Axis Angle parameterization   Reprojection Error, no camera parameters
Camera number, number of images per camera, weighting 
0 88 1

Preliminary
X Zs....
0 0 0 0 0 0 0 
0 0 0 0 0 0 0 


Solver Summary (v 1.11.0-eigen-(3.2.0)-lapack-suitesparse-(4.2.1)-openmp)

                                     Original                  Reduced
Parameter blocks                           14                       14
Parameters                                 14                       14
Residual blocks                            88                       88
Residual                                 1056                     1056

Minimizer                        TRUST_REGION

Dense linear algebra library            EIGEN
Trust region strategy     LEVENBERG_MARQUARDT

                                        Given                     Used
Linear solver                        DENSE_QR                 DENSE_QR
Threads                                     1                        1
Linear solver threads                       1                        1

Cost:
Initial                          2.204181e+08
Final                            7.593448e+02
Change                           2.204173e+08

Minimizer iterations                        3
Successful steps                            3
Unsuccessful steps                          0

Time (in seconds):
Preprocessor                           0.0001

  Residual evaluation                  0.0005
  Jacobian evaluation                  0.4188
  Linear solver                        0.0008
Minimizer                              0.4204

Postprocessor                          0.0000
Total                                  0.4205

Termination:                      CONVERGENCE (Function tolerance reached. |cost_change|/cost: 3.539943e-09 <= 1.000000e-06)

X Zs ....
-0.0203283 1.56535 -0.0310478 -2197.44 -121.232 371.029 0 
-0.0122928 0.00119486 -0.0722186 9.22915 6.21241 1.69913 0 
Camera number, number of images per camera, weighting 
0 88 1

Preliminary
X Zs ... 
-0.0203283 1.56535 -0.0310478 -2197.44 -121.232 371.029 0 
-0.0122928 0.00119486 -0.0722186 9.22915 6.21241 1.69913 0 
camera cali parameters: 
1081.59 317.249 1083.49 245.791 -0.223875 0.164635 0.000135341 0.000967829 -0.0108216 0 0 0 



Solver Summary (v 1.11.0-eigen-(3.2.0)-lapack-suitesparse-(4.2.1)-openmp)

                                     Original                  Reduced
Parameter blocks                           26                       26
Parameters                                 26                       26
Residual blocks                          1408                     1408
Residual                                 2816                     2816

Minimizer                        TRUST_REGION

Dense linear algebra library            EIGEN
Trust region strategy     LEVENBERG_MARQUARDT

                                        Given                     Used
Linear solver                        DENSE_QR                 DENSE_QR
Threads                                     1                        1
Linear solver threads                       1                        1

Cost:
Initial                          1.951539e+03
Final                            1.723120e+03
Change                           2.284193e+02

Minimizer iterations                        4
Successful steps                            4
Unsuccessful steps                          0

Time (in seconds):
Preprocessor                           0.0006

  Residual evaluation                  0.0109
  Jacobian evaluation                 18.4623
  Linear solver                        0.0078
Minimizer                             18.4822

Postprocessor                          0.0001
Total                                 18.4828

Termination:                      CONVERGENCE (Function tolerance reached. |cost_change|/cost: 5.689913e-09 <= 1.000000e-06)

X Zs ... 
-0.0254763 1.56574 -0.0350501 -2196.38 -127.169 393.301 0 
-0.012873 -0.00125294 -0.0726017 8.98549 29.718 -2.96242 0 

camera cali parameters: 
1081.59 317.249 1083.49 245.791 -0.223875 0.164635 0.000135341 0.000967829 -0.0108216 0 0 0 

X 
 0.00471733  0.00619057     0.99997    -382.141
  -0.038563    0.999238 -0.00600412     44.7342
  -0.999245  -0.0385335  0.00495246    -2201.57
          0          -0          -0           1
Z 0
  0.997365 -0.0725279 0.00171889    8.98549
  0.072544   0.997283 -0.0128158     29.718
-0.000784715  0.0129068   0.999916   -2.96242
         0          0          0          1
Summed rotation error 0.000129623
Summed angle difference rotation error 0.387775
Summed translation error 342.789
Summed whole error 342.789

Summed reproj error 10402.3

newA for i 
0.0745817  0.985884    0.1499  -266.464
-0.989448 0.0918848 -0.112025   268.084
-0.124217 -0.139962  0.982334   2119.05
        0         0         0         1
newA for i 
 0.0749265   0.994701   0.070397   -205.529
 -0.988284  0.0834856  -0.127769    284.835
 -0.132969 -0.0599983   0.989302    1871.84
         0          0          0          1
newA for i 
0.0758426  0.989811 -0.120503  -52.3951
-0.988371 0.0586526 -0.140294   298.759
-0.131798  0.129742   0.98275   1847.08
        0         0         0         1
newA for i 
0.0762629  0.976678 -0.200709   14.8205
-0.989588 0.0494974 -0.135149    293.24
-0.122062  0.208926  0.970284   2073.53
        0         0         0         1
newA for i 
  0.075667   0.995249 -0.0612787    299.325
 -0.989322  0.0672556  -0.129297    312.715
 -0.124562  0.0704078   0.989711    2050.55
         0          0          0          1
newA for i 
 0.0751224   0.996649  0.0323339    222.549
 -0.988254  0.0787387  -0.130973    319.281
  -0.13308 -0.0221147   0.990858    1832.62
         0          0          0          1
newA for i 
0.0744167  0.983731  0.163514   112.914
-0.988458 0.0944617 -0.118444   312.358
-0.131963 -0.152812  0.979405   1853.01
        0         0         0         1
newA for i 
0.0743877  0.980169   0.18367   96.7006
-0.989528 0.0953964 -0.108322   301.684
-0.123696 -0.173689  0.977001   2062.87
        0         0         0         1
newA for i 
   0.0753256      0.99711   0.00990672     -555.288
   -0.989293    0.0759734    -0.124607       251.33
   -0.124999 -0.000415316     0.992156      2062.98
           0            0            0            1
newA for i 
 0.0756737    0.99371 -0.0825441   -481.986
 -0.988307   0.063757  -0.138509    271.449
 -0.132375  0.0920598   0.986915    1820.91
         0          0          0          1
newA for i 
 0.076224  0.974043 -0.213144  -368.585
-0.988626 0.0460344 -0.143179   284.461
-0.129651  0.221633  0.966473   1807.29
        0         0         0         1
newA for i 
0.0763914  0.969176 -0.234228  -348.322
-0.989693 0.0451653 -0.135895   276.584
-0.121128  0.242195  0.962636   2011.73
        0         0         0         1
newA for i 
0.0767272  0.968581 -0.236564   44.7156
-0.993279 0.0536307 -0.102574    267.17
-0.0866644  0.242844  0.966186   2074.74
        0         0         0         1
newA for i 
0.0763125  0.986931 -0.141926   -34.924
-0.992659 0.0618053 -0.103963   270.161
-0.0938326  0.148819  0.984403   1830.75
        0         0         0         1
newA for i 
 0.0752192   0.993393  0.0866703   -218.396
 -0.992608  0.0828939 -0.0886422    254.602
-0.0952417 -0.0793622   0.992286    1860.53
         0          0          0          1
newA for i 
 0.0747298   0.980585   0.181297   -290.688
 -0.993203  0.0894589 -0.0744686    239.076
-0.0892416    -0.1745   0.980605    2129.19
         0          0          0          1
newA for i 
 0.0749889   0.981005   0.178902    -288.91
 -0.995694  0.0834692 -0.0403451    213.324
-0.0545111  -0.175106   0.983039    2115.04
         0          0          0          1
newA for i 
 0.0755149   0.993599  0.0840211   -216.389
 -0.995498   0.079962 -0.0508841    225.553
-0.0572771 -0.0798006   0.995164    1844.84
         0          0          0          1
newA for i 
 0.0766045   0.986528  -0.144554   -32.8411
 -0.995495  0.0675528 -0.0665257    239.996
-0.0558642   0.148998   0.987258    1814.99
         0          0          0          1
newA for i 
   0.07698   0.967983  -0.238921    46.6238
  -0.99568   0.062155 -0.0689864    239.554
-0.0519279     0.2432   0.968585    2060.46
         0          0          0          1
newA for i 
 0.0764394   0.991884  -0.101608    331.181
 -0.995633  0.0704555 -0.0612298    259.436
-0.0535738   0.105845   0.992939    2033.36
         0          0          0          1
newA for i 
 0.0759108   0.997084  0.0078892    242.343
  -0.99548  0.0762372 -0.0566228    259.804
 -0.057059 -0.0035551   0.998365    1798.02
         0          0          0          1
newA for i 
 0.0750943   0.984524   0.158347    117.127
 -0.995532  0.0831357 -0.0447722    251.223
 -0.057243  -0.154278   0.986368     1816.9
         0          0          0          1
newA for i 
 0.0749889   0.981005   0.178902    100.621
 -0.995694  0.0834692 -0.0403451    244.842
-0.0545111  -0.175106   0.983039    2029.76
         0          0          0          1
newA for i 
 0.0757623   0.996304  0.0404662     -578.9
 -0.995638  0.0778031  -0.051494     194.44
-0.0544522 -0.0363887   0.997853     2055.1
         0          0          0          1
newA for i 
 0.0762761   0.994713 -0.0687515   -493.541
 -0.995479   0.072059 -0.0618674    208.478
-0.0565853  0.0731597   0.995713     1791.2
         0          0          0          1
newA for i 
 0.0768893   0.972862  -0.218238   -364.126
 -0.995526  0.0628555 -0.0705477    219.801
-0.0549151   0.222685   0.973342    1770.86
         0          0          0          1
newA for i 
   0.07698   0.967983  -0.238921   -344.148
  -0.99568   0.062155 -0.0689864    216.113
-0.0519279     0.2432   0.968585    1978.31
         0          0          0          1
newA for i 
 0.0771629   0.966579  -0.244482    41.8239
 -0.996899  0.0710035 -0.0339222    214.324
-0.0154296   0.246341    0.96906    2050.49
         0          0          0          1
newA for i 
 0.0768116   0.985629   -0.15045   -36.6452
 -0.996916   0.073487 -0.0275419    211.801
-0.0160904   0.152101   0.988234    1803.79
         0          0          0          1
newA for i 
 0.0757305   0.994067   0.078076    -220.37
 -0.996975  0.0768607 -0.0115761    198.524
-0.0175086 -0.0769627   0.996881    1833.09
         0          0          0          1
newA for i 
 0.0751866   0.982003   0.173255   -294.021
 -0.997007  0.0771709 -0.0047367    190.056
 -0.018022  -0.172381   0.984865    2104.05
         0          0          0          1
newA for i 
 0.0751866   0.982003   0.173255   -287.006
 -0.997007  0.0771709 -0.0047367    90.3095
 -0.018022  -0.172381   0.984865    2102.84
         0          0          0          1
newA for i 
 0.0757305   0.994067   0.078076   -213.355
 -0.996975  0.0768607 -0.0115761     98.778
-0.0175086 -0.0769627   0.996881    1831.88
         0          0          0          1
newA for i 
 0.0768116   0.985629   -0.15045   -29.6306
 -0.996916   0.073487 -0.0275419    112.055
-0.0160904   0.152101   0.988234    1802.58
         0          0          0          1
newA for i 
 0.0771629   0.966579  -0.244482    48.8385
 -0.996899  0.0710035 -0.0339222    114.578
-0.0154296   0.246341    0.96906    2049.28
         0          0          0          1
newA for i 
  0.076632   0.991263  -0.107358     333.45
 -0.996925  0.0744078 -0.0245801    134.914
-0.0163778   0.108912   0.993916    2022.91
         0          0          0          1
newA for i 
   0.0761259     0.997096   0.00190981      245.624
   -0.996952    0.0761472   -0.0169683      131.608
  -0.0170649 -0.000612053     0.999854      1786.41
           0            0            0            1
newA for i 
  0.0753101    0.985432    0.152484     120.381
  -0.996999   0.0771598 -0.00623867     122.574
 -0.0179139   -0.151556    0.988286     1805.06
          0           0           0           1
newA for i 
 0.0751866   0.982003   0.173255    103.011
 -0.997007  0.0771709 -0.0047367    118.759
 -0.018022  -0.172381   0.984865    2018.72
         0          0          0          1
newA for i 
   0.07596   0.996508  0.0346867   -576.748
 -0.996962  0.0765045 -0.0146566    70.6748
-0.0172593 -0.0334677    0.99929    2041.77
         0          0          0          1
newA for i 
 0.0764884   0.994267  -0.074714   -490.212
 -0.996933  0.0750156 -0.0223213    79.9729
-0.0165893  0.0761922   0.996955    1777.24
         0          0          0          1
newA for i 
 0.0770913   0.971531  -0.224019   -360.594
 -0.996903  0.0716002 -0.0325436    89.3275
-0.0155774   0.225834   0.974041    1757.42
         0          0          0          1
newA for i 
 0.0771629   0.966579  -0.244482   -341.458
 -0.996899  0.0710035 -0.0339222    88.1436
-0.0154296   0.246341    0.96906    1965.79
         0          0          0          1
newA for i 
 0.0771629   0.966579  -0.244482    55.8532
 -0.996899  0.0710035 -0.0339222    14.8313
-0.0154296   0.246341    0.96906    2048.07
         0          0          0          1
newA for i 
 0.0768116   0.985629   -0.15045    -22.616
 -0.996916   0.073487 -0.0275419    12.3084
-0.0160904   0.152101   0.988234    1801.37
         0          0          0          1
newA for i 
 0.0757305   0.994067   0.078076   -206.341
 -0.996975  0.0768607 -0.0115761  -0.968339
-0.0175086 -0.0769627   0.996881    1830.67
         0          0          0          1
newA for i 
 0.0751866   0.982003   0.173255   -279.991
 -0.997007  0.0771709 -0.0047367   -9.43684
 -0.018022  -0.172381   0.984865    2101.63
         0          0          0          1
newA for i 
 0.0751866   0.982003   0.173255   -272.977
 -0.997007  0.0771709 -0.0047367   -109.183
 -0.018022  -0.172381   0.984865    2100.42
         0          0          0          1
newA for i 
 0.0757305   0.994067   0.078076   -199.326
 -0.996975  0.0768607 -0.0115761   -100.715
-0.0175086 -0.0769627   0.996881    1829.46
         0          0          0          1
newA for i 
 0.0768116   0.985629   -0.15045   -15.6013
 -0.996916   0.073487 -0.0275419   -87.4379
-0.0160904   0.152101   0.988234    1800.15
         0          0          0          1
newA for i 
 0.0771629   0.966579  -0.244482    62.8678
 -0.996899  0.0710035 -0.0339222   -84.9151
-0.0154296   0.246341    0.96906    2046.86
         0          0          0          1
newA for i 
  0.076632   0.991263  -0.107358    347.479
 -0.996925  0.0744078 -0.0245801   -64.5781
-0.0163778   0.108912   0.993916    2020.48
         0          0          0          1
newA for i 
   0.0761259     0.997096   0.00190981      259.653
   -0.996952    0.0761472   -0.0169683     -67.8845
  -0.0170649 -0.000612053     0.999854      1783.99
           0            0            0            1
newA for i 
  0.0751543    0.981045    0.178614     111.945
  -0.997009   0.0771692 -0.00434859    -77.3994
 -0.0180495   -0.177753     0.98391     1712.02
          0           0           0           1
newA for i 
  0.0748736    0.971712    0.223989     72.9965
  -0.997026   0.0770647 -0.00104388    -81.7078
 -0.0182765   -0.223244    0.974591     1841.39
          0           0           0           1
newA for i 
   0.07596   0.996508  0.0346867   -562.719
 -0.996962  0.0765045 -0.0146566   -128.818
-0.0172593 -0.0334677    0.99929    2039.35
         0          0          0          1
newA for i 
 0.0764884   0.994267  -0.074714   -476.183
 -0.996933  0.0750156 -0.0223213    -119.52
-0.0165893  0.0761922   0.996955    1774.82
         0          0          0          1
newA for i 
 0.0771809   0.965228  -0.249754   -323.052
 -0.996898  0.0708443 -0.0342763   -107.331
-0.0153911   0.251626   0.967702    1657.73
         0          0          0          1
newA for i 
 0.0773256   0.952574  -0.294319   -280.893
 -0.996892   0.069412 -0.0372558   -105.796
  -0.01506   0.296284   0.954981    1775.57
         0          0          0          1
newA for i 
   0.0771868     0.965973    -0.246854      64.8632
   -0.996827    0.0796048 -0.000181849     -113.206
   0.0194753     0.246085     0.969052      2052.01
           0            0            0            1
newA for i 
0.0768388  0.985046 -0.154212  -12.5417
 -0.99679 0.0793806 0.0103826  -118.336
0.0224687   0.15292  0.987984   1781.03
        0         0         0         1
newA for i 
 0.0757512    0.99419  0.0764779   -198.108
 -0.996905  0.0738925  0.0268444   -130.608
 0.0210373 -0.0782753    0.99671    1810.61
         0          0          0          1
newA for i 
0.0752169  0.982423  0.170843  -271.112
-0.997024 0.0711931 0.0295658  -135.619
0.0168834 -0.172559  0.984854   2105.56
        0         0         0         1
newA for i 
0.0751013  0.983052  0.167239  -271.833
-0.994785 0.0622552 0.0807846  -125.214
0.0690041 -0.172434  0.982601   2117.76
        0         0         0         1
newA for i 
 0.0755964   0.994503  0.0724529   -198.446
 -0.994041  0.0694391  0.0840326   -125.664
 0.0785396 -0.0783743   0.993826    1824.36
         0          0          0          1
newA for i 
0.0766783  0.984426 -0.158201  -12.7603
-0.993844  0.088189 0.0670593   -115.08
0.0799664  0.152085  0.985127   1794.88
        0         0         0         1
newA for i 
0.0770617  0.965071 -0.250399   64.3367
-0.994453 0.0924331 0.0501976  -105.571
0.0715894  0.245143   0.96684   2064.35
        0         0         0         1
newA for i 
 0.0760177   0.996084 -0.0451381    190.611
 -0.991315  0.0803705   0.104095   -70.4284
  0.107315  0.0368329   0.993543    1616.08
         0          0          0          1
newA for i 
 0.0757041   0.996974  0.0176916    139.831
 -0.991267  0.0733255   0.109607   -75.6515
  0.107979 -0.0258349   0.993818    1586.87
         0          0          0          1
newA for i 
0.0750845  0.987628   0.13767   41.5029
-0.991846 0.0597109  0.112588  -81.0271
 0.102975 -0.145002  0.984058   1663.89
        0         0         0         1
newA for i 
0.0748096  0.979077  0.189238  -1.29137
-0.992384 0.0544737  0.110478  -81.3083
0.0978582 -0.196062  0.975696   1767.28
        0         0         0         1
newA for i 
 0.0760177   0.996084 -0.0451381    -407.91
 -0.991315  0.0803705   0.104095   -112.525
  0.107315  0.0368329   0.993543    1616.57
         0          0          0          1
newA for i 
0.0762852  0.991145 -0.108688  -355.738
-0.990992 0.0874007  0.101463  -113.138
 0.110064 0.0999684  0.988885   1546.46
        0         0         0         1
newA for i 
 0.076781  0.969737 -0.231768  -249.064
 -0.99108 0.0996265 0.0885161  -109.003
 0.108928  0.222904  0.968735   1543.65
        0         0         0         1
newA for i 
0.0769878  0.955364 -0.285222  -200.304
-0.991457  0.103568 0.0792893  -104.516
  0.10529  0.276681  0.955177   1610.27
        0         0         0         1
newA for i 
0.0767505   0.96418 -0.253902   63.8012
-0.989429  0.105079 0.0999419  -97.7583
 0.123043  0.243548  0.962052   2081.39
        0         0         0         1
newA for i 
0.0762835  0.983616  -0.16334  -12.0388
-0.987487 0.0972053  0.124181  -112.348
 0.138024  0.151823  0.978723   1789.74
        0         0         0         1
newA for i 
 0.0751971   0.994744  0.0695084    -199.64
 -0.987769  0.0647586    0.14184   -121.313
  0.136593 -0.0793238   0.987446    1819.31
         0          0          0          1
newA for i 
0.0747994  0.983674  0.163677  -272.564
-0.989895 0.0534156  0.131357  -114.667
 0.120471 -0.171849  0.977729   2134.53
        0         0         0         1
newA for i 
   0.075488    0.997126 -0.00644664    -438.791
  -0.986195   0.0756125    0.147318    -144.573
   0.147382 -0.00476381    0.989068     1655.39
          0           0           0           1
newA for i 
 0.0758449   0.993002 -0.0905256   -370.852
 -0.985575  0.0884325   0.144302   -147.481
  0.151297  0.0782744   0.985384    1570.99
         0          0          0          1
newA for i 
0.0765175  0.964102 -0.254267  -228.744
-0.985877  0.111258  0.125176  -143.484
 0.148972  0.241098  0.958999      1567
        0         0         0         1
newA for i 
0.076798 0.942725 -0.32461  -163.47
-0.986703 0.118636 0.111099  -136.94
0.143247 0.311761 0.939301  1646.29
       0        0        0        1
newA for i 
 0.0758747   0.993101 -0.0894073    226.063
 -0.986089  0.0880322   0.140993   -99.4272
  0.147891  0.0774666   0.985965    1644.38
         0          0          0          1
newA for i 
  0.0754501    0.997133 -0.00580214     158.857
  -0.985685   0.0754612    0.150772    -108.536
   0.150777 -0.00565607    0.988551     1581.24
          0           0           0           1
newA for i 
0.0745843  0.984222   0.16045   22.4959
-0.986406 0.0491884  0.156794  -117.733
 0.146427 -0.169963  0.974511    1619.1
        0         0         0         1
newA for i 
0.0741955   0.96955  0.233384  -38.4806
-0.987394 0.0386103  0.153504  -117.725
  0.13982 -0.241832  0.960192   1716.64
        0         0         0         1
