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ssampang/without GPS priors

Created October 6, 2017 17:34
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without GPS priors
Sequential/Incremental reconstruction
Perform incremental SfM (Initial Pair Essential + Resection).
- Features Loading -
0% 10 20 30 40 50 60 70 80 90 100%
|----|----|----|----|----|----|----|----|----|----|
***************************************************
Track building
Track filtering
Track export to internal struct
Track stats
------------------
-- Tracks Stats --
Tracks number: 131499
Images Id:
0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146,
------------------
TrackLength, Occurrence
2 64257
3 28646
4 15133
5 8767
6 5432
7 3288
8 2077
9 1401
10 839
11 578
12 352
13 237
14 164
15 125
16 75
17 38
18 38
19 16
20 19
21 5
22 5
23 4
24 2
29 1
Automatic selection of an initial pair:
0% 10 20 30 40 50 60 70 80 90 100%
|----|----|----|----|----|----|----|----|----|----|
***************************************************
A-Contrario initial pair residual: 42.6308
Bundle Adjustment statistics (approximated RMSE):
#views: 2
#poses: 2
#intrinsics: 1
#tracks: 159
#residuals: 636
Initial RMSE: 4.87815
Final RMSE: 3.77426
Time (s): 0.033164
SequentialSfMReconstructionEngine::ComputeResidualsMSE.
-- #Tracks: 155
-- Residual min: 0.0023286
-- Residual median: 1.41086
-- Residual max: 25.2541
-- Residual mean: 2.29795
=========================
MSE Residual InitialPair Inlier: 2.29795
=========================
-------------------------------
-- Robust Resection of view: 135
nfa=-121 inliers=121/131 precisionNormalized=0.0193044 precision=320.119 (iter=0 ,sample=106,18,118,)
nfa=-356.748 inliers=103/131 precisionNormalized=3.71474e-05 precision=14.0426 (iter=0 ,sample=106,18,118,)
nfa=-409.097 inliers=114/131 precisionNormalized=3.58125e-05 precision=13.7879 (iter=3 ,sample=82,1,3,)
nfa=-415.677 inliers=119/131 precisionNormalized=5.08077e-05 precision=16.4228 (iter=5 ,sample=8,80,48,)
nfa=-421.694 inliers=122/131 precisionNormalized=5.98719e-05 precision=17.8276 (iter=13 ,sample=60,126,118,)
nfa=-446.597 inliers=120/131 precisionNormalized=3.03296e-05 precision=12.6887 (iter=22 ,sample=48,85,41,)
nfa=-453.295 inliers=114/131 precisionNormalized=1.42455e-05 precision=8.69604 (iter=74 ,sample=0,73,11,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 131
-- #Points validated by robust Resection: 114
-- Threshold: 8.69604
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 114
#residuals: 228
Initial RMSE: 2.42664
Final RMSE: 2.26822
Time (s): 0.000924164
-------------------------------
-- Robust Resection of view: 134
nfa=-110.889 inliers=190/670 precisionNormalized=0.00869259 precision=214.811 (iter=0 ,sample=545,91,607,)
nfa=-2769.22 inliers=644/670 precisionNormalized=1.22582e-05 precision=8.06668 (iter=0 ,sample=545,91,607,)
nfa=-2830.49 inliers=637/670 precisionNormalized=8.44382e-06 precision=6.69502 (iter=8 ,sample=55,214,458,)
nfa=-2850.7 inliers=609/670 precisionNormalized=4.2084e-06 precision=4.72651 (iter=15 ,sample=367,147,473,)
nfa=-2876.18 inliers=618/670 precisionNormalized=4.6794e-06 precision=4.98399 (iter=18 ,sample=264,462,446,)
nfa=-2911.21 inliers=614/670 precisionNormalized=3.72967e-06 precision=4.44956 (iter=19 ,sample=290,193,593,)
nfa=-2926.77 inliers=617/670 precisionNormalized=3.76358e-06 precision=4.46975 (iter=22 ,sample=622,31,90,)
nfa=-2927.71 inliers=618/670 precisionNormalized=3.83748e-06 precision=4.51342 (iter=335 ,sample=361,555,350,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 670
-- #Points validated by robust Resection: 618
-- Threshold: 4.51342
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 618
#residuals: 1236
Initial RMSE: 1.167
Final RMSE: 0.841671
Time (s): 0.0023501
-------------------------------
-- Robust Resection of view: 137
nfa=-1400.5 inliers=625/670 precisionNormalized=0.00131893 precision=83.6745 (iter=0 ,sample=545,91,607,)
nfa=-1541.02 inliers=624/670 precisionNormalized=0.000773117 precision=64.0627 (iter=0 ,sample=545,91,607,)
nfa=-1759.6 inliers=627/670 precisionNormalized=0.000359706 precision=43.6975 (iter=2 ,sample=551,611,349,)
nfa=-1986.55 inliers=627/670 precisionNormalized=0.000155615 precision=28.7414 (iter=10 ,sample=341,504,127,)
nfa=-2071.34 inliers=623/670 precisionNormalized=0.000106278 precision=23.7523 (iter=11 ,sample=610,562,118,)
nfa=-2161.68 inliers=599/670 precisionNormalized=4.93825e-05 precision=16.1908 (iter=24 ,sample=273,219,404,)
nfa=-2168.74 inliers=626/670 precisionNormalized=7.80046e-05 precision=20.349 (iter=133 ,sample=102,230,472,)
nfa=-2170.92 inliers=622/670 precisionNormalized=7.20994e-05 precision=19.5636 (iter=152 ,sample=645,654,330,)
nfa=-2195.26 inliers=618/670 precisionNormalized=6.12993e-05 precision=18.0389 (iter=195 ,sample=193,360,534,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 670
-- #Points validated by robust Resection: 618
-- Threshold: 18.0389
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 618
#residuals: 1236
Initial RMSE: 4.59141
Final RMSE: 4.01204
Time (s): 0.00234849
-------------------------------
-- Robust Resection of view: 138
nfa=-1664.71 inliers=803/854 precisionNormalized=0.00201509 precision=103.426 (iter=0 ,sample=695,116,773,)
nfa=-1664.71 inliers=803/854 precisionNormalized=0.00201509 precision=103.426 (iter=0 ,sample=695,116,773,)
nfa=-1804.68 inliers=816/854 precisionNormalized=0.00153938 precision=90.3972 (iter=0 ,sample=695,116,773,)
nfa=-2461.3 inliers=818/854 precisionNormalized=0.000245732 precision=36.1172 (iter=1 ,sample=3,406,310,)
nfa=-2486.65 inliers=805/854 precisionNormalized=0.000193938 precision=32.0859 (iter=3 ,sample=32,251,103,)
nfa=-2586.39 inliers=826/854 precisionNormalized=0.000191553 precision=31.888 (iter=11 ,sample=112,85,156,)
nfa=-2591.3 inliers=808/854 precisionNormalized=0.000149321 precision=28.1542 (iter=163 ,sample=115,162,736,)
nfa=-2630.36 inliers=796/854 precisionNormalized=0.000113889 precision=24.588 (iter=188 ,sample=726,276,630,)
nfa=-2639.34 inliers=823/854 precisionNormalized=0.000158716 precision=29.0264 (iter=273 ,sample=804,772,388,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 854
-- #Points validated by robust Resection: 823
-- Threshold: 29.0264
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 823
#residuals: 1646
Initial RMSE: 6.29499
Final RMSE: 5.72504
Time (s): 0.00372858
-------------------------------
-- Robust Resection of view: 141
nfa=6.3607 inliers=15/787 precisionNormalized=0.000821445 precision=66.0346 (iter=0 ,sample=641,107,713,)
nfa=-9.60067 inliers=89/787 precisionNormalized=0.00803206 precision=206.489 (iter=0 ,sample=641,107,713,)
nfa=-1289.59 inliers=749/787 precisionNormalized=0.00469805 precision=157.921 (iter=0 ,sample=641,107,713,)
nfa=-1851.98 inliers=768/787 precisionNormalized=0.00104129 precision=74.3478 (iter=1 ,sample=643,69,489,)
nfa=-2194.71 inliers=755/787 precisionNormalized=0.00031141 precision=40.6583 (iter=1 ,sample=643,69,489,)
nfa=-2247.53 inliers=750/787 precisionNormalized=0.000247474 precision=36.2449 (iter=14 ,sample=9,453,465,)
nfa=-2269.06 inliers=749/787 precisionNormalized=0.000228424 precision=34.822 (iter=45 ,sample=488,64,56,)
nfa=-2275.9 inliers=722/787 precisionNormalized=0.000154075 precision=28.5988 (iter=116 ,sample=58,308,780,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 787
-- #Points validated by robust Resection: 722
-- Threshold: 28.5988
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 722
#residuals: 1444
Initial RMSE: 6.97821
Final RMSE: 5.95031
Time (s): 0.00514264
-------------------------------
-- Robust Resection of view: 142
nfa=-4547.32 inliers=1252/1396 precisionNormalized=4.91182e-05 precision=16.1474 (iter=0 ,sample=1137,189,1264,)
nfa=-4749.74 inliers=1164/1396 precisionNormalized=1.45951e-05 precision=8.80209 (iter=1 ,sample=513,1201,1298,)
nfa=-4828.64 inliers=1197/1396 precisionNormalized=1.73328e-05 precision=9.59217 (iter=22 ,sample=1036,167,820,)
nfa=-4836.67 inliers=1172/1396 precisionNormalized=1.33051e-05 precision=8.4041 (iter=33 ,sample=1217,84,223,)
nfa=-4849.7 inliers=1222/1396 precisionNormalized=2.11903e-05 precision=10.606 (iter=115 ,sample=183,15,1385,)
nfa=-4889.87 inliers=1209/1396 precisionNormalized=1.73134e-05 precision=9.58679 (iter=168 ,sample=448,534,639,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1396
-- #Points validated by robust Resection: 1209
-- Threshold: 9.58679
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1209
#residuals: 2418
Initial RMSE: 2.00819
Final RMSE: 1.72854
Time (s): 0.00346221
-------------------------------
-- Robust Resection of view: 140
nfa=13.253 inliers=4/1607 precisionNormalized=0.000802134 precision=65.2538 (iter=0 ,sample=1309,218,1455,)
nfa=-1745.24 inliers=1491/1607 precisionNormalized=0.0158816 precision=290.355 (iter=0 ,sample=1309,218,1455,)
nfa=-4628.24 inliers=1524/1607 precisionNormalized=0.000228585 precision=34.8342 (iter=0 ,sample=1309,218,1455,)
nfa=-4846.81 inliers=1475/1607 precisionNormalized=0.000116834 precision=24.9038 (iter=13 ,sample=1401,762,528,)
nfa=-4950.5 inliers=1493/1607 precisionNormalized=0.000112848 precision=24.4754 (iter=16 ,sample=96,1586,1358,)
nfa=-4962.92 inliers=1506/1607 precisionNormalized=0.000121334 precision=25.3789 (iter=251 ,sample=1312,277,38,)
nfa=-4963.98 inliers=1493/1607 precisionNormalized=0.000110519 precision=24.2215 (iter=344 ,sample=1568,1461,1327,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1607
-- #Points validated by robust Resection: 1493
-- Threshold: 24.2215
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1493
#residuals: 2986
Initial RMSE: 4.98426
Final RMSE: 4.75563
Time (s): 0.00643401
-------------------------------
-- Robust Resection of view: 139
nfa=-2683.22 inliers=1461/1712 precisionNormalized=0.00276956 precision=121.252 (iter=0 ,sample=1394,232,1550,)
nfa=-3282.06 inliers=1408/1712 precisionNormalized=0.000815725 precision=65.8043 (iter=0 ,sample=1394,232,1550,)
nfa=-3398.84 inliers=1628/1712 precisionNormalized=0.0020639 precision=104.671 (iter=1 ,sample=1245,306,926,)
nfa=-4078.92 inliers=1649/1712 precisionNormalized=0.000884238 precision=68.5121 (iter=3 ,sample=1439,370,71,)
nfa=-4775.74 inliers=1639/1712 precisionNormalized=0.000313671 precision=40.8056 (iter=4 ,sample=1347,888,1337,)
nfa=-4991.55 inliers=1641/1712 precisionNormalized=0.00023442 precision=35.276 (iter=10 ,sample=657,885,957,)
nfa=-5031.8 inliers=1647/1712 precisionNormalized=0.000230128 precision=34.9516 (iter=19 ,sample=892,1347,1642,)
nfa=-5113.57 inliers=1654/1712 precisionNormalized=0.000214676 precision=33.7578 (iter=21 ,sample=1598,1705,821,)
nfa=-5121.83 inliers=1672/1712 precisionNormalized=0.000238527 precision=35.5837 (iter=22 ,sample=1005,783,1251,)
nfa=-5210.31 inliers=1575/1712 precisionNormalized=0.000111929 precision=24.3755 (iter=28 ,sample=1530,784,271,)
nfa=-5416.57 inliers=1620/1712 precisionNormalized=0.000112034 precision=24.3869 (iter=34 ,sample=817,1624,1313,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1712
-- #Points validated by robust Resection: 1620
-- Threshold: 24.3869
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1620
#residuals: 3240
Initial RMSE: 5.48448
Final RMSE: 5.035
Time (s): 0.00572629
-------------------------------
-- Robust Resection of view: 144
nfa=-1424.13 inliers=1042/1463 precisionNormalized=0.00569061 precision=173.805 (iter=0 ,sample=1191,199,1325,)
nfa=-3557.5 inliers=1399/1463 precisionNormalized=0.000732278 precision=62.3477 (iter=0 ,sample=1191,199,1325,)
nfa=-4325.18 inliers=1286/1463 precisionNormalized=8.70962e-05 precision=21.5022 (iter=1 ,sample=524,75,945,)
nfa=-4477.26 inliers=1307/1463 precisionNormalized=7.8524e-05 precision=20.4166 (iter=6 ,sample=1141,735,380,)
nfa=-4551.73 inliers=1310/1463 precisionNormalized=7.05264e-05 precision=19.349 (iter=39 ,sample=87,1368,121,)
nfa=-4642.52 inliers=1344/1463 precisionNormalized=7.91433e-05 precision=20.497 (iter=213 ,sample=1170,980,958,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1463
-- #Points validated by robust Resection: 1344
-- Threshold: 20.497
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1344
#residuals: 2688
Initial RMSE: 5.48416
Final RMSE: 4.30627
Time (s): 0.00488759
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 11
#intrinsics: 1
#tracks: 7874
#residuals: 48658
Initial RMSE: 3.26143
Final RMSE: 0.45907
Time (s): 3.65153
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 11
#intrinsics: 1
#tracks: 6947
#residuals: 44804
Initial RMSE: 0.34892
Final RMSE: 0.31497
Time (s): 0.614199
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 11
#intrinsics: 1
#tracks: 6766
#residuals: 44064
Initial RMSE: 0.315384
Final RMSE: 0.315015
Time (s): 0.202318
-------------------------------
-- Robust Resection of view: 145
nfa=-896.512 inliers=994/1204 precisionNormalized=0.0220557 precision=171.128 (iter=0 ,sample=980,163,1090,)
nfa=-3644.4 inliers=1171/1204 precisionNormalized=0.000207388 precision=16.5941 (iter=0 ,sample=980,163,1090,)
nfa=-4309.27 inliers=1168/1204 precisionNormalized=5.41057e-05 precision=8.47584 (iter=1 ,sample=922,525,806,)
nfa=-5018.59 inliers=1150/1204 precisionNormalized=1.07087e-05 precision=3.77077 (iter=4 ,sample=1015,630,63,)
nfa=-5088.51 inliers=1089/1204 precisionNormalized=4.4078e-06 precision=2.4192 (iter=33 ,sample=470,1048,343,)
nfa=-5100.02 inliers=1145/1204 precisionNormalized=8.54987e-06 precision=3.36931 (iter=73 ,sample=942,278,123,)
nfa=-5113.42 inliers=1123/1204 precisionNormalized=6.37653e-06 precision=2.90974 (iter=153 ,sample=1020,1082,1083,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1204
-- #Points validated by robust Resection: 1123
-- Threshold: 2.90974
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1123
#residuals: 2246
Initial RMSE: 0.550531
Final RMSE: 0.502534
Time (s): 0.0035032
-------------------------------
-- Robust Resection of view: 146
nfa=-399.683 inliers=856/1337 precisionNormalized=0.037822 precision=224.096 (iter=0 ,sample=1089,181,1211,)
nfa=-5565.03 inliers=1205/1337 precisionNormalized=4.99069e-06 precision=2.5742 (iter=0 ,sample=1089,181,1211,)
nfa=-5592.97 inliers=1208/1337 precisionNormalized=4.88753e-06 precision=2.54745 (iter=39 ,sample=336,1231,731,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1337
-- #Points validated by robust Resection: 1208
-- Threshold: 2.54745
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1208
#residuals: 2416
Initial RMSE: 0.54013
Final RMSE: 0.474145
Time (s): 0.00335944
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 13
#intrinsics: 1
#tracks: 8265
#residuals: 56326
Initial RMSE: 0.364355
Final RMSE: 0.333067
Time (s): 0.492393
-------------------------------
-- Robust Resection of view: 2
nfa=-735.156 inliers=938/1250 precisionNormalized=0.0239541 precision=178.268 (iter=0 ,sample=1018,170,1132,)
nfa=-2615.62 inliers=1237/1250 precisionNormalized=0.00223178 precision=54.4137 (iter=0 ,sample=1018,170,1132,)
nfa=-5301.91 inliers=1164/1250 precisionNormalized=6.33375e-06 precision=2.89876 (iter=1 ,sample=540,131,990,)
nfa=-5430.4 inliers=1170/1250 precisionNormalized=5.24703e-06 precision=2.63839 (iter=14 ,sample=135,1015,303,)
nfa=-5441.05 inliers=1176/1250 precisionNormalized=5.5177e-06 precision=2.70559 (iter=62 ,sample=1196,539,135,)
nfa=-5457.68 inliers=1178/1250 precisionNormalized=5.46579e-06 precision=2.69283 (iter=97 ,sample=513,988,1090,)
nfa=-5459.13 inliers=1148/1250 precisionNormalized=3.78631e-06 precision=2.24125 (iter=237 ,sample=1090,506,888,)
nfa=-5461.44 inliers=1180/1250 precisionNormalized=5.55592e-06 precision=2.71494 (iter=252 ,sample=1248,870,555,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1250
-- #Points validated by robust Resection: 1180
-- Threshold: 2.71494
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1180
#residuals: 2360
Initial RMSE: 0.507581
Final RMSE: 0.450071
Time (s): 0.00364979
-------------------------------
-- Robust Resection of view: 3
nfa=-34.5026 inliers=238/1245 precisionNormalized=0.0157492 precision=144.548 (iter=0 ,sample=1014,169,1127,)
nfa=-53.933 inliers=102/1245 precisionNormalized=0.0021564 precision=53.4869 (iter=0 ,sample=1014,169,1127,)
nfa=-3662.48 inliers=1229/1245 precisionNormalized=0.000299161 precision=19.9221 (iter=0 ,sample=1014,169,1127,)
nfa=-4740.77 inliers=1204/1245 precisionNormalized=3.01631e-05 precision=6.32587 (iter=1 ,sample=570,728,679,)
nfa=-5229.36 inliers=1161/1245 precisionNormalized=7.16443e-06 precision=3.083 (iter=2 ,sample=792,153,238,)
nfa=-5238.75 inliers=1148/1245 precisionNormalized=6.03166e-06 precision=2.82879 (iter=4 ,sample=132,1002,214,)
nfa=-5271.38 inliers=1169/1245 precisionNormalized=7.22772e-06 precision=3.09659 (iter=22 ,sample=422,31,757,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1245
-- #Points validated by robust Resection: 1169
-- Threshold: 3.09659
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1169
#residuals: 2338
Initial RMSE: 0.565999
Final RMSE: 0.541588
Time (s): 0.00329233
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 15
#intrinsics: 1
#tracks: 9333
#residuals: 66608
Initial RMSE: 0.346253
Final RMSE: 0.323082
Time (s): 0.686167
-------------------------------
-- Robust Resection of view: 4
nfa=-72.1199 inliers=127/1218 precisionNormalized=0.00270458 precision=60.2556 (iter=0 ,sample=992,165,1103,)
nfa=-4801.44 inliers=1123/1218 precisionNormalized=1.18199e-05 precision=3.98341 (iter=0 ,sample=992,165,1103,)
nfa=-4884.83 inliers=1113/1218 precisionNormalized=8.84582e-06 precision=3.44601 (iter=19 ,sample=130,252,825,)
nfa=-4886.43 inliers=1111/1218 precisionNormalized=8.61173e-06 precision=3.40011 (iter=38 ,sample=110,846,408,)
nfa=-4898.55 inliers=1111/1218 precisionNormalized=8.39453e-06 precision=3.35696 (iter=84 ,sample=375,839,1048,)
nfa=-4922.1 inliers=1125/1218 precisionNormalized=9.41384e-06 precision=3.55493 (iter=96 ,sample=917,426,43,)
nfa=-4929.63 inliers=1119/1218 precisionNormalized=8.63962e-06 precision=3.40561 (iter=372 ,sample=473,788,138,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1218
-- #Points validated by robust Resection: 1119
-- Threshold: 3.40561
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1119
#residuals: 2238
Initial RMSE: 0.679905
Final RMSE: 0.623105
Time (s): 0.00355514
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 16
#intrinsics: 1
#tracks: 10232
#residuals: 73162
Initial RMSE: 0.335719
Final RMSE: 0.323388
Time (s): 0.558867
-------------------------------
-- Robust Resection of view: 5
nfa=-4778.92 inliers=1156/1242 precisionNormalized=1.6903e-05 precision=4.76648 (iter=0 ,sample=1011,169,1125,)
nfa=-5018.52 inliers=1140/1242 precisionNormalized=8.68956e-06 precision=3.41756 (iter=3 ,sample=692,928,369,)
nfa=-5071.14 inliers=1130/1242 precisionNormalized=6.93925e-06 precision=3.05403 (iter=4 ,sample=644,1195,340,)
nfa=-5084.71 inliers=1120/1242 precisionNormalized=5.9919e-06 precision=2.83791 (iter=127 ,sample=691,54,646,)
nfa=-5088.34 inliers=1165/1242 precisionNormalized=1.00369e-05 precision=3.67296 (iter=342 ,sample=924,298,896,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1242
-- #Points validated by robust Resection: 1165
-- Threshold: 3.67296
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1165
#residuals: 2330
Initial RMSE: 0.697292
Final RMSE: 0.620867
Time (s): 0.00373338
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 17
#intrinsics: 1
#tracks: 10714
#residuals: 77756
Initial RMSE: 0.335693
Final RMSE: 0.325916
Time (s): 0.589169
-------------------------------
-- Robust Resection of view: 6
nfa=15.2026 inliers=4/1095 precisionNormalized=0.487581 precision=810.459 (iter=0 ,sample=892,149,992,)
nfa=13.6749 inliers=4/1095 precisionNormalized=0.0144659 precision=139.598 (iter=0 ,sample=892,149,992,)
nfa=-3702.43 inliers=1021/1095 precisionNormalized=5.48306e-05 precision=8.59447 (iter=0 ,sample=892,149,992,)
nfa=-4071.5 inliers=1016/1095 precisionNormalized=2.23469e-05 precision=5.48676 (iter=1 ,sample=652,360,455,)
nfa=-4177.45 inliers=1014/1095 precisionNormalized=1.7113e-05 precision=4.80144 (iter=8 ,sample=868,678,433,)
nfa=-4299 inliers=1004/1095 precisionNormalized=1.14059e-05 precision=3.91987 (iter=9 ,sample=266,822,173,)
nfa=-4371.89 inliers=1012/1095 precisionNormalized=1.06707e-05 precision=3.79144 (iter=24 ,sample=265,56,876,)
nfa=-4430.83 inliers=974/1095 precisionNormalized=5.61856e-06 precision=2.75119 (iter=34 ,sample=578,948,1,)
nfa=-4469.35 inliers=973/1095 precisionNormalized=5.04748e-06 precision=2.60762 (iter=138 ,sample=284,574,810,)
nfa=-4482.42 inliers=970/1095 precisionNormalized=4.68999e-06 precision=2.51359 (iter=325 ,sample=240,998,841,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1095
-- #Points validated by robust Resection: 970
-- Threshold: 2.51359
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 970
#residuals: 1940
Initial RMSE: 0.515793
Final RMSE: 0.485319
Time (s): 0.00242635
-------------------------------
-- Robust Resection of view: 7
nfa=-2012.77 inliers=1167/1187 precisionNormalized=0.00532463 precision=84.694 (iter=0 ,sample=967,161,1075,)
nfa=-3818.52 inliers=1151/1187 precisionNormalized=0.000127552 precision=13.1084 (iter=0 ,sample=967,161,1075,)
nfa=-3841.39 inliers=1153/1187 precisionNormalized=0.000124258 precision=12.9381 (iter=2 ,sample=680,666,854,)
nfa=-4567.35 inliers=1119/1187 precisionNormalized=1.97992e-05 precision=5.16453 (iter=3 ,sample=685,819,288,)
nfa=-4701.42 inliers=1083/1187 precisionNormalized=9.83702e-06 precision=3.64032 (iter=4 ,sample=1162,207,236,)
nfa=-4743.21 inliers=1108/1187 precisionNormalized=1.20861e-05 precision=4.03506 (iter=16 ,sample=1114,33,301,)
nfa=-4791.87 inliers=1107/1187 precisionNormalized=1.07811e-05 precision=3.811 (iter=86 ,sample=942,70,207,)
nfa=-4823.49 inliers=1100/1187 precisionNormalized=9.27782e-06 precision=3.53534 (iter=216 ,sample=990,224,332,)
nfa=-4835 inliers=1087/1187 precisionNormalized=7.73811e-06 precision=3.22868 (iter=408 ,sample=906,296,74,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1187
-- #Points validated by robust Resection: 1087
-- Threshold: 3.22868
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1087
#residuals: 2174
Initial RMSE: 0.641931
Final RMSE: 0.592674
Time (s): 0.00324316
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 19
#intrinsics: 1
#tracks: 11913
#residuals: 88156
Initial RMSE: 0.347583
Final RMSE: 0.332864
Time (s): 0.631892
-------------------------------
-- Robust Resection of view: 8
nfa=-1864.57 inliers=1096/1172 precisionNormalized=0.00473514 precision=80.1754 (iter=0 ,sample=954,159,1061,)
nfa=-4596.92 inliers=1059/1172 precisionNormalized=9.58239e-06 precision=3.60671 (iter=1 ,sample=285,295,660,)
nfa=-4692.12 inliers=1067/1172 precisionNormalized=8.56516e-06 precision=3.40991 (iter=16 ,sample=964,601,206,)
nfa=-4765.36 inliers=1040/1172 precisionNormalized=5.18499e-06 precision=2.65307 (iter=20 ,sample=970,649,1075,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1172
-- #Points validated by robust Resection: 1040
-- Threshold: 2.65307
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1040
#residuals: 2080
Initial RMSE: 0.540514
Final RMSE: 0.503139
Time (s): 0.00274801
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 20
#intrinsics: 1
#tracks: 13064
#residuals: 95548
Initial RMSE: 0.336638
Final RMSE: 0.329709
Time (s): 0.736527
-------------------------------
-- Robust Resection of view: 9
nfa=12.975 inliers=4/1243 precisionNormalized=0.00153012 precision=45.5114 (iter=0 ,sample=1012,169,1126,)
nfa=-4151.79 inliers=1215/1243 precisionNormalized=0.000104639 precision=11.9015 (iter=0 ,sample=1012,169,1126,)
nfa=-4232.24 inliers=1206/1243 precisionNormalized=8.22086e-05 precision=10.5491 (iter=2 ,sample=216,1213,1120,)
nfa=-4590.81 inliers=1185/1243 precisionNormalized=3.32698e-05 precision=6.71093 (iter=3 ,sample=250,978,1119,)
nfa=-4593.69 inliers=1186/1243 precisionNormalized=3.34266e-05 precision=6.72672 (iter=10 ,sample=419,760,878,)
nfa=-4939.46 inliers=1176/1243 precisionNormalized=1.523e-05 precision=4.54053 (iter=14 ,sample=1134,483,125,)
nfa=-5079.6 inliers=1136/1243 precisionNormalized=7.29935e-06 precision=3.1434 (iter=17 ,sample=1016,992,663,)
nfa=-5093.19 inliers=1149/1243 precisionNormalized=8.25513e-06 precision=3.34287 (iter=24 ,sample=1048,245,725,)
nfa=-5120.75 inliers=1130/1243 precisionNormalized=6.24523e-06 precision=2.90758 (iter=29 ,sample=792,806,1063,)
nfa=-5128.62 inliers=1151/1243 precisionNormalized=7.86016e-06 precision=3.26192 (iter=170 ,sample=1134,1139,1216,)
nfa=-5140.82 inliers=1146/1243 precisionNormalized=7.23323e-06 precision=3.12913 (iter=408 ,sample=857,1194,549,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1243
-- #Points validated by robust Resection: 1146
-- Threshold: 3.12913
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1146
#residuals: 2292
Initial RMSE: 0.582164
Final RMSE: 0.562268
Time (s): 0.00309925
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 21
#intrinsics: 1
#tracks: 14058
#residuals: 102190
Initial RMSE: 0.335925
Final RMSE: 0.32813
Time (s): 0.666383
-------------------------------
-- Robust Resection of view: 10
nfa=-208.897 inliers=429/1328 precisionNormalized=0.013775 precision=136.356 (iter=0 ,sample=1081,180,1203,)
nfa=-5516.94 inliers=1204/1328 precisionNormalized=5.52064e-06 precision=2.72976 (iter=0 ,sample=1081,180,1203,)
nfa=-5568.15 inliers=1198/1328 precisionNormalized=4.66345e-06 precision=2.5089 (iter=3 ,sample=1048,259,515,)
nfa=-5616.27 inliers=1218/1328 precisionNormalized=5.32501e-06 precision=2.68095 (iter=84 ,sample=208,599,759,)
nfa=-5637.53 inliers=1236/1328 precisionNormalized=6.24985e-06 precision=2.90445 (iter=95 ,sample=378,29,477,)
nfa=-5644.67 inliers=1218/1328 precisionNormalized=5.03965e-06 precision=2.60813 (iter=261 ,sample=169,188,982,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1328
-- #Points validated by robust Resection: 1218
-- Threshold: 2.60813
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1218
#residuals: 2436
Initial RMSE: 0.496872
Final RMSE: 0.468861
Time (s): 0.00321991
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 22
#intrinsics: 1
#tracks: 15144
#residuals: 109138
Initial RMSE: 0.329865
Final RMSE: 0.324012
Time (s): 0.703267
-------------------------------
-- Robust Resection of view: 11
nfa=-5069.06 inliers=1241/1305 precisionNormalized=2.02927e-05 precision=5.23159 (iter=0 ,sample=1063,177,1182,)
nfa=-5412.15 inliers=1190/1305 precisionNormalized=6.0738e-06 precision=2.86216 (iter=4 ,sample=828,71,165,)
nfa=-5443.49 inliers=1191/1305 precisionNormalized=5.77387e-06 precision=2.7906 (iter=21 ,sample=930,998,699,)
nfa=-5477.1 inliers=1174/1305 precisionNormalized=4.43776e-06 precision=2.4465 (iter=22 ,sample=929,467,658,)
nfa=-5483.92 inliers=1162/1305 precisionNormalized=3.79841e-06 precision=2.26342 (iter=96 ,sample=1056,481,371,)
nfa=-5490.73 inliers=1171/1305 precisionNormalized=4.16765e-06 precision=2.37088 (iter=105 ,sample=1275,681,378,)
nfa=-5502.67 inliers=1165/1305 precisionNormalized=3.78849e-06 precision=2.26046 (iter=233 ,sample=957,655,292,)
nfa=-5513.73 inliers=1191/1305 precisionNormalized=5.02381e-06 precision=2.60304 (iter=396 ,sample=1182,1034,933,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1305
-- #Points validated by robust Resection: 1191
-- Threshold: 2.60304
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1191
#residuals: 2382
Initial RMSE: 0.497197
Final RMSE: 0.461413
Time (s): 0.00317404
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 23
#intrinsics: 1
#tracks: 16314
#residuals: 116508
Initial RMSE: 0.325166
Final RMSE: 0.319674
Time (s): 0.852142
-------------------------------
-- Robust Resection of view: 13
nfa=-32.1326 inliers=460/1239 precisionNormalized=0.0432093 precision=241.453 (iter=0 ,sample=1009,168,1122,)
nfa=-4652.11 inliers=1181/1239 precisionNormalized=2.85971e-05 precision=6.21162 (iter=0 ,sample=1009,168,1122,)
nfa=-4966.91 inliers=1163/1239 precisionNormalized=1.26085e-05 precision=4.12454 (iter=1 ,sample=524,309,442,)
nfa=-5120.5 inliers=1162/1239 precisionNormalized=9.15794e-06 precision=3.51514 (iter=3 ,sample=1114,240,1192,)
nfa=-5223.11 inliers=1135/1239 precisionNormalized=5.40555e-06 precision=2.70062 (iter=13 ,sample=92,923,541,)
nfa=-5261.37 inliers=1155/1239 precisionNormalized=6.34561e-06 precision=2.92604 (iter=16 ,sample=603,145,916,)
nfa=-5272.71 inliers=1148/1239 precisionNormalized=5.70373e-06 precision=2.77411 (iter=66 ,sample=465,866,923,)
nfa=-5294.66 inliers=1120/1239 precisionNormalized=3.86984e-06 precision=2.28502 (iter=95 ,sample=661,911,753,)
nfa=-5320.58 inliers=1133/1239 precisionNormalized=4.30477e-06 precision=2.41001 (iter=285 ,sample=1029,522,375,)
nfa=-5322.71 inliers=1130/1239 precisionNormalized=4.12969e-06 precision=2.36049 (iter=399 ,sample=564,875,1154,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1239
-- #Points validated by robust Resection: 1130
-- Threshold: 2.36049
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1130
#residuals: 2260
Initial RMSE: 0.444845
Final RMSE: 0.414143
Time (s): 0.00304656
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 24
#intrinsics: 1
#tracks: 17416
#residuals: 123312
Initial RMSE: 0.320166
Final RMSE: 0.31553
Time (s): 1.13847
-------------------------------
-- Robust Resection of view: 14
nfa=16.0064 inliers=4/1233 precisionNormalized=1.71265 precision=1520.54 (iter=0 ,sample=1004,167,1117,)
nfa=-2863.33 inliers=1182/1233 precisionNormalized=0.000969879 precision=36.1846 (iter=0 ,sample=1004,167,1117,)
nfa=-3865.37 inliers=1205/1233 precisionNormalized=0.000169547 precision=15.129 (iter=1 ,sample=956,1226,114,)
nfa=-5044.15 inliers=1145/1233 precisionNormalized=8.91568e-06 precision=3.4693 (iter=2 ,sample=864,648,934,)
nfa=-5087.15 inliers=1140/1233 precisionNormalized=7.70202e-06 precision=3.22453 (iter=7 ,sample=1184,242,205,)
nfa=-5207.75 inliers=1102/1233 precisionNormalized=3.76762e-06 precision=2.25527 (iter=8 ,sample=860,1220,418,)
nfa=-5278.65 inliers=1116/1233 precisionNormalized=3.85849e-06 precision=2.2823 (iter=130 ,sample=239,192,270,)
nfa=-5284.78 inliers=1098/1233 precisionNormalized=3.02821e-06 precision=2.02189 (iter=364 ,sample=102,125,524,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1233
-- #Points validated by robust Resection: 1098
-- Threshold: 2.02189
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1098
#residuals: 2196
Initial RMSE: 0.41916
Final RMSE: 0.373827
Time (s): 0.00306179
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 25
#intrinsics: 1
#tracks: 18556
#residuals: 130240
Initial RMSE: 0.315456
Final RMSE: 0.311113
Time (s): 0.650294
-------------------------------
-- Robust Resection of view: 15
nfa=-189.285 inliers=490/1210 precisionNormalized=0.0232629 precision=177.221 (iter=0 ,sample=985,164,1096,)
nfa=-4745.45 inliers=1130/1210 precisionNormalized=1.46418e-05 precision=4.44611 (iter=0 ,sample=985,164,1096,)
nfa=-4912.41 inliers=1091/1210 precisionNormalized=6.52996e-06 precision=2.96919 (iter=3 ,sample=1081,588,828,)
nfa=-5119.26 inliers=1079/1210 precisionNormalized=3.57824e-06 precision=2.19795 (iter=4 ,sample=448,562,878,)
nfa=-5121.12 inliers=1075/1210 precisionNormalized=3.38321e-06 precision=2.13721 (iter=266 ,sample=243,936,1201,)
nfa=-5122.46 inliers=1079/1210 precisionNormalized=3.55301e-06 precision=2.19019 (iter=407 ,sample=216,784,888,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1210
-- #Points validated by robust Resection: 1079
-- Threshold: 2.19019
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1079
#residuals: 2158
Initial RMSE: 0.415587
Final RMSE: 0.401623
Time (s): 0.00394992
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 26
#intrinsics: 1
#tracks: 19568
#residuals: 136596
Initial RMSE: 0.312498
Final RMSE: 0.308201
Time (s): 0.666477
-------------------------------
-- Robust Resection of view: 16
nfa=14.6461 inliers=4/1151 precisionNormalized=0.105449 precision=377.317 (iter=0 ,sample=937,156,1042,)
nfa=-187.312 inliers=381/1151 precisionNormalized=0.0139268 precision=137.123 (iter=0 ,sample=937,156,1042,)
nfa=-4058.36 inliers=1073/1151 precisionNormalized=3.82747e-05 precision=7.18853 (iter=0 ,sample=937,156,1042,)
nfa=-4477.96 inliers=1074/1151 precisionNormalized=1.56279e-05 precision=4.5934 (iter=1 ,sample=416,952,546,)
nfa=-4652.94 inliers=1087/1151 precisionNormalized=1.25162e-05 precision=4.11075 (iter=2 ,sample=755,684,140,)
nfa=-4775.62 inliers=1067/1151 precisionNormalized=7.49725e-06 precision=3.18152 (iter=9 ,sample=23,1036,169,)
nfa=-4857.21 inliers=1055/1151 precisionNormalized=5.36728e-06 precision=2.69191 (iter=13 ,sample=924,68,898,)
nfa=-4916.18 inliers=1066/1151 precisionNormalized=5.42889e-06 precision=2.70732 (iter=27 ,sample=835,1031,828,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1151
-- #Points validated by robust Resection: 1066
-- Threshold: 2.70732
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1066
#residuals: 2132
Initial RMSE: 0.514714
Final RMSE: 0.476519
Time (s): 0.00393646
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 27
#intrinsics: 1
#tracks: 20446
#residuals: 142306
Initial RMSE: 0.310085
Final RMSE: 0.306069
Time (s): 0.818197
-------------------------------
-- Robust Resection of view: 17
nfa=-1964.93 inliers=889/932 precisionNormalized=0.00154123 precision=45.617 (iter=0 ,sample=759,127,844,)
nfa=-3399.1 inliers=884/932 precisionNormalized=3.45214e-05 precision=6.82711 (iter=1 ,sample=921,154,332,)
nfa=-3433.3 inliers=883/932 precisionNormalized=3.11269e-05 precision=6.48278 (iter=2 ,sample=686,550,618,)
nfa=-3670.67 inliers=872/932 precisionNormalized=1.41923e-05 precision=4.37743 (iter=3 ,sample=139,274,710,)
nfa=-3687.19 inliers=880/932 precisionNormalized=1.52749e-05 precision=4.54132 (iter=6 ,sample=477,445,423,)
nfa=-3911.21 inliers=838/932 precisionNormalized=4.32776e-06 precision=2.41727 (iter=8 ,sample=870,465,279,)
nfa=-3963.49 inliers=861/932 precisionNormalized=5.43143e-06 precision=2.70801 (iter=16 ,sample=891,402,105,)
nfa=-3967.62 inliers=843/932 precisionNormalized=4.00665e-06 precision=2.32586 (iter=44 ,sample=517,324,379,)
nfa=-3978.23 inliers=846/932 precisionNormalized=4.08618e-06 precision=2.34883 (iter=66 ,sample=511,806,454,)
nfa=-3993.89 inliers=842/932 precisionNormalized=3.65841e-06 precision=2.22249 (iter=116 ,sample=342,712,215,)
nfa=-3997.04 inliers=852/932 precisionNormalized=4.27864e-06 precision=2.40351 (iter=128 ,sample=568,674,55,)
nfa=-3999.19 inliers=844/932 precisionNormalized=3.72622e-06 precision=2.24299 (iter=152 ,sample=634,851,453,)
nfa=-4013.81 inliers=859/932 precisionNormalized=4.5791e-06 precision=2.48647 (iter=193 ,sample=612,413,59,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 932
-- #Points validated by robust Resection: 859
-- Threshold: 2.48647
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 859
#residuals: 1718
Initial RMSE: 0.455334
Final RMSE: 0.421674
Time (s): 0.00317729
-------------------------------
-- Robust Resection of view: 132
nfa=-105.133 inliers=244/745 precisionNormalized=0.0152393 precision=143.442 (iter=0 ,sample=606,101,675,)
nfa=-170.882 inliers=225/745 precisionNormalized=0.00635607 precision=92.6376 (iter=0 ,sample=606,101,675,)
nfa=-2219.09 inliers=731/745 precisionNormalized=0.0002505 precision=18.3906 (iter=0 ,sample=606,101,675,)
nfa=-2354.85 inliers=705/745 precisionNormalized=0.000108925 precision=12.1271 (iter=1 ,sample=372,222,308,)
nfa=-2797.72 inliers=684/745 precisionNormalized=1.74763e-05 precision=4.85756 (iter=3 ,sample=687,327,669,)
nfa=-2805.64 inliers=717/745 precisionNormalized=3.05418e-05 precision=6.42156 (iter=6 ,sample=707,597,664,)
nfa=-2952.85 inliers=695/745 precisionNormalized=1.26518e-05 precision=4.13303 (iter=9 ,sample=380,119,295,)
nfa=-2959.44 inliers=678/745 precisionNormalized=8.97772e-06 precision=3.48158 (iter=19 ,sample=480,230,96,)
nfa=-2964.14 inliers=691/745 precisionNormalized=1.13031e-05 precision=3.90654 (iter=22 ,sample=673,2,363,)
nfa=-2974.26 inliers=682/745 precisionNormalized=9.2094e-06 precision=3.52621 (iter=42 ,sample=608,58,646,)
nfa=-3019.34 inliers=704/745 precisionNormalized=1.19865e-05 precision=4.02289 (iter=69 ,sample=470,180,331,)
nfa=-3027.36 inliers=663/745 precisionNormalized=5.26499e-06 precision=2.6662 (iter=148 ,sample=169,660,556,)
nfa=-3036.3 inliers=675/745 precisionNormalized=6.48487e-06 precision=2.95899 (iter=308 ,sample=170,608,369,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 745
-- #Points validated by robust Resection: 675
-- Threshold: 2.95899
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 675
#residuals: 1350
Initial RMSE: 0.602733
Final RMSE: 0.560564
Time (s): 0.00222097
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 29
#intrinsics: 1
#tracks: 23076
#residuals: 157522
Initial RMSE: 0.317922
Final RMSE: 0.303303
Time (s): 0.872585
-------------------------------
-- Robust Resection of view: 131
nfa=-54.092 inliers=275/1234 precisionNormalized=0.0168616 precision=150.865 (iter=0 ,sample=1005,168,1117,)
nfa=-70.0025 inliers=559/1234 precisionNormalized=0.049658 precision=258.901 (iter=0 ,sample=1005,168,1117,)
nfa=-4966.25 inliers=1184/1234 precisionNormalized=1.61567e-05 precision=4.66998 (iter=0 ,sample=1005,168,1117,)
nfa=-5288.58 inliers=1156/1234 precisionNormalized=6.14912e-06 precision=2.88102 (iter=14 ,sample=436,1122,381,)
nfa=-5300.36 inliers=1146/1234 precisionNormalized=5.32218e-06 precision=2.6803 (iter=73 ,sample=1079,1045,770,)
nfa=-5332.11 inliers=1135/1234 precisionNormalized=4.35598e-06 precision=2.42483 (iter=84 ,sample=1045,213,553,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1234
-- #Points validated by robust Resection: 1135
-- Threshold: 2.42483
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1135
#residuals: 2270
Initial RMSE: 0.53128
Final RMSE: 0.487727
Time (s): 0.00966068
-------------------------------
-- Robust Resection of view: 18
nfa=10.514 inliers=5/946 precisionNormalized=0.000118385 precision=12.6412 (iter=0 ,sample=770,129,857,)
nfa=-41.7546 inliers=155/946 precisionNormalized=0.00934647 precision=112.322 (iter=0 ,sample=770,129,857,)
nfa=-2236.42 inliers=933/946 precisionNormalized=0.00113353 precision=39.1162 (iter=0 ,sample=770,129,857,)
nfa=-4106.93 inliers=874/946 precisionNormalized=4.33596e-06 precision=2.41926 (iter=1 ,sample=580,625,344,)
nfa=-4163.49 inliers=872/946 precisionNormalized=3.59729e-06 precision=2.20357 (iter=4 ,sample=449,553,609,)
nfa=-4192.71 inliers=854/946 precisionNormalized=2.45131e-06 precision=1.81903 (iter=22 ,sample=540,731,648,)
nfa=-4195.9 inliers=871/946 precisionNormalized=3.23728e-06 precision=2.0904 (iter=272 ,sample=112,535,552,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 946
-- #Points validated by robust Resection: 871
-- Threshold: 2.0904
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 871
#residuals: 1742
Initial RMSE: 0.391382
Final RMSE: 0.359397
Time (s): 0.00215979
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 31
#intrinsics: 1
#tracks: 25723
#residuals: 172378
Initial RMSE: 0.307099
Final RMSE: 0.296922
Time (s): 1.07445
-------------------------------
-- Robust Resection of view: 130
nfa=-5644 inliers=1435/1479 precisionNormalized=3.10414e-05 precision=6.47594 (iter=0 ,sample=1204,201,1339,)
nfa=-5902.9 inliers=1393/1479 precisionNormalized=1.38665e-05 precision=4.32827 (iter=7 ,sample=359,824,1006,)
nfa=-6617.08 inliers=1380/1479 precisionNormalized=3.63765e-06 precision=2.21688 (iter=13 ,sample=656,531,775,)
nfa=-6621.5 inliers=1394/1479 precisionNormalized=4.17695e-06 precision=2.37553 (iter=15 ,sample=190,1005,1248,)
nfa=-6628.04 inliers=1402/1479 precisionNormalized=4.48657e-06 precision=2.46201 (iter=19 ,sample=1158,311,808,)
nfa=-6638.9 inliers=1373/1479 precisionNormalized=3.25343e-06 precision=2.09654 (iter=57 ,sample=820,1163,1322,)
nfa=-6670.47 inliers=1390/1479 precisionNormalized=3.685e-06 precision=2.23126 (iter=98 ,sample=1056,1012,1391,)
nfa=-6690.57 inliers=1382/1479 precisionNormalized=3.27191e-06 precision=2.10248 (iter=213 ,sample=612,265,424,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1479
-- #Points validated by robust Resection: 1382
-- Threshold: 2.10248
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1382
#residuals: 2764
Initial RMSE: 0.438243
Final RMSE: 0.385103
Time (s): 0.00483652
-------------------------------
-- Robust Resection of view: 19
nfa=6.92738 inliers=14/1143 precisionNormalized=0.000470675 precision=25.2169 (iter=0 ,sample=931,155,1035,)
nfa=-4909.36 inliers=1064/1143 precisionNormalized=5.48002e-06 precision=2.72096 (iter=0 ,sample=931,155,1035,)
nfa=-4941.63 inliers=1060/1143 precisionNormalized=4.83983e-06 precision=2.55709 (iter=4 ,sample=332,682,141,)
nfa=-4986.52 inliers=1052/1143 precisionNormalized=3.93305e-06 precision=2.30513 (iter=34 ,sample=331,829,345,)
nfa=-5008.15 inliers=1069/1143 precisionNormalized=4.70152e-06 precision=2.52029 (iter=50 ,sample=944,1070,656,)
nfa=-5033.63 inliers=1055/1143 precisionNormalized=3.68197e-06 precision=2.23034 (iter=66 ,sample=968,304,736,)
nfa=-5049.64 inliers=1049/1143 precisionNormalized=3.2715e-06 precision=2.10235 (iter=163 ,sample=662,897,852,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1143
-- #Points validated by robust Resection: 1049
-- Threshold: 2.10235
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1049
#residuals: 2098
Initial RMSE: 0.374324
Final RMSE: 0.356111
Time (s): 0.00355222
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 33
#intrinsics: 1
#tracks: 28428
#residuals: 188310
Initial RMSE: 0.295481
Final RMSE: 0.290204
Time (s): 1.36315
-------------------------------
-- Robust Resection of view: 129
nfa=-6487.76 inliers=1381/1463 precisionNormalized=4.7465e-06 precision=2.53304 (iter=0 ,sample=1191,199,1325,)
nfa=-6503.27 inliers=1407/1463 precisionNormalized=6.03866e-06 precision=2.8571 (iter=1 ,sample=493,340,242,)
nfa=-6566.68 inliers=1384/1463 precisionNormalized=4.27759e-06 precision=2.40467 (iter=21 ,sample=1157,328,1212,)
nfa=-6657.4 inliers=1393/1463 precisionNormalized=4.02598e-06 precision=2.33288 (iter=22 ,sample=801,1021,725,)
nfa=-6704.79 inliers=1382/1463 precisionNormalized=3.30174e-06 precision=2.11265 (iter=35 ,sample=464,1288,1375,)
nfa=-6746.56 inliers=1362/1463 precisionNormalized=2.4689e-06 precision=1.82687 (iter=36 ,sample=7,991,664,)
nfa=-6760.87 inliers=1405/1463 precisionNormalized=3.83439e-06 precision=2.27669 (iter=56 ,sample=861,1092,634,)
nfa=-6761.34 inliers=1377/1463 precisionNormalized=2.83535e-06 precision=1.95776 (iter=85 ,sample=182,784,4,)
nfa=-6778.59 inliers=1371/1463 precisionNormalized=2.57609e-06 precision=1.86611 (iter=180 ,sample=616,443,128,)
nfa=-6790.88 inliers=1380/1463 precisionNormalized=2.78236e-06 precision=1.93938 (iter=193 ,sample=911,457,615,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1463
-- #Points validated by robust Resection: 1380
-- Threshold: 1.93938
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1380
#residuals: 2760
Initial RMSE: 0.383948
Final RMSE: 0.34214
Time (s): 0.00500571
-------------------------------
-- Robust Resection of view: 20
nfa=-136.159 inliers=447/1301 precisionNormalized=0.0227301 precision=175.29 (iter=0 ,sample=1059,177,1178,)
nfa=-4430.92 inliers=1220/1301 precisionNormalized=5.54505e-05 precision=8.65782 (iter=0 ,sample=1059,177,1178,)
nfa=-5610.85 inliers=1171/1301 precisionNormalized=3.29034e-06 precision=2.109 (iter=1 ,sample=1199,778,163,)
nfa=-5620.58 inliers=1189/1301 precisionNormalized=4.00081e-06 precision=2.32557 (iter=40 ,sample=357,366,913,)
nfa=-5676.06 inliers=1185/1301 precisionNormalized=3.41252e-06 precision=2.1478 (iter=74 ,sample=168,747,893,)
nfa=-5682.21 inliers=1186/1301 precisionNormalized=3.41127e-06 precision=2.1474 (iter=123 ,sample=1187,107,370,)
nfa=-5689.28 inliers=1171/1301 precisionNormalized=2.80187e-06 precision=1.94617 (iter=314 ,sample=125,240,180,)
nfa=-5701.33 inliers=1172/1301 precisionNormalized=2.76725e-06 precision=1.9341 (iter=346 ,sample=737,461,271,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1301
-- #Points validated by robust Resection: 1172
-- Threshold: 1.9341
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1172
#residuals: 2344
Initial RMSE: 0.341477
Final RMSE: 0.324292
Time (s): 0.00294594
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 35
#intrinsics: 1
#tracks: 30927
#residuals: 203682
Initial RMSE: 0.289685
Final RMSE: 0.285013
Time (s): 1.40563
-------------------------------
-- Robust Resection of view: 21
nfa=13.0731 inliers=4/1428 precisionNormalized=0.000957428 precision=35.9858 (iter=0 ,sample=1163,194,1293,)
nfa=-5388.16 inliers=1368/1428 precisionNormalized=2.92675e-05 precision=6.29175 (iter=0 ,sample=1163,194,1293,)
nfa=-6277.21 inliers=1288/1428 precisionNormalized=2.72923e-06 precision=1.92132 (iter=1 ,sample=1075,1001,485,)
nfa=-6292.62 inliers=1310/1428 precisionNormalized=3.3854e-06 precision=2.13985 (iter=39 ,sample=1412,881,497,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1428
-- #Points validated by robust Resection: 1310
-- Threshold: 2.13985
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1310
#residuals: 2620
Initial RMSE: 0.398384
Final RMSE: 0.351255
Time (s): 0.00481483
-------------------------------
-- Robust Resection of view: 128
nfa=-200.96 inliers=208/1096 precisionNormalized=0.00225861 precision=55.2712 (iter=0 ,sample=892,149,992,)
nfa=-1167.63 inliers=1048/1096 precisionNormalized=0.0196498 precision=163.026 (iter=0 ,sample=892,149,992,)
nfa=-1434.47 inliers=1051/1096 precisionNormalized=0.0111188 precision=122.633 (iter=1 ,sample=741,342,1060,)
nfa=-4484.51 inliers=1043/1096 precisionNormalized=1.22383e-05 precision=4.06855 (iter=1 ,sample=741,342,1060,)
nfa=-4631.03 inliers=1026/1096 precisionNormalized=7.04375e-06 precision=3.0866 (iter=13 ,sample=82,366,1046,)
nfa=-4744.67 inliers=1031/1096 precisionNormalized=5.80847e-06 precision=2.80291 (iter=15 ,sample=919,52,132,)
nfa=-4841.15 inliers=1012/1096 precisionNormalized=3.56922e-06 precision=2.19718 (iter=19 ,sample=1050,611,828,)
nfa=-4882.4 inliers=1024/1096 precisionNormalized=3.83927e-06 precision=2.27878 (iter=21 ,sample=634,268,98,)
nfa=-4895.09 inliers=1023/1096 precisionNormalized=3.67523e-06 precision=2.22957 (iter=26 ,sample=435,965,1029,)
nfa=-4924.04 inliers=1012/1096 precisionNormalized=2.93353e-06 precision=1.99193 (iter=54 ,sample=96,919,357,)
nfa=-4929.49 inliers=1023/1096 precisionNormalized=3.39178e-06 precision=2.14186 (iter=107 ,sample=811,447,940,)
nfa=-4955.67 inliers=1016/1096 precisionNormalized=2.88399e-06 precision=1.97504 (iter=109 ,sample=498,302,169,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1096
-- #Points validated by robust Resection: 1016
-- Threshold: 1.97504
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1016
#residuals: 2032
Initial RMSE: 0.404033
Final RMSE: 0.359363
Time (s): 0.00353584
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 37
#intrinsics: 1
#tracks: 33167
#residuals: 217518
Initial RMSE: 0.287395
Final RMSE: 0.282254
Time (s): 1.64254
-------------------------------
-- Robust Resection of view: 22
nfa=-165.603 inliers=1118/1366 precisionNormalized=0.123825 precision=409.368 (iter=0 ,sample=1112,185,1237,)
nfa=-3816.93 inliers=1342/1366 precisionNormalized=0.000402307 precision=23.3339 (iter=0 ,sample=1112,185,1237,)
nfa=-5831.74 inliers=1258/1366 precisionNormalized=5.08913e-06 precision=2.62441 (iter=1 ,sample=882,638,1164,)
nfa=-5880.34 inliers=1261/1366 precisionNormalized=4.80156e-06 precision=2.54918 (iter=4 ,sample=1097,53,394,)
nfa=-5896.51 inliers=1241/1366 precisionNormalized=3.72264e-06 precision=2.24458 (iter=66 ,sample=233,931,109,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1366
-- #Points validated by robust Resection: 1241
-- Threshold: 2.24458
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1241
#residuals: 2482
Initial RMSE: 0.400648
Final RMSE: 0.379722
Time (s): 0.00456357
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 38
#intrinsics: 1
#tracks: 34237
#residuals: 224402
Initial RMSE: 0.282922
Final RMSE: 0.280223
Time (s): 1.14445
-------------------------------
-- Robust Resection of view: 24
nfa=-1657.22 inliers=999/1071 precisionNormalized=0.00516792 precision=83.6371 (iter=0 ,sample=872,145,970,)
nfa=-2800.72 inliers=983/1071 precisionNormalized=0.000315729 precision=20.6728 (iter=1 ,sample=444,139,513,)
nfa=-3338.39 inliers=1037/1071 precisionNormalized=0.000158563 precision=14.6502 (iter=2 ,sample=746,356,982,)
nfa=-3743.48 inliers=1019/1071 precisionNormalized=5.22332e-05 precision=8.40842 (iter=3 ,sample=560,116,23,)
nfa=-3930.83 inliers=1011/1071 precisionNormalized=3.10046e-05 precision=6.47819 (iter=5 ,sample=504,232,382,)
nfa=-3957.82 inliers=953/1071 precisionNormalized=1.42015e-05 precision=4.38437 (iter=12 ,sample=653,497,523,)
nfa=-4208.69 inliers=1005/1071 precisionNormalized=1.51774e-05 precision=4.53252 (iter=13 ,sample=424,645,388,)
nfa=-4214.76 inliers=1010/1071 precisionNormalized=1.59482e-05 precision=4.64619 (iter=17 ,sample=648,672,383,)
nfa=-4276.83 inliers=997/1071 precisionNormalized=1.16846e-05 precision=3.97693 (iter=19 ,sample=725,249,540,)
nfa=-4282.53 inliers=983/1071 precisionNormalized=9.59545e-06 precision=3.60391 (iter=96 ,sample=975,794,759,)
nfa=-4325.75 inliers=979/1071 precisionNormalized=8.20611e-06 precision=3.3328 (iter=148 ,sample=39,307,840,)
nfa=-4363.32 inliers=968/1071 precisionNormalized=6.45552e-06 precision=2.95602 (iter=158 ,sample=318,65,262,)
nfa=-4369.5 inliers=985/1071 precisionNormalized=8.01273e-06 precision=3.2933 (iter=272 ,sample=739,278,29,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1071
-- #Points validated by robust Resection: 985
-- Threshold: 3.2933
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 985
#residuals: 1970
Initial RMSE: 0.670216
Final RMSE: 0.624315
Time (s): 0.00369066
-------------------------------
-- Robust Resection of view: 127
nfa=-2717.87 inliers=849/879 precisionNormalized=0.000162348 precision=14.824 (iter=0 ,sample=716,119,796,)
nfa=-3631.89 inliers=803/879 precisionNormalized=6.33542e-06 precision=2.92839 (iter=1 ,sample=89,781,135,)
nfa=-3727.76 inliers=779/879 precisionNormalized=3.12992e-06 precision=2.0583 (iter=10 ,sample=54,157,675,)
nfa=-3728.81 inliers=767/879 precisionNormalized=2.50195e-06 precision=1.84026 (iter=22 ,sample=872,721,130,)
nfa=-3737.45 inliers=781/879 precisionNormalized=3.14995e-06 precision=2.06487 (iter=86 ,sample=657,311,693,)
nfa=-3755.02 inliers=787/879 precisionNormalized=3.32577e-06 precision=2.12172 (iter=109 ,sample=320,264,398,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 879
-- #Points validated by robust Resection: 787
-- Threshold: 2.12172
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 787
#residuals: 1574
Initial RMSE: 0.393145
Final RMSE: 0.370504
Time (s): 0.00197167
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 40
#intrinsics: 1
#tracks: 36041
#residuals: 235280
Initial RMSE: 0.286072
Final RMSE: 0.280351
Time (s): 1.93376
-------------------------------
-- Robust Resection of view: 25
nfa=-209.253 inliers=485/1236 precisionNormalized=0.0201095 precision=165.037 (iter=0 ,sample=1006,168,1119,)
nfa=-4753.85 inliers=1162/1236 precisionNormalized=1.92407e-05 precision=5.10496 (iter=0 ,sample=1006,168,1119,)
nfa=-4987.63 inliers=1154/1236 precisionNormalized=1.10077e-05 precision=3.86127 (iter=18 ,sample=575,756,261,)
nfa=-5016.59 inliers=1152/1236 precisionNormalized=1.01473e-05 precision=3.70729 (iter=167 ,sample=903,219,208,)
nfa=-5024.26 inliers=1131/1236 precisionNormalized=7.84074e-06 precision=3.25882 (iter=237 ,sample=330,1087,659,)
nfa=-5046.64 inliers=1150/1236 precisionNormalized=9.33079e-06 precision=3.55501 (iter=399 ,sample=355,196,424,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1236
-- #Points validated by robust Resection: 1150
-- Threshold: 3.55501
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1150
#residuals: 2300
Initial RMSE: 0.718323
Final RMSE: 0.629795
Time (s): 0.0043283
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 41
#intrinsics: 1
#tracks: 36922
#residuals: 241166
Initial RMSE: 0.28545
Final RMSE: 0.281226
Time (s): 2.18822
-------------------------------
-- Robust Resection of view: 26
nfa=-1033.99 inliers=955/1221 precisionNormalized=0.0129998 precision=132.721 (iter=0 ,sample=994,166,1106,)
nfa=-3107.12 inliers=1068/1221 precisionNormalized=0.000243988 precision=18.1826 (iter=0 ,sample=994,166,1106,)
nfa=-4421.64 inliers=1153/1221 precisionNormalized=3.53172e-05 precision=6.91776 (iter=1 ,sample=289,789,244,)
nfa=-4969.04 inliers=1132/1221 precisionNormalized=9.20212e-06 precision=3.53115 (iter=2 ,sample=255,349,458,)
nfa=-4972.97 inliers=1139/1221 precisionNormalized=9.90031e-06 precision=3.66266 (iter=19 ,sample=169,20,1171,)
nfa=-4979.32 inliers=1129/1221 precisionNormalized=8.69839e-06 precision=3.43314 (iter=154 ,sample=29,254,201,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1221
-- #Points validated by robust Resection: 1129
-- Threshold: 3.43314
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1129
#residuals: 2258
Initial RMSE: 0.726024
Final RMSE: 0.647587
Time (s): 0.00425379
-------------------------------
-- Robust Resection of view: 27
nfa=-1.70867 inliers=28/1454 precisionNormalized=0.000609669 precision=28.7421 (iter=0 ,sample=1184,197,1317,)
nfa=-5308.58 inliers=1296/1454 precisionNormalized=1.65138e-05 precision=4.73037 (iter=0 ,sample=1184,197,1317,)
nfa=-5600.76 inliers=1335/1454 precisionNormalized=1.41888e-05 precision=4.38475 (iter=3 ,sample=202,1053,542,)
nfa=-5852.01 inliers=1361/1454 precisionNormalized=1.17633e-05 precision=3.99242 (iter=20 ,sample=1225,135,1217,)
nfa=-5876.67 inliers=1329/1454 precisionNormalized=8.25886e-06 precision=3.34528 (iter=49 ,sample=725,231,183,)
nfa=-5878.2 inliers=1330/1454 precisionNormalized=8.3183e-06 precision=3.35729 (iter=71 ,sample=1341,834,332,)
nfa=-5907.26 inliers=1305/1454 precisionNormalized=6.14914e-06 precision=2.88655 (iter=198 ,sample=1434,541,1373,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1454
-- #Points validated by robust Resection: 1305
-- Threshold: 2.88655
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1305
#residuals: 2610
Initial RMSE: 0.62447
Final RMSE: 0.590519
Time (s): 0.0045758
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 43
#intrinsics: 1
#tracks: 38572
#residuals: 253104
Initial RMSE: 0.293226
Final RMSE: 0.283236
Time (s): 1.98677
-------------------------------
-- Robust Resection of view: 28
nfa=-1833.77 inliers=1106/1228 precisionNormalized=0.00472268 precision=80.0534 (iter=0 ,sample=1000,167,1112,)
nfa=-4115.63 inliers=1146/1228 precisionNormalized=5.99026e-05 precision=9.01589 (iter=0 ,sample=1000,167,1112,)
nfa=-4502.51 inliers=1157/1228 precisionNormalized=3.07659e-05 precision=6.46131 (iter=6 ,sample=318,1057,549,)
nfa=-4710.26 inliers=1130/1228 precisionNormalized=1.50933e-05 precision=4.52562 (iter=9 ,sample=834,151,1032,)
nfa=-4794.08 inliers=1149/1228 precisionNormalized=1.56952e-05 precision=4.61497 (iter=19 ,sample=231,595,420,)
nfa=-4856.08 inliers=1137/1228 precisionNormalized=1.20967e-05 precision=4.05153 (iter=22 ,sample=147,916,239,)
nfa=-4886.04 inliers=1129/1228 precisionNormalized=1.03838e-05 precision=3.75374 (iter=29 ,sample=517,655,320,)
nfa=-4916.91 inliers=1118/1228 precisionNormalized=8.57578e-06 precision=3.41132 (iter=30 ,sample=580,451,537,)
nfa=-4922.67 inliers=1128/1228 precisionNormalized=9.51556e-06 precision=3.59338 (iter=98 ,sample=101,673,38,)
nfa=-4942.84 inliers=1148/1228 precisionNormalized=1.14782e-05 precision=3.9466 (iter=113 ,sample=583,296,871,)
nfa=-4991.51 inliers=1112/1228 precisionNormalized=6.83023e-06 precision=3.04441 (iter=171 ,sample=38,727,942,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1228
-- #Points validated by robust Resection: 1112
-- Threshold: 3.04441
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1112
#residuals: 2224
Initial RMSE: 0.62973
Final RMSE: 0.604446
Time (s): 0.00419949
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 44
#intrinsics: 1
#tracks: 39509
#residuals: 259592
Initial RMSE: 0.28909
Final RMSE: 0.284822
Time (s): 2.4313
-------------------------------
-- Robust Resection of view: 29
nfa=-2450.91 inliers=1013/1069 precisionNormalized=0.000935838 precision=35.6551 (iter=0 ,sample=870,145,968,)
nfa=-3132.83 inliers=1018/1069 precisionNormalized=0.000207924 precision=16.8064 (iter=0 ,sample=870,145,968,)
nfa=-3886.29 inliers=1009/1069 precisionNormalized=3.37224e-05 precision=6.76832 (iter=1 ,sample=449,930,897,)
nfa=-4030.52 inliers=1004/1069 precisionNormalized=2.27636e-05 precision=5.56086 (iter=15 ,sample=736,103,298,)
nfa=-4205.23 inliers=974/1069 precisionNormalized=1.03008e-05 precision=3.74074 (iter=18 ,sample=1058,568,987,)
nfa=-4250.11 inliers=946/1069 precisionNormalized=6.32417e-06 precision=2.93105 (iter=22 ,sample=307,683,302,)
nfa=-4271.68 inliers=963/1069 precisionNormalized=7.57246e-06 precision=3.2073 (iter=28 ,sample=836,206,391,)
nfa=-4276.59 inliers=973/1069 precisionNormalized=8.56337e-06 precision=3.4107 (iter=232 ,sample=893,842,521,)
nfa=-4279.74 inliers=968/1069 precisionNormalized=7.94569e-06 precision=3.28539 (iter=291 ,sample=249,597,254,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1069
-- #Points validated by robust Resection: 968
-- Threshold: 3.28539
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 968
#residuals: 1936
Initial RMSE: 0.562781
Final RMSE: 0.553624
Time (s): 0.00366336
-------------------------------
-- Robust Resection of view: 126
nfa=-52.7873 inliers=229/870 precisionNormalized=0.0185697 precision=158.827 (iter=0 ,sample=708,118,788,)
nfa=-3128.44 inliers=826/870 precisionNormalized=3.94316e-05 precision=7.31886 (iter=0 ,sample=708,118,788,)
nfa=-3179.49 inliers=803/870 precisionNormalized=2.42917e-05 precision=5.74447 (iter=2 ,sample=222,732,57,)
nfa=-3282.05 inliers=804/870 precisionNormalized=1.83316e-05 precision=4.99025 (iter=3 ,sample=784,220,386,)
nfa=-3711.96 inliers=792/870 precisionNormalized=4.2548e-06 precision=2.40415 (iter=4 ,sample=789,714,124,)
nfa=-3746.27 inliers=775/870 precisionNormalized=2.82091e-06 precision=1.95757 (iter=9 ,sample=179,565,223,)
nfa=-3756.98 inliers=774/870 precisionNormalized=2.67832e-06 precision=1.90745 (iter=34 ,sample=522,91,533,)
nfa=-3765.13 inliers=791/870 precisionNormalized=3.56172e-06 precision=2.19964 (iter=66 ,sample=618,571,127,)
nfa=-3771.61 inliers=785/870 precisionNormalized=3.1338e-06 precision=2.06327 (iter=364 ,sample=266,629,247,)
nfa=-3772.94 inliers=785/870 precisionNormalized=3.12109e-06 precision=2.05909 (iter=405 ,sample=547,335,460,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 870
-- #Points validated by robust Resection: 785
-- Threshold: 2.05909
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 785
#residuals: 1570
Initial RMSE: 0.369357
Final RMSE: 0.365616
Time (s): 0.001981
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 46
#intrinsics: 1
#tracks: 41450
#residuals: 271086
Initial RMSE: 0.287496
Final RMSE: 0.284146
Time (s): 2.10246
-------------------------------
-- Robust Resection of view: 30
nfa=-884.438 inliers=830/985 precisionNormalized=0.0157042 precision=146.087 (iter=0 ,sample=802,134,892,)
nfa=-2598.75 inliers=942/985 precisionNormalized=0.000438755 precision=24.4183 (iter=0 ,sample=802,134,892,)
nfa=-3014.73 inliers=953/985 precisionNormalized=0.000179256 precision=15.6078 (iter=1 ,sample=883,192,227,)
nfa=-3900.77 inliers=863/985 precisionNormalized=5.7543e-06 precision=2.79641 (iter=2 ,sample=583,372,715,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 985
-- #Points validated by robust Resection: 863
-- Threshold: 2.79641
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 863
#residuals: 1726
Initial RMSE: 0.547009
Final RMSE: 0.52278
Time (s): 0.0033028
-------------------------------
-- Robust Resection of view: 124
nfa=-3615.41 inliers=827/917 precisionNormalized=8.7468e-06 precision=3.44769 (iter=0 ,sample=747,125,830,)
nfa=-3654.15 inliers=827/917 precisionNormalized=7.83702e-06 precision=3.26347 (iter=0 ,sample=747,125,830,)
nfa=-3858.62 inliers=807/917 precisionNormalized=3.11139e-06 precision=2.05628 (iter=13 ,sample=836,710,724,)
nfa=-3907.48 inliers=817/917 precisionNormalized=3.20344e-06 precision=2.08647 (iter=18 ,sample=765,242,872,)
nfa=-3925.07 inliers=822/917 precisionNormalized=3.31665e-06 precision=2.12302 (iter=27 ,sample=136,582,820,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 917
-- #Points validated by robust Resection: 822
-- Threshold: 2.12302
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 822
#residuals: 1644
Initial RMSE: 0.399403
Final RMSE: 0.374084
Time (s): 0.00214229
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 48
#intrinsics: 1
#tracks: 43308
#residuals: 282164
Initial RMSE: 0.287143
Final RMSE: 0.283771
Time (s): 1.85206
-------------------------------
-- Robust Resection of view: 123
nfa=-1937.57 inliers=936/961 precisionNormalized=0.00229501 precision=55.8535 (iter=0 ,sample=782,131,870,)
nfa=-3212.38 inliers=913/961 precisionNormalized=7.40632e-05 precision=10.0337 (iter=1 ,sample=355,800,787,)
nfa=-3371.59 inliers=898/961 precisionNormalized=4.07381e-05 precision=7.44148 (iter=3 ,sample=162,52,490,)
nfa=-3979.36 inliers=863/961 precisionNormalized=4.93814e-06 precision=2.59084 (iter=7 ,sample=289,534,527,)
nfa=-3985.39 inliers=849/961 precisionNormalized=3.88348e-06 precision=2.29757 (iter=36 ,sample=908,512,282,)
nfa=-3987.03 inliers=836/961 precisionNormalized=3.12162e-06 precision=2.05991 (iter=251 ,sample=700,903,231,)
nfa=-3988.96 inliers=847/961 precisionNormalized=3.72178e-06 precision=2.24923 (iter=252 ,sample=72,442,511,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 961
-- #Points validated by robust Resection: 847
-- Threshold: 2.24923
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 847
#residuals: 1694
Initial RMSE: 0.380386
Final RMSE: 0.367559
Time (s): 0.0033352
-------------------------------
-- Robust Resection of view: 31
nfa=-268.876 inliers=727/945 precisionNormalized=0.0648151 precision=296.822 (iter=0 ,sample=769,128,856,)
nfa=-1604.96 inliers=916/945 precisionNormalized=0.00469609 precision=79.8964 (iter=0 ,sample=769,128,856,)
nfa=-3104.84 inliers=899/945 precisionNormalized=8.6346e-05 precision=10.8338 (iter=1 ,sample=393,195,376,)
nfa=-3544.47 inliers=871/945 precisionNormalized=1.88326e-05 precision=5.05958 (iter=3 ,sample=532,355,642,)
nfa=-3557.59 inliers=875/945 precisionNormalized=1.92423e-05 precision=5.11432 (iter=10 ,sample=279,182,768,)
nfa=-3575.69 inliers=867/945 precisionNormalized=1.63654e-05 precision=4.71652 (iter=16 ,sample=336,419,522,)
nfa=-3620.09 inliers=862/945 precisionNormalized=1.35096e-05 precision=4.28528 (iter=22 ,sample=289,123,861,)
nfa=-3655.6 inliers=853/945 precisionNormalized=1.07444e-05 precision=3.82164 (iter=160 ,sample=703,289,12,)
nfa=-3676.06 inliers=865/945 precisionNormalized=1.21351e-05 precision=4.06145 (iter=395 ,sample=199,409,452,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 945
-- #Points validated by robust Resection: 865
-- Threshold: 4.06145
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 865
#residuals: 1730
Initial RMSE: 0.760503
Final RMSE: 0.750983
Time (s): 0.00302926
-------------------------------
-- Robust Resection of view: 33
nfa=-45.4993 inliers=166/1197 precisionNormalized=0.0077676 precision=102.755 (iter=0 ,sample=975,163,1084,)
nfa=-3540.77 inliers=1172/1197 precisionNormalized=0.000262557 precision=18.8917 (iter=0 ,sample=975,163,1084,)
nfa=-4681.63 inliers=1089/1197 precisionNormalized=1.07729e-05 precision=3.8267 (iter=4 ,sample=205,1158,215,)
nfa=-4752.12 inliers=1097/1197 precisionNormalized=1.01795e-05 precision=3.71982 (iter=14 ,sample=225,1068,692,)
nfa=-4764.1 inliers=1073/1197 precisionNormalized=7.44563e-06 precision=3.18133 (iter=22 ,sample=1025,338,190,)
nfa=-4771.11 inliers=1116/1197 precisionNormalized=1.22086e-05 precision=4.07372 (iter=29 ,sample=209,859,265,)
nfa=-4779.33 inliers=1099/1197 precisionNormalized=9.83612e-06 precision=3.65654 (iter=123 ,sample=377,699,387,)
nfa=-4787.74 inliers=1090/1197 precisionNormalized=8.68175e-06 precision=3.43528 (iter=199 ,sample=273,278,406,)
nfa=-4802.86 inliers=1093/1197 precisionNormalized=8.71134e-06 precision=3.44113 (iter=240 ,sample=178,158,1160,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1197
-- #Points validated by robust Resection: 1093
-- Threshold: 3.44113
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1093
#residuals: 2186
Initial RMSE: 0.6699
Final RMSE: 0.6189
Time (s): 0.0038489
-------------------------------
-- Robust Resection of view: 32
nfa=-5838.99 inliers=1749/1814 precisionNormalized=0.000120759 precision=12.8121 (iter=0 ,sample=1477,246,1643,)
nfa=-6287.91 inliers=1764/1814 precisionNormalized=7.38725e-05 precision=10.0207 (iter=2 ,sample=1043,1475,136,)
nfa=-6623.22 inliers=1736/1814 precisionNormalized=3.91258e-05 precision=7.29273 (iter=4 ,sample=660,959,147,)
nfa=-6872.03 inliers=1712/1814 precisionNormalized=2.36119e-05 precision=5.66531 (iter=9 ,sample=1381,1752,728,)
nfa=-6999.4 inliers=1670/1814 precisionNormalized=1.45446e-05 precision=4.4464 (iter=15 ,sample=1062,1165,1633,)
nfa=-7256.43 inliers=1700/1814 precisionNormalized=1.27977e-05 precision=4.17085 (iter=27 ,sample=780,374,1048,)
nfa=-7570.96 inliers=1658/1814 precisionNormalized=5.93265e-06 precision=2.83977 (iter=29 ,sample=1362,611,382,)
nfa=-7576.22 inliers=1679/1814 precisionNormalized=6.97912e-06 precision=3.08006 (iter=144 ,sample=763,157,1736,)
nfa=-7614.31 inliers=1663/1814 precisionNormalized=5.81144e-06 precision=2.81061 (iter=258 ,sample=1205,1529,741,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1814
-- #Points validated by robust Resection: 1663
-- Threshold: 2.81061
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1663
#residuals: 3326
Initial RMSE: 0.524571
Final RMSE: 0.49808
Time (s): 0.00584689
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 52
#intrinsics: 1
#tracks: 46309
#residuals: 303732
Initial RMSE: 0.298045
Final RMSE: 0.285593
Time (s): 2.04815
-------------------------------
-- Robust Resection of view: 35
nfa=-121.091 inliers=409/1262 precisionNormalized=0.0214655 precision=170.871 (iter=0 ,sample=1028,171,1143,)
nfa=-1043.43 inliers=1020/1262 precisionNormalized=0.0159671 precision=147.37 (iter=0 ,sample=1028,171,1143,)
nfa=-4838.84 inliers=1128/1262 precisionNormalized=1.05299e-05 precision=3.78451 (iter=0 ,sample=1028,171,1143,)
nfa=-4936.62 inliers=1150/1262 precisionNormalized=1.10085e-05 precision=3.86956 (iter=12 ,sample=243,619,198,)
nfa=-4966.32 inliers=1113/1262 precisionNormalized=6.79702e-06 precision=3.04058 (iter=13 ,sample=953,305,486,)
nfa=-4976.98 inliers=1095/1262 precisionNormalized=5.36821e-06 precision=2.70217 (iter=65 ,sample=1160,825,177,)
nfa=-4981.95 inliers=1105/1262 precisionNormalized=5.98468e-06 precision=2.8531 (iter=103 ,sample=274,212,783,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1262
-- #Points validated by robust Resection: 1105
-- Threshold: 2.8531
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1105
#residuals: 2210
Initial RMSE: 0.538206
Final RMSE: 0.493498
Time (s): 0.00419378
-------------------------------
-- Robust Resection of view: 122
nfa=8.53171 inliers=8/976 precisionNormalized=0.000191307 precision=16.1311 (iter=0 ,sample=795,133,884,)
nfa=-3138.18 inliers=900/976 precisionNormalized=7.29146e-05 precision=9.95874 (iter=0 ,sample=795,133,884,)
nfa=-3699.9 inliers=909/976 precisionNormalized=1.94056e-05 precision=5.13761 (iter=2 ,sample=209,217,917,)
nfa=-3975.68 inliers=882/976 precisionNormalized=6.41781e-06 precision=2.95454 (iter=3 ,sample=196,538,227,)
nfa=-4061.72 inliers=857/976 precisionNormalized=3.43528e-06 precision=2.16162 (iter=4 ,sample=265,672,317,)
nfa=-4080.25 inliers=865/976 precisionNormalized=3.71189e-06 precision=2.24696 (iter=8 ,sample=317,363,427,)
nfa=-4081.62 inliers=862/976 precisionNormalized=3.52389e-06 precision=2.18931 (iter=322 ,sample=49,642,530,)
nfa=-4081.88 inliers=860/976 precisionNormalized=3.40944e-06 precision=2.15347 (iter=388 ,sample=49,139,681,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 976
-- #Points validated by robust Resection: 860
-- Threshold: 2.15347
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 860
#residuals: 1720
Initial RMSE: 0.424288
Final RMSE: 0.371436
Time (s): 0.00303412
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 54
#intrinsics: 1
#tracks: 48209
#residuals: 316354
Initial RMSE: 0.290057
Final RMSE: 0.286253
Time (s): 2.58447
-------------------------------
-- Robust Resection of view: 36
nfa=-632.139 inliers=846/1188 precisionNormalized=0.0236401 precision=179.448 (iter=0 ,sample=967,161,1076,)
nfa=-4038.57 inliers=1133/1188 precisionNormalized=6.80745e-05 precision=9.62955 (iter=0 ,sample=967,161,1076,)
nfa=-4667.07 inliers=1056/1188 precisionNormalized=7.63907e-06 precision=3.22577 (iter=2 ,sample=1118,113,513,)
nfa=-4710.39 inliers=1042/1188 precisionNormalized=5.82535e-06 precision=2.81692 (iter=14 ,sample=243,651,733,)
nfa=-4710.74 inliers=1049/1188 precisionNormalized=6.35526e-06 precision=2.94226 (iter=19 ,sample=899,1085,126,)
nfa=-4712.69 inliers=1042/1188 precisionNormalized=5.79509e-06 precision=2.80959 (iter=71 ,sample=134,407,243,)
nfa=-4720.33 inliers=1060/1188 precisionNormalized=7.12969e-06 precision=3.11637 (iter=108 ,sample=972,755,257,)
nfa=-4728.54 inliers=1060/1188 precisionNormalized=7.00119e-06 precision=3.08816 (iter=352 ,sample=570,473,649,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1188
-- #Points validated by robust Resection: 1060
-- Threshold: 3.08816
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1060
#residuals: 2120
Initial RMSE: 0.554633
Final RMSE: 0.525606
Time (s): 0.00406984
-------------------------------
-- Robust Resection of view: 37
nfa=16.8089 inliers=4/1460 precisionNormalized=4.6636 precision=2520.43 (iter=0 ,sample=1189,198,1322,)
nfa=-5759.98 inliers=1300/1460 precisionNormalized=7.5456e-06 precision=3.20598 (iter=0 ,sample=1189,198,1322,)
nfa=-5917.49 inliers=1295/1460 precisionNormalized=5.39177e-06 precision=2.71006 (iter=15 ,sample=1082,458,686,)
nfa=-5944.82 inliers=1302/1460 precisionNormalized=5.51346e-06 precision=2.74048 (iter=29 ,sample=588,1419,403,)
nfa=-5969.04 inliers=1294/1460 precisionNormalized=4.85723e-06 precision=2.57222 (iter=98 ,sample=137,358,1215,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1460
-- #Points validated by robust Resection: 1294
-- Threshold: 2.57222
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1294
#residuals: 2588
Initial RMSE: 0.469699
Final RMSE: 0.445325
Time (s): 0.00447332
-------------------------------
-- Robust Resection of view: 121
nfa=-1303.72 inliers=794/964 precisionNormalized=0.00393926 precision=73.2523 (iter=0 ,sample=785,131,873,)
nfa=-1875.12 inliers=941/964 precisionNormalized=0.0027677 precision=61.4007 (iter=0 ,sample=785,131,873,)
nfa=-3967.16 inliers=858/964 precisionNormalized=4.68164e-06 precision=2.5253 (iter=1 ,sample=74,103,943,)
nfa=-4059.79 inliers=854/964 precisionNormalized=3.39309e-06 precision=2.14986 (iter=9 ,sample=742,569,287,)
nfa=-4093.15 inliers=855/964 precisionNormalized=3.14143e-06 precision=2.0686 (iter=42 ,sample=582,29,535,)
nfa=-4099.54 inliers=871/964 precisionNormalized=4.00203e-06 precision=2.33482 (iter=120 ,sample=561,209,640,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 964
-- #Points validated by robust Resection: 871
-- Threshold: 2.33482
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 871
#residuals: 1742
Initial RMSE: 0.399701
Final RMSE: 0.394052
Time (s): 0.00210444
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 57
#intrinsics: 1
#tracks: 50110
#residuals: 330982
Initial RMSE: 0.292621
Final RMSE: 0.286739
Time (s): 2.16094
-------------------------------
-- Robust Resection of view: 38
nfa=-1032.52 inliers=918/1144 precisionNormalized=0.0123983 precision=129.944 (iter=0 ,sample=932,155,1036,)
nfa=-4411.43 inliers=1060/1144 precisionNormalized=1.5582e-05 precision=4.60666 (iter=0 ,sample=932,155,1036,)
nfa=-4594.79 inliers=1020/1144 precisionNormalized=6.29172e-06 precision=2.92725 (iter=3 ,sample=3,745,1018,)
nfa=-4666.2 inliers=1030/1144 precisionNormalized=6.07804e-06 precision=2.87711 (iter=7 ,sample=999,347,947,)
nfa=-4670.17 inliers=1007/1144 precisionNormalized=4.44693e-06 precision=2.46096 (iter=21 ,sample=853,876,971,)
nfa=-4731.68 inliers=1005/1144 precisionNormalized=3.74243e-06 precision=2.25763 (iter=33 ,sample=259,668,242,)
nfa=-4731.81 inliers=1020/1144 precisionNormalized=4.58183e-06 precision=2.49801 (iter=370 ,sample=431,650,905,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1144
-- #Points validated by robust Resection: 1020
-- Threshold: 2.49801
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1020
#residuals: 2040
Initial RMSE: 0.42473
Final RMSE: 0.414632
Time (s): 0.00387551
-------------------------------
-- Robust Resection of view: 120
nfa=-24.3599 inliers=215/1001 precisionNormalized=0.0191426 precision=161.464 (iter=0 ,sample=815,136,906,)
nfa=-1916.13 inliers=956/1001 precisionNormalized=0.00249736 precision=58.3198 (iter=0 ,sample=815,136,906,)
nfa=-2315.05 inliers=976/1001 precisionNormalized=0.00114901 precision=39.5583 (iter=1 ,sample=912,178,954,)
nfa=-4059.01 inliers=901/1001 precisionNormalized=6.3978e-06 precision=2.95183 (iter=2 ,sample=125,340,138,)
nfa=-4068.68 inliers=901/1001 precisionNormalized=6.23821e-06 precision=2.91478 (iter=5 ,sample=971,403,951,)
nfa=-4234.06 inliers=904/1001 precisionNormalized=4.23153e-06 precision=2.40062 (iter=8 ,sample=818,750,81,)
nfa=-4252.29 inliers=909/1001 precisionNormalized=4.35466e-06 precision=2.4353 (iter=10 ,sample=116,755,668,)
nfa=-4274.5 inliers=897/1001 precisionNormalized=3.41113e-06 precision=2.15538 (iter=240 ,sample=856,972,690,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1001
-- #Points validated by robust Resection: 897
-- Threshold: 2.15538
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 897
#residuals: 1794
Initial RMSE: 0.39185
Final RMSE: 0.383477
Time (s): 0.00340751
-------------------------------
-- Robust Resection of view: 39
nfa=15.2692 inliers=4/1388 precisionNormalized=0.173381 precision=485.932 (iter=0 ,sample=1130,188,1257,)
nfa=-95.5969 inliers=395/1388 precisionNormalized=0.0207635 precision=168.161 (iter=0 ,sample=1130,188,1257,)
nfa=-5030.02 inliers=1314/1388 precisionNormalized=3.63537e-05 precision=7.03638 (iter=0 ,sample=1130,188,1257,)
nfa=-5532.66 inliers=1239/1388 precisionNormalized=6.98619e-06 precision=3.08458 (iter=9 ,sample=262,7,952,)
nfa=-5545.15 inliers=1246/1388 precisionNormalized=7.34466e-06 precision=3.16272 (iter=24 ,sample=1181,272,1270,)
nfa=-5580.59 inliers=1255/1388 precisionNormalized=7.5512e-06 precision=3.20689 (iter=65 ,sample=79,713,1251,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1388
-- #Points validated by robust Resection: 1255
-- Threshold: 3.20689
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1255
#residuals: 2510
Initial RMSE: 0.548451
Final RMSE: 0.518543
Time (s): 0.00335569
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 60
#intrinsics: 1
#tracks: 53123
#residuals: 351258
Initial RMSE: 0.290605
Final RMSE: 0.28553
Time (s): 2.80293
-------------------------------
-- Robust Resection of view: 40
nfa=12.5759 inliers=4/1188 precisionNormalized=0.000765621 precision=32.2831 (iter=0 ,sample=967,161,1076,)
nfa=-2909.25 inliers=1174/1188 precisionNormalized=0.000956421 precision=36.0822 (iter=0 ,sample=967,161,1076,)
nfa=-3815.25 inliers=1141/1188 precisionNormalized=0.000116085 precision=12.5706 (iter=1 ,sample=862,1099,1137,)
nfa=-3886.08 inliers=1141/1188 precisionNormalized=0.00010057 precision=11.7005 (iter=6 ,sample=346,1024,612,)
nfa=-4369 inliers=1124/1188 precisionNormalized=3.14524e-05 precision=6.54328 (iter=8 ,sample=444,390,52,)
nfa=-4567.04 inliers=1111/1188 precisionNormalized=1.80587e-05 precision=4.95806 (iter=15 ,sample=51,866,82,)
nfa=-4755.12 inliers=1074/1188 precisionNormalized=7.83872e-06 precision=3.26656 (iter=18 ,sample=495,1071,793,)
nfa=-4758.04 inliers=1080/1188 precisionNormalized=8.37661e-06 precision=3.37678 (iter=19 ,sample=317,725,403,)
nfa=-4785.96 inliers=1079/1188 precisionNormalized=7.78911e-06 precision=3.25621 (iter=27 ,sample=790,613,842,)
nfa=-4799.52 inliers=1082/1188 precisionNormalized=7.84411e-06 precision=3.26769 (iter=84 ,sample=268,907,970,)
nfa=-4809.4 inliers=1038/1188 precisionNormalized=4.41928e-06 precision=2.4527 (iter=108 ,sample=451,768,47,)
nfa=-4813.67 inliers=1063/1188 precisionNormalized=6.01785e-06 precision=2.86213 (iter=140 ,sample=206,932,502,)
nfa=-4820.39 inliers=1045/1188 precisionNormalized=4.71842e-06 precision=2.53435 (iter=246 ,sample=906,383,356,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1188
-- #Points validated by robust Resection: 1045
-- Threshold: 2.53435
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1045
#residuals: 2090
Initial RMSE: 0.493055
Final RMSE: 0.448479
Time (s): 0.00409101
-------------------------------
-- Robust Resection of view: 119
nfa=-3572.38 inliers=889/981 precisionNormalized=2.02771e-05 precision=5.25378 (iter=0 ,sample=799,133,888,)
nfa=-3834.57 inliers=849/981 precisionNormalized=5.62638e-06 precision=2.76747 (iter=2 ,sample=853,646,899,)
nfa=-3880.43 inliers=865/981 precisionNormalized=6.33316e-06 precision=2.93615 (iter=4 ,sample=143,822,646,)
nfa=-3897.01 inliers=857/981 precisionNormalized=5.35541e-06 precision=2.70001 (iter=45 ,sample=771,500,145,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 981
-- #Points validated by robust Resection: 857
-- Threshold: 2.70001
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 857
#residuals: 1714
Initial RMSE: 0.464379
Final RMSE: 0.444978
Time (s): 0.00220735
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 62
#intrinsics: 1
#tracks: 54964
#residuals: 363044
Initial RMSE: 0.28934
Final RMSE: 0.285635
Time (s): 2.86351
-------------------------------
-- Robust Resection of view: 41
nfa=8.98272 inliers=11/1106 precisionNormalized=0.000457616 precision=24.9494 (iter=0 ,sample=901,150,1001,)
nfa=-2360.82 inliers=1091/1106 precisionNormalized=0.00195502 precision=51.5686 (iter=0 ,sample=901,150,1001,)
nfa=-4341.93 inliers=1022/1106 precisionNormalized=1.26112e-05 precision=4.14179 (iter=2 ,sample=36,558,309,)
nfa=-4347.84 inliers=1017/1106 precisionNormalized=1.16857e-05 precision=3.98691 (iter=7 ,sample=518,365,839,)
nfa=-4422.33 inliers=1005/1106 precisionNormalized=8.43909e-06 precision=3.38811 (iter=8 ,sample=1057,302,31,)
nfa=-4590.04 inliers=1003/1106 precisionNormalized=5.55046e-06 precision=2.74773 (iter=10 ,sample=762,111,248,)
nfa=-4624.94 inliers=1003/1106 precisionNormalized=5.11274e-06 precision=2.63716 (iter=22 ,sample=159,179,1056,)
nfa=-4630.99 inliers=977/1106 precisionNormalized=3.51109e-06 precision=2.1854 (iter=128 ,sample=978,303,610,)
nfa=-4643.79 inliers=1004/1106 precisionNormalized=4.95767e-06 precision=2.59686 (iter=144 ,sample=1090,648,975,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1106
-- #Points validated by robust Resection: 1004
-- Threshold: 2.59686
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1004
#residuals: 2008
Initial RMSE: 0.492297
Final RMSE: 0.450141
Time (s): 0.00403306
-------------------------------
-- Robust Resection of view: 118
nfa=-3647.33 inliers=921/963 precisionNormalized=2.72098e-05 precision=6.08377 (iter=0 ,sample=784,131,872,)
nfa=-3854.34 inliers=898/963 precisionNormalized=1.16098e-05 precision=3.97394 (iter=2 ,sample=447,225,7,)
nfa=-3952.84 inliers=892/963 precisionNormalized=8.21792e-06 precision=3.34342 (iter=4 ,sample=894,719,7,)
nfa=-3997.94 inliers=892/963 precisionNormalized=7.29861e-06 precision=3.15087 (iter=6 ,sample=457,559,857,)
nfa=-4001.78 inliers=864/963 precisionNormalized=4.69193e-06 precision=2.5263 (iter=10 ,sample=63,142,355,)
nfa=-4010.04 inliers=870/963 precisionNormalized=5.04109e-06 precision=2.61862 (iter=178 ,sample=207,640,109,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 963
-- #Points validated by robust Resection: 870
-- Threshold: 2.61862
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 870
#residuals: 1740
Initial RMSE: 0.514079
Final RMSE: 0.476794
Time (s): 0.00230202
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 64
#intrinsics: 1
#tracks: 56718
#residuals: 374042
Initial RMSE: 0.288481
Final RMSE: 0.285447
Time (s): 2.50822
-------------------------------
-- Robust Resection of view: 42
nfa=12.7785 inliers=4/939 precisionNormalized=0.00396486 precision=73.4648 (iter=0 ,sample=765,128,850,)
nfa=-2246.31 inliers=863/939 precisionNormalized=0.000556593 precision=27.5254 (iter=0 ,sample=765,128,850,)
nfa=-3308.43 inliers=879/939 precisionNormalized=4.00322e-05 precision=7.38193 (iter=2 ,sample=351,87,68,)
nfa=-3802.06 inliers=866/939 precisionNormalized=8.92112e-06 precision=3.48478 (iter=4 ,sample=185,389,68,)
nfa=-3845.61 inliers=862/939 precisionNormalized=7.45593e-06 precision=3.18578 (iter=39 ,sample=90,494,749,)
nfa=-3866.77 inliers=868/939 precisionNormalized=7.72188e-06 precision=3.2421 (iter=62 ,sample=286,854,688,)
nfa=-3915.88 inliers=859/939 precisionNormalized=5.87132e-06 precision=2.82705 (iter=154 ,sample=345,890,786,)
nfa=-3937.71 inliers=846/939 precisionNormalized=4.48795e-06 precision=2.47166 (iter=362 ,sample=584,572,705,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 939
-- #Points validated by robust Resection: 846
-- Threshold: 2.47166
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 846
#residuals: 1692
Initial RMSE: 0.534522
Final RMSE: 0.512314
Time (s): 0.00326735
-------------------------------
-- Robust Resection of view: 117
nfa=-178.361 inliers=345/879 precisionNormalized=0.016138 precision=148.214 (iter=0 ,sample=716,119,796,)
nfa=-2940.01 inliers=842/879 precisionNormalized=8.05855e-05 precision=10.4735 (iter=0 ,sample=716,119,796,)
nfa=-3443.38 inliers=820/879 precisionNormalized=1.43569e-05 precision=4.42075 (iter=1 ,sample=23,321,252,)
nfa=-3560.05 inliers=796/879 precisionNormalized=6.96391e-06 precision=3.07887 (iter=3 ,sample=671,488,282,)
nfa=-3662.03 inliers=802/879 precisionNormalized=5.7018e-06 precision=2.78594 (iter=18 ,sample=551,37,753,)
nfa=-3669.65 inliers=788/879 precisionNormalized=4.38327e-06 precision=2.44267 (iter=89 ,sample=159,715,696,)
nfa=-3671.12 inliers=805/879 precisionNormalized=5.8403e-06 precision=2.81957 (iter=196 ,sample=301,827,291,)
nfa=-3680.2 inliers=795/879 precisionNormalized=4.79456e-06 precision=2.5547 (iter=237 ,sample=538,612,304,)
nfa=-3684.59 inliers=805/879 precisionNormalized=5.61427e-06 precision=2.76447 (iter=370 ,sample=280,813,111,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 879
-- #Points validated by robust Resection: 805
-- Threshold: 2.76447
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 805
#residuals: 1610
Initial RMSE: 0.492341
Final RMSE: 0.464917
Time (s): 0.00215929
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 66
#intrinsics: 1
#tracks: 58766
#residuals: 385708
Initial RMSE: 0.287396
Final RMSE: 0.284647
Time (s): 2.56206
-------------------------------
-- Robust Resection of view: 116
nfa=14.7758 inliers=4/923 precisionNormalized=0.429485 precision=764.822 (iter=0 ,sample=751,125,836,)
nfa=6.58241 inliers=10/923 precisionNormalized=0.000219112 precision=17.2751 (iter=0 ,sample=751,125,836,)
nfa=-3747.75 inliers=844/923 precisionNormalized=7.73491e-06 precision=3.24574 (iter=1 ,sample=770,118,894,)
nfa=-3816.57 inliers=838/923 precisionNormalized=5.80097e-06 precision=2.81084 (iter=3 ,sample=83,844,588,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 923
-- #Points validated by robust Resection: 838
-- Threshold: 2.81084
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 838
#residuals: 1676
Initial RMSE: 0.592129
Final RMSE: 0.506622
Time (s): 0.00336465
-------------------------------
-- Robust Resection of view: 43
nfa=-1052.03 inliers=672/921 precisionNormalized=0.00368813 precision=70.8744 (iter=0 ,sample=750,125,834,)
nfa=-1567.17 inliers=793/921 precisionNormalized=0.00200556 precision=52.2643 (iter=1 ,sample=611,865,634,)
nfa=-3309.29 inliers=862/921 precisionNormalized=3.35722e-05 precision=6.76202 (iter=2 ,sample=240,172,365,)
nfa=-3793.69 inliers=827/921 precisionNormalized=5.20823e-06 precision=2.66337 (iter=9 ,sample=503,477,290,)
nfa=-3807.6 inliers=829/921 precisionNormalized=5.17171e-06 precision=2.65402 (iter=10 ,sample=49,583,737,)
nfa=-3827.37 inliers=842/921 precisionNormalized=6.03704e-06 precision=2.86747 (iter=108 ,sample=814,399,262,)
nfa=-3837.55 inliers=833/921 precisionNormalized=5.07017e-06 precision=2.62783 (iter=109 ,sample=677,386,794,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 921
-- #Points validated by robust Resection: 833
-- Threshold: 2.62783
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 833
#residuals: 1666
Initial RMSE: 0.538883
Final RMSE: 0.496122
Time (s): 0.00302621
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 68
#intrinsics: 1
#tracks: 60688
#residuals: 396844
Initial RMSE: 0.286659
Final RMSE: 0.284176
Time (s): 2.1208
-------------------------------
-- Robust Resection of view: 115
nfa=-981.935 inliers=948/1025 precisionNormalized=0.0212369 precision=170.092 (iter=0 ,sample=835,139,928,)
nfa=-1855.6 inliers=976/1025 precisionNormalized=0.00314085 precision=65.4126 (iter=0 ,sample=835,139,928,)
nfa=-2968.98 inliers=994/1025 precisionNormalized=0.00027229 precision=19.2599 (iter=2 ,sample=1004,452,912,)
nfa=-4106.02 inliers=910/1025 precisionNormalized=6.0773e-06 precision=2.87735 (iter=3 ,sample=651,501,459,)
nfa=-4114.09 inliers=917/1025 precisionNormalized=6.58526e-06 precision=2.99519 (iter=10 ,sample=611,613,561,)
nfa=-4152.18 inliers=932/1025 precisionNormalized=7.40374e-06 precision=3.17588 (iter=22 ,sample=303,191,947,)
nfa=-4159.24 inliers=916/1025 precisionNormalized=5.77978e-06 precision=2.80604 (iter=26 ,sample=707,897,357,)
nfa=-4161.84 inliers=926/1025 precisionNormalized=6.63317e-06 precision=3.00606 (iter=36 ,sample=940,331,437,)
nfa=-4169.65 inliers=922/1025 precisionNormalized=6.13907e-06 precision=2.89194 (iter=44 ,sample=469,277,732,)
nfa=-4225.73 inliers=920/1025 precisionNormalized=5.16492e-06 precision=2.65259 (iter=57 ,sample=939,146,397,)
nfa=-4226.69 inliers=905/1025 precisionNormalized=4.12057e-06 precision=2.36928 (iter=69 ,sample=904,954,349,)
nfa=-4233.51 inliers=920/1025 precisionNormalized=5.06272e-06 precision=2.62621 (iter=310 ,sample=840,877,45,)
nfa=-4236.77 inliers=919/1025 precisionNormalized=4.947e-06 precision=2.59602 (iter=316 ,sample=87,905,142,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1025
-- #Points validated by robust Resection: 919
-- Threshold: 2.59602
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 919
#residuals: 1838
Initial RMSE: 0.480907
Final RMSE: 0.466338
Time (s): 0.00273022
-------------------------------
-- Robust Resection of view: 44
nfa=-84.0371 inliers=233/910 precisionNormalized=0.013293 precision=134.57 (iter=0 ,sample=741,124,824,)
nfa=-786.939 inliers=570/910 precisionNormalized=0.00434094 precision=76.9006 (iter=0 ,sample=741,124,824,)
nfa=-786.939 inliers=570/910 precisionNormalized=0.00434094 precision=76.9006 (iter=0 ,sample=741,124,824,)
nfa=-3371.23 inliers=839/910 precisionNormalized=2.11883e-05 precision=5.37262 (iter=1 ,sample=172,169,296,)
nfa=-3547.89 inliers=815/910 precisionNormalized=8.96232e-06 precision=3.4942 (iter=3 ,sample=687,811,394,)
nfa=-3550.68 inliers=838/910 precisionNormalized=1.26851e-05 precision=4.15705 (iter=14 ,sample=496,550,778,)
nfa=-3677.16 inliers=812/910 precisionNormalized=5.87998e-06 precision=2.83026 (iter=24 ,sample=230,148,719,)
nfa=-3677.31 inliers=815/910 precisionNormalized=6.17252e-06 precision=2.89981 (iter=140 ,sample=522,363,73,)
nfa=-3681.75 inliers=808/910 precisionNormalized=5.43235e-06 precision=2.72039 (iter=159 ,sample=356,288,864,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 910
-- #Points validated by robust Resection: 808
-- Threshold: 2.72039
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 808
#residuals: 1616
Initial RMSE: 0.525291
Final RMSE: 0.487723
Time (s): 0.00288178
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 70
#intrinsics: 1
#tracks: 62339
#residuals: 407046
Initial RMSE: 0.286545
Final RMSE: 0.2841
Time (s): 2.24348
-------------------------------
-- Robust Resection of view: 113
nfa=-63.1764 inliers=319/1183 precisionNormalized=0.021246 precision=170.133 (iter=0 ,sample=963,161,1071,)
nfa=-3951.74 inliers=1048/1183 precisionNormalized=3.42891e-05 precision=6.83481 (iter=0 ,sample=963,161,1071,)
nfa=-3954.35 inliers=1086/1183 precisionNormalized=5.08369e-05 precision=8.3222 (iter=1 ,sample=687,675,1094,)
nfa=-4423.11 inliers=1065/1183 precisionNormalized=1.47067e-05 precision=4.47618 (iter=6 ,sample=623,521,477,)
nfa=-4482.42 inliers=1076/1183 precisionNormalized=1.4677e-05 precision=4.47165 (iter=9 ,sample=807,722,226,)
nfa=-4490.17 inliers=1094/1183 precisionNormalized=1.77341e-05 precision=4.91534 (iter=19 ,sample=524,206,857,)
nfa=-4537.62 inliers=1046/1183 precisionNormalized=9.12007e-06 precision=3.52491 (iter=69 ,sample=190,855,961,)
nfa=-4566.6 inliers=1081/1183 precisionNormalized=1.2968e-05 precision=4.20326 (iter=109 ,sample=1123,330,11,)
nfa=-4596.81 inliers=1095/1183 precisionNormalized=1.43003e-05 precision=4.41389 (iter=123 ,sample=102,836,293,)
nfa=-4611.8 inliers=1098/1183 precisionNormalized=1.4341e-05 precision=4.42016 (iter=382 ,sample=33,981,1172,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1183
-- #Points validated by robust Resection: 1098
-- Threshold: 4.42016
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1098
#residuals: 2196
Initial RMSE: 0.975625
Final RMSE: 0.837392
Time (s): 0.0041523
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 71
#intrinsics: 1
#tracks: 63213
#residuals: 412736
Initial RMSE: 0.28972
Final RMSE: 0.285458
Time (s): 2.85902
-------------------------------
-- Robust Resection of view: 112
nfa=-81.6951 inliers=726/1011 precisionNormalized=0.103525 precision=375.644 (iter=0 ,sample=823,137,915,)
nfa=-87.0282 inliers=405/1011 precisionNormalized=0.0337674 precision=214.537 (iter=0 ,sample=823,137,915,)
nfa=-3157.02 inliers=970/1011 precisionNormalized=0.000141163 precision=13.8712 (iter=0 ,sample=823,137,915,)
nfa=-3701.77 inliers=933/1011 precisionNormalized=2.40333e-05 precision=5.72347 (iter=1 ,sample=51,608,371,)
nfa=-3705.68 inliers=944/1011 precisionNormalized=2.74183e-05 precision=6.11326 (iter=10 ,sample=621,706,174,)
nfa=-3765.44 inliers=924/1011 precisionNormalized=1.82181e-05 precision=4.98315 (iter=11 ,sample=826,833,11,)
nfa=-3866.53 inliers=912/1011 precisionNormalized=1.19888e-05 precision=4.04242 (iter=16 ,sample=888,628,547,)
nfa=-3877.3 inliers=930/1011 precisionNormalized=1.49061e-05 precision=4.50749 (iter=26 ,sample=550,454,58,)
nfa=-3907.79 inliers=927/1011 precisionNormalized=1.32586e-05 precision=4.25111 (iter=39 ,sample=438,188,543,)
nfa=-3926.77 inliers=928/1011 precisionNormalized=1.28145e-05 precision=4.17929 (iter=44 ,sample=748,62,390,)
nfa=-3928.9 inliers=928/1011 precisionNormalized=1.27461e-05 precision=4.16813 (iter=109 ,sample=974,356,572,)
nfa=-3936.52 inliers=923/1011 precisionNormalized=1.16746e-05 precision=3.98909 (iter=146 ,sample=565,958,194,)
nfa=-3939.28 inliers=933/1011 precisionNormalized=1.32953e-05 precision=4.25698 (iter=168 ,sample=886,460,668,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1011
-- #Points validated by robust Resection: 933
-- Threshold: 4.25698
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 933
#residuals: 1866
Initial RMSE: 0.719367
Final RMSE: 0.709544
Time (s): 0.00453822
-------------------------------
-- Robust Resection of view: 46
nfa=-604.801 inliers=688/802 precisionNormalized=0.0249848 precision=184.54 (iter=0 ,sample=653,109,726,)
nfa=-3158.1 inliers=717/802 precisionNormalized=7.8405e-06 precision=3.26907 (iter=0 ,sample=653,109,726,)
nfa=-3172.86 inliers=720/802 precisionNormalized=7.88765e-06 precision=3.27889 (iter=2 ,sample=355,387,373,)
nfa=-3174.89 inliers=718/802 precisionNormalized=7.55694e-06 precision=3.20941 (iter=8 ,sample=658,543,575,)
nfa=-3225.82 inliers=707/802 precisionNormalized=5.20958e-06 precision=2.66473 (iter=21 ,sample=192,404,714,)
nfa=-3229.42 inliers=717/802 precisionNormalized=6.20519e-06 precision=2.90824 (iter=89 ,sample=650,715,243,)
nfa=-3242.14 inliers=713/802 precisionNormalized=5.52339e-06 precision=2.74382 (iter=153 ,sample=228,248,486,)
nfa=-3263.19 inliers=723/802 precisionNormalized=6.20669e-06 precision=2.90859 (iter=247 ,sample=611,166,535,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 802
-- #Points validated by robust Resection: 723
-- Threshold: 2.90859
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 723
#residuals: 1446
Initial RMSE: 0.5423
Final RMSE: 0.515682
Time (s): 0.0026015
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 73
#intrinsics: 1
#tracks: 65115
#residuals: 423712
Initial RMSE: 0.288936
Final RMSE: 0.28556
Time (s): 2.86109
-------------------------------
-- Robust Resection of view: 111
nfa=14.7295 inliers=4/1011 precisionNormalized=0.24465 precision=577.387 (iter=0 ,sample=823,137,915,)
nfa=-1178.49 inliers=866/1011 precisionNormalized=0.0082468 precision=106.007 (iter=0 ,sample=823,137,915,)
nfa=-3419.36 inliers=959/1011 precisionNormalized=6.62554e-05 precision=9.50177 (iter=0 ,sample=823,137,915,)
nfa=-3730.84 inliers=943/1011 precisionNormalized=2.54441e-05 precision=5.88827 (iter=3 ,sample=260,612,434,)
nfa=-4017.12 inliers=945/1011 precisionNormalized=1.29077e-05 precision=4.19391 (iter=14 ,sample=192,306,598,)
nfa=-4074.84 inliers=912/1011 precisionNormalized=7.02418e-06 precision=3.09379 (iter=19 ,sample=115,507,83,)
nfa=-4079.61 inliers=903/1011 precisionNormalized=6.0854e-06 precision=2.87964 (iter=39 ,sample=553,485,97,)
nfa=-4094.82 inliers=899/1011 precisionNormalized=5.51265e-06 precision=2.74078 (iter=60 ,sample=370,221,805,)
nfa=-4110.48 inliers=886/1011 precisionNormalized=4.34845e-06 precision=2.43422 (iter=108 ,sample=281,976,723,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1011
-- #Points validated by robust Resection: 886
-- Threshold: 2.43422
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 886
#residuals: 1772
Initial RMSE: 0.510973
Final RMSE: 0.464205
Time (s): 0.00344062
-------------------------------
-- Robust Resection of view: 47
nfa=-2372.01 inliers=736/764 precisionNormalized=0.000151863 precision=14.3853 (iter=0 ,sample=622,104,692,)
nfa=-2520.58 inliers=699/764 precisionNormalized=5.33743e-05 precision=8.52825 (iter=1 ,sample=272,471,527,)
nfa=-2659.8 inliers=715/764 precisionNormalized=4.37411e-05 precision=7.72038 (iter=4 ,sample=107,359,756,)
nfa=-2726.22 inliers=685/764 precisionNormalized=2.12209e-05 precision=5.37744 (iter=12 ,sample=514,599,619,)
nfa=-2816.16 inliers=694/764 precisionNormalized=1.83282e-05 precision=4.99751 (iter=19 ,sample=169,192,263,)
nfa=-2852.29 inliers=701/764 precisionNormalized=1.83674e-05 precision=5.00285 (iter=26 ,sample=248,301,241,)
nfa=-2911.16 inliers=691/764 precisionNormalized=1.26187e-05 precision=4.14669 (iter=27 ,sample=554,274,589,)
nfa=-2917.73 inliers=680/764 precisionNormalized=1.00834e-05 precision=3.70678 (iter=84 ,sample=716,449,525,)
nfa=-2919.03 inliers=686/764 precisionNormalized=1.1215e-05 precision=3.90924 (iter=395 ,sample=131,400,435,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 764
-- #Points validated by robust Resection: 686
-- Threshold: 3.90924
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 686
#residuals: 1372
Initial RMSE: 0.683706
Final RMSE: 0.658003
Time (s): 0.00251783
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 75
#intrinsics: 1
#tracks: 66683
#residuals: 433256
Initial RMSE: 0.288887
Final RMSE: 0.286132
Time (s): 2.35142
-------------------------------
-- Robust Resection of view: 110
nfa=-914.832 inliers=660/802 precisionNormalized=0.00704757 precision=97.9942 (iter=0 ,sample=653,109,726,)
nfa=-2318.78 inliers=768/802 precisionNormalized=0.00023894 precision=18.0437 (iter=0 ,sample=653,109,726,)
nfa=-2926.81 inliers=747/802 precisionNormalized=2.73213e-05 precision=6.10142 (iter=1 ,sample=517,47,582,)
nfa=-2977.32 inliers=763/802 precisionNormalized=3.0276e-05 precision=6.42288 (iter=4 ,sample=531,129,246,)
nfa=-3010.44 inliers=750/802 precisionNormalized=2.21312e-05 precision=5.4914 (iter=9 ,sample=767,719,275,)
nfa=-3017.31 inliers=750/802 precisionNormalized=2.16653e-05 precision=5.43329 (iter=16 ,sample=299,7,773,)
nfa=-3088.51 inliers=729/802 precisionNormalized=1.21453e-05 precision=4.06804 (iter=17 ,sample=50,424,750,)
nfa=-3098.73 inliers=739/802 precisionNormalized=1.39645e-05 precision=4.36207 (iter=27 ,sample=621,591,434,)
nfa=-3112.55 inliers=742/802 precisionNormalized=1.40732e-05 precision=4.37903 (iter=31 ,sample=116,217,751,)
nfa=-3146.7 inliers=733/802 precisionNormalized=1.08116e-05 precision=3.83818 (iter=50 ,sample=773,637,235,)
nfa=-3147.67 inliers=742/802 precisionNormalized=1.26022e-05 precision=4.14385 (iter=69 ,sample=28,616,106,)
nfa=-3152.39 inliers=734/802 precisionNormalized=1.08047e-05 precision=3.83695 (iter=70 ,sample=101,681,513,)
nfa=-3169.42 inliers=728/802 precisionNormalized=9.20462e-06 precision=3.54147 (iter=170 ,sample=750,539,84,)
nfa=-3177.41 inliers=747/802 precisionNormalized=1.25153e-05 precision=4.12954 (iter=264 ,sample=103,426,652,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 802
-- #Points validated by robust Resection: 747
-- Threshold: 4.12954
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 747
#residuals: 1494
Initial RMSE: 0.788433
Final RMSE: 0.708152
Time (s): 0.0029275
-------------------------------
-- Robust Resection of view: 48
nfa=-542.916 inliers=433/669 precisionNormalized=0.00603333 precision=90.6691 (iter=0 ,sample=545,91,606,)
nfa=-1229.03 inliers=543/669 precisionNormalized=0.000889238 precision=34.8088 (iter=0 ,sample=545,91,606,)
nfa=-1619.75 inliers=626/669 precisionNormalized=0.000596751 precision=28.5152 (iter=1 ,sample=612,516,522,)
nfa=-1655.83 inliers=650/669 precisionNormalized=0.000741345 precision=31.7827 (iter=4 ,sample=605,143,159,)
nfa=-2581.51 inliers=605/669 precisionNormalized=1.10046e-05 precision=3.87229 (iter=6 ,sample=550,621,51,)
nfa=-2591.97 inliers=610/669 precisionNormalized=1.17352e-05 precision=3.99877 (iter=21 ,sample=305,160,130,)
nfa=-2609.89 inliers=594/669 precisionNormalized=7.7865e-06 precision=3.25725 (iter=97 ,sample=347,300,234,)
nfa=-2613.17 inliers=595/669 precisionNormalized=7.85532e-06 precision=3.27162 (iter=156 ,sample=382,170,96,)
nfa=-2613.59 inliers=596/669 precisionNormalized=8.01417e-06 precision=3.30453 (iter=177 ,sample=369,35,328,)
nfa=-2616.85 inliers=577/669 precisionNormalized=5.1835e-06 precision=2.65762 (iter=181 ,sample=317,169,615,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 669
-- #Points validated by robust Resection: 577
-- Threshold: 2.65762
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 577
#residuals: 1154
Initial RMSE: 0.571856
Final RMSE: 0.518528
Time (s): 0.00201348
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 77
#intrinsics: 1
#tracks: 68505
#residuals: 443370
Initial RMSE: 0.289304
Final RMSE: 0.2867
Time (s): 2.48446
-------------------------------
-- Robust Resection of view: 109
nfa=14.0826 inliers=4/1030 precisionNormalized=0.0502533 precision=261.665 (iter=0 ,sample=839,140,933,)
nfa=-138.523 inliers=651/1030 precisionNormalized=0.0660696 precision=300.029 (iter=0 ,sample=839,140,933,)
nfa=-4205.38 inliers=968/1030 precisionNormalized=1.05613e-05 precision=3.79333 (iter=0 ,sample=839,140,933,)
nfa=-4265.49 inliers=955/1030 precisionNormalized=7.62072e-06 precision=3.22226 (iter=3 ,sample=464,773,599,)
nfa=-4313.43 inliers=950/1030 precisionNormalized=6.30799e-06 precision=2.93162 (iter=19 ,sample=420,291,633,)
nfa=-4323.26 inliers=930/1030 precisionNormalized=4.60365e-06 precision=2.50446 (iter=144 ,sample=402,100,63,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1030
-- #Points validated by robust Resection: 930
-- Threshold: 2.50446
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 930
#residuals: 1860
Initial RMSE: 0.51195
Final RMSE: 0.489515
Time (s): 0.00279598
-------------------------------
-- Robust Resection of view: 49
nfa=-906.148 inliers=692/790 precisionNormalized=0.00969749 precision=114.946 (iter=0 ,sample=643,107,715,)
nfa=-2844.93 inliers=757/790 precisionNormalized=4.32555e-05 precision=7.67685 (iter=1 ,sample=535,206,126,)
nfa=-3222.19 inliers=735/790 precisionNormalized=9.18722e-06 precision=3.53797 (iter=2 ,sample=408,67,316,)
nfa=-3271.53 inliers=738/790 precisionNormalized=8.29065e-06 precision=3.36091 (iter=13 ,sample=506,326,683,)
nfa=-3297.77 inliers=700/790 precisionNormalized=3.70641e-06 precision=2.24719 (iter=22 ,sample=141,658,239,)
nfa=-3299.01 inliers=706/790 precisionNormalized=4.15288e-06 precision=2.37869 (iter=65 ,sample=600,423,598,)
nfa=-3321.94 inliers=724/790 precisionNormalized=5.4376e-06 precision=2.72186 (iter=169 ,sample=543,481,252,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 790
-- #Points validated by robust Resection: 724
-- Threshold: 2.72186
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 724
#residuals: 1448
Initial RMSE: 0.483127
Final RMSE: 0.473017
Time (s): 0.00263868
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 79
#intrinsics: 1
#tracks: 70236
#residuals: 453798
Initial RMSE: 0.288862
Final RMSE: 0.286601
Time (s): 2.47177
-------------------------------
-- Robust Resection of view: 108
nfa=-229.25 inliers=1118/1170 precisionNormalized=0.160218 precision=467.202 (iter=0 ,sample=953,159,1059,)
nfa=-522.701 inliers=1007/1170 precisionNormalized=0.0585496 precision=282.43 (iter=0 ,sample=953,159,1059,)
nfa=-2758.68 inliers=1068/1170 precisionNormalized=0.000577162 precision=28.0413 (iter=0 ,sample=953,159,1059,)
nfa=-4767.95 inliers=1067/1170 precisionNormalized=7.28449e-06 precision=3.15028 (iter=1 ,sample=448,1166,347,)
nfa=-4792.85 inliers=1074/1170 precisionNormalized=7.52279e-06 precision=3.20139 (iter=3 ,sample=1053,432,964,)
nfa=-4843.48 inliers=1058/1170 precisionNormalized=5.50241e-06 precision=2.73795 (iter=4 ,sample=313,691,54,)
nfa=-4847.77 inliers=1061/1170 precisionNormalized=5.66251e-06 precision=2.7775 (iter=62 ,sample=80,531,597,)
nfa=-4849.36 inliers=1070/1170 precisionNormalized=6.32308e-06 precision=2.93504 (iter=203 ,sample=75,526,837,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1170
-- #Points validated by robust Resection: 1070
-- Threshold: 2.93504
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1070
#residuals: 2140
Initial RMSE: 0.517551
Final RMSE: 0.49309
Time (s): 0.00418072
-------------------------------
-- Robust Resection of view: 50
nfa=-95.6684 inliers=179/964 precisionNormalized=0.00591299 precision=89.7538 (iter=0 ,sample=785,131,873,)
nfa=-183.491 inliers=315/964 precisionNormalized=0.0109362 precision=122.062 (iter=0 ,sample=785,131,873,)
nfa=-2390.44 inliers=875/964 precisionNormalized=0.000399747 precision=23.3368 (iter=0 ,sample=785,131,873,)
nfa=-3188.57 inliers=945/964 precisionNormalized=0.000115634 precision=12.5514 (iter=1 ,sample=836,458,652,)
nfa=-3343.97 inliers=933/964 precisionNormalized=6.77728e-05 precision=9.60897 (iter=2 ,sample=257,858,486,)
nfa=-3639.67 inliers=919/964 precisionNormalized=2.69056e-05 precision=6.0544 (iter=3 ,sample=205,270,947,)
nfa=-3761.71 inliers=907/964 precisionNormalized=1.67132e-05 precision=4.77176 (iter=7 ,sample=849,918,820,)
nfa=-3815.71 inliers=903/964 precisionNormalized=1.37448e-05 precision=4.32732 (iter=9 ,sample=141,512,839,)
nfa=-4068.73 inliers=897/964 precisionNormalized=6.51716e-06 precision=2.97974 (iter=16 ,sample=80,687,447,)
nfa=-4099.14 inliers=875/964 precisionNormalized=4.27012e-06 precision=2.41195 (iter=18 ,sample=698,192,261,)
nfa=-4125.64 inliers=874/964 precisionNormalized=3.91031e-06 precision=2.3081 (iter=60 ,sample=743,630,425,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 964
-- #Points validated by robust Resection: 874
-- Threshold: 2.3081
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 874
#residuals: 1748
Initial RMSE: 0.42473
Final RMSE: 0.408787
Time (s): 0.00322884
-------------------------------
-- Robust Resection of view: 107
nfa=13.7539 inliers=4/1278 precisionNormalized=0.00800194 precision=104.411 (iter=0 ,sample=1041,174,1157,)
nfa=-5088.48 inliers=1149/1278 precisionNormalized=7.73108e-06 precision=3.24541 (iter=0 ,sample=1041,174,1157,)
nfa=-5154.89 inliers=1164/1278 precisionNormalized=8.00586e-06 precision=3.30258 (iter=2 ,sample=226,535,701,)
nfa=-5208.63 inliers=1141/1278 precisionNormalized=5.50882e-06 precision=2.73955 (iter=3 ,sample=407,704,1079,)
nfa=-5228.32 inliers=1133/1278 precisionNormalized=4.81122e-06 precision=2.56022 (iter=8 ,sample=489,913,1015,)
nfa=-5228.49 inliers=1148/1278 precisionNormalized=5.73883e-06 precision=2.79615 (iter=249 ,sample=690,251,1205,)
nfa=-5231.39 inliers=1140/1278 precisionNormalized=5.19393e-06 precision=2.6601 (iter=359 ,sample=594,1015,330,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1278
-- #Points validated by robust Resection: 1140
-- Threshold: 2.6601
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1140
#residuals: 2280
Initial RMSE: 0.485162
Final RMSE: 0.478304
Time (s): 0.00302292
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 82
#intrinsics: 1
#tracks: 72436
#residuals: 469258
Initial RMSE: 0.290966
Final RMSE: 0.287015
Time (s): 3.05789
-------------------------------
-- Robust Resection of view: 51
nfa=-100.998 inliers=1134/1141 precisionNormalized=0.243928 precision=576.54 (iter=0 ,sample=929,155,1033,)
nfa=-4890.14 inliers=1047/1141 precisionNormalized=4.5973e-06 precision=2.50294 (iter=0 ,sample=929,155,1033,)
nfa=-4891.51 inliers=1048/1141 precisionNormalized=4.64435e-06 precision=2.51572 (iter=37 ,sample=317,573,83,)
nfa=-4923.13 inliers=1031/1141 precisionNormalized=3.43479e-06 precision=2.16346 (iter=65 ,sample=934,348,928,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1141
-- #Points validated by robust Resection: 1031
-- Threshold: 2.16346
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1031
#residuals: 2062
Initial RMSE: 0.409418
Final RMSE: 0.375873
Time (s): 0.00408891
-------------------------------
-- Robust Resection of view: 106
nfa=11.3512 inliers=4/1095 precisionNormalized=6.85313e-05 precision=9.6637 (iter=0 ,sample=892,149,992,)
nfa=-82.6734 inliers=340/1095 precisionNormalized=0.0227515 precision=176.077 (iter=0 ,sample=892,149,992,)
nfa=-4235.39 inliers=1009/1095 precisionNormalized=1.4077e-05 precision=4.37979 (iter=0 ,sample=892,149,992,)
nfa=-4277.88 inliers=1004/1095 precisionNormalized=1.19795e-05 precision=4.04034 (iter=2 ,sample=859,328,473,)
nfa=-4319.34 inliers=1003/1095 precisionNormalized=1.07406e-05 precision=3.82572 (iter=3 ,sample=388,12,468,)
nfa=-4439.82 inliers=993/1095 precisionNormalized=7.1053e-06 precision=3.11165 (iter=4 ,sample=802,996,576,)
nfa=-4446.37 inliers=979/1095 precisionNormalized=5.79376e-06 precision=2.80982 (iter=8 ,sample=802,448,674,)
nfa=-4457.35 inliers=981/1095 precisionNormalized=5.7985e-06 precision=2.81097 (iter=13 ,sample=25,41,448,)
nfa=-4478.55 inliers=984/1095 precisionNormalized=5.74041e-06 precision=2.79686 (iter=44 ,sample=883,855,470,)
nfa=-4483.77 inliers=981/1095 precisionNormalized=5.44154e-06 precision=2.72308 (iter=60 ,sample=569,204,870,)
nfa=-4488.11 inliers=961/1095 precisionNormalized=4.07521e-06 precision=2.35654 (iter=258 ,sample=480,558,780,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1095
-- #Points validated by robust Resection: 961
-- Threshold: 2.35654
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 961
#residuals: 1922
Initial RMSE: 0.475894
Final RMSE: 0.434955
Time (s): 0.00265146
-------------------------------
-- Robust Resection of view: 52
nfa=-25.5533 inliers=169/1670 precisionNormalized=0.00737113 precision=100.223 (iter=0 ,sample=1360,227,1512,)
nfa=-7098.8 inliers=1546/1670 precisionNormalized=5.77775e-06 precision=2.80594 (iter=0 ,sample=1360,227,1512,)
nfa=-7133.45 inliers=1561/1670 precisionNormalized=6.2599e-06 precision=2.92067 (iter=4 ,sample=730,767,1100,)
nfa=-7143.82 inliers=1570/1670 precisionNormalized=6.67067e-06 precision=3.01497 (iter=19 ,sample=351,1347,740,)
nfa=-7149.62 inliers=1518/1670 precisionNormalized=4.14986e-06 precision=2.37802 (iter=22 ,sample=1381,331,193,)
nfa=-7157.08 inliers=1556/1670 precisionNormalized=5.77924e-06 precision=2.8063 (iter=55 ,sample=1019,1465,1340,)
nfa=-7225.02 inliers=1527/1670 precisionNormalized=4.0075e-06 precision=2.33687 (iter=98 ,sample=1020,1001,1029,)
nfa=-7228.27 inliers=1523/1670 precisionNormalized=3.84289e-06 precision=2.28838 (iter=105 ,sample=632,1035,76,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1670
-- #Points validated by robust Resection: 1523
-- Threshold: 2.28838
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1523
#residuals: 3046
Initial RMSE: 0.420435
Final RMSE: 0.406423
Time (s): 0.00561275
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 85
#intrinsics: 1
#tracks: 75733
#residuals: 490078
Initial RMSE: 0.289359
Final RMSE: 0.285161
Time (s): 4.62692
-------------------------------
-- Robust Resection of view: 53
nfa=-297.218 inliers=1110/1869 precisionNormalized=0.0536582 precision=270.483 (iter=0 ,sample=1522,254,1693,)
nfa=-7247.78 inliers=1762/1869 precisionNormalized=1.87061e-05 precision=5.05026 (iter=0 ,sample=1522,254,1693,)
nfa=-7514.88 inliers=1782/1869 precisionNormalized=1.52375e-05 precision=4.55804 (iter=10 ,sample=228,1497,1604,)
nfa=-7762.02 inliers=1745/1869 precisionNormalized=8.32916e-06 precision=3.36994 (iter=16 ,sample=1343,1097,1796,)
nfa=-7869.24 inliers=1721/1869 precisionNormalized=5.97642e-06 precision=2.85458 (iter=27 ,sample=1585,1336,1486,)
nfa=-7874.36 inliers=1742/1869 precisionNormalized=6.99796e-06 precision=3.08893 (iter=130 ,sample=288,1112,917,)
nfa=-7879.16 inliers=1733/1869 precisionNormalized=6.48046e-06 precision=2.97252 (iter=170 ,sample=1429,1057,1069,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1869
-- #Points validated by robust Resection: 1733
-- Threshold: 2.97252
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1733
#residuals: 3466
Initial RMSE: 0.566653
Final RMSE: 0.533213
Time (s): 0.00663031
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 86
#intrinsics: 1
#tracks: 76409
#residuals: 496376
Initial RMSE: 0.28823
Final RMSE: 0.285969
Time (s): 2.66926
-------------------------------
-- Robust Resection of view: 105
nfa=15.3311 inliers=4/1031 precisionNormalized=0.886131 precision=1099.2 (iter=0 ,sample=839,140,934,)
nfa=-206.722 inliers=689/1031 precisionNormalized=0.0592298 precision=284.183 (iter=0 ,sample=839,140,934,)
nfa=-2510.1 inliers=949/1031 precisionNormalized=0.000509255 precision=26.3509 (iter=0 ,sample=839,140,934,)
nfa=-4313.46 inliers=936/1031 precisionNormalized=5.14032e-06 precision=2.64742 (iter=1 ,sample=791,830,828,)
nfa=-4354.24 inliers=928/1031 precisionNormalized=4.1183e-06 precision=2.36967 (iter=35 ,sample=540,198,769,)
nfa=-4357.04 inliers=923/1031 precisionNormalized=3.79339e-06 precision=2.27427 (iter=175 ,sample=15,52,94,)
nfa=-4363.42 inliers=910/1031 precisionNormalized=3.0587e-06 precision=2.04219 (iter=216 ,sample=723,784,428,)
nfa=-4381.31 inliers=915/1031 precisionNormalized=3.15255e-06 precision=2.07329 (iter=224 ,sample=186,558,851,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1031
-- #Points validated by robust Resection: 915
-- Threshold: 2.07329
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 915
#residuals: 1830
Initial RMSE: 0.391162
Final RMSE: 0.386091
Time (s): 0.00282816
-------------------------------
-- Robust Resection of view: 104
nfa=-292.405 inliers=582/1042 precisionNormalized=0.0278608 precision=194.906 (iter=0 ,sample=848,142,944,)
nfa=-3678.89 inliers=988/1042 precisionNormalized=4.59656e-05 precision=7.9167 (iter=0 ,sample=848,142,944,)
nfa=-4062.79 inliers=983/1042 precisionNormalized=1.74971e-05 precision=4.8844 (iter=2 ,sample=317,667,1009,)
nfa=-4276.65 inliers=940/1042 precisionNormalized=5.80779e-06 precision=2.81406 (iter=3 ,sample=356,841,708,)
nfa=-4312.9 inliers=930/1042 precisionNormalized=4.58596e-06 precision=2.50059 (iter=4 ,sample=880,878,190,)
nfa=-4318.52 inliers=953/1042 precisionNormalized=6.29403e-06 precision=2.92949 (iter=24 ,sample=974,536,134,)
nfa=-4334.06 inliers=953/1042 precisionNormalized=6.05691e-06 precision=2.87378 (iter=89 ,sample=31,878,586,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1042
-- #Points validated by robust Resection: 953
-- Threshold: 2.87378
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 953
#residuals: 1906
Initial RMSE: 0.554279
Final RMSE: 0.51576
Time (s): 0.00341079
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 88
#intrinsics: 1
#tracks: 77549
#residuals: 505190
Initial RMSE: 0.288548
Final RMSE: 0.286486
Time (s): 3.41688
-------------------------------
-- Robust Resection of view: 102
nfa=-221.915 inliers=614/1038 precisionNormalized=0.0421656 precision=239.816 (iter=0 ,sample=845,141,940,)
nfa=-4121.55 inliers=975/1038 precisionNormalized=1.3864e-05 precision=4.34854 (iter=0 ,sample=845,141,940,)
nfa=-4358.76 inliers=950/1038 precisionNormalized=5.51672e-06 precision=2.74308 (iter=3 ,sample=180,474,39,)
nfa=-4401.49 inliers=956/1038 precisionNormalized=5.40954e-06 precision=2.71631 (iter=4 ,sample=342,758,954,)
nfa=-4406.52 inliers=937/1038 precisionNormalized=4.04779e-06 precision=2.34967 (iter=22 ,sample=88,72,514,)
nfa=-4448.6 inliers=950/1038 precisionNormalized=4.41075e-06 precision=2.45276 (iter=24 ,sample=440,706,35,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1038
-- #Points validated by robust Resection: 950
-- Threshold: 2.45276
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 950
#residuals: 1900
Initial RMSE: 0.482126
Final RMSE: 0.45646
Time (s): 0.00296495
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 89
#intrinsics: 1
#tracks: 78107
#residuals: 509548
Initial RMSE: 0.287907
Final RMSE: 0.286913
Time (s): 2.78336
-------------------------------
-- Robust Resection of view: 101
nfa=12.4761 inliers=4/950 precisionNormalized=0.00186435 precision=50.4275 (iter=0 ,sample=773,129,860,)
nfa=-1734.18 inliers=895/950 precisionNormalized=0.00278446 precision=61.6275 (iter=0 ,sample=773,129,860,)
nfa=-2095.05 inliers=932/950 precisionNormalized=0.00156472 precision=46.1979 (iter=2 ,sample=755,805,97,)
nfa=-3701.82 inliers=878/950 precisionNormalized=1.3491e-05 precision=4.28969 (iter=3 ,sample=473,19,168,)
nfa=-3870.32 inliers=873/950 precisionNormalized=7.98955e-06 precision=3.30115 (iter=11 ,sample=944,809,667,)
nfa=-3877.58 inliers=869/950 precisionNormalized=7.37205e-06 precision=3.17101 (iter=19 ,sample=932,629,825,)
nfa=-3880.04 inliers=857/950 precisionNormalized=6.08503e-06 precision=2.88095 (iter=29 ,sample=65,245,712,)
nfa=-3886.2 inliers=867/950 precisionNormalized=6.9848e-06 precision=3.0866 (iter=263 ,sample=366,244,6,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 950
-- #Points validated by robust Resection: 867
-- Threshold: 3.0866
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 867
#residuals: 1734
Initial RMSE: 0.571749
Final RMSE: 0.547109
Time (s): 0.00351029
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 90
#intrinsics: 1
#tracks: 78756
#residuals: 514080
Initial RMSE: 0.288374
Final RMSE: 0.287197
Time (s): 3.45768
-------------------------------
-- Robust Resection of view: 100
nfa=-659.384 inliers=534/751 precisionNormalized=0.00748364 precision=101.031 (iter=0 ,sample=611,102,680,)
nfa=-2620.5 inliers=687/751 precisionNormalized=3.28636e-05 precision=6.69511 (iter=0 ,sample=611,102,680,)
nfa=-2688.39 inliers=681/751 precisionNormalized=2.35399e-05 precision=5.66633 (iter=1 ,sample=270,577,245,)
nfa=-2943.99 inliers=684/751 precisionNormalized=1.0382e-05 precision=3.76305 (iter=2 ,sample=249,50,384,)
nfa=-2956.58 inliers=680/751 precisionNormalized=9.21994e-06 precision=3.54621 (iter=119 ,sample=100,326,562,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 751
-- #Points validated by robust Resection: 680
-- Threshold: 3.54621
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 680
#residuals: 1360
Initial RMSE: 0.698027
Final RMSE: 0.667782
Time (s): 0.00238881
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 91
#intrinsics: 1
#tracks: 79228
#residuals: 517410
Initial RMSE: 0.289043
Final RMSE: 0.287942
Time (s): 2.86257
-------------------------------
-- Robust Resection of view: 99
nfa=-7.98722 inliers=173/692 precisionNormalized=0.0260138 precision=188.348 (iter=0 ,sample=563,94,626,)
nfa=-2143.6 inliers=665/692 precisionNormalized=0.000149446 precision=14.2759 (iter=0 ,sample=563,94,626,)
nfa=-2495.13 inliers=638/692 precisionNormalized=2.66961e-05 precision=6.0337 (iter=2 ,sample=525,398,102,)
nfa=-2549.92 inliers=616/692 precisionNormalized=1.42541e-05 precision=4.4089 (iter=22 ,sample=533,550,398,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 692
-- #Points validated by robust Resection: 616
-- Threshold: 4.4089
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 616
#residuals: 1232
Initial RMSE: 1.00965
Final RMSE: 0.917939
Time (s): 0.00259402
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 92
#intrinsics: 1
#tracks: 79960
#residuals: 521652
Initial RMSE: 0.291676
Final RMSE: 0.289017
Time (s): 3.49733
-------------------------------
-- Robust Resection of view: 98
nfa=7.47452 inliers=6/710 precisionNormalized=4.59255e-05 precision=7.91342 (iter=0 ,sample=578,97,643,)
nfa=-2524.17 inliers=662/710 precisionNormalized=3.46951e-05 precision=6.87814 (iter=0 ,sample=578,97,643,)
nfa=-2562.72 inliers=653/710 precisionNormalized=2.57315e-05 precision=5.92338 (iter=8 ,sample=245,584,655,)
nfa=-2595.03 inliers=636/710 precisionNormalized=1.66692e-05 precision=4.76754 (iter=10 ,sample=405,620,522,)
nfa=-2614.3 inliers=654/710 precisionNormalized=2.18159e-05 precision=5.45411 (iter=33 ,sample=217,532,501,)
nfa=-2625.85 inliers=651/710 precisionNormalized=1.97966e-05 precision=5.19557 (iter=45 ,sample=576,411,466,)
nfa=-2648.96 inliers=644/710 precisionNormalized=1.59575e-05 precision=4.66466 (iter=49 ,sample=502,668,563,)
nfa=-2666.36 inliers=651/710 precisionNormalized=1.71268e-05 precision=4.83254 (iter=84 ,sample=457,622,340,)
nfa=-2671.77 inliers=652/710 precisionNormalized=1.71205e-05 precision=4.83165 (iter=109 ,sample=502,248,633,)
nfa=-2674.55 inliers=640/710 precisionNormalized=1.34627e-05 precision=4.28453 (iter=148 ,sample=31,26,606,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 710
-- #Points validated by robust Resection: 640
-- Threshold: 4.28453
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 640
#residuals: 1280
Initial RMSE: 0.920969
Final RMSE: 0.810257
Time (s): 0.00266536
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 93
#intrinsics: 1
#tracks: 81125
#residuals: 527600
Initial RMSE: 0.290823
Final RMSE: 0.289067
Time (s): 3.02153
-------------------------------
-- Robust Resection of view: 97
nfa=11.9692 inliers=4/852 precisionNormalized=0.00100108 precision=36.945 (iter=0 ,sample=694,116,771,)
nfa=-210.086 inliers=411/852 precisionNormalized=0.0217643 precision=172.263 (iter=0 ,sample=694,116,771,)
nfa=-3376.09 inliers=755/852 precisionNormalized=6.57381e-06 precision=2.99384 (iter=0 ,sample=694,116,771,)
nfa=-3394.33 inliers=774/852 precisionNormalized=8.59753e-06 precision=3.42379 (iter=6 ,sample=801,46,262,)
nfa=-3401.43 inliers=786/852 precisionNormalized=1.02802e-05 precision=3.74388 (iter=98 ,sample=648,332,319,)
nfa=-3433.08 inliers=773/852 precisionNormalized=7.51591e-06 precision=3.20119 (iter=108 ,sample=332,51,606,)
nfa=-3437.95 inliers=759/852 precisionNormalized=5.81396e-06 precision=2.81551 (iter=115 ,sample=362,297,94,)
nfa=-3461.88 inliers=759/852 precisionNormalized=5.3969e-06 precision=2.71264 (iter=310 ,sample=368,564,571,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 852
-- #Points validated by robust Resection: 759
-- Threshold: 2.71264
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 759
#residuals: 1518
Initial RMSE: 0.580048
Final RMSE: 0.553547
Time (s): 0.00316737
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 94
#intrinsics: 1
#tracks: 82051
#residuals: 532886
Initial RMSE: 0.290262
Final RMSE: 0.289194
Time (s): 2.86403
-------------------------------
-- Robust Resection of view: 96
nfa=-1208.79 inliers=1104/1147 precisionNormalized=0.021028 precision=169.325 (iter=0 ,sample=934,156,1039,)
nfa=-4732.5 inliers=1008/1147 precisionNormalized=3.86608e-06 precision=2.29592 (iter=0 ,sample=934,156,1039,)
nfa=-4741.53 inliers=1057/1147 precisionNormalized=7.19586e-06 precision=3.1323 (iter=27 ,sample=570,890,940,)
nfa=-4759.68 inliers=1028/1147 precisionNormalized=4.74556e-06 precision=2.5437 (iter=103 ,sample=178,654,146,)
nfa=-4783 inliers=1036/1147 precisionNormalized=4.99925e-06 precision=2.6108 (iter=115 ,sample=614,710,696,)
nfa=-4789.39 inliers=1051/1147 precisionNormalized=5.98991e-06 precision=2.8578 (iter=342 ,sample=809,324,886,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1147
-- #Points validated by robust Resection: 1051
-- Threshold: 2.8578
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1051
#residuals: 2102
Initial RMSE: 0.51902
Final RMSE: 0.499356
Time (s): 0.00425675
-------------------------------
-- Robust Resection of view: 95
nfa=-3609 inliers=1069/1129 precisionNormalized=0.000102625 precision=11.829 (iter=0 ,sample=919,153,1022,)
nfa=-3822.13 inliers=1027/1129 precisionNormalized=4.10697e-05 precision=7.48311 (iter=1 ,sample=525,554,145,)
nfa=-4046.41 inliers=1067/1129 precisionNormalized=3.89436e-05 precision=7.28684 (iter=7 ,sample=694,790,754,)
nfa=-4082.27 inliers=1034/1129 precisionNormalized=2.47555e-05 precision=5.80975 (iter=11 ,sample=481,512,565,)
nfa=-4094.32 inliers=1030/1129 precisionNormalized=2.30036e-05 precision=5.6004 (iter=17 ,sample=49,33,816,)
nfa=-4199.77 inliers=1031/1129 precisionNormalized=1.83513e-05 precision=5.00213 (iter=20 ,sample=373,214,1028,)
nfa=-4229.41 inliers=1006/1129 precisionNormalized=1.26848e-05 precision=4.15875 (iter=33 ,sample=965,503,924,)
nfa=-4311.24 inliers=1012/1129 precisionNormalized=1.13059e-05 precision=3.92621 (iter=69 ,sample=561,978,217,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1129
-- #Points validated by robust Resection: 1012
-- Threshold: 3.92621
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1012
#residuals: 2024
Initial RMSE: 0.885314
Final RMSE: 0.817848
Time (s): 0.00365567
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 96
#intrinsics: 1
#tracks: 83715
#residuals: 544362
Initial RMSE: 0.294339
Final RMSE: 0.29008
Time (s): 4.43097
-------------------------------
-- Robust Resection of view: 94
nfa=-10.2458 inliers=111/1256 precisionNormalized=0.0067334 precision=95.8164 (iter=0 ,sample=1023,171,1137,)
nfa=-205.425 inliers=714/1256 precisionNormalized=0.0473727 precision=254.148 (iter=0 ,sample=1023,171,1137,)
nfa=-3520.57 inliers=1200/1256 precisionNormalized=0.000294683 precision=20.0447 (iter=0 ,sample=1023,171,1137,)
nfa=-3847.35 inliers=1222/1256 precisionNormalized=0.000191301 precision=16.1503 (iter=1 ,sample=520,1223,805,)
nfa=-4993.11 inliers=1138/1256 precisionNormalized=8.68078e-06 precision=3.44034 (iter=8 ,sample=1035,1163,440,)
nfa=-5102.66 inliers=1128/1256 precisionNormalized=6.16199e-06 precision=2.89857 (iter=11 ,sample=850,560,122,)
nfa=-5105.3 inliers=1125/1256 precisionNormalized=5.91477e-06 precision=2.83982 (iter=273 ,sample=330,416,194,)
nfa=-5105.7 inliers=1126/1256 precisionNormalized=5.98015e-06 precision=2.85548 (iter=305 ,sample=714,282,846,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1256
-- #Points validated by robust Resection: 1126
-- Threshold: 2.85548
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1126
#residuals: 2252
Initial RMSE: 0.577247
Final RMSE: 0.523196
Time (s): 0.00591971
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 97
#intrinsics: 1
#tracks: 84925
#residuals: 551580
Initial RMSE: 0.291247
Final RMSE: 0.289935
Time (s): 3.72018
-------------------------------
-- Robust Resection of view: 93
nfa=-509.643 inliers=760/1408 precisionNormalized=0.0181604 precision=157.362 (iter=0 ,sample=1147,191,1275,)
nfa=-2763.6 inliers=1254/1408 precisionNormalized=0.00130717 precision=42.2185 (iter=0 ,sample=1147,191,1275,)
nfa=-6049.97 inliers=1303/1408 precisionNormalized=5.07873e-06 precision=2.63157 (iter=1 ,sample=80,187,952,)
nfa=-6116.11 inliers=1274/1408 precisionNormalized=3.27739e-06 precision=2.11398 (iter=3 ,sample=865,1187,538,)
nfa=-6127.86 inliers=1290/1408 precisionNormalized=3.82734e-06 precision=2.28447 (iter=64 ,sample=1301,1059,945,)
nfa=-6165.94 inliers=1294/1408 precisionNormalized=3.72812e-06 precision=2.25467 (iter=119 ,sample=774,666,1134,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1408
-- #Points validated by robust Resection: 1294
-- Threshold: 2.25467
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1294
#residuals: 2588
Initial RMSE: 0.409677
Final RMSE: 0.378416
Time (s): 0.00394997
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 98
#intrinsics: 1
#tracks: 85875
#residuals: 558054
Initial RMSE: 0.290177
Final RMSE: 0.289441
Time (s): 3.07277
-------------------------------
-- Robust Resection of view: 91
nfa=-170.603 inliers=462/1450 precisionNormalized=0.0178747 precision=156.121 (iter=0 ,sample=1181,197,1313,)
nfa=-6280.77 inliers=1335/1450 precisionNormalized=4.33063e-06 precision=2.43006 (iter=0 ,sample=1181,197,1313,)
nfa=-6411.21 inliers=1300/1450 precisionNormalized=2.33484e-06 precision=1.78431 (iter=8 ,sample=1021,99,575,)
nfa=-6422.61 inliers=1342/1450 precisionNormalized=3.62553e-06 precision=2.22345 (iter=105 ,sample=958,908,228,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1450
-- #Points validated by robust Resection: 1342
-- Threshold: 2.22345
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1342
#residuals: 2684
Initial RMSE: 0.373758
Final RMSE: 0.354222
Time (s): 0.00521703
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 99
#intrinsics: 1
#tracks: 86696
#residuals: 564128
Initial RMSE: 0.289792
Final RMSE: 0.289101
Time (s): 3.16716
-------------------------------
-- Robust Resection of view: 90
nfa=13.8342 inliers=4/1410 precisionNormalized=0.00588631 precision=89.5903 (iter=0 ,sample=1148,191,1277,)
nfa=-207.512 inliers=517/1410 precisionNormalized=0.0198531 precision=164.533 (iter=0 ,sample=1148,191,1277,)
nfa=-6061.49 inliers=1304/1410 precisionNormalized=5.00658e-06 precision=2.61283 (iter=0 ,sample=1148,191,1277,)
nfa=-6193.11 inliers=1242/1410 precisionNormalized=1.94701e-06 precision=1.62938 (iter=4 ,sample=871,927,1098,)
nfa=-6200.42 inliers=1277/1410 precisionNormalized=2.88179e-06 precision=1.98231 (iter=61 ,sample=850,1076,287,)
nfa=-6209.99 inliers=1285/1410 precisionNormalized=3.0972e-06 precision=2.05506 (iter=65 ,sample=147,532,126,)
nfa=-6232.99 inliers=1265/1410 precisionNormalized=2.36138e-06 precision=1.79442 (iter=169 ,sample=172,268,337,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1410
-- #Points validated by robust Resection: 1265
-- Threshold: 1.79442
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1265
#residuals: 2530
Initial RMSE: 0.339537
Final RMSE: 0.308462
Time (s): 0.00386548
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 100
#intrinsics: 1
#tracks: 87627
#residuals: 570610
Initial RMSE: 0.28948
Final RMSE: 0.288862
Time (s): 3.06069
-------------------------------
-- Robust Resection of view: 89
nfa=-5880.38 inliers=1319/1402 precisionNormalized=8.23946e-06 precision=3.35192 (iter=0 ,sample=1142,190,1270,)
nfa=-5943.66 inliers=1311/1402 precisionNormalized=6.77597e-06 precision=3.0397 (iter=20 ,sample=594,536,628,)
nfa=-6123.86 inliers=1276/1402 precisionNormalized=3.34168e-06 precision=2.13465 (iter=24 ,sample=117,1029,826,)
nfa=-6220.71 inliers=1282/1402 precisionNormalized=2.98183e-06 precision=2.01644 (iter=27 ,sample=557,361,390,)
nfa=-6243.18 inliers=1283/1402 precisionNormalized=2.89148e-06 precision=1.98566 (iter=34 ,sample=890,159,451,)
nfa=-6261.21 inliers=1285/1402 precisionNormalized=2.85971e-06 precision=1.97472 (iter=35 ,sample=887,137,493,)
nfa=-6297.82 inliers=1283/1402 precisionNormalized=2.60967e-06 precision=1.88642 (iter=45 ,sample=855,230,476,)
nfa=-6336.48 inliers=1274/1402 precisionNormalized=2.18497e-06 precision=1.72611 (iter=109 ,sample=750,643,247,)
nfa=-6353.86 inliers=1281/1402 precisionNormalized=2.294e-06 precision=1.76865 (iter=278 ,sample=558,1358,693,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1402
-- #Points validated by robust Resection: 1281
-- Threshold: 1.76865
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1281
#residuals: 2562
Initial RMSE: 0.32721
Final RMSE: 0.308154
Time (s): 0.00386718
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 101
#intrinsics: 1
#tracks: 88588
#residuals: 577160
Initial RMSE: 0.289035
Final RMSE: 0.288422
Time (s): 3.19797
-------------------------------
-- Robust Resection of view: 88
nfa=15.4434 inliers=4/1463 precisionNormalized=0.198987 precision=520.907 (iter=0 ,sample=1191,199,1325,)
nfa=13.4146 inliers=4/1463 precisionNormalized=0.00186207 precision=50.3902 (iter=0 ,sample=1191,199,1325,)
nfa=-5568.34 inliers=1383/1463 precisionNormalized=2.29033e-05 precision=5.58852 (iter=0 ,sample=1191,199,1325,)
nfa=-5729.11 inliers=1404/1463 precisionNormalized=2.12087e-05 precision=5.37781 (iter=2 ,sample=87,366,1158,)
nfa=-6123.64 inliers=1365/1463 precisionNormalized=7.53761e-06 precision=3.20601 (iter=3 ,sample=1330,1171,1426,)
nfa=-6155.79 inliers=1360/1463 precisionNormalized=6.786e-06 precision=3.04197 (iter=11 ,sample=630,1354,1252,)
nfa=-6180.95 inliers=1365/1463 precisionNormalized=6.83057e-06 precision=3.05194 (iter=22 ,sample=280,531,339,)
nfa=-6282.11 inliers=1370/1463 precisionNormalized=6.03587e-06 precision=2.86892 (iter=24 ,sample=1086,635,351,)
nfa=-6568.7 inliers=1327/1463 precisionNormalized=2.30688e-06 precision=1.77362 (iter=28 ,sample=145,606,70,)
nfa=-6591.09 inliers=1354/1463 precisionNormalized=2.98075e-06 precision=2.01609 (iter=126 ,sample=1175,537,354,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1463
-- #Points validated by robust Resection: 1354
-- Threshold: 2.01609
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1354
#residuals: 2708
Initial RMSE: 0.37057
Final RMSE: 0.350737
Time (s): 0.00526444
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 102
#intrinsics: 1
#tracks: 89280
#residuals: 582760
Initial RMSE: 0.288941
Final RMSE: 0.288327
Time (s): 3.34784
-------------------------------
-- Robust Resection of view: 87
nfa=-24.3542 inliers=169/1393 precisionNormalized=0.00912437 precision=111.546 (iter=0 ,sample=1134,189,1261,)
nfa=-4001.5 inliers=1320/1393 precisionNormalized=0.000229884 precision=17.7055 (iter=0 ,sample=1134,189,1261,)
nfa=-4921.78 inliers=1339/1393 precisionNormalized=5.43711e-05 precision=8.61068 (iter=1 ,sample=523,906,84,)
nfa=-6183.45 inliers=1241/1393 precisionNormalized=2.02371e-06 precision=1.66122 (iter=2 ,sample=1218,886,714,)
nfa=-6255.03 inliers=1253/1393 precisionNormalized=2.03015e-06 precision=1.66386 (iter=29 ,sample=749,242,156,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1393
-- #Points validated by robust Resection: 1253
-- Threshold: 1.66386
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1253
#residuals: 2506
Initial RMSE: 0.334821
Final RMSE: 0.322269
Time (s): 0.00379696
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 103
#intrinsics: 1
#tracks: 89826
#residuals: 587906
Initial RMSE: 0.289074
Final RMSE: 0.288439
Time (s): 4.4734
-------------------------------
-- Robust Resection of view: 86
nfa=2.10178 inliers=30/1149 precisionNormalized=0.0013124 precision=42.3026 (iter=0 ,sample=936,156,1040,)
nfa=-4072.49 inliers=1082/1149 precisionNormalized=4.11688e-05 precision=7.49235 (iter=0 ,sample=936,156,1040,)
nfa=-4575.53 inliers=1049/1149 precisionNormalized=9.37397e-06 precision=3.57516 (iter=1 ,sample=77,922,20,)
nfa=-4732.86 inliers=1038/1149 precisionNormalized=5.72551e-06 precision=2.79409 (iter=14 ,sample=72,698,121,)
nfa=-4812.16 inliers=1022/1149 precisionNormalized=3.86093e-06 precision=2.29446 (iter=27 ,sample=96,697,698,)
nfa=-4822.8 inliers=1021/1149 precisionNormalized=3.71556e-06 precision=2.25085 (iter=39 ,sample=271,234,415,)
nfa=-4826.28 inliers=1023/1149 precisionNormalized=3.78691e-06 precision=2.27236 (iter=60 ,sample=25,544,433,)
nfa=-4833.31 inliers=1020/1149 precisionNormalized=3.57644e-06 precision=2.20831 (iter=103 ,sample=488,80,63,)
nfa=-4835.68 inliers=1009/1149 precisionNormalized=3.05625e-06 precision=2.0414 (iter=282 ,sample=535,350,367,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1149
-- #Points validated by robust Resection: 1009
-- Threshold: 2.0414
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1009
#residuals: 2018
Initial RMSE: 0.430144
Final RMSE: 0.37304
Time (s): 0.00398938
-------------------------------
-- Robust Resection of view: 85
nfa=-216.83 inliers=1000/1193 precisionNormalized=0.1109 precision=388.866 (iter=0 ,sample=971,162,1080,)
nfa=-572.223 inliers=1017/1193 precisionNormalized=0.0518149 precision=265.804 (iter=1 ,sample=1190,979,1003,)
nfa=-1430.94 inliers=1002/1193 precisionNormalized=0.00679118 precision=96.2291 (iter=1 ,sample=1190,979,1003,)
nfa=-4497.46 inliers=1111/1193 precisionNormalized=2.06325e-05 precision=5.30408 (iter=2 ,sample=189,424,507,)
nfa=-4836.51 inliers=1055/1193 precisionNormalized=5.11655e-06 precision=2.64133 (iter=10 ,sample=129,938,355,)
nfa=-4893.68 inliers=1022/1193 precisionNormalized=2.90912e-06 precision=1.99166 (iter=19 ,sample=394,909,233,)
nfa=-4908.76 inliers=1060/1193 precisionNormalized=4.63923e-06 precision=2.51511 (iter=32 ,sample=723,740,1000,)
nfa=-4947.28 inliers=1031/1193 precisionNormalized=2.90021e-06 precision=1.9886 (iter=36 ,sample=941,120,151,)
nfa=-4970.83 inliers=1043/1193 precisionNormalized=3.22814e-06 precision=2.09802 (iter=56 ,sample=70,1158,976,)
nfa=-4971.17 inliers=1055/1193 precisionNormalized=3.78e-06 precision=2.27028 (iter=98 ,sample=59,983,27,)
nfa=-4993.28 inliers=1035/1193 precisionNormalized=2.75127e-06 precision=1.93687 (iter=381 ,sample=642,112,1133,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1193
-- #Points validated by robust Resection: 1035
-- Threshold: 1.93687
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1035
#residuals: 2070
Initial RMSE: 0.391076
Final RMSE: 0.358667
Time (s): 0.00287376
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 105
#intrinsics: 1
#tracks: 90452
#residuals: 595420
Initial RMSE: 0.290605
Final RMSE: 0.289234
Time (s): 3.39622
-------------------------------
-- Robust Resection of view: 84
nfa=-1593.85 inliers=1008/1047 precisionNormalized=0.00682859 precision=96.4942 (iter=0 ,sample=853,142,948,)
nfa=-4207.3 inliers=952/1047 precisionNormalized=8.05998e-06 precision=3.31514 (iter=0 ,sample=853,142,948,)
nfa=-4233.72 inliers=950/1047 precisionNormalized=7.3456e-06 precision=3.16482 (iter=4 ,sample=540,514,316,)
nfa=-4287.52 inliers=914/1047 precisionNormalized=3.81757e-06 precision=2.28154 (iter=8 ,sample=316,819,93,)
nfa=-4307.62 inliers=923/1047 precisionNormalized=4.14301e-06 precision=2.3768 (iter=13 ,sample=938,746,316,)
nfa=-4312.37 inliers=919/1047 precisionNormalized=3.85642e-06 precision=2.29312 (iter=278 ,sample=388,998,875,)
nfa=-4326.6 inliers=913/1047 precisionNormalized=3.39549e-06 precision=2.15173 (iter=405 ,sample=62,794,328,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1047
-- #Points validated by robust Resection: 913
-- Threshold: 2.15173
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 913
#residuals: 1826
Initial RMSE: 0.449761
Final RMSE: 0.386527
Time (s): 0.00367401
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 106
#intrinsics: 1
#tracks: 90796
#residuals: 599236
Initial RMSE: 0.290381
Final RMSE: 0.289803
Time (s): 3.7569
-------------------------------
-- Robust Resection of view: 82
nfa=-985.563 inliers=756/921 precisionNormalized=0.00853216 precision=107.869 (iter=0 ,sample=750,125,834,)
nfa=-2101.24 inliers=906/921 precisionNormalized=0.00134024 precision=42.7521 (iter=1 ,sample=408,122,815,)
nfa=-3150.19 inliers=856/921 precisionNormalized=4.75325e-05 precision=8.05122 (iter=2 ,sample=71,124,63,)
nfa=-3476.59 inliers=854/921 precisionNormalized=1.90649e-05 precision=5.09898 (iter=4 ,sample=169,705,63,)
nfa=-3726.01 inliers=824/921 precisionNormalized=6.01976e-06 precision=2.8652 (iter=7 ,sample=543,83,31,)
nfa=-3729.34 inliers=805/921 precisionNormalized=4.36185e-06 precision=2.43894 (iter=89 ,sample=530,240,493,)
nfa=-3734.04 inliers=838/921 precisionNormalized=7.35651e-06 precision=3.16739 (iter=257 ,sample=848,65,28,)
nfa=-3735.08 inliers=834/921 precisionNormalized=6.88506e-06 precision=3.06422 (iter=298 ,sample=533,188,56,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 921
-- #Points validated by robust Resection: 834
-- Threshold: 3.06422
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 834
#residuals: 1668
Initial RMSE: 0.544017
Final RMSE: 0.513344
Time (s): 0.00336281
-------------------------------
-- Robust Resection of view: 83
nfa=12.5365 inliers=4/1144 precisionNormalized=0.000844721 precision=33.9409 (iter=0 ,sample=932,155,1036,)
nfa=-3327.51 inliers=1115/1144 precisionNormalized=0.000280345 precision=19.553 (iter=0 ,sample=932,155,1036,)
nfa=-3963.49 inliers=1102/1144 precisionNormalized=6.52591e-05 precision=9.4338 (iter=3 ,sample=731,102,41,)
nfa=-4345.7 inliers=1086/1144 precisionNormalized=2.43314e-05 precision=5.76037 (iter=4 ,sample=807,588,1047,)
nfa=-4488.11 inliers=1079/1144 precisionNormalized=1.65188e-05 precision=4.74631 (iter=8 ,sample=588,642,950,)
nfa=-4490.19 inliers=1068/1144 precisionNormalized=1.44267e-05 precision=4.43558 (iter=10 ,sample=463,828,348,)
nfa=-4720.23 inliers=1045/1144 precisionNormalized=6.52354e-06 precision=2.98269 (iter=15 ,sample=131,1079,35,)
nfa=-4734.02 inliers=1059/1144 precisionNormalized=7.56019e-06 precision=3.21094 (iter=19 ,sample=609,518,544,)
nfa=-4744 inliers=1034/1144 precisionNormalized=5.36031e-06 precision=2.70371 (iter=152 ,sample=942,178,732,)
nfa=-4753.06 inliers=1067/1144 precisionNormalized=8.01902e-06 precision=3.30694 (iter=177 ,sample=419,126,359,)
nfa=-4759.65 inliers=1055/1144 precisionNormalized=6.78789e-06 precision=3.04252 (iter=261 ,sample=407,613,139,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1144
-- #Points validated by robust Resection: 1055
-- Threshold: 3.04252
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1055
#residuals: 2110
Initial RMSE: 0.561842
Final RMSE: 0.540399
Time (s): 0.00402085
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 108
#intrinsics: 1
#tracks: 91520
#residuals: 606930
Initial RMSE: 0.293112
Final RMSE: 0.291338
Time (s): 5.25888
-------------------------------
-- Robust Resection of view: 80
nfa=-44.0448 inliers=147/698 precisionNormalized=0.0114736 precision=125.148 (iter=0 ,sample=568,95,632,)
nfa=-1899.97 inliers=687/698 precisionNormalized=0.000472168 precision=25.3876 (iter=0 ,sample=568,95,632,)
nfa=-2042.99 inliers=685/698 precisionNormalized=0.000282435 precision=19.635 (iter=1 ,sample=675,543,257,)
nfa=-2180.56 inliers=682/698 precisionNormalized=0.000168803 precision=15.1797 (iter=2 ,sample=26,589,463,)
nfa=-2482.16 inliers=656/698 precisionNormalized=3.79804e-05 precision=7.20033 (iter=4 ,sample=230,363,645,)
nfa=-2631.22 inliers=651/698 precisionNormalized=2.03766e-05 precision=5.27398 (iter=6 ,sample=203,317,617,)
nfa=-2728.86 inliers=639/698 precisionNormalized=1.13275e-05 precision=3.93223 (iter=9 ,sample=94,659,71,)
nfa=-2756.6 inliers=630/698 precisionNormalized=8.51787e-06 precision=3.40987 (iter=14 ,sample=582,564,110,)
nfa=-2763.69 inliers=644/698 precisionNormalized=1.10288e-05 precision=3.88004 (iter=17 ,sample=401,248,652,)
nfa=-2791.33 inliers=641/698 precisionNormalized=9.38573e-06 precision=3.57937 (iter=29 ,sample=238,117,100,)
nfa=-2800.47 inliers=635/698 precisionNormalized=8.0246e-06 precision=3.30967 (iter=48 ,sample=176,561,18,)
nfa=-2802.09 inliers=629/698 precisionNormalized=7.0401e-06 precision=3.1 (iter=169 ,sample=126,485,495,)
nfa=-2835.42 inliers=630/698 precisionNormalized=6.34703e-06 precision=2.94346 (iter=186 ,sample=40,244,314,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 698
-- #Points validated by robust Resection: 630
-- Threshold: 2.94346
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 630
#residuals: 1260
Initial RMSE: 0.60713
Final RMSE: 0.584391
Time (s): 0.00270892
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 109
#intrinsics: 1
#tracks: 91912
#residuals: 610336
Initial RMSE: 0.292871
Final RMSE: 0.292035
Time (s): 4.81158
-------------------------------
-- Robust Resection of view: 76
nfa=-698.011 inliers=497/513 precisionNormalized=0.0101805 precision=117.907 (iter=0 ,sample=417,70,464,)
nfa=-2008.65 inliers=467/513 precisionNormalized=1.00869e-05 precision=3.71138 (iter=0 ,sample=417,70,464,)
nfa=-2038.66 inliers=467/513 precisionNormalized=8.67482e-06 precision=3.4418 (iter=3 ,sample=69,318,345,)
nfa=-2047.47 inliers=475/513 precisionNormalized=1.03632e-05 precision=3.76186 (iter=19 ,sample=224,425,118,)
nfa=-2056.44 inliers=465/513 precisionNormalized=7.49623e-06 precision=3.19947 (iter=53 ,sample=323,348,112,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 513
-- #Points validated by robust Resection: 465
-- Threshold: 3.19947
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 465
#residuals: 930
Initial RMSE: 0.674075
Final RMSE: 0.644994
Time (s): 0.00205656
-------------------------------
-- Robust Resection of view: 79
nfa=-13.6153 inliers=133/632 precisionNormalized=0.0179257 precision=156.457 (iter=0 ,sample=514,86,572,)
nfa=-177.865 inliers=402/632 precisionNormalized=0.0383373 precision=228.806 (iter=0 ,sample=514,86,572,)
nfa=-177.865 inliers=402/632 precisionNormalized=0.0383373 precision=228.806 (iter=0 ,sample=514,86,572,)
nfa=-2406.42 inliers=578/632 precisionNormalized=1.439e-05 precision=4.43289 (iter=0 ,sample=514,86,572,)
nfa=-2408.11 inliers=600/632 precisionNormalized=2.28211e-05 precision=5.58244 (iter=60 ,sample=318,507,516,)
nfa=-2426.88 inliers=599/632 precisionNormalized=2.07765e-05 precision=5.3265 (iter=98 ,sample=318,84,299,)
nfa=-2441.71 inliers=590/632 precisionNormalized=1.61871e-05 precision=4.70155 (iter=115 ,sample=322,416,558,)
nfa=-2442.22 inliers=598/632 precisionNormalized=1.91628e-05 precision=5.11547 (iter=144 ,sample=280,150,201,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 632
-- #Points validated by robust Resection: 598
-- Threshold: 5.11547
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 598
#residuals: 1196
Initial RMSE: 1.05049
Final RMSE: 0.949232
Time (s): 0.00221543
-------------------------------
-- Robust Resection of view: 77
nfa=-309.187 inliers=652/759 precisionNormalized=0.0638003 precision=295.167 (iter=0 ,sample=618,103,687,)
nfa=-2307.19 inliers=739/759 precisionNormalized=0.000199217 precision=16.4937 (iter=0 ,sample=618,103,687,)
nfa=-2990.28 inliers=688/759 precisionNormalized=9.28913e-06 precision=3.56159 (iter=3 ,sample=327,297,503,)
nfa=-3021.78 inliers=711/759 precisionNormalized=1.27886e-05 precision=4.17895 (iter=4 ,sample=166,269,309,)
nfa=-3043.85 inliers=710/759 precisionNormalized=1.16781e-05 precision=3.9934 (iter=14 ,sample=504,550,752,)
nfa=-3048.35 inliers=675/759 precisionNormalized=5.92425e-06 precision=2.84428 (iter=16 ,sample=135,667,187,)
nfa=-3101.11 inliers=701/759 precisionNormalized=8.16467e-06 precision=3.33907 (iter=19 ,sample=119,397,291,)
nfa=-3103.99 inliers=690/759 precisionNormalized=6.54979e-06 precision=2.99068 (iter=377 ,sample=71,155,687,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 759
-- #Points validated by robust Resection: 690
-- Threshold: 2.99068
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 690
#residuals: 1380
Initial RMSE: 0.656436
Final RMSE: 0.571267
Time (s): 0.00256622
-------------------------------
-- Robust Resection of view: 136
nfa=8.63138 inliers=11/415 precisionNormalized=0.0018198 precision=49.8503 (iter=0 ,sample=338,57,376,)
nfa=-1132.03 inliers=369/415 precisionNormalized=0.00016355 precision=14.9445 (iter=0 ,sample=338,57,376,)
nfa=-1242.41 inliers=338/415 precisionNormalized=3.22434e-05 precision=6.63554 (iter=1 ,sample=405,133,197,)
nfa=-1257.12 inliers=346/415 precisionNormalized=3.75339e-05 precision=7.15926 (iter=29 ,sample=331,4,68,)
nfa=-1265.36 inliers=343/415 precisionNormalized=3.23051e-05 precision=6.64189 (iter=84 ,sample=317,285,115,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 415
-- #Points validated by robust Resection: 343
-- Threshold: 6.64189
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 343
#residuals: 686
Initial RMSE: 1.47115
Final RMSE: 1.32895
Time (s): 0.00135094
-------------------------------
-- Robust Resection of view: 78
nfa=-215.9 inliers=508/697 precisionNormalized=0.0508842 precision=263.601 (iter=0 ,sample=567,95,631,)
nfa=-2590.38 inliers=658/697 precisionNormalized=2.69972e-05 precision=6.07177 (iter=0 ,sample=567,95,631,)
nfa=-2620.1 inliers=663/697 precisionNormalized=2.67028e-05 precision=6.03857 (iter=8 ,sample=596,293,470,)
nfa=-2622.45 inliers=656/697 precisionNormalized=2.3213e-05 precision=5.63017 (iter=10 ,sample=269,27,196,)
nfa=-2702.06 inliers=663/697 precisionNormalized=2.00327e-05 precision=5.23029 (iter=16 ,sample=506,2,202,)
nfa=-2713.96 inliers=658/697 precisionNormalized=1.7442e-05 precision=4.88038 (iter=30 ,sample=542,474,647,)
nfa=-2723.9 inliers=652/697 precisionNormalized=1.49779e-05 precision=4.52253 (iter=89 ,sample=635,172,61,)
nfa=-2745.92 inliers=667/697 precisionNormalized=1.85639e-05 precision=5.0349 (iter=144 ,sample=504,350,176,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 697
-- #Points validated by robust Resection: 667
-- Threshold: 5.0349
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 667
#residuals: 1334
Initial RMSE: 0.977001
Final RMSE: 0.906822
Time (s): 0.00238801
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 114
#intrinsics: 1
#tracks: 92968
#residuals: 620876
Initial RMSE: 0.307104
Final RMSE: 0.298185
Time (s): 5.42375
-------------------------------
-- Robust Resection of view: 75
nfa=-12.0744 inliers=52/647 precisionNormalized=0.00330874 precision=67.1883 (iter=0 ,sample=527,88,586,)
nfa=-2549.17 inliers=619/647 precisionNormalized=1.83831e-05 precision=5.00809 (iter=0 ,sample=527,88,586,)
nfa=-2691.43 inliers=609/647 precisionNormalized=8.62546e-06 precision=3.43047 (iter=11 ,sample=621,379,627,)
nfa=-2707.32 inliers=615/647 precisionNormalized=9.26947e-06 precision=3.55623 (iter=17 ,sample=388,440,134,)
nfa=-2724.08 inliers=595/647 precisionNormalized=5.53282e-06 precision=2.74749 (iter=19 ,sample=29,551,147,)
nfa=-2728.59 inliers=607/647 precisionNormalized=7.14499e-06 precision=3.12222 (iter=132 ,sample=128,347,372,)
nfa=-2729.34 inliers=603/647 precisionNormalized=6.50778e-06 precision=2.97974 (iter=193 ,sample=119,556,126,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 647
-- #Points validated by robust Resection: 603
-- Threshold: 2.97974
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 603
#residuals: 1206
Initial RMSE: 0.627364
Final RMSE: 0.537322
Time (s): 0.00266035
-------------------------------
-- Robust Resection of view: 125
nfa=-493.79 inliers=332/489 precisionNormalized=0.00371948 precision=71.2366 (iter=0 ,sample=398,67,443,)
nfa=-705.263 inliers=412/489 precisionNormalized=0.00339045 precision=68.0129 (iter=0 ,sample=398,67,443,)
nfa=-972.85 inliers=398/489 precisionNormalized=0.000573837 precision=27.9806 (iter=1 ,sample=306,463,118,)
nfa=-1274.33 inliers=395/489 precisionNormalized=9.19254e-05 precision=11.199 (iter=3 ,sample=39,86,36,)
nfa=-1353.6 inliers=455/489 precisionNormalized=0.000233718 precision=17.857 (iter=8 ,sample=3,323,24,)
nfa=-1442.3 inliers=422/489 precisionNormalized=6.84916e-05 precision=9.66676 (iter=15 ,sample=488,78,398,)
nfa=-1545.89 inliers=416/489 precisionNormalized=3.30778e-05 precision=6.71785 (iter=19 ,sample=331,266,252,)
nfa=-1592.5 inliers=402/489 precisionNormalized=1.7254e-05 precision=4.85185 (iter=22 ,sample=105,415,417,)
nfa=-1631.05 inliers=403/489 precisionNormalized=1.41965e-05 precision=4.40101 (iter=89 ,sample=350,288,365,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 489
-- #Points validated by robust Resection: 403
-- Threshold: 4.40101
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 403
#residuals: 806
Initial RMSE: 0.957281
Final RMSE: 0.836343
Time (s): 0.00158193
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 116
#intrinsics: 1
#tracks: 94914
#residuals: 631296
Initial RMSE: 0.299521
Final RMSE: 0.29796
Time (s): 5.9853
-------------------------------
-- Robust Resection of view: 114
nfa=-3540.77 inliers=1177/1250 precisionNormalized=0.000236879 precision=17.975 (iter=0 ,sample=1018,170,1132,)
nfa=-4142.48 inliers=1180/1250 precisionNormalized=7.47988e-05 precision=10.1007 (iter=1 ,sample=1223,1191,19,)
nfa=-4827.26 inliers=1099/1250 precisionNormalized=7.93885e-06 precision=3.29067 (iter=2 ,sample=1204,711,405,)
nfa=-4851.62 inliers=1116/1250 precisionNormalized=9.17304e-06 precision=3.53722 (iter=21 ,sample=1236,545,1039,)
nfa=-4885.15 inliers=1103/1250 precisionNormalized=7.35326e-06 precision=3.16698 (iter=28 ,sample=560,499,966,)
nfa=-4909.12 inliers=1089/1250 precisionNormalized=5.91688e-06 precision=2.84087 (iter=40 ,sample=645,210,424,)
nfa=-4913.68 inliers=1114/1250 precisionNormalized=7.86904e-06 precision=3.27617 (iter=52 ,sample=85,992,1030,)
nfa=-4985.47 inliers=1066/1250 precisionNormalized=3.7676e-06 precision=2.26693 (iter=59 ,sample=712,978,1015,)
nfa=-4991.94 inliers=1068/1250 precisionNormalized=3.80881e-06 precision=2.27929 (iter=146 ,sample=874,822,115,)
nfa=-4995.99 inliers=1071/1250 precisionNormalized=3.92034e-06 precision=2.31242 (iter=163 ,sample=1205,369,207,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1250
-- #Points validated by robust Resection: 1071
-- Threshold: 2.31242
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1071
#residuals: 2142
Initial RMSE: 0.451296
Final RMSE: 0.413642
Time (s): 0.00568637
-------------------------------
-- Robust Resection of view: 1
nfa=-471.502 inliers=1222/1308 precisionNormalized=0.0986621 precision=366.843 (iter=0 ,sample=1065,178,1184,)
nfa=-2786.19 inliers=1247/1308 precisionNormalized=0.00147314 precision=44.8258 (iter=1 ,sample=496,903,518,)
nfa=-3280.1 inliers=1215/1308 precisionNormalized=0.000464776 precision=25.1783 (iter=2 ,sample=43,1111,731,)
nfa=-4785.49 inliers=1174/1308 precisionNormalized=1.75307e-05 precision=4.88996 (iter=3 ,sample=777,200,573,)
nfa=-5170.1 inliers=1143/1308 precisionNormalized=5.76233e-06 precision=2.80353 (iter=4 ,sample=170,660,576,)
nfa=-5227.74 inliers=1136/1308 precisionNormalized=4.71427e-06 precision=2.53579 (iter=8 ,sample=576,94,273,)
nfa=-5235.97 inliers=1131/1308 precisionNormalized=4.36836e-06 precision=2.44098 (iter=22 ,sample=367,326,101,)
nfa=-5243.94 inliers=1123/1308 precisionNormalized=3.90419e-06 precision=2.30766 (iter=181 ,sample=782,466,170,)
nfa=-5245.56 inliers=1138/1308 precisionNormalized=4.65061e-06 precision=2.51861 (iter=186 ,sample=538,286,11,)
nfa=-5257.85 inliers=1131/1308 precisionNormalized=4.1724e-06 precision=2.38561 (iter=196 ,sample=389,228,1202,)
nfa=-5258.32 inliers=1129/1308 precisionNormalized=4.06992e-06 precision=2.35613 (iter=298 ,sample=466,101,995,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1308
-- #Points validated by robust Resection: 1129
-- Threshold: 2.35613
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1129
#residuals: 2258
Initial RMSE: 0.518039
Final RMSE: 0.448993
Time (s): 0.00431293
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 118
#intrinsics: 1
#tracks: 96768
#residuals: 643366
Initial RMSE: 0.299426
Final RMSE: 0.297491
Time (s): 6.36959
-------------------------------
-- Robust Resection of view: 12
nfa=-3688.65 inliers=1194/1270 precisionNormalized=0.00019565 precision=16.3252 (iter=0 ,sample=1034,172,1150,)
nfa=-4820.84 inliers=1070/1270 precisionNormalized=5.50138e-06 precision=2.7375 (iter=1 ,sample=257,780,1246,)
nfa=-4857.29 inliers=1067/1270 precisionNormalized=4.89365e-06 precision=2.58188 (iter=19 ,sample=81,311,14,)
nfa=-4877.58 inliers=1059/1270 precisionNormalized=4.23712e-06 precision=2.40245 (iter=153 ,sample=758,594,196,)
nfa=-4880.4 inliers=1075/1270 precisionNormalized=5.12659e-06 precision=2.64261 (iter=299 ,sample=341,687,47,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1270
-- #Points validated by robust Resection: 1075
-- Threshold: 2.64261
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1075
#residuals: 2150
Initial RMSE: 0.534882
Final RMSE: 0.48107
Time (s): 0.00434671
-------------------------------
-- Robust Resection of view: 103
nfa=15.1647 inliers=4/1174 precisionNormalized=0.315206 precision=655.263 (iter=0 ,sample=956,159,1063,)
nfa=-3506.64 inliers=1118/1174 precisionNormalized=0.000182087 precision=15.7492 (iter=0 ,sample=956,159,1063,)
nfa=-4095.17 inliers=1073/1174 precisionNormalized=3.34504e-05 precision=6.75025 (iter=1 ,sample=811,715,44,)
nfa=-4591.62 inliers=1036/1174 precisionNormalized=7.27816e-06 precision=3.14869 (iter=11 ,sample=1112,493,719,)
nfa=-4684.47 inliers=1033/1174 precisionNormalized=5.67388e-06 precision=2.78009 (iter=21 ,sample=178,301,730,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1174
-- #Points validated by robust Resection: 1033
-- Threshold: 2.78009
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1033
#residuals: 2066
Initial RMSE: 0.526902
Final RMSE: 0.470286
Time (s): 0.00401067
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 120
#intrinsics: 1
#tracks: 98458
#residuals: 654514
Initial RMSE: 0.299127
Final RMSE: 0.297399
Time (s): 5.59674
-------------------------------
-- Robust Resection of view: 23
nfa=11.677 inliers=4/1177 precisionNormalized=0.000101123 precision=11.732 (iter=0 ,sample=958,160,1066,)
nfa=10.9825 inliers=9/1177 precisionNormalized=0.000528671 precision=26.8249 (iter=0 ,sample=958,160,1066,)
nfa=-4.09043 inliers=65/1177 precisionNormalized=0.00365122 precision=70.4961 (iter=1 ,sample=982,150,1140,)
nfa=-3256.93 inliers=1103/1177 precisionNormalized=0.000264835 precision=18.986 (iter=1 ,sample=982,150,1140,)
nfa=-4080.79 inliers=1067/1177 precisionNormalized=3.21228e-05 precision=6.6123 (iter=2 ,sample=20,661,970,)
nfa=-4518.06 inliers=993/1177 precisionNormalized=4.94849e-06 precision=2.59527 (iter=3 ,sample=662,528,726,)
nfa=-4518.54 inliers=976/1177 precisionNormalized=3.93721e-06 precision=2.31494 (iter=220 ,sample=695,530,175,)
nfa=-4520.11 inliers=972/1177 precisionNormalized=3.7136e-06 precision=2.24824 (iter=248 ,sample=882,355,670,)
nfa=-4520.24 inliers=978/1177 precisionNormalized=4.02887e-06 precision=2.34173 (iter=408 ,sample=544,943,64,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1177
-- #Points validated by robust Resection: 978
-- Threshold: 2.34173
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 978
#residuals: 1956
Initial RMSE: 0.437998
Final RMSE: 0.415238
Time (s): 0.00422768
-------------------------------
-- Robust Resection of view: 92
nfa=-1303.97 inliers=956/1035 precisionNormalized=0.00991719 precision=116.182 (iter=0 ,sample=843,141,937,)
nfa=-2376.56 inliers=993/1035 precisionNormalized=0.00103376 precision=37.5108 (iter=0 ,sample=843,141,937,)
nfa=-2985.87 inliers=928/1035 precisionNormalized=0.000126396 precision=13.1163 (iter=1 ,sample=621,935,72,)
nfa=-3811.36 inliers=904/1035 precisionNormalized=1.16791e-05 precision=3.98703 (iter=2 ,sample=323,453,599,)
nfa=-3911.49 inliers=894/1035 precisionNormalized=7.83387e-06 precision=3.26538 (iter=3 ,sample=440,344,131,)
nfa=-3956.46 inliers=881/1035 precisionNormalized=5.76469e-06 precision=2.80114 (iter=17 ,sample=729,488,806,)
nfa=-3975.45 inliers=864/1035 precisionNormalized=4.24392e-06 precision=2.40342 (iter=32 ,sample=154,329,932,)
nfa=-3987.4 inliers=896/1035 precisionNormalized=6.60491e-06 precision=2.99833 (iter=44 ,sample=8,407,803,)
nfa=-3989.91 inliers=852/1035 precisionNormalized=3.38327e-06 precision=2.14592 (iter=55 ,sample=709,425,251,)
nfa=-4010.36 inliers=877/1035 precisionNormalized=4.69923e-06 precision=2.52906 (iter=60 ,sample=588,739,151,)
nfa=-4020.61 inliers=889/1035 precisionNormalized=5.46465e-06 precision=2.72726 (iter=325 ,sample=838,59,810,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1035
-- #Points validated by robust Resection: 889
-- Threshold: 2.72726
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 889
#residuals: 1778
Initial RMSE: 0.535335
Final RMSE: 0.469824
Time (s): 0.00340297
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 122
#intrinsics: 1
#tracks: 100014
#residuals: 664658
Initial RMSE: 0.298705
Final RMSE: 0.29718
Time (s): 5.79522
-------------------------------
-- Robust Resection of view: 34
nfa=12.2466 inliers=4/1083 precisionNormalized=0.00057009 precision=27.8472 (iter=0 ,sample=882,147,981,)
nfa=-284.298 inliers=659/1083 precisionNormalized=0.0375587 precision=226.03 (iter=0 ,sample=882,147,981,)
nfa=-2238.87 inliers=1007/1083 precisionNormalized=0.00139102 precision=43.4987 (iter=0 ,sample=882,147,981,)
nfa=-3862.26 inliers=929/1083 precisionNormalized=1.28559e-05 precision=4.18179 (iter=2 ,sample=438,508,34,)
nfa=-4092.54 inliers=901/1083 precisionNormalized=4.85717e-06 precision=2.57041 (iter=3 ,sample=622,779,151,)
nfa=-4170.98 inliers=887/1083 precisionNormalized=3.20288e-06 precision=2.08728 (iter=4 ,sample=538,1068,339,)
nfa=-4175.74 inliers=878/1083 precisionNormalized=2.75248e-06 precision=1.93496 (iter=16 ,sample=866,394,105,)
nfa=-4187.75 inliers=875/1083 precisionNormalized=2.54068e-06 precision=1.85902 (iter=22 ,sample=549,29,323,)
nfa=-4195.6 inliers=885/1083 precisionNormalized=2.9058e-06 precision=1.98812 (iter=43 ,sample=618,775,852,)
nfa=-4202.21 inliers=888/1083 precisionNormalized=2.98892e-06 precision=2.01636 (iter=109 ,sample=878,7,595,)
nfa=-4211.47 inliers=870/1083 precisionNormalized=2.19639e-06 precision=1.72848 (iter=115 ,sample=271,328,96,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1083
-- #Points validated by robust Resection: 870
-- Threshold: 1.72848
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 870
#residuals: 1740
Initial RMSE: 0.342639
Final RMSE: 0.331852
Time (s): 0.00363788
-------------------------------
-- Robust Resection of view: 81
nfa=-108.807 inliers=208/891 precisionNormalized=0.0080585 precision=104.698 (iter=0 ,sample=725,121,807,)
nfa=-596.671 inliers=793/891 precisionNormalized=0.0367339 precision=223.534 (iter=0 ,sample=725,121,807,)
nfa=-1475.3 inliers=854/891 precisionNormalized=0.00476947 precision=80.5462 (iter=0 ,sample=725,121,807,)
nfa=-3265.26 inliers=815/891 precisionNormalized=2.12667e-05 precision=5.37849 (iter=1 ,sample=19,312,155,)
nfa=-3307.03 inliers=776/891 precisionNormalized=1.03316e-05 precision=3.74881 (iter=28 ,sample=416,698,334,)
nfa=-3327.73 inliers=765/891 precisionNormalized=8.11593e-06 precision=3.32261 (iter=29 ,sample=845,133,616,)
nfa=-3350.38 inliers=757/891 precisionNormalized=6.62373e-06 precision=3.00166 (iter=35 ,sample=494,346,617,)
nfa=-3401.12 inliers=765/891 precisionNormalized=6.4781e-06 precision=2.96848 (iter=42 ,sample=653,135,107,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 891
-- #Points validated by robust Resection: 765
-- Threshold: 2.96848
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 765
#residuals: 1530
Initial RMSE: 0.611625
Final RMSE: 0.544478
Time (s): 0.00296736
-------------------------------
-- Robust Resection of view: 45
nfa=-3183.11 inliers=1108/1200 precisionNormalized=0.00030534 precision=20.3799 (iter=0 ,sample=977,163,1087,)
nfa=-4499.27 inliers=1001/1200 precisionNormalized=5.49864e-06 precision=2.73488 (iter=1 ,sample=279,304,956,)
nfa=-4521.51 inliers=988/1200 precisionNormalized=4.40189e-06 precision=2.44698 (iter=4 ,sample=810,740,874,)
nfa=-4526.09 inliers=996/1200 precisionNormalized=4.83683e-06 precision=2.56502 (iter=115 ,sample=818,34,228,)
nfa=-4545.56 inliers=998/1200 precisionNormalized=4.74063e-06 precision=2.53938 (iter=241 ,sample=984,101,776,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1200
-- #Points validated by robust Resection: 998
-- Threshold: 2.53938
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 998
#residuals: 1996
Initial RMSE: 0.484853
Final RMSE: 0.456105
Time (s): 0.00376145
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 125
#intrinsics: 1
#tracks: 102400
#residuals: 679756
Initial RMSE: 0.299044
Final RMSE: 0.296515
Time (s): 5.59434
-------------------------------
-- Robust Resection of view: 54
nfa=-667.723 inliers=953/1449 precisionNormalized=0.0230963 precision=177.226 (iter=0 ,sample=1180,197,1312,)
nfa=-4083.81 inliers=1380/1449 precisionNormalized=0.000276305 precision=19.3844 (iter=0 ,sample=1180,197,1312,)
nfa=-5701.75 inliers=1193/1449 precisionNormalized=2.73784e-06 precision=1.92957 (iter=2 ,sample=625,1003,622,)
nfa=-5709.74 inliers=1192/1449 precisionNormalized=2.66305e-06 precision=1.90303 (iter=55 ,sample=345,184,600,)
nfa=-5710.65 inliers=1184/1449 precisionNormalized=2.42124e-06 precision=1.81458 (iter=70 ,sample=847,207,103,)
nfa=-5725.13 inliers=1183/1449 precisionNormalized=2.32293e-06 precision=1.77736 (iter=120 ,sample=937,95,234,)
nfa=-5730.22 inliers=1202/1449 precisionNormalized=2.86706e-06 precision=1.97458 (iter=240 ,sample=8,528,1016,)
nfa=-5736.36 inliers=1208/1449 precisionNormalized=3.03226e-06 precision=2.03067 (iter=304 ,sample=274,940,1146,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1449
-- #Points validated by robust Resection: 1208
-- Threshold: 2.03067
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1208
#residuals: 2416
Initial RMSE: 0.395901
Final RMSE: 0.340089
Time (s): 0.00469811
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 126
#intrinsics: 1
#tracks: 103529
#residuals: 686836
Initial RMSE: 0.296747
Final RMSE: 0.295958
Time (s): 3.81208
-------------------------------
-- Robust Resection of view: 70
nfa=-6.76447 inliers=44/967 precisionNormalized=0.0019227 precision=51.1342 (iter=0 ,sample=787,131,876,)
nfa=-1579.74 inliers=930/967 precisionNormalized=0.00517329 precision=83.8763 (iter=0 ,sample=787,131,876,)
nfa=-3198.48 inliers=871/967 precisionNormalized=4.4512e-05 precision=7.78026 (iter=1 ,sample=962,401,209,)
nfa=-3622.02 inliers=855/967 precisionNormalized=1.14407e-05 precision=3.94441 (iter=3 ,sample=580,500,610,)
nfa=-3693.88 inliers=841/967 precisionNormalized=7.62228e-06 precision=3.21957 (iter=11 ,sample=143,655,665,)
nfa=-3699.71 inliers=849/967 precisionNormalized=8.46084e-06 precision=3.39205 (iter=409 ,sample=494,690,409,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 967
-- #Points validated by robust Resection: 849
-- Threshold: 3.39205
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 849
#residuals: 1698
Initial RMSE: 0.633428
Final RMSE: 0.606042
Time (s): 0.00333494
-------------------------------
-- Robust Resection of view: 59
nfa=-2439.81 inliers=1225/1268 precisionNormalized=0.00269488 precision=60.5377 (iter=0 ,sample=1033,172,1148,)
nfa=-4313.61 inliers=1165/1268 precisionNormalized=4.43283e-05 precision=7.7642 (iter=0 ,sample=1033,172,1148,)
nfa=-4408.92 inliers=1169/1268 precisionNormalized=3.81606e-05 precision=7.20383 (iter=2 ,sample=894,1104,1143,)
nfa=-4622.5 inliers=1142/1268 precisionNormalized=1.88738e-05 precision=5.06623 (iter=4 ,sample=78,433,894,)
nfa=-4641.12 inliers=1168/1268 precisionNormalized=2.38349e-05 precision=5.69328 (iter=10 ,sample=1115,424,184,)
nfa=-4916.41 inliers=1124/1268 precisionNormalized=8.46661e-06 precision=3.39321 (iter=11 ,sample=1066,505,811,)
nfa=-4918.39 inliers=1105/1268 precisionNormalized=6.77374e-06 precision=3.03508 (iter=349 ,sample=459,134,36,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1268
-- #Points validated by robust Resection: 1105
-- Threshold: 3.03508
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1105
#residuals: 2210
Initial RMSE: 0.589084
Final RMSE: 0.570722
Time (s): 0.00388492
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 128
#intrinsics: 1
#tracks: 105526
#residuals: 698914
Initial RMSE: 0.298366
Final RMSE: 0.2959
Time (s): 5.85073
-------------------------------
-- Robust Resection of view: 0
nfa=-444.075 inliers=725/1460 precisionNormalized=0.0184239 precision=158.244 (iter=0 ,sample=1189,198,1322,)
nfa=-2463.83 inliers=1409/1460 precisionNormalized=0.0047228 precision=80.1194 (iter=0 ,sample=1189,198,1322,)
nfa=-5413.05 inliers=1329/1460 precisionNormalized=1.84166e-05 precision=5.00314 (iter=1 ,sample=583,283,1192,)
nfa=-5676.39 inliers=1327/1460 precisionNormalized=1.13943e-05 precision=3.93533 (iter=2 ,sample=651,1354,465,)
nfa=-5896.09 inliers=1298/1460 precisionNormalized=5.78094e-06 precision=2.80309 (iter=4 ,sample=1,91,243,)
nfa=-5913.76 inliers=1305/1460 precisionNormalized=6.01331e-06 precision=2.85887 (iter=27 ,sample=280,491,183,)
nfa=-5935.52 inliers=1291/1460 precisionNormalized=5.00572e-06 precision=2.60838 (iter=46 ,sample=976,354,305,)
nfa=-5964.03 inliers=1285/1460 precisionNormalized=4.46154e-06 precision=2.46252 (iter=152 ,sample=295,285,1400,)
nfa=-5964.16 inliers=1282/1460 precisionNormalized=4.32157e-06 precision=2.42359 (iter=156 ,sample=418,945,446,)
nfa=-5968.53 inliers=1284/1460 precisionNormalized=4.37825e-06 precision=2.43943 (iter=240 ,sample=432,398,885,)
nfa=-5978.18 inliers=1309/1460 precisionNormalized=5.57718e-06 precision=2.75324 (iter=279 ,sample=1009,508,901,)
nfa=-5992.25 inliers=1297/1460 precisionNormalized=4.80348e-06 precision=2.55514 (iter=373 ,sample=229,169,48,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1460
-- #Points validated by robust Resection: 1297
-- Threshold: 2.55514
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1297
#residuals: 2594
Initial RMSE: 0.455829
Final RMSE: 0.436297
Time (s): 0.00378185
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 129
#intrinsics: 1
#tracks: 106520
#residuals: 705586
Initial RMSE: 0.296552
Final RMSE: 0.295599
Time (s): 4.0929
-------------------------------
-- Robust Resection of view: 74
nfa=-582.192 inliers=422/614 precisionNormalized=0.00497114 precision=82.1985 (iter=0 ,sample=500,84,556,)
nfa=-2397.6 inliers=580/614 precisionNormalized=1.69318e-05 precision=4.7972 (iter=0 ,sample=500,84,556,)
nfa=-2469.01 inliers=579/614 precisionNormalized=1.24197e-05 precision=4.10857 (iter=10 ,sample=416,448,94,)
nfa=-2496.46 inliers=588/614 precisionNormalized=1.36434e-05 precision=4.30622 (iter=14 ,sample=374,477,177,)
nfa=-2516.7 inliers=573/614 precisionNormalized=8.91452e-06 precision=3.48084 (iter=19 ,sample=407,300,307,)
nfa=-2524.25 inliers=584/614 precisionNormalized=1.11472e-05 precision=3.8924 (iter=28 ,sample=418,17,486,)
nfa=-2528.68 inliers=572/614 precisionNormalized=8.29155e-06 precision=3.35702 (iter=91 ,sample=454,37,137,)
nfa=-2532.17 inliers=587/614 precisionNormalized=1.15702e-05 precision=3.96558 (iter=161 ,sample=300,592,441,)
nfa=-2538.62 inliers=575/614 precisionNormalized=8.53965e-06 precision=3.40687 (iter=177 ,sample=146,277,272,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 614
-- #Points validated by robust Resection: 575
-- Threshold: 3.40687
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 575
#residuals: 1150
Initial RMSE: 0.710872
Final RMSE: 0.644064
Time (s): 0.00235016
-------------------------------
-- Robust Resection of view: 73
nfa=-2668.5 inliers=775/787 precisionNormalized=9.93684e-05 precision=11.6214 (iter=0 ,sample=641,107,713,)
nfa=-2744.21 inliers=762/787 precisionNormalized=6.44968e-05 precision=9.36278 (iter=1 ,sample=220,116,117,)
nfa=-3054.67 inliers=731/787 precisionNormalized=1.47602e-05 precision=4.47901 (iter=3 ,sample=90,221,277,)
nfa=-3071.17 inliers=749/787 precisionNormalized=1.9101e-05 precision=5.09523 (iter=12 ,sample=543,177,621,)
nfa=-3099.06 inliers=704/787 precisionNormalized=7.88852e-06 precision=3.27441 (iter=17 ,sample=85,70,618,)
nfa=-3171.28 inliers=719/787 precisionNormalized=8.18549e-06 precision=3.33548 (iter=26 ,sample=321,503,179,)
nfa=-3179.96 inliers=736/787 precisionNormalized=1.08183e-05 precision=3.83455 (iter=36 ,sample=333,164,70,)
nfa=-3204.73 inliers=732/787 precisionNormalized=9.30418e-06 precision=3.55611 (iter=112 ,sample=70,490,773,)
nfa=-3208.03 inliers=739/787 precisionNormalized=1.04426e-05 precision=3.76739 (iter=175 ,sample=447,83,566,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 787
-- #Points validated by robust Resection: 739
-- Threshold: 3.76739
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 739
#residuals: 1478
Initial RMSE: 0.670885
Final RMSE: 0.648366
Time (s): 0.00269817
-------------------------------
-- Robust Resection of view: 55
nfa=11.3512 inliers=4/545 precisionNormalized=0.00226656 precision=55.5034 (iter=0 ,sample=444,74,493,)
nfa=-1007.27 inliers=506/545 precisionNormalized=0.00229194 precision=55.8132 (iter=0 ,sample=444,74,493,)
nfa=-1611.69 inliers=506/545 precisionNormalized=0.000143955 precision=13.9878 (iter=2 ,sample=154,223,222,)
nfa=-1815.28 inliers=484/545 precisionNormalized=3.43133e-05 precision=6.82915 (iter=3 ,sample=170,542,529,)
nfa=-1833.34 inliers=477/545 precisionNormalized=2.6642e-05 precision=6.01755 (iter=89 ,sample=193,397,282,)
nfa=-1849.75 inliers=479/545 precisionNormalized=2.5805e-05 precision=5.92227 (iter=113 ,sample=238,486,484,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 545
-- #Points validated by robust Resection: 479
-- Threshold: 5.92227
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 479
#residuals: 958
Initial RMSE: 1.27901
Final RMSE: 1.16357
Time (s): 0.00167902
-------------------------------
-- Robust Resection of view: 72
nfa=-4.0644 inliers=73/900 precisionNormalized=0.00592343 precision=89.7268 (iter=0 ,sample=733,122,815,)
nfa=-3511.11 inliers=844/900 precisionNormalized=1.60014e-05 precision=4.66352 (iter=0 ,sample=733,122,815,)
nfa=-3559.72 inliers=842/900 precisionNormalized=1.35715e-05 precision=4.29486 (iter=11 ,sample=422,682,664,)
nfa=-3598.29 inliers=845/900 precisionNormalized=1.27735e-05 precision=4.16669 (iter=19 ,sample=427,662,395,)
nfa=-3601.8 inliers=834/900 precisionNormalized=1.06679e-05 precision=3.80781 (iter=64 ,sample=459,608,333,)
nfa=-3605.35 inliers=830/900 precisionNormalized=9.92146e-06 precision=3.67217 (iter=131 ,sample=223,636,512,)
nfa=-3617.06 inliers=843/900 precisionNormalized=1.17587e-05 precision=3.99775 (iter=349 ,sample=704,52,847,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 900
-- #Points validated by robust Resection: 843
-- Threshold: 3.99775
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 843
#residuals: 1686
Initial RMSE: 0.717105
Final RMSE: 0.68317
Time (s): 0.00306708
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 133
#intrinsics: 1
#tracks: 108158
#residuals: 719490
Initial RMSE: 0.302305
Final RMSE: 0.297158
Time (s): 4.47728
-------------------------------
-- Robust Resection of view: 71
nfa=-3259.39 inliers=873/909 precisionNormalized=4.65246e-05 precision=7.95246 (iter=0 ,sample=740,124,823,)
nfa=-3681.67 inliers=801/909 precisionNormalized=4.84926e-06 precision=2.56743 (iter=1 ,sample=273,528,263,)
nfa=-3709.06 inliers=813/909 precisionNormalized=5.46389e-06 precision=2.72528 (iter=3 ,sample=204,140,377,)
nfa=-3714.38 inliers=812/909 precisionNormalized=5.29194e-06 precision=2.68206 (iter=263 ,sample=727,48,167,)
nfa=-3718.18 inliers=814/909 precisionNormalized=5.40979e-06 precision=2.71175 (iter=272 ,sample=756,588,578,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 909
-- #Points validated by robust Resection: 814
-- Threshold: 2.71175
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 814
#residuals: 1628
Initial RMSE: 0.480319
Final RMSE: 0.470303
Time (s): 0.00250179
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 134
#intrinsics: 1
#tracks: 108663
#residuals: 723840
Initial RMSE: 0.297996
Final RMSE: 0.297191
Time (s): 4.1581
-------------------------------
-- Robust Resection of view: 69
nfa=-26.1522 inliers=200/636 precisionNormalized=0.0285914 precision=197.146 (iter=0 ,sample=518,87,576,)
nfa=-26.1522 inliers=200/636 precisionNormalized=0.0285914 precision=197.146 (iter=0 ,sample=518,87,576,)
nfa=-1963.74 inliers=619/636 precisionNormalized=0.000175069 precision=15.4268 (iter=0 ,sample=518,87,576,)
nfa=-2097.54 inliers=615/636 precisionNormalized=9.84583e-05 precision=11.569 (iter=1 ,sample=50,329,184,)
nfa=-2390.77 inliers=606/636 precisionNormalized=2.70862e-05 precision=6.06799 (iter=2 ,sample=59,34,281,)
nfa=-2480.33 inliers=586/636 precisionNormalized=1.25085e-05 precision=4.12357 (iter=3 ,sample=249,532,360,)
nfa=-2480.39 inliers=593/636 precisionNormalized=1.4552e-05 precision=4.44766 (iter=10 ,sample=192,350,55,)
nfa=-2482.64 inliers=586/636 precisionNormalized=1.23938e-05 precision=4.10462 (iter=167 ,sample=38,148,133,)
nfa=-2483.68 inliers=584/636 precisionNormalized=1.18147e-05 precision=4.00758 (iter=254 ,sample=422,330,61,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 636
-- #Points validated by robust Resection: 584
-- Threshold: 4.00758
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 584
#residuals: 1168
Initial RMSE: 0.907114
Final RMSE: 0.795112
Time (s): 0.0023066
-------------------------------
-- Robust Resection of view: 56
nfa=-2.38028 inliers=67/625 precisionNormalized=0.00822166 precision=105.718 (iter=0 ,sample=509,85,566,)
nfa=-1322.98 inliers=599/625 precisionNormalized=0.00154076 precision=45.7655 (iter=0 ,sample=509,85,566,)
nfa=-2161.66 inliers=576/625 precisionNormalized=3.81857e-05 precision=7.20478 (iter=1 ,sample=362,202,227,)
nfa=-2284.69 inliers=575/625 precisionNormalized=2.27612e-05 precision=5.56247 (iter=2 ,sample=498,357,475,)
nfa=-2384.09 inliers=576/625 precisionNormalized=1.55507e-05 precision=4.59776 (iter=3 ,sample=481,332,95,)
nfa=-2444.21 inliers=567/625 precisionNormalized=9.95949e-06 precision=3.6795 (iter=4 ,sample=431,221,444,)
nfa=-2487.21 inliers=561/625 precisionNormalized=7.25348e-06 precision=3.1401 (iter=7 ,sample=91,453,437,)
nfa=-2555.05 inliers=552/625 precisionNormalized=4.38096e-06 precision=2.44037 (iter=36 ,sample=180,518,488,)
nfa=-2567.73 inliers=543/625 precisionNormalized=3.30731e-06 precision=2.12035 (iter=247 ,sample=503,124,391,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 625
-- #Points validated by robust Resection: 543
-- Threshold: 2.12035
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 543
#residuals: 1086
Initial RMSE: 0.484646
Final RMSE: 0.446485
Time (s): 0.00197258
-------------------------------
-- Robust Resection of view: 58
nfa=12.8337 inliers=4/541 precisionNormalized=0.0714296 precision=311.609 (iter=0 ,sample=440,74,490,)
nfa=-1711.46 inliers=477/541 precisionNormalized=4.9123e-05 precision=8.17171 (iter=0 ,sample=440,74,490,)
nfa=-1786.5 inliers=487/541 precisionNormalized=4.30082e-05 precision=7.64621 (iter=1 ,sample=345,367,412,)
nfa=-1824.38 inliers=474/541 precisionNormalized=2.63577e-05 precision=5.98583 (iter=32 ,sample=284,108,4,)
nfa=-1828.36 inliers=478/541 precisionNormalized=2.8462e-05 precision=6.22018 (iter=47 ,sample=378,452,461,)
nfa=-1849.16 inliers=478/541 precisionNormalized=2.57216e-05 precision=5.91316 (iter=148 ,sample=210,337,241,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 541
-- #Points validated by robust Resection: 478
-- Threshold: 5.91316
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 478
#residuals: 956
Initial RMSE: 1.31858
Final RMSE: 1.15924
Time (s): 0.00176459
-------------------------------
-- Robust Resection of view: 57
nfa=-20.1196 inliers=428/668 precisionNormalized=0.0973824 precision=363.84 (iter=0 ,sample=544,91,605,)
nfa=-62.1305 inliers=401/668 precisionNormalized=0.068198 precision=304.478 (iter=0 ,sample=544,91,605,)
nfa=-171.157 inliers=491/668 precisionNormalized=0.0615765 precision=289.32 (iter=0 ,sample=544,91,605,)
nfa=-1805.5 inliers=636/668 precisionNormalized=0.000352064 precision=21.8767 (iter=0 ,sample=544,91,605,)
nfa=-2224.44 inliers=629/668 precisionNormalized=6.75785e-05 precision=9.58462 (iter=1 ,sample=298,303,325,)
nfa=-2560.82 inliers=619/668 precisionNormalized=1.59608e-05 precision=4.65798 (iter=4 ,sample=359,658,2,)
nfa=-2627.5 inliers=613/668 precisionNormalized=1.09522e-05 precision=3.85852 (iter=18 ,sample=254,435,258,)
nfa=-2683.97 inliers=605/668 precisionNormalized=7.42735e-06 precision=3.17751 (iter=22 ,sample=476,24,538,)
nfa=-2697.85 inliers=611/668 precisionNormalized=8.01724e-06 precision=3.30128 (iter=53 ,sample=196,552,247,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 668
-- #Points validated by robust Resection: 611
-- Threshold: 3.30128
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 611
#residuals: 1222
Initial RMSE: 0.740103
Final RMSE: 0.637035
Time (s): 0.00216449
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 138
#intrinsics: 1
#tracks: 109436
#residuals: 732168
Initial RMSE: 0.303296
Final RMSE: 0.29922
Time (s): 6.98181
-------------------------------
-- Robust Resection of view: 68
nfa=-121.224 inliers=145/616 precisionNormalized=0.00369034 precision=70.8465 (iter=0 ,sample=501,84,558,)
nfa=-2208.29 inliers=577/616 precisionNormalized=3.36682e-05 precision=6.76698 (iter=0 ,sample=501,84,558,)
nfa=-2326.42 inliers=569/616 precisionNormalized=1.75845e-05 precision=4.89046 (iter=1 ,sample=222,609,117,)
nfa=-2388.69 inliers=548/616 precisionNormalized=8.43035e-06 precision=3.38617 (iter=9 ,sample=27,551,183,)
nfa=-2432.24 inliers=565/616 precisionNormalized=1.03993e-05 precision=3.76086 (iter=10 ,sample=134,82,345,)
nfa=-2441.47 inliers=553/616 precisionNormalized=7.57009e-06 precision=3.20875 (iter=194 ,sample=234,167,255,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 616
-- #Points validated by robust Resection: 553
-- Threshold: 3.20875
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 553
#residuals: 1106
Initial RMSE: 0.645653
Final RMSE: 0.608037
Time (s): 0.00211721
-------------------------------
-- Robust Resection of view: 60
nfa=-145.291 inliers=373/541 precisionNormalized=0.0493045 precision=258.958 (iter=0 ,sample=440,74,490,)
nfa=-1059.83 inliers=519/541 precisionNormalized=0.0022531 precision=55.3574 (iter=0 ,sample=440,74,490,)
nfa=-1670.86 inliers=453/541 precisionNormalized=3.43606e-05 precision=6.83622 (iter=1 ,sample=78,113,370,)
nfa=-1712.81 inliers=458/541 precisionNormalized=3.12766e-05 precision=6.52221 (iter=20 ,sample=526,538,67,)
nfa=-1720.72 inliers=486/541 precisionNormalized=5.75564e-05 precision=8.84774 (iter=50 ,sample=232,332,220,)
nfa=-1751.94 inliers=474/541 precisionNormalized=3.76101e-05 precision=7.15217 (iter=60 ,sample=224,131,310,)
nfa=-1754.03 inliers=473/541 precisionNormalized=3.63642e-05 precision=7.0327 (iter=100 ,sample=402,130,228,)
nfa=-1758.6 inliers=457/541 precisionNormalized=2.41793e-05 precision=5.73465 (iter=212 ,sample=103,298,21,)
nfa=-1762.47 inliers=470/541 precisionNormalized=3.24931e-05 precision=6.64784 (iter=224 ,sample=149,7,237,)
nfa=-1765.45 inliers=446/541 precisionNormalized=1.76853e-05 precision=4.90446 (iter=239 ,sample=387,104,52,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 541
-- #Points validated by robust Resection: 446
-- Threshold: 4.90446
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 446
#residuals: 892
Initial RMSE: 0.984949
Final RMSE: 0.950503
Time (s): 0.00162178
-------------------------------
-- Robust Resection of view: 67
nfa=-42.461 inliers=123/649 precisionNormalized=0.00883349 precision=109.61 (iter=0 ,sample=528,88,588,)
nfa=-1834.55 inliers=635/649 precisionNormalized=0.000344809 precision=21.6558 (iter=0 ,sample=528,88,588,)
nfa=-2128.66 inliers=620/649 precisionNormalized=8.97094e-05 precision=11.046 (iter=1 ,sample=450,294,486,)
nfa=-2514.06 inliers=598/649 precisionNormalized=1.33946e-05 precision=4.26826 (iter=2 ,sample=73,196,526,)
nfa=-2541.23 inliers=600/649 precisionNormalized=1.2572e-05 precision=4.13512 (iter=11 ,sample=89,502,132,)
nfa=-2541.56 inliers=599/649 precisionNormalized=1.22907e-05 precision=4.0886 (iter=31 ,sample=113,235,169,)
nfa=-2544.18 inliers=598/649 precisionNormalized=1.19078e-05 precision=4.0244 (iter=64 ,sample=585,26,277,)
nfa=-2579.69 inliers=587/649 precisionNormalized=8.1396e-06 precision=3.32726 (iter=66 ,sample=91,208,530,)
nfa=-2588.37 inliers=597/649 precisionNormalized=9.80135e-06 precision=3.65114 (iter=291 ,sample=254,176,529,)
nfa=-2591.25 inliers=595/649 precisionNormalized=9.27619e-06 precision=3.55198 (iter=405 ,sample=354,437,222,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 649
-- #Points validated by robust Resection: 595
-- Threshold: 3.55198
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 595
#residuals: 1190
Initial RMSE: 0.721127
Final RMSE: 0.694099
Time (s): 0.00209484
-------------------------------
-- Robust Resection of view: 66
nfa=-63.3628 inliers=366/708 precisionNormalized=0.0521565 precision=266.342 (iter=0 ,sample=576,96,641,)
nfa=-1951.04 inliers=688/708 precisionNormalized=0.000381911 precision=22.7911 (iter=0 ,sample=576,96,641,)
nfa=-2335.02 inliers=668/708 precisionNormalized=7.50657e-05 precision=10.1043 (iter=3 ,sample=581,446,271,)
nfa=-2539.05 inliers=644/708 precisionNormalized=2.39191e-05 precision=5.70372 (iter=4 ,sample=564,154,150,)
nfa=-2660.22 inliers=641/708 precisionNormalized=1.45688e-05 precision=4.4514 (iter=7 ,sample=696,551,229,)
nfa=-2675.07 inliers=642/708 precisionNormalized=1.40726e-05 precision=4.37495 (iter=130 ,sample=514,279,553,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 708
-- #Points validated by robust Resection: 642
-- Threshold: 4.37495
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 642
#residuals: 1284
Initial RMSE: 0.86397
Final RMSE: 0.799065
Time (s): 0.00227285
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 142
#intrinsics: 1
#tracks: 112248
#residuals: 751120
Initial RMSE: 0.30919
Final RMSE: 0.302096
Time (s): 6.16616
-------------------------------
-- Robust Resection of view: 61
nfa=12.4416 inliers=4/1267 precisionNormalized=0.000407026 precision=23.5324 (iter=0 ,sample=1032,172,1147,)
nfa=-1155.68 inliers=1081/1267 precisionNormalized=0.0161476 precision=148.22 (iter=0 ,sample=1032,172,1147,)
nfa=-2656.07 inliers=1161/1267 precisionNormalized=0.00115665 precision=39.6694 (iter=0 ,sample=1032,172,1147,)
nfa=-3450.24 inliers=1053/1267 precisionNormalized=9.29799e-05 precision=11.2473 (iter=1 ,sample=966,816,434,)
nfa=-3861.69 inliers=1201/1267 precisionNormalized=0.000149969 precision=14.2842 (iter=2 ,sample=1236,652,911,)
nfa=-3870.13 inliers=1189/1267 precisionNormalized=0.0001327 precision=13.4366 (iter=3 ,sample=370,496,997,)
nfa=-4407.74 inliers=1101/1267 precisionNormalized=1.91242e-05 precision=5.1009 (iter=7 ,sample=600,490,705,)
nfa=-4459.08 inliers=1124/1267 precisionNormalized=2.18894e-05 precision=5.45722 (iter=15 ,sample=703,87,1026,)
nfa=-4463.05 inliers=1115/1267 precisionNormalized=1.97532e-05 precision=5.1841 (iter=22 ,sample=851,1037,463,)
nfa=-4471.51 inliers=1105/1267 precisionNormalized=1.7449e-05 precision=4.87237 (iter=31 ,sample=440,83,332,)
nfa=-4551.66 inliers=1117/1267 precisionNormalized=1.67777e-05 precision=4.77772 (iter=39 ,sample=557,1097,856,)
nfa=-4568.73 inliers=1078/1267 precisionNormalized=1.05334e-05 precision=3.78563 (iter=58 ,sample=50,1128,505,)
nfa=-4588.76 inliers=1096/1267 precisionNormalized=1.23448e-05 precision=4.09823 (iter=60 ,sample=1070,15,671,)
nfa=-4638.69 inliers=1071/1267 precisionNormalized=8.34791e-06 precision=3.37011 (iter=108 ,sample=908,894,802,)
nfa=-4639.88 inliers=1081/1267 precisionNormalized=9.34355e-06 precision=3.56542 (iter=242 ,sample=948,402,969,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1267
-- #Points validated by robust Resection: 1081
-- Threshold: 3.56542
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1081
#residuals: 2162
Initial RMSE: 0.72155
Final RMSE: 0.69197
Time (s): 0.0037979
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 143
#intrinsics: 1
#tracks: 113338
#residuals: 758036
Initial RMSE: 0.304223
Final RMSE: 0.302276
Time (s): 7.21766
-------------------------------
-- Robust Resection of view: 62
nfa=-465.966 inliers=677/1036 precisionNormalized=0.0232433 precision=177.856 (iter=0 ,sample=844,141,938,)
nfa=-2812.42 inliers=987/1036 precisionNormalized=0.000352131 precision=21.8912 (iter=1 ,sample=386,99,476,)
nfa=-2815.21 inliers=976/1036 precisionNormalized=0.000313509 precision=20.6559 (iter=4 ,sample=362,377,930,)
nfa=-3311.96 inliers=829/1036 precisionNormalized=1.60458e-05 precision=4.67304 (iter=8 ,sample=377,555,915,)
nfa=-3452.48 inliers=841/1036 precisionNormalized=1.27993e-05 precision=4.1736 (iter=10 ,sample=297,807,694,)
nfa=-3530.63 inliers=833/1036 precisionNormalized=9.18615e-06 precision=3.53578 (iter=13 ,sample=258,70,191,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1036
-- #Points validated by robust Resection: 833
-- Threshold: 3.53578
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 833
#residuals: 1666
Initial RMSE: 0.725849
Final RMSE: 0.656983
Time (s): 0.00295108
-------------------------------
-- Robust Resection of view: 65
nfa=-173.033 inliers=594/974 precisionNormalized=0.051906 precision=265.783 (iter=0 ,sample=793,132,882,)
nfa=-3020.29 inliers=903/974 precisionNormalized=0.000102861 precision=11.8316 (iter=0 ,sample=793,132,882,)
nfa=-3271.42 inliers=937/974 precisionNormalized=8.22606e-05 precision=10.5807 (iter=1 ,sample=215,337,231,)
nfa=-3385.46 inliers=898/974 precisionNormalized=3.78283e-05 precision=7.17507 (iter=3 ,sample=20,832,456,)
nfa=-3464.08 inliers=909/974 precisionNormalized=3.5645e-05 precision=6.96494 (iter=4 ,sample=920,809,47,)
nfa=-3474.45 inliers=870/974 precisionNormalized=2.06703e-05 precision=5.30386 (iter=40 ,sample=320,527,5,)
nfa=-3496.1 inliers=903/974 precisionNormalized=3.03648e-05 precision=6.42841 (iter=75 ,sample=22,623,364,)
nfa=-3547.87 inliers=894/974 precisionNormalized=2.35697e-05 precision=5.66364 (iter=158 ,sample=702,123,388,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 974
-- #Points validated by robust Resection: 894
-- Threshold: 5.66364
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 894
#residuals: 1788
Initial RMSE: 1.22363
Final RMSE: 1.02471
Time (s): 0.00285359
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 145
#intrinsics: 1
#tracks: 114722
#residuals: 767678
Initial RMSE: 0.306568
Final RMSE: 0.303086
Time (s): 7.10842
-------------------------------
-- Robust Resection of view: 64
nfa=-9.34117 inliers=38/1140 precisionNormalized=0.000967621 precision=36.2814 (iter=0 ,sample=928,155,1032,)
nfa=-2186.18 inliers=1019/1140 precisionNormalized=0.00149919 precision=45.1606 (iter=0 ,sample=928,155,1032,)
nfa=-3459.08 inliers=1106/1140 precisionNormalized=0.000197916 precision=16.4086 (iter=1 ,sample=522,183,1089,)
nfa=-4021.55 inliers=1068/1140 precisionNormalized=4.03607e-05 precision=7.40987 (iter=3 ,sample=1084,22,879,)
nfa=-4237.87 inliers=1050/1140 precisionNormalized=2.05111e-05 precision=5.28233 (iter=25 ,sample=281,827,810,)
nfa=-4270.27 inliers=1051/1140 precisionNormalized=1.93168e-05 precision=5.12624 (iter=112 ,sample=17,1014,541,)
nfa=-4343.34 inliers=1029/1140 precisionNormalized=1.26235e-05 precision=4.14402 (iter=118 ,sample=344,818,245,)
nfa=-4366.56 inliers=1037/1140 precisionNormalized=1.31984e-05 precision=4.23732 (iter=144 ,sample=586,1040,301,)
nfa=-4382.24 inliers=1045/1140 precisionNormalized=1.40329e-05 precision=4.36923 (iter=251 ,sample=517,704,302,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1140
-- #Points validated by robust Resection: 1045
-- Threshold: 4.36923
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1045
#residuals: 2090
Initial RMSE: 0.947278
Final RMSE: 0.884428
Time (s): 0.00347164
-------------------------------
-- Robust Resection of view: 63
nfa=11.7855 inliers=8/1470 precisionNormalized=0.000408824 precision=23.583 (iter=0 ,sample=1197,200,1331,)
nfa=-3048.13 inliers=1423/1470 precisionNormalized=0.00192628 precision=51.1907 (iter=0 ,sample=1197,200,1331,)
nfa=-4644 inliers=1421/1470 precisionNormalized=0.000142478 precision=13.9221 (iter=1 ,sample=973,1080,1218,)
nfa=-5233.75 inliers=1404/1470 precisionNormalized=4.72718e-05 precision=8.01922 (iter=6 ,sample=866,862,71,)
nfa=-5493.87 inliers=1358/1470 precisionNormalized=2.04549e-05 precision=5.27508 (iter=10 ,sample=80,835,786,)
nfa=-5544.12 inliers=1361/1470 precisionNormalized=1.92885e-05 precision=5.12247 (iter=22 ,sample=817,681,1214,)
nfa=-5551.83 inliers=1374/1470 precisionNormalized=2.14065e-05 precision=5.39639 (iter=89 ,sample=1368,828,622,)
nfa=-5638.88 inliers=1355/1470 precisionNormalized=1.55258e-05 precision=4.59577 (iter=110 ,sample=1266,770,572,)
-------------------------------
-- Robust Resection
-- Resection status: 1
-- #Points used for Resection: 1470
-- #Points validated by robust Resection: 1355
-- Threshold: 4.59577
-------------------------------
Bundle Adjustment statistics (approximated RMSE):
#views: 1
#poses: 1
#intrinsics: 1
#tracks: 1355
#residuals: 2710
Initial RMSE: 1.01546
Final RMSE: 0.893258
Time (s): 0.00427848
Bundle Adjustment statistics (approximated RMSE):
#views: 147
#poses: 147
#intrinsics: 1
#tracks: 116637
#residuals: 780604
Initial RMSE: 0.309549
Final RMSE: 0.303661
Time (s): 6.62608
-------------------------------
-- Structure from Motion (statistics):
-- #Camera calibrated: 147 from 147 input images.
-- #Tracks, #3D points: 116630
-------------------------------
SequentialSfMReconstructionEngine::ComputeResidualsMSE.
-- #Tracks: 116630
-- Residual min: 4.40411e-08
-- Residual median: 0.147707
-- Residual max: 3.90772
-- Residual mean: 0.264085
Histogram of residuals:
0 | 615914
0.391 | 109366
0.782 | 33352
1.17 | 12521
1.56 | 5213
1.95 | 2344
2.34 | 1066
2.74 | 509
3.13 | 223
3.52 | 63
3.91
Total Ac-Sfm took (s): 316
...Generating SfM_Report.html
...Export SfM_Data to disk.
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