Task04 Андрей Петрухин СПбГУ

[petrukhinandrew]

Перечислите идеи и коротко обозначьте мысли которые у вас возникали по мере выполнения задания, в частности попробуйте ответить на вопросы:

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

Они совпадают с точностью до домножения на константу. Можно исправить отнормировав

2. BA: представьте что вы написали преобразование phg::Calibration -> блок параметров и обратное блок параметров -> phg::Calibration. Как проверить простым образом что эти преобразования сделаны корректно? Что должно быть в логе про процент inliers до/после BA если runBA() вызывать всегда два раза пордяд? Иначе говоря - что следует из того что в идеале runBA() должна быть (мне очень нравится это слово) - идемпотентна?

Этот процент должен быть очень близким

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

Получилось выравнять по 24 кадра (хотя, может, MeshLab не смог отобразить облако больше)

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

Нет, в обратном преобразовании мы всё равно считаем коэффициент дисторсии по сколько-то сдвинутой точке

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

Иначе изменился бы угол обзора. По сути, мы просто параллельно переносим уменьшенное изображение из исходной фокальной плоскости ближе к камере и получаются подобные треугольники

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

Кажется, да, т.к. точки рассматриваются относительно камер, а глобальный сдвиг это не изменит

7. 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 сопоставлять координаты камер, как-нибудь упорядочив их

100. Если есть - фидбек/идеи по улучшению задания.

// Создайте PR.
// Дождитесь отработки Travis CI, после чего нажмите на зеленую галочку -> Details -> The build -> скопируйте весь лог тестирования.
// Откройте PR на редактирование (сверху справа три точки->Edit) и добавьте сюда скопированный лог тестирования внутри тега

 для сохранения форматирования и под спойлером для компактности и удобства:

Travis CI

$ ./build/test_ceres_solver
Running main() from /home/runner/work/PhotogrammetryTasks2024/PhotogrammetryTasks2024/libs/3rdparty/libgtest/googletest/src/gtest_main.cc
[==========] Running 5 tests from 1 test suite.
[----------] Global test environment set-up.
[----------] 5 tests from CeresSolver
[ RUN      ] CeresSolver.HelloWorld1
iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  1.250000e+01    0.00e+00    5.00e+00   0.00e+00   0.00e+00  1.00e+04        0    1.31e-05    [7](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:11:8).51e-05
   1  1.249750e-07    1.25e+01    5.00e-04   5.00e+00   1.00e+00  3.00e+04        1    4.10e-05    2.42e-02
   2  1.3[8](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:11:9)8518e-16    1.25e-07    1.67e-08   5.00e-04   1.00e+00  [9](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:11:10).00e+04        1    5.96e-06    2.43e-02
Ceres Solver Report: Iterations: 3, Initial cost: 1.250000e+01, Final cost: 1.388518e-16, Termination: CONVERGENCE
x:     5 -> [10](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:11:11)
f(x):  5 -> 1.66644e-08
f'(x): -1 -> -1
[       OK ] CeresSolver.HelloWorld1 (24 ms)
[ RUN      ] CeresSolver.HelloWorld2
iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  6.131250e+04    0.00e+00    1.40e+04   0.00e+00   0.00e+00  1.00e+04        0    5.96e-06    5.39e-05
   1  3.127313e+04    3.00e+04    7.82e+03   4.47e+01   4.90e-01  1.00e+04        1    1.19e-05    1.06e-04
   2  5.685772e+02    3.07e+04    7.75e+02   1.01e+02   9.82e-01  3.00e+04        1    6.91e-06    1.35e-04
   3  1.137952e+02    4.55e+02    2.90e+02   2.55e+01   8.00e-01  3.83e+04        1    5.96e-06    1.60e-04
   4  1.931689e+00    1.12e+02    3.82e+01   1.97e+01   9.83e-01  1.15e+05        1    5.96e-06    1.86e-04
   5  6.620880e-01    1.27e+00    2.23e+01   4.56e+00   6.57e-01  1.18e+05        1    5.01e-06    2.10e-04
   6  1.715778e-02    6.45e-01    2.45e+00   4.10e+00   9.74e-01  3.55e+05        1    5.96e-06    2.33e-04
   7  2.040825e-03    1.51e-02    8.69e-01   8.05e-01   8.81e-01  6.37e+05        1    5.96e-06    2.57e-04
   8  3.955432e-04    1.65e-03    1.23e-01   8.19e-01   8.06e-01  8.28e+05        1    5.01e-06    2.79e-04
   9  4.204592e-05    3.53e-04    3.09e-02   1.49e-01   8.94e-01  1.62e+06        1    5.01e-06    3.03e-04
  10  1.366023e-05    2.84e-05    5.85e-03   1.57e-01   6.75e-01  1.69e+06        1    5.96e-06    3.27e-04
  [11](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:11:12)  1.455687e-06    1.22e-05    7.13e-04   2.79e-02   8.93e-01  3.29e+06        1    5.96e-06    3.51e-04
  [12](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:11:13)  4.821191e-07    9.74e-07    7.85e-04   2.95e-02   6.69e-01  3.43e+06        1    6.20e-06    3.74e-04
  [13](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:11:14)  5.128650e-08    4.31e-07    2.64e-04   5.24e-03   8.94e-01  6.69e+06        1    5.01e-06    3.97e-04
  [14](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:11:15)  1.696961e-08    3.43e-08    1.71e-04   5.54e-03   6.69e-01  6.96e+06        1    5.01e-06    4.20e-04
  [15](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:11:16)  1.803689e-09    1.52e-08    5.60e-05   9.82e-04   8.94e-01  1.36e+07        1    5.96e-06    4.44e-04
  16  5.966373e-10    1.21e-09    3.29e-05   1.04e-03   6.69e-01  1.41e+07        1    5.01e-06    4.68e-04
  17  6.339313e-11    5.33e-10    1.07e-05   1.84e-04   8.94e-01  2.77e+07        1    5.96e-06    4.97e-04
  18  2.096924e-11    4.24e-11    6.19e-06   1.95e-04   6.69e-01  2.88e+07        1    5.01e-06    5.20e-04
  19  2.227619e-12    1.87e-11    2.02e-06   3.45e-05   8.94e-01  5.62e+07        1    6.20e-06    5.44e-04
  20  7.368654e-13    1.49e-12    1.[16](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:11:17)e-06   3.65e-05   6.69e-01  5.85e+07        1    5.96e-06    5.67e-04
  21  7.827280e-14    6.59e-13    3.79e-07   6.47e-06   8.94e-01  1.14e+08        1    5.01e-06    5.90e-04
  22  2.589[18](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:11:19)8e-14    5.24e-14    2.18e-07   6.84e-06   6.69e-01  1.[19](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:11:20)e+08        1    5.96e-06    6.14e-04
Ceres Solver Report: Iterations: 23, Initial cost: 6.131250e+04, Final cost: 2.589188e-14, Termination: CONVERGENCE
Found intersection point: (10, 5, [20](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:11:21)0)
[       OK ] CeresSolver.HelloWorld2 (1 ms)
[ RUN      ] CeresSolver.FitLineNoise
iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  4.506761e+07    0.00e+00    1.61e+08   0.00e+00   0.00e+00  1.00e+04        0    2.07e-04    3.16e-04
   1  4.6583[21](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:11:22)e+02    4.51e+07    1.33e+04   1.00e+02   1.00e+00  3.00e+04        1    3.28e-04    6.62e-04
   2  4.654480e+02    3.84e-01    1.61e-01   5.13e-03   1.00e+00  9.00e+04        1    3.02e-04    9.77e-04
Ceres Solver Report: Iterations: 3, Initial cost: 4.506761e+07, Final cost: 4.654480e+02, Termination: CONVERGENCE
Found line: (a=-0.500026, b=0.999948, c=-100.052)
Expected: (a=0.5, b=-1, c=100)
[       OK ] CeresSolver.FitLineNoise (2 ms)
[ RUN      ] CeresSolver.FitLineNoiseAndOutliers
iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  1.201187e+08    0.00e+00    1.37e+08   0.00e+00   0.00e+00  1.00e+04        0    2.00e-04    2.66e-04
   1  7.448902e+07    4.56e+07    5.33e+07   8.51e+01   1.41e+00  3.00e+04        1    2.90e-04    5.71e-04
   2  6.772855e+07    6.76e+06    1.27e+07   1.55e+01   1.41e+00  9.00e+04        1    2.91e-04    8.75e-04
   3  6.739936e+07    3.29e+05    3.88e+06   2.30e+00   1.33e+00  2.70e+05        1    2.92e-04    1.18e-03
   4  6.736832e+07    3.10e+04    1.21e+06   6.64e-01   1.32e+00  8.10e+05        1    2.90e-04    1.48e-03
   5  6.736525e+07    3.07e+03    3.83e+05   2.05e-01   1.32e+00  2.43e+06        1    2.92e-04    1.78e-03
   6  6.736495e+07    3.06e+02    1.21e+05   6.45e-02   1.32e+00  7.29e+06        1    2.90e-04    2.08e-03
Ceres Solver Report: Iterations: 7, Initial cost: 1.201187e+08, Final cost: 6.736495e+07, Termination: CONVERGENCE
Found line: (a=-0.549481, b=0.767491, c=-66.3904)
Expected: (a=0.5, b=-1, c=100)
[       OK ] CeresSolver.FitLineNoiseAndOutliers (3 ms)
[ RUN      ] CeresSolver.FitLineNoiseAndOutliersWithHuberLoss
iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  1.096949e+06    0.00e+00    1.13e+06   0.00e+00   0.00e+00  1.00e+04        0    2.03e-04    2.65e-04
   1  5.506564e+05    5.46e+05    1.19e+06   8.24e+01   2.14e+00  3.00e+04        1    3.19e-04    6.01e-04
   2  4.578101e+05    9.28e+04    9.63e+05   6.74e+00   1.74e+00  9.00e+04        1    3.03e-04    9.37e-04
   3  4.504957e+05    7.31e+03    2.85e+05   3.04e-01   1.65e+00  2.70e+05        1    2.92e-04    1.24e-03
   4  4.503340e+05    1.62e+02    4.[22](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:11:23)e+03   1.43e-02   1.02e+00  8.10e+05        1    2.94e-04    1.55e-03
Ceres Solver Report: Iterations: 5, Initial cost: 1.096949e+06, Final cost: 4.503340e+05, Termination: CONVERGENCE
Found line: (a=-0.445255, b=0.889226, c=-88.902)
Expected: (a=0.5, b=-1, c=100)
[       OK ] CeresSolver.FitLineNoiseAndOutliersWithHuberLoss (3 ms)
[----------] 5 tests from CeresSolver (33 ms total)

[----------] Global test environment tear-down
[==========] 5 tests from 1 test suite ran. (33 ms total)
[  PASSED  ] 5 tests.
$ ./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...
1% - Cameras 0-1 (IMG_3023.JPG-IMG_3024.JPG): 1159 matches
1% - Cameras 0-2 (IMG_3023.JPG-IMG_3025.JPG): 442 matches
2% - Cameras 5-1 (IMG_3028.JPG-IMG_3024.JPG): 24 matches
2% - Cameras 0-3 (IMG_3023.JPG-IMG_3026.JPG): 148 matches
3% - Cameras 5-2 (IMG_3028.JPG-IMG_3025.JPG): 132 matches
3% - Cameras 15-2 (IMG_3038.JPG-IMG_3025.JPG): 1 matches
3% - Cameras 0-4 (IMG_3023.JPG-IMG_302[7](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:8).JPG): 53 matches
4% - Cameras 5-3 (IMG_3028.JPG-IMG_3026.JPG): [8](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:9)24 matches
5% - Cameras 10-4 (IMG_3033.JPG-IMG_3027.JPG): [9](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:10)3 matches
5% - Cameras 5-4 (IMG_3028.JPG-IMG_3027.JPG): 1391 matches
6% - Cameras [10](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:11)-5 (IMG_3033.JPG-IMG_3028.JPG): 259 matches
6% - Cameras 5-6 (IMG_3028.JPG-IMG_3029.JPG): 1739 matches
7% - Cameras 10-6 (IMG_3033.JPG-IMG_3029.JPG): 327 matches
7% - Cameras 5-7 (IMG_3028.JPG-IMG_3030.JPG): 1074 matches
8% - Cameras 10-7 (IMG_3033.JPG-IMG_3030.JPG): 415 matches
8% - Cameras 5-8 (IMG_3028.JPG-IMG_3031.JPG): 391 matches
9% - Cameras 10-8 (IMG_3033.JPG-IMG_3031.JPG): 614 matches
9% - Cameras 5-9 (IMG_3028.JPG-IMG_3032.JPG): 318 matches
10% - Cameras 10-9 (IMG_3033.JPG-IMG_3032.JPG): 1327 matches
10% - Cameras 5-10 (IMG_3028.JPG-IMG_3033.JPG): 306 matches
[11](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:12)% - Cameras 0-11 (IMG_3023.JPG-IMG_3034.JPG): 19 matches
11% - Cameras 5-11 (IMG_3028.JPG-IMG_3034.JPG): 163 matches
11% - Cameras 10-11 (IMG_3033.JPG-IMG_3034.JPG): 1154 matches
[12](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:13)% - Cameras 10-12 (IMG_3033.JPG-IMG_3035.JPG): 470 matches
[13](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:14)% - Cameras 15-11 (IMG_3038.JPG-IMG_3034.JPG): 87 matches
13% - Cameras 10-13 (IMG_3033.JPG-IMG_3036.JPG): 42 matches
[14](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:15)% - Cameras 15-12 (IMG_3038.JPG-IMG_3035.JPG): 249 matches
[15](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:16)% - Cameras 15-13 (IMG_3038.JPG-IMG_3036.JPG): 819 matches
15% - Cameras 0-15 (IMG_3023.JPG-IMG_3038.JPG): 2 matches
[16](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:17)% - Cameras 15-14 (IMG_3038.JPG-IMG_3037.JPG): 1312 matches
[17](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:18)% - Cameras 15-16 (IMG_3038.JPG-IMG_3039.JPG): 1329 matches
[18](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:19)% - Cameras 15-17 (IMG_3038.JPG-IMG_3040.JPG): 865 matches
[19](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:20)% - Cameras 15-18 (IMG_3038.JPG-IMG_3041.JPG): 288 matches
[20](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:21)% - Cameras 15-19 (IMG_3038.JPG-IMG_3042.JPG): 126 matches
20% - Cameras 1-0 (IMG_3024.JPG-IMG_3023.JPG): 1019 matches
[21](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:22)% - Cameras 1-2 (IMG_3024.JPG-IMG_3025.JPG): 1159 matches
[22](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:23)% - Cameras 6-1 (IMG_3029.JPG-IMG_3024.JPG): 5 matches
22% - Cameras 1-3 (IMG_3024.JPG-IMG_3026.JPG): 354 matches
[23](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:24)% - Cameras 6-2 (IMG_3029.JPG-IMG_3025.JPG): 49 matches
23% - Cameras 1-4 (IMG_30[24](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:25).JPG-IMG_3027.JPG): 175 matches
24% - Cameras 11-3 (IMG_3034.JPG-IMG_3026.JPG): 28 matches
24% - Cameras 6-3 (IMG_3029.JPG-IMG_3026.JPG): 326 matches
[25](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:26)% - Cameras 11-4 (IMG_3034.JPG-IMG_3027.JPG): 98 matches
25% - Cameras 6-4 (IMG_3029.JPG-IMG_3027.JPG): 888 matches
25% - Cameras 1-6 (IMG_3024.JPG-IMG_3029.JPG): 16 matches
[26](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:27)% - Cameras 11-5 (IMG_3034.JPG-IMG_3028.JPG): 136 matches
26% - Cameras 6-5 (IMG_3029.JPG-IMG_3028.JPG): 1672 matches
[27](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:28)% - Cameras 11-6 (IMG_3034.JPG-IMG_3029.JPG): 149 matches
27% - Cameras 6-7 (IMG_3029.JPG-IMG_3030.JPG): 1556 matches
[28](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:29)% - Cameras 11-7 (IMG_3034.JPG-IMG_3030.JPG): 173 matches
28% - Cameras 6-8 (IMG_30[29](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:30).JPG-IMG_3031.JPG): 837 matches
29% - Cameras 11-8 (IMG_3034.JPG-IMG_[30](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:31)31.JPG): 215 matches
29% - Cameras 6-9 (IMG_3029.JPG-IMG_3032.JPG): 481 matches
30% - Cameras 11-9 (IMG_3034.JPG-IMG_3032.JPG): 447 matches
[31](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:32)% - Cameras 6-10 (IMG_3029.JPG-IMG_3033.JPG): 368 matches
31% - Cameras 11-10 (IMG_3034.JPG-IMG_3033.JPG): 1102 matches
[32](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:33)% - Cameras 6-11 (IMG_3029.JPG-IMG_3034.JPG): 166 matches
32% - Cameras 11-12 (IMG_3034.JPG-IMG_3035.JPG): 1261 matches
[33](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:34)% - Cameras 11-13 (IMG_3034.JPG-IMG_3036.JPG): 475 matches
33% - Cameras 16-11 (IMG_3039.JPG-IMG_30[34](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:35).JPG): 63 matches
34% - Cameras 11-14 (IMG_3034.JPG-IMG_3037.JPG): 161 matches
34% - Cameras 16-12 (IMG_3039.JPG-IMG_30[35](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:36).JPG): 187 matches
35% - Cameras 11-15 (IMG_3034.JPG-IMG_3038.JPG): 115 matches
35% - Cameras 16-13 (IMG_3039.JPG-IMG_30[36](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:37).JPG): 408 matches
36% - Cameras 11-16 (IMG_3034.JPG-IMG_3039.JPG): 47 matches
[37](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:38)% - Cameras 16-14 (IMG_3039.JPG-IMG_3037.JPG): 791 matches
38% - Cameras 16-15 (IMG_3039.JPG-IMG_30[38](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:39).JPG): 1300 matches
39% - Cameras 16-17 (IMG_3039.JPG-IMG_3040.JPG): 1586 matches
[39](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:40)% - Cameras 2-0 (IMG_3025.JPG-IMG_3023.JPG): 533 matches
40% - Cameras 16-18 (IMG_3039.JPG-IMG_3041.JPG): 1072 matches
41% - Cameras 2-1 (IMG_3025.JPG-IMG_3024.JPG): 1139 matches
41% - Cameras 16-19 (IMG_3039.JPG-IMG_3042.JPG): 282 matches
42% - Cameras 2-3 (IMG_3025.JPG-IMG_3026.JPG): 1210 matches
43% - Cameras 2-4 (IMG_3025.JPG-IMG_3027.JPG): 684 matches
43% - Cameras 7-2 (IMG_3030.JPG-IMG_3025.JPG): 9 matches
44% - Cameras 2-5 (IMG_3025.JPG-IMG_3028.JPG): 106 matches
44% - Cameras 7-3 (IMG_3030.JPG-IMG_3026.JPG): 103 matches
45% - Cameras 2-6 (IMG_3025.JPG-IMG_3029.JPG): 56 matches
45% - Cameras 7-4 (IMG_3030.JPG-IMG_3027.JPG): 309 matches
46% - Cameras 2-7 (IMG_3025.JPG-IMG_3030.JPG): 19 matches
46% - Cameras 7-5 (IMG_3030.JPG-IMG_3028.JPG): 989 matches
47% - Cameras 7-6 (IMG_3030.JPG-IMG_3029.JPG): 1567 matches
48% - Cameras 7-8 (IMG_3030.JPG-IMG_3031.JPG): 1223 matches
49% - Cameras 7-9 (IMG_3030.JPG-IMG_3032.JPG): 764 matches
49% - Cameras 12-9 (IMG_3035.JPG-IMG_3032.JPG): 7 matches
50% - Cameras 7-10 (IMG_3030.JPG-IMG_3033.JPG): 418 matches
51% - Cameras 12-10 (IMG_3035.JPG-IMG_3033.JPG): 502 matches
51% - Cameras 7-11 (IMG_3030.JPG-IMG_3034.JPG): 152 matches
52% - Cameras 12-11 (IMG_3035.JPG-IMG_3034.JPG): 1328 matches
53% - Cameras 12-13 (IMG_3035.JPG-IMG_3036.JPG): 1093 matches
53% - Cameras 12-14 (IMG_3035.JPG-IMG_3037.JPG): 423 matches
54% - Cameras 12-15 (IMG_3035.JPG-IMG_3038.JPG): 302 matches
55% - Cameras 17-11 (IMG_30[40](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:41).JPG-IMG_3034.JPG): 5 matches
55% - Cameras 12-16 (IMG_3035.JPG-IMG_3039.JPG): 173 matches
56% - Cameras 17-12 (IMG_3040.JPG-IMG_3035.JPG): 83 matches
56% - Cameras 12-17 (IMG_3035.JPG-IMG_3040.JPG): 89 matches
57% - Cameras 17-13 (IMG_3040.JPG-IMG_3036.JPG): 258 matches
57% - Cameras 12-18 (IMG_3035.JPG-IMG_30[41](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:42).JPG): 48 matches
58% - Cameras 17-14 (IMG_3040.JPG-IMG_3037.JPG): 334 matches
59% - Cameras 17-15 (IMG_3040.JPG-IMG_3038.JPG): 841 matches
60% - Cameras 3-0 (IMG_3026.JPG-IMG_3023.JPG): 179 matches
60% - Cameras 17-16 (IMG_3040.JPG-IMG_3039.JPG): 1652 matches
61% - Cameras 3-1 (IMG_3026.JPG-IMG_3024.JPG): 391 matches
61% - Cameras 17-18 (IMG_3040.JPG-IMG_3041.JPG): 1624 matches
62% - Cameras 3-2 (IMG_3026.JPG-IMG_3025.JPG): 1225 matches
62% - Cameras 17-19 (IMG_3040.JPG-IMG_30[42](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:43).JPG): 1084 matches
63% - Cameras 3-4 (IMG_3026.JPG-IMG_3027.JPG): 1562 matches
64% - Cameras 8-3 (IMG_3031.JPG-IMG_3026.JPG): 27 matches
64% - Cameras 3-5 (IMG_3026.JPG-IMG_3028.JPG): 694 matches
65% - Cameras 8-4 (IMG_3031.JPG-IMG_3027.JPG): 157 matches
65% - Cameras 3-6 (IMG_3026.JPG-IMG_3029.JPG): 305 matches
66% - Cameras 8-5 (IMG_3031.JPG-IMG_3028.JPG): 361 matches
66% - Cameras 3-7 (IMG_3026.JPG-IMG_3030.JPG): 87 matches
67% - Cameras 8-6 (IMG_3031.JPG-IMG_3029.JPG): 877 matches
68% - Cameras 8-7 (IMG_3031.JPG-IMG_3030.JPG): 1254 matches
69% - Cameras 8-9 (IMG_3031.JPG-IMG_3032.JPG): 1575 matches
69% - Cameras 13-10 (IMG_3036.JPG-IMG_3033.JPG): 27 matches
69% - Cameras 3-10 (IMG_3026.JPG-IMG_3033.JPG): 5 matches
70% - Cameras 13-11 (IMG_3036.JPG-IMG_3034.JPG): 4[43](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:44) matches
70% - Cameras 8-10 (IMG_3031.JPG-IMG_3033.JPG): 632 matches
71% - Cameras 3-11 (IMG_3026.JPG-IMG_3034.JPG): 4 matches
71% - Cameras 13-12 (IMG_3036.JPG-IMG_3035.JPG): 1133 matches
71% - Cameras 8-11 (IMG_3031.JPG-IMG_3034.JPG): 177 matches
72% - Cameras 13-14 (IMG_3036.JPG-IMG_3037.JPG): 1025 matches
73% - Cameras 13-15 (IMG_3036.JPG-IMG_3038.JPG): 884 matches
74% - Cameras 13-16 (IMG_3036.JPG-IMG_3039.JPG): 383 matches
75% - Cameras 13-17 (IMG_3036.JPG-IMG_3040.JPG): 194 matches
76% - Cameras 13-18 (IMG_3036.JPG-IMG_3041.JPG): 97 matches
76% - Cameras 18-12 (IMG_3041.JPG-IMG_3035.JPG): 32 matches
77% - Cameras 13-19 (IMG_3036.JPG-IMG_3042.JPG): 11 matches
77% - Cameras 18-13 (IMG_3041.JPG-IMG_3036.JPG): 109 matches
78% - Cameras 18-14 (IMG_3041.JPG-IMG_3037.JPG): 149 matches
79% - Cameras 18-15 (IMG_3041.JPG-IMG_3038.JPG): 288 matches
80% - Cameras 18-16 (IMG_3041.JPG-IMG_3039.JPG): 1127 matches
81% - Cameras 4-0 (IMG_3027.JPG-IMG_3023.JPG): 82 matches
82% - Cameras 18-17 (IMG_3041.JPG-IMG_3040.JPG): 1659 matches
82% - Cameras 4-1 (IMG_3027.JPG-IMG_3024.JPG): 136 matches
83% - Cameras 18-19 (IMG_3041.JPG-IMG_3042.JPG): 1373 matches
83% - Cameras 4-2 (IMG_3027.JPG-IMG_3025.JPG): 633 matches
84% - Cameras 4-3 (IMG_3027.JPG-IMG_3026.JPG): 1675 matches
85% - Cameras 9-4 (IMG_3032.JPG-IMG_3027.JPG): 107 matches
85% - Cameras 4-5 (IMG_3027.JPG-IMG_3028.JPG): 1419 matches
86% - Cameras 9-5 (IMG_3032.JPG-IMG_3028.JPG): 284 matches
86% - Cameras 4-6 (IMG_3027.JPG-IMG_3029.JPG): 1027 matches
87% - Cameras 9-6 (IMG_3032.JPG-IMG_3029.JPG): 438 matches
87% - Cameras 4-7 (IMG_3027.JPG-IMG_3030.JPG): 284 matches
88% - Cameras 9-7 (IMG_3032.JPG-IMG_3030.JPG): 758 matches
88% - Cameras 4-8 (IMG_3027.JPG-IMG_3031.JPG): 145 matches
89% - Cameras 14-11 (IMG_3037.JPG-IMG_3034.JPG): 162 matches
89% - Cameras 9-8 (IMG_3032.JPG-IMG_3031.JPG): 1567 matches
89% - Cameras 4-9 (IMG_3027.JPG-IMG_3032.JPG): 130 matches
90% - Cameras 14-12 (IMG_3037.JPG-IMG_3035.JPG): 408 matches
90% - Cameras 9-10 (IMG_3032.JPG-IMG_3033.JPG): 1367 matches
91% - Cameras 14-13 (IMG_3037.JPG-IMG_3036.JPG): 982 matches
91% - Cameras 4-10 (IMG_3027.JPG-IMG_3033.JPG): 139 matches
91% - Cameras 14-15 (IMG_3037.JPG-IMG_3038.JPG): 1317 matches
92% - Cameras 9-11 (IMG_3032.JPG-IMG_3034.JPG): 394 matches
92% - Cameras 4-11 (IMG_3027.JPG-IMG_3034.JPG): 101 matches
92% - Cameras 14-16 (IMG_3037.JPG-IMG_3039.JPG): 789 matches
93% - Cameras 4-12 (IMG_3027.JPG-IMG_3035.JPG): 5 matches
93% - Cameras 9-12 (IMG_3032.JPG-IMG_3035.JPG): 40 matches
93% - Cameras 14-17 (IMG_3037.JPG-IMG_3040.JPG): 329 matches
94% - Cameras 9-13 (IMG_3032.JPG-IMG_3036.JPG): 5 matches
94% - Cameras 14-18 (IMG_3037.JPG-IMG_3041.JPG): 137 matches
95% - Cameras 14-19 (IMG_3037.JPG-IMG_3042.JPG): 56 matches
97% - Cameras 19-13 (IMG_3042.JPG-IMG_3036.JPG): 28 matches
98% - Cameras 19-14 (IMG_3042.JPG-IMG_3037.JPG): 97 matches
99% - Cameras 19-15 (IMG_3042.JPG-IMG_3038.JPG): 107 matches
99% - Cameras 19-16 (IMG_3042.JPG-IMG_3039.JPG): 259 matches
100% - Cameras 19-17 (IMG_3042.JPG-IMG_3040.JPG): 850 matches
100% - Cameras 19-18 (IMG_3042.JPG-IMG_3041.JPG): 1014 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=0.36[44](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:45)56
Append camera #2 (IMG_3025.JPG) to alignment via 816 common points
Before BA camera: k1=0, k2=0, f=1585.5, cx=364, cy=546
Before BA projections: 67% inliers with MSE=0.685967
    Camera #0 projections: 83% inliers (1106/1325) with MSE=0.428821
    Camera #1 projections: 82% inliers (1468/1794) with MSE=0.560832
    Camera #2 projections: 39% inliers (643/1650) with MSE=1.41396
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: [-1.76281, 0.0918382, 0.674701] -> [-1.92355, 0.0216619, 0.574616]
After BA tie poits: 7% old + 8% new = 14% total outliers
After BA projections: 89% inliers with MSE=0.666105
    Camera #0 projections: 84% inliers (1112/1325) with MSE=1.01248
    Camera #1 projections: 89% inliers (1593/1794) with MSE=0.740977
    Camera #2 projections: 92% inliers (1516/1650) with MSE=0.333363
Append camera #3 (IMG_3026.JPG) to alignment via 929 common points
Before BA camera: k1=0, k2=0, f=1585.5, cx=364, cy=546
Before BA projections: 76% inliers with MSE=0.882311
    Camera #0 projections: 84% inliers (1128/1346) with MSE=1.01473
    Camera #1 projections: 89% inliers (1633/1841) with MSE=0.728785
    Camera #2 projections: 81% inliers (1887/2317) with MSE=0.[45](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:46)7769
    Camera #3 projections: 50% inliers (840/1690) with MSE=1.95665
After BA camera: k1=0, k2=0, f=1585.5, cx=364, cy=5[46](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:47)
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: [-1.92355, 0.0216619, 0.574616] -> [-1.88348, 0.00398277, 0.458838]
Camera #3 center: [-2.53405, 0.0677445, 0.87997] -> [-2.65494, 0.00453486, 0.758691]
After BA tie poits: 10% old + 11% new = 21% total outliers
After BA projections: 87% inliers with MSE=0.553566
    Camera #0 projections: 81% inliers (1091/1346) with MSE=1.10998
    Camera #1 projections: 85% inliers (1557/1841) with MSE=0.532897
    Camera #2 projections: 89% inliers (2067/2317) with MSE=0.416073
    Camera #3 projections: 93% inliers (1573/1690) with MSE=0.36878
Append camera #4 (IMG_3027.JPG) to alignment via 988 common points
Before BA camera: k1=0, k2=0, f=1585.5, cx=364, cy=546
Before BA projections: 75% inliers with MSE=0.779209
    Camera #0 projections: 81% inliers (1098/1353) with MSE=1.11833
    Camera #1 projections: 85% inliers (1565/1851) with MSE=0.532916
    Camera #2 projections: 85% inliers (2113/2487) with MSE=0.421939
    Camera #3 projections: 76% inliers (1943/2557) with MSE=0.505146
    Camera #4 projections: 50% inliers (1131/22[47](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:48)) with MSE=1.92909
After BA camera: k1=0, k2=0, f=1464.76, cx=334.623, cy=571.185
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: [-1.883[48](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:49), 0.00398277, 0.458838] -> [-1.87595, 0.0139084, 0.504101]
Camera #3 center: [-2.65[49](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:50)4, 0.00453486, 0.758691] -> [-2.66096, 0.0241358, 0.885334]
Camera #4 center: [-3.3167, 0.0295716, 1.19219] -> [-3.22698, 0.0530572, 1.39078]
After BA tie poits: 15% old + 12% new = 27% total outliers
After BA projections: 80% inliers with MSE=0.274815
    Camera #0 projections: 78% inliers (1049/1353) with MSE=0.65875
    Camera #1 projections: 82% inliers (1515/1851) with MSE=0.320109
    Camera #2 projections: 79% inliers (1963/2487) with MSE=0.185296
    Camera #3 projections: 82% inliers (2085/2557) with MSE=0.181045
    Camera #4 projections: 80% inliers (1808/2247) with MSE=0.219432
Append camera #5 (IMG_3028.JPG) to alignment via 1009 common points
Before BA camera: k1=0, k2=0, f=1464.76, cx=334.623, cy=571.185
Before BA projections: 77% inliers with MSE=0.474016
    Camera #0 projections: 78% inliers (1049/1353) with MSE=0.65875
    Camera #1 projections: 82% inliers (1515/1852) with MSE=0.320109
    Camera #2 projections: 79% inliers (1966/2492) with MSE=0.186171
    Camera #3 projections: 78% inliers (2146/2765) with MSE=0.19706
    Camera #4 projections: 78% inliers (22[50](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:51)/2892) with MSE=0.24367
    Camera #5 projections: 69% inliers (1324/1913) with MSE=1.77153
After BA camera: k1=0, k2=0, f=1449.26, cx=324.414, cy=529.824
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: [-1.87595, 0.0139084, 0.504101] -> [-1.88624, 0.0226177, 0.[51](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:52)7249]
Camera #3 center: [-2.66096, 0.0241358, 0.885334] -> [-2.70648, 0.0469198, 0.935504]
Camera #4 center: [-3.22698, 0.0530572, 1.39078] -> [-3.27092, 0.093226, 1.46792]
Camera #5 center: [-3.75608, 0.0666898, 2.00796] -> [-3.79384, 0.148684, 2.11136]
After BA tie poits: 22% old + 9% new = 31% total outliers
After BA projections: 78% inliers with MSE=0.234495
    Camera #0 projections: 77% inliers (1037/1353) with MSE=0.555846
    Camera #1 projections: 81% inliers (1494/18[52](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:53)) with MSE=0.283571
    Camera #2 projections: 75% inliers (1867/2492) with MSE=0.118584
    Camera #3 projections: 74% inliers (2041/2765) with MSE=0.165891
    Camera #4 projections: 75% inliers (2167/2892) with MSE=0.188249
    Camera #5 projections: 91% inliers (1739/1913) with MSE=0.263295
Append camera #6 (IMG_3029.JPG) to alignment via 1249 common points
Before BA camera: k1=0, k2=0, f=1449.26, cx=324.414, cy=529.824
Before BA projections: 74% inliers with MSE=0.309673
    Camera #0 projections: 77% inliers (1037/13[53](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:54)) with MSE=0.555846
    Camera #1 projections: 81% inliers (1494/18[54](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:55)) with MSE=0.283571
    Camera #2 projections: 75% inliers (1870/2495) with MSE=0.119226
    Camera #3 projections: 74% inliers (2057/2789) with MSE=0.165776
    Camera #4 projections: 71% inliers (2239/3142) with MSE=0.194446
    Camera #5 projections: 79% inliers (2218/2818) with MSE=0.269008
    Camera #6 projections: 67% inliers (1706/2543) with MSE=0.76925
After BA camera: k1=-0.17039, k2=0.088495, f=1447.14, cx=321.463, cy=548.617
Camera #0 center: [0, 0, 0] -> [0, 0, 0]
Camera #1 center: [-0.981112, 0.0066058, 0.193329] -> [-0.981112, 0.0066058, 0.193329]
Camera #2 center: [-1.88624, 0.0226177, 0.517249] -> [-1.880[55](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:56), 0.0237131, 0.510491]
Camera #3 center: [-2.70648, 0.0469198, 0.935504] -> [-2.70031, 0.0528955, 0.921065]
Camera #4 center: [-3.27092, 0.093226, 1.46792] -> [-3.30177, 0.101274, 1.47932]
Camera #5 center: [-3.79384, 0.148684, 2.11136] -> [-3.8351, 0.160614, 2.14386]
Camera #6 center: [-4.04546, 0.210666, 2.88916] -> [-4.08876, 0.247439, 2.93534]
After BA tie poits: 25% old + 8% new = 33% total outliers
After BA projections: 75% inliers with MSE=0.18686
    Camera #0 projections: 76% inliers (1028/1353) with MSE=0.447492
    Camera #1 projections: 80% inliers (1479/1854) with MSE=0.249088
    Camera #2 projections: 74% inliers (1842/2495) with MSE=0.105275
    Camera #3 projections: 67% inliers (1870/2789) with MSE=0.110688
    Camera #4 projections: 68% inliers (2134/3142) with MSE=0.150761
    Camera #5 projections: 78% inliers (2187/2818) with MSE=0.172835
    Camera #6 projections: 87% inliers (2201/2543) with MSE=0.205244
Append camera #7 (IMG_3030.JPG) to alignment via 1627 common points
Before BA camera: k1=-0.17039, k2=0.088495, f=1447.14, cx=321.463, cy=548.617
Before BA projections: 77% inliers with MSE=0.324885
    Camera #0 projections: 76% inliers (1028/1353) with MSE=0.447492
    Camera #1 projections: 80% inliers (1479/1854) with MSE=0.249088
    Camera #2 projections: 74% inliers (1842/2495) with MSE=0.105275
    Camera #3 projections: 67% inliers (1873/2792) with MSE=0.110902
    Camera #4 projections: 68% inliers (2149/3168) with MSE=0.151557
    Camera #5 projections: 78% inliers (2383/3038) with MSE=0.190396
    Camera #6 projections: 88% inliers (2847/3232) with MSE=0.2145[56](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:57)
    Camera #7 projections: 82% inliers (2161/2627) with MSE=1.1[57](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:58)12
After BA camera: k1=-0.304316, k2=0.783723, f=1442.44, cx=315.478, cy=539.469
Camera #0 center: [0, 0, 0] -> [0, 0, 0]
Camera #1 center: [-0.981112, 0.00660[58](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:59), 0.193329] -> [-0.981112, 0.0066058, 0.193329]
Camera #2 center: [-1.88055, 0.0237131, 0.510491] -> [-1.88323, 0.0262993, 0.512784]
Camera #3 center: [-2.70031, 0.0528955, 0.921065] -> [-2.71072, 0.0553241, 0.926699]
Camera #4 center: [-3.30177, 0.101274, 1.47932] -> [-3.32357, 0.11536, 1.50331]
Camera #5 center: [-3.8351, 0.160614, 2.14386] -> [-3.86629, 0.183815, 2.19461]
Camera #6 center: [-4.08876, 0.247439, 2.93534] -> [-4.11186, 0.280[59](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:60)8, 2.99565]
Camera #7 center: [-4.29454, 0.343498, 3.77735] -> [-4.30091, 0.384374, 3.8669]
After BA tie poits: 28% old + 7% new = 35% total outliers
After BA projections: 73% inliers with MSE=0.184693
    Camera #0 projections: 75% inliers (1021/1353) with MSE=0.432132
    Camera #1 projections: 79% inliers (1470/1854) with MSE=0.254377
    Camera #2 projections: 73% inliers (1825/2495) with MSE=0.105068
    Camera #3 projections: 65% inliers (1827/2792) with MSE=0.0951059
    Camera #4 projections: 61% inliers (1919/3168) with MSE=0.117743
    Camera #5 projections: 71% inliers (2155/3038) with MSE=0.182969
    Camera #6 projections: 77% inliers (2503/3232) with MSE=0.179082
    Camera #7 projections: 90% inliers (2362/2627) with MSE=0.227098
Append camera #8 (IMG_3031.JPG) to alignment via 1524 common points
Before BA camera: k1=-0.304316, k2=0.783723, f=1442.44, cx=315.478, cy=539.469
Before BA projections: 73% inliers with MSE=0.317667
    Camera #0 projections: 75% inliers (1021/1353) with MSE=0.432132
    Camera #1 projections: 79% inliers (1470/1854) with MSE=0.254377
    Camera #2 projections: 73% inliers (1825/2495) with MSE=0.105068
    Camera #3 projections: 65% inliers (1829/2794) with MSE=0.0950544
    Camera #4 projections: 61% inliers (1927/3180) with MSE=0.117434
    Camera #5 projections: 71% inliers (2182/3070) with MSE=0.182394
    Camera #6 projections: 75% inliers (2594/3457) with MSE=0.200661
    Camera #7 projections: 87% inliers (2720/3119) with MSE=0.288679
    Camera #8 projections: 77% inliers (1812/2347) with MSE=1.33019
After BA camera: k1=-0.229521, k2=0.497203, f=1412.11, cx=326.271, cy=553.83
Camera #0 center: [0, 0, 0] -> [0, 0, 0]
Camera #1 center: [-0.981112, 0.006[60](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:61)58, 0.193329] -> [-0.981112, 0.0066058, 0.193329]
Camera #2 center: [-1.88323, 0.0262993, 0.512784] -> [-1.88499, 0.0227939, 0.503978]
Camera #3 center: [-2.71072, 0.0553241, 0.926699] -> [-2.71139, 0.0471207, 0.9057]
Camera #4 center: [-3.32357, 0.11536, 1.50331] -> [-3.32908, 0.100071, 1.47019]
Camera #5 center: [-3.86629, 0.183815, 2.194[61](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:62)] -> [-3.88889, 0.162354, 2.16643]
Camera #6 center: [-4.11186, 0.280598, 2.99565] -> [-4.14969, 0.25394, 2.98356]
Camera #7 center: [-4.30091, 0.384374, 3.8669] -> [-4.34668, 0.353565, 3.87849]
Camera #8 center: [-4.04904, 0.478449, 4.94631] -> [-4.1211, 0.449843, 4.9276]
After BA tie poits: 31% old + 3% new = 34% total outliers
After BA projections: 72% inliers with MSE=0.196955
    Camera #0 projections: 75% inliers (1018/1353) with MSE=0.529219
    Camera #1 projections: 79% inliers (1466/1854) with MSE=0.297031
    Camera #2 projections: 73% inliers (1815/2495) with MSE=0.113136
    Camera #3 projections: 64% inliers (1802/2794) with MSE=0.100564
    Camera #4 projections: 59% inliers (1879/3180) with MSE=0.131101
    Camera #5 projections: 65% inliers (1999/3070) with MSE=0.143648
    Camera #6 projections: 71% inliers (2446/3457) with MSE=0.188847
    Camera #7 projections: 79% inliers (2454/3119) with MSE=0.163129
    Camera #8 projections: 89% inliers (2083/2347) with MSE=0.280491
Append camera #9 (IMG_3032.JPG) to alignment via 1569 common points
Before BA camera: k1=-0.229521, k2=0.497203, f=1412.11, cx=326.271, cy=553.83
Before BA projections: 71% inliers with MSE=0.292465
    Camera #0 projections: 75% inliers (1018/1353) with MSE=0.529219
    Camera #1 projections: 79% inliers (1466/1854) with MSE=0.297031
    Camera #2 projections: 73% inliers (1815/2495) with MSE=0.113136
    Camera #3 projections: 64% inliers (1802/2794) with MSE=0.100564
    Camera #4 projections: 59% inliers (1888/3193) with MSE=0.13185
    Camera #5 projections: 65% inliers (2018/3091) with MSE=0.147232
    Camera #6 projections: 71% inliers (2461/3474) with MSE=0.188943
    Camera #7 projections: 77% inliers (2519/3275) with MSE=0.166832
    Camera #8 projections: 79% inliers (2518/3200) with MSE=0.296634
    Camera #9 projections: 76% inliers (2020/2666) with MSE=1.07496
After BA camera: k1=-0.250523, k2=0.547454, f=1418.[62](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:63), cx=324.195, cy=548.684
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: [-1.88499, 0.0227939, 0.503978] -> [-1.8858, 0.0241583, 0.505922]
Camera #3 center: [-2.71139, 0.0471207, 0.9057] -> [-2.71343, 0.050272, 0.910189]
Camera #4 center: [-3.32908, 0.100071, 1.47019] -> [-3.32944, 0.10546, 1.47515]
Camera #5 center: [-3.88889, 0.162354, 2.16643] -> [-3.88772, 0.170829, 2.17161]
Camera #6 center: [-4.14969, 0.25394, 2.98356] -> [-4.14659, 0.26577, 2.98885]
Camera #7 center: [-4.34668, 0.353565, 3.87849] -> [-4.34121, 0.369626, 3.88331]
Camera #8 center: [-4.1211, 0.449843, 4.9276] -> [-4.11102, 0.470623, 4.93574]
Camera #9 center: [-3.80129, 0.502132, 5.91237] -> [-3.79783, 0.551519, 5.90296]
After BA tie poits: 30% old + 2% new = 32% total outliers
After BA projections: 73% inliers with MSE=0.185204
    Camera #0 projections: 75% inliers (1019/1353) with MSE=0.505952
    Camera #1 projections: 79% inliers (1461/1854) with MSE=0.277702
    Camera #2 projections: 72% inliers (1803/2495) with MSE=0.108261
    Camera #3 projections: 64% inliers (1782/2794) with MSE=0.0951892
    Camera #4 projections: 58% inliers (1839/3193) with MSE=0.121596
    Camera #5 projections: [63](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:64)% inliers (1950/3091) with MSE=0.1711
    Camera #6 projections: 68% inliers (2347/3474) with MSE=0.185589
    Camera #7 projections: 75% inliers (2456/3275) with MSE=0.161943
    Camera #8 projections: 87% inliers (2787/3200) with MSE=0.200749
    Camera #9 projections: 93% inliers (2484/2666) with MSE=0.183005
Append camera #10 (IMG_3033.JPG) to alignment via 1691 common points
Before BA camera: k1=-0.250523, k2=0.547454, f=1418.62, cx=324.195, cy=548.684
Before BA projections: 68% inliers with MSE=0.238872
    Camera #0 projections: 75% inliers (1019/1353) with MSE=0.505952
    Camera #1 projections: 79% inliers (1461/1854) with MSE=0.277702
    Camera #2 projections: 72% inliers (1803/2495) with MSE=0.108261
    Camera #3 projections: [64](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:65)% inliers (1782/2794) with MSE=0.0951892
    Camera #4 projections: 58% inliers (1840/3198) with MSE=0.1247
    Camera #5 projections: 63% inliers (1953/3103) with MSE=0.172569
    Camera #6 projections: 68% inliers (2356/3487) with MSE=0.192143
    Camera #7 projections: 75% inliers (2463/3290) with MSE=0.163373
    Camera #8 projections: 87% inliers (2813/3251) with MSE=0.210119
    Camera #9 projections: 87% inliers (2882/3310) with MSE=0.334159
    Camera #10 projections: 20% inliers (502/2473) with MSE=1.44312
After BA camera: k1=-0.287509, k2=0.713786, f=1427.8, cx=324.376, cy=547.186
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: [-1.8858, 0.0241583, 0.505922] -> [-1.88618, 0.0241347, 0.50562]
Camera #3 center: [-2.71343, 0.050272, 0.910189] -> [-2.71539, 0.0500672, 0.910493]
Camera #4 center: [-3.32944, 0.10546, 1.47515] -> [-3.3335, 0.105881, 1.47823]
Camera #5 center: [-3.88772, 0.170829, 2.17161] -> [-3.89329, 0.172258, 2.18015]
Camera #6 center: [-4.14[65](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:66)9, 0.26577, 2.98885] -> [-4.14922, 0.267787, 2.99564]
Camera #7 center: [-4.34121, 0.369626, 3.88331] -> [-4.3424, 0.37165, 3.88655]
Camera #8 center: [-4.11102, 0.470623, 4.93574] -> [-4.1099, 0.473704, 4.94047]
Camera #9 center: [-3.79783, 0.551519, 5.90296] -> [-3.79639, 0.554762, 5.90856]
Camera #10 center: [-3.2038, 0.633728, 6.91721] -> [-3.13342, 0.647885, 6.74039]
After BA tie poits: 29% old + 2% new = 31% total outliers
After BA projections: 74% inliers with MSE=0.2154
    Camera #0 projections: 75% inliers (1018/1353) with MSE=0.494997
    Camera #1 projections: 79% inliers (1461/1854) with MSE=0.275619
    Camera #2 projections: 72% inliers (1803/2495) with MSE=0.112473
    Camera #3 projections: 64% inliers (1781/2794) with MSE=0.0968376
    Camera #4 projections: 57% inliers (1831/3198) with MSE=0.129785
    Camera #5 projections: 62% inliers (1936/3103) with MSE=0.185986
    Camera #6 projections: [66](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:67)% inliers (2308/3487) with MSE=0.193201
    Camera #7 projections: 74% inliers (2447/3290) with MSE=0.225378
    Camera #8 projections: 86% inliers (2783/3251) with MSE=0.224656
    Camera #9 projections: 93% inliers (30[67](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:68)/3310) with MSE=0.252688
    Camera #10 projections: 90% inliers (2232/2473) with MSE=0.271189
Append camera #11 (IMG_3034.JPG) to alignment via 1115 common points
Before BA camera: k1=-0.287509, k2=0.713786, f=1427.8, cx=324.376, cy=547.186
Before BA projections: 71% inliers with MSE=0.323837
    Camera #0 projections: 75% inliers (1018/1353) with MSE=0.494997
    Camera #1 projections: 79% inliers (1461/1854) with MSE=0.275619
    Camera #2 projections: 72% inliers (1803/2495) with MSE=0.112473
    Camera #3 projections: 64% inliers (1786/2802) with MSE=0.104157
    Camera #4 projections: 57% inliers (1838/3206) with MSE=0.135783
    Camera #5 projections: 62% inliers (1939/3112) with MSE=0.186527
    Camera #6 projections: 66% inliers (2312/3494) with MSE=0.199541
    Camera #7 projections: 74% inliers (2451/3298) with MSE=0.227566
    Camera #8 projections: 86% inliers (2787/3258) with MSE=0.228416
    Camera #9 projections: 92% inliers (3127/3398) with MSE=0.308623
    Camera #10 projections: 84% inliers (2528/3024) with MSE=0.593784
    Camera #11 projections: 29% inliers (531/1840) with MSE=3.0281
After BA camera: k1=-0.225804, k2=0.522527, f=1428.55, cx=333.486, cy=562.822
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: [-1.88618, 0.0241347, 0.50562] -> [-1.88493, 0.0197535, 0.499899]
Camera #3 center: [-2.71539, 0.0500672, 0.910493] -> [-2.71031, 0.0402483, 0.89939]
Camera #4 center: [-3.3335, 0.105881, 1.47823] -> [-3.32513, 0.0869496, 1.45698]
Camera #5 center: [-3.89329, 0.172258, 2.18015] -> [-3.89083, 0.143572, 2.16045]
Camera #6 center: [-4.14922, 0.267787, 2.99564] -> [-4.15016, 0.227847, 2.97066]
Camera #7 center: [-4.3424, 0.37165, 3.88655] -> [-4.34712, 0.319349, 3.85895]
Camera #8 center: [-4.1099, 0.473704, 4.94047] -> [-4.1154, 0.410769, 4.93525]
Camera #9 center: [-3.79639, 0.554762, 5.90856] -> [-3.80103, 0.479531, 5.89905]
Camera #10 center: [-3.13342, 0.647885, 6.74039] -> [-3.14825, 0.56101, 6.71404]
Camera #11 center: [-2.50758, 0.710004, 7.17725] -> [-2.53278, 0.619808, 7.2655]
After BA tie poits: 29% old + 4% new = 33% total outliers
After BA projections: 72% inliers with MSE=0.176975
    Camera #0 projections: 75% inliers (1018/1353) with MSE=0.580138
    Camera #1 projections: 79% inliers (1459/1854) with MSE=0.300[68](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:69)2
    Camera #2 projections: 73% inliers (1819/2495) with MSE=0.119938
    Camera #3 projections: 64% inliers (1781/2802) with MSE=0.104579
    Camera #4 projections: 56% inliers (1799/3206) with MSE=0.113279
    Camera #5 projections: 59% inliers (1847/3112) with MSE=0.146159
    Camera #6 projections: 63% inliers (2194/3494) with MSE=0.155661
    Camera #7 projections: 68% inliers (2259/3298) with MSE=0.14738
    Camera #8 projections: 78% inliers (2554/3258) with MSE=0.135712
    Camera #9 projections: 84% inliers (2846/3398) with MSE=0.153825
    Camera #10 projections: 85% inliers (2574/3024) with MSE=0.188832
    Camera #11 projections: 90% inliers (1647/1840) with MSE=0.21805
Append camera #12 (IMG_3035.JPG) to alignment via 434 common points
Before BA camera: k1=-0.225804, k2=0.522527, f=1428.55, cx=333.486, cy=562.822
Before BA projections: 73% inliers with MSE=0.287841
    Camera #0 projections: 75% inliers (1018/1353) with MSE=0.580138
    Camera #1 projections: 79% inliers (1459/1854) with MSE=0.300682
    Camera #2 projections: 73% inliers (1819/2495) with MSE=0.119938
    Camera #3 projections: 64% inliers (1781/2802) with MSE=0.104579
    Camera #4 projections: 56% inliers (1799/3206) with MSE=0.113279
    Camera #5 projections: 59% inliers (1847/3112) with MSE=0.146159
    Camera #6 projections: 63% inliers (2194/3494) with MSE=0.155661
    Camera #7 projections: 68% inliers (2259/3298) with MSE=0.14738
    Camera #8 projections: 78% inliers (2554/3258) with MSE=0.135712
    Camera #9 projections: 84% inliers (2846/3398) with MSE=0.153825
    Camera #10 projections: 86% inliers (2891/3347) with MSE=0.294384
    Camera #11 projections: 90% inliers (2498/2767) with MSE=0.457934
    Camera #12 projections: 87% inliers (1559/1787) with MSE=1.45825
After BA camera: k1=-0.201477, k2=0.451595, f=1433.44, cx=333.497, cy=558.196
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: [-1.88493, 0.0197535, 0.499899] -> [-1.88624, 0.0199029, 0.500918]
Camera #3 center: [-2.71031, 0.0402483, 0.89939] -> [-2.71242, 0.0403938, 0.90153]
Camera #4 center: [-3.32513, 0.08[69](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:70)496, 1.45698] -> [-3.32832, 0.0878386, 1.46251]
Camera #5 center: [-3.89083, 0.143572, 2.16045] -> [-3.89319, 0.145365, 2.16807]
Camera #6 center: [-4.15016, 0.227847, 2.9[70](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:71)66] -> [-4.1502, 0.23095, 2.97872]
Camera #7 center: [-4.34712, 0.319349, 3.85895] -> [-4.34503, 0.323769, 3.86798]
Camera #8 center: [-4.1154, 0.410769, 4.93525] -> [-4.1102, 0.417326, 4.94474]
Camera #9 center: [-3.80103, 0.479531, 5.89905] -> [-3.79478, 0.487451, 5.90386]
Camera #10 center: [-3.14825, 0.56101, 6.[71](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:72)404] -> [-3.14314, 0.569682, 6.71547]
Camera #11 center: [-2.53278, 0.619808, 7.2655] -> [-2.51504, 0.629804, 7.27495]
Camera #12 center: [-1.78812, 0.684582, 7.79694] -> [-1.78236, 0.701858, 7.79079]
After BA tie poits: 30% old + 9% new = 38% total outliers
After BA projections: 71% inliers with MSE=0.200246
    Camera #0 projections: 75% inliers (1017/1353) with MSE=0.573345
    Camera #1 projections: 79% inliers (1459/1854) with MSE=0.295167
    Camera #2 projections: 73% inliers (1812/2495) with MSE=0.126519
    Camera #3 projections: 64% inliers (1786/2802) with MSE=0.122449
    Camera #4 projections: 56% inliers (1789/3206) with MSE=0.105525
    Camera #5 projections: 58% inliers (1816/3112) with MSE=0.134054
    Camera #6 projections: 61% inliers (2148/3494) with MSE=0.136602
    Camera #7 projections: 71% inliers (2330/3298) with MSE=0.219571
    Camera #8 projections: 77% inliers (2501/3258) with MSE=0.127317
    Camera #9 projections: 81% inliers (2765/3398) with MSE=0.191687
    Camera #10 projections: 82% inliers (2733/3347) with MSE=0.374176
    Camera #11 projections: 78% inliers (2161/2767) with MSE=0.162991
    Camera #12 projections: 86% inliers (1544/1787) with MSE=0.166026
Append camera #13 (IMG_3036.JPG) to alignment via 463 common points
Before BA camera: k1=-0.201477, k2=0.451595, f=1433.44, cx=333.497, cy=558.196
Before BA projections: 70% inliers with MSE=0.245374
    Camera #0 projections: 75% inliers (1017/1353) with MSE=0.573345
    Camera #1 projections: 79% inliers (1459/1854) with MSE=0.295167
    Camera #2 projections: 73% inliers (1812/2495) with MSE=0.126519
    Camera #3 projections: 64% inliers (1786/2802) with MSE=0.122449
    Camera #4 projections: 56% inliers (1789/3206) with MSE=0.105525
    Camera #5 projections: 58% inliers (1816/3112) with MSE=0.134054
    Camera #6 projections: 61% inliers (2148/3494) with MSE=0.136602
    Camera #7 projections: 71% inliers (2330/3298) with MSE=0.219571
    Camera #8 projections: 77% inliers (2501/3258) with MSE=0.127317
    Camera #9 projections: 81% inliers (2765/3398) with MSE=0.191687
    Camera #10 projections: 82% inliers (2734/3348) with MSE=0.374251
    Camera #11 projections: 74% inliers (2219/3003) with MSE=0.177583
    Camera #12 projections: 76% inliers (1890/2488) with MSE=0.331022
    Camera #13 projections: 45% inliers (677/1515) with MSE=1.50789
After BA camera: k1=-0.243675, k2=0.607454, f=1449.49, cx=328.428, cy=548.976
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: [-1.88624, 0.0199029, 0.500918] -> [-1.8854, 0.0217423, 0.504379]
Camera #3 center: [-2.71242, 0.0403938, 0.90153] -> [-2.71217, 0.0444715, 0.90885]
Camera #4 center: [-3.32832, 0.0878386, 1.46251] -> [-3.32631, 0.0957966, 1.47347]
Camera #5 center: [-3.89319, 0.145365, 2.16807] -> [-3.88689, 0.15[72](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:73)1, 2.17923]
Camera #6 center: [-4.1502, 0.23095, 2.97872] -> [-4.14213, 0.248833, 2.99919]
Camera #7 center: [-4.34503, 0.323769, 3.86798] -> [-4.33117, 0.348112, 3.897[73](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:74)]
Camera #8 center: [-4.1102, 0.417326, 4.94474] -> [-4.08642, 0.447964, 4.96917]
Camera #9 center: [-3.79478, 0.48[74](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:75)51, 5.90386] -> [-3.76388, 0.523526, 5.92337]
Camera #10 center: [-3.14314, 0.569682, 6.71547] -> [-3.11041, 0.609625, 6.72409]
Camera #11 center: [-2.51504, 0.629804, 7.27495] -> [-2.47294, 0.676451, 7.28125]
Camera #12 center: [-1.78236, 0.701858, 7.79079] -> [-1.73234, 0.[75](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:76)4448, 7.79196]
Camera #13 center: [-0.948759, 0.73319, 8.15943] -> [-0.883497, 0.77447, 8.10092]
After BA tie poits: 35% old + 4% new = 40% total outliers
After BA projections: 66% inliers with MSE=0.154751
    Camera #0 projections: 75% inliers (1018/1353) with MSE=0.511903
    Camera #1 projections: 79% inliers (1461/1854) with MSE=0.275945
    Camera #2 projections: 72% inliers (1798/2495) with MSE=0.0982956
    Camera #3 projections: 63% inliers (1[76](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:77)7/2802) with MSE=0.0826674
    Camera #4 projections: 56% inliers (1790/3206) with MSE=0.10665
    Camera #5 projections: 58% inliers (1802/3112) with MSE=0.120359
    Camera #6 projections: 61% inliers (2145/3494) with MSE=0.149393
    Camera #7 projections: 67% inliers (2208/3298) with MSE=0.130443
    Camera #8 projections: 76% inliers (2482/3258) with MSE=0.128846
    Camera #9 projections: 78% inliers (2637/3398) with MSE=0.118108
    Camera #10 projections: 65% inliers (2189/3348) with MSE=0.111467
    Camera #11 projections: 59% inliers (1[77](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:78)9/3003) with MSE=0.146884
    Camera #12 projections: 55% inliers (1365/2488) with MSE=0.240504
    Camera #13 projections: 81% inliers (1229/1515) with MSE=0.19877
Append camera #14 (IMG_3037.JPG) to alignment via [78](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:79)7 common points
Before BA camera: k1=-0.243675, k2=0.607454, f=1449.49, cx=328.428, cy=548.976
Before BA projections: 68% inliers with MSE=0.168942
    Camera #0 projections: 75% inliers (1018/1353) with MSE=0.511903
    Camera #1 projections: [79](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:80)% inliers (1461/1854) with MSE=0.275945
    Camera #2 projections: 72% inliers (1798/2495) with MSE=0.0982956
    Camera #3 projections: 63% inliers (1767/2[80](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:81)2) with MSE=0.0826674
    Camera #4 projections: 56% inliers (1790/3206) with MSE=0.10665
    Camera #5 projections: 58% inliers (1802/3112) with MSE=0.120359
    Camera #6 projections: 61% inliers (2145/3494) with MSE=0.149393
    Camera #7 projections: 67% inliers (2208/3298) with MSE=0.130443
    Camera #8 projections: 76% inliers (2482/3258) with MSE=0.128846
    Camera #9 projections: 78% inliers (2637/3398) with MSE=0.11[81](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:82)08
    Camera #10 projections: 65% inliers (2189/3348) with MSE=0.111467
    Camera #11 projections: 59% inliers (1794/3024) with MSE=0.149574
    Camera #12 projections: 56% inliers (1427/2553) with MSE=0.235562
    Camera #13 projections: 85% inliers (1737/2042) with MSE=0.179116
    Camera #14 projections: 93% inliers (1316/1411) with MSE=0.458735
After BA camera: k1=-0.208037, k2=0.385629, f=1497.7, cx=326.588, cy=543.318
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: [-1.8854, 0.0217423, 0.504379] -> [-1.88163, 0.0211659, 0.507838]
Camera #3 center: [-2.71217, 0.0444715, 0.90885] -> [-2.702[82](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:83), 0.0430348, 0.916814]
Camera #4 center: [-3.32631, 0.0957966, 1.47347] -> [-3.31051, 0.0928028, 1.48453]
Camera #5 center: [-3.88689, 0.15721, 2.17923] -> [-3.85725, 0.151071, 2.1[83](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:84)7]
Camera #6 center: [-4.14213, 0.248833, 2.99919] -> [-4.11021, 0.242723, 3.0205]
Camera #7 center: [-4.33117, 0.348112, 3.89773] -> [-4.28617, 0.34171, 3.93917]
Camera #8 center: [-4.08642, 0.447964, 4.96917] -> [-4.02358, 0.438786, 4.98955]
Camera #9 center: [-3.76388, 0.523526, 5.92337] -> [-3.67819, 0.512304, 5.94291]
Camera #10 center: [-3.11041, 0.609625, 6.72409] -> [-3.03214, 0.592631, 6.7023]
Camera #11 center: [-2.47294, 0.676451, 7.28125] -> [-2.38597, 0.654687, 7.25043]
Camera #12 center: [-1.73234, 0.754448, 7.79196] -> [-1.6171, 0.732394, 7.75394]
Camera #13 center: [-0.883497, 0.77447, 8.10092] -> [-0.7641[84](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:85), 0.752464, 8.03829]
Camera #14 center: [-0.113484, 0.804843, 8.30148] -> [-0.0124886, 0.778218, 8.21291]
After BA tie poits: 38% old + 1% new = 39% total outliers
After BA projections: 66% inliers with MSE=0.129025
    Camera #0 projections: 75% inliers (1018/1353) with MSE=0.440487
    Camera #1 projections: 79% inliers (1460/1[85](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:86)4) with MSE=0.233076
    Camera #2 projections: 72% inliers (1797/2495) with MSE=0.0892314
    Camera #3 projections: 63% inliers (1766/2802) with MSE=0.0717011
    Camera #4 projections: 56% inliers (1792/3206) with MSE=0.0983074
    Camera #5 projections: 58% inliers (1802/3112) with MSE=0.105241
    Camera #6 projections: 61% inliers (2129/3494) with MSE=0.105881
    Camera #7 projections: 67% inliers (2194/3298) with MSE=0.0899124
    Camera #8 projections: 76% inliers (2470/3258) with MSE=0.0995252
    Camera #9 projections: 77% inliers (2625/3398) with MSE=0.137877
    Camera #10 projections: 65% inliers (2176/3348) with MSE=0.12922
    Camera #11 projections: 54% inliers (1618/3024) with MSE=0.132238
    Camera #12 projections: 45% inliers (1139/2553) with MSE=0.138925
    Camera #13 projections: 66% inliers (1344/2042) with MSE=0.116847
    Camera #14 projections: 92% inliers (1301/1411) with MSE=0.118148
Append camera #15 (IMG_3038.JPG) to alignment via 1198 common points
Before BA camera: k1=-0.208037, k2=0.385629, f=1497.7, cx=326.588, cy=543.318
Before BA projections: 66% inliers with MSE=0.320578
    Camera #0 projections: 75% inliers (1018/1353) with MSE=0.440487
    Camera #1 projections: 79% inliers (1460/1854) with MSE=0.233076
    Camera #2 projections: 72% inliers (1797/2496) with MSE=0.0892314
    Camera #3 projections: 63% inliers (1766/2802) with MSE=0.0717011
    Camera #4 projections: 56% inliers (1792/3206) with MSE=0.0983074
    Camera #5 projections: 58% inliers (1802/3112) with MSE=0.105241
    Camera #6 projections: 61% inliers (2129/3494) with MSE=0.105881
    Camera #7 projections: 67% inliers (2194/3298) with MSE=0.0899124
    Camera #8 projections: 76% inliers (2470/3258) with MSE=0.0995252
    Camera #9 projections: 77% inliers (2625/3398) with MSE=0.137877
    Camera #10 projections: 65% inliers (2176/3348) with MSE=0.12922
    Camera #11 projections: 54% inliers (1622/3030) with MSE=0.132755
    Camera #12 projections: 45% inliers (1155/2574) with MSE=0.141735
    Camera #13 projections: 69% inliers (1644/2370) with MSE=0.745031
    Camera #14 projections: 94% inliers (1938/2068) with MSE=0.474159
    Camera #15 projections: 66% inliers (1495/2269) with MSE=2.70734
After BA camera: k1=-0.20355, k2=0.425201, f=1487.68, cx=328.489, cy=545.366
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, 0.0211659, 0.507838] -> [-1.8823, 0.0204816, 0.505696]
Camera #3 center: [-2.70282, 0.0430348, 0.916814] -> [-2.70938, 0.0417428, 0.915529]
Camera #4 center: [-3.31051, 0.0928028, 1.48453] -> [-3.32109, 0.0914966, 1.48584]
Camera #5 center: [-3.85725, 0.151071, 2.1837] -> [-3.87123, 0.15016, 2.18889]
Camera #6 center: [-4.11021, 0.242723, 3.0205] -> [-4.12484, 0.241738, 3.02725]
Camera #7 center: [-4.2[86](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:87)17, 0.34171, 3.93917] -> [-4.30167, 0.340846, 3.94774]
Camera #8 center: [-4.02358, 0.43[87](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:88)86, 4.98955] -> [-4.03986, 0.437629, 4.99935]
Camera #9 center: [-3.67819, 0.512304, 5.94291] -> [-3.69465, 0.511193, 5.95616]
Camera #10 center: [-3.03214, 0.592631, 6.7023] -> [-3.04003, 0.592656, 6.72632]
Camera #11 center: [-2.38597, 0.654687, 7.25043] -> [-2.3898, 0.655937, 7.27465]
Camera #12 center: [-1.6171, 0.732394, 7.75394] -> [-1.60799, 0.734897, 7.78127]
Camera #13 center: [-0.764184, 0.752464, 8.03829] -> [-0.730432, 0.756844, 8.06438]
Camera #14 center: [-0.0124[88](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:89)6, 0.778218, 8.21291] -> [0.0306611, 0.787411, 8.22753]
Camera #15 center: [0.809512, 0.763874, 8.15[89](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:90)2] -> [0.838593, 0.776808, 8.17125]
After BA tie poits: 36% old + 1% new = 37% total outliers
After BA projections: 67% inliers with MSE=0.129694
    Camera #0 projections: 75% inliers (1017/1353) with MSE=0.47109
    Camera #1 projections: 79% inliers (1459/1854) with MSE=0.245778
    Camera #2 projections: 72% inliers (1796/2496) with MSE=0.0875553
    Camera #3 projections: 63% inliers (1768/2802) with MSE=0.0734664
    Camera #4 projections: 56% inliers (1791/3206) with MSE=0.0996853
    Camera #5 projections: 58% inliers (1806/3112) with MSE=0.107849
    Camera #6 projections: 61% inliers (2129/3494) with MSE=0.103576
    Camera #7 projections: 67% inliers (2195/3298) with MSE=0.0928049
    Camera #8 projections: 76% inliers (2469/3258) with MSE=0.101625
    Camera #9 projections: 77% inliers (2616/3398) with MSE=0.119511
    Camera #10 projections: 65% inliers (2164/3348) with MSE=0.119595
    Camera #11 projections: 53% inliers (1591/3030) with MSE=0.105362
    Camera #12 projections: 44% inliers (1135/2574) with MSE=0.179183
    Camera #13 projections: 68% inliers (1622/2370) with MSE=0.142813
    Camera #14 projections: 92% inliers (1899/2068) with MSE=0.136426
    Camera #15 projections: 93% inliers (2101/2269) with MSE=0.108071
Append camera #16 (IMG_3039.JPG) to alignment via 1541 common points
Before BA camera: k1=-0.20355, k2=0.425201, f=1487.68, cx=328.489, cy=545.366
Before BA projections: 69% inliers with MSE=0.167951
    Camera #0 projections: 75% inliers (1017/1353) with MSE=0.47109
    Camera #1 projections: 79% inliers (1459/1854) with MSE=0.245778
    Camera #2 projections: 72% inliers (1796/2496) with MSE=0.0875553
    Camera #3 projections: 63% inliers (1768/2802) with MSE=0.0734664
    Camera #4 projections: 56% inliers (1791/3206) with MSE=0.0996853
    Camera #5 projections: 58% inliers (1806/3112) with MSE=0.107849
    Camera #6 projections: 61% inliers (2129/3494) with MSE=0.103576
    Camera #7 projections: 67% inliers (2195/3298) with MSE=0.0928049
    Camera #8 projections: 76% inliers (2469/3258) with MSE=0.101625
    Camera #9 projections: 77% inliers (2616/3398) with MSE=0.119511
    Camera #10 projections: 65% inliers (2164/3348) with MSE=0.119595
    Camera #11 projections: 53% inliers (1600/3039) with MSE=0.105327
    Camera #12 projections: 44% inliers (1149/2595) with MSE=0.177456
    Camera #13 projections: 68% inliers (1644/2402) with MSE=0.143658
    Camera #14 projections: 92% inliers (2071/2250) with MSE=0.15923
    Camera #15 projections: 93% inliers (2717/2[90](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:91)7) with MSE=0.132557
    Camera #16 projections: 91% inliers (2261/2472) with MSE=0.637203
After BA camera: k1=-0.178246, k2=0.174346, f=1505.81, cx=333.668, cy=552.142
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: [-1.8823, 0.0204816, 0.505696] -> [-1.88212, 0.0186575, 0.503499]
Camera #3 center: [-2.70938, 0.0417428, 0.[91](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:92)5529] -> [-2.70308, 0.0372193, 0.908921]
Camera #4 center: [-3.32109, 0.0914966, 1.48584] -> [-3.31354, 0.0821332, 1.47463]
Camera #5 center: [-3.87123, 0.15016, 2.18889] -> [-3.8627, 0.135012, 2.17389]
Camera #6 center: [-4.12484, 0.241738, 3.02725] -> [-4.11804, 0.22031, 3.00859]
Camera #7 center: [-4.30167, 0.340846, 3.94774] -> [-4.29644, 0.311823, 3.[92](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:93)513]
Camera #8 center: [-4.03986, 0.437629, 4.99935] -> [-4.04054, 0.399[93](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:94)3, 4.96593]
Camera #9 center: [-3.69465, 0.511193, 5.95616] -> [-3.70647, 0.464842, 5.91165]
Camera #10 center: [-3.04003, 0.592656, 6.72632] -> [-3.03656, 0.543857, 6.70723]
Camera #11 center: [-2.3898, 0.655937, 7.27465] -> [-2.39611, 0.600791, 7.24828]
Camera #12 center: [-1.60799, 0.734897, 7.78127] -> [-1.62256, 0.675393, 7.75127]
Camera #13 center: [-0.730432, 0.756844, 8.06438] -> [-0.757754, 0.697461, 8.03178]
Camera #14 center: [0.0306611, 0.787411, 8.22753] -> [0.0117989, 0.7252[94](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:95), 8.19796]
Camera #15 center: [0.838593, 0.776808, 8.17125] -> [0.799408, 0.716124, 8.14659]
Camera #16 center: [1.64063, 0.755265, 7.[95](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:96)951] -> [1.58478, 0.69749, 7.94245]
After BA tie poits: 34% old + 1% new = 36% total outliers
After BA projections: 68% inliers with MSE=0.124827
    Camera #0 projections: 75% inliers (1017/1353) with MSE=0.486922
    Camera #1 projections: 79% inliers (1459/1854) with MSE=0.249249
    Camera #2 projections: 72% inliers (1797/24[96](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:97)) with MSE=0.0911317
    Camera #3 projections: 63% inliers (1767/2802) with MSE=0.0706909
    Camera #4 projections: 56% inliers (1789/3206) with MSE=0.0915681
    Camera #5 projections: 58% inliers (1800/3112) with MSE=0.0931191
    Camera #6 projections: 61% inliers (2124/3494) with MSE=0.0890847
    Camera #7 projections: 66% inliers (2193/3298) with MSE=0.0781177
    Camera #8 projections: 76% inliers (2467/3258) with MSE=0.0856152
    Camera #9 projections: 77% inliers (2609/3398) with MSE=0.088036
    Camera #10 projections: 64% inliers (2152/3348) with MSE=0.0883502
    Camera #11 projections: 52% inliers (1591/3039) with MSE=0.115772
    Camera #12 projections: 42% inliers (1096/2595) with MSE=0.151624
    Camera #13 projections: 65% inliers (1569/2402) with MSE=0.101226
    Camera #14 projections: 88% inliers (1[97](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:98)4/2250) with MSE=0.137688
    Camera #15 projections: 91% inliers (2649/2907) with MSE=0.157952
    Camera #16 projections: 91% inliers (2239/2472) with MSE=0.161232
Append camera #17 (IMG_3040.JPG) to alignment via 1526 common points
Before BA camera: k1=-0.178246, k2=0.174346, f=1505.81, cx=333.668, cy=552.142
Before BA projections: 70% inliers with MSE=0.203258
    Camera #0 projections: 75% inliers (1017/1353) with MSE=0.486922
    Camera #1 projections: 79% inliers (1459/1854) with MSE=0.249249
    Camera #2 projections: 72% inliers (1797/2496) with MSE=0.0911317
    Camera #3 projections: 63% inliers (1767/2802) with MSE=0.0706909
    Camera #4 projections: 56% inliers (1789/3206) with MSE=0.0915681
    Camera #5 projections: 58% inliers (1800/3112) with MSE=0.0931191
    Camera #6 projections: 61% inliers (2124/3494) with MSE=0.0890847
    Camera #7 projections: 66% inliers (2193/32[98](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:99)) with MSE=0.0781177
    Camera #8 projections: 76% inliers (2467/3258) with MSE=0.0856152
    Camera #9 projections: 77% inliers (2609/3398) with MSE=0.088036
    Camera #10 projections: 64% inliers (2152/3348) with MSE=0.0883502
    Camera #11 projections: 52% inliers (1591/3040) with MSE=0.115772
    Camera #12 projections: 42% inliers (10[99](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:100)/2600) with MSE=0.151304
    Camera #13 projections: 65% inliers (1582/2417) with MSE=0.104248
    Camera #14 projections: 88% inliers (1986/2264) with MSE=0.13741
    Camera #15 projections: 92% inliers (2938/3202) with MSE=0.245644
    Camera #16 projections: 92% inliers (3128/3407) with MSE=0.310693
    Camera #17 projections: 92% inliers (2611/2850) with MSE=0.914245
After BA camera: k1=-0.105834, k2=-0.0473857, f=1461.13, cx=350.31, cy=578.1
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: [-1.88212, 0.0186575, 0.503499] -> [-1.8865, 0.0132492, 0.491406]
Camera #3 center: [-2.70308, 0.0372193, 0.908921] -> [-2.71046, 0.0246035, 0.884368]
Camera #4 center: [-3.31354, 0.0821332, 1.47463] -> [-3.32943, 0.0587194, 1.4391]
Camera #5 center: [-3.8627, 0.135012, 2.17389] -> [-3.89091, 0.0996627, 2.12983]
Camera #6 center: [-4.11804, 0.22031, 3.00859] -> [-4.16391, 0.170391, 2.96278]
Camera #7 center: [-4.29644, 0.311823, 3.92513] -> [-4.36023, 0.247113, 3.87983]
Camera #8 center: [-4.04054, 0.399933, 4.96593] -> [-4.12687, 0.318394, 4.92279]
Camera #9 center: [-3.70647, 0.464842, 5.91165] -> [-3.81223, 0.36916, 5.87914]
Camera #10 center: [-3.03656, 0.543857, 6.70723] -> [-3.16202, 0.436493, 6.69006]
Camera #11 center: [-2.39611, 0.600791, 7.24828] -> [-2.53349, 0.484998, 7.2484]
Camera #12 center: [-1.62256, 0.675393, 7.75127] -> [-1.77125, 0.551661, 7.77254]
Camera #13 center: [-0.757754, 0.697461, 8.03178] -> [-0.906823, 0.570601, 8.07703]
Camera #14 center: [0.0117989, 0.725294, 8.19796] -> [-0.121033, 0.597851, 8.26057]
Camera #15 center: [0.799408, 0.716124, 8.14659] -> [0.685295, 0.591883, 8.21766]
Camera #16 center: [1.58478, 0.69749, 7.94245] -> [1.48467, 0.580187, 8.01165]
Camera #17 center: [2.28641, 0.637894, 7.51765] -> [2.21192, 0.533934, 7.57778]
After BA tie poits: 33% old + 1% new = 34% total outliers
After BA projections: 69% inliers with MSE=0.133707
    Camera #0 projections: 75% inliers ([100](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:101)8/1353) with MSE=0.686312
    Camera #1 projections: 79% inliers (1459/1854) with MSE=0.357552
    Camera #2 projections: 72% inliers (1796/2496) with MSE=0.104636
    Camera #3 projections: 63% inliers (1765/2802) with MSE=0.0788878
    Camera #4 projections: 56% inliers (1788/3206) with MSE=0.0944714
    Camera #5 projections: 58% inliers (1798/3112) with MSE=0.094359
    Camera #6 projections: 61% inliers (2126/3494) with MSE=0.0899211
    Camera #7 projections: 66% inliers (2193/3298) with MSE=0.0772919
    Camera #8 projections: 76% inliers (2466/3258) with MSE=0.0792491
    Camera #9 projections: 77% inliers (2611/3398) with MSE=0.0870127
    Camera #10 projections: 64% inliers (2151/3348) with MSE=0.0884977
    Camera #11 projections: 52% inliers (1572/3040) with MSE=0.0965569
    Camera #12 projections: 41% inliers (1064/2600) with MSE=0.143983
    Camera #13 projections: 63% inliers (1520/2417) with MSE=0.0868622
    Camera #14 projections: 83% inliers (1876/2264) with MSE=0.0981938
    Camera #15 projections: 88% inliers (2806/3202) with MSE=0.130525
    Camera #16 projections: 88% inliers (3011/3407) with MSE=0.142204
    Camera #17 projections: 92% inliers (2631/2850) with MSE=0.188879
Append camera #18 (IMG_3041.JPG) to alignment via 1436 common points
Before BA camera: k1=-0.105834, k2=-0.0473857, f=1461.13, cx=350.31, cy=578.1
Before BA projections: 70% inliers with MSE=0.163593
    Camera #0 projections: 75% inliers (1008/1353) with MSE=0.686312
    Camera #1 projections: 79% inliers (1459/1854) with MSE=0.357552
    Camera #2 projections: 72% inliers (1796/2496) with MSE=0.104636
    Camera #3 projections: 63% inliers (1765/2802) with MSE=0.0788878
    Camera #4 projections: 56% inliers (1788/3206) with MSE=0.0944714
    Camera #5 projections: 58% inliers (1798/3112) with MSE=0.094359
    Camera #6 projections: 61% inliers (2126/3494) with MSE=0.0899211
    Camera #7 projections: 66% inliers (2193/3298) with MSE=0.0772919
    Camera #8 projections: 76% inliers (2466/3258) with MSE=0.0792491
    Camera #9 projections: 77% inliers (2611/3398) with MSE=0.0870127
    Camera #10 projections: 64% inliers (2151/3348) with MSE=0.0884977
    Camera #11 projections: 52% inliers (1572/3040) with MSE=0.0965569
    Camera #12 projections: 41% inliers (1064/2600) with MSE=0.143983
    Camera #13 projections: 63% inliers (1522/2424) with MSE=0.0868267
    Camera #14 projections: 83% inliers (1880/2268) with MSE=0.0980519
    Camera #15 projections: 88% inliers (2822/3224) with MSE=0.132202
    Camera #16 projections: 89% inliers (3439/3876) with MSE=0.173115
    Camera #17 projections: 92% inliers (3448/3734) with MSE=0.235437
    Camera #18 projections: 80% inliers (2378/2957) with MSE=0.49301
After BA camera: k1=-0.163256, k2=0.267828, f=1447.56, cx=362.822, cy=599.264
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: [-1.8865, 0.0132492, 0.491406] -> [-1.88784, 0.00966933, 0.481508]
Camera #3 center: [-2.71046, 0.0246035, 0.884368] -> [-2.71416, 0.0159207, 0.865154]
Camera #4 center: [-3.32943, 0.0587194, 1.4391] -> [-3.33949, 0.0425924, 1.41071]
Camera #5 center: [-3.89091, 0.0996627, 2.12983] -> [-3.90932, 0.0745537, 2.09467]
Camera #6 center: [-4.16391, 0.170391, 2.96278] -> [-4.19593, 0.134729, 2.926]
Camera #7 center: [-4.36023, 0.247113, 3.87983] -> [-4.40491, 0.19966, 3.84044]
Camera #8 center: [-4.12687, 0.318394, 4.92279] -> [-4.18706, 0.257659, 4.88688]
Camera #9 center: [-3.81223, 0.36916, 5.87914] -> [-3.88568, 0.296582, 5.85028]
Camera #10 center: [-3.16202, 0.436493, 6.69006] -> [-3.24957, 0.353588, 6.67022]
Camera #11 center: [-2.53349, 0.484998, 7.2484] -> [-2.63065, 0.395285, 7.23878]
Camera #12 center: [-1.77125, 0.551661, 7.77254] -> [-1.87931, 0.454737, 7.77556]
Camera #13 center: [-0.906823, 0.570601, 8.07703] -> [-1.02292, 0.469597, 8.09628]
Camera #14 center: [-0.121033, 0.597851, 8.26057] -> [-0.235658, 0.495111, 8.29394]
Camera #15 center: [0.685295, 0.591883, 8.21766] -> [0.578878, 0.491181, 8.2625]
Camera #16 center: [1.48467, 0.580187, 8.01165] -> [1.38562, 0.482489, 8.06699]
Camera #17 center: [2.21192, 0.533934, 7.57778] -> [2.11607, 0.444603, 7.63645]
Camera #18 center: [2.8056, 0.499094, 7.04927] -> [2.70905, 0.417308, 7.09242]
After BA tie poits: 32% old + 6% new = 38% total outliers
After BA projections: 70% inliers with MSE=0.139033
    Camera #0 projections: 73% inliers (986/1353) with MSE=0.778842
    Camera #1 projections: 78% inliers (1441/1854) with MSE=0.405024
    Camera #2 projections: 71% inliers (1781/2496) with MSE=0.118866
    Camera #3 projections: 63% inliers (1759/2802) with MSE=0.0836681
    Camera #4 projections: 56% inliers (1785/3206) with MSE=0.0947096
    Camera #5 projections: 58% inliers (1798/3112) with MSE=0.0969642
    Camera #6 projections: 61% inliers (2124/3494) with MSE=0.0852828
    Camera #7 projections: 67% inliers (2214/3298) with MSE=0.109535
    Camera #8 projections: 76% inliers (2471/3258) with MSE=0.0838844
    Camera #9 projections: 77% inliers (2609/3398) with MSE=0.0836668
    Camera #10 projections: 64% inliers (2149/3348) with MSE=0.0833666
    Camera #11 projections: 52% inliers (1568/3040) with MSE=0.[101](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:102)355
    Camera #12 projections: 40% inliers (1043/2600) with MSE=0.131691
    Camera #13 projections: 61% inliers (1484/2424) with MSE=0.101306
    Camera #14 projections: 80% inliers (1820/2268) with MSE=0.074515
    Camera #15 projections: 85% inliers (2728/3224) with MSE=0.0976881
    Camera #16 projections: 83% inliers (3222/3876) with MSE=0.147852
    Camera #17 projections: 88% inliers (3269/3734) with MSE=0.135323
    Camera #18 projections: 86% inliers (2552/2957) with MSE=0.213634
Append camera #19 (IMG_3042.JPG) to alignment via 1082 common points
Before BA camera: k1=-0.163256, k2=0.267828, f=1447.56, cx=362.822, cy=599.264
Before BA projections: 70% inliers with MSE=0.234008
    Camera #0 projections: 73% inliers (986/1353) with MSE=0.778842
    Camera #1 projections: 78% inliers (1441/1854) with MSE=0.405024
    Camera #2 projections: 71% inliers (1781/2496) with MSE=0.118866
    Camera #3 projections: 63% inliers (1759/2802) with MSE=0.0836681
    Camera #4 projections: 56% inliers (1785/3206) with MSE=0.0947096
    Camera #5 projections: 58% inliers (1798/3112) with MSE=0.0969642
    Camera #6 projections: 61% inliers (2124/3494) with MSE=0.0852828
    Camera #7 projections: 67% inliers (2214/3298) with MSE=0.109535
    Camera #8 projections: 76% inliers (2471/3258) with MSE=0.0838844
    Camera #9 projections: 77% inliers (2609/3398) with MSE=0.0836668
    Camera #10 projections: 64% inliers (2149/3348) with MSE=0.0833666
    Camera #11 projections: 52% inliers (1568/3040) with MSE=0.101355
    Camera #12 projections: 40% inliers (1043/2600) with MSE=0.131691
    Camera #13 projections: 61% inliers (1487/2427) with MSE=0.[102](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:103)052
    Camera #14 projections: 80% inliers (1825/2274) with MSE=0.0784705
    Camera #15 projections: 85% inliers (2729/3225) with MSE=0.097728
    Camera #16 projections: 83% inliers (3231/3893) with MSE=0.14918
    Camera #17 projections: 85% inliers (3470/4079) with MSE=0.374799
    Camera #18 projections: 87% inliers (2930/3378) with MSE=0.245736
    Camera #19 projections: 81% inliers (1543/1906) with MSE=2.03388
After BA camera: k1=-0.128109, k2=-0.0206017, f=1441.99, cx=354.922, cy=596.943
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: [-1.88784, 0.00966933, 0.481508] -> [-1.88115, 0.0120021, 0.487347]
Camera #3 center: [-2.71416, 0.0159207, 0.865154] -> [-2.70055, 0.021027, 0.873256]
Camera #4 center: [-3.33949, 0.0425924, 1.41071] -> [-3.3192, 0.0503731, 1.41992]
Camera #5 center: [-3.90932, 0.0745537, 2.09467] -> [-3.88225, 0.0852129, 2.[103](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:104)52]
Camera #6 center: [-4.19593, 0.134729, 2.926] -> [-4.1616, 0.147648, 2.93127]
Camera #7 center: [-4.40491, 0.19966, 3.84044] -> [-4.36437, 0.215061, 3.84244]
Camera #8 center: [-4.18706, 0.257659, 4.88688] -> [-4.14125, 0.274642, 4.88348]
Camera #9 center: [-3.88568, 0.296582, 5.85028] -> [-3.83683, 0.315023, 5.839]
Camera #10 center: [-3.24957, 0.353588, 6.67022] -> [-3.19856, 0.372413, 6.65248]
Camera #11 center: [-2.63065, 0.395285, 7.23878] -> [-2.57936, 0.414[108](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:109), 7.21526]
Camera #12 center: [-1.87931, 0.454737, 7.77556] -> [-1.82856, 0.473529, 7.7458]
Camera #13 center: [-1.02292, 0.469597, 8.09628] -> [-0.975331, 0.487331, 8.06021]
Camera #14 center: [-0.235658, 0.495111, 8.29394] -> [-0.192162, 0.511807, 8.25389]
Camera #15 center: [0.578878, 0.491181, 8.2625] -> [0.622876, 0.505699, 8.21894]
Camera #16 center: [1.38562, 0.482489, 8.06699] -> [1.43099, 0.495219, 8.018]
Camera #17 center: [2.11607, 0.444603, 7.63645] -> [2.15994, 0.454598, 7.58124]
Camera #18 center: [2.70905, 0.417308, 7.09242] -> [2.74399, 0.426502, 7.02932]
Camera #19 center: [3.29231, 0.421883, 6.55354] -> [3.31134, 0.413135, 6.48865]
After BA tie poits: 36% old + 2% new = 38% total outliers
After BA projections: 67% inliers with MSE=0.125799
    Camera #0 projections: 73% inliers (986/1353) with MSE=0.676724
    Camera #1 projections: 77% inliers (1430/1854) with MSE=0.338487
    Camera #2 projections: 71% inliers (1760/2496) with MSE=0.[109](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:110)017
    Camera #3 projections: 63% inliers (1755/2802) with MSE=0.0827447
    Camera #4 projections: 56% inliers (1782/3206) with MSE=0.0967109
    Camera #5 projections: 58% inliers (1797/3[112](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:113)) with MSE=0.100268
    Camera #6 projections: 61% inliers (2126/3494) with MSE=0.0928028
    Camera #7 projections: 67% inliers (2214/3298) with MSE=0.101435
    Camera #8 projections: 76% inliers (2466/3258) with MSE=0.0825547
    Camera #9 projections: 77% inliers (2609/3398) with MSE=0.0872962
    Camera #10 projections: 64% inliers (2149/3348) with MSE=0.0871839
    Camera #11 projections: 51% inliers (1564/3040) with MSE=0.101753
    Camera #12 projections: 40% inliers (1031/2600) with MSE=0.[120](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:121)937
    Camera #13 projections: 60% inliers (1458/2427) with MSE=0.0938127
    Camera #14 projections: 79% inliers (1790/2274) with MSE=0.0849524
    Camera #15 projections: 83% inliers (2666/3225) with MSE=0.0913004
    Camera #16 projections: 71% inliers (2782/3893) with MSE=0.[122](https://github.com/PhotogrammetryCourse/PhotogrammetryTasks2024/actions/runs/11315662833/job/31467104524#step:12:123)057
    Camera #17 projections: 73% inliers (2960/4079) with MSE=0.122432
    Camera #18 projections: 60% inliers (2023/3378) with MSE=0.14283
    Camera #19 projections: 92% inliers (1761/1906) with MSE=0.131415
[       OK ] SFM.ReconstructNViews (78768 ms)
[----------] 1 test from SFM (78768 ms total)

[----------] Global test environment tear-down
[==========] 1 test from 1 test suite ran. (78768 ms total)
[  PASSED  ] 1 test.

[PolarNick239]

9/10 👍