 343
score[9] = 343.000
existing_matches[10] = 65
score[10] = 65.000
existing_matches[11] = 4
score[11] = 4.000
existing_matches[12] = 26
score[12] = 26.000
existing_matches[13] = 217
score[13] = 217.000
existing_matches[14] = 922
score[14] = 922.000
existing_matches[21] = 303
score[21] = 303.000
existing_matches[22] = 100
score[22] = 100.000
existing_matches[23] = 23
score[23] = 23.000
existing_matches[24] = 260
score[24] = 260.000
existing_matches[25] = 112
score[25] = 112.000
existing_matches[33] = 873
score[33] = 873.000
existing_matches[34] = 243
score[34] = 243.000
existing_matches[35] = 36
score[35] = 36.000
existing_matches[36] = 72
score[36] = 72.000
existing_matches[37] = 375
score[37] = 375.000
existing_matches[44] = 198
score[44] = 198.000
existing_matches[45] = 579
score[45] = 579.000
existing_matches[46] = 123
score[46] = 123.000
existing_matches[47] = 281
score[47] = 281.000
existing_matches[55] = 922
score[55] = 922.000
existing_matches[56] = 332
score[56] = 332.000
existing_matches[57] = 93
score[57] = 93.000
existing_matches[58] = 170
score[58] = 170.000
existing_matches[59] = 539
score[59] = 539.000
existing_matches[67] = 432
score[67] = 432.000
existing_matches[68] = 200
score[68] = 200.000
existing_matches[78] = 1070
score[78] = 1070.000
existing_matches[79] = 534
score[79] = 534.000
existing_matches[80] = 157
score[80] = 157.000
existing_matches[81] = 215
score[81] = 215.000
existing_matches[82] = 718
score[82] = 718.000
existing_matches[92] = 249
score[92] = 249.000
existing_matches[102] = 923
score[102] = 923.000
existing_matches[103] = 423
score[103] = 423.000
Error: parent not found
[SifterApp::BundleAdjust] max_matches = 1070
[SifterApp::BundleAdjustFast] Registering 6 images
[SifterApp::BundleAdjustFast] Adjusting camera 8
[SifterApp::BundleAdjustFast] Adjusting camera 14
[SifterApp::BundleAdjustFast] Adjusting camera 33
[SifterApp::BundleAdjustFast] Adjusting camera 55
[SifterApp::BundleAdjustFast] Adjusting camera 78
[SifterApp::BundleAdjustFast] Adjusting camera 102
[SifterApp::BundleAdjust[12]] Adjusting camera 8 (parent = -1)
[SfM] setting tracks for image 8
[BundleInitializeImage] Connecting existing matches...
[BundleInitializeImage] Initializing camera...
[find_projection_3x4_ransac] num_inliers = 947 (out of 971)
[find_projection_3x4_ransac] error = 1.560
[find_projection_3x4_ransac] Reverting to old solution
New error: 1.054e+00
[FindAndVerifyCamera] Removing point [42882] (reproj. error = 6142.866)
[FindAndVerifyCamera] Removing point [28013] (reproj. error = 1514.776)
[FindAndVerifyCamera] Removing point [4343] (reproj. error = 6465.708)
[FindAndVerifyCamera] Removing point [40766] (reproj. error = 4185.113)
[FindAndVerifyCamera] Removing point [21955] (reproj. error = 6825.199)
[FindAndVerifyCamera] Removing point [25070] (reproj. error = 7397.297)
[FindAndVerifyCamera] Removing point [6269] (reproj. error = 3911.969)
[FindAndVerifyCamera] Removing point [49198] (reproj. error = 1425.827)
[FindAndVerifyCamera] Removing point [41661] (reproj. error = 935.242)
[FindAndVerifyCamera] Removing point [22011] (reproj. error = 4562.378)
[FindAndVerifyCamera] Removing point [6373] (reproj. error = 6779.327)
[FindAndVerifyCamera] Removing point [4102] (reproj. error = 3067.087)
[BundleInitializeImage] Camera has initial focal length of 3283.200
[BundleInitializeImage] Adjusting...
[RefineCameraParameters] Calling with 959 points
[RefineCameraParameters] Error: 0.899
[RefineCameraParameters] Threshold = 8.000
[RefineCameraParameters] Removing point [44409] with reprojection error 9.668
[RefineCameraParameters] Calling with 958 points
[RefineCameraParameters] Error: 0.890
[RefineCameraParameters] Threshold = 8.000
[RefineCameraParameters] Exiting after 2 rounds with 958 / 959 points
[SifterApp::BundleAdjust[12]] Adjusting camera 14 (parent = -1)
[SfM] setting tracks for image 14
[BundleInitializeImage] Connecting existing matches...
[BundleInitializeImage] Initializing camera...
[find_projection_3x4_ransac] num_inliers = 894 (out of 922)
[find_projection_3x4_ransac] error = 1.378
[find_projection_3x4_ransac] Reverting to old solution
New error: 1.069e+00
[FindAndVerifyCamera] Removing point [42882] (reproj. error = 6036.541)
[FindAndVerifyCamera] Removing point [27669] (reproj. error = 4788.946)
[FindAndVerifyCamera] Removing point [44015] (reproj. error = 5805.393)
[FindAndVerifyCamera] Removing point [4343] (reproj. error = 6325.463)
[FindAndVerifyCamera] Removing point [44378] (reproj. error = 4136.650)
[FindAndVerifyCamera] Removing point [41890] (reproj. error = 2895.007)
[FindAndVerifyCamera] Removing point [48290] (reproj. error = 2614.977)
[FindAndVerifyCamera] Removing point [6269] (reproj. error = 3847.874)
[FindAndVerifyCamera] Removing point [4102] (reproj. error = 3017.634)
[FindAndVerifyCamera] Removing point [30208] (reproj. error = 5727.814)
[FindAndVerifyCamera] Removing point [49761] (reproj. error = 6428.813)
[FindAndVerifyCamera] Removing point [3221] (reproj. error = 5078.740)
[FindAndVerifyCamera] Removing point [4401] (reproj. error = 3196.203)
[FindAndVerifyCamera] Removing point [10901] (reproj. error = 2504.620)
[BundleInitializeImage] Camera has initial focal length of 3283.200
[BundleInitializeImage] Adjusting...
[RefineCameraParameters] Calling with 908 points
[RefineCameraParameters] Error: 0.963
[RefineCameraParameters] Threshold = 8.000
[RefineCameraParameters] Removing point [44409] with reprojection error 19.567
[RefineCameraParameters] Calling with 907 points
[RefineCameraParameters] Error: 0.940
[RefineCameraParameters] Threshold = 8.000
[RefineCameraParameters] Exiting after 2 rounds with 907 / 908 points
[SifterApp::BundleAdjust[12]] Adjusting camera 33 (parent = -1)
[SfM] setting tracks for image 33
[BundleInitializeImage] Connecting existing matches...
[BundleInitializeImage] Initializing camera...
[find_projection_3x4_ransac] num_inliers = 853 (out of 873)
[find_projection_3x4_ransac] error = 1.282
[find_projection_3x4_ransac] Reverting to old solution
New error: 1.109e+00
[FindAndVerifyCamera] Removing point [41776] (reproj. error = 6258.343)
[FindAndVerifyCamera] Removing point [24425] (reproj. error = 3943.298)
[FindAndVerifyCamera] Removing point [4102] (reproj. error = 3207.132)
[FindAndVerifyCamera] Removing point [29132] (reproj. error = 3556.396)
[FindAndVerifyCamera] Removing point [49761] (reproj. error = 6756.131)
[FindAndVerifyCamera] Removing point [3221] (reproj. error = 5359.983)
[FindAndVerifyCamera] Removing point [3047] (reproj. error = 5627.493)
[FindAndVerifyCamera] Removing point [10901] (reproj. error = 2589.451)
[FindAndVerifyCamera] Removing point [44552] (reproj. error = 3553.114)
[FindAndVerifyCamera] Removing point [7518] (reproj. error = 6172.073)
[FindAndVerifyCamera] Removing point [2882] (reproj. error = 3846.339)
[FindAndVerifyCamera] Removing point [4528] (reproj. error = 3637.249)
[FindAndVerifyCamera] Removing point [23273] (reproj. error = 6171.763)
[BundleInitializeImage] Camera has initial focal length of 3283.200
[BundleInitializeImage] Adjusting...
[RefineCameraParameters] Calling with 860 points
[RefineCameraParameters] Error: 1.020
[RefineCameraParameters] Threshold = 8.000
[RefineCameraParameters] Removing point [44409] with reprojection error 22.668
[RefineCameraParameters] Calling with 859 points
[RefineCameraParameters] Error: 0.974
[RefineCameraParameters] Threshold = 8.000
[RefineCameraParameters] Exiting after 2 rounds with 859 / 860 points
[SifterApp::BundleAdjust[12]] Adjusting camera 55 (parent = -1)
[SfM] setting tracks for image 55
[BundleInitializeImage] Connecting existing matches...
[BundleInitializeImage] Initializing camera...
[find_projection_3x4_ransac] num_inliers = 893 (out of 922)
[find_projection_3x4_ransac] error = 1.434
[find_projection_3x4_ransac] Reverting to old solution
New error: 1.196e+00
[FindAndVerifyCamera] Removing point [15584] (reproj. error = 4656.778)
[FindAndVerifyCamera] Removing point [10901] (reproj. error = 2598.443)
[FindAndVerifyCamera] Removing point [31048] (reproj. error = 3759.721)
[FindAndVerifyCamera] Removing point [48356] (reproj. error = 4574.904)
[FindAndVerifyCamera] Removing point [3166] (reproj. error = 3191.468)
[FindAndVerifyCamera] Removing point [35055] (reproj. error = 369.772)
[FindAndVerifyCamera] Removing point [5135] (reproj. error = 4926.408)
[FindAndVerifyCamera] Removing point [18086] (reproj. error = 5749.619)
[FindAndVerifyCamera] Removing point [2934] (reproj. error = 7369.612)
[FindAndVerifyCamera] Removing point [3457] (reproj. error = 4791.295)
[FindAndVerifyCamera] Removing point [24516] (reproj. error = 3441.420)
[FindAndVerifyCamera] Removing point [3887] (reproj. error = 3560.839)
[FindAndVerifyCamera] Removing point [7329] (reproj. error = 2090.480)
[FindAndVerifyCamera] Removing point [3045] (reproj. error = 2247.310)
[FindAndVerifyCamera] Removing point [15222] (reproj. error = 3558.083)
[FindAndVerifyCamera] Removing point [21297] (reproj. error = 2489.397)
[FindAndVerifyCamera] Removing point [2290] (reproj. error = 5580.757)
[FindAndVerifyCamera] Removing point [21296] (reproj. error = 2489.397)
[FindAndVerifyCamera] Removing point [17097] (reproj. error = 7223.180)
[FindAndVerifyCamera] Removing point [17375] (reproj. error = 511.017)
[BundleInitializeImage] Camera has initial focal length of 3283.200
[BundleInitializeImage] Adjusting...
[RefineCameraParameters] Calling with 902 points
[RefineCameraParameters] Error: 1.020
[RefineCameraParameters] Threshold = 8.000
[RefineCameraParameters] Exiting after 1 rounds with 902 / 902 points
[SifterApp::BundleAdjust[12]] Adjusting camera 78 (parent = -1)
[SfM] setting tracks for image 78
[BundleInitializeImage] Connecting existing matches...
[BundleInitializeImage] Initializing camera...
[find_projection_3x4_ransac] num_inliers = 1041 (out of 1070)
[find_projection_3x4_ransac] error = 1.503
[find_projection_3x4_ransac] Reverting to old solution
New error: 1.148e+00
[FindAndVerifyCamera] Removing point [1530] (reproj. error = 6192.629)
[FindAndVerifyCamera] Removing point [46363] (reproj. error = 4604.864)
[FindAndVerifyCamera] Removing point [2556] (reproj. error = 4551.095)
[FindAndVerifyCamera] Removing point [17054] (reproj. error = 2743.787)
[FindAndVerifyCamera] Removing point [4414] (reproj. error = 1751.548)
[FindAndVerifyCamera] Removing point [3305] (reproj. error = 3641.914)
[FindAndVerifyCamera] Removing point [8303] (reproj. error = 5346.000)
[FindAndVerifyCamera] Removing point [2917] (reproj. error = 5576.846)
[FindAndVerifyCamera] Removing point [6307] (reproj. error = 4166.504)
[FindAndVerifyCamera] Removing point [14296] (reproj. error = 5976.855)
[BundleInitializeImage] Camera has initial focal length of 3283.200
[BundleInitializeImage] Adjusting...
[RefineCameraParameters] Calling with 1060 points
[RefineCameraParameters] Error: 0.972
[RefineCameraParameters] Threshold = 8.000
[RefineCameraParameters] Exiting after 1 rounds with 1060 / 1060 points
[SifterApp::BundleAdjust[12]] Adjusting camera 102 (parent = -1)
[SfM] setting tracks for image 102
[BundleInitializeImage] Connecting existing matches...
[BundleInitializeImage] Initializing camera...
[find_projection_3x4_ransac] num_inliers = 892 (out of 923)
[find_projection_3x4_ransac] error = 1.339
[find_projection_3x4_ransac] Reverting to old solution
New error: 1.037e+00
[FindAndVerifyCamera] Removing point [6268] (reproj. error = 4638.818)
[FindAndVerifyCamera] Removing point [929] (reproj. error = 7878.989)
[FindAndVerifyCamera] Removing point [3746] (reproj. error = 2503.074)
[FindAndVerifyCamera] Removing point [2971] (reproj. error = 3803.507)
[FindAndVerifyCamera] Removing point [2427] (reproj. error = 6744.616)
[FindAndVerifyCamera] Removing point [4380] (reproj. error = 1641.324)
[FindAndVerifyCamera] Removing point [4381] (reproj. error = 1641.324)
[FindAndVerifyCamera] Removing point [4414] (reproj. error = 1713.691)
[FindAndVerifyCamera] Removing point [10446] (reproj. error = 5980.350)
[FindAndVerifyCamera] Removing point [2393] (reproj. error = 8023.768)
[FindAndVerifyCamera] Removing point [1667] (reproj. error = 5282.777)
[BundleInitializeImage] Camera has initial focal length of 3283.200
[BundleInitializeImage] Adjusting...
[RefineCameraParameters] Calling with 912 points
[RefineCameraParameters] Error: 0.926
[RefineCameraParameters] Threshold = 8.000
[RefineCameraParameters] Exiting after 1 rounds with 912 / 912 points
[SifterApp::BundleAdjust] Adding new matches
[AddAllNewPoints] Added 5373 new points
[AddAllNewPoints] Ill-conditioned tracks: 3
[AddAllNewPoints] Bad reprojections: 203
[AddAllNewPoints] Failed cheirality checks: 2
[SifterApp::BundleAdjust] Number of points = 56083
initial motstr-SBA error 89795.1 [0.425694]
[run_sfm] Number of iterations: 86
info[6] = 8.000
[SfM] bundle adjustment took 173.35 seconds
[SfM] removing 0 outliers
[RemoveBadPointsAndCameras] Pruned 0 points
[SfM] focal length for image 0: 3750.45 (3283.2)
[SfM] focal length for image 1: 3382.97 (3283.2)
[SfM] focal length for image 2: 3332.47 (3283.2)
[SfM] focal length for image 3: 3484.53 (3283.2)
[SfM] focal length for image 4: 3955.93 (3283.2)
[SfM] focal length for image 5: 3566.33 (3283.2)
[SfM] focal length for image 6: 3499.94 (3283.2)
[SfM] focal length for image 7: 3455.04 (3283.2)
[SfM] focal length for image 8: 3745.63 (3283.2)
[SfM] focal length for image 9: 4072.8 (3283.2)
[SfM] focal length for image 10: 3796.89 (3283.2)
[SfM] focal length for image 11: 3569.27 (3283.2)
[SfM] focal length for image 12: 3791.42 (3283.2)
[SfM] focal length for image 13: 4196.51 (3283.2)
[SfM] focal length for image 14: 4566.72 (3283.2)
[SfM] focal length for image 15: 3865.91 (3283.2)
[SfM] focal length for image 16: 3772.43 (3283.2)
[SfM] focal length for image 17: 3576.08 (3283.2)
[SfM] focal length for image 18: 4103.36 (3283.2)
[SfM] focal length for image 19: 3301.32 (3283.2)
[SfM] focal length for image 20: 4089.6 (3283.2)
[SfM] focal length for image 21: 3739.89 (3283.2)
[SfM] focal length for image 22: 3833.75 (3283.2)
[SfM] focal length for image 23: 3901.32 (3283.2)
[SfM] focal length for image 24: 3413.66 (3283.2)
[SfM] focal length for image 25: 3921.63 (3283.2)
[SfM] focal length for image 26: 3642.3 (3283.2)
[SfM] focal length for image 27: 4231.27 (3283.2)
[SfM] focal length for image 28: 3942.59 (3283.2)
[SfM] focal length for image 29: 3815.06 (3283.2)
[SfM] focal length for image 30: 3776.49 (3283.2)
[SfM] focal length for image 31: 3815.52 (3283.2)
[SfM] focal length for image 32: 3593.64 (3283.2)
[SfM] focal length for image 33: 3741.88 (3283.2)
[SfM] focal length for image 34: 4083.74 (3283.2)
[SfM] focal length for image 35: 4051.26 (3283.2)
[SfM] focal length for image 36: 4811.78 (3283.2)
[SfM] focal length for image 37: 3372.04 (3283.2)
[SfM] focal length for image 38: 3778.37 (3283.2)
[SfM] focal length for image 39: 3777.56 (3283.2)
[SfM] focal length for image 40: 4537.44 (3283.2)
[SfM] focal length for image 41: 5026.31 (3283.2)
[SfM] focal length for image 42: 3894.49 (3283.2)
[SfM] focal length for image 43: 3849.28 (3283.2)
[SfM] focal length for image 44: 3978.29 (3283.2)
[SfM] focal length for image 45: 3881.63 (3283.2)
[SfM] focal length for image 46: 3962.38 (3283.2)
[SfM] focal length for image 47: 4085.09 (3283.2)
[SfM] focal length for image 48: 4009.87 (3283.2)
[SfM] focal length for image 49: 3623.34 (3283.2)
[SfM] focal length for image 50: 5802.28 (3283.2)
[SfM] focal length for image 51: 3916.42 (3283.2)
[SfM] focal length for image 52: 3878.32 (3283.2)
[SfM] focal length for image 53: 3956.18 (3283.2)
[SfM] focal length for image 54: 3913.79 (3283.2)
[SfM] focal length for image 55: 3719.48 (3283.2)
[SfM] focal length for image 56: 3100.49 (3283.2)
[SfM] focal length for image 57: 4028.69 (3283.2)
[SfM] focal length for image 58: 3785.65 (3283.2)
[SfM] focal length for image 59: 3652.14 (3283.2)
[SfM] focal length for image 60: 3567.25 (3283.2)
[SfM] focal length for image 61: 3320.52 (3283.2)
[SfM] focal length for image 62: 3004.9 (3283.2)
[SfM] focal length for image 63: 3366.61 (3283.2)
[SfM] focal length for image 64: 3671.57 (3283.2)
[SfM] focal length for image 65: 4078.77 (3283.2)
[SfM] focal length for image 66: 3657.55 (3283.2)
[SfM] focal length for image 67: 3498.94 (3283.2)
[SfM] focal length for image 68: 3194.82 (3283.2)
[SfM] focal length for image 69: 2955.35 (3283.2)
[SfM] focal length for image 70: 3271.33 (3283.2)
[SfM] focal length for image 71: 3178.55 (3283.2)
existing_matches[0] = 162
score[0] = 162.000
existing_matches[1] = 56
score[1] = 56.000
existing_matches[9] = 895
score[9] = 895.000
existing_matches[10] = 346
score[10] = 346.000
existing_matches[11] = 110
score[11] = 110.000
existing_matches[12] = 268
score[12] = 268.000
existing_matches[13] = 829
score[13] = 829.000
existing_matches[21] = 303
score[21] = 303.000
existing_matches[22] = 100
score[22] = 100.000
existing_matches[23] = 23
score[23] = 23.000
existing_matches[24] = 260
score[24] = 260.000
existing_matches[25] = 112
score[25] = 112.000
existing_matches[34] = 870
score[34] = 870.000
existing_matches[35] = 299
score[35] = 299.000
existing_matches[36] = 364
score[36] = 364.000
existing_matches[37] = 916
score[37] = 916.000
existing_matches[44] = 198
score[44] = 198.000
existing_matches[45] = 579
score[45] = 579.000
existing_matches[46] = 123
score[46] = 123.000
existing_matches[47] = 281
score[47] = 281.000
existing_matches[56] = 878
score[56] = 878.000
existing_matches[57] = 380
score[57] = 380.000
existing_matches[58] = 427
score[58] = 427.000
existing_matches[59] = 1026
score[59] = 1026.000
existing_matches[67] = 432
score[67] = 432.000
existing_matches[68] = 200
score[68] = 200.000
existing_matches[79] = 1071
score[79] = 1071.000
existing_matches[80] = 439
score[80] = 439.000
existing_matches[81] = 486
score[81] = 486.000
existing_matches[82] = 1220
score[82] = 1220.000
existing_matches[92] = 249
score[92] = 249.000
existing_matches[103] = 839
score[103] = 839.000
Error: parent not found
[SifterApp::BundleAdjust] max_matches = 1220
[SifterApp::BundleAdjustFast] Registering 4 images
[SifterApp::BundleAdjustFast] Adjusting camera 37
[SifterApp::BundleAdjustFast] Adjusting camera 59
[SifterApp::BundleAdjustFast] Adjusting camera 79
[SifterApp::BundleAdjustFast] Adjusting camera 82
[SifterApp::BundleAdjust[13]] Adjusting camera 37 (parent = -1)
[SfM] setting tracks for image 37
[BundleInitializeImage] Connecting existing matches...
[BundleInitializeImage] Initializing camera...
[find_projection_3x4_ransac] num_inliers = 882 (out of 916)
[find_projection_3x4_ransac] error = 1.623
[find_projection_3x4_ransac] Reverting to old solution
New error: 1.205e+00
[FindAndVerifyCamera] Removing point [44015] (reproj. error = 5693.396)
[FindAndVerifyCamera] Removing point [48154] (reproj. error = 3583.002)
[FindAndVerifyCamera] Removing point [46699] (reproj. error = 3797.947)
[FindAndVerifyCamera] Removing point [40794] (reproj. error = 1581.438)
[FindAndVerifyCamera] Removing point [49761] (reproj. error = 6608.234)
[FindAndVerifyCamera] Removing point [15584] (reproj. error = 4534.062)
[FindAndVerifyCamera] Removing point [4401] (reproj. error = 2588.178)
[FindAndVerifyCamera] Removing point [31048] (reproj. error = 3709.068)
[FindAndVerifyCamera] Removing point [25966] (reproj. error = 2715.182)
[FindAndVerifyCamera] Removing point [47398] (reproj. error = 4936.864)
[FindAndVerifyCamera] Removing point [18086] (reproj. error = 5652.038)
[FindAndVerifyCamera] Removing point [44552] (reproj. error = 3470.031)
[FindAndVerifyCamera] Removing point [19041] (reproj. error = 4581.768)
[FindAndVerifyCamera] Removing point [49197] (reproj. error = 3273.585)
[FindAndVerifyCamera] Removing point [17624] (reproj. error = 3048.015)
[FindAndVerifyCamera] Removing point [2934] (reproj. error = 7069.977)
[FindAndVerifyCamera] Removing point [3457] (reproj. error = 4625.688)
[FindAndVerifyCamera] Removing point [40257] (reproj. error = 4358.184)
[BundleInitializeImage] Camera has initial focal length of 3283.200
[BundleInitializeImage] Adjusting...
[RefineCameraParameters] Calling with 898 points
[RefineCameraParameters] Error: 0.986
[RefineCameraParameters] Threshold = 8.000
[RefineCameraParameters] Exiting after 1 rounds with 898 / 898 points
[SifterApp::BundleAdjust[13]] Adjusting camera 59 (parent = -1)
[SfM] setting tracks for image 59
[BundleInitializeImage] Connecting existing matches...
[BundleInitializeImage] Initializing camera...
[find_projection_3x4_ransac] num_inliers = 990 (out of 1026)
[find_projection_3x4_ransac] error = 1.473
[find_projection_3x4_ransac] Reverting to old solution
New error: 1.179e+00
[FindAndVerifyCamera] Removing point [40830] (reproj. error = 8067.849)
[FindAndVerifyCamera] Removing point [55731] (reproj. error = 4915.675)
[FindAndVerifyCamera] Removing point [48818] (reproj. error = 6727.209)
[FindAndVerifyCamera] Removing point [4401] (reproj. error = 2571.694)
[FindAndVerifyCamera] Removing point [31048] (reproj. error = 3661.963)
[FindAndVerifyCamera] Removing point [48356] (reproj. error = 4451.098)
[FindAndVerifyCamera] Removing point [49197] (reproj. error = 3238.872)
[FindAndVerifyCamera] Removing point [17624] (reproj. error = 3046.028)
[FindAndVerifyCamera] Removing point [3457] (reproj. error = 4642.920)
[FindAndVerifyCamera] Removing point [40257] (reproj. error = 4369.796)
[FindAndVerifyCamera] Removing point [4398] (reproj. error = 1929.428)
[FindAndVerifyCamera] Removing point [3887] (reproj. error = 3435.079)
[FindAndVerifyCamera] Removing point [1963] (reproj. error = 4941.100)
[FindAndVerifyCamera] Removing point [2556] (reproj. error = 4395.652)
[FindAndVerifyCamera] Removing point [2290] (reproj. error = 5430.708)
[FindAndVerifyCamera] Removing point [50484] (reproj. error = 2905.353)
[FindAndVerifyCamera] Removing point [50785] (reproj. error = 3604.043)
[FindAndVerifyCamera] Removing point [17054] (reproj. error = 2642.183)
[BundleInitializeImage] Camera has initial focal length of 3283.200
[BundleInitializeImage] Adjusting...
[RefineCameraParameters] Calling with 1008 points
[RefineCameraParameters] Error: 0.983
[RefineCameraParameters] Threshold = 8.000
[RefineCameraParameters] Exiting after 1 rounds with 1008 / 1008 points
[SifterApp::BundleAdjust[13]] Adjusting camera 79 (parent = -1)
[SfM] setting tracks for image 79
[BundleInitializeImage] Connecting existing matches...
[BundleInitializeImage] Initializing camera...
[find_projection_3x4_ransac] num_inliers = 1036 (out of 1071)
[find_projection_3x4_ransac] error = 1.585
[find_projection_3x4_ransac] Reverting to old solution
New error: 1.165e+00
[FindAndVerifyCamera] Removing point [40830] (reproj. error = 8078.993)
[FindAndVerifyCamera] Removing point [55731] (reproj. error = 4865.881)
[FindAndVerifyCamera] Removing point [48818] (reproj. error = 6698.010)
[FindAndVerifyCamera] Removing point [4401] (reproj. error = 2593.937)
[FindAndVerifyCamera] Removing point [55568] (reproj. error = 6269.840)
[FindAndVerifyCamera] Removing point [18086] (reproj. error = 5588.747)
[FindAndVerifyCamera] Removing point [3457] (reproj. error = 4733.900)
[FindAndVerifyCamera] Removing point [40642] (reproj. error = 2258.804)
[FindAndVerifyCamera] Removing point [1530] (reproj. error = 6141.830)
[FindAndVerifyCamera] Removing point [2971] (reproj. error = 3867.274)
[FindAndVerifyCamera] Removing point [46359] (reproj. error = 2256.753)
[FindAndVerifyCamera] Removing point [46363] (reproj. error = 4572.230)
[FindAndVerifyCamera] Removing point [50484] (reproj. error = 2963.188)
[FindAndVerifyCamera] Removing point [16999] (reproj. error = 6532.106)
[FindAndVerifyCamera] Removing point [17054] (reproj. error = 2737.307)
[FindAndVerifyCamera] Removing point [2722] (reproj. error = 3547.950)
[FindAndVerifyCamera] Removing point [96] (reproj. error = 4301.183)
[FindAndVerifyCamera] Removing point [6307] (reproj. error = 4143.107)
[FindAndVerifyCamera] Removing point [15080] (reproj. error = 2607.241)
[BundleInitializeImage] Camera has initial focal length of 3283.200
[BundleInitializeImage] Adjusting...
[RefineCameraParameters] Calling with 1052 points
[RefineCameraParameters] Error: 1.017
[RefineCameraParameters] Threshold = 8.000
[RefineCameraParameters] Exiting after 1 rounds with 1052 / 1052 points
[SifterApp::BundleAdjust[13]] Adjusting camera 82 (parent = -1)
[SfM] setting tracks for image 82
[BundleInitializeImage] Connecting existing matches...
[BundleInitializeImage] Initializing camera...
[find_projection_3x4_ransac] num_inliers = 1179 (out of 1220)
[find_projection_3x4_ransac] error = 1.524
[find_projection_3x4_ransac] Reverting to old solution
New error: 1.122e+00
[FindAndVerifyCamera] Removing point [55731] (reproj. error = 4804.667)
[FindAndVerifyCamera] Removing point [55568] (reproj. error = 6174.329)
[FindAndVerifyCamera] Removing point [1530] (reproj. error = 5942.172)
[FindAndVerifyCamera] Removing point [3069] (reproj. error = 7880.806)
[FindAndVerifyCamera] Removing point [2971] (reproj. error = 3756.824)
[FindAndVerifyCamera] Removing point [2722] (reproj. error = 3466.137)
[FindAndVerifyCamera] Removing point [96] (reproj. error = 4147.979)
[FindAndVerifyCamera] Removing point [3043] (reproj. error = 4431.693)
[FindAndVerifyCamera] Removing point [6307] (reproj. error = 4030.072)
[BundleInitializeImage] Camera has initial focal length of 3283.200
[BundleInitializeImage] Adjusting...
[RefineCameraParameters] Calling with 1211 points
[RefineCameraParameters] Error: 0.949
[RefineCameraParameters] Threshold = 8.000
[RefineCameraParameters] Removing point [15147] with reprojection error 12.002
[RefineCameraParameters] Calling with 1210 points
[RefineCameraParameters] Error: 0.940
[RefineCameraParameters] Threshold = 8.000
[RefineCameraParameters] Exiting after 2 rounds with 1210 / 1211 points
[SifterApp::BundleAdjust] Adding new matches
[AddAllNewPoints] Added 3147 new points
[AddAllNewPoints] Ill-conditioned tracks: 2
[AddAllNewPoints] Bad reprojections: 229
[AddAllNewPoints] Failed cheirality checks: 2
[SifterApp::BundleAdjust] Number of points = 59230
initial motstr-SBA error 92733.4 [0.417703]
[run_sfm] Number of iterations: 55
info[6] = 8.000
[SfM] bundle adjustment took 107.64 seconds
[SfM] removing 0 outliers
[RemoveBadPointsAndCameras] Pruned 0 points
[SfM] focal length for image 0: 3768.16 (3283.2)
[SfM] focal length for image 1: 3369.29 (3283.2)
[SfM] focal length for image 2: 3350.98 (3283.2)
[SfM] focal length for image 3: 3499.83 (3283.2)
[SfM] focal length for image 4: 3974.72 (3283.2)
[SfM] focal length for image 5: 3583.71 (3283.2)
[SfM] focal length for image 6: 3519.73 (3283.2)
[SfM] focal length for image 7: 3471.74 (3283.2)
[SfM] focal length for image 8: 3796.82 (3283.2)
[SfM] focal length for image 9: 4105.45 (3283.2)
[SfM] focal length for image 10: 3825.28 (3283.2)
[SfM] focal length for image 11: 3586.87 (3283.2)
[SfM] focal length for image 12: 3807.51 (3283.2)
[SfM] focal length for image 13: 4220.69 (3283.2)
[SfM] focal length for image 14: 4609.55 (3283.2)
[SfM] focal length for image 15: 3900.74 (3283.2)
[SfM] focal length for image 16: 3825.69 (3283.2)
[SfM] focal length for image 17: 3589.29 (3283.2)
[SfM] focal length for image 18: 4118.29 (3283.2)
[SfM] focal length for image 19: 3310.79 (3283.2)
[SfM] focal length for image 20: 4114.09 (3283.2)
[SfM] focal length for image 21: 3750.57 (3283.2)
[SfM] focal length for image 22: 3845.93 (3283.2)
[SfM] focal length for image 23: 3913.77 (3283.2)
[SfM] focal length for image 24: 3440.04 (3283.2)
[SfM] focal length for image 25: 3934.43 (3283.2)
[SfM] focal length for image 26: 3478.78 (3283.2)
[SfM] focal length for image 27: 4251.95 (3283.2)
[SfM] focal length for image 28: 3964.43 (3283.2)
[SfM] focal length for image 29: 3824.84 (3283.2)
[SfM] focal length for image 30: 3787.36 (3283.2)
[SfM] focal length for image 31: 3823.81 (3283.2)
[SfM] focal length for image 32: 3603.31 (3283.2)
[SfM] focal length for image 33: 3753.84 (3283.2)
[SfM] focal length for image 34: 4100.32 (3283.2)
[SfM] focal length for image 35: 4067.14 (3283.2)
[SfM] focal length for image 36: 4832.3 (3283.2)
[SfM] focal length for image 37: 3381.75 (3283.2)
[SfM] focal length for image 38: 3789.7 (3283.2)
[SfM] focal length for image 39: 3786.57 (3283.2)
[SfM] focal length for image 40: 4555.47 (3283.2)
[SfM] focal length for image 41: 5049.97 (3283.2)
[SfM] focal length for image 42: 3907.92 (3283.2)
[SfM] focal length for image 43: 3859.07 (3283.2)
[SfM] focal length for image 44: 3987.09 (3283.2)
[SfM] focal length for image 45: 3889.42 (3283.2)
[SfM] focal length for image 46: 3980.26 (3283.2)
[SfM] focal length for image 47: 4104.75 (3283.2)
[SfM] focal length for image 48: 4016.26 (3283.2)
[SfM] focal length for image 49: 3637.99 (3283.2)
[SfM] focal length for image 50: 5827.24 (3283.2)
[SfM] focal length for image 51: 3921.99 (3283.2)
[SfM] focal length for image 52: 3885.03 (3283.2)
[SfM] focal length for image 53: 3963.72 (3283.2)
[SfM] focal length for image 54: 3923.28 (3283.2)
[SfM] focal length for image 55: 3738.46 (3283.2)
[SfM] focal length for image 56: 3120.52 (3283.2)
[SfM] focal length for image 57: 4033.2 (3283.2)
[SfM] focal length for image 58: 3795.35 (3283.2)
[SfM] focal length for image 59: 3655.11 (3283.2)
[SfM] focal length for image 60: 3570.01 (3283.2)
[SfM] focal length for image 61: 3302.82 (3283.2)
[SfM] focal length for image 62: 3044.63 (3283.2)
[SfM] focal length for image 63: 3531.13 (3283.2)
[SfM] focal length for image 64: 3806.88 (3283.2)
[SfM] focal length for image 65: 4293.34 (3283.2)
[SfM] focal length for image 66: 3678.1 (3283.2)
[SfM] focal length for image 67: 3519.61 (3283.2)
[SfM] focal length for image 68: 3244.2 (3283.2)
[SfM] focal length for image 69: 3091.48 (3283.2)
[SfM] focal length for image 70: 3603.35 (3283.2)
[SfM] focal length for image 71: 3260.61 (3283.2)
[SfM] focal length for image 72: 3413.3 (3283.2)
[SfM] focal length for image 73: 3286.04 (3283.2)
[SfM] focal length for image 74: 3161.07 (3283.2)
[SfM] focal length for image 75: 3247.37 (3283.2)
existing_matches[0] = 162
score[0] = 162.000
existing_matches[1] = 56
score[1] = 56.000
existing_matches[9] = 927
score[9] = 927.000
existing_matches[10] = 378
score[10] = 378.000
existing_matches[11] = 132
score[11] = 132.000
existing_matches[12] = 327
score[12] = 327.000
existing_matches[13] = 900
score[13] = 900.000
existing_matches[21] = 303
score[21] = 303.000
existing_matches[22] = 100
score[22] = 100.000
existing_matches[23] = 23
score[23] = 23.000
existing_matches[24] = 260
score[24] = 260.000
existing_matches[25] = 112
score[25] = 112.000
existing_matches[34] = 1070
score[34] = 1070.000
existing_matches[35] = 441
score[35] = 441.000
existing_matches[36] = 709
score[36] = 709.000
existing_matches[44] = 198
score[44] = 198.000
existing_matches[45] = 579
score[45] = 579.000
existing_matches[46] = 123
score[46] = 123.000
existing_matches[47] = 281
score[47] = 281.000
existing_matches[56] = 1409
score[56] = 1409.000
existing_matches[57] = 794
score[57] = 794.000
existing_matches[58] = 1049
score[58] = 1049.000
existing_matches[67] = 432
score[67] = 432.000
existing_matches[68] = 200
score[68] = 200.000
existing_matches[80] = 1123
score[80] = 1123.000
existing_matches[81] = 992
score[81] = 992.000
existing_matches[92] = 249
score[92] = 249.000
existing_matches[103] = 1204
score[103] = 1204.000
Error: parent not found
[SifterApp::BundleAdjust] max_matches = 1409
[SifterApp::BundleAdjustFast] Registering 4 images
[SifterApp::BundleAdjustFast] Adjusting camera 34
[SifterApp::BundleAdjustFast] Adjusting camera 56
[SifterApp::BundleAdjustFast] Adjusting camera 80
[SifterApp::BundleAdjustFast] Adjusting camera 103
[SifterApp::BundleAdjust[14]] Adjusting camera 34 (parent = -1)
[SfM] setting tracks for image 34
[BundleInitializeImage] Connecting existing matches...
[BundleInitializeImage] Initializing camera...
[find_projection_3x4_ransac] num_inliers = 1051 (out of 1070)
[find_projection_3x4_ransac] error = 1.347
[find_projection_3x4_ransac] Reverting to old solution
New error: 1.034e+00
[FindAndVerifyCamera] Removing point [41776] (reproj. error = 6170.335)
[FindAndVerifyCamera] Removing point [44378] (reproj. error = 4086.750)
[FindAndVerifyCamera] Removing point [48154] (reproj. error = 3595.045)
[FindAndVerifyCamera] Removing point [48290] (reproj. error = 2585.534)
[FindAndVerifyCamera] Removing point [24425] (reproj. error = 3893.196)
[FindAndVerifyCamera] Removing point [40794] (reproj. error = 1595.666)
[FindAndVerifyCamera] Removing point [29132] (reproj. error = 3517.371)
[FindAndVerifyCamera] Removing point [49761] (reproj. error = 6705.165)
[FindAndVerifyCamera] Removing point [31048] (reproj. error = 3766.563)
[FindAndVerifyCamera] Removing point [44552] (reproj. error = 3516.928)
[FindAndVerifyCamera] Removing point [2602] (reproj. error = 5623.837)
[FindAndVerifyCamera] Removing point [3163] (reproj. error = 4904.387)
[BundleInitializeImage] Camera has initial focal length of 3283.200
[BundleInitializeImage] Adjusting...
[RefineCameraParameters] Calling with 1058 points
[RefineCameraParameters] Error: 0.906
[RefineCameraParameters] Threshold = 8.000
[RefineCameraParameters] Removing point [56758] with reprojection error 8.398
[RefineCameraParameters] Calling with 1057 points
[RefineCameraParameters] Error: 0.898
[RefineCameraParameters] Threshold = 8.000
[RefineCameraParameters] Exiting after 2 rounds with 1057 / 1058 points
[SifterApp::BundleAdjust[14]] Adjusting camera 56 (parent = -1)
[SfM] setting tracks for image 56
[BundleInitializeImage] Connecting existing matches...
[BundleInitializeImage] Initializing camera...
[find_projection_3x4_ransac] num_inliers = 1387 (out of 1409)
[find_projection_3x4_ransac] error = 1.220
[find_projection_3x4_ransac] Reverting to old solution
New error: 1.057e+00
[FindAndVerifyCamera] Removing point [52631] (reproj. error = 3336.466)
[FindAndVerifyCamera] Removing point [46699] (reproj. error = 3801.455)
[FindAndVerifyCamera] Removing point [15584] (reproj. error = 4604.281)
[FindAndVerifyCamera] Removing point [48356] (reproj. error = 4533.459)
[FindAndVerifyCamera] Removing point [19041] (reproj. error = 4635.386)
[FindAndVerifyCamera] Removing point [49197] (reproj. error = 3300.126)
[FindAndVerifyCamera] Removing point [17624] (reproj. error = 3098.061)
[FindAndVerifyCamera] Removing point [55904] (reproj. error = 2328.034)
[FindAndVerifyCamera] Removing point [2934] (reproj. error = 7322.479)
[FindAndVerifyCamera] Removing point [3457] (reproj. error = 4741.536)
[FindAndVerifyCamera] Removing point [40257] (reproj. error = 4443.708)
[FindAndVerifyCamera] Removing point [7178] (reproj. error = 5520.024)
[FindAndVerifyCamera] Removing point [2471] (reproj. error = 4103.779)
[FindAndVerifyCamera] Removing point [17097] (reproj. error = 7179.261)
[BundleInitializeImage] Camera has initial focal length of 3283.200
[BundleInitializeImage] Adjusting...
[RefineCameraParameters] Calling with 1395 points
[RefineCameraParameters] Error: 0.884
[RefineCameraParameters] Threshold = 8.000
[RefineCameraParameters] Exiting after 1 rounds with 1395 / 1395 points
[SifterApp::BundleAdjust[14]] Adjusting camera 80 (parent = -1)
[SfM] setting tracks for image 80
[BundleInitializeImage] Connecting existing matches...
[BundleInitializeImage] Initializing camera...
[find_projection_3x4_ransac] num_inliers = 1103 (out of 1123)
[find_projection_3x4_ransac] error = 1.685
[find_projection_3x4_ransac] Reverting to old solution
New error: 1.113e+00
[FindAndVerifyCamera] Removing point [48818] (reproj. error = 6561.744)
[FindAndVerifyCamera] Removing point [18086] (reproj. error = 5297.890)
[FindAndVerifyCamera] Removing point [2971] (reproj. error = 3759.382)
[FindAndVerifyCamera] Removing point [50484] (reproj. error = 2902.029)
[FindAndVerifyCamera] Removing point [2722] (reproj. error = 3418.415)
[FindAndVerifyCamera] Removing point [2917] (reproj. error = 5392.348)
[FindAndVerifyCamera] Removing point [6307] (reproj. error = 3961.738)
[FindAndVerifyCamera] Removing point [21100] (reproj. error = 1192.537)
[FindAndVerifyCamera] Removing point [15080] (reproj. error = 2509.806)
[BundleInitializeImage] Camera has initial focal length of 3283.200
[BundleInitializeImage] Adjusting...
[RefineCameraParameters] Calling with 1114 points
[RefineCameraParameters] Error: 0.984
[RefineCameraParameters] Threshold = 8.000
[RefineCameraParameters] Exiting after 1 rounds with 1114 / 1114 points
[SifterApp::BundleAdjust[14]] Adjusting camera 103 (parent = -1)
[SfM] setting tracks for image 103
[BundleInitializeImage] Connecting existing matches...
[BundleInitializeImage] Initializing camera...
[find_projection_3x4_ransac] num_inliers = 1182 (out of 1204)
[find_projection_3x4_ransac] error = 1.468
[find_projection_3x4_ransac] Reverting to old solution
New error: 1.134e+00
[FindAndVerifyCamera] Removing point [1530] (reproj. error = 5952.962)
[FindAndVerifyCamera] Removing point [2718] (reproj. error = 4540.507)
[FindAndVerifyCamera] Removing point [2971] (reproj. error = 3771.548)
[FindAndVerifyCamera] Removing point [10446] (reproj. error = 5921.753)
[FindAndVerifyCamera] Removing point [96] (reproj. error = 4227.973)
[FindAndVerifyCamera] Removing point [3786] (reproj. error = 5403.901)
[FindAndVerifyCamera] Removing point [58348] (reproj. error = 2058.942)
[FindAndVerifyCamera] Removing point [13126] (reproj. error = 5684.425)
[BundleInitializeImage] Camera has initial focal length of 3283.200
[BundleInitializeImage] Adjusting...
[RefineCameraParameters] Calling with 1196 points
[RefineCameraParameters] Error: 0.961
[RefineCameraParameters] Threshold = 8.000
[RefineCameraParameters] Removing point [58761] with reprojection error 10.740
[RefineCameraParameters] Calling with 1195 points
[RefineCameraParameters] Error: 0.951
[RefineCameraParameters] Threshold = 8.000
[RefineCameraParameters] Exiting after 2 rounds with 1195 / 1196 points
[SifterApp::BundleAdjust] Adding new matches
[AddAllNewPoints] Added 3201 new points
[AddAllNewPoints] Ill-conditioned tracks: 2
[AddAllNewPoints] Bad reprojections: 245
[AddAllNewPoints] Failed cheirality checks: 2
[SifterApp::BundleAdjust] Number of points = 62431
initial motstr-SBA error 96865.6 [0.415064]
[run_sfm] Number of iterations: 60
info[6] = 8.000
[SfM] bundle adjustment took 136.47 seconds
[SfM] removing 0 outliers
[RemoveBadPointsAndCameras] Pruned 0 points
[SfM] focal length for image 0: 3779.88 (3283.2)
[SfM] focal length for image 1: 3386.21 (3283.2)
[SfM] focal length for image 2: 3367.93 (3283.2)
[SfM] focal length for image 3: 3514.02 (3283.2)
[SfM] focal length for image 4: 3986.44 (3283.2)
[SfM] focal length for image 5: 3597.33 (3283.2)
[SfM] focal length for image 6: 3529.75 (3283.2)
[SfM] focal length for image 7: 3483.57 (3283.2)
[SfM] focal length for image 8: 3814.72 (3283.2)
[SfM] focal length for image 9: 4121.17 (3283.2)
[SfM] focal length for image 10: 3840.26 (3283.2)
[SfM] focal length for image 11: 3598.28 (3283.2)
[SfM] focal length for image 12: 3820.9 (3283.2)
[SfM] focal length for image 13: 4233.98 (3283.2)
[SfM] focal length for image 14: 4625.62 (3283.2)
[SfM] focal length for image 15: 3918.79 (3283.2)
[SfM] focal length for image 16: 3854.1 (3283.2)
[SfM] focal length for image 17: 3601.85 (3283.2)
[SfM] focal length for image 18: 4128.05 (3283.2)
[SfM] focal length for image 19: 3365.84 (3283.2)
[SfM] focal length for image 20: 4126.82 (3283.2)
[SfM] focal length for image 21: 3766.02 (3283.2)
[SfM] focal length for image 22: 3861.46 (3283.2)
[SfM] focal length for image 23: 3926.56 (3283.2)
[SfM] focal length for image 24: 3446.38 (3283.2)
[SfM] focal length for image 25: 3946.82 (3283.2)
[SfM] focal length for image 26: 3491.73 (3283.2)
[SfM] focal length for image 27: 4264.83 (3283.2)
[SfM] focal length for image 28: 3979.17 (3283.2)
[SfM] focal length for image 29: 3839.59 (3283.2)
[SfM] focal length for image 30: 3803.27 (3283.2)
[SfM] focal length for image 31: 3869.49 (3283.2)
[SfM] focal length for image 32: 3615.54 (3283.2)
[SfM] focal length for image 33: 3765.44 (3283.2)
[SfM] focal length for image 34: 4112.01 (3283.2)
[SfM] focal length for image 35: 4078.04 (3283.2)
[SfM] focal length for image 36: 4844.37 (3283.2)
[SfM] focal length for image 37: 3395.05 (3283.2)
[SfM] focal length for image 38: 3807.07 (3283.2)
[SfM] focal length for image 39: 3797.9 (3283.2)
[SfM] focal length for image 40: 4567.56 (3283.2)
[SfM] focal length for image 41: 5060.67 (3283.2)
[SfM] focal length for image 42: 3926.32 (3283.2)
[SfM] focal length for image 43: 3873.27 (3283.2)
[SfM] focal length for image 44: 4001.83 (3283.2)
[SfM] focal length for image 45: 3899.97 (3283.2)
[SfM] focal length for image 46: 3990.55 (3283.2)
[SfM] focal length for image 47: 4115.19 (3283.2)
[SfM] focal length for image 48: 4032.52 (3283.2)
[SfM] focal length for image 49: 3647.44 (3283.2)
[SfM] focal length for image 50: 5842.04 (3283.2)
[SfM] focal length for image 51: 3939.67 (3283.2)
[SfM] focal length for image 52: 3899.55 (3283.2)
[SfM] focal length for image 53: 3977.95 (3283.2)
[SfM] focal length for image 54: 3939.44 (3283.2)
[SfM] focal length for image 55: 3755.97 (3283.2)
[SfM] focal length for image 56: 3121.9 (3283.2)
[SfM] focal length for image 57: 4052.56 (3283.2)
[SfM] focal length for image 58: 3819.92 (3283.2)
[SfM] focal length for image 59: 3674.75 (3283.2)
[SfM] focal length for image 60: 3587.94 (3283.2)
[SfM] focal length for image 61: 3343.99 (3283.2)
[SfM] focal length for image 62: 3040.34 (3283.2)
[SfM] focal length for image 63: 3508.64 (3283.2)
[SfM] focal length for image 64: 3908.33 (3283.2)
[SfM] focal length for image 65: 4324.28 (3283.2)
[SfM] focal length for image 66: 3746.43 (3283.2)
[SfM] focal length for image 67: 3558.24 (3283.2)
[SfM] focal length for image 68: 3269.06 (3283.2)
[SfM] focal length for image 69: 3099.68 (3283.2)
[SfM] focal length for image 70: 3596.39 (3283.2)
[SfM] focal length for image 71: 3524.89 (3283.2)
[SfM] focal length for image 72: 3189.75 (3283.2)
[SfM] focal length for image 73: 3082.03 (3283.2)
[SfM] focal length for image 74: 3242.46 (3283.2)
[SfM] focal length for image 75: 3281.7 (3283.2)
[SfM] focal length for image 76: 2691.78 (3283.2)
[SfM] focal length for image 77: 2701.3 (3283.2)
[SfM] focal length for image 78: 2988.16 (3283.2)
[SfM] focal length for image 79: 3243.76 (3283.2)
existing_matches[0] = 162
score[0] = 162.000
existing_matches[1] = 56
score[1] = 56.000
existing_matches[9] = 1004
score[9] = 1004.000
existing_matches[10] = 463
score[10] = 463.000
existing_matches[11] = 202
score[11] = 202.000
existing_matches[12] = 542
score[12] = 542.000
existing_matches[13] = 1163
score[13] = 1163.000
existing_matches[21] = 303
score[21] = 303.000
existing_matches[22] = 100
score[22] = 100.000
existing_matches[23] = 23
score[23] = 23.000
existing_matches[24] = 260
score[24] = 260.000
existing_matches[25] = 112
score[25] = 112.000
existing_matches[35] = 771
score[35] = 771.000
existing_matches[36] = 1155
score[36] = 1155.000
existing_matches[44] = 198
score[44] = 198.000
existing_matches[45] = 579
score[45] = 579.000
existing_matches[46] = 123
score[46] = 123.000
existing_matches[47] = 281
score[47] = 281.000
existing_matches[57] = 1272
score[57] = 1272.000
existing_matches[58] = 1449
score[58] = 1449.000
existing_matches[67] = 432
score[67] = 432.000
existing_matches[68] = 200
score[68] = 200.000
existing_matches[81] = 1405
score[81] = 1405.000
existing_matches[92] = 249
score[92] = 249.000
Error: parent not found
[SifterApp::BundleAdjust] max_matches = 1449
[SifterApp::BundleAdjustFast] Registering 5 images
[SifterApp::BundleAdjustFast] Adjusting camera 13
[SifterApp::BundleAdjustFast] Adjusting camera 36
[SifterApp::BundleAdjustFast] Adjusting camera 57
[SifterApp::BundleAdjustFast] Adjusting camera 58
[SifterApp::BundleAdjustFast] Adjusting camera 81
[SifterApp::BundleAdjust[15]] Adjusting camera 13 (parent = -1)
[SfM] setting tracks for image 13
[BundleInitializeImage] Connecting existing matches...
[BundleInitializeImage] Initializing camera...
[find_projection_3x4_ransac] num_inliers = 1148 (out of 1163)
[find_projection_3x4_ransac] error = 1.322
[find_projection_3x4_ransac] Reverting to old solution
New error: 1.071e+00
[FindAndVerifyCamera] Removing point [27669] (reproj. error = 4728.786)
[FindAndVerifyCamera] Removing point [44015] (reproj. error = 5737.649)
[FindAndVerifyCamera] Removing point [24425] (reproj. error = 3818.433)
[FindAndVerifyCamera] Removing point [40794] (reproj. error = 1581.440)
[FindAndVerifyCamera] Removing point [29132] (reproj. error = 3410.861)
[FindAndVerifyCamera] Removing point [53279] (reproj. error = 4013.903)
[FindAndVerifyCamera] Removing point [52719] (reproj. error = 583.263)
[FindAndVerifyCamera] Removing point [15584] (reproj. error = 4414.613)
[FindAndVerifyCamera] Removing point [4401] (reproj. error = 3144.815)
[FindAndVerifyCamera] Removing point [3047] (reproj. error = 5261.514)
[BundleInitializeImage] Camera has initial focal length of 3283.200
[BundleInitializeImage] Adjusting...
[RefineCameraParameters] Calling with 1153 points
[RefineCameraParameters] Error: 0.891
[RefineCameraParameters] Threshold = 8.000
[RefineCameraParameters] Exiting after 1 rounds with 1153 / 1153 points
[SifterApp::BundleAdjust[15]] Adjusting camera 36 (parent = -1)
[SfM] setting tracks for image 36
[BundleInitializeImage] Connecting existing matches...
[BundleInitializeImage] Initializing camera...
[find_projection_3x4_ransac] num_inliers = 1136 (out of 1155)
[find_projection_3x4_ransac] error = 1.480
[find_projection_3x4_ransac] Reverting to old solution
New error: 1.115e+00
[FindAndVerifyCamera] Removing point [44378] (reproj. error = 4008.141)
[FindAndVerifyCamera] Removing point [47995] (reproj. error = 4135.393)
[FindAndVerifyCamera] Removing point [52631] (reproj. error = 3322.548)
[FindAndVerifyCamera] Removing point [46699] (reproj. error = 3758.720)
[FindAndVerifyCamera] Removing point [47550] (reproj. error = 5109.397)
[FindAndVerifyCamera] Removing point [49761] (reproj. error = 6606.687)
[FindAndVerifyCamera] Removing point [3221] (reproj. error = 5236.940)
[FindAndVerifyCamera] Removing point [4401] (reproj. error = 3255.091)
[FindAndVerifyCamera] Removing point [18086] (reproj. error = 5612.361)
[FindAndVerifyCamera] Removing point [49989] (reproj. error = 2798.453)
[BundleInitializeImage] Camera has initial focal length of 3283.200
[BundleInitializeImage] Adjusting...
[RefineCameraParameters] Calling with 1145 points
[RefineCameraParameters] Error: 0.933
[RefineCameraParameters] Threshold = 8.000
[RefineCameraParameters] Exiting after 1 rounds with 1145 / 1145 points
[SifterApp::BundleAdjust[15]] Adjusting camera 57 (parent = -1)
[SfM] setting tracks for image 57
[BundleInitializeImage] Connecting existing matches...
[BundleInitializeImage] Initializing camera...
[find_projection_3x4_ransac] num_inliers = 1251 (out of 1272)
[find_projection_3x4_ransac] error = 1.489
[find_projection_3x4_ransac] Reverting to old solution
New error: 1.063e+00
[FindAndVerifyCamera] Removing point [52631] (reproj. error = 3305.670)
[FindAndVerifyCamera] Removing point [46699] (reproj. error = 3750.334)
[FindAndVerifyCamera] Removing point [47550] (reproj. error = 5072.590)
[FindAndVerifyCamera] Removing point [48356] (reproj. error = 4471.823)
[FindAndVerifyCamera] Removing point [48379] (reproj. error = 7629.884)
[FindAndVerifyCamera] Removing point [18086] (reproj. error = 5617.462)
[FindAndVerifyCamera] Removing point [17624] (reproj. error = 3055.461)
[FindAndVerifyCamera] Removing point [55904] (reproj. error = 2313.646)
[FindAndVerifyCamera] Removing point [40257] (reproj. error = 4386.567)
[FindAndVerifyCamera] Removing point [6828] (reproj. error = 5276.988)
[FindAndVerifyCamera] Removing point [50484] (reproj. error = 2923.687)
[BundleInitializeImage] Camera has initial focal length of 3283.200
[BundleInitializeImage] Adjusting...
[RefineCameraParameters] Calling with 1261 points
[RefineCameraParameters] Error: 0.901
[RefineCameraParameters] Threshold = 8.000
[RefineCameraParameters] Exiting after 1 rounds with 1261 / 1261 points
[SifterApp::BundleAdjust[15]] Adjusting camera 58 (parent = -1)
[SfM] setting tracks for image 58
[BundleInitializeImage] Connecting existing matches...
[BundleInitializeImage] Initializing camera...
[find_projection_3x4_ransac] num_inliers = 1419 (out of 1449)
[find_projection_3x4_ransac] error = 1.341
[find_projection_3x4_ransac] Reverting to old solution
New error: 1.038e+00
[FindAndVerifyCamera] Removing point [55731] (reproj. error = 4886.453)
[FindAndVerifyCamera] Removing point [48818] (reproj. error = 6689.912)
[FindAndVerifyCamera] Removing point [48356] (reproj. error = 4403.019)
[FindAndVerifyCamera] Removing point [18086] (reproj. error = 5522.540)
[FindAndVerifyCamera] Removing point [44552] (reproj. error = 3374.980)
[FindAndVerifyCamera] Removing point [49197] (reproj. error = 3208.319)
[FindAndVerifyCamera] Removing point [17624] (reproj. error = 3017.545)
[FindAndVerifyCamera] Removing point [40257] (reproj. error = 4337.348)
[FindAndVerifyCamera] Removing point [56434] (reproj. error = 3343.060)
[FindAndVerifyCamera] Removing point [1963] (reproj. error = 4909.862)
[FindAndVerifyCamera] Removing point [50484] (reproj. error = 2892.391)
[FindAndVerifyCamera] Removing point [16999] (reproj. error = 6351.005)
[FindAndVerifyCamera] Removing point [50785] (reproj. error = 3587.948)
[FindAndVerifyCamera] Removing point [56916] (reproj. error = 1946.975)
[BundleInitializeImage] Camera has initial focal length of 3283.200
[BundleInitializeImage] Adjusting...
[RefineCameraParameters] Calling with 1435 points
[RefineCameraParameters] Error: 0.876
[RefineCameraParameters] Threshold = 8.000
[RefineCameraParameters] Exiting after 1 rounds with 1435 / 1435 points
[SifterApp::BundleAdjust[15]] Adjusting camera 81 (parent = -1)
[SfM] setting tracks for image 81
[BundleInitializeImage] Connecting existing matches...
[BundleInitializeImage] Initializing camera...
[find_projection_3x4_ransac] num_inliers = 1383 (out of 1405)
[find_projection_3x4_ransac] error = 1.656
[find_projection_3x4_ransac] Reverting to old solution
New error: 1.137e+00
[FindAndVerifyCamera] Removing point [2971] (reproj. error = 3719.849)
[FindAndVerifyCamera] Removing point [50484] (reproj. error = 2893.404)
[FindAndVerifyCamera] Removing point [2616] (reproj. error = 6844.443)
[FindAndVerifyCamera] Removing point [96] (reproj. error = 4086.470)
[FindAndVerifyCamera] Removing point [3043] (reproj. error = 4377.054)
[BundleInitializeImage] Camera has initial focal length of 3283.200
[BundleInitializeImage] Adjusting...
[RefineCameraParameters] Calling with 1400 points
[RefineCameraParameters] Error: 0.939
[RefineCameraParameters] Threshold = 8.000
[RefineCameraParameters] Exiting after 1 rounds with 1400 / 1400 points
[SifterApp::BundleAdjust] Adding new matches
[AddAllNewPoints] Added 3846 new points
[AddAllNewPoints] Ill-conditioned tracks: 3
[AddAllNewPoints] Bad reprojections: 274
[AddAllNewPoints] Failed cheirality checks: 2
[SifterApp::BundleAdjust] Number of points = 66277
initial motstr-SBA error 103105 [0.415465]
[run_sfm] Number of iterations: 43
info[6] = 8.000
[SfM] bundle adjustment took 98.09 seconds
[SfM] removing 1 outliers
initial motstr-SBA error 98632.5 [0.397447]
[run_sfm] Number of iterations: 25
info[6] = 8.000
[SfM] bundle adjustment took 60.89 seconds
[SfM] removing 0 outliers
[RemoveBadPointsAndCameras] Pruned 0 points
[SfM] focal length for image 0: 3811.52 (3283.2)
[SfM] focal length for image 1: 3427.21 (3283.2)
[SfM] focal length for image 2: 3412.84 (3283.2)
[SfM] focal length for image 3: 3557.69 (3283.2)
[SfM] focal length for image 4: 4024.84 (3283.2)
[SfM] focal length for image 5: 3637.54 (3283.2)
[SfM] focal length for image 6: 3578 (3283.2)
[SfM] focal length for image 7: 3522.87 (3283.2)
[SfM] focal length for image 8: 3841.3 (3283.2)
[SfM] focal length for image 9: 4143.6 (3283.2)
[SfM] focal length for image 10: 3865.95 (3283.2)
[SfM] focal length for image 11: 3643.95 (3283.2)
[SfM] focal length for image 12: 3855.94 (3283.2)
[SfM] focal length for image 13: 4260.37 (3283.2)
[SfM] focal length for image 14: 4665.19 (3283.2)
[SfM] focal length for image 15: 3951.13 (3283.2)
[SfM] focal length for image 16: 3901.09 (3283.2)
[SfM] focal length for image 17: 3633.48 (3283.2)
[SfM] focal length for image 18: 4147.29 (3283.2)
[SfM] focal length for image 19: 3389.71 (3283.2)
[SfM] focal length for image 20: 4153.58 (3283.2)
[SfM] focal length for image 21: 3826.8 (3283.2)
[SfM] focal length for image 22: 3910.41 (3283.2)
[SfM] focal length for image 23: 3954.56 (3283.2)
[SfM] focal length for image 24: 3513.84 (3283.2)
[SfM] focal length for image 25: 3973.84 (3283.2)
[SfM] focal length for image 26: 3527.57 (3283.2)
[SfM] focal length for image 27: 4289.87 (3283.2)
[SfM] focal length for image 28: 4006.67 (3283.2)
[SfM] focal length for image 29: 3868.58 (3283.2)
[SfM] focal length for image 30: 3835.72 (3283.2)
[SfM] focal length for image 31: 3953.49 (3283.2)
[SfM] focal length for image 32: 3643.62 (3283.2)
[SfM] focal length for image 33: 3791.75 (3283.2)
[SfM] focal length for image 34: 4138.91 (3283.2)
[SfM] focal length for image 35: 4102.86 (3283.2)
[SfM] focal length for image 36: 4868.48 (3283.2)
[SfM] focal length for image 37: 3417.37 (3283.2)
[SfM] focal length for image 38: 3846.28 (3283.2)
[SfM] focal length for image 39: 3825.12 (3283.2)
[SfM] focal length for image 40: 4594.12 (3283.2)
[SfM] focal length for image 41: 5088.21 (3283.2)
[SfM] focal length for image 42: 3929.44 (3283.2)
[SfM] focal length for image 43: 3875.48 (3283.2)
[SfM] focal length for image 44: 4006 (3283.2)
[SfM] focal length for image 45: 3921.2 (3283.2)
[SfM] focal length for image 46: 4011.94 (3283.2)
[SfM] focal length for image 47: 4137.98 (3283.2)
[SfM] focal length for image 48: 4037.92 (3283.2)
[SfM] focal length for image 49: 3668.18 (3283.2)
[SfM] focal length for image 50: 5873.91 (3283.2)
[SfM] focal length for image 51: 3937.83 (3283.2)
[SfM] focal length for image 52: 3899.07 (3283.2)
[SfM] focal length for image 53: 3972.17 (3283.2)
[SfM] focal length for image 54: 3900.88 (3283.2)
[SfM] focal length for image 55: 3765.36 (3283.2)
[SfM] focal length for image 56: 3554.96 (3283.2)
[SfM] focal length for image 57: 4050.32 (3283.2)
[SfM] focal length for image 58: 3818.18 (3283.2)
[SfM] focal length for image 59: 3717.04 (3283.2)
[SfM] focal length for image 60: 3623.65 (3283.2)
[SfM] focal length for image 61: 3402.54 (3283.2)
[SfM] focal length for image 62: 3114.27 (3283.2)
[SfM] focal length for image 63: 3523.52 (3283.2)
[SfM] focal length for image 64: 3904.8 (3283.2)
[SfM] focal length for image 65: 4400.61 (3283.2)
[SfM] focal length for image 66: 3768.18 (3283.2)
[SfM] focal length for image 67: 3629.88 (3283.2)
[SfM] focal length for image 68: 3260.21 (3283.2)
[SfM] focal length for image 69: 3204.36 (3283.2)
[SfM] focal length for image 70: 3531.95 (3283.2)
[SfM] focal length for image 71: 3496.01 (3283.2)
[SfM] focal length for image 72: 3202.36 (3283.2)
[SfM] focal length for image 73: 3095.85 (3283.2)
[SfM] focal length for image 74: 3228.73 (3283.2)
[SfM] focal length for image 75: 3394.24 (3283.2)
[SfM] focal length for image 76: 2673.85 (3283.2)
[SfM] focal length for image 77: 2858.57 (3283.2)
[SfM] focal length for image 78: 3010.81 (3283.2)
[SfM] focal length for image 79: 3262.18 (3283.2)
[SfM] focal length for image 80: 3450.43 (3283.2)
[SfM] focal length for image 81: 3230.45 (3283.2)
[SfM] focal length for image 82: 3271.54 (3283.2)
[SfM] focal length for image 83: 3052.83 (3283.2)
[SfM] focal length for image 84: 3080.81 (3283.2)
existing_matches[0] = 162
score[0] = 162.000
existing_matches[1] = 56
score[1] = 56.000
existing_matches[9] = 1182
score[9] = 1182.000
existing_matches[10] = 737
score[10] = 737.000
existing_matches[11] = 413
score[11] = 413.000
existing_matches[12] = 974
score[12] = 974.000
existing_matches[21] = 303
score[21] = 303.000
existing_matches[22] = 100
score[22] = 100.000
existing_matches[23] = 23
score[23] = 23.000
existing_matches[24] = 260
score[24] = 260.000
existing_matches[25] = 112
score[25] = 112.000
existing_matches[35] = 1332
score[35] = 1332.000
existing_matches[44] = 198
score[44] = 198.000
existing_matches[45] = 579
score[45] = 579.000
existing_matches[46] = 123
score[46] = 123.000
existing_matches[47] = 281
score[47] = 281.000
existing_matches[67] = 432
score[67] = 432.000
existing_matches[68] = 200
score[68] = 200.000
existing_matches[92] = 249
score[92] = 249.000
Error: parent not found
[SifterApp::BundleAdjust] max_matches = 1332
[SifterApp::BundleAdjustFast] Registering 2 images
[SifterApp::BundleAdjustFast] Adjusting camera 9
[SifterApp::BundleAdjustFast] Adjusting camera 35
[SifterApp::BundleAdjust[16]] Adjusting camera 9 (parent = -1)
[SfM] setting tracks for image 9
[BundleInitializeImage] Connecting existing matches...
[BundleInitializeImage] Initializing camera...
[find_projection_3x4_ransac] num_inliers = 1161 (out of 1182)
[find_projection_3x4_ransac] error = 1.322
[find_projection_3x4_ransac] Reverting to old solution
New error: 1.056e+00
[FindAndVerifyCamera] Removing point [42882] (reproj. error = 5991.519)
[FindAndVerifyCamera] Removing point [44015] (reproj. error = 5850.714)
[FindAndVerifyCamera] Removing point [40766] (reproj. error = 4122.528)
[FindAndVerifyCamera] Removing point [30208] (reproj. error = 5638.010)
[FindAndVerifyCamera] Removing point [64339] (reproj. error = 607.000)
[BundleInitializeImage] Camera has initial focal length of 3283.200
[BundleInitializeImage] Adjusting...
[RefineCameraParameters] Calling with 1177 points
[RefineCameraParameters] Error: 0.907
[RefineCameraParameters] Threshold = 8.000
[RefineCameraParameters] Removing point [44567] with reprojection error 13.349
[RefineCameraParameters] Calling with 1176 points
[RefineCameraParameters] Error: 0.896
[RefineCameraParameters] Threshold = 8.000
[RefineCameraParameters] Exiting after 2 rounds with 1176 / 1177 points
[SifterApp::BundleAdjust[16]] Adjusting camera 35 (parent = -1)
[SfM] setting tracks for image 35
[BundleInitializeImage] Connecting existing matches...
[BundleInitializeImage] Initializing camera...
[find_projection_3x4_ransac] num_inliers = 1315 (out of 1332)
[find_projection_3x4_ransac] error = 1.483
[find_projection_3x4_ransac] Reverting to old solution
New error: 1.061e+00
[FindAndVerifyCamera] Removing point [41545] (reproj. error = 5977.067)
[FindAndVerifyCamera] Removing point [44378] (reproj. error = 4020.878)
[FindAndVerifyCamera] Removing point [47995] (reproj. error = 4143.268)
[FindAndVerifyCamera] Removing point [24425] (reproj. error = 3828.759)
[FindAndVerifyCamera] Removing point [47550] (reproj. error = 5136.534)
[FindAndVerifyCamera] Removing point [29132] (reproj. error = 3458.278)
[FindAndVerifyCamera] Removing point [65313] (reproj. error = 6638.470)
[FindAndVerifyCamera] Removing point [53732] (reproj. error = 5745.173)
[FindAndVerifyCamera] Removing point [63732] (reproj. error = 7066.035)
[BundleInitializeImage] Camera has initial focal length of 3283.200
[BundleInitializeImage] Adjusting...
[RefineCameraParameters] Calling with 1323 points
[RefineCameraParameters] Error: 0.888
[RefineCameraParameters] Threshold = 8.000
[RefineCameraParameters] Exiting after 1 rounds with 1323 / 1323 points
[SifterApp::BundleAdjust] Adding new matches
[AddAllNewPoints] Added 1475 new points
[AddAllNewPoints] Ill-conditioned tracks: 3
[AddAllNewPoints] Bad reprojections: 283
[AddAllNewPoints] Failed cheirality checks: 6
[SifterApp::BundleAdjust] Number of points = 67752
initial motstr-SBA error 102250 [0.403133]
[run_sfm] Number of iterations: 42
info[6] = 4.000
[SfM] bundle adjustment took 98.43 seconds
[SfM] removing 0 outliers
[RemoveBadPointsAndCameras] Pruned 0 points
[SfM] focal length for image 0: 3818.15 (3283.2)
[SfM] focal length for image 1: 3437.56 (3283.2)
[SfM] focal length for image 2: 3422.25 (3283.2)
[SfM] focal length for image 3: 3566.52 (3283.2)
[SfM] focal length for image 4: 4032.08 (3283.2)
[SfM] focal length for image 5: 3644.7 (3283.2)
[SfM] focal length for image 6: 3585.7 (3283.2)
[SfM] focal length for image 7: 3530.98 (3283.2)
[SfM] focal length for image 8: 3848.24 (3283.2)
[SfM] focal length for image 9: 4147.44 (3283.2)
[SfM] focal length for image 10: 3870.53 (3283.2)
[SfM] focal length for image 11: 3651.26 (3283.2)
[SfM] focal length for image 12: 3863.54 (3283.2)
[SfM] focal length for image 13: 4265.35 (3283.2)
[SfM] focal length for image 14: 4669.87 (3283.2)
[SfM] focal length for image 15: 3955.01 (3283.2)
[SfM] focal length for image 16: 3909.91 (3283.2)
[SfM] focal length for image 17: 3640.35 (3283.2)
[SfM] focal length for image 18: 4152.86 (3283.2)
[SfM] focal length for image 19: 3402.94 (3283.2)
[SfM] focal length for image 20: 4159.31 (3283.2)
[SfM] focal length for image 21: 3833.59 (3283.2)
[SfM] focal length for image 22: 3917.92 (3283.2)
[SfM] focal length for image 23: 3962.26 (3283.2)
[SfM] focal length for image 24: 3525.22 (3283.2)
[SfM] focal length for image 25: 3981.19 (3283.2)
[SfM] focal length for image 26: 3539.6 (3283.2)
[SfM] focal length for image 27: 4295.85 (3283.2)
[SfM] focal length for image 28: 4015.68 (3283.2)
[SfM] focal length for image 29: 3876.49 (3283.2)
[SfM] focal length for image 30: 3843.78 (3283.2)
[SfM] focal length for image 31: 3954.88 (3283.2)
[SfM] focal length for image 32: 3652.31 (3283.2)
[SfM] focal length for image 33: 3798.38 (3283.2)
[SfM] focal length for image 34: 4145.16 (3283.2)
[SfM] focal length for image 35: 4108.75 (3283.2)
[SfM] focal length for image 36: 4873.38 (3283.2)
[SfM] focal length for image 37: 3426.8 (3283.2)
[SfM] focal length for image 38: 3854.44 (3283.2)
[SfM] focal length for image 39: 3833.44 (3283.2)
[SfM] focal length for image 40: 4600.4 (3283.2)
[SfM] focal length for image 41: 5092.67 (3283.2)
[SfM] focal length for image 42: 3943.51 (3283.2)
[SfM] focal length for image 43: 3884.91 (3283.2)
[SfM] focal length for image 44: 4017.11 (3283.2)
[SfM] focal length for image 45: 3928.69 (3283.2)
[SfM] focal length for image 46: 4016.56 (3283.2)
[SfM] focal length for image 47: 4142.58 (3283.2)
[SfM] focal length for image 48: 4051.54 (3283.2)
[SfM] focal length for image 49: 3673.12 (3283.2)
[SfM] focal length for image 50: 5881.35 (3283.2)
[SfM] focal length for image 51: 3950.83 (3283.2)
[SfM] focal length for image 52: 3908.31 (3283.2)
[SfM] focal length for image 53: 3980.66 (3283.2)
[SfM] focal length for image 54: 3911.1 (3283.2)
[SfM] focal length for image 55: 3789.07 (3283.2)
[SfM] focal length for image 56: 3578.36 (3283.2)
[SfM] focal length for image 57: 4064.92 (3283.2)
[SfM] focal length for image 58: 3817.69 (3283.2)
[SfM] focal length for image 59: 3748.68 (3283.2)
[SfM] focal length for image 60: 3621.76 (3283.2)
[SfM] focal length for image 61: 3399.23 (3283.2)
[SfM] focal length for image 62: 3132.94 (3283.2)
[SfM] focal length for image 63: 3531.4 (3283.2)
[SfM] focal length for image 64: 3916.91 (3283.2)
[SfM] focal length for image 65: 4415.65 (3283.2)
[SfM] focal length for image 66: 3796.01 (3283.2)
[SfM] focal length for image 67: 3631.74 (3283.2)
[SfM] focal length for image 68: 3246.68 (3283.2)
[SfM] focal length for image 69: 3226.57 (3283.2)
[SfM] focal length for image 70: 3549.17 (3283.2)
[SfM] focal length for image 71: 3509.63 (3283.2)
[SfM] focal length for image 72: 3214.07 (3283.2)
[SfM] focal length for image 73: 3108.17 (3283.2)
[SfM] focal length for image 74: 3245.42 (3283.2)
[SfM] focal length for image 75: 3413.24 (3283.2)
[SfM] focal length for image 76: 2684.24 (3283.2)
[SfM] focal length for image 77: 2883.67 (3283.2)
[SfM] focal length for image 78: 3034.66 (3283.2)
[SfM] focal length for image 79: 3279 (3283.2)
[SfM] focal length for image 80: 3444.2 (3283.2)
[SfM] focal length for image 81: 3162.39 (3283.2)
[SfM] focal length for image 82: 3298.38 (3283.2)
[SfM] focal length for image 83: 3133.34 (3283.2)
[SfM] focal length for image 84: 3104.4 (3283.2)
[SfM] focal length for image 85: 3714.4 (3283.2)
[SfM] focal length for image 86: 2942.48 (3283.2)
existing_matches[0] = 162
score[0] = 162.000
existing_matches[1] = 56
score[1] = 56.000
existing_matches[10] = 1087
score[10] = 1087.000
existing_matches[11] = 637
score[11] = 637.000
existing_matches[12] = 1270
score[12] = 1270.000
existing_matches[21] = 303
score[21] = 303.000
existing_matches[22] = 100
score[22] = 100.000
existing_matches[23] = 23
score[23] = 23.000
existing_matches[24] = 260
score[24] = 260.000
existing_matches[25] = 112
score[25] = 112.000
existing_matches[44] = 198
score[44] = 198.000
existing_matches[45] = 579
score[45] = 579.000
existing_matches[46] = 123
score[46] = 123.000
existing_matches[47] = 281
score[47] = 281.000
existing_matches[67] = 432
score[67] = 432.000
existing_matches[68] = 200
score[68] = 200.000
existing_matches[92] = 249
score[92] = 249.000
Error: parent not found
[SifterApp::BundleAdjust] max_matches = 1270
[SifterApp::BundleAdjustFast] Registering 2 images
[SifterApp::BundleAdjustFast] Adjusting camera 10
[SifterApp::BundleAdjustFast] Adjusting camera 12
[SifterApp::BundleAdjust[17]] Adjusting camera 10 (parent = -1)
[SfM] setting tracks for image 10
[BundleInitializeImage] Connecting existing matches...
[BundleInitializeImage] Initializing camera...
[find_projection_3x4_ransac] num_inliers = 1067 (out of 1087)
[find_projection_3x4_ransac] error = 1.484
[find_projection_3x4_ransac] Reverting to old solution
New error: 1.061e+00
[FindAndVerifyCamera] Removing point [44015] (reproj. error = 5745.461)
[FindAndVerifyCamera] Removing point [29132] (reproj. error = 3369.047)
[FindAndVerifyCamera] Removing point [63390] (reproj. error = 4032.192)
[FindAndVerifyCamera] Removing point [49761] (reproj. error = 6400.742)
[FindAndVerifyCamera] Removing point [65313] (reproj. error = 6699.035)
[BundleInitializeImage] Camera has initial focal length of 3283.200
[BundleInitializeImage] Adjusting...
[RefineCameraParameters] Calling with 1082 points
[RefineCameraParameters] Error: 0.930
[RefineCameraParameters] Threshold = 8.000
[RefineCameraParameters] Removing point [67591] with reprojection error 8.589
[RefineCameraParameters] Calling with 1081 points
[RefineCameraParameters] Error: 0.922
[RefineCameraParameters] Threshold = 8.000
[RefineCameraParameters] Exiting after 2 rounds with 1081 / 1082 points
[SifterApp::BundleAdjust[17]] Adjusting camera 12 (parent = -1)
[SfM] setting tracks for image 12
[BundleInitializeImage] Connecting existing matches...
[BundleInitializeImage] Initializing camera...
[find_projection_3x4_ransac] num_inliers = 1250 (out of 1270)
[find_projection_3x4_ransac] error = 1.427
[find_projection_3x4_ransac] Reverting to old solution
New error: 1.029e+00
[FindAndVerifyCamera] Removing point [44015] (reproj. error = 5667.606)
[FindAndVerifyCamera] Removing point [41545] (reproj. error = 5995.778)
[FindAndVerifyCamera] Removing point [47995] (reproj. error = 4172.817)
[FindAndVerifyCamera] Removing point [24425] (reproj. error = 3772.294)
[FindAndVerifyCamera] Removing point [47550] (reproj. error = 5205.321)
[FindAndVerifyCamera] Removing point [29132] (reproj. error = 3379.297)
[FindAndVerifyCamera] Removing point [49761] (reproj. error = 6424.644)
[FindAndVerifyCamera] Removing point [3221] (reproj. error = 5059.149)
[FindAndVerifyCamera] Removing point [53279] (reproj. error = 3981.628)
[FindAndVerifyCamera] Removing point [47627] (reproj. error = 5666.030)
[FindAndVerifyCamera] Removing point [63482] (reproj. error = 5667.509)
[BundleInitializeImage] Camera has initial focal length of 3283.200
[BundleInitializeImage] Adjusting...
[RefineCameraParameters] Calling with 1259 points
[RefineCameraParameters] Error: 0.889
[RefineCameraParameters] Threshold = 8.000
[RefineCameraParameters] Exiting after 1 rounds with 1259 / 1259 points
[SifterApp::BundleAdjust] Adding new matches
[AddAllNewPoints] Added 1673 new points
[AddAllNewPoints] Ill-conditioned tracks: 5
[AddAllNewPoints] Bad reprojections: 291
[AddAllNewPoints] Failed cheirality checks: 9
[SifterApp::BundleAdjust] Number of points = 69425
initial motstr-SBA error 104197 [0.401492]
[run_sfm] Number of iterations: 24
info[6] = 8.000
[SfM] bundle adjustment took 51.79 seconds
[SfM] removing 0 outliers
[RemoveBadPointsAndCameras] Pruned 0 points
[SfM] focal length for image 0: 3815.4 (3283.2)
[SfM] focal length for image 1: 3428.26 (3283.2)
[SfM] focal length for image 2: 3415.95 (3283.2)
[SfM] focal length for image 3: 3560.55 (3283.2)
[SfM] focal length for image 4: 4027.81 (3283.2)
[SfM] focal length for image 5: 3637.92 (3283.2)
[SfM] focal length for image 6: 3582.71 (3283.2)
[SfM] focal length for image 7: 3529.01 (3283.2)
[SfM] focal length for image 8: 3835.65 (3283.2)
[SfM] focal length for image 9: 4138.12 (3283.2)
[SfM] focal length for image 10: 3863.19 (3283.2)
[SfM] focal length for image 11: 3649.04 (3283.2)
[SfM] focal length for image 12: 3862.25 (3283.2)
[SfM] focal length for image 13: 4260.28 (3283.2)
[SfM] focal length for image 14: 4660.49 (3283.2)
[SfM] focal length for image 15: 3944.06 (3283.2)
[SfM] focal length for image 16: 3894.22 (3283.2)
[SfM] focal length for image 17: 3640.48 (3283.2)
[SfM] focal length for image 18: 4152.71 (3283.2)
[SfM] focal length for image 19: 3381.34 (3283.2)
[SfM] focal length for image 20: 4154.27 (3283.2)
[SfM] focal length for image 21: 3837.77 (3283.2)
[SfM] focal length for image 22: 3920.86 (3283.2)
[SfM] focal length for image 23: 3964.39 (3283.2)
[SfM] focal length for image 24: 3521.14 (3283.2)
[SfM] focal length for image 25: 3982.48 (3283.2)
[SfM] focal length for image 26: 3522.72 (3283.2)
[SfM] focal length for image 27: 4294.03 (3283.2)
[SfM] focal length for image 28: 4017.79 (3283.2)
[SfM] focal length for image 29: 3881.07 (3283.2)
[SfM] focal length for image 30: 3847.98 (3283.2)
[SfM] focal length for image 31: 3985.45 (3283.2)
[SfM] focal length for image 32: 3656.9 (3283.2)
[SfM] focal length for image 33: 3799.69 (3283.2)
[SfM] focal length for image 34: 4144.53 (3283.2)
[SfM] focal length for image 35: 4108.07 (3283.2)
[SfM] focal length for image 36: 4871.17 (3283.2)
[SfM] focal length for image 37: 3432.34 (3283.2)
[SfM] focal length for image 38: 3858.35 (3283.2)
[SfM] focal length for image 39: 3837.71 (3283.2)
[SfM] focal length for image 40: 4599.95 (3283.2)
[SfM] focal length for image 41: 5090.55 (3283.2)
[SfM] focal length for image 42: 3950.83 (3283.2)
[SfM] focal length for image 43: 3890.62 (3283.2)
[SfM] focal length for image 44: 4024.87 (3283.2)
[SfM] focal length for image 45: 3933.63 (3283.2)
[SfM] focal length for image 46: 4014.89 (3283.2)
[SfM] focal length for image 47: 4140.63 (3283.2)
[SfM] focal length for image 48: 4063.29 (3283.2)
[SfM] focal length for image 49: 3672.44 (3283.2)
[SfM] focal length for image 50: 5880.63 (3283.2)
[SfM] focal length for image 51: 3963.5 (3283.2)
[SfM] focal length for image 52: 3916.59 (3283.2)
[SfM] focal length for image 53: 3987.46 (3283.2)
[SfM] focal length for image 54: 3916.38 (3283.2)
[SfM] focal length for image 55: 3796.23 (3283.2)
[SfM] focal length for image 56: 3576.16 (3283.2)
[SfM] focal length for image 57: 4079.67 (3283.2)
[SfM] focal length for image 58: 3819.87 (3283.2)
[SfM] focal length for image 59: 3767.32 (3283.2)
[SfM] focal length for image 60: 3629.69 (3283.2)
[SfM] focal length for image 61: 3408.84 (3283.2)
[SfM] focal length for image 62: 3113.42 (3283.2)
[SfM] focal length for image 63: 3502.51 (3283.2)
[SfM] focal length for image 64: 3893.8 (3283.2)
[SfM] focal length for image 65: 4396.73 (3283.2)
[SfM] focal length for image 66: 3793.9 (3283.2)
[SfM] focal length for image 67: 3658.71 (3283.2)
[SfM] focal length for image 68: 3273.05 (3283.2)
[SfM] focal length for image 69: 3175.18 (3283.2)
[SfM] focal length for image 70: 3520.3 (3283.2)
[SfM] focal length for image 71: 3483 (3283.2)
[SfM] focal length for image 72: 3213.25 (3283.2)
[SfM] focal length for image 73: 3108.19 (3283.2)
[SfM] focal length for image 74: 3214.15 (3283.2)
[SfM] focal length for image 75: 3379.88 (3283.2)
[SfM] focal length for image 76: 2684.31 (3283.2)
[SfM] focal length for image 77: 2792.13 (3283.2)
[SfM] focal length for image 78: 2988.7 (3283.2)
[SfM] focal length for image 79: 3249.09 (3283.2)
[SfM] focal length for image 80: 3549.92 (3283.2)
[SfM] focal length for image 81: 3113.69 (3283.2)
[SfM] focal length for image 82: 2913.81 (3283.2)
[SfM] focal length for image 83: 3058.22 (3283.2)
[SfM] focal length for image 84: 3053.54 (3283.2)
[SfM] focal length for image 85: 3764.54 (3283.2)
[SfM] focal length for image 86: 3045.86 (3283.2)
[SfM] focal length for image 87: 3527.96 (3283.2)
[SfM] focal length for image 88: 3557.29 (3283.2)
existing_matches[0] = 162
score[0] = 162.000
existing_matches[1] = 56
score[1] = 56.000
existing_matches[11] = 1140
score[11] = 1140.000
existing_matches[21] = 303
score[21] = 303.000
existing_matches[22] = 100
score[22] = 100.000
existing_matches[23] = 23
score[23] = 23.000
existing_matches[24] = 260
score[24] = 260.000
existing_matches[25] = 112
score[25] = 112.000
existing_matches[44] = 198
score[44] = 198.000
existing_matches[45] = 579
score[45] = 579.000
existing_matches[46] = 123
score[46] = 123.000
existing_matches[47] = 281
score[47] = 281.000
existing_matches[67] = 432
score[67] = 432.000
existing_matches[68] = 200
score[68] = 200.000
existing_matches[92] = 249
score[92] = 249.000
Error: parent not found
[SifterApp::BundleAdjust] max_matches = 1140
[SifterApp::BundleAdjustFast] Registering 1 images
[SifterApp::BundleAdjustFast] Adjusting camera 11
[SifterApp::BundleAdjust[18]] Adjusting camera 11 (parent = -1)
[SfM] setting tracks for image 11
[BundleInitializeImage] Connecting existing matches...
[BundleInitializeImage] Initializing camera...
[find_projection_3x4_ransac] num_inliers = 1126 (out of 1140)
[find_projection_3x4_ransac] error = 1.312
[find_projection_3x4_ransac] Reverting to old solution
New error: 1.046e+00
[FindAndVerifyCamera] Removing point [41592] (reproj. error = 3882.064)
[FindAndVerifyCamera] Removing point [47995] (reproj. error = 4134.704)
[FindAndVerifyCamera] Removing point [49761] (reproj. error = 6254.642)
[FindAndVerifyCamera] Removing point [65313] (reproj. error = 6612.820)
[FindAndVerifyCamera] Removing point [22773] (reproj. error = 9070.250)
[BundleInitializeImage] Camera has initial focal length of 3283.200
[BundleInitializeImage] Adjusting...
[RefineCameraParameters] Calling with 1135 points
[RefineCameraParameters] Error: 0.887
[RefineCameraParameters] Threshold = 8.000
[RefineCameraParameters] Exiting after 1 rounds with 1135 / 1135 points
[SifterApp::BundleAdjust] Adding new matches
[AddAllNewPoints] Added 795 new points
[AddAllNewPoints] Ill-conditioned tracks: 5
[AddAllNewPoints] Bad reprojections: 293
[AddAllNewPoints] Failed cheirality checks: 9
[SifterApp::BundleAdjust] Number of points = 70220
initial motstr-SBA error 104008 [0.396598]
[run_sfm] Number of iterations: 22
info[6] = 8.000
[SfM] bundle adjustment took 46.39 seconds
[SfM] removing 0 outliers
[RemoveBadPointsAndCameras] Pruned 0 points
[SfM] focal length for image 0: 3813.28 (3283.2)
[SfM] focal length for image 1: 3424.03 (3283.2)
[SfM] focal length for image 2: 3411.99 (3283.2)
[SfM] focal length for image 3: 3556.77 (3283.2)
[SfM] focal length for image 4: 4025.07 (3283.2)
[SfM] focal length for image 5: 3634.46 (3283.2)
[SfM] focal length for image 6: 3579.02 (3283.2)
[SfM] focal length for image 7: 3526.43 (3283.2)
[SfM] focal length for image 8: 3830.85 (3283.2)
[SfM] focal length for image 9: 4134.09 (3283.2)
[SfM] focal length for image 10: 3859.5 (3283.2)
[SfM] focal length for image 11: 3645.41 (3283.2)
[SfM] focal length for image 12: 3860.12 (3283.2)
[SfM] focal length for image 13: 4257.33 (3283.2)
[SfM] focal length for image 14: 4655.75 (3283.2)
[SfM] focal length for image 15: 3939.44 (3283.2)
[SfM] focal length for image 16: 3886.59 (3283.2)
[SfM] focal length for image 17: 3638.52 (3283.2)
[SfM] focal length for image 18: 4152.4 (3283.2)
[SfM] focal length for image 19: 3374.59 (3283.2)
[SfM] focal length for image 20: 4151.37 (3283.2)
[SfM] focal length for image 21: 3834.07 (3283.2)
[SfM] focal length for image 22: 3918.16 (3283.2)
[SfM] focal length for image 23: 3963.89 (3283.2)
[SfM] focal length for image 24: 3516.96 (3283.2)
[SfM] focal length for image 25: 3982.13 (3283.2)
[SfM] focal length for image 26: 3517.23 (3283.2)
[SfM] focal length for image 27: 4292.95 (3283.2)
[SfM] focal length for image 28: 4018.83 (3283.2)
[SfM] focal length for image 29: 3879.71 (3283.2)
[SfM] focal length for image 30: 3845.93 (3283.2)
[SfM] focal length for image 31: 3973.96 (3283.2)
[SfM] focal length for image 32: 3657.35 (3283.2)
[SfM] focal length for image 33: 3798.91 (3283.2)
[SfM] focal length for image 34: 4143.23 (3283.2)
[SfM] focal length for image 35: 4107.01 (3283.2)
[SfM] focal length for image 36: 4869.61 (3283.2)
[SfM] focal length for image 37: 3433.15 (3283.2)
[SfM] focal length for image 38: 3855.58 (3283.2)
[SfM] focal length for image 39: 3838.22 (3283.2)
[SfM] focal length for image 40: 4599.22 (3283.2)
[SfM] focal length for image 41: 5088.7 (3283.2)
[SfM] focal length for image 42: 3951.8 (3283.2)
[SfM] focal length for image 43: 3891.85 (3283.2)
[SfM] focal length for image 44: 4027.09 (3283.2)
[SfM] focal length for image 45: 3934.22 (3283.2)
[SfM] focal length for image 46: 4013.59 (3283.2)
[SfM] focal length for image 47: 4139.09 (3283.2)
[SfM] focal length for image 48: 4068 (3283.2)
[SfM] focal length for image 49: 3671.49 (3283.2)
[SfM] focal length for image 50: 5879.9 (3283.2)
[SfM] focal length for image 51: 3968.66 (3283.2)
[SfM] focal length for image 52: 3919.46 (3283.2)
[SfM] focal length for image 53: 3989.99 (3283.2)
[SfM] focal length for image 54: 3918.11 (3283.2)
[SfM] focal length for image 55: 3795.19 (3283.2)
[SfM] focal length for image 56: 3570.58 (3283.2)
[SfM] focal length for image 57: 4086.15 (3283.2)
[SfM] focal length for image 58: 3822.38 (3283.2)
[SfM] focal length for image 59: 3766.5 (3283.2)
[SfM] focal length for image 60: 3624.99 (3283.2)
[SfM] focal length for image 61: 3402.52 (3283.2)
[SfM] focal length for image 62: 3107.29 (3283.2)
[SfM] focal length for image 63: 3495.35 (3283.2)
[SfM] focal length for image 64: 3888.1 (3283.2)
[SfM] focal length for image 65: 4393.32 (3283.2)
[SfM] focal length for image 66: 3804.14 (3283.2)
[SfM] focal length for image 67: 3649.17 (3283.2)
[SfM] focal length for image 68: 3252.44 (3283.2)
[SfM] focal length for image 69: 3168.22 (3283.2)
[SfM] focal length for image 70: 3512.82 (3283.2)
[SfM] focal length for image 71: 3473.56 (3283.2)
[SfM] focal length for image 72: 3218.56 (3283.2)
[SfM] focal length for image 73: 3113.28 (3283.2)
[SfM] focal length for image 74: 3207.6 (3283.2)
[SfM] focal length for image 75: 3370.72 (3283.2)
[SfM] focal length for image 76: 2688.73 (3283.2)
[SfM] focal length for image 77: 2777.96 (3283.2)
[SfM] focal length for image 78: 2977.64 (3283.2)
[SfM] focal length for image 79: 3239.8 (3283.2)
[SfM] focal length for image 80: 3552.54 (3283.2)
[SfM] focal length for image 81: 3132.04 (3283.2)
[SfM] focal length for image 82: 2856.22 (3283.2)
[SfM] focal length for image 83: 3042.73 (3283.2)
[SfM] focal length for image 84: 3040.97 (3283.2)
[SfM] focal length for image 85: 3777.73 (3283.2)
[SfM] focal length for image 86: 3071.47 (3283.2)
[SfM] focal length for image 87: 3589.19 (3283.2)
[SfM] focal length for image 88: 3491.14 (3283.2)
[SfM] focal length for image 89: 3536.94 (3283.2)
existing_matches[0] = 162
score[0] = 162.000
existing_matches[1] = 56
score[1] = 56.000
existing_matches[21] = 303
score[21] = 303.000
existing_matches[22] = 100
score[22] = 100.000
existing_matches[23] = 23
score[23] = 23.000
existing_matches[24] = 260
score[24] = 260.000
existing_matches[25] = 112
score[25] = 112.000
existing_matches[44] = 198
score[44] = 198.000
existing_matches[45] = 579
score[45] = 579.000
existing_matches[46] = 123
score[46] = 123.000
existing_matches[47] = 281
score[47] = 281.000
existing_matches[67] = 432
score[67] = 432.000
existing_matches[68] = 200
score[68] = 200.000
existing_matches[92] = 249
score[92] = 249.000
Error: parent not found
[SifterApp::BundleAdjust] max_matches = 579
[SifterApp::BundleAdjustFast] Registering 1 images
[SifterApp::BundleAdjustFast] Adjusting camera 45
[SifterApp::BundleAdjust[19]] Adjusting camera 45 (parent = -1)
[SfM] setting tracks for image 45
[BundleInitializeImage] Connecting existing matches...
[BundleInitializeImage] Initializing camera...
[find_projection_3x4_ransac] num_inliers = 522 (out of 579)
[find_projection_3x4_ransac] error = 1.784
[find_projection_3x4_ransac] Reverting to old solution
New error: 1.339e+00
[FindAndVerifyCamera] Removing point [20428] (reproj. error = 6224.562)
[FindAndVerifyCamera] Removing point [31836] (reproj. error = 4172.199)
[FindAndVerifyCamera] Removing point [27428] (reproj. error = 4188.023)
[FindAndVerifyCamera] Removing point [9855] (reproj. error = 8001.968)
[FindAndVerifyCamera] Removing point [20267] (reproj. error = 2844.445)
[FindAndVerifyCamera] Removing point [19040] (reproj. error = 4426.642)
[FindAndVerifyCamera] Removing point [23486] (reproj. error = 4174.314)
[FindAndVerifyCamera] Removing point [9609] (reproj. error = 9189.661)
[BundleInitializeImage] Camera has initial focal length of 3283.200
[BundleInitializeImage] Adjusting...
[RefineCameraParameters] Calling with 571 points
[RefineCameraParameters] Error: 1.225
[RefineCameraParameters] Threshold = 8.000
[RefineCameraParameters] Removing point [38382] with reprojection error 9.105
[RefineCameraParameters] Calling with 570 points
[RefineCameraParameters] Error: 1.208
[RefineCameraParameters] Threshold = 8.000
[RefineCameraParameters] Exiting after 2 rounds with 570 / 571 points
[SifterApp::BundleAdjust] Adding new matches
[AddAllNewPoints] Added 355 new points
[AddAllNewPoints] Ill-conditioned tracks: 3
[AddAllNewPoints] Bad reprojections: 306
[AddAllNewPoints] Failed cheirality checks: 6
[SifterApp::BundleAdjust] Number of points = 70575
initial motstr-SBA error 105218 [0.399265]
[run_sfm] Number of iterations: 90
info[6] = 8.000
[SfM] bundle adjustment took 224.16 seconds
[SfM] removing 0 outliers
[RemoveBadPointsAndCameras] Pruned 0 points
[SfM] focal length for image 0: 3815.63 (3283.2)
[SfM] focal length for image 1: 3422.39 (3283.2)
[SfM] focal length for image 2: 3410.87 (3283.2)
[SfM] focal length for image 3: 3555.69 (3283.2)
[SfM] focal length for image 4: 4026.38 (3283.2)
[SfM] focal length for image 5: 3634.49 (3283.2)
[SfM] focal length for image 6: 3576.76 (3283.2)
[SfM] focal length for image 7: 3526.17 (3283.2)
[SfM] focal length for image 8: 3830.2 (3283.2)
[SfM] focal length for image 9: 4134.9 (3283.2)
[SfM] focal length for image 10: 3860.73 (3283.2)
[SfM] focal length for image 11: 3642.83 (3283.2)
[SfM] focal length for image 12: 3861.43 (3283.2)
[SfM] focal length for image 13: 4258.67 (3283.2)
[SfM] focal length for image 14: 4656.8 (3283.2)
[SfM] focal length for image 15: 3941.26 (3283.2)
[SfM] focal length for image 16: 3882.12 (3283.2)
[SfM] focal length for image 17: 3638.29 (3283.2)
[SfM] focal length for image 18: 4156.22 (3283.2)
[SfM] focal length for image 19: 3372.01 (3283.2)
[SfM] focal length for image 20: 4155.21 (3283.2)
[SfM] focal length for image 21: 3831.02 (3283.2)
[SfM] focal length for image 22: 3915.53 (3283.2)
[SfM] focal length for image 23: 3961.86 (3283.2)
[SfM] focal length for image 24: 3515.7 (3283.2)
[SfM] focal length for image 25: 3976.33 (3283.2)
[SfM] focal length for image 26: 3515.1 (3283.2)
[SfM] focal length for image 27: 4304.79 (3283.2)
[SfM] focal length for image 28: 4022.65 (3283.2)
[SfM] focal length for image 29: 3875.64 (3283.2)
[SfM] focal length for image 30: 3841.59 (3283.2)
[SfM] focal length for image 31: 3971.22 (3283.2)
[SfM] focal length for image 32: 3642.28 (3283.2)
[SfM] focal length for image 33: 3827.7 (3283.2)
[SfM] focal length for image 34: 4181.58 (3283.2)
[SfM] focal length for image 35: 4114.4 (3283.2)
[SfM] focal length for image 36: 4891.93 (3283.2)
[SfM] focal length for image 37: 3429.06 (3283.2)
[SfM] focal length for image 38: 3851.91 (3283.2)
[SfM] focal length for image 39: 3862.4 (3283.2)
[SfM] focal length for image 40: 4525.26 (3283.2)
[SfM] focal length for image 41: 5109.49 (3283.2)
[SfM] focal length for image 42: 3946.88 (3283.2)
[SfM] focal length for image 43: 3887.36 (3283.2)
[SfM] focal length for image 44: 4021.5 (3283.2)
[SfM] focal length for image 45: 3923.69 (3283.2)
[SfM] focal length for image 46: 4045.83 (3283.2)
[SfM] focal length for image 47: 4176.48 (3283.2)
[SfM] focal length for image 48: 4059.75 (3283.2)
[SfM] focal length for image 49: 3888.52 (3283.2)
[SfM] focal length for image 50: 5943.06 (3283.2)
[SfM] focal length for image 51: 3961.51 (3283.2)
[SfM] focal length for image 52: 3914.49 (3283.2)
[SfM] focal length for image 53: 3985.14 (3283.2)
[SfM] focal length for image 54: 3913.38 (3283.2)
[SfM] focal length for image 55: 3791.35 (3283.2)
[SfM] focal length for image 56: 3568.67 (3283.2)
[SfM] focal length for image 57: 4072.24 (3283.2)
[SfM] focal length for image 58: 3818.22 (3283.2)
[SfM] focal length for image 59: 3763.68 (3283.2)
[SfM] focal length for image 60: 3621.64 (3283.2)
[SfM] focal length for image 61: 3399.63 (3283.2)
[SfM] focal length for image 62: 3106.06 (3283.2)
[SfM] focal length for image 63: 3492.98 (3283.2)
[SfM] focal length for image 64: 3886.19 (3283.2)
[SfM] focal length for image 65: 4392.95 (3283.2)
[SfM] focal length for image 66: 3800.53 (3283.2)
[SfM] focal length for image 67: 3646.89 (3283.2)
[SfM] focal length for image 68: 3249.17 (3283.2)
[SfM] focal length for image 69: 3166.34 (3283.2)
[SfM] focal length for image 70: 3509.88 (3283.2)
[SfM] focal length for image 71: 3468.39 (3283.2)
[SfM] focal length for image 72: 3216.79 (3283.2)
[SfM] focal length for image 73: 3111.61 (3283.2)
[SfM] focal length for image 74: 3205.22 (3283.2)
[SfM] focal length for image 75: 3367.26 (3283.2)
[SfM] focal length for image 76: 2687.29 (3283.2)
[SfM] focal length for image 77: 2776.79 (3283.2)
[SfM] focal length for image 78: 2974.26 (3283.2)
[SfM] focal length for image 79: 3236.18 (3283.2)
[SfM] focal length for image 80: 3549.64 (3283.2)
[SfM] focal length for image 81: 3130.57 (3283.2)
[SfM] focal length for image 82: 2851.87 (3283.2)
[SfM] focal length for image 83: 3038.46 (3283.2)
[SfM] focal length for image 84: 3037.37 (3283.2)
[SfM] focal length for image 85: 3774.28 (3283.2)
[SfM] focal length for image 86: 3070.82 (3283.2)
[SfM] focal length for image 87: 3585.43 (3283.2)
[SfM] focal length for image 88: 3486.45 (3283.2)
[SfM] focal length for image 89: 3532.47 (3283.2)
[SfM] focal length for image 90: 4320.73 (3283.2)
existing_matches[0] = 201
score[0] = 201.000
existing_matches[1] = 59
score[1] = 59.000
existing_matches[21] = 334
score[21] = 334.000
existing_matches[22] = 110
score[22] = 110.000
existing_matches[23] = 32
score[23] = 32.000
existing_matches[24] = 385
score[24] = 385.000
existing_matches[25] = 132
score[25] = 132.000
existing_matches[44] = 238
score[44] = 238.000
existing_matches[46] = 142
score[46] = 142.000
existing_matches[47] = 309
score[47] = 309.000
existing_matches[67] = 457
score[67] = 457.000
existing_matches[68] = 215
score[68] = 215.000
existing_matches[92] = 249
score[92] = 249.000
Error: parent not found
[SifterApp::BundleAdjust] max_matches = 457
[SifterApp::BundleAdjustFast] Registering 2 images
[SifterApp::BundleAdjustFast] Adjusting camera 24
[SifterApp::BundleAdjustFast] Adjusting camera 67
[SifterApp::BundleAdjust[20]] Adjusting camera 24 (parent = -1)
[SfM] setting tracks for image 24
[BundleInitializeImage] Connecting existing matches...
[BundleInitializeImage] Initializing camera...
[find_projection_3x4_ransac] num_inliers = 369 (out of 385)
[find_projection_3x4_ransac] error = 1.499
[find_projection_3x4_ransac] Reverting to old solution
New error: 1.146e+00
[FindAndVerifyCamera] Removing point [20428] (reproj. error = 6338.029)
[FindAndVerifyCamera] Removing point [36437] (reproj. error = 4664.689)
[FindAndVerifyCamera] Removing point [27428] (reproj. error = 4291.978)
[FindAndVerifyCamera] Removing point [9855] (reproj. error = 8204.574)
[FindAndVerifyCamera] Removing point [25731] (reproj. error = 1282.886)
[FindAndVerifyCamera] Removing point [205] (reproj. error = 5083.449)
[FindAndVerifyCamera] Removing point [26598] (reproj. error = 3745.488)
[FindAndVerifyCamera] Removing point [22567] (reproj. error = 5885.704)
[FindAndVerifyCamera] Removing point [20267] (reproj. error = 2915.207)
[BundleInitializeImage] Camera has initial focal length of 3283.200
[BundleInitializeImage] Adjusting...
[RefineCameraParameters] Calling with 376 points
[RefineCameraParameters] Error: 0.978
[RefineCameraParameters] Threshold = 8.000
[RefineCameraParameters] Exiting after 1 rounds with 376 / 376 points
[SifterApp::BundleAdjust[20]] Adjusting camera 67 (parent = -1)
[SfM] setting tracks for image 67
[BundleInitializeImage] Connecting existing matches...
[BundleInitializeImage] Initializing camera...
[find_projection_3x4_ransac] num_inliers = 416 (out of 457)
[find_projection_3x4_ransac] error = 1.852
[find_projection_3x4_ransac] Reverting to old solution
New error: 1.456e+00
[FindAndVerifyCamera] Removing point [15420] (reproj. error = 4928.694)
[FindAndVerifyCamera] Removing point [32977] (reproj. error = 6087.104)
[FindAndVerifyCamera] Removing point [5229] (reproj. error = 3576.372)
[FindAndVerifyCamera] Removing point [28167] (reproj. error = 2100.394)
[FindAndVerifyCamera] Removing point [23782] (reproj. error = 1622.099)
[FindAndVerifyCamera] Removing point [32283] (reproj. error = 2100.518)
[FindAndVerifyCamera] Removing point [9595] (reproj. error = 1451.409)
[FindAndVerifyCamera] Removing point [16485] (reproj. error = 2839.511)
[FindAndVerifyCamera] Removing point [25808] (reproj. error = 1600.303)
[FindAndVerifyCamera] Removing point [28840] (reproj. error = 137.029)
[FindAndVerifyCamera] Removing point [24011] (reproj. error = 2701.798)
[FindAndVerifyCamera] Removing point [16327] (reproj. error = 4869.134)
[FindAndVerifyCamera] Removing point [37716] (reproj. error = 4529.701)
[FindAndVerifyCamera] Removing point [26860] (reproj. error = 6407.111)
[FindAndVerifyCamera] Removing point [23181] (reproj. error = 2138.289)
[BundleInitializeImage] Camera has initial focal length of 3283.200
[BundleInitializeImage] Adjusting...
[RefineCameraParameters] Calling with 442 points
[RefineCameraParameters] Error: 1.278
[RefineCameraParameters] Threshold = 8.000
[RefineCameraParameters] Removing point [35900] with reprojection error 9.684
[RefineCameraParameters] Removing point [35899] with reprojection error 9.684
[RefineCameraParameters] Calling with 440 points
[RefineCameraParameters] Error: 1.225
[RefineCameraParameters] Threshold = 8.000
[RefineCameraParameters] Exiting after 2 rounds with 440 / 442 points
[SifterApp::BundleAdjust] Adding new matches
[AddAllNewPoints] Added 1599 new points
[AddAllNewPoints] Ill-conditioned tracks: 4
[AddAllNewPoints] Bad reprojections: 315
[AddAllNewPoints] Failed cheirality checks: 7
[SifterApp::BundleAdjust] Number of points = 72174
initial motstr-SBA error 107941 [0.403395]
[run_sfm] Number of iterations: 51
info[6] = 8.000
[SfM] bundle adjustment took 130.9 seconds
[SfM] removing 0 outliers
[RemoveBadPointsAndCameras] Pruned 0 points
[SfM] focal length for image 0: 3798.51 (3283.2)
[SfM] focal length for image 1: 3416.48 (3283.2)
[SfM] focal length for image 2: 3403.97 (3283.2)
[SfM] focal length for image 3: 3547.54 (3283.2)
[SfM] focal length for image 4: 4016.48 (3283.2)
[SfM] focal length for image 5: 3627.24 (3283.2)
[SfM] focal length for image 6: 3567.29 (3283.2)
[SfM] focal length for image 7: 3516.39 (3283.2)
[SfM] focal length for image 8: 3824.89 (3283.2)
[SfM] focal length for image 9: 4130.97 (3283.2)
[SfM] focal length for image 10: 3854.4 (3283.2)
[SfM] focal length for image 11: 3632.48 (3283.2)
[SfM] focal length for image 12: 3851.46 (3283.2)
[SfM] focal length for image 13: 4239.48 (3283.2)
[SfM] focal length for image 14: 4645.58 (3283.2)
[SfM] focal length for image 15: 3935.95 (3283.2)
[SfM] focal length for image 16: 3873.73 (3283.2)
[SfM] focal length for image 17: 3622.61 (3283.2)
[SfM] focal length for image 18: 4140.74 (3283.2)
[SfM] focal length for image 19: 3367.89 (3283.2)
[SfM] focal length for image 20: 4138.44 (3283.2)
[SfM] focal length for image 21: 3821.5 (3283.2)
[SfM] focal length for image 22: 3902.6 (3283.2)
[SfM] focal length for image 23: 3941.58 (3283.2)
[SfM] focal length for image 24: 3507.95 (3283.2)
[SfM] focal length for image 25: 3979.94 (3283.2)
[SfM] focal length for image 26: 3509.95 (3283.2)
[SfM] focal length for image 27: 4294.75 (3283.2)
[SfM] focal length for image 28: 4000.92 (3283.2)
[SfM] focal length for image 29: 3864.29 (3283.2)
[SfM] focal length for image 30: 3830.31 (3283.2)
[SfM] focal length for image 31: 3965.99 (3283.2)
[SfM] focal length for image 32: 3604.48 (3283.2)
[SfM] focal length for image 33: 3793.93 (3283.2)
[SfM] focal length for image 34: 4249.32 (3283.2)
[SfM] focal length for image 35: 4025.81 (3283.2)
[SfM] focal length for image 36: 4856.39 (3283.2)
[SfM] focal length for image 37: 3415.11 (3283.2)
[SfM] focal length for image 38: 3841.47 (3283.2)
[SfM] focal length for image 39: 3786.63 (3283.2)
[SfM] focal length for image 40: 4395.78 (3283.2)
[SfM] focal length for image 41: 5094.47 (3283.2)
[SfM] focal length for image 42: 3937.57 (3283.2)
[SfM] focal length for image 43: 3878.45 (3283.2)
[SfM] focal length for image 44: 4010.28 (3283.2)
[SfM] focal length for image 45: 3916.67 (3283.2)
[SfM] focal length for image 46: 4068.79 (3283.2)
[SfM] focal length for image 47: 4189.05 (3283.2)
[SfM] focal length for image 48: 4045.24 (3283.2)
[SfM] focal length for image 49: 4006.02 (3283.2)
[SfM] focal length for image 50: 5916.37 (3283.2)
[SfM] focal length for image 51: 3953.93 (3283.2)
[SfM] focal length for image 52: 3904.98 (3283.2)
[SfM] focal length for image 53: 3976.5 (3283.2)
[SfM] focal length for image 54: 3905.33 (3283.2)
[SfM] focal length for image 55: 3784.5 (3283.2)
[SfM] focal length for image 56: 3562.62 (3283.2)
[SfM] focal length for image 57: 4088.82 (3283.2)
[SfM] focal length for image 58: 3810.81 (3283.2)
[SfM] focal length for image 59: 3758.58 (3283.2)
[SfM] focal length for image 60: 3615.55 (3283.2)
[SfM] focal length for image 61: 3393.4 (3283.2)
[SfM] focal length for image 62: 3100.31 (3283.2)
[SfM] focal length for image 63: 3488.42 (3283.2)
[SfM] focal length for image 64: 3882.74 (3283.2)
[SfM] focal length for image 65: 4386.86 (3283.2)
[SfM] focal length for image 66: 3794.01 (3283.2)
[SfM] focal length for image 67: 3642.34 (3283.2)
[SfM] focal length for image 68: 3244.66 (3283.2)
[SfM] focal length for image 69: 3161.35 (3283.2)
[SfM] focal length for image 70: 3505.84 (3283.2)
[SfM] focal length for image 71: 3463.45 (3283.2)
[SfM] focal length for image 72: 3213.58 (3283.2)
[SfM] focal length for image 73: 3108.58 (3283.2)
[SfM] focal length for image 74: 3201.69 (3283.2)
[SfM] focal length for image 75: 3363.33 (3283.2)
[SfM] focal length for image 76: 2684.71 (3283.2)
[SfM] focal length for image 77: 2772.99 (3283.2)
[SfM] focal length for image 78: 2971.99 (3283.2)
[SfM] focal length for image 79: 3232.52 (3283.2)
[SfM] focal length for image 80: 3545.59 (3283.2)
[SfM] focal length for image 81: 3126.62 (3283.2)
[SfM] focal length for image 82: 2848.09 (3283.2)
[SfM] focal length for image 83: 3035.45 (3283.2)
[SfM] focal length for image 84: 3035.06 (3283.2)
[SfM] focal length for image 85: 3768.66 (3283.2)
[SfM] focal length for image 86: 3066.94 (3283.2)
[SfM] focal length for image 87: 3579.73 (3283.2)
[SfM] focal length for image 88: 3482.35 (3283.2)
[SfM] focal length for image 89: 3527.86 (3283.2)
[SfM] focal length for image 90: 3827.96 (3283.2)
[SfM] focal length for image 91: 3996.59 (3283.2)
[SfM] focal length for image 92: 3543.92 (3283.2)
existing_matches[0] = 338
score[0] = 338.000
existing_matches[1] = 77
score[1] = 77.000
existing_matches[21] = 388
score[21] = 388.000
existing_matches[22] = 209
score[22] = 209.000
existing_matches[23] = 94
score[23] = 94.000
existing_matches[25] = 248
score[25] = 248.000
existing_matches[44] = 460
score[44] = 460.000
existing_matches[46] = 262
score[46] = 262.000
existing_matches[47] = 474
score[47] = 474.000
existing_matches[68] = 344
score[68] = 344.000
existing_matches[92] = 304
score[92] = 304.000
Error: parent not found
[SifterApp::BundleAdjust] max_matches = 474
[SifterApp::BundleAdjustFast] Registering 3 images
[SifterApp::BundleAdjustFast] Adjusting camera 21
[SifterApp::BundleAdjustFast] Adjusting camera 44
[SifterApp::BundleAdjustFast] Adjusting camera 47
[SifterApp::BundleAdjust[21]] Adjusting camera 21 (parent = -1)
[SfM] setting tracks for image 21
[BundleInitializeImage] Connecting existing matches...
[BundleInitializeImage] Initializing camera...
[find_projection_3x4_ransac] num_inliers = 350 (out of 388)
[find_projection_3x4_ransac] error = 1.853
[find_projection_3x4_ransac] Reverting to old solution
New error: 1.336e+00
[FindAndVerifyCamera] Removing point [30428] (reproj. error = 4576.345)
[FindAndVerifyCamera] Removing point [70332] (reproj. error = 1873.586)
[FindAndVerifyCamera] Removing point [27967] (reproj. error = 3294.179)
[FindAndVerifyCamera] Removing point [23848] (reproj. error = 4389.722)
[FindAndVerifyCamera] Removing point [8623] (reproj. error = 7787.474)
[FindAndVerifyCamera] Removing point [28513] (reproj. error = 7456.569)
[FindAndVerifyCamera] Removing point [21910] (reproj. error = 3573.551)
[FindAndVerifyCamera] Removing point [10850] (reproj. error = 4710.812)
[FindAndVerifyCamera] Removing point [24587] (reproj. error = 3224.104)
[FindAndVerifyCamera] Removing point [39075] (reproj. error = 122.558)
[FindAndVerifyCamera] Removing point [42366] (reproj. error = 668.929)
[FindAndVerifyCamera] Removing point [8517] (reproj. error = 6229.795)
[FindAndVerifyCamera] Removing point [30534] (reproj. error = 4165.329)
[FindAndVerifyCamera] Removing point [33580] (reproj. error = 4164.801)
[FindAndVerifyCamera] Removing point [14979] (reproj. error = 7008.965)
[FindAndVerifyCamera] Removing point [11295] (reproj. error = 2816.597)
[FindAndVerifyCamera] Removing point [19871] (reproj. error = 2819.833)
[FindAndVerifyCamera] Removing point [30330] (reproj. error = 4510.101)
[BundleInitializeImage] Camera has initial focal length of 3283.200
[BundleInitializeImage] Adjusting...
[RefineCameraParameters] Calling with 370 points
[RefineCameraParameters] Error: 1.187
[RefineCameraParameters] Threshold = 8.000
[RefineCameraParameters] Removing point [33343] with reprojection error 8.750
[RefineCameraParameters] Removing point [45225] with reprojection error 11.590
[RefineCameraParameters] Calling with 368 points
[RefineCameraParameters] Error: 1.133
[RefineCameraParameters] Threshold = 8.000
[RefineCameraParameters] Exiting after 2 rounds with 368 / 370 points
[SifterApp::BundleAdjust[21]] Adjusting camera 44 (parent = -1)
[SfM] setting tracks for image 44
[BundleInitializeImage] Connecting existing matches...
[BundleInitializeImage] Initializing camera...
[find_projection_3x4_ransac] num_inliers = 414 (out of 460)
[find_projection_3x4_ransac] error = 1.727
[find_projection_3x4_ransac] Reverting to old solution
New error: 1.334e+00
[FindAndVerifyCamera] Removing point [70332] (reproj. error = 1890.805)
[FindAndVerifyCamera] Removing point [10442] (reproj. error = 5663.234)
[FindAndVerifyCamera] Removing point [25805] (reproj. error = 1671.819)
[FindAndVerifyCamera] Removing point [30390] (reproj. error = 3577.756)
[FindAndVerifyCamera] Removing point [45506] (reproj. error = 4862.368)
[FindAndVerifyCamera] Removing point [33320] (reproj. error = 2078.176)
[FindAndVerifyCamera] Removing point [15420] (reproj. error = 4997.350)
[FindAndVerifyCamera] Removing point [11295] (reproj. error = 2809.095)
[FindAndVerifyCamera] Removing point [71883] (reproj. error = 2487.290)
[FindAndVerifyCamera] Removing point [205] (reproj. error = 4944.207)
[FindAndVerifyCamera] Removing point [22567] (reproj. error = 5762.712)
[FindAndVerifyCamera] Removing point [31789] (reproj. error = 3188.789)
[FindAndVerifyCamera] Removing point [19947] (reproj. error = 2735.810)
[FindAndVerifyCamera] Removing point [28112] (reproj. error = 3544.320)
[FindAndVerifyCamera] Removing point [25480] (reproj. error = 3343.182)
[FindAndVerifyCamera] Removing point [26380] (reproj. error = 518.607)
[FindAndVerifyCamera] Removing point [29015] (reproj. error = 7371.161)
[FindAndVerifyCamera] Removing point [9603] (reproj. error = 5698.576)
[BundleInitializeImage] Camera has initial focal length of 3283.200
[BundleInitializeImage] Adjusting...
[RefineCameraParameters] Calling with 442 points
[RefineCameraParameters] Error: 1.134
[RefineCameraParameters] Threshold = 8.000
[RefineCameraParameters] Exiting after 1 rounds with 442 / 442 points
[SifterApp::BundleAdjust[21]] Adjusting camera 47 (parent = -1)
[SfM] setting tracks for image 47
[BundleInitializeImage] Connecting existing matches...
[BundleInitializeImage] Initializing camera...
[find_projection_3x4_ransac] num_inliers = 420 (out of 474)
[find_projection_3x4_ransac] error = 1.813
[find_projection_3x4_ransac] Reverting to old solution
New error: 1.419e+00
[FindAndVerifyCamera] Removing point [70332] (reproj. error = 1889.758)
[FindAndVerifyCamera] Removing point [45506] (reproj. error = 4743.765)
[FindAndVerifyCamera] Removing point [33320] (reproj. error = 2067.977)
[FindAndVerifyCamera] Removing point [15420] (reproj. error = 5041.865)
[FindAndVerifyCamera] Removing point [11295] (reproj. error = 2819.362)
[FindAndVerifyCamera] Removing point [30036] (reproj. error = 5093.779)
[FindAndVerifyCamera] Removing point [5229] (reproj. error = 3668.022)
[FindAndVerifyCamera] Removing point [28085] (reproj. error = 3599.691)
[FindAndVerifyCamera] Removing point [28112] (reproj. error = 3580.130)
[FindAndVerifyCamera] Removing point [31756] (reproj. error = 1259.418)
[FindAndVerifyCamera] Removing point [31863] (reproj. error = 1375.725)
[FindAndVerifyCamera] Removing point [16114] (reproj. error = 6290.968)
[FindAndVerifyCamera] Removing point [28167] (reproj. error = 2153.061)
[FindAndVerifyCamera] Removing point [25219] (reproj. error = 1488.433)
[FindAndVerifyCamera] Removing point [25217] (reproj. error = 1153.877)
[FindAndVerifyCamera] Removing point [23825] (reproj. error = 7850.328)
[FindAndVerifyCamera] Removing point [26716] (reproj. error = 1394.367)
[FindAndVerifyCamera] Removing point [23782] (reproj. error = 1660.927)
[FindAndVerifyCamera] Removing point [32283] (reproj. error = 2153.374)
[FindAndVerifyCamera] Removing point [23786] (reproj. error = 6325.946)
[FindAndVerifyCamera] Removing point [9595] (reproj. error = 1492.200)
[FindAndVerifyCamera] Removing point [16485] (reproj. error = 2916.903)
[FindAndVerifyCamera] Removing point [26792] (reproj. error = 8895.421)
[FindAndVerifyCamera] Removing point [19155] (reproj. error = 137.466)
[BundleInitializeImage] Camera has initial focal length of 3283.200
[BundleInitializeImage] Adjusting...
[RefineCameraParameters] Calling with 450 points
[RefineCameraParameters] Error: 1.246
[RefineCameraParameters] Threshold = 8.000
[RefineCameraParameters] Removing point [31896] with reprojection error 17.221
[RefineCameraParameters] Calling with 449 points
[RefineCameraParameters] Error: 1.210
[RefineCameraParameters] Threshold = 8.000
[RefineCameraParameters] Exiting after 2 rounds with 449 / 450 points
[SifterApp::BundleAdjust] Adding new matches
[AddAllNewPoints] Added 2255 new points
[AddAllNewPoints] Ill-conditioned tracks: 7
[AddAllNewPoints] Bad reprojections: 334
[AddAllNewPoints] Failed cheirality checks: 6
[SifterApp::BundleAdjust] Number of points = 74429
initial motstr-SBA error 109342 [0.399358]
[run_sfm] Number of iterations: 47
info[6] = 4.000
[SfM] bundle adjustment took 122.41 seconds
[SfM] removing 0 outliers
[RemoveBadPointsAndCameras] Pruned 0 points
[SfM] focal length for image 0: 3811.36 (3283.2)
[SfM] focal length for image 1: 3421.13 (3283.2)
[SfM] focal length for image 2: 3407.6 (3283.2)
[SfM] focal length for image 3: 3551.96 (3283.2)
[SfM] focal length for image 4: 4027.24 (3283.2)
[SfM] focal length for image 5: 3633.81 (3283.2)
[SfM] focal length for image 6: 3569.07 (3283.2)
[SfM] focal length for image 7: 3523.04 (3283.2)
[SfM] focal length for image 8: 3830.48 (3283.2)
[SfM] focal length for image 9: 4137.88 (3283.2)
[SfM] focal length for image 10: 3862.6 (3283.2)
[SfM] focal length for image 11: 3635.43 (3283.2)
[SfM] focal length for image 12: 3862 (3283.2)
[SfM] focal length for image 13: 4248.35 (3283.2)
[SfM] focal length for image 14: 4655.02 (3283.2)
[SfM] focal length for image 15: 3944.16 (3283.2)
[SfM] focal length for image 16: 3877.71 (3283.2)
[SfM] focal length for image 17: 3636.73 (3283.2)
[SfM] focal length for image 18: 4148.82 (3283.2)
[SfM] focal length for image 19: 3369.97 (3283.2)
[SfM] focal length for image 20: 4148.42 (3283.2)
[SfM] focal length for image 21: 3816.93 (3283.2)
[SfM] focal length for image 22: 3902.81 (3283.2)
[SfM] focal length for image 23: 3989.12 (3283.2)
[SfM] focal length for image 24: 3509.42 (3283.2)
[SfM] focal length for image 25: 4024.34 (3283.2)
[SfM] focal length for image 26: 3513.46 (3283.2)
[SfM] focal length for image 27: 4304.92 (3283.2)
[SfM] focal length for image 28: 4009.79 (3283.2)
[SfM] focal length for image 29: 3857.08 (3283.2)
[SfM] focal length for image 30: 3823.23 (3283.2)
[SfM] focal length for image 31: 3961.63 (3283.2)
[SfM] focal length for image 32: 3667.19 (3283.2)
[SfM] focal length for image 33: 3889.94 (3283.2)
[SfM] focal length for image 34: 4303.13 (3283.2)
[SfM] focal length for image 35: 4050.36 (3283.2)
[SfM] focal length for image 36: 4825.81 (3283.2)
[SfM] focal length for image 37: 3446.85 (3283.2)
[SfM] focal length for image 38: 3835.3 (3283.2)
[SfM] focal length for image 39: 3833.63 (3283.2)
[SfM] focal length for image 40: 4346.54 (3283.2)
[SfM] focal length for image 41: 5111.52 (3283.2)
[SfM] focal length for image 42: 3915.68 (3283.2)
[SfM] focal length for image 43: 3853.35 (3283.2)
[SfM] focal length for image 44: 3980.69 (3283.2)
[SfM] focal length for image 45: 3992.1 (3283.2)
[SfM] focal length for image 46: 4080.21 (3283.2)
[SfM] focal length for image 47: 4212.66 (3283.2)
[SfM] focal length for image 48: 4004.83 (3283.2)
[SfM] focal length for image 49: 4093.64 (3283.2)
[SfM] focal length for image 50: 5942.23 (3283.2)
[SfM] focal length for image 51: 3923.08 (3283.2)
[SfM] focal length for image 52: 3845.52 (3283.2)
[SfM] focal length for image 53: 3943.97 (3283.2)
[SfM] focal length for image 54: 3883.97 (3283.2)
[SfM] focal length for image 55: 3772.24 (3283.2)
[SfM] focal length for image 56: 3559.58 (3283.2)
[SfM] focal length for image 57: 4107.17 (3283.2)
[SfM] focal length for image 58: 3794.83 (3283.2)
[SfM] focal length for image 59: 3751.79 (3283.2)
[SfM] focal length for image 60: 3609.62 (3283.2)
[SfM] focal length for image 61: 3389.25 (3283.2)
[SfM] focal length for image 62: 3099.11 (3283.2)
[SfM] focal length for image 63: 3489.41 (3283.2)
[SfM] focal length for image 64: 3884.65 (3283.2)
[SfM] focal length for image 65: 4386.52 (3283.2)
[SfM] focal length for image 66: 3784.14 (3283.2)
[SfM] focal length for image 67: 3638.27 (3283.2)
[SfM] focal length for image 68: 3241.33 (3283.2)
[SfM] focal length for image 69: 3159.07 (3283.2)
[SfM] focal length for image 70: 3507.43 (3283.2)
[SfM] focal length for image 71: 3464.96 (3283.2)
[SfM] focal length for image 72: 3208.57 (3283.2)
[SfM] focal length for image 73: 3104.13 (3283.2)
[SfM] focal length for image 74: 3202.67 (3283.2)
[SfM] focal length for image 75: 3365.07 (3283.2)
[SfM] focal length for image 76: 2680.9 (3283.2)
[SfM] focal length for image 77: 2770.66 (3283.2)
[SfM] focal length for image 78: 2973.21 (3283.2)
[SfM] focal length for image 79: 3234.18 (3283.2)
[SfM] focal length for image 80: 3541.65 (3283.2)
[SfM] focal length for image 81: 3123.59 (3283.2)
[SfM] focal length for image 82: 2845.4 (3283.2)
[SfM] focal length for image 83: 3034.54 (3283.2)
[SfM] focal length for image 84: 3036.57 (3283.2)
[SfM] focal length for image 85: 3761.08 (3283.2)
[SfM] focal length for image 86: 3064.18 (3283.2)
[SfM] focal length for image 87: 3573.25 (3283.2)
[SfM] focal length for image 88: 3479.25 (3283.2)
[SfM] focal length for image 89: 3523.49 (3283.2)
[SfM] focal length for image 90: 3925.35 (3283.2)
[SfM] focal length for image 91: 4123.18 (3283.2)
[SfM] focal length for image 92: 3719.12 (3283.2)
[SfM] focal length for image 93: 4739.5 (3283.2)
[SfM] focal length for image 94: 3864.95 (3283.2)
[SfM] focal length for image 95: 3700.46 (3283.2)
existing_matches[0] = 407
score[0] = 407.000
existing_matches[1] = 160
score[1] = 160.000
existing_matches[22] = 484
score[22] = 484.000
existing_matches[23] = 242
score[23] = 242.000
existing_matches[25] = 705
score[25] = 705.000
existing_matches[46] = 990
score[46] = 990.000
existing_matches[68] = 842
score[68] = 842.000
existing_matches[92] = 375
score[92] = 375.000
Error: parent not found
[SifterApp::BundleAdjust] max_matches = 990
[SifterApp::BundleAdjustFast] Registering 2 images
[SifterApp::BundleAdjustFast] Adjusting camera 46
[SifterApp::BundleAdjustFast] Adjusting camera 68
[SifterApp::BundleAdjust[22]] Adjusting camera 46 (parent = -1)
[SfM] setting tracks for image 46
[BundleInitializeImage] Connecting existing matches...
[BundleInitializeImage] Initializing camera...
[find_projection_3x4_ransac] num_inliers = 946 (out of 990)
[find_projection_3x4_ransac] error = 1.614
[find_projection_3x4_ransac] Reverting to old solution
New error: 1.082e+00
[FindAndVerifyCamera] Removing point [70332] (reproj. error = 1883.071)
[FindAndVerifyCamera] Removing point [15420] (reproj. error = 4991.064)
[FindAndVerifyCamera] Removing point [71883] (reproj. error = 2503.089)
[FindAndVerifyCamera] Removing point [32055] (reproj. error = 828.363)
[FindAndVerifyCamera] Removing point [71936] (reproj. error = 2638.301)
[FindAndVerifyCamera] Removing point [30036] (reproj. error = 5059.927)
[FindAndVerifyCamera] Removing point [32977] (reproj. error = 6169.167)
[FindAndVerifyCamera] Removing point [19947] (reproj. error = 2724.458)
[FindAndVerifyCamera] Removing point [26455] (reproj. error = 4253.001)
[FindAndVerifyCamera] Removing point [32196] (reproj. error = 2198.855)
[FindAndVerifyCamera] Removing point [16114] (reproj. error = 6229.846)
[FindAndVerifyCamera] Removing point [35650] (reproj. error = 4841.173)
[FindAndVerifyCamera] Removing point [25219] (reproj. error = 1473.557)
[FindAndVerifyCamera] Removing point [35531] (reproj. error = 3445.693)
[FindAndVerifyCamera] Removing point [25217] (reproj. error = 1139.240)
[FindAndVerifyCamera] Removing point [23825] (reproj. error = 7757.722)
[FindAndVerifyCamera] Removing point [19264] (reproj. error = 3288.649)
[BundleInitializeImage] Camera has initial focal length of 3283.200
[BundleInitializeImage] Adjusting...
[RefineCameraParameters] Calling with 973 points
[RefineCameraParameters] Error: 0.894
[RefineCameraParameters] Threshold = 8.000
[RefineCameraParameters] Exiting after 1 rounds with 973 / 973 points
[SifterApp::BundleAdjust[22]] Adjusting camera 68 (parent = -1)
[SfM] setting tracks for image 68
[BundleInitializeImage] Connecting existing matches...
[BundleInitializeImage] Initializing camera...
[find_projection_3x4_ransac] num_inliers = 791 (out of 842)
[find_projection_3x4_ransac] error = 1.498
[find_projection_3x4_ransac] Reverting to old solution
New error: 1.232e+00
[FindAndVerifyCamera] Removing point [15420] (reproj. error = 4966.089)
[FindAndVerifyCamera] Removing point [71971] (reproj. error = 6410.283)
[FindAndVerifyCamera] Removing point [31789] (reproj. error = 3171.309)
[FindAndVerifyCamera] Removing point [32196] (reproj. error = 2175.783)
[FindAndVerifyCamera] Removing point [25219] (reproj. error = 1462.611)
[FindAndVerifyCamera] Removing point [19268] (reproj. error = 4266.038)
[FindAndVerifyCamera] Removing point [28840] (reproj. error = 139.283)
[FindAndVerifyCamera] Removing point [24011] (reproj. error = 2717.717)
[FindAndVerifyCamera] Removing point [16327] (reproj. error = 4891.898)
[FindAndVerifyCamera] Removing point [37716] (reproj. error = 4545.884)
[FindAndVerifyCamera] Removing point [5662] (reproj. error = 4718.453)
[FindAndVerifyCamera] Removing point [29025] (reproj. error = 2737.483)
[FindAndVerifyCamera] Removing point [35760] (reproj. error = 494.140)
[FindAndVerifyCamera] Removing point [16256] (reproj. error = 8414.793)
[FindAndVerifyCamera] Removing point [16120] (reproj. error = 3226.294)
[BundleInitializeImage] Camera has initial focal length of 3283.200
[BundleInitializeImage] Adjusting...
[RefineCameraParameters] Calling with 827 points
[RefineCameraParameters] Error: 0.986
[RefineCameraParameters] Threshold = 8.000
[RefineCameraParameters] Exiting after 1 rounds with 827 / 827 points
[SifterApp::BundleAdjust] Adding new matches
[AddAllNewPoints] Added 1964 new points
[AddAllNewPoints] Ill-conditioned tracks: 4
[AddAllNewPoints] Bad reprojections: 342
[AddAllNewPoints] Failed cheirality checks: 6
[SifterApp::BundleAdjust] Number of points = 76393
initial motstr-SBA error 111041 [0.396833]
[run_sfm] Number of iterations: 55
info[6] = 8.000
[SfM] bundle adjustment took 166.68 seconds
[SfM] removing 0 outliers
[RemoveBadPointsAndCameras] Pruned 0 points
[SfM] focal length for image 0: 3813.22 (3283.2)
[SfM] focal length for image 1: 3424.25 (3283.2)
[SfM] focal length for image 2: 3409.68 (3283.2)
[SfM] focal length for image 3: 3553.58 (3283.2)
[SfM] focal length for image 4: 4031 (3283.2)
[SfM] focal length for image 5: 3636.37 (3283.2)
[SfM] focal length for image 6: 3570.46 (3283.2)
[SfM] focal length for image 7: 3523.95 (3283.2)
[SfM] focal length for image 8: 3832.25 (3283.2)
[SfM] focal length for image 9: 4140.14 (3283.2)
[SfM] focal length for image 10: 3865.67 (3283.2)
[SfM] focal length for image 11: 3636.03 (3283.2)
[SfM] focal length for image 12: 3858.4 (3283.2)
[SfM] focal length for image 13: 4252.46 (3283.2)
[SfM] focal length for image 14: 4655.12 (3283.2)
[SfM] focal length for image 15: 3945.68 (3283.2)
[SfM] focal length for image 16: 3877.34 (3283.2)
[SfM] focal length for image 17: 3632.9 (3283.2)
[SfM] focal length for image 18: 4152.31 (3283.2)
[SfM] focal length for image 19: 3371.16 (3283.2)
[SfM] focal length for image 20: 4148.93 (3283.2)
[SfM] focal length for image 21: 3819.24 (3283.2)
[SfM] focal length for image 22: 3904.68 (3283.2)
[SfM] focal length for image 23: 3979.98 (3283.2)
[SfM] focal length for image 24: 3510.42 (3283.2)
[SfM] focal length for image 25: 4018.8 (3283.2)
[SfM] focal length for image 26: 3516.01 (3283.2)
[SfM] focal length for image 27: 4303 (3283.2)
[SfM] focal length for image 28: 4015.27 (3283.2)
[SfM] focal length for image 29: 3861.01 (3283.2)
[SfM] focal length for image 30: 3827.18 (3283.2)
[SfM] focal length for image 31: 3962.94 (3283.2)
[SfM] focal length for image 32: 3662.59 (3283.2)
[SfM] focal length for image 33: 3891.84 (3283.2)
[SfM] focal length for image 34: 4273.58 (3283.2)
[SfM] focal length for image 35: 4080.38 (3283.2)
[SfM] focal length for image 36: 4790.47 (3283.2)
[SfM] focal length for image 37: 3450.05 (3283.2)
[SfM] focal length for image 38: 3838.61 (3283.2)
[SfM] focal length for image 39: 3822.45 (3283.2)
[SfM] focal length for image 40: 4403.66 (3283.2)
[SfM] focal length for image 41: 5114.84 (3283.2)
[SfM] focal length for image 42: 3919.38 (3283.2)
[SfM] focal length for image 43: 3856.86 (3283.2)
[SfM] focal length for image 44: 3985.11 (3283.2)
[SfM] focal length for image 45: 3991.04 (3283.2)
[SfM] focal length for image 46: 4071.25 (3283.2)
[SfM] focal length for image 47: 4230.52 (3283.2)
[SfM] focal length for image 48: 4011.41 (3283.2)
[SfM] focal length for image 49: 4009.67 (3283.2)
[SfM] focal length for image 50: 6039.22 (3283.2)
[SfM] focal length for image 51: 3928.22 (3283.2)
[SfM] focal length for image 52: 3850.9 (3283.2)
[SfM] focal length for image 53: 3948.2 (3283.2)
[SfM] focal length for image 54: 3887.43 (3283.2)
[SfM] focal length for image 55: 3774.75 (3283.2)
[SfM] focal length for image 56: 3560.47 (3283.2)
[SfM] focal length for image 57: 4107.44 (3283.2)
[SfM] focal length for image 58: 3797.53 (3283.2)
[SfM] focal length for image 59: 3753.28 (3283.2)
[SfM] focal length for image 60: 3611.52 (3283.2)
[SfM] focal length for image 61: 3390.55 (3283.2)
[SfM] focal length for image 62: 3099.07 (3283.2)
[SfM] focal length for image 63: 3491.02 (3283.2)
[SfM] focal length for image 64: 3885.48 (3283.2)
[SfM] focal length for image 65: 4385.79 (3283.2)
[SfM] focal length for image 66: 3785.97 (3283.2)
[SfM] focal length for image 67: 3639.42 (3283.2)
[SfM] focal length for image 68: 3242.52 (3283.2)
[SfM] focal length for image 69: 3158.91 (3283.2)
[SfM] focal length for image 70: 3509.04 (3283.2)
[SfM] focal length for image 71: 3464.76 (3283.2)
[SfM] focal length for image 72: 3209.54 (3283.2)
[SfM] focal length for image 73: 3105.01 (3283.2)
[SfM] focal length for image 74: 3203.77 (3283.2)
[SfM] focal length for image 75: 3365.82 (3283.2)
[SfM] focal length for image 76: 2681.67 (3283.2)
[SfM] focal length for image 77: 2770.54 (3283.2)
[SfM] focal length for image 78: 2973.93 (3283.2)
[SfM] focal length for image 79: 3234.75 (3283.2)
[SfM] focal length for image 80: 3542.64 (3283.2)
[SfM] focal length for image 81: 3122.89 (3283.2)
[SfM] focal length for image 82: 2845.51 (3283.2)
[SfM] focal length for image 83: 3034.77 (3283.2)
[SfM] focal length for image 84: 3037.26 (3283.2)
[SfM] focal length for image 85: 3762.62 (3283.2)
[SfM] focal length for image 86: 3063.96 (3283.2)
[SfM] focal length for image 87: 3574.54 (3283.2)
[SfM] focal length for image 88: 3479.45 (3283.2)
[SfM] focal length for image 89: 3524.22 (3283.2)
[SfM] focal length for image 90: 3846.29 (3283.2)
[SfM] focal length for image 91: 4036.85 (3283.2)
[SfM] focal length for image 92: 3983.01 (3283.2)
[SfM] focal length for image 93: 4747.02 (3283.2)
[SfM] focal length for image 94: 3776.72 (3283.2)
[SfM] focal length for image 95: 3755.67 (3283.2)
[SfM] focal length for image 96: 3763.62 (3283.2)
[SfM] focal length for image 97: 3821.5 (3283.2)
existing_matches[0] = 407
score[0] = 407.000
existing_matches[1] = 160
score[1] = 160.000
existing_matches[22] = 517
score[22] = 517.000
existing_matches[23] = 282
score[23] = 282.000
existing_matches[25] = 778
score[25] = 778.000
existing_matches[92] = 650
score[92] = 650.000
Error: parent not found
[SifterApp::BundleAdjust] max_matches = 778
[SifterApp::BundleAdjustFast] Registering 2 images
[SifterApp::BundleAdjustFast] Adjusting camera 25
[SifterApp::BundleAdjustFast] Adjusting camera 92
[SifterApp::BundleAdjust[23]] Adjusting camera 25 (parent = -1)
[SfM] setting tracks for image 25
[BundleInitializeImage] Connecting existing matches...
[BundleInitializeImage] Initializing camera...
[find_projection_3x4_ransac] num_inliers = 727 (out of 778)
[find_projection_3x4_ransac] error = 1.795
[find_projection_3x4_ransac] Reverting to old solution
New error: 1.213e+00
[FindAndVerifyCamera] Removing point [70332] (reproj. error = 1919.888)
[FindAndVerifyCamera] Removing point [44831] (reproj. error = 2587.685)
[FindAndVerifyCamera] Removing point [31836] (reproj. error = 4251.759)
[FindAndVerifyCamera] Removing point [31837] (reproj. error = 4251.759)
[FindAndVerifyCamera] Removing point [36437] (reproj. error = 4657.065)
[FindAndVerifyCamera] Removing point [10442] (reproj. error = 5819.537)
[FindAndVerifyCamera] Removing point [25805] (reproj. error = 1704.355)
[FindAndVerifyCamera] Removing point [45506] (reproj. error = 4909.497)
[FindAndVerifyCamera] Removing point [27356] (reproj. error = 2338.657)
[FindAndVerifyCamera] Removing point [11295] (reproj. error = 2880.805)
[FindAndVerifyCamera] Removing point [70648] (reproj. error = 7692.749)
[FindAndVerifyCamera] Removing point [32055] (reproj. error = 3254.797)
[FindAndVerifyCamera] Removing point [205] (reproj. error = 5100.120)
[FindAndVerifyCamera] Removing point [31789] (reproj. error = 3238.314)
[FindAndVerifyCamera] Removing point [30036] (reproj. error = 5187.581)
[FindAndVerifyCamera] Removing point [25729] (reproj. error = 3903.602)
[FindAndVerifyCamera] Removing point [25418] (reproj. error = 1924.693)
[FindAndVerifyCamera] Removing point [31923] (reproj. error = 6245.907)
[FindAndVerifyCamera] Removing point [74868] (reproj. error = 4239.284)
[BundleInitializeImage] Camera has initial focal length of 3283.200
[BundleInitializeImage] Adjusting...
[RefineCameraParameters] Calling with 759 points
[RefineCameraParameters] Error: 1.041
[RefineCameraParameters] Threshold = 8.000
[RefineCameraParameters] Exiting after 1 rounds with 759 / 759 points
[SifterApp::BundleAdjust[23]] Adjusting camera 92 (parent = -1)
[SfM] setting tracks for image 92
[BundleInitializeImage] Connecting existing matches...
[BundleInitializeImage] Initializing camera...
[find_projection_3x4_ransac] num_inliers = 590 (out of 650)
[find_projection_3x4_ransac] error = 1.632
[find_projection_3x4_ransac] Reverting to old solution
New error: 1.300e+00
[FindAndVerifyCamera] Removing point [28402] (reproj. error = 5743.372)
[FindAndVerifyCamera] Removing point [26715] (reproj. error = 2946.847)
[FindAndVerifyCamera] Removing point [20444] (reproj. error = 2274.892)
[FindAndVerifyCamera] Removing point [28840] (reproj. error = 139.321)
[FindAndVerifyCamera] Removing point [24011] (reproj. error = 2714.386)
[FindAndVerifyCamera] Removing point [35760] (reproj. error = 493.636)
[FindAndVerifyCamera] Removing point [16120] (reproj. error = 3246.628)
[FindAndVerifyCamera] Removing point [16473] (reproj. error = 3231.087)
[FindAndVerifyCamera] Removing point [16472] (reproj. error = 3231.087)
[FindAndVerifyCamera] Removing point [33102] (reproj. error = 1220.204)
[FindAndVerifyCamera] Removing point [29868] (reproj. error = 1121.307)
[BundleInitializeImage] Camera has initial focal length of 3283.200
[BundleInitializeImage] Adjusting...
[RefineCameraParameters] Calling with 639 points
[RefineCameraParameters] Error: 1.179
[RefineCameraParameters] Threshold = 8.000
[RefineCameraParameters] Exiting after 1 rounds with 639 / 639 points
[SifterApp::BundleAdjust] Adding new matches
[AddAllNewPoints] Added 1474 new points
[AddAllNewPoints] Ill-conditioned tracks: 5
[AddAllNewPoints] Bad reprojections: 353
[AddAllNewPoints] Failed cheirality checks: 5
[SifterApp::BundleAdjust] Number of points = 77867
initial motstr-SBA error 112559 [0.396104]
[run_sfm] Number of iterations: 84
info[6] = 8.000
[SfM] bundle adjustment took 235.21 seconds
[SfM] removing 0 outliers
[RemoveBadPointsAndCameras] Pruned 0 points
[SfM] focal length for image 0: 3820.57 (3283.2)
[SfM] focal length for image 1: 3426.81 (3283.2)
[SfM] focal length for image 2: 3412.36 (3283.2)
[SfM] focal length for image 3: 3556.67 (3283.2)
[SfM] focal length for image 4: 4035.92 (3283.2)
[SfM] focal length for image 5: 3639.66 (3283.2)
[SfM] focal length for image 6: 3572.98 (3283.2)
[SfM] focal length for image 7: 3528.07 (3283.2)
[SfM] focal length for image 8: 3834.17 (3283.2)
[SfM] focal length for image 9: 4142.1 (3283.2)
[SfM] focal length for image 10: 3868.99 (3283.2)
[SfM] focal length for image 11: 3639.01 (3283.2)
[SfM] focal length for image 12: 3865.69 (3283.2)
[SfM] focal length for image 13: 4257.05 (3283.2)
[SfM] focal length for image 14: 4658.01 (3283.2)
[SfM] focal length for image 15: 3948.17 (3283.2)
[SfM] focal length for image 16: 3878.63 (3283.2)
[SfM] focal length for image 17: 3641.8 (3283.2)
[SfM] focal length for image 18: 4158.81 (3283.2)
[SfM] focal length for image 19: 3372.06 (3283.2)
[SfM] focal length for image 20: 4154.33 (3283.2)
[SfM] focal length for image 21: 3820.19 (3283.2)
[SfM] focal length for image 22: 3907.86 (3283.2)
[SfM] focal length for image 23: 3997.7 (3283.2)
[SfM] focal length for image 24: 3512.8 (3283.2)
[SfM] focal length for image 25: 4029.87 (3283.2)
[SfM] focal length for image 26: 3518.06 (3283.2)
[SfM] focal length for image 27: 4306.95 (3283.2)
[SfM] focal length for image 28: 4022.98 (3283.2)
[SfM] focal length for image 29: 3859.86 (3283.2)
[SfM] focal length for image 30: 3826.73 (3283.2)
[SfM] focal length for image 31: 3963.55 (3283.2)
[SfM] focal length for image 32: 3692.1 (3283.2)
[SfM] focal length for image 33: 3907.63 (3283.2)
[SfM] focal length for image 34: 4279.27 (3283.2)
[SfM] focal length for image 35: 4098.98 (3283.2)
[SfM] focal length for image 36: 4783.42 (3283.2)
[SfM] focal length for image 37: 3455.65 (3283.2)
[SfM] focal length for image 38: 3838.92 (3283.2)
[SfM] focal length for image 39: 3875.53 (3283.2)
[SfM] focal length for image 40: 4422.74 (3283.2)
[SfM] focal length for image 41: 5143.75 (3283.2)
[SfM] focal length for image 42: 3917.59 (3283.2)
[SfM] focal length for image 43: 3854.52 (3283.2)
[SfM] focal length for image 44: 3980.98 (3283.2)
[SfM] focal length for image 45: 3966.5 (3283.2)
[SfM] focal length for image 46: 4037.44 (3283.2)
[SfM] focal length for image 47: 4259.69 (3283.2)
[SfM] focal length for image 48: 4007.35 (3283.2)
[SfM] focal length for image 49: 4044.36 (3283.2)
[SfM] focal length for image 50: 6115 (3283.2)
[SfM] focal length for image 51: 3926.97 (3283.2)
[SfM] focal length for image 52: 3841.31 (3283.2)
[SfM] focal length for image 53: 3944.37 (3283.2)
[SfM] focal length for image 54: 3886.15 (3283.2)
[SfM] focal length for image 55: 3774.46 (3283.2)
[SfM] focal length for image 56: 3561.63 (3283.2)
[SfM] focal length for image 57: 4094.52 (3283.2)
[SfM] focal length for image 58: 3796.84 (3283.2)
[SfM] focal length for image 59: 3753.59 (3283.2)
[SfM] focal length for image 60: 3611.92 (3283.2)
[SfM] focal length for image 61: 3391.12 (3283.2)
[SfM] focal length for image 62: 3100.32 (3283.2)
[SfM] focal length for image 63: 3492.51 (3283.2)
[SfM] focal length for image 64: 3885.87 (3283.2)
[SfM] focal length for image 65: 4385.08 (3283.2)
[SfM] focal length for image 66: 3786.09 (3283.2)
[SfM] focal length for image 67: 3639.92 (3283.2)
[SfM] focal length for image 68: 3242.97 (3283.2)
[SfM] focal length for image 69: 3159.65 (3283.2)
[SfM] focal length for image 70: 3510.1 (3283.2)
[SfM] focal length for image 71: 3465.37 (3283.2)
[SfM] focal length for image 72: 3209.59 (3283.2)
[SfM] focal length for image 73: 3105.1 (3283.2)
[SfM] focal length for image 74: 3204.62 (3283.2)
[SfM] focal length for image 75: 3366.73 (3283.2)
[SfM] focal length for image 76: 2681.74 (3283.2)
[SfM] focal length for image 77: 2771.03 (3283.2)
[SfM] focal length for image 78: 2974.59 (3283.2)
[SfM] focal length for image 79: 3235.48 (3283.2)
[SfM] focal length for image 80: 3543.1 (3283.2)
[SfM] focal length for image 81: 3123.29 (3283.2)
[SfM] focal length for image 82: 2845.92 (3283.2)
[SfM] focal length for image 83: 3035.31 (3283.2)
[SfM] focal length for image 84: 3037.94 (3283.2)
[SfM] focal length for image 85: 3762.92 (3283.2)
[SfM] focal length for image 86: 3064.33 (3283.2)
[SfM] focal length for image 87: 3575.02 (3283.2)
[SfM] focal length for image 88: 3479.88 (3283.2)
[SfM] focal length for image 89: 3524.63 (3283.2)
[SfM] focal length for image 90: 3902.23 (3283.2)
[SfM] focal length for image 91: 4120.59 (3283.2)
[SfM] focal length for image 92: 3947.82 (3283.2)
[SfM] focal length for image 93: 4731.48 (3283.2)
[SfM] focal length for image 94: 3870.29 (3283.2)
[SfM] focal length for image 95: 3836.83 (3283.2)
[SfM] focal length for image 96: 3814.14 (3283.2)
[SfM] focal length for image 97: 3888.11 (3283.2)
[SfM] focal length for image 98: 4090.69 (3283.2)
[SfM] focal length for image 99: 5516.39 (3283.2)
existing_matches[0] = 443
score[0] = 443.000
existing_matches[1] = 332
score[1] = 332.000
existing_matches[22] = 886
score[22] = 886.000
existing_matches[23] = 470
score[23] = 470.000
Error: parent not found
[SifterApp::BundleAdjust] max_matches = 886
[SifterApp::BundleAdjustFast] Registering 1 images
[SifterApp::BundleAdjustFast] Adjusting camera 22
[SifterApp::BundleAdjust[24]] Adjusting camera 22 (parent = -1)
[SfM] setting tracks for image 22
[BundleInitializeImage] Connecting existing matches...
[BundleInitializeImage] Initializing camera...
[find_projection_3x4_ransac] num_inliers = 860 (out of 886)
[find_projection_3x4_ransac] error = 1.497
[find_projection_3x4_ransac] Reverting to old solution
New error: 1.162e+00
[FindAndVerifyCamera] Removing point [70332] (reproj. error = 1889.297)
[FindAndVerifyCamera] Removing point [25805] (reproj. error = 1699.059)
[FindAndVerifyCamera] Removing point [37926] (reproj. error = 4367.629)
[FindAndVerifyCamera] Removing point [21910] (reproj. error = 3648.657)
[FindAndVerifyCamera] Removing point [45506] (reproj. error = 4969.472)
[FindAndVerifyCamera] Removing point [43218] (reproj. error = 2219.874)
[FindAndVerifyCamera] Removing point [37305] (reproj. error = 2247.251)
[FindAndVerifyCamera] Removing point [11295] (reproj. error = 2870.027)
[FindAndVerifyCamera] Removing point [30221] (reproj. error = 2553.485)
[FindAndVerifyCamera] Removing point [71883] (reproj. error = 2429.786)
[FindAndVerifyCamera] Removing point [70648] (reproj. error = 7558.293)
[FindAndVerifyCamera] Removing point [32055] (reproj. error = 830.424)
[FindAndVerifyCamera] Removing point [31998] (reproj. error = 3035.696)
[FindAndVerifyCamera] Removing point [31363] (reproj. error = 5447.481)
[BundleInitializeImage] Camera has initial focal length of 3283.200
[BundleInitializeImage] Adjusting...
[RefineCameraParameters] Calling with 872 points
[RefineCameraParameters] Error: 1.008
[RefineCameraParameters] Threshold = 8.000
[RefineCameraParameters] Exiting after 1 rounds with 872 / 872 points
[SifterApp::BundleAdjust] Adding new matches
[AddAllNewPoints] Added 932 new points
[AddAllNewPoints] Ill-conditioned tracks: 4
[AddAllNewPoints] Bad reprojections: 356
[AddAllNewPoints] Failed cheirality checks: 5
[SifterApp::BundleAdjust] Number of points = 78799
initial motstr-SBA error 112419 [0.391839]
[run_sfm] Number of iterations: 24
info[6] = 8.000
[SfM] bundle adjustment took 59.88 seconds
[SfM] removing 0 outliers
[RemoveBadPointsAndCameras] Pruned 0 points
[SfM] focal length for image 0: 3814.55 (3283.2)
[SfM] focal length for image 1: 3420.4 (3283.2)
[SfM] focal length for image 2: 3406.63 (3283.2)
[SfM] focal length for image 3: 3550.89 (3283.2)
[SfM] focal length for image 4: 4030.4 (3283.2)
[SfM] focal length for image 5: 3634.75 (3283.2)
[SfM] focal length for image 6: 3566.79 (3283.2)
[SfM] focal length for image 7: 3521.63 (3283.2)
[SfM] focal length for image 8: 3828.11 (3283.2)
[SfM] focal length for image 9: 4137.45 (3283.2)
[SfM] focal length for image 10: 3863.75 (3283.2)
[SfM] focal length for image 11: 3632.73 (3283.2)
[SfM] focal length for image 12: 3858.12 (3283.2)
[SfM] focal length for image 13: 4251.53 (3283.2)
[SfM] focal length for image 14: 4651.45 (3283.2)
[SfM] focal length for image 15: 3942.89 (3283.2)
[SfM] focal length for image 16: 3870.72 (3283.2)
[SfM] focal length for image 17: 3634.13 (3283.2)
[SfM] focal length for image 18: 4155.42 (3283.2)
[SfM] focal length for image 19: 3366.65 (3283.2)
[SfM] focal length for image 20: 4147.57 (3283.2)
[SfM] focal length for image 21: 3812.06 (3283.2)
[SfM] focal length for image 22: 3898.71 (3283.2)
[SfM] focal length for image 23: 3985.18 (3283.2)
[SfM] focal length for image 24: 3507.33 (3283.2)
[SfM] focal length for image 25: 4023.07 (3283.2)
[SfM] focal length for image 26: 3512.29 (3283.2)
[SfM] focal length for image 27: 4302.13 (3283.2)
[SfM] focal length for image 28: 4019.56 (3283.2)
[SfM] focal length for image 29: 3848.55 (3283.2)
[SfM] focal length for image 30: 3816.28 (3283.2)
[SfM] focal length for image 31: 3959.15 (3283.2)
[SfM] focal length for image 32: 3673.22 (3283.2)
[SfM] focal length for image 33: 3888.93 (3283.2)
[SfM] focal length for image 34: 4275.58 (3283.2)
[SfM] focal length for image 35: 4095.24 (3283.2)
[SfM] focal length for image 36: 4779.86 (3283.2)
[SfM] focal length for image 37: 3457.95 (3283.2)
[SfM] focal length for image 38: 3829.03 (3283.2)
[SfM] focal length for image 39: 3846.46 (3283.2)
[SfM] focal length for image 40: 4414.3 (3283.2)
[SfM] focal length for image 41: 5145.64 (3283.2)
[SfM] focal length for image 42: 3907.26 (3283.2)
[SfM] focal length for image 43: 3844.12 (3283.2)
[SfM] focal length for image 44: 3968.28 (3283.2)
[SfM] focal length for image 45: 3955.64 (3283.2)
[SfM] focal length for image 46: 4038.73 (3283.2)
[SfM] focal length for image 47: 4259.32 (3283.2)
[SfM] focal length for image 48: 3993.77 (3283.2)
[SfM] focal length for image 49: 4056.85 (3283.2)
[SfM] focal length for image 50: 6116.3 (3283.2)
[SfM] focal length for image 51: 3901.02 (3283.2)
[SfM] focal length for image 52: 3815.01 (3283.2)
[SfM] focal length for image 53: 3928.86 (3283.2)
[SfM] focal length for image 54: 3875.94 (3283.2)
[SfM] focal length for image 55: 3767.3 (3283.2)
[SfM] focal length for image 56: 3557.19 (3283.2)
[SfM] focal length for image 57: 4036.02 (3283.2)
[SfM] focal length for image 58: 3789.99 (3283.2)
[SfM] focal length for image 59: 3749.57 (3283.2)
[SfM] focal length for image 60: 3606.76 (3283.2)
[SfM] focal length for image 61: 3387.29 (3283.2)
[SfM] focal length for image 62: 3097.55 (3283.2)
[SfM] focal length for image 63: 3487.74 (3283.2)
[SfM] focal length for image 64: 3880.27 (3283.2)
[SfM] focal length for image 65: 4376.64 (3283.2)
[SfM] focal length for image 66: 3781.75 (3283.2)
[SfM] focal length for image 67: 3636.17 (3283.2)
[SfM] focal length for image 68: 3239.82 (3283.2)
[SfM] focal length for image 69: 3158.07 (3283.2)
[SfM] focal length for image 70: 3504.93 (3283.2)
[SfM] focal length for image 71: 3459.34 (3283.2)
[SfM] focal length for image 72: 3207.3 (3283.2)
[SfM] focal length for image 73: 3102.9 (3283.2)
[SfM] focal length for image 74: 3200.7 (3283.2)
[SfM] focal length for image 75: 3361.74 (3283.2)
[SfM] focal length for image 76: 2679.83 (3283.2)
[SfM] focal length for image 77: 2770.01 (3283.2)
[SfM] focal length for image 78: 2972.14 (3283.2)
[SfM] focal length for image 79: 3230.74 (3283.2)
[SfM] focal length for image 80: 3540.11 (3283.2)
[SfM] focal length for image 81: 3123.35 (3283.2)
[SfM] focal length for image 82: 2844.68 (3283.2)
[SfM] focal length for image 83: 3033.56 (3283.2)
[SfM] focal length for image 84: 3035.25 (3283.2)
[SfM] focal length for image 85: 3759.41 (3283.2)
[SfM] focal length for image 86: 3063.35 (3283.2)
[SfM] focal length for image 87: 3571.93 (3283.2)
[SfM] focal length for image 88: 3478.38 (3283.2)
[SfM] focal length for image 89: 3522.43 (3283.2)
[SfM] focal length for image 90: 3915.87 (3283.2)
[SfM] focal length for image 91: 4157.4 (3283.2)
[SfM] focal length for image 92: 3951.29 (3283.2)
[SfM] focal length for image 93: 4697.01 (3283.2)
[SfM] focal length for image 94: 3876.48 (3283.2)
[SfM] focal length for image 95: 3823.64 (3283.2)
[SfM] focal length for image 96: 3835.67 (3283.2)
[SfM] focal length for image 97: 3896.98 (3283.2)
[SfM] focal length for image 98: 3977.5 (3283.2)
[SfM] focal length for image 99: 5510.51 (3283.2)
[SfM] focal length for image 100: 4030.94 (3283.2)
existing_matches[0] = 516
score[0] = 516.000
existing_matches[1] = 590
score[1] = 590.000
existing_matches[23] = 719
score[23] = 719.000
Error: parent not found
[SifterApp::BundleAdjust] max_matches = 719
[SifterApp::BundleAdjustFast] Registering 2 images
[SifterApp::BundleAdjustFast] Adjusting camera 1
[SifterApp::BundleAdjustFast] Adjusting camera 23
[SifterApp::BundleAdjust[25]] Adjusting camera 1 (parent = -1)
[SfM] setting tracks for image 1
[BundleInitializeImage] Connecting existing matches...
[BundleInitializeImage] Initializing camera...
[find_projection_3x4_ransac] num_inliers = 569 (out of 590)
[find_projection_3x4_ransac] error = 1.457
[find_projection_3x4_ransac] Reverting to old solution
New error: 1.150e+00
[FindAndVerifyCamera] Removing point [71429] (reproj. error = 561.274)
[FindAndVerifyCamera] Removing point [76731] (reproj. error = 2887.739)
[FindAndVerifyCamera] Removing point [30428] (reproj. error = 4754.728)
[FindAndVerifyCamera] Removing point [31836] (reproj. error = 4341.964)
[FindAndVerifyCamera] Removing point [31837] (reproj. error = 4341.964)
[FindAndVerifyCamera] Removing point [36437] (reproj. error = 5008.722)
[FindAndVerifyCamera] Removing point [27967] (reproj. error = 3421.070)
[FindAndVerifyCamera] Removing point [41088] (reproj. error = 1590.534)
[FindAndVerifyCamera] Removing point [10442] (reproj. error = 5953.545)
[FindAndVerifyCamera] Removing point [25805] (reproj. error = 1740.659)
[FindAndVerifyCamera] Removing point [37186] (reproj. error = 3288.754)
[FindAndVerifyCamera] Removing point [23848] (reproj. error = 4553.430)
[FindAndVerifyCamera] Removing point [8623] (reproj. error = 8129.262)
[FindAndVerifyCamera] Removing point [42678] (reproj. error = 975.564)
[FindAndVerifyCamera] Removing point [37926] (reproj. error = 2482.096)
[BundleInitializeImage] Camera has initial focal length of 3283.200
[BundleInitializeImage] Adjusting...
[RefineCameraParameters] Calling with 575 points
[RefineCameraParameters] Error: 1.073
[RefineCameraParameters] Threshold = 8.000
[RefineCameraParameters] Exiting after 1 rounds with 575 / 575 points
[SifterApp::BundleAdjust[25]] Adjusting camera 23 (parent = -1)
[SfM] setting tracks for image 23
[BundleInitializeImage] Connecting existing matches...
[BundleInitializeImage] Initializing camera...
[find_projection_3x4_ransac] num_inliers = 686 (out of 719)
[find_projection_3x4_ransac] error = 1.529
[find_projection_3x4_ransac] Reverting to old solution
New error: 1.231e+00
[FindAndVerifyCamera] Removing point [70332] (reproj. error = 1910.093)
[FindAndVerifyCamera] Removing point [31836] (reproj. error = 4284.278)
[FindAndVerifyCamera] Removing point [31837] (reproj. error = 4284.278)
[FindAndVerifyCamera] Removing point [27967] (reproj. error = 3385.206)
[FindAndVerifyCamera] Removing point [10442] (reproj. error = 5842.012)
[FindAndVerifyCamera] Removing point [37926] (reproj. error = 4422.428)
[FindAndVerifyCamera] Removing point [28513] (reproj. error = 7598.206)
[FindAndVerifyCamera] Removing point [21910] (reproj. error = 3675.320)
[FindAndVerifyCamera] Removing point [45506] (reproj. error = 4998.385)
[FindAndVerifyCamera] Removing point [71883] (reproj. error = 2467.262)
[FindAndVerifyCamera] Removing point [70648] (reproj. error = 7623.608)
[FindAndVerifyCamera] Removing point [32055] (reproj. error = 3262.630)
[FindAndVerifyCamera] Removing point [73247] (reproj. error = 5843.100)
[FindAndVerifyCamera] Removing point [16069] (reproj. error = 6640.243)
[FindAndVerifyCamera] Removing point [76753] (reproj. error = 3159.551)
[BundleInitializeImage] Camera has initial focal length of 3283.200
[BundleInitializeImage] Adjusting...
[RefineCameraParameters] Calling with 704 points
[RefineCameraParameters] Error: 1.059
[RefineCameraParameters] Threshold = 8.000
[RefineCameraParameters] Removing point [75729] with reprojection error 8.223
[RefineCameraParameters] Calling with 703 points
[RefineCameraParameters] Error: 1.048
[RefineCameraParameters] Threshold = 8.000
[RefineCameraParameters] Exiting after 2 rounds with 703 / 704 points
[SifterApp::BundleAdjust] Adding new matches
[AddAllNewPoints] Added 1349 new points
[AddAllNewPoints] Ill-conditioned tracks: 4
[AddAllNewPoints] Bad reprojections: 362
[AddAllNewPoints] Failed cheirality checks: 5
[SifterApp::BundleAdjust] Number of points = 80148
initial motstr-SBA error 114459 [0.393289]
[run_sfm] Number of iterations: 26
info[6] = 8.000
[SfM] bundle adjustment took 67.8 seconds
[SfM] removing 0 outliers
[RemoveBadPointsAndCameras] Pruned 0 points
[SfM] focal length for image 0: 3817.49 (3283.2)
[SfM] focal length for image 1: 3416.59 (3283.2)
[SfM] focal length for image 2: 3402.17 (3283.2)
[SfM] focal length for image 3: 3546.71 (3283.2)
[SfM] focal length for image 4: 4029.37 (3283.2)
[SfM] focal length for image 5: 3632.38 (3283.2)
[SfM] focal length for image 6: 3560.8 (3283.2)
[SfM] focal length for image 7: 3517.89 (3283.2)
[SfM] focal length for image 8: 3827.03 (3283.2)
[SfM] focal length for image 9: 4138.42 (3283.2)
[SfM] focal length for image 10: 3865.11 (3283.2)
[SfM] focal length for image 11: 3627.75 (3283.2)
[SfM] focal length for image 12: 3860.01 (3283.2)
[SfM] focal length for image 13: 4255.28 (3283.2)
[SfM] focal length for image 14: 4653.49 (3283.2)
[SfM] focal length for image 15: 3944.41 (3283.2)
[SfM] focal length for image 16: 3869.06 (3283.2)
[SfM] focal length for image 17: 3633.99 (3283.2)
[SfM] focal length for image 18: 4160.36 (3283.2)
[SfM] focal length for image 19: 3364.59 (3283.2)
[SfM] focal length for image 20: 4150.98 (3283.2)
[SfM] focal length for image 21: 3798.97 (3283.2)
[SfM] focal length for image 22: 3887.8 (3283.2)
[SfM] focal length for image 23: 3995.01 (3283.2)
[SfM] focal length for image 24: 3501.95 (3283.2)
[SfM] focal length for image 25: 4037.15 (3283.2)
[SfM] focal length for image 26: 3508.93 (3283.2)
[SfM] focal length for image 27: 4312.69 (3283.2)
[SfM] focal length for image 28: 4022.93 (3283.2)
[SfM] focal length for image 29: 3827.63 (3283.2)
[SfM] focal length for image 30: 3797.29 (3283.2)
[SfM] focal length for image 31: 3953.25 (3283.2)
[SfM] focal length for image 32: 3677.71 (3283.2)
[SfM] focal length for image 33: 3905.04 (3283.2)
[SfM] focal length for image 34: 4306.98 (3283.2)
[SfM] focal length for image 35: 4120.08 (3283.2)
[SfM] focal length for image 36: 4800.58 (3283.2)
[SfM] focal length for image 37: 3449.06 (3283.2)
[SfM] focal length for image 38: 3812.54 (3283.2)
[SfM] focal length for image 39: 3873.85 (3283.2)
[SfM] focal length for image 40: 4442.31 (3283.2)
[SfM] focal length for image 41: 5162.2 (3283.2)
[SfM] focal length for image 42: 3884.72 (3283.2)
[SfM] focal length for image 43: 3819.63 (3283.2)
[SfM] focal length for image 44: 3938.73 (3283.2)
[SfM] focal length for image 45: 3959.53 (3283.2)
[SfM] focal length for image 46: 4065.95 (3283.2)
[SfM] focal length for image 47: 4281.39 (3283.2)
[SfM] focal length for image 48: 3958.52 (3283.2)
[SfM] focal length for image 49: 4120.91 (3283.2)
[SfM] focal length for image 50: 6147.81 (3283.2)
[SfM] focal length for image 51: 3853.75 (3283.2)
[SfM] focal length for image 52: 3751.52 (3283.2)
[SfM] focal length for image 53: 3892.95 (3283.2)
[SfM] focal length for image 54: 3853.88 (3283.2)
[SfM] focal length for image 55: 3753.97 (3283.2)
[SfM] focal length for image 56: 3550.43 (3283.2)
[SfM] focal length for image 57: 3974.03 (3283.2)
[SfM] focal length for image 58: 3773.96 (3283.2)
[SfM] focal length for image 59: 3742.52 (3283.2)
[SfM] focal length for image 60: 3599.36 (3283.2)
[SfM] focal length for image 61: 3380.88 (3283.2)
[SfM] focal length for image 62: 3093.52 (3283.2)
[SfM] focal length for image 63: 3483.26 (3283.2)
[SfM] focal length for image 64: 3878.26 (3283.2)
[SfM] focal length for image 65: 4373.05 (3283.2)
[SfM] focal length for image 66: 3772.24 (3283.2)
[SfM] focal length for image 67: 3630.79 (3283.2)
[SfM] focal length for image 68: 3235.63 (3283.2)
[SfM] focal length for image 69: 3155.02 (3283.2)
[SfM] focal length for image 70: 3501.95 (3283.2)
[SfM] focal length for image 71: 3457.34 (3283.2)
[SfM] focal length for image 72: 3202.37 (3283.2)
[SfM] focal length for image 73: 3098.51 (3283.2)
[SfM] focal length for image 74: 3198.53 (3283.2)
[SfM] focal length for image 75: 3359.61 (3283.2)
[SfM] focal length for image 76: 2676.07 (3283.2)
[SfM] focal length for image 77: 2767.82 (3283.2)
[SfM] focal length for image 78: 2971.55 (3283.2)
[SfM] focal length for image 79: 3229.49 (3283.2)
[SfM] focal length for image 80: 3536.21 (3283.2)
[SfM] focal length for image 81: 3121.8 (3283.2)
[SfM] focal length for image 82: 2842.75 (3283.2)
[SfM] focal length for image 83: 3031.98 (3283.2)
[SfM] focal length for image 84: 3034.91 (3283.2)
[SfM] focal length for image 85: 3752.41 (3283.2)
[SfM] focal length for image 86: 3061.85 (3283.2)
[SfM] focal length for image 87: 3566.32 (3283.2)
[SfM] focal length for image 88: 3476.05 (3283.2)
[SfM] focal length for image 89: 3518.91 (3283.2)
[SfM] focal length for image 90: 4003.73 (3283.2)
[SfM] focal length for image 91: 4243.31 (3283.2)
[SfM] focal length for image 92: 4014.14 (3283.2)
[SfM] focal length for image 93: 4605.69 (3283.2)
[SfM] focal length for image 94: 3993.77 (3283.2)
[SfM] focal length for image 95: 3936.09 (3283.2)
[SfM] focal length for image 96: 3916.13 (3283.2)
[SfM] focal length for image 97: 3966.61 (3283.2)
[SfM] focal length for image 98: 4150.36 (3283.2)
[SfM] focal length for image 99: 5562.51 (3283.2)
[SfM] focal length for image 100: 4143.77 (3283.2)
[SfM] focal length for image 101: 4426.05 (3283.2)
[SfM] focal length for image 102: 4262.3 (3283.2)
existing_matches[0] = 618
score[0] = 618.000
Error: parent not found
[SifterApp::BundleAdjust] max_matches = 618
[SifterApp::BundleAdjustFast] Registering 1 images
[SifterApp::BundleAdjustFast] Adjusting camera 0
[SifterApp::BundleAdjust[26]] Adjusting camera 0 (parent = -1)
[SfM] setting tracks for image 0
[BundleInitializeImage] Connecting existing matches...
[BundleInitializeImage] Initializing camera...
[find_projection_3x4_ransac] num_inliers = 579 (out of 618)
[find_projection_3x4_ransac] error = 1.721
[find_projection_3x4_ransac] Reverting to old solution
New error: 1.341e+00
[FindAndVerifyCamera] Removing point [73873] (reproj. error = 6430.825)
[FindAndVerifyCamera] Removing point [76731] (reproj. error = 2905.194)
[FindAndVerifyCamera] Removing point [30428] (reproj. error = 4779.143)
[FindAndVerifyCamera] Removing point [20428] (reproj. error = 6424.113)
[FindAndVerifyCamera] Removing point [31993] (reproj. error = 5633.410)
[BundleInitializeImage] Camera has initial focal length of 3283.200
[BundleInitializeImage] Adjusting...
[RefineCameraParameters] Calling with 613 points
[RefineCameraParameters] Error: 1.266
[RefineCameraParameters] Threshold = 8.000
[RefineCameraParameters] Removing point [71805] with reprojection error 12.028
[RefineCameraParameters] Calling with 612 points
[RefineCameraParameters] Error: 1.248
[RefineCameraParameters] Threshold = 8.000
[RefineCameraParameters] Exiting after 2 rounds with 612 / 613 points
[SifterApp::BundleAdjust] Adding new matches
[AddAllNewPoints] Added 833 new points
[AddAllNewPoints] Ill-conditioned tracks: 4
[AddAllNewPoints] Bad reprojections: 364
[AddAllNewPoints] Failed cheirality checks: 5
[SifterApp::BundleAdjust] Number of points = 80981
initial motstr-SBA error 114865 [0.391619]
[run_sfm] Number of iterations: 23
info[6] = 8.000
[SfM] bundle adjustment took 59.75 seconds
[SfM] removing 0 outliers
[RemoveBadPointsAndCameras] Pruned 0 points
[SfM] focal length for image 0: 3802.04 (3283.2)
[SfM] focal length for image 1: 3406.72 (3283.2)
[SfM] focal length for image 2: 3390.79 (3283.2)
[SfM] focal length for image 3: 3534.31 (3283.2)
[SfM] focal length for image 4: 4015.71 (3283.2)
[SfM] focal length for image 5: 3621.67 (3283.2)
[SfM] focal length for image 6: 3547.52 (3283.2)
[SfM] focal length for image 7: 3502.42 (3283.2)
[SfM] focal length for image 8: 3820.58 (3283.2)
[SfM] focal length for image 9: 4133.02 (3283.2)
[SfM] focal length for image 10: 3857.01 (3283.2)
[SfM] focal length for image 11: 3613.28 (3283.2)
[SfM] focal length for image 12: 3840.29 (3283.2)
[SfM] focal length for image 13: 4245.37 (3283.2)
[SfM] focal length for image 14: 4646.63 (3283.2)
[SfM] focal length for image 15: 3939.46 (3283.2)
[SfM] focal length for image 16: 3862.5 (3283.2)
[SfM] focal length for image 17: 3611.69 (3283.2)
[SfM] focal length for image 18: 4153.27 (3283.2)
[SfM] focal length for image 19: 3359.39 (3283.2)
[SfM] focal length for image 20: 4143.5 (3283.2)
[SfM] focal length for image 21: 3782.95 (3283.2)
[SfM] focal length for image 22: 3869.18 (3283.2)
[SfM] focal length for image 23: 3964.04 (3283.2)
[SfM] focal length for image 24: 3490.22 (3283.2)
[SfM] focal length for image 25: 4016.82 (3283.2)
[SfM] focal length for image 26: 3501.01 (3283.2)
[SfM] focal length for image 27: 4304.45 (3283.2)
[SfM] focal length for image 28: 4015.26 (3283.2)
[SfM] focal length for image 29: 3805.89 (3283.2)
[SfM] focal length for image 30: 3777.03 (3283.2)
[SfM] focal length for image 31: 3945.87 (3283.2)
[SfM] focal length for image 32: 3636.94 (3283.2)
[SfM] focal length for image 33: 3869.94 (3283.2)
[SfM] focal length for image 34: 4287.08 (3283.2)
[SfM] focal length for image 35: 4107.83 (3283.2)
[SfM] focal length for image 36: 4793.18 (3283.2)
[SfM] focal length for image 37: 3415.92 (3283.2)
[SfM] focal length for image 38: 3793.79 (3283.2)
[SfM] focal length for image 39: 3778.43 (3283.2)
[SfM] focal length for image 40: 4427.68 (3283.2)
[SfM] focal length for image 41: 5157.31 (3283.2)
[SfM] focal length for image 42: 3866.56 (3283.2)
[SfM] focal length for image 43: 3800.99 (3283.2)
[SfM] focal length for image 44: 3917.73 (3283.2)
[SfM] focal length for image 45: 3913.48 (3283.2)
[SfM] focal length for image 46: 4060.61 (3283.2)
[SfM] focal length for image 47: 4279.58 (3283.2)
[SfM] focal length for image 48: 3940 (3283.2)
[SfM] focal length for image 49: 4105.01 (3283.2)
[SfM] focal length for image 50: 6148.19 (3283.2)
[SfM] focal length for image 51: 3815.38 (3283.2)
[SfM] focal length for image 52: 3714.43 (3283.2)
[SfM] focal length for image 53: 3868.31 (3283.2)
[SfM] focal length for image 54: 3836.2 (3283.2)
[SfM] focal length for image 55: 3741.63 (3283.2)
[SfM] focal length for image 56: 3541.45 (3283.2)
[SfM] focal length for image 57: 3973.53 (3283.2)
[SfM] focal length for image 58: 3760.49 (3283.2)
[SfM] focal length for image 59: 3734.97 (3283.2)
[SfM] focal length for image 60: 3590.22 (3283.2)
[SfM] focal length for image 61: 3372.93 (3283.2)
[SfM] focal length for image 62: 3086.09 (3283.2)
[SfM] focal length for image 63: 3476.05 (3283.2)
[SfM] focal length for image 64: 3873.93 (3283.2)
[SfM] focal length for image 65: 4366.92 (3283.2)
[SfM] focal length for image 66: 3763.03 (3283.2)
[SfM] focal length for image 67: 3624.14 (3283.2)
[SfM] focal length for image 68: 3230.56 (3283.2)
[SfM] focal length for image 69: 3149.77 (3283.2)
[SfM] focal length for image 70: 3496.2 (3283.2)
[SfM] focal length for image 71: 3453.16 (3283.2)
[SfM] focal length for image 72: 3197.55 (3283.2)
[SfM] focal length for image 73: 3094.12 (3283.2)
[SfM] focal length for image 74: 3194.24 (3283.2)
[SfM] focal length for image 75: 3355.62 (3283.2)
[SfM] focal length for image 76: 2672.31 (3283.2)
[SfM] focal length for image 77: 2764.46 (3283.2)
[SfM] focal length for image 78: 2969.31 (3283.2)
[SfM] focal length for image 79: 3225.88 (3283.2)
[SfM] focal length for image 80: 3531.61 (3283.2)
[SfM] focal length for image 81: 3119.21 (3283.2)
[SfM] focal length for image 82: 2840.09 (3283.2)
[SfM] focal length for image 83: 3029.26 (3283.2)
[SfM] focal length for image 84: 3032.67 (3283.2)
[SfM] focal length for image 85: 3745.37 (3283.2)
[SfM] focal length for image 86: 3059.64 (3283.2)
[SfM] focal length for image 87: 3560.32 (3283.2)
[SfM] focal length for image 88: 3473.01 (3283.2)
[SfM] focal length for image 89: 3515.03 (3283.2)
[SfM] focal length for image 90: 3976.33 (3283.2)
[SfM] focal length for image 91: 4210.35 (3283.2)
[SfM] focal length for image 92: 4000.17 (3283.2)
[SfM] focal length for image 93: 4554.22 (3283.2)
[SfM] focal length for image 94: 3970.66 (3283.2)
[SfM] focal length for image 95: 3919.28 (3283.2)
[SfM] focal length for image 96: 3894.26 (3283.2)
[SfM] focal length for image 97: 3951.93 (3283.2)
[SfM] focal length for image 98: 4102.46 (3283.2)
[SfM] focal length for image 99: 5562.73 (3283.2)
[SfM] focal length for image 100: 4097.09 (3283.2)
[SfM] focal length for image 101: 4150.92 (3283.2)
[SfM] focal length for image 102: 4204.73 (3283.2)
[SfM] focal length for image 103: 4022.22 (3283.2)
[SfM] saving results...
[SfM] saving results done. Time: 2.42
[SfM] setting up matches from bundle-adjusted points...
[SfM] SfM done: 2486.4 seconds
[ReadBundleFile] Reading 104 images and 80978 points
Num visible: 293307
[WriteBundleFile] Writing 104 images and 80978 points...
Num cameras: 104
[DenseRecon] undistorting images...
[SfM] Undistorting image DJI_0116.JPG
[SfM] Undistorting image DJI_0117.JPG
[SfM] Undistorting image DJI_0118.JPG
[SfM] Undistorting image DJI_0119.JPG
[SfM] Undistorting image DJI_0120.JPG
[SfM] Undistorting image DJI_0121.JPG
[SfM] Undistorting image DJI_0122.JPG
[SfM] Undistorting image DJI_0123.JPG
[SfM] Undistorting image DJI_0124.JPG
[SfM] Undistorting image DJI_0125.JPG
[SfM] Undistorting image DJI_0126.JPG
[SfM] Undistorting image DJI_0127.JPG
[SfM] Undistorting image DJI_0128.JPG
[SfM] Undistorting image DJI_0129.JPG
[SfM] Undistorting image DJI_0130.JPG
[SfM] Undistorting image DJI_0131.JPG
[SfM] Undistorting image DJI_0132.JPG
[SfM] Undistorting image DJI_0133.JPG
[SfM] Undistorting image DJI_0134.JPG
[SfM] Undistorting image DJI_0135.JPG
[SfM] Undistorting image DJI_0136.JPG
[SfM] Undistorting image DJI_0137.JPG
[SfM] Undistorting image DJI_0138.JPG
[SfM] Undistorting image DJI_0139.JPG
[SfM] Undistorting image DJI_0140.JPG
[SfM] Undistorting image DJI_0141.JPG
[SfM] Undistorting image DJI_0142.JPG
[SfM] Undistorting image DJI_0143.JPG
[SfM] Undistorting image DJI_0144.JPG
[SfM] Undistorting image DJI_0145.JPG
[SfM] Undistorting image DJI_0146.JPG
[SfM] Undistorting image DJI_0147.JPG
[SfM] Undistorting image DJI_0148.JPG
[SfM] Undistorting image DJI_0149.JPG
[SfM] Undistorting image DJI_0150.JPG
[SfM] Undistorting image DJI_0151.JPG
[SfM] Undistorting image DJI_0152.JPG
[SfM] Undistorting image DJI_0153.JPG
[SfM] Undistorting image DJI_0154.JPG
[SfM] Undistorting image DJI_0155.JPG
[SfM] Undistorting image DJI_0156.JPG
[SfM] Undistorting image DJI_0157.JPG
[SfM] Undistorting image DJI_0158.JPG
[SfM] Undistorting image DJI_0159.JPG
[SfM] Undistorting image DJI_0160.JPG
[SfM] Undistorting image DJI_0161.JPG
[SfM] Undistorting image DJI_0162.JPG
[SfM] Undistorting image DJI_0163.JPG
[SfM] Undistorting image DJI_0164.JPG
[SfM] Undistorting image DJI_0165.JPG
[SfM] Undistorting image DJI_0166.JPG
[SfM] Undistorting image DJI_0167.JPG
[SfM] Undistorting image DJI_0168.JPG
[SfM] Undistorting image DJI_0169.JPG
[SfM] Undistorting image DJI_0170.JPG
[SfM] Undistorting image DJI_0171.JPG
[SfM] Undistorting image DJI_0172.JPG
[SfM] Undistorting image DJI_0173.JPG
[SfM] Undistorting image DJI_0174.JPG
[SfM] Undistorting image DJI_0175.JPG
[SfM] Undistorting image DJI_0176.JPG
[SfM] Undistorting image DJI_0177.JPG
[SfM] Undistorting image DJI_0178.JPG
[SfM] Undistorting image DJI_0179.JPG
[SfM] Undistorting image DJI_0180.JPG
[SfM] Undistorting image DJI_0181.JPG
[SfM] Undistorting image DJI_0182.JPG
[SfM] Undistorting image DJI_0183.JPG
[SfM] Undistorting image DJI_0184.JPG
[SfM] Undistorting image DJI_0185.JPG
[SfM] Undistorting image DJI_0186.JPG
[SfM] Undistorting image DJI_0187.JPG
[SfM] Undistorting image DJI_0188.JPG
[SfM] Undistorting image DJI_0189.JPG
[SfM] Undistorting image DJI_0190.JPG
[SfM] Undistorting image DJI_0191.JPG
[SfM] Undistorting image DJI_0192.JPG
[SfM] Undistorting image DJI_0193.JPG
[SfM] Undistorting image DJI_0194.JPG
[SfM] Undistorting image DJI_0195.JPG
[SfM] Undistorting image DJI_0196.JPG
[SfM] Undistorting image DJI_0197.JPG
[SfM] Undistorting image DJI_0198.JPG
[SfM] Undistorting image DJI_0199.JPG
[SfM] Undistorting image DJI_0200.JPG
[SfM] Undistorting image DJI_0201.JPG
[SfM] Undistorting image DJI_0202.JPG
[SfM] Undistorting image DJI_0203.JPG
[SfM] Undistorting image DJI_0204.JPG
[SfM] Undistorting image DJI_0205.JPG
[SfM] Undistorting image DJI_0206.JPG
[SfM] Undistorting image DJI_0207.JPG
[SfM] Undistorting image DJI_0208.JPG
[SfM] Undistorting image DJI_0209.JPG
[SfM] Undistorting image DJI_0210.JPG
[SfM] Undistorting image DJI_0211.JPG
[SfM] Undistorting image DJI_0212.JPG
[SfM] Undistorting image DJI_0213.JPG
[SfM] Undistorting image DJI_0214.JPG
[SfM] Undistorting image DJI_0215.JPG
[SfM] Undistorting image DJI_0216.JPG
[SfM] Undistorting image DJI_0217.JPG
[SfM] Undistorting image DJI_0218.JPG
[SfM] Undistorting image DJI_0219.JPG
[DenseRecon] undistorting images done
[DenseRecon] running PMVS...

--- Summary of specified options ---

of timages: 104 (range specification)

of oimages: 0 (not used)

level: 1 csize: 2
threshold: 0.7 wsize: 7
minImageNum: 3 CPU: 8
useVisData: 1 sequence: -1

Reading images: ********************************************************************************************************
0 1 Harris running ...5 Harris running ...7 3 Harris running ...4 Harris running ...6 2 Harris running ...Harris running ...Harris running ...Harris running ...13563 harris done
DoG running...13438 harris done
DoG running...13618 harris done
13499 harris done
DoG running...DoG running...13426 harris done
13577 harris done
DoG running...13675 harris done
13665 harris done
DoG running...DoG running...DoG running...19601 dog done
8 Harris running ...13986 harris done
DoG running...19600 dog done
9 Harris running ...19599 dog done
10 Harris running ...19599 dog done
19601 dog done
19601 dog done
19597 dog done
13747 harris done
19602 dog done
11 Harris running ...12 Harris running ...13 Harris running ...DoG running...14 Harris running ...15 Harris running ...19594 dog done
16 Harris running ...13779 harris done
DoG running...13917 harris done
13914 harris done
14094 harris done
DoG running...DoG running...13958 harris done
13969 harris done
DoG running...DoG running...13819 harris done
DoG running...DoG running...19596 dog done
17 Harris running ...19595 dog done
18 Harris running ...13734 harris done
DoG running...19598 dog done
19 Harris running ...13726 harris done
DoG running...19601 dog done
19587 dog done
19587 dog done
19599 dog done
20 Harris running ...19592 dog done
21 Harris running ...22 Harris running ...23 Harris running ...24 Harris running ...13908 harris done
DoG running...13946 harris done
DoG running...13694 harris done
13508 harris done
13134 harris done
13389 harris done
19593 dog done
DoG running...DoG running...DoG running...25 Harris running ...DoG running...19597 dog done
26 Harris running ...19604 dog done
19601 dog done
13583 harris done
27 Harris running ...28 Harris running ...DoG running...13599 harris done
DoG running...19602 dog done
19588 dog done
19602 dog done
19598 dog done
13754 harris done
29 Harris running ...30 Harris running ...31 Harris running ...13922 harris done
DoG running...32 Harris running ...DoG running...13790 harris done
DoG running...13739 harris done
13935 harris done
14033 harris done
19601 dog done
DoG running...19601 dog done
DoG running...DoG running...33 Harris running ...34 Harris running ...19600 dog done
19600 dog done
35 Harris running ...36 Harris running ...14095 harris done
13942 harris done
DoG running...DoG running...19600 dog done
14142 harris done
37 Harris running ...DoG running...14040 harris done
DoG running...19605 dog done
19594 dog done
19599 dog done
38 Harris running ...39 Harris running ...40 Harris running ...14058 harris done
DoG running...19602 dog done
19601 dog done
13955 harris done
13882 harris done
13860 harris done
41 Harris running ...42 Harris running ...DoG running...DoG running...DoG running...19600 dog done
43 Harris running ...19605 dog done
44 Harris running ...13541 harris done
DoG running...13628 harris done
DoG running...19602 dog done
45 Harris running ...13626 harris done
DoG running...13452 harris done
DoG running...19604 dog done
19599 dog done
46 Harris running ...47 Harris running ...19600 dog done
48 Harris running ...13563 harris done
DoG running...19591 dog done
13470 harris done
13663 harris done
19598 dog done
49 Harris running ...50 Harris running ...DoG running...DoG running...13619 harris done
DoG running...19602 dog done
51 Harris running ...19601 dog done
13501 harris done
52 Harris running ...13433 harris done
DoG running...DoG running...13576 harris done
DoG running...13742 harris done
19600 dog done
DoG running...53 Harris running ...19598 dog done
19602 dog done
54 Harris running ...55 Harris running ...19600 dog done
56 Harris running ...19596 dog done
13652 harris done
13878 harris done
19596 dog done
57 Harris running ...DoG running...58 Harris running ...DoG running...13888 harris done
DoG running...13876 harris done
DoG running...19601 dog done
59 Harris running ...13919 harris done
DoG running...13774 harris done
DoG running...19597 dog done
60 Harris running ...13892 harris done
DoG running...19604 dog done
19605 dog done
13759 harris done
19601 dog done
61 Harris running ...62 Harris running ...DoG running...63 Harris running ...19601 dog done
19602 dog done
19605 dog done
64 Harris running ...65 Harris running ...66 Harris running ...13243 harris done
DoG running...13542 harris done
13757 harris done
DoG running...DoG running...19601 dog done
67 Harris running ...13717 harris done
13437 harris done
DoG running...DoG running...13582 harris done
DoG running...19595 dog done
68 Harris running ...13686 harris done
DoG running...19594 dog done
19602 dog done
19602 dog done
69 Harris running ...70 Harris running ...71 Harris running ...13558 harris done
DoG running...19599 dog done
72 Harris running ...19605 dog done
73 Harris running ...19595 dog done
74 Harris running ...13623 harris done
DoG running...13628 harris done
DoG running...13631 harris done
DoG running...19604 dog done
13565 harris done
75 Harris running ...DoG running...13351 harris done
DoG running...13317 harris done
DoG running...19604 dog done
76 Harris running ...19594 dog done
13455 harris done
77 Harris running ...DoG running...13365 harris done
19591 dog done
DoG running...19604 dog done
78 Harris running ...79 Harris running ...13541 harris done
DoG running...19599 dog done
19593 dog done
19596 dog done
13522 harris done
80 Harris running ...81 Harris running ...13303 harris done
DoG running...82 Harris running ...DoG running...19599 dog done
83 Harris running ...19596 dog done
84 Harris running ...13609 harris done
13581 harris done
13556 harris done
DoG running...DoG running...DoG running...19599 dog done
85 Harris running ...19595 dog done
13167 harris done
19597 dog done
86 Harris running ...87 Harris running ...DoG running...13340 harris done
DoG running...19604 dog done
88 Harris running ...13199 harris done
13270 harris done
DoG running...13255 harris done
DoG running...DoG running...19599 dog done
19601 dog done
89 Harris running ...90 Harris running ...13552 harris done
19604 dog done
DoG running...91 Harris running ...13601 harris done
DoG running...13678 harris done
DoG running...19605 dog done
92 Harris running ...19598 dog done
19608 dog done
13615 harris done
19597 dog done
93 Harris running ...94 Harris running ...DoG running...95 Harris running ...13503 harris done
DoG running...13683 harris done
13325 harris done
DoG running...DoG running...19602 dog done
13552 harris done
96 Harris running ...DoG running...19596 dog done
19602 dog done
97 Harris running ...98 Harris running ...19607 dog done
13612 harris done
99 Harris running ...DoG running...13240 harris done
13322 harris done
DoG running...DoG running...13222 harris done
DoG running...19601 dog done
19598 dog done
19603 dog done
100 Harris running ...101 Harris running ...19597 dog done
102 Harris running ...103 Harris running ...13137 harris done
19608 dog done
19597 dog done
13516 harris done
19597 dog done
13055 harris done
13036 harris done
DoG running...DoG running...DoG running...DoG running...19598 dog done
19603 dog done
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19601 dog done
19604 dog done
done
adding seeds
refinePatchBFGS failed!
(85,4621)refinePatchBFGS failed!
refinePatchBFGS failed!
(75,4997)(39,6120)(1,2924)refinePatchBFGS failed!
refinePatchBFGS failed!
refinePatchBFGS failed!
refinePatchBFGS failed!
refinePatchBFGS failed!
(46,2916)(79,5060)(58,1950)refinePatchBFGS failed!
(59,824)(84,7238)(48,4619)refinePatchBFGS failed!
refinePatchBFGS failed!
refinePatchBFGS failed!
(86,1756)(22,1481)(53,543)(38,8215)(70,2825)(74,616)refinePatchBFGS failed!
(95,4952)refinePatchBFGS failed!
(80,3)(90,1)refinePatchBFGS failed!
(71,2627)refinePatchBFGS failed!
(18,5682)(20,2523)(32,1454)refinePatchBFGS failed!
(8,83)refinePatchBFGS failed!
(4,1225)(73,7000)(49,2826)(42,523)(66,8)(0,43)(19,2)(9,3912)(81,511)(16,206)(17,41)(27,22)(91,1)(69,13)(67,11)(21,0)(64,71)(6,4361)(45,3)(24,360)(101,105)(100,14)(28,140)refinePatchBFGS failed!
(76,116)(10,2781)(31,0)(26,10)(52,1293)(29,309)(87,266)(30,154)(99,399)(102,246)(15,6)(83,0)(96,77)(92,744)(5,0)(93,141)(40,41)(13,508)(78,2)refinePatchBFGS failed!
(103,926)(50,3118)refinePatchBFGS failed!
(68,0)(51,55)refinePatchBFGS failed!
(12,352)(77,78)(44,77)(94,0)(11,256)(47,0)(82,0)(3,0)(25,27)refinePatchBFGS failed!
(97,30)(61,5)(62,2)(63,4)(65,0)refinePatchBFGS failed!
(41,155)(88,0)(43,0)(2,0)(23,0)refinePatchBFGS failed!
refinePatchBFGS failed!
(7,114)(89,0)(37,1963)(72,0)(14,0)(54,4)(33,0)(55,18)(34,997)(56,1)(98,279)(36,241)(35,412)(57,538)(60,187)done
---- Initial: 0 secs ----
Total pass fail0 fail1 refinepatch: 5364044 155802 4437739 770503 926305
Total pass fail0 fail1 refinepatch: 100 2.90456 82.7312 14.3642 17.2688
Expanding patches...refinePatchBFGS failed!
refinePatchBFGS failed!
refinePatchBFGS failed!
refinePatchBFGS failed!
refinePatchBFGS failed!
refinePatchBFGS failed!
refinePatchBFGS failed!
refinePatchBFGS failed!
refinePatchBFGS failed!
refinePatchBFGS failed!
refinePatchBFGS failed!
refinePatchBFGS failed!

---- EXPANSION: 3378 secs ----
Total pass fail0 fail1 refinepatch: 16671184 16245696 152650 272838 16518534
Total pass fail0 fail1 refinepatch: 100 97.4478 0.915652 1.63658 99.0844
FilterOutside
mainbody:
Gain (ave/var): 1.69273 0.867382
16339245 -> 16249056 (99.448%) 0 secs
Filter Exact: ********************************************************************************************************
16249056 -> 16191165 (99.6437%) 0 secs
FilterNeighbor: 16191165 -> 16165819 (99.8435%) 0 secs
FilterGroups: 1616
16165819 -> 16028657 (99.1515%) 0 secs
STATUS: 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0
0 0 0 0 0
Expanding patches...refinePatchBFGS failed!
refinePatchBFGS failed!
refinePatchBFGS failed!
refinePatchBFGS failed!

---- EXPANSION: 279 secs ----
Total pass fail0 fail1 refinepatch: 316175 184792 39348 92035 276827
Total pass fail0 fail1 refinepatch: 100 58.4461 12.445 29.1089 87.555
FilterOutside
mainbody:
Gain (ave/var): 2.10153 0.996496
16213449 -> 16211734 (99.9894%) 0 secs
Filter Exact: ********************************************************************************************************
16211734 -> 16183761 (99.8275%) 0 secs
FilterNeighbor: 16183761 -> 16175928 (99.9516%) 0 secs
FilterGroups: 1617
16175928 -> 16125317 (99.6871%) 0 secs
STATUS: 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0
0 0 0 0 0
Expanding patches...refinePatchBFGS failed!
refinePatchBFGS failed!
refinePatchBFGS failed!

---- EXPANSION: 264 secs ----
Total pass fail0 fail1 refinepatch: 195337 121139 25821 48377 169516
Total pass fail0 fail1 refinepatch: 100 62.0154 13.2187 24.7659 86.7813
FilterOutside
mainbody:
Gain (ave/var): 2.49445 1.1431
16246456 -> 16245538 (99.9944%) 0 secs
Filter Exact: ********************************************************************************************************
16245538 -> 16219307 (99.8385%) 0 secs
FilterNeighbor: 16219307 -> 16213443 (99.9638%) 0 secs
FilterGroups: 1621
16213443 -> 16158751 (99.6627%) 0 secs
STATUS: 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0
0 0 0 0 0
---- Total: 8 secs ----
[DenseRecon] PMVS done. Time: 9362.85
[DenseRecon] saving results...
[PointSetIO] saving file...
[PointSetIO] saving file done. Time: 3.54 seconds
[DenseRecon] saving results done. Time: 37.12
[PointSetIO] saving file...
[PointSetIO] saving file done. Time: 4.6 seconds`

Liangliang Nan · Answer 4 · Wed Jul 01 2020 00:44:05 GMT+0800 (China Standard Time)

I run the whole process again, and this time I got the dense point cloud. It looks good to me.
Still see some error messages, but as you said it is common and I got the dense point cloud, so it should be fine.

One thing to notice is this time the program run until it finished. While the last time it did not. I remembered last time my RAM is almost full while running other processes at the same time. Is it the RAM issue which crashed the program so it could not finish last time?

Hard to say, depending on the size of your RAM and how much other processes consumed.
Anyway, glad to hear you obtained the dense point cloud (though it was a long wait).

Chenhsi · Answer 5 · Thu Jul 30 2020 15:19:38 GMT+0800 (China Standard Time)

thx, just one other question,
I created your project using qt and tried to go deep into SIFT section. It seems like it is multithread and I need to install more dependencies to debug, could you tell me what additional dependencies I need to install?

Liangliang Nan · Answer 6 · Thu Jul 30 2020 16:03:29 GMT+0800 (China Standard Time)

You don't need any other 3rd party libraries.
One of the dependence is tynycthread that is already included in the source code.
If you can compile and run it, you should also be able to debug.

Chenhsi · Answer 7 · Thu Aug 20 2020 22:10:42 GMT+0800 (China Standard Time)

Hey LiangliangNan,
I think I can debug it now, thanks.

Liangliang Nan · Answer 8 · Sat Aug 22 2020 14:14:03 GMT+0800 (China Standard Time)

Glad to hear that. Let me know if find some other issues.

Dense point cloud generation error

of timages: 104 (range specification)

of oimages: 0 (not used)

level: 1 csize: 2 threshold: 0.7 wsize: 7 minImageNum: 3 CPU: 8 useVisData: 1 sequence: -1

level: 1 csize: 2
threshold: 0.7 wsize: 7
minImageNum: 3 CPU: 8
useVisData: 1 sequence: -1