#0 e=4.90707 g=1.39906 s=0 (3.84s) #1 e=4.76973 g=0.171041 s=329.038 (14.13s) #2 e=4.76441 g=0.42705 s=152.344 (116.69s) #3 e=4.76179 g=0.704421 s=259.289 (195.03s) #4 e=4.75781 g=0.882156 s=487.016 (320.01s) #5 e=4.75762 g=0.0812308 s=416.643 (11.87s) #6 e=4.83583 g=75.1693 s=1658.93 (344.74s) #7 e=4.82624 g=0.79288 s=802.308 (10.89s) #8 e=4.75028 g=17.7808 s=6143.6 (343.94s) #9 e=4.78677 g=42.925 s=1794.81 (341.63s) #10 e=5.69662 g=0 s=1629.5 (337.30s) #11 e=22.3891 g=0 s=941.412 (337.13s) #12 e=4.77681 g=15.8569 s=362.342 (340.53s) #13 e=10.3663 g=0 s=521.488 (338.44s) #14 e=4.72502 g=5.07305 s=277.81 (295.89s) #15 e=4.72844 g=12.357 s=759.74 (293.74s) #16 e=4.74183 g=7.18147 s=636.687 (10.42s) #17 e=4.74954 g=5.62064 s=637.572 (9.88s) #18 e=4.7323 g=1.08956 s=494.868 (10.02s) #19 e=4.7212 g=0.37989 s=512.715 (9.82s) #20 e=4.71731 g=0.0993013 s=615.057 (9.86s) #21 e=4.71375 g=0.0340799 s=545.358 (9.85s) #22 e=4.71926 g=0.0288359 s=437.561 (9.80s) #23 e=4.71534 g=0.0224512 s=402.819 (9.80s) #24 e=4.71887 g=0.0146106 s=399.057 (9.84s) #25 e=4.71625 g=0.0111318 s=361.868 (10.54s) #26 e=4.71634 g=0.00929971 s=333.581 (10.34s) #27 e=4.71616 g=0.00753163 s=434.862 (10.96s) #28 e=4.71401 g=32.973 s=825.149 (340.90s) #29 e=4.71251 g=6.11777 s=503.62 (11.06s) #30 e=4.71039 g=10.6414 s=679.392 (342.05s) #31 e=4.70842 g=11.9159 s=699.359 (338.80s) #32 e=4.7078 g=2.9 s=443.339 (341.47s) #33 e=4.70491 g=4.40252 s=477.024 (335.41s) #34 e=4.70662 g=3.09249 s=1012.66 (338.15s) #35 e=4.70684 g=2.98253 s=959.915 (341.49s) #36 e=4.70348 g=1.21445 s=713.692 (342.32s) #37 e=4.70613 g=2.40821 s=2190.45 (340.54s) #38 e=4.70631 g=0.694004 s=1406.07 (340.25s) #39 e=4.70186 g=1.65821 s=1280.27 (340.20s) #40 e=4.70131 g=0.526238 s=3029.26 (338.07s) #41 e=4.72118 g=0 s=2596.85 (339.84s) #42 e=4.7211 g=0 s=1303.36 (339.28s) #43 e=4.72054 g=0 s=348.774 (337.64s) #44 e=4.71777 g=0.519255 s=94.2348 (340.56s) #45 e=4.71598 g=0.0361351 s=21.0649 (9.84s) #46 e=4.70716 g=0.0215896 s=17.0874 (9.97s) #47 e=4.7015 g=0.0174501 s=51.067 (10.04s) #48 e=4.70162 g=0.0311942 s=152.488 (9.89s) #49 e=5.4346e+09 g=0 s=131.047 (7.12s) #50 e=3.9557e+09 g=0 s=65.5431 (6.82s) #51 e=46.7754 g=0 s=16.4606 (6.81s) #52 e=4.71408 g=0.182558 s=2.48493 (9.72s) #53 e=4.71195 g=0.0278499 s=1.65467 (9.91s) #54 e=4.70525 g=0.017626 s=1.83389 (9.96s) #55 e=4.70011 g=0.017101 s=4.42995 (10.04s) #56 e=4.70102 g=0.0490597 s=13.0089 (9.93s) #57 e=4.70695 g=0.231191 s=12.8613 (9.88s) #58 e=4.70624 g=0.0234208 s=11.5965 (9.88s) #59 e=4.70206 g=0.0170554 s=10.4028 (9.98s) #60 e=4.70098 g=0.0260739 s=30.9849 (9.95s) #61 e=4.71362 g=0 s=41.3506 (7.02s) #62 e=4.71261 g=0 s=20.7239 (6.83s) #63 e=4.70868 g=0 s=5.39446 (6.81s) #64 e=4.70181 g=0.0570523 s=1.28275 (9.73s) #65 e=4.70008 g=0.0419803 s=3.57692 (107.24s) #66 e=4.69942 g=0.0180825 s=7.58448 (140.67s) #67 e=4.69936 g=0.0158756 s=19.2759 (213.55s) #68 e=4.69924 g=0.13851 s=56.0367 (272.64s) #69 e=4.69895 g=1.07034 s=153.158 (315.46s) #70 e=4.69853 g=3.24864 s=304.826 (336.29s) #71 e=4.69843 g=0.717455 s=503.507 (338.28s) #72 e=4.69836 g=0.174055 s=1319.59 (341.97s) #73 e=4.69832 g=0.46628 s=3786.69 (342.07s) #74 e=4.69864 g=0.312969 s=3231.46 (341.57s) #75 e=4.69839 g=0.315059 s=2895.51 (340.52s) #76 e=4.69827 g=0.251557 s=3798.35 (342.89s) #77 e=4.69821 g=0.186061 s=3396.94 (343.46s) #78 e=4.69816 g=0.132639 s=3170.19 (343.07s) #79 e=4.69813 g=0.153135 s=2929.26 (342.60s) #80 e=4.69812 g=0.0911488 s=7641.45 (345.91s) #81 e=4.69811 g=0.129935 s=17675.9 (346.16s) Solver Summary (v 1.12.0-eigen-(3.2.10)-lapack-suitesparse-()-eigensparse-openmp) Original Reduced Parameter blocks 1384503 1384503 Parameters 4158275 4158275 Effective parameters 4158274 4158274 Residual blocks 7922591 7922591 Residual 15845181 15845181 Minimizer TRUST_REGION Trust region strategy LEVENBERG_MARQUARDT Given Used Linear solver ITERATIVE_SCHUR ITERATIVE_SCHUR Preconditioner SCHUR_JACOBI SCHUR_JACOBI Threads 8 8 Linear solver threads 8 8 Linear solver ordering 1382915, 1587, 1 1382915, 1587, 1 Cost: Initial 8.216223e-01 Final 7.866347e-01 Change 3.498759e-02 Minimizer iterations 82 Successful steps 70 Unsuccessful steps 12 Time (in seconds): Preprocessor 5.4533 Residual evaluation 24.5284 Jacobian evaluation 169.1622 Linear solver 14273.5001 Minimizer 14549.6169 Postprocessor 0.2552 Total 14555.3255 Termination: USER_SUCCESS (User callback returned SOLVER_TERMINATE_SUCCESSFULLY.) Clustered Bundle adjustment of 1382915/1382915 vertices and 1587/1587 cameras: initial average squared error 4.90707 optimized to 4.69811 in 82 iterations (1984 bad-conditioned, 10930 outlier, 0 extreme, 189 far points) (4h2m46s53ms)