good ComputeStructureFromKnownPoses

Compute Structure from the provided poses

- Regions Loading -
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Loaded a sfm_data scene with:
 #views: 58
 #poses: 58
 #intrinsics: 1
 #tracks: 0
Compute pairwise fundamental guided matching:
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Per triplet tracks validation (discard spurious correspondences):
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Tracks to structure conversion:
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Structure estimation took (s): 15.367.
#landmark found: 37039
...Generating SfM_Report.html
Bundle adjustment...

Bundle Adjustment statistics (approximated RMSE):
 #views: 58
 #poses: 58
 #intrinsics: 1
 #tracks: 37039
 #residuals: 316512
 Initial RMSE: 0.336358
 Final RMSE: 0.323181
 Time (s): 2.35864

Found a sfm_data scene with:
 #views: 58
 #poses: 58
 #intrinsics: 1
 #tracks: 37039