IncrementalSfM output

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: 88353
 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, 
------------------
TrackLength, Occurrence
	2	72808
	3	10483
	4	3150
	5	1105
	6	454
	7	202
	8	97
	9	28
	10	13
	11	10
	12	2
	13	1

Automatic selection of an initial pair:
0%   10   20   30   40   50   60   70   80   90   100%
|----|----|----|----|----|----|----|----|----|----|
***************************************************
A-Contrario initial pair residual: 31.8809

Bundle Adjustment statistics (approximated RMSE):
 #views: 2
 #poses: 2
 #intrinsics: 1
 #tracks: 142
 #residuals: 568
 Initial RMSE: 0.814584
 Final RMSE: 0.764402
 Time (s): 0.0640845




SequentialSfMReconstructionEngine::ComputeResidualsMSE.
	-- #Tracks:	140
	-- Residual min:	0.00253387
	-- Residual median:	0.242771
	-- Residual max:	 9.59873
	-- Residual mean:	 0.563669

=========================
 MSE Residual InitialPair Inlier: 0.563669
=========================

-------------------------------
-- Robust Resection of view: 17
  nfa=6.41375 inliers=10/82 precisionNormalized=0.010081 precision=130.124 (iter=0 ,sample=0,11,62,)
  nfa=-233.127 inliers=80/82 precisionNormalized=0.000215262 precision=19.0147 (iter=0 ,sample=0,11,62,)
  nfa=-239.906 inliers=79/82 precisionNormalized=0.000152554 precision=16.0072 (iter=2 ,sample=56,45,30,)
  nfa=-293.954 inliers=72/82 precisionNormalized=8.96953e-06 precision=3.88141 (iter=4 ,sample=24,61,27,)
  nfa=-301.193 inliers=75/82 precisionNormalized=1.20362e-05 precision=4.49625 (iter=5 ,sample=66,11,24,)
  nfa=-305.651 inliers=76/82 precisionNormalized=1.24168e-05 precision=4.56678 (iter=10 ,sample=13,41,56,)
  nfa=-310.521 inliers=77/82 precisionNormalized=1.26635e-05 precision=4.61192 (iter=11 ,sample=61,42,77,)
  nfa=-321.08 inliers=75/82 precisionNormalized=6.31588e-06 precision=3.25703 (iter=16 ,sample=1,3,44,)
  nfa=-325.97 inliers=75/82 precisionNormalized=5.38439e-06 precision=3.00728 (iter=40 ,sample=54,78,37,)
  nfa=-339.968 inliers=78/82 precisionNormalized=6.0226e-06 precision=3.18051 (iter=48 ,sample=38,54,80,)

-------------------------------
-- Robust Resection 
-- Resection status: 1
-- #Points used for Resection: 82
-- #Points validated by robust Resection: 78
-- Threshold: 3.18051
-------------------------------

Bundle Adjustment statistics (approximated RMSE):
 #views: 1
 #poses: 1
 #intrinsics: 1
 #tracks: 78
 #residuals: 156
 Initial RMSE: 0.967473
 Final RMSE: 0.640262
 Time (s): 0.0111488


Bundle Adjustment statistics (approximated RMSE):
 #views: 58
 #poses: 3
 #intrinsics: 1
 #tracks: 1249
 #residuals: 5150
 Initial RMSE: 0.465267
 Final RMSE: 0.353288
 Time (s): 0.137181


Bundle Adjustment statistics (approximated RMSE):
 #views: 58
 #poses: 3
 #intrinsics: 1
 #tracks: 1143
 #residuals: 4638
 Initial RMSE: 0.307364
 Final RMSE: 0.305839
 Time (s): 0.0506686


-------------------------------
-- Robust Resection of view: 16
  nfa=10.1458 inliers=4/196 precisionNormalized=0.0241867 precision=184.194 (iter=0 ,sample=155,119,66,)
  nfa=-7.95758 inliers=94/196 precisionNormalized=0.0493639 precision=263.143 (iter=0 ,sample=155,119,66,)
  nfa=-595.128 inliers=187/196 precisionNormalized=0.000137452 precision=13.8855 (iter=0 ,sample=155,119,66,)
  nfa=-642.058 inliers=184/196 precisionNormalized=6.34469e-05 precision=9.43391 (iter=1 ,sample=158,78,73,)
  nfa=-714.322 inliers=186/196 precisionNormalized=2.88472e-05 precision=6.36119 (iter=3 ,sample=161,163,133,)
  nfa=-717.457 inliers=184/196 precisionNormalized=2.42395e-05 precision=5.83107 (iter=43 ,sample=23,146,180,)
  nfa=-721.042 inliers=183/196 precisionNormalized=2.16335e-05 precision=5.50871 (iter=66 ,sample=135,171,86,)

-------------------------------
-- Robust Resection 
-- Resection status: 1
-- #Points used for Resection: 196
-- #Points validated by robust Resection: 183
-- Threshold: 5.50871
-------------------------------

Bundle Adjustment statistics (approximated RMSE):
 #views: 1
 #poses: 1
 #intrinsics: 1
 #tracks: 183
 #residuals: 366
 Initial RMSE: 1.09392
 Final RMSE: 0.965998
 Time (s): 0.0010613


Bundle Adjustment statistics (approximated RMSE):
 #views: 58
 #poses: 4
 #intrinsics: 1
 #tracks: 2310
 #residuals: 9790
 Initial RMSE: 0.485591
 Final RMSE: 0.410478
 Time (s): 0.113139


-------------------------------
-- Robust Resection of view: 15
  nfa=-1424 inliers=382/406 precisionNormalized=4.1295e-05 precision=7.50138 (iter=0 ,sample=130,219,72,)
  nfa=-1486.92 inliers=377/406 precisionNormalized=2.39603e-05 precision=5.71397 (iter=2 ,sample=187,219,192,)
  nfa=-1606.18 inliers=367/406 precisionNormalized=8.05503e-06 precision=3.31303 (iter=3 ,sample=403,328,35,)
  nfa=-1615.86 inliers=360/406 precisionNormalized=5.86785e-06 precision=2.82769 (iter=5 ,sample=44,378,234,)
  nfa=-1618.07 inliers=371/406 precisionNormalized=8.60633e-06 precision=3.42453 (iter=37 ,sample=218,181,372,)
  nfa=-1624.6 inliers=362/406 precisionNormalized=5.96472e-06 precision=2.85094 (iter=63 ,sample=181,97,387,)
  nfa=-1632.16 inliers=364/406 precisionNormalized=6.11042e-06 precision=2.88554 (iter=88 ,sample=180,257,237,)
  nfa=-1635.67 inliers=364/406 precisionNormalized=5.97269e-06 precision=2.85284 (iter=394 ,sample=322,59,296,)

-------------------------------
-- Robust Resection 
-- Resection status: 1
-- #Points used for Resection: 406
-- #Points validated by robust Resection: 364
-- Threshold: 2.85284
-------------------------------

Bundle Adjustment statistics (approximated RMSE):
 #views: 1
 #poses: 1
 #intrinsics: 1
 #tracks: 364
 #residuals: 728
 Initial RMSE: 0.561158
 Final RMSE: 0.515089
 Time (s): 0.00171356


Bundle Adjustment statistics (approximated RMSE):
 #views: 58
 #poses: 5
 #intrinsics: 1
 #tracks: 2436
 #residuals: 11074
 Initial RMSE: 0.418595
 Final RMSE: 0.375927
 Time (s): 0.0983686


-------------------------------
-- Robust Resection of view: 14
  nfa=-42.5874 inliers=130/257 precisionNormalized=0.0317148 precision=206.698 (iter=0 ,sample=200,51,138,)
  nfa=-1006.3 inliers=223/257 precisionNormalized=4.81899e-06 precision=2.54791 (iter=0 ,sample=200,51,138,)
  nfa=-1012.93 inliers=231/257 precisionNormalized=7.18666e-06 precision=3.1115 (iter=52 ,sample=146,50,215,)
  nfa=-1017.13 inliers=229/257 precisionNormalized=6.13143e-06 precision=2.874 (iter=105 ,sample=220,74,116,)
  nfa=-1019.5 inliers=228/257 precisionNormalized=5.64222e-06 precision=2.75696 (iter=183 ,sample=46,72,94,)

-------------------------------
-- Robust Resection 
-- Resection status: 1
-- #Points used for Resection: 257
-- #Points validated by robust Resection: 228
-- Threshold: 2.75696
-------------------------------

Bundle Adjustment statistics (approximated RMSE):
 #views: 1
 #poses: 1
 #intrinsics: 1
 #tracks: 228
 #residuals: 456
 Initial RMSE: 0.612566
 Final RMSE: 0.542282
 Time (s): 0.0016661


Bundle Adjustment statistics (approximated RMSE):
 #views: 58
 #poses: 6
 #intrinsics: 1
 #tracks: 2515
 #residuals: 11892
 Initial RMSE: 0.400397
 Final RMSE: 0.378904
 Time (s): 0.109024


-------------------------------
-- Robust Resection of view: 13
  nfa=9.01965 inliers=4/153 precisionNormalized=0.00632246 precision=92.1953 (iter=0 ,sample=19,146,109,)
  nfa=-200.131 inliers=151/153 precisionNormalized=0.0116283 precision=125.033 (iter=0 ,sample=19,146,109,)
  nfa=-200.131 inliers=151/153 precisionNormalized=0.0116283 precision=125.033 (iter=0 ,sample=19,146,109,)
  nfa=-455.817 inliers=146/153 precisionNormalized=0.00014963 precision=14.1832 (iter=1 ,sample=29,121,57,)
  nfa=-535.094 inliers=143/153 precisionNormalized=3.23959e-05 precision=6.59949 (iter=2 ,sample=84,34,92,)
  nfa=-536.166 inliers=133/153 precisionNormalized=1.31803e-05 precision=4.20947 (iter=6 ,sample=118,13,79,)
  nfa=-540.032 inliers=140/153 precisionNormalized=2.30726e-05 precision=5.56946 (iter=75 ,sample=15,24,1,)
  nfa=-540.972 inliers=147/153 precisionNormalized=4.12077e-05 precision=7.44312 (iter=106 ,sample=53,37,83,)
  nfa=-546.574 inliers=139/153 precisionNormalized=1.89143e-05 precision=5.04267 (iter=155 ,sample=82,39,119,)

-------------------------------
-- Robust Resection 
-- Resection status: 1
-- #Points used for Resection: 153
-- #Points validated by robust Resection: 139
-- Threshold: 5.04267
-------------------------------

Bundle Adjustment statistics (approximated RMSE):
 #views: 1
 #poses: 1
 #intrinsics: 1
 #tracks: 139
 #residuals: 278
 Initial RMSE: 1.17683
 Final RMSE: 1.03911
 Time (s): 0.000890882


Bundle Adjustment statistics (approximated RMSE):
 #views: 58
 #poses: 7
 #intrinsics: 1
 #tracks: 2562
 #residuals: 12410
 Initial RMSE: 0.401676
 Final RMSE: 0.383467
 Time (s): 0.107596


-------------------------------
-- Robust Resection of view: 8
  nfa=-56.9267 inliers=81/105 precisionNormalized=0.0237317 precision=179.293 (iter=0 ,sample=61,35,103,)
  nfa=-377.527 inliers=93/105 precisionNormalized=1.11628e-05 precision=3.88854 (iter=0 ,sample=61,35,103,)
  nfa=-381.131 inliers=93/105 precisionNormalized=1.01691e-05 precision=3.71143 (iter=3 ,sample=103,61,18,)
  nfa=-383.07 inliers=92/105 precisionNormalized=8.40518e-06 precision=3.37422 (iter=105 ,sample=50,61,93,)
  nfa=-385.479 inliers=90/105 precisionNormalized=5.90361e-06 precision=2.82786 (iter=281 ,sample=85,70,53,)
  nfa=-388.687 inliers=91/105 precisionNormalized=6.27445e-06 precision=2.91533 (iter=358 ,sample=65,17,93,)

-------------------------------
-- Robust Resection 
-- Resection status: 1
-- #Points used for Resection: 105
-- #Points validated by robust Resection: 91
-- Threshold: 2.91533
-------------------------------

Bundle Adjustment statistics (approximated RMSE):
 #views: 1
 #poses: 1
 #intrinsics: 1
 #tracks: 91
 #residuals: 182
 Initial RMSE: 0.675515
 Final RMSE: 0.615757
 Time (s): 0.00072697


-------------------------------
-- Robust Resection of view: 19
  nfa=-212.686 inliers=82/96 precisionNormalized=0.000322085 precision=20.8874 (iter=0 ,sample=29,49,60,)
  nfa=-321.507 inliers=89/96 precisionNormalized=3.60679e-05 precision=6.98972 (iter=1 ,sample=59,64,22,)
  nfa=-342.119 inliers=88/96 precisionNormalized=1.79744e-05 precision=4.93431 (iter=3 ,sample=14,18,85,)
  nfa=-347.066 inliers=82/96 precisionNormalized=6.2946e-06 precision=2.92 (iter=43 ,sample=67,1,49,)
  nfa=-348.18 inliers=83/96 precisionNormalized=7.14775e-06 precision=3.1116 (iter=60 ,sample=27,47,56,)
  nfa=-349.432 inliers=85/96 precisionNormalized=9.41231e-06 precision=3.57065 (iter=113 ,sample=70,77,13,)
  nfa=-352.016 inliers=85/96 precisionNormalized=8.74514e-06 precision=3.44178 (iter=318 ,sample=18,47,51,)

-------------------------------
-- Robust Resection 
-- Resection status: 1
-- #Points used for Resection: 96
-- #Points validated by robust Resection: 85
-- Threshold: 3.44178
-------------------------------

Bundle Adjustment statistics (approximated RMSE):
 #views: 1
 #poses: 1
 #intrinsics: 1
 #tracks: 85
 #residuals: 170
 Initial RMSE: 0.7625
 Final RMSE: 0.697187
 Time (s): 0.000472993


-------------------------------
-- Robust Resection of view: 12
  nfa=8.4386 inliers=19/165 precisionNormalized=0.0135423 precision=135.439 (iter=0 ,sample=84,48,161,)
  nfa=-164.832 inliers=149/165 precisionNormalized=0.0146487 precision=140.864 (iter=0 ,sample=84,48,161,)
  nfa=-432.519 inliers=162/165 precisionNormalized=0.000491108 precision=25.7922 (iter=1 ,sample=28,46,105,)
  nfa=-465.861 inliers=161/165 precisionNormalized=0.00028324 precision=19.5874 (iter=4 ,sample=54,29,120,)
  nfa=-526.76 inliers=159/165 precisionNormalized=0.000100841 precision=11.6874 (iter=6 ,sample=108,149,82,)
  nfa=-536.27 inliers=159/165 precisionNormalized=8.76187e-05 precision=10.8943 (iter=9 ,sample=160,39,0,)
  nfa=-538.294 inliers=160/165 precisionNormalized=9.15034e-05 precision=11.1331 (iter=10 ,sample=76,36,104,)
  nfa=-540.493 inliers=163/165 precisionNormalized=0.000110749 precision=12.2481 (iter=47 ,sample=66,26,159,)
  nfa=-562.517 inliers=155/165 precisionNormalized=4.38946e-05 precision=7.7109 (iter=66 ,sample=124,145,29,)

-------------------------------
-- Robust Resection 
-- Resection status: 1
-- #Points used for Resection: 165
-- #Points validated by robust Resection: 155
-- Threshold: 7.7109
-------------------------------

Bundle Adjustment statistics (approximated RMSE):
 #views: 1
 #poses: 1
 #intrinsics: 1
 #tracks: 155
 #residuals: 310
 Initial RMSE: 1.9429
 Final RMSE: 1.6003
 Time (s): 0.000953562


Bundle Adjustment statistics (approximated RMSE):
 #views: 58
 #poses: 10
 #intrinsics: 1
 #tracks: 3711
 #residuals: 18928
 Initial RMSE: 0.536701
 Final RMSE: 0.45182
 Time (s): 0.178287


Bundle Adjustment statistics (approximated RMSE):
 #views: 58
 #poses: 10
 #intrinsics: 1
 #tracks: 3616
 #residuals: 18476
 Initial RMSE: 0.406485
 Final RMSE: 0.398049
 Time (s): 0.153288


-------------------------------
-- Robust Resection of view: 20
  nfa=10.4243 inliers=4/175 precisionNormalized=0.0813951 precision=331.214 (iter=0 ,sample=129,7,56,)
  nfa=8.64181 inliers=4/175 precisionNormalized=0.00134283 precision=42.5423 (iter=0 ,sample=129,7,56,)
  nfa=-420.993 inliers=173/175 precisionNormalized=0.000891655 precision=34.6664 (iter=0 ,sample=129,7,56,)
  nfa=-564.057 inliers=169/175 precisionNormalized=9.73033e-05 precision=11.4518 (iter=2 ,sample=30,83,43,)
  nfa=-662.709 inliers=153/175 precisionNormalized=6.84344e-06 precision=3.03702 (iter=3 ,sample=40,137,113,)
  nfa=-664.81 inliers=160/175 precisionNormalized=1.18425e-05 precision=3.99513 (iter=14 ,sample=48,44,2,)
  nfa=-666.109 inliers=154/175 precisionNormalized=7.06956e-06 precision=3.08679 (iter=24 ,sample=87,166,74,)
  nfa=-669.885 inliers=152/175 precisionNormalized=5.60707e-06 precision=2.74902 (iter=27 ,sample=42,19,151,)
  nfa=-675.848 inliers=152/175 precisionNormalized=5.10293e-06 precision=2.62253 (iter=51 ,sample=49,58,95,)

-------------------------------
-- Robust Resection 
-- Resection status: 1
-- #Points used for Resection: 175
-- #Points validated by robust Resection: 152
-- Threshold: 2.62253
-------------------------------

Bundle Adjustment statistics (approximated RMSE):
 #views: 1
 #poses: 1
 #intrinsics: 1
 #tracks: 152
 #residuals: 304
 Initial RMSE: 0.619489
 Final RMSE: 0.529114
 Time (s): 0.000978238


-------------------------------
-- Robust Resection of view: 7
  nfa=-429.828 inliers=140/144 precisionNormalized=0.000178233 precision=15.499 (iter=0 ,sample=39,20,51,)
  nfa=-448.192 inliers=139/144 precisionNormalized=0.000120598 precision=12.7491 (iter=1 ,sample=4,6,120,)
  nfa=-448.921 inliers=137/144 precisionNormalized=0.00010117 precision=11.6771 (iter=34 ,sample=96,16,2,)
  nfa=-451.268 inliers=131/144 precisionNormalized=5.89774e-05 precision=8.91565 (iter=53 ,sample=16,134,10,)
  nfa=-451.329 inliers=129/144 precisionNormalized=4.96387e-05 precision=8.17938 (iter=206 ,sample=21,139,19,)

-------------------------------
-- Robust Resection 
-- Resection status: 1
-- #Points used for Resection: 144
-- #Points validated by robust Resection: 129
-- Threshold: 8.17938
-------------------------------

Bundle Adjustment statistics (approximated RMSE):
 #views: 1
 #poses: 1
 #intrinsics: 1
 #tracks: 129
 #residuals: 258
 Initial RMSE: 1.97995
 Final RMSE: 1.63895
 Time (s): 0.000804592


Bundle Adjustment statistics (approximated RMSE):
 #views: 58
 #poses: 12
 #intrinsics: 1
 #tracks: 5726
 #residuals: 28796
 Initial RMSE: 0.534573
 Final RMSE: 0.435337
 Time (s): 0.198972


-------------------------------
-- Robust Resection of view: 6
  nfa=-745.09 inliers=198/230 precisionNormalized=2.70771e-05 precision=6.02067 (iter=0 ,sample=39,104,109,)
  nfa=-762.292 inliers=200/230 precisionNormalized=2.48018e-05 precision=5.76216 (iter=2 ,sample=96,222,172,)
  nfa=-768.744 inliers=191/230 precisionNormalized=1.33741e-05 precision=4.23132 (iter=4 ,sample=13,2,121,)
  nfa=-770.687 inliers=194/230 precisionNormalized=1.57154e-05 precision=4.58676 (iter=8 ,sample=2,4,203,)
  nfa=-783.877 inliers=197/230 precisionNormalized=1.60851e-05 precision=4.6404 (iter=30 ,sample=50,57,69,)
  nfa=-792.067 inliers=191/230 precisionNormalized=1.00213e-05 precision=3.66274 (iter=141 ,sample=95,113,41,)
  nfa=-793.352 inliers=199/230 precisionNormalized=1.62133e-05 precision=4.65885 (iter=260 ,sample=109,41,205,)

-------------------------------
-- Robust Resection 
-- Resection status: 1
-- #Points used for Resection: 230
-- #Points validated by robust Resection: 199
-- Threshold: 4.65885
-------------------------------

Bundle Adjustment statistics (approximated RMSE):
 #views: 1
 #poses: 1
 #intrinsics: 1
 #tracks: 199
 #residuals: 398
 Initial RMSE: 0.963523
 Final RMSE: 0.884452
 Time (s): 0.00118368


-------------------------------
-- Robust Resection of view: 10
  nfa=-416.149 inliers=237/239 precisionNormalized=0.00463001 precision=78.729 (iter=0 ,sample=198,100,125,)
  nfa=-610.344 inliers=231/239 precisionNormalized=0.000527313 precision=26.5692 (iter=1 ,sample=38,1,195,)
  nfa=-641.534 inliers=233/239 precisionNormalized=0.000420283 precision=23.72 (iter=2 ,sample=216,99,161,)
  nfa=-738.702 inliers=225/239 precisionNormalized=0.000107964 precision=12.0222 (iter=3 ,sample=43,203,48,)
  nfa=-752.584 inliers=222/239 precisionNormalized=8.06452e-05 precision=10.3904 (iter=13 ,sample=3,56,32,)
  nfa=-757.719 inliers=224/239 precisionNormalized=8.43534e-05 precision=10.6266 (iter=97 ,sample=202,38,9,)
  nfa=-761.445 inliers=224/239 precisionNormalized=8.11374e-05 precision=10.4221 (iter=281 ,sample=12,44,214,)
  nfa=-763.365 inliers=226/239 precisionNormalized=8.7805e-05 precision=10.8418 (iter=283 ,sample=73,129,141,)

-------------------------------
-- Robust Resection 
-- Resection status: 1
-- #Points used for Resection: 239
-- #Points validated by robust Resection: 226
-- Threshold: 10.8418
-------------------------------

Bundle Adjustment statistics (approximated RMSE):
 #views: 1
 #poses: 1
 #intrinsics: 1
 #tracks: 226
 #residuals: 452
 Initial RMSE: 2.3471
 Final RMSE: 2.22226
 Time (s): 0.00125858


Bundle Adjustment statistics (approximated RMSE):
 #views: 58
 #poses: 14
 #intrinsics: 1
 #tracks: 6636
 #residuals: 33880
 Initial RMSE: 0.541372
 Final RMSE: 0.490378
 Time (s): 0.255706


Bundle Adjustment statistics (approximated RMSE):
 #views: 58
 #poses: 14
 #intrinsics: 1
 #tracks: 6607
 #residuals: 33582
 Initial RMSE: 0.442849
 Final RMSE: 0.435665
 Time (s): 0.237784


-------------------------------
-- Robust Resection of view: 5
  nfa=-35.2188 inliers=132/168 precisionNormalized=0.0757931 precision=318 (iter=0 ,sample=159,30,112,)
  nfa=-438.338 inliers=161/168 precisionNormalized=0.000397056 precision=23.0164 (iter=0 ,sample=159,30,112,)
  nfa=-513.7 inliers=151/168 precisionNormalized=6.58231e-05 precision=9.37132 (iter=4 ,sample=122,96,164,)
  nfa=-518.254 inliers=152/168 precisionNormalized=6.58971e-05 precision=9.37659 (iter=9 ,sample=144,60,2,)
  nfa=-525.7 inliers=152/168 precisionNormalized=5.87214e-05 precision=8.85135 (iter=18 ,sample=163,161,6,)
  nfa=-535.961 inliers=152/168 precisionNormalized=5.00935e-05 precision=8.17528 (iter=52 ,sample=50,34,123,)
  nfa=-537.132 inliers=151/168 precisionNormalized=4.56782e-05 precision=7.80668 (iter=245 ,sample=68,36,72,)
  nfa=-537.671 inliers=149/168 precisionNormalized=3.89801e-05 precision=7.21163 (iter=316 ,sample=84,28,148,)
  nfa=-537.748 inliers=150/168 precisionNormalized=4.19814e-05 precision=7.48411 (iter=321 ,sample=84,75,2,)

-------------------------------
-- Robust Resection 
-- Resection status: 1
-- #Points used for Resection: 168
-- #Points validated by robust Resection: 150
-- Threshold: 7.48411
-------------------------------

Bundle Adjustment statistics (approximated RMSE):
 #views: 1
 #poses: 1
 #intrinsics: 1
 #tracks: 150
 #residuals: 300
 Initial RMSE: 1.6812
 Final RMSE: 1.44311
 Time (s): 0.00118683


-------------------------------
-- Robust Resection of view: 21
  nfa=-95.0498 inliers=123/137 precisionNormalized=0.0306706 precision=202.289 (iter=0 ,sample=9,50,104,)
  nfa=-322.694 inliers=123/137 precisionNormalized=0.000388648 precision=22.7714 (iter=0 ,sample=9,50,104,)
  nfa=-350.542 inliers=129/137 precisionNormalized=0.000360224 precision=21.9229 (iter=4 ,sample=119,124,32,)
  nfa=-437.247 inliers=126/137 precisionNormalized=5.65254e-05 precision=8.68427 (iter=7 ,sample=14,74,58,)
  nfa=-442.811 inliers=125/137 precisionNormalized=4.6496e-05 precision=7.87625 (iter=11 ,sample=87,95,8,)
  nfa=-460.525 inliers=125/137 precisionNormalized=3.32491e-05 precision=6.66042 (iter=15 ,sample=46,27,90,)
  nfa=-461.978 inliers=121/137 precisionNormalized=2.20068e-05 precision=5.41864 (iter=136 ,sample=10,7,43,)
  nfa=-464.034 inliers=122/137 precisionNormalized=2.33169e-05 precision=5.5776 (iter=313 ,sample=50,54,132,)

-------------------------------
-- Robust Resection 
-- Resection status: 1
-- #Points used for Resection: 137
-- #Points validated by robust Resection: 122
-- Threshold: 5.5776
-------------------------------

Bundle Adjustment statistics (approximated RMSE):
 #views: 1
 #poses: 1
 #intrinsics: 1
 #tracks: 122
 #residuals: 244
 Initial RMSE: 1.28339
 Final RMSE: 0.993042
 Time (s): 0.000739494


Bundle Adjustment statistics (approximated RMSE):
 #views: 58
 #poses: 16
 #intrinsics: 1
 #tracks: 8718
 #residuals: 43028
 Initial RMSE: 0.460547
 Final RMSE: 0.43038
 Time (s): 0.302347


-------------------------------
-- Robust Resection of view: 23
  nfa=1.53004 inliers=68/181 precisionNormalized=0.0424997 precision=238.631 (iter=0 ,sample=160,33,110,)
  nfa=-387.662 inliers=178/181 precisionNormalized=0.00159588 precision=46.2416 (iter=0 ,sample=160,33,110,)
  nfa=-580.541 inliers=159/181 precisionNormalized=3.50455e-05 precision=6.85252 (iter=3 ,sample=24,26,41,)
  nfa=-588.861 inliers=159/181 precisionNormalized=3.09816e-05 precision=6.44296 (iter=4 ,sample=35,167,98,)
  nfa=-591.065 inliers=160/181 precisionNormalized=3.2219e-05 precision=6.57037 (iter=32 ,sample=137,122,43,)
  nfa=-597.91 inliers=159/181 precisionNormalized=2.70931e-05 precision=6.02508 (iter=265 ,sample=144,143,3,)
  nfa=-598.221 inliers=157/181 precisionNormalized=2.32831e-05 precision=5.58539 (iter=354 ,sample=64,59,17,)

-------------------------------
-- Robust Resection 
-- Resection status: 1
-- #Points used for Resection: 181
-- #Points validated by robust Resection: 157
-- Threshold: 5.58539
-------------------------------

Bundle Adjustment statistics (approximated RMSE):
 #views: 1
 #poses: 1
 #intrinsics: 1
 #tracks: 157
 #residuals: 314
 Initial RMSE: 1.1483
 Final RMSE: 1.12906
 Time (s): 0.00107839


-------------------------------
-- Robust Resection of view: 4
  nfa=9.13548 inliers=4/147 precisionNormalized=0.0101077 precision=116.375 (iter=0 ,sample=101,1,43,)
  nfa=-11.3224 inliers=60/147 precisionNormalized=0.0275111 precision=191.994 (iter=0 ,sample=101,1,43,)
  nfa=-433.566 inliers=132/147 precisionNormalized=8.3378e-05 precision=10.5696 (iter=0 ,sample=101,1,43,)
  nfa=-442.571 inliers=132/147 precisionNormalized=7.09791e-05 precision=9.75212 (iter=4 ,sample=81,28,13,)
  nfa=-454.999 inliers=132/147 precisionNormalized=5.68341e-05 precision=8.72646 (iter=8 ,sample=68,146,107,)
  nfa=-455.37 inliers=131/147 precisionNormalized=5.19118e-05 precision=8.34001 (iter=18 ,sample=13,121,94,)

-------------------------------
-- Robust Resection 
-- Resection status: 1
-- #Points used for Resection: 147
-- #Points validated by robust Resection: 131
-- Threshold: 8.34001
-------------------------------

Bundle Adjustment statistics (approximated RMSE):
 #views: 1
 #poses: 1
 #intrinsics: 1
 #tracks: 131
 #residuals: 262
 Initial RMSE: 1.93913
 Final RMSE: 1.76096
 Time (s): 0.000860303


Bundle Adjustment statistics (approximated RMSE):
 #views: 58
 #poses: 18
 #intrinsics: 1
 #tracks: 10492
 #residuals: 51112
 Initial RMSE: 0.456622
 Final RMSE: 0.427844
 Time (s): 0.353258


-------------------------------
-- Robust Resection of view: 3
  nfa=-12.196 inliers=17/166 precisionNormalized=0.000396326 precision=23.0503 (iter=0 ,sample=34,122,99,)
  nfa=-190.015 inliers=155/166 precisionNormalized=0.0122036 precision=127.907 (iter=0 ,sample=34,122,99,)
  nfa=-324.936 inliers=140/166 precisionNormalized=0.000705679 precision=30.7577 (iter=1 ,sample=86,51,152,)
  nfa=-481.198 inliers=140/166 precisionNormalized=5.09417e-05 precision=8.26395 (iter=2 ,sample=10,98,73,)
  nfa=-486.542 inliers=144/166 precisionNormalized=6.28715e-05 precision=9.18074 (iter=6 ,sample=23,121,73,)
  nfa=-507.734 inliers=137/166 precisionNormalized=2.55688e-05 precision=5.85472 (iter=15 ,sample=112,49,58,)
  nfa=-513.495 inliers=139/166 precisionNormalized=2.7266e-05 precision=6.04591 (iter=21 ,sample=76,135,152,)
  nfa=-514.97 inliers=139/166 precisionNormalized=2.65909e-05 precision=5.97059 (iter=23 ,sample=123,142,15,)
  nfa=-519.941 inliers=142/166 precisionNormalized=3.11082e-05 precision=6.45786 (iter=41 ,sample=96,81,17,)
  nfa=-524.676 inliers=142/166 precisionNormalized=2.87523e-05 precision=6.20851 (iter=75 ,sample=66,47,121,)
  nfa=-527.794 inliers=142/166 precisionNormalized=2.7299e-05 precision=6.04957 (iter=130 ,sample=80,27,102,)

-------------------------------
-- Robust Resection 
-- Resection status: 1
-- #Points used for Resection: 166
-- #Points validated by robust Resection: 142
-- Threshold: 6.04957
-------------------------------

Bundle Adjustment statistics (approximated RMSE):
 #views: 1
 #poses: 1
 #intrinsics: 1
 #tracks: 142
 #residuals: 284
 Initial RMSE: 1.33142
 Final RMSE: 1.19707
 Time (s): 0.00115823


Bundle Adjustment statistics (approximated RMSE):
 #views: 58
 #poses: 19
 #intrinsics: 1
 #tracks: 11157
 #residuals: 54232
 Initial RMSE: 0.440128
 Final RMSE: 0.426742
 Time (s): 0.311842


-------------------------------
-- Robust Resection of view: 2
  nfa=7.13361 inliers=7/153 precisionNormalized=0.0021047 precision=53.1028 (iter=0 ,sample=126,108,6,)
  nfa=-540.313 inliers=137/153 precisionNormalized=1.76289e-05 precision=4.85999 (iter=0 ,sample=126,108,6,)
  nfa=-543.979 inliers=135/153 precisionNormalized=1.37981e-05 precision=4.29964 (iter=17 ,sample=36,75,18,)
  nfa=-546.627 inliers=133/153 precisionNormalized=1.0931e-05 precision=3.82694 (iter=18 ,sample=67,12,137,)
  nfa=-552.185 inliers=132/153 precisionNormalized=8.99195e-06 precision=3.47096 (iter=39 ,sample=4,74,53,)
  nfa=-554.698 inliers=135/153 precisionNormalized=1.14247e-05 precision=3.91242 (iter=96 ,sample=114,45,90,)
  nfa=-561.654 inliers=131/153 precisionNormalized=6.8648e-06 precision=3.03275 (iter=111 ,sample=132,29,137,)

-------------------------------
-- Robust Resection 
-- Resection status: 1
-- #Points used for Resection: 153
-- #Points validated by robust Resection: 131
-- Threshold: 3.03275
-------------------------------

Bundle Adjustment statistics (approximated RMSE):
 #views: 1
 #poses: 1
 #intrinsics: 1
 #tracks: 131
 #residuals: 262
 Initial RMSE: 0.795199
 Final RMSE: 0.689591
 Time (s): 0.000871094


-------------------------------
-- Robust Resection of view: 57
  nfa=-79.0038 inliers=117/207 precisionNormalized=0.0161398 precision=147.052 (iter=0 ,sample=28,93,77,)
  nfa=-676.106 inliers=196/207 precisionNormalized=7.24999e-05 precision=9.8558 (iter=0 ,sample=28,93,77,)
  nfa=-762.244 inliers=191/207 precisionNormalized=1.87507e-05 precision=5.01224 (iter=1 ,sample=194,38,109,)
  nfa=-770.824 inliers=191/207 precisionNormalized=1.68686e-05 precision=4.75404 (iter=14 ,sample=61,27,109,)
  nfa=-786.622 inliers=188/207 precisionNormalized=1.13349e-05 precision=3.89702 (iter=17 ,sample=191,93,71,)
  nfa=-798.662 inliers=190/207 precisionNormalized=1.11746e-05 precision=3.86936 (iter=19 ,sample=30,20,89,)
  nfa=-799.793 inliers=192/207 precisionNormalized=1.26199e-05 precision=4.11198 (iter=103 ,sample=38,0,142,)
  nfa=-800.476 inliers=191/207 precisionNormalized=1.16952e-05 precision=3.95847 (iter=287 ,sample=6,200,139,)

-------------------------------
-- Robust Resection 
-- Resection status: 1
-- #Points used for Resection: 207
-- #Points validated by robust Resection: 191
-- Threshold: 3.95847
-------------------------------

Bundle Adjustment statistics (approximated RMSE):
 #views: 1
 #poses: 1
 #intrinsics: 1
 #tracks: 191
 #residuals: 382
 Initial RMSE: 0.930718
 Final RMSE: 0.768623
 Time (s): 0.000792908


-------------------------------
-- Robust Resection of view: 24
  nfa=-349.949 inliers=116/125 precisionNormalized=0.00016495 precision=14.8662 (iter=0 ,sample=3,17,79,)
  nfa=-355.644 inliers=120/125 precisionNormalized=0.000209811 precision=16.7663 (iter=4 ,sample=5,24,49,)
  nfa=-368.796 inliers=113/125 precisionNormalized=8.48417e-05 precision=10.6617 (iter=9 ,sample=82,90,103,)
  nfa=-404.894 inliers=108/125 precisionNormalized=2.35585e-05 precision=5.61819 (iter=10 ,sample=110,100,59,)
  nfa=-412.116 inliers=104/125 precisionNormalized=1.27808e-05 precision=4.1381 (iter=18 ,sample=14,33,41,)
  nfa=-416.617 inliers=102/125 precisionNormalized=9.06956e-06 precision=3.48591 (iter=21 ,sample=82,71,45,)

-------------------------------
-- Robust Resection 
-- Resection status: 1
-- #Points used for Resection: 125
-- #Points validated by robust Resection: 102
-- Threshold: 3.48591
-------------------------------

Bundle Adjustment statistics (approximated RMSE):
 #views: 1
 #poses: 1
 #intrinsics: 1
 #tracks: 102
 #residuals: 204
 Initial RMSE: 0.843282
 Final RMSE: 0.762238
 Time (s): 0.000631014


Bundle Adjustment statistics (approximated RMSE):
 #views: 58
 #poses: 22
 #intrinsics: 1
 #tracks: 13504
 #residuals: 64678
 Initial RMSE: 0.421228
 Final RMSE: 0.405783
 Time (s): 0.45185


-------------------------------
-- Robust Resection of view: 56
  nfa=14.0367 inliers=4/373 precisionNormalized=7.37252 precision=3145.94 (iter=0 ,sample=25,347,141,)
  nfa=-1006.02 inliers=365/373 precisionNormalized=0.000448556 precision=24.5387 (iter=0 ,sample=25,347,141,)
  nfa=-1254.03 inliers=361/373 precisionNormalized=8.119e-05 precision=10.4399 (iter=1 ,sample=361,108,355,)
  nfa=-1320.34 inliers=348/373 precisionNormalized=3.41137e-05 precision=6.76717 (iter=5 ,sample=12,202,168,)
  nfa=-1497.78 inliers=343/373 precisionNormalized=8.55428e-06 precision=3.38871 (iter=6 ,sample=221,36,95,)
  nfa=-1497.8 inliers=346/373 precisionNormalized=9.59587e-06 precision=3.5891 (iter=9 ,sample=17,11,76,)
  nfa=-1500.81 inliers=344/373 precisionNormalized=8.70767e-06 precision=3.41896 (iter=57 ,sample=11,231,84,)
  nfa=-1501.22 inliers=338/373 precisionNormalized=6.87484e-06 precision=3.03791 (iter=77 ,sample=355,256,50,)
  nfa=-1506.46 inliers=335/373 precisionNormalized=5.8817e-06 precision=2.80992 (iter=85 ,sample=216,42,311,)
  nfa=-1508.68 inliers=340/373 precisionNormalized=7.06026e-06 precision=3.0786 (iter=174 ,sample=31,150,216,)
  nfa=-1513.24 inliers=341/373 precisionNormalized=7.11396e-06 precision=3.09029 (iter=243 ,sample=37,132,47,)

-------------------------------
-- Robust Resection 
-- Resection status: 1
-- #Points used for Resection: 373
-- #Points validated by robust Resection: 341
-- Threshold: 3.09029
-------------------------------

Bundle Adjustment statistics (approximated RMSE):
 #views: 1
 #poses: 1
 #intrinsics: 1
 #tracks: 341
 #residuals: 682
 Initial RMSE: 0.622226
 Final RMSE: 0.594577
 Time (s): 0.00172629


Bundle Adjustment statistics (approximated RMSE):
 #views: 58
 #poses: 23
 #intrinsics: 1
 #tracks: 15091
 #residuals: 71722
 Initial RMSE: 0.398922
 Final RMSE: 0.395517
 Time (s): 0.32986


-------------------------------
-- Robust Resection of view: 55
  nfa=-325.266 inliers=377/486 precisionNormalized=0.0203726 precision=165.393 (iter=0 ,sample=148,121,110,)
  nfa=-1614.86 inliers=459/486 precisionNormalized=6.93171e-05 precision=9.64746 (iter=0 ,sample=148,121,110,)
  nfa=-1809.5 inliers=467/486 precisionNormalized=3.2058e-05 precision=6.56087 (iter=3 ,sample=270,324,94,)
  nfa=-1854.75 inliers=439/486 precisionNormalized=1.17346e-05 precision=3.96943 (iter=9 ,sample=159,193,271,)
  nfa=-1874.73 inliers=434/486 precisionNormalized=9.11126e-06 precision=3.4977 (iter=13 ,sample=77,49,362,)
  nfa=-1876.31 inliers=435/486 precisionNormalized=9.30391e-06 precision=3.53448 (iter=38 ,sample=377,173,16,)
  nfa=-1887.6 inliers=443/486 precisionNormalized=1.10598e-05 precision=3.85359 (iter=49 ,sample=219,204,288,)

-------------------------------
-- Robust Resection 
-- Resection status: 1
-- #Points used for Resection: 486
-- #Points validated by robust Resection: 443
-- Threshold: 3.85359
-------------------------------

Bundle Adjustment statistics (approximated RMSE):
 #views: 1
 #poses: 1
 #intrinsics: 1
 #tracks: 443
 #residuals: 886
 Initial RMSE: 0.669015
 Final RMSE: 0.66012
 Time (s): 0.00199513


Bundle Adjustment statistics (approximated RMSE):
 #views: 58
 #poses: 24
 #intrinsics: 1
 #tracks: 17049
 #residuals: 80636
 Initial RMSE: 0.393292
 Final RMSE: 0.388817
 Time (s): 0.474192


-------------------------------
-- Robust Resection of view: 54
  nfa=-38.0337 inliers=115/666 precisionNormalized=0.00810465 precision=104.37 (iter=0 ,sample=259,46,548,)
  nfa=-38.0337 inliers=115/666 precisionNormalized=0.00810465 precision=104.37 (iter=0 ,sample=259,46,548,)
  nfa=-2357.61 inliers=631/666 precisionNormalized=4.3341e-05 precision=7.63237 (iter=0 ,sample=259,46,548,)
  nfa=-2438.87 inliers=623/666 precisionNormalized=2.75298e-05 precision=6.0829 (iter=1 ,sample=55,603,378,)
  nfa=-2488.5 inliers=598/666 precisionNormalized=1.38113e-05 precision=4.30851 (iter=3 ,sample=601,142,366,)
  nfa=-2562.1 inliers=600/666 precisionNormalized=1.08064e-05 precision=3.8111 (iter=10 ,sample=189,169,144,)
  nfa=-2579.99 inliers=584/666 precisionNormalized=7.12441e-06 precision=3.09446 (iter=34 ,sample=456,529,87,)
  nfa=-2589.26 inliers=583/666 precisionNormalized=6.71222e-06 precision=3.0036 (iter=37 ,sample=102,430,458,)
  nfa=-2618.54 inliers=592/666 precisionNormalized=7.28412e-06 precision=3.12895 (iter=46 ,sample=15,95,295,)
  nfa=-2620.54 inliers=591/666 precisionNormalized=7.06888e-06 precision=3.08237 (iter=47 ,sample=453,624,331,)
  nfa=-2640.62 inliers=596/666 precisionNormalized=7.28704e-06 precision=3.12958 (iter=164 ,sample=429,619,62,)

-------------------------------
-- Robust Resection 
-- Resection status: 1
-- #Points used for Resection: 666
-- #Points validated by robust Resection: 596
-- Threshold: 3.12958
-------------------------------

Bundle Adjustment statistics (approximated RMSE):
 #views: 1
 #poses: 1
 #intrinsics: 1
 #tracks: 596
 #residuals: 1192
 Initial RMSE: 0.630549
 Final RMSE: 0.579537
 Time (s): 0.00254949


Bundle Adjustment statistics (approximated RMSE):
 #views: 58
 #poses: 25
 #intrinsics: 1
 #tracks: 19317
 #residuals: 91080
 Initial RMSE: 0.386521
 Final RMSE: 0.38169
 Time (s): 0.435768


-------------------------------
-- Robust Resection of view: 44
  nfa=12.684 inliers=4/911 precisionNormalized=0.00371258 precision=70.636 (iter=0 ,sample=134,593,476,)
  nfa=-2633.76 inliers=893/911 precisionNormalized=0.000307833 precision=20.3398 (iter=0 ,sample=134,593,476,)
  nfa=-2706.03 inliers=896/911 precisionNormalized=0.000265015 precision=18.8722 (iter=2 ,sample=79,104,487,)
  nfa=-3173.78 inliers=872/911 precisionNormalized=5.71816e-05 precision=8.7663 (iter=3 ,sample=196,219,24,)
  nfa=-3594.7 inliers=837/911 precisionNormalized=1.10168e-05 precision=3.84782 (iter=4 ,sample=713,778,793,)
  nfa=-3651.02 inliers=827/911 precisionNormalized=8.04535e-06 precision=3.28822 (iter=5 ,sample=749,382,854,)
  nfa=-3667.98 inliers=825/911 precisionNormalized=7.42716e-06 precision=3.15936 (iter=195 ,sample=16,854,480,)

-------------------------------
-- Robust Resection 
-- Resection status: 1
-- #Points used for Resection: 911
-- #Points validated by robust Resection: 825
-- Threshold: 3.15936
-------------------------------

Bundle Adjustment statistics (approximated RMSE):
 #views: 1
 #poses: 1
 #intrinsics: 1
 #tracks: 825
 #residuals: 1650
 Initial RMSE: 0.597054
 Final RMSE: 0.560935
 Time (s): 0.00309647


Bundle Adjustment statistics (approximated RMSE):
 #views: 58
 #poses: 26
 #intrinsics: 1
 #tracks: 21349
 #residuals: 101040
 Initial RMSE: 0.381164
 Final RMSE: 0.376366
 Time (s): 0.498508


-------------------------------
-- Robust Resection of view: 33
  nfa=14.3019 inliers=4/1019 precisionNormalized=0.0878595 precision=343.626 (iter=0 ,sample=840,346,444,)
  nfa=7.00936 inliers=26/1019 precisionNormalized=0.00183858 precision=49.7087 (iter=0 ,sample=840,346,444,)
  nfa=-4092.88 inliers=909/1019 precisionNormalized=6.28984e-06 precision=2.90744 (iter=0 ,sample=840,346,444,)
  nfa=-4129.75 inliers=911/1019 precisionNormalized=5.88633e-06 precision=2.81264 (iter=11 ,sample=35,787,260,)
  nfa=-4161.76 inliers=903/1019 precisionNormalized=4.81192e-06 precision=2.54302 (iter=21 ,sample=112,589,196,)
  nfa=-4162.84 inliers=911/1019 precisionNormalized=5.40292e-06 precision=2.69467 (iter=72 ,sample=509,863,297,)
  nfa=-4169.76 inliers=897/1019 precisionNormalized=4.30494e-06 precision=2.40533 (iter=74 ,sample=648,273,814,)
  nfa=-4178.06 inliers=892/1019 precisionNormalized=3.90225e-06 precision=2.29007 (iter=162 ,sample=548,912,931,)

-------------------------------
-- Robust Resection 
-- Resection status: 1
-- #Points used for Resection: 1019
-- #Points validated by robust Resection: 892
-- Threshold: 2.29007
-------------------------------

Bundle Adjustment statistics (approximated RMSE):
 #views: 1
 #poses: 1
 #intrinsics: 1
 #tracks: 892
 #residuals: 1784
 Initial RMSE: 0.456621
 Final RMSE: 0.431775
 Time (s): 0.0035955


Bundle Adjustment statistics (approximated RMSE):
 #views: 58
 #poses: 27
 #intrinsics: 1
 #tracks: 23002
 #residuals: 109844
 Initial RMSE: 0.375
 Final RMSE: 0.371144
 Time (s): 0.629183


-------------------------------
-- Robust Resection of view: 22
  nfa=-180.626 inliers=227/1011 precisionNormalized=0.0041227 precision=74.4176 (iter=0 ,sample=197,785,949,)
  nfa=-3951.19 inliers=916/1011 precisionNormalized=1.02074e-05 precision=3.7029 (iter=0 ,sample=197,785,949,)
  nfa=-3956.6 inliers=913/1011 precisionNormalized=9.65329e-06 precision=3.60099 (iter=11 ,sample=607,562,829,)
  nfa=-3976.69 inliers=863/1011 precisionNormalized=4.39273e-06 precision=2.42914 (iter=28 ,sample=194,857,14,)
  nfa=-3982.19 inliers=872/1011 precisionNormalized=4.96597e-06 precision=2.58277 (iter=172 ,sample=750,315,854,)

-------------------------------
-- Robust Resection 
-- Resection status: 1
-- #Points used for Resection: 1011
-- #Points validated by robust Resection: 872
-- Threshold: 2.58277
-------------------------------

Bundle Adjustment statistics (approximated RMSE):
 #views: 1
 #poses: 1
 #intrinsics: 1
 #tracks: 872
 #residuals: 1744
 Initial RMSE: 0.503179
 Final RMSE: 0.489262
 Time (s): 0.00339561


Bundle Adjustment statistics (approximated RMSE):
 #views: 58
 #poses: 28
 #intrinsics: 1
 #tracks: 24903
 #residuals: 119946
 Initial RMSE: 0.373786
 Final RMSE: 0.367981
 Time (s): 0.584412


-------------------------------
-- Robust Resection of view: 11
  nfa=-4.25669 inliers=47/807 precisionNormalized=0.00308603 precision=64.3849 (iter=0 ,sample=121,366,31,)
  nfa=-2962.14 inliers=769/807 precisionNormalized=3.42081e-05 precision=6.77872 (iter=0 ,sample=121,366,31,)
  nfa=-2962.8 inliers=770/807 precisionNormalized=3.46869e-05 precision=6.826 (iter=2 ,sample=521,53,702,)
  nfa=-3115.01 inliers=757/807 precisionNormalized=1.76681e-05 precision=4.87167 (iter=4 ,sample=403,784,57,)
  nfa=-3162.39 inliers=754/807 precisionNormalized=1.4516e-05 precision=4.41577 (iter=5 ,sample=701,470,435,)
  nfa=-3190.19 inliers=727/807 precisionNormalized=8.31968e-06 precision=3.343 (iter=15 ,sample=262,698,365,)
  nfa=-3211.45 inliers=736/807 precisionNormalized=9.11761e-06 precision=3.49965 (iter=19 ,sample=310,470,96,)
  nfa=-3215.28 inliers=728/807 precisionNormalized=7.81141e-06 precision=3.23928 (iter=50 ,sample=24,782,115,)
  nfa=-3218.94 inliers=730/807 precisionNormalized=8.0015e-06 precision=3.27845 (iter=52 ,sample=387,511,3,)
  nfa=-3221.84 inliers=728/807 precisionNormalized=7.64791e-06 precision=3.2052 (iter=88 ,sample=43,329,468,)
  nfa=-3223.03 inliers=734/807 precisionNormalized=8.48129e-06 precision=3.37532 (iter=89 ,sample=230,430,726,)
  nfa=-3225.47 inliers=728/807 precisionNormalized=7.55878e-06 precision=3.18647 (iter=118 ,sample=495,689,772,)
  nfa=-3229.48 inliers=721/807 precisionNormalized=6.57161e-06 precision=2.97112 (iter=160 ,sample=344,406,296,)

-------------------------------
-- Robust Resection 
-- Resection status: 1
-- #Points used for Resection: 807
-- #Points validated by robust Resection: 721
-- Threshold: 2.97112
-------------------------------

Bundle Adjustment statistics (approximated RMSE):
 #views: 1
 #poses: 1
 #intrinsics: 1
 #tracks: 721
 #residuals: 1442
 Initial RMSE: 0.55467
 Final RMSE: 0.516948
 Time (s): 0.00290537


Bundle Adjustment statistics (approximated RMSE):
 #views: 58
 #poses: 29
 #intrinsics: 1
 #tracks: 26793
 #residuals: 129318
 Initial RMSE: 0.36591
 Final RMSE: 0.362465
 Time (s): 0.797421


-------------------------------
-- Robust Resection of view: 1
  nfa=5.23096 inliers=23/446 precisionNormalized=0.00335714 precision=67.1541 (iter=0 ,sample=323,394,201,)
  nfa=-1570.88 inliers=407/446 precisionNormalized=2.80495e-05 precision=6.13833 (iter=0 ,sample=323,394,201,)
  nfa=-1571.04 inliers=407/446 precisionNormalized=2.80241e-05 precision=6.13556 (iter=35 ,sample=218,365,347,)
  nfa=-1583.48 inliers=405/446 precisionNormalized=2.46138e-05 precision=5.75013 (iter=68 ,sample=289,317,20,)
  nfa=-1584.31 inliers=402/446 precisionNormalized=2.24242e-05 precision=5.48841 (iter=100 ,sample=0,23,272,)

-------------------------------
-- Robust Resection 
-- Resection status: 1
-- #Points used for Resection: 446
-- #Points validated by robust Resection: 402
-- Threshold: 5.48841
-------------------------------

Bundle Adjustment statistics (approximated RMSE):
 #views: 1
 #poses: 1
 #intrinsics: 1
 #tracks: 402
 #residuals: 804
 Initial RMSE: 1.05145
 Final RMSE: 0.978618
 Time (s): 0.00166426


Bundle Adjustment statistics (approximated RMSE):
 #views: 58
 #poses: 30
 #intrinsics: 1
 #tracks: 28317
 #residuals: 136436
 Initial RMSE: 0.369914
 Final RMSE: 0.362581
 Time (s): 0.836069


-------------------------------
-- Robust Resection of view: 0
  nfa=-40.1914 inliers=120/194 precisionNormalized=0.0416802 precision=236.639 (iter=0 ,sample=12,82,101,)
  nfa=-49.7183 inliers=111/194 precisionNormalized=0.0278725 precision=193.513 (iter=0 ,sample=12,82,101,)
  nfa=-689.207 inliers=186/194 precisionNormalized=4.09508e-05 precision=7.41742 (iter=0 ,sample=12,82,101,)
  nfa=-694.432 inliers=187/194 precisionNormalized=4.09639e-05 precision=7.4186 (iter=48 ,sample=67,65,83,)
  nfa=-697.602 inliers=189/194 precisionNormalized=4.49731e-05 precision=7.77316 (iter=67 ,sample=64,50,55,)
  nfa=-706.049 inliers=183/194 precisionNormalized=2.70522e-05 precision=6.02868 (iter=117 ,sample=80,191,154,)
  nfa=-706.708 inliers=185/194 precisionNormalized=3.0699e-05 precision=6.4222 (iter=275 ,sample=125,47,102,)
  nfa=-709.371 inliers=186/194 precisionNormalized=3.17476e-05 precision=6.53096 (iter=287 ,sample=11,173,144,)

-------------------------------
-- Robust Resection 
-- Resection status: 1
-- #Points used for Resection: 194
-- #Points validated by robust Resection: 186
-- Threshold: 6.53096
-------------------------------

Bundle Adjustment statistics (approximated RMSE):
 #views: 1
 #poses: 1
 #intrinsics: 1
 #tracks: 186
 #residuals: 372
 Initial RMSE: 1.29778
 Final RMSE: 1.26375
 Time (s): 0.00101751


Bundle Adjustment statistics (approximated RMSE):
 #views: 58
 #poses: 31
 #intrinsics: 1
 #tracks: 28758
 #residuals: 138644
 Initial RMSE: 0.366549
 Final RMSE: 0.362859
 Time (s): 1.14712


-------------------------------
-- Robust Resection of view: 25
  nfa=-2.10098 inliers=28/120 precisionNormalized=0.0120649 precision=127.328 (iter=0 ,sample=40,107,20,)
  nfa=-162.827 inliers=88/120 precisionNormalized=0.00142462 precision=43.7534 (iter=0 ,sample=40,107,20,)
  nfa=-272.752 inliers=115/120 precisionNormalized=0.000834799 precision=33.493 (iter=2 ,sample=96,1,52,)
  nfa=-330.005 inliers=111/120 precisionNormalized=0.000178725 precision=15.4973 (iter=5 ,sample=111,20,81,)
  nfa=-391.961 inliers=105/120 precisionNormalized=2.49495e-05 precision=5.7902 (iter=8 ,sample=68,34,3,)
  nfa=-398.732 inliers=113/120 precisionNormalized=5.08109e-05 precision=8.26306 (iter=11 ,sample=71,105,0,)
  nfa=-418.648 inliers=106/120 precisionNormalized=1.52979e-05 precision=4.53397 (iter=14 ,sample=0,9,84,)

-------------------------------
-- Robust Resection 
-- Resection status: 1
-- #Points used for Resection: 120
-- #Points validated by robust Resection: 106
-- Threshold: 4.53397
-------------------------------

Bundle Adjustment statistics (approximated RMSE):
 #views: 1
 #poses: 1
 #intrinsics: 1
 #tracks: 106
 #residuals: 212
 Initial RMSE: 1.09322
 Final RMSE: 0.955129
 Time (s): 0.000845203


Bundle Adjustment statistics (approximated RMSE):
 #views: 58
 #poses: 32
 #intrinsics: 1
 #tracks: 29565
 #residuals: 142086
 Initial RMSE: 0.363228
 Final RMSE: 0.361491
 Time (s): 0.701764


-------------------------------
-- Robust Resection of view: 26
  nfa=8.42846 inliers=4/118 precisionNormalized=0.00604603 precision=90.1497 (iter=0 ,sample=11,81,59,)
  nfa=7.28995 inliers=16/118 precisionNormalized=0.014375 precision=139.006 (iter=0 ,sample=11,81,59,)
  nfa=-319.062 inliers=114/118 precisionNormalized=0.000311712 precision=20.4694 (iter=0 ,sample=11,81,59,)
  nfa=-339.745 inliers=109/118 precisionNormalized=0.00012583 precision=13.0053 (iter=2 ,sample=28,55,71,)
  nfa=-361.238 inliers=106/118 precisionNormalized=5.7937e-05 precision=8.82484 (iter=4 ,sample=72,71,64,)
  nfa=-369.779 inliers=107/118 precisionNormalized=5.3177e-05 precision=8.45456 (iter=14 ,sample=34,74,13,)
  nfa=-376.722 inliers=106/118 precisionNormalized=4.09505e-05 precision=7.41923 (iter=20 ,sample=45,37,46,)
  nfa=-396.999 inliers=104/118 precisionNormalized=2.06922e-05 precision=5.27391 (iter=23 ,sample=22,55,20,)
  nfa=-403.285 inliers=106/118 precisionNormalized=2.256e-05 precision=5.50679 (iter=196 ,sample=8,49,31,)

-------------------------------
-- Robust Resection 
-- Resection status: 1
-- #Points used for Resection: 118
-- #Points validated by robust Resection: 106
-- Threshold: 5.50679
-------------------------------

Bundle Adjustment statistics (approximated RMSE):
 #views: 1
 #poses: 1
 #intrinsics: 1
 #tracks: 106
 #residuals: 212
 Initial RMSE: 1.26099
 Final RMSE: 1.1201
 Time (s): 0.00083422


Bundle Adjustment statistics (approximated RMSE):
 #views: 58
 #poses: 33
 #intrinsics: 1
 #tracks: 30482
 #residuals: 145974
 Initial RMSE: 0.362905
 Final RMSE: 0.360966
 Time (s): 0.74429


-------------------------------
-- Robust Resection of view: 27
  nfa=-57.6516 inliers=56/97 precisionNormalized=0.005778 precision=88.1348 (iter=0 ,sample=74,18,41,)
  nfa=-268.281 inliers=85/97 precisionNormalized=9.05959e-05 precision=11.036 (iter=1 ,sample=44,12,93,)
  nfa=-295.535 inliers=84/97 precisionNormalized=3.6827e-05 precision=7.03627 (iter=3 ,sample=58,50,74,)
  nfa=-329.56 inliers=82/97 precisionNormalized=1.03133e-05 precision=3.72356 (iter=4 ,sample=65,9,49,)
  nfa=-332.159 inliers=81/97 precisionNormalized=8.17333e-06 precision=3.31481 (iter=55 ,sample=7,57,29,)
  nfa=-333.721 inliers=82/97 precisionNormalized=9.12191e-06 precision=3.50188 (iter=68 ,sample=4,20,62,)
  nfa=-335.398 inliers=82/97 precisionNormalized=8.68107e-06 precision=3.41622 (iter=131 ,sample=35,87,44,)
  nfa=-337.102 inliers=82/97 precisionNormalized=8.25456e-06 precision=3.33124 (iter=295 ,sample=24,20,50,)

-------------------------------
-- Robust Resection 
-- Resection status: 1
-- #Points used for Resection: 97
-- #Points validated by robust Resection: 82
-- Threshold: 3.33124
-------------------------------

Bundle Adjustment statistics (approximated RMSE):
 #views: 1
 #poses: 1
 #intrinsics: 1
 #tracks: 82
 #residuals: 164
 Initial RMSE: 0.769436
 Final RMSE: 0.693837
 Time (s): 0.00243087


Bundle Adjustment statistics (approximated RMSE):
 #views: 58
 #poses: 34
 #intrinsics: 1
 #tracks: 31297
 #residuals: 149394
 Initial RMSE: 0.359662
 Final RMSE: 0.358858
 Time (s): 0.76179


-------------------------------
-- Robust Resection of view: 28
  nfa=-5.15834 inliers=28/126 precisionNormalized=0.00854187 precision=107.166 (iter=0 ,sample=92,16,53,)
  nfa=-357.967 inliers=121/126 precisionNormalized=0.00021322 precision=16.9315 (iter=0 ,sample=92,16,53,)
  nfa=-430.996 inliers=120/126 precisionNormalized=4.63013e-05 precision=7.89 (iter=1 ,sample=92,75,57,)
  nfa=-471.647 inliers=111/126 precisionNormalized=7.55937e-06 precision=3.18804 (iter=2 ,sample=74,80,8,)
  nfa=-471.944 inliers=116/126 precisionNormalized=1.33175e-05 precision=4.23148 (iter=65 ,sample=44,47,72,)
  nfa=-478.395 inliers=115/126 precisionNormalized=1.04151e-05 precision=3.74207 (iter=67 ,sample=42,24,117,)

-------------------------------
-- Robust Resection 
-- Resection status: 1
-- #Points used for Resection: 126
-- #Points validated by robust Resection: 115
-- Threshold: 3.74207
-------------------------------

Bundle Adjustment statistics (approximated RMSE):
 #views: 1
 #poses: 1
 #intrinsics: 1
 #tracks: 115
 #residuals: 230
 Initial RMSE: 0.810189
 Final RMSE: 0.775709
 Time (s): 0.000885534


Bundle Adjustment statistics (approximated RMSE):
 #views: 58
 #poses: 35
 #intrinsics: 1
 #tracks: 32272
 #residuals: 153522
 Initial RMSE: 0.358132
 Final RMSE: 0.357067
 Time (s): 0.807418


-------------------------------
-- Robust Resection of view: 29
  nfa=-327.652 inliers=117/121 precisionNormalized=0.00031391 precision=20.5447 (iter=0 ,sample=71,14,53,)
  nfa=-419.652 inliers=110/121 precisionNormalized=2.30469e-05 precision=5.56679 (iter=1 ,sample=13,47,79,)
  nfa=-424.197 inliers=112/121 precisionNormalized=2.60444e-05 precision=5.91774 (iter=27 ,sample=4,114,23,)
  nfa=-425.006 inliers=111/121 precisionNormalized=2.29362e-05 precision=5.5534 (iter=29 ,sample=66,19,10,)
  nfa=-425.42 inliers=113/121 precisionNormalized=2.82993e-05 precision=6.16859 (iter=30 ,sample=118,37,4,)
  nfa=-425.645 inliers=109/121 precisionNormalized=1.80908e-05 precision=4.93204 (iter=62 ,sample=35,22,96,)
  nfa=-427.492 inliers=113/121 precisionNormalized=2.7093e-05 precision=6.03569 (iter=95 ,sample=10,49,19,)
  nfa=-430.625 inliers=109/121 precisionNormalized=1.62237e-05 precision=4.6706 (iter=120 ,sample=58,43,95,)
  nfa=-431.046 inliers=108/121 precisionNormalized=1.4328e-05 precision=4.38926 (iter=263 ,sample=46,63,35,)
  nfa=-435.737 inliers=108/121 precisionNormalized=1.29158e-05 precision=4.16734 (iter=319 ,sample=44,80,30,)
  nfa=-437.195 inliers=108/121 precisionNormalized=1.25055e-05 precision=4.10061 (iter=326 ,sample=24,44,30,)

-------------------------------
-- Robust Resection 
-- Resection status: 1
-- #Points used for Resection: 121
-- #Points validated by robust Resection: 108
-- Threshold: 4.10061
-------------------------------

Bundle Adjustment statistics (approximated RMSE):
 #views: 1
 #poses: 1
 #intrinsics: 1
 #tracks: 108
 #residuals: 216
 Initial RMSE: 0.887948
 Final RMSE: 0.844002
 Time (s): 0.000942179


Bundle Adjustment statistics (approximated RMSE):
 #views: 58
 #poses: 36
 #intrinsics: 1
 #tracks: 33450
 #residuals: 158448
 Initial RMSE: 0.356283
 Final RMSE: 0.355004
 Time (s): 0.841485


-------------------------------
-- Robust Resection of view: 30
  nfa=-437.177 inliers=111/131 precisionNormalized=1.449e-05 precision=4.41406 (iter=0 ,sample=1,77,8,)
  nfa=-438.579 inliers=116/131 precisionNormalized=2.38249e-05 precision=5.66003 (iter=5 ,sample=0,68,29,)
  nfa=-439.313 inliers=115/131 precisionNormalized=2.11739e-05 precision=5.33585 (iter=15 ,sample=79,10,27,)
  nfa=-445.854 inliers=110/131 precisionNormalized=1.07537e-05 precision=3.80261 (iter=56 ,sample=75,122,8,)
  nfa=-447.069 inliers=110/131 precisionNormalized=1.04732e-05 precision=3.75268 (iter=279 ,sample=44,110,8,)

-------------------------------
-- Robust Resection 
-- Resection status: 1
-- #Points used for Resection: 131
-- #Points validated by robust Resection: 110
-- Threshold: 3.75268
-------------------------------

Bundle Adjustment statistics (approximated RMSE):
 #views: 1
 #poses: 1
 #intrinsics: 1
 #tracks: 110
 #residuals: 220
 Initial RMSE: 0.87784
 Final RMSE: 0.78819
 Time (s): 0.000858562


Bundle Adjustment statistics (approximated RMSE):
 #views: 58
 #poses: 37
 #intrinsics: 1
 #tracks: 34505
 #residuals: 162890
 Initial RMSE: 0.3543
 Final RMSE: 0.353138
 Time (s): 0.826859


-------------------------------
-- Robust Resection of view: 31
  nfa=-298.216 inliers=141/142 precisionNormalized=0.00184218 precision=49.7741 (iter=0 ,sample=73,87,9,)
  nfa=-448.897 inliers=139/142 precisionNormalized=0.000125421 precision=12.9874 (iter=1 ,sample=114,62,6,)
  nfa=-482.367 inliers=132/142 precisionNormalized=3.82679e-05 precision=7.17389 (iter=3 ,sample=121,32,13,)
  nfa=-496.884 inliers=131/142 precisionNormalized=2.69082e-05 precision=6.01562 (iter=14 ,sample=50,60,113,)
  nfa=-513.354 inliers=130/142 precisionNormalized=1.81603e-05 precision=4.94196 (iter=15 ,sample=115,31,5,)
  nfa=-515.155 inliers=130/142 precisionNormalized=1.75731e-05 precision=4.8614 (iter=139 ,sample=133,5,1,)
  nfa=-515.319 inliers=132/142 precisionNormalized=2.11985e-05 precision=5.33938 (iter=180 ,sample=42,24,45,)
  nfa=-515.465 inliers=126/142 precisionNormalized=1.18033e-05 precision=3.98419 (iter=258 ,sample=91,27,56,)
  nfa=-516.529 inliers=129/142 precisionNormalized=1.55575e-05 precision=4.57412 (iter=266 ,sample=21,8,100,)
  nfa=-519.713 inliers=130/142 precisionNormalized=1.61699e-05 precision=4.66328 (iter=305 ,sample=93,19,1,)

-------------------------------
-- Robust Resection 
-- Resection status: 1
-- #Points used for Resection: 142
-- #Points validated by robust Resection: 130
-- Threshold: 4.66328
-------------------------------

Bundle Adjustment statistics (approximated RMSE):
 #views: 1
 #poses: 1
 #intrinsics: 1
 #tracks: 130
 #residuals: 260
 Initial RMSE: 0.939385
 Final RMSE: 0.882121
 Time (s): 0.000992868


Bundle Adjustment statistics (approximated RMSE):
 #views: 58
 #poses: 38
 #intrinsics: 1
 #tracks: 35733
 #residuals: 168054
 Initial RMSE: 0.352623
 Final RMSE: 0.351546
 Time (s): 0.853058


-------------------------------
-- Robust Resection of view: 32
  nfa=-74.0095 inliers=119/131 precisionNormalized=0.0449109 precision=245.76 (iter=0 ,sample=76,55,87,)
  nfa=-420.676 inliers=122/131 precisionNormalized=6.10653e-05 precision=9.06219 (iter=0 ,sample=76,55,87,)
  nfa=-461.33 inliers=118/131 precisionNormalized=1.84453e-05 precision=4.98057 (iter=1 ,sample=87,116,129,)
  nfa=-465.783 inliers=123/131 precisionNormalized=2.81354e-05 precision=6.15124 (iter=59 ,sample=14,10,52,)

-------------------------------
-- Robust Resection 
-- Resection status: 1
-- #Points used for Resection: 131
-- #Points validated by robust Resection: 123
-- Threshold: 6.15124
-------------------------------

Bundle Adjustment statistics (approximated RMSE):
 #views: 1
 #poses: 1
 #intrinsics: 1
 #tracks: 123
 #residuals: 246
 Initial RMSE: 1.40803
 Final RMSE: 1.1496
 Time (s): 0.000901531


Bundle Adjustment statistics (approximated RMSE):
 #views: 58
 #poses: 39
 #intrinsics: 1
 #tracks: 36965
 #residuals: 173230
 Initial RMSE: 0.352301
 Final RMSE: 0.350149
 Time (s): 0.839785


-------------------------------
-- Robust Resection of view: 34
  nfa=-35.9689 inliers=62/124 precisionNormalized=0.0143501 precision=138.912 (iter=0 ,sample=121,73,63,)
  nfa=-50.4248 inliers=56/124 precisionNormalized=0.00548268 precision=85.8634 (iter=0 ,sample=121,73,63,)
  nfa=-79.7035 inliers=77/124 precisionNormalized=0.00718031 precision=98.2615 (iter=1 ,sample=3,58,64,)
  nfa=-378.368 inliers=121/124 precisionNormalized=0.000151512 precision=14.2736 (iter=1 ,sample=3,58,64,)
  nfa=-379.892 inliers=120/124 precisionNormalized=0.000133789 precision=13.4129 (iter=8 ,sample=68,13,105,)
  nfa=-410.353 inliers=115/124 precisionNormalized=4.44911e-05 precision=7.73479 (iter=15 ,sample=108,27,76,)
  nfa=-416.982 inliers=119/124 precisionNormalized=5.82461e-05 precision=8.85004 (iter=28 ,sample=4,20,42,)
  nfa=-419.47 inliers=115/124 precisionNormalized=3.68666e-05 precision=7.0409 (iter=30 ,sample=24,30,1,)
  nfa=-427.536 inliers=116/124 precisionNormalized=3.46504e-05 precision=6.826 (iter=50 ,sample=102,58,11,)

-------------------------------
-- Robust Resection 
-- Resection status: 1
-- #Points used for Resection: 124
-- #Points validated by robust Resection: 116
-- Threshold: 6.826
-------------------------------

Bundle Adjustment statistics (approximated RMSE):
 #views: 1
 #poses: 1
 #intrinsics: 1
 #tracks: 116
 #residuals: 232
 Initial RMSE: 1.41111
 Final RMSE: 1.23695
 Time (s): 0.000864305


Bundle Adjustment statistics (approximated RMSE):
 #views: 58
 #poses: 40
 #intrinsics: 1
 #tracks: 38268
 #residuals: 178670
 Initial RMSE: 0.351348
 Final RMSE: 0.349188
 Time (s): 1.08068


-------------------------------
-- Robust Resection of view: 35
  nfa=-1.36624 inliers=16/133 precisionNormalized=0.00262719 precision=59.4309 (iter=0 ,sample=128,53,114,)
  nfa=-2.33494 inliers=32/133 precisionNormalized=0.0138019 precision=136.218 (iter=0 ,sample=128,53,114,)
  nfa=-247.795 inliers=127/133 precisionNormalized=0.0022841 precision=55.4146 (iter=1 ,sample=48,52,27,)
  nfa=-297.205 inliers=128/133 precisionNormalized=0.000979726 precision=36.2927 (iter=2 ,sample=0,81,12,)
  nfa=-354.304 inliers=131/133 precisionNormalized=0.00043575 precision=24.2039 (iter=3 ,sample=89,0,101,)
  nfa=-467.519 inliers=121/133 precisionNormalized=2.13096e-05 precision=5.35247 (iter=4 ,sample=12,56,3,)
  nfa=-468.159 inliers=119/133 precisionNormalized=1.71529e-05 precision=4.80215 (iter=16 ,sample=30,39,2,)
  nfa=-471.162 inliers=119/133 precisionNormalized=1.61536e-05 precision=4.66017 (iter=33 ,sample=2,8,50,)
  nfa=-471.346 inliers=122/133 precisionNormalized=2.18732e-05 precision=5.42279 (iter=100 ,sample=30,126,83,)
  nfa=-472.854 inliers=123/133 precisionNormalized=2.34869e-05 precision=5.61927 (iter=120 ,sample=99,37,41,)

-------------------------------
-- Robust Resection 
-- Resection status: 1
-- #Points used for Resection: 133
-- #Points validated by robust Resection: 123
-- Threshold: 5.61927
-------------------------------

Bundle Adjustment statistics (approximated RMSE):
 #views: 1
 #poses: 1
 #intrinsics: 1
 #tracks: 123
 #residuals: 246
 Initial RMSE: 1.08436
 Final RMSE: 0.997993
 Time (s): 0.00097338


Bundle Adjustment statistics (approximated RMSE):
 #views: 58
 #poses: 41
 #intrinsics: 1
 #tracks: 39453
 #residuals: 183670
 Initial RMSE: 0.349896
 Final RMSE: 0.348354
 Time (s): 0.928297


-------------------------------
-- Robust Resection of view: 36
  nfa=-33.639 inliers=30/130 precisionNormalized=0.000858054 precision=33.9638 (iter=0 ,sample=120,5,95,)
  nfa=-404.183 inliers=122/130 precisionNormalized=8.59868e-05 precision=10.7516 (iter=0 ,sample=120,5,95,)
  nfa=-465.781 inliers=117/130 precisionNormalized=1.54773e-05 precision=4.56149 (iter=1 ,sample=110,74,28,)
  nfa=-469.608 inliers=118/130 precisionNormalized=1.59303e-05 precision=4.62776 (iter=24 ,sample=97,52,25,)

-------------------------------
-- Robust Resection 
-- Resection status: 1
-- #Points used for Resection: 130
-- #Points validated by robust Resection: 118
-- Threshold: 4.62776
-------------------------------

Bundle Adjustment statistics (approximated RMSE):
 #views: 1
 #poses: 1
 #intrinsics: 1
 #tracks: 118
 #residuals: 236
 Initial RMSE: 0.904179
 Final RMSE: 0.891285
 Time (s): 0.000928822


Bundle Adjustment statistics (approximated RMSE):
 #views: 58
 #poses: 42
 #intrinsics: 1
 #tracks: 40533
 #residuals: 188240
 Initial RMSE: 0.34889
 Final RMSE: 0.347729
 Time (s): 0.924403


-------------------------------
-- Robust Resection of view: 37
  nfa=-12.3997 inliers=52/118 precisionNormalized=0.0258427 precision=186.403 (iter=0 ,sample=40,56,92,)
  nfa=-109.267 inliers=82/118 precisionNormalized=0.00434794 precision=76.4584 (iter=0 ,sample=40,56,92,)
  nfa=-193.53 inliers=118/118 precisionNormalized=0.00561862 precision=86.9157 (iter=1 ,sample=100,73,8,)
  nfa=-316.272 inliers=114/118 precisionNormalized=0.000330293 precision=21.0733 (iter=4 ,sample=91,85,52,)
  nfa=-371.496 inliers=105/118 precisionNormalized=4.13578e-05 precision=7.45697 (iter=5 ,sample=51,72,49,)
  nfa=-372.208 inliers=102/118 precisionNormalized=2.92418e-05 precision=6.27026 (iter=21 ,sample=10,114,94,)
  nfa=-372.315 inliers=104/118 precisionNormalized=3.64149e-05 precision=6.99718 (iter=23 ,sample=79,58,82,)
  nfa=-373.512 inliers=103/118 precisionNormalized=3.17255e-05 precision=6.53113 (iter=86 ,sample=25,14,96,)
  nfa=-373.547 inliers=103/118 precisionNormalized=3.17003e-05 precision=6.52853 (iter=114 ,sample=3,89,42,)
  nfa=-378.251 inliers=101/118 precisionNormalized=2.26386e-05 precision=5.51707 (iter=168 ,sample=42,10,73,)

-------------------------------
-- Robust Resection 
-- Resection status: 1
-- #Points used for Resection: 118
-- #Points validated by robust Resection: 101
-- Threshold: 5.51707
-------------------------------

Bundle Adjustment statistics (approximated RMSE):
 #views: 1
 #poses: 1
 #intrinsics: 1
 #tracks: 101
 #residuals: 202
 Initial RMSE: 1.18518
 Final RMSE: 1.02299
 Time (s): 0.000888811


Bundle Adjustment statistics (approximated RMSE):
 #views: 58
 #poses: 43
 #intrinsics: 1
 #tracks: 41576
 #residuals: 192634
 Initial RMSE: 0.348654
 Final RMSE: 0.34736
 Time (s): 0.982408


-------------------------------
-- Robust Resection of view: 38
  nfa=10.7728 inliers=4/161 precisionNormalized=0.276749 precision=610.029 (iter=0 ,sample=16,141,48,)
  nfa=-486.415 inliers=152/161 precisionNormalized=0.000121654 precision=12.79 (iter=0 ,sample=16,141,48,)
  nfa=-535.236 inliers=153/161 precisionNormalized=6.16836e-05 precision=9.10734 (iter=2 ,sample=11,151,23,)
  nfa=-542.189 inliers=154/161 precisionNormalized=5.98588e-05 precision=8.97162 (iter=7 ,sample=124,147,88,)
  nfa=-553.764 inliers=144/161 precisionNormalized=2.25305e-05 precision=5.50418 (iter=14 ,sample=32,158,49,)
  nfa=-554.044 inliers=148/161 precisionNormalized=3.10878e-05 precision=6.4655 (iter=18 ,sample=137,151,23,)
  nfa=-557.867 inliers=153/161 precisionNormalized=4.35458e-05 precision=7.65209 (iter=22 ,sample=98,37,50,)
  nfa=-560.323 inliers=152/161 precisionNormalized=3.8743e-05 precision=7.21778 (iter=28 ,sample=28,6,148,)
  nfa=-562.609 inliers=151/161 precisionNormalized=3.45316e-05 precision=6.81421 (iter=38 ,sample=114,128,25,)
  nfa=-573.82 inliers=155/161 precisionNormalized=3.99853e-05 precision=7.33258 (iter=127 ,sample=136,19,122,)

-------------------------------
-- Robust Resection 
-- Resection status: 1
-- #Points used for Resection: 161
-- #Points validated by robust Resection: 155
-- Threshold: 7.33258
-------------------------------

Bundle Adjustment statistics (approximated RMSE):
 #views: 1
 #poses: 1
 #intrinsics: 1
 #tracks: 155
 #residuals: 310
 Initial RMSE: 1.48478
 Final RMSE: 1.29796
 Time (s): 0.00112887


Bundle Adjustment statistics (approximated RMSE):
 #views: 58
 #poses: 44
 #intrinsics: 1
 #tracks: 42724
 #residuals: 197556
 Initial RMSE: 0.349552
 Final RMSE: 0.347387
 Time (s): 1.47445


-------------------------------
-- Robust Resection of view: 39
  nfa=2.50543 inliers=12/129 precisionNormalized=0.00249167 precision=57.8925 (iter=0 ,sample=111,62,64,)
  nfa=-206.572 inliers=122/129 precisionNormalized=0.00403483 precision=73.6699 (iter=0 ,sample=111,62,64,)
  nfa=-257.469 inliers=123/129 precisionNormalized=0.00161345 precision=46.5861 (iter=0 ,sample=111,62,64,)
  nfa=-257.469 inliers=123/129 precisionNormalized=0.00161345 precision=46.5861 (iter=0 ,sample=111,62,64,)
  nfa=-395.618 inliers=125/129 precisionNormalized=0.000136374 precision=13.5439 (iter=2 ,sample=8,29,73,)
  nfa=-429.447 inliers=122/129 precisionNormalized=5.3949e-05 precision=8.51862 (iter=4 ,sample=103,15,9,)
  nfa=-430.958 inliers=124/129 precisionNormalized=6.35234e-05 precision=9.24367 (iter=30 ,sample=54,51,113,)
  nfa=-435.348 inliers=123/129 precisionNormalized=5.30261e-05 precision=8.44544 (iter=34 ,sample=41,12,104,)
  nfa=-436.169 inliers=124/129 precisionNormalized=5.7515e-05 precision=8.79565 (iter=41 ,sample=114,53,36,)
  nfa=-442.113 inliers=125/129 precisionNormalized=5.66358e-05 precision=8.72817 (iter=45 ,sample=74,29,41,)
  nfa=-442.27 inliers=125/129 precisionNormalized=5.64674e-05 precision=8.71519 (iter=149 ,sample=41,112,120,)
  nfa=-442.287 inliers=125/129 precisionNormalized=5.64499e-05 precision=8.71384 (iter=217 ,sample=99,120,15,)

-------------------------------
-- Robust Resection 
-- Resection status: 1
-- #Points used for Resection: 129
-- #Points validated by robust Resection: 125
-- Threshold: 8.71384
-------------------------------

Bundle Adjustment statistics (approximated RMSE):
 #views: 1
 #poses: 1
 #intrinsics: 1
 #tracks: 125
 #residuals: 250
 Initial RMSE: 1.59948
 Final RMSE: 1.51752
 Time (s): 0.000914427


Bundle Adjustment statistics (approximated RMSE):
 #views: 58
 #poses: 45
 #intrinsics: 1
 #tracks: 43909
 #residuals: 202590
 Initial RMSE: 0.351011
 Final RMSE: 0.347707
 Time (s): 1.56951


-------------------------------
-- Robust Resection of view: 40
  nfa=3.10364 inliers=7/167 precisionNormalized=0.000172944 precision=15.255 (iter=0 ,sample=60,166,127,)
  nfa=-279.763 inliers=158/167 precisionNormalized=0.00354551 precision=69.0713 (iter=0 ,sample=60,166,127,)
  nfa=-457.808 inliers=166/167 precisionNormalized=0.000423773 precision=23.8795 (iter=2 ,sample=64,90,121,)
  nfa=-542.478 inliers=153/167 precisionNormalized=4.95639e-05 precision=8.1666 (iter=3 ,sample=133,150,50,)
  nfa=-583.59 inliers=155/167 precisionNormalized=3.07583e-05 precision=6.43338 (iter=4 ,sample=95,141,164,)
  nfa=-595.966 inliers=151/167 precisionNormalized=1.85041e-05 precision=4.9899 (iter=7 ,sample=32,37,22,)
  nfa=-596.067 inliers=151/167 precisionNormalized=1.84747e-05 precision=4.98594 (iter=109 ,sample=47,0,124,)
  nfa=-601.324 inliers=151/167 precisionNormalized=1.70146e-05 precision=4.78486 (iter=326 ,sample=18,80,62,)

-------------------------------
-- Robust Resection 
-- Resection status: 1
-- #Points used for Resection: 167
-- #Points validated by robust Resection: 151
-- Threshold: 4.78486
-------------------------------

Bundle Adjustment statistics (approximated RMSE):
 #views: 1
 #poses: 1
 #intrinsics: 1
 #tracks: 151
 #residuals: 302
 Initial RMSE: 1.0538
 Final RMSE: 0.931647
 Time (s): 0.00106229


Bundle Adjustment statistics (approximated RMSE):
 #views: 58
 #poses: 46
 #intrinsics: 1
 #tracks: 45102
 #residuals: 207710
 Initial RMSE: 0.348094
 Final RMSE: 0.346557
 Time (s): 1.03516


-------------------------------
-- Robust Resection of view: 41
  nfa=1.68375 inliers=18/120 precisionNormalized=0.00692715 precision=96.5493 (iter=0 ,sample=32,71,112,)
  nfa=-386.973 inliers=109/120 precisionNormalized=4.29971e-05 precision=7.60661 (iter=0 ,sample=32,71,112,)
  nfa=-398.028 inliers=103/120 precisionNormalized=1.72829e-05 precision=4.82258 (iter=8 ,sample=15,112,1,)
  nfa=-401.572 inliers=113/120 precisionNormalized=4.78713e-05 precision=8.02619 (iter=12 ,sample=24,116,20,)
  nfa=-402.945 inliers=106/120 precisionNormalized=2.17816e-05 precision=5.41398 (iter=53 ,sample=30,85,104,)
  nfa=-405.71 inliers=105/120 precisionNormalized=1.82607e-05 precision=4.95713 (iter=54 ,sample=76,104,63,)
  nfa=-405.758 inliers=104/120 precisionNormalized=1.62464e-05 precision=4.67574 (iter=68 ,sample=116,20,35,)
  nfa=-405.792 inliers=109/120 precisionNormalized=2.85296e-05 precision=6.19612 (iter=179 ,sample=59,1,107,)
  nfa=-406.378 inliers=111/120 precisionNormalized=3.49813e-05 precision=6.86103 (iter=233 ,sample=46,105,26,)
  nfa=-407.11 inliers=104/120 precisionNormalized=1.57498e-05 precision=4.60372 (iter=383 ,sample=116,29,20,)

-------------------------------
-- Robust Resection 
-- Resection status: 1
-- #Points used for Resection: 120
-- #Points validated by robust Resection: 104
-- Threshold: 4.60372
-------------------------------

Bundle Adjustment statistics (approximated RMSE):
 #views: 1
 #poses: 1
 #intrinsics: 1
 #tracks: 104
 #residuals: 208
 Initial RMSE: 1.00291
 Final RMSE: 0.893564
 Time (s): 0.000834232


Bundle Adjustment statistics (approximated RMSE):
 #views: 58
 #poses: 47
 #intrinsics: 1
 #tracks: 46158
 #residuals: 212152
 Initial RMSE: 0.346391
 Final RMSE: 0.345639
 Time (s): 1.09372


-------------------------------
-- Robust Resection of view: 42
  nfa=-182.825 inliers=92/112 precisionNormalized=0.00130779 precision=41.9528 (iter=0 ,sample=18,110,66,)
  nfa=-252.861 inliers=111/112 precisionNormalized=0.00117109 precision=39.6996 (iter=1 ,sample=59,93,11,)
  nfa=-330.409 inliers=111/112 precisionNormalized=0.000224057 precision=17.3648 (iter=2 ,sample=46,75,105,)
  nfa=-371.525 inliers=104/112 precisionNormalized=4.25927e-05 precision=7.57109 (iter=4 ,sample=48,27,58,)
  nfa=-385.944 inliers=102/112 precisionNormalized=2.4201e-05 precision=5.707 (iter=8 ,sample=46,77,90,)
  nfa=-390.808 inliers=98/112 precisionNormalized=1.31791e-05 precision=4.21148 (iter=10 ,sample=90,60,2,)
  nfa=-396.044 inliers=101/112 precisionNormalized=1.69089e-05 precision=4.77034 (iter=11 ,sample=79,96,34,)
  nfa=-397.78 inliers=94/112 precisionNormalized=6.51122e-06 precision=2.96021 (iter=72 ,sample=5,64,25,)
  nfa=-405.391 inliers=97/112 precisionNormalized=8.07568e-06 precision=3.29671 (iter=187 ,sample=35,4,25,)

-------------------------------
-- Robust Resection 
-- Resection status: 1
-- #Points used for Resection: 112
-- #Points validated by robust Resection: 97
-- Threshold: 3.29671
-------------------------------

Bundle Adjustment statistics (approximated RMSE):
 #views: 1
 #poses: 1
 #intrinsics: 1
 #tracks: 97
 #residuals: 194
 Initial RMSE: 0.748092
 Final RMSE: 0.679351
 Time (s): 0.00078044


Bundle Adjustment statistics (approximated RMSE):
 #views: 58
 #poses: 48
 #intrinsics: 1
 #tracks: 47135
 #residuals: 216266
 Initial RMSE: 0.345349
 Final RMSE: 0.34486
 Time (s): 1.10602


-------------------------------
-- Robust Resection of view: 43
  nfa=-35.6011 inliers=49/104 precisionNormalized=0.00840676 precision=106.37 (iter=0 ,sample=36,69,98,)
  nfa=-189.959 inliers=99/104 precisionNormalized=0.00229013 precision=55.5179 (iter=0 ,sample=36,69,98,)
  nfa=-300.799 inliers=101/104 precisionNormalized=0.00019937 precision=16.3807 (iter=2 ,sample=102,28,42,)
  nfa=-346.395 inliers=96/104 precisionNormalized=3.72076e-05 precision=7.07651 (iter=3 ,sample=93,31,79,)
  nfa=-351.301 inliers=95/104 precisionNormalized=2.90514e-05 precision=6.25297 (iter=9 ,sample=76,53,30,)
  nfa=-356.425 inliers=96/104 precisionNormalized=2.89991e-05 precision=6.24734 (iter=29 ,sample=75,23,3,)
  nfa=-357.852 inliers=93/104 precisionNormalized=1.90022e-05 precision=5.05715 (iter=248 ,sample=31,79,4,)

-------------------------------
-- Robust Resection 
-- Resection status: 1
-- #Points used for Resection: 104
-- #Points validated by robust Resection: 93
-- Threshold: 5.05715
-------------------------------

Bundle Adjustment statistics (approximated RMSE):
 #views: 1
 #poses: 1
 #intrinsics: 1
 #tracks: 93
 #residuals: 186
 Initial RMSE: 1.19829
 Final RMSE: 0.947724
 Time (s): 0.0007559


Bundle Adjustment statistics (approximated RMSE):
 #views: 58
 #poses: 49
 #intrinsics: 1
 #tracks: 48097
 #residuals: 220302
 Initial RMSE: 0.344991
 Final RMSE: 0.344181
 Time (s): 1.16995


-------------------------------
-- Robust Resection of view: 45
  nfa=8.21473 inliers=7/120 precisionNormalized=0.00644673 precision=93.151 (iter=0 ,sample=34,19,62,)
  nfa=-285.635 inliers=118/120 precisionNormalized=0.000822412 precision=33.2707 (iter=0 ,sample=34,19,62,)
  nfa=-410.372 inliers=117/120 precisionNormalized=6.07475e-05 precision=9.04236 (iter=1 ,sample=3,118,48,)
  nfa=-414.278 inliers=110/120 precisionNormalized=2.64784e-05 precision=5.96985 (iter=5 ,sample=84,14,106,)
  nfa=-418.068 inliers=118/120 precisionNormalized=5.78981e-05 precision=8.82774 (iter=9 ,sample=54,13,61,)
  nfa=-419.159 inliers=106/120 precisionNormalized=1.51228e-05 precision=4.51164 (iter=114 ,sample=57,8,114,)
  nfa=-421.092 inliers=113/120 precisionNormalized=3.17742e-05 precision=6.53966 (iter=284 ,sample=29,3,42,)
  nfa=-422.549 inliers=114/120 precisionNormalized=3.43491e-05 precision=6.79948 (iter=328 ,sample=65,54,47,)

-------------------------------
-- Robust Resection 
-- Resection status: 1
-- #Points used for Resection: 120
-- #Points validated by robust Resection: 114
-- Threshold: 6.79948
-------------------------------

Bundle Adjustment statistics (approximated RMSE):
 #views: 1
 #poses: 1
 #intrinsics: 1
 #tracks: 114
 #residuals: 228
 Initial RMSE: 1.51164
 Final RMSE: 1.24514
 Time (s): 0.000859976


Bundle Adjustment statistics (approximated RMSE):
 #views: 58
 #poses: 50
 #intrinsics: 1
 #tracks: 49146
 #residuals: 224738
 Initial RMSE: 0.345186
 Final RMSE: 0.343645
 Time (s): 1.18923


-------------------------------
-- Robust Resection of view: 46
  nfa=-103.806 inliers=94/134 precisionNormalized=0.00791414 precision=103.211 (iter=0 ,sample=59,25,38,)
  nfa=-121.483 inliers=124/134 precisionNormalized=0.020448 precision=165.902 (iter=0 ,sample=59,25,38,)
  nfa=-377.178 inliers=125/134 precisionNormalized=0.000171068 precision=15.1743 (iter=1 ,sample=3,38,124,)
  nfa=-438.382 inliers=126/134 precisionNormalized=5.8995e-05 precision=8.91113 (iter=5 ,sample=130,104,62,)
  nfa=-458.594 inliers=122/134 precisionNormalized=2.74611e-05 precision=6.07973 (iter=8 ,sample=37,5,32,)
  nfa=-463.033 inliers=129/134 precisionNormalized=4.93983e-05 precision=8.15419 (iter=19 ,sample=45,34,112,)
  nfa=-465.202 inliers=129/134 precisionNormalized=4.74744e-05 precision=7.99383 (iter=250 ,sample=33,27,116,)
  nfa=-467.691 inliers=128/134 precisionNormalized=4.12283e-05 precision=7.44943 (iter=395 ,sample=0,55,32,)

-------------------------------
-- Robust Resection 
-- Resection status: 1
-- #Points used for Resection: 134
-- #Points validated by robust Resection: 128
-- Threshold: 7.44943
-------------------------------

Bundle Adjustment statistics (approximated RMSE):
 #views: 1
 #poses: 1
 #intrinsics: 1
 #tracks: 128
 #residuals: 256
 Initial RMSE: 1.57323
 Final RMSE: 1.42253
 Time (s): 0.00100123


Bundle Adjustment statistics (approximated RMSE):
 #views: 58
 #poses: 51
 #intrinsics: 1
 #tracks: 50186
 #residuals: 229162
 Initial RMSE: 0.345775
 Final RMSE: 0.342977
 Time (s): 1.52012


-------------------------------
-- Robust Resection of view: 47
  nfa=1.99775 inliers=21/118 precisionNormalized=0.0103689 precision=118.132 (iter=0 ,sample=92,41,50,)
  nfa=-318.858 inliers=115/118 precisionNormalized=0.000343071 precision=21.488 (iter=0 ,sample=92,41,50,)
  nfa=-438.262 inliers=111/118 precisionNormalized=1.85635e-05 precision=4.99842 (iter=2 ,sample=7,24,22,)
  nfa=-442.143 inliers=108/118 precisionNormalized=1.19813e-05 precision=4.01565 (iter=6 ,sample=81,11,4,)
  nfa=-447.093 inliers=109/118 precisionNormalized=1.21123e-05 precision=4.03753 (iter=18 ,sample=25,60,112,)
  nfa=-447.609 inliers=110/118 precisionNormalized=1.34944e-05 precision=4.26167 (iter=91 ,sample=68,25,71,)
  nfa=-449.169 inliers=109/118 precisionNormalized=1.15728e-05 precision=3.9466 (iter=286 ,sample=95,109,22,)
  nfa=-457.505 inliers=109/118 precisionNormalized=9.63645e-06 precision=3.60132 (iter=331 ,sample=31,43,19,)

-------------------------------
-- Robust Resection 
-- Resection status: 1
-- #Points used for Resection: 118
-- #Points validated by robust Resection: 109
-- Threshold: 3.60132
-------------------------------

Bundle Adjustment statistics (approximated RMSE):
 #views: 1
 #poses: 1
 #intrinsics: 1
 #tracks: 109
 #residuals: 218
 Initial RMSE: 0.887529
 Final RMSE: 0.792546
 Time (s): 0.000944742


Bundle Adjustment statistics (approximated RMSE):
 #views: 58
 #poses: 52
 #intrinsics: 1
 #tracks: 51068
 #residuals: 232918
 Initial RMSE: 0.343229
 Final RMSE: 0.342505
 Time (s): 1.17438


-------------------------------
-- Robust Resection of view: 48
  nfa=-49.1702 inliers=78/135 precisionNormalized=0.0169415 precision=151.002 (iter=0 ,sample=105,18,61,)
  nfa=-462.999 inliers=131/135 precisionNormalized=5.81305e-05 precision=8.84524 (iter=0 ,sample=105,18,61,)
  nfa=-464.798 inliers=131/135 precisionNormalized=5.62762e-05 precision=8.70302 (iter=3 ,sample=10,74,123,)
  nfa=-473.108 inliers=131/135 precisionNormalized=4.84456e-05 precision=8.07486 (iter=8 ,sample=33,94,41,)
  nfa=-478.313 inliers=126/135 precisionNormalized=2.72623e-05 precision=6.05744 (iter=22 ,sample=12,105,90,)

-------------------------------
-- Robust Resection 
-- Resection status: 1
-- #Points used for Resection: 135
-- #Points validated by robust Resection: 126
-- Threshold: 6.05744
-------------------------------

Bundle Adjustment statistics (approximated RMSE):
 #views: 1
 #poses: 1
 #intrinsics: 1
 #tracks: 126
 #residuals: 252
 Initial RMSE: 1.32629
 Final RMSE: 1.14586
 Time (s): 0.00104082


Bundle Adjustment statistics (approximated RMSE):
 #views: 58
 #poses: 53
 #intrinsics: 1
 #tracks: 52146
 #residuals: 237508
 Initial RMSE: 0.343108
 Final RMSE: 0.341814
 Time (s): 1.50752


-------------------------------
-- Robust Resection of view: 49
  nfa=-5.96155 inliers=53/150 precisionNormalized=0.0261806 precision=187.73 (iter=0 ,sample=23,108,39,)
  nfa=-140.919 inliers=118/150 precisionNormalized=0.00835874 precision=106.075 (iter=0 ,sample=23,108,39,)
  nfa=-486.637 inliers=141/150 precisionNormalized=6.51259e-05 precision=9.36311 (iter=1 ,sample=47,69,56,)
  nfa=-510.482 inliers=136/150 precisionNormalized=2.8513e-05 precision=6.19534 (iter=4 ,sample=104,89,112,)
  nfa=-512.283 inliers=134/150 precisionNormalized=2.31673e-05 precision=5.58446 (iter=7 ,sample=86,88,75,)
  nfa=-513.717 inliers=127/150 precisionNormalized=1.18053e-05 precision=3.98641 (iter=38 ,sample=49,135,5,)
  nfa=-514.171 inliers=134/150 precisionNormalized=2.24074e-05 precision=5.49211 (iter=201 ,sample=46,125,116,)
  nfa=-516.118 inliers=134/150 precisionNormalized=2.16493e-05 precision=5.3984 (iter=216 ,sample=46,80,135,)
  nfa=-517.505 inliers=133/150 precisionNormalized=1.93031e-05 precision=5.0975 (iter=314 ,sample=16,7,63,)

-------------------------------
-- Robust Resection 
-- Resection status: 1
-- #Points used for Resection: 150
-- #Points validated by robust Resection: 133
-- Threshold: 5.0975
-------------------------------

Bundle Adjustment statistics (approximated RMSE):
 #views: 1
 #poses: 1
 #intrinsics: 1
 #tracks: 133
 #residuals: 266
 Initial RMSE: 1.0798
 Final RMSE: 0.907766
 Time (s): 0.00101553


Bundle Adjustment statistics (approximated RMSE):
 #views: 58
 #poses: 54
 #intrinsics: 1
 #tracks: 53197
 #residuals: 242122
 Initial RMSE: 0.341453
 Final RMSE: 0.340546
 Time (s): 1.218


-------------------------------
-- Robust Resection of view: 50
  nfa=-2.01493 inliers=54/208 precisionNormalized=0.0213439 precision=169.508 (iter=0 ,sample=147,39,181,)
  nfa=-444.522 inliers=205/208 precisionNormalized=0.00168576 precision=47.6377 (iter=0 ,sample=147,39,181,)
  nfa=-695.913 inliers=194/208 precisionNormalized=5.00727e-05 precision=8.2102 (iter=3 ,sample=145,61,121,)
  nfa=-779.239 inliers=183/208 precisionNormalized=8.70817e-06 precision=3.42386 (iter=7 ,sample=42,180,94,)
  nfa=-785.716 inliers=183/208 precisionNormalized=8.00626e-06 precision=3.28298 (iter=13 ,sample=155,49,174,)
  nfa=-786.467 inliers=182/208 precisionNormalized=7.38492e-06 precision=3.15301 (iter=29 ,sample=139,7,170,)
  nfa=-787.042 inliers=184/208 precisionNormalized=8.44419e-06 precision=3.37157 (iter=33 ,sample=90,26,161,)
  nfa=-788.672 inliers=185/208 precisionNormalized=8.86828e-06 precision=3.4552 (iter=70 ,sample=4,157,207,)
  nfa=-793.828 inliers=182/208 precisionNormalized=6.70695e-06 precision=3.0048 (iter=103 ,sample=29,42,189,)
  nfa=-795.274 inliers=184/208 precisionNormalized=7.59278e-06 precision=3.19708 (iter=315 ,sample=8,17,71,)

-------------------------------
-- Robust Resection 
-- Resection status: 1
-- #Points used for Resection: 208
-- #Points validated by robust Resection: 184
-- Threshold: 3.19708
-------------------------------

Bundle Adjustment statistics (approximated RMSE):
 #views: 1
 #poses: 1
 #intrinsics: 1
 #tracks: 184
 #residuals: 368
 Initial RMSE: 0.648416
 Final RMSE: 0.603048
 Time (s): 0.0028658


Bundle Adjustment statistics (approximated RMSE):
 #views: 58
 #poses: 55
 #intrinsics: 1
 #tracks: 54417
 #residuals: 247620
 Initial RMSE: 0.339956
 Final RMSE: 0.339081
 Time (s): 1.66146


-------------------------------
-- Robust Resection of view: 51
  nfa=-192.765 inliers=190/261 precisionNormalized=0.0118986 precision=126.564 (iter=0 ,sample=109,35,66,)
  nfa=-723.563 inliers=257/261 precisionNormalized=0.000383897 precision=22.7336 (iter=0 ,sample=109,35,66,)
  nfa=-749.526 inliers=253/261 precisionNormalized=0.000255897 precision=18.5607 (iter=1 ,sample=159,88,63,)
  nfa=-930.676 inliers=250/261 precisionNormalized=4.15967e-05 precision=7.48327 (iter=4 ,sample=226,231,33,)
  nfa=-938.016 inliers=247/261 precisionNormalized=3.35143e-05 precision=6.71703 (iter=108 ,sample=11,55,92,)
  nfa=-939.942 inliers=240/261 precisionNormalized=2.32074e-05 precision=5.58952 (iter=164 ,sample=205,162,259,)
  nfa=-944.791 inliers=242/261 precisionNormalized=2.44892e-05 precision=5.74181 (iter=404 ,sample=35,186,64,)

-------------------------------
-- Robust Resection 
-- Resection status: 1
-- #Points used for Resection: 261
-- #Points validated by robust Resection: 242
-- Threshold: 5.74181
-------------------------------

Bundle Adjustment statistics (approximated RMSE):
 #views: 1
 #poses: 1
 #intrinsics: 1
 #tracks: 242
 #residuals: 484
 Initial RMSE: 1.11449
 Final RMSE: 1.00447
 Time (s): 0.00311403


Bundle Adjustment statistics (approximated RMSE):
 #views: 58
 #poses: 56
 #intrinsics: 1
 #tracks: 55695
 #residuals: 253456
 Initial RMSE: 0.340674
 Final RMSE: 0.338627
 Time (s): 1.67122


-------------------------------
-- Robust Resection of view: 52
  nfa=-845.081 inliers=326/335 precisionNormalized=0.000635083 precision=29.241 (iter=0 ,sample=274,5,277,)
  nfa=-1061.5 inliers=315/335 precisionNormalized=9.25524e-05 precision=11.1627 (iter=1 ,sample=313,210,186,)
  nfa=-1073.36 inliers=309/335 precisionNormalized=6.85721e-05 precision=9.60838 (iter=2 ,sample=62,186,142,)
  nfa=-1146.11 inliers=296/335 precisionNormalized=2.40508e-05 precision=5.69039 (iter=4 ,sample=246,75,107,)
  nfa=-1153.99 inliers=296/335 precisionNormalized=2.26005e-05 precision=5.51615 (iter=25 ,sample=7,258,142,)
  nfa=-1160.35 inliers=282/335 precisionNormalized=1.2066e-05 precision=4.0305 (iter=51 ,sample=144,40,47,)
  nfa=-1162.53 inliers=291/335 precisionNormalized=1.72645e-05 precision=4.82118 (iter=169 ,sample=154,14,90,)

-------------------------------
-- Robust Resection 
-- Resection status: 1
-- #Points used for Resection: 335
-- #Points validated by robust Resection: 291
-- Threshold: 4.82118
-------------------------------

Bundle Adjustment statistics (approximated RMSE):
 #views: 1
 #poses: 1
 #intrinsics: 1
 #tracks: 291
 #residuals: 582
 Initial RMSE: 1.09022
 Final RMSE: 0.90256
 Time (s): 0.00165473


Bundle Adjustment statistics (approximated RMSE):
 #views: 58
 #poses: 57
 #intrinsics: 1
 #tracks: 56878
 #residuals: 258944
 Initial RMSE: 0.340915
 Final RMSE: 0.338902
 Time (s): 1.36339


-------------------------------
-- Robust Resection of view: 53
  nfa=8.47502 inliers=9/315 precisionNormalized=0.00184538 precision=49.8453 (iter=0 ,sample=61,73,253,)
  nfa=-36.9203 inliers=56/315 precisionNormalized=0.00301439 precision=63.706 (iter=0 ,sample=61,73,253,)
  nfa=-993.098 inliers=283/315 precisionNormalized=5.80974e-05 precision=8.84421 (iter=0 ,sample=61,73,253,)
  nfa=-1033.17 inliers=286/315 precisionNormalized=4.70047e-05 precision=7.95521 (iter=6 ,sample=31,202,118,)
  nfa=-1036.55 inliers=277/315 precisionNormalized=3.18732e-05 precision=6.55079 (iter=7 ,sample=37,117,82,)
  nfa=-1042.48 inliers=269/315 precisionNormalized=2.16748e-05 precision=5.40205 (iter=19 ,sample=127,130,285,)
  nfa=-1051.52 inliers=262/315 precisionNormalized=1.47183e-05 precision=4.45153 (iter=31 ,sample=38,60,193,)
  nfa=-1054.68 inliers=280/315 precisionNormalized=3.09513e-05 precision=6.45536 (iter=111 ,sample=59,95,110,)

-------------------------------
-- Robust Resection 
-- Resection status: 1
-- #Points used for Resection: 315
-- #Points validated by robust Resection: 280
-- Threshold: 6.45536
-------------------------------

Bundle Adjustment statistics (approximated RMSE):
 #views: 1
 #poses: 1
 #intrinsics: 1
 #tracks: 280
 #residuals: 560
 Initial RMSE: 1.25398
 Final RMSE: 1.11462
 Time (s): 0.00148814


Bundle Adjustment statistics (approximated RMSE):
 #views: 58
 #poses: 58
 #intrinsics: 1
 #tracks: 58013
 #residuals: 264170
 Initial RMSE: 0.340977
 Final RMSE: 0.337978
 Time (s): 1.33919



-------------------------------
-- Structure from Motion (statistics):
-- #Camera calibrated: 58 from 58 input images.
-- #Tracks, #3D points: 58011
-------------------------------



SequentialSfMReconstructionEngine::ComputeResidualsMSE.
	-- #Tracks:	58011
	-- Residual min:	2.18875e-07
	-- Residual median:	0.148127
	-- Residual max:	 3.9912
	-- Residual mean:	 0.283831

Histogram of residuals:

0	|	206198
0.399	|	36230
0.798	|	12146
1.2	|	5003
1.6	|	2335
2	|	1132
2.39	|	592
2.79	|	328
3.19	|	146
3.59	|	47
3.99


 Total Ac-Sfm took (s): 60.72
...Generating SfM_Report.html
...Export SfM_Data to disk.