hi, authors, many thanks for your impressive work and open-source code!

I have followed your instructions and got some amazing outputs(videos). however, for some other input images test cases, I got some errors.

By using imgs2poses.py, the bundle adjustment report in the file colmap_output.txt says No convergence and all the other images could not register neither.

I got 24 input images(the other test case 20 images), and there should be plenty of features within the images.

the colmap_output.txt is like this:

==============================================================================
Feature extraction

Processed file [1/24]
Name: 01.jpg
Dimensions: 1440 x 1080
Camera: #1 - SIMPLE_RADIAL
Focal Length: 1728.00px
Features: 7604
Processed file [2/24]
Name: 02.jpg
Dimensions: 1440 x 1080
Camera: #1 - SIMPLE_RADIAL
Focal Length: 1728.00px
Features: 7460
Processed file [3/24]
Name: 03.jpg
Dimensions: 1440 x 1080
Camera: #1 - SIMPLE_RADIAL
Focal Length: 1728.00px
Features: 7671
Processed file [4/24]
Name: 04.jpg
Dimensions: 1440 x 1080
Camera: #1 - SIMPLE_RADIAL
Focal Length: 1728.00px
Features: 7636
Processed file [5/24]
Name: 05.jpg
Dimensions: 1440 x 1080
Camera: #1 - SIMPLE_RADIAL
Focal Length: 1728.00px
Features: 8000
Processed file [6/24]
Name: 06.jpg
Dimensions: 1440 x 1080
Camera: #1 - SIMPLE_RADIAL
Focal Length: 1728.00px
Features: 8334
Processed file [7/24]
Name: 07.jpg
Dimensions: 1440 x 1080
Camera: #1 - SIMPLE_RADIAL
Focal Length: 1728.00px
Features: 7943
Processed file [8/24]
Name: 08.jpg
Dimensions: 1440 x 1080
Camera: #1 - SIMPLE_RADIAL
Focal Length: 1728.00px
Features: 7749
Processed file [9/24]
Name: 09.jpg
Dimensions: 1440 x 1080
Camera: #1 - SIMPLE_RADIAL
Focal Length: 1728.00px
Features: 8346
Processed file [10/24]
Name: 10.jpg
Dimensions: 1440 x 1080
Camera: #1 - SIMPLE_RADIAL
Focal Length: 1728.00px
Features: 8143
Processed file [11/24]
Name: 11.jpg
Dimensions: 1440 x 1080
Camera: #1 - SIMPLE_RADIAL
Focal Length: 1728.00px
Features: 7826
Processed file [12/24]
Name: 12.jpg
Dimensions: 1440 x 1080
Camera: #1 - SIMPLE_RADIAL
Focal Length: 1728.00px
Features: 5609
Processed file [13/24]
Name: 13.jpg
Dimensions: 1440 x 1080
Camera: #1 - SIMPLE_RADIAL
Focal Length: 1728.00px
Features: 6984
Processed file [14/24]
Name: 14.jpg
Dimensions: 1440 x 1080
Camera: #1 - SIMPLE_RADIAL
Focal Length: 1728.00px
Features: 7445
Processed file [15/24]
Name: 15.jpg
Dimensions: 1440 x 1080
Camera: #1 - SIMPLE_RADIAL
Focal Length: 1728.00px
Features: 6511
Processed file [16/24]
Name: 16.jpg
Dimensions: 1440 x 1080
Camera: #1 - SIMPLE_RADIAL
Focal Length: 1728.00px
Features: 7683
Processed file [17/24]
Name: 17.jpg
Dimensions: 1440 x 1080
Camera: #1 - SIMPLE_RADIAL
Focal Length: 1728.00px
Features: 8220
Processed file [18/24]
Name: 18.jpg
Dimensions: 1440 x 1080
Camera: #1 - SIMPLE_RADIAL
Focal Length: 1728.00px
Features: 8505
Processed file [19/24]
Name: 19.jpg
Dimensions: 1440 x 1080
Camera: #1 - SIMPLE_RADIAL
Focal Length: 1728.00px
Features: 9363
Processed file [20/24]
Name: 20.jpg
Dimensions: 1440 x 1080
Camera: #1 - SIMPLE_RADIAL
Focal Length: 1728.00px
Features: 6798
Processed file [21/24]
Name: 21.jpg
Dimensions: 1440 x 1080
Camera: #1 - SIMPLE_RADIAL
Focal Length: 1728.00px
Features: 7544
Processed file [22/24]
Name: 22.jpg
Dimensions: 1440 x 1080
Camera: #1 - SIMPLE_RADIAL
Focal Length: 1728.00px
Features: 5691
Processed file [23/24]
Name: 23.jpg
Dimensions: 1440 x 1080
Camera: #1 - SIMPLE_RADIAL
Focal Length: 1728.00px
Features: 7068
Processed file [24/24]
Name: 24.jpg
Dimensions: 1440 x 1080
Camera: #1 - SIMPLE_RADIAL
Focal Length: 1728.00px
Features: 7409
Elapsed time: 0.041 [minutes]

==============================================================================
Exhaustive feature matching

Matching block [1/1, 1/1] in 6.299s
Elapsed time: 0.109 [minutes]

==============================================================================
Loading database

Loading cameras... 1 in 0.000s
Loading matches... 276 in 0.020s
Loading images... 24 in 0.027s (connected 24)
Building correspondence graph... in 0.108s (ignored 0)

Elapsed time: 0.003 [minutes]

==============================================================================
Initializing with image pair #10 and #5

==============================================================================
Global bundle adjustment

iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 3.135909e+03 0.00e+00 1.41e+05 0.00e+00 0.00e+00 1.00e+04 0 1.75e-03 6.96e-03
1 3.892343e+03 -7.56e+02 0.00e+00 4.13e+01 -3.03e-01 5.00e+03 1 3.41e-03 1.04e-02
2 2.438515e+03 6.97e+02 1.06e+05 3.85e+01 2.86e-01 4.64e+03 1 4.46e-03 1.49e-02
3 6.548220e+02 1.78e+03 4.14e+03 5.68e+00 9.99e-01 1.39e+04 1 4.03e-03 1.89e-02
4 6.482664e+02 6.56e+00 1.20e+03 5.05e+00 9.94e-01 4.17e+04 1 3.28e-03 2.22e-02
5 6.452768e+02 2.99e+00 1.27e+03 1.75e+01 8.18e-01 5.61e+04 1 3.35e-03 2.56e-02
6 6.423903e+02 2.89e+00 1.93e+03 2.31e+01 5.51e-01 5.62e+04 1 3.35e-03 2.90e-02
7 6.377616e+02 4.63e+00 1.60e+03 2.26e+01 7.00e-01 6.00e+04 1 3.31e-03 3.23e-02
8 6.337074e+02 4.05e+00 1.75e+03 2.35e+01 6.49e-01 6.17e+04 1 3.68e-03 3.60e-02
9 6.294490e+02 4.26e+00 1.83e+03 2.36e+01 6.75e-01 6.44e+04 1 6.69e-03 4.27e-02
10 6.254248e+02 4.02e+00 1.99e+03 2.40e+01 6.59e-01 6.66e+04 1 3.82e-03 4.66e-02
11 6.214221e+02 4.00e+00 2.10e+03 2.43e+01 6.64e-01 6.90e+04 1 5.85e-03 5.25e-02
12 6.175485e+02 3.87e+00 2.23e+03 2.46e+01 6.58e-01 7.12e+04 1 6.20e-03 5.88e-02
13 6.137530e+02 3.80e+00 2.33e+03 2.48e+01 6.57e-01 7.35e+04 1 3.55e-03 6.23e-02
14 6.100624e+02 3.69e+00 2.43e+03 2.51e+01 6.53e-01 7.57e+04 1 3.46e-03 6.58e-02
15 6.064668e+02 3.60e+00 2.52e+03 2.53e+01 6.52e-01 7.78e+04 1 4.29e-03 7.01e-02
16 6.029737e+02 3.49e+00 2.61e+03 2.54e+01 6.49e-01 7.99e+04 1 3.60e-03 7.38e-02
17 5.995826e+02 3.39e+00 2.68e+03 2.56e+01 6.47e-01 8.20e+04 1 3.33e-03 7.71e-02
18 5.962960e+02 3.29e+00 2.74e+03 2.57e+01 6.45e-01 8.41e+04 1 3.59e-03 8.07e-02
19 5.931150e+02 3.18e+00 2.79e+03 2.57e+01 6.43e-01 8.61e+04 1 3.38e-03 8.41e-02
20 5.900405e+02 3.07e+00 2.84e+03 2.58e+01 6.41e-01 8.81e+04 1 3.50e-03 8.76e-02
21 5.870732e+02 2.97e+00 2.88e+03 2.58e+01 6.40e-01 9.00e+04 1 3.42e-03 9.11e-02
22 5.842132e+02 2.86e+00 2.90e+03 2.58e+01 6.38e-01 9.20e+04 1 3.44e-03 9.45e-02
23 5.814602e+02 2.75e+00 2.93e+03 2.57e+01 6.37e-01 9.39e+04 1 3.67e-03 9.82e-02
24 5.788136e+02 2.65e+00 2.94e+03 2.56e+01 6.35e-01 9.58e+04 1 6.73e-03 1.05e-01
25 5.762724e+02 2.54e+00 2.94e+03 2.55e+01 6.34e-01 9.77e+04 1 3.61e-03 1.09e-01
26 5.738352e+02 2.44e+00 2.94e+03 2.54e+01 6.33e-01 9.96e+04 1 6.27e-03 1.15e-01
27 5.715003e+02 2.33e+00 2.94e+03 2.52e+01 6.32e-01 1.01e+05 1 3.35e-03 1.18e-01
28 5.692657e+02 2.23e+00 2.92e+03 2.50e+01 6.31e-01 1.03e+05 1 3.17e-03 1.21e-01
29 5.671292e+02 2.14e+00 2.91e+03 2.48e+01 6.30e-01 1.05e+05 1 3.16e-03 1.25e-01
30 5.650882e+02 2.04e+00 2.88e+03 2.45e+01 6.29e-01 1.07e+05 1 4.22e-03 1.29e-01
31 5.631401e+02 1.95e+00 2.86e+03 2.42e+01 6.29e-01 1.09e+05 1 6.12e-03 1.35e-01
32 5.612820e+02 1.86e+00 2.83e+03 2.39e+01 6.28e-01 1.11e+05 1 7.77e-03 1.43e-01
33 5.595109e+02 1.77e+00 2.79e+03 2.36e+01 6.27e-01 1.13e+05 1 3.59e-03 1.46e-01
34 5.578237e+02 1.69e+00 2.75e+03 2.33e+01 6.27e-01 1.14e+05 1 3.35e-03 1.50e-01
35 5.562172e+02 1.61e+00 2.71e+03 2.29e+01 6.26e-01 1.16e+05 1 3.34e-03 1.53e-01
36 5.546881e+02 1.53e+00 2.67e+03 2.25e+01 6.26e-01 1.18e+05 1 3.27e-03 1.56e-01
37 5.532332e+02 1.45e+00 2.62e+03 2.21e+01 6.25e-01 1.20e+05 1 3.31e-03 1.60e-01
38 5.518493e+02 1.38e+00 2.57e+03 2.17e+01 6.25e-01 1.22e+05 1 3.53e-03 1.63e-01
39 5.505330e+02 1.32e+00 2.52e+03 2.13e+01 6.25e-01 1.24e+05 1 3.65e-03 1.67e-01
40 5.492811e+02 1.25e+00 2.47e+03 2.08e+01 6.25e-01 1.26e+05 1 3.54e-03 1.71e-01
41 5.480904e+02 1.19e+00 2.42e+03 2.04e+01 6.25e-01 1.28e+05 1 3.46e-03 1.74e-01
42 5.469577e+02 1.13e+00 2.37e+03 1.99e+01 6.25e-01 1.30e+05 1 3.32e-03 1.77e-01
43 5.458800e+02 1.08e+00 2.31e+03 1.95e+01 6.25e-01 1.32e+05 1 3.22e-03 1.81e-01
44 5.448544e+02 1.03e+00 2.26e+03 1.90e+01 6.26e-01 1.34e+05 1 3.22e-03 1.84e-01
45 5.438778e+02 9.77e-01 2.21e+03 1.85e+01 6.26e-01 1.36e+05 1 3.36e-03 1.87e-01
46 5.429474e+02 9.30e-01 2.15e+03 1.80e+01 6.27e-01 1.39e+05 1 3.38e-03 1.91e-01
47 5.420605e+02 8.87e-01 2.10e+03 1.76e+01 6.27e-01 1.41e+05 1 3.25e-03 1.94e-01
48 5.412145e+02 8.46e-01 2.05e+03 1.71e+01 6.28e-01 1.43e+05 1 3.35e-03 1.97e-01
49 5.404067e+02 8.08e-01 2.00e+03 1.66e+01 6.30e-01 1.46e+05 1 3.28e-03 2.00e-01
50 5.396346e+02 7.72e-01 1.95e+03 1.62e+01 6.31e-01 1.48e+05 1 3.31e-03 2.04e-01
51 5.388960e+02 7.39e-01 1.90e+03 1.57e+01 6.32e-01 1.51e+05 1 3.36e-03 2.07e-01
52 5.381884e+02 7.08e-01 1.85e+03 1.52e+01 6.34e-01 1.54e+05 1 3.94e-03 2.11e-01
53 5.375097e+02 6.79e-01 1.80e+03 1.48e+01 6.36e-01 1.57e+05 1 3.37e-03 2.15e-01
54 5.368576e+02 6.52e-01 1.76e+03 1.43e+01 6.38e-01 1.61e+05 1 3.58e-03 2.18e-01
55 5.362300e+02 6.28e-01 1.72e+03 1.39e+01 6.41e-01 1.65e+05 1 3.37e-03 2.22e-01
56 5.356248e+02 6.05e-01 1.68e+03 1.35e+01 6.44e-01 1.69e+05 1 3.36e-03 2.25e-01
57 5.350400e+02 5.85e-01 1.64e+03 1.31e+01 6.47e-01 1.73e+05 1 3.40e-03 2.28e-01
58 5.344735e+02 5.66e-01 1.60e+03 1.27e+01 6.50e-01 1.78e+05 1 9.00e-03 2.37e-01
59 5.339232e+02 5.50e-01 1.56e+03 1.23e+01 6.54e-01 1.83e+05 1 4.21e-03 2.42e-01
60 5.333872e+02 5.36e-01 1.53e+03 1.19e+01 6.58e-01 1.89e+05 1 3.32e-03 2.45e-01
61 5.328631e+02 5.24e-01 1.50e+03 1.16e+01 6.63e-01 1.96e+05 1 3.29e-03 2.48e-01
62 5.323487e+02 5.14e-01 1.48e+03 1.13e+01 6.69e-01 2.04e+05 1 3.31e-03 2.52e-01
63 5.318415e+02 5.07e-01 1.45e+03 1.11e+01 6.75e-01 2.13e+05 1 3.36e-03 2.55e-01
64 5.313387e+02 5.03e-01 1.44e+03 1.09e+01 6.82e-01 2.24e+05 1 3.43e-03 2.58e-01
65 5.308372e+02 5.02e-01 1.42e+03 1.08e+01 6.89e-01 2.36e+05 1 3.42e-03 2.62e-01
66 5.303331e+02 5.04e-01 1.41e+03 1.07e+01 6.98e-01 2.52e+05 1 3.46e-03 2.65e-01
67 5.298219e+02 5.11e-01 1.40e+03 1.08e+01 7.08e-01 2.72e+05 1 3.34e-03 2.69e-01
68 5.292984e+02 5.24e-01 1.40e+03 1.11e+01 7.18e-01 2.96e+05 1 3.34e-03 2.72e-01
69 5.287569e+02 5.42e-01 1.39e+03 1.17e+01 7.27e-01 3.27e+05 1 3.51e-03 2.76e-01
70 5.281945e+02 5.62e-01 1.36e+03 1.25e+01 7.28e-01 3.61e+05 1 3.52e-03 2.79e-01
71 5.276208e+02 5.74e-01 1.26e+03 1.37e+01 7.07e-01 3.88e+05 1 3.42e-03 2.83e-01
72 5.270656e+02 5.55e-01 1.02e+03 1.48e+01 6.45e-01 3.98e+05 1 3.34e-03 2.86e-01
73 5.265535e+02 5.12e-01 6.44e+02 1.55e+01 5.55e-01 3.98e+05 1 3.34e-03 2.89e-01
74 5.261001e+02 4.53e-01 5.15e+02 1.61e+01 4.48e-01 3.98e+05 1 3.31e-03 2.93e-01
75 5.257127e+02 3.87e-01 6.49e+02 1.66e+01 3.38e-01 3.85e+05 1 3.49e-03 2.96e-01
76 5.252750e+02 4.38e-01 7.28e+02 1.67e+01 3.32e-01 3.71e+05 1 3.56e-03 3.00e-01
77 5.248302e+02 4.45e-01 7.83e+02 1.67e+01 3.14e-01 3.52e+05 1 3.46e-03 3.03e-01
78 5.243386e+02 4.92e-01 8.03e+02 1.65e+01 3.33e-01 3.40e+05 1 3.41e-03 3.07e-01
79 5.238930e+02 4.46e-01 8.30e+02 1.65e+01 3.04e-01 3.20e+05 1 3.34e-03 3.10e-01
80 5.233664e+02 5.27e-01 8.10e+02 1.60e+01 3.56e-01 3.13e+05 1 3.35e-03 3.13e-01
81 5.229668e+02 4.00e-01 8.73e+02 1.61e+01 2.86e-01 2.90e+05 1 3.40e-03 3.17e-01
82 5.223966e+02 5.70e-01 8.34e+02 1.54e+01 4.04e-01 2.88e+05 1 3.46e-03 3.20e-01
83 5.220552e+02 3.41e-01 8.91e+02 1.56e+01 2.72e-01 2.63e+05 1 3.39e-03 3.24e-01
84 5.214732e+02 5.82e-01 8.03e+02 1.46e+01 4.51e-01 2.63e+05 1 3.38e-03 3.27e-01
85 5.211545e+02 3.19e-01 8.47e+02 1.49e+01 2.93e-01 2.46e+05 1 3.42e-03 3.30e-01
86 5.206662e+02 4.88e-01 7.80e+02 1.42e+01 4.33e-01 2.45e+05 1 3.44e-03 3.34e-01
87 5.203502e+02 3.16e-01 8.10e+02 1.44e+01 3.17e-01 2.34e+05 1 3.44e-03 3.37e-01
88 5.199311e+02 4.19e-01 7.68e+02 1.40e+01 4.09e-01 2.32e+05 1 3.48e-03 3.41e-01
89 5.196121e+02 3.19e-01 7.85e+02 1.41e+01 3.36e-01 2.24e+05 1 3.37e-03 3.44e-01
90 5.192324e+02 3.80e-01 7.57e+02 1.38e+01 3.94e-01 2.22e+05 1 3.54e-03 3.48e-01
91 5.189100e+02 3.22e-01 7.64e+02 1.38e+01 3.51e-01 2.17e+05 1 3.48e-03 3.51e-01
92 5.185548e+02 3.55e-01 7.44e+02 1.37e+01 3.85e-01 2.14e+05 1 3.51e-03 3.55e-01
93 5.182307e+02 3.24e-01 7.43e+02 1.36e+01 3.63e-01 2.10e+05 1 3.47e-03 3.58e-01
94 5.178916e+02 3.39e-01 7.29e+02 1.35e+01 3.82e-01 2.07e+05 1 5.19e-03 3.63e-01
95 5.175684e+02 3.23e-01 7.24e+02 1.35e+01 3.72e-01 2.04e+05 1 3.98e-03 3.68e-01
96 5.172400e+02 3.28e-01 7.13e+02 1.34e+01 3.81e-01 2.01e+05 1 7.22e-03 3.75e-01
97 5.169195e+02 3.20e-01 7.12e+02 1.33e+01 3.79e-01 1.98e+05 1 7.04e-03 3.82e-01
98 5.165985e+02 3.21e-01 7.13e+02 1.32e+01 3.83e-01 1.96e+05 1 3.49e-03 3.85e-01
99 5.162817e+02 3.17e-01 7.14e+02 1.31e+01 3.84e-01 1.93e+05 1 3.45e-03 3.89e-01
100 5.159661e+02 3.16e-01 7.16e+02 1.31e+01 3.86e-01 1.91e+05 1 3.44e-03 3.92e-01

Bundle adjustment report

Residuals : 4080

Parameters : 3067
Iterations : 101
Time : 0.392774 [s]
Initial cost : 0.876701 [px]
Final cost : 0.355615 [px]
Termination : No convergence

=> Filtered observations: 123
=> Filtered images: 0

==============================================================================
Registering image #4 (3)

=> Image sees 702 / 4523 points
=> Could not register, trying another image.

==============================================================================
Registering image #9 (3)

=> Image sees 694 / 4947 points
=> Could not register, trying another image.

==============================================================================
Registering image #8 (3)

=> Image sees 654 / 4674 points
=> Could not register, trying another image.

==============================================================================
Registering image #3 (3)

=> Image sees 646 / 4530 points
=> Could not register, trying another image.

==============================================================================
Registering image #6 (3)

=> Image sees 673 / 4529 points
=> Could not register, trying another image.

==============================================================================
Registering image #11 (3)

=> Image sees 644 / 4900 points
=> Could not register, trying another image.

==============================================================================
Registering image #7 (3)

=> Image sees 616 / 4430 points
=> Could not register, trying another image.

==============================================================================
Registering image #16 (3)

=> Image sees 559 / 4688 points
=> Could not register, trying another image.

==============================================================================
Registering image #14 (3)

=> Image sees 561 / 4622 points
=> Could not register, trying another image.

==============================================================================
Registering image #2 (3)

=> Image sees 522 / 4383 points
=> Could not register, trying another image.

==============================================================================
Registering image #17 (3)

=> Image sees 493 / 4716 points
=> Could not register, trying another image.

==============================================================================
Registering image #18 (3)

=> Image sees 453 / 4233 points
=> Could not register, trying another image.

==============================================================================
Registering image #1 (3)

=> Image sees 420 / 3982 points
=> Could not register, trying another image.

==============================================================================
Registering image #12 (3)

=> Image sees 429 / 3419 points
=> Could not register, trying another image.

==============================================================================
Registering image #15 (3)

=> Image sees 430 / 3892 points
=> Could not register, trying another image.

==============================================================================
Registering image #21 (3)

=> Image sees 373 / 3995 points
=> Could not register, trying another image.

==============================================================================
Registering image #13 (3)

=> Image sees 366 / 4086 points
=> Could not register, trying another image.

==============================================================================
Registering image #20 (3)

=> Image sees 347 / 3149 points
=> Could not register, trying another image.

==============================================================================
Registering image #19 (3)

=> Image sees 316 / 3682 points
=> Could not register, trying another image.

==============================================================================
Registering image #22 (3)

=> Image sees 289 / 3132 points
=> Could not register, trying another image.

==============================================================================
Registering image #23 (3)

=> Image sees 213 / 3458 points
=> Could not register, trying another image.

==============================================================================
Registering image #24 (3)

=> Image sees 157 / 3211 points
=> Could not register, trying another image.

==============================================================================
Retriangulation

=> Merged observations: 0
=> Completed observations: 0
=> Retriangulated observations: 0

==============================================================================
Global bundle adjustment

iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 4.660303e+02 0.00e+00 6.94e+02 0.00e+00 0.00e+00 1.00e+04 0 1.29e-03 6.86e-03
1 4.542867e+02 1.17e+01 1.86e+01 2.67e+01 9.90e-01 3.00e+04 1 3.47e-03 1.04e-02
2 4.539819e+02 3.05e-01 4.54e+00 1.73e+01 9.57e-01 9.00e+04 1 3.31e-03 1.37e-02
3 4.537922e+02 1.90e-01 5.62e+01 4.26e+01 9.58e-01 2.70e+05 1 3.37e-03 1.71e-02
4 4.535130e+02 2.79e-01 3.76e+02 1.21e+02 4.99e-01 2.70e+05 1 3.38e-03 2.05e-02
5 4.529053e+02 6.08e-01 3.06e+02 1.19e+02 7.51e-01 3.09e+05 1 3.11e-03 2.36e-02
6 4.523693e+02 5.36e-01 3.21e+02 1.34e+02 6.79e-01 3.24e+05 1 3.11e-03 2.67e-02
7 4.517444e+02 6.25e-01 2.76e+02 1.40e+02 7.35e-01 3.61e+05 1 3.07e-03 2.98e-02
8 4.511257e+02 6.19e-01 2.48e+02 1.54e+02 7.11e-01 3.91e+05 1 3.08e-03 3.29e-02
9 4.504388e+02 6.87e-01 1.74e+02 1.65e+02 7.43e-01 4.41e+05 1 3.15e-03 3.61e-02
10 4.497332e+02 7.06e-01 1.10e+02 1.85e+02 7.26e-01 4.86e+05 1 3.07e-03 3.91e-02
11 4.489893e+02 7.44e-01 1.22e+02 2.01e+02 7.11e-01 5.25e+05 1 3.11e-03 4.23e-02
12 4.483014e+02 6.88e-01 3.84e+02 2.16e+02 6.16e-01 5.31e+05 1 3.05e-03 4.53e-02
13 4.476780e+02 6.23e-01 6.34e+02 2.17e+02 5.08e-01 5.31e+05 1 3.06e-03 4.84e-02
14 4.471637e+02 5.14e-01 8.62e+02 2.16e+02 3.73e-01 5.23e+05 1 3.13e-03 5.16e-02
15 4.466950e+02 4.69e-01 1.05e+03 2.12e+02 2.91e-01 4.87e+05 1 3.02e-03 5.46e-02
16 4.460323e+02 6.63e-01 1.09e+03 1.97e+02 3.63e-01 4.77e+05 1 3.07e-03 5.77e-02
17 4.455845e+02 4.48e-01 1.20e+03 1.93e+02 2.46e-01 4.22e+05 1 3.13e-03 6.08e-02
18 4.446908e+02 8.94e-01 1.07e+03 1.70e+02 4.59e-01 4.22e+05 1 3.15e-03 6.40e-02
19 4.443183e+02 3.72e-01 1.17e+03 1.70e+02 2.30e-01 3.64e+05 1 4.25e-03 6.83e-02
20 4.434147e+02 9.04e-01 9.67e+02 1.47e+02 5.21e-01 3.64e+05 1 3.41e-03 7.17e-02
21 4.430443e+02 3.70e-01 1.04e+03 1.47e+02 2.82e-01 3.36e+05 1 5.73e-03 7.75e-02
22 4.424412e+02 6.03e-01 9.57e+02 1.36e+02 4.34e-01 3.36e+05 1 5.30e-03 8.28e-02
23 4.420824e+02 3.59e-01 1.01e+03 1.36e+02 2.92e-01 3.13e+05 1 5.48e-03 8.83e-02
24 4.415397e+02 5.43e-01 9.43e+02 1.27e+02 4.24e-01 3.12e+05 1 3.33e-03 9.16e-02
25 4.411907e+02 3.49e-01 9.89e+02 1.26e+02 3.04e-01 2.95e+05 1 3.33e-03 9.50e-02
26 4.407024e+02 4.88e-01 9.31e+02 1.19e+02 4.13e-01 2.93e+05 1 3.36e-03 9.84e-02
27 4.403605e+02 3.42e-01 9.67e+02 1.19e+02 3.17e-01 2.79e+05 1 3.44e-03 1.02e-01
28 4.399180e+02 4.43e-01 9.22e+02 1.14e+02 4.02e-01 2.77e+05 1 3.45e-03 1.05e-01
29 4.395810e+02 3.37e-01 9.49e+02 1.13e+02 3.30e-01 2.67e+05 1 3.15e-03 1.08e-01
30 4.391754e+02 4.06e-01 9.17e+02 1.09e+02 3.92e-01 2.64e+05 1 3.24e-03 1.12e-01
31 4.388422e+02 3.33e-01 9.34e+02 1.08e+02 3.42e-01 2.56e+05 1 3.12e-03 1.15e-01
32 4.384659e+02 3.76e-01 9.13e+02 1.05e+02 3.85e-01 2.53e+05 1 7.35e-03 1.22e-01
33 4.381364e+02 3.29e-01 9.23e+02 1.04e+02 3.53e-01 2.47e+05 1 3.25e-03 1.26e-01
34 4.377831e+02 3.53e-01 9.09e+02 1.02e+02 3.80e-01 2.43e+05 1 3.47e-03 1.29e-01
35 4.374583e+02 3.25e-01 9.14e+02 1.01e+02 3.63e-01 2.38e+05 1 3.45e-03 1.32e-01
36 4.371228e+02 3.35e-01 9.05e+02 9.91e+01 3.79e-01 2.35e+05 1 7.07e-03 1.40e-01
37 4.368037e+02 3.19e-01 9.06e+02 9.81e+01 3.70e-01 2.31e+05 1 5.73e-03 1.45e-01
38 4.364820e+02 3.22e-01 9.01e+02 9.68e+01 3.79e-01 2.28e+05 1 3.20e-03 1.49e-01
39 4.361697e+02 3.12e-01 9.01e+02 9.58e+01 3.77e-01 2.24e+05 1 6.12e-03 1.55e-01
40 4.358587e+02 3.11e-01 8.98e+02 9.48e+01 3.82e-01 2.21e+05 1 5.48e-03 1.60e-01
41 4.355537e+02 3.05e-01 8.97e+02 9.40e+01 3.82e-01 2.19e+05 1 2.78e-03 1.63e-01
42 4.352514e+02 3.02e-01 8.95e+02 9.32e+01 3.85e-01 2.16e+05 1 2.82e-03 1.66e-01
43 4.349534e+02 2.98e-01 8.94e+02 9.26e+01 3.86e-01 2.13e+05 1 2.91e-03 1.69e-01
44 4.346585e+02 2.95e-01 8.93e+02 9.19e+01 3.89e-01 2.11e+05 1 4.07e-03 1.73e-01
45 4.343670e+02 2.91e-01 8.93e+02 9.14e+01 3.91e-01 2.09e+05 1 3.17e-03 1.76e-01
46 4.340786e+02 2.88e-01 8.92e+02 9.10e+01 3.93e-01 2.07e+05 1 2.92e-03 1.79e-01
47 4.337931e+02 2.86e-01 8.92e+02 9.06e+01 3.95e-01 2.05e+05 1 2.99e-03 1.82e-01
48 4.335103e+02 2.83e-01 8.92e+02 9.02e+01 3.97e-01 2.03e+05 1 2.97e-03 1.85e-01
49 4.332302e+02 2.80e-01 8.92e+02 9.00e+01 3.99e-01 2.01e+05 1 2.95e-03 1.88e-01
50 4.329527e+02 2.78e-01 8.92e+02 8.98e+01 4.01e-01 2.00e+05 1 3.44e-03 1.91e-01
51 4.326775e+02 2.75e-01 8.93e+02 8.96e+01 4.03e-01 1.98e+05 1 3.06e-03 1.94e-01
52 4.324046e+02 2.73e-01 8.93e+02 8.95e+01 4.05e-01 1.97e+05 1 3.12e-03 1.98e-01
53 4.321340e+02 2.71e-01 8.94e+02 8.95e+01 4.07e-01 1.96e+05 1 2.97e-03 2.01e-01
54 4.318654e+02 2.69e-01 8.94e+02 8.95e+01 4.09e-01 1.95e+05 1 3.02e-03 2.04e-01
55 4.315990e+02 2.66e-01 8.95e+02 8.95e+01 4.11e-01 1.94e+05 1 2.95e-03 2.07e-01
56 4.313345e+02 2.64e-01 8.96e+02 8.96e+01 4.13e-01 1.93e+05 1 2.95e-03 2.10e-01
57 4.310720e+02 2.63e-01 8.97e+02 8.98e+01 4.15e-01 1.92e+05 1 2.99e-03 2.13e-01
58 4.308113e+02 2.61e-01 8.97e+02 9.00e+01 4.17e-01 1.91e+05 1 3.05e-03 2.16e-01
59 4.305526e+02 2.59e-01 8.98e+02 9.02e+01 4.20e-01 1.90e+05 1 2.96e-03 2.19e-01
60 4.302956e+02 2.57e-01 8.99e+02 9.05e+01 4.22e-01 1.89e+05 1 3.01e-03 2.22e-01
61 4.300404e+02 2.55e-01 8.99e+02 9.08e+01 4.24e-01 1.89e+05 1 2.96e-03 2.25e-01
62 4.297870e+02 2.53e-01 9.00e+02 9.11e+01 4.26e-01 1.88e+05 1 3.00e-03 2.28e-01
63 4.295353e+02 2.52e-01 9.00e+02 9.15e+01 4.29e-01 1.87e+05 1 2.96e-03 2.31e-01
64 4.292854e+02 2.50e-01 9.00e+02 9.19e+01 4.31e-01 1.87e+05 1 2.95e-03 2.34e-01
65 4.290372e+02 2.48e-01 9.00e+02 9.24e+01 4.34e-01 1.87e+05 1 3.02e-03 2.37e-01
66 4.287907e+02 2.46e-01 9.00e+02 9.29e+01 4.36e-01 1.86e+05 1 2.99e-03 2.40e-01
67 4.285459e+02 2.45e-01 9.00e+02 9.34e+01 4.39e-01 1.86e+05 1 2.94e-03 2.43e-01
68 4.283029e+02 2.43e-01 8.99e+02 9.40e+01 4.42e-01 1.86e+05 1 3.09e-03 2.46e-01
69 4.280616e+02 2.41e-01 8.98e+02 9.46e+01 4.45e-01 1.85e+05 1 2.98e-03 2.49e-01
70 4.278220e+02 2.40e-01 8.97e+02 9.52e+01 4.48e-01 1.85e+05 1 3.08e-03 2.52e-01
71 4.275843e+02 2.38e-01 8.95e+02 9.59e+01 4.51e-01 1.85e+05 1 3.04e-03 2.55e-01
72 4.273483e+02 2.36e-01 8.93e+02 9.66e+01 4.54e-01 1.85e+05 1 2.98e-03 2.58e-01
73 4.271141e+02 2.34e-01 8.91e+02 9.73e+01 4.58e-01 1.85e+05 1 3.05e-03 2.61e-01
74 4.268818e+02 2.32e-01 8.88e+02 9.80e+01 4.62e-01 1.85e+05 1 3.48e-03 2.64e-01
75 4.266514e+02 2.30e-01 8.85e+02 9.88e+01 4.66e-01 1.85e+05 1 3.24e-03 2.68e-01
76 4.264229e+02 2.28e-01 8.81e+02 9.96e+01 4.70e-01 1.84e+05 1 3.06e-03 2.71e-01
77 4.261964e+02 2.27e-01 8.77e+02 1.00e+02 4.74e-01 1.84e+05 1 3.12e-03 2.74e-01
78 4.259719e+02 2.25e-01 8.72e+02 1.01e+02 4.79e-01 1.84e+05 1 3.03e-03 2.77e-01
79 4.257495e+02 2.22e-01 8.66e+02 1.02e+02 4.83e-01 1.84e+05 1 3.04e-03 2.80e-01
80 4.255292e+02 2.20e-01 8.60e+02 1.03e+02 4.88e-01 1.84e+05 1 3.05e-03 2.83e-01
81 4.253111e+02 2.18e-01 8.53e+02 1.04e+02 4.94e-01 1.84e+05 1 3.07e-03 2.86e-01
82 4.250953e+02 2.16e-01 8.45e+02 1.05e+02 4.99e-01 1.84e+05 1 3.12e-03 2.89e-01
83 4.248818e+02 2.13e-01 8.37e+02 1.05e+02 5.05e-01 1.84e+05 1 3.06e-03 2.92e-01
84 4.246707e+02 2.11e-01 8.28e+02 1.06e+02 5.11e-01 1.84e+05 1 3.28e-03 2.96e-01
85 4.244622e+02 2.09e-01 8.19e+02 1.07e+02 5.18e-01 1.84e+05 1 3.00e-03 2.99e-01
86 4.242562e+02 2.06e-01 8.09e+02 1.08e+02 5.25e-01 1.84e+05 1 3.17e-03 3.02e-01
87 4.240529e+02 2.03e-01 7.98e+02 1.09e+02 5.31e-01 1.85e+05 1 3.08e-03 3.05e-01
88 4.238524e+02 2.01e-01 7.87e+02 1.10e+02 5.38e-01 1.85e+05 1 3.13e-03 3.08e-01
89 4.236546e+02 1.98e-01 7.76e+02 1.11e+02 5.45e-01 1.85e+05 1 3.05e-03 3.11e-01
90 4.234597e+02 1.95e-01 7.65e+02 1.12e+02 5.52e-01 1.85e+05 1 3.24e-03 3.14e-01
91 4.232676e+02 1.92e-01 7.53e+02 1.13e+02 5.59e-01 1.85e+05 1 3.09e-03 3.17e-01
92 4.230783e+02 1.89e-01 7.42e+02 1.14e+02 5.66e-01 1.86e+05 1 3.04e-03 3.21e-01
93 4.228919e+02 1.86e-01 7.32e+02 1.15e+02 5.73e-01 1.86e+05 1 7.14e-03 3.28e-01
94 4.227082e+02 1.84e-01 7.21e+02 1.17e+02 5.79e-01 1.87e+05 1 4.19e-03 3.32e-01
95 4.225271e+02 1.81e-01 7.12e+02 1.18e+02 5.85e-01 1.88e+05 1 3.00e-03 3.35e-01
96 4.223486e+02 1.79e-01 7.03e+02 1.20e+02 5.91e-01 1.89e+05 1 2.78e-03 3.38e-01
97 4.221724e+02 1.76e-01 6.95e+02 1.21e+02 5.96e-01 1.90e+05 1 2.81e-03 3.41e-01
98 4.219985e+02 1.74e-01 6.88e+02 1.23e+02 6.01e-01 1.92e+05 1 2.96e-03 3.44e-01
99 4.218266e+02 1.72e-01 6.81e+02 1.25e+02 6.05e-01 1.94e+05 1 2.90e-03 3.46e-01
100 4.216566e+02 1.70e-01 6.75e+02 1.27e+02 6.09e-01 1.96e+05 1 4.07e-03 3.51e-01

Bundle adjustment report

Residuals : 3588

Parameters : 2698
Iterations : 101
Time : 0.350847 [s]
Initial cost : 0.360397 [px]
Final cost : 0.34281 [px]
Termination : No convergence

=> Merged observations: 0
=> Completed observations: 0
=> Filtered observations: 897
=> Changed observations: 0.500000

==============================================================================
Global bundle adjustment

=> Merged observations: 0
=> Completed observations: 0
=> Filtered observations: 0
=> Changed observations: -nan

==============================================================================
Global bundle adjustment

=> Merged observations: 0
=> Completed observations: 0
=> Filtered observations: 0
=> Changed observations: -nan

==============================================================================
Global bundle adjustment

=> Merged observations: 0
=> Completed observations: 0
=> Filtered observations: 0
=> Changed observations: -nan

==============================================================================
Global bundle adjustment

=> Merged observations: 0
=> Completed observations: 0
=> Filtered observations: 0
=> Changed observations: -nan
=> Filtered images: 0

Elapsed time: 0.022 [minutes]