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Task04 Артём Трубников СПбГУ #31

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Task04 Артём Трубников СПбГУ #31

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@MForest7 MForest7 commented Oct 7, 2024 •
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  1. test_ceres_solver/FitLine: почему найденная прямая и эталонная - не совпадают? Как это исправить пост-обработкой? Как это исправить формулировкой задачи?

Так как мы ищем прямую в виде нормального уравнения, ответы могут различаться на мультипликативную константу. Можно, например, нормализовать результат, чтобы один из коэффициентов был равен 1, или зафиксировать один из коэффициентов и оптимизировать 2 оставшихся.

  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 подряд? Иначе говоря - что следует из того что в идеале runBA() должна быть (мне очень нравится это слово) - идемпотентна?

В идеале, при начальном приближении, почти совпадающем с локальным оптимумом, солвер должен возвращать этот же оптимум (с какой-то точностью). Поэтому после повторного вызова runBA() результат не должен ощутимо измениться.

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

32 для saharov и 24 для herzjesu (без учёта дисторсии - получается и все 25)

image

image

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

Нет, так как в project в качестве $r$ используется расстояние до центра камеры до преобразования дисторсии, а в unproject - после дисторсии. Строго говоря, чтобы найти значение $r$ из исходного преобразования (из project), нужно решить уравнение $\sqrt{x^2+y^2} = r \cdot (1 + k_1 r^2 + k_2 r^4)$ относительно $r$, но вместо этого мы берём (насколько хорошее??) приближение $r = \sqrt{x^2 + y^2}$, полагаясь на малые значения $k_1$ и $k_2$.

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

Поскольку уменьшить картинку в downscale раз - то же самое, что приблизить фокальную плоскость к камере (уменьшить фокальную длину).

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

Да, Loss от такого преобразования не поменяется, так как он считается как сумма невязок между точками на изображениях и проекциями, и зависит от положения точек относительно камер.

  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?

Можно, например, всегда сдвигать первую камеру в начало координат.

Travis CI

Run ./build/test_sfm_ba
Running main() from /home/runner/work/PhotogrammetryTasks2024/PhotogrammetryTasks2024/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...
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24% - Cameras 2-1 (IMG_3025.JPG-IMG_3024.JPG): 1128 matches
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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
29% - Cameras 10-11 (IMG_3033.JPG-IMG_3034.JPG): 1121 matches
29% - Cameras 10-12 (IMG_3033.JPG-IMG_3035.JPG): 484 matches
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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
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38% - Cameras 26-25 (IMG_3049.JPG-IMG_3048.JPG): 935 matches
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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 21-17 (IMG_3044.JPG-IMG_3040.JPG): 42 matches
66% - Cameras 13-18 (IMG_3036.JPG-IMG_3041.JPG): 105 matches
66% - Cameras 21-18 (IMG_3044.JPG-IMG_3041.JPG): 102 matches
67% - Cameras 21-19 (IMG_3044.JPG-IMG_3042.JPG): 384 matches
67% - Cameras 13-19 (IMG_3036.JPG-IMG_3042.JPG): 30 matches
67% - Cameras 21-20 (IMG_3044.JPG-IMG_3043.JPG): 834 matches
67% - Cameras 21-22 (IMG_3044.JPG-IMG_3045.JPG): 810 matches
68% - Cameras 21-23 (IMG_3044.JPG-IMG_3046.JPG): 650 matches
68% - Cameras 28-21 (IMG_3051.JPG-IMG_3044.JPG): 16 matches
68% - Cameras 21-24 (IMG_3044.JPG-IMG_3047.JPG): 402 matches
68% - Cameras 21-25 (IMG_3044.JPG-IMG_3048.JPG): 289 matches
69% - Cameras 28-22 (IMG_3051.JPG-IMG_3045.JPG): 82 matches
69% - Cameras 21-26 (IMG_3044.JPG-IMG_3049.JPG): 205 matches
69% - Cameras 28-23 (IMG_3051.JPG-IMG_3046.JPG): 116 matches
69% - Cameras 21-27 (IMG_3044.JPG-IMG_3050.JPG): 64 matches
69% - Cameras 28-24 (IMG_3051.JPG-IMG_3047.JPG): 78 matches
70% - Cameras 21-28 (IMG_3044.JPG-IMG_3051.JPG): 27 matches
70% - Cameras 28-25 (IMG_3051.JPG-IMG_3048.JPG): 165 matches
70% - Cameras 28-26 (IMG_3051.JPG-IMG_3049.JPG): 302 matches
71% - Cameras 28-27 (IMG_3051.JPG-IMG_3050.JPG): 787 matches
71% - Cameras 28-29 (IMG_3051.JPG-IMG_3052.JPG): 954 matches
72% - Cameras 28-30 (IMG_3051.JPG-IMG_3053.JPG): 567 matches
72% - Cameras 28-31 (IMG_3051.JPG-IMG_3054.JPG): 140 matches
73% - Cameras 5-31 (IMG_3028.JPG-IMG_3054.JPG): 9 matches
73% - Cameras 29-0 (IMG_3052.JPG-IMG_3023.JPG): 905 matches
73% - Cameras 29-1 (IMG_3052.JPG-IMG_3024.JPG): 378 matches
74% - Cameras 29-2 (IMG_3052.JPG-IMG_3025.JPG): 155 matches
74% - Cameras 6-2 (IMG_3029.JPG-IMG_3025.JPG): 51 matches
74% - Cameras 29-3 (IMG_3052.JPG-IMG_3026.JPG): 38 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
75% - 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
77% - Cameras 22-18 (IMG_3045.JPG-IMG_3041.JPG): 32 matches
78% - Cameras 14-16 (IMG_3037.JPG-IMG_3039.JPG): 776 matches
78% - Cameras 6-11 (IMG_3029.JPG-IMG_3034.JPG): 133 matches
78% - Cameras 22-19 (IMG_3045.JPG-IMG_3042.JPG): 136 matches
78% - Cameras 14-17 (IMG_3037.JPG-IMG_3040.JPG): 342 matches
78% - Cameras 22-20 (IMG_3045.JPG-IMG_3043.JPG): 456 matches
78% - Cameras 14-18 (IMG_3037.JPG-IMG_3041.JPG): 145 matches
79% - Cameras 22-21 (IMG_3045.JPG-IMG_3044.JPG): 872 matches
79% - Cameras 14-19 (IMG_3037.JPG-IMG_3042.JPG): 73 matches
79% - Cameras 22-23 (IMG_3045.JPG-IMG_3046.JPG): 1254 matches
79% - Cameras 22-24 (IMG_3045.JPG-IMG_3047.JPG): 980 matches
80% - Cameras 22-25 (IMG_3045.JPG-IMG_3048.JPG): 466 matches
80% - Cameras 22-26 (IMG_3045.JPG-IMG_3049.JPG): 298 matches
81% - Cameras 22-27 (IMG_3045.JPG-IMG_3050.JPG): 153 matches
81% - Cameras 22-28 (IMG_3045.JPG-IMG_3051.JPG): 82 matches
83% - 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 15-2 (IMG_3038.JPG-IMG_3025.JPG): 1 matches
85% - Cameras 29-28 (IMG_3052.JPG-IMG_3051.JPG): 851 matches
85% - Cameras 29-30 (IMG_3052.JPG-IMG_3053.JPG): 912 matches
86% - Cameras 29-31 (IMG_3052.JPG-IMG_3054.JPG): 627 matches
86% - Cameras 30-0 (IMG_3053.JPG-IMG_3023.JPG): 2290 matches
86% - Cameras 30-1 (IMG_3053.JPG-IMG_3024.JPG): 1013 matches
87% - Cameras 30-2 (IMG_3053.JPG-IMG_3025.JPG): 331 matches
87% - Cameras 30-3 (IMG_3053.JPG-IMG_3026.JPG): 120 matches
88% - 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 15-11 (IMG_3038.JPG-IMG_3034.JPG): 91 matches
89% - Cameras 7-4 (IMG_3030.JPG-IMG_3027.JPG): 341 matches
89% - Cameras 15-12 (IMG_3038.JPG-IMG_3035.JPG): 261 matches
89% - Cameras 7-5 (IMG_3030.JPG-IMG_3028.JPG): 1015 matches
89% - Cameras 15-13 (IMG_3038.JPG-IMG_3036.JPG): 825 matches
89% - Cameras 7-6 (IMG_3030.JPG-IMG_3029.JPG): 1554 matches
89% - Cameras 23-19 (IMG_3046.JPG-IMG_3042.JPG): 45 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 23-20 (IMG_3046.JPG-IMG_3043.JPG): 282 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 23-21 (IMG_3046.JPG-IMG_3044.JPG): 677 matches
90% - Cameras 15-17 (IMG_3038.JPG-IMG_3040.JPG): 875 matches
91% - Cameras 23-22 (IMG_3046.JPG-IMG_3045.JPG): 1307 matches
91% - Cameras 7-10 (IMG_3030.JPG-IMG_3033.JPG): 415 matches
91% - Cameras 15-18 (IMG_3038.JPG-IMG_3041.JPG): 301 matches
91% - Cameras 23-24 (IMG_3046.JPG-IMG_3047.JPG): 1353 matches
91% - Cameras 7-11 (IMG_3030.JPG-IMG_3034.JPG): 160 matches
91% - Cameras 15-19 (IMG_3038.JPG-IMG_3042.JPG): 107 matches
91% - Cameras 23-25 (IMG_3046.JPG-IMG_3048.JPG): 871 matches
92% - Cameras 23-26 (IMG_3046.JPG-IMG_3049.JPG): 421 matches
92% - 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
96% - Cameras 30-31 (IMG_3053.JPG-IMG_3054.JPG): 978 matches
96% - 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 + 7% new = 14% 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 893 common points
Before BA camera: k1=0, k2=0, f=1585.5, cx=364, cy=546
Before BA projections: 74% inliers with MSE=0.909023
    Camera #0 projections: 84% inliers (1141/1351) with MSE=1.01141
    Camera #1 projections: 88% inliers (1614/1833) with MSE=0.775724
    Camera #2 projections: 84% inliers (1924/2279) with MSE=0.654982
    Camera #3 projections: 36% inliers (585/1614) with MSE=1.91261
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] -> [-1.8963, 0.0089683, 0.493691]
Camera #3 center: [-2.85933, 0.032788, 1.10102] -> [-2.72681, 0.0143345, 0.900589]
After BA tie poits: 10% old + 4% new = 14% total outliers
After BA projections: 88% inliers with MSE=0.393971
    Camera #0 projections: 82% inliers (1111/1351) with MSE=1.03546
    Camera #1 projections: 85% inliers (1550/1833) with MSE=0.523961
    Camera #2 projections: 89% inliers (2034/2279) with MSE=0.147126
    Camera #3 projections: 93% inliers (1509/1614) with MSE=0.120878
Append camera #4 (IMG_3027.JPG) to alignment via 1130 common points
Before BA camera: k1=0, k2=0, f=1585.5, cx=364, cy=546
Before BA projections: 87% inliers with MSE=0.508542
    Camera #0 projections: 82% inliers (1117/1358) with MSE=1.03389
    Camera #1 projections: 85% inliers (1558/1843) with MSE=0.52263
    Camera #2 projections: 88% inliers (2186/2472) with MSE=0.189847
    Camera #3 projections: 93% inliers (2370/2541) with MSE=0.26434
    Camera #4 projections: 84% inliers (2090/2474) with MSE=0.827521
After BA camera: k1=0, k2=0, f=1671.01, cx=318.263, cy=506.008
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: [-1.8963, 0.0089683, 0.493691] -> [-1.87336, 0.0191444, 0.526053]
Camera #3 center: [-2.72681, 0.0143345, 0.900589] -> [-2.66796, 0.0369513, 0.951464]
Camera #4 center: [-3.34559, 0.0484888, 1.46691] -> [-3.24644, 0.080074, 1.53793]
After BA tie poits: 10% old + 6% new = 16% total outliers
After BA projections: 85% inliers with MSE=0.207251
    Camera #0 projections: 79% inliers (1074/1358) with MSE=0.385264
    Camera #1 projections: 82% inliers (1514/1843) with MSE=0.217773
    Camera #2 projections: 86% inliers (2125/2472) with MSE=0.160896
    Camera #3 projections: 92% inliers (2329/2541) with MSE=0.163348
    Camera #4 projections: 82% inliers (2039/2474) with MSE=0.204133
Append camera #5 (IMG_3028.JPG) to alignment via 1177 common points
Before BA camera: k1=0, k2=0, f=1671.01, cx=318.263, cy=506.008
Before BA projections: 85% inliers with MSE=0.28686
    Camera #0 projections: 79% inliers (1074/1358) with MSE=0.385264
    Camera #1 projections: 82% inliers (1516/1846) with MSE=0.219027
    Camera #2 projections: 86% inliers (2133/2482) with MSE=0.16071
    Camera #3 projections: 91% inliers (2519/2758) with MSE=0.177551
    Camera #4 projections: 85% inliers (2636/3109) with MSE=0.223479
    Camera #5 projections: 84% inliers (1774/2101) with MSE=0.686326
After BA camera: k1=0, k2=0, f=1725.36, cx=325.708, cy=512.211
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: [-1.87336, 0.0191444, 0.526053] -> [-1.8704, 0.0159941, 0.525027]
Camera #3 center: [-2.66796, 0.0369513, 0.951464] -> [-2.65624, 0.0293366, 0.947689]
Camera #4 center: [-3.24644, 0.080074, 1.53793] -> [-3.22704, 0.0663837, 1.52889]
Camera #5 center: [-3.76386, 0.130926, 2.24927] -> [-3.73058, 0.111298, 2.25036]
After BA tie poits: 13% old + 4% new = 17% total outliers
After BA projections: 84% inliers with MSE=0.216328
    Camera #0 projections: 78% inliers (1065/1358) with MSE=0.414023
    Camera #1 projections: 81% inliers (1498/1846) with MSE=0.237251
    Camera #2 projections: 84% inliers (2086/2482) with MSE=0.150833
    Camera #3 projections: 86% inliers (2385/2758) with MSE=0.171478
    Camera #4 projections: 82% inliers (2550/3109) with MSE=0.196281
    Camera #5 projections: 87% inliers (1836/2101) with MSE=0.245098
Append camera #6 (IMG_3029.JPG) to alignment via 1340 common points
Before BA camera: k1=0, k2=0, f=1725.36, cx=325.708, cy=512.211
Before BA projections: 84% inliers with MSE=0.468564
    Camera #0 projections: 78% inliers (1065/1358) with MSE=0.414023
    Camera #1 projections: 81% inliers (1498/1846) with MSE=0.237251
    Camera #2 projections: 84% inliers (2088/2484) with MSE=0.151147
    Camera #3 projections: 86% inliers (2400/2775) with MSE=0.174309
    Camera #4 projections: 83% inliers (2777/3357) with MSE=0.225087
    Camera #5 projections: 89% inliers (2660/2996) with MSE=0.230823
    Camera #6 projections: 85% inliers (2237/2622) with MSE=1.84635
After BA camera: k1=0, k2=0, f=1612.73, cx=333.509, cy=534.71
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: [-1.8704, 0.0159941, 0.525027] -> [-1.87675, 0.0144903, 0.513622]
Camera #3 center: [-2.65624, 0.0293366, 0.947689] -> [-2.67591, 0.0272717, 0.926456]
Camera #4 center: [-3.22704, 0.0663837, 1.52889] -> [-3.26507, 0.0628263, 1.49698]
Camera #5 center: [-3.73058, 0.111298, 2.25036] -> [-3.79008, 0.105839, 2.19795]
Camera #6 center: [-3.9278, 0.194422, 3.10652] -> [-4.02229, 0.181876, 3.041]
After BA tie poits: 14% old + 4% new = 18% total outliers
After BA projections: 83% inliers with MSE=0.190389
    Camera #0 projections: 78% inliers (1060/1358) with MSE=0.497797
    Camera #1 projections: 80% inliers (1485/1846) with MSE=0.267645
    Camera #2 projections: 83% inliers (2063/2484) with MSE=0.118931
    Camera #3 projections: 84% inliers (2320/2775) with MSE=0.105005
    Camera #4 projections: 80% inliers (2680/3357) with MSE=0.164296
    Camera #5 projections: 86% inliers (2574/2996) with MSE=0.16917
    Camera #6 projections: 87% inliers (2292/2622) with MSE=0.203247
Append camera #7 (IMG_3030.JPG) to alignment via 1641 common points
Before BA camera: k1=0, k2=0, f=1612.73, cx=333.509, cy=534.71
Before BA projections: 83% inliers with MSE=0.448383
    Camera #0 projections: 78% inliers (1060/1358) with MSE=0.497797
    Camera #1 projections: 80% inliers (1485/1846) with MSE=0.267645
    Camera #2 projections: 83% inliers (2063/2484) with MSE=0.118931
    Camera #3 projections: 84% inliers (2322/2777) with MSE=0.105562
    Camera #4 projections: 80% inliers (2699/3382) with MSE=0.171715
    Camera #5 projections: 86% inliers (2767/3219) with MSE=0.19242
    Camera #6 projections: 89% inliers (2935/3302) with MSE=0.275598
    Camera #7 projections: 81% inliers (2133/2633) with MSE=2.16137
After BA camera: k1=0, k2=0, f=1602.15, cx=337.878, cy=543.118
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: [-1.87675, 0.0144903, 0.513622] -> [-1.87846, 0.0131286, 0.510571]
Camera #3 center: [-2.67591, 0.0272717, 0.926456] -> [-2.6776, 0.0243094, 0.919751]
Camera #4 center: [-3.26507, 0.0628263, 1.49698] -> [-3.26791, 0.057554, 1.48542]
Camera #5 center: [-3.79008, 0.105839, 2.19795] -> [-3.79588, 0.0977776, 2.18057]
Camera #6 center: [-4.02229, 0.181876, 3.041] -> [-4.03432, 0.170352, 3.01599]
Camera #7 center: [-4.15622, 0.261346, 3.96378] -> [-4.18912, 0.24864, 3.93741]
After BA tie poits: 15% old + 3% new = 18% total outliers
After BA projections: 82% inliers with MSE=0.180342
    Camera #0 projections: 78% inliers (1057/1358) with MSE=0.545601
    Camera #1 projections: 80% inliers (1473/1846) with MSE=0.281467
    Camera #2 projections: 82% inliers (2042/2484) with MSE=0.118274
    Camera #3 projections: 82% inliers (2282/2777) with MSE=0.10905
    Camera #4 projections: 77% inliers (2591/3382) with MSE=0.142236
    Camera #5 projections: 82% inliers (2647/3219) with MSE=0.175355
    Camera #6 projections: 85% inliers (2815/3302) with MSE=0.144061
    Camera #7 projections: 90% inliers (2377/2633) with MSE=0.167069
Append camera #8 (IMG_3031.JPG) to alignment via 1515 common points
Before BA camera: k1=0, k2=0, f=1602.15, cx=337.878, cy=543.118
Before BA projections: 81% inliers with MSE=0.352943
    Camera #0 projections: 78% inliers (1057/1358) with MSE=0.545601
    Camera #1 projections: 80% inliers (1473/1846) with MSE=0.281467
    Camera #2 projections: 82% inliers (2042/2484) with MSE=0.118274
    Camera #3 projections: 82% inliers (2283/2778) with MSE=0.109192
    Camera #4 projections: 77% inliers (2600/3395) with MSE=0.14327
    Camera #5 projections: 82% inliers (2664/3244) with MSE=0.176885
    Camera #6 projections: 86% inliers (3021/3523) with MSE=0.149954
    Camera #7 projections: 91% inliers (2838/3122) with MSE=0.192588
    Camera #8 projections: 62% inliers (1437/2317) with MSE=2.45441
After BA camera: k1=0, k2=0, f=1578.28, cx=339.898, cy=547.406
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: [-1.87846, 0.0131286, 0.510571] -> [-1.87957, 0.0127083, 0.508031]
Camera #3 center: [-2.6776, 0.0243094, 0.919751] -> [-2.68012, 0.0234592, 0.914039]
Camera #4 center: [-3.26791, 0.057554, 1.48542] -> [-3.27269, 0.056022, 1.47569]
Camera #5 center: [-3.79588, 0.0977776, 2.18057] -> [-3.80399, 0.0956711, 2.16556]
Camera #6 center: [-4.03432, 0.170352, 3.01599] -> [-4.04839, 0.167103, 2.99604]
Camera #7 center: [-4.18912, 0.24864, 3.93741] -> [-4.21252, 0.243616, 3.91231]
Camera #8 center: [-3.90016, 0.325431, 4.96933] -> [-3.93918, 0.322497, 4.95369]
After BA tie poits: 16% old + 3% new = 19% total outliers
After BA projections: 81% inliers with MSE=0.184624
    Camera #0 projections: 78% inliers (1055/1358) with MSE=0.577622
    Camera #1 projections: 80% inliers (1470/1846) with MSE=0.296299
    Camera #2 projections: 82% inliers (2034/2484) with MSE=0.118507
    Camera #3 projections: 81% inliers (2247/2778) with MSE=0.0990276
    Camera #4 projections: 75% inliers (2542/3395) with MSE=0.145185
    Camera #5 projections: 79% inliers (2558/3244) with MSE=0.165291
    Camera #6 projections: 82% inliers (2902/3523) with MSE=0.13902
    Camera #7 projections: 87% inliers (2716/3122) with MSE=0.172383
    Camera #8 projections: 88% inliers (2045/2317) with MSE=0.215594
Append camera #9 (IMG_3032.JPG) to alignment via 1550 common points
Before BA camera: k1=0, k2=0, f=1578.28, cx=339.898, cy=547.406
Before BA projections: 80% inliers with MSE=0.299844
    Camera #0 projections: 78% inliers (1055/1358) with MSE=0.577622
    Camera #1 projections: 80% inliers (1470/1846) with MSE=0.296299
    Camera #2 projections: 82% inliers (2034/2484) with MSE=0.118507
    Camera #3 projections: 81% inliers (2247/2778) with MSE=0.0990276
    Camera #4 projections: 75% inliers (2545/3401) with MSE=0.145794
    Camera #5 projections: 79% inliers (2571/3263) with MSE=0.166447
    Camera #6 projections: 82% inliers (2920/3542) with MSE=0.140171
    Camera #7 projections: 87% inliers (2843/3263) with MSE=0.182429
    Camera #8 projections: 87% inliers (2767/3174) with MSE=0.322308
    Camera #9 projections: 65% inliers (1710/2636) with MSE=1.47245
After BA camera: k1=0, k2=0, f=1602.82, cx=344.097, cy=553.412
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: [-1.87957, 0.0127083, 0.508031] -> [-1.87831, 0.0108699, 0.506763]
Camera #3 center: [-2.68012, 0.0234592, 0.914039] -> [-2.67676, 0.0190807, 0.912878]
Camera #4 center: [-3.27269, 0.056022, 1.47569] -> [-3.26711, 0.0480839, 1.47387]
Camera #5 center: [-3.80399, 0.0956711, 2.16556] -> [-3.79374, 0.0829883, 2.16181]
Camera #6 center: [-4.04839, 0.167103, 2.99604] -> [-4.0352, 0.148692, 2.98639]
Camera #7 center: [-4.21252, 0.243616, 3.91231] -> [-4.19752, 0.218164, 3.89344]
Camera #8 center: [-3.93918, 0.322497, 4.95369] -> [-3.93404, 0.287142, 4.90484]
Camera #9 center: [-3.53749, 0.377768, 5.83271] -> [-3.56457, 0.335466, 5.86708]
After BA tie poits: 17% old + 2% new = 18% total outliers
After BA projections: 81% inliers with MSE=0.169535
    Camera #0 projections: 78% inliers (1055/1358) with MSE=0.60828
    Camera #1 projections: 79% inliers (1466/1846) with MSE=0.308876
    Camera #2 projections: 82% inliers (2027/2484) with MSE=0.119056
    Camera #3 projections: 80% inliers (2233/2778) with MSE=0.0952396
    Camera #4 projections: 74% inliers (2512/3401) with MSE=0.132784
    Camera #5 projections: 77% inliers (2499/3263) with MSE=0.156658
    Camera #6 projections: 80% inliers (2831/3542) with MSE=0.133187
    Camera #7 projections: 83% inliers (2712/3263) with MSE=0.119089
    Camera #8 projections: 87% inliers (2752/3174) with MSE=0.153005
    Camera #9 projections: 91% inliers (2411/2636) with MSE=0.173998
Append camera #10 (IMG_3033.JPG) to alignment via 1621 common points
Before BA camera: k1=0, k2=0, f=1602.82, cx=344.097, cy=553.412
Before BA projections: 73% inliers with MSE=0.197167
    Camera #0 projections: 78% inliers (1055/1358) with MSE=0.60828
    Camera #1 projections: 79% inliers (1466/1846) with MSE=0.308876
    Camera #2 projections: 82% inliers (2027/2484) with MSE=0.119056
    Camera #3 projections: 80% inliers (2233/2778) with MSE=0.0952396
    Camera #4 projections: 74% inliers (2513/3406) with MSE=0.133744
    Camera #5 projections: 76% inliers (2510/3282) with MSE=0.168352
    Camera #6 projections: 80% inliers (2838/3556) with MSE=0.141508
    Camera #7 projections: 83% inliers (2718/3278) with MSE=0.124999
    Camera #8 projections: 86% inliers (2777/3233) with MSE=0.169781
    Camera #9 projections: 75% inliers (2478/3294) with MSE=0.249475
    Camera #10 projections: 5% inliers (119/2430) with MSE=2.89207
After BA camera: k1=0, k2=0, f=1605.78, cx=342.833, cy=550.573
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: [-1.87831, 0.0108699, 0.506763] -> [-1.87793, 0.0112779, 0.507328]
Camera #3 center: [-2.67676, 0.0190807, 0.912878] -> [-2.67721, 0.0200009, 0.91445]
Camera #4 center: [-3.26711, 0.0480839, 1.47387] -> [-3.26795, 0.049987, 1.47731]
Camera #5 center: [-3.79374, 0.0829883, 2.16181] -> [-3.7954, 0.0861623, 2.16829]
Camera #6 center: [-4.0352, 0.148692, 2.98639] -> [-4.03565, 0.153688, 2.99739]
Camera #7 center: [-4.19752, 0.218164, 3.89344] -> [-4.19502, 0.225488, 3.91047]
Camera #8 center: [-3.93404, 0.287142, 4.90484] -> [-3.92198, 0.297612, 4.93318]
Camera #9 center: [-3.56457, 0.335466, 5.86708] -> [-3.57059, 0.34433, 5.85072]
Camera #10 center: [-2.97444, 0.411182, 6.69474] -> [-2.88791, 0.411806, 6.62315]
After BA tie poits: 17% old + 2% new = 18% total outliers
After BA projections: 81% inliers with MSE=0.18285
    Camera #0 projections: 78% inliers (1055/1358) with MSE=0.592112
    Camera #1 projections: 79% inliers (1466/1846) with MSE=0.302965
    Camera #2 projections: 82% inliers (2027/2484) with MSE=0.119253
    Camera #3 projections: 80% inliers (2232/2778) with MSE=0.100693
    Camera #4 projections: 74% inliers (2504/3406) with MSE=0.140825
    Camera #5 projections: 76% inliers (2485/3282) with MSE=0.171441
    Camera #6 projections: 79% inliers (2804/3556) with MSE=0.155214
    Camera #7 projections: 82% inliers (2676/3278) with MSE=0.176225
    Camera #8 projections: 84% inliers (2716/3233) with MSE=0.147863
    Camera #9 projections: 89% inliers (2938/3294) with MSE=0.190071
    Camera #10 projections: 92% inliers (2244/2430) with MSE=0.185986
Append camera #11 (IMG_3034.JPG) to alignment via 1123 common points
Before BA camera: k1=0, k2=0, f=1605.78, cx=342.833, cy=550.573
Before BA projections: 82% inliers with MSE=0.262061
    Camera #0 projections: 78% inliers (1055/1358) with MSE=0.592112
    Camera #1 projections: 79% inliers (1466/1846) with MSE=0.302965
    Camera #2 projections: 82% inliers (2027/2484) with MSE=0.119253
    Camera #3 projections: 80% inliers (2232/2778) with MSE=0.100693
    Camera #4 projections: 74% inliers (2511/3413) with MSE=0.141061
    Camera #5 projections: 76% inliers (2488/3286) with MSE=0.17153
    Camera #6 projections: 79% inliers (2809/3561) with MSE=0.155286
    Camera #7 projections: 82% inliers (2680/3285) with MSE=0.176374
    Camera #8 projections: 84% inliers (2721/3239) with MSE=0.149282
    Camera #9 projections: 89% inliers (3016/3384) with MSE=0.223984
    Camera #10 projections: 93% inliers (2755/2962) with MSE=0.317612
    Camera #11 projections: 89% inliers (1614/1810) with MSE=1.23404
After BA camera: k1=0, k2=0, f=1586.32, cx=343.441, cy=553.388
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: [-1.87793, 0.0112779, 0.507328] -> [-1.87903, 0.0113789, 0.506266]
Camera #3 center: [-2.67721, 0.0200009, 0.91445] -> [-2.67984, 0.0203125, 0.912236]
Camera #4 center: [-3.26795, 0.049987, 1.47731] -> [-3.27225, 0.0504719, 1.47372]
Camera #5 center: [-3.7954, 0.0861623, 2.16829] -> [-3.80203, 0.0869081, 2.16334]
Camera #6 center: [-4.03565, 0.153688, 2.99739] -> [-4.04573, 0.154352, 2.99217]
Camera #7 center: [-4.19502, 0.225488, 3.91047] -> [-4.20873, 0.226459, 3.9055]
Camera #8 center: [-3.92198, 0.297612, 4.93318] -> [-3.93975, 0.29848, 4.93108]
Camera #9 center: [-3.57059, 0.34433, 5.85072] -> [-3.59406, 0.34528, 5.84931]
Camera #10 center: [-2.88791, 0.411806, 6.62315] -> [-2.91507, 0.412932, 6.62269]
Camera #11 center: [-2.2492, 0.453923, 7.12861] -> [-2.26704, 0.461774, 7.14318]
After BA tie poits: 17% old + 1% new = 19% total outliers
After BA projections: 80% inliers with MSE=0.166903
    Camera #0 projections: 78% inliers (1055/1358) with MSE=0.610343
    Camera #1 projections: 79% inliers (1465/1846) with MSE=0.309385
    Camera #2 projections: 82% inliers (2025/2484) with MSE=0.114323
    Camera #3 projections: 80% inliers (2225/2778) with MSE=0.0930046
    Camera #4 projections: 73% inliers (2488/3413) with MSE=0.126082
    Camera #5 projections: 74% inliers (2439/3286) with MSE=0.137662
    Camera #6 projections: 77% inliers (2739/3561) with MSE=0.121383
    Camera #7 projections: 78% inliers (2562/3285) with MSE=0.128172
    Camera #8 projections: 80% inliers (2593/3239) with MSE=0.108074
    Camera #9 projections: 84% inliers (2851/3384) with MSE=0.149378
    Camera #10 projections: 90% inliers (2662/2962) with MSE=0.214468
    Camera #11 projections: 89% inliers (1613/1810) with MSE=0.208449
Append camera #12 (IMG_3035.JPG) to alignment via 395 common points
Before BA camera: k1=0, k2=0, f=1586.32, cx=343.441, cy=553.388
Before BA projections: 77% inliers with MSE=0.220106
    Camera #0 projections: 78% inliers (1055/1358) with MSE=0.610343
    Camera #1 projections: 79% inliers (1465/1846) with MSE=0.309385
    Camera #2 projections: 82% inliers (2025/2484) with MSE=0.114323
    Camera #3 projections: 80% inliers (2225/2778) with MSE=0.0930046
    Camera #4 projections: 73% inliers (2488/3413) with MSE=0.126082
    Camera #5 projections: 74% inliers (2439/3286) with MSE=0.137662
    Camera #6 projections: 77% inliers (2739/3561) with MSE=0.121383
    Camera #7 projections: 78% inliers (2562/3285) with MSE=0.128172
    Camera #8 projections: 80% inliers (2593/3239) with MSE=0.108074
    Camera #9 projections: 84% inliers (2851/3384) with MSE=0.149378
    Camera #10 projections: 82% inliers (2695/3285) with MSE=0.234908
    Camera #11 projections: 72% inliers (1988/2744) with MSE=0.34627
    Camera #12 projections: 43% inliers (741/1738) with MSE=1.70042
After BA camera: k1=0, k2=0, f=1587.2, cx=345.929, cy=557.82
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: [-1.87903, 0.0113789, 0.506266] -> [-1.87905, 0.0104072, 0.504516]
Camera #3 center: [-2.67984, 0.0203125, 0.912236] -> [-2.68129, 0.0180836, 0.910215]
Camera #4 center: [-3.27225, 0.0504719, 1.47372] -> [-3.27487, 0.0467416, 1.47166]
Camera #5 center: [-3.80203, 0.0869081, 2.16334] -> [-3.80532, 0.0813227, 2.16149]
Camera #6 center: [-4.04573, 0.154352, 2.99217] -> [-4.04998, 0.1465, 2.99039]
Camera #7 center: [-4.20873, 0.226459, 3.9055] -> [-4.21368, 0.216041, 3.90364]
Camera #8 center: [-3.93975, 0.29848, 4.93108] -> [-3.94554, 0.285222, 4.92948]
Camera #9 center: [-3.59406, 0.34528, 5.84931] -> [-3.59695, 0.329884, 5.85341]
Camera #10 center: [-2.91507, 0.412932, 6.62269] -> [-2.9215, 0.394779, 6.62242]
Camera #11 center: [-2.26704, 0.461774, 7.14318] -> [-2.27656, 0.440835, 7.141]
Camera #12 center: [-1.47418, 0.504546, 7.62279] -> [-1.51374, 0.497876, 7.61198]
After BA tie poits: 17% old + 1% new = 18% total outliers
After BA projections: 79% inliers with MSE=0.146909
    Camera #0 projections: 78% inliers (1055/1358) with MSE=0.638816
    Camera #1 projections: 79% inliers (1465/1846) with MSE=0.32284
    Camera #2 projections: 82% inliers (2025/2484) with MSE=0.113864
    Camera #3 projections: 80% inliers (2222/2778) with MSE=0.091928
    Camera #4 projections: 73% inliers (2476/3413) with MSE=0.119639
    Camera #5 projections: 74% inliers (2420/3286) with MSE=0.12626
    Camera #6 projections: 76% inliers (2713/3561) with MSE=0.118649
    Camera #7 projections: 77% inliers (2517/3285) with MSE=0.111462
    Camera #8 projections: 78% inliers (2519/3239) with MSE=0.0898263
    Camera #9 projections: 81% inliers (2753/3384) with MSE=0.135536
    Camera #10 projections: 86% inliers (2829/3285) with MSE=0.13996
    Camera #11 projections: 88% inliers (2403/2744) with MSE=0.127959
    Camera #12 projections: 88% inliers (1532/1738) with MSE=0.105176
Append camera #13 (IMG_3036.JPG) to alignment via 481 common points
Before BA camera: k1=0, k2=0, f=1587.2, cx=345.929, cy=557.82
Before BA projections: 79% inliers with MSE=0.200492
    Camera #0 projections: 78% inliers (1055/1358) with MSE=0.638816
    Camera #1 projections: 79% inliers (1465/1846) with MSE=0.32284
    Camera #2 projections: 82% inliers (2025/2484) with MSE=0.113864
    Camera #3 projections: 80% inliers (2222/2778) with MSE=0.091928
    Camera #4 projections: 73% inliers (2476/3413) with MSE=0.119639
    Camera #5 projections: 74% inliers (2420/3286) with MSE=0.12626
    Camera #6 projections: 76% inliers (2713/3561) with MSE=0.118649
    Camera #7 projections: 77% inliers (2517/3285) with MSE=0.111462
    Camera #8 projections: 78% inliers (2519/3239) with MSE=0.0898263
    Camera #9 projections: 81% inliers (2753/3384) with MSE=0.135536
    Camera #10 projections: 86% inliers (2830/3286) with MSE=0.140346
    Camera #11 projections: 88% inliers (2620/2993) with MSE=0.144575
    Camera #12 projections: 88% inliers (2165/2455) with MSE=0.293477
    Camera #13 projections: 73% inliers (1113/1535) with MSE=1.25525
After BA camera: k1=0, k2=0, f=1579.88, cx=346.569, cy=558.707
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: [-1.87905, 0.0104072, 0.504516] -> [-1.87982, 0.0104089, 0.503896]
Camera #3 center: [-2.68129, 0.0180836, 0.910215] -> [-2.68318, 0.0181024, 0.909165]
Camera #4 center: [-3.27487, 0.0467416, 1.47166] -> [-3.27776, 0.0468149, 1.47022]
Camera #5 center: [-3.80532, 0.0813227, 2.16149] -> [-3.8094, 0.0814961, 2.15962]
Camera #6 center: [-4.04998, 0.1465, 2.99039] -> [-4.05545, 0.146628, 2.98847]
Camera #7 center: [-4.21368, 0.216041, 3.90364] -> [-4.22079, 0.216229, 3.90173]
Camera #8 center: [-3.94554, 0.285222, 4.92948] -> [-3.95462, 0.285341, 4.92842]
Camera #9 center: [-3.59695, 0.329884, 5.85341] -> [-3.60812, 0.330125, 5.8532]
Camera #10 center: [-2.9215, 0.394779, 6.62242] -> [-2.93481, 0.395072, 6.62374]
Camera #11 center: [-2.27656, 0.440835, 7.141] -> [-2.29246, 0.441073, 7.1429]
Camera #12 center: [-1.51374, 0.497876, 7.61198] -> [-1.51723, 0.499671, 7.62357]
Camera #13 center: [-0.66986, 0.502101, 7.90051] -> [-0.686661, 0.510221, 7.88011]
After BA tie poits: 16% old + 1% new = 18% total outliers
After BA projections: 80% inliers with MSE=0.151658
    Camera #0 projections: 78% inliers (1055/1358) with MSE=0.651709
    Camera #1 projections: 79% inliers (1465/1846) with MSE=0.328788
    Camera #2 projections: 82% inliers (2025/2484) with MSE=0.113024
    Camera #3 projections: 80% inliers (2221/2778) with MSE=0.0908006
    Camera #4 projections: 72% inliers (2474/3413) with MSE=0.117405
    Camera #5 projections: 74% inliers (2418/3286) with MSE=0.123507
    Camera #6 projections: 76% inliers (2700/3561) with MSE=0.106147
    Camera #7 projections: 76% inliers (2504/3285) with MSE=0.0964279
    Camera #8 projections: 77% inliers (2505/3239) with MSE=0.0787893
    Camera #9 projections: 81% inliers (2739/3384) with MSE=0.135729
    Camera #10 projections: 86% inliers (2814/3286) with MSE=0.138041
    Camera #11 projections: 86% inliers (2578/2993) with MSE=0.16255
    Camera #12 projections: 90% inliers (2207/2455) with MSE=0.17419
    Camera #13 projections: 83% inliers (1279/1535) with MSE=0.172787
Append camera #14 (IMG_3037.JPG) to alignment via 858 common points
Before BA camera: k1=0, k2=0, f=1579.88, cx=346.569, cy=558.707
Before BA projections: 80% inliers with MSE=0.192173
    Camera #0 projections: 78% inliers (1055/1358) with MSE=0.651709
    Camera #1 projections: 79% inliers (1465/1846) with MSE=0.328788
    Camera #2 projections: 82% inliers (2025/2484) with MSE=0.113024
    Camera #3 projections: 80% inliers (2221/2778) with MSE=0.0908006
    Camera #4 projections: 72% inliers (2474/3413) with MSE=0.117405
    Camera #5 projections: 74% inliers (2418/3286) with MSE=0.123507
    Camera #6 projections: 76% inliers (2700/3561) with MSE=0.106147
    Camera #7 projections: 76% inliers (2504/3285) with MSE=0.0964279
    Camera #8 projections: 77% inliers (2505/3239) with MSE=0.0787893
    Camera #9 projections: 81% inliers (2739/3384) with MSE=0.135729
    Camera #10 projections: 86% inliers (2814/3286) with MSE=0.138041
    Camera #11 projections: 86% inliers (2597/3015) with MSE=0.163525
    Camera #12 projections: 90% inliers (2260/2521) with MSE=0.180448
    Camera #13 projections: 86% inliers (1743/2027) with MSE=0.215095
    Camera #14 projections: 91% inliers (1329/1455) with MSE=1.07661
After BA camera: k1=-0.146637, k2=-0.10418, f=1589.55, cx=335.729, cy=546.277
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: [-1.87982, 0.0104089, 0.503896] -> [-1.87871, 0.0162692, 0.505166]
Camera #3 center: [-2.68318, 0.0181024, 0.909165] -> [-2.69488, 0.0320001, 0.917287]
Camera #4 center: [-3.27776, 0.0468149, 1.47022] -> [-3.29756, 0.0723381, 1.48692]
Camera #5 center: [-3.8094, 0.0814961, 2.15962] -> [-3.83329, 0.120509, 2.18703]
Camera #6 center: [-4.05545, 0.146628, 2.98847] -> [-4.07776, 0.201046, 3.0232]
Camera #7 center: [-4.22079, 0.216229, 3.90173] -> [-4.24094, 0.286259, 3.94053]
Camera #8 center: [-3.95462, 0.285341, 4.92842] -> [-3.96782, 0.370094, 4.97146]
Camera #9 center: [-3.60812, 0.330125, 5.8532] -> [-3.6167, 0.428456, 5.90357]
Camera #10 center: [-2.93481, 0.395072, 6.62374] -> [-2.93379, 0.502938, 6.67937]
Camera #11 center: [-2.29246, 0.441073, 7.1429] -> [-2.28332, 0.555252, 7.20233]
Camera #12 center: [-1.51723, 0.499671, 7.62357] -> [-1.50685, 0.618747, 7.68437]
Camera #13 center: [-0.686661, 0.510221, 7.88011] -> [-0.660544, 0.630773, 7.94021]
Camera #14 center: [0.0635617, 0.539799, 8.01411] -> [0.13636, 0.645836, 8.09339]
After BA tie poits: 17% old + 1% new = 18% total outliers
After BA projections: 79% inliers with MSE=0.114977
    Camera #0 projections: 78% inliers (1056/1358) with MSE=0.463977
    Camera #1 projections: 80% inliers (1468/1846) with MSE=0.25927
    Camera #2 projections: 82% inliers (2028/2484) with MSE=0.0936876
    Camera #3 projections: 80% inliers (2220/2778) with MSE=0.0687324
    Camera #4 projections: 72% inliers (2474/3413) with MSE=0.0995682
    Camera #5 projections: 74% inliers (2420/3286) with MSE=0.110422
    Camera #6 projections: 76% inliers (2699/3561) with MSE=0.103907
    Camera #7 projections: 76% inliers (2496/3285) with MSE=0.0868869
    Camera #8 projections: 77% inliers (2499/3239) with MSE=0.0778054
    Camera #9 projections: 79% inliers (2687/3384) with MSE=0.0790493
    Camera #10 projections: 84% inliers (2756/3286) with MSE=0.0833088
    Camera #11 projections: 83% inliers (2511/3015) with MSE=0.103939
    Camera #12 projections: 86% inliers (2157/2521) with MSE=0.111318
    Camera #13 projections: 84% inliers (1695/2027) with MSE=0.122321
    Camera #14 projections: 91% inliers (1320/1455) with MSE=0.125939
Append camera #15 (IMG_3038.JPG) to alignment via 1245 common points
Before BA camera: k1=-0.146637, k2=-0.10418, f=1589.55, cx=335.729, cy=546.277
Before BA projections: 77% inliers with MSE=0.18027
    Camera #0 projections: 78% inliers (1056/1358) with MSE=0.463977
    Camera #1 projections: 80% inliers (1468/1846) with MSE=0.25927
    Camera #2 projections: 82% inliers (2028/2485) with MSE=0.0936876
    Camera #3 projections: 80% inliers (2220/2778) with MSE=0.0687324
    Camera #4 projections: 72% inliers (2474/3413) with MSE=0.0995682
    Camera #5 projections: 74% inliers (2420/3286) with MSE=0.110422
    Camera #6 projections: 76% inliers (2699/3561) with MSE=0.103907
    Camera #7 projections: 76% inliers (2496/3285) with MSE=0.0868869
    Camera #8 projections: 77% inliers (2499/3239) with MSE=0.0778054
    Camera #9 projections: 79% inliers (2687/3384) with MSE=0.0790493
    Camera #10 projections: 84% inliers (2756/3286) with MSE=0.0833088
    Camera #11 projections: 83% inliers (2514/3022) with MSE=0.108097
    Camera #12 projections: 85% inliers (2161/2540) with MSE=0.116214
    Camera #13 projections: 74% inliers (1736/2344) with MSE=0.17175
    Camera #14 projections: 73% inliers (1557/2122) with MSE=0.401586
    Camera #15 projections: 60% inliers (1383/2301) with MSE=1.33778
After BA camera: k1=-0.138233, k2=-0.122532, f=1583.26, cx=337.872, cy=551.796
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: [-1.87871, 0.0162692, 0.505166] -> [-1.87798, 0.0151535, 0.503033]
Camera #3 center: [-2.69488, 0.0320001, 0.917287] -> [-2.69701, 0.0295831, 0.91515]
Camera #4 center: [-3.29756, 0.0723381, 1.48692] -> [-3.30185, 0.0685155, 1.48578]
Camera #5 center: [-3.83329, 0.120509, 2.18703] -> [-3.83893, 0.115054, 2.18745]
Camera #6 center: [-4.07776, 0.201046, 3.0232] -> [-4.08433, 0.193502, 3.02543]
Camera #7 center: [-4.24094, 0.286259, 3.94053] -> [-4.24759, 0.276482, 3.94492]
Camera #8 center: [-3.96782, 0.370094, 4.97146] -> [-3.97385, 0.357478, 4.97757]
Camera #9 center: [-3.6167, 0.428456, 5.90357] -> [-3.62082, 0.413299, 5.91218]
Camera #10 center: [-2.93379, 0.502938, 6.67937] -> [-2.934, 0.485602, 6.69053]
Camera #11 center: [-2.28332, 0.555252, 7.20233] -> [-2.27897, 0.53632, 7.21452]
Camera #12 center: [-1.50685, 0.618747, 7.68437] -> [-1.48695, 0.598919, 7.6989]
Camera #13 center: [-0.660544, 0.630773, 7.94021] -> [-0.60729, 0.610962, 7.9526]
Camera #14 center: [0.13636, 0.645836, 8.09339] -> [0.194106, 0.63188, 8.08755]
Camera #15 center: [0.971603, 0.5749, 7.99755] -> [0.982463, 0.620339, 7.99433]
After BA tie poits: 16% old + 1% new = 17% total outliers
After BA projections: 80% inliers with MSE=0.114058
    Camera #0 projections: 78% inliers (1055/1358) with MSE=0.489438
    Camera #1 projections: 79% inliers (1467/1846) with MSE=0.269175
    Camera #2 projections: 81% inliers (2025/2485) with MSE=0.090016
    Camera #3 projections: 80% inliers (2220/2778) with MSE=0.0677221
    Camera #4 projections: 72% inliers (2473/3413) with MSE=0.0989089
    Camera #5 projections: 74% inliers (2418/3286) with MSE=0.106434
    Camera #6 projections: 76% inliers (2696/3561) with MSE=0.0981202
    Camera #7 projections: 76% inliers (2493/3285) with MSE=0.0860848
    Camera #8 projections: 77% inliers (2497/3239) with MSE=0.0769097
    Camera #9 projections: 79% inliers (2683/3384) with MSE=0.0771095
    Camera #10 projections: 84% inliers (2747/3286) with MSE=0.0818135
    Camera #11 projections: 83% inliers (2494/3022) with MSE=0.106722
    Camera #12 projections: 83% inliers (2119/2540) with MSE=0.103735
    Camera #13 projections: 82% inliers (1933/2344) with MSE=0.108056
    Camera #14 projections: 90% inliers (1917/2122) with MSE=0.12245
    Camera #15 projections: 93% inliers (2131/2301) with MSE=0.120022
Append camera #16 (IMG_3039.JPG) to alignment via 1512 common points
Before BA camera: k1=-0.138233, k2=-0.122532, f=1583.26, cx=337.872, cy=551.796
Before BA projections: 76% inliers with MSE=0.152056
    Camera #0 projections: 78% inliers (1055/1358) with MSE=0.489438
    Camera #1 projections: 79% inliers (1467/1846) with MSE=0.269175
    Camera #2 projections: 81% inliers (2025/2485) with MSE=0.090016
    Camera #3 projections: 80% inliers (2220/2778) with MSE=0.0677221
    Camera #4 projections: 72% inliers (2473/3413) with MSE=0.0989089
    Camera #5 projections: 74% inliers (2418/3286) with MSE=0.106434
    Camera #6 projections: 76% inliers (2696/3561) with MSE=0.0981202
    Camera #7 projections: 76% inliers (2493/3285) with MSE=0.0860848
    Camera #8 projections: 77% inliers (2497/3239) with MSE=0.0769097
    Camera #9 projections: 79% inliers (2683/3384) with MSE=0.0771095
    Camera #10 projections: 84% inliers (2747/3286) with MSE=0.0818135
    Camera #11 projections: 83% inliers (2498/3027) with MSE=0.109022
    Camera #12 projections: 83% inliers (2125/2548) with MSE=0.10892
    Camera #13 projections: 82% inliers (1948/2370) with MSE=0.111506
    Camera #14 projections: 85% inliers (1974/2321) with MSE=0.15362
    Camera #15 projections: 84% inliers (2483/2951) with MSE=0.32383
    Camera #16 projections: 12% inliers (284/2448) with MSE=2.85256
After BA camera: k1=-0.144104, k2=-0.116484, f=1578.24, cx=340.121, cy=552.676
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: [-1.87798, 0.0151535, 0.503033] -> [-1.88002, 0.0150315, 0.501795]
Camera #3 center: [-2.69701, 0.0295831, 0.91515] -> [-2.69919, 0.0293083, 0.911897]
Camera #4 center: [-3.30185, 0.0685155, 1.48578] -> [-3.3049, 0.0678176, 1.48]
Camera #5 center: [-3.83893, 0.115054, 2.18745] -> [-3.84382, 0.11387, 2.17873]
Camera #6 center: [-4.08433, 0.193502, 3.02543] -> [-4.09221, 0.191668, 3.01445]
Camera #7 center: [-4.24759, 0.276482, 3.94492] -> [-4.25979, 0.274017, 3.93137]
Camera #8 center: [-3.97385, 0.357478, 4.97757] -> [-3.99192, 0.354476, 4.96393]
Camera #9 center: [-3.62082, 0.413299, 5.91218] -> [-3.64533, 0.410116, 5.8995]
Camera #10 center: [-2.934, 0.485602, 6.69053] -> [-2.96613, 0.482351, 6.68018]
Camera #11 center: [-2.27897, 0.53632, 7.21452] -> [-2.31762, 0.533274, 7.20802]
Camera #12 center: [-1.48695, 0.598919, 7.6989] -> [-1.54051, 0.595888, 7.69572]
Camera #13 center: [-0.60729, 0.610962, 7.9526] -> [-0.673935, 0.608726, 7.95896]
Camera #14 center: [0.194106, 0.63188, 8.08755] -> [0.112254, 0.632337, 8.10616]
Camera #15 center: [0.982463, 0.620339, 7.99433] -> [0.931005, 0.621659, 8.02297]
Camera #16 center: [1.8037, 0.56971, 7.73634] -> [1.73644, 0.603463, 7.76717]
After BA tie poits: 16% old + 1% new = 17% total outliers
After BA projections: 80% inliers with MSE=0.116405
    Camera #0 projections: 78% inliers (1055/1358) with MSE=0.516133
    Camera #1 projections: 79% inliers (1465/1846) with MSE=0.277404
    Camera #2 projections: 81% inliers (2025/2485) with MSE=0.0914763
    Camera #3 projections: 80% inliers (2220/2778) with MSE=0.0678676
    Camera #4 projections: 72% inliers (2472/3413) with MSE=0.0949843
    Camera #5 projections: 74% inliers (2417/3286) with MSE=0.103335
    Camera #6 projections: 76% inliers (2697/3561) with MSE=0.0956677
    Camera #7 projections: 76% inliers (2492/3285) with MSE=0.0811325
    Camera #8 projections: 77% inliers (2495/3239) with MSE=0.0751577
    Camera #9 projections: 79% inliers (2682/3384) with MSE=0.0758196
    Camera #10 projections: 84% inliers (2747/3286) with MSE=0.084458
    Camera #11 projections: 82% inliers (2494/3027) with MSE=0.11873
    Camera #12 projections: 82% inliers (2101/2548) with MSE=0.11466
    Camera #13 projections: 80% inliers (1901/2370) with MSE=0.0967476
    Camera #14 projections: 87% inliers (2022/2321) with MSE=0.114789
    Camera #15 projections: 91% inliers (2680/2951) with MSE=0.107142
    Camera #16 projections: 92% inliers (2262/2448) with MSE=0.157027
Append camera #17 (IMG_3040.JPG) to alignment via 1622 common points
Before BA camera: k1=-0.144104, k2=-0.116484, f=1578.24, cx=340.121, cy=552.676
Before BA projections: 76% inliers with MSE=0.192933
    Camera #0 projections: 78% inliers (1055/1358) with MSE=0.516133
    Camera #1 projections: 79% inliers (1465/1846) with MSE=0.277404
    Camera #2 projections: 81% inliers (2025/2485) with MSE=0.0914763
    Camera #3 projections: 80% inliers (2220/2778) with MSE=0.0678676
    Camera #4 projections: 72% inliers (2472/3413) with MSE=0.0949843
    Camera #5 projections: 74% inliers (2417/3286) with MSE=0.103335
    Camera #6 projections: 76% inliers (2697/3561) with MSE=0.0956677
    Camera #7 projections: 76% inliers (2492/3285) with MSE=0.0811325
    Camera #8 projections: 77% inliers (2495/3239) with MSE=0.0751577
    Camera #9 projections: 79% inliers (2682/3384) with MSE=0.0758196
    Camera #10 projections: 84% inliers (2747/3286) with MSE=0.084458
    Camera #11 projections: 82% inliers (2496/3029) with MSE=0.119273
    Camera #12 projections: 82% inliers (2105/2553) with MSE=0.119254
    Camera #13 projections: 80% inliers (1910/2382) with MSE=0.108387
    Camera #14 projections: 87% inliers (2033/2338) with MSE=0.124073
    Camera #15 projections: 84% inliers (2719/3241) with MSE=0.137428
    Camera #16 projections: 74% inliers (2506/3396) with MSE=0.416438
    Camera #17 projections: 33% inliers (981/2956) with MSE=2.38983
After BA camera: k1=-0.132091, k2=0.0568639, f=1526.64, cx=348.855, cy=570.267
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: [-1.88002, 0.0150315, 0.501795] -> [-1.88317, 0.0122532, 0.494824]
Camera #3 center: [-2.69919, 0.0293083, 0.911897] -> [-2.70696, 0.0233996, 0.89918]
Camera #4 center: [-3.3049, 0.0678176, 1.48] -> [-3.31793, 0.0572463, 1.46156]
Camera #5 center: [-3.84382, 0.11387, 2.17873] -> [-3.86394, 0.0979339, 2.15385]
Camera #6 center: [-4.09221, 0.191668, 3.01445] -> [-4.12288, 0.168023, 2.98597]
Camera #7 center: [-4.25979, 0.274017, 3.93137] -> [-4.30307, 0.242919, 3.90016]
Camera #8 center: [-3.99192, 0.354476, 4.96393] -> [-4.05165, 0.314232, 4.93666]
Camera #9 center: [-3.64533, 0.410116, 5.8995] -> [-3.71969, 0.362936, 5.88041]
Camera #10 center: [-2.96613, 0.482351, 6.68018] -> [-3.05487, 0.429117, 6.67317]
Camera #11 center: [-2.31762, 0.533274, 7.20802] -> [-2.41635, 0.476508, 7.21365]
Camera #12 center: [-1.54051, 0.595888, 7.69572] -> [-1.64305, 0.536878, 7.71875]
Camera #13 center: [-0.673935, 0.608726, 7.95896] -> [-0.774698, 0.549606, 8.00011]
Camera #14 center: [0.112254, 0.632337, 8.10616] -> [0.010609, 0.574555, 8.16066]
Camera #15 center: [0.931005, 0.621659, 8.02297] -> [0.822828, 0.566974, 8.09264]
Camera #16 center: [1.73644, 0.603463, 7.76717] -> [1.62298, 0.554135, 7.8545]
Camera #17 center: [2.48075, 0.375728, 7.33257] -> [2.3468, 0.507693, 7.3818]
After BA tie poits: 16% old + 1% new = 17% total outliers
After BA projections: 80% inliers with MSE=0.122977
    Camera #0 projections: 78% inliers (1055/1358) with MSE=0.681856
    Camera #1 projections: 79% inliers (1465/1846) with MSE=0.352718
    Camera #2 projections: 81% inliers (2025/2485) with MSE=0.0977641
    Camera #3 projections: 80% inliers (2220/2778) with MSE=0.0682718
    Camera #4 projections: 72% inliers (2472/3413) with MSE=0.0906761
    Camera #5 projections: 74% inliers (2417/3286) with MSE=0.095491
    Camera #6 projections: 76% inliers (2696/3561) with MSE=0.0893039
    Camera #7 projections: 76% inliers (2492/3285) with MSE=0.0778935
    Camera #8 projections: 77% inliers (2492/3239) with MSE=0.0736128
    Camera #9 projections: 79% inliers (2679/3384) with MSE=0.0754352
    Camera #10 projections: 83% inliers (2735/3286) with MSE=0.0803872
    Camera #11 projections: 82% inliers (2480/3029) with MSE=0.120134
    Camera #12 projections: 80% inliers (2053/2553) with MSE=0.098165
    Camera #13 projections: 77% inliers (1843/2382) with MSE=0.0873711
    Camera #14 projections: 82% inliers (1922/2338) with MSE=0.0947948
    Camera #15 projections: 88% inliers (2848/3241) with MSE=0.127538
    Camera #16 projections: 89% inliers (3038/3396) with MSE=0.146447
    Camera #17 projections: 91% inliers (2702/2956) with MSE=0.143727
Append camera #18 (IMG_3041.JPG) to alignment via 1534 common points
Before BA camera: k1=-0.132091, k2=0.0568639, f=1526.64, cx=348.855, cy=570.267
Before BA projections: 78% inliers with MSE=0.168358
    Camera #0 projections: 78% inliers (1055/1358) with MSE=0.681856
    Camera #1 projections: 79% inliers (1465/1846) with MSE=0.352718
    Camera #2 projections: 81% inliers (2025/2485) with MSE=0.0977641
    Camera #3 projections: 80% inliers (2220/2778) with MSE=0.0682718
    Camera #4 projections: 72% inliers (2472/3413) with MSE=0.0906761
    Camera #5 projections: 74% inliers (2417/3286) with MSE=0.095491
    Camera #6 projections: 76% inliers (2696/3561) with MSE=0.0893039
    Camera #7 projections: 76% inliers (2492/3285) with MSE=0.0778935
    Camera #8 projections: 77% inliers (2492/3239) with MSE=0.0736128
    Camera #9 projections: 79% inliers (2679/3384) with MSE=0.0754352
    Camera #10 projections: 83% inliers (2735/3286) with MSE=0.0803872
    Camera #11 projections: 82% inliers (2480/3029) with MSE=0.120134
    Camera #12 projections: 80% inliers (2053/2553) with MSE=0.098165
    Camera #13 projections: 77% inliers (1846/2387) with MSE=0.0875933
    Camera #14 projections: 82% inliers (1924/2342) with MSE=0.0951232
    Camera #15 projections: 88% inliers (2864/3258) with MSE=0.128522
    Camera #16 projections: 88% inliers (3417/3878) with MSE=0.237631
    Camera #17 projections: 91% inliers (3492/3855) with MSE=0.261613
    Camera #18 projections: 29% inliers (890/3095) with MSE=1.50669
After BA camera: k1=-0.166395, k2=0.255735, f=1519.77, cx=354.552, cy=578.201
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: [-1.88317, 0.0122532, 0.494824] -> [-1.88494, 0.0105641, 0.489767]
Camera #3 center: [-2.70696, 0.0233996, 0.89918] -> [-2.71488, 0.0199206, 0.892639]
Camera #4 center: [-3.31793, 0.0572463, 1.46156] -> [-3.3313, 0.0516544, 1.45463]
Camera #5 center: [-3.86394, 0.0979339, 2.15385] -> [-3.882, 0.0899259, 2.14747]
Camera #6 center: [-4.12288, 0.168023, 2.98597] -> [-4.14573, 0.156973, 2.98081]
Camera #7 center: [-4.30307, 0.242919, 3.90016] -> [-4.33035, 0.228428, 3.8956]
Camera #8 center: [-4.05165, 0.314232, 4.93666] -> [-4.08387, 0.295485, 4.93417]
Camera #9 center: [-3.71969, 0.362936, 5.88041] -> [-3.75584, 0.340639, 5.88267]
Camera #10 center: [-3.05487, 0.429117, 6.67317] -> [-3.09461, 0.403657, 6.68035]
Camera #11 center: [-2.41635, 0.476508, 7.21365] -> [-2.45816, 0.44889, 7.22559]
Camera #12 center: [-1.64305, 0.536878, 7.71875] -> [-1.68388, 0.507744, 7.73779]
Camera #13 center: [-0.774698, 0.549606, 8.00011] -> [-0.809943, 0.519904, 8.02575]
Camera #14 center: [0.010609, 0.574555, 8.16066] -> [-0.0197361, 0.544635, 8.1896]
Camera #15 center: [0.822828, 0.566974, 8.09264] -> [0.791342, 0.538274, 8.12397]
Camera #16 center: [1.62298, 0.554135, 7.8545] -> [1.59104, 0.526389, 7.89222]
Camera #17 center: [2.3468, 0.507693, 7.3818] -> [2.31066, 0.483861, 7.41965]
Camera #18 center: [2.93905, 0.484694, 6.80752] -> [2.87898, 0.452743, 6.83615]
After BA tie poits: 16% old + 2% new = 17% total outliers
After BA projections: 80% inliers with MSE=0.118687
    Camera #0 projections: 77% inliers (1049/1358) with MSE=0.747944
    Camera #1 projections: 79% inliers (1464/1846) with MSE=0.396694
    Camera #2 projections: 81% inliers (2025/2485) with MSE=0.10537
    Camera #3 projections: 80% inliers (2219/2778) with MSE=0.0683169
    Camera #4 projections: 72% inliers (2472/3413) with MSE=0.0913679
    Camera #5 projections: 74% inliers (2417/3286) with MSE=0.0944558
    Camera #6 projections: 76% inliers (2695/3561) with MSE=0.0849636
    Camera #7 projections: 76% inliers (2492/3285) with MSE=0.0763171
    Camera #8 projections: 77% inliers (2492/3239) with MSE=0.0722214
    Camera #9 projections: 79% inliers (2679/3384) with MSE=0.0737893
    Camera #10 projections: 83% inliers (2731/3286) with MSE=0.0735003
    Camera #11 projections: 81% inliers (2450/3029) with MSE=0.0983243
    Camera #12 projections: 79% inliers (2027/2553) with MSE=0.0928166
    Camera #13 projections: 75% inliers (1800/2387) with MSE=0.0852488
    Camera #14 projections: 79% inliers (1849/2342) with MSE=0.0803629
    Camera #15 projections: 85% inliers (2758/3258) with MSE=0.0958906
    Camera #16 projections: 85% inliers (3304/3878) with MSE=0.109504
    Camera #17 projections: 89% inliers (3422/3855) with MSE=0.108032
    Camera #18 projections: 86% inliers (2657/3095) with MSE=0.162619
Append camera #19 (IMG_3042.JPG) to alignment via 1318 common points
Before BA camera: k1=-0.166395, k2=0.255735, f=1519.77, cx=354.552, cy=578.201
Before BA projections: 80% inliers with MSE=0.168404
    Camera #0 projections: 77% inliers (1049/1358) with MSE=0.747944
    Camera #1 projections: 79% inliers (1464/1846) with MSE=0.396694
    Camera #2 projections: 81% inliers (2025/2485) with MSE=0.10537
    Camera #3 projections: 80% inliers (2219/2778) with MSE=0.0683169
    Camera #4 projections: 72% inliers (2472/3413) with MSE=0.0913679
    Camera #5 projections: 74% inliers (2417/3286) with MSE=0.0944558
    Camera #6 projections: 76% inliers (2695/3561) with MSE=0.0849636
    Camera #7 projections: 76% inliers (2492/3285) with MSE=0.0763171
    Camera #8 projections: 77% inliers (2492/3239) with MSE=0.0722214
    Camera #9 projections: 79% inliers (2679/3384) with MSE=0.0737893
    Camera #10 projections: 83% inliers (2731/3286) with MSE=0.0735003
    Camera #11 projections: 81% inliers (2450/3029) with MSE=0.0983243
    Camera #12 projections: 79% inliers (2027/2553) with MSE=0.0928166
    Camera #13 projections: 75% inliers (1801/2389) with MSE=0.0878282
    Camera #14 projections: 79% inliers (1849/2342) with MSE=0.0803629
    Camera #15 projections: 85% inliers (2759/3259) with MSE=0.0967557
    Camera #16 projections: 85% inliers (3313/3889) with MSE=0.115862
    Camera #17 projections: 88% inliers (3680/4174) with MSE=0.15643
    Camera #18 projections: 85% inliers (2989/3512) with MSE=0.364288
    Camera #19 projections: 74% inliers (1549/2093) with MSE=1.10229
After BA camera: k1=-0.12035, k2=0.0393038, f=1530.3, cx=353.604, cy=579.199
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: [-1.88494, 0.0105641, 0.489767] -> [-1.88231, 0.0101916, 0.492397]
Camera #3 center: [-2.71488, 0.0199206, 0.892639] -> [-2.70508, 0.0184833, 0.894912]
Camera #4 center: [-3.3313, 0.0516544, 1.45463] -> [-3.31585, 0.0483154, 1.4551]
Camera #5 center: [-3.882, 0.0899259, 2.14747] -> [-3.86126, 0.0840285, 2.14502]
Camera #6 center: [-4.14573, 0.156973, 2.98081] -> [-4.12154, 0.148172, 2.97467]
Camera #7 center: [-4.33035, 0.228428, 3.8956] -> [-4.30284, 0.216336, 3.88626]
Camera #8 center: [-4.08387, 0.295485, 4.93417] -> [-4.05453, 0.280304, 4.92039]
Camera #9 center: [-3.75584, 0.340639, 5.88267] -> [-3.72424, 0.322262, 5.86412]
Camera #10 center: [-3.09461, 0.403657, 6.68035] -> [-3.06255, 0.382798, 6.65625]
Camera #11 center: [-2.45816, 0.44889, 7.22559] -> [-2.42625, 0.42609, 7.19669]
Camera #12 center: [-1.68388, 0.507744, 7.73779] -> [-1.65659, 0.482381, 7.70154]
Camera #13 center: [-0.809943, 0.519904, 8.02575] -> [-0.793841, 0.492523, 7.98347]
Camera #14 center: [-0.0197361, 0.544635, 8.1896] -> [-0.0083989, 0.515593, 8.14519]
Camera #15 center: [0.791342, 0.538274, 8.12397] -> [0.808038, 0.508096, 8.07659]
Camera #16 center: [1.59104, 0.526389, 7.89222] -> [1.61259, 0.496036, 7.8384]
Camera #17 center: [2.31066, 0.483861, 7.41965] -> [2.33487, 0.45415, 7.35427]
Camera #18 center: [2.87898, 0.452743, 6.83615] -> [2.89625, 0.425158, 6.75904]
Camera #19 center: [3.44976, 0.434756, 6.27691] -> [3.43046, 0.408846, 6.18118]
After BA tie poits: 17% old + 1% new = 17% total outliers
After BA projections: 80% inliers with MSE=0.106147
    Camera #0 projections: 77% inliers (1048/1358) with MSE=0.723747
    Camera #1 projections: 79% inliers (1458/1846) with MSE=0.372649
    Camera #2 projections: 81% inliers (2013/2485) with MSE=0.100433
    Camera #3 projections: 80% inliers (2216/2778) with MSE=0.0664754
    Camera #4 projections: 72% inliers (2471/3413) with MSE=0.0909715
    Camera #5 projections: 74% inliers (2417/3286) with MSE=0.0933695
    Camera #6 projections: 76% inliers (2695/3561) with MSE=0.0841535
    Camera #7 projections: 76% inliers (2492/3285) with MSE=0.0748244
    Camera #8 projections: 77% inliers (2492/3239) with MSE=0.0700104
    Camera #9 projections: 79% inliers (2680/3384) with MSE=0.0733575
    Camera #10 projections: 83% inliers (2739/3286) with MSE=0.0805078
    Camera #11 projections: 81% inliers (2444/3029) with MSE=0.093482
    Camera #12 projections: 79% inliers (2013/2553) with MSE=0.0886786
    Camera #13 projections: 74% inliers (1774/2389) with MSE=0.0727445
    Camera #14 projections: 77% inliers (1801/2342) with MSE=0.0660391
    Camera #15 projections: 82% inliers (2682/3259) with MSE=0.071006
    Camera #16 projections: 82% inliers (3171/3889) with MSE=0.0837597
    Camera #17 projections: 86% inliers (3573/4174) with MSE=0.0761534
    Camera #18 projections: 84% inliers (2940/3512) with MSE=0.0957304
    Camera #19 projections: 94% inliers (1962/2093) with MSE=0.115375
Append camera #20 (IMG_3043.JPG) to alignment via 768 common points
Before BA camera: k1=-0.12035, k2=0.0393038, f=1530.3, cx=353.604, cy=579.199
Before BA projections: 79% inliers with MSE=0.148292
    Camera #0 projections: 77% inliers (1048/1358) with MSE=0.723747
    Camera #1 projections: 79% inliers (1458/1846) with MSE=0.372649
    Camera #2 projections: 81% inliers (2013/2485) with MSE=0.100433
    Camera #3 projections: 80% inliers (2216/2778) with MSE=0.0664754
    Camera #4 projections: 72% inliers (2471/3413) with MSE=0.0909715
    Camera #5 projections: 74% inliers (2417/3286) with MSE=0.0933695
    Camera #6 projections: 76% inliers (2695/3561) with MSE=0.0841535
    Camera #7 projections: 76% inliers (2492/3285) with MSE=0.0748244
    Camera #8 projections: 77% inliers (2492/3239) with MSE=0.0700104
    Camera #9 projections: 79% inliers (2680/3384) with MSE=0.0733575
    Camera #10 projections: 83% inliers (2739/3286) with MSE=0.0805078
    Camera #11 projections: 81% inliers (2444/3029) with MSE=0.093482
    Camera #12 projections: 79% inliers (2013/2553) with MSE=0.0886786
    Camera #13 projections: 74% inliers (1774/2389) with MSE=0.0727445
    Camera #14 projections: 77% inliers (1802/2344) with MSE=0.0665638
    Camera #15 projections: 82% inliers (2682/3259) with MSE=0.071006
    Camera #16 projections: 82% inliers (3174/3892) with MSE=0.0841554
    Camera #17 projections: 86% inliers (3580/4182) with MSE=0.0790693
    Camera #18 projections: 82% inliers (3001/3647) with MSE=0.15842
    Camera #19 projections: 88% inliers (2297/2610) with MSE=0.261896
    Camera #20 projections: 74% inliers (1078/1459) with MSE=1.50443
After BA camera: k1=-0.126631, k2=0.0434075, f=1547.78, cx=351.995, cy=573.448
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: [-1.88231, 0.0101916, 0.492397] -> [-1.88205, 0.0107242, 0.494102]
Camera #3 center: [-2.70508, 0.0184833, 0.894912] -> [-2.70396, 0.0196184, 0.898081]
Camera #4 center: [-3.31585, 0.0483154, 1.4551] -> [-3.31362, 0.0505582, 1.46004]
Camera #5 center: [-3.86126, 0.0840285, 2.14502] -> [-3.85748, 0.087588, 2.15188]
Camera #6 center: [-4.12154, 0.148172, 2.97467] -> [-4.11477, 0.153911, 2.98244]
Camera #7 center: [-4.30284, 0.216336, 3.88626] -> [-4.29284, 0.224166, 3.89464]
Camera #8 center: [-4.05453, 0.280304, 4.92039] -> [-4.0402, 0.291036, 4.92791]
Camera #9 center: [-3.72424, 0.322262, 5.86412] -> [-3.70553, 0.335291, 5.87042]
Camera #10 center: [-3.06255, 0.382798, 6.65625] -> [-3.03954, 0.398056, 6.65942]
Camera #11 center: [-2.42625, 0.42609, 7.19669] -> [-2.40008, 0.442723, 7.19649]
Camera #12 center: [-1.65659, 0.482381, 7.70154] -> [-1.6335, 0.499719, 7.69457]
Camera #13 center: [-0.793841, 0.492523, 7.98347] -> [-0.778186, 0.509931, 7.9711]
Camera #14 center: [-0.0083989, 0.515593, 8.14519] -> [0.00311259, 0.532705, 8.13156]
Camera #15 center: [0.808038, 0.508096, 8.07659] -> [0.823666, 0.524186, 8.06204]
Camera #16 center: [1.61259, 0.496036, 7.8384] -> [1.6328, 0.510811, 7.82016]
Camera #17 center: [2.33487, 0.45415, 7.35427] -> [2.36086, 0.46711, 7.32712]
Camera #18 center: [2.89625, 0.425158, 6.75904] -> [2.924, 0.436705, 6.71996]
Camera #19 center: [3.43046, 0.408846, 6.18118] -> [3.456, 0.418818, 6.12704]
Camera #20 center: [3.98515, 0.363994, 5.59607] -> [3.98478, 0.386936, 5.53375]
After BA tie poits: 17% old + 1% new = 17% total outliers
After BA projections: 80% inliers with MSE=0.105155
    Camera #0 projections: 77% inliers (1048/1358) with MSE=0.683131
    Camera #1 projections: 79% inliers (1458/1846) with MSE=0.352153
    Camera #2 projections: 81% inliers (2013/2485) with MSE=0.0982045
    Camera #3 projections: 80% inliers (2216/2778) with MSE=0.0652534
    Camera #4 projections: 72% inliers (2470/3413) with MSE=0.0887774
    Camera #5 projections: 74% inliers (2416/3286) with MSE=0.093804
    Camera #6 projections: 76% inliers (2695/3561) with MSE=0.0858533
    Camera #7 projections: 76% inliers (2492/3285) with MSE=0.0743446
    Camera #8 projections: 77% inliers (2493/3239) with MSE=0.0703431
    Camera #9 projections: 79% inliers (2679/3384) with MSE=0.0716885
    Camera #10 projections: 83% inliers (2739/3286) with MSE=0.0811281
    Camera #11 projections: 81% inliers (2452/3029) with MSE=0.110743
    Camera #12 projections: 79% inliers (2014/2553) with MSE=0.0918064
    Camera #13 projections: 74% inliers (1773/2389) with MSE=0.0754473
    Camera #14 projections: 77% inliers (1798/2344) with MSE=0.0715219
    Camera #15 projections: 82% inliers (2667/3259) with MSE=0.0718653
    Camera #16 projections: 81% inliers (3149/3892) with MSE=0.0777446
    Camera #17 projections: 84% inliers (3511/4182) with MSE=0.0645225
    Camera #18 projections: 82% inliers (2995/3647) with MSE=0.0950997
    Camera #19 projections: 92% inliers (2400/2610) with MSE=0.0950201
    Camera #20 projections: 92% inliers (1341/1459) with MSE=0.160342
Append camera #21 (IMG_3044.JPG) to alignment via 769 common points
Before BA camera: k1=-0.126631, k2=0.0434075, f=1547.78, cx=351.995, cy=573.448
Before BA projections: 80% inliers with MSE=0.139565
    Camera #0 projections: 77% inliers (1048/1358) with MSE=0.683131
    Camera #1 projections: 79% inliers (1458/1846) with MSE=0.352153
    Camera #2 projections: 81% inliers (2013/2485) with MSE=0.0982045
    Camera #3 projections: 80% inliers (2216/2778) with MSE=0.0652534
    Camera #4 projections: 72% inliers (2470/3413) with MSE=0.0887774
    Camera #5 projections: 74% inliers (2416/3286) with MSE=0.093804
    Camera #6 projections: 76% inliers (2695/3561) with MSE=0.0858533
    Camera #7 projections: 76% inliers (2492/3285) with MSE=0.0743446
    Camera #8 projections: 77% inliers (2493/3239) with MSE=0.0703431
    Camera #9 projections: 79% inliers (2679/3384) with MSE=0.0716885
    Camera #10 projections: 83% inliers (2739/3286) with MSE=0.0811281
    Camera #11 projections: 81% inliers (2452/3029) with MSE=0.110743
    Camera #12 projections: 79% inliers (2014/2553) with MSE=0.0918064
    Camera #13 projections: 74% inliers (1773/2389) with MSE=0.0754473
    Camera #14 projections: 77% inliers (1798/2344) with MSE=0.0715219
    Camera #15 projections: 82% inliers (2667/3259) with MSE=0.0718653
    Camera #16 projections: 81% inliers (3149/3892) with MSE=0.0777446
    Camera #17 projections: 84% inliers (3512/4185) with MSE=0.0645978
    Camera #18 projections: 82% inliers (2998/3651) with MSE=0.0961734
    Camera #19 projections: 92% inliers (2467/2684) with MSE=0.110786
    Camera #20 projections: 92% inliers (1705/1853) with MSE=0.335437
    Camera #21 projections: 86% inliers (1082/1256) with MSE=1.37301
After BA camera: k1=-0.127593, k2=0.0454266, f=1549.28, cx=351.744, cy=573.063
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: [-1.88205, 0.0107242, 0.494102] -> [-1.8818, 0.0107566, 0.494179]
Camera #3 center: [-2.70396, 0.0196184, 0.898081] -> [-2.70411, 0.0196936, 0.898604]
Camera #4 center: [-3.31362, 0.0505582, 1.46004] -> [-3.31399, 0.0507908, 1.46127]
Camera #5 center: [-3.85748, 0.087588, 2.15188] -> [-3.85796, 0.0880363, 2.15435]
Camera #6 center: [-4.11477, 0.153911, 2.98244] -> [-4.11493, 0.154728, 2.98654]
Camera #7 center: [-4.29284, 0.224166, 3.89464] -> [-4.2919, 0.225386, 3.90041]
Camera #8 center: [-4.0402, 0.291036, 4.92791] -> [-4.03732, 0.292633, 4.93407]
Camera #9 center: [-3.70553, 0.335291, 5.87042] -> [-3.70153, 0.337047, 5.8749]
Camera #10 center: [-3.03954, 0.398056, 6.65942] -> [-3.03446, 0.399908, 6.66275]
Camera #11 center: [-2.40008, 0.442723, 7.19649] -> [-2.39423, 0.444601, 7.19885]
Camera #12 center: [-1.6335, 0.499719, 7.69457] -> [-1.6274, 0.501544, 7.69564]
Camera #13 center: [-0.778186, 0.509931, 7.9711] -> [-0.772412, 0.511616, 7.97093]
Camera #14 center: [0.00311259, 0.532705, 8.13156] -> [0.00938076, 0.534236, 8.13064]
Camera #15 center: [0.823666, 0.524186, 8.06204] -> [0.830499, 0.525511, 8.05988]
Camera #16 center: [1.6328, 0.510811, 7.82016] -> [1.64005, 0.511899, 7.81656]
Camera #17 center: [2.36086, 0.46711, 7.32712] -> [2.36823, 0.467953, 7.32167]
Camera #18 center: [2.924, 0.436705, 6.71996] -> [2.93091, 0.437264, 6.71272]
Camera #19 center: [3.456, 0.418818, 6.12704] -> [3.46161, 0.419655, 6.11685]
Camera #20 center: [3.98478, 0.386936, 5.53375] -> [3.98899, 0.387693, 5.51737]
Camera #21 center: [4.26174, 0.325003, 4.78205] -> [4.24109, 0.332551, 4.75888]
After BA tie poits: 17% old + 0% new = 17% total outliers
After BA projections: 80% inliers with MSE=0.110513
    Camera #0 projections: 77% inliers (1048/1358) with MSE=0.678202
    Camera #1 projections: 79% inliers (1458/1846) with MSE=0.349956
    Camera #2 projections: 81% inliers (2013/2485) with MSE=0.0977988
    Camera #3 projections: 80% inliers (2216/2778) with MSE=0.0650072
    Camera #4 projections: 72% inliers (2470/3413) with MSE=0.0885751
    Camera #5 projections: 74% inliers (2416/3286) with MSE=0.0920363
    Camera #6 projections: 76% inliers (2694/3561) with MSE=0.0836299
    Camera #7 projections: 76% inliers (2492/3285) with MSE=0.0745673
    Camera #8 projections: 77% inliers (2493/3239) with MSE=0.0703492
    Camera #9 projections: 79% inliers (2679/3384) with MSE=0.0716428
    Camera #10 projections: 83% inliers (2739/3286) with MSE=0.0833785
    Camera #11 projections: 81% inliers (2452/3029) with MSE=0.110718
    Camera #12 projections: 79% inliers (2014/2553) with MSE=0.0889178
    Camera #13 projections: 74% inliers (1776/2389) with MSE=0.0833856
    Camera #14 projections: 77% inliers (1799/2344) with MSE=0.0776697
    Camera #15 projections: 82% inliers (2666/3259) with MSE=0.0760767
    Camera #16 projections: 81% inliers (3147/3892) with MSE=0.0886364
    Camera #17 projections: 84% inliers (3508/4185) with MSE=0.0783824
    Camera #18 projections: 82% inliers (2986/3651) with MSE=0.108167
    Camera #19 projections: 91% inliers (2442/2684) with MSE=0.133618
    Camera #20 projections: 91% inliers (1694/1853) with MSE=0.160305
    Camera #21 projections: 93% inliers (1172/1256) with MSE=0.120462
Append camera #22 (IMG_3045.JPG) to alignment via 876 common points
Before BA camera: k1=-0.127593, k2=0.0454266, f=1549.28, cx=351.744, cy=573.063
Before BA projections: 80% inliers with MSE=0.163113
    Camera #0 projections: 77% inliers (1048/1358) with MSE=0.678202
    Camera #1 projections: 79% inliers (1458/1846) with MSE=0.349956
    Camera #2 projections: 81% inliers (2013/2485) with MSE=0.0977988
    Camera #3 projections: 80% inliers (2216/2778) with MSE=0.0650072
    Camera #4 projections: 72% inliers (2470/3413) with MSE=0.0885751
    Camera #5 projections: 74% inliers (2416/3286) with MSE=0.0920363
    Camera #6 projections: 76% inliers (2694/3561) with MSE=0.0836299
    Camera #7 projections: 76% inliers (2492/3285) with MSE=0.0745673
    Camera #8 projections: 77% inliers (2493/3239) with MSE=0.0703492
    Camera #9 projections: 79% inliers (2679/3384) with MSE=0.0716428
    Camera #10 projections: 83% inliers (2739/3286) with MSE=0.0833785
    Camera #11 projections: 81% inliers (2452/3029) with MSE=0.110718
    Camera #12 projections: 79% inliers (2014/2553) with MSE=0.0889178
    Camera #13 projections: 74% inliers (1776/2389) with MSE=0.0833856
    Camera #14 projections: 77% inliers (1799/2344) with MSE=0.0776697
    Camera #15 projections: 82% inliers (2666/3259) with MSE=0.0760767
    Camera #16 projections: 81% inliers (3147/3892) with MSE=0.0886364
    Camera #17 projections: 84% inliers (3508/4185) with MSE=0.0783824
    Camera #18 projections: 82% inliers (2986/3651) with MSE=0.108167
    Camera #19 projections: 91% inliers (2454/2700) with MSE=0.134668
    Camera #20 projections: 90% inliers (1746/1940) with MSE=0.173257
    Camera #21 projections: 87% inliers (1441/1664) with MSE=0.25505
    Camera #22 projections: 76% inliers (1084/1417) with MSE=2.41633
After BA camera: k1=-0.123242, k2=0.0213148, f=1558.61, cx=351.596, cy=571.624
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: [-1.8818, 0.0107566, 0.494179] -> [-1.88142, 0.0106564, 0.494763]
Camera #3 center: [-2.70411, 0.0196936, 0.898604] -> [-2.70274, 0.0193734, 0.899655]
Camera #4 center: [-3.31399, 0.0507908, 1.46127] -> [-3.31172, 0.0502693, 1.46283]
Camera #5 center: [-3.85796, 0.0880363, 2.15435] -> [-3.85458, 0.0872603, 2.15654]
Camera #6 center: [-4.11493, 0.154728, 2.98654] -> [-4.11014, 0.153954, 2.98908]
Camera #7 center: [-4.2919, 0.225386, 3.90041] -> [-4.2853, 0.224475, 3.90328]
Camera #8 center: [-4.03732, 0.292633, 4.93407] -> [-4.0285, 0.291883, 4.93611]
Camera #9 center: [-3.70153, 0.337047, 5.8749] -> [-3.69055, 0.336189, 5.87541]
Camera #10 center: [-3.03446, 0.399908, 6.66275] -> [-3.02172, 0.39912, 6.661]
Camera #11 center: [-2.39423, 0.444601, 7.19885] -> [-2.38024, 0.44374, 7.19497]
Camera #12 center: [-1.6274, 0.501544, 7.69564] -> [-1.61571, 0.50026, 7.68778]
Camera #13 center: [-0.772412, 0.511616, 7.97093] -> [-0.765188, 0.509928, 7.96007]
Camera #14 center: [0.00938076, 0.534236, 8.13064] -> [0.0162766, 0.53207, 8.11885]
Camera #15 center: [0.830499, 0.525511, 8.05988] -> [0.83747, 0.522959, 8.04715]
Camera #16 center: [1.64005, 0.511899, 7.81656] -> [1.64706, 0.508983, 7.80253]
Camera #17 center: [2.36823, 0.467953, 7.32167] -> [2.37499, 0.464926, 7.30532]
Camera #18 center: [2.93091, 0.437264, 6.71272] -> [2.93678, 0.434271, 6.69416]
Camera #19 center: [3.46161, 0.419655, 6.11685] -> [3.46648, 0.416414, 6.09574]
Camera #20 center: [3.98899, 0.387693, 5.51737] -> [3.9946, 0.383739, 5.487]
Camera #21 center: [4.24109, 0.332551, 4.75888] -> [4.24116, 0.328759, 4.71651]
Camera #22 center: [4.36075, 0.285116, 3.98925] -> [4.33057, 0.266429, 3.95848]
After BA tie poits: 17% old + 1% new = 17% total outliers
After BA projections: 80% inliers with MSE=0.108477
    Camera #0 projections: 77% inliers (1048/1358) with MSE=0.668621
    Camera #1 projections: 79% inliers (1458/1846) with MSE=0.34483
    Camera #2 projections: 81% inliers (2013/2485) with MSE=0.097334
    Camera #3 projections: 80% inliers (2216/2778) with MSE=0.0648969
    Camera #4 projections: 72% inliers (2470/3413) with MSE=0.08886
    Camera #5 projections: 73% inliers (2415/3286) with MSE=0.0914416
    Camera #6 projections: 76% inliers (2694/3561) with MSE=0.0834167
    Camera #7 projections: 76% inliers (2492/3285) with MSE=0.0742824
    Camera #8 projections: 77% inliers (2494/3239) with MSE=0.0692011
    Camera #9 projections: 79% inliers (2679/3384) with MSE=0.0710706
    Camera #10 projections: 83% inliers (2739/3286) with MSE=0.0840895
    Camera #11 projections: 81% inliers (2453/3029) with MSE=0.111855
    Camera #12 projections: 79% inliers (2015/2553) with MSE=0.0925842
    Camera #13 projections: 74% inliers (1775/2389) with MSE=0.0830792
    Camera #14 projections: 77% inliers (1800/2344) with MSE=0.0860431
    Camera #15 projections: 82% inliers (2660/3259) with MSE=0.0769513
    Camera #16 projections: 80% inliers (3125/3892) with MSE=0.0815076
    Camera #17 projections: 83% inliers (3471/4185) with MSE=0.0699407
    Camera #18 projections: 80% inliers (2936/3651) with MSE=0.100377
    Camera #19 projections: 89% inliers (2404/2700) with MSE=0.111431
    Camera #20 projections: 87% inliers (1688/1940) with MSE=0.137099
    Camera #21 projections: 92% inliers (1523/1664) with MSE=0.135135
    Camera #22 projections: 92% inliers (1306/1417) with MSE=0.134139
Append camera #23 (IMG_3046.JPG) to alignment via 1178 common points
Before BA camera: k1=-0.123242, k2=0.0213148, f=1558.61, cx=351.596, cy=571.624
Before BA projections: 80% inliers with MSE=0.227032
    Camera #0 projections: 77% inliers (1048/1358) with MSE=0.668621
    Camera #1 projections: 79% inliers (1458/1846) with MSE=0.34483
    Camera #2 projections: 81% inliers (2013/2485) with MSE=0.097334
    Camera #3 projections: 80% inliers (2216/2778) with MSE=0.0648969
    Camera #4 projections: 72% inliers (2470/3413) with MSE=0.08886
    Camera #5 projections: 73% inliers (2415/3286) with MSE=0.0914416
    Camera #6 projections: 76% inliers (2694/3561) with MSE=0.0834167
    Camera #7 projections: 76% inliers (2492/3285) with MSE=0.0742824
    Camera #8 projections: 77% inliers (2494/3239) with MSE=0.0692011
    Camera #9 projections: 79% inliers (2679/3384) with MSE=0.0710706
    Camera #10 projections: 83% inliers (2739/3286) with MSE=0.0840895
    Camera #11 projections: 81% inliers (2453/3029) with MSE=0.111855
    Camera #12 projections: 79% inliers (2015/2553) with MSE=0.0925842
    Camera #13 projections: 74% inliers (1775/2389) with MSE=0.0830792
    Camera #14 projections: 77% inliers (1800/2344) with MSE=0.0860431
    Camera #15 projections: 82% inliers (2660/3259) with MSE=0.0769513
    Camera #16 projections: 80% inliers (3125/3892) with MSE=0.0815076
    Camera #17 projections: 83% inliers (3471/4185) with MSE=0.0699407
    Camera #18 projections: 80% inliers (2936/3651) with MSE=0.100377
    Camera #19 projections: 89% inliers (2406/2702) with MSE=0.111515
    Camera #20 projections: 87% inliers (1705/1957) with MSE=0.142674
    Camera #21 projections: 92% inliers (1701/1856) with MSE=0.269831
    Camera #22 projections: 92% inliers (1929/2093) with MSE=0.55384
    Camera #23 projections: 79% inliers (1695/2143) with MSE=3.28159
After BA camera: k1=-0.126327, k2=0.0345398, f=1556.75, cx=351.441, cy=571.417
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: [-1.88142, 0.0106564, 0.494763] -> [-1.88159, 0.010784, 0.494723]
Camera #3 center: [-2.70274, 0.0193734, 0.899655] -> [-2.70329, 0.0196957, 0.899617]
Camera #4 center: [-3.31172, 0.0502693, 1.46283] -> [-3.31257, 0.0508588, 1.46283]
Camera #5 center: [-3.85458, 0.0872603, 2.15654] -> [-3.85577, 0.0881844, 2.15657]
Camera #6 center: [-4.11014, 0.153954, 2.98908] -> [-4.1116, 0.155224, 2.9892]
Camera #7 center: [-4.2853, 0.224475, 3.90328] -> [-4.28712, 0.226152, 3.90346]
Camera #8 center: [-4.0285, 0.291883, 4.93611] -> [-4.03067, 0.293945, 4.93662]
Camera #9 center: [-3.69055, 0.336189, 5.87541] -> [-3.69308, 0.338661, 5.87639]
Camera #10 center: [-3.02172, 0.39912, 6.661] -> [-3.02442, 0.401905, 6.66256]
Camera #11 center: [-2.38024, 0.44374, 7.19497] -> [-2.38305, 0.446773, 7.19703]
Camera #12 center: [-1.61571, 0.50026, 7.68778] -> [-1.61792, 0.503608, 7.69071]
Camera #13 center: [-0.765188, 0.509928, 7.96007] -> [-0.766176, 0.513503, 7.96366]
Camera #14 center: [0.0162766, 0.53207, 8.11885] -> [0.015587, 0.535842, 8.12262]
Camera #15 center: [0.83747, 0.522959, 8.04715] -> [0.836563, 0.526823, 8.05113]
Camera #16 center: [1.64706, 0.508983, 7.80253] -> [1.64602, 0.512858, 7.80691]
Camera #17 center: [2.37499, 0.464926, 7.30532] -> [2.37414, 0.468627, 7.31037]
Camera #18 center: [2.93678, 0.434271, 6.69416] -> [2.93629, 0.437728, 6.69968]
Camera #19 center: [3.46648, 0.416414, 6.09574] -> [3.46651, 0.419842, 6.10177]
Camera #20 center: [3.9946, 0.383739, 5.487] -> [3.99694, 0.386772, 5.48905]
Camera #21 center: [4.24116, 0.328759, 4.71651] -> [4.24266, 0.33149, 4.71298]
Camera #22 center: [4.33057, 0.266429, 3.95848] -> [4.33241, 0.268978, 3.94835]
Camera #23 center: [4.22365, 0.222932, 3.27474] -> [4.20308, 0.214494, 3.27116]
After BA tie poits: 17% old + 1% new = 17% total outliers
After BA projections: 80% inliers with MSE=0.115617
    Camera #0 projections: 77% inliers (1048/1358) with MSE=0.667781
    Camera #1 projections: 79% inliers (1458/1846) with MSE=0.344555
    Camera #2 projections: 81% inliers (2013/2485) with MSE=0.0973347
    Camera #3 projections: 80% inliers (2216/2778) with MSE=0.0648614
    Camera #4 projections: 72% inliers (2470/3413) with MSE=0.0887764
    Camera #5 projections: 73% inliers (2415/3286) with MSE=0.0914994
    Camera #6 projections: 76% inliers (2694/3561) with MSE=0.0835601
    Camera #7 projections: 76% inliers (2492/3285) with MSE=0.0744201
    Camera #8 projections: 77% inliers (2494/3239) with MSE=0.0704028
    Camera #9 projections: 79% inliers (2679/3384) with MSE=0.0712198
    Camera #10 projections: 83% inliers (2739/3286) with MSE=0.0837608
    Camera #11 projections: 81% inliers (2452/3029) with MSE=0.112907
    Camera #12 projections: 79% inliers (2018/2553) with MSE=0.0988683
    Camera #13 projections: 74% inliers (1775/2389) with MSE=0.0806485
    Camera #14 projections: 77% inliers (1800/2344) with MSE=0.0841094
    Camera #15 projections: 82% inliers (2661/3259) with MSE=0.0785605
    Camera #16 projections: 80% inliers (3126/3892) with MSE=0.0808288
    Camera #17 projections: 83% inliers (3475/4185) with MSE=0.0761659
    Camera #18 projections: 80% inliers (2938/3651) with MSE=0.106741
    Camera #19 projections: 89% inliers (2413/2702) with MSE=0.128151
    Camera #20 projections: 87% inliers (1701/1957) with MSE=0.165485
    Camera #21 projections: 89% inliers (1656/1856) with MSE=0.17478
    Camera #22 projections: 90% inliers (1892/2093) with MSE=0.168558
    Camera #23 projections: 90% inliers (1918/2143) with MSE=0.160398
Append camera #24 (IMG_3047.JPG) to alignment via 1785 common points
Before BA camera: k1=-0.126327, k2=0.0345398, f=1556.75, cx=351.441, cy=571.417
Before BA projections: 78% inliers with MSE=0.18354
    Camera #0 projections: 77% inliers (1048/1358) with MSE=0.667781
    Camera #1 projections: 79% inliers (1458/1846) with MSE=0.344555
    Camera #2 projections: 81% inliers (2013/2485) with MSE=0.0973347
    Camera #3 projections: 80% inliers (2216/2778) with MSE=0.0648614
    Camera #4 projections: 72% inliers (2470/3413) with MSE=0.0887764
    Camera #5 projections: 73% inliers (2415/3286) with MSE=0.0914994
    Camera #6 projections: 76% inliers (2694/3561) with MSE=0.0835601
    Camera #7 projections: 76% inliers (2492/3285) with MSE=0.0744201
    Camera #8 projections: 77% inliers (2494/3239) with MSE=0.0704028
    Camera #9 projections: 79% inliers (2679/3384) with MSE=0.0712198
    Camera #10 projections: 83% inliers (2739/3286) with MSE=0.0837608
    Camera #11 projections: 81% inliers (2452/3029) with MSE=0.112907
    Camera #12 projections: 79% inliers (2018/2553) with MSE=0.0988683
    Camera #13 projections: 74% inliers (1775/2389) with MSE=0.0806485
    Camera #14 projections: 77% inliers (1800/2344) with MSE=0.0841094
    Camera #15 projections: 82% inliers (2661/3259) with MSE=0.0785605
    Camera #16 projections: 80% inliers (3126/3892) with MSE=0.0808288
    Camera #17 projections: 83% inliers (3475/4185) with MSE=0.0761659
    Camera #18 projections: 80% inliers (2938/3651) with MSE=0.106741
    Camera #19 projections: 89% inliers (2413/2703) with MSE=0.128151
    Camera #20 projections: 87% inliers (1716/1973) with MSE=0.165905
    Camera #21 projections: 89% inliers (1671/1881) with MSE=0.177672
    Camera #22 projections: 85% inliers (1956/2304) with MSE=0.194044
    Camera #23 projections: 85% inliers (2249/2659) with MSE=0.220398
    Camera #24 projections: 36% inliers (964/2642) with MSE=3.83851
After BA camera: k1=-0.154168, k2=0.160134, f=1554.11, cx=351.924, cy=571.491
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: [-1.88159, 0.010784, 0.494723] -> [-1.88236, 0.0109291, 0.49364]
Camera #3 center: [-2.70329, 0.0196957, 0.899617] -> [-2.70697, 0.0202526, 0.898653]
Camera #4 center: [-3.31257, 0.0508588, 1.46283] -> [-3.31852, 0.0521206, 1.4625]
Camera #5 center: [-3.85577, 0.0881844, 2.15657] -> [-3.86363, 0.0903614, 2.15715]
Camera #6 center: [-4.1116, 0.155224, 2.9892] -> [-4.12077, 0.158418, 2.99073]
Camera #7 center: [-4.28712, 0.226152, 3.90346] -> [-4.29771, 0.230401, 3.9055]
Camera #8 center: [-4.03067, 0.293945, 4.93662] -> [-4.0424, 0.29911, 4.93995]
Camera #9 center: [-3.69308, 0.338661, 5.87639] -> [-3.70583, 0.344854, 5.88218]
Camera #10 center: [-3.02442, 0.401905, 6.66256] -> [-3.03738, 0.408838, 6.67087]
Camera #11 center: [-2.38305, 0.446773, 7.19703] -> [-2.39596, 0.454334, 7.20739]
Camera #12 center: [-1.61792, 0.503608, 7.69071] -> [-1.62276, 0.512449, 7.7064]
Camera #13 center: [-0.766176, 0.513503, 7.96366] -> [-0.759525, 0.523357, 7.98144]
Camera #14 center: [0.015587, 0.535842, 8.12262] -> [0.0230551, 0.546621, 8.13825]
Camera #15 center: [0.836563, 0.526823, 8.05113] -> [0.843803, 0.538119, 8.06459]
Camera #16 center: [1.64602, 0.512858, 7.80691] -> [1.65275, 0.524317, 7.81864]
Camera #17 center: [2.37414, 0.468627, 7.31037] -> [2.38023, 0.479729, 7.32091]
Camera #18 center: [2.93629, 0.437728, 6.69968] -> [2.94192, 0.44823, 6.70903]
Camera #19 center: [3.46651, 0.419842, 6.10177] -> [3.47228, 0.429994, 6.11019]
Camera #20 center: [3.99694, 0.386772, 5.48905] -> [4.00333, 0.396682, 5.49594]
Camera #21 center: [4.24266, 0.33149, 4.71298] -> [4.24855, 0.340769, 4.71793]
Camera #22 center: [4.33241, 0.268978, 3.94835] -> [4.33755, 0.276905, 3.95184]
Camera #23 center: [4.20308, 0.214494, 3.27116] -> [4.20971, 0.222135, 3.28192]
Camera #24 center: [4.01611, 0.188317, 2.59053] -> [4.02118, 0.170524, 2.61463]
After BA tie poits: 17% old + 1% new = 18% total outliers
After BA projections: 80% inliers with MSE=0.122068
    Camera #0 projections: 77% inliers (1048/1358) with MSE=0.677312
    Camera #1 projections: 79% inliers (1458/1846) with MSE=0.34978
    Camera #2 projections: 81% inliers (2013/2485) with MSE=0.0987377
    Camera #3 projections: 80% inliers (2216/2778) with MSE=0.0652965
    Camera #4 projections: 72% inliers (2470/3413) with MSE=0.0887595
    Camera #5 projections: 74% inliers (2416/3286) with MSE=0.0931899
    Camera #6 projections: 76% inliers (2694/3561) with MSE=0.0835698
    Camera #7 projections: 76% inliers (2492/3285) with MSE=0.0745054
    Camera #8 projections: 77% inliers (2492/3239) with MSE=0.0682848
    Camera #9 projections: 79% inliers (2679/3384) with MSE=0.0710738
    Camera #10 projections: 83% inliers (2733/3286) with MSE=0.0775914
    Camera #11 projections: 81% inliers (2447/3029) with MSE=0.0965169
    Camera #12 projections: 79% inliers (2018/2553) with MSE=0.101596
    Camera #13 projections: 74% inliers (1776/2389) with MSE=0.0865618
    Camera #14 projections: 76% inliers (1793/2344) with MSE=0.0726295
    Camera #15 projections: 82% inliers (2657/3259) with MSE=0.076173
    Camera #16 projections: 81% inliers (3138/3892) with MSE=0.097717
    Camera #17 projections: 83% inliers (3486/4185) with MSE=0.092221
    Camera #18 projections: 81% inliers (2958/3651) with MSE=0.141403
    Camera #19 projections: 88% inliers (2382/2703) with MSE=0.139408
    Camera #20 projections: 86% inliers (1687/1973) with MSE=0.207252
    Camera #21 projections: 83% inliers (1563/1881) with MSE=0.187541
    Camera #22 projections: 84% inliers (1937/2304) with MSE=0.151343
    Camera #23 projections: 86% inliers (2277/2659) with MSE=0.174888
    Camera #24 projections: 89% inliers (2348/2642) with MSE=0.148374
Append camera #25 (IMG_3048.JPG) to alignment via 1908 common points
Before BA camera: k1=-0.154168, k2=0.160134, f=1554.11, cx=351.924, cy=571.491
Before BA projections: 78% inliers with MSE=0.167286
    Camera #0 projections: 77% inliers (1048/1358) with MSE=0.677312
    Camera #1 projections: 79% inliers (1458/1846) with MSE=0.34978
    Camera #2 projections: 81% inliers (2013/2485) with MSE=0.0987377
    Camera #3 projections: 80% inliers (2216/2778) with MSE=0.0652965
    Camera #4 projections: 72% inliers (2470/3413) with MSE=0.0887595
    Camera #5 projections: 74% inliers (2416/3286) with MSE=0.0931899
    Camera #6 projections: 76% inliers (2694/3561) with MSE=0.0835698
    Camera #7 projections: 76% inliers (2492/3285) with MSE=0.0745054
    Camera #8 projections: 77% inliers (2492/3239) with MSE=0.0682848
    Camera #9 projections: 79% inliers (2679/3384) with MSE=0.0710738
    Camera #10 projections: 83% inliers (2733/3286) with MSE=0.0775914
    Camera #11 projections: 81% inliers (2447/3029) with MSE=0.0965169
    Camera #12 projections: 79% inliers (2018/2553) with MSE=0.101596
    Camera #13 projections: 74% inliers (1776/2389) with MSE=0.0865618
    Camera #14 projections: 76% inliers (1793/2344) with MSE=0.0726295
    Camera #15 projections: 82% inliers (2657/3259) with MSE=0.076173
    Camera #16 projections: 81% inliers (3138/3892) with MSE=0.097717
    Camera #17 projections: 83% inliers (3486/4185) with MSE=0.092221
    Camera #18 projections: 81% inliers (2958/3651) with MSE=0.141403
    Camera #19 projections: 88% inliers (2384/2705) with MSE=0.139411
    Camera #20 projections: 86% inliers (1687/1973) with MSE=0.207252
    Camera #21 projections: 83% inliers (1570/1891) with MSE=0.187853
    Camera #22 projections: 84% inliers (1948/2316) with MSE=0.15383
    Camera #23 projections: 82% inliers (2320/2843) with MSE=0.186019
    Camera #24 projections: 83% inliers (2668/3206) with MSE=0.262651
    Camera #25 projections: 23% inliers (615/2711) with MSE=3.83435
After BA camera: k1=-0.129138, k2=0.0226785, f=1551.42, cx=352.164, cy=573.125
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: [-1.88236, 0.0109291, 0.49364] -> [-1.8819, 0.0106943, 0.493814]
Camera #3 center: [-2.70697, 0.0202526, 0.898653] -> [-2.70486, 0.0195442, 0.898252]
Camera #4 center: [-3.31852, 0.0521206, 1.4625] -> [-3.31524, 0.0506205, 1.46113]
Camera #5 center: [-3.86363, 0.0903614, 2.15715] -> [-3.85954, 0.0878351, 2.15456]
Camera #6 center: [-4.12077, 0.158418, 2.99073] -> [-4.11663, 0.154553, 2.98707]
Camera #7 center: [-4.29771, 0.230401, 3.9055] -> [-4.29365, 0.225165, 3.90115]
Camera #8 center: [-4.0424, 0.29911, 4.93995] -> [-4.03894, 0.292364, 4.93492]
Camera #9 center: [-3.70583, 0.344854, 5.88218] -> [-3.70302, 0.33669, 5.87601]
Camera #10 center: [-3.03738, 0.408838, 6.67087] -> [-3.03561, 0.39948, 6.66412]
Camera #11 center: [-2.39596, 0.454334, 7.20739] -> [-2.3951, 0.444131, 7.2003]
Camera #12 center: [-1.62276, 0.512449, 7.7064] -> [-1.62277, 0.501394, 7.69908]
Camera #13 center: [-0.759525, 0.523357, 7.98144] -> [-0.760553, 0.511796, 7.97407]
Camera #14 center: [0.0230551, 0.546621, 8.13825] -> [0.0205966, 0.534741, 8.1309]
Camera #15 center: [0.843803, 0.538119, 8.06459] -> [0.841108, 0.526208, 8.05758]
Camera #16 center: [1.65275, 0.524317, 7.81864] -> [1.64969, 0.512732, 7.81188]
Camera #17 center: [2.38023, 0.479729, 7.32091] -> [2.37701, 0.468824, 7.31433]
Camera #18 center: [2.94192, 0.44823, 6.70903] -> [2.93828, 0.438158, 6.70275]
Camera #19 center: [3.47228, 0.429994, 6.11019] -> [3.46794, 0.420648, 6.10432]
Camera #20 center: [4.00333, 0.396682, 5.49594] -> [3.99899, 0.387893, 5.48777]
Camera #21 center: [4.24855, 0.340769, 4.71793] -> [4.24352, 0.332942, 4.70731]
Camera #22 center: [4.33755, 0.276905, 3.95184] -> [4.33, 0.270423, 3.93769]
Camera #23 center: [4.20971, 0.222135, 3.28192] -> [4.20009, 0.216514, 3.26225]
Camera #24 center: [4.02118, 0.170524, 2.61463] -> [4.0068, 0.167159, 2.59406]
Camera #25 center: [3.64673, 0.121742, 2.02934] -> [3.60699, 0.132649, 2.01301]
After BA tie poits: 17% old + 1% new = 18% total outliers
After BA projections: 81% inliers with MSE=0.131846
    Camera #0 projections: 77% inliers (1048/1358) with MSE=0.681496
    Camera #1 projections: 79% inliers (1458/1846) with MSE=0.351791
    Camera #2 projections: 81% inliers (2013/2485) with MSE=0.0982202
    Camera #3 projections: 80% inliers (2216/2778) with MSE=0.0650728
    Camera #4 projections: 72% inliers (2470/3413) with MSE=0.0885977
    Camera #5 projections: 74% inliers (2416/3286) with MSE=0.0922408
    Camera #6 projections: 76% inliers (2694/3561) with MSE=0.083324
    Camera #7 projections: 76% inliers (2492/3285) with MSE=0.0742978
    Camera #8 projections: 77% inliers (2492/3239) with MSE=0.0681498
    Camera #9 projections: 79% inliers (2679/3384) with MSE=0.0711751
    Camera #10 projections: 83% inliers (2739/3286) with MSE=0.0828054
    Camera #11 projections: 81% inliers (2447/3029) with MSE=0.101541
    Camera #12 projections: 79% inliers (2014/2553) with MSE=0.0892689
    Camera #13 projections: 74% inliers (1771/2389) with MSE=0.0714515
    Camera #14 projections: 77% inliers (1799/2344) with MSE=0.0756121
    Camera #15 projections: 82% inliers (2666/3259) with MSE=0.0740946
    Camera #16 projections: 81% inliers (3146/3892) with MSE=0.0914512
    Camera #17 projections: 84% inliers (3498/4185) with MSE=0.0835713
    Camera #18 projections: 81% inliers (2966/3651) with MSE=0.123687
    Camera #19 projections: 89% inliers (2405/2705) with MSE=0.16676
    Camera #20 projections: 87% inliers (1712/1973) with MSE=0.254587
    Camera #21 projections: 84% inliers (1583/1891) with MSE=0.305998
    Camera #22 projections: 84% inliers (1952/2316) with MSE=0.271258
    Camera #23 projections: 85% inliers (2413/2843) with MSE=0.224482
    Camera #24 projections: 87% inliers (2805/3206) with MSE=0.161088
    Camera #25 projections: 94% inliers (2553/2711) with MSE=0.11064
Append camera #26 (IMG_3049.JPG) to alignment via 1996 common points
Before BA camera: k1=-0.129138, k2=0.0226785, f=1551.42, cx=352.164, cy=573.125
Before BA projections: 79% inliers with MSE=0.160597
    Camera #0 projections: 77% inliers (1048/1358) with MSE=0.681496
    Camera #1 projections: 79% inliers (1458/1846) with MSE=0.351791
    Camera #2 projections: 81% inliers (2013/2485) with MSE=0.0982202
    Camera #3 projections: 80% inliers (2216/2778) with MSE=0.0650728
    Camera #4 projections: 72% inliers (2470/3413) with MSE=0.0885977
    Camera #5 projections: 74% inliers (2416/3286) with MSE=0.0922408
    Camera #6 projections: 76% inliers (2694/3561) with MSE=0.083324
    Camera #7 projections: 76% inliers (2492/3285) with MSE=0.0742978
    Camera #8 projections: 77% inliers (2492/3239) with MSE=0.0681498
    Camera #9 projections: 79% inliers (2679/3384) with MSE=0.0711751
    Camera #10 projections: 83% inliers (2739/3286) with MSE=0.0828054
    Camera #11 projections: 81% inliers (2447/3029) with MSE=0.101541
    Camera #12 projections: 79% inliers (2014/2553) with MSE=0.0892689
    Camera #13 projections: 74% inliers (1771/2389) with MSE=0.0714515
    Camera #14 projections: 77% inliers (1799/2344) with MSE=0.0756121
    Camera #15 projections: 82% inliers (2666/3259) with MSE=0.0740946
    Camera #16 projections: 81% inliers (3146/3892) with MSE=0.0914512
    Camera #17 projections: 84% inliers (3498/4185) with MSE=0.0835713
    Camera #18 projections: 81% inliers (2966/3651) with MSE=0.123687
    Camera #19 projections: 89% inliers (2409/2712) with MSE=0.166668
    Camera #20 projections: 87% inliers (1714/1975) with MSE=0.25453
    Camera #21 projections: 84% inliers (1584/1893) with MSE=0.305807
    Camera #22 projections: 84% inliers (1962/2327) with MSE=0.271848
    Camera #23 projections: 85% inliers (2426/2858) with MSE=0.227256
    Camera #24 projections: 86% inliers (2844/3308) with MSE=0.178925
    Camera #25 projections: 93% inliers (2782/2990) with MSE=0.243344
    Camera #26 projections: 13% inliers (306/2421) with MSE=4.47388
After BA camera: k1=-0.138421, k2=0.0932106, f=1551.45, cx=352.016, cy=573.698
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: [-1.8819, 0.0106943, 0.493814] -> [-1.88163, 0.0106262, 0.493801]
Camera #3 center: [-2.70486, 0.0195442, 0.898252] -> [-2.70449, 0.0194776, 0.89838]
Camera #4 center: [-3.31524, 0.0506205, 1.46113] -> [-3.31478, 0.0504682, 1.46133]
Camera #5 center: [-3.85954, 0.0878351, 2.15456] -> [-3.85888, 0.0875741, 2.15484]
Camera #6 center: [-4.11663, 0.154553, 2.98707] -> [-4.11581, 0.154125, 2.98726]
Camera #7 center: [-4.29365, 0.225165, 3.90115] -> [-4.29259, 0.224522, 3.90113]
Camera #8 center: [-4.03894, 0.292364, 4.93492] -> [-4.03778, 0.291417, 4.9346]
Camera #9 center: [-3.70302, 0.33669, 5.87601] -> [-3.70173, 0.33549, 5.87557]
Camera #10 center: [-3.03561, 0.39948, 6.66412] -> [-3.03434, 0.398013, 6.66343]
Camera #11 center: [-2.3951, 0.444131, 7.2003] -> [-2.39388, 0.442481, 7.19944]
Camera #12 center: [-1.62277, 0.501394, 7.69908] -> [-1.6216, 0.499576, 7.69807]
Camera #13 center: [-0.760553, 0.511796, 7.97407] -> [-0.759517, 0.509861, 7.97294]
Camera #14 center: [0.0205966, 0.534741, 8.1309] -> [0.0216641, 0.532706, 8.12966]
Camera #15 center: [0.841108, 0.526208, 8.05758] -> [0.841759, 0.524153, 8.05629]
Camera #16 center: [1.64969, 0.512732, 7.81188] -> [1.64994, 0.510622, 7.81068]
Camera #17 center: [2.37701, 0.468824, 7.31433] -> [2.37698, 0.466765, 7.31338]
Camera #18 center: [2.93828, 0.438158, 6.70275] -> [2.93813, 0.436167, 6.70209]
Camera #19 center: [3.46794, 0.420648, 6.10432] -> [3.46778, 0.418754, 6.10386]
Camera #20 center: [3.99899, 0.387893, 5.48777] -> [3.99946, 0.385899, 5.48592]
Camera #21 center: [4.24352, 0.332942, 4.70731] -> [4.24417, 0.330893, 4.70341]
Camera #22 center: [4.33, 0.270423, 3.93769] -> [4.32997, 0.268421, 3.93052]
Camera #23 center: [4.20009, 0.216514, 3.26225] -> [4.19825, 0.214599, 3.25154]
Camera #24 center: [4.0068, 0.167159, 2.59406] -> [4.00051, 0.165384, 2.57826]
Camera #25 center: [3.60699, 0.132649, 2.01301] -> [3.59196, 0.131797, 1.98848]
Camera #26 center: [3.10351, 0.0348615, 1.39404] -> [3.09293, 0.0697017, 1.37361]
After BA tie poits: 17% old + 0% new = 18% total outliers
After BA projections: 81% inliers with MSE=0.13535
    Camera #0 projections: 77% inliers (1048/1358) with MSE=0.68021
    Camera #1 projections: 79% inliers (1458/1846) with MSE=0.351304
    Camera #2 projections: 81% inliers (2013/2485) with MSE=0.0980802
    Camera #3 projections: 80% inliers (2216/2778) with MSE=0.0650965
    Camera #4 projections: 72% inliers (2470/3413) with MSE=0.0886032
    Camera #5 projections: 74% inliers (2416/3286) with MSE=0.0917825
    Camera #6 projections: 76% inliers (2694/3561) with MSE=0.0834075
    Camera #7 projections: 76% inliers (2492/3285) with MSE=0.0743825
    Camera #8 projections: 77% inliers (2492/3239) with MSE=0.0682126
    Camera #9 projections: 79% inliers (2680/3384) with MSE=0.0729983
    Camera #10 projections: 83% inliers (2739/3286) with MSE=0.0829222
    Camera #11 projections: 81% inliers (2447/3029) with MSE=0.103897
    Camera #12 projections: 79% inliers (2014/2553) with MSE=0.0911394
    Camera #13 projections: 74% inliers (1772/2389) with MSE=0.0777961
    Camera #14 projections: 77% inliers (1796/2344) with MSE=0.0702142
    Camera #15 projections: 82% inliers (2666/3259) with MSE=0.0817774
    Camera #16 projections: 81% inliers (3144/3892) with MSE=0.096512
    Camera #17 projections: 84% inliers (3495/4185) with MSE=0.0930724
    Camera #18 projections: 81% inliers (2963/3651) with MSE=0.136192
    Camera #19 projections: 89% inliers (2402/2712) with MSE=0.17037
    Camera #20 projections: 86% inliers (1699/1975) with MSE=0.253227
    Camera #21 projections: 83% inliers (1562/1893) with MSE=0.288988
    Camera #22 projections: 83% inliers (1932/2327) with MSE=0.270191
    Camera #23 projections: 84% inliers (2404/2858) with MSE=0.290267
    Camera #24 projections: 86% inliers (2855/3308) with MSE=0.163393
    Camera #25 projections: 94% inliers (2796/2990) with MSE=0.125458
    Camera #26 projections: 95% inliers (2300/2421) with MSE=0.100953
Append camera #27 (IMG_3050.JPG) to alignment via 1693 common points
Before BA camera: k1=-0.138421, k2=0.0932106, f=1551.45, cx=352.016, cy=573.698
Before BA projections: 79% inliers with MSE=0.141697
    Camera #0 projections: 77% inliers (1051/1364) with MSE=0.682853
    Camera #1 projections: 79% inliers (1458/1846) with MSE=0.351304
    Camera #2 projections: 81% inliers (2013/2485) with MSE=0.0980802
    Camera #3 projections: 80% inliers (2216/2778) with MSE=0.0650965
    Camera #4 projections: 72% inliers (2470/3413) with MSE=0.0886032
    Camera #5 projections: 74% inliers (2416/3286) with MSE=0.0917825
    Camera #6 projections: 76% inliers (2694/3561) with MSE=0.0834075
    Camera #7 projections: 76% inliers (2492/3285) with MSE=0.0743825
    Camera #8 projections: 77% inliers (2492/3239) with MSE=0.0682126
    Camera #9 projections: 79% inliers (2680/3384) with MSE=0.0729983
    Camera #10 projections: 83% inliers (2739/3286) with MSE=0.0829222
    Camera #11 projections: 81% inliers (2447/3029) with MSE=0.103897
    Camera #12 projections: 79% inliers (2014/2553) with MSE=0.0911394
    Camera #13 projections: 74% inliers (1772/2389) with MSE=0.0777961
    Camera #14 projections: 77% inliers (1796/2344) with MSE=0.0702142
    Camera #15 projections: 82% inliers (2666/3259) with MSE=0.0817774
    Camera #16 projections: 81% inliers (3144/3892) with MSE=0.096512
    Camera #17 projections: 84% inliers (3495/4185) with MSE=0.0930724
    Camera #18 projections: 81% inliers (2963/3651) with MSE=0.136192
    Camera #19 projections: 89% inliers (2402/2712) with MSE=0.17037
    Camera #20 projections: 86% inliers (1700/1976) with MSE=0.255837
    Camera #21 projections: 83% inliers (1562/1893) with MSE=0.288988
    Camera #22 projections: 83% inliers (1934/2332) with MSE=0.272433
    Camera #23 projections: 84% inliers (2408/2863) with MSE=0.290983
    Camera #24 projections: 86% inliers (2863/3326) with MSE=0.165716
    Camera #25 projections: 92% inliers (2826/3079) with MSE=0.147486
    Camera #26 projections: 91% inliers (2443/2692) with MSE=0.214128
    Camera #27 projections: 1% inliers (19/2106) with MSE=2.48682
After BA camera: k1=-0.127328, k2=0.0770655, f=1579.75, cx=353.53, cy=568.946
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: [-1.88163, 0.0106262, 0.493801] -> [-1.88251, 0.00992766, 0.494388]
Camera #3 center: [-2.70449, 0.0194776, 0.89838] -> [-2.70477, 0.017653, 0.899804]
Camera #4 center: [-3.31478, 0.0504682, 1.46133] -> [-3.31447, 0.0477949, 1.46426]
Camera #5 center: [-3.85888, 0.0875741, 2.15484] -> [-3.85749, 0.0840549, 2.15995]
Camera #6 center: [-4.11581, 0.154125, 2.98726] -> [-4.11215, 0.150744, 2.99448]
Camera #7 center: [-4.29259, 0.224522, 3.90113] -> [-4.28545, 0.221025, 3.91039]
Camera #8 center: [-4.03778, 0.291417, 4.9346] -> [-4.02558, 0.289045, 4.94333]
Camera #9 center: [-3.70173, 0.33549, 5.87557] -> [-3.68421, 0.333512, 5.88186]
Camera #10 center: [-3.03434, 0.398013, 6.66343] -> [-3.01238, 0.397114, 6.66505]
Camera #11 center: [-2.39388, 0.442481, 7.19944] -> [-2.36885, 0.442162, 7.19614]
Camera #12 center: [-1.6216, 0.499576, 7.69807] -> [-1.59315, 0.499675, 7.6884]
Camera #13 center: [-0.759517, 0.509861, 7.97294] -> [-0.728568, 0.510818, 7.95591]
Camera #14 center: [0.0216641, 0.532706, 8.12966] -> [0.0503357, 0.534347, 8.10529]
Camera #15 center: [0.841759, 0.524153, 8.05629] -> [0.869906, 0.526134, 8.02475]
Camera #16 center: [1.64994, 0.510622, 7.81068] -> [1.67567, 0.512748, 7.77178]
Camera #17 center: [2.37698, 0.466765, 7.31338] -> [2.39712, 0.469033, 7.26755]
Camera #18 center: [2.93813, 0.436167, 6.70209] -> [2.95071, 0.438241, 6.65129]
Camera #19 center: [3.46778, 0.418754, 6.10386] -> [3.47232, 0.419651, 6.04821]
Camera #20 center: [3.99946, 0.385899, 5.48592] -> [3.99519, 0.385339, 5.42479]
Camera #21 center: [4.24417, 0.330893, 4.70341] -> [4.22935, 0.328804, 4.64031]
Camera #22 center: [4.32997, 0.268421, 3.93052] -> [4.30458, 0.264838, 3.86678]
Camera #23 center: [4.19825, 0.214599, 3.25154] -> [4.16312, 0.209795, 3.18915]
Camera #24 center: [4.00051, 0.165384, 2.57826] -> [3.95513, 0.159399, 2.52017]
Camera #25 center: [3.59196, 0.131797, 1.98848] -> [3.54004, 0.125459, 1.93996]
Camera #26 center: [3.09293, 0.0697017, 1.37361] -> [3.03066, 0.0613117, 1.33195]
Camera #27 center: [2.45446, 0.0319325, 0.947611] -> [2.4454, 0.00464091, 0.850011]
After BA tie poits: 17% old + 1% new = 18% total outliers
After BA projections: 80% inliers with MSE=0.109703
    Camera #0 projections: 77% inliers (1050/1364) with MSE=0.687589
    Camera #1 projections: 79% inliers (1457/1846) with MSE=0.353274
    Camera #2 projections: 81% inliers (2013/2485) with MSE=0.100351
    Camera #3 projections: 80% inliers (2216/2778) with MSE=0.0660321
    Camera #4 projections: 72% inliers (2470/3413) with MSE=0.0900316
    Camera #5 projections: 73% inliers (2415/3286) with MSE=0.090809
    Camera #6 projections: 76% inliers (2694/3561) with MSE=0.0823759
    Camera #7 projections: 76% inliers (2492/3285) with MSE=0.0736075
    Camera #8 projections: 77% inliers (2494/3239) with MSE=0.0680524
    Camera #9 projections: 79% inliers (2679/3384) with MSE=0.0697542
    Camera #10 projections: 83% inliers (2734/3286) with MSE=0.0774794
    Camera #11 projections: 81% inliers (2451/3029) with MSE=0.103428
    Camera #12 projections: 79% inliers (2014/2553) with MSE=0.0893531
    Camera #13 projections: 74% inliers (1768/2389) with MSE=0.0777141
    Camera #14 projections: 77% inliers (1796/2344) with MSE=0.0806474
    Camera #15 projections: 81% inliers (2656/3259) with MSE=0.0759015
    Camera #16 projections: 80% inliers (3123/3892) with MSE=0.0777132
    Camera #17 projections: 83% inliers (3460/4185) with MSE=0.0591791
    Camera #18 projections: 80% inliers (2915/3651) with MSE=0.0909381
    Camera #19 projections: 86% inliers (2339/2712) with MSE=0.120677
    Camera #20 projections: 81% inliers (1604/1976) with MSE=0.165455
    Camera #21 projections: 76% inliers (1439/1893) with MSE=0.146672
    Camera #22 projections: 75% inliers (1759/2332) with MSE=0.107014
    Camera #23 projections: 76% inliers (2177/2863) with MSE=0.104069
    Camera #24 projections: 81% inliers (2690/3326) with MSE=0.0809947
    Camera #25 projections: 87% inliers (2681/3079) with MSE=0.0876871
    Camera #26 projections: 92% inliers (2469/2692) with MSE=0.148599
    Camera #27 projections: 91% inliers (1925/2106) with MSE=0.205248
Append camera #28 (IMG_3051.JPG) to alignment via 1258 common points
Before BA camera: k1=-0.127328, k2=0.0770655, f=1579.75, cx=353.53, cy=568.946
Before BA projections: 78% inliers with MSE=0.151088
    Camera #0 projections: 64% inliers (1057/1639) with MSE=0.692488
    Camera #1 projections: 78% inliers (1462/1877) with MSE=0.3585
    Camera #2 projections: 81% inliers (2013/2487) with MSE=0.100351
    Camera #3 projections: 80% inliers (2216/2778) with MSE=0.0660321
    Camera #4 projections: 72% inliers (2470/3413) with MSE=0.0900316
    Camera #5 projections: 73% inliers (2415/3286) with MSE=0.090809
    Camera #6 projections: 76% inliers (2694/3561) with MSE=0.0823759
    Camera #7 projections: 76% inliers (2492/3285) with MSE=0.0736075
    Camera #8 projections: 77% inliers (2494/3239) with MSE=0.0680524
    Camera #9 projections: 79% inliers (2679/3384) with MSE=0.0697542
    Camera #10 projections: 83% inliers (2734/3286) with MSE=0.0774794
    Camera #11 projections: 81% inliers (2451/3029) with MSE=0.103428
    Camera #12 projections: 79% inliers (2014/2553) with MSE=0.0893531
    Camera #13 projections: 74% inliers (1768/2389) with MSE=0.0777141
    Camera #14 projections: 77% inliers (1796/2344) with MSE=0.0806474
    Camera #15 projections: 81% inliers (2656/3259) with MSE=0.0759015
    Camera #16 projections: 80% inliers (3123/3892) with MSE=0.0777132
    Camera #17 projections: 83% inliers (3460/4185) with MSE=0.0591791
    Camera #18 projections: 80% inliers (2915/3651) with MSE=0.0909381
    Camera #19 projections: 86% inliers (2339/2712) with MSE=0.120677
    Camera #20 projections: 81% inliers (1604/1976) with MSE=0.165455
    Camera #21 projections: 76% inliers (1439/1894) with MSE=0.146672
    Camera #22 projections: 75% inliers (1762/2336) with MSE=0.111036
    Camera #23 projections: 76% inliers (2182/2870) with MSE=0.109238
    Camera #24 projections: 81% inliers (2691/3328) with MSE=0.0829729
    Camera #25 projections: 87% inliers (2685/3086) with MSE=0.0908239
    Camera #26 projections: 92% inliers (2488/2717) with MSE=0.165692
    Camera #27 projections: 87% inliers (2109/2434) with MSE=0.329958
    Camera #28 projections: 40% inliers (790/1968) with MSE=3.04141
After BA camera: k1=-0.117027, k2=-0.0122376, f=1589.27, cx=359.198, cy=548.244
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: [-1.88251, 0.00992766, 0.494388] -> [-1.97199, 0.00681441, 0.496304]
Camera #3 center: [-2.70477, 0.017653, 0.899804] -> [-2.87086, 0.0121449, 0.912934]
Camera #4 center: [-3.31447, 0.0477949, 1.46426] -> [-3.54296, 0.0457942, 1.50763]
Camera #5 center: [-3.85749, 0.0840549, 2.15995] -> [-4.14649, 0.0883335, 2.24539]
Camera #6 center: [-4.11215, 0.150744, 2.99448] -> [-4.44014, 0.167594, 3.13992]
Camera #7 center: [-4.28545, 0.221025, 3.91039] -> [-4.64962, 0.252287, 4.123]
Camera #8 center: [-4.02558, 0.289045, 4.94333] -> [-4.3942, 0.339659, 5.24191]
Camera #9 center: [-3.68421, 0.333512, 5.88186] -> [-4.04925, 0.400989, 6.26228]
Camera #10 center: [-3.01238, 0.397114, 6.66505] -> [-3.34374, 0.483875, 7.12262]
Camera #11 center: [-2.36885, 0.442162, 7.19614] -> [-2.66256, 0.542965, 7.7104]
Camera #12 center: [-1.59315, 0.499675, 7.6884] -> [-1.84083, 0.615357, 8.25848]
Camera #13 center: [-0.728568, 0.510818, 7.95591] -> [-0.918474, 0.635817, 8.56864]
Camera #14 center: [0.0503357, 0.534347, 8.10529] -> [-0.0850258, 0.667866, 8.75104]
Camera #15 center: [0.869906, 0.526134, 8.02475] -> [0.803116, 0.663088, 8.68751]
Camera #16 center: [1.67567, 0.512748, 7.77178] -> [1.68106, 0.651174, 8.43778]
Camera #17 center: [2.39712, 0.469033, 7.26755] -> [2.47397, 0.602997, 7.91379]
Camera #18 center: [2.95071, 0.438241, 6.65129] -> [3.08868, 0.566459, 7.26489]
Camera #19 center: [3.47232, 0.419651, 6.04821] -> [3.66837, 0.542706, 6.62943]
Camera #20 center: [3.99519, 0.385339, 5.42479] -> [4.25305, 0.501475, 5.97035]
Camera #21 center: [4.22935, 0.328804, 4.64031] -> [4.52954, 0.433187, 5.12843]
Camera #22 center: [4.30458, 0.264838, 3.86678] -> [4.63403, 0.355893, 4.29277]
Camera #23 center: [4.16312, 0.209795, 3.18915] -> [4.50066, 0.288339, 3.5536]
Camera #24 center: [3.95513, 0.159399, 2.52017] -> [4.29434, 0.225574, 2.82257]
Camera #25 center: [3.54004, 0.125459, 1.93996] -> [3.86058, 0.180602, 2.18306]
Camera #26 center: [3.03066, 0.0613117, 1.33195] -> [3.32627, 0.102138, 1.5117]
Camera #27 center: [2.4454, 0.00464091, 0.850011] -> [2.70279, 0.0501011, 0.979031]
Camera #28 center: [1.79368, 0.00400335, 0.431693] -> [1.97983, 0.0199855, 0.450847]
After BA tie poits: 18% old + 1% new = 18% total outliers
After BA projections: 79% inliers with MSE=0.110176
    Camera #0 projections: 74% inliers (1221/1639) with MSE=0.723829
    Camera #1 projections: 76% inliers (1431/1877) with MSE=0.584173
    Camera #2 projections: 81% inliers (2008/2487) with MSE=0.181916
    Camera #3 projections: 80% inliers (2215/2778) with MSE=0.085321
    Camera #4 projections: 72% inliers (2468/3413) with MSE=0.0926025
    Camera #5 projections: 73% inliers (2415/3286) with MSE=0.0914561
    Camera #6 projections: 76% inliers (2694/3561) with MSE=0.0824138
    Camera #7 projections: 76% inliers (2492/3285) with MSE=0.0734509
    Camera #8 projections: 77% inliers (2492/3239) with MSE=0.0646448
    Camera #9 projections: 79% inliers (2679/3384) with MSE=0.0700388
    Camera #10 projections: 83% inliers (2729/3286) with MSE=0.0695046
    Camera #11 projections: 80% inliers (2438/3029) with MSE=0.0945085
    Camera #12 projections: 79% inliers (2006/2553) with MSE=0.0800534
    Camera #13 projections: 74% inliers (1765/2389) with MSE=0.0775711
    Camera #14 projections: 76% inliers (1785/2344) with MSE=0.0581282
    Camera #15 projections: 81% inliers (2647/3259) with MSE=0.0619311
    Camera #16 projections: 80% inliers (3117/3892) with MSE=0.0720228
    Camera #17 projections: 82% inliers (3447/4185) with MSE=0.0526105
    Camera #18 projections: 79% inliers (2893/3651) with MSE=0.0763899
    Camera #19 projections: 85% inliers (2296/2712) with MSE=0.0817175
    Camera #20 projections: 79% inliers (1562/1976) with MSE=0.106591
    Camera #21 projections: 74% inliers (1395/1894) with MSE=0.0883962
    Camera #22 projections: 74% inliers (1722/2336) with MSE=0.110968
    Camera #23 projections: 74% inliers (2136/2870) with MSE=0.126528
    Camera #24 projections: 78% inliers (2596/3328) with MSE=0.0628716
    Camera #25 projections: 83% inliers (2572/3086) with MSE=0.0691358
    Camera #26 projections: 86% inliers (2339/2717) with MSE=0.080712
    Camera #27 projections: 88% inliers (2136/2434) with MSE=0.0995032
    Camera #28 projections: 91% inliers (1782/1968) with MSE=0.248946
Append camera #29 (IMG_3052.JPG) to alignment via 1215 common points
Before BA camera: k1=-0.117027, k2=-0.0122376, f=1589.27, cx=359.198, cy=548.244
Before BA projections: 77% inliers with MSE=0.132187
    Camera #0 projections: 69% inliers (1375/1991) with MSE=0.971261
    Camera #1 projections: 75% inliers (1450/1932) with MSE=0.591086
    Camera #2 projections: 81% inliers (2014/2495) with MSE=0.186526
    Camera #3 projections: 80% inliers (2216/2779) with MSE=0.0865311
    Camera #4 projections: 72% inliers (2468/3413) with MSE=0.0926025
    Camera #5 projections: 73% inliers (2415/3286) with MSE=0.0914561
    Camera #6 projections: 76% inliers (2694/3561) with MSE=0.0824138
    Camera #7 projections: 76% inliers (2492/3285) with MSE=0.0734509
    Camera #8 projections: 77% inliers (2492/3239) with MSE=0.0646448
    Camera #9 projections: 79% inliers (2679/3384) with MSE=0.0700388
    Camera #10 projections: 83% inliers (2729/3286) with MSE=0.0695046
    Camera #11 projections: 80% inliers (2438/3029) with MSE=0.0945085
    Camera #12 projections: 79% inliers (2006/2553) with MSE=0.0800534
    Camera #13 projections: 74% inliers (1765/2389) with MSE=0.0775711
    Camera #14 projections: 76% inliers (1785/2344) with MSE=0.0581282
    Camera #15 projections: 81% inliers (2647/3259) with MSE=0.0619311
    Camera #16 projections: 80% inliers (3117/3892) with MSE=0.0720228
    Camera #17 projections: 82% inliers (3447/4185) with MSE=0.0526105
    Camera #18 projections: 79% inliers (2893/3651) with MSE=0.0763899
    Camera #19 projections: 85% inliers (2296/2712) with MSE=0.0817175
    Camera #20 projections: 79% inliers (1562/1976) with MSE=0.106591
    Camera #21 projections: 74% inliers (1395/1894) with MSE=0.0883962
    Camera #22 projections: 74% inliers (1722/2336) with MSE=0.110968
    Camera #23 projections: 74% inliers (2136/2870) with MSE=0.126528
    Camera #24 projections: 78% inliers (2596/3328) with MSE=0.0628716
    Camera #25 projections: 83% inliers (2572/3086) with MSE=0.0691358
    Camera #26 projections: 86% inliers (2339/2717) with MSE=0.080712
    Camera #27 projections: 83% inliers (2139/2585) with MSE=0.101447
    Camera #28 projections: 82% inliers (1935/2371) with MSE=0.414919
    Camera #29 projections: 16% inliers (352/2240) with MSE=1.93895
After BA camera: k1=-0.0966128, k2=-0.0336184, f=1645.13, cx=356.634, cy=568.538
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: [-1.97199, 0.00681441, 0.496304] -> [-1.85364, 0.0074223, 0.489365]
Camera #3 center: [-2.87086, 0.0121449, 0.912934] -> [-2.6497, 0.0108503, 0.884585]
Camera #4 center: [-3.54296, 0.0457942, 1.50763] -> [-3.24086, 0.0338151, 1.43377]
Camera #5 center: [-4.14649, 0.0883335, 2.24539] -> [-3.76816, 0.0611846, 2.11128]
Camera #6 center: [-4.44014, 0.167594, 3.13992] -> [-4.01538, 0.118671, 2.92495]
Camera #7 center: [-4.64962, 0.252287, 4.123] -> [-4.18356, 0.177839, 3.81762]
Camera #8 center: [-4.3942, 0.339659, 5.24191] -> [-3.92982, 0.236378, 4.82379]
Camera #9 center: [-4.04925, 0.400989, 6.26228] -> [-3.59689, 0.271248, 5.73727]
Camera #10 center: [-3.34374, 0.483875, 7.12262] -> [-2.9437, 0.327713, 6.49894]
Camera #11 center: [-2.66256, 0.542965, 7.7104] -> [-2.3186, 0.367107, 7.01599]
Camera #12 center: [-1.84083, 0.615357, 8.25848] -> [-1.57292, 0.417736, 7.49348]
Camera #13 center: [-0.918474, 0.635817, 8.56864] -> [-0.74463, 0.425334, 7.75594]
Camera #14 center: [-0.0850258, 0.667866, 8.75104] -> [0.00471745, 0.445747, 7.90853]
Camera #15 center: [0.803116, 0.663088, 8.68751] -> [0.80466, 0.437084, 7.83933]
Camera #16 center: [1.68106, 0.651174, 8.43778] -> [1.59335, 0.425046, 7.60185]
Camera #17 center: [2.47397, 0.602997, 7.91379] -> [2.30236, 0.38703, 7.11809]
Camera #18 center: [3.08868, 0.566459, 7.26489] -> [2.84902, 0.362872, 6.52432]
Camera #19 center: [3.66837, 0.542706, 6.62943] -> [3.365, 0.348896, 5.94315]
Camera #20 center: [4.25305, 0.501475, 5.97035] -> [3.88359, 0.31908, 5.34142]
Camera #21 center: [4.52954, 0.433187, 5.12843] -> [4.12263, 0.270607, 4.57698]
Camera #22 center: [4.63403, 0.355893, 4.29277] -> [4.20604, 0.215274, 3.8182]
Camera #23 center: [4.50066, 0.288339, 3.5536] -> [4.07481, 0.168613, 3.14872]
Camera #24 center: [4.29434, 0.225574, 2.82257] -> [3.87703, 0.126176, 2.48783]
Camera #25 center: [3.86058, 0.180602, 2.18306] -> [3.47489, 0.100155, 1.91408]
Camera #26 center: [3.32627, 0.102138, 1.5117] -> [2.98036, 0.0444618, 1.31219]
Camera #27 center: [2.70279, 0.0501011, 0.979031] -> [2.40613, 0.020547, 0.840372]
Camera #28 center: [1.97983, 0.0199855, 0.450847] -> [1.7378, 0.00349478, 0.37279]
Camera #29 center: [1.23916, -0.11926, -0.0831891] -> [0.94475, 0.00117932, 0.0721439]
After BA tie poits: 18% old + 1% new = 18% total outliers
After BA projections: 79% inliers with MSE=0.105165
    Camera #0 projections: 76% inliers (1517/1991) with MSE=0.42011
    Camera #1 projections: 73% inliers (1420/1932) with MSE=0.422563
    Camera #2 projections: 78% inliers (1950/2495) with MSE=0.147338
    Camera #3 projections: 79% inliers (2184/2779) with MSE=0.0983666
    Camera #4 projections: 72% inliers (2458/3413) with MSE=0.122145
    Camera #5 projections: 73% inliers (2413/3286) with MSE=0.110388
    Camera #6 projections: 76% inliers (2695/3561) with MSE=0.095799
    Camera #7 projections: 76% inliers (2492/3285) with MSE=0.0812716
    Camera #8 projections: 77% inliers (2496/3239) with MSE=0.0786323
    Camera #9 projections: 79% inliers (2679/3384) with MSE=0.0777418
    Camera #10 projections: 83% inliers (2729/3286) with MSE=0.076668
    Camera #11 projections: 80% inliers (2438/3029) with MSE=0.10674
    Camera #12 projections: 79% inliers (2006/2553) with MSE=0.0969983
    Camera #13 projections: 74% inliers (1762/2389) with MSE=0.0842775
    Camera #14 projections: 76% inliers (1784/2344) with MSE=0.0714161
    Camera #15 projections: 81% inliers (2647/3259) with MSE=0.0718079
    Camera #16 projections: 80% inliers (3111/3892) with MSE=0.0734556
    Camera #17 projections: 82% inliers (3444/4185) with MSE=0.0564905
    Camera #18 projections: 79% inliers (2891/3651) with MSE=0.0883676
    Camera #19 projections: 85% inliers (2293/2712) with MSE=0.0893114
    Camera #20 projections: 79% inliers (1557/1976) with MSE=0.117694
    Camera #21 projections: 73% inliers (1391/1894) with MSE=0.093923
    Camera #22 projections: 73% inliers (1700/2336) with MSE=0.0920821
    Camera #23 projections: 73% inliers (2094/2870) with MSE=0.0754657
    Camera #24 projections: 77% inliers (2577/3328) with MSE=0.0658818
    Camera #25 projections: 82% inliers (2537/3086) with MSE=0.0590677
    Camera #26 projections: 84% inliers (2294/2717) with MSE=0.0621031
    Camera #27 projections: 86% inliers (2219/2585) with MSE=0.0717982
    Camera #28 projections: 88% inliers (2077/2371) with MSE=0.138018
    Camera #29 projections: 91% inliers (2038/2240) with MSE=0.205473
Append camera #30 (IMG_3053.JPG) to alignment via 2869 common points
Before BA camera: k1=-0.0966128, k2=-0.0336184, f=1645.13, cx=356.634, cy=568.538
Before BA projections: 78% inliers with MSE=0.235286
    Camera #0 projections: 79% inliers (2306/2937) with MSE=0.6254
    Camera #1 projections: 73% inliers (1507/2063) with MSE=0.489305
    Camera #2 projections: 78% inliers (1958/2510) with MSE=0.152897
    Camera #3 projections: 79% inliers (2187/2782) with MSE=0.102502
    Camera #4 projections: 72% inliers (2459/3414) with MSE=0.122765
    Camera #5 projections: 73% inliers (2413/3286) with MSE=0.110388
    Camera #6 projections: 76% inliers (2695/3561) with MSE=0.095799
    Camera #7 projections: 76% inliers (2492/3285) with MSE=0.0812716
    Camera #8 projections: 77% inliers (2496/3239) with MSE=0.0786323
    Camera #9 projections: 79% inliers (2679/3384) with MSE=0.0777418
    Camera #10 projections: 83% inliers (2729/3286) with MSE=0.076668
    Camera #11 projections: 80% inliers (2438/3029) with MSE=0.10674
    Camera #12 projections: 79% inliers (2006/2553) with MSE=0.0969983
    Camera #13 projections: 74% inliers (1762/2389) with MSE=0.0842775
    Camera #14 projections: 76% inliers (1784/2344) with MSE=0.0714161
    Camera #15 projections: 81% inliers (2647/3259) with MSE=0.0718079
    Camera #16 projections: 80% inliers (3111/3892) with MSE=0.0734556
    Camera #17 projections: 82% inliers (3444/4185) with MSE=0.0564905
    Camera #18 projections: 79% inliers (2891/3651) with MSE=0.0883676
    Camera #19 projections: 85% inliers (2293/2712) with MSE=0.0893114
    Camera #20 projections: 79% inliers (1557/1976) with MSE=0.117694
    Camera #21 projections: 73% inliers (1391/1894) with MSE=0.093923
    Camera #22 projections: 73% inliers (1700/2336) with MSE=0.0920821
    Camera #23 projections: 73% inliers (2094/2870) with MSE=0.0754657
    Camera #24 projections: 77% inliers (2577/3328) with MSE=0.0658818
    Camera #25 projections: 82% inliers (2537/3086) with MSE=0.0590677
    Camera #26 projections: 84% inliers (2294/2717) with MSE=0.0621031
    Camera #27 projections: 86% inliers (2219/2586) with MSE=0.0717982
    Camera #28 projections: 87% inliers (2197/2529) with MSE=0.183161
    Camera #29 projections: 91% inliers (2288/2526) with MSE=0.289968
    Camera #30 projections: 65% inliers (2935/4499) with MSE=2.89444
After BA camera: k1=-0.132217, k2=0.128316, f=1596.41, cx=353.284, cy=569.516
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: [-1.85364, 0.0074223, 0.489365] -> [-1.91538, 0.0122227, 0.506662]
Camera #3 center: [-2.6497, 0.0108503, 0.884585] -> [-2.72608, 0.0244225, 0.920026]
Camera #4 center: [-3.24086, 0.0338151, 1.43377] -> [-3.32469, 0.056618, 1.48819]
Camera #5 center: [-3.76816, 0.0611846, 2.11128] -> [-3.85594, 0.0941625, 2.18623]
Camera #6 center: [-4.01538, 0.118671, 2.92495] -> [-4.09918, 0.160592, 3.01929]
Camera #7 center: [-4.18356, 0.177839, 3.81762] -> [-4.26079, 0.22968, 3.93231]
Camera #8 center: [-3.92982, 0.236378, 4.82379] -> [-3.99021, 0.294723, 4.95744]
Camera #9 center: [-3.59689, 0.271248, 5.73727] -> [-3.63951, 0.335617, 5.88802]
Camera #10 center: [-2.9437, 0.327713, 6.49894] -> [-2.96185, 0.394357, 6.65993]
Camera #11 center: [-2.3186, 0.367107, 7.01599] -> [-2.31573, 0.434627, 7.18116]
Camera #12 center: [-1.57292, 0.417736, 7.49348] -> [-1.54169, 0.485979, 7.66162]
Camera #13 center: [-0.74463, 0.425334, 7.75594] -> [-0.683853, 0.490921, 7.91938]
Camera #14 center: [0.00471745, 0.445747, 7.90853] -> [0.0886573, 0.508847, 8.06266]
Camera #15 center: [0.80466, 0.437084, 7.83933] -> [0.904782, 0.494774, 7.97764]
Camera #16 center: [1.59335, 0.425046, 7.60185] -> [1.70631, 0.47592, 7.72036]
Camera #17 center: [2.30236, 0.38703, 7.11809] -> [2.42217, 0.428204, 7.2128]
Camera #18 center: [2.84902, 0.362872, 6.52432] -> [2.9702, 0.394691, 6.59472]
Camera #19 center: [3.365, 0.348896, 5.94315] -> [3.48655, 0.373008, 5.98944]
Camera #20 center: [3.88359, 0.31908, 5.34142] -> [4.0038, 0.3354, 5.36476]
Camera #21 center: [4.12263, 0.270607, 4.57698] -> [4.23255, 0.278284, 4.5804]
Camera #22 center: [4.20604, 0.215274, 3.8182] -> [4.3033, 0.214737, 3.80516]
Camera #23 center: [4.07481, 0.168613, 3.14872] -> [4.15655, 0.161773, 3.12487]
Camera #24 center: [3.87703, 0.126176, 2.48783] -> [3.94143, 0.113998, 2.45377]
Camera #25 center: [3.47489, 0.100155, 1.91408] -> [3.51851, 0.0842934, 1.87466]
Camera #26 center: [2.98036, 0.0444618, 1.31219] -> [2.99797, 0.0267884, 1.26925]
Camera #27 center: [2.40613, 0.020547, 0.840372] -> [2.3978, 0.0181896, 0.804361]
Camera #28 center: [1.7378, 0.00349478, 0.37279] -> [1.71836, 0.00202147, 0.348608]
Camera #29 center: [0.94475, 0.00117932, 0.0721439] -> [0.926765, 0.00195178, 0.0659068]
Camera #30 center: [0.170157, 0.00149029, -0.114158] -> [0.165614, 0.00227834, -0.0932558]
After BA tie poits: 17% old + 1% new = 18% total outliers
After BA projections: 79% inliers with MSE=0.107036
    Camera #0 projections: 81% inliers (2376/2937) with MSE=0.330505
    Camera #1 projections: 72% inliers (1495/2063) with MSE=0.60329
    Camera #2 projections: 76% inliers (1920/2510) with MSE=0.151969
    Camera #3 projections: 78% inliers (2165/2782) with MSE=0.0935876
    Camera #4 projections: 71% inliers (2427/3414) with MSE=0.103046
    Camera #5 projections: 73% inliers (2401/3286) with MSE=0.101438
    Camera #6 projections: 76% inliers (2691/3561) with MSE=0.0861876
    Camera #7 projections: 76% inliers (2492/3285) with MSE=0.0758016
    Camera #8 projections: 77% inliers (2493/3239) with MSE=0.0675725
    Camera #9 projections: 79% inliers (2679/3384) with MSE=0.0715183
    Camera #10 projections: 83% inliers (2729/3286) with MSE=0.0727617
    Camera #11 projections: 81% inliers (2444/3029) with MSE=0.104952
    Camera #12 projections: 79% inliers (2014/2553) with MSE=0.0970136
    Camera #13 projections: 74% inliers (1763/2389) with MSE=0.0765277
    Camera #14 projections: 76% inliers (1785/2344) with MSE=0.0644301
    Camera #15 projections: 81% inliers (2646/3259) with MSE=0.0652949
    Camera #16 projections: 80% inliers (3111/3892) with MSE=0.0669742
    Camera #17 projections: 82% inliers (3444/4185) with MSE=0.0511615
    Camera #18 projections: 79% inliers (2892/3651) with MSE=0.077576
    Camera #19 projections: 85% inliers (2293/2712) with MSE=0.08059
    Camera #20 projections: 79% inliers (1555/1976) with MSE=0.103961
    Camera #21 projections: 73% inliers (1389/1894) with MSE=0.0846883
    Camera #22 projections: 73% inliers (1699/2336) with MSE=0.0853817
    Camera #23 projections: 73% inliers (2091/2870) with MSE=0.0701686
    Camera #24 projections: 77% inliers (2573/3328) with MSE=0.0576797
    Camera #25 projections: 82% inliers (2529/3086) with MSE=0.0487636
    Camera #26 projections: 84% inliers (2281/2717) with MSE=0.0528466
    Camera #27 projections: 85% inliers (2202/2586) with MSE=0.0558842
    Camera #28 projections: 85% inliers (2158/2529) with MSE=0.117058
    Camera #29 projections: 89% inliers (2250/2526) with MSE=0.151558
    Camera #30 projections: 92% inliers (4137/4499) with MSE=0.199162
Append camera #31 (IMG_3054.JPG) to alignment via 3383 common points
Before BA camera: k1=-0.132217, k2=0.128316, f=1596.41, cx=353.284, cy=569.516
Before BA projections: 77% inliers with MSE=0.186593
    Camera #0 projections: 79% inliers (2432/3085) with MSE=0.365965
    Camera #1 projections: 67% inliers (1710/2561) with MSE=0.902581
    Camera #2 projections: 74% inliers (1941/2616) with MSE=0.188761
    Camera #3 projections: 78% inliers (2167/2792) with MSE=0.097919
    Camera #4 projections: 71% inliers (2428/3416) with MSE=0.104257
    Camera #5 projections: 73% inliers (2401/3286) with MSE=0.101438
    Camera #6 projections: 76% inliers (2691/3561) with MSE=0.0861876
    Camera #7 projections: 76% inliers (2492/3285) with MSE=0.0758016
    Camera #8 projections: 77% inliers (2493/3239) with MSE=0.0675725
    Camera #9 projections: 79% inliers (2679/3384) with MSE=0.0715183
    Camera #10 projections: 83% inliers (2729/3286) with MSE=0.0727617
    Camera #11 projections: 81% inliers (2444/3029) with MSE=0.104952
    Camera #12 projections: 79% inliers (2014/2554) with MSE=0.0970136
    Camera #13 projections: 74% inliers (1763/2389) with MSE=0.0765277
    Camera #14 projections: 76% inliers (1785/2344) with MSE=0.0644301
    Camera #15 projections: 81% inliers (2646/3259) with MSE=0.0652949
    Camera #16 projections: 80% inliers (3111/3892) with MSE=0.0669742
    Camera #17 projections: 82% inliers (3444/4185) with MSE=0.0511615
    Camera #18 projections: 79% inliers (2892/3651) with MSE=0.077576
    Camera #19 projections: 85% inliers (2293/2712) with MSE=0.08059
    Camera #20 projections: 79% inliers (1555/1976) with MSE=0.103961
    Camera #21 projections: 73% inliers (1389/1894) with MSE=0.0846883
    Camera #22 projections: 73% inliers (1699/2336) with MSE=0.0853817
    Camera #23 projections: 73% inliers (2091/2870) with MSE=0.0701686
    Camera #24 projections: 77% inliers (2573/3328) with MSE=0.0576797
    Camera #25 projections: 82% inliers (2529/3086) with MSE=0.0487636
    Camera #26 projections: 84% inliers (2281/2717) with MSE=0.0528466
    Camera #27 projections: 85% inliers (2202/2586) with MSE=0.0558842
    Camera #28 projections: 85% inliers (2162/2536) with MSE=0.118214
    Camera #29 projections: 84% inliers (2266/2710) with MSE=0.165904
    Camera #30 projections: 91% inliers (4209/4641) with MSE=0.228225
    Camera #31 projections: 42% inliers (1894/4542) with MSE=2.76403
After BA camera: k1=-0.146887, k2=0.144126, f=1592.68, cx=351.104, cy=571.763
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: [-1.91538, 0.0122227, 0.506662] -> [-1.88272, 0.011598, 0.494283]
Camera #3 center: [-2.72608, 0.0244225, 0.920026] -> [-2.69477, 0.0224844, 0.902018]
Camera #4 center: [-3.32469, 0.056618, 1.48819] -> [-3.29542, 0.0540042, 1.46637]
Camera #5 center: [-3.85594, 0.0941625, 2.18623] -> [-3.82822, 0.0910747, 2.16127]
Camera #6 center: [-4.09918, 0.160592, 3.01929] -> [-4.07387, 0.157229, 2.99153]
Camera #7 center: [-4.26079, 0.22968, 3.93231] -> [-4.23743, 0.226119, 3.90176]
Camera #8 center: [-3.99021, 0.294723, 4.95744] -> [-3.96996, 0.290983, 4.92441]
Camera #9 center: [-3.63951, 0.335617, 5.88802] -> [-3.62267, 0.331897, 5.85127]
Camera #10 center: [-2.96185, 0.394357, 6.65993] -> [-2.94841, 0.390678, 6.62181]
Camera #11 center: [-2.31573, 0.434627, 7.18116] -> [-2.30511, 0.431176, 7.14184]
Camera #12 center: [-1.54169, 0.485979, 7.66162] -> [-1.53153, 0.482959, 7.62183]
Camera #13 center: [-0.683853, 0.490921, 7.91938] -> [-0.677834, 0.488324, 7.87824]
Camera #14 center: [0.0886573, 0.508847, 8.06266] -> [0.0900038, 0.506653, 8.02058]
Camera #15 center: [0.904782, 0.494774, 7.97764] -> [0.90058, 0.492878, 7.93618]
Camera #16 center: [1.70631, 0.47592, 7.72036] -> [1.69713, 0.474226, 7.68067]
Camera #17 center: [2.42217, 0.428204, 7.2128] -> [2.40928, 0.426635, 7.17643]
Camera #18 center: [2.9702, 0.394691, 6.59472] -> [2.95489, 0.393117, 6.56169]
Camera #19 center: [3.48655, 0.373008, 5.98944] -> [3.46921, 0.371655, 5.9595]
Camera #20 center: [4.0038, 0.3354, 5.36476] -> [3.98348, 0.334612, 5.34021]
Camera #21 center: [4.23255, 0.278284, 4.5804] -> [4.21145, 0.277976, 4.56202]
Camera #22 center: [4.3033, 0.214737, 3.80516] -> [4.28271, 0.214895, 3.79273]
Camera #23 center: [4.15655, 0.161773, 3.12487] -> [4.13815, 0.162101, 3.11737]
Camera #24 center: [3.94143, 0.113998, 2.45377] -> [3.92609, 0.114382, 2.45056]
Camera #25 center: [3.51851, 0.0842934, 1.87466] -> [3.50725, 0.0843296, 1.87404]
Camera #26 center: [2.99797, 0.0267884, 1.26925] -> [2.99119, 0.0267126, 1.27061]
Camera #27 center: [2.3978, 0.0181896, 0.804361] -> [2.39402, 0.0208649, 0.807204]
Camera #28 center: [1.71836, 0.00202147, 0.348608] -> [1.71748, 0.00378665, 0.352035]
Camera #29 center: [0.926765, 0.00195178, 0.0659068] -> [0.927814, 0.00312422, 0.0670289]
Camera #30 center: [0.165614, 0.00227834, -0.0932558] -> [0.165764, 0.00315528, -0.0909792]
Camera #31 center: [-0.64381, -0.0416302, -0.114385] -> [-0.636513, -0.00106312, -0.0711686]
After BA tie poits: 17% old + 1% new = 18% total outliers
After BA projections: 80% inliers with MSE=0.115827
    Camera #0 projections: 80% inliers (2460/3085) with MSE=0.39009
    Camera #1 projections: 74% inliers (1897/2561) with MSE=0.511741
    Camera #2 projections: 75% inliers (1973/2616) with MSE=0.136422
    Camera #3 projections: 76% inliers (2130/2792) with MSE=0.0978746
    Camera #4 projections: 70% inliers (2405/3416) with MSE=0.106967
    Camera #5 projections: 73% inliers (2393/3286) with MSE=0.104456
    Camera #6 projections: 75% inliers (2687/3561) with MSE=0.0924377
    Camera #7 projections: 76% inliers (2489/3285) with MSE=0.0777316
    Camera #8 projections: 77% inliers (2490/3239) with MSE=0.0670496
    Camera #9 projections: 79% inliers (2683/3384) with MSE=0.0741587
    Camera #10 projections: 83% inliers (2729/3286) with MSE=0.0739613
    Camera #11 projections: 81% inliers (2440/3029) with MSE=0.0995964
    Camera #12 projections: 79% inliers (2013/2554) with MSE=0.0966106
    Camera #13 projections: 74% inliers (1763/2389) with MSE=0.0764968
    Camera #14 projections: 76% inliers (1784/2344) with MSE=0.0649318
    Camera #15 projections: 81% inliers (2646/3259) with MSE=0.0668992
    Camera #16 projections: 80% inliers (3111/3892) with MSE=0.0697989
    Camera #17 projections: 82% inliers (3444/4185) with MSE=0.0533765
    Camera #18 projections: 79% inliers (2891/3651) with MSE=0.0774629
    Camera #19 projections: 85% inliers (2293/2712) with MSE=0.0817389
    Camera #20 projections: 79% inliers (1554/1976) with MSE=0.103557
    Camera #21 projections: 73% inliers (1388/1894) with MSE=0.0845257
    Camera #22 projections: 73% inliers (1699/2336) with MSE=0.0856991
    Camera #23 projections: 73% inliers (2088/2870) with MSE=0.0680677
    Camera #24 projections: 77% inliers (2571/3328) with MSE=0.0587184
    Camera #25 projections: 82% inliers (2522/3086) with MSE=0.0484264
    Camera #26 projections: 84% inliers (2270/2717) with MSE=0.0499748
    Camera #27 projections: 84% inliers (2182/2586) with MSE=0.0529088
    Camera #28 projections: 82% inliers (2089/2536) with MSE=0.122626
    Camera #29 projections: 89% inliers (2400/2710) with MSE=0.193283
    Camera #30 projections: 90% inliers (4198/4641) with MSE=0.218505
    Camera #31 projections: 94% inliers (4253/4542) with MSE=0.169124
[       OK ] SFM.ReconstructNViews (198788 ms)
[----------] 1 test from SFM (198788 ms total)

[----------] Global test environment tear-down
[==========] 1 test from 1 test suite ran. (198788 ms total)
[  PASSED  ] 1 test.

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9/10 👍

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@MForest7 @PolarNick239