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Task04 Павел Ральников СПбГУ#141

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Task04 Павел Ральников СПбГУ#141
PaulRalnikov wants to merge 4 commits into
PhotogrammetryCourse:task04from
PaulRalnikov:task04

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@PaulRalnikov PaulRalnikov commented May 10, 2026 •
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Перечислите идеи и коротко обозначьте мысли которые у вас возникали по мере выполнения задания, в частности попробуйте ответить на вопросы:

  1. test_ceres_solver/FitLine: почему найденная прямая и эталонная - не совпадают? Как это исправить пост-обработкой? Как это исправить формулировкой задачи?

Общая проблема - одну и ту же прямую можно задать пачкой разных (a, b, c)
Варианты:

  1. Пост обработка 1: отнормировать идеальную прямую и найдунную прямую так, чтобы их нормали были единичными и смотрели в одну сторону (например a >= 0)
  2. Пост обработка 2: отнормировать по одному коэффициенту (в данном случае почему-то работает лучше)
  3. Постановка задачи 1: вместо (a, b, c) заменить (a, b) на угол наклона. Но тут могут быть проблемы с вертикальными прямыми
  4. Постановка задачи 2: накинуть (a2 + b2) = 1 в качестве условия
  1. BA: представьте что вы написали преобразование phg::Calibration -> блок параметров и обратное блок параметров -> phg::Calibration. Как проверить простым образом что эти преобразования сделаны корректно? Что должно быть в логе про процент inliers до/после BA если runBA() вызывать всегда два раза пордяд? Иначе говоря - что следует из того что в идеале runBA() должна быть (мне очень нравится это слово) - идемпотентна?

Сделать сначала прямое преобразование, а на результате обратное. Параметры после очередной итерации и до следующей в логах должны совпадать

  1. Какое максимальное число кадров у вас получилось хорошо выравнять для каждого из датасетов? (проверьте хотя бы saharov32 и herzjesu25) Не забудьте приложить скриншоты.

В целом выровнялись оба датасета, но было замечено, что иногда тесты падают, если поменять формулу для отбрасывания по углу (оставить ее такой же по мути, но попреобразовывать умножения\деления etc). Но это нецелочисленная геометрия, видимо, это норм). А еще я не нашел кнопки с цветами, поэтому скрины без них(

изображение изображение
  1. Если бы вычисления в double были абсолютно точны - можно ли было бы назвать вычисления в Calibration::project/unproject строго зеркальными?

Нет, все равно в unproject у нас приближенный итерационный алгоритм, который, не дает точного ответа.

  1. Почему фокальная длина меняется от того что мы уменьшаем картинку? Почему именно f/downscale?

Фокусное расстояние обратно пропорционально размеру пикселя, поэтому делим на downscale

  1. Имеет ли право BA двигать точку отсчета системы координат (т.е. добавить константу ко всем координатам)? Как это повлияет на суммарную Loss?

Мы фиксируем положение первой камеры, поэтому система координат никуда не уползет. Но если бы этого не было, лосс бы не поменялся

  1. Каким образом можно гарантировать чтобы при сравнении нескольких последовательно построенных облаков точек одного и того же датасета (созданных по мере добавления фотографии за фотографией) в MeshLab - облака не были хаотично смещены/отмасштабированы/повернуты друг от друга?

Зафиксировать координаны двух камер

  1. Если есть - фидбек/идеи по улучшению задания.
Github Actions CI

Run ./build/test_ceres_solver
Running main() from /home/runner/work/PhotogrammetryTasks2026/PhotogrammetryTasks2026/libs/3rdparty/libgtest/googletest/src/gtest_main.cc
[==========] Running 5 tests from 1 test suite.
[----------] Global test environment set-up.
[----------] 5 tests from CeresSolver
[ RUN      ] CeresSolver.HelloWorld1
iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  1.250000e+01    0.00e+00    5.00e+00   0.00e+00   0.00e+00  1.00e+04        0    1.10e-05    5.51e-05
   1  1.249750e-07    1.25e+01    5.00e-04   0.00e+00   1.00e+00  3.00e+04        1    5.10e-05    1.32e-04
   2  1.388518e-16    1.25e-07    1.67e-08   5.00e-04   1.00e+00  9.00e+04        1    2.86e-06    1.46e-04
Ceres Solver Report: Iterations: 3, Initial cost: 1.250000e+01, Final cost: 1.388518e-16, Termination: CONVERGENCE
x:     5 -> 10
f(x):  5 -> 1.66644e-08
f'(x): -1 -> -1
[       OK ] CeresSolver.HelloWorld1 (0 ms)
[ RUN      ] CeresSolver.HelloWorld2
iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  6.131250e+04    0.00e+00    1.40e+04   0.00e+00   0.00e+00  1.00e+04        0    4.05e-06    9.06e-06
   1  3.127313e+04    3.00e+04    7.82e+03   0.00e+00   4.90e-01  1.00e+04        1    8.11e-06    2.81e-05
   2  5.685772e+02    3.07e+04    7.75e+02   1.01e+02   9.82e-01  3.00e+04        1    3.81e-06    3.70e-05
   3  1.137952e+02    4.55e+02    2.90e+02   2.55e+01   8.00e-01  3.83e+04        1    3.10e-06    4.51e-05
   4  1.931689e+00    1.12e+02    3.82e+01   1.97e+01   9.83e-01  1.15e+05        1    4.05e-06    5.32e-05
   5  6.620880e-01    1.27e+00    2.23e+01   4.56e+00   6.57e-01  1.18e+05        1    3.10e-06    6.01e-05
   6  1.715778e-02    6.45e-01    2.45e+00   4.10e+00   9.74e-01  3.55e+05        1    2.86e-06    6.79e-05
   7  2.040825e-03    1.51e-02    8.69e-01   8.05e-01   8.81e-01  6.37e+05        1    2.15e-06    7.41e-05
   8  3.955432e-04    1.65e-03    1.23e-01   8.19e-01   8.06e-01  8.28e+05        1    3.10e-06    7.92e-05
   9  4.204592e-05    3.53e-04    3.09e-02   1.49e-01   8.94e-01  1.62e+06        1    4.05e-06    9.42e-05
  10  1.366023e-05    2.84e-05    5.85e-03   1.57e-01   6.75e-01  1.69e+06        1    4.05e-06    1.01e-04
  11  1.455687e-06    1.22e-05    7.13e-04   2.79e-02   8.93e-01  3.29e+06        1    2.86e-06    1.08e-04
  12  4.821191e-07    9.74e-07    7.85e-04   2.95e-02   6.69e-01  3.43e+06        1    4.05e-06    1.15e-04
  13  5.128650e-08    4.31e-07    2.64e-04   5.24e-03   8.94e-01  6.69e+06        1    3.10e-06    1.22e-04
  14  1.696961e-08    3.43e-08    1.71e-04   5.54e-03   6.69e-01  6.96e+06        1    2.86e-06    1.29e-04
  15  1.803689e-09    1.52e-08    5.60e-05   9.82e-04   8.94e-01  1.36e+07        1    3.10e-06    1.36e-04
  16  5.966373e-10    1.21e-09    3.29e-05   1.04e-03   6.69e-01  1.41e+07        1    2.86e-06    1.44e-04
  17  6.339313e-11    5.33e-10    1.07e-05   1.84e-04   8.94e-01  2.77e+07        1    1.91e-06    1.54e-04
  18  2.096924e-11    4.24e-11    6.19e-06   1.95e-04   6.69e-01  2.88e+07        1    3.10e-06    1.64e-04
  19  2.227619e-12    1.87e-11    2.02e-06   3.45e-05   8.94e-01  5.62e+07        1    2.86e-06    1.71e-04
  20  7.368654e-13    1.49e-12    1.16e-06   3.65e-05   6.69e-01  5.85e+07        1    4.05e-06    1.78e-04
  21  7.827280e-14    6.59e-13    3.79e-07   6.47e-06   8.94e-01  1.14e+08        1    3.10e-06    1.84e-04
  22  2.589188e-14    5.24e-14    2.18e-07   6.84e-06   6.69e-01  1.19e+08        1    4.05e-06    1.92e-04
Ceres Solver Report: Iterations: 23, Initial cost: 6.131250e+04, Final cost: 2.589188e-14, Termination: CONVERGENCE
Found intersection point: (10, 5, 200)
[       OK ] CeresSolver.HelloWorld2 (0 ms)
[ RUN      ] CeresSolver.FitLineNoise
iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  4.506761e+07    0.00e+00    1.61e+08   0.00e+00   0.00e+00  1.00e+04        0    1.22e-04    1.90e-04
   1  4.658321e+02    4.51e+07    1.33e+04   0.00e+00   1.00e+00  3.00e+04        1    2.51e-04    4.54e-04
   2  4.654480e+02    3.84e-01    1.61e-01   5.13e-03   1.00e+00  9.00e+04        1    2.17e-04    6.81e-04
Ceres Solver Report: Iterations: 3, Initial cost: 4.506761e+07, Final cost: 4.654480e+02, Termination: CONVERGENCE
Found line: (a=-0.500026, b=0.999948, c=-100.052)
[       OK ] CeresSolver.FitLineNoise (2 ms)
[ RUN      ] CeresSolver.FitLineNoiseAndOutliers
iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  1.201187e+08    0.00e+00    1.37e+08   0.00e+00   0.00e+00  1.00e+04        0    1.05e-04    1.36e-04
   1  7.448902e+07    4.56e+07    5.33e+07   0.00e+00   1.41e+00  3.00e+04        1    2.19e-04    3.63e-04
   2  6.772855e+07    6.76e+06    1.27e+07   1.55e+01   1.41e+00  9.00e+04        1    2.35e-04    6.07e-04
   3  6.739936e+07    3.29e+05    3.88e+06   2.30e+00   1.33e+00  2.70e+05        1    2.23e-04    8.38e-04
   4  6.736832e+07    3.10e+04    1.21e+06   6.64e-01   1.32e+00  8.10e+05        1    2.23e-04    1.07e-03
   5  6.736525e+07    3.07e+03    3.83e+05   2.05e-01   1.32e+00  2.43e+06        1    2.20e-04    1.30e-03
   6  6.736495e+07    3.06e+02    1.21e+05   6.45e-02   1.32e+00  7.29e+06        1    2.20e-04    1.52e-03
Ceres Solver Report: Iterations: 7, Initial cost: 1.201187e+08, Final cost: 6.736495e+07, Termination: CONVERGENCE
Found line: (a=-0.549481, b=0.767491, c=-66.3904)
[       OK ] CeresSolver.FitLineNoiseAndOutliers (2 ms)
[ RUN      ] CeresSolver.FitLineNoiseAndOutliersWithHuberLoss
iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  1.096949e+06    0.00e+00    1.13e+06   0.00e+00   0.00e+00  1.00e+04        0    1.13e-04    1.44e-04
   1  5.506564e+05    5.46e+05    1.19e+06   0.00e+00   2.14e+00  3.00e+04        1    2.26e-04    3.79e-04
   2  4.578101e+05    9.28e+04    9.63e+05   6.74e+00   1.74e+00  9.00e+04        1    2.04e-04    5.90e-04
   3  4.504957e+05    7.31e+03    2.85e+05   3.04e-01   1.65e+00  2.70e+05        1    1.91e-04    7.88e-04
   4  4.503340e+05    1.62e+02    4.22e+03   1.43e-02   1.02e+00  8.10e+05        1    1.88e-04    9.83e-04
Ceres Solver Report: Iterations: 5, Initial cost: 1.096949e+06, Final cost: 4.503340e+05, Termination: CONVERGENCE
Found line: (a=-0.445255, b=0.889226, c=-88.902)
[       OK ] CeresSolver.FitLineNoiseAndOutliersWithHuberLoss (2 ms)
[----------] 5 tests from CeresSolver (6 ms total)

[----------] Global test environment tear-down
[==========] 5 tests from 1 test suite ran. (6 ms total)
[  PASSED  ] 5 tests.
2m 33s
Run ./build/test_sfm_ba
Running main() from /home/runner/work/PhotogrammetryTasks2026/PhotogrammetryTasks2026/libs/3rdparty/libgtest/googletest/src/gtest_main.cc
[==========] Running 1 test from 1 test suite.
[----------] Global test environment set-up.
[----------] 1 test from SFM
[ RUN      ] SFM.ReconstructNViews
32 images
detecting points...
matching points...
0% - Cameras 0-1 (IMG_3023.JPG-IMG_3024.JPG): 1159 matches
1% - Cameras 0-2 (IMG_3023.JPG-IMG_3025.JPG): 442 matches
1% - Cameras 0-3 (IMG_3023.JPG-IMG_3026.JPG): 148 matches
1% - Cameras 0-4 (IMG_3023.JPG-IMG_3027.JPG): 53 matches
2% - Cameras 8-3 (IMG_3031.JPG-IMG_3026.JPG): 21 matches
2% - Cameras 8-4 (IMG_3031.JPG-IMG_3027.JPG): 182 matches
2% - Cameras 8-5 (IMG_3031.JPG-IMG_3028.JPG): 361 matches
3% - Cameras 8-6 (IMG_3031.JPG-IMG_3029.JPG): 876 matches
3% - Cameras 8-7 (IMG_3031.JPG-IMG_3030.JPG): 1254 matches
4% - Cameras 8-9 (IMG_3031.JPG-IMG_3032.JPG): 1556 matches
4% - Cameras 8-10 (IMG_3031.JPG-IMG_3033.JPG): 661 matches
4% - Cameras 0-11 (IMG_3023.JPG-IMG_3034.JPG): 19 matches
4% - Cameras 8-11 (IMG_3031.JPG-IMG_3034.JPG): 191 matches
5% - Cameras 16-11 (IMG_3039.JPG-IMG_3034.JPG): 61 matches
5% - Cameras 16-12 (IMG_3039.JPG-IMG_3035.JPG): 171 matches
6% - Cameras 0-15 (IMG_3023.JPG-IMG_3038.JPG): 2 matches
6% - Cameras 16-13 (IMG_3039.JPG-IMG_3036.JPG): 367 matches
6% - Cameras 16-14 (IMG_3039.JPG-IMG_3037.JPG): 816 matches
7% - Cameras 16-15 (IMG_3039.JPG-IMG_3038.JPG): 1308 matches
7% - Cameras 16-17 (IMG_3039.JPG-IMG_3040.JPG): 1594 matches
8% - Cameras 16-18 (IMG_3039.JPG-IMG_3041.JPG): 1082 matches
8% - Cameras 16-19 (IMG_3039.JPG-IMG_3042.JPG): 332 matches
8% - Cameras 16-20 (IMG_3039.JPG-IMG_3043.JPG): 51 matches
8% - Cameras 24-19 (IMG_3047.JPG-IMG_3042.JPG): 14 matches
9% - Cameras 24-20 (IMG_3047.JPG-IMG_3043.JPG): 188 matches
9% - Cameras 24-21 (IMG_3047.JPG-IMG_3044.JPG): 401 matches
9% - Cameras 24-22 (IMG_3047.JPG-IMG_3045.JPG): 992 matches
10% - Cameras 24-23 (IMG_3047.JPG-IMG_3046.JPG): 1327 matches
10% - Cameras 24-25 (IMG_3047.JPG-IMG_3048.JPG): 1327 matches
10% - Cameras 0-28 (IMG_3023.JPG-IMG_3051.JPG): 515 matches
11% - Cameras 24-26 (IMG_3047.JPG-IMG_3049.JPG): 688 matches
11% - Cameras 0-29 (IMG_3023.JPG-IMG_3052.JPG): 917 matches
11% - Cameras 24-27 (IMG_3047.JPG-IMG_3050.JPG): 324 matches
11% - Cameras 0-30 (IMG_3023.JPG-IMG_3053.JPG): 2339 matches
11% - Cameras 24-28 (IMG_3047.JPG-IMG_3051.JPG): 94 matches
11% - Cameras 0-31 (IMG_3023.JPG-IMG_3054.JPG): 1154 matches
12% - Cameras 1-0 (IMG_3024.JPG-IMG_3023.JPG): 1030 matches
12% - Cameras 1-2 (IMG_3024.JPG-IMG_3025.JPG): 1153 matches
13% - Cameras 1-3 (IMG_3024.JPG-IMG_3026.JPG): 368 matches
13% - Cameras 1-4 (IMG_3024.JPG-IMG_3027.JPG): 143 matches
14% - Cameras 9-4 (IMG_3032.JPG-IMG_3027.JPG): 74 matches
15% - Cameras 9-5 (IMG_3032.JPG-IMG_3028.JPG): 295 matches
15% - Cameras 9-6 (IMG_3032.JPG-IMG_3029.JPG): 447 matches
16% - Cameras 9-7 (IMG_3032.JPG-IMG_3030.JPG): 760 matches
16% - Cameras 9-8 (IMG_3032.JPG-IMG_3031.JPG): 1563 matches
16% - Cameras 9-10 (IMG_3032.JPG-IMG_3033.JPG): 1354 matches
17% - Cameras 9-11 (IMG_3032.JPG-IMG_3034.JPG): 418 matches
17% - Cameras 1-14 (IMG_3024.JPG-IMG_3037.JPG): 28 matches
17% - Cameras 9-12 (IMG_3032.JPG-IMG_3035.JPG): 34 matches
18% - Cameras 17-11 (IMG_3040.JPG-IMG_3034.JPG): 20 matches
18% - Cameras 17-12 (IMG_3040.JPG-IMG_3035.JPG): 89 matches
19% - Cameras 17-13 (IMG_3040.JPG-IMG_3036.JPG): 257 matches
19% - Cameras 17-14 (IMG_3040.JPG-IMG_3037.JPG): 369 matches
20% - Cameras 17-15 (IMG_3040.JPG-IMG_3038.JPG): 830 matches
20% - Cameras 17-16 (IMG_3040.JPG-IMG_3039.JPG): 1642 matches
21% - Cameras 17-18 (IMG_3040.JPG-IMG_3041.JPG): 1637 matches
21% - Cameras 17-19 (IMG_3040.JPG-IMG_3042.JPG): 1093 matches
21% - Cameras 25-19 (IMG_3048.JPG-IMG_3042.JPG): 26 matches
21% - Cameras 17-20 (IMG_3040.JPG-IMG_3043.JPG): 106 matches
22% - Cameras 25-20 (IMG_3048.JPG-IMG_3043.JPG): 99 matches
22% - Cameras 25-21 (IMG_3048.JPG-IMG_3044.JPG): 294 matches
22% - Cameras 25-22 (IMG_3048.JPG-IMG_3045.JPG): 464 matches
22% - Cameras 1-28 (IMG_3024.JPG-IMG_3051.JPG): 113 matches
23% - Cameras 25-23 (IMG_3048.JPG-IMG_3046.JPG): 879 matches
23% - Cameras 1-29 (IMG_3024.JPG-IMG_3052.JPG): 309 matches
23% - Cameras 1-30 (IMG_3024.JPG-IMG_3053.JPG): 918 matches
23% - Cameras 25-24 (IMG_3048.JPG-IMG_3047.JPG): 1348 matches
23% - Cameras 1-31 (IMG_3024.JPG-IMG_3054.JPG): 1607 matches
24% - Cameras 25-26 (IMG_3048.JPG-IMG_3049.JPG): 942 matches
24% - Cameras 2-0 (IMG_3025.JPG-IMG_3023.JPG): 534 matches
24% - Cameras 25-27 (IMG_3048.JPG-IMG_3050.JPG): 464 matches
24% - Cameras 2-1 (IMG_3025.JPG-IMG_3024.JPG): 1128 matches
24% - Cameras 2-3 (IMG_3025.JPG-IMG_3026.JPG): 1261 matches
25% - Cameras 25-28 (IMG_3048.JPG-IMG_3051.JPG): 144 matches
25% - Cameras 2-4 (IMG_3025.JPG-IMG_3027.JPG): 646 matches
25% - Cameras 2-5 (IMG_3025.JPG-IMG_3028.JPG): 113 matches
26% - Cameras 2-6 (IMG_3025.JPG-IMG_3029.JPG): 49 matches
26% - Cameras 10-4 (IMG_3033.JPG-IMG_3027.JPG): 63 matches
26% - Cameras 2-7 (IMG_3025.JPG-IMG_3030.JPG): 44 matches
27% - Cameras 10-5 (IMG_3033.JPG-IMG_3028.JPG): 273 matches
27% - Cameras 10-6 (IMG_3033.JPG-IMG_3029.JPG): 341 matches
27% - Cameras 10-7 (IMG_3033.JPG-IMG_3030.JPG): 404 matches
28% - Cameras 10-8 (IMG_3033.JPG-IMG_3031.JPG): 601 matches
28% - Cameras 10-9 (IMG_3033.JPG-IMG_3032.JPG): 1340 matches
28% - Cameras 10-11 (IMG_3033.JPG-IMG_3034.JPG): 1121 matches
29% - Cameras 10-12 (IMG_3033.JPG-IMG_3035.JPG): 484 matches
29% - Cameras 10-13 (IMG_3033.JPG-IMG_3036.JPG): 46 matches
30% - Cameras 10-14 (IMG_3033.JPG-IMG_3037.JPG): 4 matches
31% - Cameras 18-12 (IMG_3041.JPG-IMG_3035.JPG): 18 matches
31% - Cameras 18-13 (IMG_3041.JPG-IMG_3036.JPG): 110 matches
32% - Cameras 18-14 (IMG_3041.JPG-IMG_3037.JPG): 154 matches
32% - Cameras 18-15 (IMG_3041.JPG-IMG_3038.JPG): 309 matches
33% - Cameras 18-16 (IMG_3041.JPG-IMG_3039.JPG): 1139 matches
33% - Cameras 18-17 (IMG_3041.JPG-IMG_3040.JPG): 1646 matches
33% - Cameras 18-19 (IMG_3041.JPG-IMG_3042.JPG): 1339 matches
34% - Cameras 18-20 (IMG_3041.JPG-IMG_3043.JPG): 321 matches
34% - Cameras 18-21 (IMG_3041.JPG-IMG_3044.JPG): 109 matches
34% - Cameras 2-28 (IMG_3025.JPG-IMG_3051.JPG): 26 matches
35% - Cameras 2-29 (IMG_3025.JPG-IMG_3052.JPG): 177 matches
35% - Cameras 2-30 (IMG_3025.JPG-IMG_3053.JPG): 367 matches
35% - Cameras 2-31 (IMG_3025.JPG-IMG_3054.JPG): 777 matches
36% - Cameras 26-19 (IMG_3049.JPG-IMG_3042.JPG): 35 matches
36% - Cameras 3-0 (IMG_3026.JPG-IMG_3023.JPG): 170 matches
36% - Cameras 26-20 (IMG_3049.JPG-IMG_3043.JPG): 97 matches
36% - Cameras 3-1 (IMG_3026.JPG-IMG_3024.JPG): 361 matches
36% - Cameras 26-21 (IMG_3049.JPG-IMG_3044.JPG): 195 matches
37% - Cameras 3-2 (IMG_3026.JPG-IMG_3025.JPG): 1188 matches
37% - Cameras 26-22 (IMG_3049.JPG-IMG_3045.JPG): 333 matches
37% - Cameras 3-4 (IMG_3026.JPG-IMG_3027.JPG): 1525 matches
37% - Cameras 26-23 (IMG_3049.JPG-IMG_3046.JPG): 455 matches
38% - Cameras 3-5 (IMG_3026.JPG-IMG_3028.JPG): 717 matches
38% - Cameras 11-4 (IMG_3034.JPG-IMG_3027.JPG): 84 matches
38% - Cameras 26-24 (IMG_3049.JPG-IMG_3047.JPG): 733 matches
38% - Cameras 11-5 (IMG_3034.JPG-IMG_3028.JPG): 143 matches
38% - Cameras 3-6 (IMG_3026.JPG-IMG_3029.JPG): 300 matches
38% - Cameras 11-6 (IMG_3034.JPG-IMG_3029.JPG): 149 matches
38% - Cameras 3-7 (IMG_3026.JPG-IMG_3030.JPG): 74 matches
38% - Cameras 26-25 (IMG_3049.JPG-IMG_3048.JPG): 935 matches
39% - Cameras 11-7 (IMG_3034.JPG-IMG_3030.JPG): 140 matches
39% - Cameras 3-8 (IMG_3026.JPG-IMG_3031.JPG): 13 matches
39% - Cameras 26-27 (IMG_3049.JPG-IMG_3050.JPG): 880 matches
39% - Cameras 11-8 (IMG_3034.JPG-IMG_3031.JPG): 207 matches
39% - Cameras 11-9 (IMG_3034.JPG-IMG_3032.JPG): 470 matches
39% - Cameras 26-28 (IMG_3049.JPG-IMG_3051.JPG): 316 matches
40% - Cameras 11-10 (IMG_3034.JPG-IMG_3033.JPG): 1095 matches
40% - Cameras 11-12 (IMG_3034.JPG-IMG_3035.JPG): 1289 matches
40% - Cameras 3-12 (IMG_3026.JPG-IMG_3035.JPG): 3 matches
41% - Cameras 11-13 (IMG_3034.JPG-IMG_3036.JPG): 491 matches
41% - Cameras 11-14 (IMG_3034.JPG-IMG_3037.JPG): 164 matches
41% - Cameras 11-15 (IMG_3034.JPG-IMG_3038.JPG): 124 matches
41% - Cameras 27-0 (IMG_3050.JPG-IMG_3023.JPG): 29 matches
42% - Cameras 11-16 (IMG_3034.JPG-IMG_3039.JPG): 34 matches
43% - Cameras 19-13 (IMG_3042.JPG-IMG_3036.JPG): 32 matches
44% - Cameras 19-14 (IMG_3042.JPG-IMG_3037.JPG): 70 matches
44% - Cameras 19-15 (IMG_3042.JPG-IMG_3038.JPG): 99 matches
44% - Cameras 19-16 (IMG_3042.JPG-IMG_3039.JPG): 229 matches
45% - Cameras 19-17 (IMG_3042.JPG-IMG_3040.JPG): 840 matches
45% - Cameras 19-18 (IMG_3042.JPG-IMG_3041.JPG): 998 matches
45% - Cameras 19-20 (IMG_3042.JPG-IMG_3043.JPG): 915 matches
46% - Cameras 19-21 (IMG_3042.JPG-IMG_3044.JPG): 382 matches
46% - Cameras 19-22 (IMG_3042.JPG-IMG_3045.JPG): 179 matches
46% - Cameras 19-23 (IMG_3042.JPG-IMG_3046.JPG): 97 matches
47% - Cameras 19-24 (IMG_3042.JPG-IMG_3047.JPG): 97 matches
47% - Cameras 19-25 (IMG_3042.JPG-IMG_3048.JPG): 42 matches
47% - Cameras 3-29 (IMG_3026.JPG-IMG_3052.JPG): 62 matches
47% - Cameras 19-26 (IMG_3042.JPG-IMG_3049.JPG): 21 matches
48% - Cameras 3-30 (IMG_3026.JPG-IMG_3053.JPG): 128 matches
48% - Cameras 3-31 (IMG_3026.JPG-IMG_3054.JPG): 244 matches
48% - Cameras 4-0 (IMG_3027.JPG-IMG_3023.JPG): 77 matches
49% - Cameras 4-1 (IMG_3027.JPG-IMG_3024.JPG): 151 matches
49% - Cameras 4-2 (IMG_3027.JPG-IMG_3025.JPG): 660 matches
50% - Cameras 4-3 (IMG_3027.JPG-IMG_3026.JPG): 1695 matches
50% - Cameras 4-5 (IMG_3027.JPG-IMG_3028.JPG): 1404 matches
50% - Cameras 4-6 (IMG_3027.JPG-IMG_3029.JPG): 1059 matches
51% - Cameras 4-7 (IMG_3027.JPG-IMG_3030.JPG): 297 matches
51% - Cameras 12-9 (IMG_3035.JPG-IMG_3032.JPG): 4 matches
51% - Cameras 4-8 (IMG_3027.JPG-IMG_3031.JPG): 142 matches
51% - Cameras 12-10 (IMG_3035.JPG-IMG_3033.JPG): 488 matches
52% - Cameras 27-20 (IMG_3050.JPG-IMG_3043.JPG): 22 matches
52% - Cameras 4-9 (IMG_3027.JPG-IMG_3032.JPG): 123 matches
52% - Cameras 12-11 (IMG_3035.JPG-IMG_3034.JPG): 1301 matches
52% - Cameras 4-10 (IMG_3027.JPG-IMG_3033.JPG): 122 matches
52% - Cameras 27-21 (IMG_3050.JPG-IMG_3044.JPG): 101 matches
52% - Cameras 12-13 (IMG_3035.JPG-IMG_3036.JPG): 1089 matches
52% - Cameras 4-11 (IMG_3027.JPG-IMG_3034.JPG): 109 matches
52% - Cameras 27-22 (IMG_3050.JPG-IMG_3045.JPG): 200 matches
53% - Cameras 12-14 (IMG_3035.JPG-IMG_3037.JPG): 430 matches
53% - Cameras 4-12 (IMG_3027.JPG-IMG_3035.JPG): 4 matches
53% - Cameras 27-23 (IMG_3050.JPG-IMG_3046.JPG): 288 matches
53% - Cameras 12-15 (IMG_3035.JPG-IMG_3038.JPG): 294 matches
53% - Cameras 12-16 (IMG_3035.JPG-IMG_3039.JPG): 172 matches
54% - Cameras 27-24 (IMG_3050.JPG-IMG_3047.JPG): 413 matches
54% - Cameras 12-17 (IMG_3035.JPG-IMG_3040.JPG): 94 matches
54% - Cameras 27-25 (IMG_3050.JPG-IMG_3048.JPG): 528 matches
54% - Cameras 12-18 (IMG_3035.JPG-IMG_3041.JPG): 42 matches
54% - Cameras 20-14 (IMG_3043.JPG-IMG_3037.JPG): 15 matches
55% - Cameras 27-26 (IMG_3050.JPG-IMG_3049.JPG): 847 matches
55% - Cameras 20-15 (IMG_3043.JPG-IMG_3038.JPG): 26 matches
55% - Cameras 20-16 (IMG_3043.JPG-IMG_3039.JPG): 65 matches
55% - Cameras 27-28 (IMG_3050.JPG-IMG_3051.JPG): 773 matches
56% - Cameras 20-17 (IMG_3043.JPG-IMG_3040.JPG): 125 matches
56% - Cameras 27-29 (IMG_3050.JPG-IMG_3052.JPG): 248 matches
56% - Cameras 20-18 (IMG_3043.JPG-IMG_3041.JPG): 394 matches
56% - Cameras 20-19 (IMG_3043.JPG-IMG_3042.JPG): 947 matches
56% - Cameras 27-30 (IMG_3050.JPG-IMG_3053.JPG): 39 matches
57% - Cameras 20-21 (IMG_3043.JPG-IMG_3044.JPG): 777 matches
57% - Cameras 27-31 (IMG_3050.JPG-IMG_3054.JPG): 29 matches
57% - Cameras 20-22 (IMG_3043.JPG-IMG_3045.JPG): 397 matches
57% - Cameras 20-23 (IMG_3043.JPG-IMG_3046.JPG): 342 matches
57% - Cameras 28-0 (IMG_3051.JPG-IMG_3023.JPG): 486 matches
58% - Cameras 20-24 (IMG_3043.JPG-IMG_3047.JPG): 246 matches
58% - Cameras 28-1 (IMG_3051.JPG-IMG_3024.JPG): 148 matches
58% - Cameras 20-25 (IMG_3043.JPG-IMG_3048.JPG): 146 matches
58% - Cameras 28-2 (IMG_3051.JPG-IMG_3025.JPG): 51 matches
58% - Cameras 20-26 (IMG_3043.JPG-IMG_3049.JPG): 81 matches
59% - Cameras 20-27 (IMG_3043.JPG-IMG_3050.JPG): 27 matches
60% - Cameras 4-30 (IMG_3027.JPG-IMG_3053.JPG): 67 matches
60% - Cameras 4-31 (IMG_3027.JPG-IMG_3054.JPG): 93 matches
61% - Cameras 5-1 (IMG_3028.JPG-IMG_3024.JPG): 49 matches
61% - Cameras 5-2 (IMG_3028.JPG-IMG_3025.JPG): 150 matches
62% - Cameras 5-3 (IMG_3028.JPG-IMG_3026.JPG): 852 matches
62% - Cameras 5-4 (IMG_3028.JPG-IMG_3027.JPG): 1396 matches
63% - Cameras 5-6 (IMG_3028.JPG-IMG_3029.JPG): 1780 matches
63% - Cameras 5-7 (IMG_3028.JPG-IMG_3030.JPG): 1044 matches
63% - Cameras 5-8 (IMG_3028.JPG-IMG_3031.JPG): 374 matches
64% - Cameras 13-10 (IMG_3036.JPG-IMG_3033.JPG): 17 matches
64% - Cameras 5-9 (IMG_3028.JPG-IMG_3032.JPG): 310 matches
64% - Cameras 13-11 (IMG_3036.JPG-IMG_3034.JPG): 464 matches
64% - Cameras 5-10 (IMG_3028.JPG-IMG_3033.JPG): 294 matches
64% - Cameras 13-12 (IMG_3036.JPG-IMG_3035.JPG): 1111 matches
65% - Cameras 5-11 (IMG_3028.JPG-IMG_3034.JPG): 163 matches
65% - Cameras 13-14 (IMG_3036.JPG-IMG_3037.JPG): 1036 matches
65% - Cameras 13-15 (IMG_3036.JPG-IMG_3038.JPG): 894 matches
66% - Cameras 13-16 (IMG_3036.JPG-IMG_3039.JPG): 366 matches
66% - Cameras 13-17 (IMG_3036.JPG-IMG_3040.JPG): 207 matches
66% - Cameras 13-18 (IMG_3036.JPG-IMG_3041.JPG): 105 matches
66% - Cameras 21-17 (IMG_3044.JPG-IMG_3040.JPG): 42 matches
67% - Cameras 21-18 (IMG_3044.JPG-IMG_3041.JPG): 102 matches
67% - Cameras 13-19 (IMG_3036.JPG-IMG_3042.JPG): 30 matches
67% - Cameras 21-19 (IMG_3044.JPG-IMG_3042.JPG): 384 matches
67% - Cameras 21-20 (IMG_3044.JPG-IMG_3043.JPG): 834 matches
67% - Cameras 28-21 (IMG_3051.JPG-IMG_3044.JPG): 16 matches
68% - Cameras 21-22 (IMG_3044.JPG-IMG_3045.JPG): 810 matches
68% - Cameras 28-22 (IMG_3051.JPG-IMG_3045.JPG): 82 matches
68% - Cameras 21-23 (IMG_3044.JPG-IMG_3046.JPG): 650 matches
68% - Cameras 28-23 (IMG_3051.JPG-IMG_3046.JPG): 116 matches
69% - Cameras 21-24 (IMG_3044.JPG-IMG_3047.JPG): 402 matches
69% - Cameras 21-25 (IMG_3044.JPG-IMG_3048.JPG): 289 matches
69% - Cameras 28-24 (IMG_3051.JPG-IMG_3047.JPG): 78 matches
69% - Cameras 21-26 (IMG_3044.JPG-IMG_3049.JPG): 205 matches
69% - Cameras 28-25 (IMG_3051.JPG-IMG_3048.JPG): 165 matches
70% - Cameras 21-27 (IMG_3044.JPG-IMG_3050.JPG): 64 matches
70% - Cameras 28-26 (IMG_3051.JPG-IMG_3049.JPG): 302 matches
70% - Cameras 21-28 (IMG_3044.JPG-IMG_3051.JPG): 27 matches
70% - Cameras 28-27 (IMG_3051.JPG-IMG_3050.JPG): 787 matches
71% - Cameras 28-29 (IMG_3051.JPG-IMG_3052.JPG): 954 matches
71% - Cameras 28-30 (IMG_3051.JPG-IMG_3053.JPG): 567 matches
72% - Cameras 28-31 (IMG_3051.JPG-IMG_3054.JPG): 140 matches
72% - Cameras 29-0 (IMG_3052.JPG-IMG_3023.JPG): 905 matches
73% - Cameras 29-1 (IMG_3052.JPG-IMG_3024.JPG): 378 matches
73% - Cameras 5-31 (IMG_3028.JPG-IMG_3054.JPG): 9 matches
73% - Cameras 29-2 (IMG_3052.JPG-IMG_3025.JPG): 155 matches
73% - Cameras 29-3 (IMG_3052.JPG-IMG_3026.JPG): 38 matches
74% - Cameras 6-2 (IMG_3029.JPG-IMG_3025.JPG): 51 matches
74% - Cameras 6-3 (IMG_3029.JPG-IMG_3026.JPG): 304 matches
75% - Cameras 6-4 (IMG_3029.JPG-IMG_3027.JPG): 884 matches
76% - Cameras 6-5 (IMG_3029.JPG-IMG_3028.JPG): 1689 matches
76% - Cameras 6-7 (IMG_3029.JPG-IMG_3030.JPG): 1558 matches
76% - Cameras 14-11 (IMG_3037.JPG-IMG_3034.JPG): 138 matches
76% - Cameras 6-8 (IMG_3029.JPG-IMG_3031.JPG): 825 matches
77% - Cameras 14-12 (IMG_3037.JPG-IMG_3035.JPG): 431 matches
77% - Cameras 6-9 (IMG_3029.JPG-IMG_3032.JPG): 465 matches
77% - Cameras 14-13 (IMG_3037.JPG-IMG_3036.JPG): 996 matches
77% - Cameras 6-10 (IMG_3029.JPG-IMG_3033.JPG): 355 matches
77% - Cameras 14-15 (IMG_3037.JPG-IMG_3038.JPG): 1295 matches
78% - Cameras 6-11 (IMG_3029.JPG-IMG_3034.JPG): 133 matches
78% - Cameras 14-16 (IMG_3037.JPG-IMG_3039.JPG): 776 matches
78% - Cameras 22-18 (IMG_3045.JPG-IMG_3041.JPG): 32 matches
78% - Cameras 14-17 (IMG_3037.JPG-IMG_3040.JPG): 342 matches
78% - Cameras 22-19 (IMG_3045.JPG-IMG_3042.JPG): 136 matches
79% - Cameras 14-18 (IMG_3037.JPG-IMG_3041.JPG): 145 matches
79% - Cameras 22-20 (IMG_3045.JPG-IMG_3043.JPG): 456 matches
79% - Cameras 14-19 (IMG_3037.JPG-IMG_3042.JPG): 73 matches
79% - Cameras 22-21 (IMG_3045.JPG-IMG_3044.JPG): 872 matches
80% - Cameras 22-23 (IMG_3045.JPG-IMG_3046.JPG): 1254 matches
80% - Cameras 22-24 (IMG_3045.JPG-IMG_3047.JPG): 980 matches
80% - Cameras 22-25 (IMG_3045.JPG-IMG_3048.JPG): 466 matches
81% - Cameras 22-26 (IMG_3045.JPG-IMG_3049.JPG): 298 matches
81% - Cameras 22-27 (IMG_3045.JPG-IMG_3050.JPG): 153 matches
82% - Cameras 22-28 (IMG_3045.JPG-IMG_3051.JPG): 82 matches
82% - Cameras 29-23 (IMG_3052.JPG-IMG_3046.JPG): 8 matches
84% - Cameras 29-27 (IMG_3052.JPG-IMG_3050.JPG): 259 matches
84% - Cameras 29-28 (IMG_3052.JPG-IMG_3051.JPG): 851 matches
84% - Cameras 29-30 (IMG_3052.JPG-IMG_3053.JPG): 912 matches
85% - Cameras 15-2 (IMG_3038.JPG-IMG_3025.JPG): 1 matches
85% - Cameras 29-31 (IMG_3052.JPG-IMG_3054.JPG): 627 matches
85% - Cameras 30-0 (IMG_3053.JPG-IMG_3023.JPG): 2290 matches
85% - Cameras 30-1 (IMG_3053.JPG-IMG_3024.JPG): 1013 matches
86% - Cameras 30-2 (IMG_3053.JPG-IMG_3025.JPG): 331 matches
86% - Cameras 30-3 (IMG_3053.JPG-IMG_3026.JPG): 120 matches
87% - Cameras 30-4 (IMG_3053.JPG-IMG_3027.JPG): 25 matches
88% - Cameras 7-3 (IMG_3030.JPG-IMG_3026.JPG): 101 matches
88% - Cameras 7-4 (IMG_3030.JPG-IMG_3027.JPG): 341 matches
89% - Cameras 15-11 (IMG_3038.JPG-IMG_3034.JPG): 91 matches
89% - Cameras 7-5 (IMG_3030.JPG-IMG_3028.JPG): 1015 matches
89% - Cameras 15-12 (IMG_3038.JPG-IMG_3035.JPG): 261 matches
89% - Cameras 7-6 (IMG_3030.JPG-IMG_3029.JPG): 1554 matches
89% - Cameras 15-13 (IMG_3038.JPG-IMG_3036.JPG): 825 matches
90% - Cameras 15-14 (IMG_3038.JPG-IMG_3037.JPG): 1317 matches
90% - Cameras 7-8 (IMG_3030.JPG-IMG_3031.JPG): 1203 matches
90% - Cameras 23-19 (IMG_3046.JPG-IMG_3042.JPG): 45 matches
90% - Cameras 15-16 (IMG_3038.JPG-IMG_3039.JPG): 1314 matches
90% - Cameras 7-9 (IMG_3030.JPG-IMG_3032.JPG): 759 matches
90% - Cameras 23-20 (IMG_3046.JPG-IMG_3043.JPG): 282 matches
91% - Cameras 7-10 (IMG_3030.JPG-IMG_3033.JPG): 415 matches
91% - Cameras 15-17 (IMG_3038.JPG-IMG_3040.JPG): 875 matches
91% - Cameras 23-21 (IMG_3046.JPG-IMG_3044.JPG): 677 matches
91% - Cameras 7-11 (IMG_3030.JPG-IMG_3034.JPG): 160 matches
91% - Cameras 15-18 (IMG_3038.JPG-IMG_3041.JPG): 301 matches
91% - Cameras 23-22 (IMG_3046.JPG-IMG_3045.JPG): 1307 matches
91% - Cameras 15-19 (IMG_3038.JPG-IMG_3042.JPG): 107 matches
92% - Cameras 23-24 (IMG_3046.JPG-IMG_3047.JPG): 1353 matches
92% - Cameras 23-25 (IMG_3046.JPG-IMG_3048.JPG): 871 matches
92% - Cameras 23-26 (IMG_3046.JPG-IMG_3049.JPG): 421 matches
93% - Cameras 23-27 (IMG_3046.JPG-IMG_3050.JPG): 222 matches
93% - Cameras 23-28 (IMG_3046.JPG-IMG_3051.JPG): 71 matches
95% - Cameras 15-28 (IMG_3038.JPG-IMG_3051.JPG): 1 matches
96% - Cameras 30-27 (IMG_3053.JPG-IMG_3050.JPG): 21 matches
96% - Cameras 30-28 (IMG_3053.JPG-IMG_3051.JPG): 637 matches
96% - Cameras 30-29 (IMG_3053.JPG-IMG_3052.JPG): 937 matches
97% - Cameras 30-31 (IMG_3053.JPG-IMG_3054.JPG): 978 matches
97% - Cameras 31-0 (IMG_3054.JPG-IMG_3023.JPG): 1132 matches
97% - Cameras 31-1 (IMG_3054.JPG-IMG_3024.JPG): 1563 matches
97% - Cameras 31-2 (IMG_3054.JPG-IMG_3025.JPG): 834 matches
97% - Cameras 31-3 (IMG_3054.JPG-IMG_3026.JPG): 241 matches
97% - Cameras 31-4 (IMG_3054.JPG-IMG_3027.JPG): 90 matches
98% - Cameras 31-12 (IMG_3054.JPG-IMG_3035.JPG): 3 matches
100% - Cameras 31-28 (IMG_3054.JPG-IMG_3051.JPG): 129 matches
100% - Cameras 31-29 (IMG_3054.JPG-IMG_3052.JPG): 577 matches
100% - Cameras 31-30 (IMG_3054.JPG-IMG_3053.JPG): 915 matches
Initial alignment from cameras #0 and #1 (IMG_3023.JPG, IMG_3024.JPG)
Before BA camera: k1=0, k2=0, f=1585.5, cx=364, cy=546
Before BA projections: 89% inliers with MSE=1.71016
    Camera #0 projections: 89% inliers (1037/1159) with MSE=1.68797
    Camera #1 projections: 89% inliers (1035/1159) with MSE=1.73239
After BA camera: k1=0, k2=0, f=1585.5, cx=364, cy=546
Camera #0 center: [0, 0, 0] -> [0, 0, 0]
Camera #1 center: [-0.981112, 0.0066058, 0.193329] -> [-0.981112, 0.0066058, 0.193329]
After BA tie poits: 0% old + 11% new = 11% total outliers
After BA projections: 89% inliers with MSE=0.36941
    Camera #0 projections: 89% inliers (1027/1159) with MSE=0.374369
    Camera #1 projections: 89% inliers (1028/1159) with MSE=0.364456
Append camera #2 (IMG_3025.JPG) to alignment via 789 common points
Before BA camera: k1=0, k2=0, f=1585.5, cx=364, cy=546
Before BA projections: 63% inliers with MSE=0.824452
    Camera #0 projections: 83% inliers (1107/1336) with MSE=0.438259
    Camera #1 projections: 77% inliers (1373/1793) with MSE=0.72779
    Camera #2 projections: 31% inliers (506/1638) with MSE=1.93163
After BA camera: k1=0, k2=0, f=1585.5, cx=364, cy=546
Camera #0 center: [0, 0, 0] -> [0, 0, 0]
Camera #1 center: [-0.981112, 0.0066058, 0.193329] -> [-0.981112, 0.0066058, 0.193329]
Camera #2 center: [-1.72678, 0.121995, 0.704228] -> [-1.94328, 0.0213525, 0.576101]
After BA tie poits: 7% old + 22% new = 28% total outliers
After BA projections: 88% inliers with MSE=0.668536
    Camera #0 projections: 84% inliers (1128/1336) with MSE=1.00061
    Camera #1 projections: 89% inliers (1588/1793) with MSE=0.765473
    Camera #2 projections: 91% inliers (1497/1638) with MSE=0.31549
Append camera #3 (IMG_3026.JPG) to alignment via 544 common points
Before BA camera: k1=0, k2=0, f=1585.5, cx=364, cy=546
Before BA projections: 80% inliers with MSE=0.729438
    Camera #0 projections: 84% inliers (1141/1351) with MSE=0.991104
    Camera #1 projections: 88% inliers (1620/1833) with MSE=0.761566
    Camera #2 projections: 84% inliers (1919/2279) with MSE=0.387213
    Camera #3 projections: 57% inliers (715/1265) with MSE=1.15758
After BA camera: k1=0, k2=0, f=1585.5, cx=364, cy=546
Camera #0 center: [0, 0, 0] -> [0, 0, 0]
Camera #1 center: [-0.981112, 0.0066058, 0.193329] -> [-0.981112, 0.0066058, 0.193329]
Camera #2 center: [-1.94328, 0.0213525, 0.576101] -> [-1.87321, 0.0111777, 0.496132]
Camera #3 center: [-2.80782, 0.0717195, 1.1284] -> [-2.67986, 0.0184059, 0.899525]
After BA tie poits: 21% old + 10% new = 31% total outliers
After BA projections: 75% inliers with MSE=0.440211
    Camera #0 projections: 83% inliers (1125/1351) with MSE=1.08341
    Camera #1 projections: 69% inliers (1269/1833) with MSE=0.483264
    Camera #2 projections: 64% inliers (1468/2279) with MSE=0.161129
    Camera #3 projections: 92% inliers (1167/1265) with MSE=0.124409
Append camera #4 (IMG_3027.JPG) to alignment via 688 common points
Before BA camera: k1=0, k2=0, f=1585.5, cx=364, cy=546
Before BA projections: 78% inliers with MSE=0.577304
    Camera #0 projections: 83% inliers (1130/1358) with MSE=1.08885
    Camera #1 projections: 69% inliers (1277/1843) with MSE=0.48374
    Camera #2 projections: 66% inliers (1622/2472) with MSE=0.186799
    Camera #3 projections: 93% inliers (2103/2257) with MSE=0.237603
    Camera #4 projections: 82% inliers (1719/2098) with MSE=1.09459
After BA camera: k1=0, k2=0, f=1678.85, cx=326.159, cy=518.587
Camera #0 center: [0, 0, 0] -> [0, 0, 0]
Camera #1 center: [-0.981112, 0.0066058, 0.193329] -> [-0.981112, 0.0066058, 0.193329]
Camera #2 center: [-1.87321, 0.0111777, 0.496132] -> [-1.85843, 0.0182067, 0.522149]
Camera #3 center: [-2.67986, 0.0184059, 0.899525] -> [-2.63337, 0.033724, 0.936938]
Camera #4 center: [-3.2665, 0.0481424, 1.46423] -> [-3.19858, 0.0726084, 1.50597]
After BA tie poits: 21% old + 12% new = 33% total outliers
After BA projections: 67% inliers with MSE=0.231538
    Camera #0 projections: 55% inliers (747/1358) with MSE=0.418621
    Camera #1 projections: 60% inliers (1110/1843) with MSE=0.262097
    Camera #2 projections: 58% inliers (1428/2472) with MSE=0.187063
    Camera #3 projections: 76% inliers (1718/2257) with MSE=0.194596
    Camera #4 projections: 80% inliers (1671/2098) with MSE=0.203593
Append camera #5 (IMG_3028.JPG) to alignment via 831 common points
Before BA camera: k1=0, k2=0, f=1678.85, cx=326.159, cy=518.587
Before BA projections: 70% inliers with MSE=0.509857
    Camera #0 projections: 55% inliers (747/1358) with MSE=0.418621
    Camera #1 projections: 60% inliers (1112/1846) with MSE=0.266632
    Camera #2 projections: 58% inliers (1436/2482) with MSE=0.188176
    Camera #3 projections: 77% inliers (1907/2478) with MSE=0.330409
    Camera #4 projections: 83% inliers (2297/2778) with MSE=0.386458
    Camera #5 projections: 82% inliers (1485/1805) with MSE=1.47027
After BA camera: k1=0, k2=0, f=1744.09, cx=332.322, cy=522.233
Camera #0 center: [0, 0, 0] -> [0, 0, 0]
Camera #1 center: [-0.981112, 0.0066058, 0.193329] -> [-0.981112, 0.0066058, 0.193329]
Camera #2 center: [-1.85843, 0.0182067, 0.522149] -> [-1.84652, 0.0153147, 0.520185]
Camera #3 center: [-2.63337, 0.033724, 0.936938] -> [-2.6024, 0.0266043, 0.926515]
Camera #4 center: [-3.19858, 0.0726084, 1.50597] -> [-3.15067, 0.0587943, 1.48014]
Camera #5 center: [-3.69518, 0.115637, 2.20151] -> [-3.63885, 0.0962606, 2.16485]
After BA tie poits: 27% old + 9% new = 35% total outliers
After BA projections: 62% inliers with MSE=0.249012
    Camera #0 projections: 53% inliers (724/1358) with MSE=0.425356
    Camera #1 projections: 56% inliers (1040/1846) with MSE=0.270728
    Camera #2 projections: 48% inliers (1195/2482) with MSE=0.176973
    Camera #3 projections: 64% inliers (1592/2478) with MSE=0.223019
    Camera #4 projections: 65% inliers (1793/2778) with MSE=0.241025
    Camera #5 projections: 86% inliers (1553/1805) with MSE=0.243559
Append camera #6 (IMG_3029.JPG) to alignment via 821 common points
Before BA camera: k1=0, k2=0, f=1744.09, cx=332.322, cy=522.233
Before BA projections: 61% inliers with MSE=0.372916
    Camera #0 projections: 53% inliers (724/1358) with MSE=0.425356
    Camera #1 projections: 56% inliers (1040/1846) with MSE=0.270728
    Camera #2 projections: 48% inliers (1197/2484) with MSE=0.176938
    Camera #3 projections: 64% inliers (1606/2495) with MSE=0.223182
    Camera #4 projections: 62% inliers (1867/3035) with MSE=0.241993
    Camera #5 projections: 75% inliers (2083/2762) with MSE=0.238088
    Camera #6 projections: 59% inliers (1288/2179) with MSE=1.20261
After BA camera: k1=-0.138417, k2=-0.194228, f=1580.68, cx=328.211, cy=535.746
Camera #0 center: [0, 0, 0] -> [0, 0, 0]
Camera #1 center: [-0.981112, 0.0066058, 0.193329] -> [-0.981112, 0.0066058, 0.193329]
Camera #2 center: [-1.84652, 0.0153147, 0.520185] -> [-1.85547, 0.0211287, 0.510898]
Camera #3 center: [-2.6024, 0.0266043, 0.926515] -> [-2.6437, 0.0419151, 0.917654]
Camera #4 center: [-3.15067, 0.0587943, 1.48014] -> [-3.22384, 0.0871298, 1.47519]
Camera #5 center: [-3.63885, 0.0962606, 2.16485] -> [-3.73846, 0.140226, 2.15389]
Camera #6 center: [-3.8645, 0.128529, 2.99276] -> [-3.97031, 0.224027, 2.96566]
After BA tie poits: 28% old + 8% new = 36% total outliers
After BA projections: 60% inliers with MSE=0.174696
    Camera #0 projections: 53% inliers (717/1358) with MSE=0.378298
    Camera #1 projections: 55% inliers (1021/1846) with MSE=0.246066
    Camera #2 projections: 45% inliers (1118/2484) with MSE=0.104317
    Camera #3 projections: 53% inliers (1324/2495) with MSE=0.0979359
    Camera #4 projections: 57% inliers (1720/3035) with MSE=0.157363
    Camera #5 projections: 68% inliers (1869/2762) with MSE=0.160562
    Camera #6 projections: 86% inliers (1865/2179) with MSE=0.184183
Append camera #7 (IMG_3030.JPG) to alignment via 1043 common points
Before BA camera: k1=-0.138417, k2=-0.194228, f=1580.68, cx=328.211, cy=535.746
Before BA projections: 65% inliers with MSE=0.200126
    Camera #0 projections: 53% inliers (717/1358) with MSE=0.378298
    Camera #1 projections: 55% inliers (1021/1846) with MSE=0.246066
    Camera #2 projections: 45% inliers (1118/2484) with MSE=0.104317
    Camera #3 projections: 53% inliers (1326/2497) with MSE=0.0979204
    Camera #4 projections: 57% inliers (1740/3062) with MSE=0.158169
    Camera #5 projections: 69% inliers (2065/2987) with MSE=0.174625
    Camera #6 projections: 88% inliers (2568/2923) with MSE=0.180946
    Camera #7 projections: 89% inliers (1882/2107) with MSE=0.329194
After BA camera: k1=-0.16004, k2=-0.0972747, f=1571.97, cx=331.084, cy=541.94
Camera #0 center: [0, 0, 0] -> [0, 0, 0]
Camera #1 center: [-0.981112, 0.0066058, 0.193329] -> [-0.981112, 0.0066058, 0.193329]
Camera #2 center: [-1.85547, 0.0211287, 0.510898] -> [-1.85591, 0.0202035, 0.508756]
Camera #3 center: [-2.6437, 0.0419151, 0.917654] -> [-2.6437, 0.0401831, 0.913034]
Camera #4 center: [-3.22384, 0.0871298, 1.47519] -> [-3.22345, 0.0839855, 1.46666]
Camera #5 center: [-3.73846, 0.140226, 2.15389] -> [-3.74015, 0.135393, 2.14337]
Camera #6 center: [-3.97031, 0.224027, 2.96566] -> [-3.9752, 0.217545, 2.95005]
Camera #7 center: [-4.13266, 0.314457, 3.85598] -> [-4.13585, 0.305001, 3.83469]
After BA tie poits: 31% old + 8% new = 39% total outliers
After BA projections: 58% inliers with MSE=0.175577
    Camera #0 projections: 53% inliers (714/1358) with MSE=0.383351
    Camera #1 projections: 57% inliers (1048/1846) with MSE=0.313349
    Camera #2 projections: 44% inliers (1092/2484) with MSE=0.0953795
    Camera #3 projections: 50% inliers (1238/2497) with MSE=0.106127
    Camera #4 projections: 47% inliers (1446/3062) with MSE=0.154224
    Camera #5 projections: 58% inliers (1730/2987) with MSE=0.186276
    Camera #6 projections: 67% inliers (1947/2923) with MSE=0.148774
    Camera #7 projections: 89% inliers (1868/2107) with MSE=0.146335
Append camera #8 (IMG_3031.JPG) to alignment via 836 common points
Before BA camera: k1=-0.16004, k2=-0.0972747, f=1571.97, cx=331.084, cy=541.94
Before BA projections: 61% inliers with MSE=0.265625
    Camera #0 projections: 53% inliers (714/1358) with MSE=0.383351
    Camera #1 projections: 57% inliers (1048/1846) with MSE=0.313349
    Camera #2 projections: 44% inliers (1092/2484) with MSE=0.0953795
    Camera #3 projections: 50% inliers (1239/2498) with MSE=0.106091
    Camera #4 projections: 47% inliers (1455/3075) with MSE=0.153815
    Camera #5 projections: 58% inliers (1747/3012) with MSE=0.186696
    Camera #6 projections: 69% inliers (2164/3155) with MSE=0.15142
    Camera #7 projections: 90% inliers (2411/2681) with MSE=0.160048
    Camera #8 projections: 88% inliers (1530/1740) with MSE=0.953052
After BA camera: k1=-0.0675635, k2=-0.630039, f=1572.18, cx=335.246, cy=543.965
Camera #0 center: [0, 0, 0] -> [0, 0, 0]
Camera #1 center: [-0.981112, 0.0066058, 0.193329] -> [-0.981112, 0.0066058, 0.193329]
Camera #2 center: [-1.85591, 0.0202035, 0.508756] -> [-1.85424, 0.0183998, 0.506153]
Camera #3 center: [-2.6437, 0.0401831, 0.913034] -> [-2.64206, 0.0356511, 0.909019]
Camera #4 center: [-3.22345, 0.0839855, 1.46666] -> [-3.22353, 0.0764104, 1.46268]
Camera #5 center: [-3.74015, 0.135393, 2.14337] -> [-3.74226, 0.125017, 2.14171]
Camera #6 center: [-3.9752, 0.217545, 2.95005] -> [-3.97909, 0.204304, 2.95349]
Camera #7 center: [-4.13585, 0.305001, 3.83469] -> [-4.13864, 0.288795, 3.84861]
Camera #8 center: [-3.86645, 0.390091, 4.82324] -> [-3.86852, 0.374694, 4.86855]
After BA tie poits: 35% old + 5% new = 40% total outliers
After BA projections: 53% inliers with MSE=0.217574
    Camera #0 projections: 53% inliers (713/1358) with MSE=0.408796
    Camera #1 projections: 55% inliers (1021/1846) with MSE=0.288563
    Camera #2 projections: 44% inliers (1088/2484) with MSE=0.0985712
    Camera #3 projections: 48% inliers (1189/2498) with MSE=0.109999
    Camera #4 projections: 45% inliers (1375/3075) with MSE=0.182436
    Camera #5 projections: 46% inliers (1394/3012) with MSE=0.289346
    Camera #6 projections: 57% inliers (1789/3155) with MSE=0.263783
    Camera #7 projections: 59% inliers (1575/2681) with MSE=0.189134
    Camera #8 projections: 87% inliers (1520/1740) with MSE=0.190566
Append camera #9 (IMG_3032.JPG) to alignment via 756 common points
Before BA camera: k1=-0.0675635, k2=-0.630039, f=1572.18, cx=335.246, cy=543.965
Before BA projections: 58% inliers with MSE=0.245328
    Camera #0 projections: 53% inliers (713/1358) with MSE=0.408796
    Camera #1 projections: 55% inliers (1021/1846) with MSE=0.288563
    Camera #2 projections: 44% inliers (1088/2484) with MSE=0.0985712
    Camera #3 projections: 48% inliers (1189/2498) with MSE=0.109999
    Camera #4 projections: 45% inliers (1378/3081) with MSE=0.182162
    Camera #5 projections: 46% inliers (1407/3031) with MSE=0.290163
    Camera #6 projections: 57% inliers (1808/3175) with MSE=0.261515
    Camera #7 projections: 61% inliers (1711/2826) with MSE=0.180031
    Camera #8 projections: 91% inliers (2445/2696) with MSE=0.154762
    Camera #9 projections: 92% inliers (1799/1949) with MSE=0.516441
After BA camera: k1=-0.12196, k2=-0.324618, f=1608.04, cx=337.923, cy=544.268
Camera #0 center: [0, 0, 0] -> [0, 0, 0]
Camera #1 center: [-0.981112, 0.0066058, 0.193329] -> [-0.981112, 0.0066058, 0.193329]
Camera #2 center: [-1.85424, 0.0183998, 0.506153] -> [-1.85274, 0.0176587, 0.507109]
Camera #3 center: [-2.64206, 0.0356511, 0.909019] -> [-2.63261, 0.0337322, 0.908105]
Camera #4 center: [-3.22353, 0.0764104, 1.46268] -> [-3.20641, 0.0722736, 1.4564]
Camera #5 center: [-3.74226, 0.125017, 2.14171] -> [-3.71656, 0.117298, 2.12499]
Camera #6 center: [-3.97909, 0.204304, 2.95349] -> [-3.94892, 0.192367, 2.9204]
Camera #7 center: [-4.13864, 0.288795, 3.84861] -> [-4.10923, 0.270158, 3.78762]
Camera #8 center: [-3.86852, 0.374694, 4.86855] -> [-3.86234, 0.345813, 4.75959]
Camera #9 center: [-3.50899, 0.435472, 5.79413] -> [-3.48479, 0.40646, 5.75879]
After BA tie poits: 35% old + 4% new = 39% total outliers
After BA projections: 53% inliers with MSE=0.216914
    Camera #0 projections: 53% inliers (713/1358) with MSE=0.414342
    Camera #1 projections: 67% inliers (1238/1846) with MSE=0.808765
    Camera #2 projections: 44% inliers (1088/2484) with MSE=0.115807
    Camera #3 projections: 47% inliers (1170/2498) with MSE=0.0905257
    Camera #4 projections: 42% inliers (1308/3081) with MSE=0.119145
    Camera #5 projections: 42% inliers (1267/3031) with MSE=0.162209
    Camera #6 projections: 47% inliers (1491/3175) with MSE=0.148308
    Camera #7 projections: 49% inliers (1394/2826) with MSE=0.15619
    Camera #8 projections: 68% inliers (1837/2696) with MSE=0.167237
    Camera #9 projections: 92% inliers (1785/1949) with MSE=0.138362
Append camera #10 (IMG_3033.JPG) to alignment via 798 common points
Before BA camera: k1=-0.12196, k2=-0.324618, f=1608.04, cx=337.923, cy=544.268
Before BA projections: 56% inliers with MSE=0.333838
    Camera #0 projections: 53% inliers (713/1358) with MSE=0.414342
    Camera #1 projections: 67% inliers (1238/1846) with MSE=0.808765
    Camera #2 projections: 44% inliers (1088/2484) with MSE=0.115807
    Camera #3 projections: 47% inliers (1170/2498) with MSE=0.0905257
    Camera #4 projections: 43% inliers (1313/3086) with MSE=0.124241
    Camera #5 projections: 42% inliers (1284/3050) with MSE=0.16697
    Camera #6 projections: 47% inliers (1503/3189) with MSE=0.154243
    Camera #7 projections: 50% inliers (1408/2841) with MSE=0.160619
    Camera #8 projections: 69% inliers (1903/2766) with MSE=0.202784
    Camera #9 projections: 92% inliers (2458/2685) with MSE=0.282645
    Camera #10 projections: 75% inliers (1272/1700) with MSE=1.32051
After BA camera: k1=-0.109688, k2=-0.374575, f=1610.38, cx=337.662, cy=544.769
Camera #0 center: [0, 0, 0] -> [0, 0, 0]
Camera #1 center: [-0.981112, 0.0066058, 0.193329] -> [-0.981112, 0.0066058, 0.193329]
Camera #2 center: [-1.85274, 0.0176587, 0.507109] -> [-1.85245, 0.0175401, 0.507662]
Camera #3 center: [-2.63261, 0.0337322, 0.908105] -> [-2.6356, 0.0335352, 0.912937]
Camera #4 center: [-3.20641, 0.0722736, 1.4564] -> [-3.2115, 0.0725395, 1.46787]
Camera #5 center: [-3.71656, 0.117298, 2.12499] -> [-3.72288, 0.118416, 2.1474]
Camera #6 center: [-3.94892, 0.192367, 2.9204] -> [-3.95099, 0.194965, 2.95601]
Camera #7 center: [-4.10923, 0.270158, 3.78762] -> [-4.10178, 0.275497, 3.84226]
Camera #8 center: [-3.86234, 0.345813, 4.75959] -> [-3.83151, 0.35464, 4.83614]
Camera #9 center: [-3.48479, 0.40646, 5.75879] -> [-3.48062, 0.409422, 5.7427]
Camera #10 center: [-2.77424, 0.477527, 6.48888] -> [-2.80219, 0.481316, 6.50175]
After BA tie poits: 36% old + 4% new = 40% total outliers
After BA projections: 55% inliers with MSE=0.330665
    Camera #0 projections: 53% inliers (713/1358) with MSE=0.412132
    Camera #1 projections: 58% inliers (1076/1846) with MSE=0.414046
    Camera #2 projections: 44% inliers (1086/2484) with MSE=0.104339
    Camera #3 projections: 47% inliers (1169/2498) with MSE=0.0882673
    Camera #4 projections: 42% inliers (1305/3086) with MSE=0.133456
    Camera #5 projections: 41% inliers (1263/3050) with MSE=0.201441
    Camera #6 projections: 45% inliers (1448/3189) with MSE=0.257656
    Camera #7 projections: 47% inliers (1341/2841) with MSE=0.540199
    Camera #8 projections: 67% inliers (1846/2766) with MSE=0.4321
    Camera #9 projections: 91% inliers (2442/2685) with MSE=0.617235
    Camera #10 projections: 91% inliers (1542/1700) with MSE=0.161789
Append camera #11 (IMG_3034.JPG) to alignment via 552 common points
Before BA camera: k1=-0.109688, k2=-0.374575, f=1610.38, cx=337.662, cy=544.769
Before BA projections: 55% inliers with MSE=0.389752
    Camera #0 projections: 53% inliers (713/1358) with MSE=0.412132
    Camera #1 projections: 58% inliers (1076/1846) with MSE=0.414046
    Camera #2 projections: 44% inliers (1086/2484) with MSE=0.104339
    Camera #3 projections: 47% inliers (1169/2498) with MSE=0.0882673
    Camera #4 projections: 42% inliers (1312/3093) with MSE=0.133704
    Camera #5 projections: 41% inliers (1266/3054) with MSE=0.201552
    Camera #6 projections: 45% inliers (1453/3194) with MSE=0.258474
    Camera #7 projections: 47% inliers (1346/2850) with MSE=0.53874
    Camera #8 projections: 67% inliers (1851/2773) with MSE=0.432756
    Camera #9 projections: 89% inliers (2468/2784) with MSE=0.61894
    Camera #10 projections: 81% inliers (1855/2299) with MSE=0.302468
    Camera #11 projections: 52% inliers (683/1321) with MSE=1.41665
After BA camera: k1=-0.0941096, k2=-0.485715, f=1610.07, cx=338.937, cy=546.714
Camera #0 center: [0, 0, 0] -> [0, 0, 0]
Camera #1 center: [-0.981112, 0.0066058, 0.193329] -> [-0.981112, 0.0066058, 0.193329]
Camera #2 center: [-1.85245, 0.0175401, 0.507662] -> [-1.85206, 0.0170656, 0.506637]
Camera #3 center: [-2.6356, 0.0335352, 0.912937] -> [-2.63493, 0.0323984, 0.910838]
Camera #4 center: [-3.2115, 0.0725395, 1.46787] -> [-3.2114, 0.0705396, 1.46469]
Camera #5 center: [-3.72288, 0.118416, 2.1474] -> [-3.72347, 0.115428, 2.14342]
Camera #6 center: [-3.95099, 0.194965, 2.95601] -> [-3.95324, 0.191254, 2.95232]
Camera #7 center: [-4.10178, 0.275497, 3.84226] -> [-4.10447, 0.271046, 3.83941]
Camera #8 center: [-3.83151, 0.35464, 4.83614] -> [-3.83437, 0.349135, 4.83478]
Camera #9 center: [-3.48062, 0.409422, 5.7427] -> [-3.49576, 0.40127, 5.72244]
Camera #10 center: [-2.80219, 0.481316, 6.50175] -> [-2.82322, 0.471723, 6.48073]
Camera #11 center: [-2.1663, 0.5499, 7.02368] -> [-2.1759, 0.522251, 6.99248]
After BA tie poits: 37% old + 2% new = 39% total outliers
After BA projections: 53% inliers with MSE=0.388923
    Camera #0 projections: 53% inliers (713/1358) with MSE=0.422264
    Camera #1 projections: 58% inliers (1076/1846) with MSE=0.393701
    Camera #2 projections: 44% inliers (1084/2484) with MSE=0.10054
    Camera #3 projections: 47% inliers (1166/2498) with MSE=0.091597
    Camera #4 projections: 42% inliers (1306/3093) with MSE=0.151194
    Camera #5 projections: 41% inliers (1250/3054) with MSE=0.235431
    Camera #6 projections: 44% inliers (1400/3194) with MSE=0.240043
    Camera #7 projections: 42% inliers (1194/2850) with MSE=0.423156
    Camera #8 projections: 59% inliers (1646/2773) with MSE=0.708391
    Camera #9 projections: 70% inliers (1944/2784) with MSE=0.635425
    Camera #10 projections: 76% inliers (1751/2299) with MSE=0.67945
    Camera #11 projections: 89% inliers (1172/1321) with MSE=0.206765
Append camera #12 (IMG_3035.JPG) to alignment via 272 common points
Before BA camera: k1=-0.0941096, k2=-0.485715, f=1610.07, cx=338.937, cy=546.714
Before BA projections: 56% inliers with MSE=0.686254
    Camera #0 projections: 53% inliers (713/1358) with MSE=0.422264
    Camera #1 projections: 58% inliers (1076/1846) with MSE=0.393701
    Camera #2 projections: 44% inliers (1084/2484) with MSE=0.10054
    Camera #3 projections: 47% inliers (1166/2498) with MSE=0.091597
    Camera #4 projections: 42% inliers (1306/3093) with MSE=0.151194
    Camera #5 projections: 41% inliers (1250/3054) with MSE=0.235431
    Camera #6 projections: 44% inliers (1400/3194) with MSE=0.240043
    Camera #7 projections: 42% inliers (1194/2850) with MSE=0.423156
    Camera #8 projections: 59% inliers (1646/2773) with MSE=0.708391
    Camera #9 projections: 70% inliers (1944/2784) with MSE=0.635425
    Camera #10 projections: 79% inliers (2063/2623) with MSE=1.04497
    Camera #11 projections: 91% inliers (2065/2276) with MSE=1.02699
    Camera #12 projections: 86% inliers (1416/1640) with MSE=2.55855
After BA camera: k1=-0.0860148, k2=-0.471952, f=1601.19, cx=342.462, cy=551.76
Camera #0 center: [0, 0, 0] -> [0, 0, 0]
Camera #1 center: [-0.981112, 0.0066058, 0.193329] -> [-0.981112, 0.0066058, 0.193329]
Camera #2 center: [-1.85206, 0.0170656, 0.506637] -> [-1.8516, 0.0159717, 0.504562]
Camera #3 center: [-2.63493, 0.0323984, 0.910838] -> [-2.63536, 0.0299845, 0.907911]
Camera #4 center: [-3.2114, 0.0705396, 1.46469] -> [-3.21257, 0.0664415, 1.46126]
Camera #5 center: [-3.72347, 0.115428, 2.14342] -> [-3.72525, 0.109423, 2.13936]
Camera #6 center: [-3.95324, 0.191254, 2.95232] -> [-3.95579, 0.182769, 2.94765]
Camera #7 center: [-4.10447, 0.271046, 3.83941] -> [-4.10821, 0.260131, 3.83415]
Camera #8 center: [-3.83437, 0.349135, 4.83478] -> [-3.83948, 0.335562, 4.82927]
Camera #9 center: [-3.49576, 0.40127, 5.72244] -> [-3.49277, 0.386595, 5.73244]
Camera #10 center: [-2.82322, 0.471723, 6.48073] -> [-2.82618, 0.453921, 6.48002]
Camera #11 center: [-2.1759, 0.522251, 6.99248] -> [-2.19003, 0.501112, 6.98344]
Camera #12 center: [-1.39287, 0.573012, 7.46579] -> [-1.43441, 0.558793, 7.44016]
After BA tie poits: 35% old + 2% new = 37% total outliers
After BA projections: 51% inliers with MSE=0.143563
    Camera #0 projections: 53% inliers (713/1358) with MSE=0.457157
    Camera #1 projections: 55% inliers (1009/1846) with MSE=0.282961
    Camera #2 projections: 44% inliers (1084/2484) with MSE=0.101426
    Camera #3 projections: 47% inliers (1174/2498) with MSE=0.0939855
    Camera #4 projections: 42% inliers (1294/3093) with MSE=0.113794
    Camera #5 projections: 40% inliers (1236/3054) with MSE=0.190405
    Camera #6 projections: 43% inliers (1358/3194) with MSE=0.125922
    Camera #7 projections: 38% inliers (1088/2850) with MSE=0.122667
    Camera #8 projections: 49% inliers (1353/2773) with MSE=0.106133
    Camera #9 projections: 56% inliers (1564/2784) with MSE=0.123816
    Camera #10 projections: 64% inliers (1685/2623) with MSE=0.135977
    Camera #11 projections: 76% inliers (1721/2276) with MSE=0.0996488
    Camera #12 projections: 88% inliers (1442/1640) with MSE=0.0997661
Append camera #13 (IMG_3036.JPG) to alignment via 393 common points
Before BA camera: k1=-0.0860148, k2=-0.471952, f=1601.19, cx=342.462, cy=551.76
Before BA projections: 54% inliers with MSE=0.220855
    Camera #0 projections: 53% inliers (713/1358) with MSE=0.457157
    Camera #1 projections: 55% inliers (1009/1846) with MSE=0.282961
    Camera #2 projections: 44% inliers (1084/2484) with MSE=0.101426
    Camera #3 projections: 47% inliers (1174/2498) with MSE=0.0939855
    Camera #4 projections: 42% inliers (1294/3093) with MSE=0.113794
    Camera #5 projections: 40% inliers (1236/3054) with MSE=0.190405
    Camera #6 projections: 43% inliers (1358/3194) with MSE=0.125922
    Camera #7 projections: 38% inliers (1088/2850) with MSE=0.122667
    Camera #8 projections: 49% inliers (1353/2773) with MSE=0.106133
    Camera #9 projections: 56% inliers (1564/2784) with MSE=0.123816
    Camera #10 projections: 64% inliers (1686/2624) with MSE=0.135964
    Camera #11 projections: 77% inliers (1939/2527) with MSE=0.112947
    Camera #12 projections: 90% inliers (2128/2376) with MSE=0.140007
    Camera #13 projections: 84% inliers (1232/1468) with MSE=1.26839
After BA camera: k1=-0.101111, k2=-0.299301, f=1592.9, cx=344.357, cy=554.762
Camera #0 center: [0, 0, 0] -> [0, 0, 0]
Camera #1 center: [-0.981112, 0.0066058, 0.193329] -> [-0.981112, 0.0066058, 0.193329]
Camera #2 center: [-1.8516, 0.0159717, 0.504562] -> [-1.85158, 0.0153911, 0.503313]
Camera #3 center: [-2.63536, 0.0299845, 0.907911] -> [-2.63611, 0.0288181, 0.906103]
Camera #4 center: [-3.21257, 0.0664415, 1.46126] -> [-3.21395, 0.0644255, 1.45887]
Camera #5 center: [-3.72525, 0.109423, 2.13936] -> [-3.72721, 0.106461, 2.13617]
Camera #6 center: [-3.95579, 0.182769, 2.94765] -> [-3.9588, 0.178501, 2.94365]
Camera #7 center: [-4.10821, 0.260131, 3.83415] -> [-4.11232, 0.254478, 3.82901]
Camera #8 center: [-3.83948, 0.335562, 4.82927] -> [-3.84577, 0.328187, 4.82335]
Camera #9 center: [-3.49277, 0.386595, 5.73244] -> [-3.50256, 0.377764, 5.72433]
Camera #10 center: [-2.82618, 0.453921, 6.48002] -> [-2.84027, 0.443799, 6.47206]
Camera #11 center: [-2.19003, 0.501112, 6.98344] -> [-2.2098, 0.489774, 6.97462]
Camera #12 center: [-1.43441, 0.558793, 7.44016] -> [-1.44546, 0.548101, 7.44165]
Camera #13 center: [-0.585673, 0.566172, 7.69147] -> [-0.616008, 0.557669, 7.68932]
After BA tie poits: 34% old + 4% new = 38% total outliers
After BA projections: 53% inliers with MSE=0.156045
    Camera #0 projections: 53% inliers (713/1358) with MSE=0.480644
    Camera #1 projections: 55% inliers (1009/1846) with MSE=0.295532
    Camera #2 projections: 44% inliers (1084/2484) with MSE=0.101806
    Camera #3 projections: 46% inliers (1160/2498) with MSE=0.0768876
    Camera #4 projections: 42% inliers (1293/3093) with MSE=0.112624
    Camera #5 projections: 42% inliers (1279/3054) with MSE=0.23836
    Camera #6 projections: 42% inliers (1356/3194) with MSE=0.126
    Camera #7 projections: 38% inliers (1085/2850) with MSE=0.112657
    Camera #8 projections: 48% inliers (1339/2773) with MSE=0.085103
    Camera #9 projections: 55% inliers (1531/2784) with MSE=0.0943213
    Camera #10 projections: 62% inliers (1624/2624) with MSE=0.162025
    Camera #11 projections: 72% inliers (1817/2527) with MSE=0.13787
    Camera #12 projections: 83% inliers (1973/2376) with MSE=0.169557
    Camera #13 projections: 83% inliers (1220/1468) with MSE=0.158721
Append camera #14 (IMG_3037.JPG) to alignment via 663 common points
Before BA camera: k1=-0.101111, k2=-0.299301, f=1592.9, cx=344.357, cy=554.762
Before BA projections: 55% inliers with MSE=0.182124
    Camera #0 projections: 53% inliers (713/1358) with MSE=0.480644
    Camera #1 projections: 55% inliers (1009/1846) with MSE=0.295532
    Camera #2 projections: 44% inliers (1084/2484) with MSE=0.101806
    Camera #3 projections: 46% inliers (1160/2498) with MSE=0.0768876
    Camera #4 projections: 42% inliers (1293/3093) with MSE=0.112624
    Camera #5 projections: 42% inliers (1279/3054) with MSE=0.23836
    Camera #6 projections: 42% inliers (1356/3194) with MSE=0.126
    Camera #7 projections: 38% inliers (1085/2850) with MSE=0.112657
    Camera #8 projections: 48% inliers (1339/2773) with MSE=0.085103
    Camera #9 projections: 55% inliers (1531/2784) with MSE=0.0943213
    Camera #10 projections: 62% inliers (1624/2624) with MSE=0.162025
    Camera #11 projections: 72% inliers (1835/2549) with MSE=0.137232
    Camera #12 projections: 83% inliers (2026/2442) with MSE=0.167976
    Camera #13 projections: 86% inliers (1700/1977) with MSE=0.186384
    Camera #14 projections: 90% inliers (1155/1278) with MSE=0.57352
After BA camera: k1=-0.110732, k2=-0.299185, f=1608.37, cx=342.431, cy=550.255
Camera #0 center: [0, 0, 0] -> [0, 0, 0]
Camera #1 center: [-0.981112, 0.0066058, 0.193329] -> [-0.981112, 0.0066058, 0.193329]
Camera #2 center: [-1.85158, 0.0153911, 0.503313] -> [-1.85137, 0.0160099, 0.504849]
Camera #3 center: [-2.63611, 0.0288181, 0.906103] -> [-2.63523, 0.0301366, 0.909009]
Camera #4 center: [-3.21395, 0.0644255, 1.45887] -> [-3.2121, 0.0668405, 1.46318]
Camera #5 center: [-3.72721, 0.106461, 2.13617] -> [-3.72402, 0.110099, 2.14224]
Camera #6 center: [-3.9588, 0.178501, 2.94365] -> [-3.95333, 0.183957, 2.95089]
Camera #7 center: [-4.11232, 0.254478, 3.82901] -> [-4.10404, 0.261607, 3.83697]
Camera #8 center: [-3.84577, 0.328187, 4.82335] -> [-3.83375, 0.337382, 4.83043]
Camera #9 center: [-3.50256, 0.377764, 5.72433] -> [-3.48735, 0.388441, 5.72965]
Camera #10 center: [-2.84027, 0.443799, 6.47206] -> [-2.8184, 0.456108, 6.47811]
Camera #11 center: [-2.2098, 0.489774, 6.97462] -> [-2.17899, 0.502977, 6.98145]
Camera #12 center: [-1.44546, 0.548101, 7.44165] -> [-1.41849, 0.560093, 7.43999]
Camera #13 center: [-0.616008, 0.557669, 7.68932] -> [-0.573829, 0.56903, 7.67942]
Camera #14 center: [0.144232, 0.586514, 7.80162] -> [0.218408, 0.580712, 7.80963]
After BA tie poits: 36% old + 2% new = 38% total outliers
After BA projections: 53% inliers with MSE=0.181503
    Camera #0 projections: 53% inliers (713/1358) with MSE=0.454844
    Camera #1 projections: 55% inliers (1012/1846) with MSE=0.296726
    Camera #2 projections: 44% inliers (1084/2484) with MSE=0.101829
    Camera #3 projections: 46% inliers (1161/2498) with MSE=0.0821683
    Camera #4 projections: 42% inliers (1293/3093) with MSE=0.113741
    Camera #5 projections: 40% inliers (1222/3054) with MSE=0.142379
    Camera #6 projections: 42% inliers (1354/3194) with MSE=0.125219
    Camera #7 projections: 38% inliers (1087/2850) with MSE=0.125429
    Camera #8 projections: 48% inliers (1341/2773) with MSE=0.0991684
    Camera #9 projections: 56% inliers (1549/2784) with MSE=0.164604
    Camera #10 projections: 62% inliers (1632/2624) with MSE=0.229612
    Camera #11 projections: 72% inliers (1846/2549) with MSE=0.284078
    Camera #12 projections: 73% inliers (1776/2442) with MSE=0.265564
    Camera #13 projections: 64% inliers (1258/1977) with MSE=0.144009
    Camera #14 projections: 90% inliers (1154/1278) with MSE=0.120305
Append camera #15 (IMG_3038.JPG) to alignment via 744 common points
Before BA camera: k1=-0.110732, k2=-0.299185, f=1608.37, cx=342.431, cy=550.255
Before BA projections: 56% inliers with MSE=0.252306
    Camera #0 projections: 53% inliers (713/1358) with MSE=0.454844
    Camera #1 projections: 55% inliers (1012/1846) with MSE=0.296726
    Camera #2 projections: 44% inliers (1084/2485) with MSE=0.101829
    Camera #3 projections: 46% inliers (1161/2498) with MSE=0.0821683
    Camera #4 projections: 42% inliers (1293/3093) with MSE=0.113741
    Camera #5 projections: 40% inliers (1222/3054) with MSE=0.142379
    Camera #6 projections: 42% inliers (1354/3194) with MSE=0.125219
    Camera #7 projections: 38% inliers (1087/2850) with MSE=0.125429
    Camera #8 projections: 48% inliers (1341/2773) with MSE=0.0991684
    Camera #9 projections: 56% inliers (1549/2784) with MSE=0.164604
    Camera #10 projections: 62% inliers (1632/2624) with MSE=0.229612
    Camera #11 projections: 72% inliers (1852/2556) with MSE=0.283224
    Camera #12 projections: 73% inliers (1789/2461) with MSE=0.264067
    Camera #13 projections: 68% inliers (1555/2294) with MSE=0.247751
    Camera #14 projections: 93% inliers (1849/1986) with MSE=0.133062
    Camera #15 projections: 93% inliers (1710/1842) with MSE=1.02557
After BA camera: k1=-0.0996573, k2=-0.543514, f=1670.98, cx=345.086, cy=551.814
Camera #0 center: [0, 0, 0] -> [0, 0, 0]
Camera #1 center: [-0.981112, 0.0066058, 0.193329] -> [-0.981112, 0.0066058, 0.193329]
Camera #2 center: [-1.85137, 0.0160099, 0.504849] -> [-1.84848, 0.0141655, 0.505261]
Camera #3 center: [-2.63523, 0.0301366, 0.909009] -> [-2.64275, 0.0257813, 0.923636]
Camera #4 center: [-3.2121, 0.0668405, 1.46318] -> [-3.22336, 0.0611928, 1.49711]
Camera #5 center: [-3.72402, 0.110099, 2.14224] -> [-3.72967, 0.102739, 2.20221]
Camera #6 center: [-3.95333, 0.183957, 2.95089] -> [-3.94349, 0.176284, 3.03374]
Camera #7 center: [-4.10404, 0.261607, 3.83697] -> [-4.06638, 0.252223, 3.94233]
Camera #8 center: [-3.83375, 0.337382, 4.83043] -> [-3.75479, 0.326281, 4.94212]
Camera #9 center: [-3.48735, 0.388441, 5.72965] -> [-3.35763, 0.373631, 5.84267]
Camera #10 center: [-2.8184, 0.456108, 6.47811] -> [-2.63486, 0.43783, 6.57017]
Camera #11 center: [-2.17899, 0.502977, 6.98145] -> [-1.94847, 0.480279, 7.04417]
Camera #12 center: [-1.41849, 0.560093, 7.43999] -> [-1.11194, 0.532511, 7.46258]
Camera #13 center: [-0.573829, 0.56903, 7.67942] -> [-0.197883, 0.534031, 7.63312]
Camera #14 center: [0.218408, 0.580712, 7.80963] -> [0.628302, 0.544351, 7.67396]
Camera #15 center: [1.03369, 0.568822, 7.69778] -> [1.45212, 0.52274, 7.46035]
After BA tie poits: 35% old + 2% new = 38% total outliers
After BA projections: 52% inliers with MSE=0.139528
    Camera #0 projections: 53% inliers (713/1358) with MSE=0.459716
    Camera #1 projections: 55% inliers (1018/1846) with MSE=0.310491
    Camera #2 projections: 44% inliers (1085/2485) with MSE=0.117403
    Camera #3 projections: 46% inliers (1160/2498) with MSE=0.0930604
    Camera #4 projections: 42% inliers (1291/3093) with MSE=0.133931
    Camera #5 projections: 40% inliers (1212/3054) with MSE=0.144181
    Camera #6 projections: 42% inliers (1350/3194) with MSE=0.132718
    Camera #7 projections: 38% inliers (1083/2850) with MSE=0.12189
    Camera #8 projections: 48% inliers (1333/2773) with MSE=0.0859773
    Camera #9 projections: 54% inliers (1514/2784) with MSE=0.0896588
    Camera #10 projections: 59% inliers (1555/2624) with MSE=0.10227
    Camera #11 projections: 63% inliers (1618/2556) with MSE=0.0985551
    Camera #12 projections: 58% inliers (1422/2461) with MSE=0.12889
    Camera #13 projections: 57% inliers (1316/2294) with MSE=0.154699
    Camera #14 projections: 69% inliers (1375/1986) with MSE=0.128354
    Camera #15 projections: 92% inliers (1695/1842) with MSE=0.131916
Append camera #16 (IMG_3039.JPG) to alignment via 750 common points
Before BA camera: k1=-0.0996573, k2=-0.543514, f=1670.98, cx=345.086, cy=551.814
Before BA projections: 55% inliers with MSE=0.268176
    Camera #0 projections: 53% inliers (713/1358) with MSE=0.459716
    Camera #1 projections: 55% inliers (1018/1846) with MSE=0.310491
    Camera #2 projections: 44% inliers (1085/2485) with MSE=0.117403
    Camera #3 projections: 46% inliers (1160/2498) with MSE=0.0930604
    Camera #4 projections: 42% inliers (1291/3093) with MSE=0.133931
    Camera #5 projections: 40% inliers (1212/3054) with MSE=0.144181
    Camera #6 projections: 42% inliers (1350/3194) with MSE=0.132718
    Camera #7 projections: 38% inliers (1083/2850) with MSE=0.12189
    Camera #8 projections: 48% inliers (1333/2773) with MSE=0.0859773
    Camera #9 projections: 54% inliers (1514/2784) with MSE=0.0896588
    Camera #10 projections: 59% inliers (1555/2624) with MSE=0.10227
    Camera #11 projections: 63% inliers (1622/2561) with MSE=0.101044
    Camera #12 projections: 58% inliers (1428/2470) with MSE=0.135796
    Camera #13 projections: 57% inliers (1331/2320) with MSE=0.163497
    Camera #14 projections: 72% inliers (1571/2192) with MSE=0.15878
    Camera #15 projections: 93% inliers (2394/2567) with MSE=0.340021
    Camera #16 projections: 84% inliers (1489/1771) with MSE=1.76073
After BA camera: k1=-0.119553, k2=-0.156376, f=1605.1, cx=347.457, cy=557.381
Camera #0 center: [0, 0, 0] -> [0, 0, 0]
Camera #1 center: [-0.981112, 0.0066058, 0.193329] -> [-0.981112, 0.0066058, 0.193329]
Camera #2 center: [-1.84848, 0.0141655, 0.505261] -> [-1.84653, 0.0147976, 0.503624]
Camera #3 center: [-2.64275, 0.0257813, 0.923636] -> [-2.62593, 0.0273639, 0.908321]
Camera #4 center: [-3.22336, 0.0611928, 1.49711] -> [-3.19849, 0.0616837, 1.46195]
Camera #5 center: [-3.72967, 0.102739, 2.20221] -> [-3.70446, 0.102074, 2.1399]
Camera #6 center: [-3.94349, 0.176284, 3.03374] -> [-3.929, 0.172128, 2.94497]
Camera #7 center: [-4.06638, 0.252223, 3.94233] -> [-4.07378, 0.245505, 3.82616]
Camera #8 center: [-3.75479, 0.326281, 4.94212] -> [-3.80017, 0.316394, 4.81063]
Camera #9 center: [-3.35763, 0.373631, 5.84267] -> [-3.44959, 0.363138, 5.70252]
Camera #10 center: [-2.63486, 0.43783, 6.57017] -> [-2.77889, 0.427038, 6.44254]
Camera #11 center: [-1.94847, 0.480279, 7.04417] -> [-2.13752, 0.471457, 6.93865]
Camera #12 center: [-1.11194, 0.532511, 7.46258] -> [-1.37425, 0.526161, 7.38621]
Camera #13 center: [-0.197883, 0.534031, 7.63312] -> [-0.535149, 0.53448, 7.61261]
Camera #14 center: [0.628302, 0.544351, 7.67396] -> [0.222536, 0.553399, 7.72907]
Camera #15 center: [1.45212, 0.52274, 7.46035] -> [0.989271, 0.541641, 7.62704]
Camera #16 center: [2.22525, 0.50048, 7.04478] -> [1.73858, 0.52366, 7.36609]
After BA tie poits: 36% old + 2% new = 38% total outliers
After BA projections: 52% inliers with MSE=0.122137
    Camera #0 projections: 53% inliers (713/1358) with MSE=0.500393
    Camera #1 projections: 55% inliers (1009/1846) with MSE=0.310087
    Camera #2 projections: 44% inliers (1084/2485) with MSE=0.107201
    Camera #3 projections: 46% inliers (1160/2498) with MSE=0.0820238
    Camera #4 projections: 42% inliers (1294/3093) with MSE=0.120598
    Camera #5 projections: 40% inliers (1222/3054) with MSE=0.143625
    Camera #6 projections: 42% inliers (1350/3194) with MSE=0.112088
    Camera #7 projections: 38% inliers (1083/2850) with MSE=0.100148
    Camera #8 projections: 48% inliers (1332/2773) with MSE=0.0704023
    Camera #9 projections: 54% inliers (1513/2784) with MSE=0.0776686
    Camera #10 projections: 59% inliers (1546/2624) with MSE=0.0811057
    Camera #11 projections: 62% inliers (1589/2561) with MSE=0.0716386
    Camera #12 projections: 54% inliers (1345/2470) with MSE=0.0961322
    Camera #13 projections: 47% inliers (1079/2320) with MSE=0.098445
    Camera #14 projections: 60% inliers (1317/2192) with MSE=0.119616
    Camera #15 projections: 71% inliers (1828/2567) with MSE=0.0898962
    Camera #16 projections: 92% inliers (1634/1771) with MSE=0.133861
Append camera #17 (IMG_3040.JPG) to alignment via 718 common points
Before BA camera: k1=-0.119553, k2=-0.156376, f=1605.1, cx=347.457, cy=557.381
Before BA projections: 55% inliers with MSE=0.173133
    Camera #0 projections: 53% inliers (713/1358) with MSE=0.500393
    Camera #1 projections: 55% inliers (1009/1846) with MSE=0.310087
    Camera #2 projections: 44% inliers (1084/2485) with MSE=0.107201
    Camera #3 projections: 46% inliers (1160/2498) with MSE=0.0820238
    Camera #4 projections: 42% inliers (1294/3093) with MSE=0.120598
    Camera #5 projections: 40% inliers (1222/3054) with MSE=0.143625
    Camera #6 projections: 42% inliers (1350/3194) with MSE=0.112088
    Camera #7 projections: 38% inliers (1083/2850) with MSE=0.100148
    Camera #8 projections: 48% inliers (1332/2773) with MSE=0.0704023
    Camera #9 projections: 54% inliers (1513/2784) with MSE=0.0776686
    Camera #10 projections: 59% inliers (1546/2624) with MSE=0.0811057
    Camera #11 projections: 62% inliers (1591/2563) with MSE=0.0723594
    Camera #12 projections: 55% inliers (1350/2475) with MSE=0.0977783
    Camera #13 projections: 47% inliers (1088/2332) with MSE=0.100461
    Camera #14 projections: 60% inliers (1329/2210) with MSE=0.123063
    Camera #15 projections: 74% inliers (2123/2870) with MSE=0.105639
    Camera #16 projections: 93% inliers (2642/2837) with MSE=0.173285
    Camera #17 projections: 92% inliers (2012/2187) with MSE=0.692631
After BA camera: k1=-0.122179, k2=0.0185667, f=1542.42, cx=352.611, cy=570.197
Camera #0 center: [0, 0, 0] -> [0, 0, 0]
Camera #1 center: [-0.981112, 0.0066058, 0.193329] -> [-0.981112, 0.0066058, 0.193329]
Camera #2 center: [-1.84653, 0.0147976, 0.503624] -> [-1.8529, 0.0131028, 0.496383]
Camera #3 center: [-2.62593, 0.0273639, 0.908321] -> [-2.64243, 0.0241377, 0.894527]
Camera #4 center: [-3.19849, 0.0616837, 1.46195] -> [-3.2255, 0.0562193, 1.44248]
Camera #5 center: [-3.70446, 0.102074, 2.1399] -> [-3.74451, 0.0943892, 2.11363]
Camera #6 center: [-3.929, 0.172128, 2.94497] -> [-3.98519, 0.160519, 2.91604]
Camera #7 center: [-4.07378, 0.245505, 3.82616] -> [-4.15015, 0.230779, 3.7961]
Camera #8 center: [-3.80017, 0.316394, 4.81063] -> [-3.90002, 0.297111, 4.79045]
Camera #9 center: [-3.44959, 0.363138, 5.70252] -> [-3.57278, 0.341337, 5.69679]
Camera #10 center: [-2.77889, 0.427038, 6.44254] -> [-2.92374, 0.402937, 6.45864]
Camera #11 center: [-2.13752, 0.471457, 6.93865] -> [-2.2991, 0.446516, 6.977]
Camera #12 center: [-1.37425, 0.526161, 7.38621] -> [-1.55935, 0.500991, 7.45119]
Camera #13 center: [-0.535149, 0.53448, 7.61261] -> [-0.725568, 0.511477, 7.71431]
Camera #14 center: [0.222536, 0.553399, 7.72907] -> [0.0191187, 0.533959, 7.86461]
Camera #15 center: [0.989271, 0.541641, 7.62704] -> [0.80982, 0.525475, 7.79633]
Camera #16 center: [1.73858, 0.52366, 7.36609] -> [1.58777, 0.512914, 7.55736]
Camera #17 center: [2.40376, 0.472807, 6.87558] -> [2.2939, 0.46866, 7.08615]
After BA tie poits: 35% old + 6% new = 40% total outliers
After BA projections: 53% inliers with MSE=0.126451
    Camera #0 projections: 53% inliers (713/1358) with MSE=0.607962
    Camera #1 projections: 55% inliers (1009/1846) with MSE=0.364381
    Camera #2 projections: 44% inliers (1084/2485) with MSE=0.108838
    Camera #3 projections: 46% inliers (1159/2498) with MSE=0.0770404
    Camera #4 projections: 42% inliers (1292/3093) with MSE=0.105695
    Camera #5 projections: 40% inliers (1211/3054) with MSE=0.109175
    Camera #6 projections: 42% inliers (1350/3194) with MSE=0.105025
    Camera #7 projections: 38% inliers (1084/2850) with MSE=0.101751
    Camera #8 projections: 48% inliers (1333/2773) with MSE=0.0728767
    Camera #9 projections: 54% inliers (1514/2784) with MSE=0.0804588
    Camera #10 projections: 59% inliers (1543/2624) with MSE=0.0823935
    Camera #11 projections: 62% inliers (1595/2563) with MSE=0.101213
    Camera #12 projections: 54% inliers (1325/2475) with MSE=0.102058
    Camera #13 projections: 43% inliers (992/2332) with MSE=0.105072
    Camera #14 projections: 48% inliers (1067/2210) with MSE=0.0919539
    Camera #15 projections: 65% inliers (1858/2870) with MSE=0.0968952
    Camera #16 projections: 73% inliers (2062/2837) with MSE=0.130461
    Camera #17 projections: 91% inliers (1985/2187) with MSE=0.117724
Append camera #18 (IMG_3041.JPG) to alignment via 813 common points
Before BA camera: k1=-0.122179, k2=0.0185667, f=1542.42, cx=352.611, cy=570.197
Before BA projections: 55% inliers with MSE=0.178187
    Camera #0 projections: 53% inliers (713/1358) with MSE=0.607962
    Camera #1 projections: 55% inliers (1009/1846) with MSE=0.364381
    Camera #2 projections: 44% inliers (1084/2485) with MSE=0.108838
    Camera #3 projections: 46% inliers (1159/2498) with MSE=0.0770404
    Camera #4 projections: 42% inliers (1292/3093) with MSE=0.105695
    Camera #5 projections: 40% inliers (1211/3054) with MSE=0.109175
    Camera #6 projections: 42% inliers (1350/3194) with MSE=0.105025
    Camera #7 projections: 38% inliers (1084/2850) with MSE=0.101751
    Camera #8 projections: 48% inliers (1333/2773) with MSE=0.0728767
    Camera #9 projections: 54% inliers (1514/2784) with MSE=0.0804588
    Camera #10 projections: 59% inliers (1543/2624) with MSE=0.0823935
    Camera #11 projections: 62% inliers (1595/2563) with MSE=0.101213
    Camera #12 projections: 54% inliers (1325/2475) with MSE=0.102058
    Camera #13 projections: 43% inliers (995/2337) with MSE=0.105512
    Camera #14 projections: 48% inliers (1069/2214) with MSE=0.0923849
    Camera #15 projections: 65% inliers (1874/2887) with MSE=0.0984745
    Camera #16 projections: 75% inliers (2509/3324) with MSE=0.144985
    Camera #17 projections: 92% inliers (2910/3166) with MSE=0.137665
    Camera #18 projections: 85% inliers (2100/2461) with MSE=0.764565
After BA camera: k1=-0.184067, k2=0.316617, f=1521.35, cx=358.032, cy=576.65
Camera #0 center: [0, 0, 0] -> [0, 0, 0]
Camera #1 center: [-0.981112, 0.0066058, 0.193329] -> [-0.981112, 0.0066058, 0.193329]
Camera #2 center: [-1.8529, 0.0131028, 0.496383] -> [-1.85412, 0.0123028, 0.490735]
Camera #3 center: [-2.64243, 0.0241377, 0.894527] -> [-2.65184, 0.0228754, 0.887388]
Camera #4 center: [-3.2255, 0.0562193, 1.44248] -> [-3.24176, 0.0547161, 1.43515]
Camera #5 center: [-3.74451, 0.0943892, 2.11363] -> [-3.76692, 0.0929912, 2.10709]
Camera #6 center: [-3.98519, 0.160519, 2.91604] -> [-4.01325, 0.158771, 2.91074]
Camera #7 center: [-4.15015, 0.230779, 3.7961] -> [-4.18409, 0.228822, 3.79092]
Camera #8 center: [-3.90002, 0.297111, 4.79045] -> [-3.94035, 0.293959, 4.78788]
Camera #9 center: [-3.57278, 0.341337, 5.69679] -> [-3.61858, 0.338028, 5.70112]
Camera #10 center: [-2.92374, 0.402937, 6.45864] -> [-2.97523, 0.398905, 6.46873]
Camera #11 center: [-2.2991, 0.446516, 6.977] -> [-2.35436, 0.442327, 6.9934]
Camera #12 center: [-1.55935, 0.500991, 7.45119] -> [-1.62108, 0.496481, 7.4752]
Camera #13 center: [-0.725568, 0.511477, 7.71431] -> [-0.798358, 0.506835, 7.7471]
Camera #14 center: [0.0191187, 0.533959, 7.86461] -> [-0.0441518, 0.529073, 7.90819]
Camera #15 center: [0.80982, 0.525475, 7.79633] -> [0.733806, 0.521609, 7.85256]
Camera #16 center: [1.58777, 0.512914, 7.55736] -> [1.50355, 0.509152, 7.63623]
Camera #17 center: [2.2939, 0.46866, 7.08615] -> [2.20322, 0.467155, 7.1839]
Camera #18 center: [2.83983, 0.440791, 6.49836] -> [2.75765, 0.436754, 6.62276]
After BA tie poits: 37% old + 10% new = 47% total outliers
After BA projections: 51% inliers with MSE=0.137909
    Camera #0 projections: 52% inliers (712/1358) with MSE=0.681844
    Camera #1 projections: 55% inliers (1009/1846) with MSE=0.415973
    Camera #2 projections: 44% inliers (1082/2485) with MSE=0.119998
    Camera #3 projections: 45% inliers (1126/2498) with MSE=0.0778588
    Camera #4 projections: 41% inliers (1259/3093) with MSE=0.107189
    Camera #5 projections: 40% inliers (1209/3054) with MSE=0.110057
    Camera #6 projections: 42% inliers (1351/3194) with MSE=0.103981
    Camera #7 projections: 38% inliers (1083/2850) with MSE=0.0978051
    Camera #8 projections: 48% inliers (1332/2773) with MSE=0.0740551
    Camera #9 projections: 54% inliers (1512/2784) with MSE=0.0784777
    Camera #10 projections: 58% inliers (1527/2624) with MSE=0.0931248
    Camera #11 projections: 44% inliers (1122/2563) with MSE=0.143604
    Camera #12 projections: 33% inliers (814/2475) with MSE=0.144194
    Camera #13 projections: 41% inliers (956/2337) with MSE=0.129314
    Camera #14 projections: 45% inliers (990/2214) with MSE=0.100214
    Camera #15 projections: 56% inliers (1625/2887) with MSE=0.0955481
    Camera #16 projections: 66% inliers (2184/3324) with MSE=0.118165
    Camera #17 projections: 73% inliers (2325/3166) with MSE=0.106023
    Camera #18 projections: 84% inliers (2060/2461) with MSE=0.159362
Append camera #19 (IMG_3042.JPG) to alignment via 540 common points
Before BA camera: k1=-0.184067, k2=0.316617, f=1521.35, cx=358.032, cy=576.65
Before BA projections: 52% inliers with MSE=0.204315
Camera #0 projections: 52% inliers (712/1358) with MSE=0.681844
    Camera #1 projections: 55% inliers (1009/1846) with MSE=0.415973
    Camera #2 projections: 44% inliers (1082/2485) with MSE=0.119998
    Camera #3 projections: 45% inliers (1126/2498) with MSE=0.0778588
    Camera #4 projections: 41% inliers (1259/3093) with MSE=0.107189
    Camera #5 projections: 40% inliers (1209/3054) with MSE=0.110057
    Camera #6 projections: 42% inliers (1351/3194) with MSE=0.103981
    Camera #7 projections: 38% inliers (1083/2850) with MSE=0.0978051
    Camera #8 projections: 48% inliers (1332/2773) with MSE=0.0740551
    Camera #9 projections: 54% inliers (1512/2784) with MSE=0.0784777
    Camera #10 projections: 58% inliers (1527/2624) with MSE=0.0931248
    Camera #11 projections: 44% inliers (1122/2563) with MSE=0.143604
    Camera #12 projections: 33% inliers (814/2475) with MSE=0.144194
    Camera #13 projections: 41% inliers (958/2339) with MSE=0.130031
    Camera #14 projections: 45% inliers (990/2214) with MSE=0.100214
    Camera #15 projections: 56% inliers (1626/2888) with MSE=0.0959153
    Camera #16 projections: 66% inliers (2196/3337) with MSE=0.120881
    Camera #17 projections: 75% inliers (2640/3497) with MSE=0.119042
    Camera #18 projections: 86% inliers (2532/2952) with MSE=0.235632
    Camera #19 projections: 94% inliers (1317/1403) with MSE=1.34125
After BA camera: k1=-0.0968544, k2=-0.166897, f=1601.46, cx=350.787, cy=562.951
Camera #0 center: [0, 0, 0] -> [0, 0, 0]
Camera #1 center: [-0.981112, 0.0066058, 0.193329] -> [-0.981112, 0.0066058, 0.193329]
Camera #2 center: [-1.85412, 0.0123028, 0.490735] -> [-1.85072, 0.0128258, 0.500303]
Camera #3 center: [-2.65184, 0.0228754, 0.887388] -> [-2.63404, 0.0230014, 0.901235]
Camera #4 center: [-3.24176, 0.0547161, 1.43515] -> [-3.21166, 0.0540032, 1.45186]
Camera #5 center: [-3.76692, 0.0929912, 2.10709] -> [-3.72431, 0.0906848, 2.12681]
Camera #6 center: [-4.01325, 0.158771, 2.91074] -> [-3.95698, 0.156582, 2.93182]
Camera #7 center: [-4.18409, 0.228822, 3.79092] -> [-4.1112, 0.225676, 3.81431]
Camera #8 center: [-3.94035, 0.293959, 4.78788] -> [-3.84773, 0.292354, 4.80502]
Camera #9 center: [-3.61858, 0.338028, 5.70112] -> [-3.5053, 0.335531, 5.70656]
Camera #10 center: [-2.97523, 0.398905, 6.46873] -> [-2.8442, 0.396671, 6.45453]
Camera #11 center: [-2.35436, 0.442327, 6.9934] -> [-2.21159, 0.439163, 6.95895]
Camera #12 center: [-1.62108, 0.496481, 7.4752] -> [-1.45573, 0.492627, 7.41989]
Camera #13 center: [-0.798358, 0.506835, 7.7471] -> [-0.618216, 0.504236, 7.66107]
Camera #14 center: [-0.0441518, 0.529073, 7.90819] -> [0.141375, 0.523633, 7.79151]
Camera #15 center: [0.733806, 0.521609, 7.85256] -> [0.926032, 0.511339, 7.70015]
Camera #16 center: [1.50355, 0.509152, 7.63623] -> [1.70312, 0.495057, 7.43896]
Camera #17 center: [2.20322, 0.467155, 7.1839] -> [2.39018, 0.449432, 6.93767]
Camera #18 center: [2.75765, 0.436754, 6.62276] -> [2.91069, 0.41709, 6.33449]
Camera #19 center: [3.29179, 0.416599, 6.06354] -> [3.40691, 0.395433, 5.73535]
After BA tie poits: 45% old + 1% new = 46% total outliers
After BA projections: 45% inliers with MSE=0.118844
    Camera #0 projections: 52% inliers (710/1358) with MSE=0.538814
    Camera #1 projections: 54% inliers (1006/1846) with MSE=0.325737
    Camera #2 projections: 41% inliers (1030/2485) with MSE=0.105207
    Camera #3 projections: 41% inliers (1029/2498) with MSE=0.077493
    Camera #4 projections: 39% inliers (1202/3093) with MSE=0.114357
    Camera #5 projections: 40% inliers (1215/3054) with MSE=0.131623
    Camera #6 projections: 42% inliers (1347/3194) with MSE=0.146528
    Camera #7 projections: 37% inliers (1068/2850) with MSE=0.101811
    Camera #8 projections: 48% inliers (1330/2773) with MSE=0.0681496
    Camera #9 projections: 54% inliers (1512/2784) with MSE=0.078785
    Camera #10 projections: 55% inliers (1450/2624) with MSE=0.0773151
    Camera #11 projections: 36% inliers (912/2563) with MSE=0.106019
    Camera #12 projections: 31% inliers (774/2475) with MSE=0.12433
    Camera #13 projections: 34% inliers (789/2339) with MSE=0.0937406
    Camera #14 projections: 32% inliers (716/2214) with MSE=0.110466
    Camera #15 projections: 41% inliers (1189/2888) with MSE=0.0764562
    Camera #16 projections: 50% inliers (1663/3337) with MSE=0.0763638
    Camera #17 projections: 50% inliers (1758/3497) with MSE=0.0768038
    Camera #18 projections: 49% inliers (1445/2952) with MSE=0.0978655
    Camera #19 projections: 93% inliers (1309/1403) with MSE=0.0942258
Append camera #20 (IMG_3043.JPG) to alignment via 436 common points
Before BA camera: k1=-0.0968544, k2=-0.166897, f=1601.46, cx=350.787, cy=562.951
Before BA projections: 47% inliers with MSE=0.181797
    Camera #0 projections: 52% inliers (710/1358) with MSE=0.538814
    Camera #1 projections: 54% inliers (1006/1846) with MSE=0.325737
    Camera #2 projections: 41% inliers (1030/2485) with MSE=0.105207
    Camera #3 projections: 41% inliers (1029/2498) with MSE=0.077493
    Camera #4 projections: 39% inliers (1202/3093) with MSE=0.114357
    Camera #5 projections: 40% inliers (1215/3054) with MSE=0.131623
    Camera #6 projections: 42% inliers (1347/3194) with MSE=0.146528
    Camera #7 projections: 37% inliers (1068/2850) with MSE=0.101811
    Camera #8 projections: 48% inliers (1330/2773) with MSE=0.0681496
    Camera #9 projections: 54% inliers (1512/2784) with MSE=0.078785
    Camera #10 projections: 55% inliers (1450/2624) with MSE=0.0773151
    Camera #11 projections: 36% inliers (912/2563) with MSE=0.106019
    Camera #12 projections: 31% inliers (774/2475) with MSE=0.12433
    Camera #13 projections: 34% inliers (789/2339) with MSE=0.0937406
    Camera #14 projections: 32% inliers (717/2216) with MSE=0.110409
    Camera #15 projections: 41% inliers (1189/2888) with MSE=0.0764562
    Camera #16 projections: 50% inliers (1666/3340) with MSE=0.0777732
    Camera #17 projections: 50% inliers (1767/3507) with MSE=0.0820584
    Camera #18 projections: 51% inliers (1567/3091) with MSE=0.121801
    Camera #19 projections: 94% inliers (1842/1956) with MSE=0.244782
    Camera #20 projections: 91% inliers (1059/1170) with MSE=1.32281
After BA camera: k1=-0.0973295, k2=-0.184693, f=1601.94, cx=350.754, cy=562.028
Camera #0 center: [0, 0, 0] -> [0, 0, 0]
Camera #1 center: [-0.981112, 0.0066058, 0.193329] -> [-0.981112, 0.0066058, 0.193329]
Camera #2 center: [-1.85072, 0.0128258, 0.500303] -> [-1.84944, 0.0131275, 0.500757]
Camera #3 center: [-2.63404, 0.0230014, 0.901235] -> [-2.6314, 0.0236366, 0.902142]
Camera #4 center: [-3.21166, 0.0540032, 1.45186] -> [-3.20759, 0.0550661, 1.45289]
Camera #5 center: [-3.72431, 0.0906848, 2.12681] -> [-3.71852, 0.0922422, 2.12783]
Camera #6 center: [-3.95698, 0.156582, 2.93182] -> [-3.94946, 0.158668, 2.93215]
Camera #7 center: [-4.1112, 0.225676, 3.81431] -> [-4.10179, 0.228309, 3.81363]
Camera #8 center: [-3.84773, 0.292354, 4.80502] -> [-3.83672, 0.29554, 4.80221]
Camera #9 center: [-3.5053, 0.335531, 5.70656] -> [-3.49292, 0.339218, 5.70145]
Camera #10 center: [-2.8442, 0.396671, 6.45453] -> [-2.83035, 0.400761, 6.4475]
Camera #11 center: [-2.21159, 0.439163, 6.95895] -> [-2.19636, 0.443512, 6.94998]
Camera #12 center: [-1.45573, 0.492627, 7.41989] -> [-1.4394, 0.497201, 7.40793]
Camera #13 center: [-0.618216, 0.504236, 7.66107] -> [-0.602839, 0.508964, 7.64552]
Camera #14 center: [0.141375, 0.523633, 7.79151] -> [0.154688, 0.528333, 7.77288]
Camera #15 center: [0.926032, 0.511339, 7.70015] -> [0.938774, 0.516051, 7.67909]
Camera #16 center: [1.70312, 0.495057, 7.43896] -> [1.71196, 0.499921, 7.41625]
Camera #17 center: [2.39018, 0.449432, 6.93767] -> [2.40076, 0.454053, 6.90979]
Camera #18 center: [2.91069, 0.41709, 6.33449] -> [2.92214, 0.421577, 6.29859]
Camera #19 center: [3.40691, 0.395433, 5.73535] -> [3.40725, 0.400131, 5.70755]
Camera #20 center: [3.89902, 0.365844, 5.12836] -> [3.89387, 0.363729, 5.09714]
After BA tie poits: 45% old + 1% new = 46% total outliers
After BA projections: 45% inliers with MSE=0.136645
    Camera #0 projections: 52% inliers (710/1358) with MSE=0.534814
    Camera #1 projections: 54% inliers (1006/1846) with MSE=0.325134
    Camera #2 projections: 41% inliers (1030/2485) with MSE=0.106782
    Camera #3 projections: 41% inliers (1028/2498) with MSE=0.0739692
    Camera #4 projections: 39% inliers (1200/3093) with MSE=0.109986
    Camera #5 projections: 41% inliers (1255/3054) with MSE=0.254668
    Camera #6 projections: 42% inliers (1334/3194) with MSE=0.113048
    Camera #7 projections: 37% inliers (1066/2850) with MSE=0.0970516
    Camera #8 projections: 48% inliers (1329/2773) with MSE=0.0663752
    Camera #9 projections: 55% inliers (1519/2784) with MSE=0.0916041
    Camera #10 projections: 55% inliers (1450/2624) with MSE=0.0763062
    Camera #11 projections: 36% inliers (912/2563) with MSE=0.113494
    Camera #12 projections: 31% inliers (768/2475) with MSE=0.114455
    Camera #13 projections: 34% inliers (789/2339) with MSE=0.111479
    Camera #14 projections: 32% inliers (716/2216) with MSE=0.118637
    Camera #15 projections: 41% inliers (1185/2888) with MSE=0.102648
    Camera #16 projections: 49% inliers (1638/3340) with MSE=0.158476
    Camera #17 projections: 45% inliers (1574/3507) with MSE=0.082948
    Camera #18 projections: 45% inliers (1376/3091) with MSE=0.119717
    Camera #19 projections: 74% inliers (1438/1956) with MSE=0.133447
    Camera #20 projections: 92% inliers (1071/1170) with MSE=0.153048
Append camera #21 (IMG_3044.JPG) to alignment via 500 common points
Before BA camera: k1=-0.0973295, k2=-0.184693, f=1601.94, cx=350.754, cy=562.028
Before BA projections: 46% inliers with MSE=0.190676
    Camera #0 projections: 52% inliers (710/1358) with MSE=0.534814
    Camera #1 projections: 54% inliers (1006/1846) with MSE=0.325134
    Camera #2 projections: 41% inliers (1030/2485) with MSE=0.106782
    Camera #3 projections: 41% inliers (1028/2498) with MSE=0.0739692
    Camera #4 projections: 39% inliers (1200/3093) with MSE=0.109986
    Camera #5 projections: 41% inliers (1255/3054) with MSE=0.254668
    Camera #6 projections: 42% inliers (1334/3194) with MSE=0.113048
    Camera #7 projections: 37% inliers (1066/2850) with MSE=0.0970516
    Camera #8 projections: 48% inliers (1329/2773) with MSE=0.0663752
    Camera #9 projections: 55% inliers (1519/2784) with MSE=0.0916041
    Camera #10 projections: 55% inliers (1450/2624) with MSE=0.0763062
    Camera #11 projections: 36% inliers (912/2563) with MSE=0.113494
    Camera #12 projections: 31% inliers (768/2475) with MSE=0.114455
    Camera #13 projections: 34% inliers (789/2339) with MSE=0.111479
    Camera #14 projections: 32% inliers (716/2216) with MSE=0.118637
    Camera #15 projections: 41% inliers (1185/2888) with MSE=0.102648
    Camera #16 projections: 49% inliers (1638/3340) with MSE=0.158476
    Camera #17 projections: 45% inliers (1576/3511) with MSE=0.0829966
    Camera #18 projections: 45% inliers (1379/3095) with MSE=0.12009
    Camera #19 projections: 74% inliers (1514/2036) with MSE=0.156839
    Camera #20 projections: 93% inliers (1485/1605) with MSE=0.244421
    Camera #21 projections: 90% inliers (937/1038) with MSE=1.43581
After BA camera: k1=-0.108127, k2=-0.129603, f=1603.93, cx=350.238, cy=561.201
Camera #0 center: [0, 0, 0] -> [0, 0, 0]
Camera #1 center: [-0.981112, 0.0066058, 0.193329] -> [-0.981112, 0.0066058, 0.193329]
Camera #2 center: [-1.84944, 0.0131275, 0.500757] -> [-1.8494, 0.0133229, 0.501047]
Camera #3 center: [-2.6314, 0.0236366, 0.902142] -> [-2.63154, 0.0241006, 0.902876]
Camera #4 center: [-3.20759, 0.0550661, 1.45289] -> [-3.20767, 0.0559572, 1.45409]
Camera #5 center: [-3.71852, 0.0922422, 2.12783] -> [-3.71848, 0.093598, 2.12965]
Camera #6 center: [-3.94946, 0.158668, 2.93215] -> [-3.94892, 0.160635, 2.93444]
Camera #7 center: [-4.10179, 0.228309, 3.81363] -> [-4.10062, 0.230876, 3.8162]
Camera #8 center: [-3.83672, 0.29554, 4.80221] -> [-3.8346, 0.298755, 4.80479]
Camera #9 center: [-3.49292, 0.339218, 5.70145] -> [-3.48987, 0.343006, 5.70403]
Camera #10 center: [-2.83035, 0.400761, 6.4475] -> [-2.82622, 0.404997, 6.4497]
Camera #11 center: [-2.19636, 0.443512, 6.94998] -> [-2.19134, 0.448041, 6.95169]
Camera #12 center: [-1.4394, 0.497201, 7.40793] -> [-1.43341, 0.501963, 7.40893]
Camera #13 center: [-0.602839, 0.508964, 7.64552] -> [-0.59518, 0.51368, 7.64567]
Camera #14 center: [0.154688, 0.528333, 7.77288] -> [0.164298, 0.532972, 7.7719]
Camera #15 center: [0.938774, 0.516051, 7.67909] -> [0.945946, 0.52039, 7.67668]
Camera #16 center: [1.71196, 0.499921, 7.41625] -> [1.72521, 0.50349, 7.40964]
Camera #17 center: [2.40076, 0.454053, 6.90979] -> [2.41332, 0.456783, 6.89991]
Camera #18 center: [2.92214, 0.421577, 6.29859] -> [2.93187, 0.423243, 6.28674]
Camera #19 center: [3.40725, 0.400131, 5.70755] -> [3.41299, 0.401708, 5.69577]
Camera #20 center: [3.89387, 0.363729, 5.09714] -> [3.90025, 0.364411, 5.07232]
Camera #21 center: [4.11039, 0.297137, 4.34093] -> [4.10539, 0.306297, 4.30093]
After BA tie poits: 45% old + 1% new = 46% total outliers
After BA projections: 46% inliers with MSE=0.160961
    Camera #0 projections: 52% inliers (710/1358) with MSE=0.527694
    Camera #1 projections: 54% inliers (1006/1846) with MSE=0.321505
    Camera #2 projections: 41% inliers (1030/2485) with MSE=0.108574
    Camera #3 projections: 41% inliers (1028/2498) with MSE=0.07384
    Camera #4 projections: 39% inliers (1200/3093) with MSE=0.110376
    Camera #5 projections: 41% inliers (1255/3054) with MSE=0.226114
    Camera #6 projections: 42% inliers (1331/3194) with MSE=0.104608
    Camera #7 projections: 37% inliers (1066/2850) with MSE=0.0976712
    Camera #8 projections: 48% inliers (1329/2773) with MSE=0.0667185
    Camera #9 projections: 55% inliers (1527/2784) with MSE=0.103338
    Camera #10 projections: 55% inliers (1450/2624) with MSE=0.0771895
    Camera #11 projections: 36% inliers (911/2563) with MSE=0.112496
    Camera #12 projections: 31% inliers (772/2475) with MSE=0.139618
    Camera #13 projections: 34% inliers (792/2339) with MSE=0.126973
    Camera #14 projections: 32% inliers (717/2216) with MSE=0.16059
    Camera #15 projections: 41% inliers (1178/2888) with MSE=0.117309
    Camera #16 projections: 48% inliers (1606/3340) with MSE=0.108312
    Camera #17 projections: 45% inliers (1570/3511) with MSE=0.135265
    Camera #18 projections: 44% inliers (1370/3095) with MSE=0.317575
    Camera #19 projections: 72% inliers (1470/2036) with MSE=0.229088
    Camera #20 projections: 90% inliers (1444/1605) with MSE=0.287328
    Camera #21 projections: 93% inliers (962/1038) with MSE=0.103465
Append camera #22 (IMG_3045.JPG) to alignment via 574 common points
Before BA camera: k1=-0.108127, k2=-0.129603, f=1603.93, cx=350.238, cy=561.201
Before BA projections: 48% inliers with MSE=0.190728
    Camera #0 projections: 52% inliers (710/1358) with MSE=0.527694
    Camera #1 projections: 54% inliers (1006/1846) with MSE=0.321505
    Camera #2 projections: 41% inliers (1030/2485) with MSE=0.108574
    Camera #3 projections: 41% inliers (1028/2498) with MSE=0.07384
    Camera #4 projections: 39% inliers (1200/3093) with MSE=0.110376
    Camera #5 projections: 41% inliers (1255/3054) with MSE=0.226114
    Camera #6 projections: 42% inliers (1331/3194) with MSE=0.104608
    Camera #7 projections: 37% inliers (1066/2850) with MSE=0.0976712
    Camera #8 projections: 48% inliers (1329/2773) with MSE=0.0667185
    Camera #9 projections: 55% inliers (1527/2784) with MSE=0.103338
    Camera #10 projections: 55% inliers (1450/2624) with MSE=0.0771895
    Camera #11 projections: 36% inliers (911/2563) with MSE=0.112496
    Camera #12 projections: 31% inliers (772/2475) with MSE=0.139618
    Camera #13 projections: 34% inliers (792/2339) with MSE=0.126973
    Camera #14 projections: 32% inliers (717/2216) with MSE=0.16059
    Camera #15 projections: 41% inliers (1178/2888) with MSE=0.117309
    Camera #16 projections: 48% inliers (1606/3340) with MSE=0.108312
    Camera #17 projections: 45% inliers (1570/3511) with MSE=0.135265
    Camera #18 projections: 44% inliers (1370/3095) with MSE=0.317575
    Camera #19 projections: 72% inliers (1484/2054) with MSE=0.230303
    Camera #20 projections: 90% inliers (1523/1694) with MSE=0.294947
    Camera #21 projections: 93% inliers (1376/1474) with MSE=0.22254
    Camera #22 projections: 91% inliers (1041/1147) with MSE=0.782902
After BA camera: k1=-0.102897, k2=-0.172047, f=1607.73, cx=350.126, cy=560.743
Camera #0 center: [0, 0, 0] -> [0, 0, 0]
Camera #1 center: [-0.981112, 0.0066058, 0.193329] -> [-0.981112, 0.0066058, 0.193329]
Camera #2 center: [-1.8494, 0.0133229, 0.501047] -> [-1.84919, 0.0133111, 0.501303]
Camera #3 center: [-2.63154, 0.0241006, 0.902876] -> [-2.63084, 0.024032, 0.903289]
Camera #4 center: [-3.20767, 0.0559572, 1.45409] -> [-3.20654, 0.0558102, 1.45463]
Camera #5 center: [-3.71848, 0.093598, 2.12965] -> [-3.71685, 0.0933336, 2.13038]
Camera #6 center: [-3.94892, 0.160635, 2.93444] -> [-3.94675, 0.16032, 2.93527]
Camera #7 center: [-4.10062, 0.230876, 3.8162] -> [-4.09771, 0.230455, 3.81715]
Camera #8 center: [-3.8346, 0.298755, 4.80479] -> [-3.83081, 0.298314, 4.80545]
Camera #9 center: [-3.48987, 0.343006, 5.70403] -> [-3.48518, 0.342441, 5.70411]
Camera #10 center: [-2.82622, 0.404997, 6.4497] -> [-2.82079, 0.404365, 6.44884]
Camera #11 center: [-2.19134, 0.448041, 6.95169] -> [-2.1854, 0.447314, 6.94991]
Camera #12 center: [-1.43341, 0.501963, 7.40893] -> [-1.42687, 0.501126, 7.40604]
Camera #13 center: [-0.59518, 0.51368, 7.64567] -> [-0.588581, 0.512738, 7.64143]
Camera #14 center: [0.164298, 0.532972, 7.7719] -> [0.170988, 0.531924, 7.76645]
Camera #15 center: [0.945946, 0.52039, 7.67668] -> [0.952851, 0.519216, 7.66999]
Camera #16 center: [1.72521, 0.50349, 7.40964] -> [1.72991, 0.502335, 7.40216]
Camera #17 center: [2.41332, 0.456783, 6.89991] -> [2.41925, 0.455553, 6.88973]
Camera #18 center: [2.93187, 0.423243, 6.28674] -> [2.93844, 0.422248, 6.27225]
Camera #19 center: [3.41299, 0.401708, 5.69577] -> [3.42141, 0.400487, 5.67124]
Camera #20 center: [3.90025, 0.364411, 5.07232] -> [3.90232, 0.363895, 5.05664]
Camera #21 center: [4.10539, 0.306297, 4.30093] -> [4.10219, 0.307254, 4.29579]
Camera #22 center: [4.15634, 0.245919, 3.54502] -> [4.14632, 0.243966, 3.54923]
After BA tie poits: 44% old + 2% new = 46% total outliers
After BA projections: 46% inliers with MSE=0.207464
    Camera #0 projections: 52% inliers (710/1358) with MSE=0.524568
    Camera #1 projections: 54% inliers (1006/1846) with MSE=0.319802
    Camera #2 projections: 41% inliers (1029/2485) with MSE=0.104653
    Camera #3 projections: 41% inliers (1028/2498) with MSE=0.074185
    Camera #4 projections: 39% inliers (1200/3093) with MSE=0.111075
    Camera #5 projections: 41% inliers (1243/3054) with MSE=0.222893
    Camera #6 projections: 42% inliers (1331/3194) with MSE=0.104928
    Camera #7 projections: 37% inliers (1066/2850) with MSE=0.0978299
    Camera #8 projections: 48% inliers (1329/2773) with MSE=0.0665621
    Camera #9 projections: 55% inliers (1521/2784) with MSE=0.0911448
    Camera #10 projections: 55% inliers (1450/2624) with MSE=0.0778948
    Camera #11 projections: 35% inliers (909/2563) with MSE=0.0957373
    Camera #12 projections: 31% inliers (767/2475) with MSE=0.110269
    Camera #13 projections: 33% inliers (783/2339) with MSE=0.0855799
    Camera #14 projections: 32% inliers (715/2216) with MSE=0.147689
    Camera #15 projections: 41% inliers (1178/2888) with MSE=0.117524
    Camera #16 projections: 48% inliers (1609/3340) with MSE=0.135615
    Camera #17 projections: 44% inliers (1545/3511) with MSE=0.115855
    Camera #18 projections: 41% inliers (1281/3095) with MSE=0.255007
    Camera #19 projections: 65% inliers (1327/2054) with MSE=0.412525
    Camera #20 projections: 74% inliers (1257/1694) with MSE=0.506798
    Camera #21 projections: 90% inliers (1327/1474) with MSE=0.857403
    Camera #22 projections: 92% inliers (1052/1147) with MSE=0.123955
Append camera #23 (IMG_3046.JPG) to alignment via 560 common points
Before BA camera: k1=-0.102897, k2=-0.172047, f=1607.73, cx=350.126, cy=560.743
Before BA projections: 48% inliers with MSE=0.216007
    Camera #0 projections: 52% inliers (710/1358) with MSE=0.524568
    Camera #1 projections: 54% inliers (1006/1846) with MSE=0.319802
    Camera #2 projections: 41% inliers (1029/2485) with MSE=0.104653
    Camera #3 projections: 41% inliers (1028/2498) with MSE=0.074185
    Camera #4 projections: 39% inliers (1200/3093) with MSE=0.111075
    Camera #5 projections: 41% inliers (1243/3054) with MSE=0.222893
    Camera #6 projections: 42% inliers (1331/3194) with MSE=0.104928
    Camera #7 projections: 37% inliers (1066/2850) with MSE=0.0978299
    Camera #8 projections: 48% inliers (1329/2773) with MSE=0.0665621
    Camera #9 projections: 55% inliers (1521/2784) with MSE=0.0911448
    Camera #10 projections: 55% inliers (1450/2624) with MSE=0.0778948
    Camera #11 projections: 35% inliers (909/2563) with MSE=0.0957373
    Camera #12 projections: 31% inliers (767/2475) with MSE=0.110269
    Camera #13 projections: 33% inliers (783/2339) with MSE=0.0855799
    Camera #14 projections: 32% inliers (715/2216) with MSE=0.147689
    Camera #15 projections: 41% inliers (1178/2888) with MSE=0.117524
    Camera #16 projections: 48% inliers (1609/3340) with MSE=0.135615
    Camera #17 projections: 44% inliers (1545/3511) with MSE=0.115855
    Camera #18 projections: 41% inliers (1281/3095) with MSE=0.255007
    Camera #19 projections: 65% inliers (1329/2056) with MSE=0.411912
    Camera #20 projections: 74% inliers (1274/1711) with MSE=0.501797
    Camera #21 projections: 90% inliers (1507/1668) with MSE=0.764983
    Camera #22 projections: 93% inliers (1748/1884) with MSE=0.123213
    Camera #23 projections: 91% inliers (1445/1590) with MSE=0.436661
After BA camera: k1=-0.106421, k2=-0.162278, f=1603.21, cx=349.73, cy=560.404
Camera #0 center: [0, 0, 0] -> [0, 0, 0]
Camera #1 center: [-0.981112, 0.0066058, 0.193329] -> [-0.981112, 0.0066058, 0.193329]
Camera #2 center: [-1.84919, 0.0133111, 0.501303] -> [-1.84957, 0.0135497, 0.501245]
Camera #3 center: [-2.63084, 0.024032, 0.903289] -> [-2.63193, 0.024607, 0.903127]
Camera #4 center: [-3.20654, 0.0558102, 1.45463] -> [-3.20822, 0.0568623, 1.45445]
Camera #5 center: [-3.71685, 0.0933336, 2.13038] -> [-3.71925, 0.0949706, 2.13014]
Camera #6 center: [-3.94675, 0.16032, 2.93527] -> [-3.9498, 0.162555, 2.93514]
Camera #7 center: [-4.09771, 0.230455, 3.81715] -> [-4.10169, 0.233405, 3.81718]
Camera #8 center: [-3.83081, 0.298314, 4.80545] -> [-3.83563, 0.301929, 4.80624]
Camera #9 center: [-3.48518, 0.342441, 5.70411] -> [-3.49106, 0.346762, 5.7057]
Camera #10 center: [-2.82079, 0.404365, 6.44884] -> [-2.82723, 0.409239, 6.45187]
Camera #11 center: [-2.1854, 0.447314, 6.94991] -> [-2.19217, 0.452628, 6.95422]
Camera #12 center: [-1.42687, 0.501126, 7.40604] -> [-1.43432, 0.506868, 7.41174]
Camera #13 center: [-0.588581, 0.512738, 7.64143] -> [-0.596208, 0.518765, 7.64879]
Camera #14 center: [0.170988, 0.531924, 7.76645] -> [0.163457, 0.538202, 7.77549]
Camera #15 center: [0.952851, 0.519216, 7.66999] -> [0.945792, 0.525517, 7.68078]
Camera #16 center: [1.72991, 0.502335, 7.40216] -> [1.72332, 0.508564, 7.41493]
Camera #17 center: [2.41925, 0.455553, 6.88973] -> [2.41477, 0.461399, 6.90372]
Camera #18 center: [2.93844, 0.422248, 6.27225] -> [2.93618, 0.427737, 6.28685]
Camera #19 center: [3.42141, 0.400487, 5.67124] -> [3.42097, 0.405872, 5.6874]
Camera #20 center: [3.90232, 0.363895, 5.05664] -> [3.90445, 0.368864, 5.07092]
Camera #21 center: [4.10219, 0.307254, 4.29579] -> [4.10453, 0.311732, 4.30798]
Camera #22 center: [4.14632, 0.243966, 3.54923] -> [4.15274, 0.248863, 3.56525]
Camera #23 center: [3.98875, 0.190687, 2.89727] -> [3.99258, 0.195044, 2.91461]
After BA tie poits: 44% old + 2% new = 46% total outliers
After BA projections: 48% inliers with MSE=0.28022
    Camera #0 projections: 52% inliers (710/1358) with MSE=0.52175
    Camera #1 projections: 54% inliers (1006/1846) with MSE=0.318375
    Camera #2 projections: 41% inliers (1029/2485) with MSE=0.104114
    Camera #3 projections: 41% inliers (1028/2498) with MSE=0.0736995
    Camera #4 projections: 39% inliers (1200/3093) with MSE=0.110481
    Camera #5 projections: 41% inliers (1255/3054) with MSE=0.229049
    Camera #6 projections: 42% inliers (1332/3194) with MSE=0.109449
    Camera #7 projections: 37% inliers (1066/2850) with MSE=0.0980727
    Camera #8 projections: 48% inliers (1329/2773) with MSE=0.0670853
    Camera #9 projections: 55% inliers (1523/2784) with MSE=0.102548
    Camera #10 projections: 55% inliers (1450/2624) with MSE=0.0795338
    Camera #11 projections: 35% inliers (909/2563) with MSE=0.105744
    Camera #12 projections: 32% inliers (782/2475) with MSE=0.156979
    Camera #13 projections: 35% inliers (811/2339) with MSE=0.188988
    Camera #14 projections: 32% inliers (710/2216) with MSE=0.16826
    Camera #15 projections: 40% inliers (1167/2888) with MSE=0.106484
    Camera #16 projections: 48% inliers (1599/3340) with MSE=0.131223
    Camera #17 projections: 44% inliers (1557/3511) with MSE=0.14083
    Camera #18 projections: 43% inliers (1323/3095) with MSE=0.379034
    Camera #19 projections: 69% inliers (1417/2056) with MSE=0.705638
    Camera #20 projections: 82% inliers (1406/1711) with MSE=1.22775
    Camera #21 projections: 77% inliers (1285/1668) with MSE=0.897528
    Camera #22 projections: 69% inliers (1293/1884) with MSE=0.364432
    Camera #23 projections: 88% inliers (1402/1590) with MSE=0.149415
Append camera #24 (IMG_3047.JPG) to alignment via 913 common points
Before BA camera: k1=-0.106421, k2=-0.162278, f=1603.21, cx=349.73, cy=560.404
Before BA projections: 50% inliers with MSE=0.325178
    Camera #0 projections: 52% inliers (710/1358) with MSE=0.52175
    Camera #1 projections: 54% inliers (1006/1846) with MSE=0.318375
    Camera #2 projections: 41% inliers (1029/2485) with MSE=0.104114
    Camera #3 projections: 41% inliers (1028/2498) with MSE=0.0736995
    Camera #4 projections: 39% inliers (1200/3093) with MSE=0.110481
    Camera #5 projections: 41% inliers (1255/3054) with MSE=0.229049
    Camera #6 projections: 42% inliers (1332/3194) with MSE=0.109449
    Camera #7 projections: 37% inliers (1066/2850) with MSE=0.0980727
    Camera #8 projections: 48% inliers (1329/2773) with MSE=0.0670853
    Camera #9 projections: 55% inliers (1523/2784) with MSE=0.102548
    Camera #10 projections: 55% inliers (1450/2624) with MSE=0.0795338
    Camera #11 projections: 35% inliers (909/2563) with MSE=0.105744
    Camera #12 projections: 32% inliers (782/2475) with MSE=0.156979
    Camera #13 projections: 35% inliers (811/2339) with MSE=0.188988
    Camera #14 projections: 32% inliers (710/2216) with MSE=0.16826
    Camera #15 projections: 40% inliers (1167/2888) with MSE=0.106484
    Camera #16 projections: 48% inliers (1599/3340) with MSE=0.131223
    Camera #17 projections: 44% inliers (1557/3511) with MSE=0.14083
    Camera #18 projections: 43% inliers (1323/3095) with MSE=0.379034
    Camera #19 projections: 69% inliers (1417/2057) with MSE=0.705638
    Camera #20 projections: 82% inliers (1421/1727) with MSE=1.21611
    Camera #21 projections: 77% inliers (1304/1693) with MSE=0.899926
    Camera #22 projections: 71% inliers (1501/2101) with MSE=0.335911
    Camera #23 projections: 91% inliers (2025/2228) with MSE=0.166378
    Camera #24 projections: 88% inliers (1675/1902) with MSE=1.15151
After BA camera: k1=-0.16981, k2=0.151481, f=1582.31, cx=350.971, cy=564.676
Camera #0 center: [0, 0, 0] -> [0, 0, 0]
Camera #1 center: [-0.981112, 0.0066058, 0.193329] -> [-0.981112, 0.0066058, 0.193329]
Camera #2 center: [-1.84957, 0.0135497, 0.501245] -> [-1.85007, 0.0137783, 0.498753]
Camera #3 center: [-2.63193, 0.024607, 0.903127] -> [-2.63737, 0.0254229, 0.900328]
Camera #4 center: [-3.20822, 0.0568623, 1.45445] -> [-3.21736, 0.0588104, 1.45192]
Camera #5 center: [-3.71925, 0.0949706, 2.13014] -> [-3.73191, 0.0982312, 2.1284]
Camera #6 center: [-3.9498, 0.162555, 2.93514] -> [-3.96538, 0.166833, 2.93412]
Camera #7 center: [-4.10169, 0.233405, 3.81718] -> [-4.12068, 0.238843, 3.8159]
Camera #8 center: [-3.83563, 0.301929, 4.80624] -> [-3.85822, 0.307635, 4.80655]
Camera #9 center: [-3.49106, 0.346762, 5.7057] -> [-3.51744, 0.353416, 5.70992]
Camera #10 center: [-2.82723, 0.409239, 6.45187] -> [-2.85678, 0.416073, 6.4605]
Camera #11 center: [-2.19217, 0.452628, 6.95422] -> [-2.22375, 0.459813, 6.96746]
Camera #12 center: [-1.43432, 0.506868, 7.41174] -> [-1.46984, 0.51442, 7.43006]
Camera #13 center: [-0.596208, 0.518765, 7.64879] -> [-0.634008, 0.526593, 7.67372]
Camera #14 center: [0.163457, 0.538202, 7.77549] -> [0.126635, 0.546495, 7.80713]
Camera #15 center: [0.945792, 0.525517, 7.68078] -> [0.911638, 0.533925, 7.71888]
Camera #16 center: [1.72332, 0.508564, 7.41493] -> [1.68849, 0.516832, 7.46131]
Camera #17 center: [2.41477, 0.461399, 6.90372] -> [2.38477, 0.468989, 6.95768]
Camera #18 center: [2.93618, 0.427737, 6.28685] -> [2.91344, 0.434539, 6.34601]
Camera #19 center: [3.42097, 0.405872, 5.6874] -> [3.4039, 0.412723, 5.75624]
Camera #20 center: [3.90445, 0.368864, 5.07092] -> [3.89495, 0.376437, 5.1516]
Camera #21 center: [4.10453, 0.311732, 4.30798] -> [4.10629, 0.31897, 4.39668]
Camera #22 center: [4.15274, 0.248863, 3.56525] -> [4.16809, 0.255902, 3.66463]
Camera #23 center: [3.99258, 0.195044, 2.91461] -> [4.02545, 0.202009, 3.0283]
Camera #24 center: [3.76647, 0.149408, 2.26768] -> [3.82384, 0.151353, 2.39377]
After BA tie poits: 44% old + 3% new = 47% total outliers
After BA projections: 46% inliers with MSE=0.151291
    Camera #0 projections: 52% inliers (710/1358) with MSE=0.541181
    Camera #1 projections: 54% inliers (1006/1846) with MSE=0.331292
    Camera #2 projections: 41% inliers (1030/2485) with MSE=0.106727
    Camera #3 projections: 41% inliers (1028/2498) with MSE=0.0727118
    Camera #4 projections: 39% inliers (1201/3093) with MSE=0.113029
    Camera #5 projections: 40% inliers (1221/3054) with MSE=0.152781
    Camera #6 projections: 42% inliers (1333/3194) with MSE=0.110733
    Camera #7 projections: 37% inliers (1066/2850) with MSE=0.0991939
    Camera #8 projections: 48% inliers (1341/2773) with MSE=0.103045
    Camera #9 projections: 54% inliers (1511/2784) with MSE=0.0788294
    Camera #10 projections: 55% inliers (1454/2624) with MSE=0.0882371
    Camera #11 projections: 35% inliers (908/2563) with MSE=0.10095
    Camera #12 projections: 31% inliers (775/2475) with MSE=0.139987
    Camera #13 projections: 37% inliers (874/2339) with MSE=0.56767
    Camera #14 projections: 33% inliers (722/2216) with MSE=0.178457
    Camera #15 projections: 40% inliers (1165/2888) with MSE=0.0913314
    Camera #16 projections: 48% inliers (1588/3340) with MSE=0.10641
    Camera #17 projections: 44% inliers (1543/3511) with MSE=0.146809
    Camera #18 projections: 39% inliers (1199/3095) with MSE=0.11577
    Camera #19 projections: 54% inliers (1107/2057) with MSE=0.133029
    Camera #20 projections: 48% inliers (832/1727) with MSE=0.157107
    Camera #21 projections: 41% inliers (688/1693) with MSE=0.143274
    Camera #22 projections: 55% inliers (1160/2101) with MSE=0.131951
    Camera #23 projections: 68% inliers (1518/2228) with MSE=0.153865
    Camera #24 projections: 87% inliers (1659/1902) with MSE=0.144883
Append camera #25 (IMG_3048.JPG) to alignment via 804 common points
Before BA camera: k1=-0.16981, k2=0.151481, f=1582.31, cx=350.971, cy=564.676
Before BA projections: 48% inliers with MSE=0.21953
    Camera #0 projections: 52% inliers (710/1358) with MSE=0.541181
    Camera #1 projections: 54% inliers (1006/1846) with MSE=0.331292
    Camera #2 projections: 41% inliers (1030/2485) with MSE=0.106727
    Camera #3 projections: 41% inliers (1028/2498) with MSE=0.0727118
    Camera #4 projections: 39% inliers (1201/3093) with MSE=0.113029
    Camera #5 projections: 40% inliers (1221/3054) with MSE=0.152781
    Camera #6 projections: 42% inliers (1333/3194) with MSE=0.110733
    Camera #7 projections: 37% inliers (1066/2850) with MSE=0.0991939
    Camera #8 projections: 48% inliers (1341/2773) with MSE=0.103045
    Camera #9 projections: 54% inliers (1511/2784) with MSE=0.0788294
    Camera #10 projections: 55% inliers (1454/2624) with MSE=0.0882371
    Camera #11 projections: 35% inliers (908/2563) with MSE=0.10095
    Camera #12 projections: 31% inliers (775/2475) with MSE=0.139987
    Camera #13 projections: 37% inliers (874/2339) with MSE=0.56767
    Camera #14 projections: 33% inliers (722/2216) with MSE=0.178457
    Camera #15 projections: 40% inliers (1165/2888) with MSE=0.0913314
    Camera #16 projections: 48% inliers (1588/3340) with MSE=0.10641
    Camera #17 projections: 44% inliers (1543/3511) with MSE=0.146809
    Camera #18 projections: 39% inliers (1199/3095) with MSE=0.11577
    Camera #19 projections: 54% inliers (1109/2059) with MSE=0.133329
    Camera #20 projections: 48% inliers (832/1727) with MSE=0.157107
    Camera #21 projections: 41% inliers (695/1703) with MSE=0.142069
    Camera #22 projections: 55% inliers (1176/2119) with MSE=0.130615
    Camera #23 projections: 70% inliers (1715/2436) with MSE=0.353796
    Camera #24 projections: 89% inliers (2300/2572) with MSE=0.404711
    Camera #25 projections: 93% inliers (1623/1743) with MSE=0.884205
After BA camera: k1=-0.113198, k2=-0.132589, f=1604.88, cx=349.878, cy=560.516
Camera #0 center: [0, 0, 0] -> [0, 0, 0]
Camera #1 center: [-0.981112, 0.0066058, 0.193329] -> [-0.981112, 0.0066058, 0.193329]
Camera #2 center: [-1.85007, 0.0137783, 0.498753] -> [-1.84941, 0.0135294, 0.501141]
Camera #3 center: [-2.63737, 0.0254229, 0.900328] -> [-2.63197, 0.0245644, 0.903211]
Camera #4 center: [-3.21736, 0.0588104, 1.45192] -> [-3.20832, 0.0568558, 1.45477]
Camera #5 center: [-3.73191, 0.0982312, 2.1284] -> [-3.71928, 0.0949776, 2.13085]
Camera #6 center: [-3.96538, 0.166833, 2.93412] -> [-3.94957, 0.162623, 2.9361]
Camera #7 center: [-4.12068, 0.238843, 3.8159] -> [-4.10104, 0.233479, 3.81822]
Camera #8 center: [-3.85822, 0.307635, 4.80655] -> [-3.83444, 0.301994, 4.80709]
Camera #9 center: [-3.51744, 0.353416, 5.70992] -> [-3.48924, 0.34681, 5.70652]
Camera #10 center: [-2.85678, 0.416073, 6.4605] -> [-2.82496, 0.409231, 6.45213]
Camera #11 center: [-2.22375, 0.459813, 6.96746] -> [-2.18958, 0.452562, 6.954]
Camera #12 center: [-1.46984, 0.51442, 7.43006] -> [-1.43145, 0.506733, 7.41092]
Camera #13 center: [-0.634008, 0.526593, 7.67372] -> [-0.593243, 0.518554, 7.64729]
Camera #14 center: [0.126635, 0.546495, 7.80713] -> [0.166687, 0.537936, 7.77334]
Camera #15 center: [0.911638, 0.533925, 7.71888] -> [0.949152, 0.525162, 7.67785]
Camera #16 center: [1.68849, 0.516832, 7.46131] -> [1.72636, 0.508127, 7.4112]
Camera #17 center: [2.38477, 0.468989, 6.95768] -> [2.41716, 0.460912, 6.89938]
Camera #18 center: [2.91344, 0.434539, 6.34601] -> [2.93787, 0.427206, 6.28193]
Camera #19 center: [3.4039, 0.412723, 5.75624] -> [3.42199, 0.405355, 5.68151]
Camera #20 center: [3.89495, 0.376437, 5.1516] -> [3.90423, 0.368313, 5.06734]
Camera #21 center: [4.10629, 0.31897, 4.39668] -> [4.10273, 0.312105, 4.31102]
Camera #22 center: [4.16809, 0.255902, 3.66463] -> [4.15095, 0.248102, 3.5639]
Camera #23 center: [4.02545, 0.202009, 3.0283] -> [3.99727, 0.195235, 2.93061]
Camera #24 center: [3.82384, 0.151353, 2.39377] -> [3.77788, 0.145098, 2.28761]
Camera #25 center: [3.42035, 0.127303, 1.83998] -> [3.34581, 0.111679, 1.72121]
After BA tie poits: 46% old + 2% new = 47% total outliers
After BA projections: 49% inliers with MSE=0.308382
    Camera #0 projections: 52% inliers (710/1358) with MSE=0.522036
    Camera #1 projections: 54% inliers (1006/1846) with MSE=0.318829
    Camera #2 projections: 41% inliers (1030/2485) with MSE=0.109985
    Camera #3 projections: 41% inliers (1028/2498) with MSE=0.073717
    Camera #4 projections: 39% inliers (1200/3093) with MSE=0.110625
    Camera #5 projections: 41% inliers (1260/3054) with MSE=0.23301
    Camera #6 projections: 42% inliers (1331/3194) with MSE=0.105438
    Camera #7 projections: 37% inliers (1066/2850) with MSE=0.0981403
    Camera #8 projections: 48% inliers (1329/2773) with MSE=0.0670787
    Camera #9 projections: 55% inliers (1528/2784) with MSE=0.100935
    Camera #10 projections: 55% inliers (1450/2624) with MSE=0.0802056
    Camera #11 projections: 35% inliers (909/2563) with MSE=0.103498
    Camera #12 projections: 32% inliers (781/2475) with MSE=0.165805
    Camera #13 projections: 34% inliers (806/2339) with MSE=0.180144
    Camera #14 projections: 32% inliers (714/2216) with MSE=0.186434
    Camera #15 projections: 40% inliers (1169/2888) with MSE=0.109404
    Camera #16 projections: 48% inliers (1604/3340) with MSE=0.140966
    Camera #17 projections: 44% inliers (1558/3511) with MSE=0.147529
    Camera #18 projections: 43% inliers (1322/3095) with MSE=0.353536
    Camera #19 projections: 66% inliers (1364/2059) with MSE=0.575856
    Camera #20 projections: 84% inliers (1447/1727) with MSE=1.3486
    Camera #21 projections: 73% inliers (1244/1703) with MSE=0.963891
    Camera #22 projections: 62% inliers (1315/2119) with MSE=1.2959
    Camera #23 projections: 63% inliers (1543/2436) with MSE=0.243973
    Camera #24 projections: 56% inliers (1447/2572) with MSE=0.0946773
    Camera #25 projections: 93% inliers (1617/1743) with MSE=0.112362
Append camera #26 (IMG_3049.JPG) to alignment via 763 common points
Before BA camera: k1=-0.113198, k2=-0.132589, f=1604.88, cx=349.878, cy=560.516
Before BA projections: 50% inliers with MSE=0.347684
    Camera #0 projections: 52% inliers (710/1358) with MSE=0.522036
    Camera #1 projections: 54% inliers (1006/1846) with MSE=0.318829
    Camera #2 projections: 41% inliers (1030/2485) with MSE=0.109985
    Camera #3 projections: 41% inliers (1028/2498) with MSE=0.073717
    Camera #4 projections: 39% inliers (1200/3093) with MSE=0.110625
    Camera #5 projections: 41% inliers (1260/3054) with MSE=0.23301
    Camera #6 projections: 42% inliers (1331/3194) with MSE=0.105438
    Camera #7 projections: 37% inliers (1066/2850) with MSE=0.0981403
    Camera #8 projections: 48% inliers (1329/2773) with MSE=0.0670787
    Camera #9 projections: 55% inliers (1528/2784) with MSE=0.100935
    Camera #10 projections: 55% inliers (1450/2624) with MSE=0.0802056
    Camera #11 projections: 35% inliers (909/2563) with MSE=0.103498
    Camera #12 projections: 32% inliers (781/2475) with MSE=0.165805
    Camera #13 projections: 34% inliers (806/2339) with MSE=0.180144
    Camera #14 projections: 32% inliers (714/2216) with MSE=0.186434
    Camera #15 projections: 40% inliers (1169/2888) with MSE=0.109404
    Camera #16 projections: 48% inliers (1604/3340) with MSE=0.140966
    Camera #17 projections: 44% inliers (1558/3511) with MSE=0.147529
    Camera #18 projections: 43% inliers (1322/3095) with MSE=0.353536
    Camera #19 projections: 66% inliers (1368/2066) with MSE=0.575065
    Camera #20 projections: 84% inliers (1449/1729) with MSE=1.34716
    Camera #21 projections: 73% inliers (1245/1705) with MSE=0.963361
    Camera #22 projections: 62% inliers (1325/2130) with MSE=1.29026
    Camera #23 projections: 64% inliers (1564/2458) with MSE=0.244872
    Camera #24 projections: 58% inliers (1565/2695) with MSE=0.107955
    Camera #25 projections: 93% inliers (1983/2121) with MSE=0.181947
    Camera #26 projections: 91% inliers (1196/1316) with MSE=1.35539
After BA camera: k1=-0.12224, k2=-0.0753739, f=1603.03, cx=350.317, cy=561.57
Camera #0 center: [0, 0, 0] -> [0, 0, 0]
Camera #1 center: [-0.981112, 0.0066058, 0.193329] -> [-0.981112, 0.0066058, 0.193329]
Camera #2 center: [-1.84941, 0.0135294, 0.501141] -> [-1.84935, 0.0134173, 0.50073]
Camera #3 center: [-2.63197, 0.0245644, 0.903211] -> [-2.63237, 0.0243481, 0.902751]
Camera #4 center: [-3.20832, 0.0568558, 1.45477] -> [-3.20906, 0.0565278, 1.4543]
Camera #5 center: [-3.71928, 0.0949776, 2.13085] -> [-3.7203, 0.094508, 2.13044]
Camera #6 center: [-3.94957, 0.162623, 2.9361] -> [-3.95084, 0.161929, 2.93568]
Camera #7 center: [-4.10104, 0.233479, 3.81822] -> [-4.10256, 0.23253, 3.81763]
Camera #8 center: [-3.83444, 0.301994, 4.80709] -> [-3.83633, 0.300655, 4.8064]
Camera #9 center: [-3.48924, 0.34681, 5.70652] -> [-3.49142, 0.345194, 5.70616]
Camera #10 center: [-2.82496, 0.409231, 6.45213] -> [-2.82758, 0.407303, 6.45192]
Camera #11 center: [-2.18958, 0.452562, 6.954] -> [-2.19252, 0.450435, 6.95406]
Camera #12 center: [-1.43145, 0.506733, 7.41092] -> [-1.43486, 0.504419, 7.41134]
Camera #13 center: [-0.593243, 0.518554, 7.64729] -> [-0.597051, 0.516137, 7.64823]
Camera #14 center: [0.166687, 0.537936, 7.77334] -> [0.162895, 0.535468, 7.7748]
Camera #15 center: [0.949152, 0.525162, 7.67785] -> [0.945402, 0.522732, 7.67985]
Camera #16 center: [1.72636, 0.508127, 7.4112] -> [1.72199, 0.50574, 7.41412]
Camera #17 center: [2.41716, 0.460912, 6.89938] -> [2.41304, 0.458626, 6.90316]
Camera #18 center: [2.93787, 0.427206, 6.28193] -> [2.93441, 0.425021, 6.28629]
Camera #19 center: [3.42199, 0.405355, 5.68151] -> [3.41889, 0.403322, 5.68711]
Camera #20 center: [3.90423, 0.368313, 5.06734] -> [3.90155, 0.366156, 5.07289]
Camera #21 center: [4.10273, 0.312105, 4.31102] -> [4.10148, 0.309044, 4.315]
Camera #22 center: [4.15095, 0.248102, 3.5639] -> [4.15117, 0.24654, 3.57779]
Camera #23 center: [3.99727, 0.195235, 2.93061] -> [3.99537, 0.191381, 2.92204]
Camera #24 center: [3.77788, 0.145098, 2.28761] -> [3.7776, 0.142198, 2.28789]
Camera #25 center: [3.34581, 0.111679, 1.72121] -> [3.34917, 0.108548, 1.72324]
Camera #26 center: [2.80821, 0.056204, 1.14565] -> [2.82709, 0.0475314, 1.14651]
After BA tie poits: 46% old + 1% new = 48% total outliers
After BA projections: 49% inliers with MSE=0.261729
    Camera #0 projections: 52% inliers (710/1358) with MSE=0.527349
    Camera #1 projections: 54% inliers (1006/1846) with MSE=0.321908
    Camera #2 projections: 41% inliers (1030/2485) with MSE=0.107641
    Camera #3 projections: 41% inliers (1028/2498) with MSE=0.0735307
    Camera #4 projections: 39% inliers (1200/3093) with MSE=0.11015
    Camera #5 projections: 42% inliers (1277/3054) with MSE=0.228754
    Camera #6 projections: 42% inliers (1332/3194) with MSE=0.108542
    Camera #7 projections: 37% inliers (1066/2850) with MSE=0.0979281
    Camera #8 projections: 48% inliers (1329/2773) with MSE=0.0671189
    Camera #9 projections: 55% inliers (1523/2784) with MSE=0.100989
    Camera #10 projections: 55% inliers (1449/2624) with MSE=0.076239
    Camera #11 projections: 36% inliers (910/2563) with MSE=0.107443
    Camera #12 projections: 31% inliers (778/2475) with MSE=0.16866
    Camera #13 projections: 34% inliers (798/2339) with MSE=0.150676
    Camera #14 projections: 32% inliers (718/2216) with MSE=0.175249
    Camera #15 projections: 41% inliers (1180/2888) with MSE=0.133534
    Camera #16 projections: 48% inliers (1608/3340) with MSE=0.109125
    Camera #17 projections: 45% inliers (1567/3511) with MSE=0.116887
    Camera #18 projections: 44% inliers (1366/3095) with MSE=0.270223
    Camera #19 projections: 68% inliers (1399/2066) with MSE=0.359751
    Camera #20 projections: 79% inliers (1374/1729) with MSE=0.675176
    Camera #21 projections: 68% inliers (1157/1705) with MSE=0.837507
    Camera #22 projections: 48% inliers (1032/2130) with MSE=0.907654
    Camera #23 projections: 63% inliers (1548/2458) with MSE=0.693961
    Camera #24 projections: 58% inliers (1550/2695) with MSE=0.22189
    Camera #25 projections: 92% inliers (1960/2121) with MSE=0.278301
    Camera #26 projections: 94% inliers (1238/1316) with MSE=0.0805173
Append camera #27 (IMG_3050.JPG) to alignment via 583 common points
Before BA camera: k1=-0.12224, k2=-0.0753739, f=1603.03, cx=350.317, cy=561.57
Before BA projections: 50% inliers with MSE=0.327011
    Camera #0 projections: 52% inliers (713/1364) with MSE=0.526329
    Camera #1 projections: 54% inliers (1006/1846) with MSE=0.321908
    Camera #2 projections: 41% inliers (1030/2485) with MSE=0.107641
    Camera #3 projections: 41% inliers (1028/2498) with MSE=0.0735307
    Camera #4 projections: 39% inliers (1200/3093) with MSE=0.11015
    Camera #5 projections: 42% inliers (1277/3054) with MSE=0.228754
    Camera #6 projections: 42% inliers (1332/3194) with MSE=0.108542
    Camera #7 projections: 37% inliers (1066/2850) with MSE=0.0979281
    Camera #8 projections: 48% inliers (1329/2773) with MSE=0.0671189
    Camera #9 projections: 55% inliers (1523/2784) with MSE=0.100989
    Camera #10 projections: 55% inliers (1449/2624) with MSE=0.076239
    Camera #11 projections: 36% inliers (910/2563) with MSE=0.107443
    Camera #12 projections: 31% inliers (778/2475) with MSE=0.16866
    Camera #13 projections: 34% inliers (798/2339) with MSE=0.150676
    Camera #14 projections: 32% inliers (718/2216) with MSE=0.175249
    Camera #15 projections: 41% inliers (1180/2888) with MSE=0.133534
    Camera #16 projections: 48% inliers (1608/3340) with MSE=0.109125
    Camera #17 projections: 45% inliers (1567/3511) with MSE=0.116887
    Camera #18 projections: 44% inliers (1366/3095) with MSE=0.270223
    Camera #19 projections: 68% inliers (1399/2066) with MSE=0.359751
    Camera #20 projections: 79% inliers (1375/1730) with MSE=0.675417
    Camera #21 projections: 68% inliers (1157/1705) with MSE=0.837507
    Camera #22 projections: 49% inliers (1036/2135) with MSE=0.905113
    Camera #23 projections: 63% inliers (1553/2463) with MSE=0.692972
    Camera #24 projections: 58% inliers (1564/2716) with MSE=0.226211
    Camera #25 projections: 90% inliers (2001/2218) with MSE=0.289916
    Camera #26 projections: 94% inliers (1598/1693) with MSE=0.349796
    Camera #27 projections: 75% inliers (836/1113) with MSE=2.47336
After BA camera: k1=-0.123913, k2=0.0108405, f=1594.57, cx=351.861, cy=563.833
Camera #0 center: [0, 0, 0] -> [0, 0, 0]
Camera #1 center: [-0.981112, 0.0066058, 0.193329] -> [-0.981112, 0.0066058, 0.193329]
Camera #2 center: [-1.84935, 0.0134173, 0.50073] -> [-1.85046, 0.0125389, 0.49867]
Camera #3 center: [-2.63237, 0.0243481, 0.902751] -> [-2.63612, 0.0224905, 0.899]
Camera #4 center: [-3.20906, 0.0565278, 1.4543] -> [-3.21574, 0.0535661, 1.44936]
Camera #5 center: [-3.7203, 0.094508, 2.13044] -> [-3.73059, 0.0904893, 2.12415]
Camera #6 center: [-3.95084, 0.161929, 2.93568] -> [-3.96526, 0.156718, 2.92929]
Camera #7 center: [-4.10256, 0.23253, 3.81763] -> [-4.12187, 0.226323, 3.81152]
Camera #8 center: [-3.83633, 0.300655, 4.8064] -> [-3.86109, 0.293518, 4.80301]
Camera #9 center: [-3.49142, 0.345194, 5.70616] -> [-3.52191, 0.337532, 5.7057]
Camera #10 center: [-2.82758, 0.407303, 6.45192] -> [-2.86385, 0.399473, 6.4561]
Camera #11 center: [-2.19252, 0.450435, 6.95406] -> [-2.23355, 0.442787, 6.96326]
Camera #12 center: [-1.43486, 0.504419, 7.41134] -> [-1.48406, 0.497056, 7.42618]
Camera #13 center: [-0.597051, 0.516137, 7.64823] -> [-0.65402, 0.510514, 7.67127]
Camera #14 center: [0.162895, 0.535468, 7.7748] -> [0.0984568, 0.531146, 7.80809]
Camera #15 center: [0.945402, 0.522732, 7.67985] -> [0.879142, 0.519908, 7.72592]
Camera #16 center: [1.72199, 0.50574, 7.41412] -> [1.65368, 0.50455, 7.47626]
Camera #17 center: [2.41304, 0.458626, 6.90316] -> [2.35119, 0.458981, 6.98092]
Camera #18 center: [2.93441, 0.425021, 6.28629] -> [2.88259, 0.426508, 6.37771]
Camera #19 center: [3.41889, 0.403322, 5.68711] -> [3.37902, 0.405928, 5.79115]
Camera #20 center: [3.90155, 0.366156, 5.07289] -> [3.87616, 0.370079, 5.18576]
Camera #21 center: [4.10148, 0.309044, 4.315] -> [4.09112, 0.314491, 4.4393]
Camera #22 center: [4.15117, 0.24654, 3.57779] -> [4.1579, 0.251562, 3.69487]
Camera #23 center: [3.99537, 0.191381, 2.92204] -> [4.01531, 0.197073, 3.03947]
Camera #24 center: [3.7776, 0.142198, 2.28789] -> [3.80847, 0.147879, 2.39399]
Camera #25 center: [3.34917, 0.108548, 1.72324] -> [3.40828, 0.11555, 1.84606]
Camera #26 center: [2.82709, 0.0475314, 1.14651] -> [2.91862, 0.0545783, 1.27061]
Camera #27 center: [2.23038, 0.0411253, 0.689603] -> [2.35355, -0.00330396, 0.805032]
After BA tie poits: 47% old + 2% new = 48% total outliers
After BA projections: 43% inliers with MSE=0.130856
    Camera #0 projections: 52% inliers (712/1364) with MSE=0.556172
    Camera #1 projections: 54% inliers (1005/1846) with MSE=0.339111
    Camera #2 projections: 41% inliers (1029/2485) with MSE=0.105538
    Camera #3 projections: 41% inliers (1028/2498) with MSE=0.0730434
    Camera #4 projections: 39% inliers (1201/3093) with MSE=0.109021
    Camera #5 projections: 40% inliers (1209/3054) with MSE=0.114033
    Camera #6 projections: 43% inliers (1369/3194) with MSE=0.189832
    Camera #7 projections: 38% inliers (1072/2850) with MSE=0.119909
    Camera #8 projections: 48% inliers (1338/2773) with MSE=0.092543
    Camera #9 projections: 54% inliers (1512/2784) with MSE=0.0767449
    Camera #10 projections: 55% inliers (1449/2624) with MSE=0.075688
    Camera #11 projections: 36% inliers (911/2563) with MSE=0.102713
    Camera #12 projections: 31% inliers (779/2475) with MSE=0.152131
    Camera #13 projections: 34% inliers (796/2339) with MSE=0.145314
    Camera #14 projections: 32% inliers (709/2216) with MSE=0.145884
    Camera #15 projections: 40% inliers (1164/2888) with MSE=0.0922017
    Camera #16 projections: 47% inliers (1578/3340) with MSE=0.0796174
    Camera #17 projections: 43% inliers (1521/3511) with MSE=0.077179
    Camera #18 projections: 38% inliers (1188/3095) with MSE=0.0958543
    Camera #19 projections: 50% inliers (1041/2066) with MSE=0.100167
    Camera #20 projections: 42% inliers (725/1730) with MSE=0.113408
    Camera #21 projections: 31% inliers (536/1705) with MSE=0.105596
    Camera #22 projections: 29% inliers (625/2135) with MSE=0.103058
    Camera #23 projections: 33% inliers (810/2463) with MSE=0.198298
    Camera #24 projections: 38% inliers (1030/2716) with MSE=0.110949
    Camera #25 projections: 52% inliers (1147/2218) with MSE=0.117407
    Camera #26 projections: 60% inliers (1014/1693) with MSE=0.135604
    Camera #27 projections: 88% inliers (985/1113) with MSE=0.183574
Append camera #28 (IMG_3051.JPG) to alignment via 617 common points
Before BA camera: k1=-0.123913, k2=0.0108405, f=1594.57, cx=351.861, cy=563.833
Before BA projections: 44% inliers with MSE=0.200429
    Camera #0 projections: 57% inliers (939/1639) with MSE=0.901481
    Camera #1 projections: 55% inliers (1026/1877) with MSE=0.370168
    Camera #2 projections: 41% inliers (1031/2487) with MSE=0.110097
    Camera #3 projections: 41% inliers (1028/2498) with MSE=0.0730434
    Camera #4 projections: 39% inliers (1201/3093) with MSE=0.109021
    Camera #5 projections: 40% inliers (1209/3054) with MSE=0.114033
    Camera #6 projections: 43% inliers (1369/3194) with MSE=0.189832
    Camera #7 projections: 38% inliers (1072/2850) with MSE=0.119909
    Camera #8 projections: 48% inliers (1338/2773) with MSE=0.092543
    Camera #9 projections: 54% inliers (1512/2784) with MSE=0.0767449
    Camera #10 projections: 55% inliers (1449/2624) with MSE=0.075688
    Camera #11 projections: 36% inliers (911/2563) with MSE=0.102713
    Camera #12 projections: 31% inliers (779/2475) with MSE=0.152131
    Camera #13 projections: 34% inliers (796/2339) with MSE=0.145314
    Camera #14 projections: 32% inliers (709/2216) with MSE=0.145884
    Camera #15 projections: 40% inliers (1164/2888) with MSE=0.0922017
    Camera #16 projections: 47% inliers (1578/3340) with MSE=0.0796174
    Camera #17 projections: 43% inliers (1521/3511) with MSE=0.077179
    Camera #18 projections: 38% inliers (1188/3095) with MSE=0.0958543
    Camera #19 projections: 50% inliers (1041/2066) with MSE=0.100167
    Camera #20 projections: 42% inliers (725/1730) with MSE=0.113408
    Camera #21 projections: 31% inliers (537/1706) with MSE=0.106391
    Camera #22 projections: 29% inliers (628/2139) with MSE=0.104868
    Camera #23 projections: 33% inliers (817/2470) with MSE=0.199084
    Camera #24 projections: 38% inliers (1032/2718) with MSE=0.11208
    Camera #25 projections: 52% inliers (1152/2224) with MSE=0.121191
    Camera #26 projections: 60% inliers (1042/1725) with MSE=0.152878
    Camera #27 projections: 88% inliers (1355/1533) with MSE=0.356598
    Camera #28 projections: 67% inliers (954/1428) with MSE=1.62158
After BA camera: k1=-0.083339, k2=-0.287914, f=1615.56, cx=355.209, cy=517.617
Camera #0 center: [0, 0, 0] -> [0, 0, 0]
Camera #1 center: [-0.981112, 0.0066058, 0.193329] -> [-0.981112, 0.0066058, 0.193329]
Camera #2 center: [-1.85046, 0.0125389, 0.49867] -> [-2.04561, 0.00706378, 0.505889]
Camera #3 center: [-2.63612, 0.0224905, 0.899] -> [-3.01425, 0.012192, 0.934352]
Camera #4 center: [-3.21574, 0.0535661, 1.44936] -> [-3.74474, 0.0516229, 1.55846]
Camera #5 center: [-3.73059, 0.0904893, 2.12415] -> [-4.40743, 0.10303, 2.33477]
Camera #6 center: [-3.96526, 0.156718, 2.92929] -> [-4.7384, 0.199309, 3.28634]
Camera #7 center: [-4.12187, 0.226323, 3.81152] -> [-4.984, 0.303512, 4.33456]
Camera #8 center: [-3.86109, 0.293518, 4.80301] -> [-4.73309, 0.41716, 5.5388]
Camera #9 center: [-3.52191, 0.337532, 5.7057] -> [-4.38353, 0.501649, 6.64283]
Camera #10 center: [-2.86385, 0.399473, 6.4561] -> [-3.64038, 0.610159, 7.58267]
Camera #11 center: [-2.23355, 0.442787, 6.96326] -> [-2.9151, 0.687868, 8.22867]
Camera #12 center: [-1.48406, 0.497056, 7.42618] -> [-2.0461, 0.778661, 8.82828]
Camera #13 center: [-0.65402, 0.510514, 7.67127] -> [-1.06894, 0.817842, 9.17126]
Camera #14 center: [0.0984568, 0.531146, 7.80809] -> [-0.179688, 0.858681, 9.3842]
Camera #15 center: [0.879142, 0.519908, 7.72592] -> [0.760965, 0.855675, 9.33836]
Camera #16 center: [1.65368, 0.50455, 7.47626] -> [1.7106, 0.84322, 9.0925]
Camera #17 center: [2.35119, 0.458981, 6.98092] -> [2.58112, 0.785931, 8.54546]
Camera #18 center: [2.88259, 0.426508, 6.37771] -> [3.25948, 0.738745, 7.85935]
Camera #19 center: [3.37902, 0.405928, 5.79115] -> [3.89537, 0.704893, 7.18915]
Camera #20 center: [3.87616, 0.370079, 5.18576] -> [4.53903, 0.651376, 6.49206]
Camera #21 center: [4.09112, 0.314491, 4.4393] -> [4.85268, 0.566148, 5.59353]
Camera #22 center: [4.1579, 0.251562, 3.69487] -> [4.98186, 0.470621, 4.71217]
Camera #23 center: [4.01531, 0.197073, 3.03947] -> [4.85566, 0.386489, 3.91154]
Camera #24 center: [3.80847, 0.147879, 2.39399] -> [4.65064, 0.304999, 3.12134]
Camera #25 center: [3.40828, 0.11555, 1.84606] -> [4.19413, 0.246478, 2.41771]
Camera #26 center: [2.91862, 0.0545783, 1.27061] -> [3.64101, 0.148028, 1.69373]
Camera #27 center: [2.35355, -0.00330396, 0.805032] -> [2.97803, 0.069677, 1.09457]
Camera #28 center: [1.64106, 0.00806564, 0.382331] -> [2.18936, 0.0241507, 0.501141]
After BA tie poits: 47% old + 1% new = 48% total outliers
After BA projections: 42% inliers with MSE=0.149773
    Camera #0 projections: 54% inliers (881/1639) with MSE=0.740462
    Camera #1 projections: 51% inliers (951/1877) with MSE=0.605638
    Camera #2 projections: 41% inliers (1024/2487) with MSE=0.330651
    Camera #3 projections: 41% inliers (1027/2498) with MSE=0.100276
    Camera #4 projections: 39% inliers (1201/3093) with MSE=0.122952
    Camera #5 projections: 40% inliers (1208/3054) with MSE=0.11361
    Camera #6 projections: 42% inliers (1331/3194) with MSE=0.103747
    Camera #7 projections: 37% inliers (1066/2850) with MSE=0.0966905
    Camera #8 projections: 48% inliers (1329/2773) with MSE=0.0659681
    Camera #9 projections: 54% inliers (1510/2784) with MSE=0.0755701
    Camera #10 projections: 55% inliers (1449/2624) with MSE=0.0749647
    Camera #11 projections: 35% inliers (907/2563) with MSE=0.0992653
    Camera #12 projections: 31% inliers (764/2475) with MSE=0.100677
    Camera #13 projections: 33% inliers (776/2339) with MSE=0.0762845
    Camera #14 projections: 32% inliers (699/2216) with MSE=0.103383
    Camera #15 projections: 40% inliers (1160/2888) with MSE=0.0778765
    Camera #16 projections: 47% inliers (1576/3340) with MSE=0.0765188
    Camera #17 projections: 45% inliers (1569/3511) with MSE=0.152716
    Camera #18 projections: 38% inliers (1187/3095) with MSE=0.0993829
    Camera #19 projections: 50% inliers (1038/2066) with MSE=0.103664
    Camera #20 projections: 42% inliers (721/1730) with MSE=0.115624
    Camera #21 projections: 31% inliers (530/1706) with MSE=0.113982
    Camera #22 projections: 29% inliers (610/2139) with MSE=0.113169
    Camera #23 projections: 31% inliers (762/2470) with MSE=0.0924517
    Camera #24 projections: 30% inliers (802/2718) with MSE=0.0997368
    Camera #25 projections: 37% inliers (827/2224) with MSE=0.127127
    Camera #26 projections: 50% inliers (857/1725) with MSE=0.118112
    Camera #27 projections: 64% inliers (986/1533) with MSE=0.102815
    Camera #28 projections: 89% inliers (1265/1428) with MSE=0.271367
Append camera #29 (IMG_3052.JPG) to alignment via 644 common points
Before BA camera: k1=-0.083339, k2=-0.287914, f=1615.56, cx=355.209, cy=517.617
Before BA projections: 43% inliers with MSE=0.241951
    Camera #0 projections: 59% inliers (1184/1991) with MSE=1.02028
    Camera #1 projections: 52% inliers (1001/1932) with MSE=0.650821
    Camera #2 projections: 41% inliers (1030/2495) with MSE=0.340343
    Camera #3 projections: 41% inliers (1035/2506) with MSE=0.106859
    Camera #4 projections: 39% inliers (1201/3093) with MSE=0.122952
    Camera #5 projections: 40% inliers (1208/3054) with MSE=0.11361
    Camera #6 projections: 42% inliers (1331/3194) with MSE=0.103747
    Camera #7 projections: 37% inliers (1066/2850) with MSE=0.0966905
    Camera #8 projections: 48% inliers (1329/2773) with MSE=0.0659681
    Camera #9 projections: 54% inliers (1510/2784) with MSE=0.0755701
    Camera #10 projections: 55% inliers (1449/2624) with MSE=0.0749647
    Camera #11 projections: 35% inliers (907/2563) with MSE=0.0992653
    Camera #12 projections: 31% inliers (764/2475) with MSE=0.100677
    Camera #13 projections: 33% inliers (776/2339) with MSE=0.0762845
    Camera #14 projections: 32% inliers (699/2216) with MSE=0.103383
    Camera #15 projections: 40% inliers (1160/2888) with MSE=0.0778765
    Camera #16 projections: 47% inliers (1576/3340) with MSE=0.0765188
    Camera #17 projections: 45% inliers (1569/3511) with MSE=0.152716
    Camera #18 projections: 38% inliers (1187/3095) with MSE=0.0993829
    Camera #19 projections: 50% inliers (1038/2066) with MSE=0.103664
    Camera #20 projections: 42% inliers (721/1730) with MSE=0.115624
    Camera #21 projections: 31% inliers (530/1706) with MSE=0.113982
    Camera #22 projections: 29% inliers (610/2139) with MSE=0.113169
    Camera #23 projections: 31% inliers (762/2470) with MSE=0.0924517
    Camera #24 projections: 30% inliers (802/2718) with MSE=0.0997368
    Camera #25 projections: 37% inliers (827/2224) with MSE=0.127127
    Camera #26 projections: 50% inliers (857/1725) with MSE=0.118112
    Camera #27 projections: 66% inliers (1114/1686) with MSE=0.257065
    Camera #28 projections: 87% inliers (1638/1891) with MSE=0.629473
    Camera #29 projections: 53% inliers (928/1739) with MSE=1.80771
After BA camera: k1=-0.10379, k2=-0.0502242, f=1606.01, cx=356.085, cy=562.272
Camera #0 center: [0, 0, 0] -> [0, 0, 0]
Camera #1 center: [-0.981112, 0.0066058, 0.193329] -> [-0.981112, 0.0066058, 0.193329]
Camera #2 center: [-2.04561, 0.00706378, 0.505889] -> [-1.85005, 0.0102852, 0.495919]
Camera #3 center: [-3.01425, 0.012192, 0.934352] -> [-2.63563, 0.0171974, 0.891978]
Camera #4 center: [-3.74474, 0.0516229, 1.55846] -> [-3.21708, 0.0445408, 1.43913]
Camera #5 center: [-4.40743, 0.10303, 2.33477] -> [-3.73508, 0.0773427, 2.11025]
Camera #6 center: [-4.7384, 0.199309, 3.28634] -> [-3.97449, 0.139874, 2.91333]
Camera #7 center: [-4.984, 0.303512, 4.33456] -> [-4.13733, 0.205504, 3.79376]
Camera #8 center: [-4.73309, 0.41716, 5.5388] -> [-3.88432, 0.270091, 4.78574]
Camera #9 center: [-4.38353, 0.501649, 6.64283] -> [-3.55167, 0.311755, 5.69266]
Camera #10 center: [-3.64038, 0.610159, 7.58267] -> [-2.89869, 0.373172, 6.44951]
Camera #11 center: [-2.9151, 0.687868, 8.22867] -> [-2.27128, 0.416041, 6.96231]
Camera #12 center: [-2.0461, 0.778661, 8.82828] -> [-1.52361, 0.469977, 7.43197]
Camera #13 center: [-1.06894, 0.817842, 9.17126] -> [-0.696425, 0.485107, 7.68301]
Camera #14 center: [-0.179688, 0.858681, 9.3842] -> [0.0544164, 0.506514, 7.82677]
Camera #15 center: [0.760965, 0.855675, 9.33836] -> [0.838297, 0.496999, 7.75162]
Camera #16 center: [1.7106, 0.84322, 9.0925] -> [1.61728, 0.484053, 7.50857]
Camera #17 center: [2.58112, 0.785931, 8.54546] -> [2.3181, 0.442072, 7.02071]
Camera #18 center: [3.25948, 0.738745, 7.85935] -> [2.85505, 0.413425, 6.42465]
Camera #19 center: [3.89537, 0.704893, 7.18915] -> [3.36019, 0.396118, 5.84033]
Camera #20 center: [4.53903, 0.651376, 6.49206] -> [3.86529, 0.363528, 5.2395]
Camera #21 center: [4.85268, 0.566148, 5.59353] -> [4.09131, 0.311797, 4.48278]
Camera #22 center: [4.98186, 0.470621, 4.71217] -> [4.16598, 0.252462, 3.7444]
Camera #23 center: [4.85566, 0.386489, 3.91154] -> [4.03067, 0.202141, 3.08349]
Camera #24 center: [4.65064, 0.304999, 3.12134] -> [3.83118, 0.154791, 2.43441]
Camera #25 center: [4.19413, 0.246478, 2.41771] -> [3.42789, 0.125565, 1.86811]
Camera #26 center: [3.64101, 0.148028, 1.69373] -> [2.94468, 0.0650061, 1.28761]
Camera #27 center: [2.97803, 0.069677, 1.09457] -> [2.37662, 0.0210476, 0.815762]
Camera #28 center: [2.18936, 0.0241507, 0.501141] -> [1.70748, 0.0015798, 0.35373]
Camera #29 center: [1.16718, 0.0291122, 0.171913] -> [0.925883, -0.000998966, 0.0625388]
After BA tie poits: 46% old + 1% new = 47% total outliers
After BA projections: 43% inliers with MSE=0.147248
    Camera #0 projections: 58% inliers (1160/1991) with MSE=0.283224
    Camera #1 projections: 49% inliers (947/1932) with MSE=0.346805
    Camera #2 projections: 40% inliers (988/2495) with MSE=0.112818
    Camera #3 projections: 41% inliers (1015/2506) with MSE=0.084184
    Camera #4 projections: 38% inliers (1190/3093) with MSE=0.114615
    Camera #5 projections: 40% inliers (1207/3054) with MSE=0.113823
    Camera #6 projections: 42% inliers (1341/3194) with MSE=0.130865
    Camera #7 projections: 37% inliers (1068/2850) with MSE=0.0978936
    Camera #8 projections: 48% inliers (1330/2773) with MSE=0.0693803
    Camera #9 projections: 54% inliers (1511/2784) with MSE=0.0765723
    Camera #10 projections: 55% inliers (1449/2624) with MSE=0.0751706
    Camera #11 projections: 36% inliers (911/2563) with MSE=0.109428
    Camera #12 projections: 31% inliers (768/2475) with MSE=0.116989
    Camera #13 projections: 33% inliers (777/2339) with MSE=0.0799427
    Camera #14 projections: 32% inliers (700/2216) with MSE=0.107769
    Camera #15 projections: 40% inliers (1160/2888) with MSE=0.076893
    Camera #16 projections: 47% inliers (1578/3340) with MSE=0.0765631
    Camera #17 projections: 43% inliers (1520/3511) with MSE=0.0722497
    Camera #18 projections: 38% inliers (1187/3095) with MSE=0.0971336
    Camera #19 projections: 50% inliers (1039/2066) with MSE=0.104607
    Camera #20 projections: 42% inliers (720/1730) with MSE=0.112731
    Camera #21 projections: 31% inliers (529/1706) with MSE=0.106677
    Camera #22 projections: 28% inliers (606/2139) with MSE=0.107525
    Camera #23 projections: 30% inliers (751/2470) with MSE=0.0909459
    Camera #24 projections: 29% inliers (793/2718) with MSE=0.124563
    Camera #25 projections: 36% inliers (794/2224) with MSE=0.162168
    Camera #26 projections: 46% inliers (796/1725) with MSE=0.373118
    Camera #27 projections: 69% inliers (1169/1686) with MSE=0.793237
    Camera #28 projections: 70% inliers (1316/1891) with MSE=0.105805
    Camera #29 projections: 90% inliers (1569/1739) with MSE=0.151667
Append camera #30 (IMG_3053.JPG) to alignment via 1737 common points
Before BA camera: k1=-0.10379, k2=-0.0502242, f=1606.01, cx=356.085, cy=562.272
Before BA projections: 46% inliers with MSE=0.183221
    Camera #0 projections: 71% inliers (2083/2937) with MSE=0.24048
    Camera #1 projections: 51% inliers (1059/2063) with MSE=0.380767
    Camera #2 projections: 40% inliers (998/2510) with MSE=0.119429
    Camera #3 projections: 41% inliers (1038/2530) with MSE=0.0871995
    Camera #4 projections: 39% inliers (1192/3095) with MSE=0.114755
    Camera #5 projections: 40% inliers (1207/3054) with MSE=0.113823
    Camera #6 projections: 42% inliers (1341/3194) with MSE=0.130865
    Camera #7 projections: 37% inliers (1068/2850) with MSE=0.0978936
    Camera #8 projections: 48% inliers (1330/2773) with MSE=0.0693803
    Camera #9 projections: 54% inliers (1511/2784) with MSE=0.0765723
    Camera #10 projections: 55% inliers (1449/2624) with MSE=0.0751706
    Camera #11 projections: 36% inliers (911/2563) with MSE=0.109428
    Camera #12 projections: 31% inliers (768/2475) with MSE=0.116989
    Camera #13 projections: 33% inliers (777/2339) with MSE=0.0799427
    Camera #14 projections: 32% inliers (700/2216) with MSE=0.107769
    Camera #15 projections: 40% inliers (1160/2888) with MSE=0.076893
    Camera #16 projections: 47% inliers (1578/3340) with MSE=0.0765631
    Camera #17 projections: 43% inliers (1520/3511) with MSE=0.0722497
    Camera #18 projections: 38% inliers (1187/3095) with MSE=0.0971336
    Camera #19 projections: 50% inliers (1039/2066) with MSE=0.104607
    Camera #20 projections: 42% inliers (720/1730) with MSE=0.112731
    Camera #21 projections: 31% inliers (529/1706) with MSE=0.106677
    Camera #22 projections: 28% inliers (606/2139) with MSE=0.107525
    Camera #23 projections: 30% inliers (751/2470) with MSE=0.0909459
    Camera #24 projections: 29% inliers (793/2718) with MSE=0.124563
    Camera #25 projections: 36% inliers (794/2224) with MSE=0.162168
    Camera #26 projections: 46% inliers (796/1725) with MSE=0.373118
    Camera #27 projections: 69% inliers (1171/1688) with MSE=0.792012
    Camera #28 projections: 71% inliers (1463/2051) with MSE=0.114487
    Camera #29 projections: 91% inliers (1944/2126) with MSE=0.154035
    Camera #30 projections: 92% inliers (3197/3493) with MSE=0.523835
After BA camera: k1=-0.139637, k2=0.201472, f=1619.2, cx=353.649, cy=554.152
Camera #0 center: [0, 0, 0] -> [0, 0, 0]
Camera #1 center: [-0.981112, 0.0066058, 0.193329] -> [-0.981112, 0.0066058, 0.193329]
Camera #2 center: [-1.85005, 0.0102852, 0.495919] -> [-1.96811, 0.0166295, 0.541707]
Camera #3 center: [-2.63563, 0.0171974, 0.891978] -> [-2.76296, 0.0324272, 0.964656]
Camera #4 center: [-3.21708, 0.0445408, 1.43913] -> [-3.3463, 0.0675537, 1.53705]
Camera #5 center: [-3.73508, 0.0773427, 2.11025] -> [-3.86336, 0.107681, 2.23464]
Camera #6 center: [-3.97449, 0.139874, 2.91333] -> [-4.09223, 0.177195, 3.06183]
Camera #7 center: [-4.13733, 0.205504, 3.79376] -> [-4.2429, 0.249417, 3.96621]
Camera #8 center: [-3.88432, 0.270091, 4.78574] -> [-3.96532, 0.31886, 4.97811]
Camera #9 center: [-3.55167, 0.311755, 5.69266] -> [-3.60811, 0.363923, 5.90441]
Camera #10 center: [-2.89869, 0.373172, 6.44951] -> [-2.92403, 0.426967, 6.67083]
Camera #11 center: [-2.27128, 0.416041, 6.96231] -> [-2.27079, 0.470128, 7.18717]
Camera #12 center: [-1.52361, 0.469977, 7.43197] -> [-1.49753, 0.523947, 7.65629]
Camera #13 center: [-0.696425, 0.485107, 7.68301] -> [-0.645718, 0.536592, 7.90099]
Camera #14 center: [0.0544164, 0.506514, 7.82677] -> [0.126005, 0.556089, 8.03778]
Camera #15 center: [0.838297, 0.496999, 7.75162] -> [0.928722, 0.54296, 7.94989]
Camera #16 center: [1.61728, 0.484053, 7.50857] -> [1.7241, 0.525658, 7.69053]
Camera #17 center: [2.3181, 0.442072, 7.02071] -> [2.43812, 0.477856, 7.1795]
Camera #18 center: [2.85505, 0.413425, 6.42465] -> [2.9824, 0.443916, 6.55853]
Camera #19 center: [3.36019, 0.396118, 5.84033] -> [3.4939, 0.421935, 5.94927]
Camera #20 center: [3.86529, 0.363528, 5.2395] -> [4.00471, 0.384163, 5.32262]
Camera #21 center: [4.09131, 0.311797, 4.48278] -> [4.2252, 0.327249, 4.53955]
Camera #22 center: [4.16598, 0.252462, 3.7444] -> [4.28938, 0.263135, 3.77791]
Camera #23 center: [4.03067, 0.202141, 3.08349] -> [4.13855, 0.209423, 3.1]
Camera #24 center: [3.83118, 0.154791, 2.43441] -> [3.92202, 0.15903, 2.43594]
Camera #25 center: [3.42789, 0.125565, 1.86811] -> [3.49811, 0.128573, 1.86247]
Camera #26 center: [2.94468, 0.0650061, 1.28761] -> [2.99414, 0.0659632, 1.27791]
Camera #27 center: [2.37662, 0.0210476, 0.815762] -> [2.40776, 0.0216125, 0.80695]
Camera #28 center: [1.70748, 0.0015798, 0.35373] -> [1.72559, 0.0026484, 0.34718]
Camera #29 center: [0.925883, -0.000998966, 0.0625388] -> [0.929563, 0.000913423, 0.0631255]
Camera #30 center: [0.165012, 0.00356223, -0.0882099] -> [0.166045, 0.000381736, -0.0961893]
After BA tie poits: 45% old + 4% new = 49% total outliers
After BA projections: 45% inliers with MSE=0.141767
    Camera #0 projections: 66% inliers (1941/2937) with MSE=0.242248
    Camera #1 projections: 48% inliers (985/2063) with MSE=0.575285
    Camera #2 projections: 39% inliers (974/2510) with MSE=0.271245
    Camera #3 projections: 41% inliers (1030/2530) with MSE=0.126325
    Camera #4 projections: 39% inliers (1198/3095) with MSE=0.157252
    Camera #5 projections: 40% inliers (1210/3054) with MSE=0.137748
    Camera #6 projections: 42% inliers (1330/3194) with MSE=0.109464
    Camera #7 projections: 37% inliers (1066/2850) with MSE=0.0988758
    Camera #8 projections: 48% inliers (1329/2773) with MSE=0.0682313
    Camera #9 projections: 54% inliers (1510/2784) with MSE=0.0765146
    Camera #10 projections: 55% inliers (1451/2624) with MSE=0.0832428
    Camera #11 projections: 35% inliers (907/2563) with MSE=0.10051
    Camera #12 projections: 31% inliers (765/2475) with MSE=0.10461
    Camera #13 projections: 35% inliers (830/2339) with MSE=0.249033
    Camera #14 projections: 32% inliers (699/2216) with MSE=0.105592
    Camera #15 projections: 40% inliers (1160/2888) with MSE=0.08205
    Camera #16 projections: 47% inliers (1575/3340) with MSE=0.0740344
    Camera #17 projections: 43% inliers (1520/3511) with MSE=0.0757383
    Camera #18 projections: 38% inliers (1189/3095) with MSE=0.101325
    Camera #19 projections: 50% inliers (1038/2066) with MSE=0.104237
    Camera #20 projections: 42% inliers (720/1730) with MSE=0.114524
    Camera #21 projections: 31% inliers (529/1706) with MSE=0.105544
    Camera #22 projections: 28% inliers (608/2139) with MSE=0.110483
    Camera #23 projections: 30% inliers (749/2470) with MSE=0.0884822
    Camera #24 projections: 29% inliers (784/2718) with MSE=0.0963135
    Camera #25 projections: 35% inliers (783/2224) with MSE=0.111179
    Camera #26 projections: 42% inliers (726/1725) with MSE=0.102438
    Camera #27 projections: 55% inliers (921/1688) with MSE=0.106389
    Camera #28 projections: 65% inliers (1327/2051) with MSE=0.122936
    Camera #29 projections: 75% inliers (1591/2126) with MSE=0.135223
    Camera #30 projections: 91% inliers (3165/3493) with MSE=0.218614
Append camera #31 (IMG_3054.JPG) to alignment via 1501 common points
Before BA camera: k1=-0.139637, k2=0.201472, f=1619.2, cx=353.649, cy=554.152
Before BA projections: 47% inliers with MSE=0.211475
    Camera #0 projections: 68% inliers (2083/3085) with MSE=0.23826
    Camera #1 projections: 57% inliers (1450/2561) with MSE=0.555896
    Camera #2 projections: 41% inliers (1067/2616) with MSE=0.274543
    Camera #3 projections: 41% inliers (1056/2558) with MSE=0.124489
    Camera #4 projections: 39% inliers (1203/3100) with MSE=0.157115
    Camera #5 projections: 40% inliers (1210/3054) with MSE=0.137748
    Camera #6 projections: 42% inliers (1330/3194) with MSE=0.109464
    Camera #7 projections: 37% inliers (1066/2850) with MSE=0.0988758
    Camera #8 projections: 48% inliers (1329/2773) with MSE=0.0682313
    Camera #9 projections: 54% inliers (1510/2784) with MSE=0.0765146
    Camera #10 projections: 55% inliers (1451/2624) with MSE=0.0832428
    Camera #11 projections: 35% inliers (907/2563) with MSE=0.10051
    Camera #12 projections: 31% inliers (765/2476) with MSE=0.10461
    Camera #13 projections: 35% inliers (830/2339) with MSE=0.249033
    Camera #14 projections: 32% inliers (699/2216) with MSE=0.105592
    Camera #15 projections: 40% inliers (1160/2888) with MSE=0.08205
    Camera #16 projections: 47% inliers (1575/3340) with MSE=0.0740344
    Camera #17 projections: 43% inliers (1520/3511) with MSE=0.0757383
    Camera #18 projections: 38% inliers (1189/3095) with MSE=0.101325
    Camera #19 projections: 50% inliers (1038/2066) with MSE=0.104237
    Camera #20 projections: 42% inliers (720/1730) with MSE=0.114524
    Camera #21 projections: 31% inliers (529/1706) with MSE=0.105544
    Camera #22 projections: 28% inliers (608/2139) with MSE=0.110483
    Camera #23 projections: 30% inliers (749/2470) with MSE=0.0884822
    Camera #24 projections: 29% inliers (784/2718) with MSE=0.0963135
    Camera #25 projections: 35% inliers (783/2224) with MSE=0.111179
    Camera #26 projections: 42% inliers (726/1725) with MSE=0.102438
    Camera #27 projections: 55% inliers (921/1688) with MSE=0.106389
    Camera #28 projections: 65% inliers (1333/2059) with MSE=0.126092
    Camera #29 projections: 76% inliers (1772/2324) with MSE=0.150589
    Camera #30 projections: 91% inliers (3385/3728) with MSE=0.211823
    Camera #31 projections: 81% inliers (2263/2790) with MSE=1.24771
After BA camera: k1=-0.155334, k2=0.148905, f=1581.91, cx=352.234, cy=567.818
Camera #0 center: [0, 0, 0] -> [0, 0, 0]
Camera #1 center: [-0.981112, 0.0066058, 0.193329] -> [-0.981112, 0.0066058, 0.193329]
Camera #2 center: [-1.96811, 0.0166295, 0.541707] -> [-1.88005, 0.012946, 0.497967]
Camera #3 center: [-2.76296, 0.0324272, 0.964656] -> [-2.69133, 0.0247201, 0.908097]
Camera #4 center: [-3.3463, 0.0675537, 1.53705] -> [-3.28986, 0.0576126, 1.47555]
Camera #5 center: [-3.86336, 0.107681, 2.23464] -> [-3.81914, 0.0962854, 2.17332]
Camera #6 center: [-4.09223, 0.177195, 3.06183] -> [-4.05914, 0.164418, 3.00466]
Camera #7 center: [-4.2429, 0.249417, 3.96621] -> [-4.21592, 0.235784, 3.91514]
Camera #8 center: [-3.96532, 0.31886, 4.97811] -> [-3.94119, 0.3035, 4.93561]
Camera #9 center: [-3.60811, 0.363923, 5.90441] -> [-3.58289, 0.347554, 5.86348]
Camera #10 center: [-2.92403, 0.426967, 6.67083] -> [-2.89737, 0.409141, 6.62879]
Camera #11 center: [-2.27079, 0.470128, 7.18717] -> [-2.24185, 0.451601, 7.14233]
Camera #12 center: [-1.49753, 0.523947, 7.65629] -> [-1.45479, 0.50604, 7.6093]
Camera #13 center: [-0.645718, 0.536592, 7.90099] -> [-0.61629, 0.517218, 7.84277]
Camera #14 center: [0.126005, 0.556089, 8.03778] -> [0.147627, 0.536793, 7.97218]
Camera #15 center: [0.928722, 0.54296, 7.94989] -> [0.940791, 0.523414, 7.87975]
Camera #16 center: [1.7241, 0.525658, 7.69053] -> [1.72238, 0.506205, 7.61921]
Camera #17 center: [2.43812, 0.477856, 7.1795] -> [2.42821, 0.458248, 7.10858]
Camera #18 center: [2.9824, 0.443916, 6.55853] -> [2.96517, 0.424247, 6.48916]
Camera #19 center: [3.4939, 0.421935, 5.94927] -> [3.46581, 0.403416, 5.88929]
Camera #20 center: [4.00471, 0.384163, 5.32262] -> [3.9683, 0.368001, 5.27177]
Camera #21 center: [4.2252, 0.327249, 4.53955] -> [4.18476, 0.313275, 4.50101]
Camera #22 center: [4.28938, 0.263135, 3.77791] -> [4.24831, 0.251325, 3.75155]
Camera #23 center: [4.13855, 0.209423, 3.1] -> [4.10086, 0.19971, 3.087]
Camera #24 center: [3.92202, 0.15903, 2.43594] -> [3.88996, 0.151132, 2.43207]
Camera #25 center: [3.49811, 0.128573, 1.86247] -> [3.47226, 0.121708, 1.86216]
Camera #26 center: [2.99414, 0.0659632, 1.27791] -> [2.97554, 0.0609483, 1.28048]
Camera #27 center: [2.40776, 0.0216125, 0.80695] -> [2.39456, 0.021381, 0.811759]
Camera #28 center: [1.72559, 0.0026484, 0.34718] -> [1.71729, 0.0036311, 0.352761]
Camera #29 center: [0.929563, 0.000913423, 0.0631255] -> [0.926301, 0.00250347, 0.0651925]
Camera #30 center: [0.166045, 0.000381736, -0.0961893] -> [0.163554, 0.00286494, -0.0928846]
Camera #31 center: [-0.600651, -0.00583885, -0.0931422] -> [-0.635005, -0.00153556, -0.0715667]
After BA tie poits: 47% old + 2% new = 49% total outliers
After BA projections: 44% inliers with MSE=0.180201
    Camera #0 projections: 40% inliers (1226/3085) with MSE=0.374352
    Camera #1 projections: 46% inliers (1179/2561) with MSE=0.409702
    Camera #2 projections: 38% inliers (982/2616) with MSE=0.138126
    Camera #3 projections: 40% inliers (1011/2558) with MSE=0.0943872
    Camera #4 projections: 38% inliers (1173/3100) with MSE=0.121827
    Camera #5 projections: 39% inliers (1201/3054) with MSE=0.132535
    Camera #6 projections: 42% inliers (1332/3194) with MSE=0.11463
    Camera #7 projections: 37% inliers (1066/2850) with MSE=0.100828
    Camera #8 projections: 48% inliers (1334/2773) with MSE=0.0799077
    Camera #9 projections: 54% inliers (1515/2784) with MSE=0.0858824
    Camera #10 projections: 55% inliers (1450/2624) with MSE=0.0813569
    Camera #11 projections: 36% inliers (923/2563) with MSE=0.148142
    Camera #12 projections: 31% inliers (764/2476) with MSE=0.106381
    Camera #13 projections: 33% inliers (783/2339) with MSE=0.108381
    Camera #14 projections: 32% inliers (716/2216) with MSE=0.19336
    Camera #15 projections: 42% inliers (1225/2888) with MSE=0.299523
    Camera #16 projections: 49% inliers (1643/3340) with MSE=0.251556
    Camera #17 projections: 43% inliers (1521/3511) with MSE=0.0794153
    Camera #18 projections: 38% inliers (1191/3095) with MSE=0.112289
    Camera #19 projections: 52% inliers (1065/2066) with MSE=0.201931
    Camera #20 projections: 44% inliers (760/1730) with MSE=0.288688
    Camera #21 projections: 33% inliers (562/1706) with MSE=0.243325
    Camera #22 projections: 36% inliers (765/2139) with MSE=0.764628
    Camera #23 projections: 31% inliers (759/2470) with MSE=0.151758
    Camera #24 projections: 29% inliers (794/2718) with MSE=0.144331
    Camera #25 projections: 35% inliers (779/2224) with MSE=0.106549
    Camera #26 projections: 42% inliers (719/1725) with MSE=0.0954297
    Camera #27 projections: 52% inliers (885/1688) with MSE=0.111795
    Camera #28 projections: 53% inliers (1088/2059) with MSE=0.117779
    Camera #29 projections: 62% inliers (1449/2324) with MSE=0.138403
    Camera #30 projections: 48% inliers (1780/3728) with MSE=0.264637
    Camera #31 projections: 91% inliers (2552/2790) with MSE=0.203583
[       OK ] SFM.ReconstructNViews (152512 ms)
[----------] 1 test from SFM (152512 ms total)

[----------] Global test environment tear-down
[==========] 1 test from 1 test suite ran. (152512 ms total)
[  PASSED  ] 1 test.

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simiyutin commented May 12, 2026 •
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Задача зачтена, 8/10 баллов (2 балла штрафа за пропуск дедлайна) 👍

@simiyutin simiyutin closed this May 12, 2026
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@PaulRalnikov @simiyutin