[11:52:31.769] Init: Selected first frame. 
[11:52:32.081] Init: distance between two frames:0.000043 ,angle between two frames:0.097648
[11:52:32.478] Init: distance between two frames:0.000050 ,angle between two frames:0.115896
[11:52:32.580] Init: distance between two frames:0.000010 ,angle between two frames:0.021210
[11:52:32.682] Init: distance between two frames:0.000003 ,angle between two frames:0.022960
[11:52:32.781] Init: distance between two frames:0.075616 ,angle between two frames:-0.588962
[11:52:32.781] Init: Selected first frame. 
[11:52:32.959] Reprojection Map nPoint:20 ,nCell:13 ,nMatches:3 ,distance between two frames:0.010357 ,angle between two frames:0.032834
[11:52:32.959] Init estimate scale:12.833136
[11:52:32.959] xyz_f:1.776089, -0.880237, -0.125014  Reprojection Error: 14.434064, -7.278613 Feature: -0.684109, -0.883015, 1.653161
[11:52:32.959] xyz_f:1.734470, -0.798911, -0.112028  Reprojection Error: 15.713230, -7.337710 Feature: -0.662454, -0.801099, 1.616615
[11:52:32.959] xyz_f:1.703813, -0.802731, -0.074213  Reprojection Error: 23.094369, -10.438500 Feature: -0.687872, -0.795001, 1.575371
[11:52:32.959] it:0 	 Success 	 new_chi2: 912.028774 	 dT = 0.142962, -0.008466, 1.586596
[11:52:32.959] xyz_f:0.221852, -0.390302, -1.961947  Reprojection Error: 0.340067, -0.436463 Feature: -0.684109, -0.883015, 1.653161
[11:52:32.959] xyz_f:0.214006, -0.321982, -1.900419  Reprojection Error: 0.343390, -0.375793 Feature: -0.662454, -0.801099, 1.616615
[11:52:32.959] xyz_f:0.252001, -0.323873, -1.869805  Reprojection Error: 0.270838, 0.204817 Feature: -0.687872, -0.795001, 1.575371
[11:52:32.959] it:1 	 Success 	 new_chi2: 0.680489 	 dT = 0.080285, -0.031529, 0.060229
[11:52:32.959] xyz_f:0.042977, -0.389937, -1.994839  Reprojection Error: 0.248533, -0.433000 Feature: -0.684109, -0.883015, 1.653161
[11:52:32.959] xyz_f:0.037658, -0.321720, -1.932928  Reprojection Error: 0.250262, -0.372808 Feature: -0.662454, -0.801099, 1.616615
[11:52:32.959] xyz_f:0.077393, -0.323004, -1.904575  Reprojection Error: 0.176700, 0.208435 Feature: -0.687872, -0.795001, 1.575371
[11:52:32.959] it:2 	 Success 	 new_chi2: 0.525482 	 dT = -1.382325, -0.730505, -0.691435
[11:52:32.959] xyz_f:-0.303515, -0.491247, -2.347249  Reprojection Error: 0.097683, -0.446813 Feature: -0.684109, -0.883015, 1.653161
[11:52:32.959] xyz_f:-0.334486, -0.419647, -2.297964  Reprojection Error: 0.085222, -0.388983 Feature: -0.662454, -0.801099, 1.616615
[11:52:32.959] xyz_f:-0.321552, -0.425841, -2.251288  Reprojection Error: -0.006765, 0.188874 Feature: -0.687872, -0.795001, 1.575371
[11:52:32.959] it:3 	 Success 	 new_chi2: 0.403434 	 dT = -0.651432, 2.081824, -0.262229
[11:52:32.959] xyz_f:0.020943, -0.578569, 0.060468  Reprojection Error: -0.119353, 9.330706 Feature: -0.684109, -0.883015, 1.653161
[11:52:32.959] xyz_f:-0.016507, -0.504634, 0.101037  Reprojection Error: 0.394155, 4.788155 Feature: -0.662454, -0.801099, 1.616615
[11:52:32.959] xyz_f:-0.016118, -0.511283, 0.149411  Reprojection Error: 0.243943, 3.800010 Feature: -0.687872, -0.795001, 1.575371
[11:52:32.959] it:4 	 Success 	 new_chi2: 120.103373 	 dT = 0.000356, 0.006446, 0.020676
[11:52:32.959] xyz_f:2.775451, -0.586340, 0.083022  Reprojection Error: -33.203275, 6.824930 Feature: -0.684109, -0.883015, 1.653161
[11:52:32.959] xyz_f:2.737595, -0.512203, 0.122840  Reprojection Error: -22.055103, 3.963315 Feature: -0.662454, -0.801099, 1.616615
[11:52:32.959] xyz_f:2.736982, -0.518852, 0.171212  Reprojection Error: -15.849900, 3.408500 Feature: -0.687872, -0.795001, 1.575371
[11:52:32.959] it:5 	 Success 	 new_chi2: 231.344219 	 dT = 0.191258, 0.013368, -1.195216
[11:52:32.959] xyz_f:2.992560, -1.107368, 2.040897  Reprojection Error: -1.239307, 0.305062 Feature: -0.684109, -0.883015, 1.653161
[11:52:32.959] xyz_f:2.960744, -1.020958, 2.034909  Reprojection Error: -1.224196, 0.295355 Feature: -0.662454, -0.801099, 1.616615
[11:52:32.959] xyz_f:2.915452, -1.019520, 2.053101  Reprojection Error: -1.283959, 0.874604 Feature: -0.687872, -0.795001, 1.575371
[11:52:32.959] it:6 	 Success 	 new_chi2: 5.531443 	 dT = 0.049705, -0.519268, -0.013797
[11:52:32.959] xyz_f:2.850669, -1.112682, 1.541459  Reprojection Error: -1.622343, 0.484310 Feature: -0.684109, -0.883015, 1.653161
[11:52:32.959] xyz_f:2.819245, -1.026158, 1.535050  Reprojection Error: -1.605802, 0.462119 Feature: -0.662454, -0.801099, 1.616615
[11:52:32.959] xyz_f:2.773720, -1.024558, 1.552637  Reprojection Error: -1.650393, 1.037912 Feature: -0.687872, -0.795001, 1.575371
[11:52:32.959] it:7 	 Success 	 new_chi2: 9.192081 	 dT = 0.059458, -0.293316, -0.027587
[11:52:32.959] xyz_f:2.249358, -1.102009, 1.794943  Reprojection Error: -1.026175, 0.376425 Feature: -0.684109, -0.883015, 1.653161
[11:52:32.959] xyz_f:2.217157, -1.015713, 1.789382  Reprojection Error: -1.008283, 0.361267 Feature: -0.662454, -0.801099, 1.616615
[11:52:32.959] xyz_f:2.172106, -1.014436, 1.808176  Reprojection Error: -1.065205, 0.939056 Feature: -0.687872, -0.795001, 1.575371
[11:52:32.959] it:8 	 Success 	 new_chi2: 4.120830 	 dT = 0.061852, -0.347535, -0.022336
[11:52:32.959] xyz_f:2.561398, -1.093228, 2.109709  Reprojection Error: -0.987111, 0.280663 Feature: -0.684109, -0.883015, 1.653161
[11:52:32.959] xyz_f:2.528586, -1.007120, 2.104850  Reprojection Error: -0.970534, 0.272110 Feature: -0.662454, -0.801099, 1.616615
[11:52:32.959] xyz_f:2.483945, -1.006103, 2.124611  Reprojection Error: -1.033064, 0.851576 Feature: -0.687872, -0.795001, 1.575371
[11:52:32.959] it:9 	 Success 	 new_chi2: 3.674464 	 dT = 0.061344, -0.707798, -0.017955
[11:52:32.959] xyz_f:2.925863, -1.086083, 2.790841  Reprojection Error: -0.821391, 0.151633 Feature: -0.684109, -0.883015, 1.653161
[11:52:32.959] xyz_f:2.892573, -1.000129, 2.786555  Reprojection Error: -0.807266, 0.152546 Feature: -0.662454, -0.801099, 1.616615
[11:52:32.959] xyz_f:2.848276, -0.999318, 2.807087  Reprojection Error: -0.878609, 0.734027 Feature: -0.687872, -0.795001, 1.575371
[11:52:32.959] it:10 	 Success 	 new_chi2: 2.590083 	 dT = 0.048612, -1.040819, -0.007341
[11:52:32.959] xyz_f:3.652966, -1.083140, 3.820676  Reprojection Error: -0.729115, 0.045968 Feature: -0.684109, -0.883015, 1.653161
[11:52:32.959] xyz_f:3.619482, -0.997249, 3.816626  Reprojection Error: -0.717566, 0.054925 Feature: -0.662454, -0.801099, 1.616615
[11:52:32.959] xyz_f:3.575331, -0.996522, 3.837472  Reprojection Error: -0.795624, 0.637711 Feature: -0.687872, -0.795001, 1.575371
[11:52:32.959] it:11 	 Success 	 new_chi2: 2.033917 	 dT = 0.038634, -1.322227, -0.002141
[11:52:32.959] xyz_f:4.705664, -1.082279, 5.139691  Reprojection Error: -0.688565, -0.026954 Feature: -0.684109, -0.883015, 1.653161
[11:52:32.959] xyz_f:4.672124, -0.996407, 5.135711  Reprojection Error: -0.678953, -0.012351 Feature: -0.662454, -0.801099, 1.616615
[11:52:32.959] xyz_f:4.628016, -0.995704, 5.156648  Reprojection Error: -0.761421, 0.571120 Feature: -0.687872, -0.795001, 1.575371
[11:52:32.959] it:12 	 Success 	 new_chi2: 1.797641 	 dT = 0.028423, -1.718739, -0.000657
[11:52:32.959] xyz_f:6.038683, -1.082015, 6.857443  Reprojection Error: -0.653614, -0.079740 Feature: -0.684109, -0.883015, 1.653161
[11:52:32.959] xyz_f:6.005127, -0.996148, 6.853484  Reprojection Error: -0.645435, -0.061017 Feature: -0.662454, -0.801099, 1.616615
[11:52:32.959] xyz_f:5.961032, -0.995453, 6.874449  Reprojection Error: -0.731064, 0.522834 Feature: -0.687872, -0.795001, 1.575371
[11:52:32.959] it:13 	 Success 	 new_chi2: 1.625885 	 dT = 0.007852, -1.953317, -0.000187
[11:52:32.959] xyz_f:7.778158, -1.081939, 8.810478  Reprojection Error: -0.655841, -0.114725 Feature: -0.684109, -0.883015, 1.653161
[11:52:32.959] xyz_f:7.744596, -0.996074, 8.806525  Reprojection Error: -0.648636, -0.093260 Feature: -0.662454, -0.801099, 1.616615
[11:52:32.959] xyz_f:7.700505, -0.995381, 8.827498  Reprojection Error: -0.736267, 0.490788 Feature: -0.687872, -0.795001, 1.575371
[11:52:32.959] it:14 	 Success 	 new_chi2: 1.620686 	 dT = -0.036722, -3.478576, -0.000088
[11:52:32.959] xyz_f:9.776127, -1.081904, 12.288922  Reprojection Error: -0.568534, -0.149488 Feature: -0.684109, -0.883015, 1.653161
[11:52:32.959] xyz_f:9.742564, -0.996040, 12.284972  Reprojection Error: -0.562267, -0.125288 Feature: -0.662454, -0.801099, 1.616615
[11:52:32.959] xyz_f:9.698474, -0.995348, 12.305949  Reprojection Error: -0.652048, 0.458912 Feature: -0.687872, -0.795001, 1.575371
[11:52:32.959] it:15 	 Success 	 new_chi2: 1.290852 	 dT = -0.121659, 1.780910, 0.000005
[11:52:32.959] xyz_f:13.339636, -1.081906, 10.508019  Reprojection Error: -1.042483, -0.134567 Feature: -0.684109, -0.883015, 1.653161
[11:52:32.959] xyz_f:13.306073, -0.996041, 10.504069  Reprojection Error: -1.035974, -0.111542 Feature: -0.662454, -0.801099, 1.616615
[11:52:32.959] xyz_f:13.261983, -0.995350, 10.525045  Reprojection Error: -1.123976, 0.472598 Feature: -0.687872, -0.795001, 1.575371
[11:52:32.959] it:16 	 Success 	 new_chi2: 3.515867 	 dT = -0.220963, -15.093117, -0.000097
[11:52:32.959] xyz_f:11.658116, -1.081867, 25.600990  Reprojection Error: -0.228388, -0.195268 Feature: -0.684109, -0.883015, 1.653161
[11:52:32.959] xyz_f:11.624550, -0.996003, 25.597043  Reprojection Error: -0.223357, -0.167455 Feature: -0.662454, -0.801099, 1.616615
[11:52:32.959] xyz_f:11.580463, -0.995312, 25.618024  Reprojection Error: -0.315979, 0.416881 Feature: -0.687872, -0.795001, 1.575371
[11:52:32.959] it:17 	 Success 	 new_chi2: 0.438704 	 dT = -0.335940, 125.782106, 0.000025
[11:52:32.959] xyz_f:26.866189, -1.081877, -100.181079  Reprojection Error: 0.495166, -0.248326 Feature: -0.684109, -0.883015, 1.653161
[11:52:32.959] xyz_f:26.832623, -0.996013, -100.185026  Reprojection Error: 0.498610, -0.216308 Feature: -0.662454, -0.801099, 1.616615
[11:52:32.959] xyz_f:26.788535, -0.995322, -100.164046  Reprojection Error: 0.403511, 0.368092 Feature: -0.687872, -0.795001, 1.575371
[11:52:32.959] it:18 	 Success 	 new_chi2: 0.891020 	 dT = 5.224381, 1235.053271, 0.000000
[11:52:32.959] xyz_f:-104.476239, -1.081877, -1335.234348  Reprojection Error: 0.148744, -0.238337 Feature: -0.684109, -0.883015, 1.653161
[11:52:32.960] xyz_f:-104.509804, -0.996013, -1335.238296  Reprojection Error: 0.152509, -0.207112 Feature: -0.662454, -0.801099, 1.616615
[11:52:32.960] xyz_f:-104.553893, -0.995322, -1335.217316  Reprojection Error: 0.057760, 0.377283 Feature: -0.687872, -0.795001, 1.575371
[11:52:32.960] it:19 	 Success 	 new_chi2: 0.289637 	 dT = -414.761638, 201513.250251, -0.000000
[11:52:32.960] xyz_f:-919.543491, -1.081877, -202848.484599  Reprojection Error: 0.222456, -0.237532 Feature: -0.684109, -0.883015, 1.653161
[11:52:32.960] xyz_f:-919.577056, -0.996013, -202848.488547  Reprojection Error: 0.226246, -0.206371 Feature: -0.662454, -0.801099, 1.616615
[11:52:32.960] xyz_f:-919.621144, -0.995322, -202848.467567  Reprojection Error: 0.131531, 0.378024 Feature: -0.687872, -0.795001, 1.575371
[11:52:32.960] it:20 	 Success 	 new_chi2: 0.358272 	 dT = -519606.344910, 4769387775.938214, -0.000000
[11:52:32.960] xyz_f:316758.789531, -1.081877, -4769590624.422813  Reprojection Error: 0.227056, -0.237527 Feature: -0.684109, -0.883015, 1.653161
[11:52:32.960] xyz_f:316758.755965, -0.996013, -4769590624.426761  Reprojection Error: 0.230846, -0.206366 Feature: -0.662454, -0.801099, 1.616615
[11:52:32.960] xyz_f:316758.711877, -0.995322, -4769590624.405781  Reprojection Error: 0.136131, 0.378029 Feature: -0.687872, -0.795001, 1.575371
[11:52:32.960] it:21 	 Success 	 new_chi2: 0.363628 	 dT = 4174967128974.416504, 2643207494910608384.000000, 0.000000
[11:52:32.960] xyz_f:-4179736719597.910156, -1.081877, -2643207499680199168.000000  Reprojection Error: 0.226988, -0.237527 Feature: -0.684109, -0.883015, 1.653161
[11:52:32.960] xyz_f:-4179736719597.943848, -0.996013, -2643207499680199168.000000  Reprojection Error: 0.230778, -0.206366 Feature: -0.662454, -0.801099, 1.616615
[11:52:32.960] xyz_f:-4179736719597.987793, -0.995322, -2643207499680199168.000000  Reprojection Error: 0.136063, 0.378029 Feature: -0.687872, -0.795001, 1.575371
[11:52:32.960] it:22 	 Success 	 new_chi2: 0.363548 	 dT = 22233935498397132.000000, -272008309413291571019776.000000, 0.000000
[11:52:32.960] xyz_f:-2665441435178596352.000000, -1.081877, 272005666205791892275200.000000  Reprojection Error: 0.226999, -0.237527 Feature: -0.684109, -0.883015, 1.653161
[11:52:32.960] xyz_f:-2665441435178596352.000000, -0.996013, 272005666205791892275200.000000  Reprojection Error: 0.230790, -0.206366 Feature: -0.662454, -0.801099, 1.616615
[11:52:32.960] xyz_f:-2665441435178596352.000000, -0.995322, 272005666205791892275200.000000  Reprojection Error: 0.136074, 0.378029 Feature: -0.687872, -0.795001, 1.575371
[11:52:32.960] it:23 	 Success 	 new_chi2: 0.363562 	 dT = 22233935531778896.000000, -0.000000, 0.000000
[11:52:32.960] xyz_f:272005643971856349265920.000000, -1.081877, 272005666205791892275200.000000  Reprojection Error: -0.773011, -0.237527 Feature: -0.684109, -0.883015, 1.653161
[11:52:32.960] xyz_f:272005643971856349265920.000000, -0.996013, 272005666205791892275200.000000  Reprojection Error: -0.769220, -0.206366 Feature: -0.662454, -0.801099, 1.616615
[11:52:32.960] xyz_f:272005643971856349265920.000000, -0.995322, 272005666205791892275200.000000  Reprojection Error: -0.863935, 0.378029 Feature: -0.687872, -0.795001, 1.575371
[11:52:32.960] it:24 	 Success 	 new_chi2: 2.120538 	 dT = 23122533969083944.000000, 0.000000, -0.000000
[11:52:32.960] xyz_f:272005643083257915375616.000000, -1.081877, 272005666205791892275200.000000  Reprojection Error: -0.773011, -0.237527 Feature: -0.684109, -0.883015, 1.653161
[11:52:32.960] xyz_f:272005643083257915375616.000000, -0.996013, 272005666205791892275200.000000  Reprojection Error: -0.769220, -0.206366 Feature: -0.662454, -0.801099, 1.616615
[11:52:32.960] xyz_f:272005643083257915375616.000000, -0.995322, 272005666205791892275200.000000  Reprojection Error: -0.863935, 0.378029 Feature: -0.687872, -0.795001, 1.575371
[11:52:32.960] it:25 	 Success 	 new_chi2: 2.120538 	 dT = 23122533969083960.000000, -0.000000, -0.000000
[11:52:32.960] xyz_f:272005643083257915375616.000000, -1.081877, 272005666205791892275200.000000  Reprojection Error: -0.773011, -0.237527 Feature: -0.684109, -0.883015, 1.653161
[11:52:32.960] xyz_f:272005643083257915375616.000000, -0.996013, 272005666205791892275200.000000  Reprojection Error: -0.769220, -0.206366 Feature: -0.662454, -0.801099, 1.616615
[11:52:32.960] xyz_f:272005643083257915375616.000000, -0.995322, 272005666205791892275200.000000  Reprojection Error: -0.863935, 0.378029 Feature: -0.687872, -0.795001, 1.575371
[11:52:32.960] it:26 	 Success 	 new_chi2: 2.120538 	 dT = 23122533969083960.000000, -0.000000, -0.000000
[11:52:32.960] xyz_f:272005643083257915375616.000000, -1.081877, 272005666205791892275200.000000  Reprojection Error: -0.773011, -0.237527 Feature: -0.684109, -0.883015, 1.653161
[11:52:32.960] xyz_f:272005643083257915375616.000000, -0.996013, 272005666205791892275200.000000  Reprojection Error: -0.769220, -0.206366 Feature: -0.662454, -0.801099, 1.616615
[11:52:32.960] xyz_f:272005643083257915375616.000000, -0.995322, 272005666205791892275200.000000  Reprojection Error: -0.863935, 0.378029 Feature: -0.687872, -0.795001, 1.575371
[11:52:32.960] it:27 	 Success 	 new_chi2: 2.120538 	 dT = 23122533969083960.000000, -0.000000, -0.000000
[11:52:32.960] xyz_f:272005643083257915375616.000000, -1.081877, 272005666205791892275200.000000  Reprojection Error: -0.773011, -0.237527 Feature: -0.684109, -0.883015, 1.653161
[11:52:32.960] xyz_f:272005643083257915375616.000000, -0.996013, 272005666205791892275200.000000  Reprojection Error: -0.769220, -0.206366 Feature: -0.662454, -0.801099, 1.616615
[11:52:32.960] xyz_f:272005643083257915375616.000000, -0.995322, 272005666205791892275200.000000  Reprojection Error: -0.863935, 0.378029 Feature: -0.687872, -0.795001, 1.575371
[11:52:32.960] it:28 	 Success 	 new_chi2: 2.120538 	 dT = 23122533969083960.000000, -0.000000, -0.000000
[11:52:32.960] xyz_f:272005643083257915375616.000000, -1.081877, 272005666205791892275200.000000  Reprojection Error: -0.773011, -0.237527 Feature: -0.684109, -0.883015, 1.653161
[11:52:32.960] xyz_f:272005643083257915375616.000000, -0.996013, 272005666205791892275200.000000  Reprojection Error: -0.769220, -0.206366 Feature: -0.662454, -0.801099, 1.616615
[11:52:32.960] xyz_f:272005643083257915375616.000000, -0.995322, 272005666205791892275200.000000  Reprojection Error: -0.863935, 0.378029 Feature: -0.687872, -0.795001, 1.575371
[11:52:32.960] it:29 	 Success 	 new_chi2: 2.120538 	 dT = 23122533969083960.000000, -0.000000, -0.000000
[11:52:32.960] xyz_f:272005643083257915375616.000000, -1.081877, 272005666205791892275200.000000  Reprojection Error: -0.773011, -0.237527 Feature: -0.684109, -0.883015, 1.653161
[11:52:32.960] xyz_f:272005643083257915375616.000000, -0.996013, 272005666205791892275200.000000  Reprojection Error: -0.769220, -0.206366 Feature: -0.662454, -0.801099, 1.616615
[11:52:32.960] xyz_f:272005643083257915375616.000000, -0.995322, 272005666205791892275200.000000  Reprojection Error: -0.863935, 0.378029 Feature: -0.687872, -0.795001, 1.575371
[11:52:32.960] it:30 	 Success 	 new_chi2: 2.120538 	 dT = 23122533969083960.000000, -0.000000, -0.000000
[11:52:32.960] xyz_f:272005643083257915375616.000000, -1.081877, 272005666205791892275200.000000  Reprojection Error: -0.773011, -0.237527 Feature: -0.684109, -0.883015, 1.653161
[11:52:32.960] xyz_f:272005643083257915375616.000000, -0.996013, 272005666205791892275200.000000  Reprojection Error: -0.769220, -0.206366 Feature: -0.662454, -0.801099, 1.616615
[11:52:32.960] xyz_f:272005643083257915375616.000000, -0.995322, 272005666205791892275200.000000  Reprojection Error: -0.863935, 0.378029 Feature: -0.687872, -0.795001, 1.575371
[11:52:32.960] it:31 	 Success 	 new_chi2: 2.120538 	 dT = 23122533969083960.000000, -0.000000, -0.000000
[11:52:32.960] xyz_f:272005643083257915375616.000000, -1.081877, 272005666205791892275200.000000  Reprojection Error: -0.773011, -0.237527 Feature: -0.684109, -0.883015, 1.653161
[11:52:32.960] xyz_f:272005643083257915375616.000000, -0.996013, 272005666205791892275200.000000  Reprojection Error: -0.769220, -0.206366 Feature: -0.662454, -0.801099, 1.616615
[11:52:32.960] xyz_f:272005643083257915375616.000000, -0.995322, 272005666205791892275200.000000  Reprojection Error: -0.863935, 0.378029 Feature: -0.687872, -0.795001, 1.575371
[11:52:32.960] it:32 	 Success 	 new_chi2: 2.120538 	 dT = 23122533969083960.000000, -0.000000, -0.000000
[11:52:32.960] xyz_f:272005643083257915375616.000000, -1.081877, 272005666205791892275200.000000  Reprojection Error: -0.773011, -0.237527 Feature: -0.684109, -0.883015, 1.653161
[11:52:32.960] xyz_f:272005643083257915375616.000000, -0.996013, 272005666205791892275200.000000  Reprojection Error: -0.769220, -0.206366 Feature: -0.662454, -0.801099, 1.616615
[11:52:32.960] xyz_f:272005643083257915375616.000000, -0.995322, 272005666205791892275200.000000  Reprojection Error: -0.863935, 0.378029 Feature: -0.687872, -0.795001, 1.575371
[11:52:32.960] it:33 	 Success 	 new_chi2: 2.120538 	 dT = 23122533969083960.000000, -0.000000, -0.000000
[11:52:32.960] xyz_f:272005643083257915375616.000000, -1.081877, 272005666205791892275200.000000  Reprojection Error: -0.773011, -0.237527 Feature: -0.684109, -0.883015, 1.653161
[11:52:32.960] xyz_f:272005643083257915375616.000000, -0.996013, 272005666205791892275200.000000  Reprojection Error: -0.769220, -0.206366 Feature: -0.662454, -0.801099, 1.616615
[11:52:32.960] xyz_f:272005643083257915375616.000000, -0.995322, 272005666205791892275200.000000  Reprojection Error: -0.863935, 0.378029 Feature: -0.687872, -0.795001, 1.575371
[11:52:32.960] it:34 	 Success 	 new_chi2: 2.120538 	 dT = 23122533969083960.000000, -0.000000, -0.000000
[11:52:32.960] xyz_f:272005643083257915375616.000000, -1.081877, 272005666205791892275200.000000  Reprojection Error: -0.773011, -0.237527 Feature: -0.684109, -0.883015, 1.653161
[11:52:32.960] xyz_f:272005643083257915375616.000000, -0.996013, 272005666205791892275200.000000  Reprojection Error: -0.769220, -0.206366 Feature: -0.662454, -0.801099, 1.616615
[11:52:32.960] xyz_f:272005643083257915375616.000000, -0.995322, 272005666205791892275200.000000  Reprojection Error: -0.863935, 0.378029 Feature: -0.687872, -0.795001, 1.575371
[11:52:32.960] it:35 	 Success 	 new_chi2: 2.120538 	 dT = 23122533969083960.000000, -0.000000, -0.000000
[11:52:32.960] xyz_f:272005643083257915375616.000000, -1.081877, 272005666205791892275200.000000  Reprojection Error: -0.773011, -0.237527 Feature: -0.684109, -0.883015, 1.653161
[11:52:32.960] xyz_f:272005643083257915375616.000000, -0.996013, 272005666205791892275200.000000  Reprojection Error: -0.769220, -0.206366 Feature: -0.662454, -0.801099, 1.616615
[11:52:32.960] xyz_f:272005643083257915375616.000000, -0.995322, 272005666205791892275200.000000  Reprojection Error: -0.863935, 0.378029 Feature: -0.687872, -0.795001, 1.575371
[11:52:32.960] it:36 	 Success 	 new_chi2: 2.120538 	 dT = 23122533969083960.000000, -0.000000, -0.000000
[11:52:32.960] xyz_f:272005643083257915375616.000000, -1.081877, 272005666205791892275200.000000  Reprojection Error: -0.773011, -0.237527 Feature: -0.684109, -0.883015, 1.653161
[11:52:32.960] xyz_f:272005643083257915375616.000000, -0.996013, 272005666205791892275200.000000  Reprojection Error: -0.769220, -0.206366 Feature: -0.662454, -0.801099, 1.616615
[11:52:32.960] xyz_f:272005643083257915375616.000000, -0.995322, 272005666205791892275200.000000  Reprojection Error: -0.863935, 0.378029 Feature: -0.687872, -0.795001, 1.575371
[11:52:32.960] it:37 	 Success 	 new_chi2: 2.120538 	 dT = 23122533969083960.000000, -0.000000, -0.000000
[11:52:32.960] xyz_f:272005643083257915375616.000000, -1.081877, 272005666205791892275200.000000  Reprojection Error: -0.773011, -0.237527 Feature: -0.684109, -0.883015, 1.653161
[11:52:32.960] xyz_f:272005643083257915375616.000000, -0.996013, 272005666205791892275200.000000  Reprojection Error: -0.769220, -0.206366 Feature: -0.662454, -0.801099, 1.616615
[11:52:32.960] xyz_f:272005643083257915375616.000000, -0.995322, 272005666205791892275200.000000  Reprojection Error: -0.863935, 0.378029 Feature: -0.687872, -0.795001, 1.575371
[11:52:32.960] it:38 	 Success 	 new_chi2: 2.120538 	 dT = 23122533969083960.000000, -0.000000, -0.000000
[11:52:32.960] xyz_f:272005643083257915375616.000000, -1.081877, 272005666205791892275200.000000  Reprojection Error: -0.773011, -0.237527 Feature: -0.684109, -0.883015, 1.653161
[11:52:32.960] xyz_f:272005643083257915375616.000000, -0.996013, 272005666205791892275200.000000  Reprojection Error: -0.769220, -0.206366 Feature: -0.662454, -0.801099, 1.616615
[11:52:32.960] xyz_f:272005643083257915375616.000000, -0.995322, 272005666205791892275200.000000  Reprojection Error: -0.863935, 0.378029 Feature: -0.687872, -0.795001, 1.575371
[11:52:32.960] it:39 	 Success 	 new_chi2: 2.120538 	 dT = 23122533969083960.000000, -0.000000, -0.000000
[11:52:32.960] xyz_f:272005643083257915375616.000000, -1.081877, 272005666205791892275200.000000  Reprojection Error: -0.773011, -0.237527 Feature: -0.684109, -0.883015, 1.653161
[11:52:32.960] xyz_f:272005643083257915375616.000000, -0.996013, 272005666205791892275200.000000  Reprojection Error: -0.769220, -0.206366 Feature: -0.662454, -0.801099, 1.616615
[11:52:32.960] xyz_f:272005643083257915375616.000000, -0.995322, 272005666205791892275200.000000  Reprojection Error: -0.863935, 0.378029 Feature: -0.687872, -0.795001, 1.575371
[11:52:32.960] it:40 	 Success 	 new_chi2: 2.120538 	 dT = 23122533969083960.000000, -0.000000, -0.000000
[11:52:32.960] xyz_f:272005643083257915375616.000000, -1.081877, 272005666205791892275200.000000  Reprojection Error: -0.773011, -0.237527 Feature: -0.684109, -0.883015, 1.653161
[11:52:32.960] xyz_f:272005643083257915375616.000000, -0.996013, 272005666205791892275200.000000  Reprojection Error: -0.769220, -0.206366 Feature: -0.662454, -0.801099, 1.616615
[11:52:32.960] xyz_f:272005643083257915375616.000000, -0.995322, 272005666205791892275200.000000  Reprojection Error: -0.863935, 0.378029 Feature: -0.687872, -0.795001, 1.575371
[11:52:32.960] it:41 	 Success 	 new_chi2: 2.120538 	 dT = 23122533969083960.000000, -0.000000, -0.000000
[11:52:32.960] xyz_f:272005643083257915375616.000000, -1.081877, 272005666205791892275200.000000  Reprojection Error: -0.773011, -0.237527 Feature: -0.684109, -0.883015, 1.653161
[11:52:32.960] xyz_f:272005643083257915375616.000000, -0.996013, 272005666205791892275200.000000  Reprojection Error: -0.769220, -0.206366 Feature: -0.662454, -0.801099, 1.616615
[11:52:32.960] xyz_f:272005643083257915375616.000000, -0.995322, 272005666205791892275200.000000  Reprojection Error: -0.863935, 0.378029 Feature: -0.687872, -0.795001, 1.575371
[11:52:32.960] it:42 	 Success 	 new_chi2: 2.120538 	 dT = 23122533969083960.000000, -0.000000, -0.000000
[11:52:32.960] xyz_f:272005643083257915375616.000000, -1.081877, 272005666205791892275200.000000  Reprojection Error: -0.773011, -0.237527 Feature: -0.684109, -0.883015, 1.653161
[11:52:32.960] xyz_f:272005643083257915375616.000000, -0.996013, 272005666205791892275200.000000  Reprojection Error: -0.769220, -0.206366 Feature: -0.662454, -0.801099, 1.616615
[11:52:32.960] xyz_f:272005643083257915375616.000000, -0.995322, 272005666205791892275200.000000  Reprojection Error: -0.863935, 0.378029 Feature: -0.687872, -0.795001, 1.575371
[11:52:32.960] it:43 	 Success 	 new_chi2: 2.120538 	 dT = 23122533969083960.000000, -0.000000, -0.000000
[11:52:32.960] xyz_f:272005643083257915375616.000000, -1.081877, 272005666205791892275200.000000  Reprojection Error: -0.773011, -0.237527 Feature: -0.684109, -0.883015, 1.653161
[11:52:32.960] xyz_f:272005643083257915375616.000000, -0.996013, 272005666205791892275200.000000  Reprojection Error: -0.769220, -0.206366 Feature: -0.662454, -0.801099, 1.616615
[11:52:32.960] xyz_f:272005643083257915375616.000000, -0.995322, 272005666205791892275200.000000  Reprojection Error: -0.863935, 0.378029 Feature: -0.687872, -0.795001, 1.575371
[11:52:32.960] it:44 	 Success 	 new_chi2: 2.120538 	 dT = 23122533969083960.000000, -0.000000, -0.000000
[11:52:32.960] xyz_f:272005643083257915375616.000000, -1.081877, 272005666205791892275200.000000  Reprojection Error: -0.773011, -0.237527 Feature: -0.684109, -0.883015, 1.653161
[11:52:32.960] xyz_f:272005643083257915375616.000000, -0.996013, 272005666205791892275200.000000  Reprojection Error: -0.769220, -0.206366 Feature: -0.662454, -0.801099, 1.616615
[11:52:32.960] xyz_f:272005643083257915375616.000000, -0.995322, 272005666205791892275200.000000  Reprojection Error: -0.863935, 0.378029 Feature: -0.687872, -0.795001, 1.575371
[11:52:32.960] it:45 	 Success 	 new_chi2: 2.120538 	 dT = 23122533969083960.000000, -0.000000, -0.000000
[11:52:32.960] xyz_f:272005643083257915375616.000000, -1.081877, 272005666205791892275200.000000  Reprojection Error: -0.773011, -0.237527 Feature: -0.684109, -0.883015, 1.653161
[11:52:32.960] xyz_f:272005643083257915375616.000000, -0.996013, 272005666205791892275200.000000  Reprojection Error: -0.769220, -0.206366 Feature: -0.662454, -0.801099, 1.616615
[11:52:32.960] xyz_f:272005643083257915375616.000000, -0.995322, 272005666205791892275200.000000  Reprojection Error: -0.863935, 0.378029 Feature: -0.687872, -0.795001, 1.575371
[11:52:32.960] it:46 	 Success 	 new_chi2: 2.120538 	 dT = 23122533969083960.000000, -0.000000, -0.000000
[11:52:32.960] xyz_f:272005643083257915375616.000000, -1.081877, 272005666205791892275200.000000  Reprojection Error: -0.773011, -0.237527 Feature: -0.684109, -0.883015, 1.653161
[11:52:32.961] xyz_f:272005643083257915375616.000000, -0.996013, 272005666205791892275200.000000  Reprojection Error: -0.769220, -0.206366 Feature: -0.662454, -0.801099, 1.616615
[11:52:32.961] xyz_f:272005643083257915375616.000000, -0.995322, 272005666205791892275200.000000  Reprojection Error: -0.863935, 0.378029 Feature: -0.687872, -0.795001, 1.575371
[11:52:32.961] it:47 	 Success 	 new_chi2: 2.120538 	 dT = 23122533969083960.000000, -0.000000, -0.000000
[11:52:32.961] xyz_f:272005643083257915375616.000000, -1.081877, 272005666205791892275200.000000  Reprojection Error: -0.773011, -0.237527 Feature: -0.684109, -0.883015, 1.653161
[11:52:32.961] xyz_f:272005643083257915375616.000000, -0.996013, 272005666205791892275200.000000  Reprojection Error: -0.769220, -0.206366 Feature: -0.662454, -0.801099, 1.616615
[11:52:32.961] xyz_f:272005643083257915375616.000000, -0.995322, 272005666205791892275200.000000  Reprojection Error: -0.863935, 0.378029 Feature: -0.687872, -0.795001, 1.575371
[11:52:32.961] it:48 	 Success 	 new_chi2: 2.120538 	 dT = 23122533969083960.000000, -0.000000, -0.000000
[11:52:32.961] xyz_f:272005643083257915375616.000000, -1.081877, 272005666205791892275200.000000  Reprojection Error: -0.773011, -0.237527 Feature: -0.684109, -0.883015, 1.653161
[11:52:32.961] xyz_f:272005643083257915375616.000000, -0.996013, 272005666205791892275200.000000  Reprojection Error: -0.769220, -0.206366 Feature: -0.662454, -0.801099, 1.616615
[11:52:32.961] xyz_f:272005643083257915375616.000000, -0.995322, 272005666205791892275200.000000  Reprojection Error: -0.863935, 0.378029 Feature: -0.687872, -0.795001, 1.575371
[11:52:32.961] it:49 	 Success 	 new_chi2: 2.120538 	 dT = 23122533969083960.000000, -0.000000, -0.000000
[11:52:32.961] xyz_f:272005643083257915375616.000000, -1.081877, 272005666205791892275200.000000  Reprojection Error: -0.773011, -0.237527 Feature: -0.684109, -0.883015, 1.653161
[11:52:32.961] xyz_f:272005643083257915375616.000000, -0.996013, 272005666205791892275200.000000  Reprojection Error: -0.769220, -0.206366 Feature: -0.662454, -0.801099, 1.616615
[11:52:32.961] xyz_f:272005643083257915375616.000000, -0.995322, 272005666205791892275200.000000  Reprojection Error: -0.863935, 0.378029 Feature: -0.687872, -0.795001, 1.575371
[11:52:32.961] it:50 	 Success 	 new_chi2: 2.120538 	 dT = 23122533969083960.000000, -0.000000, -0.000000
[11:52:32.961] xyz_f:272005643083257915375616.000000, -1.081877, 272005666205791892275200.000000  Reprojection Error: -0.773011, -0.237527 Feature: -0.684109, -0.883015, 1.653161
[11:52:32.961] xyz_f:272005643083257915375616.000000, -0.996013, 272005666205791892275200.000000  Reprojection Error: -0.769220, -0.206366 Feature: -0.662454, -0.801099, 1.616615
[11:52:32.961] xyz_f:272005643083257915375616.000000, -0.995322, 272005666205791892275200.000000  Reprojection Error: -0.863935, 0.378029 Feature: -0.687872, -0.795001, 1.575371
[11:52:32.961] it:51 	 Success 	 new_chi2: 2.120538 	 dT = 23122533969083960.000000, -0.000000, -0.000000
[11:52:32.961] xyz_f:272005643083257915375616.000000, -1.081877, 272005666205791892275200.000000  Reprojection Error: -0.773011, -0.237527 Feature: -0.684109, -0.883015, 1.653161
[11:52:32.961] xyz_f:272005643083257915375616.000000, -0.996013, 272005666205791892275200.000000  Reprojection Error: -0.769220, -0.206366 Feature: -0.662454, -0.801099, 1.616615
[11:52:32.961] xyz_f:272005643083257915375616.000000, -0.995322, 272005666205791892275200.000000  Reprojection Error: -0.863935, 0.378029 Feature: -0.687872, -0.795001, 1.575371
[11:52:32.961] it:52 	 Success 	 new_chi2: 2.120538 	 dT = 23122533969083960.000000, -0.000000, -0.000000
[11:52:32.961] xyz_f:272005643083257915375616.000000, -1.081877, 272005666205791892275200.000000  Reprojection Error: -0.773011, -0.237527 Feature: -0.684109, -0.883015, 1.653161
[11:52:32.961] xyz_f:272005643083257915375616.000000, -0.996013, 272005666205791892275200.000000  Reprojection Error: -0.769220, -0.206366 Feature: -0.662454, -0.801099, 1.616615
[11:52:32.961] xyz_f:272005643083257915375616.000000, -0.995322, 272005666205791892275200.000000  Reprojection Error: -0.863935, 0.378029 Feature: -0.687872, -0.795001, 1.575371
[11:52:32.961] it:53 	 Success 	 new_chi2: 2.120538 	 dT = 23122533969083960.000000, -0.000000, -0.000000
[11:52:32.961] xyz_f:272005643083257915375616.000000, -1.081877, 272005666205791892275200.000000  Reprojection Error: -0.773011, -0.237527 Feature: -0.684109, -0.883015, 1.653161
[11:52:32.961] xyz_f:272005643083257915375616.000000, -0.996013, 272005666205791892275200.000000  Reprojection Error: -0.769220, -0.206366 Feature: -0.662454, -0.801099, 1.616615
[11:52:32.961] xyz_f:272005643083257915375616.000000, -0.995322, 272005666205791892275200.000000  Reprojection Error: -0.863935, 0.378029 Feature: -0.687872, -0.795001, 1.575371
[11:52:32.961] it:54 	 Success 	 new_chi2: 2.120538 	 dT = 23122533969083960.000000, -0.000000, -0.000000
[11:52:32.961] xyz_f:272005643083257915375616.000000, -1.081877, 272005666205791892275200.000000  Reprojection Error: -0.773011, -0.237527 Feature: -0.684109, -0.883015, 1.653161
[11:52:32.961] xyz_f:272005643083257915375616.000000, -0.996013, 272005666205791892275200.000000  Reprojection Error: -0.769220, -0.206366 Feature: -0.662454, -0.801099, 1.616615
[11:52:32.961] xyz_f:272005643083257915375616.000000, -0.995322, 272005666205791892275200.000000  Reprojection Error: -0.863935, 0.378029 Feature: -0.687872, -0.795001, 1.575371
[11:52:32.961] it:55 	 Success 	 new_chi2: 2.120538 	 dT = 23122533969083960.000000, -0.000000, -0.000000
[11:52:32.961] xyz_f:272005643083257915375616.000000, -1.081877, 272005666205791892275200.000000  Reprojection Error: -0.773011, -0.237527 Feature: -0.684109, -0.883015, 1.653161
[11:52:32.961] xyz_f:272005643083257915375616.000000, -0.996013, 272005666205791892275200.000000  Reprojection Error: -0.769220, -0.206366 Feature: -0.662454, -0.801099, 1.616615
[11:52:32.961] xyz_f:272005643083257915375616.000000, -0.995322, 272005666205791892275200.000000  Reprojection Error: -0.863935, 0.378029 Feature: -0.687872, -0.795001, 1.575371
[11:52:32.961] it:56 	 Success 	 new_chi2: 2.120538 	 dT = 23122533969083960.000000, -0.000000, -0.000000
[11:52:32.961] xyz_f:272005643083257915375616.000000, -1.081877, 272005666205791892275200.000000  Reprojection Error: -0.773011, -0.237527 Feature: -0.684109, -0.883015, 1.653161
[11:52:32.961] xyz_f:272005643083257915375616.000000, -0.996013, 272005666205791892275200.000000  Reprojection Error: -0.769220, -0.206366 Feature: -0.662454, -0.801099, 1.616615
[11:52:32.961] xyz_f:272005643083257915375616.000000, -0.995322, 272005666205791892275200.000000  Reprojection Error: -0.863935, 0.378029 Feature: -0.687872, -0.795001, 1.575371
[11:52:32.961] it:57 	 Success 	 new_chi2: 2.120538 	 dT = 23122533969083960.000000, -0.000000, -0.000000
[11:52:32.961] xyz_f:272005643083257915375616.000000, -1.081877, 272005666205791892275200.000000  Reprojection Error: -0.773011, -0.237527 Feature: -0.684109, -0.883015, 1.653161
[11:52:32.961] xyz_f:272005643083257915375616.000000, -0.996013, 272005666205791892275200.000000  Reprojection Error: -0.769220, -0.206366 Feature: -0.662454, -0.801099, 1.616615
[11:52:32.961] xyz_f:272005643083257915375616.000000, -0.995322, 272005666205791892275200.000000  Reprojection Error: -0.863935, 0.378029 Feature: -0.687872, -0.795001, 1.575371
[11:52:32.961] it:58 	 Success 	 new_chi2: 2.120538 	 dT = 23122533969083960.000000, -0.000000, -0.000000
[11:52:32.961] xyz_f:272005643083257915375616.000000, -1.081877, 272005666205791892275200.000000  Reprojection Error: -0.773011, -0.237527 Feature: -0.684109, -0.883015, 1.653161
[11:52:32.961] xyz_f:272005643083257915375616.000000, -0.996013, 272005666205791892275200.000000  Reprojection Error: -0.769220, -0.206366 Feature: -0.662454, -0.801099, 1.616615
[11:52:32.961] xyz_f:272005643083257915375616.000000, -0.995322, 272005666205791892275200.000000  Reprojection Error: -0.863935, 0.378029 Feature: -0.687872, -0.795001, 1.575371
[11:52:32.961] it:59 	 Success 	 new_chi2: 2.120538 	 dT = 23122533969083960.000000, -0.000000, -0.000000
[11:52:32.961] xyz_f:272005643083257915375616.000000, -1.081877, 272005666205791892275200.000000  Reprojection Error: -0.773011, -0.237527 Feature: -0.684109, -0.883015, 1.653161
[11:52:32.961] xyz_f:272005643083257915375616.000000, -0.996013, 272005666205791892275200.000000  Reprojection Error: -0.769220, -0.206366 Feature: -0.662454, -0.801099, 1.616615
[11:52:32.961] xyz_f:272005643083257915375616.000000, -0.995322, 272005666205791892275200.000000  Reprojection Error: -0.863935, 0.378029 Feature: -0.687872, -0.795001, 1.575371
[11:52:32.961] it:60 	 Success 	 new_chi2: 2.120538 	 dT = 23122533969083960.000000, -0.000000, -0.000000
[11:52:32.961] xyz_f:272005643083257915375616.000000, -1.081877, 272005666205791892275200.000000  Reprojection Error: -0.773011, -0.237527 Feature: -0.684109, -0.883015, 1.653161
[11:52:32.961] xyz_f:272005643083257915375616.000000, -0.996013, 272005666205791892275200.000000  Reprojection Error: -0.769220, -0.206366 Feature: -0.662454, -0.801099, 1.616615
[11:52:32.961] xyz_f:272005643083257915375616.000000, -0.995322, 272005666205791892275200.000000  Reprojection Error: -0.863935, 0.378029 Feature: -0.687872, -0.795001, 1.575371
[11:52:32.961] it:61 	 Success 	 new_chi2: 2.120538 	 dT = 23122533969083960.000000, -0.000000, -0.000000
[11:52:32.961] xyz_f:272005643083257915375616.000000, -1.081877, 272005666205791892275200.000000  Reprojection Error: -0.773011, -0.237527 Feature: -0.684109, -0.883015, 1.653161
[11:52:32.961] xyz_f:272005643083257915375616.000000, -0.996013, 272005666205791892275200.000000  Reprojection Error: -0.769220, -0.206366 Feature: -0.662454, -0.801099, 1.616615
[11:52:32.961] xyz_f:272005643083257915375616.000000, -0.995322, 272005666205791892275200.000000  Reprojection Error: -0.863935, 0.378029 Feature: -0.687872, -0.795001, 1.575371
[11:52:32.961] it:62 	 Success 	 new_chi2: 2.120538 	 dT = 23122533969083960.000000, -0.000000, -0.000000
[11:52:32.961] xyz_f:272005643083257915375616.000000, -1.081877, 272005666205791892275200.000000  Reprojection Error: -0.773011, -0.237527 Feature: -0.684109, -0.883015, 1.653161
[11:52:32.961] xyz_f:272005643083257915375616.000000, -0.996013, 272005666205791892275200.000000  Reprojection Error: -0.769220, -0.206366 Feature: -0.662454, -0.801099, 1.616615
[11:52:32.961] xyz_f:272005643083257915375616.000000, -0.995322, 272005666205791892275200.000000  Reprojection Error: -0.863935, 0.378029 Feature: -0.687872, -0.795001, 1.575371
[11:52:32.961] it:63 	 Success 	 new_chi2: 2.120538 	 dT = 23122533969083960.000000, -0.000000, -0.000000
[11:52:32.961] xyz_f:272005643083257915375616.000000, -1.081877, 272005666205791892275200.000000  Reprojection Error: -0.773011, -0.237527 Feature: -0.684109, -0.883015, 1.653161
[11:52:32.961] xyz_f:272005643083257915375616.000000, -0.996013, 272005666205791892275200.000000  Reprojection Error: -0.769220, -0.206366 Feature: -0.662454, -0.801099, 1.616615
[11:52:32.961] xyz_f:272005643083257915375616.000000, -0.995322, 272005666205791892275200.000000  Reprojection Error: -0.863935, 0.378029 Feature: -0.687872, -0.795001, 1.575371
[11:52:32.961] it:64 	 Success 	 new_chi2: 2.120538 	 dT = 23122533969083960.000000, -0.000000, -0.000000
[11:52:32.961] xyz_f:272005643083257915375616.000000, -1.081877, 272005666205791892275200.000000  Reprojection Error: -0.773011, -0.237527 Feature: -0.684109, -0.883015, 1.653161
[11:52:32.961] xyz_f:272005643083257915375616.000000, -0.996013, 272005666205791892275200.000000  Reprojection Error: -0.769220, -0.206366 Feature: -0.662454, -0.801099, 1.616615
[11:52:32.961] xyz_f:272005643083257915375616.000000, -0.995322, 272005666205791892275200.000000  Reprojection Error: -0.863935, 0.378029 Feature: -0.687872, -0.795001, 1.575371
[11:52:32.961] it:65 	 Success 	 new_chi2: 2.120538 	 dT = 23122533969083960.000000, -0.000000, -0.000000
[11:52:32.961] xyz_f:272005643083257915375616.000000, -1.081877, 272005666205791892275200.000000  Reprojection Error: -0.773011, -0.237527 Feature: -0.684109, -0.883015, 1.653161
[11:52:32.961] xyz_f:272005643083257915375616.000000, -0.996013, 272005666205791892275200.000000  Reprojection Error: -0.769220, -0.206366 Feature: -0.662454, -0.801099, 1.616615
[11:52:32.961] xyz_f:272005643083257915375616.000000, -0.995322, 272005666205791892275200.000000  Reprojection Error: -0.863935, 0.378029 Feature: -0.687872, -0.795001, 1.575371
[11:52:32.961] it:66 	 Success 	 new_chi2: 2.120538 	 dT = 23122533969083960.000000, -0.000000, -0.000000
[11:52:32.961] xyz_f:272005643083257915375616.000000, -1.081877, 272005666205791892275200.000000  Reprojection Error: -0.773011, -0.237527 Feature: -0.684109, -0.883015, 1.653161
[11:52:32.961] xyz_f:272005643083257915375616.000000, -0.996013, 272005666205791892275200.000000  Reprojection Error: -0.769220, -0.206366 Feature: -0.662454, -0.801099, 1.616615
[11:52:32.961] xyz_f:272005643083257915375616.000000, -0.995322, 272005666205791892275200.000000  Reprojection Error: -0.863935, 0.378029 Feature: -0.687872, -0.795001, 1.575371
[11:52:32.961] it:67 	 Success 	 new_chi2: 2.120538 	 dT = 23122533969083960.000000, -0.000000, -0.000000
[11:52:32.961] xyz_f:272005643083257915375616.000000, -1.081877, 272005666205791892275200.000000  Reprojection Error: -0.773011, -0.237527 Feature: -0.684109, -0.883015, 1.653161
[11:52:32.961] xyz_f:272005643083257915375616.000000, -0.996013, 272005666205791892275200.000000  Reprojection Error: -0.769220, -0.206366 Feature: -0.662454, -0.801099, 1.616615
[11:52:32.961] xyz_f:272005643083257915375616.000000, -0.995322, 272005666205791892275200.000000  Reprojection Error: -0.863935, 0.378029 Feature: -0.687872, -0.795001, 1.575371
[11:52:32.961] it:68 	 Success 	 new_chi2: 2.120538 	 dT = 23122533969083960.000000, -0.000000, -0.000000
[11:52:32.961] xyz_f:272005643083257915375616.000000, -1.081877, 272005666205791892275200.000000  Reprojection Error: -0.773011, -0.237527 Feature: -0.684109, -0.883015, 1.653161
[11:52:32.961] xyz_f:272005643083257915375616.000000, -0.996013, 272005666205791892275200.000000  Reprojection Error: -0.769220, -0.206366 Feature: -0.662454, -0.801099, 1.616615
[11:52:32.961] xyz_f:272005643083257915375616.000000, -0.995322, 272005666205791892275200.000000  Reprojection Error: -0.863935, 0.378029 Feature: -0.687872, -0.795001, 1.575371
[11:52:32.961] it:69 	 Success 	 new_chi2: 2.120538 	 dT = 23122533969083960.000000, -0.000000, -0.000000
[11:52:32.961] After pose optimization, distance between two frames:384674085840459749392384.000000 ,angle between two frames:-5.792183
[11:52:33.049] Reprojection Map nPoint:3 ,nCell:3 ,nMatches:3 ,distance between two frames:2.764875 ,angle between two frames:-3.565779
[11:52:33.140] Reprojection Map nPoint:3 ,nCell:3 ,nMatches:0 ,distance between two frames:2.822617 ,angle between two frames:3.581017
[11:52:33.235] Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames:0.231921 ,angle between two frames:0.018427
[11:52:33.333] Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames:0.000009 ,angle between two frames:0.022842
[11:52:33.551] Reprojection Map nPoint:21 ,nCell:16 ,nMatches:4 ,distance between two frames:0.000017 ,angle between two frames:0.065018
[11:52:33.551] Init estimate scale:7.265049
[11:52:33.551] xyz_f:1.760085, -0.930597, 0.219742  Reprojection Error: -7.673961, 4.011838 Feature: -0.805250, -0.842058, 1.628861
[11:52:33.551] xyz_f:1.758945, -0.938182, 0.089803  Reprojection Error: -19.216152, 10.184727 Feature: -0.684109, -0.883015, 1.653161
[11:52:33.551] xyz_f:0.212311, 0.033046, 0.133913  Reprojection Error: -1.583297, -0.140223 Feature: -0.161646, 0.066536, 0.182551
[11:52:33.551] xyz_f:1.741808, -0.897253, 0.197682  Reprojection Error: -8.492322, 4.926094 Feature: -0.772192, -0.815560, 1.617134
[11:52:33.551] it:0 	 Success 	 new_chi2: 314.743396 	 dT = 0.101924, 0.010190, -0.793739
[11:52:33.551] xyz_f:1.013005, -1.220284, 1.311059  Reprojection Error: -0.436856, 0.707654 Feature: -0.805250, -0.842058, 1.628861
[11:52:33.551] xyz_f:1.100293, -1.237213, 1.215995  Reprojection Error: -0.534282, 0.755058 Feature: -0.684109, -0.883015, 1.653161
[11:52:33.551] xyz_f:0.164662, 0.003273, 0.255216  Reprojection Error: -0.643049, 0.093722 Feature: -0.161646, 0.066536, 0.182551
[11:52:33.551] xyz_f:1.021535, -1.185882, 1.285053  Reprojection Error: -0.476111, 1.310059 Feature: -0.772192, -0.815560, 1.617134
[11:52:33.551] it:1 	 Success 	 new_chi2: 3.903510 	 dT = 0.047757, 0.095620, -0.008977
[11:52:33.551] xyz_f:0.954877, -1.222384, 1.414517  Reprojection Error: -0.339250, 0.641063 Feature: -0.805250, -0.842058, 1.628861
[11:52:33.551] xyz_f:1.042947, -1.239517, 1.320213  Reprojection Error: -0.419415, 0.676485 Feature: -0.684109, -0.883015, 1.653161
[11:52:33.551] xyz_f:0.118567, 0.003130, 0.351370  Reprojection Error: -0.335303, 0.097638 Feature: -0.161646, 0.066536, 0.182551
[11:52:33.551] xyz_f:0.963712, -1.188003, 1.388586  Reprojection Error: -0.375199, 1.242779 Feature: -0.772192, -0.815560, 1.617134
[11:52:33.551] it:2 	 Success 	 new_chi2: 2.960734 	 dT = 0.034448, 0.138711, 0.002945
[11:52:33.551] xyz_f:1.041839, -1.221699, 1.550671  Reprojection Error: -0.336058, 0.564744 Feature: -0.805250, -0.842058, 1.628861
[11:52:33.551] xyz_f:1.129653, -1.238765, 1.456116  Reprojection Error: -0.405230, 0.588340 Feature: -0.684109, -0.883015, 1.653161
[11:52:33.551] xyz_f:0.201574, 0.003177, 0.489908  Reprojection Error: -0.409314, 0.100063 Feature: -0.161646, 0.066536, 0.182551
[11:52:33.551] xyz_f:1.050574, -1.187311, 1.524715  Reprojection Error: -0.370204, 1.165941 Feature: -0.772192, -0.815560, 1.617134
[11:52:33.551] it:3 	 Success 	 new_chi2: 2.611557 	 dT = 0.040902, 0.148166, 0.001282
[11:52:33.551] xyz_f:1.189026, -1.221399, 1.697719  Reprojection Error: -0.364561, 0.496328 Feature: -0.805250, -0.842058, 1.628861
[11:52:33.551] xyz_f:1.276729, -1.238436, 1.603056  Reprojection Error: -0.425865, 0.510155 Feature: -0.684109, -0.883015, 1.653161
[11:52:33.551] xyz_f:0.347041, 0.003197, 0.637999  Reprojection Error: -0.541815, 0.101536 Feature: -0.161646, 0.066536, 0.182551
[11:52:33.551] xyz_f:1.197717, -1.187008, 1.671753  Reprojection Error: -0.397619, 1.097269 Feature: -0.772192, -0.815560, 1.617134
[11:52:33.551] it:4 	 Success 	 new_chi2: 2.482893 	 dT = 0.048076, 0.150086, -0.000499
[11:52:33.551] xyz_f:1.343580, -1.221516, 1.848240  Reprojection Error: -0.391145, 0.437800 Feature: -0.805250, -0.842058, 1.628861
[11:52:33.551] xyz_f:1.431326, -1.238564, 1.753620  Reprojection Error: -0.445644, 0.443898 Feature: -0.684109, -0.883015, 1.653161
[11:52:33.551] xyz_f:0.502265, 0.003189, 0.788114  Reprojection Error: -0.635161, 0.102501 Feature: -0.161646, 0.066536, 0.182551
[11:52:33.551] xyz_f:1.352289, -1.187126, 1.822278  Reprojection Error: -0.423262, 1.038683 Feature: -0.772192, -0.815560, 1.617134
[11:52:33.551] it:5 	 Success 	 new_chi2: 2.408754 	 dT = 0.052388, 0.158695, -0.000650
[11:52:33.551] xyz_f:1.496953, -1.221667, 2.007502  Reprojection Error: -0.409874, 0.385443 Feature: -0.805250, -0.842058, 1.628861
[11:52:33.551] xyz_f:1.584756, -1.238730, 1.912936  Reprojection Error: -0.457873, 0.385163 Feature: -0.684109, -0.883015, 1.653161
[11:52:33.552] xyz_f:0.656509, 0.003179, 0.946848  Reprojection Error: -0.691224, 0.103190 Feature: -0.161646, 0.066536, 0.182551
[11:52:33.552] xyz_f:1.505684, -1.187279, 1.981545  Reprojection Error: -0.441028, 0.986400 Feature: -0.772192, -0.815560, 1.617134
[11:52:33.552] it:6 	 Success 	 new_chi2: 2.327332 	 dT = 0.055877, 0.173098, -0.000400
[11:52:33.552] xyz_f:1.658506, -1.221761, 2.180948  Reprojection Error: -0.424646, 0.337089 Feature: -0.805250, -0.842058, 1.628861
[11:52:33.552] xyz_f:1.746343, -1.238833, 2.086416  Reprojection Error: -0.466438, 0.331369 Feature: -0.684109, -0.883015, 1.653161
[11:52:33.552] xyz_f:0.818599, 0.003172, 1.119969  Reprojection Error: -0.728774, 0.103715 Feature: -0.161646, 0.066536, 0.182551
[11:52:33.552] xyz_f:1.667250, -1.187373, 2.154995  Reprojection Error: -0.454843, 0.938218 Feature: -0.772192, -0.815560, 1.617134
[11:52:33.552] it:7 	 Success 	 new_chi2: 2.247445 	 dT = 0.059427, 0.191342, -0.000167
[11:52:33.552] xyz_f:1.834891, -1.221800, 2.372435  Reprojection Error: -0.437615, 0.291890 Feature: -0.805250, -0.842058, 1.628861
[11:52:33.552] xyz_f:1.922742, -1.238876, 2.277918  Reprojection Error: -0.473510, 0.281471 Feature: -0.684109, -0.883015, 1.653161
[11:52:33.552] xyz_f:0.995207, 0.003170, 1.311321  Reprojection Error: -0.756796, 0.104130 Feature: -0.161646, 0.066536, 0.182551
[11:52:33.552] xyz_f:1.843640, -1.187413, 2.346483  Reprojection Error: -0.466878, 0.893270 Feature: -0.772192, -0.815560, 1.617134
[11:52:33.552] it:8 	 Success 	 new_chi2: 2.176977 	 dT = 0.063244, 0.212823, -0.000013
[11:52:33.552] xyz_f:2.030029, -1.221803, 2.585269  Reprojection Error: -0.449423, 0.249494 Feature: -0.805250, -0.842058, 1.628861
[11:52:33.552] xyz_f:2.117881, -1.238879, 2.490753  Reprojection Error: -0.479729, 0.235000 Feature: -0.684109, -0.883015, 1.653161
[11:52:33.552] xyz_f:1.190363, 0.003170, 1.524145  Reprojection Error: -0.778865, 0.104468 Feature: -0.161646, 0.066536, 0.182551
[11:52:33.552] xyz_f:2.038779, -1.187416, 2.559318  Reprojection Error: -0.477785, 0.851189 Feature: -0.772192, -0.815560, 1.617134
[11:52:33.552] it:9 	 Success 	 new_chi2: 2.117454 	 dT = 0.067348, 0.237568, 0.000072
[11:52:33.552] xyz_f:2.247069, -1.221786, 2.822775  Reprojection Error: -0.460244, 0.209724 Feature: -0.805250, -0.842058, 1.628861
[11:52:33.552] xyz_f:2.334916, -1.238861, 2.728253  Reprojection Error: -0.485260, 0.191694 Feature: -0.684109, -0.883015, 1.653161
[11:52:33.552] xyz_f:1.407307, 0.003171, 1.761709  Reprojection Error: -0.796693, 0.104747 Feature: -0.161646, 0.066536, 0.182551
[11:52:33.552] xyz_f:2.255817, -1.187399, 2.796823  Reprojection Error: -0.487739, 0.811784 Feature: -0.772192, -0.815560, 1.617134
[11:52:33.552] it:10 	 Success 	 new_chi2: 2.068257 	 dT = 0.071706, 0.265874, 0.000110
[11:52:33.552] xyz_f:2.489169, -1.221760, 3.088554  Reprojection Error: -0.470127, 0.172469 Feature: -0.805250, -0.842058, 1.628861
[11:52:33.552] xyz_f:2.577006, -1.238833, 2.994022  Reprojection Error: -0.490148, 0.151377 Feature: -0.684109, -0.883015, 1.653161
[11:52:33.552] xyz_f:1.649259, 0.003173, 2.027577  Reprojection Error: -0.811276, 0.104983 Feature: -0.161646, 0.066536, 0.182551
[11:52:33.552] xyz_f:2.497913, -1.187373, 3.062601  Reprojection Error: -0.496793, 0.774932 Feature: -0.772192, -0.815560, 1.617134
[11:52:33.552] it:11 	 Success 	 new_chi2: 2.028198 	 dT = 0.076253, 0.298209, 0.000119
[11:52:33.552] xyz_f:2.759778, -1.221733, 3.386660  Reprojection Error: -0.479091, 0.137641 Feature: -0.805250, -0.842058, 1.628861
[11:52:33.552] xyz_f:2.847605, -1.238802, 3.292118  Reprojection Error: -0.494408, 0.113902 Feature: -0.684109, -0.883015, 1.653161
[11:52:33.552] xyz_f:1.919709, 0.003174, 2.325779  Reprojection Error: -0.823266, 0.105182 Feature: -0.161646, 0.066536, 0.182551
[11:52:33.552] xyz_f:2.768518, -1.187345, 3.360705  Reprojection Error: -0.504965, 0.740534 Feature: -0.772192, -0.815560, 1.617134
[11:52:33.552] it:12 	 Success 	 new_chi2: 1.995943 	 dT = 0.080901, 0.335201, 0.000113
[11:52:33.552] xyz_f:3.062813, -1.221706, 3.721763  Reprojection Error: -0.487141, 0.105152 Feature: -0.805250, -0.842058, 1.628861
[11:52:33.552] xyz_f:3.150630, -1.238773, 3.627211  Reprojection Error: -0.498041, 0.079130 Feature: -0.684109, -0.883015, 1.653161
[11:52:33.552] xyz_f:2.222593, 0.003176, 2.660974  Reprojection Error: -0.833117, 0.105354 Feature: -0.161646, 0.066536, 0.182551
[11:52:33.552] xyz_f:3.071549, -1.187318, 3.695808  Reprojection Error: -0.512265, 0.708492 Feature: -0.772192, -0.815560, 1.617134
[11:52:33.552] it:13 	 Success 	 new_chi2: 1.970145 	 dT = 0.085531, 0.377656, 0.000099
[11:52:33.552] xyz_f:3.402801, -1.221683, 4.099333  Reprojection Error: -0.494281, 0.074912 Feature: -0.805250, -0.842058, 1.628861
[11:52:33.552] xyz_f:3.490610, -1.238748, 4.004773  Reprojection Error: -0.501044, 0.046926 Feature: -0.684109, -0.883015, 1.653161
[11:52:33.552] xyz_f:2.562448, 0.003178, 3.038623  Reprojection Error: -0.841154, 0.105501 Feature: -0.161646, 0.066536, 0.182551
[11:52:33.552] xyz_f:3.411534, -1.187295, 4.073376  Reprojection Error: -0.518695, 0.678708 Feature: -0.772192, -0.815560, 1.617134
[11:52:33.552] it:14 	 Success 	 new_chi2: 1.949503 	 dT = 0.089983, 0.426594, 0.000083
[11:52:33.552] xyz_f:3.785039, -1.221664, 4.525854  Reprojection Error: -0.500509, 0.046822 Feature: -0.805250, -0.842058, 1.628861
[11:52:33.552] xyz_f:3.872840, -1.238727, 4.431287  Reprojection Error: -0.503408, 0.017149 Feature: -0.684109, -0.883015, 1.653161
[11:52:33.552] xyz_f:2.944574, 0.003179, 3.465212  Reprojection Error: -0.847615, 0.105630 Feature: -0.161646, 0.066536, 0.182551
[11:52:33.552] xyz_f:3.793769, -1.187276, 4.499897  Reprojection Error: -0.524254, 0.651076 Feature: -0.772192, -0.815560, 1.617134
[11:52:33.552] it:15 	 Success 	 new_chi2: 1.932783 	 dT = 0.094032, 0.483307, 0.000067
[11:52:33.552] xyz_f:4.215788, -1.221648, 5.009103  Reprojection Error: -0.505819, 0.020778 Feature: -0.805250, -0.842058, 1.628861
[11:52:33.552] xyz_f:4.303583, -1.238709, 4.914531  Reprojection Error: -0.505117, -0.010341 Feature: -0.684109, -0.883015, 1.653161
[11:52:33.552] xyz_f:3.375233, 0.003180, 3.948516  Reprojection Error: -0.852672, 0.105742 Feature: -0.161646, 0.066536, 0.182551
[11:52:33.552] xyz_f:4.224515, -1.187260, 4.983146  Reprojection Error: -0.528935, 0.625486 Feature: -0.772192, -0.815560, 1.617134
[11:52:33.552] it:16 	 Success 	 new_chi2: 1.918829 	 dT = 0.097373, 0.549443, 0.000053
[11:52:33.552] xyz_f:4.702519, -1.221636, 5.558501  Reprojection Error: -0.510199, -0.003330 Feature: -0.805250, -0.842058, 1.628861
[11:52:33.552] xyz_f:4.790310, -1.238696, 5.463923  Reprojection Error: -0.506148, -0.035687 Feature: -0.684109, -0.883015, 1.653161
[11:52:33.552] xyz_f:3.861894, 0.003181, 4.497956  Reprojection Error: -0.856450, 0.105840 Feature: -0.161646, 0.066536, 0.182551
[11:52:33.552] xyz_f:4.711245, -1.187247, 5.532543  Reprojection Error: -0.532726, 0.601825 Feature: -0.772192, -0.815560, 1.617134
[11:52:33.552] it:17 	 Success 	 new_chi2: 1.906564 	 dT = 0.099576, 0.627117, 0.000041
[11:52:33.552] xyz_f:5.254228, -1.221626, 6.185582  Reprojection Error: -0.513626, -0.025612 Feature: -0.805250, -0.842058, 1.628861
[11:52:33.552] xyz_f:5.342016, -1.238686, 6.091001  Reprojection Error: -0.506465, -0.059029 Feature: -0.684109, -0.883015, 1.653161
[11:52:33.552] xyz_f:4.413549, 0.003182, 5.125070  Reprojection Error: -0.859030, 0.105926 Feature: -0.161646, 0.066536, 0.182551
[11:52:33.552] xyz_f:5.262953, -1.187238, 6.159623  Reprojection Error: -0.535602, 0.579976 Feature: -0.772192, -0.815560, 1.617134
[11:52:33.552] it:18 	 Success 	 new_chi2: 1.894979 	 dT = 0.100039, 0.719084, 0.000031
[11:52:33.552] xyz_f:5.881856, -1.221619, 6.904639  Reprojection Error: -0.516064, -0.046180 Feature: -0.805250, -0.842058, 1.628861
[11:52:33.552] xyz_f:5.969641, -1.238678, 6.810056  Reprojection Error: -0.506023, -0.080502 Feature: -0.684109, -0.883015, 1.653161
[11:52:33.552] xyz_f:5.041136, 0.003182, 5.844152  Reprojection Error: -0.860457, 0.106003 Feature: -0.161646, 0.066536, 0.182551
[11:52:33.552] xyz_f:5.890580, -1.187231, 6.878681  Reprojection Error: -0.537528, 0.559827 Feature: -0.772192, -0.815560, 1.617134
[11:52:33.552] it:19 	 Success 	 new_chi2: 1.883115 	 dT = 0.097914, 0.828986, 0.000023
[11:52:33.552] xyz_f:6.598852, -1.221614, 7.733606  Reprojection Error: -0.517464, -0.065146 Feature: -0.805250, -0.842058, 1.628861
[11:52:33.552] xyz_f:6.686634, -1.238672, 7.639021  Reprojection Error: -0.504758, -0.100241 Feature: -0.684109, -0.883015, 1.653161
[11:52:33.552] xyz_f:5.758101, 0.003182, 6.673138  Reprojection Error: -0.860739, 0.106070 Feature: -0.161646, 0.066536, 0.182551
[11:52:33.552] xyz_f:6.607574, -1.187225, 7.707647  Reprojection Error: -0.538450, 0.541263 Feature: -0.772192, -0.815560, 1.617134
[11:52:33.552] it:20 	 Success 	 new_chi2: 1.870047 	 dT = 0.091994, 0.961713, 0.000017
[11:52:33.552] xyz_f:7.421945, -1.221610, 8.695304  Reprojection Error: -0.517752, -0.082617 Feature: -0.805250, -0.842058, 1.628861
[11:52:33.552] xyz_f:7.509726, -1.238668, 8.600718  Reprojection Error: -0.502582, -0.118373 Feature: -0.684109, -0.883015, 1.653161
[11:52:33.552] xyz_f:6.581171, 0.003183, 7.634850  Reprojection Error: -0.859853, 0.106130 Feature: -0.161646, 0.066536, 0.182551
[11:52:33.552] xyz_f:7.430667, -1.187221, 8.669345  Reprojection Error: -0.538294, 0.524176 Feature: -0.772192, -0.815560, 1.617134
[11:52:33.552] it:21 	 Success 	 new_chi2: 1.854850 	 dT = 0.080544, 1.123960, 0.000012
[11:52:33.552] xyz_f:8.372227, -1.221607, 9.819254  Reprojection Error: -0.516828, -0.098698 Feature: -0.805250, -0.842058, 1.628861
[11:52:33.552] xyz_f:8.460007, -1.238664, 9.724666  Reprojection Error: -0.499385, -0.135018 Feature: -0.684109, -0.883015, 1.653161
[11:52:33.552] xyz_f:7.531437, 0.003183, 8.758809  Reprojection Error: -0.857732, 0.106184 Feature: -0.161646, 0.066536, 0.182551
[11:52:33.552] xyz_f:8.380949, -1.187218, 9.793295  Reprojection Error: -0.536959, 0.508459 Feature: -0.772192, -0.815560, 1.617134
[11:52:33.552] it:22 	 Success 	 new_chi2: 1.836567 	 dT = 0.061039, 1.325096, 0.000009
[11:52:33.552] xyz_f:9.476696, -1.221605, 11.144342  Reprojection Error: -0.514554, -0.113491 Feature: -0.805250, -0.842058, 1.628861
[11:52:33.552] xyz_f:9.564476, -1.238662, 11.049754  Reprojection Error: -0.495014, -0.150293 Feature: -0.684109, -0.883015, 1.653161
[11:52:33.552] xyz_f:8.635895, 0.003183, 10.083904  Reprojection Error: -0.854266, 0.106232 Feature: -0.161646, 0.066536, 0.182551
[11:52:33.552] xyz_f:9.485418, -1.187216, 11.118383  Reprojection Error: -0.534304, 0.494011 Feature: -0.772192, -0.815560, 1.617134
[11:52:33.552] it:23 	 Success 	 new_chi2: 1.814166 	 dT = 0.029743, 1.578566, 0.000006
[11:52:33.552] xyz_f:10.770506, -1.221604, 12.722903  Reprojection Error: -0.510739, -0.127091 Feature: -0.805250, -0.842058, 1.628861
[11:52:33.552] xyz_f:10.858285, -1.238661, 12.628314  Reprojection Error: -0.489268, -0.164306 Feature: -0.684109, -0.883015, 1.653161
[11:52:33.552] xyz_f:9.929696, 0.003183, 11.662470  Reprojection Error: -0.849285, 0.106274 Feature: -0.161646, 0.066536, 0.182551
[11:52:33.552] xyz_f:10.779227, -1.187215, 12.696944  Reprojection Error: -0.530137, 0.480735 Feature: -0.772192, -0.815560, 1.617134
[11:52:33.552] it:24 	 Success 	 new_chi2: 1.786483 	 dT = -0.018983, 1.904222, 0.000004
[11:52:33.552] xyz_f:12.300352, -1.221603, 14.627122  Reprojection Error: -0.505122, -0.139591 Feature: -0.805250, -0.842058, 1.628861
[11:52:33.552] xyz_f:12.388130, -1.238660, 14.532533  Reprojection Error: -0.481873, -0.177158 Feature: -0.684109, -0.883015, 1.653161
[11:52:33.552] xyz_f:11.459537, 0.003183, 13.566692  Reprojection Error: -0.842543, 0.106313 Feature: -0.161646, 0.066536, 0.182551
[11:52:33.552] xyz_f:12.309073, -1.187214, 14.601163  Reprojection Error: -0.524195, 0.468541 Feature: -0.772192, -0.815560, 1.617134
[11:52:33.552] it:25 	 Success 	 new_chi2: 1.752143 	 dT = -0.093855, 2.332398, 0.000003
[11:52:33.552] xyz_f:14.129707, -1.221602, 16.959517  Reprojection Error: -0.497337, -0.151077 Feature: -0.805250, -0.842058, 1.628861
[11:52:33.552] xyz_f:14.217485, -1.238659, 16.864928  Reprojection Error: -0.472452, -0.188946 Feature: -0.684109, -0.883015, 1.653161
[11:52:33.552] xyz_f:13.288888, 0.003183, 15.899090  Reprojection Error: -0.833689, 0.106347 Feature: -0.161646, 0.066536, 0.182551
[11:52:33.552] xyz_f:14.138428, -1.187213, 16.933558  Reprojection Error: -0.516110, 0.457341 Feature: -0.772192, -0.815560, 1.617134
[11:52:33.552] it:26 	 Success 	 new_chi2: 1.709465 	 dT = -0.208743, 2.911321, 0.000002
[11:52:33.552] xyz_f:16.347220, -1.221602, 19.870837  Reprojection Error: -0.486868, -0.161631 Feature: -0.805250, -0.842058, 1.628861
[11:52:33.552] xyz_f:16.434998, -1.238658, 19.776247  Reprojection Error: -0.460479, -0.199758 Feature: -0.684109, -0.883015, 1.653161
[11:52:33.552] xyz_f:15.506398, 0.003183, 18.810411  Reprojection Error: -0.822214, 0.106378 Feature: -0.161646, 0.066536, 0.182551
[11:52:33.552] xyz_f:16.355941, -1.187213, 19.844878  Reprojection Error: -0.505364, 0.447056 Feature: -0.772192, -0.815560, 1.617134
[11:52:33.552] it:27 	 Success 	 new_chi2: 1.656310 	 dT = -0.386529, 3.721466, 0.000001
[11:52:33.552] xyz_f:19.080757, -1.221601, 23.592302  Reprojection Error: -0.472965, -0.171328 Feature: -0.805250, -0.842058, 1.628861
[11:52:33.552] xyz_f:19.168535, -1.238658, 23.497713  Reprojection Error: -0.445193, -0.209678 Feature: -0.684109, -0.883015, 1.653161
[11:52:33.552] xyz_f:18.239934, 0.003183, 22.531877  Reprojection Error: -0.807379, 0.106406 Feature: -0.161646, 0.066536, 0.182551
[11:52:33.552] xyz_f:19.089478, -1.187213, 23.566343  Reprojection Error: -0.491206, 0.437609 Feature: -0.772192, -0.815560, 1.617134
[11:52:33.552] it:28 	 Success 	 new_chi2: 1.589884 	 dT = -0.666669, 4.905249, 0.000001
[11:52:33.552] xyz_f:22.522084, -1.221601, 28.497551  Reprojection Error: -0.454511, -0.180241 Feature: -0.805250, -0.842058, 1.628861
[11:52:33.552] xyz_f:22.609862, -1.238658, 28.402961  Reprojection Error: -0.425470, -0.218782 Feature: -0.684109, -0.883015, 1.653161
[11:52:33.552] xyz_f:21.681260, 0.003183, 27.437127  Reprojection Error: -0.788078, 0.106431 Feature: -0.161646, 0.066536, 0.182551
[11:52:33.552] xyz_f:22.530805, -1.187212, 28.471592  Reprojection Error: -0.472518, 0.428929 Feature: -0.772192, -0.815560, 1.617134
[11:52:33.552] it:29 	 Success 	 new_chi2: 1.506440 	 dT = -1.121102, 6.733946, 0.000000
[11:52:33.552] xyz_f:26.972901, -1.221601, 35.231497  Reprojection Error: -0.429785, -0.188434 Feature: -0.805250, -0.842058, 1.628861
[11:52:33.552] xyz_f:27.060679, -1.238658, 35.136907  Reprojection Error: -0.399581, -0.227139 Feature: -0.684109, -0.883015, 1.653161
[11:52:33.552] xyz_f:26.132077, 0.003183, 34.171073  Reprojection Error: -0.762604, 0.106454 Feature: -0.161646, 0.066536, 0.182551
[11:52:33.552] xyz_f:26.981622, -1.187212, 35.205538  Reprojection Error: -0.447578, 0.420954 Feature: -0.772192, -0.815560, 1.617134
[11:52:33.552] it:30 	 Success 	 new_chi2: 1.400892 	 dT = -1.890665, 9.775431, 0.000000
[11:52:33.552] xyz_f:32.937285, -1.221601, 45.006928  Reprojection Error: -0.396021, -0.195965 Feature: -0.805250, -0.842058, 1.628861
[11:52:33.552] xyz_f:33.025063, -1.238658, 44.912338  Reprojection Error: -0.364754, -0.234812 Feature: -0.684109, -0.883015, 1.653161
[11:52:33.552] xyz_f:32.096460, 0.003183, 43.946504  Reprojection Error: -0.728215, 0.106475 Feature: -0.161646, 0.066536, 0.182551
[11:52:33.552] xyz_f:32.946006, -1.187212, 44.980969  Reprojection Error: -0.413618, 0.413625 Feature: -0.772192, -0.815560, 1.617134
[11:52:33.552] it:31 	 Success 	 new_chi2: 1.266381 	 dT = -3.278184, 15.376820, 0.000000
[11:52:33.552] xyz_f:41.325198, -1.221601, 60.383748  Reprojection Error: -0.348570, -0.202877 Feature: -0.805250, -0.842058, 1.628861
[11:52:33.552] xyz_f:41.412976, -1.238658, 60.289158  Reprojection Error: -0.316337, -0.241847 Feature: -0.684109, -0.883015, 1.653161
[11:52:33.552] xyz_f:40.484373, 0.003183, 59.323324  Reprojection Error: -0.680298, 0.106494 Feature: -0.161646, 0.066536, 0.182551
[11:52:33.552] xyz_f:41.333919, -1.187212, 60.357788  Reprojection Error: -0.365990, 0.406901 Feature: -0.772192, -0.815560, 1.617134
[11:52:33.552] it:32 	 Success 	 new_chi2: 1.094250 	 dT = -6.023435, 27.337525, 0.000000
[11:52:33.552] xyz_f:53.956767, -1.221601, 87.721272  Reprojection Error: -0.279288, -0.209182 Feature: -0.805250, -0.842058, 1.628861
[11:52:33.552] xyz_f:54.044545, -1.238658, 87.626682  Reprojection Error: -0.246190, -0.248256 Feature: -0.684109, -0.883015, 1.653161
[11:52:33.552] xyz_f:53.115942, 0.003183, 86.660849  Reprojection Error: -0.610779, 0.106510 Feature: -0.161646, 0.066536, 0.182551
[11:52:33.552] xyz_f:53.965488, -1.187212, 87.695313  Reprojection Error: -0.296550, 0.400769 Feature: -0.772192, -0.815560, 1.617134
[11:52:33.552] it:33 	 Success 	 new_chi2: 0.876539 	 dT = -12.295406, 59.469841, 0.000000
[11:52:33.552] xyz_f:75.022321, -1.221601, 147.191113  Reprojection Error: -0.173887, -0.214808 Feature: -0.805250, -0.842058, 1.628861
[11:52:33.552] xyz_f:75.110099, -1.238658, 147.096524  Reprojection Error: -0.140049, -0.253971 Feature: -0.684109, -0.883015, 1.653161
[11:52:33.552] xyz_f:74.181495, 0.003183, 146.130690  Reprojection Error: -0.505500, 0.106525 Feature: -0.161646, 0.066536, 0.182551
[11:52:33.552] xyz_f:75.031041, -1.187212, 147.165154  Reprojection Error: -0.191017, 0.395298 Feature: -0.772192, -0.815560, 1.617134
[11:52:33.552] it:34 	 Success 	 new_chi2: 0.619911 	 dT = -30.499002, 187.038543, 0.000000
[11:52:33.552] xyz_f:116.288565, -1.221601, 334.229657  Reprojection Error: -0.012124, -0.219453 Feature: -0.805250, -0.842058, 1.628861
[11:52:33.552] xyz_f:116.376343, -1.238658, 334.135067  Reprojection Error: 0.022277, -0.258685 Feature: -0.684109, -0.883015, 1.653161
[11:52:33.552] xyz_f:115.447740, 0.003183, 333.169233  Reprojection Error: -0.344376, 0.106538 Feature: -0.161646, 0.066536, 0.182551
[11:52:33.552] xyz_f:116.297286, -1.187212, 334.203698  Reprojection Error: -0.029158, 0.390784 Feature: -0.772192, -0.815560, 1.617134
[11:52:33.552] it:35 	 Success 	 new_chi2: 0.399146 	 dT = -112.714970, 1261.492178, 0.000000
[11:52:33.552] xyz_f:221.111141, -1.221601, 1595.721835  Reprojection Error: 0.197241, -0.222342 Feature: -0.805250, -0.842058, 1.628861
[11:52:33.552] xyz_f:221.198919, -1.238658, 1595.627245  Reprojection Error: 0.231940, -0.261616 Feature: -0.684109, -0.883015, 1.653161
[11:52:33.553] xyz_f:220.270316, 0.003183, 1594.661411  Reprojection Error: -0.135992, 0.106545 Feature: -0.161646, 0.066536, 0.182551
[11:52:33.553] xyz_f:221.119862, -1.187212, 1595.695875  Reprojection Error: 0.180253, 0.387975 Feature: -0.772192, -0.815560, 1.617134
[11:52:33.553] it:36 	 Success 	 new_chi2: 0.423342 	 dT = -1056.699419, 48597.456396, 0.000000
[11:52:33.553] xyz_f:2652.017708, -1.221601, -47001.734562  Reprojection Error: 0.392230, -0.223134 Feature: -0.805250, -0.842058, 1.628861
[11:52:33.553] xyz_f:2652.105486, -1.238658, -47001.829151  Reprojection Error: 0.426994, -0.262418 Feature: -0.684109, -0.883015, 1.653161
[11:52:33.553] xyz_f:2651.176883, 0.003183, -47002.794985  Reprojection Error: 0.058543, 0.106547 Feature: -0.161646, 0.066536, 0.182551
[11:52:33.553] xyz_f:2652.026429, -1.187212, -47001.760521  Reprojection Error: 0.375249, 0.387206 Feature: -0.772192, -0.815560, 1.617134
[11:52:33.553] it:37 	 Success 	 new_chi2: 0.759033 	 dT = 388744.056182, 99297164.484117, 0.000000
[11:52:33.553] xyz_f:341741.918075, -1.221601, 99250162.749556  Reprojection Error: 0.332363, -0.223108 Feature: -0.805250, -0.842058, 1.628861
[11:52:33.553] xyz_f:341742.005852, -1.238658, 99250162.654966  Reprojection Error: 0.367125, -0.262392 Feature: -0.684109, -0.883015, 1.653161
[11:52:33.553] xyz_f:341741.077249, 0.003183, 99250161.689132  Reprojection Error: -0.001305, 0.106547 Feature: -0.161646, 0.066536, 0.182551
[11:52:33.553] xyz_f:341741.926795, -1.187212, 99250162.723597  Reprojection Error: 0.315382, 0.387231 Feature: -0.772192, -0.815560, 1.617134
[11:52:33.553] it:38 	 Success 	 new_chi2: 0.621069 	 dT = -106368901610.342758, 316861736082194.937500, 0.000000
[11:52:33.553] xyz_f:-106269651447.996750, -1.221601, 316861835332357.687500  Reprojection Error: 0.336141, -0.223108 Feature: -0.805250, -0.842058, 1.628861
[11:52:33.553] xyz_f:-106269651447.908966, -1.238658, 316861835332357.562500  Reprojection Error: 0.370904, -0.262392 Feature: -0.684109, -0.883015, 1.653161
[11:52:33.553] xyz_f:-106269651448.837570, 0.003183, 316861835332356.625000  Reprojection Error: 0.002474, 0.106547 Feature: -0.161646, 0.066536, 0.182551
[11:52:33.553] xyz_f:-106269651447.988022, -1.187212, 316861835332357.625000  Reprojection Error: 0.319161, 0.387231 Feature: -0.772192, -0.815560, 1.617134
[11:52:33.553] it:39 	 Success 	 new_chi2: 0.628699 	 dT = -2022004180214340.500000, -317226351992573984768.000000, 0.000000
[11:52:33.553] xyz_f:2338866015546698.000000, -1.221601, 317226668854409297920.000000  Reprojection Error: 0.335798, -0.223108 Feature: -0.805250, -0.842058, 1.628861
[11:52:33.553] xyz_f:2338866015546698.000000, -1.238658, 317226668854409297920.000000  Reprojection Error: 0.370561, -0.262392 Feature: -0.684109, -0.883015, 1.653161
[11:52:33.553] xyz_f:2338866015546697.000000, 0.003183, 317226668854409297920.000000  Reprojection Error: 0.002131, 0.106547 Feature: -0.161646, 0.066536, 0.182551
[11:52:33.553] xyz_f:2338866015546698.000000, -1.187212, 317226668854409297920.000000  Reprojection Error: 0.318818, 0.387231 Feature: -0.772192, -0.815560, 1.617134
[11:52:33.553] it:40 	 Success 	 new_chi2: 0.617118 	 dT = -1879480776079441.250000, -644760437127802217562112.000000, 0.000000
[11:52:33.553] xyz_f:317228548335185362944.000000, -1.221601, 645077663796656567484416.000000  Reprojection Error: 0.335314, -0.223108 Feature: -0.805250, -0.842058, 1.628861
[11:52:33.553] xyz_f:317228548335185362944.000000, -1.238658, 645077663796656567484416.000000  Reprojection Error: 0.370077, -0.262392 Feature: -0.684109, -0.883015, 1.653161
[11:52:33.553] xyz_f:317228548335185362944.000000, 0.003183, 645077663796656567484416.000000  Reprojection Error: 0.001647, 0.106547 Feature: -0.161646, 0.066536, 0.182551
[11:52:33.553] xyz_f:317228548335185362944.000000, -1.187212, 645077663796656567484416.000000  Reprojection Error: 0.318333, 0.387231 Feature: -0.772192, -0.815560, 1.617134
[11:52:33.553] it:41 	 Success 	 new_chi2: 0.616169 	 dT = -1878116620350578.000000, -15474250491067254295232512.000000, 0.000000
[11:52:33.553] xyz_f:645077665674773154234368.000000, -1.221601, 16119328154863910594281472.000000  Reprojection Error: 0.295787, -0.223108 Feature: -0.805250, -0.842058, 1.628861
[11:52:33.553] xyz_f:645077665674773154234368.000000, -1.238658, 16119328154863910594281472.000000  Reprojection Error: 0.330550, -0.262392 Feature: -0.684109, -0.883015, 1.653161
[11:52:33.553] xyz_f:645077665674773154234368.000000, 0.003183, 16119328154863910594281472.000000  Reprojection Error: -0.037881, 0.106547 Feature: -0.161646, 0.066536, 0.182551
[11:52:33.553] xyz_f:645077665674773154234368.000000, -1.187212, 16119328154863910594281472.000000  Reprojection Error: 0.278806, 0.387231 Feature: -0.772192, -0.815560, 1.617134
[11:52:33.553] it:42 	 Success 	 new_chi2: 0.544577 	 dT = -1766443451594356.750000, -7737125245533627147616256.000000, 0.000000
[11:52:33.553] xyz_f:16119328156630353333714944.000000, -1.221601, 23856453400397539889381376.000000  Reprojection Error: -0.339874, -0.223108 Feature: -0.805250, -0.842058, 1.628861
[11:52:33.553] xyz_f:16119328156630353333714944.000000, -1.238658, 23856453400397539889381376.000000  Reprojection Error: -0.305111, -0.262392 Feature: -0.684109, -0.883015, 1.653161
[11:52:33.553] xyz_f:16119328156630353333714944.000000, 0.003183, 23856453400397539889381376.000000  Reprojection Error: -0.673542, 0.106547 Feature: -0.161646, 0.066536, 0.182551
[11:52:33.553] xyz_f:16119328156630353333714944.000000, -1.187212, 23856453400397539889381376.000000  Reprojection Error: -0.356855, 0.387231 Feature: -0.772192, -0.815560, 1.617134
[11:52:33.553] it:43 	 Success 	 new_chi2: 1.031635 	 dT = 43162559631794.265625, 0.000000, -0.000000
[11:52:33.553] xyz_f:23856453400354375468056576.000000, -1.221601, 23856453400397539889381376.000000  Reprojection Error: -0.664194, -0.223108 Feature: -0.805250, -0.842058, 1.628861
[11:52:33.553] xyz_f:23856453400354375468056576.000000, -1.238658, 23856453400397539889381376.000000  Reprojection Error: -0.629431, -0.262392 Feature: -0.684109, -0.883015, 1.653161
[11:52:33.553] xyz_f:23856453400354375468056576.000000, 0.003183, 23856453400397539889381376.000000  Reprojection Error: -0.997862, 0.106547 Feature: -0.161646, 0.066536, 0.182551
[11:52:33.553] xyz_f:23856453400354375468056576.000000, -1.187212, 23856453400397539889381376.000000  Reprojection Error: -0.681175, 0.387231 Feature: -0.772192, -0.815560, 1.617134
[11:52:33.553] it:44 	 Success 	 new_chi2: 2.377265 	 dT = 1027092656306239.250000, 1934281311383406786904064.000000, 0.000000
[11:52:33.553] xyz_f:23856453399370445705183232.000000, -1.221601, 21922172089014131491864576.000000  Reprojection Error: -0.752428, -0.223108 Feature: -0.805250, -0.842058, 1.628861
[11:52:33.553] xyz_f:23856453399370445705183232.000000, -1.238658, 21922172089014131491864576.000000  Reprojection Error: -0.717665, -0.262392 Feature: -0.684109, -0.883015, 1.653161
[11:52:33.553] xyz_f:23856453399370445705183232.000000, 0.003183, 21922172089014131491864576.000000  Reprojection Error: -1.086096, 0.106547 Feature: -0.161646, 0.066536, 0.182551
[11:52:33.553] xyz_f:23856453399370445705183232.000000, -1.187212, 21922172089014131491864576.000000  Reprojection Error: -0.769409, 0.387231 Feature: -0.772192, -0.815560, 1.617134
[11:52:33.553] it:45 	 Success 	 new_chi2: 2.843330 	 dT = 1308750625140791.750000, 3868562622766813573808128.000000, 0.000000
[11:52:33.553] xyz_f:21922172087705381942329344.000000, -1.221601, 18053609466247318991798272.000000  Reprojection Error: -0.878476, -0.223108 Feature: -0.805250, -0.842058, 1.628861
[11:52:33.553] xyz_f:21922172087705381942329344.000000, -1.238658, 18053609466247318991798272.000000  Reprojection Error: -0.843713, -0.262392 Feature: -0.684109, -0.883015, 1.653161
[11:52:33.553] xyz_f:21922172087705381942329344.000000, 0.003183, 18053609466247318991798272.000000  Reprojection Error: -1.212144, 0.106547 Feature: -0.161646, 0.066536, 0.182551
[11:52:33.553] xyz_f:21922172087705381942329344.000000, -1.187212, 18053609466247318991798272.000000  Reprojection Error: -0.895457, 0.387231 Feature: -0.772192, -0.815560, 1.617134
[11:52:33.553] it:46 	 Success 	 new_chi2: 3.566116 	 dT = 1724622485794839.000000, 3868562622766813573808128.000000, 0.000000
[11:52:33.553] xyz_f:18053609464522696348925952.000000, -1.221601, 14185046843480506491731968.000000  Reprojection Error: -0.936915, -0.223108 Feature: -0.805250, -0.842058, 1.628861
[11:52:33.553] xyz_f:18053609464522696348925952.000000, -1.238658, 14185046843480506491731968.000000  Reprojection Error: -0.902153, -0.262392 Feature: -0.684109, -0.883015, 1.653161
[11:52:33.553] xyz_f:18053609464522696348925952.000000, 0.003183, 14185046843480506491731968.000000  Reprojection Error: -1.270583, 0.106547 Feature: -0.161646, 0.066536, 0.182551
[11:52:33.553] xyz_f:18053609464522696348925952.000000, -1.187212, 14185046843480506491731968.000000  Reprojection Error: -0.953896, 0.387231 Feature: -0.772192, -0.815560, 1.617134
[11:52:33.553] it:47 	 Success 	 new_chi2: 3.919930 	 dT = 1923524016663300.000000, 0.000000, -0.000000
[11:52:33.553] xyz_f:14185046841556981765898240.000000, -1.221601, 14185046843480506491731968.000000  Reprojection Error: -0.664194, -0.223108 Feature: -0.805250, -0.842058, 1.628861
[11:52:33.553] xyz_f:14185046841556981765898240.000000, -1.238658, 14185046843480506491731968.000000  Reprojection Error: -0.629431, -0.262392 Feature: -0.684109, -0.883015, 1.653161
[11:52:33.553] xyz_f:14185046841556981765898240.000000, 0.003183, 14185046843480506491731968.000000  Reprojection Error: -0.997862, 0.106547 Feature: -0.161646, 0.066536, 0.182551
[11:52:33.553] xyz_f:14185046841556981765898240.000000, -1.187212, 14185046843480506491731968.000000  Reprojection Error: -0.681175, 0.387231 Feature: -0.772192, -0.815560, 1.617134
[11:52:33.553] it:48 	 Success 	 new_chi2: 2.377265 	 dT = 1027092656306239.875000, 967140655691703393452032.000000, -0.000000
[11:52:33.553] xyz_f:14185046842453414455017472.000000, -1.221601, 13217906187788802292973568.000000  Reprojection Error: -0.737363, -0.223108 Feature: -0.805250, -0.842058, 1.628861
[11:52:33.553] xyz_f:14185046842453414455017472.000000, -1.238658, 13217906187788802292973568.000000  Reprojection Error: -0.702600, -0.262392 Feature: -0.684109, -0.883015, 1.653161
[11:52:33.553] xyz_f:14185046842453414455017472.000000, 0.003183, 13217906187788802292973568.000000  Reprojection Error: -1.071031, 0.106547 Feature: -0.161646, 0.066536, 0.182551
[11:52:33.553] xyz_f:14185046842453414455017472.000000, -1.187212, 13217906187788802292973568.000000  Reprojection Error: -0.754344, 0.387231 Feature: -0.772192, -0.815560, 1.617134
[11:52:33.553] it:49 	 Success 	 new_chi2: 2.761224 	 dT = 1260141763325376.250000, 0.000000, -0.000000
[11:52:33.553] xyz_f:13217906186528661035810816.000000, -1.221601, 13217906187788802292973568.000000  Reprojection Error: -0.664194, -0.223108 Feature: -0.805250, -0.842058, 1.628861
[11:52:33.553] xyz_f:13217906186528661035810816.000000, -1.238658, 13217906187788802292973568.000000  Reprojection Error: -0.629431, -0.262392 Feature: -0.684109, -0.883015, 1.653161
[11:52:33.553] xyz_f:13217906186528661035810816.000000, 0.003183, 13217906187788802292973568.000000  Reprojection Error: -0.997862, 0.106547 Feature: -0.161646, 0.066536, 0.182551
[11:52:33.553] xyz_f:13217906186528661035810816.000000, -1.187212, 13217906187788802292973568.000000  Reprojection Error: -0.681175, 0.387231 Feature: -0.772192, -0.815560, 1.617134
[11:52:33.553] it:50 	 Success 	 new_chi2: 2.377265 	 dT = 1027092656306235.500000, 0.000000, -0.000000
[11:52:33.553] xyz_f:13217906186761710256259072.000000, -1.221601, 13217906187788802292973568.000000  Reprojection Error: -0.664194, -0.223108 Feature: -0.805250, -0.842058, 1.628861
[11:52:33.553] xyz_f:13217906186761710256259072.000000, -1.238658, 13217906187788802292973568.000000  Reprojection Error: -0.629431, -0.262392 Feature: -0.684109, -0.883015, 1.653161
[11:52:33.553] xyz_f:13217906186761710256259072.000000, 0.003183, 13217906187788802292973568.000000  Reprojection Error: -0.997862, 0.106547 Feature: -0.161646, 0.066536, 0.182551
[11:52:33.553] xyz_f:13217906186761710256259072.000000, -1.187212, 13217906187788802292973568.000000  Reprojection Error: -0.681175, 0.387231 Feature: -0.772192, -0.815560, 1.617134
[11:52:33.553] it:51 	 Success 	 new_chi2: 2.377265 	 dT = 1027092656306232.500000, -0.000000, -0.000000
[11:52:33.553] xyz_f:13217906186761710256259072.000000, -1.221601, 13217906187788802292973568.000000  Reprojection Error: -0.664194, -0.223108 Feature: -0.805250, -0.842058, 1.628861
[11:52:33.553] xyz_f:13217906186761710256259072.000000, -1.238658, 13217906187788802292973568.000000  Reprojection Error: -0.629431, -0.262392 Feature: -0.684109, -0.883015, 1.653161
[11:52:33.553] xyz_f:13217906186761710256259072.000000, 0.003183, 13217906187788802292973568.000000  Reprojection Error: -0.997862, 0.106547 Feature: -0.161646, 0.066536, 0.182551
[11:52:33.553] xyz_f:13217906186761710256259072.000000, -1.187212, 13217906187788802292973568.000000  Reprojection Error: -0.681175, 0.387231 Feature: -0.772192, -0.815560, 1.617134
[11:52:33.553] it:52 	 Success 	 new_chi2: 2.377265 	 dT = 1027092656306232.500000, -0.000000, -0.000000
[11:52:33.553] xyz_f:13217906186761710256259072.000000, -1.221601, 13217906187788802292973568.000000  Reprojection Error: -0.664194, -0.223108 Feature: -0.805250, -0.842058, 1.628861
[11:52:33.553] xyz_f:13217906186761710256259072.000000, -1.238658, 13217906187788802292973568.000000  Reprojection Error: -0.629431, -0.262392 Feature: -0.684109, -0.883015, 1.653161
[11:52:33.553] xyz_f:13217906186761710256259072.000000, 0.003183, 13217906187788802292973568.000000  Reprojection Error: -0.997862, 0.106547 Feature: -0.161646, 0.066536, 0.182551
[11:52:33.553] xyz_f:13217906186761710256259072.000000, -1.187212, 13217906187788802292973568.000000  Reprojection Error: -0.681175, 0.387231 Feature: -0.772192, -0.815560, 1.617134
[11:52:33.553] it:53 	 Success 	 new_chi2: 2.377265 	 dT = 1027092656306232.500000, -0.000000, -0.000000
[11:52:33.553] xyz_f:13217906186761710256259072.000000, -1.221601, 13217906187788802292973568.000000  Reprojection Error: -0.664194, -0.223108 Feature: -0.805250, -0.842058, 1.628861
[11:52:33.553] xyz_f:13217906186761710256259072.000000, -1.238658, 13217906187788802292973568.000000  Reprojection Error: -0.629431, -0.262392 Feature: -0.684109, -0.883015, 1.653161
[11:52:33.553] xyz_f:13217906186761710256259072.000000, 0.003183, 13217906187788802292973568.000000  Reprojection Error: -0.997862, 0.106547 Feature: -0.161646, 0.066536, 0.182551
[11:52:33.553] xyz_f:13217906186761710256259072.000000, -1.187212, 13217906187788802292973568.000000  Reprojection Error: -0.681175, 0.387231 Feature: -0.772192, -0.815560, 1.617134
[11:52:33.553] it:54 	 Success 	 new_chi2: 2.377265 	 dT = 1027092656306232.500000, -0.000000, -0.000000
[11:52:33.553] xyz_f:13217906186761710256259072.000000, -1.221601, 13217906187788802292973568.000000  Reprojection Error: -0.664194, -0.223108 Feature: -0.805250, -0.842058, 1.628861
[11:52:33.553] xyz_f:13217906186761710256259072.000000, -1.238658, 13217906187788802292973568.000000  Reprojection Error: -0.629431, -0.262392 Feature: -0.684109, -0.883015, 1.653161
[11:52:33.553] xyz_f:13217906186761710256259072.000000, 0.003183, 13217906187788802292973568.000000  Reprojection Error: -0.997862, 0.106547 Feature: -0.161646, 0.066536, 0.182551
[11:52:33.553] xyz_f:13217906186761710256259072.000000, -1.187212, 13217906187788802292973568.000000  Reprojection Error: -0.681175, 0.387231 Feature: -0.772192, -0.815560, 1.617134
[11:52:33.553] it:55 	 Success 	 new_chi2: 2.377265 	 dT = 1027092656306232.500000, -0.000000, -0.000000
[11:52:33.553] xyz_f:13217906186761710256259072.000000, -1.221601, 13217906187788802292973568.000000  Reprojection Error: -0.664194, -0.223108 Feature: -0.805250, -0.842058, 1.628861
[11:52:33.553] xyz_f:13217906186761710256259072.000000, -1.238658, 13217906187788802292973568.000000  Reprojection Error: -0.629431, -0.262392 Feature: -0.684109, -0.883015, 1.653161
[11:52:33.553] xyz_f:13217906186761710256259072.000000, 0.003183, 13217906187788802292973568.000000  Reprojection Error: -0.997862, 0.106547 Feature: -0.161646, 0.066536, 0.182551
[11:52:33.553] xyz_f:13217906186761710256259072.000000, -1.187212, 13217906187788802292973568.000000  Reprojection Error: -0.681175, 0.387231 Feature: -0.772192, -0.815560, 1.617134
[11:52:33.554] it:56 	 Success 	 new_chi2: 2.377265 	 dT = 1027092656306232.500000, -0.000000, -0.000000
[11:52:33.554] xyz_f:13217906186761710256259072.000000, -1.221601, 13217906187788802292973568.000000  Reprojection Error: -0.664194, -0.223108 Feature: -0.805250, -0.842058, 1.628861
[11:52:33.554] xyz_f:13217906186761710256259072.000000, -1.238658, 13217906187788802292973568.000000  Reprojection Error: -0.629431, -0.262392 Feature: -0.684109, -0.883015, 1.653161
[11:52:33.554] xyz_f:13217906186761710256259072.000000, 0.003183, 13217906187788802292973568.000000  Reprojection Error: -0.997862, 0.106547 Feature: -0.161646, 0.066536, 0.182551
[11:52:33.554] xyz_f:13217906186761710256259072.000000, -1.187212, 13217906187788802292973568.000000  Reprojection Error: -0.681175, 0.387231 Feature: -0.772192, -0.815560, 1.617134
[11:52:33.554] it:57 	 Success 	 new_chi2: 2.377265 	 dT = 1027092656306232.500000, -0.000000, -0.000000
[11:52:33.554] xyz_f:13217906186761710256259072.000000, -1.221601, 13217906187788802292973568.000000  Reprojection Error: -0.664194, -0.223108 Feature: -0.805250, -0.842058, 1.628861
[11:52:33.554] xyz_f:13217906186761710256259072.000000, -1.238658, 13217906187788802292973568.000000  Reprojection Error: -0.629431, -0.262392 Feature: -0.684109, -0.883015, 1.653161
[11:52:33.554] xyz_f:13217906186761710256259072.000000, 0.003183, 13217906187788802292973568.000000  Reprojection Error: -0.997862, 0.106547 Feature: -0.161646, 0.066536, 0.182551
[11:52:33.554] xyz_f:13217906186761710256259072.000000, -1.187212, 13217906187788802292973568.000000  Reprojection Error: -0.681175, 0.387231 Feature: -0.772192, -0.815560, 1.617134
[11:52:33.554] it:58 	 Success 	 new_chi2: 2.377265 	 dT = 1027092656306232.500000, -0.000000, -0.000000
[11:52:33.554] xyz_f:13217906186761710256259072.000000, -1.221601, 13217906187788802292973568.000000  Reprojection Error: -0.664194, -0.223108 Feature: -0.805250, -0.842058, 1.628861
[11:52:33.554] xyz_f:13217906186761710256259072.000000, -1.238658, 13217906187788802292973568.000000  Reprojection Error: -0.629431, -0.262392 Feature: -0.684109, -0.883015, 1.653161
[11:52:33.554] xyz_f:13217906186761710256259072.000000, 0.003183, 13217906187788802292973568.000000  Reprojection Error: -0.997862, 0.106547 Feature: -0.161646, 0.066536, 0.182551
[11:52:33.554] xyz_f:13217906186761710256259072.000000, -1.187212, 13217906187788802292973568.000000  Reprojection Error: -0.681175, 0.387231 Feature: -0.772192, -0.815560, 1.617134
[11:52:33.554] it:59 	 Success 	 new_chi2: 2.377265 	 dT = 1027092656306232.500000, -0.000000, -0.000000
[11:52:33.554] xyz_f:13217906186761710256259072.000000, -1.221601, 13217906187788802292973568.000000  Reprojection Error: -0.664194, -0.223108 Feature: -0.805250, -0.842058, 1.628861
[11:52:33.554] xyz_f:13217906186761710256259072.000000, -1.238658, 13217906187788802292973568.000000  Reprojection Error: -0.629431, -0.262392 Feature: -0.684109, -0.883015, 1.653161
[11:52:33.554] xyz_f:13217906186761710256259072.000000, 0.003183, 13217906187788802292973568.000000  Reprojection Error: -0.997862, 0.106547 Feature: -0.161646, 0.066536, 0.182551
[11:52:33.554] xyz_f:13217906186761710256259072.000000, -1.187212, 13217906187788802292973568.000000  Reprojection Error: -0.681175, 0.387231 Feature: -0.772192, -0.815560, 1.617134
[11:52:33.554] it:60 	 Success 	 new_chi2: 2.377265 	 dT = 1027092656306232.500000, -0.000000, -0.000000
[11:52:33.554] xyz_f:13217906186761710256259072.000000, -1.221601, 13217906187788802292973568.000000  Reprojection Error: -0.664194, -0.223108 Feature: -0.805250, -0.842058, 1.628861
[11:52:33.554] xyz_f:13217906186761710256259072.000000, -1.238658, 13217906187788802292973568.000000  Reprojection Error: -0.629431, -0.262392 Feature: -0.684109, -0.883015, 1.653161
[11:52:33.554] xyz_f:13217906186761710256259072.000000, 0.003183, 13217906187788802292973568.000000  Reprojection Error: -0.997862, 0.106547 Feature: -0.161646, 0.066536, 0.182551
[11:52:33.554] xyz_f:13217906186761710256259072.000000, -1.187212, 13217906187788802292973568.000000  Reprojection Error: -0.681175, 0.387231 Feature: -0.772192, -0.815560, 1.617134
[11:52:33.554] it:61 	 Success 	 new_chi2: 2.377265 	 dT = 1027092656306232.500000, -0.000000, -0.000000
[11:52:33.554] xyz_f:13217906186761710256259072.000000, -1.221601, 13217906187788802292973568.000000  Reprojection Error: -0.664194, -0.223108 Feature: -0.805250, -0.842058, 1.628861
[11:52:33.554] xyz_f:13217906186761710256259072.000000, -1.238658, 13217906187788802292973568.000000  Reprojection Error: -0.629431, -0.262392 Feature: -0.684109, -0.883015, 1.653161
[11:52:33.554] xyz_f:13217906186761710256259072.000000, 0.003183, 13217906187788802292973568.000000  Reprojection Error: -0.997862, 0.106547 Feature: -0.161646, 0.066536, 0.182551
[11:52:33.554] xyz_f:13217906186761710256259072.000000, -1.187212, 13217906187788802292973568.000000  Reprojection Error: -0.681175, 0.387231 Feature: -0.772192, -0.815560, 1.617134
[11:52:33.554] it:62 	 Success 	 new_chi2: 2.377265 	 dT = 1027092656306232.500000, -0.000000, -0.000000
[11:52:33.554] xyz_f:13217906186761710256259072.000000, -1.221601, 13217906187788802292973568.000000  Reprojection Error: -0.664194, -0.223108 Feature: -0.805250, -0.842058, 1.628861
[11:52:33.554] xyz_f:13217906186761710256259072.000000, -1.238658, 13217906187788802292973568.000000  Reprojection Error: -0.629431, -0.262392 Feature: -0.684109, -0.883015, 1.653161
[11:52:33.554] xyz_f:13217906186761710256259072.000000, 0.003183, 13217906187788802292973568.000000  Reprojection Error: -0.997862, 0.106547 Feature: -0.161646, 0.066536, 0.182551
[11:52:33.554] xyz_f:13217906186761710256259072.000000, -1.187212, 13217906187788802292973568.000000  Reprojection Error: -0.681175, 0.387231 Feature: -0.772192, -0.815560, 1.617134
[11:52:33.554] it:63 	 Success 	 new_chi2: 2.377265 	 dT = 1027092656306232.500000, -0.000000, -0.000000
[11:52:33.554] xyz_f:13217906186761710256259072.000000, -1.221601, 13217906187788802292973568.000000  Reprojection Error: -0.664194, -0.223108 Feature: -0.805250, -0.842058, 1.628861
[11:52:33.554] xyz_f:13217906186761710256259072.000000, -1.238658, 13217906187788802292973568.000000  Reprojection Error: -0.629431, -0.262392 Feature: -0.684109, -0.883015, 1.653161
[11:52:33.554] xyz_f:13217906186761710256259072.000000, 0.003183, 13217906187788802292973568.000000  Reprojection Error: -0.997862, 0.106547 Feature: -0.161646, 0.066536, 0.182551
[11:52:33.554] xyz_f:13217906186761710256259072.000000, -1.187212, 13217906187788802292973568.000000  Reprojection Error: -0.681175, 0.387231 Feature: -0.772192, -0.815560, 1.617134
[11:52:33.554] it:64 	 Success 	 new_chi2: 2.377265 	 dT = 1027092656306232.500000, -0.000000, -0.000000
[11:52:33.554] xyz_f:13217906186761710256259072.000000, -1.221601, 13217906187788802292973568.000000  Reprojection Error: -0.664194, -0.223108 Feature: -0.805250, -0.842058, 1.628861
[11:52:33.554] xyz_f:13217906186761710256259072.000000, -1.238658, 13217906187788802292973568.000000  Reprojection Error: -0.629431, -0.262392 Feature: -0.684109, -0.883015, 1.653161
[11:52:33.554] xyz_f:13217906186761710256259072.000000, 0.003183, 13217906187788802292973568.000000  Reprojection Error: -0.997862, 0.106547 Feature: -0.161646, 0.066536, 0.182551
[11:52:33.554] xyz_f:13217906186761710256259072.000000, -1.187212, 13217906187788802292973568.000000  Reprojection Error: -0.681175, 0.387231 Feature: -0.772192, -0.815560, 1.617134
[11:52:33.554] it:65 	 Success 	 new_chi2: 2.377265 	 dT = 1027092656306232.500000, -0.000000, -0.000000
[11:52:33.554] xyz_f:13217906186761710256259072.000000, -1.221601, 13217906187788802292973568.000000  Reprojection Error: -0.664194, -0.223108 Feature: -0.805250, -0.842058, 1.628861
[11:52:33.554] xyz_f:13217906186761710256259072.000000, -1.238658, 13217906187788802292973568.000000  Reprojection Error: -0.629431, -0.262392 Feature: -0.684109, -0.883015, 1.653161
[11:52:33.554] xyz_f:13217906186761710256259072.000000, 0.003183, 13217906187788802292973568.000000  Reprojection Error: -0.997862, 0.106547 Feature: -0.161646, 0.066536, 0.182551
[11:52:33.554] xyz_f:13217906186761710256259072.000000, -1.187212, 13217906187788802292973568.000000  Reprojection Error: -0.681175, 0.387231 Feature: -0.772192, -0.815560, 1.617134
[11:52:33.554] it:66 	 Success 	 new_chi2: 2.377265 	 dT = 1027092656306232.500000, -0.000000, -0.000000
[11:52:33.554] xyz_f:13217906186761710256259072.000000, -1.221601, 13217906187788802292973568.000000  Reprojection Error: -0.664194, -0.223108 Feature: -0.805250, -0.842058, 1.628861
[11:52:33.554] xyz_f:13217906186761710256259072.000000, -1.238658, 13217906187788802292973568.000000  Reprojection Error: -0.629431, -0.262392 Feature: -0.684109, -0.883015, 1.653161
[11:52:33.554] xyz_f:13217906186761710256259072.000000, 0.003183, 13217906187788802292973568.000000  Reprojection Error: -0.997862, 0.106547 Feature: -0.161646, 0.066536, 0.182551
[11:52:33.554] xyz_f:13217906186761710256259072.000000, -1.187212, 13217906187788802292973568.000000  Reprojection Error: -0.681175, 0.387231 Feature: -0.772192, -0.815560, 1.617134
[11:52:33.554] it:67 	 Success 	 new_chi2: 2.377265 	 dT = 1027092656306232.500000, -0.000000, -0.000000
[11:52:33.554] xyz_f:13217906186761710256259072.000000, -1.221601, 13217906187788802292973568.000000  Reprojection Error: -0.664194, -0.223108 Feature: -0.805250, -0.842058, 1.628861
[11:52:33.554] xyz_f:13217906186761710256259072.000000, -1.238658, 13217906187788802292973568.000000  Reprojection Error: -0.629431, -0.262392 Feature: -0.684109, -0.883015, 1.653161
[11:52:33.554] xyz_f:13217906186761710256259072.000000, 0.003183, 13217906187788802292973568.000000  Reprojection Error: -0.997862, 0.106547 Feature: -0.161646, 0.066536, 0.182551
[11:52:33.554] xyz_f:13217906186761710256259072.000000, -1.187212, 13217906187788802292973568.000000  Reprojection Error: -0.681175, 0.387231 Feature: -0.772192, -0.815560, 1.617134
[11:52:33.554] it:68 	 Success 	 new_chi2: 2.377265 	 dT = 1027092656306232.500000, -0.000000, -0.000000
[11:52:33.554] xyz_f:13217906186761710256259072.000000, -1.221601, 13217906187788802292973568.000000  Reprojection Error: -0.664194, -0.223108 Feature: -0.805250, -0.842058, 1.628861
[11:52:33.554] xyz_f:13217906186761710256259072.000000, -1.238658, 13217906187788802292973568.000000  Reprojection Error: -0.629431, -0.262392 Feature: -0.684109, -0.883015, 1.653161
[11:52:33.554] xyz_f:13217906186761710256259072.000000, 0.003183, 13217906187788802292973568.000000  Reprojection Error: -0.997862, 0.106547 Feature: -0.161646, 0.066536, 0.182551
[11:52:33.554] xyz_f:13217906186761710256259072.000000, -1.187212, 13217906187788802292973568.000000  Reprojection Error: -0.681175, 0.387231 Feature: -0.772192, -0.815560, 1.617134
[11:52:33.554] it:69 	 Success 	 new_chi2: 2.377265 	 dT = 1027092656306232.500000, -0.000000, -0.000000
[11:52:33.554] After pose optimization, distance between two frames:18692942196219914330570752.000000 ,angle between two frames:-5.418814
[11:52:33.765] Reprojection Map nPoint:4 ,nCell:3 ,nMatches:3 ,distance between two frames:2.764884 ,angle between two frames:-3.536456
[11:52:33.954] Reprojection Map nPoint:4 ,nCell:4 ,nMatches:0 ,distance between two frames:2.707024 ,angle between two frames:3.634740
[11:52:34.033] Reprojection Map nPoint:18 ,nCell:13 ,nMatches:3 ,distance between two frames:0.130694 ,angle between two frames:0.022607
[11:52:34.033] Init estimate scale:3.986851
[11:52:34.033] xyz_f:0.990826, -0.813752, 0.047995  Reprojection Error: -20.038427, 16.369101 Feature: -0.320380, -0.773638, 0.971653
[11:52:34.033] xyz_f:1.694440, -1.001932, 0.327692  Reprojection Error: -4.632052, 2.751495 Feature: -0.684109, -0.883015, 1.653161
[11:52:34.033] xyz_f:0.534691, 0.029762, 0.172808  Reprojection Error: -2.809151, -0.183438 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.033] it:0 	 Success 	 new_chi2: 31.966822 	 dT = 0.064906, 0.025511, -0.197934
[11:52:34.033] xyz_f:0.985549, -0.862858, 0.256772  Reprojection Error: -3.232294, 2.774570 Feature: -0.320380, -0.773638, 0.971653
[11:52:34.033] xyz_f:1.612721, -1.085237, 0.664102  Reprojection Error: -1.889643, 1.328094 Feature: -0.684109, -0.883015, 1.653161
[11:52:34.033] xyz_f:0.557544, 0.003377, 0.296789  Reprojection Error: -1.593603, -0.022591 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.033] it:1 	 Success 	 new_chi2: 23.983456 	 dT = 0.016159, 0.021119, -0.069268
[11:52:34.033] xyz_f:0.929197, -0.879070, 0.338396  Reprojection Error: -2.139957, 2.011923 Feature: -0.320380, -0.773638, 0.971653
[11:52:34.033] xyz_f:1.523650, -1.112404, 0.786610  Reprojection Error: -1.398202, 1.108127 Feature: -0.684109, -0.883015, 1.653161
[11:52:34.033] xyz_f:0.515060, -0.005283, 0.350229  Reprojection Error: -1.185657, 0.003873 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.033] it:2 	 Success 	 new_chi2: 12.725466 	 dT = 0.014428, 0.026071, -0.042676
[11:52:34.033] xyz_f:0.926052, -0.888749, 0.400589  Reprojection Error: -1.705798, 1.632773 Feature: -0.320380, -0.773638, 0.971653
[11:52:34.033] xyz_f:1.498917, -1.128530, 0.872866  Reprojection Error: -1.178455, 0.986854 Feature: -0.684109, -0.883015, 1.653161
[11:52:34.033] xyz_f:0.521453, -0.010440, 0.395544  Reprojection Error: -1.033337, 0.015181 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.033] it:3 	 Success 	 new_chi2: 8.791145 	 dT = 0.012606, 0.029242, -0.030804
[11:52:34.033] xyz_f:0.933057, -0.895576, 0.455310  Reprojection Error: -1.443347, 1.381126 Feature: -0.320380, -0.773638, 0.971653
[11:52:34.033] xyz_f:1.489687, -1.139860, 0.944393  Reprojection Error: -1.038622, 0.900929 Feature: -0.684109, -0.883015, 1.653161
[11:52:34.033] xyz_f:0.535801, -0.014070, 0.438335  Reprojection Error: -0.937374, 0.020886 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.033] it:4 	 Success 	 new_chi2: 6.644648 	 dT = 0.010963, 0.031619, -0.023735
[11:52:34.033] xyz_f:0.946818, -0.900740, 0.506203  Reprojection Error: -1.264499, 1.193571 Feature: -0.320380, -0.773638, 0.971653
[11:52:34.033] xyz_f:1.490580, -1.148405, 1.007901  Reprojection Error: -0.940115, 0.833355 Feature: -0.684109, -0.883015, 1.653161
[11:52:34.033] xyz_f:0.555478, -0.016812, 0.480188  Reprojection Error: -0.871811, 0.023800 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.033] it:5 	 Success 	 new_chi2: 5.292750 	 dT = 0.009319, 0.033488, -0.018942
[11:52:34.033] xyz_f:0.965413, -0.904800, 0.554843  Reprojection Error: -1.134046, 1.044900 Feature: -0.320380, -0.773638, 0.971653
[11:52:34.033] xyz_f:1.498685, -1.155105, 1.066393  Reprojection Error: -0.866597, 0.777141 Feature: -0.684109, -0.883015, 1.653161
[11:52:34.033] xyz_f:0.578952, -0.018965, 0.521712  Reprojection Error: -0.824735, 0.025140 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.033] it:6 	 Success 	 new_chi2: 4.368174 	 dT = 0.007612, 0.034973, -0.015459
[11:52:34.033] xyz_f:0.987687, -0.908072, 0.602025  Reprojection Error: -1.034678, 0.922529 Feature: -0.320380, -0.773638, 0.971653
[11:52:34.033] xyz_f:1.512255, -1.160493, 1.121473  Reprojection Error: -0.809674, 0.728745 Feature: -0.684109, -0.883015, 1.653161
[11:52:34.033] xyz_f:0.605312, -0.020699, 0.563154  Reprojection Error: -0.789878, 0.025543 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.033] it:7 	 Success 	 new_chi2: 3.701417 	 dT = 0.005809, 0.036139, -0.012817
[11:52:34.033] xyz_f:1.012828, -0.910755, 0.648178  Reprojection Error: -0.956646, 0.819267 Feature: -0.320380, -0.773638, 0.971653
[11:52:34.033] xyz_f:1.530085, -1.164904, 1.174075  Reprojection Error: -0.764445, 0.686140 Feature: -0.684109, -0.883015, 1.653161
[11:52:34.033] xyz_f:0.633908, -0.022119, 0.604594  Reprojection Error: -0.763504, 0.025373 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.033] it:8 	 Success 	 new_chi2: 3.202400 	 dT = 0.003894, 0.037022, -0.010757
[11:52:34.033] xyz_f:1.040211, -0.912986, 0.693527  Reprojection Error: -0.893953, 0.730605 Feature: -0.320380, -0.773638, 0.971653
[11:52:34.033] xyz_f:1.551266, -1.168567, 1.224767  Reprojection Error: -0.727800, 0.648065 Feature: -0.684109, -0.883015, 1.653161
[11:52:34.033] xyz_f:0.664240, -0.023300, 0.646022  Reprojection Error: -0.743219, 0.024854 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.033] it:9 	 Success 	 new_chi2: 2.818531 	 dT = 0.001860, 0.037650, -0.009117
[11:52:34.033] xyz_f:1.069330, -0.914862, 0.738179  Reprojection Error: -0.842674, 0.653517 Feature: -0.320380, -0.773638, 0.971653
[11:52:34.033] xyz_f:1.575083, -1.171642, 1.273896  Reprojection Error: -0.697649, 0.613684 Feature: -0.684109, -0.883015, 1.653161
[11:52:34.033] xyz_f:0.695892, -0.024292, 0.687374  Reprojection Error: -0.727410, 0.024128 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.033] it:10 	 Success 	 new_chi2: 2.516938 	 dT = -0.000294, 0.038040, -0.007793
[11:52:34.033] xyz_f:1.099756, -0.916455, 0.782163  Reprojection Error: -0.800114, 0.585860 Feature: -0.320380, -0.773638, 0.971653
[11:52:34.033] xyz_f:1.600943, -1.174250, 1.321669  Reprojection Error: -0.672524, 0.582412 Feature: -0.684109, -0.883015, 1.653161
[11:52:34.033] xyz_f:0.728508, -0.025133, 0.728555  Reprojection Error: -0.714954, 0.023285 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.033] it:11 	 Success 	 new_chi2: 2.275985 	 dT = -0.002565, 0.038209, -0.006711
[11:52:34.033] xyz_f:1.131120, -0.917818, 0.825459  Reprojection Error: -0.764360, 0.526054 Feature: -0.320380, -0.773638, 0.971653
[11:52:34.033] xyz_f:1.628351, -1.176481, 1.368202  Reprojection Error: -0.651359, 0.553826 Feature: -0.684109, -0.883015, 1.653161
[11:52:34.033] xyz_f:0.761777, -0.025853, 0.769451  Reprojection Error: -0.705044, 0.022388 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.033] it:12 	 Success 	 new_chi2: 2.080837 	 dT = -0.004947, 0.038171, -0.005820
[11:52:34.033] xyz_f:1.163099, -0.918994, 0.868020  Reprojection Error: -0.734014, 0.472891 Feature: -0.320380, -0.773638, 0.971653
[11:52:34.033] xyz_f:1.656880, -1.178404, 1.413549  Reprojection Error: -0.633362, 0.527601 Feature: -0.684109, -0.883015, 1.653161
[11:52:34.033] xyz_f:0.795420, -0.026474, 0.809940  Reprojection Error: -0.697091, 0.021475 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.033] it:13 	 Success 	 new_chi2: 1.920982 	 dT = -0.007430, 0.037942, -0.005081
[11:52:34.033] xyz_f:1.195406, -0.920016, 0.909776  Reprojection Error: -0.708025, 0.425422 Feature: -0.320380, -0.773638, 0.971653
[11:52:34.033] xyz_f:1.686163, -1.180073, 1.457720  Reprojection Error: -0.617932, 0.503485 Feature: -0.684109, -0.883015, 1.653161
[11:52:34.033] xyz_f:0.829191, -0.027014, 0.849895  Reprojection Error: -0.690657, 0.020573 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.033] it:14 	 Success 	 new_chi2: 1.788768 	 dT = -0.010002, 0.037536, -0.004463
[11:52:34.033] xyz_f:1.227789, -0.920910, 0.950648  Reprojection Error: -0.685597, 0.382885 Feature: -0.320380, -0.773638, 0.971653
[11:52:34.033] xyz_f:1.715878, -1.181532, 1.500703  Reprojection Error: -0.604602, 0.481271 Feature: -0.684109, -0.883015, 1.653161
[11:52:34.033] xyz_f:0.862867, -0.027486, 0.889191  Reprojection Error: -0.685413, 0.019699 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.033] it:15 	 Success 	 new_chi2: 1.678502 	 dT = -0.012651, 0.036969, -0.003945
[11:52:34.033] xyz_f:1.260023, -0.921698, 0.990555  Reprojection Error: -0.666107, 0.344653 Feature: -0.320380, -0.773638, 0.971653
[11:52:34.033] xyz_f:1.745747, -1.182817, 1.542465  Reprojection Error: -0.593010, 0.460787 Feature: -0.684109, -0.883015, 1.653161
[11:52:34.033] xyz_f:0.896251, -0.027901, 0.927709  Reprojection Error: -0.681108, 0.018863 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.033] it:16 	 Success 	 new_chi2: 1.585864 	 dT = -0.015361, 0.036256, -0.003507
[11:52:34.033] xyz_f:1.291914, -0.922395, 1.029415  Reprojection Error: -0.649067, 0.310205 Feature: -0.320380, -0.773638, 0.971653
[11:52:34.033] xyz_f:1.775528, -1.183954, 1.582966  Reprojection Error: -0.582866, 0.441886 Feature: -0.684109, -0.883015, 1.653161
[11:52:34.033] xyz_f:0.929167, -0.028269, 0.965339  Reprojection Error: -0.677547, 0.018072 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.033] it:17 	 Success 	 new_chi2: 1.507525 	 dT = -0.018118, 0.035416, -0.003135
[11:52:34.033] xyz_f:1.323289, -0.923017, 1.067151  Reprojection Error: -0.634088, 0.279102 Feature: -0.320380, -0.773638, 0.971653
[11:52:34.033] xyz_f:1.805012, -1.184968, 1.622165  Reprojection Error: -0.573938, 0.424437 Feature: -0.684109, -0.883015, 1.653161
[11:52:34.033] xyz_f:0.961464, -0.028597, 1.001978  Reprojection Error: -0.674583, 0.017328 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.033] it:18 	 Success 	 new_chi2: 1.440885 	 dT = -0.020905, 0.034463, -0.002819
[11:52:34.033] xyz_f:1.354001, -0.923575, 1.103696  Reprojection Error: -0.620857, 0.250968 Feature: -0.320380, -0.773638, 0.971653
[11:52:34.033] xyz_f:1.834020, -1.185876, 1.660018  Reprojection Error: -0.566039, 0.408327 Feature: -0.684109, -0.883015, 1.653161
[11:52:34.033] xyz_f:0.993007, -0.028891, 1.037539  Reprojection Error: -0.672097, 0.016633 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.033] it:19 	 Success 	 new_chi2: 1.383889 	 dT = -0.023706, 0.033415, -0.002548
[11:52:34.033] xyz_f:1.383924, -0.924077, 1.138988  Reprojection Error: -0.609117, 0.225481 Feature: -0.320380, -0.773638, 0.971653
[11:52:34.033] xyz_f:1.862400, -1.186695, 1.696489  Reprojection Error: -0.559016, 0.393452 Feature: -0.684109, -0.883015, 1.653161
[11:52:34.033] xyz_f:1.023685, -0.029156, 1.071943  Reprojection Error: -0.669998, 0.015987 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.033] it:20 	 Success 	 new_chi2: 1.334896 	 dT = -0.026507, 0.032288, -0.002315
[11:52:34.033] xyz_f:1.412956, -0.924533, 1.172977  Reprojection Error: -0.598658, 0.202360 Feature: -0.320380, -0.773638, 0.971653
[11:52:34.033] xyz_f:1.890026, -1.187437, 1.731547  Reprojection Error: -0.552744, 0.379718 Feature: -0.684109, -0.883015, 1.653161
[11:52:34.033] xyz_f:1.053403, -0.029396, 1.105128  Reprojection Error: -0.668213, 0.015387 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.033] it:21 	 Success 	 new_chi2: 1.292583 	 dT = -0.029292, 0.031098, -0.002114
[11:52:34.033] xyz_f:1.441009, -0.924949, 1.205626  Reprojection Error: -0.589306, 0.181360 Feature: -0.320380, -0.773638, 0.971653
[11:52:34.033] xyz_f:1.916794, -1.188113, 1.765170  Reprojection Error: -0.547117, 0.367039 Feature: -0.684109, -0.883015, 1.653161
[11:52:34.033] xyz_f:1.082086, -0.029615, 1.137044  Reprojection Error: -0.666684, 0.014833 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.033] it:22 	 Success 	 new_chi2: 1.255876 	 dT = -0.032047, 0.029859, -0.001941
[11:52:34.033] xyz_f:1.468018, -0.925330, 1.236907  Reprojection Error: -0.580915, 0.162266 Feature: -0.320380, -0.773638, 0.971653
[11:52:34.033] xyz_f:1.942621, -1.188733, 1.797341  Reprojection Error: -0.542050, 0.355336 Feature: -0.684109, -0.883015, 1.653161
[11:52:34.033] xyz_f:1.109674, -0.029815, 1.167652  Reprojection Error: -0.665365, 0.014322 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.033] it:23 	 Success 	 new_chi2: 1.223897 	 dT = -0.034760, 0.028586, -0.001790
[11:52:34.033] xyz_f:1.493932, -0.925680, 1.266802  Reprojection Error: -0.573364, 0.144889 Feature: -0.320380, -0.773638, 0.971653
[11:52:34.033] xyz_f:1.967443, -1.189303, 1.828055  Reprojection Error: -0.537469, 0.344536 Feature: -0.684109, -0.883015, 1.653161
[11:52:34.033] xyz_f:1.136123, -0.030000, 1.196927  Reprojection Error: -0.664218, 0.013852 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.033] it:24 	 Success 	 new_chi2: 1.195925 	 dT = -0.037418, 0.027292, -0.001659
[11:52:34.033] xyz_f:1.518716, -0.926005, 1.295304  Reprojection Error: -0.566547, 0.129060 Feature: -0.320380, -0.773638, 0.971653
[11:52:34.033] xyz_f:1.991214, -1.189830, 1.857316  Reprojection Error: -0.533312, 0.334570 Feature: -0.684109, -0.883015, 1.653161
[11:52:34.033] xyz_f:1.161404, -0.030171, 1.224857  Reprojection Error: -0.663213, 0.013420 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.034] it:25 	 Success 	 new_chi2: 1.171360 	 dT = -0.040012, 0.025989, -0.001544
[11:52:34.034] xyz_f:1.542348, -0.926306, 1.322418  Reprojection Error: -0.560377, 0.114630 Feature: -0.320380, -0.773638, 0.971653
[11:52:34.034] xyz_f:2.013901, -1.190320, 1.885134  Reprojection Error: -0.529526, 0.325377 Feature: -0.684109, -0.883015, 1.653161
[11:52:34.034] xyz_f:1.185499, -0.030330, 1.251439  Reprojection Error: -0.662327, 0.013024 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.034] it:26 	 Success 	 new_chi2: 1.149706 	 dT = -0.042532, 0.024687, -0.001443
[11:52:34.034] xyz_f:1.564818, -0.926587, 1.348156  Reprojection Error: -0.554779, 0.101466 Feature: -0.320380, -0.773638, 0.971653
[11:52:34.034] xyz_f:2.035488, -1.190778, 1.911528  Reprojection Error: -0.526068, 0.316897 Feature: -0.684109, -0.883015, 1.653161
[11:52:34.034] xyz_f:1.208403, -0.030478, 1.276679  Reprojection Error: -0.661538, 0.012661 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.034] it:27 	 Success 	 new_chi2: 1.130547 	 dT = -0.044971, 0.023397, -0.001354
[11:52:34.034] xyz_f:1.586127, -0.926851, 1.372537  Reprojection Error: -0.549686, 0.089450 Feature: -0.320380, -0.773638, 0.971653
[11:52:34.034] xyz_f:2.055967, -1.191206, 1.936524  Reprojection Error: -0.522899, 0.309078 Feature: -0.684109, -0.883015, 1.653161
[11:52:34.034] xyz_f:1.230120, -0.030617, 1.300594  Reprojection Error: -0.660832, 0.012328 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.034] it:28 	 Success 	 new_chi2: 1.113535 	 dT = -0.047322, 0.022126, -0.001276
[11:52:34.034] xyz_f:1.606286, -0.927099, 1.395589  Reprojection Error: -0.545043, 0.078473 Feature: -0.320380, -0.773638, 0.971653
[11:52:34.034] xyz_f:2.075343, -1.191610, 1.960155  Reprojection Error: -0.519985, 0.301868 Feature: -0.684109, -0.883015, 1.653161
[11:52:34.034] xyz_f:1.250664, -0.030747, 1.323207  Reprojection Error: -0.660194, 0.012025 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.034] it:29 	 Success 	 new_chi2: 1.098375 	 dT = -0.049582, 0.020881, -0.001207
[11:52:34.034] xyz_f:1.625313, -0.927334, 1.417345  Reprojection Error: -0.540800, 0.068442 Feature: -0.320380, -0.773638, 0.971653
[11:52:34.034] xyz_f:2.093629, -1.191990, 1.982457  Reprojection Error: -0.517298, 0.295221 Feature: -0.684109, -0.883015, 1.653161
[11:52:34.034] xyz_f:1.270056, -0.030871, 1.344549  Reprojection Error: -0.659614, 0.011748 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.034] it:30 	 Success 	 new_chi2: 1.084818 	 dT = -0.051746, 0.019669, -0.001145
[11:52:34.034] xyz_f:1.643233, -0.927556, 1.437843  Reprojection Error: -0.536915, 0.059269 Feature: -0.320380, -0.773638, 0.971653
[11:52:34.034] xyz_f:2.110845, -1.192351, 2.003473  Reprojection Error: -0.514812, 0.289094 Feature: -0.684109, -0.883015, 1.653161
[11:52:34.034] xyz_f:1.288322, -0.030988, 1.364654  Reprojection Error: -0.659083, 0.011495 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.034] it:31 	 Success 	 new_chi2: 1.072654 	 dT = -0.053811, 0.018494, -0.001091
[11:52:34.034] xyz_f:1.660076, -0.927768, 1.457126  Reprojection Error: -0.533349, 0.050877 Feature: -0.320380, -0.773638, 0.971653
[11:52:34.034] xyz_f:2.127016, -1.192695, 2.023249  Reprojection Error: -0.512507, 0.283447 Feature: -0.684109, -0.883015, 1.653161
[11:52:34.034] xyz_f:1.305496, -0.031099, 1.383564  Reprojection Error: -0.658592, 0.011265 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.034] it:32 	 Success 	 new_chi2: 1.061702 	 dT = -0.055778, 0.017361, -0.001042
[11:52:34.034] xyz_f:1.675877, -0.927969, 1.475241  Reprojection Error: -0.530071, 0.043196 Feature: -0.320380, -0.773638, 0.971653
[11:52:34.034] xyz_f:2.142176, -1.193023, 2.041833  Reprojection Error: -0.510363, 0.278242 Feature: -0.684109, -0.883015, 1.653161
[11:52:34.034] xyz_f:1.321612, -0.031205, 1.401321  Reprojection Error: -0.658136, 0.011056 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.034] it:33 	 Success 	 new_chi2: 1.051808 	 dT = -0.057644, 0.016272, -0.000998
[11:52:34.034] xyz_f:1.690673, -0.928163, 1.492234  Reprojection Error: -0.527051, 0.036162 Feature: -0.320380, -0.773638, 0.971653
[11:52:34.034] xyz_f:2.156357, -1.193336, 2.059275  Reprojection Error: -0.508364, 0.273445 Feature: -0.684109, -0.883015, 1.653161
[11:52:34.034] xyz_f:1.336712, -0.031307, 1.417973  Reprojection Error: -0.657710, 0.010867 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.034] it:34 	 Success 	 new_chi2: 1.042842 	 dT = -0.059412, 0.015230, -0.000959
[11:52:34.034] xyz_f:1.704507, -0.928348, 1.508155  Reprojection Error: -0.524262, 0.029718 Feature: -0.320380, -0.773638, 0.971653
[11:52:34.034] xyz_f:2.169600, -1.193637, 2.075628  Reprojection Error: -0.506493, 0.269025 Feature: -0.684109, -0.883015, 1.653161
[11:52:34.034] xyz_f:1.350838, -0.031405, 1.433567  Reprojection Error: -0.657309, 0.010695 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.034] it:35 	 Success 	 new_chi2: 1.034688 	 dT = -0.061081, 0.014235, -0.000924
[11:52:34.034] xyz_f:1.717420, -0.928527, 1.523057  Reprojection Error: -0.521683, 0.023813 Feature: -0.320380, -0.773638, 0.971653
[11:52:34.034] xyz_f:2.181942, -1.193927, 2.090945  Reprojection Error: -0.504740, 0.264951 Feature: -0.684109, -0.883015, 1.653161
[11:52:34.034] xyz_f:1.364032, -0.031499, 1.448152  Reprojection Error: -0.656930, 0.010539 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.034] it:36 	 Success 	 new_chi2: 1.027251 	 dT = -0.062655, 0.013289, -0.000893
[11:52:34.034] xyz_f:1.729457, -0.928699, 1.536989  Reprojection Error: -0.519293, 0.018399 Feature: -0.320380, -0.773638, 0.971653
[11:52:34.034] xyz_f:2.193427, -1.194206, 2.105277  Reprojection Error: -0.503091, 0.261196 Feature: -0.684109, -0.883015, 1.653161
[11:52:34.034] xyz_f:1.376341, -0.031589, 1.461780  Reprojection Error: -0.656569, 0.010398 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.034] it:37 	 Success 	 new_chi2: 1.020444 	 dT = -0.064134, 0.012392, -0.000864
[11:52:34.034] xyz_f:1.740660, -0.928865, 1.550003  Reprojection Error: -0.517073, 0.013433 Feature: -0.320380, -0.773638, 0.971653
[11:52:34.034] xyz_f:2.204097, -1.194477, 2.118678  Reprojection Error: -0.501537, 0.257736 Feature: -0.684109, -0.883015, 1.653161
[11:52:34.034] xyz_f:1.387808, -0.031677, 1.474499  Reprojection Error: -0.656224, 0.010271 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.034] it:38 	 Success 	 new_chi2: 1.014195 	 dT = -0.065523, 0.011544, -0.000839
[11:52:34.034] xyz_f:1.751075, -0.929027, 1.562149  Reprojection Error: -0.515008, 0.008877 Feature: -0.320380, -0.773638, 0.971653
[11:52:34.034] xyz_f:2.213993, -1.194739, 2.131200  Reprojection Error: -0.500068, 0.254546 Feature: -0.684109, -0.883015, 1.653161
[11:52:34.034] xyz_f:1.398478, -0.031762, 1.486360  Reprojection Error: -0.655892, 0.010157 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.034] it:39 	 Success 	 new_chi2: 1.008440 	 dT = -0.066825, 0.010743, -0.000815
[11:52:34.034] xyz_f:1.760744, -0.929184, 1.573478  Reprojection Error: -0.513083, 0.004695 Feature: -0.320380, -0.773638, 0.971653
[11:52:34.034] xyz_f:2.223158, -1.194993, 2.142893  Reprojection Error: -0.498676, 0.251606 Feature: -0.684109, -0.883015, 1.653161
[11:52:34.034] xyz_f:1.408397, -0.031844, 1.497411  Reprojection Error: -0.655572, 0.010054 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.034] it:40 	 Success 	 new_chi2: 1.003123 	 dT = -0.068042, 0.009989, -0.000794
[11:52:34.034] xyz_f:1.769712, -0.929337, 1.584037  Reprojection Error: -0.511285, 0.000855 Feature: -0.320380, -0.773638, 0.971653
[11:52:34.034] xyz_f:2.231635, -1.195241, 2.153806  Reprojection Error: -0.497355, 0.248896 Feature: -0.684109, -0.883015, 1.653161
[11:52:34.034] xyz_f:1.417608, -0.031925, 1.507700  Reprojection Error: -0.655263, 0.009962 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.034] it:41 	 Success 	 new_chi2: 0.998196 	 dT = -0.069178, 0.009281, -0.000775
[11:52:34.034] xyz_f:1.778019, -0.929486, 1.593874  Reprojection Error: -0.509602, -0.002672 Feature: -0.320380, -0.773638, 0.971653
[11:52:34.034] xyz_f:2.239462, -1.195483, 2.163988  Reprojection Error: -0.496097, 0.246396 Feature: -0.684109, -0.883015, 1.653161
[11:52:34.034] xyz_f:1.426152, -0.032003, 1.517273  Reprojection Error: -0.654962, 0.009880 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.034] it:42 	 Success 	 new_chi2: 0.993617 	 dT = -0.070237, 0.008616, -0.000757
[11:52:34.034] xyz_f:1.785707, -0.929631, 1.603033  Reprojection Error: -0.508024, -0.005913 Feature: -0.320380, -0.773638, 0.971653
[11:52:34.034] xyz_f:2.246680, -1.195719, 2.173485  Reprojection Error: -0.494896, 0.244091 Feature: -0.684109, -0.883015, 1.653161
[11:52:34.034] xyz_f:1.434072, -0.032080, 1.526175  Reprojection Error: -0.654669, 0.009808 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.034] it:43 	 Success 	 new_chi2: 0.989348 	 dT = -0.071224, 0.007994, -0.000741
[11:52:34.034] xyz_f:1.792815, -0.929773, 1.611558  Reprojection Error: -0.506541, -0.008893 Feature: -0.320380, -0.773638, 0.971653
[11:52:34.034] xyz_f:2.253328, -1.195949, 2.182341  Reprojection Error: -0.493748, 0.241964 Feature: -0.684109, -0.883015, 1.653161
[11:52:34.034] xyz_f:1.441407, -0.032154, 1.534449  Reprojection Error: -0.654382, 0.009743 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.034] it:44 	 Success 	 new_chi2: 0.985356 	 dT = -0.072141, 0.007413, -0.000727
[11:52:34.034] xyz_f:1.799379, -0.929913, 1.619492  Reprojection Error: -0.505145, -0.011633 Feature: -0.320380, -0.773638, 0.971653
[11:52:34.034] xyz_f:2.259442, -1.196175, 2.190597  Reprojection Error: -0.492647, 0.240002 Feature: -0.684109, -0.883015, 1.653161
[11:52:34.034] xyz_f:1.448194, -0.032228, 1.542136  Reprojection Error: -0.654101, 0.009686 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.034] it:45 	 Success 	 new_chi2: 0.981612 	 dT = -0.072993, 0.006870, -0.000713
[11:52:34.034] xyz_f:1.805437, -0.930050, 1.626873  Reprojection Error: -0.503828, -0.014154 Feature: -0.320380, -0.773638, 0.971653
[11:52:34.034] xyz_f:2.265057, -1.196397, 2.198295  Reprojection Error: -0.491590, 0.238191 Feature: -0.684109, -0.883015, 1.653161
[11:52:34.034] xyz_f:1.454471, -0.032300, 1.549274  Reprojection Error: -0.653826, 0.009636 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.034] it:46 	 Success 	 new_chi2: 0.978092 	 dT = -0.073783, 0.006365, -0.000701
[11:52:34.034] xyz_f:1.811022, -0.930184, 1.633738  Reprojection Error: -0.502583, -0.016474 Feature: -0.320380, -0.773638, 0.971653
[11:52:34.034] xyz_f:2.270206, -1.196615, 2.205472  Reprojection Error: -0.490571, 0.236518 Feature: -0.684109, -0.883015, 1.653161
[11:52:34.034] xyz_f:1.460272, -0.032370, 1.555903  Reprojection Error: -0.653555, 0.009593 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.034] it:47 	 Success 	 new_chi2: 0.974772 	 dT = -0.074515, 0.005894, -0.000690
[11:52:34.034] xyz_f:1.816166, -0.930316, 1.640125  Reprojection Error: -0.501403, -0.018611 Feature: -0.320380, -0.773638, 0.971653
[11:52:34.034] xyz_f:2.274922, -1.196829, 2.212164  Reprojection Error: -0.489589, 0.234974 Feature: -0.684109, -0.883015, 1.653161
[11:52:34.034] xyz_f:1.465629, -0.032440, 1.562055  Reprojection Error: -0.653287, 0.009555 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.034] it:48 	 Success 	 new_chi2: 0.971632 	 dT = -0.075192, 0.005456, -0.000680
[11:52:34.034] xyz_f:1.820902, -0.930446, 1.646065  Reprojection Error: -0.500283, -0.020579 Feature: -0.320380, -0.773638, 0.971653
[11:52:34.034] xyz_f:2.279235, -1.197039, 2.218406  Reprojection Error: -0.488640, 0.233546 Feature: -0.684109, -0.883015, 1.653161
[11:52:34.034] xyz_f:1.470573, -0.032508, 1.567766  Reprojection Error: -0.653023, 0.009523 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.034] it:49 	 Success 	 new_chi2: 0.968655 	 dT = -0.075819, 0.005049, -0.000670
[11:52:34.034] xyz_f:1.825256, -0.930574, 1.651592  Reprojection Error: -0.499218, -0.022393 Feature: -0.320380, -0.773638, 0.971653
[11:52:34.034] xyz_f:2.283173, -1.197247, 2.224229  Reprojection Error: -0.487720, 0.232227 Feature: -0.684109, -0.883015, 1.653161
[11:52:34.034] xyz_f:1.475135, -0.032576, 1.573066  Reprojection Error: -0.652763, 0.009496 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.034] it:50 	 Success 	 new_chi2: 0.965824 	 dT = -0.076397, 0.004671, -0.000661
[11:52:34.034] xyz_f:1.829258, -0.930700, 1.656735  Reprojection Error: -0.498203, -0.024066 Feature: -0.320380, -0.773638, 0.971653
[11:52:34.034] xyz_f:2.286763, -1.197452, 2.229664  Reprojection Error: -0.486828, 0.231007 Feature: -0.684109, -0.883015, 1.653161
[11:52:34.034] xyz_f:1.479340, -0.032642, 1.577985  Reprojection Error: -0.652505, 0.009474 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.034] it:51 	 Success 	 new_chi2: 0.963127 	 dT = -0.076931, 0.004321, -0.000653
[11:52:34.034] xyz_f:1.832932, -0.930825, 1.661521  Reprojection Error: -0.497234, -0.025609 Feature: -0.320380, -0.773638, 0.971653
[11:52:34.034] xyz_f:2.290030, -1.197654, 2.234739  Reprojection Error: -0.485961, 0.229878 Feature: -0.684109, -0.883015, 1.653161
[11:52:34.034] xyz_f:1.483215, -0.032708, 1.582551  Reprojection Error: -0.652249, 0.009456 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.034] it:52 	 Success 	 new_chi2: 0.960549 	 dT = -0.077424, 0.003996, -0.000646
[11:52:34.034] xyz_f:1.836302, -0.930948, 1.665977  Reprojection Error: -0.496306, -0.027033 Feature: -0.320380, -0.773638, 0.971653
[11:52:34.034] xyz_f:2.292998, -1.197853, 2.239480  Reprojection Error: -0.485117, 0.228832 Feature: -0.684109, -0.883015, 1.653161
[11:52:34.034] xyz_f:1.486785, -0.032772, 1.586789  Reprojection Error: -0.651995, 0.009441 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.034] it:53 	 Success 	 new_chi2: 0.958081 	 dT = -0.077877, 0.003696, -0.000639
[11:52:34.034] xyz_f:1.839391, -0.931070, 1.670128  Reprojection Error: -0.495417, -0.028349 Feature: -0.320380, -0.773638, 0.971653
[11:52:34.034] xyz_f:2.295689, -1.198050, 2.243912  Reprojection Error: -0.484294, 0.227863 Feature: -0.684109, -0.883015, 1.653161
[11:52:34.034] xyz_f:1.490072, -0.032836, 1.590723  Reprojection Error: -0.651744, 0.009430 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.034] it:54 	 Success 	 new_chi2: 0.955711 	 dT = -0.078295, 0.003418, -0.000632
[11:52:34.034] xyz_f:1.842220, -0.931191, 1.673995  Reprojection Error: -0.494562, -0.029565 Feature: -0.320380, -0.773638, 0.971653
[11:52:34.034] xyz_f:2.298124, -1.198246, 2.248058  Reprojection Error: -0.483490, 0.226966 Feature: -0.684109, -0.883015, 1.653161
[11:52:34.034] xyz_f:1.493097, -0.032900, 1.594378  Reprojection Error: -0.651494, 0.009423 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.034] it:55 	 Success 	 new_chi2: 0.953431 	 dT = -0.078679, 0.003161, -0.000626
[11:52:34.034] xyz_f:1.844809, -0.931310, 1.677601  Reprojection Error: -0.493740, -0.030690 Feature: -0.320380, -0.773638, 0.971653
[11:52:34.034] xyz_f:2.300322, -1.198439, 2.251940  Reprojection Error: -0.482704, 0.226133 Feature: -0.684109, -0.883015, 1.653161
[11:52:34.034] xyz_f:1.495879, -0.032962, 1.597772  Reprojection Error: -0.651246, 0.009418 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.034] it:56 	 Success 	 new_chi2: 0.951233 	 dT = -0.079032, 0.002923, -0.000621
[11:52:34.034] xyz_f:1.847175, -0.931428, 1.680965  Reprojection Error: -0.492947, -0.031730 Feature: -0.320380, -0.773638, 0.971653
[11:52:34.034] xyz_f:2.302301, -1.198630, 2.255577  Reprojection Error: -0.481935, 0.225359 Feature: -0.684109, -0.883015, 1.653161
[11:52:34.034] xyz_f:1.498438, -0.033025, 1.600927  Reprojection Error: -0.650999, 0.009416 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.034] it:57 	 Success 	 new_chi2: 0.949110 	 dT = -0.079356, 0.002704, -0.000615
[11:52:34.034] xyz_f:1.849337, -0.931545, 1.684106  Reprojection Error: -0.492181, -0.032694 Feature: -0.320380, -0.773638, 0.971653
[11:52:34.034] xyz_f:2.304078, -1.198820, 2.258988  Reprojection Error: -0.481180, 0.224641 Feature: -0.684109, -0.883015, 1.653161
[11:52:34.034] xyz_f:1.500790, -0.033086, 1.603861  Reprojection Error: -0.650753, 0.009417 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.034] it:58 	 Success 	 new_chi2: 0.947054 	 dT = -0.079653, 0.002501, -0.000611
[11:52:34.034] xyz_f:1.851308, -0.931661, 1.687040  Reprojection Error: -0.491439, -0.033587 Feature: -0.320380, -0.773638, 0.971653
[11:52:34.034] xyz_f:2.305668, -1.199007, 2.262190  Reprojection Error: -0.480439, 0.223973 Feature: -0.684109, -0.883015, 1.653161
[11:52:34.034] xyz_f:1.502951, -0.033147, 1.606590  Reprojection Error: -0.650509, 0.009420 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.034] it:59 	 Success 	 new_chi2: 0.945061 	 dT = -0.079926, 0.002314, -0.000606
[11:52:34.034] xyz_f:1.853105, -0.931776, 1.689784  Reprojection Error: -0.490721, -0.034416 Feature: -0.320380, -0.773638, 0.971653
[11:52:34.034] xyz_f:2.307086, -1.199194, 2.265200  Reprojection Error: -0.479711, 0.223351 Feature: -0.684109, -0.883015, 1.653161
[11:52:34.034] xyz_f:1.504935, -0.033208, 1.609130  Reprojection Error: -0.650266, 0.009425 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.034] it:60 	 Success 	 new_chi2: 0.943124 	 dT = -0.080175, 0.002142, -0.000602
[11:52:34.034] xyz_f:1.854740, -0.931891, 1.692352  Reprojection Error: -0.490023, -0.035185 Feature: -0.320380, -0.773638, 0.971653
[11:52:34.034] xyz_f:2.308346, -1.199379, 2.268032  Reprojection Error: -0.478994, 0.222771 Feature: -0.684109, -0.883015, 1.653161
[11:52:34.034] xyz_f:1.506758, -0.033268, 1.611495  Reprojection Error: -0.650024, 0.009432 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.034] it:61 	 Success 	 new_chi2: 0.941240 	 dT = -0.080404, 0.001983, -0.000598
[11:52:34.034] xyz_f:1.856227, -0.932004, 1.694758  Reprojection Error: -0.489345, -0.035900 Feature: -0.320380, -0.773638, 0.971653
[11:52:34.034] xyz_f:2.309459, -1.199562, 2.270700  Reprojection Error: -0.478289, 0.222231 Feature: -0.684109, -0.883015, 1.653161
[11:52:34.034] xyz_f:1.508430, -0.033327, 1.613701  Reprojection Error: -0.649783, 0.009441 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.034] it:62 	 Success 	 new_chi2: 0.939403 	 dT = -0.080612, 0.001836, -0.000594
[11:52:34.034] xyz_f:1.857577, -0.932117, 1.697014  Reprojection Error: -0.488684, -0.036565 Feature: -0.320380, -0.773638, 0.971653
[11:52:34.034] xyz_f:2.310437, -1.199745, 2.273216  Reprojection Error: -0.477594, 0.221726 Feature: -0.684109, -0.883015, 1.653161
[11:52:34.034] xyz_f:1.509965, -0.033386, 1.615758  Reprojection Error: -0.649542, 0.009451 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.034] it:63 	 Success 	 new_chi2: 0.937610 	 dT = -0.080803, 0.001701, -0.000590
[11:52:34.034] xyz_f:1.858801, -0.932229, 1.699133  Reprojection Error: -0.488039, -0.037184 Feature: -0.320380, -0.773638, 0.971653
[11:52:34.034] xyz_f:2.311291, -1.199926, 2.275592  Reprojection Error: -0.476907, 0.221254 Feature: -0.684109, -0.883015, 1.653161
[11:52:34.034] xyz_f:1.511372, -0.033445, 1.617678  Reprojection Error: -0.649303, 0.009463 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.034] it:64 	 Success 	 new_chi2: 0.935858 	 dT = -0.080977, 0.001577, -0.000587
[11:52:34.034] xyz_f:1.859909, -0.932340, 1.701124  Reprojection Error: -0.487410, -0.037761 Feature: -0.320380, -0.773638, 0.971653
[11:52:34.034] xyz_f:2.312031, -1.200105, 2.277840  Reprojection Error: -0.476230, 0.220813 Feature: -0.684109, -0.883015, 1.653161
[11:52:34.034] xyz_f:1.512663, -0.033504, 1.619473  Reprojection Error: -0.649064, 0.009476 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.034] it:65 	 Success 	 new_chi2: 0.934142 	 dT = -0.081136, 0.001462, -0.000584
[11:52:34.034] xyz_f:1.860909, -0.932450, 1.702999  Reprojection Error: -0.486794, -0.038299 Feature: -0.320380, -0.773638, 0.971653
[11:52:34.034] xyz_f:2.312666, -1.200284, 2.279969  Reprojection Error: -0.475561, 0.220399 Feature: -0.684109, -0.883015, 1.653161
[11:52:34.034] xyz_f:1.513845, -0.033562, 1.621151  Reprojection Error: -0.648826, 0.009490 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.034] it:66 	 Success 	 new_chi2: 0.932461 	 dT = -0.081280, 0.001356, -0.000581
[11:52:34.034] xyz_f:1.861811, -0.932560, 1.704765  Reprojection Error: -0.486191, -0.038802 Feature: -0.320380, -0.773638, 0.971653
[11:52:34.034] xyz_f:2.313204, -1.200462, 2.281989  Reprojection Error: -0.474899, 0.220011 Feature: -0.684109, -0.883015, 1.653161
[11:52:34.034] xyz_f:1.514928, -0.033619, 1.622723  Reprojection Error: -0.648589, 0.009506 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.034] it:67 	 Success 	 new_chi2: 0.930811 	 dT = -0.081412, 0.001259, -0.000578
[11:52:34.034] xyz_f:1.862623, -0.932669, 1.706432  Reprojection Error: -0.485599, -0.039273 Feature: -0.320380, -0.773638, 0.971653
[11:52:34.034] xyz_f:2.313654, -1.200639, 2.283908  Reprojection Error: -0.474244, 0.219647 Feature: -0.684109, -0.883015, 1.653161
[11:52:34.034] xyz_f:1.515920, -0.033677, 1.624197  Reprojection Error: -0.648353, 0.009522 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.034] it:68 	 Success 	 new_chi2: 0.929190 	 dT = -0.081531, 0.001170, -0.000575
[11:52:34.035] xyz_f:1.863351, -0.932778, 1.708008  Reprojection Error: -0.485019, -0.039713 Feature: -0.320380, -0.773638, 0.971653
[11:52:34.035] xyz_f:2.314021, -1.200814, 2.285733  Reprojection Error: -0.473596, 0.219304 Feature: -0.684109, -0.883015, 1.653161
[11:52:34.035] xyz_f:1.516827, -0.033734, 1.625579  Reprojection Error: -0.648117, 0.009540 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.035] it:69 	 Success 	 new_chi2: 0.927596 	 dT = -0.081639, 0.001088, -0.000572
[11:52:34.035] After pose optimization, distance between two frames:1.755707 ,angle between two frames:-5.737616
[11:52:34.152] Reprojection Map nPoint:3 ,nCell:3 ,nMatches:3 ,distance between two frames:2.764875 ,angle between two frames:-3.557932
[11:52:34.356] Reprojection Map nPoint:21 ,nCell:15 ,nMatches:7 ,distance between two frames:2.801958 ,angle between two frames:-2.659736
[11:52:34.356] Init estimate scale:0.999796
[11:52:34.356] xyz_f:1.017199, -0.834513, 0.275910  Reprojection Error: -2.978656, 2.394151 Feature: -0.320380, -0.773638, 0.971653
[11:52:34.356] xyz_f:1.692347, -1.037325, 0.610213  Reprojection Error: -2.128999, 1.364587 Feature: -0.684109, -0.883015, 1.653161
[11:52:34.356] xyz_f:1.617850, -0.961586, 0.641290  Reprojection Error: -1.902951, 1.196198 Feature: -0.695805, -0.801814, 1.578855
[11:52:34.356] xyz_f:0.570599, 0.018581, 0.364970  Reprojection Error: -1.139966, -0.032462 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.356] xyz_f:0.310620, -0.004519, 0.285018  Reprojection Error: -0.839012, 0.102210 Feature: -0.126551, 0.030432, 0.261633
[11:52:34.356] xyz_f:0.954613, -0.009025, 0.622819  Reprojection Error: -1.251959, 0.507939 Feature: -0.442876, 0.113508, 0.911166
[11:52:34.356] xyz_f:0.304744, -0.003785, 0.282353  Reprojection Error: -0.792919, 0.536555 Feature: -0.123887, 0.030451, 0.255710
[11:52:34.356] it:0 	 Success 	 new_chi2: 12.032345 	 dT = 0.023538, 0.023544, -0.072555
[11:52:34.356] xyz_f:1.113131, -0.852408, 0.366238  Reprojection Error: -2.331313, 1.697036 Feature: -0.320380, -0.773638, 0.971653
[11:52:34.356] xyz_f:1.759288, -1.067631, 0.746862  Reprojection Error: -1.711203, 1.094137 Feature: -0.684109, -0.883015, 1.653161
[11:52:34.356] xyz_f:1.684233, -0.990487, 0.772696  Reprojection Error: -1.559830, 0.978602 Feature: -0.695805, -0.801814, 1.578855
[11:52:34.356] xyz_f:0.677475, 0.008974, 0.424369  Reprojection Error: -1.172982, -0.002697 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.356] xyz_f:0.423345, -0.009297, 0.326394  Reprojection Error: -1.046224, 0.114839 Feature: -0.126551, 0.030432, 0.261633
[11:52:34.356] xyz_f:1.041906, -0.025663, 0.708456  Reprojection Error: -1.189901, 0.529672 Feature: -0.442876, 0.113508, 0.911166
[11:52:34.356] xyz_f:0.417685, -0.008455, 0.323324  Reprojection Error: -1.005462, 0.549299 Feature: -0.123887, 0.030451, 0.255710
[11:52:34.356] it:1 	 Success 	 new_chi2: 13.162597 	 dT = 0.015160, 0.027304, -0.041823
[11:52:34.356] xyz_f:1.114139, -0.842154, 0.300668  Reprojection Error: -2.997501, 2.170515 Feature: -0.320380, -0.773638, 0.971653
[11:52:34.356] xyz_f:1.777433, -1.050289, 0.654838  Reprojection Error: -2.069939, 1.268540 Feature: -0.684109, -0.883015, 1.653161
[11:52:34.356] xyz_f:1.702651, -0.973957, 0.683699  Reprojection Error: -1.870499, 1.121283 Feature: -0.695805, -0.801814, 1.578855
[11:52:34.356] xyz_f:0.671891, 0.014475, 0.376534  Reprojection Error: -1.360963, -0.019994 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.356] xyz_f:0.414224, -0.006566, 0.288899  Reprojection Error: -1.182992, 0.109083 Feature: -0.126551, 0.030432, 0.261633
[11:52:34.356] xyz_f:1.047851, -0.016154, 0.645664  Reprojection Error: -1.342136, 0.518467 Feature: -0.442876, 0.113508, 0.911166
[11:52:34.356] xyz_f:0.408436, -0.005786, 0.286060  Reprojection Error: -1.141414, 0.543375 Feature: -0.123887, 0.030451, 0.255710
[11:52:34.356] it:2 	 Success 	 new_chi2: 3.280123 	 dT = 0.036601, 0.035227, -0.066525
[11:52:34.356] xyz_f:1.087651, -0.825510, 0.203325  Reprojection Error: -4.641278, 3.429625 Feature: -0.320380, -0.773638, 0.971653
[11:52:34.356] xyz_f:1.775799, -1.022006, 0.514058  Reprojection Error: -2.810100, 1.652762 Feature: -0.684109, -0.883015, 1.653161
[11:52:34.356] xyz_f:1.701723, -0.946956, 0.547704  Reprojection Error: -2.487159, 1.425698 Feature: -0.695805, -0.801814, 1.578855
[11:52:34.356] xyz_f:0.636513, 0.023425, 0.307905  Reprojection Error: -1.643790, -0.057630 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.356] xyz_f:0.374151, -0.002095, 0.236984  Reprojection Error: -1.327990, 0.095194 Feature: -0.126551, 0.030432, 0.261633
[11:52:34.356] xyz_f:1.029450, -0.000582, 0.552322  Reprojection Error: -1.583089, 0.494502 Feature: -0.442876, 0.113508, 0.911166
[11:52:34.356] xyz_f:0.368180, -0.001415, 0.234523  Reprojection Error: -1.283524, 0.529185 Feature: -0.123887, 0.030451, 0.255710
[11:52:34.356] it:3 	 Success 	 new_chi2: 3.001443 	 dT = 0.032291, 0.024973, -0.099713
[11:52:34.356] xyz_f:1.081969, -0.799938, 0.082915  Reprojection Error: -12.341041, 9.017223 Feature: -0.320380, -0.773638, 0.971653
[11:52:34.356] xyz_f:1.801641, -0.978253, 0.325795  Reprojection Error: -4.885606, 2.667309 Feature: -0.684109, -0.883015, 1.653161
[11:52:34.356] xyz_f:1.729234, -0.905094, 0.366501  Reprojection Error: -4.098368, 2.166296 Feature: -0.695805, -0.801814, 1.578855
[11:52:34.356] xyz_f:0.621256, 0.037221, 0.231445  Reprojection Error: -2.260803, -0.142372 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.356] xyz_f:0.354035, 0.004862, 0.186048  Reprojection Error: -1.652107, 0.060221 Feature: -0.126551, 0.030432, 0.261633
[11:52:34.356] xyz_f:1.036361, 0.023649, 0.436916  Reprojection Error: -2.091223, 0.439320 Feature: -0.442876, 0.113508, 0.911166
[11:52:34.356] xyz_f:0.347840, 0.005384, 0.184174  Reprojection Error: -1.602265, 0.493915 Feature: -0.123887, 0.030451, 0.255710
[11:52:34.356] it:4 	 Success 	 new_chi2: 1.505693 	 dT = -0.039379, -0.026785, -0.224222
[11:52:34.356] xyz_f:1.148807, -0.740918, -0.110565  Reprojection Error: 11.098363, -7.331620 Feature: -0.320380, -0.773638, 0.971653
[11:52:34.356] xyz_f:1.912889, -0.875999, -0.029039  Reprojection Error: 66.517845, -30.501797 Feature: -0.684109, -0.883015, 1.653161
[11:52:34.356] xyz_f:1.846827, -0.806875, 0.026725  Reprojection Error: -68.484634, 29.888330 Feature: -0.695805, -0.801814, 1.578855
[11:52:34.356] xyz_f:0.683350, 0.069254, 0.138683  Reprojection Error: -4.503996, -0.480920 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.356] xyz_f:0.414931, 0.021287, 0.151535  Reprojection Error: -2.487368, -0.054120 Feature: -0.126551, 0.030432, 0.261633
[11:52:34.356] xyz_f:1.132975, 0.080879, 0.250117  Reprojection Error: -4.249014, 0.170083 Feature: -0.442876, 0.113508, 0.911166
[11:52:34.356] xyz_f:0.408458, 0.021440, 0.151038  Reprojection Error: -2.417949, 0.381200 Feature: -0.123887, 0.030451, 0.255710
[11:52:34.356] it:5 	 Success 	 new_chi2: 0.000000 	 dT = 0.000000, 0.000000, 0.000000
[11:52:34.356] After pose optimization, distance between two frames:2.729593 ,angle between two frames:3.263722
[11:52:34.447] Reprojection Map nPoint:7 ,nCell:5 ,nMatches:5 ,distance between two frames:2.764873 ,angle between two frames:2.716813
[11:52:34.538] Reprojection Map nPoint:29 ,nCell:25 ,nMatches:5 ,distance between two frames:2.820670 ,angle between two frames:-2.695441
[11:52:34.538] Init estimate scale:0.570463
[11:52:34.538] xyz_f:0.218695, 0.019798, 0.338402  Reprojection Error: -0.042340, -0.348161 Feature: -0.161646, 0.066536, 0.182551
[11:52:34.538] xyz_f:1.621775, -0.968902, 0.676003  Reprojection Error: -1.684133, 1.110868 Feature: -0.662454, -0.801099, 1.616615
[11:52:34.538] xyz_f:0.293893, -0.006383, 0.296692  Reprojection Error: -0.535035, -0.060738 Feature: -0.123887, 0.030451, 0.255710
[11:52:34.538] xyz_f:1.582169, -0.977652, 0.705895  Reprojection Error: -1.854753, 1.525365 Feature: -0.695805, -0.801814, 1.578855
[11:52:34.538] xyz_f:0.463135, 0.026457, 0.481248  Reprojection Error: -0.640958, 0.428316 Feature: -0.283700, 0.109939, 0.434383
[11:52:34.538] it:0 	 Success 	 new_chi2: 1.852549 	 dT = 0.037401, 0.041029, -0.042977
[11:52:34.538] xyz_f:0.358085, 0.017916, 0.386458  Reprojection Error: -0.322665, -0.336014 Feature: -0.161646, 0.066536, 0.182551
[11:52:34.538] xyz_f:1.734865, -0.986248, 0.781767  Reprojection Error: -1.504228, 0.939150 Feature: -0.662454, -0.801099, 1.616615
[11:52:34.538] xyz_f:0.434654, -0.009110, 0.347898  Reprojection Error: -0.793839, -0.056066 Feature: -0.123887, 0.030451, 0.255710
[11:52:34.538] xyz_f:1.693958, -0.994550, 0.809987  Reprojection Error: -1.704726, 1.368242 Feature: -0.695805, -0.801814, 1.578855
[11:52:34.538] xyz_f:0.596446, 0.021889, 0.539326  Reprojection Error: -0.784504, 0.442706 Feature: -0.283700, 0.109939, 0.434383
[11:52:34.538] it:1 	 Success 	 new_chi2: 2.876711 	 dT = 0.035455, 0.041672, -0.032919
[11:52:34.538] xyz_f:0.332063, 0.019350, 0.339432  Reprojection Error: -0.374374, -0.346663 Feature: -0.161646, 0.066536, 0.182551
[11:52:34.538] xyz_f:1.729219, -0.972995, 0.690635  Reprojection Error: -1.788878, 1.086429 Feature: -0.662454, -0.801099, 1.616615
[11:52:34.538] xyz_f:0.407595, -0.007027, 0.298454  Reprojection Error: -0.910156, -0.058706 Feature: -0.123887, 0.030451, 0.255710
[11:52:34.538] xyz_f:1.689302, -0.981641, 0.720140  Reprojection Error: -1.959181, 1.503507 Feature: -0.695805, -0.801814, 1.578855
[11:52:34.538] xyz_f:0.575121, 0.025375, 0.484646  Reprojection Error: -0.865278, 0.430935 Feature: -0.283700, 0.109939, 0.434383
[11:52:34.538] it:2 	 Success 	 new_chi2: 0.639727 	 dT = 0.078389, 0.053952, -0.109302
[11:52:34.538] xyz_f:0.265367, 0.024454, 0.266433  Reprojection Error: -0.392081, -0.381438 Feature: -0.161646, 0.066536, 0.182551
[11:52:34.538] xyz_f:1.719207, -0.927525, 0.466986  Reprojection Error: -2.966565, 1.663782 Feature: -0.662454, -0.801099, 1.616615
[11:52:34.538] xyz_f:0.336875, 0.000159, 0.217685  Reprojection Error: -1.092000, -0.082979 Feature: -0.123887, 0.030451, 0.255710
[11:52:34.538] xyz_f:1.682882, -0.937251, 0.500520  Reprojection Error: -2.975652, 2.012936 Feature: -0.695805, -0.801814, 1.578855
[11:52:34.538] xyz_f:0.522105, 0.037555, 0.385237  Reprojection Error: -1.033876, 0.385807 Feature: -0.283700, 0.109939, 0.434383
[11:52:34.538] it:3 	 Success 	 new_chi2: 0.459910 	 dT = 0.069715, 0.042886, -0.136572
[11:52:34.538] xyz_f:0.239271, 0.031491, 0.197285  Reprojection Error: -0.608907, -0.449277 Feature: -0.161646, 0.066536, 0.182551
[11:52:34.538] xyz_f:1.739495, -0.868197, 0.202686  Reprojection Error: -7.867282, 3.961048 Feature: -0.662454, -0.801099, 1.616615
[11:52:34.538] xyz_f:0.304559, 0.009617, 0.139500  Reprojection Error: -1.727689, -0.151190 Feature: -0.123887, 0.030451, 0.255710
[11:52:34.538] xyz_f:1.708260, -0.879119, 0.240683  Reprojection Error: -6.710928, 3.792979 Feature: -0.695805, -0.801814, 1.578855
[11:52:34.538] xyz_f:0.508781, 0.053907, 0.281324  Reprojection Error: -1.487120, 0.291673 Feature: -0.283700, 0.109939, 0.434383
[11:52:34.538] it:4 	 Success 	 new_chi2: 0.264272 	 dT = 0.035605, 0.055565, 0.100000
[11:52:34.538] xyz_f:0.216811, 0.026271, 0.161202  Reprojection Error: -0.741053, -0.452624 Feature: -0.161646, 0.066536, 0.182551
[11:52:34.538] xyz_f:1.685772, -0.911874, 0.310123  Reprojection Error: -4.720883, 2.617948 Feature: -0.662454, -0.801099, 1.616615
[11:52:34.538] xyz_f:0.286780, 0.002645, 0.109954  Reprojection Error: -2.152635, -0.106307 Feature: -0.123887, 0.030451, 0.255710
[11:52:34.538] xyz_f:1.650747, -0.921937, 0.344918  Reprojection Error: -4.399302, 2.813302 Feature: -0.695805, -0.801814, 1.578855
[11:52:34.538] xyz_f:0.477449, 0.041821, 0.270866  Reprojection Error: -1.441272, 0.328896 Feature: -0.283700, 0.109939, 0.434383
[11:52:34.538] it:5 	 Success 	 new_chi2: 0.251704 	 dT = 0.016031, 0.044801, 0.200000
[11:52:34.538] xyz_f:0.147773, 0.017018, 0.150933  Reprojection Error: -0.375149, -0.402407 Feature: -0.161646, 0.066536, 0.182551
[11:52:34.538] xyz_f:1.510636, -0.994665, 0.574303  Reprojection Error: -1.915449, 1.409539 Feature: -0.662454, -0.801099, 1.616615
[11:52:34.538] xyz_f:0.224966, -0.010429, 0.113948  Reprojection Error: -1.518758, 0.009277 Feature: -0.123887, 0.030451, 0.255710
[11:52:34.538] xyz_f:1.469114, -1.002740, 0.601679  Reprojection Error: -2.055077, 1.806953 Feature: -0.695805, -0.801814, 1.578855
[11:52:34.538] xyz_f:0.382971, 0.019692, 0.308652  Reprojection Error: -0.919382, 0.419493 Feature: -0.283700, 0.109939, 0.434383
[11:52:34.538] it:6 	 Success 	 new_chi2: 0.395959 	 dT = 0.051339, 0.048766, -0.061305
[11:52:34.538] xyz_f:0.158853, 0.014544, 0.208932  Reprojection Error: -0.156390, -0.359265 Feature: -0.161646, 0.066536, 0.182551
[11:52:34.538] xyz_f:1.478058, -1.018424, 0.711739  Reprojection Error: -1.361754, 1.108483 Feature: -0.662454, -0.801099, 1.616615
[11:52:34.538] xyz_f:0.237654, -0.014142, 0.176568  Reprojection Error: -0.890434, -0.002159 Feature: -0.123887, 0.030451, 0.255710
[11:52:34.538] xyz_f:1.434866, -1.025827, 0.736605  Reprojection Error: -1.561330, 1.533023 Feature: -0.695805, -0.801814, 1.578855
[11:52:34.538] xyz_f:0.384317, 0.013562, 0.380295  Reprojection Error: -0.689172, 0.447632 Feature: -0.283700, 0.109939, 0.434383
[11:52:34.538] it:7 	 Success 	 new_chi2: 0.066092 	 dT = 0.024745, 0.107912, 0.258333
[11:52:34.538] xyz_f:0.225124, 0.026121, 0.273637  Reprojection Error: -0.218795, -0.385115 Feature: -0.161646, 0.066536, 0.182551
[11:52:34.538] xyz_f:1.692929, -0.913153, 0.426773  Reprojection Error: -3.251878, 1.817254 Feature: -0.662454, -0.801099, 1.616615
[11:52:34.538] xyz_f:0.295221, 0.002442, 0.222591  Reprojection Error: -0.870764, -0.093220 Feature: -0.123887, 0.030451, 0.255710
[11:52:34.538] xyz_f:1.657796, -0.923189, 0.461467  Reprojection Error: -3.205833, 2.140934 Feature: -0.695805, -0.801814, 1.578855
[11:52:34.538] xyz_f:0.485458, 0.041471, 0.384049  Reprojection Error: -0.942648, 0.375309 Feature: -0.283700, 0.109939, 0.434383
[11:52:34.538] it:8 	 Success 	 new_chi2: 0.061648 	 dT = 0.146404, 0.110110, -0.225000
[11:52:34.538] xyz_f:0.416915, 0.015866, 0.422019  Reprojection Error: -0.383991, -0.327252 Feature: -0.161646, 0.066536, 0.182551
[11:52:34.538] xyz_f:1.760484, -1.005614, 0.881954  Reprojection Error: -1.281186, 0.817799 Feature: -0.662454, -0.801099, 1.616615
[11:52:34.538] xyz_f:0.494879, -0.012143, 0.387130  Reprojection Error: -0.822794, -0.050885 Feature: -0.123887, 0.030451, 0.255710
[11:52:34.538] xyz_f:1.718181, -1.013386, 0.908197  Reprojection Error: -1.505245, 1.256204 Feature: -0.695805, -0.801814, 1.578855
[11:52:34.538] xyz_f:0.647780, 0.016853, 0.586034  Reprojection Error: -0.783956, 0.454535 Feature: -0.283700, 0.109939, 0.434383
[11:52:34.538] it:9 	 Success 	 new_chi2: 0.047033 	 dT = -0.349636, 0.389163, 1.650000
[11:52:34.538] xyz_f:0.048569, 0.108467, 0.465592  Reprojection Error: 0.499600, -0.522621 Feature: -0.161646, 0.066536, 0.182551
[11:52:34.538] xyz_f:0.648684, -0.368442, -1.106846  Reprojection Error: 1.300998, -0.655288 Feature: -0.662454, -0.801099, 1.616615
[11:52:34.538] xyz_f:0.016033, 0.093185, 0.383203  Reprojection Error: 0.413694, -0.325426 Feature: -0.123887, 0.030451, 0.255710
[11:52:34.538] xyz_f:0.679306, -0.379487, -1.068388  Reprojection Error: 1.022438, -0.214813 Feature: -0.695805, -0.801814, 1.578855
[11:52:34.538] xyz_f:0.187978, 0.213195, 0.242438  Reprojection Error: -0.453961, -0.396085 Feature: -0.283700, 0.109939, 0.434383
[11:52:34.538] it:10 	 Success 	 new_chi2: 0.052582 	 dT = -0.025844, 0.015499, 0.110511
[11:52:34.539] xyz_f:0.830983, 0.103229, 0.469640  Reprojection Error: -1.165488, -0.509461 Feature: -0.161646, 0.066536, 0.182551
[11:52:34.539] xyz_f:1.581333, -0.393012, -1.030646  Reprojection Error: 2.249245, -0.703739 Feature: -0.662454, -0.801099, 1.616615
[11:52:34.539] xyz_f:0.806986, 0.088757, 0.384231  Reprojection Error: -1.644731, -0.313250 Feature: -0.123887, 0.030451, 0.255710
[11:52:34.539] xyz_f:1.607356, -0.404868, -0.989162  Reprojection Error: 2.011582, -0.268922 Feature: -0.695805, -0.801814, 1.578855
[11:52:34.539] xyz_f:0.996303, 0.203595, 0.262767  Reprojection Error: -3.470177, -0.291518 Feature: -0.283700, 0.109939, 0.434383
[11:52:34.539] it:11 	 Success 	 new_chi2: 0.000000 	 dT = 0.000000, 0.000000, 0.000000
[11:52:34.539] After pose optimization, distance between two frames:2.745789 ,angle between two frames:2.140411
[11:52:34.764] Reprojection Map nPoint:5 ,nCell:4 ,nMatches:4 ,distance between two frames:2.764881 ,angle between two frames:2.766303
[11:52:34.845] Reprojection Map nPoint:25 ,nCell:23 ,nMatches:4 ,distance between two frames:2.720470 ,angle between two frames:-2.702500
[11:52:34.845] Init estimate scale:1.773078
[11:52:34.845] xyz_f:0.462907, 0.003809, 0.158866  Reprojection Error: -2.347596, -0.037784 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.845] xyz_f:1.473530, -1.071487, 0.689038  Reprojection Error: -1.744856, 1.642114 Feature: -0.846273, -0.828001, 1.627227
[11:52:34.845] xyz_f:1.473110, -1.040120, 0.620042  Reprojection Error: -1.747463, 1.802853 Feature: -0.772192, -0.815560, 1.617134
[11:52:34.845] xyz_f:0.363535, 0.018832, 0.243830  Reprojection Error: -1.071522, 0.357732 Feature: -0.283700, 0.109939, 0.434383
[11:52:34.845] it:0 	 Success 	 new_chi2: 15.926740 	 dT = 0.042421, 0.023262, -0.094957
[11:52:34.845] xyz_f:0.398329, -0.007995, 0.226185  Reprojection Error: -1.194853, 0.021545 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.845] xyz_f:1.329456, -1.107171, 0.845474  Reprojection Error: -1.178765, 1.396594 Feature: -0.846273, -0.828001, 1.627227
[11:52:34.845] xyz_f:1.336128, -1.075880, 0.776764  Reprojection Error: -1.091759, 1.510433 Feature: -0.772192, -0.815560, 1.617134
[11:52:34.845] xyz_f:0.291992, 0.009557, 0.301708  Reprojection Error: -0.548382, 0.403291 Feature: -0.283700, 0.109939, 0.434383
[11:52:34.845] it:1 	 Success 	 new_chi2: 7.983774 	 dT = 0.047226, 0.037780, -0.052442
[11:52:34.845] xyz_f:0.409769, -0.014217, 0.287184  Reprojection Error: -0.860631, 0.035699 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.845] xyz_f:1.293348, -1.125711, 0.952445  Reprojection Error: -0.964250, 1.268983 Feature: -0.846273, -0.828001, 1.627227
[11:52:34.845] xyz_f:1.303914, -1.094537, 0.884172  Reprojection Error: -0.846367, 1.363276 Feature: -0.772192, -0.815560, 1.617134
[11:52:34.845] xyz_f:0.299992, 0.004802, 0.357232  Reprojection Error: -0.420355, 0.421523 Feature: -0.283700, 0.109939, 0.434383
[11:52:34.845] it:2 	 Success 	 new_chi2: 5.819673 	 dT = 0.051441, 0.049874, -0.034943
[11:52:34.845] xyz_f:0.439995, -0.018233, 0.352047  Reprojection Error: -0.683600, 0.037987 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.845] xyz_f:1.290536, -1.137570, 1.046577  Reprojection Error: -0.839428, 1.174010 Feature: -0.846273, -0.828001, 1.627227
[11:52:34.845] xyz_f:1.303681, -1.106503, 0.978704  Reprojection Error: -0.703687, 1.255933 Feature: -0.772192, -0.815560, 1.617134
[11:52:34.845] xyz_f:0.328094, 0.001788, 0.418353  Reprojection Error: -0.364837, 0.430691 Feature: -0.283700, 0.109939, 0.434383
[11:52:34.845] it:3 	 Success 	 new_chi2: 4.687085 	 dT = 0.056292, 0.062118, -0.024222
[11:52:34.845] xyz_f:0.486247, -0.020954, 0.424318  Reprojection Error: -0.579729, 0.035577 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.845] xyz_f:1.313273, -1.145549, 1.138473  Reprojection Error: -0.759865, 1.093282 Feature: -0.846273, -0.828001, 1.627227
[11:52:34.845] xyz_f:1.328197, -1.114570, 1.070929  Reprojection Error: -0.611868, 1.166104 Feature: -0.772192, -0.815560, 1.617134
[11:52:34.845] xyz_f:0.372953, -0.000226, 0.487990  Reprojection Error: -0.344849, 0.435429 Feature: -0.283700, 0.109939, 0.434383
[11:52:34.845] it:4 	 Success 	 new_chi2: 3.970701 	 dT = 0.061806, 0.074777, -0.016895
[11:52:34.845] xyz_f:0.547820, -0.022819, 0.506058  Reprojection Error: -0.516304, 0.031288 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.845] xyz_f:1.358157, -1.150994, 1.233574  Reprojection Error: -0.707319, 1.020123 Feature: -0.846273, -0.828001, 1.627227
[11:52:34.845] xyz_f:1.374316, -1.120084, 1.166283  Reprojection Error: -0.550012, 1.085741 Feature: -0.772192, -0.815560, 1.617134
[11:52:34.845] xyz_f:0.433594, -0.001594, 0.567873  Reprojection Error: -0.344126, 0.437774 Feature: -0.283700, 0.109939, 0.434383
[11:52:34.845] it:5 	 Success 	 new_chi2: 3.464096 	 dT = 0.068034, 0.087965, -0.011724
[11:52:34.845] xyz_f:0.624549, -0.024099, 0.598797  Reprojection Error: -0.476786, 0.026440 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.845] xyz_f:1.423168, -1.154715, 1.335424  Reprojection Error: -0.672031, 0.951747 Feature: -0.846273, -0.828001, 1.627227
[11:52:34.845] xyz_f:1.440182, -1.123855, 1.268321  Reprojection Error: -0.507142, 1.011450 Feature: -0.772192, -0.815560, 1.617134
[11:52:34.845] xyz_f:0.509695, -0.002526, 0.659315  Reprojection Error: -0.353653, 0.438797 Feature: -0.283700, 0.109939, 0.434383
[11:52:34.845] it:6 	 Success 	 new_chi2: 3.078946 	 dT = 0.075062, 0.101852, -0.008062
[11:52:34.845] xyz_f:0.716568, -0.024970, 0.703903  Reprojection Error: -0.451772, 0.021670 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.845] xyz_f:1.507066, -1.157244, 1.446717  Reprojection Error: -0.648040, 0.886977 Feature: -0.846273, -0.828001, 1.627227
[11:52:34.845] xyz_f:1.524667, -1.126420, 1.379749  Reprojection Error: -0.476671, 0.941748 Feature: -0.772192, -0.815560, 1.617134
[11:52:34.845] xyz_f:0.601292, -0.003158, 0.763525  Reprojection Error: -0.368106, 0.439102 Feature: -0.283700, 0.109939, 0.434383
[11:52:34.845] it:7 	 Success 	 new_chi2: 2.771827 	 dT = 0.083029, 0.116701, -0.005484
[11:52:34.845] xyz_f:0.824350, -0.025560, 0.822805  Reprojection Error: -0.435657, 0.017260 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.845] xyz_f:1.609294, -1.158952, 1.569792  Reprojection Error: -0.631489, 0.825351 Feature: -0.846273, -0.828001, 1.627227
[11:52:34.845] xyz_f:1.627292, -1.128153, 1.502918  Reprojection Error: -0.454394, 0.875995 Feature: -0.772192, -0.815560, 1.617134
[11:52:34.845] xyz_f:0.708790, -0.003584, 0.881816  Reprojection Error: -0.384370, 0.439030 Feature: -0.283700, 0.109939, 0.434383
[11:52:34.845] it:8 	 Success 	 new_chi2: 2.519177 	 dT = 0.092129, 0.132855, -0.003689
[11:52:34.845] xyz_f:0.948772, -0.025955, 0.957134  Reprojection Error: -0.425043, 0.013313 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.845] xyz_f:1.729966, -1.160095, 1.706911  Reprojection Error: -0.619832, 0.766712 Feature: -0.846273, -0.828001, 1.627227
[11:52:34.845] xyz_f:1.748232, -1.129314, 1.640102  Reprojection Error: -0.437568, 0.813916 Feature: -0.772192, -0.815560, 1.617134
[11:52:34.845] xyz_f:0.833024, -0.003868, 1.015733  Reprojection Error: -0.400707, 0.438774 Feature: -0.283700, 0.109939, 0.434383
[11:52:34.845] it:9 	 Success 	 new_chi2: 2.307147 	 dT = 0.102598, 0.150711, -0.002454
[11:52:34.845] xyz_f:1.091175, -0.026217, 1.108823  Reprojection Error: -0.417864, 0.009839 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.845] xyz_f:1.869870, -1.160852, 1.860449  Reprojection Error: -0.611389, 0.711030 Feature: -0.846273, -0.828001, 1.627227
[11:52:34.845] xyz_f:1.888314, -1.130083, 1.793683  Reprojection Error: -0.424397, 0.755388 Feature: -0.772192, -0.815560, 1.617134
[11:52:34.845] xyz_f:0.975303, -0.004057, 1.167147  Reprojection Error: -0.416216, 0.438442 Feature: -0.283700, 0.109939, 0.434383
[11:52:34.845] it:10 	 Success 	 new_chi2: 2.127000 	 dT = 0.114717, 0.170717, -0.001614
[11:52:34.845] xyz_f:1.253399, -0.026389, 1.280181  Reprojection Error: -0.412859, 0.006809 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.845] xyz_f:2.030447, -1.161349, 2.033020  Reprojection Error: -0.605060, 0.658310 Feature: -0.846273, -0.828001, 1.627227
[11:52:34.845] xyz_f:2.049008, -1.130587, 1.966283  Reprojection Error: -0.413711, 0.700340 Feature: -0.772192, -0.815560, 1.617134
[11:52:34.845] xyz_f:1.137445, -0.004180, 1.338325  Reprojection Error: -0.430488, 0.438089 Feature: -0.283700, 0.109939, 0.434383
[11:52:34.845] it:11 	 Success 	 new_chi2: 1.972846 	 dT = 0.128820, 0.193379, -0.001050
[11:52:34.845] xyz_f:1.437825, -0.026501, 1.473976  Reprojection Error: -0.409253, 0.004174 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.845] xyz_f:2.213800, -1.161672, 2.227603  Reprojection Error: -0.600129, 0.608556 Feature: -0.846273, -0.828001, 1.627227
[11:52:34.845] xyz_f:2.232437, -1.130915, 2.160885  Reprojection Error: -0.404752, 0.648710 Feature: -0.772192, -0.815560, 1.617134
[11:52:34.845] xyz_f:1.321818, -0.004260, 1.532002  Reprojection Error: -0.443389, 0.437747 Feature: -0.283700, 0.109939, 0.434383
[11:52:34.845] it:12 	 Success 	 new_chi2: 1.840451 	 dT = 0.145314, 0.219290, -0.000675
[11:52:34.845] xyz_f:1.647442, -0.026573, 1.693535  Reprojection Error: -0.406563, 0.001886 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.845] xyz_f:2.422728, -1.161879, 2.447667  Reprojection Error: -0.596137, 0.561755 Feature: -0.846273, -0.828001, 1.627227
[11:52:34.845] xyz_f:2.441414, -1.131126, 2.380961  Reprojection Error: -0.397029, 0.600424 Feature: -0.772192, -0.815560, 1.617134
[11:52:34.845] xyz_f:1.531402, -0.004312, 1.751485  Reprojection Error: -0.454930, 0.437428 Feature: -0.283700, 0.109939, 0.434383
[11:52:34.845] it:13 	 Success 	 new_chi2: 1.726580 	 dT = 0.164703, 0.249168, -0.000429
[11:52:34.845] xyz_f:1.885960, -0.026618, 1.942873  Reprojection Error: -0.404486, -0.000104 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.845] xyz_f:2.660807, -1.162011, 2.697327  Reprojection Error: -0.592786, 0.517868 Feature: -0.846273, -0.828001, 1.627227
[11:52:34.845] xyz_f:2.679524, -1.131259, 2.630628  Reprojection Error: -0.390226, 0.555387 Feature: -0.772192, -0.815560, 1.617134
[11:52:34.845] xyz_f:1.769898, -0.004345, 2.000775  Reprojection Error: -0.465192, 0.437138 Feature: -0.283700, 0.109939, 0.434383
[11:52:34.845] it:14 	 Success 	 new_chi2: 1.628635 	 dT = 0.187632, 0.283897, -0.000270
[11:52:34.845] xyz_f:2.157955, -0.026647, 2.226877  Reprojection Error: -0.402829, -0.001839 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.845] xyz_f:2.932525, -1.162094, 2.981533  Reprojection Error: -0.589888, 0.476831 Feature: -0.846273, -0.828001, 1.627227
[11:52:34.846] xyz_f:2.951261, -1.131344, 2.914840  Reprojection Error: -0.384134, 0.513485 Feature: -0.772192, -0.815560, 1.617134
[11:52:34.846] xyz_f:2.041879, -0.004365, 2.284749  Reprojection Error: -0.474285, 0.436877 Feature: -0.283700, 0.109939, 0.434383
[11:52:34.846] it:15 	 Success 	 new_chi2: 1.544446 	 dT = 0.214928, 0.324598, -0.000168
[11:52:34.846] xyz_f:2.469085, -0.026665, 2.551541  Reprojection Error: -0.401463, -0.003354 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.846] xyz_f:3.243484, -1.162145, 3.306323  Reprojection Error: -0.587320, 0.438559 Feature: -0.846273, -0.828001, 1.627227
[11:52:34.846] xyz_f:3.262232, -1.131396, 3.239633  Reprojection Error: -0.378615, 0.474589 Feature: -0.772192, -0.815560, 1.617134
[11:52:34.846] xyz_f:2.353001, -0.004378, 2.609395  Reprojection Error: -0.482328, 0.436644 Feature: -0.283700, 0.109939, 0.434383
[11:52:34.846] it:16 	 Success 	 new_chi2: 1.472154 	 dT = 0.247677, 0.372708, -0.000103
[11:52:34.846] xyz_f:2.826393, -0.026676, 2.924290  Reprojection Error: -0.400302, -0.004683 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.846] xyz_f:3.600687, -1.162177, 3.679148  Reprojection Error: -0.585000, 0.402949 Feature: -0.846273, -0.828001, 1.627227
[11:52:34.846] xyz_f:3.619443, -1.131428, 3.612460  Reprojection Error: -0.373572, 0.438554 Feature: -0.772192, -0.815560, 1.617134
[11:52:34.846] xyz_f:2.710304, -0.004386, 2.982132  Reprojection Error: -0.489433, 0.436437 Feature: -0.283700, 0.109939, 0.434383
[11:52:34.846] it:17 	 Success 	 new_chi2: 1.410141 	 dT = 0.287315, 0.430106, -0.000062
[11:52:34.846] xyz_f:3.238716, -0.026682, 3.354421  Reprojection Error: -0.399286, -0.005850 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.846] xyz_f:4.012946, -1.162196, 4.109325  Reprojection Error: -0.582872, 0.369886 Feature: -0.846273, -0.828001, 1.627227
[11:52:34.846] xyz_f:4.031707, -1.131447, 4.042638  Reprojection Error: -0.368935, 0.405231 Feature: -0.772192, -0.815560, 1.617134
[11:52:34.846] xyz_f:3.122623, -0.004391, 3.412255  Reprojection Error: -0.495706, 0.436253 Feature: -0.283700, 0.109939, 0.434383
[11:52:34.846] it:18 	 Success 	 new_chi2: 1.356988 	 dT = 0.335772, 0.499286, -0.000037
[11:52:34.846] xyz_f:3.717265, -0.026686, 3.853721  Reprojection Error: -0.398370, -0.006880 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.846] xyz_f:4.491458, -1.162207, 4.608653  Reprojection Error: -0.580896, 0.339246 Feature: -0.846273, -0.828001, 1.627227
[11:52:34.846] xyz_f:4.510221, -1.131459, 4.541966  Reprojection Error: -0.364650, 0.374465 Feature: -0.772192, -0.815560, 1.617134
[11:52:34.846] xyz_f:3.601170, -0.004393, 3.911551  Reprojection Error: -0.501236, 0.436089 Feature: -0.283700, 0.109939, 0.434383
[11:52:34.846] it:19 	 Success 	 new_chi2: 1.311446 	 dT = 0.395681, 0.583614, -0.000021
[11:52:34.846] xyz_f:4.276452, -0.026688, 4.437344  Reprojection Error: -0.397521, -0.007790 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.846] xyz_f:5.050623, -1.162214, 5.192291  Reprojection Error: -0.579041, 0.310901 Feature: -0.846273, -0.828001, 1.627227
[11:52:34.846] xyz_f:5.069387, -1.131465, 5.125605  Reprojection Error: -0.360671, 0.346101 Feature: -0.772192, -0.815560, 1.617134
[11:52:34.846] xyz_f:4.160356, -0.004395, 4.495172  Reprojection Error: -0.506102, 0.435944 Feature: -0.283700, 0.109939, 0.434383
[11:52:34.846] it:20 	 Success 	 new_chi2: 1.272416 	 dT = 0.470703, 0.687728, -0.000012
[11:52:34.846] xyz_f:4.935083, -0.026690, 5.125077  Reprojection Error: -0.396708, -0.008597 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.846] xyz_f:5.709242, -1.162217, 5.880033  Reprojection Error: -0.577280, 0.284722 Feature: -0.846273, -0.828001, 1.627227
[11:52:34.846] xyz_f:5.728008, -1.131469, 5.813348  Reprojection Error: -0.356959, 0.319986 Feature: -0.772192, -0.815560, 1.617134
[11:52:34.846] xyz_f:4.818987, -0.004396, 5.182904  Reprojection Error: -0.510371, 0.435814 Feature: -0.283700, 0.109939, 0.434383
[11:52:34.846] it:21 	 Success 	 new_chi2: 1.238926 	 dT = 0.566027, 0.818143, -0.000007
[11:52:34.846] xyz_f:5.718133, -0.026690, 5.943223  Reprojection Error: -0.395906, -0.009314 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.846] xyz_f:6.492285, -1.162219, 6.698184  Reprojection Error: -0.575586, 0.260579 Feature: -0.846273, -0.828001, 1.627227
[11:52:34.846] xyz_f:6.511051, -1.131471, 6.631498  Reprojection Error: -0.353476, 0.295974 Feature: -0.772192, -0.815560, 1.617134
[11:52:34.846] xyz_f:5.602037, -0.004396, 6.001049  Reprojection Error: -0.514095, 0.435699 Feature: -0.283700, 0.109939, 0.434383
[11:52:34.846] it:22 	 Success 	 new_chi2: 1.210121 	 dT = 0.689183, 0.984236, -0.000003
[11:52:34.846] xyz_f:6.659431, -0.026691, 6.927459  Reprojection Error: -0.395089, -0.009952 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.846] xyz_f:7.433579, -1.162220, 7.682424  Reprojection Error: -0.573934, 0.238350 Feature: -0.846273, -0.828001, 1.627227
[11:52:34.846] xyz_f:7.452346, -1.131472, 7.615738  Reprojection Error: -0.350185, 0.273923 Feature: -0.772192, -0.815560, 1.617134
[11:52:34.846] xyz_f:6.543334, -0.004397, 6.985285  Reprojection Error: -0.517317, 0.435596 Feature: -0.283700, 0.109939, 0.434383
[11:52:34.846] it:23 	 Success 	 new_chi2: 1.185238 	 dT = 0.851388, 1.199867, -0.000002
[11:52:34.846] xyz_f:7.805871, -0.026691, 8.127328  Reprojection Error: -0.394227, -0.010521 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.846] xyz_f:8.580018, -1.162221, 8.882293  Reprojection Error: -0.572294, 0.217914 Feature: -0.846273, -0.828001, 1.627227
[11:52:34.846] xyz_f:8.598784, -1.131473, 8.815607  Reprojection Error: -0.347044, 0.253702 Feature: -0.772192, -0.815560, 1.617134
[11:52:34.846] xyz_f:7.689774, -0.004397, 8.185153  Reprojection Error: -0.520064, 0.435503 Feature: -0.283700, 0.109939, 0.434383
[11:52:34.846] it:24 	 Success 	 new_chi2: 1.163597 	 dT = 1.069871, 1.486174, -0.000001
[11:52:34.846] xyz_f:9.224221, -0.026691, 9.613502  Reprojection Error: -0.393286, -0.011028 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.846] xyz_f:9.998368, -1.162221, 10.368468  Reprojection Error: -0.570631, 0.199159 Feature: -0.846273, -0.828001, 1.627227
[11:52:34.846] xyz_f:10.017134, -1.131473, 10.301782  Reprojection Error: -0.344008, 0.235186 Feature: -0.772192, -0.815560, 1.617134
[11:52:34.846] xyz_f:9.108125, -0.004397, 9.671328  Reprojection Error: -0.522351, 0.435421 Feature: -0.283700, 0.109939, 0.434383
[11:52:34.846] it:25 	 Success 	 new_chi2: 1.144575 	 dT = 1.372053, 1.876561, -0.000000
[11:52:34.846] xyz_f:11.012577, -0.026691, 11.490063  Reprojection Error: -0.392223, -0.011482 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.846] xyz_f:11.786723, -1.162221, 12.245030  Reprojection Error: -0.568898, 0.181980 Feature: -0.846273, -0.828001, 1.627227
[11:52:34.846] xyz_f:11.805489, -1.131473, 12.178344  Reprojection Error: -0.341023, 0.218262 Feature: -0.772192, -0.815560, 1.617134
[11:52:34.846] xyz_f:10.896480, -0.004397, 11.547889  Reprojection Error: -0.524176, 0.435347 Feature: -0.283700, 0.109939, 0.434383
[11:52:34.846] it:26 	 Success 	 new_chi2: 1.127584 	 dT = 1.803433, 2.426111, -0.000000
[11:52:34.846] xyz_f:13.320518, -0.026691, 13.916175  Reprojection Error: -0.390976, -0.011887 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.846] xyz_f:14.094664, -1.162221, 14.671141  Reprojection Error: -0.567032, 0.166285 Feature: -0.846273, -0.828001, 1.627227
[11:52:34.846] xyz_f:14.113430, -1.131473, 14.604455  Reprojection Error: -0.338018, 0.202828 Feature: -0.772192, -0.815560, 1.617134
[11:52:34.846] xyz_f:13.204422, -0.004397, 13.974000  Reprojection Error: -0.525513, 0.435281 Feature: -0.283700, 0.109939, 0.434383
[11:52:34.846] it:27 	 Success 	 new_chi2: 1.112044 	 dT = 2.443394, 3.230368, -0.000000
[11:52:34.846] xyz_f:16.386591, -0.026691, 17.146542  Reprojection Error: -0.389458, -0.012248 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.846] xyz_f:17.160736, -1.162221, 17.901509  Reprojection Error: -0.564945, 0.151990 Feature: -0.846273, -0.828001, 1.627227
[11:52:34.846] xyz_f:17.179503, -1.131473, 17.834823  Reprojection Error: -0.334895, 0.188795 Feature: -0.772192, -0.815560, 1.617134
[11:52:34.846] xyz_f:16.270494, -0.004397, 17.204368  Reprojection Error: -0.526304, 0.435222 Feature: -0.283700, 0.109939, 0.434383
[11:52:34.846] it:28 	 Success 	 new_chi2: 1.097334 	 dT = 3.439101, 4.465564, 0.000000
[11:52:34.846] xyz_f:20.612665, -0.026691, 21.612107  Reprojection Error: -0.387535, -0.012570 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.846] xyz_f:21.386811, -1.162221, 22.367073  Reprojection Error: -0.562499, 0.139028 Feature: -0.846273, -0.828001, 1.627227
[11:52:34.846] xyz_f:21.405577, -1.131473, 22.300387  Reprojection Error: -0.331514, 0.176091 Feature: -0.772192, -0.815560, 1.617134
[11:52:34.846] xyz_f:20.496568, -0.004397, 21.669932  Reprojection Error: -0.526439, 0.435169 Feature: -0.283700, 0.109939, 0.434383
[11:52:34.846] it:29 	 Success 	 new_chi2: 1.082720 	 dT = 5.084695, 6.482496, 0.000000
[11:52:34.846] xyz_f:26.723823, -0.026691, 28.094603  Reprojection Error: -0.384988, -0.012855 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.846] xyz_f:27.497969, -1.162221, 28.849569  Reprojection Error: -0.559476, 0.127352 Feature: -0.846273, -0.828001, 1.627227
[11:52:34.846] xyz_f:27.516735, -1.131473, 28.782884  Reprojection Error: -0.327650, 0.164664 Feature: -0.772192, -0.815560, 1.617134
[11:52:34.846] xyz_f:26.607726, -0.004397, 28.152429  Reprojection Error: -0.525716, 0.435122 Feature: -0.283700, 0.109939, 0.434383
[11:52:34.846] it:30 	 Success 	 new_chi2: 1.067230 	 dT = 8.026918, 10.050282, 0.000000
[11:52:34.846] xyz_f:36.148543, -0.026691, 38.144885  Reprojection Error: -0.381444, -0.013105 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.846] xyz_f:36.922689, -1.162221, 38.899852  Reprojection Error: -0.555499, 0.116944 Feature: -0.846273, -0.828001, 1.627227
[11:52:34.846] xyz_f:36.941455, -1.131473, 38.833166  Reprojection Error: -0.322925, 0.154490 Feature: -0.772192, -0.815560, 1.617134
[11:52:34.846] xyz_f:36.032447, -0.004397, 38.202711  Reprojection Error: -0.523776, 0.435081 Feature: -0.283700, 0.109939, 0.434383
[11:52:34.846] it:31 	 Success 	 new_chi2: 1.049409 	 dT = 13.876418, 17.082322, 0.000000
[11:52:34.846] xyz_f:52.048326, -0.026691, 55.227208  Reprojection Error: -0.376219, -0.013321 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.846] xyz_f:52.822471, -1.162221, 55.982174  Reprojection Error: -0.549884, 0.107827 Feature: -0.846273, -0.828001, 1.627227
[11:52:34.846] xyz_f:52.841238, -1.131473, 55.915488  Reprojection Error: -0.316659, 0.145588 Feature: -0.772192, -0.815560, 1.617134
[11:52:34.846] xyz_f:51.932229, -0.004397, 55.285033  Reprojection Error: -0.519940, 0.435046 Feature: -0.283700, 0.109939, 0.434383
[11:52:34.846] it:32 	 Success 	 new_chi2: 1.026827 	 dT = 27.382583, 33.229942, 0.000000
[11:52:34.846] xyz_f:82.636813, -0.026691, 88.457150  Reprojection Error: -0.367981, -0.013503 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.846] xyz_f:83.410958, -1.162221, 89.212116  Reprojection Error: -0.541299, 0.100094 Feature: -0.846273, -0.828001, 1.627227
[11:52:34.846] xyz_f:83.429725, -1.131473, 89.145430  Reprojection Error: -0.307523, 0.138045 Feature: -0.772192, -0.815560, 1.617134
[11:52:34.846] xyz_f:82.520716, -0.004397, 88.514975  Reprojection Error: -0.512865, 0.435016 Feature: -0.283700, 0.109939, 0.434383
[11:52:34.846] it:33 	 Success 	 new_chi2: 0.995042 	 dT = 66.365600, 79.822993, 0.000000
[11:52:34.846] xyz_f:154.849771, -0.026691, 168.280142  Reprojection Error: -0.353970, -0.013646 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.846] xyz_f:155.623917, -1.162221, 169.035108  Reprojection Error: -0.526986, 0.093942 Feature: -0.846273, -0.828001, 1.627227
[11:52:34.846] xyz_f:155.642683, -1.131473, 168.968423  Reprojection Error: -0.292774, 0.132049 Feature: -0.772192, -0.815560, 1.617134
[11:52:34.846] xyz_f:154.733674, -0.004397, 168.337968  Reprojection Error: -0.499770, 0.434992 Feature: -0.283700, 0.109939, 0.434383
[11:52:34.846] it:34 	 Success 	 new_chi2: 0.945456 	 dT = 227.460861, 274.079626, 0.000000
[11:52:34.846] xyz_f:395.768025, -0.026691, 442.359769  Reprojection Error: -0.328454, -0.013744 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.846] xyz_f:396.542171, -1.162221, 443.114735  Reprojection Error: -0.501223, 0.089690 Feature: -0.846273, -0.828001, 1.627227
[11:52:34.846] xyz_f:396.560938, -1.131473, 443.048049  Reprojection Error: -0.266713, 0.127907 Feature: -0.772192, -0.815560, 1.617134
[11:52:34.846] xyz_f:395.651929, -0.004397, 442.417594  Reprojection Error: -0.474881, 0.434976 Feature: -0.283700, 0.109939, 0.434383
[11:52:34.846] it:35 	 Success 	 new_chi2: 0.862077 	 dT = 1486.561534, 1832.812539, 0.000000
[11:52:34.846] xyz_f:1928.948324, -0.026691, 2275.172307  Reprojection Error: -0.281605, -0.013793 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.846] xyz_f:1929.722470, -1.162221, 2275.927273  Reprojection Error: -0.454210, 0.087577 Feature: -0.846273, -0.828001, 1.627227
[11:52:34.846] xyz_f:1929.741236, -1.131473, 2275.860588  Reprojection Error: -0.219556, 0.125850 Feature: -0.772192, -0.815560, 1.617134
[11:52:34.846] xyz_f:1928.832227, -0.004397, 2275.230133  Reprojection Error: -0.428338, 0.434968 Feature: -0.283700, 0.109939, 0.434383
[11:52:34.846] it:36 	 Success 	 new_chi2: 0.724541 	 dT = 36778.667638, 48229.476901, 0.000000
[11:52:34.846] xyz_f:39053.866967, -0.026691, 50504.649208  Reprojection Error: -0.207052, -0.013804 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.846] xyz_f:39054.641113, -1.162221, 50505.404174  Reprojection Error: -0.379602, 0.087090 Feature: -0.846273, -0.828001, 1.627227
[11:52:34.846] xyz_f:39054.659879, -1.131473, 50505.337489  Reprojection Error: -0.144917, 0.125375 Feature: -0.772192, -0.815560, 1.617134
[11:52:34.846] xyz_f:39053.750870, -0.004397, 50504.707033  Reprojection Error: -0.353855, 0.434966 Feature: -0.283700, 0.109939, 0.434383
[11:52:34.846] it:37 	 Success 	 new_chi2: 0.542255 	 dT = 16516743.364160, 24298928.384097, 0.000000
[11:52:34.846] xyz_f:16567248.040390, -0.026691, 24349433.033305  Reprojection Error: -0.114175, -0.013805 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.846] xyz_f:16567248.814536, -1.162221, 24349433.788271  Reprojection Error: -0.286721, 0.087067 Feature: -0.846273, -0.828001, 1.627227
[11:52:34.846] xyz_f:16567248.833302, -1.131473, 24349433.721585  Reprojection Error: -0.052035, 0.125353 Feature: -0.772192, -0.815560, 1.617134
[11:52:34.846] xyz_f:16567247.924293, -0.004397, 24349433.091130  Reprojection Error: -0.260981, 0.434966 Feature: -0.283700, 0.109939, 0.434383
[11:52:34.846] it:38 	 Success 	 new_chi2: 0.376580 	 dT = 3232715514336.307129, 5611265161079.466797, 0.000000
[11:52:34.846] xyz_f:3232739863769.367188, -0.026691, 5611289510512.500977  Reprojection Error: -0.009893, -0.013805 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.846] xyz_f:3232739863770.141602, -1.162221, 5611289510513.255859  Reprojection Error: -0.182439, 0.087067 Feature: -0.846273, -0.828001, 1.627227
[11:52:34.846] xyz_f:3232739863770.160156, -1.131473, 5611289510513.188477  Reprojection Error: 0.052247, 0.125353 Feature: -0.772192, -0.815560, 1.617134
[11:52:34.846] xyz_f:3232739863769.251465, -0.004397, 5611289510512.558594  Reprojection Error: -0.156699, 0.434966 Feature: -0.283700, 0.109939, 0.434383
[11:52:34.846] it:39 	 Success 	 new_chi2: 0.271966 	 dT = -158065355949635456.000000, 0.000000, 0.000000
[11:52:34.846] xyz_f:-158059744660124928.000000, -0.026691, 5611289510512.500977  Reprojection Error: 28168.734048, -0.013805 Feature: -0.193315, 0.073438, 0.522800
[11:52:34.846] xyz_f:-158059744660124928.000000, -1.162221, 5611289510513.255859  Reprojection Error: 28168.561502, 0.087067 Feature: -0.846273, -0.828001, 1.627227
[11:52:34.846] xyz_f:-158059744660124928.000000, -1.131473, 5611289510513.188477  Reprojection Error: 28168.796188, 0.125353 Feature: -0.772192, -0.815560, 1.617134
[11:52:34.846] xyz_f:-158059744660124928.000000, -0.004397, 5611289510512.558594  Reprojection Error: 28168.587242, 0.434966 Feature: -0.283700, 0.109939, 0.434383
[11:52:34.846] it:40 	 Success 	 new_chi2: 0.000000 	 dT = 0.000000, 0.000000, 0.000000
[11:52:34.846] After pose optimization, distance between two frames:7935561728167.854492 ,angle between two frames:-2.443175
[11:52:35.264] Reprojection Map nPoint:4 ,nCell:4 ,nMatches:4 ,distance between two frames:2.764909 ,angle between two frames:2.812574
[11:52:35.345] Reprojection Map nPoint:20 ,nCell:19 ,nMatches:2 ,distance between two frames:2.689129 ,angle between two frames:-2.689288
[11:52:35.345] Init estimate scale:1.196014
[11:52:35.345] xyz_f:0.759592, -0.062970, 0.564260  Reprojection Error: -1.604815, -0.191795 Feature: -0.442876, 0.113508, 0.911166
[11:52:35.345] xyz_f:1.358663, -1.120726, 0.824551  Reprojection Error: -0.692344, 0.933033 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.345] it:0 	 Success 	 new_chi2: 3.431966 	 dT = -0.008629, 0.082809, 0.046050
[11:52:35.345] xyz_f:0.674569, -0.053701, 0.612475  Reprojection Error: -1.360022, -0.215714 Feature: -0.442876, 0.113508, 0.911166
[11:52:35.345] xyz_f:1.297182, -1.104175, 0.845591  Reprojection Error: -0.578636, 0.879640 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.345] it:1 	 Success 	 new_chi2: 2.705770 	 dT = -0.021269, 0.096493, 0.063419
[11:52:35.345] xyz_f:0.783141, -0.040373, 0.659228  Reprojection Error: -1.446609, -0.242150 Feature: -0.442876, 0.113508, 0.911166
[11:52:35.345] xyz_f:1.436004, -1.080376, 0.853264  Reprojection Error: -0.727537, 0.840006 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.345] it:2 	 Success 	 new_chi2: 3.006304 	 dT = -0.024923, 0.102869, 0.063055
[11:52:35.345] xyz_f:0.887652, -0.053626, 0.605820  Reprojection Error: -1.723848, -0.214874 Feature: -0.442876, 0.113508, 0.911166
[11:52:35.345] xyz_f:1.510446, -1.104041, 0.838717  Reprojection Error: -0.845483, 0.890183 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.345] it:3 	 Success 	 new_chi2: 2.127446 	 dT = -0.008719, 0.087790, 0.043400
[11:52:35.345] xyz_f:0.740464, -0.062374, 0.550678  Reprojection Error: -1.603280, -0.190124 Feature: -0.442876, 0.113508, 0.911166
[11:52:35.345] xyz_f:1.341116, -1.119662, 0.809223  Reprojection Error: -0.701870, 0.957463 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.345] it:4 	 Success 	 new_chi2: 2.111605 	 dT = -0.008042, 0.081924, 0.048415
[11:52:35.345] xyz_f:0.618935, -0.071750, 0.503746  Reprojection Error: -1.487306, -0.160959 Feature: -0.442876, 0.113508, 0.911166
[11:52:35.345] xyz_f:1.193554, -1.136403, 0.789777  Reprojection Error: -0.555837, 1.012728 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.345] it:5 	 Success 	 new_chi2: 2.063124 	 dT = -0.007617, 0.077027, 0.052000
[11:52:35.345] xyz_f:0.499170, -0.081346, 0.462533  Reprojection Error: -1.337852, -0.127521 Feature: -0.442876, 0.113508, 0.911166
[11:52:35.345] xyz_f:1.044329, -1.153536, 0.776692  Reprojection Error: -0.389168, 1.059028 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.345] it:6 	 Success 	 new_chi2: 1.964183 	 dT = -0.009122, 0.072946, 0.056709
[11:52:35.345] xyz_f:0.380709, -0.091222, 0.426443  Reprojection Error: -1.151396, -0.089479 Feature: -0.442876, 0.113508, 0.911166
[11:52:35.345] xyz_f:0.892064, -1.171167, 0.769546  Reprojection Error: -0.203790, 1.095731 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.345] it:7 	 Success 	 new_chi2: 1.799137 	 dT = -0.013115, 0.069022, 0.062988
[11:52:35.345] xyz_f:0.261612, -0.101433, 0.395529  Reprojection Error: -0.920065, -0.046943 Feature: -0.442876, 0.113508, 0.911166
[11:52:35.345] xyz_f:0.733498, -1.189395, 0.768553  Reprojection Error: 0.001029, 1.121415 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.345] it:8 	 Success 	 new_chi2: 1.562018 	 dT = -0.020170, 0.064560, 0.071681
[11:52:35.345] xyz_f:0.139694, -0.112033, 0.370527  Reprojection Error: -0.635654, -0.001033 Feature: -0.442876, 0.113508, 0.911166
[11:52:35.345] xyz_f:0.564395, -1.208316, 0.774605  Reprojection Error: 0.226794, 1.133750 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.345] it:9 	 Success 	 new_chi2: 1.283796 	 dT = -0.030564, 0.059030, 0.084837
[11:52:35.345] xyz_f:0.011007, -0.123103, 0.352811  Reprojection Error: -0.289840, 0.045527 Feature: -0.442876, 0.113508, 0.911166
[11:52:35.345] xyz_f:0.377065, -1.228072, 0.789307  Reprojection Error: 0.477701, 1.129724 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.345] it:10 	 Success 	 new_chi2: 1.067243 	 dT = -0.044951, 0.052489, 0.108539
[11:52:35.345] xyz_f:-0.133794, -0.134815, 0.344032  Reprojection Error: 0.130258, 0.088475 Feature: -0.442876, 0.113508, 0.911166
[11:52:35.345] xyz_f:0.153457, -1.248970, 0.814809  Reprojection Error: 0.767082, 1.106676 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.345] it:11 	 Success 	 new_chi2: 1.096907 	 dT = -0.065039, 0.044431, 0.154107
[11:52:35.345] xyz_f:-0.155637, -0.117360, 0.323320  Reprojection Error: 0.222728, 0.059591 Feature: -0.442876, 0.113508, 0.911166
[11:52:35.345] xyz_f:0.242274, -1.217824, 0.743001  Reprojection Error: 0.629342, 1.212899 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.345] it:12 	 Success 	 new_chi2: 0.054714 	 dT = -0.010204, 0.005667, 0.045316
[11:52:35.345] xyz_f:-0.017161, -0.111182, 0.305930  Reprojection Error: -0.202548, 0.060030 Feature: -0.442876, 0.113508, 0.911166
[11:52:35.345] xyz_f:0.411608, -1.206797, 0.707515  Reprojection Error: 0.373652, 1.279521 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.346] it:13 	 Success 	 new_chi2: 0.058520 	 dT = -0.010320, 0.006630, 0.012439
[11:52:35.346] xyz_f:-0.001625, -0.112923, 0.305800  Reprojection Error: -0.253328, 0.065880 Feature: -0.442876, 0.113508, 0.911166
[11:52:35.346] xyz_f:0.418758, -1.209906, 0.712487  Reprojection Error: 0.367676, 1.271983 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.346] it:14 	 Success 	 new_chi2: 0.050714 	 dT = -0.015421, 0.005455, 0.025000
[11:52:35.346] xyz_f:-0.024817, -0.116319, 0.313018  Reprojection Error: -0.179358, 0.068213 Feature: -0.442876, 0.113508, 0.911166
[11:52:35.346] xyz_f:0.378517, -1.215967, 0.729651  Reprojection Error: 0.436652, 1.240342 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.346] it:15 	 Success 	 new_chi2: 0.031502 	 dT = -0.006070, 0.005746, -0.000000
[11:52:35.346] xyz_f:-0.039623, -0.116319, 0.307272  Reprojection Error: -0.129689, 0.075162 Feature: -0.442876, 0.113508, 0.911166
[11:52:35.346] xyz_f:0.363711, -1.215967, 0.723905  Reprojection Error: 0.452988, 1.253570 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.346] it:16 	 Success 	 new_chi2: 0.020458 	 dT = -0.008613, 0.006096, 0.012500
[11:52:35.346] xyz_f:-0.053779, -0.117964, 0.307315  Reprojection Error: -0.083644, 0.080462 Feature: -0.442876, 0.113508, 0.911166
[11:52:35.346] xyz_f:0.340936, -1.218903, 0.728766  Reprojection Error: 0.487591, 1.246394 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.346] it:17 	 Success 	 new_chi2: 0.012741 	 dT = -0.003698, 0.006442, 0.000000
[11:52:35.346] xyz_f:-0.064791, -0.117964, 0.300874  Reprojection Error: -0.043299, 0.088680 Feature: -0.442876, 0.113508, 0.911166
[11:52:35.346] xyz_f:0.329925, -1.218903, 0.722324  Reprojection Error: 0.498663, 1.261311 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.346] it:18 	 Success 	 new_chi2: 0.009356 	 dT = -0.004649, 0.006802, 0.006250
[11:52:35.346] xyz_f:-0.075788, -0.118774, 0.297092  Reprojection Error: -0.003543, 0.096395 Feature: -0.442876, 0.113508, 0.911166
[11:52:35.346] xyz_f:0.314595, -1.220347, 0.720912  Reprojection Error: 0.519033, 1.266619 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.346] it:19 	 Success 	 new_chi2: 0.008955 	 dT = -0.003209, 0.007161, 0.004297
[11:52:35.346] xyz_f:-0.087826, -0.119325, 0.291988  Reprojection Error: 0.042144, 0.105271 Feature: -0.442876, 0.113508, 0.911166
[11:52:35.346] xyz_f:0.299569, -1.221330, 0.717422  Reprojection Error: 0.537855, 1.276224 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.346] it:20 	 Success 	 new_chi2: 0.012193 	 dT = -0.001032, 0.007522, 0.000000
[11:52:35.346] xyz_f:-0.097164, -0.119325, 0.284466  Reprojection Error: 0.082925, 0.116076 Feature: -0.442876, 0.113508, 0.911166
[11:52:35.346] xyz_f:0.290231, -1.221330, 0.709901  Reprojection Error: 0.546585, 1.294262 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.346] it:21 	 Success 	 new_chi2: 0.018697 	 dT = -0.000330, 0.007872, 0.000000
[11:52:35.346] xyz_f:-0.105388, -0.119325, 0.276594  Reprojection Error: 0.122377, 0.128014 Feature: -0.442876, 0.113508, 0.911166
[11:52:35.346] xyz_f:0.282007, -1.221330, 0.702029  Reprojection Error: 0.553714, 1.313553 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.346] it:22 	 Success 	 new_chi2: 0.027482 	 dT = 0.000258, 0.008208, 0.000000
[11:52:35.346] xyz_f:-0.113847, -0.119325, 0.268387  Reprojection Error: 0.165548, 0.141207 Feature: -0.442876, 0.113508, 0.911166
[11:52:35.346] xyz_f:0.273548, -1.221330, 0.693821  Reprojection Error: 0.561155, 1.334133 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.346] it:23 	 Success 	 new_chi2: 0.038648 	 dT = -0.000850, 0.008520, 0.006250
[11:52:35.346] xyz_f:-0.126485, -0.120119, 0.262830  Reprojection Error: 0.222602, 0.153628 Feature: -0.442876, 0.113508, 0.911166
[11:52:35.346] xyz_f:0.256551, -1.222748, 0.690590  Reprojection Error: 0.583922, 1.344421 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.346] it:24 	 Success 	 new_chi2: 0.052964 	 dT = 0.001599, 0.008835, 0.000000
[11:52:35.346] xyz_f:-0.137455, -0.120119, 0.253995  Reprojection Error: 0.282529, 0.169526 Feature: -0.442876, 0.113508, 0.911166
[11:52:35.346] xyz_f:0.245581, -1.222748, 0.681755  Reprojection Error: 0.595198, 1.367366 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.346] it:25 	 Success 	 new_chi2: 0.065832 	 dT = -0.004101, 0.009091, 0.025000
[11:52:35.346] xyz_f:-0.162933, -0.123205, 0.256424  Reprojection Error: 0.376765, 0.177084 Feature: -0.442876, 0.113508, 0.911166
[11:52:35.346] xyz_f:0.202521, -1.228256, 0.693222  Reprojection Error: 0.663273, 1.345646 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.346] it:26 	 Success 	 new_chi2: 0.072491 	 dT = 0.003656, 0.009451, -0.000000
[11:52:35.346] xyz_f:-0.179781, -0.123205, 0.246973  Reprojection Error: 0.469297, 0.195470 Feature: -0.442876, 0.113508, 0.911166
[11:52:35.346] xyz_f:0.185673, -1.228256, 0.683771  Reprojection Error: 0.683874, 1.370135 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.346] it:27 	 Success 	 new_chi2: 0.057872 	 dT = 0.016895, 0.009711, -0.050000
[11:52:35.346] xyz_f:-0.158089, -0.116889, 0.213688  Reprojection Error: 0.481169, 0.243614 Feature: -0.442876, 0.113508, 0.911166
[11:52:35.346] xyz_f:0.242290, -1.216983, 0.631989  Reprojection Error: 0.572040, 1.499478 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.346] it:28 	 Success 	 new_chi2: 0.048210 	 dT = 0.003241, 0.009517, 0.000000
[11:52:35.346] xyz_f:-0.154146, -0.116889, 0.204171  Reprojection Error: 0.496342, 0.269111 Feature: -0.442876, 0.113508, 0.911166
[11:52:35.346] xyz_f:0.246233, -1.216983, 0.622472  Reprojection Error: 0.559845, 1.528918 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.346] it:29 	 Success 	 new_chi2: 0.039103 	 dT = 0.013097, 0.009611, -0.050000
[11:52:35.346] xyz_f:-0.130412, -0.110006, 0.168873  Reprojection Error: 0.513605, 0.348018 Feature: -0.442876, 0.113508, 0.911166
[11:52:35.346] xyz_f:0.303891, -1.204698, 0.567014  Reprojection Error: 0.419468, 1.698474 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.346] it:30 	 Success 	 new_chi2: 0.017866 	 dT = 0.010150, 0.009027, -0.050000
[11:52:35.346] xyz_f:-0.095352, -0.102574, 0.132110  Reprojection Error: 0.463124, 0.473038 Feature: -0.442876, 0.113508, 0.911166
[11:52:35.346] xyz_f:0.371789, -1.191432, 0.508477  Reprojection Error: 0.224237, 1.916975 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.346] it:31 	 Success 	 new_chi2: 0.004991 	 dT = 0.000309, 0.008049, -0.000000
[11:52:35.346] xyz_f:-0.094539, -0.102574, 0.124061  Reprojection Error: 0.503394, 0.523411 Feature: -0.442876, 0.113508, 0.911166
[11:52:35.346] xyz_f:0.372602, -1.191432, 0.500429  Reprojection Error: 0.210851, 1.954661 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.346] it:32 	 Success 	 new_chi2: 0.000000 	 dT = 0.000000, 0.000000, 0.000000
[11:52:35.346] After pose optimization, distance between two frames:2.911503 ,angle between two frames:-2.464818
[11:52:35.447] Reprojection Map nPoint:2 ,nCell:2 ,nMatches:2 ,distance between two frames:2.764872 ,angle between two frames:2.721807
[11:52:35.540] Reprojection Map nPoint:27 ,nCell:21 ,nMatches:7 ,distance between two frames:2.824816 ,angle between two frames:-2.703617
[11:52:35.540] Init estimate scale:0.491105
[11:52:35.540] xyz_f:1.285575, -1.067483, 0.950160  Reprojection Error: -0.221195, 0.625708 Feature: -0.695805, -0.801814, 1.578855
[11:52:35.540] xyz_f:0.604252, -0.066823, 0.664952  Reprojection Error: 0.104101, -0.344630 Feature: -0.386988, 0.090932, 0.769843
[11:52:35.540] xyz_f:1.303335, -1.132673, 1.042679  Reprojection Error: -0.141923, 0.596315 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.540] xyz_f:0.191056, -0.020806, 0.259535  Reprojection Error: 0.070028, -0.073476 Feature: -0.123887, 0.030451, 0.255710
[11:52:35.540] xyz_f:1.348540, -1.101035, 0.930550  Reprojection Error: -0.610361, 1.134660 Feature: -0.667367, -0.839298, 1.635960
[11:52:35.540] xyz_f:1.295421, -1.113961, 1.045397  Reprojection Error: -0.611246, 1.525484 Feature: -0.792249, -0.822059, 1.619055
[11:52:35.540] xyz_f:0.629897, -0.066117, 0.689944  Reprojection Error: -0.239846, 0.621851 Feature: -0.402279, 0.098082, 0.801431
[11:52:35.540] it:0 	 Success 	 new_chi2: 2.631146 	 dT = 0.053041, 0.068147, 0.001699
[11:52:35.540] xyz_f:1.421282, -1.066910, 1.016169  Reprojection Error: -0.266853, 0.552165 Feature: -0.695805, -0.801814, 1.578855
[11:52:35.540] xyz_f:0.739052, -0.066550, 0.732080  Reprojection Error: 0.003292, -0.354218 Feature: -0.386988, 0.090932, 0.769843
[11:52:35.540] xyz_f:1.439222, -1.132092, 1.108659  Reprojection Error: -0.190102, 0.531142 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.540] xyz_f:0.325171, -0.020715, 0.327341  Reprojection Error: -0.187195, -0.090362 Feature: -0.123887, 0.030451, 0.255710
[11:52:35.540] xyz_f:1.484229, -1.100434, 0.996456  Reprojection Error: -0.650684, 1.055799 Feature: -0.667367, -0.839298, 1.635960
[11:52:35.540] xyz_f:1.431305, -1.113383, 1.111389  Reprojection Error: -0.659931, 1.461692 Feature: -0.792249, -0.822059, 1.619055
[11:52:35.540] xyz_f:0.764738, -0.065833, 0.757030  Reprojection Error: -0.337060, 0.612984 Feature: -0.402279, 0.098082, 0.801431
[11:52:35.540] it:1 	 Success 	 new_chi2: 2.625009 	 dT = 0.061596, 0.067397, -0.002698
[11:52:35.540] xyz_f:1.494931, -1.067819, 1.086960  Reprojection Error: -0.243517, 0.484621 Feature: -0.695805, -0.801814, 1.578855
[11:52:35.540] xyz_f:0.814142, -0.066983, 0.801095  Reprojection Error: -0.003471, -0.361508 Feature: -0.386988, 0.090932, 0.769843
[11:52:35.540] xyz_f:1.512585, -1.133014, 1.179497  Reprojection Error: -0.174335, 0.470596 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.540] xyz_f:0.401350, -0.020860, 0.395279  Reprojection Error: -0.209181, -0.100872 Feature: -0.123887, 0.030451, 0.255710
[11:52:35.540] xyz_f:1.557906, -1.101388, 1.067412  Reprojection Error: -0.620694, 0.983281 Feature: -0.667367, -0.839298, 1.635960
[11:52:35.540] xyz_f:1.504673, -1.114300, 1.182207  Reprojection Error: -0.644846, 1.402457 Feature: -0.792249, -0.822059, 1.619055
[11:52:35.540] xyz_f:0.839764, -0.066285, 0.826112  Reprojection Error: -0.343403, 0.606258 Feature: -0.402279, 0.098082, 0.801431
[11:52:35.540] it:2 	 Success 	 new_chi2: 2.538735 	 dT = 0.065201, 0.071846, -0.002084
[11:52:35.540] xyz_f:1.563569, -1.068520, 1.161422  Reprojection Error: -0.214439, 0.422241 Feature: -0.695805, -0.801814, 1.578855
[11:52:35.540] xyz_f:0.883896, -0.067318, 0.874188  Reprojection Error: 0.001711, -0.368117 Feature: -0.386988, 0.090932, 0.769843
[11:52:35.540] xyz_f:1.581001, -1.133725, 1.253995  Reprojection Error: -0.152709, 0.414096 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.540] xyz_f:0.471947, -0.020972, 0.467542  Reprojection Error: -0.203244, -0.108789 Feature: -0.123887, 0.030451, 0.255710
[11:52:35.540] xyz_f:1.626565, -1.102123, 1.142000  Reprojection Error: -0.585488, 0.916532 Feature: -0.667367, -0.839298, 1.635960
[11:52:35.540] xyz_f:1.573094, -1.115006, 1.256688  Reprojection Error: -0.623857, 1.347155 Feature: -0.792249, -0.822059, 1.619055
[11:52:35.540] xyz_f:0.909468, -0.066632, 0.899257  Reprojection Error: -0.338233, 0.600119 Feature: -0.402279, 0.098082, 0.801431
[11:52:35.540] it:3 	 Success 	 new_chi2: 2.424612 	 dT = 0.068608, 0.076987, -0.001377
[11:52:35.540] xyz_f:1.637256, -1.068983, 1.240136  Reprojection Error: -0.188409, 0.364219 Feature: -0.695805, -0.801814, 1.578855
[11:52:35.540] xyz_f:0.958323, -0.067538, 0.951998  Reprojection Error: 0.006172, -0.374180 Feature: -0.386988, 0.090932, 0.769843
[11:52:35.540] xyz_f:1.654542, -1.134193, 1.332731  Reprojection Error: -0.133404, 0.361035 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.540] xyz_f:0.546931, -0.021046, 0.544805  Reprojection Error: -0.197727, -0.115015 Feature: -0.123887, 0.030451, 0.255710
[11:52:35.540] xyz_f:1.700266, -1.102608, 1.220798  Reprojection Error: -0.553926, 0.854637 Feature: -0.667367, -0.839298, 1.635960
[11:52:35.540] xyz_f:1.646638, -1.115472, 1.335414  Reprojection Error: -0.605133, 1.295198 Feature: -0.792249, -0.822059, 1.619055
[11:52:35.540] xyz_f:0.983862, -0.066862, 0.977101  Reprojection Error: -0.333797, 0.594450 Feature: -0.402279, 0.098082, 0.801431
[11:52:35.540] it:4 	 Success 	 new_chi2: 2.309379 	 dT = 0.071955, 0.082033, -0.000905
[11:52:35.540] xyz_f:1.716561, -1.069286, 1.323302  Reprojection Error: -0.165365, 0.310275 Feature: -0.695805, -0.801814, 1.578855
[11:52:35.540] xyz_f:1.038115, -0.067683, 1.034572  Reprojection Error: 0.009391, -0.379702 Feature: -0.386988, 0.090932, 0.769843
[11:52:35.540] xyz_f:1.733751, -1.134501, 1.415912  Reprojection Error: -0.116413, 0.311256 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.540] xyz_f:0.627089, -0.021094, 0.627019  Reprojection Error: -0.193936, -0.120003 Feature: -0.123887, 0.030451, 0.255710
[11:52:35.540] xyz_f:1.779580, -1.102926, 1.304019  Reprojection Error: -0.525864, 0.797241 Feature: -0.667367, -0.839298, 1.635960
[11:52:35.540] xyz_f:1.725849, -1.115777, 1.418589  Reprojection Error: -0.588675, 1.246438 Feature: -0.792249, -0.822059, 1.619055
[11:52:35.540] xyz_f:1.063631, -0.067013, 1.059696  Reprojection Error: -0.330591, 0.589259 Feature: -0.402279, 0.098082, 0.801431
[11:52:35.540] it:5 	 Success 	 new_chi2: 2.198282 	 dT = 0.075258, 0.086984, -0.000595
[11:52:35.540] xyz_f:1.801219, -1.069486, 1.411030  Reprojection Error: -0.144713, 0.260178 Feature: -0.695805, -0.801814, 1.578855
[11:52:35.540] xyz_f:1.123093, -0.067778, 1.121910  Reprojection Error: 0.011761, -0.384710 Feature: -0.386988, 0.090932, 0.769843
[11:52:35.540] xyz_f:1.818346, -1.134703, 1.503651  Reprojection Error: -0.101224, 0.264637 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.540] xyz_f:0.712310, -0.021126, 0.714121  Reprojection Error: -0.191287, -0.124062 Feature: -0.123887, 0.030451, 0.255710
[11:52:35.540] xyz_f:1.864244, -1.103135, 1.391784  Reprojection Error: -0.500640, 0.744056 Feature: -0.667367, -0.839298, 1.635960
[11:52:35.540] xyz_f:1.810445, -1.115978, 1.506322  Reprojection Error: -0.573977, 1.200761 Feature: -0.792249, -0.822059, 1.619055
[11:52:35.540] xyz_f:1.148596, -0.067112, 1.147049  Reprojection Error: -0.328226, 0.584529 Feature: -0.402279, 0.098082, 0.801431
[11:52:35.540] it:6 	 Success 	 new_chi2: 2.093582 	 dT = 0.078515, 0.091874, -0.000389
[11:52:35.540] xyz_f:1.891016, -1.069616, 1.503391  Reprojection Error: -0.126019, 0.213700 Feature: -0.695805, -0.801814, 1.578855
[11:52:35.540] xyz_f:1.213100, -0.067840, 1.214016  Reprojection Error: 0.013570, -0.389243 Feature: -0.386988, 0.090932, 0.769843
[11:52:35.540] xyz_f:1.908101, -1.134835, 1.596018  Reprojection Error: -0.087476, 0.221047 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.540] xyz_f:0.802474, -0.021146, 0.806073  Reprojection Error: -0.189360, -0.127411 Feature: -0.123887, 0.030451, 0.255710
[11:52:35.540] xyz_f:1.954045, -1.103272, 1.484168  Reprojection Error: -0.477769, 0.694811 Feature: -0.667367, -0.839298, 1.635960
[11:52:35.540] xyz_f:1.900202, -1.116110, 1.598687  Reprojection Error: -0.560681, 1.158040 Feature: -0.792249, -0.822059, 1.619055
[11:52:35.540] xyz_f:1.238593, -0.067176, 1.239165  Reprojection Error: -0.326416, 0.580232 Feature: -0.402279, 0.098082, 0.801431
[11:52:35.540] it:7 	 Success 	 new_chi2: 1.996604 	 dT = 0.081710, 0.096718, -0.000251
[11:52:35.540] xyz_f:1.985799, -1.069700, 1.600423  Reprojection Error: -0.108982, 0.170617 Feature: -0.695805, -0.801814, 1.578855
[11:52:35.540] xyz_f:1.308018, -0.067880, 1.310883  Reprojection Error: 0.015001, -0.393341 Feature: -0.386988, 0.090932, 0.769843
[11:52:35.540] xyz_f:2.002858, -1.134921, 1.693054  Reprojection Error: -0.074922, 0.180345 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.540] xyz_f:0.897494, -0.021160, 0.902840  Reprojection Error: -0.187902, -0.130208 Feature: -0.123887, 0.030451, 0.255710
[11:52:35.540] xyz_f:2.048830, -1.103360, 1.581215  Reprojection Error: -0.456907, 0.649244 Feature: -0.667367, -0.839298, 1.635960
[11:52:35.540] xyz_f:1.994959, -1.116195, 1.695721  Reprojection Error: -0.548546, 1.118140 Feature: -0.792249, -0.822059, 1.619055
[11:52:35.540] xyz_f:1.333505, -0.067218, 1.336038  Reprojection Error: -0.324981, 0.576333 Feature: -0.402279, 0.098082, 0.801431
[11:52:35.540] it:8 	 Success 	 new_chi2: 1.908029 	 dT = 0.084817, 0.101510, -0.000158
[11:52:35.540] xyz_f:2.085444, -1.069753, 1.702130  Reprojection Error: -0.093382, 0.130710 Feature: -0.695805, -0.801814, 1.578855
[11:52:35.540] xyz_f:1.407748, -0.067905, 1.412487  Reprojection Error: 0.016171, -0.397048 Feature: -0.386988, 0.090932, 0.769843
[11:52:35.540] xyz_f:2.102486, -1.134974, 1.794763  Reprojection Error: -0.063393, 0.142386 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.540] xyz_f:0.997288, -0.021168, 1.004382  Reprojection Error: -0.186761, -0.132569 Feature: -0.123887, 0.030451, 0.255710
[11:52:35.540] xyz_f:2.148477, -1.103416, 1.682932  Reprojection Error: -0.437803, 0.607102 Feature: -0.667367, -0.839298, 1.635960
[11:52:35.540] xyz_f:2.094587, -1.116248, 1.797429  Reprojection Error: -0.537403, 1.080922 Feature: -0.792249, -0.822059, 1.619055
[11:52:35.540] xyz_f:1.433231, -0.067244, 1.437646  Reprojection Error: -0.323807, 0.572795 Feature: -0.402279, 0.098082, 0.801431
[11:52:35.540] it:9 	 Success 	 new_chi2: 1.828048 	 dT = 0.087805, 0.106235, -0.000095
[11:52:35.540] xyz_f:2.189834, -1.069785, 1.808483  Reprojection Error: -0.079053, 0.093768 Feature: -0.695805, -0.801814, 1.578855
[11:52:35.540] xyz_f:1.512189, -0.067920, 1.518778  Reprojection Error: 0.017155, -0.400403 Feature: -0.386988, 0.090932, 0.769843
[11:52:35.540] xyz_f:2.206865, -1.135006, 1.901118  Reprojection Error: -0.052762, 0.107026 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.540] xyz_f:1.101767, -0.021173, 1.110635  Reprojection Error: -0.185839, -0.134581 Feature: -0.123887, 0.030451, 0.255710
[11:52:35.540] xyz_f:2.252867, -1.103449, 1.789291  Reprojection Error: -0.420260, 0.568147 Feature: -0.667367, -0.839298, 1.635960
[11:52:35.540] xyz_f:2.198967, -1.116280, 1.903783  Reprojection Error: -0.527130, 1.046246 Feature: -0.792249, -0.822059, 1.619055
[11:52:35.540] xyz_f:1.537670, -0.067260, 1.543940  Reprojection Error: -0.322816, 0.569585 Feature: -0.402279, 0.098082, 0.801431
[11:52:35.540] it:10 	 Success 	 new_chi2: 1.756506 	 dT = 0.090635, 0.110867, -0.000052
[11:52:35.540] xyz_f:2.298839, -1.069802, 1.919416  Reprojection Error: -0.065862, 0.059589 Feature: -0.695805, -0.801814, 1.578855
[11:52:35.540] xyz_f:1.621223, -0.067928, 1.629677  Reprojection Error: 0.018003, -0.403441 Feature: -0.386988, 0.090932, 0.769843
[11:52:35.540] xyz_f:2.315865, -1.135024, 2.012051  Reprojection Error: -0.042934, 0.074118 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.540] xyz_f:1.210822, -0.021176, 1.221513  Reprojection Error: -0.185072, -0.136309 Feature: -0.123887, 0.030451, 0.255710
[11:52:35.540] xyz_f:2.361873, -1.103467, 1.900226  Reprojection Error: -0.404119, 0.532154 Feature: -0.667367, -0.839298, 1.635960
[11:52:35.540] xyz_f:2.307967, -1.116297, 2.014716  Reprojection Error: -0.517634, 1.013970 Feature: -0.792249, -0.822059, 1.619055
[11:52:35.540] xyz_f:1.646702, -0.067269, 1.654839  Reprojection Error: -0.321960, 0.566671 Feature: -0.402279, 0.098082, 0.801431
[11:52:35.540] it:11 	 Success 	 new_chi2: 1.693015 	 dT = 0.093270, 0.115377, -0.000024
[11:52:35.540] xyz_f:2.412314, -1.069810, 2.034823  Reprojection Error: -0.053701, 0.027982 Feature: -0.695805, -0.801814, 1.578855
[11:52:35.540] xyz_f:1.734710, -0.067932, 1.745068  Reprojection Error: 0.018752, -0.406195 Feature: -0.386988, 0.090932, 0.769843
[11:52:35.540] xyz_f:2.429337, -1.135032, 2.127459  Reprojection Error: -0.033833, 0.043521 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.540] xyz_f:1.324320, -0.021177, 1.336895  Reprojection Error: -0.184417, -0.137804 Feature: -0.123887, 0.030451, 0.255710
[11:52:35.540] xyz_f:2.475348, -1.103476, 2.015635  Reprojection Error: -0.389249, 0.498909 Feature: -0.667367, -0.839298, 1.635960
[11:52:35.540] xyz_f:2.421439, -1.116305, 2.130123  Reprojection Error: -0.508839, 0.983955 Feature: -0.792249, -0.822059, 1.619055
[11:52:35.540] xyz_f:1.760189, -0.067273, 1.770231  Reprojection Error: -0.321205, 0.564024 Feature: -0.402279, 0.098082, 0.801431
[11:52:35.540] it:12 	 Success 	 new_chi2: 1.637038 	 dT = 0.095667, 0.119729, -0.000006
[11:52:35.540] xyz_f:2.530081, -1.069812, 2.154559  Reprojection Error: -0.042477, -0.001235 Feature: -0.695805, -0.801814, 1.578855
[11:52:35.540] xyz_f:1.852480, -0.067933, 1.864800  Reprojection Error: 0.019422, -0.408694 Feature: -0.386988, 0.090932, 0.769843
[11:52:35.540] xyz_f:2.547104, -1.135034, 2.247195  Reprojection Error: -0.025396, 0.015094 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.540] xyz_f:1.442092, -0.021178, 1.456625  Reprojection Error: -0.183847, -0.139106 Feature: -0.123887, 0.030451, 0.255710
[11:52:35.540] xyz_f:2.593115, -1.103478, 2.135371  Reprojection Error: -0.375539, 0.468212 Feature: -0.667367, -0.839298, 1.635960
[11:52:35.540] xyz_f:2.539205, -1.116307, 2.249859  Reprojection Error: -0.500686, 0.956066 Feature: -0.792249, -0.822059, 1.619055
[11:52:35.540] xyz_f:1.877959, -0.067274, 1.889963  Reprojection Error: -0.320526, 0.561617 Feature: -0.402279, 0.098082, 0.801431
[11:52:35.540] it:13 	 Success 	 new_chi2: 1.587958 	 dT = 0.097783, 0.123885, 0.000006
[11:52:35.540] xyz_f:2.651933, -1.069810, 2.278436  Reprojection Error: -0.032112, -0.028232 Feature: -0.695805, -0.801814, 1.578855
[11:52:35.540] xyz_f:1.974329, -0.067932, 1.988682  Reprojection Error: 0.020033, -0.410964 Feature: -0.386988, 0.090932, 0.769843
[11:52:35.540] xyz_f:2.668957, -1.135032, 2.371072  Reprojection Error: -0.017569, -0.011295 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.540] xyz_f:1.563939, -0.021177, 1.580509  Reprojection Error: -0.183340, -0.140246 Feature: -0.123887, 0.030451, 0.255710
[11:52:35.540] xyz_f:2.714967, -1.103476, 2.259248  Reprojection Error: -0.362889, 0.439877 Feature: -0.667367, -0.839298, 1.635960
[11:52:35.540] xyz_f:2.661058, -1.116305, 2.373737  Reprojection Error: -0.493121, 0.930171 Feature: -0.792249, -0.822059, 1.619055
[11:52:35.540] xyz_f:1.999808, -0.067273, 2.013845  Reprojection Error: -0.319907, 0.559426 Feature: -0.402279, 0.098082, 0.801431
[11:52:35.540] it:14 	 Success 	 new_chi2: 1.545128 	 dT = 0.099577, 0.127807, 0.000013
[11:52:35.540] xyz_f:2.777627, -1.069806, 2.406226  Reprojection Error: -0.022535, -0.053170 Feature: -0.695805, -0.801814, 1.578855
[11:52:35.540] xyz_f:2.100016, -0.067930, 2.116481  Reprojection Error: 0.020595, -0.413027 Feature: -0.386988, 0.090932, 0.769843
[11:52:35.540] xyz_f:2.794652, -1.135027, 2.498862  Reprojection Error: -0.010307, -0.035777 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.540] xyz_f:1.689620, -0.021177, 1.708313  Reprojection Error: -0.182881, -0.141248 Feature: -0.123887, 0.030451, 0.255710
[11:52:35.540] xyz_f:2.840661, -1.103471, 2.387038  Reprojection Error: -0.351212, 0.413727 Feature: -0.667367, -0.839298, 1.635960
[11:52:35.540] xyz_f:2.786754, -1.116301, 2.501527  Reprojection Error: -0.486100, 0.906146 Feature: -0.792249, -0.822059, 1.619055
[11:52:35.540] xyz_f:2.125495, -0.067270, 2.141643  Reprojection Error: -0.319337, 0.557432 Feature: -0.402279, 0.098082, 0.801431
[11:52:35.540] it:15 	 Success 	 new_chi2: 1.507899 	 dT = 0.101005, 0.131453, 0.000018
[11:52:35.540] xyz_f:2.906883, -1.069800, 2.537657  Reprojection Error: -0.013684, -0.076199 Feature: -0.695805, -0.801814, 1.578855
[11:52:35.541] xyz_f:2.229262, -0.067927, 2.247923  Reprojection Error: 0.021117, -0.414905 Feature: -0.386988, 0.090932, 0.769843
[11:52:35.541] xyz_f:2.923910, -1.135021, 2.630293  Reprojection Error: -0.003566, -0.058476 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.541] xyz_f:1.818859, -0.021176, 1.839762  Reprojection Error: -0.182462, -0.142135 Feature: -0.123887, 0.030451, 0.255710
[11:52:35.541] xyz_f:2.969917, -1.103465, 2.518468  Reprojection Error: -0.340431, 0.389600 Feature: -0.667367, -0.839298, 1.635960
[11:52:35.541] xyz_f:2.916011, -1.116295, 2.632958  Reprojection Error: -0.479583, 0.883868 Feature: -0.792249, -0.822059, 1.619055
[11:52:35.541] xyz_f:2.254742, -0.067267, 2.273086  Reprojection Error: -0.318807, 0.555614 Feature: -0.402279, 0.098082, 0.801431
[11:52:35.541] it:16 	 Success 	 new_chi2: 1.475650 	 dT = 0.102029, 0.134784, 0.000020
[11:52:35.541] xyz_f:3.039382, -1.069793, 2.672417  Reprojection Error: -0.005501, -0.097460 Feature: -0.695805, -0.801814, 1.578855
[11:52:35.541] xyz_f:2.361751, -0.067924, 2.382695  Reprojection Error: 0.021606, -0.416616 Feature: -0.386988, 0.090932, 0.769843
[11:52:35.541] xyz_f:3.056411, -1.135015, 2.765052  Reprojection Error: 0.002691, -0.079509 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.541] xyz_f:1.951339, -0.021175, 1.974542  Reprojection Error: -0.182073, -0.142921 Feature: -0.123887, 0.030451, 0.255710
[11:52:35.541] xyz_f:3.102416, -1.103458, 2.653225  Reprojection Error: -0.330476, 0.367344 Feature: -0.667367, -0.839298, 1.635960
[11:52:35.541] xyz_f:3.048512, -1.116288, 2.767717  Reprojection Error: -0.473533, 0.863222 Feature: -0.792249, -0.822059, 1.619055
[11:52:35.541] xyz_f:2.387231, -0.067264, 2.407857  Reprojection Error: -0.318311, 0.553957 Feature: -0.402279, 0.098082, 0.801431
[11:52:35.541] it:17 	 Success 	 new_chi2: 1.447794 	 dT = 0.102610, 0.137760, 0.000021
[11:52:35.541] xyz_f:3.174770, -1.069786, 2.810151  Reprojection Error: 0.002064, -0.117082 Feature: -0.695805, -0.801814, 1.578855
[11:52:35.541] xyz_f:2.497128, -0.067921, 2.520443  Reprojection Error: 0.022066, -0.418175 Feature: -0.386988, 0.090932, 0.769843
[11:52:35.541] xyz_f:3.191801, -1.135008, 2.902786  Reprojection Error: 0.008498, -0.098988 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.541] xyz_f:2.086708, -0.021174, 2.112298  Reprojection Error: -0.181709, -0.143621 Feature: -0.123887, 0.030451, 0.255710
[11:52:35.541] xyz_f:3.237804, -1.103451, 2.790959  Reprojection Error: -0.321280, 0.346817 Feature: -0.667367, -0.839298, 1.635960
[11:52:35.541] xyz_f:3.183903, -1.116281, 2.905451  Reprojection Error: -0.467917, 0.844100 Feature: -0.792249, -0.822059, 1.619055
[11:52:35.541] xyz_f:2.522609, -0.067261, 2.545605  Reprojection Error: -0.317844, 0.552444 Feature: -0.402279, 0.098082, 0.801431
[11:52:35.541] it:18 	 Success 	 new_chi2: 1.423792 	 dT = 0.102715, 0.140346, 0.000020
[11:52:35.541] xyz_f:3.312659, -1.069780, 2.950472  Reprojection Error: 0.009059, -0.135190 Feature: -0.695805, -0.801814, 1.578855
[11:52:35.541] xyz_f:2.635005, -0.067918, 2.660777  Reprojection Error: 0.022502, -0.419598 Feature: -0.386988, 0.090932, 0.769843
[11:52:35.541] xyz_f:3.329692, -1.135001, 3.043106  Reprojection Error: 0.013888, -0.117020 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.541] xyz_f:2.224577, -0.021173, 2.252641  Reprojection Error: -0.181366, -0.144246 Feature: -0.123887, 0.030451, 0.255710
[11:52:35.541] xyz_f:3.375692, -1.103443, 2.931278  Reprojection Error: -0.312787, 0.327888 Feature: -0.667367, -0.839298, 1.635960
[11:52:35.541] xyz_f:3.321794, -1.116274, 3.045772  Reprojection Error: -0.462704, 0.826398 Feature: -0.792249, -0.822059, 1.619055
[11:52:35.541] xyz_f:2.660487, -0.067257, 2.685938  Reprojection Error: -0.317401, 0.551062 Feature: -0.402279, 0.098082, 0.801431
[11:52:35.541] it:19 	 Success 	 new_chi2: 1.403154 	 dT = 0.102314, 0.142509, 0.000020
[11:52:35.541] xyz_f:3.452627, -1.069773, 3.092956  Reprojection Error: 0.015527, -0.151895 Feature: -0.695805, -0.801814, 1.578855
[11:52:35.541] xyz_f:2.774963, -0.067914, 2.803274  Reprojection Error: 0.022915, -0.420896 Feature: -0.386988, 0.090932, 0.769843
[11:52:35.541] xyz_f:3.469662, -1.134994, 3.185590  Reprojection Error: 0.018889, -0.133705 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.541] xyz_f:2.364527, -0.021171, 2.395145  Reprojection Error: -0.181040, -0.144805 Feature: -0.123887, 0.030451, 0.255710
[11:52:35.541] xyz_f:3.515660, -1.103436, 3.073761  Reprojection Error: -0.304941, 0.310437 Feature: -0.667367, -0.839298, 1.635960
[11:52:35.541] xyz_f:3.461764, -1.116268, 3.188255  Reprojection Error: -0.457866, 0.810017 Feature: -0.792249, -0.822059, 1.619055
[11:52:35.541] xyz_f:2.800445, -0.067254, 2.828434  Reprojection Error: -0.316981, 0.549799 Feature: -0.402279, 0.098082, 0.801431
[11:52:35.541] it:20 	 Success 	 new_chi2: 1.385442 	 dT = 0.101384, 0.144218, 0.000019
[11:52:35.541] xyz_f:3.594227, -1.069767, 3.237150  Reprojection Error: 0.021508, -0.167303 Feature: -0.695805, -0.801814, 1.578855
[11:52:35.541] xyz_f:2.916553, -0.067911, 2.947481  Reprojection Error: 0.023309, -0.422083 Feature: -0.386988, 0.090932, 0.769843
[11:52:35.541] xyz_f:3.611264, -1.134988, 3.329784  Reprojection Error: 0.023529, -0.149136 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.541] xyz_f:2.506109, -0.021170, 2.539359  Reprojection Error: -0.180730, -0.145308 Feature: -0.123887, 0.030451, 0.255710
[11:52:35.541] xyz_f:3.657260, -1.103430, 3.217954  Reprojection Error: -0.297693, 0.294349 Feature: -0.667367, -0.839298, 1.635960
[11:52:35.541] xyz_f:3.603366, -1.116261, 3.332449  Reprojection Error: -0.453376, 0.794865 Feature: -0.792249, -0.822059, 1.619055
[11:52:35.541] xyz_f:2.942035, -0.067251, 2.972641  Reprojection Error: -0.316581, 0.548645 Feature: -0.402279, 0.098082, 0.801431
[11:52:35.541] it:21 	 Success 	 new_chi2: 1.370262 	 dT = 0.099907, 0.145451, 0.000018
[11:52:35.541] xyz_f:3.736988, -1.069761, 3.382578  Reprojection Error: 0.027039, -0.181513 Feature: -0.695805, -0.801814, 1.578855
[11:52:35.541] xyz_f:3.059304, -0.067909, 3.092921  Reprojection Error: 0.023685, -0.423167 Feature: -0.386988, 0.090932, 0.769843
[11:52:35.541] xyz_f:3.754028, -1.134982, 3.475212  Reprojection Error: 0.027833, -0.163401 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.541] xyz_f:2.648853, -0.021169, 2.684807  Reprojection Error: -0.180432, -0.145760 Feature: -0.123887, 0.030451, 0.255710
[11:52:35.541] xyz_f:3.800021, -1.103423, 3.363381  Reprojection Error: -0.290998, 0.279521 Feature: -0.667367, -0.839298, 1.635960
[11:52:35.541] xyz_f:3.746129, -1.116255, 3.477877  Reprojection Error: -0.449210, 0.780857 Feature: -0.792249, -0.822059, 1.619055
[11:52:35.541] xyz_f:3.084787, -0.067248, 3.118080  Reprojection Error: -0.316200, 0.547588 Feature: -0.402279, 0.098082, 0.801431
[11:52:35.541] it:22 	 Success 	 new_chi2: 1.357271 	 dT = 0.097872, 0.146189, 0.000017
[11:52:35.541] xyz_f:3.880423, -1.069755, 3.528746  Reprojection Error: 0.032154, -0.194614 Feature: -0.695805, -0.801814, 1.578855
[11:52:35.541] xyz_f:3.202730, -0.067906, 3.239100  Reprojection Error: 0.024044, -0.424159 Feature: -0.386988, 0.090932, 0.769843
[11:52:35.541] xyz_f:3.897464, -1.134976, 3.621379  Reprojection Error: 0.031826, -0.176585 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.541] xyz_f:2.792272, -0.021169, 2.830992  Reprojection Error: -0.180147, -0.146167 Feature: -0.123887, 0.030451, 0.255710
[11:52:35.541] xyz_f:3.943456, -1.103418, 3.509548  Reprojection Error: -0.284812, 0.265855 Feature: -0.667367, -0.839298, 1.635960
[11:52:35.541] xyz_f:3.889566, -1.116250, 3.624045  Reprojection Error: -0.445346, 0.767910 Feature: -0.792249, -0.822059, 1.619055
[11:52:35.541] xyz_f:3.228213, -0.067245, 3.264259  Reprojection Error: -0.315835, 0.546622 Feature: -0.402279, 0.098082, 0.801431
[11:52:35.541] it:23 	 Success 	 new_chi2: 1.346164 	 dT = 0.095276, 0.146420, 0.000016
[11:52:35.541] xyz_f:4.024034, -1.069750, 3.675147  Reprojection Error: 0.036883, -0.206692 Feature: -0.695805, -0.801814, 1.578855
[11:52:35.541] xyz_f:3.346332, -0.067903, 3.385510  Reprojection Error: 0.024388, -0.425066 Feature: -0.386988, 0.090932, 0.769843
[11:52:35.541] xyz_f:4.041077, -1.134971, 3.767780  Reprojection Error: 0.035528, -0.188764 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.541] xyz_f:2.935868, -0.021168, 2.977409  Reprojection Error: -0.179872, -0.146535 Feature: -0.123887, 0.030451, 0.255710
[11:52:35.541] xyz_f:4.087067, -1.103412, 3.655948  Reprojection Error: -0.279099, 0.253264 Feature: -0.667367, -0.839298, 1.635960
[11:52:35.541] xyz_f:4.033178, -1.116244, 3.770446  Reprojection Error: -0.441761, 0.755949 Feature: -0.792249, -0.822059, 1.619055
[11:52:35.541] xyz_f:3.371816, -0.067243, 3.410669  Reprojection Error: -0.315486, 0.545737 Feature: -0.402279, 0.098082, 0.801431
[11:52:35.541] it:24 	 Success 	 new_chi2: 1.336677 	 dT = 0.092124, 0.146140, 0.000014
[11:52:35.541] xyz_f:4.167318, -1.069745, 3.821268  Reprojection Error: 0.041256, -0.217824 Feature: -0.695805, -0.801814, 1.578855
[11:52:35.541] xyz_f:3.489609, -0.067901, 3.531642  Reprojection Error: 0.024718, -0.425897 Feature: -0.386988, 0.090932, 0.769843
[11:52:35.541] xyz_f:4.184363, -1.134966, 3.913901  Reprojection Error: 0.038960, -0.200012 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.541] xyz_f:3.079139, -0.021167, 3.123546  Reprojection Error: -0.179607, -0.146868 Feature: -0.123887, 0.030451, 0.255710
[11:52:35.541] xyz_f:4.230351, -1.103407, 3.802068  Reprojection Error: -0.273820, 0.241663 Feature: -0.667367, -0.839298, 1.635960
[11:52:35.541] xyz_f:4.176464, -1.116239, 3.916567  Reprojection Error: -0.438438, 0.744902 Feature: -0.792249, -0.822059, 1.619055
[11:52:35.541] xyz_f:3.515093, -0.067240, 3.556800  Reprojection Error: -0.315151, 0.544926 Feature: -0.402279, 0.098082, 0.801431
[11:52:35.541] it:25 	 Success 	 new_chi2: 1.328579 	 dT = 0.088427, 0.145350, 0.000013
[11:52:35.541] xyz_f:4.309777, -1.069740, 3.966602  Reprojection Error: 0.045298, -0.228082 Feature: -0.695805, -0.801814, 1.578855
[11:52:35.541] xyz_f:3.632060, -0.067899, 3.676984  Reprojection Error: 0.025033, -0.426657 Feature: -0.386988, 0.090932, 0.769843
[11:52:35.541] xyz_f:4.326822, -1.134961, 4.059234  Reprojection Error: 0.042142, -0.210395 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.541] xyz_f:3.221585, -0.021166, 3.268893  Reprojection Error: -0.179351, -0.147170 Feature: -0.123887, 0.030451, 0.255710
[11:52:35.541] xyz_f:4.372809, -1.103402, 3.947401  Reprojection Error: -0.268945, 0.230977 Feature: -0.667367, -0.839298, 1.635960
[11:52:35.541] xyz_f:4.318924, -1.116235, 4.061900  Reprojection Error: -0.435356, 0.734704 Feature: -0.792249, -0.822059, 1.619055
[11:52:35.541] xyz_f:3.657544, -0.067238, 3.702142  Reprojection Error: -0.314831, 0.544183 Feature: -0.402279, 0.098082, 0.801431
[11:52:35.541] it:26 	 Success 	 new_chi2: 1.321671 	 dT = 0.084205, 0.144060, 0.000012
[11:52:35.541] xyz_f:4.450919, -1.069736, 4.110646  Reprojection Error: 0.049036, -0.237533 Feature: -0.695805, -0.801814, 1.578855
[11:52:35.541] xyz_f:3.773196, -0.067897, 3.821036  Reprojection Error: 0.025336, -0.427354 Feature: -0.386988, 0.090932, 0.769843
[11:52:35.541] xyz_f:4.467966, -1.134957, 4.203278  Reprojection Error: 0.045091, -0.219978 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.541] xyz_f:3.362716, -0.021166, 3.412951  Reprojection Error: -0.179105, -0.147443 Feature: -0.123887, 0.030451, 0.255710
[11:52:35.541] xyz_f:4.513951, -1.103398, 4.091444  Reprojection Error: -0.264442, 0.221135 Feature: -0.667367, -0.839298, 1.635960
[11:52:35.541] xyz_f:4.460068, -1.116231, 4.205945  Reprojection Error: -0.432499, 0.725291 Feature: -0.792249, -0.822059, 1.619055
[11:52:35.541] xyz_f:3.798680, -0.067236, 3.846194  Reprojection Error: -0.314524, 0.543502 Feature: -0.402279, 0.098082, 0.801431
[11:52:35.541] it:27 	 Success 	 new_chi2: 1.315781 	 dT = 0.079486, 0.142285, 0.000012
[11:52:35.541] xyz_f:4.590273, -1.069732, 4.252916  Reprojection Error: 0.052491, -0.246240 Feature: -0.695805, -0.801814, 1.578855
[11:52:35.541] xyz_f:3.912543, -0.067895, 3.963314  Reprojection Error: 0.025626, -0.427992 Feature: -0.386988, 0.090932, 0.769843
[11:52:35.541] xyz_f:4.607321, -1.134953, 4.345548  Reprojection Error: 0.047824, -0.228819 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.541] xyz_f:3.502058, -0.021165, 3.555233  Reprojection Error: -0.178867, -0.147692 Feature: -0.123887, 0.030451, 0.255710
[11:52:35.541] xyz_f:4.653305, -1.103394, 4.233714  Reprojection Error: -0.260283, 0.212072 Feature: -0.667367, -0.839298, 1.635960
[11:52:35.541] xyz_f:4.599422, -1.116227, 4.348215  Reprojection Error: -0.429852, 0.716607 Feature: -0.792249, -0.822059, 1.619055
[11:52:35.541] xyz_f:3.938028, -0.067234, 3.988471  Reprojection Error: -0.314230, 0.542878 Feature: -0.402279, 0.098082, 0.801431
[11:52:35.541] it:28 	 Success 	 new_chi2: 1.310761 	 dT = 0.074302, 0.140047, 0.000011
[11:52:35.541] xyz_f:4.727386, -1.069729, 4.392950  Reprojection Error: 0.055684, -0.254259 Feature: -0.695805, -0.801814, 1.578855
[11:52:35.541] xyz_f:4.049650, -0.067893, 4.103354  Reprojection Error: 0.025904, -0.428577 Feature: -0.386988, 0.090932, 0.769843
[11:52:35.541] xyz_f:4.744435, -1.134949, 4.485582  Reprojection Error: 0.050355, -0.236973 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.541] xyz_f:3.639161, -0.021164, 3.695278  Reprojection Error: -0.178638, -0.147917 Feature: -0.123887, 0.030451, 0.255710
[11:52:35.541] xyz_f:4.790417, -1.103390, 4.373747  Reprojection Error: -0.256442, 0.203727 Feature: -0.667367, -0.839298, 1.635960
[11:52:35.541] xyz_f:4.736536, -1.116223, 4.488248  Reprojection Error: -0.427399, 0.708597 Feature: -0.792249, -0.822059, 1.619055
[11:52:35.541] xyz_f:4.075135, -0.067232, 4.128511  Reprojection Error: -0.313949, 0.542306 Feature: -0.402279, 0.098082, 0.801431
[11:52:35.541] it:29 	 Success 	 new_chi2: 1.306482 	 dT = 0.068693, 0.137375, 0.000010
[11:52:35.541] xyz_f:4.861835, -1.069725, 4.530312  Reprojection Error: 0.058636, -0.261643 Feature: -0.695805, -0.801814, 1.578855
[11:52:35.541] xyz_f:4.184094, -0.067892, 4.240723  Reprojection Error: 0.026169, -0.429114 Feature: -0.386988, 0.090932, 0.769843
[11:52:35.541] xyz_f:4.878885, -1.134946, 4.622944  Reprojection Error: 0.052700, -0.244492 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.541] xyz_f:3.773601, -0.021164, 3.832650  Reprojection Error: -0.178417, -0.148123 Feature: -0.123887, 0.030451, 0.255710
[11:52:35.541] xyz_f:4.924867, -1.103387, 4.511108  Reprojection Error: -0.252896, 0.196044 Feature: -0.667367, -0.839298, 1.635960
[11:52:35.541] xyz_f:4.870986, -1.116220, 4.625610  Reprojection Error: -0.425127, 0.701211 Feature: -0.792249, -0.822059, 1.619055
[11:52:35.541] xyz_f:4.209579, -0.067231, 4.265880  Reprojection Error: -0.313679, 0.541781 Feature: -0.402279, 0.098082, 0.801431
[11:52:35.541] it:30 	 Success 	 new_chi2: 1.302836 	 dT = 0.062703, 0.134301, 0.000009
[11:52:35.541] xyz_f:4.993230, -1.069722, 4.664601  Reprojection Error: 0.061363, -0.268441 Feature: -0.695805, -0.801814, 1.578855
[11:52:35.541] xyz_f:4.315485, -0.067890, 4.375018  Reprojection Error: 0.026423, -0.429605 Feature: -0.386988, 0.090932, 0.769843
[11:52:35.541] xyz_f:5.010282, -1.134943, 4.757233  Reprojection Error: 0.054871, -0.251423 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.541] xyz_f:3.904988, -0.021163, 3.966949  Reprojection Error: -0.178204, -0.148310 Feature: -0.123887, 0.030451, 0.255710
[11:52:35.541] xyz_f:5.056262, -1.103383, 4.645397  Reprojection Error: -0.249622, 0.188973 Feature: -0.667367, -0.839298, 1.635960
[11:52:35.541] xyz_f:5.002383, -1.116217, 4.759899  Reprojection Error: -0.423022, 0.694402 Feature: -0.792249, -0.822059, 1.619055
[11:52:35.541] xyz_f:4.340970, -0.067229, 4.400175  Reprojection Error: -0.313422, 0.541300 Feature: -0.402279, 0.098082, 0.801431
[11:52:35.541] it:31 	 Success 	 new_chi2: 1.299729 	 dT = 0.056382, 0.130863, 0.000009
[11:52:35.541] xyz_f:5.121219, -1.069719, 4.795453  Reprojection Error: 0.063882, -0.274699 Feature: -0.695805, -0.801814, 1.578855
[11:52:35.541] xyz_f:4.443469, -0.067889, 4.505876  Reprojection Error: 0.026666, -0.430056 Feature: -0.386988, 0.090932, 0.769843
[11:52:35.541] xyz_f:5.138272, -1.134940, 4.888085  Reprojection Error: 0.056880, -0.257810 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.541] xyz_f:4.032968, -0.021163, 4.097811  Reprojection Error: -0.178000, -0.148480 Feature: -0.123887, 0.030451, 0.255710
[11:52:35.541] xyz_f:5.184251, -1.103380, 4.776249  Reprojection Error: -0.246599, 0.182465 Feature: -0.667367, -0.839298, 1.635960
[11:52:35.541] xyz_f:5.130373, -1.116214, 4.890751  Reprojection Error: -0.421074, 0.688127 Feature: -0.792249, -0.822059, 1.619055
[11:52:35.541] xyz_f:4.468955, -0.067228, 4.531033  Reprojection Error: -0.313177, 0.540858 Feature: -0.402279, 0.098082, 0.801431
[11:52:35.541] it:32 	 Success 	 new_chi2: 1.297081 	 dT = 0.049778, 0.127102, 0.000008
[11:52:35.541] xyz_f:5.245488, -1.069717, 4.922545  Reprojection Error: 0.066209, -0.280459 Feature: -0.695805, -0.801814, 1.578855
[11:52:35.541] xyz_f:4.567734, -0.067888, 4.632973  Reprojection Error: 0.026897, -0.430470 Feature: -0.386988, 0.090932, 0.769843
[11:52:35.541] xyz_f:5.262541, -1.134937, 5.015176  Reprojection Error: 0.058740, -0.263694 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.541] xyz_f:4.157230, -0.021162, 4.224911  Reprojection Error: -0.177804, -0.148636 Feature: -0.123887, 0.030451, 0.255710
[11:52:35.541] xyz_f:5.308520, -1.103377, 4.903340  Reprojection Error: -0.243809, 0.176477 Feature: -0.667367, -0.839298, 1.635960
[11:52:35.541] xyz_f:5.254643, -1.116211, 5.017843  Reprojection Error: -0.419271, 0.682346 Feature: -0.792249, -0.822059, 1.619055
[11:52:35.541] xyz_f:4.593219, -0.067226, 4.658129  Reprojection Error: -0.312943, 0.540453 Feature: -0.402279, 0.098082, 0.801431
[11:52:35.541] it:33 	 Success 	 new_chi2: 1.294823 	 dT = 0.042947, 0.123060, 0.000008
[11:52:35.541] xyz_f:5.365767, -1.069714, 5.045595  Reprojection Error: 0.068359, -0.285759 Feature: -0.695805, -0.801814, 1.578855
[11:52:35.541] xyz_f:4.688008, -0.067886, 4.756028  Reprojection Error: 0.027118, -0.430849 Feature: -0.386988, 0.090932, 0.769843
[11:52:35.541] xyz_f:5.382821, -1.134935, 5.138226  Reprojection Error: 0.060460, -0.269114 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.541] xyz_f:4.277501, -0.021162, 4.347969  Reprojection Error: -0.177617, -0.148778 Feature: -0.123887, 0.030451, 0.255710
[11:52:35.541] xyz_f:5.428798, -1.103375, 5.026389  Reprojection Error: -0.241235, 0.170967 Feature: -0.667367, -0.839298, 1.635960
[11:52:35.541] xyz_f:5.374922, -1.116208, 5.140893  Reprojection Error: -0.417602, 0.677021 Feature: -0.792249, -0.822059, 1.619055
[11:52:35.541] xyz_f:4.713494, -0.067225, 4.781184  Reprojection Error: -0.312720, 0.540082 Feature: -0.402279, 0.098082, 0.801431
[11:52:35.541] it:34 	 Success 	 new_chi2: 1.292898 	 dT = 0.035940, 0.118782, 0.000007
[11:52:35.541] xyz_f:5.481828, -1.069712, 5.164368  Reprojection Error: 0.070343, -0.290636 Feature: -0.695805, -0.801814, 1.578855
[11:52:35.541] xyz_f:4.804065, -0.067885, 4.874806  Reprojection Error: 0.027327, -0.431197 Feature: -0.386988, 0.090932, 0.769843
[11:52:35.541] xyz_f:5.498883, -1.134932, 5.256999  Reprojection Error: 0.062051, -0.274105 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.541] xyz_f:4.393555, -0.021162, 4.466749  Reprojection Error: -0.177437, -0.148907 Feature: -0.123887, 0.030451, 0.255710
[11:52:35.541] xyz_f:5.544860, -1.103372, 5.145162  Reprojection Error: -0.238860, 0.165899 Feature: -0.667367, -0.839298, 1.635960
[11:52:35.541] xyz_f:5.490984, -1.116206, 5.259666  Reprojection Error: -0.416059, 0.672118 Feature: -0.792249, -0.822059, 1.619055
[11:52:35.541] xyz_f:4.829552, -0.067224, 4.899962  Reprojection Error: -0.312508, 0.539741 Feature: -0.402279, 0.098082, 0.801431
[11:52:35.541] it:35 	 Success 	 new_chi2: 1.291255 	 dT = 0.028811, 0.114313, 0.000007
[11:52:35.541] xyz_f:5.593489, -1.069709, 5.278672  Reprojection Error: 0.072175, -0.295121 Feature: -0.695805, -0.801814, 1.578855
[11:52:35.541] xyz_f:4.915723, -0.067884, 4.989115  Reprojection Error: 0.027526, -0.431517 Feature: -0.386988, 0.090932, 0.769843
[11:52:35.541] xyz_f:5.610544, -1.134930, 5.371303  Reprojection Error: 0.063523, -0.278700 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.541] xyz_f:4.505210, -0.021161, 4.581061  Reprojection Error: -0.177266, -0.149025 Feature: -0.123887, 0.030451, 0.255710
[11:52:35.541] xyz_f:5.656520, -1.103370, 5.259466  Reprojection Error: -0.236669, 0.161238 Feature: -0.667367, -0.839298, 1.635960
[11:52:35.541] xyz_f:5.602645, -1.116204, 5.373970  Reprojection Error: -0.414632, 0.667604 Feature: -0.792249, -0.822059, 1.619055
[11:52:35.541] xyz_f:4.941209, -0.067223, 5.014270  Reprojection Error: -0.312307, 0.539428 Feature: -0.402279, 0.098082, 0.801431
[11:52:35.541] it:36 	 Success 	 new_chi2: 1.289852 	 dT = 0.021611, 0.109696, 0.000006
[11:52:35.541] xyz_f:5.700609, -1.069707, 5.388360  Reprojection Error: 0.073866, -0.299247 Feature: -0.695805, -0.801814, 1.578855
[11:52:35.541] xyz_f:5.022839, -0.067883, 5.098807  Reprojection Error: 0.027715, -0.431810 Feature: -0.386988, 0.090932, 0.769843
[11:52:35.541] xyz_f:5.717665, -1.134928, 5.480991  Reprojection Error: 0.064882, -0.282929 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.541] xyz_f:4.612324, -0.021161, 4.690756  Reprojection Error: -0.177103, -0.149134 Feature: -0.123887, 0.030451, 0.255710
[11:52:35.541] xyz_f:5.763640, -1.103368, 5.369153  Reprojection Error: -0.234649, 0.156952 Feature: -0.667367, -0.839298, 1.635960
[11:52:35.542] xyz_f:5.709766, -1.116202, 5.483658  Reprojection Error: -0.413312, 0.663448 Feature: -0.792249, -0.822059, 1.619055
[11:52:35.542] xyz_f:5.048326, -0.067222, 5.123962  Reprojection Error: -0.312116, 0.539140 Feature: -0.402279, 0.098082, 0.801431
[11:52:35.542] it:37 	 Success 	 new_chi2: 1.288655 	 dT = 0.014390, 0.104975, 0.000006
[11:52:35.542] xyz_f:5.803091, -1.069705, 5.493328  Reprojection Error: 0.075426, -0.303041 Feature: -0.695805, -0.801814, 1.578855
[11:52:35.542] xyz_f:5.125318, -0.067882, 5.203778  Reprojection Error: 0.027893, -0.432078 Feature: -0.386988, 0.090932, 0.769843
[11:52:35.542] xyz_f:5.820148, -1.134926, 5.585959  Reprojection Error: 0.066139, -0.286820 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.542] xyz_f:4.714800, -0.021161, 4.795730  Reprojection Error: -0.176948, -0.149232 Feature: -0.123887, 0.030451, 0.255710
[11:52:35.542] xyz_f:5.866122, -1.103365, 5.474121  Reprojection Error: -0.232786, 0.153011 Feature: -0.667367, -0.839298, 1.635960
[11:52:35.542] xyz_f:5.812249, -1.116200, 5.588626  Reprojection Error: -0.412093, 0.659625 Feature: -0.792249, -0.822059, 1.619055
[11:52:35.542] xyz_f:5.150804, -0.067221, 5.228934  Reprojection Error: -0.311936, 0.538877 Feature: -0.402279, 0.098082, 0.801431
[11:52:35.542] it:38 	 Success 	 new_chi2: 1.287631 	 dT = 0.007193, 0.100191, 0.000006
[11:52:35.542] xyz_f:5.900876, -1.069703, 5.593512  Reprojection Error: 0.076864, -0.306529 Feature: -0.695805, -0.801814, 1.578855
[11:52:35.542] xyz_f:5.223100, -0.067881, 5.303966  Reprojection Error: 0.028062, -0.432325 Feature: -0.386988, 0.090932, 0.769843
[11:52:35.542] xyz_f:5.917933, -1.134924, 5.686142  Reprojection Error: 0.067299, -0.290400 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.542] xyz_f:4.812579, -0.021160, 4.895919  Reprojection Error: -0.176801, -0.149323 Feature: -0.123887, 0.030451, 0.255710
[11:52:35.542] xyz_f:5.963907, -1.103363, 5.574304  Reprojection Error: -0.231069, 0.149388 Feature: -0.667367, -0.839298, 1.635960
[11:52:35.542] xyz_f:5.910034, -1.116198, 5.688809  Reprojection Error: -0.410967, 0.656107 Feature: -0.792249, -0.822059, 1.619055
[11:52:35.542] xyz_f:5.248586, -0.067220, 5.329121  Reprojection Error: -0.311765, 0.538635 Feature: -0.402279, 0.098082, 0.801431
[11:52:35.542] it:39 	 Success 	 new_chi2: 1.286755 	 dT = 0.000063, 0.095382, 0.000006
[11:52:35.542] xyz_f:5.993943, -1.069701, 5.688886  Reprojection Error: 0.078191, -0.309735 Feature: -0.695805, -0.801814, 1.578855
[11:52:35.542] xyz_f:5.316164, -0.067880, 5.399345  Reprojection Error: 0.028221, -0.432551 Feature: -0.386988, 0.090932, 0.769843
[11:52:35.542] xyz_f:6.011001, -1.134922, 5.781517  Reprojection Error: 0.068370, -0.293693 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.542] xyz_f:4.905642, -0.021160, 4.991300  Reprojection Error: -0.176662, -0.149405 Feature: -0.123887, 0.030451, 0.255710
[11:52:35.542] xyz_f:6.056974, -1.103361, 5.669679  Reprojection Error: -0.229486, 0.146058 Feature: -0.667367, -0.839298, 1.635960
[11:52:35.542] xyz_f:6.003102, -1.116196, 5.784184  Reprojection Error: -0.409927, 0.652872 Feature: -0.792249, -0.822059, 1.619055
[11:52:35.542] xyz_f:5.341651, -0.067219, 5.424500  Reprojection Error: -0.311604, 0.538413 Feature: -0.402279, 0.098082, 0.801431
[11:52:35.542] it:40 	 Success 	 new_chi2: 1.286005 	 dT = -0.006961, 0.090583, 0.000005
[11:52:35.542] xyz_f:6.082307, -1.069700, 5.779462  Reprojection Error: 0.079414, -0.312683 Feature: -0.695805, -0.801814, 1.578855
[11:52:35.542] xyz_f:5.404525, -0.067880, 5.489924  Reprojection Error: 0.028371, -0.432759 Feature: -0.386988, 0.090932, 0.769843
[11:52:35.542] xyz_f:6.099366, -1.134920, 5.872093  Reprojection Error: 0.069359, -0.296721 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.542] xyz_f:4.994000, -0.021160, 5.081882  Reprojection Error: -0.176531, -0.149481 Feature: -0.123887, 0.030451, 0.255710
[11:52:35.542] xyz_f:6.145338, -1.103360, 5.760254  Reprojection Error: -0.228028, 0.142998 Feature: -0.667367, -0.839298, 1.635960
[11:52:35.542] xyz_f:6.091467, -1.116194, 5.874760  Reprojection Error: -0.408967, 0.649896 Feature: -0.792249, -0.822059, 1.619055
[11:52:35.542] xyz_f:5.430012, -0.067218, 5.515079  Reprojection Error: -0.311453, 0.538209 Feature: -0.402279, 0.098082, 0.801431
[11:52:35.542] it:41 	 Success 	 new_chi2: 1.285362 	 dT = -0.013846, 0.085826, 0.000005
[11:52:35.542] xyz_f:6.166011, -1.069698, 5.865282  Reprojection Error: 0.080542, -0.315391 Feature: -0.695805, -0.801814, 1.578855
[11:52:35.542] xyz_f:5.488226, -0.067879, 5.575747  Reprojection Error: 0.028513, -0.432949 Feature: -0.386988, 0.090932, 0.769843
[11:52:35.542] xyz_f:6.183070, -1.134918, 5.957913  Reprojection Error: 0.070272, -0.299506 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.542] xyz_f:5.077700, -0.021160, 5.167707  Reprojection Error: -0.176406, -0.149550 Feature: -0.123887, 0.030451, 0.255710
[11:52:35.542] xyz_f:6.229042, -1.103358, 5.846074  Reprojection Error: -0.226685, 0.140186 Feature: -0.667367, -0.839298, 1.635960
[11:52:35.542] xyz_f:6.175171, -1.116192, 5.960580  Reprojection Error: -0.408081, 0.647160 Feature: -0.792249, -0.822059, 1.619055
[11:52:35.542] xyz_f:5.513714, -0.067217, 5.600902  Reprojection Error: -0.311310, 0.538022 Feature: -0.402279, 0.098082, 0.801431
[11:52:35.542] it:42 	 Success 	 new_chi2: 1.284811 	 dT = -0.020560, 0.081140, 0.000005
[11:52:35.542] xyz_f:6.245128, -1.069696, 5.946416  Reprojection Error: 0.081581, -0.317880 Feature: -0.695805, -0.801814, 1.578855
[11:52:35.542] xyz_f:5.567341, -0.067878, 5.656885  Reprojection Error: 0.028645, -0.433124 Feature: -0.386988, 0.090932, 0.769843
[11:52:35.542] xyz_f:6.262188, -1.134916, 6.039047  Reprojection Error: 0.071114, -0.302065 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.542] xyz_f:5.156812, -0.021159, 5.248846  Reprojection Error: -0.176289, -0.149614 Feature: -0.123887, 0.030451, 0.255710
[11:52:35.542] xyz_f:6.308159, -1.103356, 5.927208  Reprojection Error: -0.225448, 0.137602 Feature: -0.667367, -0.839298, 1.635960
[11:52:35.542] xyz_f:6.254289, -1.116191, 6.041714  Reprojection Error: -0.407264, 0.644645 Feature: -0.792249, -0.822059, 1.619055
[11:52:35.542] xyz_f:5.592828, -0.067216, 5.682039  Reprojection Error: -0.311177, 0.537851 Feature: -0.402279, 0.098082, 0.801431
[11:52:35.542] it:43 	 Success 	 new_chi2: 1.284337 	 dT = -0.027080, 0.076550, 0.000005
[11:52:35.542] xyz_f:6.319754, -1.069695, 6.022961  Reprojection Error: 0.082537, -0.320166 Feature: -0.695805, -0.801814, 1.578855
[11:52:35.542] xyz_f:5.641964, -0.067877, 5.733432  Reprojection Error: 0.028769, -0.433284 Feature: -0.386988, 0.090932, 0.769843
[11:52:35.542] xyz_f:6.336815, -1.134915, 6.115591  Reprojection Error: 0.071890, -0.304417 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.542] xyz_f:5.231434, -0.021159, 5.325396  Reprojection Error: -0.176180, -0.149671 Feature: -0.123887, 0.030451, 0.255710
[11:52:35.542] xyz_f:6.382785, -1.103354, 6.003752  Reprojection Error: -0.224309, 0.135228 Feature: -0.667367, -0.839298, 1.635960
[11:52:35.542] xyz_f:6.328915, -1.116189, 6.118258  Reprojection Error: -0.406510, 0.642334 Feature: -0.792249, -0.822059, 1.619055
[11:52:35.542] xyz_f:5.667452, -0.067215, 5.758587  Reprojection Error: -0.311051, 0.537694 Feature: -0.402279, 0.098082, 0.801431
[11:52:35.542] it:44 	 Success 	 new_chi2: 1.283929 	 dT = -0.033384, 0.072077, 0.000005
[11:52:35.542] xyz_f:6.390006, -1.069693, 6.095032  Reprojection Error: 0.083419, -0.322266 Feature: -0.695805, -0.801814, 1.578855
[11:52:35.542] xyz_f:5.712214, -0.067876, 5.805507  Reprojection Error: 0.028886, -0.433431 Feature: -0.386988, 0.090932, 0.769843
[11:52:35.542] xyz_f:6.407067, -1.134913, 6.187663  Reprojection Error: 0.072605, -0.306579 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.542] xyz_f:5.301681, -0.021159, 5.397472  Reprojection Error: -0.176076, -0.149725 Feature: -0.123887, 0.030451, 0.255710
[11:52:35.542] xyz_f:6.453037, -1.103353, 6.075823  Reprojection Error: -0.223260, 0.133048 Feature: -0.667367, -0.839298, 1.635960
[11:52:35.542] xyz_f:6.399168, -1.116187, 6.190330  Reprojection Error: -0.405815, 0.640209 Feature: -0.792249, -0.822059, 1.619055
[11:52:35.542] xyz_f:5.737701, -0.067215, 5.830661  Reprojection Error: -0.310934, 0.537549 Feature: -0.402279, 0.098082, 0.801431
[11:52:35.542] it:45 	 Success 	 new_chi2: 1.283578 	 dT = -0.039455, 0.067739, 0.000004
[11:52:35.542] xyz_f:6.456017, -1.069692, 6.162766  Reprojection Error: 0.084230, -0.324196 Feature: -0.695805, -0.801814, 1.578855
[11:52:35.542] xyz_f:5.778223, -0.067876, 5.873243  Reprojection Error: 0.028994, -0.433566 Feature: -0.386988, 0.090932, 0.769843
[11:52:35.542] xyz_f:6.473079, -1.134912, 6.255396  Reprojection Error: 0.073264, -0.308566 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.542] xyz_f:5.367688, -0.021159, 5.465210  Reprojection Error: -0.175980, -0.149773 Feature: -0.123887, 0.030451, 0.255710
[11:52:35.542] xyz_f:6.519048, -1.103351, 6.143556  Reprojection Error: -0.222296, 0.131046 Feature: -0.667367, -0.839298, 1.635960
[11:52:35.542] xyz_f:6.465180, -1.116186, 6.258063  Reprojection Error: -0.405175, 0.638258 Feature: -0.792249, -0.822059, 1.619055
[11:52:35.542] xyz_f:5.803710, -0.067214, 5.898397  Reprojection Error: -0.310824, 0.537417 Feature: -0.402279, 0.098082, 0.801431
[11:52:35.542] it:46 	 Success 	 new_chi2: 1.283276 	 dT = -0.045280, 0.063550, 0.000004
[11:52:35.542] xyz_f:6.517936, -1.069690, 6.226310  Reprojection Error: 0.084977, -0.325967 Feature: -0.695805, -0.801814, 1.578855
[11:52:35.542] xyz_f:5.840139, -0.067875, 5.936790  Reprojection Error: 0.029096, -0.433690 Feature: -0.386988, 0.090932, 0.769843
[11:52:35.542] xyz_f:6.534998, -1.134910, 6.318940  Reprojection Error: 0.073871, -0.310390 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.542] xyz_f:5.429603, -0.021158, 5.528759  Reprojection Error: -0.175889, -0.149818 Feature: -0.123887, 0.030451, 0.255710
[11:52:35.542] xyz_f:6.580967, -1.103350, 6.207100  Reprojection Error: -0.221408, 0.129207 Feature: -0.667367, -0.839298, 1.635960
[11:52:35.542] xyz_f:6.527099, -1.116184, 6.321607  Reprojection Error: -0.404585, 0.636464 Feature: -0.792249, -0.822059, 1.619055
[11:52:35.542] xyz_f:5.865627, -0.067213, 5.961944  Reprojection Error: -0.310722, 0.537295 Feature: -0.402279, 0.098082, 0.801431
[11:52:35.542] it:47 	 Success 	 new_chi2: 1.283014 	 dT = -0.050850, 0.059521, 0.000004
[11:52:35.542] xyz_f:6.575920, -1.069689, 6.285826  Reprojection Error: 0.085664, -0.327594 Feature: -0.695805, -0.801814, 1.578855
[11:52:35.542] xyz_f:5.898121, -0.067874, 5.996309  Reprojection Error: 0.029191, -0.433804 Feature: -0.386988, 0.090932, 0.769843
[11:52:35.542] xyz_f:6.592982, -1.134909, 6.378456  Reprojection Error: 0.074430, -0.312066 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.542] xyz_f:5.487583, -0.021158, 5.588279  Reprojection Error: -0.175804, -0.149859 Feature: -0.123887, 0.030451, 0.255710
[11:52:35.542] xyz_f:6.638951, -1.103348, 6.266616  Reprojection Error: -0.220592, 0.127519 Feature: -0.667367, -0.839298, 1.635960
[11:52:35.542] xyz_f:6.585083, -1.116183, 6.381123  Reprojection Error: -0.404042, 0.634817 Feature: -0.792249, -0.822059, 1.619055
[11:52:35.542] xyz_f:5.923609, -0.067212, 6.021463  Reprojection Error: -0.310626, 0.537183 Feature: -0.402279, 0.098082, 0.801431
[11:52:35.542] it:48 	 Success 	 new_chi2: 1.282788 	 dT = -0.056160, 0.055661, 0.000004
[11:52:35.542] xyz_f:6.630136, -1.069687, 6.341482  Reprojection Error: 0.086296, -0.329088 Feature: -0.695805, -0.801814, 1.578855
[11:52:35.542] xyz_f:5.952334, -0.067874, 6.051968  Reprojection Error: 0.029279, -0.433908 Feature: -0.386988, 0.090932, 0.769843
[11:52:35.542] xyz_f:6.647199, -1.134908, 6.434112  Reprojection Error: 0.074945, -0.313606 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.542] xyz_f:5.541795, -0.021158, 5.643940  Reprojection Error: -0.175725, -0.149896 Feature: -0.123887, 0.030451, 0.255710
[11:52:35.542] xyz_f:6.693167, -1.103347, 6.322272  Reprojection Error: -0.219841, 0.125968 Feature: -0.667367, -0.839298, 1.635960
[11:52:35.542] xyz_f:6.639299, -1.116182, 6.436780  Reprojection Error: -0.403542, 0.633305 Feature: -0.792249, -0.822059, 1.619055
[11:52:35.542] xyz_f:5.977822, -0.067212, 6.077122  Reprojection Error: -0.310537, 0.537081 Feature: -0.402279, 0.098082, 0.801431
[11:52:35.542] it:49 	 Success 	 new_chi2: 1.282592 	 dT = -0.061207, 0.051976, 0.000004
[11:52:35.542] xyz_f:6.680755, -1.069686, 6.393453  Reprojection Error: 0.086878, -0.330459 Feature: -0.695805, -0.801814, 1.578855
[11:52:35.542] xyz_f:6.002952, -0.067873, 6.103942  Reprojection Error: 0.029361, -0.434004 Feature: -0.386988, 0.090932, 0.769843
[11:52:35.542] xyz_f:6.697818, -1.134906, 6.486083  Reprojection Error: 0.075419, -0.315019 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.542] xyz_f:5.592410, -0.021158, 5.695915  Reprojection Error: -0.175652, -0.149930 Feature: -0.123887, 0.030451, 0.255710
[11:52:35.542] xyz_f:6.743786, -1.103345, 6.374243  Reprojection Error: -0.219150, 0.124545 Feature: -0.667367, -0.839298, 1.635960
[11:52:35.542] xyz_f:6.689919, -1.116180, 6.488751  Reprojection Error: -0.403082, 0.631916 Feature: -0.792249, -0.822059, 1.619055
[11:52:35.542] xyz_f:6.028440, -0.067211, 6.129096  Reprojection Error: -0.310455, 0.536987 Feature: -0.402279, 0.098082, 0.801431
[11:52:35.542] it:50 	 Success 	 new_chi2: 1.282422 	 dT = -0.065990, 0.048469, 0.000004
[11:52:35.542] xyz_f:6.727953, -1.069685, 6.441917  Reprojection Error: 0.087412, -0.331718 Feature: -0.695805, -0.801814, 1.578855
[11:52:35.542] xyz_f:6.050147, -0.067872, 6.152408  Reprojection Error: 0.029437, -0.434091 Feature: -0.386988, 0.090932, 0.769843
[11:52:35.542] xyz_f:6.745016, -1.134905, 6.534547  Reprojection Error: 0.075855, -0.316317 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.542] xyz_f:5.639604, -0.021157, 5.744383  Reprojection Error: -0.175583, -0.149962 Feature: -0.123887, 0.030451, 0.255710
[11:52:35.542] xyz_f:6.790983, -1.103344, 6.422707  Reprojection Error: -0.218516, 0.123239 Feature: -0.667367, -0.839298, 1.635960
[11:52:35.542] xyz_f:6.737117, -1.116179, 6.537215  Reprojection Error: -0.402658, 0.630640 Feature: -0.792249, -0.822059, 1.619055
[11:52:35.542] xyz_f:6.075635, -0.067210, 6.177562  Reprojection Error: -0.310378, 0.536901 Feature: -0.402279, 0.098082, 0.801431
[11:52:35.542] it:51 	 Success 	 new_chi2: 1.282275 	 dT = -0.070512, 0.045140, 0.000004
[11:52:35.542] xyz_f:6.771904, -1.069683, 6.487053  Reprojection Error: 0.087904, -0.332874 Feature: -0.695805, -0.801814, 1.578855
[11:52:35.542] xyz_f:6.094096, -0.067872, 6.197546  Reprojection Error: 0.029508, -0.434172 Feature: -0.386988, 0.090932, 0.769843
[11:52:35.542] xyz_f:6.788968, -1.134904, 6.579683  Reprojection Error: 0.076255, -0.317509 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.542] xyz_f:5.683552, -0.021157, 5.789523  Reprojection Error: -0.175520, -0.149990 Feature: -0.123887, 0.030451, 0.255710
[11:52:35.542] xyz_f:6.834935, -1.103343, 6.467842  Reprojection Error: -0.217933, 0.122040 Feature: -0.667367, -0.839298, 1.635960
[11:52:35.542] xyz_f:6.781069, -1.116178, 6.582350  Reprojection Error: -0.402269, 0.629469 Feature: -0.792249, -0.822059, 1.619055
[11:52:35.542] xyz_f:6.119584, -0.067210, 6.222700  Reprojection Error: -0.310306, 0.536822 Feature: -0.402279, 0.098082, 0.801431
[11:52:35.542] it:52 	 Success 	 new_chi2: 1.282146 	 dT = -0.074777, 0.041991, 0.000004
[11:52:35.542] xyz_f:6.812784, -1.069682, 6.529039  Reprojection Error: 0.088356, -0.333934 Feature: -0.695805, -0.801814, 1.578855
[11:52:35.542] xyz_f:6.134974, -0.067871, 6.239535  Reprojection Error: 0.029574, -0.434245 Feature: -0.386988, 0.090932, 0.769843
[11:52:35.542] xyz_f:6.829848, -1.134902, 6.621669  Reprojection Error: 0.076624, -0.318603 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.542] xyz_f:5.724428, -0.021157, 5.831513  Reprojection Error: -0.175461, -0.150017 Feature: -0.123887, 0.030451, 0.255710
[11:52:35.542] xyz_f:6.875814, -1.103341, 6.509828  Reprojection Error: -0.217397, 0.120939 Feature: -0.667367, -0.839298, 1.635960
[11:52:35.542] xyz_f:6.821949, -1.116176, 6.624336  Reprojection Error: -0.401911, 0.628394 Feature: -0.792249, -0.822059, 1.619055
[11:52:35.542] xyz_f:6.160462, -0.067209, 6.264688  Reprojection Error: -0.310240, 0.536750 Feature: -0.402279, 0.098082, 0.801431
[11:52:35.542] it:53 	 Success 	 new_chi2: 1.282034 	 dT = -0.078791, 0.039018, 0.000004
[11:52:35.542] xyz_f:6.850765, -1.069681, 6.568052  Reprojection Error: 0.088771, -0.334908 Feature: -0.695805, -0.801814, 1.578855
[11:52:35.542] xyz_f:6.172953, -0.067871, 6.278550  Reprojection Error: 0.029634, -0.434313 Feature: -0.386988, 0.090932, 0.769843
[11:52:35.542] xyz_f:6.867830, -1.134901, 6.660682  Reprojection Error: 0.076963, -0.319607 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.542] xyz_f:5.762406, -0.021157, 5.870530  Reprojection Error: -0.175406, -0.150041 Feature: -0.123887, 0.030451, 0.255710
[11:52:35.542] xyz_f:6.913796, -1.103340, 6.548841  Reprojection Error: -0.216904, 0.119930 Feature: -0.667367, -0.839298, 1.635960
[11:52:35.542] xyz_f:6.859931, -1.116175, 6.663349  Reprojection Error: -0.401581, 0.627408 Feature: -0.792249, -0.822059, 1.619055
[11:52:35.542] xyz_f:6.198442, -0.067208, 6.303704  Reprojection Error: -0.310179, 0.536683 Feature: -0.402279, 0.098082, 0.801431
[11:52:35.542] it:54 	 Success 	 new_chi2: 1.281936 	 dT = -0.082560, 0.036217, 0.000004
[11:52:35.542] xyz_f:6.886018, -1.069680, 6.604265  Reprojection Error: 0.089152, -0.335801 Feature: -0.695805, -0.801814, 1.578855
[11:52:35.542] xyz_f:6.208204, -0.067870, 6.314765  Reprojection Error: 0.029691, -0.434375 Feature: -0.386988, 0.090932, 0.769843
[11:52:35.542] xyz_f:6.903083, -1.134900, 6.696894  Reprojection Error: 0.077275, -0.320528 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.542] xyz_f:5.797655, -0.021157, 5.906747  Reprojection Error: -0.175355, -0.150063 Feature: -0.123887, 0.030451, 0.255710
[11:52:35.542] xyz_f:6.949048, -1.103339, 6.585053  Reprojection Error: -0.216452, 0.119003 Feature: -0.667367, -0.839298, 1.635960
[11:52:35.542] xyz_f:6.895184, -1.116174, 6.699562  Reprojection Error: -0.401279, 0.626502 Feature: -0.792249, -0.822059, 1.619055
[11:52:35.542] xyz_f:6.233692, -0.067208, 6.339919  Reprojection Error: -0.310122, 0.536622 Feature: -0.402279, 0.098082, 0.801431
[11:52:35.542] it:55 	 Success 	 new_chi2: 1.281851 	 dT = -0.086093, 0.033586, 0.000004
[11:52:35.542] xyz_f:6.918706, -1.069679, 6.637846  Reprojection Error: 0.089503, -0.336620 Feature: -0.695805, -0.801814, 1.578855
[11:52:35.542] xyz_f:6.240890, -0.067870, 6.348349  Reprojection Error: 0.029743, -0.434432 Feature: -0.386988, 0.090932, 0.769843
[11:52:35.542] xyz_f:6.935772, -1.134899, 6.730476  Reprojection Error: 0.077561, -0.321374 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.542] xyz_f:5.830340, -0.021156, 5.940332  Reprojection Error: -0.175308, -0.150083 Feature: -0.123887, 0.030451, 0.255710
[11:52:35.542] xyz_f:6.981737, -1.103337, 6.618634  Reprojection Error: -0.216037, 0.118153 Feature: -0.667367, -0.839298, 1.635960
[11:52:35.542] xyz_f:6.927872, -1.116173, 6.733143  Reprojection Error: -0.401000, 0.625671 Feature: -0.792249, -0.822059, 1.619055
[11:52:35.542] xyz_f:6.266379, -0.067207, 6.373502  Reprojection Error: -0.310070, 0.536566 Feature: -0.402279, 0.098082, 0.801431
[11:52:35.542] it:56 	 Success 	 new_chi2: 1.281776 	 dT = -0.089399, 0.031118, 0.000004
[11:52:35.542] xyz_f:6.948990, -1.069677, 6.668959  Reprojection Error: 0.089824, -0.337372 Feature: -0.695805, -0.801814, 1.578855
[11:52:35.542] xyz_f:6.271172, -0.067869, 6.379465  Reprojection Error: 0.029791, -0.434484 Feature: -0.386988, 0.090932, 0.769843
[11:52:35.542] xyz_f:6.966056, -1.134897, 6.761589  Reprojection Error: 0.077824, -0.322150 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.542] xyz_f:5.860620, -0.021156, 5.971449  Reprojection Error: -0.175264, -0.150102 Feature: -0.123887, 0.030451, 0.255710
[11:52:35.542] xyz_f:7.012020, -1.103336, 6.649747  Reprojection Error: -0.215655, 0.117372 Feature: -0.667367, -0.839298, 1.635960
[11:52:35.543] xyz_f:6.958157, -1.116171, 6.764257  Reprojection Error: -0.400745, 0.624908 Feature: -0.792249, -0.822059, 1.619055
[11:52:35.543] xyz_f:6.296661, -0.067207, 6.404618  Reprojection Error: -0.310021, 0.536515 Feature: -0.402279, 0.098082, 0.801431
[11:52:35.543] it:57 	 Success 	 new_chi2: 1.281710 	 dT = -0.092488, 0.028807, 0.000004
[11:52:35.543] xyz_f:6.977023, -1.069676, 6.697762  Reprojection Error: 0.090120, -0.338062 Feature: -0.695805, -0.801814, 1.578855
[11:52:35.543] xyz_f:6.299203, -0.067868, 6.408270  Reprojection Error: 0.029835, -0.434532 Feature: -0.386988, 0.090932, 0.769843
[11:52:35.543] xyz_f:6.994089, -1.134896, 6.790392  Reprojection Error: 0.078065, -0.322862 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.543] xyz_f:5.888650, -0.021156, 6.000255  Reprojection Error: -0.175224, -0.150119 Feature: -0.123887, 0.030451, 0.255710
[11:52:35.543] xyz_f:7.040054, -1.103335, 6.678550  Reprojection Error: -0.215305, 0.116657 Feature: -0.667367, -0.839298, 1.635960
[11:52:35.543] xyz_f:6.986190, -1.116170, 6.793059  Reprojection Error: -0.400510, 0.624208 Feature: -0.792249, -0.822059, 1.619055
[11:52:35.543] xyz_f:6.324692, -0.067206, 6.433423  Reprojection Error: -0.309976, 0.536468 Feature: -0.402279, 0.098082, 0.801431
[11:52:35.543] it:58 	 Success 	 new_chi2: 1.281652 	 dT = -0.095369, 0.026648, 0.000003
[11:52:35.543] xyz_f:7.002953, -1.069675, 6.724406  Reprojection Error: 0.090391, -0.338695 Feature: -0.695805, -0.801814, 1.578855
[11:52:35.543] xyz_f:6.325132, -0.067868, 6.434915  Reprojection Error: 0.029876, -0.434576 Feature: -0.386988, 0.090932, 0.769843
[11:52:35.543] xyz_f:7.020020, -1.134895, 6.817035  Reprojection Error: 0.078287, -0.323516 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.543] xyz_f:5.914577, -0.021156, 6.026902  Reprojection Error: -0.175186, -0.150134 Feature: -0.123887, 0.030451, 0.255710
[11:52:35.543] xyz_f:7.065984, -1.103334, 6.705193  Reprojection Error: -0.214984, 0.116000 Feature: -0.667367, -0.839298, 1.635960
[11:52:35.543] xyz_f:7.012121, -1.116169, 6.819703  Reprojection Error: -0.400294, 0.623566 Feature: -0.792249, -0.822059, 1.619055
[11:52:35.543] xyz_f:6.350620, -0.067206, 6.460068  Reprojection Error: -0.309935, 0.536425 Feature: -0.402279, 0.098082, 0.801431
[11:52:35.543] it:59 	 Success 	 new_chi2: 1.281601 	 dT = -0.098053, 0.024632, 0.000003
[11:52:35.543] xyz_f:7.026921, -1.069674, 6.749034  Reprojection Error: 0.090640, -0.339276 Feature: -0.695805, -0.801814, 1.578855
[11:52:35.543] xyz_f:6.349097, -0.067867, 6.459546  Reprojection Error: 0.029914, -0.434617 Feature: -0.386988, 0.090932, 0.769843
[11:52:35.543] xyz_f:7.043988, -1.134894, 6.841663  Reprojection Error: 0.078491, -0.324115 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.543] xyz_f:5.938542, -0.021156, 6.051534  Reprojection Error: -0.175152, -0.150149 Feature: -0.123887, 0.030451, 0.255710
[11:52:35.543] xyz_f:7.089951, -1.103333, 6.729821  Reprojection Error: -0.214689, 0.115398 Feature: -0.667367, -0.839298, 1.635960
[11:52:35.543] xyz_f:7.036089, -1.116168, 6.844331  Reprojection Error: -0.400096, 0.622977 Feature: -0.792249, -0.822059, 1.619055
[11:52:35.543] xyz_f:6.374586, -0.067205, 6.484699  Reprojection Error: -0.309897, 0.536385 Feature: -0.402279, 0.098082, 0.801431
[11:52:35.543] it:60 	 Success 	 new_chi2: 1.281556 	 dT = -0.100550, 0.022755, 0.000003
[11:52:35.543] xyz_f:7.049060, -1.069673, 6.771784  Reprojection Error: 0.090869, -0.339809 Feature: -0.695805, -0.801814, 1.578855
[11:52:35.543] xyz_f:6.371235, -0.067867, 6.482298  Reprojection Error: 0.029949, -0.434654 Feature: -0.386988, 0.090932, 0.769843
[11:52:35.543] xyz_f:7.066128, -1.134893, 6.864413  Reprojection Error: 0.078678, -0.324665 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.543] xyz_f:5.960678, -0.021155, 6.074288  Reprojection Error: -0.175120, -0.150162 Feature: -0.123887, 0.030451, 0.255710
[11:52:35.543] xyz_f:7.112091, -1.103331, 6.752571  Reprojection Error: -0.214418, 0.114845 Feature: -0.667367, -0.839298, 1.635960
[11:52:35.543] xyz_f:7.058228, -1.116167, 6.867081  Reprojection Error: -0.399915, 0.622437 Feature: -0.792249, -0.822059, 1.619055
[11:52:35.543] xyz_f:6.396724, -0.067204, 6.507451  Reprojection Error: -0.309862, 0.536349 Feature: -0.402279, 0.098082, 0.801431
[11:52:35.543] it:61 	 Success 	 new_chi2: 1.281516 	 dT = -0.102870, 0.021007, 0.000003
[11:52:35.543] xyz_f:7.069498, -1.069672, 6.792787  Reprojection Error: 0.091078, -0.340297 Feature: -0.695805, -0.801814, 1.578855
[11:52:35.543] xyz_f:6.391671, -0.067866, 6.503303  Reprojection Error: 0.029981, -0.434687 Feature: -0.386988, 0.090932, 0.769843
[11:52:35.543] xyz_f:7.086566, -1.134891, 6.885416  Reprojection Error: 0.078849, -0.325169 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.543] xyz_f:5.981113, -0.021155, 6.095294  Reprojection Error: -0.175091, -0.150174 Feature: -0.123887, 0.030451, 0.255710
[11:52:35.543] xyz_f:7.132529, -1.103330, 6.773573  Reprojection Error: -0.214169, 0.114338 Feature: -0.667367, -0.839298, 1.635960
[11:52:35.543] xyz_f:7.078667, -1.116166, 6.888084  Reprojection Error: -0.399748, 0.621941 Feature: -0.792249, -0.822059, 1.619055
[11:52:35.543] xyz_f:6.417160, -0.067204, 6.528456  Reprojection Error: -0.309830, 0.536315 Feature: -0.402279, 0.098082, 0.801431
[11:52:35.543] it:62 	 Success 	 new_chi2: 1.281481 	 dT = -0.105024, 0.019383, 0.000003
[11:52:35.543] xyz_f:7.088355, -1.069670, 6.812165  Reprojection Error: 0.091271, -0.340745 Feature: -0.695805, -0.801814, 1.578855
[11:52:35.543] xyz_f:6.410527, -0.067866, 6.522684  Reprojection Error: 0.030011, -0.434719 Feature: -0.386988, 0.090932, 0.769843
[11:52:35.543] xyz_f:7.105423, -1.134890, 6.904794  Reprojection Error: 0.079007, -0.325632 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.543] xyz_f:5.999967, -0.021155, 6.114676  Reprojection Error: -0.175064, -0.150185 Feature: -0.123887, 0.030451, 0.255710
[11:52:35.543] xyz_f:7.151386, -1.103329, 6.792952  Reprojection Error: -0.213942, 0.113873 Feature: -0.667367, -0.839298, 1.635960
[11:52:35.543] xyz_f:7.097524, -1.116165, 6.907462  Reprojection Error: -0.399595, 0.621486 Feature: -0.792249, -0.822059, 1.619055
[11:52:35.543] xyz_f:6.436016, -0.067203, 6.547836  Reprojection Error: -0.309800, 0.536285 Feature: -0.402279, 0.098082, 0.801431
[11:52:35.543] it:63 	 Success 	 new_chi2: 1.281450 	 dT = -0.107021, 0.017874, 0.000003
[11:52:35.543] xyz_f:7.105745, -1.069669, 6.830035  Reprojection Error: 0.091447, -0.341156 Feature: -0.695805, -0.801814, 1.578855
[11:52:35.543] xyz_f:6.427914, -0.067865, 6.540556  Reprojection Error: 0.030038, -0.434747 Feature: -0.386988, 0.090932, 0.769843
[11:52:35.543] xyz_f:7.122813, -1.134889, 6.922664  Reprojection Error: 0.079151, -0.326057 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.543] xyz_f:6.017353, -0.021155, 6.132550  Reprojection Error: -0.175039, -0.150195 Feature: -0.123887, 0.030451, 0.255710
[11:52:35.543] xyz_f:7.168775, -1.103328, 6.810822  Reprojection Error: -0.213732, 0.113447 Feature: -0.667367, -0.839298, 1.635960
[11:52:35.543] xyz_f:7.114914, -1.116163, 6.925332  Reprojection Error: -0.399454, 0.621069 Feature: -0.792249, -0.822059, 1.619055
[11:52:35.543] xyz_f:6.453403, -0.067203, 6.565709  Reprojection Error: -0.309772, 0.536257 Feature: -0.402279, 0.098082, 0.801431
[11:52:35.543] it:64 	 Success 	 new_chi2: 1.281423 	 dT = -0.108871, 0.016476, 0.000003
[11:52:35.543] xyz_f:7.121773, -1.069668, 6.846507  Reprojection Error: 0.091609, -0.341533 Feature: -0.695805, -0.801814, 1.578855
[11:52:35.543] xyz_f:6.443940, -0.067865, 6.557030  Reprojection Error: 0.030063, -0.434773 Feature: -0.386988, 0.090932, 0.769843
[11:52:35.543] xyz_f:7.138841, -1.134888, 6.939136  Reprojection Error: 0.079284, -0.326446 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.543] xyz_f:6.033377, -0.021155, 6.149025  Reprojection Error: -0.175016, -0.150204 Feature: -0.123887, 0.030451, 0.255710
[11:52:35.543] xyz_f:7.184803, -1.103327, 6.827293  Reprojection Error: -0.213541, 0.113056 Feature: -0.667367, -0.839298, 1.635960
[11:52:35.543] xyz_f:7.130942, -1.116162, 6.941804  Reprojection Error: -0.399326, 0.620686 Feature: -0.792249, -0.822059, 1.619055
[11:52:35.543] xyz_f:6.469429, -0.067202, 6.582182  Reprojection Error: -0.309747, 0.536231 Feature: -0.402279, 0.098082, 0.801431
[11:52:35.543] it:65 	 Success 	 new_chi2: 1.281398 	 dT = -0.110584, 0.015179, 0.000003
[11:52:35.543] xyz_f:7.136539, -1.069667, 6.861682  Reprojection Error: 0.091758, -0.341879 Feature: -0.695805, -0.801814, 1.578855
[11:52:35.543] xyz_f:6.458705, -0.067864, 6.572207  Reprojection Error: 0.030086, -0.434797 Feature: -0.386988, 0.090932, 0.769843
[11:52:35.543] xyz_f:7.153608, -1.134887, 6.954311  Reprojection Error: 0.079405, -0.326803 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.543] xyz_f:6.048141, -0.021155, 6.164203  Reprojection Error: -0.174995, -0.150213 Feature: -0.123887, 0.030451, 0.255710
[11:52:35.543] xyz_f:7.199569, -1.103326, 6.842468  Reprojection Error: -0.213365, 0.112698 Feature: -0.667367, -0.839298, 1.635960
[11:52:35.543] xyz_f:7.145709, -1.116161, 6.956979  Reprojection Error: -0.399207, 0.620336 Feature: -0.792249, -0.822059, 1.619055
[11:52:35.543] xyz_f:6.484194, -0.067202, 6.597360  Reprojection Error: -0.309724, 0.536207 Feature: -0.402279, 0.098082, 0.801431
[11:52:35.543] it:66 	 Success 	 new_chi2: 1.281376 	 dT = -0.112168, 0.013979, 0.000003
[11:52:35.543] xyz_f:7.150138, -1.069666, 6.875657  Reprojection Error: 0.091894, -0.342196 Feature: -0.695805, -0.801814, 1.578855
[11:52:35.543] xyz_f:6.472302, -0.067864, 6.586184  Reprojection Error: 0.030107, -0.434819 Feature: -0.386988, 0.090932, 0.769843
[11:52:35.543] xyz_f:7.167207, -1.134886, 6.968286  Reprojection Error: 0.079517, -0.327130 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.543] xyz_f:6.061737, -0.021154, 6.178182  Reprojection Error: -0.174976, -0.150221 Feature: -0.123887, 0.030451, 0.255710
[11:52:35.543] xyz_f:7.213168, -1.103324, 6.856443  Reprojection Error: -0.213204, 0.112369 Feature: -0.667367, -0.839298, 1.635960
[11:52:35.543] xyz_f:7.159308, -1.116160, 6.970954  Reprojection Error: -0.399099, 0.620014 Feature: -0.792249, -0.822059, 1.619055
[11:52:35.543] xyz_f:6.497792, -0.067201, 6.611337  Reprojection Error: -0.309703, 0.536186 Feature: -0.402279, 0.098082, 0.801431
[11:52:35.543] it:67 	 Success 	 new_chi2: 1.281357 	 dT = -0.113632, 0.012869, 0.000003
[11:52:35.543] xyz_f:7.162657, -1.069665, 6.888522  Reprojection Error: 0.092019, -0.342487 Feature: -0.695805, -0.801814, 1.578855
[11:52:35.543] xyz_f:6.484819, -0.067863, 6.599052  Reprojection Error: 0.030126, -0.434839 Feature: -0.386988, 0.090932, 0.769843
[11:52:35.543] xyz_f:7.179727, -1.134885, 6.981151  Reprojection Error: 0.079619, -0.327431 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.543] xyz_f:6.074253, -0.021154, 6.191050  Reprojection Error: -0.174958, -0.150228 Feature: -0.123887, 0.030451, 0.255710
[11:52:35.543] xyz_f:7.225687, -1.103323, 6.869308  Reprojection Error: -0.213056, 0.112067 Feature: -0.667367, -0.839298, 1.635960
[11:52:35.543] xyz_f:7.171827, -1.116159, 6.983819  Reprojection Error: -0.399000, 0.619719 Feature: -0.792249, -0.822059, 1.619055
[11:52:35.543] xyz_f:6.510309, -0.067201, 6.624204  Reprojection Error: -0.309684, 0.536166 Feature: -0.402279, 0.098082, 0.801431
[11:52:35.543] it:68 	 Success 	 new_chi2: 1.281340 	 dT = -0.114984, 0.011843, 0.000003
[11:52:35.543] xyz_f:7.174178, -1.069664, 6.900361  Reprojection Error: 0.092133, -0.342753 Feature: -0.695805, -0.801814, 1.578855
[11:52:35.543] xyz_f:6.496338, -0.067863, 6.610893  Reprojection Error: 0.030144, -0.434858 Feature: -0.386988, 0.090932, 0.769843
[11:52:35.543] xyz_f:7.191248, -1.134884, 6.992990  Reprojection Error: 0.079712, -0.327706 Feature: -0.792025, -0.840837, 1.627270
[11:52:35.543] xyz_f:6.085770, -0.021154, 6.202893  Reprojection Error: -0.174942, -0.150234 Feature: -0.123887, 0.030451, 0.255710
[11:52:35.543] xyz_f:7.237208, -1.103322, 6.881147  Reprojection Error: -0.212920, 0.111791 Feature: -0.667367, -0.839298, 1.635960
[11:52:35.543] xyz_f:7.183348, -1.116158, 6.995658  Reprojection Error: -0.398909, 0.619448 Feature: -0.792249, -0.822059, 1.619055
[11:52:35.543] xyz_f:6.521828, -0.067200, 6.636045  Reprojection Error: -0.309666, 0.536148 Feature: -0.402279, 0.098082, 0.801431
[11:52:35.543] it:69 	 Success 	 new_chi2: 1.281324 	 dT = -0.116232, 0.010895, 0.000003
[11:52:35.543] After pose optimization, distance between two frames:9.084107 ,angle between two frames:-2.697129
[11:52:36.263] Reprojection Map nPoint:6 ,nCell:5 ,nMatches:5 ,distance between two frames:2.764934 ,angle between two frames:2.879934
[11:52:36.341] Reprojection Map nPoint:17 ,nCell:16 ,nMatches:2 ,distance between two frames:2.699907 ,angle between two frames:-2.714984
[11:52:36.341] Init estimate scale:1.182677
[11:52:36.341] xyz_f:0.512109, -0.101733, 0.672025  Reprojection Error: 0.671861, -0.527610 Feature: -0.427976, 0.105755, 0.879397
[11:52:36.342] xyz_f:1.078091, -1.208608, 0.982626  Reprojection Error: -1.319699, 0.901486 Feature: -0.684109, -0.883015, 1.653161
[11:52:36.342] it:0 	 Success 	 new_chi2: 2.842443 	 dT = 0.095303, -0.100367, -0.164324
[11:52:36.342] xyz_f:0.421992, -0.123526, 0.652994  Reprojection Error: 0.787658, -0.489823 Feature: -0.427976, 0.105755, 0.879397
[11:52:36.342] xyz_f:0.884407, -1.252320, 1.045395  Reprojection Error: -1.068548, 0.869447 Feature: -0.684109, -0.883015, 1.653161
[11:52:36.342] it:1 	 Success 	 new_chi2: 2.483174 	 dT = 0.102007, -0.096143, -0.156285
[11:52:36.342] xyz_f:0.187212, -0.138620, 0.613180  Reprojection Error: 1.128587, -0.452925 Feature: -0.427976, 0.105755, 0.879397
[11:52:36.342] xyz_f:0.539522, -1.283925, 1.067202  Reprojection Error: -0.728093, 0.874583 Feature: -0.684109, -0.883015, 1.653161
[11:52:36.342] it:2 	 Success 	 new_chi2: 2.527888 	 dT = 0.181727, -0.080019, -0.216369
[11:52:36.342] xyz_f:0.000011, -0.116235, 0.609659  Reprojection Error: 1.433881, -0.488336 Feature: -0.427976, 0.105755, 0.879397
[11:52:36.342] xyz_f:0.501896, -1.237529, 0.974069  Reprojection Error: -0.737802, 0.941981 Feature: -0.684109, -0.883015, 1.653161
[11:52:36.342] it:3 	 Success 	 new_chi2: 2.075128 	 dT = 0.311174, -0.095816, -0.362562
[11:52:36.342] xyz_f:0.217701, -0.056645, 0.483081  Reprojection Error: 0.983248, -0.561734 Feature: -0.427976, 0.105755, 0.879397
[11:52:36.342] xyz_f:0.914730, -1.121063, 0.635227  Reprojection Error: -1.662550, 1.436330 Feature: -0.684109, -0.883015, 1.653161
[11:52:36.342] it:4 	 Success 	 new_chi2: 1.554437 	 dT = 0.322668, -0.050461, -0.606546
[11:52:36.342] xyz_f:0.515907, 0.084046, 0.008473  Reprojection Error: -59.454208, -10.598271 Feature: -0.427976, 0.105755, 0.879397
[11:52:36.342] xyz_f:1.329413, -0.858031, -0.295960  Reprojection Error: 4.269316, -3.227633 Feature: -0.684109, -0.883015, 1.653161
[11:52:36.342] it:5 	 Success 	 new_chi2: 0.000000 	 dT = 0.000000, 0.000000, 0.000000
[11:52:36.342] After pose optimization, distance between two frames:2.735216 ,angle between two frames:2.703334
[11:52:54.063] Reprojection Map nPoint:24 ,nCell:12 ,nMatches:7 ,distance between two frames:2.764604 ,angle between two frames:1.042714
[11:52:54.063] Init estimate scale:0.813574
[11:52:54.063] xyz_f:3.052812, -0.480811, 1.974019  Reprojection Error: -0.112596, -0.435422 Feature: 0.764586, -0.362053, 0.533222
[11:52:54.063] xyz_f:2.095627, -0.537209, 2.403642  Reprojection Error: -1.094400, -0.104994 Feature: -0.206857, -0.305335, 0.929506
[11:52:54.063] xyz_f:1.534893, -1.240179, 2.958142  Reprojection Error: -0.679484, 0.199374 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.063] xyz_f:1.629384, -1.189102, 2.918296  Reprojection Error: -0.678721, 0.196712 Feature: -0.695805, -0.801814, 1.578855
[11:52:54.063] xyz_f:1.554365, -1.212964, 2.954238  Reprojection Error: -0.664251, 0.208931 Feature: -0.772192, -0.815560, 1.617134
[11:52:54.063] xyz_f:3.052812, -0.480811, 1.974019  Reprojection Error: -1.896649, 0.253639 Feature: 0.764586, -0.362053, 0.533222
[11:52:54.063] xyz_f:2.152831, -0.039411, 1.843136  Reprojection Error: -1.698452, 0.092093 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.063] xyz_f:1.976076, -0.996510, 2.329963  Reprojection Error: -1.480664, 0.974921 Feature: -0.327983, -0.768055, 0.973058
[11:52:54.063] xyz_f:2.155289, -0.037836, 1.837335  Reprojection Error: -1.769889, 0.603082 Feature: -0.123887, 0.030451, 0.255710
[11:52:54.063] it:0 	 Success 	 new_chi2: 10.449216 	 dT = -0.224968, 0.026221, 0.000290
[11:52:54.063] xyz_f:2.136188, -0.480753, 2.000021  Reprojection Error: 0.365817, -0.438618 Feature: 0.764586, -0.362053, 0.533222
[11:52:54.063] xyz_f:1.179128, -0.537222, 2.429912  Reprojection Error: -0.707800, -0.107405 Feature: -0.206857, -0.305335, 0.929506
[11:52:54.063] xyz_f:0.618603, -1.240234, 2.984569  Reprojection Error: -0.367880, 0.195680 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.063] xyz_f:0.713079, -1.189151, 2.944696  Reprojection Error: -0.362544, 0.193075 Feature: -0.695805, -0.801814, 1.578855
[11:52:54.063] xyz_f:0.638071, -1.213018, 2.980660  Reprojection Error: -0.352174, 0.205309 Feature: -0.772192, -0.815560, 1.617134
[11:52:54.063] xyz_f:2.136188, -0.480753, 2.000021  Reprojection Error: -1.418236, 0.250443 Feature: 0.764586, -0.362053, 0.533222
[11:52:54.063] xyz_f:1.236137, -0.039419, 1.869390  Reprojection Error: -1.191677, 0.091798 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.063] xyz_f:1.059591, -0.996532, 2.356266  Reprojection Error: -1.082240, 0.970156 Feature: -0.327983, -0.768055, 0.973058
[11:52:54.063] xyz_f:1.238593, -0.037845, 1.863588  Reprojection Error: -1.261465, 0.602797 Feature: -0.123887, 0.030451, 0.255710
[11:52:54.063] it:1 	 Success 	 new_chi2: 6.977965 	 dT = -0.131535, 0.183387, 0.004316
[11:52:54.063] xyz_f:2.258020, -0.479877, 2.180141  Reprojection Error: 0.398177, -0.458879 Feature: 0.764586, -0.362053, 0.533222
[11:52:54.063] xyz_f:1.302824, -0.537415, 2.614017  Reprojection Error: -0.720944, -0.122902 Feature: -0.206857, -0.305335, 0.929506
[11:52:54.063] xyz_f:0.745402, -1.241051, 3.171005  Reprojection Error: -0.395681, 0.171506 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.063] xyz_f:0.839653, -1.189862, 3.130739  Reprojection Error: -0.388584, 0.169305 Feature: -0.695805, -0.801814, 1.578855
[11:52:54.063] xyz_f:0.764823, -1.213813, 3.167014  Reprojection Error: -0.379600, 0.181614 Feature: -0.772192, -0.815560, 1.617134
[11:52:54.063] xyz_f:2.258020, -0.479877, 2.180141  Reprojection Error: -1.385875, 0.230182 Feature: 0.764586, -0.362053, 0.533222
[11:52:54.063] xyz_f:1.356940, -0.039550, 2.053264  Reprojection Error: -1.191295, 0.089973 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.063] xyz_f:1.183494, -0.996858, 2.540870  Reprojection Error: -1.098332, 0.939557 Feature: -0.327983, -0.768055, 0.973058
[11:52:54.063] xyz_f:1.359370, -0.037973, 2.047452  Reprojection Error: -1.260770, 0.601036 Feature: -0.123887, 0.030451, 0.255710
[11:52:54.063] it:2 	 Success 	 new_chi2: 7.004172 	 dT = -0.149724, 0.190757, 0.003180
[11:52:54.063] xyz_f:2.721063, -0.480522, 1.991792  Reprojection Error: 0.067761, -0.437741 Feature: 0.764586, -0.362053, 0.533222
[11:52:54.063] xyz_f:1.764491, -0.537273, 2.422733  Reprojection Error: -0.950851, -0.106729 Feature: -0.206857, -0.305335, 0.929506
[11:52:54.063] xyz_f:1.204782, -1.240450, 2.978004  Reprojection Error: -0.565173, 0.196669 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.063] xyz_f:1.299199, -1.189339, 2.938028  Reprojection Error: -0.562588, 0.194056 Feature: -0.695805, -0.801814, 1.578855
[11:52:54.063] xyz_f:1.224238, -1.213228, 2.974073  Reprojection Error: -0.549740, 0.206281 Feature: -0.772192, -0.815560, 1.617134
[11:52:54.063] xyz_f:2.721063, -0.480522, 1.991792  Reprojection Error: -1.716291, 0.251321 Feature: 0.764586, -0.362053, 0.533222
[11:52:54.063] xyz_f:1.820740, -0.039454, 1.862148  Reprojection Error: -1.508189, 0.091898 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.063] xyz_f:1.645009, -0.996619, 2.349218  Reprojection Error: -1.332786, 0.971462 Feature: -0.327983, -0.768055, 0.973058
[11:52:54.063] xyz_f:1.823189, -0.037879, 1.856344  Reprojection Error: -1.578977, 0.602894 Feature: -0.123887, 0.030451, 0.255710
[11:52:54.063] it:3 	 Success 	 new_chi2: 2.255008 	 dT = -0.181928, -0.180446, -0.002047
[11:52:54.063] xyz_f:2.563542, -0.480107, 2.170689  Reprojection Error: 0.252918, -0.457815 Feature: 0.764586, -0.362053, 0.533222
[11:52:54.063] xyz_f:1.607855, -0.537365, 2.603519  Reprojection Error: -0.840115, -0.122093 Feature: -0.206857, -0.305335, 0.929506
[11:52:54.063] xyz_f:1.049617, -1.240838, 3.159896  Reprojection Error: -0.492781, 0.172814 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.063] xyz_f:1.143927, -1.189676, 3.119733  Reprojection Error: -0.487062, 0.170586 Feature: -0.695805, -0.801814, 1.578855
[11:52:54.063] xyz_f:1.069050, -1.213605, 3.155927  Reprojection Error: -0.476847, 0.182894 Feature: -0.772192, -0.815560, 1.617134
[11:52:54.063] xyz_f:2.563542, -0.480107, 2.170689  Reprojection Error: -1.531134, 0.231247 Feature: 0.764586, -0.362053, 0.533222
[11:52:54.063] xyz_f:1.662731, -0.039516, 2.042825  Reprojection Error: -1.344363, 0.090055 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.063] xyz_f:1.488471, -0.996773, 2.530241  Reprojection Error: -1.220822, 0.941171 Feature: -0.327983, -0.768055, 0.973058
[11:52:54.063] xyz_f:1.665168, -0.037939, 2.037016  Reprojection Error: -1.414291, 0.601114 Feature: -0.123887, 0.030451, 0.255710
[11:52:54.063] it:4 	 Success 	 new_chi2: 2.687968 	 dT = -0.191633, -0.128789, -0.000695
[11:52:54.063] xyz_f:2.370077, -0.480248, 2.042426  Reprojection Error: 0.273477, -0.443856 Feature: 0.764586, -0.362053, 0.533222
[11:52:54.063] xyz_f:1.414089, -0.537334, 2.474615  Reprojection Error: -0.793983, -0.111354 Feature: -0.206857, -0.305335, 0.929506
[11:52:54.063] xyz_f:0.855351, -1.240706, 3.030617  Reprojection Error: -0.442849, 0.189522 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.063] xyz_f:0.949698, -1.189562, 2.990517  Reprojection Error: -0.437957, 0.187025 Feature: -0.695805, -0.801814, 1.578855
[11:52:54.063] xyz_f:0.874792, -1.213477, 3.026660  Reprojection Error: -0.427132, 0.199276 Feature: -0.772192, -0.815560, 1.617134
[11:52:54.063] xyz_f:2.370077, -0.480248, 2.042426  Reprojection Error: -1.510576, 0.245205 Feature: 0.764586, -0.362053, 0.533222
[11:52:54.063] xyz_f:1.469431, -0.039495, 1.913958  Reprojection Error: -1.298170, 0.091346 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.063] xyz_f:1.294672, -0.996721, 2.401256  Reprojection Error: -1.171713, 0.962310 Feature: -0.327983, -0.768055, 0.973058
[11:52:54.063] xyz_f:1.471872, -0.037919, 1.908150  Reprojection Error: -1.368198, 0.602361 Feature: -0.123887, 0.030451, 0.255710
[11:52:54.063] it:5 	 Success 	 new_chi2: 0.571293 	 dT = -0.082340, -0.475925, -0.008160
[11:52:54.063] xyz_f:2.346440, -0.481900, 1.572663  Reprojection Error: -0.058117, -0.372570 Feature: 0.764586, -0.362053, 0.533222
[11:52:54.063] xyz_f:1.386956, -0.536962, 1.997304  Reprojection Error: -0.916960, -0.059648 Feature: -0.206857, -0.305335, 0.929506
[11:52:54.063] xyz_f:0.822369, -1.239149, 2.548879  Reprojection Error: -0.483253, 0.266286 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.063] xyz_f:0.917137, -1.188204, 2.509525  Reprojection Error: -0.485850, 0.262725 Feature: -0.695805, -0.801814, 1.578855
[11:52:54.063] xyz_f:0.841898, -1.211961, 2.545076  Reprojection Error: -0.468899, 0.274545 Feature: -0.772192, -0.815560, 1.617134
[11:52:54.063] xyz_f:2.346440, -0.481900, 1.572663  Reprojection Error: -1.842170, 0.316492 Feature: 0.764586, -0.362053, 0.533222
[11:52:54.063] xyz_f:1.447767, -0.039246, 1.437105  Reprojection Error: -1.537845, 0.098020 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.063] xyz_f:1.267151, -0.996097, 1.923002  Reprojection Error: -1.291493, 1.065218 Feature: -0.327983, -0.768055, 0.973058
[11:52:54.063] xyz_f:1.450257, -0.037675, 1.431316  Reprojection Error: -1.610070, 0.608811 Feature: -0.123887, 0.030451, 0.255710
[11:52:54.063] it:6 	 Success 	 new_chi2: 0.508806 	 dT = -0.070382, -0.175872, -0.008397
[11:52:54.063] xyz_f:1.878157, -0.483589, 1.403099  Reprojection Error: 0.095322, -0.334334 Feature: 0.764586, -0.362053, 0.533222
[11:52:54.063] xyz_f:0.915144, -0.536563, 1.819943  Reprojection Error: -0.725387, -0.033668 Feature: -0.206857, -0.305335, 0.929506
[11:52:54.063] xyz_f:0.344577, -1.237516, 2.366915  Reprojection Error: -0.306193, 0.302971 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.063] xyz_f:0.439771, -1.186778, 2.328331  Reprojection Error: -0.309265, 0.298959 Feature: -0.695805, -0.801814, 1.578855
[11:52:54.063] xyz_f:0.364195, -1.210371, 2.363270  Reprojection Error: -0.292210, 0.310506 Feature: -0.772192, -0.815560, 1.617134
[11:52:54.063] xyz_f:1.878157, -0.483589, 1.403099  Reprojection Error: -1.688731, 0.354727 Feature: 0.764586, -0.362053, 0.533222
[11:52:54.063] xyz_f:0.981577, -0.038985, 1.260260  Reprojection Error: -1.309295, 0.101645 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.063] xyz_f:0.794947, -0.995437, 1.744668  Reprojection Error: -1.088193, 1.117787 Feature: -0.327983, -0.768055, 0.973058
[11:52:54.063] xyz_f:0.984118, -0.037420, 1.254492  Reprojection Error: -1.381312, 0.612318 Feature: -0.123887, 0.030451, 0.255710
[11:52:54.063] it:7 	 Success 	 new_chi2: 0.534598 	 dT = 0.019240, -0.297224, -0.035760
[11:52:54.063] xyz_f:1.771425, -0.476328, 1.673223  Reprojection Error: 0.375209, -0.394315 Feature: 0.764586, -0.362053, 0.533222
[11:52:54.063] xyz_f:0.823913, -0.538144, 2.123067  Reprojection Error: -0.610622, -0.075017 Feature: -0.206857, -0.305335, 0.929506
[11:52:54.063] xyz_f:0.279087, -1.244259, 2.689304  Reprojection Error: -0.264389, 0.242801 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.063] xyz_f:0.372418, -1.192648, 2.647464  Reprojection Error: -0.261057, 0.239734 Feature: -0.695805, -0.801814, 1.578855
[11:52:54.063] xyz_f:0.298315, -1.216934, 2.684989  Reprojection Error: -0.249209, 0.251582 Feature: -0.772192, -0.815560, 1.617134
[11:52:54.063] xyz_f:1.771425, -0.476328, 1.673223  Reprojection Error: -1.408843, 0.294746 Feature: 0.764586, -0.362053, 0.533222
[11:52:54.063] xyz_f:0.866371, -0.040062, 1.561503  Reprojection Error: -1.085257, 0.096367 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.063] xyz_f:0.705440, -0.998122, 2.051915  Reprojection Error: -0.976345, 1.033662 Feature: -0.327983, -0.768055, 0.973058
[11:52:54.063] xyz_f:0.868696, -0.038474, 1.555651  Reprojection Error: -1.155250, 0.607221 Feature: -0.123887, 0.030451, 0.255710
[11:52:54.063] it:8 	 Success 	 new_chi2: 0.074275 	 dT = -0.056133, 0.168790, 0.001564
[11:52:54.063] xyz_f:2.143256, -0.476649, 1.505631  Reprojection Error: 0.010406, -0.362415 Feature: 0.764586, -0.362053, 0.533222
[11:52:54.063] xyz_f:1.195041, -0.538082, 1.954043  Reprojection Error: -0.834118, -0.053124 Feature: -0.206857, -0.305335, 0.929506
[11:52:54.063] xyz_f:0.649074, -1.243976, 2.519457  Reprojection Error: -0.418237, 0.273879 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.063] xyz_f:0.742490, -1.192403, 2.477758  Reprojection Error: -0.420049, 0.270490 Feature: -0.695805, -0.801814, 1.578855
[11:52:54.063] xyz_f:0.668320, -1.216658, 2.515171  Reprojection Error: -0.403819, 0.282074 Feature: -0.772192, -0.815560, 1.617134
[11:52:54.063] xyz_f:2.143256, -0.476649, 1.505631  Reprojection Error: -1.773647, 0.326647 Feature: 0.764586, -0.362053, 0.533222
[11:52:54.063] xyz_f:1.238549, -0.040017, 1.392544  Reprojection Error: -1.419840, 0.099448 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.063] xyz_f:1.076489, -0.998012, 1.882712  Reprojection Error: -1.204325, 1.077320 Feature: -0.327983, -0.768055, 0.973058
[11:52:54.063] xyz_f:1.240883, -0.038430, 1.386696  Reprojection Error: -1.491686, 0.610203 Feature: -0.123887, 0.030451, 0.255710
[11:52:54.063] it:9 	 Success 	 new_chi2: 0.023293 	 dT = -0.235525, -0.232831, -0.005490
[11:52:54.063] xyz_f:2.156538, -0.475521, 1.734251  Reprojection Error: 0.190401, -0.404799 Feature: 0.764586, -0.362053, 0.533222
[11:52:54.063] xyz_f:1.210803, -0.538299, 2.187686  Reprojection Error: -0.776008, -0.082433 Feature: -0.206857, -0.305335, 0.929506
[11:52:54.063] xyz_f:0.668846, -1.244966, 2.755984  Reprojection Error: -0.403301, 0.231863 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.063] xyz_f:0.761966, -1.193260, 2.713790  Reprojection Error: -0.401162, 0.228950 Feature: -0.695805, -0.801814, 1.578855
[11:52:54.063] xyz_f:0.688030, -1.217621, 2.751596  Reprojection Error: -0.388151, 0.240861 Feature: -0.772192, -0.815560, 1.617134
[11:52:54.063] xyz_f:2.156538, -0.475521, 1.734251  Reprojection Error: -1.593651, 0.284263 Feature: 0.764586, -0.362053, 0.533222
[11:52:54.063] xyz_f:1.250625, -0.040175, 1.625966  Reprojection Error: -1.299584, 0.095419 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.063] xyz_f:1.092528, -0.998397, 2.116982  Reprojection Error: -1.148627, 1.018841 Feature: -0.327983, -0.768055, 0.973058
[11:52:54.063] xyz_f:1.252926, -0.038585, 1.620105  Reprojection Error: -1.370198, 0.606306 Feature: -0.123887, 0.030451, 0.255710
[11:52:54.063] it:10 	 Success 	 new_chi2: 0.005416 	 dT = -0.075593, -0.315774, -0.010601
[11:52:54.063] xyz_f:2.234546, -0.473331, 2.041854  Reprojection Error: 0.339528, -0.447178 Feature: 0.764586, -0.362053, 0.533222
[11:52:54.063] xyz_f:1.293679, -0.538698, 2.504948  Reprojection Error: -0.738995, -0.113438 Feature: -0.206857, -0.305335, 0.929506
[11:52:54.063] xyz_f:0.759511, -1.246841, 3.078756  Reprojection Error: -0.407307, 0.185114 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.063] xyz_f:0.852051, -1.194881, 3.035612  Reprojection Error: -0.401072, 0.182869 Feature: -0.695805, -0.801814, 1.578855
[11:52:54.064] xyz_f:0.778574, -1.219444, 3.074172  Reprojection Error: -0.391367, 0.195020 Feature: -0.772192, -0.815560, 1.617134
[11:52:54.064] xyz_f:2.234546, -0.473331, 2.041854  Reprojection Error: -1.444524, 0.241884 Feature: 0.764586, -0.362053, 0.533222
[11:52:54.064] xyz_f:1.326380, -0.040474, 1.942856  Reprojection Error: -1.213121, 0.091543 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.064] xyz_f:1.175949, -0.999120, 2.435453  Reprojection Error: -1.115395, 0.957467 Feature: -0.327983, -0.768055, 0.973058
[11:52:54.064] xyz_f:1.328617, -0.038878, 1.936972  Reprojection Error: -1.282761, 0.602561 Feature: -0.123887, 0.030451, 0.255710
[11:52:54.064] it:11 	 Success 	 new_chi2: 0.011593 	 dT = -0.092277, 0.330659, 0.002645
[11:52:54.064] xyz_f:2.565738, -0.473879, 1.713238  Reprojection Error: -0.063696, -0.402394 Feature: 0.764586, -0.362053, 0.533222
[11:52:54.064] xyz_f:1.623646, -0.538601, 2.173927  Reprojection Error: -0.969417, -0.080737 Feature: -0.206857, -0.305335, 0.929506
[11:52:54.064] xyz_f:1.087529, -1.246378, 2.746368  Reprojection Error: -0.556601, 0.233959 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.064] xyz_f:1.180215, -1.194481, 2.703460  Reprojection Error: -0.556944, 0.231082 Feature: -0.695805, -0.801814, 1.578855
[11:52:54.064] xyz_f:1.106623, -1.218994, 2.741833  Reprojection Error: -0.541711, 0.242937 Feature: -0.772192, -0.815560, 1.617134
[11:52:54.064] xyz_f:2.565738, -0.473879, 1.713238  Reprojection Error: -1.847748, 0.286668 Feature: 0.764586, -0.362053, 0.533222
[11:52:54.064] xyz_f:1.658124, -0.040400, 1.611921  Reprojection Error: -1.559089, 0.095775 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.064] xyz_f:1.505779, -0.998942, 2.104131  Reprojection Error: -1.348179, 1.021980 Feature: -0.327983, -0.768055, 0.973058
[11:52:54.064] xyz_f:1.660377, -0.038805, 1.606043  Reprojection Error: -1.630668, 0.606651 Feature: -0.123887, 0.030451, 0.255710
[11:52:54.064] it:12 	 Success 	 new_chi2: 0.011998 	 dT = -0.420602, 0.220748, 0.021262
[11:52:54.064] xyz_f:2.553024, -0.478249, 1.508798  Reprojection Error: -0.258191, -0.362019 Feature: 0.764586, -0.362053, 0.533222
[11:52:54.064] xyz_f:1.601328, -0.537760, 1.950040  Reprojection Error: -1.043722, -0.052723 Feature: -0.206857, -0.305335, 0.929506
[11:52:54.064] xyz_f:1.049682, -1.242544, 2.511311  Reprojection Error: -0.578595, 0.274910 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.064] xyz_f:1.143514, -1.191160, 2.470318  Reprojection Error: -0.583289, 0.271436 Feature: -0.695805, -0.801814, 1.578855
[11:52:54.064] xyz_f:1.069016, -1.215265, 2.507170  Reprojection Error: -0.564487, 0.283062 Feature: -0.772192, -0.815560, 1.617134
[11:52:54.064] xyz_f:2.553024, -0.478249, 1.508798  Reprojection Error: -2.042244, 0.327042 Feature: 0.764586, -0.362053, 0.533222
[11:52:54.064] xyz_f:1.650081, -0.039788, 1.388889  Reprojection Error: -1.718484, 0.099359 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.064] xyz_f:1.482389, -0.997450, 1.877812  Reprojection Error: -1.421972, 1.078404 Feature: -0.327983, -0.768055, 0.973058
[11:52:54.064] xyz_f:1.652463, -0.038206, 1.383058  Reprojection Error: -1.791626, 0.610114 Feature: -0.123887, 0.030451, 0.255710
[11:52:54.064] it:13 	 Success 	 new_chi2: 0.003292 	 dT = -0.335388, -0.129809, 0.003213
[11:52:54.064] xyz_f:2.245462, -0.478904, 1.641053  Reprojection Error: 0.065594, -0.387165 Feature: 0.764586, -0.362053, 0.533222
[11:52:54.064] xyz_f:1.292353, -0.537623, 2.079338  Reprojection Error: -0.844066, -0.069937 Feature: -0.206857, -0.305335, 0.929506
[11:52:54.064] xyz_f:0.738381, -1.241947, 2.638894  Reprojection Error: -0.440420, 0.250763 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.064] xyz_f:0.832383, -1.190642, 2.598192  Reprojection Error: -0.440757, 0.247505 Feature: -0.695805, -0.801814, 1.578855
[11:52:54.064] xyz_f:0.757750, -1.214685, 2.634813  Reprojection Error: -0.425695, 0.259360 Feature: -0.772192, -0.815560, 1.617134
[11:52:54.064] xyz_f:2.245462, -0.478904, 1.641053  Reprojection Error: -1.718459, 0.301896 Feature: 0.764586, -0.362053, 0.533222
[11:52:54.064] xyz_f:1.343261, -0.039693, 1.518342  Reprojection Error: -1.415115, 0.096853 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.064] xyz_f:1.173256, -0.997214, 2.006741  Reprojection Error: -1.217206, 1.044159 Feature: -0.327983, -0.768055, 0.973058
[11:52:54.064] xyz_f:1.345662, -0.038113, 1.512519  Reprojection Error: -1.486520, 0.607688 Feature: -0.123887, 0.030451, 0.255710
[11:52:54.064] it:14 	 Success 	 new_chi2: 0.015864 	 dT = -0.295313, -0.136611, 0.004980
[11:52:54.064] xyz_f:2.332700, -0.479917, 1.781445  Reprojection Error: 0.124457, -0.409595 Feature: 0.764586, -0.362053, 0.533222
[11:52:54.064] xyz_f:1.377418, -0.537406, 2.215140  Reprojection Error: -0.844365, -0.085886 Feature: -0.206857, -0.305335, 0.929506
[11:52:54.064] xyz_f:0.819854, -1.241014, 2.772022  Reprojection Error: -0.456373, 0.227824 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.064] xyz_f:0.914116, -1.189830, 2.731774  Reprojection Error: -0.455011, 0.224800 Feature: -0.695805, -0.801814, 1.578855
[11:52:54.064] xyz_f:0.839277, -1.213777, 2.768035  Reprojection Error: -0.441307, 0.236844 Feature: -0.772192, -0.815560, 1.617134
[11:52:54.064] xyz_f:2.332700, -0.479917, 1.781445  Reprojection Error: -1.659595, 0.279467 Feature: 0.764586, -0.362053, 0.533222
[11:52:54.064] xyz_f:1.431666, -0.039544, 1.654397  Reprojection Error: -1.395796, 0.094613 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.064] xyz_f:1.258079, -0.996844, 2.141970  Reprojection Error: -1.219896, 1.012614 Feature: -0.327983, -0.768055, 0.973058
[11:52:54.064] xyz_f:1.434098, -0.037967, 1.648586  Reprojection Error: -1.466733, 0.605519 Feature: -0.123887, 0.030451, 0.255710
[11:52:54.064] it:15 	 Success 	 new_chi2: 0.006808 	 dT = -0.355427, 0.031576, 0.012873
[11:52:54.064] xyz_f:2.522884, -0.482521, 1.759587  Reprojection Error: 0.000106, -0.404768 Feature: 0.764586, -0.362053, 0.533222
[11:52:54.064] xyz_f:1.562098, -0.536818, 2.181370  Reprojection Error: -0.938654, -0.082400 Feature: -0.206857, -0.305335, 0.929506
[11:52:54.064] xyz_f:0.995311, -1.238553, 2.731261  Reprojection Error: -0.525027, 0.233604 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.064] xyz_f:1.090237, -1.187684, 2.692189  Reprojection Error: -0.525350, 0.230407 Feature: -0.695805, -0.801814, 1.578855
[11:52:54.064] xyz_f:1.014873, -1.211380, 2.727516  Reprojection Error: -0.510191, 0.242480 Feature: -0.772192, -0.815560, 1.617134
[11:52:54.064] xyz_f:2.522884, -0.482521, 1.759587  Reprojection Error: -1.783946, 0.284293 Feature: 0.764586, -0.362053, 0.533222
[11:52:54.064] xyz_f:1.624973, -0.039151, 1.621355  Reprojection Error: -1.532657, 0.094858 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.064] xyz_f:1.442148, -0.995857, 2.106712  Reprojection Error: -1.317098, 1.019934 Feature: -0.327983, -0.768055, 0.973058
[11:52:54.064] xyz_f:1.627481, -0.037582, 1.615574  Reprojection Error: -1.604207, 0.605752 Feature: -0.123887, 0.030451, 0.255710
[11:52:54.064] it:16 	 Success 	 new_chi2: 0.012689 	 dT = -0.378797, -0.171408, 0.003652
[11:52:54.064] xyz_f:2.512801, -0.483255, 1.933737  Reprojection Error: 0.134446, -0.429085 Feature: 0.764586, -0.362053, 0.533222
[11:52:54.064] xyz_f:1.550481, -0.536644, 2.352128  Reprojection Error: -0.881727, -0.100339 Feature: -0.206857, -0.305335, 0.929506
[11:52:54.064] xyz_f:0.981096, -1.237842, 2.900015  Reprojection Error: -0.498920, 0.206971 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.064] xyz_f:1.076206, -1.187062, 2.861279  Reprojection Error: -0.496515, 0.204119 Feature: -0.695805, -0.801814, 1.578855
[11:52:54.064] xyz_f:1.000697, -1.210688, 2.896340  Reprojection Error: -0.483608, 0.216353 Feature: -0.772192, -0.815560, 1.617134
[11:52:54.064] xyz_f:2.512801, -0.483255, 1.933737  Reprojection Error: -1.649606, 0.259977 Feature: 0.764586, -0.362053, 0.533222
[11:52:54.064] xyz_f:1.615802, -0.039037, 1.792339  Reprojection Error: -1.431930, 0.092491 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.064] xyz_f:1.430362, -0.995569, 2.277046  Reprojection Error: -1.260715, 0.984447 Feature: -0.327983, -0.768055, 0.973058
[11:52:54.064] xyz_f:1.618332, -0.037471, 1.786567  Reprojection Error: -1.502670, 0.603463 Feature: -0.123887, 0.030451, 0.255710
[11:52:54.064] it:17 	 Success 	 new_chi2: 0.002418 	 dT = -0.408009, -0.285391, 0.001327
[11:52:54.064] xyz_f:2.712735, -0.483522, 2.220123  Reprojection Error: 0.212015, -0.461202 Feature: 0.764586, -0.362053, 0.533222
[11:52:54.064] xyz_f:1.749862, -0.536580, 2.637280  Reprojection Error: -0.886055, -0.125032 Feature: -0.206857, -0.305335, 0.929506
[11:52:54.064] xyz_f:1.179534, -1.237582, 3.184437  Reprojection Error: -0.531019, 0.168766 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.064] xyz_f:1.274712, -1.186835, 3.145822  Reprojection Error: -0.525595, 0.166521 Feature: -0.695805, -0.801814, 1.578855
[11:52:54.064] xyz_f:1.199149, -1.210435, 3.180787  Reprojection Error: -0.515101, 0.178892 Feature: -0.772192, -0.815560, 1.617134
[11:52:54.064] xyz_f:2.712735, -0.483522, 2.220123  Reprojection Error: -1.572038, 0.227860 Feature: 0.764586, -0.362053, 0.533222
[11:52:54.064] xyz_f:1.816071, -0.038996, 2.077575  Reprojection Error: -1.404555, 0.089481 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.064] xyz_f:1.629681, -0.995464, 2.562045  Reprojection Error: -1.268635, 0.935770 Feature: -0.327983, -0.768055, 0.973058
[11:52:54.064] xyz_f:1.818609, -0.037430, 2.071807  Reprojection Error: -1.474626, 0.600556 Feature: -0.123887, 0.030451, 0.255710
[11:52:54.064] it:18 	 Success 	 new_chi2: 0.000000 	 dT = 0.000000, 0.000000, 0.000000
[11:52:54.064] After pose optimization, distance between two frames:2.565620 ,angle between two frames:1.056157
[11:52:54.563] Reprojection Map nPoint:26 ,nCell:16 ,nMatches:7 ,distance between two frames:2.764917 ,angle between two frames:-3.462098
[11:52:54.563] Init estimate scale:0.958648
[11:52:54.563] xyz_f:2.035028, -0.226349, 2.164383  Reprojection Error: -1.290388, 0.114648 Feature: -0.330464, 0.009503, 0.943771
[11:52:54.563] xyz_f:2.045934, -0.227608, 2.169106  Reprojection Error: -1.280006, 0.114966 Feature: -0.319161, 0.009509, 0.947653
[11:52:54.563] xyz_f:2.207893, -0.449992, 2.142648  Reprojection Error: -1.191064, -0.009852 Feature: -0.154971, -0.212145, 0.964872
[11:52:54.563] xyz_f:2.245093, -0.445574, 2.154516  Reprojection Error: -1.162428, -0.003943 Feature: -0.116990, -0.204806, 0.971786
[11:52:54.563] xyz_f:2.228033, -0.436460, 2.154960  Reprojection Error: -1.172013, 0.000884 Feature: -0.134155, -0.195888, 0.971406
[11:52:54.563] xyz_f:1.903994, -0.156095, 2.106361  Reprojection Error: -1.434351, 0.144818 Feature: -0.467675, 0.062346, 0.881699
[11:52:54.563] xyz_f:1.896906, 0.219097, 2.087056  Reprojection Error: -1.541440, 0.442249 Feature: -0.485204, 0.419757, 0.767061
[11:52:54.563] xyz_f:1.923558, 0.244875, 2.097425  Reprojection Error: -1.513941, 0.465739 Feature: -0.458359, 0.447340, 0.767980
[11:52:54.563] xyz_f:1.513538, -1.213087, 2.561478  Reprojection Error: -0.627748, 0.263460 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.563] xyz_f:1.896906, 0.219097, 2.087056  Reprojection Error: -0.944138, -0.297434 Feature: -0.485204, 0.419757, 0.767061
[11:52:54.563] xyz_f:1.613742, -1.165166, 2.533410  Reprojection Error: -0.629698, 0.256523 Feature: -0.695805, -0.801814, 1.578855
[11:52:54.563] xyz_f:2.127674, 0.000869, 1.704449  Reprojection Error: -1.674734, -0.122865 Feature: -0.283700, 0.109939, 0.434383
[11:52:54.563] xyz_f:2.209692, -0.059295, 1.787953  Reprojection Error: -1.440539, 0.059182 Feature: -0.193315, 0.073438, 0.522800
[11:52:54.563] xyz_f:2.299804, -0.035080, 1.531421  Reprojection Error: -1.863151, 0.104651 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.563] xyz_f:2.050431, -0.994979, 1.986932  Reprojection Error: -1.456331, 1.044601 Feature: -0.312634, -0.778864, 0.969795
[11:52:54.563] it:0 	 Success 	 new_chi2: 22.135864 	 dT = -0.105893, 0.134054, -0.000486
[11:52:54.563] xyz_f:0.762112, -0.226297, 2.298242  Reprojection Error: -0.681759, 0.108534 Feature: -0.330464, 0.009503, 0.943771
[11:52:54.563] xyz_f:0.773015, -0.227558, 2.302970  Reprojection Error: -0.672451, 0.108845 Feature: -0.319161, 0.009509, 0.947653
[11:52:54.564] xyz_f:0.934959, -0.449962, 2.276588  Reprojection Error: -0.571297, -0.022221 Feature: -0.154971, -0.212145, 0.964872
[11:52:54.564] xyz_f:0.972154, -0.445549, 2.288474  Reprojection Error: -0.545191, -0.016060 Feature: -0.116990, -0.204806, 0.971786
[11:52:54.564] xyz_f:0.955095, -0.436432, 2.288909  Reprojection Error: -0.555374, -0.010981 Feature: -0.134155, -0.195888, 0.971406
[11:52:54.564] xyz_f:0.631113, -0.156026, 2.240158  Reprojection Error: -0.812153, 0.140361 Feature: -0.467675, 0.062346, 0.881699
[11:52:54.564] xyz_f:0.624082, 0.219166, 2.220850  Reprojection Error: -0.913560, 0.448542 Feature: -0.485204, 0.419757, 0.767061
[11:52:54.564] xyz_f:0.650732, 0.244941, 2.231232  Reprojection Error: -0.888484, 0.472711 Feature: -0.458359, 0.447340, 0.767980
[11:52:54.564] xyz_f:0.240311, -1.212969, 2.695092  Reprojection Error: -0.126030, 0.239937 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.564] xyz_f:0.624082, 0.219166, 2.220850  Reprojection Error: -0.316257, -0.291141 Feature: -0.485204, 0.419757, 0.767061
[11:52:54.564] xyz_f:0.340534, -1.165061, 2.667071  Reprojection Error: -0.120395, 0.233435 Feature: -0.695805, -0.801814, 1.578855
[11:52:54.564] xyz_f:0.855002, 0.000909, 1.838352  Reprojection Error: -0.891520, -0.122849 Feature: -0.283700, 0.109939, 0.434383
[11:52:54.564] xyz_f:0.936973, -0.059264, 1.921894  Reprojection Error: -0.692187, 0.056856 Feature: -0.193315, 0.073438, 0.522800
[11:52:54.564] xyz_f:1.027209, -0.035061, 1.665405  Reprojection Error: -0.978199, 0.102797 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.564] xyz_f:0.777501, -0.994928, 2.120798  Reprojection Error: -0.790980, 1.012969 Feature: -0.312634, -0.778864, 0.969795
[11:52:54.564] it:1 	 Success 	 new_chi2: 8.079542 	 dT = -0.075491, 0.204045, 0.001355
[11:52:54.564] xyz_f:0.927800, -0.226442, 2.502829  Reprojection Error: -0.720853, 0.100544 Feature: -0.330464, 0.009503, 0.943771
[11:52:54.564] xyz_f:0.938709, -0.227699, 2.507543  Reprojection Error: -0.711146, 0.100840 Feature: -0.319161, 0.009509, 0.947653
[11:52:54.564] xyz_f:1.100697, -0.450046, 2.480949  Reprojection Error: -0.604273, -0.038468 Feature: -0.154971, -0.212145, 0.964872
[11:52:54.564] xyz_f:1.137906, -0.445620, 2.492786  Reprojection Error: -0.576866, -0.031989 Feature: -0.116990, -0.204806, 0.971786
[11:52:54.564] xyz_f:1.120844, -0.436510, 2.493244  Reprojection Error: -0.587656, -0.026577 Feature: -0.134155, -0.195888, 0.971406
[11:52:54.564] xyz_f:0.796701, -0.156218, 2.444917  Reprojection Error: -0.856286, 0.134606 Feature: -0.467675, 0.062346, 0.881699
[11:52:54.564] xyz_f:0.789513, 0.218972, 2.425618  Reprojection Error: -0.958039, 0.456953 Feature: -0.485204, 0.419757, 0.767061
[11:52:54.564] xyz_f:0.816167, 0.244757, 2.435965  Reprojection Error: -0.931886, 0.482013 Feature: -0.458359, 0.447340, 0.767980
[11:52:54.564] xyz_f:0.406865, -1.213297, 2.900361  Reprojection Error: -0.177144, 0.208197 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.564] xyz_f:0.789513, 0.218972, 2.425618  Reprojection Error: -0.360736, -0.282730 Feature: -0.485204, 0.419757, 0.767061
[11:52:54.564] xyz_f:0.507035, -1.165354, 2.872210  Reprojection Error: -0.169246, 0.202337 Feature: -0.695805, -0.801814, 1.578855
[11:52:54.564] xyz_f:1.020009, 0.000796, 2.042818  Reprojection Error: -0.925743, -0.122745 Feature: -0.283700, 0.109939, 0.434383
[11:52:54.564] xyz_f:1.102110, -0.059348, 2.126253  Reprojection Error: -0.722995, 0.053931 Feature: -0.193315, 0.073438, 0.522800
[11:52:54.564] xyz_f:1.192002, -0.035114, 1.869645  Reprojection Error: -0.998961, 0.100525 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.564] xyz_f:0.943226, -0.995068, 2.325365  Reprojection Error: -0.829997, 0.971759 Feature: -0.312634, -0.778864, 0.969795
[11:52:54.564] it:2 	 Success 	 new_chi2: 8.622431 	 dT = -0.085356, 0.232024, 0.001237
[11:52:54.564] xyz_f:1.291566, -0.226309, 2.270310  Reprojection Error: -0.919047, 0.109751 Feature: -0.330464, 0.009503, 0.943771
[11:52:54.564] xyz_f:1.302469, -0.227570, 2.275037  Reprojection Error: -0.909296, 0.110063 Feature: -0.319161, 0.009509, 0.947653
[11:52:54.564] xyz_f:1.464417, -0.449969, 2.248636  Reprojection Error: -0.811860, -0.019761 Feature: -0.154971, -0.212145, 0.964872
[11:52:54.564] xyz_f:1.501613, -0.445555, 2.260518  Reprojection Error: -0.784665, -0.013650 Feature: -0.116990, -0.204806, 0.971786
[11:52:54.564] xyz_f:1.484554, -0.436439, 2.260955  Reprojection Error: -0.794708, -0.008621 Feature: -0.134155, -0.195888, 0.971406
[11:52:54.564] xyz_f:1.160558, -0.156043, 2.212241  Reprojection Error: -1.055033, 0.141247 Feature: -0.467675, 0.062346, 0.881699
[11:52:54.564] xyz_f:1.153514, 0.219149, 2.192934  Reprojection Error: -1.158563, 0.447293 Feature: -0.485204, 0.419757, 0.767061
[11:52:54.564] xyz_f:1.180164, 0.244925, 2.203312  Reprojection Error: -1.132469, 0.471327 Feature: -0.458359, 0.447340, 0.767980
[11:52:54.564] xyz_f:0.769840, -1.212998, 2.667219  Reprojection Error: -0.325494, 0.244651 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.564] xyz_f:1.153514, 0.219149, 2.192934  Reprojection Error: -0.561261, -0.292390 Feature: -0.485204, 0.419757, 0.767061
[11:52:54.564] xyz_f:0.870059, -1.165086, 2.639187  Reprojection Error: -0.322384, 0.238060 Feature: -0.695805, -0.801814, 1.578855
[11:52:54.564] xyz_f:1.384397, 0.000899, 1.810409  Reprojection Error: -1.191115, -0.122852 Feature: -0.283700, 0.109939, 0.434383
[11:52:54.564] xyz_f:1.466379, -0.059272, 1.893942  Reprojection Error: -0.978908, 0.057314 Feature: -0.193315, 0.073438, 0.522800
[11:52:54.564] xyz_f:1.556585, -0.035066, 1.637442  Reprojection Error: -1.312026, 0.103159 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.564] xyz_f:1.306958, -0.994941, 2.092864  Reprojection Error: -1.048855, 1.019236 Feature: -0.312634, -0.778864, 0.969795
[11:52:54.564] it:3 	 Success 	 new_chi2: 8.259910 	 dT = -0.088132, 0.169701, 0.000395
[11:52:54.564] xyz_f:1.061958, -0.226267, 2.100451  Reprojection Error: -0.855739, 0.117792 Feature: -0.330464, 0.009503, 0.943771
[11:52:54.564] xyz_f:1.072860, -0.227529, 2.105182  Reprojection Error: -0.846420, 0.118114 Feature: -0.319161, 0.009509, 0.947653
[11:52:54.564] xyz_f:1.234795, -0.449944, 2.078843  Reprojection Error: -0.754595, -0.003429 Feature: -0.154971, -0.212145, 0.964872
[11:52:54.564] xyz_f:1.271987, -0.445534, 2.090739  Reprojection Error: -0.728778, 0.002346 Feature: -0.116990, -0.204806, 0.971786
[11:52:54.564] xyz_f:1.254929, -0.436416, 2.091170  Reprojection Error: -0.738212, 0.007041 Feature: -0.134155, -0.195888, 0.971406
[11:52:54.564] xyz_f:0.930980, -0.155987, 2.042332  Reprojection Error: -0.986267, 0.147088 Feature: -0.467675, 0.062346, 0.881699
[11:52:54.564] xyz_f:0.923982, 0.219206, 2.023022  Reprojection Error: -1.089282, 0.438872 Feature: -0.485204, 0.419757, 0.767061
[11:52:54.564] xyz_f:0.950630, 0.244979, 2.033411  Reprojection Error: -1.064342, 0.462013 Feature: -0.458359, 0.447340, 0.767980
[11:52:54.564] xyz_f:0.539980, -1.212902, 2.497161  Reprojection Error: -0.253101, 0.275584 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.564] xyz_f:0.923982, 0.219206, 2.023022  Reprojection Error: -0.491980, -0.300811 Feature: -0.485204, 0.419757, 0.767061
[11:52:54.564] xyz_f:0.640215, -1.165001, 2.469167  Reprojection Error: -0.251998, 0.268423 Feature: -0.695805, -0.801814, 1.578855
[11:52:54.564] xyz_f:1.154989, 0.000932, 1.640586  Reprojection Error: -1.130438, -0.122923 Feature: -0.283700, 0.109939, 0.434383
[11:52:54.564] xyz_f:1.236932, -0.059247, 1.724149  Reprojection Error: -0.922077, 0.060382 Feature: -0.193315, 0.073438, 0.522800
[11:52:54.564] xyz_f:1.327239, -0.035051, 1.467684  Reprojection Error: -1.265714, 0.105625 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.564] xyz_f:1.077340, -0.994900, 1.923011  Reprojection Error: -0.984608, 1.061205 Feature: -0.312634, -0.778864, 0.969795
[11:52:54.564] it:4 	 Success 	 new_chi2: 7.791990 	 dT = -0.076363, 0.151408, 0.000184
[11:52:54.564] xyz_f:0.880321, -0.226247, 1.948969  Reprojection Error: -0.801838, 0.126155 Feature: -0.330464, 0.009503, 0.943771
[11:52:54.564] xyz_f:0.891221, -0.227509, 1.953702  Reprojection Error: -0.792962, 0.126485 Feature: -0.319161, 0.009509, 0.947653
[11:52:54.564] xyz_f:1.053151, -0.449933, 1.927391  Reprojection Error: -0.707025, 0.013573 Feature: -0.154971, -0.212145, 0.964872
[11:52:54.564] xyz_f:1.090341, -0.445524, 1.939294  Reprojection Error: -0.682623, 0.018983 Feature: -0.116990, -0.204806, 0.971786
[11:52:54.564] xyz_f:1.073283, -0.436406, 1.939722  Reprojection Error: -0.691422, 0.023330 Feature: -0.134155, -0.195888, 0.971406
[11:52:54.564] xyz_f:0.749357, -0.155961, 1.890826  Reprojection Error: -0.926737, 0.153194 Feature: -0.467675, 0.062346, 0.881699
[11:52:54.564] xyz_f:0.742379, 0.219232, 1.871515  Reprojection Error: -1.029222, 0.430086 Feature: -0.485204, 0.419757, 0.767061
[11:52:54.564] xyz_f:0.769027, 0.245004, 1.881909  Reprojection Error: -1.005479, 0.452300 Feature: -0.458359, 0.447340, 0.767980
[11:52:54.564] xyz_f:0.358225, -1.212857, 2.345586  Reprojection Error: -0.189587, 0.306952 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.564] xyz_f:0.742379, 0.219232, 1.871515  Reprojection Error: -0.431919, -0.309597 Feature: -0.485204, 0.419757, 0.767061
[11:52:54.564] xyz_f:0.458467, -1.164961, 2.317610  Reprojection Error: -0.190533, 0.299259 Feature: -0.695805, -0.801814, 1.578855
[11:52:54.564] xyz_f:0.973444, 0.000948, 1.489120  Reprojection Error: -1.080132, -0.122991 Feature: -0.283700, 0.109939, 0.434383
[11:52:54.564] xyz_f:1.055370, -0.059236, 1.572698  Reprojection Error: -0.875718, 0.063684 Feature: -0.193315, 0.073438, 0.522800
[11:52:54.564] xyz_f:1.145723, -0.035044, 1.316249  Reprojection Error: -1.231852, 0.108368 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.564] xyz_f:0.895697, -0.994881, 1.771531  Reprojection Error: -0.929978, 1.105433 Feature: -0.312634, -0.778864, 0.969795
[11:52:54.564] it:5 	 Success 	 new_chi2: 7.377595 	 dT = -0.066553, 0.135848, -0.000261
[11:52:54.564] xyz_f:0.719339, -0.226275, 1.813225  Reprojection Error: -0.746871, 0.134861 Feature: -0.330464, 0.009503, 0.943771
[11:52:54.564] xyz_f:0.730241, -0.227537, 1.817956  Reprojection Error: -0.738474, 0.135195 Feature: -0.319161, 0.009509, 0.947653
[11:52:54.564] xyz_f:0.892179, -0.449949, 1.791605  Reprojection Error: -0.658591, 0.031274 Feature: -0.154971, -0.212145, 0.964872
[11:52:54.564] xyz_f:0.929372, -0.445538, 1.803498  Reprojection Error: -0.635703, 0.036289 Feature: -0.116990, -0.204806, 0.971786
[11:52:54.564] xyz_f:0.912313, -0.436421, 1.803930  Reprojection Error: -0.643840, 0.040274 Feature: -0.134155, -0.195888, 0.971406
[11:52:54.564] xyz_f:0.588356, -0.155998, 1.755116  Reprojection Error: -0.865649, 0.159593 Feature: -0.467675, 0.062346, 0.881699
[11:52:54.564] xyz_f:0.581348, 0.219195, 1.735807  Reprojection Error: -0.967464, 0.420949 Feature: -0.485204, 0.419757, 0.767061
[11:52:54.564] xyz_f:0.607997, 0.244968, 1.746194  Reprojection Error: -0.945021, 0.442202 Feature: -0.458359, 0.447340, 0.767980
[11:52:54.564] xyz_f:0.197410, -1.212920, 2.209974  Reprojection Error: -0.126191, 0.338710 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.564] xyz_f:0.581348, 0.219195, 1.735807  Reprojection Error: -0.370162, -0.318734 Feature: -0.485204, 0.419757, 0.767061
[11:52:54.564] xyz_f:0.297642, -1.165017, 2.181973  Reprojection Error: -0.129124, 0.330532 Feature: -0.695805, -0.801814, 1.578855
[11:52:54.564] xyz_f:0.812331, 0.000926, 1.353353  Reprojection Error: -1.026664, -0.123039 Feature: -0.283700, 0.109939, 0.434383
[11:52:54.564] xyz_f:0.894283, -0.059252, 1.436911  Reprojection Error: -0.827026, 0.067255 Feature: -0.193315, 0.073438, 0.522800
[11:52:54.564] xyz_f:0.984569, -0.035054, 1.180439  Reprojection Error: -1.195477, 0.111439 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.564] xyz_f:0.734723, -0.994908, 1.635784  Reprojection Error: -0.873529, 1.152054 Feature: -0.312634, -0.778864, 0.969795
[11:52:54.564] it:6 	 Success 	 new_chi2: 6.942451 	 dT = -0.057891, 0.124314, -0.000808
[11:52:54.564] xyz_f:0.575566, -0.226362, 1.689235  Reprojection Error: -0.690879, 0.144072 Feature: -0.330464, 0.009503, 0.943771
[11:52:54.564] xyz_f:0.586472, -0.227621, 1.693957  Reprojection Error: -0.683005, 0.144407 Feature: -0.319161, 0.009509, 0.947653
[11:52:54.564] xyz_f:0.748435, -0.450000, 1.667479  Reprojection Error: -0.609455, 0.050000 Feature: -0.154971, -0.212145, 0.964872
[11:52:54.564] xyz_f:0.785636, -0.445581, 1.679343  Reprojection Error: -0.588210, 0.054578 Feature: -0.116990, -0.204806, 0.971786
[11:52:54.564] xyz_f:0.768576, -0.436467, 1.679789  Reprojection Error: -0.595647, 0.058181 Feature: -0.134155, -0.195888, 0.971406
[11:52:54.564] xyz_f:0.444522, -0.156112, 1.631228  Reprojection Error: -0.802933, 0.166413 Feature: -0.467675, 0.062346, 0.881699
[11:52:54.564] xyz_f:0.437421, 0.219079, 1.611924  Reprojection Error: -0.903915, 0.411316 Feature: -0.485204, 0.419757, 0.767061
[11:52:54.564] xyz_f:0.464073, 0.244858, 1.622290  Reprojection Error: -0.882897, 0.431556 Feature: -0.458359, 0.447340, 0.767980
[11:52:54.564] xyz_f:0.054153, -1.213116, 2.086391  Reprojection Error: -0.062819, 0.371314 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.564] xyz_f:0.437421, 0.219079, 1.611924  Reprojection Error: -0.306612, -0.328367 Feature: -0.485204, 0.419757, 0.767061
[11:52:54.564] xyz_f:0.154352, -1.165192, 2.058311  Reprojection Error: -0.067704, 0.362695 Feature: -0.695805, -0.801814, 1.578855
[11:52:54.564] xyz_f:0.668151, 0.000858, 1.229290  Reprojection Error: -0.969954, -0.123053 Feature: -0.283700, 0.109939, 0.434383
[11:52:54.564] xyz_f:0.750180, -0.059302, 1.312784  Reprojection Error: -0.776103, 0.071192 Feature: -0.193315, 0.073438, 0.522800
[11:52:54.564] xyz_f:0.840262, -0.035085, 1.056242  Reprojection Error: -1.156926, 0.114961 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.564] xyz_f:0.590972, -0.994991, 1.511782  Reprojection Error: -0.815283, 1.201997 Feature: -0.312634, -0.778864, 0.969795
[11:52:54.564] it:7 	 Success 	 new_chi2: 6.493449 	 dT = -0.051337, 0.116607, -0.000802
[11:52:54.564] xyz_f:0.445428, -0.226448, 1.572949  Reprojection Error: -0.633333, 0.154033 Feature: -0.330464, 0.009503, 0.943771
[11:52:54.564] xyz_f:0.456337, -0.227705, 1.577663  Reprojection Error: -0.626041, 0.154365 Feature: -0.319161, 0.009509, 0.947653
[11:52:54.564] xyz_f:0.618327, -0.450050, 1.551059  Reprojection Error: -0.559261, 0.070288 Feature: -0.154971, -0.212145, 0.964872
[11:52:54.564] xyz_f:0.655536, -0.445623, 1.562894  Reprojection Error: -0.539824, 0.074374 Feature: -0.116990, -0.204806, 0.971786
[11:52:54.564] xyz_f:0.638474, -0.436513, 1.563354  Reprojection Error: -0.546504, 0.077562 Feature: -0.134155, -0.195888, 0.971406
[11:52:54.564] xyz_f:0.314325, -0.156225, 1.515044  Reprojection Error: -0.737894, 0.173827 Feature: -0.467675, 0.062346, 0.881699
[11:52:54.564] xyz_f:0.307130, 0.218965, 1.495745  Reprojection Error: -0.837885, 0.400836 Feature: -0.485204, 0.419757, 0.767061
[11:52:54.564] xyz_f:0.333785, 0.244749, 1.506091  Reprojection Error: -0.818460, 0.419983 Feature: -0.458359, 0.447340, 0.767980
[11:52:54.564] xyz_f:-0.075473, -1.213310, 1.970509  Reprojection Error: 0.001437, 0.405606 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.564] xyz_f:0.307130, 0.218965, 1.495745  Reprojection Error: -0.240583, -0.338847 Feature: -0.485204, 0.419757, 0.767061
[11:52:54.564] xyz_f:0.024695, -1.165366, 1.942351  Reprojection Error: -0.005428, 0.396580 Feature: -0.695805, -0.801814, 1.578855
[11:52:54.564] xyz_f:0.537609, 0.000792, 1.112933  Reprojection Error: -0.909484, -0.123066 Feature: -0.283700, 0.109939, 0.434383
[11:52:54.564] xyz_f:0.619716, -0.059352, 1.196363  Reprojection Error: -0.722661, 0.075629 Feature: -0.193315, 0.073438, 0.522800
[11:52:54.564] xyz_f:0.709593, -0.035116, 0.939751  Reprojection Error: -1.116493, 0.119111 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.564] xyz_f:0.460856, -0.995074, 1.395484  Reprojection Error: -0.754620, 1.256907 Feature: -0.312634, -0.778864, 0.969795
[11:52:54.564] it:8 	 Success 	 new_chi2: 6.034464 	 dT = -0.049151, 0.109719, 0.001274
[11:52:54.564] xyz_f:0.325474, -0.226311, 1.462720  Reprojection Error: -0.572666, 0.164789 Feature: -0.330464, 0.009503, 0.943771
[11:52:54.564] xyz_f:0.336378, -0.227572, 1.467447  Reprojection Error: -0.566018, 0.165114 Feature: -0.319161, 0.009509, 0.947653
[11:52:54.564] xyz_f:0.498327, -0.449970, 1.441043  Reprojection Error: -0.506423, 0.092384 Feature: -0.154971, -0.212145, 0.964872
[11:52:54.564] xyz_f:0.535523, -0.445556, 1.452924  Reprojection Error: -0.488970, 0.095909 Feature: -0.116990, -0.204806, 0.971786
[11:52:54.564] xyz_f:0.518464, -0.436440, 1.453362  Reprojection Error: -0.494838, 0.098643 Feature: -0.134155, -0.195888, 0.971406
[11:52:54.564] xyz_f:0.194466, -0.156045, 1.404653  Reprojection Error: -0.668870, 0.181803 Feature: -0.467675, 0.062346, 0.881699
[11:52:54.564] xyz_f:0.187419, 0.219147, 1.385346  Reprojection Error: -0.767836, 0.389038 Feature: -0.485204, 0.419757, 0.767061
[11:52:54.564] xyz_f:0.214069, 0.244923, 1.395724  Reprojection Error: -0.750212, 0.407009 Feature: -0.458359, 0.447340, 0.767980
[11:52:54.564] xyz_f:-0.196240, -1.213002, 1.859638  Reprojection Error: 0.068662, 0.442150 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.564] xyz_f:0.187419, 0.219147, 1.385346  Reprojection Error: -0.170534, -0.350644 Feature: -0.485204, 0.419757, 0.767061
[11:52:54.564] xyz_f:-0.096022, -1.165090, 1.831604  Reprojection Error: 0.059711, 0.432707 Feature: -0.695805, -0.801814, 1.578855
[11:52:54.564] xyz_f:0.418297, 0.000898, 1.002818  Reprojection Error: -0.843550, -0.123250 Feature: -0.283700, 0.109939, 0.434383
[11:52:54.564] xyz_f:0.500281, -0.059273, 1.086349  Reprojection Error: -0.665177, 0.080581 Feature: -0.193315, 0.073438, 0.522800
[11:52:54.564] xyz_f:0.590482, -0.035067, 0.829848  Reprojection Error: -1.072961, 0.124001 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.564] xyz_f:0.340868, -0.994942, 1.285274  Reprojection Error: -0.689582, 1.317949 Feature: -0.312634, -0.778864, 0.969795
[11:52:54.564] it:9 	 Success 	 new_chi2: 5.561315 	 dT = -0.051574, 0.098348, 0.006254
[11:52:54.564] xyz_f:0.212496, -0.225635, 1.361849  Reprojection Error: -0.506188, 0.175752 Feature: -0.330464, 0.009503, 0.943771
[11:52:54.564] xyz_f:0.223369, -0.226913, 1.366642  Reprojection Error: -0.500235, 0.176071 Feature: -0.319161, 0.009509, 0.947653
[11:52:54.564] xyz_f:0.385114, -0.449574, 1.341216  Reprojection Error: -0.447751, 0.115330 Feature: -0.154971, -0.212145, 0.964872
[11:52:54.564] xyz_f:0.422245, -0.445220, 1.353321  Reprojection Error: -0.432393, 0.118230 Feature: -0.116990, -0.204806, 0.971786
[11:52:54.564] xyz_f:0.405198, -0.436076, 1.353656  Reprojection Error: -0.437440, 0.120493 Feature: -0.134155, -0.195888, 0.971406
[11:52:54.564] xyz_f:0.081955, -0.155158, 1.302992  Reprojection Error: -0.593323, 0.189789 Feature: -0.467675, 0.062346, 0.881699
[11:52:54.564] xyz_f:0.075632, 0.220045, 1.283645  Reprojection Error: -0.691469, 0.375805 Feature: -0.485204, 0.419757, 0.767061
[11:52:54.564] xyz_f:0.102261, 0.245778, 1.294184  Reprojection Error: -0.675853, 0.392580 Feature: -0.458359, 0.447340, 0.767980
[11:52:54.564] xyz_f:-0.313203, -1.211478, 1.755603  Reprojection Error: 0.141538, 0.479935 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.564] xyz_f:0.075632, 0.220045, 1.283645  Reprojection Error: -0.094167, -0.363878 Feature: -0.485204, 0.419757, 0.767061
[11:52:54.564] xyz_f:-0.212740, -1.163729, 1.728175  Reprojection Error: 0.130386, 0.469989 Feature: -0.695805, -0.801814, 1.578855
[11:52:54.564] xyz_f:0.308463, 0.001421, 0.902517  Reprojection Error: -0.768209, -0.123929 Feature: -0.283700, 0.109939, 0.434383
[11:52:54.564] xyz_f:0.389843, -0.058882, 0.986541  Reprojection Error: -0.599823, 0.085704 Feature: -0.193315, 0.073438, 0.522800
[11:52:54.564] xyz_f:0.481632, -0.034823, 0.730590  Reprojection Error: -1.020643, 0.129408 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.564] xyz_f:0.227717, -0.994291, 1.184495  Reprojection Error: -0.616620, 1.383261 Feature: -0.312634, -0.778864, 0.969795
[11:52:54.564] it:10 	 Success 	 new_chi2: 5.058410 	 dT = -0.053956, 0.082743, 0.012045
[11:52:54.564] xyz_f:0.105633, -0.224307, 1.274151  Reprojection Error: -0.433058, 0.186114 Feature: -0.330464, 0.009503, 0.943771
[11:52:54.564] xyz_f:0.116446, -0.225619, 1.279070  Reprojection Error: -0.427831, 0.186428 Feature: -0.319161, 0.009509, 0.947653
[11:52:54.565] xyz_f:0.277781, -0.448783, 1.255523  Reprojection Error: -0.381860, 0.137579 Feature: -0.154971, -0.212145, 0.964872
[11:52:54.565] xyz_f:0.314781, -0.444545, 1.268060  Reprojection Error: -0.368626, 0.139818 Feature: -0.116990, -0.204806, 0.971786
[11:52:54.565] xyz_f:0.297761, -0.435348, 1.268196  Reprojection Error: -0.372894, 0.141628 Feature: -0.134155, -0.195888, 0.971406
[11:52:54.565] xyz_f:-0.023994, -0.153424, 1.213781  Reprojection Error: -0.510657, 0.197113 Feature: -0.467675, 0.062346, 0.881699
[11:52:54.565] xyz_f:-0.028922, 0.221796, 1.194368  Reprojection Error: -0.608334, 0.361526 Feature: -0.485204, 0.419757, 0.767061
[11:52:54.565] xyz_f:-0.002337, 0.247446, 1.205216  Reprojection Error: -0.594898, 0.377177 Feature: -0.458359, 0.447340, 0.767980
[11:52:54.565] xyz_f:-0.427682, -1.208500, 1.661745  Reprojection Error: 0.220505, 0.517119 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.565] xyz_f:-0.028922, 0.221796, 1.194368  Reprojection Error: -0.011032, -0.378157 Feature: -0.485204, 0.419757, 0.767061
[11:52:54.565] xyz_f:-0.326758, -1.161064, 1.635488  Reprojection Error: 0.207078, 0.506522 Feature: -0.695805, -0.801814, 1.578855
[11:52:54.565] xyz_f:0.207645, 0.002440, 0.815970  Reprojection Error: -0.680904, -0.125345 Feature: -0.283700, 0.109939, 0.434383
[11:52:54.565] xyz_f:0.287854, -0.058114, 0.900935  Reprojection Error: -0.524166, 0.090524 Feature: -0.193315, 0.073438, 0.522800
[11:52:54.565] xyz_f:0.382688, -0.034347, 0.646069  Reprojection Error: -0.953739, 0.134906 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.565] xyz_f:0.120520, -0.993010, 1.096972  Reprojection Error: -0.534238, 1.449068 Feature: -0.312634, -0.778864, 0.969795
[11:52:54.565] it:11 	 Success 	 new_chi2: 4.529193 	 dT = -0.052732, 0.068448, 0.016212
[11:52:54.565] xyz_f:0.007099, -0.222467, 1.198833  Reprojection Error: -0.356074, 0.195639 Feature: -0.330464, 0.009503, 0.943771
[11:52:54.565] xyz_f:0.017827, -0.223824, 1.203921  Reprojection Error: -0.351599, 0.195947 Feature: -0.319161, 0.009509, 0.947653
[11:52:54.565] xyz_f:0.178573, -0.447664, 1.182896  Reprojection Error: -0.311576, 0.158578 Feature: -0.154971, -0.212145, 0.964872
[11:52:54.565] xyz_f:0.215390, -0.443580, 1.196011  Reprojection Error: -0.300478, 0.160130 Feature: -0.116990, -0.204806, 0.971786
[11:52:54.565] xyz_f:0.198408, -0.434312, 1.195881  Reprojection Error: -0.304013, 0.161519 Feature: -0.134155, -0.195888, 0.971406
[11:52:54.565] xyz_f:-0.121269, -0.151043, 1.136443  Reprojection Error: -0.423716, 0.203619 Feature: -0.467675, 0.062346, 0.881699
[11:52:54.565] xyz_f:-0.124317, 0.224195, 1.116968  Reprojection Error: -0.521250, 0.346510 Feature: -0.485204, 0.419757, 0.767061
[11:52:54.565] xyz_f:-0.097799, 0.249733, 1.128232  Reprojection Error: -0.510154, 0.361140 Feature: -0.458359, 0.447340, 0.767980
[11:52:54.565] xyz_f:-0.536345, -1.204400, 1.577996  Reprojection Error: 0.303026, 0.553118 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.565] xyz_f:-0.124317, 0.224195, 1.116968  Reprojection Error: 0.076052, -0.393173 Feature: -0.485204, 0.419757, 0.767061
[11:52:54.565] xyz_f:-0.434825, -1.157389, 1.553325  Reprojection Error: 0.287217, 0.541708 Feature: -0.695805, -0.801814, 1.578855
[11:52:54.565] xyz_f:0.117223, 0.003836, 0.742314  Reprojection Error: -0.584344, -0.127522 Feature: -0.283700, 0.109939, 0.434383
[11:52:54.565] xyz_f:0.195837, -0.057052, 0.828522  Reprojection Error: -0.441029, 0.094879 Feature: -0.193315, 0.073438, 0.522800
[11:52:54.565] xyz_f:0.294749, -0.033691, 0.575174  Reprojection Error: -0.873859, 0.140319 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.565] xyz_f:0.021532, -0.991231, 1.021884  Reprojection Error: -0.445443, 1.513843 Feature: -0.312634, -0.778864, 0.969795
[11:52:54.565] it:12 	 Success 	 new_chi2: 4.017070 	 dT = -0.048666, 0.058061, 0.018591
[11:52:54.565] xyz_f:-0.081977, -0.220281, 1.132616  Reprojection Error: -0.277775, 0.204558 Feature: -0.330464, 0.009503, 0.943771
[11:52:54.565] xyz_f:-0.071348, -0.221690, 1.137895  Reprojection Error: -0.274090, 0.204859 Feature: -0.319161, 0.009509, 0.947653
[11:52:54.565] xyz_f:0.088671, -0.446301, 1.119751  Reprojection Error: -0.239801, 0.178703 Feature: -0.154971, -0.212145, 0.964872
[11:52:54.565] xyz_f:0.125266, -0.442394, 1.133524  Reprojection Error: -0.230897, 0.179529 Feature: -0.116990, -0.204806, 0.971786
[11:52:54.565] xyz_f:0.108334, -0.433044, 1.133090  Reprojection Error: -0.233713, 0.180526 Feature: -0.134155, -0.195888, 0.971406
[11:52:54.565] xyz_f:-0.208858, -0.148243, 1.067934  Reprojection Error: -0.334853, 0.209524 Feature: -0.467675, 0.062346, 0.881699
[11:52:54.565] xyz_f:-0.209751, 0.227004, 1.048423  Reprojection Error: -0.432486, 0.330708 Feature: -0.485204, 0.419757, 0.767061
[11:52:54.565] xyz_f:-0.183316, 0.252415, 1.060163  Reprojection Error: -0.423924, 0.344399 Feature: -0.458359, 0.447340, 0.767980
[11:52:54.565] xyz_f:-0.636860, -1.199572, 1.501917  Reprojection Error: 0.387168, 0.588565 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.565] xyz_f:-0.209751, 0.227004, 1.048423  Reprojection Error: 0.164817, -0.408975 Feature: -0.485204, 0.419757, 0.767061
[11:52:54.565] xyz_f:-0.534687, -1.153051, 1.479074  Reprojection Error: 0.368787, 0.576179 Feature: -0.695805, -0.801814, 1.578855
[11:52:54.565] xyz_f:0.037415, 0.005469, 0.678157  Reprojection Error: -0.481600, -0.130420 Feature: -0.283700, 0.109939, 0.434383
[11:52:54.565] xyz_f:0.114174, -0.055792, 0.765761  Reprojection Error: -0.353760, 0.098878 Feature: -0.193315, 0.073438, 0.522800
[11:52:54.565] xyz_f:0.217731, -0.032918, 0.514230  Reprojection Error: -0.784819, 0.145758 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.565] xyz_f:-0.068067, -0.989114, 0.955921  Reprojection Error: -0.353167, 1.578562 Feature: -0.312634, -0.778864, 0.969795
[11:52:54.565] it:13 	 Success 	 new_chi2: 3.564732 	 dT = -0.043545, 0.050920, 0.020009
[11:52:54.565] xyz_f:-0.162804, -0.217840, 1.072586  Reprojection Error: -0.198366, 0.213167 Feature: -0.330464, 0.009503, 0.943771
[11:52:54.565] xyz_f:-0.152287, -0.219304, 1.078070  Reprojection Error: -0.195532, 0.213456 Feature: -0.319161, 0.009509, 0.947653
[11:52:54.565] xyz_f:0.006887, -0.444741, 1.063010  Reprojection Error: -0.167092, 0.198511 Feature: -0.154971, -0.212145, 0.964872
[11:52:54.565] xyz_f:0.043229, -0.441023, 1.077489  Reprojection Error: -0.160507, 0.198554 Feature: -0.116990, -0.204806, 0.971786
[11:52:54.565] xyz_f:0.026357, -0.431586, 1.076728  Reprojection Error: -0.162582, 0.199177 Feature: -0.134155, -0.195888, 0.971406
[11:52:54.565] xyz_f:-0.288037, -0.145149, 1.005468  Reprojection Error: -0.243954, 0.215071 Feature: -0.467675, 0.062346, 0.881699
[11:52:54.565] xyz_f:-0.286610, 0.230096, 0.985962  Reprojection Error: -0.341859, 0.313855 Feature: -0.485204, 0.419757, 0.767061
[11:52:54.565] xyz_f:-0.260276, 0.255371, 0.998212  Reprojection Error: -0.336095, 0.326661 Feature: -0.458359, 0.447340, 0.767980
[11:52:54.565] xyz_f:-0.729785, -1.194226, 1.431046  Reprojection Error: 0.473102, 0.624384 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.565] xyz_f:-0.286610, 0.230096, 0.985962  Reprojection Error: 0.255444, -0.425828 Feature: -0.485204, 0.419757, 0.767061
[11:52:54.565] xyz_f:-0.626950, -1.148236, 1.410185  Reprojection Error: 0.451873, 0.610848 Feature: -0.695805, -0.801814, 1.578855
[11:52:54.565] xyz_f:-0.033485, 0.007266, 0.620531  Reprojection Error: -0.372466, -0.134064 Feature: -0.283700, 0.109939, 0.434383
[11:52:54.565] xyz_f:0.041249, -0.054388, 0.709599  Reprojection Error: -0.262790, 0.102665 Feature: -0.193315, 0.073438, 0.522800
[11:52:54.565] xyz_f:0.149765, -0.032063, 0.460118  Reprojection Error: -0.686899, 0.151428 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.565] xyz_f:-0.149464, -0.986743, 0.896155  Reprojection Error: -0.257589, 1.644925 Feature: -0.312634, -0.778864, 0.969795
[11:52:54.565] it:14 	 Success 	 new_chi2: 3.194107 	 dT = -0.038354, 0.045852, 0.021075
[11:52:54.565] xyz_f:-0.237292, -0.215171, 1.016773  Reprojection Error: -0.116775, 0.221691 Feature: -0.330464, 0.009503, 0.943771
[11:52:54.565] xyz_f:-0.226897, -0.216691, 1.022470  Reprojection Error: -0.114881, 0.221964 Feature: -0.319161, 0.009509, 0.947653
[11:52:54.565] xyz_f:-0.068681, -0.442995, 1.010640  Reprojection Error: -0.092655, 0.218462 Feature: -0.154971, -0.212145, 0.964872
[11:52:54.565] xyz_f:-0.032622, -0.439474, 1.025856  Reprojection Error: -0.088587, 0.217645 Feature: -0.116990, -0.204806, 0.971786
[11:52:54.565] xyz_f:-0.049423, -0.429945, 1.024753  Reprojection Error: -0.089874, 0.217906 Feature: -0.134155, -0.195888, 0.971406
[11:52:54.565] xyz_f:-0.360735, -0.141802, 0.947123  Reprojection Error: -0.149551, 0.220429 Feature: -0.467675, 0.062346, 0.881699
[11:52:54.565] xyz_f:-0.356864, 0.233429, 0.927671  Reprojection Error: -0.247861, 0.295598 Feature: -0.485204, 0.419757, 0.767061
[11:52:54.565] xyz_f:-0.330647, 0.258560, 0.940456  Reprojection Error: -0.245255, 0.307559 Feature: -0.458359, 0.447340, 0.767980
[11:52:54.565] xyz_f:-0.816768, -1.188430, 1.363563  Reprojection Error: 0.562132, 0.661433 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.565] xyz_f:-0.356864, 0.233429, 0.927671  Reprojection Error: 0.349441, -0.444085 Feature: -0.485204, 0.419757, 0.767061
[11:52:54.565] xyz_f:-0.713282, -1.143003, 1.344802  Reprojection Error: 0.537685, 0.646545 Feature: -0.695805, -0.801814, 1.578855
[11:52:54.565] xyz_f:-0.097572, 0.009202, 0.567456  Reprojection Error: -0.254482, -0.138570 Feature: -0.283700, 0.109939, 0.434383
[11:52:54.565] xyz_f:-0.025005, -0.052854, 0.658023  Reprojection Error: -0.166661, 0.106342 Feature: -0.193315, 0.073438, 0.522800
[11:52:54.565] xyz_f:0.088687, -0.031135, 0.410804  Reprojection Error: -0.577294, 0.157535 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.565] xyz_f:-0.224557, -0.984145, 0.840607  Reprojection Error: -0.157235, 1.714595 Feature: -0.312634, -0.778864, 0.969795
[11:52:54.565] it:15 	 Success 	 new_chi2: 2.920442 	 dT = -0.033507, 0.042051, 0.022117
[11:52:54.565] xyz_f:-0.307039, -0.212263, 0.963868  Reprojection Error: -0.031604, 0.230289 Feature: -0.330464, 0.009503, 0.943771
[11:52:54.565] xyz_f:-0.296777, -0.213842, 0.969785  Reprojection Error: -0.030768, 0.230539 Feature: -0.319161, 0.009509, 0.947653
[11:52:54.565] xyz_f:-0.139642, -0.441048, 0.961324  Reprojection Error: -0.015353, 0.238924 Feature: -0.154971, -0.212145, 0.964872
[11:52:54.565] xyz_f:-0.103897, -0.437733, 0.977307  Reprojection Error: -0.014078, 0.237145 Feature: -0.116990, -0.204806, 0.971786
[11:52:54.565] xyz_f:-0.120616, -0.428108, 0.975845  Reprojection Error: -0.014502, 0.237051 Feature: -0.134155, -0.195888, 0.971406
[11:52:54.565] xyz_f:-0.428544, -0.138192, 0.891601  Reprojection Error: -0.049780, 0.225704 Feature: -0.467675, 0.062346, 0.881699
[11:52:54.565] xyz_f:-0.422110, 0.237009, 0.872259  Reprojection Error: -0.148622, 0.275509 Feature: -0.485204, 0.419757, 0.767061
[11:52:54.565] xyz_f:-0.396029, 0.261991, 0.885603  Reprojection Error: -0.149651, 0.286656 Feature: -0.458359, 0.447340, 0.767980
[11:52:54.565] xyz_f:-0.899352, -1.182167, 1.298140  Reprojection Error: 0.655937, 0.700534 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.565] xyz_f:-0.422110, 0.237009, 0.872259  Reprojection Error: 0.448681, -0.464174 Feature: -0.485204, 0.419757, 0.767061
[11:52:54.565] xyz_f:-0.795230, -1.137335, 1.281597  Reprojection Error: 0.627785, 0.684039 Feature: -0.695805, -0.801814, 1.578855
[11:52:54.565] xyz_f:-0.156471, 0.011279, 0.517652  Reprojection Error: -0.124158, -0.144144 Feature: -0.283700, 0.109939, 0.434383
[11:52:54.565] xyz_f:-0.086211, -0.051185, 0.609744  Reprojection Error: -0.063273, 0.109965 Feature: -0.193315, 0.073438, 0.522800
[11:52:54.565] xyz_f:0.032859, -0.030133, 0.365011  Reprojection Error: -0.451428, 0.164297 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.565] xyz_f:-0.294945, -0.981308, 0.787967  Reprojection Error: -0.050060, 1.789206 Feature: -0.312634, -0.778864, 0.969795
[11:52:54.565] it:16 	 Success 	 new_chi2: 2.765516 	 dT = -0.029227, 0.039016, 0.023371
[11:52:54.565] xyz_f:-0.373223, -0.209072, 0.912943  Reprojection Error: 0.058660, 0.239078 Feature: -0.330464, 0.009503, 0.943771
[11:52:54.565] xyz_f:-0.363107, -0.210713, 0.919090  Reprojection Error: 0.058281, 0.239297 Feature: -0.319161, 0.009509, 0.947653
[11:52:54.565] xyz_f:-0.207198, -0.438866, 0.914163  Reprojection Error: 0.066041, 0.260205 Feature: -0.154971, -0.212145, 0.964872
[11:52:54.565] xyz_f:-0.171803, -0.435766, 0.930948  Reprojection Error: 0.064159, 0.257336 Feature: -0.116990, -0.204806, 0.971786
[11:52:54.565] xyz_f:-0.188427, -0.426040, 0.929111  Reprojection Error: 0.064700, 0.256893 Feature: -0.134155, -0.195888, 0.971406
[11:52:54.565] xyz_f:-0.492615, -0.134273, 0.837957  Reprojection Error: 0.057451, 0.230949 Feature: -0.467675, 0.062346, 0.881699
[11:52:54.565] xyz_f:-0.483478, 0.240882, 0.818791  Reprojection Error: -0.042071, 0.253036 Feature: -0.485204, 0.419757, 0.767061
[11:52:54.565] xyz_f:-0.457554, 0.265706, 0.832722  Reprojection Error: -0.047369, 0.263408 Feature: -0.458359, 0.447340, 0.767980
[11:52:54.565] xyz_f:-0.978786, -1.175353, 1.233694  Reprojection Error: 0.756515, 0.742582 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.565] xyz_f:-0.483478, 0.240882, 0.818791  Reprojection Error: 0.555231, -0.486647 Feature: -0.485204, 0.419757, 0.767061
[11:52:54.565] xyz_f:-0.874048, -1.131152, 1.219508  Reprojection Error: 0.724007, 0.724151 Feature: -0.695805, -0.801814, 1.578855
[11:52:54.565] xyz_f:-0.211272, 0.013525, 0.470255  Reprojection Error: 0.022843, -0.151115 Feature: -0.283700, 0.109939, 0.434383
[11:52:54.565] xyz_f:-0.143487, -0.049357, 0.563905  Reprojection Error: 0.049792, 0.113547 Feature: -0.193315, 0.073438, 0.522800
[11:52:54.565] xyz_f:-0.018799, -0.029042, 0.321924  Reprojection Error: -0.303011, 0.171957 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.565] xyz_f:-0.361814, -0.978188, 0.737307  Reprojection Error: 0.066351, 1.870543 Feature: -0.312634, -0.778864, 0.969795
[11:52:54.565] it:17 	 Success 	 new_chi2: 2.764932 	 dT = -0.025705, 0.036399, 0.025101
[11:52:54.565] xyz_f:-0.436757, -0.205512, 0.863258  Reprojection Error: 0.155787, 0.248135 Feature: -0.330464, 0.009503, 0.943771
[11:52:54.565] xyz_f:-0.426804, -0.207218, 0.869649  Reprojection Error: 0.153986, 0.248312 Feature: -0.319161, 0.009509, 0.947653
[11:52:54.565] xyz_f:-0.272307, -0.436380, 0.868485  Reprojection Error: 0.152930, 0.282592 Feature: -0.154971, -0.212145, 0.964872
[11:52:54.565] xyz_f:-0.237310, -0.433508, 0.886124  Reprojection Error: 0.147420, 0.278466 Feature: -0.116990, -0.204806, 0.971786
[11:52:54.565] xyz_f:-0.253820, -0.423675, 0.883884  Reprojection Error: 0.149061, 0.277679 Feature: -0.134155, -0.195888, 0.971406
[11:52:54.565] xyz_f:-0.553808, -0.129945, 0.785406  Reprojection Error: 0.174698, 0.236160 Feature: -0.467675, 0.062346, 0.881699
[11:52:54.565] xyz_f:-0.541772, 0.245141, 0.766497  Reprojection Error: 0.074266, 0.227408 Feature: -0.485204, 0.419757, 0.767061
[11:52:54.565] xyz_f:-0.516033, 0.269797, 0.781054  Reprojection Error: 0.063851, 0.237062 Feature: -0.458359, 0.447340, 0.767980
[11:52:54.565] xyz_f:-1.056183, -1.167814, 1.169158  Reprojection Error: 0.866507, 0.788722 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.565] xyz_f:-0.541772, 0.245141, 0.766497  Reprojection Error: 0.671569, -0.512275 Feature: -0.485204, 0.419757, 0.767061
[11:52:54.565] xyz_f:-0.950846, -1.124296, 1.157519  Reprojection Error: 0.828737, 0.767901 Feature: -0.695805, -0.801814, 1.578855
[11:52:54.565] xyz_f:-0.262678, 0.015993, 0.424644  Reprojection Error: 0.192157, -0.160017 Feature: -0.283700, 0.109939, 0.434383
[11:52:54.565] xyz_f:-0.197594, -0.047321, 0.519906  Reprojection Error: 0.175397, 0.117037 Feature: -0.193315, 0.073438, 0.522800
[11:52:54.565] xyz_f:-0.066947, -0.027835, 0.281020  Reprojection Error: -0.123179, 0.180793 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.565] xyz_f:-0.426089, -0.974700, 0.687891  Reprojection Error: 0.195042, 1.960780 Feature: -0.312634, -0.778864, 0.969795
[11:52:54.565] it:18 	 Success 	 new_chi2: 2.975771 	 dT = -0.023141, 0.033918, 0.027699
[11:52:54.565] xyz_f:-0.498814, -0.209432, 0.911808  Reprojection Error: 0.196907, 0.239758 Feature: -0.330464, 0.009503, 0.943771
[11:52:54.565] xyz_f:-0.488681, -0.211067, 0.917930  Reprojection Error: 0.195581, 0.239972 Feature: -0.319161, 0.009509, 0.947653
[11:52:54.565] xyz_f:-0.332632, -0.439115, 0.912611  Reprojection Error: 0.203871, 0.261294 Feature: -0.154971, -0.212145, 0.964872
[11:52:54.565] xyz_f:-0.297197, -0.435991, 0.929308  Reprojection Error: 0.199417, 0.258404 Feature: -0.116990, -0.204806, 0.971786
[11:52:54.565] xyz_f:-0.313831, -0.426276, 0.927512  Reprojection Error: 0.200254, 0.257938 Feature: -0.134155, -0.195888, 0.971406
[11:52:54.565] xyz_f:-0.618444, -0.134714, 0.837122  Reprojection Error: 0.208348, 0.231636 Feature: -0.467675, 0.062346, 0.881699
[11:52:54.565] xyz_f:-0.609607, 0.240447, 0.817934  Reprojection Error: 0.112752, 0.253259 Feature: -0.485204, 0.419757, 0.767061
[11:52:54.565] xyz_f:-0.583665, 0.265288, 0.831799  Reprojection Error: 0.104853, 0.263556 Feature: -0.458359, 0.447340, 0.767980
[11:52:54.565] xyz_f:-1.102920, -1.176121, 1.234077  Reprojection Error: 0.856857, 0.742908 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.565] xyz_f:-0.609607, 0.240447, 0.817934  Reprojection Error: 0.710054, -0.486424 Feature: -0.485204, 0.419757, 0.767061
[11:52:54.565] xyz_f:-0.998247, -1.131849, 1.219628  Reprojection Error: 0.825770, 0.724631 Feature: -0.695805, -0.801814, 1.578855
[11:52:54.565] xyz_f:-0.338123, 0.013272, 0.468715  Reprojection Error: 0.294955, -0.150672 Feature: -0.283700, 0.109939, 0.434383
[11:52:54.565] xyz_f:-0.270062, -0.049564, 0.562195  Reprojection Error: 0.275709, 0.114180 Feature: -0.193315, 0.073438, 0.522800
[11:52:54.565] xyz_f:-0.145994, -0.029165, 0.319901  Reprojection Error: 0.094967, 0.172912 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.565] xyz_f:-0.487328, -0.978541, 0.736144  Reprojection Error: 0.237629, 1.873119 Feature: -0.312634, -0.778864, 0.969795
[11:52:54.565] it:19 	 Success 	 new_chi2: 0.988222 	 dT = -0.011197, 0.023938, 0.014741
[11:52:54.565] xyz_f:-0.440444, -0.211451, 0.943277  Reprojection Error: 0.116776, 0.234235 Feature: -0.330464, 0.009503, 0.943771
[11:52:54.565] xyz_f:-0.430218, -0.213046, 0.949254  Reprojection Error: 0.116426, 0.234469 Feature: -0.319161, 0.009509, 0.947653
[11:52:54.565] xyz_f:-0.273392, -0.440497, 0.941708  Reprojection Error: 0.129702, 0.247895 Feature: -0.154971, -0.212145, 0.964872
[11:52:54.565] xyz_f:-0.237735, -0.437238, 0.957899  Reprojection Error: 0.127797, 0.245703 Feature: -0.116990, -0.204806, 0.971786
[11:52:54.565] xyz_f:-0.254430, -0.427587, 0.956340  Reprojection Error: 0.127942, 0.245454 Feature: -0.134155, -0.195888, 0.971406
[11:52:54.565] xyz_f:-0.561409, -0.137191, 0.870305  Reprojection Error: 0.114647, 0.228346 Feature: -0.467675, 0.062346, 0.881699
[11:52:54.565] xyz_f:-0.554277, 0.238000, 0.851002  Reprojection Error: 0.018774, 0.267557 Feature: -0.485204, 0.419757, 0.767061
[11:52:54.565] xyz_f:-0.528236, 0.262941, 0.864498  Reprojection Error: 0.014195, 0.278335 Feature: -0.458359, 0.447340, 0.767980
[11:52:54.565] xyz_f:-1.036208, -1.180428, 1.274089  Reprojection Error: 0.776430, 0.716359 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.565] xyz_f:-0.554277, 0.238000, 0.851002  Reprojection Error: 0.616076, -0.472126 Feature: -0.485204, 0.419757, 0.767061
[11:52:54.565] xyz_f:-0.931921, -1.135758, 1.258153  Reprojection Error: 0.747992, 0.699322 Feature: -0.695805, -0.801814, 1.578855
[11:52:54.565] xyz_f:-0.286929, 0.011854, 0.497948  Reprojection Error: 0.149795, -0.146160 Feature: -0.283700, 0.109939, 0.434383
[11:52:54.565] xyz_f:-0.217304, -0.050720, 0.590448  Reprojection Error: 0.163372, 0.111920 Feature: -0.193315, 0.073438, 0.522800
[11:52:54.565] xyz_f:-0.096778, -0.029854, 0.346413  Reprojection Error: -0.082034, 0.167925 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.565] xyz_f:-0.428526, -0.980515, 0.767447  Reprojection Error: 0.134006, 1.821472 Feature: -0.312634, -0.778864, 0.969795
[11:52:54.565] it:20 	 Success 	 new_chi2: 0.837028 	 dT = -0.014088, 0.026270, 0.012874
[11:52:54.565] xyz_f:-0.408379, -0.213174, 0.975979  Reprojection Error: 0.068277, 0.228490 Feature: -0.330464, 0.009503, 0.943771
[11:52:54.565] xyz_f:-0.398075, -0.214735, 0.981828  Reprojection Error: 0.068651, 0.228744 Feature: -0.319161, 0.009509, 0.947653
[11:52:54.565] xyz_f:-0.240598, -0.441663, 0.972328  Reprojection Error: 0.086832, 0.234364 Feature: -0.154971, -0.212145, 0.964872
[11:52:54.566] xyz_f:-0.204753, -0.438284, 0.988074  Reprojection Error: 0.086837, 0.232822 Feature: -0.116990, -0.204806, 0.971786
[11:52:54.566] xyz_f:-0.221499, -0.428689, 0.986723  Reprojection Error: 0.086375, 0.232803 Feature: -0.134155, -0.195888, 0.971406
[11:52:54.566] xyz_f:-0.530489, -0.139319, 0.904518  Reprojection Error: 0.056063, 0.224737 Feature: -0.467675, 0.062346, 0.881699
[11:52:54.566] xyz_f:-0.524848, 0.235893, 0.885136  Reprojection Error: -0.039591, 0.280723 Feature: -0.485204, 0.419757, 0.767061
[11:52:54.566] xyz_f:-0.498724, 0.260921, 0.898307  Reprojection Error: -0.041655, 0.292031 Feature: -0.458359, 0.447340, 0.767980
[11:52:54.566] xyz_f:-0.996752, -1.184124, 1.314153  Reprojection Error: 0.721611, 0.690926 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.566] xyz_f:-0.524848, 0.235893, 0.885136  Reprojection Error: 0.557711, -0.458960 Feature: -0.485204, 0.419757, 0.767061
[11:52:54.566] xyz_f:-0.892821, -1.139107, 1.296922  Reprojection Error: 0.695701, 0.674919 Feature: -0.695805, -0.801814, 1.578855
[11:52:54.566] xyz_f:-0.261158, 0.010631, 0.528780  Reprojection Error: 0.067461, -0.142460 Feature: -0.283700, 0.109939, 0.434383
[11:52:54.566] xyz_f:-0.190181, -0.051708, 0.620405  Reprojection Error: 0.101882, 0.109365 Feature: -0.193315, 0.073438, 0.522800
[11:52:54.566] xyz_f:-0.072769, -0.030446, 0.374891  Reprojection Error: -0.167300, 0.162957 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.566] xyz_f:-0.396086, -0.982198, 0.799998  Reprojection Error: 0.070737, 1.771590 Feature: -0.312634, -0.778864, 0.969795
[11:52:54.566] it:21 	 Success 	 new_chi2: 0.845912 	 dT = -0.017281, 0.026774, 0.014103
[11:52:54.566] xyz_f:-0.362804, -0.211284, 0.942153  Reprojection Error: 0.034927, 0.234326 Feature: -0.330464, 0.009503, 0.943771
[11:52:54.566] xyz_f:-0.352587, -0.212883, 0.948142  Reprojection Error: 0.035080, 0.234561 Feature: -0.319161, 0.009509, 0.947653
[11:52:54.566] xyz_f:-0.195824, -0.440384, 0.940782  Reprojection Error: 0.047537, 0.248236 Feature: -0.154971, -0.212145, 0.964872
[11:52:54.566] xyz_f:-0.160185, -0.437136, 0.957015  Reprojection Error: 0.046993, 0.246018 Feature: -0.116990, -0.204806, 0.971786
[11:52:54.566] xyz_f:-0.176876, -0.427479, 0.955436  Reprojection Error: 0.047022, 0.245765 Feature: -0.134155, -0.195888, 0.971406
[11:52:54.566] xyz_f:-0.483660, -0.136986, 0.869036  Reprojection Error: 0.026122, 0.228341 Feature: -0.467675, 0.062346, 0.881699
[11:52:54.566] xyz_f:-0.476386, 0.238203, 0.849743  Reprojection Error: -0.071926, 0.266904 Feature: -0.485204, 0.419757, 0.767061
[11:52:54.566] xyz_f:-0.450352, 0.263135, 0.863269  Reprojection Error: -0.075155, 0.277677 Feature: -0.458359, 0.447340, 0.767980
[11:52:54.566] xyz_f:-0.959269, -1.180072, 1.272256  Reprojection Error: 0.717127, 0.717414 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.566] xyz_f:-0.476386, 0.238203, 0.849743  Reprojection Error: 0.525377, -0.472779 Feature: -0.485204, 0.419757, 0.767061
[11:52:54.566] xyz_f:-0.854950, -1.135435, 1.256444  Reprojection Error: 0.687737, 0.700293 Feature: -0.695805, -0.801814, 1.578855
[11:52:54.566] xyz_f:-0.208690, 0.011971, 0.497005  Reprojection Error: -0.006533, -0.146442 Feature: -0.283700, 0.109939, 0.434383
[11:52:54.566] xyz_f:-0.139195, -0.050625, 0.589588  Reprojection Error: 0.031428, 0.111883 Feature: -0.193315, 0.073438, 0.522800
[11:52:54.566] xyz_f:-0.018373, -0.029797, 0.345696  Reprojection Error: -0.308259, 0.167939 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.566] xyz_f:-0.350923, -0.980352, 0.766336  Reprojection Error: 0.033550, 1.823111 Feature: -0.312634, -0.778864, 0.969795
[11:52:54.566] it:22 	 Success 	 new_chi2: 0.399146 	 dT = -0.011797, 0.025735, 0.003891
[11:52:54.566] xyz_f:-0.398373, -0.210755, 0.914443  Reprojection Error: 0.085493, 0.240543 Feature: -0.330464, 0.009503, 0.943771
[11:52:54.566] xyz_f:-0.388180, -0.212364, 0.920470  Reprojection Error: 0.084928, 0.240747 Feature: -0.319161, 0.009509, 0.947653
[11:52:54.566] xyz_f:-0.231620, -0.440023, 0.913699  Reprojection Error: 0.092884, 0.261715 Feature: -0.154971, -0.212145, 0.964872
[11:52:54.566] xyz_f:-0.196039, -0.436811, 0.930066  Reprojection Error: 0.090393, 0.258903 Feature: -0.116990, -0.204806, 0.971786
[11:52:54.566] xyz_f:-0.212714, -0.427137, 0.928425  Reprojection Error: 0.091009, 0.258413 Feature: -0.134155, -0.195888, 0.971406
[11:52:54.566] xyz_f:-0.518878, -0.136335, 0.840873  Reprojection Error: 0.086646, 0.232846 Feature: -0.467675, 0.062346, 0.881699
[11:52:54.566] xyz_f:-0.511154, 0.238846, 0.821607  Reprojection Error: -0.010410, 0.256522 Feature: -0.485204, 0.419757, 0.767061
[11:52:54.566] xyz_f:-0.485146, 0.263752, 0.835231  Reprojection Error: -0.015985, 0.266706 Feature: -0.458359, 0.447340, 0.767980
[11:52:54.566] xyz_f:-0.997050, -1.178941, 1.242300  Reprojection Error: 0.765721, 0.738870 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.566] xyz_f:-0.511154, 0.238846, 0.821607  Reprojection Error: 0.586892, -0.483161 Feature: -0.485204, 0.419757, 0.767061
[11:52:54.566] xyz_f:-0.892627, -1.134409, 1.226880  Reprojection Error: 0.734844, 0.721232 Feature: -0.695805, -0.801814, 1.578855
[11:52:54.566] xyz_f:-0.242362, 0.012344, 0.469878  Reprojection Error: 0.089370, -0.148626 Feature: -0.283700, 0.109939, 0.434383
[11:52:54.566] xyz_f:-0.173279, -0.050321, 0.562721  Reprojection Error: 0.103269, 0.115444 Feature: -0.193315, 0.073438, 0.522800
[11:52:54.566] xyz_f:-0.051520, -0.029616, 0.319286  Reprojection Error: -0.200047, 0.174501 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.566] xyz_f:-0.386605, -0.979835, 0.738671  Reprojection Error: 0.099008, 1.870323 Feature: -0.312634, -0.778864, 0.969795
[11:52:54.566] it:23 	 Success 	 new_chi2: 0.424605 	 dT = -0.011121, 0.024255, 0.006783
[11:52:54.566] xyz_f:-0.430536, -0.209824, 0.886715  Reprojection Error: 0.135387, 0.246700 Feature: -0.330464, 0.009503, 0.943771
[11:52:54.566] xyz_f:-0.420385, -0.211451, 0.892809  Reprojection Error: 0.134065, 0.246872 Feature: -0.319161, 0.009509, 0.947653
[11:52:54.566] xyz_f:-0.264184, -0.439385, 0.887063  Reprojection Error: 0.137206, 0.275457 Feature: -0.154971, -0.212145, 0.964872
[11:52:54.566] xyz_f:-0.228706, -0.436235, 0.903663  Reprojection Error: 0.132700, 0.271988 Feature: -0.116990, -0.204806, 0.971786
[11:52:54.566] xyz_f:-0.245352, -0.426533, 0.901912  Reprojection Error: 0.133932, 0.271267 Feature: -0.134155, -0.195888, 0.971406
[11:52:54.566] xyz_f:-0.550425, -0.135194, 0.812358  Reprojection Error: 0.147140, 0.237132 Feature: -0.467675, 0.062346, 0.881699
[11:52:54.566] xyz_f:-0.541916, 0.239973, 0.793145  Reprojection Error: 0.050700, 0.244669 Feature: -0.485204, 0.419757, 0.767061
[11:52:54.566] xyz_f:-0.515955, 0.264834, 0.806940  Reprojection Error: 0.042560, 0.254294 Feature: -0.458359, 0.447340, 0.767980
[11:52:54.566] xyz_f:-1.033047, -1.176956, 1.210637  Reprojection Error: 0.816445, 0.762050 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.566] xyz_f:-0.541916, 0.239973, 0.793145  Reprojection Error: 0.648003, -0.495014 Feature: -0.485204, 0.419757, 0.767061
[11:52:54.566] xyz_f:-0.928447, -1.132608, 1.195902  Reprojection Error: 0.783643, 0.743677 Feature: -0.695805, -0.801814, 1.578855
[11:52:54.566] xyz_f:-0.271224, 0.012998, 0.443184  Reprojection Error: 0.185561, -0.151683 Feature: -0.283700, 0.109939, 0.434383
[11:52:54.566] xyz_f:-0.202861, -0.049788, 0.536477  Reprojection Error: 0.173473, 0.118825 Feature: -0.193315, 0.073438, 0.522800
[11:52:54.566] xyz_f:-0.079473, -0.029298, 0.293845  Reprojection Error: -0.090949, 0.181451 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.566] xyz_f:-0.418967, -0.978925, 0.711020  Reprojection Error: 0.164876, 1.920629 Feature: -0.312634, -0.778864, 0.969795
[11:52:54.566] it:24 	 Success 	 new_chi2: 0.455183 	 dT = -0.010518, 0.022675, 0.009832
[11:52:54.566] xyz_f:-0.463688, -0.208458, 0.858940  Reprojection Error: 0.189684, 0.252761 Feature: -0.330464, 0.009503, 0.943771
[11:52:54.566] xyz_f:-0.453600, -0.210111, 0.865131  Reprojection Error: 0.187522, 0.252900 Feature: -0.319161, 0.009509, 0.947653
[11:52:54.566] xyz_f:-0.297931, -0.438441, 0.860865  Reprojection Error: 0.185470, 0.289434 Feature: -0.154971, -0.212145, 0.964872
[11:52:54.566] xyz_f:-0.262604, -0.435381, 0.877801  Reprojection Error: 0.178774, 0.285238 Feature: -0.116990, -0.204806, 0.971786
[11:52:54.566] xyz_f:-0.279209, -0.425636, 0.875893  Reprojection Error: 0.180667, 0.284292 Feature: -0.134155, -0.195888, 0.971406
[11:52:54.566] xyz_f:-0.582675, -0.133523, 0.783449  Reprojection Error: 0.213306, 0.241141 Feature: -0.467675, 0.062346, 0.881699
[11:52:54.566] xyz_f:-0.573029, 0.241620, 0.764323  Reprojection Error: 0.117173, 0.231104 Feature: -0.485204, 0.419757, 0.767061
[11:52:54.566] xyz_f:-0.547137, 0.266415, 0.778363  Reprojection Error: 0.106096, 0.240213 Feature: -0.458359, 0.447340, 0.767980
[11:52:54.566] xyz_f:-1.071707, -1.174049, 1.177114  Reprojection Error: 0.873589, 0.787267 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.566] xyz_f:-0.573029, 0.241620, 0.764323  Reprojection Error: 0.714475, -0.508579 Feature: -0.485204, 0.419757, 0.767061
[11:52:54.566] xyz_f:-0.966859, -1.129967, 1.163374  Reprojection Error: 0.838368, 0.767888 Feature: -0.695805, -0.801814, 1.578855
[11:52:54.566] xyz_f:-0.299604, 0.013953, 0.416945  Reprojection Error: 0.292142, -0.155819 Feature: -0.283700, 0.109939, 0.434383
[11:52:54.566] xyz_f:-0.232290, -0.049006, 0.510882  Reprojection Error: 0.250023, 0.121943 Feature: -0.193315, 0.073438, 0.522800
[11:52:54.566] xyz_f:-0.106552, -0.028833, 0.269433  Reprojection Error: 0.034061, 0.188758 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.566] xyz_f:-0.452408, -0.977587, 0.683353  Reprojection Error: 0.237668, 1.974413 Feature: -0.312634, -0.778864, 0.969795
[11:52:54.566] it:25 	 Success 	 new_chi2: 0.482065 	 dT = -0.009743, 0.020395, 0.013446
[11:52:54.566] xyz_f:-0.498395, -0.206555, 0.831444  Reprojection Error: 0.249280, 0.258499 Feature: -0.330464, 0.009503, 0.943771
[11:52:54.566] xyz_f:-0.488394, -0.208243, 0.837765  Reprojection Error: 0.246181, 0.258604 Feature: -0.319161, 0.009509, 0.947653
[11:52:54.566] xyz_f:-0.333479, -0.437113, 0.835517  Reprojection Error: 0.238516, 0.303297 Feature: -0.154971, -0.212145, 0.964872
[11:52:54.566] xyz_f:-0.298364, -0.434176, 0.852910  Reprojection Error: 0.229432, 0.298300 Feature: -0.116990, -0.204806, 0.971786
[11:52:54.566] xyz_f:-0.314908, -0.424374, 0.850786  Reprojection Error: 0.232034, 0.297148 Feature: -0.134155, -0.195888, 0.971406
[11:52:54.566] xyz_f:-0.616130, -0.131209, 0.754415  Reprojection Error: 0.286274, 0.244632 Feature: -0.467675, 0.062346, 0.881699
[11:52:54.566] xyz_f:-0.604932, 0.243899, 0.735425  Reprojection Error: 0.190012, 0.215584 Feature: -0.485204, 0.419757, 0.767061
[11:52:54.566] xyz_f:-0.579137, 0.268604, 0.749801  Reprojection Error: 0.175551, 0.224256 Feature: -0.458359, 0.447340, 0.767980
[11:52:54.566] xyz_f:-1.113852, -1.170017, 1.141673  Reprojection Error: 0.938768, 0.814698 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.566] xyz_f:-0.604932, 0.243899, 0.735425  Reprojection Error: 0.787314, -0.524099 Feature: -0.485204, 0.419757, 0.767061
[11:52:54.566] xyz_f:-1.008681, -1.126301, 1.129296  Reprojection Error: 0.900480, 0.793951 Feature: -0.695805, -0.801814, 1.578855
[11:52:54.566] xyz_f:-0.327812, 0.015273, 0.391622  Reprojection Error: 0.410633, -0.161355 Feature: -0.283700, 0.109939, 0.434383
[11:52:54.566] xyz_f:-0.261943, -0.047917, 0.486425  Reprojection Error: 0.333845, 0.124528 Feature: -0.193315, 0.073438, 0.522800
[11:52:54.566] xyz_f:-0.133010, -0.028187, 0.246629  Reprojection Error: 0.177905, 0.196035 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.566] xyz_f:-0.487512, -0.975723, 0.656001  Reprojection Error: 0.318785, 2.031219 Feature: -0.312634, -0.778864, 0.969795
[11:52:54.566] it:26 	 Success 	 new_chi2: 0.466237 	 dT = -0.007932, 0.016321, 0.017557
[11:52:54.566] xyz_f:-0.535150, -0.204012, 0.805632  Reprojection Error: 0.314107, 0.263302 Feature: -0.330464, 0.009503, 0.943771
[11:52:54.566] xyz_f:-0.525265, -0.205745, 0.812121  Reprojection Error: 0.309989, 0.263377 Feature: -0.319161, 0.009509, 0.947653
[11:52:54.566] xyz_f:-0.371375, -0.435317, 0.812492  Reprojection Error: 0.296469, 0.315912 Feature: -0.154971, -0.212145, 0.964872
[11:52:54.566] xyz_f:-0.336548, -0.432539, 0.830478  Reprojection Error: 0.284859, 0.310079 Feature: -0.116990, -0.204806, 0.971786
[11:52:54.566] xyz_f:-0.353009, -0.422661, 0.828074  Reprojection Error: 0.288197, 0.308761 Feature: -0.134155, -0.195888, 0.971406
[11:52:54.566] xyz_f:-0.651218, -0.128134, 0.726621  Reprojection Error: 0.365803, 0.247054 Feature: -0.467675, 0.062346, 0.881699
[11:52:54.566] xyz_f:-0.637995, 0.246918, 0.707837  Reprojection Error: 0.268781, 0.198393 Feature: -0.485204, 0.419757, 0.767061
[11:52:54.566] xyz_f:-0.612336, 0.271505, 0.722650  Reprojection Error: 0.250512, 0.206781 Feature: -0.458359, 0.447340, 0.767980
[11:52:54.566] xyz_f:-1.160150, -1.164656, 1.105342  Reprojection Error: 1.012721, 0.843532 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.566] xyz_f:-0.637995, 0.246918, 0.707837  Reprojection Error: 0.866083, -0.541289 Feature: -0.485204, 0.419757, 0.767061
[11:52:54.566] xyz_f:-1.054587, -1.121418, 1.094753  Reprojection Error: 0.970597, 0.820961 Feature: -0.695805, -0.801814, 1.578855
[11:52:54.566] xyz_f:-0.356126, 0.017022, 0.368774  Reprojection Error: 0.539274, -0.168514 Feature: -0.283700, 0.109939, 0.434383
[11:52:54.566] xyz_f:-0.292162, -0.046463, 0.464678  Reprojection Error: 0.424081, 0.126010 Feature: -0.193315, 0.073438, 0.522800
[11:52:54.566] xyz_f:-0.159093, -0.027329, 0.227104  Reprojection Error: 0.339124, 0.202081 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.566] xyz_f:-0.524788, -0.973228, 0.630369  Reprojection Error: 0.408137, 2.087741 Feature: -0.312634, -0.778864, 0.969795
[11:52:54.566] it:27 	 Success 	 new_chi2: 0.361848 	 dT = -0.003239, 0.009285, 0.021357
[11:52:54.566] xyz_f:-0.573624, -0.200830, 0.784471  Reprojection Error: 0.381071, 0.266076 Feature: -0.330464, 0.009503, 0.943771
[11:52:54.566] xyz_f:-0.563885, -0.202617, 0.791163  Reprojection Error: 0.375938, 0.266134 Feature: -0.319161, 0.009509, 0.947653
[11:52:54.566] xyz_f:-0.411307, -0.433036, 0.794694  Reprojection Error: 0.356954, 0.325041 Feature: -0.154971, -0.212145, 0.964872
[11:52:54.566] xyz_f:-0.376844, -0.430450, 0.813395  Reprojection Error: 0.342910, 0.318449 Feature: -0.116990, -0.204806, 0.971786
[11:52:54.566] xyz_f:-0.393197, -0.420481, 0.810653  Reprojection Error: 0.346933, 0.317041 Feature: -0.134155, -0.195888, 0.971406
[11:52:54.566] xyz_f:-0.687618, -0.124316, 0.703087  Reprojection Error: 0.447573, 0.247526 Feature: -0.467675, 0.062346, 0.881699
[11:52:54.566] xyz_f:-0.671937, 0.250656, 0.684601  Reprojection Error: 0.348952, 0.181093 Feature: -0.485204, 0.419757, 0.767061
[11:52:54.566] xyz_f:-0.646453, 0.275102, 0.699941  Reprojection Error: 0.326746, 0.189453 Feature: -0.458359, 0.447340, 0.767980
[11:52:54.566] xyz_f:-1.209974, -1.157988, 1.071171  Reprojection Error: 1.092717, 0.870920 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.566] xyz_f:-0.671937, 0.250656, 0.684601  Reprojection Error: 0.946254, -0.558589 Feature: -0.485204, 0.419757, 0.767061
[11:52:54.566] xyz_f:-1.103978, -1.115335, 1.062763  Reprojection Error: 1.046066, 0.846070 Feature: -0.695805, -0.801814, 1.578855
[11:52:54.566] xyz_f:-0.384409, 0.019186, 0.351412  Reprojection Error: 0.667472, -0.176953 Feature: -0.283700, 0.109939, 0.434383
[11:52:54.566] xyz_f:-0.322789, -0.044646, 0.448610  Reprojection Error: 0.514869, 0.125540 Feature: -0.193315, 0.073438, 0.522800
[11:52:54.566] xyz_f:-0.184744, -0.026261, 0.213833  Reprojection Error: 0.502558, 0.204555 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.566] xyz_f:-0.563902, -0.970102, 0.609415  Reprojection Error: 0.500944, 2.135696 Feature: -0.312634, -0.778864, 0.969795
[11:52:54.566] it:28 	 Success 	 new_chi2: 0.195128 	 dT = 0.002947, -0.000572, 0.027162
[11:52:54.566] xyz_f:-0.610917, -0.196645, 0.769423  Reprojection Error: 0.443840, 0.265644 Feature: -0.330464, 0.009503, 0.943771
[11:52:54.566] xyz_f:-0.601369, -0.198500, 0.776368  Reprojection Error: 0.437802, 0.265711 Feature: -0.319161, 0.009509, 0.947653
[11:52:54.566] xyz_f:-0.450560, -0.429985, 0.783879  Reprojection Error: 0.414170, 0.328667 Feature: -0.154971, -0.212145, 0.964872
[11:52:54.566] xyz_f:-0.416581, -0.427639, 0.803478  Reprojection Error: 0.398085, 0.321482 Feature: -0.116990, -0.204806, 0.971786
[11:52:54.566] xyz_f:-0.432786, -0.417557, 0.800309  Reprojection Error: 0.402670, 0.320091 Feature: -0.134155, -0.195888, 0.971406
[11:52:54.566] xyz_f:-0.722195, -0.119339, 0.685083  Reprojection Error: 0.523746, 0.244908 Feature: -0.467675, 0.062346, 0.881699
[11:52:54.566] xyz_f:-0.703399, 0.255512, 0.667050  Reprojection Error: 0.421943, 0.164180 Feature: -0.485204, 0.419757, 0.767061
[11:52:54.566] xyz_f:-0.678156, 0.279780, 0.683055  Reprojection Error: 0.395990, 0.172889 Feature: -0.458359, 0.447340, 0.767980
[11:52:54.566] xyz_f:-1.261281, -1.149279, 1.039242  Reprojection Error: 1.176791, 0.895753 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.566] xyz_f:-0.703399, 0.255512, 0.667050  Reprojection Error: 1.019246, -0.575503 Feature: -0.485204, 0.419757, 0.767061
[11:52:54.566] xyz_f:-1.154803, -1.107373, 1.033622  Reprojection Error: 1.124525, 0.867956 Feature: -0.695805, -0.801814, 1.578855
[11:52:54.566] xyz_f:-0.408864, 0.021996, 0.341497  Reprojection Error: 0.770843, -0.186767 Feature: -0.283700, 0.109939, 0.434383
[11:52:54.566] xyz_f:-0.350265, -0.042259, 0.440273  Reprojection Error: 0.590903, 0.122003 Feature: -0.193315, 0.073438, 0.522800
[11:52:54.566] xyz_f:-0.205983, -0.024866, 0.209199  Reprojection Error: 0.623220, 0.200608 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.566] xyz_f:-0.602013, -0.965982, 0.594612  Reprojection Error: 0.588075, 2.168399 Feature: -0.312634, -0.778864, 0.969795
[11:52:54.566] it:29 	 Success 	 new_chi2: 0.087488 	 dT = 0.001876, -0.012531, 0.045751
[11:52:54.566] xyz_f:-0.645010, -0.189254, 0.754370  Reprojection Error: 0.504879, 0.260946 Feature: -0.330464, 0.009503, 0.943771
[11:52:54.566] xyz_f:-0.635802, -0.191219, 0.761729  Reprojection Error: 0.497891, 0.261068 Feature: -0.319161, 0.009509, 0.947653
[11:52:54.566] xyz_f:-0.488222, -0.424472, 0.775835  Reprojection Error: 0.468673, 0.327248 Feature: -0.154971, -0.212145, 0.964872
[11:52:54.566] xyz_f:-0.455117, -0.422523, 0.796916  Reprojection Error: 0.450711, 0.319445 Feature: -0.116990, -0.204806, 0.971786
[11:52:54.566] xyz_f:-0.471046, -0.412250, 0.793037  Reprojection Error: 0.455873, 0.318184 Feature: -0.134155, -0.195888, 0.971406
[11:52:54.566] xyz_f:-0.751531, -0.110658, 0.665217  Reprojection Error: 0.599329, 0.237060 Feature: -0.467675, 0.062346, 0.881699
[11:52:54.566] xyz_f:-0.727521, 0.263939, 0.648129  Reprojection Error: 0.489945, 0.139995 Feature: -0.485204, 0.419757, 0.767061
[11:52:54.566] xyz_f:-0.702724, 0.287911, 0.665241  Reprojection Error: 0.459509, 0.149697 Feature: -0.458359, 0.447340, 0.767980
[11:52:54.566] xyz_f:-1.317890, -1.134052, 0.994946  Reprojection Error: 1.287721, 0.929685 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.566] xyz_f:-0.727521, 0.263939, 0.648129  Reprojection Error: 1.087247, -0.599687 Feature: -0.485204, 0.419757, 0.767061
[11:52:54.566] xyz_f:-1.210780, -1.093411, 0.994046  Reprojection Error: 1.225318, 0.896564 Feature: -0.695805, -0.801814, 1.578855
[11:52:54.566] xyz_f:-0.421677, 0.026868, 0.335844  Reprojection Error: 0.829144, -0.202358 Feature: -0.283700, 0.109939, 0.434383
[11:52:54.566] xyz_f:-0.368263, -0.038050, 0.437096  Reprojection Error: 0.637862, 0.113071 Feature: -0.193315, 0.073438, 0.522800
[11:52:54.566] xyz_f:-0.213718, -0.022427, 0.212626  Reprojection Error: 0.643730, 0.187219 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.566] xyz_f:-0.637500, -0.958688, 0.579921  Reprojection Error: 0.674915, 2.196974 Feature: -0.312634, -0.778864, 0.969795
[11:52:54.566] it:30 	 Success 	 new_chi2: 0.024156 	 dT = 0.078199, -0.016692, -0.036347
[11:52:54.566] xyz_f:-0.680517, -0.195160, 0.793106  Reprojection Error: 0.507888, 0.256140 Feature: -0.330464, 0.009503, 0.943771
[11:52:54.566] xyz_f:-0.671038, -0.197038, 0.800137  Reprojection Error: 0.501862, 0.256290 Feature: -0.319161, 0.009509, 0.947653
[11:52:54.566] xyz_f:-0.520867, -0.428890, 0.809015  Reprojection Error: 0.483215, 0.310270 Feature: -0.154971, -0.212145, 0.964872
[11:52:54.566] xyz_f:-0.487062, -0.426627, 0.828922  Reprojection Error: 0.467198, 0.303924 Feature: -0.116990, -0.204806, 0.971786
[11:52:54.566] xyz_f:-0.503213, -0.416505, 0.825606  Reprojection Error: 0.471404, 0.302830 Feature: -0.134155, -0.195888, 0.971406
[11:52:54.566] xyz_f:-0.790836, -0.117585, 0.707760  Reprojection Error: 0.586955, 0.236848 Feature: -0.467675, 0.062346, 0.881699
[11:52:54.566] xyz_f:-0.770965, 0.257219, 0.689902  Reprojection Error: 0.484951, 0.174394 Feature: -0.485204, 0.419757, 0.767061
[11:52:54.566] xyz_f:-0.745810, 0.281426, 0.706136  Reprojection Error: 0.459347, 0.183947 Feature: -0.458359, 0.447340, 0.767980
[11:52:54.566] xyz_f:-1.335622, -1.146206, 1.056996  Reprojection Error: 1.226738, 0.874271 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.566] xyz_f:-0.770965, 0.257219, 0.689902  Reprojection Error: 1.082253, -0.565289 Feature: -0.485204, 0.419757, 0.767061
[11:52:54.567] xyz_f:-1.228996, -1.104560, 1.052344  Reprojection Error: 1.175151, 0.846222 Feature: -0.695805, -0.801814, 1.578855
[11:52:54.567] xyz_f:-0.474055, 0.022984, 0.367035  Reprojection Error: 0.865151, -0.184975 Feature: -0.283700, 0.109939, 0.434383
[11:52:54.567] xyz_f:-0.416512, -0.041413, 0.466338  Reprojection Error: 0.688493, 0.114824 Feature: -0.193315, 0.073438, 0.522800
[11:52:54.567] xyz_f:-0.270095, -0.024374, 0.236585  Reprojection Error: 0.780234, 0.184768 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.567] xyz_f:-0.671898, -0.964519, 0.618374  Reprojection Error: 0.662184, 2.103605 Feature: -0.312634, -0.778864, 0.969795
[11:52:54.567] it:31 	 Success 	 new_chi2: 0.018847 	 dT = 0.127132, -0.016615, -0.085296
[11:52:54.567] xyz_f:-0.643268, -0.207948, 0.857447  Reprojection Error: 0.400060, 0.252590 Feature: -0.330464, 0.009503, 0.943771
[11:52:54.567] xyz_f:-0.633203, -0.209610, 0.863672  Reprojection Error: 0.396360, 0.252731 Feature: -0.319161, 0.009509, 0.947653
[11:52:54.567] xyz_f:-0.477735, -0.438087, 0.859952  Reprojection Error: 0.394924, 0.289563 Feature: -0.154971, -0.212145, 0.964872
[11:52:54.567] xyz_f:-0.442464, -0.435060, 0.877011  Reprojection Error: 0.384127, 0.285319 Feature: -0.116990, -0.204806, 0.971786
[11:52:54.567] xyz_f:-0.459053, -0.425300, 0.875045  Reprojection Error: 0.386501, 0.284378 Feature: -0.134155, -0.195888, 0.971406
[11:52:54.567] xyz_f:-0.761919, -0.132902, 0.781538  Reprojection Error: 0.444471, 0.240763 Feature: -0.467675, 0.062346, 0.881699
[11:52:54.567] xyz_f:-0.751854, 0.242232, 0.762447  Reprojection Error: 0.353558, 0.229523 Feature: -0.485204, 0.419757, 0.767061
[11:52:54.567] xyz_f:-0.725988, 0.267003, 0.776578  Reprojection Error: 0.338018, 0.238670 Feature: -0.458359, 0.447340, 0.767980
[11:52:54.567] xyz_f:-1.253305, -1.172967, 1.173486  Reprojection Error: 1.031155, 0.789430 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.567] xyz_f:-0.751854, 0.242232, 0.762447  Reprojection Error: 0.950860, -0.510159 Feature: -0.485204, 0.419757, 0.767061
[11:52:54.567] xyz_f:-1.148368, -1.128984, 1.160113  Reprojection Error: 0.997162, 0.769771 Feature: -0.695805, -0.801814, 1.578855
[11:52:54.567] xyz_f:-0.477427, 0.014308, 0.416029  Reprojection Error: 0.721152, -0.156746 Feature: -0.283700, 0.109939, 0.434383
[11:52:54.567] xyz_f:-0.410501, -0.048714, 0.510202  Reprojection Error: 0.599925, 0.121500 Feature: -0.193315, 0.073438, 0.522800
[11:52:54.567] xyz_f:-0.283899, -0.028660, 0.269195  Reprojection Error: 0.693216, 0.188209 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.567] xyz_f:-0.632094, -0.977088, 0.681899  Reprojection Error: 0.502590, 1.976733 Feature: -0.312634, -0.778864, 0.969795
[11:52:54.567] it:32 	 Success 	 new_chi2: 0.164822 	 dT = -0.041437, -0.016777, 0.082171
[11:52:54.567] xyz_f:-0.525105, -0.195656, 0.828346  Reprojection Error: 0.283766, 0.246269 Feature: -0.330464, 0.009503, 0.943771
[11:52:54.567] xyz_f:-0.515603, -0.197526, 0.835349  Reprojection Error: 0.280439, 0.246493 Feature: -0.319161, 0.009509, 0.947653
[11:52:54.567] xyz_f:-0.365218, -0.429256, 0.843774  Reprojection Error: 0.272226, 0.288865 Feature: -0.154971, -0.212145, 0.964872
[11:52:54.567] xyz_f:-0.331355, -0.426965, 0.863578  Reprojection Error: 0.263313, 0.283662 Feature: -0.116990, -0.204806, 0.971786
[11:52:54.567] xyz_f:-0.347524, -0.416857, 0.860311  Reprojection Error: 0.265848, 0.282888 Feature: -0.134155, -0.195888, 0.971406
[11:52:54.567] xyz_f:-0.635744, -0.118170, 0.743334  Reprojection Error: 0.324835, 0.229684 Feature: -0.467675, 0.062346, 0.881699
[11:52:54.567] xyz_f:-0.616230, 0.256650, 0.725417  Reprojection Error: 0.216935, 0.193431 Feature: -0.485204, 0.419757, 0.767061
[11:52:54.567] xyz_f:-0.591045, 0.280877, 0.741575  Reprojection Error: 0.200176, 0.203732 Feature: -0.458359, 0.447340, 0.767980
[11:52:54.567] xyz_f:-1.178640, -1.147231, 1.094212  Reprojection Error: 1.040295, 0.838325 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.567] xyz_f:-0.616230, 0.256650, 0.725417  Reprojection Error: 0.814237, -0.546252 Feature: -0.485204, 0.419757, 0.767061
[11:52:54.567] xyz_f:-1.072063, -1.105498, 1.089238  Reprojection Error: 0.991518, 0.811531 Feature: -0.695805, -0.801814, 1.578855
[11:52:54.567] xyz_f:-0.320106, 0.022655, 0.401654  Reprojection Error: 0.370540, -0.178759 Feature: -0.283700, 0.109939, 0.434383
[11:52:54.567] xyz_f:-0.262211, -0.041695, 0.500783  Reprojection Error: 0.318941, 0.109279 Feature: -0.193315, 0.073438, 0.522800
[11:52:54.567] xyz_f:-0.116502, -0.024538, 0.270589  Reprojection Error: 0.069143, 0.172428 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.567] xyz_f:-0.516391, -0.965007, 0.653588  Reprojection Error: 0.365713, 2.020315 Feature: -0.312634, -0.778864, 0.969795
[11:52:54.567] it:33 	 Success 	 new_chi2: 0.447523 	 dT = -0.009123, 0.013118, 0.023121
[11:52:54.567] xyz_f:-0.558774, -0.191944, 0.801375  Reprojection Error: 0.347116, 0.249587 Feature: -0.330464, 0.009503, 0.943771
[11:52:54.567] xyz_f:-0.549442, -0.193870, 0.808588  Reprojection Error: 0.342717, 0.249798 Feature: -0.319161, 0.009509, 0.947653
[11:52:54.567] xyz_f:-0.400673, -0.426496, 0.820353  Reprojection Error: 0.327802, 0.300024 Feature: -0.154971, -0.212145, 0.964872
[11:52:54.567] xyz_f:-0.367247, -0.424406, 0.840909  Reprojection Error: 0.316339, 0.293947 Feature: -0.116990, -0.204806, 0.971786
[11:52:54.567] xyz_f:-0.383279, -0.414201, 0.837283  Reprojection Error: 0.319661, 0.293043 Feature: -0.134155, -0.195888, 0.971406
[11:52:54.567] xyz_f:-0.667022, -0.113803, 0.713918  Reprojection Error: 0.403886, 0.230117 Feature: -0.467675, 0.062346, 0.881699
[11:52:54.567] xyz_f:-0.644870, 0.260892, 0.696466  Reprojection Error: 0.293368, 0.172633 Feature: -0.485204, 0.419757, 0.767061
[11:52:54.567] xyz_f:-0.619908, 0.284969, 0.713185  Reprojection Error: 0.272374, 0.182916 Feature: -0.458359, 0.447340, 0.767980
[11:52:54.567] xyz_f:-1.223766, -1.139573, 1.052516  Reprojection Error: 1.125841, 0.872585 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.567] xyz_f:-0.644870, 0.260892, 0.696466  Reprojection Error: 0.890671, -0.567049 Feature: -0.485204, 0.419757, 0.767061
[11:52:54.567] xyz_f:-1.116857, -1.098480, 1.049926  Reprojection Error: 1.071033, 0.842847 Feature: -0.695805, -0.801814, 1.578855
[11:52:54.567] xyz_f:-0.342995, 0.025108, 0.379382  Reprojection Error: 0.477662, -0.188535 Feature: -0.283700, 0.109939, 0.434383
[11:52:54.567] xyz_f:-0.287715, -0.039581, 0.479775  Reprojection Error: 0.395027, 0.108518 Feature: -0.193315, 0.073438, 0.522800
[11:52:54.567] xyz_f:-0.136802, -0.023311, 0.252893  Reprojection Error: 0.179541, 0.173923 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.567] xyz_f:-0.550764, -0.961345, 0.626804  Reprojection Error: 0.454314, 2.077565 Feature: -0.312634, -0.778864, 0.969795
[11:52:54.567] it:34 	 Success 	 new_chi2: 0.352928 	 dT = -0.006238, 0.007540, 0.028180
[11:52:54.567] xyz_f:-0.596424, -0.187274, 0.776409  Reprojection Error: 0.418030, 0.251275 Feature: -0.330464, 0.009503, 0.943771
[11:52:54.567] xyz_f:-0.587306, -0.189268, 0.783873  Reprojection Error: 0.412445, 0.251487 Feature: -0.319161, 0.009509, 0.947653
[11:52:54.567] xyz_f:-0.440612, -0.422972, 0.799659  Reprojection Error: 0.390387, 0.309071 Feature: -0.154971, -0.212145, 0.964872
[11:52:54.567] xyz_f:-0.407744, -0.421124, 0.821118  Reprojection Error: 0.376185, 0.302114 Feature: -0.116990, -0.204806, 0.971786
[11:52:54.567] xyz_f:-0.423596, -0.410802, 0.817057  Reprojection Error: 0.380337, 0.301129 Feature: -0.134155, -0.195888, 0.971406
[11:52:54.567] xyz_f:-0.701678, -0.108355, 0.686046  Reprojection Error: 0.492361, 0.228652 Feature: -0.467675, 0.062346, 0.881699
[11:52:54.567] xyz_f:-0.676328, 0.266167, 0.669240  Reprojection Error: 0.378041, 0.149513 Feature: -0.485204, 0.419757, 0.767061
[11:52:54.567] xyz_f:-0.651655, 0.290063, 0.686634  Reprojection Error: 0.352219, 0.160048 Feature: -0.458359, 0.447340, 0.767980
[11:52:54.567] xyz_f:-1.274897, -1.130005, 1.009264  Reprojection Error: 1.226331, 0.909503 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.567] xyz_f:-0.676328, 0.266167, 0.669240  Reprojection Error: 0.975344, -0.590170 Feature: -0.485204, 0.419757, 0.767061
[11:52:54.567] xyz_f:-1.167660, -1.089692, 1.009589  Reprojection Error: 1.163855, 0.875945 Feature: -0.695805, -0.801814, 1.578855
[11:52:54.567] xyz_f:-0.367662, 0.028156, 0.360466  Reprojection Error: 0.593536, -0.200464 Feature: -0.283700, 0.109939, 0.434383
[11:52:54.567] xyz_f:-0.315608, -0.036924, 0.462320  Reprojection Error: 0.478001, 0.105887 Feature: -0.193315, 0.073438, 0.522800
[11:52:54.567] xyz_f:-0.158461, -0.021778, 0.239631  Reprojection Error: 0.299866, 0.172626 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.567] xyz_f:-0.589276, -0.956731, 0.602044  Reprojection Error: 0.554421, 2.132979 Feature: -0.312634, -0.778864, 0.969795
[11:52:54.567] it:35 	 Success 	 new_chi2: 0.212061 	 dT = -0.001281, 0.001297, 0.032403
[11:52:54.567] xyz_f:-0.633170, -0.181713, 0.754356  Reprojection Error: 0.489199, 0.250954 Feature: -0.330464, 0.009503, 0.943771
[11:52:54.567] xyz_f:-0.624307, -0.183782, 0.762101  Reprojection Error: 0.482400, 0.251186 Feature: -0.319161, 0.009509, 0.947653
[11:52:54.567] xyz_f:-0.480144, -0.418705, 0.782440  Reprojection Error: 0.453036, 0.315259 Feature: -0.154971, -0.212145, 0.964872
[11:52:54.567] xyz_f:-0.447949, -0.417130, 0.804917  Reprojection Error: 0.436129, 0.307475 Feature: -0.116990, -0.204806, 0.971786
[11:52:54.567] xyz_f:-0.463579, -0.406677, 0.800363  Reprojection Error: 0.441107, 0.306461 Feature: -0.134155, -0.195888, 0.971406
[11:52:54.567] xyz_f:-0.734879, -0.101925, 0.660753  Reprojection Error: 0.581758, 0.224967 Feature: -0.467675, 0.062346, 0.881699
[11:52:54.567] xyz_f:-0.705876, 0.272368, 0.644799  Reprojection Error: 0.462174, 0.124819 Feature: -0.485204, 0.419757, 0.767061
[11:52:54.567] xyz_f:-0.681560, 0.296059, 0.662960  Reprojection Error: 0.431219, 0.135918 Feature: -0.458359, 0.447340, 0.767980
[11:52:54.567] xyz_f:-1.326479, -1.118690, 0.965742  Reprojection Error: 1.336670, 0.948246 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.567] xyz_f:-0.705876, 0.272368, 0.644799  Reprojection Error: 1.059476, -0.614864 Feature: -0.485204, 0.419757, 0.767061
[11:52:54.567] xyz_f:-1.218970, -1.079278, 0.969427  Reprojection Error: 1.264698, 0.909918 Feature: -0.695805, -0.801814, 1.578855
[11:52:54.567] xyz_f:-0.389706, 0.031737, 0.345804  Reprojection Error: 0.700529, -0.214132 Feature: -0.283700, 0.109939, 0.434383
[11:52:54.567] xyz_f:-0.341412, -0.033764, 0.449228  Reprojection Error: 0.555336, 0.101179 Feature: -0.193315, 0.073438, 0.522800
[11:52:54.567] xyz_f:-0.177252, -0.019965, 0.231568  Reprojection Error: 0.404036, 0.167962 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.567] xyz_f:-0.627021, -0.951225, 0.580199  Reprojection Error: 0.656328, 2.183321 Feature: -0.312634, -0.778864, 0.969795
[11:52:54.567] it:36 	 Success 	 new_chi2: 0.078513 	 dT = 0.005746, -0.006542, 0.037517
[11:52:54.567] xyz_f:-0.668683, -0.175024, 0.735933  Reprojection Error: 0.558466, 0.247895 Feature: -0.330464, 0.009503, 0.943771
[11:52:54.567] xyz_f:-0.660127, -0.177177, 0.743994  Reprojection Error: 0.550483, 0.248178 Feature: -0.319161, 0.009509, 0.947653
[11:52:54.567] xyz_f:-0.519082, -0.413485, 0.769501  Reprojection Error: 0.513957, 0.317473 Feature: -0.154971, -0.212145, 0.964872
[11:52:54.567] xyz_f:-0.487709, -0.412219, 0.793130  Reprojection Error: 0.494531, 0.308984 Feature: -0.116990, -0.204806, 0.971786
[11:52:54.567] xyz_f:-0.503062, -0.401615, 0.788015  Reprojection Error: 0.500288, 0.308000 Feature: -0.134155, -0.195888, 0.971406
[11:52:54.567] xyz_f:-0.766155, -0.094269, 0.638721  Reprojection Error: 0.669089, 0.218301 Feature: -0.467675, 0.062346, 0.881699
[11:52:54.567] xyz_f:-0.732960, 0.279723, 0.623894  Reprojection Error: 0.542267, 0.098877 Feature: -0.485204, 0.419757, 0.767061
[11:52:54.567] xyz_f:-0.709089, 0.303180, 0.642928  Reprojection Error: 0.506070, 0.110928 Feature: -0.458359, 0.447340, 0.767980
[11:52:54.567] xyz_f:-1.378259, -1.105189, 0.921896  Reprojection Error: 1.458162, 0.988693 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.567] xyz_f:-0.732960, 0.279723, 0.623894  Reprojection Error: 1.139570, -0.640806 Feature: -0.485204, 0.419757, 0.767061
[11:52:54.567] xyz_f:-1.270576, -1.066822, 0.929482  Reprojection Error: 1.374258, 0.944363 Feature: -0.695805, -0.801814, 1.578855
[11:52:54.567] xyz_f:-0.408516, 0.035981, 0.336507  Reprojection Error: 0.787561, -0.229279 Feature: -0.283700, 0.109939, 0.434383
[11:52:54.567] xyz_f:-0.364639, -0.029968, 0.441602  Reprojection Error: 0.621058, 0.093880 Feature: -0.193315, 0.073438, 0.522800
[11:52:54.567] xyz_f:-0.192575, -0.017802, 0.230034  Reprojection Error: 0.475749, 0.159130 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.567] xyz_f:-0.663699, -0.944590, 0.561978  Reprojection Error: 0.756634, 2.224672 Feature: -0.312634, -0.778864, 0.969795
[11:52:54.567] it:37 	 Success 	 new_chi2: 0.016533 	 dT = 0.002871, -0.000840, 0.038373
[11:52:54.567] xyz_f:-0.686053, -0.167914, 0.710238  Reprojection Error: 0.615795, 0.246488 Feature: -0.330464, 0.009503, 0.943771
[11:52:54.567] xyz_f:-0.677823, -0.170151, 0.718610  Reprojection Error: 0.606451, 0.246812 Feature: -0.319161, 0.009509, 0.947653
[11:52:54.567] xyz_f:-0.540174, -0.407843, 0.749283  Reprojection Error: 0.560308, 0.324442 Feature: -0.154971, -0.212145, 0.964872
[11:52:54.567] xyz_f:-0.509687, -0.406884, 0.774058  Reprojection Error: 0.538074, 0.314897 Feature: -0.116990, -0.204806, 0.971786
[11:52:54.567] xyz_f:-0.524734, -0.396129, 0.768380  Reprojection Error: 0.544806, 0.313884 Feature: -0.134155, -0.195888, 0.971406
[11:52:54.567] xyz_f:-0.779049, -0.086213, 0.609496  Reprojection Error: 0.747760, 0.212161 Feature: -0.467675, 0.062346, 0.881699
[11:52:54.567] xyz_f:-0.741616, 0.287428, 0.595977  Reprojection Error: 0.611820, 0.064947 Feature: -0.485204, 0.419757, 0.767061
[11:52:54.567] xyz_f:-0.718235, 0.310650, 0.615887  Reprojection Error: 0.569342, 0.078095 Feature: -0.458359, 0.447340, 0.767980
[11:52:54.567] xyz_f:-1.411233, -1.090953, 0.869608  Reprojection Error: 1.585974, 1.044406 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.567] xyz_f:-0.741616, 0.287428, 0.595977  Reprojection Error: 1.209123, -0.674735 Feature: -0.485204, 0.419757, 0.767061
[11:52:54.567] xyz_f:-1.303530, -1.053656, 0.881186  Reprojection Error: 1.486577, 0.992328 Feature: -0.695805, -0.801814, 1.578855
[11:52:54.567] xyz_f:-0.409181, 0.040424, 0.320766  Reprojection Error: 0.849208, -0.248377 Feature: -0.283700, 0.109939, 0.434383
[11:52:54.567] xyz_f:-0.369886, -0.025938, 0.427403  Reprojection Error: 0.660766, 0.086706 Feature: -0.193315, 0.073438, 0.522800
[11:52:54.567] xyz_f:-0.189987, -0.015520, 0.222359  Reprojection Error: 0.493011, 0.151540 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.567] xyz_f:-0.682268, -0.937524, 0.536445  Reprojection Error: 0.847459, 2.291499 Feature: -0.312634, -0.778864, 0.969795
[11:52:54.567] it:38 	 Success 	 new_chi2: 0.006474 	 dT = -0.030287, 0.048278, 0.000000
[11:52:54.567] xyz_f:-0.652055, -0.167914, 0.661960  Reprojection Error: 0.634884, 0.263731 Feature: -0.330464, 0.009503, 0.943771
[11:52:54.567] xyz_f:-0.643825, -0.170151, 0.670332  Reprojection Error: 0.623666, 0.263865 Feature: -0.319161, 0.009509, 0.947653
[11:52:54.567] xyz_f:-0.506176, -0.407843, 0.701005  Reprojection Error: 0.561460, 0.361929 Feature: -0.154971, -0.212145, 0.964872
[11:52:54.567] xyz_f:-0.475689, -0.406884, 0.725780  Reprojection Error: 0.535031, 0.349863 Feature: -0.116990, -0.204806, 0.971786
[11:52:54.567] xyz_f:-0.490736, -0.396129, 0.720102  Reprojection Error: 0.543378, 0.348448 Feature: -0.134155, -0.195888, 0.971406
[11:52:54.567] xyz_f:-0.745051, -0.086213, 0.561218  Reprojection Error: 0.797136, 0.224329 Feature: -0.467675, 0.062346, 0.881699
[11:52:54.567] xyz_f:-0.707618, 0.287428, 0.547699  Reprojection Error: 0.659434, 0.022436 Feature: -0.485204, 0.419757, 0.767061
[11:52:54.567] xyz_f:-0.684237, 0.310650, 0.567609  Reprojection Error: 0.608635, 0.035194 Feature: -0.458359, 0.447340, 0.767980
[11:52:54.567] xyz_f:-1.377235, -1.090953, 0.821330  Reprojection Error: 1.639971, 1.118148 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.567] xyz_f:-0.707618, 0.287428, 0.547699  Reprojection Error: 1.256736, -0.717247 Feature: -0.485204, 0.419757, 0.767061
[11:52:54.567] xyz_f:-1.269532, -1.053656, 0.832908  Reprojection Error: 1.531503, 1.061636 Feature: -0.695805, -0.801814, 1.578855
[11:52:54.567] xyz_f:-0.375183, 0.040424, 0.272488  Reprojection Error: 0.950451, -0.270705 Feature: -0.283700, 0.109939, 0.434383
[11:52:54.567] xyz_f:-0.335888, -0.025938, 0.379125  Reprojection Error: 0.681296, 0.094434 Feature: -0.193315, 0.073438, 0.522800
[11:52:54.567] xyz_f:-0.155989, -0.015520, 0.174081  Reprojection Error: 0.534668, 0.170897 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.567] xyz_f:-0.648270, -0.937524, 0.488167  Reprojection Error: 0.903595, 2.464337 Feature: -0.312634, -0.778864, 0.969795
[11:52:54.567] it:39 	 Success 	 new_chi2: 0.000000 	 dT = -0.020594, 0.033369, 0.000000
[11:52:54.567] xyz_f:-0.710026, -0.167914, 0.628590  Reprojection Error: 0.779400, 0.277196 Feature: -0.330464, 0.009503, 0.943771
[11:52:54.567] xyz_f:-0.701796, -0.170151, 0.636962  Reprojection Error: 0.764995, 0.277163 Feature: -0.319161, 0.009509, 0.947653
[11:52:54.567] xyz_f:-0.564147, -0.407843, 0.667635  Reprojection Error: 0.684380, 0.391008 Feature: -0.154971, -0.212145, 0.964872
[11:52:54.567] xyz_f:-0.533661, -0.406884, 0.692410  Reprojection Error: 0.650342, 0.376881 Feature: -0.116990, -0.204806, 0.971786
[11:52:54.567] xyz_f:-0.548707, -0.396129, 0.686732  Reprojection Error: 0.660908, 0.375178 Feature: -0.134155, -0.195888, 0.971406
[11:52:54.567] xyz_f:-0.803022, -0.086213, 0.527848  Reprojection Error: 0.990887, 0.234040 Feature: -0.467675, 0.062346, 0.881699
[11:52:54.567] xyz_f:-0.765589, 0.287428, 0.514330  Reprojection Error: 0.855969, -0.011612 Feature: -0.485204, 0.419757, 0.767061
[11:52:54.567] xyz_f:-0.742208, 0.310650, 0.534240  Reprojection Error: 0.792442, 0.001009 Feature: -0.458359, 0.447340, 0.767980
[11:52:54.567] xyz_f:-1.435206, -1.090953, 0.787961  Reprojection Error: 1.784555, 1.174399 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.567] xyz_f:-0.765589, 0.287428, 0.514330  Reprojection Error: 1.453271, -0.751295 Feature: -0.485204, 0.419757, 0.767061
[11:52:54.567] xyz_f:-1.327503, -1.053656, 0.799538  Reprojection Error: 1.667623, 1.114434 Feature: -0.695805, -0.801814, 1.578855
[11:52:54.567] xyz_f:-0.433154, 0.040424, 0.239119  Reprojection Error: 1.385033, -0.291407 Feature: -0.283700, 0.109939, 0.434383
[11:52:54.567] xyz_f:-0.393859, -0.025938, 0.345755  Reprojection Error: 0.934466, 0.101037 Feature: -0.193315, 0.073438, 0.522800
[11:52:54.567] xyz_f:-0.213960, -0.015520, 0.140711  Reprojection Error: 1.159158, 0.192039 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.567] xyz_f:-0.706241, -0.937524, 0.454798  Reprojection Error: 1.128496, 2.605248 Feature: -0.312634, -0.778864, 0.969795
[11:52:54.567] it:40 	 Success 	 new_chi2: 0.000000 	 dT = 0.000000, 0.000000, 0.000000
[11:52:54.567] After pose optimization, distance between two frames:0.049425 ,angle between two frames:-3.072282
[11:52:54.653] Reprojection Map nPoint:27 ,nCell:13 ,nMatches:6 ,distance between two frames:2.764876 ,angle between two frames:-3.565169
[11:52:54.653] Init estimate scale:0.900551
[11:52:54.653] xyz_f:2.165743, -0.222084, 2.157850  Reprojection Error: -1.210183, 0.128264 Feature: -0.202195, 0.024813, 0.979031
[11:52:54.653] xyz_f:2.176913, -0.222998, 2.161292  Reprojection Error: -1.201554, 0.128471 Feature: -0.190699, 0.024821, 0.981335
[11:52:54.653] xyz_f:2.335323, -0.449854, 2.115270  Reprojection Error: -1.136428, 0.001813 Feature: -0.031684, -0.206216, 0.977993
[11:52:54.653] xyz_f:2.372454, -0.445138, 2.122726  Reprojection Error: -1.111643, 0.005859 Feature: 0.005881, -0.199732, 0.979833
[11:52:54.653] xyz_f:2.352067, -0.432626, 2.126310  Reprojection Error: -1.120788, 0.013382 Feature: -0.014356, -0.186718, 0.982309
[11:52:54.653] xyz_f:2.032013, -0.148616, 2.117301  Reprojection Error: -1.324613, 0.161306 Feature: -0.341538, 0.085282, 0.935991
[11:52:54.653] xyz_f:2.332058, -0.433894, 2.122711  Reprojection Error: -1.133869, 0.011950 Feature: -0.034591, -0.188874, 0.981392
[11:52:54.653] xyz_f:2.039018, 0.220119, 2.105798  Reprojection Error: -1.385925, 0.424186 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.653] xyz_f:1.986477, -0.332010, 2.040099  Reprojection Error: -1.400144, 0.040387 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.653] xyz_f:2.034456, -0.157469, 2.116989  Reprojection Error: -1.322420, 0.156127 Feature: -0.338890, 0.076651, 0.937698
[11:52:54.653] xyz_f:2.036754, 0.230664, 2.101931  Reprojection Error: -1.393364, 0.434101 Feature: -0.349321, 0.447661, 0.823149
[11:52:54.653] xyz_f:1.507856, -1.208107, 2.493123  Reprojection Error: -0.622343, 0.273186 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.653] xyz_f:1.637811, -1.170690, 2.507018  Reprojection Error: -0.613077, 0.270579 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.653] xyz_f:1.986477, -0.332010, 2.040099  Reprojection Error: -0.899640, -0.046196 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.653] xyz_f:2.215840, -0.052199, 1.543240  Reprojection Error: -1.593759, 0.074595 Feature: -0.222906, 0.029836, 0.339763
[11:52:54.653] xyz_f:2.320243, -0.034284, 1.478679  Reprojection Error: -1.909907, 0.109842 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.653] xyz_f:2.039018, 0.220119, 2.105798  Reprojection Error: -1.347158, 0.412507 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.653] it:0 	 Success 	 new_chi2: 21.916834 	 dT = -0.170559, 0.066126, -0.000204
[11:52:54.653] xyz_f:0.753194, -0.222068, 2.223916  Reprojection Error: -0.545205, 0.125199 Feature: -0.202195, 0.024813, 0.979031
[11:52:54.653] xyz_f:0.764364, -0.222982, 2.227359  Reprojection Error: -0.537497, 0.125404 Feature: -0.190699, 0.024821, 0.981335
[11:52:54.653] xyz_f:0.922770, -0.449847, 2.181369  Reprojection Error: -0.455421, -0.004634 Feature: -0.031684, -0.206216, 0.977993
[11:52:54.653] xyz_f:0.959901, -0.445133, 2.188832  Reprojection Error: -0.432543, -0.000477 Feature: 0.005881, -0.199732, 0.979833
[11:52:54.653] xyz_f:0.939514, -0.432620, 2.192412  Reprojection Error: -0.443145, 0.007245 Feature: -0.014356, -0.186718, 0.982309
[11:52:54.653] xyz_f:0.619476, -0.148593, 2.183340  Reprojection Error: -0.648623, 0.159172 Feature: -0.341538, 0.085282, 0.935991
[11:52:54.653] xyz_f:0.919505, -0.433886, 2.188809  Reprojection Error: -0.455341, 0.005774 Feature: -0.034591, -0.188874, 0.981392
[11:52:54.653] xyz_f:0.626503, 0.220142, 2.171838  Reprojection Error: -0.706104, 0.427354 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.653] xyz_f:0.573945, -0.331984, 2.106129  Reprojection Error: -0.698940, 0.035272 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.654] xyz_f:0.621918, -0.157445, 2.183028  Reprojection Error: -0.646294, 0.153866 Feature: -0.338890, 0.076651, 0.937698
[11:52:54.654] xyz_f:0.624240, 0.230687, 2.167971  Reprojection Error: -0.712309, 0.437433 Feature: -0.349321, 0.447661, 0.823149
[11:52:54.654] xyz_f:0.095189, -1.208056, 2.559059  Reprojection Error: -0.054734, 0.260680 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.654] xyz_f:0.225143, -1.170646, 2.572979  Reprojection Error: -0.047289, 0.258591 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.654] xyz_f:0.573945, -0.331984, 2.106129  Reprojection Error: -0.198437, -0.051311 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.654] xyz_f:0.803421, -0.052186, 1.609315  Reprojection Error: -0.657155, 0.073198 Feature: -0.222906, 0.029836, 0.339763
[11:52:54.654] xyz_f:0.907838, -0.034276, 1.544774  Reprojection Error: -0.928457, 0.108845 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.654] xyz_f:0.626503, 0.220142, 2.171838  Reprojection Error: -0.667337, 0.415675 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.654] it:1 	 Success 	 new_chi2: 5.921641 	 dT = -0.092617, 0.102469, 0.002576
[11:52:54.654] xyz_f:0.899711, -0.222273, 2.327152  Reprojection Error: -0.593140, 0.120857 Feature: -0.202195, 0.024813, 0.979031
[11:52:54.654] xyz_f:0.910890, -0.223180, 2.330567  Reprojection Error: -0.585171, 0.121055 Feature: -0.190699, 0.024821, 0.981335
[11:52:54.654] xyz_f:1.069333, -0.449939, 2.284183  Reprojection Error: -0.500544, -0.013876 Feature: -0.031684, -0.206216, 0.977993
[11:52:54.654] xyz_f:1.106478, -0.445201, 2.291554  Reprojection Error: -0.476849, -0.009564 Feature: 0.005881, -0.199732, 0.979833
[11:52:54.654] xyz_f:1.086092, -0.432701, 2.295184  Reprojection Error: -0.487820, -0.001556 Feature: -0.014356, -0.186718, 0.982309
[11:52:54.654] xyz_f:0.765844, -0.148888, 2.286908  Reprojection Error: -0.699776, 0.156219 Feature: -0.341538, 0.085282, 0.935991
[11:52:54.654] xyz_f:1.066076, -0.433981, 2.291631  Reprojection Error: -0.500451, -0.003079 Feature: -0.034591, -0.188874, 0.981392
[11:52:54.654] xyz_f:0.772596, 0.219852, 2.275389  Reprojection Error: -0.757182, 0.432095 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.654] xyz_f:0.720243, -0.332309, 2.209811  Reprojection Error: -0.752358, 0.028024 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.654] xyz_f:0.768291, -0.157738, 2.286591  Reprojection Error: -0.697405, 0.150728 Feature: -0.338890, 0.076651, 0.937698
[11:52:54.654] xyz_f:0.770316, 0.230395, 2.271528  Reprojection Error: -0.763490, 0.442412 Feature: -0.349321, 0.447661, 0.823149
[11:52:54.654] xyz_f:0.243200, -1.208700, 2.663930  Reprojection Error: -0.108831, 0.242338 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.654] xyz_f:0.373163, -1.171203, 2.677527  Reprojection Error: -0.099155, 0.241034 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.654] xyz_f:0.720243, -0.332309, 2.209811  Reprojection Error: -0.251854, -0.058559 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.654] xyz_f:0.948296, -0.052358, 1.712428  Reprojection Error: -0.711695, 0.071346 Feature: -0.222906, 0.029836, 0.339763
[11:52:54.654] xyz_f:1.052539, -0.034379, 1.647628  Reprojection Error: -0.979595, 0.107522 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.654] xyz_f:0.772596, 0.219852, 2.275389  Reprojection Error: -0.718415, 0.420416 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.654] it:2 	 Success 	 new_chi2: 6.734460 	 dT = -0.102478, 0.098989, 0.001456
[11:52:54.654] xyz_f:1.195890, -0.222157, 2.227730  Reprojection Error: -0.743346, 0.125068 Feature: -0.202195, 0.024813, 0.979031
[11:52:54.654] xyz_f:1.207064, -0.223068, 2.231162  Reprojection Error: -0.735329, 0.125272 Feature: -0.190699, 0.024821, 0.981335
[11:52:54.654] xyz_f:1.365487, -0.449887, 2.185000  Reprojection Error: -0.657334, -0.004959 Feature: -0.031684, -0.206216, 0.977993
[11:52:54.654] xyz_f:1.402624, -0.445163, 2.192423  Reprojection Error: -0.633758, -0.000797 Feature: 0.005881, -0.199732, 0.979833
[11:52:54.654] xyz_f:1.382237, -0.432655, 2.196025  Reprojection Error: -0.644042, 0.006936 Feature: -0.014356, -0.186718, 0.982309
[11:52:54.654] xyz_f:1.062107, -0.148721, 2.187299  Reprojection Error: -0.850474, 0.159108 Feature: -0.341538, 0.085282, 0.935991
[11:52:54.654] xyz_f:1.362225, -0.433927, 2.192444  Reprojection Error: -0.656574, 0.005464 Feature: -0.034591, -0.188874, 0.981392
[11:52:54.654] xyz_f:1.069015, 0.220016, 2.175790  Reprojection Error: -0.908960, 0.427596 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.654] xyz_f:1.016547, -0.332125, 2.110138  Reprojection Error: -0.908172, 0.035040 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.654] xyz_f:1.064552, -0.157573, 2.186985  Reprojection Error: -0.848173, 0.153794 Feature: -0.338890, 0.076651, 0.937698
[11:52:54.654] xyz_f:1.066745, 0.230560, 2.171925  Reprojection Error: -0.915524, 0.437685 Feature: -0.349321, 0.447661, 0.823149
[11:52:54.654] xyz_f:0.538535, -1.208336, 2.563585  Reprojection Error: -0.227608, 0.259956 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.654] xyz_f:0.668493, -1.170888, 2.577364  Reprojection Error: -0.219157, 0.257911 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.654] xyz_f:1.016547, -0.332125, 2.110138  Reprojection Error: -0.407669, -0.051543 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.654] xyz_f:1.245404, -0.052261, 1.613075  Reprojection Error: -0.929991, 0.073169 Feature: -0.222906, 0.029836, 0.339763
[11:52:54.654] xyz_f:1.349745, -0.034320, 1.548422  Reprojection Error: -1.212465, 0.108821 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.654] xyz_f:1.069015, 0.220016, 2.175790  Reprojection Error: -0.870193, 0.415918 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.654] it:3 	 Success 	 new_chi2: 7.211449 	 dT = -0.101206, 0.092018, 0.000142
[11:52:54.654] xyz_f:0.893353, -0.222169, 2.319791  Reprojection Error: -0.591626, 0.121115 Feature: -0.202195, 0.024813, 0.979031
[11:52:54.654] xyz_f:0.904527, -0.223079, 2.323221  Reprojection Error: -0.583669, 0.121315 Feature: -0.190699, 0.024821, 0.981335
[11:52:54.654] xyz_f:1.062952, -0.449892, 2.277037  Reprojection Error: -0.499211, -0.013279 Feature: -0.031684, -0.206216, 0.977993
[11:52:54.654] xyz_f:1.100089, -0.445166, 2.284455  Reprojection Error: -0.475552, -0.008975 Feature: 0.005881, -0.199732, 0.979833
[11:52:54.654] xyz_f:1.079703, -0.432660, 2.288060  Reprojection Error: -0.486501, -0.000987 Feature: -0.014356, -0.186718, 0.982309
[11:52:54.654] xyz_f:0.759562, -0.148737, 2.279378  Reprojection Error: -0.698127, 0.156368 Feature: -0.341538, 0.085282, 0.935991
[11:52:54.654] xyz_f:1.059690, -0.433933, 2.284481  Reprojection Error: -0.499112, -0.002507 Feature: -0.034591, -0.188874, 0.981392
[11:52:54.654] xyz_f:0.766454, 0.220000, 2.267867  Reprojection Error: -0.755600, 0.431709 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.654] xyz_f:0.713997, -0.332143, 2.202222  Reprojection Error: -0.750644, 0.028467 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.654] xyz_f:0.762007, -0.157589, 2.279063  Reprojection Error: -0.695757, 0.150890 Feature: -0.338890, 0.076651, 0.937698
[11:52:54.654] xyz_f:0.764183, 0.230544, 2.264003  Reprojection Error: -0.761908, 0.442009 Feature: -0.349321, 0.447661, 0.823149
[11:52:54.654] xyz_f:0.236079, -1.208371, 2.655735  Reprojection Error: -0.106431, 0.243614 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.654] xyz_f:0.366038, -1.170919, 2.669497  Reprojection Error: -0.096905, 0.242243 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.654] xyz_f:0.713997, -0.332143, 2.202222  Reprojection Error: -0.250141, -0.058116 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.654] xyz_f:0.942776, -0.052270, 1.705129  Reprojection Error: -0.710829, 0.071426 Feature: -0.222906, 0.029836, 0.339763
[11:52:54.654] xyz_f:1.047108, -0.034326, 1.640461  Reprojection Error: -0.979075, 0.107581 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.654] xyz_f:0.766454, 0.220000, 2.267867  Reprojection Error: -0.716833, 0.420030 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.654] it:4 	 Success 	 new_chi2: 1.949872 	 dT = -0.058095, 0.132172, 0.000414
[11:52:54.654] xyz_f:1.028875, -0.222202, 2.452085  Reprojection Error: -0.626118, 0.115962 Feature: -0.202195, 0.024813, 0.979031
[11:52:54.654] xyz_f:1.040051, -0.223111, 2.455511  Reprojection Error: -0.617885, 0.116155 Feature: -0.190699, 0.024821, 0.981335
[11:52:54.654] xyz_f:1.198482, -0.449907, 2.409264  Reprojection Error: -0.529844, -0.024116 Feature: -0.031684, -0.206216, 0.977993
[11:52:54.654] xyz_f:1.235622, -0.445177, 2.416668  Reprojection Error: -0.505290, -0.019631 Feature: 0.005881, -0.199732, 0.979833
[11:52:54.654] xyz_f:1.215235, -0.432673, 2.420280  Reprojection Error: -0.516720, -0.011311 Feature: -0.014356, -0.186718, 0.982309
[11:52:54.654] xyz_f:0.895060, -0.148785, 2.411726  Reprojection Error: -0.736023, 0.152807 Feature: -0.341538, 0.085282, 0.935991
[11:52:54.654] xyz_f:1.195222, -0.433948, 2.416709  Reprojection Error: -0.529812, -0.012894 Feature: -0.034591, -0.188874, 0.981392
[11:52:54.654] xyz_f:0.901909, 0.219953, 2.400212  Reprojection Error: -0.793400, 0.437077 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.654] xyz_f:0.849484, -0.332195, 2.334589  Reprojection Error: -0.790297, 0.019938 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.654] xyz_f:0.897506, -0.157636, 2.411410  Reprojection Error: -0.733598, 0.147115 Feature: -0.338890, 0.076651, 0.937698
[11:52:54.654] xyz_f:0.899635, 0.230497, 2.396350  Reprojection Error: -0.799791, 0.447653 Feature: -0.349321, 0.447661, 0.823149
[11:52:54.654] xyz_f:0.371842, -1.208475, 2.788292  Reprojection Error: -0.150895, 0.222020 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.654] xyz_f:0.501802, -1.171008, 2.802002  Reprojection Error: -0.138873, 0.221533 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.654] xyz_f:0.849484, -0.332195, 2.334589  Reprojection Error: -0.289794, -0.066645 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.654] xyz_f:1.078035, -0.052298, 1.837404  Reprojection Error: -0.744639, 0.069234 Feature: -0.222906, 0.029836, 0.339763
[11:52:54.654] xyz_f:1.182339, -0.034343, 1.772695  Reprojection Error: -1.007747, 0.106030 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.654] xyz_f:0.901909, 0.219953, 2.400212  Reprojection Error: -0.754632, 0.425398 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.654] it:5 	 Success 	 new_chi2: 1.872164 	 dT = -0.061864, 0.128411, -0.000033
[11:52:54.654] xyz_f:1.157246, -0.222199, 2.580487  Reprojection Error: -0.654986, 0.111452 Feature: -0.202195, 0.024813, 0.979031
[11:52:54.654] xyz_f:1.168422, -0.223108, 2.583913  Reprojection Error: -0.646518, 0.111639 Feature: -0.190699, 0.024821, 0.981335
[11:52:54.654] xyz_f:1.326852, -0.449906, 2.537671  Reprojection Error: -0.555259, -0.033566 Feature: -0.031684, -0.206216, 0.977993
[11:52:54.654] xyz_f:1.363992, -0.445176, 2.545076  Reprojection Error: -0.529932, -0.028926 Feature: 0.005881, -0.199732, 0.979833
[11:52:54.654] xyz_f:1.343606, -0.432672, 2.548687  Reprojection Error: -0.541790, -0.020319 Feature: -0.014356, -0.186718, 0.982309
[11:52:54.654] xyz_f:1.023433, -0.148781, 2.540123  Reprojection Error: -0.767802, 0.149687 Feature: -0.341538, 0.085282, 0.935991
[11:52:54.654] xyz_f:1.323592, -0.433947, 2.545116  Reprojection Error: -0.555298, -0.021954 Feature: -0.034591, -0.188874, 0.981392
[11:52:54.654] xyz_f:1.030285, 0.219957, 2.528610  Reprojection Error: -0.825089, 0.441729 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.654] xyz_f:0.977858, -0.332191, 2.462984  Reprojection Error: -0.823450, 0.012518 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.654] xyz_f:1.025879, -0.157632, 2.539808  Reprojection Error: -0.765326, 0.143809 Feature: -0.338890, 0.076651, 0.937698
[11:52:54.654] xyz_f:1.028011, 0.230501, 2.524747  Reprojection Error: -0.831546, 0.452543 Feature: -0.349321, 0.447661, 0.823149
[11:52:54.654] xyz_f:0.500193, -1.208466, 2.916673  Reprojection Error: -0.189032, 0.202940 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.654] xyz_f:0.630153, -1.171001, 2.930387  Reprojection Error: -0.174827, 0.203221 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.654] xyz_f:0.977858, -0.332191, 2.462984  Reprojection Error: -0.322946, -0.074065 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.654] xyz_f:1.206427, -0.052296, 1.965807  Reprojection Error: -0.771628, 0.067374 Feature: -0.222906, 0.029836, 0.339763
[11:52:54.654] xyz_f:1.310733, -0.034341, 1.901101  Reprojection Error: -1.030234, 0.104720 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.654] xyz_f:1.030285, 0.219957, 2.528610  Reprojection Error: -0.786321, 0.430050 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.654] it:6 	 Success 	 new_chi2: 1.797034 	 dT = -0.066845, 0.125164, -0.000191
[11:52:54.654] xyz_f:1.280495, -0.222184, 2.705594  Reprojection Error: -0.679803, 0.107465 Feature: -0.202195, 0.024813, 0.979031
[11:52:54.654] xyz_f:1.291670, -0.223094, 2.709022  Reprojection Error: -0.671130, 0.107646 Feature: -0.190699, 0.024821, 0.981335
[11:52:54.654] xyz_f:1.450097, -0.449899, 2.662810  Reprojection Error: -0.576971, -0.041900 Feature: -0.031684, -0.206216, 0.977993
[11:52:54.654] xyz_f:1.487236, -0.445171, 2.670221  Reprojection Error: -0.550969, -0.037125 Feature: 0.005881, -0.199732, 0.979833
[11:52:54.654] xyz_f:1.466850, -0.432666, 2.673829  Reprojection Error: -0.563210, -0.028266 Feature: -0.014356, -0.186718, 0.982309
[11:52:54.654] xyz_f:1.146693, -0.148759, 2.665206  Reprojection Error: -0.795140, 0.146930 Feature: -0.341538, 0.085282, 0.935991
[11:52:54.654] xyz_f:1.446836, -0.433940, 2.670254  Reprojection Error: -0.577081, -0.029947 Feature: -0.034591, -0.188874, 0.981392
[11:52:54.654] xyz_f:1.153565, 0.219979, 2.653694  Reprojection Error: -0.852339, 0.445821 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.654] xyz_f:1.101123, -0.332167, 2.588059  Reprojection Error: -0.851891, 0.005991 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.654] xyz_f:1.149138, -0.157611, 2.664891  Reprojection Error: -0.792620, 0.140887 Feature: -0.338890, 0.076651, 0.937698
[11:52:54.654] xyz_f:1.151292, 0.230522, 2.649831  Reprojection Error: -0.858850, 0.456844 Feature: -0.349321, 0.447661, 0.823149
[11:52:54.654] xyz_f:0.623331, -1.208419, 3.041659  Reprojection Error: -0.222468, 0.185899 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.654] xyz_f:0.753290, -1.170960, 3.055397  Reprojection Error: -0.206330, 0.186857 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.654] xyz_f:1.101123, -0.332167, 2.588059  Reprojection Error: -0.351387, -0.080592 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.654] xyz_f:1.329797, -0.052283, 2.090924  Reprojection Error: -0.793908, 0.065776 Feature: -0.222906, 0.029836, 0.339763
[11:52:54.654] xyz_f:1.434116, -0.034334, 2.026237  Reprojection Error: -1.048547, 0.103601 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.654] xyz_f:1.153565, 0.219979, 2.653694  Reprojection Error: -0.813572, 0.434142 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.654] it:7 	 Success 	 new_chi2: 1.728105 	 dT = -0.072570, 0.123246, -0.000222
[11:52:54.654] xyz_f:1.399723, -0.222166, 2.828775  Reprojection Error: -0.701342, 0.103882 Feature: -0.202195, 0.024813, 0.979031
[11:52:54.654] xyz_f:1.410897, -0.223077, 2.832205  Reprojection Error: -0.692489, 0.104058 Feature: -0.190699, 0.024821, 0.981335
[11:52:54.654] xyz_f:1.569321, -0.449891, 2.786026  Reprojection Error: -0.595680, -0.049375 Feature: -0.031684, -0.206216, 0.977993
[11:52:54.654] xyz_f:1.606459, -0.445165, 2.793446  Reprojection Error: -0.569079, -0.044482 Feature: 0.005881, -0.199732, 0.979833
[11:52:54.654] xyz_f:1.586072, -0.432659, 2.797049  Reprojection Error: -0.581667, -0.035397 Feature: -0.014356, -0.186718, 0.982309
[11:52:54.654] xyz_f:1.265934, -0.148734, 2.788357  Reprojection Error: -0.818902, 0.144456 Feature: -0.341538, 0.085282, 0.935991
[11:52:54.654] xyz_f:1.566060, -0.433932, 2.793470  Reprojection Error: -0.595861, -0.037118 Feature: -0.034591, -0.188874, 0.981392
[11:52:54.654] xyz_f:1.272829, 0.220004, 2.776847  Reprojection Error: -0.876010, 0.449489 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.654] xyz_f:1.220370, -0.332139, 2.711201  Reprojection Error: -0.876549, 0.000151 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.654] xyz_f:1.268379, -0.157585, 2.788043  Reprojection Error: -0.816341, 0.138266 Feature: -0.338890, 0.076651, 0.937698
[11:52:54.654] xyz_f:1.270558, 0.230547, 2.772983  Reprojection Error: -0.882564, 0.460699 Feature: -0.349321, 0.447661, 0.823149
[11:52:54.654] xyz_f:0.742430, -1.208363, 3.164699  Reprojection Error: -0.252135, 0.170436 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.654] xyz_f:0.872389, -1.170912, 3.178464  Reprojection Error: -0.234255, 0.172003 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.654] xyz_f:1.220370, -0.332139, 2.711201  Reprojection Error: -0.376046, -0.086432 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.654] xyz_f:1.449167, -0.052268, 2.214114  Reprojection Error: -0.812436, 0.064378 Feature: -0.222906, 0.029836, 0.339763
[11:52:54.654] xyz_f:1.553501, -0.034325, 2.149450  Reprojection Error: -1.063518, 0.102626 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.654] xyz_f:1.272829, 0.220004, 2.776847  Reprojection Error: -0.837242, 0.437810 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.654] it:8 	 Success 	 new_chi2: 1.666499 	 dT = -0.078871, 0.122499, -0.000204
[11:52:54.654] xyz_f:1.516475, -0.222150, 2.951213  Reprojection Error: -0.720374, 0.100619 Feature: -0.202195, 0.024813, 0.979031
[11:52:54.654] xyz_f:1.527648, -0.223061, 2.954645  Reprojection Error: -0.711359, 0.100788 Feature: -0.190699, 0.024821, 0.981335
[11:52:54.654] xyz_f:1.686070, -0.449884, 2.908498  Reprojection Error: -0.612102, -0.056178 Feature: -0.031684, -0.206216, 0.977993
[11:52:54.654] xyz_f:1.723206, -0.445160, 2.915925  Reprojection Error: -0.584962, -0.051177 Feature: 0.005881, -0.199732, 0.979833
[11:52:54.654] xyz_f:1.702819, -0.432652, 2.919524  Reprojection Error: -0.597867, -0.041888 Feature: -0.014356, -0.186718, 0.982309
[11:52:54.654] xyz_f:1.382697, -0.148710, 2.910769  Reprojection Error: -0.839923, 0.142204 Feature: -0.341538, 0.085282, 0.935991
[11:52:54.654] xyz_f:1.682808, -0.433924, 2.915941  Reprojection Error: -0.612353, -0.043644 Feature: -0.034591, -0.188874, 0.981392
[11:52:54.654] xyz_f:1.389615, 0.220027, 2.899260  Reprojection Error: -0.896938, 0.452826 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.654] xyz_f:1.337139, -0.332113, 2.833604  Reprojection Error: -0.898314, -0.005150 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.654] xyz_f:1.385142, -0.157562, 2.910455  Reprojection Error: -0.837326, 0.135880 Feature: -0.338890, 0.076651, 0.937698
[11:52:54.654] xyz_f:1.387345, 0.230571, 2.895396  Reprojection Error: -0.903528, 0.464206 Feature: -0.349321, 0.447661, 0.823149
[11:52:54.654] xyz_f:0.859064, -1.208312, 3.287007  Reprojection Error: -0.278889, 0.156212 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.654] xyz_f:0.989022, -1.170868, 3.300798  Reprojection Error: -0.259417, 0.158337 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.654] xyz_f:1.337139, -0.332113, 2.833604  Reprojection Error: -0.397811, -0.091733 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.654] xyz_f:1.566049, -0.052254, 2.336562  Reprojection Error: -0.828159, 0.063135 Feature: -0.222906, 0.029836, 0.339763
[11:52:54.654] xyz_f:1.670396, -0.034317, 2.271919  Reprojection Error: -1.076010, 0.101761 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.654] xyz_f:1.389615, 0.220027, 2.899260  Reprojection Error: -0.858170, 0.441147 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.654] it:9 	 Success 	 new_chi2: 1.611662 	 dT = -0.085724, 0.122175, -0.000173
[11:52:54.654] xyz_f:1.631956, -0.222136, 3.073336  Reprojection Error: -0.737531, 0.097623 Feature: -0.202195, 0.024813, 0.979031
[11:52:54.654] xyz_f:1.643129, -0.223048, 3.076771  Reprojection Error: -0.728370, 0.097787 Feature: -0.190699, 0.024821, 0.981335
[11:52:54.654] xyz_f:1.801548, -0.449877, 3.030650  Reprojection Error: -0.626840, -0.062414 Feature: -0.031684, -0.206216, 0.977993
[11:52:54.654] xyz_f:1.838683, -0.445156, 3.038083  Reprojection Error: -0.599210, -0.057317 Feature: 0.005881, -0.199732, 0.979833
[11:52:54.654] xyz_f:1.818296, -0.432647, 3.041679  Reprojection Error: -0.612408, -0.047842 Feature: -0.014356, -0.186718, 0.982309
[11:52:54.654] xyz_f:1.498189, -0.148691, 3.032870  Reprojection Error: -0.858878, 0.140141 Feature: -0.341538, 0.085282, 0.935991
[11:52:54.654] xyz_f:1.798285, -0.433918, 3.038092  Reprojection Error: -0.627159, -0.049630 Feature: -0.034591, -0.188874, 0.981392
[11:52:54.654] xyz_f:1.505125, 0.220046, 3.021363  Reprojection Error: -0.915799, 0.455886 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.654] xyz_f:1.452635, -0.332091, 2.955697  Reprojection Error: -0.917897, -0.009999 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.654] xyz_f:1.500633, -0.157543, 3.032557  Reprojection Error: -0.856247, 0.133694 Feature: -0.338890, 0.076651, 0.937698
[11:52:54.654] xyz_f:1.502856, 0.230590, 3.017498  Reprojection Error: -0.922419, 0.467422 Feature: -0.349321, 0.447661, 0.823149
[11:52:54.654] xyz_f:0.974445, -1.208269, 3.409021  Reprojection Error: -0.303380, 0.143043 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.654] xyz_f:1.104402, -1.170830, 3.422834  Reprojection Error: -0.282443, 0.145679 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.654] xyz_f:1.452635, -0.332091, 2.955697  Reprojection Error: -0.417394, -0.096582 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.654] xyz_f:1.681640, -0.052243, 2.458694  Reprojection Error: -0.841879, 0.062019 Feature: -0.222906, 0.029836, 0.339763
[11:52:54.655] xyz_f:1.785999, -0.034310, 2.394068  Reprojection Error: -1.086785, 0.100988 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.655] xyz_f:1.505125, 0.220046, 3.021363  Reprojection Error: -0.877031, 0.444208 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.655] it:10 	 Success 	 new_chi2: 1.563434 	 dT = -0.093151, 0.122064, -0.000140
[11:52:54.655] xyz_f:1.746571, -0.222125, 3.195358  Reprojection Error: -0.753122, 0.094859 Feature: -0.202195, 0.024813, 0.979031
[11:52:54.655] xyz_f:1.757743, -0.223037, 3.198794  Reprojection Error: -0.743829, 0.095019 Feature: -0.190699, 0.024821, 0.981335
[11:52:54.655] xyz_f:1.916161, -0.449872, 3.152694  Reprojection Error: -0.640182, -0.068162 Feature: -0.031684, -0.206216, 0.977993
[11:52:54.655] xyz_f:1.953295, -0.445152, 3.160133  Reprojection Error: -0.612103, -0.062978 Feature: 0.005881, -0.199732, 0.979833
[11:52:54.655] xyz_f:1.932908, -0.432642, 3.163726  Reprojection Error: -0.625574, -0.053330 Feature: -0.014356, -0.186718, 0.982309
[11:52:54.655] xyz_f:1.612812, -0.148675, 3.154874  Reprojection Error: -0.876107, 0.138240 Feature: -0.341538, 0.085282, 0.935991
[11:52:54.655] xyz_f:1.912897, -0.433912, 3.160137  Reprojection Error: -0.640568, -0.055147 Feature: -0.034591, -0.188874, 0.981392
[11:52:54.655] xyz_f:1.619763, 0.220062, 3.143367  Reprojection Error: -0.932933, 0.458708 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.655] xyz_f:1.567262, -0.332074, 3.077695  Reprojection Error: -0.935660, -0.014458 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.655] xyz_f:1.615256, -0.157527, 3.154561  Reprojection Error: -0.873444, 0.131680 Feature: -0.338890, 0.076651, 0.937698
[11:52:54.655] xyz_f:1.617495, 0.230606, 3.139502  Reprojection Error: -0.939580, 0.470387 Feature: -0.349321, 0.447661, 0.823149
[11:52:54.655] xyz_f:1.088979, -1.208234, 3.530954  Reprojection Error: -0.325946, 0.130793 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.655] xyz_f:1.218936, -1.170800, 3.544784  Reprojection Error: -0.303654, 0.133902 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.655] xyz_f:1.567262, -0.332074, 3.077695  Reprojection Error: -0.435157, -0.101041 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.655] xyz_f:1.796345, -0.052233, 2.580723  Reprojection Error: -0.853985, 0.061011 Feature: -0.222906, 0.029836, 0.339763
[11:52:54.655] xyz_f:1.900713, -0.034304, 2.516111  Reprojection Error: -1.096192, 0.100290 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.655] xyz_f:1.619763, 0.220062, 3.143367  Reprojection Error: -0.894166, 0.447029 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.655] it:11 	 Success 	 new_chi2: 1.521825 	 dT = -0.101182, 0.122103, -0.000110
[11:52:54.655] xyz_f:1.860499, -0.222116, 3.317429  Reprojection Error: -0.767351, 0.092299 Feature: -0.202195, 0.024813, 0.979031
[11:52:54.655] xyz_f:1.871671, -0.223028, 3.320866  Reprojection Error: -0.757936, 0.092453 Feature: -0.190699, 0.024821, 0.981335
[11:52:54.655] xyz_f:2.030086, -0.449868, 3.274783  Reprojection Error: -0.652312, -0.073483 Feature: -0.031684, -0.206216, 0.977993
[11:52:54.655] xyz_f:2.067220, -0.445149, 3.282225  Reprojection Error: -0.623821, -0.068218 Feature: 0.005881, -0.199732, 0.979833
[11:52:54.655] xyz_f:2.046833, -0.432639, 3.285816  Reprojection Error: -0.637545, -0.058413 Feature: -0.014356, -0.186718, 0.982309
[11:52:54.655] xyz_f:1.726746, -0.148662, 3.276930  Reprojection Error: -0.891835, 0.136481 Feature: -0.341538, 0.085282, 0.935991
[11:52:54.655] xyz_f:2.026823, -0.433908, 3.282225  Reprojection Error: -0.652762, -0.060256 Feature: -0.034591, -0.188874, 0.981392
[11:52:54.655] xyz_f:1.733709, 0.220074, 3.265424  Reprojection Error: -0.948567, 0.461321 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.655] xyz_f:1.681199, -0.332060, 3.199746  Reprojection Error: -0.951844, -0.018578 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.655] xyz_f:1.729190, -0.157514, 3.276617  Reprojection Error: -0.889142, 0.129816 Feature: -0.338890, 0.076651, 0.937698
[11:52:54.655] xyz_f:1.731442, 0.230619, 3.261559  Reprojection Error: -0.955235, 0.473131 Feature: -0.349321, 0.447661, 0.823149
[11:52:54.655] xyz_f:1.202843, -1.208207, 3.652954  Reprojection Error: -0.346817, 0.119358 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.655] xyz_f:1.332799, -1.170776, 3.666799  Reprojection Error: -0.323264, 0.122905 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.655] xyz_f:1.681199, -0.332060, 3.199746  Reprojection Error: -0.451341, -0.105161 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.655] xyz_f:1.910343, -0.052226, 2.702798  Reprojection Error: -0.864724, 0.060094 Feature: -0.222906, 0.029836, 0.339763
[11:52:54.655] xyz_f:2.014719, -0.034300, 2.638197  Reprojection Error: -1.104447, 0.099658 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.655] xyz_f:1.733709, 0.220074, 3.265424  Reprojection Error: -0.909799, 0.449642 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.655] it:12 	 Success 	 new_chi2: 1.486205 	 dT = -0.109826, 0.122309, -0.000083
[11:52:54.655] xyz_f:1.973879, -0.222109, 3.439713  Reprojection Error: -0.780376, 0.089916 Feature: -0.202195, 0.024813, 0.979031
[11:52:54.655] xyz_f:1.985050, -0.223022, 3.443151  Reprojection Error: -0.770848, 0.090066 Feature: -0.190699, 0.024821, 0.981335
[11:52:54.655] xyz_f:2.143465, -0.449865, 3.397081  Reprojection Error: -0.663370, -0.078430 Feature: -0.031684, -0.206216, 0.977993
[11:52:54.655] xyz_f:2.180598, -0.445147, 3.404526  Reprojection Error: -0.634498, -0.073091 Feature: 0.005881, -0.199732, 0.979833
[11:52:54.655] xyz_f:2.160211, -0.432636, 3.408115  Reprojection Error: -0.648458, -0.063138 Feature: -0.014356, -0.186718, 0.982309
[11:52:54.655] xyz_f:1.840131, -0.148652, 3.399204  Reprojection Error: -0.906236, 0.134846 Feature: -0.341538, 0.085282, 0.935991
[11:52:54.655] xyz_f:2.140201, -0.433905, 3.404522  Reprojection Error: -0.663881, -0.065006 Feature: -0.034591, -0.188874, 0.981392
[11:52:54.655] xyz_f:1.847102, 0.220084, 3.387698  Reprojection Error: -0.962876, 0.463751 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.655] xyz_f:1.794586, -0.332049, 3.322016  Reprojection Error: -0.966638, -0.022401 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.655] xyz_f:1.842574, -0.157505, 3.398891  Reprojection Error: -0.903517, 0.128084 Feature: -0.338890, 0.076651, 0.937698
[11:52:54.655] xyz_f:1.844836, 0.230628, 3.383833  Reprojection Error: -0.969563, 0.475684 Feature: -0.349321, 0.447661, 0.823149
[11:52:54.655] xyz_f:1.316175, -1.208186, 3.775186  Reprojection Error: -0.366176, 0.108643 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.655] xyz_f:1.446130, -1.170758, 3.789040  Reprojection Error: -0.341448, 0.112600 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.655] xyz_f:1.794586, -0.332049, 3.322016  Reprojection Error: -0.466135, -0.108984 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.655] xyz_f:2.023776, -0.052220, 2.825087  Reprojection Error: -0.874281, 0.059255 Feature: -0.222906, 0.029836, 0.339763
[11:52:54.655] xyz_f:2.128157, -0.034296, 2.760494  Reprojection Error: -1.111708, 0.099080 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.655] xyz_f:1.847102, 0.220084, 3.387698  Reprojection Error: -0.924108, 0.452072 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.655] it:13 	 Success 	 new_chi2: 1.454333 	 dT = -0.119014, 0.122588, -0.000061
[11:52:54.655] xyz_f:2.086942, -0.222105, 3.562283  Reprojection Error: -0.792370, 0.087693 Feature: -0.202195, 0.024813, 0.979031
[11:52:54.655] xyz_f:2.098114, -0.223017, 3.565721  Reprojection Error: -0.782739, 0.087838 Feature: -0.190699, 0.024821, 0.981335
[11:52:54.655] xyz_f:2.256527, -0.449863, 3.519661  Reprojection Error: -0.673518, -0.083042 Feature: -0.031684, -0.206216, 0.977993
[11:52:54.655] xyz_f:2.293660, -0.445145, 3.527108  Reprojection Error: -0.644293, -0.077636 Feature: 0.005881, -0.199732, 0.979833
[11:52:54.655] xyz_f:2.273273, -0.432634, 3.530696  Reprojection Error: -0.658475, -0.067546 Feature: -0.014356, -0.186718, 0.982309
[11:52:54.655] xyz_f:1.953198, -0.148646, 3.521766  Reprojection Error: -0.919502, 0.133322 Feature: -0.341538, 0.085282, 0.935991
[11:52:54.655] xyz_f:2.253263, -0.433903, 3.527102  Reprojection Error: -0.674089, -0.069436 Feature: -0.034591, -0.188874, 0.981392
[11:52:54.655] xyz_f:1.960176, 0.220091, 3.510261  Reprojection Error: -0.976051, 0.466017 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.655] xyz_f:1.907655, -0.332042, 3.444575  Reprojection Error: -0.980242, -0.025959 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.655] xyz_f:1.955641, -0.157498, 3.521453  Reprojection Error: -0.916757, 0.126469 Feature: -0.338890, 0.076651, 0.937698
[11:52:54.655] xyz_f:1.957910, 0.230635, 3.506395  Reprojection Error: -0.982755, 0.478064 Feature: -0.349321, 0.447661, 0.823149
[11:52:54.655] xyz_f:1.429203, -1.208171, 3.897717  Reprojection Error: -0.384214, 0.098579 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.655] xyz_f:1.559159, -1.170745, 3.911579  Reprojection Error: -0.358387, 0.102917 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.655] xyz_f:1.907655, -0.332042, 3.444575  Reprojection Error: -0.479739, -0.112543 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.655] xyz_f:2.136878, -0.052216, 2.947659  Reprojection Error: -0.882863, 0.058485 Feature: -0.222906, 0.029836, 0.339763
[11:52:54.655] xyz_f:2.241263, -0.034294, 2.883073  Reprojection Error: -1.118161, 0.098551 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.655] xyz_f:1.960176, 0.220091, 3.510261  Reprojection Error: -0.937283, 0.454338 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.655] it:14 	 Success 	 new_chi2: 1.425207 	 dT = -0.128729, 0.122879, -0.000042
[11:52:54.655] xyz_f:2.199775, -0.222101, 3.685149  Reprojection Error: -0.803456, 0.085614 Feature: -0.202195, 0.024813, 0.979031
[11:52:54.655] xyz_f:2.210947, -0.223014, 3.688588  Reprojection Error: -0.793729, 0.085754 Feature: -0.190699, 0.024821, 0.981335
[11:52:54.655] xyz_f:2.369359, -0.449862, 3.642534  Reprojection Error: -0.682867, -0.087354 Feature: -0.031684, -0.206216, 0.977993
[11:52:54.655] xyz_f:2.406492, -0.445144, 3.649982  Reprojection Error: -0.653314, -0.081885 Feature: 0.005881, -0.199732, 0.979833
[11:52:54.655] xyz_f:2.386105, -0.432633, 3.653570  Reprojection Error: -0.667704, -0.071667 Feature: -0.014356, -0.186718, 0.982309
[11:52:54.655] xyz_f:2.066033, -0.148641, 3.644626  Reprojection Error: -0.931766, 0.131898 Feature: -0.341538, 0.085282, 0.935991
[11:52:54.655] xyz_f:2.366096, -0.433902, 3.649975  Reprojection Error: -0.683496, -0.073577 Feature: -0.034591, -0.188874, 0.981392
[11:52:54.655] xyz_f:2.073016, 0.220095, 3.633122  Reprojection Error: -0.988226, 0.468136 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.655] xyz_f:2.020491, -0.332036, 3.567434  Reprojection Error: -0.992799, -0.029281 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.655] xyz_f:2.068477, -0.157493, 3.644314  Reprojection Error: -0.928996, 0.124960 Feature: -0.338890, 0.076651, 0.937698
[11:52:54.655] xyz_f:2.070750, 0.230640, 3.629256  Reprojection Error: -0.994944, 0.480289 Feature: -0.349321, 0.447661, 0.823149
[11:52:54.655] xyz_f:1.542012, -1.208160, 4.020556  Reprojection Error: -0.401069, 0.089106 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.655] xyz_f:1.671967, -1.170736, 4.034424  Reprojection Error: -0.374211, 0.093801 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.655] xyz_f:2.020491, -0.332036, 3.567434  Reprojection Error: -0.492296, -0.115864 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.655] xyz_f:2.249738, -0.052214, 3.070527  Reprojection Error: -0.890610, 0.057776 Feature: -0.222906, 0.029836, 0.339763
[11:52:54.655] xyz_f:2.354126, -0.034292, 3.005945  Reprojection Error: -1.123931, 0.098065 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.655] xyz_f:2.073016, 0.220095, 3.633122  Reprojection Error: -0.949458, 0.456457 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.655] it:15 	 Success 	 new_chi2: 1.398769 	 dT = -0.138988, 0.123224, -0.000027
[11:52:54.655] xyz_f:2.312370, -0.222099, 3.808364  Reprojection Error: -0.813708, 0.083663 Feature: -0.202195, 0.024813, 0.979031
[11:52:54.655] xyz_f:2.323541, -0.223012, 3.811804  Reprojection Error: -0.803891, 0.083799 Feature: -0.190699, 0.024821, 0.981335
[11:52:54.655] xyz_f:2.481953, -0.449861, 3.765754  Reprojection Error: -0.691483, -0.091396 Feature: -0.031684, -0.206216, 0.977993
[11:52:54.655] xyz_f:2.519086, -0.445143, 3.773203  Reprojection Error: -0.661623, -0.085868 Feature: 0.005881, -0.199732, 0.979833
[11:52:54.655] xyz_f:2.498699, -0.432632, 3.776790  Reprojection Error: -0.676208, -0.075531 Feature: -0.014356, -0.186718, 0.982309
[11:52:54.655] xyz_f:2.178629, -0.148638, 3.767839  Reprojection Error: -0.943112, 0.130564 Feature: -0.341538, 0.085282, 0.935991
[11:52:54.655] xyz_f:2.478689, -0.433901, 3.773195  Reprojection Error: -0.692167, -0.077460 Feature: -0.034591, -0.188874, 0.981392
[11:52:54.655] xyz_f:2.185615, 0.220098, 3.756334  Reprojection Error: -0.999485, 0.470123 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.655] xyz_f:2.133088, -0.332033, 3.690645  Reprojection Error: -1.004400, -0.032389 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.655] xyz_f:2.181073, -0.157490, 3.767526  Reprojection Error: -0.940320, 0.123546 Feature: -0.338890, 0.076651, 0.937698
[11:52:54.655] xyz_f:2.183349, 0.230643, 3.752468  Reprojection Error: -1.006216, 0.482375 Feature: -0.349321, 0.447661, 0.823149
[11:52:54.655] xyz_f:1.654591, -1.208153, 4.143755  Reprojection Error: -0.416835, 0.080170 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.655] xyz_f:1.784546, -1.170730, 4.157626  Reprojection Error: -0.389009, 0.085200 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.655] xyz_f:2.133088, -0.332033, 3.690645  Reprojection Error: -0.503896, -0.118972 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.655] xyz_f:2.362349, -0.052212, 3.193744  Reprojection Error: -0.897603, 0.057119 Feature: -0.222906, 0.029836, 0.339763
[11:52:54.655] xyz_f:2.466740, -0.034291, 3.129165  Reprojection Error: -1.129080, 0.097615 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.655] xyz_f:2.185615, 0.220098, 3.756334  Reprojection Error: -0.960718, 0.458444 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.655] it:16 	 Success 	 new_chi2: 1.374612 	 dT = -0.149783, 0.123645, -0.000014
[11:52:54.655] xyz_f:2.424785, -0.222098, 3.932006  Reprojection Error: -0.823205, 0.081829 Feature: -0.202195, 0.024813, 0.979031
[11:52:54.655] xyz_f:2.435956, -0.223011, 3.935445  Reprojection Error: -0.813305, 0.081961 Feature: -0.190699, 0.024821, 0.981335
[11:52:54.655] xyz_f:2.594368, -0.449860, 3.889397  Reprojection Error: -0.699433, -0.095193 Feature: -0.031684, -0.206216, 0.977993
[11:52:54.655] xyz_f:2.631500, -0.445143, 3.896847  Reprojection Error: -0.669288, -0.089611 Feature: 0.005881, -0.199732, 0.979833
[11:52:54.655] xyz_f:2.611114, -0.432632, 3.900434  Reprojection Error: -0.684057, -0.079162 Feature: -0.014356, -0.186718, 0.982309
[11:52:54.655] xyz_f:2.291045, -0.148636, 3.891478  Reprojection Error: -0.953629, 0.129310 Feature: -0.341538, 0.085282, 0.935991
[11:52:54.655] xyz_f:2.591104, -0.433900, 3.896838  Reprojection Error: -0.700171, -0.081109 Feature: -0.034591, -0.188874, 0.981392
[11:52:54.655] xyz_f:2.298032, 0.220100, 3.879973  Reprojection Error: -1.009918, 0.471989 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.655] xyz_f:2.245504, -0.332031, 3.814284  Reprojection Error: -1.015137, -0.035306 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.655] xyz_f:2.293488, -0.157488, 3.891166  Reprojection Error: -0.950815, 0.122217 Feature: -0.338890, 0.076651, 0.937698
[11:52:54.655] xyz_f:2.295766, 0.230644, 3.876108  Reprojection Error: -1.016659, 0.484335 Feature: -0.349321, 0.447661, 0.823149
[11:52:54.655] xyz_f:1.766997, -1.208150, 4.267387  Reprojection Error: -0.431607, 0.071722 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.655] xyz_f:1.896953, -1.170727, 4.281260  Reprojection Error: -0.402869, 0.077068 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.655] xyz_f:2.245504, -0.332031, 3.814284  Reprojection Error: -0.514634, -0.121889 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.655] xyz_f:2.474773, -0.052211, 3.317386  Reprojection Error: -0.903923, 0.056509 Feature: -0.222906, 0.029836, 0.339763
[11:52:54.655] xyz_f:2.579164, -0.034291, 3.252808  Reprojection Error: -1.133678, 0.097198 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.655] xyz_f:2.298032, 0.220100, 3.879973  Reprojection Error: -0.971151, 0.460310 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.655] it:17 	 Success 	 new_chi2: 1.352106 	 dT = -0.161096, 0.124110, -0.000004
[11:52:54.655] xyz_f:2.537113, -0.222098, 4.056115  Reprojection Error: -0.832029, 0.080101 Feature: -0.202195, 0.024813, 0.979031
[11:52:54.655] xyz_f:2.548284, -0.223011, 4.059554  Reprojection Error: -0.822052, 0.080228 Feature: -0.190699, 0.024821, 0.981335
[11:52:54.655] xyz_f:2.706697, -0.449860, 4.013507  Reprojection Error: -0.706794, -0.098770 Feature: -0.031684, -0.206216, 0.977993
[11:52:54.655] xyz_f:2.743829, -0.445143, 4.020957  Reprojection Error: -0.676380, -0.093137 Feature: 0.005881, -0.199732, 0.979833
[11:52:54.655] xyz_f:2.723442, -0.432632, 4.024544  Reprojection Error: -0.691323, -0.082583 Feature: -0.014356, -0.186718, 0.982309
[11:52:54.655] xyz_f:2.403374, -0.148636, 4.015587  Reprojection Error: -0.963406, 0.128129 Feature: -0.341538, 0.085282, 0.935991
[11:52:54.655] xyz_f:2.703433, -0.433900, 4.020948  Reprojection Error: -0.707584, -0.084545 Feature: -0.034591, -0.188874, 0.981392
[11:52:54.655] xyz_f:2.410361, 0.220100, 4.004082  Reprojection Error: -1.019614, 0.473748 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.655] xyz_f:2.357833, -0.332031, 3.938392  Reprojection Error: -1.025107, -0.038049 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.655] xyz_f:2.405817, -0.157488, 4.015274  Reprojection Error: -0.960573, 0.120966 Feature: -0.338890, 0.076651, 0.937698
[11:52:54.655] xyz_f:2.408096, 0.230645, 4.000216  Reprojection Error: -1.026364, 0.486182 Feature: -0.349321, 0.447661, 0.823149
[11:52:54.655] xyz_f:1.879324, -1.208149, 4.391494  Reprojection Error: -0.445483, 0.063721 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.655] xyz_f:2.009279, -1.170726, 4.405367  Reprojection Error: -0.415884, 0.069364 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.655] xyz_f:2.357833, -0.332031, 3.938392  Reprojection Error: -0.524604, -0.124632 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.655] xyz_f:2.587105, -0.052210, 3.441496  Reprojection Error: -0.909661, 0.055942 Feature: -0.222906, 0.029836, 0.339763
[11:52:54.655] xyz_f:2.691496, -0.034290, 3.376918  Reprojection Error: -1.137802, 0.096811 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.655] xyz_f:2.410361, 0.220100, 4.004082  Reprojection Error: -0.980846, 0.462069 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.655] it:18 	 Success 	 new_chi2: 1.331182 	 dT = -0.172939, 0.124661, 0.000004
[11:52:54.655] xyz_f:2.649384, -0.222098, 4.180777  Reprojection Error: -0.840232, 0.078468 Feature: -0.202195, 0.024813, 0.979031
[11:52:54.655] xyz_f:2.660555, -0.223011, 4.184217  Reprojection Error: -0.830182, 0.078592 Feature: -0.190699, 0.024821, 0.981335
[11:52:54.655] xyz_f:2.818967, -0.449860, 4.138169  Reprojection Error: -0.713608, -0.102147 Feature: -0.031684, -0.206216, 0.977993
[11:52:54.655] xyz_f:2.856100, -0.445143, 4.145619  Reprojection Error: -0.682942, -0.096466 Feature: 0.005881, -0.199732, 0.979833
[11:52:54.655] xyz_f:2.835713, -0.432632, 4.149206  Reprojection Error: -0.698050, -0.085813 Feature: -0.014356, -0.186718, 0.982309
[11:52:54.656] xyz_f:2.515644, -0.148636, 4.140250  Reprojection Error: -0.972501, 0.127015 Feature: -0.341538, 0.085282, 0.935991
[11:52:54.656] xyz_f:2.815703, -0.433900, 4.145610  Reprojection Error: -0.714448, -0.087790 Feature: -0.034591, -0.188874, 0.981392
[11:52:54.656] xyz_f:2.522631, 0.220100, 4.128745  Reprojection Error: -1.028630, 0.475407 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.656] xyz_f:2.470103, -0.332031, 4.063056  Reprojection Error: -1.034370, -0.040635 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.656] xyz_f:2.518087, -0.157488, 4.139938  Reprojection Error: -0.969649, 0.119785 Feature: -0.338890, 0.076651, 0.937698
[11:52:54.656] xyz_f:2.520366, 0.230644, 4.124880  Reprojection Error: -1.035388, 0.487924 Feature: -0.349321, 0.447661, 0.823149
[11:52:54.656] xyz_f:1.991596, -1.208150, 4.516159  Reprojection Error: -0.458531, 0.056127 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.656] xyz_f:2.121552, -1.170727, 4.530032  Reprojection Error: -0.428117, 0.062051 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.656] xyz_f:2.470103, -0.332031, 4.063056  Reprojection Error: -0.533867, -0.127219 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.656] xyz_f:2.699372, -0.052211, 3.566158  Reprojection Error: -0.914864, 0.055412 Feature: -0.222906, 0.029836, 0.339763
[11:52:54.656] xyz_f:2.803764, -0.034291, 3.501580  Reprojection Error: -1.141488, 0.096449 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.656] xyz_f:2.522631, 0.220100, 4.128745  Reprojection Error: -0.989862, 0.463728 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.656] it:19 	 Success 	 new_chi2: 1.311830 	 dT = -0.185328, 0.125365, 0.000011
[11:52:54.656] xyz_f:2.761667, -0.222099, 4.306145  Reprojection Error: -0.847857, 0.076922 Feature: -0.202195, 0.024813, 0.979031
[11:52:54.656] xyz_f:2.772838, -0.223012, 4.309585  Reprojection Error: -0.837739, 0.077041 Feature: -0.190699, 0.024821, 0.981335
[11:52:54.656] xyz_f:2.931250, -0.449861, 4.263535  Reprojection Error: -0.719914, -0.105343 Feature: -0.031684, -0.206216, 0.977993
[11:52:54.656] xyz_f:2.968383, -0.445143, 4.270985  Reprojection Error: -0.689009, -0.099618 Feature: 0.005881, -0.199732, 0.979833
[11:52:54.656] xyz_f:2.947996, -0.432632, 4.274572  Reprojection Error: -0.704274, -0.088871 Feature: -0.014356, -0.186718, 0.982309
[11:52:54.656] xyz_f:2.627927, -0.148637, 4.265619  Reprojection Error: -0.980966, 0.125960 Feature: -0.341538, 0.085282, 0.935991
[11:52:54.656] xyz_f:2.927986, -0.433900, 4.270976  Reprojection Error: -0.720801, -0.090863 Feature: -0.034591, -0.188874, 0.981392
[11:52:54.656] xyz_f:2.634912, 0.220099, 4.254115  Reprojection Error: -1.037017, 0.476979 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.656] xyz_f:2.582386, -0.332032, 4.188425  Reprojection Error: -1.042981, -0.043081 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.656] xyz_f:2.630370, -0.157489, 4.265307  Reprojection Error: -0.978096, 0.118667 Feature: -0.338890, 0.076651, 0.937698
[11:52:54.656] xyz_f:2.632647, 0.230643, 4.250249  Reprojection Error: -1.043782, 0.489574 Feature: -0.349321, 0.447661, 0.823149
[11:52:54.656] xyz_f:2.103886, -1.208152, 4.641534  Reprojection Error: -0.470811, 0.048901 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.656] xyz_f:2.233841, -1.170729, 4.655405  Reprojection Error: -0.439624, 0.055092 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.656] xyz_f:2.582386, -0.332032, 4.188425  Reprojection Error: -0.542477, -0.129664 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.656] xyz_f:2.811649, -0.052211, 3.691526  Reprojection Error: -0.919572, 0.054915 Feature: -0.222906, 0.029836, 0.339763
[11:52:54.656] xyz_f:2.916039, -0.034291, 3.626946  Reprojection Error: -1.144767, 0.096111 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.656] xyz_f:2.634912, 0.220099, 4.254115  Reprojection Error: -0.998250, 0.465300 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.656] it:20 	 Success 	 new_chi2: 1.294021 	 dT = -0.198281, 0.126291, 0.000016
[11:52:54.656] xyz_f:2.874094, -0.222100, 4.432442  Reprojection Error: -0.854948, 0.075452 Feature: -0.202195, 0.024813, 0.979031
[11:52:54.656] xyz_f:2.885265, -0.223013, 4.435881  Reprojection Error: -0.844765, 0.075568 Feature: -0.190699, 0.024821, 0.981335
[11:52:54.656] xyz_f:3.043678, -0.449861, 4.389829  Reprojection Error: -0.725745, -0.108379 Feature: -0.031684, -0.206216, 0.977993
[11:52:54.656] xyz_f:3.080810, -0.445144, 4.397278  Reprojection Error: -0.694616, -0.102611 Feature: 0.005881, -0.199732, 0.979833
[11:52:54.656] xyz_f:3.060424, -0.432633, 4.400865  Reprojection Error: -0.710029, -0.091775 Feature: -0.014356, -0.186718, 0.982309
[11:52:54.656] xyz_f:2.740353, -0.148639, 4.391918  Reprojection Error: -0.988848, 0.124958 Feature: -0.341538, 0.085282, 0.935991
[11:52:54.656] xyz_f:3.040414, -0.433901, 4.397270  Reprojection Error: -0.726679, -0.093780 Feature: -0.034591, -0.188874, 0.981392
[11:52:54.656] xyz_f:2.747337, 0.220097, 4.380413  Reprojection Error: -1.044824, 0.478471 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.656] xyz_f:2.694811, -0.332035, 4.314725  Reprojection Error: -1.050990, -0.045401 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.656] xyz_f:2.742796, -0.157491, 4.391605  Reprojection Error: -0.985961, 0.117606 Feature: -0.338890, 0.076651, 0.937698
[11:52:54.656] xyz_f:2.745071, 0.230641, 4.376547  Reprojection Error: -1.051595, 0.491140 Feature: -0.349321, 0.447661, 0.823149
[11:52:54.656] xyz_f:2.216322, -1.208156, 4.767840  Reprojection Error: -0.482385, 0.042007 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.656] xyz_f:2.346278, -1.170733, 4.781710  Reprojection Error: -0.450464, 0.048450 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.656] xyz_f:2.694811, -0.332035, 4.314725  Reprojection Error: -0.550486, -0.131984 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.656] xyz_f:2.924065, -0.052213, 3.817821  Reprojection Error: -0.923822, 0.054447 Feature: -0.222906, 0.029836, 0.339763
[11:52:54.656] xyz_f:3.028455, -0.034292, 3.753240  Reprojection Error: -1.147665, 0.095793 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.656] xyz_f:2.747337, 0.220097, 4.380413  Reprojection Error: -1.006057, 0.466792 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.656] it:21 	 Success 	 new_chi2: 1.277704 	 dT = -0.211827, 0.127511, 0.000021
[11:52:54.656] xyz_f:2.986860, -0.222102, 4.559959  Reprojection Error: -0.861545, 0.074051 Feature: -0.202195, 0.024813, 0.979031
[11:52:54.656] xyz_f:2.998031, -0.223015, 4.563398  Reprojection Error: -0.851300, 0.074164 Feature: -0.190699, 0.024821, 0.981335
[11:52:54.656] xyz_f:3.156444, -0.449862, 4.517343  Reprojection Error: -0.731136, -0.111271 Feature: -0.031684, -0.206216, 0.977993
[11:52:54.656] xyz_f:3.193576, -0.445144, 4.524791  Reprojection Error: -0.699793, -0.105464 Feature: 0.005881, -0.199732, 0.979833
[11:52:54.656] xyz_f:3.173190, -0.432633, 4.528379  Reprojection Error: -0.715349, -0.094543 Feature: -0.014356, -0.186718, 0.982309
[11:52:54.656] xyz_f:2.853117, -0.148641, 4.519437  Reprojection Error: -0.996194, 0.124004 Feature: -0.341538, 0.085282, 0.935991
[11:52:54.656] xyz_f:3.153180, -0.433902, 4.524784  Reprojection Error: -0.732115, -0.096561 Feature: -0.034591, -0.188874, 0.981392
[11:52:54.656] xyz_f:2.860099, 0.220095, 4.507933  Reprojection Error: -1.052097, 0.479893 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.656] xyz_f:2.807575, -0.332037, 4.442245  Reprojection Error: -1.058445, -0.047610 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.656] xyz_f:2.855561, -0.157494, 4.519125  Reprojection Error: -0.993290, 0.116594 Feature: -0.338890, 0.076651, 0.937698
[11:52:54.656] xyz_f:2.857833, 0.230639, 4.504067  Reprojection Error: -1.058873, 0.492633 Feature: -0.349321, 0.447661, 0.823149
[11:52:54.656] xyz_f:2.329100, -1.208162, 4.895371  Reprojection Error: -0.493313, 0.035407 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.656] xyz_f:2.459055, -1.170737, 4.909237  Reprojection Error: -0.460690, 0.042091 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.656] xyz_f:2.807575, -0.332037, 4.442245  Reprojection Error: -0.557942, -0.134193 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.656] xyz_f:3.036818, -0.052214, 3.945337  Reprojection Error: -0.927646, 0.054005 Feature: -0.222906, 0.029836, 0.339763
[11:52:54.656] xyz_f:3.141206, -0.034293, 3.880755  Reprojection Error: -1.150206, 0.095493 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.656] xyz_f:2.860099, 0.220095, 4.507933  Reprojection Error: -1.013329, 0.468214 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.656] it:22 	 Success 	 new_chi2: 1.262722 	 dT = -0.225997, 0.128996, 0.000024
[11:52:54.656] xyz_f:3.100223, -0.222104, 4.688962  Reprojection Error: -0.867701, 0.072712 Feature: -0.202195, 0.024813, 0.979031
[11:52:54.656] xyz_f:3.111394, -0.223016, 4.692401  Reprojection Error: -0.857398, 0.072821 Feature: -0.190699, 0.024821, 0.981335
[11:52:54.656] xyz_f:3.269808, -0.449863, 4.646342  Reprojection Error: -0.736135, -0.114036 Feature: -0.031684, -0.206216, 0.977993
[11:52:54.656] xyz_f:3.306940, -0.445145, 4.653789  Reprojection Error: -0.704589, -0.108190 Feature: 0.005881, -0.199732, 0.979833
[11:52:54.656] xyz_f:3.286554, -0.432634, 4.657377  Reprojection Error: -0.720281, -0.097189 Feature: -0.014356, -0.186718, 0.982309
[11:52:54.656] xyz_f:2.966479, -0.148644, 4.648444  Reprojection Error: -1.003061, 0.123092 Feature: -0.341538, 0.085282, 0.935991
[11:52:54.656] xyz_f:3.266544, -0.433903, 4.653783  Reprojection Error: -0.737158, -0.099219 Feature: -0.034591, -0.188874, 0.981392
[11:52:54.656] xyz_f:2.973459, 0.220092, 4.636939  Reprojection Error: -1.058892, 0.481252 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.656] xyz_f:2.920937, -0.332040, 4.571252  Reprojection Error: -1.065407, -0.049718 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.656] xyz_f:2.968923, -0.157496, 4.648131  Reprojection Error: -1.000141, 0.115628 Feature: -0.338890, 0.076651, 0.937698
[11:52:54.656] xyz_f:2.971193, 0.230636, 4.633073  Reprojection Error: -1.065673, 0.494059 Feature: -0.349321, 0.447661, 0.823149
[11:52:54.656] xyz_f:2.442477, -1.208168, 5.024389  Reprojection Error: -0.503661, 0.029070 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.656] xyz_f:2.572433, -1.170742, 5.038253  Reprojection Error: -0.470367, 0.035985 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.656] xyz_f:2.920937, -0.332040, 4.571252  Reprojection Error: -0.564904, -0.136302 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.656] xyz_f:3.150166, -0.052216, 4.074339  Reprojection Error: -0.931095, 0.053587 Feature: -0.222906, 0.029836, 0.339763
[11:52:54.656] xyz_f:3.254552, -0.034294, 4.009754  Reprojection Error: -1.152433, 0.095209 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.656] xyz_f:2.973459, 0.220092, 4.636939  Reprojection Error: -1.020125, 0.469573 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.656] it:23 	 Success 	 new_chi2: 1.248648 	 dT = -0.240816, 0.130440, 0.000027
[11:52:54.656] xyz_f:3.214425, -0.222106, 4.819410  Reprojection Error: -0.873501, 0.071430 Feature: -0.202195, 0.024813, 0.979031
[11:52:54.656] xyz_f:3.225597, -0.223019, 4.822849  Reprojection Error: -0.863142, 0.071535 Feature: -0.190699, 0.024821, 0.981335
[11:52:54.656] xyz_f:3.384011, -0.449864, 4.776785  Reprojection Error: -0.740826, -0.116679 Feature: -0.031684, -0.206216, 0.977993
[11:52:54.656] xyz_f:3.421143, -0.445146, 4.784232  Reprojection Error: -0.709085, -0.110798 Feature: 0.005881, -0.199732, 0.979833
[11:52:54.656] xyz_f:3.400757, -0.432635, 4.787821  Reprojection Error: -0.724908, -0.099720 Feature: -0.014356, -0.186718, 0.982309
[11:52:54.656] xyz_f:3.080680, -0.148647, 4.778895  Reprojection Error: -1.009537, 0.122220 Feature: -0.341538, 0.085282, 0.935991
[11:52:54.656] xyz_f:3.380747, -0.433904, 4.784227  Reprojection Error: -0.741891, -0.101761 Feature: -0.034591, -0.188874, 0.981392
[11:52:54.656] xyz_f:3.087656, 0.220089, 4.767390  Reprojection Error: -1.065299, 0.482551 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.656] xyz_f:3.035137, -0.332044, 4.701705  Reprojection Error: -1.071968, -0.051733 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.656] xyz_f:3.083123, -0.157499, 4.778583  Reprojection Error: -1.006602, 0.114703 Feature: -0.338890, 0.076651, 0.937698
[11:52:54.656] xyz_f:3.085390, 0.230633, 4.763524  Reprojection Error: -1.072084, 0.495423 Feature: -0.349321, 0.447661, 0.823149
[11:52:54.656] xyz_f:2.556695, -1.208174, 5.154854  Reprojection Error: -0.513515, 0.022986 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.656] xyz_f:2.686651, -1.170748, 5.168715  Reprojection Error: -0.479577, 0.030121 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.656] xyz_f:3.035137, -0.332044, 4.701705  Reprojection Error: -0.571464, -0.138316 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.656] xyz_f:3.264351, -0.052217, 4.204786  Reprojection Error: -0.934264, 0.053190 Feature: -0.222906, 0.029836, 0.339763
[11:52:54.656] xyz_f:3.368736, -0.034295, 4.140198  Reprojection Error: -1.154440, 0.094940 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.656] xyz_f:3.087656, 0.220089, 4.767390  Reprojection Error: -1.026532, 0.470872 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.656] it:24 	 Success 	 new_chi2: 1.235252 	 dT = -0.256309, 0.131786, 0.000029
[11:52:54.656] xyz_f:3.329400, -0.222108, 4.951205  Reprojection Error: -0.878968, 0.070204 Feature: -0.202195, 0.024813, 0.979031
[11:52:54.656] xyz_f:3.340572, -0.223021, 4.954643  Reprojection Error: -0.868557, 0.070306 Feature: -0.190699, 0.024821, 0.981335
[11:52:54.656] xyz_f:3.498986, -0.449865, 4.908575  Reprojection Error: -0.745228, -0.119208 Feature: -0.031684, -0.206216, 0.977993
[11:52:54.656] xyz_f:3.536119, -0.445146, 4.916021  Reprojection Error: -0.713303, -0.113292 Feature: 0.005881, -0.199732, 0.979833
[11:52:54.656] xyz_f:3.515733, -0.432636, 4.919610  Reprojection Error: -0.729251, -0.102140 Feature: -0.014356, -0.186718, 0.982309
[11:52:54.656] xyz_f:3.195653, -0.148651, 4.910693  Reprojection Error: -1.015649, 0.121385 Feature: -0.341538, 0.085282, 0.935991
[11:52:54.656] xyz_f:3.495722, -0.433905, 4.916017  Reprojection Error: -0.746335, -0.104192 Feature: -0.034591, -0.188874, 0.981392
[11:52:54.656] xyz_f:3.202627, 0.220086, 4.899188  Reprojection Error: -1.071343, 0.483794 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.656] xyz_f:3.150109, -0.332047, 4.833505  Reprojection Error: -1.078152, -0.053658 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.656] xyz_f:3.198097, -0.157503, 4.910381  Reprojection Error: -1.012699, 0.113819 Feature: -0.338890, 0.076651, 0.937698
[11:52:54.656] xyz_f:3.200360, 0.230630, 4.895323  Reprojection Error: -1.078131, 0.496727 Feature: -0.349321, 0.447661, 0.823149
[11:52:54.656] xyz_f:2.671687, -1.208182, 5.286667  Reprojection Error: -0.522900, 0.017144 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.656] xyz_f:2.801643, -1.170754, 5.300524  Reprojection Error: -0.488346, 0.024490 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.656] xyz_f:3.150109, -0.332047, 4.833505  Reprojection Error: -0.577648, -0.140241 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.656] xyz_f:3.379308, -0.052219, 4.336579  Reprojection Error: -0.937179, 0.052813 Feature: -0.222906, 0.029836, 0.339763
[11:52:54.656] xyz_f:3.483690, -0.034296, 4.271988  Reprojection Error: -1.156247, 0.094684 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.656] xyz_f:3.202627, 0.220086, 4.899188  Reprojection Error: -1.032576, 0.472115 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.656] it:25 	 Success 	 new_chi2: 1.222516 	 dT = -0.272479, 0.133037, 0.000030
[11:52:54.656] xyz_f:3.445045, -0.222111, 5.084251  Reprojection Error: -0.884117, 0.069030 Feature: -0.202195, 0.024813, 0.979031
[11:52:54.656] xyz_f:3.456216, -0.223023, 5.087689  Reprojection Error: -0.873656, 0.069129 Feature: -0.190699, 0.024821, 0.981335
[11:52:54.656] xyz_f:3.614631, -0.449866, 5.041616  Reprojection Error: -0.749356, -0.121626 Feature: -0.031684, -0.206216, 0.977993
[11:52:54.656] xyz_f:3.651764, -0.445147, 5.049061  Reprojection Error: -0.717254, -0.115678 Feature: 0.005881, -0.199732, 0.979833
[11:52:54.656] xyz_f:3.631378, -0.432637, 5.052651  Reprojection Error: -0.733322, -0.104455 Feature: -0.014356, -0.186718, 0.982309
[11:52:54.656] xyz_f:3.311296, -0.148654, 5.043743  Reprojection Error: -1.021410, 0.120588 Feature: -0.341538, 0.085282, 0.935991
[11:52:54.656] xyz_f:3.611367, -0.433906, 5.049058  Reprojection Error: -0.750502, -0.106517 Feature: -0.034591, -0.188874, 0.981392
[11:52:54.656] xyz_f:3.318266, 0.220082, 5.032238  Reprojection Error: -1.077039, 0.484982 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.656] xyz_f:3.265751, -0.332051, 4.966556  Reprojection Error: -1.083976, -0.055498 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.656] xyz_f:3.313740, -0.157506, 5.043431  Reprojection Error: -1.018447, 0.112974 Feature: -0.338890, 0.076651, 0.937698
[11:52:54.656] xyz_f:3.316000, 0.230626, 5.028372  Reprojection Error: -1.083830, 0.497975 Feature: -0.349321, 0.447661, 0.823149
[11:52:54.656] xyz_f:2.787349, -1.208189, 5.419732  Reprojection Error: -0.531834, 0.011534 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.656] xyz_f:2.917305, -1.170761, 5.433585  Reprojection Error: -0.496689, 0.019082 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.656] xyz_f:3.265751, -0.332051, 4.966556  Reprojection Error: -0.583473, -0.142081 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.656] xyz_f:3.494933, -0.052221, 4.469624  Reprojection Error: -0.939853, 0.052455 Feature: -0.222906, 0.029836, 0.339763
[11:52:54.656] xyz_f:3.599313, -0.034297, 4.405030  Reprojection Error: -1.157866, 0.094442 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.656] xyz_f:3.318266, 0.220082, 5.032238  Reprojection Error: -1.038272, 0.473303 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.656] it:26 	 Success 	 new_chi2: 1.210445 	 dT = -0.289328, 0.134203, 0.000031
[11:52:54.656] xyz_f:3.561263, -0.222113, 5.218463  Reprojection Error: -0.888961, 0.067907 Feature: -0.202195, 0.024813, 0.979031
[11:52:54.656] xyz_f:3.572434, -0.223025, 5.221901  Reprojection Error: -0.878452, 0.068003 Feature: -0.190699, 0.024821, 0.981335
[11:52:54.656] xyz_f:3.730849, -0.449867, 5.175824  Reprojection Error: -0.753219, -0.123940 Feature: -0.031684, -0.206216, 0.977993
[11:52:54.656] xyz_f:3.767983, -0.445148, 5.183267  Reprojection Error: -0.720949, -0.117961 Feature: 0.005881, -0.199732, 0.979833
[11:52:54.656] xyz_f:3.747596, -0.432638, 5.186858  Reprojection Error: -0.737132, -0.106671 Feature: -0.014356, -0.186718, 0.982309
[11:52:54.656] xyz_f:3.427512, -0.148658, 5.177960  Reprojection Error: -1.026837, 0.119824 Feature: -0.341538, 0.085282, 0.935991
[11:52:54.656] xyz_f:3.727586, -0.433907, 5.183266  Reprojection Error: -0.754404, -0.108742 Feature: -0.034591, -0.188874, 0.981392
[11:52:54.656] xyz_f:3.434479, 0.220079, 5.166454  Reprojection Error: -1.082403, 0.486119 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.656] xyz_f:3.381966, -0.332055, 5.100774  Reprojection Error: -1.089458, -0.057256 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.656] xyz_f:3.429956, -0.157510, 5.177647  Reprojection Error: -1.023861, 0.112165 Feature: -0.338890, 0.076651, 0.937698
[11:52:54.656] xyz_f:3.432212, 0.230623, 5.162589  Reprojection Error: -1.089196, 0.499168 Feature: -0.349321, 0.447661, 0.823149
[11:52:54.656] xyz_f:2.903584, -1.208197, 5.553965  Reprojection Error: -0.540332, 0.006148 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.657] xyz_f:3.033540, -1.170768, 5.567814  Reprojection Error: -0.504621, 0.013889 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.657] xyz_f:3.381966, -0.332055, 5.100774  Reprojection Error: -0.588955, -0.143839 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.657] xyz_f:3.611131, -0.052223, 4.603835  Reprojection Error: -0.942297, 0.052114 Feature: -0.222906, 0.029836, 0.339763
[11:52:54.657] xyz_f:3.715510, -0.034298, 4.539238  Reprojection Error: -1.159306, 0.094212 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.657] xyz_f:3.434479, 0.220079, 5.166454  Reprojection Error: -1.043635, 0.474440 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.657] it:27 	 Success 	 new_chi2: 1.199036 	 dT = -0.306854, 0.135296, 0.000031
[11:52:54.657] xyz_f:3.677969, -0.222116, 5.353769  Reprojection Error: -0.893513, 0.066832 Feature: -0.202195, 0.024813, 0.979031
[11:52:54.657] xyz_f:3.689141, -0.223028, 5.357206  Reprojection Error: -0.882958, 0.066925 Feature: -0.190699, 0.024821, 0.981335
[11:52:54.657] xyz_f:3.847557, -0.449868, 5.311125  Reprojection Error: -0.756831, -0.126154 Feature: -0.031684, -0.206216, 0.977993
[11:52:54.657] xyz_f:3.884690, -0.445149, 5.318567  Reprojection Error: -0.724400, -0.120145 Feature: 0.005881, -0.199732, 0.979833
[11:52:54.657] xyz_f:3.864304, -0.432639, 5.322158  Reprojection Error: -0.740693, -0.108791 Feature: -0.014356, -0.186718, 0.982309
[11:52:54.657] xyz_f:3.544217, -0.148661, 5.313270  Reprojection Error: -1.031945, 0.119094 Feature: -0.341538, 0.085282, 0.935991
[11:52:54.657] xyz_f:3.844293, -0.433908, 5.318567  Reprojection Error: -0.758053, -0.110872 Feature: -0.034591, -0.188874, 0.981392
[11:52:54.657] xyz_f:3.551180, 0.220075, 5.301764  Reprojection Error: -1.087449, 0.487207 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.657] xyz_f:3.498670, -0.332059, 5.236085  Reprojection Error: -1.094612, -0.058938 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.657] xyz_f:3.546661, -0.157513, 5.312957  Reprojection Error: -1.028955, 0.111391 Feature: -0.338890, 0.076651, 0.937698
[11:52:54.657] xyz_f:3.548913, 0.230619, 5.297899  Reprojection Error: -1.094244, 0.500309 Feature: -0.349321, 0.447661, 0.823149
[11:52:54.657] xyz_f:3.020309, -1.208205, 5.689290  Reprojection Error: -0.548413, 0.000975 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.657] xyz_f:3.150265, -1.170774, 5.703135  Reprojection Error: -0.512160, 0.008900 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.657] xyz_f:3.498670, -0.332059, 5.236085  Reprojection Error: -0.594109, -0.145521 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.657] xyz_f:3.727818, -0.052226, 4.739139  Reprojection Error: -0.944525, 0.051791 Feature: -0.222906, 0.029836, 0.339763
[11:52:54.657] xyz_f:3.832194, -0.034299, 4.674539  Reprojection Error: -1.160576, 0.093994 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.657] xyz_f:3.551180, 0.220075, 5.301764  Reprojection Error: -1.048681, 0.475528 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.657] it:28 	 Success 	 new_chi2: 1.188281 	 dT = -0.325058, 0.136326, 0.000031
[11:52:54.657] xyz_f:3.795092, -0.222118, 5.490105  Reprojection Error: -0.897786, 0.065802 Feature: -0.202195, 0.024813, 0.979031
[11:52:54.657] xyz_f:3.806264, -0.223030, 5.493542  Reprojection Error: -0.887188, 0.065892 Feature: -0.190699, 0.024821, 0.981335
[11:52:54.657] xyz_f:3.964679, -0.449869, 5.447455  Reprojection Error: -0.760201, -0.128273 Feature: -0.031684, -0.206216, 0.977993
[11:52:54.657] xyz_f:4.001813, -0.445150, 5.454897  Reprojection Error: -0.727617, -0.122237 Feature: 0.005881, -0.199732, 0.979833
[11:52:54.657] xyz_f:3.981427, -0.432640, 5.458488  Reprojection Error: -0.744016, -0.110821 Feature: -0.014356, -0.186718, 0.982309
[11:52:54.657] xyz_f:3.661337, -0.148665, 5.449610  Reprojection Error: -1.036748, 0.118395 Feature: -0.341538, 0.085282, 0.935991
[11:52:54.657] xyz_f:3.961416, -0.433909, 5.454897  Reprojection Error: -0.761459, -0.112910 Feature: -0.034591, -0.188874, 0.981392
[11:52:54.657] xyz_f:3.668297, 0.220072, 5.438104  Reprojection Error: -1.092192, 0.488248 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.657] xyz_f:3.615790, -0.332063, 5.372427  Reprojection Error: -1.099455, -0.060546 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.657] xyz_f:3.663781, -0.157517, 5.449297  Reprojection Error: -1.033746, 0.110650 Feature: -0.338890, 0.076651, 0.937698
[11:52:54.657] xyz_f:3.666030, 0.230616, 5.434238  Reprojection Error: -1.098989, 0.501402 Feature: -0.349321, 0.447661, 0.823149
[11:52:54.657] xyz_f:3.137450, -1.208213, 5.825646  Reprojection Error: -0.556095, -0.003995 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.657] xyz_f:3.267406, -1.170781, 5.839487  Reprojection Error: -0.519323, 0.004108 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.657] xyz_f:3.615790, -0.332063, 5.372427  Reprojection Error: -0.598952, -0.147129 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.657] xyz_f:3.844920, -0.052228, 4.875474  Reprojection Error: -0.946547, 0.051483 Feature: -0.222906, 0.029836, 0.339763
[11:52:54.657] xyz_f:3.949294, -0.034301, 4.810870  Reprojection Error: -1.161685, 0.093786 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.657] xyz_f:3.668297, 0.220072, 5.438104  Reprojection Error: -1.053425, 0.476569 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.657] it:29 	 Success 	 new_chi2: 1.178166 	 dT = -0.343939, 0.137303, 0.000031
[11:52:54.657] xyz_f:3.912567, -0.222121, 5.627417  Reprojection Error: -0.901795, 0.064816 Feature: -0.202195, 0.024813, 0.979031
[11:52:54.657] xyz_f:3.923739, -0.223033, 5.630854  Reprojection Error: -0.891155, 0.064902 Feature: -0.190699, 0.024821, 0.981335
[11:52:54.657] xyz_f:4.082155, -0.449870, 5.584763  Reprojection Error: -0.763342, -0.130303 Feature: -0.031684, -0.206216, 0.977993
[11:52:54.657] xyz_f:4.119289, -0.445150, 5.592203  Reprojection Error: -0.730611, -0.124240 Feature: 0.005881, -0.199732, 0.979833
[11:52:54.657] xyz_f:4.098903, -0.432641, 5.595795  Reprojection Error: -0.747112, -0.112766 Feature: -0.014356, -0.186718, 0.982309
[11:52:54.657] xyz_f:3.778811, -0.148668, 5.586926  Reprojection Error: -1.041261, 0.117725 Feature: -0.341538, 0.085282, 0.935991
[11:52:54.657] xyz_f:4.078892, -0.433910, 5.592205  Reprojection Error: -0.764636, -0.114863 Feature: -0.034591, -0.188874, 0.981392
[11:52:54.657] xyz_f:3.785768, 0.220068, 5.575420  Reprojection Error: -1.096648, 0.489245 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.657] xyz_f:3.733262, -0.332067, 5.509744  Reprojection Error: -1.104003, -0.062086 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.657] xyz_f:3.781255, -0.157520, 5.586613  Reprojection Error: -1.038248, 0.109940 Feature: -0.338890, 0.076651, 0.937698
[11:52:54.657] xyz_f:3.783500, 0.230612, 5.571555  Reprojection Error: -1.103447, 0.502449 Feature: -0.349321, 0.447661, 0.823149
[11:52:54.657] xyz_f:3.254943, -1.208220, 5.962978  Reprojection Error: -0.563396, -0.008770 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.657] xyz_f:3.384899, -1.170788, 5.976815  Reprojection Error: -0.526124, -0.000497 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.657] xyz_f:3.733262, -0.332067, 5.509744  Reprojection Error: -0.603499, -0.148669 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.657] xyz_f:3.962375, -0.052230, 5.012784  Reprojection Error: -0.948376, 0.051190 Feature: -0.222906, 0.029836, 0.339763
[11:52:54.657] xyz_f:4.066748, -0.034302, 4.948178  Reprojection Error: -1.162642, 0.093589 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.657] xyz_f:3.785768, 0.220068, 5.575420  Reprojection Error: -1.057881, 0.477566 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.657] it:30 	 Success 	 new_chi2: 1.168675 	 dT = -0.363496, 0.138234, 0.000031
[11:52:54.657] xyz_f:4.030342, -0.222123, 5.765661  Reprojection Error: -0.905551, 0.063870 Feature: -0.202195, 0.024813, 0.979031
[11:52:54.657] xyz_f:4.041514, -0.223035, 5.769097  Reprojection Error: -0.894872, 0.063954 Feature: -0.190699, 0.024821, 0.981335
[11:52:54.657] xyz_f:4.199931, -0.449871, 5.723001  Reprojection Error: -0.766266, -0.132249 Feature: -0.031684, -0.206216, 0.977993
[11:52:54.657] xyz_f:4.237065, -0.445151, 5.730440  Reprojection Error: -0.733394, -0.126161 Feature: 0.005881, -0.199732, 0.979833
[11:52:54.657] xyz_f:4.216678, -0.432642, 5.734033  Reprojection Error: -0.749992, -0.114630 Feature: -0.014356, -0.186718, 0.982309
[11:52:54.657] xyz_f:3.896584, -0.148672, 5.725174  Reprojection Error: -1.045500, 0.117083 Feature: -0.341538, 0.085282, 0.935991
[11:52:54.657] xyz_f:4.196668, -0.433912, 5.730443  Reprojection Error: -0.767593, -0.116735 Feature: -0.034591, -0.188874, 0.981392
[11:52:54.657] xyz_f:3.903538, 0.220065, 5.713667  Reprojection Error: -1.100831, 0.490201 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.657] xyz_f:3.851035, -0.332071, 5.647993  Reprojection Error: -1.108269, -0.063561 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.657] xyz_f:3.899028, -0.157524, 5.724861  Reprojection Error: -1.042476, 0.109260 Feature: -0.338890, 0.076651, 0.937698
[11:52:54.657] xyz_f:3.901270, 0.230609, 5.709802  Reprojection Error: -1.107631, 0.503451 Feature: -0.349321, 0.447661, 0.823149
[11:52:54.657] xyz_f:3.372736, -1.208228, 6.101241  Reprojection Error: -0.570332, -0.013360 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.657] xyz_f:3.502692, -1.170795, 6.115075  Reprojection Error: -0.532583, -0.004925 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.657] xyz_f:3.851035, -0.332071, 5.647993  Reprojection Error: -0.607766, -0.150144 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.657] xyz_f:4.080131, -0.052232, 5.151026  Reprojection Error: -0.950023, 0.050911 Feature: -0.222906, 0.029836, 0.339763
[11:52:54.657] xyz_f:4.184501, -0.034303, 5.086417  Reprojection Error: -1.163456, 0.093401 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.657] xyz_f:3.903538, 0.220065, 5.713667  Reprojection Error: -1.062063, 0.478522 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.657] it:31 	 Success 	 new_chi2: 1.159787 	 dT = -0.383730, 0.139125, 0.000030
[11:52:54.657] xyz_f:4.148371, -0.222125, 5.904795  Reprojection Error: -0.909069, 0.062962 Feature: -0.202195, 0.024813, 0.979031
[11:52:54.657] xyz_f:4.159543, -0.223037, 5.908231  Reprojection Error: -0.898352, 0.063044 Feature: -0.190699, 0.024821, 0.981335
[11:52:54.657] xyz_f:4.317961, -0.449873, 5.862130  Reprojection Error: -0.768983, -0.134114 Feature: -0.031684, -0.206216, 0.977993
[11:52:54.657] xyz_f:4.355095, -0.445152, 5.869568  Reprojection Error: -0.735977, -0.128002 Feature: 0.005881, -0.199732, 0.979833
[11:52:54.657] xyz_f:4.334708, -0.432643, 5.873162  Reprojection Error: -0.752668, -0.116417 Feature: -0.014356, -0.186718, 0.982309
[11:52:54.657] xyz_f:4.014611, -0.148675, 5.864312  Reprojection Error: -1.049478, 0.116467 Feature: -0.341538, 0.085282, 0.935991
[11:52:54.657] xyz_f:4.314697, -0.433913, 5.869573  Reprojection Error: -0.770342, -0.118530 Feature: -0.034591, -0.188874, 0.981392
[11:52:54.657] xyz_f:4.021562, 0.220061, 5.852805  Reprojection Error: -1.104755, 0.491117 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.657] xyz_f:3.969061, -0.332075, 5.787133  Reprojection Error: -1.112270, -0.064973 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.657] xyz_f:4.017055, -0.157527, 5.863999  Reprojection Error: -1.046443, 0.108607 Feature: -0.338890, 0.076651, 0.937698
[11:52:54.657] xyz_f:4.019294, 0.230605, 5.848940  Reprojection Error: -1.111555, 0.504413 Feature: -0.349321, 0.447661, 0.823149
[11:52:54.657] xyz_f:3.490783, -1.208236, 6.240395  Reprojection Error: -0.576922, -0.017775 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.657] xyz_f:3.620739, -1.170801, 6.254224  Reprojection Error: -0.538713, -0.009184 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.657] xyz_f:3.969061, -0.332075, 5.787133  Reprojection Error: -0.611767, -0.151557 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.657] xyz_f:4.198141, -0.052234, 5.290159  Reprojection Error: -0.951498, 0.050645 Feature: -0.222906, 0.029836, 0.339763
[11:52:54.657] xyz_f:4.302509, -0.034304, 5.225546  Reprojection Error: -1.164135, 0.093221 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.657] xyz_f:4.021562, 0.220061, 5.852805  Reprojection Error: -1.065987, 0.479438 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.657] it:32 	 Success 	 new_chi2: 1.151474 	 dT = -0.404640, 0.139974, 0.000030
[11:52:54.657] xyz_f:4.266614, -0.222128, 6.044778  Reprojection Error: -0.912361, 0.062091 Feature: -0.202195, 0.024813, 0.979031
[11:52:54.657] xyz_f:4.277787, -0.223040, 6.048213  Reprojection Error: -0.901608, 0.062170 Feature: -0.190699, 0.024821, 0.981335
[11:52:54.657] xyz_f:4.436204, -0.449874, 6.002108  Reprojection Error: -0.771505, -0.135904 Feature: -0.031684, -0.206216, 0.977993
[11:52:54.657] xyz_f:4.473339, -0.445153, 6.009545  Reprojection Error: -0.738370, -0.129768 Feature: 0.005881, -0.199732, 0.979833
[11:52:54.657] xyz_f:4.452952, -0.432644, 6.013139  Reprojection Error: -0.755152, -0.118131 Feature: -0.014356, -0.186718, 0.982309
[11:52:54.657] xyz_f:4.132853, -0.148679, 6.004298  Reprojection Error: -1.053210, 0.115877 Feature: -0.341538, 0.085282, 0.935991
[11:52:54.657] xyz_f:4.432941, -0.433914, 6.009550  Reprojection Error: -0.772896, -0.120251 Feature: -0.034591, -0.188874, 0.981392
[11:52:54.657] xyz_f:4.139800, 0.220058, 5.992791  Reprojection Error: -1.108434, 0.491996 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.657] xyz_f:4.087302, -0.332078, 5.927120  Reprojection Error: -1.116021, -0.066328 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.657] xyz_f:4.135297, -0.157531, 6.003985  Reprojection Error: -1.050165, 0.107982 Feature: -0.338890, 0.076651, 0.937698
[11:52:54.657] xyz_f:4.137532, 0.230602, 5.988926  Reprojection Error: -1.115236, 0.505335 Feature: -0.349321, 0.447661, 0.823149
[11:52:54.657] xyz_f:3.609043, -1.208243, 6.380396  Reprojection Error: -0.583183, -0.022022 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.657] xyz_f:3.739000, -1.170808, 6.394222  Reprojection Error: -0.544533, -0.013282 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.657] xyz_f:4.087302, -0.332078, 5.927120  Reprojection Error: -0.615518, -0.152911 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.657] xyz_f:4.316365, -0.052236, 5.430140  Reprojection Error: -0.952813, 0.050391 Feature: -0.222906, 0.029836, 0.339763
[11:52:54.657] xyz_f:4.420731, -0.034306, 5.365525  Reprojection Error: -1.164688, 0.093050 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.657] xyz_f:4.139800, 0.220058, 5.992791  Reprojection Error: -1.069667, 0.480317 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.657] it:33 	 Success 	 new_chi2: 1.143628 	 dT = -0.426222, 0.140692, 0.000029
[11:52:54.657] xyz_f:4.385034, -0.222130, 6.185478  Reprojection Error: -0.915450, 0.061256 Feature: -0.202195, 0.024813, 0.979031
[11:52:54.657] xyz_f:4.396206, -0.223042, 6.188913  Reprojection Error: -0.904662, 0.061332 Feature: -0.190699, 0.024821, 0.981335
[11:52:54.657] xyz_f:4.554624, -0.449875, 6.142804  Reprojection Error: -0.773854, -0.137621 Feature: -0.031684, -0.206216, 0.977993
[11:52:54.657] xyz_f:4.591759, -0.445154, 6.150240  Reprojection Error: -0.740596, -0.131463 Feature: 0.005881, -0.199732, 0.979833
[11:52:54.657] xyz_f:4.571372, -0.432644, 6.153834  Reprojection Error: -0.757464, -0.119776 Feature: -0.014356, -0.186718, 0.982309
[11:52:54.657] xyz_f:4.251271, -0.148682, 6.145002  Reprojection Error: -1.056720, 0.115310 Feature: -0.341538, 0.085282, 0.935991
[11:52:54.657] xyz_f:4.551361, -0.433915, 6.150246  Reprojection Error: -0.775276, -0.121903 Feature: -0.034591, -0.188874, 0.981392
[11:52:54.657] xyz_f:4.258215, 0.220055, 6.133495  Reprojection Error: -1.111894, 0.492839 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.657] xyz_f:4.205719, -0.332082, 6.067826  Reprojection Error: -1.119546, -0.067627 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.657] xyz_f:4.253715, -0.157534, 6.144689  Reprojection Error: -1.053665, 0.107381 Feature: -0.338890, 0.076651, 0.937698
[11:52:54.657] xyz_f:4.255947, 0.230599, 6.129630  Reprojection Error: -1.118696, 0.506219 Feature: -0.349321, 0.447661, 0.823149
[11:52:54.657] xyz_f:3.727479, -1.208250, 6.521115  Reprojection Error: -0.589139, -0.026107 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.657] xyz_f:3.857436, -1.170814, 6.534937  Reprojection Error: -0.550065, -0.017223 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.657] xyz_f:4.205719, -0.332082, 6.067826  Reprojection Error: -0.619043, -0.154210 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.657] xyz_f:4.434766, -0.052238, 5.570839  Reprojection Error: -0.953990, 0.050148 Feature: -0.222906, 0.029836, 0.339763
[11:52:54.657] xyz_f:4.539130, -0.034307, 5.506221  Reprojection Error: -1.165138, 0.092887 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.657] xyz_f:4.258215, 0.220055, 6.133495  Reprojection Error: -1.073126, 0.481160 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.657] it:34 	 Success 	 new_chi2: 1.136108 	 dT = -0.448464, 0.141164, 0.000028
[11:52:54.657] xyz_f:4.503511, -0.222132, 6.326650  Reprojection Error: -0.918358, 0.060455 Feature: -0.202195, 0.024813, 0.979031
[11:52:54.657] xyz_f:4.514683, -0.223044, 6.330085  Reprojection Error: -0.907537, 0.060529 Feature: -0.190699, 0.024821, 0.981335
[11:52:54.657] xyz_f:4.673102, -0.449876, 6.283971  Reprojection Error: -0.776051, -0.139266 Feature: -0.031684, -0.206216, 0.977993
[11:52:54.657] xyz_f:4.710237, -0.445154, 6.291406  Reprojection Error: -0.742676, -0.133087 Feature: 0.005881, -0.199732, 0.979833
[11:52:54.657] xyz_f:4.689850, -0.432645, 6.295001  Reprojection Error: -0.759627, -0.121353 Feature: -0.014356, -0.186718, 0.982309
[11:52:54.657] xyz_f:4.369746, -0.148685, 6.286178  Reprojection Error: -1.060030, 0.114767 Feature: -0.341538, 0.085282, 0.935991
[11:52:54.657] xyz_f:4.669839, -0.433916, 6.291414  Reprojection Error: -0.777503, -0.123486 Feature: -0.034591, -0.188874, 0.981392
[11:52:54.657] xyz_f:4.376687, 0.220051, 6.274671  Reprojection Error: -1.115154, 0.493647 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.657] xyz_f:4.324194, -0.332086, 6.209003  Reprojection Error: -1.122867, -0.068870 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.657] xyz_f:4.372190, -0.157537, 6.285865  Reprojection Error: -1.056965, 0.106806 Feature: -0.338890, 0.076651, 0.937698
[11:52:54.657] xyz_f:4.374419, 0.230595, 6.270806  Reprojection Error: -1.121957, 0.507067 Feature: -0.349321, 0.447661, 0.823149
[11:52:54.657] xyz_f:3.845973, -1.208257, 6.662305  Reprojection Error: -0.594811, -0.030033 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.657] xyz_f:3.975930, -1.170820, 6.676124  Reprojection Error: -0.555331, -0.021011 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.657] xyz_f:4.324194, -0.332086, 6.209003  Reprojection Error: -0.622364, -0.155454 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.657] xyz_f:4.553225, -0.052240, 5.712010  Reprojection Error: -0.955054, 0.049917 Feature: -0.222906, 0.029836, 0.339763
[11:52:54.658] xyz_f:4.657587, -0.034308, 5.647389  Reprojection Error: -1.165507, 0.092731 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.658] xyz_f:4.376687, 0.220051, 6.274671  Reprojection Error: -1.076387, 0.481968 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.658] it:35 	 Success 	 new_chi2: 1.128853 	 dT = -0.471338, 0.141350, 0.000027
[11:52:54.658] xyz_f:4.621827, -0.222135, 6.468008  Reprojection Error: -0.921093, 0.059688 Feature: -0.202195, 0.024813, 0.979031
[11:52:54.658] xyz_f:4.632999, -0.223046, 6.471443  Reprojection Error: -0.910241, 0.059760 Feature: -0.190699, 0.024821, 0.981335
[11:52:54.658] xyz_f:4.791418, -0.449877, 6.425325  Reprojection Error: -0.778105, -0.140840 Feature: -0.031684, -0.206216, 0.977993
[11:52:54.658] xyz_f:4.828553, -0.445155, 6.432758  Reprojection Error: -0.744617, -0.134641 Feature: 0.005881, -0.199732, 0.979833
[11:52:54.658] xyz_f:4.808167, -0.432646, 6.436354  Reprojection Error: -0.761647, -0.122862 Feature: -0.014356, -0.186718, 0.982309
[11:52:54.658] xyz_f:4.488060, -0.148688, 6.427540  Reprojection Error: -1.063149, 0.114248 Feature: -0.341538, 0.085282, 0.935991
[11:52:54.658] xyz_f:4.788155, -0.433917, 6.432767  Reprojection Error: -0.779585, -0.125001 Feature: -0.034591, -0.188874, 0.981392
[11:52:54.658] xyz_f:4.494999, 0.220048, 6.416032  Reprojection Error: -1.118226, 0.494420 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.658] xyz_f:4.442507, -0.332089, 6.350365  Reprojection Error: -1.125995, -0.070061 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.658] xyz_f:4.490505, -0.157540, 6.427226  Reprojection Error: -1.060075, 0.106255 Feature: -0.338890, 0.076651, 0.937698
[11:52:54.658] xyz_f:4.492730, 0.230592, 6.412167  Reprojection Error: -1.125029, 0.507878 Feature: -0.349321, 0.447661, 0.823149
[11:52:54.658] xyz_f:3.964305, -1.208264, 6.803680  Reprojection Error: -0.600208, -0.033800 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.658] xyz_f:4.094262, -1.170826, 6.817496  Reprojection Error: -0.560338, -0.024647 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.658] xyz_f:4.442507, -0.332089, 6.350365  Reprojection Error: -0.625492, -0.156644 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.658] xyz_f:4.671523, -0.052241, 5.853367  Reprojection Error: -0.956014, 0.049696 Feature: -0.222906, 0.029836, 0.339763
[11:52:54.658] xyz_f:4.775884, -0.034309, 5.788742  Reprojection Error: -1.165804, 0.092583 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.658] xyz_f:4.494999, 0.220048, 6.416032  Reprojection Error: -1.079459, 0.482741 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.658] it:36 	 Success 	 new_chi2: 1.121864 	 dT = -0.494801, 0.141247, 0.000027
[11:52:54.658] xyz_f:4.739738, -0.222137, 6.609263  Reprojection Error: -0.923662, 0.058954 Feature: -0.202195, 0.024813, 0.979031
[11:52:54.658] xyz_f:4.750911, -0.223048, 6.612697  Reprojection Error: -0.912780, 0.059024 Feature: -0.190699, 0.024821, 0.981335
[11:52:54.658] xyz_f:4.909330, -0.449878, 6.566575  Reprojection Error: -0.780021, -0.142346 Feature: -0.031684, -0.206216, 0.977993
[11:52:54.658] xyz_f:4.946465, -0.445156, 6.574008  Reprojection Error: -0.746426, -0.136128 Feature: 0.005881, -0.199732, 0.979833
[11:52:54.658] xyz_f:4.926079, -0.432647, 6.577604  Reprojection Error: -0.763532, -0.124305 Feature: -0.014356, -0.186718, 0.982309
[11:52:54.658] xyz_f:4.605970, -0.148691, 6.568798  Reprojection Error: -1.066084, 0.113751 Feature: -0.341538, 0.085282, 0.935991
[11:52:54.658] xyz_f:4.906068, -0.433918, 6.574018  Reprojection Error: -0.781528, -0.126450 Feature: -0.034591, -0.188874, 0.981392
[11:52:54.658] xyz_f:4.612906, 0.220045, 6.557290  Reprojection Error: -1.121115, 0.495159 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.658] xyz_f:4.560417, -0.332092, 6.491625  Reprojection Error: -1.128936, -0.071198 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.658] xyz_f:4.608415, -0.157543, 6.568484  Reprojection Error: -1.063001, 0.105729 Feature: -0.338890, 0.076651, 0.937698
[11:52:54.658] xyz_f:4.610637, 0.230589, 6.553425  Reprojection Error: -1.127918, 0.508653 Feature: -0.349321, 0.447661, 0.823149
[11:52:54.658] xyz_f:4.082231, -1.208271, 6.944952  Reprojection Error: -0.605335, -0.037412 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.658] xyz_f:4.212189, -1.170832, 6.958764  Reprojection Error: -0.565093, -0.028133 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.658] xyz_f:4.560417, -0.332092, 6.491625  Reprojection Error: -0.628432, -0.157781 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.658] xyz_f:4.789418, -0.052243, 5.994620  Reprojection Error: -0.956875, 0.049486 Feature: -0.222906, 0.029836, 0.339763
[11:52:54.658] xyz_f:4.893777, -0.034310, 5.929993  Reprojection Error: -1.166033, 0.092442 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.658] xyz_f:4.612906, 0.220045, 6.557290  Reprojection Error: -1.082348, 0.483480 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.658] it:37 	 Success 	 new_chi2: 1.115158 	 dT = -0.518803, 0.140861, 0.000026
[11:52:54.658] xyz_f:4.857008, -0.222139, 6.750131  Reprojection Error: -0.926069, 0.058253 Feature: -0.202195, 0.024813, 0.979031
[11:52:54.658] xyz_f:4.868180, -0.223050, 6.753565  Reprojection Error: -0.915158, 0.058320 Feature: -0.190699, 0.024821, 0.981335
[11:52:54.658] xyz_f:5.026600, -0.449879, 6.707439  Reprojection Error: -0.781804, -0.143785 Feature: -0.031684, -0.206216, 0.977993
[11:52:54.658] xyz_f:5.063735, -0.445156, 6.714871  Reprojection Error: -0.748106, -0.137548 Feature: 0.005881, -0.199732, 0.979833
[11:52:54.658] xyz_f:5.043349, -0.432648, 6.718468  Reprojection Error: -0.765284, -0.125684 Feature: -0.014356, -0.186718, 0.982309
[11:52:54.658] xyz_f:4.723238, -0.148694, 6.709669  Reprojection Error: -1.068840, 0.113276 Feature: -0.341538, 0.085282, 0.935991
[11:52:54.658] xyz_f:5.023337, -0.433919, 6.714882  Reprojection Error: -0.783337, -0.127835 Feature: -0.034591, -0.188874, 0.981392
[11:52:54.658] xyz_f:4.730171, 0.220042, 6.698162  Reprojection Error: -1.123827, 0.495865 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.658] xyz_f:4.677684, -0.332096, 6.632498  Reprojection Error: -1.131695, -0.072284 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.658] xyz_f:4.725683, -0.157546, 6.709356  Reprojection Error: -1.065748, 0.105225 Feature: -0.338890, 0.076651, 0.937698
[11:52:54.658] xyz_f:4.727902, 0.230586, 6.694297  Reprojection Error: -1.130630, 0.509394 Feature: -0.349321, 0.447661, 0.823149
[11:52:54.658] xyz_f:4.199516, -1.208277, 7.085837  Reprojection Error: -0.610200, -0.040870 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.658] xyz_f:4.329473, -1.170837, 7.099645  Reprojection Error: -0.569602, -0.031471 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.658] xyz_f:4.677684, -0.332096, 6.632498  Reprojection Error: -0.631192, -0.158867 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.658] xyz_f:4.906671, -0.052245, 6.135487  Reprojection Error: -0.957642, 0.049286 Feature: -0.222906, 0.029836, 0.339763
[11:52:54.658] xyz_f:5.011028, -0.034311, 6.070858  Reprojection Error: -1.166198, 0.092308 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.658] xyz_f:4.730171, 0.220042, 6.698162  Reprojection Error: -1.085060, 0.484186 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.658] it:38 	 Success 	 new_chi2: 1.108746 	 dT = -0.543290, 0.140197, 0.000025
[11:52:54.658] xyz_f:4.973405, -0.222141, 6.890336  Reprojection Error: -0.928320, 0.057584 Feature: -0.202195, 0.024813, 0.979031
[11:52:54.658] xyz_f:4.984578, -0.223052, 6.893769  Reprojection Error: -0.917382, 0.057649 Feature: -0.190699, 0.024821, 0.981335
[11:52:54.658] xyz_f:5.142998, -0.449879, 6.847640  Reprojection Error: -0.783458, -0.145158 Feature: -0.031684, -0.206216, 0.977993
[11:52:54.658] xyz_f:5.180133, -0.445157, 6.855071  Reprojection Error: -0.749663, -0.138904 Feature: 0.005881, -0.199732, 0.979833
[11:52:54.658] xyz_f:5.159747, -0.432649, 6.858668  Reprojection Error: -0.766911, -0.127001 Feature: -0.014356, -0.186718, 0.982309
[11:52:54.658] xyz_f:4.839634, -0.148697, 6.849877  Reprojection Error: -1.071423, 0.112823 Feature: -0.341538, 0.085282, 0.935991
[11:52:54.658] xyz_f:5.139735, -0.433920, 6.855082  Reprojection Error: -0.785017, -0.129156 Feature: -0.034591, -0.188874, 0.981392
[11:52:54.658] xyz_f:4.846564, 0.220040, 6.838369  Reprojection Error: -1.126369, 0.496539 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.658] xyz_f:4.794079, -0.332099, 6.772706  Reprojection Error: -1.134281, -0.073320 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.658] xyz_f:4.842078, -0.157549, 6.849564  Reprojection Error: -1.068324, 0.104745 Feature: -0.338890, 0.076651, 0.937698
[11:52:54.658] xyz_f:4.844295, 0.230584, 6.834504  Reprojection Error: -1.133172, 0.510101 Feature: -0.349321, 0.447661, 0.823149
[11:52:54.658] xyz_f:4.315927, -1.208284, 7.226057  Reprojection Error: -0.614810, -0.044178 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.658] xyz_f:4.445885, -1.170843, 7.239862  Reprojection Error: -0.573870, -0.034664 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.658] xyz_f:4.794079, -0.332099, 6.772706  Reprojection Error: -0.633777, -0.159903 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.658] xyz_f:5.023052, -0.052247, 6.275691  Reprojection Error: -0.958321, 0.049096 Feature: -0.222906, 0.029836, 0.339763
[11:52:54.658] xyz_f:5.127408, -0.034312, 6.211059  Reprojection Error: -1.166303, 0.092181 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.658] xyz_f:4.846564, 0.220040, 6.838369  Reprojection Error: -1.087601, 0.484860 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.658] it:39 	 Success 	 new_chi2: 1.102633 	 dT = -0.568204, 0.139264, 0.000024
[11:52:54.658] xyz_f:5.088710, -0.222143, 7.029607  Reprojection Error: -0.930423, 0.056945 Feature: -0.202195, 0.024813, 0.979031
[11:52:54.658] xyz_f:5.099884, -0.223054, 7.033041  Reprojection Error: -0.919459, 0.057009 Feature: -0.190699, 0.024821, 0.981335
[11:52:54.658] xyz_f:5.258304, -0.449880, 6.986907  Reprojection Error: -0.784991, -0.146468 Feature: -0.031684, -0.206216, 0.977993
[11:52:54.658] xyz_f:5.295439, -0.445158, 6.994337  Reprojection Error: -0.751102, -0.140197 Feature: 0.005881, -0.199732, 0.979833
[11:52:54.658] xyz_f:5.275053, -0.432649, 6.997935  Reprojection Error: -0.768416, -0.128256 Feature: -0.014356, -0.186718, 0.982309
[11:52:54.658] xyz_f:4.954938, -0.148700, 6.989152  Reprojection Error: -1.073842, 0.112390 Feature: -0.341538, 0.085282, 0.935991
[11:52:54.658] xyz_f:5.255041, -0.433921, 6.994350  Reprojection Error: -0.786573, -0.130417 Feature: -0.034591, -0.188874, 0.981392
[11:52:54.658] xyz_f:4.961866, 0.220037, 6.977643  Reprojection Error: -1.128747, 0.497182 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.658] xyz_f:4.909382, -0.332102, 6.911982  Reprojection Error: -1.136699, -0.074308 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.658] xyz_f:4.957383, -0.157552, 6.988838  Reprojection Error: -1.070735, 0.104287 Feature: -0.338890, 0.076651, 0.937698
[11:52:54.658] xyz_f:4.959597, 0.230581, 6.973779  Reprojection Error: -1.135550, 0.510776 Feature: -0.349321, 0.447661, 0.823149
[11:52:54.658] xyz_f:4.431247, -1.208289, 7.365344  Reprojection Error: -0.619172, -0.047339 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.658] xyz_f:4.561204, -1.170848, 7.379146  Reprojection Error: -0.577907, -0.037716 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.658] xyz_f:4.909382, -0.332102, 6.911982  Reprojection Error: -0.636196, -0.160891 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.658] xyz_f:5.138343, -0.052248, 6.414961  Reprojection Error: -0.958916, 0.048916 Feature: -0.222906, 0.029836, 0.339763
[11:52:54.658] xyz_f:5.242697, -0.034313, 6.350327  Reprojection Error: -1.166353, 0.092060 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.658] xyz_f:4.961866, 0.220037, 6.977643  Reprojection Error: -1.089979, 0.485503 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.658] it:40 	 Success 	 new_chi2: 1.096825 	 dT = -0.593485, 0.138075, 0.000023
[11:52:54.658] xyz_f:5.202715, -0.222144, 7.167689  Reprojection Error: -0.932383, 0.056337 Feature: -0.202195, 0.024813, 0.979031
[11:52:54.658] xyz_f:5.213889, -0.223056, 7.171122  Reprojection Error: -0.921394, 0.056398 Feature: -0.190699, 0.024821, 0.981335
[11:52:54.658] xyz_f:5.372309, -0.449881, 7.124985  Reprojection Error: -0.786407, -0.147715 Feature: -0.031684, -0.206216, 0.977993
[11:52:54.658] xyz_f:5.409445, -0.445158, 7.132414  Reprojection Error: -0.752429, -0.141429 Feature: 0.005881, -0.199732, 0.979833
[11:52:54.658] xyz_f:5.389058, -0.432650, 7.136013  Reprojection Error: -0.769807, -0.129452 Feature: -0.014356, -0.186718, 0.982309
[11:52:54.658] xyz_f:5.068942, -0.148703, 7.127236  Reprojection Error: -1.076102, 0.111979 Feature: -0.341538, 0.085282, 0.935991
[11:52:54.658] xyz_f:5.369047, -0.433921, 7.132428  Reprojection Error: -0.788012, -0.131617 Feature: -0.034591, -0.188874, 0.981392
[11:52:54.658] xyz_f:5.075867, 0.220034, 7.115728  Reprojection Error: -1.130968, 0.497794 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.658] xyz_f:5.023385, -0.332105, 7.050068  Reprojection Error: -1.138958, -0.075248 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.658] xyz_f:5.071386, -0.157554, 7.126923  Reprojection Error: -1.072988, 0.103851 Feature: -0.338890, 0.076651, 0.937698
[11:52:54.658] xyz_f:5.073598, 0.230578, 7.111863  Reprojection Error: -1.137771, 0.511418 Feature: -0.349321, 0.447661, 0.823149
[11:52:54.658] xyz_f:4.545265, -1.208295, 7.503440  Reprojection Error: -0.623295, -0.050358 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.658] xyz_f:4.675222, -1.170853, 7.517239  Reprojection Error: -0.581720, -0.040630 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.658] xyz_f:5.023385, -0.332105, 7.050068  Reprojection Error: -0.638455, -0.161832 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.658] xyz_f:5.252333, -0.052250, 6.553041  Reprojection Error: -0.959433, 0.048744 Feature: -0.222906, 0.029836, 0.339763
[11:52:54.658] xyz_f:5.356685, -0.034314, 6.488405  Reprojection Error: -1.166353, 0.091945 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.658] xyz_f:5.075867, 0.220034, 7.115728  Reprojection Error: -1.092201, 0.486115 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.658] it:41 	 Success 	 new_chi2: 1.091324 	 dT = -0.619072, 0.136640, 0.000022
[11:52:54.658] xyz_f:5.315224, -0.222146, 7.304335  Reprojection Error: -0.934207, 0.055757 Feature: -0.202195, 0.024813, 0.979031
[11:52:54.658] xyz_f:5.326398, -0.223057, 7.307768  Reprojection Error: -0.923195, 0.055817 Feature: -0.190699, 0.024821, 0.981335
[11:52:54.658] xyz_f:5.484819, -0.449882, 7.261628  Reprojection Error: -0.787712, -0.148903 Feature: -0.031684, -0.206216, 0.977993
[11:52:54.658] xyz_f:5.521954, -0.445159, 7.269056  Reprojection Error: -0.753650, -0.142602 Feature: 0.005881, -0.199732, 0.979833
[11:52:54.658] xyz_f:5.501568, -0.432651, 7.272655  Reprojection Error: -0.771088, -0.130591 Feature: -0.014356, -0.186718, 0.982309
[11:52:54.658] xyz_f:5.181450, -0.148705, 7.263886  Reprojection Error: -1.078211, 0.111586 Feature: -0.341538, 0.085282, 0.935991
[11:52:54.658] xyz_f:5.481556, -0.433922, 7.269071  Reprojection Error: -0.789340, -0.132761 Feature: -0.034591, -0.188874, 0.981392
[11:52:54.658] xyz_f:5.188372, 0.220032, 7.252377  Reprojection Error: -1.133041, 0.498377 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.658] xyz_f:5.135893, -0.332107, 7.186718  Reprojection Error: -1.141065, -0.076144 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.658] xyz_f:5.183894, -0.157557, 7.263572  Reprojection Error: -1.075090, 0.103435 Feature: -0.338890, 0.076651, 0.937698
[11:52:54.658] xyz_f:5.186103, 0.230576, 7.248513  Reprojection Error: -1.139843, 0.512029 Feature: -0.349321, 0.447661, 0.823149
[11:52:54.658] xyz_f:4.657787, -1.208301, 7.640100  Reprojection Error: -0.627187, -0.053238 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.658] xyz_f:4.787744, -1.170858, 7.653897  Reprojection Error: -0.585316, -0.043410 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.658] xyz_f:5.135893, -0.332107, 7.186718  Reprojection Error: -0.640561, -0.162727 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.658] xyz_f:5.364828, -0.052251, 6.689687  Reprojection Error: -0.959878, 0.048582 Feature: -0.222906, 0.029836, 0.339763
[11:52:54.658] xyz_f:5.469179, -0.034315, 6.625048  Reprojection Error: -1.166305, 0.091836 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.658] xyz_f:5.188372, 0.220032, 7.252377  Reprojection Error: -1.094273, 0.486698 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.658] it:42 	 Success 	 new_chi2: 1.086128 	 dT = -0.644901, 0.134974, 0.000021
[11:52:54.658] xyz_f:5.426056, -0.222148, 7.439316  Reprojection Error: -0.935901, 0.055206 Feature: -0.202195, 0.024813, 0.979031
[11:52:54.658] xyz_f:5.437229, -0.223059, 7.442749  Reprojection Error: -0.924867, 0.055263 Feature: -0.190699, 0.024821, 0.981335
[11:52:54.658] xyz_f:5.595650, -0.449883, 7.396605  Reprojection Error: -0.788913, -0.150034 Feature: -0.031684, -0.206216, 0.977993
[11:52:54.658] xyz_f:5.632786, -0.445159, 7.404033  Reprojection Error: -0.754771, -0.143719 Feature: 0.005881, -0.199732, 0.979833
[11:52:54.658] xyz_f:5.612400, -0.432652, 7.407632  Reprojection Error: -0.772266, -0.131675 Feature: -0.014356, -0.186718, 0.982309
[11:52:54.658] xyz_f:5.292280, -0.148708, 7.398869  Reprojection Error: -1.080177, 0.111213 Feature: -0.341538, 0.085282, 0.935991
[11:52:54.658] xyz_f:5.592388, -0.433923, 7.404048  Reprojection Error: -0.790562, -0.133849 Feature: -0.034591, -0.188874, 0.981392
[11:52:54.658] xyz_f:5.299200, 0.220029, 7.387360  Reprojection Error: -1.134971, 0.498932 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.658] xyz_f:5.246722, -0.332110, 7.321702  Reprojection Error: -1.143027, -0.076995 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.658] xyz_f:5.294724, -0.157559, 7.398555  Reprojection Error: -1.077049, 0.103040 Feature: -0.338890, 0.076651, 0.937698
[11:52:54.658] xyz_f:5.296930, 0.230573, 7.383496  Reprojection Error: -1.141774, 0.512611 Feature: -0.349321, 0.447661, 0.823149
[11:52:54.658] xyz_f:4.768630, -1.208306, 7.775094  Reprojection Error: -0.630858, -0.055983 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.658] xyz_f:4.898588, -1.170862, 7.788889  Reprojection Error: -0.588706, -0.046061 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.658] xyz_f:5.246722, -0.332110, 7.321702  Reprojection Error: -0.642523, -0.163578 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.658] xyz_f:5.475646, -0.052253, 6.824667  Reprojection Error: -0.960254, 0.048427 Feature: -0.222906, 0.029836, 0.339763
[11:52:54.658] xyz_f:5.579995, -0.034316, 6.760025  Reprojection Error: -1.166214, 0.091733 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.658] xyz_f:5.299200, 0.220029, 7.387360  Reprojection Error: -1.096204, 0.487253 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.658] it:43 	 Success 	 new_chi2: 1.081235 	 dT = -0.670909, 0.133094, 0.000021
[11:52:54.658] xyz_f:5.535042, -0.222150, 7.572416  Reprojection Error: -0.937474, 0.054681 Feature: -0.202195, 0.024813, 0.979031
[11:52:54.658] xyz_f:5.546215, -0.223061, 7.575849  Reprojection Error: -0.926418, 0.054737 Feature: -0.190699, 0.024821, 0.981335
[11:52:54.658] xyz_f:5.704637, -0.449883, 7.529702  Reprojection Error: -0.790015, -0.151109 Feature: -0.031684, -0.206216, 0.977993
[11:52:54.658] xyz_f:5.741773, -0.445160, 7.537129  Reprojection Error: -0.755796, -0.144780 Feature: 0.005881, -0.199732, 0.979833
[11:52:54.658] xyz_f:5.721387, -0.432652, 7.540729  Reprojection Error: -0.773346, -0.132706 Feature: -0.014356, -0.186718, 0.982309
[11:52:54.659] xyz_f:5.401265, -0.148710, 7.531972  Reprojection Error: -1.082006, 0.110858 Feature: -0.341538, 0.085282, 0.935991
[11:52:54.659] xyz_f:5.701375, -0.433924, 7.537145  Reprojection Error: -0.791684, -0.134884 Feature: -0.034591, -0.188874, 0.981392
[11:52:54.659] xyz_f:5.408183, 0.220027, 7.520463  Reprojection Error: -1.136767, 0.499459 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.659] xyz_f:5.355707, -0.332113, 7.454806  Reprojection Error: -1.144851, -0.077805 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.659] xyz_f:5.403709, -0.157562, 7.531658  Reprojection Error: -1.078872, 0.102664 Feature: -0.338890, 0.076651, 0.937698
[11:52:54.659] xyz_f:5.405913, 0.230571, 7.516599  Reprojection Error: -1.143569, 0.513165 Feature: -0.349321, 0.447661, 0.823149
[11:52:54.659] xyz_f:4.877629, -1.208311, 7.908208  Reprojection Error: -0.634318, -0.058598 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.659] xyz_f:5.007586, -1.170867, 7.922000  Reprojection Error: -0.591898, -0.048586 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.659] xyz_f:5.355707, -0.332113, 7.454806  Reprojection Error: -0.644348, -0.164388 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.659] xyz_f:5.584619, -0.052254, 6.957766  Reprojection Error: -0.960568, 0.048281 Feature: -0.222906, 0.029836, 0.339763
[11:52:54.659] xyz_f:5.688967, -0.034316, 6.893123  Reprojection Error: -1.166085, 0.091635 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.659] xyz_f:5.408183, 0.220027, 7.520463  Reprojection Error: -1.097999, 0.487780 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.659] it:44 	 Success 	 new_chi2: 1.076638 	 dT = -0.697031, 0.131016, 0.000020
[11:52:54.659] xyz_f:5.642033, -0.222151, 7.703438  Reprojection Error: -0.938930, 0.054182 Feature: -0.202195, 0.024813, 0.979031
[11:52:54.659] xyz_f:5.653206, -0.223062, 7.706870  Reprojection Error: -0.927855, 0.054237 Feature: -0.190699, 0.024821, 0.981335
[11:52:54.659] xyz_f:5.811628, -0.449884, 7.660720  Reprojection Error: -0.791024, -0.152130 Feature: -0.031684, -0.206216, 0.977993
[11:52:54.659] xyz_f:5.848764, -0.445161, 7.668147  Reprojection Error: -0.756733, -0.145789 Feature: 0.005881, -0.199732, 0.979833
[11:52:54.659] xyz_f:5.828378, -0.432653, 7.671747  Reprojection Error: -0.774335, -0.133686 Feature: -0.014356, -0.186718, 0.982309
[11:52:54.659] xyz_f:5.508254, -0.148712, 7.662996  Reprojection Error: -1.083707, 0.110521 Feature: -0.341538, 0.085282, 0.935991
[11:52:54.659] xyz_f:5.808366, -0.433925, 7.668164  Reprojection Error: -0.792712, -0.135868 Feature: -0.034591, -0.188874, 0.981392
[11:52:54.659] xyz_f:5.515171, 0.220025, 7.651487  Reprojection Error: -1.138435, 0.499961 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.659] xyz_f:5.462696, -0.332115, 7.585831  Reprojection Error: -1.146546, -0.078574 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.659] xyz_f:5.510699, -0.157564, 7.662682  Reprojection Error: -1.080567, 0.102306 Feature: -0.338890, 0.076651, 0.937698
[11:52:54.659] xyz_f:5.512901, 0.230569, 7.647623  Reprojection Error: -1.145237, 0.513690 Feature: -0.349321, 0.447661, 0.823149
[11:52:54.659] xyz_f:4.984631, -1.208316, 8.039242  Reprojection Error: -0.637575, -0.061088 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.659] xyz_f:5.114589, -1.170871, 8.053031  Reprojection Error: -0.594900, -0.050991 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.659] xyz_f:5.462696, -0.332115, 7.585831  Reprojection Error: -0.646043, -0.165157 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.659] xyz_f:5.691597, -0.052255, 7.088787  Reprojection Error: -0.960824, 0.048142 Feature: -0.222906, 0.029836, 0.339763
[11:52:54.659] xyz_f:5.795944, -0.034317, 7.024142  Reprojection Error: -1.165921, 0.091542 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.659] xyz_f:5.515171, 0.220025, 7.651487  Reprojection Error: -1.099667, 0.488282 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.659] it:45 	 Success 	 new_chi2: 1.072330 	 dT = -0.723206, 0.128755, 0.000019
[11:52:54.659] xyz_f:5.746892, -0.222153, 7.832199  Reprojection Error: -0.940278, 0.053708 Feature: -0.202195, 0.024813, 0.979031
[11:52:54.659] xyz_f:5.758065, -0.223064, 7.835631  Reprojection Error: -0.929183, 0.053761 Feature: -0.190699, 0.024821, 0.981335
[11:52:54.659] xyz_f:5.916487, -0.449885, 7.789478  Reprojection Error: -0.791946, -0.153101 Feature: -0.031684, -0.206216, 0.977993
[11:52:54.659] xyz_f:5.953624, -0.445161, 7.796904  Reprojection Error: -0.757586, -0.146748 Feature: 0.005881, -0.199732, 0.979833
[11:52:54.659] xyz_f:5.933237, -0.432653, 7.800504  Reprojection Error: -0.775237, -0.134616 Feature: -0.014356, -0.186718, 0.982309
[11:52:54.659] xyz_f:5.613112, -0.148714, 7.791760  Reprojection Error: -1.085285, 0.110201 Feature: -0.341538, 0.085282, 0.935991
[11:52:54.659] xyz_f:5.913225, -0.433925, 7.796922  Reprojection Error: -0.793652, -0.136802 Feature: -0.034591, -0.188874, 0.981392
[11:52:54.659] xyz_f:5.620026, 0.220023, 7.780251  Reprojection Error: -1.139983, 0.500437 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.659] xyz_f:5.567553, -0.332118, 7.714596  Reprojection Error: -1.148119, -0.079304 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.659] xyz_f:5.615557, -0.157566, 7.791446  Reprojection Error: -1.082140, 0.101967 Feature: -0.338890, 0.076651, 0.937698
[11:52:54.659] xyz_f:5.617756, 0.230567, 7.776387  Reprojection Error: -1.146784, 0.514190 Feature: -0.349321, 0.447661, 0.823149
[11:52:54.659] xyz_f:5.089501, -1.208321, 8.168015  Reprojection Error: -0.640638, -0.063457 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.659] xyz_f:5.219459, -1.170875, 8.181802  Reprojection Error: -0.597721, -0.053278 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.659] xyz_f:5.567553, -0.332118, 7.714596  Reprojection Error: -0.647615, -0.165888 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.659] xyz_f:5.796444, -0.052257, 7.217547  Reprojection Error: -0.961027, 0.048011 Feature: -0.222906, 0.029836, 0.339763
[11:52:54.659] xyz_f:5.900789, -0.034318, 7.152900  Reprojection Error: -1.165725, 0.091454 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.659] xyz_f:5.620026, 0.220023, 7.780251  Reprojection Error: -1.101215, 0.488758 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.659] it:46 	 Success 	 new_chi2: 1.068304 	 dT = -0.749371, 0.126331, 0.000018
[11:52:54.659] xyz_f:5.849499, -0.222154, 7.958536  Reprojection Error: -0.941523, 0.053258 Feature: -0.202195, 0.024813, 0.979031
[11:52:54.659] xyz_f:5.860673, -0.223065, 7.961968  Reprojection Error: -0.930410, 0.053310 Feature: -0.190699, 0.024821, 0.981335
[11:52:54.659] xyz_f:6.019095, -0.449885, 7.915812  Reprojection Error: -0.792786, -0.154023 Feature: -0.031684, -0.206216, 0.977993
[11:52:54.659] xyz_f:6.056232, -0.445161, 7.923237  Reprojection Error: -0.758361, -0.147658 Feature: 0.005881, -0.199732, 0.979833
[11:52:54.659] xyz_f:6.035845, -0.432654, 7.926837  Reprojection Error: -0.776059, -0.135500 Feature: -0.014356, -0.186718, 0.982309
[11:52:54.659] xyz_f:5.715719, -0.148717, 7.918099  Reprojection Error: -1.086750, 0.109896 Feature: -0.341538, 0.085282, 0.935991
[11:52:54.659] xyz_f:6.015833, -0.433926, 7.923255  Reprojection Error: -0.794509, -0.137689 Feature: -0.034591, -0.188874, 0.981392
[11:52:54.659] xyz_f:5.722631, 0.220021, 7.906590  Reprojection Error: -1.141418, 0.500889 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.659] xyz_f:5.670159, -0.332120, 7.840936  Reprojection Error: -1.149576, -0.079998 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.659] xyz_f:5.718164, -0.157568, 7.917785  Reprojection Error: -1.083599, 0.101644 Feature: -0.338890, 0.076651, 0.937698
[11:52:54.659] xyz_f:5.720361, 0.230565, 7.902725  Reprojection Error: -1.148219, 0.514664 Feature: -0.349321, 0.447661, 0.823149
[11:52:54.659] xyz_f:5.192119, -1.208326, 8.294364  Reprojection Error: -0.643519, -0.065710 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.659] xyz_f:5.322077, -1.170879, 8.308148  Reprojection Error: -0.600371, -0.055454 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.659] xyz_f:5.670159, -0.332120, 7.840936  Reprojection Error: -0.649073, -0.166581 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.659] xyz_f:5.899040, -0.052258, 7.343883  Reprojection Error: -0.961182, 0.047887 Feature: -0.222906, 0.029836, 0.339763
[11:52:54.659] xyz_f:6.003384, -0.034319, 7.279234  Reprojection Error: -1.165502, 0.091371 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.659] xyz_f:5.722631, 0.220021, 7.906590  Reprojection Error: -1.102650, 0.489210 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.659] it:47 	 Success 	 new_chi2: 1.064548 	 dT = -0.775468, 0.123761, 0.000018
[11:52:54.659] xyz_f:5.949751, -0.222156, 8.082302  Reprojection Error: -0.942671, 0.052831 Feature: -0.202195, 0.024813, 0.979031
[11:52:54.659] xyz_f:5.960924, -0.223066, 8.085733  Reprojection Error: -0.931542, 0.052881 Feature: -0.190699, 0.024821, 0.981335
[11:52:54.659] xyz_f:6.119347, -0.449886, 8.039575  Reprojection Error: -0.793550, -0.154898 Feature: -0.031684, -0.206216, 0.977993
[11:52:54.659] xyz_f:6.156484, -0.445162, 8.046999  Reprojection Error: -0.759064, -0.148522 Feature: 0.005881, -0.199732, 0.979833
[11:52:54.659] xyz_f:6.136097, -0.432655, 8.050600  Reprojection Error: -0.776806, -0.136339 Feature: -0.014356, -0.186718, 0.982309
[11:52:54.659] xyz_f:5.815969, -0.148719, 8.041867  Reprojection Error: -1.088106, 0.109608 Feature: -0.341538, 0.085282, 0.935991
[11:52:54.659] xyz_f:6.116085, -0.433927, 8.047019  Reprojection Error: -0.795290, -0.138531 Feature: -0.034591, -0.188874, 0.981392
[11:52:54.659] xyz_f:5.822879, 0.220019, 8.030358  Reprojection Error: -1.142746, 0.501318 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.659] xyz_f:5.770409, -0.332122, 7.964705  Reprojection Error: -1.150926, -0.080656 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.659] xyz_f:5.818414, -0.157570, 8.041553  Reprojection Error: -1.084950, 0.101338 Feature: -0.338890, 0.076651, 0.937698
[11:52:54.659] xyz_f:5.820609, 0.230563, 8.026494  Reprojection Error: -1.149547, 0.515114 Feature: -0.349321, 0.447661, 0.823149
[11:52:54.659] xyz_f:5.292381, -1.208330, 8.418141  Reprojection Error: -0.646225, -0.067851 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.659] xyz_f:5.422339, -1.170883, 8.431923  Reprojection Error: -0.602859, -0.057523 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.659] xyz_f:5.770409, -0.332122, 7.964705  Reprojection Error: -0.650422, -0.167239 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.659] xyz_f:5.999280, -0.052259, 7.467648  Reprojection Error: -0.961292, 0.047769 Feature: -0.222906, 0.029836, 0.339763
[11:52:54.659] xyz_f:6.103623, -0.034319, 7.402997  Reprojection Error: -1.165254, 0.091292 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.659] xyz_f:5.822879, 0.220019, 8.030358  Reprojection Error: -1.103979, 0.489639 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.659] it:48 	 Success 	 new_chi2: 1.061053 	 dT = -0.801438, 0.121061, 0.000017
[11:52:54.659] xyz_f:6.047558, -0.222157, 8.203368  Reprojection Error: -0.943730, 0.052426 Feature: -0.202195, 0.024813, 0.979031
[11:52:54.659] xyz_f:6.058731, -0.223068, 8.206800  Reprojection Error: -0.932584, 0.052474 Feature: -0.190699, 0.024821, 0.981335
[11:52:54.659] xyz_f:6.217154, -0.449887, 8.160639  Reprojection Error: -0.794244, -0.155728 Feature: -0.031684, -0.206216, 0.977993
[11:52:54.659] xyz_f:6.254291, -0.445162, 8.168062  Reprojection Error: -0.759699, -0.149342 Feature: 0.005881, -0.199732, 0.979833
[11:52:54.659] xyz_f:6.233904, -0.432655, 8.171664  Reprojection Error: -0.777483, -0.137135 Feature: -0.014356, -0.186718, 0.982309
[11:52:54.659] xyz_f:5.913775, -0.148721, 8.162936  Reprojection Error: -1.089361, 0.109334 Feature: -0.341538, 0.085282, 0.935991
[11:52:54.659] xyz_f:6.213892, -0.433927, 8.168082  Reprojection Error: -0.796000, -0.139331 Feature: -0.034591, -0.188874, 0.981392
[11:52:54.659] xyz_f:5.920683, 0.220017, 8.151426  Reprojection Error: -1.143975, 0.501725 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.659] xyz_f:5.868214, -0.332124, 8.085774  Reprojection Error: -1.152174, -0.081280 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.659] xyz_f:5.916220, -0.157572, 8.162622  Reprojection Error: -1.086200, 0.101048 Feature: -0.338890, 0.076651, 0.937698
[11:52:54.659] xyz_f:5.918413, 0.230561, 8.147562  Reprojection Error: -1.150775, 0.515541 Feature: -0.349321, 0.447661, 0.823149
[11:52:54.659] xyz_f:5.390198, -1.208334, 8.539218  Reprojection Error: -0.648766, -0.069886 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.659] xyz_f:5.520156, -1.170887, 8.552999  Reprojection Error: -0.605192, -0.059488 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.659] xyz_f:5.868214, -0.332124, 8.085774  Reprojection Error: -0.651670, -0.167863 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.659] xyz_f:6.097076, -0.052260, 7.588713  Reprojection Error: -0.961362, 0.047658 Feature: -0.222906, 0.029836, 0.339763
[11:52:54.659] xyz_f:6.201417, -0.034320, 7.524061  Reprojection Error: -1.164986, 0.091218 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.659] xyz_f:5.920683, 0.220017, 8.151426  Reprojection Error: -1.105207, 0.490046 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.659] it:49 	 Success 	 new_chi2: 1.057806 	 dT = -0.827227, 0.118251, 0.000017
[11:52:54.659] xyz_f:6.142846, -0.222158, 8.321624  Reprojection Error: -0.944705, 0.052041 Feature: -0.202195, 0.024813, 0.979031
[11:52:54.659] xyz_f:6.154020, -0.223069, 8.325055  Reprojection Error: -0.933543, 0.052088 Feature: -0.190699, 0.024821, 0.981335
[11:52:54.659] xyz_f:6.312442, -0.449887, 8.278892  Reprojection Error: -0.794871, -0.156515 Feature: -0.031684, -0.206216, 0.977993
[11:52:54.659] xyz_f:6.349579, -0.445163, 8.286315  Reprojection Error: -0.760271, -0.150120 Feature: 0.005881, -0.199732, 0.979833
[11:52:54.659] xyz_f:6.329193, -0.432656, 8.289917  Reprojection Error: -0.778096, -0.137891 Feature: -0.014356, -0.186718, 0.982309
[11:52:54.659] xyz_f:6.009062, -0.148722, 8.281194  Reprojection Error: -1.090522, 0.109074 Feature: -0.341538, 0.085282, 0.935991
[11:52:54.659] xyz_f:6.309181, -0.433928, 8.286335  Reprojection Error: -0.796642, -0.140089 Feature: -0.034591, -0.188874, 0.981392
[11:52:54.659] xyz_f:6.015969, 0.220015, 8.269684  Reprojection Error: -1.145110, 0.502112 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.659] xyz_f:5.963501, -0.332126, 8.204033  Reprojection Error: -1.153327, -0.081872 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.659] xyz_f:6.011507, -0.157574, 8.280880  Reprojection Error: -1.087357, 0.100773 Feature: -0.338890, 0.076651, 0.937698
[11:52:54.659] xyz_f:6.013698, 0.230559, 8.265820  Reprojection Error: -1.151910, 0.515947 Feature: -0.349321, 0.447661, 0.823149
[11:52:54.659] xyz_f:5.485496, -1.208339, 8.657485  Reprojection Error: -0.651150, -0.071819 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.659] xyz_f:5.615454, -1.170890, 8.671263  Reprojection Error: -0.607380, -0.061355 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.659] xyz_f:5.963501, -0.332126, 8.204033  Reprojection Error: -0.652823, -0.168455 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.659] xyz_f:6.192353, -0.052261, 7.706968  Reprojection Error: -0.961397, 0.047552 Feature: -0.222906, 0.029836, 0.339763
[11:52:54.659] xyz_f:6.296694, -0.034321, 7.642314  Reprojection Error: -1.164699, 0.091147 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.659] xyz_f:6.015969, 0.220015, 8.269684  Reprojection Error: -1.106343, 0.490433 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.659] it:50 	 Success 	 new_chi2: 1.054797 	 dT = -0.852784, 0.115346, 0.000016
[11:52:54.659] xyz_f:6.235556, -0.222160, 8.436974  Reprojection Error: -0.945601, 0.051676 Feature: -0.202195, 0.024813, 0.979031
[11:52:54.659] xyz_f:6.246730, -0.223070, 8.440406  Reprojection Error: -0.934425, 0.051722 Feature: -0.190699, 0.024821, 0.981335
[11:52:54.659] xyz_f:6.405153, -0.449888, 8.394240  Reprojection Error: -0.795439, -0.157262 Feature: -0.031684, -0.206216, 0.977993
[11:52:54.659] xyz_f:6.442290, -0.445163, 8.401662  Reprojection Error: -0.760786, -0.150857 Feature: 0.005881, -0.199732, 0.979833
[11:52:54.659] xyz_f:6.421903, -0.432656, 8.405264  Reprojection Error: -0.778648, -0.138607 Feature: -0.014356, -0.186718, 0.982309
[11:52:54.659] xyz_f:6.101771, -0.148724, 8.396547  Reprojection Error: -1.091595, 0.108827 Feature: -0.341538, 0.085282, 0.935991
[11:52:54.659] xyz_f:6.401891, -0.433928, 8.401683  Reprojection Error: -0.797224, -0.140808 Feature: -0.034591, -0.188874, 0.981392
[11:52:54.659] xyz_f:6.108676, 0.220013, 8.385037  Reprojection Error: -1.146159, 0.502478 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.659] xyz_f:6.056210, -0.332129, 8.319386  Reprojection Error: -1.154392, -0.082433 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.659] xyz_f:6.104216, -0.157576, 8.396232  Reprojection Error: -1.088425, 0.100511 Feature: -0.338890, 0.076651, 0.937698
[11:52:54.659] xyz_f:6.106406, 0.230557, 8.381173  Reprojection Error: -1.152958, 0.516331 Feature: -0.349321, 0.447661, 0.823149
[11:52:54.659] xyz_f:5.578215, -1.208343, 8.772846  Reprojection Error: -0.653387, -0.073653 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.659] xyz_f:5.708173, -1.170894, 8.786622  Reprojection Error: -0.609430, -0.063127 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.659] xyz_f:6.056210, -0.332129, 8.319386  Reprojection Error: -0.653888, -0.169016 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.659] xyz_f:6.285053, -0.052262, 7.822318  Reprojection Error: -0.961400, 0.047452 Feature: -0.222906, 0.029836, 0.339763
[11:52:54.659] xyz_f:6.389392, -0.034321, 7.757662  Reprojection Error: -1.164398, 0.091081 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.659] xyz_f:6.108676, 0.220013, 8.385037  Reprojection Error: -1.107391, 0.490799 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.659] it:51 	 Success 	 new_chi2: 1.052013 	 dT = -0.878058, 0.112363, 0.000016
[11:52:54.659] xyz_f:6.325642, -0.222161, 8.549342  Reprojection Error: -0.946424, 0.051330 Feature: -0.202195, 0.024813, 0.979031
[11:52:54.659] xyz_f:6.336815, -0.223072, 8.552773  Reprojection Error: -0.935234, 0.051375 Feature: -0.190699, 0.024821, 0.981335
[11:52:54.659] xyz_f:6.495239, -0.449888, 8.506605  Reprojection Error: -0.795950, -0.157970 Feature: -0.031684, -0.206216, 0.977993
[11:52:54.659] xyz_f:6.532376, -0.445164, 8.514027  Reprojection Error: -0.761247, -0.151557 Feature: 0.005881, -0.199732, 0.979833
[11:52:54.659] xyz_f:6.511989, -0.432657, 8.517629  Reprojection Error: -0.779146, -0.139286 Feature: -0.014356, -0.186718, 0.982309
[11:52:54.659] xyz_f:6.191856, -0.148726, 8.508916  Reprojection Error: -1.092585, 0.108593 Feature: -0.341538, 0.085282, 0.935991
[11:52:54.659] xyz_f:6.491977, -0.433929, 8.514048  Reprojection Error: -0.797748, -0.141489 Feature: -0.034591, -0.188874, 0.981392
[11:52:54.659] xyz_f:6.198759, 0.220011, 8.497406  Reprojection Error: -1.147126, 0.502825 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.659] xyz_f:6.146294, -0.332131, 8.431756  Reprojection Error: -1.155374, -0.082965 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.659] xyz_f:6.194301, -0.157578, 8.508602  Reprojection Error: -1.089411, 0.100264 Feature: -0.338890, 0.076651, 0.937698
[11:52:54.659] xyz_f:6.196489, 0.230555, 8.493542  Reprojection Error: -1.153925, 0.516695 Feature: -0.349321, 0.447661, 0.823149
[11:52:54.659] xyz_f:5.668310, -1.208346, 8.885223  Reprojection Error: -0.655485, -0.075395 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.660] xyz_f:5.798268, -1.170897, 8.898997  Reprojection Error: -0.611350, -0.064809 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.660] xyz_f:6.146294, -0.332131, 8.431756  Reprojection Error: -0.654870, -0.169548 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.660] xyz_f:6.375128, -0.052263, 7.934685  Reprojection Error: -0.961373, 0.047358 Feature: -0.222906, 0.029836, 0.339763
[11:52:54.660] xyz_f:6.479467, -0.034322, 7.870028  Reprojection Error: -1.164084, 0.091018 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.660] xyz_f:6.198759, 0.220011, 8.497406  Reprojection Error: -1.108359, 0.491146 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.660] it:52 	 Success 	 new_chi2: 1.049441 	 dT = -0.903007, 0.109318, 0.000015
[11:52:54.660] xyz_f:6.413070, -0.222162, 8.658664  Reprojection Error: -0.947179, 0.051002 Feature: -0.202195, 0.024813, 0.979031
[11:52:54.660] xyz_f:6.424244, -0.223073, 8.662095  Reprojection Error: -0.935977, 0.051046 Feature: -0.190699, 0.024821, 0.981335
[11:52:54.660] xyz_f:6.582668, -0.449889, 8.615924  Reprojection Error: -0.796409, -0.158641 Feature: -0.031684, -0.206216, 0.977993
[11:52:54.660] xyz_f:6.619805, -0.445164, 8.623346  Reprojection Error: -0.761659, -0.152219 Feature: 0.005881, -0.199732, 0.979833
[11:52:54.660] xyz_f:6.599418, -0.432657, 8.626948  Reprojection Error: -0.779592, -0.139929 Feature: -0.014356, -0.186718, 0.982309
[11:52:54.660] xyz_f:6.279284, -0.148728, 8.618240  Reprojection Error: -1.093499, 0.108372 Feature: -0.341538, 0.085282, 0.935991
[11:52:54.660] xyz_f:6.579406, -0.433930, 8.623368  Reprojection Error: -0.798221, -0.142135 Feature: -0.034591, -0.188874, 0.981392
[11:52:54.660] xyz_f:6.286185, 0.220010, 8.606730  Reprojection Error: -1.148018, 0.503154 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.660] xyz_f:6.233722, -0.332132, 8.541081  Reprojection Error: -1.156280, -0.083469 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.660] xyz_f:6.281729, -0.157579, 8.617926  Reprojection Error: -1.090320, 0.100029 Feature: -0.338890, 0.076651, 0.937698
[11:52:54.660] xyz_f:6.283915, 0.230553, 8.602866  Reprojection Error: -1.154816, 0.517040 Feature: -0.349321, 0.447661, 0.823149
[11:52:54.660] xyz_f:5.755748, -1.208350, 8.994555  Reprojection Error: -0.657452, -0.077048 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.660] xyz_f:5.885706, -1.170900, 9.008327  Reprojection Error: -0.613149, -0.066406 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.660] xyz_f:6.233722, -0.332132, 8.541081  Reprojection Error: -0.655776, -0.170052 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.660] xyz_f:6.462548, -0.052265, 8.044006  Reprojection Error: -0.961322, 0.047268 Feature: -0.222906, 0.029836, 0.339763
[11:52:54.660] xyz_f:6.566885, -0.034323, 7.979347  Reprojection Error: -1.163760, 0.090958 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.660] xyz_f:6.286185, 0.220010, 8.606730  Reprojection Error: -1.109250, 0.491475 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.660] it:53 	 Success 	 new_chi2: 1.047069 	 dT = -0.927588, 0.106225, 0.000015
[11:52:54.660] xyz_f:6.497821, -0.222163, 8.764893  Reprojection Error: -0.947872, 0.050691 Feature: -0.202195, 0.024813, 0.979031
[11:52:54.660] xyz_f:6.508995, -0.223074, 8.768324  Reprojection Error: -0.936657, 0.050734 Feature: -0.190699, 0.024821, 0.981335
[11:52:54.660] xyz_f:6.667419, -0.449890, 8.722151  Reprojection Error: -0.796821, -0.159276 Feature: -0.031684, -0.206216, 0.977993
[11:52:54.660] xyz_f:6.704556, -0.445164, 8.729572  Reprojection Error: -0.762026, -0.152847 Feature: 0.005881, -0.199732, 0.979833
[11:52:54.660] xyz_f:6.684170, -0.432658, 8.733175  Reprojection Error: -0.779992, -0.140539 Feature: -0.014356, -0.186718, 0.982309
[11:52:54.660] xyz_f:6.364034, -0.148729, 8.724471  Reprojection Error: -1.094341, 0.108162 Feature: -0.341538, 0.085282, 0.935991
[11:52:54.660] xyz_f:6.664157, -0.433930, 8.729595  Reprojection Error: -0.798645, -0.142747 Feature: -0.034591, -0.188874, 0.981392
[11:52:54.660] xyz_f:6.370934, 0.220008, 8.712961  Reprojection Error: -1.148840, 0.503466 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.660] xyz_f:6.318471, -0.332134, 8.647313  Reprojection Error: -1.157114, -0.083946 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.660] xyz_f:6.366479, -0.157581, 8.724157  Reprojection Error: -1.091159, 0.099806 Feature: -0.338890, 0.076651, 0.937698
[11:52:54.660] xyz_f:6.368663, 0.230552, 8.709097  Reprojection Error: -1.155638, 0.517367 Feature: -0.349321, 0.447661, 0.823149
[11:52:54.660] xyz_f:5.840507, -1.208354, 9.100793  Reprojection Error: -0.659295, -0.078616 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.660] xyz_f:5.970465, -1.170904, 9.114564  Reprojection Error: -0.614833, -0.067921 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.660] xyz_f:6.318471, -0.332134, 8.647313  Reprojection Error: -0.656611, -0.170529 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.660] xyz_f:6.547289, -0.052265, 8.150235  Reprojection Error: -0.961248, 0.047184 Feature: -0.222906, 0.029836, 0.339763
[11:52:54.660] xyz_f:6.651625, -0.034323, 8.085574  Reprojection Error: -1.163428, 0.090901 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.660] xyz_f:6.370934, 0.220008, 8.712961  Reprojection Error: -1.110072, 0.491787 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.660] it:54 	 Success 	 new_chi2: 1.044885 	 dT = -0.951763, 0.103098, 0.000014
[11:52:54.660] xyz_f:6.579884, -0.222164, 8.867996  Reprojection Error: -0.948507, 0.050397 Feature: -0.202195, 0.024813, 0.979031
[11:52:54.660] xyz_f:6.591058, -0.223075, 8.871427  Reprojection Error: -0.937280, 0.050439 Feature: -0.190699, 0.024821, 0.981335
[11:52:54.660] xyz_f:6.749482, -0.449890, 8.825251  Reprojection Error: -0.797189, -0.159879 Feature: -0.031684, -0.206216, 0.977993
[11:52:54.660] xyz_f:6.786620, -0.445165, 8.832672  Reprojection Error: -0.762352, -0.153443 Feature: 0.005881, -0.199732, 0.979833
[11:52:54.660] xyz_f:6.766233, -0.432658, 8.836275  Reprojection Error: -0.780348, -0.141117 Feature: -0.014356, -0.186718, 0.982309
[11:52:54.660] xyz_f:6.446096, -0.148731, 8.827576  Reprojection Error: -1.095117, 0.107963 Feature: -0.341538, 0.085282, 0.935991
[11:52:54.660] xyz_f:6.746221, -0.433931, 8.832695  Reprojection Error: -0.799025, -0.143328 Feature: -0.034591, -0.188874, 0.981392
[11:52:54.660] xyz_f:6.452995, 0.220006, 8.816066  Reprojection Error: -1.149596, 0.503761 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.660] xyz_f:6.400533, -0.332136, 8.750418  Reprojection Error: -1.157883, -0.084398 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.660] xyz_f:6.448541, -0.157583, 8.827261  Reprojection Error: -1.091932, 0.099596 Feature: -0.338890, 0.076651, 0.937698
[11:52:54.660] xyz_f:6.450724, 0.230550, 8.812202  Reprojection Error: -1.156394, 0.517677 Feature: -0.349321, 0.447661, 0.823149
[11:52:54.660] xyz_f:5.922578, -1.208358, 9.203905  Reprojection Error: -0.661023, -0.080103 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.660] xyz_f:6.052537, -1.170907, 9.217674  Reprojection Error: -0.616409, -0.069357 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.660] xyz_f:6.400533, -0.332136, 8.750418  Reprojection Error: -0.657379, -0.170982 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.660] xyz_f:6.629343, -0.052266, 8.253337  Reprojection Error: -0.961154, 0.047104 Feature: -0.222906, 0.029836, 0.339763
[11:52:54.660] xyz_f:6.733678, -0.034324, 8.188675  Reprojection Error: -1.163090, 0.090848 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.660] xyz_f:6.452995, 0.220006, 8.816066  Reprojection Error: -1.110829, 0.492082 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.660] it:55 	 Success 	 new_chi2: 1.042877 	 dT = -0.975498, 0.099952, 0.000014
[11:52:54.660] xyz_f:6.659260, -0.222165, 8.967952  Reprojection Error: -0.949088, 0.050118 Feature: -0.202195, 0.024813, 0.979031
[11:52:54.660] xyz_f:6.670435, -0.223076, 8.971383  Reprojection Error: -0.937850, 0.050159 Feature: -0.190699, 0.024821, 0.981335
[11:52:54.660] xyz_f:6.828859, -0.449891, 8.925206  Reprojection Error: -0.797518, -0.160450 Feature: -0.031684, -0.206216, 0.977993
[11:52:54.660] xyz_f:6.865996, -0.445165, 8.932625  Reprojection Error: -0.762641, -0.154007 Feature: 0.005881, -0.199732, 0.979833
[11:52:54.660] xyz_f:6.845610, -0.432658, 8.936229  Reprojection Error: -0.780666, -0.141665 Feature: -0.014356, -0.186718, 0.982309
[11:52:54.660] xyz_f:6.525472, -0.148733, 8.927534  Reprojection Error: -1.095832, 0.107775 Feature: -0.341538, 0.085282, 0.935991
[11:52:54.660] xyz_f:6.825597, -0.433931, 8.932649  Reprojection Error: -0.799365, -0.143877 Feature: -0.034591, -0.188874, 0.981392
[11:52:54.660] xyz_f:6.532369, 0.220005, 8.916024  Reprojection Error: -1.150293, 0.504041 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.660] xyz_f:6.479908, -0.332138, 8.850377  Reprojection Error: -1.158590, -0.084827 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.660] xyz_f:6.527917, -0.157584, 8.927220  Reprojection Error: -1.092644, 0.099396 Feature: -0.338890, 0.076651, 0.937698
[11:52:54.660] xyz_f:6.530098, 0.230549, 8.912160  Reprojection Error: -1.157090, 0.517971 Feature: -0.349321, 0.447661, 0.823149
[11:52:54.660] xyz_f:6.001963, -1.208361, 9.303871  Reprojection Error: -0.662641, -0.081513 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.660] xyz_f:6.131921, -1.170910, 9.317637  Reprojection Error: -0.617884, -0.070720 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.660] xyz_f:6.479908, -0.332138, 8.850377  Reprojection Error: -0.658086, -0.171410 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.660] xyz_f:6.708710, -0.052267, 8.353293  Reprojection Error: -0.961044, 0.047028 Feature: -0.222906, 0.029836, 0.339763
[11:52:54.660] xyz_f:6.813045, -0.034324, 8.288629  Reprojection Error: -1.162749, 0.090798 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.660] xyz_f:6.532369, 0.220005, 8.916024  Reprojection Error: -1.111525, 0.492362 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.660] it:56 	 Success 	 new_chi2: 1.041033 	 dT = -0.998764, 0.096798, 0.000014
[11:52:54.660] xyz_f:6.735960, -0.222167, 9.064754  Reprojection Error: -0.949619, 0.049853 Feature: -0.202195, 0.024813, 0.979031
[11:52:54.660] xyz_f:6.747134, -0.223077, 9.068185  Reprojection Error: -0.938371, 0.049893 Feature: -0.190699, 0.024821, 0.981335
[11:52:54.660] xyz_f:6.905559, -0.449891, 9.022005  Reprojection Error: -0.797810, -0.160991 Feature: -0.031684, -0.206216, 0.977993
[11:52:54.660] xyz_f:6.942696, -0.445166, 9.029425  Reprojection Error: -0.762895, -0.154541 Feature: 0.005881, -0.199732, 0.979833
[11:52:54.660] xyz_f:6.922310, -0.432659, 9.033028  Reprojection Error: -0.780948, -0.142184 Feature: -0.014356, -0.186718, 0.982309
[11:52:54.660] xyz_f:6.602171, -0.148734, 9.024338  Reprojection Error: -1.096491, 0.107596 Feature: -0.341538, 0.085282, 0.935991
[11:52:54.660] xyz_f:6.902297, -0.433932, 9.029449  Reprojection Error: -0.799667, -0.144398 Feature: -0.034591, -0.188874, 0.981392
[11:52:54.660] xyz_f:6.609066, 0.220003, 9.012827  Reprojection Error: -1.150933, 0.504307 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.660] xyz_f:6.556607, -0.332140, 8.947181  Reprojection Error: -1.159241, -0.085233 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.660] xyz_f:6.604616, -0.157586, 9.024023  Reprojection Error: -1.093299, 0.099207 Feature: -0.338890, 0.076651, 0.937698
[11:52:54.660] xyz_f:6.606795, 0.230547, 9.008964  Reprojection Error: -1.157730, 0.518249 Feature: -0.349321, 0.447661, 0.823149
[11:52:54.660] xyz_f:6.078670, -1.208364, 9.400681  Reprojection Error: -0.664157, -0.082850 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.660] xyz_f:6.208629, -1.170913, 9.414446  Reprojection Error: -0.619265, -0.072012 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.660] xyz_f:6.556607, -0.332140, 8.947181  Reprojection Error: -0.658737, -0.171816 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.660] xyz_f:6.785401, -0.052268, 8.450094  Reprojection Error: -0.960920, 0.046956 Feature: -0.222906, 0.029836, 0.339763
[11:52:54.660] xyz_f:6.889735, -0.034325, 8.385429  Reprojection Error: -1.162406, 0.090750 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.660] xyz_f:6.609066, 0.220003, 9.012827  Reprojection Error: -1.112166, 0.492628 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.660] it:57 	 Success 	 new_chi2: 1.039342 	 dT = -1.021533, 0.093647, 0.000013
[11:52:54.660] xyz_f:6.810002, -0.222168, 9.158406  Reprojection Error: -0.950105, 0.049603 Feature: -0.202195, 0.024813, 0.979031
[11:52:54.660] xyz_f:6.821176, -0.223078, 9.161836  Reprojection Error: -0.938847, 0.049642 Feature: -0.190699, 0.024821, 0.981335
[11:52:54.660] xyz_f:6.979600, -0.449892, 9.115655  Reprojection Error: -0.798069, -0.161503 Feature: -0.031684, -0.206216, 0.977993
[11:52:54.660] xyz_f:7.016738, -0.445166, 9.123074  Reprojection Error: -0.763118, -0.155047 Feature: 0.005881, -0.199732, 0.979833
[11:52:54.660] xyz_f:6.996351, -0.432659, 9.126677  Reprojection Error: -0.781197, -0.142675 Feature: -0.014356, -0.186718, 0.982309
[11:52:54.660] xyz_f:6.676211, -0.148736, 9.117991  Reprojection Error: -1.097097, 0.107427 Feature: -0.341538, 0.085282, 0.935991
[11:52:54.660] xyz_f:6.976339, -0.433932, 9.123099  Reprojection Error: -0.799936, -0.144891 Feature: -0.034591, -0.188874, 0.981392
[11:52:54.660] xyz_f:6.683105, 0.220002, 9.106481  Reprojection Error: -1.151522, 0.504558 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.660] xyz_f:6.630647, -0.332141, 9.040835  Reprojection Error: -1.159839, -0.085617 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.660] xyz_f:6.678656, -0.157587, 9.117677  Reprojection Error: -1.093902, 0.099028 Feature: -0.338890, 0.076651, 0.937698
[11:52:54.660] xyz_f:6.680834, 0.230545, 9.102617  Reprojection Error: -1.158319, 0.518512 Feature: -0.349321, 0.447661, 0.823149
[11:52:54.660] xyz_f:6.152719, -1.208368, 9.494341  Reprojection Error: -0.665578, -0.084118 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.660] xyz_f:6.282678, -1.170915, 9.508104  Reprojection Error: -0.620557, -0.073236 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.660] xyz_f:6.630647, -0.332141, 9.040835  Reprojection Error: -0.659335, -0.172200 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.660] xyz_f:6.859434, -0.052269, 8.543745  Reprojection Error: -0.960783, 0.046889 Feature: -0.222906, 0.029836, 0.339763
[11:52:54.660] xyz_f:6.963767, -0.034326, 8.479079  Reprojection Error: -1.162063, 0.090705 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.660] xyz_f:6.683105, 0.220002, 9.106481  Reprojection Error: -1.112755, 0.492879 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.660] it:58 	 Success 	 new_chi2: 1.037794 	 dT = -1.043783, 0.090511, 0.000013
[11:52:54.660] xyz_f:6.881412, -0.222169, 9.248921  Reprojection Error: -0.950549, 0.049365 Feature: -0.202195, 0.024813, 0.979031
[11:52:54.660] xyz_f:6.892586, -0.223079, 9.252351  Reprojection Error: -0.939282, 0.049404 Feature: -0.190699, 0.024821, 0.981335
[11:52:54.660] xyz_f:7.051011, -0.449892, 9.206167  Reprojection Error: -0.798298, -0.161988 Feature: -0.031684, -0.206216, 0.977993
[11:52:54.660] xyz_f:7.088149, -0.445166, 9.213586  Reprojection Error: -0.763313, -0.155526 Feature: 0.005881, -0.199732, 0.979833
[11:52:54.660] xyz_f:7.067762, -0.432660, 9.217190  Reprojection Error: -0.781417, -0.143141 Feature: -0.014356, -0.186718, 0.982309
[11:52:54.660] xyz_f:6.747621, -0.148737, 9.208507  Reprojection Error: -1.097654, 0.107267 Feature: -0.341538, 0.085282, 0.935991
[11:52:54.660] xyz_f:7.047750, -0.433933, 9.213611  Reprojection Error: -0.800175, -0.145358 Feature: -0.034591, -0.188874, 0.981392
[11:52:54.660] xyz_f:6.754513, 0.220000, 9.196997  Reprojection Error: -1.152064, 0.504796 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.660] xyz_f:6.702056, -0.332143, 9.131352  Reprojection Error: -1.160389, -0.085981 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.660] xyz_f:6.750066, -0.157589, 9.208193  Reprojection Error: -1.094456, 0.098858 Feature: -0.338890, 0.076651, 0.937698
[11:52:54.660] xyz_f:6.752242, 0.230544, 9.193133  Reprojection Error: -1.158860, 0.518762 Feature: -0.349321, 0.447661, 0.823149
[11:52:54.660] xyz_f:6.224137, -1.208371, 9.584864  Reprojection Error: -0.666909, -0.085319 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.660] xyz_f:6.354096, -1.170918, 9.598626  Reprojection Error: -0.621766, -0.074398 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.660] xyz_f:6.702056, -0.332143, 9.131352  Reprojection Error: -0.659886, -0.172564 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.660] xyz_f:6.930836, -0.052270, 8.634259  Reprojection Error: -0.960636, 0.046825 Feature: -0.222906, 0.029836, 0.339763
[11:52:54.660] xyz_f:7.035168, -0.034326, 8.569592  Reprojection Error: -1.161720, 0.090662 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.660] xyz_f:6.754513, 0.220000, 9.196997  Reprojection Error: -1.113296, 0.493117 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.660] it:59 	 Success 	 new_chi2: 1.036378 	 dT = -1.065493, 0.087397, 0.000013
[11:52:54.660] xyz_f:6.950224, -0.222170, 9.336322  Reprojection Error: -0.950954, 0.049141 Feature: -0.202195, 0.024813, 0.979031
[11:52:54.660] xyz_f:6.961399, -0.223080, 9.339752  Reprojection Error: -0.939678, 0.049178 Feature: -0.190699, 0.024821, 0.981335
[11:52:54.660] xyz_f:7.119824, -0.449892, 9.293567  Reprojection Error: -0.798500, -0.162448 Feature: -0.031684, -0.206216, 0.977993
[11:52:54.660] xyz_f:7.156961, -0.445167, 9.300985  Reprojection Error: -0.763482, -0.155980 Feature: 0.005881, -0.199732, 0.979833
[11:52:54.660] xyz_f:7.136575, -0.432660, 9.304589  Reprojection Error: -0.781610, -0.143582 Feature: -0.014356, -0.186718, 0.982309
[11:52:54.660] xyz_f:6.816433, -0.148739, 9.295910  Reprojection Error: -1.098167, 0.107115 Feature: -0.341538, 0.085282, 0.935991
[11:52:54.660] xyz_f:7.116562, -0.433933, 9.301011  Reprojection Error: -0.800385, -0.145801 Feature: -0.034591, -0.188874, 0.981392
[11:52:54.660] xyz_f:6.823324, 0.219999, 9.284400  Reprojection Error: -1.152561, 0.505021 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.660] xyz_f:6.770868, -0.332144, 9.218756  Reprojection Error: -1.160895, -0.086326 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.660] xyz_f:6.818878, -0.157590, 9.295596  Reprojection Error: -1.094966, 0.098697 Feature: -0.338890, 0.076651, 0.937698
[11:52:54.660] xyz_f:6.821053, 0.230543, 9.280536  Reprojection Error: -1.159357, 0.518998 Feature: -0.349321, 0.447661, 0.823149
[11:52:54.660] xyz_f:6.292957, -1.208374, 9.672273  Reprojection Error: -0.668155, -0.086458 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.660] xyz_f:6.422916, -1.170921, 9.686033  Reprojection Error: -0.622897, -0.075498 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.660] xyz_f:6.770868, -0.332144, 9.218756  Reprojection Error: -0.660391, -0.172909 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.660] xyz_f:6.999641, -0.052271, 8.721660  Reprojection Error: -0.960481, 0.046764 Feature: -0.222906, 0.029836, 0.339763
[11:52:54.660] xyz_f:7.103972, -0.034327, 8.656991  Reprojection Error: -1.161380, 0.090622 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.660] xyz_f:6.823324, 0.219999, 9.284400  Reprojection Error: -1.113794, 0.493342 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.660] it:60 	 Success 	 new_chi2: 1.035084 	 dT = -1.086648, 0.084316, 0.000012
[11:52:54.660] xyz_f:7.016478, -0.222171, 9.420642  Reprojection Error: -0.951324, 0.048928 Feature: -0.202195, 0.024813, 0.979031
[11:52:54.660] xyz_f:7.027653, -0.223081, 9.424072  Reprojection Error: -0.940040, 0.048965 Feature: -0.190699, 0.024821, 0.981335
[11:52:54.660] xyz_f:7.186078, -0.449893, 9.377885  Reprojection Error: -0.798676, -0.162883 Feature: -0.031684, -0.206216, 0.977993
[11:52:54.660] xyz_f:7.223216, -0.445167, 9.385302  Reprojection Error: -0.763629, -0.156410 Feature: 0.005881, -0.199732, 0.979833
[11:52:54.661] xyz_f:7.202829, -0.432661, 9.388907  Reprojection Error: -0.781779, -0.143999 Feature: -0.014356, -0.186718, 0.982309
[11:52:54.661] xyz_f:6.882686, -0.148740, 9.380232  Reprojection Error: -1.098638, 0.106971 Feature: -0.341538, 0.085282, 0.935991
[11:52:54.661] xyz_f:7.182817, -0.433934, 9.385329  Reprojection Error: -0.800571, -0.146220 Feature: -0.034591, -0.188874, 0.981392
[11:52:54.661] xyz_f:6.889576, 0.219997, 9.368721  Reprojection Error: -1.153018, 0.505234 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.661] xyz_f:6.837121, -0.332146, 9.303078  Reprojection Error: -1.161359, -0.086652 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.661] xyz_f:6.885131, -0.157592, 9.379917  Reprojection Error: -1.095435, 0.098545 Feature: -0.338890, 0.076651, 0.937698
[11:52:54.661] xyz_f:6.887305, 0.230541, 9.364858  Reprojection Error: -1.159814, 0.519222 Feature: -0.349321, 0.447661, 0.823149
[11:52:54.661] xyz_f:6.359218, -1.208377, 9.756601  Reprojection Error: -0.669323, -0.087538 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.661] xyz_f:6.489177, -1.170924, 9.770360  Reprojection Error: -0.623956, -0.076541 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.661] xyz_f:6.837121, -0.332146, 9.303078  Reprojection Error: -0.660856, -0.173235 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.661] xyz_f:7.065887, -0.052272, 8.805979  Reprojection Error: -0.960319, 0.046707 Feature: -0.222906, 0.029836, 0.339763
[11:52:54.661] xyz_f:7.170217, -0.034327, 8.741309  Reprojection Error: -1.161042, 0.090583 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.661] xyz_f:6.889576, 0.219997, 9.368721  Reprojection Error: -1.114251, 0.493555 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.661] it:61 	 Success 	 new_chi2: 1.033903 	 dT = -1.107235, 0.081275, 0.000012
[11:52:54.661] xyz_f:7.080220, -0.222172, 9.501920  Reprojection Error: -0.951662, 0.048726 Feature: -0.202195, 0.024813, 0.979031
[11:52:54.661] xyz_f:7.091394, -0.223082, 9.505350  Reprojection Error: -0.940369, 0.048762 Feature: -0.190699, 0.024821, 0.981335
[11:52:54.661] xyz_f:7.249819, -0.449893, 9.459161  Reprojection Error: -0.798831, -0.163295 Feature: -0.031684, -0.206216, 0.977993
[11:52:54.661] xyz_f:7.286957, -0.445167, 9.466578  Reprojection Error: -0.763754, -0.156817 Feature: 0.005881, -0.199732, 0.979833
[11:52:54.661] xyz_f:7.266571, -0.432661, 9.470183  Reprojection Error: -0.781925, -0.144395 Feature: -0.014356, -0.186718, 0.982309
[11:52:54.661] xyz_f:6.946426, -0.148742, 9.461512  Reprojection Error: -1.099072, 0.106835 Feature: -0.341538, 0.085282, 0.935991
[11:52:54.661] xyz_f:7.246558, -0.433934, 9.466605  Reprojection Error: -0.800733, -0.146617 Feature: -0.034591, -0.188874, 0.981392
[11:52:54.661] xyz_f:6.953315, 0.219996, 9.450001  Reprojection Error: -1.153438, 0.505437 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.661] xyz_f:6.900861, -0.332148, 9.384358  Reprojection Error: -1.161786, -0.086961 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.661] xyz_f:6.948871, -0.157593, 9.461197  Reprojection Error: -1.095866, 0.098401 Feature: -0.338890, 0.076651, 0.937698
[11:52:54.661] xyz_f:6.951044, 0.230540, 9.446137  Reprojection Error: -1.160233, 0.519434 Feature: -0.349321, 0.447661, 0.823149
[11:52:54.661] xyz_f:6.422966, -1.208380, 9.837887  Reprojection Error: -0.670418, -0.088561 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.661] xyz_f:6.552925, -1.170926, 9.851644  Reprojection Error: -0.624947, -0.077530 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.661] xyz_f:6.900861, -0.332148, 9.384358  Reprojection Error: -0.661282, -0.173544 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.661] xyz_f:7.129620, -0.052273, 8.887257  Reprojection Error: -0.960152, 0.046653 Feature: -0.222906, 0.029836, 0.339763
[11:52:54.661] xyz_f:7.233950, -0.034328, 8.822586  Reprojection Error: -1.160710, 0.090547 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.661] xyz_f:6.953315, 0.219996, 9.450001  Reprojection Error: -1.114671, 0.493758 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.661] it:62 	 Success 	 new_chi2: 1.032826 	 dT = -1.127244, 0.078279, 0.000012
[11:52:54.661] xyz_f:7.141497, -0.222173, 9.580202  Reprojection Error: -0.951969, 0.048535 Feature: -0.202195, 0.024813, 0.979031
[11:52:54.661] xyz_f:7.152671, -0.223083, 9.583632  Reprojection Error: -0.940669, 0.048571 Feature: -0.190699, 0.024821, 0.981335
[11:52:54.661] xyz_f:7.311097, -0.449894, 9.537441  Reprojection Error: -0.798965, -0.163685 Feature: -0.031684, -0.206216, 0.977993
[11:52:54.661] xyz_f:7.348235, -0.445168, 9.544858  Reprojection Error: -0.763861, -0.157203 Feature: 0.005881, -0.199732, 0.979833
[11:52:54.661] xyz_f:7.327848, -0.432661, 9.548463  Reprojection Error: -0.782052, -0.144769 Feature: -0.014356, -0.186718, 0.982309
[11:52:54.661] xyz_f:7.007703, -0.148743, 9.539795  Reprojection Error: -1.099470, 0.106706 Feature: -0.341538, 0.085282, 0.935991
[11:52:54.661] xyz_f:7.307835, -0.433934, 9.544885  Reprojection Error: -0.800875, -0.146993 Feature: -0.034591, -0.188874, 0.981392
[11:52:54.661] xyz_f:7.014590, 0.219995, 9.528284  Reprojection Error: -1.153824, 0.505628 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.661] xyz_f:6.962137, -0.332149, 9.462642  Reprojection Error: -1.162178, -0.087254 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.661] xyz_f:7.010148, -0.157594, 9.539481  Reprojection Error: -1.096263, 0.098264 Feature: -0.338890, 0.076651, 0.937698
[11:52:54.661] xyz_f:7.012319, 0.230538, 9.524421  Reprojection Error: -1.160618, 0.519635 Feature: -0.349321, 0.447661, 0.823149
[11:52:54.661] xyz_f:6.484250, -1.208383, 9.916177  Reprojection Error: -0.671443, -0.089530 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.661] xyz_f:6.614209, -1.170929, 9.929932  Reprojection Error: -0.625874, -0.078467 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.661] xyz_f:6.962137, -0.332149, 9.462642  Reprojection Error: -0.661674, -0.173837 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.661] xyz_f:7.190890, -0.052273, 8.965538  Reprojection Error: -0.959981, 0.046601 Feature: -0.222906, 0.029836, 0.339763
[11:52:54.661] xyz_f:7.295219, -0.034328, 8.900866  Reprojection Error: -1.160382, 0.090513 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.661] xyz_f:7.014590, 0.219995, 9.528284  Reprojection Error: -1.115056, 0.493949 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.661] it:63 	 Success 	 new_chi2: 1.031844 	 dT = -1.146667, 0.075336, 0.000012
[11:52:54.661] xyz_f:7.200363, -0.222173, 9.655541  Reprojection Error: -0.952249, 0.048354 Feature: -0.202195, 0.024813, 0.979031
[11:52:54.661] xyz_f:7.211538, -0.223084, 9.658971  Reprojection Error: -0.940942, 0.048389 Feature: -0.190699, 0.024821, 0.981335
[11:52:54.661] xyz_f:7.369964, -0.449894, 9.612778  Reprojection Error: -0.799081, -0.164055 Feature: -0.031684, -0.206216, 0.977993
[11:52:54.661] xyz_f:7.407101, -0.445168, 9.620194  Reprojection Error: -0.763951, -0.157568 Feature: 0.005881, -0.199732, 0.979833
[11:52:54.661] xyz_f:7.386715, -0.432662, 9.623800  Reprojection Error: -0.782161, -0.145124 Feature: -0.014356, -0.186718, 0.982309
[11:52:54.661] xyz_f:7.066569, -0.148744, 9.615136  Reprojection Error: -1.099837, 0.106584 Feature: -0.341538, 0.085282, 0.935991
[11:52:54.661] xyz_f:7.366702, -0.433935, 9.620222  Reprojection Error: -0.800998, -0.147349 Feature: -0.034591, -0.188874, 0.981392
[11:52:54.661] xyz_f:7.073455, 0.219993, 9.603625  Reprojection Error: -1.154178, 0.505809 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.661] xyz_f:7.021003, -0.332151, 9.537983  Reprojection Error: -1.162538, -0.087531 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.661] xyz_f:7.069014, -0.157596, 9.614821  Reprojection Error: -1.096627, 0.098135 Feature: -0.338890, 0.076651, 0.937698
[11:52:54.661] xyz_f:7.071183, 0.230537, 9.599761  Reprojection Error: -1.160972, 0.519825 Feature: -0.349321, 0.447661, 0.823149
[11:52:54.661] xyz_f:6.543124, -1.208386, 9.991523  Reprojection Error: -0.672405, -0.090449 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.661] xyz_f:6.673082, -1.170931, 10.005277  Reprojection Error: -0.626742, -0.079354 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.661] xyz_f:7.021003, -0.332151, 9.537983  Reprojection Error: -0.662034, -0.174114 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.661] xyz_f:7.249749, -0.052274, 9.040877  Reprojection Error: -0.959808, 0.046553 Feature: -0.222906, 0.029836, 0.339763
[11:52:54.661] xyz_f:7.354077, -0.034328, 8.976203  Reprojection Error: -1.160060, 0.090481 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.661] xyz_f:7.073455, 0.219993, 9.603625  Reprojection Error: -1.115410, 0.494130 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.661] it:64 	 Success 	 new_chi2: 1.030951 	 dT = -1.165500, 0.072450, 0.000011
[11:52:54.661] xyz_f:7.256877, -0.222174, 9.727994  Reprojection Error: -0.952505, 0.048183 Feature: -0.202195, 0.024813, 0.979031
[11:52:54.661] xyz_f:7.268051, -0.223085, 9.731424  Reprojection Error: -0.941191, 0.048218 Feature: -0.190699, 0.024821, 0.981335
[11:52:54.661] xyz_f:7.426477, -0.449895, 9.685229  Reprojection Error: -0.799181, -0.164405 Feature: -0.031684, -0.206216, 0.977993
[11:52:54.661] xyz_f:7.463615, -0.445168, 9.692645  Reprojection Error: -0.764027, -0.157914 Feature: 0.005881, -0.199732, 0.979833
[11:52:54.661] xyz_f:7.443229, -0.432662, 9.696251  Reprojection Error: -0.782255, -0.145460 Feature: -0.014356, -0.186718, 0.982309
[11:52:54.661] xyz_f:7.123082, -0.148745, 9.687590  Reprojection Error: -1.100174, 0.106469 Feature: -0.341538, 0.085282, 0.935991
[11:52:54.661] xyz_f:7.423216, -0.433935, 9.692674  Reprojection Error: -0.801105, -0.147686 Feature: -0.034591, -0.188874, 0.981392
[11:52:54.661] xyz_f:7.129967, 0.219992, 9.676079  Reprojection Error: -1.154503, 0.505981 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.661] xyz_f:7.077515, -0.332152, 9.610438  Reprojection Error: -1.162868, -0.087793 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.661] xyz_f:7.125527, -0.157597, 9.687276  Reprojection Error: -1.096962, 0.098012 Feature: -0.338890, 0.076651, 0.937698
[11:52:54.661] xyz_f:7.127695, 0.230536, 9.672216  Reprojection Error: -1.161297, 0.520005 Feature: -0.349321, 0.447661, 0.823149
[11:52:54.661] xyz_f:6.599644, -1.208389, 10.063983  Reprojection Error: -0.673306, -0.091320 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.661] xyz_f:6.729603, -1.170934, 10.077736  Reprojection Error: -0.627555, -0.080196 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.661] xyz_f:7.077515, -0.332152, 9.610438  Reprojection Error: -0.662365, -0.174377 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.661] xyz_f:7.306256, -0.052275, 9.113329  Reprojection Error: -0.959633, 0.046507 Feature: -0.222906, 0.029836, 0.339763
[11:52:54.661] xyz_f:7.410583, -0.034329, 9.048655  Reprojection Error: -1.159745, 0.090450 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.661] xyz_f:7.129967, 0.219992, 9.676079  Reprojection Error: -1.115736, 0.494302 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.661] it:65 	 Success 	 new_chi2: 1.030140 	 dT = -1.183740, 0.069626, 0.000011
[11:52:54.661] xyz_f:7.311096, -0.222175, 9.797624  Reprojection Error: -0.952737, 0.048021 Feature: -0.202195, 0.024813, 0.979031
[11:52:54.661] xyz_f:7.322271, -0.223085, 9.801053  Reprojection Error: -0.941417, 0.048055 Feature: -0.190699, 0.024821, 0.981335
[11:52:54.661] xyz_f:7.480697, -0.449895, 9.754857  Reprojection Error: -0.799266, -0.164736 Feature: -0.031684, -0.206216, 0.977993
[11:52:54.661] xyz_f:7.517835, -0.445168, 9.762272  Reprojection Error: -0.764089, -0.158242 Feature: 0.005881, -0.199732, 0.979833
[11:52:54.661] xyz_f:7.497448, -0.432662, 9.765878  Reprojection Error: -0.782334, -0.145778 Feature: -0.014356, -0.186718, 0.982309
[11:52:54.661] xyz_f:7.177300, -0.148747, 9.757221  Reprojection Error: -1.100483, 0.106359 Feature: -0.341538, 0.085282, 0.935991
[11:52:54.661] xyz_f:7.477436, -0.433936, 9.762301  Reprojection Error: -0.801197, -0.148005 Feature: -0.034591, -0.188874, 0.981392
[11:52:54.661] xyz_f:7.184184, 0.219991, 9.745710  Reprojection Error: -1.154801, 0.506143 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.661] xyz_f:7.131733, -0.332153, 9.680070  Reprojection Error: -1.163172, -0.088042 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.661] xyz_f:7.179746, -0.157598, 9.756907  Reprojection Error: -1.097269, 0.097896 Feature: -0.338890, 0.076651, 0.937698
[11:52:54.661] xyz_f:7.181912, 0.230535, 9.741847  Reprojection Error: -1.161595, 0.520175 Feature: -0.349321, 0.447661, 0.823149
[11:52:54.661] xyz_f:6.653870, -1.208392, 10.133620  Reprojection Error: -0.674150, -0.092144 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.661] xyz_f:6.783828, -1.170936, 10.147371  Reprojection Error: -0.628317, -0.080993 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.661] xyz_f:7.131733, -0.332153, 9.680070  Reprojection Error: -0.662669, -0.174625 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.661] xyz_f:7.360468, -0.052276, 9.182958  Reprojection Error: -0.959458, 0.046464 Feature: -0.222906, 0.029836, 0.339763
[11:52:54.661] xyz_f:7.464794, -0.034329, 9.118283  Reprojection Error: -1.159437, 0.090421 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.661] xyz_f:7.184184, 0.219991, 9.745710  Reprojection Error: -1.116034, 0.494464 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.661] it:66 	 Success 	 new_chi2: 1.029402 	 dT = -1.201390, 0.066868, 0.000011
[11:52:54.661] xyz_f:7.363084, -0.222176, 9.864495  Reprojection Error: -0.952949, 0.047867 Feature: -0.202195, 0.024813, 0.979031
[11:52:54.661] xyz_f:7.374258, -0.223086, 9.867924  Reprojection Error: -0.941622, 0.047901 Feature: -0.190699, 0.024821, 0.981335
[11:52:54.661] xyz_f:7.532684, -0.449895, 9.821727  Reprojection Error: -0.799338, -0.165050 Feature: -0.031684, -0.206216, 0.977993
[11:52:54.661] xyz_f:7.569823, -0.445169, 9.829142  Reprojection Error: -0.764139, -0.158552 Feature: 0.005881, -0.199732, 0.979833
[11:52:54.661] xyz_f:7.549436, -0.432663, 9.832748  Reprojection Error: -0.782400, -0.146079 Feature: -0.014356, -0.186718, 0.982309
[11:52:54.661] xyz_f:7.229287, -0.148748, 9.824094  Reprojection Error: -1.100768, 0.106256 Feature: -0.341538, 0.085282, 0.935991
[11:52:54.661] xyz_f:7.529423, -0.433936, 9.829171  Reprojection Error: -0.801275, -0.148308 Feature: -0.034591, -0.188874, 0.981392
[11:52:54.661] xyz_f:7.236170, 0.219990, 9.812583  Reprojection Error: -1.155076, 0.506297 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.661] xyz_f:7.183720, -0.332155, 9.746943  Reprojection Error: -1.163451, -0.088277 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.661] xyz_f:7.231733, -0.157600, 9.823780  Reprojection Error: -1.097552, 0.097787 Feature: -0.338890, 0.076651, 0.937698
[11:52:54.661] xyz_f:7.233898, 0.230533, 9.808719  Reprojection Error: -1.161869, 0.520337 Feature: -0.349321, 0.447661, 0.823149
[11:52:54.661] xyz_f:6.705864, -1.208394, 10.200498  Reprojection Error: -0.674943, -0.092926 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.661] xyz_f:6.835822, -1.170939, 10.214248  Reprojection Error: -0.629030, -0.081748 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.661] xyz_f:7.183720, -0.332155, 9.746943  Reprojection Error: -0.662947, -0.174860 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.661] xyz_f:7.412448, -0.052276, 9.249829  Reprojection Error: -0.959283, 0.046423 Feature: -0.222906, 0.029836, 0.339763
[11:52:54.661] xyz_f:7.516774, -0.034330, 9.185152  Reprojection Error: -1.159136, 0.090394 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.661] xyz_f:7.236170, 0.219990, 9.812583  Reprojection Error: -1.116308, 0.494618 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.661] it:67 	 Success 	 new_chi2: 1.028732 	 dT = -1.218449, 0.064178, 0.000011
[11:52:54.661] xyz_f:7.412903, -0.222177, 9.928677  Reprojection Error: -0.953141, 0.047722 Feature: -0.202195, 0.024813, 0.979031
[11:52:54.661] xyz_f:7.424077, -0.223087, 9.932106  Reprojection Error: -0.941809, 0.047755 Feature: -0.190699, 0.024821, 0.981335
[11:52:54.661] xyz_f:7.582504, -0.449896, 9.885906  Reprojection Error: -0.799398, -0.165348 Feature: -0.031684, -0.206216, 0.977993
[11:52:54.661] xyz_f:7.619642, -0.445169, 9.893321  Reprojection Error: -0.764178, -0.158846 Feature: 0.005881, -0.199732, 0.979833
[11:52:54.661] xyz_f:7.599255, -0.432663, 9.896927  Reprojection Error: -0.782455, -0.146364 Feature: -0.014356, -0.186718, 0.982309
[11:52:54.661] xyz_f:7.279105, -0.148749, 9.888277  Reprojection Error: -1.101029, 0.106158 Feature: -0.341538, 0.085282, 0.935991
[11:52:54.661] xyz_f:7.579242, -0.433936, 9.893351  Reprojection Error: -0.801341, -0.148594 Feature: -0.034591, -0.188874, 0.981392
[11:52:54.661] xyz_f:7.285987, 0.219988, 9.876766  Reprojection Error: -1.155327, 0.506443 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.661] xyz_f:7.233538, -0.332156, 9.811127  Reprojection Error: -1.163707, -0.088500 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.661] xyz_f:7.281551, -0.157601, 9.887963  Reprojection Error: -1.097812, 0.097683 Feature: -0.338890, 0.076651, 0.937698
[11:52:54.661] xyz_f:7.283715, 0.230532, 9.872902  Reprojection Error: -1.162120, 0.520490 Feature: -0.349321, 0.447661, 0.823149
[11:52:54.661] xyz_f:6.755689, -1.208397, 10.264687  Reprojection Error: -0.675686, -0.093666 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.661] xyz_f:6.885648, -1.170941, 10.278435  Reprojection Error: -0.629698, -0.082464 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.661] xyz_f:7.233538, -0.332156, 9.811127  Reprojection Error: -0.663204, -0.175083 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.661] xyz_f:7.462260, -0.052277, 9.314010  Reprojection Error: -0.959109, 0.046384 Feature: -0.222906, 0.029836, 0.339763
[11:52:54.661] xyz_f:7.566585, -0.034330, 9.249332  Reprojection Error: -1.158843, 0.090368 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.661] xyz_f:7.285987, 0.219988, 9.876766  Reprojection Error: -1.116560, 0.494764 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.661] it:68 	 Success 	 new_chi2: 1.028125 	 dT = -1.234923, 0.061561, 0.000011
[11:52:54.661] xyz_f:7.460617, -0.222178, 9.990241  Reprojection Error: -0.953316, 0.047584 Feature: -0.202195, 0.024813, 0.979031
[11:52:54.661] xyz_f:7.471792, -0.223088, 9.993670  Reprojection Error: -0.941979, 0.047616 Feature: -0.190699, 0.024821, 0.981335
[11:52:54.661] xyz_f:7.630218, -0.449896, 9.947469  Reprojection Error: -0.799448, -0.165629 Feature: -0.031684, -0.206216, 0.977993
[11:52:54.661] xyz_f:7.667357, -0.445169, 9.954883  Reprojection Error: -0.764209, -0.159124 Feature: 0.005881, -0.199732, 0.979833
[11:52:54.662] xyz_f:7.646970, -0.432663, 9.958489  Reprojection Error: -0.782499, -0.146635 Feature: -0.014356, -0.186718, 0.982309
[11:52:54.662] xyz_f:7.326819, -0.148750, 9.949842  Reprojection Error: -1.101270, 0.106065 Feature: -0.341538, 0.085282, 0.935991
[11:52:54.662] xyz_f:7.626957, -0.433937, 9.954913  Reprojection Error: -0.801397, -0.148865 Feature: -0.034591, -0.188874, 0.981392
[11:52:54.662] xyz_f:7.333700, 0.219987, 9.938331  Reprojection Error: -1.155558, 0.506581 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.662] xyz_f:7.281252, -0.332157, 9.872692  Reprojection Error: -1.163942, -0.088711 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.662] xyz_f:7.329265, -0.157602, 9.949528  Reprojection Error: -1.098051, 0.097584 Feature: -0.338890, 0.076651, 0.937698
[11:52:54.662] xyz_f:7.331428, 0.230531, 9.934468  Reprojection Error: -1.162351, 0.520634 Feature: -0.349321, 0.447661, 0.823149
[11:52:54.662] xyz_f:6.803409, -1.208400, 10.326257  Reprojection Error: -0.676383, -0.094368 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.662] xyz_f:6.933368, -1.170943, 10.340005  Reprojection Error: -0.630324, -0.083142 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.662] xyz_f:7.281252, -0.332157, 9.872692  Reprojection Error: -0.663439, -0.175294 Feature: -0.389792, -0.111843, 0.914086
[11:52:54.662] xyz_f:7.509968, -0.052278, 9.375574  Reprojection Error: -0.958937, 0.046347 Feature: -0.222906, 0.029836, 0.339763
[11:52:54.662] xyz_f:7.614292, -0.034331, 9.310895  Reprojection Error: -1.158557, 0.090344 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.662] xyz_f:7.333700, 0.219987, 9.938331  Reprojection Error: -1.116791, 0.494902 Feature: -0.346356, 0.438476, 0.829322
[11:52:54.662] it:69 	 Success 	 new_chi2: 1.027574 	 dT = -1.250817, 0.059016, 0.000010
[11:52:54.662] After pose optimization, distance between two frames:12.012860 ,angle between two frames:-3.566350
[11:52:54.863] Reprojection Map nPoint:28 ,nCell:16 ,nMatches:10 ,distance between two frames:2.764923 ,angle between two frames:-3.524518
[11:52:54.863] Init estimate scale:0.916095
[11:52:54.863] xyz_f:2.198346, -0.220593, 1.986376  Reprojection Error: -1.291927, 0.134090 Feature: -0.182071, 0.022646, 0.983024
[11:52:54.863] xyz_f:2.209333, -0.221627, 1.990262  Reprojection Error: -1.283209, 0.134352 Feature: -0.170556, 0.022653, 0.985088
[11:52:54.863] xyz_f:2.364429, -0.449960, 1.949713  Reprojection Error: -1.227377, 0.017688 Feature: -0.014347, -0.208394, 0.977940
[11:52:54.863] xyz_f:2.404085, -0.445770, 1.959211  Reprojection Error: -1.200400, 0.021319 Feature: 0.026110, -0.201889, 0.979060
[11:52:54.863] xyz_f:2.383658, -0.433055, 1.961980  Reprojection Error: -1.208934, 0.028367 Feature: 0.005883, -0.188890, 0.981981
[11:52:54.863] xyz_f:2.067594, -0.145679, 1.940801  Reprojection Error: -1.406539, 0.163290 Feature: -0.321809, 0.083212, 0.943141
[11:52:54.863] xyz_f:2.360899, -0.431984, 1.957997  Reprojection Error: -1.223338, 0.028247 Feature: -0.017246, -0.188887, 0.981847
[11:52:54.863] xyz_f:2.087873, 0.220087, 1.936069  Reprojection Error: -1.457279, 0.403361 Feature: -0.318968, 0.435290, 0.841892
[11:52:54.863] xyz_f:2.450078, -0.449157, 1.963747  Reprojection Error: -1.173579, 0.019786 Feature: 0.072320, -0.203986, 0.976299
[11:52:54.863] xyz_f:2.070482, -0.133182, 1.944405  Reprojection Error: -1.403081, 0.170539 Feature: -0.318922, 0.096216, 0.942885
[11:52:54.863] xyz_f:2.190091, -0.230374, 1.980736  Reprojection Error: -1.299981, 0.128266 Feature: -0.190706, 0.011738, 0.981577
[11:52:54.863] xyz_f:2.067876, -0.147167, 1.940706  Reprojection Error: -1.406302, 0.162488 Feature: -0.321480, 0.081750, 0.943381
[11:52:54.863] xyz_f:2.087873, 0.220087, 1.936069  Reprojection Error: -0.913384, -0.569660 Feature: -0.318968, 0.435290, 0.841892
[11:52:54.863] xyz_f:1.486319, -1.191636, 2.274114  Reprojection Error: -0.596838, 0.313027 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.863] xyz_f:1.588144, -1.243799, 2.305828  Reprojection Error: -0.578293, 0.324806 Feature: -0.684109, -0.883015, 1.653161
[11:52:54.863] xyz_f:1.974027, -0.102909, 1.868282  Reprojection Error: -1.005701, -0.150075 Feature: -0.427976, 0.105755, 0.879397
[11:52:54.863] xyz_f:1.615783, -1.156325, 2.295870  Reprojection Error: -0.595981, 0.304197 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.863] xyz_f:2.192972, 0.008133, 1.470032  Reprojection Error: -1.820936, -0.113505 Feature: -0.283700, 0.109939, 0.434383
[11:52:54.863] xyz_f:2.190091, -0.230374, 1.980736  Reprojection Error: -1.231083, 0.130358 Feature: -0.190706, 0.011738, 0.981577
[11:52:54.863] xyz_f:2.266733, -0.053704, 1.559780  Reprojection Error: -1.558318, 0.061471 Feature: -0.193315, 0.073438, 0.522800
[11:52:54.863] xyz_f:2.067594, -0.145679, 1.940801  Reprojection Error: -1.331828, 0.168565 Feature: -0.321809, 0.083212, 0.943141
[11:52:54.863] xyz_f:1.507604, -1.165522, 2.274319  Reprojection Error: -0.669193, 0.890662 Feature: -0.772192, -0.815560, 1.617134
[11:52:54.863] it:0 	 Success 	 new_chi2: 27.995436 	 dT = -0.049041, 0.140372, -0.000741
[11:52:54.863] xyz_f:0.676812, -0.220526, 2.126498  Reprojection Error: -0.503491, 0.126741 Feature: -0.182071, 0.022646, 0.983024
[11:52:54.863] xyz_f:0.687795, -0.221562, 2.130391  Reprojection Error: -0.495987, 0.126997 Feature: -0.170556, 0.022653, 0.985088
[11:52:54.863] xyz_f:0.842877, -0.449925, 2.089954  Reprojection Error: -0.417970, 0.002185 Feature: -0.014347, -0.208394, 0.977940
[11:52:54.863] xyz_f:0.882527, -0.445742, 2.099480  Reprojection Error: -0.393687, 0.006104 Feature: 0.026110, -0.201889, 0.979060
[11:52:54.863] xyz_f:0.862100, -0.433023, 2.102234  Reprojection Error: -0.404097, 0.013626 Feature: 0.005883, -0.188890, 0.981981
[11:52:54.863] xyz_f:0.546106, -0.145587, 2.080830  Reprojection Error: -0.603656, 0.158194 Feature: -0.321809, 0.083212, 0.943141
[11:52:54.863] xyz_f:0.839344, -0.431948, 2.098235  Reprojection Error: -0.417589, 0.013484 Feature: -0.017246, -0.188887, 0.981847
[11:52:54.863] xyz_f:0.566459, 0.220175, 2.076112  Reprojection Error: -0.651717, 0.410986 Feature: -0.318968, 0.435290, 0.841892
[11:52:54.863] xyz_f:0.928516, -0.449138, 2.104049  Reprojection Error: -0.367224, 0.004525 Feature: 0.072320, -0.203986, 0.976299
[11:52:54.863] xyz_f:0.548994, -0.133091, 2.084435  Reprojection Error: -0.601618, 0.165894 Feature: -0.318922, 0.096216, 0.942885
[11:52:54.863] xyz_f:0.668559, -0.230306, 2.120852  Reprojection Error: -0.509517, 0.120550 Feature: -0.190706, 0.011738, 0.981577
[11:52:54.863] xyz_f:0.546388, -0.147075, 2.080735  Reprojection Error: -0.603368, 0.157341 Feature: -0.321480, 0.081750, 0.943381
[11:52:54.863] xyz_f:0.566459, 0.220175, 2.076112  Reprojection Error: -0.107822, -0.562034 Feature: -0.318968, 0.435290, 0.841892
[11:52:54.863] xyz_f:-0.035608, -1.191432, 2.413726  Reprojection Error: 0.071495, 0.282634 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.863] xyz_f:0.066185, -1.243615, 2.445513  Reprojection Error: 0.083395, 0.293920 Feature: -0.684109, -0.883015, 1.653161
[11:52:54.863] xyz_f:0.452600, -0.102799, 2.008244  Reprojection Error: -0.174472, -0.153969 Feature: -0.427976, 0.105755, 0.879397
[11:52:54.863] xyz_f:0.093848, -1.156147, 2.435576  Reprojection Error: 0.069265, 0.275234 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.863] xyz_f:0.671851, 0.008201, 1.610150  Reprojection Error: -0.746411, -0.113066 Feature: -0.283700, 0.109939, 0.434383
[11:52:54.863] xyz_f:0.668559, -0.230306, 2.120852  Reprojection Error: -0.440619, 0.122642 Feature: -0.190706, 0.011738, 0.981577
[11:52:54.863] xyz_f:0.745536, -0.053650, 1.699951  Reprojection Error: -0.543642, 0.058601 Feature: -0.193315, 0.073438, 0.522800
[11:52:54.863] xyz_f:0.546106, -0.145587, 2.080830  Reprojection Error: -0.528944, 0.163469 Feature: -0.321809, 0.083212, 0.943141
[11:52:54.863] xyz_f:-0.014318, -1.165322, 2.413947  Reprojection Error: -0.000380, 0.860937 Feature: -0.772192, -0.815560, 1.617134
[11:52:54.863] it:1 	 Success 	 new_chi2: 5.880395 	 dT = -0.045571, 0.228147, 0.005662
[11:52:54.863] xyz_f:0.825962, -0.221035, 2.356544  Reprojection Error: -0.535713, 0.116834 Feature: -0.182071, 0.022646, 0.983024
[11:52:54.863] xyz_f:0.836969, -0.222055, 2.360376  Reprojection Error: -0.527729, 0.117072 Feature: -0.170556, 0.022653, 0.985088
[11:52:54.863] xyz_f:0.992162, -0.450190, 2.319091  Reprojection Error: -0.442494, -0.018972 Feature: -0.014347, -0.208394, 0.977940
[11:52:54.863] xyz_f:1.031857, -0.445949, 2.328399  Reprojection Error: -0.416493, -0.014681 Feature: 0.026110, -0.201889, 0.979060
[11:52:54.863] xyz_f:1.011427, -0.433260, 2.331266  Reprojection Error: -0.427862, -0.006509 Feature: 0.005883, -0.188890, 0.981981
[11:52:54.863] xyz_f:0.694900, -0.146288, 2.311591  Reprojection Error: -0.641825, 0.151513 Feature: -0.321809, 0.083212, 0.943141
[11:52:54.863] xyz_f:0.988648, -0.432218, 2.327391  Reprojection Error: -0.442353, -0.006669 Feature: -0.017246, -0.188887, 0.981847
[11:52:54.863] xyz_f:0.714691, 0.219504, 2.306763  Reprojection Error: -0.688694, 0.421881 Feature: -0.318968, 0.435290, 0.841892
[11:52:54.863] xyz_f:1.077875, -0.449278, 2.332717  Reprojection Error: -0.387993, -0.016340 Feature: 0.072320, -0.203986, 0.976299
[11:52:54.863] xyz_f:0.697789, -0.133787, 2.315180  Reprojection Error: -0.639637, 0.159831 Feature: -0.318922, 0.096216, 0.942885
[11:52:54.863] xyz_f:0.817693, -0.230827, 2.350942  Reprojection Error: -0.542101, 0.110143 Feature: -0.190706, 0.011738, 0.981577
[11:52:54.863] xyz_f:0.695183, -0.147775, 2.311494  Reprojection Error: -0.641525, 0.150587 Feature: -0.321480, 0.081750, 0.943381
[11:52:54.863] xyz_f:0.714691, 0.219504, 2.306763  Reprojection Error: -0.144800, -0.551139 Feature: -0.318968, 0.435290, 0.841892
[11:52:54.863] xyz_f:0.116548, -1.192982, 2.647659  Reprojection Error: 0.012724, 0.239607 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.863] xyz_f:0.218589, -1.245016, 2.678889  Reprojection Error: 0.028862, 0.250142 Feature: -0.684109, -0.883015, 1.653161
[11:52:54.863] xyz_f:0.600935, -0.103637, 2.239517  Reprojection Error: -0.217433, -0.158881 Feature: -0.427976, 0.105755, 0.879397
[11:52:54.863] xyz_f:0.246070, -1.157507, 2.668800  Reprojection Error: 0.015594, 0.234261 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.863] xyz_f:0.817842, 0.007682, 1.840231  Reprojection Error: -0.773575, -0.112148 Feature: -0.283700, 0.109939, 0.434383
[11:52:54.863] xyz_f:0.817693, -0.230827, 2.350942  Reprojection Error: -0.473203, 0.112235 Feature: -0.190706, 0.011738, 0.981577
[11:52:54.863] xyz_f:0.892109, -0.054060, 1.929628  Reprojection Error: -0.567400, 0.055057 Feature: -0.193315, 0.073438, 0.522800
[11:52:54.863] xyz_f:0.694900, -0.146288, 2.311591  Reprojection Error: -0.567113, 0.156788 Feature: -0.321809, 0.083212, 0.943141
[11:52:54.864] xyz_f:0.137801, -1.166841, 2.647764  Reprojection Error: -0.058356, 0.818881 Feature: -0.772192, -0.815560, 1.617134
[11:52:54.864] it:2 	 Success 	 new_chi2: 6.235995 	 dT = -0.045371, 0.267872, 0.003704
[11:52:54.864] xyz_f:1.141577, -0.220703, 2.087433  Reprojection Error: -0.732096, 0.128767 Feature: -0.182071, 0.022646, 0.983024
[11:52:54.864] xyz_f:1.152568, -0.221733, 2.091305  Reprojection Error: -0.724261, 0.129022 Feature: -0.170556, 0.022653, 0.985088
[11:52:54.864] xyz_f:1.307689, -0.450017, 2.050575  Reprojection Error: -0.652389, 0.006364 Feature: -0.014347, -0.208394, 0.977940
[11:52:54.864] xyz_f:1.347355, -0.445815, 2.060025  Reprojection Error: -0.627379, 0.010206 Feature: 0.026110, -0.201889, 0.979060
[11:52:54.864] xyz_f:1.326927, -0.433106, 2.062819  Reprojection Error: -0.637268, 0.017602 Feature: 0.005883, -0.188890, 0.981981
[11:52:54.864] xyz_f:1.010747, -0.145830, 2.042012  Reprojection Error: -0.836186, 0.159643 Feature: -0.321809, 0.083212, 0.943141
[11:52:54.864] xyz_f:1.304163, -0.432042, 2.058862  Reprojection Error: -0.651004, 0.017466 Feature: -0.017246, -0.188887, 0.981847
[11:52:54.864] xyz_f:1.030906, 0.219942, 2.037256  Reprojection Error: -0.884897, 0.409078 Feature: -0.318968, 0.435290, 0.841892
[11:52:54.864] xyz_f:1.393354, -0.449187, 2.064508  Reprojection Error: -0.600833, 0.008638 Feature: 0.072320, -0.203986, 0.976299
[11:52:54.864] xyz_f:1.013636, -0.133332, 2.045611  Reprojection Error: -0.833757, 0.167224 Feature: -0.318922, 0.096216, 0.942885
[11:52:54.864] xyz_f:1.133318, -0.230487, 2.081802  Reprojection Error: -0.738678, 0.122674 Feature: -0.190706, 0.011738, 0.981577
[11:52:54.864] xyz_f:1.011030, -0.147318, 2.041916  Reprojection Error: -0.835912, 0.158803 Feature: -0.321480, 0.081750, 0.943381
[11:52:54.864] xyz_f:1.030906, 0.219942, 2.037256  Reprojection Error: -0.341002, -0.563943 Feature: -0.318968, 0.435290, 0.841892
[11:52:54.864] xyz_f:0.430194, -1.191969, 2.376007  Reprojection Error: -0.124314, 0.290697 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.864] xyz_f:0.532072, -1.244101, 2.407601  Reprojection Error: -0.110538, 0.302130 Feature: -0.684109, -0.883015, 1.653161
[11:52:54.864] xyz_f:0.917082, -0.103090, 1.969603  Reprojection Error: -0.414718, -0.152817 Feature: -0.427976, 0.105755, 0.879397
[11:52:54.864] xyz_f:0.559673, -1.156618, 2.397611  Reprojection Error: -0.125633, 0.282947 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.864] xyz_f:1.135524, 0.008021, 1.571095  Reprojection Error: -1.051910, -0.113078 Feature: -0.283700, 0.109939, 0.434383
[11:52:54.864] xyz_f:1.133318, -0.230487, 2.081802  Reprojection Error: -0.669780, 0.124766 Feature: -0.190706, 0.011738, 0.981577
[11:52:54.864] xyz_f:1.209410, -0.053792, 1.660757  Reprojection Error: -0.833307, 0.059431 Feature: -0.193315, 0.073438, 0.522800
[11:52:54.864] xyz_f:1.010747, -0.145830, 2.042012  Reprojection Error: -0.761474, 0.164918 Feature: -0.321809, 0.083212, 0.943141
[11:52:54.864] xyz_f:0.451471, -1.165849, 2.376187  Reprojection Error: -0.196309, 0.868830 Feature: -0.772192, -0.815560, 1.617134
[11:52:54.864] it:3 	 Success 	 new_chi2: 8.439174 	 dT = -0.033157, 0.198792, 0.001184
[11:52:54.864] xyz_f:0.796286, -0.220809, 2.286622  Reprojection Error: -0.533453, 0.119603 Feature: -0.182071, 0.022646, 0.983024
[11:52:54.864] xyz_f:0.807283, -0.221837, 2.290481  Reprojection Error: -0.525589, 0.119847 Feature: -0.170556, 0.022653, 0.985088
[11:52:54.864] xyz_f:0.962427, -0.450073, 2.249574  Reprojection Error: -0.442497, -0.013025 Feature: -0.014347, -0.208394, 0.977940
[11:52:54.864] xyz_f:1.002102, -0.445858, 2.258979  Reprojection Error: -0.416940, -0.008835 Feature: 0.026110, -0.201889, 0.979060
[11:52:54.864] xyz_f:0.981673, -0.433156, 2.261795  Reprojection Error: -0.428033, -0.000847 Feature: 0.005883, -0.188890, 0.981981
[11:52:54.864] xyz_f:0.665382, -0.145977, 2.241350  Reprojection Error: -0.638076, 0.153357 Feature: -0.321809, 0.083212, 0.943141
[11:52:54.864] xyz_f:0.958904, -0.432099, 2.257865  Reprojection Error: -0.442260, -0.001004 Feature: -0.017246, -0.188887, 0.981847
[11:52:54.864] xyz_f:0.685424, 0.219802, 2.236571  Reprojection Error: -0.685332, 0.418761 Feature: -0.318968, 0.435290, 0.841892
[11:52:54.864] xyz_f:1.048107, -0.449216, 2.263409  Reprojection Error: -0.388990, -0.010469 Feature: 0.072320, -0.203986, 0.976299
[11:52:54.864] xyz_f:0.668271, -0.133478, 2.244947  Reprojection Error: -0.635918, 0.161501 Feature: -0.318922, 0.096216, 0.942885
[11:52:54.864] xyz_f:0.788024, -0.230596, 2.281000  Reprojection Error: -0.539759, 0.113053 Feature: -0.190706, 0.011738, 0.981577
[11:52:54.864] xyz_f:0.665665, -0.147464, 2.241254  Reprojection Error: -0.637780, 0.152452 Feature: -0.321480, 0.081750, 0.943381
[11:52:54.864] xyz_f:0.685424, 0.219802, 2.236571  Reprojection Error: -0.141437, -0.554259 Feature: -0.318968, 0.435290, 0.841892
[11:52:54.864] xyz_f:0.085532, -1.192294, 2.576008  Reprojection Error: 0.023540, 0.251873 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.864] xyz_f:0.187462, -1.244394, 2.607486  Reprojection Error: 0.038565, 0.262630 Feature: -0.684109, -0.883015, 1.653161
[11:52:54.864] xyz_f:0.571621, -0.103265, 2.169048  Reprojection Error: -0.212636, -0.157549 Feature: -0.427976, 0.105755, 0.879397
[11:52:54.864] xyz_f:0.215024, -1.156903, 2.597465  Reprojection Error: 0.025014, 0.245940 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.864] xyz_f:0.789573, 0.007913, 1.770291  Reprojection Error: -0.775164, -0.112443 Feature: -0.283700, 0.109939, 0.434383
[11:52:54.864] xyz_f:0.788024, -0.230596, 2.281000  Reprojection Error: -0.470861, 0.115145 Feature: -0.190706, 0.011738, 0.981577
[11:52:54.864] xyz_f:0.863581, -0.053878, 1.859868  Reprojection Error: -0.569402, 0.056010 Feature: -0.193315, 0.073438, 0.522800
[11:52:54.864] xyz_f:0.665382, -0.145977, 2.241350  Reprojection Error: -0.563365, 0.158632 Feature: -0.321809, 0.083212, 0.943141
[11:52:54.864] xyz_f:0.106801, -1.166167, 2.576165  Reprojection Error: -0.047769, 0.830867 Feature: -0.772192, -0.815560, 1.617134
[11:52:54.864] it:4 	 Success 	 new_chi2: 2.893519 	 dT = -0.035322, 0.195548, 0.001588
[11:52:54.864] xyz_f:0.994403, -0.220952, 2.482700  Reprojection Error: -0.585748, 0.112034 Feature: -0.182071, 0.022646, 0.983024
[11:52:54.864] xyz_f:1.005405, -0.221974, 2.486543  Reprojection Error: -0.577476, 0.112266 Feature: -0.170556, 0.022653, 0.985088
[11:52:54.864] xyz_f:1.160580, -0.450147, 2.445397  Reprojection Error: -0.489268, -0.029016 Feature: -0.014347, -0.208394, 0.977940
[11:52:54.864] xyz_f:1.200268, -0.445916, 2.454741  Reprojection Error: -0.462291, -0.024552 Feature: 0.026110, -0.201889, 0.979060
[11:52:54.864] xyz_f:1.179838, -0.433222, 2.457589  Reprojection Error: -0.474089, -0.016077 Feature: 0.005883, -0.188890, 0.981981
[11:52:54.864] xyz_f:0.863398, -0.146173, 2.437629  Reprojection Error: -0.695405, 0.148194 Feature: -0.321809, 0.083212, 0.943141
[11:52:54.864] xyz_f:1.157063, -0.432174, 2.453694  Reprojection Error: -0.489125, -0.016247 Feature: -0.017246, -0.188887, 0.981847
[11:52:54.864] xyz_f:0.883282, 0.219614, 2.432820  Reprojection Error: -0.741939, 0.426766 Feature: -0.318968, 0.435290, 0.841892
[11:52:54.864] xyz_f:1.246281, -0.449255, 2.459101  Reprojection Error: -0.432728, -0.026247 Feature: 0.072320, -0.203986, 0.976299
[11:52:54.864] xyz_f:0.866287, -0.133673, 2.441221  Reprojection Error: -0.693098, 0.156800 Feature: -0.318922, 0.096216, 0.942885
[11:52:54.864] xyz_f:0.986136, -0.230741, 2.477092  Reprojection Error: -0.592388, 0.105109 Feature: -0.190706, 0.011738, 0.981577
[11:52:54.864] xyz_f:0.863682, -0.147660, 2.437533  Reprojection Error: -0.695101, 0.147234 Feature: -0.321480, 0.081750, 0.943381
[11:52:54.864] xyz_f:0.883282, 0.219614, 2.432820  Reprojection Error: -0.198045, -0.546254 Feature: -0.318968, 0.435290, 0.841892
[11:52:54.864] xyz_f:0.284492, -1.192728, 2.773176  Reprojection Error: -0.045844, 0.219122 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.864] xyz_f:0.386492, -1.244786, 2.804498  Reprojection Error: -0.027352, 0.229244 Feature: -0.684109, -0.883015, 1.653161
[11:52:54.864] xyz_f:0.769509, -0.103500, 2.365471  Reprojection Error: -0.274410, -0.161403 Feature: -0.427976, 0.105755, 0.879397
[11:52:54.864] xyz_f:0.414003, -1.157284, 2.794434  Reprojection Error: -0.040356, 0.214682 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.864] xyz_f:0.986803, 0.007767, 1.966381  Reprojection Error: -0.830988, -0.111923 Feature: -0.283700, 0.109939, 0.434383
[11:52:54.864] xyz_f:0.986136, -0.230741, 2.477092  Reprojection Error: -0.523490, 0.107201 Feature: -0.190706, 0.011738, 0.981577
[11:52:54.864] xyz_f:1.060974, -0.053993, 2.055844  Reprojection Error: -0.621156, 0.053304 Feature: -0.193315, 0.073438, 0.522800
[11:52:54.864] xyz_f:0.863398, -0.146173, 2.437629  Reprojection Error: -0.620694, 0.153469 Feature: -0.321809, 0.083212, 0.943141
[11:52:54.864] xyz_f:0.305750, -1.166592, 2.773300  Reprojection Error: -0.116559, 0.798842 Feature: -0.772192, -0.815560, 1.617134
[11:52:54.864] it:5 	 Success 	 new_chi2: 2.925889 	 dT = -0.035639, 0.207548, 0.000740
[11:52:54.864] xyz_f:1.260217, -0.220885, 2.274905  Reprojection Error: -0.739180, 0.120134 Feature: -0.182071, 0.022646, 0.983024
[11:52:54.864] xyz_f:1.271217, -0.221910, 2.278756  Reprojection Error: -0.730993, 0.120378 Feature: -0.170556, 0.022653, 0.985088
[11:52:54.864] xyz_f:1.426378, -0.450113, 2.237721  Reprojection Error: -0.652095, -0.011947 Feature: -0.014347, -0.208394, 0.977940
[11:52:54.864] xyz_f:1.466060, -0.445889, 2.247093  Reprojection Error: -0.625757, -0.007777 Feature: 0.026110, -0.201889, 0.979060
[11:52:54.864] xyz_f:1.445630, -0.433191, 2.249927  Reprojection Error: -0.636532, 0.000179 Feature: 0.005883, -0.188890, 0.981981
[11:52:54.864] xyz_f:1.129260, -0.146081, 2.229740  Reprojection Error: -0.847663, 0.153743 Feature: -0.321809, 0.083212, 0.943141
[11:52:54.864] xyz_f:1.422858, -0.432139, 2.246015  Reprojection Error: -0.651069, 0.000024 Feature: -0.017246, -0.188887, 0.981847
[11:52:54.864] xyz_f:1.149217, 0.219701, 2.224945  Reprojection Error: -0.895385, 0.418293 Feature: -0.318968, 0.435290, 0.841892
[11:52:54.864] xyz_f:1.512069, -0.449237, 2.251486  Reprojection Error: -0.597512, -0.009409 Feature: 0.072320, -0.203986, 0.976299
[11:52:54.864] xyz_f:1.132148, -0.133582, 2.233335  Reprojection Error: -0.845172, 0.161857 Feature: -0.318922, 0.096216, 0.942885
[11:52:54.864] xyz_f:1.251953, -0.230674, 2.269291  Reprojection Error: -0.745979, 0.113609 Feature: -0.190706, 0.011738, 0.981577
[11:52:54.864] xyz_f:1.129543, -0.147569, 2.229644  Reprojection Error: -0.847377, 0.152841 Feature: -0.321480, 0.081750, 0.943381
[11:52:54.864] xyz_f:1.149217, 0.219701, 2.224945  Reprojection Error: -0.351490, -0.554727 Feature: -0.318968, 0.435290, 0.841892
[11:52:54.864] xyz_f:0.549913, -1.192526, 2.564874  Reprojection Error: -0.157658, 0.253973 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.864] xyz_f:0.651881, -1.244604, 2.596268  Reprojection Error: -0.140625, 0.264772 Feature: -0.684109, -0.883015, 1.653161
[11:52:54.864] xyz_f:1.035430, -0.103390, 2.157516  Reprojection Error: -0.429018, -0.157237 Feature: -0.427976, 0.105755, 0.879397
[11:52:54.864] xyz_f:0.679416, -1.157106, 2.586224  Reprojection Error: -0.154909, 0.247954 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.864] xyz_f:1.253030, 0.007835, 1.758580  Reprojection Error: -1.041675, -0.112428 Feature: -0.283700, 0.109939, 0.434383
[11:52:54.864] xyz_f:1.251953, -0.230674, 2.269291  Reprojection Error: -0.677081, 0.115701 Feature: -0.190706, 0.011738, 0.981577
[11:52:54.864] xyz_f:1.327125, -0.053939, 1.848097  Reprojection Error: -0.823183, 0.056227 Feature: -0.193315, 0.073438, 0.522800
[11:52:54.864] xyz_f:1.129260, -0.146081, 2.229740  Reprojection Error: -0.772951, 0.159018 Feature: -0.321809, 0.083212, 0.943141
[11:52:54.864] xyz_f:0.571177, -1.166394, 2.565013  Reprojection Error: -0.228991, 0.832923 Feature: -0.772192, -0.815560, 1.617134
[11:52:54.864] it:6 	 Success 	 new_chi2: 0.142994 	 dT = -0.009929, 0.189591, 0.001689
[11:52:54.864] xyz_f:1.025376, -0.220734, 2.084749  Reprojection Error: -0.677062, 0.128918 Feature: -0.182071, 0.022646, 0.983024
[11:52:54.864] xyz_f:1.036368, -0.221763, 2.088617  Reprojection Error: -0.669336, 0.129173 Feature: -0.170556, 0.022653, 0.985088
[11:52:54.864] xyz_f:1.191496, -0.450034, 2.047835  Reprojection Error: -0.596503, 0.006666 Feature: -0.014347, -0.208394, 0.977940
[11:52:54.864] xyz_f:1.231165, -0.445828, 2.057273  Reprojection Error: -0.571777, 0.010501 Feature: 0.026110, -0.201889, 0.979060
[11:52:54.864] xyz_f:1.210736, -0.433121, 2.060073  Reprojection Error: -0.581725, 0.017889 Feature: 0.005883, -0.188890, 0.981981
[11:52:54.864] xyz_f:0.894524, -0.145873, 2.039371  Reprojection Error: -0.779837, 0.159757 Feature: -0.321809, 0.083212, 0.943141
[11:52:54.864] xyz_f:1.187971, -0.432059, 2.056124  Reprojection Error: -0.595337, 0.017754 Feature: -0.017246, -0.188887, 0.981847
[11:52:54.864] xyz_f:0.914649, 0.219901, 2.034608  Reprojection Error: -0.828416, 0.408957 Feature: -0.318968, 0.435290, 0.841892
[11:52:54.864] xyz_f:1.277165, -0.449196, 2.061740  Reprojection Error: -0.545385, 0.008934 Feature: 0.072320, -0.203986, 0.976299
[11:52:54.864] xyz_f:0.897413, -0.133375, 2.042969  Reprojection Error: -0.777509, 0.167329 Feature: -0.318922, 0.096216, 0.942885
[11:52:54.864] xyz_f:1.017116, -0.230518, 2.079121  Reprojection Error: -0.683490, 0.122832 Feature: -0.190706, 0.011738, 0.981577
[11:52:54.864] xyz_f:0.894807, -0.147360, 2.039275  Reprojection Error: -0.779561, 0.158918 Feature: -0.321480, 0.081750, 0.943381
[11:52:54.864] xyz_f:0.914649, 0.219901, 2.034608  Reprojection Error: -0.284521, -0.564063 Feature: -0.318968, 0.435290, 0.841892
[11:52:54.864] xyz_f:0.314175, -1.192064, 2.373558  Reprojection Error: -0.075621, 0.291254 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.864] xyz_f:0.416068, -1.244186, 2.405119  Reprojection Error: -0.062534, 0.302698 Feature: -0.684109, -0.883015, 1.653161
[11:52:54.864] xyz_f:0.800831, -0.103141, 1.966993  Reprojection Error: -0.356236, -0.152722 Feature: -0.427976, 0.105755, 0.879397
[11:52:54.864] xyz_f:0.443658, -1.156701, 2.395120  Reprojection Error: -0.077437, 0.283484 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.864] xyz_f:1.019131, 0.007990, 1.568413  Reprojection Error: -0.978936, -0.113067 Feature: -0.283700, 0.109939, 0.434383
[11:52:54.864] xyz_f:1.017116, -0.230518, 2.079121  Reprojection Error: -0.614592, 0.124924 Feature: -0.190706, 0.011738, 0.981577
[11:52:54.864] xyz_f:1.093053, -0.053817, 1.658050  Reprojection Error: -0.764319, 0.059499 Feature: -0.193315, 0.073438, 0.522800
[11:52:54.864] xyz_f:0.894524, -0.145873, 2.039371  Reprojection Error: -0.705126, 0.165032 Feature: -0.321809, 0.083212, 0.943141
[11:52:54.864] xyz_f:0.335450, -1.165941, 2.373732  Reprojection Error: -0.147629, 0.869376 Feature: -0.772192, -0.815560, 1.617134
[11:52:54.864] it:7 	 Success 	 new_chi2: 0.161826 	 dT = -0.003012, 0.169575, 0.002260
[11:52:54.864] xyz_f:0.826750, -0.220530, 1.914413  Reprojection Error: -0.617071, 0.138232 Feature: -0.182071, 0.022646, 0.983024
[11:52:54.864] xyz_f:0.837734, -0.221566, 1.918305  Reprojection Error: -0.609843, 0.138497 Feature: -0.170556, 0.022653, 0.985088
[11:52:54.864] xyz_f:0.992817, -0.449927, 1.877862  Reprojection Error: -0.543366, 0.026500 Feature: -0.014347, -0.208394, 0.977940
[11:52:54.864] xyz_f:1.032467, -0.445744, 1.887386  Reprojection Error: -0.520367, 0.029963 Feature: 0.026110, -0.201889, 0.979060
[11:52:54.864] xyz_f:1.012040, -0.433025, 1.890141  Reprojection Error: -0.529440, 0.036740 Feature: 0.005883, -0.188890, 0.981981
[11:52:54.864] xyz_f:0.696042, -0.145592, 1.868749  Reprojection Error: -0.713674, 0.166137 Feature: -0.321809, 0.083212, 0.943141
[11:52:54.864] xyz_f:0.989284, -0.431950, 1.886143  Reprojection Error: -0.542066, 0.036634 Feature: -0.017246, -0.188887, 0.981847
[11:52:54.864] xyz_f:0.716392, 0.220170, 1.864031  Reprojection Error: -0.763194, 0.398923 Feature: -0.318968, 0.435290, 0.841892
[11:52:54.864] xyz_f:1.078456, -0.449139, 1.891954  Reprojection Error: -0.495947, 0.028456 Feature: 0.072320, -0.203986, 0.976299
[11:52:54.864] xyz_f:0.698930, -0.133096, 1.872354  Reprojection Error: -0.711530, 0.173129 Feature: -0.318922, 0.096216, 0.942885
[11:52:54.864] xyz_f:0.818497, -0.230310, 1.908767  Reprojection Error: -0.623095, 0.132618 Feature: -0.190706, 0.011738, 0.981577
[11:52:54.864] xyz_f:0.696324, -0.147080, 1.868654  Reprojection Error: -0.713409, 0.165366 Feature: -0.321480, 0.081750, 0.943381
[11:52:54.864] xyz_f:0.716392, 0.220170, 1.864031  Reprojection Error: -0.219299, -0.574098 Feature: -0.318968, 0.435290, 0.841892
[11:52:54.864] xyz_f:0.114352, -1.191443, 2.201668  Reprojection Error: 0.004804, 0.330182 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.864] xyz_f:0.216146, -1.243625, 2.233451  Reprojection Error: 0.013682, 0.342208 Feature: -0.684109, -0.883015, 1.653161
[11:52:54.864] xyz_f:0.602533, -0.102805, 1.796167  Reprojection Error: -0.284555, -0.147922 Feature: -0.427976, 0.105755, 0.879397
[11:52:54.864] xyz_f:0.243809, -1.156156, 2.223512  Reprojection Error: -0.001853, 0.320511 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.864] xyz_f:0.821767, 0.008197, 1.398065  Reprojection Error: -0.916940, -0.113836 Feature: -0.283700, 0.109939, 0.434383
[11:52:54.864] xyz_f:0.818497, -0.230310, 1.908767  Reprojection Error: -0.554197, 0.134710 Feature: -0.190706, 0.011738, 0.981577
[11:52:54.864] xyz_f:0.895456, -0.053653, 1.487863  Reprojection Error: -0.706920, 0.063101 Feature: -0.193315, 0.073438, 0.522800
[11:52:54.864] xyz_f:0.696042, -0.145592, 1.868749  Reprojection Error: -0.638962, 0.171412 Feature: -0.321809, 0.083212, 0.943141
[11:52:54.864] xyz_f:0.135642, -1.165333, 2.201888  Reprojection Error: -0.067914, 0.907434 Feature: -0.772192, -0.815560, 1.617134
[11:52:54.864] it:8 	 Success 	 new_chi2: 0.174220 	 dT = 0.006834, 0.136646, -0.000248
[11:52:54.864] xyz_f:0.647561, -0.220552, 1.777850  Reprojection Error: -0.549454, 0.147093 Feature: -0.182071, 0.022646, 0.983024
[11:52:54.864] xyz_f:0.658546, -0.221588, 1.781740  Reprojection Error: -0.542746, 0.147362 Feature: -0.170556, 0.022653, 0.985088
[11:52:54.864] xyz_f:0.813633, -0.449939, 1.741260  Reprojection Error: -0.481938, 0.045303 Feature: -0.014347, -0.208394, 0.977940
[11:52:54.864] xyz_f:0.853286, -0.445753, 1.750774  Reprojection Error: -0.460708, 0.048397 Feature: 0.026110, -0.201889, 0.979060
[11:52:54.864] xyz_f:0.832858, -0.433036, 1.753535  Reprojection Error: -0.468969, 0.054594 Feature: 0.005883, -0.188890, 0.981981
[11:52:54.864] xyz_f:0.516837, -0.145623, 1.732218  Reprojection Error: -0.639577, 0.172296 Feature: -0.321809, 0.083212, 0.943141
[11:52:54.864] xyz_f:0.810101, -0.431962, 1.749542  Reprojection Error: -0.480602, 0.054521 Feature: -0.017246, -0.188887, 0.981847
[11:52:54.864] xyz_f:0.537162, 0.220140, 1.727495  Reprojection Error: -0.689819, 0.389604 Feature: -0.318968, 0.435290, 0.841892
[11:52:54.864] xyz_f:0.899276, -0.449145, 1.755331  Reprojection Error: -0.438236, 0.046937 Feature: 0.072320, -0.203986, 0.976299
[11:52:54.864] xyz_f:0.519725, -0.133126, 1.735822  Reprojection Error: -0.637652, 0.178737 Feature: -0.318922, 0.096216, 0.942885
[11:52:54.864] xyz_f:0.639307, -0.230333, 1.772206  Reprojection Error: -0.555026, 0.141928 Feature: -0.190706, 0.011738, 0.981577
[11:52:54.864] xyz_f:0.517119, -0.147111, 1.732123  Reprojection Error: -0.639321, 0.171587 Feature: -0.321480, 0.081750, 0.943381
[11:52:54.864] xyz_f:0.537162, 0.220140, 1.727495  Reprojection Error: -0.145924, -0.583416 Feature: -0.318968, 0.435290, 0.841892
[11:52:54.864] xyz_f:-0.064706, -1.191511, 2.065276  Reprojection Error: 0.088074, 0.365953 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.864] xyz_f:0.037099, -1.243687, 2.097035  Reprojection Error: 0.092768, 0.378460 Feature: -0.684109, -0.883015, 1.653161
[11:52:54.864] xyz_f:0.423307, -0.102842, 1.659658  Reprojection Error: -0.204158, -0.143192 Feature: -0.427976, 0.105755, 0.879397
[11:52:54.864] xyz_f:0.064753, -1.156216, 2.087089  Reprojection Error: 0.076771, 0.354528 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.864] xyz_f:0.642439, 0.008174, 1.261503  Reprojection Error: -0.838416, -0.114453 Feature: -0.283700, 0.109939, 0.434383
[11:52:54.864] xyz_f:0.639307, -0.230333, 1.772206  Reprojection Error: -0.486128, 0.144020 Feature: -0.190706, 0.011738, 0.981577
[11:52:54.864] xyz_f:0.716154, -0.053671, 1.351284  Reprojection Error: -0.635059, 0.066759 Feature: -0.193315, 0.073438, 0.522800
[11:52:54.864] xyz_f:0.516837, -0.145623, 1.732218  Reprojection Error: -0.564865, 0.177571 Feature: -0.321809, 0.083212, 0.943141
[11:52:54.864] xyz_f:-0.043418, -1.165400, 2.065491  Reprojection Error: 0.014709, 0.942415 Feature: -0.772192, -0.815560, 1.617134
[11:52:54.864] it:9 	 Success 	 new_chi2: 0.212419 	 dT = 0.004880, 0.132228, -0.000534
[11:52:54.864] xyz_f:0.513369, -0.220600, 1.645802  Reprojection Error: -0.497142, 0.157076 Feature: -0.182071, 0.022646, 0.983024
[11:52:54.864] xyz_f:0.524356, -0.221634, 1.649687  Reprojection Error: -0.490990, 0.157345 Feature: -0.170556, 0.022653, 0.985088
[11:52:54.864] xyz_f:0.679455, -0.449964, 1.609126  Reprojection Error: -0.436921, 0.066537 Feature: -0.014347, -0.208394, 0.977940
[11:52:54.864] xyz_f:0.719111, -0.445773, 1.618620  Reprojection Error: -0.417606, 0.069196 Feature: 0.026110, -0.201889, 0.979060
[11:52:54.864] xyz_f:0.698684, -0.433058, 1.621391  Reprojection Error: -0.424925, 0.074734 Feature: 0.005883, -0.188890, 0.981981
[11:52:54.864] xyz_f:0.382612, -0.145689, 1.600237  Reprojection Error: -0.580306, 0.179271 Feature: -0.321809, 0.083212, 0.943141
[11:52:54.864] xyz_f:0.675925, -0.431988, 1.617410  Reprojection Error: -0.435471, 0.074707 Feature: -0.017246, -0.188887, 0.981847
[11:52:54.865] xyz_f:0.402884, 0.220077, 1.595504  Reprojection Error: -0.631382, 0.379102 Feature: -0.318968, 0.435290, 0.841892
[11:52:54.865] xyz_f:0.765104, -0.449159, 1.623153  Reprojection Error: -0.397294, 0.067782 Feature: 0.072320, -0.203986, 0.976299
[11:52:54.865] xyz_f:0.385500, -0.133192, 1.603840  Reprojection Error: -0.578601, 0.185090 Feature: -0.318922, 0.096216, 0.942885
[11:52:54.865] xyz_f:0.505114, -0.230382, 1.640162  Reprojection Error: -0.502251, 0.152422 Feature: -0.190706, 0.011738, 0.981577
[11:52:54.865] xyz_f:0.382894, -0.147177, 1.600142  Reprojection Error: -0.580062, 0.178634 Feature: -0.321480, 0.081750, 0.943381
[11:52:54.865] xyz_f:0.402884, 0.220077, 1.595504  Reprojection Error: -0.087487, -0.593918 Feature: -0.318968, 0.435290, 0.841892
[11:52:54.865] xyz_f:-0.198615, -1.191658, 1.933595  Reprojection Error: 0.159461, 0.405319 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.865] xyz_f:-0.096787, -1.243819, 1.965301  Reprojection Error: 0.159707, 0.418281 Feature: -0.684109, -0.883015, 1.653161
[11:52:54.865] xyz_f:0.289039, -0.102921, 1.527726  Reprojection Error: -0.138296, -0.137789 Feature: -0.427976, 0.105755, 0.879397
[11:52:54.865] xyz_f:-0.069149, -1.156345, 1.955342  Reprojection Error: 0.143161, 0.391920 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.865] xyz_f:0.507950, 0.008125, 1.129458  Reprojection Error: -0.778880, -0.115167 Feature: -0.283700, 0.109939, 0.434383
[11:52:54.865] xyz_f:0.505114, -0.230382, 1.640162  Reprojection Error: -0.433353, 0.154514 Feature: -0.190706, 0.011738, 0.981577
[11:52:54.865] xyz_f:0.581720, -0.053710, 1.219201  Reprojection Error: -0.582211, 0.071094 Feature: -0.193315, 0.073438, 0.522800
[11:52:54.865] xyz_f:0.382612, -0.145689, 1.600237  Reprojection Error: -0.505595, 0.184546 Feature: -0.321809, 0.083212, 0.943141
[11:52:54.865] xyz_f:-0.177330, -1.165543, 1.933799  Reprojection Error: 0.085389, 0.980913 Feature: -0.772192, -0.815560, 1.617134
[11:52:54.865] it:10 	 Success 	 new_chi2: 0.234087 	 dT = -0.009137, 0.119566, 0.002283
[11:52:54.865] xyz_f:0.393020, -0.220394, 1.525465  Reprojection Error: -0.442855, 0.167514 Feature: -0.182071, 0.022646, 0.983024
[11:52:54.865] xyz_f:0.403998, -0.221434, 1.529373  Reprojection Error: -0.437297, 0.167783 Feature: -0.170556, 0.022653, 0.985088
[11:52:54.865] xyz_f:0.559050, -0.449855, 1.489155  Reprojection Error: -0.390085, 0.088992 Feature: -0.014347, -0.208394, 0.977940
[11:52:54.865] xyz_f:0.598688, -0.445688, 1.498736  Reprojection Error: -0.372794, 0.091169 Feature: 0.026110, -0.201889, 0.979060
[11:52:54.865] xyz_f:0.578262, -0.432961, 1.501462  Reprojection Error: -0.379142, 0.096003 Feature: 0.005883, -0.188890, 0.981981
[11:52:54.865] xyz_f:0.262408, -0.145405, 1.479611  Reprojection Error: -0.518559, 0.186501 Feature: -0.321809, 0.083212, 0.943141
[11:52:54.865] xyz_f:0.555513, -0.431877, 1.497431  Reprojection Error: -0.388542, 0.096033 Feature: -0.017246, -0.188887, 0.981847
[11:52:54.865] xyz_f:0.282906, 0.220349, 1.474923  Reprojection Error: -0.570681, 0.367641 Feature: -0.318968, 0.435290, 0.841892
[11:52:54.865] xyz_f:0.644669, -0.449101, 1.503371  Reprojection Error: -0.354741, 0.089791 Feature: 0.072320, -0.203986, 0.976299
[11:52:54.865] xyz_f:0.265295, -0.132910, 1.483221  Reprojection Error: -0.517104, 0.191653 Feature: -0.318922, 0.096216, 0.942885
[11:52:54.865] xyz_f:0.384771, -0.230170, 1.519807  Reprojection Error: -0.447457, 0.163406 Feature: -0.190706, 0.011738, 0.981577
[11:52:54.865] xyz_f:0.262689, -0.146893, 1.479517  Reprojection Error: -0.518325, 0.185941 Feature: -0.321480, 0.081750, 0.943381
[11:52:54.865] xyz_f:0.282906, 0.220349, 1.474923  Reprojection Error: -0.026786, -0.605380 Feature: -0.318968, 0.435290, 0.841892
[11:52:54.865] xyz_f:-0.320171, -1.191030, 1.811686  Reprojection Error: 0.233469, 0.446443 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.865] xyz_f:-0.218443, -1.243252, 1.843617  Reprojection Error: 0.228945, 0.459745 Feature: -0.684109, -0.883015, 1.653161
[11:52:54.865] xyz_f:0.169020, -0.102582, 1.406894  Reprojection Error: -0.069238, -0.132244 Feature: -0.427976, 0.105755, 0.879397
[11:52:54.865] xyz_f:-0.190733, -1.155793, 1.833718  Reprojection Error: 0.211811, 0.430843 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.865] xyz_f:0.388874, 0.008335, 1.009110  Reprojection Error: -0.714515, -0.116232 Feature: -0.283700, 0.109939, 0.434383
[11:52:54.865] xyz_f:0.384771, -0.230170, 1.519807  Reprojection Error: -0.378559, 0.165498 Feature: -0.190706, 0.011738, 0.981577
[11:52:54.865] xyz_f:0.462410, -0.053544, 1.099015  Reprojection Error: -0.525828, 0.075760 Feature: -0.193315, 0.073438, 0.522800
[11:52:54.865] xyz_f:0.262408, -0.145405, 1.479611  Reprojection Error: -0.443847, 0.191776 Feature: -0.321809, 0.083212, 0.943141
[11:52:54.865] xyz_f:-0.298871, -1.164928, 1.811937  Reprojection Error: 0.158634, 1.021110 Feature: -0.772192, -0.815560, 1.617134
[11:52:54.865] it:11 	 Success 	 new_chi2: 0.273686 	 dT = -0.013834, 0.078043, -0.001603
[11:52:54.865] xyz_f:0.279653, -0.220539, 1.447964  Reprojection Error: -0.378351, 0.175347 Feature: -0.182071, 0.022646, 0.983024
[11:52:54.865] xyz_f:0.290637, -0.221575, 1.451856  Reprojection Error: -0.373321, 0.175611 Feature: -0.170556, 0.022653, 0.985088
[11:52:54.865] xyz_f:0.445722, -0.449932, 1.411397  Reprojection Error: -0.330473, 0.105689 Feature: -0.014347, -0.208394, 0.977940
[11:52:54.865] xyz_f:0.485373, -0.445748, 1.420917  Reprojection Error: -0.314923, 0.107497 Feature: 0.026110, -0.201889, 0.979060
[11:52:54.865] xyz_f:0.464946, -0.433029, 1.423674  Reprojection Error: -0.320591, 0.111807 Feature: 0.005883, -0.188890, 0.981981
[11:52:54.865] xyz_f:0.148938, -0.145605, 1.402313  Reprojection Error: -0.447419, 0.192060 Feature: -0.321809, 0.083212, 0.943141
[11:52:54.865] xyz_f:0.442189, -0.431955, 1.419678  Reprojection Error: -0.329037, 0.111884 Feature: -0.017246, -0.188887, 0.981847
[11:52:54.865] xyz_f:0.169278, 0.220158, 1.397593  Reprojection Error: -0.499991, 0.359511 Feature: -0.318968, 0.435290, 0.841892
[11:52:54.865] xyz_f:0.531362, -0.449142, 1.425480  Reprojection Error: -0.298685, 0.106143 Feature: 0.072320, -0.203986, 0.976299
[11:52:54.865] xyz_f:0.151826, -0.133108, 1.405918  Reprojection Error: -0.446231, 0.196721 Feature: -0.318922, 0.096216, 0.942885
[11:52:54.865] xyz_f:0.271399, -0.230319, 1.442319  Reprojection Error: -0.382454, 0.171645 Feature: -0.190706, 0.011738, 0.981577
[11:52:54.865] xyz_f:0.149221, -0.147093, 1.402218  Reprojection Error: -0.447192, 0.191557 Feature: -0.321480, 0.081750, 0.943381
[11:52:54.865] xyz_f:0.169278, 0.220158, 1.397593  Reprojection Error: 0.043904, -0.613509 Feature: -0.318968, 0.435290, 0.841892
[11:52:54.865] xyz_f:-0.432691, -1.191471, 1.735289  Reprojection Error: 0.306091, 0.475640 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.865] xyz_f:-0.330893, -1.243651, 1.767062  Reprojection Error: 0.297715, 0.489186 Feature: -0.684109, -0.883015, 1.653161
[11:52:54.865] xyz_f:0.055420, -0.102821, 1.329740  Reprojection Error: 0.009222, -0.127834 Feature: -0.427976, 0.105755, 0.879397
[11:52:54.865] xyz_f:-0.303233, -1.156181, 1.757121  Reprojection Error: 0.280371, 0.458540 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.865] xyz_f:0.274612, 0.008187, 0.931617  Reprojection Error: -0.623921, -0.116761 Feature: -0.283700, 0.109939, 0.434383
[11:52:54.865] xyz_f:0.271399, -0.230319, 1.442319  Reprojection Error: -0.313556, 0.173737 Feature: -0.190706, 0.011738, 0.981577
[11:52:54.865] xyz_f:0.348313, -0.053660, 1.021407  Reprojection Error: -0.446091, 0.079577 Feature: -0.193315, 0.073438, 0.522800
[11:52:54.865] xyz_f:0.148938, -0.145605, 1.402313  Reprojection Error: -0.372707, 0.197335 Feature: -0.321809, 0.083212, 0.943141
[11:52:54.865] xyz_f:-0.411402, -1.165360, 1.735508  Reprojection Error: 0.230739, 1.049672 Feature: -0.772192, -0.815560, 1.617134
[11:52:54.865] it:12 	 Success 	 new_chi2: 0.408521 	 dT = -0.006328, 0.051647, -0.010059
[11:52:54.865] xyz_f:0.203543, -0.221437, 1.399668  Reprojection Error: -0.330638, 0.181244 Feature: -0.182071, 0.022646, 0.983024
[11:52:54.865] xyz_f:0.214567, -0.222444, 1.403453  Reprojection Error: -0.326023, 0.181494 Feature: -0.170556, 0.022653, 0.985088
[11:52:54.865] xyz_f:0.369846, -0.450397, 1.361487  Reprojection Error: -0.286319, 0.117717 Feature: -0.014347, -0.208394, 0.977940
[11:52:54.865] xyz_f:0.409576, -0.446110, 1.370621  Reprojection Error: -0.272157, 0.119273 Feature: 0.026110, -0.201889, 0.979060
[11:52:54.865] xyz_f:0.389144, -0.433445, 1.373577  Reprojection Error: -0.277316, 0.123203 Feature: 0.005883, -0.188890, 0.981981
[11:52:54.865] xyz_f:0.072197, -0.146844, 1.355291  Reprojection Error: -0.394480, 0.196577 Feature: -0.321809, 0.083212, 0.943141
[11:52:54.865] xyz_f:0.366347, -0.432429, 1.369802  Reprojection Error: -0.285010, 0.123309 Feature: -0.017246, -0.188887, 0.981847
[11:52:54.865] xyz_f:0.091537, 0.218970, 1.350378  Reprojection Error: -0.446656, 0.354883 Feature: -0.318968, 0.435290, 0.841892
[11:52:54.865] xyz_f:0.455617, -0.449384, 1.374737  Reprojection Error: -0.257346, 0.117949 Feature: 0.072320, -0.203986, 0.976299
[11:52:54.865] xyz_f:0.075087, -0.134340, 1.358868  Reprojection Error: -0.393497, 0.200906 Feature: -0.318922, 0.096216, 0.942885
[11:52:54.865] xyz_f:0.195261, -0.231239, 1.394103  Reprojection Error: -0.334347, 0.177828 Feature: -0.190706, 0.011738, 0.981577
[11:52:54.865] xyz_f:0.072482, -0.148331, 1.355193  Reprojection Error: -0.394259, 0.196110 Feature: -0.321480, 0.081750, 0.943381
[11:52:54.865] xyz_f:0.091537, 0.218970, 1.350378  Reprojection Error: 0.097239, -0.618138 Feature: -0.318968, 0.435290, 0.841892
[11:52:54.865] xyz_f:-0.503445, -1.194217, 1.693889  Reprojection Error: 0.353956, 0.494042 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.865] xyz_f:-0.401207, -1.246131, 1.724671  Reprojection Error: 0.343087, 0.507923 Feature: -0.684109, -0.883015, 1.653161
[11:52:54.865] xyz_f:-0.022133, -0.104304, 1.283630  Reprojection Error: 0.068142, -0.123901 Feature: -0.427976, 0.105755, 0.879397
[11:52:54.865] xyz_f:-0.373874, -1.158589, 1.714463  Reprojection Error: 0.325867, 0.476317 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.865] xyz_f:0.192890, 0.007269, 0.883397  Reprojection Error: -0.547502, -0.116201 Feature: -0.283700, 0.109939, 0.434383
[11:52:54.865] xyz_f:0.195261, -0.231239, 1.394103  Reprojection Error: -0.265450, 0.179920 Feature: -0.190706, 0.011738, 0.981577
[11:52:54.865] xyz_f:0.267620, -0.054385, 0.972467  Reprojection Error: -0.380276, 0.082966 Feature: -0.193315, 0.073438, 0.522800
[11:52:54.865] xyz_f:0.072197, -0.146844, 1.355291  Reprojection Error: -0.319768, 0.201852 Feature: -0.321809, 0.083212, 0.943141
[11:52:54.865] xyz_f:-0.482223, -1.168051, 1.693901  Reprojection Error: 0.278371, 1.067754 Feature: -0.772192, -0.815560, 1.617134
[11:52:54.865] it:13 	 Success 	 new_chi2: 0.513046 	 dT = -0.025783, 0.075012, 0.004981
[11:52:54.865] xyz_f:0.166673, -0.220995, 1.323008  Reprojection Error: -0.311196, 0.190077 Feature: -0.182071, 0.022646, 0.983024
[11:52:54.865] xyz_f:0.177677, -0.222017, 1.326846  Reprojection Error: -0.307047, 0.190323 Feature: -0.170556, 0.022653, 0.985088
[11:52:54.865] xyz_f:0.332862, -0.450170, 1.285626  Reprojection Error: -0.273581, 0.137061 Feature: -0.014347, -0.208394, 0.977940
[11:52:54.865] xyz_f:0.372553, -0.445934, 1.294952  Reprojection Error: -0.261028, 0.138156 Feature: 0.026110, -0.201889, 0.979060
[11:52:54.865] xyz_f:0.352123, -0.433242, 1.297809  Reprojection Error: -0.265330, 0.141469 Feature: 0.005883, -0.188890, 0.981981
[11:52:54.865] xyz_f:0.035637, -0.146233, 1.277999  Reprojection Error: -0.369095, 0.202652 Feature: -0.321809, 0.083212, 0.943141
[11:52:54.865] xyz_f:0.329346, -0.432198, 1.293925  Reprojection Error: -0.272098, 0.141642 Feature: -0.017246, -0.188887, 0.981847
[11:52:54.865] xyz_f:0.055472, 0.219556, 1.273180  Reprojection Error: -0.422440, 0.344591 Feature: -0.318968, 0.435290, 0.841892
[11:52:54.865] xyz_f:0.418569, -0.449267, 1.299289  Reprojection Error: -0.248077, 0.136841 Feature: 0.072320, -0.203986, 0.976299
[11:52:54.865] xyz_f:0.038526, -0.133733, 1.281590  Reprojection Error: -0.368302, 0.206393 Feature: -0.318922, 0.096216, 0.942885
[11:52:54.865] xyz_f:0.158404, -0.230786, 1.317403  Reprojection Error: -0.314525, 0.187141 Feature: -0.190706, 0.011738, 0.981577
[11:52:54.865] xyz_f:0.035921, -0.147721, 1.277903  Reprojection Error: -0.368884, 0.202253 Feature: -0.321480, 0.081750, 0.943381
[11:52:54.865] xyz_f:0.055472, 0.219556, 1.273180  Reprojection Error: 0.121455, -0.628429 Feature: -0.318968, 0.435290, 0.841892
[11:52:54.865] xyz_f:-0.542977, -1.192862, 1.613821  Reprojection Error: 0.393197, 0.528181 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.865] xyz_f:-0.440955, -1.244908, 1.645094  Reprojection Error: 0.378502, 0.542130 Feature: -0.684109, -0.883015, 1.653161
[11:52:54.865] xyz_f:-0.058292, -0.103572, 1.205886  Reprojection Error: 0.099239, -0.119269 Feature: -0.427976, 0.105755, 0.879397
[11:52:54.865] xyz_f:-0.413460, -1.157402, 1.635018  Reprojection Error: 0.360675, 0.508426 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.865] xyz_f:0.158799, 0.007723, 0.806692  Reprojection Error: -0.526003, -0.117546 Feature: -0.283700, 0.109939, 0.434383
[11:52:54.865] xyz_f:0.158404, -0.230786, 1.317403  Reprojection Error: -0.245627, 0.189233 Feature: -0.190706, 0.011738, 0.981577
[11:52:54.865] xyz_f:0.233020, -0.054028, 0.896120  Reprojection Error: -0.365110, 0.087332 Feature: -0.193315, 0.073438, 0.522800
[11:52:54.865] xyz_f:0.035637, -0.146233, 1.277999  Reprojection Error: -0.294383, 0.207927 Feature: -0.321809, 0.083212, 0.943141
[11:52:54.865] xyz_f:-0.521721, -1.166723, 1.613935  Reprojection Error: 0.316949, 1.101097 Feature: -0.772192, -0.815560, 1.617134
[11:52:54.865] it:14 	 Success 	 new_chi2: 0.544574 	 dT = -0.023489, 0.072149, 0.004678
[11:52:54.865] xyz_f:0.084980, -0.220575, 1.249291  Reprojection Error: -0.253238, 0.199598 Feature: -0.182071, 0.022646, 0.983024
[11:52:54.865] xyz_f:0.095966, -0.221610, 1.253178  Reprojection Error: -0.249715, 0.199834 Feature: -0.170556, 0.022653, 0.985088
[11:52:54.865] xyz_f:0.251059, -0.449951, 1.212660  Reprojection Error: -0.221702, 0.157949 Feature: -0.014347, -0.208394, 0.977940
[11:52:54.865] xyz_f:0.290713, -0.445763, 1.222165  Reprojection Error: -0.211199, 0.158525 Feature: 0.026110, -0.201889, 0.979060
[11:52:54.865] xyz_f:0.270285, -0.433046, 1.224930  Reprojection Error: -0.214663, 0.161171 Feature: 0.005883, -0.188890, 0.981981
[11:52:54.865] xyz_f:-0.045760, -0.145655, 1.203691  Reprojection Error: -0.303193, 0.209235 Feature: -0.321809, 0.083212, 0.943141
[11:52:54.865] xyz_f:0.247527, -0.431974, 1.220942  Reprojection Error: -0.220300, 0.161425 Feature: -0.017246, -0.188887, 0.981847
[11:52:54.865] xyz_f:-0.025461, 0.220110, 1.198963  Reprojection Error: -0.357635, 0.333454 Feature: -0.318968, 0.435290, 0.841892
[11:52:54.865] xyz_f:0.336704, -0.449152, 1.226710  Reprojection Error: -0.200402, 0.157205 Feature: 0.072320, -0.203986, 0.976299
[11:52:54.865] xyz_f:-0.042872, -0.133158, 1.207295  Reprojection Error: -0.302730, 0.212338 Feature: -0.318922, 0.096216, 0.942885
[11:52:54.865] xyz_f:0.076725, -0.230356, 1.243649  Reprojection Error: -0.255979, 0.197185 Feature: -0.190706, 0.011738, 0.981577
[11:52:54.865] xyz_f:-0.045478, -0.147142, 1.203596  Reprojection Error: -0.302990, 0.208909 Feature: -0.321480, 0.081750, 0.943381
[11:52:54.865] xyz_f:-0.025461, 0.220110, 1.198963  Reprojection Error: 0.186260, -0.639567 Feature: -0.318968, 0.435290, 0.841892
[11:52:54.865] xyz_f:-0.627152, -1.191581, 1.536892  Reprojection Error: 0.464809, 0.564346 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.865] xyz_f:-0.525336, -1.243750, 1.568625  Reprojection Error: 0.445361, 0.578282 Feature: -0.684109, -0.883015, 1.653161
[11:52:54.865] xyz_f:-0.139310, -0.102880, 1.131154  Reprojection Error: 0.174057, -0.114206 Feature: -0.427976, 0.105755, 0.879397
[11:52:54.865] xyz_f:-0.497690, -1.156277, 1.558673  Reprojection Error: 0.427100, 0.542377 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.865] xyz_f:0.079716, 0.008151, 0.732946  Reprojection Error: -0.437913, -0.119093 Feature: -0.283700, 0.109939, 0.434383
[11:52:54.865] xyz_f:0.076725, -0.230356, 1.243649  Reprojection Error: -0.187081, 0.199277 Feature: -0.190706, 0.011738, 0.981577
[11:52:54.865] xyz_f:0.153458, -0.053689, 0.822708  Reprojection Error: -0.291606, 0.092300 Feature: -0.193315, 0.073438, 0.522800
[11:52:54.865] xyz_f:-0.045760, -0.145655, 1.203691  Reprojection Error: -0.228482, 0.214510 Feature: -0.321809, 0.083212, 0.943141
[11:52:54.865] xyz_f:-0.605866, -1.165468, 1.537102  Reprojection Error: 0.387850, 1.136416 Feature: -0.772192, -0.815560, 1.617134
[11:52:54.865] it:15 	 Success 	 new_chi2: 0.623137 	 dT = -0.022712, 0.067312, 0.005489
[11:52:54.865] xyz_f:0.006918, -0.220075, 1.180113  Reprojection Error: -0.191078, 0.209524 Feature: -0.182071, 0.022646, 0.983024
[11:52:54.865] xyz_f:0.017882, -0.221126, 1.184059  Reprojection Error: -0.188240, 0.209748 Feature: -0.170556, 0.022653, 0.985088
[11:52:54.865] xyz_f:0.172863, -0.449687, 1.144362  Reprojection Error: -0.165727, 0.179863 Feature: -0.014347, -0.208394, 0.977940
[11:52:54.865] xyz_f:0.212472, -0.445555, 1.154077  Reprojection Error: -0.157437, 0.179864 Feature: 0.026110, -0.201889, 0.979060
[11:52:54.865] xyz_f:0.192048, -0.432810, 1.156734  Reprojection Error: -0.160036, 0.181809 Feature: 0.005883, -0.188890, 0.981981
[11:52:54.865] xyz_f:-0.123471, -0.144969, 1.133821  Reprojection Error: -0.232311, 0.216088 Feature: -0.321809, 0.083212, 0.943141
[11:52:54.865] xyz_f:0.169313, -0.431705, 1.152626  Reprojection Error: -0.164459, 0.182162 Feature: -0.017246, -0.188887, 0.981847
[11:52:54.865] xyz_f:-0.102628, 0.220766, 1.129202  Reprojection Error: -0.287985, 0.321531 Feature: -0.318968, 0.435290, 0.841892
[11:52:54.865] xyz_f:0.258434, -0.449009, 1.158866  Reprojection Error: -0.148930, 0.178518 Feature: 0.072320, -0.203986, 0.976299
[11:52:54.865] xyz_f:-0.120585, -0.132477, 1.137440  Reprojection Error: -0.232226, 0.218513 Feature: -0.318922, 0.096216, 0.942885
[11:52:54.865] xyz_f:-0.001320, -0.229845, 1.174427  Reprojection Error: -0.193161, 0.207666 Feature: -0.190706, 0.011738, 0.981577
[11:52:54.865] xyz_f:-0.123191, -0.146458, 1.133727  Reprojection Error: -0.232114, 0.215839 Feature: -0.321480, 0.081750, 0.943381
[11:52:54.865] xyz_f:-0.102628, 0.220766, 1.129202  Reprojection Error: 0.255910, -0.651489 Feature: -0.318968, 0.435290, 0.841892
[11:52:54.865] xyz_f:-0.708108, -1.190068, 1.463930  Reprojection Error: 0.540446, 0.601954 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.865] xyz_f:-0.606536, -1.242381, 1.496203  Reprojection Error: 0.515842, 0.615746 Feature: -0.684109, -0.883015, 1.653161
[11:52:54.865] xyz_f:-0.216575, -0.102062, 1.060789  Reprojection Error: 0.255063, -0.108944 Feature: -0.427976, 0.105755, 0.879397
[11:52:54.865] xyz_f:-0.578713, -1.154948, 1.486398  Reprojection Error: 0.497136, 0.577554 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.865] xyz_f:0.004717, 0.008656, 0.663748  Reprojection Error: -0.336258, -0.121014 Feature: -0.283700, 0.109939, 0.434383
[11:52:54.865] xyz_f:-0.001320, -0.229845, 1.174427  Reprojection Error: -0.124263, 0.209758 Feature: -0.190706, 0.011738, 0.981577
[11:52:54.865] xyz_f:0.077894, -0.053289, 0.753900  Reprojection Error: -0.208400, 0.097725 Feature: -0.193315, 0.073438, 0.522800
[11:52:54.865] xyz_f:-0.123471, -0.144969, 1.133821  Reprojection Error: -0.157599, 0.221362 Feature: -0.321809, 0.083212, 0.943141
[11:52:54.866] xyz_f:-0.686786, -1.163985, 1.464253  Reprojection Error: 0.462723, 1.173125 Feature: -0.772192, -0.815560, 1.617134
[11:52:54.866] it:16 	 Success 	 new_chi2: 0.655084 	 dT = -0.019204, 0.061520, 0.004117
[11:52:54.866] xyz_f:-0.067749, -0.219696, 1.117176  Reprojection Error: -0.124573, 0.219690 Feature: -0.182071, 0.022646, 0.983024
[11:52:54.866] xyz_f:-0.056802, -0.220758, 1.121165  Reprojection Error: -0.122474, 0.219896 Feature: -0.170556, 0.022653, 0.985088
[11:52:54.866] xyz_f:0.098092, -0.449484, 1.082085  Reprojection Error: -0.105322, 0.202292 Feature: -0.014347, -0.208394, 0.977940
[11:52:54.866] xyz_f:0.137667, -0.445394, 1.091957  Reprojection Error: -0.099405, 0.201679 Feature: 0.026110, -0.201889, 0.979060
[11:52:54.866] xyz_f:0.117246, -0.432627, 1.094533  Reprojection Error: -0.101129, 0.202905 Feature: 0.005883, -0.188890, 0.981981
[11:52:54.866] xyz_f:-0.197873, -0.144451, 1.070366  Reprojection Error: -0.156345, 0.223183 Feature: -0.321809, 0.083212, 0.943141
[11:52:54.866] xyz_f:0.094529, -0.431498, 1.090335  Reprojection Error: -0.104262, 0.203370 Feature: -0.017246, -0.188887, 0.981847
[11:52:54.866] xyz_f:-0.176621, 0.221262, 1.065830  Reprojection Error: -0.213158, 0.309441 Feature: -0.318968, 0.435290, 0.841892
[11:52:54.866] xyz_f:0.183606, -0.448898, 1.096929  Reprojection Error: -0.093306, 0.200293 Feature: 0.072320, -0.203986, 0.976299
[11:52:54.866] xyz_f:-0.194987, -0.131961, 1.073996  Reprojection Error: -0.156687, 0.224913 Feature: -0.318922, 0.096216, 0.942885
[11:52:54.866] xyz_f:-0.075975, -0.229456, 1.111458  Reprojection Error: -0.125930, 0.218405 Feature: -0.190706, 0.011738, 0.981577
[11:52:54.866] xyz_f:-0.197594, -0.145939, 1.070273  Reprojection Error: -0.156155, 0.223014 Feature: -0.321480, 0.081750, 0.943381
[11:52:54.866] xyz_f:-0.176621, 0.221262, 1.065830  Reprojection Error: 0.330737, -0.663579 Feature: -0.318968, 0.435290, 0.841892
[11:52:54.866] xyz_f:-0.784931, -1.188925, 1.398146  Reprojection Error: 0.618152, 0.639386 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.866] xyz_f:-0.683543, -1.241346, 1.430822  Reprojection Error: 0.588187, 0.652966 Feature: -0.684109, -0.883015, 1.653161
[11:52:54.866] xyz_f:-0.290640, -0.101445, 0.996965  Reprojection Error: 0.342424, -0.103404 Feature: -0.427976, 0.105755, 0.879397
[11:52:54.866] xyz_f:-0.655589, -1.153943, 1.421128  Reprojection Error: 0.569112, 0.612533 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.866] xyz_f:-0.067652, 0.009037, 0.600807  Reprojection Error: -0.216549, -0.123014 Feature: -0.283700, 0.109939, 0.434383
[11:52:54.866] xyz_f:-0.075975, -0.229456, 1.111458  Reprojection Error: -0.057032, 0.220497 Feature: -0.190706, 0.011738, 0.981577
[11:52:54.866] xyz_f:0.005099, -0.052986, 0.691249  Reprojection Error: -0.112455, 0.103693 Feature: -0.193315, 0.073438, 0.522800
[11:52:54.866] xyz_f:-0.197873, -0.144451, 1.070366  Reprojection Error: -0.081633, 0.228458 Feature: -0.321809, 0.083212, 0.943141
[11:52:54.866] xyz_f:-0.763582, -1.162865, 1.398554  Reprojection Error: 0.539669, 1.209668 Feature: -0.772192, -0.815560, 1.617134
[11:52:54.866] it:17 	 Success 	 new_chi2: 0.617309 	 dT = -0.017032, 0.056673, 0.004184
[11:52:54.866] xyz_f:-0.135341, -0.219306, 1.059048  Reprojection Error: -0.057420, 0.230116 Feature: -0.182071, 0.022646, 0.983024
[11:52:54.866] xyz_f:-0.124412, -0.220379, 1.063081  Reprojection Error: -0.056108, 0.230298 Feature: -0.170556, 0.022653, 0.985088
[11:52:54.866] xyz_f:0.030391, -0.449273, 1.024627  Reprojection Error: -0.044331, 0.225380 Feature: -0.014347, -0.208394, 0.977940
[11:52:54.866] xyz_f:0.069929, -0.445227, 1.034659  Reprojection Error: -0.040919, 0.224106 Feature: 0.026110, -0.201889, 0.979060
[11:52:54.866] xyz_f:0.049512, -0.432437, 1.037152  Reprojection Error: -0.041748, 0.224591 Feature: 0.005883, -0.188890, 0.981981
[11:52:54.866] xyz_f:-0.265194, -0.143920, 1.011712  Reprojection Error: -0.079085, 0.230482 Feature: -0.321809, 0.083212, 0.943141
[11:52:54.866] xyz_f:0.026814, -0.431284, 1.032862  Reprojection Error: -0.043526, 0.225183 Feature: -0.017246, -0.188887, 0.981847
[11:52:54.866] xyz_f:-0.243528, 0.221770, 1.007263  Reprojection Error: -0.137098, 0.296867 Feature: -0.318968, 0.435290, 0.841892
[11:52:54.866] xyz_f:0.115844, -0.448780, 1.039816  Reprojection Error: -0.037333, 0.222657 Feature: 0.072320, -0.203986, 0.976299
[11:52:54.866] xyz_f:-0.262310, -0.131434, 1.015354  Reprojection Error: -0.079897, 0.231490 Feature: -0.318922, 0.096216, 0.942885
[11:52:54.866] xyz_f:-0.143555, -0.229057, 1.053296  Reprojection Error: -0.057994, 0.229426 Feature: -0.190706, 0.011738, 0.981577
[11:52:54.866] xyz_f:-0.264916, -0.145409, 1.011621  Reprojection Error: -0.078902, 0.230395 Feature: -0.321480, 0.081750, 0.943381
[11:52:54.866] xyz_f:-0.243528, 0.221770, 1.007263  Reprojection Error: 0.406797, -0.676153 Feature: -0.318968, 0.435290, 0.841892
[11:52:54.866] xyz_f:-0.854702, -1.187757, 1.337115  Reprojection Error: 0.695957, 0.677326 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.866] xyz_f:-0.753505, -1.240288, 1.370201  Reprojection Error: 0.660382, 0.690578 Feature: -0.684109, -0.883015, 1.653161
[11:52:54.866] xyz_f:-0.357617, -0.100814, 0.937937  Reprojection Error: 0.432180, -0.097673 Feature: -0.427976, 0.105755, 0.879397
[11:52:54.866] xyz_f:-0.725416, -1.152915, 1.360620  Reprojection Error: 0.640948, 0.647888 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.866] xyz_f:-0.132911, 0.009425, 0.542684  Reprojection Error: -0.084237, -0.125341 Feature: -0.283700, 0.109939, 0.434383
[11:52:54.866] xyz_f:-0.143555, -0.229057, 1.053296  Reprojection Error: 0.010904, 0.231518 Feature: -0.190706, 0.011738, 0.981577
[11:52:54.866] xyz_f:-0.060593, -0.052675, 0.633419  Reprojection Error: -0.009419, 0.110201 Feature: -0.193315, 0.073438, 0.522800
[11:52:54.866] xyz_f:-0.265194, -0.143920, 1.011712  Reprojection Error: -0.004374, 0.235757 Feature: -0.321809, 0.083212, 0.943141
[11:52:54.866] xyz_f:-0.833327, -1.161720, 1.337609  Reprojection Error: 0.616687, 1.246696 Feature: -0.772192, -0.815560, 1.617134
[11:52:54.866] it:18 	 Success 	 new_chi2: 0.560563 	 dT = -0.016390, 0.052375, 0.006118
[11:52:54.866] xyz_f:-0.198351, -0.218728, 1.004516  Reprojection Error: 0.012244, 0.240782 Feature: -0.182071, 0.022646, 0.983024
[11:52:54.866] xyz_f:-0.187448, -0.219819, 1.008614  Reprojection Error: 0.012709, 0.240937 Feature: -0.170556, 0.022653, 0.985088
[11:52:54.866] xyz_f:-0.032783, -0.448958, 0.971074  Reprojection Error: 0.019089, 0.249236 Feature: -0.014347, -0.208394, 0.977940
[11:52:54.866] xyz_f:0.006702, -0.444973, 0.981340  Reprojection Error: 0.019839, 0.247228 Feature: 0.026110, -0.201889, 0.979060
[11:52:54.866] xyz_f:-0.013709, -0.432152, 0.983712  Reprojection Error: 0.019927, 0.246951 Feature: 0.005883, -0.188890, 0.981981
[11:52:54.866] xyz_f:-0.327803, -0.143137, 0.956414  Reprojection Error: 0.001532, 0.237888 Feature: -0.321809, 0.083212, 0.943141
[11:52:54.866] xyz_f:-0.036380, -0.430963, 0.979288  Reprojection Error: 0.019584, 0.247699 Feature: -0.017246, -0.188887, 0.981847
[11:52:54.866] xyz_f:-0.305532, 0.222518, 0.952096  Reprojection Error: -0.057966, 0.283323 Feature: -0.318968, 0.435290, 0.841892
[11:52:54.866] xyz_f:0.052580, -0.448599, 0.986768  Reprojection Error: 0.020791, 0.245676 Feature: 0.072320, -0.203986, 0.976299
[11:52:54.866] xyz_f:-0.324920, -0.130655, 0.960074  Reprojection Error: 0.000192, 0.238132 Feature: -0.318922, 0.096216, 0.942885
[11:52:54.866] xyz_f:-0.206546, -0.228466, 0.998716  Reprojection Error: 0.012526, 0.240719 Feature: -0.190706, 0.011738, 0.981577
[11:52:54.866] xyz_f:-0.327526, -0.144626, 0.956325  Reprojection Error: 0.001710, 0.237888 Feature: -0.321480, 0.081750, 0.943381
[11:52:54.866] xyz_f:-0.305532, 0.222518, 0.952096  Reprojection Error: 0.485929, -0.689697 Feature: -0.318968, 0.435290, 0.841892
[11:52:54.866] xyz_f:-0.920876, -1.186038, 1.278323  Reprojection Error: 0.777121, 0.716835 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.866] xyz_f:-0.819958, -1.238729, 1.312006  Reprojection Error: 0.735425, 0.729540 Feature: -0.684109, -0.883015, 1.653161
[11:52:54.866] xyz_f:-0.419719, -0.099884, 0.882094  Reprojection Error: 0.526721, -0.091922 Feature: -0.427976, 0.105755, 0.879397
[11:52:54.866] xyz_f:-0.791676, -1.151400, 1.302592  Reprojection Error: 0.715567, 0.684473 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.866] xyz_f:-0.192507, 0.009997, 0.488177  Reprojection Error: 0.065188, -0.128451 Feature: -0.283700, 0.109939, 0.434383
[11:52:54.866] xyz_f:-0.206546, -0.228466, 0.998716  Reprojection Error: 0.081424, 0.242811 Feature: -0.190706, 0.011738, 0.981577
[11:52:54.866] xyz_f:-0.120825, -0.052218, 0.579337  Reprojection Error: 0.103479, 0.117175 Feature: -0.193315, 0.073438, 0.522800
[11:52:54.866] xyz_f:-0.327803, -0.143137, 0.956414  Reprojection Error: 0.076243, 0.243163 Feature: -0.321809, 0.083212, 0.943141
[11:52:54.866] xyz_f:-0.899463, -1.160035, 1.278943  Reprojection Error: 0.696975, 1.285217 Feature: -0.772192, -0.815560, 1.617134
[11:52:54.866] it:19 	 Success 	 new_chi2: 0.569418 	 dT = -0.016878, 0.048701, 0.009864
[11:52:54.866] xyz_f:-0.259389, -0.217777, 0.952267  Reprojection Error: 0.087175, 0.251731 Feature: -0.182071, 0.022646, 0.983024
[11:52:54.866] xyz_f:-0.248528, -0.218896, 0.956469  Reprojection Error: 0.086701, 0.251854 Feature: -0.170556, 0.022653, 0.985088
[11:52:54.866] xyz_f:-0.094098, -0.448429, 0.920401  Reprojection Error: 0.087565, 0.274116 Feature: -0.014347, -0.208394, 0.977940
[11:52:54.866] xyz_f:-0.054702, -0.444546, 0.931043  Reprojection Error: 0.085422, 0.271264 Feature: 0.026110, -0.201889, 0.979060
[11:52:54.866] xyz_f:-0.075102, -0.431672, 0.933221  Reprojection Error: 0.086467, 0.270205 Feature: 0.005883, -0.188890, 0.981981
[11:52:54.866] xyz_f:-0.388182, -0.141856, 0.902935  Reprojection Error: 0.088702, 0.245334 Feature: -0.321809, 0.083212, 0.943141
[11:52:54.866] xyz_f:-0.097727, -0.430425, 0.928581  Reprojection Error: 0.087678, 0.271151 Feature: -0.017246, -0.188887, 0.981847
[11:52:54.866] xyz_f:-0.364938, 0.223741, 0.898833  Reprojection Error: 0.027143, 0.268114 Feature: -0.318968, 0.435290, 0.841892
[11:52:54.866] xyz_f:-0.008888, -0.448289, 0.936908  Reprojection Error: 0.083561, 0.269538 Feature: 0.072320, -0.203986, 0.976299
[11:52:54.866] xyz_f:-0.385303, -0.129382, 0.906622  Reprojection Error: 0.086747, 0.244751 Feature: -0.318922, 0.096216, 0.942885
[11:52:54.866] xyz_f:-0.267553, -0.227495, 0.946389  Reprojection Error: 0.088423, 0.252340 Feature: -0.190706, 0.011738, 0.981577
[11:52:54.866] xyz_f:-0.387909, -0.143346, 0.902848  Reprojection Error: 0.088876, 0.245428 Feature: -0.321480, 0.081750, 0.943381
[11:52:54.866] xyz_f:-0.364938, 0.223741, 0.898833  Reprojection Error: 0.571038, -0.704906 Feature: -0.318968, 0.435290, 0.841892
[11:52:54.866] xyz_f:-0.986956, -1.183236, 1.219166  Reprojection Error: 0.866277, 0.759556 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.866] xyz_f:-0.886499, -1.236184, 1.253808  Reprojection Error: 0.817504, 0.771334 Feature: -0.684109, -0.883015, 1.653161
[11:52:54.866] xyz_f:-0.479276, -0.098370, 0.827743  Reprojection Error: 0.629915, -0.086316 Feature: -0.427976, 0.105755, 0.879397
[11:52:54.866] xyz_f:-0.857905, -1.148928, 1.244665  Reprojection Error: 0.797063, 0.723625 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.866] xyz_f:-0.248042, 0.010925, 0.436009  Reprojection Error: 0.239739, -0.133031 Feature: -0.283700, 0.109939, 0.434383
[11:52:54.866] xyz_f:-0.267553, -0.227495, 0.946389  Reprojection Error: 0.157321, 0.254432 Feature: -0.190706, 0.011738, 0.981577
[11:52:54.866] xyz_f:-0.177390, -0.051471, 0.527848  Reprojection Error: 0.230984, 0.124552 Feature: -0.193315, 0.073438, 0.522800
[11:52:54.866] xyz_f:-0.388182, -0.141856, 0.902935  Reprojection Error: 0.163414, 0.250609 Feature: -0.321809, 0.083212, 0.943141
[11:52:54.866] xyz_f:-0.965484, -1.157288, 1.219991  Reprojection Error: 0.785075, 1.326795 Feature: -0.772192, -0.815560, 1.617134
[11:52:54.866] it:20 	 Success 	 new_chi2: 0.655452 	 dT = -0.017772, 0.045594, 0.014710
[11:52:54.866] xyz_f:-0.320775, -0.216316, 0.901220  Reprojection Error: 0.170719, 0.263063 Feature: -0.182071, 0.022646, 0.983024
[11:52:54.866] xyz_f:-0.309980, -0.217476, 0.905575  Reprojection Error: 0.169164, 0.263148 Feature: -0.170556, 0.022653, 0.985088
[11:52:54.866] xyz_f:-0.155928, -0.447597, 0.871699  Reprojection Error: 0.164207, 0.300381 Feature: -0.014347, -0.208394, 0.977940
[11:52:54.866] xyz_f:-0.116673, -0.443863, 0.882900  Reprojection Error: 0.158815, 0.296526 Feature: 0.026110, -0.201889, 0.979060
[11:52:54.866] xyz_f:-0.137052, -0.430912, 0.884788  Reprojection Error: 0.160889, 0.294666 Feature: 0.005883, -0.188890, 0.981981
[11:52:54.866] xyz_f:-0.448565, -0.139907, 0.850065  Reprojection Error: 0.186474, 0.252812 Feature: -0.321809, 0.083212, 0.943141
[11:52:54.866] xyz_f:-0.159604, -0.429579, 0.879827  Reprojection Error: 0.163839, 0.295875 Feature: -0.017246, -0.188887, 0.981847
[11:52:54.866] xyz_f:-0.423873, 0.225599, 0.846303  Reprojection Error: 0.121982, 0.250468 Feature: -0.318968, 0.435290, 0.841892
[11:52:54.866] xyz_f:-0.070961, -0.447780, 0.889415  Reprojection Error: 0.153859, 0.294516 Feature: 0.072320, -0.203986, 0.976299
[11:52:54.866] xyz_f:-0.445691, -0.127443, 0.853793  Reprojection Error: 0.183773, 0.251311 Feature: -0.318922, 0.096216, 0.942885
[11:52:54.866] xyz_f:-0.328892, -0.226003, 0.895226  Reprojection Error: 0.173099, 0.264412 Feature: -0.190706, 0.011738, 0.981577
[11:52:54.866] xyz_f:-0.448296, -0.141398, 0.849982  Reprojection Error: 0.186644, 0.253011 Feature: -0.321480, 0.081750, 0.943381
[11:52:54.866] xyz_f:-0.423873, 0.225599, 0.846303  Reprojection Error: 0.665877, -0.722552 Feature: -0.318968, 0.435290, 0.841892
[11:52:54.866] xyz_f:-1.055732, -1.178990, 1.157728  Reprojection Error: 0.968643, 0.807393 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.866] xyz_f:-0.955980, -1.232320, 1.193792  Reprojection Error: 0.911251, 0.817664 Feature: -0.684109, -0.883015, 1.653161
[11:52:54.866] xyz_f:-0.538415, -0.096076, 0.773587  Reprojection Error: 0.746897, -0.080962 Feature: -0.427976, 0.105755, 0.879397
[11:52:54.866] xyz_f:-0.926927, -1.145174, 1.185059  Reprojection Error: 0.889975, 0.766886 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.866] xyz_f:-0.301224, 0.012328, 0.385182  Reprojection Error: 0.452879, -0.139978 Feature: -0.283700, 0.109939, 0.434383
[11:52:54.866] xyz_f:-0.328892, -0.226003, 0.895226  Reprojection Error: 0.241997, 0.266504 Feature: -0.190706, 0.011738, 0.981577
[11:52:54.866] xyz_f:-0.232122, -0.050335, 0.478013  Reprojection Error: 0.380519, 0.132341 Feature: -0.193315, 0.073438, 0.522800
[11:52:54.866] xyz_f:-0.448565, -0.139907, 0.850065  Reprojection Error: 0.261185, 0.258087 Feature: -0.321809, 0.083212, 0.943141
[11:52:54.866] xyz_f:-1.034175, -1.153124, 1.158858  Reprojection Error: 0.886097, 1.373243 Feature: -0.772192, -0.815560, 1.617134
[11:52:54.866] it:21 	 Success 	 new_chi2: 0.624126 	 dT = -0.013356, 0.043727, 0.013895
[11:52:54.866] xyz_f:-0.383536, -0.214888, 0.852166  Reprojection Error: 0.264856, 0.275205 Feature: -0.182071, 0.022646, 0.983024
[11:52:54.866] xyz_f:-0.372803, -0.216087, 0.856666  Reprojection Error: 0.262042, 0.275238 Feature: -0.170556, 0.022653, 0.985088
[11:52:54.866] xyz_f:-0.219139, -0.446761, 0.824855  Reprojection Error: 0.250999, 0.328529 Feature: -0.014347, -0.208394, 0.977940
[11:52:54.866] xyz_f:-0.180025, -0.443168, 0.836581  Reprojection Error: 0.241860, 0.323531 Feature: 0.026110, -0.201889, 0.979060
[11:52:54.866] xyz_f:-0.200381, -0.430144, 0.838196  Reprojection Error: 0.245053, 0.320822 Feature: 0.005883, -0.188890, 0.981981
[11:52:54.866] xyz_f:-0.510352, -0.138021, 0.799302  Reprojection Error: 0.297287, 0.260906 Feature: -0.321809, 0.083212, 0.943141
[11:52:54.866] xyz_f:-0.222860, -0.428730, 0.832933  Reprojection Error: 0.249995, 0.322344 Feature: -0.017246, -0.188887, 0.981847
[11:52:54.866] xyz_f:-0.484297, 0.227393, 0.795881  Reprojection Error: 0.229634, 0.231325 Feature: -0.318968, 0.435290, 0.841892
[11:52:54.866] xyz_f:-0.134419, -0.447250, 0.843709  Reprojection Error: 0.233394, 0.321161 Feature: 0.072320, -0.203986, 0.976299
[11:52:54.866] xyz_f:-0.507483, -0.125568, 0.803068  Reprojection Error: 0.293690, 0.258404 Feature: -0.318922, 0.096216, 0.942885
[11:52:54.866] xyz_f:-0.391606, -0.224546, 0.846064  Reprojection Error: 0.268571, 0.277360 Feature: -0.190706, 0.011738, 0.981577
[11:52:54.866] xyz_f:-0.510087, -0.139514, 0.799222  Reprojection Error: 0.297455, 0.261218 Feature: -0.321480, 0.081750, 0.943381
[11:52:54.866] xyz_f:-0.484297, 0.227393, 0.795881  Reprojection Error: 0.773529, -0.741695 Feature: -0.318968, 0.435290, 0.841892
[11:52:54.866] xyz_f:-1.125326, -1.174907, 1.098763  Reprojection Error: 1.080918, 0.858327 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.866] xyz_f:-1.026259, -1.228594, 1.136162  Reprojection Error: 1.013727, 0.866745 Feature: -0.684109, -0.883015, 1.653161
[11:52:54.866] xyz_f:-0.599009, -0.093870, 0.721627  Reprojection Error: 0.880981, -0.075077 Feature: -0.427976, 0.105755, 0.879397
[11:52:54.866] xyz_f:-0.996778, -1.141553, 1.127821  Reprojection Error: 0.991605, 0.812719 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.866] xyz_f:-0.356238, 0.013671, 0.336442  Reprojection Error: 0.729687, -0.148607 Feature: -0.283700, 0.109939, 0.434383
[11:52:54.866] xyz_f:-0.391606, -0.224546, 0.846064  Reprojection Error: 0.337469, 0.279451 Feature: -0.190706, 0.011738, 0.981577
[11:52:54.866] xyz_f:-0.288614, -0.049237, 0.430191  Reprojection Error: 0.565819, 0.141495 Feature: -0.193315, 0.073438, 0.522800
[11:52:54.866] xyz_f:-0.510352, -0.138021, 0.799302  Reprojection Error: 0.371998, 0.266181 Feature: -0.321809, 0.083212, 0.943141
[11:52:54.866] xyz_f:-1.103693, -1.149119, 1.100184  Reprojection Error: 0.996878, 1.422670 Feature: -0.772192, -0.815560, 1.617134
[11:52:54.866] it:22 	 Success 	 new_chi2: 0.435185 	 dT = 0.024630, 0.045083, -0.025444
[11:52:54.866] xyz_f:-0.441844, -0.217467, 0.816708  Reprojection Error: 0.355790, 0.289311 Feature: -0.182071, 0.022646, 0.983024
[11:52:54.866] xyz_f:-0.430997, -0.218595, 0.820942  Reprojection Error: 0.351864, 0.289269 Feature: -0.170556, 0.022653, 0.985088
[11:52:54.866] xyz_f:-0.276645, -0.448255, 0.785346  Reprojection Error: 0.337588, 0.357678 Feature: -0.014347, -0.208394, 0.977940
[11:52:54.866] xyz_f:-0.237279, -0.444404, 0.796108  Reprojection Error: 0.324717, 0.352013 Feature: 0.026110, -0.201889, 0.979060
[11:52:54.866] xyz_f:-0.257675, -0.431513, 0.798224  Reprojection Error: 0.328801, 0.348235 Feature: 0.005883, -0.188890, 0.981981
[11:52:54.866] xyz_f:-0.570424, -0.141441, 0.766983  Reprojection Error: 0.402515, 0.272641 Feature: -0.321809, 0.083212, 0.943141
[11:52:54.866] xyz_f:-0.280284, -0.430248, 0.793515  Reprojection Error: 0.335654, 0.349826 Feature: -0.017246, -0.188887, 0.981847
[11:52:54.866] xyz_f:-0.546868, 0.224136, 0.762952  Reprojection Error: 0.337909, 0.223262 Feature: -0.318968, 0.435290, 0.841892
[11:52:54.866] xyz_f:-0.191486, -0.448184, 0.802113  Reprojection Error: 0.312802, 0.349816 Feature: 0.072320, -0.203986, 0.976299
[11:52:54.866] xyz_f:-0.567546, -0.128969, 0.770678  Reprojection Error: 0.398183, 0.269389 Feature: -0.318922, 0.096216, 0.942885
[11:52:54.866] xyz_f:-0.449998, -0.227178, 0.810805  Reprojection Error: 0.360716, 0.292147 Feature: -0.190706, 0.011738, 0.981577
[11:52:54.866] xyz_f:-0.570152, -0.142932, 0.766896  Reprojection Error: 0.402679, 0.273033 Feature: -0.321480, 0.081750, 0.943381
[11:52:54.866] xyz_f:-0.546868, 0.224136, 0.762952  Reprojection Error: 0.881804, -0.749758 Feature: -0.318968, 0.435290, 0.841892
[11:52:54.866] xyz_f:-1.171012, -1.182330, 1.081382  Reprojection Error: 1.139628, 0.882378 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.866] xyz_f:-1.070705, -1.235361, 1.116331  Reprojection Error: 1.069588, 0.892016 Feature: -0.684109, -0.883015, 1.653161
[11:52:54.866] xyz_f:-0.661252, -0.097881, 0.691513  Reprojection Error: 1.007139, -0.063612 Feature: -0.427976, 0.105755, 0.879397
[11:52:54.866] xyz_f:-1.042012, -1.148128, 1.107275  Reprojection Error: 1.048856, 0.837438 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.866] xyz_f:-0.428733, 0.011225, 0.300487  Reprojection Error: 1.097642, -0.145329 Feature: -0.283700, 0.109939, 0.434383
[11:52:54.866] xyz_f:-0.449998, -0.227178, 0.810805  Reprojection Error: 0.429614, 0.294239 Feature: -0.190706, 0.011738, 0.981577
[11:52:54.866] xyz_f:-0.358414, -0.051229, 0.392541  Reprojection Error: 0.807981, 0.157547 Feature: -0.193315, 0.073438, 0.522800
[11:52:54.866] xyz_f:-0.570424, -0.141441, 0.766983  Reprojection Error: 0.477227, 0.277916 Feature: -0.321809, 0.083212, 0.943141
[11:52:54.866] xyz_f:-1.149521, -1.156400, 1.082273  Reprojection Error: 1.055825, 1.446683 Feature: -0.772192, -0.815560, 1.617134
[11:52:54.866] it:23 	 Success 	 new_chi2: 0.145457 	 dT = 0.071713, 0.043322, -0.076881
[11:52:54.866] xyz_f:-0.461862, -0.224312, 0.798932  Reprojection Error: 0.392883, 0.303803 Feature: -0.182071, 0.022646, 0.983024
[11:52:54.866] xyz_f:-0.450710, -0.225221, 0.802350  Reprojection Error: 0.388600, 0.303698 Feature: -0.170556, 0.022653, 0.985088
[11:52:54.866] xyz_f:-0.294890, -0.451793, 0.755231  Reprojection Error: 0.375793, 0.385124 Feature: -0.014347, -0.208394, 0.977940
[11:52:54.866] xyz_f:-0.254918, -0.447152, 0.763045  Reprojection Error: 0.360749, 0.379804 Feature: 0.026110, -0.201889, 0.979060
[11:52:54.867] xyz_f:-0.275353, -0.434669, 0.766678  Reprojection Error: 0.365142, 0.374594 Feature: 0.005883, -0.188890, 0.981981
[11:52:54.867] xyz_f:-0.595263, -0.150894, 0.758940  Reprojection Error: 0.443125, 0.287051 Feature: -0.321809, 0.083212, 0.943141
[11:52:54.867] xyz_f:-0.298271, -0.433856, 0.763660  Reprojection Error: 0.373015, 0.375749 Feature: -0.017246, -0.188887, 0.981847
[11:52:54.867] xyz_f:-0.579343, 0.215077, 0.753443  Reprojection Error: 0.390057, 0.231579 Feature: -0.318968, 0.435290, 0.841892
[11:52:54.867] xyz_f:-0.208740, -0.450017, 0.765634  Reprojection Error: 0.346712, 0.378833 Feature: 0.072320, -0.203986, 0.976299
[11:52:54.867] xyz_f:-0.592367, -0.138365, 0.762421  Reprojection Error: 0.438715, 0.283525 Feature: -0.318922, 0.096216, 0.942885
[11:52:54.867] xyz_f:-0.470237, -0.234188, 0.793643  Reprojection Error: 0.398218, 0.307038 Feature: -0.190706, 0.011738, 0.981577
[11:52:54.867] xyz_f:-0.594968, -0.152379, 0.758832  Reprojection Error: 0.443283, 0.287464 Feature: -0.321480, 0.081750, 0.943381
[11:52:54.867] xyz_f:-0.579343, 0.215077, 0.753443  Reprojection Error: 0.933952, -0.741441 Feature: -0.318968, 0.435290, 0.841892
[11:52:54.867] xyz_f:-1.150060, -1.203284, 1.116261  Reprojection Error: 1.087023, 0.866987 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.867] xyz_f:-1.046403, -1.254284, 1.143632  Reprojection Error: 1.025441, 0.882145 Feature: -0.684109, -0.883015, 1.653161
[11:52:54.867] xyz_f:-0.692288, -0.109204, 0.690449  Reprojection Error: 1.053563, -0.046994 Feature: -0.427976, 0.105755, 0.879397
[11:52:54.867] xyz_f:-1.020200, -1.166505, 1.132537  Reprojection Error: 1.008606, 0.830535 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.867] xyz_f:-0.491634, 0.004214, 0.283331  Reprojection Error: 1.406043, -0.122847 Feature: -0.283700, 0.109939, 0.434383
[11:52:54.867] xyz_f:-0.470237, -0.234188, 0.793643  Reprojection Error: 0.467116, 0.309130 Feature: -0.190706, 0.011738, 0.981577
[11:52:54.867] xyz_f:-0.413451, -0.056762, 0.369868  Reprojection Error: 1.012756, 0.180506 Feature: -0.193315, 0.073438, 0.522800
[11:52:54.867] xyz_f:-0.595263, -0.150894, 0.758940  Reprojection Error: 0.517837, 0.292326 Feature: -0.321809, 0.083212, 0.943141
[11:52:54.867] xyz_f:-1.129083, -1.176931, 1.115573  Reprojection Error: 1.005798, 1.433192 Feature: -0.772192, -0.815560, 1.617134
[11:52:54.867] it:24 	 Success 	 new_chi2: 0.035919 	 dT = 0.101316, 0.025563, -0.098920
[11:52:54.867] xyz_f:-0.439343, -0.230975, 0.798236  Reprojection Error: 0.365177, 0.312395 Feature: -0.182071, 0.022646, 0.983024
[11:52:54.867] xyz_f:-0.427896, -0.231595, 0.800573  Reprojection Error: 0.361350, 0.312282 Feature: -0.170556, 0.022653, 0.985088
[11:52:54.867] xyz_f:-0.271541, -0.454167, 0.738528  Reprojection Error: 0.353009, 0.401868 Feature: -0.014347, -0.208394, 0.977940
[11:52:54.867] xyz_f:-0.231138, -0.448497, 0.742499  Reprojection Error: 0.337966, 0.397830 Feature: 0.026110, -0.201889, 0.979060
[11:52:54.867] xyz_f:-0.251446, -0.436535, 0.748080  Reprojection Error: 0.342112, 0.391184 Feature: 0.005883, -0.188890, 0.981981
[11:52:54.867] xyz_f:-0.577783, -0.161040, 0.771241  Reprojection Error: 0.407951, 0.297035 Feature: -0.321809, 0.083212, 0.943141
[11:52:54.867] xyz_f:-0.274560, -0.436312, 0.747263  Reprojection Error: 0.349856, 0.391502 Feature: -0.017246, -0.188887, 0.981847
[11:52:54.867] xyz_f:-0.571820, 0.205211, 0.764697  Reprojection Error: 0.368902, 0.248682 Feature: -0.318968, 0.435290, 0.841892
[11:52:54.867] xyz_f:-0.184865, -0.450177, 0.740667  Reprojection Error: 0.323668, 0.398861 Feature: 0.072320, -0.203986, 0.976299
[11:52:54.867] xyz_f:-0.574889, -0.148436, 0.774445  Reprojection Error: 0.404084, 0.293712 Feature: -0.318922, 0.096216, 0.942885
[11:52:54.867] xyz_f:-0.447929, -0.241068, 0.793758  Reprojection Error: 0.370029, 0.315664 Feature: -0.190706, 0.011738, 0.981577
[11:52:54.867] xyz_f:-0.577462, -0.162517, 0.771104  Reprojection Error: 0.408103, 0.297415 Feature: -0.321480, 0.081750, 0.943381
[11:52:54.867] xyz_f:-0.571820, 0.205211, 0.764697  Reprojection Error: 0.912797, -0.724339 Feature: -0.318968, 0.435290, 0.841892
[11:52:54.867] xyz_f:-1.068883, -1.226829, 1.178570  Reprojection Error: 0.963675, 0.829974 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.867] xyz_f:-0.961817, -1.275129, 1.195866  Reprojection Error: 0.914744, 0.851672 Feature: -0.684109, -0.883015, 1.653161
[11:52:54.867] xyz_f:-0.681933, -0.121927, 0.712369  Reprojection Error: 1.008174, -0.034001 Feature: -0.427976, 0.105755, 0.879397
[11:52:54.867] xyz_f:-0.939045, -1.186723, 1.182429  Reprojection Error: 0.901962, 0.804174 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.867] xyz_f:-0.523995, -0.003915, 0.288105  Reprojection Error: 1.489612, -0.094385 Feature: -0.283700, 0.109939, 0.434383
[11:52:54.867] xyz_f:-0.447929, -0.241068, 0.793758  Reprojection Error: 0.438927, 0.317756 Feature: -0.190706, 0.011738, 0.981577
[11:52:54.867] xyz_f:-0.436381, -0.062767, 0.366715  Reprojection Error: 1.084895, 0.198200 Feature: -0.193315, 0.073438, 0.522800
[11:52:54.867] xyz_f:-0.577783, -0.161040, 0.771241  Reprojection Error: 0.482662, 0.302310 Feature: -0.321809, 0.083212, 0.943141
[11:52:54.867] xyz_f:-1.048747, -1.199949, 1.175917  Reprojection Error: 0.885543, 1.398628 Feature: -0.772192, -0.815560, 1.617134
[11:52:54.867] it:25 	 Success 	 new_chi2: 0.060912 	 dT = 0.107190, 0.048458, -0.121727
[11:52:54.867] xyz_f:-0.350583, -0.235777, 0.767698  Reprojection Error: 0.271453, 0.330159 Feature: -0.182071, 0.022646, 0.983024
[11:52:54.867] xyz_f:-0.338928, -0.236032, 0.768675  Reprojection Error: 0.267787, 0.330059 Feature: -0.170556, 0.022653, 0.985088
[11:52:54.867] xyz_f:-0.184012, -0.453695, 0.688308  Reprojection Error: 0.252670, 0.446051 Feature: -0.014347, -0.208394, 0.977940
[11:52:54.867] xyz_f:-0.143621, -0.446750, 0.687523  Reprojection Error: 0.235564, 0.443590 Feature: 0.026110, -0.201889, 0.979060
[11:52:54.867] xyz_f:-0.163499, -0.435422, 0.695470  Reprojection Error: 0.241083, 0.433727 Feature: 0.005883, -0.188890, 0.981981
[11:52:54.867] xyz_f:-0.493363, -0.170277, 0.757256  Reprojection Error: 0.310305, 0.313089 Feature: -0.321809, 0.083212, 0.943141
[11:52:54.867] xyz_f:-0.186545, -0.435928, 0.697370  Reprojection Error: 0.249933, 0.432724 Feature: -0.017246, -0.188887, 0.981847
[11:52:54.867] xyz_f:-0.499722, 0.195968, 0.750736  Reprojection Error: 0.286772, 0.256003 Feature: -0.318968, 0.435290, 0.841892
[11:52:54.867] xyz_f:-0.097852, -0.446979, 0.680274  Reprojection Error: 0.217918, 0.448119 Feature: 0.072320, -0.203986, 0.976299
[11:52:54.867] xyz_f:-0.490511, -0.157582, 0.760122  Reprojection Error: 0.307066, 0.309356 Feature: -0.318922, 0.096216, 0.942885
[11:52:54.867] xyz_f:-0.359314, -0.246143, 0.764239  Reprojection Error: 0.275873, 0.334034 Feature: -0.190706, 0.011738, 0.981577
[11:52:54.867] xyz_f:-0.493014, -0.171743, 0.757080  Reprojection Error: 0.310431, 0.313506 Feature: -0.321480, 0.081750, 0.943381
[11:52:54.867] xyz_f:-0.499722, 0.195968, 0.750736  Reprojection Error: 0.830667, -0.717017 Feature: -0.318968, 0.435290, 0.841892
[11:52:54.867] xyz_f:-0.899559, -1.250218, 1.217402  Reprojection Error: 0.795660, 0.815983 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.867] xyz_f:-0.789739, -1.295098, 1.221932  Reprojection Error: 0.756763, 0.845268 Feature: -0.684109, -0.883015, 1.653161
[11:52:54.867] xyz_f:-0.604877, -0.134565, 0.711078  Reprojection Error: 0.901546, -0.015917 Feature: -0.427976, 0.105755, 0.879397
[11:52:54.867] xyz_f:-0.771489, -1.206045, 1.206080  Reprojection Error: 0.747463, 0.800513 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.867] xyz_f:-0.501578, -0.012433, 0.271438  Reprojection Error: 1.518704, -0.062169 Feature: -0.283700, 0.109939, 0.434383
[11:52:54.867] xyz_f:-0.359314, -0.246143, 0.764239  Reprojection Error: 0.344771, 0.336126 Feature: -0.190706, 0.011738, 0.981577
[11:52:54.867] xyz_f:-0.403543, -0.068357, 0.339120  Reprojection Error: 1.084891, 0.228611 Feature: -0.193315, 0.073438, 0.522800
[11:52:54.867] xyz_f:-0.493363, -0.170277, 0.757256  Reprojection Error: 0.385016, 0.318364 Feature: -0.321809, 0.083212, 0.943141
[11:52:54.867] xyz_f:-0.880728, -1.222724, 1.212455  Reprojection Error: 0.720089, 1.386660 Feature: -0.772192, -0.815560, 1.617134
[11:52:54.867] it:26 	 Success 	 new_chi2: 0.203221 	 dT = 0.084251, 0.060265, -0.114469
[11:52:54.867] xyz_f:-0.261795, -0.236814, 0.711303  Reprojection Error: 0.182833, 0.355967 Feature: -0.182071, 0.022646, 0.983024
[11:52:54.867] xyz_f:-0.250100, -0.236722, 0.710988  Reprojection Error: 0.178627, 0.355944 Feature: -0.170556, 0.022653, 0.985088
[11:52:54.867] xyz_f:-0.098630, -0.449842, 0.613664  Reprojection Error: 0.146053, 0.519948 Feature: -0.014347, -0.208394, 0.977940
[11:52:54.867] xyz_f:-0.058795, -0.441708, 0.608440  Reprojection Error: 0.123301, 0.519761 Feature: 0.026110, -0.201889, 0.979060
[11:52:54.867] xyz_f:-0.078002, -0.430959, 0.618549  Reprojection Error: 0.132095, 0.504370 Feature: 0.005883, -0.188890, 0.981981
[11:52:54.867] xyz_f:-0.406728, -0.175581, 0.716785  Reprojection Error: 0.226225, 0.333184 Feature: -0.321809, 0.083212, 0.943141
[11:52:54.867] xyz_f:-0.100672, -0.432143, 0.622979  Reprojection Error: 0.144033, 0.501292 Feature: -0.017246, -0.188887, 0.981847
[11:52:54.867] xyz_f:-0.424592, 0.190305, 0.711606  Reprojection Error: 0.217797, 0.249607 Feature: -0.318968, 0.435290, 0.841892
[11:52:54.867] xyz_f:-0.014119, -0.440595, 0.596184  Reprojection Error: 0.097758, 0.530086 Feature: 0.072320, -0.203986, 0.976299
[11:52:54.867] xyz_f:-0.403954, -0.162803, 0.719340  Reprojection Error: 0.223322, 0.328366 Feature: -0.318922, 0.096216, 0.942885
[11:52:54.867] xyz_f:-0.270543, -0.247439, 0.708812  Reprojection Error: 0.187400, 0.361048 Feature: -0.190706, 0.011738, 0.981577
[11:52:54.867] xyz_f:-0.406358, -0.177036, 0.716569  Reprojection Error: 0.226314, 0.333717 Feature: -0.321480, 0.081750, 0.943381
[11:52:54.867] xyz_f:-0.424592, 0.190305, 0.711606  Reprojection Error: 0.761692, -0.723413 Feature: -0.318968, 0.435290, 0.841892
[11:52:54.867] xyz_f:-0.727574, -1.266304, 1.217169  Reprojection Error: 0.654502, 0.829395 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.867] xyz_f:-0.616646, -1.307910, 1.209482  Reprojection Error: 0.620302, 0.866771 Feature: -0.684109, -0.883015, 1.653161
[11:52:54.867] xyz_f:-0.523662, -0.143257, 0.683251  Reprojection Error: 0.817327, 0.004511 Feature: -0.427976, 0.105755, 0.879397
[11:52:54.867] xyz_f:-0.602897, -1.218382, 1.191859  Reprojection Error: 0.613643, 0.822796 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.867] xyz_f:-0.473155, -0.018843, 0.235098  Reprojection Error: 1.683433, -0.027822 Feature: -0.283700, 0.109939, 0.434383
[11:52:54.867] xyz_f:-0.270543, -0.247439, 0.708812  Reprojection Error: 0.256298, 0.363140 Feature: -0.190706, 0.011738, 0.981577
[11:52:54.867] xyz_f:-0.366641, -0.071734, 0.291459  Reprojection Error: 1.152869, 0.273160 Feature: -0.193315, 0.073438, 0.522800
[11:52:54.867] xyz_f:-0.406728, -0.175581, 0.716785  Reprojection Error: 0.300936, 0.338459 Feature: -0.321809, 0.083212, 0.943141
[11:52:54.867] xyz_f:-0.710224, -1.238272, 1.210220  Reprojection Error: 0.580544, 1.401371 Feature: -0.772192, -0.815560, 1.617134
[11:52:54.867] it:27 	 Success 	 new_chi2: 0.267378 	 dT = 0.257015, 0.086111, -0.373904
[11:52:54.867] xyz_f:-0.131287, -0.216843, 0.550660  Reprojection Error: 0.053202, 0.416825 Feature: -0.182071, 0.022646, 0.983024
[11:52:54.867] xyz_f:-0.120521, -0.215652, 0.546240  Reprojection Error: 0.047499, 0.417789 Feature: -0.170556, 0.022653, 0.985088
[11:52:54.867] xyz_f:0.006294, -0.415147, 0.398070  Reprojection Error: -0.030483, 0.829806 Feature: -0.014347, -0.208394, 0.977940
[11:52:54.867] xyz_f:0.040765, -0.403375, 0.379268  Reprojection Error: -0.080816, 0.857354 Feature: 0.026110, -0.201889, 0.979060
[11:52:54.867] xyz_f:0.025436, -0.394317, 0.395688  Reprojection Error: -0.058293, 0.804180 Feature: 0.005883, -0.188890, 0.981981
[11:52:54.867] xyz_f:-0.270062, -0.169500, 0.607979  Reprojection Error: 0.102987, 0.367020 Feature: -0.321809, 0.083212, 0.943141
[11:52:54.867] xyz_f:0.006007, -0.397562, 0.407810  Reprojection Error: -0.032295, 0.782490 Feature: -0.017246, -0.188887, 0.981847
[11:52:54.867] xyz_f:-0.323107, 0.192915, 0.615756  Reprojection Error: 0.145862, 0.203740 Feature: -0.318968, 0.435290, 0.841892
[11:52:54.867] xyz_f:0.077926, -0.398256, 0.352060  Reprojection Error: -0.147266, 0.922276 Feature: 0.072320, -0.203986, 0.976299
[11:52:54.867] xyz_f:-0.267786, -0.156474, 0.609611  Reprojection Error: 0.101033, 0.358723 Feature: -0.318922, 0.096216, 0.942885
[11:52:54.867] xyz_f:-0.139306, -0.228289, 0.551232  Reprojection Error: 0.058432, 0.426102 Feature: -0.190706, 0.011738, 0.981577
[11:52:54.867] xyz_f:-0.269656, -0.170917, 0.607621  Reprojection Error: 0.103015, 0.367945 Feature: -0.321480, 0.081750, 0.943381
[11:52:54.867] xyz_f:-0.323107, 0.192915, 0.615756  Reprojection Error: 0.689757, -0.769280 Feature: -0.318968, 0.435290, 0.841892
[11:52:54.867] xyz_f:-0.289090, -1.276862, 1.170463  Reprojection Error: 0.303731, 0.879931 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.867] xyz_f:-0.184606, -1.307922, 1.123417  Reprojection Error: 0.274784, 0.949627 Feature: -0.684109, -0.883015, 1.653161
[11:52:54.867] xyz_f:-0.393804, -0.148959, 0.618420  Reprojection Error: 0.687689, 0.035712 Feature: -0.427976, 0.105755, 0.879397
[11:52:54.867] xyz_f:-0.186488, -1.217813, 1.103626  Reprojection Error: 0.276774, 0.904008 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.867] xyz_f:-0.516658, -0.028088, 0.183486  Reprojection Error: 2.486635, 0.045104 Feature: -0.283700, 0.109939, 0.434383
[11:52:54.867] xyz_f:-0.139306, -0.228289, 0.551232  Reprojection Error: 0.127330, 0.428194 Feature: -0.190706, 0.011738, 0.981577
[11:52:54.867] xyz_f:-0.392619, -0.069690, 0.197722  Reprojection Error: 1.880633, 0.379507 Feature: -0.193315, 0.073438, 0.522800
[11:52:54.867] xyz_f:-0.270062, -0.169500, 0.607979  Reprojection Error: 0.177698, 0.372295 Feature: -0.321809, 0.083212, 0.943141
[11:52:54.867] xyz_f:-0.278041, -1.247441, 1.158325  Reprojection Error: 0.233726, 1.455126 Feature: -0.772192, -0.815560, 1.617134
[11:52:54.867] it:28 	 Success 	 new_chi2: 0.270162 	 dT = 0.057449, 0.044306, -0.113271
[11:52:54.867] xyz_f:0.083946, -0.204029, 0.458532  Reprojection Error: -0.368291, 0.468000 Feature: -0.182071, 0.022646, 0.983024
[11:52:54.867] xyz_f:0.094126, -0.202531, 0.452965  Reprojection Error: -0.380938, 0.470118 Feature: -0.170556, 0.022653, 0.985088
[11:52:54.867] xyz_f:0.209788, -0.398468, 0.291515  Reprojection Error: -0.734316, 1.153791 Feature: -0.014347, -0.208394, 0.977940
[11:52:54.867] xyz_f:0.241641, -0.385722, 0.269082  Reprojection Error: -0.871352, 1.227270 Feature: 0.026110, -0.201889, 0.979060
[11:52:54.867] xyz_f:0.227937, -0.377091, 0.287091  Reprojection Error: -0.787964, 1.121131 Feature: 0.005883, -0.188890, 0.981981
[11:52:54.867] xyz_f:-0.049066, -0.160674, 0.530735  Reprojection Error: -0.248760, 0.390967 Feature: -0.321809, 0.083212, 0.943141
[11:52:54.867] xyz_f:0.210051, -0.380883, 0.301257  Reprojection Error: -0.714814, 1.071932 Feature: -0.017246, -0.188887, 0.981847
[11:52:54.867] xyz_f:-0.111525, 0.200045, 0.544837  Reprojection Error: -0.174177, 0.149872 Feature: -0.318968, 0.435290, 0.841892
[11:52:54.867] xyz_f:0.275443, -0.379562, 0.237987  Reprojection Error: -1.083308, 1.385944 Feature: 0.072320, -0.203986, 0.976299
[11:52:54.867] xyz_f:-0.047008, -0.147585, 0.532130  Reprojection Error: -0.249901, 0.379392 Feature: -0.318922, 0.096216, 0.942885
[11:52:54.867] xyz_f:0.076376, -0.215704, 0.459957  Reprojection Error: -0.360336, 0.480924 Feature: -0.190706, 0.011738, 0.981577
[11:52:54.867] xyz_f:-0.048660, -0.162080, 0.530333  Reprojection Error: -0.249020, 0.392275 Feature: -0.321480, 0.081750, 0.943381
[11:52:54.867] xyz_f:-0.111525, 0.200045, 0.544837  Reprojection Error: 0.369718, -0.823148 Feature: -0.318968, 0.435290, 0.841892
[11:52:54.867] xyz_f:0.025833, -1.267217, 1.090160  Reprojection Error: 0.033047, 0.951441 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.867] xyz_f:0.125420, -1.295282, 1.031937  Reprojection Error: -0.011079, 1.040585 Feature: -0.684109, -0.883015, 1.653161
[11:52:54.867] xyz_f:-0.171476, -0.143745, 0.554656  Reprojection Error: 0.360057, 0.054003 Feature: -0.427976, 0.105755, 0.879397
[11:52:54.867] xyz_f:0.118753, -1.205299, 1.012615  Reprojection Error: -0.009477, 0.990826 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.867] xyz_f:-0.344565, -0.027217, 0.135930  Reprojection Error: 2.205719, 0.092253 Feature: -0.283700, 0.109939, 0.434383
[11:52:54.867] xyz_f:0.076376, -0.215704, 0.459957  Reprojection Error: -0.291438, 0.483016 Feature: -0.190706, 0.011738, 0.981577
[11:52:54.867] xyz_f:-0.218549, -0.065150, 0.136471  Reprojection Error: 1.496346, 0.504432 Feature: -0.193315, 0.073438, 0.522800
[11:52:54.867] xyz_f:-0.049066, -0.160674, 0.530735  Reprojection Error: -0.174048, 0.396242 Feature: -0.321809, 0.083212, 0.943141
[11:52:54.867] xyz_f:0.034625, -1.237504, 1.076935  Reprojection Error: -0.038463, 1.527289 Feature: -0.772192, -0.815560, 1.617134
[11:52:54.867] it:29 	 Success 	 new_chi2: 0.140490 	 dT = -0.514221, -0.005259, 0.937801
[11:52:54.867] xyz_f:-0.291530, -0.213492, 0.499105  Reprojection Error: 0.398890, 0.450786 Feature: -0.182071, 0.022646, 0.983024
[11:52:54.867] xyz_f:-0.280860, -0.214727, 0.503741  Reprojection Error: 0.384411, 0.449260 Feature: -0.170556, 0.022653, 0.985088
[11:52:54.867] xyz_f:-0.127591, -0.445924, 0.473884  Reprojection Error: 0.254575, 0.727903 Feature: -0.014347, -0.208394, 0.977940
[11:52:54.867] xyz_f:-0.088617, -0.442465, 0.486108  Reprojection Error: 0.208968, 0.704013 Feature: 0.026110, -0.201889, 0.979060
[11:52:54.867] xyz_f:-0.108948, -0.429371, 0.487464  Reprojection Error: 0.229491, 0.688470 Feature: 0.005883, -0.188890, 0.981981
[11:52:54.867] xyz_f:-0.417399, -0.136194, 0.444632  Reprojection Error: 0.597543, 0.394535 Feature: -0.321809, 0.083212, 0.943141
[11:52:54.867] xyz_f:-0.131353, -0.427881, 0.481915  Reprojection Error: 0.254999, 0.695497 Feature: -0.017246, -0.188887, 0.981847
[11:52:54.867] xyz_f:-0.390057, 0.229130, 0.441551  Reprojection Error: 0.504508, -0.001883 Feature: -0.318968, 0.435290, 0.841892
[11:52:54.867] xyz_f:-0.043120, -0.446702, 0.493816  Reprojection Error: 0.161396, 0.695652 Feature: 0.072320, -0.203986, 0.976299
[11:52:54.867] xyz_f:-0.414536, -0.123750, 0.448435  Reprojection Error: 0.586167, 0.378004 Feature: -0.318922, 0.096216, 0.942885
[11:52:54.867] xyz_f:-0.299555, -0.223122, 0.492900  Reprojection Error: 0.413454, 0.464630 Feature: -0.190706, 0.011738, 0.981577
[11:52:54.867] xyz_f:-0.417139, -0.137687, 0.444556  Reprojection Error: 0.597553, 0.396374 Feature: -0.321480, 0.081750, 0.943381
[11:52:54.867] xyz_f:-0.390057, 0.229130, 0.441551  Reprojection Error: 1.048403, -0.974903 Feature: -0.318968, 0.435290, 0.841892
[11:52:54.867] xyz_f:-1.039672, -1.170969, 0.736215  Reprojection Error: 1.468928, 1.379553 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.867] xyz_f:-0.941273, -1.224992, 0.774871  Reprojection Error: 1.325207, 1.366289 Feature: -0.684109, -0.883015, 1.653161
[11:52:54.867] xyz_f:-0.504909, -0.091742, 0.365835  Reprojection Error: 1.431055, 0.045615 Feature: -0.427976, 0.105755, 0.879397
[11:52:54.867] xyz_f:-0.911392, -1.138053, 0.766908  Reprojection Error: 1.296194, 1.284492 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.867] xyz_f:-0.256887, 0.014962, -0.016225  Reprojection Error: -16.162144, 0.814209 Feature: -0.283700, 0.109939, 0.434383
[11:52:54.867] xyz_f:-0.299555, -0.223122, 0.492900  Reprojection Error: 0.482352, 0.466722 Feature: -0.190706, 0.011738, 0.981577
[11:52:54.867] xyz_f:-0.190678, -0.048175, 0.078377  Reprojection Error: 2.327764, 0.641696 Feature: -0.193315, 0.073438, 0.522800
[11:52:54.867] xyz_f:-0.417399, -0.136194, 0.444632  Reprojection Error: 0.672254, 0.399810 Feature: -0.321809, 0.083212, 0.943141
[11:52:54.867] xyz_f:-1.017971, -1.145254, 0.737911  Reprojection Error: 1.373219, 1.930213 Feature: -0.772192, -0.815560, 1.617134
[11:52:54.867] it:30 	 Success 	 new_chi2: 0.003407 	 dT = -0.022020, -0.001322, 0.100000
[11:52:54.867] xyz_f:-0.867184, -0.201584, 0.455988  Reprojection Error: 1.716555, 0.465120 Feature: -0.182071, 0.022646, 0.983024
[11:52:54.867] xyz_f:-0.857046, -0.203089, 0.461629  Reprojection Error: 1.683430, 0.462935 Feature: -0.170556, 0.022653, 0.985088
[11:52:54.867] xyz_f:-0.707638, -0.438207, 0.446403  Reprojection Error: 1.570528, 0.768543 Feature: -0.014347, -0.208394, 0.977940
[11:52:54.867] xyz_f:-0.669948, -0.435740, 0.462332  Reprojection Error: 1.475730, 0.736276 Feature: 0.026110, -0.201889, 0.979060
[11:52:54.867] xyz_f:-0.689970, -0.422124, 0.461738  Reprojection Error: 1.500280, 0.721850 Feature: 0.005883, -0.188890, 0.981981
[11:52:54.867] xyz_f:-0.985174, -0.121128, 0.389727  Reprojection Error: 2.186645, 0.399029 Feature: -0.321809, 0.083212, 0.943141
[11:52:54.867] xyz_f:-0.711689, -0.420061, 0.454056  Reprojection Error: 1.549837, 0.732752 Feature: -0.017246, -0.188887, 0.981847
[11:52:54.867] xyz_f:-0.948232, 0.243363, 0.389754  Reprojection Error: 2.054029, -0.107365 Feature: -0.318968, 0.435290, 0.841892
[11:52:54.867] xyz_f:-0.625531, -0.441141, 0.474387  Reprojection Error: 1.392684, 0.720980 Feature: 0.072320, -0.203986, 0.976299
[11:52:54.867] xyz_f:-0.982371, -0.108757, 0.393804  Reprojection Error: 2.156328, 0.378215 Feature: -0.318922, 0.096216, 0.942885
[11:52:54.868] xyz_f:-0.874819, -0.211011, 0.449026  Reprojection Error: 1.753975, 0.481890 Feature: -0.190706, 0.011738, 0.981577
[11:52:54.868] xyz_f:-0.984946, -0.122627, 0.389675  Reprojection Error: 2.186838, 0.401347 Feature: -0.321480, 0.081750, 0.943381
[11:52:54.868] xyz_f:-0.948232, 0.243363, 0.389754  Reprojection Error: 2.597923, -1.080385 Feature: -0.318968, 0.435290, 0.841892
[11:52:54.868] xyz_f:-1.659193, -1.139113, 0.618652  Reprojection Error: 2.738692, 1.630311 Feature: -0.792025, -0.840837, 1.627270
[11:52:54.868] xyz_f:-1.566409, -1.195613, 0.666549  Reprojection Error: 2.460487, 1.579127 Feature: -0.684109, -0.883015, 1.653161
[11:52:54.868] xyz_f:-1.063500, -0.074528, 0.302914  Reprojection Error: 3.561792, 0.040878 Feature: -0.427976, 0.105755, 0.879397
[11:52:54.868] xyz_f:-1.533663, -1.109485, 0.661614  Reprojection Error: 2.425861, 1.477480 Feature: -0.662454, -0.801099, 1.616615
[11:52:54.868] xyz_f:-0.777116, 0.025255, -0.053314  Reprojection Error: -14.905372, 0.365722 Feature: -0.283700, 0.109939, 0.434383
[11:52:54.868] xyz_f:-0.874819, -0.211011, 0.449026  Reprojection Error: 1.822873, 0.483982 Feature: -0.190706, 0.011738, 0.981577
[11:52:54.868] xyz_f:-0.721992, -0.039454, 0.047152  Reprojection Error: 15.206895, 0.863771 Feature: -0.193315, 0.073438, 0.522800
[11:52:54.868] xyz_f:-0.985174, -0.121128, 0.389727  Reprojection Error: 2.261357, 0.404304 Feature: -0.321809, 0.083212, 0.943141
[11:52:54.868] xyz_f:-1.637100, -1.113966, 0.622465  Reprojection Error: 2.623715, 2.167795 Feature: -0.772192, -0.815560, 1.617134
[11:52:54.868] it:31 	 Success 	 new_chi2: 0.000000 	 dT = 0.000000, 0.000000, 0.000000
[11:52:54.868] After pose optimization, distance between two frames:0.543106 ,angle between two frames:-3.352758
[11:52:54.954] Reprojection Map nPoint:35 ,nCell:17 ,nMatches:10 ,distance between two frames:2.764877 ,angle between two frames:-3.565191
[11:52:54.954] Init estimate scale:0.935321
[11:52:54.954] xyz_f:2.264266, -0.219843, 1.934624  Reprojection Error: -1.286945, 0.140876 Feature: -0.115728, 0.027047, 0.992913
[11:52:54.954] xyz_f:2.275336, -0.222880, 1.937537  Reprojection Error: -1.279112, 0.140044 Feature: -0.104165, 0.024867, 0.994249
[11:52:54.954] xyz_f:2.426360, -0.453460, 1.888574  Reprojection Error: -1.237321, 0.024510 Feature: 0.046322, -0.210529, 0.976490
[11:52:54.954] xyz_f:2.466256, -0.448833, 1.896719  Reprojection Error: -1.211313, 0.027484 Feature: 0.086749, -0.203951, 0.975130
[11:52:54.954] xyz_f:2.445567, -0.434365, 1.901150  Reprojection Error: -1.218410, 0.035743 Feature: 0.066576, -0.188829, 0.979751
[11:52:54.954] xyz_f:2.132363, -0.144088, 1.895069  Reprojection Error: -1.391714, 0.169536 Feature: -0.256466, 0.089984, 0.962356
[11:52:54.954] xyz_f:2.422656, -0.433542, 1.897943  Reprojection Error: -1.232162, 0.035913 Feature: 0.043462, -0.188864, 0.981041
[11:52:54.954] xyz_f:2.541687, -0.632188, 1.783786  Reprojection Error: -1.259859, -0.101575 Feature: 0.148487, -0.410287, 0.899787
[11:52:54.954] xyz_f:2.512559, -0.451705, 1.899686  Reprojection Error: -1.185588, 0.025342 Feature: 0.132850, -0.205957, 0.969501
[11:52:54.954] xyz_f:2.135262, -0.133660, 1.898142  Reprojection Error: -1.388497, 0.175246 Feature: -0.253571, 0.100851, 0.962045
[11:52:54.954] xyz_f:2.255918, -0.231861, 1.928836  Reprojection Error: -1.294962, 0.134259 Feature: -0.124401, 0.013940, 0.992134
[11:52:54.954] xyz_f:2.134874, -0.150856, 1.895192  Reprojection Error: -1.389659, 0.166222 Feature: -0.253634, 0.083477, 0.963691
[11:52:54.954] xyz_f:2.435201, -0.449779, 1.891902  Reprojection Error: -1.230427, 0.026766 Feature: 0.055436, -0.206111, 0.976957
[11:52:54.954] xyz_f:2.487077, -0.453626, 1.896572  Reprojection Error: -1.200895, 0.024573 Feature: 0.107376, -0.208619, 0.972085
[11:52:54.954] xyz_f:2.484248, -0.440696, 1.902787  Reprojection Error: -1.197787, 0.032148 Feature: 0.105129, -0.194520, 0.975249
[11:52:54.954] xyz_f:2.082343, -0.322333, 1.818426  Reprojection Error: -1.474286, 0.069286 Feature: -0.311019, -0.102025, 0.944912
[11:52:54.954] xyz_f:2.275057, -0.220896, 1.937921  Reprojection Error: -1.279047, 0.141027 Feature: -0.104466, 0.026883, 0.994165
[11:52:54.954] xyz_f:2.383317, 0.104693, 1.985656  Reprojection Error: -1.206578, 0.325467 Feature: -0.005903, 0.353733, 0.935328
[11:52:54.954] xyz_f:2.541687, -0.632188, 1.783786  Reprojection Error: -1.233786, -0.103257 Feature: 0.148487, -0.410287, 0.899787
[11:52:54.954] xyz_f:2.426360, -0.453460, 1.888574  Reprojection Error: -1.213568, 0.024252 Feature: 0.046322, -0.210529, 0.976490
[11:52:54.954] xyz_f:2.512559, -0.451705, 1.899686  Reprojection Error: -1.161224, 0.022362 Feature: 0.132850, -0.205957, 0.969501
[11:52:54.954] xyz_f:2.379684, 0.026238, 1.168807  Reprojection Error: -1.973460, -0.222186 Feature: -0.161646, 0.066536, 0.182551
[11:52:54.954] xyz_f:2.281283, -0.051791, 1.486688  Reprojection Error: -1.611437, 0.060430 Feature: -0.193315, 0.073438, 0.522800
[11:52:54.954] xyz_f:2.398428, -0.030496, 1.241049  Reprojection Error: -2.166935, 0.110831 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.954] xyz_f:2.210190, 0.010528, 1.395137  Reprojection Error: -1.924024, 0.190797 Feature: -0.283700, 0.109939, 0.434383
[11:52:54.954] xyz_f:1.499153, -1.163108, 2.187737  Reprojection Error: -0.776008, 0.828903 Feature: -0.768965, -0.818567, 1.623333
[11:52:54.954] xyz_f:1.497218, -1.158465, 2.182028  Reprojection Error: -0.660151, 0.909484 Feature: -0.772192, -0.815560, 1.617134
[11:52:54.954] xyz_f:1.959776, -0.098826, 1.817045  Reprojection Error: -1.351843, 0.552904 Feature: -0.442876, 0.113508, 0.911166
[11:52:54.954] it:0 	 Success 	 new_chi2: 41.915317 	 dT = -0.114462, 0.067623, -0.000989
[11:52:54.954] xyz_f:0.584250, -0.219764, 2.001951  Reprojection Error: -0.408394, 0.137015 Feature: -0.115728, 0.027047, 0.992913
[11:52:54.954] xyz_f:0.595316, -0.222803, 2.004874  Reprojection Error: -0.401702, 0.136142 Feature: -0.104165, 0.024867, 0.994249
[11:52:54.954] xyz_f:0.746328, -0.453422, 1.956055  Reprojection Error: -0.334110, 0.016207 Feature: 0.046322, -0.210529, 0.976490
[11:52:54.954] xyz_f:0.786217, -0.448805, 1.964239  Reprojection Error: -0.311304, 0.019336 Feature: 0.086749, -0.203951, 0.975130
[11:52:54.954] xyz_f:0.765528, -0.434332, 1.968650  Reprojection Error: -0.320908, 0.027893 Feature: 0.066576, -0.188829, 0.979751
[11:52:54.954] xyz_f:0.452404, -0.143974, 1.962270  Reprojection Error: -0.497050, 0.166875 Feature: -0.256466, 0.089984, 0.962356
[11:52:54.954] xyz_f:0.742620, -0.433503, 1.965421  Reprojection Error: -0.333541, 0.028051 Feature: 0.043462, -0.188864, 0.981041
[11:52:54.954] xyz_f:0.861710, -0.632179, 1.851377  Reprojection Error: -0.300418, -0.114518 Feature: 0.148487, -0.410287, 0.899787
[11:52:54.954] xyz_f:0.832517, -0.451689, 1.967250  Reprojection Error: -0.286159, 0.017168 Feature: 0.132850, -0.205957, 0.969501
[11:52:54.954] xyz_f:0.455303, -0.133548, 1.965345  Reprojection Error: -0.495241, 0.172781 Feature: -0.253571, 0.100851, 0.962045
[11:52:54.954] xyz_f:0.575905, -0.231780, 1.996155  Reprojection Error: -0.413895, 0.130164 Feature: -0.124401, 0.013940, 0.992134
[11:52:54.954] xyz_f:0.454913, -0.150744, 1.962394  Reprojection Error: -0.495006, 0.163439 Feature: -0.253634, 0.083477, 0.963691
[11:52:54.954] xyz_f:0.755167, -0.449743, 1.959392  Reprojection Error: -0.328666, 0.018559 Feature: 0.055436, -0.206111, 0.976957
[11:52:54.954] xyz_f:0.807038, -0.453604, 1.964112  Reprojection Error: -0.300433, 0.016337 Feature: 0.107376, -0.208619, 0.972085
[11:52:54.954] xyz_f:0.804206, -0.440672, 1.970324  Reprojection Error: -0.300363, 0.024198 Feature: 0.105129, -0.194520, 0.975249
[11:52:54.955] xyz_f:0.402412, -0.322207, 1.885579  Reprojection Error: -0.542567, 0.062907 Feature: -0.311019, -0.102025, 0.944912
[11:52:54.955] xyz_f:0.595038, -0.220819, 2.005258  Reprojection Error: -0.401818, 0.137161 Feature: -0.104466, 0.026883, 0.994165
[11:52:54.955] xyz_f:0.703335, 0.104742, 2.053096  Reprojection Error: -0.348884, 0.327175 Feature: -0.005903, 0.353733, 0.935328
[11:52:54.955] xyz_f:0.861710, -0.632179, 1.851377  Reprojection Error: -0.274345, -0.116200 Feature: 0.148487, -0.410287, 0.899787
[11:52:54.955] xyz_f:0.746328, -0.453422, 1.956055  Reprojection Error: -0.310358, 0.015949 Feature: 0.046322, -0.210529, 0.976490
[11:52:54.955] xyz_f:0.832517, -0.451689, 1.967250  Reprojection Error: -0.261795, 0.014188 Feature: 0.132850, -0.205957, 0.969501
[11:52:54.955] xyz_f:0.700463, 0.026288, 1.236244  Reprojection Error: -0.504071, -0.221002 Feature: -0.161646, 0.066536, 0.182551
[11:52:54.955] xyz_f:0.601738, -0.051716, 1.554030  Reprojection Error: -0.464175, 0.058872 Feature: -0.193315, 0.073438, 0.522800
[11:52:54.955] xyz_f:0.719123, -0.030451, 1.308504  Reprojection Error: -0.783930, 0.109529 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.955] xyz_f:0.530749, 0.010621, 1.462412  Reprojection Error: -0.702741, 0.191081 Feature: -0.283700, 0.109939, 0.434383
[11:52:54.955] xyz_f:-0.181346, -1.162833, 2.254332  Reprojection Error: -0.010312, 0.813075 Feature: -0.768965, -0.818567, 1.623333
[11:52:54.955] xyz_f:-0.183274, -1.158189, 2.248622  Reprojection Error: 0.107513, 0.893638 Feature: -0.772192, -0.815560, 1.617134
[11:52:54.955] xyz_f:0.279904, -0.098669, 1.884080  Reprojection Error: -0.421854, 0.550885 Feature: -0.442876, 0.113508, 0.911166
[11:52:54.955] it:1 	 Success 	 new_chi2: 6.586032 	 dT = -0.066593, 0.152584, 0.010924
[11:52:54.955] xyz_f:0.710138, -0.220628, 2.157761  Reprojection Error: -0.445663, 0.129488 Feature: -0.115728, 0.027047, 0.992913
[11:52:54.955] xyz_f:0.721243, -0.223637, 2.160567  Reprojection Error: -0.438589, 0.128519 Feature: -0.104165, 0.024867, 0.994249
[11:52:54.955] xyz_f:0.872383, -0.453828, 2.110154  Reprojection Error: -0.365984, -0.000529 Feature: 0.046322, -0.210529, 0.976490
[11:52:54.955] xyz_f:0.912343, -0.449098, 2.117917  Reprojection Error: -0.341813, 0.002895 Feature: 0.086749, -0.203951, 0.975130
[11:52:54.955] xyz_f:0.891661, -0.434683, 2.122546  Reprojection Error: -0.352139, 0.012062 Feature: 0.066576, -0.188829, 0.979751
[11:52:54.955] xyz_f:0.577668, -0.145213, 2.119474  Reprojection Error: -0.539050, 0.162017 Feature: -0.256466, 0.089984, 0.962356
[11:52:54.955] xyz_f:0.868718, -0.433920, 2.119559  Reprojection Error: -0.365556, 0.012207 Feature: 0.043462, -0.188864, 0.981041
[11:52:54.955] xyz_f:0.987159, -0.632260, 2.004262  Reprojection Error: -0.327505, -0.140525 Feature: 0.148487, -0.410287, 0.899787
[11:52:54.955] xyz_f:0.958680, -0.451851, 2.120439  Reprojection Error: -0.315085, 0.000657 Feature: 0.132850, -0.205957, 0.969501
[11:52:54.955] xyz_f:0.580569, -0.134778, 2.122519  Reprojection Error: -0.537103, 0.168329 Feature: -0.253571, 0.100851, 0.962045
[11:52:54.955] xyz_f:0.701767, -0.232668, 2.152053  Reprojection Error: -0.451479, 0.122165 Feature: -0.124401, 0.013940, 0.992134
[11:52:54.955] xyz_f:0.580197, -0.151975, 2.119572  Reprojection Error: -0.536923, 0.158323 Feature: -0.253634, 0.083477, 0.963691
[11:52:54.955] xyz_f:0.881246, -0.450124, 2.113398  Reprojection Error: -0.360237, 0.002013 Feature: 0.055436, -0.206111, 0.976957
[11:52:54.955] xyz_f:0.933175, -0.453838, 2.117570  Reprojection Error: -0.330223, -0.000289 Feature: 0.107376, -0.208619, 0.972085
[11:52:54.955] xyz_f:0.930372, -0.440915, 2.123811  Reprojection Error: -0.330270, 0.008148 Feature: 0.105129, -0.194520, 0.975249
[11:52:54.955] xyz_f:0.527373, -0.323587, 2.043313  Reprojection Error: -0.587248, 0.050391 Feature: -0.311019, -0.102025, 0.944912
[11:52:54.955] xyz_f:0.720964, -0.221653, 2.160954  Reprojection Error: -0.438711, 0.129613 Feature: -0.104466, 0.026883, 0.994165
[11:52:54.955] xyz_f:0.828839, 0.104214, 2.207652  Reprojection Error: -0.381751, 0.330985 Feature: -0.005903, 0.353733, 0.935328
[11:52:54.955] xyz_f:0.987159, -0.632260, 2.004262  Reprojection Error: -0.301432, -0.142207 Feature: 0.148487, -0.410287, 0.899787
[11:52:54.955] xyz_f:0.872383, -0.453828, 2.110154  Reprojection Error: -0.342232, -0.000786 Feature: 0.046322, -0.210529, 0.976490
[11:52:54.955] xyz_f:0.958680, -0.451851, 2.120439  Reprojection Error: -0.290720, -0.002324 Feature: 0.132850, -0.205957, 0.969501
[11:52:54.955] xyz_f:0.817569, 0.025740, 1.390874  Reprojection Error: -0.525275, -0.218243 Feature: -0.161646, 0.066536, 0.182551
[11:52:54.955] xyz_f:0.722424, -0.052539, 1.709684  Reprojection Error: -0.499512, 0.056324 Feature: -0.193315, 0.073438, 0.522800
[11:52:54.955] xyz_f:0.837152, -0.030945, 1.462932  Reprojection Error: -0.806596, 0.107411 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.955] xyz_f:0.650296, 0.009596, 1.618821  Reprojection Error: -0.741524, 0.192416 Feature: -0.283700, 0.109939, 0.434383
[11:52:54.955] xyz_f:-0.050082, -1.165854, 2.418192  Reprojection Error: -0.070044, 0.779372 Feature: -0.768965, -0.818567, 1.623333
[11:52:54.955] xyz_f:-0.052084, -1.161216, 2.412503  Reprojection Error: 0.047597, 0.859905 Feature: -0.772192, -0.815560, 1.617134
[11:52:54.955] xyz_f:0.404224, -0.100396, 2.043110  Reprojection Error: -0.471139, 0.547654 Feature: -0.442876, 0.113508, 0.911166
[11:52:54.955] it:2 	 Success 	 new_chi2: 7.192611 	 dT = -0.067487, 0.169980, 0.007216
[11:52:54.955] xyz_f:0.989931, -0.220061, 1.985662  Reprojection Error: -0.615093, 0.138065 Feature: -0.115728, 0.027047, 0.992913
[11:52:54.955] xyz_f:1.001011, -0.223090, 1.988546  Reprojection Error: -0.608155, 0.137198 Feature: -0.104165, 0.024867, 0.994249
[11:52:54.955] xyz_f:1.152068, -0.453564, 1.939186  Reprojection Error: -0.546661, 0.018296 Feature: 0.046322, -0.210529, 0.976490
[11:52:54.955] xyz_f:1.191982, -0.448908, 1.947227  Reprojection Error: -0.523182, 0.021385 Feature: 0.086749, -0.203951, 0.975130
[11:52:54.955] xyz_f:1.171295, -0.434455, 1.951712  Reprojection Error: -0.532185, 0.029870 Feature: 0.066576, -0.188829, 0.979751
[11:52:54.955] xyz_f:0.857871, -0.144398, 1.946454  Reprojection Error: -0.707233, 0.167688 Feature: -0.256466, 0.089984, 0.962356
[11:52:54.955] xyz_f:1.148374, -0.433648, 1.948565  Reprojection Error: -0.545041, 0.030033 Feature: 0.043462, -0.188864, 0.981041
[11:52:54.955] xyz_f:1.267246, -0.632210, 1.834095  Reprojection Error: -0.525913, -0.111284 Feature: 0.148487, -0.410287, 0.899787
[11:52:54.955] xyz_f:1.238295, -0.451748, 1.950072  Reprojection Error: -0.497970, 0.019221 Feature: 0.132850, -0.205957, 0.969501
[11:52:54.955] xyz_f:0.860771, -0.133968, 1.949519  Reprojection Error: -0.705105, 0.173548 Feature: -0.253571, 0.100851, 0.962045
[11:52:54.955] xyz_f:0.981577, -0.232085, 1.979896  Reprojection Error: -0.621159, 0.131271 Feature: -0.124401, 0.013940, 0.992134
[11:52:54.955] xyz_f:0.860387, -0.151165, 1.946570  Reprojection Error: -0.705192, 0.164279 Feature: -0.253634, 0.083477, 0.963691
[11:52:54.955] xyz_f:1.160915, -0.449876, 1.942491  Reprojection Error: -0.540899, 0.020625 Feature: 0.055436, -0.206111, 0.976957
[11:52:54.955] xyz_f:1.212806, -0.453686, 1.947025  Reprojection Error: -0.512443, 0.018406 Feature: 0.107376, -0.208619, 0.972085
[11:52:54.955] xyz_f:1.209984, -0.440758, 1.953247  Reprojection Error: -0.511676, 0.026197 Feature: 0.105129, -0.194520, 0.975249
[11:52:54.955] xyz_f:0.807775, -0.322678, 1.869942  Reprojection Error: -0.761130, 0.064588 Feature: -0.311019, -0.102025, 0.944912
[11:52:54.955] xyz_f:1.000732, -0.221106, 1.988931  Reprojection Error: -0.608229, 0.138209 Feature: -0.104466, 0.026883, 0.994165
[11:52:54.955] xyz_f:1.108887, 0.104559, 2.036382  Reprojection Error: -0.550849, 0.326845 Feature: -0.005903, 0.353733, 0.935328
[11:52:54.955] xyz_f:1.267246, -0.632210, 1.834095  Reprojection Error: -0.499839, -0.112966 Feature: 0.148487, -0.410287, 0.899787
[11:52:54.955] xyz_f:1.152068, -0.453564, 1.939186  Reprojection Error: -0.522909, 0.018039 Feature: 0.046322, -0.210529, 0.976490
[11:52:54.955] xyz_f:1.238295, -0.451748, 1.950072  Reprojection Error: -0.473606, 0.016240 Feature: 0.132850, -0.205957, 0.969501
[11:52:54.955] xyz_f:1.103164, 0.026102, 1.219545  Reprojection Error: -0.842036, -0.221140 Feature: -0.161646, 0.066536, 0.182551
[11:52:54.955] xyz_f:1.005653, -0.051997, 1.537683  Reprojection Error: -0.730969, 0.059409 Feature: -0.193315, 0.073438, 0.522800
[11:52:54.955] xyz_f:1.122138, -0.030620, 1.291737  Reprojection Error: -1.103058, 0.109962 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.955] xyz_f:0.934276, 0.010272, 1.446320  Reprojection Error: -0.985782, 0.191241 Feature: -0.283700, 0.109939, 0.434383
[11:52:54.955] xyz_f:0.226150, -1.163863, 2.240783  Reprojection Error: -0.191679, 0.816654 Feature: -0.768965, -0.818567, 1.623333
[11:52:54.955] xyz_f:0.224196, -1.159222, 2.235080  Reprojection Error: -0.074300, 0.897221 Feature: -0.772192, -0.815560, 1.617134
[11:52:54.955] xyz_f:0.685048, -0.099258, 1.868884  Reprojection Error: -0.639846, 0.551626 Feature: -0.442876, 0.113508, 0.911166
[11:52:54.955] it:3 	 Success 	 new_chi2: 10.144730 	 dT = -0.069161, 0.097618, 0.001798
[11:52:54.955] xyz_f:0.685014, -0.220203, 2.083813  Reprojection Error: -0.445285, 0.132913 Feature: -0.115728, 0.027047, 0.992913
[11:52:54.955] xyz_f:0.696100, -0.223227, 2.086677  Reprojection Error: -0.438360, 0.131988 Feature: -0.104165, 0.024867, 0.994249
[11:52:54.955] xyz_f:0.847179, -0.453631, 2.037055  Reprojection Error: -0.368447, 0.007092 Feature: 0.046322, -0.210529, 0.976490
[11:52:54.955] xyz_f:0.887104, -0.448957, 2.045026  Reprojection Error: -0.344825, 0.010383 Feature: 0.086749, -0.203951, 0.975130
[11:52:54.955] xyz_f:0.866418, -0.434513, 2.049548  Reprojection Error: -0.354784, 0.019273 Feature: 0.066576, -0.188829, 0.979751
[11:52:54.955] xyz_f:0.552851, -0.144602, 2.044834  Reprojection Error: -0.536863, 0.164219 Feature: -0.256466, 0.089984, 0.962356
[11:52:54.955] xyz_f:0.843492, -0.433717, 2.046440  Reprojection Error: -0.367873, 0.019423 Feature: 0.043462, -0.188864, 0.981041
[11:52:54.955] xyz_f:0.962257, -0.632223, 1.931764  Reprojection Error: -0.333099, -0.128705 Feature: 0.148487, -0.410287, 0.899787
[11:52:54.955] xyz_f:0.933423, -0.451775, 2.047791  Reprojection Error: -0.318790, 0.008179 Feature: 0.132850, -0.205957, 0.969501
[11:52:54.955] xyz_f:0.555751, -0.134171, 2.047894  Reprojection Error: -0.534952, 0.170346 Feature: -0.253571, 0.100851, 0.962045
[11:52:54.955] xyz_f:0.676655, -0.232231, 2.078061  Reprojection Error: -0.451006, 0.125804 Feature: -0.124401, 0.013940, 0.992134
[11:52:54.955] xyz_f:0.555370, -0.151368, 2.044945  Reprojection Error: -0.534773, 0.160643 Feature: -0.253634, 0.083477, 0.963691
[11:52:54.955] xyz_f:0.856029, -0.449939, 2.040345  Reprojection Error: -0.362808, 0.009548 Feature: 0.055436, -0.206111, 0.976957
[11:52:54.955] xyz_f:0.907930, -0.453725, 2.044789  Reprojection Error: -0.333562, 0.007284 Feature: 0.107376, -0.208619, 0.972085
[11:52:54.955] xyz_f:0.905113, -0.440798, 2.051016  Reprojection Error: -0.333503, 0.015460 Feature: 0.105129, -0.194520, 0.975249
[11:52:54.955] xyz_f:0.502706, -0.322906, 1.968409  Reprojection Error: -0.584538, 0.056071 Feature: -0.311019, -0.102025, 0.944912
[11:52:54.955] xyz_f:0.695821, -0.221243, 2.087063  Reprojection Error: -0.438476, 0.133048 Feature: -0.104466, 0.026883, 0.994165
[11:52:54.955] xyz_f:0.803907, 0.104472, 2.134326  Reprojection Error: -0.382968, 0.329243 Feature: -0.005903, 0.353733, 0.935328
[11:52:54.955] xyz_f:0.962257, -0.632223, 1.931764  Reprojection Error: -0.307025, -0.130387 Feature: 0.148487, -0.410287, 0.899787
[11:52:54.955] xyz_f:0.847179, -0.453631, 2.037055  Reprojection Error: -0.344694, 0.006834 Feature: 0.046322, -0.210529, 0.976490
[11:52:54.955] xyz_f:0.933423, -0.451775, 2.047791  Reprojection Error: -0.294426, 0.005199 Feature: 0.132850, -0.205957, 0.969501
[11:52:54.955] xyz_f:0.796802, 0.026011, 1.317500  Reprojection Error: -0.542249, -0.219480 Feature: -0.161646, 0.066536, 0.182551
[11:52:54.955] xyz_f:0.699880, -0.052133, 1.635807  Reprojection Error: -0.504814, 0.057463 Feature: -0.193315, 0.073438, 0.522800
[11:52:54.955] xyz_f:0.815927, -0.030701, 1.389659  Reprojection Error: -0.821496, 0.108350 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.955] xyz_f:0.628316, 0.010103, 1.544568  Reprojection Error: -0.746605, 0.191802 Feature: -0.283700, 0.109939, 0.434383
[11:52:54.955] xyz_f:-0.077884, -1.164361, 2.340259  Reprojection Error: -0.057475, 0.794789 Feature: -0.768965, -0.818567, 1.623333
[11:52:54.955] xyz_f:-0.079849, -1.159721, 2.334559  Reprojection Error: 0.060211, 0.875334 Feature: -0.772192, -0.815560, 1.617134
[11:52:54.955] xyz_f:0.379873, -0.099543, 1.967564  Reprojection Error: -0.466359, 0.549107 Feature: -0.442876, 0.113508, 0.911166
[11:52:54.955] it:4 	 Success 	 new_chi2: 3.591079 	 dT = -0.083688, 0.080816, 0.005439
[11:52:54.955] xyz_f:0.773286, -0.220630, 2.166221  Reprojection Error: -0.473529, 0.129090 Feature: -0.115728, 0.027047, 0.992913
[11:52:54.955] xyz_f:0.784391, -0.223638, 2.169027  Reprojection Error: -0.466400, 0.128116 Feature: -0.104165, 0.024867, 0.994249
[11:52:54.955] xyz_f:0.935531, -0.453829, 2.118611  Reprojection Error: -0.394140, -0.001387 Feature: 0.046322, -0.210529, 0.976490
[11:52:54.955] xyz_f:0.975491, -0.449099, 2.126373  Reprojection Error: -0.369797, 0.002052 Feature: 0.086749, -0.203951, 0.975130
[11:52:54.955] xyz_f:0.954809, -0.434684, 2.131003  Reprojection Error: -0.380104, 0.011249 Feature: 0.066576, -0.188829, 0.979751
[11:52:54.955] xyz_f:0.640814, -0.145215, 2.127937  Reprojection Error: -0.567641, 0.161746 Feature: -0.256466, 0.089984, 0.962356
[11:52:54.955] xyz_f:0.931865, -0.433921, 2.128016  Reprojection Error: -0.393601, 0.011394 Feature: 0.043462, -0.188864, 0.981041
[11:52:54.955] xyz_f:1.050306, -0.632260, 2.012717  Reprojection Error: -0.356810, -0.141850 Feature: 0.148487, -0.410287, 0.899787
[11:52:54.955] xyz_f:1.021828, -0.451852, 2.128894  Reprojection Error: -0.342951, -0.000189 Feature: 0.132850, -0.205957, 0.969501
[11:52:54.955] xyz_f:0.643715, -0.134780, 2.130982  Reprojection Error: -0.565650, 0.168077 Feature: -0.253571, 0.100851, 0.962045
[11:52:54.955] xyz_f:0.764914, -0.232670, 2.160513  Reprojection Error: -0.479430, 0.121742 Feature: -0.124401, 0.013940, 0.992134
[11:52:54.955] xyz_f:0.643343, -0.151977, 2.128035  Reprojection Error: -0.565508, 0.158039 Feature: -0.253634, 0.083477, 0.963691
[11:52:54.955] xyz_f:0.944394, -0.450125, 2.121854  Reprojection Error: -0.388336, 0.001165 Feature: 0.055436, -0.206111, 0.976957
[11:52:54.955] xyz_f:0.996322, -0.453838, 2.126025  Reprojection Error: -0.358172, -0.001141 Feature: 0.107376, -0.208619, 0.972085
[11:52:54.955] xyz_f:0.993520, -0.440915, 2.132267  Reprojection Error: -0.358149, 0.007325 Feature: 0.105129, -0.194520, 0.975249
[11:52:54.955] xyz_f:0.590518, -0.323589, 2.051776  Reprojection Error: -0.616960, 0.049739 Feature: -0.311019, -0.102025, 0.944912
[11:52:54.955] xyz_f:0.784111, -0.221655, 2.169414  Reprojection Error: -0.466518, 0.129214 Feature: -0.104466, 0.026883, 0.994165
[11:52:54.955] xyz_f:0.891986, 0.104213, 2.216110  Reprojection Error: -0.408812, 0.331166 Feature: -0.005903, 0.353733, 0.935328
[11:52:54.955] xyz_f:1.050306, -0.632260, 2.012717  Reprojection Error: -0.330737, -0.143532 Feature: 0.148487, -0.410287, 0.899787
[11:52:54.955] xyz_f:0.935531, -0.453829, 2.118611  Reprojection Error: -0.370388, -0.001644 Feature: 0.046322, -0.210529, 0.976490
[11:52:54.955] xyz_f:1.021828, -0.451852, 2.128894  Reprojection Error: -0.318587, -0.003170 Feature: 0.132850, -0.205957, 0.969501
[11:52:54.955] xyz_f:0.880700, 0.025739, 1.399332  Reprojection Error: -0.566837, -0.218131 Feature: -0.161646, 0.066536, 0.182551
[11:52:54.955] xyz_f:0.785561, -0.052540, 1.718144  Reprojection Error: -0.534179, 0.056173 Feature: -0.193315, 0.073438, 0.522800
[11:52:54.955] xyz_f:0.900284, -0.030946, 1.471390  Reprojection Error: -0.846213, 0.107290 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.955] xyz_f:0.713431, 0.009594, 1.627282  Reprojection Error: -0.778233, 0.192448 Feature: -0.283700, 0.109939, 0.434383
[11:52:54.955] xyz_f:0.013076, -1.165860, 2.426668  Reprojection Error: -0.096143, 0.777690 Feature: -0.768965, -0.818567, 1.623333
[11:52:54.955] xyz_f:0.011074, -1.161222, 2.420978  Reprojection Error: 0.021434, 0.858222 Feature: -0.772192, -0.815560, 1.617134
[11:52:54.955] xyz_f:0.467368, -0.100399, 2.051577  Reprojection Error: -0.501101, 0.547453 Feature: -0.442876, 0.113508, 0.911166
[11:52:54.955] it:5 	 Success 	 new_chi2: 3.771887 	 dT = -0.090143, 0.083274, 0.004343
[11:52:54.955] xyz_f:1.023795, -0.220290, 2.081678  Reprojection Error: -0.608367, 0.133063 Feature: -0.115728, 0.027047, 0.992913
[11:52:54.955] xyz_f:1.034885, -0.223310, 2.084530  Reprojection Error: -0.601227, 0.132139 Feature: -0.104165, 0.024867, 0.994249
[11:52:54.955] xyz_f:1.185976, -0.453671, 2.034748  Reprojection Error: -0.535424, 0.007364 Feature: 0.046322, -0.210529, 0.976490
[11:52:54.955] xyz_f:1.225909, -0.448986, 2.042678  Reprojection Error: -0.511187, 0.010650 Feature: 0.086749, -0.203951, 0.975130
[11:52:54.955] xyz_f:1.205224, -0.434548, 2.047221  Reprojection Error: -0.520760, 0.019531 Feature: 0.066576, -0.188829, 0.979751
[11:52:54.955] xyz_f:0.891570, -0.144726, 2.042839  Reprojection Error: -0.702935, 0.164349 Feature: -0.256466, 0.089984, 0.962356
[11:52:54.955] xyz_f:1.182294, -0.433759, 2.044138  Reprojection Error: -0.534081, 0.019682 Feature: 0.043462, -0.188864, 0.981041
[11:52:54.955] xyz_f:1.300994, -0.632231, 1.929336  Reprojection Error: -0.509298, -0.128289 Feature: 0.148487, -0.410287, 0.899787
[11:52:54.955] xyz_f:1.272232, -0.451791, 2.045393  Reprojection Error: -0.484969, 0.008446 Feature: 0.132850, -0.205957, 0.969501
[11:52:54.955] xyz_f:0.894470, -0.134294, 2.045895  Reprojection Error: -0.700777, 0.170470 Feature: -0.253571, 0.100851, 0.962045
[11:52:54.955] xyz_f:1.015434, -0.232320, 2.075935  Reprojection Error: -0.614533, 0.125962 Feature: -0.124401, 0.013940, 0.992134
[11:52:54.955] xyz_f:0.894091, -0.151491, 2.042947  Reprojection Error: -0.700838, 0.160775 Feature: -0.253634, 0.083477, 0.963691
[11:52:54.955] xyz_f:1.194830, -0.449977, 2.038029  Reprojection Error: -0.529524, 0.009818 Feature: 0.055436, -0.206111, 0.976957
[11:52:54.955] xyz_f:1.246736, -0.453749, 2.042418  Reprojection Error: -0.499963, 0.007553 Feature: 0.107376, -0.208619, 0.972085
[11:52:54.955] xyz_f:1.243923, -0.440822, 2.048648  Reprojection Error: -0.499395, 0.015720 Feature: 0.105129, -0.194520, 0.975249
[11:52:54.956] xyz_f:0.841394, -0.323044, 1.966467  Reprojection Error: -0.757022, 0.056303 Feature: -0.311019, -0.102025, 0.944912
[11:52:54.956] xyz_f:1.034606, -0.221327, 2.084916  Reprojection Error: -0.601313, 0.133197 Feature: -0.104466, 0.026883, 0.994165
[11:52:54.956] xyz_f:1.142650, 0.104419, 2.132065  Reprojection Error: -0.542247, 0.329215 Feature: -0.005903, 0.353733, 0.935328
[11:52:54.956] xyz_f:1.300994, -0.632231, 1.929336  Reprojection Error: -0.483224, -0.129971 Feature: 0.148487, -0.410287, 0.899787
[11:52:54.956] xyz_f:1.185976, -0.453671, 2.034748  Reprojection Error: -0.511672, 0.007107 Feature: 0.046322, -0.210529, 0.976490
[11:52:54.956] xyz_f:1.272232, -0.451791, 2.045393  Reprojection Error: -0.460605, 0.005465 Feature: 0.132850, -0.205957, 0.969501
[11:52:54.956] xyz_f:1.134702, 0.025956, 1.315247  Reprojection Error: -0.800195, -0.219472 Feature: -0.161646, 0.066536, 0.182551
[11:52:54.956] xyz_f:1.038139, -0.052215, 1.633656  Reprojection Error: -0.712434, 0.057556 Feature: -0.193315, 0.073438, 0.522800
[11:52:54.956] xyz_f:1.153920, -0.030750, 1.387386  Reprojection Error: -1.066076, 0.108422 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.956] xyz_f:0.966461, 0.010000, 1.542493  Reprojection Error: -0.966372, 0.191860 Feature: -0.283700, 0.109939, 0.434383
[11:52:54.956] xyz_f:0.261437, -1.164664, 2.338931  Reprojection Error: -0.202531, 0.795201 Feature: -0.768965, -0.818567, 1.623333
[11:52:54.956] xyz_f:0.259464, -1.160024, 2.333233  Reprojection Error: -0.085196, 0.875747 Feature: -0.772192, -0.815560, 1.617134
[11:52:54.956] xyz_f:0.718497, -0.099716, 1.965752  Reprojection Error: -0.638799, 0.549242 Feature: -0.442876, 0.113508, 0.911166
[11:52:54.956] it:6 	 Success 	 new_chi2: 0.065226 	 dT = -0.099854, -0.084696, -0.003373
[11:52:54.956] xyz_f:0.953445, -0.220554, 2.167361  Reprojection Error: -0.556465, 0.129001 Feature: -0.115728, 0.027047, 0.992913
[11:52:54.956] xyz_f:0.964547, -0.223565, 2.170177  Reprojection Error: -0.549223, 0.128028 Feature: -0.104165, 0.024867, 0.994249
[11:52:54.956] xyz_f:1.115676, -0.453794, 2.119903  Reprojection Error: -0.478849, -0.001534 Feature: 0.046322, -0.210529, 0.976490
[11:52:54.956] xyz_f:1.155630, -0.449074, 2.127702  Reprojection Error: -0.454174, 0.001908 Feature: 0.086749, -0.203951, 0.975130
[11:52:54.956] xyz_f:1.134948, -0.434654, 2.132313  Reprojection Error: -0.464309, 0.011110 Feature: 0.066576, -0.188829, 0.979751
[11:52:54.956] xyz_f:0.821028, -0.145106, 2.128953  Reprojection Error: -0.652147, 0.161662 Feature: -0.256466, 0.089984, 0.962356
[11:52:54.956] xyz_f:1.112007, -0.433885, 2.129304  Reprojection Error: -0.477938, 0.011254 Feature: 0.043462, -0.188864, 0.981041
[11:52:54.956] xyz_f:1.230505, -0.632254, 2.014116  Reprojection Error: -0.445916, -0.142071 Feature: 0.148487, -0.410287, 0.899787
[11:52:54.956] xyz_f:1.201964, -0.451839, 2.130267  Reprojection Error: -0.427202, -0.000332 Feature: 0.132850, -0.205957, 0.969501
[11:52:54.956] xyz_f:0.823929, -0.134672, 2.132000  Reprojection Error: -0.650033, 0.167996 Feature: -0.253571, 0.100851, 0.962045
[11:52:54.956] xyz_f:0.945076, -0.232592, 2.161646  Reprojection Error: -0.562590, 0.121650 Feature: -0.124401, 0.013940, 0.992134
[11:52:54.956] xyz_f:0.823556, -0.151869, 2.129053  Reprojection Error: -0.650008, 0.157954 Feature: -0.253634, 0.083477, 0.963691
[11:52:54.956] xyz_f:1.124537, -0.450092, 2.123155  Reprojection Error: -0.472911, 0.001019 Feature: 0.055436, -0.206111, 0.976957
[11:52:54.956] xyz_f:1.176461, -0.453819, 2.127374  Reprojection Error: -0.442552, -0.001286 Feature: 0.107376, -0.208619, 0.972085
[11:52:54.956] xyz_f:1.173656, -0.440895, 2.133614  Reprojection Error: -0.442282, 0.007185 Feature: 0.105129, -0.194520, 0.975249
[11:52:54.956] xyz_f:0.770759, -0.323468, 2.052745  Reprojection Error: -0.704629, 0.049605 Feature: -0.311019, -0.102025, 0.944912
[11:52:54.956] xyz_f:0.964267, -0.221582, 2.170564  Reprojection Error: -0.549326, 0.129126 Feature: -0.104466, 0.026883, 0.994165
[11:52:54.956] xyz_f:1.072180, 0.104258, 2.217361  Reprojection Error: -0.489850, 0.331172 Feature: -0.005903, 0.353733, 0.935328
[11:52:54.956] xyz_f:1.230505, -0.632254, 2.014116  Reprojection Error: -0.419842, -0.143753 Feature: 0.148487, -0.410287, 0.899787
[11:52:54.956] xyz_f:1.115676, -0.453794, 2.119903  Reprojection Error: -0.455097, -0.001791 Feature: 0.046322, -0.210529, 0.976490
[11:52:54.956] xyz_f:1.201964, -0.451839, 2.130267  Reprojection Error: -0.402838, -0.003313 Feature: 0.132850, -0.205957, 0.969501
[11:52:54.956] xyz_f:1.061640, 0.025787, 1.400573  Reprojection Error: -0.695469, -0.218149 Feature: -0.161646, 0.066536, 0.182551
[11:52:54.956] xyz_f:0.966183, -0.052468, 1.719295  Reprojection Error: -0.638928, 0.056110 Feature: -0.193315, 0.073438, 0.522800
[11:52:54.956] xyz_f:1.081142, -0.030902, 1.472649  Reprojection Error: -0.968501, 0.107242 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.956] xyz_f:0.894154, 0.009685, 1.628366  Reprojection Error: -0.888925, 0.192396 Feature: -0.283700, 0.109939, 0.434383
[11:52:54.956] xyz_f:0.192754, -1.165593, 2.427095  Reprojection Error: -0.170172, 0.777496 Feature: -0.768965, -0.818567, 1.623333
[11:52:54.956] xyz_f:0.190758, -1.160955, 2.421403  Reprojection Error: -0.052772, 0.858027 Feature: -0.772192, -0.815560, 1.617134
[11:52:54.956] xyz_f:0.647666, -0.100247, 2.052430  Reprojection Error: -0.588852, 0.547358 Feature: -0.442876, 0.113508, 0.911166
[11:52:54.956] it:7 	 Success 	 new_chi2: 0.246004 	 dT = -0.099750, -0.113840, -0.003751
[11:52:54.956] xyz_f:1.041615, -0.220845, 2.282287  Reprojection Error: -0.572945, 0.124005 Feature: -0.115728, 0.027047, 0.992913
[11:52:54.956] xyz_f:1.052729, -0.223845, 2.285063  Reprojection Error: -0.565467, 0.122971 Feature: -0.104165, 0.024867, 0.994249
[11:52:54.956] xyz_f:1.203899, -0.453928, 2.234241  Reprojection Error: -0.491403, -0.012429 Feature: 0.046322, -0.210529, 0.976490
[11:52:54.956] xyz_f:1.243876, -0.449169, 2.241896  Reprojection Error: -0.465871, -0.008800 Feature: 0.086749, -0.203951, 0.975130
[11:52:54.956] xyz_f:1.223196, -0.434769, 2.246581  Reprojection Error: -0.476518, 0.000793 Feature: 0.066576, -0.188829, 0.979751
[11:52:54.956] xyz_f:0.908986, -0.145526, 2.244360  Reprojection Error: -0.671507, 0.158344 Feature: -0.256466, 0.089984, 0.962356
[11:52:54.956] xyz_f:1.200244, -0.434022, 2.243656  Reprojection Error: -0.490648, 0.000930 Feature: 0.043462, -0.188864, 0.981041
[11:52:54.956] xyz_f:1.318517, -0.632276, 2.128039  Reprojection Error: -0.454568, -0.158866 Feature: 0.148487, -0.410287, 0.899787
[11:52:54.956] xyz_f:1.290222, -0.451888, 2.244293  Reprojection Error: -0.437861, -0.011086 Feature: 0.132850, -0.205957, 0.969501
[11:52:54.956] xyz_f:0.911888, -0.135089, 2.247396  Reprojection Error: -0.669328, 0.164939 Feature: -0.253571, 0.100851, 0.962045
[11:52:54.956] xyz_f:1.033236, -0.232891, 2.276602  Reprojection Error: -0.579238, 0.116348 Feature: -0.124401, 0.013940, 0.992134
[11:52:54.956] xyz_f:0.911520, -0.152286, 2.244451  Reprojection Error: -0.669312, 0.154472 Feature: -0.253634, 0.083477, 0.963691
[11:52:54.956] xyz_f:1.212768, -0.450217, 2.237461  Reprojection Error: -0.485285, -0.009755 Feature: 0.055436, -0.206111, 0.976957
[11:52:54.956] xyz_f:1.264710, -0.453893, 2.241492  Reprojection Error: -0.453768, -0.012114 Feature: 0.107376, -0.208619, 0.972085
[11:52:54.956] xyz_f:1.261915, -0.440972, 2.247742  Reprojection Error: -0.453618, -0.003273 Feature: 0.105129, -0.194520, 0.975249
[11:52:54.956] xyz_f:0.858614, -0.323936, 2.168334  Reprojection Error: -0.725130, 0.041421 Feature: -0.311019, -0.102025, 0.944912
[11:52:54.956] xyz_f:1.052449, -0.221862, 2.285451  Reprojection Error: -0.565578, 0.124117 Feature: -0.104466, 0.026883, 0.994165
[11:52:54.956] xyz_f:1.160214, 0.104083, 2.331857  Reprojection Error: -0.503861, 0.333556 Feature: -0.005903, 0.353733, 0.935328
[11:52:54.956] xyz_f:1.318517, -0.632276, 2.128039  Reprojection Error: -0.428494, -0.160548 Feature: 0.148487, -0.410287, 0.899787
[11:52:54.956] xyz_f:1.203899, -0.453928, 2.234241  Reprojection Error: -0.467651, -0.012687 Feature: 0.046322, -0.210529, 0.976490
[11:52:54.956] xyz_f:1.290222, -0.451888, 2.244293  Reprojection Error: -0.413497, -0.014067 Feature: 0.132850, -0.205957, 0.969501
[11:52:54.956] xyz_f:1.146791, 0.025600, 1.515113  Reprojection Error: -0.694367, -0.216634 Feature: -0.161646, 0.066536, 0.182551
[11:52:54.956] xyz_f:1.052565, -0.052747, 1.834179  Reprojection Error: -0.650826, 0.054351 Feature: -0.193315, 0.073438, 0.522800
[11:52:54.956] xyz_f:1.166609, -0.031071, 1.587118  Reprojection Error: -0.969403, 0.105835 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.956] xyz_f:0.980147, 0.009335, 1.743511  Reprojection Error: -0.901982, 0.192989 Feature: -0.283700, 0.109939, 0.434383
[11:52:54.956] xyz_f:0.282787, -1.166622, 2.544774  Reprojection Error: -0.201880, 0.755692 Feature: -0.768965, -0.818567, 1.623333
[11:52:54.956] xyz_f:0.280766, -1.161985, 2.539090  Reprojection Error: -0.084570, 0.836211 Feature: -0.772192, -0.815560, 1.617134
[11:52:54.956] xyz_f:0.735304, -0.100835, 2.168465  Reprojection Error: -0.612381, 0.545016 Feature: -0.442876, 0.113508, 0.911166
[11:52:54.956] it:8 	 Success 	 new_chi2: 0.203602 	 dT = -0.116621, -0.129773, -0.002883
[11:52:54.956] xyz_f:1.175078, -0.221067, 2.412886  Reprojection Error: -0.603555, 0.118859 Feature: -0.115728, 0.027047, 0.992913
[11:52:54.956] xyz_f:1.186203, -0.224058, 2.415631  Reprojection Error: -0.595820, 0.117765 Feature: -0.104165, 0.024867, 0.994249
[11:52:54.956] xyz_f:1.337402, -0.454028, 2.364388  Reprojection Error: -0.518207, -0.023570 Feature: 0.046322, -0.210529, 0.976490
[11:52:54.956] xyz_f:1.377397, -0.449239, 2.371931  Reprojection Error: -0.491746, -0.019755 Feature: 0.086749, -0.203951, 0.975130
[11:52:54.956] xyz_f:1.356720, -0.434855, 2.376674  Reprojection Error: -0.502896, -0.009764 Feature: 0.066576, -0.188829, 0.979751
[11:52:54.956] xyz_f:1.042288, -0.145846, 2.375328  Reprojection Error: -0.705296, 0.154904 Feature: -0.256466, 0.089984, 0.962356
[11:52:54.956] xyz_f:1.333759, -0.434125, 2.373813  Reprojection Error: -0.517562, -0.009634 Feature: 0.043462, -0.188864, 0.981041
[11:52:54.956] xyz_f:1.451857, -0.632291, 2.257867  Reprojection Error: -0.477997, -0.175944 Feature: 0.148487, -0.410287, 0.899787
[11:52:54.956] xyz_f:1.423751, -0.451924, 2.374199  Reprojection Error: -0.462647, -0.022088 Feature: 0.132850, -0.205957, 0.969501
[11:52:54.956] xyz_f:1.045191, -0.135407, 2.378356  Reprojection Error: -0.703034, 0.161763 Feature: -0.253571, 0.100851, 0.962045
[11:52:54.956] xyz_f:1.166693, -0.233118, 2.407224  Reprojection Error: -0.610051, 0.110892 Feature: -0.124401, 0.013940, 0.992134
[11:52:54.956] xyz_f:1.044828, -0.152604, 2.375412  Reprojection Error: -0.703042, 0.150866 Feature: -0.253634, 0.083477, 0.963691
[11:52:54.956] xyz_f:1.346277, -0.450310, 2.367583  Reprojection Error: -0.511886, -0.020774 Feature: 0.055436, -0.206111, 0.976957
[11:52:54.956] xyz_f:1.398233, -0.453948, 2.371470  Reprojection Error: -0.479147, -0.023189 Feature: 0.107376, -0.208619, 0.972085
[11:52:54.956] xyz_f:1.395446, -0.441029, 2.377727  Reprojection Error: -0.479086, -0.013974 Feature: 0.105129, -0.194520, 0.975249
[11:52:54.956] xyz_f:0.991839, -0.324294, 2.299443  Reprojection Error: -0.760490, 0.033059 Feature: -0.311019, -0.102025, 0.944912
[11:52:54.956] xyz_f:1.185922, -0.222076, 2.416020  Reprojection Error: -0.595937, 0.118959 Feature: -0.104466, 0.026883, 0.994165
[11:52:54.956] xyz_f:1.293573, 0.103950, 2.462126  Reprojection Error: -0.531700, 0.335972 Feature: -0.005903, 0.353733, 0.935328
[11:52:54.956] xyz_f:1.451857, -0.632291, 2.257867  Reprojection Error: -0.451923, -0.177626 Feature: 0.148487, -0.410287, 0.899787
[11:52:54.956] xyz_f:1.337402, -0.454028, 2.364388  Reprojection Error: -0.494455, -0.023828 Feature: 0.046322, -0.210529, 0.976490
[11:52:54.956] xyz_f:1.423751, -0.451924, 2.374199  Reprojection Error: -0.438283, -0.025069 Feature: 0.132850, -0.205957, 0.969501
[11:52:54.956] xyz_f:1.277934, 0.025456, 1.645422  Reprojection Error: -0.714126, -0.215208 Feature: -0.161646, 0.066536, 0.182551
[11:52:54.956] xyz_f:1.184656, -0.052961, 1.964749  Reprojection Error: -0.679919, 0.052549 Feature: -0.193315, 0.073438, 0.522800
[11:52:54.956] xyz_f:1.297995, -0.031200, 1.717371  Reprojection Error: -0.990157, 0.104425 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.956] xyz_f:1.111939, 0.009068, 1.874283  Reprojection Error: -0.933075, 0.193506 Feature: -0.283700, 0.109939, 0.434383
[11:52:54.956] xyz_f:0.417691, -1.167409, 2.677484  Reprojection Error: -0.246756, 0.733263 Feature: -0.768965, -0.818567, 1.623333
[11:52:54.956] xyz_f:0.415651, -1.162774, 2.671806  Reprojection Error: -0.129562, 0.813774 Feature: -0.772192, -0.815560, 1.617134
[11:52:54.956] xyz_f:0.868362, -0.101285, 2.299918  Reprojection Error: -0.650854, 0.542554 Feature: -0.442876, 0.113508, 0.911166
[11:52:54.956] it:9 	 Success 	 new_chi2: 0.116252 	 dT = -0.139174, -0.142510, -0.002002
[11:52:54.956] xyz_f:1.329317, -0.221219, 2.555965  Reprojection Error: -0.636638, 0.113790 Feature: -0.115728, 0.027047, 0.992913
[11:52:54.956] xyz_f:1.340449, -0.224205, 2.558689  Reprojection Error: -0.628648, 0.112636 Feature: -0.104165, 0.024867, 0.994249
[11:52:54.956] xyz_f:1.491668, -0.454096, 2.507153  Reprojection Error: -0.547527, -0.034477 Feature: 0.046322, -0.210529, 0.976490
[11:52:54.956] xyz_f:1.531675, -0.449287, 2.514619  Reprojection Error: -0.520147, -0.030483 Feature: 0.086749, -0.203951, 0.975130
[11:52:54.956] xyz_f:1.510999, -0.434913, 2.519402  Reprojection Error: -0.531793, -0.020106 Feature: 0.066576, -0.188829, 0.979751
[11:52:54.956] xyz_f:1.196416, -0.146067, 2.518664  Reprojection Error: -0.741518, 0.151497 Feature: -0.256466, 0.089984, 0.962356
[11:52:54.956] xyz_f:1.488033, -0.434195, 2.516585  Reprojection Error: -0.546988, -0.019981 Feature: 0.043462, -0.188864, 0.981041
[11:52:54.956] xyz_f:1.606009, -0.632300, 2.400411  Reprojection Error: -0.504031, -0.192570 Feature: 0.148487, -0.410287, 0.899787
[11:52:54.956] xyz_f:1.578035, -0.451947, 2.516797  Reprojection Error: -0.489972, -0.032864 Feature: 0.132850, -0.205957, 0.969501
[11:52:54.956] xyz_f:1.199319, -0.135627, 2.521687  Reprojection Error: -0.739177, 0.158614 Feature: -0.253571, 0.100851, 0.962045
[11:52:54.956] xyz_f:1.320927, -0.233275, 2.550320  Reprojection Error: -0.643333, 0.105520 Feature: -0.124401, 0.013940, 0.992134
[11:52:54.956] xyz_f:1.198959, -0.152824, 2.518743  Reprojection Error: -0.739205, 0.147297 Feature: -0.253634, 0.083477, 0.963691
[11:52:54.956] xyz_f:1.500547, -0.450374, 2.510331  Reprojection Error: -0.541005, -0.031564 Feature: 0.055436, -0.206111, 0.976957
[11:52:54.956] xyz_f:1.552513, -0.453984, 2.514117  Reprojection Error: -0.507059, -0.034035 Feature: 0.107376, -0.208619, 0.972085
[11:52:54.956] xyz_f:1.549731, -0.441067, 2.520380  Reprojection Error: -0.507083, -0.024457 Feature: 0.105129, -0.194520, 0.975249
[11:52:54.956] xyz_f:1.145912, -0.324542, 2.442877  Reprojection Error: -0.798234, 0.024879 Feature: -0.311019, -0.102025, 0.944912
[11:52:54.956] xyz_f:1.340168, -0.222222, 2.559078  Reprojection Error: -0.628771, 0.113878 Feature: -0.104466, 0.026883, 0.994165
[11:52:54.956] xyz_f:1.447739, 0.103859, 2.604976  Reprojection Error: -0.562070, 0.338322 Feature: -0.005903, 0.353733, 0.935328
[11:52:54.956] xyz_f:1.606009, -0.632300, 2.400411  Reprojection Error: -0.477958, -0.194252 Feature: 0.148487, -0.410287, 0.899787
[11:52:54.956] xyz_f:1.491668, -0.454096, 2.507153  Reprojection Error: -0.523775, -0.034735 Feature: 0.046322, -0.210529, 0.976490
[11:52:54.956] xyz_f:1.578035, -0.451947, 2.516797  Reprojection Error: -0.465608, -0.035844 Feature: 0.132850, -0.205957, 0.969501
[11:52:54.956] xyz_f:1.430560, 0.025357, 1.788304  Reprojection Error: -0.737419, -0.213916 Feature: -0.161646, 0.066536, 0.182551
[11:52:54.956] xyz_f:1.337941, -0.053109, 2.107811  Reprojection Error: -0.711718, 0.050790 Feature: -0.193315, 0.073438, 0.522800
[11:52:54.956] xyz_f:1.450790, -0.031289, 1.860214  Reprojection Error: -1.014258, 0.103078 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.956] xyz_f:1.265017, 0.008882, 2.017486  Reprojection Error: -0.966840, 0.193941 Feature: -0.283700, 0.109939, 0.434383
[11:52:54.956] xyz_f:0.572934, -1.167953, 2.822028  Reprojection Error: -0.293777, 0.711124 Feature: -0.768965, -0.818567, 1.623333
[11:52:54.956] xyz_f:0.570880, -1.163320, 2.816353  Reprojection Error: -0.176694, 0.791631 Feature: -0.772192, -0.815560, 1.617134
[11:52:54.956] xyz_f:1.022322, -0.101597, 2.443591  Reprojection Error: -0.691660, 0.540092 Feature: -0.442876, 0.113508, 0.911166
[11:52:54.956] it:10 	 Success 	 new_chi2: 0.044661 	 dT = -0.160013, -0.157923, -0.001473
[11:52:54.956] xyz_f:1.494075, -0.221330, 2.714304  Reprojection Error: -0.666999, 0.108782 Feature: -0.115728, 0.027047, 0.992913
[11:52:54.956] xyz_f:1.505211, -0.224312, 2.717012  Reprojection Error: -0.658762, 0.107570 Feature: -0.104165, 0.024867, 0.994249
[11:52:54.956] xyz_f:1.656444, -0.454146, 2.665261  Reprojection Error: -0.574057, -0.045203 Feature: 0.046322, -0.210529, 0.976490
[11:52:54.956] xyz_f:1.696460, -0.449321, 2.672670  Reprojection Error: -0.545782, -0.041036 Feature: 0.086749, -0.203951, 0.975130
[11:52:54.956] xyz_f:1.675786, -0.434955, 2.677482  Reprojection Error: -0.557929, -0.030282 Feature: 0.066576, -0.188829, 0.979751
[11:52:54.956] xyz_f:1.361092, -0.146229, 2.677192  Reprojection Error: -0.774901, 0.148124 Feature: -0.256466, 0.089984, 0.962356
[11:52:54.956] xyz_f:1.652815, -0.434246, 2.674698  Reprojection Error: -0.573642, -0.030161 Feature: 0.043462, -0.188864, 0.981041
[11:52:54.956] xyz_f:1.770701, -0.632306, 2.558356  Reprojection Error: -0.527100, -0.208830 Feature: 0.148487, -0.410287, 0.899787
[11:52:54.956] xyz_f:1.742824, -0.451964, 2.674782  Reprojection Error: -0.514547, -0.043464 Feature: 0.132850, -0.205957, 0.969501
[11:52:54.956] xyz_f:1.363995, -0.135788, 2.680211  Reprojection Error: -0.772488, 0.155493 Feature: -0.253571, 0.100851, 0.962045
[11:52:54.956] xyz_f:1.485681, -0.233390, 2.708670  Reprojection Error: -0.673879, 0.100215 Feature: -0.124401, 0.013940, 0.992134
[11:52:54.956] xyz_f:1.363638, -0.152985, 2.677268  Reprojection Error: -0.772530, 0.143765 Feature: -0.253634, 0.083477, 0.963691
[11:52:54.956] xyz_f:1.665326, -0.450420, 2.668426  Reprojection Error: -0.567342, -0.042176 Feature: 0.055436, -0.206111, 0.976957
[11:52:54.956] xyz_f:1.717299, -0.454011, 2.672139  Reprojection Error: -0.532209, -0.044704 Feature: 0.107376, -0.208619, 0.972085
[11:52:54.956] xyz_f:1.714521, -0.441094, 2.678405  Reprojection Error: -0.532331, -0.034772 Feature: 0.105129, -0.194520, 0.975249
[11:52:54.956] xyz_f:1.310548, -0.324723, 2.601476  Reprojection Error: -0.832922, 0.016850 Feature: -0.311019, -0.102025, 0.944912
[11:52:54.956] xyz_f:1.504930, -0.222330, 2.717401  Reprojection Error: -0.658891, 0.108858 Feature: -0.104466, 0.026883, 0.994165
[11:52:54.956] xyz_f:1.612441, 0.103793, 2.763146  Reprojection Error: -0.589864, 0.340628 Feature: -0.005903, 0.353733, 0.935328
[11:52:54.957] xyz_f:1.770701, -0.632306, 2.558356  Reprojection Error: -0.501026, -0.210511 Feature: 0.148487, -0.410287, 0.899787
[11:52:54.957] xyz_f:1.656444, -0.454146, 2.665261  Reprojection Error: -0.550305, -0.045461 Feature: 0.046322, -0.210529, 0.976490
[11:52:54.957] xyz_f:1.742824, -0.451964, 2.674782  Reprojection Error: -0.490182, -0.046445 Feature: 0.132850, -0.205957, 0.969501
[11:52:54.957] xyz_f:1.594131, 0.025284, 1.946500  Reprojection Error: -0.756439, -0.212726 Feature: -0.161646, 0.066536, 0.182551
[11:52:54.957] xyz_f:1.501996, -0.053217, 2.266137  Reprojection Error: -0.739764, 0.049077 Feature: -0.193315, 0.073438, 0.522800
[11:52:54.957] xyz_f:1.614485, -0.031354, 2.018381  Reprojection Error: -1.034245, 0.101792 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.957] xyz_f:1.428921, 0.008746, 2.175917  Reprojection Error: -0.996512, 0.194324 Feature: -0.283700, 0.109939, 0.434383
[11:52:54.957] xyz_f:0.738431, -1.168353, 2.981441  Reprojection Error: -0.338431, 0.689129 Feature: -0.768965, -0.818567, 1.623333
[11:52:54.957] xyz_f:0.736368, -1.163720, 2.975770  Reprojection Error: -0.221447, 0.769637 Feature: -0.772192, -0.815560, 1.617134
[11:52:54.957] xyz_f:1.186874, -0.101825, 2.602366  Reprojection Error: -0.729366, 0.537643 Feature: -0.442876, 0.113508, 0.911166
[11:52:54.957] it:11 	 Success 	 new_chi2: 0.013761 	 dT = -0.181166, -0.079340, -0.000068
[11:52:54.957] xyz_f:1.673215, -0.221336, 2.793663  Reprojection Error: -0.715486, 0.106467 Feature: -0.115728, 0.027047, 0.992913
[11:52:54.957] xyz_f:1.684351, -0.224317, 2.796370  Reprojection Error: -0.707102, 0.105228 Feature: -0.104165, 0.024867, 0.994249
[11:52:54.957] xyz_f:1.835585, -0.454148, 2.744610  Reprojection Error: -0.621359, -0.050129 Feature: 0.046322, -0.210529, 0.976490
[11:52:54.957] xyz_f:1.875601, -0.449323, 2.752016  Reprojection Error: -0.592576, -0.045882 Feature: 0.086749, -0.203951, 0.975130
[11:52:54.957] xyz_f:1.854927, -0.434957, 2.756830  Reprojection Error: -0.604896, -0.034957 Feature: 0.066576, -0.188829, 0.979751
[11:52:54.957] xyz_f:1.540228, -0.146237, 2.756560  Reprojection Error: -0.825248, 0.146554 Feature: -0.256466, 0.089984, 0.962356
[11:52:54.957] xyz_f:1.831956, -0.434248, 2.754047  Reprojection Error: -0.620885, -0.034838 Feature: 0.043462, -0.188864, 0.981041
[11:52:54.957] xyz_f:1.949838, -0.632306, 2.637697  Reprojection Error: -0.574195, -0.216264 Feature: 0.148487, -0.410287, 0.899787
[11:52:54.957] xyz_f:1.921965, -0.451965, 2.754125  Reprojection Error: -0.560820, -0.048332 Feature: 0.132850, -0.205957, 0.969501
[11:52:54.957] xyz_f:1.543131, -0.135795, 2.759579  Reprojection Error: -0.822766, 0.154038 Feature: -0.253571, 0.100851, 0.962045
[11:52:54.957] xyz_f:1.664821, -0.233395, 2.788030  Reprojection Error: -0.722519, 0.097764 Feature: -0.124401, 0.013940, 0.992134
[11:52:54.957] xyz_f:1.542774, -0.152993, 2.756636  Reprojection Error: -0.822849, 0.142122 Feature: -0.253634, 0.083477, 0.963691
[11:52:54.957] xyz_f:1.844467, -0.450423, 2.747775  Reprojection Error: -0.614515, -0.047050 Feature: 0.055436, -0.206111, 0.976957
[11:52:54.957] xyz_f:1.896440, -0.454012, 2.751484  Reprojection Error: -0.578784, -0.049603 Feature: 0.107376, -0.208619, 0.972085
[11:52:54.957] xyz_f:1.893663, -0.441096, 2.757750  Reprojection Error: -0.578873, -0.039509 Feature: 0.105129, -0.194520, 0.975249
[11:52:54.957] xyz_f:1.489682, -0.324731, 2.680848  Reprojection Error: -0.884827, 0.013157 Feature: -0.311019, -0.102025, 0.944912
[11:52:54.957] xyz_f:1.684070, -0.222335, 2.796760  Reprojection Error: -0.707229, 0.106538 Feature: -0.104466, 0.026883, 0.994165
[11:52:54.957] xyz_f:1.791579, 0.103789, 2.842498  Reprojection Error: -0.636595, 0.341678 Feature: -0.005903, 0.353733, 0.935328
[11:52:54.957] xyz_f:1.949838, -0.632306, 2.637697  Reprojection Error: -0.548122, -0.217946 Feature: 0.148487, -0.410287, 0.899787
[11:52:54.957] xyz_f:1.835585, -0.454148, 2.744610  Reprojection Error: -0.597607, -0.050386 Feature: 0.046322, -0.210529, 0.976490
[11:52:54.957] xyz_f:1.921965, -0.451965, 2.754125  Reprojection Error: -0.536456, -0.051312 Feature: 0.132850, -0.205957, 0.969501
[11:52:54.957] xyz_f:1.773217, 0.025280, 2.025852  Reprojection Error: -0.812760, -0.212216 Feature: -0.161646, 0.066536, 0.182551
[11:52:54.957] xyz_f:1.681104, -0.053222, 2.345496  Reprojection Error: -0.793701, 0.048285 Feature: -0.193315, 0.073438, 0.522800
[11:52:54.957] xyz_f:1.793576, -0.031357, 2.097732  Reprojection Error: -1.089361, 0.101206 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.957] xyz_f:1.608021, 0.008740, 2.255280  Reprojection Error: -1.052817, 0.194468 Feature: -0.283700, 0.109939, 0.434383
[11:52:54.957] xyz_f:0.917605, -1.168371, 3.060850  Reprojection Error: -0.390543, 0.678968 Feature: -0.768965, -0.818567, 1.623333
[11:52:54.957] xyz_f:0.915541, -1.163738, 3.055179  Reprojection Error: -0.273661, 0.759479 Feature: -0.772192, -0.815560, 1.617134
[11:52:54.957] xyz_f:1.366004, -0.101836, 2.681746  Reprojection Error: -0.782663, 0.536489 Feature: -0.442876, 0.113508, 0.911166
[11:52:54.957] it:12 	 Success 	 new_chi2: 0.000299 	 dT = -0.209988, 0.000000, 0.000779
[11:52:54.957] xyz_f:1.780632, -0.221277, 2.793444  Reprojection Error: -0.753986, 0.106453 Feature: -0.115728, 0.027047, 0.992913
[11:52:54.957] xyz_f:1.791766, -0.224261, 2.796159  Reprojection Error: -0.745563, 0.105214 Feature: -0.104165, 0.024867, 0.994249
[11:52:54.957] xyz_f:1.942992, -0.454122, 2.744512  Reprojection Error: -0.660518, -0.050132 Feature: 0.046322, -0.210529, 0.976490
[11:52:54.957] xyz_f:1.983004, -0.449304, 2.751949  Reprojection Error: -0.631621, -0.045885 Feature: 0.086749, -0.203951, 0.975130
[11:52:54.957] xyz_f:1.962329, -0.434935, 2.756747  Reprojection Error: -0.643876, -0.034961 Feature: 0.066576, -0.188829, 0.979751
[11:52:54.957] xyz_f:1.647688, -0.146151, 2.756240  Reprojection Error: -0.864301, 0.146529 Feature: -0.256466, 0.089984, 0.962356
[11:52:54.957] xyz_f:1.939360, -0.434221, 2.753947  Reprojection Error: -0.659909, -0.034842 Feature: 0.043462, -0.188864, 0.981041
[11:52:54.957] xyz_f:2.057290, -0.632303, 2.637686  Reprojection Error: -0.614936, -0.216264 Feature: 0.148487, -0.410287, 0.899787
[11:52:54.957] xyz_f:2.029366, -0.451956, 2.754093  Reprojection Error: -0.599825, -0.048333 Feature: 0.132850, -0.205957, 0.969501
[11:52:54.957] xyz_f:1.650592, -0.135710, 2.759261  Reprojection Error: -0.861776, 0.154013 Feature: -0.253571, 0.100851, 0.962045
[11:52:54.957] xyz_f:1.772240, -0.233335, 2.787804  Reprojection Error: -0.761099, 0.097749 Feature: -0.124401, 0.013940, 0.992134
[11:52:54.957] xyz_f:1.650233, -0.152908, 2.756318  Reprojection Error: -0.861900, 0.142098 Feature: -0.253634, 0.083477, 0.963691
[11:52:54.957] xyz_f:1.951873, -0.450398, 2.747684  Reprojection Error: -0.653627, -0.047053 Feature: 0.055436, -0.206111, 0.976957
[11:52:54.957] xyz_f:2.003842, -0.453998, 2.751432  Reprojection Error: -0.617832, -0.049605 Feature: 0.107376, -0.208619, 0.972085
[11:52:54.957] xyz_f:2.001063, -0.441081, 2.757696  Reprojection Error: -0.617832, -0.039512 Feature: 0.105129, -0.194520, 0.975249
[11:52:54.957] xyz_f:1.597164, -0.324636, 2.680490  Reprojection Error: -0.924999, 0.013138 Feature: -0.311019, -0.102025, 0.944912
[11:52:54.957] xyz_f:1.791485, -0.222278, 2.796549  Reprojection Error: -0.745685, 0.106524 Feature: -0.104466, 0.026883, 0.994165
[11:52:54.957] xyz_f:1.899025, 0.103824, 2.842367  Reprojection Error: -0.674425, 0.341664 Feature: -0.005903, 0.353733, 0.935328
[11:52:54.957] xyz_f:2.057290, -0.632303, 2.637686  Reprojection Error: -0.588862, -0.217946 Feature: 0.148487, -0.410287, 0.899787
[11:52:54.957] xyz_f:1.942992, -0.454122, 2.744512  Reprojection Error: -0.636766, -0.050390 Feature: 0.046322, -0.210529, 0.976490
[11:52:54.957] xyz_f:2.029366, -0.451956, 2.754093  Reprojection Error: -0.575461, -0.051313 Feature: 0.132850, -0.205957, 0.969501
[11:52:54.957] xyz_f:1.881262, 0.025319, 2.025708  Reprojection Error: -0.866159, -0.212236 Feature: -0.161646, 0.066536, 0.182551
[11:52:54.957] xyz_f:1.788892, -0.053165, 2.345283  Reprojection Error: -0.839726, 0.048262 Feature: -0.193315, 0.073438, 0.522800
[11:52:54.957] xyz_f:1.901555, -0.031322, 2.097603  Reprojection Error: -1.140891, 0.101190 Feature: -0.126551, 0.030432, 0.261633
[11:52:54.957] xyz_f:1.715890, 0.008812, 2.255012  Reprojection Error: -1.100737, 0.194436 Feature: -0.283700, 0.109939, 0.434383
[11:52:54.957] xyz_f:1.024631, -1.168160, 3.060062  Reprojection Error: -0.425595, 0.678998 Feature: -0.768965, -0.818567, 1.623333
[11:52:54.957] xyz_f:1.022572, -1.163527, 3.054389  Reprojection Error: -0.308780, 0.759508 Feature: -0.772192, -0.815560, 1.617134
[11:52:54.957] xyz_f:1.473530, -0.101715, 2.681295  Reprojection Error: -0.822851, 0.536450 Feature: -0.442876, 0.113508, 0.911166
[11:52:54.957] it:13 	 Success 	 new_chi2: 0.000000 	 dT = 0.000000, 0.000000, 0.000000
[11:52:54.957] After pose optimization, distance between two frames:2.634515 ,angle between two frames:-3.583574
[11:52:55.050] Reprojection Map nPoint:40 ,nCell:20 ,nMatches:13 ,distance between two frames:2.764876 ,angle between two frames:-3.565261
[11:52:55.050] Init estimate scale:0.937852
[11:52:55.050] xyz_f:2.289797, -0.220556, 1.893310  Reprojection Error: -1.299512, 0.143669 Feature: -0.089701, 0.027057, 0.995601
[11:52:55.050] xyz_f:2.300881, -0.223567, 1.896119  Reprojection Error: -1.291858, 0.142867 Feature: -0.078125, 0.024876, 0.996633
[11:52:55.050] xyz_f:2.449602, -0.453670, 1.845506  Reprojection Error: -1.256144, 0.029969 Feature: 0.069419, -0.210487, 0.975129
[11:52:55.050] xyz_f:2.486671, -0.448879, 1.853111  Reprojection Error: -1.232003, 0.032711 Feature: 0.106935, -0.203891, 0.973136
[11:52:55.050] xyz_f:2.471662, -0.434617, 1.858302  Reprojection Error: -1.235389, 0.040792 Feature: 0.092560, -0.188771, 0.977649
[11:52:55.050] xyz_f:2.157834, -0.142936, 1.855497  Reprojection Error: -1.401152, 0.172266 Feature: -0.230739, 0.092245, 0.968633
[11:52:55.050] xyz_f:2.445833, -0.433761, 1.854882  Reprojection Error: -1.250640, 0.041116 Feature: 0.066576, -0.188829, 0.979751
[11:52:55.050] xyz_f:2.566022, -0.632012, 1.740195  Reprojection Error: -1.283462, -0.094480 Feature: 0.171199, -0.410008, 0.895871
[11:52:55.050] xyz_f:2.536053, -0.453681, 1.855105  Reprojection Error: -1.205674, 0.029141 Feature: 0.155847, -0.208013, 0.965631
[11:52:55.050] xyz_f:2.160754, -0.132488, 1.858526  Reprojection Error: -1.397934, 0.177792 Feature: -0.227840, 0.103121, 0.968223
[11:52:55.050] xyz_f:2.281434, -0.232599, 1.887597  Reprojection Error: -1.307518, 0.137240 Feature: -0.098383, 0.013946, 0.995051
[11:52:55.050] xyz_f:2.160291, -0.151854, 1.855213  Reprojection Error: -1.399373, 0.167986 Feature: -0.227903, 0.083558, 0.970092
[11:52:55.050] xyz_f:2.460878, -0.450114, 1.849066  Reprojection Error: -1.247841, 0.032048 Feature: 0.080973, -0.206131, 0.975168
[11:52:55.050] xyz_f:2.506975, -0.451293, 1.854044  Reprojection Error: -1.221178, 0.031117 Feature: 0.127093, -0.205981, 0.970268
[11:52:55.050] xyz_f:2.515224, -0.441561, 1.859659  Reprojection Error: -1.212739, 0.036556 Feature: 0.135773, -0.195127, 0.971335
[11:52:55.050] xyz_f:2.450092, -0.463509, 1.840442  Reprojection Error: -1.259912, 0.024342 Feature: 0.069394, -0.221301, 0.972733
[11:52:55.050] xyz_f:2.513222, -0.461238, 1.849494  Reprojection Error: -1.221555, 0.025259 Feature: 0.132803, -0.216765, 0.967149
[11:52:55.050] xyz_f:2.412928, 0.104042, 1.944125  Reprojection Error: -1.216473, 0.324799 Feature: 0.023063, 0.353747, 0.935057
[11:52:55.050] xyz_f:2.440796, -0.439665, 1.851138  Reprojection Error: -1.256004, 0.037773 Feature: 0.061208, -0.195501, 0.978792
[11:52:55.050] xyz_f:2.160786, -0.151787, 1.855464  Reprojection Error: -1.398906, 0.168063 Feature: -0.227371, 0.083688, 0.970206
[11:52:55.050] xyz_f:2.082521, -0.039384, 1.825751  Reprojection Error: -1.480452, 0.219915 Feature: -0.316217, 0.184570, 0.930559
[11:52:55.050] xyz_f:2.301488, 0.037607, 1.922045  Reprojection Error: -1.288171, 0.277688 Feature: -0.086666, 0.283860, 0.954941
[11:52:55.050] xyz_f:2.566022, -0.632012, 1.740195  Reprojection Error: -1.263516, -0.098734 Feature: 0.171199, -0.410008, 0.895871
[11:52:55.050] xyz_f:1.468256, -1.179537, 2.118991  Reprojection Error: -0.592037, 0.345801 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.050] xyz_f:2.536053, -0.453681, 1.855105  Reprojection Error: -1.187214, 0.026234 Feature: 0.155847, -0.208013, 0.965631
[11:52:55.050] xyz_f:2.394048, 0.027102, 1.121570  Reprojection Error: -2.052690, -0.223699 Feature: -0.161646, 0.066536, 0.182551
[11:52:55.050] xyz_f:1.597094, -1.145657, 2.146088  Reprojection Error: -0.582550, 0.332490 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.050] xyz_f:2.220784, 0.012148, 1.345078  Reprojection Error: -1.929457, -0.111338 Feature: -0.283700, 0.109939, 0.434383
[11:52:55.050] xyz_f:2.290083, -0.050481, 1.437785  Reprojection Error: -1.649279, 0.060612 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.050] xyz_f:2.411350, -0.029712, 1.194108  Reprojection Error: -2.236025, 0.118775 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.050] xyz_f:2.082521, -0.039384, 1.825751  Reprojection Error: -1.446072, 0.216042 Feature: -0.316217, 0.184570, 0.930559
[11:52:55.050] xyz_f:1.491623, -1.158311, 2.125821  Reprojection Error: -0.741456, 0.695238 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.050] xyz_f:2.301488, 0.037607, 1.922045  Reprojection Error: -1.269617, 0.278993 Feature: -0.086666, 0.283860, 0.954941
[11:52:55.050] xyz_f:2.412928, 0.104042, 1.944125  Reprojection Error: -1.194955, 0.325039 Feature: 0.023063, 0.353747, 0.935057
[11:52:55.050] xyz_f:2.160291, -0.151854, 1.855213  Reprojection Error: -1.453957, 0.596682 Feature: -0.227903, 0.083558, 0.970092
[11:52:55.050] it:0 	 Success 	 new_chi2: 51.245468 	 dT = -0.128542, 0.058490, -0.000817
[11:52:55.050] xyz_f:0.535009, -0.220492, 1.951561  Reprojection Error: -0.364241, 0.140159 Feature: -0.089701, 0.027057, 0.995601
[11:52:55.050] xyz_f:0.546091, -0.223505, 1.954379  Reprojection Error: -0.357807, 0.139321 Feature: -0.078125, 0.024876, 0.996633
[11:52:55.050] xyz_f:0.694802, -0.453640, 1.903884  Reprojection Error: -0.293750, 0.022416 Feature: 0.069419, -0.210487, 0.975129
[11:52:55.050] xyz_f:0.731867, -0.448857, 1.911518  Reprojection Error: -0.272985, 0.025298 Feature: 0.106935, -0.203891, 0.973136
[11:52:55.050] xyz_f:0.716856, -0.434592, 1.916697  Reprojection Error: -0.279330, 0.033653 Feature: 0.092560, -0.188771, 0.977649
[11:52:55.050] xyz_f:0.403092, -0.142844, 1.913645  Reprojection Error: -0.448852, 0.169878 Feature: -0.230739, 0.092245, 0.968633
[11:52:55.050] xyz_f:0.691030, -0.433730, 1.913257  Reprojection Error: -0.293228, 0.033965 Feature: 0.066576, -0.188829, 0.979751
[11:52:55.050] xyz_f:0.811268, -0.632007, 1.798665  Reprojection Error: -0.259941, -0.106289 Feature: 0.171199, -0.410008, 0.895871
[11:52:55.050] xyz_f:0.781246, -0.453669, 1.913551  Reprojection Error: -0.246877, 0.021666 Feature: 0.155847, -0.208013, 0.965631
[11:52:55.050] xyz_f:0.406012, -0.132397, 1.916676  Reprojection Error: -0.447149, 0.175582 Feature: -0.227840, 0.103121, 0.968223
[11:52:55.051] xyz_f:0.526648, -0.232533, 1.945842  Reprojection Error: -0.369526, 0.133518 Feature: -0.098383, 0.013946, 0.995051
[11:52:55.051] xyz_f:0.405547, -0.151763, 1.913362  Reprojection Error: -0.446885, 0.165451 Feature: -0.227903, 0.083558, 0.970092
[11:52:55.051] xyz_f:0.706076, -0.450087, 1.907453  Reprojection Error: -0.287132, 0.024583 Feature: 0.080973, -0.206131, 0.975168
[11:52:55.051] xyz_f:0.752169, -0.451275, 1.912467  Reprojection Error: -0.262310, 0.023672 Feature: 0.127093, -0.205981, 0.970268
[11:52:55.051] xyz_f:0.760415, -0.441545, 1.918089  Reprojection Error: -0.256664, 0.029315 Feature: 0.135773, -0.195127, 0.971335
[11:52:55.051] xyz_f:0.695294, -0.463479, 1.898820  Reprojection Error: -0.294832, 0.016584 Feature: 0.069394, -0.221301, 0.972733
[11:52:55.051] xyz_f:0.758417, -0.461221, 1.907922  Reprojection Error: -0.260195, 0.017613 Feature: 0.132803, -0.216765, 0.967149
[11:52:55.051] xyz_f:0.658169, 0.104080, 2.002473  Reprojection Error: -0.304013, 0.326340 Feature: 0.023063, 0.353747, 0.935057
[11:52:55.051] xyz_f:0.685995, -0.439633, 1.909508  Reprojection Error: -0.296718, 0.030496 Feature: 0.061208, -0.195501, 0.978792
[11:52:55.051] xyz_f:0.406043, -0.151695, 1.913614  Reprojection Error: -0.446540, 0.165530 Feature: -0.227371, 0.083688, 0.970206
[11:52:55.051] xyz_f:0.327825, -0.039276, 1.883839  Reprojection Error: -0.513833, 0.219192 Feature: -0.316217, 0.184570, 0.930559
[11:52:55.051] xyz_f:0.546732, 0.037668, 1.980306  Reprojection Error: -0.366840, 0.278233 Feature: -0.086666, 0.283860, 0.954941
[11:52:55.051] xyz_f:0.811268, -0.632007, 1.798665  Reprojection Error: -0.239995, -0.110544 Feature: 0.171199, -0.410008, 0.895871
[11:52:55.051] xyz_f:-0.286912, -1.179299, 2.176594  Reprojection Error: 0.232684, 0.330961 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.051] xyz_f:0.781246, -0.453669, 1.913551  Reprojection Error: -0.228417, 0.018759 Feature: 0.155847, -0.208013, 0.965631
[11:52:55.051] xyz_f:0.639922, 0.027144, 1.179904  Reprojection Error: -0.460490, -0.222540 Feature: -0.161646, 0.066536, 0.182551
[11:52:55.051] xyz_f:-0.158089, -1.145447, 2.203793  Reprojection Error: 0.233373, 0.318417 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.051] xyz_f:0.466478, 0.012226, 1.403276  Reprojection Error: -0.610834, -0.111020 Feature: -0.283700, 0.109939, 0.434383
[11:52:55.051] xyz_f:0.535691, -0.050417, 1.496036  Reprojection Error: -0.414567, 0.059203 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.051] xyz_f:0.657154, -0.029674, 1.252456  Reprojection Error: -0.741345, 0.117586 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.051] xyz_f:0.327825, -0.039276, 1.883839  Reprojection Error: -0.479453, 0.215320 Feature: -0.316217, 0.184570, 0.930559
[11:52:55.051] xyz_f:-0.263546, -1.158078, 2.183443  Reprojection Error: 0.080915, 0.680752 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.051] xyz_f:0.546732, 0.037668, 1.980306  Reprojection Error: -0.348286, 0.279538 Feature: -0.086666, 0.283860, 0.954941
[11:52:55.051] xyz_f:0.658169, 0.104080, 2.002473  Reprojection Error: -0.282494, 0.326579 Feature: 0.023063, 0.353747, 0.935057
[11:52:55.051] xyz_f:0.405547, -0.151763, 1.913362  Reprojection Error: -0.501469, 0.594146 Feature: -0.227903, 0.083558, 0.970092
[11:52:55.051] it:1 	 Success 	 new_chi2: 6.393969 	 dT = -0.060753, 0.110498, 0.009067
[11:52:55.051] xyz_f:0.669939, -0.221191, 2.064667  Reprojection Error: -0.414575, 0.134308 Feature: -0.089701, 0.027057, 0.995601
[11:52:55.051] xyz_f:0.681052, -0.224178, 2.067388  Reprojection Error: -0.407815, 0.133395 Feature: -0.078125, 0.024876, 0.996633
[11:52:55.051] xyz_f:0.829856, -0.453964, 2.015589  Reprojection Error: -0.340529, 0.009371 Feature: 0.069419, -0.210487, 0.975129
[11:52:55.051] xyz_f:0.866974, -0.449094, 2.022899  Reprojection Error: -0.318693, 0.012486 Feature: 0.106935, -0.203891, 0.973136
[11:52:55.051] xyz_f:0.851976, -0.434863, 2.028209  Reprojection Error: -0.325388, 0.021321 Feature: 0.092560, -0.188771, 0.977649
[11:52:55.051] xyz_f:0.537514, -0.143853, 2.027908  Reprojection Error: -0.503270, 0.166169 Feature: -0.230739, 0.092245, 0.968633
[11:52:55.051] xyz_f:0.826119, -0.434062, 2.024995  Reprojection Error: -0.340009, 0.021621 Feature: 0.066576, -0.188829, 0.979751
[11:52:55.051] xyz_f:0.945814, -0.632058, 1.909353  Reprojection Error: -0.304260, -0.126632 Feature: 0.171199, -0.410008, 0.895871
[11:52:55.051] xyz_f:0.916381, -0.453790, 2.024499  Reprojection Error: -0.291252, 0.008732 Feature: 0.155847, -0.208013, 0.965631
[11:52:55.051] xyz_f:0.540436, -0.133399, 2.030914  Reprojection Error: -0.501422, 0.172190 Feature: -0.227840, 0.103121, 0.968223
[11:52:55.051] xyz_f:0.661558, -0.233251, 2.059021  Reprojection Error: -0.420170, 0.127298 Feature: -0.098383, 0.013946, 0.995051
[11:52:55.051] xyz_f:0.539987, -0.152766, 2.027604  Reprojection Error: -0.501248, 0.161477 Feature: -0.227903, 0.083558, 0.970092
[11:52:55.051] xyz_f:0.841152, -0.450384, 2.019060  Reprojection Error: -0.333571, 0.011687 Feature: 0.080973, -0.206131, 0.975168
[11:52:55.051] xyz_f:0.887290, -0.451464, 2.023670  Reprojection Error: -0.307468, 0.010799 Feature: 0.127093, -0.205981, 0.970268
[11:52:55.051] xyz_f:0.895562, -0.441714, 2.029219  Reprojection Error: -0.301553, 0.016792 Feature: 0.135773, -0.195127, 0.971335
[11:52:55.051] xyz_f:0.830327, -0.463802, 2.010521  Reprojection Error: -0.341651, 0.003183 Feature: 0.069394, -0.221301, 0.972733
[11:52:55.051] xyz_f:0.893521, -0.461396, 2.019070  Reprojection Error: -0.305227, 0.004391 Feature: 0.132803, -0.216765, 0.967149
[11:52:55.051] xyz_f:0.792778, 0.103670, 2.114502  Reprojection Error: -0.350259, 0.329287 Feature: 0.023063, 0.353747, 0.935057
[11:52:55.051] xyz_f:0.821065, -0.439977, 2.021291  Reprojection Error: -0.343674, 0.017934 Feature: 0.061208, -0.195501, 0.978792
[11:52:55.051] xyz_f:0.540485, -0.152697, 2.027851  Reprojection Error: -0.500884, 0.161558 Feature: -0.227371, 0.083688, 0.970206
[11:52:55.051] xyz_f:0.461746, -0.040462, 1.998764  Reprojection Error: -0.570829, 0.218587 Feature: -0.316217, 0.184570, 0.930559
[11:52:55.051] xyz_f:0.681308, 0.036996, 2.093310  Reprojection Error: -0.416224, 0.279580 Feature: -0.086666, 0.283860, 0.954941
[11:52:55.051] xyz_f:0.945814, -0.632058, 1.909353  Reprojection Error: -0.284315, -0.130887 Feature: 0.171199, -0.410008, 0.895871
[11:52:55.051] xyz_f:-0.147727, -1.181922, 2.296879  Reprojection Error: 0.165183, 0.303728 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.051] xyz_f:0.916381, -0.453790, 2.024499  Reprojection Error: -0.272793, 0.005826 Feature: 0.155847, -0.208013, 0.965631
[11:52:55.051] xyz_f:0.767509, 0.026683, 1.292123  Reprojection Error: -0.512130, -0.220185 Feature: -0.161646, 0.066536, 0.182551
[11:52:55.051] xyz_f:-0.018750, -1.147767, 2.322950  Reprojection Error: 0.169710, 0.292754 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.051] xyz_f:0.596063, 0.011360, 1.517005  Reprojection Error: -0.671334, -0.109796 Feature: -0.283700, 0.109939, 0.434383
[11:52:55.051] xyz_f:0.666233, -0.051120, 1.609155  Reprojection Error: -0.470520, 0.057270 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.051] xyz_f:0.785509, -0.030093, 1.364521  Reprojection Error: -0.792319, 0.115948 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.051] xyz_f:0.461746, -0.040462, 1.998764  Reprojection Error: -0.536449, 0.214714 Feature: -0.316217, 0.184570, 0.930559
[11:52:55.051] xyz_f:-0.124352, -1.160646, 2.303524  Reprojection Error: 0.014196, 0.654218 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.051] xyz_f:0.681308, 0.036996, 2.093310  Reprojection Error: -0.397670, 0.280886 Feature: -0.086666, 0.283860, 0.954941
[11:52:55.051] xyz_f:0.792778, 0.103670, 2.114502  Reprojection Error: -0.328741, 0.329527 Feature: 0.023063, 0.353747, 0.935057
[11:52:55.051] xyz_f:0.539987, -0.152766, 2.027604  Reprojection Error: -0.555832, 0.590172 Feature: -0.227903, 0.083558, 0.970092
[11:52:55.051] it:2 	 Success 	 new_chi2: 7.466012 	 dT = -0.063199, 0.120197, 0.005972
[11:52:55.051] xyz_f:0.898688, -0.220733, 1.942760  Reprojection Error: -0.552680, 0.140795 Feature: -0.089701, 0.027057, 0.995601
[11:52:55.051] xyz_f:0.909781, -0.223737, 1.945545  Reprojection Error: -0.546011, 0.139959 Feature: -0.078125, 0.024876, 0.996633
[11:52:55.051] xyz_f:1.058525, -0.453753, 1.894605  Reprojection Error: -0.487515, 0.023642 Feature: 0.069419, -0.210487, 0.975129
[11:52:55.051] xyz_f:1.095608, -0.448940, 1.902129  Reprojection Error: -0.466104, 0.026501 Feature: 0.106935, -0.203891, 0.973136
[11:52:55.051] xyz_f:1.080602, -0.434687, 1.907353  Reprojection Error: -0.471870, 0.034814 Feature: 0.092560, -0.188771, 0.977649
[11:52:55.051] xyz_f:0.766597, -0.143191, 1.905239  Reprojection Error: -0.640574, 0.170389 Feature: -0.230739, 0.092245, 0.968633
[11:52:55.051] xyz_f:1.054765, -0.433846, 1.903989  Reprojection Error: -0.486025, 0.035130 Feature: 0.066576, -0.188829, 0.979751
[11:52:55.051] xyz_f:1.174819, -0.632026, 1.789038  Reprojection Error: -0.465578, -0.104388 Feature: 0.171199, -0.410008, 0.895871
[11:52:55.051] xyz_f:1.144998, -0.453713, 1.904014  Reprojection Error: -0.439967, 0.022876 Feature: 0.155847, -0.208013, 0.965631
[11:52:55.051] xyz_f:0.769517, -0.132741, 1.908261  Reprojection Error: -0.638573, 0.176067 Feature: -0.227840, 0.103121, 0.968223
[11:52:55.051] xyz_f:0.890321, -0.232781, 1.937066  Reprojection Error: -0.558496, 0.134187 Feature: -0.098383, 0.013946, 0.995051
[11:52:55.051] xyz_f:0.769058, -0.152107, 1.904949  Reprojection Error: -0.638646, 0.165982 Feature: -0.227903, 0.083558, 0.970092
[11:52:55.051] xyz_f:1.069807, -0.450190, 1.898140  Reprojection Error: -0.480573, 0.025795 Feature: 0.080973, -0.206131, 0.975168
[11:52:55.051] xyz_f:1.115916, -0.451342, 1.903017  Reprojection Error: -0.455405, 0.024879 Feature: 0.127093, -0.205981, 0.970268
[11:52:55.051] xyz_f:1.124171, -0.441605, 1.908614  Reprojection Error: -0.449219, 0.030489 Feature: 0.135773, -0.195127, 0.971335
[11:52:55.051] xyz_f:1.059010, -0.463591, 1.889540  Reprojection Error: -0.489120, 0.017842 Feature: 0.069394, -0.221301, 0.972733
[11:52:55.051] xyz_f:1.122158, -0.461283, 1.898453  Reprojection Error: -0.453776, 0.018851 Feature: 0.132803, -0.216765, 0.967149
[11:52:55.051] xyz_f:1.021740, 0.103938, 1.993305  Reprojection Error: -0.487921, 0.326172 Feature: 0.023063, 0.353747, 0.935057
[11:52:55.051] xyz_f:1.049724, -0.439753, 1.900256  Reprojection Error: -0.489877, 0.031680 Feature: 0.061208, -0.195501, 0.978792
[11:52:55.051] xyz_f:0.769554, -0.152040, 1.905199  Reprojection Error: -0.638277, 0.166060 Feature: -0.227371, 0.083688, 0.970206
[11:52:55.051] xyz_f:0.691158, -0.039683, 1.875658  Reprojection Error: -0.708302, 0.219500 Feature: -0.316217, 0.184570, 0.930559
[11:52:55.051] xyz_f:0.910291, 0.037436, 1.971470  Reprojection Error: -0.552487, 0.278265 Feature: -0.086666, 0.283860, 0.954941
[11:52:55.051] xyz_f:1.174819, -0.632026, 1.789038  Reprojection Error: -0.445632, -0.108642 Feature: 0.171199, -0.410008, 0.895871
[11:52:55.051] xyz_f:0.078212, -1.180198, 2.170248  Reprojection Error: 0.064828, 0.332959 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.051] xyz_f:1.144998, -0.453713, 1.904014  Reprojection Error: -0.421507, 0.019969 Feature: 0.155847, -0.208013, 0.965631
[11:52:55.051] xyz_f:1.001095, 0.026986, 1.170793  Reprojection Error: -0.773196, -0.222584 Feature: -0.161646, 0.066536, 0.182551
[11:52:55.051] xyz_f:0.207089, -1.146242, 2.197062  Reprojection Error: 0.067381, 0.320371 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.051] xyz_f:0.828332, 0.011930, 1.394683  Reprojection Error: -0.872335, -0.110861 Feature: -0.283700, 0.109939, 0.434383
[11:52:55.051] xyz_f:0.897872, -0.050658, 1.487236  Reprojection Error: -0.660212, 0.059564 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.051] xyz_f:1.018590, -0.029817, 1.243294  Reprojection Error: -1.035920, 0.117876 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.051] xyz_f:0.691158, -0.039683, 1.875658  Reprojection Error: -0.673922, 0.215628 Feature: -0.316217, 0.184570, 0.930559
[11:52:55.051] xyz_f:0.101581, -1.158958, 2.177028  Reprojection Error: -0.086448, 0.682719 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.051] xyz_f:0.910291, 0.037436, 1.971470  Reprojection Error: -0.533933, 0.279570 Feature: -0.086666, 0.283860, 0.954941
[11:52:55.051] xyz_f:1.021740, 0.103938, 1.993305  Reprojection Error: -0.466402, 0.326411 Feature: 0.023063, 0.353747, 0.935057
[11:52:55.051] xyz_f:0.769058, -0.152107, 1.904949  Reprojection Error: -0.693230, 0.594678 Feature: -0.227903, 0.083558, 0.970092
[11:52:55.051] it:3 	 Success 	 new_chi2: 10.339798 	 dT = -0.060837, 0.092795, 0.002059
[11:52:55.051] xyz_f:0.656419, -0.220892, 2.036148  Reprojection Error: -0.412480, 0.135662 Feature: -0.089701, 0.027057, 0.995601
[11:52:55.051] xyz_f:0.667519, -0.223890, 2.038911  Reprojection Error: -0.405778, 0.134768 Feature: -0.078125, 0.024876, 0.996633
[11:52:55.051] xyz_f:0.816284, -0.453826, 1.987675  Reprojection Error: -0.339483, 0.012465 Feature: 0.069419, -0.210487, 0.975129
[11:52:55.051] xyz_f:0.853380, -0.448994, 1.995125  Reprojection Error: -0.317845, 0.015526 Feature: 0.106935, -0.203891, 0.973136
[11:52:55.051] xyz_f:0.838376, -0.434749, 2.000379  Reprojection Error: -0.324433, 0.024247 Feature: 0.092560, -0.188771, 0.977649
[11:52:55.051] xyz_f:0.524212, -0.143420, 1.998889  Reprojection Error: -0.500463, 0.166982 Feature: -0.230739, 0.092245, 0.968633
[11:52:55.051] xyz_f:0.812532, -0.433921, 1.997067  Reprojection Error: -0.338911, 0.024548 Feature: 0.066576, -0.188829, 0.979751
[11:52:55.051] xyz_f:0.932462, -0.632038, 1.881877  Reprojection Error: -0.304398, -0.121809 Feature: 0.171199, -0.410008, 0.895871
[11:52:55.051] xyz_f:0.902775, -0.453741, 1.996911  Reprojection Error: -0.290692, 0.011804 Feature: 0.155847, -0.208013, 0.965631
[11:52:55.051] xyz_f:0.527133, -0.132969, 2.001906  Reprojection Error: -0.498633, 0.172927 Feature: -0.227840, 0.103121, 0.968223
[11:52:55.051] xyz_f:0.648046, -0.232944, 2.030470  Reprojection Error: -0.418033, 0.128739 Feature: -0.098383, 0.013946, 0.995051
[11:52:55.051] xyz_f:0.526677, -0.152335, 1.998595  Reprojection Error: -0.498454, 0.162355 Feature: -0.227903, 0.083558, 0.970092
[11:52:55.051] xyz_f:0.827571, -0.450258, 1.991188  Reprojection Error: -0.332582, 0.014746 Feature: 0.080973, -0.206131, 0.975168
[11:52:55.051] xyz_f:0.873690, -0.451385, 1.995972  Reprojection Error: -0.306739, 0.013855 Feature: 0.127093, -0.205981, 0.970268
[11:52:55.051] xyz_f:0.881951, -0.441644, 2.001553  Reprojection Error: -0.300853, 0.019765 Feature: 0.135773, -0.195127, 0.971335
[11:52:55.051] xyz_f:0.816764, -0.463665, 1.982609  Reprojection Error: -0.340625, 0.006362 Feature: 0.069394, -0.221301, 0.972733
[11:52:55.051] xyz_f:0.879928, -0.461323, 1.991396  Reprojection Error: -0.304551, 0.007531 Feature: 0.132803, -0.216765, 0.967149
[11:52:55.051] xyz_f:0.779398, 0.103845, 2.086448  Reprojection Error: -0.348887, 0.328545 Feature: 0.023063, 0.353747, 0.935057
[11:52:55.051] xyz_f:0.807486, -0.439831, 1.993343  Reprojection Error: -0.342557, 0.020913 Feature: 0.061208, -0.195501, 0.978792
[11:52:55.051] xyz_f:0.527174, -0.152267, 1.998844  Reprojection Error: -0.498093, 0.162436 Feature: -0.227371, 0.083688, 0.970206
[11:52:55.051] xyz_f:0.448659, -0.039952, 1.969459  Reprojection Error: -0.567622, 0.218630 Feature: -0.316217, 0.184570, 0.930559
[11:52:55.051] xyz_f:0.667941, 0.037284, 2.064835  Reprojection Error: -0.414239, 0.279197 Feature: -0.086666, 0.283860, 0.954941
[11:52:55.051] xyz_f:0.932462, -0.632038, 1.881877  Reprojection Error: -0.284452, -0.126064 Feature: 0.171199, -0.410008, 0.895871
[11:52:55.051] xyz_f:-0.163092, -1.180794, 2.265267  Reprojection Error: 0.172863, 0.310412 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.051] xyz_f:0.902775, -0.453741, 1.996911  Reprojection Error: -0.272232, 0.008897 Feature: 0.155847, -0.208013, 0.965631
[11:52:55.051] xyz_f:0.757158, 0.026881, 1.263979  Reprojection Error: -0.517167, -0.220802 Feature: -0.161646, 0.066536, 0.182551
[11:52:55.051] xyz_f:-0.034180, -1.146770, 2.291824  Reprojection Error: 0.176552, 0.299029 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.051] xyz_f:0.584848, 0.011733, 1.488212  Reprojection Error: -0.671401, -0.110191 Feature: -0.283700, 0.109939, 0.434383
[11:52:55.051] xyz_f:0.654606, -0.050818, 1.580626  Reprojection Error: -0.470637, 0.057652 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.051] xyz_f:0.774828, -0.029913, 1.336444  Reprojection Error: -0.796420, 0.116276 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.051] xyz_f:0.448659, -0.039952, 1.969459  Reprojection Error: -0.533242, 0.214757 Feature: -0.316217, 0.184570, 0.930559
[11:52:55.051] xyz_f:-0.139720, -1.159542, 2.272000  Reprojection Error: 0.021709, 0.660723 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.051] xyz_f:0.667941, 0.037284, 2.064835  Reprojection Error: -0.395685, 0.280503 Feature: -0.086666, 0.283860, 0.954941
[11:52:55.051] xyz_f:0.779398, 0.103845, 2.086448  Reprojection Error: -0.327369, 0.328784 Feature: 0.023063, 0.353747, 0.935057
[11:52:55.051] xyz_f:0.526677, -0.152335, 1.998595  Reprojection Error: -0.553038, 0.591050 Feature: -0.227903, 0.083558, 0.970092
[11:52:55.051] it:4 	 Success 	 new_chi2: 4.355973 	 dT = -0.062612, 0.114111, 0.006308
[11:52:55.051] xyz_f:0.753466, -0.221372, 2.152052  Reprojection Error: -0.440212, 0.130042 Feature: -0.089701, 0.027057, 0.995601
[11:52:55.051] xyz_f:0.764587, -0.224352, 2.154747  Reprojection Error: -0.433227, 0.129080 Feature: -0.078125, 0.024876, 0.996633
[11:52:55.051] xyz_f:0.913412, -0.454046, 2.102604  Reprojection Error: -0.363230, 0.000089 Feature: 0.069419, -0.210487, 0.975129
[11:52:55.051] xyz_f:0.950545, -0.449153, 2.109828  Reprojection Error: -0.340645, 0.003367 Feature: 0.106935, -0.203891, 0.973136
[11:52:55.051] xyz_f:0.935550, -0.434932, 2.115173  Reprojection Error: -0.347629, 0.012538 Feature: 0.092560, -0.188771, 0.977649
[11:52:55.051] xyz_f:0.620908, -0.144117, 2.115599  Reprojection Error: -0.531701, 0.163353 Feature: -0.230739, 0.092245, 0.968633
[11:52:55.051] xyz_f:0.909685, -0.434147, 2.112019  Reprojection Error: -0.362767, 0.012828 Feature: 0.066576, -0.188829, 0.979751
[11:52:55.051] xyz_f:1.029235, -0.632068, 1.996099  Reprojection Error: -0.324525, -0.141013 Feature: 0.171199, -0.410008, 0.895871
[11:52:55.051] xyz_f:0.999958, -0.453819, 2.111313  Reprojection Error: -0.312226, -0.000471 Feature: 0.155847, -0.208013, 0.965631
[11:52:55.051] xyz_f:0.623830, -0.133661, 2.118598  Reprojection Error: -0.529772, 0.169595 Feature: -0.227840, 0.103121, 0.968223
[11:52:55.051] xyz_f:0.745078, -0.233438, 2.146425  Reprojection Error: -0.445998, 0.122772 Feature: -0.098383, 0.013946, 0.995051
[11:52:55.051] xyz_f:0.623386, -0.153028, 2.115290  Reprojection Error: -0.529635, 0.158477 Feature: -0.227903, 0.083558, 0.970092
[11:52:55.051] xyz_f:0.924714, -0.450459, 2.106048  Reprojection Error: -0.356041, 0.002509 Feature: 0.080973, -0.206131, 0.975168
[11:52:55.051] xyz_f:0.970864, -0.451510, 2.110551  Reprojection Error: -0.329017, 0.001637 Feature: 0.127093, -0.205981, 0.970268
[11:52:55.051] xyz_f:0.979143, -0.441756, 2.116082  Reprojection Error: -0.322935, 0.007876 Feature: 0.135773, -0.195127, 0.971335
[11:52:55.051] xyz_f:0.913878, -0.463883, 2.097535  Reprojection Error: -0.364352, -0.006348 Feature: 0.069394, -0.221301, 0.972733
[11:52:55.051] xyz_f:0.977091, -0.461438, 2.105938  Reprojection Error: -0.326655, -0.005014 Feature: 0.132803, -0.216765, 0.967149
[11:52:55.051] xyz_f:0.876218, 0.103565, 2.201602  Reprojection Error: -0.373326, 0.331275 Feature: 0.023063, 0.353747, 0.935057
[11:52:55.051] xyz_f:0.904627, -0.440065, 2.108326  Reprojection Error: -0.366539, 0.008990 Feature: 0.061208, -0.195501, 0.978792
[11:52:55.051] xyz_f:0.623884, -0.152959, 2.115536  Reprojection Error: -0.529259, 0.158561 Feature: -0.227371, 0.083688, 0.970206
[11:52:55.051] xyz_f:0.545008, -0.040773, 2.086631  Reprojection Error: -0.601004, 0.217883 Feature: -0.316217, 0.184570, 0.930559
[11:52:55.051] xyz_f:0.764741, 0.036822, 2.180669  Reprojection Error: -0.441446, 0.280368 Feature: -0.086666, 0.283860, 0.954941
[11:52:55.051] xyz_f:1.029235, -0.632068, 1.996099  Reprojection Error: -0.304579, -0.145267 Feature: 0.171199, -0.410008, 0.895871
[11:52:55.051] xyz_f:-0.063065, -1.182610, 2.386155  Reprojection Error: 0.127296, 0.284764 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.051] xyz_f:0.999958, -0.453819, 2.111313  Reprojection Error: -0.293766, -0.003378 Feature: 0.155847, -0.208013, 0.965631
[11:52:55.051] xyz_f:0.849093, 0.026561, 1.379284  Reprojection Error: -0.533743, -0.218792 Feature: -0.161646, 0.066536, 0.182551
[11:52:55.051] xyz_f:0.065951, -1.148375, 2.411927  Reprojection Error: 0.134295, 0.274779 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.051] xyz_f:0.678178, 0.011133, 1.604562  Reprojection Error: -0.701069, -0.109245 Feature: -0.283700, 0.109939, 0.434383
[11:52:55.051] xyz_f:0.748600, -0.051304, 1.696550  Reprojection Error: -0.497741, 0.055742 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.051] xyz_f:0.867297, -0.030203, 1.451640  Reprojection Error: -0.814112, 0.114700 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.051] xyz_f:0.545008, -0.040773, 2.086631  Reprojection Error: -0.566624, 0.214011 Feature: -0.316217, 0.184570, 0.930559
[11:52:55.052] xyz_f:-0.039688, -1.161320, 2.392745  Reprojection Error: -0.023201, 0.635711 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.052] xyz_f:0.764741, 0.036822, 2.180669  Reprojection Error: -0.422892, 0.281674 Feature: -0.086666, 0.283860, 0.954941
[11:52:55.052] xyz_f:0.876218, 0.103565, 2.201602  Reprojection Error: -0.351808, 0.331514 Feature: 0.023063, 0.353747, 0.935057
[11:52:55.052] xyz_f:0.623386, -0.153028, 2.115290  Reprojection Error: -0.584219, 0.587173 Feature: -0.227903, 0.083558, 0.970092
[11:52:55.052] it:5 	 Success 	 new_chi2: 4.533593 	 dT = -0.064981, 0.123487, 0.004668
[11:52:55.052] xyz_f:0.990710, -0.221018, 2.027242  Reprojection Error: -0.578795, 0.136200 Feature: -0.089701, 0.027057, 0.995601
[11:52:55.052] xyz_f:1.001815, -0.224011, 2.029987  Reprojection Error: -0.571897, 0.135311 Feature: -0.078125, 0.024876, 0.996633
[11:52:55.052] xyz_f:1.150597, -0.453884, 1.978515  Reprojection Error: -0.510356, 0.013551 Feature: 0.069419, -0.210487, 0.975129
[11:52:55.052] xyz_f:1.187702, -0.449036, 1.985906  Reprojection Error: -0.488178, 0.016592 Feature: 0.106935, -0.203891, 0.973136
[11:52:55.052] xyz_f:1.172701, -0.434797, 1.991183  Reprojection Error: -0.494271, 0.025275 Feature: 0.092560, -0.188771, 0.977649
[11:52:55.052] xyz_f:0.858411, -0.143602, 1.990192  Reprojection Error: -0.669532, 0.167387 Feature: -0.230739, 0.092245, 0.968633
[11:52:55.052] xyz_f:1.146851, -0.433981, 1.987913  Reprojection Error: -0.508960, 0.025578 Feature: 0.066576, -0.188829, 0.979751
[11:52:55.052] xyz_f:1.266683, -0.632047, 1.872533  Reprojection Error: -0.485356, -0.120129 Feature: 0.171199, -0.410008, 0.895871
[11:52:55.052] xyz_f:1.237102, -0.453762, 1.987614  Reprojection Error: -0.461012, 0.012878 Feature: 0.155847, -0.208013, 0.965631
[11:52:55.052] xyz_f:0.861332, -0.133150, 1.993204  Reprojection Error: -0.667452, 0.173308 Feature: -0.227840, 0.103121, 0.968223
[11:52:55.052] xyz_f:0.982333, -0.233073, 2.021577  Reprojection Error: -0.584797, 0.129308 Feature: -0.098383, 0.013946, 0.995051
[11:52:55.052] xyz_f:0.860880, -0.152516, 1.989894  Reprojection Error: -0.667556, 0.162779 Feature: -0.227903, 0.083558, 0.970092
[11:52:55.052] xyz_f:1.161887, -0.450311, 1.982010  Reprojection Error: -0.503182, 0.015820 Feature: 0.080973, -0.206131, 0.975168
[11:52:55.052] xyz_f:1.208014, -0.451419, 1.986721  Reprojection Error: -0.477057, 0.014925 Feature: 0.127093, -0.205981, 0.970268
[11:52:55.052] xyz_f:1.216280, -0.441674, 1.992289  Reprojection Error: -0.470714, 0.020806 Feature: 0.135773, -0.195127, 0.971335
[11:52:55.052] xyz_f:1.151073, -0.463723, 1.973448  Reprojection Error: -0.511940, 0.007477 Feature: 0.069394, -0.221301, 0.972733
[11:52:55.052] xyz_f:1.214250, -0.461354, 1.982136  Reprojection Error: -0.475283, 0.008629 Feature: 0.132803, -0.216765, 0.967149
[11:52:55.052] xyz_f:1.113630, 0.103771, 2.077346  Reprojection Error: -0.511418, 0.328362 Feature: 0.023063, 0.353747, 0.935057
[11:52:55.052] xyz_f:1.141802, -0.439893, 1.984197  Reprojection Error: -0.512913, 0.021961 Feature: 0.061208, -0.195501, 0.978792
[11:52:55.052] xyz_f:0.861377, -0.152448, 1.990142  Reprojection Error: -0.667175, 0.162859 Feature: -0.227371, 0.083688, 0.970206
[11:52:55.052] xyz_f:0.782768, -0.040167, 1.960882  Reprojection Error: -0.739005, 0.218827 Feature: -0.316217, 0.184570, 0.930559
[11:52:55.052] xyz_f:1.002168, 0.037163, 2.055910  Reprojection Error: -0.578212, 0.279178 Feature: -0.086666, 0.283860, 0.954941
[11:52:55.052] xyz_f:1.266683, -0.632047, 1.872533  Reprojection Error: -0.465411, -0.124383 Feature: 0.171199, -0.410008, 0.895871
[11:52:55.052] xyz_f:0.171971, -1.181267, 2.257659  Reprojection Error: 0.024694, 0.312378 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.052] xyz_f:1.237102, -0.453762, 1.987614  Reprojection Error: -0.442552, 0.009971 Feature: 0.155847, -0.208013, 0.965631
[11:52:55.052] xyz_f:1.090120, 0.026798, 1.254914  Reprojection Error: -0.786820, -0.220889 Feature: -0.161646, 0.066536, 0.182551
[11:52:55.052] xyz_f:0.300911, -1.147189, 2.284012  Reprojection Error: 0.029892, 0.300924 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.052] xyz_f:0.918172, 0.011576, 1.479419  Reprojection Error: -0.899044, -0.110132 Feature: -0.283700, 0.109939, 0.434383
[11:52:55.052] xyz_f:0.988103, -0.050945, 1.571723  Reprojection Error: -0.685168, 0.057915 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.052] xyz_f:1.107928, -0.029989, 1.327351  Reprojection Error: -1.051343, 0.116486 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.052] xyz_f:0.782768, -0.040167, 1.960882  Reprojection Error: -0.704625, 0.214955 Feature: -0.316217, 0.184570, 0.930559
[11:52:55.052] xyz_f:0.195344, -1.160006, 2.264354  Reprojection Error: -0.126057, 0.662651 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.052] xyz_f:1.002168, 0.037163, 2.055910  Reprojection Error: -0.559658, 0.280483 Feature: -0.086666, 0.283860, 0.954941
[11:52:55.052] xyz_f:1.113630, 0.103771, 2.077346  Reprojection Error: -0.489900, 0.328601 Feature: 0.023063, 0.353747, 0.935057
[11:52:55.052] xyz_f:0.860880, -0.152516, 1.989894  Reprojection Error: -0.722140, 0.591475 Feature: -0.227903, 0.083558, 0.970092
[11:52:55.052] it:6 	 Success 	 new_chi2: 0.238813 	 dT = 0.008084, 0.124801, -0.000751
[11:52:55.052] xyz_f:0.794874, -0.221075, 1.902655  Reprojection Error: -0.507868, 0.143369 Feature: -0.089701, 0.027057, 0.995601
[11:52:55.052] xyz_f:0.805982, -0.224067, 1.905392  Reprojection Error: -0.501389, 0.142556 Feature: -0.078125, 0.024876, 0.996633
[11:52:55.052] xyz_f:0.954771, -0.453911, 1.853812  Reprojection Error: -0.443841, 0.028997 Feature: 0.069419, -0.210487, 0.975129
[11:52:55.052] xyz_f:0.991881, -0.449055, 1.861176  Reprojection Error: -0.423045, 0.031756 Feature: 0.106935, -0.203891, 0.973136
[11:52:55.052] xyz_f:0.976881, -0.434819, 1.866465  Reprojection Error: -0.428710, 0.039878 Feature: 0.092560, -0.188771, 0.977649
[11:52:55.052] xyz_f:0.662533, -0.143685, 1.865702  Reprojection Error: -0.593323, 0.172247 Feature: -0.230739, 0.092245, 0.968633
[11:52:55.052] xyz_f:0.951028, -0.434008, 1.863213  Reprojection Error: -0.442472, 0.040204 Feature: 0.066576, -0.188829, 0.979751
[11:52:55.052] xyz_f:1.070815, -0.632050, 1.747746  Reprojection Error: -0.421585, -0.096027 Feature: 0.171199, -0.410008, 0.895871
[11:52:55.052] xyz_f:1.041283, -0.453771, 1.862849  Reprojection Error: -0.397580, 0.028173 Feature: 0.155847, -0.208013, 0.965631
[11:52:55.052] xyz_f:0.665455, -0.133232, 1.868711  Reprojection Error: -0.591421, 0.177802 Feature: -0.227840, 0.103121, 0.968223
[11:52:55.052] xyz_f:0.786496, -0.233132, 1.896996  Reprojection Error: -0.513473, 0.136911 Feature: -0.098383, 0.013946, 0.995051
[11:52:55.052] xyz_f:0.665004, -0.152599, 1.865401  Reprojection Error: -0.591424, 0.167939 Feature: -0.227903, 0.083558, 0.970092
[11:52:55.052] xyz_f:0.966063, -0.450335, 1.857299  Reprojection Error: -0.437110, 0.031088 Feature: 0.080973, -0.206131, 0.975168
[11:52:55.052] xyz_f:1.012194, -0.451434, 1.861977  Reprojection Error: -0.412625, 0.030156 Feature: 0.127093, -0.205981, 0.970268
[11:52:55.052] xyz_f:1.020462, -0.441687, 1.867539  Reprojection Error: -0.406641, 0.035622 Feature: 0.135773, -0.195127, 0.971335
[11:52:55.052] xyz_f:0.955245, -0.463749, 1.848745  Reprojection Error: -0.445360, 0.023341 Feature: 0.069394, -0.221301, 0.972733
[11:52:55.052] xyz_f:1.018428, -0.461368, 1.857387  Reprojection Error: -0.410998, 0.024269 Feature: 0.132803, -0.216765, 0.967149
[11:52:55.052] xyz_f:0.917768, 0.103737, 1.952670  Reprojection Error: -0.445341, 0.325190 Feature: 0.023063, 0.353747, 0.935057
[11:52:55.052] xyz_f:0.945978, -0.439921, 1.859501  Reprojection Error: -0.446192, 0.036843 Feature: 0.061208, -0.195501, 0.978792
[11:52:55.052] xyz_f:0.665501, -0.152531, 1.865649  Reprojection Error: -0.591066, 0.168015 Feature: -0.227371, 0.083688, 0.970206
[11:52:55.052] xyz_f:0.586849, -0.040264, 1.836446  Reprojection Error: -0.659371, 0.220269 Feature: -0.316217, 0.184570, 0.930559
[11:52:55.052] xyz_f:0.806303, 0.037108, 1.931315  Reprojection Error: -0.508244, 0.278040 Feature: -0.086666, 0.283860, 0.954941
[11:52:55.052] xyz_f:1.070815, -0.632050, 1.747746  Reprojection Error: -0.401640, -0.100282 Feature: 0.171199, -0.410008, 0.895871
[11:52:55.052] xyz_f:-0.023511, -1.181484, 2.133666  Reprojection Error: 0.111885, 0.342886 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.052] xyz_f:1.041283, -0.453771, 1.862849  Reprojection Error: -0.379120, 0.025266 Feature: 0.155847, -0.208013, 0.965631
[11:52:55.052] xyz_f:0.893676, 0.026760, 1.130255  Reprojection Error: -0.708824, -0.223210 Feature: -0.161646, 0.066536, 0.182551
[11:52:55.052] xyz_f:0.105442, -1.147380, 2.159925  Reprojection Error: 0.112821, 0.329868 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.052] xyz_f:0.721894, 0.011505, 1.354885  Reprojection Error: -0.811222, -0.110799 Feature: -0.283700, 0.109939, 0.434383
[11:52:55.052] xyz_f:0.791904, -0.051003, 1.447138  Reprojection Error: -0.603714, 0.060746 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.052] xyz_f:0.911548, -0.030023, 1.202679  Reprojection Error: -0.974583, 0.118857 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.052] xyz_f:0.586849, -0.040264, 1.836446  Reprojection Error: -0.624990, 0.216396 Feature: -0.316217, 0.184570, 0.930559
[11:52:55.052] xyz_f:-0.000137, -1.160218, 2.140344  Reprojection Error: -0.039723, 0.692431 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.052] xyz_f:0.806303, 0.037108, 1.931315  Reprojection Error: -0.489690, 0.279346 Feature: -0.086666, 0.283860, 0.954941
[11:52:55.052] xyz_f:0.917768, 0.103737, 1.952670  Reprojection Error: -0.423823, 0.325429 Feature: 0.023063, 0.353747, 0.935057
[11:52:55.052] xyz_f:0.665004, -0.152599, 1.865401  Reprojection Error: -0.646008, 0.596634 Feature: -0.227903, 0.083558, 0.970092
[11:52:55.052] it:7 	 Success 	 new_chi2: 0.498386 	 dT = -0.029575, 0.129109, 0.004093
[11:52:55.052] xyz_f:0.703825, -0.220760, 1.772372  Reprojection Error: -0.487206, 0.151733 Feature: -0.089701, 0.027057, 0.995601
[11:52:55.052] xyz_f:0.714919, -0.223764, 1.775153  Reprojection Error: -0.481125, 0.151013 Feature: -0.078125, 0.024876, 0.996633
[11:52:55.052] xyz_f:0.863667, -0.453766, 1.724162  Reprojection Error: -0.429730, 0.047325 Feature: 0.069419, -0.210487, 0.975129
[11:52:55.052] xyz_f:0.900752, -0.448950, 1.731673  Reprojection Error: -0.410276, 0.049738 Feature: 0.106935, -0.203891, 0.973136
[11:52:55.052] xyz_f:0.885747, -0.434698, 1.736902  Reprojection Error: -0.415282, 0.057185 Feature: 0.092560, -0.188771, 0.977649
[11:52:55.052] xyz_f:0.571714, -0.143231, 1.734896  Reprojection Error: -0.567749, 0.177791 Feature: -0.230739, 0.092245, 0.968633
[11:52:55.052] xyz_f:0.859908, -0.433859, 1.733548  Reprojection Error: -0.428088, 0.057541 Feature: 0.066576, -0.188829, 0.979751
[11:52:55.052] xyz_f:0.979941, -0.632028, 1.618555  Reprojection Error: -0.414343, -0.067175 Feature: 0.171199, -0.410008, 0.895871
[11:52:55.052] xyz_f:0.950143, -0.453718, 1.733540  Reprojection Error: -0.386700, 0.046312 Feature: 0.155847, -0.208013, 0.965631
[11:52:55.052] xyz_f:0.574634, -0.132781, 1.737918  Reprojection Error: -0.565963, 0.182908 Feature: -0.227840, 0.103121, 0.968223
[11:52:55.052] xyz_f:0.695456, -0.232809, 1.766681  Reprojection Error: -0.492524, 0.145793 Feature: -0.098383, 0.013946, 0.995051
[11:52:55.052] xyz_f:0.574176, -0.152147, 1.734606  Reprojection Error: -0.565942, 0.173846 Feature: -0.227903, 0.083558, 0.970092
[11:52:55.052] xyz_f:0.874949, -0.450202, 1.727693  Reprojection Error: -0.423392, 0.049200 Feature: 0.080973, -0.206131, 0.975168
[11:52:55.052] xyz_f:0.921060, -0.451349, 1.732554  Reprojection Error: -0.400632, 0.048218 Feature: 0.127093, -0.205981, 0.970268
[11:52:55.052] xyz_f:0.929316, -0.441612, 1.738148  Reprojection Error: -0.394879, 0.053185 Feature: 0.135773, -0.195127, 0.971335
[11:52:55.052] xyz_f:0.864151, -0.463604, 1.719097  Reprojection Error: -0.431338, 0.042175 Feature: 0.069394, -0.221301, 0.972733
[11:52:55.052] xyz_f:0.927302, -0.461290, 1.727988  Reprojection Error: -0.399322, 0.042825 Feature: 0.132803, -0.216765, 0.967149
[11:52:55.052] xyz_f:0.826864, 0.103922, 1.822874  Reprojection Error: -0.428939, 0.321306 Feature: 0.023063, 0.353747, 0.935057
[11:52:55.052] xyz_f:0.854866, -0.439766, 1.729816  Reprojection Error: -0.431660, 0.054490 Feature: 0.061208, -0.195501, 0.978792
[11:52:55.052] xyz_f:0.574672, -0.152079, 1.734856  Reprojection Error: -0.565604, 0.173919 Feature: -0.227371, 0.083688, 0.970206
[11:52:55.052] xyz_f:0.496255, -0.039730, 1.705342  Reprojection Error: -0.630814, 0.221641 Feature: -0.316217, 0.184570, 0.930559
[11:52:55.052] xyz_f:0.715414, 0.037410, 1.801078  Reprojection Error: -0.487969, 0.276483 Feature: -0.086666, 0.283860, 0.954941
[11:52:55.052] xyz_f:0.979941, -0.632028, 1.618555  Reprojection Error: -0.394398, -0.071430 Feature: 0.171199, -0.410008, 0.895871
[11:52:55.052] xyz_f:-0.116484, -1.180301, 2.000144  Reprojection Error: 0.159104, 0.379260 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.052] xyz_f:0.950143, -0.453718, 1.733540  Reprojection Error: -0.368240, 0.043405 Feature: 0.155847, -0.208013, 0.965631
[11:52:55.052] xyz_f:0.805942, 0.026968, 1.000370  Reprojection Error: -0.723783, -0.226492 Feature: -0.161646, 0.066536, 0.182551
[11:52:55.052] xyz_f:0.012400, -1.146334, 2.026913  Reprojection Error: 0.155521, 0.364212 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.052] xyz_f:0.633257, 0.011895, 1.224319  Reprojection Error: -0.795646, -0.112023 Feature: -0.283700, 0.109939, 0.434383
[11:52:55.052] xyz_f:0.702836, -0.050686, 1.316848  Reprojection Error: -0.590219, 0.063992 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.052] xyz_f:0.823467, -0.029834, 1.072864  Reprojection Error: -0.984193, 0.121701 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.052] xyz_f:0.496255, -0.039730, 1.705342  Reprojection Error: -0.596434, 0.217768 Feature: -0.316217, 0.184570, 0.930559
[11:52:55.052] xyz_f:-0.093114, -1.159060, 2.006915  Reprojection Error: 0.006609, 0.727894 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.052] xyz_f:0.715414, 0.037410, 1.801078  Reprojection Error: -0.469415, 0.277789 Feature: -0.086666, 0.283860, 0.954941
[11:52:55.052] xyz_f:0.826864, 0.103922, 1.822874  Reprojection Error: -0.407421, 0.321545 Feature: 0.023063, 0.353747, 0.935057
[11:52:55.052] xyz_f:0.574176, -0.152147, 1.734606  Reprojection Error: -0.620526, 0.602542 Feature: -0.227903, 0.083558, 0.970092
[11:52:55.052] it:8 	 Success 	 new_chi2: 0.535462 	 dT = -0.046912, 0.120109, 0.008086
[11:52:55.052] xyz_f:0.584350, -0.220127, 1.649900  Reprojection Error: -0.444270, 0.160595 Feature: -0.089701, 0.027057, 0.995601
[11:52:55.052] xyz_f:0.595416, -0.223154, 1.652767  Reprojection Error: -0.438642, 0.159978 Feature: -0.078125, 0.024876, 0.996633
[11:52:55.052] xyz_f:0.744076, -0.453467, 1.602937  Reprojection Error: -0.393006, 0.067042 Feature: 0.069419, -0.210487, 0.975129
[11:52:55.052] xyz_f:0.781112, -0.448728, 1.610738  Reprojection Error: -0.375053, 0.069066 Feature: 0.106935, -0.203891, 0.973136
[11:52:55.052] xyz_f:0.766095, -0.434445, 1.615849  Reprojection Error: -0.379437, 0.075778 Feature: 0.092560, -0.188771, 0.977649
[11:52:55.052] xyz_f:0.452698, -0.142322, 1.611394  Reprojection Error: -0.519147, 0.183554 Feature: -0.230739, 0.092245, 0.968633
[11:52:55.052] xyz_f:0.740286, -0.433552, 1.612294  Reprojection Error: -0.391199, 0.076172 Feature: 0.066576, -0.188829, 0.979751
[11:52:55.052] xyz_f:0.860798, -0.631973, 1.498240  Reprojection Error: -0.383441, -0.035854 Feature: 0.171199, -0.410008, 0.895871
[11:52:55.052] xyz_f:0.830476, -0.453600, 1.612991  Reprojection Error: -0.353474, 0.065800 Feature: 0.155847, -0.208013, 0.965631
[11:52:55.052] xyz_f:0.455617, -0.131878, 1.614438  Reprojection Error: -0.517532, 0.188192 Feature: -0.227840, 0.103121, 0.968223
[11:52:55.052] xyz_f:0.576001, -0.232158, 1.644143  Reprojection Error: -0.449208, 0.155218 Feature: -0.098383, 0.013946, 0.995051
[11:52:55.052] xyz_f:0.455144, -0.151243, 1.611122  Reprojection Error: -0.517431, 0.180008 Feature: -0.227903, 0.083558, 0.970092
[11:52:55.052] xyz_f:0.755338, -0.449927, 1.606557  Reprojection Error: -0.387125, 0.068677 Feature: 0.080973, -0.206131, 0.975168
[11:52:55.052] xyz_f:0.801407, -0.451171, 1.611777  Reprojection Error: -0.366232, 0.067628 Feature: 0.127093, -0.205981, 0.970268
[11:52:55.052] xyz_f:0.809639, -0.441450, 1.617436  Reprojection Error: -0.360790, 0.072047 Feature: 0.135773, -0.195127, 0.971335
[11:52:55.052] xyz_f:0.744579, -0.463306, 1.597876  Reprojection Error: -0.394641, 0.062447 Feature: 0.069394, -0.221301, 0.972733
[11:52:55.052] xyz_f:0.807663, -0.461124, 1.607260  Reprojection Error: -0.365195, 0.062773 Feature: 0.132803, -0.216765, 0.967149
[11:52:55.052] xyz_f:0.707670, 0.104297, 1.701364  Reprojection Error: -0.391278, 0.317013 Feature: 0.023063, 0.353747, 0.935057
[11:52:55.052] xyz_f:0.735260, -0.439449, 1.608522  Reprojection Error: -0.394569, 0.073463 Feature: 0.061208, -0.195501, 0.978792
[11:52:55.052] xyz_f:0.455638, -0.151176, 1.611376  Reprojection Error: -0.517117, 0.180076 Feature: -0.227371, 0.083688, 0.970206
[11:52:55.052] xyz_f:0.377689, -0.038663, 1.581252  Reprojection Error: -0.578668, 0.222794 Feature: -0.316217, 0.184570, 0.930559
[11:52:55.052] xyz_f:0.596255, 0.038019, 1.678697  Reprojection Error: -0.445944, 0.274606 Feature: -0.086666, 0.283860, 0.954941
[11:52:55.052] xyz_f:0.860798, -0.631973, 1.498240  Reprojection Error: -0.363495, -0.040109 Feature: 0.171199, -0.410008, 0.895871
[11:52:55.052] xyz_f:-0.239719, -1.177947, 1.871250  Reprojection Error: 0.228973, 0.418649 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.052] xyz_f:0.830476, -0.453600, 1.612991  Reprojection Error: -0.335014, 0.062893 Feature: 0.155847, -0.208013, 0.965631
[11:52:55.052] xyz_f:0.693012, 0.027381, 0.878721  Reprojection Error: -0.706800, -0.230694 Feature: -0.161646, 0.066536, 0.182551
[11:52:55.052] xyz_f:-0.110977, -1.144250, 1.899025  Reprojection Error: 0.220078, 0.401201 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.052] xyz_f:0.518553, 0.012672, 1.101314  Reprojection Error: -0.749262, -0.113813 Feature: -0.283700, 0.109939, 0.434383
[11:52:55.052] xyz_f:0.587275, -0.050055, 1.194383  Reprojection Error: -0.548190, 0.067410 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.052] xyz_f:0.709852, -0.029457, 0.951349  Reprojection Error: -0.962805, 0.124857 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.052] xyz_f:0.377689, -0.038663, 1.581252  Reprojection Error: -0.544288, 0.218922 Feature: -0.316217, 0.184570, 0.930559
[11:52:55.052] xyz_f:-0.216358, -1.156755, 1.878203  Reprojection Error: 0.075407, 0.766245 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.052] xyz_f:0.596255, 0.038019, 1.678697  Reprojection Error: -0.427390, 0.275912 Feature: -0.086666, 0.283860, 0.954941
[11:52:55.052] xyz_f:0.707670, 0.104297, 1.701364  Reprojection Error: -0.369760, 0.317253 Feature: 0.023063, 0.353747, 0.935057
[11:52:55.052] xyz_f:0.455144, -0.151243, 1.611122  Reprojection Error: -0.572015, 0.608703 Feature: -0.227903, 0.083558, 0.970092
[11:52:55.052] it:9 	 Success 	 new_chi2: 0.647728 	 dT = -0.062111, 0.093768, 0.012243
[11:52:55.052] xyz_f:0.467814, -0.219137, 1.552438  Reprojection Error: -0.391438, 0.168333 Feature: -0.089701, 0.027057, 0.995601
[11:52:55.052] xyz_f:0.478835, -0.222199, 1.555436  Reprojection Error: -0.386235, 0.167813 Feature: -0.078125, 0.024876, 0.996633
[11:52:55.052] xyz_f:0.627343, -0.452983, 1.507363  Reprojection Error: -0.344996, 0.084658 Feature: 0.069419, -0.210487, 0.975129
[11:52:55.052] xyz_f:0.664299, -0.448362, 1.515601  Reprojection Error: -0.328420, 0.086311 Feature: 0.106935, -0.203891, 0.973136
[11:52:55.052] xyz_f:0.649269, -0.434030, 1.520535  Reprojection Error: -0.332324, 0.092359 Feature: 0.092560, -0.188771, 0.977649
[11:52:55.052] xyz_f:0.336874, -0.140916, 1.512379  Reprojection Error: -0.460955, 0.188407 Feature: -0.230739, 0.092245, 0.968633
[11:52:55.052] xyz_f:0.623506, -0.433056, 1.516675  Reprojection Error: -0.343149, 0.092798 Feature: 0.066576, -0.188829, 0.979751
[11:52:55.052] xyz_f:0.744729, -0.631860, 1.404051  Reprojection Error: -0.339316, -0.007638 Feature: 0.171199, -0.410008, 0.895871
[11:52:55.052] xyz_f:0.713618, -0.453390, 1.518438  Reprojection Error: -0.308575, 0.083172 Feature: 0.155847, -0.208013, 0.965631
[11:52:55.052] xyz_f:0.339789, -0.130481, 1.515458  Reprojection Error: -0.459533, 0.192606 Feature: -0.227840, 0.103121, 0.968223
[11:52:55.052] xyz_f:0.459495, -0.231142, 1.546583  Reprojection Error: -0.395976, 0.163469 Feature: -0.098383, 0.013946, 0.995051
[11:52:55.052] xyz_f:0.339294, -0.149845, 1.512137  Reprojection Error: -0.459310, 0.185228 Feature: -0.227903, 0.083558, 0.970092
[11:52:55.052] xyz_f:0.638573, -0.449479, 1.511116  Reprojection Error: -0.339549, 0.086069 Feature: 0.080973, -0.206131, 0.975168
[11:52:55.052] xyz_f:0.684573, -0.450868, 1.516881  Reprojection Error: -0.320315, 0.084941 Feature: 0.127093, -0.205981, 0.970268
[11:52:55.052] xyz_f:0.692769, -0.441174, 1.522637  Reprojection Error: -0.315200, 0.088858 Feature: 0.135773, -0.195127, 0.971335
[11:52:55.053] xyz_f:0.627875, -0.462824, 1.502308  Reprojection Error: -0.346601, 0.080571 Feature: 0.069394, -0.221301, 0.972733
[11:52:55.053] xyz_f:0.690851, -0.460842, 1.512438  Reprojection Error: -0.319465, 0.080574 Feature: 0.132803, -0.216765, 0.967149
[11:52:55.053] xyz_f:0.591544, 0.104895, 1.605363  Reprojection Error: -0.343815, 0.312975 Feature: 0.023063, 0.353747, 0.935057
[11:52:55.053] xyz_f:0.618507, -0.438937, 1.512844  Reprojection Error: -0.346303, 0.090403 Feature: 0.061208, -0.195501, 0.978792
[11:52:55.053] xyz_f:0.339785, -0.149780, 1.512396  Reprojection Error: -0.459020, 0.185292 Feature: -0.227371, 0.083688, 0.970206
[11:52:55.053] xyz_f:0.262555, -0.037021, 1.481355  Reprojection Error: -0.517054, 0.223335 Feature: -0.316217, 0.184570, 0.930559
[11:52:55.053] xyz_f:0.480195, 0.038970, 1.581379  Reprojection Error: -0.394411, 0.272611 Feature: -0.086666, 0.283860, 0.954941
[11:52:55.053] xyz_f:0.744729, -0.631860, 1.404051  Reprojection Error: -0.319371, -0.011892 Feature: 0.171199, -0.410008, 0.895871
[11:52:55.053] xyz_f:-0.361846, -1.174337, 1.764009  Reprojection Error: 0.305993, 0.454872 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.053] xyz_f:0.713618, -0.453390, 1.518438  Reprojection Error: -0.290115, 0.080266 Feature: 0.155847, -0.208013, 0.965631
[11:52:55.053] xyz_f:0.586372, 0.028010, 0.782602  Reprojection Error: -0.667398, -0.235326 Feature: -0.161646, 0.066536, 0.182551
[11:52:55.053] xyz_f:-0.233336, -1.141047, 1.793306  Reprojection Error: 0.291754, 0.434937 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.053] xyz_f:0.409246, 0.013858, 1.003117  Reprojection Error: -0.686388, -0.116122 Feature: -0.283700, 0.109939, 0.434383
[11:52:55.053] xyz_f:0.476664, -0.049084, 1.096991  Reprojection Error: -0.491013, 0.070246 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.053] xyz_f:0.602171, -0.028879, 0.855424  Reprojection Error: -0.920597, 0.127653 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.053] xyz_f:0.262555, -0.037021, 1.481355  Reprojection Error: -0.482674, 0.219462 Feature: -0.316217, 0.184570, 0.930559
[11:52:55.053] xyz_f:-0.338502, -1.153219, 1.771239  Reprojection Error: 0.151323, 0.801441 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.053] xyz_f:0.480195, 0.038970, 1.581379  Reprojection Error: -0.375857, 0.273916 Feature: -0.086666, 0.283860, 0.954941
[11:52:55.053] xyz_f:0.591544, 0.104895, 1.605363  Reprojection Error: -0.322297, 0.313214 Feature: 0.023063, 0.353747, 0.935057
[11:52:55.053] xyz_f:0.339294, -0.149845, 1.512137  Reprojection Error: -0.513894, 0.613924 Feature: -0.227903, 0.083558, 0.970092
[11:52:55.053] it:10 	 Success 	 new_chi2: 0.814006 	 dT = -0.043992, 0.037605, 0.003365
[11:52:55.053] xyz_f:0.352740, -0.218859, 1.513793  Reprojection Error: -0.323114, 0.171753 Feature: -0.089701, 0.027057, 0.995601
[11:52:55.053] xyz_f:0.363748, -0.221930, 1.516827  Reprojection Error: -0.318197, 0.171272 Feature: -0.078125, 0.024876, 0.996633
[11:52:55.053] xyz_f:0.512211, -0.452843, 1.469237  Reprojection Error: -0.277434, 0.092361 Feature: 0.069419, -0.210487, 0.975129
[11:52:55.053] xyz_f:0.549144, -0.448254, 1.477595  Reprojection Error: -0.261760, 0.093848 Feature: 0.106935, -0.203891, 0.973136
[11:52:55.053] xyz_f:0.534110, -0.433910, 1.482480  Reprojection Error: -0.265606, 0.099605 Feature: 0.092560, -0.188771, 0.977649
[11:52:55.053] xyz_f:0.221998, -0.140523, 1.473309  Reprojection Error: -0.388891, 0.190612 Feature: -0.230739, 0.092245, 0.968633
[11:52:55.053] xyz_f:0.508361, -0.432913, 1.478536  Reprojection Error: -0.275875, 0.100067 Feature: 0.066576, -0.188829, 0.979751
[11:52:55.053] xyz_f:0.629776, -0.631823, 1.366306  Reprojection Error: -0.269835, 0.004767 Feature: 0.171199, -0.410008, 0.895871
[11:52:55.053] xyz_f:0.598448, -0.453325, 1.480592  Reprojection Error: -0.242802, 0.090761 Feature: 0.155847, -0.208013, 0.965631
[11:52:55.053] xyz_f:0.224913, -0.130091, 1.476397  Reprojection Error: -0.387657, 0.194620 Feature: -0.227840, 0.103121, 0.968223
[11:52:55.053] xyz_f:0.344430, -0.230856, 1.507911  Reprojection Error: -0.327288, 0.167112 Feature: -0.098383, 0.013946, 0.995051
[11:52:55.053] xyz_f:0.224412, -0.149454, 1.473074  Reprojection Error: -0.387272, 0.187591 Feature: -0.227903, 0.083558, 0.970092
[11:52:55.053] xyz_f:0.523431, -0.449349, 1.473026  Reprojection Error: -0.272310, 0.093672 Feature: 0.080973, -0.206131, 0.975168
[11:52:55.053] xyz_f:0.569411, -0.450778, 1.478940  Reprojection Error: -0.254025, 0.092505 Feature: 0.127093, -0.205981, 0.970268
[11:52:55.053] xyz_f:0.577597, -0.441091, 1.484723  Reprojection Error: -0.249247, 0.096201 Feature: 0.135773, -0.195127, 0.971335
[11:52:55.053] xyz_f:0.512751, -0.462685, 1.464184  Reprojection Error: -0.278856, 0.088498 Feature: 0.069394, -0.221301, 0.972733
[11:52:55.053] xyz_f:0.575694, -0.460758, 1.474518  Reprojection Error: -0.253115, 0.088353 Feature: 0.132803, -0.216765, 0.967149
[11:52:55.053] xyz_f:0.476579, 0.105066, 1.567120  Reprojection Error: -0.279446, 0.311271 Feature: 0.023063, 0.353747, 0.935057
[11:52:55.053] xyz_f:0.503369, -0.438790, 1.474689  Reprojection Error: -0.278805, 0.097810 Feature: 0.061208, -0.195501, 0.978792
[11:52:55.053] xyz_f:0.224902, -0.149390, 1.473336  Reprojection Error: -0.387002, 0.187653 Feature: -0.227371, 0.083688, 0.970206
[11:52:55.053] xyz_f:0.147872, -0.036564, 1.442043  Reprojection Error: -0.442357, 0.223699 Feature: -0.316217, 0.184570, 0.930559
[11:52:55.053] xyz_f:0.365251, 0.039238, 1.542775  Reprojection Error: -0.327505, 0.271821 Feature: -0.086666, 0.283860, 0.954941
[11:52:55.053] xyz_f:0.629776, -0.631823, 1.366306  Reprojection Error: -0.249889, 0.000512 Feature: 0.171199, -0.410008, 0.895871
[11:52:55.053] xyz_f:-0.478435, -1.173336, 1.722665  Reprojection Error: 0.378596, 0.470268 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.053] xyz_f:0.598448, -0.453325, 1.480592  Reprojection Error: -0.224342, 0.087854 Feature: 0.155847, -0.208013, 0.965631
[11:52:55.053] xyz_f:0.474015, 0.028184, 0.744348  Reprojection Error: -0.554958, -0.237399 Feature: -0.161646, 0.066536, 0.182551
[11:52:55.053] xyz_f:-0.349992, -1.140157, 1.752379  Reprojection Error: 0.361363, 0.449289 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.053] xyz_f:0.296161, 0.014187, 0.964285  Reprojection Error: -0.585543, -0.117019 Feature: -0.283700, 0.109939, 0.434383
[11:52:55.053] xyz_f:0.363218, -0.048814, 1.058378  Reprojection Error: -0.399677, 0.071623 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.053] xyz_f:0.489528, -0.028719, 0.817220  Reprojection Error: -0.815668, 0.129035 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.053] xyz_f:0.147872, -0.036564, 1.442043  Reprojection Error: -0.407977, 0.219826 Feature: -0.316217, 0.184570, 0.930559
[11:52:55.053] xyz_f:-0.455097, -1.152237, 1.729971  Reprojection Error: 0.223279, 0.816405 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.053] xyz_f:0.365251, 0.039238, 1.542775  Reprojection Error: -0.308950, 0.273126 Feature: -0.086666, 0.283860, 0.954941
[11:52:55.053] xyz_f:0.476579, 0.105066, 1.567120  Reprojection Error: -0.257928, 0.311511 Feature: 0.023063, 0.353747, 0.935057
[11:52:55.053] xyz_f:0.224412, -0.149454, 1.473074  Reprojection Error: -0.441856, 0.616287 Feature: -0.227903, 0.083558, 0.970092
[11:52:55.053] it:11 	 Success 	 new_chi2: 1.010359 	 dT = -0.042839, 0.046015, 0.007963
[11:52:55.053] xyz_f:0.306454, -0.218189, 1.465278  Reprojection Error: -0.299241, 0.176083 Feature: -0.089701, 0.027057, 0.995601
[11:52:55.053] xyz_f:0.317432, -0.221283, 1.468396  Reprojection Error: -0.294565, 0.175656 Feature: -0.078125, 0.024876, 0.996633
[11:52:55.053] xyz_f:0.465781, -0.452502, 1.421948  Reprojection Error: -0.256376, 0.102372 Feature: 0.069419, -0.210487, 0.975129
[11:52:55.053] xyz_f:0.502657, -0.447989, 1.430590  Reprojection Error: -0.241477, 0.103630 Feature: 0.106935, -0.203891, 0.973136
[11:52:55.053] xyz_f:0.487616, -0.433614, 1.435359  Reprojection Error: -0.245041, 0.109008 Feature: 0.092560, -0.188771, 0.977649
[11:52:55.053] xyz_f:0.176190, -0.139584, 1.423790  Reprojection Error: -0.361958, 0.193270 Feature: -0.230739, 0.092245, 0.968633
[11:52:55.053] xyz_f:0.461900, -0.432564, 1.431217  Reprojection Error: -0.254781, 0.109503 Feature: 0.066576, -0.188829, 0.979751
[11:52:55.053] xyz_f:0.583765, -0.631724, 1.319923  Reprojection Error: -0.251174, 0.020942 Feature: 0.171199, -0.410008, 0.895871
[11:52:55.053] xyz_f:0.551927, -0.453161, 1.433966  Reprojection Error: -0.223502, 0.100603 Feature: 0.155847, -0.208013, 0.965631
[11:52:55.053] xyz_f:0.179102, -0.129158, 1.426901  Reprojection Error: -0.360836, 0.197022 Feature: -0.227840, 0.103121, 0.968223
[11:52:55.053] xyz_f:0.298165, -0.230169, 1.459332  Reprojection Error: -0.303189, 0.171738 Feature: -0.098383, 0.013946, 0.995051
[11:52:55.053] xyz_f:0.178586, -0.148520, 1.423574  Reprojection Error: -0.360379, 0.190463 Feature: -0.227903, 0.083558, 0.970092
[11:52:55.053] xyz_f:0.476979, -0.449031, 1.425823  Reprojection Error: -0.251494, 0.103548 Feature: 0.080973, -0.206131, 0.975168
[11:52:55.053] xyz_f:0.522908, -0.450555, 1.432091  Reprojection Error: -0.234149, 0.102320 Feature: 0.127093, -0.205981, 0.970268
[11:52:55.053] xyz_f:0.531069, -0.440884, 1.437936  Reprojection Error: -0.229547, 0.105724 Feature: 0.135773, -0.195127, 0.971335
[11:52:55.053] xyz_f:0.466339, -0.462345, 1.416899  Reprojection Error: -0.257787, 0.098803 Feature: 0.069394, -0.221301, 0.972733
[11:52:55.053] xyz_f:0.529205, -0.460547, 1.427717  Reprojection Error: -0.233351, 0.098448 Feature: 0.132803, -0.216765, 0.967149
[11:52:55.053] xyz_f:0.430547, 0.105481, 1.519559  Reprojection Error: -0.258672, 0.308900 Feature: 0.023063, 0.353747, 0.935057
[11:52:55.053] xyz_f:0.456926, -0.438430, 1.427332  Reprojection Error: -0.257592, 0.107431 Feature: 0.061208, -0.195501, 0.978792
[11:52:55.053] xyz_f:0.179075, -0.148457, 1.423839  Reprojection Error: -0.360123, 0.190523 Feature: -0.227371, 0.083688, 0.970206
[11:52:55.053] xyz_f:0.102520, -0.035472, 1.391955  Reprojection Error: -0.413466, 0.223827 Feature: -0.316217, 0.184570, 0.930559
[11:52:55.053] xyz_f:0.319274, 0.039881, 1.494357  Reprojection Error: -0.304408, 0.270566 Feature: -0.086666, 0.283860, 0.954941
[11:52:55.053] xyz_f:0.583765, -0.631724, 1.319923  Reprojection Error: -0.231228, 0.016688 Feature: 0.171199, -0.410008, 0.895871
[11:52:55.053] xyz_f:-0.528269, -1.170949, 1.667742  Reprojection Error: 0.417623, 0.491267 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.053] xyz_f:0.551927, -0.453161, 1.433966  Reprojection Error: -0.205042, 0.097696 Feature: 0.155847, -0.208013, 0.965631
[11:52:55.053] xyz_f:0.434153, 0.028598, 0.696790  Reprojection Error: -0.541215, -0.240577 Feature: -0.161646, 0.066536, 0.182551
[11:52:55.053] xyz_f:-0.399990, -1.138035, 1.698444  Reprojection Error: 0.397142, 0.468701 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.053] xyz_f:0.254584, 0.014969, 0.915352  Reprojection Error: -0.556540, -0.118660 Feature: -0.283700, 0.109939, 0.434383
[11:52:55.053] xyz_f:0.320786, -0.048169, 1.009958  Reprojection Error: -0.374116, 0.073196 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.053] xyz_f:0.448987, -0.028337, 0.769779  Reprojection Error: -0.799920, 0.130705 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.053] xyz_f:0.102520, -0.035472, 1.391955  Reprojection Error: -0.379085, 0.219955 Feature: -0.316217, 0.184570, 0.930559
[11:52:55.053] xyz_f:-0.504944, -1.149899, 1.675228  Reprojection Error: 0.261631, 0.836774 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.053] xyz_f:0.319274, 0.039881, 1.494357  Reprojection Error: -0.285854, 0.271871 Feature: -0.086666, 0.283860, 0.954941
[11:52:55.053] xyz_f:0.430547, 0.105481, 1.519559  Reprojection Error: -0.237153, 0.309140 Feature: 0.023063, 0.353747, 0.935057
[11:52:55.053] xyz_f:0.178586, -0.148520, 1.423574  Reprojection Error: -0.414963, 0.619158 Feature: -0.227903, 0.083558, 0.970092
[11:52:55.053] it:12 	 Success 	 new_chi2: 1.050606 	 dT = -0.041096, 0.047724, 0.009745
[11:52:55.053] xyz_f:0.249512, -0.217348, 1.414416  Reprojection Error: -0.266504, 0.180843 Feature: -0.089701, 0.027057, 0.995601
[11:52:55.053] xyz_f:0.260453, -0.220469, 1.417637  Reprojection Error: -0.262112, 0.180479 Feature: -0.078125, 0.024876, 0.996633
[11:52:55.053] xyz_f:0.408649, -0.452062, 1.372585  Reprojection Error: -0.226532, 0.113496 Feature: 0.069419, -0.210487, 0.975129
[11:52:55.053] xyz_f:0.445454, -0.447642, 1.381573  Reprojection Error: -0.212538, 0.114490 Feature: 0.106935, -0.203891, 0.973136
[11:52:55.053] xyz_f:0.430404, -0.433229, 1.386201  Reprojection Error: -0.215816, 0.119443 Feature: 0.092560, -0.188771, 0.977649
[11:52:55.053] xyz_f:0.119843, -0.138416, 1.371705  Reprojection Error: -0.325579, 0.196140 Feature: -0.230739, 0.092245, 0.968633
[11:52:55.053] xyz_f:0.404731, -0.432114, 1.381817  Reprojection Error: -0.224946, 0.119983 Feature: 0.066576, -0.188829, 0.979751
[11:52:55.053] xyz_f:0.527135, -0.631583, 1.271673  Reprojection Error: -0.223423, 0.038991 Feature: 0.171199, -0.410008, 0.895871
[11:52:55.053] xyz_f:0.494676, -0.452939, 1.385413  Reprojection Error: -0.195667, 0.111517 Feature: 0.155847, -0.208013, 0.965631
[11:52:55.053] xyz_f:0.122752, -0.127997, 1.374843  Reprojection Error: -0.324602, 0.199605 Feature: -0.227840, 0.103121, 0.968223
[11:52:55.053] xyz_f:0.241250, -0.229307, 1.408392  Reprojection Error: -0.270167, 0.176830 Feature: -0.098383, 0.013946, 0.995051
[11:52:55.053] xyz_f:0.122219, -0.147358, 1.371511  Reprojection Error: -0.324043, 0.193576 Feature: -0.227903, 0.083558, 0.970092
[11:52:55.053] xyz_f:0.419818, -0.448619, 1.376565  Reprojection Error: -0.221941, 0.114518 Feature: 0.080973, -0.206131, 0.975168
[11:52:55.053] xyz_f:0.465683, -0.450259, 1.383265  Reprojection Error: -0.205667, 0.113212 Feature: 0.127093, -0.205981, 0.970268
[11:52:55.053] xyz_f:0.473813, -0.440609, 1.389187  Reprojection Error: -0.201292, 0.116285 Feature: 0.135773, -0.195127, 0.971335
[11:52:55.053] xyz_f:0.409229, -0.461907, 1.367541  Reprojection Error: -0.227905, 0.110260 Feature: 0.069394, -0.221301, 0.972733
[11:52:55.053] xyz_f:0.471996, -0.460268, 1.378950  Reprojection Error: -0.204972, 0.109654 Feature: 0.132803, -0.216765, 0.967149
[11:52:55.053] xyz_f:0.373905, 0.106008, 1.469866  Reprojection Error: -0.229715, 0.306194 Feature: 0.023063, 0.353747, 0.935057
[11:52:55.053] xyz_f:0.399779, -0.437968, 1.377885  Reprojection Error: -0.227605, 0.118118 Feature: 0.061208, -0.195501, 0.978792
[11:52:55.053] xyz_f:0.122706, -0.147295, 1.371780  Reprojection Error: -0.323803, 0.193633 Feature: -0.227371, 0.083688, 0.970206
[11:52:55.053] xyz_f:0.046739, -0.034118, 1.339179  Reprojection Error: -0.374715, 0.223821 Feature: -0.316217, 0.184570, 0.930559
[11:52:55.053] xyz_f:0.262709, 0.040690, 1.443617  Reprojection Error: -0.272735, 0.269068 Feature: -0.086666, 0.283860, 0.954941
[11:52:55.053] xyz_f:0.527135, -0.631583, 1.271673  Reprojection Error: -0.203477, 0.034736 Feature: 0.171199, -0.410008, 0.895871
[11:52:55.053] xyz_f:-0.589479, -1.167997, 1.609003  Reprojection Error: 0.467229, 0.515065 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.053] xyz_f:0.494676, -0.452939, 1.385413  Reprojection Error: -0.177207, 0.108610 Feature: 0.155847, -0.208013, 0.965631
[11:52:55.053] xyz_f:0.385061, 0.029107, 0.647167  Reprojection Error: -0.513134, -0.244510 Feature: -0.161646, 0.066536, 0.182551
[11:52:55.053] xyz_f:-0.461412, -1.135407, 1.640911  Reprojection Error: 0.442831, 0.490592 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.053] xyz_f:0.203409, 0.015933, 0.864029  Reprojection Error: -0.513833, -0.120748 Feature: -0.283700, 0.109939, 0.434383
[11:52:55.053] xyz_f:0.268558, -0.047370, 0.959253  Reprojection Error: -0.336459, 0.074884 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.054] xyz_f:0.399064, -0.027864, 0.720291  Reprojection Error: -0.770684, 0.132578 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.054] xyz_f:0.046739, -0.034118, 1.339179  Reprojection Error: -0.340335, 0.219948 Feature: -0.316217, 0.184570, 0.930559
[11:52:55.054] xyz_f:-0.566172, -1.147006, 1.616708  Reprojection Error: 0.310413, 0.859831 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.054] xyz_f:0.262709, 0.040690, 1.443617  Reprojection Error: -0.254181, 0.270374 Feature: -0.086666, 0.283860, 0.954941
[11:52:55.054] xyz_f:0.373905, 0.106008, 1.469866  Reprojection Error: -0.208197, 0.306434 Feature: 0.023063, 0.353747, 0.935057
[11:52:55.054] xyz_f:0.122219, -0.147358, 1.371511  Reprojection Error: -0.378627, 0.622271 Feature: -0.227903, 0.083558, 0.970092
[11:52:55.054] it:13 	 Success 	 new_chi2: 1.074783 	 dT = -0.038388, 0.047580, 0.011356
[11:52:55.054] xyz_f:0.188421, -0.216339, 1.363070  Reprojection Error: -0.228329, 0.185891 Feature: -0.089701, 0.027057, 0.995601
[11:52:55.054] xyz_f:0.199316, -0.219492, 1.366411  Reprojection Error: -0.224257, 0.185594 Feature: -0.078125, 0.024876, 0.996633
[11:52:55.054] xyz_f:0.347316, -0.451521, 1.322983  Reprojection Error: -0.191335, 0.125435 Feature: 0.069419, -0.210487, 0.975129
[11:52:55.054] xyz_f:0.384033, -0.447209, 1.332375  Reprojection Error: -0.178344, 0.126128 Feature: 0.106935, -0.203891, 0.973136
[11:52:55.054] xyz_f:0.368976, -0.432751, 1.336837  Reprojection Error: -0.181331, 0.130626 Feature: 0.092560, -0.188771, 0.977649
[11:52:55.054] xyz_f:0.059460, -0.137026, 1.318940  Reprojection Error: -0.283293, 0.199124 Feature: -0.230739, 0.092245, 0.968633
[11:52:55.054] xyz_f:0.343356, -0.431561, 1.332172  Reprojection Error: -0.189790, 0.131221 Feature: 0.066576, -0.188829, 0.979751
[11:52:55.054] xyz_f:0.466374, -0.631390, 1.223374  Reprojection Error: -0.190121, 0.058441 Feature: 0.171199, -0.410008, 0.895871
[11:52:55.054] xyz_f:0.433194, -0.452650, 1.336754  Reprojection Error: -0.162671, 0.123202 Feature: 0.155847, -0.208013, 0.965631
[11:52:55.054] xyz_f:0.062365, -0.126616, 1.322110  Reprojection Error: -0.282489, 0.202274 Feature: -0.227840, 0.103121, 0.968223
[11:52:55.054] xyz_f:0.180189, -0.228274, 1.356955  Reprojection Error: -0.231662, 0.182240 Feature: -0.098383, 0.013946, 0.995051
[11:52:55.054] xyz_f:0.061812, -0.145975, 1.318772  Reprojection Error: -0.281800, 0.196824 Feature: -0.227903, 0.083558, 0.970092
[11:52:55.054] xyz_f:0.358451, -0.448110, 1.327086  Reprojection Error: -0.187069, 0.126285 Feature: 0.080973, -0.206131, 0.975168
[11:52:55.054] xyz_f:0.404234, -0.449885, 1.334288  Reprojection Error: -0.171971, 0.124880 Feature: 0.127093, -0.205981, 0.970268
[11:52:55.054] xyz_f:0.412327, -0.440259, 1.340299  Reprojection Error: -0.167858, 0.127593 Feature: 0.135773, -0.195127, 0.971335
[11:52:55.054] xyz_f:0.347923, -0.461367, 1.317945  Reprojection Error: -0.192649, 0.122561 Feature: 0.069394, -0.221301, 0.972733
[11:52:55.054] xyz_f:0.410564, -0.459912, 1.330043  Reprojection Error: -0.171371, 0.121660 Feature: 0.132803, -0.216765, 0.967149
[11:52:55.054] xyz_f:0.313147, 0.106651, 1.419886  Reprojection Error: -0.195879, 0.303203 Feature: 0.023063, 0.353747, 0.935057
[11:52:55.054] xyz_f:0.338430, -0.437400, 1.328186  Reprojection Error: -0.192272, 0.129585 Feature: 0.061208, -0.195501, 0.978792
[11:52:55.054] xyz_f:0.062295, -0.145914, 1.319047  Reprojection Error: -0.281581, 0.196879 Feature: -0.227371, 0.083688, 0.970206
[11:52:55.054] xyz_f:-0.012976, -0.032515, 1.285617  Reprojection Error: -0.329721, 0.223635 Feature: -0.316217, 0.184570, 0.930559
[11:52:55.054] xyz_f:0.202055, 0.041659, 1.392419  Reprojection Error: -0.235866, 0.267335 Feature: -0.086666, 0.283860, 0.954941
[11:52:55.054] xyz_f:0.466374, -0.631390, 1.223374  Reprojection Error: -0.170176, 0.054187 Feature: 0.171199, -0.410008, 0.895871
[11:52:55.054] xyz_f:-0.655445, -1.164515, 1.548428  Reprojection Error: 0.524164, 0.541214 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.054] xyz_f:0.433194, -0.452650, 1.336754  Reprojection Error: -0.144211, 0.120295 Feature: 0.155847, -0.208013, 0.965631
[11:52:55.054] xyz_f:0.333100, 0.029704, 0.597357  Reprojection Error: -0.475762, -0.249261 Feature: -0.161646, 0.066536, 0.182551
[11:52:55.054] xyz_f:-0.527641, -1.132301, 1.581739  Reprojection Error: 0.495221, 0.514513 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.054] xyz_f:0.149043, 0.017068, 0.812214  Reprojection Error: -0.461915, -0.123321 Feature: -0.283700, 0.109939, 0.434383
[11:52:55.054] xyz_f:0.212957, -0.046425, 0.908146  Reprojection Error: -0.290990, 0.076623 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.054] xyz_f:0.346133, -0.027306, 0.670630  Reprojection Error: -0.732783, 0.134611 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.054] xyz_f:-0.012976, -0.032515, 1.285617  Reprojection Error: -0.295341, 0.219762 Feature: -0.316217, 0.184570, 0.930559
[11:52:55.054] xyz_f:-0.632163, -1.143592, 1.556388  Reprojection Error: 0.366386, 0.885134 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.054] xyz_f:0.202055, 0.041659, 1.392419  Reprojection Error: -0.217311, 0.268641 Feature: -0.086666, 0.283860, 0.954941
[11:52:55.054] xyz_f:0.313147, 0.106651, 1.419886  Reprojection Error: -0.174361, 0.303442 Feature: 0.023063, 0.353747, 0.935057
[11:52:55.054] xyz_f:0.061812, -0.145975, 1.318772  Reprojection Error: -0.336385, 0.625519 Feature: -0.227903, 0.083558, 0.970092
[11:52:55.054] it:14 	 Success 	 new_chi2: 1.071373 	 dT = -0.034252, 0.045536, 0.012028
[11:52:55.054] xyz_f:0.125461, -0.215236, 1.313417  Reprojection Error: -0.185620, 0.191051 Feature: -0.089701, 0.027057, 0.995601
[11:52:55.054] xyz_f:0.136308, -0.218423, 1.316885  Reprojection Error: -0.181896, 0.190823 Feature: -0.078125, 0.024876, 0.996633
[11:52:55.054] xyz_f:0.284079, -0.450912, 1.275174  Reprojection Error: -0.151587, 0.137753 Feature: 0.069419, -0.210487, 0.975129
[11:52:55.054] xyz_f:0.320697, -0.446714, 1.284992  Reprojection Error: -0.139684, 0.138120 Feature: 0.106935, -0.203891, 0.973136
[11:52:55.054] xyz_f:0.305635, -0.432210, 1.289280  Reprojection Error: -0.142383, 0.142147 Feature: 0.092560, -0.188771, 0.977649
[11:52:55.054] xyz_f:-0.002730, -0.135523, 1.267793  Reprojection Error: -0.236058, 0.202129 Feature: -0.230739, 0.092245, 0.968633
[11:52:55.054] xyz_f:0.280074, -0.430940, 1.284317  Reprojection Error: -0.150121, 0.142808 Feature: 0.066576, -0.188829, 0.979751
[11:52:55.054] xyz_f:0.403725, -0.631153, 1.176952  Reprojection Error: -0.151928, 0.078596 Feature: 0.171199, -0.410008, 0.895871
[11:52:55.054] xyz_f:0.369787, -0.452308, 1.289942  Reprojection Error: -0.125276, 0.135225 Feature: 0.155847, -0.208013, 0.965631
[11:52:55.054] xyz_f:0.000170, -0.125122, 1.270997  Reprojection Error: -0.235452, 0.204949 Feature: -0.227840, 0.103121, 0.968223
[11:52:55.054] xyz_f:0.117264, -0.227145, 1.307207  Reprojection Error: -0.188579, 0.187779 Feature: -0.098383, 0.013946, 0.995051
[11:52:55.054] xyz_f:-0.000405, -0.144479, 1.267653  Reprojection Error: -0.234611, 0.200108 Feature: -0.227903, 0.083558, 0.970092
[11:52:55.054] xyz_f:0.295176, -0.447536, 1.279406  Reprojection Error: -0.147679, 0.138420 Feature: 0.080973, -0.206131, 0.975168
[11:52:55.054] xyz_f:0.340867, -0.449453, 1.287140  Reprojection Error: -0.133837, 0.136895 Feature: 0.127093, -0.205981, 0.970268
[11:52:55.054] xyz_f:0.348919, -0.439852, 1.293245  Reprojection Error: -0.130021, 0.139230 Feature: 0.135773, -0.195127, 0.971335
[11:52:55.054] xyz_f:0.284713, -0.460760, 1.270144  Reprojection Error: -0.152819, 0.135258 Feature: 0.069394, -0.221301, 0.972733
[11:52:55.054] xyz_f:0.347215, -0.459500, 1.282969  Reprojection Error: -0.133319, 0.134026 Feature: 0.132803, -0.216765, 0.967149
[11:52:55.054] xyz_f:0.250524, 0.107366, 1.371684  Reprojection Error: -0.157975, 0.300043 Feature: 0.023063, 0.353747, 0.935057
[11:52:55.054] xyz_f:0.275177, -0.436764, 1.280274  Reprojection Error: -0.152402, 0.141412 Feature: 0.061208, -0.195501, 0.978792
[11:52:55.054] xyz_f:0.000076, -0.144420, 1.267933  Reprojection Error: -0.234413, 0.200160 Feature: -0.227371, 0.083688, 0.970206
[11:52:55.054] xyz_f:-0.074448, -0.030788, 1.233632  Reprojection Error: -0.279465, 0.223300 Feature: -0.316217, 0.184570, 0.930559
[11:52:55.054] xyz_f:0.139557, 0.042719, 1.342927  Reprojection Error: -0.194675, 0.265443 Feature: -0.086666, 0.283860, 0.954941
[11:52:55.054] xyz_f:0.403725, -0.631153, 1.176952  Reprojection Error: -0.131982, 0.074342 Feature: 0.171199, -0.410008, 0.895871
[11:52:55.054] xyz_f:-0.723448, -1.160777, 1.488941  Reprojection Error: 0.586747, 0.568750 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.054] xyz_f:0.369787, -0.452308, 1.289942  Reprojection Error: -0.106816, 0.132318 Feature: 0.155847, -0.208013, 0.965631
[11:52:55.054] xyz_f:0.279793, 0.030342, 0.549442  Reprojection Error: -0.427370, -0.254758 Feature: -0.161646, 0.066536, 0.182551
[11:52:55.054] xyz_f:-0.595940, -1.128960, 1.523736  Reprojection Error: 0.552743, 0.539571 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.054] xyz_f:0.093213, 0.018282, 0.762145  Reprojection Error: -0.400717, -0.126295 Feature: -0.283700, 0.109939, 0.434383
[11:52:55.054] xyz_f:0.155811, -0.045408, 0.858812  Reprojection Error: -0.237919, 0.078375 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.054] xyz_f:0.291796, -0.026708, 0.622860  Reprojection Error: -0.685130, 0.136773 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.054] xyz_f:-0.074448, -0.030788, 1.233632  Reprojection Error: -0.245085, 0.219428 Feature: -0.316217, 0.184570, 0.930559
[11:52:55.054] xyz_f:-0.700195, -1.139927, 1.497172  Reprojection Error: 0.427891, 0.911748 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.054] xyz_f:0.139557, 0.042719, 1.342927  Reprojection Error: -0.176121, 0.266749 Feature: -0.086666, 0.283860, 0.954941
[11:52:55.054] xyz_f:0.250524, 0.107366, 1.371684  Reprojection Error: -0.136457, 0.300282 Feature: 0.023063, 0.353747, 0.935057
[11:52:55.054] xyz_f:-0.000405, -0.144479, 1.267653  Reprojection Error: -0.289195, 0.628803 Feature: -0.227903, 0.083558, 0.970092
[11:52:55.054] it:15 	 Success 	 new_chi2: 1.038549 	 dT = -0.024633, 0.039684, 0.008231
[11:52:55.054] xyz_f:0.062643, -0.214461, 1.270841  Reprojection Error: -0.139389, 0.195931 Feature: -0.089701, 0.027057, 0.995601
[11:52:55.054] xyz_f:0.073454, -0.217671, 1.274395  Reprojection Error: -0.136027, 0.195763 Feature: -0.078125, 0.024876, 0.996633
[11:52:55.054] xyz_f:0.221056, -0.450475, 1.233859  Reprojection Error: -0.107969, 0.149239 Feature: 0.069419, -0.210487, 0.975129
[11:52:55.054] xyz_f:0.257605, -0.446355, 1.243968  Reprojection Error: -0.097196, 0.149296 Feature: 0.106935, -0.203891, 0.973136
[11:52:55.054] xyz_f:0.242540, -0.431818, 1.248136  Reprojection Error: -0.099646, 0.152884 Feature: 0.092560, -0.188771, 0.977649
[11:52:55.054] xyz_f:-0.065012, -0.134476, 1.224201  Reprojection Error: -0.185106, 0.205080 Feature: -0.230739, 0.092245, 0.968633
[11:52:55.054] xyz_f:0.217022, -0.430494, 1.242970  Reprojection Error: -0.106648, 0.153612 Feature: 0.066576, -0.188829, 0.979751
[11:52:55.054] xyz_f:0.341096, -0.630971, 1.136589  Reprojection Error: -0.109007, 0.097480 Feature: 0.171199, -0.410008, 0.895871
[11:52:55.054] xyz_f:0.306642, -0.452053, 1.249308  Reprojection Error: -0.084056, 0.146426 Feature: 0.155847, -0.208013, 0.965631
[11:52:55.054] xyz_f:-0.062115, -0.124081, 1.227427  Reprojection Error: -0.184712, 0.207596 Feature: -0.227840, 0.103121, 0.968223
[11:52:55.054] xyz_f:0.054470, -0.226353, 1.264566  Reprojection Error: -0.141947, 0.193012 Feature: -0.098383, 0.013946, 0.995051
[11:52:55.054] xyz_f:-0.062705, -0.143437, 1.224078  Reprojection Error: -0.183704, 0.203313 Feature: -0.227903, 0.083558, 0.970092
[11:52:55.054] xyz_f:0.232127, -0.447123, 1.238179  Reprojection Error: -0.104440, 0.149733 Feature: 0.080973, -0.206131, 0.975168
[11:52:55.054] xyz_f:0.277751, -0.449137, 1.246276  Reprojection Error: -0.091877, 0.148090 Feature: 0.127093, -0.205981, 0.970268
[11:52:55.054] xyz_f:0.285775, -0.439553, 1.252445  Reprojection Error: -0.088394, 0.150071 Feature: 0.135773, -0.195127, 0.971335
[11:52:55.054] xyz_f:0.221710, -0.460324, 1.228834  Reprojection Error: -0.109084, 0.147098 Feature: 0.069394, -0.221301, 0.972733
[11:52:55.054] xyz_f:0.284110, -0.459197, 1.242155  Reprojection Error: -0.091409, 0.145550 Feature: 0.132803, -0.216765, 0.967149
[11:52:55.054] xyz_f:0.187926, 0.107874, 1.330104  Reprojection Error: -0.116621, 0.297214 Feature: 0.023063, 0.353747, 0.935057
[11:52:55.054] xyz_f:0.212145, -0.436308, 1.238888  Reprojection Error: -0.108704, 0.152440 Feature: 0.061208, -0.195501, 0.978792
[11:52:55.054] xyz_f:-0.062226, -0.143378, 1.224363  Reprojection Error: -0.183530, 0.203362 Feature: -0.227371, 0.083688, 0.970206
[11:52:55.054] xyz_f:-0.136233, -0.029588, 1.189472  Reprojection Error: -0.225281, 0.223218 Feature: -0.316217, 0.184570, 0.930559
[11:52:55.054] xyz_f:0.077052, 0.043464, 1.300465  Reprojection Error: -0.150005, 0.263832 Feature: -0.086666, 0.283860, 0.954941
[11:52:55.054] xyz_f:0.341096, -0.630971, 1.136589  Reprojection Error: -0.089061, 0.093225 Feature: 0.171199, -0.410008, 0.895871
[11:52:55.054] xyz_f:-0.789648, -1.158190, 1.439603  Reprojection Error: 0.649384, 0.593672 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.054] xyz_f:0.306642, -0.452053, 1.249308  Reprojection Error: -0.065596, 0.143519 Feature: 0.155847, -0.208013, 0.965631
[11:52:55.054] xyz_f:0.223566, 0.030781, 0.508119  Reprojection Error: -0.358126, -0.260113 Feature: -0.161646, 0.066536, 0.182551
[11:52:55.054] xyz_f:-0.662353, -1.126645, 1.475410  Reprojection Error: 0.610567, 0.562270 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.054] xyz_f:0.035276, 0.019121, 0.719333  Reprojection Error: -0.327453, -0.128888 Feature: -0.283700, 0.109939, 0.434383
[11:52:55.054] xyz_f:0.096967, -0.044702, 0.816493  Reprojection Error: -0.175253, 0.080250 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.054] xyz_f:0.234863, -0.026293, 0.581630  Reprojection Error: -0.620454, 0.139100 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.054] xyz_f:-0.136233, -0.029588, 1.189472  Reprojection Error: -0.190901, 0.219346 Feature: -0.316217, 0.184570, 0.930559
[11:52:55.054] xyz_f:-0.766417, -1.137389, 1.448018  Reprojection Error: 0.489499, 0.935841 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.054] xyz_f:0.077052, 0.043464, 1.300465  Reprojection Error: -0.131451, 0.265138 Feature: -0.086666, 0.283860, 0.954941
[11:52:55.054] xyz_f:0.187926, 0.107874, 1.330104  Reprojection Error: -0.095103, 0.297453 Feature: 0.023063, 0.353747, 0.935057
[11:52:55.055] xyz_f:-0.062705, -0.143437, 1.224078  Reprojection Error: -0.238288, 0.632009 Feature: -0.227903, 0.083558, 0.970092
[11:52:55.055] it:16 	 Success 	 new_chi2: 0.981806 	 dT = -0.014926, 0.035847, 0.003883
[11:52:55.055] xyz_f:0.009646, -0.214090, 1.233609  Reprojection Error: -0.097916, 0.200724 Feature: -0.089701, 0.027057, 0.995601
[11:52:55.055] xyz_f:0.020441, -0.217311, 1.237203  Reprojection Error: -0.094910, 0.200607 Feature: -0.078125, 0.024876, 0.996633
[11:52:55.055] xyz_f:0.167960, -0.450262, 1.197221  Reprojection Error: -0.069102, 0.160235 Feature: 0.069419, -0.210487, 0.975129
[11:52:55.055] xyz_f:0.204474, -0.446179, 1.207466  Reprojection Error: -0.059454, 0.159998 Feature: 0.106935, -0.203891, 0.973136
[11:52:55.055] xyz_f:0.189408, -0.431628, 1.211578  Reprojection Error: -0.061656, 0.163166 Feature: 0.092560, -0.188771, 0.977649
[11:52:55.055] xyz_f:-0.117753, -0.133976, 1.186490  Reprojection Error: -0.138967, 0.208150 Feature: -0.230739, 0.092245, 0.968633
[11:52:55.055] xyz_f:0.163912, -0.430278, 1.206316  Reprojection Error: -0.067926, 0.163956 Feature: 0.066576, -0.188829, 0.979751
[11:52:55.055] xyz_f:0.288182, -0.630880, 1.100402  Reprojection Error: -0.070790, 0.115653 Feature: 0.171199, -0.410008, 0.895871
[11:52:55.055] xyz_f:0.253485, -0.451927, 1.212991  Reprojection Error: -0.047582, 0.157156 Feature: 0.155847, -0.208013, 0.965631
[11:52:55.055] xyz_f:-0.114857, -0.123584, 1.189728  Reprojection Error: -0.138777, 0.210382 Feature: -0.227840, 0.103121, 0.968223
[11:52:55.055] xyz_f:0.001485, -0.225974, 1.227304  Reprojection Error: -0.100082, 0.198137 Feature: -0.098383, 0.013946, 0.995051
[11:52:55.055] xyz_f:-0.115454, -0.142940, 1.186377  Reprojection Error: -0.137614, 0.206618 Feature: -0.227903, 0.083558, 0.970092
[11:52:55.055] xyz_f:0.179018, -0.446922, 1.201582  Reprojection Error: -0.065950, 0.160565 Feature: 0.080973, -0.206131, 0.975168
[11:52:55.055] xyz_f:0.224609, -0.448982, 1.209850  Reprojection Error: -0.054662, 0.158812 Feature: 0.127093, -0.205981, 0.970268
[11:52:55.055] xyz_f:0.232619, -0.439406, 1.216049  Reprojection Error: -0.051511, 0.160454 Feature: 0.135773, -0.195127, 0.971335
[11:52:55.055] xyz_f:0.168623, -0.460113, 1.192198  Reprojection Error: -0.070099, 0.158432 Feature: 0.069394, -0.221301, 0.972733
[11:52:55.055] xyz_f:0.230973, -0.459048, 1.205753  Reprojection Error: -0.054245, 0.156587 Feature: 0.132803, -0.216765, 0.967149
[11:52:55.055] xyz_f:0.135029, 0.108119, 1.293342  Reprojection Error: -0.079738, 0.294719 Feature: 0.023063, 0.353747, 0.935057
[11:52:55.055] xyz_f:0.159044, -0.436087, 1.202216  Reprojection Error: -0.069758, 0.162999 Feature: 0.061208, -0.195501, 0.978792
[11:52:55.055] xyz_f:-0.114976, -0.142882, 1.186663  Reprojection Error: -0.137463, 0.206664 Feature: -0.227371, 0.083688, 0.970206
[11:52:55.055] xyz_f:-0.188738, -0.029017, 1.151494  Reprojection Error: -0.175907, 0.223543 Feature: -0.316217, 0.184570, 0.930559
[11:52:55.055] xyz_f:0.024203, 0.043820, 1.263287  Reprojection Error: -0.109914, 0.262566 Feature: -0.086666, 0.283860, 0.954941
[11:52:55.055] xyz_f:0.288182, -0.630880, 1.100402  Reprojection Error: -0.050844, 0.111399 Feature: 0.171199, -0.410008, 0.895871
[11:52:55.055] xyz_f:-0.844220, -1.156962, 1.399171  Reprojection Error: 0.704238, 0.616042 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.055] xyz_f:0.253485, -0.451927, 1.212991  Reprojection Error: -0.029122, 0.154249 Feature: 0.155847, -0.208013, 0.965631
[11:52:55.055] xyz_f:0.173674, 0.030989, 0.471496  Reprojection Error: -0.286487, -0.265259 Feature: -0.161646, 0.066536, 0.182551
[11:52:55.055] xyz_f:-0.717028, -1.125544, 1.435456  Reprojection Error: 0.661151, 0.582757 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.055] xyz_f:-0.015418, 0.019518, 0.682002  Reprojection Error: -0.255806, -0.130926 Feature: -0.283700, 0.109939, 0.434383
[11:52:55.055] xyz_f:0.045844, -0.044366, 0.779393  Reprojection Error: -0.115313, 0.082425 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.055] xyz_f:0.184639, -0.026097, 0.545049  Reprojection Error: -0.555409, 0.141773 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.055] xyz_f:-0.188738, -0.029017, 1.151494  Reprojection Error: -0.141527, 0.219670 Feature: -0.316217, 0.184570, 0.930559
[11:52:55.055] xyz_f:-0.820999, -1.136184, 1.407674  Reprojection Error: 0.543444, 0.957497 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.055] xyz_f:0.024203, 0.043820, 1.263287  Reprojection Error: -0.091360, 0.263872 Feature: -0.086666, 0.283860, 0.954941
[11:52:55.055] xyz_f:0.135029, 0.108119, 1.293342  Reprojection Error: -0.058220, 0.294958 Feature: 0.023063, 0.353747, 0.935057
[11:52:55.055] xyz_f:-0.115454, -0.142940, 1.186377  Reprojection Error: -0.192198, 0.635313 Feature: -0.227903, 0.083558, 0.970092
[11:52:55.055] it:17 	 Success 	 new_chi2: 0.932588 	 dT = -0.009023, 0.035051, 0.001869
[11:52:55.055] xyz_f:-0.033839, -0.213910, 1.197887  Reprojection Error: -0.061848, 0.205749 Feature: -0.089701, 0.027057, 0.995601
[11:52:55.055] xyz_f:-0.023052, -0.217136, 1.201500  Reprojection Error: -0.059202, 0.205680 Feature: -0.078125, 0.024876, 0.996633
[11:52:55.055] xyz_f:0.124426, -0.450159, 1.161784  Reprojection Error: -0.035910, 0.171617 Feature: 0.069419, -0.210487, 0.975129
[11:52:55.055] xyz_f:0.160924, -0.446094, 1.172095  Reprojection Error: -0.027409, 0.171076 Feature: 0.106935, -0.203891, 0.973136
[11:52:55.055] xyz_f:0.145858, -0.431535, 1.176180  Reprojection Error: -0.029334, 0.173809 Feature: 0.092560, -0.188771, 0.977649
[11:52:55.055] xyz_f:-0.161113, -0.133735, 1.150538  Reprojection Error: -0.098178, 0.211469 Feature: -0.230739, 0.092245, 0.968633
[11:52:55.055] xyz_f:0.120371, -0.430173, 1.170872  Reprojection Error: -0.034853, 0.174663 Feature: 0.066576, -0.188829, 0.979751
[11:52:55.055] xyz_f:0.244736, -0.630835, 1.065182  Reprojection Error: -0.038661, 0.134567 Feature: 0.171199, -0.410008, 0.895871
[11:52:55.055] xyz_f:0.209922, -0.451865, 1.177708  Reprojection Error: -0.016853, 0.168265 Feature: 0.155847, -0.208013, 0.965631
[11:52:55.055] xyz_f:-0.158219, -0.123344, 1.153780  Reprojection Error: -0.098187, 0.213410 Feature: -0.227840, 0.103121, 0.968223
[11:52:55.055] xyz_f:-0.041994, -0.225790, 1.191566  Reprojection Error: -0.063630, 0.203505 Feature: -0.098383, 0.013946, 0.995051
[11:52:55.055] xyz_f:-0.158819, -0.142699, 1.150428  Reprojection Error: -0.096878, 0.210174 Feature: -0.227903, 0.083558, 0.970092
[11:52:55.055] xyz_f:0.135478, -0.446824, 1.166165  Reprojection Error: -0.033139, 0.171777 Feature: 0.080973, -0.206131, 0.975168
[11:52:55.055] xyz_f:0.181053, -0.448906, 1.174515  Reprojection Error: -0.023164, 0.169912 Feature: 0.127093, -0.205981, 0.970268
[11:52:55.055] xyz_f:0.189057, -0.439334, 1.180729  Reprojection Error: -0.020339, 0.171202 Feature: 0.135773, -0.195127, 0.971335
[11:52:55.055] xyz_f:0.125093, -0.460009, 1.156762  Reprojection Error: -0.036801, 0.170166 Feature: 0.069394, -0.221301, 0.972733
[11:52:55.055] xyz_f:0.187420, -0.458975, 1.170430  Reprojection Error: -0.022815, 0.168015 Feature: 0.132803, -0.216765, 0.967149
[11:52:55.055] xyz_f:0.091592, 0.108238, 1.257845  Reprojection Error: -0.048152, 0.292265 Feature: 0.023063, 0.353747, 0.935057
[11:52:55.055] xyz_f:0.115508, -0.435979, 1.166763  Reprojection Error: -0.036464, 0.173928 Feature: 0.061208, -0.195501, 0.978792
[11:52:55.055] xyz_f:-0.158341, -0.142642, 1.150715  Reprojection Error: -0.096751, 0.210217 Feature: -0.227371, 0.083688, 0.970206
[11:52:55.055] xyz_f:-0.231984, -0.028741, 1.115414  Reprojection Error: -0.131834, 0.224111 Feature: -0.316217, 0.184570, 0.930559
[11:52:55.055] xyz_f:-0.019210, 0.043993, 1.227590  Reprojection Error: -0.075106, 0.261417 Feature: -0.086666, 0.283860, 0.954941
[11:52:55.055] xyz_f:0.244736, -0.630835, 1.065182  Reprojection Error: -0.018716, 0.130313 Feature: 0.171199, -0.410008, 0.895871
[11:52:55.055] xyz_f:-0.888458, -1.156368, 1.361906  Reprojection Error: 0.753230, 0.638232 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.055] xyz_f:0.209922, -0.451865, 1.177708  Reprojection Error: 0.001607, 0.165358 Feature: 0.155847, -0.208013, 0.965631
[11:52:55.055] xyz_f:0.131684, 0.031089, 0.436071  Reprojection Error: -0.220117, -0.270828 Feature: -0.161646, 0.066536, 0.182551
[11:52:55.055] xyz_f:-0.761317, -1.125012, 1.398421  Reprojection Error: 0.706051, 0.603143 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.055] xyz_f:-0.057794, 0.019710, 0.646235  Reprojection Error: -0.188982, -0.132807 Feature: -0.283700, 0.109939, 0.434383
[11:52:55.055] xyz_f:0.003261, -0.044204, 0.743737  Reprojection Error: -0.060878, 0.084936 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.055] xyz_f:0.142488, -0.026002, 0.509644  Reprojection Error: -0.496236, 0.144913 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.055] xyz_f:-0.231984, -0.028741, 1.115414  Reprojection Error: -0.097453, 0.220238 Feature: -0.316217, 0.184570, 0.930559
[11:52:55.055] xyz_f:-0.865243, -1.135602, 1.370451  Reprojection Error: 0.591569, 0.978995 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.055] xyz_f:-0.019210, 0.043993, 1.227590  Reprojection Error: -0.056552, 0.262722 Feature: -0.086666, 0.283860, 0.954941
[11:52:55.055] xyz_f:0.091592, 0.108238, 1.257845  Reprojection Error: -0.026634, 0.292504 Feature: 0.023063, 0.353747, 0.935057
[11:52:55.055] xyz_f:-0.158819, -0.142699, 1.150428  Reprojection Error: -0.151462, 0.638869 Feature: -0.227903, 0.083558, 0.970092
[11:52:55.055] it:18 	 Success 	 new_chi2: 0.912639 	 dT = -0.005773, 0.035448, 0.001455
[11:52:55.055] xyz_f:-0.073488, -0.213769, 1.161913  Reprojection Error: -0.026849, 0.211157 Feature: -0.089701, 0.027057, 0.995601
[11:52:55.055] xyz_f:-0.062708, -0.217000, 1.165542  Reprojection Error: -0.024587, 0.211139 Feature: -0.078125, 0.024876, 0.996633
[11:52:55.055] xyz_f:0.084739, -0.450078, 1.126033  Reprojection Error: -0.004064, 0.183847 Feature: 0.069419, -0.210487, 0.975129
[11:52:55.055] xyz_f:0.121223, -0.446026, 1.136396  Reprojection Error: 0.003214, 0.182973 Feature: 0.106935, -0.203891, 0.973136
[11:52:55.055] xyz_f:0.106157, -0.431462, 1.140459  Reprojection Error: 0.001593, 0.185236 Feature: 0.092560, -0.188771, 0.977649
[11:52:55.055] xyz_f:-0.200666, -0.133546, 1.114386  Reprojection Error: -0.058143, 0.215071 Feature: -0.230739, 0.092245, 0.968633
[11:52:55.055] xyz_f:0.080678, -0.430090, 1.135116  Reprojection Error: -0.003123, 0.186164 Feature: 0.066576, -0.188829, 0.979751
[11:52:55.055] xyz_f:0.205116, -0.630799, 1.029600  Reprojection Error: -0.008120, 0.154999 Feature: 0.171199, -0.410008, 0.895871
[11:52:55.055] xyz_f:0.170211, -0.451816, 1.142077  Reprojection Error: 0.012357, 0.180192 Feature: 0.155847, -0.208013, 0.965631
[11:52:55.055] xyz_f:-0.197772, -0.123156, 1.117633  Reprojection Error: -0.058362, 0.216700 Feature: -0.227840, 0.103121, 0.968223
[11:52:55.055] xyz_f:-0.081639, -0.225646, 1.155582  Reprojection Error: -0.028225, 0.209281 Feature: -0.098383, 0.013946, 0.995051
[11:52:55.055] xyz_f:-0.198374, -0.142512, 1.114279  Reprojection Error: -0.056901, 0.214030 Feature: -0.227903, 0.083558, 0.970092
[11:52:55.055] xyz_f:0.095785, -0.446747, 1.130430  Reprojection Error: -0.001699, 0.183821 Feature: 0.080973, -0.206131, 0.975168
[11:52:55.055] xyz_f:0.141347, -0.448846, 1.138844  Reprojection Error: 0.006873, 0.181831 Feature: 0.127093, -0.205981, 0.970268
[11:52:55.055] xyz_f:0.149346, -0.439277, 1.145069  Reprojection Error: 0.009354, 0.182740 Feature: 0.135773, -0.195127, 0.971335
[11:52:55.055] xyz_f:0.085409, -0.459929, 1.121013  Reprojection Error: -0.004850, 0.182775 Feature: 0.069394, -0.221301, 0.972733
[11:52:55.055] xyz_f:0.147717, -0.458918, 1.134767  Reprojection Error: 0.007141, 0.180288 Feature: 0.132803, -0.216765, 0.967149
[11:52:55.055] xyz_f:0.051980, 0.108332, 1.222049  Reprojection Error: -0.017870, 0.289668 Feature: 0.023063, 0.353747, 0.935057
[11:52:55.055] xyz_f:0.075819, -0.435895, 1.131000  Reprojection Error: -0.004502, 0.185669 Feature: 0.061208, -0.195501, 0.978792
[11:52:55.055] xyz_f:-0.197898, -0.142454, 1.114567  Reprojection Error: -0.056798, 0.214069 Feature: -0.227371, 0.083688, 0.970206
[11:52:55.055] xyz_f:-0.271448, -0.028526, 1.079162  Reprojection Error: -0.088278, 0.224777 Feature: -0.316217, 0.184570, 0.930559
[11:52:55.055] xyz_f:-0.058804, 0.044128, 1.191638  Reprojection Error: -0.041408, 0.260222 Feature: -0.086666, 0.283860, 0.954941
[11:52:55.055] xyz_f:0.205116, -0.630799, 1.029600  Reprojection Error: 0.011825, 0.150745 Feature: 0.171199, -0.410008, 0.895871
[11:52:55.055] xyz_f:-0.928692, -1.155906, 1.324732  Reprojection Error: 0.801908, 0.661709 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.055] xyz_f:0.170211, -0.451816, 1.142077  Reprojection Error: 0.030817, 0.177285 Feature: 0.155847, -0.208013, 0.965631
[11:52:55.055] xyz_f:0.093197, 0.031167, 0.400331  Reprojection Error: -0.150939, -0.277388 Feature: -0.161646, 0.066536, 0.182551
[11:52:55.055] xyz_f:-0.801591, -1.124598, 1.361425  Reprojection Error: 0.750426, 0.624700 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.055] xyz_f:-0.096580, 0.019860, 0.610229  Reprojection Error: -0.120145, -0.134852 Feature: -0.283700, 0.109939, 0.434383
[11:52:55.055] xyz_f:-0.035686, -0.044077, 0.707816  Reprojection Error: -0.006076, 0.087774 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.055] xyz_f:0.103876, -0.025928, 0.473919  Reprojection Error: -0.435838, 0.148602 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.055] xyz_f:-0.271448, -0.028526, 1.079162  Reprojection Error: -0.053898, 0.220904 Feature: -0.316217, 0.184570, 0.930559
[11:52:55.055] xyz_f:-0.905481, -1.135148, 1.333309  Reprojection Error: 0.639335, 1.001737 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.055] xyz_f:-0.058804, 0.044128, 1.191638  Reprojection Error: -0.022854, 0.261528 Feature: -0.086666, 0.283860, 0.954941
[11:52:55.055] xyz_f:0.051980, 0.108332, 1.222049  Reprojection Error: 0.003648, 0.289907 Feature: 0.023063, 0.353747, 0.935057
[11:52:55.055] xyz_f:-0.198374, -0.142512, 1.114279  Reprojection Error: -0.111485, 0.642725 Feature: -0.227903, 0.083558, 0.970092
[11:52:55.055] it:19 	 Success 	 new_chi2: 0.933635 	 dT = -0.004533, 0.036361, 0.002513
[11:52:55.055] xyz_f:-0.112504, -0.213525, 1.124641  Reprojection Error: 0.009939, 0.217037 Feature: -0.089701, 0.027057, 0.995601
[11:52:55.055] xyz_f:-0.101734, -0.216762, 1.128296  Reprojection Error: 0.011778, 0.217074 Feature: -0.078125, 0.024876, 0.996633
[11:52:55.055] xyz_f:0.045656, -0.449937, 1.089145  Reprojection Error: 0.029271, 0.197255 Feature: 0.069419, -0.210487, 0.975129
[11:52:55.055] xyz_f:0.082118, -0.445909, 1.099596  Reprojection Error: 0.035207, 0.196001 Feature: 0.106935, -0.203891, 0.973136
[11:52:55.055] xyz_f:0.067051, -0.431334, 1.103623  Reprojection Error: 0.033920, 0.197748 Feature: 0.092560, -0.188771, 0.977649
[11:52:55.055] xyz_f:-0.239514, -0.133219, 1.076805  Reprojection Error: -0.015781, 0.218950 Feature: -0.230739, 0.092245, 0.968633
[11:52:55.055] xyz_f:0.041587, -0.429946, 1.098217  Reprojection Error: 0.030085, 0.198763 Feature: 0.066576, -0.188829, 0.979751
[11:52:55.055] xyz_f:0.166149, -0.630736, 0.993004  Reprojection Error: 0.023779, 0.177515 Feature: 0.171199, -0.410008, 0.895871
[11:52:55.055] xyz_f:0.131088, -0.451731, 1.105396  Reprojection Error: 0.042804, 0.193243 Feature: 0.155847, -0.208013, 0.965631
[11:52:55.055] xyz_f:-0.236621, -0.122832, 1.080059  Reprojection Error: -0.016236, 0.220232 Feature: -0.227840, 0.103121, 0.968223
[11:52:55.055] xyz_f:-0.120647, -0.225396, 1.118289  Reprojection Error: 0.009013, 0.215570 Feature: -0.098383, 0.013946, 0.995051
[11:52:55.055] xyz_f:-0.237228, -0.142186, 1.076704  Reprojection Error: -0.014602, 0.218191 Feature: -0.227903, 0.083558, 0.970092
[11:52:55.055] xyz_f:0.056694, -0.446612, 1.093568  Reprojection Error: 0.031191, 0.197020 Feature: 0.080973, -0.206131, 0.975168
[11:52:55.055] xyz_f:0.102234, -0.448742, 1.102093  Reprojection Error: 0.038224, 0.194879 Feature: 0.127093, -0.205981, 0.970268
[11:52:55.055] xyz_f:0.110224, -0.439178, 1.108337  Reprojection Error: 0.040330, 0.195364 Feature: 0.135773, -0.195127, 0.971335
[11:52:55.055] xyz_f:0.046332, -0.459788, 1.084126  Reprojection Error: 0.028603, 0.196605 Feature: 0.069394, -0.221301, 0.972733
[11:52:55.055] xyz_f:0.108607, -0.458817, 1.098032  Reprojection Error: 0.038404, 0.193727 Feature: 0.132803, -0.216765, 0.967149
[11:52:55.055] xyz_f:0.013027, 0.108494, 1.185081  Reprojection Error: 0.013672, 0.286765 Feature: 0.023063, 0.353747, 0.935057
[11:52:55.055] xyz_f:0.036733, -0.435748, 1.094090  Reprojection Error: 0.028960, 0.198537 Feature: 0.061208, -0.195501, 0.978792
[11:52:55.055] xyz_f:-0.236752, -0.142129, 1.076993  Reprojection Error: -0.014527, 0.218226 Feature: -0.227371, 0.083688, 0.970206
[11:52:55.055] xyz_f:-0.310141, -0.028153, 1.041410  Reprojection Error: -0.042005, 0.225377 Feature: -0.316217, 0.184570, 0.930559
[11:52:55.055] xyz_f:-0.097724, 0.044363, 1.154401  Reprojection Error: -0.006101, 0.258824 Feature: -0.086666, 0.283860, 0.954941
[11:52:55.055] xyz_f:0.166149, -0.630736, 0.993004  Reprojection Error: 0.043724, 0.173261 Feature: 0.171199, -0.410008, 0.895871
[11:52:55.055] xyz_f:-0.968713, -1.155105, 1.285383  Reprojection Error: 0.854504, 0.687798 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.055] xyz_f:0.131088, -0.451731, 1.105396  Reprojection Error: 0.061264, 0.190336 Feature: 0.155847, -0.208013, 0.965631
[11:52:55.055] xyz_f:0.056188, 0.031302, 0.363466  Reprojection Error: -0.072730, -0.285657 Feature: -0.161646, 0.066536, 0.182551
[11:52:55.055] xyz_f:-0.841680, -1.123880, 1.322384  Reprojection Error: 0.798126, 0.648544 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.055] xyz_f:-0.134105, 0.020118, 0.572903  Reprojection Error: -0.044334, -0.137424 Feature: -0.283700, 0.109939, 0.434383
[11:52:55.055] xyz_f:-0.073489, -0.043858, 0.670637  Reprojection Error: 0.053088, 0.090899 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.055] xyz_f:0.066652, -0.025799, 0.437079  Reprojection Error: -0.369146, 0.152920 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.055] xyz_f:-0.310141, -0.028153, 1.041410  Reprojection Error: -0.007624, 0.221505 Feature: -0.316217, 0.184570, 0.930559
[11:52:55.055] xyz_f:-0.945509, -1.134363, 1.294016  Reprojection Error: 0.690890, 1.026983 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.055] xyz_f:-0.097724, 0.044363, 1.154401  Reprojection Error: 0.012453, 0.260130 Feature: -0.086666, 0.283860, 0.954941
[11:52:55.055] xyz_f:0.013027, 0.108494, 1.185081  Reprojection Error: 0.035191, 0.287005 Feature: 0.023063, 0.353747, 0.935057
[11:52:55.055] xyz_f:-0.237228, -0.142186, 1.076704  Reprojection Error: -0.069186, 0.646886 Feature: -0.227903, 0.083558, 0.970092
[11:52:55.055] it:20 	 Success 	 new_chi2: 0.993797 	 dT = -0.004519, 0.037326, 0.004624
[11:52:55.055] xyz_f:-0.153157, -0.213071, 1.085623  Reprojection Error: 0.050981, 0.223443 Feature: -0.089701, 0.027057, 0.995601
[11:52:55.055] xyz_f:-0.142408, -0.216322, 1.089326  Reprojection Error: 0.052342, 0.223543 Feature: -0.078125, 0.024876, 0.996633
[11:52:55.055] xyz_f:0.004876, -0.449673, 1.050833  Reprojection Error: 0.066549, 0.212065 Feature: 0.069419, -0.210487, 0.975129
[11:52:55.055] xyz_f:0.041296, -0.445688, 1.061447  Reprojection Error: 0.070982, 0.210368 Feature: 0.106935, -0.203891, 0.973136
[11:52:55.055] xyz_f:0.026229, -0.431096, 1.065407  Reprojection Error: 0.070057, 0.211544 Feature: 0.092560, -0.188771, 0.977649
[11:52:55.055] xyz_f:-0.279856, -0.132614, 1.037221  Reprojection Error: 0.031602, 0.223088 Feature: -0.230739, 0.092245, 0.968633
[11:52:55.056] xyz_f:0.000791, -0.429677, 1.059888  Reprojection Error: 0.067206, 0.212667 Feature: 0.066576, -0.188829, 0.979751
[11:52:55.056] xyz_f:0.125581, -0.630616, 0.955231  Reprojection Error: 0.059631, 0.202507 Feature: 0.171199, -0.410008, 0.895871
[11:52:55.056] xyz_f:0.090233, -0.451569, 1.067466  Reprojection Error: 0.076863, 0.207612 Feature: 0.155847, -0.208013, 0.965631
[11:52:55.056] xyz_f:-0.276965, -0.122230, 1.040487  Reprojection Error: 0.030870, 0.223979 Feature: -0.227840, 0.103121, 0.968223
[11:52:55.056] xyz_f:-0.161286, -0.224933, 1.079235  Reprojection Error: 0.050572, 0.222434 Feature: -0.098383, 0.013946, 0.995051
[11:52:55.056] xyz_f:-0.277580, -0.141584, 1.037130  Reprojection Error: 0.032713, 0.222649 Feature: -0.227903, 0.083558, 0.970092
[11:52:55.056] xyz_f:0.015899, -0.446362, 1.055306  Reprojection Error: 0.067969, 0.211589 Feature: 0.080973, -0.206131, 0.975168
[11:52:55.056] xyz_f:0.061398, -0.448545, 1.064034  Reprojection Error: 0.073285, 0.209259 Feature: 0.127093, -0.205981, 0.970268
[11:52:55.056] xyz_f:0.069371, -0.438991, 1.070314  Reprojection Error: 0.074966, 0.209266 Feature: 0.135773, -0.195127, 0.971335
[11:52:55.056] xyz_f:0.005563, -0.459525, 1.045817  Reprojection Error: 0.066020, 0.211888 Feature: 0.069394, -0.221301, 0.972733
[11:52:55.056] xyz_f:0.067776, -0.458629, 1.060001  Reprojection Error: 0.073374, 0.208541 Feature: 0.132803, -0.216765, 0.967149
[11:52:55.056] xyz_f:-0.027512, 0.108797, 1.146624  Reprojection Error: 0.048659, 0.283431 Feature: 0.023063, 0.353747, 0.935057
[11:52:55.056] xyz_f:-0.004051, -0.435473, 1.055739  Reprojection Error: 0.066372, 0.212745 Feature: 0.061208, -0.195501, 0.978792
[11:52:55.056] xyz_f:-0.277105, -0.141527, 1.037421  Reprojection Error: 0.032756, 0.222680 Feature: -0.227371, 0.083688, 0.970206
[11:52:55.056] xyz_f:-0.350199, -0.027464, 1.001511  Reprojection Error: 0.009857, 0.225766 Feature: -0.316217, 0.184570, 0.930559
[11:52:55.056] xyz_f:-0.138202, 0.044799, 1.115450  Reprojection Error: 0.033143, 0.257092 Feature: -0.086666, 0.283860, 0.954941
[11:52:55.056] xyz_f:0.125581, -0.630616, 0.955231  Reprojection Error: 0.079577, 0.198252 Feature: 0.171199, -0.410008, 0.895871
[11:52:55.056] xyz_f:-1.011202, -1.153626, 1.242537  Reprojection Error: 0.914686, 0.717595 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.056] xyz_f:0.090233, -0.451569, 1.067466  Reprojection Error: 0.095323, 0.204705 Feature: 0.155847, -0.208013, 0.965631
[11:52:55.056] xyz_f:0.019226, 0.031552, 0.325210  Reprojection Error: 0.022741, -0.296554 Feature: -0.161646, 0.066536, 0.182551
[11:52:55.056] xyz_f:-0.884299, -1.122552, 1.280105  Reprojection Error: 0.852440, 0.675577 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.056] xyz_f:-0.172014, 0.020596, 0.533795  Reprojection Error: 0.043834, -0.140891 Feature: -0.283700, 0.109939, 0.434383
[11:52:55.056] xyz_f:-0.111912, -0.043453, 0.631799  Reprojection Error: 0.120639, 0.094278 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.056] xyz_f:0.029292, -0.025562, 0.398869  Reprojection Error: -0.290091, 0.157981 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.056] xyz_f:-0.350199, -0.027464, 1.001511  Reprojection Error: 0.044237, 0.221893 Feature: -0.316217, 0.184570, 0.930559
[11:52:55.056] xyz_f:-0.988012, -1.132911, 1.251274  Reprojection Error: 0.749817, 1.055767 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.056] xyz_f:-0.138202, 0.044799, 1.115450  Reprojection Error: 0.051697, 0.258398 Feature: -0.086666, 0.283860, 0.954941
[11:52:55.056] xyz_f:-0.027512, 0.108797, 1.146624  Reprojection Error: 0.070177, 0.283670 Feature: 0.023063, 0.353747, 0.935057
[11:52:55.056] xyz_f:-0.277580, -0.141584, 1.037130  Reprojection Error: -0.021871, 0.651344 Feature: -0.227903, 0.083558, 0.970092
[11:52:55.056] it:21 	 Success 	 new_chi2: 1.095167 	 dT = -0.005652, 0.038211, 0.007935
[11:52:55.056] xyz_f:-0.196671, -0.212282, 1.044465  Reprojection Error: 0.098202, 0.230421 Feature: -0.089701, 0.027057, 0.995601
[11:52:55.056] xyz_f:-0.185957, -0.215554, 1.048250  Reprojection Error: 0.099009, 0.230592 Feature: -0.078125, 0.024876, 0.996633
[11:52:55.056] xyz_f:-0.038862, -0.449207, 1.010885  Reprojection Error: 0.109633, 0.228515 Feature: 0.069419, -0.210487, 0.975129
[11:52:55.056] xyz_f:-0.002516, -0.445298, 1.021778  Reprojection Error: 0.112350, 0.226287 Feature: 0.106935, -0.203891, 0.973136
[11:52:55.056] xyz_f:-0.017584, -0.430674, 1.025622  Reprojection Error: 0.111820, 0.226829 Feature: 0.092560, -0.188771, 0.977649
[11:52:55.056] xyz_f:-0.322830, -0.131565, 0.995093  Reprojection Error: 0.086210, 0.227446 Feature: -0.230739, 0.092245, 0.968633
[11:52:55.056] xyz_f:-0.042976, -0.429203, 1.019908  Reprojection Error: 0.110089, 0.228094 Feature: 0.066576, -0.188829, 0.979751
[11:52:55.056] xyz_f:0.082200, -0.630399, 0.916210  Reprojection Error: 0.101380, 0.230387 Feature: 0.171199, -0.410008, 0.895871
[11:52:55.056] xyz_f:0.046361, -0.451278, 1.028172  Reprojection Error: 0.116303, 0.223497 Feature: 0.155847, -0.208013, 0.965631
[11:52:55.056] xyz_f:-0.319943, -0.121186, 0.998382  Reprojection Error: 0.085143, 0.227888 Feature: -0.227840, 0.103121, 0.968223
[11:52:55.056] xyz_f:-0.204775, -0.224127, 1.038015  Reprojection Error: 0.098403, 0.229934 Feature: -0.098383, 0.013946, 0.995051
[11:52:55.056] xyz_f:-0.320572, -0.140539, 0.995020  Reprojection Error: 0.087246, 0.227376 Feature: -0.227903, 0.083558, 0.970092
[11:52:55.056] xyz_f:-0.027867, -0.445919, 1.015443  Reprojection Error: 0.110478, 0.227758 Feature: 0.080973, -0.206131, 0.975168
[11:52:55.056] xyz_f:0.017559, -0.448196, 1.024519  Reprojection Error: 0.113849, 0.225177 Feature: 0.127093, -0.205981, 0.970268
[11:52:55.056] xyz_f:0.025504, -0.438658, 1.030860  Reprojection Error: 0.115040, 0.224641 Feature: 0.135773, -0.195127, 0.971335
[11:52:55.056] xyz_f:-0.038157, -0.459061, 1.005875  Reprojection Error: 0.109273, 0.228875 Feature: 0.069394, -0.221301, 0.972733
[11:52:55.056] xyz_f:0.023948, -0.458292, 1.020535  Reprojection Error: 0.113849, 0.224943 Feature: 0.132803, -0.216765, 0.967149
[11:52:55.056] xyz_f:-0.070836, 0.109329, 1.106429  Reprojection Error: 0.088688, 0.279503 Feature: 0.023063, 0.353747, 0.935057
[11:52:55.056] xyz_f:-0.047798, -0.434989, 1.015722  Reprojection Error: 0.109592, 0.228519 Feature: 0.061208, -0.195501, 0.978792
[11:52:55.056] xyz_f:-0.320099, -0.140483, 0.995315  Reprojection Error: 0.087252, 0.227403 Feature: -0.227371, 0.083688, 0.970206
[11:52:55.056] xyz_f:-0.392681, -0.026270, 0.958846  Reprojection Error: 0.069721, 0.225741 Feature: -0.316217, 0.184570, 0.930559
[11:52:55.056] xyz_f:-0.181415, 0.045557, 1.074407  Reprojection Error: 0.078097, 0.254852 Feature: -0.086666, 0.283860, 0.954941
[11:52:55.056] xyz_f:0.082200, -0.630399, 0.916210  Reprojection Error: 0.121326, 0.226132 Feature: 0.171199, -0.410008, 0.895871
[11:52:55.056] xyz_f:-1.057823, -1.151071, 1.194790  Reprojection Error: 0.986229, 0.752560 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.056] xyz_f:0.046361, -0.451278, 1.028172  Reprojection Error: 0.134763, 0.220590 Feature: 0.155847, -0.208013, 0.965631
[11:52:55.056] xyz_f:-0.017963, 0.031981, 0.285397  Reprojection Error: 0.144801, -0.311592 Feature: -0.161646, 0.066536, 0.182551
[11:52:55.056] xyz_f:-0.931148, -1.120258, 1.233330  Reprojection Error: 0.916625, 0.706975 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.056] xyz_f:-0.210818, 0.021420, 0.492510  Reprojection Error: 0.149635, -0.145798 Feature: -0.283700, 0.109939, 0.434383
[11:52:55.056] xyz_f:-0.151601, -0.042751, 0.590971  Reprojection Error: 0.200035, 0.097843 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.056] xyz_f:-0.008579, -0.025153, 0.359131  Reprojection Error: -0.192764, 0.163932 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.056] xyz_f:-0.392681, -0.026270, 0.958846  Reprojection Error: 0.104101, 0.221869 Feature: -0.316217, 0.184570, 0.930559
[11:52:55.056] xyz_f:-1.034658, -1.130404, 1.203705  Reprojection Error: 0.819774, 1.089465 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.056] xyz_f:-0.181415, 0.045557, 1.074407  Reprojection Error: 0.096651, 0.256157 Feature: -0.086666, 0.283860, 0.954941
[11:52:55.056] xyz_f:-0.070836, 0.109329, 1.106429  Reprojection Error: 0.110206, 0.279743 Feature: 0.023063, 0.353747, 0.935057
[11:52:55.056] xyz_f:-0.320572, -0.140539, 0.995020  Reprojection Error: 0.032662, 0.656072 Feature: -0.227903, 0.083558, 0.970092
[11:52:55.056] it:22 	 Success 	 new_chi2: 1.225913 	 dT = -0.008330, 0.038914, 0.013029
[11:52:55.056] xyz_f:-0.244173, -0.210952, 1.000590  Reprojection Error: 0.153932, 0.238005 Feature: -0.089701, 0.027057, 0.995601
[11:52:55.056] xyz_f:-0.233519, -0.214261, 1.004509  Reprojection Error: 0.154082, 0.238259 Feature: -0.078125, 0.024876, 0.996633
[11:52:55.056] xyz_f:-0.086753, -0.448409, 0.968993  Reprojection Error: 0.160719, 0.246903 Feature: 0.069419, -0.210487, 0.975129
[11:52:55.056] xyz_f:-0.050535, -0.444622, 0.980343  Reprojection Error: 0.161435, 0.244018 Feature: 0.106935, -0.203891, 0.973136
[11:52:55.056] xyz_f:-0.065600, -0.429948, 0.983997  Reprojection Error: 0.161343, 0.243854 Feature: 0.092560, -0.188771, 0.977649
[11:52:55.056] xyz_f:-0.369427, -0.129812, 0.949636  Reprojection Error: 0.150809, 0.231929 Feature: -0.230739, 0.092245, 0.968633
[11:52:55.056] xyz_f:-0.090913, -0.428392, 0.977964  Reprojection Error: 0.160913, 0.245312 Feature: 0.066576, -0.188829, 0.979751
[11:52:55.056] xyz_f:0.034879, -0.630010, 0.875845  Reprojection Error: 0.151275, 0.261653 Feature: 0.171199, -0.410008, 0.895871
[11:52:55.056] xyz_f:-0.001762, -0.450768, 0.987351  Reprojection Error: 0.163178, 0.241125 Feature: 0.155847, -0.208013, 0.965631
[11:52:55.056] xyz_f:-0.366547, -0.119443, 0.952961  Reprojection Error: 0.149322, 0.231844 Feature: -0.227840, 0.103121, 0.968223
[11:52:55.056] xyz_f:-0.252235, -0.222770, 0.994038  Reprojection Error: 0.154876, 0.238122 Feature: -0.098383, 0.013946, 0.995051
[11:52:55.056] xyz_f:-0.367199, -0.138794, 0.949591  Reprojection Error: 0.151762, 0.232295 Feature: -0.227903, 0.083558, 0.970092
[11:52:55.056] xyz_f:-0.075806, -0.445158, 0.973689  Reprojection Error: 0.160889, 0.245808 Feature: 0.080973, -0.206131, 0.975168
[11:52:55.056] xyz_f:-0.030506, -0.447588, 0.983336  Reprojection Error: 0.162010, 0.242880 Feature: 0.127093, -0.205981, 0.970268
[11:52:55.056] xyz_f:-0.022609, -0.438077, 0.989777  Reprojection Error: 0.162623, 0.241716 Feature: 0.135773, -0.195127, 0.971335
[11:52:55.056] xyz_f:-0.086019, -0.458265, 0.963992  Reprojection Error: 0.160571, 0.247879 Feature: 0.069394, -0.221301, 0.972733
[11:52:55.056] xyz_f:-0.024102, -0.457706, 0.979433  Reprojection Error: 0.161922, 0.243190 Feature: 0.132803, -0.216765, 0.967149
[11:52:55.056] xyz_f:-0.118044, 0.110233, 1.064140  Reprojection Error: 0.135595, 0.274726 Feature: 0.023063, 0.353747, 0.935057
[11:52:55.056] xyz_f:-0.095701, -0.434161, 0.973718  Reprojection Error: 0.160819, 0.246143 Feature: 0.061208, -0.195501, 0.978792
[11:52:55.056] xyz_f:-0.366730, -0.138739, 0.949892  Reprojection Error: 0.151722, 0.232316 Feature: -0.227371, 0.083688, 0.970206
[11:52:55.056] xyz_f:-0.438462, -0.024283, 0.912515  Reprojection Error: 0.140684, 0.224955 Feature: -0.316217, 0.184570, 0.930559
[11:52:55.056] xyz_f:-0.228426, 0.046834, 1.030727  Reprojection Error: 0.130861, 0.251816 Feature: -0.086666, 0.283860, 0.954941
[11:52:55.056] xyz_f:0.034879, -0.630010, 0.875845  Reprojection Error: 0.171221, 0.257398 Feature: 0.171199, -0.410008, 0.895871
[11:52:55.056] xyz_f:-1.110309, -1.146830, 1.140046  Reprojection Error: 1.074782, 0.795101 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.056] xyz_f:-0.001762, -0.450768, 0.987351  Reprojection Error: 0.181638, 0.238219 Feature: 0.155847, -0.208013, 0.965631
[11:52:55.056] xyz_f:-0.055104, 0.032690, 0.243836  Reprojection Error: 0.307848, -0.333600 Feature: -0.161646, 0.066536, 0.182551
[11:52:55.056] xyz_f:-0.984026, -1.116443, 1.180178  Reprojection Error: 0.995433, 0.744650 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.056] xyz_f:-0.250585, 0.022784, 0.448505  Reprojection Error: 0.280298, -0.153106 Feature: -0.283700, 0.109939, 0.434383
[11:52:55.056] xyz_f:-0.192828, -0.041585, 0.547703  Reprojection Error: 0.295574, 0.101428 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.056] xyz_f:-0.046841, -0.024474, 0.317681  Reprojection Error: -0.069205, 0.170932 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.056] xyz_f:-0.438462, -0.024283, 0.912515  Reprojection Error: 0.175064, 0.221082 Feature: -0.316217, 0.184570, 0.930559
[11:52:55.056] xyz_f:-1.087189, -1.126240, 1.149252  Reprojection Error: 0.906210, 1.130338 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.056] xyz_f:-0.228426, 0.046834, 1.030727  Reprojection Error: 0.149416, 0.253121 Feature: -0.086666, 0.283860, 0.954941
[11:52:55.056] xyz_f:-0.118044, 0.110233, 1.064140  Reprojection Error: 0.157113, 0.274966 Feature: 0.023063, 0.353747, 0.935057
[11:52:55.056] xyz_f:-0.367199, -0.138794, 0.949591  Reprojection Error: 0.097178, 0.660991 Feature: -0.227903, 0.083558, 0.970092
[11:52:55.056] it:23 	 Success 	 new_chi2: 1.314799 	 dT = -0.013243, 0.038976, 0.020978
[11:52:55.056] xyz_f:-0.297301, -0.208728, 0.953311  Reprojection Error: 0.221765, 0.246127 Feature: -0.089701, 0.027057, 0.995601
[11:52:55.056] xyz_f:-0.286746, -0.212094, 0.957445  Reprojection Error: 0.221102, 0.246480 Feature: -0.078125, 0.024876, 0.996633
[11:52:55.056] xyz_f:-0.140565, -0.447038, 0.924897  Reprojection Error: 0.223168, 0.267482 Feature: 0.069419, -0.210487, 0.975129
[11:52:55.056] xyz_f:-0.104564, -0.443446, 0.936979  Reprojection Error: 0.221484, 0.263753 Feature: 0.106935, -0.203891, 0.973136
[11:52:55.056] xyz_f:-0.119620, -0.428690, 0.940328  Reprojection Error: 0.221886, 0.262808 Feature: 0.092560, -0.188771, 0.977649
[11:52:55.056] xyz_f:-0.421055, -0.126911, 0.899834  Reprojection Error: 0.229713, 0.236270 Feature: -0.230739, 0.092245, 0.968633
[11:52:55.056] xyz_f:-0.144797, -0.426997, 0.933783  Reprojection Error: 0.223016, 0.264545 Feature: 0.066576, -0.188829, 0.979751
[11:52:55.056] xyz_f:-0.018058, -0.629301, 0.834222  Reprojection Error: 0.212744, 0.296692 Feature: 0.171199, -0.410008, 0.895871
[11:52:55.056] xyz_f:-0.055977, -0.449856, 0.944973  Reprojection Error: 0.220630, 0.260635 Feature: 0.155847, -0.208013, 0.965631
[11:52:55.056] xyz_f:-0.418186, -0.116558, 0.903218  Reprojection Error: 0.227678, 0.235553 Feature: -0.227840, 0.103121, 0.968223
[11:52:55.056] xyz_f:-0.305293, -0.220502, 0.946596  Reprojection Error: 0.223644, 0.246957 Feature: -0.098383, 0.013946, 0.995051
[11:52:55.056] xyz_f:-0.418874, -0.135905, 0.899834  Reprojection Error: 0.230572, 0.237167 Feature: -0.227903, 0.083558, 0.970092
[11:52:55.056] xyz_f:-0.129697, -0.443845, 0.929814  Reprojection Error: 0.222522, 0.265969 Feature: 0.080973, -0.206131, 0.975168
[11:52:55.056] xyz_f:-0.084615, -0.446521, 0.940377  Reprojection Error: 0.220968, 0.262539 Feature: 0.127093, -0.205981, 0.970268
[11:52:55.056] xyz_f:-0.076800, -0.437052, 0.946976  Reprojection Error: 0.220880, 0.260638 Feature: 0.135773, -0.195127, 0.971335
[11:52:55.056] xyz_f:-0.139782, -0.456897, 0.919911  Reprojection Error: 0.223291, 0.269171 Feature: 0.069394, -0.221301, 0.972733
[11:52:55.056] xyz_f:-0.078189, -0.456674, 0.936603  Reprojection Error: 0.220795, 0.263457 Feature: 0.132803, -0.216765, 0.967149
[11:52:55.056] xyz_f:-0.170743, 0.111772, 1.019421  Reprojection Error: 0.192156, 0.268673 Feature: 0.023063, 0.353747, 0.935057
[11:52:55.056] xyz_f:-0.149529, -0.432741, 0.929440  Reprojection Error: 0.223415, 0.265856 Feature: 0.061208, -0.195501, 0.978792
[11:52:55.056] xyz_f:-0.418411, -0.135853, 0.900144  Reprojection Error: 0.230474, 0.237182 Feature: -0.227371, 0.083688, 0.970206
[11:52:55.056] xyz_f:-0.488749, -0.021011, 0.861328  Reprojection Error: 0.227622, 0.222737 Feature: -0.316217, 0.184570, 0.930559
[11:52:55.056] xyz_f:-0.280768, 0.048971, 0.983775  Reprojection Error: 0.194644, 0.247475 Feature: -0.086666, 0.283860, 0.954941
[11:52:55.056] xyz_f:-0.018058, -0.629301, 0.834222  Reprojection Error: 0.232690, 0.292438 Feature: 0.171199, -0.410008, 0.895871
[11:52:55.056] xyz_f:-1.171152, -1.139881, 1.075138  Reprojection Error: 1.190171, 0.849370 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.056] xyz_f:-0.055977, -0.449856, 0.944973  Reprojection Error: 0.239090, 0.257728 Feature: 0.155847, -0.208013, 0.965631
[11:52:55.056] xyz_f:-0.091617, 0.033843, 0.200556  Reprojection Error: 0.538677, -0.368281 Feature: -0.161646, 0.066536, 0.182551
[11:52:55.056] xyz_f:-1.045545, -1.110178, 1.117822  Reprojection Error: 1.096980, 0.791817 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.056] xyz_f:-0.291256, 0.025009, 0.401222  Reprojection Error: 0.447509, -0.164640 Feature: -0.283700, 0.109939, 0.434383
[11:52:55.056] xyz_f:-0.235871, -0.039666, 0.501566  Reprojection Error: 0.413776, 0.104587 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.056] xyz_f:-0.085163, -0.023361, 0.274550  Reprojection Error: 0.093539, 0.178980 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.056] xyz_f:-0.488749, -0.021011, 0.861328  Reprojection Error: 0.262002, 0.218865 Feature: -0.316217, 0.184570, 0.930559
[11:52:55.056] xyz_f:-1.148112, -1.119417, 1.084811  Reprojection Error: 1.018565, 1.182261 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.056] xyz_f:-0.280768, 0.048971, 0.983775  Reprojection Error: 0.213198, 0.248780 Feature: -0.086666, 0.283860, 0.954941
[11:52:55.056] xyz_f:-0.170743, 0.111772, 1.019421  Reprojection Error: 0.213674, 0.268912 Feature: 0.023063, 0.353747, 0.935057
[11:52:55.056] xyz_f:-0.418874, -0.135905, 0.899834  Reprojection Error: 0.175988, 0.665862 Feature: -0.227903, 0.083558, 0.970092
[11:52:55.056] it:24 	 Success 	 new_chi2: 1.254559 	 dT = -0.016780, 0.038396, 0.028292
[11:52:55.056] xyz_f:-0.358242, -0.205564, 0.903107  Reprojection Error: 0.306581, 0.254795 Feature: -0.089701, 0.027057, 0.995601
[11:52:55.056] xyz_f:-0.347830, -0.209007, 0.907528  Reprojection Error: 0.304883, 0.255263 Feature: -0.078125, 0.024876, 0.996633
[11:52:55.056] xyz_f:-0.202537, -0.445018, 0.878963  Reprojection Error: 0.301617, 0.290443 Feature: 0.069419, -0.210487, 0.975129
[11:52:55.056] xyz_f:-0.166855, -0.441689, 0.892024  Reprojection Error: 0.296939, 0.285634 Feature: 0.106935, -0.203891, 0.973136
[11:52:55.056] xyz_f:-0.181888, -0.426823, 0.894962  Reprojection Error: 0.297911, 0.283831 Feature: 0.092560, -0.188771, 0.977649
[11:52:55.056] xyz_f:-0.479886, -0.122848, 0.846277  Reprojection Error: 0.328845, 0.240396 Feature: -0.230739, 0.092245, 0.968633
[11:52:55.056] xyz_f:-0.206864, -0.424946, 0.887732  Reprojection Error: 0.300977, 0.285955 Feature: 0.066576, -0.188829, 0.979751
[11:52:55.056] xyz_f:-0.078936, -0.628183, 0.791651  Reprojection Error: 0.290809, 0.335845 Feature: 0.171199, -0.410008, 0.895871
[11:52:55.056] xyz_f:-0.118553, -0.448453, 0.901342  Reprojection Error: 0.292923, 0.282123 Feature: 0.155847, -0.208013, 0.965631
[11:52:55.056] xyz_f:-0.477036, -0.112516, 0.849738  Reprojection Error: 0.326074, 0.238919 Feature: -0.227840, 0.103121, 0.968223
[11:52:55.056] xyz_f:-0.366134, -0.217280, 0.896175  Reprojection Error: 0.309679, 0.256468 Feature: -0.098383, 0.013946, 0.995051
[11:52:55.056] xyz_f:-0.477773, -0.131858, 0.846335  Reprojection Error: 0.329590, 0.241933 Feature: -0.227903, 0.083558, 0.970092
[11:52:55.056] xyz_f:-0.191786, -0.441905, 0.884175  Reprojection Error: 0.299944, 0.288414 Feature: 0.080973, -0.206131, 0.975168
[11:52:55.056] xyz_f:-0.147030, -0.444909, 0.895965  Reprojection Error: 0.295089, 0.284276 Feature: 0.127093, -0.205981, 0.970268
[11:52:55.057] xyz_f:-0.139328, -0.435497, 0.902777  Reprojection Error: 0.294113, 0.281512 Feature: 0.135773, -0.195127, 0.971335
[11:52:55.057] xyz_f:-0.201691, -0.454883, 0.873999  Reprojection Error: 0.302108, 0.292958 Feature: 0.069394, -0.221301, 0.972733
[11:52:55.057] xyz_f:-0.140577, -0.455109, 0.892368  Reprojection Error: 0.294847, 0.285874 Feature: 0.132803, -0.216765, 0.967149
[11:52:55.057] xyz_f:-0.231196, 0.114007, 0.972682  Reprojection Error: 0.262354, 0.261106 Feature: 0.023063, 0.353747, 0.935057
[11:52:55.057] xyz_f:-0.211518, -0.430655, 0.883261  Reprojection Error: 0.302008, 0.287837 Feature: 0.061208, -0.195501, 0.978792
[11:52:55.057] xyz_f:-0.477318, -0.131810, 0.846658  Reprojection Error: 0.329414, 0.241940 Feature: -0.227371, 0.083688, 0.970206
[11:52:55.057] xyz_f:-0.545726, -0.016460, 0.805946  Reprojection Error: 0.337311, 0.218766 Feature: -0.316217, 0.184570, 0.930559
[11:52:55.057] xyz_f:-0.340662, 0.052010, 0.934037  Reprojection Error: 0.273965, 0.241570 Feature: -0.086666, 0.283860, 0.954941
[11:52:55.057] xyz_f:-0.078936, -0.628183, 0.791651  Reprojection Error: 0.310755, 0.331590 Feature: 0.171199, -0.410008, 0.895871
[11:52:55.057] xyz_f:-1.241891, -1.130282, 1.000918  Reprojection Error: 1.341618, 0.918397 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.057] xyz_f:-0.118553, -0.448453, 0.901342  Reprojection Error: 0.311383, 0.279216 Feature: 0.155847, -0.208013, 0.965631
[11:52:55.057] xyz_f:-0.130297, 0.035419, 0.156278  Reprojection Error: 0.915613, -0.426178 Feature: -0.161646, 0.066536, 0.182551
[11:52:55.057] xyz_f:-1.117283, -1.101495, 1.047021  Reprojection Error: 1.228745, 0.850683 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.057] xyz_f:-0.335403, 0.028067, 0.351413  Reprojection Error: 0.676029, -0.182177 Feature: -0.283700, 0.109939, 0.434383
[11:52:55.057] xyz_f:-0.283256, -0.037002, 0.453226  Reprojection Error: 0.568484, 0.107143 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.057] xyz_f:-0.126286, -0.021823, 0.230415  Reprojection Error: 0.331429, 0.188604 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.057] xyz_f:-0.545726, -0.016460, 0.805946  Reprojection Error: 0.371691, 0.214894 Feature: -0.316217, 0.184570, 0.930559
[11:52:55.057] xyz_f:-1.218974, -1.109986, 1.011219  Reprojection Error: 1.165662, 1.248032 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.057] xyz_f:-0.340662, 0.052010, 0.934037  Reprojection Error: 0.292519, 0.242876 Feature: -0.086666, 0.283860, 0.954941
[11:52:55.057] xyz_f:-0.231196, 0.114007, 0.972682  Reprojection Error: 0.283872, 0.261346 Feature: 0.023063, 0.353747, 0.935057
[11:52:55.057] xyz_f:-0.477773, -0.131858, 0.846335  Reprojection Error: 0.275006, 0.670628 Feature: -0.227903, 0.083558, 0.970092
[11:52:55.057] it:25 	 Success 	 new_chi2: 0.930526 	 dT = -0.020742, 0.036560, 0.037166
[11:52:55.057] xyz_f:-0.425633, -0.201126, 0.849985  Reprojection Error: 0.410657, 0.263800 Feature: -0.089701, 0.027057, 0.995601
[11:52:55.057] xyz_f:-0.415420, -0.204668, 0.854776  Reprojection Error: 0.407610, 0.264400 Feature: -0.078125, 0.024876, 0.996633
[11:52:55.057] xyz_f:-0.271472, -0.442070, 0.831403  Reprojection Error: 0.397712, 0.315861 Feature: 0.069419, -0.210487, 0.975129
[11:52:55.057] xyz_f:-0.236251, -0.439083, 0.845737  Reprojection Error: 0.389230, 0.309652 Feature: 0.106935, -0.203891, 0.973136
[11:52:55.057] xyz_f:-0.251236, -0.424072, 0.848136  Reprojection Error: 0.390897, 0.306918 Feature: 0.092560, -0.188771, 0.977649
[11:52:55.057] xyz_f:-0.544358, -0.117254, 0.788840  Reprojection Error: 0.451863, 0.243874 Feature: -0.230739, 0.092245, 0.968633
[11:52:55.057] xyz_f:-0.275917, -0.421956, 0.840015  Reprojection Error: 0.396419, 0.309588 Feature: 0.066576, -0.188829, 0.979751
[11:52:55.057] xyz_f:-0.146584, -0.626431, 0.748553  Reprojection Error: 0.386922, 0.379191 Feature: 0.171199, -0.410008, 0.895871
[11:52:55.057] xyz_f:-0.188382, -0.446310, 0.856782  Reprojection Error: 0.381265, 0.305497 Feature: 0.155847, -0.208013, 0.965631
[11:52:55.057] xyz_f:-0.541534, -0.106950, 0.792403  Reprojection Error: 0.448090, 0.241474 Feature: -0.227840, 0.103121, 0.968223
[11:52:55.057] xyz_f:-0.433383, -0.212767, 0.842772  Reprojection Error: 0.415363, 0.266476 Feature: -0.098383, 0.013946, 0.995051
[11:52:55.057] xyz_f:-0.542335, -0.126284, 0.788972  Reprojection Error: 0.452464, 0.246195 Feature: -0.227903, 0.083558, 0.970092
[11:52:55.057] xyz_f:-0.260885, -0.439060, 0.836999  Reprojection Error: 0.394725, 0.313185 Feature: 0.080973, -0.206131, 0.975168
[11:52:55.057] xyz_f:-0.216612, -0.442492, 0.850387  Reprojection Error: 0.385709, 0.308049 Feature: 0.127093, -0.205981, 0.970268
[11:52:55.057] xyz_f:-0.209070, -0.433154, 0.857473  Reprojection Error: 0.383601, 0.304267 Feature: 0.135773, -0.195127, 0.971335
[11:52:55.057] xyz_f:-0.270543, -0.451945, 0.826471  Reprojection Error: 0.398687, 0.319332 Feature: 0.069394, -0.221301, 0.972733
[11:52:55.057] xyz_f:-0.210132, -0.452755, 0.847022  Reprojection Error: 0.385398, 0.310398 Feature: 0.132803, -0.216765, 0.967149
[11:52:55.057] xyz_f:-0.298098, 0.117221, 0.924130  Reprojection Error: 0.347237, 0.251471 Feature: 0.023063, 0.353747, 0.935057
[11:52:55.057] xyz_f:-0.280462, -0.427621, 0.835379  Reprojection Error: 0.398265, 0.312152 Feature: 0.061208, -0.195501, 0.978792
[11:52:55.057] xyz_f:-0.541891, -0.126240, 0.789311  Reprojection Error: 0.452184, 0.246195 Feature: -0.227371, 0.083688, 0.970206
[11:52:55.057] xyz_f:-0.607681, -0.010244, 0.746190  Reprojection Error: 0.474565, 0.212073 Feature: -0.316217, 0.184570, 0.930559
[11:52:55.057] xyz_f:-0.406698, 0.056273, 0.881571  Reprojection Error: 0.370579, 0.233422 Feature: -0.086666, 0.283860, 0.954941
[11:52:55.057] xyz_f:-0.146584, -0.626431, 0.748553  Reprojection Error: 0.406867, 0.374937 Feature: 0.171199, -0.410008, 0.895871
[11:52:55.057] xyz_f:-1.321075, -1.117287, 0.915858  Reprojection Error: 1.543312, 1.009086 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.057] xyz_f:-0.188382, -0.446310, 0.856782  Reprojection Error: 0.399725, 0.302590 Feature: 0.155847, -0.208013, 0.965631
[11:52:55.057] xyz_f:-0.168723, 0.037525, 0.111860  Reprojection Error: 1.590203, -0.534997 Feature: -0.161646, 0.066536, 0.182551
[11:52:55.057] xyz_f:-1.197931, -1.089691, 0.966408  Reprojection Error: 1.401208, 0.926223 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.057] xyz_f:-0.380762, 0.032180, 0.299506  Reprojection Error: 0.992885, -0.209749 Feature: -0.283700, 0.109939, 0.434383
[11:52:55.057] xyz_f:-0.332931, -0.033371, 0.403115  Reprojection Error: 0.769404, 0.108284 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.057] xyz_f:-0.167926, -0.019740, 0.186083  Reprojection Error: 0.685774, 0.199977 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.057] xyz_f:-0.607681, -0.010244, 0.746190  Reprojection Error: 0.508945, 0.208200 Feature: -0.316217, 0.184570, 0.930559
[11:52:55.057] xyz_f:-1.298349, -1.097210, 0.926979  Reprojection Error: 1.360837, 1.334002 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.057] xyz_f:-0.406698, 0.056273, 0.881571  Reprojection Error: 0.389133, 0.234727 Feature: -0.086666, 0.283860, 0.954941
[11:52:55.057] xyz_f:-0.298098, 0.117221, 0.924130  Reprojection Error: 0.368755, 0.251711 Feature: 0.023063, 0.353747, 0.935057
[11:52:55.057] xyz_f:-0.542335, -0.126284, 0.788972  Reprojection Error: 0.397880, 0.674891 Feature: -0.227903, 0.083558, 0.970092
[11:52:55.057] it:26 	 Success 	 new_chi2: 0.238262 	 dT = 0.048160, 0.042957, -0.033261
[11:52:55.057] xyz_f:-0.501631, -0.205112, 0.821905  Reprojection Error: 0.520230, 0.276734 Feature: -0.089701, 0.027057, 0.995601
[11:52:55.057] xyz_f:-0.491238, -0.208566, 0.826366  Reprojection Error: 0.516068, 0.277349 Feature: -0.078125, 0.024876, 0.996633
[11:52:55.057] xyz_f:-0.346078, -0.444724, 0.798348  Reprojection Error: 0.504682, 0.341199 Feature: 0.069419, -0.210487, 0.975129
[11:52:55.057] xyz_f:-0.310441, -0.441431, 0.811544  Reprojection Error: 0.492419, 0.334420 Feature: 0.106935, -0.203891, 0.973136
[11:52:55.057] xyz_f:-0.325471, -0.426550, 0.814425  Reprojection Error: 0.494308, 0.330657 Feature: 0.092560, -0.188771, 0.977649
[11:52:55.057] xyz_f:-0.622976, -0.122274, 0.764617  Reprojection Error: 0.576544, 0.255148 Feature: -0.230739, 0.092245, 0.968633
[11:52:55.057] xyz_f:-0.350417, -0.424647, 0.807101  Reprojection Error: 0.502119, 0.333407 Feature: 0.066576, -0.188829, 0.979751
[11:52:55.057] xyz_f:-0.222334, -0.628013, 0.711503  Reprojection Error: 0.503583, 0.424993 Feature: 0.171199, -0.410008, 0.895871
[11:52:55.057] xyz_f:-0.262182, -0.448244, 0.821044  Reprojection Error: 0.480721, 0.330527 Feature: 0.155847, -0.208013, 0.965631
[11:52:55.057] xyz_f:-0.620128, -0.111945, 0.768089  Reprojection Error: 0.572046, 0.252251 Feature: -0.227840, 0.103121, 0.968223
[11:52:55.057] xyz_f:-0.509508, -0.216821, 0.814944  Reprojection Error: 0.526334, 0.280071 Feature: -0.098383, 0.013946, 0.995051
[11:52:55.057] xyz_f:-0.620872, -0.131286, 0.764683  Reprojection Error: 0.577004, 0.257821 Feature: -0.227903, 0.083558, 0.970092
[11:52:55.057] xyz_f:-0.335343, -0.441621, 0.803601  Reprojection Error: 0.500335, 0.338174 Feature: 0.080973, -0.206131, 0.975168
[11:52:55.057] xyz_f:-0.290635, -0.444671, 0.815560  Reprojection Error: 0.487350, 0.332941 Feature: 0.127093, -0.205981, 0.970268
[11:52:55.057] xyz_f:-0.282949, -0.435267, 0.822401  Reprojection Error: 0.483833, 0.328378 Feature: 0.135773, -0.195127, 0.971335
[11:52:55.057] xyz_f:-0.345223, -0.454590, 0.793388  Reprojection Error: 0.506465, 0.345469 Feature: 0.069394, -0.221301, 0.972733
[11:52:55.057] xyz_f:-0.284179, -0.454878, 0.811987  Reprojection Error: 0.487294, 0.336075 Feature: 0.132803, -0.216765, 0.967149
[11:52:55.057] xyz_f:-0.374525, 0.114330, 0.891960  Reprojection Error: 0.444555, 0.250137 Feature: 0.023063, 0.353747, 0.935057
[11:52:55.057] xyz_f:-0.355060, -0.430352, 0.802612  Reprojection Error: 0.504915, 0.336452 Feature: 0.061208, -0.195501, 0.978792
[11:52:55.057] xyz_f:-0.620418, -0.131238, 0.765008  Reprojection Error: 0.576643, 0.257809 Feature: -0.227371, 0.083688, 0.970206
[11:52:55.057] xyz_f:-0.688555, -0.015819, 0.724038  Reprojection Error: 0.611179, 0.220192 Feature: -0.316217, 0.184570, 0.930559
[11:52:55.057] xyz_f:-0.483907, 0.052444, 0.852902  Reprojection Error: 0.476610, 0.235765 Feature: -0.086666, 0.283860, 0.954941
[11:52:55.057] xyz_f:-0.222334, -0.628013, 0.711503  Reprojection Error: 0.523528, 0.420739 Feature: 0.171199, -0.410008, 0.895871
[11:52:55.057] xyz_f:-1.386576, -1.128937, 0.916381  Reprojection Error: 1.613966, 1.021103 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.057] xyz_f:-0.262182, -0.448244, 0.821044  Reprojection Error: 0.499181, 0.327620 Feature: 0.155847, -0.208013, 0.965631
[11:52:55.057] xyz_f:-0.270627, 0.035639, 0.075942  Reprojection Error: 3.645461, -0.668823 Feature: -0.161646, 0.066536, 0.182551
[11:52:55.057] xyz_f:-1.262114, -1.100276, 0.962954  Reprojection Error: 1.472307, 0.941260 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.057] xyz_f:-0.476475, 0.028495, 0.270302  Reprojection Error: 1.484338, -0.207724 Feature: -0.283700, 0.109939, 0.434383
[11:52:55.057] xyz_f:-0.424778, -0.036627, 0.372311  Reprojection Error: 1.084429, 0.123880 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.057] xyz_f:-0.266953, -0.021607, 0.150093  Reprojection Error: 1.561931, 0.237852 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.057] xyz_f:-0.688555, -0.015819, 0.724038  Reprojection Error: 0.645559, 0.216320 Feature: -0.316217, 0.184570, 0.930559
[11:52:55.057] xyz_f:-1.363678, -1.108665, 0.926769  Reprojection Error: 1.431645, 1.346629 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.057] xyz_f:-0.483907, 0.052444, 0.852902  Reprojection Error: 0.495164, 0.237071 Feature: -0.086666, 0.283860, 0.954941
[11:52:55.057] xyz_f:-0.374525, 0.114330, 0.891960  Reprojection Error: 0.466073, 0.250376 Feature: 0.023063, 0.353747, 0.935057
[11:52:55.057] xyz_f:-0.620872, -0.131286, 0.764683  Reprojection Error: 0.522420, 0.686516 Feature: -0.227903, 0.083558, 0.970092
[11:52:55.057] it:27 	 Success 	 new_chi2: 0.007485 	 dT = 0.983178, 0.050684, -0.972720
[11:52:55.057] xyz_f:-0.545338, -0.199958, 0.751986  Reprojection Error: 0.635101, 0.293084 Feature: -0.089701, 0.027057, 0.995601
[11:52:55.057] xyz_f:-0.535187, -0.200601, 0.745954  Reprojection Error: 0.639065, 0.293878 Feature: -0.078125, 0.024876, 0.996633
[11:52:55.057] xyz_f:-0.425307, -0.401858, 0.587686  Reprojection Error: 0.794887, 0.467941 Feature: 0.069419, -0.210487, 0.975129
[11:52:55.057] xyz_f:-0.395413, -0.389597, 0.567415  Reprojection Error: 0.806755, 0.477099 Feature: 0.106935, -0.203891, 0.973136
[11:52:55.057] xyz_f:-0.404758, -0.378052, 0.582744  Reprojection Error: 0.789248, 0.455657 Feature: 0.092560, -0.188771, 0.977649
[11:52:55.057] xyz_f:-0.677111, -0.151758, 0.823966  Reprojection Error: 0.583559, 0.279412 Feature: -0.230739, 0.092245, 0.968633
[11:52:55.057] xyz_f:-0.425057, -0.382341, 0.598527  Reprojection Error: 0.778124, 0.446071 Feature: 0.066576, -0.188829, 0.979751
[11:52:55.057] xyz_f:-0.385753, -0.562801, 0.417444  Reprojection Error: 1.115182, 0.890545 Feature: 0.171199, -0.410008, 0.895871
[11:52:55.057] xyz_f:-0.359199, -0.384851, 0.533774  Reprojection Error: 0.834335, 0.505583 Feature: 0.155847, -0.208013, 0.965631
[11:52:55.057] xyz_f:-0.674945, -0.140742, 0.824878  Reprojection Error: 0.582919, 0.277128 Feature: -0.227840, 0.103121, 0.968223
[11:52:55.057] xyz_f:-0.552826, -0.213769, 0.752871  Reprojection Error: 0.635418, 0.297954 Feature: -0.098383, 0.013946, 0.995051
[11:52:55.057] xyz_f:-0.673946, -0.160048, 0.821342  Reprojection Error: 0.585613, 0.280996 Feature: -0.227903, 0.083558, 0.970092
[11:52:55.057] xyz_f:-0.415733, -0.395976, 0.582567  Reprojection Error: 0.796658, 0.468330 Feature: 0.080973, -0.206131, 0.975168
[11:52:55.057] xyz_f:-0.380361, -0.388067, 0.553629  Reprojection Error: 0.818021, 0.488659 Feature: 0.127093, -0.205981, 0.970268
[11:52:55.057] xyz_f:-0.372585, -0.376548, 0.552573  Reprojection Error: 0.814052, 0.480559 Feature: 0.135773, -0.195127, 0.971335
[11:52:55.057] xyz_f:-0.426675, -0.411795, 0.582988  Reprojection Error: 0.803216, 0.478848 Feature: 0.069394, -0.221301, 0.972733
[11:52:55.057] xyz_f:-0.377395, -0.396985, 0.545244  Reprojection Error: 0.829473, 0.503959 Feature: 0.132803, -0.216765, 0.967149
[11:52:55.057] xyz_f:-0.486175, 0.144974, 0.726911  Reprojection Error: 0.693488, 0.178877 Feature: 0.023063, 0.353747, 0.935057
[11:52:55.057] xyz_f:-0.430035, -0.389362, 0.598952  Reprojection Error: 0.780513, 0.450335 Feature: 0.061208, -0.195501, 0.978792
[11:52:55.057] xyz_f:-0.673442, -0.159869, 0.821177  Reprojection Error: 0.585740, 0.280941 Feature: -0.227371, 0.083688, 0.970206
[11:52:55.057] xyz_f:-0.769199, -0.066878, 0.863909  Reprojection Error: 0.550556, 0.275757 Feature: -0.316217, 0.184570, 0.930559
[11:52:55.057] xyz_f:-0.565705, 0.057236, 0.784332  Reprojection Error: 0.630501, 0.224279 Feature: -0.086666, 0.283860, 0.954941
[11:52:55.057] xyz_f:-0.385753, -0.562801, 0.417444  Reprojection Error: 1.135128, 0.886290 Feature: 0.171199, -0.410008, 0.895871
[11:52:55.057] xyz_f:-0.770594, -1.275706, 1.413447  Reprojection Error: 0.646054, 0.691701 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.057] xyz_f:-0.359199, -0.384851, 0.533774  Reprojection Error: 0.852794, 0.502676 Feature: 0.155847, -0.208013, 0.965631
[11:52:55.057] xyz_f:-1.062239, 0.001670, 0.152031  Reprojection Error: 7.068834, -0.210519 Feature: -0.161646, 0.066536, 0.182551
[11:52:55.057] xyz_f:-0.669468, -1.216175, 1.344811  Reprojection Error: 0.659454, 0.703002 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.057] xyz_f:-1.021464, -0.028063, 0.430696  Reprojection Error: 2.093249, -0.037149 Feature: -0.283700, 0.109939, 0.434383
[11:52:55.057] xyz_f:-0.896997, -0.069078, 0.442737  Reprojection Error: 1.969536, 0.181527 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.057] xyz_f:-0.988734, -0.045015, 0.186767  Reprojection Error: 5.077289, 0.334913 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.057] xyz_f:-0.769199, -0.066878, 0.863909  Reprojection Error: 0.584937, 0.271884 Feature: -0.316217, 0.184570, 0.930559
[11:52:55.057] xyz_f:-0.753745, -1.249994, 1.403536  Reprojection Error: 0.497245, 1.040965 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.057] xyz_f:-0.565705, 0.057236, 0.784332  Reprojection Error: 0.649055, 0.225585 Feature: -0.086666, 0.283860, 0.954941
[11:52:55.057] xyz_f:-0.486175, 0.144974, 0.726911  Reprojection Error: 0.715006, 0.179116 Feature: 0.023063, 0.353747, 0.935057
[11:52:55.057] xyz_f:-0.673946, -0.160048, 0.821342  Reprojection Error: 0.531029, 0.709691 Feature: -0.227903, 0.083558, 0.970092
[11:52:55.057] it:28 	 Success 	 new_chi2: 0.000000 	 dT = 0.000000, 0.000000, 0.000000
[11:52:55.057] After pose optimization, distance between two frames:0.140093 ,angle between two frames:-4.379119
[11:52:55.147] Reprojection Map nPoint:41 ,nCell:19 ,nMatches:14 ,distance between two frames:2.764876 ,angle between two frames:-3.565062
[11:52:55.147] Init estimate scale:0.972508
[11:52:55.147] xyz_f:2.308636, -0.220121, 1.824581  Reprojection Error: -1.334929, 0.147780 Feature: -0.069439, 0.027063, 0.997219
[11:52:55.147] xyz_f:2.319705, -0.221023, 1.827957  Reprojection Error: -1.326988, 0.148034 Feature: -0.057855, 0.027066, 0.997958
[11:52:55.147] xyz_f:2.468740, -0.453435, 1.777697  Reprojection Error: -1.296674, 0.038903 Feature: 0.089615, -0.210436, 0.973492
[11:52:55.147] xyz_f:2.505797, -0.448673, 1.785495  Reprojection Error: -1.272484, 0.041323 Feature: 0.127102, -0.203818, 0.970723
[11:52:55.147] xyz_f:2.487832, -0.434314, 1.790233  Reprojection Error: -1.277085, 0.049213 Feature: 0.109867, -0.188721, 0.975866
[11:52:55.147] xyz_f:2.177273, -0.142296, 1.786219  Reprojection Error: -1.435417, 0.174514 Feature: -0.210684, 0.092308, 0.973186
[11:52:55.147] xyz_f:2.464872, -0.433524, 1.787038  Reprojection Error: -1.290582, 0.049596 Feature: 0.086788, -0.188785, 0.978176
[11:52:55.147] xyz_f:2.584051, -0.633530, 1.671607  Reprojection Error: -1.334805, -0.082924 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.147] xyz_f:2.552450, -0.455445, 1.786568  Reprojection Error: -1.248836, 0.036603 Feature: 0.173063, -0.210081, 0.962245
[11:52:55.147] xyz_f:2.182843, -0.132168, 1.790504  Reprojection Error: -1.429651, 0.179844 Feature: -0.204913, 0.103200, 0.973324
[11:52:55.147] xyz_f:2.300299, -0.230036, 1.819359  Reprojection Error: -1.342722, 0.142624 Feature: -0.078127, 0.016135, 0.996813
[11:52:55.147] xyz_f:2.166696, 0.227296, 1.762939  Reprojection Error: -1.518539, 0.385899 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.147] xyz_f:2.477129, -0.449792, 1.780919  Reprojection Error: -1.289981, 0.040888 Feature: 0.098279, -0.206083, 0.973587
[11:52:55.147] xyz_f:2.523336, -0.453016, 1.785277  Reprojection Error: -1.264203, 0.038672 Feature: 0.144348, -0.208069, 0.967404
[11:52:55.147] xyz_f:2.534340, -0.441379, 1.792189  Reprojection Error: -1.253093, 0.044860 Feature: 0.155910, -0.195039, 0.968324
[11:52:55.147] xyz_f:2.469284, -0.463274, 1.772643  Reprojection Error: -1.300745, 0.033514 Feature: 0.089583, -0.221247, 0.971094
[11:52:55.147] xyz_f:2.529645, -0.462959, 1.780761  Reprojection Error: -1.264919, 0.033000 Feature: 0.150045, -0.218842, 0.964155
[11:52:55.147] xyz_f:2.433014, 0.104201, 1.876251  Reprojection Error: -1.250559, 0.323018 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.147] xyz_f:2.110896, -0.041815, 1.761060  Reprojection Error: -1.504085, 0.218215 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.147] xyz_f:2.318946, 0.039764, 1.852812  Reprojection Error: -1.323783, 0.277098 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.147] xyz_f:2.458459, -0.438991, 1.783238  Reprojection Error: -1.296788, 0.046642 Feature: 0.080021, -0.195050, 0.977524
[11:52:55.147] xyz_f:2.534937, -0.441311, 1.792276  Reprojection Error: -1.252729, 0.044885 Feature: 0.156506, -0.194951, 0.968246
[11:52:55.147] xyz_f:2.126148, -0.319073, 1.710348  Reprojection Error: -1.521522, 0.084248 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.147] xyz_f:2.340063, -0.102333, 1.854473  Reprojection Error: -1.301635, 0.205542 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.147] xyz_f:2.584051, -0.633530, 1.671607  Reprojection Error: -1.311274, -0.087640 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.147] xyz_f:1.966724, -0.091825, 1.679773  Reprojection Error: -1.053824, -0.174677 Feature: -0.442876, 0.113508, 0.911166
[11:52:55.147] xyz_f:1.575003, -1.180353, 2.060856  Reprojection Error: -0.586844, 0.353807 Feature: -0.667367, -0.839298, 1.635960
[11:52:55.147] xyz_f:2.414445, 0.028430, 1.049486  Reprojection Error: -2.193545, -0.229886 Feature: -0.161646, 0.066536, 0.182551
[11:52:55.147] xyz_f:1.584411, -1.138900, 2.053740  Reprojection Error: -0.602527, 0.351615 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.147] xyz_f:2.302121, -0.048432, 1.363007  Reprojection Error: -1.719176, 0.062568 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.147] xyz_f:2.126148, -0.319073, 1.710348  Reprojection Error: -1.272037, 0.237754 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.147] xyz_f:2.429555, -0.028492, 1.122429  Reprojection Error: -2.350580, 0.121394 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.147] xyz_f:2.110896, -0.041815, 1.761060  Reprojection Error: -1.471618, 0.219150 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.147] xyz_f:2.340063, -0.102333, 1.854473  Reprojection Error: -1.273454, 0.206155 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.147] xyz_f:2.318946, 0.039764, 1.852812  Reprojection Error: -1.296608, 0.276700 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.147] xyz_f:2.433014, 0.104201, 1.876251  Reprojection Error: -1.216627, 0.323690 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.147] xyz_f:2.166696, 0.227296, 1.762939  Reprojection Error: -1.477448, 0.387546 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.147] xyz_f:1.988806, -0.092256, 1.651426  Reprojection Error: -1.414787, 0.575051 Feature: -0.427976, 0.105755, 0.879397
[11:52:55.147] it:0 	 Success 	 new_chi2: 58.413649 	 dT = -0.155549, 0.039573, -0.000686
[11:52:55.147] xyz_f:0.435804, -0.220066, 1.863950  Reprojection Error: -0.303439, 0.145203 Feature: -0.069439, 0.027063, 0.997219
[11:52:55.147] xyz_f:0.446871, -0.220970, 1.867334  Reprojection Error: -0.297283, 0.145456 Feature: -0.057855, 0.027066, 0.997958
[11:52:55.147] xyz_f:0.595897, -0.453409, 1.817172  Reprojection Error: -0.235870, 0.033348 Feature: 0.089615, -0.210436, 0.973492
[11:52:55.147] xyz_f:0.632950, -0.448654, 1.824995  Reprojection Error: -0.215888, 0.035873 Feature: 0.127102, -0.203818, 0.970723
[11:52:55.147] xyz_f:0.614984, -0.434291, 1.829721  Reprojection Error: -0.223524, 0.043965 Feature: 0.109867, -0.188721, 0.975866
[11:52:55.147] xyz_f:0.304480, -0.142218, 1.825502  Reprojection Error: -0.383281, 0.172757 Feature: -0.210684, 0.092308, 0.973186
[11:52:55.147] xyz_f:0.592026, -0.433497, 1.826511  Reprojection Error: -0.235406, 0.044339 Feature: 0.086788, -0.188785, 0.978176
[11:52:55.147] xyz_f:0.711246, -0.633524, 1.711159  Reprojection Error: -0.204608, -0.091688 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.147] xyz_f:0.679601, -0.455434, 1.826099  Reprojection Error: -0.192307, 0.031079 Feature: 0.173063, -0.210081, 0.962245
[11:52:55.147] xyz_f:0.310049, -0.132091, 1.829791  Reprojection Error: -0.379974, 0.178217 Feature: -0.204913, 0.103200, 0.973324
[11:52:55.147] xyz_f:0.427469, -0.229980, 1.858723  Reprojection Error: -0.308356, 0.139916 Feature: -0.078127, 0.016135, 0.996813
[11:52:55.147] xyz_f:0.293984, 0.227375, 1.802215  Reprojection Error: -0.452638, 0.388665 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.147] xyz_f:0.604284, -0.449767, 1.820400  Reprojection Error: -0.231006, 0.035397 Feature: 0.098279, -0.206083, 0.973587
[11:52:55.147] xyz_f:0.650488, -0.452999, 1.824788  Reprojection Error: -0.207261, 0.033168 Feature: 0.144348, -0.208069, 0.967404
[11:52:55.147] xyz_f:0.661489, -0.441364, 1.831708  Reprojection Error: -0.200123, 0.039538 Feature: 0.155910, -0.195039, 0.968324
[11:52:55.147] xyz_f:0.596443, -0.463248, 1.812119  Reprojection Error: -0.236891, 0.027806 Feature: 0.089583, -0.221247, 0.971094
[11:52:55.147] xyz_f:0.656799, -0.462943, 1.820277  Reprojection Error: -0.205201, 0.027348 Feature: 0.150045, -0.218842, 0.964155
[11:52:55.147] xyz_f:0.560205, 0.104233, 1.915703  Reprojection Error: -0.246245, 0.324145 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.147] xyz_f:0.238138, -0.041725, 1.800298  Reprojection Error: -0.437710, 0.217648 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.147] xyz_f:0.446142, 0.039816, 1.892189  Reprojection Error: -0.307982, 0.277517 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.147] xyz_f:0.585615, -0.438963, 1.822707  Reprojection Error: -0.239428, 0.041296 Feature: 0.080021, -0.195050, 0.977524
[11:52:55.147] xyz_f:0.662087, -0.441297, 1.831796  Reprojection Error: -0.199803, 0.039565 Feature: 0.156506, -0.194951, 0.968246
[11:52:55.147] xyz_f:0.253374, -0.318986, 1.749597  Reprojection Error: -0.423232, 0.080013 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.147] xyz_f:0.467232, -0.102284, 1.893864  Reprojection Error: -0.286496, 0.204369 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.147] xyz_f:0.711246, -0.633524, 1.711159  Reprojection Error: -0.181078, -0.096403 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.147] xyz_f:0.094010, -0.091710, 1.718916  Reprojection Error: 0.062312, -0.175988 Feature: -0.442876, 0.113508, 0.911166
[11:52:55.147] xyz_f:-0.298156, -1.180169, 2.099739  Reprojection Error: 0.319400, 0.343112 Feature: -0.667367, -0.839298, 1.635960
[11:52:55.147] xyz_f:0.542170, 0.028465, 1.088926  Reprojection Error: -0.390843, -0.228937 Feature: -0.161646, 0.066536, 0.182551
[11:52:55.147] xyz_f:-0.288736, -1.138717, 2.092629  Reprojection Error: 0.306927, 0.341221 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.147] xyz_f:0.429625, -0.048376, 1.402372  Reprojection Error: -0.336530, 0.061531 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.147] xyz_f:0.253374, -0.318986, 1.749597  Reprojection Error: -0.173747, 0.233519 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.147] xyz_f:0.557222, -0.028459, 1.161878  Reprojection Error: -0.665615, 0.120504 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.147] xyz_f:0.238138, -0.041725, 1.800298  Reprojection Error: -0.405244, 0.218583 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.147] xyz_f:0.467232, -0.102284, 1.893864  Reprojection Error: -0.258315, 0.204981 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.147] xyz_f:0.446142, 0.039816, 1.892189  Reprojection Error: -0.280807, 0.277118 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.147] xyz_f:0.560205, 0.104233, 1.915703  Reprojection Error: -0.212313, 0.324817 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.147] xyz_f:0.293984, 0.227375, 1.802215  Reprojection Error: -0.411547, 0.390311 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.147] xyz_f:0.116112, -0.092145, 1.690583  Reprojection Error: -0.279172, 0.573691 Feature: -0.427976, 0.105755, 0.879397
[11:52:55.147] it:1 	 Success 	 new_chi2: 5.190984 	 dT = -0.052057, 0.077799, 0.009186
[11:52:55.147] xyz_f:0.587620, -0.220786, 1.944436  Reprojection Error: -0.371838, 0.140686 Feature: -0.069439, 0.027063, 0.997219
[11:52:55.147] xyz_f:0.598718, -0.221664, 1.947721  Reprojection Error: -0.365367, 0.140928 Feature: -0.057855, 0.027066, 0.997958
[11:52:55.147] xyz_f:0.747846, -0.453748, 1.896237  Reprojection Error: -0.302329, 0.023123 Feature: 0.089615, -0.210436, 0.973492
[11:52:55.147] xyz_f:0.784955, -0.448905, 1.903731  Reprojection Error: -0.281390, 0.025838 Feature: 0.127102, -0.203818, 0.970723
[11:52:55.147] xyz_f:0.766998, -0.434585, 1.908616  Reprojection Error: -0.289277, 0.034307 Feature: 0.109867, -0.188721, 0.975866
[11:52:55.147] xyz_f:0.455776, -0.143250, 1.907155  Reprojection Error: -0.455470, 0.169963 Feature: -0.210684, 0.092308, 0.973186
[11:52:55.147] xyz_f:0.744011, -0.433846, 1.905610  Reprojection Error: -0.301708, 0.034670 Feature: 0.086788, -0.188785, 0.978176
[11:52:55.147] xyz_f:0.862678, -0.633590, 1.789203  Reprojection Error: -0.271114, -0.107800 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.147] xyz_f:0.831631, -0.455574, 1.904420  Reprojection Error: -0.256831, 0.020895 Feature: 0.173063, -0.210081, 0.962245
[11:52:55.147] xyz_f:0.461358, -0.133110, 1.911394  Reprojection Error: -0.451901, 0.175668 Feature: -0.204913, 0.103200, 0.973324
[11:52:55.147] xyz_f:0.579262, -0.230719, 1.939283  Reprojection Error: -0.377076, 0.135158 Feature: -0.078127, 0.016135, 0.996813
[11:52:55.147] xyz_f:0.444195, 0.226317, 1.883966  Reprojection Error: -0.525290, 0.394701 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.147] xyz_f:0.756253, -0.450086, 1.899390  Reprojection Error: -0.297210, 0.025290 Feature: 0.098279, -0.206083, 0.973587
[11:52:55.147] xyz_f:0.802502, -0.453208, 1.903368  Reprojection Error: -0.272410, 0.023029 Feature: 0.144348, -0.208069, 0.967404
[11:52:55.147] xyz_f:0.813536, -0.441547, 1.910190  Reprojection Error: -0.264883, 0.029734 Feature: 0.155910, -0.195039, 0.968324
[11:52:55.147] xyz_f:0.748370, -0.463586, 1.891179  Reprojection Error: -0.303466, 0.017298 Feature: 0.089583, -0.221247, 0.971094
[11:52:55.147] xyz_f:0.808795, -0.463138, 1.898801  Reprojection Error: -0.270328, 0.016933 Feature: 0.150045, -0.218842, 0.964155
[11:52:55.147] xyz_f:0.711704, 0.103809, 1.995087  Reprojection Error: -0.310545, 0.326523 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.147] xyz_f:0.388973, -0.042916, 1.882542  Reprojection Error: -0.512055, 0.217268 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.147] xyz_f:0.597590, 0.039121, 1.972584  Reprojection Error: -0.375148, 0.278727 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.147] xyz_f:0.737579, -0.439327, 1.901863  Reprojection Error: -0.305958, 0.031464 Feature: 0.080021, -0.195050, 0.977524
[11:52:55.147] xyz_f:0.814134, -0.441478, 1.910273  Reprojection Error: -0.264549, 0.029763 Feature: 0.156506, -0.194951, 0.968246
[11:52:55.147] xyz_f:0.404418, -0.320141, 1.831705  Reprojection Error: -0.499201, 0.072471 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.147] xyz_f:0.619032, -0.102929, 1.974071  Reprojection Error: -0.353369, 0.202501 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.148] xyz_f:0.862678, -0.633590, 1.789203  Reprojection Error: -0.247584, -0.112516 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.148] xyz_f:0.244249, -0.093244, 1.802441  Reprojection Error: -0.018507, -0.177610 Feature: -0.442876, 0.113508, 0.911166
[11:52:55.148] xyz_f:-0.141935, -1.182628, 2.186717  Reprojection Error: 0.242311, 0.321881 Feature: -0.667367, -0.839298, 1.635960
[11:52:55.148] xyz_f:0.686514, 0.027990, 1.168501  Reprojection Error: -0.480466, -0.226750 Feature: -0.161646, 0.066536, 0.182551
[11:52:55.148] xyz_f:-0.132676, -1.141154, 2.179525  Reprojection Error: 0.229823, 0.320645 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.148] xyz_f:0.576938, -0.049116, 1.482933  Reprojection Error: -0.419226, 0.060156 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.148] xyz_f:0.404418, -0.320141, 1.831705  Reprojection Error: -0.249716, 0.225977 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.148] xyz_f:0.702348, -0.028898, 1.241317  Reprojection Error: -0.751837, 0.119290 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.148] xyz_f:0.388973, -0.042916, 1.882542  Reprojection Error: -0.479588, 0.218203 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.148] xyz_f:0.619032, -0.102929, 1.974071  Reprojection Error: -0.325188, 0.203113 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.148] xyz_f:0.597590, 0.039121, 1.972584  Reprojection Error: -0.347974, 0.278329 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.148] xyz_f:0.711704, 0.103809, 1.995087  Reprojection Error: -0.276613, 0.327195 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.148] xyz_f:0.444195, 0.226317, 1.883966  Reprojection Error: -0.484200, 0.396348 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.148] xyz_f:0.266099, -0.093627, 1.773914  Reprojection Error: -0.360497, 0.571966 Feature: -0.427976, 0.105755, 0.879397
[11:52:55.148] it:2 	 Success 	 new_chi2: 6.655424 	 dT = -0.056537, 0.078945, 0.005482
[11:52:55.148] xyz_f:0.768788, -0.220359, 1.863896  Reprojection Error: -0.482095, 0.145363 Feature: -0.069439, 0.027063, 0.997219
[11:52:55.148] xyz_f:0.779867, -0.221252, 1.867241  Reprojection Error: -0.475631, 0.145613 Feature: -0.057855, 0.027066, 0.997958
[11:52:55.148] xyz_f:0.928936, -0.453548, 1.816546  Reprojection Error: -0.419319, 0.033510 Feature: 0.089615, -0.210436, 0.973492
[11:52:55.148] xyz_f:0.966011, -0.448757, 1.824236  Reprojection Error: -0.398608, 0.036033 Feature: 0.127102, -0.203818, 0.970723
[11:52:55.148] xyz_f:0.948049, -0.434412, 1.829026  Reprojection Error: -0.405751, 0.044121 Feature: 0.109867, -0.188721, 0.975866
[11:52:55.148] xyz_f:0.637253, -0.142636, 1.825918  Reprojection Error: -0.565492, 0.172969 Feature: -0.210684, 0.092308, 0.973186
[11:52:55.148] xyz_f:0.925079, -0.433640, 1.825898  Reprojection Error: -0.417920, 0.044497 Feature: 0.086788, -0.188785, 0.978176
[11:52:55.148] xyz_f:1.044078, -0.633553, 1.710120  Reprojection Error: -0.399485, -0.091446 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.148] xyz_f:1.012673, -0.455493, 1.825173  Reprojection Error: -0.374984, 0.031238 Feature: 0.173063, -0.210081, 0.962245
[11:52:55.148] xyz_f:0.642826, -0.132504, 1.830187  Reprojection Error: -0.561764, 0.178427 Feature: -0.204913, 0.103200, 0.973324
[11:52:55.148] xyz_f:0.760443, -0.230280, 1.858699  Reprojection Error: -0.487503, 0.140080 Feature: -0.078127, 0.016135, 0.996813
[11:52:55.148] xyz_f:0.626319, 0.226947, 1.802669  Reprojection Error: -0.636954, 0.388934 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.148] xyz_f:0.937331, -0.449898, 1.819744  Reprojection Error: -0.414144, 0.035558 Feature: 0.098279, -0.206083, 0.973587
[11:52:55.148] xyz_f:0.983554, -0.453086, 1.823967  Reprojection Error: -0.390027, 0.033328 Feature: 0.144348, -0.208069, 0.967404
[11:52:55.148] xyz_f:0.994568, -0.441441, 1.830847  Reprojection Error: -0.382219, 0.039693 Feature: 0.155910, -0.195039, 0.968324
[11:52:55.148] xyz_f:0.929473, -0.463387, 1.811491  Reprojection Error: -0.420848, 0.027971 Feature: 0.089583, -0.221247, 0.971094
[11:52:55.148] xyz_f:0.989857, -0.463024, 1.819432  Reprojection Error: -0.388424, 0.027511 Feature: 0.150045, -0.218842, 0.964155
[11:52:55.148] xyz_f:0.893062, 0.104059, 1.915205  Reprojection Error: -0.420118, 0.324222 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.148] xyz_f:0.570724, -0.042207, 1.800952  Reprojection Error: -0.622335, 0.217907 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.148] xyz_f:0.778977, 0.039533, 1.892098  Reprojection Error: -0.483901, 0.277665 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.148] xyz_f:0.918660, -0.439112, 1.822117  Reprojection Error: -0.422311, 0.041456 Feature: 0.080021, -0.195050, 0.977524
[11:52:55.148] xyz_f:0.995166, -0.441372, 1.830932  Reprojection Error: -0.381891, 0.039719 Feature: 0.156506, -0.194951, 0.968246
[11:52:55.148] xyz_f:0.586044, -0.319454, 1.750196  Reprojection Error: -0.613258, 0.080218 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.148] xyz_f:0.800210, -0.102546, 1.893698  Reprojection Error: -0.462352, 0.204512 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.148] xyz_f:1.044078, -0.633553, 1.710120  Reprojection Error: -0.375955, -0.096162 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.148] xyz_f:0.426354, -0.092330, 1.720086  Reprojection Error: -0.130865, -0.175664 Feature: -0.442876, 0.113508, 0.911166
[11:52:55.148] xyz_f:0.036596, -1.181164, 2.102307  Reprojection Error: 0.159996, 0.342899 Feature: -0.667367, -0.839298, 1.635960
[11:52:55.148] xyz_f:0.872143, 0.028273, 1.088497  Reprojection Error: -0.694184, -0.228771 Feature: -0.161646, 0.066536, 0.182551
[11:52:55.148] xyz_f:0.045951, -1.139703, 2.095164  Reprojection Error: 0.147017, 0.341034 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.148] xyz_f:0.760793, -0.048676, 1.402344  Reprojection Error: -0.572689, 0.061745 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.148] xyz_f:0.586044, -0.319454, 1.750196  Reprojection Error: -0.363773, 0.233724 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.148] xyz_f:0.887510, -0.028637, 1.161395  Reprojection Error: -0.950203, 0.120667 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.148] xyz_f:0.570724, -0.042207, 1.800952  Reprojection Error: -0.589868, 0.218843 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.148] xyz_f:0.800210, -0.102546, 1.893698  Reprojection Error: -0.434171, 0.205124 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.148] xyz_f:0.778977, 0.039533, 1.892098  Reprojection Error: -0.456726, 0.277267 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.148] xyz_f:0.893062, 0.104059, 1.915205  Reprojection Error: -0.386186, 0.324894 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.148] xyz_f:0.626319, 0.226947, 1.802669  Reprojection Error: -0.595863, 0.390581 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.148] xyz_f:0.448355, -0.092744, 1.691674  Reprojection Error: -0.475526, 0.574010 Feature: -0.427976, 0.105755, 0.879397
[11:52:55.148] it:3 	 Success 	 new_chi2: 9.037389 	 dT = -0.058034, 0.064948, 0.002075
[11:52:55.148] xyz_f:0.577248, -0.220522, 1.929451  Reprojection Error: -0.368810, 0.141431 Feature: -0.069439, 0.027063, 0.997219
[11:52:55.148] xyz_f:0.588335, -0.221409, 1.932773  Reprojection Error: -0.362372, 0.141676 Feature: -0.057855, 0.027066, 0.997958
[11:52:55.148] xyz_f:0.737427, -0.453625, 1.881779  Reprojection Error: -0.299822, 0.024896 Feature: 0.089615, -0.210436, 0.973492
[11:52:55.148] xyz_f:0.774515, -0.448814, 1.889395  Reprojection Error: -0.278993, 0.027579 Feature: 0.127102, -0.203818, 0.970723
[11:52:55.148] xyz_f:0.756555, -0.434478, 1.894222  Reprojection Error: -0.286817, 0.035982 Feature: 0.109867, -0.188721, 0.975866
[11:52:55.148] xyz_f:0.445596, -0.142870, 1.891737  Reprojection Error: -0.452037, 0.170374 Feature: -0.210684, 0.092308, 0.973186
[11:52:55.148] xyz_f:0.733578, -0.433719, 1.891140  Reprojection Error: -0.299179, 0.036345 Feature: 0.086788, -0.188785, 0.978176
[11:52:55.148] xyz_f:0.852452, -0.633568, 1.775123  Reprojection Error: -0.269177, -0.105004 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.148] xyz_f:0.821182, -0.455524, 1.890239  Reprojection Error: -0.254580, 0.022664 Feature: 0.173063, -0.210081, 0.962245
[11:52:55.148] xyz_f:0.451173, -0.132734, 1.895994  Reprojection Error: -0.448490, 0.176036 Feature: -0.204913, 0.103200, 0.973324
[11:52:55.148] xyz_f:0.568899, -0.230447, 1.924271  Reprojection Error: -0.374020, 0.135945 Feature: -0.078127, 0.016135, 0.996813
[11:52:55.148] xyz_f:0.434417, 0.226707, 1.868510  Reprojection Error: -0.522008, 0.393499 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.148] xyz_f:0.745826, -0.449970, 1.884961  Reprojection Error: -0.294726, 0.027043 Feature: 0.098279, -0.206083, 0.973587
[11:52:55.148] xyz_f:0.792059, -0.453133, 1.889091  Reprojection Error: -0.270069, 0.024789 Feature: 0.144348, -0.208069, 0.967404
[11:52:55.148] xyz_f:0.803081, -0.441482, 1.895949  Reprojection Error: -0.262568, 0.031436 Feature: 0.155910, -0.195039, 0.968324
[11:52:55.148] xyz_f:0.737959, -0.463463, 1.876723  Reprojection Error: -0.300967, 0.019120 Feature: 0.089583, -0.221247, 0.971094
[11:52:55.148] xyz_f:0.798359, -0.463068, 1.884544  Reprojection Error: -0.268012, 0.018741 Feature: 0.150045, -0.218842, 0.964155
[11:52:55.148] xyz_f:0.701451, 0.103964, 1.980511  Reprojection Error: -0.307994, 0.326062 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.148] xyz_f:0.378963, -0.042476, 1.866904  Reprojection Error: -0.508424, 0.217223 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.148] xyz_f:0.587355, 0.039376, 1.957633  Reprojection Error: -0.372234, 0.278445 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.148] xyz_f:0.727154, -0.439194, 1.887371  Reprojection Error: -0.303412, 0.033167 Feature: 0.080021, -0.195050, 0.977524
[11:52:55.148] xyz_f:0.803679, -0.441413, 1.896033  Reprojection Error: -0.262235, 0.031464 Feature: 0.156506, -0.194951, 0.968246
[11:52:55.148] xyz_f:0.394331, -0.319715, 1.816117  Reprojection Error: -0.495542, 0.073736 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.148] xyz_f:0.608667, -0.102692, 1.959189  Reprojection Error: -0.350460, 0.202776 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.148] xyz_f:0.852452, -0.633568, 1.775123  Reprojection Error: -0.245647, -0.109720 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.148] xyz_f:0.234459, -0.092677, 1.786327  Reprojection Error: -0.014249, -0.177460 Feature: -0.442876, 0.113508, 0.911166
[11:52:55.148] xyz_f:-0.153948, -1.181719, 2.169329  Reprojection Error: 0.248369, 0.325797 Feature: -0.667367, -0.839298, 1.635960
[11:52:55.148] xyz_f:0.678915, 0.028166, 1.153847  Reprojection Error: -0.481341, -0.227207 Feature: -0.161646, 0.066536, 0.182551
[11:52:55.148] xyz_f:-0.144629, -1.140253, 2.162167  Reprojection Error: 0.235840, 0.324431 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.148] xyz_f:0.568236, -0.048843, 1.467916  Reprojection Error: -0.417278, 0.060308 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.148] xyz_f:0.394331, -0.319715, 1.816117  Reprojection Error: -0.246057, 0.227242 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.148] xyz_f:0.694459, -0.028736, 1.226713  Reprojection Error: -0.752141, 0.119435 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.148] xyz_f:0.378963, -0.042476, 1.866904  Reprojection Error: -0.475957, 0.218159 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.148] xyz_f:0.608667, -0.102692, 1.959189  Reprojection Error: -0.322279, 0.203389 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.148] xyz_f:0.587355, 0.039376, 1.957633  Reprojection Error: -0.345059, 0.278046 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.148] xyz_f:0.701451, 0.103964, 1.980511  Reprojection Error: -0.274062, 0.326734 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.148] xyz_f:0.434417, 0.226707, 1.868510  Reprojection Error: -0.480917, 0.395145 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.148] xyz_f:0.256402, -0.093079, 1.757872  Reprojection Error: -0.356350, 0.572136 Feature: -0.427976, 0.105755, 0.879397
[11:52:55.148] it:4 	 Success 	 new_chi2: 4.413966 	 dT = -0.052470, 0.083801, 0.005702
[11:52:55.148] xyz_f:0.653199, -0.220963, 2.014898  Reprojection Error: -0.393817, 0.136803 Feature: -0.069439, 0.027063, 0.997219
[11:52:55.148] xyz_f:0.664305, -0.221834, 2.018159  Reprojection Error: -0.387137, 0.137040 Feature: -0.057855, 0.027066, 0.997958
[11:52:55.148] xyz_f:0.813456, -0.453829, 1.966344  Reprojection Error: -0.321634, 0.014633 Feature: 0.089615, -0.210436, 0.973492
[11:52:55.148] xyz_f:0.850579, -0.448964, 1.973756  Reprojection Error: -0.300009, 0.017502 Feature: 0.127102, -0.203818, 0.970723
[11:52:55.148] xyz_f:0.832624, -0.434655, 1.978681  Reprojection Error: -0.308214, 0.026280 Feature: 0.109867, -0.188721, 0.975866
[11:52:55.148] xyz_f:0.521226, -0.143505, 1.977910  Reprojection Error: -0.480012, 0.167405 Feature: -0.210684, 0.092308, 0.973186
[11:52:55.148] xyz_f:0.809630, -0.433929, 1.975725  Reprojection Error: -0.321065, 0.026633 Feature: 0.086788, -0.188785, 0.978176
[11:52:55.148] xyz_f:0.928157, -0.633603, 1.859055  Reprojection Error: -0.288219, -0.121099 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.148] xyz_f:0.897260, -0.455605, 1.974342  Reprojection Error: -0.274607, 0.012439 Feature: 0.173063, -0.210081, 0.962245
[11:52:55.148] xyz_f:0.526812, -0.133362, 1.982137  Reprojection Error: -0.476309, 0.173310 Feature: -0.204913, 0.103200, 0.973324
[11:52:55.148] xyz_f:0.644836, -0.230901, 2.009764  Reprojection Error: -0.399228, 0.131076 Feature: -0.078127, 0.016135, 0.996813
[11:52:55.148] xyz_f:0.509375, 0.226055, 1.954747  Reprojection Error: -0.550097, 0.399185 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.148] xyz_f:0.821868, -0.450163, 1.969479  Reprojection Error: -0.316356, 0.016896 Feature: 0.098279, -0.206083, 0.973587
[11:52:55.148] xyz_f:0.868127, -0.453257, 1.973354  Reprojection Error: -0.290713, 0.014609 Feature: 0.144348, -0.208069, 0.967404
[11:52:55.148] xyz_f:0.879169, -0.441590, 1.980152  Reprojection Error: -0.282981, 0.021589 Feature: 0.155910, -0.195039, 0.968324
[11:52:55.148] xyz_f:0.813975, -0.463667, 1.961285  Reprojection Error: -0.322771, 0.008577 Feature: 0.089583, -0.221247, 0.971094
[11:52:55.148] xyz_f:0.874417, -0.463183, 1.968773  Reprojection Error: -0.288520, 0.008287 Feature: 0.150045, -0.218842, 0.964155
[11:52:55.148] xyz_f:0.777202, 0.103706, 2.065274  Reprojection Error: -0.330136, 0.328341 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.148] xyz_f:0.454310, -0.043211, 1.953445  Reprojection Error: -0.538002, 0.216591 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.148] xyz_f:0.663077, 0.038950, 2.043025  Reprojection Error: -0.396757, 0.279495 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.148] xyz_f:0.803193, -0.439414, 1.971992  Reprojection Error: -0.325439, 0.023293 Feature: 0.080021, -0.195050, 0.977524
[11:52:55.148] xyz_f:0.879768, -0.441520, 1.980233  Reprojection Error: -0.282636, 0.021619 Feature: 0.156506, -0.194951, 0.968246
[11:52:55.148] xyz_f:0.469807, -0.320426, 1.902573  Reprojection Error: -0.525346, 0.066110 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.148] xyz_f:0.684607, -0.103087, 2.044463  Reprojection Error: -0.374646, 0.200783 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.148] xyz_f:0.928157, -0.633603, 1.859055  Reprojection Error: -0.264689, -0.125815 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.148] xyz_f:0.309438, -0.093625, 1.873665  Reprojection Error: -0.048148, -0.179373 Feature: -0.442876, 0.113508, 0.911166
[11:52:55.148] xyz_f:-0.075245, -1.183238, 2.258796  Reprojection Error: 0.210715, 0.304893 Feature: -0.667367, -0.839298, 1.635960
[11:52:55.148] xyz_f:0.750225, 0.027871, 1.238746  Reprojection Error: -0.498581, -0.225296 Feature: -0.161646, 0.066536, 0.182551
[11:52:55.148] xyz_f:-0.066028, -1.141758, 2.251583  Reprojection Error: 0.198274, 0.304157 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.148] xyz_f:0.641392, -0.049299, 1.553420  Reprojection Error: -0.443064, 0.058771 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.148] xyz_f:0.469807, -0.320426, 1.902573  Reprojection Error: -0.275860, 0.219617 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.148] xyz_f:0.766254, -0.029007, 1.311526  Reprojection Error: -0.770274, 0.118127 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.148] xyz_f:0.454310, -0.043211, 1.953445  Reprojection Error: -0.505536, 0.217527 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.148] xyz_f:0.684607, -0.103087, 2.044463  Reprojection Error: -0.346465, 0.201396 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.148] xyz_f:0.663077, 0.038950, 2.043025  Reprojection Error: -0.369582, 0.279096 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.148] xyz_f:0.777202, 0.103706, 2.065274  Reprojection Error: -0.296204, 0.329013 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.148] xyz_f:0.509375, 0.226055, 1.954747  Reprojection Error: -0.509007, 0.400832 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.148] xyz_f:0.331225, -0.093995, 1.845089  Reprojection Error: -0.390007, 0.570130 Feature: -0.427976, 0.105755, 0.879397
[11:52:55.148] it:5 	 Success 	 new_chi2: 4.641793 	 dT = -0.055259, 0.086395, 0.004319
[11:52:55.148] xyz_f:0.840608, -0.220629, 1.927259  Reprojection Error: -0.505800, 0.141617 Feature: -0.069439, 0.027063, 0.997219
[11:52:55.148] xyz_f:0.851700, -0.221513, 1.930566  Reprojection Error: -0.499139, 0.141861 Feature: -0.057855, 0.027066, 0.997958
[11:52:55.148] xyz_f:1.000806, -0.453675, 1.879373  Reprojection Error: -0.440466, 0.025231 Feature: 0.089615, -0.210436, 0.973492
[11:52:55.148] xyz_f:1.037903, -0.448851, 1.886939  Reprojection Error: -0.419111, 0.027908 Feature: 0.127102, -0.203818, 0.970723
[11:52:55.148] xyz_f:1.019944, -0.434522, 1.891790  Reprojection Error: -0.426558, 0.036300 Feature: 0.109867, -0.188721, 0.975866
[11:52:55.148] xyz_f:0.708878, -0.143025, 1.889720  Reprojection Error: -0.591612, 0.170537 Feature: -0.210684, 0.092308, 0.973186
[11:52:55.148] xyz_f:0.996963, -0.433771, 1.888738  Reprojection Error: -0.439122, 0.036664 Feature: 0.086788, -0.188785, 0.978176
[11:52:55.148] xyz_f:1.115753, -0.633577, 1.772563  Reprojection Error: -0.418414, -0.104483 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.148] xyz_f:1.084574, -0.455545, 1.887720  Reprojection Error: -0.394688, 0.022996 Feature: 0.173063, -0.210081, 0.962245
[11:52:55.148] xyz_f:0.714457, -0.132887, 1.893970  Reprojection Error: -0.587756, 0.176191 Feature: -0.204913, 0.103200, 0.973324
[11:52:55.148] xyz_f:0.832255, -0.230558, 1.922090  Reprojection Error: -0.511371, 0.136138 Feature: -0.078127, 0.016135, 0.996813
[11:52:55.148] xyz_f:0.697536, 0.226548, 1.866509  Reprojection Error: -0.663225, 0.393454 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.148] xyz_f:1.009209, -0.450018, 1.882543  Reprojection Error: -0.435142, 0.027374 Feature: 0.098279, -0.206083, 0.973587
[11:52:55.148] xyz_f:1.055448, -0.453164, 1.886611  Reprojection Error: -0.410229, 0.025121 Feature: 0.144348, -0.208069, 0.967404
[11:52:55.148] xyz_f:1.066475, -0.441509, 1.893455  Reprojection Error: -0.402233, 0.031757 Feature: 0.155910, -0.195039, 0.968324
[11:52:55.148] xyz_f:1.001335, -0.463513, 1.874316  Reprojection Error: -0.441990, 0.019464 Feature: 0.089583, -0.221247, 0.971094
[11:52:55.148] xyz_f:1.061746, -0.463097, 1.882056  Reprojection Error: -0.408518, 0.019081 Feature: 0.150045, -0.218842, 0.964155
[11:52:55.148] xyz_f:0.964763, 0.103900, 1.978152  Reprojection Error: -0.441526, 0.326031 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.148] xyz_f:0.642176, -0.042655, 1.864977  Reprojection Error: -0.649768, 0.217343 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.148] xyz_f:0.850659, 0.039272, 1.955427  Reprojection Error: -0.507226, 0.278476 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.148] xyz_f:0.990536, -0.439248, 1.884979  Reprojection Error: -0.443628, 0.033491 Feature: 0.080021, -0.195050, 0.977524
[11:52:55.148] xyz_f:1.067073, -0.441440, 1.893538  Reprojection Error: -0.401895, 0.031785 Feature: 0.156506, -0.194951, 0.968246
[11:52:55.148] xyz_f:0.657575, -0.319888, 1.814169  Reprojection Error: -0.640880, 0.074021 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.148] xyz_f:0.872024, -0.102788, 1.956955  Reprojection Error: -0.485390, 0.202886 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.148] xyz_f:1.115753, -0.633577, 1.772563  Reprojection Error: -0.394883, -0.109199 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.148] xyz_f:0.497582, -0.092907, 1.784593  Reprojection Error: -0.161818, -0.177281 Feature: -0.442876, 0.113508, 0.911166
[11:52:55.148] xyz_f:0.110078, -1.182089, 2.168113  Reprojection Error: 0.126632, 0.326273 Feature: -0.667367, -0.839298, 1.635960
[11:52:55.148] xyz_f:0.941150, 0.028094, 1.151519  Reprojection Error: -0.710260, -0.227194 Feature: -0.161646, 0.066536, 0.182551
[11:52:55.148] xyz_f:0.119372, -1.140620, 2.160938  Reprojection Error: 0.113708, 0.324901 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.148] xyz_f:0.830918, -0.048954, 1.465736  Reprojection Error: -0.597069, 0.060434 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.148] xyz_f:0.657575, -0.319888, 1.814169  Reprojection Error: -0.391394, 0.227527 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.148] xyz_f:0.956811, -0.028802, 1.224365  Reprojection Error: -0.967503, 0.119533 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.148] xyz_f:0.642176, -0.042655, 1.864977  Reprojection Error: -0.617302, 0.218278 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.148] xyz_f:0.872024, -0.102788, 1.956955  Reprojection Error: -0.457209, 0.203498 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.148] xyz_f:0.850659, 0.039272, 1.955427  Reprojection Error: -0.480051, 0.278077 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.148] xyz_f:0.964763, 0.103900, 1.978152  Reprojection Error: -0.407594, 0.326703 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.148] xyz_f:0.697536, 0.226548, 1.866509  Reprojection Error: -0.622135, 0.395100 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.149] xyz_f:0.519488, -0.093302, 1.756108  Reprojection Error: -0.506308, 0.572316 Feature: -0.427976, 0.105755, 0.879397
[11:52:55.149] it:6 	 Success 	 new_chi2: 0.710291 	 dT = -0.015748, 0.105765, 0.000825
[11:52:55.149] xyz_f:0.713915, -0.220565, 1.821254  Reprojection Error: -0.461623, 0.148245 Feature: -0.069439, 0.027063, 0.997219
[11:52:55.149] xyz_f:0.725004, -0.221451, 1.824570  Reprojection Error: -0.455329, 0.148493 Feature: -0.057855, 0.027066, 0.997958
[11:52:55.149] xyz_f:0.874102, -0.453645, 1.773496  Reprojection Error: -0.400814, 0.039626 Feature: 0.089615, -0.210436, 0.973492
[11:52:55.149] xyz_f:0.911193, -0.448829, 1.781092  Reprojection Error: -0.380658, 0.042032 Feature: 0.127102, -0.203818, 0.970723
[11:52:55.149] xyz_f:0.893233, -0.434496, 1.785928  Reprojection Error: -0.387567, 0.049900 Feature: 0.109867, -0.188721, 0.975866
[11:52:55.149] xyz_f:0.582231, -0.142932, 1.783610  Reprojection Error: -0.542923, 0.174988 Feature: -0.210684, 0.092308, 0.973186
[11:52:55.149] xyz_f:0.870255, -0.433740, 1.782858  Reprojection Error: -0.399400, 0.050286 Feature: 0.086788, -0.188785, 0.978176
[11:52:55.149] xyz_f:0.989095, -0.633572, 1.666778  Reprojection Error: -0.382374, -0.081801 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.149] xyz_f:0.957862, -0.455532, 1.781910  Reprojection Error: -0.357695, 0.037319 Feature: 0.173063, -0.210081, 0.962245
[11:52:55.149] xyz_f:0.587809, -0.132796, 1.787865  Reprojection Error: -0.539306, 0.180304 Feature: -0.204913, 0.103200, 0.973324
[11:52:55.149] xyz_f:0.705564, -0.230492, 1.816078  Reprojection Error: -0.466886, 0.143104 Feature: -0.078127, 0.016135, 0.996813
[11:52:55.149] xyz_f:0.570987, 0.226643, 1.760390  Reprojection Error: -0.613866, 0.386083 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.149] xyz_f:0.882502, -0.449990, 1.776672  Reprojection Error: -0.395771, 0.041603 Feature: 0.098279, -0.206083, 0.973587
[11:52:55.149] xyz_f:0.928738, -0.453146, 1.780778  Reprojection Error: -0.372323, 0.039386 Feature: 0.144348, -0.208069, 0.967404
[11:52:55.149] xyz_f:0.939762, -0.441493, 1.787630  Reprojection Error: -0.364693, 0.045552 Feature: 0.155910, -0.195039, 0.968324
[11:52:55.149] xyz_f:0.874632, -0.463483, 1.768439  Reprojection Error: -0.402329, 0.034253 Feature: 0.089583, -0.221247, 0.971094
[11:52:55.149] xyz_f:0.935037, -0.463080, 1.776227  Reprojection Error: -0.370794, 0.033732 Feature: 0.150045, -0.218842, 0.964155
[11:52:55.149] xyz_f:0.838099, 0.103938, 1.872246  Reprojection Error: -0.401460, 0.323040 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.149] xyz_f:0.515571, -0.042549, 1.758814  Reprojection Error: -0.598569, 0.218663 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.149] xyz_f:0.723999, 0.039334, 1.849430  Reprojection Error: -0.463672, 0.277291 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.149] xyz_f:0.863830, -0.439216, 1.779093  Reprojection Error: -0.403684, 0.047342 Feature: 0.080021, -0.195050, 0.977524
[11:52:55.149] xyz_f:0.940360, -0.441424, 1.787714  Reprojection Error: -0.364374, 0.045576 Feature: 0.156506, -0.194951, 0.968246
[11:52:55.149] xyz_f:0.530951, -0.319785, 1.708019  Reprojection Error: -0.589271, 0.084919 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.149] xyz_f:0.745333, -0.102731, 1.850975  Reprojection Error: -0.442458, 0.205862 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.149] xyz_f:0.989095, -0.633572, 1.666778  Reprojection Error: -0.358843, -0.086517 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.149] xyz_f:0.371030, -0.092770, 1.678315  Reprojection Error: -0.104070, -0.174066 Feature: -0.442876, 0.113508, 0.911166
[11:52:55.149] xyz_f:-0.017012, -1.181869, 2.061526  Reprojection Error: 0.185656, 0.354355 Feature: -0.667367, -0.839298, 1.635960
[11:52:55.149] xyz_f:0.815128, 0.028137, 1.045595  Reprojection Error: -0.672532, -0.229706 Feature: -0.161646, 0.066536, 0.182551
[11:52:55.149] xyz_f:-0.007704, -1.140401, 2.054359  Reprojection Error: 0.172699, 0.352178 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.149] xyz_f:0.704629, -0.048888, 1.359723  Reprojection Error: -0.548389, 0.062989 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.149] xyz_f:0.530951, -0.319785, 1.708019  Reprojection Error: -0.339786, 0.238425 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.149] xyz_f:0.830719, -0.028763, 1.118453  Reprojection Error: -0.928767, 0.121726 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.149] xyz_f:0.515571, -0.042549, 1.758814  Reprojection Error: -0.566103, 0.219598 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.149] xyz_f:0.745333, -0.102731, 1.850975  Reprojection Error: -0.414277, 0.206474 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.149] xyz_f:0.723999, 0.039334, 1.849430  Reprojection Error: -0.436498, 0.276892 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.149] xyz_f:0.838099, 0.103938, 1.872246  Reprojection Error: -0.367528, 0.323712 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.149] xyz_f:0.570987, 0.226643, 1.760390  Reprojection Error: -0.572776, 0.387730 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.149] xyz_f:0.392958, -0.093169, 1.649847  Reprojection Error: -0.448669, 0.575658 Feature: -0.427976, 0.105755, 0.879397
[11:52:55.149] it:7 	 Success 	 new_chi2: 0.893440 	 dT = -0.028142, 0.094345, 0.002731
[11:52:55.149] xyz_f:0.617943, -0.220351, 1.726111  Reprojection Error: -0.427629, 0.154796 Feature: -0.069439, 0.027063, 0.997219
[11:52:55.149] xyz_f:0.629022, -0.221245, 1.729456  Reprojection Error: -0.421684, 0.155049 Feature: -0.057855, 0.027066, 0.997958
[11:52:55.149] xyz_f:0.778090, -0.453545, 1.678775  Reprojection Error: -0.371431, 0.053998 Feature: 0.089615, -0.210436, 0.973492
[11:52:55.149] xyz_f:0.815165, -0.448755, 1.686469  Reprojection Error: -0.352421, 0.056126 Feature: 0.127102, -0.203818, 0.970723
[11:52:55.149] xyz_f:0.797202, -0.434409, 1.691258  Reprojection Error: -0.358782, 0.063467 Feature: 0.109867, -0.188721, 0.975866
[11:52:55.149] xyz_f:0.486413, -0.142625, 1.688120  Reprojection Error: -0.504627, 0.179339 Feature: -0.210684, 0.092308, 0.973186
[11:52:55.149] xyz_f:0.774233, -0.433637, 1.688127  Reprojection Error: -0.369910, 0.063877 Feature: 0.086788, -0.188785, 0.978176
[11:52:55.149] xyz_f:0.893237, -0.633552, 1.572361  Reprojection Error: -0.357043, -0.058988 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.149] xyz_f:0.861826, -0.455491, 1.687410  Reprojection Error: -0.330886, 0.051611 Feature: 0.173063, -0.210081, 0.962245
[11:52:55.149] xyz_f:0.491987, -0.132493, 1.692390  Reprojection Error: -0.501234, 0.184316 Feature: -0.204913, 0.103200, 0.973324
[11:52:55.149] xyz_f:0.609598, -0.230272, 1.720913  Reprojection Error: -0.432606, 0.149995 Feature: -0.078127, 0.016135, 0.996813
[11:52:55.149] xyz_f:0.475491, 0.226958, 1.664871  Reprojection Error: -0.575116, 0.378508 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.149] xyz_f:0.786485, -0.449895, 1.681974  Reprojection Error: -0.366650, 0.055807 Feature: 0.098279, -0.206083, 0.973587
[11:52:55.149] xyz_f:0.832707, -0.453084, 1.686201  Reprojection Error: -0.344624, 0.053622 Feature: 0.144348, -0.208069, 0.967404
[11:52:55.149] xyz_f:0.843721, -0.441439, 1.693083  Reprojection Error: -0.337324, 0.059311 Feature: 0.155910, -0.195039, 0.968324
[11:52:55.149] xyz_f:0.778627, -0.463383, 1.673720  Reprojection Error: -0.372957, 0.049025 Feature: 0.089583, -0.221247, 0.971094
[11:52:55.149] xyz_f:0.839011, -0.463022, 1.681667  Reprojection Error: -0.343293, 0.048357 Feature: 0.150045, -0.218842, 0.964155
[11:52:55.149] xyz_f:0.742220, 0.104064, 1.777431  Reprojection Error: -0.371397, 0.320008 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.149] xyz_f:0.419889, -0.042195, 1.663148  Reprojection Error: -0.557900, 0.219841 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.149] xyz_f:0.628136, 0.039541, 1.754314  Reprojection Error: -0.430253, 0.276020 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.149] xyz_f:0.767813, -0.439108, 1.684346  Reprojection Error: -0.373992, 0.061165 Feature: 0.080021, -0.195050, 0.977524
[11:52:55.149] xyz_f:0.844319, -0.441370, 1.693168  Reprojection Error: -0.337023, 0.059332 Feature: 0.156506, -0.194951, 0.968246
[11:52:55.149] xyz_f:0.435208, -0.319442, 1.612394  Reprojection Error: -0.548327, 0.095810 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.149] xyz_f:0.649365, -0.102539, 1.755915  Reprojection Error: -0.409603, 0.208757 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.149] xyz_f:0.893237, -0.633552, 1.572361  Reprojection Error: -0.333512, -0.063704 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.149] xyz_f:0.275526, -0.092314, 1.582268  Reprojection Error: -0.057130, -0.170999 Feature: -0.442876, 0.113508, 0.911166
[11:52:55.149] xyz_f:-0.114295, -1.181138, 1.964453  Reprojection Error: 0.235585, 0.382313 Feature: -0.667367, -0.839298, 1.635960
[11:52:55.149] xyz_f:0.721377, 0.028278, 0.950722  Reprojection Error: -0.651716, -0.232540 Feature: -0.161646, 0.066536, 0.182551
[11:52:55.149] xyz_f:-0.104939, -1.139677, 1.957311  Reprojection Error: 0.222563, 0.379332 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.149] xyz_f:0.609996, -0.048668, 1.264558  Reprojection Error: -0.512553, 0.065521 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.149] xyz_f:0.435208, -0.319442, 1.612394  Reprojection Error: -0.298842, 0.249316 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.149] xyz_f:0.736736, -0.028632, 1.023621  Reprojection Error: -0.905763, 0.123981 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.149] xyz_f:0.419889, -0.042195, 1.663148  Reprojection Error: -0.525434, 0.220777 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.149] xyz_f:0.649365, -0.102539, 1.755915  Reprojection Error: -0.381422, 0.209370 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.149] xyz_f:0.628136, 0.039541, 1.754314  Reprojection Error: -0.403078, 0.275622 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.149] xyz_f:0.742220, 0.104064, 1.777431  Reprojection Error: -0.337465, 0.320680 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.149] xyz_f:0.475491, 0.226958, 1.664871  Reprojection Error: -0.534026, 0.380154 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.149] xyz_f:0.297529, -0.092729, 1.553859  Reprojection Error: -0.401968, 0.578863 Feature: -0.427976, 0.105755, 0.879397
[11:52:55.149] it:8 	 Success 	 new_chi2: 1.005874 	 dT = -0.033413, 0.078350, 0.003676
[11:52:55.149] xyz_f:0.525369, -0.220061, 1.646677  Reprojection Error: -0.388681, 0.160778 Feature: -0.069439, 0.027063, 0.997219
[11:52:55.149] xyz_f:0.536436, -0.220965, 1.650061  Reprojection Error: -0.383073, 0.161034 Feature: -0.057855, 0.027066, 0.997958
[11:52:55.149] xyz_f:0.685461, -0.453406, 1.599910  Reprojection Error: -0.336382, 0.067229 Feature: 0.089615, -0.210436, 0.973492
[11:52:55.149] xyz_f:0.722513, -0.448652, 1.607735  Reprojection Error: -0.318463, 0.069093 Feature: 0.127102, -0.203818, 0.970723
[11:52:55.149] xyz_f:0.704548, -0.434289, 1.612460  Reprojection Error: -0.324356, 0.075944 Feature: 0.109867, -0.188721, 0.975866
[11:52:55.149] xyz_f:0.394050, -0.142210, 1.608219  Reprojection Error: -0.461511, 0.183278 Feature: -0.210684, 0.092308, 0.973186
[11:52:55.149] xyz_f:0.681590, -0.433495, 1.609248  Reprojection Error: -0.334822, 0.076380 Feature: 0.086788, -0.188785, 0.978176
[11:52:55.149] xyz_f:0.800814, -0.633524, 1.493904  Reprojection Error: -0.325011, -0.037846 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.149] xyz_f:0.769165, -0.455432, 1.608842  Reprojection Error: -0.298233, 0.064757 Feature: 0.173063, -0.210081, 0.962245
[11:52:55.149] xyz_f:0.399618, -0.132083, 1.612508  Reprojection Error: -0.458353, 0.187939 Feature: -0.204913, 0.103200, 0.973324
[11:52:55.149] xyz_f:0.517034, -0.229974, 1.641449  Reprojection Error: -0.393363, 0.156290 Feature: -0.078127, 0.016135, 0.996813
[11:52:55.149] xyz_f:0.383562, 0.227384, 1.584931  Reprojection Error: -0.531519, 0.371363 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.149] xyz_f:0.693848, -0.449765, 1.603138  Reprojection Error: -0.331861, 0.068879 Feature: 0.098279, -0.206083, 0.973587
[11:52:55.149] xyz_f:0.740052, -0.452997, 1.607529  Reprojection Error: -0.311154, 0.066718 Feature: 0.144348, -0.208069, 0.967404
[11:52:55.149] xyz_f:0.751053, -0.441363, 1.614450  Reprojection Error: -0.304197, 0.071963 Feature: 0.155910, -0.195039, 0.968324
[11:52:55.149] xyz_f:0.686007, -0.463245, 1.594857  Reprojection Error: -0.337887, 0.062629 Feature: 0.089583, -0.221247, 0.971094
[11:52:55.149] xyz_f:0.746363, -0.462942, 1.603018  Reprojection Error: -0.309975, 0.061816 Feature: 0.150045, -0.218842, 0.964155
[11:52:55.149] xyz_f:0.649773, 0.104236, 1.698438  Reprojection Error: -0.336387, 0.317183 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.149] xyz_f:0.327710, -0.041716, 1.583011  Reprojection Error: -0.512451, 0.220823 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.149] xyz_f:0.535709, 0.039822, 1.674916  Reprojection Error: -0.392043, 0.274784 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.149] xyz_f:0.675179, -0.438960, 1.605443  Reprojection Error: -0.338695, 0.073885 Feature: 0.080021, -0.195050, 0.977524
[11:52:55.149] xyz_f:0.751650, -0.441295, 1.614538  Reprojection Error: -0.303913, 0.071981 Feature: 0.156506, -0.194951, 0.968246
[11:52:55.149] xyz_f:0.342945, -0.318978, 1.532311  Reprojection Error: -0.502222, 0.105861 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.149] xyz_f:0.556798, -0.102279, 1.676592  Reprojection Error: -0.371888, 0.211365 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.149] xyz_f:0.800814, -0.633524, 1.493904  Reprojection Error: -0.301481, -0.042562 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.149] xyz_f:0.183588, -0.091698, 1.501619  Reprojection Error: -0.005257, -0.168276 Feature: -0.442876, 0.113508, 0.911166
[11:52:55.149] xyz_f:-0.208624, -1.180150, 1.882416  Reprojection Error: 0.288231, 0.407991 Feature: -0.667367, -0.839298, 1.635960
[11:52:55.149] xyz_f:0.631793, 0.028469, 0.871660  Reprojection Error: -0.617764, -0.235457 Feature: -0.161646, 0.066536, 0.182551
[11:52:55.149] xyz_f:-0.199203, -1.138698, 1.875306  Reprojection Error: 0.275173, 0.404272 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.149] xyz_f:0.519225, -0.048370, 1.185098  Reprojection Error: -0.468302, 0.067850 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.149] xyz_f:0.342945, -0.318978, 1.532311  Reprojection Error: -0.252737, 0.259367 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.149] xyz_f:0.646838, -0.028456, 0.944613  Reprojection Error: -0.870793, 0.126134 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.149] xyz_f:0.327710, -0.041716, 1.583011  Reprojection Error: -0.479984, 0.221759 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.149] xyz_f:0.556798, -0.102279, 1.676592  Reprojection Error: -0.343707, 0.211977 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.149] xyz_f:0.535709, 0.039822, 1.674916  Reprojection Error: -0.364869, 0.274385 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.149] xyz_f:0.649773, 0.104236, 1.698438  Reprojection Error: -0.302456, 0.317855 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.149] xyz_f:0.383562, 0.227384, 1.584931  Reprojection Error: -0.490428, 0.373010 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.149] xyz_f:0.205691, -0.092133, 1.473288  Reprojection Error: -0.350104, 0.581722 Feature: -0.427976, 0.105755, 0.879397
[11:52:55.149] it:9 	 Success 	 new_chi2: 1.122374 	 dT = -0.033362, 0.058032, 0.002965
[11:52:55.149] xyz_f:0.444150, -0.219824, 1.587760  Reprojection Error: -0.349366, 0.165588 Feature: -0.069439, 0.027063, 0.997219
[11:52:55.149] xyz_f:0.455206, -0.220736, 1.591177  Reprojection Error: -0.344055, 0.165846 Feature: -0.057855, 0.027066, 0.997958
[11:52:55.149] xyz_f:0.604197, -0.453292, 1.541452  Reprojection Error: -0.299910, 0.077903 Feature: 0.089615, -0.210436, 0.973492
[11:52:55.149] xyz_f:0.641230, -0.448566, 1.549383  Reprojection Error: -0.282926, 0.079548 Feature: 0.127102, -0.203818, 0.970723
[11:52:55.149] xyz_f:0.623262, -0.434189, 1.554057  Reprojection Error: -0.288471, 0.086002 Feature: 0.109867, -0.188721, 0.975866
[11:52:55.149] xyz_f:0.313001, -0.141872, 1.548927  Reprojection Error: -0.418565, 0.186445 Feature: -0.210684, 0.092308, 0.973186
[11:52:55.149] xyz_f:0.600314, -0.433378, 1.550779  Reprojection Error: -0.298381, 0.086461 Feature: 0.086788, -0.188785, 0.978176
[11:52:55.149] xyz_f:0.719714, -0.633498, 1.435777  Reprojection Error: -0.290228, -0.020696 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.149] xyz_f:0.687872, -0.455383, 1.550623  Reprojection Error: -0.263757, 0.075353 Feature: 0.173063, -0.210081, 0.962245
[11:52:55.149] xyz_f:0.318565, -0.131750, 1.553232  Reprojection Error: -0.415627, 0.190851 Feature: -0.204913, 0.103200, 0.973324
[11:52:55.149] xyz_f:0.435823, -0.229731, 1.582509  Reprojection Error: -0.353776, 0.161355 Feature: -0.078127, 0.016135, 0.996813
[11:52:55.149] xyz_f:0.302864, 0.227729, 1.525610  Reprojection Error: -0.488034, 0.365558 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.149] xyz_f:0.612577, -0.449657, 1.544704  Reprojection Error: -0.295620, 0.079422 Feature: 0.098279, -0.206083, 0.973587
[11:52:55.149] xyz_f:0.658765, -0.452925, 1.549228  Reprojection Error: -0.276010, 0.077276 Feature: 0.144348, -0.208069, 0.967404
[11:52:55.149] xyz_f:0.669755, -0.441299, 1.556180  Reprojection Error: -0.269375, 0.082159 Feature: 0.155910, -0.195039, 0.968324
[11:52:55.149] xyz_f:0.604749, -0.463132, 1.536400  Reprojection Error: -0.301364, 0.073607 Feature: 0.089583, -0.221247, 0.971094
[11:52:55.149] xyz_f:0.665081, -0.462875, 1.544734  Reprojection Error: -0.274924, 0.072669 Feature: 0.150045, -0.218842, 0.964155
[11:52:55.149] xyz_f:0.568654, 0.104378, 1.639878  Reprojection Error: -0.300582, 0.314905 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.149] xyz_f:0.246811, -0.041327, 1.523529  Reprojection Error: -0.467433, 0.221597 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.149] xyz_f:0.454609, 0.040051, 1.616029  Reprojection Error: -0.353513, 0.273776 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.149] xyz_f:0.593910, -0.438838, 1.546956  Reprojection Error: -0.302061, 0.084144 Feature: 0.080021, -0.195050, 0.977524
[11:52:55.149] xyz_f:0.670353, -0.441232, 1.556269  Reprojection Error: -0.269105, 0.082174 Feature: 0.156506, -0.194951, 0.968246
[11:52:55.149] xyz_f:0.261979, -0.318601, 1.472873  Reprojection Error: -0.456282, 0.114005 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.149] xyz_f:0.475583, -0.102066, 1.617766  Reprojection Error: -0.333763, 0.213452 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.149] xyz_f:0.719714, -0.633498, 1.435777  Reprojection Error: -0.266698, -0.025411 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.149] xyz_f:0.102884, -0.091199, 1.441725  Reprojection Error: 0.045641, -0.166085 Feature: -0.442876, 0.113508, 0.911166
[11:52:55.149] xyz_f:-0.291252, -1.179349, 1.821395  Reprojection Error: 0.337309, 0.428555 Feature: -0.667367, -0.839298, 1.635960
[11:52:55.149] xyz_f:0.552983, 0.028623, 0.813052  Reprojection Error: -0.573081, -0.238001 Feature: -0.161646, 0.066536, 0.182551
[11:52:55.149] xyz_f:-0.281778, -1.137905, 1.814313  Reprojection Error: 0.324258, 0.424247 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.149] xyz_f:0.439459, -0.048130, 1.126167  Reprojection Error: -0.420400, 0.069772 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.150] xyz_f:0.261979, -0.318601, 1.472873  Reprojection Error: -0.206797, 0.267512 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.150] xyz_f:0.567776, -0.028313, 0.886048  Reprojection Error: -0.826824, 0.127964 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.150] xyz_f:0.246811, -0.041327, 1.523529  Reprojection Error: -0.434967, 0.222533 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.150] xyz_f:0.475583, -0.102066, 1.617766  Reprojection Error: -0.305582, 0.214064 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.150] xyz_f:0.454609, 0.040051, 1.616029  Reprojection Error: -0.326338, 0.273377 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.150] xyz_f:0.568654, 0.104378, 1.639878  Reprojection Error: -0.266651, 0.315577 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.150] xyz_f:0.302864, 0.227729, 1.525610  Reprojection Error: -0.446943, 0.367205 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.150] xyz_f:0.125068, -0.091652, 1.413457  Reprojection Error: -0.298974, 0.584028 Feature: -0.427976, 0.105755, 0.879397
[11:52:55.150] it:10 	 Success 	 new_chi2: 1.214791 	 dT = -0.029064, 0.042494, 0.001070
[11:52:55.150] xyz_f:0.380803, -0.219738, 1.544945  Reprojection Error: -0.316115, 0.169369 Feature: -0.069439, 0.027063, 0.997219
[11:52:55.150] xyz_f:0.391855, -0.220653, 1.548373  Reprojection Error: -0.311048, 0.169628 Feature: -0.057855, 0.027066, 0.997958
[11:52:55.150] xyz_f:0.540832, -0.453251, 1.498802  Reprojection Error: -0.268787, 0.086243 Feature: 0.089615, -0.210436, 0.973492
[11:52:55.150] xyz_f:0.577858, -0.448535, 1.506772  Reprojection Error: -0.252572, 0.087714 Feature: 0.127102, -0.203818, 0.970723
[11:52:55.150] xyz_f:0.559889, -0.434153, 1.511427  Reprojection Error: -0.257854, 0.093858 Feature: 0.109867, -0.188721, 0.975866
[11:52:55.150] xyz_f:0.249715, -0.141750, 1.505977  Reprojection Error: -0.382305, 0.188976 Feature: -0.210684, 0.092308, 0.973186
[11:52:55.150] xyz_f:0.536945, -0.433335, 1.508125  Reprojection Error: -0.267311, 0.094336 Feature: 0.086788, -0.188785, 0.978176
[11:52:55.150] xyz_f:0.656409, -0.633489, 1.393247  Reprojection Error: -0.260093, -0.007234 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.150] xyz_f:0.624498, -0.455364, 1.508060  Reprojection Error: -0.234253, 0.083630 Feature: 0.173063, -0.210081, 0.962245
[11:52:55.150] xyz_f:0.255277, -0.131629, 1.510288  Reprojection Error: -0.379554, 0.193183 Feature: -0.204913, 0.103200, 0.973324
[11:52:55.150] xyz_f:0.372478, -0.229642, 1.539685  Reprojection Error: -0.320294, 0.165335 Feature: -0.078127, 0.016135, 0.996813
[11:52:55.150] xyz_f:0.239704, 0.227854, 1.482649  Reprojection Error: -0.451187, 0.361149 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.150] xyz_f:0.549210, -0.449618, 1.502063  Reprojection Error: -0.264691, 0.087660 Feature: 0.098279, -0.206083, 0.973587
[11:52:55.150] xyz_f:0.595393, -0.452899, 1.506635  Reprojection Error: -0.245969, 0.085524 Feature: 0.144348, -0.208069, 0.967404
[11:52:55.150] xyz_f:0.606379, -0.441276, 1.513598  Reprojection Error: -0.239611, 0.090121 Feature: 0.155910, -0.195039, 0.968324
[11:52:55.150] xyz_f:0.541387, -0.463090, 1.493751  Reprojection Error: -0.270185, 0.082185 Feature: 0.089583, -0.221247, 0.971094
[11:52:55.150] xyz_f:0.601711, -0.462850, 1.502148  Reprojection Error: -0.244944, 0.081147 Feature: 0.150045, -0.218842, 0.964155
[11:52:55.150] xyz_f:0.505342, 0.104429, 1.597192  Reprojection Error: -0.270211, 0.313172 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.150] xyz_f:0.183580, -0.041187, 1.480511  Reprojection Error: -0.429431, 0.222290 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.150] xyz_f:0.391304, 0.040134, 1.573225  Reprojection Error: -0.320928, 0.273049 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.150] xyz_f:0.530543, -0.438794, 1.504296  Reprojection Error: -0.270825, 0.092159 Feature: 0.080021, -0.195050, 0.977524
[11:52:55.150] xyz_f:0.606976, -0.441209, 1.513688  Reprojection Error: -0.239353, 0.090134 Feature: 0.156506, -0.194951, 0.968246
[11:52:55.150] xyz_f:0.198722, -0.318464, 1.429869  Reprojection Error: -0.417393, 0.120416 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.150] xyz_f:0.412237, -0.101989, 1.574984  Reprojection Error: -0.301528, 0.215116 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.150] xyz_f:0.656409, -0.633489, 1.393247  Reprojection Error: -0.236562, -0.011949 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.150] xyz_f:0.039723, -0.091019, 1.398557  Reprojection Error: 0.088600, -0.164261 Feature: -0.442876, 0.113508, 0.911166
[11:52:55.150] xyz_f:-0.355106, -1.179059, 1.777820  Reprojection Error: 0.377146, 0.444263 Feature: -0.667367, -0.839298, 1.635960
[11:52:55.150] xyz_f:0.490505, 0.028679, 0.770350  Reprojection Error: -0.529679, -0.240025 Feature: -0.161646, 0.066536, 0.182551
[11:52:55.150] xyz_f:-0.345614, -1.137617, 1.770748  Reprojection Error: 0.364129, 0.439516 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.150] xyz_f:0.376636, -0.048042, 1.083347  Reprojection Error: -0.377834, 0.071381 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.150] xyz_f:0.198722, -0.318464, 1.429869  Reprojection Error: -0.167908, 0.273922 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.150] xyz_f:0.505207, -0.028261, 0.843361  Reprojection Error: -0.785068, 0.129520 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.150] xyz_f:0.183580, -0.041187, 1.480511  Reprojection Error: -0.396965, 0.223226 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.150] xyz_f:0.412237, -0.101989, 1.574984  Reprojection Error: -0.273347, 0.215728 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.150] xyz_f:0.391304, 0.040134, 1.573225  Reprojection Error: -0.293753, 0.272650 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.150] xyz_f:0.505342, 0.104429, 1.597192  Reprojection Error: -0.236279, 0.313844 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.150] xyz_f:0.239704, 0.227854, 1.482649  Reprojection Error: -0.410096, 0.362795 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.150] xyz_f:0.061936, -0.091477, 1.370312  Reprojection Error: -0.255689, 0.585943 Feature: -0.427976, 0.105755, 0.879397
[11:52:55.150] it:11 	 Success 	 new_chi2: 1.265535 	 dT = -0.029854, 0.047817, 0.003683
[11:52:55.150] xyz_f:0.335602, -0.219440, 1.496016  Reprojection Error: -0.293963, 0.173821 Feature: -0.069439, 0.027063, 0.997219
[11:52:55.150] xyz_f:0.346641, -0.220366, 1.499482  Reprojection Error: -0.289147, 0.174082 Feature: -0.057855, 0.027066, 0.997958
[11:52:55.150] xyz_f:0.495572, -0.453105, 1.450441  Reprojection Error: -0.249614, 0.096225 Feature: 0.089615, -0.210436, 0.973492
[11:52:55.150] xyz_f:0.532574, -0.448424, 1.458543  Reprojection Error: -0.234206, 0.097482 Feature: 0.127102, -0.203818, 0.970723
[11:52:55.150] xyz_f:0.514602, -0.434026, 1.463134  Reprojection Error: -0.239128, 0.103252 Feature: 0.109867, -0.188721, 0.975866
[11:52:55.150] xyz_f:0.204728, -0.141327, 1.456581  Reprojection Error: -0.357043, 0.191878 Feature: -0.210684, 0.092308, 0.973186
[11:52:55.150] xyz_f:0.491671, -0.433185, 1.459751  Reprojection Error: -0.248094, 0.103755 Feature: 0.086788, -0.188785, 0.978176
[11:52:55.150] xyz_f:0.611352, -0.633453, 1.345298  Reprojection Error: -0.243392, 0.008946 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.150] xyz_f:0.579202, -0.455298, 1.459997  Reprojection Error: -0.216861, 0.093525 Feature: 0.173063, -0.210081, 0.962245
[11:52:55.150] xyz_f:0.210284, -0.131211, 1.460911  Reprojection Error: -0.354470, 0.195843 Feature: -0.204913, 0.103200, 0.973324
[11:52:55.150] xyz_f:0.327286, -0.229336, 1.490726  Reprojection Error: -0.297924, 0.170028 Feature: -0.078127, 0.016135, 0.996813
[11:52:55.150] xyz_f:0.195153, 0.228287, 1.433218  Reprojection Error: -0.425678, 0.355547 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.150] xyz_f:0.503942, -0.449480, 1.453732  Reprojection Error: -0.245708, 0.097517 Feature: 0.098279, -0.206083, 0.973587
[11:52:55.150] xyz_f:0.550105, -0.452805, 1.458468  Reprojection Error: -0.227968, 0.095387 Feature: 0.144348, -0.208069, 0.967404
[11:52:55.150] xyz_f:0.561077, -0.441192, 1.465470  Reprojection Error: -0.221855, 0.099639 Feature: 0.155910, -0.195039, 0.968324
[11:52:55.150] xyz_f:0.496135, -0.462945, 1.445393  Reprojection Error: -0.251003, 0.092457 Feature: 0.089583, -0.221247, 0.971094
[11:52:55.150] xyz_f:0.556429, -0.462762, 1.454004  Reprojection Error: -0.227064, 0.091290 Feature: 0.150045, -0.218842, 0.964155
[11:52:55.150] xyz_f:0.460263, 0.104609, 1.548705  Reprojection Error: -0.251009, 0.311009 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.150] xyz_f:0.138780, -0.040701, 1.430880  Reprojection Error: -0.402423, 0.222916 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.150] xyz_f:0.346250, 0.040422, 1.524333  Reprojection Error: -0.299350, 0.272042 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.150] xyz_f:0.485277, -0.438638, 1.455898  Reprojection Error: -0.251457, 0.101749 Feature: 0.080021, -0.195050, 0.977524
[11:52:55.150] xyz_f:0.561674, -0.441126, 1.465563  Reprojection Error: -0.221609, 0.099649 Feature: 0.156506, -0.194951, 0.968246
[11:52:55.150] xyz_f:0.153838, -0.317993, 1.380292  Reprojection Error: -0.389867, 0.128074 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.150] xyz_f:0.367041, -0.101720, 1.526165  Reprojection Error: -0.280287, 0.217012 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.150] xyz_f:0.611352, -0.633453, 1.345298  Reprojection Error: -0.219862, 0.004230 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.150] xyz_f:-0.004832, -0.090395, 1.348415  Reprojection Error: 0.120587, -0.162303 Feature: -0.442876, 0.113508, 0.911166
[11:52:55.150] xyz_f:-0.402045, -1.178059, 1.726269  Reprojection Error: 0.410302, 0.463488 Feature: -0.667367, -0.839298, 1.635960
[11:52:55.150] xyz_f:0.448296, 0.028871, 0.721815  Reprojection Error: -0.514016, -0.242795 Feature: -0.161646, 0.066536, 0.182551
[11:52:55.150] xyz_f:-0.392488, -1.136626, 1.719231  Reprojection Error: 0.397242, 0.458190 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.150] xyz_f:0.333241, -0.047741, 1.034406  Reprojection Error: -0.352331, 0.073188 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.150] xyz_f:0.153838, -0.317993, 1.380292  Reprojection Error: -0.140382, 0.281580 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.150] xyz_f:0.462684, -0.028083, 0.794878  Reprojection Error: -0.768109, 0.131339 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.150] xyz_f:0.138780, -0.040701, 1.430880  Reprojection Error: -0.369956, 0.223851 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.150] xyz_f:0.367041, -0.101720, 1.526165  Reprojection Error: -0.252105, 0.217624 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.150] xyz_f:0.346250, 0.040422, 1.524333  Reprojection Error: -0.272175, 0.271643 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.150] xyz_f:0.460263, 0.104609, 1.548705  Reprojection Error: -0.217077, 0.311681 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.150] xyz_f:0.195153, 0.228287, 1.433218  Reprojection Error: -0.384587, 0.357193 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.150] xyz_f:0.017481, -0.090875, 1.320249  Reprojection Error: -0.223731, 0.588018 Feature: -0.427976, 0.105755, 0.879397
[11:52:55.150] it:12 	 Success 	 new_chi2: 1.292701 	 dT = -0.031454, 0.053759, 0.006933
[11:52:55.150] xyz_f:0.282814, -0.218869, 1.440128  Reprojection Error: -0.266013, 0.179118 Feature: -0.069439, 0.027063, 0.997219
[11:52:55.150] xyz_f:0.293828, -0.219815, 1.443669  Reprojection Error: -0.261502, 0.179383 Feature: -0.057855, 0.027066, 0.997958
[11:52:55.150] xyz_f:0.442666, -0.452822, 1.395625  Reprojection Error: -0.225126, 0.108292 Feature: 0.089615, -0.210436, 0.973492
[11:52:55.150] xyz_f:0.479621, -0.448207, 1.403974  Reprojection Error: -0.210682, 0.109277 Feature: 0.127102, -0.203818, 0.970723
[11:52:55.150] xyz_f:0.461645, -0.433776, 1.408444  Reprojection Error: -0.215186, 0.114594 Feature: 0.109867, -0.188721, 0.975866
[11:52:55.150] xyz_f:0.152348, -0.140522, 1.399818  Reprojection Error: -0.325323, 0.195237 Feature: -0.210684, 0.092308, 0.973186
[11:52:55.150] xyz_f:0.438738, -0.432895, 1.404908  Reprojection Error: -0.223566, 0.115133 Feature: 0.086788, -0.188785, 0.978176
[11:52:55.150] xyz_f:0.558824, -0.633378, 1.291257  Reprojection Error: -0.221731, 0.028594 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.150] xyz_f:0.526226, -0.455165, 1.405740  Reprojection Error: -0.194488, 0.105466 Feature: 0.173063, -0.210081, 0.962245
[11:52:55.150] xyz_f:0.157893, -0.130416, 1.404186  Reprojection Error: -0.322973, 0.198905 Feature: -0.204913, 0.103200, 0.973324
[11:52:55.150] xyz_f:0.274516, -0.228751, 1.434783  Reprojection Error: -0.269706, 0.175619 Feature: -0.078127, 0.016135, 0.996813
[11:52:55.150] xyz_f:0.143592, 0.229108, 1.376394  Reprojection Error: -0.393839, 0.348374 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.150] xyz_f:0.451020, -0.449212, 1.398972  Reprojection Error: -0.221448, 0.109428 Feature: 0.098279, -0.206083, 0.973587
[11:52:55.150] xyz_f:0.497144, -0.452620, 1.404016  Reprojection Error: -0.204875, 0.107296 Feature: 0.144348, -0.208069, 0.967404
[11:52:55.150] xyz_f:0.508090, -0.441026, 1.411092  Reprojection Error: -0.199059, 0.111123 Feature: 0.155910, -0.195039, 0.968324
[11:52:55.150] xyz_f:0.443246, -0.462663, 1.390579  Reprojection Error: -0.226499, 0.104879 Feature: 0.089583, -0.221247, 0.971094
[11:52:55.150] xyz_f:0.503481, -0.462588, 1.399594  Reprojection Error: -0.204110, 0.103538 Feature: 0.150045, -0.218842, 0.964155
[11:52:55.150] xyz_f:0.407701, 0.104955, 1.493653  Reprojection Error: -0.226772, 0.308288 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.150] xyz_f:0.086753, -0.039778, 1.373676  Reprojection Error: -0.368588, 0.223428 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.150] xyz_f:0.293739, 0.040973, 1.468517  Reprojection Error: -0.272225, 0.270659 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.150] xyz_f:0.432361, -0.438336, 1.401013  Reprojection Error: -0.226745, 0.113337 Feature: 0.080021, -0.195050, 0.977524
[11:52:55.150] xyz_f:0.508687, -0.440961, 1.411188  Reprojection Error: -0.198828, 0.111130 Feature: 0.156506, -0.194951, 0.968246
[11:52:55.150] xyz_f:0.101653, -0.317097, 1.323189  Reprojection Error: -0.355237, 0.137339 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.150] xyz_f:0.314262, -0.101206, 1.470488  Reprojection Error: -0.253500, 0.219186 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.150] xyz_f:0.558824, -0.633378, 1.291257  Reprojection Error: -0.198201, 0.023878 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.150] xyz_f:-0.056392, -0.089215, 1.290252  Reprojection Error: 0.160709, -0.160196 Feature: -0.442876, 0.113508, 0.911166
[11:52:55.150] xyz_f:-0.458077, -1.176162, 1.665431  Reprojection Error: 0.452453, 0.487278 Feature: -0.667367, -0.839298, 1.635960
[11:52:55.150] xyz_f:0.401135, 0.029234, 0.666701  Reprojection Error: -0.494620, -0.246646 Feature: -0.161646, 0.066536, 0.182551
[11:52:55.150] xyz_f:-0.448399, -1.134746, 1.658457  Reprojection Error: 0.439320, 0.481284 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.150] xyz_f:0.283853, -0.047169, 0.978513  Reprojection Error: -0.320260, 0.075240 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.150] xyz_f:0.101653, -0.317097, 1.323189  Reprojection Error: -0.105752, 0.290845 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.150] xyz_f:0.414931, -0.027745, 0.739859  Reprojection Error: -0.746853, 0.133510 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.150] xyz_f:0.086753, -0.039778, 1.373676  Reprojection Error: -0.336121, 0.224364 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.150] xyz_f:0.314262, -0.101206, 1.470488  Reprojection Error: -0.225319, 0.219798 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.150] xyz_f:0.293739, 0.040973, 1.468517  Reprojection Error: -0.245050, 0.270260 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.150] xyz_f:0.407701, 0.104955, 1.493653  Reprojection Error: -0.192841, 0.308960 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.150] xyz_f:0.143592, 0.229108, 1.376394  Reprojection Error: -0.352748, 0.350021 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.150] xyz_f:-0.033891, -0.089735, 1.262236  Reprojection Error: -0.183640, 0.590279 Feature: -0.427976, 0.105755, 0.879397
[11:52:55.150] it:13 	 Success 	 new_chi2: 1.312110 	 dT = -0.031403, 0.054561, 0.009371
[11:52:55.150] xyz_f:0.220147, -0.218080, 1.382620  Reprojection Error: -0.228857, 0.184868 Feature: -0.069439, 0.027063, 0.997219
[11:52:55.150] xyz_f:0.231126, -0.219052, 1.386260  Reprojection Error: -0.224699, 0.185138 Feature: -0.057855, 0.027066, 0.997958
[11:52:55.150] xyz_f:0.379827, -0.452419, 1.339563  Reprojection Error: -0.191490, 0.121571 Feature: 0.089615, -0.210436, 0.973492
[11:52:55.150] xyz_f:0.416716, -0.447895, 1.348246  Reprojection Error: -0.178145, 0.122241 Feature: 0.127102, -0.203818, 0.970723
[11:52:55.150] xyz_f:0.398736, -0.433420, 1.352554  Reprojection Error: -0.182218, 0.127057 Feature: 0.109867, -0.188721, 0.975866
[11:52:55.150] xyz_f:0.090241, -0.139417, 1.341132  Reprojection Error: -0.283776, 0.198806 Feature: -0.210684, 0.092308, 0.973186
[11:52:55.150] xyz_f:0.375864, -0.432483, 1.348810  Reprojection Error: -0.189940, 0.127643 Feature: 0.086788, -0.188785, 0.978176
[11:52:55.150] xyz_f:0.496487, -0.633258, 1.236249  Reprojection Error: -0.190563, 0.050323 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.150] xyz_f:0.463287, -0.454965, 1.350434  Reprojection Error: -0.163211, 0.118579 Feature: 0.173063, -0.210081, 0.962245
[11:52:55.150] xyz_f:0.095771, -0.129324, 1.345550  Reprojection Error: -0.281705, 0.202141 Feature: -0.204913, 0.103200, 0.973324
[11:52:55.150] xyz_f:0.211874, -0.227941, 1.377200  Reprojection Error: -0.232220, 0.181697 Feature: -0.078127, 0.016135, 0.996813
[11:52:55.150] xyz_f:0.082595, 0.230233, 1.317633  Reprojection Error: -0.352198, 0.340097 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.150] xyz_f:0.388159, -0.448830, 1.342985  Reprojection Error: -0.188082, 0.122530 Feature: 0.098279, -0.206083, 0.973587
[11:52:55.150] xyz_f:0.434228, -0.452349, 1.348447  Reprojection Error: -0.172809, 0.120380 Feature: 0.144348, -0.208069, 0.967404
[11:52:55.150] xyz_f:0.445137, -0.440783, 1.355622  Reprojection Error: -0.167354, 0.123732 Feature: 0.155910, -0.195039, 0.968324
[11:52:55.151] xyz_f:0.380429, -0.462262, 1.334523  Reprojection Error: -0.192817, 0.118555 Feature: 0.089583, -0.221247, 0.971094
[11:52:55.151] xyz_f:0.440579, -0.462333, 1.344083  Reprojection Error: -0.172169, 0.116999 Feature: 0.150045, -0.218842, 0.964155
[11:52:55.151] xyz_f:0.345329, 0.105441, 1.437277  Reprojection Error: -0.194083, 0.305193 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.151] xyz_f:0.025131, -0.038514, 1.314398  Reprojection Error: -0.324553, 0.223773 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.151] xyz_f:0.231444, 0.041735, 1.411110  Reprojection Error: -0.236217, 0.268983 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.151] xyz_f:0.369509, -0.437909, 1.344857  Reprojection Error: -0.192896, 0.126083 Feature: 0.080021, -0.195050, 0.977524
[11:52:55.151] xyz_f:0.445733, -0.440719, 1.355723  Reprojection Error: -0.167140, 0.123736 Feature: 0.156506, -0.194951, 0.968246
[11:52:55.151] xyz_f:0.039814, -0.315869, 1.264045  Reprojection Error: -0.309910, 0.147580 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.151] xyz_f:0.251604, -0.100493, 1.413265  Reprojection Error: -0.217818, 0.221468 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.151] xyz_f:0.496487, -0.633258, 1.236249  Reprojection Error: -0.167033, 0.045607 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.151] xyz_f:-0.117373, -0.087605, 1.229681  Reprojection Error: 0.212453, -0.158099 Feature: -0.442876, 0.113508, 0.911166
[11:52:55.151] xyz_f:-0.525073, -1.173570, 1.601197  Reprojection Error: 0.505329, 0.513991 Feature: -0.667367, -0.839298, 1.635960
[11:52:55.151] xyz_f:0.346066, 0.029728, 0.610299  Reprojection Error: -0.459991, -0.251507 Feature: -0.161646, 0.066536, 0.182551
[11:52:55.151] xyz_f:-0.515232, -1.132178, 1.594311  Reprojection Error: 0.492118, 0.507202 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.151] xyz_f:0.225780, -0.046388, 0.921036  Reprojection Error: -0.275312, 0.077400 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.151] xyz_f:0.039814, -0.315869, 1.264045  Reprojection Error: -0.060425, 0.301087 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.151] xyz_f:0.359061, -0.027284, 0.683577  Reprojection Error: -0.711295, 0.135924 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.151] xyz_f:0.025131, -0.038514, 1.314398  Reprojection Error: -0.292087, 0.224708 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.151] xyz_f:0.251604, -0.100493, 1.413265  Reprojection Error: -0.189637, 0.222080 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.151] xyz_f:0.231444, 0.041735, 1.411110  Reprojection Error: -0.209042, 0.268584 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.151] xyz_f:0.345329, 0.105441, 1.437277  Reprojection Error: -0.160151, 0.305865 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.151] xyz_f:0.082595, 0.230233, 1.317633  Reprojection Error: -0.311107, 0.341744 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.151] xyz_f:-0.094621, -0.088180, 1.201870  Reprojection Error: -0.131762, 0.592555 Feature: -0.427976, 0.105755, 0.879397
[11:52:55.151] it:14 	 Success 	 new_chi2: 1.306222 	 dT = -0.025911, 0.048078, 0.008088
[11:52:55.151] xyz_f:0.152473, -0.217381, 1.331934  Reprojection Error: -0.184107, 0.190346 Feature: -0.069439, 0.027063, 0.997219
[11:52:55.151] xyz_f:0.163421, -0.218376, 1.335660  Reprojection Error: -0.180325, 0.190618 Feature: -0.057855, 0.027066, 0.997958
[11:52:55.151] xyz_f:0.311994, -0.452055, 1.290124  Reprojection Error: -0.149777, 0.134231 Feature: 0.089615, -0.210436, 0.973492
[11:52:55.151] xyz_f:0.348823, -0.447607, 1.299095  Reprojection Error: -0.137578, 0.134588 Feature: 0.127102, -0.203818, 0.970723
[11:52:55.151] xyz_f:0.330840, -0.433095, 1.303262  Reprojection Error: -0.141271, 0.138927 Feature: 0.109867, -0.188721, 0.975866
[11:52:55.151] xyz_f:0.023060, -0.138447, 1.289433  Reprojection Error: -0.234372, 0.202221 Feature: -0.210684, 0.092308, 0.973186
[11:52:55.151] xyz_f:0.308000, -0.432110, 1.299340  Reprojection Error: -0.148320, 0.139564 Feature: 0.086788, -0.188785, 0.978176
[11:52:55.151] xyz_f:0.429078, -0.633138, 1.187723  Reprojection Error: -0.150217, 0.071150 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.151] xyz_f:0.395360, -0.454775, 1.301647  Reprojection Error: -0.123885, 0.131061 Feature: 0.173063, -0.210081, 0.962245
[11:52:55.151] xyz_f:0.028576, -0.128366, 1.293894  Reprojection Error: -0.232615, 0.205237 Feature: -0.204913, 0.103200, 0.973324
[11:52:55.151] xyz_f:0.144222, -0.227225, 1.326449  Reprojection Error: -0.187104, 0.187490 Feature: -0.078127, 0.016135, 0.996813
[11:52:55.151] xyz_f:0.016371, 0.231218, 1.265878  Reprojection Error: -0.302447, 0.332175 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.151] xyz_f:0.320306, -0.448482, 1.293611  Reprojection Error: -0.146661, 0.135017 Feature: 0.098279, -0.206083, 0.973587
[11:52:55.151] xyz_f:0.366323, -0.452099, 1.299433  Reprojection Error: -0.132698, 0.132841 Feature: 0.144348, -0.208069, 0.967404
[11:52:55.151] xyz_f:0.377200, -0.440555, 1.306692  Reprojection Error: -0.127658, 0.135733 Feature: 0.155910, -0.195039, 0.968324
[11:52:55.151] xyz_f:0.312614, -0.461898, 1.285088  Reprojection Error: -0.151013, 0.131597 Feature: 0.089583, -0.221247, 0.971094
[11:52:55.151] xyz_f:0.372688, -0.462096, 1.295118  Reprojection Error: -0.132141, 0.129820 Feature: 0.150045, -0.218842, 0.964155
[11:52:55.151] xyz_f:0.277901, 0.105878, 1.387570  Reprojection Error: -0.154096, 0.302251 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.151] xyz_f:-0.041628, -0.037408, 1.262192  Reprojection Error: -0.272453, 0.224108 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.151] xyz_f:0.164091, 0.042410, 1.360513  Reprojection Error: -0.192811, 0.267387 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.151] xyz_f:0.301665, -0.437523, 1.295338  Reprojection Error: -0.151024, 0.138233 Feature: 0.080021, -0.195050, 0.977524
[11:52:55.151] xyz_f:0.377795, -0.440492, 1.306799  Reprojection Error: -0.127461, 0.135733 Feature: 0.156506, -0.194951, 0.968246
[11:52:55.151] xyz_f:-0.027133, -0.314793, 1.211953  Reprojection Error: -0.256026, 0.157433 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.151] xyz_f:0.183936, -0.099860, 1.362825  Reprojection Error: -0.174754, 0.223635 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.151] xyz_f:0.429078, -0.633138, 1.187723  Reprojection Error: -0.126687, 0.066434 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.151] xyz_f:-0.183568, -0.086201, 1.176363  Reprojection Error: 0.273050, -0.156064 Feature: -0.442876, 0.113508, 0.911166
[11:52:55.151] xyz_f:-0.596431, -1.171307, 1.544674  Reprojection Error: 0.563524, 0.539345 Feature: -0.667367, -0.839298, 1.635960
[11:52:55.151] xyz_f:0.284940, 0.030156, 0.560622  Reprojection Error: -0.401205, -0.256587 Feature: -0.161646, 0.066536, 0.182551
[11:52:55.151] xyz_f:-0.586449, -1.129936, 1.537866  Reprojection Error: 0.550289, 0.531809 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.151] xyz_f:0.162072, -0.045705, 0.870409  Reprojection Error: -0.216376, 0.079545 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.151] xyz_f:-0.027133, -0.314793, 1.211953  Reprojection Error: -0.006541, 0.310940 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.151] xyz_f:0.297243, -0.026883, 0.633999  Reprojection Error: -0.654865, 0.138411 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.151] xyz_f:-0.041628, -0.037408, 1.262192  Reprojection Error: -0.239986, 0.225044 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.151] xyz_f:0.183936, -0.099860, 1.362825  Reprojection Error: -0.146573, 0.224248 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.151] xyz_f:0.164091, 0.042410, 1.360513  Reprojection Error: -0.165636, 0.266989 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.151] xyz_f:0.277901, 0.105878, 1.387570  Reprojection Error: -0.120164, 0.302922 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.151] xyz_f:0.016371, 0.231218, 1.265878  Reprojection Error: -0.261356, 0.333821 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.151] xyz_f:-0.160601, -0.086824, 1.148731  Reprojection Error: -0.070683, 0.594769 Feature: -0.427976, 0.105755, 0.879397
[11:52:55.151] it:15 	 Success 	 new_chi2: 1.258222 	 dT = -0.014947, 0.039295, 0.002554
[11:52:55.151] xyz_f:0.091028, -0.217157, 1.291803  Reprojection Error: -0.140098, 0.195242 Feature: -0.069439, 0.027063, 0.997219
[11:52:55.151] xyz_f:0.101966, -0.218160, 1.295556  Reprojection Error: -0.136678, 0.195512 Feature: -0.057855, 0.027066, 0.997958
[11:52:55.151] xyz_f:0.250496, -0.451936, 1.250386  Reprojection Error: -0.108280, 0.145271 Feature: 0.089615, -0.210436, 0.973492
[11:52:55.151] xyz_f:0.287307, -0.447513, 1.259448  Reprojection Error: -0.097186, 0.145360 Feature: 0.127102, -0.203818, 0.970723
[11:52:55.151] xyz_f:0.269323, -0.432989, 1.263571  Reprojection Error: -0.100560, 0.149282 Feature: 0.109867, -0.188721, 0.975866
[11:52:55.151] xyz_f:-0.038227, -0.138137, 1.248983  Reprojection Error: -0.185882, 0.205451 Feature: -0.210684, 0.092308, 0.973186
[11:52:55.151] xyz_f:0.246494, -0.431989, 1.259593  Reprojection Error: -0.106969, 0.149962 Feature: 0.086788, -0.188785, 0.978176
[11:52:55.151] xyz_f:0.367713, -0.633097, 1.148275  Reprojection Error: -0.109187, 0.089427 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.151] xyz_f:0.333832, -0.454712, 1.262115  Reprojection Error: -0.084649, 0.141954 Feature: 0.173063, -0.210081, 0.962245
[11:52:55.151] xyz_f:-0.032715, -0.128060, 1.253457  Reprojection Error: -0.184429, 0.208193 Feature: -0.204913, 0.103200, 0.973324
[11:52:55.151] xyz_f:0.082784, -0.226996, 1.286298  Reprojection Error: -0.142735, 0.192658 Feature: -0.078127, 0.016135, 0.996813
[11:52:55.151] xyz_f:-0.044614, 0.231532, 1.225412  Reprojection Error: -0.253107, 0.325887 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.151] xyz_f:0.258803, -0.448369, 1.253894  Reprojection Error: -0.105454, 0.145908 Feature: 0.098279, -0.206083, 0.973587
[11:52:55.151] xyz_f:0.304803, -0.452016, 1.259829  Reprojection Error: -0.092728, 0.143712 Feature: 0.144348, -0.208069, 0.967404
[11:52:55.151] xyz_f:0.315670, -0.440479, 1.267116  Reprojection Error: -0.088115, 0.146204 Feature: 0.155910, -0.195039, 0.968324
[11:52:55.151] xyz_f:0.251123, -0.461780, 1.245353  Reprojection Error: -0.109398, 0.142970 Feature: 0.089583, -0.221247, 0.971094
[11:52:55.151] xyz_f:0.311172, -0.462017, 1.255530  Reprojection Error: -0.092218, 0.141008 Feature: 0.150045, -0.218842, 0.964155
[11:52:55.151] xyz_f:0.216533, 0.106019, 1.347749  Reprojection Error: -0.114479, 0.299891 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.151] xyz_f:-0.102781, -0.037056, 1.221583  Reprojection Error: -0.221296, 0.224805 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.151] xyz_f:0.102748, 0.042626, 1.320411  Reprojection Error: -0.150016, 0.266277 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.151] xyz_f:0.240165, -0.437398, 1.255575  Reprojection Error: -0.109418, 0.148830 Feature: 0.080021, -0.195050, 0.977524
[11:52:55.151] xyz_f:0.316265, -0.440417, 1.267224  Reprojection Error: -0.087934, 0.146200 Feature: 0.156506, -0.194951, 0.968246
[11:52:55.151] xyz_f:-0.088345, -0.314451, 1.171379  Reprojection Error: -0.202993, 0.166138 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.151] xyz_f:0.122492, -0.099657, 1.322771  Reprojection Error: -0.132390, 0.225700 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.151] xyz_f:0.367713, -0.633097, 1.148275  Reprojection Error: -0.085657, 0.084712 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.151] xyz_f:-0.244541, -0.085755, 1.135404  Reprojection Error: 0.332381, -0.153813 Feature: -0.442876, 0.113508, 0.911166
[11:52:55.151] xyz_f:-0.659028, -1.170588, 1.502694  Reprojection Error: 0.615968, 0.560050 Feature: -0.667367, -0.839298, 1.635960
[11:52:55.151] xyz_f:0.225562, 0.030292, 0.520820  Reprojection Error: -0.326038, -0.260958 Feature: -0.161646, 0.066536, 0.182551
[11:52:55.151] xyz_f:-0.649003, -1.129223, 1.495910  Reprojection Error: 0.602800, 0.551939 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.151] xyz_f:0.101879, -0.045488, 0.830303  Reprojection Error: -0.152875, 0.081819 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.151] xyz_f:-0.088345, -0.314451, 1.171379  Reprojection Error: 0.046492, 0.319644 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.151] xyz_f:0.237646, -0.026755, 0.594228  Reprojection Error: -0.585951, 0.141034 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.151] xyz_f:-0.102781, -0.037056, 1.221583  Reprojection Error: -0.188829, 0.225741 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.151] xyz_f:0.122492, -0.099657, 1.322771  Reprojection Error: -0.104209, 0.226313 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.151] xyz_f:0.102748, 0.042626, 1.320411  Reprojection Error: -0.122841, 0.265878 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.151] xyz_f:0.216533, 0.106019, 1.347749  Reprojection Error: -0.080548, 0.300563 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.151] xyz_f:-0.044614, 0.231532, 1.225412  Reprojection Error: -0.212016, 0.327534 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.151] xyz_f:-0.221506, -0.086393, 1.107829  Reprojection Error: -0.010544, 0.597171 Feature: -0.427976, 0.105755, 0.879397
[11:52:55.151] it:16 	 Success 	 new_chi2: 1.188055 	 dT = -0.005725, 0.035221, -0.002115
[11:52:55.151] xyz_f:0.044500, -0.217342, 1.257275  Reprojection Error: -0.105026, 0.200006 Feature: -0.069439, 0.027063, 0.997219
[11:52:55.151] xyz_f:0.055447, -0.218339, 1.261005  Reprojection Error: -0.101943, 0.200268 Feature: -0.057855, 0.027066, 0.997958
[11:52:55.151] xyz_f:0.204012, -0.452034, 1.215532  Reprojection Error: -0.075782, 0.155716 Feature: 0.089615, -0.210436, 0.973492
[11:52:55.151] xyz_f:0.240838, -0.447591, 1.224519  Reprojection Error: -0.065745, 0.155559 Feature: 0.127102, -0.203818, 0.970723
[11:52:55.151] xyz_f:0.222855, -0.433077, 1.228679  Reprojection Error: -0.068794, 0.159085 Feature: 0.109867, -0.188721, 0.975866
[11:52:55.151] xyz_f:-0.084885, -0.138393, 1.214719  Reprojection Error: -0.146608, 0.208781 Feature: -0.210684, 0.092308, 0.973186
[11:52:55.151] xyz_f:0.200017, -0.432090, 1.224747  Reprojection Error: -0.074589, 0.159802 Feature: 0.086788, -0.188785, 0.978176
[11:52:55.151] xyz_f:0.321119, -0.633131, 1.113181  Reprojection Error: -0.077426, 0.106839 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.151] xyz_f:0.287373, -0.454764, 1.227091  Reprojection Error: -0.054337, 0.152280 Feature: 0.173063, -0.210081, 0.962245
[11:52:55.151] xyz_f:-0.079370, -0.128313, 1.219182  Reprojection Error: -0.145428, 0.211273 Feature: -0.204913, 0.103200, 0.973324
[11:52:55.151] xyz_f:0.036250, -0.227186, 1.251786  Reprojection Error: -0.107335, 0.197676 Feature: -0.078127, 0.016135, 0.996813
[11:52:55.151] xyz_f:-0.091522, 0.231272, 1.191161  Reprojection Error: -0.212679, 0.320672 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.151] xyz_f:0.212324, -0.448463, 1.219023  Reprojection Error: -0.073230, 0.156214 Feature: 0.098279, -0.206083, 0.973587
[11:52:55.151] xyz_f:0.258338, -0.452084, 1.224864  Reprojection Error: -0.061699, 0.154010 Feature: 0.144348, -0.208069, 0.967404
[11:52:55.151] xyz_f:0.269213, -0.440542, 1.232129  Reprojection Error: -0.057484, 0.156126 Feature: 0.155910, -0.195039, 0.968324
[11:52:55.151] xyz_f:0.204633, -0.461878, 1.210498  Reprojection Error: -0.076799, 0.153728 Feature: 0.089583, -0.221247, 0.971094
[11:52:55.151] xyz_f:0.264703, -0.462082, 1.220552  Reprojection Error: -0.061249, 0.151607 Feature: 0.150045, -0.218842, 0.964155
[11:52:55.151] xyz_f:0.169942, 0.105902, 1.312964  Reprojection Error: -0.083250, 0.297896 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.151] xyz_f:-0.149551, -0.037348, 1.187451  Reprojection Error: -0.179491, 0.225923 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.151] xyz_f:0.056136, 0.042447, 1.285859  Reprojection Error: -0.115857, 0.265549 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.151] xyz_f:0.193683, -0.437502, 1.220742  Reprojection Error: -0.076799, 0.158855 Feature: 0.080021, -0.195050, 0.977524
[11:52:55.151] xyz_f:0.269808, -0.440479, 1.232235  Reprojection Error: -0.057320, 0.156119 Feature: 0.156506, -0.194951, 0.968246
[11:52:55.151] xyz_f:-0.135065, -0.314734, 1.137218  Reprojection Error: -0.159645, 0.174451 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.151] xyz_f:0.075963, -0.099825, 1.288179  Reprojection Error: -0.098757, 0.227854 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.151] xyz_f:0.321119, -0.633131, 1.113181  Reprojection Error: -0.053896, 0.102124 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.151] xyz_f:-0.291459, -0.086125, 1.101562  Reprojection Error: 0.381591, -0.151158 Feature: -0.442876, 0.113508, 0.911166
[11:52:55.151] xyz_f:-0.704602, -1.171184, 1.469697  Reprojection Error: 0.656823, 0.577946 Feature: -0.667367, -0.839298, 1.635960
[11:52:55.151] xyz_f:0.177323, 0.030179, 0.486019  Reprojection Error: -0.257797, -0.264892 Feature: -0.161646, 0.066536, 0.182551
[11:52:55.151] xyz_f:-0.694613, -1.129814, 1.462893  Reprojection Error: 0.643771, 0.569380 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.151] xyz_f:0.054315, -0.045668, 0.795754  Reprojection Error: -0.098430, 0.084424 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.151] xyz_f:-0.135065, -0.314734, 1.137218  Reprojection Error: 0.089840, 0.327958 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.151] xyz_f:0.189588, -0.026861, 0.559402  Reprojection Error: -0.524940, 0.144026 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.151] xyz_f:-0.149551, -0.037348, 1.187451  Reprojection Error: -0.147025, 0.226858 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.151] xyz_f:0.075963, -0.099825, 1.288179  Reprojection Error: -0.070576, 0.228466 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.151] xyz_f:0.056136, 0.042447, 1.285859  Reprojection Error: -0.088683, 0.265150 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.151] xyz_f:0.169942, 0.105902, 1.312964  Reprojection Error: -0.049319, 0.298568 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.151] xyz_f:-0.091522, 0.231272, 1.191161  Reprojection Error: -0.171589, 0.322319 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.151] xyz_f:-0.268481, -0.086750, 1.073939  Reprojection Error: 0.039506, 0.599964 Feature: -0.427976, 0.105755, 0.879397
[11:52:55.151] it:17 	 Success 	 new_chi2: 1.139658 	 dT = -0.000370, 0.034629, -0.004473
[11:52:55.151] xyz_f:0.008136, -0.217731, 1.224097  Reprojection Error: -0.076279, 0.205010 Feature: -0.069439, 0.027063, 0.997219
[11:52:55.151] xyz_f:0.019100, -0.218715, 1.227780  Reprojection Error: -0.073529, 0.205260 Feature: -0.057855, 0.027066, 0.997958
[11:52:55.151] xyz_f:0.167738, -0.452239, 1.181665  Reprojection Error: -0.049895, 0.166547 Feature: 0.089615, -0.210436, 0.973492
[11:52:55.151] xyz_f:0.204597, -0.447753, 1.190493  Reprojection Error: -0.040925, 0.166142 Feature: 0.127102, -0.203818, 0.970723
[11:52:55.151] xyz_f:0.186615, -0.433259, 1.194730  Reprojection Error: -0.043615, 0.169253 Feature: 0.109867, -0.188721, 0.975866
[11:52:55.151] xyz_f:-0.121523, -0.138932, 1.182100  Reprojection Error: -0.113686, 0.212381 Feature: -0.210684, 0.092308, 0.973186
[11:52:55.151] xyz_f:0.163760, -0.432298, 1.190897  Reprojection Error: -0.048786, 0.170005 Feature: 0.086788, -0.188785, 0.978176
[11:52:55.151] xyz_f:0.284611, -0.633200, 1.078809  Reprojection Error: -0.052776, 0.125025 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.152] xyz_f:0.251151, -0.454872, 1.192863  Reprojection Error: -0.030692, 0.163004 Feature: 0.173063, -0.210081, 0.962245
[11:52:55.152] xyz_f:-0.116000, -0.128846, 1.186540  Reprojection Error: -0.112766, 0.214617 Feature: -0.204913, 0.103200, 0.973324
[11:52:55.152] xyz_f:-0.000126, -0.227584, 1.218644  Reprojection Error: -0.078273, 0.202938 Feature: -0.078127, 0.016135, 0.996813
[11:52:55.152] xyz_f:-0.128690, 0.230725, 1.158573  Reprojection Error: -0.178438, 0.315683 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.152] xyz_f:0.176060, -0.448658, 1.185120  Reprojection Error: -0.047613, 0.166902 Feature: 0.098279, -0.206083, 0.973587
[11:52:55.152] xyz_f:0.222103, -0.452226, 1.190762  Reprojection Error: -0.037310, 0.164699 Feature: 0.144348, -0.208069, 0.967404
[11:52:55.152] xyz_f:0.232997, -0.440671, 1.197980  Reprojection Error: -0.033482, 0.166425 Feature: 0.155910, -0.195039, 0.968324
[11:52:55.152] xyz_f:0.168349, -0.462082, 1.176628  Reprojection Error: -0.050827, 0.164884 Feature: 0.089583, -0.221247, 0.971094
[11:52:55.152] xyz_f:0.228462, -0.462216, 1.186423  Reprojection Error: -0.036940, 0.162610 Feature: 0.150045, -0.218842, 0.964155
[11:52:55.152] xyz_f:0.133443, 0.105658, 1.279245  Reprojection Error: -0.058131, 0.295961 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.152] xyz_f:-0.186423, -0.037961, 1.155112  Reprojection Error: -0.144044, 0.227335 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.152] xyz_f:0.019595, 0.042072, 1.252631  Reprojection Error: -0.087844, 0.264973 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.152] xyz_f:0.157414, -0.437718, 1.186919  Reprojection Error: -0.050763, 0.169250 Feature: 0.080021, -0.195050, 0.977524
[11:52:55.152] xyz_f:0.233592, -0.440607, 1.198084  Reprojection Error: -0.033333, 0.166415 Feature: 0.156506, -0.194951, 0.968246
[11:52:55.152] xyz_f:-0.171834, -0.315331, 1.104816  Reprojection Error: -0.122882, 0.183108 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.152] xyz_f:0.039597, -0.100178, 1.254865  Reprojection Error: -0.071342, 0.230192 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.152] xyz_f:0.284611, -0.633200, 1.078809  Reprojection Error: -0.029246, 0.120309 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.152] xyz_f:-0.328645, -0.086903, 1.069837  Reprojection Error: 0.424195, -0.148112 Feature: -0.442876, 0.113508, 0.911166
[11:52:55.152] xyz_f:-0.738937, -1.172439, 1.439751  Reprojection Error: 0.690642, 0.595392 Feature: -0.667367, -0.839298, 1.635960
[11:52:55.152] xyz_f:0.137339, 0.029942, 0.452275  Reprojection Error: -0.196611, -0.269000 Feature: -0.161646, 0.066536, 0.182551
[11:52:55.152] xyz_f:-0.729025, -1.131057, 1.432904  Reprojection Error: 0.677723, 0.586411 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.152] xyz_f:0.015758, -0.046047, 0.762538  Reprojection Error: -0.050839, 0.087421 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.152] xyz_f:-0.171834, -0.315331, 1.104816  Reprojection Error: 0.126603, 0.336615 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.152] xyz_f:0.149987, -0.027083, 0.525604  Reprojection Error: -0.471389, 0.147538 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.152] xyz_f:-0.186423, -0.037961, 1.155112  Reprojection Error: -0.111578, 0.228270 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.152] xyz_f:0.039597, -0.100178, 1.254865  Reprojection Error: -0.043161, 0.230805 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.152] xyz_f:0.019595, 0.042072, 1.252631  Reprojection Error: -0.060669, 0.264574 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.152] xyz_f:0.133443, 0.105658, 1.279245  Reprojection Error: -0.024199, 0.296633 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.152] xyz_f:-0.128690, 0.230725, 1.158573  Reprojection Error: -0.137347, 0.317330 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.152] xyz_f:-0.305785, -0.087502, 1.042116  Reprojection Error: 0.082937, 0.603152 Feature: -0.427976, 0.105755, 0.879397
[11:52:55.152] it:18 	 Success 	 new_chi2: 1.127730 	 dT = 0.001877, 0.035506, -0.004837
[11:52:55.152] xyz_f:-0.024179, -0.218146, 1.190140  Reprojection Error: -0.049316, 0.210433 Feature: -0.069439, 0.027063, 0.997219
[11:52:55.152] xyz_f:-0.013197, -0.219117, 1.193772  Reprojection Error: -0.046918, 0.210671 Feature: -0.057855, 0.027066, 0.997958
[11:52:55.152] xyz_f:0.135516, -0.452454, 1.146962  Reprojection Error: -0.026097, 0.178314 Feature: 0.089615, -0.210436, 0.973492
[11:52:55.152] xyz_f:0.172411, -0.447922, 1.155617  Reprojection Error: -0.018259, 0.177639 Feature: 0.127102, -0.203818, 0.970723
[11:52:55.152] xyz_f:0.154431, -0.433451, 1.159939  Reprojection Error: -0.020553, 0.180295 Feature: 0.109867, -0.188721, 0.975866
[11:52:55.152] xyz_f:-0.154132, -0.139510, 1.148750  Reprojection Error: -0.082315, 0.216296 Feature: -0.210684, 0.092308, 0.973186
[11:52:55.152] xyz_f:0.131556, -0.432519, 1.156213  Reprojection Error: -0.025058, 0.181085 Feature: 0.086788, -0.188785, 0.978176
[11:52:55.152] xyz_f:0.252134, -0.633269, 1.043560  Reprojection Error: -0.030566, 0.144916 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.152] xyz_f:0.218984, -0.454983, 1.157771  Reprojection Error: -0.009290, 0.174658 Feature: 0.173063, -0.210081, 0.962245
[11:52:55.152] xyz_f:-0.148601, -0.129416, 1.153164  Reprojection Error: -0.081665, 0.218255 Feature: -0.204913, 0.103200, 0.973324
[11:52:55.152] xyz_f:-0.032454, -0.228010, 1.184726  Reprojection Error: -0.050982, 0.208644 Feature: -0.078127, 0.016135, 0.996813
[11:52:55.152] xyz_f:-0.161871, 0.230138, 1.125258  Reprojection Error: -0.145661, 0.310308 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.152] xyz_f:0.143850, -0.448862, 1.150378  Reprojection Error: -0.024100, 0.178513 Feature: 0.098279, -0.206083, 0.973587
[11:52:55.152] xyz_f:0.189923, -0.452373, 1.155805  Reprojection Error: -0.015109, 0.176313 Feature: 0.144348, -0.208069, 0.967404
[11:52:55.152] xyz_f:0.200836, -0.440804, 1.162972  Reprojection Error: -0.011682, 0.177613 Feature: 0.155910, -0.195039, 0.968324
[11:52:55.152] xyz_f:0.136116, -0.462296, 1.141922  Reprojection Error: -0.026949, 0.177008 Feature: 0.089583, -0.221247, 0.971094
[11:52:55.152] xyz_f:0.196274, -0.462355, 1.151436  Reprojection Error: -0.014837, 0.174569 Feature: 0.150045, -0.218842, 0.964155
[11:52:55.152] xyz_f:0.100979, 0.105400, 1.244703  Reprojection Error: -0.034944, 0.293876 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.152] xyz_f:-0.219283, -0.038620, 1.122066  Reprojection Error: -0.110006, 0.228890 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.152] xyz_f:-0.012912, 0.041671, 1.218622  Reprojection Error: -0.061605, 0.264364 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.152] xyz_f:0.125199, -0.437946, 1.152265  Reprojection Error: -0.026794, 0.180540 Feature: 0.080021, -0.195050, 0.977524
[11:52:55.152] xyz_f:0.201432, -0.440740, 1.163073  Reprojection Error: -0.011551, 0.177600 Feature: 0.156506, -0.194951, 0.968246
[11:52:55.152] xyz_f:-0.204582, -0.315972, 1.071702  Reprojection Error: -0.087519, 0.192525 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.152] xyz_f:0.007278, -0.100554, 1.220761  Reprojection Error: -0.045749, 0.232730 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.152] xyz_f:0.252134, -0.633269, 1.043560  Reprojection Error: -0.007035, 0.140201 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.152] xyz_f:-0.361841, -0.087740, 1.037456  Reprojection Error: 0.465780, -0.144769 Feature: -0.442876, 0.113508, 0.911166
[11:52:55.152] xyz_f:-0.769040, -1.173788, 1.409280  Reprojection Error: 0.723100, 0.613956 Feature: -0.667367, -0.839298, 1.635960
[11:52:55.152] xyz_f:0.101106, 0.029686, 0.417724  Reprojection Error: -0.134988, -0.273864 Feature: -0.161646, 0.066536, 0.182551
[11:52:55.152] xyz_f:-0.759212, -1.132394, 1.402387  Reprojection Error: 0.710321, 0.604542 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.152] xyz_f:-0.018929, -0.046454, 0.728551  Reprojection Error: -0.004192, 0.090796 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.152] xyz_f:-0.204582, -0.315972, 1.071702  Reprojection Error: 0.161966, 0.346032 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.152] xyz_f:0.114168, -0.027323, 0.490993  Reprojection Error: -0.418552, 0.151658 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.152] xyz_f:-0.219283, -0.038620, 1.122066  Reprojection Error: -0.077539, 0.229825 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.152] xyz_f:0.007278, -0.100554, 1.220761  Reprojection Error: -0.017568, 0.233343 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.152] xyz_f:-0.012912, 0.041671, 1.218622  Reprojection Error: -0.034430, 0.263966 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.152] xyz_f:0.100979, 0.105400, 1.244703  Reprojection Error: -0.001012, 0.294548 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.152] xyz_f:-0.161871, 0.230138, 1.125258  Reprojection Error: -0.104571, 0.311955 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.152] xyz_f:-0.339110, -0.088311, 1.009628  Reprojection Error: 0.125386, 0.606655 Feature: -0.427976, 0.105755, 0.879397
[11:52:55.152] it:19 	 Success 	 new_chi2: 1.138934 	 dT = 0.002599, 0.036683, -0.004144
[11:52:55.152] xyz_f:-0.056493, -0.218497, 1.154767  Reprojection Error: -0.020711, 0.216352 Feature: -0.069439, 0.027063, 0.997219
[11:52:55.152] xyz_f:-0.045496, -0.219456, 1.158355  Reprojection Error: -0.018697, 0.216576 Feature: -0.057855, 0.027066, 0.997958
[11:52:55.152] xyz_f:0.103279, -0.452634, 1.110950  Reprojection Error: -0.000909, 0.191263 Feature: 0.089615, -0.210436, 0.973492
[11:52:55.152] xyz_f:0.140204, -0.448062, 1.119457  Reprojection Error: 0.005692, 0.190284 Feature: 0.127102, -0.203818, 0.970723
[11:52:55.152] xyz_f:0.122225, -0.433610, 1.123851  Reprojection Error: 0.003828, 0.192437 Feature: 0.109867, -0.188721, 0.975866
[11:52:55.152] xyz_f:-0.186695, -0.140000, 1.113898  Reprojection Error: -0.048884, 0.220536 Feature: -0.210684, 0.092308, 0.973186
[11:52:55.152] xyz_f:0.099335, -0.432702, 1.120216  Reprojection Error: 0.000049, 0.193269 Feature: 0.086788, -0.188785, 0.978176
[11:52:55.152] xyz_f:0.219676, -0.633324, 1.007082  Reprojection Error: -0.007088, 0.166951 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.152] xyz_f:0.186793, -0.455073, 1.121424  Reprojection Error: 0.013286, 0.187475 Feature: 0.173063, -0.210081, 0.962245
[11:52:55.152] xyz_f:-0.181157, -0.129901, 1.118289  Reprojection Error: -0.048534, 0.222188 Feature: -0.204913, 0.103200, 0.973324
[11:52:55.152] xyz_f:-0.064779, -0.228370, 1.149386  Reprojection Error: -0.022016, 0.214875 Feature: -0.078127, 0.016135, 0.996813
[11:52:55.152] xyz_f:-0.194924, 0.229639, 1.090437  Reprojection Error: -0.110756, 0.304235 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.152] xyz_f:0.111623, -0.449033, 1.114333  Reprojection Error: 0.000775, 0.191288 Feature: 0.098279, -0.206083, 0.973587
[11:52:55.152] xyz_f:0.157721, -0.452494, 1.119575  Reprojection Error: 0.008336, 0.189087 Feature: 0.144348, -0.208069, 0.967404
[11:52:55.152] xyz_f:0.168650, -0.440914, 1.126698  Reprojection Error: 0.011325, 0.189913 Feature: 0.155910, -0.195039, 0.968324
[11:52:55.152] xyz_f:0.103869, -0.462475, 1.105907  Reprojection Error: -0.001672, 0.190354 Feature: 0.089583, -0.221247, 0.971094
[11:52:55.152] xyz_f:0.164065, -0.462470, 1.115180  Reprojection Error: 0.008503, 0.187726 Feature: 0.150045, -0.218842, 0.964155
[11:52:55.152] xyz_f:0.068536, 0.105183, 1.208829  Reprojection Error: -0.010513, 0.291543 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.152] xyz_f:-0.252060, -0.039181, 1.087475  Reprojection Error: -0.073649, 0.230500 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.152] xyz_f:-0.045391, 0.041332, 1.183204  Reprojection Error: -0.033838, 0.263627 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.152] xyz_f:0.092968, -0.438137, 1.116294  Reprojection Error: -0.001422, 0.192958 Feature: 0.080021, -0.195050, 0.977524
[11:52:55.152] xyz_f:0.169246, -0.440849, 1.126797  Reprojection Error: 0.011437, 0.189896 Feature: 0.156506, -0.194951, 0.968246
[11:52:55.152] xyz_f:-0.237263, -0.316517, 1.037051  Reprojection Error: -0.049627, 0.202901 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.152] xyz_f:-0.025040, -0.100871, 1.185262  Reprojection Error: -0.018661, 0.235465 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.152] xyz_f:0.219676, -0.633324, 1.007082  Reprojection Error: 0.016442, 0.162236 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.152] xyz_f:-0.394903, -0.088454, 1.003436  Reprojection Error: 0.510554, -0.141191 Feature: -0.442876, 0.113508, 0.911166
[11:52:55.152] xyz_f:-0.799446, -1.174937, 1.376884  Reprojection Error: 0.758023, 0.634387 Feature: -0.667367, -0.839298, 1.635960
[11:52:55.152] xyz_f:0.065434, 0.029468, 0.381856  Reprojection Error: -0.064305, -0.279967 Feature: -0.161646, 0.066536, 0.182551
[11:52:55.152] xyz_f:-0.789690, -1.133532, 1.369952  Reprojection Error: 0.745385, 0.624490 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.152] xyz_f:-0.053275, -0.046800, 0.693162  Reprojection Error: 0.046684, 0.094552 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.152] xyz_f:-0.237263, -0.316517, 1.037051  Reprojection Error: 0.199858, 0.356408 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.152] xyz_f:0.078850, -0.027527, 0.455072  Reprojection Error: -0.359296, 0.156499 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.152] xyz_f:-0.252060, -0.039181, 1.087475  Reprojection Error: -0.041182, 0.231436 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.152] xyz_f:-0.025040, -0.100871, 1.185262  Reprojection Error: 0.009520, 0.236077 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.152] xyz_f:-0.045391, 0.041332, 1.183204  Reprojection Error: -0.006663, 0.263229 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.152] xyz_f:0.068536, 0.105183, 1.208829  Reprojection Error: 0.023419, 0.292214 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.152] xyz_f:-0.194924, 0.229639, 1.090437  Reprojection Error: -0.069665, 0.305882 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.152] xyz_f:-0.372283, -0.089000, 0.975517  Reprojection Error: 0.171136, 0.610420 Feature: -0.427976, 0.105755, 0.879397
[11:52:55.152] it:20 	 Success 	 new_chi2: 1.169934 	 dT = 0.002216, 0.037841, -0.002466
[11:52:55.152] xyz_f:-0.090461, -0.218704, 1.117698  Reprojection Error: 0.011303, 0.222813 Feature: -0.069439, 0.027063, 0.997219
[11:52:55.152] xyz_f:-0.079455, -0.219656, 1.121260  Reprojection Error: 0.012889, 0.223022 Feature: -0.057855, 0.027066, 0.997958
[11:52:55.152] xyz_f:0.069356, -0.452738, 1.073500  Reprojection Error: 0.027448, 0.205575 Feature: 0.089615, -0.210436, 0.973492
[11:52:55.152] xyz_f:0.106297, -0.448143, 1.081920  Reprojection Error: 0.032686, 0.204246 Feature: 0.127102, -0.203818, 0.970723
[11:52:55.152] xyz_f:0.088320, -0.433703, 1.086356  Reprojection Error: 0.031285, 0.205838 Feature: 0.109867, -0.188721, 0.975866
[11:52:55.152] xyz_f:-0.220810, -0.140290, 1.077139  Reprojection Error: -0.011492, 0.225095 Feature: -0.210684, 0.092308, 0.973186
[11:52:55.152] xyz_f:0.065421, -0.432810, 1.082776  Reprojection Error: 0.028304, 0.206725 Feature: 0.086788, -0.188785, 0.978176
[11:52:55.152] xyz_f:0.185620, -0.633354, 0.969355  Reprojection Error: 0.019555, 0.191458 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.152] xyz_f:0.152895, -0.455124, 1.083776  Reprojection Error: 0.038777, 0.201620 Feature: 0.173063, -0.210081, 0.962245
[11:52:55.152] xyz_f:-0.215268, -0.130187, 1.081517  Reprojection Error: -0.011486, 0.226403 Feature: -0.204913, 0.103200, 0.973324
[11:52:55.152] xyz_f:-0.098754, -0.228582, 1.112337  Reprojection Error: 0.010404, 0.221683 Feature: -0.078127, 0.016135, 0.996813
[11:52:55.152] xyz_f:-0.229331, 0.229344, 1.053698  Reprojection Error: -0.071870, 0.297173 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.152] xyz_f:0.077705, -0.449133, 1.076863  Reprojection Error: 0.028787, 0.205402 Feature: 0.098279, -0.206083, 0.973587
[11:52:55.152] xyz_f:0.123818, -0.452564, 1.081996  Reprojection Error: 0.034777, 0.203189 Feature: 0.144348, -0.208069, 0.967404
[11:52:55.152] xyz_f:0.134756, -0.440977, 1.089093  Reprojection Error: 0.037277, 0.203484 Feature: 0.155910, -0.195039, 0.968324
[11:52:55.152] xyz_f:0.069940, -0.462580, 1.068456  Reprojection Error: 0.026791, 0.205109 Feature: 0.089583, -0.221247, 0.971094
[11:52:55.152] xyz_f:0.130158, -0.462536, 1.077586  Reprojection Error: 0.034837, 0.202256 Feature: 0.150045, -0.218842, 0.964155
[11:52:55.152] xyz_f:0.034489, 0.105056, 1.171462  Reprojection Error: 0.016742, 0.288876 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.152] xyz_f:-0.286303, -0.039513, 1.050872  Reprojection Error: -0.032991, 0.232071 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.152] xyz_f:-0.079457, 0.041132, 1.146108  Reprojection Error: -0.002873, 0.262671 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.152] xyz_f:0.059048, -0.438248, 1.078869  Reprojection Error: 0.027129, 0.206676 Feature: 0.080021, -0.195050, 0.977524
[11:52:55.152] xyz_f:0.135353, -0.440912, 1.089190  Reprojection Error: 0.037369, 0.203462 Feature: 0.156506, -0.194951, 0.968246
[11:52:55.152] xyz_f:-0.271449, -0.316839, 1.000413  Reprojection Error: -0.007077, 0.214401 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.152] xyz_f:-0.059011, -0.101058, 1.148118  Reprojection Error: 0.011610, 0.238381 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.152] xyz_f:0.185620, -0.633354, 0.969355  Reprojection Error: 0.043086, 0.186743 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.152] xyz_f:-0.429313, -0.088877, 0.967174  Reprojection Error: 0.560887, -0.137448 Feature: -0.442876, 0.113508, 0.911166
[11:52:55.152] xyz_f:-0.832272, -1.175617, 1.341584  Reprojection Error: 0.797769, 0.657348 Feature: -0.667367, -0.839298, 1.635960
[11:52:55.152] xyz_f:0.029466, 0.029338, 0.344499  Reprojection Error: 0.021520, -0.287959 Feature: -0.161646, 0.066536, 0.182551
[11:52:55.152] xyz_f:-0.822559, -1.134207, 1.334628  Reprojection Error: 0.785270, 0.646895 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.152] xyz_f:-0.088452, -0.047005, 0.656086  Reprojection Error: 0.104644, 0.098680 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.152] xyz_f:-0.271449, -0.316839, 1.000413  Reprojection Error: 0.242408, 0.367908 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.152] xyz_f:0.043093, -0.027648, 0.417683  Reprojection Error: -0.289198, 0.162204 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.152] xyz_f:-0.286303, -0.039513, 1.050872  Reprojection Error: -0.000524, 0.233006 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.152] xyz_f:-0.059011, -0.101058, 1.148118  Reprojection Error: 0.039792, 0.238993 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.152] xyz_f:-0.079457, 0.041132, 1.146108  Reprojection Error: 0.024302, 0.262272 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.152] xyz_f:0.034489, 0.105056, 1.171462  Reprojection Error: 0.050674, 0.289548 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.152] xyz_f:-0.229331, 0.229344, 1.053698  Reprojection Error: -0.030779, 0.298820 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.152] xyz_f:-0.406760, -0.089408, 0.939201  Reprojection Error: 0.222601, 0.614383 Feature: -0.427976, 0.105755, 0.879397
[11:52:55.152] it:21 	 Success 	 new_chi2: 1.228303 	 dT = 0.000705, 0.038839, 0.000422
[11:52:55.152] xyz_f:-0.127190, -0.218669, 1.078727  Reprojection Error: 0.048275, 0.229849 Feature: -0.069439, 0.027063, 0.997219
[11:52:55.153] xyz_f:-0.116185, -0.219622, 1.082294  Reprojection Error: 0.049378, 0.230044 Feature: -0.057855, 0.027066, 0.997958
[11:52:55.153] xyz_f:0.032619, -0.452721, 1.034595  Reprojection Error: 0.060527, 0.221417 Feature: 0.089615, -0.210436, 0.973492
[11:52:55.153] xyz_f:0.069558, -0.448129, 1.043030  Reprojection Error: 0.064247, 0.219677 Feature: 0.127102, -0.203818, 0.970723
[11:52:55.153] xyz_f:0.051580, -0.433687, 1.047458  Reprojection Error: 0.063341, 0.220649 Feature: 0.109867, -0.188721, 0.975866
[11:52:55.153] xyz_f:-0.257514, -0.140241, 1.038115  Reprojection Error: 0.031570, 0.229943 Feature: -0.210684, 0.092308, 0.973186
[11:52:55.153] xyz_f:0.028683, -0.432792, 1.043869  Reprojection Error: 0.061247, 0.221606 Feature: 0.086788, -0.188785, 0.978176
[11:52:55.153] xyz_f:0.148907, -0.633349, 0.930497  Reprojection Error: 0.051015, 0.218738 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.153] xyz_f:0.116154, -0.455116, 1.044904  Reprojection Error: 0.068691, 0.217234 Feature: 0.173063, -0.210081, 0.962245
[11:52:55.153] xyz_f:-0.251972, -0.130139, 1.042496  Reprojection Error: 0.031172, 0.230862 Feature: -0.204913, 0.103200, 0.973324
[11:52:55.153] xyz_f:-0.135482, -0.228546, 1.073363  Reprojection Error: 0.047845, 0.229111 Feature: -0.078127, 0.016135, 0.996813
[11:52:55.153] xyz_f:-0.265985, 0.229394, 1.014671  Reprojection Error: -0.027375, 0.288752 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.153] xyz_f:0.040968, -0.449116, 1.037961  Reprojection Error: 0.061476, 0.221017 Feature: 0.098279, -0.206083, 0.973587
[11:52:55.153] xyz_f:0.087078, -0.452552, 1.043113  Reprojection Error: 0.065733, 0.218769 Feature: 0.144348, -0.208069, 0.967404
[11:52:55.153] xyz_f:0.098015, -0.440966, 1.050214  Reprojection Error: 0.067681, 0.218463 Feature: 0.155910, -0.195039, 0.968324
[11:52:55.153] xyz_f:0.033205, -0.462562, 1.029551  Reprojection Error: 0.059998, 0.221452 Feature: 0.089583, -0.221247, 0.971094
[11:52:55.153] xyz_f:0.093418, -0.462525, 1.038706  Reprojection Error: 0.065686, 0.218312 Feature: 0.150045, -0.218842, 0.964155
[11:52:55.153] xyz_f:-0.002226, 0.105078, 1.132543  Reprojection Error: 0.048149, 0.285775 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.153] xyz_f:-0.322985, -0.039456, 1.011822  Reprojection Error: 0.013777, 0.233466 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.153] xyz_f:-0.116170, 0.041166, 1.107143  Reprojection Error: 0.032727, 0.261377 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.153] xyz_f:0.022311, -0.438229, 1.039959  Reprojection Error: 0.060407, 0.221856 Feature: 0.080021, -0.195050, 0.977524
[11:52:55.153] xyz_f:0.098611, -0.440901, 1.050312  Reprojection Error: 0.067751, 0.218437 Feature: 0.156506, -0.194951, 0.968246
[11:52:55.153] xyz_f:-0.308141, -0.316784, 0.961369  Reprojection Error: 0.042109, 0.227206 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.153] xyz_f:-0.095739, -0.101026, 1.109161  Reprojection Error: 0.046529, 0.241444 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.153] xyz_f:0.148907, -0.633349, 0.930497  Reprojection Error: 0.074545, 0.214022 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.153] xyz_f:-0.465967, -0.088805, 0.928065  Reprojection Error: 0.619087, -0.133654 Feature: -0.442876, 0.113508, 0.911166
[11:52:55.153] xyz_f:-0.869196, -1.175501, 1.302311  Reprojection Error: 0.844829, 0.683684 Feature: -0.667367, -0.839298, 1.635960
[11:52:55.153] xyz_f:-0.006921, 0.029360, 0.305578  Reprojection Error: 0.129701, -0.298878 Feature: -0.161646, 0.066536, 0.182551
[11:52:55.153] xyz_f:-0.859476, -1.134091, 1.295359  Reprojection Error: 0.832453, 0.672569 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.153] xyz_f:-0.124974, -0.046970, 0.617117  Reprojection Error: 0.172339, 0.103147 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.153] xyz_f:-0.308141, -0.316784, 0.961369  Reprojection Error: 0.291595, 0.380713 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.153] xyz_f:0.006670, -0.027628, 0.378767  Reprojection Error: -0.203636, 0.168951 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.153] xyz_f:-0.322985, -0.039456, 1.011822  Reprojection Error: 0.046244, 0.234401 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.153] xyz_f:-0.095739, -0.101026, 1.109161  Reprojection Error: 0.074711, 0.242056 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.153] xyz_f:-0.116170, 0.041166, 1.107143  Reprojection Error: 0.059901, 0.260978 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.153] xyz_f:-0.002226, 0.105078, 1.132543  Reprojection Error: 0.082081, 0.286447 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.153] xyz_f:-0.265985, 0.229394, 1.014671  Reprojection Error: 0.013716, 0.290398 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.153] xyz_f:-0.443402, -0.089339, 0.900102  Reprojection Error: 0.282122, 0.618440 Feature: -0.427976, 0.105755, 0.879397
[11:52:55.153] it:22 	 Success 	 new_chi2: 1.312040 	 dT = -0.002120, 0.039316, 0.004857
[11:52:55.153] xyz_f:-0.167794, -0.218260, 1.037884  Reprojection Error: 0.092037, 0.237431 Feature: -0.069439, 0.027063, 0.997219
[11:52:55.153] xyz_f:-0.156807, -0.219226, 1.041502  Reprojection Error: 0.092585, 0.237612 Feature: -0.057855, 0.027066, 0.997958
[11:52:55.153] xyz_f:-0.008073, -0.452512, 0.994501  Reprojection Error: 0.100174, 0.238848 Feature: 0.089615, -0.210436, 0.973492
[11:52:55.153] xyz_f:0.028831, -0.447967, 1.003109  Reprojection Error: 0.102193, 0.236614 Feature: 0.127102, -0.203818, 0.970723
[11:52:55.153] xyz_f:0.010851, -0.433502, 1.007453  Reprojection Error: 0.101813, 0.236906 Feature: 0.109867, -0.188721, 0.975866
[11:52:55.153] xyz_f:-0.297827, -0.139668, 0.996661  Reprojection Error: 0.082336, 0.234987 Feature: -0.210684, 0.092308, 0.973186
[11:52:55.153] xyz_f:-0.012029, -0.432578, 1.003756  Reprojection Error: 0.100707, 0.237962 Feature: 0.086788, -0.188785, 0.978176
[11:52:55.153] xyz_f:0.108474, -0.633287, 0.890949  Reprojection Error: 0.089293, 0.248881 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.153] xyz_f:0.075409, -0.455012, 1.005202  Reprojection Error: 0.104834, 0.234334 Feature: 0.173063, -0.210081, 0.962245
[11:52:55.153] xyz_f:-0.292293, -0.129572, 1.001068  Reprojection Error: 0.081453, 0.235462 Feature: -0.204913, 0.103200, 0.973324
[11:52:55.153] xyz_f:-0.176073, -0.228126, 1.032481  Reprojection Error: 0.092157, 0.237135 Feature: -0.078127, 0.016135, 0.996813
[11:52:55.153] xyz_f:-0.305724, 0.229978, 0.973179  Reprojection Error: 0.024636, 0.278513 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.153] xyz_f:0.000264, -0.448918, 0.997906  Reprojection Error: 0.100681, 0.238186 Feature: 0.098279, -0.206083, 0.973587
[11:52:55.153] xyz_f:0.046345, -0.452412, 1.003274  Reprojection Error: 0.103018, 0.235857 Feature: 0.144348, -0.208069, 0.967404
[11:52:55.153] xyz_f:0.057263, -0.440840, 1.010427  Reprojection Error: 0.104338, 0.234871 Feature: 0.155910, -0.195039, 0.968324
[11:52:55.153] xyz_f:-0.007477, -0.462354, 0.989460  Reprojection Error: 0.099807, 0.239447 Feature: 0.089583, -0.221247, 0.971094
[11:52:55.153] xyz_f:0.052693, -0.462393, 0.998897  Reprojection Error: 0.102872, 0.235925 Feature: 0.150045, -0.218842, 0.964155
[11:52:55.153] xyz_f:-0.042677, 0.105330, 1.092286  Reprojection Error: 0.085255, 0.282124 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.153] xyz_f:-0.363047, -0.038801, 0.970061  Reprojection Error: 0.068818, 0.234469 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.153] xyz_f:-0.156580, 0.041562, 1.066351  Reprojection Error: 0.074636, 0.259584 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.153] xyz_f:-0.018389, -0.438008, 0.999817  Reprojection Error: 0.100253, 0.238553 Feature: 0.080021, -0.195050, 0.977524
[11:52:55.153] xyz_f:0.057859, -0.440776, 1.010527  Reprojection Error: 0.104383, 0.234839 Feature: 0.156506, -0.194951, 0.968246
[11:52:55.153] xyz_f:-0.348315, -0.316147, 0.919678  Reprojection Error: 0.100323, 0.241452 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.153] xyz_f:-0.136338, -0.100656, 1.068465  Reprojection Error: 0.087815, 0.244567 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.153] xyz_f:0.108474, -0.633287, 0.890949  Reprojection Error: 0.112823, 0.244166 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.153] xyz_f:-0.505696, -0.087970, 0.885634  Reprojection Error: 0.688002, -0.130012 Feature: -0.442876, 0.113508, 0.911166
[11:52:55.153] xyz_f:-0.912043, -1.174157, 1.257981  Reprojection Error: 0.902409, 0.714424 Feature: -0.667367, -0.839298, 1.635960
[11:52:55.153] xyz_f:-0.043588, 0.029616, 0.265307  Reprojection Error: 0.271342, -0.314426 Feature: -0.161646, 0.066536, 0.182551
[11:52:55.153] xyz_f:-0.902238, -1.132760, 1.251075  Reprojection Error: 0.890119, 0.702495 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.153] xyz_f:-0.163197, -0.046565, 0.576289  Reprojection Error: 0.253011, 0.107836 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.153] xyz_f:-0.348315, -0.316147, 0.919678  Reprojection Error: 0.349808, 0.394958 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.153] xyz_f:-0.030412, -0.027389, 0.338559  Reprojection Error: -0.096201, 0.176907 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.153] xyz_f:-0.363047, -0.038801, 0.970061  Reprojection Error: 0.101285, 0.235405 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.153] xyz_f:-0.136338, -0.100656, 1.068465  Reprojection Error: 0.115996, 0.245179 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.153] xyz_f:-0.156580, 0.041562, 1.066351  Reprojection Error: 0.101811, 0.259185 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.153] xyz_f:-0.042677, 0.105330, 1.092286  Reprojection Error: 0.119186, 0.282796 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.153] xyz_f:-0.305724, 0.229978, 0.973179  Reprojection Error: 0.065726, 0.280160 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.153] xyz_f:-0.483001, -0.088532, 0.857777  Reprojection Error: 0.352594, 0.622398 Feature: -0.427976, 0.105755, 0.879397
[11:52:55.153] it:23 	 Success 	 new_chi2: 1.399909 	 dT = -0.006582, 0.038738, 0.011442
[11:52:55.153] xyz_f:-0.213431, -0.217272, 0.995461  Reprojection Error: 0.144772, 0.245402 Feature: -0.069439, 0.027063, 0.997219
[11:52:55.153] xyz_f:-0.202488, -0.218271, 0.999200  Reprojection Error: 0.144677, 0.245567 Feature: -0.057855, 0.027066, 0.997958
[11:52:55.153] xyz_f:-0.053935, -0.451997, 0.953842  Reprojection Error: 0.148601, 0.257704 Feature: 0.089615, -0.210436, 0.973492
[11:52:55.153] xyz_f:-0.017115, -0.447562, 0.962857  Reprojection Error: 0.148710, 0.254862 Feature: 0.127102, -0.203818, 0.970723
[11:52:55.153] xyz_f:-0.035099, -0.433044, 0.967003  Reprojection Error: 0.148881, 0.254432 Feature: 0.109867, -0.188721, 0.975866
[11:52:55.153] xyz_f:-0.342767, -0.138296, 0.952805  Reprojection Error: 0.143257, 0.239998 Feature: -0.210684, 0.092308, 0.973186
[11:52:55.153] xyz_f:-0.057933, -0.432052, 0.963053  Reprojection Error: 0.148880, 0.255629 Feature: 0.086788, -0.188785, 0.978176
[11:52:55.153] xyz_f:0.063213, -0.633118, 0.851582  Reprojection Error: 0.136813, 0.281543 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.153] xyz_f:0.029416, -0.454745, 0.965465  Reprojection Error: 0.149385, 0.252687 Feature: 0.173063, -0.210081, 0.962245
[11:52:55.153] xyz_f:-0.337253, -0.128217, 0.957272  Reprojection Error: 0.141777, 0.239968 Feature: -0.204913, 0.103200, 0.973324
[11:52:55.153] xyz_f:-0.221679, -0.227114, 0.989966  Reprojection Error: 0.145549, 0.245602 Feature: -0.078127, 0.016135, 0.996813
[11:52:55.153] xyz_f:-0.349309, 0.231371, 0.929242  Reprojection Error: 0.086394, 0.265841 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.153] xyz_f:-0.045626, -0.448428, 0.957339  Reprojection Error: 0.148605, 0.256737 Feature: 0.098279, -0.206083, 0.973587
[11:52:55.153] xyz_f:0.000383, -0.452059, 0.963216  Reprojection Error: 0.148814, 0.254243 Feature: 0.144348, -0.208069, 0.967404
[11:52:55.153] xyz_f:0.011255, -0.440518, 0.970489  Reprojection Error: 0.149412, 0.252495 Feature: 0.155910, -0.195039, 0.968324
[11:52:55.153] xyz_f:-0.053312, -0.461841, 0.948808  Reprojection Error: 0.148439, 0.258927 Feature: 0.089583, -0.221247, 0.971094
[11:52:55.153] xyz_f:0.006750, -0.462058, 0.958909  Reprojection Error: 0.148584, 0.254880 Feature: 0.150045, -0.218842, 0.964155
[11:52:55.153] xyz_f:-0.087965, 0.105946, 1.051247  Reprojection Error: 0.129860, 0.277774 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.153] xyz_f:-0.407390, -0.037237, 0.925487  Reprojection Error: 0.134757, 0.234706 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.153] xyz_f:-0.201763, 0.042515, 1.024054  Reprojection Error: 0.124823, 0.257043 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.153] xyz_f:-0.064266, -0.437462, 0.959043  Reprojection Error: 0.148871, 0.256610 Feature: 0.080021, -0.195050, 0.977524
[11:52:55.153] xyz_f:0.011850, -0.440456, 0.970596  Reprojection Error: 0.149429, 0.252455 Feature: 0.156506, -0.194951, 0.968246
[11:52:55.153] xyz_f:-0.392924, -0.314627, 0.875265  Reprojection Error: 0.170507, 0.257158 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.153] xyz_f:-0.181967, -0.099762, 1.026389  Reprojection Error: 0.137501, 0.247558 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.153] xyz_f:0.063213, -0.633118, 0.851582  Reprojection Error: 0.160344, 0.276827 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.153] xyz_f:-0.549243, -0.085985, 0.839488  Reprojection Error: 0.771262, -0.126916 Feature: -0.442876, 0.113508, 0.911166
[11:52:55.153] xyz_f:-0.962895, -1.170958, 1.207303  Reprojection Error: 0.974962, 0.750953 Feature: -0.667367, -0.839298, 1.635960
[11:52:55.153] xyz_f:-0.079960, 0.030222, 0.224308  Reprojection Error: 0.463526, -0.337530 Feature: -0.161646, 0.066536, 0.182551
[11:52:55.153] xyz_f:-0.952892, -1.129590, 1.200507  Reprojection Error: 0.962690, 0.737993 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.153] xyz_f:-0.203224, -0.045600, 0.533948  Reprojection Error: 0.350432, 0.112436 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.153] xyz_f:-0.392924, -0.314627, 0.875265  Reprojection Error: 0.419992, 0.410664 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.153] xyz_f:-0.067764, -0.026821, 0.297700  Reprojection Error: 0.041596, 0.186102 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.153] xyz_f:-0.407390, -0.037237, 0.925487  Reprojection Error: 0.167223, 0.235642 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.153] xyz_f:-0.181967, -0.099762, 1.026389  Reprojection Error: 0.165682, 0.248170 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.153] xyz_f:-0.201763, 0.042515, 1.024054  Reprojection Error: 0.151998, 0.256644 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.153] xyz_f:-0.087965, 0.105946, 1.051247  Reprojection Error: 0.163792, 0.278446 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.153] xyz_f:-0.349309, 0.231371, 0.929242  Reprojection Error: 0.127484, 0.267488 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.153] xyz_f:-0.526243, -0.086615, 0.811883  Reprojection Error: 0.437685, 0.625870 Feature: -0.427976, 0.105755, 0.879397
[11:52:55.153] it:24 	 Success 	 new_chi2: 1.466210 	 dT = -0.011637, 0.036847, 0.019581
[11:52:55.153] xyz_f:-0.265464, -0.215509, 0.952032  Reprojection Error: 0.209207, 0.253506 Feature: -0.069439, 0.027063, 0.997219
[11:52:55.153] xyz_f:-0.254598, -0.216563, 0.955978  Reprojection Error: 0.208349, 0.253657 Feature: -0.057855, 0.027066, 0.997958
[11:52:55.153] xyz_f:-0.106401, -0.451041, 0.913426  Reprojection Error: 0.208541, 0.277625 Feature: 0.089615, -0.210436, 0.973492
[11:52:55.153] xyz_f:-0.069736, -0.446792, 0.923136  Reprojection Error: 0.206477, 0.274028 Feature: 0.127102, -0.203818, 0.970723
[11:52:55.153] xyz_f:-0.087721, -0.432182, 0.926942  Reprojection Error: 0.207219, 0.272857 Feature: 0.109867, -0.188721, 0.975866
[11:52:55.153] xyz_f:-0.393568, -0.135881, 0.906942  Reprojection Error: 0.217462, 0.244674 Feature: -0.210684, 0.092308, 0.973186
[11:52:55.153] xyz_f:-0.110472, -0.431075, 0.922561  Reprojection Error: 0.208468, 0.274261 Feature: 0.086788, -0.188785, 0.978176
[11:52:55.153] xyz_f:0.011741, -0.632758, 0.813391  Reprojection Error: 0.196609, 0.316007 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.153] xyz_f:-0.023299, -0.454210, 0.926623  Reprojection Error: 0.204998, 0.271854 Feature: 0.173063, -0.210081, 0.962245
[11:52:55.153] xyz_f:-0.388088, -0.125829, 0.911513  Reprojection Error: 0.215234, 0.244073 Feature: -0.204913, 0.103200, 0.973324
[11:52:55.153] xyz_f:-0.273656, -0.225309, 0.946382  Reprojection Error: 0.210784, 0.254260 Feature: -0.078127, 0.016135, 0.996813
[11:52:55.153] xyz_f:-0.397790, 0.233814, 0.883278  Reprojection Error: 0.160843, 0.250118 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.153] xyz_f:-0.098141, -0.447514, 0.917080  Reprojection Error: 0.207960, 0.276303 Feature: 0.098279, -0.206083, 0.973587
[11:52:55.153] xyz_f:-0.052271, -0.451377, 0.923826  Reprojection Error: 0.205793, 0.273516 Feature: 0.144348, -0.208069, 0.967404
[11:52:55.153] xyz_f:-0.041480, -0.439892, 0.931304  Reprojection Error: 0.205549, 0.270921 Feature: 0.155910, -0.195039, 0.968324
[11:52:55.153] xyz_f:-0.105733, -0.460888, 0.908404  Reprojection Error: 0.208644, 0.279528 Feature: 0.089583, -0.221247, 0.971094
[11:52:55.153] xyz_f:-0.045875, -0.461409, 0.919639  Reprojection Error: 0.205506, 0.274750 Feature: 0.150045, -0.218842, 0.964155
[11:52:55.153] xyz_f:-0.139439, 0.107072, 1.010197  Reprojection Error: 0.184215, 0.272564 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.153] xyz_f:-0.457150, -0.034496, 0.878411  Reprojection Error: 0.214995, 0.233742 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.153] xyz_f:-0.253022, 0.044217, 0.980854  Reprojection Error: 0.185761, 0.253479 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.153] xyz_f:-0.116754, -0.436454, 0.918432  Reprojection Error: 0.208984, 0.275682 Feature: 0.080021, -0.195050, 0.977524
[11:52:55.153] xyz_f:-0.040887, -0.439832, 0.931422  Reprojection Error: 0.205535, 0.270871 Feature: 0.156506, -0.194951, 0.968246
[11:52:55.153] xyz_f:-0.443142, -0.311958, 0.828459  Reprojection Error: 0.256486, 0.274246 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.153] xyz_f:-0.233995, -0.098158, 0.983556  Reprojection Error: 0.198120, 0.250160 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.153] xyz_f:0.011741, -0.632758, 0.813391  Reprojection Error: 0.220139, 0.311292 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.153] xyz_f:-0.597596, -0.082529, 0.789743  Reprojection Error: 0.873700, -0.124841 Feature: -0.442876, 0.113508, 0.911166
[11:52:55.153] xyz_f:-1.023624, -1.165374, 1.149617  Reprojection Error: 1.067807, 0.794764 Feature: -0.667367, -0.839298, 1.635960
[11:52:55.153] xyz_f:-0.116179, 0.031269, 0.183554  Reprojection Error: 0.739996, -0.373149 Feature: -0.161646, 0.066536, 0.182551
[11:52:55.153] xyz_f:-1.013284, -1.124058, 1.143013  Reprojection Error: 1.055452, 0.780482 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.154] xyz_f:-0.245660, -0.043912, 0.490803  Reprojection Error: 0.470352, 0.116505 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.154] xyz_f:-0.443142, -0.311958, 0.828459  Reprojection Error: 0.505971, 0.427752 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.154] xyz_f:-0.105662, -0.025831, 0.257161  Reprojection Error: 0.224853, 0.196457 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.154] xyz_f:-0.457150, -0.034496, 0.878411  Reprojection Error: 0.247461, 0.234678 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.154] xyz_f:-0.233995, -0.098158, 0.983556  Reprojection Error: 0.226301, 0.250772 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.154] xyz_f:-0.253022, 0.044217, 0.980854  Reprojection Error: 0.212935, 0.253080 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.154] xyz_f:-0.139439, 0.107072, 1.010197  Reprojection Error: 0.218147, 0.273235 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.154] xyz_f:-0.397790, 0.233814, 0.883278  Reprojection Error: 0.201934, 0.251764 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.154] xyz_f:-0.574082, -0.083277, 0.762578  Reprojection Error: 0.542327, 0.628391 Feature: -0.427976, 0.105755, 0.879397
[11:52:55.154] it:25 	 Success 	 new_chi2: 1.490573 	 dT = -0.014319, 0.034720, 0.026164
[11:52:55.154] xyz_f:-0.323932, -0.213008, 0.907979  Reprojection Error: 0.287129, 0.261734 Feature: -0.069439, 0.027063, 0.997219
[11:52:55.154] xyz_f:-0.313177, -0.214136, 0.912198  Reprojection Error: 0.285348, 0.261868 Feature: -0.057855, 0.027066, 0.997958
[11:52:55.154] xyz_f:-0.165543, -0.449615, 0.873385  Reprojection Error: 0.281597, 0.298631 Feature: 0.089615, -0.210436, 0.973492
[11:52:55.154] xyz_f:-0.129107, -0.445613, 0.884019  Reprojection Error: 0.276980, 0.294112 Feature: 0.127102, -0.203818, 0.970723
[11:52:55.154] xyz_f:-0.147083, -0.430882, 0.887370  Reprojection Error: 0.278336, 0.292184 Feature: 0.109867, -0.188721, 0.975866
[11:52:55.154] xyz_f:-0.450314, -0.132518, 0.859672  Reprojection Error: 0.307332, 0.249001 Feature: -0.210684, 0.092308, 0.973186
[11:52:55.154] xyz_f:-0.169707, -0.429621, 0.882416  Reprojection Error: 0.281045, 0.293872 Feature: 0.086788, -0.188785, 0.978176
[11:52:55.154] xyz_f:-0.046143, -0.632137, 0.776351  Reprojection Error: 0.270480, 0.352322 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.154] xyz_f:-0.082824, -0.453346, 0.888677  Reprojection Error: 0.273053, 0.291812 Feature: 0.173063, -0.210081, 0.962245
[11:52:55.154] xyz_f:-0.444883, -0.122504, 0.864382  Reprojection Error: 0.304155, 0.247752 Feature: -0.204913, 0.103200, 0.973324
[11:52:55.154] xyz_f:-0.332045, -0.222753, 0.902123  Reprojection Error: 0.289694, 0.263107 Feature: -0.078127, 0.016135, 0.996813
[11:52:55.154] xyz_f:-0.451433, 0.237194, 0.835941  Reprojection Error: 0.250516, 0.231084 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.154] xyz_f:-0.157354, -0.446143, 0.877247  Reprojection Error: 0.280318, 0.296899 Feature: 0.098279, -0.206083, 0.973587
[11:52:55.154] xyz_f:-0.111696, -0.450317, 0.885149  Reprojection Error: 0.275401, 0.293668 Feature: 0.144348, -0.208069, 0.967404
[11:52:55.154] xyz_f:-0.101020, -0.438904, 0.892898  Reprojection Error: 0.274147, 0.290131 Feature: 0.155910, -0.195039, 0.968324
[11:52:55.154] xyz_f:-0.164814, -0.459467, 0.868380  Reprojection Error: 0.282045, 0.301276 Feature: 0.089583, -0.221247, 0.971094
[11:52:55.154] xyz_f:-0.105264, -0.460392, 0.881124  Reprojection Error: 0.275089, 0.295527 Feature: 0.150045, -0.218842, 0.964155
[11:52:55.154] xyz_f:-0.197236, 0.108717, 0.969338  Reprojection Error: 0.249658, 0.266399 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.154] xyz_f:-0.512467, -0.030708, 0.829553  Reprojection Error: 0.312328, 0.231489 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.154] xyz_f:-0.310464, 0.046630, 0.937128  Reprojection Error: 0.259093, 0.248800 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.154] xyz_f:-0.175920, -0.434958, 0.878129  Reprojection Error: 0.282196, 0.295789 Feature: 0.080021, -0.195050, 0.977524
[11:52:55.154] xyz_f:-0.100430, -0.438849, 0.893031  Reprojection Error: 0.274098, 0.290070 Feature: 0.156506, -0.194951, 0.968246
[11:52:55.154] xyz_f:-0.499080, -0.308263, 0.779947  Reprojection Error: 0.361476, 0.292929 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.154] xyz_f:-0.292476, -0.095870, 0.940298  Reprojection Error: 0.271259, 0.252318 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.154] xyz_f:-0.046143, -0.632137, 0.776351  Reprojection Error: 0.294010, 0.347606 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.154] xyz_f:-0.650949, -0.077796, 0.737360  Reprojection Error: 0.999813, -0.123835 Feature: -0.442876, 0.113508, 0.911166
[11:52:55.154] xyz_f:-1.093256, -1.157701, 1.086261  Reprojection Error: 1.183843, 0.846825 Feature: -0.667367, -0.839298, 1.635960
[11:52:55.154] xyz_f:-0.153609, 0.032687, 0.143540  Reprojection Error: 1.177198, -0.430521 Feature: -0.161646, 0.066536, 0.182551
[11:52:55.154] xyz_f:-1.082474, -1.116457, 1.079924  Reprojection Error: 1.171311, 0.830894 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.154] xyz_f:-0.291318, -0.041589, 0.447413  Reprojection Error: 0.620943, 0.119989 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.154] xyz_f:-0.499080, -0.308263, 0.779947  Reprojection Error: 0.610961, 0.446435 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.154] xyz_f:-0.145342, -0.024476, 0.217384  Reprojection Error: 0.482567, 0.208604 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.154] xyz_f:-0.512467, -0.030708, 0.829553  Reprojection Error: 0.344795, 0.232424 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.154] xyz_f:-0.292476, -0.095870, 0.940298  Reprojection Error: 0.299440, 0.252930 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.154] xyz_f:-0.310464, 0.046630, 0.937128  Reprojection Error: 0.286267, 0.248402 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.154] xyz_f:-0.197236, 0.108717, 0.969338  Reprojection Error: 0.283590, 0.267071 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.154] xyz_f:-0.451433, 0.237194, 0.835941  Reprojection Error: 0.291607, 0.232731 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.154] xyz_f:-0.626761, -0.078706, 0.710798  Reprojection Error: 0.671281, 0.629915 Feature: -0.427976, 0.105755, 0.879397
[11:52:55.154] it:26 	 Success 	 new_chi2: 1.224764 	 dT = -0.011101, 0.032306, 0.027538
[11:52:55.154] xyz_f:-0.387168, -0.210199, 0.865190  Reprojection Error: 0.377862, 0.270090 Feature: -0.069439, 0.027063, 0.997219
[11:52:55.154] xyz_f:-0.376537, -0.211403, 0.869693  Reprojection Error: 0.374981, 0.270199 Feature: -0.057855, 0.027066, 0.997958
[11:52:55.154] xyz_f:-0.229605, -0.447932, 0.834798  Reprojection Error: 0.367098, 0.320410 Feature: 0.089615, -0.210436, 0.973492
[11:52:55.154] xyz_f:-0.193437, -0.444189, 0.846397  Reprojection Error: 0.359476, 0.314835 Feature: 0.127102, -0.203818, 0.970723
[11:52:55.154] xyz_f:-0.211390, -0.429330, 0.849271  Reprojection Error: 0.361492, 0.312139 Feature: 0.109867, -0.188721, 0.975866
[11:52:55.154] xyz_f:-0.511643, -0.128815, 0.813547  Reprojection Error: 0.412416, 0.253189 Feature: -0.210684, 0.092308, 0.973186
[11:52:55.154] xyz_f:-0.233866, -0.427908, 0.843717  Reprojection Error: 0.365909, 0.314173 Feature: 0.086788, -0.188785, 0.978176
[11:52:55.154] xyz_f:-0.108971, -0.631310, 0.740957  Reprojection Error: 0.358111, 0.390100 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.154] xyz_f:-0.147351, -0.452251, 0.852285  Reprojection Error: 0.352743, 0.312310 Feature: 0.173063, -0.210081, 0.962245
[11:52:55.154] xyz_f:-0.506269, -0.118839, 0.818400  Reprojection Error: 0.408079, 0.251238 Feature: -0.204913, 0.103200, 0.973324
[11:52:55.154] xyz_f:-0.395191, -0.219886, 0.859119  Reprojection Error: 0.381619, 0.272130 Feature: -0.078127, 0.016135, 0.996813
[11:52:55.154] xyz_f:-0.509496, 0.240893, 0.789829  Reprojection Error: 0.355558, 0.209834 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.154] xyz_f:-0.221497, -0.444519, 0.838876  Reprojection Error: 0.364986, 0.318224 Feature: 0.098279, -0.206083, 0.973587
[11:52:55.154] xyz_f:-0.176096, -0.449017, 0.847990  Reprojection Error: 0.356875, 0.314428 Feature: 0.144348, -0.208069, 0.967404
[11:52:55.154] xyz_f:-0.165549, -0.437680, 0.856021  Reprojection Error: 0.354403, 0.309876 Feature: 0.155910, -0.195039, 0.968324
[11:52:55.154] xyz_f:-0.228814, -0.457790, 0.829813  Reprojection Error: 0.367991, 0.323845 Feature: 0.089583, -0.221247, 0.971094
[11:52:55.154] xyz_f:-0.169632, -0.459138, 0.844137  Reprojection Error: 0.356576, 0.316936 Feature: 0.150045, -0.218842, 0.964155
[11:52:55.154] xyz_f:-0.259859, 0.110621, 0.929927  Reprojection Error: 0.325624, 0.259598 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.154] xyz_f:-0.572246, -0.026568, 0.781795  Reprojection Error: 0.426531, 0.228454 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.154] xyz_f:-0.372630, 0.049340, 0.894711  Reprojection Error: 0.344280, 0.243414 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.154] xyz_f:-0.240000, -0.433201, 0.839265  Reprojection Error: 0.367825, 0.316632 Feature: 0.080021, -0.195050, 0.977524
[11:52:55.154] xyz_f:-0.164962, -0.437628, 0.856170  Reprojection Error: 0.354313, 0.309802 Feature: 0.156506, -0.194951, 0.968246
[11:52:55.154] xyz_f:-0.559523, -0.304216, 0.732536  Reprojection Error: 0.485404, 0.312984 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.154] xyz_f:-0.355749, -0.093285, 0.898345  Reprojection Error: 0.356217, 0.254202 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.154] xyz_f:-0.108971, -0.631310, 0.740957  Reprojection Error: 0.381641, 0.385385 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.154] xyz_f:-0.708559, -0.072676, 0.685946  Reprojection Error: 1.149969, -0.123391 Feature: -0.442876, 0.113508, 0.911166
[11:52:55.154] xyz_f:-1.167675, -1.149369, 1.022858  Reprojection Error: 1.318984, 0.904742 Feature: -0.667367, -0.839298, 1.635960
[11:52:55.154] xyz_f:-0.194827, 0.034204, 0.105574  Reprojection Error: 1.952456, -0.526776 Feature: -0.161646, 0.066536, 0.182551
[11:52:55.154] xyz_f:-1.156434, -1.108203, 1.016814  Reprojection Error: 1.306260, 0.886943 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.154] xyz_f:-0.341095, -0.039061, 0.405670  Reprojection Error: 0.810646, 0.123321 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.154] xyz_f:-0.559523, -0.304216, 0.732536  Reprojection Error: 0.734889, 0.466491 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.154] xyz_f:-0.188935, -0.023010, 0.179607  Reprojection Error: 0.865908, 0.224124 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.154] xyz_f:-0.572246, -0.026568, 0.781795  Reprojection Error: 0.458997, 0.229389 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.154] xyz_f:-0.355749, -0.093285, 0.898345  Reprojection Error: 0.384398, 0.254814 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.154] xyz_f:-0.372630, 0.049340, 0.894711  Reprojection Error: 0.371455, 0.243015 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.154] xyz_f:-0.259859, 0.110621, 0.929927  Reprojection Error: 0.359555, 0.260270 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.154] xyz_f:-0.509496, 0.240893, 0.789829  Reprojection Error: 0.396649, 0.211481 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.154] xyz_f:-0.683681, -0.073761, 0.660037  Reprojection Error: 0.825332, 0.630939 Feature: -0.427976, 0.105755, 0.879397
[11:52:55.154] it:27 	 Success 	 new_chi2: 0.639084 	 dT = 0.035999, 0.034714, -0.019824
[11:52:55.154] xyz_f:-0.448393, -0.212239, 0.838091  Reprojection Error: 0.465385, 0.280380 Feature: -0.069439, 0.027063, 0.997219
[11:52:55.154] xyz_f:-0.437673, -0.213388, 0.842389  Reprojection Error: 0.461588, 0.280435 Feature: -0.057855, 0.027066, 0.997958
[11:52:55.154] xyz_f:-0.290224, -0.449163, 0.804675  Reprojection Error: 0.452727, 0.342025 Feature: 0.089615, -0.210436, 0.973492
[11:52:55.154] xyz_f:-0.253860, -0.445233, 0.815581  Reprojection Error: 0.442198, 0.335945 Feature: 0.127102, -0.203818, 0.970723
[11:52:55.154] xyz_f:-0.271831, -0.430467, 0.818798  Reprojection Error: 0.444572, 0.332341 Feature: 0.109867, -0.188721, 0.975866
[11:52:55.154] xyz_f:-0.574251, -0.131498, 0.788844  Reprojection Error: 0.511477, 0.261548 Feature: -0.210684, 0.092308, 0.973186
[11:52:55.154] xyz_f:-0.294416, -0.429160, 0.813675  Reprojection Error: 0.450558, 0.334437 Feature: 0.086788, -0.188785, 0.978176
[11:52:55.154] xyz_f:-0.170469, -0.631923, 0.708533  Reprojection Error: 0.451638, 0.429956 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.154] xyz_f:-0.207629, -0.453058, 0.820584  Reprojection Error: 0.432879, 0.333793 Feature: 0.173063, -0.210081, 0.962245
[11:52:55.154] xyz_f:-0.568836, -0.121494, 0.793594  Reprojection Error: 0.506256, 0.259122 Feature: -0.204913, 0.103200, 0.973324
[11:52:55.154] xyz_f:-0.456482, -0.221968, 0.832174  Reprojection Error: 0.470165, 0.282919 Feature: -0.078127, 0.016135, 0.996813
[11:52:55.154] xyz_f:-0.574455, 0.238216, 0.765108  Reprojection Error: 0.461302, 0.203479 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.154] xyz_f:-0.282057, -0.445707, 0.808598  Reprojection Error: 0.449768, 0.339536 Feature: 0.098279, -0.206083, 0.973587
[11:52:55.154] xyz_f:-0.236468, -0.449972, 0.816840  Reprojection Error: 0.438703, 0.335789 Feature: 0.144348, -0.208069, 0.967404
[11:52:55.154] xyz_f:-0.225827, -0.438580, 0.824669  Reprojection Error: 0.434849, 0.330407 Feature: 0.155910, -0.195039, 0.968324
[11:52:55.154] xyz_f:-0.289478, -0.459016, 0.799676  Reprojection Error: 0.454244, 0.346169 Feature: 0.089583, -0.221247, 0.971094
[11:52:55.154] xyz_f:-0.230026, -0.460059, 0.812864  Reprojection Error: 0.438605, 0.338996 Feature: 0.150045, -0.218842, 0.964155
[11:52:55.154] xyz_f:-0.321516, 0.109233, 0.900394  Reprojection Error: 0.403267, 0.257238 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.154] xyz_f:-0.635974, -0.029564, 0.758263  Reprojection Error: 0.533291, 0.233460 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.154] xyz_f:-0.434625, 0.047372, 0.867341  Reprojection Error: 0.428900, 0.243942 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.154] xyz_f:-0.300607, -0.434484, 0.809342  Reprojection Error: 0.453282, 0.337302 Feature: 0.080021, -0.195050, 0.977524
[11:52:55.154] xyz_f:-0.225237, -0.438526, 0.824806  Reprojection Error: 0.434718, 0.330327 Feature: 0.156506, -0.194951, 0.968246
[11:52:55.154] xyz_f:-0.622773, -0.307145, 0.708756  Reprojection Error: 0.600271, 0.331051 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.154] xyz_f:-0.416946, -0.095164, 0.870644  Reprojection Error: 0.439106, 0.259664 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.154] xyz_f:-0.170469, -0.631923, 0.708533  Reprojection Error: 0.475169, 0.425241 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.154] xyz_f:-0.773859, -0.076376, 0.665040  Reprojection Error: 1.280631, -0.114497 Feature: -0.442876, 0.113508, 0.911166
[11:52:55.154] xyz_f:-1.220910, -1.155394, 1.010628  Reprojection Error: 1.385474, 0.924301 Feature: -0.667367, -0.839298, 1.635960
[11:52:55.154] xyz_f:-0.271889, 0.033110, 0.074943  Reprojection Error: 3.734982, -0.644596 Feature: -0.161646, 0.066536, 0.182551
[11:52:55.154] xyz_f:-1.209998, -1.114170, 1.004372  Reprojection Error: 1.373681, 0.906386 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.154] xyz_f:-0.412007, -0.040889, 0.377781  Reprojection Error: 1.060422, 0.135270 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.154] xyz_f:-0.622773, -0.307145, 0.708756  Reprojection Error: 0.849756, 0.484558 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.154] xyz_f:-0.264287, -0.024070, 0.148847  Reprojection Error: 1.589536, 0.257717 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.154] xyz_f:-0.635974, -0.029564, 0.758263  Reprojection Error: 0.565758, 0.234396 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.154] xyz_f:-0.416946, -0.095164, 0.870644  Reprojection Error: 0.467287, 0.260276 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.154] xyz_f:-0.434625, 0.047372, 0.867341  Reprojection Error: 0.456075, 0.243543 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.154] xyz_f:-0.321516, 0.109233, 0.900394  Reprojection Error: 0.437199, 0.257910 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.154] xyz_f:-0.574455, 0.238216, 0.765108  Reprojection Error: 0.502393, 0.205126 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.154] xyz_f:-0.749477, -0.077334, 0.638659  Reprojection Error: 0.963025, 0.640275 Feature: -0.427976, 0.105755, 0.879397
[11:52:55.154] it:28 	 Success 	 new_chi2: 0.099327 	 dT = 0.065196, 0.003390, -0.030786
[11:52:55.154] xyz_f:-0.483770, -0.215222, 0.845831  Reprojection Error: 0.502314, 0.281589 Feature: -0.069439, 0.027063, 0.997219
[11:52:55.154] xyz_f:-0.472917, -0.216285, 0.849809  Reprojection Error: 0.498525, 0.281631 Feature: -0.057855, 0.027066, 0.997958
[11:52:55.154] xyz_f:-0.324781, -0.450881, 0.807700  Reprojection Error: 0.494162, 0.342063 Feature: 0.089615, -0.210436, 0.973492
[11:52:55.154] xyz_f:-0.288142, -0.446661, 0.817519  Reprojection Error: 0.483394, 0.336397 Feature: 0.127102, -0.203818, 0.970723
[11:52:55.154] xyz_f:-0.306127, -0.432038, 0.821271  Reprojection Error: 0.485331, 0.332671 Feature: 0.109867, -0.188721, 0.975866
[11:52:55.154] xyz_f:-0.611675, -0.135491, 0.800358  Reprojection Error: 0.547764, 0.264139 Feature: -0.210684, 0.092308, 0.973186
[11:52:55.154] xyz_f:-0.328863, -0.430912, 0.816823  Reprojection Error: 0.491336, 0.334549 Feature: 0.086788, -0.188785, 0.978176
[11:52:55.154] xyz_f:-0.206486, -0.632693, 0.708018  Reprojection Error: 0.502683, 0.431693 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.154] xyz_f:-0.241722, -0.454117, 0.821145  Reprojection Error: 0.474225, 0.334705 Feature: 0.173063, -0.210081, 0.962245
[11:52:55.154] xyz_f:-0.606201, -0.125444, 0.804946  Reprojection Error: 0.542567, 0.261870 Feature: -0.204913, 0.103200, 0.973324
[11:52:55.154] xyz_f:-0.491953, -0.225015, 0.840156  Reprojection Error: 0.507173, 0.284012 Feature: -0.078127, 0.016135, 0.996813
[11:52:55.154] xyz_f:-0.615530, 0.234206, 0.776682  Reprojection Error: 0.502999, 0.213282 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.154] xyz_f:-0.316529, -0.447360, 0.811379  Reprojection Error: 0.491059, 0.339685 Feature: 0.098279, -0.206083, 0.973587
[11:52:55.154] xyz_f:-0.270683, -0.451261, 0.818261  Reprojection Error: 0.480014, 0.336408 Feature: 0.144348, -0.208069, 0.967404
[11:52:55.154] xyz_f:-0.259905, -0.439784, 0.825771  Reprojection Error: 0.475752, 0.331154 Feature: 0.155910, -0.195039, 0.968324
[11:52:55.154] xyz_f:-0.324106, -0.460729, 0.802680  Reprojection Error: 0.496030, 0.346156 Feature: 0.089583, -0.221247, 0.971094
[11:52:55.154] xyz_f:-0.264282, -0.461297, 0.814094  Reprojection Error: 0.480256, 0.339661 Feature: 0.150045, -0.218842, 0.964155
[11:52:55.154] xyz_f:-0.357662, 0.107258, 0.904373  Reprojection Error: 0.441664, 0.259955 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.154] xyz_f:-0.675091, -0.034056, 0.771638  Reprojection Error: 0.569447, 0.238606 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.154] xyz_f:-0.471207, 0.044494, 0.874690  Reprojection Error: 0.466512, 0.247691 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.154] xyz_f:-0.335137, -0.436286, 0.812675  Reprojection Error: 0.494249, 0.337317 Feature: 0.080021, -0.195050, 0.977524
[11:52:55.154] xyz_f:-0.259312, -0.439725, 0.825891  Reprojection Error: 0.475617, 0.331080 Feature: 0.156506, -0.194951, 0.968246
[11:52:55.154] xyz_f:-0.661156, -0.311529, 0.721727  Reprojection Error: 0.637661, 0.329337 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.154] xyz_f:-0.452302, -0.097896, 0.877449  Reprojection Error: 0.475687, 0.261930 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.155] xyz_f:-0.206486, -0.632693, 0.708018  Reprojection Error: 0.526214, 0.426978 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.155] xyz_f:-0.815309, -0.081976, 0.682550  Reprojection Error: 1.311508, -0.109239 Feature: -0.442876, 0.113508, 0.911166
[11:52:55.155] xyz_f:-1.243277, -1.164480, 1.041149  Reprojection Error: 1.371543, 0.899515 Feature: -0.667367, -0.839298, 1.635960
[11:52:55.155] xyz_f:-0.331993, 0.031435, 0.077802  Reprojection Error: 4.374197, -0.606839 Feature: -0.161646, 0.066536, 0.182551
[11:52:55.155] xyz_f:-1.232885, -1.123172, 1.034576  Reprojection Error: 1.360631, 0.882701 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.155] xyz_f:-0.462451, -0.043642, 0.384663  Reprojection Error: 1.172049, 0.140489 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.155] xyz_f:-0.661156, -0.311529, 0.721727  Reprojection Error: 0.887146, 0.482844 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.155] xyz_f:-0.321742, -0.025673, 0.151440  Reprojection Error: 1.938521, 0.265535 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.155] xyz_f:-0.675091, -0.034056, 0.771638  Reprojection Error: 0.601913, 0.239541 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.155] xyz_f:-0.452302, -0.097896, 0.877449  Reprojection Error: 0.503868, 0.262542 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.155] xyz_f:-0.471207, 0.044494, 0.874690  Reprojection Error: 0.493687, 0.247292 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.155] xyz_f:-0.357662, 0.107258, 0.904373  Reprojection Error: 0.475595, 0.260627 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.155] xyz_f:-0.615530, 0.234206, 0.776682  Reprojection Error: 0.544090, 0.214928 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.155] xyz_f:-0.791715, -0.082743, 0.655456  Reprojection Error: 0.997394, 0.645424 Feature: -0.427976, 0.105755, 0.879397
[11:52:55.155] it:29 	 Success 	 new_chi2: 0.022977 	 dT = 0.300836, -0.037156, -0.241261
[11:52:55.155] xyz_f:-0.489560, -0.230494, 0.939984  Reprojection Error: 0.451185, 0.272349 Feature: -0.069439, 0.027063, 0.997219
[11:52:55.155] xyz_f:-0.478038, -0.230855, 0.941342  Reprojection Error: 0.449853, 0.272362 Feature: -0.057855, 0.027066, 0.997958
[11:52:55.155] xyz_f:-0.329404, -0.456141, 0.864484  Reprojection Error: 0.473096, 0.311479 Feature: 0.089615, -0.210436, 0.973492
[11:52:55.155] xyz_f:-0.291820, -0.449592, 0.865614  Reprojection Error: 0.468060, 0.309426 Feature: 0.127102, -0.203818, 0.970723
[11:52:55.155] xyz_f:-0.309322, -0.436082, 0.873521  Reprojection Error: 0.466694, 0.305835 Feature: 0.109867, -0.188721, 0.975866
[11:52:55.155] xyz_f:-0.629186, -0.159157, 0.925835  Reprojection Error: 0.463099, 0.266757 Feature: -0.210684, 0.092308, 0.973186
[11:52:55.155] xyz_f:-0.332496, -0.436397, 0.874448  Reprojection Error: 0.468960, 0.306056 Feature: 0.086788, -0.188785, 0.978176
[11:52:55.155] xyz_f:-0.226297, -0.631007, 0.738879  Reprojection Error: 0.517314, 0.392086 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.155] xyz_f:-0.245447, -0.454136, 0.858374  Reprojection Error: 0.465797, 0.310742 Feature: 0.173063, -0.210081, 0.962245
[11:52:55.155] xyz_f:-0.623433, -0.148758, 0.929109  Reprojection Error: 0.460472, 0.266136 Feature: -0.204913, 0.103200, 0.973324
[11:52:55.155] xyz_f:-0.498210, -0.240816, 0.936280  Reprojection Error: 0.453740, 0.273391 Feature: -0.078127, 0.016135, 0.996813
[11:52:55.155] xyz_f:-0.661256, 0.209414, 0.906366  Reprojection Error: 0.440054, 0.283781 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.155] xyz_f:-0.320759, -0.452090, 0.866185  Reprojection Error: 0.471258, 0.310259 Feature: 0.098279, -0.206083, 0.973587
[11:52:55.155] xyz_f:-0.274411, -0.453098, 0.862272  Reprojection Error: 0.467453, 0.310390 Feature: 0.144348, -0.208069, 0.967404
[11:52:55.155] xyz_f:-0.262922, -0.440922, 0.867175  Reprojection Error: 0.464203, 0.307039 Feature: 0.155910, -0.195039, 0.968324
[11:52:55.155] xyz_f:-0.329297, -0.465964, 0.859373  Reprojection Error: 0.475433, 0.314381 Feature: 0.089583, -0.221247, 0.971094
[11:52:55.155] xyz_f:-0.268537, -0.462749, 0.856668  Reprojection Error: 0.469090, 0.313195 Feature: 0.150045, -0.218842, 0.964155
[11:52:55.155] xyz_f:-0.373536, 0.099583, 0.970174  Reprojection Error: 0.431202, 0.275911 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.155] xyz_f:-0.703666, -0.062048, 0.913261  Reprojection Error: 0.465064, 0.262412 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.155] xyz_f:-0.486761, 0.029704, 0.967044  Reprojection Error: 0.431149, 0.267843 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.155] xyz_f:-0.339214, -0.442178, 0.871821  Reprojection Error: 0.470948, 0.307654 Feature: 0.080021, -0.195050, 0.977524
[11:52:55.155] xyz_f:-0.262322, -0.440826, 0.867156  Reprojection Error: 0.464147, 0.307014 Feature: 0.156506, -0.194951, 0.968246
[11:52:55.155] xyz_f:-0.684494, -0.338483, 0.859474  Reprojection Error: 0.517997, 0.291518 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.155] xyz_f:-0.458962, -0.111221, 0.964335  Reprojection Error: 0.436149, 0.265695 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.155] xyz_f:-0.226297, -0.631007, 0.738879  Reprojection Error: 0.540844, 0.387371 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.155] xyz_f:-0.857420, -0.119191, 0.858594  Reprojection Error: 1.115636, -0.090520 Feature: -0.442876, 0.113508, 0.911166
[11:52:55.155] xyz_f:-1.123292, -1.223463, 1.298434  Reprojection Error: 1.042517, 0.723318 Feature: -0.667367, -0.839298, 1.635960
[11:52:55.155] xyz_f:-0.534682, 0.019509, 0.159467  Reprojection Error: 3.459984, -0.325138 Feature: -0.161646, 0.066536, 0.182551
[11:52:55.155] xyz_f:-1.117273, -1.181640, 1.289939  Reprojection Error: 1.035093, 0.713109 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.155] xyz_f:-0.585900, -0.061268, 0.487600  Reprojection Error: 1.171425, 0.152686 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.155] xyz_f:-0.684494, -0.338483, 0.859474  Reprojection Error: 0.767483, 0.445025 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.155] xyz_f:-0.504202, -0.036321, 0.228336  Reprojection Error: 2.022132, 0.255078 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.155] xyz_f:-0.703666, -0.062048, 0.913261  Reprojection Error: 0.497530, 0.263348 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.155] xyz_f:-0.458962, -0.111221, 0.964335  Reprojection Error: 0.464330, 0.266307 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.155] xyz_f:-0.486761, 0.029704, 0.967044  Reprojection Error: 0.458324, 0.267444 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.155] xyz_f:-0.373536, 0.099583, 0.970174  Reprojection Error: 0.465134, 0.276583 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.155] xyz_f:-0.661256, 0.209414, 0.906366  Reprojection Error: 0.481145, 0.285428 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.155] xyz_f:-0.840714, -0.118694, 0.826781  Reprojection Error: 0.806362, 0.662747 Feature: -0.427976, 0.105755, 0.879397
[11:52:55.155] it:30 	 Success 	 new_chi2: 0.082472 	 dT = 0.062556, 0.051176, -0.040878
[11:52:55.155] xyz_f:-0.173497, -0.231620, 0.893012  Reprojection Error: 0.124651, 0.286509 Feature: -0.069439, 0.027063, 0.997219
[11:52:55.155] xyz_f:-0.161927, -0.231859, 0.893914  Reprojection Error: 0.123171, 0.286497 Feature: -0.057855, 0.027066, 0.997958
[11:52:55.155] xyz_f:-0.014068, -0.455576, 0.811202  Reprojection Error: 0.109397, 0.345441 Feature: 0.089615, -0.210436, 0.973492
[11:52:55.155] xyz_f:0.023460, -0.448630, 0.810848  Reprojection Error: 0.102003, 0.343320 Feature: 0.127102, -0.203818, 0.970723
[11:52:55.155] xyz_f:0.006141, -0.435304, 0.819443  Reprojection Error: 0.105090, 0.337831 Feature: 0.109867, -0.188721, 0.975866
[11:52:55.155] xyz_f:-0.314319, -0.161767, 0.884401  Reprojection Error: 0.138915, 0.277762 Feature: -0.210684, 0.092308, 0.973186
[11:52:55.155] xyz_f:-0.016974, -0.435864, 0.821284  Reprojection Error: 0.109391, 0.337713 Feature: 0.086788, -0.188785, 0.978176
[11:52:55.155] xyz_f:0.085845, -0.629368, 0.681588  Reprojection Error: 0.085096, 0.461466 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.155] xyz_f:0.069557, -0.452685, 0.801783  Reprojection Error: 0.093101, 0.346275 Feature: 0.173063, -0.210081, 0.962245
[11:52:55.155] xyz_f:-0.308552, -0.151307, 0.887447  Reprojection Error: 0.137156, 0.276525 Feature: -0.204913, 0.103200, 0.973324
[11:52:55.155] xyz_f:-0.182177, -0.242034, 0.889650  Reprojection Error: 0.126397, 0.288241 Feature: -0.078127, 0.016135, 0.996813
[11:52:55.155] xyz_f:-0.351029, 0.206440, 0.866289  Reprojection Error: 0.115696, 0.276526 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.155] xyz_f:-0.005406, -0.451434, 0.812561  Reprojection Error: 0.107599, 0.343896 Feature: 0.098279, -0.206083, 0.973587
[11:52:55.155] xyz_f:0.040760, -0.451952, 0.806822  Reprojection Error: 0.098693, 0.345084 Feature: 0.144348, -0.208069, 0.967404
[11:52:55.155] xyz_f:0.052304, -0.439655, 0.811270  Reprojection Error: 0.096538, 0.340515 Feature: 0.155910, -0.195039, 0.968324
[11:52:55.155] xyz_f:-0.014059, -0.465399, 0.806088  Reprojection Error: 0.109691, 0.349522 Feature: 0.089583, -0.221247, 0.971094
[11:52:55.155] xyz_f:0.046510, -0.461542, 0.800987  Reprojection Error: 0.097557, 0.349239 Feature: 0.150045, -0.218842, 0.964155
[11:52:55.155] xyz_f:-0.059869, 0.099671, 0.918668  Reprojection Error: 0.111352, 0.270059 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.155] xyz_f:-0.390260, -0.065454, 0.874797  Reprojection Error: 0.140681, 0.269293 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.155] xyz_f:-0.172384, 0.028598, 0.919995  Reprojection Error: 0.115175, 0.267474 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.155] xyz_f:-0.023728, -0.441716, 0.818923  Reprojection Error: 0.110836, 0.339853 Feature: 0.080021, -0.195050, 0.977524
[11:52:55.155] xyz_f:0.052901, -0.439552, 0.811226  Reprojection Error: 0.096427, 0.340492 Feature: 0.156506, -0.194951, 0.968246
[11:52:55.155] xyz_f:-0.370304, -0.341682, 0.820237  Reprojection Error: 0.173047, 0.314257 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.155] xyz_f:-0.143225, -0.112025, 0.916160  Reprojection Error: 0.116544, 0.272638 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.155] xyz_f:0.085845, -0.629368, 0.681588  Reprojection Error: 0.108626, 0.456751 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.155] xyz_f:-0.545439, -0.124232, 0.826230  Reprojection Error: 0.777158, -0.078982 Feature: -0.442876, 0.113508, 0.911166
[11:52:55.155] xyz_f:-0.782048, -1.231162, 1.275991  Reprojection Error: 0.790298, 0.745925 Feature: -0.667367, -0.839298, 1.635960
[11:52:55.155] xyz_f:-0.252036, 0.017729, 0.114937  Reprojection Error: 2.299874, -0.357044 Feature: -0.161646, 0.066536, 0.182551
[11:52:55.155] xyz_f:-0.776811, -1.189280, 1.267274  Reprojection Error: 0.781927, 0.735521 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.155] xyz_f:-0.289404, -0.063517, 0.444819  Reprojection Error: 0.620436, 0.169828 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.155] xyz_f:-0.370304, -0.341682, 0.820237  Reprojection Error: 0.422532, 0.467764 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.155] xyz_f:-0.218272, -0.037762, 0.182537  Reprojection Error: 1.009740, 0.302882 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.155] xyz_f:-0.390260, -0.065454, 0.874797  Reprojection Error: 0.173148, 0.270228 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.155] xyz_f:-0.143225, -0.112025, 0.916160  Reprojection Error: 0.144725, 0.273250 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.155] xyz_f:-0.172384, 0.028598, 0.919995  Reprojection Error: 0.142349, 0.267075 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.155] xyz_f:-0.059869, 0.099671, 0.918668  Reprojection Error: 0.145284, 0.270731 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.155] xyz_f:-0.351029, 0.206440, 0.866289  Reprojection Error: 0.156787, 0.278173 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.155] xyz_f:-0.530009, -0.123564, 0.793782  Reprojection Error: 0.457210, 0.674851 Feature: -0.427976, 0.105755, 0.879397
[11:52:55.155] it:31 	 Success 	 new_chi2: 1.364168 	 dT = 0.061546, 0.045749, -0.065356
[11:52:55.155] xyz_f:-0.158436, -0.232526, 0.850643  Reprojection Error: 0.116623, 0.300492 Feature: -0.069439, 0.027063, 0.997219
[11:52:55.155] xyz_f:-0.146830, -0.232569, 0.850813  Reprojection Error: 0.114603, 0.300470 Feature: -0.057855, 0.027066, 0.997958
[11:52:55.155] xyz_f:-0.000723, -0.453799, 0.758819  Reprojection Error: 0.093008, 0.381867 Feature: 0.089615, -0.210436, 0.973492
[11:52:55.155] xyz_f:0.036585, -0.446220, 0.756103  Reprojection Error: 0.082549, 0.380193 Feature: 0.127102, -0.203818, 0.970723
[11:52:55.155] xyz_f:0.019620, -0.433184, 0.765780  Reprojection Error: 0.086963, 0.372288 Feature: 0.109867, -0.188721, 0.975866
[11:52:55.155] xyz_f:-0.300682, -0.165068, 0.850970  Reprojection Error: 0.136852, 0.288827 Feature: -0.210684, 0.092308, 0.973186
[11:52:55.155] xyz_f:-0.003320, -0.434133, 0.769075  Reprojection Error: 0.093040, 0.371490 Feature: 0.086788, -0.188785, 0.978176
[11:52:55.155] xyz_f:0.093737, -0.625946, 0.623068  Reprojection Error: 0.060599, 0.542701 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.155] xyz_f:0.082080, -0.449500, 0.744145  Reprojection Error: 0.069552, 0.385725 Feature: 0.173063, -0.210081, 0.962245
[11:52:55.155] xyz_f:-0.294912, -0.154510, 0.853652  Reprojection Error: 0.134942, 0.287027 Feature: -0.204913, 0.103200, 0.973324
[11:52:55.155] xyz_f:-0.167134, -0.243087, 0.847830  Reprojection Error: 0.118755, 0.302902 Feature: -0.078127, 0.016135, 0.996813
[11:52:55.155] xyz_f:-0.344680, 0.202456, 0.835407  Reprojection Error: 0.123075, 0.272485 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.155] xyz_f:0.007936, -0.449510, 0.759631  Reprojection Error: 0.090499, 0.380074 Feature: 0.098279, -0.206083, 0.973587
[11:52:55.155] xyz_f:0.053650, -0.449251, 0.750991  Reprojection Error: 0.077773, 0.383131 Feature: 0.144348, -0.208069, 0.967404
[11:52:55.155] xyz_f:0.065242, -0.436758, 0.754708  Reprojection Error: 0.074563, 0.377291 Feature: 0.155910, -0.195039, 0.968324
[11:52:55.155] xyz_f:-0.000871, -0.463623, 0.753710  Reprojection Error: 0.093406, 0.387288 Feature: 0.089583, -0.221247, 0.971094
[11:52:55.155] xyz_f:0.059182, -0.458745, 0.744801  Reprojection Error: 0.076163, 0.388953 Feature: 0.150045, -0.218842, 0.964155
[11:52:55.155] xyz_f:-0.049032, 0.100653, 0.869257  Reprojection Error: 0.102590, 0.262763 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.155] xyz_f:-0.378695, -0.070057, 0.846227  Reprojection Error: 0.142075, 0.277259 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.155] xyz_f:-0.160023, 0.027689, 0.877641  Reprojection Error: 0.110132, 0.267010 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.155] xyz_f:-0.010110, -0.440100, 0.767142  Reprojection Error: 0.095040, 0.374154 Feature: 0.080021, -0.195050, 0.977524
[11:52:55.155] xyz_f:0.065834, -0.436645, 0.754628  Reprojection Error: 0.074398, 0.377279 Feature: 0.156506, -0.194951, 0.968246
[11:52:55.155] xyz_f:-0.357554, -0.345937, 0.790370  Reprojection Error: 0.173975, 0.335383 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.155] xyz_f:-0.128790, -0.112424, 0.871900  Reprojection Error: 0.107925, 0.279302 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.155] xyz_f:0.093737, -0.625946, 0.623068  Reprojection Error: 0.084129, 0.537985 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.155] xyz_f:-0.535613, -0.131475, 0.807515  Reprojection Error: 0.780289, -0.066527 Feature: -0.442876, 0.113508, 0.911166
[11:52:55.155] xyz_f:-0.724633, -1.242007, 1.270715  Reprojection Error: 0.747659, 0.758465 Feature: -0.667367, -0.839298, 1.635960
[11:52:55.155] xyz_f:-0.290106, 0.015044, 0.079206  Reprojection Error: 3.769753, -0.392737 Feature: -0.161646, 0.066536, 0.182551
[11:52:55.155] xyz_f:-0.720665, -1.200047, 1.261708  Reprojection Error: 0.740131, 0.748194 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.155] xyz_f:-0.305211, -0.066645, 0.410745  Reprojection Error: 0.712893, 0.189289 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.155] xyz_f:-0.357554, -0.345937, 0.790370  Reprojection Error: 0.423460, 0.488890 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.155] xyz_f:-0.251212, -0.039831, 0.144511  Reprojection Error: 1.552324, 0.371638 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.155] xyz_f:-0.378695, -0.070057, 0.846227  Reprojection Error: 0.174542, 0.278194 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.155] xyz_f:-0.128790, -0.112424, 0.871900  Reprojection Error: 0.136106, 0.279915 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.155] xyz_f:-0.160023, 0.027689, 0.877641  Reprojection Error: 0.137307, 0.266612 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.155] xyz_f:-0.049032, 0.100653, 0.869257  Reprojection Error: 0.136522, 0.263435 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.155] xyz_f:-0.344680, 0.202456, 0.835407  Reprojection Error: 0.164166, 0.274132 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.155] xyz_f:-0.522273, -0.130565, 0.774159  Reprojection Error: 0.464143, 0.687840 Feature: -0.427976, 0.105755, 0.879397
[11:52:55.155] it:32 	 Success 	 new_chi2: 1.274909 	 dT = 0.061522, 0.046349, -0.070026
[11:52:55.155] xyz_f:-0.134183, -0.232271, 0.803342  Reprojection Error: 0.097399, 0.316270 Feature: -0.069439, 0.027063, 0.997219
[11:52:55.155] xyz_f:-0.122593, -0.232104, 0.802727  Reprojection Error: 0.094748, 0.316265 Feature: -0.057855, 0.027066, 0.997958
[11:52:55.155] xyz_f:0.020945, -0.450708, 0.700933  Reprojection Error: 0.062174, 0.426845 Feature: 0.089615, -0.210436, 0.973492
[11:52:55.155] xyz_f:0.057840, -0.442456, 0.695706  Reprojection Error: 0.047796, 0.426016 Feature: 0.127102, -0.203818, 0.970723
[11:52:55.155] xyz_f:0.041335, -0.429723, 0.706515  Reprojection Error: 0.054078, 0.414840 Feature: 0.109867, -0.188721, 0.975866
[11:52:55.155] xyz_f:-0.277280, -0.167399, 0.813323  Reprojection Error: 0.124433, 0.300673 Feature: -0.210684, 0.092308, 0.973186
[11:52:55.155] xyz_f:0.018692, -0.431086, 0.711353  Reprojection Error: 0.062448, 0.413011 Feature: 0.086788, -0.188785, 0.978176
[11:52:55.155] xyz_f:0.109117, -0.621199, 0.559003  Reprojection Error: 0.015845, 0.649344 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.155] xyz_f:0.102476, -0.444919, 0.680699  Reprojection Error: 0.029309, 0.435297 Feature: 0.173063, -0.210081, 0.962245
[11:52:55.155] xyz_f:-0.271533, -0.156737, 0.815615  Reprojection Error: 0.122389, 0.298199 Feature: -0.204913, 0.103200, 0.973324
[11:52:55.155] xyz_f:-0.142858, -0.242989, 0.801117  Reprojection Error: 0.099947, 0.319499 Feature: -0.078127, 0.016135, 0.996813
[11:52:55.155] xyz_f:-0.328877, 0.199258, 0.800994  Reprojection Error: 0.121072, 0.266066 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.155] xyz_f:0.029560, -0.446262, 0.701161  Reprojection Error: 0.058787, 0.424788 Feature: 0.098279, -0.206083, 0.973587
[11:52:55.155] xyz_f:0.074573, -0.445181, 0.689451  Reprojection Error: 0.041049, 0.430624 Feature: 0.144348, -0.208069, 0.967404
[11:52:55.156] xyz_f:0.086162, -0.432477, 0.692384  Reprojection Error: 0.036567, 0.423201 Feature: 0.155910, -0.195039, 0.968324
[11:52:55.156] xyz_f:0.020630, -0.460536, 0.695840  Reprojection Error: 0.062602, 0.434009 Feature: 0.089583, -0.221247, 0.971094
[11:52:55.156] xyz_f:0.079845, -0.454577, 0.682895  Reprojection Error: 0.038701, 0.438684 Feature: 0.150045, -0.218842, 0.964155
[11:52:55.156] xyz_f:-0.029822, 0.102846, 0.814723  Reprojection Error: 0.082788, 0.252321 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.156] xyz_f:-0.357142, -0.073820, 0.813921  Reprojection Error: 0.133358, 0.285168 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.156] xyz_f:-0.138653, 0.027889, 0.830545  Reprojection Error: 0.094741, 0.264980 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.156] xyz_f:0.011895, -0.437176, 0.709879  Reprojection Error: 0.065104, 0.416311 Feature: 0.080021, -0.195050, 0.977524
[11:52:55.156] xyz_f:0.086745, -0.432354, 0.692263  Reprojection Error: 0.036332, 0.423207 Feature: 0.156506, -0.194951, 0.968246
[11:52:55.156] xyz_f:-0.334832, -0.349306, 0.756594  Reprojection Error: 0.164139, 0.359376 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.156] xyz_f:-0.105348, -0.111639, 0.822620  Reprojection Error: 0.088276, 0.286072 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.156] xyz_f:0.109117, -0.621199, 0.559003  Reprojection Error: 0.039375, 0.644629 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.156] xyz_f:-0.515180, -0.138094, 0.785865  Reprojection Error: 0.772561, -0.053620 Feature: -0.442876, 0.113508, 0.911166
[11:52:55.156] xyz_f:-0.652321, -1.251582, 1.260101  Reprojection Error: 0.695077, 0.774297 Feature: -0.667367, -0.839298, 1.635960
[11:52:55.156] xyz_f:-0.322150, 0.012402, 0.042718  Reprojection Error: 7.648300, -0.493111 Feature: -0.161646, 0.066536, 0.182551
[11:52:55.156] xyz_f:-0.649731, -1.209562, 1.250871  Reprojection Error: 0.688372, 0.764041 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.156] xyz_f:-0.313332, -0.069345, 0.374470  Reprojection Error: 0.806560, 0.212216 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.156] xyz_f:-0.334832, -0.349306, 0.756594  Reprojection Error: 0.413624, 0.512882 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.156] xyz_f:-0.277944, -0.041721, 0.105213  Reprojection Error: 2.455703, 0.492546 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.156] xyz_f:-0.357142, -0.073820, 0.813921  Reprojection Error: 0.165825, 0.286103 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.156] xyz_f:-0.105348, -0.111639, 0.822620  Reprojection Error: 0.116457, 0.286684 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.156] xyz_f:-0.138653, 0.027889, 0.830545  Reprojection Error: 0.121916, 0.264582 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.156] xyz_f:-0.029822, 0.102846, 0.814723  Reprojection Error: 0.116719, 0.252993 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.156] xyz_f:-0.328877, 0.199258, 0.800994  Reprojection Error: 0.162163, 0.267713 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.156] xyz_f:-0.504144, -0.136962, 0.751684  Reprojection Error: 0.460195, 0.701393 Feature: -0.427976, 0.105755, 0.879397
[11:52:55.156] it:33 	 Success 	 new_chi2: 1.160106 	 dT = 0.052661, 0.044147, -0.064452
[11:52:55.156] xyz_f:-0.107467, -0.230917, 0.754140  Reprojection Error: 0.072871, 0.333337 Feature: -0.069439, 0.027063, 0.997219
[11:52:55.156] xyz_f:-0.095943, -0.230556, 0.752806  Reprojection Error: 0.069473, 0.333384 Feature: -0.057855, 0.027066, 0.997958
[11:52:55.156] xyz_f:0.044609, -0.446790, 0.642166  Reprojection Error: 0.022589, 0.479589 Feature: 0.089615, -0.210436, 0.973492
[11:52:55.156] xyz_f:0.080965, -0.437927, 0.634658  Reprojection Error: 0.003362, 0.480056 Feature: 0.127102, -0.203818, 0.970723
[11:52:55.156] xyz_f:0.064954, -0.425466, 0.646480  Reprojection Error: 0.012110, 0.464738 Feature: 0.109867, -0.188721, 0.975866
[11:52:55.156] xyz_f:-0.250727, -0.168434, 0.773038  Reprojection Error: 0.107852, 0.312737 Feature: -0.210684, 0.092308, 0.973186
[11:52:55.156] xyz_f:0.042681, -0.427203, 0.652716  Reprojection Error: 0.023334, 0.461503 Feature: 0.086788, -0.188785, 0.978176
[11:52:55.156] xyz_f:0.126609, -0.615862, 0.494937  Reprojection Error: -0.044766, 0.782406 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.156] xyz_f:0.124615, -0.439653, 0.616902  Reprojection Error: -0.022148, 0.494356 Feature: 0.173063, -0.210081, 0.962245
[11:52:55.156] xyz_f:-0.245028, -0.157677, 0.774974  Reprojection Error: 0.105647, 0.309489 Feature: -0.204913, 0.103200, 0.973324
[11:52:55.156] xyz_f:-0.116084, -0.241779, 0.752454  Reprojection Error: 0.075898, 0.337507 Feature: -0.078127, 0.016135, 0.996813
[11:52:55.156] xyz_f:-0.309096, 0.197305, 0.764134  Reprojection Error: 0.114992, 0.256621 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.156] xyz_f:0.053146, -0.442201, 0.641860  Reprojection Error: 0.018146, 0.477264 Feature: 0.098279, -0.206083, 0.973587
[11:52:55.156] xyz_f:0.097319, -0.440376, 0.627372  Reprojection Error: -0.005910, 0.486857 Feature: 0.144348, -0.208069, 0.967404
[11:52:55.156] xyz_f:0.108855, -0.427480, 0.629586  Reprojection Error: -0.011889, 0.477567 Feature: 0.155910, -0.195039, 0.968324
[11:52:55.156] xyz_f:0.044141, -0.456625, 0.637097  Reprojection Error: 0.022965, 0.488895 Feature: 0.089583, -0.221247, 0.971094
[11:52:55.156] xyz_f:0.102329, -0.449686, 0.620496  Reprojection Error: -0.009292, 0.497743 Feature: 0.150045, -0.218842, 0.964155
[11:52:55.156] xyz_f:-0.008202, 0.105899, 0.759181  Reprojection Error: 0.056987, 0.239064 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.156] xyz_f:-0.331946, -0.076199, 0.778653  Reprojection Error: 0.120875, 0.292331 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.156] xyz_f:-0.114572, 0.029147, 0.781704  Reprojection Error: 0.074367, 0.261273 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.156] xyz_f:0.035909, -0.433407, 0.651665  Reprojection Error: 0.026757, 0.465541 Feature: 0.080021, -0.195050, 0.977524
[11:52:55.156] xyz_f:0.109427, -0.427347, 0.629429  Reprojection Error: -0.012212, 0.477599 Feature: 0.156506, -0.194951, 0.968246
[11:52:55.156] xyz_f:-0.308657, -0.351305, 0.719906  Reprojection Error: 0.150334, 0.385680 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.156] xyz_f:-0.079503, -0.109811, 0.771650  Reprojection Error: 0.063243, 0.292667 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.156] xyz_f:0.126609, -0.615862, 0.494937  Reprojection Error: -0.021235, 0.777690 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.156] xyz_f:-0.490330, -0.143113, 0.760450  Reprojection Error: 0.761793, -0.041147 Feature: -0.442876, 0.113508, 0.911166
[11:52:55.156] xyz_f:-0.579121, -1.258486, 1.241720  Reprojection Error: 0.643790, 0.794560 Feature: -0.667367, -0.839298, 1.635960
[11:52:55.156] xyz_f:-0.346444, 0.010194, 0.006812  Reprojection Error: 50.967085, -1.699327 Feature: -0.161646, 0.066536, 0.182551
[11:52:55.156] xyz_f:-0.577812, -1.216434, 1.232369  Reprojection Error: 0.637812, 0.784134 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.156] xyz_f:-0.315642, -0.071222, 0.337330  Reprojection Error: 0.905532, 0.238170 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.156] xyz_f:-0.308657, -0.351305, 0.719906  Reprojection Error: 0.399819, 0.539187 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.156] xyz_f:-0.297539, -0.043152, 0.066407  Reprojection Error: 4.294526, 0.745818 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.156] xyz_f:-0.331946, -0.076199, 0.778653  Reprojection Error: 0.153342, 0.293267 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.156] xyz_f:-0.079503, -0.109811, 0.771650  Reprojection Error: 0.091424, 0.293279 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.156] xyz_f:-0.114572, 0.029147, 0.781704  Reprojection Error: 0.101542, 0.260875 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.156] xyz_f:-0.008202, 0.105899, 0.759181  Reprojection Error: 0.090918, 0.239736 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.156] xyz_f:-0.309096, 0.197305, 0.764134  Reprojection Error: 0.156082, 0.258268 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.156] xyz_f:-0.481463, -0.141815, 0.725649  Reprojection Error: 0.453002, 0.714618 Feature: -0.427976, 0.105755, 0.879397
[11:52:55.156] it:34 	 Success 	 new_chi2: 0.964636 	 dT = 0.045245, 0.040456, -0.059606
[11:52:55.156] xyz_f:-0.085234, -0.228714, 0.705463  Reprojection Error: 0.051187, 0.351342 Feature: -0.069439, 0.027063, 0.997219
[11:52:55.156] xyz_f:-0.073812, -0.228176, 0.703468  Reprojection Error: 0.046952, 0.351481 Feature: -0.057855, 0.027066, 0.997958
[11:52:55.156] xyz_f:0.063458, -0.442267, 0.584828  Reprojection Error: -0.016452, 0.540068 Feature: 0.089615, -0.210436, 0.973492
[11:52:55.156] xyz_f:0.099181, -0.432847, 0.575244  Reprojection Error: -0.041480, 0.542493 Feature: 0.127102, -0.203818, 0.970723
[11:52:55.156] xyz_f:0.083687, -0.420629, 0.587973  Reprojection Error: -0.029747, 0.521999 Feature: 0.109867, -0.188721, 0.975866
[11:52:55.156] xyz_f:-0.228115, -0.168439, 0.732601  Reprojection Error: 0.094888, 0.324770 Feature: -0.210684, 0.092308, 0.973186
[11:52:55.156] xyz_f:0.061839, -0.422707, 0.595480  Reprojection Error: -0.015123, 0.516862 Feature: 0.086788, -0.188785, 0.978176
[11:52:55.156] xyz_f:0.139448, -0.610119, 0.433049  Reprojection Error: -0.110970, 0.946973 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.156] xyz_f:0.141758, -0.433909, 0.555005  Reprojection Error: -0.075564, 0.563486 Feature: 0.173063, -0.210081, 0.962245
[11:52:55.156] xyz_f:-0.222480, -0.157594, 0.734210  Reprojection Error: 0.092491, 0.320673 Feature: -0.204913, 0.103200, 0.973324
[11:52:55.156] xyz_f:-0.093765, -0.239708, 0.704271  Reprojection Error: 0.054761, 0.356550 Feature: -0.078127, 0.016135, 0.996813
[11:52:55.156] xyz_f:-0.292532, 0.196353, 0.727232  Reprojection Error: 0.112740, 0.244829 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.156] xyz_f:0.071891, -0.437547, 0.584033  Reprojection Error: -0.022149, 0.537508 Feature: 0.098279, -0.206083, 0.973587
[11:52:55.156] xyz_f:0.115124, -0.435047, 0.567029  Reprojection Error: -0.053819, 0.552160 Feature: 0.144348, -0.208069, 0.967404
[11:52:55.156] xyz_f:0.126568, -0.421973, 0.568580  Reprojection Error: -0.061594, 0.540734 Feature: 0.155910, -0.195039, 0.968324
[11:52:55.156] xyz_f:0.062851, -0.452109, 0.579790  Reprojection Error: -0.016153, 0.551949 Feature: 0.089583, -0.221247, 0.971094
[11:52:55.156] xyz_f:0.119873, -0.444282, 0.559872  Reprojection Error: -0.058485, 0.566565 Feature: 0.150045, -0.218842, 0.964155
[11:52:55.156] xyz_f:0.008953, 0.109595, 0.704933  Reprojection Error: 0.033483, 0.223087 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.156] xyz_f:-0.310289, -0.077465, 0.742921  Reprojection Error: 0.112227, 0.298742 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.156] xyz_f:-0.094750, 0.031221, 0.733505  Reprojection Error: 0.056973, 0.255995 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.156] xyz_f:0.055114, -0.429015, 0.594818  Reprojection Error: -0.010796, 0.521719 Feature: 0.080021, -0.195050, 0.977524
[11:52:55.156] xyz_f:0.127128, -0.421832, 0.568391  Reprojection Error: -0.062024, 0.540806 Feature: 0.156506, -0.194951, 0.968246
[11:52:55.156] xyz_f:-0.286180, -0.352205, 0.682808  Reprojection Error: 0.140709, 0.413511 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.156] xyz_f:-0.058179, -0.107183, 0.721388  Reprojection Error: 0.040861, 0.298940 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.156] xyz_f:0.139448, -0.610119, 0.433049  Reprojection Error: -0.087440, 0.942257 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.156] xyz_f:-0.468407, -0.146820, 0.733831  Reprojection Error: 0.755307, -0.029268 Feature: -0.442876, 0.113508, 0.911166
[11:52:55.156] xyz_f:-0.512151, -1.263217, 1.218918  Reprojection Error: 0.597572, 0.817400 Feature: -0.667367, -0.839298, 1.635960
[11:52:55.156] xyz_f:-0.370505, 0.008352, -0.026769  Reprojection Error: -13.733691, 0.109195 Feature: -0.161646, 0.066536, 0.182551
[11:52:55.156] xyz_f:-0.512030, -1.221153, 1.209526  Reprojection Error: 0.592280, 0.806678 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.156] xyz_f:-0.319484, -0.072433, 0.301393  Reprojection Error: 1.029851, 0.267362 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.156] xyz_f:-0.286180, -0.352205, 0.682808  Reprojection Error: 0.390194, 0.567017 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.156] xyz_f:-0.317435, -0.044207, 0.029889  Reprojection Error: 10.434303, 1.575030 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.156] xyz_f:-0.310289, -0.077465, 0.742921  Reprojection Error: 0.144694, 0.299677 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.156] xyz_f:-0.058179, -0.107183, 0.721388  Reprojection Error: 0.069042, 0.299552 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.156] xyz_f:-0.094750, 0.031221, 0.733505  Reprojection Error: 0.084148, 0.255596 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.156] xyz_f:0.008953, 0.109595, 0.704933  Reprojection Error: 0.067415, 0.223759 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.156] xyz_f:-0.292532, 0.196353, 0.727232  Reprojection Error: 0.153831, 0.246475 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.156] xyz_f:-0.461578, -0.145401, 0.698579  Reprojection Error: 0.450248, 0.727325 Feature: -0.427976, 0.105755, 0.879397
[11:52:55.156] it:35 	 Success 	 new_chi2: 0.746996 	 dT = 0.051051, 0.033933, -0.070630
[11:52:55.156] xyz_f:-0.062434, -0.224933, 0.657418  Reprojection Error: 0.025336, 0.369284 Feature: -0.069439, 0.027063, 0.997219
[11:52:55.156] xyz_f:-0.051186, -0.224188, 0.654649  Reprojection Error: 0.020215, 0.369576 Feature: -0.057855, 0.027066, 0.997958
[11:52:55.156] xyz_f:0.081564, -0.435809, 0.526795  Reprojection Error: -0.062776, 0.611119 Feature: 0.089615, -0.210436, 0.973492
[11:52:55.156] xyz_f:0.116373, -0.425745, 0.514804  Reprojection Error: -0.095117, 0.617039 Feature: 0.127102, -0.203818, 0.970723
[11:52:55.156] xyz_f:0.101562, -0.413804, 0.528567  Reprojection Error: -0.079561, 0.589490 Feature: 0.109867, -0.188721, 0.975866
[11:52:55.156] xyz_f:-0.204210, -0.167261, 0.694270  Reprojection Error: 0.077648, 0.335767 Feature: -0.210684, 0.092308, 0.973186
[11:52:55.156] xyz_f:0.080318, -0.416276, 0.537544  Reprojection Error: -0.060693, 0.581405 Feature: 0.086788, -0.188785, 0.978176
[11:52:55.156] xyz_f:0.150084, -0.602340, 0.370084  Reprojection Error: -0.194497, 1.165657 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.156] xyz_f:0.157483, -0.426041, 0.491709  Reprojection Error: -0.140424, 0.648125 Feature: 0.173063, -0.210081, 0.962245
[11:52:55.156] xyz_f:-0.198678, -0.156314, 0.695498  Reprojection Error: 0.075133, 0.330779 Feature: -0.204913, 0.103200, 0.973324
[11:52:55.156] xyz_f:-0.070824, -0.236082, 0.656803  Reprojection Error: 0.029455, 0.375627 Feature: -0.078127, 0.016135, 0.996813
[11:52:55.156] xyz_f:-0.275495, 0.196290, 0.693532  Reprojection Error: 0.107721, 0.231799 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.156] xyz_f:0.089836, -0.430937, 0.525430  Reprojection Error: -0.070031, 0.608487 Feature: 0.098279, -0.206083, 0.973587
[11:52:55.156] xyz_f:0.131757, -0.427658, 0.505519  Reprojection Error: -0.111424, 0.630898 Feature: 0.144348, -0.208069, 0.967404
[11:52:55.156] xyz_f:0.143039, -0.414377, 0.506295  Reprojection Error: -0.121511, 0.617029 Feature: 0.155910, -0.195039, 0.968324
[11:52:55.156] xyz_f:0.080795, -0.445664, 0.521803  Reprojection Error: -0.062589, 0.626252 Feature: 0.089583, -0.221247, 0.971094
[11:52:55.156] xyz_f:0.136174, -0.436810, 0.498050  Reprojection Error: -0.117792, 0.650062 Feature: 0.150045, -0.218842, 0.964155
[11:52:55.156] xyz_f:0.025302, 0.115039, 0.650680  Reprojection Error: 0.007297, 0.201756 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.156] xyz_f:-0.287137, -0.077796, 0.710224  Reprojection Error: 0.098858, 0.304008 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.156] xyz_f:-0.074762, 0.034803, 0.686206  Reprojection Error: 0.036750, 0.247842 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.156] xyz_f:0.073680, -0.422705, 0.537338  Reprojection Error: -0.055259, 0.587131 Feature: 0.080021, -0.195050, 0.977524
[11:52:55.156] xyz_f:0.143582, -0.414225, 0.506068  Reprojection Error: -0.122082, 0.617171 Feature: 0.156506, -0.194951, 0.968246
[11:52:55.156] xyz_f:-0.262168, -0.352087, 0.648437  Reprojection Error: 0.125894, 0.440671 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.156] xyz_f:-0.036581, -0.102918, 0.671538  Reprojection Error: 0.014686, 0.303618 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.156] xyz_f:0.150084, -0.602340, 0.370084  Reprojection Error: -0.170967, 1.160942 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.156] xyz_f:-0.444214, -0.150034, 0.711891  Reprojection Error: 0.740995, -0.018588 Feature: -0.442876, 0.113508, 0.911166
[11:52:55.156] xyz_f:-0.434391, -1.266740, 1.198136  Reprojection Error: 0.539959, 0.838317 Feature: -0.667367, -0.839298, 1.635960
[11:52:55.156] xyz_f:-0.401238, 0.006426, -0.053517  Reprojection Error: -7.390325, -0.082714 Feature: -0.161646, 0.066536, 0.182551
[11:52:55.156] xyz_f:-0.435679, -1.224688, 1.188783  Reprojection Error: 0.535440, 0.827268 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.156] xyz_f:-0.326499, -0.073208, 0.270353  Reprojection Error: 1.177500, 0.297822 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.156] xyz_f:-0.262168, -0.352087, 0.648437  Reprojection Error: 0.375379, 0.594178 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.156] xyz_f:-0.343478, -0.045119, -0.000641  Reprojection Error: -536.281489, -70.324918 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.156] xyz_f:-0.287137, -0.077796, 0.710224  Reprojection Error: 0.131324, 0.304944 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.156] xyz_f:-0.036581, -0.102918, 0.671538  Reprojection Error: 0.042867, 0.304231 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.156] xyz_f:-0.074762, 0.034803, 0.686206  Reprojection Error: 0.063924, 0.247443 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.156] xyz_f:0.025302, 0.115039, 0.650680  Reprojection Error: 0.041229, 0.202428 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.156] xyz_f:-0.275495, 0.196290, 0.693532  Reprojection Error: 0.148812, 0.233446 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.156] xyz_f:-0.439831, -0.148512, 0.676256  Reprojection Error: 0.439901, 0.738796 Feature: -0.427976, 0.105755, 0.879397
[11:52:55.156] it:36 	 Success 	 new_chi2: 0.680936 	 dT = 0.042410, 0.027488, -0.062400
[11:52:55.157] xyz_f:-0.027703, -0.220550, 0.613572  Reprojection Error: -0.024483, 0.386590 Feature: -0.069439, 0.027063, 0.997219
[11:52:55.157] xyz_f:-0.016656, -0.219625, 0.610131  Reprojection Error: -0.030675, 0.387084 Feature: -0.057855, 0.027066, 0.997958
[11:52:55.157] xyz_f:0.111551, -0.429138, 0.474410  Reprojection Error: -0.143080, 0.688406 Feature: 0.089615, -0.210436, 0.973492
[11:52:55.157] xyz_f:0.145407, -0.418519, 0.460349  Reprojection Error: -0.184927, 0.699169 Feature: 0.127102, -0.203818, 0.970723
[11:52:55.157] xyz_f:0.131261, -0.406812, 0.474985  Reprojection Error: -0.163763, 0.663084 Feature: 0.109867, -0.188721, 0.975866
[11:52:55.157] xyz_f:-0.167914, -0.165156, 0.658925  Reprojection Error: 0.038341, 0.345495 Feature: -0.210684, 0.092308, 0.973186
[11:52:55.157] xyz_f:0.110639, -0.409622, 0.485225  Reprojection Error: -0.139292, 0.651193 Feature: 0.086788, -0.188785, 0.978176
[11:52:55.157] xyz_f:0.173186, -0.594618, 0.313776  Reprojection Error: -0.340898, 1.433123 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.157] xyz_f:0.185051, -0.418163, 0.434820  Reprojection Error: -0.245728, 0.743368 Feature: 0.173063, -0.210081, 0.962245
[11:52:55.157] xyz_f:-0.162495, -0.154120, 0.659823  Reprojection Error: 0.035742, 0.339606 Feature: -0.204913, 0.103200, 0.973324
[11:52:55.157] xyz_f:-0.035934, -0.231833, 0.613458  Reprojection Error: -0.019801, 0.394098 Feature: -0.078127, 0.016135, 0.996813
[11:52:55.157] xyz_f:-0.244972, 0.197197, 0.662659  Reprojection Error: 0.080167, 0.217244 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.157] xyz_f:0.119645, -0.424133, 0.472551  Reprojection Error: -0.152245, 0.685866 Feature: 0.098279, -0.206083, 0.973587
[11:52:55.157] xyz_f:0.160232, -0.420188, 0.450154  Reprojection Error: -0.206738, 0.718353 Feature: 0.144348, -0.208069, 0.967404
[11:52:55.157] xyz_f:0.171325, -0.406726, 0.450255  Reprojection Error: -0.219497, 0.701905 Feature: 0.155910, -0.195039, 0.968324
[11:52:55.157] xyz_f:0.110642, -0.439007, 0.469469  Reprojection Error: -0.143424, 0.707281 Feature: 0.089583, -0.221247, 0.971094
[11:52:55.157] xyz_f:0.164339, -0.429271, 0.442427  Reprojection Error: -0.215826, 0.743286 Feature: 0.150045, -0.218842, 0.964155
[11:52:55.157] xyz_f:0.053970, 0.120791, 0.601727  Reprojection Error: -0.043508, 0.177815 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.157] xyz_f:-0.251163, -0.077033, 0.679889  Reprojection Error: 0.063984, 0.307774 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.157] xyz_f:-0.042465, 0.038967, 0.643177  Reprojection Error: -0.006177, 0.237974 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.157] xyz_f:0.104105, -0.416158, 0.485416  Reprojection Error: -0.132605, 0.657789 Feature: 0.080021, -0.195050, 0.977524
[11:52:55.157] xyz_f:0.171851, -0.406566, 0.449996  Reprojection Error: -0.220255, 0.702142 Feature: 0.156506, -0.194951, 0.968246
[11:52:55.157] xyz_f:-0.225537, -0.350916, 0.616576  Reprojection Error: 0.087376, 0.466829 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.157] xyz_f:-0.003019, -0.098127, 0.626169  Reprojection Error: -0.034966, 0.307071 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.157] xyz_f:0.173186, -0.594618, 0.313776  Reprojection Error: -0.317367, 1.428407 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.157] xyz_f:-0.406668, -0.151796, 0.690979  Reprojection Error: 0.705542, -0.009659 Feature: -0.442876, 0.113508, 0.911166
[11:52:55.157] xyz_f:-0.349551, -1.267962, 1.175206  Reprojection Error: 0.474842, 0.859985 Feature: -0.667367, -0.839298, 1.635960
[11:52:55.157] xyz_f:-0.412404, 0.004965, -0.075552  Reprojection Error: -5.351513, -0.137078 Feature: -0.161646, 0.066536, 0.182551
[11:52:55.157] xyz_f:-0.352079, -1.225940, 1.165968  Reprojection Error: 0.470912, 0.848500 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.157] xyz_f:-0.317017, -0.073295, 0.243190  Reprojection Error: 1.273404, 0.328426 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.157] xyz_f:-0.225537, -0.350916, 0.616576  Reprojection Error: 0.336861, 0.620335 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.157] xyz_f:-0.350740, -0.045616, -0.026276  Reprojection Error: -13.534554, -1.640035 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.157] xyz_f:-0.251163, -0.077033, 0.679889  Reprojection Error: 0.096450, 0.308709 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.157] xyz_f:-0.003019, -0.098127, 0.626169  Reprojection Error: -0.006785, 0.307683 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.157] xyz_f:-0.042465, 0.038967, 0.643177  Reprojection Error: 0.020998, 0.237576 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.157] xyz_f:0.053970, 0.120791, 0.601727  Reprojection Error: -0.009577, 0.178487 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.157] xyz_f:-0.244972, 0.197197, 0.662659  Reprojection Error: 0.121258, 0.218891 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.157] xyz_f:-0.404464, -0.150221, 0.655145  Reprojection Error: 0.406875, 0.748481 Feature: -0.427976, 0.105755, 0.879397
[11:52:55.157] it:37 	 Success 	 new_chi2: 0.644111 	 dT = 0.014111, 0.020708, -0.023882
[11:52:55.157] xyz_f:-0.004218, -0.218617, 0.585652  Reprojection Error: -0.062430, 0.400427 Feature: -0.069439, 0.027063, 0.997219
[11:52:55.157] xyz_f:0.006741, -0.217624, 0.581957  Reprojection Error: -0.069556, 0.401074 Feature: -0.057855, 0.027066, 0.997958
[11:52:55.157] xyz_f:0.133075, -0.426351, 0.443299  Reprojection Error: -0.208136, 0.745601 Feature: 0.089615, -0.210436, 0.973492
[11:52:55.157] xyz_f:0.166531, -0.415524, 0.428462  Reprojection Error: -0.257737, 0.759838 Feature: 0.127102, -0.203818, 0.970723
[11:52:55.157] xyz_f:0.152655, -0.403903, 0.443422  Reprojection Error: -0.231681, 0.717490 Feature: 0.109867, -0.188721, 0.975866
[11:52:55.157] xyz_f:-0.143686, -0.164087, 0.634231  Reprojection Error: 0.010063, 0.353570 Feature: -0.210684, 0.092308, 0.973186
[11:52:55.157] xyz_f:0.132292, -0.406840, 0.454134  Reprojection Error: -0.202583, 0.702862 Feature: 0.086788, -0.188785, 0.978176
[11:52:55.157] xyz_f:0.192010, -0.591458, 0.281274  Reprojection Error: -0.471599, 1.640860 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.157] xyz_f:0.205573, -0.414924, 0.402025  Reprojection Error: -0.331491, 0.813761 Feature: 0.173063, -0.210081, 0.962245
[11:52:55.157] xyz_f:-0.138316, -0.153019, 0.635004  Reprojection Error: 0.007290, 0.347001 Feature: -0.204913, 0.103200, 0.973324
[11:52:55.157] xyz_f:-0.012380, -0.229951, 0.585727  Reprojection Error: -0.057241, 0.408777 Feature: -0.078127, 0.016135, 0.996813
[11:52:55.157] xyz_f:-0.222875, 0.197783, 0.639767  Reprojection Error: 0.058856, 0.205681 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.157] xyz_f:0.141093, -0.421296, 0.441255  Reprojection Error: -0.218809, 0.743095 Feature: 0.098279, -0.206083, 0.973587
[11:52:55.157] xyz_f:0.181128, -0.417102, 0.417928  Reprojection Error: -0.284183, 0.782945 Feature: 0.144348, -0.208069, 0.967404
[11:52:55.157] xyz_f:0.192136, -0.403572, 0.417774  Reprojection Error: -0.298895, 0.764586 Feature: 0.155910, -0.195039, 0.968324
[11:52:55.157] xyz_f:0.132113, -0.436226, 0.438380  Reprojection Error: -0.209116, 0.767252 Feature: 0.089583, -0.221247, 0.971094
[11:52:55.157] xyz_f:0.185111, -0.426160, 0.410107  Reprojection Error: -0.295750, 0.812164 Feature: 0.150045, -0.218842, 0.964155
[11:52:55.157] xyz_f:0.075048, 0.123221, 0.571950  Reprojection Error: -0.085031, 0.163115 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.157] xyz_f:-0.226972, -0.076480, 0.657115  Reprojection Error: 0.039973, 0.310858 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.157] xyz_f:-0.019898, 0.040805, 0.615607  Reprojection Error: -0.039879, 0.232275 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.157] xyz_f:0.125805, -0.413416, 0.454475  Reprojection Error: -0.194953, 0.710123 Feature: 0.080021, -0.195050, 0.977524
[11:52:55.157] xyz_f:0.192655, -0.403408, 0.417503  Reprojection Error: -0.299808, 0.764895 Feature: 0.156506, -0.194951, 0.968246
[11:52:55.157] xyz_f:-0.201121, -0.350203, 0.593209  Reprojection Error: 0.060626, 0.488047 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.157] xyz_f:0.019993, -0.096043, 0.597684  Reprojection Error: -0.073238, 0.311053 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.157] xyz_f:0.192010, -0.591458, 0.281274  Reprojection Error: -0.448069, 1.636145 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.157] xyz_f:-0.381715, -0.152201, 0.671784  Reprojection Error: 0.685214, -0.002779 Feature: -0.442876, 0.113508, 0.911166
[11:52:55.157] xyz_f:-0.306547, -1.267958, 1.154485  Reprojection Error: 0.442931, 0.879347 Feature: -0.667367, -0.839298, 1.635960
[11:52:55.157] xyz_f:-0.406099, 0.004467, -0.094400  Reprojection Error: -4.194856, -0.155479 Feature: -0.161646, 0.066536, 0.182551
[11:52:55.157] xyz_f:-0.309547, -1.225953, 1.145311  Reprojection Error: 0.439222, 0.867476 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.157] xyz_f:-0.302903, -0.073180, 0.222051  Reprojection Error: 1.333938, 0.356598 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.157] xyz_f:-0.201121, -0.350203, 0.593209  Reprojection Error: 0.310111, 0.641553 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.157] xyz_f:-0.343003, -0.045728, -0.046563  Reprojection Error: -7.552531, -0.886076 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.157] xyz_f:-0.226972, -0.076480, 0.657115  Reprojection Error: 0.072440, 0.311794 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.157] xyz_f:0.019993, -0.096043, 0.597684  Reprojection Error: -0.045056, 0.311665 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.157] xyz_f:-0.019898, 0.040805, 0.615607  Reprojection Error: -0.012704, 0.231876 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.157] xyz_f:0.075048, 0.123221, 0.571950  Reprojection Error: -0.051100, 0.163787 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.157] xyz_f:-0.222875, 0.197783, 0.639767  Reprojection Error: 0.099947, 0.207328 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.157] xyz_f:-0.380348, -0.150615, 0.635909  Reprojection Error: 0.387626, 0.756037 Feature: -0.427976, 0.105755, 0.879397
[11:52:55.157] it:38 	 Success 	 new_chi2: 0.617951 	 dT = -0.003315, 0.016224, 0.001948
[11:52:55.157] xyz_f:-0.009342, -0.218780, 0.570035  Reprojection Error: -0.053243, 0.410939 Feature: -0.069439, 0.027063, 0.997219
[11:52:55.157] xyz_f:0.001624, -0.217793, 0.566361  Reprojection Error: -0.060841, 0.411668 Feature: -0.057855, 0.027066, 0.997958
[11:52:55.157] xyz_f:0.128114, -0.426583, 0.427942  Reprojection Error: -0.207316, 0.780659 Feature: 0.089615, -0.210436, 0.973492
[11:52:55.157] xyz_f:0.161603, -0.415773, 0.413167  Reprojection Error: -0.260197, 0.796341 Feature: 0.127102, -0.203818, 0.970723
[11:52:55.157] xyz_f:0.147704, -0.404145, 0.428101  Reprojection Error: -0.232438, 0.750654 Feature: 0.109867, -0.188721, 0.975866
[11:52:55.157] xyz_f:-0.148874, -0.164180, 0.618352  Reprojection Error: 0.024270, 0.360363 Feature: -0.210684, 0.092308, 0.973186
[11:52:55.157] xyz_f:0.127320, -0.407072, 0.438774  Reprojection Error: -0.201449, 0.734749 Feature: 0.086788, -0.188785, 0.978176
[11:52:55.157] xyz_f:0.187270, -0.591720, 0.266028  Reprojection Error: -0.492906, 1.762360 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.157] xyz_f:0.200695, -0.415193, 0.386804  Reprojection Error: -0.339002, 0.855070 Feature: 0.173063, -0.210081, 0.962245
[11:52:55.157] xyz_f:-0.143500, -0.153114, 0.619135  Reprojection Error: 0.021245, 0.353331 Feature: -0.204913, 0.103200, 0.973324
[11:52:55.157] xyz_f:-0.017510, -0.230110, 0.570095  Reprojection Error: -0.047663, 0.419820 Feature: -0.078127, 0.016135, 0.996813
[11:52:55.157] xyz_f:-0.227891, 0.197730, 0.623739  Reprojection Error: 0.075849, 0.197822 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.157] xyz_f:0.136139, -0.421532, 0.425912  Reprojection Error: -0.218694, 0.778043 Feature: 0.098279, -0.206083, 0.973587
[11:52:55.157] xyz_f:0.176219, -0.417358, 0.402660  Reprojection Error: -0.288425, 0.821423 Feature: 0.144348, -0.208069, 0.967404
[11:52:55.157] xyz_f:0.187234, -0.403834, 0.402527  Reprojection Error: -0.304137, 0.801826 Feature: 0.155910, -0.195039, 0.968324
[11:52:55.157] xyz_f:0.127156, -0.436457, 0.423021  Reprojection Error: -0.208340, 0.803931 Feature: 0.089583, -0.221247, 0.971094
[11:52:55.157] xyz_f:0.180213, -0.426418, 0.394848  Reprojection Error: -0.300787, 0.852978 Feature: 0.150045, -0.218842, 0.964155
[11:52:55.157] xyz_f:0.070122, 0.123018, 0.556483  Reprojection Error: -0.079826, 0.157492 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.157] xyz_f:-0.232158, -0.076530, 0.641080  Reprojection Error: 0.056703, 0.313848 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.157] xyz_f:-0.024947, 0.040650, 0.599961  Reprojection Error: -0.030619, 0.230804 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.157] xyz_f:0.120829, -0.413645, 0.439103  Reprojection Error: -0.193312, 0.742487 Feature: 0.080021, -0.195050, 0.977524
[11:52:55.157] xyz_f:0.187754, -0.403670, 0.402257  Reprojection Error: -0.305112, 0.802168 Feature: 0.156506, -0.194951, 0.968246
[11:52:55.157] xyz_f:-0.206325, -0.350267, 0.577222  Reprojection Error: 0.079032, 0.504507 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.157] xyz_f:0.014908, -0.096218, 0.582113  Reprojection Error: -0.065397, 0.315652 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.157] xyz_f:0.187270, -0.591720, 0.266028  Reprojection Error: -0.469375, 1.757644 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.157] xyz_f:-0.386967, -0.152174, 0.655457  Reprojection Error: 0.707380, 0.002823 Feature: -0.442876, 0.113508, 0.911166
[11:52:55.157] xyz_f:-0.313270, -1.267968, 1.138298  Reprojection Error: 0.452613, 0.894973 Feature: -0.667367, -0.839298, 1.635960
[11:52:55.157] xyz_f:-0.409830, 0.004506, -0.110771  Reprojection Error: -3.592754, -0.162117 Feature: -0.161646, 0.066536, 0.182551
[11:52:55.157] xyz_f:-0.316231, -1.225962, 1.129119  Reprojection Error: 0.449018, 0.882834 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.157] xyz_f:-0.307269, -0.073193, 0.205874  Reprojection Error: 1.462337, 0.382556 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.157] xyz_f:-0.206325, -0.350267, 0.577222  Reprojection Error: 0.328517, 0.658014 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.157] xyz_f:-0.346850, -0.045721, -0.062815  Reprojection Error: -5.707799, -0.631855 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.157] xyz_f:-0.232158, -0.076530, 0.641080  Reprojection Error: 0.089170, 0.314784 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.157] xyz_f:0.014908, -0.096218, 0.582113  Reprojection Error: -0.037216, 0.316264 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.157] xyz_f:-0.024947, 0.040650, 0.599961  Reprojection Error: -0.003445, 0.230406 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.157] xyz_f:0.070122, 0.123018, 0.556483  Reprojection Error: -0.045894, 0.158164 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.157] xyz_f:-0.227891, 0.197730, 0.623739  Reprojection Error: 0.116940, 0.199468 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.157] xyz_f:-0.385531, -0.150589, 0.619585  Reprojection Error: 0.411751, 0.762234 Feature: -0.427976, 0.105755, 0.879397
[11:52:55.157] it:39 	 Success 	 new_chi2: 0.601092 	 dT = -0.011719, 0.014168, 0.017229
[11:52:55.157] xyz_f:-0.033514, -0.220180, 0.561092  Reprojection Error: -0.009903, 0.419552 Feature: -0.069439, 0.027063, 0.997219
[11:52:55.157] xyz_f:-0.022484, -0.219242, 0.557601  Reprojection Error: -0.017651, 0.420309 Feature: -0.057855, 0.027066, 0.997958
[11:52:55.157] xyz_f:0.105360, -0.428599, 0.421298  Reprojection Error: -0.158028, 0.801164 Feature: 0.089615, -0.210436, 0.973492
[11:52:55.157] xyz_f:0.139138, -0.417939, 0.407083  Reprojection Error: -0.210858, 0.816702 Feature: 0.127102, -0.203818, 0.970723
[11:52:55.157] xyz_f:0.125045, -0.406249, 0.421784  Reprojection Error: -0.183883, 0.769780 Feature: 0.109867, -0.188721, 0.975866
[11:52:55.157] xyz_f:-0.173585, -0.164957, 0.607082  Reprojection Error: 0.069445, 0.366572 Feature: -0.210684, 0.092308, 0.973186
[11:52:55.157] xyz_f:0.104473, -0.409084, 0.432117  Reprojection Error: -0.153047, 0.753701 Feature: 0.086788, -0.188785, 0.978176
[11:52:55.157] xyz_f:0.166465, -0.594004, 0.260385  Reprojection Error: -0.428262, 1.819336 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.157] xyz_f:0.178666, -0.417534, 0.381374  Reprojection Error: -0.288625, 0.876491 Feature: 0.173063, -0.210081, 0.962245
[11:52:55.157] xyz_f:-0.168176, -0.153915, 0.607955  Reprojection Error: 0.066096, 0.359196 Feature: -0.204913, 0.103200, 0.973324
[11:52:55.157] xyz_f:-0.041732, -0.231473, 0.561016  Reprojection Error: -0.003991, 0.428783 Feature: -0.078127, 0.016135, 0.996813
[11:52:55.157] xyz_f:-0.251067, 0.197302, 0.611167  Reprojection Error: 0.121285, 0.192001 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.157] xyz_f:0.113440, -0.423585, 0.419403  Reprojection Error: -0.169533, 0.798298 Feature: 0.098279, -0.206083, 0.973587
[11:52:55.157] xyz_f:0.153920, -0.419590, 0.396821  Reprojection Error: -0.238670, 0.842299 Feature: 0.144348, -0.208069, 0.967404
[11:52:55.157] xyz_f:0.164996, -0.406115, 0.396872  Reprojection Error: -0.254731, 0.821870 Feature: 0.155910, -0.195039, 0.968324
[11:52:55.157] xyz_f:0.104440, -0.438469, 0.416361  Reprojection Error: -0.158590, 0.825265 Feature: 0.089583, -0.221247, 0.971094
[11:52:55.157] xyz_f:0.158002, -0.428668, 0.389076  Reprojection Error: -0.250474, 0.874782 Feature: 0.150045, -0.218842, 0.964155
[11:52:55.157] xyz_f:0.047688, 0.121259, 0.548877  Reprojection Error: -0.040700, 0.157632 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.157] xyz_f:-0.256845, -0.076936, 0.628424  Reprojection Error: 0.103279, 0.316897 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.157] xyz_f:-0.048458, 0.039318, 0.590764  Reprojection Error: 0.009825, 0.232004 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.157] xyz_f:0.097948, -0.415628, 0.432337  Reprojection Error: -0.144694, 0.761817 Feature: 0.080021, -0.195050, 0.977524
[11:52:55.157] xyz_f:0.165520, -0.405953, 0.396610  Reprojection Error: -0.255699, 0.822212 Feature: 0.156506, -0.194951, 0.968246
[11:52:55.157] xyz_f:-0.231174, -0.350787, 0.564995  Reprojection Error: 0.130747, 0.518560 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.157] xyz_f:-0.008922, -0.097727, 0.573577  Reprojection Error: -0.024232, 0.320743 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.157] xyz_f:0.166465, -0.594004, 0.260385  Reprojection Error: -0.404731, 1.814621 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.157] xyz_f:-0.412207, -0.151888, 0.640221  Reprojection Error: 0.760854, 0.007901 Feature: -0.442876, 0.113508, 0.911166
[11:52:55.157] xyz_f:-0.351532, -1.267982, 1.124179  Reprojection Error: 0.490104, 0.908975 Feature: -0.667367, -0.839298, 1.635960
[11:52:55.157] xyz_f:-0.421617, 0.004864, -0.126276  Reprojection Error: -3.231806, -0.164275 Feature: -0.161646, 0.066536, 0.182551
[11:52:55.157] xyz_f:-0.354152, -1.225963, 1.114954  Reprojection Error: 0.486588, 0.896629 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.157] xyz_f:-0.324687, -0.073279, 0.192029  Reprojection Error: 1.660652, 0.408640 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.157] xyz_f:-0.231174, -0.350787, 0.564995  Reprojection Error: 0.380232, 0.672067 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.157] xyz_f:-0.359668, -0.045641, -0.077281  Reprojection Error: -4.840086, -0.494581 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.157] xyz_f:-0.256845, -0.076936, 0.628424  Reprojection Error: 0.135746, 0.317833 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.157] xyz_f:-0.008922, -0.097727, 0.573577  Reprojection Error: 0.003949, 0.321355 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.158] xyz_f:-0.048458, 0.039318, 0.590764  Reprojection Error: 0.037000, 0.231606 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.158] xyz_f:0.047688, 0.121259, 0.548877  Reprojection Error: -0.006768, 0.158304 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.158] xyz_f:-0.251067, 0.197302, 0.611167  Reprojection Error: 0.162376, 0.193647 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.158] xyz_f:-0.410168, -0.150310, 0.604377  Reprojection Error: 0.468171, 0.767889 Feature: -0.427976, 0.105755, 0.879397
[11:52:55.158] it:40 	 Success 	 new_chi2: 0.591917 	 dT = -0.016119, 0.013168, 0.028362
[11:52:55.158] xyz_f:-0.070394, -0.222325, 0.555931  Reprojection Error: 0.056991, 0.427054 Feature: -0.069439, 0.027063, 0.997219
[11:52:55.158] xyz_f:-0.059265, -0.221468, 0.552743  Reprojection Error: 0.049247, 0.427793 Feature: -0.057855, 0.027066, 0.997958
[11:52:55.158] xyz_f:0.070724, -0.431772, 0.419972  Reprojection Error: -0.076345, 0.811931 Feature: 0.089615, -0.210436, 0.973492
[11:52:55.158] xyz_f:0.104956, -0.421362, 0.406689  Reprojection Error: -0.127139, 0.826113 Feature: 0.127102, -0.203818, 0.970723
[11:52:55.158] xyz_f:0.090552, -0.409567, 0.420999  Reprojection Error: -0.102503, 0.779457 Feature: 0.109867, -0.188721, 0.975866
[11:52:55.158] xyz_f:-0.211263, -0.166071, 0.598072  Reprojection Error: 0.136751, 0.372528 Feature: -0.210684, 0.092308, 0.973186
[11:52:55.158] xyz_f:0.069684, -0.412250, 0.430765  Reprojection Error: -0.073045, 0.764022 Feature: 0.086788, -0.188785, 0.978176
[11:52:55.158] xyz_f:0.134998, -0.597637, 0.260776  Reprojection Error: -0.306635, 1.829842 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.158] xyz_f:0.145175, -0.421250, 0.382073  Reprojection Error: -0.200114, 0.884215 Feature: 0.173063, -0.210081, 0.962245
[11:52:55.158] xyz_f:-0.205798, -0.155069, 0.599095  Reprojection Error: 0.132987, 0.364866 Feature: -0.204913, 0.103200, 0.973324
[11:52:55.158] xyz_f:-0.078689, -0.233558, 0.555628  Reprojection Error: 0.063245, 0.436536 Feature: -0.078127, 0.016135, 0.996813
[11:52:55.158] xyz_f:-0.286166, 0.196747, 0.600070  Reprojection Error: 0.187375, 0.186955 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.158] xyz_f:0.078889, -0.426817, 0.418299  Reprojection Error: -0.087649, 0.808690 Feature: 0.098279, -0.206083, 0.973587
[11:52:55.158] xyz_f:0.120001, -0.423122, 0.396835  Reprojection Error: -0.153182, 0.851162 Feature: 0.144348, -0.208069, 0.967404
[11:52:55.158] xyz_f:0.131170, -0.409728, 0.397191  Reprojection Error: -0.169235, 0.830146 Feature: 0.155910, -0.195039, 0.968324
[11:52:55.158] xyz_f:0.069867, -0.441636, 0.415011  Reprojection Error: -0.076100, 0.836321 Feature: 0.089583, -0.221247, 0.971094
[11:52:55.158] xyz_f:0.124227, -0.432230, 0.389204  Reprojection Error: -0.163560, 0.883573 Feature: 0.150045, -0.218842, 0.964155
[11:52:55.158] xyz_f:0.013617, 0.118508, 0.545979  Reprojection Error: 0.021244, 0.161499 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.158] xyz_f:-0.294428, -0.077439, 0.617134  Reprojection Error: 0.171655, 0.319953 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.158] xyz_f:-0.084240, 0.037279, 0.585208  Reprojection Error: 0.071747, 0.234858 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.158] xyz_f:0.063108, -0.418746, 0.430806  Reprojection Error: -0.064627, 0.772473 Feature: 0.080021, -0.195050, 0.977524
[11:52:55.158] xyz_f:0.131703, -0.409571, 0.396944  Reprojection Error: -0.170153, 0.830466 Feature: 0.156506, -0.194951, 0.968246
[11:52:55.158] xyz_f:-0.269039, -0.351478, 0.554405  Reprojection Error: 0.206862, 0.531666 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.158] xyz_f:-0.045255, -0.100055, 0.569096  Reprojection Error: 0.039733, 0.326175 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.158] xyz_f:0.134998, -0.597637, 0.260776  Reprojection Error: -0.283105, 1.825127 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.158] xyz_f:-0.450600, -0.151247, 0.624663  Reprojection Error: 0.838352, 0.012785 Feature: -0.442876, 0.113508, 0.911166
[11:52:55.158] xyz_f:-0.411398, -1.267708, 1.109991  Reprojection Error: 0.548035, 0.923147 Feature: -0.667367, -0.839298, 1.635960
[11:52:55.158] xyz_f:-0.437861, 0.005492, -0.141787  Reprojection Error: -2.981099, -0.164060 Feature: -0.161646, 0.066536, 0.182551
[11:52:55.158] xyz_f:-0.413456, -1.225672, 1.100701  Reprojection Error: 0.544579, 0.910603 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.158] xyz_f:-0.350263, -0.073328, 0.179045  Reprojection Error: 1.926108, 0.436588 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.158] xyz_f:-0.269039, -0.351478, 0.554405  Reprojection Error: 0.456348, 0.685172 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.158] xyz_f:-0.377650, -0.045462, -0.091119  Reprojection Error: -4.330618, -0.402917 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.158] xyz_f:-0.294428, -0.077439, 0.617134  Reprojection Error: 0.204122, 0.320888 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.158] xyz_f:-0.045255, -0.100055, 0.569096  Reprojection Error: 0.067914, 0.326787 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.158] xyz_f:-0.084240, 0.037279, 0.585208  Reprojection Error: 0.098922, 0.234459 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.158] xyz_f:0.013617, 0.118508, 0.545979  Reprojection Error: 0.055175, 0.162171 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.158] xyz_f:-0.286166, 0.196747, 0.600070  Reprojection Error: 0.228465, 0.188602 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.158] xyz_f:-0.447569, -0.149689, 0.588889  Reprojection Error: 0.549531, 0.773374 Feature: -0.427976, 0.105755, 0.879397
[11:52:55.158] it:41 	 Success 	 new_chi2: 0.588799 	 dT = -0.021313, 0.011938, 0.042738
[11:52:55.158] xyz_f:-0.119638, -0.225180, 0.554648  Reprojection Error: 0.146068, 0.433126 Feature: -0.069439, 0.027063, 0.997219
[11:52:55.158] xyz_f:-0.108379, -0.224447, 0.551922  Reprojection Error: 0.138393, 0.433785 Feature: -0.057855, 0.027066, 0.997958
[11:52:55.158] xyz_f:0.024645, -0.436206, 0.424581  Reprojection Error: 0.034009, 0.811214 Feature: 0.089615, -0.210436, 0.973492
[11:52:55.158] xyz_f:0.059510, -0.426177, 0.412724  Reprojection Error: -0.013253, 0.822631 Feature: 0.127102, -0.203818, 0.970723
[11:52:55.158] xyz_f:0.044658, -0.414221, 0.426430  Reprojection Error: 0.007858, 0.777980 Feature: 0.109867, -0.188721, 0.975866
[11:52:55.158] xyz_f:-0.261496, -0.167362, 0.590952  Reprojection Error: 0.226010, 0.378058 Feature: -0.210684, 0.092308, 0.973186
[11:52:55.158] xyz_f:0.023378, -0.416671, 0.435325  Reprojection Error: 0.035022, 0.764151 Feature: 0.086788, -0.188785, 0.978176
[11:52:55.158] xyz_f:0.093597, -0.602808, 0.268135  Reprojection Error: -0.138023, 1.786230 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.158] xyz_f:0.100709, -0.426516, 0.389788  Reprojection Error: -0.078516, 0.875901 Feature: 0.173063, -0.210081, 0.962245
[11:52:55.158] xyz_f:-0.255957, -0.156420, 0.592202  Reprojection Error: 0.221683, 0.370162 Feature: -0.204913, 0.103200, 0.973324
[11:52:55.158] xyz_f:-0.128037, -0.236321, 0.554000  Reprojection Error: 0.152738, 0.442758 Feature: -0.078127, 0.016135, 0.996813
[11:52:55.158] xyz_f:-0.332401, 0.196263, 0.589940  Reprojection Error: 0.273935, 0.182146 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.158] xyz_f:0.032927, -0.431342, 0.423247  Reprojection Error: 0.023149, 0.807451 Feature: 0.098279, -0.206083, 0.973587
[11:52:55.158] xyz_f:0.074928, -0.428106, 0.403499  Reprojection Error: -0.036483, 0.845906 Feature: 0.144348, -0.208069, 0.967404
[11:52:55.158] xyz_f:0.086220, -0.414837, 0.404318  Reprojection Error: -0.052239, 0.824596 Feature: 0.155910, -0.195039, 0.968324
[11:52:55.158] xyz_f:0.023885, -0.446060, 0.419586  Reprojection Error: 0.035324, 0.835263 Feature: 0.089583, -0.221247, 0.971094
[11:52:55.158] xyz_f:0.079365, -0.437263, 0.396046  Reprojection Error: -0.044770, 0.877092 Feature: 0.150045, -0.218842, 0.964155
[11:52:55.158] xyz_f:-0.031525, 0.114701, 0.548249  Reprojection Error: 0.103684, 0.169342 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.158] xyz_f:-0.344391, -0.077811, 0.606586  Reprojection Error: 0.262319, 0.322748 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.158] xyz_f:-0.131809, 0.034568, 0.583388  Reprojection Error: 0.153736, 0.239306 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.158] xyz_f:0.016734, -0.423094, 0.435093  Reprojection Error: 0.043401, 0.772886 Feature: 0.080021, -0.195050, 0.977524
[11:52:55.158] xyz_f:0.086765, -0.414686, 0.404094  Reprojection Error: -0.053075, 0.824867 Feature: 0.156506, -0.194951, 0.968246
[11:52:55.158] xyz_f:-0.319467, -0.352128, 0.544895  Reprojection Error: 0.307878, 0.543924 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.158] xyz_f:-0.093713, -0.103192, 0.568867  Reprojection Error: 0.124950, 0.331761 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.158] xyz_f:0.093597, -0.602808, 0.268135  Reprojection Error: -0.114493, 1.781514 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.158] xyz_f:-0.501548, -0.149887, 0.607647  Reprojection Error: 0.942397, 0.017326 Feature: -0.442876, 0.113508, 0.911166
[11:52:55.158] xyz_f:-0.494756, -1.266602, 1.093924  Reprojection Error: 0.629680, 0.938909 Feature: -0.667367, -0.839298, 1.635960
[11:52:55.158] xyz_f:-0.455456, 0.006528, -0.157589  Reprojection Error: -2.783094, -0.161374 Feature: -0.161646, 0.066536, 0.182551
[11:52:55.158] xyz_f:-0.495964, -1.224547, 1.084567  Reprojection Error: 0.626242, 0.926132 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.158] xyz_f:-0.382050, -0.073184, 0.166567  Reprojection Error: 2.263499, 0.466399 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.158] xyz_f:-0.319467, -0.352128, 0.544895  Reprojection Error: 0.557363, 0.697430 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.158] xyz_f:-0.397954, -0.045077, -0.104491  Reprojection Error: -3.994548, -0.335391 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.158] xyz_f:-0.344391, -0.077811, 0.606586  Reprojection Error: 0.294786, 0.323684 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.158] xyz_f:-0.093713, -0.103192, 0.568867  Reprojection Error: 0.153131, 0.332373 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.158] xyz_f:-0.131809, 0.034568, 0.583388  Reprojection Error: 0.180911, 0.238907 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.158] xyz_f:-0.031525, 0.114701, 0.548249  Reprojection Error: 0.137616, 0.170014 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.158] xyz_f:-0.332401, 0.196263, 0.589940  Reprojection Error: 0.315026, 0.183793 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.158] xyz_f:-0.497025, -0.148370, 0.572029  Reprojection Error: 0.658391, 0.778561 Feature: -0.427976, 0.105755, 0.879397
[11:52:55.158] it:42 	 Success 	 new_chi2: 0.556748 	 dT = -0.035043, 0.008580, 0.074440
[11:52:55.158] xyz_f:-0.190720, -0.229054, 0.560525  Reprojection Error: 0.270620, 0.435781 Feature: -0.069439, 0.027063, 0.997219
[11:52:55.158] xyz_f:-0.179282, -0.228540, 0.558616  Reprojection Error: 0.262967, 0.436239 Feature: -0.057855, 0.027066, 0.997958
[11:52:55.158] xyz_f:-0.041555, -0.442908, 0.441013  Reprojection Error: 0.186282, 0.788131 Feature: 0.089615, -0.210436, 0.973492
[11:52:55.158] xyz_f:-0.005742, -0.433561, 0.431698  Reprojection Error: 0.144236, 0.794349 Feature: 0.127102, -0.203818, 0.970723
[11:52:55.158] xyz_f:-0.021307, -0.421311, 0.444310  Reprojection Error: 0.160539, 0.754847 Feature: 0.109867, -0.188721, 0.975866
[11:52:55.158] xyz_f:-0.333680, -0.168491, 0.586585  Reprojection Error: 0.352363, 0.382091 Feature: -0.210684, 0.092308, 0.973186
[11:52:55.158] xyz_f:-0.043215, -0.423345, 0.451652  Reprojection Error: 0.184406, 0.744327 Feature: 0.086788, -0.188785, 0.978176
[11:52:55.158] xyz_f:0.035238, -0.610915, 0.289810  Reprojection Error: 0.089454, 1.646067 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.158] xyz_f:0.036984, -0.434708, 0.411781  Reprojection Error: 0.090038, 0.837353 Feature: 0.173063, -0.210081, 0.962245
[11:52:55.158] xyz_f:-0.328036, -0.157657, 0.588237  Reprojection Error: 0.347130, 0.374044 Feature: -0.204913, 0.103200, 0.973324
[11:52:55.158] xyz_f:-0.199264, -0.240031, 0.559268  Reprojection Error: 0.277918, 0.445374 Feature: -0.078127, 0.016135, 0.996813
[11:52:55.158] xyz_f:-0.397317, 0.196431, 0.580734  Reprojection Error: 0.394651, 0.176583 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.158] xyz_f:-0.033107, -0.438205, 0.440281  Reprojection Error: 0.176140, 0.783611 Feature: 0.098279, -0.206083, 0.973587
[11:52:55.158] xyz_f:0.010259, -0.435792, 0.423603  Reprojection Error: 0.124994, 0.813695 Feature: 0.144348, -0.208069, 0.967404
[11:52:55.158] xyz_f:0.021717, -0.422742, 0.425241  Reprojection Error: 0.109940, 0.792704 Feature: 0.155910, -0.195039, 0.968324
[11:52:55.158] xyz_f:-0.042144, -0.452749, 0.435970  Reprojection Error: 0.188917, 0.810655 Feature: 0.089583, -0.221247, 0.971094
[11:52:55.158] xyz_f:0.015043, -0.445037, 0.416482  Reprojection Error: 0.119505, 0.841585 Feature: 0.150045, -0.218842, 0.964155
[11:52:55.158] xyz_f:-0.095849, 0.109063, 0.560708  Reprojection Error: 0.217127, 0.184045 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.158] xyz_f:-0.415745, -0.077350, 0.596286  Reprojection Error: 0.391791, 0.324191 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.158] xyz_f:-0.199922, 0.030900, 0.588496  Reprojection Error: 0.267516, 0.246053 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.158] xyz_f:-0.049947, -0.429639, 0.450939  Reprojection Error: 0.192624, 0.753230 Feature: 0.080021, -0.195050, 0.977524
[11:52:55.158] xyz_f:0.022278, -0.422601, 0.425056  Reprojection Error: 0.109226, 0.792880 Feature: 0.156506, -0.194951, 0.968246
[11:52:55.158] xyz_f:-0.391739, -0.352139, 0.536355  Reprojection Error: 0.451960, 0.554234 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.158] xyz_f:-0.163541, -0.107578, 0.576655  Reprojection Error: 0.243815, 0.336916 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.158] xyz_f:0.035238, -0.610915, 0.289810  Reprojection Error: 0.112985, 1.641352 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.158] xyz_f:-0.573931, -0.146386, 0.586004  Reprojection Error: 1.096400, 0.020463 Feature: -0.442876, 0.113508, 0.911166
[11:52:55.158] xyz_f:-0.623585, -1.262688, 1.070739  Reprojection Error: 0.759791, 0.960325 Feature: -0.667367, -0.839298, 1.635960
[11:52:55.158] xyz_f:-0.469983, 0.008582, -0.173835  Reprojection Error: -2.596560, -0.153429 Feature: -0.161646, 0.066536, 0.182551
[11:52:55.158] xyz_f:-0.623309, -1.220625, 1.061349  Reprojection Error: 0.756229, 0.947135 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.158] xyz_f:-0.421601, -0.072303, 0.154701  Reprojection Error: 2.695086, 0.494408 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.158] xyz_f:-0.391739, -0.352139, 0.536355  Reprojection Error: 0.701445, 0.707740 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.158] xyz_f:-0.417449, -0.044084, -0.116779  Reprojection Error: -3.760723, -0.281487 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.158] xyz_f:-0.415745, -0.077350, 0.596286  Reprojection Error: 0.424258, 0.325127 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.158] xyz_f:-0.163541, -0.107578, 0.576655  Reprojection Error: 0.271996, 0.337529 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.158] xyz_f:-0.199922, 0.030900, 0.588496  Reprojection Error: 0.294691, 0.245654 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.158] xyz_f:-0.095849, 0.109063, 0.560708  Reprojection Error: 0.251058, 0.184717 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.158] xyz_f:-0.397317, 0.196431, 0.580734  Reprojection Error: 0.435741, 0.178230 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.158] xyz_f:-0.566833, -0.144981, 0.550804  Reprojection Error: 0.818610, 0.782404 Feature: -0.427976, 0.105755, 0.879397
[11:52:55.158] it:43 	 Success 	 new_chi2: 0.368707 	 dT = -0.102010, -0.007087, 0.206322
[11:52:55.158] xyz_f:-0.337816, -0.232366, 0.579972  Reprojection Error: 0.512837, 0.427789 Feature: -0.069439, 0.027063, 0.997219
[11:52:55.158] xyz_f:-0.326215, -0.232469, 0.580366  Reprojection Error: 0.504112, 0.427676 Feature: -0.057855, 0.027066, 0.997958
[11:52:55.158] xyz_f:-0.179504, -0.454458, 0.491207  Reprojection Error: 0.457489, 0.709021 Feature: 0.089615, -0.210436, 0.973492
[11:52:55.158] xyz_f:-0.142112, -0.447073, 0.489213  Reprojection Error: 0.421425, 0.703895 Feature: 0.127102, -0.203818, 0.970723
[11:52:55.158] xyz_f:-0.159193, -0.433948, 0.498561  Reprojection Error: 0.431888, 0.677013 Feature: 0.109867, -0.188721, 0.975866
[11:52:55.158] xyz_f:-0.479689, -0.164170, 0.577548  Reprojection Error: 0.614072, 0.379105 Feature: -0.210684, 0.092308, 0.973186
[11:52:55.158] xyz_f:-0.182197, -0.434779, 0.501411  Reprojection Error: 0.452091, 0.674112 Feature: 0.086788, -0.188785, 0.978176
[11:52:55.158] xyz_f:-0.083328, -0.627100, 0.357301  Reprojection Error: 0.444258, 1.293183 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.158] xyz_f:-0.096411, -0.450589, 0.478139  Reprojection Error: 0.381492, 0.724058 Feature: 0.173063, -0.210081, 0.962245
[11:52:55.158] xyz_f:-0.473917, -0.153643, 0.580342  Reprojection Error: 0.606088, 0.370773 Feature: -0.204913, 0.103200, 0.973324
[11:52:55.158] xyz_f:-0.346512, -0.242881, 0.576991  Reprojection Error: 0.522173, 0.437131 Feature: -0.078127, 0.016135, 0.996813
[11:52:55.158] xyz_f:-0.521470, 0.203576, 0.561155  Reprojection Error: 0.639766, 0.152049 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.158] xyz_f:-0.170840, -0.450214, 0.492187  Reprojection Error: 0.448051, 0.703048 Feature: 0.098279, -0.206083, 0.973587
[11:52:55.158] xyz_f:-0.124967, -0.450193, 0.484433  Reprojection Error: 0.407177, 0.714239 Feature: 0.144348, -0.208069, 0.967404
[11:52:55.158] xyz_f:-0.113384, -0.437760, 0.488375  Reprojection Error: 0.393176, 0.694941 Feature: 0.155910, -0.195039, 0.968324
[11:52:55.158] xyz_f:-0.179604, -0.464281, 0.486095  Reprojection Error: 0.461733, 0.727291 Feature: 0.089583, -0.221247, 0.971094
[11:52:55.158] xyz_f:-0.119366, -0.459716, 0.478351  Reprojection Error: 0.405159, 0.734066 Feature: 0.150045, -0.218842, 0.964155
[11:52:55.158] xyz_f:-0.227065, 0.100242, 0.600717  Reprojection Error: 0.424174, 0.211684 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.158] xyz_f:-0.557101, -0.068757, 0.571301  Reprojection Error: 0.669711, 0.314822 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.158] xyz_f:-0.338574, 0.027855, 0.606947  Reprojection Error: 0.485631, 0.252666 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.158] xyz_f:-0.188979, -0.440710, 0.499347  Reprojection Error: 0.460313, 0.683039 Feature: 0.080021, -0.195050, 0.977524
[11:52:55.158] xyz_f:-0.112790, -0.437650, 0.488306  Reprojection Error: 0.392621, 0.694918 Feature: 0.156506, -0.194951, 0.968246
[11:52:55.158] xyz_f:-0.536315, -0.344745, 0.515849  Reprojection Error: 0.761259, 0.565999 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.158] xyz_f:-0.307964, -0.112418, 0.601804  Reprojection Error: 0.471946, 0.337162 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.158] xyz_f:-0.083328, -0.627100, 0.357301  Reprojection Error: 0.467788, 1.288467 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.158] xyz_f:-0.713557, -0.129362, 0.529555  Reprojection Error: 1.464469, 0.014943 Feature: -0.442876, 0.113508, 0.911166
[11:52:55.158] xyz_f:-0.917267, -1.238875, 0.988953  Reprojection Error: 1.104916, 1.033771 Feature: -0.667367, -0.839298, 1.635960
[11:52:55.158] xyz_f:-0.453240, 0.015846, -0.193858  Reprojection Error: -2.230953, -0.121057 Feature: -0.161646, 0.066536, 0.182551
[11:52:55.159] xyz_f:-0.912907, -1.196936, 0.980027  Reprojection Error: 1.100462, 1.018396 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.159] xyz_f:-0.475184, -0.065748, 0.137323  Reprojection Error: 3.430172, 0.505818 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.159] xyz_f:-0.536315, -0.344745, 0.515849  Reprojection Error: 1.010744, 0.719506 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.159] xyz_f:-0.415903, -0.039228, -0.127814  Reprojection Error: -3.439998, -0.210904 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.159] xyz_f:-0.557101, -0.068757, 0.571301  Reprojection Error: 0.702177, 0.315758 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.159] xyz_f:-0.307964, -0.112418, 0.601804  Reprojection Error: 0.500127, 0.337775 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.159] xyz_f:-0.338574, 0.027855, 0.606947  Reprojection Error: 0.512805, 0.252267 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.159] xyz_f:-0.227065, 0.100242, 0.600717  Reprojection Error: 0.458106, 0.212356 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.159] xyz_f:-0.521470, 0.203576, 0.561155  Reprojection Error: 0.680857, 0.153696 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.159] xyz_f:-0.699570, -0.128522, 0.496464  Reprojection Error: 1.198616, 0.778061 Feature: -0.427976, 0.105755, 0.879397
[11:52:55.159] it:44 	 Success 	 new_chi2: 0.034618 	 dT = -0.590828, -0.108766, 1.075534
[11:52:55.159] xyz_f:-0.699210, -0.087394, 0.147694  Reprojection Error: 4.664554, 0.618862 Feature: -0.069439, 0.027063, 0.997219
[11:52:55.159] xyz_f:-0.694055, -0.090083, 0.157740  Reprojection Error: 4.342012, 0.598205 Feature: -0.057855, 0.027066, 0.997958
[11:52:55.159] xyz_f:-0.599107, -0.349375, 0.207796  Reprojection Error: 2.975210, 1.465172 Feature: 0.089615, -0.210436, 0.973492
[11:52:55.159] xyz_f:-0.577960, -0.351025, 0.239525  Reprojection Error: 2.543876, 1.255541 Feature: 0.127102, -0.203818, 0.970723
[11:52:55.159] xyz_f:-0.591033, -0.333247, 0.231501  Reprojection Error: 2.665628, 1.246113 Feature: 0.109867, -0.188721, 0.975866
[11:52:55.159] xyz_f:-0.749048, 0.010394, 0.034830  Reprojection Error: 21.289465, -0.203578 Feature: -0.210684, 0.092308, 0.973186
[11:52:55.159] xyz_f:-0.604578, -0.328435, 0.213297  Reprojection Error: 2.923162, 1.346803 Feature: 0.086788, -0.188785, 0.978176
[11:52:55.159] xyz_f:-0.478910, -0.555416, 0.198537  Reprojection Error: 2.623239, 2.335622 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.159] xyz_f:-0.547629, -0.366278, 0.272251  Reprojection Error: 2.191344, 1.127048 Feature: 0.173063, -0.210081, 0.962245
[11:52:55.159] xyz_f:-0.746281, 0.019604, 0.042542  Reprojection Error: 17.331595, -0.354778 Feature: -0.204913, 0.103200, 0.973324
[11:52:55.159] xyz_f:-0.703203, -0.095950, 0.137402  Reprojection Error: 5.039467, 0.714502 Feature: -0.078127, 0.016135, 0.996813
[11:52:55.159] xyz_f:-0.671229, 0.372578, 0.039197  Reprojection Error: 16.835118, -8.990500 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.159] xyz_f:-0.594856, -0.347124, 0.216215  Reprojection Error: 2.852168, 1.393784 Feature: 0.098279, -0.206083, 0.973587
[11:52:55.159] xyz_f:-0.566459, -0.358567, 0.251247  Reprojection Error: 2.403807, 1.212072 Feature: 0.144348, -0.208069, 0.967404
[11:52:55.159] xyz_f:-0.561473, -0.348692, 0.264734  Reprojection Error: 2.281910, 1.115723 Feature: 0.155910, -0.195039, 0.968324
[11:52:55.159] xyz_f:-0.597047, -0.359500, 0.203813  Reprojection Error: 3.021643, 1.536044 Feature: 0.089583, -0.221247, 0.971094
[11:52:55.159] xyz_f:-0.560797, -0.369829, 0.251653  Reprojection Error: 2.384074, 1.242621 Feature: 0.150045, -0.218842, 0.964155
[11:52:55.159] xyz_f:-0.588463, 0.211024, 0.296038  Reprojection Error: 2.033980, -0.334273 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.159] xyz_f:-0.758802, 0.119262, -0.021632  Reprojection Error: -35.383198, 5.707718 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.159] xyz_f:-0.663238, 0.167392, 0.194954  Reprojection Error: 3.329815, -0.560060 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.159] xyz_f:-0.607397, -0.332885, 0.205701  Reprojection Error: 3.034677, 1.418759 Feature: 0.080021, -0.195050, 0.977524
[11:52:55.159] xyz_f:-0.561107, -0.348730, 0.265217  Reprojection Error: 2.277291, 1.113541 Feature: 0.156506, -0.194951, 0.968246
[11:52:55.159] xyz_f:-0.764645, -0.159033, -0.068475  Reprojection Error: -11.445223, -2.424810 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.159] xyz_f:-0.676262, 0.024404, 0.199943  Reprojection Error: 3.342493, 0.028306 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.159] xyz_f:-0.478910, -0.555416, 0.198537  Reprojection Error: 2.646769, 2.330906 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.159] xyz_f:-0.811482, 0.090939, -0.183857  Reprojection Error: -4.296666, 0.265280 Feature: -0.442876, 0.113508, 0.911166
[11:52:55.159] xyz_f:-1.551382, -0.872919, -0.268050  Reprojection Error: -5.610260, -3.475497 Feature: -0.667367, -0.839298, 1.635960
[11:52:55.159] xyz_f:-0.039894, 0.076863, -0.312813  Reprojection Error: -0.020481, 0.042920 Feature: -0.161646, 0.066536, 0.182551
[11:52:55.159] xyz_f:-1.532173, -0.834618, -0.263400  Reprojection Error: -5.647962, -3.371570 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.159] xyz_f:-0.350362, 0.046580, -0.173127  Reprojection Error: -2.053902, 0.296089 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.159] xyz_f:-0.764645, -0.159033, -0.068475  Reprojection Error: -11.195738, -2.271304 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.159] xyz_f:-0.090818, 0.023887, -0.254596  Reprojection Error: -0.542743, 0.189832 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.159] xyz_f:-0.758802, 0.119262, -0.021632  Reprojection Error: -35.350732, 5.708654 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.159] xyz_f:-0.676262, 0.024404, 0.199943  Reprojection Error: 3.370674, 0.028918 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.159] xyz_f:-0.663238, 0.167392, 0.194954  Reprojection Error: 3.356990, -0.560459 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.159] xyz_f:-0.588463, 0.211024, 0.296038  Reprojection Error: 2.067912, -0.333601 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.159] xyz_f:-0.671229, 0.372578, 0.039197  Reprojection Error: 16.876209, -8.988854 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.159] xyz_f:-0.776520, 0.084224, -0.188749  Reprojection Error: -4.324517, 0.965406 Feature: -0.427976, 0.105755, 0.879397
[11:52:55.159] it:45 	 Success 	 new_chi2: 0.002230 	 dT = 0.000978, -0.005465, 0.003306
[11:52:55.159] xyz_f:-1.183695, -0.086625, 0.150289  Reprojection Error: 7.806519, 0.603528 Feature: -0.069439, 0.027063, 0.997219
[11:52:55.159] xyz_f:-1.178575, -0.089318, 0.160352  Reprojection Error: 7.291971, 0.584136 Feature: -0.057855, 0.027066, 0.997958
[11:52:55.159] xyz_f:-1.084009, -0.348691, 0.210709  Reprojection Error: 5.236624, 1.438678 Feature: 0.089615, -0.210436, 0.973492
[11:52:55.159] xyz_f:-1.062965, -0.350360, 0.242506  Reprojection Error: 4.514183, 1.234781 Feature: 0.127102, -0.203818, 0.970723
[11:52:55.159] xyz_f:-1.075997, -0.332570, 0.234441  Reprojection Error: 4.702217, 1.225177 Feature: 0.109867, -0.188721, 0.975866
[11:52:55.159] xyz_f:-1.233089, 0.011206, 0.037266  Reprojection Error: 32.872238, -0.205845 Feature: -0.210684, 0.092308, 0.973186
[11:52:55.159] xyz_f:-1.089479, -0.327747, 0.216193  Reprojection Error: 5.128096, 1.322991 Feature: 0.086788, -0.188785, 0.978176
[11:52:55.159] xyz_f:-0.963960, -0.554835, 0.201834  Reprojection Error: 4.987036, 2.287041 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.159] xyz_f:-1.032752, -0.365639, 0.275328  Reprojection Error: 3.930837, 1.109686 Feature: 0.173063, -0.210081, 0.962245
[11:52:55.159] xyz_f:-1.230339, 0.020413, 0.044987  Reprojection Error: 27.138004, -0.347720 Feature: -0.204913, 0.103200, 0.973324
[11:52:55.159] xyz_f:-1.187663, -0.095178, 0.139984  Reprojection Error: 8.405881, 0.696103 Feature: -0.078127, 0.016135, 0.996813
[11:52:55.159] xyz_f:-1.154975, 0.373322, 0.041882  Reprojection Error: 27.287361, -8.398844 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.159] xyz_f:-1.079783, -0.346444, 0.219142  Reprojection Error: 5.028257, 1.369235 Feature: 0.098279, -0.206083, 0.973587
[11:52:55.159] xyz_f:-1.051508, -0.357911, 0.254264  Reprojection Error: 4.284703, 1.192555 Feature: 0.144348, -0.208069, 0.967404
[11:52:55.159] xyz_f:-1.046557, -0.348040, 0.267767  Reprojection Error: 4.069468, 1.098367 Feature: 0.155910, -0.195039, 0.968324
[11:52:55.159] xyz_f:-1.081945, -0.358819, 0.206733  Reprojection Error: 5.325789, 1.507829 Feature: 0.089583, -0.221247, 0.971094
[11:52:55.159] xyz_f:-1.045856, -0.369178, 0.254689  Reprojection Error: 4.262030, 1.222548 Feature: 0.150045, -0.218842, 0.964155
[11:52:55.159] xyz_f:-1.073167, 0.211698, 0.298986  Reprojection Error: 3.635541, -0.329500 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.159] xyz_f:-1.242569, 0.120082, -0.019226  Reprojection Error: -64.933885, 6.440186 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.159] xyz_f:-1.147657, 0.168130, 0.197664  Reprojection Error: 5.733893, -0.552025 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.159] xyz_f:-1.092279, -0.332194, 0.208588  Reprojection Error: 5.318387, 1.393047 Feature: 0.080021, -0.195050, 0.977524
[11:52:55.159] xyz_f:-1.046192, -0.348079, 0.268252  Reprojection Error: 4.061676, 1.096238 Feature: 0.156506, -0.194951, 0.968246
[11:52:55.159] xyz_f:-1.248501, -0.158208, -0.066088  Reprojection Error: -19.169924, -2.496209 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.159] xyz_f:-1.160819, 0.025154, 0.202611  Reprojection Error: 5.689521, 0.026214 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.159] xyz_f:-0.963960, -0.554835, 0.201834  Reprojection Error: 5.010566, 2.282325 Feature: 0.188169, -0.411852, 0.891611
[11:52:55.159] xyz_f:-1.294756, 0.091804, -0.181618  Reprojection Error: -7.011988, 0.276136 Feature: -0.442876, 0.113508, 0.911166
[11:52:55.159] xyz_f:-2.035208, -0.871421, -0.268175  Reprojection Error: -7.411697, -3.468390 Feature: -0.667367, -0.839298, 1.635960
[11:52:55.159] xyz_f:-0.522772, 0.077068, -0.308110  Reprojection Error: -1.589652, 0.047333 Feature: -0.161646, 0.066536, 0.182551
[11:52:55.159] xyz_f:-2.015981, -0.833136, -0.263464  Reprojection Error: -7.482886, -3.365178 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.159] xyz_f:-0.833710, 0.047051, -0.169416  Reprojection Error: -4.951243, 0.304757 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.159] xyz_f:-1.248501, -0.158208, -0.066088  Reprojection Error: -18.920439, -2.342702 Feature: -0.266919, -0.098083, 0.958715
[11:52:55.159] xyz_f:-0.573927, 0.024135, -0.250056  Reprojection Error: -2.481219, 0.192527 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.159] xyz_f:-1.242569, 0.120082, -0.019226  Reprojection Error: -64.901418, 6.441121 Feature: -0.287187, 0.182853, 0.940260
[11:52:55.159] xyz_f:-1.160819, 0.025154, 0.202611  Reprojection Error: 5.717702, 0.026826 Feature: -0.039315, 0.148575, 0.988119
[11:52:55.159] xyz_f:-1.147657, 0.168130, 0.197664  Reprojection Error: 5.761068, -0.552424 Feature: -0.069018, 0.285399, 0.955920
[11:52:55.159] xyz_f:-1.073167, 0.211698, 0.298986  Reprojection Error: 3.669473, -0.328828 Feature: 0.043152, 0.353707, 0.934360
[11:52:55.159] xyz_f:-1.154975, 0.373322, 0.041882  Reprojection Error: 27.328452, -8.397197 Feature: -0.249278, 0.443280, 0.861024
[11:52:55.159] xyz_f:-1.259784, 0.085058, -0.186399  Reprojection Error: -6.969006, 0.975509 Feature: -0.427976, 0.105755, 0.879397
[11:52:55.159] it:46 	 Success 	 new_chi2: 0.000000 	 dT = 0.000000, 0.000000, 0.000000
[11:52:55.159] After pose optimization, distance between two frames:0.392890 ,angle between two frames:-2.756892
[11:52:55.363] Reprojection Map nPoint:49 ,nCell:21 ,nMatches:14 ,distance between two frames:2.764886 ,angle between two frames:-3.534912
[11:52:55.364] Init estimate scale:1.054784
[11:52:55.364] xyz_f:2.613787, -0.640082, 1.506458  Reprojection Error: -1.483507, -0.052119 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.364] xyz_f:2.325735, -0.217277, 1.655296  Reprojection Error: -1.448453, 0.158366 Feature: -0.043370, 0.027069, 0.998692
[11:52:55.364] xyz_f:2.483051, -0.453795, 1.612278  Reprojection Error: -1.424012, 0.062509 Feature: 0.112668, -0.212524, 0.970639
[11:52:55.364] xyz_f:2.519879, -0.449362, 1.621403  Reprojection Error: -1.398903, 0.064237 Feature: 0.150109, -0.205880, 0.966996
[11:52:55.364] xyz_f:2.504663, -0.434973, 1.625982  Reprojection Error: -1.400726, 0.071260 Feature: 0.135790, -0.190797, 0.972192
[11:52:55.364] xyz_f:2.199364, -0.136478, 1.614529  Reprojection Error: -1.548141, 0.181148 Feature: -0.181958, 0.094563, 0.978749
[11:52:55.364] xyz_f:2.484523, -0.432142, 1.623504  Reprojection Error: -1.411772, 0.072677 Feature: 0.115633, -0.188703, 0.975203
[11:52:55.364] xyz_f:2.599066, -0.634560, 1.509927  Reprojection Error: -1.486745, -0.046376 Feature: 0.207924, -0.413620, 0.886389
[11:52:55.364] xyz_f:2.569308, -0.454621, 1.625415  Reprojection Error: -1.372979, 0.060406 Feature: 0.198857, -0.209922, 0.957282
[11:52:55.364] xyz_f:2.199647, -0.127855, 1.615982  Reprojection Error: -1.547235, 0.184724 Feature: -0.181935, 0.103269, 0.977873
[11:52:55.364] xyz_f:2.317489, -0.227121, 1.649803  Reprojection Error: -1.456847, 0.153828 Feature: -0.052063, 0.016139, 0.998513
[11:52:55.364] xyz_f:2.200389, 0.235060, 1.593894  Reprojection Error: -1.628935, 0.369001 Feature: -0.215535, 0.448101, 0.867612
[11:52:55.364] xyz_f:2.494202, -0.450350, 1.616301  Reprojection Error: -1.415132, 0.064076 Feature: 0.124205, -0.208155, 0.970178
[11:52:55.364] xyz_f:2.537427, -0.453852, 1.621805  Reprojection Error: -1.390864, 0.061715 Feature: 0.167323, -0.210113, 0.963253
[11:52:55.364] xyz_f:2.533674, -0.439939, 1.628282  Reprojection Error: -1.385879, 0.068514 Feature: 0.164531, -0.194998, 0.966905
[11:52:55.364] xyz_f:2.483733, -0.463629, 1.607235  Reprojection Error: -1.429021, 0.057804 Feature: 0.112627, -0.223328, 0.968215
[11:52:55.364] xyz_f:2.546755, -0.463913, 1.617854  Reprojection Error: -1.390831, 0.056526 Feature: 0.175867, -0.220854, 0.959320
[11:52:55.364] xyz_f:2.458182, 0.105405, 1.712633  Reprojection Error: -1.355209, 0.317681 Feature: 0.074700, 0.353595, 0.932411
[11:52:55.364] xyz_f:2.135179, -0.035371, 1.587567  Reprojection Error: -1.617905, 0.217687 Feature: -0.258775, 0.185247, 0.948008
[11:52:55.364] xyz_f:2.338269, 0.042492, 1.684190  Reprojection Error: -1.433391, 0.272931 Feature: -0.043109, 0.285465, 0.957419
[11:52:55.364] xyz_f:2.551150, -0.442399, 1.629459  Reprojection Error: -1.376994, 0.066944 Feature: 0.181743, -0.197069, 0.963397
[11:52:55.364] xyz_f:2.339694, -0.195067, 1.665301  Reprojection Error: -1.433896, 0.168336 Feature: -0.028878, 0.051111, 0.998275
[11:52:55.364] xyz_f:2.359149, -0.099234, 1.686908  Reprojection Error: -1.410111, 0.209799 Feature: -0.011475, 0.149272, 0.988730
[11:52:55.364] xyz_f:2.473894, -0.439805, 1.617476  Reprojection Error: -1.422427, 0.069112 Feature: 0.104343, -0.197666, 0.974700
[11:52:55.364] xyz_f:2.338211, -0.218470, 1.659533  Reprojection Error: -1.439131, 0.158681 Feature: -0.030149, 0.027013, 0.999180
[11:52:55.364] xyz_f:2.199237, -0.137048, 1.614373  Reprojection Error: -1.548314, 0.180902 Feature: -0.182081, 0.093972, 0.978783
[11:52:55.364] xyz_f:2.229412, 0.236097, 1.608753  Reprojection Error: -1.596292, 0.372429 Feature: -0.183636, 0.452948, 0.872419
[11:52:55.364] xyz_f:2.599066, -0.634560, 1.509927  Reprojection Error: -1.431685, -0.057273 Feature: 0.207924, -0.413620, 0.886389
[11:52:55.364] xyz_f:1.423917, -1.153250, 1.795063  Reprojection Error: -0.606944, 0.423568 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.364] xyz_f:2.569308, -0.454621, 1.625415  Reprojection Error: -1.312405, 0.050693 Feature: 0.198857, -0.209922, 0.957282
[11:52:55.364] xyz_f:1.550787, -1.122214, 1.832776  Reprojection Error: -0.616071, 0.398874 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.364] xyz_f:2.551150, -0.442399, 1.629459  Reprojection Error: -1.317342, 0.060053 Feature: 0.181743, -0.197069, 0.963397
[11:52:55.364] xyz_f:2.613787, -0.640082, 1.506458  Reprojection Error: -1.738132, 0.430622 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.364] xyz_f:2.465709, -0.025502, 0.952576  Reprojection Error: -2.711394, 0.124158 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.364] xyz_f:1.454061, -1.201854, 1.790375  Reprojection Error: -0.920789, 0.772007 Feature: -0.760850, -0.888998, 1.625984
[11:52:55.364] xyz_f:1.445868, -1.127857, 1.797960  Reprojection Error: -0.752815, 0.782092 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.364] xyz_f:2.135179, -0.035371, 1.587567  Reprojection Error: -1.548587, 0.219774 Feature: -0.258775, 0.185247, 0.948008
[11:52:55.364] xyz_f:1.447103, -1.132542, 1.803827  Reprojection Error: -0.781034, 0.929611 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.364] xyz_f:2.200389, 0.235060, 1.593894  Reprojection Error: -0.576306, 0.177606 Feature: -0.215535, 0.448101, 0.867612
[11:52:55.364] xyz_f:2.458182, 0.105405, 1.712633  Reprojection Error: -1.283512, 0.317660 Feature: 0.074700, 0.353595, 0.932411
[11:52:55.364] xyz_f:2.470015, -0.024225, 0.947885  Reprojection Error: -2.737382, 0.530638 Feature: -0.123887, 0.030451, 0.255710
[11:52:55.364] it:0 	 Success 	 new_chi2: 71.004743 	 dT = -0.068953, 0.069890, -0.001977
[11:52:55.364] xyz_f:0.618464, -0.640056, 1.576249  Reprojection Error: -0.140816, -0.070948 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.364] xyz_f:0.330344, -0.217104, 1.724538  Reprojection Error: -0.234982, 0.152995 Feature: -0.043370, 0.027069, 0.998692
[11:52:55.364] xyz_f:0.487621, -0.453701, 1.681820  Reprojection Error: -0.173860, 0.050816 Feature: 0.112668, -0.212524, 0.970639
[11:52:55.364] xyz_f:0.524434, -0.449287, 1.691015  Reprojection Error: -0.154898, 0.052784 Feature: 0.150109, -0.205880, 0.966996
[11:52:55.364] xyz_f:0.509217, -0.434891, 1.695565  Reprojection Error: -0.160648, 0.060233 Feature: 0.135790, -0.190797, 0.972192
[11:52:55.364] xyz_f:0.204094, -0.136240, 1.683530  Reprojection Error: -0.307138, 0.177542 Feature: -0.181958, 0.094563, 0.978749
[11:52:55.364] xyz_f:0.489083, -0.432049, 1.693049  Reprojection Error: -0.170304, 0.061689 Feature: 0.115633, -0.188703, 0.975203
[11:52:55.364] xyz_f:0.603739, -0.634526, 1.579691  Reprojection Error: -0.147614, -0.064957 Feature: 0.207924, -0.413620, 0.886389
[11:52:55.364] xyz_f:0.573853, -0.454572, 1.695121  Reprojection Error: -0.130802, 0.048875 Feature: 0.198857, -0.209922, 0.957282
[11:52:55.364] xyz_f:0.204378, -0.127616, 1.684983  Reprojection Error: -0.307346, 0.181343 Feature: -0.181935, 0.103269, 0.977873
[11:52:55.364] xyz_f:0.322104, -0.226943, 1.719029  Reprojection Error: -0.239516, 0.148181 Feature: -0.052063, 0.016139, 0.998513
[11:52:55.364] xyz_f:0.205348, 0.235298, 1.662896  Reprojection Error: -0.371911, 0.374977 Feature: -0.215535, 0.448101, 0.867612
[11:52:55.364] xyz_f:0.498767, -0.450262, 1.685864  Reprojection Error: -0.167829, 0.052527 Feature: 0.124205, -0.208155, 0.970178
[11:52:55.364] xyz_f:0.541979, -0.453786, 1.691450  Reprojection Error: -0.146716, 0.050154 Feature: 0.167323, -0.210113, 0.963253
[11:52:55.364] xyz_f:0.538221, -0.439871, 1.697921  Reprojection Error: -0.146826, 0.057393 Feature: 0.164531, -0.194998, 0.966905
[11:52:55.364] xyz_f:0.488309, -0.463536, 1.676778  Reprojection Error: -0.174894, 0.045785 Feature: 0.112627, -0.223328, 0.968215
[11:52:55.364] xyz_f:0.551309, -0.463853, 1.687518  Reprojection Error: -0.143373, 0.044653 Feature: 0.175867, -0.220854, 0.959320
[11:52:55.364] xyz_f:0.462847, 0.105511, 1.782127  Reprojection Error: -0.179601, 0.320022 Feature: 0.074700, 0.353595, 0.932411
[11:52:55.364] xyz_f:0.140012, -0.035100, 1.656445  Reprojection Error: -0.357493, 0.216596 Feature: -0.258775, 0.185247, 0.948008
[11:52:55.364] xyz_f:0.342957, 0.042660, 1.753455  Reprojection Error: -0.240615, 0.273832 Feature: -0.043109, 0.285465, 0.957419
[11:52:55.364] xyz_f:0.555694, -0.442340, 1.699131  Reprojection Error: -0.138398, 0.055777 Feature: 0.181743, -0.197069, 0.963397
[11:52:55.364] xyz_f:0.344296, -0.194901, 1.734569  Reprojection Error: -0.227419, 0.163562 Feature: -0.028878, 0.051111, 0.998275
[11:52:55.364] xyz_f:0.363759, -0.099077, 1.756213  Reprojection Error: -0.218733, 0.207388 Feature: -0.011475, 0.149272, 0.988730
[11:52:55.364] xyz_f:0.478462, -0.439707, 1.687000  Reprojection Error: -0.176566, 0.057848 Feature: 0.104343, -0.197666, 0.974700
[11:52:55.364] xyz_f:0.342812, -0.218303, 1.728799  Reprojection Error: -0.228469, 0.153309 Feature: -0.030149, 0.027013, 0.999180
[11:52:55.364] xyz_f:0.203966, -0.136810, 1.683373  Reprojection Error: -0.307193, 0.177280 Feature: -0.182081, 0.093972, 0.978783
[11:52:55.364] xyz_f:0.234342, 0.236320, 1.677811  Reprojection Error: -0.350162, 0.378336 Feature: -0.183636, 0.452948, 0.872419
[11:52:55.364] xyz_f:0.603739, -0.634526, 1.579691  Reprojection Error: -0.092555, -0.075854 Feature: 0.207924, -0.413620, 0.886389
[11:52:55.364] xyz_f:-0.572217, -1.152614, 1.862583  Reprojection Error: 0.493513, 0.399937 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.364] xyz_f:0.573853, -0.454572, 1.695121  Reprojection Error: -0.070228, 0.039163 Feature: 0.198857, -0.209922, 0.957282
[11:52:55.364] xyz_f:-0.445404, -1.121644, 1.900537  Reprojection Error: 0.464427, 0.376743 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.364] xyz_f:0.555694, -0.442340, 1.699131  Reprojection Error: -0.078745, 0.048886 Feature: 0.181743, -0.197069, 0.963397
[11:52:55.364] xyz_f:0.618464, -0.640056, 1.576249  Reprojection Error: -0.395441, 0.411792 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.364] xyz_f:0.471758, -0.025400, 1.022086  Reprojection Error: -0.584493, 0.122238 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.364] xyz_f:-0.542089, -1.201234, 1.857952  Reprojection Error: 0.183133, 0.747258 Feature: -0.760850, -0.888998, 1.625984
[11:52:55.364] xyz_f:-0.550259, -1.127233, 1.865522  Reprojection Error: 0.346319, 0.759040 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.364] xyz_f:0.140012, -0.035100, 1.656445  Reprojection Error: -0.288175, 0.218684 Feature: -0.258775, 0.185247, 0.948008
[11:52:55.364] xyz_f:-0.549037, -1.131918, 1.871390  Reprojection Error: 0.314592, 0.906610 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.364] xyz_f:0.205348, 0.235298, 1.662896  Reprojection Error: 0.680718, 0.183582 Feature: -0.215535, 0.448101, 0.867612
[11:52:55.364] xyz_f:0.462847, 0.105511, 1.782127  Reprojection Error: -0.107904, 0.320001 Feature: 0.074700, 0.353595, 0.932411
[11:52:55.364] xyz_f:0.476074, -0.024126, 1.017404  Reprojection Error: -0.599495, 0.528794 Feature: -0.123887, 0.030451, 0.255710
[11:52:55.364] it:1 	 Success 	 new_chi2: 6.957223 	 dT = -0.047379, 0.094335, 0.017130
[11:52:55.364] xyz_f:0.725456, -0.640254, 1.671323  Reprojection Error: -0.182513, -0.093929 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.364] xyz_f:0.437957, -0.218577, 1.824374  Reprojection Error: -0.283486, 0.146914 Feature: -0.043370, 0.027069, 0.998692
[11:52:55.364] xyz_f:0.595553, -0.454477, 1.779051  Reprojection Error: -0.218683, 0.036508 Feature: 0.112668, -0.212524, 0.970639
[11:52:55.364] xyz_f:0.632494, -0.449900, 1.787636  Reprojection Error: -0.198583, 0.038766 Feature: 0.150109, -0.205880, 0.966996
[11:52:55.364] xyz_f:0.617290, -0.435571, 1.792437  Reprojection Error: -0.204711, 0.046751 Feature: 0.135790, -0.190797, 0.972192
[11:52:55.364] xyz_f:0.310688, -0.138276, 1.785463  Reprojection Error: -0.359919, 0.174062 Feature: -0.181958, 0.094563, 0.978749
[11:52:55.364] xyz_f:0.597104, -0.432819, 1.790255  Reprojection Error: -0.214957, 0.048262 Feature: 0.115633, -0.188703, 0.975203
[11:52:55.364] xyz_f:0.710766, -0.634789, 1.675008  Reprojection Error: -0.189762, -0.087658 Feature: 0.207924, -0.413620, 0.886389
[11:52:55.364] xyz_f:0.681997, -0.454965, 1.790923  Reprojection Error: -0.173077, 0.034750 Feature: 0.198857, -0.209922, 0.957282
[11:52:55.364] xyz_f:0.310959, -0.129651, 1.786911  Reprojection Error: -0.360072, 0.178162 Feature: -0.181935, 0.103269, 0.977873
[11:52:55.364] xyz_f:0.429671, -0.228454, 1.819002  Reprojection Error: -0.288353, 0.141755 Feature: -0.052063, 0.016139, 0.998513
[11:52:55.364] xyz_f:0.309954, 0.233263, 1.764825  Reprojection Error: -0.424052, 0.384303 Feature: -0.215535, 0.448101, 0.867612
[11:52:55.364] xyz_f:0.606749, -0.450989, 1.782910  Reprojection Error: -0.212291, 0.038397 Feature: 0.124205, -0.208155, 0.970178
[11:52:55.364] xyz_f:0.650063, -0.454321, 1.787780  Reprojection Error: -0.189908, 0.035997 Feature: 0.167323, -0.210113, 0.963253
[11:52:55.364] xyz_f:0.646351, -0.440423, 1.794313  Reprojection Error: -0.190060, 0.043783 Feature: 0.164531, -0.194998, 0.966905
[11:52:55.364] xyz_f:0.596201, -0.464309, 1.773998  Reprojection Error: -0.219753, 0.031071 Feature: 0.112627, -0.223328, 0.968215
[11:52:55.364] xyz_f:0.659371, -0.464346, 1.783694  Reprojection Error: -0.186341, 0.030109 Feature: 0.175867, -0.220854, 0.959320
[11:52:55.364] xyz_f:0.569963, 0.104623, 1.879775  Reprojection Error: -0.223093, 0.323570 Feature: 0.074700, 0.353595, 0.932411
[11:52:55.364] xyz_f:0.245719, -0.037422, 1.759446  Reprojection Error: -0.412624, 0.216676 Feature: -0.258775, 0.185247, 0.948008
[11:52:55.364] xyz_f:0.449895, 0.041240, 1.853088  Reprojection Error: -0.287807, 0.275906 Feature: -0.043109, 0.285465, 0.957419
[11:52:55.364] xyz_f:0.663852, -0.442814, 1.795234  Reprojection Error: -0.181138, 0.042104 Feature: 0.181743, -0.197069, 0.963397
[11:52:55.364] xyz_f:0.451974, -0.196313, 1.834174  Reprojection Error: -0.275347, 0.158230 Feature: -0.028878, 0.051111, 0.998275
[11:52:55.364] xyz_f:0.471368, -0.100403, 1.855496  Reprojection Error: -0.265645, 0.205084 Feature: -0.011475, 0.149272, 0.988730
[11:52:55.364] xyz_f:0.586419, -0.440524, 1.784382  Reprojection Error: -0.221588, 0.044081 Feature: 0.104343, -0.197666, 0.974700
[11:52:55.364] xyz_f:0.450499, -0.219722, 1.828428  Reprojection Error: -0.276560, 0.147205 Feature: -0.030149, 0.027013, 0.999180
[11:52:55.364] xyz_f:0.310561, -0.138846, 1.785308  Reprojection Error: -0.359981, 0.173781 Feature: -0.182081, 0.093972, 0.978783
[11:52:55.364] xyz_f:0.339186, 0.234414, 1.779258  Reprojection Error: -0.401124, 0.387438 Feature: -0.183636, 0.452948, 0.872419
[11:52:55.364] xyz_f:0.710766, -0.634789, 1.675008  Reprojection Error: -0.134702, -0.098554 Feature: 0.207924, -0.413620, 0.886389
[11:52:55.364] xyz_f:-0.458040, -1.158076, 1.977299  Reprojection Error: 0.417946, 0.366797 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.364] xyz_f:0.681997, -0.454965, 1.790923  Reprojection Error: -0.112503, 0.025037 Feature: 0.198857, -0.209922, 0.957282
[11:52:55.364] xyz_f:-0.330755, -1.126542, 2.013151  Reprojection Error: 0.394367, 0.346162 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.364] xyz_f:0.663852, -0.442814, 1.795234  Reprojection Error: -0.121485, 0.035213 Feature: 0.181743, -0.197069, 0.963397
[11:52:55.364] xyz_f:0.725456, -0.640254, 1.671323  Reprojection Error: -0.437138, 0.388811 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.364] xyz_f:0.566878, -0.026275, 1.119685  Reprojection Error: -0.629212, 0.120853 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.364] xyz_f:-0.427778, -1.206561, 1.972169  Reprojection Error: 0.108273, 0.712516 Feature: -0.760850, -0.888998, 1.625984
[11:52:55.364] xyz_f:-0.436149, -1.132597, 1.979875  Reprojection Error: 0.271648, 0.726849 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.364] xyz_f:0.245719, -0.037422, 1.759446  Reprojection Error: -0.343306, 0.218764 Feature: -0.258775, 0.185247, 0.948008
[11:52:55.364] xyz_f:-0.434810, -1.137277, 1.985722  Reprojection Error: 0.240175, 0.874483 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.364] xyz_f:0.309954, 0.233263, 1.764825  Reprojection Error: 0.628578, 0.192908 Feature: -0.215535, 0.448101, 0.867612
[11:52:55.364] xyz_f:0.569963, 0.104623, 1.879775  Reprojection Error: -0.151396, 0.323548 Feature: 0.074700, 0.353595, 0.932411
[11:52:55.364] xyz_f:0.571110, -0.024981, 1.114932  Reprojection Error: -0.643803, 0.527487 Feature: -0.123887, 0.030451, 0.255710
[11:52:55.364] it:2 	 Success 	 new_chi2: 7.278320 	 dT = -0.050205, 0.117972, 0.014721
[11:52:55.364] xyz_f:0.904029, -0.640088, 1.552731  Reprojection Error: -0.330671, -0.064777 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.364] xyz_f:0.615992, -0.217315, 1.701690  Reprojection Error: -0.405415, 0.154810 Feature: -0.043370, 0.027069, 0.998692
[11:52:55.364] xyz_f:0.773317, -0.453815, 1.658606  Reprojection Error: -0.350169, 0.054660 Feature: 0.112668, -0.212524, 0.970639
[11:52:55.364] xyz_f:0.810148, -0.449378, 1.667715  Reprojection Error: -0.330551, 0.056550 Feature: 0.150109, -0.205880, 0.966996
[11:52:55.364] xyz_f:0.794932, -0.434991, 1.672301  Reprojection Error: -0.335678, 0.063861 Feature: 0.135790, -0.190797, 0.972192
[11:52:55.364] xyz_f:0.489596, -0.136530, 1.660976  Reprojection Error: -0.480673, 0.178815 Feature: -0.181958, 0.094563, 0.978749
[11:52:55.364] xyz_f:0.774791, -0.432162, 1.669832  Reprojection Error: -0.345420, 0.065304 Feature: 0.115633, -0.188703, 0.975203
[11:52:55.364] xyz_f:0.889309, -0.634567, 1.556207  Reprojection Error: -0.336885, -0.058869 Feature: 0.207924, -0.413620, 0.886389
[11:52:55.364] xyz_f:0.859580, -0.454632, 1.671707  Reprojection Error: -0.306463, 0.052667 Feature: 0.198857, -0.209922, 0.957282
[11:52:55.364] xyz_f:0.489878, -0.127907, 1.662428  Reprojection Error: -0.480728, 0.182545 Feature: -0.181935, 0.103269, 0.977873
[11:52:55.364] xyz_f:0.607745, -0.227160, 1.696200  Reprojection Error: -0.410439, 0.150085 Feature: -0.052063, 0.016139, 0.998513
[11:52:55.364] xyz_f:0.490571, 0.235008, 1.640340  Reprojection Error: -0.547489, 0.373208 Feature: -0.215535, 0.448101, 0.867612
[11:52:55.364] xyz_f:0.784469, -0.450369, 1.662624  Reprojection Error: -0.343803, 0.056325 Feature: 0.124205, -0.208155, 0.970178
[11:52:55.364] xyz_f:0.827697, -0.453866, 1.668110  Reprojection Error: -0.322482, 0.053955 Feature: 0.167323, -0.210113, 0.963253
[11:52:55.364] xyz_f:0.823945, -0.439953, 1.674589  Reprojection Error: -0.321866, 0.061051 Feature: 0.164531, -0.194998, 0.966905
[11:52:55.364] xyz_f:0.773998, -0.463649, 1.653562  Reprojection Error: -0.351754, 0.049734 Feature: 0.112627, -0.223328, 0.968215
[11:52:55.364] xyz_f:0.837024, -0.463927, 1.664156  Reprojection Error: -0.319647, 0.048556 Feature: 0.175867, -0.220854, 0.959320
[11:52:55.364] xyz_f:0.748427, 0.105382, 1.758971  Reprojection Error: -0.345377, 0.319316 Feature: 0.074700, 0.353595, 0.932411
[11:52:55.364] xyz_f:0.425388, -0.035430, 1.634041  Reprojection Error: -0.533296, 0.217089 Feature: -0.258775, 0.185247, 0.948008
[11:52:55.364] xyz_f:0.628510, 0.042456, 1.730578  Reprojection Error: -0.408205, 0.273628 Feature: -0.043109, 0.285465, 0.957419
[11:52:55.364] xyz_f:0.841422, -0.442411, 1.675759  Reprojection Error: -0.313466, 0.059450 Feature: 0.181743, -0.197069, 0.963397
[11:52:55.364] xyz_f:0.629953, -0.195104, 1.711689  Reprojection Error: -0.396958, 0.165183 Feature: -0.028878, 0.051111, 0.998275
[11:52:55.364] xyz_f:0.649407, -0.099268, 1.733288  Reprojection Error: -0.386274, 0.208245 Feature: -0.011475, 0.149272, 0.988730
[11:52:55.364] xyz_f:0.764161, -0.439827, 1.663807  Reprojection Error: -0.352233, 0.061553 Feature: 0.104343, -0.197666, 0.974700
[11:52:55.364] xyz_f:0.628470, -0.218507, 1.705922  Reprojection Error: -0.398579, 0.155122 Feature: -0.030149, 0.027013, 0.999180
[11:52:55.364] xyz_f:0.489469, -0.137100, 1.660819  Reprojection Error: -0.480743, 0.178559 Feature: -0.182081, 0.093972, 0.978783
[11:52:55.364] xyz_f:0.519599, 0.236048, 1.655187  Reprojection Error: -0.524412, 0.376575 Feature: -0.183636, 0.452948, 0.872419
[11:52:55.364] xyz_f:0.889309, -0.634567, 1.556207  Reprojection Error: -0.281826, -0.069766 Feature: 0.207924, -0.413620, 0.886389
[11:52:55.364] xyz_f:-0.285662, -1.153388, 1.841834  Reprojection Error: 0.341393, 0.407329 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.364] xyz_f:0.859580, -0.454632, 1.671707  Reprojection Error: -0.245888, 0.042955 Feature: 0.198857, -0.209922, 0.957282
[11:52:55.364] xyz_f:-0.158780, -1.122339, 1.879493  Reprojection Error: 0.314551, 0.383720 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.365] xyz_f:0.841422, -0.442411, 1.675759  Reprojection Error: -0.253813, 0.052559 Feature: 0.181743, -0.197069, 0.963397
[11:52:55.365] xyz_f:0.904029, -0.640088, 1.552731  Reprojection Error: -0.585296, 0.417963 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.365] xyz_f:0.755652, -0.025524, 0.998911  Reprojection Error: -0.879404, 0.122939 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.365] xyz_f:-0.255515, -1.201989, 1.837133  Reprojection Error: 0.030449, 0.754996 Feature: -0.760850, -0.888998, 1.625984
[11:52:55.365] xyz_f:-0.263713, -1.127993, 1.844722  Reprojection Error: 0.194312, 0.766265 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.365] xyz_f:0.425388, -0.035430, 1.634041  Reprojection Error: -0.463978, 0.219177 Feature: -0.258775, 0.185247, 0.948008
[11:52:55.365] xyz_f:-0.262475, -1.132678, 1.850587  Reprojection Error: 0.163040, 0.913820 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.365] xyz_f:0.490571, 0.235008, 1.640340  Reprojection Error: 0.505140, 0.181813 Feature: -0.215535, 0.448101, 0.867612
[11:52:55.365] xyz_f:0.748427, 0.105382, 1.758971  Reprojection Error: -0.273680, 0.319294 Feature: 0.074700, 0.353595, 0.932411
[11:52:55.365] xyz_f:0.759955, -0.024247, 0.994219  Reprojection Error: -0.895940, 0.529469 Feature: -0.123887, 0.030451, 0.255710
[11:52:55.365] it:3 	 Success 	 new_chi2: 9.347239 	 dT = -0.045002, 0.122788, 0.011709
[11:52:55.365] xyz_f:0.701464, -0.640224, 1.676027  Reprojection Error: -0.166980, -0.095022 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.365] xyz_f:0.413850, -0.218324, 1.828242  Reprojection Error: -0.269792, 0.146521 Feature: -0.043370, 0.027069, 0.998692
[11:52:55.365] xyz_f:0.571394, -0.454346, 1.783377  Reprojection Error: -0.204323, 0.035815 Feature: 0.112668, -0.212524, 0.970639
[11:52:55.365] xyz_f:0.608312, -0.449797, 1.792070  Reprojection Error: -0.184214, 0.038086 Feature: 0.150109, -0.205880, 0.966996
[11:52:55.365] xyz_f:0.593105, -0.435457, 1.796827  Reprojection Error: -0.190410, 0.046094 Feature: 0.135790, -0.190797, 0.972192
[11:52:55.365] xyz_f:0.286757, -0.137923, 1.788961  Reprojection Error: -0.346202, 0.173713 Feature: -0.181958, 0.094563, 0.978749
[11:52:55.365] xyz_f:0.572929, -0.432689, 1.794586  Reprojection Error: -0.200681, 0.047606 Feature: 0.115633, -0.188703, 0.975203
[11:52:55.365] xyz_f:0.686768, -0.634748, 1.679670  Reprojection Error: -0.174297, -0.088734 Feature: 0.207924, -0.413620, 0.886389
[11:52:55.365] xyz_f:0.657801, -0.454901, 1.795501  Reprojection Error: -0.158630, 0.034067 Feature: 0.198857, -0.209922, 0.957282
[11:52:55.365] xyz_f:0.287030, -0.129298, 1.790410  Reprojection Error: -0.346367, 0.177823 Feature: -0.181935, 0.103269, 0.977873
[11:52:55.365] xyz_f:0.405572, -0.228193, 1.822846  Reprojection Error: -0.274634, 0.141348 Feature: -0.052063, 0.016139, 0.998513
[11:52:55.365] xyz_f:0.286373, 0.233616, 1.768322  Reprojection Error: -0.410369, 0.384364 Feature: -0.215535, 0.448101, 0.867612
[11:52:55.365] xyz_f:0.582580, -0.450866, 1.787269  Reprojection Error: -0.197938, 0.037712 Feature: 0.124205, -0.208155, 0.970178
[11:52:55.365] xyz_f:0.625878, -0.454232, 1.792265  Reprojection Error: -0.175504, 0.035311 Feature: 0.167323, -0.210113, 0.963253
[11:52:55.365] xyz_f:0.622157, -0.440331, 1.798787  Reprojection Error: -0.175714, 0.043121 Feature: 0.164531, -0.194998, 0.966905
[11:52:55.365] xyz_f:0.572048, -0.464179, 1.778326  Reprojection Error: -0.205353, 0.030360 Feature: 0.112627, -0.223328, 0.968215
[11:52:55.365] xyz_f:0.635190, -0.464265, 1.788206  Reprojection Error: -0.171886, 0.029406 Feature: 0.175867, -0.220854, 0.959320
[11:52:55.365] xyz_f:0.545946, 0.104774, 1.884027  Reprojection Error: -0.209661, 0.323615 Feature: 0.074700, 0.353595, 0.932411
[11:52:55.365] xyz_f:0.221943, -0.037018, 1.762756  Reprojection Error: -0.398874, 0.216407 Feature: -0.258775, 0.185247, 0.948008
[11:52:55.365] xyz_f:0.425906, 0.041485, 1.856991  Reprojection Error: -0.274379, 0.275821 Feature: -0.043109, 0.285465, 0.957419
[11:52:55.365] xyz_f:0.639654, -0.442736, 1.799759  Reprojection Error: -0.166763, 0.041441 Feature: 0.181743, -0.197069, 0.963397
[11:52:55.365] xyz_f:0.427856, -0.196070, 1.838083  Reprojection Error: -0.261701, 0.157870 Feature: -0.028878, 0.051111, 0.998275
[11:52:55.365] xyz_f:0.447262, -0.100175, 1.859462  Reprojection Error: -0.252139, 0.204846 Feature: -0.011475, 0.149272, 0.988730
[11:52:55.365] xyz_f:0.562255, -0.440386, 1.788682  Reprojection Error: -0.207289, 0.043410 Feature: 0.104343, -0.197666, 0.974700
[11:52:55.365] xyz_f:0.426379, -0.219477, 1.832332  Reprojection Error: -0.262872, 0.146815 Feature: -0.030149, 0.027013, 0.999180
[11:52:55.365] xyz_f:0.286630, -0.138493, 1.788806  Reprojection Error: -0.346263, 0.173431 Feature: -0.182081, 0.093972, 0.978783
[11:52:55.365] xyz_f:0.315564, 0.234745, 1.782840  Reprojection Error: -0.387491, 0.387517 Feature: -0.183636, 0.452948, 0.872419
[11:52:55.365] xyz_f:0.686768, -0.634748, 1.679670  Reprojection Error: -0.119237, -0.099631 Feature: 0.207924, -0.413620, 0.886389
[11:52:55.365] xyz_f:-0.483320, -1.157123, 1.978558  Reprojection Error: 0.430575, 0.365943 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.365] xyz_f:0.657801, -0.454901, 1.795501  Reprojection Error: -0.098056, 0.024354 Feature: 0.198857, -0.209922, 0.957282
[11:52:55.365] xyz_f:-0.356115, -1.125688, 2.014781  Reprojection Error: 0.406822, 0.345285 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.365] xyz_f:0.639654, -0.442736, 1.799759  Reprojection Error: -0.107110, 0.034550 Feature: 0.181743, -0.197069, 0.963397
[11:52:55.365] xyz_f:0.701464, -0.640224, 1.676027  Reprojection Error: -0.421605, 0.387718 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.365] xyz_f:0.544971, -0.026122, 1.123932  Reprojection Error: -0.607807, 0.120628 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.365] xyz_f:-0.453081, -1.205632, 1.973516  Reprojection Error: 0.120946, 0.711627 Feature: -0.760850, -0.888998, 1.625984
[11:52:55.365] xyz_f:-0.461417, -1.131661, 1.981198  Reprojection Error: 0.284255, 0.725994 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.365] xyz_f:0.221943, -0.037018, 1.762756  Reprojection Error: -0.329556, 0.218495 Feature: -0.258775, 0.185247, 0.948008
[11:52:55.365] xyz_f:-0.460098, -1.136342, 1.987049  Reprojection Error: 0.252756, 0.873630 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.365] xyz_f:0.286373, 0.233616, 1.768322  Reprojection Error: 0.642260, 0.192969 Feature: -0.215535, 0.448101, 0.867612
[11:52:55.365] xyz_f:0.545946, 0.104774, 1.884027  Reprojection Error: -0.137964, 0.323594 Feature: 0.074700, 0.353595, 0.932411
[11:52:55.365] xyz_f:0.549217, -0.024832, 1.119191  Reprojection Error: -0.622292, 0.527269 Feature: -0.123887, 0.030451, 0.255710
[11:52:55.365] it:4 	 Success 	 new_chi2: 4.204294 	 dT = -0.054700, 0.103520, 0.014767
[11:52:55.365] xyz_f:0.827949, -0.640350, 1.780016  Reprojection Error: -0.213587, -0.117267 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.365] xyz_f:0.540924, -0.219547, 1.936329  Reprojection Error: -0.322783, 0.140487 Feature: -0.043370, 0.027069, 0.998692
[11:52:55.365] xyz_f:0.698713, -0.454968, 1.889216  Reprojection Error: -0.253766, 0.021871 Feature: 0.112668, -0.212524, 0.970639
[11:52:55.365] xyz_f:0.735734, -0.450277, 1.897381  Reprojection Error: -0.232531, 0.024408 Feature: 0.150109, -0.205880, 0.966996
[11:52:55.365] xyz_f:0.720542, -0.435995, 1.902355  Reprojection Error: -0.239089, 0.032933 Feature: 0.135790, -0.190797, 0.972192
[11:52:55.365] xyz_f:0.412978, -0.139634, 1.898868  Reprojection Error: -0.403395, 0.170152 Feature: -0.181958, 0.094563, 0.978749
[11:52:55.365] xyz_f:0.700325, -0.433304, 1.900402  Reprojection Error: -0.249941, 0.034505 Feature: 0.115633, -0.188703, 0.975203
[11:52:55.365] xyz_f:0.813285, -0.634930, 1.783868  Reprojection Error: -0.221337, -0.110706 Feature: 0.207924, -0.413620, 0.886389
[11:52:55.365] xyz_f:0.785286, -0.455192, 1.900106  Reprojection Error: -0.205555, 0.020272 Feature: 0.198857, -0.209922, 0.957282
[11:52:55.365] xyz_f:0.413238, -0.131009, 1.900313  Reprojection Error: -0.403510, 0.174546 Feature: -0.181935, 0.103269, 0.977873
[11:52:55.365] xyz_f:0.532607, -0.229449, 1.931051  Reprojection Error: -0.327953, 0.134983 Feature: -0.052063, 0.016139, 0.998513
[11:52:55.365] xyz_f:0.410879, 0.231900, 1.878246  Reprojection Error: -0.467180, 0.393009 Feature: -0.215535, 0.448101, 0.867612
[11:52:55.365] xyz_f:0.709940, -0.451445, 1.892947  Reprojection Error: -0.247022, 0.023934 Feature: 0.124205, -0.208155, 0.970178
[11:52:55.365] xyz_f:0.753317, -0.454645, 1.897326  Reprojection Error: -0.223335, 0.021495 Feature: 0.167323, -0.210113, 0.963253
[11:52:55.365] xyz_f:0.749637, -0.440758, 1.903900  Reprojection Error: -0.223575, 0.029831 Feature: 0.164531, -0.194998, 0.966905
[11:52:55.365] xyz_f:0.699332, -0.464797, 1.884155  Reprojection Error: -0.254840, 0.016028 Feature: 0.112627, -0.223328, 0.968215
[11:52:55.365] xyz_f:0.762609, -0.464642, 1.893134  Reprojection Error: -0.219504, 0.015216 Feature: 0.175867, -0.220854, 0.959320
[11:52:55.365] xyz_f:0.672567, 0.104054, 1.990233  Reprojection Error: -0.257819, 0.326944 Feature: 0.074700, 0.353595, 0.932411
[11:52:55.365] xyz_f:0.347411, -0.038979, 1.873592  Reprojection Error: -0.458392, 0.216211 Feature: -0.258775, 0.185247, 0.948008
[11:52:55.365] xyz_f:0.552396, 0.040306, 1.964910  Reprojection Error: -0.326157, 0.277648 Feature: -0.043109, 0.285465, 0.957419
[11:52:55.365] xyz_f:0.767155, -0.443096, 1.904622  Reprojection Error: -0.214138, 0.028086 Feature: 0.181743, -0.197069, 0.963397
[11:52:55.365] xyz_f:0.554984, -0.197240, 1.945970  Reprojection Error: -0.314125, 0.152558 Feature: -0.028878, 0.051111, 0.998275
[11:52:55.365] xyz_f:0.574326, -0.101271, 1.967072  Reprojection Error: -0.303576, 0.202456 Feature: -0.011475, 0.149272, 0.988730
[11:52:55.365] xyz_f:0.689597, -0.441042, 1.894651  Reprojection Error: -0.256919, 0.029986 Feature: 0.104343, -0.197666, 0.974700
[11:52:55.365] xyz_f:0.553515, -0.220653, 1.940240  Reprojection Error: -0.315456, 0.140760 Feature: -0.030149, 0.027013, 0.999180
[11:52:55.365] xyz_f:0.412850, -0.140205, 1.898714  Reprojection Error: -0.403465, 0.169851 Feature: -0.182081, 0.093972, 0.978783
[11:52:55.365] xyz_f:0.440269, 0.233141, 1.892346  Reprojection Error: -0.443148, 0.395984 Feature: -0.183636, 0.452948, 0.872419
[11:52:55.365] xyz_f:0.813285, -0.634930, 1.783868  Reprojection Error: -0.166277, -0.121603 Feature: 0.207924, -0.413620, 0.886389
[11:52:55.365] xyz_f:-0.350417, -1.161764, 2.099401  Reprojection Error: 0.353209, 0.334490 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.365] xyz_f:0.785286, -0.455192, 1.900106  Reprojection Error: -0.144981, 0.010559 Feature: 0.198857, -0.209922, 0.957282
[11:52:55.365] xyz_f:-0.222829, -1.129843, 2.133806  Reprojection Error: 0.334498, 0.316067 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.365] xyz_f:0.767155, -0.443096, 1.904622  Reprojection Error: -0.154485, 0.021195 Feature: 0.181743, -0.197069, 0.963397
[11:52:55.365] xyz_f:0.827949, -0.640350, 1.780016  Reprojection Error: -0.468212, 0.365473 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.365] xyz_f:0.661250, -0.026866, 1.230226  Reprojection Error: -0.660432, 0.119225 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.365] xyz_f:-0.320067, -1.210158, 2.093927  Reprojection Error: 0.044221, 0.678658 Feature: -0.760850, -0.888998, 1.625984
[11:52:55.365] xyz_f:-0.328575, -1.136219, 2.101729  Reprojection Error: 0.207692, 0.695406 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.365] xyz_f:0.347411, -0.038979, 1.873592  Reprojection Error: -0.389074, 0.218299 Feature: -0.258775, 0.185247, 0.948008
[11:52:55.365] xyz_f:-0.327155, -1.140895, 2.107561  Reprojection Error: 0.176436, 0.843090 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.365] xyz_f:0.410879, 0.231900, 1.878246  Reprojection Error: 0.585450, 0.201615 Feature: -0.215535, 0.448101, 0.867612
[11:52:55.365] xyz_f:0.672567, 0.104054, 1.990233  Reprojection Error: -0.186122, 0.326923 Feature: 0.074700, 0.353595, 0.932411
[11:52:55.365] xyz_f:0.665424, -0.025559, 1.225425  Reprojection Error: -0.674580, 0.525939 Feature: -0.123887, 0.030451, 0.255710
[11:52:55.365] it:5 	 Success 	 new_chi2: 4.749233 	 dT = -0.057548, 0.132062, 0.012173
[11:52:55.365] xyz_f:1.032674, -0.640250, 1.647581  Reprojection Error: -0.375234, -0.088411 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.365] xyz_f:0.745159, -0.218542, 1.800516  Reprojection Error: -0.457286, 0.148482 Feature: -0.043370, 0.027069, 0.998692
[11:52:55.365] xyz_f:0.902748, -0.454459, 1.755257  Reprojection Error: -0.398235, 0.039961 Feature: 0.112668, -0.212524, 0.970639
[11:52:55.365] xyz_f:0.939685, -0.449886, 1.763857  Reprojection Error: -0.377512, 0.042151 Feature: 0.150109, -0.205880, 0.966996
[11:52:55.365] xyz_f:0.924481, -0.435555, 1.768652  Reprojection Error: -0.383029, 0.050010 Feature: 0.135790, -0.190797, 0.972192
[11:52:55.365] xyz_f:0.617914, -0.138227, 1.761554  Reprojection Error: -0.536687, 0.175085 Feature: -0.181958, 0.094563, 0.978749
[11:52:55.365] xyz_f:0.904297, -0.432801, 1.766462  Reprojection Error: -0.393352, 0.051509 Feature: 0.115633, -0.188703, 0.975203
[11:52:55.365] xyz_f:1.017983, -0.634784, 1.651260  Reprojection Error: -0.381915, -0.082211 Feature: 0.207924, -0.413620, 0.886389
[11:52:55.365] xyz_f:0.989186, -0.454956, 1.767164  Reprojection Error: -0.352029, 0.038160 Feature: 0.198857, -0.209922, 0.957282
[11:52:55.365] xyz_f:0.618185, -0.129602, 1.763003  Reprojection Error: -0.536695, 0.179118 Feature: -0.181935, 0.103269, 0.977873
[11:52:55.365] xyz_f:0.736874, -0.228418, 1.795141  Reprojection Error: -0.462623, 0.143405 Feature: -0.052063, 0.016139, 0.998513
[11:52:55.365] xyz_f:0.617229, 0.233312, 1.740916  Reprojection Error: -0.602965, 0.382459 Feature: -0.215535, 0.448101, 0.867612
[11:52:55.365] xyz_f:0.913942, -0.450972, 1.759120  Reprojection Error: -0.391522, 0.041809 Feature: 0.124205, -0.208155, 0.970178
[11:52:55.365] xyz_f:0.957254, -0.454309, 1.764009  Reprojection Error: -0.368952, 0.039415 Feature: 0.167323, -0.210113, 0.963253
[11:52:55.365] xyz_f:0.953541, -0.440410, 1.770539  Reprojection Error: -0.368397, 0.047071 Feature: 0.164531, -0.194998, 0.966905
[11:52:55.365] xyz_f:0.903396, -0.464291, 1.750204  Reprojection Error: -0.399841, 0.034618 Feature: 0.112627, -0.223328, 0.968215
[11:52:55.365] xyz_f:0.966563, -0.464335, 1.759926  Reprojection Error: -0.365882, 0.033618 Feature: 0.175867, -0.220854, 0.959320
[11:52:55.365] xyz_f:0.877178, 0.104644, 1.855971  Reprojection Error: -0.392510, 0.322845 Feature: 0.074700, 0.353595, 0.932411
[11:52:55.365] xyz_f:0.552967, -0.037366, 1.735511  Reprojection Error: -0.591586, 0.216937 Feature: -0.258775, 0.185247, 0.948008
[11:52:55.365] xyz_f:0.757113, 0.041274, 1.829235  Reprojection Error: -0.458922, 0.275597 Feature: -0.043109, 0.285465, 0.957419
[11:52:55.365] xyz_f:0.971041, -0.442803, 1.771468  Reprojection Error: -0.359508, 0.045407 Feature: 0.181743, -0.197069, 0.963397
[11:52:55.365] xyz_f:0.759175, -0.196279, 1.810322  Reprojection Error: -0.448287, 0.159622 Feature: -0.028878, 0.051111, 0.998275
[11:52:55.365] xyz_f:0.778570, -0.100371, 1.831652  Reprojection Error: -0.436671, 0.205771 Feature: -0.011475, 0.149272, 0.988730
[11:52:55.365] xyz_f:0.893613, -0.440505, 1.760585  Reprojection Error: -0.400515, 0.047407 Feature: 0.104343, -0.197666, 0.974700
[11:52:55.365] xyz_f:0.757699, -0.219688, 1.804575  Reprojection Error: -0.450051, 0.148774 Feature: -0.030149, 0.027013, 0.999180
[11:52:55.365] xyz_f:0.617787, -0.138797, 1.761399  Reprojection Error: -0.536764, 0.174809 Feature: -0.182081, 0.093972, 0.978783
[11:52:55.365] xyz_f:0.646455, 0.234460, 1.755361  Reprojection Error: -0.578765, 0.385618 Feature: -0.183636, 0.452948, 0.872419
[11:52:55.365] xyz_f:1.017983, -0.634784, 1.651260  Reprojection Error: -0.326855, -0.093108 Feature: 0.207924, -0.413620, 0.886389
[11:52:55.365] xyz_f:-0.151002, -1.157943, 1.953079  Reprojection Error: 0.263611, 0.373992 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.365] xyz_f:0.989186, -0.454956, 1.767164  Reprojection Error: -0.291455, 0.028448 Feature: 0.198857, -0.209922, 0.957282
[11:52:55.365] xyz_f:-0.023727, -1.126424, 1.988982  Reprojection Error: 0.242000, 0.352902 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.365] xyz_f:0.971041, -0.442803, 1.771468  Reprojection Error: -0.299856, 0.038517 Feature: 0.181743, -0.197069, 0.963397
[11:52:55.365] xyz_f:1.032674, -0.640250, 1.647581  Reprojection Error: -0.629859, 0.394329 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.365] xyz_f:0.874386, -0.026254, 1.095880  Reprojection Error: -0.920813, 0.121343 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.365] xyz_f:-0.120742, -1.206432, 1.947961  Reprojection Error: -0.046650, 0.720052 Feature: -0.760850, -0.888998, 1.625984
[11:52:55.365] xyz_f:-0.129109, -1.132467, 1.955664  Reprojection Error: 0.117374, 0.733864 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.365] xyz_f:0.552967, -0.037366, 1.735511  Reprojection Error: -0.522268, 0.219025 Feature: -0.258775, 0.185247, 0.948008
[11:52:55.365] xyz_f:-0.127773, -1.137147, 1.961512  Reprojection Error: 0.086347, 0.881486 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.365] xyz_f:0.617229, 0.233312, 1.740916  Reprojection Error: 0.449664, 0.191064 Feature: -0.215535, 0.448101, 0.867612
[11:52:55.365] xyz_f:0.877178, 0.104644, 1.855971  Reprojection Error: -0.320813, 0.322823 Feature: 0.074700, 0.353595, 0.932411
[11:52:55.365] xyz_f:0.878619, -0.024961, 1.091128  Reprojection Error: -0.936804, 0.527957 Feature: -0.123887, 0.030451, 0.255710
[11:52:55.365] it:6 	 Success 	 new_chi2: 1.363055 	 dT = -0.049952, 0.093282, 0.006319
[11:52:55.365] xyz_f:0.887286, -0.640184, 1.554054  Reprojection Error: -0.319401, -0.065066 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.365] xyz_f:0.599533, -0.218006, 1.705234  Reprojection Error: -0.395011, 0.154950 Feature: -0.043370, 0.027069, 0.998692
[11:52:55.365] xyz_f:0.757009, -0.454181, 1.660936  Reprojection Error: -0.339696, 0.054496 Feature: 0.112668, -0.212524, 0.970639
[11:52:55.365] xyz_f:0.793901, -0.449668, 1.669761  Reprojection Error: -0.320225, 0.056394 Feature: 0.150109, -0.205880, 0.966996
[11:52:55.365] xyz_f:0.778691, -0.435312, 1.674464  Reprojection Error: -0.325364, 0.063717 Feature: 0.135790, -0.190797, 0.972192
[11:52:55.365] xyz_f:0.472660, -0.137483, 1.665496  Reprojection Error: -0.469704, 0.179164 Feature: -0.181958, 0.094563, 0.978749
[11:52:55.365] xyz_f:0.758525, -0.432525, 1.672150  Reprojection Error: -0.335050, 0.065163 Feature: 0.115633, -0.188703, 0.975203
[11:52:55.365] xyz_f:0.872582, -0.634694, 1.557644  Reprojection Error: -0.325619, -0.059164 Feature: 0.207924, -0.413620, 0.886389
[11:52:55.365] xyz_f:0.843372, -0.454819, 1.673371  Reprojection Error: -0.296266, 0.052509 Feature: 0.198857, -0.209922, 0.957282
[11:52:55.365] xyz_f:0.472936, -0.128859, 1.666946  Reprojection Error: -0.469766, 0.182908 Feature: -0.181935, 0.103269, 0.977873
[11:52:55.365] xyz_f:0.591264, -0.227868, 1.699808  Reprojection Error: -0.399983, 0.150218 Feature: -0.052063, 0.016139, 0.998513
[11:52:55.365] xyz_f:0.472708, 0.234056, 1.644856  Reprojection Error: -0.535809, 0.374180 Feature: -0.215535, 0.448101, 0.867612
[11:52:55.365] xyz_f:0.768185, -0.450712, 1.664867  Reprojection Error: -0.333386, 0.056166 Feature: 0.124205, -0.208155, 0.970178
[11:52:55.365] xyz_f:0.811461, -0.454119, 1.670020  Reprojection Error: -0.312193, 0.053796 Feature: 0.167323, -0.210113, 0.963253
[11:52:55.365] xyz_f:0.807730, -0.440215, 1.676528  Reprojection Error: -0.311625, 0.060903 Feature: 0.164531, -0.194998, 0.966905
[11:52:55.365] xyz_f:0.757672, -0.464014, 1.655887  Reprojection Error: -0.341238, 0.049561 Feature: 0.112627, -0.223328, 0.968215
[11:52:55.365] xyz_f:0.820778, -0.464161, 1.665994  Reprojection Error: -0.309341, 0.048389 Feature: 0.175867, -0.220854, 0.959320
[11:52:55.365] xyz_f:0.731739, 0.104964, 1.761494  Reprojection Error: -0.335293, 0.319639 Feature: 0.074700, 0.353595, 0.932411
[11:52:55.365] xyz_f:0.408038, -0.036516, 1.639057  Reprojection Error: -0.521914, 0.217685 Feature: -0.258775, 0.185247, 0.948008
[11:52:55.366] xyz_f:0.611736, 0.041790, 1.734026  Reprojection Error: -0.397810, 0.274061 Feature: -0.043109, 0.285465, 0.957419
[11:52:55.366] xyz_f:0.825221, -0.442637, 1.677563  Reprojection Error: -0.303269, 0.059300 Feature: 0.181743, -0.197069, 0.963397
[11:52:55.366] xyz_f:0.613525, -0.195766, 1.715125  Reprojection Error: -0.386643, 0.165340 Feature: -0.028878, 0.051111, 0.998275
[11:52:55.366] xyz_f:0.632946, -0.099890, 1.736573  Reprojection Error: -0.376086, 0.208494 Feature: -0.011475, 0.149272, 0.988730
[11:52:55.366] xyz_f:0.747865, -0.440211, 1.666208  Reprojection Error: -0.341791, 0.061403 Feature: 0.104343, -0.197666, 0.974700
[11:52:55.366] xyz_f:0.612046, -0.219172, 1.709369  Reprojection Error: -0.388228, 0.155253 Feature: -0.030149, 0.027013, 0.999180
[11:52:55.366] xyz_f:0.472533, -0.138053, 1.665340  Reprojection Error: -0.469773, 0.178907 Feature: -0.182081, 0.093972, 0.978783
[11:52:55.366] xyz_f:0.501847, 0.235157, 1.659478  Reprojection Error: -0.512903, 0.377481 Feature: -0.183636, 0.452948, 0.872419
[11:52:55.366] xyz_f:0.872582, -0.634694, 1.557644  Reprojection Error: -0.270560, -0.070061 Feature: 0.207924, -0.413620, 0.886389
[11:52:55.366] xyz_f:-0.299078, -1.155940, 1.852318  Reprojection Error: 0.347758, 0.405162 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.366] xyz_f:0.843372, -0.454819, 1.673371  Reprojection Error: -0.235692, 0.042796 Feature: 0.198857, -0.209922, 0.957282
[11:52:55.366] xyz_f:-0.171974, -1.124628, 1.888998  Reprojection Error: 0.321110, 0.381927 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.366] xyz_f:0.825221, -0.442637, 1.677563  Reprojection Error: -0.243616, 0.052409 Feature: 0.181743, -0.197069, 0.963397
[11:52:55.366] xyz_f:0.887286, -0.640184, 1.554054  Reprojection Error: -0.574026, 0.417674 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.366] xyz_f:0.733373, -0.025933, 1.001400  Reprojection Error: -0.855276, 0.123283 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.366] xyz_f:-0.268867, -1.204478, 1.847385  Reprojection Error: 0.036905, 0.752712 Feature: -0.760850, -0.888998, 1.625984
[11:52:55.366] xyz_f:-0.277159, -1.130499, 1.855037  Reprojection Error: 0.200766, 0.764215 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.366] xyz_f:0.408038, -0.036516, 1.639057  Reprojection Error: -0.452596, 0.219773 Feature: -0.258775, 0.185247, 0.948008
[11:52:55.366] xyz_f:-0.275866, -1.135181, 1.860893  Reprojection Error: 0.169451, 0.911776 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.366] xyz_f:0.472708, 0.234056, 1.644856  Reprojection Error: 0.516821, 0.182785 Feature: -0.215535, 0.448101, 0.867612
[11:52:55.366] xyz_f:0.731739, 0.104964, 1.761494  Reprojection Error: -0.263596, 0.319617 Feature: 0.074700, 0.353595, 0.932411
[11:52:55.366] xyz_f:0.737637, -0.024647, 0.996674  Reprojection Error: -0.871664, 0.529810 Feature: -0.123887, 0.030451, 0.255710
[11:52:55.366] it:7 	 Success 	 new_chi2: 1.471704 	 dT = -0.063540, 0.085893, 0.011728
[11:52:55.366] xyz_f:0.796964, -0.640038, 1.467614  Reprojection Error: -0.291486, -0.040903 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.366] xyz_f:0.508799, -0.216986, 1.615531  Reprojection Error: -0.358369, 0.161416 Feature: -0.043370, 0.027069, 0.998692
[11:52:55.366] xyz_f:0.666049, -0.453638, 1.573016  Reprojection Error: -0.307346, 0.069435 Feature: 0.112668, -0.212524, 0.970639
[11:52:55.366] xyz_f:0.702852, -0.449236, 1.582258  Reprojection Error: -0.288976, 0.071014 Feature: 0.150109, -0.205880, 0.966996
[11:52:55.366] xyz_f:0.687633, -0.434835, 1.586789  Reprojection Error: -0.293675, 0.077780 Feature: 0.135790, -0.190797, 0.972192
[11:52:55.366] xyz_f:0.382629, -0.136078, 1.574360  Reprojection Error: -0.428947, 0.183051 Feature: -0.181958, 0.094563, 0.978749
[11:52:55.366] xyz_f:0.667504, -0.431986, 1.584247  Reprojection Error: -0.302765, 0.079175 Feature: 0.115633, -0.188703, 0.975203
[11:52:55.366] xyz_f:0.782236, -0.634503, 1.471037  Reprojection Error: -0.297185, -0.035304 Feature: 0.207924, -0.413620, 0.886389
[11:52:55.366] xyz_f:0.752264, -0.454538, 1.586428  Reprojection Error: -0.266457, 0.067227 Feature: 0.198857, -0.209922, 0.957282
[11:52:55.366] xyz_f:0.382915, -0.127455, 1.575813  Reprojection Error: -0.429047, 0.186488 Feature: -0.181935, 0.103269, 0.977873
[11:52:55.366] xyz_f:0.500563, -0.226822, 1.610012  Reprojection Error: -0.363047, 0.157045 Feature: -0.052063, 0.016139, 0.998513
[11:52:55.366] xyz_f:0.384039, 0.235459, 1.553728  Reprojection Error: -0.495595, 0.364932 Feature: -0.215535, 0.448101, 0.867612
[11:52:55.366] xyz_f:0.677191, -0.450203, 1.577074  Reprojection Error: -0.301374, 0.070913 Feature: 0.124205, -0.208155, 0.970178
[11:52:55.366] xyz_f:0.720395, -0.453742, 1.582716  Reprojection Error: -0.281457, 0.068557 Feature: 0.167323, -0.210113, 0.963253
[11:52:55.366] xyz_f:0.716633, -0.439825, 1.589182  Reprojection Error: -0.280782, 0.075090 Feature: 0.164531, -0.194998, 0.966905
[11:52:55.366] xyz_f:0.666740, -0.463473, 1.567975  Reprojection Error: -0.308899, 0.064927 Feature: 0.112627, -0.223328, 0.968215
[11:52:55.366] xyz_f:0.729726, -0.463811, 1.578796  Reprojection Error: -0.278879, 0.063556 Feature: 0.175867, -0.220854, 0.959320
[11:52:55.366] xyz_f:0.641339, 0.105583, 1.673291  Reprojection Error: -0.303165, 0.316128 Feature: 0.074700, 0.353595, 0.932411
[11:52:55.366] xyz_f:0.318617, -0.034916, 1.547193  Reprojection Error: -0.478900, 0.217974 Feature: -0.258775, 0.185247, 0.948008
[11:52:55.366] xyz_f:0.521464, 0.042773, 1.644465  Reprojection Error: -0.362129, 0.272150 Feature: -0.043109, 0.285465, 0.957419
[11:52:55.366] xyz_f:0.734103, -0.442300, 1.590415  Reprojection Error: -0.272932, 0.073547 Feature: 0.181743, -0.197069, 0.963397
[11:52:55.366] xyz_f:0.522745, -0.194788, 1.625580  Reprojection Error: -0.350503, 0.171026 Feature: -0.028878, 0.051111, 0.998275
[11:52:55.366] xyz_f:0.542214, -0.098971, 1.647249  Reprojection Error: -0.340769, 0.211056 Feature: -0.011475, 0.149272, 0.988730
[11:52:55.366] xyz_f:0.656888, -0.439641, 1.578184  Reprojection Error: -0.309179, 0.075777 Feature: 0.104343, -0.197666, 0.974700
[11:52:55.366] xyz_f:0.521261, -0.218190, 1.619808  Reprojection Error: -0.351978, 0.161736 Feature: -0.030149, 0.027013, 0.999180
[11:52:55.366] xyz_f:0.382502, -0.136648, 1.574203  Reprojection Error: -0.429009, 0.182814 Feature: -0.182081, 0.093972, 0.978783
[11:52:55.366] xyz_f:0.413014, 0.236471, 1.568680  Reprojection Error: -0.473778, 0.368441 Feature: -0.183636, 0.452948, 0.872419
[11:52:55.366] xyz_f:0.782236, -0.634503, 1.471037  Reprojection Error: -0.242125, -0.046201 Feature: 0.207924, -0.413620, 0.886389
[11:52:55.366] xyz_f:-0.394263, -1.152185, 1.752411  Reprojection Error: 0.411279, 0.438597 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.366] xyz_f:0.752264, -0.454538, 1.586428  Reprojection Error: -0.205883, 0.057515 Feature: 0.198857, -0.209922, 0.957282
[11:52:55.366] xyz_f:-0.267488, -1.121258, 1.790529  Reprojection Error: 0.379461, 0.412786 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.366] xyz_f:0.734103, -0.442300, 1.590415  Reprojection Error: -0.213279, 0.066656 Feature: 0.181743, -0.197069, 0.963397
[11:52:55.366] xyz_f:0.796964, -0.640038, 1.467614  Reprojection Error: -0.546110, 0.441837 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.366] xyz_f:0.651185, -0.025332, 0.913262  Reprojection Error: -0.835961, 0.125124 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.366] xyz_f:-0.364146, -1.200815, 1.747820  Reprojection Error: 0.099708, 0.787757 Feature: -0.760850, -0.888998, 1.625984
[11:52:55.366] xyz_f:-0.372299, -1.126810, 1.755379  Reprojection Error: 0.263447, 0.796713 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.366] xyz_f:0.318617, -0.034916, 1.547193  Reprojection Error: -0.409582, 0.220062 Feature: -0.258775, 0.185247, 0.948008
[11:52:55.366] xyz_f:-0.371087, -1.131497, 1.761249  Reprojection Error: 0.231903, 0.944196 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.366] xyz_f:0.384039, 0.235459, 1.553728  Reprojection Error: 0.557034, 0.173537 Feature: -0.215535, 0.448101, 0.867612
[11:52:55.366] xyz_f:0.641339, 0.105583, 1.673291  Reprojection Error: -0.231468, 0.316107 Feature: 0.074700, 0.353595, 0.932411
[11:52:55.366] xyz_f:0.655507, -0.024058, 0.908585  Reprojection Error: -0.853024, 0.531560 Feature: -0.123887, 0.030451, 0.255710
[11:52:55.366] it:8 	 Success 	 new_chi2: 1.465076 	 dT = -0.059762, 0.070379, 0.013034
[11:52:55.366] xyz_f:0.695487, -0.639837, 1.396486  Reprojection Error: -0.246479, -0.018834 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.366] xyz_f:0.406912, -0.215812, 1.540772  Reprojection Error: -0.307524, 0.167172 Feature: -0.043370, 0.027069, 0.998692
[11:52:55.366] xyz_f:0.563886, -0.452994, 1.500235  Reprojection Error: -0.259789, 0.082997 Feature: 0.112668, -0.212524, 0.970639
[11:52:55.366] xyz_f:0.600584, -0.448717, 1.509940  Reprojection Error: -0.242521, 0.084268 Feature: 0.150109, -0.205880, 0.966996
[11:52:55.366] xyz_f:0.585358, -0.434264, 1.514279  Reprojection Error: -0.246885, 0.090525 Feature: 0.135790, -0.190797, 0.972192
[11:52:55.366] xyz_f:0.281545, -0.134481, 1.498018  Reprojection Error: -0.373854, 0.186389 Feature: -0.181958, 0.094563, 0.978749
[11:52:55.366] xyz_f:0.565272, -0.431347, 1.511484  Reprojection Error: -0.255412, 0.091879 Feature: 0.115633, -0.188703, 0.975203
[11:52:55.366] xyz_f:0.680737, -0.634252, 1.399723  Reprojection Error: -0.251763, -0.013507 Feature: 0.207924, -0.413620, 0.886389
[11:52:55.366] xyz_f:0.649921, -0.454185, 1.514732  Reprojection Error: -0.221337, 0.080556 Feature: 0.198857, -0.209922, 0.957282
[11:52:55.366] xyz_f:0.281841, -0.125858, 1.499475  Reprojection Error: -0.374011, 0.189540 Feature: -0.181935, 0.103269, 0.977873
[11:52:55.366] xyz_f:0.398713, -0.225621, 1.535149  Reprojection Error: -0.311863, 0.163133 Feature: -0.052063, 0.016139, 0.998513
[11:52:55.366] xyz_f:0.284467, 0.237049, 1.477413  Reprojection Error: -0.440967, 0.356027 Feature: -0.215535, 0.448101, 0.867612
[11:52:55.366] xyz_f:0.574987, -0.449597, 1.504433  Reprojection Error: -0.254172, 0.084294 Feature: 0.124205, -0.208155, 0.970178
[11:52:55.366] xyz_f:0.618105, -0.453281, 1.510619  Reprojection Error: -0.235467, 0.081934 Feature: 0.167323, -0.210113, 0.963253
[11:52:55.366] xyz_f:0.614309, -0.439352, 1.517037  Reprojection Error: -0.234778, 0.087940 Feature: 0.164531, -0.194998, 0.966905
[11:52:55.366] xyz_f:0.564607, -0.462832, 1.495203  Reprojection Error: -0.261287, 0.078885 Feature: 0.112627, -0.223328, 0.968215
[11:52:55.366] xyz_f:0.627451, -0.463382, 1.506816  Reprojection Error: -0.233083, 0.077304 Feature: 0.175867, -0.220854, 0.959320
[11:52:55.366] xyz_f:0.539802, 0.106309, 1.600203  Reprojection Error: -0.257218, 0.312792 Feature: 0.074700, 0.353595, 0.932411
[11:52:55.366] xyz_f:0.218221, -0.033104, 1.470049  Reprojection Error: -0.421412, 0.217925 Feature: -0.258775, 0.185247, 0.948008
[11:52:55.366] xyz_f:0.420088, 0.043903, 1.569868  Reprojection Error: -0.312621, 0.270195 Feature: -0.043109, 0.285465, 0.957419
[11:52:55.366] xyz_f:0.631754, -0.441886, 1.518490  Reprojection Error: -0.227393, 0.086447 Feature: 0.181743, -0.197069, 0.963397
[11:52:55.366] xyz_f:0.420806, -0.193661, 1.550997  Reprojection Error: -0.300241, 0.176062 Feature: -0.028878, 0.051111, 0.998275
[11:52:55.366] xyz_f:0.440323, -0.097910, 1.572911  Reprojection Error: -0.291548, 0.213221 Feature: -0.011475, 0.149272, 0.988730
[11:52:55.366] xyz_f:0.554708, -0.438966, 1.505288  Reprojection Error: -0.261455, 0.088820 Feature: 0.104343, -0.197666, 0.974700
[11:52:55.366] xyz_f:0.419315, -0.217058, 1.545205  Reprojection Error: -0.301539, 0.167507 Feature: -0.030149, 0.027013, 0.999180
[11:52:55.366] xyz_f:0.281417, -0.135050, 1.497859  Reprojection Error: -0.373908, 0.186171 Feature: -0.182081, 0.093972, 0.978783
[11:52:55.366] xyz_f:0.313255, 0.237964, 1.492729  Reprojection Error: -0.420344, 0.359771 Feature: -0.183636, 0.452948, 0.872419
[11:52:55.366] xyz_f:0.680737, -0.634252, 1.399723  Reprojection Error: -0.196703, -0.024404 Feature: 0.207924, -0.413620, 0.886389
[11:52:55.366] xyz_f:-0.500951, -1.147956, 1.666252  Reprojection Error: 0.486942, 0.470057 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.366] xyz_f:0.649921, -0.454185, 1.514732  Reprojection Error: -0.160762, 0.070843 Feature: 0.198857, -0.209922, 0.957282
[11:52:55.366] xyz_f:-0.374562, -1.117457, 1.705964  Reprojection Error: 0.449631, 0.441600 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.366] xyz_f:0.631754, -0.441886, 1.518490  Reprojection Error: -0.167740, 0.079556 Feature: 0.181743, -0.197069, 0.963397
[11:52:55.366] xyz_f:0.695487, -0.639837, 1.396486  Reprojection Error: -0.501104, 0.463906 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.366] xyz_f:0.558775, -0.024654, 0.840355  Reprojection Error: -0.787855, 0.126724 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.366] xyz_f:-0.470943, -1.196688, 1.662039  Reprojection Error: 0.174718, 0.820733 Feature: -0.760850, -0.888998, 1.625984
[11:52:55.366] xyz_f:-0.478941, -1.122656, 1.669496  Reprojection Error: 0.338234, 0.827246 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.366] xyz_f:0.218221, -0.033104, 1.470049  Reprojection Error: -0.352094, 0.220013 Feature: -0.258775, 0.185247, 0.948008
[11:52:55.366] xyz_f:-0.477819, -1.127346, 1.675381  Reprojection Error: 0.306407, 0.974646 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.366] xyz_f:0.284467, 0.237049, 1.477413  Reprojection Error: 0.611662, 0.164632 Feature: -0.215535, 0.448101, 0.867612
[11:52:55.366] xyz_f:0.539802, 0.106309, 1.600203  Reprojection Error: -0.185521, 0.312771 Feature: 0.074700, 0.353595, 0.932411
[11:52:55.366] xyz_f:0.563159, -0.023396, 0.835733  Reprojection Error: -0.805415, 0.533075 Feature: -0.123887, 0.030451, 0.255710
[11:52:55.366] it:9 	 Success 	 new_chi2: 1.426165 	 dT = -0.060199, 0.076883, 0.019652
[11:52:55.366] xyz_f:0.607770, -0.639459, 1.318192  Reprojection Error: -0.209515, 0.008092 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.366] xyz_f:0.318669, -0.213965, 1.456996  Reprojection Error: -0.262143, 0.173958 Feature: -0.043370, 0.027069, 0.998692
[11:52:55.366] xyz_f:0.475175, -0.451944, 1.419434  Reprojection Error: -0.218687, 0.099445 Feature: 0.112668, -0.212524, 0.970639
[11:52:55.366] xyz_f:0.511704, -0.447853, 1.429834  Reprojection Error: -0.202644, 0.100313 Feature: 0.150109, -0.205880, 0.966996
[11:52:55.366] xyz_f:0.496472, -0.433323, 1.433884  Reprojection Error: -0.206568, 0.105948 Feature: 0.135790, -0.190797, 0.972192
[11:52:55.366] xyz_f:0.194550, -0.131999, 1.411874  Reprojection Error: -0.323705, 0.190108 Feature: -0.181958, 0.094563, 0.978749
[11:52:55.366] xyz_f:0.476457, -0.430304, 1.430708  Reprojection Error: -0.214449, 0.107262 Feature: 0.115633, -0.188703, 0.975203
[11:52:55.366] xyz_f:0.592989, -0.633799, 1.321149  Reprojection Error: -0.214270, 0.013099 Feature: 0.207924, -0.413620, 0.886389
[11:52:55.366] xyz_f:0.560913, -0.453572, 1.435561  Reprojection Error: -0.182997, 0.096665 Feature: 0.198857, -0.209922, 0.957282
[11:52:55.366] xyz_f:0.194863, -0.123378, 1.413336  Reprojection Error: -0.323926, 0.192901 Feature: -0.181935, 0.103269, 0.977873
[11:52:55.366] xyz_f:0.310528, -0.223732, 1.451218  Reprojection Error: -0.266118, 0.170331 Feature: -0.052063, 0.016139, 0.998513
[11:52:55.366] xyz_f:0.199753, 0.239510, 1.391346  Reprojection Error: -0.391991, 0.344333 Feature: -0.215535, 0.448101, 0.867612
[11:52:55.366] xyz_f:0.486211, -0.448603, 1.423842  Reprojection Error: -0.213455, 0.100511 Feature: 0.124205, -0.208155, 0.970178
[11:52:55.366] xyz_f:0.529184, -0.452506, 1.430845  Reprojection Error: -0.196134, 0.098122 Feature: 0.167323, -0.210113, 0.963253
[11:52:55.366] xyz_f:0.525338, -0.438558, 1.437191  Reprojection Error: -0.195369, 0.103478 Feature: 0.164531, -0.194998, 0.966905
[11:52:55.366] xyz_f:0.475941, -0.461786, 1.414416  Reprojection Error: -0.220168, 0.095825 Feature: 0.112627, -0.223328, 0.968215
[11:52:55.366] xyz_f:0.538550, -0.462655, 1.427220  Reprojection Error: -0.194017, 0.093946 Feature: 0.175867, -0.220854, 0.959320
[11:52:55.366] xyz_f:0.452043, 0.107479, 1.518954  Reprojection Error: -0.217486, 0.308469 Feature: 0.074700, 0.353595, 0.932411
[11:52:55.366] xyz_f:0.132286, -0.030303, 1.382713  Reprojection Error: -0.368638, 0.217322 Feature: -0.258775, 0.185247, 0.948008
[11:52:55.366] xyz_f:0.332610, 0.045681, 1.486349  Reprojection Error: -0.268803, 0.267427 Feature: -0.043109, 0.285465, 0.957419
[11:52:55.366] xyz_f:0.542739, -0.441181, 1.438974  Reprojection Error: -0.188523, 0.102037 Feature: 0.181743, -0.197069, 0.963397
[11:52:55.366] xyz_f:0.332478, -0.191884, 1.467484  Reprojection Error: -0.255491, 0.181957 Feature: -0.028878, 0.051111, 0.998275
[11:52:55.366] xyz_f:0.352062, -0.096233, 1.489769  Reprojection Error: -0.247926, 0.215569 Feature: -0.011475, 0.149272, 0.988730
[11:52:55.366] xyz_f:0.465974, -0.437870, 1.424313  Reprojection Error: -0.220106, 0.104629 Feature: 0.104343, -0.197666, 0.974700
[11:52:55.366] xyz_f:0.330979, -0.215274, 1.461664  Reprojection Error: -0.256614, 0.174315 Feature: -0.030149, 0.027013, 0.999180
[11:52:55.366] xyz_f:0.194423, -0.132567, 1.411712  Reprojection Error: -0.323749, 0.189915 Feature: -0.182081, 0.093972, 0.978783
[11:52:55.366] xyz_f:0.228249, 0.240279, 1.407205  Reprojection Error: -0.372691, 0.348437 Feature: -0.183636, 0.452948, 0.872419
[11:52:55.366] xyz_f:0.592989, -0.633799, 1.321149  Reprojection Error: -0.159210, 0.002202 Feature: 0.207924, -0.413620, 0.886389
[11:52:55.366] xyz_f:-0.596142, -1.141474, 1.565176  Reprojection Error: 0.567175, 0.510405 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.366] xyz_f:0.560913, -0.453572, 1.435561  Reprojection Error: -0.122422, 0.086953 Feature: 0.198857, -0.209922, 0.957282
[11:52:55.366] xyz_f:-0.470376, -1.111616, 1.607281  Reprojection Error: 0.522724, 0.478183 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.366] xyz_f:0.542739, -0.441181, 1.438974  Reprojection Error: -0.128870, 0.095146 Feature: 0.181743, -0.197069, 0.963397
[11:52:55.366] xyz_f:0.607770, -0.639459, 1.318192  Reprojection Error: -0.464140, 0.490832 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.366] xyz_f:0.484768, -0.023616, 0.759597  Reprojection Error: -0.761119, 0.128476 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.366] xyz_f:-0.566307, -1.190357, 1.561531  Reprojection Error: 0.254027, 0.863023 Feature: -0.760850, -0.888998, 1.625984
[11:52:55.366] xyz_f:-0.574069, -1.116286, 1.568839  Reprojection Error: 0.417277, 0.866331 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.366] xyz_f:0.132286, -0.030303, 1.382713  Reprojection Error: -0.299320, 0.219410 Feature: -0.258775, 0.185247, 0.948008
[11:52:55.366] xyz_f:-0.573083, -1.120981, 1.574744  Reprojection Error: 0.385128, 1.013606 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.366] xyz_f:0.199753, 0.239510, 1.391346  Reprojection Error: 0.660639, 0.152938 Feature: -0.215535, 0.448101, 0.867612
[11:52:55.366] xyz_f:0.452043, 0.107479, 1.518954  Reprojection Error: -0.145789, 0.308447 Feature: 0.074700, 0.353595, 0.932411
[11:52:55.366] xyz_f:0.489246, -0.022380, 0.755059  Reprojection Error: -0.779522, 0.534721 Feature: -0.123887, 0.030451, 0.255710
[11:52:55.366] it:10 	 Success 	 new_chi2: 1.361849 	 dT = -0.064017, 0.081199, 0.028915
[11:52:55.366] xyz_f:0.508612, -0.638739, 1.234305  Reprojection Error: -0.160516, 0.040477 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.366] xyz_f:0.218939, -0.211079, 1.365026  Reprojection Error: -0.203819, 0.181738 Feature: -0.043370, 0.027069, 0.998692
[11:52:55.366] xyz_f:0.374649, -0.450227, 1.331824  Reprojection Error: -0.165229, 0.119100 Feature: 0.112668, -0.212524, 0.970639
[11:52:55.366] xyz_f:0.410902, -0.446408, 1.343241  Reprojection Error: -0.150671, 0.119429 Feature: 0.150109, -0.205880, 0.966996
[11:52:55.366] xyz_f:0.395672, -0.431763, 1.346865  Reprojection Error: -0.154098, 0.124315 Feature: 0.135790, -0.190797, 0.972192
[11:52:55.366] xyz_f:0.096746, -0.128191, 1.316464  Reprojection Error: -0.259398, 0.193992 Feature: -0.181958, 0.094563, 0.978749
[11:52:55.366] xyz_f:0.375778, -0.428596, 1.343132  Reprojection Error: -0.161204, 0.125600 Feature: 0.115633, -0.188703, 0.975203
[11:52:55.366] xyz_f:0.493798, -0.632968, 1.236849  Reprojection Error: -0.164664, 0.045124 Feature: 0.207924, -0.413620, 0.886389
[11:52:55.366] xyz_f:0.459888, -0.452494, 1.350339  Reprojection Error: -0.132842, 0.115807 Feature: 0.198857, -0.209922, 0.957282
[11:52:55.366] xyz_f:0.097082, -0.119573, 1.317935  Reprojection Error: -0.259714, 0.196333 Feature: -0.181935, 0.103269, 0.977873
[11:52:55.366] xyz_f:0.210890, -0.220786, 1.359022  Reprojection Error: -0.207319, 0.178622 Feature: -0.052063, 0.016139, 0.998513
[11:52:55.366] xyz_f:0.105299, 0.243267, 1.296128  Reprojection Error: -0.329665, 0.328789 Feature: -0.215535, 0.448101, 0.867612
[11:52:55.366] xyz_f:0.385582, -0.446967, 1.336539  Reprojection Error: -0.160470, 0.119868 Feature: 0.124205, -0.208155, 0.970178
[11:52:55.366] xyz_f:0.428313, -0.451192, 1.344739  Reprojection Error: -0.144803, 0.117395 Feature: 0.167323, -0.210113, 0.963253
[11:52:55.366] xyz_f:0.424395, -0.437214, 1.350976  Reprojection Error: -0.143977, 0.121956 Feature: 0.164531, -0.194998, 0.966905
[11:52:55.366] xyz_f:0.375481, -0.460074, 1.326828  Reprojection Error: -0.166666, 0.116087 Feature: 0.112627, -0.223328, 0.968215
[11:52:55.366] xyz_f:0.437699, -0.461411, 1.341376  Reprojection Error: -0.142981, 0.113763 Feature: 0.175867, -0.220854, 0.959320
[11:52:55.366] xyz_f:0.352933, 0.109364, 1.430718  Reprojection Error: -0.166567, 0.302787 Feature: 0.074700, 0.353595, 0.932411
[11:52:55.366] xyz_f:0.036083, -0.026035, 1.285586  Reprojection Error: -0.301034, 0.215658 Feature: -0.258775, 0.185247, 0.948008
[11:52:55.366] xyz_f:0.233998, 0.048459, 1.394784  Reprojection Error: -0.212793, 0.263418 Feature: -0.043109, 0.285465, 0.957419
[11:52:55.366] xyz_f:0.441720, -0.439967, 1.353245  Reprojection Error: -0.137767, 0.120563 Feature: 0.181743, -0.197069, 0.963397
[11:52:55.366] xyz_f:0.232615, -0.189101, 1.375897  Reprojection Error: -0.197993, 0.188638 Feature: -0.028878, 0.051111, 0.998275
[11:52:55.366] xyz_f:0.252285, -0.093596, 1.398731  Reprojection Error: -0.191973, 0.217888 Feature: -0.011475, 0.149272, 0.988730
[11:52:55.367] xyz_f:0.365421, -0.436083, 1.336445  Reprojection Error: -0.166376, 0.123504 Feature: 0.104343, -0.197666, 0.974700
[11:52:55.367] xyz_f:0.231104, -0.212479, 1.370035  Reprojection Error: -0.198859, 0.182125 Feature: -0.030149, 0.027013, 0.999180
[11:52:55.367] xyz_f:0.096619, -0.128759, 1.316299  Reprojection Error: -0.259430, 0.193828 Feature: -0.182081, 0.093972, 0.978783
[11:52:55.367] xyz_f:0.133347, 0.243824, 1.312777  Reprojection Error: -0.312067, 0.333455 Feature: -0.183636, 0.452948, 0.872419
[11:52:55.367] xyz_f:0.493798, -0.632968, 1.236849  Reprojection Error: -0.109605, 0.034227 Feature: 0.207924, -0.413620, 0.886389
[11:52:55.367] xyz_f:-0.705450, -1.131705, 1.447521  Reprojection Error: 0.673647, 0.562935 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.367] xyz_f:0.459888, -0.452494, 1.350339  Reprojection Error: -0.072267, 0.106095 Feature: 0.198857, -0.209922, 0.957282
[11:52:55.367] xyz_f:-0.580689, -1.102785, 1.493124  Reprojection Error: 0.618979, 0.525146 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.367] xyz_f:0.441720, -0.439967, 1.353245  Reprojection Error: -0.078115, 0.113672 Feature: 0.181743, -0.197069, 0.963397
[11:52:55.367] xyz_f:0.508612, -0.638739, 1.234305  Reprojection Error: -0.415140, 0.523218 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.367] xyz_f:0.405869, -0.022051, 0.672557  Reprojection Error: -0.726399, 0.130173 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.367] xyz_f:-0.675892, -1.180811, 1.444705  Reprojection Error: 0.359206, 0.918059 Feature: -0.760850, -0.888998, 1.625984
[11:52:55.367] xyz_f:-0.683300, -1.106683, 1.451801  Reprojection Error: 0.522014, 0.917077 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.367] xyz_f:0.036083, -0.026035, 1.285586  Reprojection Error: -0.231717, 0.217746 Feature: -0.258775, 0.185247, 0.948008
[11:52:55.367] xyz_f:-0.682514, -1.111385, 1.457730  Reprojection Error: 0.489410, 1.064164 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.367] xyz_f:0.105299, 0.243267, 1.296128  Reprojection Error: 0.722965, 0.137394 Feature: -0.215535, 0.448101, 0.867612
[11:52:55.367] xyz_f:0.352933, 0.109364, 1.430718  Reprojection Error: -0.094870, 0.302765 Feature: 0.074700, 0.353595, 0.932411
[11:52:55.367] xyz_f:0.410481, -0.020849, 0.668146  Reprojection Error: -0.745923, 0.536285 Feature: -0.123887, 0.030451, 0.255710
[11:52:55.367] it:11 	 Success 	 new_chi2: 1.230086 	 dT = -0.065058, 0.073085, 0.037392
[11:52:55.367] xyz_f:0.394848, -0.637518, 1.156666  Reprojection Error: -0.089820, 0.074158 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.367] xyz_f:0.104795, -0.207053, 1.276916  Reprojection Error: -0.125496, 0.189255 Feature: -0.043370, 0.027069, 0.998692
[11:52:55.367] xyz_f:0.259281, -0.447702, 1.249317  Reprojection Error: -0.091462, 0.139405 Feature: 0.112668, -0.212524, 0.970639
[11:52:55.367] xyz_f:0.295134, -0.444232, 1.262036  Reprojection Error: -0.078623, 0.139089 Feature: 0.150109, -0.205880, 0.966996
[11:52:55.367] xyz_f:0.279925, -0.429440, 1.265111  Reprojection Error: -0.081591, 0.143195 Feature: 0.135790, -0.190797, 0.972192
[11:52:55.367] xyz_f:-0.014757, -0.122995, 1.223988  Reprojection Error: -0.173852, 0.197104 Feature: -0.181958, 0.094563, 0.978749
[11:52:55.367] xyz_f:0.260210, -0.426081, 1.260662  Reprojection Error: -0.087834, 0.144481 Feature: 0.115633, -0.188703, 0.975203
[11:52:55.367] xyz_f:0.380008, -0.631604, 1.158674  Reprojection Error: -0.093394, 0.078475 Feature: 0.207924, -0.413620, 0.886389
[11:52:55.367] xyz_f:0.343770, -0.450791, 1.270897  Reprojection Error: -0.062763, 0.135413 Feature: 0.198857, -0.209922, 0.957282
[11:52:55.367] xyz_f:-0.014391, -0.114380, 1.225472  Reprojection Error: -0.174309, 0.198941 Feature: -0.181935, 0.103269, 0.977873
[11:52:55.367] xyz_f:0.096874, -0.216683, 1.270624  Reprojection Error: -0.128382, 0.186695 Feature: -0.052063, 0.016139, 0.998513
[11:52:55.367] xyz_f:-0.001881, 0.248359, 1.204040  Reprojection Error: -0.246861, 0.310205 Feature: -0.215535, 0.448101, 0.867612
[11:52:55.367] xyz_f:0.270068, -0.444548, 1.254425  Reprojection Error: -0.087269, 0.139830 Feature: 0.124205, -0.208155, 0.970178
[11:52:55.367] xyz_f:0.312432, -0.449184, 1.264161  Reprojection Error: -0.073439, 0.137193 Feature: 0.167323, -0.210113, 0.963253
[11:52:55.367] xyz_f:0.308427, -0.435168, 1.270255  Reprojection Error: -0.072645, 0.140911 Feature: 0.164531, -0.194998, 0.966905
[11:52:55.367] xyz_f:0.260198, -0.457558, 1.244353  Reprojection Error: -0.092778, 0.137047 Feature: 0.112627, -0.223328, 0.968215
[11:52:55.367] xyz_f:0.321834, -0.459494, 1.261137  Reprojection Error: -0.071869, 0.134129 Feature: 0.175867, -0.220854, 0.959320
[11:52:55.367] xyz_f:0.239423, 0.112090, 1.347460  Reprojection Error: -0.097570, 0.296041 Feature: 0.074700, 0.353595, 0.932411
[11:52:55.367] xyz_f:-0.073274, -0.020262, 1.190958  Reprojection Error: -0.211441, 0.212420 Feature: -0.258775, 0.185247, 0.948008
[11:52:55.367] xyz_f:0.121280, 0.052332, 1.307244  Reprojection Error: -0.137802, 0.258128 Feature: -0.043109, 0.285465, 0.957419
[11:52:55.367] xyz_f:0.325631, -0.438088, 1.273147  Reprojection Error: -0.067120, 0.139541 Feature: 0.181743, -0.197069, 0.963397
[11:52:55.367] xyz_f:0.118282, -0.185207, 1.288278  Reprojection Error: -0.120742, 0.194962 Feature: -0.028878, 0.051111, 0.998275
[11:52:55.367] xyz_f:0.138037, -0.089893, 1.311824  Reprojection Error: -0.116832, 0.219498 Feature: -0.011475, 0.149272, 0.988730
[11:52:55.367] xyz_f:0.250029, -0.433469, 1.253604  Reprojection Error: -0.092397, 0.142981 Feature: 0.104343, -0.197666, 0.974700
[11:52:55.367] xyz_f:0.116757, -0.208570, 1.282361  Reprojection Error: -0.121223, 0.189680 Feature: -0.030149, 0.027013, 0.999180
[11:52:55.367] xyz_f:-0.014883, -0.123562, 1.223819  Reprojection Error: -0.173867, 0.196973 Feature: -0.182081, 0.093972, 0.978783
[11:52:55.367] xyz_f:0.025551, 0.248648, 1.221690  Reprojection Error: -0.231405, 0.315659 Feature: -0.183636, 0.452948, 0.872419
[11:52:55.367] xyz_f:0.380008, -0.631604, 1.158674  Reprojection Error: -0.038334, 0.067578 Feature: 0.207924, -0.413620, 0.886389
[11:52:55.367] xyz_f:-0.830834, -1.118678, 1.325818  Reprojection Error: 0.812954, 0.624876 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.367] xyz_f:0.343770, -0.450791, 1.270897  Reprojection Error: -0.002189, 0.125701 Feature: 0.198857, -0.209922, 0.957282
[11:52:55.367] xyz_f:-0.707528, -1.090958, 1.375902  Reprojection Error: 0.744299, 0.579474 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.367] xyz_f:0.325631, -0.438088, 1.273147  Reprojection Error: -0.007468, 0.132651 Feature: 0.181743, -0.197069, 0.963397
[11:52:55.367] xyz_f:0.394848, -0.637518, 1.156666  Reprojection Error: -0.344444, 0.556898 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.367] xyz_f:0.318427, -0.019963, 0.591682  Reprojection Error: -0.661102, 0.131126 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.367] xyz_f:-0.801670, -1.168068, 1.324063  Reprojection Error: 0.496828, 0.982906 Feature: -0.760850, -0.888998, 1.625984
[11:52:55.367] xyz_f:-0.808612, -1.093870, 1.330899  Reprojection Error: 0.658925, 0.976698 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.367] xyz_f:-0.073274, -0.020262, 1.190958  Reprojection Error: -0.142124, 0.214508 Feature: -0.258775, 0.185247, 0.948008
[11:52:55.367] xyz_f:-0.808086, -1.098579, 1.336852  Reprojection Error: 0.625676, 1.123521 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.367] xyz_f:-0.001881, 0.248359, 1.204040  Reprojection Error: 0.805769, 0.118810 Feature: -0.215535, 0.448101, 0.867612
[11:52:55.367] xyz_f:0.239423, 0.112090, 1.347460  Reprojection Error: -0.025873, 0.296019 Feature: 0.074700, 0.353595, 0.932411
[11:52:55.367] xyz_f:0.323207, -0.018807, 0.587441  Reprojection Error: -0.681760, 0.537096 Feature: -0.123887, 0.030451, 0.255710
[11:52:55.367] it:12 	 Success 	 new_chi2: 1.034574 	 dT = -0.044628, 0.048723, 0.029788
[11:52:55.367] xyz_f:0.274703, -0.636314, 1.103448  Reprojection Error: 0.002598, 0.099649 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.367] xyz_f:-0.015362, -0.203612, 1.215352  Reprojection Error: -0.030787, 0.194638 Feature: -0.043370, 0.027069, 0.998692
[11:52:55.367] xyz_f:0.137994, -0.445448, 1.192182  Reprojection Error: 0.000327, 0.154689 Feature: 0.112668, -0.212524, 0.970639
[11:52:55.367] xyz_f:0.173491, -0.442253, 1.205927  Reprojection Error: 0.011367, 0.153826 Feature: 0.150109, -0.205880, 0.966996
[11:52:55.367] xyz_f:0.158316, -0.427344, 1.208565  Reprojection Error: 0.008680, 0.157342 Feature: 0.135790, -0.190797, 0.972192
[11:52:55.367] xyz_f:-0.132691, -0.118641, 1.159015  Reprojection Error: -0.071423, 0.198980 Feature: -0.181958, 0.094563, 0.978749
[11:52:55.367] xyz_f:0.138763, -0.423833, 1.203551  Reprojection Error: 0.003279, 0.158651 Feature: 0.115633, -0.188703, 0.975203
[11:52:55.367] xyz_f:0.259857, -0.630285, 1.105029  Reprojection Error: -0.000585, 0.103745 Feature: 0.207924, -0.413620, 0.886389
[11:52:55.367] xyz_f:0.221801, -0.449185, 1.216183  Reprojection Error: 0.025356, 0.150051 Feature: 0.198857, -0.209922, 0.957282
[11:52:55.367] xyz_f:-0.132301, -0.110029, 1.160510  Reprojection Error: -0.072049, 0.200417 Feature: -0.181935, 0.103269, 0.977873
[11:52:55.367] xyz_f:-0.023173, -0.213181, 1.208833  Reprojection Error: -0.032971, 0.192515 Feature: -0.052063, 0.016139, 0.998513
[11:52:55.367] xyz_f:-0.116384, 0.252600, 1.139487  Reprojection Error: -0.146286, 0.294797 Feature: -0.215535, 0.448101, 0.867612
[11:52:55.367] xyz_f:0.148654, -0.442376, 1.197598  Reprojection Error: 0.003896, 0.154833 Feature: 0.124205, -0.208155, 0.970178
[11:52:55.367] xyz_f:0.190683, -0.447338, 1.208549  Reprojection Error: 0.015928, 0.152016 Feature: 0.167323, -0.210113, 0.963253
[11:52:55.367] xyz_f:0.186612, -0.433291, 1.214526  Reprojection Error: 0.016512, 0.155085 Feature: 0.164531, -0.194998, 0.966905
[11:52:55.367] xyz_f:0.138977, -0.455311, 1.187245  Reprojection Error: -0.000734, 0.152842 Feature: 0.112627, -0.223328, 0.968215
[11:52:55.367] xyz_f:0.200088, -0.457720, 1.205795  Reprojection Error: 0.017386, 0.149380 Feature: 0.175867, -0.220854, 0.959320
[11:52:55.367] xyz_f:0.119637, 0.114492, 1.289775  Reprojection Error: -0.012643, 0.290458 Feature: 0.074700, 0.353595, 0.932411
[11:52:55.367] xyz_f:-0.189440, -0.015464, 1.124327  Reprojection Error: -0.104475, 0.209160 Feature: -0.258775, 0.185247, 0.948008
[11:52:55.367] xyz_f:0.002243, 0.055641, 1.246170  Reprojection Error: -0.046826, 0.253511 Feature: -0.043109, 0.285465, 0.957419
[11:52:55.367] xyz_f:0.203703, -0.436343, 1.217912  Reprojection Error: 0.021392, 0.153714 Feature: 0.181743, -0.197069, 0.963397
[11:52:55.367] xyz_f:-0.002040, -0.181869, 1.227099  Reprojection Error: -0.027266, 0.199410 Feature: -0.028878, 0.051111, 0.998275
[11:52:55.367] xyz_f:0.017764, -0.086708, 1.251214  Reprojection Error: -0.025803, 0.220272 Feature: -0.011475, 0.149272, 0.988730
[11:52:55.367] xyz_f:0.128733, -0.431143, 1.196203  Reprojection Error: -0.000566, 0.157630 Feature: 0.104343, -0.197666, 0.974700
[11:52:55.367] xyz_f:-0.003574, -0.205221, 1.221139  Reprojection Error: -0.027247, 0.195092 Feature: -0.030149, 0.027013, 0.999180
[11:52:55.367] xyz_f:-0.132816, -0.119207, 1.158842  Reprojection Error: -0.071417, 0.198876 Feature: -0.182081, 0.093972, 0.978783
[11:52:55.367] xyz_f:-0.089470, 0.252680, 1.157920  Reprojection Error: -0.133223, 0.300968 Feature: -0.183636, 0.452948, 0.872419
[11:52:55.367] xyz_f:0.259857, -0.630285, 1.105029  Reprojection Error: 0.054475, 0.092848 Feature: 0.207924, -0.413620, 0.886389
[11:52:55.367] xyz_f:-0.959011, -1.107992, 1.237215  Reprojection Error: 0.961433, 0.676665 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.367] xyz_f:0.221801, -0.449185, 1.216183  Reprojection Error: 0.085930, 0.140338 Feature: 0.198857, -0.209922, 0.957282
[11:52:55.367] xyz_f:-0.836986, -1.081218, 1.290828  Reprojection Error: 0.878480, 0.624186 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.367] xyz_f:0.203703, -0.436343, 1.217912  Reprojection Error: 0.081045, 0.146824 Feature: 0.181743, -0.197069, 0.963397
[11:52:55.367] xyz_f:0.274703, -0.636314, 1.103448  Reprojection Error: -0.252027, 0.582389 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.367] xyz_f:0.219331, -0.018251, 0.536568  Reprojection Error: -0.531694, 0.131400 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.367] xyz_f:-0.930190, -1.157606, 1.236294  Reprojection Error: 0.643767, 1.037073 Feature: -0.760850, -0.888998, 1.625984
[11:52:55.367] xyz_f:-0.936754, -1.083356, 1.242936  Reprojection Error: 0.805019, 1.026405 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.367] xyz_f:-0.189440, -0.015464, 1.124327  Reprojection Error: -0.035157, 0.211248 Feature: -0.258775, 0.185247, 0.948008
[11:52:55.367] xyz_f:-0.936436, -1.088068, 1.248902  Reprojection Error: 0.771014, 1.172976 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.367] xyz_f:-0.116384, 0.252600, 1.139487  Reprojection Error: 0.906344, 0.103402 Feature: -0.215535, 0.448101, 0.867612
[11:52:55.367] xyz_f:0.119637, 0.114492, 1.289775  Reprojection Error: 0.059054, 0.290437 Feature: 0.074700, 0.353595, 0.932411
[11:52:55.367] xyz_f:0.224239, -0.017132, 0.532466  Reprojection Error: -0.552699, 0.537256 Feature: -0.123887, 0.030451, 0.255710
[11:52:55.367] it:13 	 Success 	 new_chi2: 0.947622 	 dT = -0.010575, 0.031933, 0.009523
[11:52:55.367] xyz_f:0.183443, -0.635886, 1.069917  Reprojection Error: 0.080092, 0.117321 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.367] xyz_f:-0.106572, -0.202469, 1.179152  Reprojection Error: 0.046953, 0.198811 Feature: -0.043370, 0.027069, 0.998692
[11:52:55.367] xyz_f:0.046394, -0.444682, 1.157391  Reprojection Error: 0.075991, 0.165258 Feature: 0.112668, -0.212524, 0.970639
[11:52:55.367] xyz_f:0.081772, -0.441575, 1.171463  Reprojection Error: 0.085429, 0.164036 Feature: 0.150109, -0.205880, 0.966996
[11:52:55.367] xyz_f:0.066609, -0.426628, 1.173961  Reprojection Error: 0.082936, 0.167156 Feature: 0.135790, -0.190797, 0.972192
[11:52:55.367] xyz_f:-0.223167, -0.117210, 1.121740  Reprojection Error: 0.013039, 0.201106 Feature: -0.181958, 0.094563, 0.978749
[11:52:55.367] xyz_f:0.047112, -0.423070, 1.168768  Reprojection Error: 0.078264, 0.168478 Feature: 0.115633, -0.188703, 0.975203
[11:52:55.367] xyz_f:0.168599, -0.629821, 1.071361  Reprojection Error: 0.077205, 0.121235 Feature: 0.207924, -0.413620, 0.886389
[11:52:55.367] xyz_f:0.129967, -0.448626, 1.182163  Reprojection Error: 0.097790, 0.160207 Feature: 0.198857, -0.209922, 0.957282
[11:52:55.367] xyz_f:-0.222770, -0.108599, 1.123239  Reprojection Error: 0.012277, 0.202289 Feature: -0.181935, 0.103269, 0.977873
[11:52:55.367] xyz_f:-0.114346, -0.212019, 1.172562  Reprojection Error: 0.045377, 0.196979 Feature: -0.052063, 0.016139, 0.998513
[11:52:55.367] xyz_f:-0.205767, 0.253990, 1.102366  Reprojection Error: -0.061764, 0.286071 Feature: -0.215535, 0.448101, 0.867612
[11:52:55.367] xyz_f:0.057011, -0.441637, 1.162905  Reprojection Error: 0.078998, 0.165217 Feature: 0.124205, -0.208155, 0.970178
[11:52:55.367] xyz_f:0.098925, -0.446702, 1.174242  Reprojection Error: 0.089460, 0.162288 Feature: 0.167323, -0.210113, 0.963253
[11:52:55.367] xyz_f:0.094835, -0.432645, 1.180182  Reprojection Error: 0.089806, 0.164920 Feature: 0.164531, -0.194998, 0.966905
[11:52:55.367] xyz_f:0.047399, -0.454548, 1.152463  Reprojection Error: 0.075197, 0.163754 Feature: 0.112627, -0.223328, 0.968215
[11:52:55.367] xyz_f:0.108331, -0.457107, 1.171575  Reprojection Error: 0.090859, 0.159945 Feature: 0.175867, -0.220854, 0.959320
[11:52:55.367] xyz_f:0.028521, 0.115302, 1.254818  Reprojection Error: 0.057386, 0.287339 Feature: 0.074700, 0.353595, 0.932411
[11:52:55.367] xyz_f:-0.279341, -0.013893, 1.086532  Reprojection Error: -0.015873, 0.208193 Feature: -0.258775, 0.185247, 0.948008
[11:52:55.367] xyz_f:-0.088612, 0.056741, 1.210135  Reprojection Error: 0.028199, 0.251273 Feature: -0.043109, 0.285465, 0.957419
[11:52:55.367] xyz_f:0.111886, -0.435739, 1.183725  Reprojection Error: 0.094128, 0.163551 Feature: 0.181743, -0.197069, 0.963397
[11:52:55.367] xyz_f:-0.093305, -0.180759, 1.191022  Reprojection Error: 0.049412, 0.202967 Feature: -0.028878, 0.051111, 0.998275
[11:52:55.367] xyz_f:-0.073489, -0.085646, 1.215319  Reprojection Error: 0.048863, 0.221445 Feature: -0.011475, 0.149272, 0.988730
[11:52:55.367] xyz_f:0.037132, -0.430355, 1.161327  Reprojection Error: 0.075078, 0.167775 Feature: 0.104343, -0.197666, 0.974700
[11:52:55.367] xyz_f:-0.094841, -0.204106, 1.185047  Reprojection Error: 0.049858, 0.199270 Feature: -0.030149, 0.027013, 0.999180
[11:52:55.367] xyz_f:-0.223293, -0.117775, 1.121566  Reprojection Error: 0.013062, 0.201019 Feature: -0.182081, 0.093972, 0.978783
[11:52:55.367] xyz_f:-0.179023, 0.254004, 1.121046  Reprojection Error: -0.050797, 0.292609 Feature: -0.183636, 0.452948, 0.872419
[11:52:55.367] xyz_f:0.168599, -0.629821, 1.071361  Reprojection Error: 0.132265, 0.110338 Feature: 0.207924, -0.413620, 0.886389
[11:52:55.367] xyz_f:-1.052608, -1.104520, 1.192324  Reprojection Error: 1.069117, 0.707471 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.367] xyz_f:0.129967, -0.448626, 1.182163  Reprojection Error: 0.158364, 0.150494 Feature: 0.198857, -0.209922, 0.957282
[11:52:55.367] xyz_f:-0.931016, -1.078046, 1.247058  Reprojection Error: 0.976640, 0.651042 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.367] xyz_f:0.111886, -0.435739, 1.183725  Reprojection Error: 0.153780, 0.156661 Feature: 0.181743, -0.197069, 0.963397
[11:52:55.367] xyz_f:0.183443, -0.635886, 1.069917  Reprojection Error: -0.174533, 0.600061 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.367] xyz_f:0.134811, -0.017694, 0.502558  Reprojection Error: -0.391179, 0.132595 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.367] xyz_f:-1.023902, -1.154205, 1.191668  Reprojection Error: 0.750583, 1.069284 Feature: -0.760850, -0.888998, 1.625984
[11:52:55.367] xyz_f:-1.030344, -1.079939, 1.198250  Reprojection Error: 0.911230, 1.056058 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.367] xyz_f:-0.279341, -0.013893, 1.086532  Reprojection Error: 0.053445, 0.210281 Feature: -0.258775, 0.185247, 0.948008
[11:52:55.367] xyz_f:-1.030092, -1.084651, 1.204218  Reprojection Error: 0.876610, 1.202466 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.367] xyz_f:-0.205767, 0.253990, 1.102366  Reprojection Error: 0.990866, 0.094677 Feature: -0.215535, 0.448101, 0.867612
[11:52:55.367] xyz_f:0.028521, 0.115302, 1.254818  Reprojection Error: 0.129083, 0.287318 Feature: 0.074700, 0.353595, 0.932411
[11:52:55.367] xyz_f:0.139760, -0.016587, 0.498502  Reprojection Error: -0.411926, 0.538356 Feature: -0.123887, 0.030451, 0.255710
[11:52:55.367] it:14 	 Success 	 new_chi2: 1.121133 	 dT = -0.016095, 0.032103, 0.019450
[11:52:55.367] xyz_f:0.139756, -0.634946, 1.034307  Reprojection Error: 0.116427, 0.136875 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.367] xyz_f:-0.150075, -0.200070, 1.138096  Reprojection Error: 0.088437, 0.202898 Feature: -0.043370, 0.027069, 0.998692
[11:52:55.367] xyz_f:0.002052, -0.443051, 1.119201  Reprojection Error: 0.114243, 0.176912 Feature: 0.112668, -0.212524, 0.970639
[11:52:55.367] xyz_f:0.037174, -0.440121, 1.133934  Reprojection Error: 0.122449, 0.175229 Feature: 0.150109, -0.205880, 0.966996
[11:52:55.367] xyz_f:0.022043, -0.425098, 1.136147  Reprojection Error: 0.120273, 0.177904 Feature: 0.135790, -0.190797, 0.972192
[11:52:55.367] xyz_f:-0.265140, -0.114228, 1.078507  Reprojection Error: 0.059931, 0.202529 Feature: -0.181958, 0.094563, 0.978749
[11:52:55.367] xyz_f:0.002665, -0.421442, 1.130589  Reprojection Error: 0.116216, 0.179262 Feature: 0.115633, -0.188703, 0.975203
[11:52:55.367] xyz_f:0.124917, -0.628806, 1.035472  Reprojection Error: 0.113936, 0.140631 Feature: 0.207924, -0.413620, 0.886389
[11:52:55.367] xyz_f:0.085124, -0.447414, 1.145537  Reprojection Error: 0.133421, 0.171282 Feature: 0.198857, -0.209922, 0.957282
[11:52:55.367] xyz_f:-0.264728, -0.105619, 1.080013  Reprojection Error: 0.059064, 0.203399 Feature: -0.181935, 0.103269, 0.977873
[11:52:55.367] xyz_f:-0.157771, -0.209581, 1.131360  Reprojection Error: 0.087312, 0.201409 Feature: -0.052063, 0.016139, 0.998513
[11:52:55.367] xyz_f:-0.245511, 0.256879, 1.059481  Reprojection Error: -0.016696, 0.274018 Feature: -0.215535, 0.448101, 0.867612
[11:52:55.367] xyz_f:0.012579, -0.440059, 1.124913  Reprojection Error: 0.116841, 0.176640 Feature: 0.124205, -0.208155, 0.970178
[11:52:55.367] xyz_f:0.054247, -0.445334, 1.137035  Reprojection Error: 0.125997, 0.173534 Feature: 0.167323, -0.210113, 0.963253
[11:52:55.367] xyz_f:0.050116, -0.431257, 1.142898  Reprojection Error: 0.126312, 0.175664 Feature: 0.164531, -0.194998, 0.966905
[11:52:55.367] xyz_f:0.003099, -0.452922, 1.114292  Reprojection Error: 0.113544, 0.175806 Feature: 0.112627, -0.223328, 0.968215
[11:52:55.367] xyz_f:0.063648, -0.455787, 1.134545  Reprojection Error: 0.127225, 0.171516 Feature: 0.175867, -0.220854, 0.959320
[11:52:55.367] xyz_f:-0.014830, 0.117021, 1.216300  Reprojection Error: 0.092307, 0.283017 Feature: 0.074700, 0.353595, 0.932411
[11:52:55.367] xyz_f:-0.320122, -0.010631, 1.042255  Reprojection Error: 0.034176, 0.205607 Feature: -0.258775, 0.185247, 0.948008
[11:52:55.367] xyz_f:-0.131396, 0.059048, 1.169422  Reprojection Error: 0.067333, 0.247668 Feature: -0.043109, 0.285465, 0.957419
[11:52:55.367] xyz_f:0.067082, -0.434436, 1.146760  Reprojection Error: 0.130151, 0.174281 Feature: 0.181743, -0.197069, 0.963397
[11:52:55.367] xyz_f:-0.136924, -0.178426, 1.150214  Reprojection Error: 0.090114, 0.206324 Feature: -0.028878, 0.051111, 0.998275
[11:52:55.367] xyz_f:-0.117090, -0.083413, 1.174883  Reprojection Error: 0.088054, 0.221970 Feature: -0.011475, 0.149272, 0.988730
[11:52:55.367] xyz_f:-0.007210, -0.428677, 1.122962  Reprojection Error: 0.113472, 0.178941 Feature: 0.104343, -0.197666, 0.974700
[11:52:55.368] xyz_f:-0.138465, -0.201766, 1.144210  Reprojection Error: 0.090840, 0.203371 Feature: -0.030149, 0.027013, 0.999180
[11:52:55.368] xyz_f:-0.265265, -0.114792, 1.078331  Reprojection Error: 0.059969, 0.202463 Feature: -0.182081, 0.093972, 0.978783
[11:52:55.368] xyz_f:-0.219123, 0.256759, 1.078660  Reprojection Error: -0.007347, 0.281151 Feature: -0.183636, 0.452948, 0.872419
[11:52:55.368] xyz_f:0.124917, -0.628806, 1.035472  Reprojection Error: 0.168995, 0.129734 Feature: 0.207924, -0.413620, 0.886389
[11:52:55.368] xyz_f:-1.100719, -1.097347, 1.133450  Reprojection Error: 1.157419, 0.749259 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.368] xyz_f:0.085124, -0.447414, 1.145537  Reprojection Error: 0.193995, 0.161570 Feature: 0.198857, -0.209922, 0.957282
[11:52:55.368] xyz_f:-0.980045, -1.071483, 1.190460  Reprojection Error: 1.053320, 0.686628 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.368] xyz_f:0.067082, -0.434436, 1.146760  Reprojection Error: 0.189804, 0.167390 Feature: 0.181743, -0.197069, 0.963397
[11:52:55.368] xyz_f:0.139756, -0.634946, 1.034307  Reprojection Error: -0.138197, 0.619615 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.368] xyz_f:0.104903, -0.016545, 0.466164  Reprojection Error: -0.347963, 0.132877 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.368] xyz_f:-1.072257, -1.147176, 1.133331  Reprojection Error: 0.837477, 1.112937 Feature: -0.760850, -0.888998, 1.625984
[11:52:55.368] xyz_f:-1.078447, -1.072878, 1.139795  Reprojection Error: 0.997533, 1.096085 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.368] xyz_f:-0.320122, -0.010631, 1.042255  Reprojection Error: 0.103494, 0.207695 Feature: -0.258775, 0.185247, 0.948008
[11:52:55.368] xyz_f:-1.078332, -1.077591, 1.145766  Reprojection Error: 0.962351, 1.242254 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.368] xyz_f:-0.245511, 0.256879, 1.059481  Reprojection Error: 1.035934, 0.082624 Feature: -0.215535, 0.448101, 0.867612
[11:52:55.368] xyz_f:-0.014830, 0.117021, 1.216300  Reprojection Error: 0.164004, 0.282995 Feature: 0.074700, 0.353595, 0.932411
[11:52:55.368] xyz_f:0.109933, -0.015463, 0.462201  Reprojection Error: -0.369411, 0.538536 Feature: -0.123887, 0.030451, 0.255710
[11:52:55.368] it:15 	 Success 	 new_chi2: 1.279406 	 dT = -0.016340, 0.031164, 0.022591
[11:52:55.368] xyz_f:0.087926, -0.633746, 0.998663  Reprojection Error: 0.163505, 0.157583 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.368] xyz_f:-0.201553, -0.197176, 1.096131  Reprojection Error: 0.140450, 0.206988 Feature: -0.043370, 0.027069, 0.998692
[11:52:55.368] xyz_f:-0.050474, -0.441044, 1.080544  Reprojection Error: 0.162788, 0.189216 Feature: 0.112668, -0.212524, 0.970639
[11:52:55.368] xyz_f:-0.015665, -0.438318, 1.096041  Reprojection Error: 0.169525, 0.187003 Feature: 0.150109, -0.205880, 0.966996
[11:52:55.368] xyz_f:-0.030753, -0.423207, 1.097924  Reprojection Error: 0.167685, 0.189207 Feature: 0.135790, -0.190797, 0.972192
[11:52:55.368] xyz_f:-0.314788, -0.110666, 1.034051  Reprojection Error: 0.118513, 0.203638 Feature: -0.181958, 0.094563, 0.978749
[11:52:55.368] xyz_f:-0.049984, -0.419437, 1.091945  Reprojection Error: 0.164348, 0.190618 Feature: 0.115633, -0.188703, 0.975203
[11:52:55.368] xyz_f:0.073101, -0.627519, 0.999504  Reprojection Error: 0.161437, 0.161196 Feature: 0.207924, -0.413620, 0.886389
[11:52:55.368] xyz_f:0.031977, -0.445891, 1.108687  Reprojection Error: 0.178888, 0.182890 Feature: 0.198857, -0.209922, 0.957282
[11:52:55.368] xyz_f:-0.314358, -0.102060, 1.035567  Reprojection Error: 0.117510, 0.204160 Feature: -0.181935, 0.103269, 0.977873
[11:52:55.368] xyz_f:-0.209157, -0.206642, 1.089228  Reprojection Error: 0.139882, 0.205877 Feature: -0.052063, 0.016139, 0.998513
[11:52:55.368] xyz_f:-0.292578, 0.260318, 1.015482  Reprojection Error: 0.039695, 0.260126 Feature: -0.215535, 0.448101, 0.867612
[11:52:55.368] xyz_f:-0.040057, -0.438113, 1.086485  Reprojection Error: 0.164891, 0.188685 Feature: 0.124205, -0.208155, 0.970178
[11:52:55.368] xyz_f:0.001305, -0.443631, 1.099513  Reprojection Error: 0.172520, 0.185351 Feature: 0.167323, -0.210113, 0.963253
[11:52:55.368] xyz_f:-0.002870, -0.429529, 1.105285  Reprojection Error: 0.172759, 0.186942 Feature: 0.164531, -0.194998, 0.966905
[11:52:55.368] xyz_f:-0.049378, -0.450920, 1.075659  Reprojection Error: 0.162229, 0.188544 Feature: 0.112627, -0.223328, 0.968215
[11:52:55.368] xyz_f:0.010697, -0.454139, 1.097228  Reprojection Error: 0.173576, 0.183677 Feature: 0.175867, -0.220854, 0.959320
[11:52:55.368] xyz_f:-0.066195, 0.119123, 1.177288  Reprojection Error: 0.136342, 0.278042 Feature: 0.074700, 0.353595, 0.932411
[11:52:55.368] xyz_f:-0.368358, -0.006753, 0.996614  Reprojection Error: 0.096643, 0.202182 Feature: -0.258775, 0.185247, 0.948008
[11:52:55.368] xyz_f:-0.182048, 0.061830, 1.127874  Reprojection Error: 0.116382, 0.243341 Feature: -0.043109, 0.285465, 0.957419
[11:52:55.368] xyz_f:0.013988, -0.432807, 1.109516  Reprojection Error: 0.176040, 0.185530 Feature: 0.181743, -0.197069, 0.963397
[11:52:55.368] xyz_f:-0.188544, -0.175609, 1.108534  Reprojection Error: 0.141156, 0.209615 Feature: -0.028878, 0.051111, 0.998275
[11:52:55.368] xyz_f:-0.168697, -0.080712, 1.133637  Reprojection Error: 0.137205, 0.222170 Feature: -0.011475, 0.149272, 0.988730
[11:52:55.368] xyz_f:-0.059732, -0.426615, 1.084103  Reprojection Error: 0.162150, 0.190723 Feature: 0.104343, -0.197666, 0.974700
[11:52:55.368] xyz_f:-0.190090, -0.198940, 1.102497  Reprojection Error: 0.142244, 0.207479 Feature: -0.030149, 0.027013, 0.999180
[11:52:55.368] xyz_f:-0.314912, -0.111230, 1.033872  Reprojection Error: 0.118567, 0.203595 Feature: -0.182081, 0.093972, 0.978783
[11:52:55.368] xyz_f:-0.266617, 0.260045, 1.035232  Reprojection Error: 0.047052, 0.267991 Feature: -0.183636, 0.452948, 0.872419
[11:52:55.368] xyz_f:0.073101, -0.627519, 0.999504  Reprojection Error: 0.216496, 0.150299 Feature: 0.207924, -0.413620, 0.886389
[11:52:55.368] xyz_f:-1.157100, -1.088880, 1.070686  Reprojection Error: 1.267005, 0.798104 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.368] xyz_f:0.031977, -0.445891, 1.108687  Reprojection Error: 0.239462, 0.173177 Feature: 0.198857, -0.209922, 0.957282
[11:52:55.368] xyz_f:-1.037550, -1.063718, 1.130317  Reprojection Error: 1.147998, 0.727649 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.368] xyz_f:0.013988, -0.432807, 1.109516  Reprojection Error: 0.235693, 0.178639 Feature: 0.181743, -0.197069, 0.963397
[11:52:55.368] xyz_f:0.087926, -0.633746, 0.998663  Reprojection Error: -0.091120, 0.640324 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.368] xyz_f:0.069094, -0.015187, 0.429934  Reprojection Error: -0.283636, 0.132711 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.368] xyz_f:-1.128934, -1.138874, 1.071185  Reprojection Error: 0.945277, 1.163912 Feature: -0.760850, -0.888998, 1.625984
[11:52:55.368] xyz_f:-1.134829, -1.064541, 1.077517  Reprojection Error: 1.104546, 1.142752 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.368] xyz_f:-0.368358, -0.006753, 0.996614  Reprojection Error: 0.165960, 0.204270 Feature: -0.258775, 0.185247, 0.948008
[11:52:55.368] xyz_f:-1.134871, -1.069255, 1.083489  Reprojection Error: 1.068630, 1.288618 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.368] xyz_f:-0.292578, 0.260318, 1.015482  Reprojection Error: 1.092324, 0.068732 Feature: -0.215535, 0.448101, 0.867612
[11:52:55.368] xyz_f:-0.066195, 0.119123, 1.177288  Reprojection Error: 0.208039, 0.278021 Feature: 0.074700, 0.353595, 0.932411
[11:52:55.368] xyz_f:0.074215, -0.014135, 0.426082  Reprojection Error: -0.305745, 0.538256 Feature: -0.123887, 0.030451, 0.255710
[11:52:55.368] it:16 	 Success 	 new_chi2: 1.491931 	 dT = -0.016740, 0.029552, 0.026530
[11:52:55.368] xyz_f:0.033849, -0.632188, 0.963295  Reprojection Error: 0.216409, 0.179265 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.368] xyz_f:-0.255028, -0.193632, 1.053352  Reprojection Error: 0.198684, 0.210929 Feature: -0.043370, 0.027069, 0.998692
[11:52:55.368] xyz_f:-0.105277, -0.438533, 1.041620  Reprojection Error: 0.217147, 0.202058 Feature: 0.112668, -0.212524, 0.970639
[11:52:55.368] xyz_f:-0.070859, -0.436045, 1.058004  Reprojection Error: 0.222206, 0.199232 Feature: 0.150109, -0.205880, 0.966996
[11:52:55.368] xyz_f:-0.085886, -0.420830, 1.059502  Reprojection Error: 0.220737, 0.200943 Feature: 0.135790, -0.190797, 0.972192
[11:52:55.368] xyz_f:-0.366038, -0.106352, 0.988399  Reprojection Error: 0.184426, 0.204217 Feature: -0.181958, 0.094563, 0.978749
[11:52:55.368] xyz_f:-0.104931, -0.416929, 1.053032  Reprojection Error: 0.218219, 0.202431 Feature: 0.115633, -0.188703, 0.975203
[11:52:55.368] xyz_f:0.019051, -0.625859, 0.963757  Reprojection Error: 0.214807, 0.182761 Feature: 0.207924, -0.413620, 0.886389
[11:52:55.368] xyz_f:-0.023610, -0.443943, 1.071866  Reprojection Error: 0.229757, 0.194889 Feature: 0.198857, -0.209922, 0.957282
[11:52:55.368] xyz_f:-0.365589, -0.097749, 0.989926  Reprojection Error: 0.183257, 0.204349 Feature: -0.181935, 0.103269, 0.977873
[11:52:55.368] xyz_f:-0.262517, -0.203046, 1.046256  Reprojection Error: 0.198770, 0.210232 Feature: -0.052063, 0.016139, 0.998513
[11:52:55.368] xyz_f:-0.340814, 0.264469, 0.970438  Reprojection Error: 0.102773, 0.243950 Feature: -0.215535, 0.448101, 0.867612
[11:52:55.368] xyz_f:-0.094996, -0.435673, 1.047826  Reprojection Error: 0.218683, 0.201234 Feature: 0.124205, -0.208155, 0.970178
[11:52:55.368] xyz_f:-0.054020, -0.441473, 1.061909  Reprojection Error: 0.224577, 0.197607 Feature: 0.167323, -0.210113, 0.963253
[11:52:55.368] xyz_f:-0.058245, -0.427343, 1.067574  Reprojection Error: 0.224720, 0.198621 Feature: 0.164531, -0.194998, 0.966905
[11:52:55.368] xyz_f:-0.104124, -0.448417, 1.036764  Reprojection Error: 0.216756, 0.201856 Feature: 0.112627, -0.223328, 0.968215
[11:52:55.368] xyz_f:-0.044645, -0.452046, 1.059865  Reprojection Error: 0.225449, 0.196293 Feature: 0.175867, -0.220854, 0.959320
[11:52:55.368] xyz_f:-0.119626, 0.121738, 1.137979  Reprojection Error: 0.185236, 0.272250 Feature: 0.074700, 0.353595, 0.932411
[11:52:55.368] xyz_f:-0.417917, -0.002077, 0.949611  Reprojection Error: 0.167126, 0.197593 Feature: -0.258775, 0.185247, 0.948008
[11:52:55.368] xyz_f:-0.234565, 0.065237, 1.085607  Reprojection Error: 0.171042, 0.238068 Feature: -0.043109, 0.285465, 0.957419
[11:52:55.368] xyz_f:-0.041523, -0.430736, 1.072236  Reprojection Error: 0.227374, 0.197161 Feature: 0.181743, -0.197069, 0.963397
[11:52:55.368] xyz_f:-0.242193, -0.172154, 1.066087  Reprojection Error: 0.198251, 0.212681 Feature: -0.028878, 0.051111, 0.998275
[11:52:55.368] xyz_f:-0.222345, -0.077393, 1.091698  Reprojection Error: 0.192063, 0.221865 Feature: -0.011475, 0.149272, 0.988730
[11:52:55.368] xyz_f:-0.114524, -0.424041, 1.044943  Reprojection Error: 0.216650, 0.203007 Feature: 0.104343, -0.197666, 0.974700
[11:52:55.368] xyz_f:-0.243745, -0.195474, 1.060010  Reprojection Error: 0.199772, 0.211442 Feature: -0.030149, 0.027013, 0.999180
[11:52:55.368] xyz_f:-0.366162, -0.106915, 0.988217  Reprojection Error: 0.184500, 0.204199 Feature: -0.182081, 0.093972, 0.978783
[11:52:55.368] xyz_f:-0.315369, 0.264019, 0.990846  Reprojection Error: 0.107792, 0.252728 Feature: -0.183636, 0.452948, 0.872419
[11:52:55.368] xyz_f:0.019051, -0.625859, 0.963757  Reprojection Error: 0.269866, 0.171864 Feature: 0.207924, -0.413620, 0.886389
[11:52:55.368] xyz_f:-1.215709, -1.078757, 1.003354  Reprojection Error: 1.397942, 0.856262 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.368] xyz_f:-0.023610, -0.443943, 1.071866  Reprojection Error: 0.290331, 0.185176 Feature: 0.198857, -0.209922, 0.957282
[11:52:55.368] xyz_f:-1.097556, -1.054411, 1.066031  Reprojection Error: 1.259643, 0.775670 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.368] xyz_f:-0.041523, -0.430736, 1.072236  Reprojection Error: 0.287026, 0.190271 Feature: 0.181743, -0.197069, 0.963397
[11:52:55.368] xyz_f:0.033849, -0.632188, 0.963295  Reprojection Error: -0.038215, 0.662005 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.368] xyz_f:0.033843, -0.013565, 0.394325  Reprojection Error: -0.208753, 0.131786 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.368] xyz_f:-1.187909, -1.128943, 1.004570  Reprojection Error: 1.073870, 1.224529 Feature: -0.760850, -0.888998, 1.625984
[11:52:55.368] xyz_f:-1.193454, -1.054571, 1.010755  Reprojection Error: 1.232112, 1.198144 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.368] xyz_f:-0.417917, -0.002077, 0.949611  Reprojection Error: 0.236444, 0.199681 Feature: -0.258775, 0.185247, 0.948008
[11:52:55.368] xyz_f:-1.193681, -1.059284, 1.016724  Reprojection Error: 1.195254, 1.343616 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.368] xyz_f:-0.340814, 0.264469, 0.970438  Reprojection Error: 1.155403, 0.052555 Feature: -0.215535, 0.448101, 0.867612
[11:52:55.368] xyz_f:-0.119626, 0.121738, 1.137979  Reprojection Error: 0.256933, 0.272228 Feature: 0.074700, 0.353595, 0.932411
[11:52:55.368] xyz_f:0.039068, -0.012548, 0.390606  Reprojection Error: -0.231584, 0.537206 Feature: -0.123887, 0.030451, 0.255710
[11:52:55.368] it:17 	 Success 	 new_chi2: 1.701576 	 dT = -0.016798, 0.027524, 0.030565
[11:52:55.368] xyz_f:-0.022296, -0.630195, 0.928334  Reprojection Error: 0.275565, 0.201834 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.368] xyz_f:-0.310228, -0.189358, 1.009875  Reprojection Error: 0.263767, 0.214610 Feature: -0.043370, 0.027069, 0.998692
[11:52:55.368] xyz_f:-0.162137, -0.435436, 1.002541  Reprojection Error: 0.277802, 0.215381 Feature: 0.112668, -0.212524, 0.970639
[11:52:55.368] xyz_f:-0.128199, -0.433219, 1.019933  Reprojection Error: 0.280925, 0.211845 Feature: 0.150109, -0.205880, 0.966996
[11:52:55.368] xyz_f:-0.143143, -0.417886, 1.020989  Reprojection Error: 0.279875, 0.213041 Feature: 0.135790, -0.190797, 0.972192
[11:52:55.368] xyz_f:-0.418578, -0.101210, 0.941684  Reprojection Error: 0.258591, 0.204094 Feature: -0.181958, 0.094563, 0.978749
[11:52:55.368] xyz_f:-0.161957, -0.413835, 1.013960  Reprojection Error: 0.278300, 0.214636 Feature: 0.115633, -0.188703, 0.975203
[11:52:55.368] xyz_f:-0.037051, -0.623750, 0.928360  Reprojection Error: 0.274484, 0.205249 Feature: 0.207924, -0.413620, 0.886389
[11:52:55.368] xyz_f:-0.081443, -0.441489, 1.035183  Reprojection Error: 0.286406, 0.207195 Feature: 0.198857, -0.209922, 0.957282
[11:52:55.368] xyz_f:-0.418106, -0.092610, 0.943224  Reprojection Error: 0.257221, 0.203790 Feature: -0.181935, 0.103269, 0.977873
[11:52:55.368] xyz_f:-0.317578, -0.198713, 1.002560  Reprojection Error: 0.264626, 0.214368 Feature: -0.052063, 0.016139, 0.998513
[11:52:55.368] xyz_f:-0.389902, 0.269398, 0.924518  Reprojection Error: 0.173313, 0.225083 Feature: -0.215535, 0.448101, 0.867612
[11:52:55.368] xyz_f:-0.152021, -0.432657, 1.009048  Reprojection Error: 0.278681, 0.214224 Feature: 0.124205, -0.208155, 0.970178
[11:52:55.368] xyz_f:-0.111526, -0.438780, 1.024333  Reprojection Error: 0.282583, 0.210228 Feature: 0.167323, -0.210113, 0.963253
[11:52:55.368] xyz_f:-0.115804, -0.424616, 1.029873  Reprojection Error: 0.282607, 0.210627 Feature: 0.164531, -0.194998, 0.966905
[11:52:55.368] xyz_f:-0.160919, -0.445330, 0.997719  Reprojection Error: 0.277612, 0.215688 Feature: 0.112627, -0.223328, 0.968215
[11:52:55.368] xyz_f:-0.102179, -0.449426, 1.022565  Reprojection Error: 0.283249, 0.209289 Feature: 0.175867, -0.220854, 0.959320
[11:52:55.368] xyz_f:-0.174892, 0.124941, 1.098499  Reprojection Error: 0.239325, 0.265489 Feature: 0.074700, 0.353595, 0.932411
[11:52:55.368] xyz_f:-0.468463, 0.003468, 0.901394  Reprojection Error: 0.246743, 0.191559 Feature: -0.258775, 0.185247, 0.948008
[11:52:55.368] xyz_f:-0.288678, 0.069345, 1.042751  Reprojection Error: 0.231817, 0.231659 Feature: -0.043109, 0.285465, 0.957419
[11:52:55.368] xyz_f:-0.099255, -0.428141, 1.035025  Reprojection Error: 0.284544, 0.209096 Feature: 0.181743, -0.197069, 0.963397
[11:52:55.368] xyz_f:-0.297605, -0.167980, 1.022986  Reprojection Error: 0.261989, 0.215405 Feature: -0.028878, 0.051111, 0.998275
[11:52:55.368] xyz_f:-0.277773, -0.073376, 1.049183  Reprojection Error: 0.253145, 0.220910 Feature: -0.011475, 0.149272, 0.988730
[11:52:55.368] xyz_f:-0.171363, -0.420871, 1.005590  Reprojection Error: 0.277462, 0.215735 Feature: 0.104343, -0.197666, 0.974700
[11:52:55.368] xyz_f:-0.299160, -0.191288, 1.016863  Reprojection Error: 0.264025, 0.215150 Feature: -0.030149, 0.027013, 0.999180
[11:52:55.368] xyz_f:-0.418701, -0.101772, 0.941498  Reprojection Error: 0.258690, 0.204105 Feature: -0.182081, 0.093972, 0.978783
[11:52:55.368] xyz_f:-0.365075, 0.268749, 0.945669  Reprojection Error: 0.175559, 0.234997 Feature: -0.183636, 0.452948, 0.872419
[11:52:55.368] xyz_f:-0.037051, -0.623750, 0.928360  Reprojection Error: 0.329543, 0.194352 Feature: 0.207924, -0.413620, 0.886389
[11:52:55.368] xyz_f:-1.275985, -1.066862, 0.931438  Reprojection Error: 1.556206, 0.926505 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.368] xyz_f:-0.081443, -0.441489, 1.035183  Reprojection Error: 0.346980, 0.197482 Feature: 0.198857, -0.209922, 0.957282
[11:52:55.368] xyz_f:-1.159544, -1.043444, 0.997578  Reprojection Error: 1.392430, 0.832548 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.368] xyz_f:-0.099255, -0.428141, 1.035025  Reprojection Error: 0.344197, 0.202205 Feature: 0.181743, -0.197069, 0.963397
[11:52:55.368] xyz_f:-0.022296, -0.630195, 0.928334  Reprojection Error: 0.020940, 0.684574 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.368] xyz_f:-0.000614, -0.011658, 0.359684  Reprojection Error: -0.121223, 0.129797 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.368] xyz_f:-1.248630, -1.117266, 0.933468  Reprojection Error: 1.228991, 1.297620 Feature: -0.760850, -0.888998, 1.625984
[11:52:55.368] xyz_f:-1.253767, -1.042852, 0.939495  Reprojection Error: 1.385868, 1.264807 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.368] xyz_f:-0.468463, 0.003468, 0.901394  Reprojection Error: 0.316060, 0.193647 Feature: -0.258775, 0.185247, 0.948008
[11:52:55.368] xyz_f:-1.254208, -1.047562, 0.945454  Reprojection Error: 1.347774, 1.409755 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.368] xyz_f:-0.389902, 0.269398, 0.924518  Reprojection Error: 1.225942, 0.033688 Feature: -0.215535, 0.448101, 0.867612
[11:52:55.368] xyz_f:-0.174892, 0.124941, 1.098499  Reprojection Error: 0.311022, 0.265467 Feature: 0.074700, 0.353595, 0.932411
[11:52:55.368] xyz_f:0.004727, -0.010683, 0.356120  Reprojection Error: -0.144839, 0.535079 Feature: -0.123887, 0.030451, 0.255710
[11:52:55.368] it:18 	 Success 	 new_chi2: 1.816575 	 dT = -0.016367, 0.025191, 0.034595
[11:52:55.368] xyz_f:-0.080113, -0.627686, 0.893781  Reprojection Error: 0.341182, 0.225271 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.368] xyz_f:-0.366650, -0.184277, 0.965723  Reprojection Error: 0.336237, 0.217922 Feature: -0.043370, 0.027069, 0.998692
[11:52:55.368] xyz_f:-0.220606, -0.431673, 0.963303  Reprojection Error: 0.345086, 0.229165 Feature: 0.112668, -0.212524, 0.970639
[11:52:55.368] xyz_f:-0.187249, -0.429756, 0.981820  Reprojection Error: 0.345949, 0.224807 Feature: 0.150109, -0.205880, 0.966996
[11:52:55.368] xyz_f:-0.202082, -0.414290, 0.982378  Reprojection Error: 0.345382, 0.225468 Feature: 0.135790, -0.190797, 0.972192
[11:52:55.368] xyz_f:-0.471869, -0.095173, 0.893963  Reprojection Error: 0.341930, 0.203079 Feature: -0.181958, 0.094563, 0.978749
[11:52:55.368] xyz_f:-0.220614, -0.410072, 0.974725  Reprojection Error: 0.344908, 0.227204 Feature: 0.115633, -0.188703, 0.975203
[11:52:55.368] xyz_f:-0.094802, -0.621109, 0.893314  Reprojection Error: 0.340698, 0.228652 Feature: 0.207924, -0.413620, 0.886389
[11:52:55.368] xyz_f:-0.141105, -0.438443, 0.998622  Reprojection Error: 0.349030, 0.219758 Feature: 0.198857, -0.209922, 0.957282
[11:52:55.368] xyz_f:-0.471371, -0.086578, 0.895520  Reprojection Error: 0.340314, 0.202284 Feature: -0.181935, 0.103269, 0.977873
[11:52:55.368] xyz_f:-0.373835, -0.193567, 0.958165  Reprojection Error: 0.338017, 0.218181 Feature: -0.052063, 0.016139, 0.998513
[11:52:55.368] xyz_f:-0.439319, 0.275161, 0.877821  Reprojection Error: 0.252042, 0.203017 Feature: -0.215535, 0.448101, 0.867612
[11:52:55.368] xyz_f:-0.210689, -0.428983, 0.970145  Reprojection Error: 0.345195, 0.227631 Feature: 0.124205, -0.208155, 0.970178
[11:52:55.368] xyz_f:-0.170784, -0.435466, 0.986774  Reprojection Error: 0.346779, 0.223174 Feature: 0.167323, -0.210113, 0.963253
[11:52:55.368] xyz_f:-0.175117, -0.421263, 0.992169  Reprojection Error: 0.346662, 0.222916 Feature: 0.164531, -0.194998, 0.966905
[11:52:55.368] xyz_f:-0.219316, -0.441578, 0.958523  Reprojection Error: 0.345131, 0.230025 Feature: 0.112627, -0.223328, 0.968215
[11:52:55.368] xyz_f:-0.161478, -0.446196, 0.985317  Reprojection Error: 0.347209, 0.222625 Feature: 0.175867, -0.220854, 0.959320
[11:52:55.368] xyz_f:-0.231543, 0.128811, 1.058866  Reprojection Error: 0.298786, 0.257577 Feature: 0.074700, 0.353595, 0.932411
[11:52:55.368] xyz_f:-0.519441, 0.009941, 0.852044  Reprojection Error: 0.336673, 0.183739 Feature: -0.258775, 0.185247, 0.948008
[11:52:55.368] xyz_f:-0.343896, 0.074227, 0.999339  Reprojection Error: 0.299098, 0.223884 Feature: -0.043109, 0.285465, 0.957419
[11:52:55.368] xyz_f:-0.158782, -0.424936, 0.997872  Reprojection Error: 0.347768, 0.221285 Feature: 0.181743, -0.197069, 0.963397
[11:52:55.368] xyz_f:-0.354281, -0.163011, 0.979251  Reprojection Error: 0.332860, 0.217664 Feature: -0.028878, 0.051111, 0.998275
[11:52:55.368] xyz_f:-0.334490, -0.068585, 1.006110  Reprojection Error: 0.320852, 0.219141 Feature: -0.011475, 0.149272, 0.988730
[11:52:55.368] xyz_f:-0.229798, -0.417025, 0.966045  Reprojection Error: 0.344927, 0.228887 Feature: 0.104343, -0.197666, 0.974700
[11:52:55.368] xyz_f:-0.355840, -0.186305, 0.973076  Reprojection Error: 0.335512, 0.218495 Feature: -0.030149, 0.027013, 0.999180
[11:52:55.368] xyz_f:-0.471990, -0.095734, 0.893773  Reprojection Error: 0.342059, 0.203122 Feature: -0.182081, 0.093972, 0.978783
[11:52:55.368] xyz_f:-0.415219, 0.274293, 0.899789  Reprojection Error: 0.250972, 0.214345 Feature: -0.183636, 0.452948, 0.872419
[11:52:55.368] xyz_f:-0.094802, -0.621109, 0.893314  Reprojection Error: 0.395757, 0.217755 Feature: 0.207924, -0.413620, 0.886389
[11:52:55.369] xyz_f:-1.337064, -1.053113, 0.854933  Reprojection Error: 1.750238, 1.012919 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.369] xyz_f:-0.141105, -0.438443, 0.998622  Reprojection Error: 0.409605, 0.210046 Feature: 0.198857, -0.209922, 0.957282
[11:52:55.369] xyz_f:-1.222694, -1.030728, 0.924930  Reprojection Error: 1.552002, 0.900956 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.369] xyz_f:-0.158782, -0.424936, 0.997872  Reprojection Error: 0.407421, 0.214394 Feature: 0.181743, -0.197069, 0.963397
[11:52:55.369] xyz_f:-0.080113, -0.627686, 0.893781  Reprojection Error: 0.086557, 0.708012 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.369] xyz_f:-0.033908, -0.009453, 0.326265  Reprojection Error: -0.019000, 0.126360 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.369] xyz_f:-1.310245, -1.103760, 0.857868  Reprojection Error: 1.418693, 1.387352 Feature: -0.760850, -0.888998, 1.625984
[11:52:55.369] xyz_f:-1.314914, -1.029301, 0.863732  Reprojection Error: 1.573721, 1.346485 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.369] xyz_f:-0.519441, 0.009941, 0.852044  Reprojection Error: 0.405991, 0.185827 Feature: -0.258775, 0.185247, 0.948008
[11:52:55.369] xyz_f:-1.315596, -1.034006, 0.869672  Reprojection Error: 1.533957, 1.490717 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.369] xyz_f:-0.439319, 0.275161, 0.877821  Reprojection Error: 1.304672, 0.011622 Feature: -0.215535, 0.448101, 0.867612
[11:52:55.369] xyz_f:-0.231543, 0.128811, 1.058866  Reprojection Error: 0.370483, 0.257556 Feature: 0.074700, 0.353595, 0.932411
[11:52:55.369] xyz_f:-0.028443, -0.008526, 0.322882  Reprojection Error: -0.043474, 0.531489 Feature: -0.123887, 0.030451, 0.255710
[11:52:55.369] it:19 	 Success 	 new_chi2: 1.693021 	 dT = -0.015428, 0.022460, 0.038646
[11:52:55.369] xyz_f:-0.139184, -0.624570, 0.859690  Reprojection Error: 0.413448, 0.249495 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.369] xyz_f:-0.423758, -0.178304, 0.920971  Reprojection Error: 0.416694, 0.220708 Feature: -0.043370, 0.027069, 0.998692
[11:52:55.369] xyz_f:-0.280206, -0.427148, 0.923957  Reprojection Error: 0.419344, 0.243350 Feature: 0.112668, -0.212524, 0.970639
[11:52:55.369] xyz_f:-0.247547, -0.425562, 0.943707  Reprojection Error: 0.417545, 0.238040 Feature: 0.150109, -0.205880, 0.966996
[11:52:55.369] xyz_f:-0.262235, -0.409948, 0.943713  Reprojection Error: 0.417550, 0.238145 Feature: 0.135790, -0.190797, 0.972192
[11:52:55.369] xyz_f:-0.525329, -0.088166, 0.845351  Reprojection Error: 0.435524, 0.200911 Feature: -0.181958, 0.094563, 0.978749
[11:52:55.369] xyz_f:-0.280425, -0.405546, 0.935375  Reprojection Error: 0.418372, 0.240064 Feature: 0.115633, -0.188703, 0.975203
[11:52:55.369] xyz_f:-0.153779, -0.617846, 0.858677  Reprojection Error: 0.413662, 0.252899 Feature: 0.207924, -0.413620, 0.886389
[11:52:55.369] xyz_f:-0.202151, -0.434706, 0.962218  Reprojection Error: 0.417819, 0.232486 Feature: 0.198857, -0.209922, 0.957282
[11:52:55.369] xyz_f:-0.524804, -0.079575, 0.846927  Reprojection Error: 0.433605, 0.199563 Feature: -0.181935, 0.103269, 0.977873
[11:52:55.369] xyz_f:-0.430749, -0.187523, 0.913148  Reprojection Error: 0.419578, 0.221522 Feature: -0.052063, 0.016139, 0.998513
[11:52:55.369] xyz_f:-0.488498, 0.281821, 0.830504  Reprojection Error: 0.339771, 0.177138 Feature: -0.215535, 0.448101, 0.867612
[11:52:55.369] xyz_f:-0.270525, -0.424557, 0.931165  Reprojection Error: 0.418546, 0.241388 Feature: 0.124205, -0.208155, 0.970178
[11:52:55.369] xyz_f:-0.231335, -0.431435, 0.949270  Reprojection Error: 0.417404, 0.236362 Feature: 0.167323, -0.210113, 0.963253
[11:52:55.369] xyz_f:-0.235725, -0.417188, 0.954503  Reprojection Error: 0.417123, 0.235402 Feature: 0.164531, -0.194998, 0.966905
[11:52:55.369] xyz_f:-0.278839, -0.437066, 0.919227  Reprojection Error: 0.419665, 0.244812 Feature: 0.112627, -0.223328, 0.968215
[11:52:55.369] xyz_f:-0.222090, -0.442258, 0.948160  Reprojection Error: 0.417557, 0.236218 Feature: 0.175867, -0.220854, 0.959320
[11:52:55.369] xyz_f:-0.289097, 0.133435, 1.019150  Reprojection Error: 0.363780, 0.248299 Feature: 0.074700, 0.353595, 0.932411
[11:52:55.369] xyz_f:-0.570250, 0.017411, 0.801706  Reprojection Error: 0.438328, 0.173689 Feature: -0.258775, 0.185247, 0.948008
[11:52:55.369] xyz_f:-0.399691, 0.079966, 0.955461  Reprojection Error: 0.373296, 0.214467 Feature: -0.043109, 0.285465, 0.957419
[11:52:55.369] xyz_f:-0.219651, -0.421023, 0.960810  Reprojection Error: 0.417258, 0.233639 Feature: 0.181743, -0.197069, 0.963397
[11:52:55.369] xyz_f:-0.411691, -0.157160, 0.934956  Reprojection Error: 0.411404, 0.219293 Feature: -0.028878, 0.051111, 0.998275
[11:52:55.369] xyz_f:-0.391972, -0.062931, 0.962552  Reprojection Error: 0.395615, 0.216353 Feature: -0.011475, 0.149272, 0.988730
[11:52:55.369] xyz_f:-0.289348, -0.412409, 0.926357  Reprojection Error: 0.419402, 0.242398 Feature: 0.104343, -0.197666, 0.974700
[11:52:55.369] xyz_f:-0.413251, -0.180439, 0.928722  Reprojection Error: 0.414793, 0.221322 Feature: -0.030149, 0.027013, 0.999180
[11:52:55.369] xyz_f:-0.525449, -0.088725, 0.845157  Reprojection Error: 0.435690, 0.200991 Feature: -0.182081, 0.093972, 0.978783
[11:52:55.369] xyz_f:-0.465245, 0.280717, 0.853356  Reprojection Error: 0.334704, 0.190230 Feature: -0.183636, 0.452948, 0.872419
[11:52:55.369] xyz_f:-0.153779, -0.617846, 0.858677  Reprojection Error: 0.468722, 0.242002 Feature: 0.207924, -0.413620, 0.886389
[11:52:55.369] xyz_f:-1.398001, -1.037413, 0.773880  Reprojection Error: 1.992779, 1.121645 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.369] xyz_f:-0.202151, -0.434706, 0.962218  Reprojection Error: 0.478393, 0.222773 Feature: 0.198857, -0.209922, 0.957282
[11:52:55.369] xyz_f:-1.286104, -1.016160, 0.848101  Reprojection Error: 1.746522, 0.984730 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.369] xyz_f:-0.219651, -0.421023, 0.960810  Reprojection Error: 0.476911, 0.226748 Feature: 0.181743, -0.197069, 0.963397
[11:52:55.369] xyz_f:-0.139184, -0.624570, 0.859690  Reprojection Error: 0.158823, 0.732235 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.369] xyz_f:-0.065652, -0.006935, 0.294409  Reprojection Error: 0.100068, 0.120943 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.369] xyz_f:-1.371818, -1.088325, 0.777805  Reprojection Error: 1.655070, 1.499947 Feature: -0.760850, -0.888998, 1.625984
[11:52:55.369] xyz_f:-1.375958, -1.013822, 0.783504  Reprojection Error: 1.807515, 1.448753 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.369] xyz_f:-0.570250, 0.017411, 0.801706  Reprojection Error: 0.507646, 0.175776 Feature: -0.258775, 0.185247, 0.948008
[11:52:55.369] xyz_f:-1.376908, -1.018519, 0.789414  Reprojection Error: 1.765422, 1.591978 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.369] xyz_f:-0.488498, 0.281821, 0.830504  Reprojection Error: 1.392401, -0.014257 Feature: -0.215535, 0.448101, 0.867612
[11:52:55.369] xyz_f:-0.289097, 0.133435, 1.019150  Reprojection Error: 0.435477, 0.248278 Feature: 0.074700, 0.353595, 0.932411
[11:52:55.369] xyz_f:-0.060056, -0.006064, 0.291233  Reprojection Error: 0.074646, 0.525903 Feature: -0.123887, 0.030451, 0.255710
[11:52:55.369] it:20 	 Success 	 new_chi2: 1.202233 	 dT = -0.013757, 0.018399, 0.042787
[11:52:55.369] xyz_f:-0.199212, -0.620738, 0.826990  Reprojection Error: 0.492436, 0.273588 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.369] xyz_f:-0.481117, -0.171335, 0.876563  Reprojection Error: 0.505440, 0.222566 Feature: -0.043370, 0.027069, 0.998692
[11:52:55.369] xyz_f:-0.340575, -0.421752, 0.885421  Reprojection Error: 0.500724, 0.257377 Feature: 0.112668, -0.212524, 0.970639
[11:52:55.369] xyz_f:-0.308744, -0.420523, 0.906503  Reprojection Error: 0.495820, 0.250989 Feature: 0.150109, -0.205880, 0.966996
[11:52:55.369] xyz_f:-0.323246, -0.404748, 0.905907  Reprojection Error: 0.496495, 0.250534 Feature: 0.135790, -0.190797, 0.972192
[11:52:55.369] xyz_f:-0.578473, -0.080095, 0.796832  Reprojection Error: 0.540057, 0.197134 Feature: -0.181958, 0.094563, 0.978749
[11:52:55.369] xyz_f:-0.341026, -0.400147, 0.896825  Reprojection Error: 0.498832, 0.252681 Feature: 0.115633, -0.188703, 0.975203
[11:52:55.369] xyz_f:-0.213677, -0.613853, 0.825376  Reprojection Error: 0.493459, 0.277091 Feature: 0.207924, -0.413620, 0.886389
[11:52:55.369] xyz_f:-0.264256, -0.430165, 0.926872  Reprojection Error: 0.492835, 0.244815 Feature: 0.198857, -0.209922, 0.957282
[11:52:55.369] xyz_f:-0.577918, -0.071511, 0.798430  Reprojection Error: 0.537766, 0.195170 Feature: -0.181935, 0.103269, 0.977873
[11:52:55.369] xyz_f:-0.487880, -0.180478, 0.868456  Reprojection Error: 0.509638, 0.223977 Feature: -0.052063, 0.016139, 0.998513
[11:52:55.369] xyz_f:-0.536966, 0.289458, 0.783604  Reprojection Error: 0.436829, 0.147082 Feature: -0.215535, 0.448101, 0.867612
[11:52:55.369] xyz_f:-0.331172, -0.419267, 0.893023  Reprojection Error: 0.498866, 0.254938 Feature: 0.124205, -0.208155, 0.970178
[11:52:55.369] xyz_f:-0.292842, -0.426574, 0.912731  Reprojection Error: 0.494548, 0.249232 Feature: 0.167323, -0.210113, 0.963253
[11:52:55.369] xyz_f:-0.297286, -0.412279, 0.917781  Reprojection Error: 0.494081, 0.247541 Feature: 0.164531, -0.194998, 0.966905
[11:52:55.369] xyz_f:-0.339123, -0.431686, 0.880749  Reprojection Error: 0.501364, 0.259475 Feature: 0.112627, -0.223328, 0.968215
[11:52:55.369] xyz_f:-0.283679, -0.437499, 0.912001  Reprojection Error: 0.494376, 0.249494 Feature: 0.175867, -0.220854, 0.959320
[11:52:55.369] xyz_f:-0.347185, 0.138916, 0.980293  Reprojection Error: 0.434279, 0.237518 Feature: 0.074700, 0.353595, 0.932411
[11:52:55.369] xyz_f:-0.620381, 0.025963, 0.751392  Reprojection Error: 0.552674, 0.160854 Feature: -0.258775, 0.185247, 0.948008
[11:52:55.369] xyz_f:-0.455638, 0.086661, 0.912077  Reprojection Error: 0.454534, 0.203146 Feature: -0.043109, 0.285465, 0.957419
[11:52:55.369] xyz_f:-0.281530, -0.416290, 0.924746  Reprojection Error: 0.493088, 0.245610 Feature: 0.181743, -0.197069, 0.963397
[11:52:55.369] xyz_f:-0.469405, -0.150323, 0.891039  Reprojection Error: 0.497877, 0.219905 Feature: -0.028878, 0.051111, 0.998275
[11:52:55.369] xyz_f:-0.449801, -0.056312, 0.919448  Reprojection Error: 0.477601, 0.212219 Feature: -0.011475, 0.149272, 0.988730
[11:52:55.369] xyz_f:-0.349644, -0.406912, 0.887444  Reprojection Error: 0.501041, 0.255725 Feature: 0.104343, -0.197666, 0.974700
[11:52:55.369] xyz_f:-0.470964, -0.173584, 0.884741  Reprojection Error: 0.502144, 0.223232 Feature: -0.030149, 0.027013, 0.999180
[11:52:55.369] xyz_f:-0.578591, -0.080654, 0.796632  Reprojection Error: 0.540268, 0.197253 Feature: -0.182081, 0.093972, 0.978783
[11:52:55.369] xyz_f:-0.514690, 0.288101, 0.807397  Reprojection Error: 0.426978, 0.162359 Feature: -0.183636, 0.452948, 0.872419
[11:52:55.369] xyz_f:-0.213677, -0.613853, 0.825376  Reprojection Error: 0.548518, 0.266194 Feature: 0.207924, -0.413620, 0.886389
[11:52:55.369] xyz_f:-1.457902, -1.019639, 0.689149  Reprojection Error: 2.301807, 1.260674 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.369] xyz_f:-0.264256, -0.430165, 0.926872  Reprojection Error: 0.553409, 0.235103 Feature: 0.198857, -0.209922, 0.957282
[11:52:55.369] xyz_f:-1.348939, -0.999610, 0.767934  Reprojection Error: 1.986652, 1.088257 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.369] xyz_f:-0.281530, -0.416290, 0.924746  Reprojection Error: 0.552741, 0.238719 Feature: 0.181743, -0.197069, 0.963397
[11:52:55.369] xyz_f:-0.199212, -0.620738, 0.826990  Reprojection Error: 0.237811, 0.756329 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.369] xyz_f:-0.095554, -0.004085, 0.265371  Reprojection Error: 0.237149, 0.112779 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.369] xyz_f:-1.432469, -1.070837, 0.694141  Reprojection Error: 1.955024, 1.643402 Feature: -0.760850, -0.888998, 1.625984
[11:52:55.369] xyz_f:-1.436016, -0.996292, 0.699681  Reprojection Error: 2.103743, 1.578718 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.369] xyz_f:-0.620381, 0.025963, 0.751392  Reprojection Error: 0.621992, 0.162941 Feature: -0.258775, 0.185247, 0.948008
[11:52:55.369] xyz_f:-1.437261, -1.000977, 0.705545  Reprojection Error: 2.058299, 1.720484 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.369] xyz_f:-0.536966, 0.289458, 0.783604  Reprojection Error: 1.489458, -0.044312 Feature: -0.215535, 0.448101, 0.867612
[11:52:55.369] xyz_f:-0.347185, 0.138916, 0.980293  Reprojection Error: 0.505976, 0.237497 Feature: 0.074700, 0.353595, 0.932411
[11:52:55.369] xyz_f:-0.089822, -0.003276, 0.262429  Reprojection Error: 0.210706, 0.517566 Feature: -0.123887, 0.030451, 0.255710
[11:52:55.369] it:21 	 Success 	 new_chi2: 0.460854 	 dT = -0.008185, 0.005646, 0.046803
[11:52:55.369] xyz_f:-0.261684, -0.616095, 0.804018  Reprojection Error: 0.577018, 0.289260 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.369] xyz_f:-0.540079, -0.163298, 0.840924  Reprojection Error: 0.598818, 0.221293 Feature: -0.043370, 0.027069, 0.998692
[11:52:55.369] xyz_f:-0.403124, -0.415397, 0.856055  Reprojection Error: 0.586985, 0.266293 Feature: 0.112668, -0.212524, 0.970639
[11:52:55.369] xyz_f:-0.372265, -0.414547, 0.878555  Reprojection Error: 0.578956, 0.258945 Feature: 0.150109, -0.205880, 0.966996
[11:52:55.369] xyz_f:-0.386533, -0.398598, 0.877308  Reprojection Error: 0.580265, 0.258088 Feature: 0.135790, -0.190797, 0.972192
[11:52:55.369] xyz_f:-0.632620, -0.070908, 0.756899  Reprojection Error: 0.649896, 0.190299 Feature: -0.181958, 0.094563, 0.978749
[11:52:55.369] xyz_f:-0.403828, -0.393784, 0.867433  Reprojection Error: 0.584116, 0.260464 Feature: 0.115633, -0.188703, 0.975203
[11:52:55.369] xyz_f:-0.275977, -0.609037, 0.801754  Reprojection Error: 0.578791, 0.292996 Feature: 0.207924, -0.413620, 0.886389
[11:52:55.369] xyz_f:-0.328863, -0.424722, 0.900911  Reprojection Error: 0.572764, 0.252147 Feature: 0.198857, -0.209922, 0.957282
[11:52:55.369] xyz_f:-0.632034, -0.062331, 0.758523  Reprojection Error: 0.647191, 0.187779 Feature: -0.181935, 0.103269, 0.977873
[11:52:55.369] xyz_f:-0.546579, -0.172361, 0.832517  Reprojection Error: 0.604397, 0.223199 Feature: -0.052063, 0.016139, 0.998513
[11:52:55.369] xyz_f:-0.586086, 0.298112, 0.745662  Reprojection Error: 0.537571, 0.116681 Feature: -0.215535, 0.448101, 0.867612
[11:52:55.369] xyz_f:-0.394044, -0.413023, 0.864075  Reprojection Error: 0.584052, 0.263441 Feature: 0.124205, -0.208155, 0.970178
[11:52:55.369] xyz_f:-0.356735, -0.420789, 0.885493  Reprojection Error: 0.576573, 0.257074 Feature: 0.167323, -0.210113, 0.963253
[11:52:55.369] xyz_f:-0.361230, -0.406439, 0.890341  Reprojection Error: 0.575883, 0.254826 Feature: 0.164531, -0.194998, 0.966905
[11:52:55.369] xyz_f:-0.401582, -0.425349, 0.851451  Reprojection Error: 0.587969, 0.268898 Feature: 0.112627, -0.223328, 0.968215
[11:52:55.369] xyz_f:-0.347681, -0.431824, 0.885175  Reprojection Error: 0.576108, 0.257620 Feature: 0.175867, -0.220854, 0.959320
[11:52:55.369] xyz_f:-0.407224, 0.145337, 0.950685  Reprojection Error: 0.508463, 0.226351 Feature: 0.074700, 0.353595, 0.932411
[11:52:55.369] xyz_f:-0.671144, 0.035637, 0.709641  Reprojection Error: 0.672784, 0.145188 Feature: -0.258775, 0.185247, 0.948008
[11:52:55.369] xyz_f:-0.513108, 0.094380, 0.877624  Reprojection Error: 0.539630, 0.190621 Feature: -0.043109, 0.285465, 0.957419
[11:52:55.369] xyz_f:-0.345854, -0.410639, 0.898010  Reprojection Error: 0.573782, 0.252720 Feature: 0.181743, -0.197069, 0.963397
[11:52:55.369] xyz_f:-0.528779, -0.142426, 0.855920  Reprojection Error: 0.588862, 0.217600 Feature: -0.028878, 0.051111, 0.998275
[11:52:55.369] xyz_f:-0.509342, -0.048651, 0.885212  Reprojection Error: 0.563784, 0.205933 Feature: -0.011475, 0.149272, 0.988730
[11:52:55.369] xyz_f:-0.412094, -0.400448, 0.857671  Reprojection Error: 0.587532, 0.264105 Feature: 0.104343, -0.197666, 0.974700
[11:52:55.369] xyz_f:-0.530333, -0.165668, 0.849552  Reprojection Error: 0.594077, 0.222041 Feature: -0.030149, 0.027013, 0.999180
[11:52:55.369] xyz_f:-0.632735, -0.071465, 0.756695  Reprojection Error: 0.650156, 0.190453 Feature: -0.182081, 0.093972, 0.978783
[11:52:55.369] xyz_f:-0.564926, 0.296492, 0.770437  Reprojection Error: 0.522764, 0.134350 Feature: -0.183636, 0.452948, 0.872419
[11:52:55.369] xyz_f:-0.275977, -0.609037, 0.801754  Reprojection Error: 0.633850, 0.282099 Feature: 0.207924, -0.413620, 0.886389
[11:52:55.369] xyz_f:-1.517597, -0.999764, 0.609326  Reprojection Error: 2.676912, 1.421881 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.369] xyz_f:-0.328863, -0.424722, 0.900911  Reprojection Error: 0.633338, 0.242434 Feature: 0.198857, -0.209922, 0.957282
[11:52:55.369] xyz_f:-1.412071, -0.981033, 0.692961  Reprojection Error: 2.267807, 1.202283 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.369] xyz_f:-0.345854, -0.410639, 0.898010  Reprojection Error: 0.633435, 0.245829 Feature: 0.181743, -0.197069, 0.963397
[11:52:55.369] xyz_f:-0.261684, -0.616095, 0.804018  Reprojection Error: 0.322394, 0.772000 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.369] xyz_f:-0.125292, -0.000896, 0.247827  Reprojection Error: 0.382636, 0.101004 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.369] xyz_f:-1.493037, -1.051264, 0.615448  Reprojection Error: 2.317301, 1.808850 Feature: -0.760850, -0.888998, 1.625984
[11:52:55.369] xyz_f:-1.495928, -0.976681, 0.620843  Reprojection Error: 2.460868, 1.727947 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.369] xyz_f:-0.671144, 0.035637, 0.709641  Reprojection Error: 0.742102, 0.147276 Feature: -0.258775, 0.185247, 0.948008
[11:52:55.369] xyz_f:-1.497493, -0.981348, 0.626644  Reprojection Error: 2.410912, 1.867795 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.369] xyz_f:-0.586086, 0.298112, 0.745662  Reprojection Error: 1.590201, -0.074714 Feature: -0.215535, 0.448101, 0.867612
[11:52:55.369] xyz_f:-0.407224, 0.145337, 0.950685  Reprojection Error: 0.580160, 0.226330 Feature: 0.074700, 0.353595, 0.932411
[11:52:55.369] xyz_f:-0.119423, -0.000158, 0.245147  Reprojection Error: 0.355586, 0.505727 Feature: -0.123887, 0.030451, 0.255710
[11:52:55.369] it:22 	 Success 	 new_chi2: 0.102362 	 dT = 0.012205, -0.031417, 0.053213
[11:52:55.369] xyz_f:-0.330419, -0.610258, 0.813649  Reprojection Error: 0.657644, 0.273015 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.369] xyz_f:-0.604083, -0.153658, 0.836364  Reprojection Error: 0.678846, 0.210826 Feature: -0.043370, 0.027069, 0.998692
[11:52:55.369] xyz_f:-0.471569, -0.407613, 0.858422  Reprojection Error: 0.665421, 0.255887 Feature: 0.112668, -0.212524, 0.970639
[11:52:55.369] xyz_f:-0.441899, -0.407180, 0.882478  Reprojection Error: 0.655980, 0.248499 Feature: 0.150109, -0.205880, 0.966996
[11:52:55.369] xyz_f:-0.455863, -0.391036, 0.880505  Reprojection Error: 0.657404, 0.247850 Feature: 0.135790, -0.190797, 0.972192
[11:52:55.369] xyz_f:-0.690905, -0.060033, 0.747729  Reprojection Error: 0.738096, 0.176903 Feature: -0.181958, 0.094563, 0.978749
[11:52:55.369] xyz_f:-0.472559, -0.385989, 0.869756  Reprojection Error: 0.661897, 0.250288 Feature: 0.115633, -0.188703, 0.975203
[11:52:55.369] xyz_f:-0.344479, -0.603004, 0.810656  Reprojection Error: 0.659512, 0.277212 Feature: 0.207924, -0.413620, 0.886389
[11:52:55.369] xyz_f:-0.399847, -0.417943, 0.907030  Reprojection Error: 0.648561, 0.241493 Feature: 0.198857, -0.209922, 0.957282
[11:52:55.369] xyz_f:-0.690285, -0.051463, 0.749383  Reprojection Error: 0.735085, 0.174280 Feature: -0.181935, 0.103269, 0.977873
[11:52:55.369] xyz_f:-0.610267, -0.162634, 0.827631  Reprojection Error: 0.685225, 0.212668 Feature: -0.052063, 0.016139, 0.998513
[11:52:55.369] xyz_f:-0.638779, 0.308308, 0.739027  Reprojection Error: 0.615928, 0.099295 Feature: -0.215535, 0.448101, 0.867612
[11:52:55.369] xyz_f:-0.462882, -0.405361, 0.866899  Reprojection Error: 0.661974, 0.253046 Feature: 0.124205, -0.208155, 0.970178
[11:52:55.369] xyz_f:-0.426833, -0.413633, 0.890202  Reprojection Error: 0.653185, 0.246521 Feature: 0.167323, -0.210113, 0.963253
[11:52:55.369] xyz_f:-0.431373, -0.399221, 0.894818  Reprojection Error: 0.652241, 0.244475 Feature: 0.164531, -0.194998, 0.966905
[11:52:55.369] xyz_f:-0.469931, -0.417587, 0.853900  Reprojection Error: 0.666659, 0.258375 Feature: 0.112627, -0.223328, 0.968215
[11:52:55.369] xyz_f:-0.417928, -0.424791, 0.890346  Reprojection Error: 0.652724, 0.246888 Feature: 0.175867, -0.220854, 0.959320
[11:52:55.369] xyz_f:-0.472807, 0.153158, 0.952915  Reprojection Error: 0.576284, 0.218502 Feature: 0.074700, 0.353595, 0.932411
[11:52:55.369] xyz_f:-0.725480, 0.047016, 0.698591  Reprojection Error: 0.765522, 0.128105 Feature: -0.258775, 0.185247, 0.948008
[11:52:55.369] xyz_f:-0.575489, 0.103637, 0.874492  Reprojection Error: 0.613058, 0.179650 Feature: -0.043109, 0.285465, 0.957419
[11:52:55.369] xyz_f:-0.416471, -0.403629, 0.903265  Reprojection Error: 0.649721, 0.242298 Feature: 0.181743, -0.197069, 0.963397
[11:52:55.369] xyz_f:-0.593282, -0.132938, 0.851928  Reprojection Error: 0.667471, 0.207243 Feature: -0.028878, 0.051111, 0.998275
[11:52:55.369] xyz_f:-0.574087, -0.039429, 0.882213  Reprojection Error: 0.639129, 0.195667 Feature: -0.011475, 0.149272, 0.988730
[11:52:55.369] xyz_f:-0.480404, -0.392541, 0.859580  Reprojection Error: 0.665934, 0.253870 Feature: 0.104343, -0.197666, 0.974700
[11:52:55.370] xyz_f:-0.594827, -0.156159, 0.845480  Reprojection Error: 0.673364, 0.211733 Feature: -0.030149, 0.027013, 0.999180
[11:52:55.370] xyz_f:-0.691017, -0.060588, 0.747518  Reprojection Error: 0.738387, 0.177062 Feature: -0.182081, 0.093972, 0.978783
[11:52:55.370] xyz_f:-0.618945, 0.306406, 0.764856  Reprojection Error: 0.598740, 0.118581 Feature: -0.183636, 0.452948, 0.872419
[11:52:55.370] xyz_f:-0.344479, -0.603004, 0.810656  Reprojection Error: 0.714572, 0.266315 Feature: 0.207924, -0.413620, 0.886389
[11:52:55.370] xyz_f:-1.579834, -0.976670, 0.554555  Reprojection Error: 3.035126, 1.542287 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.370] xyz_f:-0.399847, -0.417943, 0.907030  Reprojection Error: 0.709135, 0.231780 Feature: 0.198857, -0.209922, 0.957282
[11:52:55.370] xyz_f:-1.478496, -0.959364, 0.643508  Reprojection Error: 2.527629, 1.277406 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.370] xyz_f:-0.416471, -0.403629, 0.903265  Reprojection Error: 0.709373, 0.235408 Feature: 0.181743, -0.197069, 0.963397
[11:52:55.370] xyz_f:-0.330419, -0.610258, 0.813649  Reprojection Error: 0.403019, 0.755755 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.370] xyz_f:-0.157177, 0.002808, 0.265417  Reprojection Error: 0.469262, 0.086805 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.370] xyz_f:-1.556332, -1.028501, 0.561913  Reprojection Error: 2.661070, 1.931079 Feature: -0.760850, -0.888998, 1.625984
[11:52:55.370] xyz_f:-1.558469, -0.953883, 0.567178  Reprojection Error: 2.799115, 1.836598 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.370] xyz_f:-0.725480, 0.047016, 0.698591  Reprojection Error: 0.834840, 0.130193 Feature: -0.258775, 0.185247, 0.948008
[11:52:55.370] xyz_f:-1.560395, -0.958526, 0.572889  Reprojection Error: 2.744935, 1.974900 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.370] xyz_f:-0.638779, 0.308308, 0.739027  Reprojection Error: 1.668558, -0.092100 Feature: -0.215535, 0.448101, 0.867612
[11:52:55.370] xyz_f:-0.472807, 0.153158, 0.952915  Reprojection Error: 0.647981, 0.218480 Feature: 0.074700, 0.353595, 0.932411
[11:52:55.370] xyz_f:-0.151169, 0.003465, 0.263042  Reprojection Error: 0.443129, 0.491909 Feature: -0.123887, 0.030451, 0.255710
[11:52:55.370] it:23 	 Success 	 new_chi2: 0.037233 	 dT = 0.076181, -0.154806, 0.105108
[11:52:55.370] xyz_f:-0.443504, -0.597041, 0.919131  Reprojection Error: 0.734073, 0.172561 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.370] xyz_f:-0.705561, -0.133148, 0.914626  Reprojection Error: 0.727993, 0.172681 Feature: -0.043370, 0.027069, 0.998692
[11:52:55.370] xyz_f:-0.582909, -0.390577, 0.949649  Reprojection Error: 0.729892, 0.192333 Feature: 0.112668, -0.212524, 0.970639
[11:52:55.370] xyz_f:-0.555828, -0.390917, 0.976588  Reprojection Error: 0.724386, 0.187382 Feature: 0.150109, -0.205880, 0.966996
[11:52:55.370] xyz_f:-0.569077, -0.374402, 0.973232  Reprojection Error: 0.724404, 0.188446 Feature: 0.135790, -0.190797, 0.972192
[11:52:55.370] xyz_f:-0.780378, -0.037322, 0.817777  Reprojection Error: 0.768358, 0.142255 Feature: -0.181958, 0.094563, 0.978749
[11:52:55.370] xyz_f:-0.584455, -0.368918, 0.960854  Reprojection Error: 0.726839, 0.190447 Feature: 0.115633, -0.188703, 0.975203
[11:52:55.370] xyz_f:-0.456985, -0.589413, 0.914739  Reprojection Error: 0.734154, 0.177716 Feature: 0.207924, -0.413620, 0.886389
[11:52:55.370] xyz_f:-0.516789, -0.402784, 1.005261  Reprojection Error: 0.721815, 0.181387 Feature: 0.198857, -0.209922, 0.957282
[11:52:55.370] xyz_f:-0.779697, -0.028771, 0.819498  Reprojection Error: 0.765380, 0.140713 Feature: -0.181935, 0.103269, 0.977873
[11:52:55.370] xyz_f:-0.711069, -0.141965, 0.905299  Reprojection Error: 0.733312, 0.172978 Feature: -0.052063, 0.016139, 0.998513
[11:52:55.370] xyz_f:-0.717657, 0.329455, 0.814911  Reprojection Error: 0.632233, 0.112193 Feature: -0.215535, 0.448101, 0.867612
[11:52:55.370] xyz_f:-0.575068, -0.388550, 0.958965  Reprojection Error: 0.727698, 0.190623 Feature: 0.124205, -0.208155, 0.970178
[11:52:55.370] xyz_f:-0.541804, -0.397765, 0.985791  Reprojection Error: 0.723320, 0.185370 Feature: 0.167323, -0.210113, 0.963253
[11:52:55.370] xyz_f:-0.546395, -0.383229, 0.989942  Reprojection Error: 0.722109, 0.185451 Feature: 0.164531, -0.194998, 0.966905
[11:52:55.370] xyz_f:-0.581092, -0.400598, 0.945302  Reprojection Error: 0.731041, 0.193118 Feature: 0.112627, -0.223328, 0.968215
[11:52:55.370] xyz_f:-0.533266, -0.409161, 0.986821  Reprojection Error: 0.723712, 0.184406 Feature: 0.175867, -0.220854, 0.959320
[11:52:55.370] xyz_f:-0.578489, 0.170150, 1.044303  Reprojection Error: 0.634062, 0.216295 Feature: 0.074700, 0.353595, 0.932411
[11:52:55.370] xyz_f:-0.806876, 0.070558, 0.765537  Reprojection Error: 0.781033, 0.103238 Feature: -0.258775, 0.185247, 0.948008
[11:52:55.370] xyz_f:-0.674002, 0.123328, 0.955810  Reprojection Error: 0.660137, 0.169131 Feature: -0.043109, 0.285465, 0.957419
[11:52:55.370] xyz_f:-0.532551, -0.388028, 0.999850  Reprojection Error: 0.721279, 0.183530 Feature: 0.181743, -0.197069, 0.963397
[11:52:55.370] xyz_f:-0.695834, -0.112707, 0.931233  Reprojection Error: 0.718290, 0.172230 Feature: -0.028878, 0.051111, 0.998275
[11:52:55.370] xyz_f:-0.677275, -0.019713, 0.963436  Reprojection Error: 0.691372, 0.171434 Feature: -0.011475, 0.149272, 0.988730
[11:52:55.370] xyz_f:-0.591404, -0.375269, 0.949926  Reprojection Error: 0.729630, 0.192254 Feature: 0.104343, -0.197666, 0.974700
[11:52:55.370] xyz_f:-0.697348, -0.135887, 0.924630  Reprojection Error: 0.724017, 0.173998 Feature: -0.030149, 0.027013, 0.999180
[11:52:55.370] xyz_f:-0.780484, -0.037874, 0.817556  Reprojection Error: 0.768627, 0.142336 Feature: -0.182081, 0.093972, 0.978783
[11:52:55.370] xyz_f:-0.700601, 0.327050, 0.842614  Reprojection Error: 0.620970, 0.131049 Feature: -0.183636, 0.452948, 0.872419
[11:52:55.370] xyz_f:-0.456985, -0.589413, 0.914739  Reprojection Error: 0.789214, 0.166819 Feature: 0.207924, -0.413620, 0.886389
[11:52:55.370] xyz_f:-1.669716, -0.929749, 0.534250  Reprojection Error: 3.311640, 1.521398 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.370] xyz_f:-0.516789, -0.402784, 1.005261  Reprojection Error: 0.782389, 0.171674 Feature: 0.198857, -0.209922, 0.957282
[11:52:55.370] xyz_f:-1.577482, -0.915079, 0.633038  Reprojection Error: 2.721994, 1.232106 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.370] xyz_f:-0.532551, -0.388028, 0.999850  Reprojection Error: 0.780932, 0.176639 Feature: 0.181743, -0.197069, 0.963397
[11:52:55.370] xyz_f:-0.443504, -0.597041, 0.919131  Reprojection Error: 0.479448, 0.655301 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.370] xyz_f:-0.199013, 0.010338, 0.392124  Reprojection Error: 0.384597, 0.071023 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.370] xyz_f:-1.648497, -0.982190, 0.543880  Reprojection Error: 2.922359, 1.906615 Feature: -0.760850, -0.888998, 1.625984
[11:52:55.370] xyz_f:-1.649130, -0.907533, 0.549005  Reprojection Error: 3.055209, 1.807846 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.370] xyz_f:-0.806876, 0.070558, 0.765537  Reprojection Error: 0.850351, 0.105326 Feature: -0.258775, 0.185247, 0.948008
[11:52:55.370] xyz_f:-1.651750, -0.912115, 0.554485  Reprojection Error: 3.000097, 1.946733 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.370] xyz_f:-0.717657, 0.329455, 0.814911  Reprojection Error: 1.684863, -0.079202 Feature: -0.215535, 0.448101, 0.867612
[11:52:55.370] xyz_f:-0.578489, 0.170150, 1.044303  Reprojection Error: 0.705759, 0.216274 Feature: 0.074700, 0.353595, 0.932411
[11:52:55.370] xyz_f:-0.192779, 0.010827, 0.390371  Reprojection Error: 0.362270, 0.477345 Feature: -0.123887, 0.030451, 0.255710
[11:52:55.370] it:24 	 Success 	 new_chi2: 0.056154 	 dT = -0.458222, -0.118055, 1.351592
[11:52:55.370] xyz_f:-0.065134, -0.314397, -0.017659  Reprojection Error: -3.436989, -18.281193 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.370] xyz_f:-0.000681, 0.190500, -0.175191  Reprojection Error: -0.047316, 1.114489 Feature: -0.043370, 0.027069, 0.998692
[11:52:55.370] xyz_f:-0.072063, -0.077568, -0.100464  Reprojection Error: -0.601231, -0.991047 Feature: 0.112668, -0.212524, 0.970639
[11:52:55.370] xyz_f:-0.091659, -0.079461, -0.067728  Reprojection Error: -1.198114, -1.386147 Feature: 0.150109, -0.205880, 0.966996
[11:52:55.370] xyz_f:-0.087205, -0.061122, -0.077894  Reprojection Error: -0.979854, -0.980930 Feature: 0.135790, -0.190797, 0.972192
[11:52:55.370] xyz_f:0.098567, 0.281256, -0.253119  Reprojection Error: 0.203501, 1.207776 Feature: -0.181958, 0.094563, 0.978749
[11:52:55.370] xyz_f:-0.077493, -0.054462, -0.094660  Reprojection Error: -0.700069, -0.768840 Feature: 0.115633, -0.188703, 0.975203
[11:52:55.370] xyz_f:-0.061998, -0.304622, -0.030062  Reprojection Error: -1.827763, -10.599713 Feature: 0.207924, -0.413620, 0.886389
[11:52:55.370] xyz_f:-0.113201, -0.094959, -0.025505  Reprojection Error: -4.230694, -3.942485 Feature: 0.198857, -0.209922, 0.957282
[11:52:55.370] xyz_f:0.099253, 0.289524, -0.250339  Reprojection Error: 0.210423, 1.262131 Feature: -0.181935, 0.103269, 0.977873
[11:52:55.370] xyz_f:0.004687, 0.181712, -0.184626  Reprojection Error: -0.026752, 1.000380 Feature: -0.052063, 0.016139, 0.998513
[11:52:55.370] xyz_f:0.207566, 0.612400, -0.123003  Reprojection Error: 1.439060, 5.495214 Feature: -0.215535, 0.448101, 0.867612
[11:52:55.370] xyz_f:-0.078630, -0.075806, -0.090160  Reprojection Error: -0.744097, -1.055347 Feature: 0.124205, -0.208155, 0.970178
[11:52:55.370] xyz_f:-0.099016, -0.087693, -0.053362  Reprojection Error: -1.681842, -1.861481 Feature: 0.167323, -0.210113, 0.963253
[11:52:55.370] xyz_f:-0.100256, -0.071947, -0.053726  Reprojection Error: -1.695890, -1.540799 Feature: 0.164531, -0.194998, 0.966905
[11:52:55.370] xyz_f:-0.070102, -0.088373, -0.101884  Reprojection Error: -0.571728, -1.098045 Feature: 0.112627, -0.223328, 0.968215
[11:52:55.370] xyz_f:-0.101009, -0.100447, -0.047263  Reprojection Error: -1.953842, -2.355493 Feature: 0.175867, -0.220854, 0.959320
[11:52:55.370] xyz_f:-0.018690, 0.471167, 0.038947  Reprojection Error: 0.559988, -11.718279 Feature: 0.074700, 0.353595, 0.932411
[11:52:55.370] xyz_f:0.169311, 0.379955, -0.271095  Reprojection Error: 0.351579, 1.596964 Feature: -0.258775, 0.185247, 0.948008
[11:52:55.370] xyz_f:0.032145, 0.433615, -0.084145  Reprojection Error: 0.336987, 5.451325 Feature: -0.043109, 0.285465, 0.957419
[11:52:55.370] xyz_f:-0.107800, -0.078053, -0.038939  Reprojection Error: -2.579768, -2.209057 Feature: 0.181743, -0.197069, 0.963397
[11:52:55.370] xyz_f:-0.009060, 0.210660, -0.157539  Reprojection Error: -0.086437, 1.388393 Feature: -0.028878, 0.051111, 0.998275
[11:52:55.370] xyz_f:-0.011893, 0.300392, -0.113157  Reprojection Error: -0.116708, 2.805612 Feature: -0.011475, 0.149272, 0.988730
[11:52:55.370] xyz_f:-0.070305, -0.060862, -0.105403  Reprojection Error: -0.559958, -0.780220 Feature: 0.104343, -0.197666, 0.974700
[11:52:55.370] xyz_f:-0.009019, 0.187787, -0.165283  Reprojection Error: -0.084741, 1.163188 Feature: -0.030149, 0.027013, 0.999180
[11:52:55.370] xyz_f:0.098614, 0.280716, -0.253387  Reprojection Error: 0.203155, 1.203865 Feature: -0.182081, 0.093972, 0.978783
[11:52:55.370] xyz_f:0.184548, 0.611233, -0.099917  Reprojection Error: 1.636529, 6.636610 Feature: -0.183636, 0.452948, 0.872419
[11:52:55.370] xyz_f:-0.061998, -0.304622, -0.030062  Reprojection Error: -1.772704, -10.610610 Feature: 0.207924, -0.413620, 0.886389
[11:52:55.370] xyz_f:-0.052959, -0.395188, -1.342705  Reprojection Error: 0.146854, -0.513211 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.370] xyz_f:-0.113201, -0.094959, -0.025505  Reprojection Error: -4.170120, -3.952198 Feature: 0.198857, -0.209922, 0.957282
[11:52:55.370] xyz_f:-0.122335, -0.385261, -1.226216  Reprojection Error: 0.130304, -0.527617 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.370] xyz_f:-0.107800, -0.078053, -0.038939  Reprojection Error: -2.520115, -2.215948 Feature: 0.181743, -0.197069, 0.963397
[11:52:55.370] xyz_f:-0.065134, -0.314397, -0.017659  Reprojection Error: -3.691614, -17.798453 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.370] xyz_f:0.638338, 0.096276, 0.189450  Reprojection Error: -3.492355, -0.410802 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.370] xyz_f:-0.070672, -0.448357, -1.330360  Reprojection Error: -0.161757, -0.236298 Feature: -0.760850, -0.888998, 1.625984
[11:52:55.370] xyz_f:-0.056781, -0.376451, -1.314968  Reprojection Error: 0.008176, -0.131488 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.370] xyz_f:0.169311, 0.379955, -0.271095  Reprojection Error: 0.420897, 1.599052 Feature: -0.258775, 0.185247, 0.948008
[11:52:55.370] xyz_f:-0.063675, -0.379059, -1.316856  Reprojection Error: -0.027147, 0.013905 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.370] xyz_f:0.207566, 0.612400, -0.123003  Reprojection Error: 2.491690, 5.303819 Feature: -0.215535, 0.448101, 0.867612
[11:52:55.370] xyz_f:-0.018690, 0.471167, 0.038947  Reprojection Error: 0.631685, -11.718301 Feature: 0.074700, 0.353595, 0.932411
[11:52:55.370] xyz_f:0.641470, 0.094823, 0.194950  Reprojection Error: -3.421995, 0.018687 Feature: -0.123887, 0.030451, 0.255710
[11:52:55.370] it:25 	 Success 	 new_chi2: 0.100636 	 dT = -0.672645, 0.045157, -0.512232
[11:52:55.370] xyz_f:0.202096, -0.432206, 0.376854  Reprojection Error: -0.284723, 0.669869 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.370] xyz_f:0.119649, 0.071471, 0.223873  Reprojection Error: -0.577878, -0.292144 Feature: -0.043370, 0.027069, 0.998692
[11:52:55.370] xyz_f:0.126811, -0.200949, 0.314844  Reprojection Error: -0.286699, 0.419296 Feature: 0.112668, -0.212524, 0.970639
[11:52:55.370] xyz_f:0.125469, -0.204261, 0.352876  Reprojection Error: -0.200328, 0.365940 Feature: 0.150109, -0.205880, 0.966996
[11:52:55.370] xyz_f:0.122212, -0.185841, 0.342407  Reprojection Error: -0.217247, 0.346494 Feature: 0.135790, -0.190797, 0.972192
[11:52:55.370] xyz_f:0.157753, 0.171537, 0.111202  Reprojection Error: -1.604528, -1.445951 Feature: -0.181958, 0.094563, 0.978749
[11:52:55.370] xyz_f:0.121895, -0.178544, 0.323264  Reprojection Error: -0.258503, 0.358814 Feature: 0.115633, -0.188703, 0.975203
[11:52:55.370] xyz_f:0.197717, -0.422515, 0.364765  Reprojection Error: -0.307466, 0.691688 Feature: 0.207924, -0.413620, 0.886389
[11:52:55.370] xyz_f:0.128647, -0.221004, 0.399744  Reprojection Error: -0.114094, 0.333574 Feature: 0.198857, -0.209922, 0.957282
[11:52:55.370] xyz_f:0.158618, 0.179910, 0.113589  Reprojection Error: -1.582470, -1.478253 Feature: -0.181935, 0.103269, 0.977873
[11:52:55.370] xyz_f:0.120977, 0.063137, 0.212744  Reprojection Error: -0.620789, -0.280613 Feature: -0.052063, 0.016139, 0.998513
[11:52:55.370] xyz_f:0.272355, 0.517836, 0.184760  Reprojection Error: -1.722530, -2.286279 Feature: -0.215535, 0.448101, 0.867612
[11:52:55.370] xyz_f:0.125742, -0.199704, 0.327079  Reprojection Error: -0.256416, 0.396015 Feature: 0.124205, -0.208155, 0.970178
[11:52:55.370] xyz_f:0.126901, -0.212895, 0.368740  Reprojection Error: -0.170442, 0.359227 Feature: 0.167323, -0.210113, 0.963253
[11:52:55.370] xyz_f:0.123650, -0.197453, 0.369512  Reprojection Error: -0.164469, 0.332689 Feature: 0.164531, -0.194998, 0.966905
[11:52:55.370] xyz_f:0.129220, -0.211458, 0.312318  Reprojection Error: -0.297418, 0.446398 Feature: 0.112627, -0.223328, 0.968215
[11:52:55.370] xyz_f:0.129669, -0.225596, 0.374643  Reprojection Error: -0.162789, 0.371943 Feature: 0.175867, -0.220854, 0.959320
[11:52:55.370] xyz_f:0.169726, 0.354312, 0.429900  Reprojection Error: -0.314690, -0.444946 Feature: 0.074700, 0.353595, 0.932411
[11:52:55.370] xyz_f:0.198387, 0.277784, 0.065054  Reprojection Error: -3.322539, -4.074648 Feature: -0.258775, 0.185247, 0.948008
[11:52:55.370] xyz_f:0.160525, 0.319582, 0.296276  Reprojection Error: -0.586835, -0.780503 Feature: -0.043109, 0.285465, 0.957419
[11:52:55.370] xyz_f:0.124851, -0.203989, 0.385904  Reprojection Error: -0.134880, 0.324045 Feature: 0.181743, -0.197069, 0.963397
[11:52:55.370] xyz_f:0.118145, 0.090962, 0.244024  Reprojection Error: -0.513081, -0.321559 Feature: -0.028878, 0.051111, 0.998275
[11:52:55.370] xyz_f:0.125304, 0.180986, 0.287312  Reprojection Error: -0.447733, -0.478957 Feature: -0.011475, 0.149272, 0.988730
[11:52:55.370] xyz_f:0.123887, -0.184322, 0.310200  Reprojection Error: -0.292326, 0.391408 Feature: 0.104343, -0.197666, 0.974700
[11:52:55.370] xyz_f:0.117416, 0.068042, 0.236455  Reprojection Error: -0.526744, -0.260724 Feature: -0.030149, 0.027013, 0.999180
[11:52:55.370] xyz_f:0.157736, 0.170999, 0.110927  Reprojection Error: -1.608002, -1.445527 Feature: -0.182081, 0.093972, 0.978783
[11:52:55.370] xyz_f:0.263370, 0.514499, 0.215941  Reprojection Error: -1.430128, -1.863406 Feature: -0.183636, 0.452948, 0.872419
[11:52:55.370] xyz_f:0.197717, -0.422515, 0.364765  Reprojection Error: -0.252407, 0.680791 Feature: 0.207924, -0.413620, 0.886389
[11:52:55.370] xyz_f:-0.404352, -0.553275, -0.797875  Reprojection Error: -0.320490, -0.912324 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.370] xyz_f:0.128647, -0.221004, 0.399744  Reprojection Error: -0.053520, 0.323861 Feature: 0.198857, -0.209922, 0.957282
[11:52:55.370] xyz_f:-0.410934, -0.548496, -0.662173  Reprojection Error: -0.390514, -1.041757 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.370] xyz_f:0.124851, -0.203989, 0.385904  Reprojection Error: -0.075227, 0.317154 Feature: 0.181743, -0.197069, 0.963397
[11:52:55.370] xyz_f:0.202096, -0.432206, 0.376854  Reprojection Error: -0.539347, 1.152609 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.370] xyz_f:0.861234, 0.070820, 0.239298  Reprojection Error: -3.721934, -0.198563 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.370] xyz_f:-0.407202, -0.607837, -0.780328  Reprojection Error: -0.630468, -0.678228 Feature: -0.760850, -0.888998, 1.625984
[11:52:55.370] xyz_f:-0.396929, -0.534294, -0.771049  Reprojection Error: -0.463434, -0.538150 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.370] xyz_f:0.198387, 0.277784, 0.065054  Reprojection Error: -3.253221, -4.072560 Feature: -0.258775, 0.185247, 0.948008
[11:52:55.370] xyz_f:-0.403501, -0.537814, -0.769530  Reprojection Error: -0.503140, -0.397130 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.370] xyz_f:0.272355, 0.517836, 0.184760  Reprojection Error: -0.669901, -2.477673 Feature: -0.215535, 0.448101, 0.867612
[11:52:55.370] xyz_f:0.169726, 0.354312, 0.429900  Reprojection Error: -0.242993, -0.444968 Feature: 0.074700, 0.353595, 0.932411
[11:52:55.370] xyz_f:0.866752, 0.069952, 0.242610  Reprojection Error: -3.704181, 0.216748 Feature: -0.123887, 0.030451, 0.255710
[11:52:55.370] it:26 	 Success 	 new_chi2: 0.700408 	 dT = -0.010217, 0.022704, 0.032952
[11:52:55.370] xyz_f:-0.508394, -0.424503, 0.325399  Reprojection Error: 1.813918, 0.827549 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.370] xyz_f:-0.581632, 0.079839, 0.169940  Reprojection Error: 3.379137, -0.442700 Feature: -0.043370, 0.027069, 0.998692
[11:52:55.370] xyz_f:-0.579692, -0.192620, 0.261056  Reprojection Error: 2.336640, 0.518896 Feature: 0.112668, -0.212524, 0.970639
[11:52:55.370] xyz_f:-0.582272, -0.195916, 0.299026  Reprojection Error: 2.102462, 0.442273 Feature: 0.150109, -0.205880, 0.966996
[11:52:55.370] xyz_f:-0.585036, -0.177469, 0.288461  Reprojection Error: 2.167806, 0.418975 Feature: 0.135790, -0.190797, 0.972192
[11:52:55.370] xyz_f:-0.539110, 0.179560, 0.058552  Reprojection Error: 9.021379, -2.970040 Feature: -0.181958, 0.094563, 0.978749
[11:52:55.370] xyz_f:-0.584682, -0.170173, 0.269319  Reprojection Error: 2.289539, 0.438363 Feature: 0.115633, -0.188703, 0.975203
[11:52:55.370] xyz_f:-0.512302, -0.414776, 0.313178  Reprojection Error: 1.870393, 0.857776 Feature: 0.207924, -0.413620, 0.886389
[11:52:55.370] xyz_f:-0.580729, -0.212679, 0.345969  Reprojection Error: 1.886290, 0.395444 Feature: 0.198857, -0.209922, 0.957282
[11:52:55.370] xyz_f:-0.538249, 0.187926, 0.060967  Reprojection Error: 8.642428, -2.976796 Feature: -0.181935, 0.103269, 0.977873
[11:52:55.370] xyz_f:-0.580022, 0.071492, 0.158858  Reprojection Error: 3.599053, -0.433876 Feature: -0.052063, 0.016139, 0.998513
[11:52:55.371] xyz_f:-0.423958, 0.524880, 0.135767  Reprojection Error: 2.874265, -3.349561 Feature: -0.215535, 0.448101, 0.867612
[11:52:55.371] xyz_f:-0.581139, -0.191365, 0.273251  Reprojection Error: 2.254779, 0.485772 Feature: 0.124205, -0.208155, 0.970178
[11:52:55.371] xyz_f:-0.581419, -0.204559, 0.314926  Reprojection Error: 2.019911, 0.431416 Feature: 0.167323, -0.210113, 0.963253
[11:52:55.371] xyz_f:-0.584561, -0.189090, 0.315596  Reprojection Error: 2.022404, 0.397478 Feature: 0.164531, -0.194998, 0.966905
[11:52:55.371] xyz_f:-0.577294, -0.203149, 0.258607  Reprojection Error: 2.348647, 0.554893 Feature: 0.112627, -0.223328, 0.968215
[11:52:55.371] xyz_f:-0.578948, -0.217283, 0.320913  Reprojection Error: 1.987392, 0.446858 Feature: 0.175867, -0.220854, 0.959320
[11:52:55.371] xyz_f:-0.535727, 0.362270, 0.377494  Reprojection Error: 1.499279, -0.580443 Feature: 0.074700, 0.353595, 0.932411
[11:52:55.371] xyz_f:-0.496123, 0.285452, 0.013735  Reprojection Error: 35.846909, -20.586684 Feature: -0.258775, 0.185247, 0.948008
[11:52:55.371] xyz_f:-0.540967, 0.327602, 0.243641  Reprojection Error: 2.175319, -1.046449 Feature: -0.043109, 0.285465, 0.957419
[11:52:55.371] xyz_f:-0.583939, -0.195634, 0.332017  Reprojection Error: 1.947408, 0.384673 Feature: 0.181743, -0.197069, 0.963397
[11:52:55.371] xyz_f:-0.583610, 0.099345, 0.190036  Reprojection Error: 3.042123, -0.471568 Feature: -0.028878, 0.051111, 0.998275
[11:52:55.371] xyz_f:-0.577065, 0.189310, 0.233542  Reprojection Error: 2.459320, -0.659633 Feature: -0.011475, 0.149272, 0.988730
[11:52:55.371] xyz_f:-0.582325, -0.175970, 0.256323  Reprojection Error: 2.378888, 0.483718 Feature: 0.104343, -0.197666, 0.974700
[11:52:55.371] xyz_f:-0.584293, 0.076430, 0.182444  Reprojection Error: 3.172419, -0.391891 Feature: -0.030149, 0.027013, 0.999180
[11:52:55.371] xyz_f:-0.539123, 0.179022, 0.058277  Reprojection Error: 9.064969, -2.975898 Feature: -0.182081, 0.093972, 0.978783
[11:52:55.371] xyz_f:-0.433959, 0.521624, 0.166646  Reprojection Error: 2.393586, -2.610947 Feature: -0.183636, 0.452948, 0.872419
[11:52:55.371] xyz_f:-0.512302, -0.414776, 0.313178  Reprojection Error: 1.925453, 0.846879 Feature: 0.207924, -0.413620, 0.886389
[11:52:55.371] xyz_f:-1.078160, -0.540555, -0.868051  Reprojection Error: -1.055751, -0.841611 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.371] xyz_f:-0.580729, -0.212679, 0.345969  Reprojection Error: 1.946864, 0.385731 Feature: 0.198857, -0.209922, 0.957282
[11:52:55.371] xyz_f:-1.089016, -0.535702, -0.732626  Reprojection Error: -1.256385, -0.944637 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.371] xyz_f:-0.583939, -0.195634, 0.332017  Reprojection Error: 2.007060, 0.377782 Feature: 0.181743, -0.197069, 0.963397
[11:52:55.371] xyz_f:-0.508394, -0.424503, 0.325399  Reprojection Error: 1.559293, 1.310290 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.371] xyz_f:0.159054, 0.072866, 0.208957  Reprojection Error: -0.884110, -0.251326 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.371] xyz_f:-1.082032, -0.595088, -0.850611  Reprojection Error: -1.380699, -0.598879 Feature: -0.760850, -0.888998, 1.625984
[11:52:55.371] xyz_f:-1.071433, -0.521634, -0.840999  Reprojection Error: -1.222643, -0.465461 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.371] xyz_f:-0.496123, 0.285452, 0.013735  Reprojection Error: 35.916227, -20.584596 Feature: -0.258775, 0.185247, 0.948008
[11:52:55.371] xyz_f:-1.078079, -0.525098, -0.839691  Reprojection Error: -1.262693, -0.323591 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.371] xyz_f:-0.423958, 0.524880, 0.135767  Reprojection Error: 3.926894, -3.540956 Feature: -0.215535, 0.448101, 0.867612
[11:52:55.371] xyz_f:-0.535727, 0.362270, 0.377494  Reprojection Error: 1.570976, -0.580464 Feature: 0.074700, 0.353595, 0.932411
[11:52:55.371] xyz_f:0.164457, 0.071952, 0.212443  Reprojection Error: -0.905686, 0.166393 Feature: -0.123887, 0.030451, 0.255710
[11:52:55.371] it:27 	 Success 	 new_chi2: 0.000000 	 dT = 0.000000, 0.000000, 0.000000
[11:52:55.371] After pose optimization, distance between two frames:0.513442 ,angle between two frames:-2.100698
[11:52:55.457] Reprojection Map nPoint:48 ,nCell:26 ,nMatches:15 ,distance between two frames:2.764875 ,angle between two frames:-3.566374
[11:52:55.457] Init estimate scale:1.084343
[11:52:55.457] xyz_f:2.608773, -0.639679, 1.437708  Reprojection Error: -1.562988, -0.032082 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.457] xyz_f:2.357688, -0.239277, 1.587707  Reprojection Error: -1.488041, 0.156435 Feature: -0.003077, 0.005729, 0.999979
[11:52:55.457] xyz_f:2.371827, -0.217663, 1.597950  Reprojection Error: -1.472594, 0.165486 Feature: 0.011694, 0.029258, 0.999503
[11:52:55.457] xyz_f:2.531130, -0.456883, 1.549188  Reprojection Error: -1.459990, 0.072086 Feature: 0.167299, -0.214432, 0.962305
[11:52:55.457] xyz_f:2.568431, -0.454068, 1.556256  Reprojection Error: -1.436414, 0.072245 Feature: 0.204580, -0.209883, 0.956084
[11:52:55.457] xyz_f:2.552875, -0.437885, 1.562263  Reprojection Error: -1.436324, 0.080108 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.457] xyz_f:2.249516, -0.138421, 1.563451  Reprojection Error: -1.561738, 0.186596 Feature: -0.121432, 0.096871, 0.987862
[11:52:55.457] xyz_f:2.529650, -0.435146, 1.559926  Reprojection Error: -1.448559, 0.081846 Feature: 0.167425, -0.190656, 0.967274
[11:52:55.457] xyz_f:2.640851, -0.637718, 1.441738  Reprojection Error: -1.542080, -0.035206 Feature: 0.252868, -0.416915, 0.873063
[11:52:55.457] xyz_f:2.618494, -0.460775, 1.557808  Reprojection Error: -1.412579, 0.066782 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.457] xyz_f:2.249663, -0.134104, 1.564183  Reprojection Error: -1.561206, 0.188253 Feature: -0.121424, 0.101229, 0.987425
[11:52:55.457] xyz_f:2.368978, -0.230171, 1.593955  Reprojection Error: -1.477429, 0.160547 Feature: 0.008796, 0.016141, 0.999831
[11:52:55.457] xyz_f:3.014484, 0.001511, 1.615742  Reprojection Error: -1.061490, 0.324146 Feature: 0.607502, 0.245568, 0.755406
[11:52:55.457] xyz_f:2.542374, -0.453335, 1.552887  Reprojection Error: -1.451174, 0.073405 Feature: 0.178800, -0.210048, 0.961203
[11:52:55.457] xyz_f:2.394022, -0.213076, 1.606158  Reprojection Error: -1.455605, 0.168519 Feature: 0.034878, 0.035813, 0.998750
[11:52:55.457] xyz_f:2.582314, -0.444537, 1.562755  Reprojection Error: -1.423198, 0.076135 Feature: 0.218951, -0.198995, 0.955228
[11:52:55.457] xyz_f:2.531860, -0.466696, 1.544130  Reprojection Error: -1.465436, 0.067598 Feature: 0.167236, -0.225219, 0.959848
[11:52:55.457] xyz_f:2.592714, -0.468260, 1.551628  Reprojection Error: -1.431056, 0.064546 Feature: 0.227317, -0.224790, 0.947521
[11:52:55.457] xyz_f:2.517546, 0.100516, 1.653800  Reprojection Error: -1.370468, 0.318427 Feature: 0.140540, 0.351049, 0.925750
[11:52:55.457] xyz_f:2.187290, -0.035940, 1.540799  Reprojection Error: -1.623231, 0.220820 Feature: -0.195918, 0.189997, 0.962038
[11:52:55.457] xyz_f:2.395986, 0.039037, 1.629959  Reprojection Error: -1.445808, 0.274030 Feature: 0.023147, 0.285495, 0.958101
[11:52:55.457] xyz_f:2.599968, -0.446818, 1.563418  Reprojection Error: -1.414702, 0.074348 Feature: 0.236064, -0.201027, 0.950717
[11:52:55.457] xyz_f:2.391458, -0.197919, 1.608696  Reprojection Error: -1.454546, 0.174234 Feature: 0.031977, 0.051110, 0.998181
[11:52:55.457] xyz_f:2.524416, -0.442862, 1.555181  Reprojection Error: -1.455992, 0.078521 Feature: 0.161636, -0.199338, 0.966508
[11:52:55.457] xyz_f:2.391142, -0.223496, 1.602823  Reprojection Error: -1.459824, 0.164344 Feature: 0.031981, 0.024884, 0.999179
[11:52:55.457] xyz_f:2.254554, -0.145530, 1.564750  Reprojection Error: -1.557773, 0.184334 Feature: -0.115666, 0.090340, 0.989171
[11:52:55.457] xyz_f:2.542645, -0.453639, 1.552774  Reprojection Error: -1.451190, 0.073259 Feature: 0.179047, -0.210371, 0.961086
[11:52:55.457] xyz_f:2.583204, -0.448796, 1.560715  Reprojection Error: -1.425071, 0.074129 Feature: 0.219515, -0.203637, 0.954120
[11:52:55.457] xyz_f:2.286649, 0.224952, 1.563063  Reprojection Error: -1.594493, 0.361164 Feature: -0.116634, 0.447761, 0.886514
[11:52:55.457] xyz_f:2.640851, -0.637718, 1.441738  Reprojection Error: -1.516982, -0.043705 Feature: 0.252868, -0.416915, 0.873063
[11:52:55.457] xyz_f:2.531130, -0.456883, 1.549188  Reprojection Error: -1.435192, 0.068880 Feature: 0.167299, -0.214432, 0.962305
[11:52:55.457] xyz_f:2.618494, -0.460775, 1.557808  Reprojection Error: -1.386383, 0.063050 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.457] xyz_f:2.044854, -0.064277, 1.306060  Reprojection Error: -1.364230, -0.155859 Feature: -0.401343, 0.101870, 0.800088
[11:52:55.457] xyz_f:1.535043, -1.114855, 1.738065  Reprojection Error: -0.609274, 0.413783 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.457] xyz_f:2.608773, -0.639679, 1.437708  Reprojection Error: -1.791241, 0.447954 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.457] xyz_f:2.394022, -0.213076, 1.606158  Reprojection Error: -1.429428, 0.166365 Feature: 0.034878, 0.035813, 0.998750
[11:52:55.457] xyz_f:2.478200, -0.024191, 0.880441  Reprojection Error: -2.907519, 0.117674 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.457] xyz_f:3.014484, 0.001511, 1.615742  Reprojection Error: -2.044484, 0.188833 Feature: 0.607502, 0.245568, 0.755406
[11:52:55.457] xyz_f:2.187290, -0.035940, 1.540799  Reprojection Error: -1.595503, 0.219969 Feature: -0.195918, 0.189997, 0.962038
[11:52:55.457] xyz_f:1.432028, -1.124509, 1.706605  Reprojection Error: -0.791194, 0.958411 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.457] xyz_f:2.517546, 0.100516, 1.653800  Reprojection Error: -1.338856, 0.317436 Feature: 0.140540, 0.351049, 0.925750
[11:52:55.457] xyz_f:2.552875, -0.437885, 1.562263  Reprojection Error: -1.769842, 0.734017 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.457] xyz_f:2.058696, -0.953056, 1.261895  Reprojection Error: -1.744196, 1.227044 Feature: -0.327983, -0.768055, 0.973058
[11:52:55.457] xyz_f:2.583204, -0.448796, 1.560715  Reprojection Error: -1.604299, 0.769197 Feature: 0.219515, -0.203637, 0.954120
[11:52:55.457] it:0 	 Success 	 new_chi2: 84.605584 	 dT = -0.074759, 0.069554, -0.001675
[11:52:55.457] xyz_f:0.522914, -0.639646, 1.507142  Reprojection Error: -0.095409, -0.052601 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.457] xyz_f:0.271760, -0.239136, 1.656735  Reprojection Error: -0.167110, 0.150071 Feature: -0.003077, 0.005729, 0.999979
[11:52:55.457] xyz_f:0.285892, -0.217528, 1.667000  Reprojection Error: -0.159801, 0.159763 Feature: 0.011694, 0.029258, 0.999503
[11:52:55.457] xyz_f:0.445169, -0.456817, 1.618496  Reprojection Error: -0.101199, 0.059416 Feature: 0.167299, -0.214432, 0.962305
[11:52:55.457] xyz_f:0.482460, -0.454018, 1.625624  Reprojection Error: -0.082808, 0.059765 Feature: 0.204580, -0.209883, 0.956084
[11:52:55.457] xyz_f:0.466902, -0.437828, 1.631607  Reprojection Error: -0.088398, 0.068161 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.457] xyz_f:0.163671, -0.138233, 1.632304  Reprojection Error: -0.223194, 0.182747 Feature: -0.121432, 0.096871, 0.987862
[11:52:55.457] xyz_f:0.443682, -0.435080, 1.629232  Reprojection Error: -0.099237, 0.069939 Feature: 0.167425, -0.190656, 0.967274
[11:52:55.457] xyz_f:0.554986, -0.637700, 1.511224  Reprojection Error: -0.077609, -0.055556 Feature: 0.252868, -0.416915, 0.873063
[11:52:55.457] xyz_f:0.532518, -0.460747, 1.627257  Reprojection Error: -0.058944, 0.054141 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.457] xyz_f:0.163819, -0.133916, 1.633035  Reprojection Error: -0.223286, 0.184523 Feature: -0.121424, 0.101229, 0.987425
[11:52:55.457] xyz_f:0.283044, -0.230035, 1.663001  Reprojection Error: -0.161403, 0.154470 Feature: 0.008796, 0.016141, 0.999831
[11:52:55.457] xyz_f:0.928614, 0.001367, 1.685832  Reprojection Error: 0.253372, 0.324270 Feature: 0.607502, 0.245568, 0.755406
[11:52:55.457] xyz_f:0.456409, -0.453274, 1.622214  Reprojection Error: -0.095333, 0.060891 Feature: 0.178800, -0.210048, 0.961203
[11:52:55.457] xyz_f:0.308075, -0.212951, 1.675245  Reprojection Error: -0.148977, 0.162974 Feature: 0.034878, 0.035813, 0.998750
[11:52:55.457] xyz_f:0.496337, -0.444494, 1.632146  Reprojection Error: -0.074887, 0.064015 Feature: 0.218951, -0.198995, 0.955228
[11:52:55.457] xyz_f:0.445904, -0.466630, 1.613439  Reprojection Error: -0.102136, 0.054574 Feature: 0.167236, -0.225219, 0.959848
[11:52:55.457] xyz_f:0.506744, -0.468221, 1.621036  Reprojection Error: -0.072698, 0.051601 Feature: 0.227317, -0.224790, 0.947521
[11:52:55.457] xyz_f:0.431659, 0.100587, 1.723086  Reprojection Error: -0.098703, 0.320829 Feature: 0.140540, 0.351049, 0.925750
[11:52:55.457] xyz_f:0.101526, -0.035725, 1.609551  Reprojection Error: -0.266726, 0.219690 Feature: -0.195918, 0.189997, 0.962038
[11:52:55.457] xyz_f:0.310110, 0.039161, 1.699048  Reprojection Error: -0.158360, 0.274931 Feature: 0.023147, 0.285495, 0.958101
[11:52:55.457] xyz_f:0.513989, -0.446782, 1.632838  Reprojection Error: -0.066482, 0.062176 Feature: 0.236064, -0.201027, 0.950717
[11:52:55.457] xyz_f:0.305514, -0.197792, 1.677779  Reprojection Error: -0.150059, 0.169093 Feature: 0.031977, 0.051110, 0.998181
[11:52:55.457] xyz_f:0.438452, -0.442793, 1.624478  Reprojection Error: -0.102666, 0.066331 Feature: 0.161636, -0.199338, 0.966508
[11:52:55.457] xyz_f:0.305196, -0.223369, 1.671904  Reprojection Error: -0.150536, 0.158507 Feature: 0.031981, 0.024884, 0.999179
[11:52:55.457] xyz_f:0.168704, -0.145344, 1.633610  Reprojection Error: -0.220203, 0.180300 Feature: -0.115666, 0.090340, 0.989171
[11:52:55.457] xyz_f:0.456680, -0.453579, 1.622100  Reprojection Error: -0.095240, 0.060736 Feature: 0.179047, -0.210371, 0.961086
[11:52:55.457] xyz_f:0.497228, -0.448753, 1.630107  Reprojection Error: -0.074958, 0.061861 Feature: 0.219515, -0.203637, 0.954120
[11:52:55.457] xyz_f:0.200962, 0.225124, 1.631976  Reprojection Error: -0.254705, 0.367136 Feature: -0.116634, 0.447761, 0.886514
[11:52:55.457] xyz_f:0.554986, -0.637700, 1.511224  Reprojection Error: -0.052512, -0.064055 Feature: 0.252868, -0.416915, 0.873063
[11:52:55.457] xyz_f:0.445169, -0.456817, 1.618496  Reprojection Error: -0.076401, 0.056210 Feature: 0.167299, -0.214432, 0.962305
[11:52:55.457] xyz_f:0.532518, -0.460747, 1.627257  Reprojection Error: -0.032748, 0.050409 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.457] xyz_f:-0.040543, -0.064001, 1.374582  Reprojection Error: 0.230930, -0.158513 Feature: -0.401343, 0.101870, 0.800088
[11:52:55.457] xyz_f:-0.551507, -1.114357, 1.805761  Reprojection Error: 0.579331, 0.389461 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.457] xyz_f:0.522914, -0.639646, 1.507142  Reprojection Error: -0.323662, 0.427435 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.457] xyz_f:0.308075, -0.212951, 1.675245  Reprojection Error: -0.122800, 0.160819 Feature: 0.034878, 0.035813, 0.998750
[11:52:55.457] xyz_f:0.393509, -0.024103, 0.949664  Reprojection Error: -0.507159, 0.115578 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.457] xyz_f:0.928614, 0.001367, 1.685832  Reprojection Error: -0.729622, 0.188958 Feature: 0.607502, 0.245568, 0.755406
[11:52:55.457] xyz_f:0.101526, -0.035725, 1.609551  Reprojection Error: -0.238998, 0.218840 Feature: -0.195918, 0.189997, 0.962038
[11:52:55.457] xyz_f:-0.654475, -1.123967, 1.774135  Reprojection Error: 0.416813, 0.933025 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.457] xyz_f:0.431659, 0.100587, 1.723086  Reprojection Error: -0.067091, 0.319839 Feature: 0.140540, 0.351049, 0.925750
[11:52:55.457] xyz_f:0.466902, -0.437828, 1.631607  Reprojection Error: -0.421915, 0.722071 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.457] xyz_f:-0.027014, -0.952786, 1.330439  Reprojection Error: -0.092459, 1.187930 Feature: -0.327983, -0.768055, 0.973058
[11:52:55.457] xyz_f:0.497228, -0.448753, 1.630107  Reprojection Error: -0.254185, 0.756930 Feature: 0.219515, -0.203637, 0.954120
[11:52:55.457] it:1 	 Success 	 new_chi2: 6.810450 	 dT = -0.025354, 0.123013, 0.014278
[11:52:55.457] xyz_f:0.654795, -0.639899, 1.631098  Reprojection Error: -0.149896, -0.084699 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.457] xyz_f:0.404250, -0.240316, 1.784151  Reprojection Error: -0.229655, 0.140424 Feature: -0.003077, 0.005729, 0.999979
[11:52:55.457] xyz_f:0.418442, -0.218655, 1.794221  Reprojection Error: -0.221516, 0.151139 Feature: 0.011694, 0.029258, 0.999503
[11:52:55.457] xyz_f:0.577918, -0.457356, 1.743519  Reprojection Error: -0.157614, 0.039486 Feature: 0.167299, -0.214432, 0.962305
[11:52:55.457] xyz_f:0.615293, -0.454419, 1.750132  Reprojection Error: -0.137593, 0.040124 Feature: 0.204580, -0.209883, 0.956084
[11:52:55.457] xyz_f:0.599759, -0.438287, 1.756329  Reprojection Error: -0.143721, 0.049366 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.457] xyz_f:0.295461, -0.139814, 1.761216  Reprojection Error: -0.290684, 0.177446 Feature: -0.121432, 0.096871, 0.987862
[11:52:55.457] xyz_f:0.576499, -0.435624, 1.754274  Reprojection Error: -0.155536, 0.051214 Feature: 0.167425, -0.190656, 0.967274
[11:52:55.457] xyz_f:0.686913, -0.637834, 1.634738  Reprojection Error: -0.130564, -0.087356 Feature: 0.252868, -0.416915, 0.873063
[11:52:55.457] xyz_f:0.665393, -0.460962, 1.751074  Reprojection Error: -0.111687, 0.034243 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.457] xyz_f:0.295604, -0.135497, 1.761945  Reprojection Error: -0.290742, 0.179420 Feature: -0.121424, 0.101229, 0.987425
[11:52:55.457] xyz_f:0.415585, -0.231173, 1.790261  Reprojection Error: -0.223339, 0.145272 Feature: 0.008796, 0.016141, 0.999831
[11:52:55.457] xyz_f:1.060549, 0.002614, 1.804193  Reprojection Error: 0.216382, 0.323632 Feature: 0.607502, 0.245568, 0.755406
[11:52:55.457] xyz_f:0.589195, -0.453771, 1.747081  Reprojection Error: -0.151228, 0.041205 Feature: 0.178800, -0.210048, 0.961203
[11:52:55.457] xyz_f:0.440720, -0.213996, 1.802159  Reprojection Error: -0.209630, 0.154602 Feature: 0.034878, 0.035813, 0.998750
[11:52:55.457] xyz_f:0.629223, -0.444843, 1.756462  Reprojection Error: -0.129020, 0.044939 Feature: 0.218951, -0.198995, 0.955228
[11:52:55.457] xyz_f:0.578619, -0.467166, 1.738452  Reprojection Error: -0.158604, 0.034085 Feature: 0.167236, -0.225219, 0.959848
[11:52:55.457] xyz_f:0.639564, -0.468532, 1.745209  Reprojection Error: -0.126561, 0.031228 Feature: 0.227317, -0.224790, 0.947521
[11:52:55.457] xyz_f:0.563791, 0.099998, 1.848299  Reprojection Error: -0.153221, 0.325103 Feature: 0.140540, 0.351049, 0.925750
[11:52:55.457] xyz_f:0.232630, -0.037536, 1.739325  Reprojection Error: -0.337397, 0.219075 Feature: -0.195918, 0.189997, 0.962038
[11:52:55.457] xyz_f:0.442151, 0.038122, 1.825938  Reprojection Error: -0.217990, 0.277102 Feature: 0.023147, 0.285495, 0.958101
[11:52:55.457] xyz_f:0.646892, -0.447066, 1.756910  Reprojection Error: -0.119898, 0.043014 Feature: 0.236064, -0.201027, 0.950717
[11:52:55.457] xyz_f:0.438138, -0.198847, 1.804728  Reprojection Error: -0.210737, 0.161385 Feature: 0.031977, 0.051110, 0.998181
[11:52:55.457] xyz_f:0.571232, -0.443357, 1.749593  Reprojection Error: -0.159257, 0.047160 Feature: 0.161636, -0.199338, 0.966508
[11:52:55.457] xyz_f:0.437833, -0.224426, 1.798858  Reprojection Error: -0.211387, 0.149665 Feature: 0.031981, 0.024884, 0.999179
[11:52:55.457] xyz_f:0.300538, -0.146906, 1.762453  Reprojection Error: -0.287455, 0.174682 Feature: -0.115666, 0.090340, 0.989171
[11:52:55.457] xyz_f:0.589466, -0.454075, 1.746964  Reprojection Error: -0.151127, 0.041034 Feature: 0.179047, -0.210371, 0.961086
[11:52:55.457] xyz_f:0.630102, -0.449099, 1.754411  Reprojection Error: -0.129083, 0.042553 Feature: 0.219515, -0.203637, 0.954120
[11:52:55.457] xyz_f:0.331402, 0.223678, 1.760383  Reprojection Error: -0.319821, 0.378019 Feature: -0.116634, 0.447761, 0.886514
[11:52:55.457] xyz_f:0.686913, -0.637834, 1.634738  Reprojection Error: -0.105466, -0.095856 Feature: 0.252868, -0.416915, 0.873063
[11:52:55.457] xyz_f:0.577918, -0.457356, 1.743519  Reprojection Error: -0.132816, 0.036280 Feature: 0.167299, -0.214432, 0.962305
[11:52:55.457] xyz_f:0.665393, -0.460962, 1.751074  Reprojection Error: -0.085491, 0.030511 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.457] xyz_f:0.087440, -0.066343, 1.506336  Reprojection Error: 0.143388, -0.161031 Feature: -0.401343, 0.101870, 0.800088
[11:52:55.457] xyz_f:-0.413644, -1.118569, 1.944495  Reprojection Error: 0.486642, 0.347598 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.457] xyz_f:0.654795, -0.639899, 1.631098  Reprojection Error: -0.378149, 0.395336 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.457] xyz_f:0.440720, -0.213996, 1.802159  Reprojection Error: -0.183452, 0.152447 Feature: 0.034878, 0.035813, 0.998750
[11:52:55.457] xyz_f:0.515441, -0.024852, 1.075474  Reprojection Error: -0.572060, 0.113306 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.457] xyz_f:1.060549, 0.002614, 1.804193  Reprojection Error: -0.766612, 0.188320 Feature: 0.607502, 0.245568, 0.755406
[11:52:55.457] xyz_f:0.232630, -0.037536, 1.739325  Reprojection Error: -0.309669, 0.218225 Feature: -0.195918, 0.189997, 0.962038
[11:52:55.457] xyz_f:-0.517002, -1.128560, 1.914291  Reprojection Error: 0.317990, 0.889040 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.457] xyz_f:0.563791, 0.099998, 1.848299  Reprojection Error: -0.121608, 0.324112 Feature: 0.140540, 0.351049, 0.925750
[11:52:55.457] xyz_f:0.599759, -0.438287, 1.756329  Reprojection Error: -0.477239, 0.703276 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.457] xyz_f:0.103643, -0.955073, 1.461989  Reprojection Error: -0.183656, 1.125056 Feature: -0.327983, -0.768055, 0.973058
[11:52:55.457] xyz_f:0.630102, -0.449099, 1.754411  Reprojection Error: -0.308310, 0.737622 Feature: 0.219515, -0.203637, 0.954120
[11:52:55.457] it:2 	 Success 	 new_chi2: 7.169039 	 dT = -0.027788, 0.146157, 0.011812
[11:52:55.457] xyz_f:0.820259, -0.639694, 1.484173  Reprojection Error: -0.301123, -0.046001 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.457] xyz_f:0.569207, -0.239343, 1.634364  Reprojection Error: -0.351351, 0.152174 Feature: -0.003077, 0.005729, 0.999979
[11:52:55.458] xyz_f:0.583349, -0.217726, 1.644597  Reprojection Error: -0.343007, 0.161661 Feature: 0.011694, 0.029258, 0.999503
[11:52:55.458] xyz_f:0.742663, -0.456914, 1.595713  Reprojection Error: -0.291559, 0.063507 Feature: 0.167299, -0.214432, 0.962305
[11:52:55.458] xyz_f:0.779969, -0.454091, 1.602752  Reprojection Error: -0.272667, 0.063796 Feature: 0.204580, -0.209883, 0.956084
[11:52:55.458] xyz_f:0.764415, -0.437911, 1.608771  Reprojection Error: -0.277391, 0.072022 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.458] xyz_f:0.460995, -0.138509, 1.610191  Reprojection Error: -0.409222, 0.184081 Feature: -0.121432, 0.096871, 0.987862
[11:52:55.458] xyz_f:0.741188, -0.435177, 1.606452  Reprojection Error: -0.288293, 0.073787 Feature: 0.167425, -0.190656, 0.967274
[11:52:55.458] xyz_f:0.852340, -0.637726, 1.488179  Reprojection Error: -0.283106, -0.049003 Feature: 0.252868, -0.416915, 0.873063
[11:52:55.458] xyz_f:0.830035, -0.460787, 1.604265  Reprojection Error: -0.249088, 0.058225 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.458] xyz_f:0.461142, -0.134193, 1.610923  Reprojection Error: -0.409230, 0.185820 Feature: -0.121424, 0.101229, 0.987425
[11:52:55.458] xyz_f:0.580499, -0.230235, 1.640603  Reprojection Error: -0.345035, 0.156480 Feature: 0.008796, 0.016141, 0.999831
[11:52:55.458] xyz_f:1.225974, 0.001579, 1.661897  Reprojection Error: 0.066511, 0.324131 Feature: 0.607502, 0.245568, 0.755406
[11:52:55.458] xyz_f:0.753910, -0.453364, 1.599403  Reprojection Error: -0.285352, 0.064932 Feature: 0.178800, -0.210048, 0.961203
[11:52:55.458] xyz_f:0.605549, -0.213135, 1.652788  Reprojection Error: -0.331459, 0.164812 Feature: 0.034878, 0.035813, 0.998750
[11:52:55.458] xyz_f:0.793855, -0.444558, 1.609241  Reprojection Error: -0.264097, 0.067931 Feature: 0.218951, -0.198995, 0.955228
[11:52:55.458] xyz_f:0.743392, -0.466726, 1.590654  Reprojection Error: -0.293118, 0.058777 Feature: 0.167236, -0.225219, 0.959848
[11:52:55.458] xyz_f:0.804251, -0.468279, 1.598106  Reprojection Error: -0.263346, 0.055781 Feature: 0.227317, -0.224790, 0.947521
[11:52:55.458] xyz_f:0.729046, 0.100482, 1.700335  Reprojection Error: -0.276954, 0.320110 Feature: 0.140540, 0.351049, 0.925750
[11:52:55.458] xyz_f:0.398731, -0.036041, 1.587587  Reprojection Error: -0.454804, 0.220196 Feature: -0.195918, 0.189997, 0.962038
[11:52:55.458] xyz_f:0.607480, 0.038978, 1.676586  Reprojection Error: -0.338172, 0.274731 Feature: 0.023147, 0.285495, 0.958101
[11:52:55.458] xyz_f:0.811510, -0.446835, 1.609890  Reprojection Error: -0.255777, 0.066109 Feature: 0.236064, -0.201027, 0.950717
[11:52:55.458] xyz_f:0.602984, -0.197978, 1.655328  Reprojection Error: -0.332234, 0.170804 Feature: 0.031977, 0.051110, 0.998181
[11:52:55.458] xyz_f:0.735951, -0.442894, 1.601710  Reprojection Error: -0.292241, 0.070268 Feature: 0.161636, -0.199338, 0.966508
[11:52:55.458] xyz_f:0.602668, -0.223555, 1.649454  Reprojection Error: -0.333367, 0.160438 Feature: 0.031981, 0.024884, 0.999179
[11:52:55.458] xyz_f:0.466036, -0.145618, 1.611486  Reprojection Error: -0.406129, 0.181691 Feature: -0.115666, 0.090340, 0.989171
[11:52:55.458] xyz_f:0.754181, -0.453668, 1.599290  Reprojection Error: -0.285276, 0.064780 Feature: 0.179047, -0.210371, 0.961086
[11:52:55.458] xyz_f:0.794744, -0.448817, 1.607200  Reprojection Error: -0.264420, 0.065824 Feature: 0.219515, -0.203637, 0.954120
[11:52:55.458] xyz_f:0.498053, 0.224871, 1.609775  Reprojection Error: -0.440958, 0.365390 Feature: -0.116634, 0.447761, 0.886514
[11:52:55.458] xyz_f:0.852340, -0.637726, 1.488179  Reprojection Error: -0.258009, -0.057503 Feature: 0.252868, -0.416915, 0.873063
[11:52:55.458] xyz_f:0.742663, -0.456914, 1.595713  Reprojection Error: -0.266762, 0.060300 Feature: 0.167299, -0.214432, 0.962305
[11:52:55.458] xyz_f:0.830035, -0.460787, 1.604265  Reprojection Error: -0.222892, 0.054492 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.458] xyz_f:0.256121, -0.064408, 1.352957  Reprojection Error: 0.012131, -0.157468 Feature: -0.401343, 0.101870, 0.800088
[11:52:55.458] xyz_f:-0.253144, -1.115090, 1.785352  Reprojection Error: 0.415706, 0.396926 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.458] xyz_f:0.820259, -0.639694, 1.484173  Reprojection Error: -0.529376, 0.434035 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.458] xyz_f:0.605549, -0.213135, 1.652788  Reprojection Error: -0.305282, 0.162658 Feature: 0.034878, 0.035813, 0.998750
[11:52:55.458] xyz_f:0.689134, -0.024233, 0.927006  Reprojection Error: -0.836189, 0.116339 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.458] xyz_f:1.225974, 0.001579, 1.661897  Reprojection Error: -0.916483, 0.188818 Feature: 0.607502, 0.245568, 0.755406
[11:52:55.458] xyz_f:0.398731, -0.036041, 1.587587  Reprojection Error: -0.427076, 0.219346 Feature: -0.195918, 0.189997, 0.962038
[11:52:55.458] xyz_f:-0.356181, -1.124765, 1.753970  Reprojection Error: 0.250987, 0.940763 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.458] xyz_f:0.729046, 0.100482, 1.700335  Reprojection Error: -0.245342, 0.319120 Feature: 0.140540, 0.351049, 0.925750
[11:52:55.458] xyz_f:0.764415, -0.437911, 1.608771  Reprojection Error: -0.610909, 0.725931 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.458] xyz_f:0.270112, -0.953184, 1.308781  Reprojection Error: -0.319148, 1.200085 Feature: -0.327983, -0.768055, 0.973058
[11:52:55.458] xyz_f:0.794744, -0.448817, 1.607200  Reprojection Error: -0.443647, 0.760893 Feature: 0.219515, -0.203637, 0.954120
[11:52:55.458] it:3 	 Success 	 new_chi2: 9.019969 	 dT = -0.028124, 0.123838, 0.009304
[11:52:55.458] xyz_f:0.626610, -0.639858, 1.608627  Reprojection Error: -0.137983, -0.079244 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.458] xyz_f:0.375954, -0.240112, 1.761073  Reprojection Error: -0.216557, 0.142074 Feature: -0.003077, 0.005729, 0.999979
[11:52:55.458] xyz_f:0.390136, -0.218461, 1.771178  Reprojection Error: -0.208569, 0.152615 Feature: 0.011694, 0.029258, 0.999503
[11:52:55.458] xyz_f:0.549580, -0.457265, 1.720861  Reprojection Error: -0.145511, 0.042887 Feature: 0.167299, -0.214432, 0.962305
[11:52:55.458] xyz_f:0.586940, -0.454352, 1.727565  Reprojection Error: -0.125773, 0.043478 Feature: 0.204580, -0.209883, 0.956084
[11:52:55.458] xyz_f:0.571402, -0.438210, 1.733724  Reprojection Error: -0.131817, 0.052576 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.458] xyz_f:0.267287, -0.139540, 1.737874  Reprojection Error: -0.276725, 0.178354 Feature: -0.121432, 0.096871, 0.987862
[11:52:55.458] xyz_f:0.548148, -0.435532, 1.731613  Reprojection Error: -0.143464, 0.054411 Feature: 0.167425, -0.190656, 0.967274
[11:52:55.458] xyz_f:0.658720, -0.637814, 1.612344  Reprojection Error: -0.118915, -0.081950 Feature: 0.252868, -0.416915, 0.873063
[11:52:55.458] xyz_f:0.637033, -0.460928, 1.728628  Reprojection Error: -0.100215, 0.037642 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.458] xyz_f:0.267430, -0.135223, 1.738604  Reprojection Error: -0.276790, 0.180295 Feature: -0.121424, 0.101229, 0.987425
[11:52:55.458] xyz_f:0.387280, -0.230977, 1.767210  Reprojection Error: -0.210350, 0.146846 Feature: 0.008796, 0.016141, 0.999831
[11:52:55.458] xyz_f:1.032360, 0.002391, 1.782704  Reprojection Error: 0.225108, 0.323740 Feature: 0.607502, 0.245568, 0.755406
[11:52:55.458] xyz_f:0.560850, -0.453688, 1.724451  Reprojection Error: -0.139217, 0.044565 Feature: 0.178800, -0.210048, 0.961203
[11:52:55.458] xyz_f:0.412397, -0.213816, 1.779169  Reprojection Error: -0.196871, 0.156035 Feature: 0.034878, 0.035813, 0.998750
[11:52:55.458] xyz_f:0.600861, -0.444785, 1.733929  Reprojection Error: -0.117318, 0.048197 Feature: 0.218951, -0.198995, 0.955228
[11:52:55.458] xyz_f:0.550286, -0.467076, 1.715796  Reprojection Error: -0.146486, 0.037580 Feature: 0.167236, -0.225219, 0.959848
[11:52:55.458] xyz_f:0.611214, -0.468481, 1.722701  Reprojection Error: -0.114893, 0.034706 Feature: 0.227317, -0.224790, 0.947521
[11:52:55.458] xyz_f:0.535561, 0.100098, 1.825608  Reprojection Error: -0.141548, 0.324376 Feature: 0.140540, 0.351049, 0.925750
[11:52:55.458] xyz_f:0.204575, -0.037222, 1.715831  Reprojection Error: -0.322877, 0.219187 Feature: -0.195918, 0.189997, 0.962038
[11:52:55.458] xyz_f:0.413935, 0.038301, 1.802952  Reprojection Error: -0.205428, 0.276736 Feature: 0.023147, 0.285495, 0.958101
[11:52:55.458] xyz_f:0.618527, -0.447020, 1.734420  Reprojection Error: -0.108318, 0.046287 Feature: 0.236064, -0.201027, 0.950717
[11:52:55.458] xyz_f:0.409819, -0.198666, 1.781732  Reprojection Error: -0.197976, 0.162705 Feature: 0.031977, 0.051110, 0.998181
[11:52:55.458] xyz_f:0.542888, -0.443261, 1.726919  Reprojection Error: -0.147131, 0.050432 Feature: 0.161636, -0.199338, 0.966508
[11:52:55.458] xyz_f:0.409512, -0.224244, 1.775861  Reprojection Error: -0.198591, 0.151178 Feature: 0.031981, 0.024884, 0.999179
[11:52:55.458] xyz_f:0.272356, -0.146636, 1.739123  Reprojection Error: -0.273538, 0.175644 Feature: -0.115666, 0.090340, 0.989171
[11:52:55.458] xyz_f:0.561121, -0.453991, 1.724335  Reprojection Error: -0.139117, 0.044396 Feature: 0.179047, -0.210371, 0.961086
[11:52:55.458] xyz_f:0.601742, -0.449042, 1.731880  Reprojection Error: -0.117380, 0.045851 Feature: 0.219515, -0.203637, 0.954120
[11:52:55.458] xyz_f:0.303465, 0.223929, 1.737129  Reprojection Error: -0.306259, 0.376174 Feature: -0.116634, 0.447761, 0.886514
[11:52:55.458] xyz_f:0.658720, -0.637814, 1.612344  Reprojection Error: -0.093817, -0.090449 Feature: 0.252868, -0.416915, 0.873063
[11:52:55.458] xyz_f:0.549580, -0.457265, 1.720861  Reprojection Error: -0.120713, 0.039681 Feature: 0.167299, -0.214432, 0.962305
[11:52:55.458] xyz_f:0.637033, -0.460928, 1.728628  Reprojection Error: -0.074019, 0.033909 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.458] xyz_f:0.059931, -0.065934, 1.482492  Reprojection Error: 0.161010, -0.160598 Feature: -0.401343, 0.101870, 0.800088
[11:52:55.458] xyz_f:-0.442895, -1.117835, 1.919435  Reprojection Error: 0.504659, 0.354726 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.458] xyz_f:0.626610, -0.639858, 1.608627  Reprojection Error: -0.366236, 0.400791 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.458] xyz_f:0.412397, -0.213816, 1.779169  Reprojection Error: -0.170694, 0.153881 Feature: 0.034878, 0.035813, 0.998750
[11:52:55.458] xyz_f:0.489001, -0.024722, 1.052667  Reprojection Error: -0.557327, 0.113683 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.458] xyz_f:1.032360, 0.002391, 1.782704  Reprojection Error: -0.757885, 0.188427 Feature: 0.607502, 0.245568, 0.755406
[11:52:55.458] xyz_f:0.204575, -0.037222, 1.715831  Reprojection Error: -0.295149, 0.218337 Feature: -0.195918, 0.189997, 0.962038
[11:52:55.458] xyz_f:-0.546186, -1.127759, 1.888981  Reprojection Error: 0.337059, 0.896515 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.458] xyz_f:0.535561, 0.100098, 1.825608  Reprojection Error: -0.109936, 0.323385 Feature: 0.140540, 0.351049, 0.925750
[11:52:55.458] xyz_f:0.571402, -0.438210, 1.733724  Reprojection Error: -0.465335, 0.706485 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.458] xyz_f:0.075665, -0.954675, 1.438183  Reprojection Error: -0.165375, 1.135593 Feature: -0.327983, -0.768055, 0.973058
[11:52:55.458] xyz_f:0.601742, -0.449042, 1.731880  Reprojection Error: -0.296608, 0.740919 Feature: 0.219515, -0.203637, 0.954120
[11:52:55.458] it:4 	 Success 	 new_chi2: 3.439943 	 dT = -0.036996, 0.099860, 0.012409
[11:52:55.458] xyz_f:0.752816, -0.640047, 1.709190  Reprojection Error: -0.188904, -0.102537 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.458] xyz_f:0.502722, -0.241104, 1.864637  Reprojection Error: -0.272686, 0.135033 Feature: -0.003077, 0.005729, 0.999979
[11:52:55.458] xyz_f:0.516955, -0.219408, 1.874571  Reprojection Error: -0.264072, 0.146317 Feature: 0.011694, 0.029258, 0.999503
[11:52:55.458] xyz_f:0.676550, -0.457699, 1.822343  Reprojection Error: -0.197400, 0.028328 Feature: 0.167299, -0.214432, 0.962305
[11:52:55.458] xyz_f:0.713979, -0.454666, 1.828598  Reprojection Error: -0.176475, 0.029118 Feature: 0.204580, -0.209883, 0.956084
[11:52:55.458] xyz_f:0.698464, -0.438574, 1.834944  Reprojection Error: -0.182883, 0.038832 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.458] xyz_f:0.393463, -0.140882, 1.842744  Reprojection Error: -0.336444, 0.174513 Feature: -0.121432, 0.096871, 0.987862
[11:52:55.458] xyz_f:0.675178, -0.435971, 1.833112  Reprojection Error: -0.195234, 0.040724 Feature: 0.167425, -0.190656, 0.967274
[11:52:55.458] xyz_f:0.784962, -0.637899, 1.712522  Reprojection Error: -0.168732, -0.105040 Feature: 0.252868, -0.416915, 0.873063
[11:52:55.458] xyz_f:0.764102, -0.461081, 1.829061  Reprojection Error: -0.149452, 0.023085 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.458] xyz_f:0.393601, -0.136564, 1.843473  Reprojection Error: -0.336481, 0.176599 Feature: -0.121424, 0.101229, 0.987425
[11:52:55.458] xyz_f:0.514092, -0.231933, 1.870638  Reprojection Error: -0.266024, 0.140130 Feature: 0.008796, 0.016141, 0.999831
[11:52:55.458] xyz_f:1.158559, 0.003506, 1.878404  Reprojection Error: 0.187428, 0.323215 Feature: 0.607502, 0.245568, 0.755406
[11:52:55.458] xyz_f:0.687851, -0.454086, 1.825797  Reprojection Error: -0.190723, 0.030180 Feature: 0.178800, -0.210048, 0.961203
[11:52:55.458] xyz_f:0.539295, -0.214691, 1.882295  Reprojection Error: -0.251588, 0.149916 Feature: 0.034878, 0.035813, 0.998750
[11:52:55.458] xyz_f:0.727944, -0.445055, 1.834795  Reprojection Error: -0.167531, 0.034242 Feature: 0.218951, -0.198995, 0.955228
[11:52:55.458] xyz_f:0.677228, -0.467508, 1.817270  Reprojection Error: -0.198430, 0.022618 Feature: 0.167236, -0.225219, 0.959848
[11:52:55.458] xyz_f:0.738238, -0.468718, 1.823443  Reprojection Error: -0.164952, 0.019811 Feature: 0.227317, -0.224790, 0.947521
[11:52:55.458] xyz_f:0.661998, 0.099617, 1.927261  Reprojection Error: -0.191680, 0.327517 Feature: 0.140540, 0.351049, 0.925750
[11:52:55.458] xyz_f:0.330163, -0.038766, 1.821457  Reprojection Error: -0.384912, 0.218777 Feature: -0.195918, 0.189997, 0.962038
[11:52:55.458] xyz_f:0.540308, 0.037430, 1.906063  Reprojection Error: -0.259309, 0.278343 Feature: 0.023147, 0.285495, 0.958101
[11:52:55.458] xyz_f:0.745622, -0.447233, 1.835074  Reprojection Error: -0.158016, 0.032266 Feature: 0.236064, -0.201027, 0.950717
[11:52:55.458] xyz_f:0.536699, -0.199549, 1.884890  Reprojection Error: -0.252702, 0.157071 Feature: 0.031977, 0.051110, 0.998181
[11:52:55.458] xyz_f:0.669887, -0.443717, 1.828481  Reprojection Error: -0.199125, 0.036425 Feature: 0.161636, -0.199338, 0.966508
[11:52:55.458] xyz_f:0.536404, -0.225128, 1.879022  Reprojection Error: -0.253462, 0.144716 Feature: 0.031981, 0.024884, 0.999179
[11:52:55.458] xyz_f:0.398569, -0.147962, 1.843933  Reprojection Error: -0.333084, 0.171571 Feature: -0.115666, 0.090340, 0.989171
[11:52:55.458] xyz_f:0.688122, -0.454389, 1.825678  Reprojection Error: -0.190617, 0.029999 Feature: 0.179047, -0.210371, 0.961086
[11:52:55.458] xyz_f:0.728815, -0.449309, 1.832736  Reprojection Error: -0.167594, 0.031728 Feature: 0.219515, -0.203637, 0.954120
[11:52:55.458] xyz_f:0.428462, 0.222701, 1.841572  Reprojection Error: -0.364226, 0.384151 Feature: -0.116634, 0.447761, 0.886514
[11:52:55.458] xyz_f:0.784962, -0.637899, 1.712522  Reprojection Error: -0.143635, -0.113540 Feature: 0.252868, -0.416915, 0.873063
[11:52:55.458] xyz_f:0.676550, -0.457699, 1.822343  Reprojection Error: -0.172603, 0.025122 Feature: 0.167299, -0.214432, 0.962305
[11:52:55.458] xyz_f:0.764102, -0.461081, 1.829061  Reprojection Error: -0.123256, 0.019352 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.458] xyz_f:0.182826, -0.067948, 1.589867  Reprojection Error: 0.086442, -0.162335 Feature: -0.401343, 0.101870, 0.800088
[11:52:55.458] xyz_f:-0.311347, -1.121449, 2.032786  Reprojection Error: 0.427079, 0.324030 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.458] xyz_f:0.752816, -0.640047, 1.709190  Reprojection Error: -0.417157, 0.377498 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.458] xyz_f:0.539295, -0.214691, 1.882295  Reprojection Error: -0.225411, 0.147761 Feature: 0.034878, 0.035813, 0.998750
[11:52:55.458] xyz_f:0.606578, -0.025366, 1.154931  Reprojection Error: -0.617998, 0.112161 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.458] xyz_f:1.158559, 0.003506, 1.878404  Reprojection Error: -0.795566, 0.187902 Feature: 0.607502, 0.245568, 0.755406
[11:52:55.458] xyz_f:0.330163, -0.038766, 1.821457  Reprojection Error: -0.357184, 0.217927 Feature: -0.195918, 0.189997, 0.962038
[11:52:55.458] xyz_f:-0.414963, -1.131706, 2.003571  Reprojection Error: 0.255027, 0.864339 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.458] xyz_f:0.661998, 0.099617, 1.927261  Reprojection Error: -0.160067, 0.326526 Feature: 0.140540, 0.351049, 0.925750
[11:52:55.458] xyz_f:0.698464, -0.438574, 1.834944  Reprojection Error: -0.516400, 0.692741 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.458] xyz_f:0.200881, -0.956634, 1.545356  Reprojection Error: -0.242754, 1.090824 Feature: -0.327983, -0.768055, 0.973058
[11:52:55.458] xyz_f:0.728815, -0.449309, 1.832736  Reprojection Error: -0.346822, 0.726797 Feature: 0.219515, -0.203637, 0.954120
[11:52:55.458] it:5 	 Success 	 new_chi2: 4.020192 	 dT = -0.042335, 0.116640, 0.010305
[11:52:55.458] xyz_f:0.922673, -0.639893, 1.591976  Reprojection Error: -0.328029, -0.075062 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.458] xyz_f:0.672110, -0.240283, 1.744931  Reprojection Error: -0.388255, 0.143433 Feature: -0.003077, 0.005729, 0.999979
[11:52:55.458] xyz_f:0.686300, -0.218624, 1.755007  Reprojection Error: -0.379353, 0.153844 Feature: 0.011694, 0.029258, 0.999503
[11:52:55.458] xyz_f:0.845771, -0.457341, 1.704367  Reprojection Error: -0.322385, 0.045504 Feature: 0.167299, -0.214432, 0.962305
[11:52:55.458] xyz_f:0.883144, -0.454408, 1.710995  Reprojection Error: -0.302181, 0.046057 Feature: 0.204580, -0.209883, 0.956084
[11:52:55.458] xyz_f:0.867610, -0.438274, 1.717185  Reprojection Error: -0.307488, 0.055048 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.458] xyz_f:0.563341, -0.139770, 1.721954  Reprojection Error: -0.450076, 0.179230 Feature: -0.121432, 0.096871, 0.987862
[11:52:55.458] xyz_f:0.844350, -0.435609, 1.715122  Reprojection Error: -0.319208, 0.056874 Feature: 0.167425, -0.190656, 0.967274
[11:52:55.458] xyz_f:0.954790, -0.637831, 1.595628  Reprojection Error: -0.308745, -0.077795 Feature: 0.252868, -0.416915, 0.873063
[11:52:55.458] xyz_f:0.933243, -0.460957, 1.711956  Reprojection Error: -0.276828, 0.040255 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.458] xyz_f:0.563483, -0.135453, 1.722683  Reprojection Error: -0.450067, 0.181147 Feature: -0.121424, 0.101229, 0.987425
[11:52:55.458] xyz_f:0.683444, -0.231142, 1.751046  Reprojection Error: -0.381508, 0.148146 Feature: 0.008796, 0.016141, 0.999831
[11:52:55.458] xyz_f:1.328427, 0.002578, 1.765229  Reprojection Error: 0.051654, 0.323621 Feature: 0.607502, 0.245568, 0.755406
[11:52:55.458] xyz_f:0.857047, -0.453758, 1.707934  Reprojection Error: -0.315787, 0.047151 Feature: 0.178800, -0.210048, 0.961203
[11:52:55.458] xyz_f:0.708575, -0.213967, 1.762953  Reprojection Error: -0.367004, 0.157226 Feature: 0.034878, 0.035813, 0.998750
[11:52:55.458] xyz_f:0.897073, -0.444834, 1.717330  Reprojection Error: -0.293151, 0.050704 Feature: 0.218951, -0.198995, 0.955228
[11:52:55.458] xyz_f:0.846473, -0.467152, 1.699300  Reprojection Error: -0.323898, 0.040268 Feature: 0.167236, -0.225219, 0.959848
[11:52:55.458] xyz_f:0.907416, -0.468524, 1.706081  Reprojection Error: -0.291964, 0.037380 Feature: 0.227317, -0.224790, 0.947521
[11:52:55.458] xyz_f:0.831662, 0.100014, 1.809142  Reprojection Error: -0.307888, 0.323923 Feature: 0.140540, 0.351049, 0.925750
[11:52:55.458] xyz_f:0.500529, -0.037486, 1.700038  Reprojection Error: -0.498071, 0.219544 Feature: -0.195918, 0.189997, 0.962038
[11:52:55.458] xyz_f:0.710024, 0.038151, 1.786734  Reprojection Error: -0.373227, 0.276628 Feature: 0.023147, 0.285495, 0.958101
[11:52:55.458] xyz_f:0.914741, -0.447059, 1.717785  Reprojection Error: -0.284211, 0.048805 Feature: 0.236064, -0.201027, 0.950717
[11:52:55.458] xyz_f:0.705994, -0.198818, 1.765522  Reprojection Error: -0.367843, 0.163815 Feature: 0.031977, 0.051110, 0.998181
[11:52:55.458] xyz_f:0.839084, -0.443341, 1.710439  Reprojection Error: -0.323330, 0.052952 Feature: 0.161636, -0.199338, 0.966508
[11:52:55.458] xyz_f:0.705689, -0.224396, 1.759652  Reprojection Error: -0.369031, 0.152428 Feature: 0.031981, 0.024884, 0.999179
[11:52:55.458] xyz_f:0.568417, -0.146863, 1.723193  Reprojection Error: -0.446795, 0.176556 Feature: -0.115666, 0.090340, 0.989171
[11:52:55.458] xyz_f:0.857318, -0.454061, 1.707817  Reprojection Error: -0.315700, 0.046984 Feature: 0.179047, -0.210371, 0.961086
[11:52:55.458] xyz_f:0.897952, -0.449090, 1.715280  Reprojection Error: -0.293432, 0.048388 Feature: 0.219515, -0.203637, 0.954120
[11:52:55.458] xyz_f:0.599319, 0.223718, 1.721135  Reprojection Error: -0.479777, 0.375098 Feature: -0.116634, 0.447761, 0.886514
[11:52:55.458] xyz_f:0.954790, -0.637831, 1.595628  Reprojection Error: -0.283647, -0.086295 Feature: 0.252868, -0.416915, 0.873063
[11:52:55.458] xyz_f:0.845771, -0.457341, 1.704367  Reprojection Error: -0.297588, 0.042297 Feature: 0.167299, -0.214432, 0.962305
[11:52:55.458] xyz_f:0.933243, -0.460957, 1.711956  Reprojection Error: -0.250632, 0.036523 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.458] xyz_f:0.355427, -0.066278, 1.466994  Reprojection Error: -0.040846, -0.159894 Feature: -0.401343, 0.101870, 0.800088
[11:52:55.458] xyz_f:-0.145938, -1.118451, 1.904957  Reprojection Error: 0.350526, 0.359476 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.458] xyz_f:0.922673, -0.639893, 1.591976  Reprojection Error: -0.556282, 0.404973 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.458] xyz_f:0.708575, -0.213967, 1.762953  Reprojection Error: -0.340827, 0.155072 Feature: 0.034878, 0.035813, 0.998750
[11:52:55.459] xyz_f:0.783599, -0.024831, 1.036298  Reprojection Error: -0.848944, 0.114160 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.459] xyz_f:1.328427, 0.002578, 1.765229  Reprojection Error: -0.931340, 0.188308 Feature: 0.607502, 0.245568, 0.755406
[11:52:55.459] xyz_f:0.500529, -0.037486, 1.700038  Reprojection Error: -0.470343, 0.218694 Feature: -0.195918, 0.189997, 0.962038
[11:52:55.459] xyz_f:-0.249285, -1.128432, 1.874713  Reprojection Error: 0.180888, 0.901417 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.459] xyz_f:0.831662, 0.100014, 1.809142  Reprojection Error: -0.276276, 0.322933 Feature: 0.140540, 0.351049, 0.925750
[11:52:55.459] xyz_f:0.867610, -0.438274, 1.717185  Reprojection Error: -0.641005, 0.708957 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.459] xyz_f:0.371554, -0.955009, 1.422652  Reprojection Error: -0.373934, 1.143074 Feature: -0.327983, -0.768055, 0.973058
[11:52:55.459] xyz_f:0.897952, -0.449090, 1.715280  Reprojection Error: -0.472659, 0.743457 Feature: 0.219515, -0.203637, 0.954120
[11:52:55.459] it:6 	 Success 	 new_chi2: 1.840893 	 dT = -0.048692, 0.067101, 0.006274
[11:52:55.459] xyz_f:0.806711, -0.639787, 1.524480  Reprojection Error: -0.277623, -0.057335 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.459] xyz_f:0.555875, -0.239770, 1.675916  Reprojection Error: -0.334761, 0.148797 Feature: -0.003077, 0.005729, 0.999979
[11:52:55.459] xyz_f:0.570039, -0.218134, 1.686078  Reprojection Error: -0.326386, 0.158646 Feature: 0.011694, 0.029258, 0.999503
[11:52:55.459] xyz_f:0.729427, -0.457110, 1.636404  Reprojection Error: -0.271897, 0.056507 Feature: 0.167299, -0.214432, 0.962305
[11:52:55.459] xyz_f:0.766763, -0.454238, 1.643258  Reprojection Error: -0.252635, 0.056901 Feature: 0.204580, -0.209883, 0.956084
[11:52:55.459] xyz_f:0.751218, -0.438079, 1.649355  Reprojection Error: -0.257698, 0.065425 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.459] xyz_f:0.447411, -0.139080, 1.652280  Reprojection Error: -0.393708, 0.182236 Feature: -0.121432, 0.096871, 0.987862
[11:52:55.459] xyz_f:0.727976, -0.435376, 1.647150  Reprojection Error: -0.268872, 0.067214 Feature: 0.167425, -0.190656, 0.967274
[11:52:55.459] xyz_f:0.838809, -0.637777, 1.528327  Reprojection Error: -0.259207, -0.060227 Feature: 0.252868, -0.416915, 0.873063
[11:52:55.459] xyz_f:0.816844, -0.460868, 1.644523  Reprojection Error: -0.228401, 0.051242 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.459] xyz_f:0.447556, -0.134764, 1.653011  Reprojection Error: -0.393723, 0.184045 Feature: -0.121424, 0.101229, 0.987425
[11:52:55.459] xyz_f:0.567186, -0.230647, 1.682099  Reprojection Error: -0.328392, 0.153263 Feature: 0.008796, 0.016141, 0.999831
[11:52:55.459] xyz_f:1.212450, 0.002025, 1.700192  Reprojection Error: 0.091081, 0.323890 Feature: 0.607502, 0.245568, 0.755406
[11:52:55.459] xyz_f:0.740687, -0.453545, 1.640039  Reprojection Error: -0.265610, 0.058020 Feature: 0.178800, -0.210048, 0.961203
[11:52:55.459] xyz_f:0.592273, -0.213513, 1.694159  Reprojection Error: -0.314676, 0.161887 Feature: 0.034878, 0.035813, 0.998750
[11:52:55.459] xyz_f:0.780668, -0.444686, 1.649678  Reprojection Error: -0.244012, 0.061237 Feature: 0.218951, -0.198995, 0.955228
[11:52:55.459] xyz_f:0.730143, -0.466922, 1.631342  Reprojection Error: -0.273340, 0.051579 Feature: 0.167236, -0.225219, 0.959848
[11:52:55.459] xyz_f:0.791041, -0.468393, 1.638491  Reprojection Error: -0.242879, 0.048629 Feature: 0.227317, -0.224790, 0.947521
[11:52:55.459] xyz_f:0.715588, 0.100267, 1.741094  Reprojection Error: -0.259187, 0.321617 Feature: 0.140540, 0.351049, 0.925750
[11:52:55.459] xyz_f:0.384899, -0.036695, 1.629985  Reprojection Error: -0.439786, 0.220007 Feature: -0.195918, 0.189997, 0.962038
[11:52:55.459] xyz_f:0.593987, 0.038602, 1.717949  Reprojection Error: -0.321594, 0.275510 Feature: 0.023147, 0.285495, 0.958101
[11:52:55.459] xyz_f:0.798330, -0.446939, 1.650240  Reprojection Error: -0.235465, 0.059386 Feature: 0.236064, -0.201027, 0.950717
[11:52:55.459] xyz_f:0.589701, -0.198360, 1.696712  Reprojection Error: -0.315520, 0.168112 Feature: 0.031977, 0.051110, 0.998181
[11:52:55.459] xyz_f:0.722726, -0.443100, 1.642435  Reprojection Error: -0.272796, 0.063537 Feature: 0.161636, -0.199338, 0.966508
[11:52:55.459] xyz_f:0.589390, -0.223938, 1.690840  Reprojection Error: -0.316571, 0.157347 Feature: 0.031981, 0.024884, 0.999179
[11:52:55.459] xyz_f:0.452467, -0.146182, 1.653550  Reprojection Error: -0.390566, 0.179734 Feature: -0.115666, 0.090340, 0.989171
[11:52:55.459] xyz_f:0.740957, -0.453849, 1.639924  Reprojection Error: -0.265528, 0.057862 Feature: 0.179047, -0.210371, 0.961086
[11:52:55.459] xyz_f:0.781553, -0.448944, 1.647632  Reprojection Error: -0.244279, 0.059049 Feature: 0.219515, -0.203637, 0.954120
[11:52:55.459] xyz_f:0.483984, 0.224349, 1.651681  Reprojection Error: -0.424590, 0.369251 Feature: -0.116634, 0.447761, 0.886514
[11:52:55.459] xyz_f:0.838809, -0.637777, 1.528327  Reprojection Error: -0.234110, -0.068727 Feature: 0.252868, -0.416915, 0.873063
[11:52:55.459] xyz_f:0.729427, -0.457110, 1.636404  Reprojection Error: -0.247100, 0.053300 Feature: 0.167299, -0.214432, 0.962305
[11:52:55.459] xyz_f:0.816844, -0.460868, 1.644523  Reprojection Error: -0.202206, 0.047510 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.459] xyz_f:0.241165, -0.065252, 1.396065  Reprojection Error: 0.028690, -0.158333 Feature: -0.401343, 0.101870, 0.800088
[11:52:55.459] xyz_f:-0.264552, -1.116608, 1.830977  Reprojection Error: 0.418403, 0.382192 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.459] xyz_f:0.806711, -0.639787, 1.524480  Reprojection Error: -0.505876, 0.422700 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.459] xyz_f:0.592273, -0.213513, 1.694159  Reprojection Error: -0.288499, 0.159732 Feature: 0.034878, 0.035813, 0.998750
[11:52:55.459] xyz_f:0.672006, -0.024503, 0.967972  Reprojection Error: -0.787033, 0.115512 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.459] xyz_f:1.212450, 0.002025, 1.700192  Reprojection Error: -0.891913, 0.188578 Feature: 0.607502, 0.245568, 0.755406
[11:52:55.459] xyz_f:0.384899, -0.036695, 1.629985  Reprojection Error: -0.412058, 0.219156 Feature: -0.195918, 0.189997, 0.962038
[11:52:55.459] xyz_f:-0.367731, -1.126421, 1.800107  Reprojection Error: 0.252198, 0.925247 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.459] xyz_f:0.715588, 0.100267, 1.741094  Reprojection Error: -0.227575, 0.320626 Feature: 0.140540, 0.351049, 0.925750
[11:52:55.459] xyz_f:0.751218, -0.438079, 1.649355  Reprojection Error: -0.591216, 0.719335 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.459] xyz_f:0.256118, -0.954009, 1.351818  Reprojection Error: -0.302226, 1.177509 Feature: -0.327983, -0.768055, 0.973058
[11:52:55.459] xyz_f:0.781553, -0.448944, 1.647632  Reprojection Error: -0.423507, 0.754117 Feature: 0.219515, -0.203637, 0.954120
[11:52:55.459] it:7 	 Success 	 new_chi2: 1.777830 	 dT = -0.045612, 0.065864, 0.008559
[11:52:55.459] xyz_f:0.728786, -0.639628, 1.458022  Reprojection Error: -0.248298, -0.038315 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.459] xyz_f:0.477593, -0.239055, 1.607383  Reprojection Error: -0.300202, 0.154452 Feature: -0.003077, 0.005729, 0.999979
[11:52:55.459] xyz_f:0.491721, -0.217450, 1.617662  Reprojection Error: -0.292270, 0.163695 Feature: 0.011694, 0.029258, 0.999503
[11:52:55.459] xyz_f:0.650984, -0.456779, 1.569305  Reprojection Error: -0.240971, 0.068240 Feature: 0.167299, -0.214432, 0.962305
[11:52:55.459] xyz_f:0.688269, -0.453989, 1.576467  Reprojection Error: -0.222612, 0.068455 Feature: 0.204580, -0.209883, 0.956084
[11:52:55.459] xyz_f:0.672709, -0.437796, 1.582435  Reprojection Error: -0.227347, 0.076479 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.459] xyz_f:0.369552, -0.138125, 1.582852  Reprojection Error: -0.356396, 0.185324 Feature: -0.121432, 0.096871, 0.987862
[11:52:55.459] xyz_f:0.649492, -0.435041, 1.580039  Reprojection Error: -0.237972, 0.078229 Feature: 0.167425, -0.190656, 0.967274
[11:52:55.459] xyz_f:0.760855, -0.637689, 1.462134  Reprojection Error: -0.230739, -0.041396 Feature: 0.252868, -0.416915, 0.873063
[11:52:55.459] xyz_f:0.738323, -0.460730, 1.578146  Reprojection Error: -0.199537, 0.062942 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.459] xyz_f:0.369700, -0.133809, 1.583584  Reprojection Error: -0.356429, 0.187016 Feature: -0.121424, 0.101229, 0.987425
[11:52:55.459] xyz_f:0.488873, -0.229957, 1.613659  Reprojection Error: -0.294162, 0.158651 Feature: 0.008796, 0.016141, 0.999831
[11:52:55.459] xyz_f:1.134480, 0.001285, 1.637088  Reprojection Error: 0.111220, 0.324296 Feature: 0.607502, 0.245568, 0.755406
[11:52:55.459] xyz_f:0.662221, -0.453239, 1.573033  Reprojection Error: -0.234967, 0.069605 Feature: 0.178800, -0.210048, 0.961203
[11:52:55.459] xyz_f:0.513898, -0.212879, 1.625926  Reprojection Error: -0.281143, 0.166785 Feature: 0.034878, 0.035813, 0.998750
[11:52:55.459] xyz_f:0.702142, -0.444468, 1.583002  Reprojection Error: -0.214337, 0.072453 Feature: 0.218951, -0.198995, 0.955228
[11:52:55.459] xyz_f:0.651721, -0.466592, 1.564248  Reprojection Error: -0.242403, 0.063645 Feature: 0.167236, -0.225219, 0.959848
[11:52:55.459] xyz_f:0.712554, -0.468199, 1.571902  Reprojection Error: -0.213400, 0.060615 Feature: 0.227317, -0.224790, 0.947521
[11:52:55.459] xyz_f:0.637515, 0.100629, 1.673882  Reprojection Error: -0.229048, 0.319089 Feature: 0.140540, 0.351049, 0.925750
[11:52:55.459] xyz_f:0.307453, -0.035602, 1.560042  Reprojection Error: -0.400729, 0.220315 Feature: -0.195918, 0.189997, 0.962038
[11:52:55.459] xyz_f:0.515973, 0.039232, 1.649732  Reprojection Error: -0.288602, 0.274199 Feature: 0.023147, 0.285495, 0.958101
[11:52:55.459] xyz_f:0.719793, -0.446761, 1.583710  Reprojection Error: -0.206197, 0.070650 Feature: 0.236064, -0.201027, 0.950717
[11:52:55.459] xyz_f:0.511338, -0.197720, 1.628458  Reprojection Error: -0.281966, 0.172619 Feature: 0.031977, 0.051110, 0.998181
[11:52:55.459] xyz_f:0.644264, -0.442754, 1.575280  Reprojection Error: -0.241747, 0.074818 Feature: 0.161636, -0.199338, 0.966508
[11:52:55.459] xyz_f:0.511019, -0.223297, 1.622583  Reprojection Error: -0.282934, 0.162523 Feature: 0.031981, 0.024884, 0.999179
[11:52:55.459] xyz_f:0.374582, -0.145238, 1.584163  Reprojection Error: -0.353387, 0.183010 Feature: -0.115666, 0.090340, 0.989171
[11:52:55.459] xyz_f:0.662492, -0.453544, 1.572920  Reprojection Error: -0.234890, 0.069456 Feature: 0.179047, -0.210371, 0.961086
[11:52:55.459] xyz_f:0.703034, -0.448728, 1.580964  Reprojection Error: -0.214617, 0.070402 Feature: 0.219515, -0.203637, 0.954120
[11:52:55.459] xyz_f:0.406933, 0.225222, 1.582559  Reprojection Error: -0.388701, 0.362766 Feature: -0.116634, 0.447761, 0.886514
[11:52:55.459] xyz_f:0.760855, -0.637689, 1.462134  Reprojection Error: -0.205642, -0.049895 Feature: 0.252868, -0.416915, 0.873063
[11:52:55.459] xyz_f:0.650984, -0.456779, 1.569305  Reprojection Error: -0.216173, 0.065033 Feature: 0.167299, -0.214432, 0.962305
[11:52:55.459] xyz_f:0.738323, -0.460730, 1.578146  Reprojection Error: -0.173342, 0.059210 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.459] xyz_f:0.165595, -0.063843, 1.324941  Reprojection Error: 0.076453, -0.156888 Feature: -0.401343, 0.101870, 0.800088
[11:52:55.459] xyz_f:-0.346028, -1.114072, 1.755648  Reprojection Error: 0.471011, 0.406914 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.459] xyz_f:0.728786, -0.639628, 1.458022  Reprojection Error: -0.476551, 0.441720 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.459] xyz_f:0.513898, -0.212879, 1.625926  Reprojection Error: -0.254966, 0.164631 Feature: 0.034878, 0.035813, 0.998750
[11:52:55.459] xyz_f:0.600050, -0.024052, 0.900425  Reprojection Error: -0.759199, 0.116910 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.459] xyz_f:1.134480, 0.001285, 1.637088  Reprojection Error: -0.871774, 0.188983 Feature: 0.607502, 0.245568, 0.755406
[11:52:55.459] xyz_f:0.307453, -0.035602, 1.560042  Reprojection Error: -0.373001, 0.219465 Feature: -0.195918, 0.189997, 0.962038
[11:52:55.459] xyz_f:-0.448969, -1.123656, 1.723925  Reprojection Error: 0.308350, 0.951296 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.459] xyz_f:0.637515, 0.100629, 1.673882  Reprojection Error: -0.197436, 0.318098 Feature: 0.140540, 0.351049, 0.925750
[11:52:55.459] xyz_f:0.672709, -0.437796, 1.582435  Reprojection Error: -0.560864, 0.730388 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.459] xyz_f:0.178944, -0.952631, 1.280811  Reprojection Error: -0.252476, 1.215558 Feature: -0.327983, -0.768055, 0.973058
[11:52:55.459] xyz_f:0.703034, -0.448728, 1.580964  Reprojection Error: -0.393844, 0.765471 Feature: 0.219515, -0.203637, 0.954120
[11:52:55.459] it:8 	 Success 	 new_chi2: 1.693709 	 dT = -0.043197, 0.067729, 0.011147
[11:52:55.459] xyz_f:0.650431, -0.639395, 1.389424  Reprojection Error: -0.216582, -0.016824 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.459] xyz_f:0.398801, -0.238096, 1.536077  Reprojection Error: -0.262700, 0.160732 Feature: -0.003077, 0.005729, 0.999979
[11:52:55.459] xyz_f:0.412880, -0.216532, 1.546508  Reprojection Error: -0.255276, 0.169286 Feature: 0.011694, 0.029258, 0.999503
[11:52:55.459] xyz_f:0.571963, -0.456321, 1.499865  Reprojection Error: -0.207490, 0.081410 Feature: 0.167299, -0.214432, 0.962305
[11:52:55.459] xyz_f:0.609176, -0.453638, 1.507428  Reprojection Error: -0.190139, 0.081411 Feature: 0.204580, -0.209883, 0.956084
[11:52:55.459] xyz_f:0.593600, -0.437400, 1.513229  Reprojection Error: -0.194510, 0.088870 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.459] xyz_f:0.291321, -0.136856, 1.510386  Reprojection Error: -0.315803, 0.188671 Feature: -0.121432, 0.096871, 0.987862
[11:52:55.459] xyz_f:0.570418, -0.434578, 1.510582  Reprojection Error: -0.204526, 0.090582 Feature: 0.167425, -0.190656, 0.967274
[11:52:55.459] xyz_f:0.682459, -0.637548, 1.393881  Reprojection Error: -0.199977, -0.020140 Feature: 0.252868, -0.416915, 0.873063
[11:52:55.459] xyz_f:0.659190, -0.460524, 1.509646  Reprojection Error: -0.168347, 0.076052 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.459] xyz_f:0.291474, -0.132540, 1.511119  Reprojection Error: -0.315857, 0.190228 Feature: -0.121424, 0.101229, 0.987425
[11:52:55.459] xyz_f:0.410039, -0.229031, 1.542475  Reprojection Error: -0.257034, 0.164627 Feature: 0.008796, 0.016141, 0.999831
[11:52:55.459] xyz_f:1.056020, 0.000348, 1.572857  Reprojection Error: 0.132804, 0.324860 Feature: 0.607502, 0.245568, 0.755406
[11:52:55.459] xyz_f:0.583169, -0.452813, 1.503713  Reprojection Error: -0.201803, 0.082604 Feature: 0.178800, -0.210048, 0.961203
[11:52:55.459] xyz_f:0.434979, -0.212025, 1.555011  Reprojection Error: -0.244806, 0.172207 Feature: 0.034878, 0.035813, 0.998750
[11:52:55.459] xyz_f:0.623005, -0.444157, 1.514112  Reprojection Error: -0.182252, 0.085023 Feature: 0.218951, -0.198995, 0.955228
[11:52:55.459] xyz_f:0.572726, -0.466136, 1.494816  Reprojection Error: -0.208909, 0.077194 Feature: 0.167236, -0.225219, 0.959848
[11:52:55.459] xyz_f:0.633468, -0.467918, 1.503124  Reprojection Error: -0.181527, 0.074057 Feature: 0.227317, -0.224790, 0.947521
[11:52:55.459] xyz_f:0.558976, 0.101125, 1.604300  Reprojection Error: -0.196612, 0.316172 Feature: 0.140540, 0.351049, 0.925750
[11:52:55.459] xyz_f:0.229768, -0.034154, 1.486910  Reprojection Error: -0.358177, 0.220464 Feature: -0.195918, 0.189997, 0.962038
[11:52:55.459] xyz_f:0.437525, 0.040080, 1.578841  Reprojection Error: -0.252959, 0.272594 Feature: 0.023147, 0.285495, 0.958101
[11:52:55.459] xyz_f:0.640641, -0.446501, 1.515010  Reprojection Error: -0.174562, 0.083271 Feature: 0.236064, -0.201027, 0.950717
[11:52:55.459] xyz_f:0.432436, -0.196858, 1.557515  Reprojection Error: -0.245610, 0.177596 Feature: 0.031977, 0.051110, 0.998181
[11:52:55.459] xyz_f:0.565220, -0.442276, 1.505768  Reprojection Error: -0.208132, 0.087476 Feature: 0.161636, -0.199338, 0.966508
[11:52:55.459] xyz_f:0.432106, -0.222435, 1.551637  Reprojection Error: -0.246477, 0.168260 Feature: 0.031981, 0.024884, 0.999179
[11:52:55.459] xyz_f:0.296316, -0.143983, 1.511751  Reprojection Error: -0.312941, 0.186571 Feature: -0.115666, 0.090340, 0.989171
[11:52:55.459] xyz_f:0.583441, -0.453118, 1.503603  Reprojection Error: -0.201732, 0.082466 Feature: 0.179047, -0.210371, 0.961086
[11:52:55.459] xyz_f:0.623907, -0.448420, 1.512084  Reprojection Error: -0.182544, 0.083128 Feature: 0.219515, -0.203637, 0.954120
[11:52:55.459] xyz_f:0.329752, 0.226382, 1.510501  Reprojection Error: -0.349872, 0.355209 Feature: -0.116634, 0.447761, 0.886514
[11:52:55.459] xyz_f:0.682459, -0.637548, 1.393881  Reprojection Error: -0.174880, -0.028640 Feature: 0.252868, -0.416915, 0.873063
[11:52:55.459] xyz_f:0.571963, -0.456321, 1.499865  Reprojection Error: -0.182693, 0.078203 Feature: 0.167299, -0.214432, 0.962305
[11:52:55.459] xyz_f:0.659190, -0.460524, 1.509646  Reprojection Error: -0.142151, 0.072320 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.459] xyz_f:0.090369, -0.061989, 1.250295  Reprojection Error: 0.129158, -0.155494 Feature: -0.401343, 0.101870, 0.800088
[11:52:55.459] xyz_f:-0.428890, -1.110731, 1.675452  Reprojection Error: 0.529901, 0.435293 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.459] xyz_f:0.650431, -0.639395, 1.389424  Reprojection Error: -0.444835, 0.463212 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.459] xyz_f:0.434979, -0.212025, 1.555011  Reprojection Error: -0.218629, 0.170052 Feature: 0.034878, 0.035813, 0.998750
[11:52:55.459] xyz_f:0.529482, -0.023459, 0.830482  Reprojection Error: -0.730352, 0.118445 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.459] xyz_f:1.056020, 0.000348, 1.572857  Reprojection Error: -0.850190, 0.189547 Feature: 0.607502, 0.245568, 0.755406
[11:52:55.459] xyz_f:0.229768, -0.034154, 1.486910  Reprojection Error: -0.330449, 0.219614 Feature: -0.195918, 0.189997, 0.962038
[11:52:55.459] xyz_f:-0.531511, -1.120019, 1.642623  Reprojection Error: 0.371490, 0.981343 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.459] xyz_f:0.558976, 0.101125, 1.604300  Reprojection Error: -0.165000, 0.315181 Feature: 0.140540, 0.351049, 0.925750
[11:52:55.459] xyz_f:0.593600, -0.437400, 1.513229  Reprojection Error: -0.528028, 0.742779 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.459] xyz_f:0.101628, -0.950813, 1.206297  Reprojection Error: -0.197012, 1.259994 Feature: -0.327983, -0.768055, 0.973058
[11:52:55.459] xyz_f:0.623907, -0.448420, 1.512084  Reprojection Error: -0.361772, 0.778197 Feature: 0.219515, -0.203637, 0.954120
[11:52:55.459] it:9 	 Success 	 new_chi2: 1.585197 	 dT = -0.042905, 0.072874, 0.015667
[11:52:55.459] xyz_f:0.568265, -0.639018, 1.315143  Reprojection Error: -0.180546, 0.008881 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.459] xyz_f:0.316074, -0.236698, 1.457985  Reprojection Error: -0.219865, 0.168075 Feature: -0.003077, 0.005729, 0.999979
[11:52:55.459] xyz_f:0.330081, -0.215191, 1.468628  Reprojection Error: -0.213055, 0.175798 Feature: 0.011694, 0.029258, 0.999503
[11:52:55.459] xyz_f:0.488878, -0.455624, 1.424390  Reprojection Error: -0.169367, 0.097041 Feature: 0.167299, -0.214432, 0.962305
[11:52:55.459] xyz_f:0.525983, -0.453092, 1.432516  Reprojection Error: -0.153198, 0.096767 Feature: 0.204580, -0.209883, 0.956084
[11:52:55.459] xyz_f:0.510387, -0.436790, 1.438081  Reprojection Error: -0.157145, 0.103551 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.459] xyz_f:0.209407, -0.135023, 1.430673  Reprojection Error: -0.269294, 0.192438 Feature: -0.121432, 0.096871, 0.987862
[11:52:55.459] xyz_f:0.487260, -0.433875, 1.435084  Reprojection Error: -0.166445, 0.105227 Feature: 0.167425, -0.190656, 0.967274
[11:52:55.459] xyz_f:0.600230, -0.637301, 1.320085  Reprojection Error: -0.165057, 0.005242 Feature: 0.252868, -0.416915, 0.873063
[11:52:55.459] xyz_f:0.575929, -0.460180, 1.435490  Reprojection Error: -0.132903, 0.091572 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.459] xyz_f:0.209567, -0.130708, 1.431409  Reprojection Error: -0.269377, 0.193833 Feature: -0.121424, 0.101229, 0.987425
[11:52:55.459] xyz_f:0.327251, -0.227678, 1.464552  Reprojection Error: -0.214650, 0.171603 Feature: 0.008796, 0.016141, 0.999831
[11:52:55.459] xyz_f:0.973623, -0.000919, 1.504713  Reprojection Error: 0.157158, 0.325692 Feature: 0.607502, 0.245568, 0.755406
[11:52:55.459] xyz_f:0.500039, -0.452162, 1.428408  Reprojection Error: -0.164051, 0.098023 Feature: 0.178800, -0.210048, 0.961203
[11:52:55.459] xyz_f:0.352067, -0.210773, 1.477464  Reprojection Error: -0.203370, 0.178516 Feature: 0.034878, 0.035813, 0.998750
[11:52:55.459] xyz_f:0.539748, -0.443667, 1.439409  Reprojection Error: -0.145766, 0.099906 Feature: 0.218951, -0.198995, 0.955228
[11:52:55.459] xyz_f:0.489677, -0.465442, 1.419354  Reprojection Error: -0.170768, 0.093285 Feature: 0.167236, -0.225219, 0.959848
[11:52:55.459] xyz_f:0.550279, -0.467470, 1.428580  Reprojection Error: -0.145286, 0.089987 Feature: 0.227317, -0.224790, 0.947521
[11:52:55.459] xyz_f:0.476573, 0.101874, 1.528634  Reprojection Error: -0.159952, 0.312562 Feature: 0.140540, 0.351049, 0.925750
[11:52:55.459] xyz_f:0.148633, -0.032073, 1.406271  Reprojection Error: -0.309342, 0.220302 Feature: -0.195918, 0.189997, 0.962038
[11:52:55.459] xyz_f:0.355275, 0.041320, 1.501338  Reprojection Error: -0.212479, 0.270458 Feature: 0.023147, 0.285495, 0.958101
[11:52:55.459] xyz_f:0.557358, -0.446082, 1.440573  Reprojection Error: -0.138600, 0.098208 Feature: 0.236064, -0.201027, 0.950717
[11:52:55.459] xyz_f:0.349548, -0.195596, 1.479930  Reprojection Error: -0.204157, 0.183369 Feature: 0.031977, 0.051110, 0.998181
[11:52:55.459] xyz_f:0.482103, -0.441551, 1.430191  Reprojection Error: -0.169853, 0.102491 Feature: 0.161636, -0.199338, 0.966508
[11:52:55.460] xyz_f:0.349204, -0.221171, 1.474047  Reprojection Error: -0.204894, 0.174948 Feature: 0.031981, 0.024884, 0.999179
[11:52:55.460] xyz_f:0.214352, -0.142171, 1.432113  Reprojection Error: -0.266608, 0.190602 Feature: -0.115666, 0.090340, 0.989171
[11:52:55.460] xyz_f:0.500311, -0.452468, 1.428302  Reprojection Error: -0.163988, 0.097899 Feature: 0.179047, -0.210371, 0.961086
[11:52:55.460] xyz_f:0.540663, -0.447933, 1.437394  Reprojection Error: -0.146071, 0.098199 Feature: 0.219515, -0.203637, 0.954120
[11:52:55.460] xyz_f:0.249304, 0.228056, 1.431381  Reprojection Error: -0.305736, 0.345755 Feature: -0.116634, 0.447761, 0.886514
[11:52:55.460] xyz_f:0.600230, -0.637301, 1.320085  Reprojection Error: -0.139959, -0.003258 Feature: 0.252868, -0.416915, 0.873063
[11:52:55.460] xyz_f:0.488878, -0.455624, 1.424390  Reprojection Error: -0.144569, 0.093835 Feature: 0.167299, -0.214432, 0.962305
[11:52:55.460] xyz_f:0.575929, -0.460180, 1.435490  Reprojection Error: -0.106707, 0.087839 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.460] xyz_f:0.012719, -0.059350, 1.167573  Reprojection Error: 0.190542, -0.154241 Feature: -0.401343, 0.101870, 0.800088
[11:52:55.460] xyz_f:-0.517163, -1.105965, 1.584791  Reprojection Error: 0.600245, 0.470211 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.460] xyz_f:0.568265, -0.639018, 1.315143  Reprojection Error: -0.408799, 0.488917 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.460] xyz_f:0.352067, -0.210773, 1.477464  Reprojection Error: -0.177193, 0.176361 Feature: 0.034878, 0.035813, 0.998750
[11:52:55.460] xyz_f:0.458288, -0.022614, 0.754455  Reprojection Error: -0.700234, 0.120172 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.460] xyz_f:0.973623, -0.000919, 1.504713  Reprojection Error: -0.825836, 0.190379 Feature: 0.607502, 0.245568, 0.755406
[11:52:55.460] xyz_f:0.148633, -0.032073, 1.406271  Reprojection Error: -0.281614, 0.219451 Feature: -0.195918, 0.189997, 0.962038
[11:52:55.460] xyz_f:-0.619312, -1.114838, 1.550413  Reprojection Error: 0.447365, 1.018554 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.460] xyz_f:0.476573, 0.101874, 1.528634  Reprojection Error: -0.128340, 0.311571 Feature: 0.140540, 0.351049, 0.925750
[11:52:55.460] xyz_f:0.510387, -0.436790, 1.438081  Reprojection Error: -0.490663, 0.757460 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.460] xyz_f:0.021039, -0.948214, 1.123724  Reprojection Error: -0.131486, 1.315600 Feature: -0.327983, -0.768055, 0.973058
[11:52:55.460] xyz_f:0.540663, -0.447933, 1.437394  Reprojection Error: -0.325299, 0.793268 Feature: 0.219515, -0.203637, 0.954120
[11:52:55.460] it:10 	 Success 	 new_chi2: 1.444842 	 dT = -0.044258, 0.074601, 0.021705
[11:52:55.460] xyz_f:0.477191, -0.638401, 1.238241  Reprojection Error: -0.133830, 0.038560 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.460] xyz_f:0.224325, -0.234663, 1.375788  Reprojection Error: -0.166129, 0.176295 Feature: -0.003077, 0.005729, 0.999979
[11:52:55.460] xyz_f:0.238225, -0.213234, 1.386723  Reprojection Error: -0.160090, 0.183041 Feature: 0.011694, 0.029258, 0.999503
[11:52:55.460] xyz_f:0.396562, -0.454558, 1.345810  Reprojection Error: -0.120811, 0.114926 Feature: 0.167299, -0.214432, 0.962305
[11:52:55.460] xyz_f:0.433502, -0.452234, 1.354712  Reprojection Error: -0.106019, 0.114299 Feature: 0.204580, -0.209883, 0.956084
[11:52:55.460] xyz_f:0.417885, -0.435845, 1.359950  Reprojection Error: -0.109516, 0.120305 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.460] xyz_f:0.118826, -0.132392, 1.346252  Reprojection Error: -0.211189, 0.196402 Feature: -0.121432, 0.096871, 0.987862
[11:52:55.460] xyz_f:0.394842, -0.432800, 1.356469  Reprojection Error: -0.117992, 0.121956 Feature: 0.167425, -0.190656, 0.967274
[11:52:55.460] xyz_f:0.509054, -0.636864, 1.243851  Reprojection Error: -0.119622, 0.034478 Feature: 0.252868, -0.416915, 0.873063
[11:52:55.460] xyz_f:0.483334, -0.459602, 1.358733  Reprojection Error: -0.087420, 0.109256 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.460] xyz_f:0.118994, -0.128077, 1.346991  Reprojection Error: -0.211312, 0.197603 Feature: -0.121424, 0.101229, 0.987425
[11:52:55.460] xyz_f:0.235412, -0.225705, 1.382588  Reprojection Error: -0.161471, 0.179393 Feature: 0.008796, 0.016141, 0.999831
[11:52:55.460] xyz_f:0.882063, -0.002579, 1.436304  Reprojection Error: 0.190087, 0.326876 Feature: 0.607502, 0.245568, 0.755406
[11:52:55.460] xyz_f:0.407656, -0.451158, 1.350061  Reprojection Error: -0.115937, 0.115650 Feature: 0.178800, -0.210048, 0.961203
[11:52:55.460] xyz_f:0.260046, -0.208939, 1.396019  Reprojection Error: -0.151356, 0.185525 Feature: 0.034878, 0.035813, 0.998750
[11:52:55.460] xyz_f:0.447172, -0.442886, 1.361893  Reprojection Error: -0.099133, 0.116877 Feature: 0.218951, -0.198995, 0.955228
[11:52:55.460] xyz_f:0.397411, -0.464381, 1.340791  Reprojection Error: -0.122169, 0.111708 Feature: 0.167236, -0.225219, 0.959848
[11:52:55.460] xyz_f:0.457794, -0.466748, 1.351285  Reprojection Error: -0.098877, 0.108171 Feature: 0.227317, -0.224790, 0.947521
[11:52:55.460] xyz_f:0.385206, 0.103006, 1.449806  Reprojection Error: -0.113883, 0.308157 Feature: 0.140540, 0.351049, 0.925750
[11:52:55.460] xyz_f:0.059156, -0.029104, 1.320588  Reprojection Error: -0.248445, 0.219533 Feature: -0.195918, 0.189997, 0.962038
[11:52:55.460] xyz_f:0.264168, 0.043133, 1.419970  Reprojection Error: -0.161879, 0.267604 Feature: 0.023147, 0.285495, 0.958101
[11:52:55.460] xyz_f:0.464741, -0.445400, 1.363426  Reprojection Error: -0.092562, 0.115229 Feature: 0.236064, -0.201027, 0.950717
[11:52:55.460] xyz_f:0.257561, -0.193748, 1.398433  Reprojection Error: -0.152143, 0.189750 Feature: 0.031977, 0.051110, 0.998181
[11:52:55.460] xyz_f:0.389746, -0.440447, 1.351469  Reprojection Error: -0.121150, 0.119657 Feature: 0.161636, -0.199338, 0.966508
[11:52:55.460] xyz_f:0.257197, -0.219321, 1.392542  Reprojection Error: -0.152688, 0.182402 Feature: 0.031981, 0.024884, 0.999179
[11:52:55.460] xyz_f:0.123700, -0.139567, 1.347795  Reprojection Error: -0.208712, 0.194881 Feature: -0.115666, 0.090340, 0.989171
[11:52:55.460] xyz_f:0.407928, -0.451466, 1.349961  Reprojection Error: -0.115881, 0.115540 Feature: 0.179047, -0.210371, 0.961086
[11:52:55.460] xyz_f:0.448106, -0.447157, 1.359897  Reprojection Error: -0.099444, 0.115387 Feature: 0.219515, -0.203637, 0.954120
[11:52:55.460] xyz_f:0.160739, 0.230457, 1.347817  Reprojection Error: -0.250824, 0.334096 Feature: -0.116634, 0.447761, 0.886514
[11:52:55.460] xyz_f:0.509054, -0.636864, 1.243851  Reprojection Error: -0.094525, 0.025979 Feature: 0.252868, -0.416915, 0.873063
[11:52:55.460] xyz_f:0.396562, -0.454558, 1.345810  Reprojection Error: -0.096014, 0.111720 Feature: 0.167299, -0.214432, 0.962305
[11:52:55.460] xyz_f:0.483334, -0.459602, 1.358733  Reprojection Error: -0.061224, 0.105524 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.460] xyz_f:-0.071875, -0.055631, 1.079091  Reprojection Error: 0.268043, -0.153520 Feature: -0.401343, 0.101870, 0.800088
[11:52:55.460] xyz_f:-0.616258, -1.099228, 1.485047  Reprojection Error: 0.688891, 0.512546 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.460] xyz_f:0.477191, -0.638401, 1.238241  Reprojection Error: -0.362083, 0.518596 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.460] xyz_f:0.260046, -0.208939, 1.396019  Reprojection Error: -0.125178, 0.183371 Feature: 0.034878, 0.035813, 0.998750
[11:52:55.460] xyz_f:0.382455, -0.021422, 0.675406  Reprojection Error: -0.659052, 0.121915 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.460] xyz_f:0.882063, -0.002579, 1.436304  Reprojection Error: -0.792907, 0.191564 Feature: 0.607502, 0.245568, 0.755406
[11:52:55.460] xyz_f:0.059156, -0.029104, 1.320588  Reprojection Error: -0.220717, 0.218683 Feature: -0.195918, 0.189997, 0.962038
[11:52:55.460] xyz_f:-0.717712, -1.107529, 1.448535  Reprojection Error: 0.543390, 1.064081 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.460] xyz_f:0.385206, 0.103006, 1.449806  Reprojection Error: -0.082271, 0.307167 Feature: 0.140540, 0.351049, 0.925750
[11:52:55.460] xyz_f:0.417885, -0.435845, 1.359950  Reprojection Error: -0.443034, 0.774214 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.460] xyz_f:-0.067631, -0.944530, 1.035373  Reprojection Error: -0.047443, 1.384046 Feature: -0.327983, -0.768055, 0.973058
[11:52:55.460] xyz_f:0.448106, -0.447157, 1.359897  Reprojection Error: -0.278672, 0.810456 Feature: 0.219515, -0.203637, 0.954120
[11:52:55.460] it:11 	 Success 	 new_chi2: 1.267845 	 dT = -0.047076, 0.071916, 0.029523
[11:52:55.460] xyz_f:0.378902, -0.637386, 1.162538  Reprojection Error: -0.074379, 0.071261 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.460] xyz_f:0.125309, -0.231713, 1.292862  Reprojection Error: -0.100001, 0.184954 Feature: -0.003077, 0.005729, 0.999979
[11:52:55.460] xyz_f:0.139056, -0.210390, 1.304192  Reprojection Error: -0.094922, 0.190591 Feature: 0.011694, 0.029258, 0.999503
[11:52:55.460] xyz_f:0.296646, -0.452920, 1.267784  Reprojection Error: -0.060135, 0.134422 Feature: 0.167299, -0.214432, 0.962305
[11:52:55.460] xyz_f:0.333335, -0.450878, 1.277736  Reprojection Error: -0.046902, 0.133349 Feature: 0.204580, -0.209883, 0.956084
[11:52:55.460] xyz_f:0.317700, -0.434369, 1.282528  Reprojection Error: -0.049950, 0.138502 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.460] xyz_f:0.021480, -0.128642, 1.260342  Reprojection Error: -0.139967, 0.200130 Feature: -0.121432, 0.096871, 0.987862
[11:52:55.460] xyz_f:0.294789, -0.431149, 1.278392  Reprojection Error: -0.057505, 0.140152 Feature: 0.167425, -0.190656, 0.967274
[11:52:55.460] xyz_f:0.410603, -0.636092, 1.169054  Reprojection Error: -0.061593, 0.066577 Feature: 0.252868, -0.416915, 0.873063
[11:52:55.460] xyz_f:0.382974, -0.458626, 1.283175  Reprojection Error: -0.030154, 0.128413 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.460] xyz_f:0.021660, -0.124329, 1.261086  Reprojection Error: -0.140147, 0.201108 Feature: -0.121424, 0.101229, 0.987425
[11:52:55.460] xyz_f:0.136266, -0.222840, 1.299977  Reprojection Error: -0.096024, 0.187562 Feature: 0.008796, 0.016141, 0.999831
[11:52:55.460] xyz_f:0.782809, -0.004654, 1.372134  Reprojection Error: 0.233702, 0.328473 Feature: 0.607502, 0.245568, 0.755406
[11:52:55.460] xyz_f:0.307640, -0.449605, 1.272350  Reprojection Error: -0.055772, 0.134840 Feature: 0.178800, -0.210048, 0.961203
[11:52:55.460] xyz_f:0.160635, -0.206260, 1.314107  Reprojection Error: -0.087318, 0.192816 Feature: 0.034878, 0.035813, 0.998750
[11:52:55.460] xyz_f:0.346865, -0.441634, 1.285304  Reprojection Error: -0.040657, 0.135280 Feature: 0.218951, -0.198995, 0.955228
[11:52:55.460] xyz_f:0.297564, -0.462750, 1.262790  Reprojection Error: -0.061408, 0.131810 Feature: 0.167236, -0.225219, 0.959848
[11:52:55.460] xyz_f:0.357603, -0.465578, 1.275002  Reprojection Error: -0.040565, 0.127919 Feature: 0.227317, -0.224790, 0.947521
[11:52:55.460] xyz_f:0.286590, 0.104725, 1.371474  Reprojection Error: -0.057153, 0.302846 Feature: 0.140540, 0.351049, 0.925750
[11:52:55.460] xyz_f:-0.036643, -0.024904, 1.232998  Reprojection Error: -0.173931, 0.217692 Feature: -0.195918, 0.189997, 0.962038
[11:52:55.460] xyz_f:0.165998, 0.045775, 1.338193  Reprojection Error: -0.099887, 0.263773 Feature: 0.023147, 0.285495, 0.958101
[11:52:55.460] xyz_f:0.364363, -0.444282, 1.287338  Reprojection Error: -0.034735, 0.133669 Feature: 0.236064, -0.201027, 0.950717
[11:52:55.460] xyz_f:0.158198, -0.191051, 1.316450  Reprojection Error: -0.088135, 0.196329 Feature: 0.031977, 0.051110, 0.998181
[11:52:55.460] xyz_f:0.289780, -0.438758, 1.273247  Reprojection Error: -0.060354, 0.138352 Feature: 0.161636, -0.199338, 0.966508
[11:52:55.460] xyz_f:0.157806, -0.216621, 1.310549  Reprojection Error: -0.088405, 0.190195 Feature: 0.031981, 0.024884, 0.999179
[11:52:55.460] xyz_f:0.026253, -0.135854, 1.262023  Reprojection Error: -0.137735, 0.198977 Feature: -0.115666, 0.090340, 0.989171
[11:52:55.460] xyz_f:0.307913, -0.449915, 1.272258  Reprojection Error: -0.055725, 0.134746 Feature: 0.179047, -0.210371, 0.961086
[11:52:55.460] xyz_f:0.347822, -0.445913, 1.283336  Reprojection Error: -0.040960, 0.134034 Feature: 0.219515, -0.203637, 0.954120
[11:52:55.460] xyz_f:0.066102, 0.233876, 1.263141  Reprojection Error: -0.183897, 0.319927 Feature: -0.116634, 0.447761, 0.886514
[11:52:55.460] xyz_f:0.410603, -0.636092, 1.169054  Reprojection Error: -0.036496, 0.058077 Feature: 0.252868, -0.416915, 0.873063
[11:52:55.460] xyz_f:0.296646, -0.452920, 1.267784  Reprojection Error: -0.035338, 0.131216 Feature: 0.167299, -0.214432, 0.962305
[11:52:55.460] xyz_f:0.382974, -0.458626, 1.283175  Reprojection Error: -0.003958, 0.124681 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.460] xyz_f:-0.160934, -0.050456, 0.987861  Reprojection Error: 0.364348, -0.153998 Feature: -0.401343, 0.101870, 0.800088
[11:52:55.460] xyz_f:-0.724627, -1.089819, 1.378016  Reprojection Error: 0.799764, 0.563210 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.460] xyz_f:0.378902, -0.637386, 1.162538  Reprojection Error: -0.302632, 0.551296 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.460] xyz_f:0.160635, -0.206260, 1.314107  Reprojection Error: -0.061140, 0.190662 Feature: 0.034878, 0.035813, 0.998750
[11:52:55.460] xyz_f:0.304970, -0.019763, 0.597298  Reprojection Error: -0.603375, 0.123285 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.460] xyz_f:0.782809, -0.004654, 1.372134  Reprojection Error: -0.749292, 0.193160 Feature: 0.607502, 0.245568, 0.755406
[11:52:55.460] xyz_f:-0.036643, -0.024904, 1.232998  Reprojection Error: -0.146203, 0.216842 Feature: -0.195918, 0.189997, 0.962038
[11:52:55.460] xyz_f:-0.825059, -1.097349, 1.338625  Reprojection Error: 0.664264, 1.119253 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.460] xyz_f:0.286590, 0.104725, 1.371474  Reprojection Error: -0.025541, 0.301856 Feature: 0.140540, 0.351049, 0.925750
[11:52:55.460] xyz_f:0.317700, -0.434369, 1.282528  Reprojection Error: -0.383468, 0.792411 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.460] xyz_f:-0.162237, -0.939366, 0.944185  Reprojection Error: 0.059063, 1.466682 Feature: -0.327983, -0.768055, 0.973058
[11:52:55.460] xyz_f:0.347822, -0.445913, 1.283336  Reprojection Error: -0.220187, 0.829103 Feature: 0.219515, -0.203637, 0.954120
[11:52:55.460] it:12 	 Success 	 new_chi2: 1.105678 	 dT = -0.048611, 0.063401, 0.037130
[11:52:55.460] xyz_f:0.275370, -0.635823, 1.093304  Reprojection Error: -0.000321, 0.104551 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.460] xyz_f:0.021176, -0.227710, 1.214522  Reprojection Error: -0.020512, 0.193218 Feature: -0.003077, 0.005729, 0.999979
[11:52:55.460] xyz_f:0.034712, -0.206518, 1.226341  Reprojection Error: -0.016605, 0.197674 Feature: 0.011694, 0.029258, 0.999503
[11:52:55.460] xyz_f:0.191169, -0.450557, 1.195565  Reprojection Error: 0.013954, 0.154026 Feature: 0.167299, -0.214432, 0.962305
[11:52:55.460] xyz_f:0.227495, -0.448866, 1.206826  Reprojection Error: 0.025471, 0.152415 Feature: 0.204580, -0.209883, 0.956084
[11:52:55.460] xyz_f:0.211857, -0.432207, 1.211057  Reprojection Error: 0.022828, 0.156703 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.460] xyz_f:-0.080425, -0.123652, 1.178317  Reprojection Error: -0.054670, 0.203000 Feature: -0.121432, 0.096871, 0.987862
[11:52:55.460] xyz_f:0.189142, -0.428767, 1.206103  Reprojection Error: 0.016268, 0.158391 Feature: 0.167425, -0.190656, 0.967274
[11:52:55.460] xyz_f:0.306827, -0.634833, 1.100953  Reprojection Error: 0.010941, 0.099089 Feature: 0.252868, -0.416915, 0.873063
[11:52:55.460] xyz_f:0.276830, -0.457090, 1.214040  Reprojection Error: 0.040281, 0.147501 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.460] xyz_f:-0.080231, -0.119341, 1.179068  Reprojection Error: -0.054925, 0.203735 Feature: -0.121424, 0.101229, 0.987425
[11:52:55.460] xyz_f:0.031955, -0.218941, 1.222026  Reprojection Error: -0.017352, 0.195306 Feature: 0.008796, 0.016141, 0.999831
[11:52:55.460] xyz_f:0.677561, -0.006965, 1.317357  Reprojection Error: 0.289872, 0.330368 Feature: 0.607502, 0.245568, 0.755406
[11:52:55.460] xyz_f:0.202023, -0.447347, 1.200523  Reprojection Error: 0.017738, 0.154101 Feature: 0.178800, -0.210048, 0.961203
[11:52:55.460] xyz_f:0.055960, -0.202594, 1.237024  Reprojection Error: -0.010316, 0.199633 Feature: 0.034878, 0.035813, 0.998750
[11:52:55.460] xyz_f:0.240833, -0.439751, 1.214876  Reprojection Error: 0.030977, 0.153650 Feature: 0.218951, -0.198995, 0.955228
[11:52:55.460] xyz_f:0.192170, -0.460397, 1.190606  Reprojection Error: 0.012827, 0.152051 Feature: 0.167236, -0.225219, 0.959848
[11:52:55.460] xyz_f:0.251703, -0.463799, 1.204961  Reprojection Error: 0.031018, 0.147668 Feature: 0.227317, -0.224790, 0.947521
[11:52:55.460] xyz_f:0.182759, 0.107177, 1.298924  Reprojection Error: 0.011112, 0.296694 Feature: 0.140540, 0.351049, 0.925750
[11:52:55.460] xyz_f:-0.136531, -0.019365, 1.148924  Reprojection Error: -0.084816, 0.214349 Feature: -0.195918, 0.189997, 0.962038
[11:52:55.460] xyz_f:0.062878, 0.049383, 1.261330  Reprojection Error: -0.025691, 0.258828 Feature: 0.023147, 0.285495, 0.958101
[11:52:55.460] xyz_f:0.258221, -0.442566, 1.217536  Reprojection Error: 0.036216, 0.152046 Feature: 0.236064, -0.201027, 0.950717
[11:52:55.460] xyz_f:0.053587, -0.187362, 1.239281  Reprojection Error: -0.011205, 0.202389 Feature: 0.031977, 0.051110, 0.998181
[11:52:55.460] xyz_f:0.184248, -0.436329, 1.200781  Reprojection Error: 0.013798, 0.157126 Feature: 0.161636, -0.199338, 0.966508
[11:52:55.460] xyz_f:0.053161, -0.212928, 1.233365  Reprojection Error: -0.011095, 0.197544 Feature: 0.031981, 0.024884, 0.999179
[11:52:55.460] xyz_f:-0.075786, -0.130909, 1.180167  Reprojection Error: -0.052717, 0.202253 Feature: -0.115666, 0.090340, 0.989171
[11:52:55.460] xyz_f:0.202296, -0.447660, 1.200440  Reprojection Error: 0.017778, 0.154024 Feature: 0.179047, -0.210371, 0.961086
[11:52:55.460] xyz_f:0.241819, -0.444039, 1.212943  Reprojection Error: 0.030705, 0.152654 Feature: 0.219515, -0.203637, 0.954120
[11:52:55.460] xyz_f:-0.032452, 0.238422, 1.182777  Reprojection Error: -0.104128, 0.303503 Feature: -0.116634, 0.447761, 0.886514
[11:52:55.460] xyz_f:0.306827, -0.634833, 1.100953  Reprojection Error: 0.036039, 0.090590 Feature: 0.252868, -0.416915, 0.873063
[11:52:55.460] xyz_f:0.191169, -0.450557, 1.195565  Reprojection Error: 0.038752, 0.150819 Feature: 0.167299, -0.214432, 0.962305
[11:52:55.460] xyz_f:0.276830, -0.457090, 1.214040  Reprojection Error: 0.066476, 0.143769 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.460] xyz_f:-0.252192, -0.043763, 0.899484  Reprojection Error: 0.481811, -0.156420 Feature: -0.401343, 0.101870, 0.800088
[11:52:55.460] xyz_f:-0.839472, -1.077596, 1.268998  Reprojection Error: 0.935440, 0.621520 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.460] xyz_f:0.275370, -0.635823, 1.093304  Reprojection Error: -0.228574, 0.584586 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.460] xyz_f:0.055960, -0.202594, 1.237024  Reprojection Error: 0.015861, 0.197479 Feature: 0.034878, 0.035813, 0.998750
[11:52:55.460] xyz_f:0.227690, -0.017615, 0.525883  Reprojection Error: -0.525758, 0.123695 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.460] xyz_f:0.677561, -0.006965, 1.317357  Reprojection Error: -0.693121, 0.195055 Feature: 0.607502, 0.245568, 0.755406
[11:52:55.460] xyz_f:-0.136531, -0.019365, 1.148924  Reprojection Error: -0.057088, 0.213499 Feature: -0.195918, 0.189997, 0.962038
[11:52:55.460] xyz_f:-0.938495, -1.084167, 1.226029  Reprojection Error: 0.813391, 1.183786 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.460] xyz_f:0.182759, 0.107177, 1.298924  Reprojection Error: 0.042724, 0.295703 Feature: 0.140540, 0.351049, 0.925750
[11:52:55.460] xyz_f:0.211857, -0.432207, 1.211057  Reprojection Error: -0.310690, 0.810613 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.460] xyz_f:-0.260468, -0.932627, 0.855636  Reprojection Error: 0.191651, 1.561768 Feature: -0.327983, -0.768055, 0.973058
[11:52:55.460] xyz_f:0.241819, -0.444039, 1.212943  Reprojection Error: -0.148523, 0.847723 Feature: 0.219515, -0.203637, 0.954120
[11:52:55.460] it:13 	 Success 	 new_chi2: 1.077325 	 dT = -0.034217, 0.047129, 0.032302
[11:52:55.460] xyz_f:0.168934, -0.634205, 1.040136  Reprojection Error: 0.089133, 0.132722 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.460] xyz_f:-0.085498, -0.223965, 1.153418  Reprojection Error: 0.071049, 0.199904 Feature: -0.003077, 0.005729, 0.999979
[11:52:55.460] xyz_f:-0.072161, -0.202886, 1.165657  Reprojection Error: 0.073605, 0.203325 Feature: 0.011694, 0.029258, 0.999503
[11:52:55.460] xyz_f:0.083135, -0.448229, 1.139745  Reprojection Error: 0.100911, 0.170440 Feature: 0.167299, -0.214432, 0.962305
[11:52:55.460] xyz_f:0.119105, -0.446839, 1.152134  Reprojection Error: 0.110600, 0.168312 Feature: 0.204580, -0.209883, 0.956084
[11:52:55.460] xyz_f:0.103483, -0.430050, 1.155878  Reprojection Error: 0.108236, 0.171874 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.460] xyz_f:-0.185047, -0.119067, 1.114075  Reprojection Error: 0.043175, 0.204936 Feature: -0.121432, 0.096871, 0.987862
[11:52:55.460] xyz_f:0.080963, -0.426421, 1.150218  Reprojection Error: 0.102700, 0.173624 Feature: 0.167425, -0.190656, 0.967274
[11:52:55.460] xyz_f:0.200144, -0.633476, 1.048763  Reprojection Error: 0.098795, 0.126491 Feature: 0.252868, -0.416915, 0.873063
[11:52:55.460] xyz_f:0.168121, -0.455475, 1.160883  Reprojection Error: 0.123483, 0.163350 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.460] xyz_f:-0.184839, -0.114757, 1.114832  Reprojection Error: 0.042829, 0.205455 Feature: -0.121424, 0.101229, 0.987425
[11:52:55.460] xyz_f:-0.074885, -0.215286, 1.161257  Reprojection Error: 0.073284, 0.201535 Feature: 0.008796, 0.016141, 0.999831
[11:52:55.460] xyz_f:0.569182, -0.008701, 1.276709  Reprojection Error: 0.358386, 0.331896 Feature: 0.607502, 0.245568, 0.755406
[11:52:55.461] xyz_f:0.093856, -0.445109, 1.145040  Reprojection Error: 0.104050, 0.170202 Feature: 0.178800, -0.210048, 0.961203
[11:52:55.461] xyz_f:-0.051224, -0.199138, 1.176998  Reprojection Error: 0.078442, 0.205049 Feature: 0.034878, 0.035813, 0.998750
[11:52:55.461] xyz_f:0.132261, -0.437835, 1.160598  Reprojection Error: 0.115254, 0.168928 Feature: 0.218951, -0.198995, 0.955228
[11:52:55.461] xyz_f:0.084208, -0.458077, 1.134818  Reprojection Error: 0.100028, 0.169016 Feature: 0.167236, -0.225219, 0.959848
[11:52:55.461] xyz_f:0.143234, -0.461974, 1.151023  Reprojection Error: 0.115467, 0.164120 Feature: 0.227317, -0.224790, 0.947521
[11:52:55.461] xyz_f:0.076167, 0.109570, 1.242864  Reprojection Error: 0.090528, 0.291046 Feature: 0.140540, 0.351049, 0.925750
[11:52:55.461] xyz_f:-0.239334, -0.014318, 1.082960  Reprojection Error: 0.017351, 0.210715 Feature: -0.195918, 0.189997, 0.962038
[11:52:55.461] xyz_f:-0.042962, 0.052775, 1.201541  Reprojection Error: 0.059915, 0.254057 Feature: 0.023147, 0.285495, 0.958101
[11:52:55.461] xyz_f:0.149533, -0.440796, 1.163798  Reprojection Error: 0.119813, 0.167309 Feature: 0.236064, -0.201027, 0.950717
[11:52:55.461] xyz_f:-0.053539, -0.183886, 1.179182  Reprojection Error: 0.077438, 0.207148 Feature: 0.031977, 0.051110, 0.998181
[11:52:55.461] xyz_f:0.076174, -0.433942, 1.144744  Reprojection Error: 0.100695, 0.172828 Feature: 0.161636, -0.199338, 0.966508
[11:52:55.461] xyz_f:-0.053993, -0.209449, 1.173252  Reprojection Error: 0.078028, 0.203425 Feature: 0.031981, 0.024884, 0.999179
[11:52:55.461] xyz_f:-0.180528, -0.126362, 1.116068  Reprojection Error: 0.044821, 0.204549 Feature: -0.115666, 0.090340, 0.989171
[11:52:55.461] xyz_f:0.094129, -0.445423, 1.144966  Reprojection Error: 0.104085, 0.170139 Feature: 0.179047, -0.210371, 0.961086
[11:52:55.461] xyz_f:0.133271, -0.442132, 1.158696  Reprojection Error: 0.115052, 0.168147 Feature: 0.219515, -0.203637, 0.954120
[11:52:55.461] xyz_f:-0.134211, 0.242594, 1.120077  Reprojection Error: -0.011742, 0.288494 Feature: -0.116634, 0.447761, 0.886514
[11:52:55.461] xyz_f:0.200144, -0.633476, 1.048763  Reprojection Error: 0.123893, 0.117991 Feature: 0.252868, -0.416915, 0.873063
[11:52:55.461] xyz_f:0.083135, -0.448229, 1.139745  Reprojection Error: 0.125708, 0.167233 Feature: 0.167299, -0.214432, 0.962305
[11:52:55.461] xyz_f:0.168121, -0.455475, 1.160883  Reprojection Error: 0.149679, 0.159618 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.461] xyz_f:-0.347358, -0.037781, 0.830030  Reprojection Error: 0.619925, -0.159555 Feature: -0.401343, 0.101870, 0.800088
[11:52:55.461] xyz_f:-0.954501, -1.066621, 1.180908  Reprojection Error: 1.082193, 0.675570 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.461] xyz_f:0.168934, -0.634205, 1.040136  Reprojection Error: -0.139120, 0.612758 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.461] xyz_f:-0.051224, -0.199138, 1.176998  Reprojection Error: 0.104619, 0.202895 Feature: 0.034878, 0.035813, 0.998750
[11:52:55.461] xyz_f:0.144147, -0.015694, 0.471585  Reprojection Error: -0.398458, 0.123478 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.461] xyz_f:0.569182, -0.008701, 1.276709  Reprojection Error: -0.624607, 0.196584 Feature: 0.607502, 0.245568, 0.755406
[11:52:55.461] xyz_f:-0.239334, -0.014318, 1.082960  Reprojection Error: 0.045079, 0.209865 Feature: -0.195918, 0.189997, 0.962038
[11:52:55.461] xyz_f:-1.052186, -1.072369, 1.134870  Reprojection Error: 0.975058, 1.244422 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.461] xyz_f:0.076167, 0.109570, 1.242864  Reprojection Error: 0.122140, 0.290056 Feature: 0.140540, 0.351049, 0.925750
[11:52:55.461] xyz_f:0.103483, -0.430050, 1.155878  Reprojection Error: -0.225282, 0.825783 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.461] xyz_f:-0.361692, -0.926551, 0.785829  Reprojection Error: 0.347503, 1.650860 Feature: -0.327983, -0.768055, 0.973058
[11:52:55.461] xyz_f:0.133271, -0.442132, 1.158696  Reprojection Error: -0.064176, 0.863216 Feature: 0.219515, -0.203637, 0.954120
[11:52:55.461] it:14 	 Success 	 new_chi2: 1.311914 	 dT = -0.021161, 0.038646, 0.027851
[11:52:55.461] xyz_f:0.084227, -0.632619, 0.995568  Reprojection Error: 0.166946, 0.158424 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.461] xyz_f:-0.170196, -0.220544, 1.102005  Reprojection Error: 0.151366, 0.205859 Feature: -0.003077, 0.005729, 0.999979
[11:52:55.461] xyz_f:-0.157042, -0.199560, 1.114600  Reprojection Error: 0.152595, 0.208315 Feature: 0.011694, 0.029258, 0.999503
[11:52:55.461] xyz_f:-0.002878, -0.446019, 1.092851  Reprojection Error: 0.176486, 0.185293 Feature: 0.167299, -0.214432, 0.962305
[11:52:55.461] xyz_f:0.032755, -0.444887, 1.106204  Reprojection Error: 0.184367, 0.182651 Feature: 0.204580, -0.209883, 0.956084
[11:52:55.461] xyz_f:0.017159, -0.427985, 1.109527  Reprojection Error: 0.182298, 0.185556 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.461] xyz_f:-0.267892, -0.114935, 1.060009  Reprojection Error: 0.129802, 0.206489 Feature: -0.121432, 0.096871, 0.987862
[11:52:55.461] xyz_f:-0.005174, -0.424195, 1.103264  Reprojection Error: 0.177779, 0.187384 Feature: 0.167425, -0.190656, 0.967274
[11:52:55.461] xyz_f:0.115199, -0.632114, 1.005032  Reprojection Error: 0.175012, 0.151418 Feature: 0.252868, -0.416915, 0.873063
[11:52:55.461] xyz_f:0.081455, -0.453875, 1.116267  Reprojection Error: 0.195334, 0.177599 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.461] xyz_f:-0.267674, -0.110627, 1.060772  Reprojection Error: 0.129369, 0.206807 Feature: -0.121424, 0.101229, 0.987425
[11:52:55.461] xyz_f:-0.159736, -0.211941, 1.110127  Reprojection Error: 0.152687, 0.207060 Feature: 0.008796, 0.016141, 0.999831
[11:52:55.461] xyz_f:0.482465, -0.009993, 1.242882  Reprojection Error: 0.416024, 0.333121 Feature: 0.607502, 0.245568, 0.755406
[11:52:55.461] xyz_f:0.007719, -0.442976, 1.098433  Reprojection Error: 0.178990, 0.184754 Feature: 0.178800, -0.210048, 0.961203
[11:52:55.461] xyz_f:-0.136391, -0.195963, 1.126501  Reprojection Error: 0.155996, 0.209815 Feature: 0.034878, 0.035813, 0.998750
[11:52:55.461] xyz_f:0.045744, -0.435978, 1.115019  Reprojection Error: 0.188188, 0.182683 Feature: 0.218951, -0.198995, 0.955228
[11:52:55.461] xyz_f:-0.001743, -0.455875, 1.087954  Reprojection Error: 0.175835, 0.184380 Feature: 0.167236, -0.225219, 0.959848
[11:52:55.461] xyz_f:0.056795, -0.460196, 1.105741  Reprojection Error: 0.188543, 0.178948 Feature: 0.227317, -0.224790, 0.947521
[11:52:55.461] xyz_f:-0.008596, 0.111825, 1.195800  Reprojection Error: 0.159000, 0.285690 Feature: 0.140540, 0.351049, 0.925750
[11:52:55.461] xyz_f:-0.320567, -0.009801, 1.027455  Reprojection Error: 0.108352, 0.207033 Feature: -0.195918, 0.189997, 0.962038
[11:52:55.461] xyz_f:-0.126977, 0.055887, 1.151281  Reprojection Error: 0.134451, 0.249437 Feature: 0.023147, 0.285495, 0.958101
[11:52:55.461] xyz_f:0.062902, -0.439062, 1.118682  Reprojection Error: 0.192072, 0.181034 Feature: 0.236064, -0.201027, 0.950717
[11:52:55.461] xyz_f:-0.138654, -0.180694, 1.128623  Reprojection Error: 0.154887, 0.211305 Feature: 0.031977, 0.051110, 0.998181
[11:52:55.461] xyz_f:-0.009868, -0.431681, 1.097663  Reprojection Error: 0.176227, 0.187028 Feature: 0.161636, -0.199338, 0.966508
[11:52:55.461] xyz_f:-0.139133, -0.206253, 1.122680  Reprojection Error: 0.155937, 0.208620 Feature: 0.031981, 0.024884, 0.999179
[11:52:55.461] xyz_f:-0.263481, -0.122262, 1.062121  Reprojection Error: 0.131138, 0.206440 Feature: -0.115666, 0.090340, 0.989171
[11:52:55.461] xyz_f:0.007991, -0.443292, 1.098366  Reprojection Error: 0.179020, 0.184704 Feature: 0.179047, -0.210371, 0.961086
[11:52:55.461] xyz_f:0.046774, -0.440281, 1.113144  Reprojection Error: 0.188051, 0.182100 Feature: 0.219515, -0.203637, 0.954120
[11:52:55.461] xyz_f:-0.214631, 0.246351, 1.067411  Reprojection Error: 0.069511, 0.274288 Feature: -0.116634, 0.447761, 0.886514
[11:52:55.461] xyz_f:0.115199, -0.632114, 1.005032  Reprojection Error: 0.200109, 0.142918 Feature: 0.252868, -0.416915, 0.873063
[11:52:55.461] xyz_f:-0.002878, -0.446019, 1.092851  Reprojection Error: 0.201283, 0.182086 Feature: 0.167299, -0.214432, 0.962305
[11:52:55.461] xyz_f:0.081455, -0.453875, 1.116267  Reprojection Error: 0.221530, 0.173866 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.461] xyz_f:-0.421914, -0.032509, 0.771708  Reprojection Error: 0.748164, -0.162947 Feature: -0.401343, 0.101870, 0.800088
[11:52:55.461] xyz_f:-1.045675, -1.056912, 1.106028  Reprojection Error: 1.219349, 0.727941 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.461] xyz_f:0.084227, -0.632619, 0.995568  Reprojection Error: -0.061307, 0.638459 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.461] xyz_f:-0.136391, -0.195963, 1.126501  Reprojection Error: 0.182174, 0.207660 Feature: 0.034878, 0.035813, 0.998750
[11:52:55.461] xyz_f:0.079201, -0.014000, 0.426616  Reprojection Error: -0.278442, 0.123015 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.461] xyz_f:0.482465, -0.009993, 1.242882  Reprojection Error: -0.566970, 0.197808 Feature: 0.607502, 0.245568, 0.755406
[11:52:55.461] xyz_f:-0.320567, -0.009801, 1.027455  Reprojection Error: 0.136080, 0.206183 Feature: -0.195918, 0.189997, 0.962038
[11:52:55.461] xyz_f:-1.142126, -1.061961, 1.057379  Reprojection Error: 1.128064, 1.303828 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.461] xyz_f:-0.008596, 0.111825, 1.195800  Reprojection Error: 0.190613, 0.284700 Feature: 0.140540, 0.351049, 0.925750
[11:52:55.461] xyz_f:0.017159, -0.427985, 1.109527  Reprojection Error: -0.151220, 0.839465 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.461] xyz_f:-0.441459, -0.921157, 0.727052  Reprojection Error: 0.494427, 1.738762 Feature: -0.327983, -0.768055, 0.973058
[11:52:55.461] xyz_f:0.046774, -0.440281, 1.113144  Reprojection Error: 0.008823, 0.877169 Feature: 0.219515, -0.203637, 0.954120
[11:52:55.461] it:15 	 Success 	 new_chi2: 1.679594 	 dT = -0.017275, 0.035825, 0.029667
[11:52:55.461] xyz_f:0.015772, -0.630735, 0.952712  Reprojection Error: 0.234994, 0.185030 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.461] xyz_f:-0.238426, -0.216708, 1.051862  Reprojection Error: 0.223593, 0.211752 Feature: -0.003077, 0.005729, 0.999979
[11:52:55.461] xyz_f:-0.225476, -0.195824, 1.064831  Reprojection Error: 0.223449, 0.213174 Feature: 0.011694, 0.029258, 0.999503
[11:52:55.461] xyz_f:-0.072649, -0.443461, 1.047480  Reprojection Error: 0.243209, 0.200528 Feature: 0.167299, -0.214432, 0.962305
[11:52:55.461] xyz_f:-0.037406, -0.442602, 1.061848  Reprojection Error: 0.249204, 0.197298 Feature: 0.204580, -0.209883, 0.956084
[11:52:55.461] xyz_f:-0.052960, -0.425580, 1.064725  Reprojection Error: 0.247504, 0.199528 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.461] xyz_f:-0.334064, -0.110356, 1.007094  Reprojection Error: 0.208787, 0.207639 Feature: -0.121432, 0.096871, 0.987862
[11:52:55.461] xyz_f:-0.075075, -0.421619, 1.057825  Reprojection Error: 0.244060, 0.201464 Feature: 0.167425, -0.190656, 0.967274
[11:52:55.461] xyz_f:0.046463, -0.630467, 0.963060  Reprojection Error: 0.241389, 0.177118 Feature: 0.252868, -0.416915, 0.873063
[11:52:55.461] xyz_f:0.010915, -0.451962, 1.073302  Reprojection Error: 0.258135, 0.192093 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.461] xyz_f:-0.333835, -0.106049, 1.007864  Reprojection Error: 0.208260, 0.207740 Feature: -0.121424, 0.101229, 0.987425
[11:52:55.461] xyz_f:-0.228136, -0.208184, 1.060281  Reprojection Error: 0.223964, 0.212492 Feature: 0.008796, 0.016141, 0.999831
[11:52:55.461] xyz_f:0.411529, -0.011157, 1.211404  Reprojection Error: 0.464494, 0.334291 Feature: 0.607502, 0.245568, 0.755406
[11:52:55.461] xyz_f:-0.062194, -0.440499, 1.053363  Reprojection Error: 0.245060, 0.199657 Feature: 0.178800, -0.210048, 0.961203
[11:52:55.461] xyz_f:-0.205148, -0.192384, 1.077318  Reprojection Error: 0.225346, 0.214434 Feature: 0.034878, 0.035813, 0.998750
[11:52:55.461] xyz_f:-0.024607, -0.433791, 1.071033  Reprojection Error: 0.252188, 0.196699 Feature: 0.218951, -0.198995, 0.955228
[11:52:55.461] xyz_f:-0.071451, -0.453326, 1.042616  Reprojection Error: 0.242762, 0.200156 Feature: 0.167236, -0.225219, 0.959848
[11:52:55.461] xyz_f:-0.013481, -0.458095, 1.062073  Reprojection Error: 0.252600, 0.194081 Feature: 0.227317, -0.224790, 0.947521
[11:52:55.461] xyz_f:-0.077032, 0.114422, 1.150284  Reprojection Error: 0.218780, 0.279733 Feature: 0.140540, 0.351049, 0.925750
[11:52:55.461] xyz_f:-0.384976, -0.004824, 0.973056  Reprojection Error: 0.191987, 0.202452 Feature: -0.195918, 0.189997, 0.962038
[11:52:55.461] xyz_f:-0.194515, 0.059389, 1.102386  Reprojection Error: 0.200608, 0.244107 Feature: 0.023147, 0.285495, 0.958101
[11:52:55.461] xyz_f:-0.007586, -0.437007, 1.075186  Reprojection Error: 0.255356, 0.195000 Feature: 0.236064, -0.201027, 0.950717
[11:52:55.461] xyz_f:-0.207353, -0.177098, 1.079376  Reprojection Error: 0.224140, 0.215278 Feature: 0.031977, 0.051110, 0.998181
[11:52:55.461] xyz_f:-0.079664, -0.429070, 1.052091  Reprojection Error: 0.242957, 0.201581 Feature: 0.161636, -0.199338, 0.966508
[11:52:55.461] xyz_f:-0.207858, -0.202653, 1.073420  Reprojection Error: 0.225649, 0.213697 Feature: 0.031981, 0.024884, 0.999179
[11:52:55.461] xyz_f:-0.329772, -0.117717, 1.009332  Reprojection Error: 0.209791, 0.207957 Feature: -0.115666, 0.090340, 0.989171
[11:52:55.461] xyz_f:-0.061922, -0.440817, 1.053304  Reprojection Error: 0.245084, 0.199620 Feature: 0.179047, -0.210371, 0.961086
[11:52:55.461] xyz_f:-0.023557, -0.438103, 1.069188  Reprojection Error: 0.252103, 0.196323 Feature: 0.219515, -0.203637, 0.954120
[11:52:55.461] xyz_f:-0.278265, 0.250511, 1.016059  Reprojection Error: 0.142302, 0.258530 Feature: -0.116634, 0.447761, 0.886514
[11:52:55.461] xyz_f:0.046463, -0.630467, 0.963060  Reprojection Error: 0.266486, 0.168618 Feature: 0.252868, -0.416915, 0.873063
[11:52:55.461] xyz_f:-0.072649, -0.443461, 1.047480  Reprojection Error: 0.268006, 0.197322 Feature: 0.167299, -0.214432, 0.962305
[11:52:55.461] xyz_f:0.010915, -0.451962, 1.073302  Reprojection Error: 0.284331, 0.188360 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.461] xyz_f:-0.479125, -0.026782, 0.714508  Reprojection Error: 0.872003, -0.167590 Feature: -0.401343, 0.101870, 0.800088
[11:52:55.461] xyz_f:-1.120055, -1.046329, 1.030706  Reprojection Error: 1.360604, 0.787506 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.461] xyz_f:0.015772, -0.630735, 0.952712  Reprojection Error: 0.006741, 0.665066 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.461] xyz_f:-0.205148, -0.192384, 1.077318  Reprojection Error: 0.251523, 0.212280 Feature: 0.034878, 0.035813, 0.998750
[11:52:55.461] xyz_f:0.031800, -0.012159, 0.383918  Reprojection Error: -0.175621, 0.121868 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.461] xyz_f:0.411529, -0.011157, 1.211404  Reprojection Error: -0.518500, 0.198979 Feature: 0.607502, 0.245568, 0.755406
[11:52:55.461] xyz_f:-0.384976, -0.004824, 0.973056  Reprojection Error: 0.219715, 0.201601 Feature: -0.195918, 0.189997, 0.962038
[11:52:55.461] xyz_f:-1.215109, -1.050642, 0.979313  Reprojection Error: 1.288692, 1.372331 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.461] xyz_f:-0.077032, 0.114422, 1.150284  Reprojection Error: 0.250392, 0.278742 Feature: 0.140540, 0.351049, 0.925750
[11:52:55.461] xyz_f:-0.052960, -0.425580, 1.064725  Reprojection Error: -0.086014, 0.853437 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.461] xyz_f:-0.504205, -0.915258, 0.669213  Reprojection Error: 0.640666, 1.839450 Feature: -0.327983, -0.768055, 0.973058
[11:52:55.461] xyz_f:-0.023557, -0.438103, 1.069188  Reprojection Error: 0.072875, 0.891392 Feature: 0.219515, -0.203637, 0.954120
[11:52:55.461] it:16 	 Success 	 new_chi2: 1.970686 	 dT = -0.015359, 0.034326, 0.032095
[11:52:55.461] xyz_f:-0.049756, -0.628474, 0.909948  Reprojection Error: 0.306228, 0.213659 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.461] xyz_f:-0.303457, -0.212337, 1.001223  Reprojection Error: 0.300009, 0.217807 Feature: -0.003077, 0.005729, 0.999979
[11:52:55.461] xyz_f:-0.290742, -0.191560, 1.014590  Reprojection Error: 0.298261, 0.218077 Feature: 0.011694, 0.029258, 0.999503
[11:52:55.461] xyz_f:-0.139513, -0.440460, 1.001954  Reprojection Error: 0.313094, 0.216769 Feature: 0.167299, -0.214432, 0.962305
[11:52:55.461] xyz_f:-0.104726, -0.439891, 1.017407  Reprojection Error: 0.316912, 0.212841 Feature: 0.204580, -0.209883, 0.956084
[11:52:55.461] xyz_f:-0.120220, -0.422741, 1.019803  Reprojection Error: 0.315649, 0.214351 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.461] xyz_f:-0.396775, -0.105200, 0.953527  Reprojection Error: 0.293189, 0.208388 Feature: -0.121432, 0.096871, 0.987862
[11:52:55.461] xyz_f:-0.142077, -0.418597, 1.012221  Reprojection Error: 0.313451, 0.216436 Feature: 0.167425, -0.190656, 0.967274
[11:52:55.461] xyz_f:-0.019399, -0.628459, 0.921241  Reprojection Error: 0.310691, 0.204656 Feature: 0.252868, -0.416915, 0.873063
[11:52:55.461] xyz_f:-0.056863, -0.449651, 1.030351  Reprojection Error: 0.323493, 0.207403 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.461] xyz_f:-0.396534, -0.100896, 0.954304  Reprojection Error: 0.292551, 0.208245 Feature: -0.121424, 0.101229, 0.987425
[11:52:55.461] xyz_f:-0.293363, -0.203898, 1.009959  Reprojection Error: 0.299268, 0.218031 Feature: 0.008796, 0.016141, 0.999831
[11:52:55.461] xyz_f:0.342925, -0.012171, 1.180862  Reprojection Error: 0.513804, 0.335388 Feature: 0.607502, 0.245568, 0.755406
[11:52:55.461] xyz_f:-0.129221, -0.437584, 1.008158  Reprojection Error: 0.314192, 0.215517 Feature: 0.178800, -0.210048, 0.961203
[11:52:55.461] xyz_f:-0.270783, -0.188287, 1.027702  Reprojection Error: 0.298405, 0.219069 Feature: 0.034878, 0.035813, 0.998750
[11:52:55.461] xyz_f:-0.092145, -0.431186, 1.026985  Reprojection Error: 0.318938, 0.211534 Feature: 0.218951, -0.198995, 0.955228
[11:52:55.461] xyz_f:-0.138246, -0.450335, 0.997128  Reprojection Error: 0.312877, 0.216991 Feature: 0.167236, -0.225219, 0.959848
[11:52:55.461] xyz_f:-0.080949, -0.455582, 1.018371  Reprojection Error: 0.319396, 0.210124 Feature: 0.227317, -0.224790, 0.947521
[11:52:55.461] xyz_f:-0.142446, 0.117454, 1.104644  Reprojection Error: 0.280764, 0.272878 Feature: 0.140540, 0.351049, 0.925750
[11:52:55.461] xyz_f:-0.445729, 0.000747, 0.917941  Reprojection Error: 0.281926, 0.196681 Feature: -0.195918, 0.189997, 0.962038
[11:52:55.461] xyz_f:-0.258841, 0.063392, 1.053120  Reprojection Error: 0.269944, 0.237785 Feature: 0.023147, 0.285495, 0.958101
[11:52:55.461] xyz_f:-0.075288, -0.434542, 1.031663  Reprojection Error: 0.321278, 0.209758 Feature: 0.236064, -0.201027, 0.950717
[11:52:55.461] xyz_f:-0.272924, -0.172983, 1.029693  Reprojection Error: 0.297089, 0.219198 Feature: 0.031977, 0.051110, 0.998181
[11:52:55.461] xyz_f:-0.146548, -0.426010, 1.006347  Reprojection Error: 0.312861, 0.217078 Feature: 0.161636, -0.199338, 0.966508
[11:52:55.462] xyz_f:-0.273456, -0.198534, 1.023720  Reprojection Error: 0.299128, 0.218839 Feature: 0.031981, 0.024884, 0.999179
[11:52:55.462] xyz_f:-0.392616, -0.112596, 0.955896  Reprojection Error: 0.293798, 0.209120 Feature: -0.115666, 0.090340, 0.989171
[11:52:55.462] xyz_f:-0.128950, -0.437904, 1.008108  Reprojection Error: 0.314209, 0.215494 Feature: 0.179047, -0.210371, 0.961086
[11:52:55.462] xyz_f:-0.091075, -0.435506, 1.025173  Reprojection Error: 0.318909, 0.211383 Feature: 0.219515, -0.203637, 0.954120
[11:52:55.462] xyz_f:-0.338285, 0.255192, 0.964263  Reprojection Error: 0.219257, 0.240432 Feature: -0.116634, 0.447761, 0.886514
[11:52:55.462] xyz_f:-0.019399, -0.628459, 0.921241  Reprojection Error: 0.335789, 0.196156 Feature: 0.252868, -0.416915, 0.873063
[11:52:55.462] xyz_f:-0.139513, -0.440460, 1.001954  Reprojection Error: 0.337891, 0.213563 Feature: 0.167299, -0.214432, 0.962305
[11:52:55.462] xyz_f:-0.056863, -0.449651, 1.030351  Reprojection Error: 0.349688, 0.203671 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.462] xyz_f:-0.531998, -0.020462, 0.656596  Reprojection Error: 1.011673, -0.173910 Feature: -0.401343, 0.101870, 0.800088
[11:52:55.462] xyz_f:-1.190867, -1.034610, 0.952644  Reprojection Error: 1.523981, 0.858389 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.462] xyz_f:-0.049756, -0.628474, 0.909948  Reprojection Error: 0.077975, 0.693694 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.462] xyz_f:-0.270783, -0.188287, 1.027702  Reprojection Error: 0.324583, 0.216915 Feature: 0.034878, 0.035813, 0.998750
[11:52:55.462] xyz_f:-0.010968, -0.010125, 0.342003  Reprojection Error: -0.060722, 0.119803 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.462] xyz_f:0.342925, -0.012171, 1.180862  Reprojection Error: -0.469190, 0.200075 Feature: 0.607502, 0.245568, 0.755406
[11:52:55.462] xyz_f:-0.445729, 0.000747, 0.917941  Reprojection Error: 0.309654, 0.195830 Feature: -0.195918, 0.189997, 0.962038
[11:52:55.462] xyz_f:-1.284314, -1.038140, 0.898329  Reprojection Error: 1.477586, 1.455130 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.462] xyz_f:-0.142446, 0.117454, 1.104644  Reprojection Error: 0.312377, 0.271888 Feature: 0.140540, 0.351049, 0.925750
[11:52:55.462] xyz_f:-0.120220, -0.422741, 1.019803  Reprojection Error: -0.017869, 0.868260 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.462] xyz_f:-0.563040, -0.908705, 0.610430  Reprojection Error: 0.809602, 1.960417 Feature: -0.327983, -0.768055, 0.973058
[11:52:55.462] xyz_f:-0.091075, -0.435506, 1.025173  Reprojection Error: 0.139681, 0.906452 Feature: 0.219515, -0.203637, 0.954120
[11:52:55.462] it:17 	 Success 	 new_chi2: 2.065912 	 dT = -0.014305, 0.033575, 0.034865
[11:52:55.462] xyz_f:-0.114986, -0.625757, 0.866235  Reprojection Error: 0.384291, 0.245376 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.462] xyz_f:-0.367852, -0.207334, 0.948980  Reprojection Error: 0.384552, 0.224211 Feature: -0.003077, 0.005729, 0.999979
[11:52:55.462] xyz_f:-0.355408, -0.186671, 0.962770  Reprojection Error: 0.380852, 0.223162 Feature: 0.011694, 0.029258, 0.999503
[11:52:55.462] xyz_f:-0.206091, -0.436927, 0.955195  Reprojection Error: 0.389610, 0.234590 Feature: 0.167299, -0.214432, 0.962305
[11:52:55.462] xyz_f:-0.171840, -0.436670, 0.971811  Reprojection Error: 0.390802, 0.229813 Feature: 0.204580, -0.209883, 0.956084
[11:52:55.462] xyz_f:-0.187251, -0.419380, 0.973687  Reprojection Error: 0.390075, 0.230533 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.462] xyz_f:-0.458541, -0.099367, 0.898185  Reprojection Error: 0.387596, 0.208692 Feature: -0.121432, 0.096871, 0.987862
[11:52:55.462] xyz_f:-0.208801, -0.415041, 0.965374  Reprojection Error: 0.389380, 0.232820 Feature: 0.167425, -0.190656, 0.967274
[11:52:55.462] xyz_f:-0.085028, -0.626015, 0.878544  Reprojection Error: 0.386417, 0.235028 Feature: 0.252868, -0.416915, 0.873063
[11:52:55.462] xyz_f:-0.124530, -0.446859, 0.986358  Reprojection Error: 0.394557, 0.224038 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.462] xyz_f:-0.458288, -0.095065, 0.898970  Reprojection Error: 0.386822, 0.208268 Feature: -0.121424, 0.101229, 0.987425
[11:52:55.462] xyz_f:-0.357982, -0.198985, 0.958051  Reprojection Error: 0.382454, 0.223842 Feature: 0.008796, 0.016141, 0.999831
[11:52:55.462] xyz_f:0.273894, -0.012981, 1.150311  Reprojection Error: 0.566102, 0.336366 Feature: 0.607502, 0.245568, 0.755406
[11:52:55.462] xyz_f:-0.195987, -0.434143, 0.961743  Reprojection Error: 0.389801, 0.232887 Feature: 0.178800, -0.210048, 0.961203
[11:52:55.462] xyz_f:-0.335873, -0.183576, 0.976547  Reprojection Error: 0.378861, 0.223843 Feature: 0.034878, 0.035813, 0.998750
[11:52:55.462] xyz_f:-0.159511, -0.428077, 0.981809  Reprojection Error: 0.391680, 0.227687 Feature: 0.218951, -0.198995, 0.955228
[11:52:55.462] xyz_f:-0.204751, -0.446814, 0.950413  Reprojection Error: 0.389666, 0.235485 Feature: 0.167236, -0.225219, 0.959848
[11:52:55.462] xyz_f:-0.148251, -0.452575, 0.973573  Reprojection Error: 0.392183, 0.227620 Feature: 0.227317, -0.224790, 0.947521
[11:52:55.462] xyz_f:-0.207446, 0.121006, 1.057813  Reprojection Error: 0.347921, 0.264813 Feature: 0.140540, 0.351049, 0.925750
[11:52:55.462] xyz_f:-0.505311, 0.007011, 0.860987  Reprojection Error: 0.383249, 0.189351 Feature: -0.195918, 0.189997, 0.962038
[11:52:55.462] xyz_f:-0.322523, 0.067988, 1.002391  Reprojection Error: 0.345913, 0.230154 Feature: 0.023147, 0.285495, 0.958101
[11:52:55.462] xyz_f:-0.142852, -0.431585, 0.987051  Reprojection Error: 0.393026, 0.225799 Feature: 0.236064, -0.201027, 0.950717
[11:52:55.462] xyz_f:-0.337942, -0.168253, 0.978467  Reprojection Error: 0.377414, 0.223160 Feature: 0.031977, 0.051110, 0.998181
[11:52:55.462] xyz_f:-0.213139, -0.422414, 0.959351  Reprojection Error: 0.389407, 0.234067 Feature: 0.161636, -0.199338, 0.966508
[11:52:55.462] xyz_f:-0.338503, -0.193799, 0.972476  Reprojection Error: 0.380091, 0.224189 Feature: 0.031981, 0.024884, 0.999179
[11:52:55.462] xyz_f:-0.454531, -0.106800, 0.900691  Reprojection Error: 0.387714, 0.209905 Feature: -0.115666, 0.090340, 0.989171
[11:52:55.462] xyz_f:-0.195718, -0.434466, 0.961702  Reprojection Error: 0.389808, 0.232880 Feature: 0.179047, -0.210371, 0.961086
[11:52:55.462] xyz_f:-0.158419, -0.432408, 0.980033  Reprojection Error: 0.391717, 0.227787 Feature: 0.219515, -0.203637, 0.954120
[11:52:55.462] xyz_f:-0.397197, 0.260484, 0.910939  Reprojection Error: 0.304465, 0.219130 Feature: -0.116634, 0.447761, 0.886514
[11:52:55.462] xyz_f:-0.085028, -0.626015, 0.878544  Reprojection Error: 0.411514, 0.226528 Feature: 0.252868, -0.416915, 0.873063
[11:52:55.462] xyz_f:-0.206091, -0.436927, 0.955195  Reprojection Error: 0.414408, 0.231384 Feature: 0.167299, -0.214432, 0.962305
[11:52:55.462] xyz_f:-0.124530, -0.446859, 0.986358  Reprojection Error: 0.420753, 0.220305 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.462] xyz_f:-0.582920, -0.013458, 0.596882  Reprojection Error: 1.178044, -0.182526 Feature: -0.401343, 0.101870, 0.800088
[11:52:55.462] xyz_f:-1.260506, -1.021575, 0.870423  Reprojection Error: 1.722069, 0.946002 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.462] xyz_f:-0.114986, -0.625757, 0.866235  Reprojection Error: 0.156038, 0.725412 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.462] xyz_f:-0.335873, -0.183576, 0.976547  Reprojection Error: 0.405038, 0.221688 Feature: 0.034878, 0.035813, 0.998750
[11:52:55.462] xyz_f:-0.051520, -0.007870, 0.300012  Reprojection Error: 0.078936, 0.116431 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.462] xyz_f:0.273894, -0.012981, 1.150311  Reprojection Error: -0.416892, 0.201054 Feature: 0.607502, 0.245568, 0.755406
[11:52:55.462] xyz_f:-0.505311, 0.007011, 0.860987  Reprojection Error: 0.410977, 0.188501 Feature: -0.195918, 0.189997, 0.962038
[11:52:55.462] xyz_f:-1.352099, -1.024270, 0.812992  Reprojection Error: 1.711031, 1.559373 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.462] xyz_f:-0.207446, 0.121006, 1.057813  Reprojection Error: 0.379533, 0.263823 Feature: 0.140540, 0.351049, 0.925750
[11:52:55.462] xyz_f:-0.187251, -0.419380, 0.973687  Reprojection Error: 0.056557, 0.884442 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.462] xyz_f:-0.620402, -0.901392, 0.549562  Reprojection Error: 1.016138, 2.111986 Feature: -0.327983, -0.768055, 0.973058
[11:52:55.462] xyz_f:-0.158419, -0.432408, 0.980033  Reprojection Error: 0.212489, 0.922856 Feature: 0.219515, -0.203637, 0.954120
[11:52:55.462] it:18 	 Success 	 new_chi2: 1.774286 	 dT = -0.014138, 0.034309, 0.037518
[11:52:55.462] xyz_f:-0.180420, -0.622535, 0.819901  Reprojection Error: 0.471599, 0.282269 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.462] xyz_f:-0.432043, -0.201663, 0.893504  Reprojection Error: 0.480462, 0.231428 Feature: -0.003077, 0.005729, 0.999979
[11:52:55.462] xyz_f:-0.419908, -0.181119, 0.907740  Reprojection Error: 0.474286, 0.228799 Feature: 0.011694, 0.029258, 0.999503
[11:52:55.462] xyz_f:-0.272850, -0.432814, 0.905536  Reprojection Error: 0.475166, 0.255133 Feature: 0.167299, -0.214432, 0.962305
[11:52:55.462] xyz_f:-0.239224, -0.432887, 0.923382  Reprojection Error: 0.473050, 0.249282 Feature: 0.204580, -0.209883, 0.956084
[11:52:55.462] xyz_f:-0.254523, -0.415448, 0.924701  Reprojection Error: 0.473013, 0.249097 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.462] xyz_f:-0.519780, -0.092829, 0.839475  Reprojection Error: 0.496249, 0.208641 Feature: -0.121432, 0.096871, 0.987862
[11:52:55.462] xyz_f:-0.275715, -0.410900, 0.915613  Reprojection Error: 0.474216, 0.251664 Feature: 0.167425, -0.190656, 0.967274
[11:52:55.462] xyz_f:-0.150931, -0.623082, 0.833288  Reprojection Error: 0.470761, 0.270207 Feature: 0.252868, -0.416915, 0.873063
[11:52:55.462] xyz_f:-0.192573, -0.443532, 0.939631  Reprojection Error: 0.473249, 0.243026 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.462] xyz_f:-0.519514, -0.088530, 0.840270  Reprojection Error: 0.495300, 0.207877 Feature: -0.121424, 0.101229, 0.987425
[11:52:55.462] xyz_f:-0.422428, -0.193408, 0.902928  Reprojection Error: 0.476640, 0.230346 Feature: 0.008796, 0.016141, 0.999831
[11:52:55.462] xyz_f:0.203843, -0.013514, 1.117988  Reprojection Error: 0.621876, 0.337168 Feature: 0.607502, 0.245568, 0.755406
[11:52:55.462] xyz_f:-0.262964, -0.430127, 0.912446  Reprojection Error: 0.474214, 0.252874 Feature: 0.178800, -0.210048, 0.961203
[11:52:55.462] xyz_f:-0.400855, -0.178211, 0.922216  Reprojection Error: 0.469586, 0.229100 Feature: 0.034878, 0.035813, 0.998750
[11:52:55.462] xyz_f:-0.227182, -0.424412, 0.933821  Reprojection Error: 0.472495, 0.246168 Feature: 0.218951, -0.198995, 0.955228
[11:52:55.462] xyz_f:-0.271434, -0.442714, 0.900803  Reprojection Error: 0.475557, 0.256825 Feature: 0.167236, -0.225219, 0.959848
[11:52:55.462] xyz_f:-0.215869, -0.449019, 0.925994  Reprojection Error: 0.473029, 0.247665 Feature: 0.227317, -0.224790, 0.947521
[11:52:55.462] xyz_f:-0.272507, 0.125124, 1.008135  Reprojection Error: 0.422120, 0.255092 Feature: 0.140540, 0.351049, 0.925750
[11:52:55.462] xyz_f:-0.564137, 0.013992, 0.800626  Reprojection Error: 0.500971, 0.180018 Feature: -0.195918, 0.189997, 0.962038
[11:52:55.462] xyz_f:-0.386009, 0.073217, 0.948571  Reprojection Error: 0.431097, 0.220794 Feature: 0.023147, 0.285495, 0.958101
[11:52:55.462] xyz_f:-0.210758, -0.428080, 0.939663  Reprojection Error: 0.472592, 0.244121 Feature: 0.236064, -0.201027, 0.950717
[11:52:55.462] xyz_f:-0.402843, -0.162869, 0.924063  Reprojection Error: 0.467983, 0.227457 Feature: 0.031977, 0.051110, 0.998181
[11:52:55.462] xyz_f:-0.279903, -0.418232, 0.909436  Reprojection Error: 0.475014, 0.253636 Feature: 0.161636, -0.199338, 0.966508
[11:52:55.462] xyz_f:-0.403435, -0.188409, 0.918051  Reprojection Error: 0.471455, 0.230132 Feature: 0.031981, 0.024884, 0.999179
[11:52:55.462] xyz_f:-0.515936, -0.100300, 0.842124  Reprojection Error: 0.495728, 0.210433 Feature: -0.115666, 0.090340, 0.989171
[11:52:55.462] xyz_f:-0.262697, -0.430453, 0.912414  Reprojection Error: 0.474210, 0.252885 Feature: 0.179047, -0.210371, 0.961086
[11:52:55.462] xyz_f:-0.226068, -0.428753, 0.932085  Reprojection Error: 0.472610, 0.246564 Feature: 0.219515, -0.203637, 0.954120
[11:52:55.462] xyz_f:-0.455448, 0.266412, 0.854507  Reprojection Error: 0.401429, 0.193309 Feature: -0.116634, 0.447761, 0.886514
[11:52:55.462] xyz_f:-0.150931, -0.623082, 0.833288  Reprojection Error: 0.495859, 0.261707 Feature: 0.252868, -0.416915, 0.873063
[11:52:55.462] xyz_f:-0.272850, -0.432814, 0.905536  Reprojection Error: 0.499964, 0.251927 Feature: 0.167299, -0.214432, 0.962305
[11:52:55.462] xyz_f:-0.192573, -0.443532, 0.939631  Reprojection Error: 0.499445, 0.239293 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.462] xyz_f:-0.632321, -0.005769, 0.533879  Reprojection Error: 1.385826, -0.194267 Feature: -0.401343, 0.101870, 0.800088
[11:52:55.462] xyz_f:-1.329128, -1.007213, 0.782514  Reprojection Error: 1.972451, 1.059499 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.462] xyz_f:-0.180420, -0.622535, 0.819901  Reprojection Error: 0.243346, 0.762305 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.462] xyz_f:-0.400855, -0.178211, 0.922216  Reprojection Error: 0.495764, 0.226946 Feature: 0.034878, 0.035813, 0.998750
[11:52:55.462] xyz_f:-0.090485, -0.005393, 0.256458  Reprojection Error: 0.260036, 0.111227 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.462] xyz_f:0.203843, -0.013514, 1.117988  Reprojection Error: -0.361118, 0.201856 Feature: 0.607502, 0.245568, 0.755406
[11:52:55.462] xyz_f:-0.564137, 0.013992, 0.800626  Reprojection Error: 0.528699, 0.179168 Feature: -0.195918, 0.189997, 0.962038
[11:52:55.462] xyz_f:-1.418602, -1.009029, 0.721801  Reprojection Error: 2.013279, 1.697427 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.462] xyz_f:-0.272507, 0.125124, 1.008135  Reprojection Error: 0.453732, 0.254101 Feature: 0.140540, 0.351049, 0.925750
[11:52:55.462] xyz_f:-0.254523, -0.415448, 0.924701  Reprojection Error: 0.139495, 0.903007 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.462] xyz_f:-0.676682, -0.893306, 0.485076  Reprojection Error: 1.282238, 2.313365 Feature: -0.327983, -0.768055, 0.973058
[11:52:55.462] xyz_f:-0.226068, -0.428753, 0.932085  Reprojection Error: 0.293383, 0.941632 Feature: 0.219515, -0.203637, 0.954120
[11:52:55.462] it:19 	 Success 	 new_chi2: 0.961557 	 dT = -0.017106, 0.041864, 0.037532
[11:52:55.462] xyz_f:-0.242975, -0.619006, 0.764868  Reprojection Error: 0.569217, 0.332287 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.462] xyz_f:-0.493001, -0.195697, 0.829376  Reprojection Error: 0.591347, 0.241686 Feature: -0.003077, 0.005729, 0.999979
[11:52:55.462] xyz_f:-0.481190, -0.175269, 0.844046  Reprojection Error: 0.581799, 0.236926 Feature: 0.011694, 0.029258, 0.999503
[11:52:55.462] xyz_f:-0.336601, -0.428381, 0.847129  Reprojection Error: 0.571196, 0.282855 Feature: 0.167299, -0.214432, 0.962305
[11:52:55.462] xyz_f:-0.303645, -0.428778, 0.866182  Reprojection Error: 0.564533, 0.275496 Feature: 0.204580, -0.209883, 0.956084
[11:52:55.462] xyz_f:-0.318813, -0.411191, 0.866949  Reprojection Error: 0.565505, 0.274116 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.462] xyz_f:-0.577661, -0.086026, 0.772222  Reprojection Error: 0.625126, 0.209462 Feature: -0.121432, 0.096871, 0.987862
[11:52:55.462] xyz_f:-0.339616, -0.406439, 0.857100  Reprojection Error: 0.569328, 0.277096 Feature: 0.167425, -0.190656, 0.967274
[11:52:55.462] xyz_f:-0.213997, -0.619837, 0.779314  Reprojection Error: 0.564230, 0.317830 Feature: 0.252868, -0.416915, 0.873063
[11:52:55.462] xyz_f:-0.257720, -0.439873, 0.884110  Reprojection Error: 0.559806, 0.268529 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.462] xyz_f:-0.577382, -0.081729, 0.773027  Reprojection Error: 0.623940, 0.208245 Feature: -0.121424, 0.101229, 0.987425
[11:52:55.462] xyz_f:-0.483654, -0.187535, 0.839144  Reprojection Error: 0.585164, 0.239628 Feature: 0.008796, 0.016141, 0.999831
[11:52:55.462] xyz_f:0.136129, -0.013693, 1.076793  Reprojection Error: 0.677786, 0.337797 Feature: 0.607502, 0.245568, 0.755406
[11:52:55.462] xyz_f:-0.326946, -0.425789, 0.854394  Reprojection Error: 0.568682, 0.279827 Feature: 0.178800, -0.210048, 0.961203
[11:52:55.462] xyz_f:-0.462648, -0.172545, 0.859204  Reprojection Error: 0.573382, 0.236677 Feature: 0.034878, 0.035813, 0.998750
[11:52:55.462] xyz_f:-0.291908, -0.420418, 0.877053  Reprojection Error: 0.562042, 0.271032 Feature: 0.218951, -0.198995, 0.955228
[11:52:55.462] xyz_f:-0.335111, -0.438296, 0.842450  Reprojection Error: 0.572014, 0.285623 Feature: 0.167236, -0.225219, 0.959848
[11:52:55.462] xyz_f:-0.280559, -0.445136, 0.869636  Reprojection Error: 0.562523, 0.274624 Feature: 0.227317, -0.224790, 0.947521
[11:52:55.462] xyz_f:-0.334558, 0.129545, 0.949772  Reprojection Error: 0.504062, 0.242810 Feature: 0.140540, 0.351049, 0.925750
[11:52:55.462] xyz_f:-0.619541, 0.021214, 0.731809  Reprojection Error: 0.642939, 0.168506 Feature: -0.195918, 0.189997, 0.962038
[11:52:55.462] xyz_f:-0.446326, 0.078732, 0.886124  Reprojection Error: 0.527842, 0.209130 Feature: 0.023147, 0.285495, 0.958101
[11:52:55.462] xyz_f:-0.275743, -0.424245, 0.883485  Reprojection Error: 0.560409, 0.268747 Feature: 0.236064, -0.201027, 0.950717
[11:52:55.462] xyz_f:-0.464552, -0.157183, 0.860980  Reprojection Error: 0.571598, 0.233767 Feature: 0.031977, 0.051110, 0.998181
[11:52:55.462] xyz_f:-0.343648, -0.413731, 0.850774  Reprojection Error: 0.571162, 0.280055 Feature: 0.161636, -0.199338, 0.966508
[11:52:55.462] xyz_f:-0.465174, -0.182718, 0.854946  Reprojection Error: 0.576105, 0.238623 Feature: 0.031981, 0.024884, 0.999179
[11:52:55.462] xyz_f:-0.573988, -0.093534, 0.775007  Reprojection Error: 0.623690, 0.212016 Feature: -0.115666, 0.090340, 0.989171
[11:52:55.462] xyz_f:-0.326681, -0.426118, 0.854372  Reprojection Error: 0.568660, 0.279861 Feature: 0.179047, -0.210371, 0.961086
[11:52:55.462] xyz_f:-0.290774, -0.424770, 0.875358  Reprojection Error: 0.562248, 0.271824 Feature: 0.219515, -0.203637, 0.954120
[11:52:55.462] xyz_f:-0.510430, 0.272575, 0.789639  Reprojection Error: 0.514844, 0.159891 Feature: -0.116634, 0.447761, 0.886514
[11:52:55.462] xyz_f:-0.213997, -0.619837, 0.779314  Reprojection Error: 0.589328, 0.309330 Feature: 0.252868, -0.416915, 0.873063
[11:52:55.462] xyz_f:-0.336601, -0.428381, 0.847129  Reprojection Error: 0.595993, 0.279648 Feature: 0.167299, -0.214432, 0.962305
[11:52:55.462] xyz_f:-0.257720, -0.439873, 0.884110  Reprojection Error: 0.586002, 0.264797 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.462] xyz_f:-0.678201, 0.002069, 0.462763  Reprojection Error: 1.666982, -0.209543 Feature: -0.401343, 0.101870, 0.800088
[11:52:55.462] xyz_f:-1.393254, -0.992517, 0.685803  Reprojection Error: 2.305481, 1.219581 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.462] xyz_f:-0.242975, -0.619006, 0.764868  Reprojection Error: 0.340964, 0.812323 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.462] xyz_f:-0.462648, -0.172545, 0.859204  Reprojection Error: 0.599559, 0.234522 Feature: 0.034878, 0.035813, 0.998750
[11:52:55.462] xyz_f:-0.126688, -0.002866, 0.205163  Reprojection Error: 0.524708, 0.104167 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.462] xyz_f:0.136129, -0.013693, 1.076793  Reprojection Error: -0.305208, 0.202485 Feature: 0.607502, 0.245568, 0.755406
[11:52:55.462] xyz_f:-0.619541, 0.021214, 0.731809  Reprojection Error: 0.670667, 0.167656 Feature: -0.195918, 0.189997, 0.962038
[11:52:55.462] xyz_f:-1.480482, -0.993475, 0.621887  Reprojection Error: 2.428544, 1.897011 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.462] xyz_f:-0.334558, 0.129545, 0.949772  Reprojection Error: 0.535675, 0.241819 Feature: 0.140540, 0.351049, 0.925750
[11:52:55.462] xyz_f:-0.318813, -0.411191, 0.866949  Reprojection Error: 0.231987, 0.928025 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.462] xyz_f:-0.729381, -0.885004, 0.412228  Reprojection Error: 1.656599, 2.618664 Feature: -0.327983, -0.768055, 0.973058
[11:52:55.462] xyz_f:-0.290774, -0.424770, 0.875358  Reprojection Error: 0.383020, 0.966893 Feature: 0.219515, -0.203637, 0.954120
[11:52:55.462] it:20 	 Success 	 new_chi2: 0.147949 	 dT = -0.042191, 0.077531, 0.027497
[11:52:55.462] xyz_f:-0.282285, -0.616230, 0.676975  Reprojection Error: 0.668528, 0.433259 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.462] xyz_f:-0.530918, -0.191146, 0.734861  Reprojection Error: 0.719398, 0.265842 Feature: -0.003077, 0.005729, 0.999979
[11:52:55.463] xyz_f:-0.519356, -0.170802, 0.749841  Reprojection Error: 0.704321, 0.257056 Feature: 0.011694, 0.029258, 0.999503
[11:52:55.463] xyz_f:-0.376704, -0.424936, 0.756739  Reprojection Error: 0.671652, 0.338704 Feature: 0.167299, -0.214432, 0.962305
[11:52:55.463] xyz_f:-0.344270, -0.425565, 0.776661  Reprojection Error: 0.657247, 0.328418 Feature: 0.204580, -0.209883, 0.956084
[11:52:55.463] xyz_f:-0.359327, -0.407870, 0.777026  Reprojection Error: 0.660202, 0.324731 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.463] xyz_f:-0.613248, -0.080881, 0.675489  Reprojection Error: 0.784933, 0.217798 Feature: -0.121432, 0.096871, 0.987862
[11:52:55.463] xyz_f:-0.379827, -0.402972, 0.766628  Reprojection Error: 0.668541, 0.328535 Feature: 0.167425, -0.190656, 0.967274
[11:52:55.463] xyz_f:-0.253708, -0.617265, 0.692186  Reprojection Error: 0.656166, 0.414231 Feature: 0.252868, -0.416915, 0.873063
[11:52:55.463] xyz_f:-0.298917, -0.436985, 0.795801  Reprojection Error: 0.643922, 0.320111 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.463] xyz_f:-0.612960, -0.076586, 0.676301  Reprojection Error: 0.783371, 0.215761 Feature: -0.121424, 0.101229, 0.987425
[11:52:55.463] xyz_f:-0.521776, -0.183050, 0.744875  Reprojection Error: 0.709286, 0.261890 Feature: 0.008796, 0.016141, 0.999831
[11:52:55.463] xyz_f:0.092698, -0.013600, 0.998915  Reprojection Error: 0.711407, 0.338696 Feature: 0.607502, 0.245568, 0.755406
[11:52:55.463] xyz_f:-0.367228, -0.422412, 0.764258  Reprojection Error: 0.666520, 0.334183 Feature: 0.178800, -0.210048, 0.961203
[11:52:55.463] xyz_f:-0.501204, -0.168208, 0.765487  Reprojection Error: 0.689673, 0.255597 Feature: 0.034878, 0.035813, 0.998750
[11:52:55.463] xyz_f:-0.332766, -0.417288, 0.787840  Reprojection Error: 0.651592, 0.321339 Feature: 0.218951, -0.198995, 0.955228
[11:52:55.463] xyz_f:-0.375161, -0.434861, 0.752100  Reprojection Error: 0.673050, 0.343555 Feature: 0.167236, -0.225219, 0.959848
[11:52:55.463] xyz_f:-0.321400, -0.442087, 0.780725  Reprojection Error: 0.651576, 0.329011 Feature: 0.227317, -0.224790, 0.947521
[11:52:55.463] xyz_f:-0.373418, 0.132971, 0.859453  Reprojection Error: 0.586295, 0.224489 Feature: 0.140540, 0.351049, 0.925750
[11:52:55.463] xyz_f:-0.653276, 0.026650, 0.633989  Reprojection Error: 0.826773, 0.155458 Feature: -0.195918, 0.189997, 0.962038
[11:52:55.463] xyz_f:-0.483815, 0.082949, 0.792854  Reprojection Error: 0.634378, 0.193359 Feature: 0.023147, 0.285495, 0.958101
[11:52:55.463] xyz_f:-0.316806, -0.421229, 0.794699  Reprojection Error: 0.646950, 0.318601 Feature: 0.236064, -0.201027, 0.950717
[11:52:55.463] xyz_f:-0.503045, -0.152833, 0.767213  Reprojection Error: 0.687715, 0.250409 Feature: 0.031977, 0.051110, 0.998181
[11:52:55.463] xyz_f:-0.383742, -0.410236, 0.760197  Reprojection Error: 0.672030, 0.333399 Feature: 0.161636, -0.199338, 0.966508
[11:52:55.463] xyz_f:-0.503688, -0.178363, 0.761162  Reprojection Error: 0.693744, 0.259234 Feature: 0.031981, 0.024884, 0.999179
[11:52:55.463] xyz_f:-0.609703, -0.088414, 0.678370  Reprojection Error: 0.781845, 0.221662 Feature: -0.115666, 0.090340, 0.989171
[11:52:55.463] xyz_f:-0.366964, -0.422742, 0.764242  Reprojection Error: 0.666464, 0.334263 Feature: 0.179047, -0.210371, 0.961086
[11:52:55.463] xyz_f:-0.331619, -0.421648, 0.786175  Reprojection Error: 0.651884, 0.322899 Feature: 0.219515, -0.203637, 0.954120
[11:52:55.463] xyz_f:-0.543953, 0.277235, 0.694720  Reprojection Error: 0.651417, 0.106021 Feature: -0.116634, 0.447761, 0.886514
[11:52:55.463] xyz_f:-0.253708, -0.617265, 0.692186  Reprojection Error: 0.681263, 0.405731 Feature: 0.252868, -0.416915, 0.873063
[11:52:55.463] xyz_f:-0.376704, -0.424936, 0.756739  Reprojection Error: 0.696450, 0.335498 Feature: 0.167299, -0.214432, 0.962305
[11:52:55.463] xyz_f:-0.298917, -0.436985, 0.795801  Reprojection Error: 0.670118, 0.316379 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.463] xyz_f:-0.704905, 0.007898, 0.363477  Reprojection Error: 2.140771, -0.226801 Feature: -0.401343, 0.101870, 0.800088
[11:52:55.463] xyz_f:-1.432688, -0.981553, 0.567356  Reprojection Error: 2.799118, 1.502398 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.463] xyz_f:-0.282285, -0.616230, 0.676975  Reprojection Error: 0.440275, 0.913294 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.463] xyz_f:-0.501204, -0.168208, 0.765487  Reprojection Error: 0.715850, 0.253443 Feature: 0.034878, 0.035813, 0.998750
[11:52:55.463] xyz_f:-0.146795, -0.000986, 0.120614  Reprojection Error: 1.124268, 0.098369 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.463] xyz_f:0.092698, -0.013600, 0.998915  Reprojection Error: -0.271587, 0.203383 Feature: 0.607502, 0.245568, 0.755406
[11:52:55.463] xyz_f:-0.653276, 0.026650, 0.633989  Reprojection Error: 0.854501, 0.154608 Feature: -0.195918, 0.189997, 0.962038
[11:52:55.463] xyz_f:-1.518193, -0.981897, 0.501146  Reprojection Error: 3.077361, 2.258799 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.463] xyz_f:-0.373418, 0.132971, 0.859453  Reprojection Error: 0.617907, 0.223499 Feature: 0.140540, 0.351049, 0.925750
[11:52:55.463] xyz_f:-0.359327, -0.407870, 0.777026  Reprojection Error: 0.326685, 0.978641 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.463] xyz_f:-0.761036, -0.878793, 0.311517  Reprojection Error: 2.330232, 3.292793 Feature: -0.327983, -0.768055, 0.973058
[11:52:55.463] xyz_f:-0.331619, -0.421648, 0.786175  Reprojection Error: 0.472656, 1.017968 Feature: 0.219515, -0.203637, 0.954120
[11:52:55.463] it:21 	 Success 	 new_chi2: 0.058977 	 dT = 1.146345, 0.451645, -1.123466
[11:52:55.463] xyz_f:-0.586677, -0.590339, 0.128702  Reprojection Error: 4.809953, 4.109846 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.463] xyz_f:-0.743008, -0.231220, 0.432774  Reprojection Error: 1.713772, 0.540004 Feature: -0.003077, 0.005729, 0.999979
[11:52:55.463] xyz_f:-0.729708, -0.206826, 0.432640  Reprojection Error: 1.698338, 0.507327 Feature: 0.011694, 0.029258, 0.999503
[11:52:55.463] xyz_f:-0.602693, -0.417033, 0.275602  Reprojection Error: 2.360677, 1.290342 Feature: 0.167299, -0.214432, 0.962305
[11:52:55.463] xyz_f:-0.571166, -0.407244, 0.256641  Reprojection Error: 2.439526, 1.367301 Feature: 0.204580, -0.209883, 0.956084
[11:52:55.463] xyz_f:-0.581491, -0.393683, 0.272435  Reprojection Error: 2.332180, 1.244872 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.463] xyz_f:-0.856057, -0.152781, 0.492177  Reprojection Error: 1.616401, 0.408479 Feature: -0.121432, 0.096871, 0.987862
[11:52:55.463] xyz_f:-0.600556, -0.395230, 0.286091  Reprojection Error: 2.272269, 1.184377 Feature: 0.167425, -0.190656, 0.967274
[11:52:55.463] xyz_f:-0.560827, -0.582508, 0.110826  Reprojection Error: 5.350058, 4.778526 Feature: 0.252868, -0.416915, 0.873063
[11:52:55.463] xyz_f:-0.532215, -0.404931, 0.224530  Reprojection Error: 2.638655, 1.574458 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.463] xyz_f:-0.856227, -0.148466, 0.492918  Reprojection Error: 1.614088, 0.403718 Feature: -0.121424, 0.101229, 0.987425
[11:52:55.463] xyz_f:-0.732222, -0.219878, 0.430673  Reprojection Error: 1.708977, 0.526688 Feature: 0.008796, 0.016141, 0.999831
[11:52:55.463] xyz_f:-0.284726, 0.122558, 0.039120  Reprojection Error: 8.082527, -2.807821 Feature: 0.607502, 0.245568, 0.755406
[11:52:55.463] xyz_f:-0.592634, -0.411327, 0.271245  Reprojection Error: 2.370886, 1.297917 Feature: 0.178800, -0.210048, 0.961203
[11:52:55.463] xyz_f:-0.708836, -0.197875, 0.424562  Reprojection Error: 1.704491, 0.501926 Feature: 0.034878, 0.035813, 0.998750
[11:52:55.463] xyz_f:-0.558386, -0.395012, 0.253057  Reprojection Error: 2.435776, 1.352637 Feature: 0.218951, -0.198995, 0.955228
[11:52:55.463] xyz_f:-0.603749, -0.426879, 0.270667  Reprojection Error: 2.404832, 1.342499 Feature: 0.167236, -0.225219, 0.959848
[11:52:55.463] xyz_f:-0.553879, -0.417224, 0.236293  Reprojection Error: 2.583945, 1.528469 Feature: 0.227317, -0.224790, 0.947521
[11:52:55.463] xyz_f:-0.642008, 0.135005, 0.400218  Reprojection Error: 1.755958, 0.041877 Feature: 0.140540, 0.351049, 0.925750
[11:52:55.463] xyz_f:-0.934606, -0.064564, 0.522763  Reprojection Error: 1.584173, 0.321001 Feature: -0.195918, 0.189997, 0.962038
[11:52:55.463] xyz_f:-0.736088, 0.051675, 0.457925  Reprojection Error: 1.631600, 0.185134 Feature: 0.023147, 0.285495, 0.958101
[11:52:55.463] xyz_f:-0.544589, -0.394105, 0.241826  Reprojection Error: 2.500288, 1.418259 Feature: 0.236064, -0.201027, 0.950717
[11:52:55.463] xyz_f:-0.711717, -0.183270, 0.429159  Reprojection Error: 1.690434, 0.478247 Feature: 0.031977, 0.051110, 0.998181
[11:52:55.463] xyz_f:-0.606156, -0.404044, 0.285443  Reprojection Error: 2.290799, 1.209253 Feature: 0.161636, -0.199338, 0.966508
[11:52:55.463] xyz_f:-0.711307, -0.208837, 0.423250  Reprojection Error: 1.712591, 0.518318 Feature: 0.031981, 0.024884, 0.999179
[11:52:55.463] xyz_f:-0.850257, -0.158792, 0.489377  Reprojection Error: 1.620493, 0.415806 Feature: -0.115666, 0.090340, 0.989171
[11:52:55.463] xyz_f:-0.592457, -0.411586, 0.270961  Reprojection Error: 2.372794, 1.300095 Feature: 0.179047, -0.210371, 0.961086
[11:52:55.463] xyz_f:-0.558322, -0.399174, 0.250656  Reprojection Error: 2.457515, 1.379089 Feature: 0.219515, -0.203637, 0.954120
[11:52:55.463] xyz_f:-0.892902, 0.210621, 0.491681  Reprojection Error: 1.684455, 0.076712 Feature: -0.116634, 0.447761, 0.886514
[11:52:55.463] xyz_f:-0.560827, -0.582508, 0.110826  Reprojection Error: 5.375156, 4.770026 Feature: 0.252868, -0.416915, 0.873063
[11:52:55.463] xyz_f:-0.602693, -0.417033, 0.275602  Reprojection Error: 2.385474, 1.287136 Feature: 0.167299, -0.214432, 0.962305
[11:52:55.463] xyz_f:-0.532215, -0.404931, 0.224530  Reprojection Error: 2.664851, 1.570726 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.463] xyz_f:-1.188147, -0.133027, 0.437770  Reprojection Error: 2.915525, 0.098800 Feature: -0.401343, 0.101870, 0.800088
[11:52:55.463] xyz_f:-1.094512, -1.225775, 1.027161  Reprojection Error: 1.339486, 0.965711 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.463] xyz_f:-0.586677, -0.590339, 0.128702  Reprojection Error: 4.581700, 4.589882 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.463] xyz_f:-0.708836, -0.197875, 0.424562  Reprojection Error: 1.730668, 0.499772 Feature: 0.034878, 0.035813, 0.998750
[11:52:55.463] xyz_f:-1.156163, -0.045788, -0.163824  Reprojection Error: -7.150162, -0.189301 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.463] xyz_f:-0.284726, 0.122558, 0.039120  Reprojection Error: 7.099533, -2.943133 Feature: 0.607502, 0.245568, 0.755406
[11:52:55.463] xyz_f:-0.934606, -0.064564, 0.522763  Reprojection Error: 1.611901, 0.320150 Feature: -0.195918, 0.189997, 0.962038
[11:52:55.463] xyz_f:-1.189079, -1.255451, 1.070420  Reprojection Error: 1.158768, 1.472353 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.463] xyz_f:-0.642008, 0.135005, 0.400218  Reprojection Error: 1.787570, 0.040886 Feature: 0.140540, 0.351049, 0.925750
[11:52:55.463] xyz_f:-0.581491, -0.393683, 0.272435  Reprojection Error: 1.998663, 1.898781 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.463] xyz_f:-1.050767, -1.006482, 0.336417  Reprojection Error: 3.010637, 3.463552 Feature: -0.327983, -0.768055, 0.973058
[11:52:55.463] xyz_f:-0.558322, -0.399174, 0.250656  Reprojection Error: 2.278287, 2.074158 Feature: 0.219515, -0.203637, 0.954120
[11:52:55.463] it:22 	 Success 	 new_chi2: 0.000000 	 dT = 0.000000, 0.000000, 0.000000
[11:52:55.463] After pose optimization, distance between two frames:0.640014 ,angle between two frames:-4.312707
[11:52:55.549] Reprojection Map nPoint:42 ,nCell:19 ,nMatches:14 ,distance between two frames:2.764876 ,angle between two frames:-3.565136
[11:52:55.549] Init estimate scale:1.122670
[11:52:55.549] xyz_f:2.602607, -0.639168, 1.372676  Reprojection Error: -1.644461, -0.011374 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.549] xyz_f:2.375469, -0.242135, 1.524794  Reprojection Error: -1.534600, 0.161823 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.549] xyz_f:2.584096, -0.455895, 1.492267  Reprojection Error: -1.492385, 0.082593 Feature: 0.227422, -0.211871, 0.950468
[11:52:55.549] xyz_f:2.267084, -0.138696, 1.501502  Reprojection Error: -1.606201, 0.190190 Feature: -0.095428, 0.096910, 0.990708
[11:52:55.549] xyz_f:2.545127, -0.437030, 1.495946  Reprojection Error: -1.503585, 0.091962 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.549] xyz_f:2.655543, -0.640840, 1.375993  Reprojection Error: -1.615179, -0.020302 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.549] xyz_f:2.634346, -0.462541, 1.493816  Reprojection Error: -1.469001, 0.076903 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.549] xyz_f:2.267240, -0.134378, 1.502237  Reprojection Error: -1.605601, 0.191718 Feature: -0.095422, 0.101271, 0.990272
[11:52:55.549] xyz_f:2.386514, -0.230384, 1.531617  Reprojection Error: -1.523260, 0.166571 Feature: 0.034880, 0.016140, 0.999261
[11:52:55.549] xyz_f:2.202159, -0.042426, 1.477278  Reprojection Error: -1.669474, 0.218488 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.549] xyz_f:2.557970, -0.455186, 1.488892  Reprojection Error: -1.507096, 0.083951 Feature: 0.201704, -0.212060, 0.956215
[11:52:55.549] xyz_f:2.411576, -0.215408, 1.543267  Reprojection Error: -1.501545, 0.173282 Feature: 0.060950, 0.033621, 0.997574
[11:52:55.549] xyz_f:2.597970, -0.446367, 1.498780  Reprojection Error: -1.478710, 0.086102 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.549] xyz_f:2.544623, -0.468438, 1.479671  Reprojection Error: -1.523745, 0.078792 Feature: 0.187288, -0.227247, 0.955658
[11:52:55.549] xyz_f:2.608525, -0.470042, 1.487628  Reprojection Error: -1.487804, 0.075092 Feature: 0.250081, -0.226737, 0.941302
[11:52:55.549] xyz_f:2.539151, 0.097681, 1.592036  Reprojection Error: -1.411483, 0.316859 Feature: 0.169093, 0.348664, 0.921868
[11:52:55.549] xyz_f:2.205141, -0.036218, 1.479253  Reprojection Error: -1.666633, 0.221128 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.549] xyz_f:2.417071, 0.038502, 1.568638  Reprojection Error: -1.486591, 0.273731 Feature: 0.051947, 0.285446, 0.956986
[11:52:55.549] xyz_f:2.615689, -0.448628, 1.499443  Reprojection Error: -1.470363, 0.084240 Feature: 0.258826, -0.202994, 0.944353
[11:52:55.549] xyz_f:2.406270, -0.197907, 1.545499  Reprojection Error: -1.501645, 0.179302 Feature: 0.055152, 0.051103, 0.997169
[11:52:55.549] xyz_f:2.539918, -0.444740, 1.491190  Reprojection Error: -1.511398, 0.088908 Feature: 0.184586, -0.201375, 0.961965
[11:52:55.549] xyz_f:2.405934, -0.223479, 1.539620  Reprojection Error: -1.507419, 0.170079 Feature: 0.055160, 0.024881, 0.998167
[11:52:55.549] xyz_f:2.269485, -0.145485, 1.501575  Reprojection Error: -1.604732, 0.188025 Feature: -0.092545, 0.090371, 0.991599
[11:52:55.549] xyz_f:2.394995, -0.209819, 1.539312  Reprojection Error: -1.512244, 0.174367 Feature: 0.043569, 0.037996, 0.998328
[11:52:55.549] xyz_f:2.269929, -0.146451, 1.501630  Reprojection Error: -1.604435, 0.187726 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.549] xyz_f:2.411360, 0.040170, 1.566883  Reprojection Error: -1.491039, 0.273858 Feature: 0.045853, 0.286602, 0.956952
[11:52:55.549] xyz_f:2.655543, -0.640840, 1.375993  Reprojection Error: -1.589879, -0.026187 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.549] xyz_f:1.394137, -1.137240, 1.604944  Reprojection Error: -0.638961, 0.490063 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.549] xyz_f:2.335982, -0.038935, 1.038499  Reprojection Error: -1.962296, -0.203784 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.549] xyz_f:1.519476, -1.107792, 1.648581  Reprojection Error: -0.731721, 0.466975 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.549] xyz_f:2.597970, -0.446367, 1.498780  Reprojection Error: -1.452828, 0.082560 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.549] xyz_f:2.375469, -0.242135, 1.524794  Reprojection Error: -1.508467, 0.161825 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.549] xyz_f:2.070298, -0.960224, 1.183755  Reprojection Error: -1.687817, 0.824658 Feature: -0.312634, -0.778864, 0.969795
[11:52:55.549] xyz_f:2.488443, -0.022938, 0.812634  Reprojection Error: -3.131387, 0.125180 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.549] xyz_f:2.202159, -0.042426, 1.477278  Reprojection Error: -1.639046, 0.217707 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.549] xyz_f:2.205141, -0.036218, 1.479253  Reprojection Error: -1.639234, 0.220406 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.549] xyz_f:1.417145, -1.116823, 1.614793  Reprojection Error: -0.799438, 0.987560 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.549] xyz_f:2.269929, -0.146451, 1.501630  Reprojection Error: -1.155064, 0.441746 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.550] xyz_f:1.416245, -1.112124, 1.608876  Reprojection Error: -0.665383, 1.069007 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.550] xyz_f:2.602607, -0.639168, 1.372676  Reprojection Error: -1.969472, 0.970843 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.550] it:0 	 Success 	 new_chi2: 80.556898 	 dT = -0.033728, 0.071069, -0.003549
[11:52:55.550] xyz_f:0.477918, -0.639080, 1.443416  Reprojection Error: -0.079554, -0.034256 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.550] xyz_f:0.250625, -0.241838, 1.594755  Reprojection Error: -0.133861, 0.154670 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.550] xyz_f:0.459165, -0.455789, 1.562943  Reprojection Error: -0.054509, 0.068710 Feature: 0.227422, -0.211871, 0.950468
[11:52:55.550] xyz_f:0.142415, -0.138299, 1.571091  Reprojection Error: -0.186970, 0.185846 Feature: -0.095428, 0.096910, 0.990708
[11:52:55.550] xyz_f:0.420201, -0.436889, 1.566489  Reprojection Error: -0.070480, 0.078716 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.550] xyz_f:0.530840, -0.640800, 1.446914  Reprojection Error: -0.052146, -0.043158 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.550] xyz_f:0.509404, -0.462482, 1.564664  Reprojection Error: -0.031067, 0.062845 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.550] xyz_f:0.142572, -0.133982, 1.571827  Reprojection Error: -0.187064, 0.187505 Feature: -0.095422, 0.101271, 0.990272
[11:52:55.550] xyz_f:0.261657, -0.230097, 1.601616  Reprojection Error: -0.128465, 0.159818 Feature: 0.034880, 0.016140, 0.999261
[11:52:55.550] xyz_f:0.077662, -0.041970, 1.546646  Reprojection Error: -0.229000, 0.216905 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.550] xyz_f:0.433052, -0.455056, 1.559478  Reprojection Error: -0.066750, 0.070030 Feature: 0.201704, -0.212060, 0.956215
[11:52:55.550] xyz_f:0.286692, -0.215144, 1.613351  Reprojection Error: -0.116601, 0.167055 Feature: 0.060950, 0.033621, 0.997574
[11:52:55.550] xyz_f:0.473025, -0.446274, 1.569504  Reprojection Error: -0.046706, 0.072623 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.550] xyz_f:0.419724, -0.468296, 1.550211  Reprojection Error: -0.074775, 0.064294 Feature: 0.187288, -0.227247, 0.955658
[11:52:55.550] xyz_f:0.483597, -0.469959, 1.558387  Reprojection Error: -0.044644, 0.060692 Feature: 0.250081, -0.226737, 0.941302
[11:52:55.550] xyz_f:0.414387, 0.097828, 1.662558  Reprojection Error: -0.065822, 0.319373 Feature: 0.169093, 0.348664, 0.921868
[11:52:55.550] xyz_f:0.080643, -0.035765, 1.548631  Reprojection Error: -0.227995, 0.219739 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.550] xyz_f:0.292334, 0.038761, 1.638741  Reprojection Error: -0.124107, 0.274623 Feature: 0.051947, 0.285446, 0.956986
[11:52:55.550] xyz_f:0.490740, -0.448551, 1.570227  Reprojection Error: -0.038450, 0.070704 Feature: 0.258826, -0.202994, 0.944353
[11:52:55.550] xyz_f:0.281395, -0.197638, 1.615565  Reprojection Error: -0.118869, 0.173582 Feature: 0.055152, 0.051103, 0.997169
[11:52:55.550] xyz_f:0.415002, -0.444594, 1.561715  Reprojection Error: -0.073850, 0.075346 Feature: 0.184586, -0.201375, 0.961965
[11:52:55.550] xyz_f:0.281056, -0.223210, 1.609685  Reprojection Error: -0.119342, 0.163594 Feature: 0.055160, 0.024881, 0.998167
[11:52:55.550] xyz_f:0.144810, -0.145091, 1.571173  Reprojection Error: -0.185496, 0.183482 Feature: -0.092545, 0.090371, 0.991599
[11:52:55.550] xyz_f:0.270130, -0.209539, 1.609340  Reprojection Error: -0.124209, 0.168262 Feature: 0.043569, 0.037996, 0.998328
[11:52:55.550] xyz_f:0.145252, -0.146057, 1.571229  Reprojection Error: -0.185237, 0.183155 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.550] xyz_f:0.286630, 0.040434, 1.636967  Reprojection Error: -0.127183, 0.274795 Feature: 0.045853, 0.286602, 0.956952
[11:52:55.550] xyz_f:0.530840, -0.640800, 1.446914  Reprojection Error: -0.026846, -0.049043 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.550] xyz_f:-0.731799, -1.136041, 1.671539  Reprojection Error: 0.667489, 0.461115 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.550] xyz_f:0.212992, -0.038602, 1.108328  Reprojection Error: 0.094913, -0.206446 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.550] xyz_f:-0.606582, -1.106708, 1.715605  Reprojection Error: 0.543534, 0.440091 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.550] xyz_f:0.473025, -0.446274, 1.569504  Reprojection Error: -0.020824, 0.069081 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.550] xyz_f:0.250625, -0.241838, 1.594755  Reprojection Error: -0.107727, 0.154673 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.550] xyz_f:-0.054035, -0.959647, 1.252671  Reprojection Error: 0.104242, 0.779571 Feature: -0.312634, -0.778864, 0.969795
[11:52:55.550] xyz_f:0.366240, -0.022745, 0.882987  Reprojection Error: -0.483968, 0.122714 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.550] xyz_f:0.077662, -0.041970, 1.546646  Reprojection Error: -0.198572, 0.216124 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.550] xyz_f:0.080643, -0.035765, 1.548631  Reprojection Error: -0.200596, 0.219016 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.550] xyz_f:-0.708806, -1.115645, 1.681466  Reprojection Error: 0.499704, 0.959435 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.550] xyz_f:0.145252, -0.146057, 1.571229  Reprojection Error: 0.264135, 0.437175 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.550] xyz_f:-0.709681, -1.110946, 1.675547  Reprojection Error: 0.638438, 1.040799 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.550] xyz_f:0.477918, -0.639080, 1.443416  Reprojection Error: -0.404565, 0.947962 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.550] it:1 	 Success 	 new_chi2: 6.948405 	 dT = -0.026150, 0.101892, 0.017417
[11:52:55.550] xyz_f:0.572295, -0.639485, 1.546821  Reprojection Error: -0.118433, -0.063592 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.550] xyz_f:0.345791, -0.243266, 1.701977  Reprojection Error: -0.179876, 0.145956 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.550] xyz_f:0.554730, -0.456276, 1.666653  Reprojection Error: -0.093567, 0.050856 Feature: 0.227422, -0.211871, 0.950468
[11:52:55.550] xyz_f:0.236733, -0.140217, 1.680141  Reprojection Error: -0.237224, 0.181274 Feature: -0.095428, 0.096910, 0.990708
[11:52:55.550] xyz_f:0.515745, -0.437552, 1.670854  Reprojection Error: -0.110908, 0.061692 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.550] xyz_f:0.625276, -0.640967, 1.549428  Reprojection Error: -0.088822, -0.072352 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.550] xyz_f:0.605020, -0.462743, 1.667529  Reprojection Error: -0.068324, 0.044768 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.550] xyz_f:0.236883, -0.135899, 1.680874  Reprojection Error: -0.237288, 0.183116 Feature: -0.095422, 0.101271, 0.990272
[11:52:55.550] xyz_f:0.356884, -0.231475, 1.708652  Reprojection Error: -0.173963, 0.151625 Feature: 0.034880, 0.016140, 0.999261
[11:52:55.550] xyz_f:0.171144, -0.044182, 1.656792  Reprojection Error: -0.282086, 0.216435 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.550] xyz_f:0.528558, -0.455661, 1.663628  Reprojection Error: -0.106774, 0.052126 Feature: 0.201704, -0.212060, 0.956215
[11:52:55.550] xyz_f:0.382046, -0.216409, 1.719965  Reprojection Error: -0.161026, 0.159525 Feature: 0.060950, 0.033621, 0.997574
[11:52:55.550] xyz_f:0.568655, -0.446699, 1.672980  Reprojection Error: -0.085226, 0.055290 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.550] xyz_f:0.515137, -0.468961, 1.654586  Reprojection Error: -0.115361, 0.045640 Feature: 0.187288, -0.227247, 0.955658
[11:52:55.550] xyz_f:0.579145, -0.470336, 1.661687  Reprojection Error: -0.082853, 0.042172 Feature: 0.250081, -0.226737, 0.941302
[11:52:55.550] xyz_f:0.509138, 0.097137, 1.767029  Reprojection Error: -0.104708, 0.323243 Feature: 0.169093, 0.348664, 0.921868
[11:52:55.550] xyz_f:0.174130, -0.037963, 1.658727  Reprojection Error: -0.280900, 0.219531 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.550] xyz_f:0.386970, 0.037519, 1.745266  Reprojection Error: -0.167443, 0.276778 Feature: 0.051947, 0.285446, 0.956986
[11:52:55.550] xyz_f:0.586389, -0.448896, 1.673405  Reprojection Error: -0.076339, 0.053297 Feature: 0.258826, -0.202994, 0.944353
[11:52:55.550] xyz_f:0.376708, -0.198928, 1.722268  Reprojection Error: -0.163419, 0.166752 Feature: 0.055152, 0.051103, 0.997169
[11:52:55.550] xyz_f:0.510502, -0.445280, 1.666169  Reprojection Error: -0.114508, 0.057911 Feature: 0.184586, -0.201375, 0.961965
[11:52:55.550] xyz_f:0.376385, -0.224501, 1.716394  Reprojection Error: -0.164027, 0.155725 Feature: 0.055160, 0.024881, 0.998167
[11:52:55.550] xyz_f:0.239160, -0.146998, 1.680182  Reprojection Error: -0.235671, 0.178626 Feature: -0.092545, 0.090371, 0.991599
[11:52:55.550] xyz_f:0.365393, -0.210880, 1.716233  Reprojection Error: -0.169262, 0.160934 Feature: 0.043569, 0.037996, 0.998328
[11:52:55.550] xyz_f:0.239607, -0.147962, 1.680230  Reprojection Error: -0.235396, 0.178259 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.550] xyz_f:0.381229, 0.039166, 1.743588  Reprojection Error: -0.170731, 0.277032 Feature: 0.045853, 0.286602, 0.956952
[11:52:55.550] xyz_f:0.625276, -0.640967, 1.549428  Reprojection Error: -0.063521, -0.078237 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.550] xyz_f:-0.631160, -1.141886, 1.795243  Reprojection Error: 0.581264, 0.417539 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.550] xyz_f:0.299065, -0.040221, 1.216259  Reprojection Error: 0.041198, -0.208206 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.550] xyz_f:-0.505354, -1.111987, 1.837198  Reprojection Error: 0.465034, 0.400271 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.550] xyz_f:0.568655, -0.446699, 1.672980  Reprojection Error: -0.059344, 0.051748 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.550] xyz_f:0.345791, -0.243266, 1.701977  Reprojection Error: -0.153742, 0.145959 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.550] xyz_f:0.038659, -0.962454, 1.365039  Reprojection Error: 0.032786, 0.718565 Feature: -0.312634, -0.778864, 0.969795
[11:52:55.550] xyz_f:0.448428, -0.023682, 0.988373  Reprojection Error: -0.522897, 0.120914 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.550] xyz_f:0.171144, -0.044182, 1.656792  Reprojection Error: -0.251658, 0.215655 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.550] xyz_f:0.174130, -0.037963, 1.658727  Reprojection Error: -0.253500, 0.218808 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.550] xyz_f:-0.608096, -1.121386, 1.804783  Reprojection Error: 0.415099, 0.917281 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.550] xyz_f:0.239607, -0.147962, 1.680230  Reprojection Error: 0.213976, 0.432279 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.550] xyz_f:-0.609092, -1.116691, 1.798879  Reprojection Error: 0.553482, 0.998535 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.550] xyz_f:0.572295, -0.639485, 1.546821  Reprojection Error: -0.443444, 0.918626 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.550] it:2 	 Success 	 new_chi2: 6.665061 	 dT = -0.028576, 0.119115, 0.015398
[11:52:55.550] xyz_f:0.685688, -0.639785, 1.667053  Reprojection Error: -0.159769, -0.093229 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.550] xyz_f:0.459940, -0.244467, 1.825572  Reprojection Error: -0.228648, 0.136937 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.550] xyz_f:0.669177, -0.456644, 1.787139  Reprojection Error: -0.135167, 0.032604 Feature: 0.227422, -0.211871, 0.950468
[11:52:55.550] xyz_f:0.350160, -0.141854, 1.805364  Reprojection Error: -0.290278, 0.176392 Feature: -0.095428, 0.096910, 0.990708
[11:52:55.550] xyz_f:0.630185, -0.438074, 1.791920  Reprojection Error: -0.153918, 0.044291 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.550] xyz_f:0.738707, -0.641055, 1.668872  Reprojection Error: -0.127908, -0.101907 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.550] xyz_f:0.719500, -0.462909, 1.787266  Reprojection Error: -0.108070, 0.026270 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.550] xyz_f:0.350303, -0.137535, 1.806095  Reprojection Error: -0.290315, 0.178416 Feature: -0.095422, 0.101271, 0.990272
[11:52:55.550] xyz_f:0.471084, -0.232632, 1.832082  Reprojection Error: -0.222224, 0.143129 Feature: 0.034880, 0.016140, 0.999261
[11:52:55.550] xyz_f:0.283848, -0.046081, 1.782996  Reprojection Error: -0.337985, 0.215613 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.550] xyz_f:0.642961, -0.456133, 1.784504  Reprojection Error: -0.149362, 0.033838 Feature: 0.201704, -0.212060, 0.956215
[11:52:55.550] xyz_f:0.496351, -0.217465, 1.843020  Reprojection Error: -0.208215, 0.151697 Feature: 0.060950, 0.033621, 0.997574
[11:52:55.550] xyz_f:0.683156, -0.447010, 1.793258  Reprojection Error: -0.126279, 0.037555 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.550] xyz_f:0.629460, -0.469487, 1.775662  Reprojection Error: -0.158515, 0.026610 Feature: 0.187288, -0.227247, 0.955658
[11:52:55.550] xyz_f:0.693571, -0.470606, 1.781809  Reprojection Error: -0.123576, 0.023241 Feature: 0.250081, -0.226737, 0.941302
[11:52:55.550] xyz_f:0.622878, 0.096586, 1.888198  Reprojection Error: -0.146455, 0.327062 Feature: 0.169093, 0.348664, 0.921868
[11:52:55.550] xyz_f:0.286838, -0.039851, 1.784886  Reprojection Error: -0.336625, 0.218971 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.550] xyz_f:0.500638, 0.036482, 1.868253  Reprojection Error: -0.213689, 0.278749 Feature: 0.051947, 0.285446, 0.956986
[11:52:55.550] xyz_f:0.700904, -0.449137, 1.793420  Reprojection Error: -0.116742, 0.035480 Feature: 0.258826, -0.202994, 0.944353
[11:52:55.550] xyz_f:0.490978, -0.200005, 1.845403  Reprojection Error: -0.210746, 0.159628 Feature: 0.055152, 0.051103, 0.997169
[11:52:55.550] xyz_f:0.624903, -0.445824, 1.787313  Reprojection Error: -0.157749, 0.040101 Feature: 0.184586, -0.201375, 0.961965
[11:52:55.550] xyz_f:0.490669, -0.225579, 1.839533  Reprojection Error: -0.211475, 0.147555 Feature: 0.055160, 0.024881, 0.998167
[11:52:55.550] xyz_f:0.352613, -0.148625, 1.805369  Reprojection Error: -0.288643, 0.173460 Feature: -0.092545, 0.090371, 0.991599
[11:52:55.550] xyz_f:0.479623, -0.212002, 1.839536  Reprojection Error: -0.217088, 0.153308 Feature: 0.043569, 0.037996, 0.998328
[11:52:55.550] xyz_f:0.353065, -0.149587, 1.805411  Reprojection Error: -0.288351, 0.173053 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.550] xyz_f:0.494867, 0.038106, 1.866660  Reprojection Error: -0.217193, 0.279081 Feature: 0.045853, 0.286602, 0.956952
[11:52:55.550] xyz_f:0.738707, -0.641055, 1.668872  Reprojection Error: -0.102607, -0.107792 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.550] xyz_f:-0.511928, -1.146970, 1.933332  Reprojection Error: 0.494480, 0.374738 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.550] xyz_f:0.405186, -0.041623, 1.340610  Reprojection Error: -0.015153, -0.210227 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.550] xyz_f:-0.385632, -1.116569, 1.973412  Reprojection Error: 0.385380, 0.360814 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.550] xyz_f:0.683156, -0.447010, 1.793258  Reprojection Error: -0.100397, 0.034013 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.550] xyz_f:0.459940, -0.244467, 1.825572  Reprojection Error: -0.202514, 0.136939 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.550] xyz_f:0.150698, -0.964883, 1.493219  Reprojection Error: -0.039815, 0.659667 Feature: -0.312634, -0.778864, 0.969795
[11:52:55.550] xyz_f:0.551076, -0.024496, 1.110528  Reprojection Error: -0.565423, 0.119012 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.550] xyz_f:0.283848, -0.046081, 1.782996  Reprojection Error: -0.307557, 0.214832 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.550] xyz_f:0.286838, -0.039851, 1.784886  Reprojection Error: -0.309226, 0.218248 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.550] xyz_f:-0.488806, -1.126378, 1.942528  Reprojection Error: 0.329797, 0.875791 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.550] xyz_f:0.353065, -0.149587, 1.805411  Reprojection Error: 0.161020, 0.427073 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.550] xyz_f:-0.489908, -1.121687, 1.936640  Reprojection Error: 0.467855, 0.956957 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.550] xyz_f:0.685688, -0.639785, 1.667053  Reprojection Error: -0.484780, 0.888989 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.550] it:3 	 Success 	 new_chi2: 6.635014 	 dT = -0.029952, 0.143710, 0.012882
[11:52:55.550] xyz_f:0.815090, -0.639992, 1.811539  Reprojection Error: -0.198396, -0.123724 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.550] xyz_f:0.590016, -0.245426, 1.972863  Reprojection Error: -0.275771, 0.127425 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.550] xyz_f:0.799464, -0.456905, 1.931824  Reprojection Error: -0.174566, 0.013603 Feature: 0.227422, -0.211871, 0.950468
[11:52:55.550] xyz_f:0.479651, -0.143180, 1.954025  Reprojection Error: -0.341791, 0.171093 Feature: -0.095428, 0.096910, 0.990708
[11:52:55.550] xyz_f:0.760474, -0.438466, 1.937091  Reprojection Error: -0.194822, 0.026172 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.550] xyz_f:0.868132, -0.641086, 1.812698  Reprojection Error: -0.164186, -0.132367 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.550] xyz_f:0.849806, -0.463003, 1.931326  Reprojection Error: -0.145511, 0.006999 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.550] xyz_f:0.479789, -0.138861, 1.954754  Reprojection Error: -0.341807, 0.173303 Feature: -0.095422, 0.101271, 0.990272
[11:52:55.550] xyz_f:0.601200, -0.233554, 1.979234  Reprojection Error: -0.268848, 0.134154 Feature: 0.034880, 0.016140, 0.999261
[11:52:55.550] xyz_f:0.412747, -0.047630, 1.932485  Reprojection Error: -0.392371, 0.214415 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.550] xyz_f:0.773216, -0.456482, 1.929516  Reprojection Error: -0.189791, 0.014808 Feature: 0.201704, -0.212060, 0.956215
[11:52:55.550] xyz_f:0.626550, -0.218303, 1.989857  Reprojection Error: -0.253773, 0.143411 Feature: 0.060950, 0.033621, 0.997574
[11:52:55.550] xyz_f:0.813487, -0.447225, 1.937770  Reprojection Error: -0.165126, 0.019076 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.550] xyz_f:0.759651, -0.469881, 1.920842  Reprojection Error: -0.199500, 0.006831 Feature: 0.187288, -0.227247, 0.955658
[11:52:55.550] xyz_f:0.823837, -0.470786, 1.926192  Reprojection Error: -0.162027, 0.003537 Feature: 0.250081, -0.226737, 0.941302
[11:52:55.550] xyz_f:0.752582, 0.096170, 2.033463  Reprojection Error: -0.186675, 0.330921 Feature: 0.169093, 0.348664, 0.921868
[11:52:55.550] xyz_f:0.415740, -0.041389, 1.934338  Reprojection Error: -0.390847, 0.218041 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.550] xyz_f:0.630305, 0.035658, 2.015039  Reprojection Error: -0.258518, 0.280580 Feature: 0.051947, 0.285446, 0.956986
[11:52:55.550] xyz_f:0.831242, -0.449292, 1.937710  Reprojection Error: -0.154904, 0.016912 Feature: 0.258826, -0.202994, 0.944353
[11:52:55.550] xyz_f:0.621149, -0.200860, 1.992307  Reprojection Error: -0.256465, 0.152066 Feature: 0.055152, 0.051103, 0.997169
[11:52:55.550] xyz_f:0.755161, -0.446233, 1.932549  Reprojection Error: -0.198874, 0.021567 Feature: 0.184586, -0.201375, 0.961965
[11:52:55.550] xyz_f:0.620853, -0.226436, 1.986441  Reprojection Error: -0.257285, 0.138917 Feature: 0.055160, 0.024881, 0.998167
[11:52:55.550] xyz_f:0.482127, -0.149943, 1.953998  Reprojection Error: -0.340068, 0.167873 Feature: -0.092545, 0.090371, 0.991599
[11:52:55.550] xyz_f:0.609762, -0.212895, 1.986581  Reprojection Error: -0.263298, 0.145227 Feature: 0.043569, 0.037996, 0.998328
[11:52:55.550] xyz_f:0.482583, -0.150904, 1.954035  Reprojection Error: -0.339759, 0.167425 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.550] xyz_f:0.624509, 0.037262, 2.013519  Reprojection Error: -0.262243, 0.280989 Feature: 0.045853, 0.286602, 0.956952
[11:52:55.550] xyz_f:0.868132, -0.641086, 1.812698  Reprojection Error: -0.138886, -0.138252 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.550] xyz_f:-0.377422, -1.151162, 2.092688  Reprojection Error: 0.410043, 0.331565 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.550] xyz_f:0.528556, -0.042776, 1.488623  Reprojection Error: -0.067976, -0.212539 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.550] xyz_f:-0.250739, -1.120339, 2.131194  Reprojection Error: 0.307618, 0.320694 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.550] xyz_f:0.813487, -0.447225, 1.937770  Reprojection Error: -0.139244, 0.015534 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.550] xyz_f:0.590016, -0.245426, 1.972863  Reprojection Error: -0.249637, 0.127428 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.550] xyz_f:0.279066, -0.966876, 1.644368  Reprojection Error: -0.108604, 0.601483 Feature: -0.312634, -0.778864, 0.969795
[11:52:55.550] xyz_f:0.671514, -0.025168, 1.256744  Reprojection Error: -0.603522, 0.116980 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.550] xyz_f:0.412747, -0.047630, 1.932485  Reprojection Error: -0.361943, 0.213634 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.550] xyz_f:0.415740, -0.041389, 1.934338  Reprojection Error: -0.363448, 0.217319 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.550] xyz_f:-0.354256, -1.130493, 2.101596  Reprojection Error: 0.246729, 0.833861 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.550] xyz_f:0.482583, -0.150904, 1.954035  Reprojection Error: 0.109612, 0.421445 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.550] xyz_f:-0.355447, -1.125806, 2.095723  Reprojection Error: 0.384492, 0.914957 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.550] xyz_f:0.815090, -0.639992, 1.811539  Reprojection Error: -0.523406, 0.858493 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.550] it:4 	 Success 	 new_chi2: 6.805927 	 dT = -0.029270, 0.174317, 0.009881
[11:52:55.550] xyz_f:1.009075, -0.639837, 1.636640  Reprojection Error: -0.365005, -0.086066 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.551] xyz_f:0.783481, -0.244694, 1.795813  Reprojection Error: -0.412987, 0.139282 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.551] xyz_f:0.992770, -0.456708, 1.756773  Reprojection Error: -0.325837, 0.037058 Feature: 0.227422, -0.211871, 0.950468
[11:52:55.551] xyz_f:0.673563, -0.142166, 1.775924  Reprojection Error: -0.475598, 0.177871 Feature: -0.095428, 0.096910, 0.990708
[11:52:55.551] xyz_f:0.953778, -0.438169, 1.761668  Reprojection Error: -0.343643, 0.048544 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.551] xyz_f:1.062101, -0.641066, 1.638305  Reprojection Error: -0.333561, -0.094733 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.551] xyz_f:1.043098, -0.462935, 1.756755  Reprojection Error: -0.299264, 0.030783 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.551] xyz_f:0.673705, -0.137848, 1.776655  Reprojection Error: -0.475558, 0.179854 Feature: -0.095422, 0.101271, 0.990272
[11:52:55.551] xyz_f:0.794634, -0.232850, 1.802291  Reprojection Error: -0.405996, 0.145349 Feature: 0.034880, 0.016140, 0.999261
[11:52:55.551] xyz_f:0.607112, -0.046445, 1.753748  Reprojection Error: -0.524967, 0.216252 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.551] xyz_f:0.966547, -0.456218, 1.754214  Reprojection Error: -0.340045, 0.038300 Feature: 0.201704, -0.212060, 0.956215
[11:52:55.551] xyz_f:0.819921, -0.217664, 1.813155  Reprojection Error: -0.391108, 0.153750 Feature: 0.060950, 0.033621, 0.997574
[11:52:55.551] xyz_f:1.006760, -0.447064, 1.762852  Reprojection Error: -0.316418, 0.041885 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.551] xyz_f:0.953030, -0.469582, 1.745411  Reprojection Error: -0.350043, 0.031247 Feature: 0.187288, -0.227247, 0.955658
[11:52:55.551] xyz_f:1.017160, -0.470651, 1.751373  Reprojection Error: -0.315103, 0.027857 Feature: 0.250081, -0.226737, 0.941302
[11:52:55.551] xyz_f:0.946335, 0.096486, 1.857967  Reprojection Error: -0.325915, 0.326284 Feature: 0.169093, 0.348664, 0.921868
[11:52:55.551] xyz_f:0.610103, -0.040213, 1.755630  Reprojection Error: -0.523433, 0.219549 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.551] xyz_f:0.824084, 0.036286, 1.838376  Reprojection Error: -0.393985, 0.278538 Feature: 0.051947, 0.285446, 0.956986
[11:52:55.551] xyz_f:1.024509, -0.449177, 1.762962  Reprojection Error: -0.307052, 0.039829 Feature: 0.258826, -0.202994, 0.944353
[11:52:55.551] xyz_f:0.814541, -0.200208, 1.815554  Reprojection Error: -0.393337, 0.161522 Feature: 0.055152, 0.051103, 0.997169
[11:52:55.551] xyz_f:0.948489, -0.445923, 1.757075  Reprojection Error: -0.347927, 0.044450 Feature: 0.184586, -0.201375, 0.961965
[11:52:55.551] xyz_f:0.814236, -0.225783, 1.809685  Reprojection Error: -0.394671, 0.149690 Feature: 0.055160, 0.024881, 0.998167
[11:52:55.551] xyz_f:0.676021, -0.148935, 1.775921  Reprojection Error: -0.473989, 0.175000 Feature: -0.092545, 0.090371, 0.991599
[11:52:55.551] xyz_f:0.803179, -0.212214, 1.809720  Reprojection Error: -0.400171, 0.155323 Feature: 0.043569, 0.037996, 0.998328
[11:52:55.551] xyz_f:0.676474, -0.149897, 1.775962  Reprojection Error: -0.473698, 0.174601 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.551] xyz_f:0.818307, 0.037906, 1.836800  Reprojection Error: -0.397592, 0.278858 Feature: 0.045853, 0.286602, 0.956952
[11:52:55.551] xyz_f:1.062101, -0.641066, 1.638305  Reprojection Error: -0.308261, -0.100618 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.551] xyz_f:-0.187369, -1.147951, 1.906389  Reprojection Error: 0.327975, 0.383637 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.551] xyz_f:0.727164, -0.041894, 1.311012  Reprojection Error: -0.267571, -0.209320 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.551] xyz_f:-0.060981, -1.117452, 1.946102  Reprojection Error: 0.221301, 0.369208 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.551] xyz_f:1.006760, -0.447064, 1.762852  Reprojection Error: -0.290536, 0.038343 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.551] xyz_f:0.783481, -0.244694, 1.795813  Reprojection Error: -0.386853, 0.139285 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.551] xyz_f:0.473837, -0.965350, 1.464357  Reprojection Error: -0.262474, 0.672722 Feature: -0.312634, -0.778864, 0.969795
[11:52:55.551] xyz_f:0.872373, -0.024653, 1.080508  Reprojection Error: -0.876567, 0.119770 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.551] xyz_f:0.607112, -0.046445, 1.753748  Reprojection Error: -0.494539, 0.215471 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.551] xyz_f:0.610103, -0.040213, 1.755630  Reprojection Error: -0.496034, 0.218826 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.551] xyz_f:-0.164237, -1.127342, 1.915518  Reprojection Error: 0.163903, 0.884470 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.551] xyz_f:0.676474, -0.149897, 1.775962  Reprojection Error: -0.024326, 0.428621 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.551] xyz_f:-0.165359, -1.122652, 1.909633  Reprojection Error: 0.301479, 0.965653 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.551] xyz_f:1.009075, -0.639837, 1.636640  Reprojection Error: -0.690016, 0.896152 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.551] it:5 	 Success 	 new_chi2: 9.279661 	 dT = -0.022032, 0.145859, 0.006128
[11:52:55.551] xyz_f:0.789005, -0.639936, 1.782870  Reprojection Error: -0.191000, -0.118075 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.551] xyz_f:0.563730, -0.245151, 1.943378  Reprojection Error: -0.266783, 0.129171 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.551] xyz_f:0.773121, -0.456833, 1.903098  Reprojection Error: -0.166970, 0.017135 Feature: 0.227422, -0.211871, 0.950468
[11:52:55.551] xyz_f:0.453534, -0.142798, 1.924139  Reprojection Error: -0.332030, 0.172033 Feature: -0.095428, 0.096910, 0.990708
[11:52:55.551] xyz_f:0.734129, -0.438356, 1.908223  Reprojection Error: -0.186955, 0.029539 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.551] xyz_f:0.842041, -0.641081, 1.784221  Reprojection Error: -0.157207, -0.126725 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.551] xyz_f:0.823458, -0.462980, 1.902782  Reprojection Error: -0.138265, 0.010583 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.551] xyz_f:0.453673, -0.138479, 1.924869  Reprojection Error: -0.332050, 0.174207 Feature: -0.095422, 0.101271, 0.990272
[11:52:55.551] xyz_f:0.574903, -0.233289, 1.949789  Reprojection Error: -0.259948, 0.135801 Feature: 0.034880, 0.016140, 0.999261
[11:52:55.551] xyz_f:0.386802, -0.047182, 1.902357  Reprojection Error: -0.382115, 0.214570 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.551] xyz_f:0.746882, -0.456385, 1.900695  Reprojection Error: -0.182012, 0.018345 Feature: 0.201704, -0.212060, 0.956215
[11:52:55.551] xyz_f:0.600229, -0.218063, 1.960504  Reprojection Error: -0.245062, 0.144931 Feature: 0.060950, 0.033621, 0.997574
[11:52:55.551] xyz_f:0.787131, -0.447167, 1.909094  Reprojection Error: -0.157627, 0.022512 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.551] xyz_f:0.733334, -0.469770, 1.891972  Reprojection Error: -0.191626, 0.010506 Feature: 0.187288, -0.227247, 0.955658
[11:52:55.551] xyz_f:0.797500, -0.470738, 1.897554  Reprojection Error: -0.154603, 0.007201 Feature: 0.250081, -0.226737, 0.941302
[11:52:55.551] xyz_f:0.726408, 0.096287, 2.004568  Reprojection Error: -0.178952, 0.330181 Feature: 0.169093, 0.348664, 0.921868
[11:52:55.551] xyz_f:0.389793, -0.040945, 1.904222  Reprojection Error: -0.380621, 0.218146 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.551] xyz_f:0.604139, 0.035894, 1.985700  Reprojection Error: -0.249963, 0.280200 Feature: 0.051947, 0.285446, 0.956986
[11:52:55.551] xyz_f:0.804884, -0.449251, 1.909099  Reprojection Error: -0.147527, 0.020365 Feature: 0.258826, -0.202994, 0.944353
[11:52:55.551] xyz_f:0.594836, -0.200615, 1.962934  Reprojection Error: -0.247726, 0.153450 Feature: 0.055152, 0.051103, 0.997169
[11:52:55.551] xyz_f:0.728825, -0.446118, 1.903662  Reprojection Error: -0.190970, 0.025010 Feature: 0.184586, -0.201375, 0.961965
[11:52:55.551] xyz_f:0.594537, -0.226191, 1.957067  Reprojection Error: -0.248529, 0.140503 Feature: 0.055160, 0.024881, 0.998167
[11:52:55.551] xyz_f:0.456003, -0.149563, 1.924122  Reprojection Error: -0.330322, 0.168867 Feature: -0.092545, 0.090371, 0.991599
[11:52:55.551] xyz_f:0.583458, -0.212639, 1.957168  Reprojection Error: -0.254471, 0.146707 Feature: 0.043569, 0.037996, 0.998328
[11:52:55.551] xyz_f:0.456458, -0.150524, 1.924160  Reprojection Error: -0.330016, 0.168426 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.551] xyz_f:0.598350, 0.037504, 1.984159  Reprojection Error: -0.253648, 0.280593 Feature: 0.045853, 0.286602, 0.956952
[11:52:55.551] xyz_f:0.842041, -0.641081, 1.784221  Reprojection Error: -0.131906, -0.132611 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.551] xyz_f:-0.405015, -1.149946, 2.059693  Reprojection Error: 0.426328, 0.339787 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.551] xyz_f:0.504223, -0.042442, 1.458919  Reprojection Error: -0.058527, -0.212183 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.551] xyz_f:-0.278442, -1.119247, 2.098658  Reprojection Error: 0.322643, 0.328323 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.551] xyz_f:0.787131, -0.447167, 1.909094  Reprojection Error: -0.131744, 0.018970 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.551] xyz_f:0.563730, -0.245151, 1.943378  Reprojection Error: -0.240649, 0.129174 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.551] xyz_f:0.253273, -0.966299, 1.613756  Reprojection Error: -0.095840, 0.612279 Feature: -0.312634, -0.778864, 0.969795
[11:52:55.551] xyz_f:0.648038, -0.024973, 1.227559  Reprojection Error: -0.597101, 0.117298 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.551] xyz_f:0.386802, -0.047182, 1.902357  Reprojection Error: -0.351687, 0.213790 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.551] xyz_f:0.389793, -0.040945, 1.904222  Reprojection Error: -0.353222, 0.217424 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.551] xyz_f:-0.381862, -1.129300, 2.068686  Reprojection Error: 0.262755, 0.841842 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.551] xyz_f:0.456458, -0.150524, 1.924160  Reprojection Error: 0.119355, 0.422446 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.551] xyz_f:-0.383026, -1.124612, 2.062808  Reprojection Error: 0.400569, 0.922949 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.551] xyz_f:0.789005, -0.639936, 1.782870  Reprojection Error: -0.516011, 0.864143 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.551] it:6 	 Success 	 new_chi2: 3.935927 	 dT = -0.039037, 0.132522, 0.009981
[11:52:55.551] xyz_f:0.926900, -0.640079, 1.915925  Reprojection Error: -0.232239, -0.142927 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.551] xyz_f:0.702164, -0.245875, 2.078603  Reprojection Error: -0.314511, 0.121313 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.551] xyz_f:0.911703, -0.457016, 2.036304  Reprojection Error: -0.208451, 0.001522 Feature: 0.227422, -0.211871, 0.950468
[11:52:55.551] xyz_f:0.591523, -0.143807, 2.060429  Reprojection Error: -0.383411, 0.167614 Feature: -0.095428, 0.096910, 0.990708
[11:52:55.551] xyz_f:0.872715, -0.438640, 2.041805  Reprojection Error: -0.229660, 0.014649 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.551] xyz_f:0.979950, -0.641087, 1.916765  Reprojection Error: -0.196521, -0.151568 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.551] xyz_f:0.962050, -0.463033, 2.035502  Reprojection Error: -0.178135, -0.005256 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.551] xyz_f:0.591658, -0.139488, 2.061157  Reprojection Error: -0.383411, 0.169940 Feature: -0.095422, 0.101271, 0.990272
[11:52:55.551] xyz_f:0.713367, -0.233985, 2.084906  Reprojection Error: -0.307252, 0.128380 Feature: 0.034880, 0.016140, 0.999261
[11:52:55.551] xyz_f:0.524337, -0.048365, 2.039292  Reprojection Error: -0.435905, 0.213485 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.551] xyz_f:0.885441, -0.456636, 2.034153  Reprojection Error: -0.224347, 0.002714 Feature: 0.201704, -0.212060, 0.956215
[11:52:55.551] xyz_f:0.738757, -0.218693, 2.095376  Reprojection Error: -0.291466, 0.138072 Feature: 0.060950, 0.033621, 0.997574
[11:52:55.551] xyz_f:0.925745, -0.447314, 2.042165  Reprojection Error: -0.198636, 0.007321 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.551] xyz_f:0.871845, -0.470056, 2.025561  Reprojection Error: -0.234444, -0.005729 Feature: 0.187288, -0.227247, 0.955658
[11:52:55.551] xyz_f:0.936063, -0.470858, 2.030524  Reprojection Error: -0.195321, -0.008986 Feature: 0.250081, -0.226737, 0.941302
[11:52:55.551] xyz_f:0.864542, 0.095983, 2.138226  Reprojection Error: -0.220902, 0.333326 Feature: 0.169093, 0.348664, 0.921868
[11:52:55.551] xyz_f:0.527331, -0.042120, 2.041128  Reprojection Error: -0.434274, 0.217280 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.551] xyz_f:0.742253, 0.035273, 2.120537  Reprojection Error: -0.295749, 0.281642 Feature: 0.051947, 0.285446, 0.956986
[11:52:55.551] xyz_f:0.943503, -0.449353, 2.041998  Reprojection Error: -0.187971, 0.005099 Feature: 0.258826, -0.202994, 0.944353
[11:52:55.551] xyz_f:0.733342, -0.201259, 2.097859  Reprojection Error: -0.294258, 0.147184 Feature: 0.055152, 0.051103, 0.997169
[11:52:55.551] xyz_f:0.867387, -0.446416, 2.037295  Reprojection Error: -0.233870, 0.009785 Feature: 0.184586, -0.201375, 0.961965
[11:52:55.551] xyz_f:0.733052, -0.226835, 2.091995  Reprojection Error: -0.295147, 0.133357 Feature: 0.055160, 0.024881, 0.998167
[11:52:55.551] xyz_f:0.594010, -0.150566, 2.060388  Reprojection Error: -0.381629, 0.164213 Feature: -0.092545, 0.090371, 0.991599
[11:52:55.551] xyz_f:0.721940, -0.213313, 2.092202  Reprojection Error: -0.301420, 0.140016 Feature: 0.043569, 0.037996, 0.998328
[11:52:55.551] xyz_f:0.594467, -0.151526, 2.060421  Reprojection Error: -0.381309, 0.163739 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.551] xyz_f:0.736445, 0.036869, 2.119051  Reprojection Error: -0.299620, 0.282096 Feature: 0.045853, 0.286602, 0.956952
[11:52:55.551] xyz_f:0.979950, -0.641087, 1.916765  Reprojection Error: -0.171220, -0.157453 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.551] xyz_f:-0.263074, -1.153169, 2.204241  Reprojection Error: 0.349039, 0.304636 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.551] xyz_f:0.637466, -0.043327, 1.594742  Reprojection Error: -0.112642, -0.214106 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.551] xyz_f:-0.136211, -1.122142, 2.241984  Reprojection Error: 0.250721, 0.295521 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.551] xyz_f:0.925745, -0.447314, 2.042165  Reprojection Error: -0.172754, 0.003779 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.551] xyz_f:0.702164, -0.245875, 2.078603  Reprojection Error: -0.288377, 0.121316 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.551] xyz_f:0.390407, -0.967827, 1.751981  Reprojection Error: -0.161731, 0.565909 Feature: -0.312634, -0.778864, 0.969795
[11:52:55.551] xyz_f:0.778997, -0.025489, 1.362007  Reprojection Error: -0.641142, 0.115668 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.551] xyz_f:0.524337, -0.048365, 2.039292  Reprojection Error: -0.405476, 0.212704 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.551] xyz_f:0.527331, -0.042120, 2.041128  Reprojection Error: -0.406875, 0.216557 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.551] xyz_f:-0.239889, -1.132462, 2.213010  Reprojection Error: 0.186562, 0.807669 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.551] xyz_f:0.594467, -0.151526, 2.060421  Reprojection Error: 0.068062, 0.417759 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.551] xyz_f:-0.241122, -1.127777, 2.207143  Reprojection Error: 0.324133, 0.888731 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.551] xyz_f:0.926900, -0.640079, 1.915925  Reprojection Error: -0.557250, 0.839290 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.551] it:7 	 Success 	 new_chi2: 4.473094 	 dT = -0.039064, 0.154754, 0.007169
[11:52:55.551] xyz_f:1.131028, -0.639979, 1.760797  Reprojection Error: -0.390791, -0.113551 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.551] xyz_f:0.905903, -0.245357, 1.921916  Reprojection Error: -0.448059, 0.130687 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.551] xyz_f:1.115338, -0.456887, 1.881068  Reprojection Error: -0.353654, 0.019975 Feature: 0.227422, -0.211871, 0.950468
[11:52:55.551] xyz_f:0.795580, -0.143085, 1.902977  Reprojection Error: -0.514395, 0.173009 Feature: -0.095428, 0.096910, 0.990708
[11:52:55.551] xyz_f:1.076347, -0.438439, 1.886299  Reprojection Error: -0.372849, 0.032253 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.551] xyz_f:1.184069, -0.641085, 1.762004  Reprojection Error: -0.357270, -0.122193 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.551] xyz_f:1.165678, -0.462998, 1.880615  Reprojection Error: -0.325338, 0.013460 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.551] xyz_f:0.795719, -0.138765, 1.903707  Reprojection Error: -0.514343, 0.175158 Feature: -0.095422, 0.101271, 0.990272
[11:52:55.551] xyz_f:0.917085, -0.233488, 1.928297  Reprojection Error: -0.440687, 0.137237 Feature: 0.034880, 0.016140, 0.999261
[11:52:55.551] xyz_f:0.728720, -0.047518, 1.881377  Reprojection Error: -0.566121, 0.215025 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.551] xyz_f:1.089092, -0.456458, 1.878736  Reprojection Error: -0.368754, 0.021190 Feature: 0.201704, -0.212060, 0.956215
[11:52:55.551] xyz_f:0.942429, -0.218243, 1.938943  Reprojection Error: -0.424954, 0.146261 Feature: 0.060950, 0.033621, 0.997574
[11:52:55.551] xyz_f:1.129357, -0.447211, 1.887026  Reprojection Error: -0.343806, 0.025275 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.551] xyz_f:1.075531, -0.469853, 1.870050  Reprojection Error: -0.379157, 0.013461 Feature: 0.187288, -0.227247, 0.955658
[11:52:55.551] xyz_f:1.139712, -0.470774, 1.875457  Reprojection Error: -0.342023, 0.010143 Feature: 0.250081, -0.226737, 0.941302
[11:52:55.551] xyz_f:1.068498, 0.096199, 1.982664  Reprojection Error: -0.355496, 0.329695 Feature: 0.169093, 0.348664, 0.921868
[11:52:55.551] xyz_f:0.731712, -0.041278, 1.883233  Reprojection Error: -0.564462, 0.218563 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.551] xyz_f:0.946222, 0.035717, 1.964129  Reprojection Error: -0.427470, 0.280091 Feature: 0.051947, 0.285446, 0.956986
[11:52:55.551] xyz_f:1.147112, -0.449283, 1.886983  Reprojection Error: -0.333830, 0.023140 Feature: 0.258826, -0.202994, 0.944353
[11:52:55.551] xyz_f:0.937030, -0.200799, 1.941388  Reprojection Error: -0.427351, 0.154679 Feature: 0.055152, 0.051103, 0.997169
[11:52:55.551] xyz_f:1.071036, -0.446205, 1.881753  Reprojection Error: -0.377285, 0.027785 Feature: 0.184586, -0.201375, 0.961965
[11:52:55.551] xyz_f:0.936733, -0.226375, 1.935522  Reprojection Error: -0.428708, 0.141885 Feature: 0.055160, 0.024881, 0.998167
[11:52:55.551] xyz_f:0.798055, -0.149848, 1.902953  Reprojection Error: -0.512706, 0.169881 Feature: -0.092545, 0.090371, 0.991599
[11:52:55.551] xyz_f:0.925645, -0.212831, 1.935652  Reprojection Error: -0.434566, 0.148013 Feature: 0.043569, 0.037996, 0.998328
[11:52:55.551] xyz_f:0.798510, -0.150809, 1.902990  Reprojection Error: -0.512400, 0.169446 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.551] xyz_f:0.940428, 0.037323, 1.962603  Reprojection Error: -0.431259, 0.280478 Feature: 0.045853, 0.286602, 0.956952
[11:52:55.551] xyz_f:1.184069, -0.641085, 1.762004  Reprojection Error: -0.331970, -0.128078 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.551] xyz_f:-0.061863, -1.150857, 2.040862  Reprojection Error: 0.260002, 0.345385 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.551] xyz_f:0.844933, -0.042693, 1.437621  Reprojection Error: -0.300643, -0.211578 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.551] xyz_f:0.064792, -1.120066, 2.079483  Reprojection Error: 0.158808, 0.333635 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.551] xyz_f:1.129357, -0.447211, 1.887026  Reprojection Error: -0.317924, 0.021733 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.551] xyz_f:0.905903, -0.245357, 1.921916  Reprojection Error: -0.421925, 0.130690 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.551] xyz_f:0.595077, -0.966731, 1.593139  Reprojection Error: -0.312418, 0.620300 Feature: -0.312634, -0.778864, 0.969795
[11:52:55.551] xyz_f:0.988106, -0.025119, 1.205872  Reprojection Error: -0.888606, 0.117784 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.551] xyz_f:0.728720, -0.047518, 1.881377  Reprojection Error: -0.535692, 0.214244 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.551] xyz_f:0.731712, -0.041278, 1.883233  Reprojection Error: -0.537062, 0.217840 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.551] xyz_f:-0.038701, -1.130194, 2.049791  Reprojection Error: 0.097044, 0.847310 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.551] xyz_f:0.798510, -0.150809, 1.902990  Reprojection Error: -0.063029, 0.423466 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.551] xyz_f:-0.039885, -1.125507, 2.043916  Reprojection Error: 0.234401, 0.928426 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.551] xyz_f:1.131028, -0.639979, 1.760797  Reprojection Error: -0.715802, 0.868667 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.551] it:8 	 Success 	 new_chi2: 1.759716 	 dT = -0.031870, 0.068821, 0.000891
[11:52:55.551] xyz_f:0.968273, -0.639965, 1.691926  Reprojection Error: -0.320742, -0.098764 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.551] xyz_f:0.743100, -0.245292, 1.852852  Reprojection Error: -0.377763, 0.135411 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.551] xyz_f:0.952521, -0.456870, 1.812184  Reprojection Error: -0.286347, 0.029198 Feature: 0.227422, -0.211871, 0.950468
[11:52:55.551] xyz_f:0.632817, -0.142994, 1.833818  Reprojection Error: -0.441405, 0.175795 Feature: -0.095428, 0.096910, 0.990708
[11:52:55.551] xyz_f:0.913530, -0.438413, 1.817382  Reprojection Error: -0.304899, 0.041052 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.551] xyz_f:1.021312, -0.641084, 1.693179  Reprojection Error: -0.288461, -0.107404 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.551] xyz_f:1.002860, -0.462992, 1.811775  Reprojection Error: -0.259023, 0.022812 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.552] xyz_f:0.632956, -0.138675, 1.834548  Reprojection Error: -0.441380, 0.177856 Feature: -0.095422, 0.101271, 0.990272
[11:52:55.552] xyz_f:0.754279, -0.233425, 1.859242  Reprojection Error: -0.370786, 0.141701 Feature: 0.034880, 0.016140, 0.999261
[11:52:55.552] xyz_f:0.565998, -0.047412, 1.812160  Reprojection Error: -0.491121, 0.215931 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.552] xyz_f:0.926277, -0.456435, 1.809829  Reprojection Error: -0.300864, 0.030428 Feature: 0.201704, -0.212060, 0.956215
[11:52:55.552] xyz_f:0.779618, -0.218186, 1.869910  Reprojection Error: -0.355829, 0.150386 Feature: 0.060950, 0.033621, 0.997574
[11:52:55.552] xyz_f:0.966538, -0.447197, 1.818154  Reprojection Error: -0.276924, 0.034244 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.552] xyz_f:0.912721, -0.469827, 1.801131  Reprojection Error: -0.310771, 0.023060 Feature: 0.187288, -0.227247, 0.955658
[11:52:55.552] xyz_f:0.976897, -0.470763, 1.806594  Reprojection Error: -0.275064, 0.019705 Feature: 0.250081, -0.226737, 0.941302
[11:52:55.552] xyz_f:0.905722, 0.096227, 1.913740  Reprojection Error: -0.289849, 0.327933 Feature: 0.169093, 0.348664, 0.921868
[11:52:55.552] xyz_f:0.568990, -0.041173, 1.814019  Reprojection Error: -0.489584, 0.219341 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.552] xyz_f:0.783448, 0.035773, 1.895100  Reprojection Error: -0.359125, 0.279400 Feature: 0.051947, 0.285446, 0.956986
[11:52:55.552] xyz_f:0.984292, -0.449273, 1.818126  Reprojection Error: -0.267299, 0.032152 Feature: 0.258826, -0.202994, 0.944353
[11:52:55.552] xyz_f:0.774221, -0.200741, 1.872351  Reprojection Error: -0.358193, 0.158462 Feature: 0.055152, 0.051103, 0.997169
[11:52:55.552] xyz_f:0.908221, -0.446177, 1.812831  Reprojection Error: -0.309112, 0.036785 Feature: 0.184586, -0.201375, 0.961965
[11:52:55.552] xyz_f:0.773923, -0.226317, 1.866485  Reprojection Error: -0.359381, 0.146179 Feature: 0.055160, 0.024881, 0.998167
[11:52:55.552] xyz_f:0.635290, -0.149758, 1.833796  Reprojection Error: -0.439764, 0.172802 Feature: -0.092545, 0.090371, 0.991599
[11:52:55.552] xyz_f:0.762838, -0.212771, 1.866605  Reprojection Error: -0.365034, 0.152048 Feature: 0.043569, 0.037996, 0.998328
[11:52:55.552] xyz_f:0.635746, -0.150719, 1.833833  Reprojection Error: -0.439468, 0.172386 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.552] xyz_f:0.777655, 0.037380, 1.893569  Reprojection Error: -0.362767, 0.279754 Feature: 0.045853, 0.286602, 0.956952
[11:52:55.552] xyz_f:1.021312, -0.641084, 1.693179  Reprojection Error: -0.263161, -0.113289 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.552] xyz_f:-0.224977, -1.150569, 1.970964  Reprojection Error: 0.343836, 0.365237 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.552] xyz_f:0.682594, -0.042613, 1.368504  Reprojection Error: -0.211701, -0.210136 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.552] xyz_f:-0.098348, -1.119806, 2.009694  Reprojection Error: 0.238903, 0.352210 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.552] xyz_f:0.966538, -0.447197, 1.818154  Reprojection Error: -0.251042, 0.030702 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.552] xyz_f:0.743100, -0.245292, 1.852852  Reprojection Error: -0.351629, 0.135413 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.552] xyz_f:0.432391, -0.966594, 1.523807  Reprojection Error: -0.222651, 0.647819 Feature: -0.312634, -0.778864, 0.969795
[11:52:55.552] xyz_f:0.825970, -0.025073, 1.136878  Reprojection Error: -0.795718, 0.119008 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.552] xyz_f:0.565998, -0.047412, 1.812160  Reprojection Error: -0.460692, 0.215151 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.552] xyz_f:0.568990, -0.041173, 1.814019  Reprojection Error: -0.462185, 0.218618 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.552] xyz_f:-0.201818, -1.129911, 1.979913  Reprojection Error: 0.180096, 0.866627 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.552] xyz_f:0.635746, -0.150719, 1.833833  Reprojection Error: 0.009904, 0.426406 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.552] xyz_f:-0.202995, -1.125223, 1.974038  Reprojection Error: 0.317719, 0.947776 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.552] xyz_f:0.968273, -0.639965, 1.691926  Reprojection Error: -0.645753, 0.883453 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.552] it:9 	 Success 	 new_chi2: 1.901609 	 dT = -0.041542, 0.054251, 0.002537
[11:52:55.552] xyz_f:0.906827, -0.639926, 1.637530  Reprojection Error: -0.302229, -0.086223 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.552] xyz_f:0.681520, -0.245105, 1.797904  Reprojection Error: -0.355769, 0.139353 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.552] xyz_f:0.890901, -0.456821, 1.757749  Reprojection Error: -0.267568, 0.036978 Feature: 0.227422, -0.211871, 0.950468
[11:52:55.552] xyz_f:0.571351, -0.142735, 1.778600  Reprojection Error: -0.417559, 0.178070 Feature: -0.095428, 0.096910, 0.990708
[11:52:55.552] xyz_f:0.851909, -0.438338, 1.762851  Reprojection Error: -0.285493, 0.048472 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.552] xyz_f:0.959862, -0.641080, 1.638913  Reprojection Error: -0.270939, -0.094870 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.552] xyz_f:0.941236, -0.462976, 1.757463  Reprojection Error: -0.241065, 0.030700 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.552] xyz_f:0.571491, -0.138416, 1.779330  Reprojection Error: -0.417543, 0.180056 Feature: -0.095422, 0.101271, 0.990272
[11:52:55.552] xyz_f:0.692690, -0.233246, 1.804322  Reprojection Error: -0.349000, 0.145423 Feature: 0.034880, 0.016140, 0.999261
[11:52:55.552] xyz_f:0.504647, -0.047109, 1.756779  Reprojection Error: -0.466045, 0.216584 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.552] xyz_f:0.864663, -0.456368, 1.755330  Reprojection Error: -0.281653, 0.038220 Feature: 0.201704, -0.212060, 0.956215
[11:52:55.552] xyz_f:0.718013, -0.218023, 1.815052  Reprojection Error: -0.334490, 0.153822 Feature: 0.060950, 0.033621, 0.997574
[11:52:55.552] xyz_f:0.904909, -0.447157, 1.763754  Reprojection Error: -0.258379, 0.041808 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.552] xyz_f:0.851119, -0.469752, 1.746599  Reprojection Error: -0.291323, 0.031161 Feature: 0.187288, -0.227247, 0.955658
[11:52:55.552] xyz_f:0.915281, -0.470729, 1.752219  Reprojection Error: -0.256680, 0.027772 Feature: 0.250081, -0.226737, 0.941302
[11:52:55.552] xyz_f:0.844215, 0.096307, 1.859191  Reprojection Error: -0.270653, 0.326415 Feature: 0.169093, 0.348664, 0.921868
[11:52:55.552] xyz_f:0.507639, -0.040872, 1.758645  Reprojection Error: -0.464575, 0.219885 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.552] xyz_f:0.721948, 0.035933, 1.840251  Reprojection Error: -0.338028, 0.278750 Feature: 0.051947, 0.285446, 0.956986
[11:52:55.552] xyz_f:0.922661, -0.449244, 1.763769  Reprojection Error: -0.249042, 0.039751 Feature: 0.258826, -0.202994, 0.944353
[11:52:55.552] xyz_f:0.712621, -0.200575, 1.817479  Reprojection Error: -0.336785, 0.161607 Feature: 0.055152, 0.051103, 0.997169
[11:52:55.552] xyz_f:0.846606, -0.446099, 1.758287  Reprojection Error: -0.289610, 0.044375 Feature: 0.184586, -0.201375, 0.961965
[11:52:55.552] xyz_f:0.712321, -0.226150, 1.811612  Reprojection Error: -0.337936, 0.149760 Feature: 0.055160, 0.024881, 0.998167
[11:52:55.552] xyz_f:0.573819, -0.149500, 1.778584  Reprojection Error: -0.415956, 0.175192 Feature: -0.092545, 0.090371, 0.991599
[11:52:55.552] xyz_f:0.701245, -0.212597, 1.811706  Reprojection Error: -0.343421, 0.155406 Feature: 0.043569, 0.037996, 0.998328
[11:52:55.552] xyz_f:0.574274, -0.150462, 1.778623  Reprojection Error: -0.415668, 0.174792 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.552] xyz_f:0.716160, 0.037544, 1.838706  Reprojection Error: -0.341576, 0.279076 Feature: 0.045853, 0.286602, 0.956952
[11:52:55.552] xyz_f:0.959862, -0.641080, 1.638913  Reprojection Error: -0.245639, -0.100755 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.552] xyz_f:-0.287438, -1.149746, 1.913643  Reprojection Error: 0.379895, 0.382293 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.552] xyz_f:0.622333, -0.042387, 1.313410  Reprojection Error: -0.186743, -0.209002 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.552] xyz_f:-0.160884, -1.119067, 1.952683  Reprojection Error: 0.272358, 0.368100 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.552] xyz_f:0.904909, -0.447157, 1.763754  Reprojection Error: -0.232497, 0.038266 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.552] xyz_f:0.681520, -0.245105, 1.797904  Reprojection Error: -0.329635, 0.139355 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.552] xyz_f:0.371144, -0.966204, 1.468098  Reprojection Error: -0.191699, 0.671623 Feature: -0.312634, -0.778864, 0.969795
[11:52:55.552] xyz_f:0.766288, -0.024941, 1.082136  Reprojection Error: -0.777320, 0.120002 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.552] xyz_f:0.504647, -0.047109, 1.756779  Reprojection Error: -0.435616, 0.215803 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.552] xyz_f:0.507639, -0.040872, 1.758645  Reprojection Error: -0.437175, 0.219162 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.552] xyz_f:-0.264287, -1.129103, 1.922649  Reprojection Error: 0.215623, 0.883204 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.552] xyz_f:0.574274, -0.150462, 1.778623  Reprojection Error: 0.033704, 0.428812 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.552] xyz_f:-0.265448, -1.124415, 1.916770  Reprojection Error: 0.353374, 0.964384 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.552] xyz_f:0.906827, -0.639926, 1.637530  Reprojection Error: -0.627240, 0.895994 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.552] it:10 	 Success 	 new_chi2: 1.889070 	 dT = -0.041448, 0.044418, 0.002627
[11:52:55.552] xyz_f:0.850104, -0.639884, 1.592956  Reprojection Error: -0.282116, -0.075315 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.552] xyz_f:0.624659, -0.244910, 1.752758  Reprojection Error: -0.333091, 0.142753 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.552] xyz_f:0.833997, -0.456768, 1.713134  Reprojection Error: -0.247552, 0.043715 Feature: 0.227422, -0.211871, 0.950468
[11:52:55.552] xyz_f:0.514609, -0.142465, 1.733175  Reprojection Error: -0.393240, 0.180018 Feature: -0.095428, 0.096910, 0.990708
[11:52:55.552] xyz_f:0.795005, -0.438258, 1.718137  Reprojection Error: -0.264950, 0.054897 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.552] xyz_f:0.903135, -0.641074, 1.594473  Reprojection Error: -0.251684, -0.083971 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.552] xyz_f:0.884329, -0.462957, 1.712976  Reprojection Error: -0.221753, 0.037531 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.552] xyz_f:0.514750, -0.138146, 1.733905  Reprojection Error: -0.393233, 0.181939 Feature: -0.095422, 0.101271, 0.990272
[11:52:55.552] xyz_f:0.635821, -0.233058, 1.759204  Reprojection Error: -0.326520, 0.148631 Feature: 0.034880, 0.016140, 0.999261
[11:52:55.552] xyz_f:0.448026, -0.046793, 1.711184  Reprojection Error: -0.440610, 0.217114 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.552] xyz_f:0.807766, -0.456298, 1.710649  Reprojection Error: -0.261259, 0.044970 Feature: 0.201704, -0.212060, 0.956215
[11:52:55.552] xyz_f:0.661127, -0.217853, 1.769998  Reprojection Error: -0.312420, 0.156784 Feature: 0.060950, 0.033621, 0.997574
[11:52:55.552] xyz_f:0.847996, -0.447114, 1.719174  Reprojection Error: -0.238579, 0.048357 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.552] xyz_f:0.794235, -0.469672, 1.701883  Reprojection Error: -0.270702, 0.038181 Feature: 0.187288, -0.227247, 0.955658
[11:52:55.552] xyz_f:0.858382, -0.470693, 1.707666  Reprojection Error: -0.236988, 0.034760 Feature: 0.250081, -0.226737, 0.941302
[11:52:55.552] xyz_f:0.787431, 0.096391, 1.814458  Reprojection Error: -0.250552, 0.325091 Feature: 0.169093, 0.348664, 0.921868
[11:52:55.552] xyz_f:0.451017, -0.040559, 1.713058  Reprojection Error: -0.439203, 0.220320 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.552] xyz_f:0.665171, 0.036100, 1.795207  Reprojection Error: -0.316244, 0.278167 Feature: 0.051947, 0.285446, 0.956986
[11:52:55.552] xyz_f:0.865748, -0.449213, 1.719235  Reprojection Error: -0.229488, 0.046331 Feature: 0.258826, -0.202994, 0.944353
[11:52:55.552] xyz_f:0.655741, -0.200401, 1.772412  Reprojection Error: -0.314662, 0.164315 Feature: 0.055152, 0.051103, 0.997169
[11:52:55.552] xyz_f:0.789708, -0.446016, 1.713560  Reprojection Error: -0.268974, 0.050949 Feature: 0.184586, -0.201375, 0.961965
[11:52:55.552] xyz_f:0.655438, -0.225976, 1.766544  Reprojection Error: -0.315768, 0.152846 Feature: 0.055160, 0.024881, 0.998167
[11:52:55.552] xyz_f:0.517073, -0.149232, 1.733165  Reprojection Error: -0.391669, 0.177240 Feature: -0.092545, 0.090371, 0.991599
[11:52:55.552] xyz_f:0.644371, -0.212415, 1.766610  Reprojection Error: -0.321108, 0.158299 Feature: 0.043569, 0.037996, 0.998328
[11:52:55.552] xyz_f:0.517527, -0.150194, 1.733204  Reprojection Error: -0.391387, 0.176855 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.552] xyz_f:0.659388, 0.037716, 1.793647  Reprojection Error: -0.319709, 0.278468 Feature: 0.045853, 0.286602, 0.956952
[11:52:55.552] xyz_f:0.903135, -0.641074, 1.594473  Reprojection Error: -0.226384, -0.089856 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.552] xyz_f:-0.345205, -1.148892, 1.866037  Reprojection Error: 0.414683, 0.397163 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.552] xyz_f:0.566840, -0.042152, 1.268115  Reprojection Error: -0.159907, -0.208035 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.552] xyz_f:-0.218729, -1.118299, 1.905398  Reprojection Error: 0.304761, 0.381919 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.552] xyz_f:0.847996, -0.447114, 1.719174  Reprojection Error: -0.212696, 0.044815 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.552] xyz_f:0.624659, -0.244910, 1.752758  Reprojection Error: -0.306958, 0.142755 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.552] xyz_f:0.314631, -0.965798, 1.422165  Reprojection Error: -0.160127, 0.692594 Feature: -0.312634, -0.778864, 0.969795
[11:52:55.552] xyz_f:0.711393, -0.024804, 1.037207  Reprojection Error: -0.755067, 0.120868 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.552] xyz_f:0.448026, -0.046793, 1.711184  Reprojection Error: -0.410181, 0.216333 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.552] xyz_f:0.451017, -0.040559, 1.713058  Reprojection Error: -0.411804, 0.219597 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.552] xyz_f:-0.322062, -1.128265, 1.875102  Reprojection Error: 0.249920, 0.897648 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.552] xyz_f:0.517527, -0.150194, 1.733204  Reprojection Error: 0.057984, 0.430875 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.552] xyz_f:-0.323205, -1.123576, 1.869220  Reprojection Error: 0.387795, 0.978858 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.552] xyz_f:0.850104, -0.639884, 1.592956  Reprojection Error: -0.607127, 0.906903 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.552] it:11 	 Success 	 new_chi2: 1.848432 	 dT = -0.039653, 0.033979, 0.002235
[11:52:55.552] xyz_f:0.801867, -0.639848, 1.558839  Reprojection Error: -0.262852, -0.066547 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.552] xyz_f:0.576306, -0.244743, 1.718154  Reprojection Error: -0.312127, 0.145470 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.552] xyz_f:0.785606, -0.456722, 1.678982  Reprojection Error: -0.228633, 0.049111 Feature: 0.227422, -0.211871, 0.950468
[11:52:55.552] xyz_f:0.466358, -0.142234, 1.698333  Reprojection Error: -0.370920, 0.181568 Feature: -0.095428, 0.096910, 0.990708
[11:52:55.552] xyz_f:0.746614, -0.438190, 1.683901  Reprojection Error: -0.245620, 0.060042 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.552] xyz_f:0.854893, -0.641068, 1.560471  Reprojection Error: -0.233112, -0.075214 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.552] xyz_f:0.835935, -0.462940, 1.678933  Reprojection Error: -0.203396, 0.043000 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.552] xyz_f:0.466500, -0.137915, 1.699064  Reprojection Error: -0.370922, 0.183437 Feature: -0.095422, 0.101271, 0.990272
[11:52:55.552] xyz_f:0.587461, -0.232897, 1.724624  Reprojection Error: -0.305725, 0.151194 Feature: 0.034880, 0.016140, 0.999261
[11:52:55.552] xyz_f:0.399878, -0.046524, 1.676199  Reprojection Error: -0.417350, 0.217524 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.552] xyz_f:0.759381, -0.456236, 1.676440  Reprojection Error: -0.242032, 0.050376 Feature: 0.201704, -0.212060, 0.956215
[11:52:55.552] xyz_f:0.612752, -0.217706, 1.735473  Reprojection Error: -0.291976, 0.159148 Feature: 0.060950, 0.033621, 0.997574
[11:52:55.552] xyz_f:0.799598, -0.447075, 1.685053  Reprojection Error: -0.219845, 0.053601 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.552] xyz_f:0.745861, -0.469603, 1.667646  Reprojection Error: -0.251276, 0.043805 Feature: 0.187288, -0.227247, 0.955658
[11:52:55.552] xyz_f:0.809995, -0.470661, 1.673567  Reprojection Error: -0.218318, 0.040357 Feature: 0.250081, -0.226737, 0.941302
[11:52:55.552] xyz_f:0.739141, 0.096464, 1.780205  Reprojection Error: -0.231776, 0.324028 Feature: 0.169093, 0.348664, 0.921868
[11:52:55.552] xyz_f:0.402868, -0.040291, 1.678079  Reprojection Error: -0.415998, 0.220654 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.552] xyz_f:0.616889, 0.036244, 1.760691  Reprojection Error: -0.296085, 0.277691 Feature: 0.051947, 0.285446, 0.956986
[11:52:55.552] xyz_f:0.817348, -0.449185, 1.685152  Reprojection Error: -0.210952, 0.051599 Feature: 0.258826, -0.202994, 0.944353
[11:52:55.552] xyz_f:0.607371, -0.200251, 1.737875  Reprojection Error: -0.294182, 0.166476 Feature: 0.055152, 0.051103, 0.997169
[11:52:55.552] xyz_f:0.741323, -0.445944, 1.679312  Reprojection Error: -0.249560, 0.056215 Feature: 0.184586, -0.201375, 0.961965
[11:52:55.552] xyz_f:0.607066, -0.225826, 1.732007  Reprojection Error: -0.295238, 0.155311 Feature: 0.055160, 0.024881, 0.998167
[11:52:55.552] xyz_f:0.468818, -0.149002, 1.698329  Reprojection Error: -0.369376, 0.178871 Feature: -0.092545, 0.090371, 0.991599
[11:52:55.552] xyz_f:0.596007, -0.212259, 1.732048  Reprojection Error: -0.300463, 0.160608 Feature: 0.043569, 0.037996, 0.998328
[11:52:55.552] xyz_f:0.469271, -0.149964, 1.698370  Reprojection Error: -0.369099, 0.178497 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.552] xyz_f:0.611110, 0.037863, 1.759119  Reprojection Error: -0.299480, 0.277971 Feature: 0.045853, 0.286602, 0.956952
[11:52:55.552] xyz_f:0.854893, -0.641068, 1.560471  Reprojection Error: -0.207812, -0.081100 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.552] xyz_f:-0.394323, -1.148163, 1.829339  Reprojection Error: 0.445245, 0.409116 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.552] xyz_f:0.519650, -0.041952, 1.233388  Reprojection Error: -0.134232, -0.207261 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.552] xyz_f:-0.267915, -1.117643, 1.868973  Reprojection Error: 0.333315, 0.393007 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.552] xyz_f:0.799598, -0.447075, 1.685053  Reprojection Error: -0.193963, 0.050059 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.552] xyz_f:0.576306, -0.244743, 1.718154  Reprojection Error: -0.285993, 0.145472 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.552] xyz_f:0.266575, -0.965451, 1.386892  Reprojection Error: -0.131104, 0.709616 Feature: -0.312634, -0.778864, 0.969795
[11:52:55.552] xyz_f:0.664712, -0.024687, 1.002793  Reprojection Error: -0.732054, 0.121573 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.552] xyz_f:0.399878, -0.046524, 1.676199  Reprojection Error: -0.386921, 0.216743 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.552] xyz_f:0.402868, -0.040291, 1.678079  Reprojection Error: -0.388599, 0.219931 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.552] xyz_f:-0.371188, -1.127550, 1.838453  Reprojection Error: 0.280066, 0.909254 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.552] xyz_f:0.469271, -0.149964, 1.698370  Reprojection Error: 0.080273, 0.432517 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.552] xyz_f:-0.372315, -1.122860, 1.832569  Reprojection Error: 0.418052, 0.990489 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.552] xyz_f:0.801867, -0.639848, 1.558839  Reprojection Error: -0.587863, 0.915671 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.552] it:12 	 Success 	 new_chi2: 1.790052 	 dT = -0.036642, 0.024439, 0.001416
[11:52:55.552] xyz_f:0.763595, -0.639824, 1.534310  Reprojection Error: -0.246132, -0.060000 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.552] xyz_f:0.537961, -0.244636, 1.693317  Reprojection Error: -0.294402, 0.147496 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.552] xyz_f:0.747237, -0.456692, 1.654432  Reprojection Error: -0.212385, 0.053129 Feature: 0.227422, -0.211871, 0.950468
[11:52:55.552] xyz_f:0.428078, -0.142087, 1.673346  Reprojection Error: -0.352145, 0.182731 Feature: -0.095428, 0.096910, 0.990708
[11:52:55.552] xyz_f:0.708245, -0.438145, 1.659297  Reprojection Error: -0.229071, 0.063874 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.552] xyz_f:0.816619, -0.641063, 1.536015  Reprojection Error: -0.216917, -0.068676 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.552] xyz_f:0.797564, -0.462929, 1.654451  Reprojection Error: -0.187571, 0.047074 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.552] xyz_f:0.428220, -0.137768, 1.674077  Reprojection Error: -0.352155, 0.184560 Feature: -0.095422, 0.101271, 0.990272
[11:52:55.552] xyz_f:0.549112, -0.232795, 1.699802  Reprojection Error: -0.288139, 0.153106 Feature: 0.034880, 0.016140, 0.999261
[11:52:55.552] xyz_f:0.361663, -0.046352, 1.651121  Reprojection Error: -0.397828, 0.217842 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.552] xyz_f:0.721016, -0.456197, 1.651853  Reprojection Error: -0.225549, 0.054403 Feature: 0.201704, -0.212060, 0.956215
[11:52:55.553] xyz_f:0.574394, -0.217613, 1.710686  Reprojection Error: -0.274669, 0.160911 Feature: 0.060950, 0.033621, 0.997574
[11:52:55.553] xyz_f:0.761224, -0.447051, 1.660521  Reprojection Error: -0.203746, 0.057505 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.553] xyz_f:0.707503, -0.469558, 1.643040  Reprojection Error: -0.234628, 0.047995 Feature: 0.187288, -0.227247, 0.955658
[11:52:55.553] xyz_f:0.771628, -0.470640, 1.649050  Reprojection Error: -0.202248, 0.044525 Feature: 0.250081, -0.226737, 0.941302
[11:52:55.553] xyz_f:0.700837, 0.096511, 1.755591  Reprojection Error: -0.215779, 0.323241 Feature: 0.169093, 0.348664, 0.921868
[11:52:55.553] xyz_f:0.364653, -0.040121, 1.653005  Reprojection Error: -0.396522, 0.220915 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.553] xyz_f:0.578589, 0.036336, 1.735909  Reprojection Error: -0.279024, 0.277344 Feature: 0.051947, 0.285446, 0.956986
[11:52:55.553] xyz_f:0.778973, -0.449167, 1.660644  Reprojection Error: -0.195002, 0.055522 Feature: 0.258826, -0.202994, 0.944353
[11:52:55.553] xyz_f:0.569016, -0.200156, 1.713081  Reprojection Error: -0.276851, 0.168088 Feature: 0.055152, 0.051103, 0.997169
[11:52:55.553] xyz_f:0.702958, -0.445898, 1.654701  Reprojection Error: -0.232940, 0.060136 Feature: 0.184586, -0.201375, 0.961965
[11:52:55.553] xyz_f:0.568710, -0.225731, 1.707212  Reprojection Error: -0.277861, 0.157149 Feature: 0.055160, 0.024881, 0.998167
[11:52:55.553] xyz_f:0.430536, -0.148856, 1.673345  Reprojection Error: -0.350619, 0.180094 Feature: -0.092545, 0.090371, 0.991599
[11:52:55.553] xyz_f:0.557655, -0.212160, 1.707238  Reprojection Error: -0.282999, 0.162331 Feature: 0.043569, 0.037996, 0.998328
[11:52:55.553] xyz_f:0.430988, -0.149818, 1.673386  Reprojection Error: -0.350346, 0.179728 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.553] xyz_f:0.572813, 0.037957, 1.734329  Reprojection Error: -0.282364, 0.277609 Feature: 0.045853, 0.286602, 0.956952
[11:52:55.553] xyz_f:0.816619, -0.641063, 1.536015  Reprojection Error: -0.191617, -0.074562 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.553] xyz_f:-0.433150, -1.147701, 1.803173  Reprojection Error: 0.469905, 0.417967 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.553] xyz_f:0.482043, -0.041825, 1.208474  Reprojection Error: -0.111799, -0.206665 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.553] xyz_f:-0.306785, -1.117227, 1.842980  Reprojection Error: 0.356428, 0.401215 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.553] xyz_f:0.761224, -0.447051, 1.660521  Reprojection Error: -0.177864, 0.053963 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.553] xyz_f:0.537961, -0.244636, 1.693317  Reprojection Error: -0.268268, 0.147499 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.553] xyz_f:0.228420, -0.965231, 1.361631  Reprojection Error: -0.106648, 0.722369 Feature: -0.312634, -0.778864, 0.969795
[11:52:55.553] xyz_f:0.627426, -0.024613, 0.978077  Reprojection Error: -0.710683, 0.122119 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.553] xyz_f:0.361663, -0.046352, 1.651121  Reprojection Error: -0.367400, 0.217061 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.553] xyz_f:0.364653, -0.040121, 1.653005  Reprojection Error: -0.369122, 0.220193 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.553] xyz_f:-0.410020, -1.127096, 1.812320  Reprojection Error: 0.304404, 0.917847 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.553] xyz_f:0.430988, -0.149818, 1.673386  Reprojection Error: 0.099025, 0.433748 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.553] xyz_f:-0.411137, -1.122405, 1.806434  Reprojection Error: 0.442483, 0.999102 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.553] xyz_f:0.763595, -0.639824, 1.534310  Reprojection Error: -0.571142, 0.922217 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.553] it:13 	 Success 	 new_chi2: 1.728596 	 dT = -0.033321, 0.017141, 0.000464
[11:52:55.553] xyz_f:0.735415, -0.639816, 1.517139  Reprojection Error: -0.233190, -0.055286 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.553] xyz_f:0.509757, -0.244601, 1.676045  Reprojection Error: -0.280848, 0.148964 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.553] xyz_f:0.719025, -0.456682, 1.637253  Reprojection Error: -0.199892, 0.056020 Feature: 0.227422, -0.211871, 0.950468
[11:52:55.553] xyz_f:0.399895, -0.142038, 1.656024  Reprojection Error: -0.337802, 0.183590 Feature: -0.095428, 0.096910, 0.990708
[11:52:55.553] xyz_f:0.680033, -0.438131, 1.642101  Reprojection Error: -0.216360, 0.066630 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.553] xyz_f:0.788438, -0.641061, 1.518868  Reprojection Error: -0.204365, -0.063966 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.553] xyz_f:0.769351, -0.462925, 1.637295  Reprojection Error: -0.175391, 0.050003 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.553] xyz_f:0.400038, -0.137720, 1.656755  Reprojection Error: -0.337818, 0.185392 Feature: -0.095422, 0.101271, 0.990272
[11:52:55.553] xyz_f:0.520907, -0.232761, 1.682535  Reprojection Error: -0.274690, 0.154492 Feature: 0.034880, 0.016140, 0.999261
[11:52:55.553] xyz_f:0.333502, -0.046296, 1.633769  Reprojection Error: -0.382918, 0.218106 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.553] xyz_f:0.692805, -0.456184, 1.634663  Reprojection Error: -0.212881, 0.057299 Feature: 0.201704, -0.212060, 0.956215
[11:52:55.553] xyz_f:0.546185, -0.217582, 1.693430  Reprojection Error: -0.261433, 0.162189 Feature: 0.060950, 0.033621, 0.997574
[11:52:55.553] xyz_f:0.733011, -0.447042, 1.643349  Reprojection Error: -0.191368, 0.060314 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.553] xyz_f:0.679294, -0.469543, 1.625844  Reprojection Error: -0.221833, 0.051009 Feature: 0.187288, -0.227247, 0.955658
[11:52:55.553] xyz_f:0.743417, -0.470633, 1.631882  Reprojection Error: -0.189883, 0.047524 Feature: 0.250081, -0.226737, 0.941302
[11:52:55.553] xyz_f:0.672646, 0.096527, 1.738392  Reprojection Error: -0.203512, 0.322689 Feature: 0.169093, 0.348664, 0.921868
[11:52:55.553] xyz_f:0.336492, -0.040065, 1.635655  Reprojection Error: -0.381644, 0.221139 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.553] xyz_f:0.550399, 0.036366, 1.718655  Reprojection Error: -0.265968, 0.277116 Feature: 0.051947, 0.285446, 0.956986
[11:52:55.553] xyz_f:0.750759, -0.449161, 1.643480  Reprojection Error: -0.182733, 0.058343 Feature: 0.258826, -0.202994, 0.944353
[11:52:55.553] xyz_f:0.540808, -0.200125, 1.695822  Reprojection Error: -0.263598, 0.169259 Feature: 0.055152, 0.051103, 0.997169
[11:52:55.553] xyz_f:0.674747, -0.445883, 1.637503  Reprojection Error: -0.220174, 0.062957 Feature: 0.184586, -0.201375, 0.961965
[11:52:55.553] xyz_f:0.540502, -0.225700, 1.689953  Reprojection Error: -0.264571, 0.158480 Feature: 0.055160, 0.024881, 0.998167
[11:52:55.553] xyz_f:0.402352, -0.148808, 1.656025  Reprojection Error: -0.336292, 0.180995 Feature: -0.092545, 0.090371, 0.991599
[11:52:55.553] xyz_f:0.529449, -0.212127, 1.689975  Reprojection Error: -0.269646, 0.163581 Feature: 0.043569, 0.037996, 0.998328
[11:52:55.553] xyz_f:0.402805, -0.149770, 1.656066  Reprojection Error: -0.336022, 0.180635 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.553] xyz_f:0.544625, 0.037988, 1.717072  Reprojection Error: -0.269267, 0.277371 Feature: 0.045853, 0.286602, 0.956952
[11:52:55.553] xyz_f:0.788438, -0.641061, 1.518868  Reprojection Error: -0.179065, -0.069851 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.553] xyz_f:-0.461511, -1.147549, 1.785466  Reprojection Error: 0.488172, 0.424194 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.553] xyz_f:0.454081, -0.041783, 1.191176  Reprojection Error: -0.094116, -0.206198 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.553] xyz_f:-0.335161, -1.117090, 1.825330  Reprojection Error: 0.373583, 0.407002 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.553] xyz_f:0.733011, -0.447042, 1.643349  Reprojection Error: -0.165486, 0.056772 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.553] xyz_f:0.509757, -0.244601, 1.676045  Reprojection Error: -0.254714, 0.148966 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.553] xyz_f:0.200278, -0.965159, 1.344220  Reprojection Error: -0.087885, 0.731497 Feature: -0.312634, -0.778864, 0.969795
[11:52:55.553] xyz_f:0.599569, -0.024589, 0.960845  Reprojection Error: -0.693196, 0.122545 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.553] xyz_f:0.333502, -0.046296, 1.633769  Reprojection Error: -0.352490, 0.217325 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.553] xyz_f:0.336492, -0.040065, 1.635655  Reprojection Error: -0.354245, 0.220416 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.553] xyz_f:-0.438383, -1.126947, 1.794623  Reprojection Error: 0.322439, 0.923897 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.553] xyz_f:0.402805, -0.149770, 1.656066  Reprojection Error: 0.113350, 0.434655 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.553] xyz_f:-0.439497, -1.122256, 1.788737  Reprojection Error: 0.460589, 1.005166 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.553] xyz_f:0.735415, -0.639816, 1.517139  Reprojection Error: -0.558201, 0.926932 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.553] it:14 	 Success 	 new_chi2: 1.676308 	 dT = -0.030467, 0.012591, -0.000321
[11:52:55.553] xyz_f:0.715710, -0.639821, 1.504569  Reprojection Error: -0.224143, -0.051759 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.553] xyz_f:0.490069, -0.244625, 1.663545  Reprojection Error: -0.271298, 0.150075 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.553] xyz_f:0.699342, -0.456689, 1.624688  Reprojection Error: -0.191174, 0.058181 Feature: 0.227422, -0.211871, 0.950468
[11:52:55.553] xyz_f:0.380192, -0.142072, 1.643558  Reprojection Error: -0.327646, 0.184260 Feature: -0.095428, 0.096910, 0.990708
[11:52:55.553] xyz_f:0.660350, -0.438141, 1.629548  Reprojection Error: -0.207472, 0.068692 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.553] xyz_f:0.768734, -0.641063, 1.506281  Reprojection Error: -0.195621, -0.060438 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.553] xyz_f:0.749669, -0.462928, 1.624714  Reprojection Error: -0.166915, 0.052194 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.553] xyz_f:0.380335, -0.137753, 1.644289  Reprojection Error: -0.327666, 0.186042 Feature: -0.095422, 0.101271, 0.990272
[11:52:55.553] xyz_f:0.501219, -0.232784, 1.670032  Reprojection Error: -0.265220, 0.155541 Feature: 0.034880, 0.016140, 0.999261
[11:52:55.553] xyz_f:0.313784, -0.046335, 1.621324  Reprojection Error: -0.372323, 0.218347 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.553] xyz_f:0.673121, -0.456193, 1.622106  Reprojection Error: -0.204027, 0.059465 Feature: 0.201704, -0.212060, 0.956215
[11:52:55.553] xyz_f:0.526500, -0.217604, 1.680919  Reprojection Error: -0.252123, 0.163158 Feature: 0.060950, 0.033621, 0.997574
[11:52:55.553] xyz_f:0.713329, -0.447048, 1.630780  Reprojection Error: -0.182737, 0.062414 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.553] xyz_f:0.659609, -0.469553, 1.613291  Reprojection Error: -0.212882, 0.053262 Feature: 0.187288, -0.227247, 0.955658
[11:52:55.553] xyz_f:0.723733, -0.470638, 1.619310  Reprojection Error: -0.181264, 0.049766 Feature: 0.250081, -0.226737, 0.941302
[11:52:55.553] xyz_f:0.652948, 0.096516, 1.725841  Reprojection Error: -0.194912, 0.322291 Feature: 0.169093, 0.348664, 0.921868
[11:52:55.553] xyz_f:0.316774, -0.040103, 1.623209  Reprojection Error: -0.371074, 0.221350 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.553] xyz_f:0.530701, 0.036345, 1.706143  Reprojection Error: -0.256771, 0.276973 Feature: 0.051947, 0.285446, 0.956986
[11:52:55.553] xyz_f:0.731078, -0.449165, 1.630905  Reprojection Error: -0.174188, 0.060452 Feature: 0.258826, -0.202994, 0.944353
[11:52:55.553] xyz_f:0.521122, -0.200147, 1.683313  Reprojection Error: -0.254273, 0.170149 Feature: 0.055152, 0.051103, 0.997169
[11:52:55.553] xyz_f:0.655063, -0.445893, 1.624951  Reprojection Error: -0.211244, 0.065067 Feature: 0.184586, -0.201375, 0.961965
[11:52:55.553] xyz_f:0.520816, -0.225721, 1.677444  Reprojection Error: -0.255221, 0.159489 Feature: 0.055160, 0.024881, 0.998167
[11:52:55.553] xyz_f:0.382649, -0.148841, 1.643558  Reprojection Error: -0.326147, 0.181697 Feature: -0.092545, 0.090371, 0.991599
[11:52:55.553] xyz_f:0.509762, -0.212150, 1.677469  Reprojection Error: -0.260245, 0.164530 Feature: 0.043569, 0.037996, 0.998328
[11:52:55.553] xyz_f:0.383102, -0.149804, 1.643599  Reprojection Error: -0.325879, 0.181342 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.553] xyz_f:0.524925, 0.037966, 1.704562  Reprojection Error: -0.260038, 0.277222 Feature: 0.045853, 0.286602, 0.956952
[11:52:55.553] xyz_f:0.768734, -0.641063, 1.506281  Reprojection Error: -0.170321, -0.066323 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.553] xyz_f:-0.481091, -1.147654, 1.773267  Reprojection Error: 0.500992, 0.428675 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.553] xyz_f:0.434225, -0.041812, 1.178694  Reprojection Error: -0.081308, -0.205802 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.553] xyz_f:-0.354730, -1.117185, 1.813092  Reprojection Error: 0.385616, 0.411185 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.553] xyz_f:0.713329, -0.447048, 1.630780  Reprojection Error: -0.156855, 0.058872 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.553] xyz_f:0.490069, -0.244625, 1.663545  Reprojection Error: -0.245164, 0.150078 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.553] xyz_f:0.180546, -0.965209, 1.331816  Reprojection Error: -0.074458, 0.738222 Feature: -0.312634, -0.778864, 0.969795
[11:52:55.553] xyz_f:0.579641, -0.024606, 0.948317  Reprojection Error: -0.680425, 0.122901 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.553] xyz_f:0.313784, -0.046335, 1.621324  Reprojection Error: -0.341895, 0.217566 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.553] xyz_f:0.316774, -0.040103, 1.623209  Reprojection Error: -0.343675, 0.220628 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.553] xyz_f:-0.457962, -1.127050, 1.782417  Reprojection Error: 0.335096, 0.928255 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.553] xyz_f:0.383102, -0.149804, 1.643599  Reprojection Error: 0.123492, 0.435362 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.553] xyz_f:-0.459078, -1.122360, 1.776531  Reprojection Error: 0.473299, 1.009535 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.553] xyz_f:0.715710, -0.639821, 1.504569  Reprojection Error: -0.549154, 0.930459 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.553] it:15 	 Success 	 new_chi2: 1.637975 	 dT = -0.028330, 0.010188, -0.000856
[11:52:55.553] xyz_f:0.701758, -0.639836, 1.494436  Reprojection Error: -0.218032, -0.048866 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.553] xyz_f:0.476160, -0.244690, 1.653598  Reprojection Error: -0.264659, 0.150999 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.553] xyz_f:0.685449, -0.456707, 1.614568  Reprojection Error: -0.185267, 0.059954 Feature: 0.227422, -0.211871, 0.950468
[11:52:55.553] xyz_f:0.366245, -0.142161, 1.633702  Reprojection Error: -0.320504, 0.184836 Feature: -0.095428, 0.096910, 0.990708
[11:52:55.553] xyz_f:0.646457, -0.438168, 1.619460  Reprojection Error: -0.201417, 0.070383 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.553] xyz_f:0.754783, -0.641065, 1.496104  Reprojection Error: -0.189768, -0.057541 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.553] xyz_f:0.735777, -0.462935, 1.614552  Reprojection Error: -0.161215, 0.053992 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.553] xyz_f:0.366387, -0.137842, 1.634433  Reprojection Error: -0.320527, 0.186602 Feature: -0.095422, 0.101271, 0.990272
[11:52:55.553] xyz_f:0.487314, -0.232846, 1.660075  Reprojection Error: -0.258643, 0.156415 Feature: 0.034880, 0.016140, 0.999261
[11:52:55.553] xyz_f:0.299797, -0.046439, 1.611523  Reprojection Error: -0.364821, 0.218585 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.553] xyz_f:0.659225, -0.456217, 1.612008  Reprojection Error: -0.198007, 0.061241 Feature: 0.201704, -0.212060, 0.956215
[11:52:55.553] xyz_f:0.512600, -0.217660, 1.670941  Reprojection Error: -0.245675, 0.163965 Feature: 0.060950, 0.033621, 0.997574
[11:52:55.553] xyz_f:0.699438, -0.447063, 1.620648  Reprojection Error: -0.176900, 0.064137 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.553] xyz_f:0.645709, -0.469580, 1.603204  Reprojection Error: -0.206784, 0.055110 Feature: 0.187288, -0.227247, 0.955658
[11:52:55.553] xyz_f:0.709839, -0.470651, 1.609169  Reprojection Error: -0.175446, 0.051605 Feature: 0.250081, -0.226737, 0.941302
[11:52:55.553] xyz_f:0.639016, 0.096487, 1.715759  Reprojection Error: -0.189015, 0.321979 Feature: 0.169093, 0.348664, 0.921868
[11:52:55.553] xyz_f:0.302787, -0.040206, 1.613405  Reprojection Error: -0.363591, 0.221564 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.553] xyz_f:0.516766, 0.036290, 1.696162  Reprojection Error: -0.250385, 0.276881 Feature: 0.051947, 0.285446, 0.956986
[11:52:55.553] xyz_f:0.717188, -0.449176, 1.620759  Reprojection Error: -0.168424, 0.062184 Feature: 0.258826, -0.202994, 0.944353
[11:52:55.553] xyz_f:0.507220, -0.200204, 1.673340  Reprojection Error: -0.247810, 0.170892 Feature: 0.055152, 0.051103, 0.997169
[11:52:55.553] xyz_f:0.641168, -0.445921, 1.614868  Reprojection Error: -0.205156, 0.066798 Feature: 0.184586, -0.201375, 0.961965
[11:52:55.553] xyz_f:0.506915, -0.225779, 1.667471  Reprojection Error: -0.248741, 0.160329 Feature: 0.055160, 0.024881, 0.998167
[11:52:55.553] xyz_f:0.368703, -0.148930, 1.633700  Reprojection Error: -0.319015, 0.182298 Feature: -0.092545, 0.090371, 0.991599
[11:52:55.553] xyz_f:0.495858, -0.212210, 1.667505  Reprojection Error: -0.253723, 0.165322 Feature: 0.043569, 0.037996, 0.998328
[11:52:55.553] xyz_f:0.369156, -0.149892, 1.633740  Reprojection Error: -0.318750, 0.181946 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.553] xyz_f:0.510988, 0.037910, 1.694586  Reprojection Error: -0.253627, 0.277124 Feature: 0.045853, 0.286602, 0.956952
[11:52:55.553] xyz_f:0.754783, -0.641065, 1.496104  Reprojection Error: -0.164468, -0.063426 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.553] xyz_f:-0.494708, -1.147934, 1.764123  Reprojection Error: 0.510117, 0.432188 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.553] xyz_f:0.419871, -0.041889, 1.168793  Reprojection Error: -0.072148, -0.205436 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.553] xyz_f:-0.368321, -1.117437, 1.803843  Reprojection Error: 0.394153, 0.414484 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.553] xyz_f:0.699438, -0.447063, 1.620648  Reprojection Error: -0.151018, 0.060595 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.553] xyz_f:0.476160, -0.244690, 1.653598  Reprojection Error: -0.238526, 0.151001 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.553] xyz_f:0.166524, -0.965342, 1.322125  Reprojection Error: -0.064845, 0.743635 Feature: -0.312634, -0.778864, 0.969795
[11:52:55.553] xyz_f:0.565092, -0.024651, 0.938296  Reprojection Error: -0.671447, 0.123226 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.553] xyz_f:0.299797, -0.046439, 1.611523  Reprojection Error: -0.334392, 0.217804 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.553] xyz_f:0.302787, -0.040206, 1.613405  Reprojection Error: -0.336192, 0.220841 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.553] xyz_f:-0.471576, -1.127324, 1.773253  Reprojection Error: 0.344101, 0.931678 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.553] xyz_f:0.369156, -0.149892, 1.633740  Reprojection Error: 0.130622, 0.435966 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.553] xyz_f:-0.472698, -1.122634, 1.767368  Reprojection Error: 0.482345, 1.012966 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.553] xyz_f:0.701758, -0.639836, 1.494436  Reprojection Error: -0.543043, 0.933352 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.553] it:16 	 Success 	 new_chi2: 1.610962 	 dT = -0.026648, 0.008566, -0.001305
[11:52:55.553] xyz_f:0.691069, -0.639858, 1.485952  Reprojection Error: -0.213520, -0.046406 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.553] xyz_f:0.465539, -0.244788, 1.645398  Reprojection Error: -0.259639, 0.151796 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.553] xyz_f:0.674850, -0.456735, 1.606104  Reprojection Error: -0.180905, 0.061462 Feature: 0.227422, -0.211871, 0.950468
[11:52:55.553] xyz_f:0.355564, -0.142296, 1.625641  Reprojection Error: -0.315045, 0.185351 Feature: -0.095428, 0.096910, 0.990708
[11:52:55.553] xyz_f:0.635858, -0.438208, 1.611046  Reprojection Error: -0.196923, 0.071822 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.553] xyz_f:0.744097, -0.641069, 1.487553  Reprojection Error: -0.185484, -0.055075 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.553] xyz_f:0.725180, -0.462945, 1.606025  Reprojection Error: -0.157037, 0.055521 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.553] xyz_f:0.355705, -0.137977, 1.626372  Reprojection Error: -0.315071, 0.187103 Feature: -0.095422, 0.101271, 0.990272
[11:52:55.553] xyz_f:0.476697, -0.232941, 1.651862  Reprojection Error: -0.253676, 0.157169 Feature: 0.034880, 0.016140, 0.999261
[11:52:55.553] xyz_f:0.289056, -0.046597, 1.603545  Reprojection Error: -0.359048, 0.218827 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.553] xyz_f:0.648623, -0.456253, 1.603577  Reprojection Error: -0.193545, 0.062752 Feature: 0.201704, -0.212060, 0.956215
[11:52:55.553] xyz_f:0.501992, -0.217746, 1.662696  Reprojection Error: -0.240816, 0.164663 Feature: 0.060950, 0.033621, 0.997574
[11:52:55.553] xyz_f:0.688844, -0.447086, 1.612167  Reprojection Error: -0.172599, 0.065602 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.554] xyz_f:0.635100, -0.469621, 1.594791  Reprojection Error: -0.202257, 0.056681 Feature: 0.187288, -0.227247, 0.955658
[11:52:55.554] xyz_f:0.699238, -0.470670, 1.600675  Reprojection Error: -0.171164, 0.053169 Feature: 0.250081, -0.226737, 0.941302
[11:52:55.554] xyz_f:0.628358, 0.096444, 1.707354  Reprojection Error: -0.184606, 0.321727 Feature: 0.169093, 0.348664, 0.921868
[11:52:55.554] xyz_f:0.292046, -0.040363, 1.605424  Reprojection Error: -0.357834, 0.221786 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.554] xyz_f:0.506103, 0.036205, 1.687911  Reprojection Error: -0.245558, 0.276826 Feature: 0.051947, 0.285446, 0.956986
[11:52:55.554] xyz_f:0.706594, -0.449193, 1.612255  Reprojection Error: -0.164187, 0.063656 Feature: 0.258826, -0.202994, 0.944353
[11:52:55.554] xyz_f:0.496609, -0.200292, 1.665101  Reprojection Error: -0.242937, 0.171536 Feature: 0.055152, 0.051103, 0.997169
[11:52:55.554] xyz_f:0.630565, -0.445964, 1.606460  Reprojection Error: -0.200634, 0.068269 Feature: 0.184586, -0.201375, 0.961965
[11:52:55.554] xyz_f:0.496305, -0.225867, 1.659233  Reprojection Error: -0.243856, 0.161054 Feature: 0.055160, 0.024881, 0.998167
[11:52:55.554] xyz_f:0.358025, -0.149064, 1.625636  Reprojection Error: -0.313566, 0.182833 Feature: -0.092545, 0.090371, 0.991599
[11:52:55.554] xyz_f:0.485243, -0.212301, 1.659281  Reprojection Error: -0.248800, 0.166008 Feature: 0.043569, 0.037996, 0.998328
[11:52:55.554] xyz_f:0.358478, -0.150026, 1.625676  Reprojection Error: -0.313302, 0.182483 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.554] xyz_f:0.500323, 0.037823, 1.686342  Reprojection Error: -0.248776, 0.277066 Feature: 0.045853, 0.286602, 0.956952
[11:52:55.554] xyz_f:0.744097, -0.641069, 1.487553  Reprojection Error: -0.160184, -0.060961 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.554] xyz_f:-0.504884, -1.148360, 1.757147  Reprojection Error: 0.517021, 0.435014 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.554] xyz_f:0.408570, -0.042006, 1.160665  Reprojection Error: -0.064927, -0.205084 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.554] xyz_f:-0.378457, -1.117820, 1.796708  Reprojection Error: 0.400606, 0.417157 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.554] xyz_f:0.688844, -0.447086, 1.612167  Reprojection Error: -0.146717, 0.062060 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.554] xyz_f:0.465539, -0.244788, 1.645398  Reprojection Error: -0.233505, 0.151798 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.554] xyz_f:0.155728, -0.965545, 1.314316  Reprojection Error: -0.057380, 0.748127 Feature: -0.312634, -0.778864, 0.969795
[11:52:55.554] xyz_f:0.553495, -0.024719, 0.929985  Reprojection Error: -0.664359, 0.123534 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.554] xyz_f:0.289056, -0.046597, 1.603545  Reprojection Error: -0.328620, 0.218046 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.554] xyz_f:0.292046, -0.040363, 1.605424  Reprojection Error: -0.330434, 0.221063 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.554] xyz_f:-0.481747, -1.127743, 1.766249  Reprojection Error: 0.350915, 0.934436 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.554] xyz_f:0.358478, -0.150026, 1.625676  Reprojection Error: 0.136069, 0.436503 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.554] xyz_f:-0.482878, -1.123053, 1.760365  Reprojection Error: 0.489192, 1.015730 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.554] xyz_f:0.691069, -0.639858, 1.485952  Reprojection Error: -0.538531, 0.935811 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.554] it:17 	 Success 	 new_chi2: 1.590391 	 dT = -0.025216, 0.007219, -0.001729
[11:52:55.554] xyz_f:0.682637, -0.639886, 1.478839  Reprojection Error: -0.210055, -0.044316 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.554] xyz_f:0.457197, -0.244917, 1.638662  Reprojection Error: -0.255711, 0.152486 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.554] xyz_f:0.666536, -0.456770, 1.599018  Reprojection Error: -0.177567, 0.062744 Feature: 0.227422, -0.211871, 0.950468
[11:52:55.554] xyz_f:0.347142, -0.142475, 1.619089  Reprojection Error: -0.310729, 0.185816 Feature: -0.095428, 0.096910, 0.990708
[11:52:55.554] xyz_f:0.627544, -0.438261, 1.604025  Reprojection Error: -0.193467, 0.073045 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.554] xyz_f:0.735668, -0.641074, 1.480351  Reprojection Error: -0.182224, -0.052976 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.554] xyz_f:0.716869, -0.462958, 1.598855  Reprojection Error: -0.153863, 0.056822 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.554] xyz_f:0.347283, -0.138156, 1.619819  Reprojection Error: -0.310756, 0.187556 Feature: -0.095422, 0.101271, 0.990272
[11:52:55.554] xyz_f:0.468359, -0.233065, 1.645107  Reprojection Error: -0.249793, 0.157824 Feature: 0.034880, 0.016140, 0.999261
[11:52:55.554] xyz_f:0.280555, -0.046805, 1.597104  Reprojection Error: -0.354452, 0.219075 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.554] xyz_f:0.640305, -0.456300, 1.596535  Reprojection Error: -0.190119, 0.064037 Feature: 0.201704, -0.212060, 0.956215
[11:52:55.554] xyz_f:0.493666, -0.217859, 1.655899  Reprojection Error: -0.237027, 0.165268 Feature: 0.060950, 0.033621, 0.997574
[11:52:55.554] xyz_f:0.680536, -0.447115, 1.605057  Reprojection Error: -0.169316, 0.066849 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.554] xyz_f:0.626773, -0.469675, 1.587771  Reprojection Error: -0.198773, 0.058017 Feature: 0.187288, -0.227247, 0.955658
[11:52:55.554] xyz_f:0.690921, -0.470695, 1.593548  Reprojection Error: -0.167899, 0.054500 Feature: 0.250081, -0.226737, 0.941302
[11:52:55.554] xyz_f:0.619966, 0.096388, 1.700346  Reprojection Error: -0.181187, 0.321528 Feature: 0.169093, 0.348664, 0.921868
[11:52:55.554] xyz_f:0.283546, -0.040570, 1.598977  Reprojection Error: -0.353251, 0.222017 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.554] xyz_f:0.497706, 0.036094, 1.681107  Reprojection Error: -0.241776, 0.276805 Feature: 0.051947, 0.285446, 0.956986
[11:52:55.554] xyz_f:0.698287, -0.449214, 1.605116  Reprojection Error: -0.160961, 0.064908 Feature: 0.258826, -0.202994, 0.944353
[11:52:55.554] xyz_f:0.488279, -0.200407, 1.658313  Reprojection Error: -0.239135, 0.172098 Feature: 0.055152, 0.051103, 0.997169
[11:52:55.554] xyz_f:0.622248, -0.446019, 1.599448  Reprojection Error: -0.197155, 0.069521 Feature: 0.184586, -0.201375, 0.961965
[11:52:55.554] xyz_f:0.487977, -0.225982, 1.652445  Reprojection Error: -0.240045, 0.161683 Feature: 0.055160, 0.024881, 0.998167
[11:52:55.554] xyz_f:0.349607, -0.149242, 1.619079  Reprojection Error: -0.309258, 0.183313 Feature: -0.092545, 0.090371, 0.991599
[11:52:55.554] xyz_f:0.476909, -0.212422, 1.652511  Reprojection Error: -0.244954, 0.166605 Feature: 0.043569, 0.037996, 0.998328
[11:52:55.554] xyz_f:0.350060, -0.150203, 1.619118  Reprojection Error: -0.308996, 0.182967 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.554] xyz_f:0.491923, 0.037709, 1.679548  Reprojection Error: -0.244975, 0.277043 Feature: 0.045853, 0.286602, 0.956952
[11:52:55.554] xyz_f:0.735668, -0.641074, 1.480351  Reprojection Error: -0.156923, -0.058861 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.554] xyz_f:-0.512634, -1.148924, 1.752032  Reprojection Error: 0.522284, 0.437244 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.554] xyz_f:0.399327, -0.042161, 1.154024  Reprojection Error: -0.058943, -0.204741 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.554] xyz_f:-0.386155, -1.118327, 1.791381  Reprojection Error: 0.405529, 0.419290 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.554] xyz_f:0.680536, -0.447115, 1.605057  Reprojection Error: -0.143433, 0.063307 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.554] xyz_f:0.457197, -0.244917, 1.638662  Reprojection Error: -0.229577, 0.152489 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.554] xyz_f:0.147156, -0.965813, 1.308097  Reprojection Error: -0.051389, 0.751824 Feature: -0.312634, -0.778864, 0.969795
[11:52:55.554] xyz_f:0.543858, -0.024809, 0.923103  Reprojection Error: -0.658357, 0.123830 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.554] xyz_f:0.280555, -0.046805, 1.597104  Reprojection Error: -0.324024, 0.218294 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.554] xyz_f:0.283546, -0.040570, 1.598977  Reprojection Error: -0.325852, 0.221294 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.554] xyz_f:-0.489491, -1.128296, 1.761094  Reprojection Error: 0.356110, 0.936619 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.554] xyz_f:0.350060, -0.150203, 1.619118  Reprojection Error: 0.140375, 0.436987 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.554] xyz_f:-0.490634, -1.123607, 1.755213  Reprojection Error: 0.494416, 1.017919 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.554] xyz_f:0.682637, -0.639886, 1.478839  Reprojection Error: -0.535066, 0.937902 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.554] it:18 	 Success 	 new_chi2: 1.574339 	 dT = -0.023989, 0.006111, -0.002117
[11:52:55.554] xyz_f:0.676107, -0.639920, 1.472853  Reprojection Error: -0.207498, -0.042535 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.554] xyz_f:0.450778, -0.245075, 1.633137  Reprojection Error: -0.252725, 0.153088 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.554] xyz_f:0.660152, -0.456813, 1.593066  Reprojection Error: -0.175117, 0.063839 Feature: 0.227422, -0.211871, 0.950468
[11:52:55.554] xyz_f:0.340628, -0.142692, 1.613789  Reprojection Error: -0.307397, 0.186239 Feature: -0.095428, 0.096910, 0.990708
[11:52:55.554] xyz_f:0.621160, -0.438325, 1.598153  Reprojection Error: -0.190911, 0.074089 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.554] xyz_f:0.729142, -0.641079, 1.474258  Reprojection Error: -0.179851, -0.051183 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.554] xyz_f:0.710488, -0.462973, 1.592800  Reprojection Error: -0.151562, 0.057932 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.554] xyz_f:0.340768, -0.138373, 1.614519  Reprojection Error: -0.307424, 0.187971 Feature: -0.095422, 0.101271, 0.990272
[11:52:55.554] xyz_f:0.461948, -0.233216, 1.639559  Reprojection Error: -0.246845, 0.158395 Feature: 0.034880, 0.016140, 0.999261
[11:52:55.554] xyz_f:0.273943, -0.047059, 1.591941  Reprojection Error: -0.350869, 0.219329 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.554] xyz_f:0.633916, -0.456357, 1.590636  Reprojection Error: -0.187590, 0.065132 Feature: 0.201704, -0.212060, 0.956215
[11:52:55.554] xyz_f:0.487268, -0.217996, 1.650300  Reprojection Error: -0.234161, 0.165798 Feature: 0.060950, 0.033621, 0.997574
[11:52:55.554] xyz_f:0.674159, -0.447150, 1.599076  Reprojection Error: -0.166914, 0.067913 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.554] xyz_f:0.620374, -0.469739, 1.581900  Reprojection Error: -0.196192, 0.059155 Feature: 0.187288, -0.227247, 0.955658
[11:52:55.554] xyz_f:0.684533, -0.470724, 1.587546  Reprojection Error: -0.165514, 0.055635 Feature: 0.250081, -0.226737, 0.941302
[11:52:55.554] xyz_f:0.613486, 0.096320, 1.694489  Reprojection Error: -0.178624, 0.321372 Feature: 0.169093, 0.348664, 0.921868
[11:52:55.554] xyz_f:0.276935, -0.040823, 1.593808  Reprojection Error: -0.349678, 0.222257 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.554] xyz_f:0.491220, 0.035959, 1.675500  Reprojection Error: -0.238896, 0.276814 Feature: 0.051947, 0.285446, 0.956986
[11:52:55.554] xyz_f:0.691912, -0.449240, 1.599099  Reprojection Error: -0.158611, 0.065977 Feature: 0.258826, -0.202994, 0.944353
[11:52:55.554] xyz_f:0.481877, -0.200548, 1.652725  Reprojection Error: -0.236256, 0.172592 Feature: 0.055152, 0.051103, 0.997169
[11:52:55.554] xyz_f:0.615859, -0.446086, 1.593586  Reprojection Error: -0.194577, 0.070589 Feature: 0.184586, -0.201375, 0.961965
[11:52:55.554] xyz_f:0.481576, -0.226123, 1.646858  Reprojection Error: -0.237160, 0.162232 Feature: 0.055160, 0.024881, 0.998167
[11:52:55.554] xyz_f:0.343096, -0.149458, 1.613775  Reprojection Error: -0.305934, 0.183750 Feature: -0.092545, 0.090371, 0.991599
[11:52:55.554] xyz_f:0.470501, -0.212568, 1.646947  Reprojection Error: -0.242039, 0.167128 Feature: 0.043569, 0.037996, 0.998328
[11:52:55.554] xyz_f:0.343550, -0.150419, 1.613813  Reprojection Error: -0.305673, 0.183405 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.554] xyz_f:0.485433, 0.037571, 1.673953  Reprojection Error: -0.242077, 0.277051 Feature: 0.045853, 0.286602, 0.956952
[11:52:55.554] xyz_f:0.729142, -0.641079, 1.474258  Reprojection Error: -0.154551, -0.057068 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.554] xyz_f:-0.518323, -1.149612, 1.748489  Reprojection Error: 0.526130, 0.438966 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.554] xyz_f:0.391807, -0.042350, 1.148619  Reprojection Error: -0.054024, -0.204404 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.554] xyz_f:-0.391781, -1.118946, 1.787580  Reprojection Error: 0.409135, 0.420964 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.554] xyz_f:0.674159, -0.447150, 1.599076  Reprojection Error: -0.141031, 0.064371 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.554] xyz_f:0.450778, -0.245075, 1.633137  Reprojection Error: -0.226591, 0.153091 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.554] xyz_f:0.140457, -0.966140, 1.303207  Reprojection Error: -0.046671, 0.754846 Feature: -0.312634, -0.778864, 0.969795
[11:52:55.554] xyz_f:0.535856, -0.024919, 0.917403  Reprojection Error: -0.653295, 0.124117 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.554] xyz_f:0.273943, -0.047059, 1.591941  Reprojection Error: -0.320440, 0.218548 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.554] xyz_f:0.276935, -0.040823, 1.593808  Reprojection Error: -0.322279, 0.221535 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.554] xyz_f:-0.495173, -1.128972, 1.757504  Reprojection Error: 0.359911, 0.938312 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.554] xyz_f:0.343550, -0.150419, 1.613813  Reprojection Error: 0.143699, 0.437425 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.554] xyz_f:-0.496331, -1.124283, 1.751625  Reprojection Error: 0.498241, 1.019616 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.554] xyz_f:0.676107, -0.639920, 1.472853  Reprojection Error: -0.532509, 0.939683 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.554] it:19 	 Success 	 new_chi2: 1.562372 	 dT = -0.022952, 0.005213, -0.002463
[11:52:55.554] xyz_f:0.671190, -0.639958, 1.467782  Reprojection Error: -0.205734, -0.041008 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.554] xyz_f:0.445991, -0.245256, 1.628602  Reprojection Error: -0.250554, 0.153618 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.554] xyz_f:0.655405, -0.456861, 1.588033  Reprojection Error: -0.173441, 0.064778 Feature: 0.227422, -0.211871, 0.950468
[11:52:55.554] xyz_f:0.335730, -0.142944, 1.609516  Reprojection Error: -0.304914, 0.186631 Feature: -0.095428, 0.096910, 0.990708
[11:52:55.554] xyz_f:0.616413, -0.438398, 1.593212  Reprojection Error: -0.189136, 0.074986 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.554] xyz_f:0.724229, -0.641083, 1.469060  Reprojection Error: -0.178257, -0.049641 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.554] xyz_f:0.705743, -0.462989, 1.587647  Reprojection Error: -0.150021, 0.058885 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.554] xyz_f:0.335869, -0.138625, 1.610246  Reprojection Error: -0.304942, 0.188355 Feature: -0.095422, 0.101271, 0.990272
[11:52:55.554] xyz_f:0.457169, -0.233391, 1.634998  Reprojection Error: -0.244708, 0.158899 Feature: 0.034880, 0.016140, 0.999261
[11:52:55.554] xyz_f:0.268933, -0.047354, 1.587827  Reprojection Error: -0.348159, 0.219591 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.554] xyz_f:0.629162, -0.456422, 1.585665  Reprojection Error: -0.185841, 0.066073 Feature: 0.201704, -0.212060, 0.956215
[11:52:55.554] xyz_f:0.482504, -0.218155, 1.645678  Reprojection Error: -0.232096, 0.166265 Feature: 0.060950, 0.033621, 0.997574
[11:52:55.554] xyz_f:0.669419, -0.447189, 1.594009  Reprojection Error: -0.165280, 0.068826 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.554] xyz_f:0.615608, -0.469813, 1.576961  Reprojection Error: -0.194398, 0.060132 Feature: 0.187288, -0.227247, 0.955658
[11:52:55.554] xyz_f:0.679781, -0.470756, 1.582454  Reprojection Error: -0.163899, 0.056610 Feature: 0.250081, -0.226737, 0.941302
[11:52:55.554] xyz_f:0.608627, 0.096242, 1.689567  Reprojection Error: -0.176802, 0.321253 Feature: 0.169093, 0.348664, 0.921868
[11:52:55.554] xyz_f:0.271924, -0.041115, 1.589687  Reprojection Error: -0.346977, 0.222508 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.554] xyz_f:0.486355, 0.035803, 1.670869  Reprojection Error: -0.236797, 0.276848 Feature: 0.051947, 0.285446, 0.956986
[11:52:55.554] xyz_f:0.687173, -0.449268, 1.593990  Reprojection Error: -0.157025, 0.066895 Feature: 0.258826, -0.202994, 0.944353
[11:52:55.554] xyz_f:0.477108, -0.200709, 1.648116  Reprojection Error: -0.234178, 0.173029 Feature: 0.055152, 0.051103, 0.997169
[11:52:55.554] xyz_f:0.611105, -0.446162, 1.588658  Reprojection Error: -0.192783, 0.071505 Feature: 0.184586, -0.201375, 0.961965
[11:52:55.554] xyz_f:0.476810, -0.226285, 1.642249  Reprojection Error: -0.235078, 0.162716 Feature: 0.055160, 0.024881, 0.998167
[11:52:55.554] xyz_f:0.338202, -0.149708, 1.609496  Reprojection Error: -0.303458, 0.184152 Feature: -0.092545, 0.090371, 0.991599
[11:52:55.554] xyz_f:0.465727, -0.212738, 1.642365  Reprojection Error: -0.239928, 0.167591 Feature: 0.043569, 0.037996, 0.998328
[11:52:55.554] xyz_f:0.338658, -0.150670, 1.609533  Reprojection Error: -0.303199, 0.183809 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.554] xyz_f:0.480563, 0.037411, 1.669335  Reprojection Error: -0.239962, 0.277084 Feature: 0.045853, 0.286602, 0.956952
[11:52:55.554] xyz_f:0.724229, -0.641083, 1.469060  Reprojection Error: -0.152956, -0.055526 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.554] xyz_f:-0.522256, -1.150411, 1.746259  Reprojection Error: 0.528761, 0.440264 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.554] xyz_f:0.385738, -0.042570, 1.144226  Reprojection Error: -0.050030, -0.204071 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.554] xyz_f:-0.395641, -1.119665, 1.785048  Reprojection Error: 0.411608, 0.422254 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.554] xyz_f:0.669419, -0.447189, 1.594009  Reprojection Error: -0.139398, 0.065284 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.554] xyz_f:0.445991, -0.245256, 1.628602  Reprojection Error: -0.224420, 0.153620 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.554] xyz_f:0.135346, -0.966520, 1.299411  Reprojection Error: -0.043053, 0.757304 Feature: -0.312634, -0.778864, 0.969795
[11:52:55.554] xyz_f:0.529226, -0.025047, 0.912668  Reprojection Error: -0.649061, 0.124398 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.554] xyz_f:0.268933, -0.047354, 1.587827  Reprojection Error: -0.317731, 0.218810 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.554] xyz_f:0.271924, -0.041115, 1.589687  Reprojection Error: -0.319577, 0.221785 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.554] xyz_f:-0.499098, -1.129756, 1.755219  Reprojection Error: 0.362514, 0.939595 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.554] xyz_f:0.338658, -0.150670, 1.609533  Reprojection Error: 0.146172, 0.437829 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.554] xyz_f:-0.500272, -1.125068, 1.749342  Reprojection Error: 0.500864, 1.020902 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.554] xyz_f:0.671190, -0.639958, 1.467782  Reprojection Error: -0.530745, 0.941210 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.554] it:20 	 Success 	 new_chi2: 1.554063 	 dT = -0.022087, 0.004492, -0.002770
[11:52:55.554] xyz_f:0.667620, -0.639999, 1.463444  Reprojection Error: -0.204650, -0.039687 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.554] xyz_f:0.442570, -0.245459, 1.624866  Reprojection Error: -0.249078, 0.154089 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.554] xyz_f:0.652025, -0.456913, 1.583736  Reprojection Error: -0.172427, 0.065591 Feature: 0.227422, -0.211871, 0.950468
[11:52:55.554] xyz_f:0.332185, -0.143226, 1.606075  Reprojection Error: -0.303153, 0.186996 Feature: -0.095428, 0.096910, 0.990708
[11:52:55.554] xyz_f:0.613035, -0.438479, 1.589020  Reprojection Error: -0.188031, 0.075762 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.554] xyz_f:0.720663, -0.641086, 1.464580  Reprojection Error: -0.177330, -0.048304 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.554] xyz_f:0.702367, -0.463006, 1.583216  Reprojection Error: -0.149133, 0.059712 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.554] xyz_f:0.332323, -0.138907, 1.606804  Reprojection Error: -0.303182, 0.188714 Feature: -0.095422, 0.101271, 0.990272
[11:52:55.554] xyz_f:0.453756, -0.233585, 1.631231  Reprojection Error: -0.243262, 0.159348 Feature: 0.034880, 0.016140, 0.999261
[11:52:55.554] xyz_f:0.265261, -0.047683, 1.584564  Reprojection Error: -0.346190, 0.219861 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.554] xyz_f:0.625776, -0.456493, 1.581439  Reprojection Error: -0.184760, 0.066887 Feature: 0.201704, -0.212060, 0.956215
[11:52:55.554] xyz_f:0.479109, -0.218331, 1.641844  Reprojection Error: -0.230713, 0.166682 Feature: 0.060950, 0.033621, 0.997574
[11:52:55.554] xyz_f:0.666049, -0.447232, 1.589675  Reprojection Error: -0.164305, 0.069618 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.554] xyz_f:0.612208, -0.469894, 1.572771  Reprojection Error: -0.193277, 0.060977 Feature: 0.187288, -0.227247, 0.955658
[11:52:55.554] xyz_f:0.676397, -0.470791, 1.578093  Reprojection Error: -0.162942, 0.057454 Feature: 0.250081, -0.226737, 0.941302
[11:52:55.554] xyz_f:0.605123, 0.096156, 1.685395  Reprojection Error: -0.175615, 0.321163 Feature: 0.169093, 0.348664, 0.921868
[11:52:55.554] xyz_f:0.268253, -0.041442, 1.586417  Reprojection Error: -0.345015, 0.222767 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.554] xyz_f:0.482844, 0.035630, 1.667025  Reprojection Error: -0.235362, 0.276903 Feature: 0.051947, 0.285446, 0.956986
[11:52:55.554] xyz_f:0.683804, -0.449297, 1.589608  Reprojection Error: -0.156094, 0.067690 Feature: 0.258826, -0.202994, 0.944353
[11:52:55.554] xyz_f:0.473707, -0.200890, 1.644296  Reprojection Error: -0.232782, 0.173422 Feature: 0.055152, 0.051103, 0.997169
[11:52:55.555] xyz_f:0.607720, -0.446247, 1.584480  Reprojection Error: -0.191661, 0.072299 Feature: 0.184586, -0.201375, 0.961965
[11:52:55.555] xyz_f:0.473411, -0.226465, 1.638430  Reprojection Error: -0.233681, 0.163147 Feature: 0.055160, 0.024881, 0.998167
[11:52:55.555] xyz_f:0.334662, -0.149988, 1.606048  Reprojection Error: -0.301705, 0.184526 Feature: -0.092545, 0.090371, 0.991599
[11:52:55.555] xyz_f:0.462318, -0.212926, 1.638575  Reprojection Error: -0.238504, 0.168006 Feature: 0.043569, 0.037996, 0.998328
[11:52:55.555] xyz_f:0.335118, -0.150949, 1.606084  Reprojection Error: -0.301447, 0.184184 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.555] xyz_f:0.477048, 0.037234, 1.665506  Reprojection Error: -0.238513, 0.277139 Feature: 0.045853, 0.286602, 0.956952
[11:52:55.555] xyz_f:0.720663, -0.641086, 1.464580  Reprojection Error: -0.152030, -0.054189 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.555] xyz_f:-0.524710, -1.151307, 1.745111  Reprojection Error: 0.530364, 0.441210 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.555] xyz_f:0.380876, -0.042816, 1.140653  Reprojection Error: -0.046823, -0.203738 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.555] xyz_f:-0.398014, -1.120470, 1.783562  Reprojection Error: 0.413123, 0.423228 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.555] xyz_f:0.666049, -0.447232, 1.589675  Reprojection Error: -0.138423, 0.066076 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.555] xyz_f:0.442570, -0.245459, 1.624866  Reprojection Error: -0.222944, 0.154091 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.555] xyz_f:0.131562, -0.966945, 1.296506  Reprojection Error: -0.040368, 0.759299 Feature: -0.312634, -0.778864, 0.969795
[11:52:55.555] xyz_f:0.523731, -0.025191, 0.908711  Reprojection Error: -0.645538, 0.124676 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.555] xyz_f:0.265261, -0.047683, 1.584564  Reprojection Error: -0.315762, 0.219080 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.555] xyz_f:0.268253, -0.041442, 1.586417  Reprojection Error: -0.317616, 0.222045 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.555] xyz_f:-0.501543, -1.130636, 1.754010  Reprojection Error: 0.364104, 0.940540 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.555] xyz_f:0.335118, -0.150949, 1.606084  Reprojection Error: 0.147925, 0.438204 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.555] xyz_f:-0.502737, -1.125949, 1.748136  Reprojection Error: 0.502471, 1.021850 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.555] xyz_f:0.667620, -0.639999, 1.463444  Reprojection Error: -0.529661, 0.942531 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.555] it:21 	 Success 	 new_chi2: 1.548936 	 dT = -0.021371, 0.003917, -0.003039
[11:52:55.555] xyz_f:0.665165, -0.640042, 1.459687  Reprojection Error: -0.204142, -0.038532 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.555] xyz_f:0.440279, -0.245679, 1.621770  Reprojection Error: -0.248186, 0.154513 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.555] xyz_f:0.649779, -0.456969, 1.580025  Reprojection Error: -0.171973, 0.066304 Feature: 0.227422, -0.211871, 0.950468
[11:52:55.555] xyz_f:0.329759, -0.143533, 1.603303  Reprojection Error: -0.301998, 0.187342 Feature: -0.095428, 0.096910, 0.990708
[11:52:55.555] xyz_f:0.610790, -0.438565, 1.585423  Reprojection Error: -0.187490, 0.076442 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.555] xyz_f:0.718212, -0.641088, 1.460668  Reprojection Error: -0.176970, -0.047131 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.555] xyz_f:0.700124, -0.463021, 1.579357  Reprojection Error: -0.148797, 0.060436 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.555] xyz_f:0.329896, -0.139213, 1.604032  Reprojection Error: -0.302026, 0.189055 Feature: -0.095422, 0.101271, 0.990272
[11:52:55.555] xyz_f:0.451474, -0.233796, 1.628102  Reprojection Error: -0.242395, 0.159753 Feature: 0.034880, 0.016140, 0.999261
[11:52:55.555] xyz_f:0.262697, -0.048043, 1.581989  Reprojection Error: -0.344842, 0.220137 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.555] xyz_f:0.623523, -0.456569, 1.577805  Reprojection Error: -0.184244, 0.067600 Feature: 0.201704, -0.212060, 0.956215
[11:52:55.555] xyz_f:0.476847, -0.218522, 1.638640  Reprojection Error: -0.229903, 0.167059 Feature: 0.060950, 0.033621, 0.997574
[11:52:55.555] xyz_f:0.663813, -0.447276, 1.585923  Reprojection Error: -0.163886, 0.070311 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.555] xyz_f:0.609941, -0.469980, 1.569177  Reprojection Error: -0.192723, 0.061717 Feature: 0.187288, -0.227247, 0.955658
[11:52:55.555] xyz_f:0.674145, -0.470827, 1.574310  Reprojection Error: -0.162541, 0.058194 Feature: 0.250081, -0.226737, 0.941302
[11:52:55.555] xyz_f:0.602741, 0.096064, 1.681822  Reprojection Error: -0.174961, 0.321096 Feature: 0.169093, 0.348664, 0.921868
[11:52:55.555] xyz_f:0.265690, -0.041800, 1.583833  Reprojection Error: -0.343673, 0.223036 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.555] xyz_f:0.480456, 0.035441, 1.663810  Reprojection Error: -0.234487, 0.276975 Feature: 0.051947, 0.285446, 0.956986
[11:52:55.555] xyz_f:0.681570, -0.449327, 1.585804  Reprojection Error: -0.155717, 0.068388 Feature: 0.258826, -0.202994, 0.944353
[11:52:55.555] xyz_f:0.471438, -0.201085, 1.641109  Reprojection Error: -0.231959, 0.173778 Feature: 0.055152, 0.051103, 0.997169
[11:52:55.555] xyz_f:0.605469, -0.446337, 1.580899  Reprojection Error: -0.191106, 0.072994 Feature: 0.184586, -0.201375, 0.961965
[11:52:55.555] xyz_f:0.471145, -0.226661, 1.635244  Reprojection Error: -0.232858, 0.163536 Feature: 0.055160, 0.024881, 0.998167
[11:52:55.555] xyz_f:0.332241, -0.150293, 1.603269  Reprojection Error: -0.300556, 0.184878 Feature: -0.092545, 0.090371, 0.991599
[11:52:55.555] xyz_f:0.460042, -0.213130, 1.635421  Reprojection Error: -0.237657, 0.168381 Feature: 0.043569, 0.037996, 0.998328
[11:52:55.555] xyz_f:0.332698, -0.151254, 1.603303  Reprojection Error: -0.300300, 0.184537 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.555] xyz_f:0.474654, 0.037041, 1.662309  Reprojection Error: -0.237624, 0.277212 Feature: 0.045853, 0.286602, 0.956952
[11:52:55.555] xyz_f:0.718212, -0.641088, 1.460668  Reprojection Error: -0.151670, -0.053016 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.555] xyz_f:-0.525931, -1.152288, 1.744853  Reprojection Error: 0.531108, 0.441870 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.555] xyz_f:0.377005, -0.043085, 1.137740  Reprojection Error: -0.044276, -0.203406 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.555] xyz_f:-0.399146, -1.121351, 1.782932  Reprojection Error: 0.413837, 0.423944 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.555] xyz_f:0.663813, -0.447276, 1.585923  Reprojection Error: -0.138004, 0.066769 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.555] xyz_f:0.440279, -0.245679, 1.621770  Reprojection Error: -0.222052, 0.154515 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.555] xyz_f:0.128876, -0.967410, 1.294323  Reprojection Error: -0.038464, 0.760915 Feature: -0.312634, -0.778864, 0.969795
[11:52:55.555] xyz_f:0.519165, -0.025348, 0.905380  Reprojection Error: -0.642615, 0.124951 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.555] xyz_f:0.262697, -0.048043, 1.581989  Reprojection Error: -0.314414, 0.219356 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.555] xyz_f:0.265690, -0.041800, 1.583833  Reprojection Error: -0.316273, 0.222313 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.555] xyz_f:-0.502754, -1.131598, 1.753683  Reprojection Error: 0.364848, 0.941209 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.555] xyz_f:0.332698, -0.151254, 1.603303  Reprojection Error: 0.149072, 0.438557 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.555] xyz_f:-0.503968, -1.126912, 1.747814  Reprojection Error: 0.503229, 1.022520 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.555] xyz_f:0.665165, -0.640042, 1.459687  Reprojection Error: -0.529153, 0.943686 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.555] it:22 	 Success 	 new_chi2: 1.546554 	 dT = -0.020786, 0.003475, -0.003272
[11:52:55.555] xyz_f:0.663628, -0.640086, 1.456376  Reprojection Error: -0.204123, -0.037505 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.555] xyz_f:0.438922, -0.245913, 1.619169  Reprojection Error: -0.247784, 0.154901 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.555] xyz_f:0.648468, -0.457025, 1.576762  Reprojection Error: -0.171992, 0.066938 Feature: 0.227422, -0.211871, 0.950468
[11:52:55.555] xyz_f:0.328258, -0.143861, 1.601052  Reprojection Error: -0.301349, 0.187673 Feature: -0.095428, 0.096910, 0.990708
[11:52:55.555] xyz_f:0.609480, -0.438654, 1.582284  Reprojection Error: -0.187427, 0.077048 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.555] xyz_f:0.716679, -0.641087, 1.457189  Reprojection Error: -0.177092, -0.046084 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.555] xyz_f:0.698816, -0.463035, 1.575935  Reprojection Error: -0.148929, 0.061082 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.555] xyz_f:0.328393, -0.139541, 1.601781  Reprojection Error: -0.301377, 0.189382 Feature: -0.095422, 0.101271, 0.990272
[11:52:55.555] xyz_f:0.450127, -0.234021, 1.625467  Reprojection Error: -0.242016, 0.160124 Feature: 0.034880, 0.016140, 0.999261
[11:52:55.555] xyz_f:0.261048, -0.048427, 1.579951  Reprojection Error: -0.344013, 0.220420 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.555] xyz_f:0.622205, -0.456648, 1.574625  Reprojection Error: -0.184205, 0.068234 Feature: 0.201704, -0.212060, 0.956215
[11:52:55.555] xyz_f:0.475519, -0.218726, 1.635924  Reprojection Error: -0.229575, 0.167405 Feature: 0.060950, 0.033621, 0.997574
[11:52:55.555] xyz_f:0.662512, -0.447321, 1.582616  Reprojection Error: -0.163939, 0.070929 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.555] xyz_f:0.608606, -0.470071, 1.566040  Reprojection Error: -0.192650, 0.062374 Feature: 0.187288, -0.227247, 0.955658
[11:52:55.555] xyz_f:0.672827, -0.470864, 1.570970  Reprojection Error: -0.162613, 0.058852 Feature: 0.250081, -0.226737, 0.941302
[11:52:55.555] xyz_f:0.601283, 0.095967, 1.678708  Reprojection Error: -0.174758, 0.321048 Feature: 0.169093, 0.348664, 0.921868
[11:52:55.555] xyz_f:0.264041, -0.042182, 1.581784  Reprojection Error: -0.342847, 0.223311 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.555] xyz_f:0.478994, 0.035241, 1.661083  Reprojection Error: -0.234080, 0.277060 Feature: 0.051947, 0.285446, 0.956986
[11:52:55.555] xyz_f:0.680270, -0.449357, 1.582441  Reprojection Error: -0.155809, 0.069009 Feature: 0.258826, -0.202994, 0.944353
[11:52:55.555] xyz_f:0.470104, -0.201293, 1.638410  Reprojection Error: -0.231618, 0.174107 Feature: 0.055152, 0.051103, 0.997169
[11:52:55.555] xyz_f:0.604151, -0.446431, 1.577777  Reprojection Error: -0.191029, 0.073612 Feature: 0.184586, -0.201375, 0.961965
[11:52:55.555] xyz_f:0.469814, -0.226869, 1.632545  Reprojection Error: -0.232519, 0.163893 Feature: 0.055160, 0.024881, 0.998167
[11:52:55.555] xyz_f:0.330745, -0.150619, 1.601010  Reprojection Error: -0.299914, 0.185214 Feature: -0.092545, 0.090371, 0.991599
[11:52:55.555] xyz_f:0.458701, -0.213348, 1.632758  Reprojection Error: -0.237294, 0.168727 Feature: 0.043569, 0.037996, 0.998328
[11:52:55.555] xyz_f:0.331203, -0.151579, 1.601043  Reprojection Error: -0.299659, 0.184873 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.555] xyz_f:0.473185, 0.036836, 1.659600  Reprojection Error: -0.237205, 0.277300 Feature: 0.045853, 0.286602, 0.956952
[11:52:55.555] xyz_f:0.716679, -0.641087, 1.457189  Reprojection Error: -0.151791, -0.051969 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.555] xyz_f:-0.526126, -1.153340, 1.745305  Reprojection Error: 0.531142, 0.442302 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.555] xyz_f:0.373946, -0.043374, 1.135342  Reprojection Error: -0.042282, -0.203072 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.555] xyz_f:-0.399248, -1.122295, 1.782982  Reprojection Error: 0.413888, 0.424456 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.555] xyz_f:0.662512, -0.447321, 1.582616  Reprojection Error: -0.138057, 0.067387 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.555] xyz_f:0.438922, -0.245913, 1.619169  Reprojection Error: -0.221650, 0.154903 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.555] xyz_f:0.127097, -0.967908, 1.292708  Reprojection Error: -0.037212, 0.762235 Feature: -0.312634, -0.778864, 0.969795
[11:52:55.555] xyz_f:0.515356, -0.025517, 0.902534  Reprojection Error: -0.640204, 0.125226 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.555] xyz_f:0.261048, -0.048427, 1.579951  Reprojection Error: -0.313585, 0.219639 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.555] xyz_f:0.264041, -0.042182, 1.581784  Reprojection Error: -0.315448, 0.222589 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.555] xyz_f:-0.502939, -1.132630, 1.754061  Reprojection Error: 0.364891, 0.941658 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.555] xyz_f:0.331203, -0.151579, 1.601043  Reprojection Error: 0.149713, 0.438893 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.555] xyz_f:-0.504176, -1.127945, 1.748196  Reprojection Error: 0.503285, 1.022970 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.555] xyz_f:0.663628, -0.640086, 1.456376  Reprojection Error: -0.529134, 0.944713 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.555] it:23 	 Success 	 new_chi2: 1.546518 	 dT = -0.020313, 0.003146, -0.003473
[11:52:55.555] xyz_f:0.662828, -0.640130, 1.453394  Reprojection Error: -0.204507, -0.036573 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.555] xyz_f:0.438315, -0.246159, 1.616941  Reprojection Error: -0.247782, 0.155262 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.555] xyz_f:0.647907, -0.457083, 1.573831  Reprojection Error: -0.172401, 0.067515 Feature: 0.227422, -0.211871, 0.950468
[11:52:55.555] xyz_f:0.327498, -0.144206, 1.599195  Reprojection Error: -0.301113, 0.187993 Feature: -0.095428, 0.096910, 0.990708
[11:52:55.555] xyz_f:0.608921, -0.438747, 1.579483  Reprojection Error: -0.187756, 0.077598 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.555] xyz_f:0.715881, -0.641083, 1.454029  Reprojection Error: -0.177612, -0.045130 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.555] xyz_f:0.698257, -0.463047, 1.572835  Reprojection Error: -0.149448, 0.061669 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.555] xyz_f:0.327632, -0.139886, 1.599924  Reprojection Error: -0.301139, 0.189699 Feature: -0.095422, 0.101271, 0.990272
[11:52:55.555] xyz_f:0.449530, -0.234257, 1.623201  Reprojection Error: -0.242035, 0.160470 Feature: 0.034880, 0.016140, 0.999261
[11:52:55.555] xyz_f:0.260132, -0.048833, 1.578319  Reprojection Error: -0.343603, 0.220708 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.555] xyz_f:0.621636, -0.456729, 1.571782  Reprojection Error: -0.184558, 0.068811 Feature: 0.201704, -0.212060, 0.956215
[11:52:55.555] xyz_f:0.474944, -0.218938, 1.633573  Reprojection Error: -0.229640, 0.167727 Feature: 0.060950, 0.033621, 0.997574
[11:52:55.555] xyz_f:0.661962, -0.447366, 1.579637  Reprojection Error: -0.164380, 0.071490 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.555] xyz_f:0.608021, -0.470164, 1.563243  Reprojection Error: -0.192971, 0.062971 Feature: 0.187288, -0.227247, 0.955658
[11:52:55.555] xyz_f:0.672259, -0.470899, 1.567957  Reprojection Error: -0.163073, 0.059451 Feature: 0.250081, -0.226737, 0.941302
[11:52:55.555] xyz_f:0.600567, 0.095867, 1.675936  Reprojection Error: -0.174923, 0.321013 Feature: 0.169093, 0.348664, 0.921868
[11:52:55.555] xyz_f:0.263126, -0.042585, 1.580143  Reprojection Error: -0.342442, 0.223594 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.555] xyz_f:0.478274, 0.035031, 1.658720  Reprojection Error: -0.234057, 0.277156 Feature: 0.051947, 0.285446, 0.956986
[11:52:55.555] xyz_f:0.679721, -0.449386, 1.579402  Reprojection Error: -0.156288, 0.069573 Feature: 0.258826, -0.202994, 0.944353
[11:52:55.555] xyz_f:0.469521, -0.201511, 1.636077  Reprojection Error: -0.231671, 0.174415 Feature: 0.055152, 0.051103, 0.997169
[11:52:55.555] xyz_f:0.603584, -0.446528, 1.574994  Reprojection Error: -0.191345, 0.074174 Feature: 0.184586, -0.201375, 0.961965
[11:52:55.555] xyz_f:0.469234, -0.227087, 1.630213  Reprojection Error: -0.232575, 0.164226 Feature: 0.055160, 0.024881, 0.998167
[11:52:55.555] xyz_f:0.329992, -0.150962, 1.599145  Reprojection Error: -0.299684, 0.185538 Feature: -0.092545, 0.090371, 0.991599
[11:52:55.555] xyz_f:0.458109, -0.213576, 1.630464  Reprojection Error: -0.237326, 0.169051 Feature: 0.043569, 0.037996, 0.998328
[11:52:55.555] xyz_f:0.330451, -0.151922, 1.599176  Reprojection Error: -0.299430, 0.185198 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.555] xyz_f:0.472459, 0.036621, 1.657257  Reprojection Error: -0.237170, 0.277398 Feature: 0.045853, 0.286602, 0.956952
[11:52:55.555] xyz_f:0.715881, -0.641083, 1.454029  Reprojection Error: -0.152312, -0.051015 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.555] xyz_f:-0.525489, -1.154452, 1.746312  Reprojection Error: 0.530603, 0.442558 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.555] xyz_f:0.371534, -0.043679, 1.133335  Reprojection Error: -0.040737, -0.202735 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.555] xyz_f:-0.398513, -1.123294, 1.783564  Reprojection Error: 0.413403, 0.424811 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.555] xyz_f:0.661962, -0.447366, 1.579637  Reprojection Error: -0.138498, 0.067948 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.555] xyz_f:0.438315, -0.246159, 1.616941  Reprojection Error: -0.221648, 0.155264 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.555] xyz_f:0.126045, -0.968434, 1.291526  Reprojection Error: -0.036487, 0.763327 Feature: -0.312634, -0.778864, 0.969795
[11:52:55.555] xyz_f:0.512146, -0.025695, 0.900054  Reprojection Error: -0.638210, 0.125502 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.555] xyz_f:0.260132, -0.048833, 1.578319  Reprojection Error: -0.313175, 0.219927 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.555] xyz_f:0.263126, -0.042585, 1.580143  Reprojection Error: -0.315043, 0.222871 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.555] xyz_f:-0.502291, -1.133722, 1.754991  Reprojection Error: 0.364370, 0.941938 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.555] xyz_f:0.330451, -0.151922, 1.599176  Reprojection Error: 0.149942, 0.439218 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.555] xyz_f:-0.503552, -1.129038, 1.749129  Reprojection Error: 0.502774, 1.023250 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.555] xyz_f:0.662828, -0.640130, 1.453394  Reprojection Error: -0.529518, 0.945645 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.555] it:24 	 Success 	 new_chi2: 1.548400 	 dT = -0.019926, 0.002898, -0.003650
[11:52:55.555] xyz_f:0.662604, -0.640173, 1.450657  Reprojection Error: -0.205214, -0.035712 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.555] xyz_f:0.438297, -0.246414, 1.614994  Reprojection Error: -0.248097, 0.155603 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.555] xyz_f:0.647935, -0.457140, 1.571145  Reprojection Error: -0.173123, 0.068047 Feature: 0.227422, -0.211871, 0.950468
[11:52:55.555] xyz_f:0.327322, -0.144566, 1.597640  Reprojection Error: -0.301202, 0.188306 Feature: -0.095428, 0.096910, 0.990708
[11:52:55.555] xyz_f:0.608952, -0.438841, 1.576935  Reprojection Error: -0.188399, 0.078106 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.555] xyz_f:0.715661, -0.641076, 1.451104  Reprojection Error: -0.178452, -0.044247 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.555] xyz_f:0.698287, -0.463057, 1.569972  Reprojection Error: -0.150276, 0.062212 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.555] xyz_f:0.327455, -0.140246, 1.598368  Reprojection Error: -0.301228, 0.190009 Feature: -0.095422, 0.101271, 0.990272
[11:52:55.555] xyz_f:0.449523, -0.234501, 1.621215  Reprojection Error: -0.242369, 0.160798 Feature: 0.034880, 0.016140, 0.999261
[11:52:55.555] xyz_f:0.259793, -0.049257, 1.577002  Reprojection Error: -0.343526, 0.221003 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.555] xyz_f:0.621657, -0.456811, 1.569189  Reprojection Error: -0.185224, 0.069343 Feature: 0.201704, -0.212060, 0.956215
[11:52:55.555] xyz_f:0.474959, -0.219159, 1.631497  Reprojection Error: -0.230020, 0.168033 Feature: 0.060950, 0.033621, 0.997574
[11:52:55.555] xyz_f:0.662001, -0.447409, 1.576902  Reprojection Error: -0.165132, 0.072009 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.555] xyz_f:0.608024, -0.470259, 1.560698  Reprojection Error: -0.193607, 0.063522 Feature: 0.187288, -0.227247, 0.955658
[11:52:55.555] xyz_f:0.672280, -0.470933, 1.565186  Reprojection Error: -0.163845, 0.060005 Feature: 0.250081, -0.226737, 0.941302
[11:52:55.555] xyz_f:0.600433, 0.095765, 1.673417  Reprojection Error: -0.175382, 0.320988 Feature: 0.169093, 0.348664, 0.921868
[11:52:55.555] xyz_f:0.262788, -0.043006, 1.578815  Reprojection Error: -0.342367, 0.223883 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.555] xyz_f:0.478138, 0.034814, 1.656633  Reprojection Error: -0.234338, 0.277261 Feature: 0.051947, 0.285446, 0.956986
[11:52:55.555] xyz_f:0.679761, -0.449413, 1.576605  Reprojection Error: -0.157077, 0.070095 Feature: 0.258826, -0.202994, 0.944353
[11:52:55.555] xyz_f:0.469528, -0.201736, 1.634020  Reprojection Error: -0.232037, 0.174708 Feature: 0.055152, 0.051103, 0.997169
[11:52:55.555] xyz_f:0.603607, -0.446627, 1.572465  Reprojection Error: -0.191976, 0.074693 Feature: 0.184586, -0.201375, 0.961965
[11:52:55.555] xyz_f:0.469245, -0.227313, 1.628158  Reprojection Error: -0.232945, 0.164540 Feature: 0.055160, 0.024881, 0.998167
[11:52:55.556] xyz_f:0.329822, -0.151319, 1.597581  Reprojection Error: -0.299780, 0.185854 Feature: -0.092545, 0.090371, 0.991599
[11:52:55.556] xyz_f:0.458109, -0.213812, 1.628447  Reprojection Error: -0.237674, 0.169358 Feature: 0.043569, 0.037996, 0.998328
[11:52:55.556] xyz_f:0.330282, -0.152279, 1.597611  Reprojection Error: -0.299527, 0.185514 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.556] xyz_f:0.472316, 0.036398, 1.655191  Reprojection Error: -0.237439, 0.277505 Feature: 0.045853, 0.286602, 0.956952
[11:52:55.556] xyz_f:0.715661, -0.641076, 1.451104  Reprojection Error: -0.153152, -0.050132 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.556] xyz_f:-0.524185, -1.155618, 1.747761  Reprojection Error: 0.529608, 0.442676 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.556] xyz_f:0.369620, -0.043998, 1.131627  Reprojection Error: -0.039540, -0.202395 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.556] xyz_f:-0.397109, -1.124339, 1.784566  Reprojection Error: 0.412490, 0.425043 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.556] xyz_f:0.662001, -0.447409, 1.576902  Reprojection Error: -0.139250, 0.068467 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.556] xyz_f:0.438297, -0.246414, 1.614994  Reprojection Error: -0.221963, 0.155606 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.556] xyz_f:0.125564, -0.968984, 1.290682  Reprojection Error: -0.036179, 0.764244 Feature: -0.312634, -0.778864, 0.969795
[11:52:55.556] xyz_f:0.509391, -0.025881, 0.897852  Reprojection Error: -0.636538, 0.125780 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.556] xyz_f:0.259793, -0.049257, 1.577002  Reprojection Error: -0.313098, 0.220222 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.556] xyz_f:0.262788, -0.043006, 1.578815  Reprojection Error: -0.314968, 0.223161 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.556] xyz_f:-0.500977, -1.134865, 1.756359  Reprojection Error: 0.363399, 0.942086 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.556] xyz_f:0.330282, -0.152279, 1.597611  Reprojection Error: 0.149845, 0.439534 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.556] xyz_f:-0.502263, -1.130183, 1.750502  Reprojection Error: 0.501812, 1.023398 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.556] xyz_f:0.662604, -0.640173, 1.450657  Reprojection Error: -0.530224, 0.946505 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.556] it:25 	 Success 	 new_chi2: 1.551803 	 dT = -0.019605, 0.002712, -0.003809
[11:52:55.556] xyz_f:0.662839, -0.640214, 1.448100  Reprojection Error: -0.206182, -0.034904 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.556] xyz_f:0.438750, -0.246677, 1.613263  Reprojection Error: -0.248669, 0.155930 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.556] xyz_f:0.648433, -0.457196, 1.568642  Reprojection Error: -0.174098, 0.068547 Feature: 0.227422, -0.211871, 0.950468
[11:52:55.556] xyz_f:0.327612, -0.144938, 1.596317  Reprojection Error: -0.301553, 0.188614 Feature: -0.095428, 0.096910, 0.990708
[11:52:55.556] xyz_f:0.609454, -0.438935, 1.574575  Reprojection Error: -0.189296, 0.078583 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.556] xyz_f:0.715897, -0.641065, 1.448352  Reprojection Error: -0.179553, -0.043415 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.556] xyz_f:0.698786, -0.463063, 1.567283  Reprojection Error: -0.151357, 0.062722 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.556] xyz_f:0.327743, -0.140618, 1.597044  Reprojection Error: -0.301578, 0.190314 Feature: -0.095422, 0.101271, 0.990272
[11:52:55.556] xyz_f:0.449987, -0.234753, 1.619442  Reprojection Error: -0.242959, 0.161111 Feature: 0.034880, 0.016140, 0.999261
[11:52:55.556] xyz_f:0.259913, -0.049695, 1.575928  Reprojection Error: -0.343715, 0.221303 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.556] xyz_f:0.622147, -0.456893, 1.566783  Reprojection Error: -0.186146, 0.069842 Feature: 0.201704, -0.212060, 0.956215
[11:52:55.556] xyz_f:0.475445, -0.219385, 1.629631  Reprojection Error: -0.230651, 0.168326 Feature: 0.060950, 0.033621, 0.997574
[11:52:55.556] xyz_f:0.662510, -0.447451, 1.574348  Reprojection Error: -0.166136, 0.072496 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.556] xyz_f:0.608497, -0.470354, 1.558342  Reprojection Error: -0.194500, 0.064039 Feature: 0.187288, -0.227247, 0.955658
[11:52:55.556] xyz_f:0.672769, -0.470965, 1.562593  Reprojection Error: -0.164871, 0.060524 Feature: 0.250081, -0.226737, 0.941302
[11:52:55.556] xyz_f:0.600762, 0.095662, 1.671089  Reprojection Error: -0.176079, 0.320969 Feature: 0.169093, 0.348664, 0.921868
[11:52:55.556] xyz_f:0.262908, -0.043442, 1.577730  Reprojection Error: -0.342558, 0.224178 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.556] xyz_f:0.478466, 0.034590, 1.654755  Reprojection Error: -0.234864, 0.277372 Feature: 0.051947, 0.285446, 0.956986
[11:52:55.556] xyz_f:0.680271, -0.449438, 1.573985  Reprojection Error: -0.158119, 0.070585 Feature: 0.258826, -0.202994, 0.944353
[11:52:55.556] xyz_f:0.470007, -0.201968, 1.632174  Reprojection Error: -0.232655, 0.174990 Feature: 0.055152, 0.051103, 0.997169
[11:52:55.556] xyz_f:0.604099, -0.446727, 1.570125  Reprojection Error: -0.192862, 0.075180 Feature: 0.184586, -0.201375, 0.961965
[11:52:55.556] xyz_f:0.469728, -0.227545, 1.626312  Reprojection Error: -0.233569, 0.164841 Feature: 0.055160, 0.024881, 0.998167
[11:52:55.556] xyz_f:0.330118, -0.151689, 1.596248  Reprojection Error: -0.300138, 0.186165 Feature: -0.092545, 0.090371, 0.991599
[11:52:55.556] xyz_f:0.458579, -0.214055, 1.626643  Reprojection Error: -0.238275, 0.169653 Feature: 0.043569, 0.037996, 0.998328
[11:52:55.556] xyz_f:0.330579, -0.152648, 1.596277  Reprojection Error: -0.299885, 0.185825 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.556] xyz_f:0.472638, 0.036169, 1.653334  Reprojection Error: -0.237954, 0.277619 Feature: 0.045853, 0.286602, 0.956952
[11:52:55.556] xyz_f:0.715897, -0.641065, 1.448352  Reprojection Error: -0.154253, -0.049300 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.556] xyz_f:-0.522341, -1.156828, 1.749569  Reprojection Error: 0.528244, 0.442685 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.556] xyz_f:0.368096, -0.044329, 1.130152  Reprojection Error: -0.038617, -0.202051 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.556] xyz_f:-0.395161, -1.125425, 1.785905  Reprojection Error: 0.411233, 0.425178 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.556] xyz_f:0.662510, -0.447451, 1.574348  Reprojection Error: -0.140254, 0.068954 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.556] xyz_f:0.438750, -0.246677, 1.613263  Reprojection Error: -0.222535, 0.155932 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.556] xyz_f:0.125539, -0.969556, 1.290102  Reprojection Error: -0.036203, 0.765025 Feature: -0.312634, -0.778864, 0.969795
[11:52:55.556] xyz_f:0.506988, -0.026075, 0.895864  Reprojection Error: -0.635114, 0.126060 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.556] xyz_f:0.259913, -0.049695, 1.575928  Reprojection Error: -0.313286, 0.220522 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.556] xyz_f:0.262908, -0.043442, 1.577730  Reprojection Error: -0.315159, 0.223456 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.556] xyz_f:-0.499121, -1.136053, 1.758081  Reprojection Error: 0.362064, 0.942129 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.556] xyz_f:0.330579, -0.152648, 1.596277  Reprojection Error: 0.149486, 0.439845 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.556] xyz_f:-0.500433, -1.131372, 1.752228  Reprojection Error: 0.500485, 1.023441 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.556] xyz_f:0.662839, -0.640214, 1.448100  Reprojection Error: -0.531193, 0.947313 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.556] it:26 	 Success 	 new_chi2: 1.556433 	 dT = -0.019336, 0.002572, -0.003954
[11:52:55.556] xyz_f:0.663444, -0.640254, 1.445676  Reprojection Error: -0.207368, -0.034136 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.556] xyz_f:0.439584, -0.246945, 1.611694  Reprojection Error: -0.249452, 0.156245 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.556] xyz_f:0.649311, -0.457250, 1.566273  Reprojection Error: -0.175284, 0.069023 Feature: 0.227422, -0.211871, 0.950468
[11:52:55.556] xyz_f:0.328278, -0.145320, 1.595174  Reprojection Error: -0.302118, 0.188919 Feature: -0.095428, 0.096910, 0.990708
[11:52:55.556] xyz_f:0.610336, -0.439029, 1.572355  Reprojection Error: -0.190403, 0.079037 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.556] xyz_f:0.716503, -0.641050, 1.445726  Reprojection Error: -0.180870, -0.042621 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.556] xyz_f:0.699664, -0.463066, 1.564722  Reprojection Error: -0.152649, 0.063207 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.556] xyz_f:0.328407, -0.141001, 1.595900  Reprojection Error: -0.302141, 0.190617 Feature: -0.095422, 0.101271, 0.990272
[11:52:55.556] xyz_f:0.450833, -0.235010, 1.617830  Reprojection Error: -0.243759, 0.161415 Feature: 0.034880, 0.016140, 0.999261
[11:52:55.556] xyz_f:0.260405, -0.050147, 1.575043  Reprojection Error: -0.344119, 0.221607 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.556] xyz_f:0.623018, -0.456974, 1.564514  Reprojection Error: -0.187278, 0.070317 Feature: 0.201704, -0.212060, 0.956215
[11:52:55.556] xyz_f:0.476314, -0.219617, 1.627922  Reprojection Error: -0.231491, 0.168609 Feature: 0.060950, 0.033621, 0.997574
[11:52:55.556] xyz_f:0.663400, -0.447491, 1.571924  Reprojection Error: -0.167351, 0.072960 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.556] xyz_f:0.609349, -0.470449, 1.556125  Reprojection Error: -0.195603, 0.064530 Feature: 0.187288, -0.227247, 0.955658
[11:52:55.556] xyz_f:0.673637, -0.470994, 1.560131  Reprojection Error: -0.166107, 0.061019 Feature: 0.250081, -0.226737, 0.941302
[11:52:55.556] xyz_f:0.601466, 0.095559, 1.668902  Reprojection Error: -0.176972, 0.320956 Feature: 0.169093, 0.348664, 0.921868
[11:52:55.556] xyz_f:0.263400, -0.043891, 1.576834  Reprojection Error: -0.342965, 0.224479 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.556] xyz_f:0.479171, 0.034362, 1.653036  Reprojection Error: -0.235591, 0.277489 Feature: 0.051947, 0.285446, 0.956986
[11:52:55.556] xyz_f:0.681161, -0.449459, 1.571494  Reprojection Error: -0.159371, 0.071052 Feature: 0.258826, -0.202994, 0.944353
[11:52:55.556] xyz_f:0.470867, -0.202205, 1.630486  Reprojection Error: -0.233481, 0.175263 Feature: 0.055152, 0.051103, 0.997169
[11:52:55.556] xyz_f:0.604972, -0.446826, 1.567925  Reprojection Error: -0.193958, 0.075642 Feature: 0.184586, -0.201375, 0.961965
[11:52:55.556] xyz_f:0.470592, -0.227782, 1.624626  Reprojection Error: -0.234401, 0.165132 Feature: 0.055160, 0.024881, 0.998167
[11:52:55.556] xyz_f:0.330791, -0.152069, 1.595095  Reprojection Error: -0.300709, 0.186472 Feature: -0.092545, 0.090371, 0.991599
[11:52:55.556] xyz_f:0.459431, -0.214304, 1.624999  Reprojection Error: -0.239084, 0.169939 Feature: 0.043569, 0.037996, 0.998328
[11:52:55.556] xyz_f:0.331253, -0.153027, 1.595122  Reprojection Error: -0.300458, 0.186133 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.556] xyz_f:0.473335, 0.035934, 1.651636  Reprojection Error: -0.238670, 0.277738 Feature: 0.045853, 0.286602, 0.956952
[11:52:55.556] xyz_f:0.716503, -0.641050, 1.445726  Reprojection Error: -0.155570, -0.048506 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.556] xyz_f:-0.520047, -1.158080, 1.751669  Reprojection Error: 0.526576, 0.442607 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.556] xyz_f:0.366878, -0.044672, 1.128858  Reprojection Error: -0.037912, -0.201703 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.556] xyz_f:-0.392761, -1.126546, 1.787519  Reprojection Error: 0.409690, 0.425237 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.556] xyz_f:0.663400, -0.447491, 1.571924  Reprojection Error: -0.141469, 0.069418 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.556] xyz_f:0.439584, -0.246945, 1.611694  Reprojection Error: -0.223318, 0.156248 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.556] xyz_f:0.125881, -0.970145, 1.289731  Reprojection Error: -0.036496, 0.765698 Feature: -0.312634, -0.778864, 0.969795
[11:52:55.556] xyz_f:0.504856, -0.026276, 0.894041  Reprojection Error: -0.633883, 0.126344 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.556] xyz_f:0.260405, -0.050147, 1.575043  Reprojection Error: -0.313691, 0.220826 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.556] xyz_f:0.263400, -0.043891, 1.576834  Reprojection Error: -0.315566, 0.223756 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.556] xyz_f:-0.496816, -1.137281, 1.760092  Reprojection Error: 0.360430, 0.942088 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.556] xyz_f:0.331253, -0.153027, 1.595122  Reprojection Error: 0.148913, 0.440153 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.556] xyz_f:-0.498155, -1.132601, 1.754245  Reprojection Error: 0.498858, 1.023399 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.556] xyz_f:0.663444, -0.640254, 1.445676  Reprojection Error: -0.532379, 0.948082 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.556] it:27 	 Success 	 new_chi2: 1.562070 	 dT = -0.019107, 0.002467, -0.004089
[11:52:55.556] xyz_f:0.664351, -0.640291, 1.443347  Reprojection Error: -0.208737, -0.033395 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.556] xyz_f:0.440733, -0.247219, 1.610249  Reprojection Error: -0.250410, 0.156553 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.556] xyz_f:0.650501, -0.457302, 1.563999  Reprojection Error: -0.176648, 0.069480 Feature: 0.227422, -0.211871, 0.950468
[11:52:55.556] xyz_f:0.329255, -0.145712, 1.594168  Reprojection Error: -0.302860, 0.189222 Feature: -0.095428, 0.096910, 0.990708
[11:52:55.556] xyz_f:0.611531, -0.439122, 1.570235  Reprojection Error: -0.191688, 0.079473 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.556] xyz_f:0.717411, -0.641031, 1.443187  Reprojection Error: -0.182371, -0.041854 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.556] xyz_f:0.700854, -0.463064, 1.562249  Reprojection Error: -0.154118, 0.063674 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.556] xyz_f:0.329382, -0.141392, 1.594894  Reprojection Error: -0.302883, 0.190918 Feature: -0.095422, 0.101271, 0.990272
[11:52:55.556] xyz_f:0.451993, -0.235272, 1.616340  Reprojection Error: -0.244734, 0.161711 Feature: 0.034880, 0.016140, 0.999261
[11:52:55.556] xyz_f:0.261202, -0.050611, 1.574306  Reprojection Error: -0.344703, 0.221917 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.556] xyz_f:0.624201, -0.457054, 1.562344  Reprojection Error: -0.188589, 0.070774 Feature: 0.201704, -0.212060, 0.956215
[11:52:55.556] xyz_f:0.477497, -0.219852, 1.626331  Reprojection Error: -0.232505, 0.168885 Feature: 0.060950, 0.033621, 0.997574
[11:52:55.556] xyz_f:0.664602, -0.447528, 1.569595  Reprojection Error: -0.168743, 0.073406 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.556] xyz_f:0.610514, -0.470543, 1.554009  Reprojection Error: -0.196886, 0.065002 Feature: 0.187288, -0.227247, 0.955658
[11:52:55.556] xyz_f:0.674818, -0.471020, 1.557761  Reprojection Error: -0.167522, 0.061495 Feature: 0.250081, -0.226737, 0.941302
[11:52:55.556] xyz_f:0.602477, 0.095457, 1.666818  Reprojection Error: -0.178029, 0.320946 Feature: 0.169093, 0.348664, 0.921868
[11:52:55.556] xyz_f:0.264198, -0.044351, 1.576085  Reprojection Error: -0.343550, 0.224784 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.556] xyz_f:0.480185, 0.034130, 1.651434  Reprojection Error: -0.236486, 0.277609 Feature: 0.051947, 0.285446, 0.956986
[11:52:55.556] xyz_f:0.682363, -0.449477, 1.569094  Reprojection Error: -0.160800, 0.071501 Feature: 0.258826, -0.202994, 0.944353
[11:52:55.556] xyz_f:0.472043, -0.202446, 1.628917  Reprojection Error: -0.234481, 0.175531 Feature: 0.055152, 0.051103, 0.997169
[11:52:55.556] xyz_f:0.606158, -0.446925, 1.565826  Reprojection Error: -0.195233, 0.076087 Feature: 0.184586, -0.201375, 0.961965
[11:52:55.556] xyz_f:0.471771, -0.228023, 1.623058  Reprojection Error: -0.235407, 0.165416 Feature: 0.055160, 0.024881, 0.998167
[11:52:55.556] xyz_f:0.331775, -0.152458, 1.594080  Reprojection Error: -0.301458, 0.186777 Feature: -0.092545, 0.090371, 0.991599
[11:52:55.556] xyz_f:0.460597, -0.214557, 1.623475  Reprojection Error: -0.240068, 0.170219 Feature: 0.043569, 0.037996, 0.998328
[11:52:55.556] xyz_f:0.332238, -0.153416, 1.594105  Reprojection Error: -0.301208, 0.186438 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.556] xyz_f:0.474342, 0.035696, 1.650058  Reprojection Error: -0.239555, 0.277862 Feature: 0.045853, 0.286602, 0.956952
[11:52:55.556] xyz_f:0.717411, -0.641031, 1.443187  Reprojection Error: -0.157071, -0.047739 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.556] xyz_f:-0.517373, -1.159369, 1.754010  Reprojection Error: 0.524656, 0.442459 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.556] xyz_f:0.365906, -0.045023, 1.127703  Reprojection Error: -0.037383, -0.201350 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.556] xyz_f:-0.389980, -1.127700, 1.789358  Reprojection Error: 0.407910, 0.425234 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.556] xyz_f:0.664602, -0.447528, 1.569595  Reprojection Error: -0.142861, 0.069864 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.556] xyz_f:0.440733, -0.247219, 1.610249  Reprojection Error: -0.224276, 0.156556 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.556] xyz_f:0.126526, -0.970751, 1.289525  Reprojection Error: -0.037012, 0.766288 Feature: -0.312634, -0.778864, 0.969795
[11:52:55.556] xyz_f:0.502936, -0.026482, 0.892344  Reprojection Error: -0.632806, 0.126631 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.556] xyz_f:0.261202, -0.050611, 1.574306  Reprojection Error: -0.314275, 0.221136 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.556] xyz_f:0.264198, -0.044351, 1.576085  Reprojection Error: -0.316151, 0.224061 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.556] xyz_f:-0.494131, -1.138545, 1.762342  Reprojection Error: 0.358547, 0.941981 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.556] xyz_f:0.332238, -0.153416, 1.594105  Reprojection Error: 0.148163, 0.440458 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.556] xyz_f:-0.495498, -1.133867, 1.756500  Reprojection Error: 0.496981, 1.023291 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.556] xyz_f:0.664351, -0.640291, 1.443347  Reprojection Error: -0.533748, 0.948822 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.556] it:28 	 Success 	 new_chi2: 1.568545 	 dT = -0.018908, 0.002392, -0.004215
[11:52:55.556] xyz_f:0.665509, -0.640325, 1.441082  Reprojection Error: -0.210264, -0.032675 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.556] xyz_f:0.442143, -0.247497, 1.608894  Reprojection Error: -0.251517, 0.156855 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.556] xyz_f:0.651950, -0.457351, 1.561790  Reprojection Error: -0.178164, 0.069925 Feature: 0.227422, -0.211871, 0.950468
[11:52:55.556] xyz_f:0.330490, -0.146112, 1.593268  Reprojection Error: -0.303753, 0.189525 Feature: -0.095428, 0.096910, 0.990708
[11:52:55.556] xyz_f:0.612986, -0.439214, 1.568185  Reprojection Error: -0.193126, 0.079897 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.556] xyz_f:0.718569, -0.641007, 1.440707  Reprojection Error: -0.184030, -0.041106 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.556] xyz_f:0.702302, -0.463058, 1.559835  Reprojection Error: -0.155741, 0.064129 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.556] xyz_f:0.330616, -0.141792, 1.593993  Reprojection Error: -0.303773, 0.191219 Feature: -0.095422, 0.101271, 0.990272
[11:52:55.556] xyz_f:0.453415, -0.235538, 1.614940  Reprojection Error: -0.245857, 0.162001 Feature: 0.034880, 0.016140, 0.999261
[11:52:55.556] xyz_f:0.262253, -0.051085, 1.573683  Reprojection Error: -0.345437, 0.222231 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.556] xyz_f:0.625644, -0.457131, 1.560242  Reprojection Error: -0.190051, 0.071218 Feature: 0.201704, -0.212060, 0.956215
[11:52:55.556] xyz_f:0.478943, -0.220089, 1.624827  Reprojection Error: -0.233667, 0.169157 Feature: 0.060950, 0.033621, 0.997574
[11:52:55.556] xyz_f:0.666063, -0.447562, 1.567329  Reprojection Error: -0.170288, 0.073839 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.556] xyz_f:0.611937, -0.470636, 1.551963  Reprojection Error: -0.198321, 0.065461 Feature: 0.187288, -0.227247, 0.955658
[11:52:55.556] xyz_f:0.676256, -0.471043, 1.555453  Reprojection Error: -0.169090, 0.061958 Feature: 0.250081, -0.226737, 0.941302
[11:52:55.556] xyz_f:0.603743, 0.095355, 1.664805  Reprojection Error: -0.179226, 0.320938 Feature: 0.169093, 0.348664, 0.921868
[11:52:55.556] xyz_f:0.265249, -0.044822, 1.575450  Reprojection Error: -0.344286, 0.225094 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.556] xyz_f:0.481456, 0.033895, 1.649919  Reprojection Error: -0.237524, 0.277732 Feature: 0.051947, 0.285446, 0.956986
[11:52:55.556] xyz_f:0.683825, -0.449491, 1.566755  Reprojection Error: -0.162382, 0.071937 Feature: 0.258826, -0.202994, 0.944353
[11:52:55.556] xyz_f:0.473480, -0.202689, 1.627435  Reprojection Error: -0.235628, 0.175794 Feature: 0.055152, 0.051103, 0.997169
[11:52:55.557] xyz_f:0.607604, -0.447022, 1.563798  Reprojection Error: -0.196660, 0.076520 Feature: 0.184586, -0.201375, 0.961965
[11:52:55.557] xyz_f:0.473213, -0.228267, 1.621577  Reprojection Error: -0.236562, 0.165695 Feature: 0.055160, 0.024881, 0.998167
[11:52:55.557] xyz_f:0.333017, -0.152855, 1.593169  Reprojection Error: -0.302357, 0.187081 Feature: -0.092545, 0.090371, 0.991599
[11:52:55.557] xyz_f:0.462026, -0.214813, 1.622039  Reprojection Error: -0.241200, 0.170494 Feature: 0.043569, 0.037996, 0.998328
[11:52:55.557] xyz_f:0.333481, -0.153812, 1.593192  Reprojection Error: -0.302108, 0.186742 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.557] xyz_f:0.475606, 0.035455, 1.648567  Reprojection Error: -0.240581, 0.277989 Feature: 0.045853, 0.286602, 0.956952
[11:52:55.557] xyz_f:0.718569, -0.641007, 1.440707  Reprojection Error: -0.158730, -0.046991 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.557] xyz_f:-0.514373, -1.160691, 1.756553  Reprojection Error: 0.522521, 0.442255 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.557] xyz_f:0.365132, -0.045384, 1.126658  Reprojection Error: -0.036997, -0.200993 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.557] xyz_f:-0.386872, -1.128883, 1.791382  Reprojection Error: 0.405929, 0.425182 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.557] xyz_f:0.666063, -0.447562, 1.567329  Reprojection Error: -0.144406, 0.070297 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.557] xyz_f:0.442143, -0.247497, 1.608894  Reprojection Error: -0.225383, 0.156858 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.557] xyz_f:0.127423, -0.971372, 1.289451  Reprojection Error: -0.037713, 0.766813 Feature: -0.312634, -0.778864, 0.969795
[11:52:55.557] xyz_f:0.501182, -0.026694, 0.890742  Reprojection Error: -0.631850, 0.126922 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.557] xyz_f:0.262253, -0.051085, 1.573683  Reprojection Error: -0.315009, 0.221450 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.557] xyz_f:0.265249, -0.044822, 1.575450  Reprojection Error: -0.316886, 0.224371 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.557] xyz_f:-0.491121, -1.139842, 1.764790  Reprojection Error: 0.356452, 0.941819 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.557] xyz_f:0.333481, -0.153812, 1.593192  Reprojection Error: 0.147263, 0.440761 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.557] xyz_f:-0.492517, -1.135165, 1.758954  Reprojection Error: 0.494892, 1.023128 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.557] xyz_f:0.665509, -0.640325, 1.441082  Reprojection Error: -0.535275, 0.949543 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.557] it:29 	 Success 	 new_chi2: 1.575728 	 dT = -0.018735, 0.002339, -0.004336
[11:52:55.557] xyz_f:0.666876, -0.640356, 1.438858  Reprojection Error: -0.211928, -0.031967 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.557] xyz_f:0.443775, -0.247778, 1.607605  Reprojection Error: -0.252752, 0.157153 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.557] xyz_f:0.653618, -0.457397, 1.559622  Reprojection Error: -0.179814, 0.070362 Feature: 0.227422, -0.211871, 0.950468
[11:52:55.557] xyz_f:0.331944, -0.146518, 1.592446  Reprojection Error: -0.304772, 0.189827 Feature: -0.095428, 0.096910, 0.990708
[11:52:55.557] xyz_f:0.614661, -0.439303, 1.566180  Reprojection Error: -0.194695, 0.080313 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.557] xyz_f:0.719935, -0.640978, 1.438260  Reprojection Error: -0.185829, -0.040369 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.557] xyz_f:0.703967, -0.463048, 1.557456  Reprojection Error: -0.157498, 0.064576 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.557] xyz_f:0.332068, -0.142198, 1.593171  Reprojection Error: -0.304791, 0.191520 Feature: -0.095422, 0.101271, 0.990272
[11:52:55.557] xyz_f:0.455058, -0.235806, 1.613603  Reprojection Error: -0.247108, 0.162289 Feature: 0.034880, 0.016140, 0.999261
[11:52:55.557] xyz_f:0.263519, -0.051568, 1.573148  Reprojection Error: -0.346298, 0.222549 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.557] xyz_f:0.627305, -0.457207, 1.558184  Reprojection Error: -0.191647, 0.071653 Feature: 0.201704, -0.212060, 0.956215
[11:52:55.557] xyz_f:0.480610, -0.220329, 1.623384  Reprojection Error: -0.234956, 0.169425 Feature: 0.060950, 0.033621, 0.997574
[11:52:55.557] xyz_f:0.667743, -0.447592, 1.565101  Reprojection Error: -0.171966, 0.074265 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.557] xyz_f:0.613579, -0.470727, 1.549962  Reprojection Error: -0.199889, 0.065911 Feature: 0.187288, -0.227247, 0.955658
[11:52:55.557] xyz_f:0.677913, -0.471061, 1.553183  Reprojection Error: -0.170791, 0.062412 Feature: 0.250081, -0.226737, 0.941302
[11:52:55.557] xyz_f:0.605222, 0.095255, 1.662839  Reprojection Error: -0.180545, 0.320930 Feature: 0.169093, 0.348664, 0.921868
[11:52:55.557] xyz_f:0.266515, -0.045302, 1.574902  Reprojection Error: -0.345148, 0.225409 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.557] xyz_f:0.482943, 0.033658, 1.648465  Reprojection Error: -0.238683, 0.277858 Feature: 0.051947, 0.285446, 0.956986
[11:52:55.557] xyz_f:0.685504, -0.449501, 1.564454  Reprojection Error: -0.164097, 0.072366 Feature: 0.258826, -0.202994, 0.944353
[11:52:55.557] xyz_f:0.475139, -0.202935, 1.626014  Reprojection Error: -0.236902, 0.176054 Feature: 0.055152, 0.051103, 0.997169
[11:52:55.557] xyz_f:0.609269, -0.447118, 1.561815  Reprojection Error: -0.198219, 0.076944 Feature: 0.184586, -0.201375, 0.961965
[11:52:55.557] xyz_f:0.474876, -0.228513, 1.620157  Reprojection Error: -0.237844, 0.165971 Feature: 0.055160, 0.024881, 0.998167
[11:52:55.557] xyz_f:0.334478, -0.153259, 1.592337  Reprojection Error: -0.303384, 0.187384 Feature: -0.092545, 0.090371, 0.991599
[11:52:55.557] xyz_f:0.463675, -0.215072, 1.620667  Reprojection Error: -0.242459, 0.170766 Feature: 0.043569, 0.037996, 0.998328
[11:52:55.557] xyz_f:0.334943, -0.154216, 1.592358  Reprojection Error: -0.303136, 0.187045 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.557] xyz_f:0.477086, 0.035211, 1.647138  Reprojection Error: -0.241730, 0.278118 Feature: 0.045853, 0.286602, 0.956952
[11:52:55.557] xyz_f:0.719935, -0.640978, 1.438260  Reprojection Error: -0.160528, -0.046254 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.557] xyz_f:-0.511090, -1.162045, 1.759266  Reprojection Error: 0.520203, 0.442005 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.557] xyz_f:0.364518, -0.045753, 1.125696  Reprojection Error: -0.036729, -0.200631 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.557] xyz_f:-0.383480, -1.130094, 1.793561  Reprojection Error: 0.403775, 0.425092 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.557] xyz_f:0.667743, -0.447592, 1.565101  Reprojection Error: -0.146084, 0.070723 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.557] xyz_f:0.443775, -0.247778, 1.607605  Reprojection Error: -0.226618, 0.157156 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.557] xyz_f:0.128532, -0.972007, 1.289481  Reprojection Error: -0.038571, 0.767288 Feature: -0.312634, -0.778864, 0.969795
[11:52:55.557] xyz_f:0.499558, -0.026911, 0.889212  Reprojection Error: -0.630992, 0.127217 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.557] xyz_f:0.263519, -0.051568, 1.573148  Reprojection Error: -0.315870, 0.221768 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.557] xyz_f:0.266515, -0.045302, 1.574902  Reprojection Error: -0.317749, 0.224686 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.557] xyz_f:-0.487826, -1.141170, 1.767406  Reprojection Error: 0.354176, 0.941615 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.557] xyz_f:0.334943, -0.154216, 1.592358  Reprojection Error: 0.146236, 0.441065 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.557] xyz_f:-0.489252, -1.136494, 1.761575  Reprojection Error: 0.492622, 1.022922 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.557] xyz_f:0.666876, -0.640356, 1.438858  Reprojection Error: -0.536939, 0.950251 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.557] it:30 	 Success 	 new_chi2: 1.583518 	 dT = -0.018579, 0.002304, -0.004451
[11:52:55.557] xyz_f:0.668421, -0.640383, 1.436655  Reprojection Error: -0.213714, -0.031265 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.557] xyz_f:0.445595, -0.248062, 1.606360  Reprojection Error: -0.254099, 0.157449 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.557] xyz_f:0.655471, -0.457439, 1.557475  Reprojection Error: -0.181582, 0.070793 Feature: 0.227422, -0.211871, 0.950468
[11:52:55.557] xyz_f:0.333583, -0.146931, 1.591683  Reprojection Error: -0.305902, 0.190131 Feature: -0.095428, 0.096910, 0.990708
[11:52:55.557] xyz_f:0.616522, -0.439390, 1.564200  Reprojection Error: -0.196382, 0.080723 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.557] xyz_f:0.721477, -0.640944, 1.435828  Reprojection Error: -0.187751, -0.039638 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.557] xyz_f:0.705817, -0.463032, 1.555092  Reprojection Error: -0.159374, 0.065018 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.557] xyz_f:0.333705, -0.142611, 1.592407  Reprojection Error: -0.305920, 0.191822 Feature: -0.095422, 0.101271, 0.990272
[11:52:55.557] xyz_f:0.456890, -0.236077, 1.612310  Reprojection Error: -0.248470, 0.162574 Feature: 0.034880, 0.016140, 0.999261
[11:52:55.557] xyz_f:0.264966, -0.052060, 1.572679  Reprojection Error: -0.347268, 0.222871 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.557] xyz_f:0.629152, -0.457279, 1.556150  Reprojection Error: -0.193360, 0.072083 Feature: 0.201704, -0.212060, 0.956215
[11:52:55.557] xyz_f:0.482466, -0.220571, 1.621980  Reprojection Error: -0.236356, 0.169691 Feature: 0.060950, 0.033621, 0.997574
[11:52:55.557] xyz_f:0.669609, -0.447617, 1.562893  Reprojection Error: -0.173762, 0.074685 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.557] xyz_f:0.615407, -0.470815, 1.547987  Reprojection Error: -0.201575, 0.066355 Feature: 0.187288, -0.227247, 0.955658
[11:52:55.557] xyz_f:0.679754, -0.471075, 1.550932  Reprojection Error: -0.172612, 0.062862 Feature: 0.250081, -0.226737, 0.941302
[11:52:55.557] xyz_f:0.606883, 0.095157, 1.660900  Reprojection Error: -0.181970, 0.320922 Feature: 0.169093, 0.348664, 0.921868
[11:52:55.557] xyz_f:0.267963, -0.045790, 1.574420  Reprojection Error: -0.346119, 0.225728 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.557] xyz_f:0.484614, 0.033419, 1.647052  Reprojection Error: -0.239949, 0.277985 Feature: 0.051947, 0.285446, 0.956986
[11:52:55.557] xyz_f:0.687369, -0.449507, 1.562169  Reprojection Error: -0.165932, 0.072789 Feature: 0.258826, -0.202994, 0.944353
[11:52:55.557] xyz_f:0.476986, -0.203183, 1.624634  Reprojection Error: -0.238287, 0.176312 Feature: 0.055152, 0.051103, 0.997169
[11:52:55.557] xyz_f:0.611121, -0.447211, 1.559859  Reprojection Error: -0.199895, 0.077363 Feature: 0.184586, -0.201375, 0.961965
[11:52:55.557] xyz_f:0.476727, -0.228761, 1.618778  Reprojection Error: -0.239237, 0.166244 Feature: 0.055160, 0.024881, 0.998167
[11:52:55.557] xyz_f:0.336124, -0.153669, 1.591563  Reprojection Error: -0.304520, 0.187689 Feature: -0.092545, 0.090371, 0.991599
[11:52:55.557] xyz_f:0.465514, -0.215333, 1.619336  Reprojection Error: -0.243830, 0.171036 Feature: 0.043569, 0.037996, 0.998328
[11:52:55.557] xyz_f:0.336591, -0.154625, 1.591582  Reprojection Error: -0.304274, 0.187350 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.557] xyz_f:0.478750, 0.034966, 1.645750  Reprojection Error: -0.242985, 0.278249 Feature: 0.045853, 0.286602, 0.956952
[11:52:55.557] xyz_f:0.721477, -0.640944, 1.435828  Reprojection Error: -0.162450, -0.045523 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.557] xyz_f:-0.507555, -1.163428, 1.762124  Reprojection Error: 0.517726, 0.441719 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.557] xyz_f:0.364034, -0.046129, 1.124797  Reprojection Error: -0.036557, -0.200264 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.557] xyz_f:-0.379835, -1.131329, 1.795869  Reprojection Error: 0.401471, 0.424970 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.557] xyz_f:0.669609, -0.447617, 1.562893  Reprojection Error: -0.147880, 0.071143 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.557] xyz_f:0.445595, -0.248062, 1.606360  Reprojection Error: -0.227966, 0.157452 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.557] xyz_f:0.129822, -0.972654, 1.289592  Reprojection Error: -0.039562, 0.767724 Feature: -0.312634, -0.778864, 0.969795
[11:52:55.557] xyz_f:0.498034, -0.027132, 0.887735  Reprojection Error: -0.630210, 0.127517 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.557] xyz_f:0.264966, -0.052060, 1.572679  Reprojection Error: -0.316840, 0.222090 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.557] xyz_f:0.267963, -0.045790, 1.574420  Reprojection Error: -0.318720, 0.225005 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.557] xyz_f:-0.484280, -1.142526, 1.770163  Reprojection Error: 0.351743, 0.941375 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.557] xyz_f:0.336591, -0.154625, 1.591582  Reprojection Error: 0.145098, 0.441370 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.557] xyz_f:-0.485737, -1.137852, 1.764339  Reprojection Error: 0.490195, 1.022682 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.557] xyz_f:0.668421, -0.640383, 1.436655  Reprojection Error: -0.538725, 0.950953 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.557] it:31 	 Success 	 new_chi2: 1.591831 	 dT = -0.018438, 0.002284, -0.004564
[11:52:55.557] xyz_f:0.670118, -0.640406, 1.434456  Reprojection Error: -0.215610, -0.030566 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.557] xyz_f:0.447579, -0.248348, 1.605143  Reprojection Error: -0.255546, 0.157745 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.557] xyz_f:0.657485, -0.457477, 1.555332  Reprojection Error: -0.183456, 0.071222 Feature: 0.227422, -0.211871, 0.950468
[11:52:55.557] xyz_f:0.335384, -0.147349, 1.590960  Reprojection Error: -0.307129, 0.190436 Feature: -0.095428, 0.096910, 0.990708
[11:52:55.557] xyz_f:0.618544, -0.439474, 1.562229  Reprojection Error: -0.198173, 0.081131 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.557] xyz_f:0.723170, -0.640904, 1.433396  Reprojection Error: -0.189784, -0.038908 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.557] xyz_f:0.707826, -0.463010, 1.552728  Reprojection Error: -0.161359, 0.065457 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.557] xyz_f:0.335504, -0.143029, 1.591684  Reprojection Error: -0.307145, 0.192126 Feature: -0.095422, 0.101271, 0.990272
[11:52:55.557] xyz_f:0.458886, -0.236350, 1.611043  Reprojection Error: -0.249932, 0.162858 Feature: 0.034880, 0.016140, 0.999261
[11:52:55.557] xyz_f:0.266572, -0.052560, 1.572259  Reprojection Error: -0.348335, 0.223198 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.557] xyz_f:0.631160, -0.457348, 1.554124  Reprojection Error: -0.195179, 0.072510 Feature: 0.201704, -0.212060, 0.956215
[11:52:55.557] xyz_f:0.484486, -0.220813, 1.620600  Reprojection Error: -0.237856, 0.169957 Feature: 0.060950, 0.033621, 0.997574
[11:52:55.557] xyz_f:0.671634, -0.447639, 1.560688  Reprojection Error: -0.175665, 0.075104 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.557] xyz_f:0.617394, -0.470900, 1.546022  Reprojection Error: -0.203366, 0.066797 Feature: 0.187288, -0.227247, 0.955658
[11:52:55.557] xyz_f:0.681754, -0.471085, 1.548682  Reprojection Error: -0.174541, 0.063309 Feature: 0.250081, -0.226737, 0.941302
[11:52:55.557] xyz_f:0.608700, 0.095062, 1.658972  Reprojection Error: -0.183490, 0.320913 Feature: 0.169093, 0.348664, 0.921868
[11:52:55.557] xyz_f:0.269569, -0.046286, 1.573987  Reprojection Error: -0.347186, 0.226051 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.557] xyz_f:0.486444, 0.033179, 1.645664  Reprojection Error: -0.241310, 0.278114 Feature: 0.051947, 0.285446, 0.956986
[11:52:55.557] xyz_f:0.689393, -0.449507, 1.559886  Reprojection Error: -0.167873, 0.073211 Feature: 0.258826, -0.202994, 0.944353
[11:52:55.557] xyz_f:0.478997, -0.203432, 1.623278  Reprojection Error: -0.239771, 0.176570 Feature: 0.055152, 0.051103, 0.997169
[11:52:55.557] xyz_f:0.613133, -0.447301, 1.557912  Reprojection Error: -0.201676, 0.077779 Feature: 0.184586, -0.201375, 0.961965
[11:52:55.557] xyz_f:0.478742, -0.229010, 1.617424  Reprojection Error: -0.240730, 0.166516 Feature: 0.055160, 0.024881, 0.998167
[11:52:55.557] xyz_f:0.337932, -0.154084, 1.590828  Reprojection Error: -0.305754, 0.187994 Feature: -0.092545, 0.090371, 0.991599
[11:52:55.557] xyz_f:0.467516, -0.215595, 1.618031  Reprojection Error: -0.245299, 0.171305 Feature: 0.043569, 0.037996, 0.998328
[11:52:55.557] xyz_f:0.338400, -0.155040, 1.590845  Reprojection Error: -0.305509, 0.187655 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.557] xyz_f:0.480572, 0.034719, 1.644387  Reprojection Error: -0.244335, 0.278381 Feature: 0.045853, 0.286602, 0.956952
[11:52:55.557] xyz_f:0.723170, -0.640904, 1.433396  Reprojection Error: -0.164484, -0.044793 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.557] xyz_f:-0.503793, -1.164838, 1.765105  Reprojection Error: 0.515108, 0.441403 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.557] xyz_f:0.363657, -0.046513, 1.123944  Reprojection Error: -0.036467, -0.199891 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.557] xyz_f:-0.375964, -1.132589, 1.798287  Reprojection Error: 0.399034, 0.424824 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.557] xyz_f:0.671634, -0.447639, 1.560688  Reprojection Error: -0.149783, 0.071562 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.557] xyz_f:0.447579, -0.248348, 1.605143  Reprojection Error: -0.229412, 0.157747 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.557] xyz_f:0.131268, -0.973313, 1.289769  Reprojection Error: -0.040670, 0.768132 Feature: -0.312634, -0.778864, 0.969795
[11:52:55.557] xyz_f:0.496588, -0.027358, 0.886294  Reprojection Error: -0.629491, 0.127822 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.557] xyz_f:0.266572, -0.052560, 1.572259  Reprojection Error: -0.317906, 0.222417 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.557] xyz_f:0.269569, -0.046286, 1.573987  Reprojection Error: -0.319787, 0.225328 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.557] xyz_f:-0.480508, -1.143909, 1.773042  Reprojection Error: 0.349171, 0.941107 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.557] xyz_f:0.338400, -0.155040, 1.590845  Reprojection Error: 0.143863, 0.441675 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.557] xyz_f:-0.481996, -1.139237, 1.767224  Reprojection Error: 0.487628, 1.022412 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.557] xyz_f:0.670118, -0.640406, 1.434456  Reprojection Error: -0.540621, 0.951652 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.557] it:32 	 Success 	 new_chi2: 1.600604 	 dT = -0.018308, 0.002275, -0.004676
[11:52:55.557] xyz_f:0.671946, -0.640424, 1.432249  Reprojection Error: -0.217607, -0.029865 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.557] xyz_f:0.449706, -0.248635, 1.603940  Reprojection Error: -0.257081, 0.158040 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.557] xyz_f:0.659638, -0.457510, 1.553181  Reprojection Error: -0.185427, 0.071651 Feature: 0.227422, -0.211871, 0.950468
[11:52:55.557] xyz_f:0.337326, -0.147773, 1.590264  Reprojection Error: -0.308443, 0.190742 Feature: -0.095428, 0.096910, 0.990708
[11:52:55.557] xyz_f:0.620707, -0.439554, 1.560254  Reprojection Error: -0.200061, 0.081539 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.557] xyz_f:0.724994, -0.640858, 1.430949  Reprojection Error: -0.191922, -0.038176 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.557] xyz_f:0.709974, -0.462983, 1.550350  Reprojection Error: -0.163444, 0.065897 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.557] xyz_f:0.337444, -0.143452, 1.590988  Reprojection Error: -0.308457, 0.192431 Feature: -0.095422, 0.101271, 0.990272
[11:52:55.557] xyz_f:0.461025, -0.236623, 1.609789  Reprojection Error: -0.251483, 0.163142 Feature: 0.034880, 0.016140, 0.999261
[11:52:55.557] xyz_f:0.268316, -0.053066, 1.571874  Reprojection Error: -0.349485, 0.223528 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.557] xyz_f:0.633308, -0.457413, 1.552092  Reprojection Error: -0.197095, 0.072938 Feature: 0.201704, -0.212060, 0.956215
[11:52:55.557] xyz_f:0.486649, -0.221056, 1.619231  Reprojection Error: -0.239445, 0.170222 Feature: 0.060950, 0.033621, 0.997574
[11:52:55.557] xyz_f:0.673799, -0.447655, 1.558474  Reprojection Error: -0.177666, 0.075522 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.557] xyz_f:0.619522, -0.470982, 1.544052  Reprojection Error: -0.205254, 0.067239 Feature: 0.187288, -0.227247, 0.955658
[11:52:55.557] xyz_f:0.683894, -0.471089, 1.546422  Reprojection Error: -0.176567, 0.063756 Feature: 0.250081, -0.226737, 0.941302
[11:52:55.557] xyz_f:0.610653, 0.094969, 1.657042  Reprojection Error: -0.185096, 0.320902 Feature: 0.169093, 0.348664, 0.921868
[11:52:55.557] xyz_f:0.271313, -0.046789, 1.573589  Reprojection Error: -0.348338, 0.226378 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.557] xyz_f:0.488414, 0.032939, 1.644286  Reprojection Error: -0.242755, 0.278243 Feature: 0.051947, 0.285446, 0.956986
[11:52:55.557] xyz_f:0.691557, -0.449502, 1.557591  Reprojection Error: -0.169914, 0.073632 Feature: 0.258826, -0.202994, 0.944353
[11:52:55.557] xyz_f:0.481151, -0.203681, 1.621934  Reprojection Error: -0.241344, 0.176827 Feature: 0.055152, 0.051103, 0.997169
[11:52:55.557] xyz_f:0.615286, -0.447388, 1.555961  Reprojection Error: -0.203554, 0.078195 Feature: 0.184586, -0.201375, 0.961965
[11:52:55.557] xyz_f:0.480902, -0.229260, 1.616080  Reprojection Error: -0.242312, 0.166788 Feature: 0.055160, 0.024881, 0.998167
[11:52:55.558] xyz_f:0.339882, -0.154504, 1.590121  Reprojection Error: -0.307075, 0.188302 Feature: -0.092545, 0.090371, 0.991599
[11:52:55.558] xyz_f:0.469662, -0.215858, 1.616738  Reprojection Error: -0.246857, 0.171575 Feature: 0.043569, 0.037996, 0.998328
[11:52:55.558] xyz_f:0.340351, -0.155459, 1.590136  Reprojection Error: -0.306831, 0.187963 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.558] xyz_f:0.482534, 0.034471, 1.643035  Reprojection Error: -0.245769, 0.278515 Feature: 0.045853, 0.286602, 0.956952
[11:52:55.558] xyz_f:0.724994, -0.640858, 1.430949  Reprojection Error: -0.166621, -0.044061 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.558] xyz_f:-0.499824, -1.166276, 1.768195  Reprojection Error: 0.512364, 0.441063 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.558] xyz_f:0.363368, -0.046903, 1.123126  Reprojection Error: -0.036445, -0.199513 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.558] xyz_f:-0.371885, -1.133872, 1.800799  Reprojection Error: 0.396477, 0.424658 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.558] xyz_f:0.673799, -0.447655, 1.558474  Reprojection Error: -0.151784, 0.071980 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.558] xyz_f:0.449706, -0.248635, 1.603940  Reprojection Error: -0.230947, 0.158042 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.558] xyz_f:0.132852, -0.973984, 1.289996  Reprojection Error: -0.041880, 0.768519 Feature: -0.312634, -0.778864, 0.969795
[11:52:55.558] xyz_f:0.495200, -0.027588, 0.884878  Reprojection Error: -0.628820, 0.128132 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.558] xyz_f:0.268316, -0.053066, 1.571874  Reprojection Error: -0.319057, 0.222747 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.558] xyz_f:0.271313, -0.046789, 1.573589  Reprojection Error: -0.320939, 0.225655 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.558] xyz_f:-0.476529, -1.145318, 1.776026  Reprojection Error: 0.346475, 0.940817 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.558] xyz_f:0.340351, -0.155459, 1.590136  Reprojection Error: 0.142541, 0.441983 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.558] xyz_f:-0.478048, -1.140648, 1.770215  Reprojection Error: 0.484938, 1.022120 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.558] xyz_f:0.671946, -0.640424, 1.432249  Reprojection Error: -0.542617, 0.952353 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.558] it:33 	 Success 	 new_chi2: 1.609783 	 dT = -0.018185, 0.002276, -0.004786
[11:52:55.558] xyz_f:0.673891, -0.640437, 1.430023  Reprojection Error: -0.219697, -0.029160 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.558] xyz_f:0.451962, -0.248924, 1.602741  Reprojection Error: -0.258698, 0.158336 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.558] xyz_f:0.661915, -0.457538, 1.551012  Reprojection Error: -0.187490, 0.072081 Feature: 0.227422, -0.211871, 0.950468
[11:52:55.558] xyz_f:0.339395, -0.148200, 1.589585  Reprojection Error: -0.309835, 0.191051 Feature: -0.095428, 0.096910, 0.990708
[11:52:55.558] xyz_f:0.622995, -0.439631, 1.558264  Reprojection Error: -0.202037, 0.081948 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.558] xyz_f:0.726933, -0.640806, 1.428478  Reprojection Error: -0.194155, -0.037438 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.558] xyz_f:0.712244, -0.462949, 1.547947  Reprojection Error: -0.165621, 0.066338 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.558] xyz_f:0.339511, -0.143880, 1.590308  Reprojection Error: -0.309847, 0.192738 Feature: -0.095422, 0.101271, 0.990272
[11:52:55.558] xyz_f:0.463293, -0.236898, 1.608538  Reprojection Error: -0.253116, 0.163427 Feature: 0.034880, 0.016140, 0.999261
[11:52:55.558] xyz_f:0.270183, -0.053580, 1.571515  Reprojection Error: -0.350713, 0.223863 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.558] xyz_f:0.635581, -0.457474, 1.550044  Reprojection Error: -0.199100, 0.073366 Feature: 0.201704, -0.212060, 0.956215
[11:52:55.558] xyz_f:0.488941, -0.221298, 1.617861  Reprojection Error: -0.241116, 0.170487 Feature: 0.060950, 0.033621, 0.997574
[11:52:55.558] xyz_f:0.676089, -0.447666, 1.556238  Reprojection Error: -0.179759, 0.075941 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.558] xyz_f:0.621775, -0.471060, 1.542068  Reprojection Error: -0.207231, 0.067682 Feature: 0.187288, -0.227247, 0.955658
[11:52:55.558] xyz_f:0.686156, -0.471087, 1.544140  Reprojection Error: -0.178686, 0.064205 Feature: 0.250081, -0.226737, 0.941302
[11:52:55.558] xyz_f:0.612727, 0.094880, 1.655100  Reprojection Error: -0.186781, 0.320889 Feature: 0.169093, 0.348664, 0.921868
[11:52:55.558] xyz_f:0.273181, -0.047299, 1.573216  Reprojection Error: -0.349566, 0.226709 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.558] xyz_f:0.490507, 0.032698, 1.642908  Reprojection Error: -0.244278, 0.278373 Feature: 0.051947, 0.285446, 0.956986
[11:52:55.558] xyz_f:0.693844, -0.449491, 1.555274  Reprojection Error: -0.172046, 0.074055 Feature: 0.258826, -0.202994, 0.944353
[11:52:55.558] xyz_f:0.483434, -0.203931, 1.620589  Reprojection Error: -0.242999, 0.177086 Feature: 0.055152, 0.051103, 0.997169
[11:52:55.558] xyz_f:0.617564, -0.447472, 1.553996  Reprojection Error: -0.205520, 0.078612 Feature: 0.184586, -0.201375, 0.961965
[11:52:55.558] xyz_f:0.483189, -0.229510, 1.614737  Reprojection Error: -0.243976, 0.167061 Feature: 0.055160, 0.024881, 0.998167
[11:52:55.558] xyz_f:0.341959, -0.154929, 1.589430  Reprojection Error: -0.308475, 0.188611 Feature: -0.092545, 0.090371, 0.991599
[11:52:55.558] xyz_f:0.471936, -0.216122, 1.615447  Reprojection Error: -0.248497, 0.171845 Feature: 0.043569, 0.037996, 0.998328
[11:52:55.558] xyz_f:0.342429, -0.155883, 1.589443  Reprojection Error: -0.308231, 0.188272 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.558] xyz_f:0.484619, 0.034223, 1.641685  Reprojection Error: -0.247281, 0.278649 Feature: 0.045853, 0.286602, 0.956952
[11:52:55.558] xyz_f:0.726933, -0.640806, 1.428478  Reprojection Error: -0.168855, -0.043323 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.558] xyz_f:-0.495661, -1.167739, 1.771381  Reprojection Error: 0.509506, 0.440703 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.558] xyz_f:0.363152, -0.047300, 1.122332  Reprojection Error: -0.036482, -0.199130 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.558] xyz_f:-0.367613, -1.135177, 1.803393  Reprojection Error: 0.393812, 0.424475 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.558] xyz_f:0.676089, -0.447666, 1.556238  Reprojection Error: -0.153876, 0.072399 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.558] xyz_f:0.451962, -0.248924, 1.602741  Reprojection Error: -0.232564, 0.158338 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.558] xyz_f:0.134559, -0.974665, 1.290263  Reprojection Error: -0.043181, 0.768891 Feature: -0.312634, -0.778864, 0.969795
[11:52:55.558] xyz_f:0.493858, -0.027823, 0.883477  Reprojection Error: -0.628187, 0.128446 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.558] xyz_f:0.270183, -0.053580, 1.571515  Reprojection Error: -0.320285, 0.223082 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.558] xyz_f:0.273181, -0.047299, 1.573216  Reprojection Error: -0.322167, 0.225986 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.558] xyz_f:-0.472356, -1.146753, 1.779105  Reprojection Error: 0.343665, 0.940507 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.558] xyz_f:0.342429, -0.155883, 1.589443  Reprojection Error: 0.141140, 0.442292 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.558] xyz_f:-0.473908, -1.142085, 1.773301  Reprojection Error: 0.482133, 1.021809 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.558] xyz_f:0.673891, -0.640437, 1.430023  Reprojection Error: -0.544708, 0.953058 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.558] it:34 	 Success 	 new_chi2: 1.619329 	 dT = -0.018066, 0.002283, -0.004897
[11:52:55.558] xyz_f:0.675941, -0.640445, 1.427770  Reprojection Error: -0.221876, -0.028447 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.558] xyz_f:0.454335, -0.249213, 1.601537  Reprojection Error: -0.260392, 0.158633 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.558] xyz_f:0.664306, -0.457561, 1.548815  Reprojection Error: -0.189639, 0.072515 Feature: 0.227422, -0.211871, 0.950468
[11:52:55.558] xyz_f:0.341580, -0.148632, 1.588914  Reprojection Error: -0.311300, 0.191362 Feature: -0.095428, 0.096910, 0.990708
[11:52:55.558] xyz_f:0.625398, -0.439704, 1.556251  Reprojection Error: -0.204098, 0.082360 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.558] xyz_f:0.728975, -0.640747, 1.425974  Reprojection Error: -0.196481, -0.036691 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.558] xyz_f:0.714627, -0.462908, 1.545512  Reprojection Error: -0.167888, 0.066783 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.558] xyz_f:0.341694, -0.144311, 1.589636  Reprojection Error: -0.311311, 0.193048 Feature: -0.095422, 0.101271, 0.990272
[11:52:55.558] xyz_f:0.465679, -0.237173, 1.607280  Reprojection Error: -0.254825, 0.163714 Feature: 0.034880, 0.016140, 0.999261
[11:52:55.558] xyz_f:0.272164, -0.054099, 1.571171  Reprojection Error: -0.352011, 0.224201 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.558] xyz_f:0.637967, -0.457531, 1.547971  Reprojection Error: -0.201191, 0.073798 Feature: 0.201704, -0.212060, 0.956215
[11:52:55.558] xyz_f:0.491351, -0.221541, 1.616482  Reprojection Error: -0.242864, 0.170754 Feature: 0.060950, 0.033621, 0.997574
[11:52:55.558] xyz_f:0.678491, -0.447671, 1.553974  Reprojection Error: -0.181938, 0.076364 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.558] xyz_f:0.624140, -0.471134, 1.540060  Reprojection Error: -0.209292, 0.068128 Feature: 0.187288, -0.227247, 0.955658
[11:52:55.558] xyz_f:0.688531, -0.471079, 1.541828  Reprojection Error: -0.180893, 0.064658 Feature: 0.250081, -0.226737, 0.941302
[11:52:55.558] xyz_f:0.614910, 0.094795, 1.653136  Reprojection Error: -0.188542, 0.320873 Feature: 0.169093, 0.348664, 0.921868
[11:52:55.558] xyz_f:0.275161, -0.047815, 1.572858  Reprojection Error: -0.350865, 0.227044 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.558] xyz_f:0.492713, 0.032458, 1.641522  Reprojection Error: -0.245874, 0.278503 Feature: 0.051947, 0.285446, 0.956986
[11:52:55.558] xyz_f:0.696245, -0.449473, 1.552926  Reprojection Error: -0.174266, 0.074480 Feature: 0.258826, -0.202994, 0.944353
[11:52:55.558] xyz_f:0.485835, -0.204180, 1.619236  Reprojection Error: -0.244731, 0.177345 Feature: 0.055152, 0.051103, 0.997169
[11:52:55.558] xyz_f:0.619957, -0.447551, 1.552009  Reprojection Error: -0.207570, 0.079032 Feature: 0.184586, -0.201375, 0.961965
[11:52:55.558] xyz_f:0.485594, -0.229759, 1.613385  Reprojection Error: -0.245718, 0.167335 Feature: 0.055160, 0.024881, 0.998167
[11:52:55.558] xyz_f:0.344151, -0.155357, 1.588747  Reprojection Error: -0.309947, 0.188923 Feature: -0.092545, 0.090371, 0.991599
[11:52:55.558] xyz_f:0.474327, -0.216386, 1.614148  Reprojection Error: -0.250214, 0.172116 Feature: 0.043569, 0.037996, 0.998328
[11:52:55.558] xyz_f:0.344623, -0.156311, 1.588757  Reprojection Error: -0.309705, 0.188584 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.558] xyz_f:0.486818, 0.033975, 1.640327  Reprojection Error: -0.248866, 0.278782 Feature: 0.045853, 0.286602, 0.956952
[11:52:55.558] xyz_f:0.728975, -0.640747, 1.425974  Reprojection Error: -0.171181, -0.042576 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.558] xyz_f:-0.491314, -1.169228, 1.774654  Reprojection Error: 0.506541, 0.440326 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.558] xyz_f:0.362999, -0.047704, 1.121554  Reprojection Error: -0.036570, -0.198741 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.558] xyz_f:-0.363158, -1.136504, 1.806061  Reprojection Error: 0.391044, 0.424280 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.558] xyz_f:0.678491, -0.447671, 1.553974  Reprojection Error: -0.156056, 0.072822 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.558] xyz_f:0.454335, -0.249213, 1.601537  Reprojection Error: -0.234258, 0.158636 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.558] xyz_f:0.136377, -0.975357, 1.290561  Reprojection Error: -0.044567, 0.769252 Feature: -0.312634, -0.778864, 0.969795
[11:52:55.558] xyz_f:0.492548, -0.028061, 0.882083  Reprojection Error: -0.627586, 0.128766 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.558] xyz_f:0.272164, -0.054099, 1.571171  Reprojection Error: -0.321583, 0.223420 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.558] xyz_f:0.275161, -0.047815, 1.572858  Reprojection Error: -0.323465, 0.226321 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.558] xyz_f:-0.468000, -1.148212, 1.782268  Reprojection Error: 0.340750, 0.940182 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.558] xyz_f:0.344623, -0.156311, 1.588757  Reprojection Error: 0.139666, 0.442604 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.558] xyz_f:-0.469585, -1.143546, 1.776471  Reprojection Error: 0.479222, 1.021482 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.558] xyz_f:0.675941, -0.640445, 1.427770  Reprojection Error: -0.546887, 0.953770 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.558] it:35 	 Success 	 new_chi2: 1.629207 	 dT = -0.017951, 0.002296, -0.005008
[11:52:55.558] xyz_f:0.678087, -0.640448, 1.425483  Reprojection Error: -0.224142, -0.027726 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.558] xyz_f:0.456818, -0.249502, 1.600321  Reprojection Error: -0.262159, 0.158932 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.558] xyz_f:0.666801, -0.457579, 1.546583  Reprojection Error: -0.191871, 0.072952 Feature: 0.227422, -0.211871, 0.950468
[11:52:55.558] xyz_f:0.343873, -0.149068, 1.588244  Reprojection Error: -0.312834, 0.191676 Feature: -0.095428, 0.096910, 0.990708
[11:52:55.558] xyz_f:0.627906, -0.439771, 1.554208  Reprojection Error: -0.206241, 0.082775 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.558] xyz_f:0.731113, -0.640681, 1.423431  Reprojection Error: -0.198896, -0.035935 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.558] xyz_f:0.717112, -0.462860, 1.543037  Reprojection Error: -0.170240, 0.067232 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.558] xyz_f:0.343985, -0.144747, 1.588966  Reprojection Error: -0.312843, 0.193361 Feature: -0.095422, 0.101271, 0.990272
[11:52:55.558] xyz_f:0.468173, -0.237447, 1.606010  Reprojection Error: -0.256608, 0.164001 Feature: 0.034880, 0.016140, 0.999261
[11:52:55.558] xyz_f:0.274249, -0.054625, 1.570838  Reprojection Error: -0.353375, 0.224543 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.558] xyz_f:0.640458, -0.457582, 1.545867  Reprojection Error: -0.203363, 0.074234 Feature: 0.201704, -0.212060, 0.956215
[11:52:55.558] xyz_f:0.493869, -0.221782, 1.615087  Reprojection Error: -0.244686, 0.171022 Feature: 0.060950, 0.033621, 0.997574
[11:52:55.558] xyz_f:0.680998, -0.447670, 1.551674  Reprojection Error: -0.184201, 0.076790 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.558] xyz_f:0.626611, -0.471203, 1.538024  Reprojection Error: -0.211436, 0.068578 Feature: 0.187288, -0.227247, 0.955658
[11:52:55.558] xyz_f:0.691010, -0.471065, 1.539480  Reprojection Error: -0.183184, 0.065115 Feature: 0.250081, -0.226737, 0.941302
[11:52:55.558] xyz_f:0.617194, 0.094713, 1.651144  Reprojection Error: -0.190374, 0.320853 Feature: 0.169093, 0.348664, 0.921868
[11:52:55.558] xyz_f:0.277246, -0.048337, 1.572510  Reprojection Error: -0.352229, 0.227383 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.558] xyz_f:0.495023, 0.032218, 1.640121  Reprojection Error: -0.247539, 0.278632 Feature: 0.051947, 0.285446, 0.956986
[11:52:55.558] xyz_f:0.698749, -0.449449, 1.550540  Reprojection Error: -0.176571, 0.074910 Feature: 0.258826, -0.202994, 0.944353
[11:52:55.558] xyz_f:0.488344, -0.204429, 1.617868  Reprojection Error: -0.246536, 0.177605 Feature: 0.055152, 0.051103, 0.997169
[11:52:55.558] xyz_f:0.622455, -0.447626, 1.549992  Reprojection Error: -0.209701, 0.079455 Feature: 0.184586, -0.201375, 0.961965
[11:52:55.558] xyz_f:0.488109, -0.230008, 1.612018  Reprojection Error: -0.247532, 0.167610 Feature: 0.055160, 0.024881, 0.998167
[11:52:55.558] xyz_f:0.346452, -0.155790, 1.588065  Reprojection Error: -0.311489, 0.189237 Feature: -0.092545, 0.090371, 0.991599
[11:52:55.558] xyz_f:0.476828, -0.216649, 1.612836  Reprojection Error: -0.252004, 0.172388 Feature: 0.043569, 0.037996, 0.998328
[11:52:55.558] xyz_f:0.346925, -0.156743, 1.588073  Reprojection Error: -0.311248, 0.188898 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.558] xyz_f:0.489120, 0.033728, 1.638955  Reprojection Error: -0.250519, 0.278916 Feature: 0.045853, 0.286602, 0.956952
[11:52:55.558] xyz_f:0.731113, -0.640681, 1.423431  Reprojection Error: -0.173596, -0.041820 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.558] xyz_f:-0.486790, -1.170742, 1.778008  Reprojection Error: 0.503474, 0.439934 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.558] xyz_f:0.362900, -0.048113, 1.120786  Reprojection Error: -0.036703, -0.198347 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.558] xyz_f:-0.358525, -1.137851, 1.808795  Reprojection Error: 0.388179, 0.424074 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.558] xyz_f:0.680998, -0.447670, 1.551674  Reprojection Error: -0.158318, 0.073248 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.558] xyz_f:0.456818, -0.249502, 1.600321  Reprojection Error: -0.236025, 0.158935 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.558] xyz_f:0.138301, -0.976059, 1.290885  Reprojection Error: -0.046030, 0.769607 Feature: -0.312634, -0.778864, 0.969795
[11:52:55.558] xyz_f:0.491264, -0.028304, 0.880692  Reprojection Error: -0.627009, 0.129092 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.558] xyz_f:0.274249, -0.054625, 1.570838  Reprojection Error: -0.322947, 0.223762 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.558] xyz_f:0.277246, -0.048337, 1.572510  Reprojection Error: -0.324830, 0.226660 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.558] xyz_f:-0.463466, -1.149696, 1.785509  Reprojection Error: 0.337734, 0.939844 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.558] xyz_f:0.346925, -0.156743, 1.588073  Reprojection Error: 0.138123, 0.442918 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.558] xyz_f:-0.465085, -1.145032, 1.779720  Reprojection Error: 0.476212, 1.021142 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.558] xyz_f:0.678087, -0.640448, 1.425483  Reprojection Error: -0.549152, 0.954492 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.558] it:36 	 Success 	 new_chi2: 1.639393 	 dT = -0.017836, 0.002312, -0.005121
[11:52:55.558] xyz_f:0.680325, -0.640444, 1.423158  Reprojection Error: -0.226491, -0.026995 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.558] xyz_f:0.459405, -0.249792, 1.599090  Reprojection Error: -0.263997, 0.159233 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.558] xyz_f:0.669395, -0.457590, 1.544313  Reprojection Error: -0.194185, 0.073394 Feature: 0.227422, -0.211871, 0.950468
[11:52:55.558] xyz_f:0.346268, -0.149508, 1.587572  Reprojection Error: -0.314435, 0.191993 Feature: -0.095428, 0.096910, 0.990708
[11:52:55.558] xyz_f:0.630515, -0.439834, 1.552130  Reprojection Error: -0.208462, 0.083194 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.558] xyz_f:0.733340, -0.640607, 1.420843  Reprojection Error: -0.201399, -0.035167 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.558] xyz_f:0.719695, -0.462805, 1.540518  Reprojection Error: -0.172677, 0.067687 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.558] xyz_f:0.346378, -0.145186, 1.588293  Reprojection Error: -0.314441, 0.193676 Feature: -0.095422, 0.101271, 0.990272
[11:52:55.558] xyz_f:0.470772, -0.237722, 1.604722  Reprojection Error: -0.258461, 0.164291 Feature: 0.034880, 0.016140, 0.999261
[11:52:55.558] xyz_f:0.276434, -0.055157, 1.570511  Reprojection Error: -0.354803, 0.224889 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.558] xyz_f:0.643049, -0.457628, 1.543727  Reprojection Error: -0.205616, 0.074674 Feature: 0.201704, -0.212060, 0.956215
[11:52:55.558] xyz_f:0.496492, -0.222022, 1.613672  Reprojection Error: -0.246580, 0.171291 Feature: 0.060950, 0.033621, 0.997574
[11:52:55.558] xyz_f:0.683605, -0.447662, 1.549334  Reprojection Error: -0.186546, 0.077221 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.558] xyz_f:0.629182, -0.471268, 1.535952  Reprojection Error: -0.213659, 0.069034 Feature: 0.187288, -0.227247, 0.955658
[11:52:55.558] xyz_f:0.693586, -0.471044, 1.537090  Reprojection Error: -0.185558, 0.065577 Feature: 0.250081, -0.226737, 0.941302
[11:52:55.558] xyz_f:0.619574, 0.094636, 1.649119  Reprojection Error: -0.192276, 0.320829 Feature: 0.169093, 0.348664, 0.921868
[11:52:55.558] xyz_f:0.279431, -0.048864, 1.572168  Reprojection Error: -0.353657, 0.227725 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.558] xyz_f:0.497433, 0.031979, 1.638701  Reprojection Error: -0.249271, 0.278761 Feature: 0.051947, 0.285446, 0.956986
[11:52:55.558] xyz_f:0.701351, -0.449418, 1.548112  Reprojection Error: -0.178959, 0.075345 Feature: 0.258826, -0.202994, 0.944353
[11:52:55.558] xyz_f:0.490958, -0.204676, 1.616481  Reprojection Error: -0.248412, 0.177867 Feature: 0.055152, 0.051103, 0.997169
[11:52:55.558] xyz_f:0.625053, -0.447696, 1.547941  Reprojection Error: -0.211912, 0.079883 Feature: 0.184586, -0.201375, 0.961965
[11:52:55.558] xyz_f:0.490727, -0.230256, 1.610632  Reprojection Error: -0.249419, 0.167887 Feature: 0.055160, 0.024881, 0.998167
[11:52:55.558] xyz_f:0.348855, -0.156226, 1.587380  Reprojection Error: -0.313097, 0.189554 Feature: -0.092545, 0.090371, 0.991599
[11:52:55.558] xyz_f:0.479433, -0.216912, 1.611505  Reprojection Error: -0.253864, 0.172662 Feature: 0.043569, 0.037996, 0.998328
[11:52:55.558] xyz_f:0.349330, -0.157179, 1.587385  Reprojection Error: -0.312858, 0.189215 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.558] xyz_f:0.491523, 0.033481, 1.637564  Reprojection Error: -0.252240, 0.279049 Feature: 0.045853, 0.286602, 0.956952
[11:52:55.558] xyz_f:0.733340, -0.640607, 1.420843  Reprojection Error: -0.176099, -0.041052 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.558] xyz_f:-0.482090, -1.172281, 1.781439  Reprojection Error: 0.500309, 0.439530 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.558] xyz_f:0.362849, -0.048529, 1.120026  Reprojection Error: -0.036878, -0.197946 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.559] xyz_f:-0.353719, -1.139220, 1.811591  Reprojection Error: 0.385220, 0.423859 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.559] xyz_f:0.683605, -0.447662, 1.549334  Reprojection Error: -0.160663, 0.073679 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.559] xyz_f:0.459405, -0.249792, 1.599090  Reprojection Error: -0.237863, 0.159236 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.559] xyz_f:0.140325, -0.976771, 1.291230  Reprojection Error: -0.047569, 0.769956 Feature: -0.312634, -0.778864, 0.969795
[11:52:55.559] xyz_f:0.489998, -0.028550, 0.879299  Reprojection Error: -0.626453, 0.129423 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.559] xyz_f:0.276434, -0.055157, 1.570511  Reprojection Error: -0.324375, 0.224108 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.559] xyz_f:0.279431, -0.048864, 1.572168  Reprojection Error: -0.326258, 0.227002 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.559] xyz_f:-0.458758, -1.151204, 1.788824  Reprojection Error: 0.334621, 0.939493 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.559] xyz_f:0.349330, -0.157179, 1.587385  Reprojection Error: 0.136514, 0.443235 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.559] xyz_f:-0.460412, -1.146542, 1.783043  Reprojection Error: 0.473104, 1.020790 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.559] xyz_f:0.680325, -0.640444, 1.423158  Reprojection Error: -0.551502, 0.955223 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.559] it:37 	 Success 	 new_chi2: 1.649865 	 dT = -0.017722, 0.002330, -0.005236
[11:52:55.559] xyz_f:0.682650, -0.640434, 1.420790  Reprojection Error: -0.228924, -0.026252 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.559] xyz_f:0.462093, -0.250081, 1.597838  Reprojection Error: -0.265904, 0.159537 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.559] xyz_f:0.672085, -0.457594, 1.542000  Reprojection Error: -0.196579, 0.073842 Feature: 0.227422, -0.211871, 0.950468
[11:52:55.559] xyz_f:0.348764, -0.149950, 1.586893  Reprojection Error: -0.316101, 0.192312 Feature: -0.095428, 0.096910, 0.990708
[11:52:55.559] xyz_f:0.633221, -0.439891, 1.550014  Reprojection Error: -0.210763, 0.083618 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.559] xyz_f:0.735653, -0.640525, 1.418207  Reprojection Error: -0.203989, -0.034387 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.559] xyz_f:0.722372, -0.462741, 1.537951  Reprojection Error: -0.175198, 0.068147 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.559] xyz_f:0.348872, -0.145629, 1.587614  Reprojection Error: -0.316105, 0.193993 Feature: -0.095422, 0.101271, 0.990272
[11:52:55.559] xyz_f:0.473473, -0.237995, 1.603413  Reprojection Error: -0.260385, 0.164583 Feature: 0.034880, 0.016140, 0.999261
[11:52:55.559] xyz_f:0.278717, -0.055694, 1.570186  Reprojection Error: -0.356293, 0.225238 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.559] xyz_f:0.645736, -0.457669, 1.541547  Reprojection Error: -0.207948, 0.075119 Feature: 0.201704, -0.212060, 0.956215
[11:52:55.559] xyz_f:0.499216, -0.222261, 1.612233  Reprojection Error: -0.248544, 0.171562 Feature: 0.060950, 0.033621, 0.997574
[11:52:55.559] xyz_f:0.686306, -0.447647, 1.546949  Reprojection Error: -0.188972, 0.077657 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.559] xyz_f:0.631849, -0.471327, 1.533842  Reprojection Error: -0.215961, 0.069494 Feature: 0.187288, -0.227247, 0.955658
[11:52:55.559] xyz_f:0.696258, -0.471016, 1.534654  Reprojection Error: -0.188015, 0.066045 Feature: 0.250081, -0.226737, 0.941302
[11:52:55.559] xyz_f:0.622047, 0.094564, 1.647059  Reprojection Error: -0.194247, 0.320801 Feature: 0.169093, 0.348664, 0.921868
[11:52:55.559] xyz_f:0.281714, -0.049398, 1.571828  Reprojection Error: -0.355148, 0.228071 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.559] xyz_f:0.499939, 0.031741, 1.637258  Reprojection Error: -0.251070, 0.278889 Feature: 0.051947, 0.285446, 0.956986
[11:52:55.559] xyz_f:0.704049, -0.449379, 1.545637  Reprojection Error: -0.181430, 0.075785 Feature: 0.258826, -0.202994, 0.944353
[11:52:55.559] xyz_f:0.493673, -0.204923, 1.615070  Reprojection Error: -0.250358, 0.178130 Feature: 0.055152, 0.051103, 0.997169
[11:52:55.559] xyz_f:0.627749, -0.447760, 1.545852  Reprojection Error: -0.214202, 0.080316 Feature: 0.184586, -0.201375, 0.961965
[11:52:55.559] xyz_f:0.493447, -0.230503, 1.609222  Reprojection Error: -0.251376, 0.168165 Feature: 0.055160, 0.024881, 0.998167
[11:52:55.559] xyz_f:0.351359, -0.156665, 1.586688  Reprojection Error: -0.314771, 0.189874 Feature: -0.092545, 0.090371, 0.991599
[11:52:55.559] xyz_f:0.482140, -0.217174, 1.610153  Reprojection Error: -0.255795, 0.172938 Feature: 0.043569, 0.037996, 0.998328
[11:52:55.559] xyz_f:0.351835, -0.157617, 1.586691  Reprojection Error: -0.314533, 0.189535 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.559] xyz_f:0.494021, 0.033235, 1.636150  Reprojection Error: -0.254026, 0.279182 Feature: 0.045853, 0.286602, 0.956952
[11:52:55.559] xyz_f:0.735653, -0.640525, 1.418207  Reprojection Error: -0.178689, -0.040272 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.559] xyz_f:-0.477217, -1.173844, 1.784943  Reprojection Error: 0.497047, 0.439114 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.559] xyz_f:0.362843, -0.048951, 1.119269  Reprojection Error: -0.037091, -0.197540 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.559] xyz_f:-0.348740, -1.140609, 1.814446  Reprojection Error: 0.382168, 0.423635 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.559] xyz_f:0.686306, -0.447647, 1.546949  Reprojection Error: -0.163090, 0.074115 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.559] xyz_f:0.462093, -0.250081, 1.597838  Reprojection Error: -0.239770, 0.159539 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.559] xyz_f:0.142446, -0.977493, 1.291594  Reprojection Error: -0.049180, 0.770302 Feature: -0.312634, -0.778864, 0.969795
[11:52:55.559] xyz_f:0.488746, -0.028800, 0.877903  Reprojection Error: -0.625913, 0.129760 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.559] xyz_f:0.278717, -0.055694, 1.570186  Reprojection Error: -0.325865, 0.224457 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.559] xyz_f:0.281714, -0.049398, 1.571828  Reprojection Error: -0.327749, 0.227348 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.559] xyz_f:-0.453876, -1.152736, 1.792210  Reprojection Error: 0.331412, 0.939132 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.559] xyz_f:0.351835, -0.157617, 1.586691  Reprojection Error: 0.134839, 0.443555 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.559] xyz_f:-0.455565, -1.148076, 1.786438  Reprojection Error: 0.469900, 1.020426 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.559] xyz_f:0.682650, -0.640434, 1.420790  Reprojection Error: -0.553935, 0.955966 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.559] it:38 	 Success 	 new_chi2: 1.660610 	 dT = -0.017606, 0.002350, -0.005353
[11:52:55.559] xyz_f:0.685061, -0.640417, 1.418377  Reprojection Error: -0.231441, -0.025497 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.559] xyz_f:0.464883, -0.250369, 1.596565  Reprojection Error: -0.267882, 0.159842 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.559] xyz_f:0.674870, -0.457592, 1.539641  Reprojection Error: -0.199056, 0.074295 Feature: 0.227422, -0.211871, 0.950468
[11:52:55.559] xyz_f:0.351360, -0.150396, 1.586206  Reprojection Error: -0.317833, 0.192634 Feature: -0.095428, 0.096910, 0.990708
[11:52:55.559] xyz_f:0.636024, -0.439943, 1.547855  Reprojection Error: -0.213143, 0.084047 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.559] xyz_f:0.738050, -0.640435, 1.415521  Reprojection Error: -0.206667, -0.033594 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.559] xyz_f:0.725143, -0.462669, 1.535332  Reprojection Error: -0.177803, 0.068613 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.559] xyz_f:0.351465, -0.146074, 1.586926  Reprojection Error: -0.317835, 0.194314 Feature: -0.095422, 0.101271, 0.990272
[11:52:55.559] xyz_f:0.476274, -0.238268, 1.602081  Reprojection Error: -0.262379, 0.164876 Feature: 0.034880, 0.016140, 0.999261
[11:52:55.559] xyz_f:0.281096, -0.056237, 1.569862  Reprojection Error: -0.357845, 0.225591 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.559] xyz_f:0.648520, -0.457703, 1.539324  Reprojection Error: -0.210361, 0.075570 Feature: 0.201704, -0.212060, 0.956215
[11:52:55.559] xyz_f:0.502041, -0.222498, 1.610768  Reprojection Error: -0.250579, 0.171835 Feature: 0.060950, 0.033621, 0.997574
[11:52:55.559] xyz_f:0.689103, -0.447625, 1.544516  Reprojection Error: -0.191482, 0.078098 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.559] xyz_f:0.634611, -0.471380, 1.531691  Reprojection Error: -0.218343, 0.069961 Feature: 0.187288, -0.227247, 0.955658
[11:52:55.559] xyz_f:0.699023, -0.470980, 1.532170  Reprojection Error: -0.190556, 0.066519 Feature: 0.250081, -0.226737, 0.941302
[11:52:55.559] xyz_f:0.624611, 0.094497, 1.644959  Reprojection Error: -0.196288, 0.320769 Feature: 0.169093, 0.348664, 0.921868
[11:52:55.559] xyz_f:0.284093, -0.049936, 1.571488  Reprojection Error: -0.356701, 0.228420 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.559] xyz_f:0.502542, 0.031505, 1.635789  Reprojection Error: -0.252935, 0.279016 Feature: 0.051947, 0.285446, 0.956986
[11:52:55.559] xyz_f:0.706841, -0.449332, 1.543112  Reprojection Error: -0.183984, 0.076230 Feature: 0.258826, -0.202994, 0.944353
[11:52:55.559] xyz_f:0.496488, -0.205167, 1.613633  Reprojection Error: -0.252375, 0.178394 Feature: 0.055152, 0.051103, 0.997169
[11:52:55.559] xyz_f:0.630541, -0.447819, 1.543723  Reprojection Error: -0.216571, 0.080753 Feature: 0.184586, -0.201375, 0.961965
[11:52:55.559] xyz_f:0.496268, -0.230748, 1.607786  Reprojection Error: -0.253404, 0.168446 Feature: 0.055160, 0.024881, 0.998167
[11:52:55.559] xyz_f:0.353963, -0.157107, 1.585988  Reprojection Error: -0.316511, 0.190196 Feature: -0.092545, 0.090371, 0.991599
[11:52:55.559] xyz_f:0.484947, -0.217435, 1.608776  Reprojection Error: -0.257796, 0.173216 Feature: 0.043569, 0.037996, 0.998328
[11:52:55.559] xyz_f:0.354440, -0.158058, 1.585988  Reprojection Error: -0.316274, 0.189857 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.559] xyz_f:0.496616, 0.032991, 1.634712  Reprojection Error: -0.255879, 0.279313 Feature: 0.045853, 0.286602, 0.956952
[11:52:55.559] xyz_f:0.738050, -0.640435, 1.415521  Reprojection Error: -0.181367, -0.039479 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.559] xyz_f:-0.472167, -1.175433, 1.788521  Reprojection Error: 0.493688, 0.438687 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.559] xyz_f:0.362881, -0.049379, 1.118516  Reprojection Error: -0.037343, -0.197128 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.559] xyz_f:-0.343585, -1.142020, 1.817359  Reprojection Error: 0.379024, 0.423403 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.559] xyz_f:0.689103, -0.447625, 1.544516  Reprojection Error: -0.165600, 0.074556 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.559] xyz_f:0.464883, -0.250369, 1.596565  Reprojection Error: -0.241748, 0.159845 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.559] xyz_f:0.144664, -0.978225, 1.291975  Reprojection Error: -0.050865, 0.770645 Feature: -0.312634, -0.778864, 0.969795
[11:52:55.559] xyz_f:0.487506, -0.029055, 0.876503  Reprojection Error: -0.625388, 0.130102 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.559] xyz_f:0.281096, -0.056237, 1.569862  Reprojection Error: -0.327417, 0.224810 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.559] xyz_f:0.284093, -0.049936, 1.571488  Reprojection Error: -0.329302, 0.227698 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.559] xyz_f:-0.448818, -1.154292, 1.795668  Reprojection Error: 0.328108, 0.938760 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.559] xyz_f:0.354440, -0.158058, 1.585988  Reprojection Error: 0.133098, 0.443877 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.559] xyz_f:-0.450544, -1.149634, 1.789904  Reprojection Error: 0.466600, 1.020053 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.559] xyz_f:0.685061, -0.640417, 1.418377  Reprojection Error: -0.556452, 0.956721 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.559] it:39 	 Success 	 new_chi2: 1.671613 	 dT = -0.017487, 0.002369, -0.005474
[11:52:55.559] xyz_f:0.687560, -0.640393, 1.415918  Reprojection Error: -0.234045, -0.024730 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.559] xyz_f:0.467774, -0.250657, 1.595269  Reprojection Error: -0.269931, 0.160150 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.559] xyz_f:0.677751, -0.457582, 1.537234  Reprojection Error: -0.201616, 0.074753 Feature: 0.227422, -0.211871, 0.950468
[11:52:55.559] xyz_f:0.354057, -0.150844, 1.585511  Reprojection Error: -0.319631, 0.192958 Feature: -0.095428, 0.096910, 0.990708
[11:52:55.559] xyz_f:0.638924, -0.439988, 1.545654  Reprojection Error: -0.215604, 0.084480 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.559] xyz_f:0.740533, -0.640335, 1.412781  Reprojection Error: -0.209436, -0.032787 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.559] xyz_f:0.728008, -0.462588, 1.532659  Reprojection Error: -0.180496, 0.069086 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.559] xyz_f:0.354159, -0.146522, 1.586230  Reprojection Error: -0.319631, 0.194637 Feature: -0.095422, 0.101271, 0.990272
[11:52:55.559] xyz_f:0.479177, -0.238539, 1.600724  Reprojection Error: -0.264444, 0.165172 Feature: 0.034880, 0.016140, 0.999261
[11:52:55.559] xyz_f:0.283574, -0.056785, 1.569538  Reprojection Error: -0.359461, 0.225948 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.559] xyz_f:0.651400, -0.457730, 1.537057  Reprojection Error: -0.212856, 0.076026 Feature: 0.201704, -0.212060, 0.956215
[11:52:55.559] xyz_f:0.504967, -0.222733, 1.609275  Reprojection Error: -0.252687, 0.172109 Feature: 0.060950, 0.033621, 0.997574
[11:52:55.559] xyz_f:0.691996, -0.447595, 1.542034  Reprojection Error: -0.194076, 0.078545 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.559] xyz_f:0.637470, -0.471427, 1.529498  Reprojection Error: -0.220806, 0.070433 Feature: 0.187288, -0.227247, 0.955658
[11:52:55.559] xyz_f:0.701883, -0.470936, 1.529636  Reprojection Error: -0.193181, 0.066999 Feature: 0.250081, -0.226737, 0.941302
[11:52:55.559] xyz_f:0.627268, 0.094436, 1.642819  Reprojection Error: -0.198400, 0.320731 Feature: 0.169093, 0.348664, 0.921868
[11:52:55.559] xyz_f:0.286571, -0.050480, 1.571149  Reprojection Error: -0.358317, 0.228773 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.559] xyz_f:0.505241, 0.031271, 1.634294  Reprojection Error: -0.254867, 0.279142 Feature: 0.051947, 0.285446, 0.956986
[11:52:55.559] xyz_f:0.709728, -0.449277, 1.540537  Reprojection Error: -0.186624, 0.076681 Feature: 0.258826, -0.202994, 0.944353
[11:52:55.559] xyz_f:0.499405, -0.205410, 1.612170  Reprojection Error: -0.254464, 0.178660 Feature: 0.055152, 0.051103, 0.997169
[11:52:55.559] xyz_f:0.633430, -0.447872, 1.541550  Reprojection Error: -0.219020, 0.081196 Feature: 0.184586, -0.201375, 0.961965
[11:52:55.559] xyz_f:0.499190, -0.230991, 1.606324  Reprojection Error: -0.255505, 0.168728 Feature: 0.055160, 0.024881, 0.998167
[11:52:55.559] xyz_f:0.356668, -0.157551, 1.585278  Reprojection Error: -0.318317, 0.190521 Feature: -0.092545, 0.090371, 0.991599
[11:52:55.559] xyz_f:0.487856, -0.217694, 1.607373  Reprojection Error: -0.259869, 0.173495 Feature: 0.043569, 0.037996, 0.998328
[11:52:55.559] xyz_f:0.357146, -0.158502, 1.585277  Reprojection Error: -0.318081, 0.190182 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.559] xyz_f:0.499307, 0.032749, 1.633249  Reprojection Error: -0.257799, 0.279444 Feature: 0.045853, 0.286602, 0.956952
[11:52:55.559] xyz_f:0.740533, -0.640335, 1.412781  Reprojection Error: -0.184135, -0.038672 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.559] xyz_f:-0.466936, -1.177046, 1.792173  Reprojection Error: 0.490232, 0.438248 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.559] xyz_f:0.362962, -0.049813, 1.117767  Reprojection Error: -0.037633, -0.196711 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.559] xyz_f:-0.338251, -1.143451, 1.820330  Reprojection Error: 0.375785, 0.423164 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.559] xyz_f:0.691996, -0.447595, 1.542034  Reprojection Error: -0.168194, 0.075003 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.559] xyz_f:0.467774, -0.250657, 1.595269  Reprojection Error: -0.243797, 0.160152 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.559] xyz_f:0.146981, -0.978966, 1.292373  Reprojection Error: -0.052623, 0.770985 Feature: -0.312634, -0.778864, 0.969795
[11:52:55.559] xyz_f:0.486276, -0.029313, 0.875098  Reprojection Error: -0.624876, 0.130451 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.559] xyz_f:0.283574, -0.056785, 1.569538  Reprojection Error: -0.329033, 0.225167 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.559] xyz_f:0.286571, -0.050480, 1.571149  Reprojection Error: -0.330918, 0.228051 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.559] xyz_f:-0.443579, -1.155872, 1.799196  Reprojection Error: 0.324706, 0.938378 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.559] xyz_f:0.357146, -0.158502, 1.585277  Reprojection Error: 0.131290, 0.444202 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.559] xyz_f:-0.445342, -1.151217, 1.793442  Reprojection Error: 0.463204, 1.019668 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.559] xyz_f:0.687560, -0.640393, 1.415918  Reprojection Error: -0.559056, 0.957488 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.559] it:40 	 Success 	 new_chi2: 1.682867 	 dT = -0.017366, 0.002387, -0.005597
[11:52:55.559] xyz_f:0.690148, -0.640361, 1.413412  Reprojection Error: -0.236737, -0.023950 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.559] xyz_f:0.470771, -0.250943, 1.593950  Reprojection Error: -0.272054, 0.160459 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.559] xyz_f:0.680731, -0.457564, 1.534780  Reprojection Error: -0.204263, 0.075218 Feature: 0.227422, -0.211871, 0.950468
[11:52:55.559] xyz_f:0.356858, -0.151295, 1.584807  Reprojection Error: -0.321497, 0.193285 Feature: -0.095428, 0.096910, 0.990708
[11:52:55.559] xyz_f:0.641924, -0.440026, 1.543410  Reprojection Error: -0.218149, 0.084919 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.559] xyz_f:0.743103, -0.640227, 1.409988  Reprojection Error: -0.212297, -0.031966 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.559] xyz_f:0.730969, -0.462497, 1.529933  Reprojection Error: -0.183278, 0.069564 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.559] xyz_f:0.356958, -0.146973, 1.585526  Reprojection Error: -0.321495, 0.194962 Feature: -0.095422, 0.101271, 0.990272
[11:52:55.559] xyz_f:0.482186, -0.238809, 1.599343  Reprojection Error: -0.266584, 0.165469 Feature: 0.034880, 0.016140, 0.999261
[11:52:55.559] xyz_f:0.286154, -0.057338, 1.569216  Reprojection Error: -0.361142, 0.226308 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.559] xyz_f:0.654379, -0.457750, 1.534745  Reprojection Error: -0.215436, 0.076488 Feature: 0.201704, -0.212060, 0.956215
[11:52:55.559] xyz_f:0.507999, -0.222965, 1.607755  Reprojection Error: -0.254869, 0.172384 Feature: 0.060950, 0.033621, 0.997574
[11:52:55.559] xyz_f:0.694986, -0.447556, 1.539503  Reprojection Error: -0.196756, 0.078997 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.559] xyz_f:0.640428, -0.471467, 1.527261  Reprojection Error: -0.223354, 0.070910 Feature: 0.187288, -0.227247, 0.955658
[11:52:55.559] xyz_f:0.704841, -0.470883, 1.527051  Reprojection Error: -0.195895, 0.067486 Feature: 0.250081, -0.226737, 0.941302
[11:52:55.559] xyz_f:0.630019, 0.094380, 1.640638  Reprojection Error: -0.200584, 0.320688 Feature: 0.169093, 0.348664, 0.921868
[11:52:55.559] xyz_f:0.289150, -0.051029, 1.570810  Reprojection Error: -0.359998, 0.229130 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.559] xyz_f:0.508039, 0.031039, 1.632773  Reprojection Error: -0.256869, 0.279266 Feature: 0.051947, 0.285446, 0.956986
[11:52:55.559] xyz_f:0.712713, -0.449213, 1.537909  Reprojection Error: -0.189352, 0.077137 Feature: 0.258826, -0.202994, 0.944353
[11:52:55.559] xyz_f:0.502427, -0.205650, 1.610679  Reprojection Error: -0.256626, 0.178927 Feature: 0.055152, 0.051103, 0.997169
[11:52:55.559] xyz_f:0.636420, -0.447918, 1.539336  Reprojection Error: -0.221554, 0.081644 Feature: 0.184586, -0.201375, 0.961965
[11:52:55.559] xyz_f:0.502218, -0.231231, 1.604835  Reprojection Error: -0.257679, 0.169011 Feature: 0.055160, 0.024881, 0.998167
[11:52:55.559] xyz_f:0.359478, -0.157999, 1.584560  Reprojection Error: -0.320192, 0.190848 Feature: -0.092545, 0.090371, 0.991599
[11:52:55.559] xyz_f:0.490870, -0.217951, 1.605945  Reprojection Error: -0.262016, 0.173775 Feature: 0.043569, 0.037996, 0.998328
[11:52:55.559] xyz_f:0.359957, -0.158949, 1.584556  Reprojection Error: -0.319958, 0.190509 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.559] xyz_f:0.502098, 0.032508, 1.631760  Reprojection Error: -0.259788, 0.279573 Feature: 0.045853, 0.286602, 0.956952
[11:52:55.559] xyz_f:0.743103, -0.640227, 1.409988  Reprojection Error: -0.186997, -0.037851 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.559] xyz_f:-0.461518, -1.178684, 1.795901  Reprojection Error: 0.486674, 0.437797 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.559] xyz_f:0.363087, -0.050253, 1.117022  Reprojection Error: -0.037962, -0.196287 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.559] xyz_f:-0.332731, -1.144903, 1.823362  Reprojection Error: 0.372449, 0.422915 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.559] xyz_f:0.694986, -0.447556, 1.539503  Reprojection Error: -0.170874, 0.075455 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.559] xyz_f:0.470771, -0.250943, 1.593950  Reprojection Error: -0.245920, 0.160462 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.560] xyz_f:0.149400, -0.979717, 1.292790  Reprojection Error: -0.054458, 0.771322 Feature: -0.312634, -0.778864, 0.969795
[11:52:55.560] xyz_f:0.485058, -0.029575, 0.873690  Reprojection Error: -0.624377, 0.130805 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.560] xyz_f:0.286154, -0.057338, 1.569216  Reprojection Error: -0.330714, 0.225527 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.560] xyz_f:0.289150, -0.051029, 1.570810  Reprojection Error: -0.332599, 0.228407 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.560] xyz_f:-0.438154, -1.157476, 1.802797  Reprojection Error: 0.321205, 0.937984 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.560] xyz_f:0.359957, -0.158949, 1.584556  Reprojection Error: 0.129414, 0.444529 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.560] xyz_f:-0.439955, -1.152824, 1.797053  Reprojection Error: 0.459707, 1.019273 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.560] xyz_f:0.690148, -0.640361, 1.413412  Reprojection Error: -0.561748, 0.958267 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.560] it:41 	 Success 	 new_chi2: 1.694394 	 dT = -0.017251, 0.002436, -0.005716
[11:52:55.560] xyz_f:0.692832, -0.640321, 1.410825  Reprojection Error: -0.239535, -0.023148 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.560] xyz_f:0.473879, -0.251227, 1.592573  Reprojection Error: -0.274261, 0.160774 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.560] xyz_f:0.683815, -0.457537, 1.532244  Reprojection Error: -0.207010, 0.075694 Feature: 0.227422, -0.211871, 0.950468
[11:52:55.560] xyz_f:0.359770, -0.151748, 1.584060  Reprojection Error: -0.323442, 0.193616 Feature: -0.095428, 0.096910, 0.990708
[11:52:55.560] xyz_f:0.645030, -0.440056, 1.541088  Reprojection Error: -0.220792, 0.085368 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.560] xyz_f:0.745767, -0.640108, 1.407109  Reprojection Error: -0.215268, -0.031121 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.560] xyz_f:0.734032, -0.462396, 1.527120  Reprojection Error: -0.186164, 0.070055 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.560] xyz_f:0.359868, -0.147426, 1.584778  Reprojection Error: -0.323437, 0.195291 Feature: -0.095422, 0.101271, 0.990272
[11:52:55.560] xyz_f:0.485306, -0.239076, 1.597904  Reprojection Error: -0.268808, 0.165771 Feature: 0.034880, 0.016140, 0.999261
[11:52:55.560] xyz_f:0.288842, -0.057896, 1.568860  Reprojection Error: -0.362897, 0.226672 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.560] xyz_f:0.657463, -0.457762, 1.532355  Reprojection Error: -0.218114, 0.076961 Feature: 0.201704, -0.212060, 0.956215
[11:52:55.560] xyz_f:0.511141, -0.223194, 1.606172  Reprojection Error: -0.257137, 0.172663 Feature: 0.060950, 0.033621, 0.997574
[11:52:55.560] xyz_f:0.698081, -0.447508, 1.536888  Reprojection Error: -0.199538, 0.079461 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.560] xyz_f:0.643492, -0.471500, 1.524948  Reprojection Error: -0.225999, 0.071400 Feature: 0.187288, -0.227247, 0.955658
[11:52:55.560] xyz_f:0.707901, -0.470821, 1.524382  Reprojection Error: -0.198710, 0.067985 Feature: 0.250081, -0.226737, 0.941302
[11:52:55.560] xyz_f:0.632872, 0.094332, 1.638383  Reprojection Error: -0.202854, 0.320639 Feature: 0.169093, 0.348664, 0.921868
[11:52:55.560] xyz_f:0.291838, -0.051582, 1.570438  Reprojection Error: -0.361753, 0.229490 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.560] xyz_f:0.510944, 0.030810, 1.631191  Reprojection Error: -0.258952, 0.279388 Feature: 0.051947, 0.285446, 0.956986
[11:52:55.560] xyz_f:0.715801, -0.449139, 1.535197  Reprojection Error: -0.192183, 0.077605 Feature: 0.258826, -0.202994, 0.944353
[11:52:55.560] xyz_f:0.505561, -0.205887, 1.609128  Reprojection Error: -0.258874, 0.179198 Feature: 0.055152, 0.051103, 0.997169
[11:52:55.560] xyz_f:0.639515, -0.447957, 1.537044  Reprojection Error: -0.224184, 0.082103 Feature: 0.184586, -0.201375, 0.961965
[11:52:55.560] xyz_f:0.505357, -0.231469, 1.603285  Reprojection Error: -0.259940, 0.169298 Feature: 0.055160, 0.024881, 0.998167
[11:52:55.560] xyz_f:0.362399, -0.158447, 1.583799  Reprojection Error: -0.322145, 0.191179 Feature: -0.092545, 0.090371, 0.991599
[11:52:55.560] xyz_f:0.493995, -0.218205, 1.604458  Reprojection Error: -0.264247, 0.174059 Feature: 0.043569, 0.037996, 0.998328
[11:52:55.560] xyz_f:0.362880, -0.159397, 1.583792  Reprojection Error: -0.321913, 0.190840 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.560] xyz_f:0.504995, 0.032270, 1.630211  Reprojection Error: -0.261858, 0.279700 Feature: 0.045853, 0.286602, 0.956952
[11:52:55.560] xyz_f:0.745767, -0.640108, 1.407109  Reprojection Error: -0.189968, -0.037006 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.560] xyz_f:-0.455907, -1.180346, 1.799665  Reprojection Error: 0.483019, 0.437347 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.560] xyz_f:0.363267, -0.050698, 1.116248  Reprojection Error: -0.038349, -0.195857 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.560] xyz_f:-0.327021, -1.146373, 1.826415  Reprojection Error: 0.369017, 0.422671 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.560] xyz_f:0.698081, -0.447508, 1.536888  Reprojection Error: -0.173656, 0.075919 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.560] xyz_f:0.473879, -0.251227, 1.592573  Reprojection Error: -0.248127, 0.160776 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.560] xyz_f:0.151929, -0.980477, 1.293190  Reprojection Error: -0.056377, 0.771676 Feature: -0.312634, -0.778864, 0.969795
[11:52:55.560] xyz_f:0.483862, -0.029841, 0.872246  Reprojection Error: -0.623925, 0.131166 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.560] xyz_f:0.288842, -0.057896, 1.568860  Reprojection Error: -0.332469, 0.225891 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.560] xyz_f:0.291838, -0.051582, 1.570438  Reprojection Error: -0.334354, 0.228767 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.560] xyz_f:-0.432537, -1.159103, 1.806433  Reprojection Error: 0.317606, 0.937593 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.560] xyz_f:0.362880, -0.159397, 1.583792  Reprojection Error: 0.127459, 0.444860 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.560] xyz_f:-0.434376, -1.154453, 1.800698  Reprojection Error: 0.456113, 1.018879 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.560] xyz_f:0.692832, -0.640321, 1.410825  Reprojection Error: -0.564546, 0.959069 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.560] it:42 	 Success 	 new_chi2: 1.706268 	 dT = -0.017150, 0.002547, -0.005824
[11:52:55.560] xyz_f:0.695578, -0.640272, 1.408095  Reprojection Error: -0.242437, -0.022303 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.560] xyz_f:0.477064, -0.251508, 1.591073  Reprojection Error: -0.276543, 0.161099 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.560] xyz_f:0.686968, -0.457501, 1.529563  Reprojection Error: -0.209853, 0.076194 Feature: 0.227422, -0.211871, 0.950468
[11:52:55.560] xyz_f:0.362759, -0.152200, 1.583202  Reprojection Error: -0.325453, 0.193953 Feature: -0.095428, 0.096910, 0.990708
[11:52:55.560] xyz_f:0.648207, -0.440079, 1.538626  Reprojection Error: -0.223526, 0.085840 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.560] xyz_f:0.748491, -0.639979, 1.404081  Reprojection Error: -0.218351, -0.030232 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.560] xyz_f:0.737163, -0.462284, 1.524157  Reprojection Error: -0.189153, 0.070571 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.560] xyz_f:0.362855, -0.147878, 1.583920  Reprojection Error: -0.325446, 0.195628 Feature: -0.095422, 0.101271, 0.990272
[11:52:55.560] xyz_f:0.488502, -0.239339, 1.596340  Reprojection Error: -0.271108, 0.166082 Feature: 0.034880, 0.016140, 0.999261
[11:52:55.560] xyz_f:0.291606, -0.058456, 1.568402  Reprojection Error: -0.364713, 0.227039 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.560] xyz_f:0.660618, -0.457766, 1.529823  Reprojection Error: -0.220886, 0.077458 Feature: 0.201704, -0.212060, 0.956215
[11:52:55.560] xyz_f:0.514360, -0.223418, 1.604463  Reprojection Error: -0.259482, 0.172951 Feature: 0.060950, 0.033621, 0.997574
[11:52:55.560] xyz_f:0.701245, -0.447451, 1.534127  Reprojection Error: -0.202418, 0.079947 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.560] xyz_f:0.646626, -0.471525, 1.522494  Reprojection Error: -0.228737, 0.071915 Feature: 0.187288, -0.227247, 0.955658
[11:52:55.560] xyz_f:0.711030, -0.470749, 1.521566  Reprojection Error: -0.201626, 0.068509 Feature: 0.250081, -0.226737, 0.941302
[11:52:55.560] xyz_f:0.635791, 0.094291, 1.635989  Reprojection Error: -0.205203, 0.320580 Feature: 0.169093, 0.348664, 0.921868
[11:52:55.560] xyz_f:0.294600, -0.052137, 1.569963  Reprojection Error: -0.363569, 0.229853 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.560] xyz_f:0.513921, 0.030585, 1.629484  Reprojection Error: -0.261107, 0.279506 Feature: 0.051947, 0.285446, 0.956986
[11:52:55.560] xyz_f:0.718958, -0.449055, 1.532336  Reprojection Error: -0.195113, 0.078096 Feature: 0.258826, -0.202994, 0.944353
[11:52:55.560] xyz_f:0.508770, -0.206120, 1.607450  Reprojection Error: -0.261199, 0.179476 Feature: 0.055152, 0.051103, 0.997169
[11:52:55.560] xyz_f:0.642682, -0.447988, 1.534613  Reprojection Error: -0.226906, 0.082585 Feature: 0.184586, -0.201375, 0.961965
[11:52:55.560] xyz_f:0.508572, -0.231702, 1.601608  Reprojection Error: -0.262277, 0.169595 Feature: 0.055160, 0.024881, 0.998167
[11:52:55.560] xyz_f:0.365397, -0.158896, 1.582927  Reprojection Error: -0.324165, 0.191518 Feature: -0.092545, 0.090371, 0.991599
[11:52:55.560] xyz_f:0.497197, -0.218455, 1.602845  Reprojection Error: -0.266554, 0.174352 Feature: 0.043569, 0.037996, 0.998328
[11:52:55.560] xyz_f:0.365879, -0.159845, 1.582917  Reprojection Error: -0.323934, 0.191179 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.560] xyz_f:0.507964, 0.032036, 1.628537  Reprojection Error: -0.263999, 0.279823 Feature: 0.045853, 0.286602, 0.956952
[11:52:55.560] xyz_f:0.748491, -0.639979, 1.404081  Reprojection Error: -0.193051, -0.036117 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.560] xyz_f:-0.450140, -1.182026, 1.803388  Reprojection Error: 0.479298, 0.436925 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.560] xyz_f:0.363472, -0.051148, 1.115379  Reprojection Error: -0.038786, -0.195418 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.560] xyz_f:-0.321157, -1.147859, 1.829413  Reprojection Error: 0.365518, 0.422455 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.560] xyz_f:0.701245, -0.447451, 1.534127  Reprojection Error: -0.176536, 0.076405 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.560] xyz_f:0.477064, -0.251508, 1.591073  Reprojection Error: -0.250409, 0.161101 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.560] xyz_f:0.154535, -0.981244, 1.293502  Reprojection Error: -0.058363, 0.772085 Feature: -0.312634, -0.778864, 0.969795
[11:52:55.560] xyz_f:0.482661, -0.030110, 0.870703  Reprojection Error: -0.623529, 0.131535 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.560] xyz_f:0.291606, -0.058456, 1.568402  Reprojection Error: -0.334285, 0.226258 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.560] xyz_f:0.294600, -0.052137, 1.569963  Reprojection Error: -0.336170, 0.229131 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.560] xyz_f:-0.426765, -1.160748, 1.810025  Reprojection Error: 0.313942, 0.937228 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.560] xyz_f:0.365879, -0.159845, 1.582917  Reprojection Error: 0.125438, 0.445199 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.560] xyz_f:-0.428643, -1.156101, 1.804301  Reprojection Error: 0.452454, 1.018512 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.560] xyz_f:0.695578, -0.640272, 1.408095  Reprojection Error: -0.567448, 0.959915 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.560] it:43 	 Success 	 new_chi2: 1.718443 	 dT = -0.017053, 0.002707, -0.005925
[11:52:55.560] xyz_f:0.698306, -0.640214, 1.405171  Reprojection Error: -0.245407, -0.021398 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.560] xyz_f:0.480248, -0.251784, 1.589399  Reprojection Error: -0.278862, 0.161439 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.560] xyz_f:0.690112, -0.457456, 1.526688  Reprojection Error: -0.212758, 0.076728 Feature: 0.227422, -0.211871, 0.950468
[11:52:55.560] xyz_f:0.365748, -0.152653, 1.582183  Reprojection Error: -0.327490, 0.194301 Feature: -0.095428, 0.096910, 0.990708
[11:52:55.560] xyz_f:0.651377, -0.440093, 1.535972  Reprojection Error: -0.226318, 0.086344 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.560] xyz_f:0.751195, -0.639840, 1.400855  Reprojection Error: -0.221509, -0.029281 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.560] xyz_f:0.740282, -0.462162, 1.520994  Reprojection Error: -0.192209, 0.071121 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.560] xyz_f:0.365841, -0.148330, 1.582900  Reprojection Error: -0.327480, 0.195973 Feature: -0.095422, 0.101271, 0.990272
[11:52:55.560] xyz_f:0.491697, -0.239599, 1.594600  Reprojection Error: -0.273446, 0.166408 Feature: 0.034880, 0.016140, 0.999261
[11:52:55.560] xyz_f:0.294367, -0.059017, 1.567790  Reprojection Error: -0.366547, 0.227412 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.560] xyz_f:0.663764, -0.457762, 1.527098  Reprojection Error: -0.223717, 0.077989 Feature: 0.201704, -0.212060, 0.956215
[11:52:55.560] xyz_f:0.517577, -0.223638, 1.602575  Reprojection Error: -0.261867, 0.173252 Feature: 0.060950, 0.033621, 0.997574
[11:52:55.560] xyz_f:0.704399, -0.447384, 1.531170  Reprojection Error: -0.205361, 0.080467 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.560] xyz_f:0.649752, -0.471542, 1.519849  Reprojection Error: -0.231533, 0.072465 Feature: 0.187288, -0.227247, 0.955658
[11:52:55.560] xyz_f:0.714148, -0.470667, 1.518553  Reprojection Error: -0.204607, 0.069069 Feature: 0.250081, -0.226737, 0.941302
[11:52:55.560] xyz_f:0.638698, 0.094257, 1.633407  Reprojection Error: -0.207598, 0.320509 Feature: 0.169093, 0.348664, 0.921868
[11:52:55.560] xyz_f:0.297361, -0.052694, 1.569334  Reprojection Error: -0.365403, 0.230221 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.560] xyz_f:0.516891, 0.030365, 1.627599  Reprojection Error: -0.263297, 0.279620 Feature: 0.051947, 0.285446, 0.956986
[11:52:55.560] xyz_f:0.722104, -0.448961, 1.529278  Reprojection Error: -0.198109, 0.078621 Feature: 0.258826, -0.202994, 0.944353
[11:52:55.560] xyz_f:0.511977, -0.206348, 1.605594  Reprojection Error: -0.263562, 0.179767 Feature: 0.055152, 0.051103, 0.997169
[11:52:55.560] xyz_f:0.645841, -0.448011, 1.531991  Reprojection Error: -0.229685, 0.083100 Feature: 0.184586, -0.201375, 0.961965
[11:52:55.560] xyz_f:0.511785, -0.231931, 1.599753  Reprojection Error: -0.264654, 0.169906 Feature: 0.055160, 0.024881, 0.998167
[11:52:55.560] xyz_f:0.368394, -0.159344, 1.581892  Reprojection Error: -0.326211, 0.191867 Feature: -0.092545, 0.090371, 0.991599
[11:52:55.560] xyz_f:0.500397, -0.218701, 1.601055  Reprojection Error: -0.268900, 0.174658 Feature: 0.043569, 0.037996, 0.998328
[11:52:55.560] xyz_f:0.368877, -0.160292, 1.581879  Reprojection Error: -0.325981, 0.191528 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.560] xyz_f:0.510927, 0.031807, 1.626686  Reprojection Error: -0.266176, 0.279942 Feature: 0.045853, 0.286602, 0.956952
[11:52:55.560] xyz_f:0.751195, -0.639840, 1.400855  Reprojection Error: -0.196209, -0.035167 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.560] xyz_f:-0.444298, -1.183723, 1.807013  Reprojection Error: 0.475564, 0.436549 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.560] xyz_f:0.363628, -0.051601, 1.114363  Reprojection Error: -0.039223, -0.194970 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.560] xyz_f:-0.315221, -1.149358, 1.832299  Reprojection Error: 0.362002, 0.422284 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.560] xyz_f:0.704399, -0.447384, 1.531170  Reprojection Error: -0.179479, 0.076925 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.560] xyz_f:0.480248, -0.251784, 1.589399  Reprojection Error: -0.252728, 0.161442 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.560] xyz_f:0.157140, -0.982015, 1.293676  Reprojection Error: -0.060361, 0.772580 Feature: -0.312634, -0.778864, 0.969795
[11:52:55.560] xyz_f:0.481382, -0.030382, 0.869009  Reprojection Error: -0.623138, 0.131915 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.560] xyz_f:0.294367, -0.059017, 1.567790  Reprojection Error: -0.336118, 0.226631 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.560] xyz_f:0.297361, -0.052694, 1.569334  Reprojection Error: -0.338004, 0.229499 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.560] xyz_f:-0.420918, -1.162409, 1.813515  Reprojection Error: 0.310264, 0.936910 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.560] xyz_f:0.368877, -0.160292, 1.581879  Reprojection Error: 0.123391, 0.445548 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.560] xyz_f:-0.422836, -1.157765, 1.807802  Reprojection Error: 0.448782, 1.018191 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.560] xyz_f:0.698306, -0.640214, 1.405171  Reprojection Error: -0.570418, 0.960820 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.560] it:44 	 Success 	 new_chi2: 1.730756 	 dT = -0.016948, 0.002903, -0.006026
[11:52:55.560] xyz_f:0.700957, -0.640146, 1.402016  Reprojection Error: -0.248416, -0.020421 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.560] xyz_f:0.483369, -0.252057, 1.587512  Reprojection Error: -0.281187, 0.161799 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.560] xyz_f:0.693185, -0.457401, 1.523579  Reprojection Error: -0.215697, 0.077303 Feature: 0.227422, -0.211871, 0.950468
[11:52:55.560] xyz_f:0.368674, -0.153104, 1.580963  Reprojection Error: -0.329519, 0.194661 Feature: -0.095428, 0.096910, 0.990708
[11:52:55.560] xyz_f:0.654478, -0.440099, 1.533089  Reprojection Error: -0.229138, 0.086886 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.560] xyz_f:0.753819, -0.639690, 1.397392  Reprojection Error: -0.224716, -0.028257 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.560] xyz_f:0.743329, -0.462029, 1.517594  Reprojection Error: -0.195307, 0.071714 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.560] xyz_f:0.368764, -0.148781, 1.581680  Reprojection Error: -0.329507, 0.196331 Feature: -0.095422, 0.101271, 0.990272
[11:52:55.560] xyz_f:0.494829, -0.239853, 1.592646  Reprojection Error: -0.275790, 0.166753 Feature: 0.034880, 0.016140, 0.999261
[11:52:55.560] xyz_f:0.297065, -0.059580, 1.566987  Reprojection Error: -0.368365, 0.227790 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.560] xyz_f:0.666840, -0.457748, 1.524143  Reprojection Error: -0.226578, 0.078561 Feature: 0.201704, -0.212060, 0.956215
[11:52:55.560] xyz_f:0.520730, -0.223852, 1.600471  Reprojection Error: -0.264262, 0.173569 Feature: 0.060950, 0.033621, 0.997574
[11:52:55.560] xyz_f:0.707482, -0.447307, 1.527978  Reprojection Error: -0.208339, 0.081027 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.560] xyz_f:0.652807, -0.471550, 1.516976  Reprojection Error: -0.234357, 0.073058 Feature: 0.187288, -0.227247, 0.955658
[11:52:55.560] xyz_f:0.717193, -0.470574, 1.515305  Reprojection Error: -0.207625, 0.069672 Feature: 0.250081, -0.226737, 0.941302
[11:52:55.560] xyz_f:0.641533, 0.094232, 1.630599  Reprojection Error: -0.210010, 0.320425 Feature: 0.169093, 0.348664, 0.921868
[11:52:55.560] xyz_f:0.300058, -0.053252, 1.568513  Reprojection Error: -0.367222, 0.230595 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.560] xyz_f:0.519794, 0.030150, 1.625499  Reprojection Error: -0.265493, 0.279728 Feature: 0.051947, 0.285446, 0.956986
[11:52:55.560] xyz_f:0.725178, -0.448856, 1.525983  Reprojection Error: -0.201143, 0.079186 Feature: 0.258826, -0.202994, 0.944353
[11:52:55.560] xyz_f:0.515121, -0.206571, 1.603522  Reprojection Error: -0.265935, 0.180072 Feature: 0.055152, 0.051103, 0.997169
[11:52:55.560] xyz_f:0.648930, -0.448025, 1.529140  Reprojection Error: -0.232492, 0.083654 Feature: 0.184586, -0.201375, 0.961965
[11:52:55.560] xyz_f:0.514934, -0.232154, 1.597682  Reprojection Error: -0.267040, 0.170233 Feature: 0.055160, 0.024881, 0.998167
[11:52:55.560] xyz_f:0.371329, -0.159791, 1.580657  Reprojection Error: -0.328250, 0.192228 Feature: -0.092545, 0.090371, 0.991599
[11:52:55.560] xyz_f:0.503534, -0.218942, 1.599051  Reprojection Error: -0.271253, 0.174980 Feature: 0.043569, 0.037996, 0.998328
[11:52:55.560] xyz_f:0.371814, -0.160738, 1.580641  Reprojection Error: -0.328021, 0.191890 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.560] xyz_f:0.513822, 0.031582, 1.624621  Reprojection Error: -0.268357, 0.280055 Feature: 0.045853, 0.286602, 0.956952
[11:52:55.560] xyz_f:0.753819, -0.639690, 1.397392  Reprojection Error: -0.199416, -0.034142 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.560] xyz_f:-0.438440, -1.185435, 1.810500  Reprojection Error: 0.471855, 0.436233 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.560] xyz_f:0.363674, -0.052058, 1.113164  Reprojection Error: -0.039616, -0.194510 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.560] xyz_f:-0.309272, -1.150869, 1.835034  Reprojection Error: 0.358504, 0.422173 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.560] xyz_f:0.707482, -0.447307, 1.527978  Reprojection Error: -0.182457, 0.077485 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.560] xyz_f:0.483369, -0.252057, 1.587512  Reprojection Error: -0.255053, 0.161802 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.560] xyz_f:0.159684, -0.982792, 1.293671  Reprojection Error: -0.062329, 0.773183 Feature: -0.312634, -0.778864, 0.969795
[11:52:55.560] xyz_f:0.479965, -0.030656, 0.867129  Reprojection Error: -0.622704, 0.132307 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.560] xyz_f:0.297065, -0.059580, 1.566987  Reprojection Error: -0.337936, 0.227009 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.560] xyz_f:0.300058, -0.053252, 1.568513  Reprojection Error: -0.339823, 0.229872 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.560] xyz_f:-0.415056, -1.164085, 1.816866  Reprojection Error: 0.306609, 0.936650 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.561] xyz_f:0.371814, -0.160738, 1.580641  Reprojection Error: 0.121350, 0.445910 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.561] xyz_f:-0.417015, -1.159444, 1.811164  Reprojection Error: 0.445133, 1.017929 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.561] xyz_f:0.700957, -0.640146, 1.402016  Reprojection Error: -0.573426, 0.961797 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.561] it:45 	 Success 	 new_chi2: 1.743076 	 dT = -0.016825, 0.003122, -0.006130
[11:52:55.561] xyz_f:0.703486, -0.640069, 1.398606  Reprojection Error: -0.251443, -0.019363 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.561] xyz_f:0.486385, -0.252324, 1.585389  Reprojection Error: -0.283497, 0.162181 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.561] xyz_f:0.696144, -0.457336, 1.520214  Reprojection Error: -0.218651, 0.077924 Feature: 0.227422, -0.211871, 0.950468
[11:52:55.561] xyz_f:0.371497, -0.153553, 1.579519  Reprojection Error: -0.331519, 0.195034 Feature: -0.095428, 0.096910, 0.990708
[11:52:55.561] xyz_f:0.657467, -0.440095, 1.529952  Reprojection Error: -0.231967, 0.087472 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.561] xyz_f:0.756319, -0.639529, 1.393669  Reprojection Error: -0.227951, -0.027150 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.561] xyz_f:0.746259, -0.461884, 1.513932  Reprojection Error: -0.198427, 0.072355 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.561] xyz_f:0.371584, -0.149231, 1.580236  Reprojection Error: -0.331505, 0.196701 Feature: -0.095422, 0.101271, 0.990272
[11:52:55.561] xyz_f:0.497856, -0.240102, 1.590455  Reprojection Error: -0.278122, 0.167117 Feature: 0.034880, 0.016140, 0.999261
[11:52:55.561] xyz_f:0.299658, -0.060143, 1.565968  Reprojection Error: -0.370144, 0.228175 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.561] xyz_f:0.669804, -0.457724, 1.520933  Reprojection Error: -0.229450, 0.079179 Feature: 0.201704, -0.212060, 0.956215
[11:52:55.561] xyz_f:0.523777, -0.224060, 1.598126  Reprojection Error: -0.266646, 0.173905 Feature: 0.060950, 0.033621, 0.997574
[11:52:55.561] xyz_f:0.710452, -0.447219, 1.524528  Reprojection Error: -0.211335, 0.081631 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.561] xyz_f:0.655751, -0.471549, 1.513850  Reprojection Error: -0.237190, 0.073699 Feature: 0.187288, -0.227247, 0.955658
[11:52:55.561] xyz_f:0.720124, -0.470471, 1.511797  Reprojection Error: -0.210661, 0.070324 Feature: 0.250081, -0.226737, 0.941302
[11:52:55.561] xyz_f:0.644252, 0.094215, 1.627540  Reprojection Error: -0.212420, 0.320327 Feature: 0.169093, 0.348664, 0.921868
[11:52:55.561] xyz_f:0.302649, -0.053811, 1.567477  Reprojection Error: -0.369002, 0.230974 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.561] xyz_f:0.522586, 0.029940, 1.623161  Reprojection Error: -0.267674, 0.279831 Feature: 0.051947, 0.285446, 0.956986
[11:52:55.561] xyz_f:0.728138, -0.448740, 1.522428  Reprojection Error: -0.204196, 0.079796 Feature: 0.258826, -0.202994, 0.944353
[11:52:55.561] xyz_f:0.518159, -0.206788, 1.601211  Reprojection Error: -0.268296, 0.180393 Feature: 0.055152, 0.051103, 0.997169
[11:52:55.561] xyz_f:0.651909, -0.448030, 1.526037  Reprojection Error: -0.235306, 0.084253 Feature: 0.184586, -0.201375, 0.961965
[11:52:55.561] xyz_f:0.517979, -0.232371, 1.595372  Reprojection Error: -0.269415, 0.170580 Feature: 0.055160, 0.024881, 0.998167
[11:52:55.561] xyz_f:0.374160, -0.160237, 1.579197  Reprojection Error: -0.330260, 0.192604 Feature: -0.092545, 0.090371, 0.991599
[11:52:55.561] xyz_f:0.506566, -0.219178, 1.596808  Reprojection Error: -0.273594, 0.175320 Feature: 0.043569, 0.037996, 0.998328
[11:52:55.561] xyz_f:0.374646, -0.161183, 1.579179  Reprojection Error: -0.330033, 0.192266 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.561] xyz_f:0.516608, 0.031363, 1.622318  Reprojection Error: -0.270523, 0.280163 Feature: 0.045853, 0.286602, 0.956952
[11:52:55.561] xyz_f:0.756319, -0.639529, 1.393669  Reprojection Error: -0.202651, -0.033035 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.561] xyz_f:-0.432606, -1.187163, 1.813826  Reprojection Error: 0.468194, 0.435985 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.561] xyz_f:0.363567, -0.052517, 1.111759  Reprojection Error: -0.039932, -0.194037 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.561] xyz_f:-0.303349, -1.152392, 1.837596  Reprojection Error: 0.355046, 0.422127 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.561] xyz_f:0.710452, -0.447219, 1.524528  Reprojection Error: -0.185453, 0.078089 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.561] xyz_f:0.486385, -0.252324, 1.585389  Reprojection Error: -0.257364, 0.162183 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.561] xyz_f:0.162126, -0.983574, 1.293466  Reprojection Error: -0.064236, 0.773907 Feature: -0.312634, -0.778864, 0.969795
[11:52:55.561] xyz_f:0.478364, -0.030932, 0.865039  Reprojection Error: -0.622191, 0.132712 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.561] xyz_f:0.299658, -0.060143, 1.565968  Reprojection Error: -0.339715, 0.227394 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.561] xyz_f:0.302649, -0.053811, 1.567477  Reprojection Error: -0.341603, 0.230251 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.561] xyz_f:-0.409218, -1.165775, 1.820054  Reprojection Error: 0.303001, 0.936457 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.561] xyz_f:0.374646, -0.161183, 1.579179  Reprojection Error: 0.119339, 0.446286 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.561] xyz_f:-0.411218, -1.161138, 1.814364  Reprojection Error: 0.441532, 1.017734 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.561] xyz_f:0.703486, -0.640069, 1.398606  Reprojection Error: -0.576454, 0.962855 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.561] it:46 	 Success 	 new_chi2: 1.755316 	 dT = -0.016677, 0.003353, -0.006242
[11:52:55.561] xyz_f:0.705871, -0.639981, 1.394926  Reprojection Error: -0.254480, -0.018219 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.561] xyz_f:0.489274, -0.252587, 1.583016  Reprojection Error: -0.285782, 0.162585 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.561] xyz_f:0.698967, -0.457260, 1.516577  Reprojection Error: -0.221611, 0.078596 Feature: 0.227422, -0.211871, 0.950468
[11:52:55.561] xyz_f:0.374192, -0.154002, 1.577840  Reprojection Error: -0.333478, 0.195422 Feature: -0.095428, 0.096910, 0.990708
[11:52:55.561] xyz_f:0.660321, -0.440081, 1.526548  Reprojection Error: -0.234795, 0.088104 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.561] xyz_f:0.758672, -0.639356, 1.389671  Reprojection Error: -0.231206, -0.025954 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.561] xyz_f:0.749050, -0.461727, 1.509992  Reprojection Error: -0.201562, 0.073047 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.561] xyz_f:0.374278, -0.149679, 1.578556  Reprojection Error: -0.333461, 0.197086 Feature: -0.095422, 0.101271, 0.990272
[11:52:55.561] xyz_f:0.500755, -0.240346, 1.588013  Reprojection Error: -0.280429, 0.167503 Feature: 0.034880, 0.016140, 0.999261
[11:52:55.561] xyz_f:0.302122, -0.060708, 1.564722  Reprojection Error: -0.371871, 0.228566 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.561] xyz_f:0.672632, -0.457690, 1.517455  Reprojection Error: -0.232323, 0.079847 Feature: 0.201704, -0.212060, 0.956215
[11:52:55.561] xyz_f:0.526696, -0.224262, 1.595528  Reprojection Error: -0.269009, 0.174260 Feature: 0.060950, 0.033621, 0.997574
[11:52:55.561] xyz_f:0.713284, -0.447119, 1.520805  Reprojection Error: -0.214338, 0.082284 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.561] xyz_f:0.658559, -0.471538, 1.510456  Reprojection Error: -0.240022, 0.074392 Feature: 0.187288, -0.227247, 0.955658
[11:52:55.561] xyz_f:0.722917, -0.470356, 1.508016  Reprojection Error: -0.213708, 0.071028 Feature: 0.250081, -0.226737, 0.941302
[11:52:55.561] xyz_f:0.646832, 0.094207, 1.624216  Reprojection Error: -0.214818, 0.320213 Feature: 0.169093, 0.348664, 0.921868
[11:52:55.561] xyz_f:0.305113, -0.054370, 1.566213  Reprojection Error: -0.370731, 0.231359 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.561] xyz_f:0.525246, 0.029735, 1.620571  Reprojection Error: -0.269830, 0.279927 Feature: 0.051947, 0.285446, 0.956986
[11:52:55.561] xyz_f:0.730959, -0.448612, 1.518598  Reprojection Error: -0.207261, 0.080456 Feature: 0.258826, -0.202994, 0.944353
[11:52:55.561] xyz_f:0.521069, -0.206999, 1.598646  Reprojection Error: -0.270635, 0.180732 Feature: 0.055152, 0.051103, 0.997169
[11:52:55.561] xyz_f:0.654752, -0.448025, 1.522666  Reprojection Error: -0.238120, 0.084900 Feature: 0.184586, -0.201375, 0.961965
[11:52:55.561] xyz_f:0.520894, -0.232582, 1.592809  Reprojection Error: -0.271768, 0.170947 Feature: 0.055160, 0.024881, 0.998167
[11:52:55.561] xyz_f:0.376865, -0.160681, 1.577502  Reprojection Error: -0.332229, 0.192994 Feature: -0.092545, 0.090371, 0.991599
[11:52:55.561] xyz_f:0.509469, -0.219407, 1.594314  Reprojection Error: -0.275912, 0.175679 Feature: 0.043569, 0.037996, 0.998328
[11:52:55.561] xyz_f:0.377352, -0.161626, 1.577481  Reprojection Error: -0.332004, 0.192656 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.561] xyz_f:0.519260, 0.031149, 1.619764  Reprojection Error: -0.272662, 0.280265 Feature: 0.045853, 0.286602, 0.956952
[11:52:55.561] xyz_f:0.758672, -0.639356, 1.389671  Reprojection Error: -0.205905, -0.031839 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.561] xyz_f:-0.426812, -1.188907, 1.816985  Reprojection Error: 0.464591, 0.435807 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.561] xyz_f:0.363279, -0.052981, 1.110136  Reprojection Error: -0.040151, -0.193550 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.561] xyz_f:-0.297471, -1.153927, 1.839976  Reprojection Error: 0.351637, 0.422151 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.561] xyz_f:0.713284, -0.447119, 1.520805  Reprojection Error: -0.188456, 0.078742 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.561] xyz_f:0.489274, -0.252587, 1.583016  Reprojection Error: -0.259648, 0.162587 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.561] xyz_f:0.164442, -0.984360, 1.293050  Reprojection Error: -0.066067, 0.774761 Feature: -0.312634, -0.778864, 0.969795
[11:52:55.561] xyz_f:0.476552, -0.031212, 0.862729  Reprojection Error: -0.621571, 0.133132 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.561] xyz_f:0.302122, -0.060708, 1.564722  Reprojection Error: -0.341443, 0.227785 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.561] xyz_f:0.305113, -0.054370, 1.566213  Reprojection Error: -0.343331, 0.230636 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.561] xyz_f:-0.403421, -1.167482, 1.823072  Reprojection Error: 0.299450, 0.936332 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.561] xyz_f:0.377352, -0.161626, 1.577481  Reprojection Error: 0.117368, 0.446676 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.561] xyz_f:-0.405463, -1.162848, 1.817394  Reprojection Error: 0.437988, 1.017608 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.561] xyz_f:0.705871, -0.639981, 1.394926  Reprojection Error: -0.579490, 0.963999 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.561] it:47 	 Success 	 new_chi2: 1.767432 	 dT = -0.016498, 0.003588, -0.006363
[11:52:55.561] xyz_f:0.708102, -0.639882, 1.390969  Reprojection Error: -0.257523, -0.016985 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.561] xyz_f:0.492028, -0.252844, 1.580389  Reprojection Error: -0.288038, 0.163013 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.561] xyz_f:0.701645, -0.457172, 1.512661  Reprojection Error: -0.224575, 0.079318 Feature: 0.227422, -0.211871, 0.950468
[11:52:55.561] xyz_f:0.376754, -0.154449, 1.575920  Reprojection Error: -0.335393, 0.195824 Feature: -0.095428, 0.096910, 0.990708
[11:52:55.561] xyz_f:0.663033, -0.440057, 1.522870  Reprojection Error: -0.237621, 0.088785 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.561] xyz_f:0.760869, -0.639170, 1.385389  Reprojection Error: -0.234479, -0.024666 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.561] xyz_f:0.751694, -0.461557, 1.505769  Reprojection Error: -0.204709, 0.073791 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.561] xyz_f:0.376837, -0.150126, 1.576636  Reprojection Error: -0.335373, 0.197485 Feature: -0.095422, 0.101271, 0.990272
[11:52:55.561] xyz_f:0.503520, -0.240585, 1.585315  Reprojection Error: -0.282709, 0.167911 Feature: 0.034880, 0.016140, 0.999261
[11:52:55.561] xyz_f:0.304451, -0.061274, 1.563246  Reprojection Error: -0.373543, 0.228965 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.561] xyz_f:0.675317, -0.457646, 1.513701  Reprojection Error: -0.235196, 0.080566 Feature: 0.201704, -0.212060, 0.956215
[11:52:55.561] xyz_f:0.529479, -0.224458, 1.592670  Reprojection Error: -0.271349, 0.174635 Feature: 0.060950, 0.033621, 0.997574
[11:52:55.561] xyz_f:0.715971, -0.447008, 1.516801  Reprojection Error: -0.217348, 0.082987 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.561] xyz_f:0.661224, -0.471517, 1.506789  Reprojection Error: -0.242852, 0.075137 Feature: 0.187288, -0.227247, 0.955658
[11:52:55.561] xyz_f:0.725564, -0.470228, 1.503952  Reprojection Error: -0.216763, 0.071786 Feature: 0.250081, -0.226737, 0.941302
[11:52:55.561] xyz_f:0.649264, 0.094209, 1.620622  Reprojection Error: -0.217203, 0.320084 Feature: 0.169093, 0.348664, 0.921868
[11:52:55.561] xyz_f:0.307441, -0.054931, 1.564719  Reprojection Error: -0.372404, 0.231750 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.561] xyz_f:0.527765, 0.029537, 1.617723  Reprojection Error: -0.271957, 0.280017 Feature: 0.051947, 0.285446, 0.956986
[11:52:55.561] xyz_f:0.733635, -0.448471, 1.514486  Reprojection Error: -0.210335, 0.081165 Feature: 0.258826, -0.202994, 0.944353
[11:52:55.561] xyz_f:0.523843, -0.207204, 1.595824  Reprojection Error: -0.272950, 0.181090 Feature: 0.055152, 0.051103, 0.997169
[11:52:55.561] xyz_f:0.657454, -0.448010, 1.519022  Reprojection Error: -0.240930, 0.085596 Feature: 0.184586, -0.201375, 0.961965
[11:52:55.561] xyz_f:0.523675, -0.232788, 1.589987  Reprojection Error: -0.274097, 0.171335 Feature: 0.055160, 0.024881, 0.998167
[11:52:55.561] xyz_f:0.379435, -0.161123, 1.575566  Reprojection Error: -0.334154, 0.193400 Feature: -0.092545, 0.090371, 0.991599
[11:52:55.561] xyz_f:0.512237, -0.219632, 1.591562  Reprojection Error: -0.278203, 0.176058 Feature: 0.043569, 0.037996, 0.998328
[11:52:55.561] xyz_f:0.379925, -0.162068, 1.575542  Reprojection Error: -0.333931, 0.193063 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.561] xyz_f:0.521772, 0.030941, 1.616953  Reprojection Error: -0.274773, 0.280360 Feature: 0.045853, 0.286602, 0.956952
[11:52:55.561] xyz_f:0.760869, -0.639170, 1.385389  Reprojection Error: -0.209178, -0.030551 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.561] xyz_f:-0.421059, -1.190671, 1.819979  Reprojection Error: 0.461044, 0.435700 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.561] xyz_f:0.362800, -0.053448, 1.108293  Reprojection Error: -0.040263, -0.193049 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.561] xyz_f:-0.291637, -1.155478, 1.842174  Reprojection Error: 0.348278, 0.422244 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.561] xyz_f:0.715971, -0.447008, 1.516801  Reprojection Error: -0.191466, 0.079445 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.561] xyz_f:0.492028, -0.252844, 1.580389  Reprojection Error: -0.261904, 0.163016 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.561] xyz_f:0.166626, -0.985153, 1.292421  Reprojection Error: -0.067819, 0.775744 Feature: -0.312634, -0.778864, 0.969795
[11:52:55.561] xyz_f:0.474515, -0.031494, 0.860195  Reprojection Error: -0.620830, 0.133566 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.561] xyz_f:0.304451, -0.061274, 1.563246  Reprojection Error: -0.343115, 0.228184 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.561] xyz_f:0.307441, -0.054931, 1.564719  Reprojection Error: -0.345005, 0.231028 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.561] xyz_f:-0.397667, -1.169208, 1.825923  Reprojection Error: 0.295953, 0.936278 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.561] xyz_f:0.379925, -0.162068, 1.575542  Reprojection Error: 0.115441, 0.447083 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.561] xyz_f:-0.399751, -1.164576, 1.820257  Reprojection Error: 0.434499, 1.017551 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.561] xyz_f:0.708102, -0.639882, 1.390969  Reprojection Error: -0.582534, 0.965233 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.561] it:48 	 Success 	 new_chi2: 1.779412 	 dT = -0.016286, 0.003823, -0.006497
[11:52:55.561] xyz_f:0.710184, -0.639772, 1.386732  Reprojection Error: -0.260580, -0.015659 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.561] xyz_f:0.494652, -0.253096, 1.577507  Reprojection Error: -0.290271, 0.163465 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.561] xyz_f:0.704183, -0.457071, 1.508463  Reprojection Error: -0.227548, 0.080092 Feature: 0.227422, -0.211871, 0.950468
[11:52:55.561] xyz_f:0.379187, -0.154895, 1.573762  Reprojection Error: -0.337266, 0.196242 Feature: -0.095428, 0.096910, 0.990708
[11:52:55.561] xyz_f:0.665607, -0.440021, 1.518915  Reprojection Error: -0.240449, 0.089514 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.561] xyz_f:0.762914, -0.638971, 1.380822  Reprojection Error: -0.237776, -0.023285 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.561] xyz_f:0.754196, -0.461372, 1.501257  Reprojection Error: -0.207876, 0.074589 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.561] xyz_f:0.379267, -0.150572, 1.574477  Reprojection Error: -0.337244, 0.197898 Feature: -0.095422, 0.101271, 0.990272
[11:52:55.561] xyz_f:0.506154, -0.240818, 1.582361  Reprojection Error: -0.284967, 0.168341 Feature: 0.034880, 0.016140, 0.999261
[11:52:55.561] xyz_f:0.306650, -0.061842, 1.561543  Reprojection Error: -0.375163, 0.229371 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.561] xyz_f:0.677863, -0.457590, 1.509669  Reprojection Error: -0.238074, 0.081336 Feature: 0.201704, -0.212060, 0.956215
[11:52:55.561] xyz_f:0.532132, -0.224647, 1.589553  Reprojection Error: -0.273670, 0.175030 Feature: 0.060950, 0.033621, 0.997574
[11:52:55.561] xyz_f:0.718518, -0.446884, 1.512514  Reprojection Error: -0.220370, 0.083740 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.561] xyz_f:0.663750, -0.471484, 1.502845  Reprojection Error: -0.245685, 0.075937 Feature: 0.187288, -0.227247, 0.955658
[11:52:55.561] xyz_f:0.728069, -0.470088, 1.499605  Reprojection Error: -0.219832, 0.072599 Feature: 0.250081, -0.226737, 0.941302
[11:52:55.561] xyz_f:0.651554, 0.094221, 1.616754  Reprojection Error: -0.219577, 0.319937 Feature: 0.169093, 0.348664, 0.921868
[11:52:55.561] xyz_f:0.309637, -0.055494, 1.562997  Reprojection Error: -0.374026, 0.232149 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.561] xyz_f:0.530148, 0.029345, 1.614618  Reprojection Error: -0.274061, 0.280101 Feature: 0.051947, 0.285446, 0.956986
[11:52:55.561] xyz_f:0.736169, -0.448317, 1.510088  Reprojection Error: -0.213424, 0.081925 Feature: 0.258826, -0.202994, 0.944353
[11:52:55.561] xyz_f:0.526487, -0.207403, 1.592742  Reprojection Error: -0.275245, 0.181466 Feature: 0.055152, 0.051103, 0.997169
[11:52:55.561] xyz_f:0.660017, -0.447984, 1.515102  Reprojection Error: -0.243742, 0.086342 Feature: 0.184586, -0.201375, 0.961965
[11:52:55.561] xyz_f:0.526325, -0.232987, 1.586906  Reprojection Error: -0.276406, 0.171745 Feature: 0.055160, 0.024881, 0.998167
[11:52:55.561] xyz_f:0.381877, -0.161565, 1.573391  Reprojection Error: -0.336039, 0.193822 Feature: -0.092545, 0.090371, 0.991599
[11:52:55.561] xyz_f:0.514875, -0.219850, 1.588553  Reprojection Error: -0.280474, 0.176456 Feature: 0.043569, 0.037996, 0.998328
[11:52:55.561] xyz_f:0.382368, -0.162509, 1.573364  Reprojection Error: -0.335818, 0.193486 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.561] xyz_f:0.524147, 0.030738, 1.613885  Reprojection Error: -0.276858, 0.280449 Feature: 0.045853, 0.286602, 0.956952
[11:52:55.561] xyz_f:0.762914, -0.638971, 1.380822  Reprojection Error: -0.212476, -0.029170 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.561] xyz_f:-0.415335, -1.192456, 1.822818  Reprojection Error: 0.457543, 0.435660 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.561] xyz_f:0.362129, -0.053921, 1.106233  Reprojection Error: -0.040266, -0.192532 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.561] xyz_f:-0.285836, -1.157045, 1.844201  Reprojection Error: 0.344958, 0.422405 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.561] xyz_f:0.718518, -0.446884, 1.512514  Reprojection Error: -0.194487, 0.080198 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.561] xyz_f:0.494652, -0.253096, 1.577507  Reprojection Error: -0.264137, 0.163468 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.561] xyz_f:0.168681, -0.985953, 1.291583  Reprojection Error: -0.069494, 0.776858 Feature: -0.312634, -0.778864, 0.969795
[11:52:55.561] xyz_f:0.472247, -0.031780, 0.857438  Reprojection Error: -0.619959, 0.134017 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.561] xyz_f:0.306650, -0.061842, 1.561543  Reprojection Error: -0.344735, 0.228590 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.562] xyz_f:0.309637, -0.055494, 1.562997  Reprojection Error: -0.346627, 0.231426 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.562] xyz_f:-0.391942, -1.170953, 1.828614  Reprojection Error: 0.292502, 0.936290 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.562] xyz_f:0.382368, -0.162509, 1.573364  Reprojection Error: 0.113554, 0.447506 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.562] xyz_f:-0.394070, -1.166325, 1.822962  Reprojection Error: 0.431057, 1.017561 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.562] xyz_f:0.710184, -0.639772, 1.386732  Reprojection Error: -0.585590, 0.966559 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.562] it:49 	 Success 	 new_chi2: 1.791271 	 dT = -0.016041, 0.004055, -0.006644
[11:52:55.562] xyz_f:0.712127, -0.639648, 1.382217  Reprojection Error: -0.263658, -0.014241 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.562] xyz_f:0.497158, -0.253343, 1.574372  Reprojection Error: -0.292487, 0.163941 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.562] xyz_f:0.706593, -0.456958, 1.503985  Reprojection Error: -0.230540, 0.080919 Feature: 0.227422, -0.211871, 0.950468
[11:52:55.562] xyz_f:0.381504, -0.155340, 1.571370  Reprojection Error: -0.339107, 0.196675 Feature: -0.095428, 0.096910, 0.990708
[11:52:55.562] xyz_f:0.668056, -0.439974, 1.514683  Reprojection Error: -0.243290, 0.090292 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.562] xyz_f:0.764816, -0.638756, 1.375968  Reprojection Error: -0.241107, -0.021808 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.562] xyz_f:0.756566, -0.461173, 1.496458  Reprojection Error: -0.211071, 0.075442 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.562] xyz_f:0.381581, -0.151017, 1.572084  Reprojection Error: -0.339082, 0.198327 Feature: -0.095422, 0.101271, 0.990272
[11:52:55.562] xyz_f:0.508670, -0.241044, 1.579153  Reprojection Error: -0.287210, 0.168794 Feature: 0.034880, 0.016140, 0.999261
[11:52:55.562] xyz_f:0.308729, -0.062412, 1.559616  Reprojection Error: -0.376740, 0.229786 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.562] xyz_f:0.680282, -0.457521, 1.505359  Reprojection Error: -0.240967, 0.082158 Feature: 0.201704, -0.212060, 0.956215
[11:52:55.562] xyz_f:0.534667, -0.224829, 1.586178  Reprojection Error: -0.275980, 0.175446 Feature: 0.060950, 0.033621, 0.997574
[11:52:55.562] xyz_f:0.720936, -0.446745, 1.507943  Reprojection Error: -0.223413, 0.084544 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.562] xyz_f:0.666150, -0.471440, 1.498626  Reprojection Error: -0.248529, 0.076791 Feature: 0.187288, -0.227247, 0.955658
[11:52:55.562] xyz_f:0.730444, -0.469933, 1.494973  Reprojection Error: -0.222925, 0.073467 Feature: 0.250081, -0.226737, 0.941302
[11:52:55.562] xyz_f:0.653712, 0.094244, 1.612614  Reprojection Error: -0.221950, 0.319773 Feature: 0.169093, 0.348664, 0.921868
[11:52:55.562] xyz_f:0.311715, -0.056059, 1.561051  Reprojection Error: -0.375604, 0.232555 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.562] xyz_f:0.532406, 0.029159, 1.611256  Reprojection Error: -0.276147, 0.280179 Feature: 0.051947, 0.285446, 0.956986
[11:52:55.562] xyz_f:0.738574, -0.448148, 1.505404  Reprojection Error: -0.216538, 0.082737 Feature: 0.258826, -0.202994, 0.944353
[11:52:55.562] xyz_f:0.529012, -0.207595, 1.589403  Reprojection Error: -0.277528, 0.181860 Feature: 0.055152, 0.051103, 0.997169
[11:52:55.562] xyz_f:0.662455, -0.447946, 1.510906  Reprojection Error: -0.246565, 0.087138 Feature: 0.184586, -0.201375, 0.961965
[11:52:55.562] xyz_f:0.528857, -0.233179, 1.583569  Reprojection Error: -0.278704, 0.172175 Feature: 0.055160, 0.024881, 0.998167
[11:52:55.562] xyz_f:0.384203, -0.162006, 1.570981  Reprojection Error: -0.337891, 0.194260 Feature: -0.092545, 0.090371, 0.991599
[11:52:55.562] xyz_f:0.517395, -0.220062, 1.585289  Reprojection Error: -0.282731, 0.176875 Feature: 0.043569, 0.037996, 0.998328
[11:52:55.562] xyz_f:0.384695, -0.162949, 1.570951  Reprojection Error: -0.337672, 0.193924 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.562] xyz_f:0.526399, 0.030542, 1.610562  Reprojection Error: -0.278926, 0.280531 Feature: 0.045853, 0.286602, 0.956952
[11:52:55.562] xyz_f:0.764816, -0.638756, 1.375968  Reprojection Error: -0.215807, -0.027693 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.562] xyz_f:-0.409619, -1.194265, 1.825513  Reprojection Error: 0.454076, 0.435685 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.562] xyz_f:0.361272, -0.054398, 1.103960  Reprojection Error: -0.040164, -0.192000 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.562] xyz_f:-0.280046, -1.158631, 1.846064  Reprojection Error: 0.341665, 0.422630 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.562] xyz_f:0.720936, -0.446745, 1.507943  Reprojection Error: -0.197531, 0.081002 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.562] xyz_f:0.497158, -0.253343, 1.574372  Reprojection Error: -0.266353, 0.163944 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.562] xyz_f:0.170620, -0.986761, 1.290542  Reprojection Error: -0.071102, 0.778100 Feature: -0.312634, -0.778864, 0.969795
[11:52:55.562] xyz_f:0.469753, -0.032069, 0.854463  Reprojection Error: -0.618957, 0.134485 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.562] xyz_f:0.308729, -0.062412, 1.559616  Reprojection Error: -0.346311, 0.229005 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.562] xyz_f:0.311715, -0.056059, 1.561051  Reprojection Error: -0.348205, 0.231833 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.562] xyz_f:-0.386226, -1.172722, 1.831159  Reprojection Error: 0.289082, 0.936365 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.562] xyz_f:0.384695, -0.162949, 1.570951  Reprojection Error: 0.111699, 0.447944 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.562] xyz_f:-0.388398, -1.168098, 1.825521  Reprojection Error: 0.427647, 1.017635 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.562] xyz_f:0.712127, -0.639648, 1.382217  Reprojection Error: -0.588669, 0.967977 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.562] it:50 	 Success 	 new_chi2: 1.803038 	 dT = -0.015762, 0.004283, -0.006804
[11:52:55.562] xyz_f:0.713945, -0.639511, 1.377422  Reprojection Error: -0.266772, -0.012730 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.562] xyz_f:0.499565, -0.253584, 1.570988  Reprojection Error: -0.294699, 0.164441 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.562] xyz_f:0.708891, -0.456830, 1.499224  Reprojection Error: -0.233565, 0.081799 Feature: 0.227422, -0.211871, 0.950468
[11:52:55.562] xyz_f:0.383721, -0.155785, 1.568746  Reprojection Error: -0.340927, 0.197124 Feature: -0.095428, 0.096910, 0.990708
[11:52:55.562] xyz_f:0.670395, -0.439914, 1.510176  Reprojection Error: -0.246155, 0.091119 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.562] xyz_f:0.766591, -0.638526, 1.370827  Reprojection Error: -0.244487, -0.020234 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.562] xyz_f:0.758820, -0.460957, 1.491369  Reprojection Error: -0.214307, 0.076348 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.562] xyz_f:0.383795, -0.151462, 1.569460  Reprojection Error: -0.340899, 0.198771 Feature: -0.095422, 0.101271, 0.990272
[11:52:55.562] xyz_f:0.511086, -0.241265, 1.575693  Reprojection Error: -0.289451, 0.169269 Feature: 0.034880, 0.016140, 0.999261
[11:52:55.562] xyz_f:0.310707, -0.062985, 1.557472  Reprojection Error: -0.378282, 0.230209 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.562] xyz_f:0.682590, -0.457440, 1.500771  Reprojection Error: -0.243886, 0.083033 Feature: 0.201704, -0.212060, 0.956215
[11:52:55.562] xyz_f:0.537099, -0.225004, 1.582547  Reprojection Error: -0.278291, 0.175881 Feature: 0.060950, 0.033621, 0.997574
[11:52:55.562] xyz_f:0.723241, -0.446592, 1.503088  Reprojection Error: -0.226491, 0.085399 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.562] xyz_f:0.668439, -0.471383, 1.494131  Reprojection Error: -0.251398, 0.077699 Feature: 0.187288, -0.227247, 0.955658
[11:52:55.562] xyz_f:0.732704, -0.469763, 1.490056  Reprojection Error: -0.226054, 0.074390 Feature: 0.250081, -0.226737, 0.941302
[11:52:55.562] xyz_f:0.655754, 0.094278, 1.608202  Reprojection Error: -0.224332, 0.319591 Feature: 0.169093, 0.348664, 0.921868
[11:52:55.562] xyz_f:0.313691, -0.056627, 1.558887  Reprojection Error: -0.377149, 0.232970 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.562] xyz_f:0.534557, 0.028980, 1.607641  Reprojection Error: -0.278228, 0.280249 Feature: 0.051947, 0.285446, 0.956986
[11:52:55.562] xyz_f:0.740865, -0.447964, 1.500433  Reprojection Error: -0.219690, 0.083601 Feature: 0.258826, -0.202994, 0.944353
[11:52:55.562] xyz_f:0.531436, -0.207779, 1.585809  Reprojection Error: -0.279811, 0.182273 Feature: 0.055152, 0.051103, 0.997169
[11:52:55.562] xyz_f:0.664784, -0.447896, 1.506436  Reprojection Error: -0.249411, 0.087985 Feature: 0.184586, -0.201375, 0.961965
[11:52:55.562] xyz_f:0.531287, -0.233364, 1.579976  Reprojection Error: -0.281002, 0.172627 Feature: 0.055160, 0.024881, 0.998167
[11:52:55.562] xyz_f:0.386429, -0.162446, 1.568340  Reprojection Error: -0.339723, 0.194715 Feature: -0.092545, 0.090371, 0.991599
[11:52:55.562] xyz_f:0.519815, -0.220267, 1.581772  Reprojection Error: -0.284986, 0.177313 Feature: 0.043569, 0.037996, 0.998328
[11:52:55.562] xyz_f:0.386922, -0.163388, 1.568306  Reprojection Error: -0.339505, 0.194379 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.562] xyz_f:0.528543, 0.030353, 1.606987  Reprojection Error: -0.280988, 0.280607 Feature: 0.045853, 0.286602, 0.956952
[11:52:55.562] xyz_f:0.766591, -0.638526, 1.370827  Reprojection Error: -0.219187, -0.026120 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.562] xyz_f:-0.403884, -1.196099, 1.828078  Reprojection Error: 0.450624, 0.435771 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.562] xyz_f:0.360239, -0.054881, 1.101480  Reprojection Error: -0.039963, -0.191450 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.562] xyz_f:-0.274241, -1.160238, 1.847777  Reprojection Error: 0.338383, 0.422918 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.562] xyz_f:0.723241, -0.446592, 1.503088  Reprojection Error: -0.200609, 0.081857 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.562] xyz_f:0.499565, -0.253584, 1.570988  Reprojection Error: -0.268565, 0.164444 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.562] xyz_f:0.172460, -0.987577, 1.289306  Reprojection Error: -0.072656, 0.779466 Feature: -0.312634, -0.778864, 0.969795
[11:52:55.562] xyz_f:0.467039, -0.032363, 0.851276  Reprojection Error: -0.617827, 0.134971 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.562] xyz_f:0.310707, -0.062985, 1.557472  Reprojection Error: -0.347854, 0.229428 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.562] xyz_f:0.313691, -0.056627, 1.558887  Reprojection Error: -0.349750, 0.232247 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.562] xyz_f:-0.380492, -1.174515, 1.833570  Reprojection Error: 0.285678, 0.936501 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.562] xyz_f:0.386922, -0.163388, 1.568306  Reprojection Error: 0.109866, 0.448399 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.562] xyz_f:-0.382709, -1.169895, 1.827947  Reprojection Error: 0.424252, 1.017770 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.562] xyz_f:0.713945, -0.639511, 1.377422  Reprojection Error: -0.591783, 0.969488 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.562] it:51 	 Success 	 new_chi2: 1.814752 	 dT = -0.015449, 0.004508, -0.006979
[11:52:55.562] xyz_f:0.715657, -0.639359, 1.372346  Reprojection Error: -0.269936, -0.011123 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.562] xyz_f:0.501889, -0.253818, 1.567356  Reprojection Error: -0.296919, 0.164965 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.562] xyz_f:0.711093, -0.456687, 1.494181  Reprojection Error: -0.236635, 0.082731 Feature: 0.227422, -0.211871, 0.950468
[11:52:55.562] xyz_f:0.385856, -0.156229, 1.565896  Reprojection Error: -0.342736, 0.197589 Feature: -0.095428, 0.096910, 0.990708
[11:52:55.562] xyz_f:0.672641, -0.439840, 1.505393  Reprojection Error: -0.249058, 0.091996 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.562] xyz_f:0.768255, -0.638279, 1.365396  Reprojection Error: -0.247929, -0.018563 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.562] xyz_f:0.760976, -0.460723, 1.485990  Reprojection Error: -0.217600, 0.077310 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.562] xyz_f:0.385927, -0.151906, 1.566609  Reprojection Error: -0.342705, 0.199230 Feature: -0.095422, 0.101271, 0.990272
[11:52:55.562] xyz_f:0.513420, -0.241479, 1.571983  Reprojection Error: -0.291701, 0.169766 Feature: 0.034880, 0.016140, 0.999261
[11:52:55.562] xyz_f:0.312600, -0.063561, 1.555114  Reprojection Error: -0.379802, 0.230641 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.562] xyz_f:0.684805, -0.457344, 1.495906  Reprojection Error: -0.246846, 0.083961 Feature: 0.201704, -0.212060, 0.956215
[11:52:55.562] xyz_f:0.539449, -0.225171, 1.578662  Reprojection Error: -0.280614, 0.176337 Feature: 0.060950, 0.033621, 0.997574
[11:52:55.562] xyz_f:0.725451, -0.446423, 1.497948  Reprojection Error: -0.229617, 0.086305 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.562] xyz_f:0.670634, -0.471313, 1.489361  Reprojection Error: -0.254305, 0.078662 Feature: 0.187288, -0.227247, 0.955658
[11:52:55.562] xyz_f:0.734868, -0.469577, 1.484853  Reprojection Error: -0.229234, 0.075370 Feature: 0.250081, -0.226737, 0.941302
[11:52:55.562] xyz_f:0.657697, 0.094326, 1.603518  Reprojection Error: -0.226735, 0.319391 Feature: 0.169093, 0.348664, 0.921868
[11:52:55.562] xyz_f:0.315583, -0.057198, 1.556509  Reprojection Error: -0.378672, 0.233392 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.562] xyz_f:0.536617, 0.028808, 1.603774  Reprojection Error: -0.280314, 0.280313 Feature: 0.051947, 0.285446, 0.956986
[11:52:55.562] xyz_f:0.743058, -0.447763, 1.495175  Reprojection Error: -0.222894, 0.084516 Feature: 0.258826, -0.202994, 0.944353
[11:52:55.562] xyz_f:0.533777, -0.207957, 1.581962  Reprojection Error: -0.282106, 0.182703 Feature: 0.055152, 0.051103, 0.997169
[11:52:55.562] xyz_f:0.667020, -0.447832, 1.501690  Reprojection Error: -0.252295, 0.088882 Feature: 0.184586, -0.201375, 0.961965
[11:52:55.562] xyz_f:0.533635, -0.233541, 1.576130  Reprojection Error: -0.283312, 0.173100 Feature: 0.055160, 0.024881, 0.998167
[11:52:55.562] xyz_f:0.388573, -0.162885, 1.565471  Reprojection Error: -0.341544, 0.195185 Feature: -0.092545, 0.090371, 0.991599
[11:52:55.562] xyz_f:0.522151, -0.220465, 1.578003  Reprojection Error: -0.287251, 0.177771 Feature: 0.043569, 0.037996, 0.998328
[11:52:55.562] xyz_f:0.389068, -0.163826, 1.565434  Reprojection Error: -0.341329, 0.194850 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.562] xyz_f:0.530596, 0.030170, 1.603160  Reprojection Error: -0.283054, 0.280676 Feature: 0.045853, 0.286602, 0.956952
[11:52:55.562] xyz_f:0.768255, -0.638279, 1.365396  Reprojection Error: -0.222629, -0.024448 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.562] xyz_f:-0.398102, -1.197963, 1.830524  Reprojection Error: 0.447170, 0.435914 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.562] xyz_f:0.359043, -0.055371, 1.098799  Reprojection Error: -0.039673, -0.190883 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.562] xyz_f:-0.268395, -1.161867, 1.849350  Reprojection Error: 0.335095, 0.423265 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.562] xyz_f:0.725451, -0.446423, 1.497948  Reprojection Error: -0.203735, 0.082763 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.562] xyz_f:0.501889, -0.253818, 1.567356  Reprojection Error: -0.270785, 0.164967 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.562] xyz_f:0.174219, -0.988403, 1.287881  Reprojection Error: -0.074170, 0.780955 Feature: -0.312634, -0.778864, 0.969795
[11:52:55.562] xyz_f:0.464112, -0.032661, 0.847881  Reprojection Error: -0.616573, 0.135474 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.562] xyz_f:0.312600, -0.063561, 1.555114  Reprojection Error: -0.349374, 0.229860 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.562] xyz_f:0.315583, -0.057198, 1.556509  Reprojection Error: -0.351272, 0.232669 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.562] xyz_f:-0.374713, -1.176336, 1.835859  Reprojection Error: 0.282271, 0.936695 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.562] xyz_f:0.389068, -0.163826, 1.565434  Reprojection Error: 0.108043, 0.448870 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.562] xyz_f:-0.376976, -1.171720, 1.830250  Reprojection Error: 0.420856, 1.017961 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.562] xyz_f:0.715657, -0.639359, 1.372346  Reprojection Error: -0.594947, 0.971094 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.562] it:52 	 Success 	 new_chi2: 1.826448 	 dT = -0.015104, 0.004732, -0.007168
[11:52:55.562] xyz_f:0.717277, -0.639191, 1.366988  Reprojection Error: -0.273166, -0.009420 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.562] xyz_f:0.504150, -0.254046, 1.563475  Reprojection Error: -0.299160, 0.165513 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.562] xyz_f:0.713218, -0.456527, 1.488853  Reprojection Error: -0.239765, 0.083718 Feature: 0.227422, -0.211871, 0.950468
[11:52:55.562] xyz_f:0.387928, -0.156672, 1.562819  Reprojection Error: -0.344547, 0.198069 Feature: -0.095428, 0.096910, 0.990708
[11:52:55.562] xyz_f:0.674814, -0.439752, 1.500330  Reprojection Error: -0.252013, 0.092923 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.562] xyz_f:0.769823, -0.638014, 1.359674  Reprojection Error: -0.251451, -0.016791 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.562] xyz_f:0.763050, -0.460471, 1.480316  Reprojection Error: -0.220964, 0.078328 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.562] xyz_f:0.387996, -0.152349, 1.563532  Reprojection Error: -0.344513, 0.199704 Feature: -0.095422, 0.101271, 0.990272
[11:52:55.562] xyz_f:0.515689, -0.241686, 1.568022  Reprojection Error: -0.293973, 0.170286 Feature: 0.034880, 0.016140, 0.999261
[11:52:55.562] xyz_f:0.314428, -0.064141, 1.552546  Reprojection Error: -0.381312, 0.231082 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.562] xyz_f:0.686944, -0.457233, 1.490759  Reprojection Error: -0.249861, 0.084941 Feature: 0.201704, -0.212060, 0.956215
[11:52:55.562] xyz_f:0.541734, -0.225329, 1.574521  Reprojection Error: -0.282964, 0.176813 Feature: 0.060950, 0.033621, 0.997574
[11:52:55.562] xyz_f:0.727582, -0.446236, 1.492520  Reprojection Error: -0.232806, 0.087264 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.562] xyz_f:0.672754, -0.471228, 1.484313  Reprojection Error: -0.257265, 0.079682 Feature: 0.187288, -0.227247, 0.955658
[11:52:55.562] xyz_f:0.736951, -0.469373, 1.479360  Reprojection Error: -0.232480, 0.076406 Feature: 0.250081, -0.226737, 0.941302
[11:52:55.562] xyz_f:0.659558, 0.094386, 1.598560  Reprojection Error: -0.229171, 0.319170 Feature: 0.169093, 0.348664, 0.921868
[11:52:55.562] xyz_f:0.317408, -0.057772, 1.553920  Reprojection Error: -0.380184, 0.233822 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.562] xyz_f:0.538604, 0.028644, 1.599654  Reprojection Error: -0.282418, 0.280369 Feature: 0.051947, 0.285446, 0.956986
[11:52:55.562] xyz_f:0.745173, -0.447544, 1.489625  Reprojection Error: -0.226165, 0.085485 Feature: 0.258826, -0.202994, 0.944353
[11:52:55.562] xyz_f:0.536052, -0.208125, 1.577861  Reprojection Error: -0.284425, 0.183152 Feature: 0.055152, 0.051103, 0.997169
[11:52:55.562] xyz_f:0.669181, -0.447754, 1.496667  Reprojection Error: -0.255230, 0.089830 Feature: 0.184586, -0.201375, 0.961965
[11:52:55.562] xyz_f:0.535918, -0.233710, 1.572029  Reprojection Error: -0.285647, 0.173594 Feature: 0.055160, 0.024881, 0.998167
[11:52:55.562] xyz_f:0.390655, -0.163323, 1.562375  Reprojection Error: -0.343368, 0.195672 Feature: -0.092545, 0.090371, 0.991599
[11:52:55.562] xyz_f:0.524423, -0.220655, 1.573982  Reprojection Error: -0.289540, 0.178249 Feature: 0.043569, 0.037996, 0.998328
[11:52:55.562] xyz_f:0.391151, -0.164264, 1.562335  Reprojection Error: -0.343155, 0.195338 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.562] xyz_f:0.532577, 0.029995, 1.599082  Reprojection Error: -0.285136, 0.280737 Feature: 0.045853, 0.286602, 0.956952
[11:52:55.562] xyz_f:0.769823, -0.638014, 1.359674  Reprojection Error: -0.226151, -0.022676 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.562] xyz_f:-0.392245, -1.199857, 1.832863  Reprojection Error: 0.443696, 0.436113 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.562] xyz_f:0.357695, -0.055867, 1.095920  Reprojection Error: -0.039301, -0.190298 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.562] xyz_f:-0.262477, -1.163521, 1.850790  Reprojection Error: 0.331785, 0.423670 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.562] xyz_f:0.727582, -0.446236, 1.492520  Reprojection Error: -0.206924, 0.083722 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.562] xyz_f:0.504150, -0.254046, 1.563475  Reprojection Error: -0.273026, 0.165515 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.562] xyz_f:0.175916, -0.989240, 1.286271  Reprojection Error: -0.075658, 0.782566 Feature: -0.312634, -0.778864, 0.969795
[11:52:55.562] xyz_f:0.460982, -0.032964, 0.844280  Reprojection Error: -0.615200, 0.135998 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.562] xyz_f:0.314428, -0.064141, 1.552546  Reprojection Error: -0.350883, 0.230301 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.562] xyz_f:0.317408, -0.057772, 1.553920  Reprojection Error: -0.352785, 0.233100 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.562] xyz_f:-0.368860, -1.178188, 1.838036  Reprojection Error: 0.278845, 0.936943 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.562] xyz_f:0.391151, -0.164264, 1.562335  Reprojection Error: 0.106216, 0.449358 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.562] xyz_f:-0.371170, -1.173576, 1.832443  Reprojection Error: 0.417441, 1.018208 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.563] xyz_f:0.717277, -0.639191, 1.366988  Reprojection Error: -0.598176, 0.972798 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.563] it:53 	 Success 	 new_chi2: 1.838163 	 dT = -0.014727, 0.004955, -0.007372
[11:52:55.563] xyz_f:0.718821, -0.639006, 1.361342  Reprojection Error: -0.276476, -0.007617 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.563] xyz_f:0.506363, -0.254267, 1.559344  Reprojection Error: -0.301434, 0.166085 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.563] xyz_f:0.715281, -0.456349, 1.483234  Reprojection Error: -0.242971, 0.084759 Feature: 0.227422, -0.211871, 0.950468
[11:52:55.563] xyz_f:0.389955, -0.157115, 1.559517  Reprojection Error: -0.346372, 0.198565 Feature: -0.095428, 0.096910, 0.990708
[11:52:55.563] xyz_f:0.676927, -0.439647, 1.494984  Reprojection Error: -0.255036, 0.093901 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.563] xyz_f:0.771311, -0.637729, 1.353654  Reprojection Error: -0.255068, -0.014915 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.563] xyz_f:0.765059, -0.460198, 1.474342  Reprojection Error: -0.224415, 0.079403 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.563] xyz_f:0.390019, -0.152792, 1.560229  Reprojection Error: -0.346335, 0.200194 Feature: -0.095422, 0.101271, 0.990272
[11:52:55.563] xyz_f:0.517911, -0.241884, 1.563809  Reprojection Error: -0.296280, 0.170829 Feature: 0.034880, 0.016140, 0.999261
[11:52:55.563] xyz_f:0.316207, -0.064724, 1.549768  Reprojection Error: -0.382822, 0.231532 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.563] xyz_f:0.689022, -0.457105, 1.485327  Reprojection Error: -0.252946, 0.085977 Feature: 0.201704, -0.212060, 0.956215
[11:52:55.563] xyz_f:0.543970, -0.225478, 1.570123  Reprojection Error: -0.285352, 0.177309 Feature: 0.060950, 0.033621, 0.997574
[11:52:55.563] xyz_f:0.729651, -0.446031, 1.486799  Reprojection Error: -0.236074, 0.088276 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.563] xyz_f:0.674814, -0.471128, 1.478982  Reprojection Error: -0.260291, 0.080758 Feature: 0.187288, -0.227247, 0.955658
[11:52:55.563] xyz_f:0.738971, -0.469150, 1.473572  Reprojection Error: -0.235807, 0.077501 Feature: 0.250081, -0.226737, 0.941302
[11:52:55.563] xyz_f:0.661353, 0.094462, 1.593324  Reprojection Error: -0.231653, 0.318929 Feature: 0.169093, 0.348664, 0.921868
[11:52:55.563] xyz_f:0.319184, -0.058350, 1.551121  Reprojection Error: -0.381698, 0.234262 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.563] xyz_f:0.540535, 0.028489, 1.595279  Reprojection Error: -0.284552, 0.280417 Feature: 0.051947, 0.285446, 0.956986
[11:52:55.563] xyz_f:0.747223, -0.447305, 1.483778  Reprojection Error: -0.229518, 0.086507 Feature: 0.258826, -0.202994, 0.944353
[11:52:55.563] xyz_f:0.538280, -0.208285, 1.573503  Reprojection Error: -0.286782, 0.183619 Feature: 0.055152, 0.051103, 0.997169
[11:52:55.563] xyz_f:0.671284, -0.447660, 1.491361  Reprojection Error: -0.258231, 0.090832 Feature: 0.184586, -0.201375, 0.961965
[11:52:55.563] xyz_f:0.538153, -0.233870, 1.567672  Reprojection Error: -0.288020, 0.174110 Feature: 0.055160, 0.024881, 0.998167
[11:52:55.563] xyz_f:0.392691, -0.163761, 1.559053  Reprojection Error: -0.345207, 0.196175 Feature: -0.092545, 0.090371, 0.991599
[11:52:55.563] xyz_f:0.526647, -0.220837, 1.569707  Reprojection Error: -0.291864, 0.178747 Feature: 0.043569, 0.037996, 0.998328
[11:52:55.563] xyz_f:0.393189, -0.164700, 1.559010  Reprojection Error: -0.344996, 0.195842 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.563] xyz_f:0.534501, 0.029828, 1.594750  Reprojection Error: -0.287248, 0.280791 Feature: 0.045853, 0.286602, 0.956952
[11:52:55.563] xyz_f:0.771311, -0.637729, 1.353654  Reprojection Error: -0.229768, -0.020800 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.563] xyz_f:-0.386283, -1.201785, 1.835102  Reprojection Error: 0.440187, 0.436365 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.563] xyz_f:0.356205, -0.056371, 1.092845  Reprojection Error: -0.038856, -0.189693 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.563] xyz_f:-0.256461, -1.165201, 1.852105  Reprojection Error: 0.328436, 0.424131 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.563] xyz_f:0.729651, -0.446031, 1.486799  Reprojection Error: -0.210192, 0.084734 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.563] xyz_f:0.506363, -0.254267, 1.559344  Reprojection Error: -0.275300, 0.166087 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.563] xyz_f:0.177568, -0.990087, 1.284480  Reprojection Error: -0.077134, 0.784298 Feature: -0.312634, -0.778864, 0.969795
[11:52:55.563] xyz_f:0.457654, -0.033272, 0.840477  Reprojection Error: -0.613711, 0.136541 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.563] xyz_f:0.316207, -0.064724, 1.549768  Reprojection Error: -0.352394, 0.230751 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.563] xyz_f:0.319184, -0.058350, 1.551121  Reprojection Error: -0.354299, 0.233539 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.563] xyz_f:-0.362904, -1.180070, 1.840108  Reprojection Error: 0.275382, 0.937245 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.563] xyz_f:0.393189, -0.164700, 1.559010  Reprojection Error: 0.104375, 0.449862 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.563] xyz_f:-0.365263, -1.175463, 1.834532  Reprojection Error: 0.413991, 1.018507 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.563] xyz_f:0.718821, -0.639006, 1.361342  Reprojection Error: -0.601486, 0.974601 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.563] it:54 	 Success 	 new_chi2: 1.849926 	 dT = -0.014318, 0.005180, -0.007592
[11:52:55.563] xyz_f:0.720301, -0.638802, 1.355401  Reprojection Error: -0.279882, -0.005710 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.563] xyz_f:0.508546, -0.254480, 1.554959  Reprojection Error: -0.303753, 0.166682 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.563] xyz_f:0.717297, -0.456151, 1.477317  Reprojection Error: -0.246267, 0.085858 Feature: 0.227422, -0.211871, 0.950468
[11:52:55.563] xyz_f:0.391951, -0.157557, 1.555985  Reprojection Error: -0.348222, 0.199077 Feature: -0.095428, 0.096910, 0.990708
[11:52:55.563] xyz_f:0.678997, -0.439524, 1.489348  Reprojection Error: -0.258139, 0.094931 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.563] xyz_f:0.772731, -0.637421, 1.347328  Reprojection Error: -0.258797, -0.012931 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.563] xyz_f:0.767015, -0.459902, 1.468060  Reprojection Error: -0.227968, 0.080538 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.563] xyz_f:0.392013, -0.153233, 1.556697  Reprojection Error: -0.348183, 0.200700 Feature: -0.095422, 0.101271, 0.990272
[11:52:55.563] xyz_f:0.520102, -0.242074, 1.559339  Reprojection Error: -0.298634, 0.171394 Feature: 0.034880, 0.016140, 0.999261
[11:52:55.563] xyz_f:0.317952, -0.065311, 1.546778  Reprojection Error: -0.384345, 0.231992 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.563] xyz_f:0.691056, -0.456959, 1.479603  Reprojection Error: -0.256115, 0.087069 Feature: 0.201704, -0.212060, 0.956215
[11:52:55.563] xyz_f:0.546174, -0.225617, 1.565461  Reprojection Error: -0.287792, 0.177825 Feature: 0.060950, 0.033621, 0.997574
[11:52:55.563] xyz_f:0.731673, -0.445805, 1.480777  Reprojection Error: -0.239435, 0.089344 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.563] xyz_f:0.676828, -0.471009, 1.473361  Reprojection Error: -0.263399, 0.081893 Feature: 0.187288, -0.227247, 0.955658
[11:52:55.563] xyz_f:0.740940, -0.468906, 1.467481  Reprojection Error: -0.239231, 0.078656 Feature: 0.250081, -0.226737, 0.941302
[11:52:55.563] xyz_f:0.663095, 0.094553, 1.587803  Reprojection Error: -0.234193, 0.318665 Feature: 0.169093, 0.348664, 0.921868
[11:52:55.563] xyz_f:0.320927, -0.058931, 1.548109  Reprojection Error: -0.383224, 0.234710 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.563] xyz_f:0.542425, 0.028343, 1.590644  Reprojection Error: -0.286728, 0.280457 Feature: 0.051947, 0.285446, 0.956986
[11:52:55.563] xyz_f:0.749224, -0.447044, 1.477627  Reprojection Error: -0.232968, 0.087586 Feature: 0.258826, -0.202994, 0.944353
[11:52:55.563] xyz_f:0.540475, -0.208435, 1.568883  Reprojection Error: -0.289188, 0.184104 Feature: 0.055152, 0.051103, 0.997169
[11:52:55.563] xyz_f:0.673344, -0.447549, 1.485767  Reprojection Error: -0.261312, 0.091887 Feature: 0.184586, -0.201375, 0.961965
[11:52:55.563] xyz_f:0.540355, -0.234021, 1.563054  Reprojection Error: -0.290444, 0.174647 Feature: 0.055160, 0.024881, 0.998167
[11:52:55.563] xyz_f:0.394697, -0.164197, 1.555502  Reprojection Error: -0.347072, 0.196695 Feature: -0.092545, 0.090371, 0.991599
[11:52:55.563] xyz_f:0.528839, -0.221010, 1.565173  Reprojection Error: -0.294237, 0.179265 Feature: 0.043569, 0.037996, 0.998328
[11:52:55.563] xyz_f:0.395196, -0.165136, 1.555455  Reprojection Error: -0.346863, 0.196363 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.563] xyz_f:0.536385, 0.029670, 1.590159  Reprojection Error: -0.289400, 0.280836 Feature: 0.045853, 0.286602, 0.956952
[11:52:55.563] xyz_f:0.772731, -0.637421, 1.347328  Reprojection Error: -0.233497, -0.018816 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.563] xyz_f:-0.380191, -1.203748, 1.837248  Reprojection Error: 0.436625, 0.436668 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.563] xyz_f:0.354583, -0.056882, 1.089574  Reprojection Error: -0.038345, -0.189069 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.563] xyz_f:-0.250320, -1.166908, 1.853298  Reprojection Error: 0.325034, 0.424647 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.563] xyz_f:0.731673, -0.445805, 1.480777  Reprojection Error: -0.213553, 0.085802 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.563] xyz_f:0.508546, -0.254480, 1.554959  Reprojection Error: -0.277619, 0.166684 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.563] xyz_f:0.179190, -0.990947, 1.282507  Reprojection Error: -0.078612, 0.786154 Feature: -0.312634, -0.778864, 0.969795
[11:52:55.563] xyz_f:0.454132, -0.033586, 0.836469  Reprojection Error: -0.612110, 0.137107 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.563] xyz_f:0.317952, -0.065311, 1.546778  Reprojection Error: -0.353917, 0.231211 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.563] xyz_f:0.320927, -0.058931, 1.548109  Reprojection Error: -0.355825, 0.233988 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.563] xyz_f:-0.356818, -1.181987, 1.842083  Reprojection Error: 0.271867, 0.937598 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.563] xyz_f:0.395196, -0.165136, 1.555455  Reprojection Error: 0.102508, 0.450383 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.563] xyz_f:-0.359227, -1.177385, 1.836524  Reprojection Error: 0.410488, 1.018859 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.563] xyz_f:0.720301, -0.638802, 1.355401  Reprojection Error: -0.604893, 0.976508 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.563] it:55 	 Success 	 new_chi2: 1.861761 	 dT = -0.013876, 0.005408, -0.007827
[11:52:55.563] xyz_f:0.721730, -0.638577, 1.349155  Reprojection Error: -0.283402, -0.003695 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.563] xyz_f:0.510712, -0.254684, 1.550312  Reprojection Error: -0.306130, 0.167304 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.563] xyz_f:0.719278, -0.455932, 1.471092  Reprojection Error: -0.249668, 0.087016 Feature: 0.227422, -0.211871, 0.950468
[11:52:55.563] xyz_f:0.393932, -0.157997, 1.552220  Reprojection Error: -0.350109, 0.199607 Feature: -0.095428, 0.096910, 0.990708
[11:52:55.563] xyz_f:0.681037, -0.439383, 1.483413  Reprojection Error: -0.261338, 0.096017 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.563] xyz_f:0.774095, -0.637091, 1.340687  Reprojection Error: -0.262656, -0.010834 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.563] xyz_f:0.768932, -0.459583, 1.461460  Reprojection Error: -0.231639, 0.081734 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.563] xyz_f:0.393990, -0.153673, 1.552932  Reprojection Error: -0.350067, 0.201222 Feature: -0.095422, 0.101271, 0.990272
[11:52:55.563] xyz_f:0.522275, -0.242255, 1.554605  Reprojection Error: -0.301048, 0.171983 Feature: 0.034880, 0.016140, 0.999261
[11:52:55.563] xyz_f:0.319679, -0.065901, 1.543574  Reprojection Error: -0.385890, 0.232462 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.563] xyz_f:0.693056, -0.456793, 1.473576  Reprojection Error: -0.259383, 0.088220 Feature: 0.201704, -0.212060, 0.956215
[11:52:55.563] xyz_f:0.548360, -0.225745, 1.560530  Reprojection Error: -0.290295, 0.178362 Feature: 0.060950, 0.033621, 0.997574
[11:52:55.563] xyz_f:0.733658, -0.445557, 1.474443  Reprojection Error: -0.242904, 0.090469 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.563] xyz_f:0.678811, -0.470873, 1.467443  Reprojection Error: -0.266603, 0.083089 Feature: 0.187288, -0.227247, 0.955658
[11:52:55.563] xyz_f:0.742872, -0.468639, 1.461078  Reprojection Error: -0.242765, 0.079873 Feature: 0.250081, -0.226737, 0.941302
[11:52:55.563] xyz_f:0.664797, 0.094662, 1.581990  Reprojection Error: -0.236804, 0.318378 Feature: 0.169093, 0.348664, 0.921868
[11:52:55.563] xyz_f:0.322651, -0.059515, 1.544882  Reprojection Error: -0.384773, 0.235168 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.563] xyz_f:0.544287, 0.028208, 1.585742  Reprojection Error: -0.288956, 0.280487 Feature: 0.051947, 0.285446, 0.956986
[11:52:55.563] xyz_f:0.751188, -0.446761, 1.471161  Reprojection Error: -0.236531, 0.088723 Feature: 0.258826, -0.202994, 0.944353
[11:52:55.563] xyz_f:0.542652, -0.208574, 1.563995  Reprojection Error: -0.291657, 0.184608 Feature: 0.055152, 0.051103, 0.997169
[11:52:55.563] xyz_f:0.675372, -0.447419, 1.479874  Reprojection Error: -0.264487, 0.092999 Feature: 0.184586, -0.201375, 0.961965
[11:52:55.563] xyz_f:0.542540, -0.234160, 1.558166  Reprojection Error: -0.292930, 0.175206 Feature: 0.055160, 0.024881, 0.998167
[11:52:55.563] xyz_f:0.396687, -0.164632, 1.551716  Reprojection Error: -0.348973, 0.197233 Feature: -0.092545, 0.090371, 0.991599
[11:52:55.563] xyz_f:0.531014, -0.221173, 1.560372  Reprojection Error: -0.296670, 0.179804 Feature: 0.043569, 0.037996, 0.998328
[11:52:55.563] xyz_f:0.397188, -0.165569, 1.551665  Reprojection Error: -0.348767, 0.196902 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.563] xyz_f:0.538240, 0.029523, 1.585302  Reprojection Error: -0.291604, 0.280872 Feature: 0.045853, 0.286602, 0.956952
[11:52:55.563] xyz_f:0.774095, -0.637091, 1.340687  Reprojection Error: -0.237356, -0.016719 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.563] xyz_f:-0.373941, -1.205748, 1.839304  Reprojection Error: 0.432996, 0.437023 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.563] xyz_f:0.352834, -0.057402, 1.086106  Reprojection Error: -0.037775, -0.188424 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.563] xyz_f:-0.244027, -1.168645, 1.854373  Reprojection Error: 0.321562, 0.425219 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.563] xyz_f:0.733658, -0.445557, 1.474443  Reprojection Error: -0.217022, 0.086927 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.563] xyz_f:0.510712, -0.254684, 1.550312  Reprojection Error: -0.279997, 0.167306 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.563] xyz_f:0.180798, -0.991818, 1.280352  Reprojection Error: -0.080103, 0.788135 Feature: -0.312634, -0.778864, 0.969795
[11:52:55.563] xyz_f:0.450421, -0.033906, 0.832256  Reprojection Error: -0.610398, 0.137694 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.563] xyz_f:0.319679, -0.065901, 1.543574  Reprojection Error: -0.355462, 0.231681 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.563] xyz_f:0.322651, -0.059515, 1.544882  Reprojection Error: -0.357374, 0.234445 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.563] xyz_f:-0.350576, -1.183940, 1.843962  Reprojection Error: 0.268284, 0.938003 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.563] xyz_f:0.397188, -0.165569, 1.551665  Reprojection Error: 0.100604, 0.450922 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.563] xyz_f:-0.353036, -1.179342, 1.838422  Reprojection Error: 0.406919, 1.019262 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.563] xyz_f:0.721730, -0.638577, 1.349155  Reprojection Error: -0.608412, 0.978523 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.563] it:56 	 Success 	 new_chi2: 1.873683 	 dT = -0.013401, 0.005641, -0.008079
[11:52:55.563] xyz_f:0.723118, -0.638331, 1.342594  Reprojection Error: -0.287050, -0.001565 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.563] xyz_f:0.512873, -0.254878, 1.545394  Reprojection Error: -0.308577, 0.167952 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.563] xyz_f:0.721235, -0.455690, 1.464548  Reprojection Error: -0.253189, 0.088235 Feature: 0.227422, -0.211871, 0.950468
[11:52:55.563] xyz_f:0.395910, -0.158435, 1.548215  Reprojection Error: -0.352043, 0.200153 Feature: -0.095428, 0.096910, 0.990708
[11:52:55.563] xyz_f:0.683057, -0.439221, 1.477167  Reprojection Error: -0.264647, 0.097159 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.563] xyz_f:0.775412, -0.636735, 1.333717  Reprojection Error: -0.266660, -0.008618 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.563] xyz_f:0.770820, -0.459237, 1.454529  Reprojection Error: -0.235445, 0.082995 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.563] xyz_f:0.395965, -0.154111, 1.548926  Reprojection Error: -0.351998, 0.201761 Feature: -0.095422, 0.101271, 0.990272
[11:52:55.563] xyz_f:0.524444, -0.242424, 1.549597  Reprojection Error: -0.303533, 0.172596 Feature: 0.034880, 0.016140, 0.999261
[11:52:55.563] xyz_f:0.321399, -0.066495, 1.540148  Reprojection Error: -0.387468, 0.232943 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.563] xyz_f:0.695036, -0.456606, 1.467236  Reprojection Error: -0.262764, 0.089431 Feature: 0.201704, -0.212060, 0.956215
[11:52:55.563] xyz_f:0.550540, -0.225860, 1.555318  Reprojection Error: -0.292874, 0.178921 Feature: 0.060950, 0.033621, 0.997574
[11:52:55.563] xyz_f:0.735620, -0.445285, 1.467787  Reprojection Error: -0.246497, 0.091654 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.563] xyz_f:0.680772, -0.470715, 1.461214  Reprojection Error: -0.269917, 0.084349 Feature: 0.187288, -0.227247, 0.955658
[11:52:55.563] xyz_f:0.744777, -0.468348, 1.454350  Reprojection Error: -0.246427, 0.081157 Feature: 0.250081, -0.226737, 0.941302
[11:52:55.563] xyz_f:0.666470, 0.094790, 1.575871  Reprojection Error: -0.239498, 0.318064 Feature: 0.169093, 0.348664, 0.921868
[11:52:55.563] xyz_f:0.324368, -0.060102, 1.541434  Reprojection Error: -0.386354, 0.235635 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.563] xyz_f:0.546132, 0.028084, 1.580563  Reprojection Error: -0.291248, 0.280508 Feature: 0.051947, 0.285446, 0.956986
[11:52:55.563] xyz_f:0.753126, -0.446452, 1.464368  Reprojection Error: -0.240223, 0.089921 Feature: 0.258826, -0.202994, 0.944353
[11:52:55.563] xyz_f:0.544823, -0.208701, 1.558828  Reprojection Error: -0.294199, 0.185132 Feature: 0.055152, 0.051103, 0.997169
[11:52:55.563] xyz_f:0.677382, -0.447269, 1.473672  Reprojection Error: -0.267771, 0.094169 Feature: 0.184586, -0.201375, 0.961965
[11:52:55.563] xyz_f:0.544719, -0.234287, 1.553000  Reprojection Error: -0.295492, 0.175788 Feature: 0.055160, 0.024881, 0.998167
[11:52:55.563] xyz_f:0.398675, -0.165064, 1.547689  Reprojection Error: -0.350923, 0.197788 Feature: -0.092545, 0.090371, 0.991599
[11:52:55.563] xyz_f:0.533183, -0.221324, 1.555296  Reprojection Error: -0.299176, 0.180364 Feature: 0.043569, 0.037996, 0.998328
[11:52:55.563] xyz_f:0.399178, -0.166000, 1.547634  Reprojection Error: -0.350720, 0.197459 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.563] xyz_f:0.540080, 0.029386, 1.580171  Reprojection Error: -0.293870, 0.280898 Feature: 0.045853, 0.286602, 0.956952
[11:52:55.563] xyz_f:0.775412, -0.636735, 1.333717  Reprojection Error: -0.241360, -0.014503 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.563] xyz_f:-0.367507, -1.207787, 1.841273  Reprojection Error: 0.429284, 0.437429 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.563] xyz_f:0.350966, -0.057930, 1.082436  Reprojection Error: -0.037150, -0.187757 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.563] xyz_f:-0.237558, -1.170413, 1.855328  Reprojection Error: 0.318007, 0.425847 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.563] xyz_f:0.735620, -0.445285, 1.467787  Reprojection Error: -0.220615, 0.088112 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.563] xyz_f:0.512873, -0.254878, 1.545394  Reprojection Error: -0.282443, 0.167954 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.563] xyz_f:0.182405, -0.992702, 1.278011  Reprojection Error: -0.081619, 0.790246 Feature: -0.312634, -0.778864, 0.969795
[11:52:55.563] xyz_f:0.446519, -0.034233, 0.827832  Reprojection Error: -0.608578, 0.138306 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.563] xyz_f:0.321399, -0.066495, 1.540148  Reprojection Error: -0.357040, 0.232162 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.564] xyz_f:0.324368, -0.060102, 1.541434  Reprojection Error: -0.358955, 0.234913 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.564] xyz_f:-0.344152, -1.185930, 1.845749  Reprojection Error: 0.264620, 0.938459 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.564] xyz_f:0.399178, -0.166000, 1.547634  Reprojection Error: 0.098652, 0.451479 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.564] xyz_f:-0.346665, -1.181338, 1.840228  Reprojection Error: 0.403268, 1.019716 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.564] xyz_f:0.723118, -0.638331, 1.342594  Reprojection Error: -0.612060, 0.980652 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.564] it:57 	 Success 	 new_chi2: 1.885698 	 dT = -0.012893, 0.005881, -0.008348
[11:52:55.564] xyz_f:0.724473, -0.638060, 1.335702  Reprojection Error: -0.290843, 0.000685 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.564] xyz_f:0.515042, -0.255060, 1.540194  Reprojection Error: -0.311106, 0.168627 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.564] xyz_f:0.723178, -0.455423, 1.457669  Reprojection Error: -0.256846, 0.089520 Feature: 0.227422, -0.211871, 0.950468
[11:52:55.564] xyz_f:0.397897, -0.158871, 1.543959  Reprojection Error: -0.354035, 0.200717 Feature: -0.095428, 0.096910, 0.990708
[11:52:55.564] xyz_f:0.685068, -0.439036, 1.470596  Reprojection Error: -0.268080, 0.098362 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.564] xyz_f:0.776689, -0.636351, 1.326404  Reprojection Error: -0.270829, -0.006275 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.564] xyz_f:0.772689, -0.458863, 1.447250  Reprojection Error: -0.239401, 0.084324 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.564] xyz_f:0.397948, -0.154546, 1.544669  Reprojection Error: -0.353986, 0.202317 Feature: -0.095422, 0.101271, 0.990272
[11:52:55.564] xyz_f:0.526620, -0.242582, 1.544304  Reprojection Error: -0.306102, 0.173234 Feature: 0.034880, 0.016140, 0.999261
[11:52:55.564] xyz_f:0.323125, -0.067092, 1.536494  Reprojection Error: -0.389088, 0.233434 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.564] xyz_f:0.697004, -0.456395, 1.460569  Reprojection Error: -0.266274, 0.090708 Feature: 0.201704, -0.212060, 0.956215
[11:52:55.564] xyz_f:0.552724, -0.225961, 1.549815  Reprojection Error: -0.295540, 0.179502 Feature: 0.060950, 0.033621, 0.997574
[11:52:55.564] xyz_f:0.737566, -0.444986, 1.460792  Reprojection Error: -0.250229, 0.092902 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.564] xyz_f:0.682722, -0.470535, 1.454662  Reprojection Error: -0.273357, 0.085676 Feature: 0.187288, -0.227247, 0.955658
[11:52:55.564] xyz_f:0.746664, -0.468029, 1.447282  Reprojection Error: -0.250233, 0.082510 Feature: 0.250081, -0.226737, 0.941302
[11:52:55.564] xyz_f:0.668124, 0.094938, 1.569435  Reprojection Error: -0.242286, 0.317723 Feature: 0.169093, 0.348664, 0.921868
[11:52:55.564] xyz_f:0.326091, -0.060693, 1.537756  Reprojection Error: -0.387977, 0.236112 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.564] xyz_f:0.547972, 0.027973, 1.575097  Reprojection Error: -0.293615, 0.280516 Feature: 0.051947, 0.285446, 0.956986
[11:52:55.564] xyz_f:0.755047, -0.446116, 1.457232  Reprojection Error: -0.244060, 0.091183 Feature: 0.258826, -0.202994, 0.944353
[11:52:55.564] xyz_f:0.546999, -0.208815, 1.553370  Reprojection Error: -0.296828, 0.185675 Feature: 0.055152, 0.051103, 0.997169
[11:52:55.564] xyz_f:0.679382, -0.447096, 1.467147  Reprojection Error: -0.271179, 0.095401 Feature: 0.184586, -0.201375, 0.961965
[11:52:55.564] xyz_f:0.546903, -0.234401, 1.547543  Reprojection Error: -0.298140, 0.176393 Feature: 0.055160, 0.024881, 0.998167
[11:52:55.564] xyz_f:0.400673, -0.165493, 1.543411  Reprojection Error: -0.352931, 0.198362 Feature: -0.092545, 0.090371, 0.991599
[11:52:55.564] xyz_f:0.535359, -0.221463, 1.549933  Reprojection Error: -0.301765, 0.180946 Feature: 0.043569, 0.037996, 0.998328
[11:52:55.564] xyz_f:0.401177, -0.166429, 1.543352  Reprojection Error: -0.352730, 0.198034 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.564] xyz_f:0.541914, 0.029262, 1.574753  Reprojection Error: -0.296211, 0.280913 Feature: 0.045853, 0.286602, 0.956952
[11:52:55.564] xyz_f:0.776689, -0.636351, 1.326404  Reprojection Error: -0.245529, -0.012160 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.564] xyz_f:-0.360863, -1.209867, 1.843154  Reprojection Error: 0.425476, 0.437888 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.564] xyz_f:0.348982, -0.058467, 1.078559  Reprojection Error: -0.036476, -0.187066 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.564] xyz_f:-0.230885, -1.172212, 1.856161  Reprojection Error: 0.314355, 0.426533 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.564] xyz_f:0.737566, -0.444986, 1.460792  Reprojection Error: -0.224347, 0.089360 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.564] xyz_f:0.515042, -0.255060, 1.540194  Reprojection Error: -0.284972, 0.168630 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.564] xyz_f:0.184023, -0.993599, 1.275478  Reprojection Error: -0.083171, 0.792492 Feature: -0.312634, -0.778864, 0.969795
[11:52:55.564] xyz_f:0.442428, -0.034565, 0.823193  Reprojection Error: -0.606647, 0.138943 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.564] xyz_f:0.323125, -0.067092, 1.536494  Reprojection Error: -0.358660, 0.232653 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.564] xyz_f:0.326091, -0.060693, 1.537756  Reprojection Error: -0.360578, 0.235390 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.564] xyz_f:-0.337520, -1.187960, 1.847442  Reprojection Error: 0.260859, 0.938969 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.564] xyz_f:0.401177, -0.166429, 1.543352  Reprojection Error: 0.096641, 0.452054 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.564] xyz_f:-0.340087, -1.183373, 1.841942  Reprojection Error: 0.399522, 1.020224 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.564] xyz_f:0.724473, -0.638060, 1.335702  Reprojection Error: -0.615854, 0.982903 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.564] it:58 	 Success 	 new_chi2: 1.897808 	 dT = -0.012349, 0.006130, -0.008636
[11:52:55.564] xyz_f:0.725802, -0.637763, 1.328464  Reprojection Error: -0.294799, 0.003064 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.564] xyz_f:0.517229, -0.255230, 1.534699  Reprojection Error: -0.313728, 0.169331 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.564] xyz_f:0.725117, -0.455128, 1.450438  Reprojection Error: -0.260656, 0.090874 Feature: 0.227422, -0.211871, 0.950468
[11:52:55.564] xyz_f:0.399905, -0.159303, 1.539442  Reprojection Error: -0.356096, 0.201300 Feature: -0.095428, 0.096910, 0.990708
[11:52:55.564] xyz_f:0.687079, -0.438826, 1.463683  Reprojection Error: -0.271655, 0.099629 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.564] xyz_f:0.777935, -0.635937, 1.318730  Reprojection Error: -0.275181, -0.003797 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.564] xyz_f:0.774546, -0.458457, 1.439607  Reprojection Error: -0.243526, 0.085725 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.564] xyz_f:0.399952, -0.154978, 1.540152  Reprojection Error: -0.356043, 0.202891 Feature: -0.095422, 0.101271, 0.990272
[11:52:55.564] xyz_f:0.528812, -0.242726, 1.538712  Reprojection Error: -0.308766, 0.173898 Feature: 0.034880, 0.016140, 0.999261
[11:52:55.564] xyz_f:0.324868, -0.067691, 1.532602  Reprojection Error: -0.390759, 0.233936 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.564] xyz_f:0.698969, -0.456159, 1.453556  Reprojection Error: -0.269928, 0.092052 Feature: 0.201704, -0.212060, 0.956215
[11:52:55.564] xyz_f:0.554925, -0.226047, 1.544005  Reprojection Error: -0.298307, 0.180106 Feature: 0.060950, 0.033621, 0.997574
[11:52:55.564] xyz_f:0.739507, -0.444659, 1.453441  Reprojection Error: -0.254118, 0.094218 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.564] xyz_f:0.684671, -0.470331, 1.447768  Reprojection Error: -0.276937, 0.087075 Feature: 0.187288, -0.227247, 0.955658
[11:52:55.564] xyz_f:0.748543, -0.467682, 1.439855  Reprojection Error: -0.254199, 0.083936 Feature: 0.250081, -0.226737, 0.941302
[11:52:55.564] xyz_f:0.669767, 0.095110, 1.562665  Reprojection Error: -0.245181, 0.317351 Feature: 0.169093, 0.348664, 0.921868
[11:52:55.564] xyz_f:0.327830, -0.061286, 1.533839  Reprojection Error: -0.389653, 0.236600 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.564] xyz_f:0.549816, 0.027876, 1.569328  Reprojection Error: -0.296069, 0.280513 Feature: 0.051947, 0.285446, 0.956986
[11:52:55.564] xyz_f:0.756959, -0.445750, 1.449735  Reprojection Error: -0.248059, 0.092514 Feature: 0.258826, -0.202994, 0.944353
[11:52:55.564] xyz_f:0.549191, -0.208914, 1.547608  Reprojection Error: -0.299556, 0.186239 Feature: 0.055152, 0.051103, 0.997169
[11:52:55.564] xyz_f:0.681383, -0.446899, 1.460281  Reprojection Error: -0.274726, 0.096699 Feature: 0.184586, -0.201375, 0.961965
[11:52:55.564] xyz_f:0.549104, -0.234500, 1.541782  Reprojection Error: -0.300888, 0.177023 Feature: 0.055160, 0.024881, 0.998167
[11:52:55.564] xyz_f:0.402690, -0.165919, 1.538870  Reprojection Error: -0.355008, 0.198955 Feature: -0.092545, 0.090371, 0.991599
[11:52:55.564] xyz_f:0.537551, -0.221587, 1.544268  Reprojection Error: -0.304452, 0.181550 Feature: 0.043569, 0.037996, 0.998328
[11:52:55.564] xyz_f:0.403196, -0.166854, 1.538807  Reprojection Error: -0.354810, 0.198628 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.564] xyz_f:0.543752, 0.029152, 1.569035  Reprojection Error: -0.298636, 0.280916 Feature: 0.045853, 0.286602, 0.956952
[11:52:55.564] xyz_f:0.777935, -0.635937, 1.318730  Reprojection Error: -0.249881, -0.009682 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.564] xyz_f:-0.353982, -1.211989, 1.844946  Reprojection Error: 0.421556, 0.438401 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.564] xyz_f:0.346885, -0.059013, 1.074467  Reprojection Error: -0.035756, -0.186352 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.564] xyz_f:-0.223985, -1.174044, 1.856869  Reprojection Error: 0.310591, 0.427279 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.564] xyz_f:0.739507, -0.444659, 1.453441  Reprojection Error: -0.228236, 0.090676 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.564] xyz_f:0.517229, -0.255230, 1.534699  Reprojection Error: -0.287594, 0.169333 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.564] xyz_f:0.185665, -0.994510, 1.272747  Reprojection Error: -0.084771, 0.794879 Feature: -0.312634, -0.778864, 0.969795
[11:52:55.564] xyz_f:0.438143, -0.034905, 0.818330  Reprojection Error: -0.604604, 0.139608 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.564] xyz_f:0.324868, -0.067691, 1.532602  Reprojection Error: -0.360331, 0.233155 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.564] xyz_f:0.327830, -0.061286, 1.533839  Reprojection Error: -0.362254, 0.235877 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.564] xyz_f:-0.330653, -1.190030, 1.849039  Reprojection Error: 0.256988, 0.939533 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.564] xyz_f:0.403196, -0.166854, 1.538807  Reprojection Error: 0.094561, 0.452648 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.564] xyz_f:-0.333277, -1.185449, 1.843561  Reprojection Error: 0.395666, 1.020786 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.564] xyz_f:0.725802, -0.637763, 1.328464  Reprojection Error: -0.619809, 0.985282 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.564] it:59 	 Success 	 new_chi2: 1.910000 	 dT = -0.011768, 0.006388, -0.008945
[11:52:55.564] xyz_f:0.727111, -0.637436, 1.320858  Reprojection Error: -0.298936, 0.005582 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.564] xyz_f:0.519443, -0.255386, 1.528892  Reprojection Error: -0.316456, 0.170064 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.564] xyz_f:0.727057, -0.454803, 1.442836  Reprojection Error: -0.264635, 0.092302 Feature: 0.227422, -0.211871, 0.950468
[11:52:55.564] xyz_f:0.401942, -0.159730, 1.534649  Reprojection Error: -0.358235, 0.201901 Feature: -0.095428, 0.096910, 0.990708
[11:52:55.564] xyz_f:0.689098, -0.438589, 1.456409  Reprojection Error: -0.275385, 0.100963 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.564] xyz_f:0.779154, -0.635491, 1.310675  Reprojection Error: -0.279737, -0.001174 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.564] xyz_f:0.776399, -0.458017, 1.431578  Reprojection Error: -0.247837, 0.087204 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.564] xyz_f:0.401986, -0.155406, 1.535359  Reprojection Error: -0.358178, 0.203483 Feature: -0.095422, 0.101271, 0.990272
[11:52:55.564] xyz_f:0.531032, -0.242855, 1.532804  Reprojection Error: -0.311539, 0.174590 Feature: 0.034880, 0.016140, 0.999261
[11:52:55.564] xyz_f:0.326638, -0.068293, 1.528459  Reprojection Error: -0.392492, 0.234449 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.564] xyz_f:0.700940, -0.455894, 1.446180  Reprojection Error: -0.273744, 0.093470 Feature: 0.201704, -0.212060, 0.956215
[11:52:55.564] xyz_f:0.557150, -0.226115, 1.537872  Reprojection Error: -0.301188, 0.180734 Feature: 0.060950, 0.033621, 0.997574
[11:52:55.564] xyz_f:0.741449, -0.444301, 1.445715  Reprojection Error: -0.258180, 0.095605 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.564] xyz_f:0.686625, -0.470099, 1.440516  Reprojection Error: -0.280675, 0.088550 Feature: 0.187288, -0.227247, 0.955658
[11:52:55.564] xyz_f:0.750421, -0.467303, 1.432051  Reprojection Error: -0.258343, 0.085442 Feature: 0.250081, -0.226737, 0.941302
[11:52:55.564] xyz_f:0.671405, 0.095307, 1.555543  Reprojection Error: -0.248197, 0.316946 Feature: 0.169093, 0.348664, 0.921868
[11:52:55.564] xyz_f:0.329595, -0.061880, 1.529670  Reprojection Error: -0.391389, 0.237097 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.564] xyz_f:0.551673, 0.027795, 1.563241  Reprojection Error: -0.298621, 0.280495 Feature: 0.051947, 0.285446, 0.956986
[11:52:55.564] xyz_f:0.758871, -0.445351, 1.441858  Reprojection Error: -0.252237, 0.093917 Feature: 0.258826, -0.202994, 0.944353
[11:52:55.564] xyz_f:0.551408, -0.208995, 1.541525  Reprojection Error: -0.302395, 0.186825 Feature: 0.055152, 0.051103, 0.997169
[11:52:55.564] xyz_f:0.683391, -0.446675, 1.453056  Reprojection Error: -0.278429, 0.098066 Feature: 0.184586, -0.201375, 0.961965
[11:52:55.564] xyz_f:0.551330, -0.234582, 1.535699  Reprojection Error: -0.303748, 0.177679 Feature: 0.055160, 0.024881, 0.998167
[11:52:55.564] xyz_f:0.404738, -0.166340, 1.534054  Reprojection Error: -0.357165, 0.199568 Feature: -0.092545, 0.090371, 0.991599
[11:52:55.564] xyz_f:0.539769, -0.221696, 1.538285  Reprojection Error: -0.307248, 0.182179 Feature: 0.043569, 0.037996, 0.998328
[11:52:55.564] xyz_f:0.405245, -0.167273, 1.533986  Reprojection Error: -0.356970, 0.199243 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.564] xyz_f:0.545604, 0.029057, 1.563001  Reprojection Error: -0.301159, 0.280905 Feature: 0.045853, 0.286602, 0.956952
[11:52:55.564] xyz_f:0.779154, -0.635491, 1.310675  Reprojection Error: -0.254437, -0.007059 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.564] xyz_f:-0.346837, -1.214156, 1.846646  Reprojection Error: 0.417510, 0.438970 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.564] xyz_f:0.344675, -0.059568, 1.070150  Reprojection Error: -0.034993, -0.185611 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.564] xyz_f:-0.216830, -1.175910, 1.857445  Reprojection Error: 0.306702, 0.428087 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.564] xyz_f:0.741449, -0.444301, 1.445715  Reprojection Error: -0.232298, 0.092063 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.564] xyz_f:0.519443, -0.255386, 1.528892  Reprojection Error: -0.290323, 0.170067 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.564] xyz_f:0.187341, -0.995434, 1.269807  Reprojection Error: -0.086428, 0.797416 Feature: -0.312634, -0.778864, 0.969795
[11:52:55.564] xyz_f:0.433660, -0.035251, 0.813235  Reprojection Error: -0.602447, 0.140301 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.564] xyz_f:0.326638, -0.068293, 1.528459  Reprojection Error: -0.362063, 0.233668 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.564] xyz_f:0.329595, -0.061880, 1.529670  Reprojection Error: -0.363990, 0.236375 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.564] xyz_f:-0.323525, -1.192143, 1.850537  Reprojection Error: 0.252991, 0.940154 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.564] xyz_f:0.405245, -0.167273, 1.533986  Reprojection Error: 0.092402, 0.453263 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.564] xyz_f:-0.326206, -1.187568, 1.845081  Reprojection Error: 0.391684, 1.021404 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.564] xyz_f:0.727111, -0.637436, 1.320858  Reprojection Error: -0.623947, 0.987800 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.564] it:60 	 Success 	 new_chi2: 1.922253 	 dT = -0.011148, 0.006659, -0.009276
[11:52:55.564] xyz_f:0.728407, -0.637079, 1.312864  Reprojection Error: -0.303275, 0.008248 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.564] xyz_f:0.521695, -0.255525, 1.522754  Reprojection Error: -0.319305, 0.170829 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.564] xyz_f:0.729008, -0.454444, 1.434839  Reprojection Error: -0.268803, 0.093809 Feature: 0.227422, -0.211871, 0.950468
[11:52:55.564] xyz_f:0.404021, -0.160152, 1.529565  Reprojection Error: -0.360464, 0.202523 Feature: -0.095428, 0.096910, 0.990708
[11:52:55.564] xyz_f:0.691132, -0.438321, 1.448752  Reprojection Error: -0.279290, 0.102370 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.564] xyz_f:0.780352, -0.635008, 1.302214  Reprojection Error: -0.284519, 0.001606 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.564] xyz_f:0.778254, -0.457541, 1.423140  Reprojection Error: -0.252357, 0.088767 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.564] xyz_f:0.404060, -0.155828, 1.530274  Reprojection Error: -0.360404, 0.204095 Feature: -0.095422, 0.101271, 0.990272
[11:52:55.564] xyz_f:0.533288, -0.242967, 1.526563  Reprojection Error: -0.314433, 0.175312 Feature: 0.034880, 0.016140, 0.999261
[11:52:55.564] xyz_f:0.328445, -0.068896, 1.524051  Reprojection Error: -0.394295, 0.234974 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.564] xyz_f:0.702924, -0.455598, 1.438417  Reprojection Error: -0.277739, 0.094966 Feature: 0.201704, -0.212060, 0.956215
[11:52:55.564] xyz_f:0.559411, -0.226164, 1.531397  Reprojection Error: -0.304196, 0.181388 Feature: 0.060950, 0.033621, 0.997574
[11:52:55.564] xyz_f:0.743399, -0.443908, 1.437589  Reprojection Error: -0.262436, 0.097069 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.564] xyz_f:0.688593, -0.469838, 1.432881  Reprojection Error: -0.284588, 0.090106 Feature: 0.187288, -0.227247, 0.955658
[11:52:55.564] xyz_f:0.752303, -0.466888, 1.423845  Reprojection Error: -0.262685, 0.087031 Feature: 0.250081, -0.226737, 0.941302
[11:52:55.564] xyz_f:0.673047, 0.095531, 1.548046  Reprojection Error: -0.251348, 0.316504 Feature: 0.169093, 0.348664, 0.921868
[11:52:55.564] xyz_f:0.331397, -0.062476, 1.525236  Reprojection Error: -0.393197, 0.237606 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.564] xyz_f:0.553551, 0.027733, 1.556816  Reprojection Error: -0.301284, 0.280462 Feature: 0.051947, 0.285446, 0.956986
[11:52:55.564] xyz_f:0.760789, -0.444916, 1.433577  Reprojection Error: -0.256615, 0.095398 Feature: 0.258826, -0.202994, 0.944353
[11:52:55.564] xyz_f:0.553660, -0.209058, 1.535101  Reprojection Error: -0.305358, 0.187434 Feature: 0.055152, 0.051103, 0.997169
[11:52:55.564] xyz_f:0.685415, -0.446421, 1.445451  Reprojection Error: -0.282304, 0.099508 Feature: 0.184586, -0.201375, 0.961965
[11:52:55.564] xyz_f:0.553591, -0.234645, 1.529276  Reprojection Error: -0.306735, 0.178362 Feature: 0.055160, 0.024881, 0.998167
[11:52:55.564] xyz_f:0.406827, -0.166756, 1.528945  Reprojection Error: -0.359413, 0.200202 Feature: -0.092545, 0.090371, 0.991599
[11:52:55.564] xyz_f:0.542023, -0.221787, 1.531965  Reprojection Error: -0.310167, 0.182833 Feature: 0.043569, 0.037996, 0.998328
[11:52:55.564] xyz_f:0.407336, -0.167688, 1.528872  Reprojection Error: -0.359221, 0.199879 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.564] xyz_f:0.547477, 0.028980, 1.556630  Reprojection Error: -0.303791, 0.280878 Feature: 0.045853, 0.286602, 0.956952
[11:52:55.564] xyz_f:0.780352, -0.635008, 1.302214  Reprojection Error: -0.259219, -0.004279 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.564] xyz_f:-0.339400, -1.216370, 1.848247  Reprojection Error: 0.413323, 0.439598 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.564] xyz_f:0.342353, -0.060133, 1.065599  Reprojection Error: -0.034191, -0.184844 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.564] xyz_f:-0.209393, -1.177811, 1.857881  Reprojection Error: 0.302672, 0.428962 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.564] xyz_f:0.743399, -0.443908, 1.437589  Reprojection Error: -0.236554, 0.093527 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.564] xyz_f:0.521695, -0.255525, 1.522754  Reprojection Error: -0.293171, 0.170832 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.564] xyz_f:0.189062, -0.996372, 1.266647  Reprojection Error: -0.088155, 0.800112 Feature: -0.312634, -0.778864, 0.969795
[11:52:55.564] xyz_f:0.428975, -0.035605, 0.807897  Reprojection Error: -0.600171, 0.141026 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.564] xyz_f:0.328445, -0.068896, 1.524051  Reprojection Error: -0.363867, 0.234193 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.564] xyz_f:0.331397, -0.062476, 1.525236  Reprojection Error: -0.365798, 0.236883 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.564] xyz_f:-0.316106, -1.194301, 1.851930  Reprojection Error: 0.248853, 0.940835 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.564] xyz_f:0.407336, -0.167688, 1.528872  Reprojection Error: 0.090151, 0.453899 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.564] xyz_f:-0.318847, -1.189732, 1.846498  Reprojection Error: 0.387563, 1.022082 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.564] xyz_f:0.728407, -0.637079, 1.312864  Reprojection Error: -0.628286, 0.990466 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.565] it:61 	 Success 	 new_chi2: 1.934533 	 dT = -0.010485, 0.006943, -0.009632
[11:52:55.565] xyz_f:0.729694, -0.636686, 1.304456  Reprojection Error: -0.307838, 0.011075 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.565] xyz_f:0.523993, -0.255647, 1.516265  Reprojection Error: -0.322286, 0.171628 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.565] xyz_f:0.730974, -0.454049, 1.426423  Reprojection Error: -0.273179, 0.095401 Feature: 0.227422, -0.211871, 0.950468
[11:52:55.565] xyz_f:0.406150, -0.160567, 1.524171  Reprojection Error: -0.362796, 0.203166 Feature: -0.095428, 0.096910, 0.990708
[11:52:55.565] xyz_f:0.693190, -0.438021, 1.440687  Reprojection Error: -0.283389, 0.103855 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.565] xyz_f:0.781532, -0.634486, 1.293323  Reprojection Error: -0.289551, 0.004555 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.565] xyz_f:0.780117, -0.457023, 1.414265  Reprojection Error: -0.257106, 0.090418 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.565] xyz_f:0.406185, -0.156243, 1.524880  Reprojection Error: -0.362732, 0.204728 Feature: -0.095422, 0.101271, 0.990272
[11:52:55.565] xyz_f:0.535589, -0.243059, 1.519965  Reprojection Error: -0.317464, 0.176063 Feature: 0.034880, 0.016140, 0.999261
[11:52:55.565] xyz_f:0.330299, -0.069500, 1.519361  Reprojection Error: -0.396180, 0.235511 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.565] xyz_f:0.704928, -0.455268, 1.430243  Reprojection Error: -0.281933, 0.096545 Feature: 0.201704, -0.212060, 0.956215
[11:52:55.565] xyz_f:0.561714, -0.226192, 1.524556  Reprojection Error: -0.307346, 0.182069 Feature: 0.060950, 0.033621, 0.997574
[11:52:55.565] xyz_f:0.745364, -0.443477, 1.429038  Reprojection Error: -0.266905, 0.098615 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.565] xyz_f:0.690582, -0.469543, 1.424840  Reprojection Error: -0.288696, 0.091750 Feature: 0.187288, -0.227247, 0.955658
[11:52:55.565] xyz_f:0.754198, -0.466435, 1.415212  Reprojection Error: -0.267247, 0.088712 Feature: 0.250081, -0.226737, 0.941302
[11:52:55.565] xyz_f:0.674698, 0.095786, 1.540151  Reprojection Error: -0.254649, 0.316022 Feature: 0.169093, 0.348664, 0.921868
[11:52:55.565] xyz_f:0.333246, -0.063073, 1.520518  Reprojection Error: -0.395087, 0.238125 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.565] xyz_f:0.555458, 0.027690, 1.550032  Reprojection Error: -0.304071, 0.280412 Feature: 0.051947, 0.285446, 0.956986
[11:52:55.565] xyz_f:0.762718, -0.444442, 1.424864  Reprojection Error: -0.261214, 0.096963 Feature: 0.258826, -0.202994, 0.944353
[11:52:55.565] xyz_f:0.555956, -0.209100, 1.528314  Reprojection Error: -0.308462, 0.188066 Feature: 0.055152, 0.051103, 0.997169
[11:52:55.565] xyz_f:0.687463, -0.446135, 1.437439  Reprojection Error: -0.286371, 0.101031 Feature: 0.184586, -0.201375, 0.961965
[11:52:55.565] xyz_f:0.555897, -0.234687, 1.522490  Reprojection Error: -0.309862, 0.179073 Feature: 0.055160, 0.024881, 0.998167
[11:52:55.565] xyz_f:0.408967, -0.167164, 1.523524  Reprojection Error: -0.361764, 0.200858 Feature: -0.092545, 0.090371, 0.991599
[11:52:55.565] xyz_f:0.544322, -0.221858, 1.525286  Reprojection Error: -0.313223, 0.183513 Feature: 0.043569, 0.037996, 0.998328
[11:52:55.565] xyz_f:0.409477, -0.168094, 1.523447  Reprojection Error: -0.361575, 0.200536 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.565] xyz_f:0.549380, 0.028922, 1.549903  Reprojection Error: -0.306545, 0.280835 Feature: 0.045853, 0.286602, 0.956952
[11:52:55.565] xyz_f:0.781532, -0.634486, 1.293323  Reprojection Error: -0.264251, -0.001331 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.565] xyz_f:-0.331638, -1.218631, 1.849743  Reprojection Error: 0.408979, 0.440288 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.565] xyz_f:0.339920, -0.060708, 1.060800  Reprojection Error: -0.033350, -0.184047 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.565] xyz_f:-0.201644, -1.179748, 1.858168  Reprojection Error: 0.298484, 0.429907 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.565] xyz_f:0.745364, -0.443477, 1.429038  Reprojection Error: -0.241023, 0.095073 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.565] xyz_f:0.523993, -0.255647, 1.516265  Reprojection Error: -0.296153, 0.171630 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.565] xyz_f:0.190839, -0.997323, 1.263255  Reprojection Error: -0.089963, 0.802977 Feature: -0.312634, -0.778864, 0.969795
[11:52:55.565] xyz_f:0.424078, -0.035967, 0.802304  Reprojection Error: -0.597770, 0.141784 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.565] xyz_f:0.330299, -0.069500, 1.519361  Reprojection Error: -0.365752, 0.234730 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.565] xyz_f:0.333246, -0.063073, 1.520518  Reprojection Error: -0.367688, 0.237402 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.565] xyz_f:-0.308366, -1.196504, 1.853209  Reprojection Error: 0.244559, 0.941578 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.565] xyz_f:0.409477, -0.168094, 1.523447  Reprojection Error: 0.087796, 0.454556 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.565] xyz_f:-0.311169, -1.191942, 1.847803  Reprojection Error: 0.383286, 1.022823 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.565] xyz_f:0.729694, -0.636686, 1.304456  Reprojection Error: -0.632849, 0.993292 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.565] it:62 	 Success 	 new_chi2: 1.946792 	 dT = -0.009776, 0.007243, -0.010014
[11:52:55.565] xyz_f:0.730976, -0.636255, 1.295605  Reprojection Error: -0.312649, 0.014077 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.565] xyz_f:0.526347, -0.255748, 1.509398  Reprojection Error: -0.325418, 0.172462 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.565] xyz_f:0.732963, -0.453614, 1.417556  Reprojection Error: -0.277787, 0.097085 Feature: 0.227422, -0.211871, 0.950468
[11:52:55.565] xyz_f:0.408340, -0.160974, 1.518445  Reprojection Error: -0.365243, 0.203831 Feature: -0.095428, 0.096910, 0.990708
[11:52:55.565] xyz_f:0.695277, -0.437684, 1.432185  Reprojection Error: -0.287702, 0.105425 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.565] xyz_f:0.782699, -0.633921, 1.283972  Reprojection Error: -0.294861, 0.007688 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.565] xyz_f:0.781993, -0.456461, 1.404924  Reprojection Error: -0.262109, 0.092166 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.565] xyz_f:0.408371, -0.156649, 1.519154  Reprojection Error: -0.365174, 0.205382 Feature: -0.095422, 0.101271, 0.990272
[11:52:55.565] xyz_f:0.537946, -0.243130, 1.512987  Reprojection Error: -0.320646, 0.176848 Feature: 0.034880, 0.016140, 0.999261
[11:52:55.565] xyz_f:0.332210, -0.070103, 1.514370  Reprojection Error: -0.398159, 0.236060 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.565] xyz_f:0.706958, -0.454901, 1.421628  Reprojection Error: -0.286348, 0.098216 Feature: 0.201704, -0.212060, 0.956215
[11:52:55.565] xyz_f:0.564070, -0.226195, 1.517325  Reprojection Error: -0.310654, 0.182778 Feature: 0.060950, 0.033621, 0.997574
[11:52:55.565] xyz_f:0.747350, -0.443005, 1.420032  Reprojection Error: -0.271611, 0.100250 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.565] xyz_f:0.692597, -0.469213, 1.416364  Reprojection Error: -0.293019, 0.093489 Feature: 0.187288, -0.227247, 0.955658
[11:52:55.565] xyz_f:0.756109, -0.465940, 1.406121  Reprojection Error: -0.272051, 0.090490 Feature: 0.250081, -0.226737, 0.941302
[11:52:55.565] xyz_f:0.676365, 0.096075, 1.531830  Reprojection Error: -0.258116, 0.315496 Feature: 0.169093, 0.348664, 0.921868
[11:52:55.565] xyz_f:0.335151, -0.063669, 1.515499  Reprojection Error: -0.397070, 0.238656 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.565] xyz_f:0.557403, 0.027670, 1.542863  Reprojection Error: -0.306996, 0.280342 Feature: 0.051947, 0.285446, 0.956986
[11:52:55.565] xyz_f:0.764665, -0.443925, 1.415691  Reprojection Error: -0.266058, 0.098619 Feature: 0.258826, -0.202994, 0.944353
[11:52:55.565] xyz_f:0.558304, -0.209118, 1.521138  Reprojection Error: -0.311722, 0.188723 Feature: 0.055152, 0.051103, 0.997169
[11:52:55.565] xyz_f:0.689539, -0.445812, 1.428993  Reprojection Error: -0.290651, 0.102640 Feature: 0.184586, -0.201375, 0.961965
[11:52:55.565] xyz_f:0.558255, -0.234705, 1.515314  Reprojection Error: -0.313147, 0.179815 Feature: 0.055160, 0.024881, 0.998167
[11:52:55.565] xyz_f:0.411167, -0.167563, 1.517771  Reprojection Error: -0.364231, 0.201537 Feature: -0.092545, 0.090371, 0.991599
[11:52:55.565] xyz_f:0.546674, -0.221906, 1.518223  Reprojection Error: -0.316433, 0.184222 Feature: 0.043569, 0.037996, 0.998328
[11:52:55.565] xyz_f:0.411679, -0.168492, 1.517689  Reprojection Error: -0.364046, 0.201217 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.565] xyz_f:0.551320, 0.028886, 1.542793  Reprojection Error: -0.309437, 0.280772 Feature: 0.045853, 0.286602, 0.956952
[11:52:55.565] xyz_f:0.782699, -0.633921, 1.283972  Reprojection Error: -0.269561, 0.001803 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.565] xyz_f:-0.323520, -1.220942, 1.851125  Reprojection Error: 0.404460, 0.441045 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.565] xyz_f:0.337372, -0.061292, 1.055738  Reprojection Error: -0.032473, -0.183219 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.565] xyz_f:-0.193552, -1.181722, 1.858292  Reprojection Error: 0.294122, 0.430927 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.565] xyz_f:0.747350, -0.443005, 1.420032  Reprojection Error: -0.245729, 0.096708 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.565] xyz_f:0.526347, -0.255748, 1.509398  Reprojection Error: -0.299284, 0.172464 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.565] xyz_f:0.192685, -0.998288, 1.259613  Reprojection Error: -0.091865, 0.806026 Feature: -0.312634, -0.778864, 0.969795
[11:52:55.565] xyz_f:0.418962, -0.036336, 0.796440  Reprojection Error: -0.595238, 0.142578 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.565] xyz_f:0.332210, -0.070103, 1.514370  Reprojection Error: -0.367731, 0.235279 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.565] xyz_f:0.335151, -0.063669, 1.515499  Reprojection Error: -0.369671, 0.237933 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.565] xyz_f:-0.300274, -1.198755, 1.854366  Reprojection Error: 0.240091, 0.942389 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.565] xyz_f:0.411679, -0.168492, 1.517689  Reprojection Error: 0.085326, 0.455237 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.565] xyz_f:-0.303140, -1.194200, 1.848988  Reprojection Error: 0.378836, 1.023632 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.565] xyz_f:0.730976, -0.636255, 1.295605  Reprojection Error: -0.637660, 0.996294 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.565] it:63 	 Success 	 new_chi2: 1.958961 	 dT = -0.009017, 0.007560, -0.010425
[11:52:55.565] xyz_f:0.732258, -0.635782, 1.286279  Reprojection Error: -0.317736, 0.017269 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.565] xyz_f:0.528766, -0.255825, 1.502127  Reprojection Error: -0.328716, 0.173333 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.565] xyz_f:0.734980, -0.453135, 1.408206  Reprojection Error: -0.282653, 0.098869 Feature: 0.227422, -0.211871, 0.950468
[11:52:55.565] xyz_f:0.410601, -0.161370, 1.512363  Reprojection Error: -0.367819, 0.204519 Feature: -0.095428, 0.096910, 0.990708
[11:52:55.565] xyz_f:0.697400, -0.437306, 1.423214  Reprojection Error: -0.292254, 0.107086 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.565] xyz_f:0.783854, -0.633308, 1.274125  Reprojection Error: -0.300478, 0.011022 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.565] xyz_f:0.783888, -0.455849, 1.395081  Reprojection Error: -0.267394, 0.094020 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.565] xyz_f:0.410627, -0.157045, 1.513071  Reprojection Error: -0.367746, 0.206058 Feature: -0.095422, 0.101271, 0.990272
[11:52:55.565] xyz_f:0.540366, -0.243176, 1.505599  Reprojection Error: -0.323999, 0.177667 Feature: 0.034880, 0.016140, 0.999261
[11:52:55.565] xyz_f:0.334188, -0.070705, 1.509056  Reprojection Error: -0.400243, 0.236622 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.565] xyz_f:0.709021, -0.454491, 1.412540  Reprojection Error: -0.291008, 0.099985 Feature: 0.201704, -0.212060, 0.956215
[11:52:55.565] xyz_f:0.566487, -0.226171, 1.509673  Reprojection Error: -0.314139, 0.183517 Feature: 0.060950, 0.033621, 0.997574
[11:52:55.565] xyz_f:0.749362, -0.442486, 1.410538  Reprojection Error: -0.276581, 0.101983 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.565] xyz_f:0.694646, -0.468842, 1.407421  Reprojection Error: -0.297582, 0.095331 Feature: 0.187288, -0.227247, 0.955658
[11:52:55.565] xyz_f:0.758042, -0.465398, 1.396538  Reprojection Error: -0.277126, 0.092376 Feature: 0.250081, -0.226737, 0.941302
[11:52:55.565] xyz_f:0.678052, 0.096401, 1.523052  Reprojection Error: -0.261769, 0.314920 Feature: 0.169093, 0.348664, 0.921868
[11:52:55.565] xyz_f:0.337124, -0.064263, 1.510155  Reprojection Error: -0.399159, 0.239198 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.565] xyz_f:0.559392, 0.027676, 1.535281  Reprojection Error: -0.310076, 0.280249 Feature: 0.051947, 0.285446, 0.956986
[11:52:55.565] xyz_f:0.766635, -0.443360, 1.406022  Reprojection Error: -0.271174, 0.100373 Feature: 0.258826, -0.202994, 0.944353
[11:52:55.565] xyz_f:0.560714, -0.209109, 1.513545  Reprojection Error: -0.315155, 0.189407 Feature: 0.055152, 0.051103, 0.997169
[11:52:55.565] xyz_f:0.691653, -0.445450, 1.420080  Reprojection Error: -0.295168, 0.104342 Feature: 0.184586, -0.201375, 0.961965
[11:52:55.565] xyz_f:0.560675, -0.234696, 1.507722  Reprojection Error: -0.316608, 0.180589 Feature: 0.055160, 0.024881, 0.998167
[11:52:55.565] xyz_f:0.413439, -0.167951, 1.511660  Reprojection Error: -0.366829, 0.202240 Feature: -0.092545, 0.090371, 0.991599
[11:52:55.565] xyz_f:0.549090, -0.221929, 1.510747  Reprojection Error: -0.319813, 0.184960 Feature: 0.043569, 0.037996, 0.998328
[11:52:55.565] xyz_f:0.413953, -0.168879, 1.511573  Reprojection Error: -0.366647, 0.201922 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.565] xyz_f:0.553306, 0.028876, 1.535272  Reprojection Error: -0.312481, 0.280687 Feature: 0.045853, 0.286602, 0.956952
[11:52:55.565] xyz_f:0.783854, -0.633308, 1.274125  Reprojection Error: -0.275178, 0.005137 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.565] xyz_f:-0.315010, -1.223304, 1.852381  Reprojection Error: 0.399747, 0.441873 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.565] xyz_f:0.334708, -0.061886, 1.050395  Reprojection Error: -0.031563, -0.182358 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.565] xyz_f:-0.185082, -1.183734, 1.858240  Reprojection Error: 0.289567, 0.432027 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.565] xyz_f:0.749362, -0.442486, 1.410538  Reprojection Error: -0.250698, 0.098441 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.565] xyz_f:0.528766, -0.255825, 1.502127  Reprojection Error: -0.302582, 0.173336 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.565] xyz_f:0.194610, -0.999266, 1.255704  Reprojection Error: -0.093875, 0.809272 Feature: -0.312634, -0.778864, 0.969795
[11:52:55.565] xyz_f:0.413616, -0.036714, 0.790289  Reprojection Error: -0.592567, 0.143411 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.565] xyz_f:0.334188, -0.070705, 1.509056  Reprojection Error: -0.369814, 0.235841 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.565] xyz_f:0.337124, -0.064263, 1.510155  Reprojection Error: -0.371760, 0.238475 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.565] xyz_f:-0.291792, -1.201054, 1.855388  Reprojection Error: 0.235430, 0.943273 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.565] xyz_f:0.413953, -0.168879, 1.511573  Reprojection Error: 0.082724, 0.455942 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.565] xyz_f:-0.294725, -1.196508, 1.850039  Reprojection Error: 0.374194, 1.024512 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.565] xyz_f:0.732258, -0.635782, 1.286279  Reprojection Error: -0.642747, 0.999487 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.565] it:64 	 Success 	 new_chi2: 1.970949 	 dT = -0.008204, 0.007898, -0.010869
[11:52:55.565] xyz_f:0.733542, -0.635262, 1.276440  Reprojection Error: -0.323130, 0.020672 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.565] xyz_f:0.531259, -0.255876, 1.494419  Reprojection Error: -0.332201, 0.174246 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.565] xyz_f:0.737030, -0.452606, 1.398335  Reprojection Error: -0.287803, 0.100763 Feature: 0.227422, -0.211871, 0.950468
[11:52:55.565] xyz_f:0.412943, -0.161753, 1.505896  Reprojection Error: -0.370541, 0.205232 Feature: -0.095428, 0.096910, 0.990708
[11:52:55.565] xyz_f:0.699566, -0.436882, 1.413737  Reprojection Error: -0.297071, 0.108846 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.565] xyz_f:0.785001, -0.632644, 1.263746  Reprojection Error: -0.306439, 0.014579 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.565] xyz_f:0.785805, -0.455183, 1.384697  Reprojection Error: -0.272992, 0.095990 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.565] xyz_f:0.412965, -0.157429, 1.506604  Reprojection Error: -0.370463, 0.206758 Feature: -0.095422, 0.101271, 0.990272
[11:52:55.565] xyz_f:0.542860, -0.243195, 1.497769  Reprojection Error: -0.327540, 0.178523 Feature: 0.034880, 0.016140, 0.999261
[11:52:55.565] xyz_f:0.336245, -0.071304, 1.503393  Reprojection Error: -0.402445, 0.237197 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.565] xyz_f:0.711122, -0.454035, 1.402941  Reprojection Error: -0.295940, 0.101861 Feature: 0.201704, -0.212060, 0.956215
[11:52:55.565] xyz_f:0.568974, -0.226115, 1.501569  Reprojection Error: -0.317821, 0.184289 Feature: 0.060950, 0.033621, 0.997574
[11:52:55.565] xyz_f:0.751406, -0.441917, 1.400516  Reprojection Error: -0.281842, 0.103821 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.565] xyz_f:0.696735, -0.468427, 1.397973  Reprojection Error: -0.302412, 0.097285 Feature: 0.187288, -0.227247, 0.955658
[11:52:55.565] xyz_f:0.760003, -0.464805, 1.386426  Reprojection Error: -0.282499, 0.094379 Feature: 0.250081, -0.226737, 0.941302
[11:52:55.565] xyz_f:0.679766, 0.096769, 1.513781  Reprojection Error: -0.265628, 0.314289 Feature: 0.169093, 0.348664, 0.921868
[11:52:55.565] xyz_f:0.339174, -0.064853, 1.504462  Reprojection Error: -0.401367, 0.239751 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.565] xyz_f:0.561434, 0.027711, 1.527254  Reprojection Error: -0.313328, 0.280132 Feature: 0.051947, 0.285446, 0.956986
[11:52:55.565] xyz_f:0.768633, -0.442742, 1.395819  Reprojection Error: -0.276591, 0.102236 Feature: 0.258826, -0.202994, 0.944353
[11:52:55.565] xyz_f:0.563194, -0.209070, 1.505502  Reprojection Error: -0.318782, 0.190119 Feature: 0.055152, 0.051103, 0.997169
[11:52:55.565] xyz_f:0.693809, -0.445043, 1.410663  Reprojection Error: -0.299947, 0.106148 Feature: 0.184586, -0.201375, 0.961965
[11:52:55.565] xyz_f:0.563166, -0.234657, 1.499679  Reprojection Error: -0.320263, 0.181398 Feature: 0.055160, 0.024881, 0.998167
[11:52:55.565] xyz_f:0.415792, -0.168327, 1.505164  Reprojection Error: -0.369573, 0.202969 Feature: -0.092545, 0.090371, 0.991599
[11:52:55.565] xyz_f:0.551577, -0.221922, 1.502826  Reprojection Error: -0.323384, 0.185730 Feature: 0.043569, 0.037996, 0.998328
[11:52:55.565] xyz_f:0.416308, -0.169253, 1.505071  Reprojection Error: -0.369395, 0.202653 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.565] xyz_f:0.555345, 0.028893, 1.527309  Reprojection Error: -0.315695, 0.280577 Feature: 0.045853, 0.286602, 0.956952
[11:52:55.565] xyz_f:0.785001, -0.632644, 1.263746  Reprojection Error: -0.281139, 0.008693 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.565] xyz_f:-0.306068, -1.225720, 1.853498  Reprojection Error: 0.394820, 0.442778 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.565] xyz_f:0.331926, -0.062490, 1.044752  Reprojection Error: -0.030620, -0.181461 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.565] xyz_f:-0.176197, -1.185784, 1.857993  Reprojection Error: 0.284798, 0.433215 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.565] xyz_f:0.751406, -0.441917, 1.400516  Reprojection Error: -0.255960, 0.100279 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.565] xyz_f:0.531259, -0.255876, 1.494419  Reprojection Error: -0.306067, 0.174248 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.565] xyz_f:0.196628, -1.000258, 1.251507  Reprojection Error: -0.096007, 0.812733 Feature: -0.312634, -0.778864, 0.969795
[11:52:55.565] xyz_f:0.408027, -0.037100, 0.783832  Reprojection Error: -0.589747, 0.144286 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.565] xyz_f:0.336245, -0.071304, 1.503393  Reprojection Error: -0.372017, 0.236416 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.565] xyz_f:0.339174, -0.064853, 1.504462  Reprojection Error: -0.373968, 0.239029 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.565] xyz_f:-0.282882, -1.203404, 1.856261  Reprojection Error: 0.230556, 0.944234 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.565] xyz_f:0.416308, -0.169253, 1.505071  Reprojection Error: 0.079976, 0.456673 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.565] xyz_f:-0.285883, -1.198866, 1.850943  Reprojection Error: 0.369340, 1.025470 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.565] xyz_f:0.733542, -0.635262, 1.276440  Reprojection Error: -0.648141, 1.002889 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.565] it:65 	 Success 	 new_chi2: 1.982635 	 dT = -0.007330, 0.008259, -0.011350
[11:52:55.566] xyz_f:0.734833, -0.634690, 1.266048  Reprojection Error: -0.328867, 0.024305 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.566] xyz_f:0.533838, -0.255897, 1.486236  Reprojection Error: -0.335893, 0.175202 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.566] xyz_f:0.739120, -0.452023, 1.387900  Reprojection Error: -0.293272, 0.102776 Feature: 0.227422, -0.211871, 0.950468
[11:52:55.566] xyz_f:0.415378, -0.162122, 1.499012  Reprojection Error: -0.373425, 0.205971 Feature: -0.095428, 0.096910, 0.990708
[11:52:55.566] xyz_f:0.701781, -0.436409, 1.403712  Reprojection Error: -0.302183, 0.110716 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.566] xyz_f:0.786141, -0.631921, 1.252790  Reprojection Error: -0.312781, 0.018380 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.566] xyz_f:0.787750, -0.454457, 1.373728  Reprojection Error: -0.278939, 0.098086 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.566] xyz_f:0.415395, -0.157797, 1.499720  Reprojection Error: -0.373341, 0.207483 Feature: -0.095422, 0.101271, 0.990272
[11:52:55.566] xyz_f:0.545437, -0.243181, 1.489459  Reprojection Error: -0.331292, 0.179420 Feature: 0.034880, 0.016140, 0.999261
[11:52:55.566] xyz_f:0.338393, -0.071898, 1.497351  Reprojection Error: -0.404782, 0.237785 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.566] xyz_f:0.713268, -0.453528, 1.392789  Reprojection Error: -0.301175, 0.103856 Feature: 0.201704, -0.212060, 0.956215
[11:52:55.566] xyz_f:0.571541, -0.226025, 1.492974  Reprojection Error: -0.321722, 0.185095 Feature: 0.060950, 0.033621, 0.997574
[11:52:55.566] xyz_f:0.753487, -0.441292, 1.389923  Reprojection Error: -0.287428, 0.105776 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.566] xyz_f:0.698870, -0.467962, 1.387979  Reprojection Error: -0.307539, 0.099363 Feature: 0.187288, -0.227247, 0.955658
[11:52:55.566] xyz_f:0.761997, -0.464154, 1.375739  Reprojection Error: -0.288207, 0.096510 Feature: 0.250081, -0.226737, 0.941302
[11:52:55.566] xyz_f:0.681511, 0.097184, 1.503975  Reprojection Error: -0.269716, 0.313597 Feature: 0.169093, 0.348664, 0.921868
[11:52:55.566] xyz_f:0.341314, -0.065439, 1.498388  Reprojection Error: -0.403709, 0.240317 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.566] xyz_f:0.563538, 0.027778, 1.518743  Reprojection Error: -0.316773, 0.279986 Feature: 0.051947, 0.285446, 0.956986
[11:52:55.566] xyz_f:0.770665, -0.442066, 1.385037  Reprojection Error: -0.282344, 0.104217 Feature: 0.258826, -0.202994, 0.944353
[11:52:55.566] xyz_f:0.565754, -0.208997, 1.496970  Reprojection Error: -0.322625, 0.190862 Feature: 0.055152, 0.051103, 0.997169
[11:52:55.566] xyz_f:0.696014, -0.444586, 1.400701  Reprojection Error: -0.305020, 0.108066 Feature: 0.184586, -0.201375, 0.961965
[11:52:55.566] xyz_f:0.565738, -0.234584, 1.491147  Reprojection Error: -0.324137, 0.182244 Feature: 0.055160, 0.024881, 0.998167
[11:52:55.566] xyz_f:0.418239, -0.168687, 1.498248  Reprojection Error: -0.372481, 0.203726 Feature: -0.092545, 0.090371, 0.991599
[11:52:55.566] xyz_f:0.554147, -0.221883, 1.494421  Reprojection Error: -0.327168, 0.186534 Feature: 0.043569, 0.037996, 0.998328
[11:52:55.566] xyz_f:0.418756, -0.169612, 1.498150  Reprojection Error: -0.372307, 0.203412 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.566] xyz_f:0.557446, 0.028943, 1.518865  Reprojection Error: -0.319100, 0.280439 Feature: 0.045853, 0.286602, 0.956952
[11:52:55.566] xyz_f:0.786141, -0.631921, 1.252790  Reprojection Error: -0.287481, 0.012495 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.566] xyz_f:-0.296650, -1.228190, 1.854458  Reprojection Error: 0.389656, 0.443768 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.566] xyz_f:0.329019, -0.063104, 1.038785  Reprojection Error: -0.029647, -0.180527 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.566] xyz_f:-0.166856, -1.187873, 1.857529  Reprojection Error: 0.279793, 0.434499 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.566] xyz_f:0.753487, -0.441292, 1.389923  Reprojection Error: -0.261546, 0.102234 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.566] xyz_f:0.533838, -0.255897, 1.486236  Reprojection Error: -0.309759, 0.175205 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.566] xyz_f:0.198752, -1.001262, 1.246996  Reprojection Error: -0.098278, 0.816430 Feature: -0.312634, -0.778864, 0.969795
[11:52:55.566] xyz_f:0.402180, -0.037495, 0.777047  Reprojection Error: -0.586769, 0.145207 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.566] xyz_f:0.338393, -0.071898, 1.497351  Reprojection Error: -0.374353, 0.237004 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.566] xyz_f:0.341314, -0.065439, 1.498388  Reprojection Error: -0.376310, 0.239594 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.566] xyz_f:-0.273501, -1.205806, 1.856967  Reprojection Error: 0.225447, 0.945281 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.566] xyz_f:0.418756, -0.169612, 1.498150  Reprojection Error: 0.077064, 0.457432 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.566] xyz_f:-0.276574, -1.201277, 1.851683  Reprojection Error: 0.364250, 1.026513 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.566] xyz_f:0.734833, -0.634690, 1.266048  Reprojection Error: -0.653878, 1.006523 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.566] it:66 	 Success 	 new_chi2: 1.993860 	 dT = -0.006391, 0.008645, -0.011872
[11:52:55.566] xyz_f:0.736131, -0.634061, 1.255052  Reprojection Error: -0.334986, 0.028196 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.566] xyz_f:0.536511, -0.255882, 1.477538  Reprojection Error: -0.339817, 0.176206 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.566] xyz_f:0.741254, -0.451378, 1.376850  Reprojection Error: -0.299096, 0.104922 Feature: 0.227422, -0.211871, 0.950468
[11:52:55.566] xyz_f:0.417919, -0.162471, 1.491672  Reprojection Error: -0.376491, 0.206738 Feature: -0.095428, 0.096910, 0.990708
[11:52:55.566] xyz_f:0.704051, -0.435879, 1.393090  Reprojection Error: -0.307624, 0.112706 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.566] xyz_f:0.787275, -0.631134, 1.241207  Reprojection Error: -0.319551, 0.022453 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.566] xyz_f:0.789726, -0.453663, 1.362121  Reprojection Error: -0.285276, 0.100322 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.566] xyz_f:0.417930, -0.158147, 1.492380  Reprojection Error: -0.376402, 0.208235 Feature: -0.095422, 0.101271, 0.990272
[11:52:55.566] xyz_f:0.548108, -0.243131, 1.480627  Reprojection Error: -0.335280, 0.180360 Feature: 0.034880, 0.016140, 0.999261
[11:52:55.566] xyz_f:0.340642, -0.072485, 1.490896  Reprojection Error: -0.407269, 0.238387 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.566] xyz_f:0.715465, -0.452963, 1.382035  Reprojection Error: -0.306749, 0.105981 Feature: 0.201704, -0.212060, 0.956215
[11:52:55.566] xyz_f:0.574197, -0.225895, 1.483843  Reprojection Error: -0.325868, 0.185939 Feature: 0.060950, 0.033621, 0.997574
[11:52:55.566] xyz_f:0.755611, -0.440603, 1.378708  Reprojection Error: -0.293378, 0.107859 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.566] xyz_f:0.701057, -0.467441, 1.377390  Reprojection Error: -0.312997, 0.101577 Feature: 0.187288, -0.227247, 0.955658
[11:52:55.566] xyz_f:0.764027, -0.463440, 1.364428  Reprojection Error: -0.294287, 0.098784 Feature: 0.250081, -0.226737, 0.941302
[11:52:55.566] xyz_f:0.683293, 0.097651, 1.493588  Reprojection Error: -0.274060, 0.312835 Feature: 0.169093, 0.348664, 0.921868
[11:52:55.566] xyz_f:0.343555, -0.066017, 1.491899  Reprojection Error: -0.406202, 0.240894 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.566] xyz_f:0.565710, 0.027883, 1.509707  Reprojection Error: -0.320433, 0.279807 Feature: 0.051947, 0.285446, 0.956986
[11:52:55.566] xyz_f:0.772733, -0.441325, 1.373626  Reprojection Error: -0.288472, 0.106329 Feature: 0.258826, -0.202994, 0.944353
[11:52:55.566] xyz_f:0.568405, -0.208885, 1.487905  Reprojection Error: -0.326708, 0.191637 Feature: 0.055152, 0.051103, 0.997169
[11:52:55.566] xyz_f:0.698275, -0.444074, 1.390145  Reprojection Error: -0.310420, 0.110108 Feature: 0.184586, -0.201375, 0.961965
[11:52:55.566] xyz_f:0.568400, -0.234472, 1.482082  Reprojection Error: -0.328253, 0.183131 Feature: 0.055160, 0.024881, 0.998167
[11:52:55.566] xyz_f:0.420790, -0.169028, 1.490876  Reprojection Error: -0.375573, 0.204511 Feature: -0.092545, 0.090371, 0.991599
[11:52:55.566] xyz_f:0.556808, -0.221806, 1.485489  Reprojection Error: -0.331189, 0.187376 Feature: 0.043569, 0.037996, 0.998328
[11:52:55.566] xyz_f:0.421309, -0.169951, 1.490771  Reprojection Error: -0.375403, 0.204200 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.566] xyz_f:0.559617, 0.029029, 1.509898  Reprojection Error: -0.322717, 0.280269 Feature: 0.045853, 0.286602, 0.956952
[11:52:55.566] xyz_f:0.787275, -0.631134, 1.241207  Reprojection Error: -0.294251, 0.016568 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.566] xyz_f:-0.286708, -1.230716, 1.855241  Reprojection Error: 0.384229, 0.444850 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.566] xyz_f:0.325984, -0.063728, 1.032468  Reprojection Error: -0.028645, -0.179551 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.566] xyz_f:-0.157012, -1.190001, 1.856825  Reprojection Error: 0.274526, 0.435887 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.566] xyz_f:0.755611, -0.440603, 1.378708  Reprojection Error: -0.267496, 0.104317 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.566] xyz_f:0.536511, -0.255882, 1.477538  Reprojection Error: -0.313683, 0.176209 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.566] xyz_f:0.200996, -1.002278, 1.242142  Reprojection Error: -0.100707, 0.820385 Feature: -0.312634, -0.778864, 0.969795
[11:52:55.566] xyz_f:0.396060, -0.037899, 0.769909  Reprojection Error: -0.583618, 0.146179 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.566] xyz_f:0.340642, -0.072485, 1.490896  Reprojection Error: -0.376841, 0.237606 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.566] xyz_f:0.343555, -0.066017, 1.491899  Reprojection Error: -0.378803, 0.240171 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.566] xyz_f:-0.263600, -1.208262, 1.857485  Reprojection Error: 0.220076, 0.946422 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.566] xyz_f:0.421309, -0.169951, 1.490771  Reprojection Error: 0.073968, 0.458220 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.566] xyz_f:-0.266748, -1.203742, 1.852236  Reprojection Error: 0.358901, 1.027650 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.566] xyz_f:0.736131, -0.634061, 1.255052  Reprojection Error: -0.659997, 1.010414 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.566] it:67 	 Success 	 new_chi2: 2.004419 	 dT = -0.005378, 0.009063, -0.012440
[11:52:55.566] xyz_f:0.737439, -0.633366, 1.243397  Reprojection Error: -0.341536, 0.032373 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.566] xyz_f:0.539291, -0.255828, 1.468273  Reprojection Error: -0.344001, 0.177262 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.566] xyz_f:0.743437, -0.450666, 1.365128  Reprojection Error: -0.305318, 0.107215 Feature: 0.227422, -0.211871, 0.950468
[11:52:55.566] xyz_f:0.420576, -0.162799, 1.483833  Reprojection Error: -0.379762, 0.207534 Feature: -0.095428, 0.096910, 0.990708
[11:52:55.566] xyz_f:0.706382, -0.435287, 1.381814  Reprojection Error: -0.313435, 0.114830 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.566] xyz_f:0.788404, -0.630275, 1.228939  Reprojection Error: -0.326801, 0.026830 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.566] xyz_f:0.791735, -0.452795, 1.349818  Reprojection Error: -0.292049, 0.102715 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.566] xyz_f:0.420582, -0.158474, 1.484541  Reprojection Error: -0.379668, 0.209015 Feature: -0.095422, 0.101271, 0.990272
[11:52:55.566] xyz_f:0.550882, -0.243040, 1.471223  Reprojection Error: -0.339532, 0.181348 Feature: 0.034880, 0.016140, 0.999261
[11:52:55.566] xyz_f:0.343007, -0.073062, 1.483987  Reprojection Error: -0.409926, 0.239002 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.566] xyz_f:0.717717, -0.452334, 1.370623  Reprojection Error: -0.312703, 0.108251 Feature: 0.201704, -0.212060, 0.956215
[11:52:55.566] xyz_f:0.576953, -0.225719, 1.474125  Reprojection Error: -0.330288, 0.186824 Feature: 0.060950, 0.033621, 0.997574
[11:52:55.566] xyz_f:0.757780, -0.439845, 1.366814  Reprojection Error: -0.299734, 0.110085 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.566] xyz_f:0.703301, -0.466858, 1.366152  Reprojection Error: -0.318827, 0.103942 Feature: 0.187288, -0.227247, 0.955658
[11:52:55.566] xyz_f:0.766098, -0.462654, 1.352433  Reprojection Error: -0.300784, 0.101215 Feature: 0.250081, -0.226737, 0.941302
[11:52:55.566] xyz_f:0.685115, 0.098176, 1.482565  Reprojection Error: -0.278691, 0.311995 Feature: 0.169093, 0.348664, 0.921868
[11:52:55.566] xyz_f:0.345911, -0.066584, 1.484955  Reprojection Error: -0.408865, 0.241483 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.566] xyz_f:0.567960, 0.028030, 1.500094  Reprojection Error: -0.324334, 0.279590 Feature: 0.051947, 0.285446, 0.956986
[11:52:55.566] xyz_f:0.774842, -0.440511, 1.361527  Reprojection Error: -0.295021, 0.108586 Feature: 0.258826, -0.202994, 0.944353
[11:52:55.566] xyz_f:0.571155, -0.208728, 1.478257  Reprojection Error: -0.331062, 0.192447 Feature: 0.055152, 0.051103, 0.997169
[11:52:55.566] xyz_f:0.700598, -0.443500, 1.378939  Reprojection Error: -0.316186, 0.112287 Feature: 0.184586, -0.201375, 0.961965
[11:52:55.566] xyz_f:0.571162, -0.234315, 1.472434  Reprojection Error: -0.332642, 0.184061 Feature: 0.055160, 0.024881, 0.998167
[11:52:55.566] xyz_f:0.423459, -0.169346, 1.483002  Reprojection Error: -0.378871, 0.205328 Feature: -0.092545, 0.090371, 0.991599
[11:52:55.566] xyz_f:0.559572, -0.221687, 1.475980  Reprojection Error: -0.335476, 0.188257 Feature: 0.043569, 0.037996, 0.998328
[11:52:55.566] xyz_f:0.423980, -0.170268, 1.482892  Reprojection Error: -0.378706, 0.205020 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.566] xyz_f:0.561866, 0.029156, 1.500359  Reprojection Error: -0.326572, 0.280062 Feature: 0.045853, 0.286602, 0.956952
[11:52:55.566] xyz_f:0.788404, -0.630275, 1.228939  Reprojection Error: -0.301501, 0.020945 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.566] xyz_f:-0.276188, -1.233300, 1.855821  Reprojection Error: 0.378512, 0.446035 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.566] xyz_f:0.322813, -0.064361, 1.025768  Reprojection Error: -0.027616, -0.178530 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.566] xyz_f:-0.146614, -1.192167, 1.855847  Reprojection Error: 0.268967, 0.437392 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.566] xyz_f:0.757780, -0.439845, 1.366814  Reprojection Error: -0.273852, 0.106543 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.566] xyz_f:0.539291, -0.255828, 1.468273  Reprojection Error: -0.317867, 0.177265 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.566] xyz_f:0.203375, -1.003305, 1.236911  Reprojection Error: -0.103316, 0.824628 Feature: -0.312634, -0.778864, 0.969795
[11:52:55.566] xyz_f:0.389646, -0.038312, 0.762387  Reprojection Error: -0.580280, 0.147206 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.566] xyz_f:0.343007, -0.073062, 1.483987  Reprojection Error: -0.379498, 0.238221 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.566] xyz_f:0.345911, -0.066584, 1.484955  Reprojection Error: -0.381466, 0.240761 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.566] xyz_f:-0.253128, -1.210771, 1.857788  Reprojection Error: 0.214415, 0.947667 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.566] xyz_f:0.423980, -0.170268, 1.482892  Reprojection Error: 0.070666, 0.459040 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.566] xyz_f:-0.256352, -1.206262, 1.852578  Reprojection Error: 0.353263, 1.028891 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.566] xyz_f:0.737439, -0.633366, 1.243397  Reprojection Error: -0.666547, 1.014590 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.566] it:68 	 Success 	 new_chi2: 2.014041 	 dT = -0.004283, 0.009516, -0.013060
[11:52:55.566] xyz_f:0.738758, -0.632599, 1.231018  Reprojection Error: -0.348571, 0.036872 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.566] xyz_f:0.542187, -0.255728, 1.458384  Reprojection Error: -0.348477, 0.178375 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.566] xyz_f:0.745673, -0.449877, 1.352668  Reprojection Error: -0.311987, 0.109673 Feature: 0.227422, -0.211871, 0.950468
[11:52:55.566] xyz_f:0.423364, -0.163101, 1.475442  Reprojection Error: -0.383264, 0.208363 Feature: -0.095428, 0.096910, 0.990708
[11:52:55.566] xyz_f:0.708780, -0.434623, 1.369821  Reprojection Error: -0.319662, 0.117104 Feature: 0.190370, -0.192697, 0.962615
[11:52:55.566] xyz_f:0.789525, -0.629336, 1.215918  Reprojection Error: -0.334593, 0.031550 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.566] xyz_f:0.793781, -0.451843, 1.336750  Reprojection Error: -0.299314, 0.105282 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.566] xyz_f:0.423365, -0.158776, 1.476150  Reprojection Error: -0.383163, 0.209826 Feature: -0.095422, 0.101271, 0.990272
[11:52:55.566] xyz_f:0.553771, -0.242901, 1.461188  Reprojection Error: -0.344081, 0.182387 Feature: 0.034880, 0.016140, 0.999261
[11:52:55.566] xyz_f:0.345500, -0.073626, 1.476577  Reprojection Error: -0.412774, 0.239631 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.566] xyz_f:0.720031, -0.451632, 1.358487  Reprojection Error: -0.319084, 0.110682 Feature: 0.201704, -0.212060, 0.956215
[11:52:55.566] xyz_f:0.579818, -0.225492, 1.463761  Reprojection Error: -0.335017, 0.187753 Feature: 0.060950, 0.033621, 0.997574
[11:52:55.566] xyz_f:0.760000, -0.439007, 1.354174  Reprojection Error: -0.306549, 0.112471 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.566] xyz_f:0.705609, -0.466205, 1.354197  Reprojection Error: -0.325075, 0.106476 Feature: 0.187288, -0.227247, 0.955658
[11:52:55.566] xyz_f:0.768213, -0.461789, 1.339688  Reprojection Error: -0.307751, 0.103824 Feature: 0.250081, -0.226737, 0.941302
[11:52:55.566] xyz_f:0.686983, 0.098767, 1.470843  Reprojection Error: -0.283643, 0.311065 Feature: 0.169093, 0.348664, 0.921868
[11:52:55.566] xyz_f:0.348394, -0.067139, 1.477509  Reprojection Error: -0.411720, 0.242085 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.566] xyz_f:0.570296, 0.028226, 1.489847  Reprojection Error: -0.328506, 0.279330 Feature: 0.051947, 0.285446, 0.956986
[11:52:55.566] xyz_f:0.776996, -0.439616, 1.348671  Reprojection Error: -0.302042, 0.111007 Feature: 0.258826, -0.202994, 0.944353
[11:52:55.566] xyz_f:0.574015, -0.208520, 1.467966  Reprojection Error: -0.335719, 0.193295 Feature: 0.055152, 0.051103, 0.997169
[11:52:55.566] xyz_f:0.702988, -0.442856, 1.367018  Reprojection Error: -0.322365, 0.114621 Feature: 0.184586, -0.201375, 0.961965
[11:52:55.566] xyz_f:0.574035, -0.234107, 1.462143  Reprojection Error: -0.337338, 0.185039 Feature: 0.055160, 0.024881, 0.998167
[11:52:55.566] xyz_f:0.426259, -0.169638, 1.474575  Reprojection Error: -0.382401, 0.206179 Feature: -0.092545, 0.090371, 0.991599
[11:52:55.566] xyz_f:0.562448, -0.221519, 1.465836  Reprojection Error: -0.340062, 0.189181 Feature: 0.043569, 0.037996, 0.998328
[11:52:55.566] xyz_f:0.426781, -0.170558, 1.474458  Reprojection Error: -0.382241, 0.205873 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.566] xyz_f:0.564202, 0.029332, 1.490189  Reprojection Error: -0.330696, 0.279812 Feature: 0.045853, 0.286602, 0.956952
[11:52:55.566] xyz_f:0.789525, -0.629336, 1.215918  Reprojection Error: -0.309293, 0.025664 Feature: 0.272366, -0.420608, 0.865393
[11:52:55.566] xyz_f:-0.265029, -1.235943, 1.856168  Reprojection Error: 0.372473, 0.447335 Feature: -0.792025, -0.840837, 1.627270
[11:52:55.566] xyz_f:0.319498, -0.065004, 1.018650  Reprojection Error: -0.026561, -0.177461 Feature: -0.193315, 0.073438, 0.522800
[11:52:55.566] xyz_f:-0.135605, -1.194372, 1.854560  Reprojection Error: 0.263086, 0.439027 Feature: -0.662454, -0.801099, 1.616615
[11:52:55.566] xyz_f:0.760000, -0.439007, 1.354174  Reprojection Error: -0.280667, 0.108929 Feature: 0.241765, -0.200982, 0.949292
[11:52:55.566] xyz_f:0.542187, -0.255728, 1.458384  Reprojection Error: -0.322343, 0.178377 Feature: 0.023288, 0.003024, 0.999724
[11:52:55.566] xyz_f:0.205908, -1.004341, 1.231262  Reprojection Error: -0.106127, 0.829191 Feature: -0.312634, -0.778864, 0.969795
[11:52:55.566] xyz_f:0.382915, -0.038734, 0.754446  Reprojection Error: -0.576738, 0.148295 Feature: -0.126551, 0.030432, 0.261633
[11:52:55.566] xyz_f:0.345500, -0.073626, 1.476577  Reprojection Error: -0.382346, 0.238850 Feature: -0.173004, 0.183630, 0.967652
[11:52:55.566] xyz_f:0.348394, -0.067139, 1.477509  Reprojection Error: -0.384321, 0.241362 Feature: -0.170100, 0.190137, 0.966909
[11:52:55.566] xyz_f:-0.242022, -1.213336, 1.857844  Reprojection Error: 0.208434, 0.949028 Feature: -0.768965, -0.818567, 1.623333
[11:52:55.566] xyz_f:0.426781, -0.170558, 1.474458  Reprojection Error: 0.067130, 0.459893 Feature: -0.092024, 0.089452, 0.991731
[11:52:55.566] xyz_f:-0.245328, -1.208838, 1.852675  Reprojection Error: 0.347305, 1.030247 Feature: -0.772192, -0.815560, 1.617134
[11:52:55.566] xyz_f:0.738758, -0.632599, 1.231018  Reprojection Error: -0.673582, 1.019090 Feature: 0.221406, -0.419852, 0.880173
[11:52:55.566] it:69 	 Success 	 new_chi2: 2.022373 	 dT = -0.003095, 0.010011, -0.013740
[11:52:55.566] After pose optimization, distance between two frames:0.691015 ,angle between two frames:-3.942531
[11:52:55.652] Reprojection Map nPoint:26 ,nCell:12 ,nMatches:12 ,distance between two frames:2.764876 ,angle between two frames:-3.566374
[11:52:55.652] Init estimate scale:1.178734
[11:52:55.652] xyz_f:2.322517, 0.226905, 1.420534  Reprojection Error: -1.708423, 0.345475 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.652] xyz_f:2.388925, -0.241826, 1.443023  Reprojection Error: -1.606071, 0.170610 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.652] xyz_f:2.598709, -0.459539, 1.409456  Reprojection Error: -1.575462, 0.097038 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.652] xyz_f:2.280857, -0.138270, 1.419412  Reprojection Error: -1.676798, 0.195049 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.652] xyz_f:2.559207, -0.436766, 1.414963  Reprojection Error: -1.582871, 0.107528 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.652] xyz_f:2.666243, -0.642095, 1.293961  Reprojection Error: -1.720497, 0.004308 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.652] xyz_f:2.646057, -0.464176, 1.411955  Reprojection Error: -1.552846, 0.092110 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.652] xyz_f:2.281108, -0.131792, 1.420515  Reprojection Error: -1.675766, 0.197073 Feature: -0.069390, 0.103482, 0.992208
[11:52:55.652] xyz_f:2.399955, -0.232208, 1.449352  Reprojection Error: -1.594807, 0.174194 Feature: 0.060954, 0.013952, 0.998043
[11:52:55.652] xyz_f:2.218988, -0.042276, 1.396599  Reprojection Error: -1.737211, 0.219258 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.652] xyz_f:2.569445, -0.456785, 1.406562  Reprojection Error: -1.590551, 0.099596 Feature: 0.224551, -0.214048, 0.950663
[11:52:55.652] xyz_f:2.422254, -0.214925, 1.460820  Reprojection Error: -1.573688, 0.180878 Feature: 0.084111, 0.033613, 0.995889
[11:52:55.652] xyz_f:2.609469, -0.448009, 1.416713  Reprojection Error: -1.561357, 0.100972 Feature: 0.264510, -0.202944, 0.942788
[11:52:55.652] xyz_f:2.559058, -0.470109, 1.397708  Reprojection Error: -1.606622, 0.095014 Feature: 0.213012, -0.229210, 0.949784
[11:52:55.652] xyz_f:2.556870, 0.095059, 1.511801  Reprojection Error: -1.475837, 0.314645 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.652] xyz_f:2.219476, -0.035703, 1.397172  Reprojection Error: -1.737071, 0.221475 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.652] xyz_f:2.627250, -0.450278, 1.417483  Reprojection Error: -1.553154, 0.099042 Feature: 0.281513, -0.204936, 0.937418
[11:52:55.652] xyz_f:2.422483, -0.200002, 1.464207  Reprojection Error: -1.569962, 0.185732 Feature: 0.084104, 0.048905, 0.995256
[11:52:55.652] xyz_f:2.419367, -0.225331, 1.457447  Reprojection Error: -1.578492, 0.177377 Feature: 0.081221, 0.022690, 0.996438
[11:52:55.652] xyz_f:2.285853, -0.145384, 1.420694  Reprojection Error: -1.672974, 0.193290 Feature: -0.063614, 0.090400, 0.993872
[11:52:55.652] xyz_f:2.408459, -0.209538, 1.457618  Reprojection Error: -1.582468, 0.181862 Feature: 0.069636, 0.037989, 0.996849
[11:52:55.652] xyz_f:2.677902, 0.051885, 1.526829  Reprojection Error: -1.397318, 0.310236 Feature: 0.319493, 0.308417, 0.895993
[11:52:55.652] xyz_f:2.428554, 0.036627, 1.486481  Reprojection Error: -1.555339, 0.271596 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.652] xyz_f:2.563286, -0.451318, 1.408351  Reprojection Error: -1.590373, 0.101936 Feature: 0.218950, -0.208305, 0.953242
[11:52:55.652] xyz_f:2.399983, -0.232683, 1.449242  Reprojection Error: -1.594920, 0.174045 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.652] xyz_f:2.428296, 0.036381, 1.486413  Reprojection Error: -1.555498, 0.271464 Feature: 0.074740, 0.282980, 0.956209
[11:52:55.652] xyz_f:2.666243, -0.642095, 1.293961  Reprojection Error: -1.690994, -0.002366 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.652] xyz_f:2.598709, -0.459539, 1.409456  Reprojection Error: -1.546108, 0.095548 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.652] xyz_f:2.646057, -0.464176, 1.411955  Reprojection Error: -1.522015, 0.085347 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.652] xyz_f:2.559207, -0.436766, 1.414963  Reprojection Error: -1.554299, 0.104062 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.652] xyz_f:2.388925, -0.241826, 1.443023  Reprojection Error: -1.576930, 0.168422 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.652] xyz_f:2.280857, -0.138270, 1.419412  Reprojection Error: -1.644667, 0.197120 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.652] xyz_f:2.218988, -0.042276, 1.396599  Reprojection Error: -1.704169, 0.220870 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.652] xyz_f:2.219476, -0.035703, 1.397172  Reprojection Error: -1.703994, 0.223068 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.652] xyz_f:2.428554, 0.036627, 1.486481  Reprojection Error: -1.521908, 0.272382 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.652] xyz_f:2.556870, 0.095059, 1.511801  Reprojection Error: -1.298777, 0.250856 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.652] xyz_f:2.399983, -0.232683, 1.449242  Reprojection Error: -1.383465, 0.513417 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.652] xyz_f:2.322517, 0.226905, 1.420534  Reprojection Error: -1.670012, 0.347534 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.652] it:0 	 Success 	 new_chi2: 82.069722 	 dT = -0.197196, 0.031317, 0.001276
[11:52:55.652] xyz_f:-0.058982, 0.226775, 1.452334  Reprojection Error: -0.032851, 0.349061 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.652] xyz_f:0.007609, -0.241933, 1.474741  Reprojection Error: 0.044269, 0.167078 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.652] xyz_f:0.217422, -0.459577, 1.440915  Reprojection Error: 0.117413, 0.089946 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.652] xyz_f:-0.100523, -0.138413, 1.451262  Reprojection Error: -0.000629, 0.193010 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.652] xyz_f:0.177920, -0.436817, 1.446471  Reprojection Error: 0.102800, 0.100840 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.652] xyz_f:0.284875, -0.642110, 1.325337  Reprojection Error: 0.125086, -0.007428 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.652] xyz_f:0.264775, -0.464199, 1.443356  Reprojection Error: 0.137747, 0.084973 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.652] xyz_f:-0.100273, -0.131935, 1.452366  Reprojection Error: -0.000894, 0.195136 Feature: -0.069390, 0.103482, 0.992208
[11:52:55.652] xyz_f:0.018642, -0.232311, 1.481056  Reprojection Error: 0.048487, 0.170834 Feature: 0.060954, 0.013952, 0.998043
[11:52:55.652] xyz_f:-0.162452, -0.042439, 1.428526  Reprojection Error: -0.034639, 0.218696 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.652] xyz_f:0.188154, -0.456832, 1.438056  Reprojection Error: 0.105366, 0.092517 Feature: 0.224551, -0.214048, 0.950663
[11:52:55.652] xyz_f:0.040951, -0.215021, 1.492496  Reprojection Error: 0.057021, 0.177820 Feature: 0.084111, 0.033613, 0.995889
[11:52:55.652] xyz_f:0.228188, -0.448043, 1.448158  Reprojection Error: 0.122991, 0.094129 Feature: 0.264510, -0.202944, 0.942788
[11:52:55.652] xyz_f:0.177760, -0.470160, 1.429215  Reprojection Error: 0.099898, 0.087635 Feature: 0.213012, -0.229210, 0.949784
[11:52:55.652] xyz_f:0.175526, 0.095007, 1.543311  Reprojection Error: 0.101704, 0.315963 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.652] xyz_f:-0.161965, -0.035866, 1.429099  Reprojection Error: -0.035188, 0.221018 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.652] xyz_f:0.245970, -0.450306, 1.448907  Reprojection Error: 0.130544, 0.092172 Feature: 0.281513, -0.204936, 0.937418
[11:52:55.652] xyz_f:0.041178, -0.200098, 1.495883  Reprojection Error: 0.056977, 0.182904 Feature: 0.084104, 0.048905, 0.995256
[11:52:55.652] xyz_f:0.038062, -0.225428, 1.489127  Reprojection Error: 0.055951, 0.174153 Feature: 0.081221, 0.022690, 0.996438
[11:52:55.652] xyz_f:-0.095524, -0.145525, 1.452539  Reprojection Error: 0.001757, 0.191144 Feature: -0.063614, 0.090400, 0.993872
[11:52:55.652] xyz_f:0.027149, -0.209638, 1.489312  Reprojection Error: 0.051627, 0.178871 Feature: 0.069636, 0.037989, 0.996849
[11:52:55.652] xyz_f:0.296591, 0.051873, 1.558190  Reprojection Error: 0.166236, 0.310927 Feature: 0.319493, 0.308417, 0.895993
[11:52:55.652] xyz_f:0.047199, 0.036532, 1.518149  Reprojection Error: 0.047332, 0.272172 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.652] xyz_f:0.181996, -0.451368, 1.439853  Reprojection Error: 0.103291, 0.094959 Feature: 0.218950, -0.208305, 0.953242
[11:52:55.652] xyz_f:0.018671, -0.232787, 1.480946  Reprojection Error: 0.048499, 0.170678 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.652] xyz_f:0.046941, 0.036286, 1.518082  Reprojection Error: 0.047242, 0.272037 Feature: 0.074740, 0.282980, 0.956209
[11:52:55.652] xyz_f:0.284875, -0.642110, 1.325337  Reprojection Error: 0.154589, -0.014101 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.652] xyz_f:0.217422, -0.459577, 1.440915  Reprojection Error: 0.146768, 0.088456 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.652] xyz_f:0.264775, -0.464199, 1.443356  Reprojection Error: 0.168578, 0.078211 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.652] xyz_f:0.177920, -0.436817, 1.446471  Reprojection Error: 0.131372, 0.097373 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.652] xyz_f:0.007609, -0.241933, 1.474741  Reprojection Error: 0.073411, 0.164891 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.652] xyz_f:-0.100523, -0.138413, 1.451262  Reprojection Error: 0.031502, 0.195081 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.652] xyz_f:-0.162452, -0.042439, 1.428526  Reprojection Error: -0.001598, 0.220307 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.652] xyz_f:-0.161965, -0.035866, 1.429099  Reprojection Error: -0.002111, 0.222611 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.652] xyz_f:0.047199, 0.036532, 1.518149  Reprojection Error: 0.080763, 0.272958 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.652] xyz_f:0.175526, 0.095007, 1.543311  Reprojection Error: 0.278763, 0.252173 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.653] xyz_f:0.018671, -0.232787, 1.480946  Reprojection Error: 0.259954, 0.510050 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.653] xyz_f:-0.058982, 0.226775, 1.452334  Reprojection Error: 0.005560, 0.351120 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.653] it:1 	 Success 	 new_chi2: 2.087035 	 dT = -0.040877, 0.044202, 0.035518
[11:52:55.653] xyz_f:0.157418, 0.223316, 1.509445  Reprojection Error: -0.177751, 0.357261 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.653] xyz_f:0.229043, -0.244757, 1.529481  Reprojection Error: -0.100323, 0.163053 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.653] xyz_f:0.439564, -0.460469, 1.488444  Reprojection Error: -0.027013, 0.080361 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.653] xyz_f:0.119223, -0.142238, 1.509742  Reprojection Error: -0.148863, 0.191850 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.653] xyz_f:0.400068, -0.438072, 1.495355  Reprojection Error: -0.041737, 0.091807 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.653] xyz_f:0.504687, -0.642392, 1.370592  Reprojection Error: -0.028195, -0.023219 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.653] xyz_f:0.487014, -0.464654, 1.489259  Reprojection Error: -0.005826, 0.075366 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.653] xyz_f:0.119451, -0.135758, 1.510837  Reprojection Error: -0.148998, 0.194151 Feature: -0.069390, 0.103482, 0.992208
[11:52:55.653] xyz_f:0.240198, -0.235033, 1.535416  Reprojection Error: -0.095364, 0.167053 Feature: 0.060954, 0.013952, 0.998043
[11:52:55.653] xyz_f:0.055671, -0.046842, 1.489158  Reprojection Error: -0.185743, 0.220443 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.653] xyz_f:0.410191, -0.457993, 1.486592  Reprojection Error: -0.039722, 0.082926 Feature: 0.224551, -0.214048, 0.950663
[11:52:55.653] xyz_f:0.262725, -0.217537, 1.546087  Reprojection Error: -0.085471, 0.174454 Feature: 0.084111, 0.033613, 0.995889
[11:52:55.653] xyz_f:0.450465, -0.448835, 1.495316  Reprojection Error: -0.020689, 0.084901 Feature: 0.264510, -0.202944, 0.942788
[11:52:55.653] xyz_f:0.399623, -0.471417, 1.478110  Reprojection Error: -0.046087, 0.077604 Feature: 0.213012, -0.229210, 0.949784
[11:52:55.653] xyz_f:0.396110, 0.093723, 1.592305  Reprojection Error: -0.033328, 0.318663 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.653] xyz_f:0.056116, -0.040264, 1.489715  Reprojection Error: -0.186191, 0.222949 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.653] xyz_f:0.468283, -0.450935, 1.495454  Reprojection Error: -0.012831, 0.082919 Feature: 0.281513, -0.204936, 0.937418
[11:52:55.653] xyz_f:0.262932, -0.202612, 1.549466  Reprojection Error: -0.085187, 0.179900 Feature: 0.084104, 0.048905, 0.995256
[11:52:55.653] xyz_f:0.259819, -0.227970, 1.542817  Reprojection Error: -0.086894, 0.170533 Feature: 0.081221, 0.022690, 0.996438
[11:52:55.653] xyz_f:0.124328, -0.149304, 1.510845  Reprojection Error: -0.146296, 0.189779 Feature: -0.063614, 0.090400, 0.993872
[11:52:55.653] xyz_f:0.248774, -0.212282, 1.543378  Reprojection Error: -0.091332, 0.175652 Feature: 0.069636, 0.037989, 0.996849
[11:52:55.653] xyz_f:0.518005, 0.051706, 1.603016  Reprojection Error: 0.033436, 0.311962 Feature: 0.319493, 0.308417, 0.895993
[11:52:55.653] xyz_f:0.267538, 0.034068, 1.571550  Reprojection Error: -0.091816, 0.274558 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.653] xyz_f:0.404048, -0.452586, 1.488599  Reprojection Error: -0.041738, 0.085512 Feature: 0.218950, -0.208305, 0.953242
[11:52:55.653] xyz_f:0.240227, -0.235508, 1.535305  Reprojection Error: -0.095362, 0.166885 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.653] xyz_f:0.267280, 0.033819, 1.571492  Reprojection Error: -0.091917, 0.274419 Feature: 0.074740, 0.282980, 0.956209
[11:52:55.653] xyz_f:0.504687, -0.642392, 1.370592  Reprojection Error: 0.001308, -0.029893 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.653] xyz_f:0.439564, -0.460469, 1.488444  Reprojection Error: 0.002341, 0.078870 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.653] xyz_f:0.487014, -0.464654, 1.489259  Reprojection Error: 0.025005, 0.068604 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.653] xyz_f:0.400068, -0.438072, 1.495355  Reprojection Error: -0.013166, 0.088340 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.653] xyz_f:0.229043, -0.244757, 1.529481  Reprojection Error: -0.071182, 0.160866 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.653] xyz_f:0.119223, -0.142238, 1.509742  Reprojection Error: -0.116733, 0.193920 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.653] xyz_f:0.055671, -0.046842, 1.489158  Reprojection Error: -0.152702, 0.222054 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.653] xyz_f:0.056116, -0.040264, 1.489715  Reprojection Error: -0.153114, 0.224542 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.653] xyz_f:0.267538, 0.034068, 1.571550  Reprojection Error: -0.058386, 0.275344 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.653] xyz_f:0.396110, 0.093723, 1.592305  Reprojection Error: 0.143732, 0.254874 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.653] xyz_f:0.240227, -0.235508, 1.535305  Reprojection Error: 0.116093, 0.506257 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.653] xyz_f:0.157418, 0.223316, 1.509445  Reprojection Error: -0.139340, 0.359320 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.653] it:2 	 Success 	 new_chi2: 2.018186 	 dT = -0.091252, 0.129797, 0.056927
[11:52:55.653] xyz_f:0.198285, 0.218330, 1.657851  Reprojection Error: -0.193066, 0.373512 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.653] xyz_f:0.277788, -0.248629, 1.673731  Reprojection Error: -0.116540, 0.151575 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.653] xyz_f:0.488889, -0.461235, 1.621099  Reprojection Error: -0.033274, 0.055518 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.653] xyz_f:0.165551, -0.147747, 1.660099  Reprojection Error: -0.169618, 0.186635 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.653] xyz_f:0.449507, -0.439419, 1.630180  Reprojection Error: -0.049938, 0.068404 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.653] xyz_f:0.550109, -0.642227, 1.499772  Reprojection Error: -0.026764, -0.063700 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.653] xyz_f:0.536368, -0.464721, 1.619303  Reprojection Error: -0.010043, 0.050351 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.653] xyz_f:0.165744, -0.141264, 1.661182  Reprojection Error: -0.169709, 0.189333 Feature: -0.069390, 0.103482, 0.992208
[11:52:55.653] xyz_f:0.289108, -0.238740, 1.679048  Reprojection Error: -0.111111, 0.156167 Feature: 0.060954, 0.013952, 0.998043
[11:52:55.653] xyz_f:0.099566, -0.053305, 1.643077  Reprojection Error: -0.208957, 0.221430 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.653] xyz_f:0.459425, -0.459192, 1.620865  Reprojection Error: -0.047239, 0.058144 Feature: 0.224551, -0.214048, 0.950663
[11:52:55.653] xyz_f:0.311927, -0.220910, 1.688472  Reprojection Error: -0.100281, 0.164586 Feature: 0.084111, 0.033613, 0.995889
[11:52:55.653] xyz_f:0.499979, -0.449439, 1.627366  Reprojection Error: -0.026671, 0.060916 Feature: 0.264510, -0.202944, 0.942788
[11:52:55.653] xyz_f:0.448606, -0.472774, 1.612971  Reprojection Error: -0.053850, 0.051779 Feature: 0.213012, -0.229210, 0.949784
[11:52:55.653] xyz_f:0.443052, 0.092299, 1.727416  Reprojection Error: -0.041045, 0.324091 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.653] xyz_f:0.099945, -0.046721, 1.643611  Reprojection Error: -0.209330, 0.224347 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.653] xyz_f:0.517806, -0.451276, 1.626523  Reprojection Error: -0.018045, 0.058830 Feature: 0.281513, -0.204936, 0.937418
[11:52:55.653] xyz_f:0.312099, -0.205982, 1.691841  Reprojection Error: -0.099968, 0.170888 Feature: 0.084104, 0.048905, 0.995256
[11:52:55.653] xyz_f:0.309000, -0.231386, 1.685362  Reprojection Error: -0.101832, 0.160062 Feature: 0.081221, 0.022690, 0.996438
[11:52:55.653] xyz_f:0.170813, -0.154737, 1.660917  Reprojection Error: -0.166848, 0.184121 Feature: -0.063614, 0.090400, 0.993872
[11:52:55.653] xyz_f:0.297772, -0.215862, 1.686536  Reprojection Error: -0.106702, 0.166100 Feature: 0.069636, 0.037989, 0.996849
[11:52:55.653] xyz_f:0.565957, 0.052087, 1.731394  Reprojection Error: 0.029700, 0.314134 Feature: 0.319493, 0.308417, 0.895993
[11:52:55.653] xyz_f:0.314426, 0.030749, 1.713734  Reprojection Error: -0.105052, 0.278293 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.653] xyz_f:0.453323, -0.453875, 1.623209  Reprojection Error: -0.049586, 0.061093 Feature: 0.218950, -0.208305, 0.953242
[11:52:55.653] xyz_f:0.289138, -0.239215, 1.678935  Reprojection Error: -0.111108, 0.155970 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.653] xyz_f:0.314169, 0.030497, 1.713690  Reprojection Error: -0.105166, 0.278144 Feature: 0.074740, 0.282980, 0.956209
[11:52:55.653] xyz_f:0.550109, -0.642227, 1.499772  Reprojection Error: 0.002739, -0.070373 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.653] xyz_f:0.488889, -0.461235, 1.621099  Reprojection Error: -0.003919, 0.054027 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.653] xyz_f:0.536368, -0.464721, 1.619303  Reprojection Error: 0.020788, 0.043588 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.653] xyz_f:0.449507, -0.439419, 1.630180  Reprojection Error: -0.021366, 0.064938 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.653] xyz_f:0.277788, -0.248629, 1.673731  Reprojection Error: -0.087399, 0.149388 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.653] xyz_f:0.165551, -0.147747, 1.660099  Reprojection Error: -0.137488, 0.188706 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.653] xyz_f:0.099566, -0.053305, 1.643077  Reprojection Error: -0.175915, 0.223041 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.653] xyz_f:0.099945, -0.046721, 1.643611  Reprojection Error: -0.176253, 0.225940 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.653] xyz_f:0.314426, 0.030749, 1.713734  Reprojection Error: -0.071622, 0.279080 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.653] xyz_f:0.443052, 0.092299, 1.727416  Reprojection Error: 0.136014, 0.260302 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.653] xyz_f:0.289138, -0.239215, 1.678935  Reprojection Error: 0.100347, 0.495342 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.653] xyz_f:0.198285, 0.218330, 1.657851  Reprojection Error: -0.154655, 0.375571 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.653] it:3 	 Success 	 new_chi2: 2.079141 	 dT = -0.089523, 0.161233, 0.048781
[11:52:55.653] xyz_f:0.468480, 0.222560, 1.480830  Reprojection Error: -0.389826, 0.354912 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.653] xyz_f:0.541248, -0.245360, 1.500298  Reprojection Error: -0.311331, 0.166568 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.653] xyz_f:0.751894, -0.460629, 1.457604  Reprojection Error: -0.247538, 0.087016 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.653] xyz_f:0.431059, -0.143074, 1.481424  Reprojection Error: -0.360871, 0.194215 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.653] xyz_f:0.712406, -0.438315, 1.464826  Reprojection Error: -0.260539, 0.098078 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.653] xyz_f:0.816471, -0.642415, 1.339241  Reprojection Error: -0.269621, -0.012230 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.653] xyz_f:0.799357, -0.464714, 1.458045  Reprojection Error: -0.227047, 0.082087 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.653] xyz_f:0.431283, -0.136593, 1.482518  Reprojection Error: -0.360847, 0.196431 Feature: -0.069390, 0.103482, 0.992208
[11:52:55.653] xyz_f:0.552428, -0.235613, 1.506145  Reprojection Error: -0.305709, 0.170414 Feature: 0.060954, 0.013952, 0.998043
[11:52:55.653] xyz_f:0.367147, -0.047812, 1.461342  Reprojection Error: -0.399599, 0.221705 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.653] xyz_f:0.722502, -0.458215, 1.455983  Reprojection Error: -0.260025, 0.089555 Feature: 0.224551, -0.214048, 0.950663
[11:52:55.653] xyz_f:0.575002, -0.218070, 1.516638  Reprojection Error: -0.294671, 0.177537 Feature: 0.084111, 0.033613, 0.995889
[11:52:55.653] xyz_f:0.762824, -0.448972, 1.464390  Reprojection Error: -0.240355, 0.091334 Feature: 0.264510, -0.202944, 0.942788
[11:52:55.653] xyz_f:0.711896, -0.471661, 1.447584  Reprojection Error: -0.267508, 0.084498 Feature: 0.213012, -0.229210, 0.949784
[11:52:55.653] xyz_f:0.708090, 0.093471, 1.561808  Reprojection Error: -0.237941, 0.317675 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.653] xyz_f:0.367583, -0.041233, 1.461895  Reprojection Error: -0.399965, 0.224127 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.653] xyz_f:0.780647, -0.451034, 1.464387  Reprojection Error: -0.232781, 0.089384 Feature: 0.281513, -0.204936, 0.937418
[11:52:55.653] xyz_f:0.575204, -0.203144, 1.520016  Reprojection Error: -0.293915, 0.182784 Feature: 0.084104, 0.048905, 0.995256
[11:52:55.653] xyz_f:0.572092, -0.228509, 1.513391  Reprojection Error: -0.296509, 0.173762 Feature: 0.081221, 0.022690, 0.996438
[11:52:55.653] xyz_f:0.436188, -0.150129, 1.482487  Reprojection Error: -0.358233, 0.192226 Feature: -0.063614, 0.090400, 0.993872
[11:52:55.653] xyz_f:0.561019, -0.212844, 1.514039  Reprojection Error: -0.300688, 0.178689 Feature: 0.069636, 0.037989, 0.996849
[11:52:55.653] xyz_f:0.830154, 0.051712, 1.571559  Reprojection Error: -0.171656, 0.311313 Feature: 0.319493, 0.308417, 0.895993
[11:52:55.653] xyz_f:0.579484, 0.033545, 1.542065  Reprojection Error: -0.297363, 0.274482 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.653] xyz_f:0.716363, -0.452820, 1.458039  Reprojection Error: -0.261630, 0.092045 Feature: 0.218950, -0.208305, 0.953242
[11:52:55.653] xyz_f:0.552458, -0.236088, 1.506033  Reprojection Error: -0.305723, 0.170252 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.653] xyz_f:0.579227, 0.033296, 1.542009  Reprojection Error: -0.297468, 0.274347 Feature: 0.074740, 0.282980, 0.956209
[11:52:55.653] xyz_f:0.816471, -0.642415, 1.339241  Reprojection Error: -0.240118, -0.018904 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.653] xyz_f:0.751894, -0.460629, 1.457604  Reprojection Error: -0.218183, 0.085525 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.653] xyz_f:0.799357, -0.464714, 1.458045  Reprojection Error: -0.196217, 0.075324 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.653] xyz_f:0.712406, -0.438315, 1.464826  Reprojection Error: -0.231967, 0.094612 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.653] xyz_f:0.541248, -0.245360, 1.500298  Reprojection Error: -0.282190, 0.164381 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.653] xyz_f:0.431059, -0.143074, 1.481424  Reprojection Error: -0.328741, 0.196285 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.653] xyz_f:0.367147, -0.047812, 1.461342  Reprojection Error: -0.366557, 0.223317 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.653] xyz_f:0.367583, -0.041233, 1.461895  Reprojection Error: -0.366888, 0.225719 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.653] xyz_f:0.579484, 0.033545, 1.542065  Reprojection Error: -0.263932, 0.275269 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.653] xyz_f:0.708090, 0.093471, 1.561808  Reprojection Error: -0.060881, 0.253886 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.653] xyz_f:0.552458, -0.236088, 1.506033  Reprojection Error: -0.094268, 0.509624 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.653] xyz_f:0.468480, 0.222560, 1.480830  Reprojection Error: -0.351415, 0.356971 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.653] it:4 	 Success 	 new_chi2: 4.673125 	 dT = -0.067422, 0.099220, 0.024432
[11:52:55.653] xyz_f:0.170424, 0.220378, 1.588195  Reprojection Error: -0.180770, 0.366447 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.653] xyz_f:0.246588, -0.247072, 1.605906  Reprojection Error: -0.104122, 0.156879 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.653] xyz_f:0.457525, -0.461007, 1.558237  Reprojection Error: -0.025312, 0.066850 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.653] xyz_f:0.135340, -0.145486, 1.589645  Reprojection Error: -0.155033, 0.189157 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.653] xyz_f:0.418078, -0.438943, 1.566391  Reprojection Error: -0.041102, 0.079078 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.653] xyz_f:0.520439, -0.642391, 1.438370  Reprojection Error: -0.021794, -0.045306 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.653] xyz_f:0.505010, -0.464792, 1.557558  Reprojection Error: -0.003040, 0.061773 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.653] xyz_f:0.135549, -0.139004, 1.590734  Reprojection Error: -0.155146, 0.191678 Feature: -0.069390, 0.103482, 0.992208
[11:52:55.653] xyz_f:0.257842, -0.237254, 1.611488  Reprojection Error: -0.098928, 0.161206 Feature: 0.060954, 0.013952, 0.998043
[11:52:55.653] xyz_f:0.070371, -0.050631, 1.571084  Reprojection Error: -0.193150, 0.221214 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.653] xyz_f:0.428088, -0.458779, 1.557310  Reprojection Error: -0.038684, 0.069441 Feature: 0.224551, -0.214048, 0.950663
[11:52:55.653] xyz_f:0.280545, -0.219567, 1.621447  Reprojection Error: -0.088563, 0.169166 Feature: 0.084111, 0.033613, 0.995889
[11:52:55.653] xyz_f:0.468538, -0.449281, 1.564764  Reprojection Error: -0.018869, 0.071864 Feature: 0.264510, -0.202944, 0.942788
[11:52:55.653] xyz_f:0.417372, -0.472293, 1.549164  Reprojection Error: -0.045144, 0.063541 Feature: 0.213012, -0.229210, 0.949784
[11:52:55.653] xyz_f:0.412689, 0.092812, 1.663487  Reprojection Error: -0.032649, 0.321729 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.653] xyz_f:0.070778, -0.044050, 1.571627  Reprojection Error: -0.193557, 0.223949 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.653] xyz_f:0.486369, -0.451230, 1.564341  Reprojection Error: -0.010603, 0.069830 Feature: 0.281513, -0.204936, 0.937418
[11:52:55.653] xyz_f:0.280732, -0.204640, 1.624821  Reprojection Error: -0.088272, 0.175084 Feature: 0.084104, 0.048905, 0.995256
[11:52:55.653] xyz_f:0.277626, -0.230025, 1.618269  Reprojection Error: -0.090046, 0.164913 Feature: 0.081221, 0.022690, 0.996438
[11:52:55.653] xyz_f:0.140538, -0.152508, 1.590586  Reprojection Error: -0.152362, 0.186839 Feature: -0.063614, 0.090400, 0.993872
[11:52:55.653] xyz_f:0.266472, -0.214430, 1.619180  Reprojection Error: -0.094716, 0.170540 Feature: 0.069636, 0.037989, 0.996849
[11:52:55.653] xyz_f:0.535211, 0.051826, 1.670352  Reprojection Error: 0.036162, 0.313191 Feature: 0.319493, 0.308417, 0.895993
[11:52:55.653] xyz_f:0.284035, 0.032073, 1.646780  Reprojection Error: -0.094057, 0.276760 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.653] xyz_f:0.421966, -0.453424, 1.559511  Reprojection Error: -0.040886, 0.072225 Feature: 0.218950, -0.208305, 0.953242
[11:52:55.653] xyz_f:0.257871, -0.237729, 1.611376  Reprojection Error: -0.098925, 0.161022 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.653] xyz_f:0.283778, 0.031822, 1.646730  Reprojection Error: -0.094165, 0.276615 Feature: 0.074740, 0.282980, 0.956209
[11:52:55.653] xyz_f:0.520439, -0.642391, 1.438370  Reprojection Error: 0.007708, -0.051980 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.653] xyz_f:0.457525, -0.461007, 1.558237  Reprojection Error: 0.004042, 0.065359 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.653] xyz_f:0.505010, -0.464792, 1.557558  Reprojection Error: 0.027790, 0.055011 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.653] xyz_f:0.418078, -0.438943, 1.566391  Reprojection Error: -0.012531, 0.075611 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.653] xyz_f:0.246588, -0.247072, 1.605906  Reprojection Error: -0.074980, 0.154692 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.653] xyz_f:0.135340, -0.145486, 1.589645  Reprojection Error: -0.122903, 0.191227 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.653] xyz_f:0.070371, -0.050631, 1.571084  Reprojection Error: -0.160109, 0.222826 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.653] xyz_f:0.070778, -0.044050, 1.571627  Reprojection Error: -0.160480, 0.225542 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.653] xyz_f:0.284035, 0.032073, 1.646780  Reprojection Error: -0.060627, 0.277546 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.653] xyz_f:0.412689, 0.092812, 1.663487  Reprojection Error: 0.144410, 0.257940 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.653] xyz_f:0.257871, -0.237729, 1.611376  Reprojection Error: 0.112530, 0.500394 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.653] xyz_f:0.170424, 0.220378, 1.588195  Reprojection Error: -0.142359, 0.368506 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.653] it:5 	 Success 	 new_chi2: 1.812925 	 dT = -0.091699, 0.146785, 0.053860
[11:52:55.653] xyz_f:0.290418, 0.216020, 1.751244  Reprojection Error: -0.239298, 0.381855 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.653] xyz_f:0.373905, -0.250317, 1.764801  Reprojection Error: -0.162439, 0.144866 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.653] xyz_f:0.585038, -0.461310, 1.706150  Reprojection Error: -0.074595, 0.041378 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.653] xyz_f:0.260558, -0.150296, 1.754384  Reprojection Error: -0.218413, 0.183305 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.653] xyz_f:0.545765, -0.439794, 1.716352  Reprojection Error: -0.092177, 0.055089 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.653] xyz_f:0.644155, -0.641842, 1.583108  Reprojection Error: -0.066862, -0.086484 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.654] xyz_f:0.632472, -0.464433, 1.703001  Reprojection Error: -0.050195, 0.036077 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.654] xyz_f:0.260732, -0.143812, 1.755462  Reprojection Error: -0.218461, 0.186217 Feature: -0.069390, 0.103482, 0.992208
[11:52:55.654] xyz_f:0.385296, -0.240341, 1.769794  Reprojection Error: -0.156633, 0.149781 Feature: 0.060954, 0.013952, 0.998043
[11:52:55.654] xyz_f:0.193396, -0.056363, 1.739260  Reprojection Error: -0.259553, 0.221394 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.654] xyz_f:0.555564, -0.459493, 1.706756  Reprojection Error: -0.089304, 0.044063 Feature: 0.224551, -0.214048, 0.950663
[11:52:55.654] xyz_f:0.408238, -0.222336, 1.778566  Reprojection Error: -0.145074, 0.158761 Feature: 0.084111, 0.033613, 0.995889
[11:52:55.654] xyz_f:0.596211, -0.449429, 1.712100  Reprojection Error: -0.067673, 0.047242 Feature: 0.264510, -0.202944, 0.942788
[11:52:55.654] xyz_f:0.544629, -0.473157, 1.699173  Reprojection Error: -0.096252, 0.037135 Feature: 0.213012, -0.229210, 0.949784
[11:52:55.654] xyz_f:0.538024, 0.091870, 1.813790  Reprojection Error: -0.081192, 0.326872 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.654] xyz_f:0.193739, -0.049776, 1.739784  Reprojection Error: -0.259880, 0.224532 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.654] xyz_f:0.614021, -0.451130, 1.710750  Reprojection Error: -0.058613, 0.045085 Feature: 0.281513, -0.204936, 0.937418
[11:52:55.654] xyz_f:0.408392, -0.207407, 1.781930  Reprojection Error: -0.144680, 0.165532 Feature: 0.084104, 0.048905, 0.995256
[11:52:55.654] xyz_f:0.405303, -0.232834, 1.775540  Reprojection Error: -0.146759, 0.153905 Feature: 0.081221, 0.022690, 0.996438
[11:52:55.654] xyz_f:0.265894, -0.157245, 1.755051  Reprojection Error: -0.215508, 0.180553 Feature: -0.063614, 0.090400, 0.993872
[11:52:55.654] xyz_f:0.393996, -0.217396, 1.777035  Reprojection Error: -0.151859, 0.160445 Feature: 0.069636, 0.037989, 0.996849
[11:52:55.654] xyz_f:0.661296, 0.052597, 1.814260  Reprojection Error: -0.007919, 0.315227 Feature: 0.319493, 0.308417, 0.895993
[11:52:55.654] xyz_f:0.409534, 0.029337, 1.803774  Reprojection Error: -0.148621, 0.279971 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.654] xyz_f:0.549491, -0.454222, 1.709274  Reprojection Error: -0.091786, 0.047217 Feature: 0.218950, -0.208305, 0.953242
[11:52:55.654] xyz_f:0.385326, -0.240815, 1.769680  Reprojection Error: -0.156631, 0.149569 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.654] xyz_f:0.409278, 0.029083, 1.803737  Reprojection Error: -0.148742, 0.279816 Feature: 0.074740, 0.282980, 0.956209
[11:52:55.654] xyz_f:0.644155, -0.641842, 1.583108  Reprojection Error: -0.037359, -0.093158 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.654] xyz_f:0.585038, -0.461310, 1.706150  Reprojection Error: -0.045240, 0.039888 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.654] xyz_f:0.632472, -0.464433, 1.703001  Reprojection Error: -0.019364, 0.029314 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.654] xyz_f:0.545765, -0.439794, 1.716352  Reprojection Error: -0.063605, 0.051623 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.654] xyz_f:0.373905, -0.250317, 1.764801  Reprojection Error: -0.133298, 0.142678 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.654] xyz_f:0.260558, -0.150296, 1.754384  Reprojection Error: -0.186282, 0.185376 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.654] xyz_f:0.193396, -0.056363, 1.739260  Reprojection Error: -0.226512, 0.223005 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.654] xyz_f:0.193739, -0.049776, 1.739784  Reprojection Error: -0.226803, 0.226125 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.654] xyz_f:0.409534, 0.029337, 1.803774  Reprojection Error: -0.115190, 0.280758 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.654] xyz_f:0.538024, 0.091870, 1.813790  Reprojection Error: 0.095867, 0.263083 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.654] xyz_f:0.385326, -0.240815, 1.769680  Reprojection Error: 0.054824, 0.488941 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.654] xyz_f:0.290418, 0.216020, 1.751244  Reprojection Error: -0.200887, 0.383914 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.654] it:6 	 Success 	 new_chi2: 2.149334 	 dT = -0.081026, 0.173864, 0.036583
[11:52:55.654] xyz_f:0.579229, 0.218912, 1.566588  Reprojection Error: -0.443202, 0.365469 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.654] xyz_f:0.657767, -0.248192, 1.583008  Reprojection Error: -0.366088, 0.159812 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.654] xyz_f:0.868833, -0.461184, 1.531817  Reprojection Error: -0.298887, 0.072068 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.654] xyz_f:0.545811, -0.147105, 1.568609  Reprojection Error: -0.417853, 0.191416 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.654] xyz_f:0.829430, -0.439296, 1.540629  Reprojection Error: -0.312568, 0.083993 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.654] xyz_f:0.930549, -0.642289, 1.410910  Reprojection Error: -0.319507, -0.036686 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.654] xyz_f:0.916317, -0.464757, 1.530346  Reprojection Error: -0.277573, 0.067057 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.654] xyz_f:0.546008, -0.140622, 1.569694  Reprojection Error: -0.417778, 0.193881 Feature: -0.069390, 0.103482, 0.992208
[11:52:55.654] xyz_f:0.669068, -0.238324, 1.588402  Reprojection Error: -0.360147, 0.164019 Feature: 0.060954, 0.013952, 0.998043
[11:52:55.654] xyz_f:0.480117, -0.052543, 1.551138  Reprojection Error: -0.457885, 0.222861 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.654] xyz_f:0.839376, -0.459088, 1.531382  Reprojection Error: -0.311911, 0.074630 Feature: 0.224551, -0.214048, 0.950663
[11:52:55.654] xyz_f:0.691856, -0.220535, 1.597981  Reprojection Error: -0.348498, 0.171761 Feature: 0.084111, 0.033613, 0.995889
[11:52:55.654] xyz_f:0.879902, -0.449409, 1.538160  Reprojection Error: -0.291487, 0.076913 Feature: 0.264510, -0.202944, 0.942788
[11:52:55.654] xyz_f:0.828586, -0.472650, 1.523415  Reprojection Error: -0.319627, 0.068928 Feature: 0.213012, -0.229210, 0.949784
[11:52:55.654] xyz_f:0.823285, 0.092434, 1.637822  Reprojection Error: -0.287233, 0.321086 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.654] xyz_f:0.480504, -0.045960, 1.551675  Reprojection Error: -0.458190, 0.225541 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.654] xyz_f:0.897731, -0.451278, 1.537439  Reprojection Error: -0.283607, 0.074908 Feature: 0.281513, -0.204936, 0.937418
[11:52:55.654] xyz_f:0.692032, -0.205608, 1.601352  Reprojection Error: -0.347650, 0.177534 Feature: 0.084104, 0.048905, 0.995256
[11:52:55.654] xyz_f:0.688930, -0.231006, 1.594852  Reprojection Error: -0.350460, 0.167615 Feature: 0.081221, 0.022690, 0.996438
[11:52:55.654] xyz_f:0.551054, -0.154104, 1.569463  Reprojection Error: -0.415116, 0.189146 Feature: -0.063614, 0.090400, 0.993872
[11:52:55.654] xyz_f:0.677724, -0.215461, 1.595949  Reprojection Error: -0.354796, 0.173114 Feature: 0.069636, 0.037989, 0.996849
[11:52:55.654] xyz_f:0.946086, 0.051996, 1.642640  Reprojection Error: -0.219375, 0.312564 Feature: 0.319493, 0.308417, 0.895993
[11:52:55.654] xyz_f:0.694643, 0.031118, 1.623262  Reprojection Error: -0.349508, 0.277065 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.654] xyz_f:0.833267, -0.453759, 1.533685  Reprojection Error: -0.313621, 0.077340 Feature: 0.218950, -0.208305, 0.953242
[11:52:55.654] xyz_f:0.669098, -0.238798, 1.588289  Reprojection Error: -0.360163, 0.163840 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.654] xyz_f:0.694386, 0.030867, 1.623216  Reprojection Error: -0.349621, 0.276924 Feature: 0.074740, 0.282980, 0.956209
[11:52:55.654] xyz_f:0.930549, -0.642289, 1.410910  Reprojection Error: -0.290004, -0.043360 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.654] xyz_f:0.868833, -0.461184, 1.531817  Reprojection Error: -0.269532, 0.070577 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.654] xyz_f:0.916317, -0.464757, 1.530346  Reprojection Error: -0.246743, 0.060294 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.654] xyz_f:0.829430, -0.439296, 1.540629  Reprojection Error: -0.283996, 0.080526 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.654] xyz_f:0.657767, -0.248192, 1.583008  Reprojection Error: -0.336947, 0.157625 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.654] xyz_f:0.545811, -0.147105, 1.568609  Reprojection Error: -0.385722, 0.193487 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.654] xyz_f:0.480117, -0.052543, 1.551138  Reprojection Error: -0.424843, 0.224473 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.654] xyz_f:0.480504, -0.045960, 1.551675  Reprojection Error: -0.425113, 0.227133 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.654] xyz_f:0.694643, 0.031118, 1.623262  Reprojection Error: -0.316078, 0.277852 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.654] xyz_f:0.823285, 0.092434, 1.637822  Reprojection Error: -0.110174, 0.257297 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.654] xyz_f:0.669098, -0.238798, 1.588289  Reprojection Error: -0.148708, 0.503212 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.654] xyz_f:0.579229, 0.218912, 1.566588  Reprojection Error: -0.404791, 0.367528 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.654] it:7 	 Success 	 new_chi2: 2.350948 	 dT = -0.061390, 0.078695, 0.013526
[11:52:55.654] xyz_f:0.374485, 0.220054, 1.483630  Reprojection Error: -0.325874, 0.356885 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.654] xyz_f:0.451166, -0.247322, 1.501063  Reprojection Error: -0.251136, 0.167791 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.654] xyz_f:0.662137, -0.461052, 1.452630  Reprojection Error: -0.187514, 0.088389 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.654] xyz_f:0.339762, -0.145843, 1.485206  Reprojection Error: -0.298659, 0.195833 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.654] xyz_f:0.622699, -0.439026, 1.460927  Reprojection Error: -0.200432, 0.099364 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.654] xyz_f:0.724792, -0.642375, 1.332535  Reprojection Error: -0.203889, -0.009847 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.654] xyz_f:0.709623, -0.464791, 1.451779  Reprojection Error: -0.167604, 0.083515 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.654] xyz_f:0.339968, -0.139361, 1.486294  Reprojection Error: -0.298670, 0.198059 Feature: -0.069390, 0.103482, 0.992208
[11:52:55.654] xyz_f:0.462431, -0.237492, 1.506605  Reprojection Error: -0.245862, 0.171613 Feature: 0.060954, 0.013952, 0.998043
[11:52:55.654] xyz_f:0.274634, -0.051052, 1.466880  Reprojection Error: -0.335582, 0.223791 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.654] xyz_f:0.632694, -0.458853, 1.451810  Reprojection Error: -0.199592, 0.090899 Feature: 0.224551, -0.214048, 0.950663
[11:52:55.654] xyz_f:0.485153, -0.219784, 1.516482  Reprojection Error: -0.235462, 0.178682 Feature: 0.084111, 0.033613, 0.995889
[11:52:55.654] xyz_f:0.673162, -0.449315, 1.459117  Reprojection Error: -0.180788, 0.092677 Feature: 0.264510, -0.202944, 0.942788
[11:52:55.654] xyz_f:0.621962, -0.472377, 1.443702  Reprojection Error: -0.206537, 0.085870 Feature: 0.213012, -0.229210, 0.949784
[11:52:55.654] xyz_f:0.617145, 0.092724, 1.558043  Reprojection Error: -0.180665, 0.318010 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.654] xyz_f:0.275036, -0.044470, 1.467422  Reprojection Error: -0.335950, 0.226226 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.654] xyz_f:0.690993, -0.451247, 1.458629  Reprojection Error: -0.173421, 0.090746 Feature: 0.281513, -0.204936, 0.937418
[11:52:55.654] xyz_f:0.485338, -0.204857, 1.519854  Reprojection Error: -0.234827, 0.183925 Feature: 0.084104, 0.048905, 0.995256
[11:52:55.654] xyz_f:0.482232, -0.230244, 1.513314  Reprojection Error: -0.237148, 0.174916 Feature: 0.081221, 0.022690, 0.996438
[11:52:55.654] xyz_f:0.344969, -0.152861, 1.486128  Reprojection Error: -0.296132, 0.193816 Feature: -0.063614, 0.090400, 0.993872
[11:52:55.654] xyz_f:0.471067, -0.214660, 1.514265  Reprojection Error: -0.241230, 0.179867 Feature: 0.069636, 0.037989, 0.996849
[11:52:55.654] xyz_f:0.739731, 0.051857, 1.564464  Reprojection Error: -0.116254, 0.311071 Feature: 0.319493, 0.308417, 0.895993
[11:52:55.654] xyz_f:0.488490, 0.031859, 1.541802  Reprojection Error: -0.238409, 0.275572 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.654] xyz_f:0.626575, -0.453503, 1.454033  Reprojection Error: -0.201233, 0.093370 Feature: 0.218950, -0.208305, 0.953242
[11:52:55.654] xyz_f:0.462460, -0.237967, 1.506492  Reprojection Error: -0.245872, 0.171452 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.654] xyz_f:0.488233, 0.031608, 1.541753  Reprojection Error: -0.238511, 0.275438 Feature: 0.074740, 0.282980, 0.956209
[11:52:55.654] xyz_f:0.724792, -0.642375, 1.332535  Reprojection Error: -0.174386, -0.016520 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.654] xyz_f:0.662137, -0.461052, 1.452630  Reprojection Error: -0.158160, 0.086898 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.654] xyz_f:0.709623, -0.464791, 1.451779  Reprojection Error: -0.136773, 0.076753 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.654] xyz_f:0.622699, -0.439026, 1.460927  Reprojection Error: -0.171861, 0.095897 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.654] xyz_f:0.451166, -0.247322, 1.501063  Reprojection Error: -0.221994, 0.165604 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.654] xyz_f:0.339762, -0.145843, 1.485206  Reprojection Error: -0.266529, 0.197904 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.654] xyz_f:0.274634, -0.051052, 1.466880  Reprojection Error: -0.302540, 0.225402 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.654] xyz_f:0.275036, -0.044470, 1.467422  Reprojection Error: -0.302873, 0.227819 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.654] xyz_f:0.488490, 0.031859, 1.541802  Reprojection Error: -0.204978, 0.276359 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.654] xyz_f:0.617145, 0.092724, 1.558043  Reprojection Error: -0.003606, 0.254221 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.654] xyz_f:0.462460, -0.237967, 1.506492  Reprojection Error: -0.034417, 0.510823 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.654] xyz_f:0.374485, 0.220054, 1.483630  Reprojection Error: -0.287463, 0.358944 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.654] it:8 	 Success 	 new_chi2: 2.020574 	 dT = -0.061770, 0.095820, 0.026824
[11:52:55.654] xyz_f:0.274054, 0.222436, 1.378922  Reprojection Error: -0.272208, 0.343896 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.654] xyz_f:0.347011, -0.245459, 1.398294  Reprojection Error: -0.198739, 0.178569 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.654] xyz_f:0.557677, -0.460654, 1.355323  Reprojection Error: -0.143167, 0.110883 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.654] xyz_f:0.236763, -0.143212, 1.379565  Reprojection Error: -0.241516, 0.201445 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.654] xyz_f:0.518191, -0.438354, 1.362597  Reprojection Error: -0.154493, 0.120556 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.654] xyz_f:0.622163, -0.642418, 1.236876  Reprojection Error: -0.162980, 0.027471 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.654] xyz_f:0.605142, -0.464722, 1.355702  Reprojection Error: -0.125177, 0.106153 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.654] xyz_f:0.236985, -0.136731, 1.380658  Reprojection Error: -0.241581, 0.203328 Feature: -0.069390, 0.103482, 0.992208
[11:52:55.654] xyz_f:0.358196, -0.235708, 1.404126  Reprojection Error: -0.194029, 0.181847 Feature: 0.060954, 0.013952, 0.998043
[11:52:55.654] xyz_f:0.172790, -0.047972, 1.359566  Reprojection Error: -0.275451, 0.224272 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.654] xyz_f:0.528282, -0.458250, 1.353741  Reprojection Error: -0.154034, 0.113350 Feature: 0.224551, -0.214048, 0.950663
[11:52:55.654] xyz_f:0.380778, -0.218157, 1.414590  Reprojection Error: -0.184720, 0.187971 Feature: 0.084111, 0.033613, 0.995889
[11:52:55.654] xyz_f:0.568612, -0.448993, 1.362095  Reprojection Error: -0.136893, 0.114375 Feature: 0.264510, -0.202944, 0.942788
[11:52:55.654] xyz_f:0.517670, -0.471700, 1.345356  Reprojection Error: -0.160509, 0.109285 Feature: 0.213012, -0.229210, 0.949784
[11:52:55.654] xyz_f:0.513815, 0.093431, 1.459585  Reprojection Error: -0.136591, 0.313511 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.654] xyz_f:0.173225, -0.041393, 1.360119  Reprojection Error: -0.275882, 0.226355 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.654] xyz_f:0.586436, -0.451049, 1.362069  Reprojection Error: -0.130241, 0.112532 Feature: 0.281513, -0.204936, 0.937418
[11:52:55.654] xyz_f:0.380979, -0.203231, 1.417968  Reprojection Error: -0.184174, 0.192463 Feature: 0.084104, 0.048905, 0.995256
[11:52:55.654] xyz_f:0.377867, -0.228597, 1.411347  Reprojection Error: -0.186224, 0.184741 Feature: 0.081221, 0.022690, 0.996438
[11:52:55.654] xyz_f:0.241895, -0.150265, 1.380621  Reprojection Error: -0.239214, 0.199796 Feature: -0.063614, 0.090400, 0.993872
[11:52:55.654] xyz_f:0.366789, -0.212936, 1.412010  Reprojection Error: -0.189908, 0.188912 Feature: 0.069636, 0.037989, 0.996849
[11:52:55.654] xyz_f:0.635906, 0.051714, 1.469176  Reprojection Error: -0.076252, 0.309018 Feature: 0.319493, 0.308417, 0.895993
[11:52:55.654] xyz_f:0.385205, 0.033459, 1.440011  Reprojection Error: -0.189079, 0.273000 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.654] xyz_f:0.522145, -0.452858, 1.355805  Reprojection Error: -0.155428, 0.115491 Feature: 0.218950, -0.208305, 0.953242
[11:52:55.654] xyz_f:0.358226, -0.236183, 1.404015  Reprojection Error: -0.194037, 0.181710 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.654] xyz_f:0.384947, 0.033210, 1.439955  Reprojection Error: -0.189170, 0.272876 Feature: 0.074740, 0.282980, 0.956209
[11:52:55.654] xyz_f:0.622163, -0.642418, 1.236876  Reprojection Error: -0.133478, 0.020797 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.654] xyz_f:0.557677, -0.460654, 1.355323  Reprojection Error: -0.113812, 0.109392 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.654] xyz_f:0.605142, -0.464722, 1.355702  Reprojection Error: -0.094346, 0.099391 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.654] xyz_f:0.518191, -0.438354, 1.362597  Reprojection Error: -0.125922, 0.117090 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.654] xyz_f:0.347011, -0.245459, 1.398294  Reprojection Error: -0.169597, 0.176382 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.654] xyz_f:0.236763, -0.143212, 1.379565  Reprojection Error: -0.209385, 0.203516 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.654] xyz_f:0.172790, -0.047972, 1.359566  Reprojection Error: -0.242410, 0.225884 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.654] xyz_f:0.173225, -0.041393, 1.360119  Reprojection Error: -0.242805, 0.227948 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.654] xyz_f:0.385205, 0.033459, 1.440011  Reprojection Error: -0.155649, 0.273787 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.654] xyz_f:0.513815, 0.093431, 1.459585  Reprojection Error: 0.040469, 0.249722 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.654] xyz_f:0.358226, -0.236183, 1.404015  Reprojection Error: 0.017418, 0.521082 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.654] xyz_f:0.274054, 0.222436, 1.378922  Reprojection Error: -0.233797, 0.345954 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.654] it:9 	 Success 	 new_chi2: 1.813567 	 dT = -0.065029, 0.091680, 0.037483
[11:52:55.654] xyz_f:0.151018, 0.226019, 1.273869  Reprojection Error: -0.192014, 0.327780 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.654] xyz_f:0.218685, -0.242558, 1.295787  Reprojection Error: -0.119338, 0.190217 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.654] xyz_f:0.428671, -0.459793, 1.260432  Reprojection Error: -0.071794, 0.135788 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.654] xyz_f:0.110184, -0.139249, 1.273097  Reprojection Error: -0.156442, 0.207014 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.654] xyz_f:0.389166, -0.437110, 1.266276  Reprojection Error: -0.081528, 0.144045 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.654] xyz_f:0.495636, -0.642195, 1.144364  Reprojection Error: -0.093079, 0.069264 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.654] xyz_f:0.476050, -0.464322, 1.262528  Reprojection Error: -0.055869, 0.131134 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.654] xyz_f:0.110430, -0.132771, 1.274199  Reprojection Error: -0.156600, 0.208495 Feature: -0.069390, 0.103482, 0.992208
[11:52:55.654] xyz_f:0.229746, -0.232915, 1.302022  Reprojection Error: -0.115379, 0.192866 Feature: 0.060954, 0.013952, 0.998043
[11:52:55.654] xyz_f:0.047904, -0.043397, 1.250813  Reprojection Error: -0.186657, 0.223683 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.654] xyz_f:0.399377, -0.457105, 1.257787  Reprojection Error: -0.081319, 0.138264 Feature: 0.224551, -0.214048, 0.950663
[11:52:55.654] xyz_f:0.252103, -0.215582, 1.313299  Reprojection Error: -0.107503, 0.197905 Feature: 0.084111, 0.033613, 0.995889
[11:52:55.654] xyz_f:0.439467, -0.448238, 1.267597  Reprojection Error: -0.066131, 0.138353 Feature: 0.264510, -0.202944, 0.942788
[11:52:55.654] xyz_f:0.388946, -0.470453, 1.249022  Reprojection Error: -0.087126, 0.135329 Feature: 0.213012, -0.229210, 0.949784
[11:52:55.654] xyz_f:0.386440, 0.094709, 1.363135  Reprojection Error: -0.068056, 0.308044 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.654] xyz_f:0.048382, -0.036823, 1.251383  Reprojection Error: -0.187185, 0.225347 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.654] xyz_f:0.457259, -0.450466, 1.268216  Reprojection Error: -0.060246, 0.136579 Feature: 0.281513, -0.204936, 0.937418
[11:52:55.654] xyz_f:0.252326, -0.200658, 1.316685  Reprojection Error: -0.107133, 0.201534 Feature: 0.084104, 0.048905, 0.995256
[11:52:55.654] xyz_f:0.249211, -0.225994, 1.309951  Reprojection Error: -0.108733, 0.195291 Feature: 0.081221, 0.022690, 0.996438
[11:52:55.654] xyz_f:0.115206, -0.146352, 1.274337  Reprojection Error: -0.154411, 0.205803 Feature: -0.063614, 0.090400, 0.993872
[11:52:55.655] xyz_f:0.238268, -0.210226, 1.310215  Reprojection Error: -0.111998, 0.198560 Feature: 0.069636, 0.037989, 0.996849
[11:52:55.655] xyz_f:0.507694, 0.051812, 1.377132  Reprojection Error: -0.012081, 0.306595 Feature: 0.319493, 0.308417, 0.895993
[11:52:55.655] xyz_f:0.258047, 0.035984, 1.338908  Reprojection Error: -0.114308, 0.269360 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.655] xyz_f:0.393222, -0.451653, 1.259628  Reprojection Error: -0.082483, 0.140038 Feature: 0.218950, -0.208305, 0.953242
[11:52:55.655] xyz_f:0.229775, -0.233390, 1.301911  Reprojection Error: -0.115384, 0.192758 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.655] xyz_f:0.257789, 0.035738, 1.338843  Reprojection Error: -0.114383, 0.269247 Feature: 0.074740, 0.282980, 0.956209
[11:52:55.655] xyz_f:0.495636, -0.642195, 1.144364  Reprojection Error: -0.063577, 0.062590 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.655] xyz_f:0.428671, -0.459793, 1.260432  Reprojection Error: -0.042439, 0.134297 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.655] xyz_f:0.476050, -0.464322, 1.262528  Reprojection Error: -0.025039, 0.124371 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.655] xyz_f:0.389166, -0.437110, 1.266276  Reprojection Error: -0.052956, 0.140579 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.655] xyz_f:0.218685, -0.242558, 1.295787  Reprojection Error: -0.090196, 0.188030 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.655] xyz_f:0.110184, -0.139249, 1.273097  Reprojection Error: -0.124312, 0.209085 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.655] xyz_f:0.047904, -0.043397, 1.250813  Reprojection Error: -0.153616, 0.225294 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.655] xyz_f:0.048382, -0.036823, 1.251383  Reprojection Error: -0.154107, 0.226940 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.655] xyz_f:0.258047, 0.035984, 1.338908  Reprojection Error: -0.080877, 0.270147 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.655] xyz_f:0.386440, 0.094709, 1.363135  Reprojection Error: 0.109003, 0.244255 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.655] xyz_f:0.229775, -0.233390, 1.301911  Reprojection Error: 0.096071, 0.532130 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.655] xyz_f:0.151018, 0.226019, 1.273869  Reprojection Error: -0.153603, 0.329839 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.655] it:10 	 Success 	 new_chi2: 1.513009 	 dT = -0.071060, 0.080633, 0.052208
[11:52:55.655] xyz_f:0.023832, 0.231497, 1.172791  Reprojection Error: -0.093784, 0.307817 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.655] xyz_f:0.083973, -0.237944, 1.197933  Reprojection Error: -0.020670, 0.201656 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.655] xyz_f:0.292521, -0.458007, 1.173134  Reprojection Error: 0.018954, 0.161411 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.655] xyz_f:-0.021841, -0.133187, 1.169838  Reprojection Error: -0.051224, 0.211486 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.655] xyz_f:0.253082, -0.434791, 1.176986  Reprojection Error: 0.010778, 0.168262 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.655] xyz_f:0.362782, -0.641336, 1.060527  Reprojection Error: -0.002046, 0.112817 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.655] xyz_f:0.339669, -0.463175, 1.177614  Reprojection Error: 0.032753, 0.156679 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.655] xyz_f:-0.021564, -0.126712, 1.170953  Reprojection Error: -0.051519, 0.212508 Feature: -0.069390, 0.103482, 0.992208
[11:52:55.655] xyz_f:0.094835, -0.228449, 1.204721  Reprojection Error: -0.017646, 0.203607 Feature: 0.060954, 0.013952, 0.998043
[11:52:55.655] xyz_f:-0.081619, -0.036510, 1.144476  Reprojection Error: -0.077044, 0.220888 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.655] xyz_f:0.263437, -0.454924, 1.169016  Reprojection Error: 0.010856, 0.163995 Feature: 0.224551, -0.214048, 0.950663
[11:52:55.655] xyz_f:0.116827, -0.211415, 1.217117  Reprojection Error: -0.011528, 0.207454 Feature: 0.084111, 0.033613, 0.995889
[11:52:55.655] xyz_f:0.303097, -0.446596, 1.180838  Reprojection Error: 0.023882, 0.162943 Feature: 0.264510, -0.202944, 0.942788
[11:52:55.655] xyz_f:0.253281, -0.468133, 1.159732  Reprojection Error: 0.005878, 0.162328 Feature: 0.213012, -0.229210, 0.949784
[11:52:55.655] xyz_f:0.252660, 0.097050, 1.273766  Reprojection Error: 0.017081, 0.301332 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.655] xyz_f:-0.081081, -0.029942, 1.145071  Reprojection Error: -0.077713, 0.222070 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.655] xyz_f:0.320803, -0.449065, 1.182352  Reprojection Error: 0.028980, 0.161188 Feature: 0.281513, -0.204936, 0.937418
[11:52:55.655] xyz_f:0.117081, -0.196495, 1.220514  Reprojection Error: -0.011423, 0.210131 Feature: 0.084104, 0.048905, 0.995256
[11:52:55.655] xyz_f:0.113967, -0.221788, 1.213623  Reprojection Error: -0.012395, 0.205519 Feature: 0.081221, 0.022690, 0.996438
[11:52:55.655] xyz_f:-0.016984, -0.140356, 1.171327  Reprojection Error: -0.049506, 0.210784 Feature: -0.063614, 0.090400, 0.993872
[11:52:55.655] xyz_f:0.103239, -0.205874, 1.213341  Reprojection Error: -0.015230, 0.207784 Feature: 0.069636, 0.037989, 0.996849
[11:52:55.655] xyz_f:0.372464, 0.052524, 1.293842  Reprojection Error: 0.068706, 0.303623 Feature: 0.319493, 0.308417, 0.895993
[11:52:55.655] xyz_f:0.124870, 0.040056, 1.243078  Reprojection Error: -0.022030, 0.264012 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.655] xyz_f:0.257271, -0.449389, 1.170547  Reprojection Error: 0.009903, 0.165391 Feature: 0.218950, -0.208305, 0.953242
[11:52:55.655] xyz_f:0.094863, -0.228924, 1.204612  Reprojection Error: -0.017643, 0.203530 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.655] xyz_f:0.124612, 0.039813, 1.243000  Reprojection Error: -0.022088, 0.263910 Feature: 0.074740, 0.282980, 0.956209
[11:52:55.655] xyz_f:0.362782, -0.641336, 1.060527  Reprojection Error: 0.027457, 0.106144 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.655] xyz_f:0.292521, -0.458007, 1.173134  Reprojection Error: 0.048309, 0.159921 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.655] xyz_f:0.339669, -0.463175, 1.177614  Reprojection Error: 0.063584, 0.149916 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.655] xyz_f:0.253082, -0.434791, 1.176986  Reprojection Error: 0.039350, 0.164795 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.655] xyz_f:0.083973, -0.237944, 1.197933  Reprojection Error: 0.008472, 0.199468 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.655] xyz_f:-0.021841, -0.133187, 1.169838  Reprojection Error: -0.019094, 0.213557 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.655] xyz_f:-0.081619, -0.036510, 1.144476  Reprojection Error: -0.044002, 0.222500 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.655] xyz_f:-0.081081, -0.029942, 1.145071  Reprojection Error: -0.044636, 0.223663 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.655] xyz_f:0.124870, 0.040056, 1.243078  Reprojection Error: 0.011400, 0.264799 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.655] xyz_f:0.252660, 0.097050, 1.273766  Reprojection Error: 0.194140, 0.237542 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.655] xyz_f:0.094863, -0.228924, 1.204612  Reprojection Error: 0.193812, 0.542902 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.655] xyz_f:0.023832, 0.231497, 1.172791  Reprojection Error: -0.055373, 0.309876 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.655] it:11 	 Success 	 new_chi2: 1.381245 	 dT = -0.061109, 0.057500, 0.054746
[11:52:55.655] xyz_f:-0.109059, 0.237836, 1.091634  Reprojection Error: 0.026441, 0.287335 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.655] xyz_f:-0.056985, -0.232400, 1.119744  Reprojection Error: 0.100320, 0.210575 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.655] xyz_f:0.149444, -0.455404, 1.105919  Reprojection Error: 0.133173, 0.182786 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.655] xyz_f:-0.159673, -0.126166, 1.086135  Reprojection Error: 0.077116, 0.213796 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.655] xyz_f:0.110189, -0.431630, 1.107691  Reprojection Error: 0.126327, 0.188518 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.655] xyz_f:0.222955, -0.639752, 0.997115  Reprojection Error: 0.116431, 0.149687 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.655] xyz_f:0.196211, -0.461237, 1.112883  Reprojection Error: 0.144883, 0.177815 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.655] xyz_f:-0.159363, -0.119695, 1.087265  Reprojection Error: 0.076638, 0.214383 Feature: -0.069390, 0.103482, 0.992208
[11:52:55.655] xyz_f:-0.046364, -0.223057, 1.127100  Reprojection Error: 0.102210, 0.211883 Feature: 0.060954, 0.013952, 0.998043
[11:52:55.655] xyz_f:-0.216651, -0.028661, 1.057684  Reprojection Error: 0.056476, 0.216086 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.655] xyz_f:0.120665, -0.451912, 1.100272  Reprojection Error: 0.126537, 0.185571 Feature: 0.224551, -0.214048, 0.950663
[11:52:55.655] xyz_f:-0.024819, -0.206332, 1.140647  Reprojection Error: 0.106217, 0.214643 Feature: 0.084111, 0.033613, 0.995889
[11:52:55.655] xyz_f:0.159758, -0.444142, 1.114176  Reprojection Error: 0.137174, 0.183368 Feature: 0.264510, -0.202944, 0.942788
[11:52:55.655] xyz_f:0.110828, -0.464979, 1.090458  Reprojection Error: 0.122640, 0.185078 Feature: 0.213012, -0.229210, 0.949784
[11:52:55.655] xyz_f:0.112185, 0.100199, 1.204512  Reprojection Error: 0.122300, 0.294337 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.655] xyz_f:-0.216053, -0.022102, 1.058309  Reprojection Error: 0.055627, 0.216805 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.655] xyz_f:0.177324, -0.446860, 1.116623  Reprojection Error: 0.141503, 0.181571 Feature: 0.281513, -0.204936, 0.937418
[11:52:55.655] xyz_f:-0.024534, -0.191416, 1.144059  Reprojection Error: 0.105949, 0.216451 Feature: 0.084104, 0.048905, 0.995256
[11:52:55.655] xyz_f:-0.027637, -0.216665, 1.137004  Reprojection Error: 0.105818, 0.213329 Feature: 0.081221, 0.022690, 0.996438
[11:52:55.655] xyz_f:-0.155003, -0.133402, 1.087876  Reprojection Error: 0.078476, 0.213584 Feature: -0.063614, 0.090400, 0.993872
[11:52:55.655] xyz_f:-0.038109, -0.200601, 1.136161  Reprojection Error: 0.103398, 0.214669 Feature: 0.069636, 0.037989, 0.996849
[11:52:55.655] xyz_f:0.230117, 0.053989, 1.230876  Reprojection Error: 0.169626, 0.300356 Feature: 0.319493, 0.308417, 0.895993
[11:52:55.655] xyz_f:-0.014599, 0.045010, 1.167092  Reprojection Error: 0.090931, 0.257670 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.655] xyz_f:0.114505, -0.446289, 1.101476  Reprojection Error: 0.125734, 0.186651 Feature: 0.218950, -0.208305, 0.953242
[11:52:55.655] xyz_f:-0.046337, -0.223533, 1.126992  Reprojection Error: 0.102222, 0.211836 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.655] xyz_f:-0.014855, 0.044770, 1.167000  Reprojection Error: 0.090893, 0.257576 Feature: 0.074740, 0.282980, 0.956209
[11:52:55.655] xyz_f:0.222955, -0.639752, 0.997115  Reprojection Error: 0.145934, 0.143013 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.655] xyz_f:0.149444, -0.455404, 1.105919  Reprojection Error: 0.162528, 0.181295 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.655] xyz_f:0.196211, -0.461237, 1.112883  Reprojection Error: 0.175713, 0.171052 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.655] xyz_f:0.110189, -0.431630, 1.107691  Reprojection Error: 0.154898, 0.185052 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.655] xyz_f:-0.056985, -0.232400, 1.119744  Reprojection Error: 0.129462, 0.208388 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.655] xyz_f:-0.159673, -0.126166, 1.086135  Reprojection Error: 0.109246, 0.215867 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.655] xyz_f:-0.216651, -0.028661, 1.057684  Reprojection Error: 0.089518, 0.217697 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.655] xyz_f:-0.216053, -0.022102, 1.058309  Reprojection Error: 0.088704, 0.218398 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.655] xyz_f:-0.014599, 0.045010, 1.167092  Reprojection Error: 0.124361, 0.258457 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.655] xyz_f:0.112185, 0.100199, 1.204512  Reprojection Error: 0.299360, 0.230547 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.655] xyz_f:-0.046337, -0.223533, 1.126992  Reprojection Error: 0.313677, 0.551207 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.655] xyz_f:-0.109059, 0.237836, 1.091634  Reprojection Error: 0.064852, 0.289394 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.655] it:12 	 Success 	 new_chi2: 1.703728 	 dT = -0.016312, 0.036461, 0.025759
[11:52:55.655] xyz_f:-0.230785, 0.241024, 1.043276  Reprojection Error: 0.147749, 0.274181 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.655] xyz_f:-0.182562, -0.229547, 1.072633  Reprojection Error: 0.219629, 0.217030 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.655] xyz_f:0.022656, -0.453923, 1.063931  Reprojection Error: 0.247010, 0.197645 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.655] xyz_f:-0.283672, -0.122633, 1.036489  Reprojection Error: 0.203791, 0.215952 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.655] xyz_f:-0.016472, -0.429888, 1.064727  Reprojection Error: 0.241274, 0.202606 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.655] xyz_f:0.097621, -0.638766, 0.956973  Reprojection Error: 0.238022, 0.175569 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.655] xyz_f:0.069195, -0.460067, 1.072055  Reprojection Error: 0.256647, 0.192508 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.655] xyz_f:-0.283347, -0.116164, 1.037627  Reprojection Error: 0.203137, 0.216247 Feature: -0.069390, 0.103482, 0.992208
[11:52:55.655] xyz_f:-0.172066, -0.220275, 1.080252  Reprojection Error: 0.220357, 0.217889 Feature: 0.060954, 0.013952, 0.998043
[11:52:55.655] xyz_f:-0.339273, -0.024753, 1.006638  Reprojection Error: 0.188676, 0.213578 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.655] xyz_f:-0.005950, -0.450239, 1.057569  Reprojection Error: 0.241831, 0.200574 Feature: 0.224551, -0.214048, 0.950663
[11:52:55.655] xyz_f:-0.150753, -0.203692, 1.094333  Reprojection Error: 0.222217, 0.219886 Feature: 0.084111, 0.033613, 0.995889
[11:52:55.655] xyz_f:0.032836, -0.442729, 1.072442  Reprojection Error: 0.249943, 0.197563 Feature: 0.264510, -0.202944, 0.942788
[11:52:55.655] xyz_f:-0.015627, -0.463241, 1.047513  Reprojection Error: 0.239192, 0.200901 Feature: 0.213012, -0.229210, 0.949784
[11:52:55.655] xyz_f:-0.013340, 0.101925, 1.161612  Reprojection Error: 0.226922, 0.289779 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.655] xyz_f:-0.338647, -0.018198, 1.007278  Reprojection Error: 0.187678, 0.213988 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.655] xyz_f:0.050317, -0.445564, 1.075325  Reprojection Error: 0.253515, 0.195735 Feature: 0.281513, -0.204936, 0.937418
[11:52:55.655] xyz_f:-0.150453, -0.188778, 1.097752  Reprojection Error: 0.221561, 0.221105 Feature: 0.084104, 0.048905, 0.995256
[11:52:55.655] xyz_f:-0.153549, -0.214006, 1.090620  Reprojection Error: 0.222301, 0.218995 Feature: 0.081221, 0.022690, 0.996438
[11:52:55.655] xyz_f:-0.279095, -0.129901, 1.038345  Reprojection Error: 0.204782, 0.216061 Feature: -0.063614, 0.090400, 0.993872
[11:52:55.655] xyz_f:-0.163888, -0.197872, 1.089518  Reprojection Error: 0.220279, 0.219723 Feature: 0.069636, 0.037989, 0.996849
[11:52:55.655] xyz_f:0.103589, 0.054931, 1.190898  Reprojection Error: 0.269596, 0.298092 Feature: 0.319493, 0.308417, 0.895993
[11:52:55.655] xyz_f:-0.139519, 0.047578, 1.121044  Reprojection Error: 0.202876, 0.253795 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.655] xyz_f:-0.012100, -0.444575, 1.058620  Reprojection Error: 0.241120, 0.201435 Feature: 0.218950, -0.208305, 0.953242
[11:52:55.655] xyz_f:-0.172039, -0.220751, 1.080145  Reprojection Error: 0.220381, 0.217862 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.655] xyz_f:-0.139775, 0.047340, 1.120946  Reprojection Error: 0.202857, 0.253707 Feature: 0.074740, 0.282980, 0.956209
[11:52:55.655] xyz_f:0.097621, -0.638766, 0.956973  Reprojection Error: 0.267524, 0.168896 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.655] xyz_f:0.022656, -0.453923, 1.063931  Reprojection Error: 0.276365, 0.196155 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.655] xyz_f:0.069195, -0.460067, 1.072055  Reprojection Error: 0.287478, 0.185745 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.655] xyz_f:-0.016472, -0.429888, 1.064727  Reprojection Error: 0.269845, 0.199139 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.655] xyz_f:-0.182562, -0.229547, 1.072633  Reprojection Error: 0.248771, 0.214843 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.655] xyz_f:-0.283672, -0.122633, 1.036489  Reprojection Error: 0.235921, 0.218022 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.655] xyz_f:-0.339273, -0.024753, 1.006638  Reprojection Error: 0.221718, 0.215189 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.655] xyz_f:-0.338647, -0.018198, 1.007278  Reprojection Error: 0.220755, 0.215580 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.655] xyz_f:-0.139519, 0.047578, 1.121044  Reprojection Error: 0.236307, 0.254581 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.655] xyz_f:-0.013340, 0.101925, 1.161612  Reprojection Error: 0.403981, 0.225990 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.655] xyz_f:-0.172039, -0.220751, 1.080145  Reprojection Error: 0.431836, 0.557234 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.655] xyz_f:-0.230785, 0.241024, 1.043276  Reprojection Error: 0.186160, 0.276240 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.655] it:13 	 Success 	 new_chi2: 2.313533 	 dT = 0.027213, 0.032942, -0.006145
[11:52:55.655] xyz_f:-0.306166, 0.240251, 1.013216  Reprojection Error: 0.228709, 0.268089 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.655] xyz_f:-0.257021, -0.230242, 1.042284  Reprojection Error: 0.296023, 0.223928 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.655] xyz_f:-0.051502, -0.454291, 1.032362  Reprojection Error: 0.318192, 0.211048 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.655] xyz_f:-0.358513, -0.123489, 1.006741  Reprojection Error: 0.286218, 0.220298 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.655] xyz_f:-0.090662, -0.430318, 1.033391  Reprojection Error: 0.313536, 0.215265 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.655] xyz_f:0.023121, -0.639015, 0.924961  Reprojection Error: 0.315035, 0.198940 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.655] xyz_f:-0.004905, -0.460361, 1.040211  Reprojection Error: 0.325907, 0.205928 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.655] xyz_f:-0.358192, -0.117020, 1.007877  Reprojection Error: 0.285458, 0.220400 Feature: -0.069390, 0.103482, 0.992208
[11:52:55.655] xyz_f:-0.246494, -0.220953, 1.049840  Reprojection Error: 0.295866, 0.224442 Feature: 0.060954, 0.013952, 0.998043
[11:52:55.655] xyz_f:-0.414446, -0.025698, 0.977221  Reprojection Error: 0.275748, 0.215284 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.655] xyz_f:-0.080151, -0.450653, 1.026171  Reprojection Error: 0.314312, 0.214003 Feature: 0.224551, -0.214048, 0.950663
[11:52:55.655] xyz_f:-0.225125, -0.204336, 1.063794  Reprojection Error: 0.296083, 0.225835 Feature: 0.084111, 0.033613, 0.995889
[11:52:55.655] xyz_f:-0.041289, -0.443081, 1.040813  Reprojection Error: 0.320231, 0.210447 Feature: 0.264510, -0.202944, 0.942788
[11:52:55.655] xyz_f:-0.089866, -0.463671, 1.016172  Reprojection Error: 0.312710, 0.214963 Feature: 0.213012, -0.229210, 0.949784
[11:52:55.655] xyz_f:-0.087801, 0.101499, 1.130258  Reprojection Error: 0.293120, 0.287722 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.655] xyz_f:-0.413827, -0.019141, 0.977857  Reprojection Error: 0.274676, 0.215496 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.655] xyz_f:-0.023787, -0.445888, 1.043592  Reprojection Error: 0.323100, 0.208645 Feature: 0.281513, -0.204936, 0.937418
[11:52:55.655] xyz_f:-0.224829, -0.189421, 1.067211  Reprojection Error: 0.295174, 0.226629 Feature: 0.084104, 0.048905, 0.995256
[11:52:55.655] xyz_f:-0.227926, -0.214655, 1.060098  Reprojection Error: 0.296516, 0.225257 Feature: 0.081221, 0.022690, 0.996438
[11:52:55.655] xyz_f:-0.353914, -0.130749, 1.008570  Reprojection Error: 0.286901, 0.220595 Feature: -0.063614, 0.090400, 0.993872
[11:52:55.655] xyz_f:-0.238298, -0.198537, 1.059057  Reprojection Error: 0.294866, 0.225575 Feature: 0.069636, 0.037989, 0.996849
[11:52:55.655] xyz_f:0.029374, 0.054691, 1.158849  Reprojection Error: 0.331232, 0.297023 Feature: 0.319493, 0.308417, 0.895993
[11:52:55.655] xyz_f:-0.214132, 0.046952, 1.090440  Reprojection Error: 0.274794, 0.253178 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.655] xyz_f:-0.086303, -0.444999, 1.027259  Reprojection Error: 0.313703, 0.214668 Feature: 0.218950, -0.208305, 0.953242
[11:52:55.655] xyz_f:-0.246468, -0.221429, 1.049733  Reprojection Error: 0.295897, 0.224428 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.655] xyz_f:-0.214388, 0.046714, 1.090343  Reprojection Error: 0.274787, 0.253097 Feature: 0.074740, 0.282980, 0.956209
[11:52:55.655] xyz_f:0.023121, -0.639015, 0.924961  Reprojection Error: 0.344538, 0.192266 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.655] xyz_f:-0.051502, -0.454291, 1.032362  Reprojection Error: 0.347546, 0.209557 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.655] xyz_f:-0.004905, -0.460361, 1.040211  Reprojection Error: 0.356738, 0.199165 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.655] xyz_f:-0.090662, -0.430318, 1.033391  Reprojection Error: 0.342108, 0.211799 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.656] xyz_f:-0.257021, -0.230242, 1.042284  Reprojection Error: 0.325165, 0.221741 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.656] xyz_f:-0.358513, -0.123489, 1.006741  Reprojection Error: 0.318349, 0.222368 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.656] xyz_f:-0.414446, -0.025698, 0.977221  Reprojection Error: 0.308790, 0.216896 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.656] xyz_f:-0.413827, -0.019141, 0.977857  Reprojection Error: 0.307753, 0.217089 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.656] xyz_f:-0.214132, 0.046952, 1.090440  Reprojection Error: 0.308225, 0.253965 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.656] xyz_f:-0.087801, 0.101499, 1.130258  Reprojection Error: 0.470179, 0.223932 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.656] xyz_f:-0.246468, -0.221429, 1.049733  Reprojection Error: 0.507352, 0.563800 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.656] xyz_f:-0.306166, 0.240251, 1.013216  Reprojection Error: 0.267120, 0.270148 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.656] it:14 	 Success 	 new_chi2: 2.560450 	 dT = 0.043626, 0.035742, -0.017715
[11:52:55.656] xyz_f:-0.342141, 0.238066, 0.985628  Reprojection Error: 0.273667, 0.263669 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.656] xyz_f:-0.290350, -0.232195, 1.013833  Reprojection Error: 0.335818, 0.232054 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.656] xyz_f:-0.084006, -0.455301, 1.000387  Reprojection Error: 0.352278, 0.226122 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.656] xyz_f:-0.392924, -0.125910, 0.980036  Reprojection Error: 0.331034, 0.226111 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.656] xyz_f:-0.123252, -0.431507, 1.002087  Reprojection Error: 0.348799, 0.229460 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.656] xyz_f:-0.010386, -0.639685, 0.891718  Reprojection Error: 0.351678, 0.225446 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.656] xyz_f:-0.037254, -0.461157, 1.007437  Reprojection Error: 0.358171, 0.221115 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.656] xyz_f:-0.392613, -0.119439, 0.981167  Reprojection Error: 0.330215, 0.226027 Feature: -0.069390, 0.103482, 0.992208
[11:52:55.656] xyz_f:-0.279738, -0.222858, 1.021208  Reprojection Error: 0.335003, 0.232208 Feature: 0.060954, 0.013952, 0.998043
[11:52:55.656] xyz_f:-0.449802, -0.028378, 0.951481  Reprojection Error: 0.324379, 0.218812 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.656] xyz_f:-0.112773, -0.451794, 0.994687  Reprojection Error: 0.349580, 0.229051 Feature: 0.224551, -0.214048, 0.950663
[11:52:55.656] xyz_f:-0.258210, -0.206143, 1.034795  Reprojection Error: 0.333986, 0.232963 Feature: 0.084111, 0.033613, 0.995889
[11:52:55.656] xyz_f:-0.073701, -0.444043, 1.008662  Reprojection Error: 0.353629, 0.224970 Feature: 0.264510, -0.202944, 0.942788
[11:52:55.656] xyz_f:-0.122598, -0.464856, 0.984855  Reprojection Error: 0.348757, 0.230676 Feature: 0.213012, -0.229210, 0.949784
[11:52:55.656] xyz_f:-0.121173, 0.100321, 1.098912  Reprojection Error: 0.325703, 0.286232 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.656] xyz_f:-0.449201, -0.021819, 0.952107  Reprojection Error: 0.323275, 0.218837 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.656] xyz_f:-0.056142, -0.446770, 1.011142  Reprojection Error: 0.355830, 0.223229 Feature: 0.281513, -0.204936, 0.937418
[11:52:55.656] xyz_f:-0.257923, -0.191227, 1.038207  Reprojection Error: 0.332936, 0.233327 Feature: 0.084104, 0.048905, 0.995256
[11:52:55.656] xyz_f:-0.261026, -0.216474, 1.031147  Reprojection Error: 0.334653, 0.232706 Feature: 0.081221, 0.022690, 0.996438
[11:52:55.656] xyz_f:-0.388261, -0.133149, 0.981785  Reprojection Error: 0.331458, 0.226577 Feature: -0.063614, 0.090400, 0.993872
[11:52:55.656] xyz_f:-0.271488, -0.200405, 1.030284  Reprojection Error: 0.333364, 0.232623 Feature: 0.069636, 0.037989, 0.996849
[11:52:55.656] xyz_f:-0.003311, 0.054052, 1.125492  Reprojection Error: 0.359522, 0.296192 Feature: 0.319493, 0.308417, 0.895993
[11:52:55.656] xyz_f:-0.247915, 0.045194, 1.061258  Reprojection Error: 0.312026, 0.253650 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.656] xyz_f:-0.118932, -0.446168, 0.995880  Reprojection Error: 0.349114, 0.229491 Feature: 0.218950, -0.208305, 0.953242
[11:52:55.656] xyz_f:-0.279711, -0.223334, 1.021101  Reprojection Error: 0.335038, 0.232209 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.656] xyz_f:-0.248171, 0.044955, 1.061166  Reprojection Error: 0.312029, 0.253576 Feature: 0.074740, 0.282980, 0.956209
[11:52:55.656] xyz_f:-0.010386, -0.639685, 0.891718  Reprojection Error: 0.381181, 0.218772 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.656] xyz_f:-0.084006, -0.455301, 1.000387  Reprojection Error: 0.381632, 0.224632 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.656] xyz_f:-0.037254, -0.461157, 1.007437  Reprojection Error: 0.389002, 0.214352 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.656] xyz_f:-0.123252, -0.431507, 1.002087  Reprojection Error: 0.377370, 0.225994 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.656] xyz_f:-0.290350, -0.232195, 1.013833  Reprojection Error: 0.364959, 0.229867 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.656] xyz_f:-0.392924, -0.125910, 0.980036  Reprojection Error: 0.363164, 0.228182 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.656] xyz_f:-0.449802, -0.028378, 0.951481  Reprojection Error: 0.357421, 0.220424 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.656] xyz_f:-0.449201, -0.021819, 0.952107  Reprojection Error: 0.356352, 0.220430 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.656] xyz_f:-0.247915, 0.045194, 1.061258  Reprojection Error: 0.345457, 0.254437 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.656] xyz_f:-0.121173, 0.100321, 1.098912  Reprojection Error: 0.502763, 0.222442 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.656] xyz_f:-0.279711, -0.223334, 1.021101  Reprojection Error: 0.546493, 0.571581 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.656] xyz_f:-0.342141, 0.238066, 0.985628  Reprojection Error: 0.312078, 0.265728 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.656] it:15 	 Success 	 new_chi2: 2.552184 	 dT = 0.047886, 0.037865, -0.021020
[11:52:55.656] xyz_f:-0.366076, 0.235554, 0.957140  Reprojection Error: 0.309006, 0.259105 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.656] xyz_f:-0.311166, -0.234418, 0.984261  Reprojection Error: 0.365570, 0.241193 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.656] xyz_f:-0.103926, -0.456398, 0.966617  Reprojection Error: 0.375820, 0.243158 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.656] xyz_f:-0.414981, -0.128694, 0.952560  Reprojection Error: 0.365754, 0.232739 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.656] xyz_f:-0.143259, -0.432818, 0.969114  Reprojection Error: 0.373628, 0.245464 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.656] xyz_f:-0.031526, -0.640385, 0.856465  Reprojection Error: 0.376840, 0.255791 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.656] xyz_f:-0.057010, -0.461999, 0.972715  Reprojection Error: 0.379801, 0.238321 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.656] xyz_f:-0.414683, -0.122222, 0.953684  Reprojection Error: 0.364887, 0.232452 Feature: -0.069390, 0.103482, 0.992208
[11:52:55.656] xyz_f:-0.300457, -0.225022, 0.991420  Reprojection Error: 0.364131, 0.240948 Feature: 0.060954, 0.013952, 0.998043
[11:52:55.656] xyz_f:-0.472957, -0.031474, 0.925171  Reprojection Error: 0.362851, 0.223007 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.656] xyz_f:-0.132822, -0.453048, 0.961502  Reprojection Error: 0.374345, 0.246031 Feature: 0.224551, -0.214048, 0.950663
[11:52:55.656] xyz_f:-0.278748, -0.208190, 1.004568  Reprojection Error: 0.361939, 0.240995 Feature: 0.084111, 0.033613, 0.995889
[11:52:55.656] xyz_f:-0.093517, -0.445084, 0.974682  Reprojection Error: 0.376508, 0.241386 Feature: 0.264510, -0.202944, 0.942788
[11:52:55.656] xyz_f:-0.142773, -0.466164, 0.951871  Reprojection Error: 0.374266, 0.248406 Feature: 0.213012, -0.229210, 0.949784
[11:52:55.656] xyz_f:-0.142107, 0.099019, 1.065907  Reprojection Error: 0.348758, 0.284627 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.656] xyz_f:-0.472380, -0.024912, 0.925785  Reprojection Error: 0.361726, 0.222830 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.656] xyz_f:-0.075896, -0.447715, 0.976804  Reprojection Error: 0.378005, 0.239729 Feature: 0.281513, -0.204936, 0.937418
[11:52:55.656] xyz_f:-0.278474, -0.193272, 1.007975  Reprojection Error: 0.360776, 0.240880 Feature: 0.084104, 0.048905, 0.995256
[11:52:55.656] xyz_f:-0.281582, -0.218536, 1.000977  Reprojection Error: 0.362819, 0.241094 Feature: 0.081221, 0.022690, 0.996438
[11:52:55.656] xyz_f:-0.410245, -0.135907, 0.954214  Reprojection Error: 0.365923, 0.233386 Feature: -0.063614, 0.090400, 0.993872
[11:52:55.656] xyz_f:-0.292147, -0.202524, 1.000328  Reprojection Error: 0.361907, 0.240566 Feature: 0.069636, 0.037989, 0.996849
[11:52:55.656] xyz_f:-0.023481, 0.053394, 1.090086  Reprojection Error: 0.378120, 0.295237 Feature: 0.319493, 0.308417, 0.895993
[11:52:55.656] xyz_f:-0.269286, 0.043201, 1.030831  Reprojection Error: 0.339654, 0.254327 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.656] xyz_f:-0.138986, -0.447456, 0.962820  Reprojection Error: 0.374043, 0.246212 Feature: 0.218950, -0.208305, 0.953242
[11:52:55.656] xyz_f:-0.300430, -0.225498, 0.991312  Reprojection Error: 0.364169, 0.240964 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.656] xyz_f:-0.269543, 0.042960, 1.030744  Reprojection Error: 0.339666, 0.254261 Feature: 0.074740, 0.282980, 0.956209
[11:52:55.656] xyz_f:-0.031526, -0.640385, 0.856465  Reprojection Error: 0.406343, 0.249117 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.656] xyz_f:-0.103926, -0.456398, 0.966617  Reprojection Error: 0.405174, 0.241667 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.656] xyz_f:-0.057010, -0.461999, 0.972715  Reprojection Error: 0.410632, 0.231558 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.656] xyz_f:-0.143259, -0.432818, 0.969114  Reprojection Error: 0.402199, 0.241997 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.656] xyz_f:-0.311166, -0.234418, 0.984261  Reprojection Error: 0.394712, 0.239006 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.656] xyz_f:-0.414981, -0.128694, 0.952560  Reprojection Error: 0.397884, 0.234810 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.656] xyz_f:-0.472957, -0.031474, 0.925171  Reprojection Error: 0.395893, 0.224619 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.656] xyz_f:-0.472380, -0.024912, 0.925785  Reprojection Error: 0.394803, 0.224423 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.656] xyz_f:-0.269286, 0.043201, 1.030831  Reprojection Error: 0.373084, 0.255113 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.656] xyz_f:-0.142107, 0.099019, 1.065907  Reprojection Error: 0.525817, 0.220837 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.656] xyz_f:-0.300430, -0.225498, 0.991312  Reprojection Error: 0.575625, 0.580336 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.656] xyz_f:-0.366076, 0.235554, 0.957140  Reprojection Error: 0.347417, 0.261164 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.656] it:16 	 Success 	 new_chi2: 2.453099 	 dT = 0.049145, 0.039405, -0.022523
[11:52:55.656] xyz_f:-0.387763, 0.232959, 0.927418  Reprojection Error: 0.344648, 0.254015 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.656] xyz_f:-0.329537, -0.236682, 0.953309  Reprojection Error: 0.395106, 0.251302 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.656] xyz_f:-0.121440, -0.457452, 0.931146  Reprojection Error: 0.398724, 0.262276 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.656] xyz_f:-0.434632, -0.131567, 0.923879  Reprojection Error: 0.400548, 0.240044 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.656] xyz_f:-0.160846, -0.434102, 0.934500  Reprojection Error: 0.397923, 0.263380 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.656] xyz_f:-0.050382, -0.641021, 0.819434  Reprojection Error: 0.401515, 0.290357 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.656] xyz_f:-0.074371, -0.462779, 0.936222  Reprojection Error: 0.400628, 0.257667 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.656] xyz_f:-0.434347, -0.125093, 0.924998  Reprojection Error: 0.399631, 0.239532 Feature: -0.069390, 0.103482, 0.992208
[11:52:55.656] xyz_f:-0.318730, -0.227224, 0.960234  Reprojection Error: 0.393004, 0.250613 Feature: 0.060954, 0.013952, 0.998043
[11:52:55.656] xyz_f:-0.493755, -0.034689, 0.897764  Reprojection Error: 0.401624, 0.227627 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.656] xyz_f:-0.150459, -0.454271, 0.926661  Reprojection Error: 0.398572, 0.265067 Feature: 0.224551, -0.214048, 0.950663
[11:52:55.656] xyz_f:-0.296839, -0.210265, 0.972907  Reprojection Error: 0.389564, 0.249872 Feature: 0.084111, 0.033613, 0.995889
[11:52:55.656] xyz_f:-0.110924, -0.446077, 0.938983  Reprojection Error: 0.398693, 0.259804 Feature: 0.264510, -0.202944, 0.942788
[11:52:55.656] xyz_f:-0.160541, -0.467445, 0.917248  Reprojection Error: 0.399299, 0.268289 Feature: 0.213012, -0.229210, 0.949784
[11:52:55.656] xyz_f:-0.160689, 0.097739, 1.031278  Reprojection Error: 0.371253, 0.282748 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.656] xyz_f:-0.493203, -0.028123, 0.898366  Reprojection Error: 0.400478, 0.227226 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.656] xyz_f:-0.093246, -0.448605, 0.940722  Reprojection Error: 0.399429, 0.258256 Feature: 0.281513, -0.204936, 0.937418
[11:52:55.656] xyz_f:-0.296578, -0.195345, 0.976308  Reprojection Error: 0.388280, 0.249223 Feature: 0.084104, 0.048905, 0.995256
[11:52:55.656] xyz_f:-0.299690, -0.220628, 0.969378  Reprojection Error: 0.390668, 0.250368 Feature: 0.081221, 0.022690, 0.996438
[11:52:55.656] xyz_f:-0.429819, -0.138753, 0.925430  Reprojection Error: 0.400447, 0.240891 Feature: -0.063614, 0.090400, 0.993872
[11:52:55.656] xyz_f:-0.310359, -0.204677, 0.968960  Reprojection Error: 0.390158, 0.249343 Feature: 0.069636, 0.037989, 0.996849
[11:52:55.656] xyz_f:-0.041300, 0.052808, 1.052868  Reprojection Error: 0.395806, 0.294062 Feature: 0.319493, 0.308417, 0.895993
[11:52:55.656] xyz_f:-0.288273, 0.041178, 0.998974  Reprojection Error: 0.366991, 0.255015 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.656] xyz_f:-0.156625, -0.448714, 0.928114  Reprojection Error: 0.398447, 0.264947 Feature: 0.218950, -0.208305, 0.953242
[11:52:55.656] xyz_f:-0.318703, -0.227700, 0.960125  Reprojection Error: 0.393045, 0.250647 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.656] xyz_f:-0.288530, 0.040936, 0.998892  Reprojection Error: 0.367013, 0.254958 Feature: 0.074740, 0.282980, 0.956209
[11:52:55.656] xyz_f:-0.050382, -0.641021, 0.819434  Reprojection Error: 0.431017, 0.283683 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.656] xyz_f:-0.121440, -0.457452, 0.931146  Reprojection Error: 0.428079, 0.260786 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.656] xyz_f:-0.074371, -0.462779, 0.936222  Reprojection Error: 0.431459, 0.250905 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.656] xyz_f:-0.160846, -0.434102, 0.934500  Reprojection Error: 0.426495, 0.259913 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.656] xyz_f:-0.329537, -0.236682, 0.953309  Reprojection Error: 0.424248, 0.249114 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.656] xyz_f:-0.434632, -0.131567, 0.923879  Reprojection Error: 0.432678, 0.242114 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.656] xyz_f:-0.493755, -0.034689, 0.897764  Reprojection Error: 0.434666, 0.229238 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.656] xyz_f:-0.493203, -0.028123, 0.898366  Reprojection Error: 0.433555, 0.228819 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.656] xyz_f:-0.288273, 0.041178, 0.998974  Reprojection Error: 0.400421, 0.255801 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.656] xyz_f:-0.160689, 0.097739, 1.031278  Reprojection Error: 0.548312, 0.218959 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.656] xyz_f:-0.318703, -0.227700, 0.960125  Reprojection Error: 0.604500, 0.590018 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.656] xyz_f:-0.387763, 0.232959, 0.927418  Reprojection Error: 0.383058, 0.256074 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.656] it:17 	 Success 	 new_chi2: 2.263933 	 dT = 0.049438, 0.040625, -0.023440
[11:52:55.656] xyz_f:-0.409078, 0.230368, 0.896465  Reprojection Error: 0.382861, 0.248233 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.656] xyz_f:-0.347433, -0.238910, 0.920998  Reprojection Error: 0.426664, 0.262431 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.656] xyz_f:-0.138555, -0.458415, 0.894115  Reprojection Error: 0.423268, 0.283700 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.656] xyz_f:-0.453803, -0.134437, 0.893963  Reprojection Error: 0.437736, 0.248019 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.656] xyz_f:-0.178016, -0.435304, 0.898362  Reprojection Error: 0.423960, 0.283405 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.656] xyz_f:-0.068932, -0.641557, 0.780810  Reprojection Error: 0.428314, 0.329740 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.656] xyz_f:-0.091352, -0.463456, 0.898124  Reprojection Error: 0.422906, 0.279390 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.656] xyz_f:-0.453532, -0.127961, 0.895075  Reprojection Error: 0.436762, 0.247256 Feature: -0.069390, 0.103482, 0.992208
[11:52:55.656] xyz_f:-0.336530, -0.229386, 0.927677  Reprojection Error: 0.423840, 0.261248 Feature: 0.060954, 0.013952, 0.998043
[11:52:55.656] xyz_f:-0.514089, -0.037921, 0.869200  Reprojection Error: 0.443092, 0.232614 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.656] xyz_f:-0.167687, -0.455410, 0.890288  Reprojection Error: 0.424557, 0.286375 Feature: 0.224551, -0.214048, 0.950663
[11:52:55.656] xyz_f:-0.314460, -0.212293, 0.939853  Reprojection Error: 0.419043, 0.259631 Feature: 0.084111, 0.033613, 0.995889
[11:52:55.656] xyz_f:-0.127934, -0.446976, 0.901713  Reprojection Error: 0.422440, 0.280437 Feature: 0.264510, -0.202944, 0.942788
[11:52:55.656] xyz_f:-0.177900, -0.468646, 0.881105  Reprojection Error: 0.426179, 0.290556 Feature: 0.213012, -0.229210, 0.949784
[11:52:55.656] xyz_f:-0.178895, 0.096535, 0.995148  Reprojection Error: 0.395204, 0.280518 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.656] xyz_f:-0.513563, -0.031352, 0.869789  Reprojection Error: 0.441923, 0.231966 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.656] xyz_f:-0.110206, -0.449397, 0.903050  Reprojection Error: 0.422345, 0.279025 Feature: 0.281513, -0.204936, 0.937418
[11:52:55.656] xyz_f:-0.314213, -0.197372, 0.943248  Reprojection Error: 0.417623, 0.258385 Feature: 0.084104, 0.048905, 0.995256
[11:52:55.656] xyz_f:-0.317328, -0.222674, 0.936389  Reprojection Error: 0.420396, 0.260572 Feature: 0.081221, 0.022690, 0.996438
[11:52:55.656] xyz_f:-0.448912, -0.141593, 0.895404  Reprojection Error: 0.437346, 0.249091 Feature: -0.063614, 0.090400, 0.993872
[11:52:55.656] xyz_f:-0.328100, -0.206788, 0.936214  Reprojection Error: 0.420311, 0.258986 Feature: 0.069636, 0.037989, 0.996849
[11:52:55.656] xyz_f:-0.058778, 0.052330, 1.014026  Reprojection Error: 0.414544, 0.292612 Feature: 0.319493, 0.308417, 0.895993
[11:52:55.656] xyz_f:-0.306832, 0.039199, 0.965737  Reprojection Error: 0.396140, 0.255646 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.656] xyz_f:-0.173853, -0.449891, 0.891880  Reprojection Error: 0.424618, 0.285907 Feature: 0.218950, -0.208305, 0.953242
[11:52:55.656] xyz_f:-0.336502, -0.229861, 0.927568  Reprojection Error: 0.423885, 0.261301 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.656] xyz_f:-0.307089, 0.038955, 0.965661  Reprojection Error: 0.396173, 0.255599 Feature: 0.074740, 0.282980, 0.956209
[11:52:55.656] xyz_f:-0.068932, -0.641557, 0.780810  Reprojection Error: 0.457817, 0.323066 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.656] xyz_f:-0.138555, -0.458415, 0.894115  Reprojection Error: 0.452623, 0.282210 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.656] xyz_f:-0.091352, -0.463456, 0.898124  Reprojection Error: 0.453736, 0.272627 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.656] xyz_f:-0.178016, -0.435304, 0.898362  Reprojection Error: 0.452531, 0.279938 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.656] xyz_f:-0.347433, -0.238910, 0.920998  Reprojection Error: 0.455806, 0.260243 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.656] xyz_f:-0.453803, -0.134437, 0.893963  Reprojection Error: 0.469866, 0.250090 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.656] xyz_f:-0.514089, -0.037921, 0.869200  Reprojection Error: 0.476133, 0.234226 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.656] xyz_f:-0.513563, -0.031352, 0.869789  Reprojection Error: 0.475001, 0.233559 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.656] xyz_f:-0.306832, 0.039199, 0.965737  Reprojection Error: 0.429570, 0.256433 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.656] xyz_f:-0.178895, 0.096535, 0.995148  Reprojection Error: 0.572264, 0.216728 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.656] xyz_f:-0.336502, -0.229861, 0.927568  Reprojection Error: 0.635340, 0.600673 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.656] xyz_f:-0.409078, 0.230368, 0.896465  Reprojection Error: 0.421272, 0.250292 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.656] it:18 	 Success 	 new_chi2: 1.964297 	 dT = 0.049393, 0.041614, -0.024228
[11:52:55.656] xyz_f:-0.430416, 0.227807, 0.864407  Reprojection Error: 0.424470, 0.241665 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.656] xyz_f:-0.365273, -0.241073, 0.887457  Reprojection Error: 0.461024, 0.274672 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.656] xyz_f:-0.155710, -0.459266, 0.855677  Reprojection Error: 0.450277, 0.307726 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.656] xyz_f:-0.472900, -0.137271, 0.862926  Reprojection Error: 0.478124, 0.256712 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.656] xyz_f:-0.195204, -0.436403, 0.860848  Reprojection Error: 0.452561, 0.305797 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.657] xyz_f:-0.087610, -0.641976, 0.740760  Reprojection Error: 0.458301, 0.374729 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.657] xyz_f:-0.108394, -0.464011, 0.858580  Reprojection Error: 0.447440, 0.303803 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.657] xyz_f:-0.472643, -0.130794, 0.864032  Reprojection Error: 0.477086, 0.255671 Feature: -0.069390, 0.103482, 0.992208
[11:52:55.657] xyz_f:-0.354276, -0.231480, 0.893880  Reprojection Error: 0.457410, 0.272940 Feature: 0.060954, 0.013952, 0.998043
[11:52:55.657] xyz_f:-0.534352, -0.041136, 0.839587  Reprojection Error: 0.488087, 0.237983 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.657] xyz_f:-0.184941, -0.456444, 0.852533  Reprojection Error: 0.453136, 0.310241 Feature: 0.224551, -0.214048, 0.950663
[11:52:55.657] xyz_f:-0.332036, -0.214249, 0.905537  Reprojection Error: 0.451131, 0.270351 Feature: 0.084111, 0.033613, 0.995889
[11:52:55.657] xyz_f:-0.144985, -0.447760, 0.863025  Reprojection Error: 0.448558, 0.303566 Feature: 0.264510, -0.202944, 0.942788
[11:52:55.657] xyz_f:-0.195283, -0.469745, 0.843591  Reprojection Error: 0.455764, 0.315511 Feature: 0.213012, -0.229210, 0.949784
[11:52:55.657] xyz_f:-0.197152, 0.095427, 0.957667  Reprojection Error: 0.421305, 0.277878 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.657] xyz_f:-0.533854, -0.034564, 0.840165  Reprojection Error: 0.486894, 0.237061 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.657] xyz_f:-0.127216, -0.450070, 0.863947  Reprojection Error: 0.447557, 0.302328 Feature: 0.281513, -0.204936, 0.937418
[11:52:55.657] xyz_f:-0.331802, -0.199326, 0.908926  Reprojection Error: 0.449554, 0.268436 Feature: 0.084104, 0.048905, 0.995256
[11:52:55.657] xyz_f:-0.334918, -0.224648, 0.902140  Reprojection Error: 0.452760, 0.271787 Feature: 0.081221, 0.022690, 0.996438
[11:52:55.657] xyz_f:-0.467931, -0.144396, 0.864251  Reprojection Error: 0.477424, 0.258034 Feature: -0.063614, 0.090400, 0.993872
[11:52:55.657] xyz_f:-0.345791, -0.208830, 0.902218  Reprojection Error: 0.453124, 0.269571 Feature: 0.069636, 0.037989, 0.996849
[11:52:55.657] xyz_f:-0.076352, 0.051978, 0.973726  Reprojection Error: 0.434991, 0.290838 Feature: 0.319493, 0.308417, 0.895993
[11:52:55.657] xyz_f:-0.325381, 0.037288, 0.931253  Reprojection Error: 0.427823, 0.256195 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.657] xyz_f:-0.191102, -0.450964, 0.854270  Reprojection Error: 0.453392, 0.309371 Feature: 0.218950, -0.208305, 0.953242
[11:52:55.657] xyz_f:-0.354248, -0.231956, 0.893770  Reprojection Error: 0.457459, 0.273016 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.657] xyz_f:-0.325638, 0.037043, 0.931183  Reprojection Error: 0.427867, 0.256159 Feature: 0.074740, 0.282980, 0.956209
[11:52:55.657] xyz_f:-0.087610, -0.641976, 0.740760  Reprojection Error: 0.487804, 0.368055 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.657] xyz_f:-0.155710, -0.459266, 0.855677  Reprojection Error: 0.479631, 0.306235 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.657] xyz_f:-0.108394, -0.464011, 0.858580  Reprojection Error: 0.478271, 0.297040 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.657] xyz_f:-0.195204, -0.436403, 0.860848  Reprojection Error: 0.481133, 0.302330 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.657] xyz_f:-0.365273, -0.241073, 0.887457  Reprojection Error: 0.490166, 0.272485 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.657] xyz_f:-0.472900, -0.137271, 0.862926  Reprojection Error: 0.510255, 0.258783 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.657] xyz_f:-0.534352, -0.041136, 0.839587  Reprojection Error: 0.521129, 0.239595 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.657] xyz_f:-0.533854, -0.034564, 0.840165  Reprojection Error: 0.519971, 0.238654 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.657] xyz_f:-0.325381, 0.037288, 0.931253  Reprojection Error: 0.461253, 0.256981 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.657] xyz_f:-0.197152, 0.095427, 0.957667  Reprojection Error: 0.598364, 0.214088 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.657] xyz_f:-0.354248, -0.231956, 0.893770  Reprojection Error: 0.668914, 0.612387 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.657] xyz_f:-0.430416, 0.227807, 0.864407  Reprojection Error: 0.462881, 0.243724 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.657] it:19 	 Success 	 new_chi2: 1.544065 	 dT = 0.049978, 0.042496, -0.025855
[11:52:55.657] xyz_f:-0.451824, 0.225209, 0.831610  Reprojection Error: 0.469850, 0.234396 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.657] xyz_f:-0.382990, -0.243224, 0.852986  Reprojection Error: 0.498428, 0.288171 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.657] xyz_f:-0.172830, -0.460012, 0.815965  Reprojection Error: 0.480115, 0.334762 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.657] xyz_f:-0.491888, -0.140146, 0.831159  Reprojection Error: 0.521915, 0.266251 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.657] xyz_f:-0.212336, -0.437413, 0.822122  Reprojection Error: 0.484081, 0.330905 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.657] xyz_f:-0.106400, -0.642272, 0.699368  Reprojection Error: 0.492169, 0.426444 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.657] xyz_f:-0.125427, -0.464440, 0.817685  Reprojection Error: 0.474584, 0.331356 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.657] xyz_f:-0.491647, -0.133667, 0.832259  Reprojection Error: 0.520803, 0.264902 Feature: -0.069390, 0.103482, 0.992208
[11:52:55.657] xyz_f:-0.371901, -0.233557, 0.859134  Reprojection Error: 0.493953, 0.285831 Feature: 0.060954, 0.013952, 0.998043
[11:52:55.657] xyz_f:-0.554546, -0.044426, 0.809371  Reprojection Error: 0.536798, 0.243878 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.657] xyz_f:-0.202150, -0.457386, 0.813553  Reprojection Error: 0.484682, 0.337052 Feature: 0.224551, -0.214048, 0.950663
[11:52:55.657] xyz_f:-0.349492, -0.216176, 0.870233  Reprojection Error: 0.486066, 0.282163 Feature: 0.084111, 0.033613, 0.995889
[11:52:55.657] xyz_f:-0.162003, -0.448434, 0.823044  Reprojection Error: 0.477395, 0.329588 Feature: 0.264510, -0.202944, 0.942788
[11:52:55.657] xyz_f:-0.212622, -0.470756, 0.804870  Reprojection Error: 0.488443, 0.343556 Feature: 0.213012, -0.229210, 0.949784
[11:52:55.657] xyz_f:-0.215424, 0.094400, 0.919005  Reprojection Error: 0.449847, 0.274803 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.657] xyz_f:-0.554078, -0.037851, 0.809936  Reprojection Error: 0.535578, 0.242655 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.657] xyz_f:-0.144202, -0.450624, 0.823522  Reprojection Error: 0.475410, 0.328574 Feature: 0.281513, -0.204936, 0.937418
[11:52:55.657] xyz_f:-0.349274, -0.201252, 0.873617  Reprojection Error: 0.484307, 0.279504 Feature: 0.084104, 0.048905, 0.995256
[11:52:55.657] xyz_f:-0.352389, -0.226594, 0.866908  Reprojection Error: 0.488000, 0.284152 Feature: 0.081221, 0.022690, 0.996438
[11:52:55.657] xyz_f:-0.486840, -0.147238, 0.832359  Reprojection Error: 0.520886, 0.267849 Feature: -0.063614, 0.090400, 0.993872
[11:52:55.657] xyz_f:-0.363362, -0.210849, 0.867259  Reprojection Error: 0.488834, 0.281230 Feature: 0.069636, 0.037989, 0.996849
[11:52:55.657] xyz_f:-0.093972, 0.051761, 0.932039  Reprojection Error: 0.457403, 0.288683 Feature: 0.319493, 0.308417, 0.895993
[11:52:55.657] xyz_f:-0.343880, 0.035402, 0.895796  Reprojection Error: 0.462303, 0.256715 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.657] xyz_f:-0.208302, -0.451947, 0.815443  Reprojection Error: 0.485136, 0.335712 Feature: 0.218950, -0.208305, 0.953242
[11:52:55.657] xyz_f:-0.371872, -0.234032, 0.859023  Reprojection Error: 0.494008, 0.285930 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.657] xyz_f:-0.344138, 0.035155, 0.895733  Reprojection Error: 0.462360, 0.256692 Feature: 0.074740, 0.282980, 0.956209
[11:52:55.657] xyz_f:-0.106400, -0.642272, 0.699368  Reprojection Error: 0.521672, 0.419770 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.657] xyz_f:-0.172830, -0.460012, 0.815965  Reprojection Error: 0.509470, 0.333271 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.657] xyz_f:-0.125427, -0.464440, 0.817685  Reprojection Error: 0.505415, 0.324593 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.657] xyz_f:-0.212336, -0.437413, 0.822122  Reprojection Error: 0.512652, 0.327438 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.657] xyz_f:-0.382990, -0.243224, 0.852986  Reprojection Error: 0.527569, 0.285983 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.657] xyz_f:-0.491888, -0.140146, 0.831159  Reprojection Error: 0.554045, 0.268321 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.657] xyz_f:-0.554546, -0.044426, 0.809371  Reprojection Error: 0.569840, 0.245489 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.657] xyz_f:-0.554078, -0.037851, 0.809936  Reprojection Error: 0.568655, 0.244247 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.657] xyz_f:-0.343880, 0.035402, 0.895796  Reprojection Error: 0.495734, 0.257502 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.657] xyz_f:-0.215424, 0.094400, 0.919005  Reprojection Error: 0.626907, 0.211014 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.657] xyz_f:-0.371872, -0.234032, 0.859023  Reprojection Error: 0.705463, 0.625302 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.657] xyz_f:-0.451824, 0.225209, 0.831610  Reprojection Error: 0.508261, 0.236455 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.657] it:20 	 Success 	 new_chi2: 1.030799 	 dT = 0.053323, 0.043196, -0.030547
[11:52:55.657] xyz_f:-0.472776, 0.222319, 0.799198  Reprojection Error: 0.518100, 0.227030 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.657] xyz_f:-0.399640, -0.245552, 0.818480  Reprojection Error: 0.537699, 0.303037 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.657] xyz_f:-0.188957, -0.460677, 0.775250  Reprojection Error: 0.512041, 0.365228 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.657] xyz_f:-0.509946, -0.143341, 0.799887  Reprojection Error: 0.567627, 0.276837 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.657] xyz_f:-0.228441, -0.438390, 0.782573  Reprojection Error: 0.517713, 0.359042 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.657] xyz_f:-0.124557, -0.642419, 0.656723  Reprojection Error: 0.529695, 0.486304 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.657] xyz_f:-0.141489, -0.464730, 0.775570  Reprojection Error: 0.503624, 0.362573 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.657] xyz_f:-0.509724, -0.136860, 0.800980  Reprojection Error: 0.566440, 0.275161 Feature: -0.069390, 0.103482, 0.992208
[11:52:55.657] xyz_f:-0.388451, -0.235797, 0.824299  Reprojection Error: 0.532324, 0.300037 Feature: 0.060954, 0.013952, 0.998043
[11:52:55.657] xyz_f:-0.573974, -0.048122, 0.779968  Reprojection Error: 0.587535, 0.250685 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.657] xyz_f:-0.218354, -0.458283, 0.773704  Reprojection Error: 0.518424, 0.367167 Feature: 0.224551, -0.214048, 0.950663
[11:52:55.657] xyz_f:-0.365862, -0.218238, 0.834735  Reprojection Error: 0.522756, 0.295198 Feature: 0.084111, 0.033613, 0.995889
[11:52:55.657] xyz_f:-0.178017, -0.449012, 0.782008  Reprojection Error: 0.508202, 0.358919 Feature: 0.264510, -0.202944, 0.942788
[11:52:55.657] xyz_f:-0.228972, -0.471737, 0.765332  Reprojection Error: 0.523454, 0.375053 Feature: 0.213012, -0.229210, 0.949784
[11:52:55.657] xyz_f:-0.232873, 0.093393, 0.879566  Reprojection Error: 0.480196, 0.271342 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.657] xyz_f:-0.573541, -0.041543, 0.780520  Reprojection Error: 0.586297, 0.249147 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.657] xyz_f:-0.160193, -0.451062, 0.781960  Reprojection Error: 0.505167, 0.358217 Feature: 0.281513, -0.204936, 0.937418
[11:52:55.657] xyz_f:-0.365663, -0.203313, 0.838112  Reprojection Error: 0.520798, 0.291722 Feature: 0.084104, 0.048905, 0.995256
[11:52:55.657] xyz_f:-0.368774, -0.228679, 0.831495  Reprojection Error: 0.525018, 0.297793 Feature: 0.081221, 0.022690, 0.996438
[11:52:55.657] xyz_f:-0.504809, -0.150393, 0.800937  Reprojection Error: 0.566267, 0.278728 Feature: -0.063614, 0.090400, 0.993872
[11:52:55.657] xyz_f:-0.379856, -0.213022, 0.832172  Reprojection Error: 0.526320, 0.294092 Feature: 0.069636, 0.037989, 0.996849
[11:52:55.657] xyz_f:-0.110756, 0.051717, 0.889006  Reprojection Error: 0.481164, 0.286044 Feature: 0.319493, 0.308417, 0.895993
[11:52:55.657] xyz_f:-0.361487, 0.033379, 0.860150  Reprojection Error: 0.498683, 0.257429 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.657] xyz_f:-0.224491, -0.452892, 0.775775  Reprojection Error: 0.519066, 0.365271 Feature: 0.218950, -0.208305, 0.953242
[11:52:55.657] xyz_f:-0.388422, -0.236272, 0.824187  Reprojection Error: 0.532385, 0.300163 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.657] xyz_f:-0.361745, 0.033130, 0.860095  Reprojection Error: 0.498751, 0.257421 Feature: 0.074740, 0.282980, 0.956209
[11:52:55.657] xyz_f:-0.124557, -0.642419, 0.656723  Reprojection Error: 0.559198, 0.479630 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.657] xyz_f:-0.188957, -0.460677, 0.775250  Reprojection Error: 0.541395, 0.363737 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.657] xyz_f:-0.141489, -0.464730, 0.775570  Reprojection Error: 0.534455, 0.355810 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.657] xyz_f:-0.228441, -0.438390, 0.782573  Reprojection Error: 0.546285, 0.355576 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.657] xyz_f:-0.399640, -0.245552, 0.818480  Reprojection Error: 0.566841, 0.300849 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.657] xyz_f:-0.509946, -0.143341, 0.799887  Reprojection Error: 0.599757, 0.278908 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.657] xyz_f:-0.573974, -0.048122, 0.779968  Reprojection Error: 0.620577, 0.252297 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.657] xyz_f:-0.573541, -0.041543, 0.780520  Reprojection Error: 0.619374, 0.250739 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.657] xyz_f:-0.361487, 0.033379, 0.860150  Reprojection Error: 0.532113, 0.258216 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.657] xyz_f:-0.232873, 0.093393, 0.879566  Reprojection Error: 0.657256, 0.207553 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.657] xyz_f:-0.388422, -0.236272, 0.824187  Reprojection Error: 0.743840, 0.639535 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.657] xyz_f:-0.472776, 0.222319, 0.799198  Reprojection Error: 0.556511, 0.229088 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.657] it:21 	 Success 	 new_chi2: 0.536099 	 dT = 0.049531, 0.038718, -0.025003
[11:52:55.657] xyz_f:-0.491561, 0.220101, 0.768758  Reprojection Error: 0.565960, 0.218900 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.657] xyz_f:-0.414955, -0.247286, 0.786232  Reprojection Error: 0.577206, 0.317547 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.657] xyz_f:-0.203990, -0.461046, 0.737910  Reprojection Error: 0.544747, 0.395798 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.657] xyz_f:-0.526337, -0.145792, 0.770316  Reprojection Error: 0.613379, 0.286898 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.657] xyz_f:-0.243429, -0.439014, 0.746185  Reprojection Error: 0.552034, 0.387197 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.657] xyz_f:-0.141296, -0.642377, 0.617848  Reprojection Error: 0.568722, 0.547785 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.657] xyz_f:-0.156503, -0.464791, 0.737083  Reprojection Error: 0.533520, 0.393945 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.657] xyz_f:-0.526130, -0.139309, 0.771404  Reprojection Error: 0.612108, 0.284887 Feature: -0.069390, 0.103482, 0.992208
[11:52:55.657] xyz_f:-0.403692, -0.237458, 0.791779  Reprojection Error: 0.570929, 0.313883 Feature: 0.060954, 0.013952, 0.998043
[11:52:55.657] xyz_f:-0.591442, -0.050991, 0.751956  Reprojection Error: 0.638179, 0.256799 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.657] xyz_f:-0.233431, -0.458842, 0.737074  Reprojection Error: 0.552905, 0.397362 Feature: 0.224551, -0.214048, 0.950663
[11:52:55.657] xyz_f:-0.380973, -0.219753, 0.801668  Reprojection Error: 0.559683, 0.307871 Feature: 0.084111, 0.033613, 0.995889
[11:52:55.657] xyz_f:-0.192966, -0.449310, 0.744402  Reprojection Error: 0.539784, 0.388326 Feature: 0.264510, -0.202944, 0.942788
[11:52:55.657] xyz_f:-0.244161, -0.472365, 0.728960  Reprojection Error: 0.559218, 0.406670 Feature: 0.213012, -0.229210, 0.949784
[11:52:55.657] xyz_f:-0.248958, 0.092737, 0.843299  Reprojection Error: 0.510657, 0.267554 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.657] xyz_f:-0.591039, -0.044409, 0.752498  Reprojection Error: 0.636914, 0.254937 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.657] xyz_f:-0.175135, -0.451245, 0.743924  Reprojection Error: 0.535727, 0.387956 Feature: 0.281513, -0.204936, 0.937418
[11:52:55.657] xyz_f:-0.380788, -0.204826, 0.805041  Reprojection Error: 0.557509, 0.303567 Feature: 0.084104, 0.048905, 0.995256
[11:52:55.657] xyz_f:-0.383893, -0.230212, 0.798499  Reprojection Error: 0.562280, 0.311077 Feature: 0.081221, 0.022690, 0.996438
[11:52:55.657] xyz_f:-0.521131, -0.152810, 0.771241  Reprojection Error: 0.611699, 0.289092 Feature: -0.063614, 0.090400, 0.993872
[11:52:55.657] xyz_f:-0.395057, -0.214627, 0.799444  Reprojection Error: 0.564021, 0.306579 Feature: 0.069636, 0.037989, 0.996849
[11:52:55.657] xyz_f:-0.126382, 0.051852, 0.849784  Reprojection Error: 0.505302, 0.283200 Feature: 0.319493, 0.308417, 0.895993
[11:52:55.657] xyz_f:-0.377613, 0.031890, 0.826990  Reprojection Error: 0.535033, 0.257674 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.657] xyz_f:-0.239550, -0.453492, 0.739293  Reprojection Error: 0.553716, 0.394889 Feature: 0.218950, -0.208305, 0.953242
[11:52:55.657] xyz_f:-0.403663, -0.237933, 0.791667  Reprojection Error: 0.570996, 0.314037 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.657] xyz_f:-0.377871, 0.031639, 0.826941  Reprojection Error: 0.535113, 0.257679 Feature: 0.074740, 0.282980, 0.956209
[11:52:55.657] xyz_f:-0.141296, -0.642377, 0.617848  Reprojection Error: 0.598225, 0.541112 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.657] xyz_f:-0.203990, -0.461046, 0.737910  Reprojection Error: 0.574102, 0.394307 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.657] xyz_f:-0.156503, -0.464791, 0.737083  Reprojection Error: 0.564350, 0.387182 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.657] xyz_f:-0.243429, -0.439014, 0.746185  Reprojection Error: 0.580606, 0.383730 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.657] xyz_f:-0.414955, -0.247286, 0.786232  Reprojection Error: 0.606348, 0.315360 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.657] xyz_f:-0.526337, -0.145792, 0.770316  Reprojection Error: 0.645510, 0.288969 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.657] xyz_f:-0.591442, -0.050991, 0.751956  Reprojection Error: 0.671221, 0.258410 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.657] xyz_f:-0.591039, -0.044409, 0.752498  Reprojection Error: 0.669991, 0.256530 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.657] xyz_f:-0.377613, 0.031890, 0.826990  Reprojection Error: 0.568464, 0.258461 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.657] xyz_f:-0.248958, 0.092737, 0.843299  Reprojection Error: 0.687717, 0.203765 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.657] xyz_f:-0.403663, -0.237933, 0.791667  Reprojection Error: 0.782451, 0.653409 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.657] xyz_f:-0.491561, 0.220101, 0.768758  Reprojection Error: 0.604371, 0.220959 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.657] it:22 	 Success 	 new_chi2: 0.206146 	 dT = 0.046329, 0.015414, -0.009868
[11:52:55.657] xyz_f:-0.518882, 0.219262, 0.756473  Reprojection Error: 0.612460, 0.215359 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.657] xyz_f:-0.440920, -0.247927, 0.773211  Reprojection Error: 0.619675, 0.323673 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.657] xyz_f:-0.229879, -0.461148, 0.722877  Reprojection Error: 0.586311, 0.408932 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.657] xyz_f:-0.552707, -0.146718, 0.758358  Reprojection Error: 0.658926, 0.291104 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.657] xyz_f:-0.269294, -0.439217, 0.731528  Reprojection Error: 0.593928, 0.399262 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.657] xyz_f:-0.167870, -0.642320, 0.602221  Reprojection Error: 0.618783, 0.574670 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.657] xyz_f:-0.182394, -0.464772, 0.721598  Reprojection Error: 0.573955, 0.407450 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.657] xyz_f:-0.552507, -0.140235, 0.759444  Reprojection Error: 0.657580, 0.288950 Feature: -0.069390, 0.103482, 0.992208
[11:52:55.657] xyz_f:-0.429630, -0.238070, 0.778650  Reprojection Error: 0.612836, 0.319727 Feature: 0.060954, 0.013952, 0.998043
[11:52:55.657] xyz_f:-0.618226, -0.052084, 0.740621  Reprojection Error: 0.686382, 0.259312 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.657] xyz_f:-0.259333, -0.459020, 0.722322  Reprojection Error: 0.595232, 0.410322 Feature: 0.224551, -0.214048, 0.950663
[11:52:55.657] xyz_f:-0.406862, -0.220307, 0.788322  Reprojection Error: 0.600570, 0.313215 Feature: 0.084111, 0.033613, 0.995889
[11:52:55.657] xyz_f:-0.218824, -0.449384, 0.729265  Reprojection Error: 0.580623, 0.400956 Feature: 0.264510, -0.202944, 0.942788
[11:52:55.657] xyz_f:-0.270105, -0.472570, 0.714311  Reprojection Error: 0.602407, 0.420246 Feature: 0.213012, -0.229210, 0.949784
[11:52:55.657] xyz_f:-0.275256, 0.092519, 0.828697  Reprojection Error: 0.547592, 0.265879 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.657] xyz_f:-0.617835, -0.045501, 0.741159  Reprojection Error: 0.685084, 0.257313 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.658] xyz_f:-0.200994, -0.451273, 0.728616  Reprojection Error: 0.576163, 0.400739 Feature: 0.281513, -0.204936, 0.937418
[11:52:55.658] xyz_f:-0.406683, -0.205379, 0.791693  Reprojection Error: 0.598193, 0.308555 Feature: 0.084104, 0.048905, 0.995256
[11:52:55.658] xyz_f:-0.409786, -0.230774, 0.785181  Reprojection Error: 0.603411, 0.316683 Feature: 0.081221, 0.022690, 0.996438
[11:52:55.658] xyz_f:-0.547475, -0.153723, 0.759233  Reprojection Error: 0.657083, 0.293428 Feature: -0.063614, 0.090400, 0.993872
[11:52:55.658] xyz_f:-0.420980, -0.215217, 0.786233  Reprojection Error: 0.605296, 0.311841 Feature: 0.069636, 0.037989, 0.996849
[11:52:55.658] xyz_f:-0.152519, 0.051948, 0.834013  Reprojection Error: 0.539453, 0.281931 Feature: 0.319493, 0.308417, 0.895993
[11:52:55.658] xyz_f:-0.403904, 0.031344, 0.813614  Reprojection Error: 0.574854, 0.257711 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.658] xyz_f:-0.265445, -0.453685, 0.724600  Reprojection Error: 0.596023, 0.407595 Feature: 0.218950, -0.208305, 0.953242
[11:52:55.658] xyz_f:-0.429600, -0.238545, 0.778538  Reprojection Error: 0.612910, 0.319892 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.658] xyz_f:-0.404161, 0.031092, 0.813567  Reprojection Error: 0.574940, 0.257722 Feature: 0.074740, 0.282980, 0.956209
[11:52:55.658] xyz_f:-0.167870, -0.642320, 0.602221  Reprojection Error: 0.648286, 0.567996 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.658] xyz_f:-0.229879, -0.461148, 0.722877  Reprojection Error: 0.615665, 0.407441 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.658] xyz_f:-0.182394, -0.464772, 0.721598  Reprojection Error: 0.604786, 0.400688 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.658] xyz_f:-0.269294, -0.439217, 0.731528  Reprojection Error: 0.622500, 0.395795 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.658] xyz_f:-0.440920, -0.247927, 0.773211  Reprojection Error: 0.648816, 0.321485 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.658] xyz_f:-0.552707, -0.146718, 0.758358  Reprojection Error: 0.691056, 0.293174 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.658] xyz_f:-0.618226, -0.052084, 0.740621  Reprojection Error: 0.719424, 0.260924 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.658] xyz_f:-0.617835, -0.045501, 0.741159  Reprojection Error: 0.718161, 0.258906 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.658] xyz_f:-0.403904, 0.031344, 0.813614  Reprojection Error: 0.608284, 0.258498 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.658] xyz_f:-0.275256, 0.092519, 0.828697  Reprojection Error: 0.724652, 0.202090 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.658] xyz_f:-0.429600, -0.238545, 0.778538  Reprojection Error: 0.824365, 0.659264 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.658] xyz_f:-0.518882, 0.219262, 0.756473  Reprojection Error: 0.650871, 0.217418 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.658] it:23 	 Success 	 new_chi2: 0.069924 	 dT = 0.107328, -0.029492, -0.056956
[11:52:55.658] xyz_f:-0.547401, 0.214835, 0.802489  Reprojection Error: 0.608665, 0.237496 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.658] xyz_f:-0.461761, -0.251148, 0.814725  Reprojection Error: 0.616198, 0.311288 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.658] xyz_f:-0.250689, -0.461257, 0.752777  Reprojection Error: 0.601323, 0.383739 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.658] xyz_f:-0.575674, -0.151603, 0.806083  Reprojection Error: 0.644268, 0.285710 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.658] xyz_f:-0.289887, -0.439906, 0.763591  Reprojection Error: 0.605439, 0.374953 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.658] xyz_f:-0.192745, -0.641545, 0.628820  Reprojection Error: 0.646550, 0.528320 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.658] xyz_f:-0.203297, -0.464182, 0.748887  Reprojection Error: 0.592657, 0.383192 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.658] xyz_f:-0.575510, -0.145118, 0.807159  Reprojection Error: 0.643073, 0.284084 Feature: -0.069390, 0.103482, 0.992208
[11:52:55.658] xyz_f:-0.450335, -0.241124, 0.819540  Reprojection Error: 0.610572, 0.308198 Feature: 0.060954, 0.013952, 0.998043
[11:52:55.658] xyz_f:-0.643457, -0.057952, 0.792013  Reprojection Error: 0.664073, 0.262158 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.658] xyz_f:-0.280156, -0.459564, 0.753843  Reprojection Error: 0.607842, 0.384471 Feature: 0.224551, -0.214048, 0.950663
[11:52:55.658] xyz_f:-0.427334, -0.223023, 0.827952  Reprojection Error: 0.600592, 0.303119 Feature: 0.084111, 0.033613, 0.995889
[11:52:55.658] xyz_f:-0.239473, -0.449330, 0.758552  Reprojection Error: 0.596260, 0.377092 Feature: 0.264510, -0.202944, 0.942788
[11:52:55.658] xyz_f:-0.291152, -0.473274, 0.746431  Reprojection Error: 0.614332, 0.392721 Feature: 0.213012, -0.229210, 0.949784
[11:52:55.658] xyz_f:-0.298330, 0.091724, 0.861156  Reprojection Error: 0.561867, 0.271011 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.658] xyz_f:-0.643134, -0.051364, 0.792532  Reprojection Error: 0.662970, 0.260732 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.658] xyz_f:-0.221680, -0.450956, 0.756923  Reprojection Error: 0.593176, 0.377157 Feature: 0.281513, -0.204936, 0.937418
[11:52:55.658] xyz_f:-0.427190, -0.208094, 0.831315  Reprojection Error: 0.598378, 0.299456 Feature: 0.084104, 0.048905, 0.995256
[11:52:55.658] xyz_f:-0.430272, -0.233534, 0.824973  Reprojection Error: 0.603071, 0.305852 Feature: 0.081221, 0.022690, 0.996438
[11:52:55.658] xyz_f:-0.570299, -0.158530, 0.806666  Reprojection Error: 0.642977, 0.287482 Feature: -0.063614, 0.090400, 0.993872
[11:52:55.658] xyz_f:-0.441620, -0.218143, 0.826644  Reprojection Error: 0.604088, 0.301999 Feature: 0.069636, 0.037989, 0.996849
[11:52:55.658] xyz_f:-0.174903, 0.052968, 0.859699  Reprojection Error: 0.560026, 0.282606 Feature: 0.319493, 0.308417, 0.895993
[11:52:55.658] xyz_f:-0.426698, 0.028654, 0.853146  Reprojection Error: 0.578569, 0.262649 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.658] xyz_f:-0.286211, -0.454318, 0.756456  Reprojection Error: 0.608048, 0.382065 Feature: 0.218950, -0.208305, 0.953242
[11:52:55.658] xyz_f:-0.450305, -0.241599, 0.819426  Reprojection Error: 0.610643, 0.308329 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.658] xyz_f:-0.426954, 0.028399, 0.853113  Reprojection Error: 0.578629, 0.262651 Feature: 0.074740, 0.282980, 0.956209
[11:52:55.658] xyz_f:-0.192745, -0.641545, 0.628820  Reprojection Error: 0.676053, 0.521646 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.658] xyz_f:-0.250689, -0.461257, 0.752777  Reprojection Error: 0.630678, 0.382248 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.658] xyz_f:-0.203297, -0.464182, 0.748887  Reprojection Error: 0.623488, 0.376429 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.658] xyz_f:-0.289887, -0.439906, 0.763591  Reprojection Error: 0.634011, 0.371487 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.658] xyz_f:-0.461761, -0.251148, 0.814725  Reprojection Error: 0.645340, 0.309101 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.658] xyz_f:-0.575674, -0.151603, 0.806083  Reprojection Error: 0.676399, 0.287781 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.658] xyz_f:-0.643457, -0.057952, 0.792013  Reprojection Error: 0.697115, 0.263770 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.658] xyz_f:-0.643134, -0.051364, 0.792532  Reprojection Error: 0.696047, 0.262324 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.658] xyz_f:-0.426698, 0.028654, 0.853146  Reprojection Error: 0.611999, 0.263436 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.658] xyz_f:-0.298330, 0.091724, 0.861156  Reprojection Error: 0.738927, 0.207221 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.658] xyz_f:-0.450305, -0.241599, 0.819426  Reprojection Error: 0.822099, 0.647701 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.658] xyz_f:-0.547401, 0.214835, 0.802489  Reprojection Error: 0.647076, 0.239555 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.658] it:24 	 Success 	 new_chi2: 0.055247 	 dT = -0.101501, -0.068126, 0.191820
[11:52:55.658] xyz_f:-0.465912, 0.232501, 0.804685  Reprojection Error: 0.505536, 0.216273 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.658] xyz_f:-0.407089, -0.237079, 0.830345  Reprojection Error: 0.539694, 0.288546 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.658] xyz_f:-0.198848, -0.457629, 0.807363  Reprojection Error: 0.514598, 0.337818 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.658] xyz_f:-0.512410, -0.132075, 0.801330  Reprojection Error: 0.569555, 0.262456 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.658] xyz_f:-0.238265, -0.434321, 0.810872  Reprojection Error: 0.519641, 0.334474 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.658] xyz_f:-0.128036, -0.641123, 0.695371  Reprojection Error: 0.524158, 0.430071 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.658] xyz_f:-0.151753, -0.462907, 0.812253  Reprojection Error: 0.508021, 0.333267 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.658] xyz_f:-0.512127, -0.125601, 0.802447  Reprojection Error: 0.568272, 0.260818 Feature: -0.069390, 0.103482, 0.992208
[11:52:55.658] xyz_f:-0.396265, -0.227609, 0.837227  Reprojection Error: 0.534380, 0.285840 Feature: 0.060954, 0.013952, 0.998043
[11:52:55.658] xyz_f:-0.571738, -0.035259, 0.775448  Reprojection Error: 0.588940, 0.234457 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.658] xyz_f:-0.227888, -0.454479, 0.802992  Reprojection Error: 0.520003, 0.340825 Feature: 0.224551, -0.214048, 0.950663
[11:52:55.658] xyz_f:-0.374342, -0.210627, 0.849815  Reprojection Error: 0.524957, 0.281603 Feature: 0.084111, 0.033613, 0.995889
[11:52:55.658] xyz_f:-0.188313, -0.446243, 0.815158  Reprojection Error: 0.511575, 0.332172 Feature: 0.264510, -0.202944, 0.942788
[11:52:55.658] xyz_f:-0.237993, -0.467664, 0.793619  Reprojection Error: 0.524157, 0.347952 Feature: 0.213012, -0.229210, 0.949784
[11:52:55.658] xyz_f:-0.238288, 0.097520, 0.907650  Reprojection Error: 0.477970, 0.270080 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.658] xyz_f:-0.571190, -0.028693, 0.776048  Reprojection Error: 0.587502, 0.232895 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.658] xyz_f:-0.170626, -0.448753, 0.816827  Reprojection Error: 0.509196, 0.330767 Feature: 0.281513, -0.204936, 0.937418
[11:52:55.658] xyz_f:-0.374083, -0.195707, 0.853214  Reprojection Error: 0.522945, 0.278514 Feature: 0.084104, 0.048905, 0.995256
[11:52:55.658] xyz_f:-0.377196, -0.220993, 0.846297  Reprojection Error: 0.527213, 0.283901 Feature: 0.081221, 0.022690, 0.996438
[11:52:55.658] xyz_f:-0.507583, -0.139256, 0.802861  Reprojection Error: 0.568211, 0.264407 Feature: -0.063614, 0.090400, 0.993872
[11:52:55.658] xyz_f:-0.387884, -0.205054, 0.845921  Reprojection Error: 0.528390, 0.280512 Feature: 0.069636, 0.037989, 0.996849
[11:52:55.658] xyz_f:-0.118768, 0.052715, 0.928769  Reprojection Error: 0.484457, 0.287460 Feature: 0.319493, 0.308417, 0.895993
[11:52:55.658] xyz_f:-0.365938, 0.040825, 0.875848  Reprojection Error: 0.496232, 0.249624 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.658] xyz_f:-0.234054, -0.448929, 0.804469  Reprojection Error: 0.520632, 0.339521 Feature: 0.218950, -0.208305, 0.953242
[11:52:55.658] xyz_f:-0.396237, -0.228085, 0.837119  Reprojection Error: 0.534441, 0.285955 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.658] xyz_f:-0.366196, 0.040583, 0.875767  Reprojection Error: 0.496306, 0.249600 Feature: 0.074740, 0.282980, 0.956209
[11:52:55.658] xyz_f:-0.128036, -0.641123, 0.695371  Reprojection Error: 0.553661, 0.423398 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.658] xyz_f:-0.198848, -0.457629, 0.807363  Reprojection Error: 0.543952, 0.336327 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.658] xyz_f:-0.151753, -0.462907, 0.812253  Reprojection Error: 0.538852, 0.326504 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.658] xyz_f:-0.238265, -0.434321, 0.810872  Reprojection Error: 0.548213, 0.331007 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.658] xyz_f:-0.407089, -0.237079, 0.830345  Reprojection Error: 0.568835, 0.286359 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.658] xyz_f:-0.512410, -0.132075, 0.801330  Reprojection Error: 0.601685, 0.264527 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.658] xyz_f:-0.571738, -0.035259, 0.775448  Reprojection Error: 0.621982, 0.236069 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.658] xyz_f:-0.571190, -0.028693, 0.776048  Reprojection Error: 0.620580, 0.234487 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.658] xyz_f:-0.365938, 0.040825, 0.875848  Reprojection Error: 0.529663, 0.250410 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.658] xyz_f:-0.238288, 0.097520, 0.907650  Reprojection Error: 0.655030, 0.206291 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.658] xyz_f:-0.396237, -0.228085, 0.837119  Reprojection Error: 0.745896, 0.625327 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.658] xyz_f:-0.465912, 0.232501, 0.804685  Reprojection Error: 0.543947, 0.218332 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.658] it:25 	 Success 	 new_chi2: 0.622131 	 dT = 0.042235, 0.035671, -0.014395
[11:52:55.658] xyz_f:-0.530236, 0.230908, 0.774958  Reprojection Error: 0.610749, 0.207245 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.658] xyz_f:-0.469313, -0.238449, 0.799786  Reprojection Error: 0.636227, 0.301168 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.658] xyz_f:-0.260591, -0.458222, 0.773904  Reprojection Error: 0.605027, 0.363090 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.658] xyz_f:-0.575418, -0.133839, 0.772241  Reprojection Error: 0.675232, 0.270949 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.658] xyz_f:-0.300042, -0.435061, 0.777962  Reprojection Error: 0.611480, 0.358083 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.658] xyz_f:-0.190660, -0.641454, 0.660934  Reprojection Error: 0.628502, 0.478610 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.658] xyz_f:-0.213414, -0.463324, 0.778140  Reprojection Error: 0.595453, 0.358788 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.658] xyz_f:-0.575143, -0.127364, 0.773354  Reprojection Error: 0.673765, 0.268985 Feature: -0.069390, 0.103482, 0.992208
[11:52:55.658] xyz_f:-0.458429, -0.228939, 0.806517  Reprojection Error: 0.629480, 0.297840 Feature: 0.060954, 0.013952, 0.998043
[11:52:55.658] xyz_f:-0.635460, -0.037245, 0.747189  Reprojection Error: 0.702108, 0.238835 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.658] xyz_f:-0.289700, -0.455180, 0.769938  Reprojection Error: 0.612469, 0.366034 Feature: 0.224551, -0.214048, 0.950663
[11:52:55.658] xyz_f:-0.436397, -0.211875, 0.818799  Reprojection Error: 0.617431, 0.292515 Feature: 0.084111, 0.033613, 0.995889
[11:52:55.658] xyz_f:-0.249991, -0.446797, 0.781553  Reprojection Error: 0.600426, 0.356418 Feature: 0.264510, -0.202944, 0.942788
[11:52:55.658] xyz_f:-0.299886, -0.468403, 0.760706  Reprojection Error: 0.618494, 0.374419 Feature: 0.213012, -0.229210, 0.949784
[11:52:55.658] xyz_f:-0.300701, 0.096779, 0.874744  Reprojection Error: 0.559196, 0.266886 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.658] xyz_f:-0.634928, -0.030677, 0.747781  Reprojection Error: 0.700561, 0.236946 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.658] xyz_f:-0.232274, -0.449240, 0.782976  Reprojection Error: 0.596962, 0.355142 Feature: 0.281513, -0.204936, 0.937418
[11:52:55.658] xyz_f:-0.436146, -0.196954, 0.822195  Reprojection Error: 0.614971, 0.288684 Feature: 0.084104, 0.048905, 0.995256
[11:52:55.658] xyz_f:-0.439261, -0.222252, 0.815321  Reprojection Error: 0.620270, 0.295365 Feature: 0.081221, 0.022690, 0.996438
[11:52:55.658] xyz_f:-0.570543, -0.141002, 0.773705  Reprojection Error: 0.673410, 0.273200 Feature: -0.063614, 0.090400, 0.993872
[11:52:55.658] xyz_f:-0.450012, -0.206352, 0.815094  Reprojection Error: 0.621955, 0.291272 Feature: 0.069636, 0.037989, 0.996849
[11:52:55.658] xyz_f:-0.180733, 0.052420, 0.894199  Reprojection Error: 0.558697, 0.285596 Feature: 0.319493, 0.308417, 0.895993
[11:52:55.658] xyz_f:-0.428569, 0.039608, 0.844719  Reprojection Error: 0.585773, 0.249347 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.658] xyz_f:-0.295866, -0.449653, 0.771501  Reprojection Error: 0.613184, 0.364307 Feature: 0.218950, -0.208305, 0.953242
[11:52:55.658] xyz_f:-0.458401, -0.229414, 0.806408  Reprojection Error: 0.629555, 0.297980 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.658] xyz_f:-0.428827, 0.039364, 0.844642  Reprojection Error: 0.585865, 0.249335 Feature: 0.074740, 0.282980, 0.956209
[11:52:55.658] xyz_f:-0.190660, -0.641454, 0.660934  Reprojection Error: 0.658005, 0.471936 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.658] xyz_f:-0.260591, -0.458222, 0.773904  Reprojection Error: 0.634382, 0.361599 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.658] xyz_f:-0.213414, -0.463324, 0.778140  Reprojection Error: 0.626284, 0.352025 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.658] xyz_f:-0.300042, -0.435061, 0.777962  Reprojection Error: 0.640052, 0.354616 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.658] xyz_f:-0.469313, -0.238449, 0.799786  Reprojection Error: 0.665369, 0.298981 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.658] xyz_f:-0.575418, -0.133839, 0.772241  Reprojection Error: 0.707363, 0.273019 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.658] xyz_f:-0.635460, -0.037245, 0.747189  Reprojection Error: 0.735150, 0.240446 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.658] xyz_f:-0.634928, -0.030677, 0.747781  Reprojection Error: 0.733638, 0.238538 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.658] xyz_f:-0.428569, 0.039608, 0.844719  Reprojection Error: 0.619203, 0.250134 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.658] xyz_f:-0.300701, 0.096779, 0.874744  Reprojection Error: 0.736255, 0.203097 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.658] xyz_f:-0.458401, -0.229414, 0.806408  Reprojection Error: 0.841010, 0.637351 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.658] xyz_f:-0.530236, 0.230908, 0.774958  Reprojection Error: 0.649160, 0.209304 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.658] it:26 	 Success 	 new_chi2: 0.054035 	 dT = 0.290843, -0.026259, -0.246499
[11:52:55.658] xyz_f:-0.609698, 0.210423, 0.877669  Reprojection Error: 0.621217, 0.265455 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.658] xyz_f:-0.515123, -0.253949, 0.883890  Reprojection Error: 0.632220, 0.290335 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.658] xyz_f:-0.304931, -0.460291, 0.807883  Reprojection Error: 0.645749, 0.340747 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.658] xyz_f:-0.631119, -0.156460, 0.882921  Reprojection Error: 0.644914, 0.274843 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.658] xyz_f:-0.343696, -0.439637, 0.821299  Reprojection Error: 0.644281, 0.334146 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.658] xyz_f:-0.252169, -0.639589, 0.680232  Reprojection Error: 0.710741, 0.448335 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.658] xyz_f:-0.257859, -0.462371, 0.800841  Reprojection Error: 0.643177, 0.340719 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.658] xyz_f:-0.631000, -0.149972, 0.883987  Reprojection Error: 0.643877, 0.273949 Feature: -0.069390, 0.103482, 0.992208
[11:52:55.658] xyz_f:-0.503583, -0.243719, 0.887938  Reprojection Error: 0.628211, 0.288457 Feature: 0.060954, 0.013952, 0.998043
[11:52:55.658] xyz_f:-0.701351, -0.064043, 0.873457  Reprojection Error: 0.654601, 0.262308 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.658] xyz_f:-0.334287, -0.459123, 0.810912  Reprojection Error: 0.648441, 0.341024 Feature: 0.224551, -0.214048, 0.950663
[11:52:55.658] xyz_f:-0.480399, -0.225205, 0.894810  Reprojection Error: 0.621332, 0.285432 Feature: 0.084111, 0.033613, 0.995889
[11:52:55.658] xyz_f:-0.293570, -0.448161, 0.812904  Reprojection Error: 0.641699, 0.336049 Feature: 0.264510, -0.202944, 0.942788
[11:52:55.658] xyz_f:-0.345506, -0.473032, 0.804242  Reprojection Error: 0.653878, 0.346843 Feature: 0.213012, -0.229210, 0.949784
[11:52:55.658] xyz_f:-0.355112, 0.091816, 0.919527  Reprojection Error: 0.601627, 0.277672 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.658] xyz_f:-0.701112, -0.057450, 0.873957  Reprojection Error: 0.653705, 0.261657 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.658] xyz_f:-0.275899, -0.449470, 0.810092  Reprojection Error: 0.640884, 0.336220 Feature: 0.281513, -0.204936, 0.937418
[11:52:55.658] xyz_f:-0.480298, -0.210273, 0.898164  Reprojection Error: 0.619260, 0.283252 Feature: 0.084104, 0.048905, 0.995256
[11:52:55.658] xyz_f:-0.483341, -0.235769, 0.892026  Reprojection Error: 0.623357, 0.287078 Feature: 0.081221, 0.022690, 0.996438
[11:52:55.658] xyz_f:-0.625594, -0.163289, 0.883140  Reprojection Error: 0.644369, 0.275853 Feature: -0.063614, 0.090400, 0.993872
[11:52:55.658] xyz_f:-0.494825, -0.220582, 0.894460  Reprojection Error: 0.623067, 0.284718 Feature: 0.069636, 0.037989, 0.996849
[11:52:55.658] xyz_f:-0.231383, 0.055270, 0.909821  Reprojection Error: 0.610897, 0.283470 Feature: 0.319493, 0.308417, 0.895993
[11:52:55.658] xyz_f:-0.482581, 0.026458, 0.920054  Reprojection Error: 0.602935, 0.267479 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.658] xyz_f:-0.340248, -0.453985, 0.813926  Reprojection Error: 0.647722, 0.339249 Feature: 0.218950, -0.208305, 0.953242
[11:52:55.658] xyz_f:-0.503551, -0.244193, 0.887822  Reprojection Error: 0.628282, 0.288538 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.658] xyz_f:-0.482833, 0.026198, 0.920038  Reprojection Error: 0.602960, 0.267465 Feature: 0.074740, 0.282980, 0.956209
[11:52:55.659] xyz_f:-0.252169, -0.639589, 0.680232  Reprojection Error: 0.740244, 0.441661 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.659] xyz_f:-0.304931, -0.460291, 0.807883  Reprojection Error: 0.675103, 0.339256 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.659] xyz_f:-0.257859, -0.462371, 0.800841  Reprojection Error: 0.674008, 0.333957 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.659] xyz_f:-0.343696, -0.439637, 0.821299  Reprojection Error: 0.672853, 0.330679 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.659] xyz_f:-0.515123, -0.253949, 0.883890  Reprojection Error: 0.661361, 0.288148 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.659] xyz_f:-0.631119, -0.156460, 0.882921  Reprojection Error: 0.677044, 0.276913 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.659] xyz_f:-0.701351, -0.064043, 0.873457  Reprojection Error: 0.687643, 0.263920 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.659] xyz_f:-0.701112, -0.057450, 0.873957  Reprojection Error: 0.686782, 0.263249 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.659] xyz_f:-0.482581, 0.026458, 0.920054  Reprojection Error: 0.636366, 0.268265 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.659] xyz_f:-0.355112, 0.091816, 0.919527  Reprojection Error: 0.778686, 0.213883 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.659] xyz_f:-0.503551, -0.244193, 0.887822  Reprojection Error: 0.839738, 0.627910 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.659] xyz_f:-0.609698, 0.210423, 0.877669  Reprojection Error: 0.659627, 0.267514 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.659] it:27 	 Success 	 new_chi2: 0.011842 	 dT = -0.158156, -0.161587, 0.272694
[11:52:55.659] xyz_f:-0.359729, 0.233838, 0.951870  Reprojection Error: 0.304456, 0.259546 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.659] xyz_f:-0.302637, -0.235919, 0.978191  Reprojection Error: 0.358813, 0.244206 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.659] xyz_f:-0.094822, -0.457105, 0.957580  Reprojection Error: 0.367327, 0.248352 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.659] xyz_f:-0.407299, -0.130595, 0.947979  Reprojection Error: 0.359755, 0.235397 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.659] xyz_f:-0.134205, -0.433676, 0.960640  Reprojection Error: 0.365507, 0.250296 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.659] xyz_f:-0.023299, -0.640816, 0.846399  Reprojection Error: 0.367559, 0.265192 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.659] xyz_f:-0.047803, -0.462526, 0.963007  Reprojection Error: 0.370830, 0.243656 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.659] xyz_f:-0.407009, -0.124121, 0.949100  Reprojection Error: 0.358903, 0.235073 Feature: -0.069390, 0.103482, 0.992208
[11:52:55.659] xyz_f:-0.291863, -0.226482, 0.985196  Reprojection Error: 0.357323, 0.243865 Feature: 0.060954, 0.013952, 0.998043
[11:52:55.659] xyz_f:-0.466032, -0.033599, 0.921425  Reprojection Error: 0.357414, 0.225451 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.659] xyz_f:-0.123800, -0.453865, 0.952878  Reprojection Error: 0.366127, 0.251154 Feature: 0.224551, -0.214048, 0.950663
[11:52:55.659] xyz_f:-0.270033, -0.209567, 0.998033  Reprojection Error: 0.355024, 0.243732 Feature: 0.084111, 0.033613, 0.995889
[11:52:55.659] xyz_f:-0.084342, -0.445751, 0.965495  Reprojection Error: 0.367918, 0.246421 Feature: 0.264510, -0.202944, 0.942788
[11:52:55.659] xyz_f:-0.133838, -0.467020, 0.943391  Reprojection Error: 0.366143, 0.253716 Feature: 0.213012, -0.229210, 0.949784
[11:52:55.659] xyz_f:-0.133707, 0.098165, 1.057420  Reprojection Error: 0.341884, 0.284689 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.659] xyz_f:-0.465472, -0.027034, 0.922031  Reprojection Error: 0.356311, 0.225241 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.659] xyz_f:-0.066683, -0.448314, 0.967365  Reprojection Error: 0.369239, 0.244820 Feature: 0.281513, -0.204936, 0.937418
[11:52:55.659] xyz_f:-0.269768, -0.194648, 1.001436  Reprojection Error: 0.353886, 0.243507 Feature: 0.084104, 0.048905, 0.995256
[11:52:55.659] xyz_f:-0.272879, -0.219925, 0.994483  Reprojection Error: 0.355904, 0.243915 Feature: 0.081221, 0.022690, 0.996438
[11:52:55.659] xyz_f:-0.402512, -0.137790, 0.949566  Reprojection Error: 0.359884, 0.236066 Feature: -0.063614, 0.090400, 0.993872
[11:52:55.659] xyz_f:-0.283513, -0.203953, 0.993985  Reprojection Error: 0.355085, 0.243295 Feature: 0.069636, 0.037989, 0.996849
[11:52:55.659] xyz_f:-0.014573, 0.052995, 1.079900  Reprojection Error: 0.370074, 0.295144 Feature: 0.319493, 0.308417, 0.895993
[11:52:55.659] xyz_f:-0.261159, 0.041859, 1.024165  Reprojection Error: 0.333419, 0.255364 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.659] xyz_f:-0.129966, -0.448297, 0.954285  Reprojection Error: 0.365882, 0.251250 Feature: 0.218950, -0.208305, 0.953242
[11:52:55.659] xyz_f:-0.291836, -0.226958, 0.985088  Reprojection Error: 0.357360, 0.243884 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.659] xyz_f:-0.261416, 0.041617, 1.024081  Reprojection Error: 0.333432, 0.255301 Feature: 0.074740, 0.282980, 0.956209
[11:52:55.659] xyz_f:-0.023299, -0.640816, 0.846399  Reprojection Error: 0.397062, 0.258518 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.659] xyz_f:-0.094822, -0.457105, 0.957580  Reprojection Error: 0.396682, 0.246861 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.659] xyz_f:-0.047803, -0.462526, 0.963007  Reprojection Error: 0.401661, 0.236893 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.659] xyz_f:-0.134205, -0.433676, 0.960640  Reprojection Error: 0.394079, 0.246830 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.659] xyz_f:-0.302637, -0.235919, 0.978191  Reprojection Error: 0.387955, 0.242019 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.659] xyz_f:-0.407299, -0.130595, 0.947979  Reprojection Error: 0.391886, 0.237468 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.659] xyz_f:-0.466032, -0.033599, 0.921425  Reprojection Error: 0.390456, 0.227063 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.659] xyz_f:-0.465472, -0.027034, 0.922031  Reprojection Error: 0.389388, 0.226834 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.659] xyz_f:-0.261159, 0.041859, 1.024165  Reprojection Error: 0.366850, 0.256151 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.659] xyz_f:-0.133707, 0.098165, 1.057420  Reprojection Error: 0.518943, 0.220900 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.659] xyz_f:-0.291836, -0.226958, 0.985088  Reprojection Error: 0.568815, 0.583256 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.659] xyz_f:-0.359729, 0.233838, 0.951870  Reprojection Error: 0.342866, 0.261604 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.659] it:28 	 Success 	 new_chi2: 2.473743 	 dT = 0.049072, 0.039859, -0.023391
[11:52:55.659] xyz_f:-0.387104, 0.231215, 0.921800  Reprojection Error: 0.346481, 0.254377 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.659] xyz_f:-0.326589, -0.238186, 0.946792  Reprojection Error: 0.394371, 0.254599 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.659] xyz_f:-0.117957, -0.458111, 0.921476  Reprojection Error: 0.396314, 0.268147 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.659] xyz_f:-0.432542, -0.133499, 0.918960  Reprojection Error: 0.400793, 0.242908 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.659] xyz_f:-0.157402, -0.434920, 0.925426  Reprojection Error: 0.395889, 0.268819 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.659] xyz_f:-0.047854, -0.641393, 0.808695  Reprojection Error: 0.399205, 0.301205 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.659] xyz_f:-0.070795, -0.463247, 0.925839  Reprojection Error: 0.397658, 0.263716 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.659] xyz_f:-0.432267, -0.127024, 0.920074  Reprojection Error: 0.399883, 0.242354 Feature: -0.069390, 0.103482, 0.992208
[11:52:55.659] xyz_f:-0.315717, -0.228684, 0.953553  Reprojection Error: 0.392169, 0.253802 Feature: 0.060954, 0.013952, 0.998043
[11:52:55.659] xyz_f:-0.492446, -0.036862, 0.893745  Reprojection Error: 0.402633, 0.230232 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.659] xyz_f:-0.147054, -0.455047, 0.917431  Reprojection Error: 0.396493, 0.270846 Feature: 0.224551, -0.214048, 0.950663
[11:52:55.659] xyz_f:-0.293705, -0.211635, 0.965894  Reprojection Error: 0.388535, 0.252860 Feature: 0.084111, 0.033613, 0.995889
[11:52:55.659] xyz_f:-0.107370, -0.446693, 0.929154  Reprojection Error: 0.396118, 0.265493 Feature: 0.264510, -0.202944, 0.942788
[11:52:55.659] xyz_f:-0.157223, -0.468263, 0.908171  Reprojection Error: 0.397395, 0.274283 Feature: 0.213012, -0.229210, 0.949784
[11:52:55.659] xyz_f:-0.157937, 0.096920, 1.022207  Reprojection Error: 0.369943, 0.282709 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.659] xyz_f:-0.491912, -0.030294, 0.894339  Reprojection Error: 0.401507, 0.229795 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.659] xyz_f:-0.089658, -0.449150, 0.930624  Reprojection Error: 0.396649, 0.264015 Feature: 0.281513, -0.204936, 0.937418
[11:52:55.659] xyz_f:-0.293453, -0.196715, 0.969291  Reprojection Error: 0.387255, 0.252085 Feature: 0.084104, 0.048905, 0.995256
[11:52:55.659] xyz_f:-0.296567, -0.222010, 0.962408  Reprojection Error: 0.389662, 0.253453 Feature: 0.081221, 0.022690, 0.996438
[11:52:55.659] xyz_f:-0.427677, -0.140665, 0.920437  Reprojection Error: 0.400639, 0.243782 Feature: -0.063614, 0.090400, 0.993872
[11:52:55.659] xyz_f:-0.307306, -0.206103, 0.962152  Reprojection Error: 0.389251, 0.252319 Feature: 0.069636, 0.037989, 0.996849
[11:52:55.659] xyz_f:-0.038055, 0.052473, 1.041987  Reprojection Error: 0.393101, 0.293859 Feature: 0.319493, 0.308417, 0.895993
[11:52:55.659] xyz_f:-0.285765, 0.039841, 0.991836  Reprojection Error: 0.366539, 0.256067 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.659] xyz_f:-0.153220, -0.449516, 0.918976  Reprojection Error: 0.396418, 0.270626 Feature: 0.218950, -0.208305, 0.953242
[11:52:55.659] xyz_f:-0.315689, -0.229159, 0.953444  Reprojection Error: 0.392210, 0.253840 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.659] xyz_f:-0.286023, 0.039598, 0.991758  Reprojection Error: 0.366563, 0.256013 Feature: 0.074740, 0.282980, 0.956209
[11:52:55.659] xyz_f:-0.047854, -0.641393, 0.808695  Reprojection Error: 0.428708, 0.294531 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.659] xyz_f:-0.117957, -0.458111, 0.921476  Reprojection Error: 0.425668, 0.266656 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.659] xyz_f:-0.070795, -0.463247, 0.925839  Reprojection Error: 0.428488, 0.256954 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.659] xyz_f:-0.157402, -0.434920, 0.925426  Reprojection Error: 0.424461, 0.265353 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.659] xyz_f:-0.326589, -0.238186, 0.946792  Reprojection Error: 0.423513, 0.252411 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.659] xyz_f:-0.432542, -0.133499, 0.918960  Reprojection Error: 0.432923, 0.244979 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.659] xyz_f:-0.492446, -0.036862, 0.893745  Reprojection Error: 0.435674, 0.231843 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.659] xyz_f:-0.491912, -0.030294, 0.894339  Reprojection Error: 0.434584, 0.231387 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.659] xyz_f:-0.285765, 0.039841, 0.991836  Reprojection Error: 0.399970, 0.256853 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.659] xyz_f:-0.157937, 0.096920, 1.022207  Reprojection Error: 0.547003, 0.218920 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.659] xyz_f:-0.315689, -0.229159, 0.953444  Reprojection Error: 0.603665, 0.593211 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.659] xyz_f:-0.387104, 0.231215, 0.921800  Reprojection Error: 0.384891, 0.256436 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.659] it:29 	 Success 	 new_chi2: 2.254525 	 dT = 0.049895, 0.041212, -0.024580
[11:52:55.659] xyz_f:-0.408341, 0.228579, 0.890426  Reprojection Error: 0.385128, 0.248500 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.659] xyz_f:-0.344265, -0.240426, 0.913939  Reprojection Error: 0.426111, 0.266093 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.659] xyz_f:-0.134898, -0.459021, 0.883661  Reprojection Error: 0.420963, 0.290452 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.659] xyz_f:-0.451513, -0.136417, 0.888638  Reprojection Error: 0.438201, 0.251149 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.659] xyz_f:-0.174385, -0.436082, 0.888548  Reprojection Error: 0.422062, 0.289632 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.659] xyz_f:-0.066328, -0.641862, 0.769234  Reprojection Error: 0.426257, 0.342502 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.659] xyz_f:-0.087615, -0.463857, 0.886902  Reprojection Error: 0.419979, 0.286370 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.659] xyz_f:-0.451252, -0.129940, 0.889746  Reprojection Error: 0.437235, 0.250337 Feature: -0.069390, 0.103482, 0.992208
[11:52:55.659] xyz_f:-0.333296, -0.230854, 0.920441  Reprojection Error: 0.423179, 0.264787 Feature: 0.060954, 0.013952, 0.998043
[11:52:55.659] xyz_f:-0.512612, -0.040165, 0.864860  Reprojection Error: 0.444352, 0.235429 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.659] xyz_f:-0.164101, -0.456143, 0.880308  Reprojection Error: 0.422619, 0.293007 Feature: 0.224551, -0.214048, 0.950663
[11:52:55.659] xyz_f:-0.311107, -0.213665, 0.932257  Reprojection Error: 0.418172, 0.262943 Feature: 0.084111, 0.033613, 0.995889
[11:52:55.659] xyz_f:-0.124205, -0.447535, 0.891086  Reprojection Error: 0.419947, 0.286977 Feature: 0.264510, -0.202944, 0.942788
[11:52:55.659] xyz_f:-0.174404, -0.469424, 0.871291  Reprojection Error: 0.424441, 0.297440 Feature: 0.213012, -0.229210, 0.949784
[11:52:55.659] xyz_f:-0.176006, 0.095752, 0.985355  Reprojection Error: 0.394059, 0.280348 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.659] xyz_f:-0.512106, -0.033594, 0.865442  Reprojection Error: 0.443206, 0.234738 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.659] xyz_f:-0.106448, -0.449879, 0.892135  Reprojection Error: 0.419625, 0.285655 Feature: 0.281513, -0.204936, 0.937418
[11:52:55.659] xyz_f:-0.310869, -0.198743, 0.935648  Reprojection Error: 0.416755, 0.261550 Feature: 0.084104, 0.048905, 0.995256
[11:52:55.659] xyz_f:-0.313985, -0.224058, 0.928840  Reprojection Error: 0.419551, 0.263995 Feature: 0.081221, 0.022690, 0.996438
[11:52:55.659] xyz_f:-0.446568, -0.143552, 0.889999  Reprojection Error: 0.437757, 0.252252 Feature: -0.063614, 0.090400, 0.993872
[11:52:55.659] xyz_f:-0.324828, -0.208220, 0.928840  Reprojection Error: 0.419570, 0.262281 Feature: 0.069636, 0.037989, 0.996849
[11:52:55.659] xyz_f:-0.055407, 0.052070, 1.002279  Reprojection Error: 0.411861, 0.292266 Feature: 0.319493, 0.308417, 0.895993
[11:52:55.659] xyz_f:-0.304153, 0.037859, 0.958022  Reprojection Error: 0.395902, 0.256718 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.659] xyz_f:-0.170264, -0.450651, 0.882000  Reprojection Error: 0.422733, 0.292420 Feature: 0.218950, -0.208305, 0.953242
[11:52:55.659] xyz_f:-0.333268, -0.231330, 0.920331  Reprojection Error: 0.423224, 0.264845 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.659] xyz_f:-0.304411, 0.037614, 0.957951  Reprojection Error: 0.395936, 0.256675 Feature: 0.074740, 0.282980, 0.956209
[11:52:55.659] xyz_f:-0.066328, -0.641862, 0.769234  Reprojection Error: 0.455760, 0.335828 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.659] xyz_f:-0.134898, -0.459021, 0.883661  Reprojection Error: 0.450318, 0.288961 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.659] xyz_f:-0.087615, -0.463857, 0.886902  Reprojection Error: 0.450809, 0.279607 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.659] xyz_f:-0.174385, -0.436082, 0.888548  Reprojection Error: 0.450633, 0.286165 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.659] xyz_f:-0.344265, -0.240426, 0.913939  Reprojection Error: 0.455253, 0.263905 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.659] xyz_f:-0.451513, -0.136417, 0.888638  Reprojection Error: 0.470332, 0.253219 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.659] xyz_f:-0.512612, -0.040165, 0.864860  Reprojection Error: 0.477394, 0.237040 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.659] xyz_f:-0.512106, -0.033594, 0.865442  Reprojection Error: 0.476283, 0.236331 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.659] xyz_f:-0.304153, 0.037859, 0.958022  Reprojection Error: 0.429332, 0.257505 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.659] xyz_f:-0.176006, 0.095752, 0.985355  Reprojection Error: 0.571118, 0.216559 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.659] xyz_f:-0.333268, -0.231330, 0.920331  Reprojection Error: 0.634679, 0.604217 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.659] xyz_f:-0.408341, 0.228579, 0.890426  Reprojection Error: 0.423538, 0.250559 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.659] it:30 	 Success 	 new_chi2: 1.946274 	 dT = 0.049850, 0.042198, -0.025479
[11:52:55.659] xyz_f:-0.429095, 0.225978, 0.857936  Reprojection Error: 0.426685, 0.241810 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.659] xyz_f:-0.361369, -0.242593, 0.879827  Reprojection Error: 0.460156, 0.278755 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.659] xyz_f:-0.151374, -0.459805, 0.844387  Reprojection Error: 0.447575, 0.315540 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.659] xyz_f:-0.469891, -0.139295, 0.857181  Reprojection Error: 0.478287, 0.260140 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.659] xyz_f:-0.190879, -0.437126, 0.850247  Reprojection Error: 0.450301, 0.312968 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.659] xyz_f:-0.084436, -0.642199, 0.728293  Reprojection Error: 0.455968, 0.389871 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.659] xyz_f:-0.103994, -0.464328, 0.846464  Reprojection Error: 0.444048, 0.311913 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.659] xyz_f:-0.469645, -0.132817, 0.858282  Reprojection Error: 0.477257, 0.259042 Feature: -0.069390, 0.103482, 0.992208
[11:52:55.659] xyz_f:-0.350307, -0.232948, 0.886057  Reprojection Error: 0.456428, 0.276883 Feature: 0.060954, 0.013952, 0.998043
[11:52:55.659] xyz_f:-0.532190, -0.043450, 0.834922  Reprojection Error: 0.489054, 0.241028 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.659] xyz_f:-0.180669, -0.457120, 0.841754  Reprojection Error: 0.450839, 0.317900 Feature: 0.224551, -0.214048, 0.950663
[11:52:55.659] xyz_f:-0.327947, -0.215612, 0.897326  Reprojection Error: 0.449930, 0.274035 Feature: 0.084111, 0.033613, 0.995889
[11:52:55.659] xyz_f:-0.140577, -0.448248, 0.851548  Reprojection Error: 0.445645, 0.311133 Feature: 0.264510, -0.202944, 0.942788
[11:52:55.659] xyz_f:-0.191103, -0.470469, 0.832993  Reprojection Error: 0.453691, 0.323465 Feature: 0.213012, -0.229210, 0.949784
[11:52:55.659] xyz_f:-0.193623, 0.094693, 0.947107  Reprojection Error: 0.419874, 0.277542 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.659] xyz_f:-0.531713, -0.036875, 0.835491  Reprojection Error: 0.487885, 0.240058 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.659] xyz_f:-0.122784, -0.450475, 0.852160  Reprojection Error: 0.444393, 0.310009 Feature: 0.281513, -0.204936, 0.937418
[11:52:55.659] xyz_f:-0.327724, -0.200689, 0.900711  Reprojection Error: 0.448355, 0.271949 Feature: 0.084104, 0.048905, 0.995256
[11:52:55.659] xyz_f:-0.330840, -0.226024, 0.893979  Reprojection Error: 0.451587, 0.275601 Feature: 0.081221, 0.022690, 0.996438
[11:52:55.659] xyz_f:-0.464867, -0.146397, 0.858419  Reprojection Error: 0.477533, 0.261500 Feature: -0.063614, 0.090400, 0.993872
[11:52:55.659] xyz_f:-0.341784, -0.210258, 0.894247  Reprojection Error: 0.452059, 0.273231 Feature: 0.069636, 0.037989, 0.996849
[11:52:55.659] xyz_f:-0.072359, 0.051809, 0.961055  Reprojection Error: 0.431871, 0.290309 Feature: 0.319493, 0.308417, 0.895993
[11:52:55.659] xyz_f:-0.322020, 0.035954, 0.922932  Reprojection Error: 0.427331, 0.257279 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.659] xyz_f:-0.186824, -0.451668, 0.843598  Reprojection Error: 0.451151, 0.316884 Feature: 0.218950, -0.208305, 0.953242
[11:52:55.659] xyz_f:-0.350278, -0.233423, 0.885947  Reprojection Error: 0.456478, 0.276964 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.659] xyz_f:-0.322278, 0.035708, 0.922867  Reprojection Error: 0.427377, 0.257248 Feature: 0.074740, 0.282980, 0.956209
[11:52:55.659] xyz_f:-0.084436, -0.642199, 0.728293  Reprojection Error: 0.485470, 0.383197 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.659] xyz_f:-0.151374, -0.459805, 0.844387  Reprojection Error: 0.476930, 0.314050 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.659] xyz_f:-0.103994, -0.464328, 0.846464  Reprojection Error: 0.474879, 0.305150 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.659] xyz_f:-0.190879, -0.437126, 0.850247  Reprojection Error: 0.478873, 0.309501 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.659] xyz_f:-0.361369, -0.242593, 0.879827  Reprojection Error: 0.489298, 0.276567 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.659] xyz_f:-0.469891, -0.139295, 0.857181  Reprojection Error: 0.510417, 0.262211 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.659] xyz_f:-0.532190, -0.043450, 0.834922  Reprojection Error: 0.522096, 0.242640 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.659] xyz_f:-0.531713, -0.036875, 0.835491  Reprojection Error: 0.520963, 0.241650 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.659] xyz_f:-0.322020, 0.035954, 0.922932  Reprojection Error: 0.460762, 0.258066 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.659] xyz_f:-0.193623, 0.094693, 0.947107  Reprojection Error: 0.596933, 0.213753 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.659] xyz_f:-0.350278, -0.233423, 0.885947  Reprojection Error: 0.667933, 0.616335 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.660] xyz_f:-0.429095, 0.225978, 0.857936  Reprojection Error: 0.465096, 0.243869 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.660] it:31 	 Success 	 new_chi2: 1.521929 	 dT = 0.050735, 0.043131, -0.027604
[11:52:55.660] xyz_f:-0.449781, 0.223312, 0.824752  Reprojection Error: 0.471890, 0.234444 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.660] xyz_f:-0.378150, -0.244760, 0.844785  Reprojection Error: 0.497057, 0.292757 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.660] xyz_f:-0.167628, -0.460470, 0.803739  Reprojection Error: 0.476865, 0.343908 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.660] xyz_f:-0.487972, -0.142243, 0.825050  Reprojection Error: 0.521551, 0.270041 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.660] xyz_f:-0.207124, -0.438073, 0.810652  Reprojection Error: 0.481306, 0.339248 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.660] xyz_f:-0.102507, -0.642393, 0.685883  Reprojection Error: 0.489484, 0.444675 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.660] xyz_f:-0.120178, -0.464655, 0.804551  Reprojection Error: 0.470564, 0.340895 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.660] xyz_f:-0.487743, -0.135762, 0.826145  Reprojection Error: 0.520450, 0.268628 Feature: -0.069390, 0.103482, 0.992208
[11:52:55.660] xyz_f:-0.366994, -0.235036, 0.850719  Reprojection Error: 0.492467, 0.290258 Feature: 0.060954, 0.013952, 0.998043
[11:52:55.660] xyz_f:-0.551525, -0.046847, 0.804469  Reprojection Error: 0.537218, 0.247221 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.660] xyz_f:-0.197001, -0.457994, 0.801888  Reprojection Error: 0.481876, 0.345989 Feature: 0.224551, -0.214048, 0.950663
[11:52:55.660] xyz_f:-0.344467, -0.217540, 0.861389  Reprojection Error: 0.484355, 0.286298 Feature: 0.084111, 0.033613, 0.995889
[11:52:55.660] xyz_f:-0.156726, -0.448836, 0.810610  Reprojection Error: 0.473905, 0.338442 Feature: 0.264510, -0.202944, 0.942788
[11:52:55.660] xyz_f:-0.207569, -0.471419, 0.793407  Reprojection Error: 0.485891, 0.352842 Feature: 0.213012, -0.229210, 0.949784
[11:52:55.660] xyz_f:-0.211084, 0.093722, 0.907602  Reprojection Error: 0.448010, 0.274260 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.660] xyz_f:-0.551080, -0.040269, 0.805026  Reprojection Error: 0.536027, 0.245944 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.660] xyz_f:-0.138908, -0.450935, 0.810747  Reprojection Error: 0.471640, 0.337579 Feature: 0.281513, -0.204936, 0.937418
[11:52:55.660] xyz_f:-0.344260, -0.202615, 0.864768  Reprojection Error: 0.482600, 0.283437 Feature: 0.084104, 0.048905, 0.995256
[11:52:55.660] xyz_f:-0.347373, -0.227973, 0.858119  Reprojection Error: 0.486318, 0.288436 Feature: 0.081221, 0.022690, 0.996438
[11:52:55.660] xyz_f:-0.482866, -0.149309, 0.826153  Reprojection Error: 0.520470, 0.271685 Feature: -0.063614, 0.090400, 0.993872
[11:52:55.660] xyz_f:-0.358418, -0.212285, 0.858681  Reprojection Error: 0.487262, 0.285330 Feature: 0.069636, 0.037989, 0.996849
[11:52:55.660] xyz_f:-0.089188, 0.051706, 0.918307  Reprojection Error: 0.453701, 0.287912 Feature: 0.319493, 0.308417, 0.895993
[11:52:55.660] xyz_f:-0.339656, 0.034065, 0.886852  Reprojection Error: 0.461413, 0.257825 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.660] xyz_f:-0.203144, -0.452587, 0.803896  Reprojection Error: 0.482389, 0.344469 Feature: 0.218950, -0.208305, 0.953242
[11:52:55.660] xyz_f:-0.366965, -0.235511, 0.850608  Reprojection Error: 0.492522, 0.290364 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.660] xyz_f:-0.339914, 0.033817, 0.886794  Reprojection Error: 0.461470, 0.257806 Feature: 0.074740, 0.282980, 0.956209
[11:52:55.660] xyz_f:-0.102507, -0.642393, 0.685883  Reprojection Error: 0.518987, 0.438001 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.660] xyz_f:-0.167628, -0.460470, 0.803739  Reprojection Error: 0.506219, 0.342417 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.660] xyz_f:-0.120178, -0.464655, 0.804551  Reprojection Error: 0.501395, 0.334132 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.660] xyz_f:-0.207124, -0.438073, 0.810652  Reprojection Error: 0.509877, 0.335781 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.660] xyz_f:-0.378150, -0.244760, 0.844785  Reprojection Error: 0.526199, 0.290570 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.660] xyz_f:-0.487972, -0.142243, 0.825050  Reprojection Error: 0.553681, 0.272112 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.660] xyz_f:-0.551525, -0.046847, 0.804469  Reprojection Error: 0.570260, 0.248832 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.660] xyz_f:-0.551080, -0.040269, 0.805026  Reprojection Error: 0.569105, 0.247536 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.660] xyz_f:-0.339656, 0.034065, 0.886852  Reprojection Error: 0.494843, 0.258611 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.660] xyz_f:-0.211084, 0.093722, 0.907602  Reprojection Error: 0.625070, 0.210471 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.660] xyz_f:-0.366965, -0.235511, 0.850608  Reprojection Error: 0.703977, 0.629736 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.660] xyz_f:-0.449781, 0.223312, 0.824752  Reprojection Error: 0.510301, 0.236503 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.660] it:32 	 Success 	 new_chi2: 1.011500 	 dT = 0.054510, 0.043784, -0.032978
[11:52:55.660] xyz_f:-0.469569, 0.220339, 0.792062  Reprojection Error: 0.519381, 0.227022 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.660] xyz_f:-0.393344, -0.247102, 0.809740  Reprojection Error: 0.535195, 0.308189 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.660] xyz_f:-0.182403, -0.461013, 0.761981  Reprojection Error: 0.507685, 0.376017 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.660] xyz_f:-0.504610, -0.145528, 0.793527  Reprojection Error: 0.566014, 0.281030 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.660] xyz_f:-0.221849, -0.438953, 0.770151  Reprojection Error: 0.513862, 0.368809 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.660] xyz_f:-0.119519, -0.642389, 0.642086  Reprojection Error: 0.526173, 0.508555 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.660] xyz_f:-0.134918, -0.464792, 0.761281  Reprojection Error: 0.498416, 0.373902 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.660] xyz_f:-0.504402, -0.139046, 0.794615  Reprojection Error: 0.564841, 0.279280 Feature: -0.069390, 0.103482, 0.992208
[11:52:55.660] xyz_f:-0.382089, -0.237282, 0.815317  Reprojection Error: 0.529713, 0.305010 Feature: 0.060954, 0.013952, 0.998043
[11:52:55.660] xyz_f:-0.569599, -0.050681, 0.774993  Reprojection Error: 0.586614, 0.254383 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.660] xyz_f:-0.211841, -0.458788, 0.761066  Reprojection Error: 0.514552, 0.377666 Feature: 0.224551, -0.214048, 0.950663
[11:52:55.660] xyz_f:-0.359383, -0.219593, 0.825267  Reprojection Error: 0.519934, 0.299839 Feature: 0.084111, 0.033613, 0.995889
[11:52:55.660] xyz_f:-0.171388, -0.449285, 0.768503  Reprojection Error: 0.503577, 0.369365 Feature: 0.264510, -0.202944, 0.942788
[11:52:55.660] xyz_f:-0.222558, -0.472303, 0.752924  Reprojection Error: 0.519866, 0.385964 Feature: 0.213012, -0.229210, 0.949784
[11:52:55.660] xyz_f:-0.227257, 0.092802, 0.867250  Reprojection Error: 0.477481, 0.270516 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.660] xyz_f:-0.569192, -0.044100, 0.775536  Reprojection Error: 0.585411, 0.252785 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.660] xyz_f:-0.153558, -0.451232, 0.768072  Reprojection Error: 0.500233, 0.368869 Feature: 0.281513, -0.204936, 0.937418
[11:52:55.660] xyz_f:-0.359197, -0.204666, 0.828640  Reprojection Error: 0.517982, 0.296128 Feature: 0.084104, 0.048905, 0.995256
[11:52:55.660] xyz_f:-0.362303, -0.230051, 0.822090  Reprojection Error: 0.522221, 0.302607 Feature: 0.081221, 0.022690, 0.996438
[11:52:55.660] xyz_f:-0.499412, -0.152550, 0.794465  Reprojection Error: 0.564608, 0.282973 Feature: -0.063614, 0.090400, 0.993872
[11:52:55.660] xyz_f:-0.373458, -0.214457, 0.823005  Reprojection Error: 0.523630, 0.298687 Feature: 0.069636, 0.037989, 0.996849
[11:52:55.660] xyz_f:-0.104728, 0.051830, 0.874062  Reprojection Error: 0.476397, 0.284920 Feature: 0.319493, 0.308417, 0.895993
[11:52:55.660] xyz_f:-0.355911, 0.032047, 0.850598  Reprojection Error: 0.496847, 0.258559 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.660] xyz_f:-0.217962, -0.453433, 0.763269  Reprojection Error: 0.515254, 0.375544 Feature: 0.218950, -0.208305, 0.953242
[11:52:55.660] xyz_f:-0.382059, -0.237757, 0.815205  Reprojection Error: 0.529773, 0.305143 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.660] xyz_f:-0.356169, 0.031797, 0.850548  Reprojection Error: 0.496915, 0.258556 Feature: 0.074740, 0.282980, 0.956209
[11:52:55.660] xyz_f:-0.119519, -0.642389, 0.642086  Reprojection Error: 0.555676, 0.501881 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.660] xyz_f:-0.182403, -0.461013, 0.761981  Reprojection Error: 0.537040, 0.374526 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.660] xyz_f:-0.134918, -0.464792, 0.761281  Reprojection Error: 0.529247, 0.367140 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.660] xyz_f:-0.221849, -0.438953, 0.770151  Reprojection Error: 0.542433, 0.365342 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.660] xyz_f:-0.393344, -0.247102, 0.809740  Reprojection Error: 0.564337, 0.306001 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.660] xyz_f:-0.504610, -0.145528, 0.793527  Reprojection Error: 0.598144, 0.283101 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.660] xyz_f:-0.569599, -0.050681, 0.774993  Reprojection Error: 0.619655, 0.255994 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.660] xyz_f:-0.569192, -0.044100, 0.775536  Reprojection Error: 0.618489, 0.254377 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.660] xyz_f:-0.355911, 0.032047, 0.850598  Reprojection Error: 0.530277, 0.259346 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.660] xyz_f:-0.227257, 0.092802, 0.867250  Reprojection Error: 0.654540, 0.206727 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.660] xyz_f:-0.382059, -0.237757, 0.815205  Reprojection Error: 0.741228, 0.644515 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.660] xyz_f:-0.469569, 0.220339, 0.792062  Reprojection Error: 0.557792, 0.229081 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.660] it:33 	 Success 	 new_chi2: 0.529845 	 dT = 0.048129, 0.038481, -0.024303
[11:52:55.660] xyz_f:-0.486754, 0.218298, 0.761201  Reprojection Error: 0.565993, 0.218426 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.660] xyz_f:-0.407197, -0.248653, 0.777050  Reprojection Error: 0.573458, 0.323024 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.660] xyz_f:-0.196094, -0.461237, 0.724337  Reprojection Error: 0.539027, 0.407770 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.660] xyz_f:-0.519449, -0.147783, 0.763461  Reprojection Error: 0.610493, 0.291206 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.660] xyz_f:-0.235475, -0.439425, 0.733433  Reprojection Error: 0.546862, 0.397987 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.660] xyz_f:-0.134902, -0.642223, 0.602986  Reprojection Error: 0.563755, 0.573155 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.660] xyz_f:-0.148615, -0.464718, 0.722523  Reprojection Error: 0.526881, 0.406551 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.660] xyz_f:-0.519257, -0.141300, 0.764544  Reprojection Error: 0.609237, 0.289111 Feature: -0.069390, 0.103482, 0.992208
[11:52:55.660] xyz_f:-0.395876, -0.238763, 0.782362  Reprojection Error: 0.567075, 0.319161 Feature: 0.060954, 0.013952, 0.998043
[11:52:55.660] xyz_f:-0.585450, -0.053348, 0.746464  Reprojection Error: 0.635939, 0.260455 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.660] xyz_f:-0.225558, -0.459198, 0.724114  Reprojection Error: 0.547700, 0.408995 Feature: 0.224551, -0.214048, 0.950663
[11:52:55.660] xyz_f:-0.373054, -0.220931, 0.791777  Reprojection Error: 0.555619, 0.312783 Feature: 0.084111, 0.033613, 0.995889
[11:52:55.660] xyz_f:-0.185003, -0.449440, 0.730600  Reprojection Error: 0.533782, 0.399907 Feature: 0.264510, -0.202944, 0.942788
[11:52:55.660] xyz_f:-0.236379, -0.472781, 0.716225  Reprojection Error: 0.554308, 0.418773 Feature: 0.213012, -0.229210, 0.949784
[11:52:55.660] xyz_f:-0.241947, 0.092292, 0.830671  Reprojection Error: 0.506704, 0.266418 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.660] xyz_f:-0.585072, -0.046764, 0.746998  Reprojection Error: 0.634709, 0.258524 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.660] xyz_f:-0.167175, -0.451275, 0.729750  Reprojection Error: 0.529393, 0.399779 Feature: 0.281513, -0.204936, 0.937418
[11:52:55.660] xyz_f:-0.372883, -0.206003, 0.795147  Reprojection Error: 0.553453, 0.308213 Feature: 0.084104, 0.048905, 0.995256
[11:52:55.660] xyz_f:-0.375982, -0.231407, 0.788669  Reprojection Error: 0.558241, 0.316185 Feature: 0.081221, 0.022690, 0.996438
[11:52:55.660] xyz_f:-0.514187, -0.154772, 0.764277  Reprojection Error: 0.608769, 0.293465 Feature: -0.063614, 0.090400, 0.993872
[11:52:55.660] xyz_f:-0.387211, -0.215884, 0.789847  Reprojection Error: 0.560091, 0.311432 Feature: 0.069636, 0.037989, 0.996849
[11:52:55.660] xyz_f:-0.119036, 0.052092, 0.834603  Reprojection Error: 0.499206, 0.281803 Feature: 0.319493, 0.308417, 0.895993
[11:52:55.660] xyz_f:-0.370572, 0.030728, 0.817039  Reprojection Error: 0.531977, 0.258626 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.660] xyz_f:-0.231660, -0.453881, 0.726461  Reprojection Error: 0.548578, 0.406262 Feature: 0.218950, -0.208305, 0.953242
[11:52:55.660] xyz_f:-0.395846, -0.239238, 0.782249  Reprojection Error: 0.567142, 0.319323 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.660] xyz_f:-0.370829, 0.030476, 0.816995  Reprojection Error: 0.532057, 0.258637 Feature: 0.074740, 0.282980, 0.956209
[11:52:55.660] xyz_f:-0.134902, -0.642223, 0.602986  Reprojection Error: 0.593257, 0.566481 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.660] xyz_f:-0.196094, -0.461237, 0.724337  Reprojection Error: 0.568381, 0.406279 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.660] xyz_f:-0.148615, -0.464718, 0.722523  Reprojection Error: 0.557712, 0.399788 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.660] xyz_f:-0.235475, -0.439425, 0.733433  Reprojection Error: 0.575433, 0.394521 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.660] xyz_f:-0.407197, -0.248653, 0.777050  Reprojection Error: 0.602600, 0.320836 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.660] xyz_f:-0.519449, -0.147783, 0.763461  Reprojection Error: 0.642624, 0.293276 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.660] xyz_f:-0.585450, -0.053348, 0.746464  Reprojection Error: 0.668980, 0.262066 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.660] xyz_f:-0.585072, -0.046764, 0.746998  Reprojection Error: 0.667786, 0.260116 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.660] xyz_f:-0.370572, 0.030728, 0.817039  Reprojection Error: 0.565407, 0.259413 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.660] xyz_f:-0.241947, 0.092292, 0.830671  Reprojection Error: 0.683764, 0.202628 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.660] xyz_f:-0.395846, -0.239238, 0.782249  Reprojection Error: 0.778597, 0.658695 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.660] xyz_f:-0.486754, 0.218298, 0.761201  Reprojection Error: 0.604404, 0.220485 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.660] it:34 	 Success 	 new_chi2: 0.212763 	 dT = 0.041473, 0.014145, -0.004678
[11:52:55.660] xyz_f:-0.514665, 0.217919, 0.748468  Reprojection Error: 0.614162, 0.214053 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.660] xyz_f:-0.434472, -0.248935, 0.763956  Reprojection Error: 0.618142, 0.328877 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.660] xyz_f:-0.223352, -0.461263, 0.710289  Reprojection Error: 0.582757, 0.420400 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.660] xyz_f:-0.546907, -0.148201, 0.750875  Reprojection Error: 0.658465, 0.295007 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.660] xyz_f:-0.262718, -0.439499, 0.719563  Reprojection Error: 0.590911, 0.409638 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.660] xyz_f:-0.162490, -0.642176, 0.588663  Reprojection Error: 0.616064, 0.598989 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.660] xyz_f:-0.175878, -0.464687, 0.708261  Reprojection Error: 0.569515, 0.419458 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.660] xyz_f:-0.546717, -0.141717, 0.751957  Reprojection Error: 0.657124, 0.292759 Feature: -0.069390, 0.103482, 0.992208
[11:52:55.660] xyz_f:-0.423139, -0.239031, 0.769218  Reprojection Error: 0.611165, 0.324725 Feature: 0.060954, 0.013952, 0.998043
[11:52:55.660] xyz_f:-0.613098, -0.053846, 0.734177  Reprojection Error: 0.686723, 0.262329 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.660] xyz_f:-0.252820, -0.459260, 0.710200  Reprojection Error: 0.592189, 0.421506 Feature: 0.224551, -0.214048, 0.950663
[11:52:55.660] xyz_f:-0.400297, -0.221171, 0.778529  Reprojection Error: 0.598629, 0.317840 Feature: 0.084111, 0.033613, 0.995889
[11:52:55.660] xyz_f:-0.212247, -0.449453, 0.716502  Reprojection Error: 0.576789, 0.412028 Feature: 0.264510, -0.202944, 0.942788
[11:52:55.660] xyz_f:-0.263659, -0.472856, 0.702359  Reprojection Error: 0.599665, 0.431911 Feature: 0.213012, -0.229210, 0.949784
[11:52:55.660] xyz_f:-0.269394, 0.092210, 0.816831  Reprojection Error: 0.545242, 0.264635 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.660] xyz_f:-0.612726, -0.047261, 0.734709  Reprojection Error: 0.685448, 0.260248 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.660] xyz_f:-0.194422, -0.451266, 0.715572  Reprojection Error: 0.572008, 0.412019 Feature: 0.281513, -0.204936, 0.937418
[11:52:55.660] xyz_f:-0.400128, -0.206243, 0.781898  Reprojection Error: 0.596245, 0.312910 Feature: 0.084104, 0.048905, 0.995256
[11:52:55.660] xyz_f:-0.403226, -0.231651, 0.775435  Reprojection Error: 0.601512, 0.321507 Feature: 0.081221, 0.022690, 0.996438
[11:52:55.660] xyz_f:-0.541632, -0.155183, 0.751667  Reprojection Error: 0.656569, 0.297410 Feature: -0.063614, 0.090400, 0.993872
[11:52:55.660] xyz_f:-0.414468, -0.216141, 0.776663  Reprojection Error: 0.603509, 0.316403 Feature: 0.069636, 0.037989, 0.996849
[11:52:55.660] xyz_f:-0.146418, 0.052159, 0.820207  Reprojection Error: 0.535094, 0.280625 Feature: 0.319493, 0.308417, 0.895993
[11:52:55.660] xyz_f:-0.398005, 0.030491, 0.803780  Reprojection Error: 0.573589, 0.258301 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.660] xyz_f:-0.258917, -0.453950, 0.712574  Reprojection Error: 0.593045, 0.418535 Feature: 0.218950, -0.208305, 0.953242
[11:52:55.660] xyz_f:-0.423109, -0.239506, 0.769105  Reprojection Error: 0.611239, 0.324899 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.660] xyz_f:-0.398262, 0.030238, 0.803737  Reprojection Error: 0.573676, 0.258317 Feature: 0.074740, 0.282980, 0.956209
[11:52:55.660] xyz_f:-0.162490, -0.642176, 0.588663  Reprojection Error: 0.645567, 0.592315 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.660] xyz_f:-0.223352, -0.461263, 0.710289  Reprojection Error: 0.612112, 0.418909 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.660] xyz_f:-0.175878, -0.464687, 0.708261  Reprojection Error: 0.600346, 0.412696 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.660] xyz_f:-0.262718, -0.439499, 0.719563  Reprojection Error: 0.619482, 0.406171 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.660] xyz_f:-0.434472, -0.248935, 0.763956  Reprojection Error: 0.647284, 0.326690 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.660] xyz_f:-0.546907, -0.148201, 0.750875  Reprojection Error: 0.690596, 0.297077 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.660] xyz_f:-0.613098, -0.053846, 0.734177  Reprojection Error: 0.719765, 0.263940 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.660] xyz_f:-0.612726, -0.047261, 0.734709  Reprojection Error: 0.718525, 0.261840 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.660] xyz_f:-0.398005, 0.030491, 0.803780  Reprojection Error: 0.607019, 0.259088 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.660] xyz_f:-0.269394, 0.092210, 0.816831  Reprojection Error: 0.722301, 0.200846 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.660] xyz_f:-0.423109, -0.239506, 0.769105  Reprojection Error: 0.822694, 0.664270 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.660] xyz_f:-0.514665, 0.217919, 0.748468  Reprojection Error: 0.652573, 0.216112 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.660] it:35 	 Success 	 new_chi2: 0.072804 	 dT = 0.048141, -0.037133, 0.012851
[11:52:55.660] xyz_f:-0.546212, 0.218970, 0.781680  Reprojection Error: 0.625304, 0.225079 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.660] xyz_f:-0.467771, -0.248148, 0.798153  Reprojection Error: 0.635495, 0.313930 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.660] xyz_f:-0.256708, -0.461178, 0.747106  Reprojection Error: 0.611908, 0.388285 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.660] xyz_f:-0.579699, -0.147040, 0.783678  Reprojection Error: 0.669820, 0.285265 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.660] xyz_f:-0.296113, -0.439283, 0.755890  Reprojection Error: 0.617544, 0.379999 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.660] xyz_f:-0.194943, -0.642295, 0.626240  Reprojection Error: 0.651322, 0.533719 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.660] xyz_f:-0.209224, -0.464760, 0.745666  Reprojection Error: 0.601778, 0.386644 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.660] xyz_f:-0.579501, -0.140558, 0.784763  Reprojection Error: 0.668505, 0.283403 Feature: -0.069390, 0.103482, 0.992208
[11:52:55.660] xyz_f:-0.456471, -0.238282, 0.803554  Reprojection Error: 0.629139, 0.310514 Feature: 0.060954, 0.013952, 0.998043
[11:52:55.660] xyz_f:-0.645363, -0.052466, 0.766162  Reprojection Error: 0.693973, 0.257467 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.660] xyz_f:-0.286165, -0.459077, 0.746650  Reprojection Error: 0.619470, 0.389692 Feature: 0.224551, -0.214048, 0.950663
[11:52:55.660] xyz_f:-0.433687, -0.220497, 0.813149  Reprojection Error: 0.617801, 0.304917 Feature: 0.084111, 0.033613, 0.995889
[11:52:55.661] xyz_f:-0.245642, -0.449405, 0.753456  Reprojection Error: 0.606582, 0.381198 Feature: 0.264510, -0.202944, 0.942788
[11:52:55.661] xyz_f:-0.296952, -0.472637, 0.738676  Reprojection Error: 0.626280, 0.398515 Feature: 0.213012, -0.229210, 0.949784
[11:52:55.661] xyz_f:-0.302228, 0.092448, 0.853079  Reprojection Error: 0.569716, 0.269154 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.661] xyz_f:-0.644976, -0.045883, 0.766699  Reprojection Error: 0.692715, 0.255766 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.661] xyz_f:-0.227812, -0.451278, 0.752747  Reprojection Error: 0.602948, 0.380889 Feature: 0.281513, -0.204936, 0.937418
[11:52:55.661] xyz_f:-0.433510, -0.205570, 0.816520  Reprojection Error: 0.615429, 0.300901 Feature: 0.084104, 0.048905, 0.995256
[11:52:55.661] xyz_f:-0.436612, -0.230967, 0.810018  Reprojection Error: 0.620526, 0.307909 Feature: 0.081221, 0.022690, 0.996438
[11:52:55.661] xyz_f:-0.574457, -0.154041, 0.784536  Reprojection Error: 0.668219, 0.287304 Feature: -0.063614, 0.090400, 0.993872
[11:52:55.661] xyz_f:-0.447817, -0.215421, 0.811107  Reprojection Error: 0.621962, 0.303697 Feature: 0.069636, 0.037989, 0.996849
[11:52:55.661] xyz_f:-0.179437, 0.051988, 0.857980  Reprojection Error: 0.565719, 0.283625 Feature: 0.319493, 0.308417, 0.895993
[11:52:55.661] xyz_f:-0.430871, 0.031156, 0.838432  Reprojection Error: 0.592324, 0.259076 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.661] xyz_f:-0.292274, -0.453747, 0.748949  Reprojection Error: 0.619936, 0.387323 Feature: 0.218950, -0.208305, 0.953242
[11:52:55.661] xyz_f:-0.456441, -0.238756, 0.803441  Reprojection Error: 0.629214, 0.310657 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.661] xyz_f:-0.431128, 0.030904, 0.838385  Reprojection Error: 0.592400, 0.259078 Feature: 0.074740, 0.282980, 0.956209
[11:52:55.661] xyz_f:-0.194943, -0.642295, 0.626240  Reprojection Error: 0.680825, 0.527046 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.661] xyz_f:-0.256708, -0.461178, 0.747106  Reprojection Error: 0.641263, 0.386794 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.661] xyz_f:-0.209224, -0.464760, 0.745666  Reprojection Error: 0.632609, 0.379881 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.661] xyz_f:-0.296113, -0.439283, 0.755890  Reprojection Error: 0.646116, 0.376532 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.661] xyz_f:-0.467771, -0.248148, 0.798153  Reprojection Error: 0.664637, 0.311743 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.661] xyz_f:-0.579699, -0.147040, 0.783678  Reprojection Error: 0.701951, 0.287335 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.661] xyz_f:-0.645363, -0.052466, 0.766162  Reprojection Error: 0.727015, 0.259078 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.661] xyz_f:-0.644976, -0.045883, 0.766699  Reprojection Error: 0.725792, 0.257359 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.661] xyz_f:-0.430871, 0.031156, 0.838432  Reprojection Error: 0.625754, 0.259863 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.661] xyz_f:-0.302228, 0.092448, 0.853079  Reprojection Error: 0.746776, 0.205364 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.661] xyz_f:-0.456441, -0.238756, 0.803441  Reprojection Error: 0.840669, 0.650029 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.661] xyz_f:-0.546212, 0.218970, 0.781680  Reprojection Error: 0.663715, 0.227138 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.661] it:36 	 Success 	 new_chi2: 0.036953 	 dT = 0.002903, -0.066508, 0.079093
[11:52:55.661] xyz_f:-0.528671, 0.226215, 0.821150  Reprojection Error: 0.570355, 0.229721 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.661] xyz_f:-0.461284, -0.242397, 0.843196  Reprojection Error: 0.596495, 0.290501 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.661] xyz_f:-0.251342, -0.459738, 0.808240  Reprojection Error: 0.579279, 0.339812 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.661] xyz_f:-0.569690, -0.139033, 0.820301  Reprojection Error: 0.624594, 0.267126 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.661] xyz_f:-0.290847, -0.437035, 0.814009  Reprojection Error: 0.583105, 0.335744 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.661] xyz_f:-0.184250, -0.642174, 0.692299  Reprojection Error: 0.606173, 0.435680 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.661] xyz_f:-0.203970, -0.464291, 0.810426  Reprojection Error: 0.572874, 0.336261 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.661] xyz_f:-0.569443, -0.132555, 0.821403  Reprojection Error: 0.623322, 0.265671 Feature: -0.069390, 0.103482, 0.992208
[11:52:55.661] xyz_f:-0.450230, -0.232759, 0.849452  Reprojection Error: 0.591098, 0.287990 Feature: 0.060954, 0.013952, 0.998043
[11:52:55.661] xyz_f:-0.631879, -0.043149, 0.797899  Reprojection Error: 0.643569, 0.243066 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.661] xyz_f:-0.280629, -0.457035, 0.805539  Reprojection Error: 0.584580, 0.342209 Feature: 0.224551, -0.214048, 0.950663
[11:52:55.661] xyz_f:-0.427886, -0.215437, 0.860772  Reprojection Error: 0.581554, 0.284036 Feature: 0.084111, 0.033613, 0.995889
[11:52:55.661] xyz_f:-0.240554, -0.448189, 0.815425  Reprojection Error: 0.575566, 0.334379 Feature: 0.264510, -0.202944, 0.942788
[11:52:55.661] xyz_f:-0.291051, -0.470378, 0.796754  Reprojection Error: 0.589570, 0.349040 Feature: 0.213012, -0.229210, 0.949784
[11:52:55.661] xyz_f:-0.293486, 0.094785, 0.910863  Reprojection Error: 0.537644, 0.273462 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.661] xyz_f:-0.631399, -0.036575, 0.798469  Reprojection Error: 0.642240, 0.241728 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.661] xyz_f:-0.222765, -0.450426, 0.816078  Reprojection Error: 0.573277, 0.333322 Feature: 0.281513, -0.204936, 0.937418
[11:52:55.661] xyz_f:-0.427662, -0.200514, 0.864158  Reprojection Error: 0.579393, 0.281171 Feature: 0.084104, 0.048905, 0.995256
[11:52:55.661] xyz_f:-0.430777, -0.225848, 0.857418  Reprojection Error: 0.583923, 0.286175 Feature: 0.081221, 0.022690, 0.996438
[11:52:55.661] xyz_f:-0.564674, -0.146138, 0.821551  Reprojection Error: 0.623321, 0.268838 Feature: -0.063614, 0.090400, 0.993872
[11:52:55.661] xyz_f:-0.441712, -0.210074, 0.857662  Reprojection Error: 0.584875, 0.283047 Feature: 0.069636, 0.037989, 0.996849
[11:52:55.661] xyz_f:-0.172281, 0.051827, 0.925089  Reprojection Error: 0.542811, 0.288195 Feature: 0.319493, 0.308417, 0.895993
[11:52:55.661] xyz_f:-0.421863, 0.036126, 0.886392  Reprojection Error: 0.554354, 0.255480 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.661] xyz_f:-0.286786, -0.451580, 0.807369  Reprojection Error: 0.584900, 0.340800 Feature: 0.218950, -0.208305, 0.953242
[11:52:55.661] xyz_f:-0.450202, -0.233234, 0.849342  Reprojection Error: 0.591166, 0.288097 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.661] xyz_f:-0.422121, 0.035879, 0.886326  Reprojection Error: 0.554422, 0.255459 Feature: 0.074740, 0.282980, 0.956209
[11:52:55.661] xyz_f:-0.184250, -0.642174, 0.692299  Reprojection Error: 0.635676, 0.429006 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.661] xyz_f:-0.251342, -0.459738, 0.808240  Reprojection Error: 0.608634, 0.338322 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.661] xyz_f:-0.203970, -0.464291, 0.810426  Reprojection Error: 0.603705, 0.329498 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.661] xyz_f:-0.290847, -0.437035, 0.814009  Reprojection Error: 0.611676, 0.332278 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.661] xyz_f:-0.461284, -0.242397, 0.843196  Reprojection Error: 0.625637, 0.288314 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.661] xyz_f:-0.569690, -0.139033, 0.820301  Reprojection Error: 0.656725, 0.269197 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.661] xyz_f:-0.631879, -0.043149, 0.797899  Reprojection Error: 0.676611, 0.244677 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.661] xyz_f:-0.631399, -0.036575, 0.798469  Reprojection Error: 0.675317, 0.243320 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.661] xyz_f:-0.421863, 0.036126, 0.886392  Reprojection Error: 0.587785, 0.256267 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.661] xyz_f:-0.293486, 0.094785, 0.910863  Reprojection Error: 0.714704, 0.209673 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.661] xyz_f:-0.450202, -0.233234, 0.849342  Reprojection Error: 0.802621, 0.627468 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.661] xyz_f:-0.528671, 0.226215, 0.821150  Reprojection Error: 0.608766, 0.231780 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.661] it:37 	 Success 	 new_chi2: 0.147673 	 dT = 0.064037, 0.016554, -0.022911
[11:52:55.661] xyz_f:-0.504749, 0.223980, 0.812937  Reprojection Error: 0.547433, 0.229687 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.661] xyz_f:-0.434113, -0.244222, 0.833456  Reprojection Error: 0.570288, 0.296051 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.661] xyz_f:-0.223711, -0.460318, 0.793848  Reprojection Error: 0.550110, 0.350854 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.661] xyz_f:-0.543610, -0.141504, 0.812972  Reprojection Error: 0.598776, 0.271694 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.661] xyz_f:-0.263212, -0.437849, 0.800491  Reprojection Error: 0.554616, 0.345827 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.661] xyz_f:-0.158120, -0.642360, 0.676439  Reprojection Error: 0.573785, 0.457704 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.661] xyz_f:-0.176276, -0.464589, 0.794984  Reprojection Error: 0.542926, 0.347763 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.661] xyz_f:-0.543377, -0.135025, 0.814068  Reprojection Error: 0.597549, 0.270159 Feature: -0.069390, 0.103482, 0.992208
[11:52:55.661] xyz_f:-0.422981, -0.234519, 0.839466  Reprojection Error: 0.564943, 0.293346 Feature: 0.060954, 0.013952, 0.998043
[11:52:55.661] xyz_f:-0.606847, -0.045993, 0.791957  Reprojection Error: 0.617903, 0.247062 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.661] xyz_f:-0.253066, -0.457788, 0.791796  Reprojection Error: 0.555815, 0.353008 Feature: 0.224551, -0.214048, 0.950663
[11:52:55.661] xyz_f:-0.400495, -0.217064, 0.850290  Reprojection Error: 0.555468, 0.289034 Feature: 0.084111, 0.033613, 0.995889
[11:52:55.661] xyz_f:-0.212835, -0.448704, 0.800793  Reprojection Error: 0.546342, 0.345064 Feature: 0.264510, -0.202944, 0.942788
[11:52:55.661] xyz_f:-0.263600, -0.471193, 0.783243  Reprojection Error: 0.560824, 0.360265 Feature: 0.213012, -0.229210, 0.949784
[11:52:55.661] xyz_f:-0.266861, 0.093953, 0.897415  Reprojection Error: 0.512804, 0.272830 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.661] xyz_f:-0.606393, -0.039416, 0.792517  Reprojection Error: 0.616626, 0.245656 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.661] xyz_f:-0.195023, -0.450836, 0.801052  Reprojection Error: 0.543765, 0.344186 Feature: 0.281513, -0.204936, 0.937418
[11:52:55.661] xyz_f:-0.400284, -0.202139, 0.853671  Reprojection Error: 0.553402, 0.285926 Feature: 0.084104, 0.048905, 0.995256
[11:52:55.661] xyz_f:-0.403398, -0.227492, 0.847000  Reprojection Error: 0.557777, 0.291356 Feature: 0.081221, 0.022690, 0.996438
[11:52:55.661] xyz_f:-0.538525, -0.148580, 0.814109  Reprojection Error: 0.597484, 0.273463 Feature: -0.063614, 0.090400, 0.993872
[11:52:55.661] xyz_f:-0.414418, -0.211783, 0.847487  Reprojection Error: 0.558852, 0.288004 Feature: 0.069636, 0.037989, 0.996849
[11:52:55.661] xyz_f:-0.145118, 0.051715, 0.908953  Reprojection Error: 0.516234, 0.287323 Feature: 0.319493, 0.308417, 0.895993
[11:52:55.661] xyz_f:-0.395397, 0.034532, 0.875787  Reprojection Error: 0.529899, 0.256806 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.661] xyz_f:-0.259213, -0.452370, 0.793762  Reprojection Error: 0.556252, 0.351383 Feature: 0.218950, -0.208305, 0.953242
[11:52:55.661] xyz_f:-0.422952, -0.234994, 0.839355  Reprojection Error: 0.565007, 0.293460 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.661] xyz_f:-0.395655, 0.034284, 0.875727  Reprojection Error: 0.529965, 0.256791 Feature: 0.074740, 0.282980, 0.956209
[11:52:55.661] xyz_f:-0.158120, -0.642360, 0.676439  Reprojection Error: 0.603287, 0.451030 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.661] xyz_f:-0.223711, -0.460318, 0.793848  Reprojection Error: 0.579465, 0.349364 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.661] xyz_f:-0.176276, -0.464589, 0.794984  Reprojection Error: 0.573757, 0.341000 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.661] xyz_f:-0.263212, -0.437849, 0.800491  Reprojection Error: 0.583188, 0.342360 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.661] xyz_f:-0.434113, -0.244222, 0.833456  Reprojection Error: 0.599430, 0.293864 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.661] xyz_f:-0.543610, -0.141504, 0.812972  Reprojection Error: 0.630906, 0.273765 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.661] xyz_f:-0.606847, -0.045993, 0.791957  Reprojection Error: 0.650944, 0.248674 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.661] xyz_f:-0.606393, -0.039416, 0.792517  Reprojection Error: 0.649703, 0.247249 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.661] xyz_f:-0.395397, 0.034532, 0.875787  Reprojection Error: 0.563329, 0.257593 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.661] xyz_f:-0.266861, 0.093953, 0.897415  Reprojection Error: 0.689863, 0.209041 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.661] xyz_f:-0.422952, -0.234994, 0.839355  Reprojection Error: 0.776462, 0.632832 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.661] xyz_f:-0.504749, 0.223980, 0.812937  Reprojection Error: 0.585843, 0.231746 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.661] it:38 	 Success 	 new_chi2: 0.289136 	 dT = 0.053335, 0.032365, -0.022311
[11:52:55.661] xyz_f:-0.492352, 0.221910, 0.788297  Reprojection Error: 0.551114, 0.223702 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.661] xyz_f:-0.418588, -0.245876, 0.807260  Reprojection Error: 0.567958, 0.307607 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.661] xyz_f:-0.207844, -0.460755, 0.763114  Reprojection Error: 0.540668, 0.374780 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.661] xyz_f:-0.529093, -0.143793, 0.789147  Reprojection Error: 0.600567, 0.279849 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.661] xyz_f:-0.247322, -0.438514, 0.770608  Reprojection Error: 0.546747, 0.367901 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.661] xyz_f:-0.143749, -0.642423, 0.644308  Reprojection Error: 0.563137, 0.505158 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.661] xyz_f:-0.160372, -0.464752, 0.763228  Reprojection Error: 0.531314, 0.372292 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.661] xyz_f:-0.528873, -0.137312, 0.790239  Reprojection Error: 0.599323, 0.278055 Feature: -0.069390, 0.103482, 0.992208
[11:52:55.661] xyz_f:-0.407385, -0.236108, 0.813030  Reprojection Error: 0.562144, 0.304384 Feature: 0.060954, 0.013952, 0.998043
[11:52:55.661] xyz_f:-0.593318, -0.048649, 0.769506  Reprojection Error: 0.622678, 0.252209 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.661] xyz_f:-0.237251, -0.458395, 0.761696  Reprojection Error: 0.547683, 0.376652 Feature: 0.224551, -0.214048, 0.950663
[11:52:55.661] xyz_f:-0.384772, -0.218522, 0.823368  Reprojection Error: 0.551774, 0.299153 Feature: 0.084111, 0.033613, 0.995889
[11:52:55.661] xyz_f:-0.196889, -0.449078, 0.769825  Reprojection Error: 0.536320, 0.368091 Feature: 0.264510, -0.202944, 0.942788
[11:52:55.661] xyz_f:-0.247890, -0.471861, 0.753371  Reprojection Error: 0.553315, 0.385005 Feature: 0.213012, -0.229210, 0.949784
[11:52:55.661] xyz_f:-0.251952, 0.093264, 0.867621  Reprojection Error: 0.505831, 0.270029 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.661] xyz_f:-0.592890, -0.042070, 0.770057  Reprojection Error: 0.621408, 0.250553 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.661] xyz_f:-0.179063, -0.451107, 0.769699  Reprojection Error: 0.532947, 0.367464 Feature: 0.281513, -0.204936, 0.937418
[11:52:55.661] xyz_f:-0.384575, -0.203596, 0.826745  Reprojection Error: 0.549673, 0.295401 Feature: 0.084104, 0.048905, 0.995256
[11:52:55.661] xyz_f:-0.387685, -0.228967, 0.820141  Reprojection Error: 0.554217, 0.301951 Feature: 0.081221, 0.022690, 0.996438
[11:52:55.661] xyz_f:-0.523943, -0.150838, 0.790175  Reprojection Error: 0.599067, 0.281850 Feature: -0.063614, 0.090400, 0.993872
[11:52:55.661] xyz_f:-0.398783, -0.213322, 0.820866  Reprojection Error: 0.555664, 0.297983 Feature: 0.069636, 0.037989, 0.996849
[11:52:55.661] xyz_f:-0.129747, 0.051730, 0.876531  Reprojection Error: 0.504603, 0.285201 Feature: 0.319493, 0.308417, 0.895993
[11:52:55.661] xyz_f:-0.380580, 0.033100, 0.848765  Reprojection Error: 0.526814, 0.257238 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.661] xyz_f:-0.243385, -0.453012, 0.763794  Reprojection Error: 0.548343, 0.374585 Feature: 0.218950, -0.208305, 0.953242
[11:52:55.661] xyz_f:-0.407356, -0.236583, 0.812918  Reprojection Error: 0.562210, 0.304519 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.661] xyz_f:-0.380837, 0.032851, 0.848710  Reprojection Error: 0.526888, 0.257233 Feature: 0.074740, 0.282980, 0.956209
[11:52:55.661] xyz_f:-0.143749, -0.642423, 0.644308  Reprojection Error: 0.592639, 0.498484 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.661] xyz_f:-0.207844, -0.460755, 0.763114  Reprojection Error: 0.570023, 0.373289 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.661] xyz_f:-0.160372, -0.464752, 0.763228  Reprojection Error: 0.562145, 0.365530 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.661] xyz_f:-0.247322, -0.438514, 0.770608  Reprojection Error: 0.575319, 0.364434 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.661] xyz_f:-0.418588, -0.245876, 0.807260  Reprojection Error: 0.597100, 0.305420 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.661] xyz_f:-0.529093, -0.143793, 0.789147  Reprojection Error: 0.632697, 0.281920 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.661] xyz_f:-0.593318, -0.048649, 0.769506  Reprojection Error: 0.655719, 0.253820 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.661] xyz_f:-0.592890, -0.042070, 0.770057  Reprojection Error: 0.654486, 0.252146 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.661] xyz_f:-0.380580, 0.033100, 0.848765  Reprojection Error: 0.560245, 0.258024 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.661] xyz_f:-0.251952, 0.093264, 0.867621  Reprojection Error: 0.682891, 0.206240 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.661] xyz_f:-0.407356, -0.236583, 0.812918  Reprojection Error: 0.773665, 0.643891 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.661] xyz_f:-0.492352, 0.221910, 0.788297  Reprojection Error: 0.589524, 0.225760 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.661] it:39 	 Success 	 new_chi2: 0.278213 	 dT = 0.047449, 0.028108, -0.016282
[11:52:55.661] xyz_f:-0.505402, 0.220466, 0.765578  Reprojection Error: 0.586695, 0.217234 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.661] xyz_f:-0.429379, -0.247004, 0.783363  Reprojection Error: 0.597551, 0.318339 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.661] xyz_f:-0.218452, -0.460994, 0.735901  Reprojection Error: 0.565154, 0.397433 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.661] xyz_f:-0.540584, -0.145388, 0.766994  Reprojection Error: 0.634914, 0.287192 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.661] xyz_f:-0.257900, -0.438920, 0.744016  Reprojection Error: 0.572436, 0.388785 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.661] xyz_f:-0.155467, -0.642395, 0.616096  Reprojection Error: 0.592374, 0.550770 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.661] xyz_f:-0.170967, -0.464792, 0.735269  Reprojection Error: 0.553714, 0.395502 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.661] xyz_f:-0.540375, -0.138906, 0.768082  Reprojection Error: 0.633603, 0.285143 Feature: -0.069390, 0.103482, 0.992208
[11:52:55.661] xyz_f:-0.418128, -0.237189, 0.788957  Reprojection Error: 0.591050, 0.314615 Feature: 0.060954, 0.013952, 0.998043
[11:52:55.661] xyz_f:-0.605510, -0.050517, 0.748369  Reprojection Error: 0.660748, 0.256490 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.661] xyz_f:-0.247887, -0.458759, 0.734946  Reprojection Error: 0.573491, 0.399052 Feature: 0.224551, -0.214048, 0.950663
[11:52:55.661] xyz_f:-0.395429, -0.219508, 0.798938  Reprojection Error: 0.579402, 0.308502 Feature: 0.084111, 0.033613, 0.995889
[11:52:55.661] xyz_f:-0.207441, -0.449271, 0.742439  Reprojection Error: 0.559967, 0.389869 Feature: 0.264510, -0.202944, 0.942788
[11:52:55.661] xyz_f:-0.258598, -0.472270, 0.726788  Reprojection Error: 0.580083, 0.408476 Feature: 0.213012, -0.229210, 0.949784
[11:52:55.661] xyz_f:-0.263245, 0.092837, 0.841108  Reprojection Error: 0.528411, 0.267149 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.661] xyz_f:-0.605102, -0.043935, 0.748912  Reprojection Error: 0.659452, 0.254587 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.661] xyz_f:-0.189611, -0.451225, 0.742033  Reprojection Error: 0.555836, 0.389475 Feature: 0.281513, -0.204936, 0.937418
[11:52:55.661] xyz_f:-0.395242, -0.204581, 0.802312  Reprojection Error: 0.577134, 0.304127 Feature: 0.084104, 0.048905, 0.995256
[11:52:55.661] xyz_f:-0.398349, -0.229965, 0.795757  Reprojection Error: 0.582102, 0.311759 Feature: 0.081221, 0.022690, 0.996438
[11:52:55.661] xyz_f:-0.535389, -0.152412, 0.767940  Reprojection Error: 0.633170, 0.289426 Feature: -0.063614, 0.090400, 0.993872
[11:52:55.661] xyz_f:-0.409499, -0.214367, 0.796657  Reprojection Error: 0.583879, 0.307192 Feature: 0.069636, 0.037989, 0.996849
[11:52:55.661] xyz_f:-0.140740, 0.051819, 0.848093  Reprojection Error: 0.522529, 0.283118 Feature: 0.319493, 0.308417, 0.895993
[11:52:55.662] xyz_f:-0.391898, 0.032131, 0.824274  Reprojection Error: 0.553868, 0.257255 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.662] xyz_f:-0.254010, -0.453401, 0.737140  Reprojection Error: 0.574278, 0.396559 Feature: 0.218950, -0.208305, 0.953242
[11:52:55.662] xyz_f:-0.418098, -0.237663, 0.788844  Reprojection Error: 0.591120, 0.314771 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.662] xyz_f:-0.392156, 0.031880, 0.824224  Reprojection Error: 0.553951, 0.257260 Feature: 0.074740, 0.282980, 0.956209
[11:52:55.662] xyz_f:-0.155467, -0.642395, 0.616096  Reprojection Error: 0.621877, 0.544096 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.662] xyz_f:-0.218452, -0.460994, 0.735901  Reprojection Error: 0.594508, 0.395942 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.662] xyz_f:-0.170967, -0.464792, 0.735269  Reprojection Error: 0.584545, 0.388739 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.662] xyz_f:-0.257900, -0.438920, 0.744016  Reprojection Error: 0.601007, 0.385319 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.662] xyz_f:-0.429379, -0.247004, 0.783363  Reprojection Error: 0.626693, 0.316152 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.662] xyz_f:-0.540584, -0.145388, 0.766994  Reprojection Error: 0.667044, 0.289263 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.662] xyz_f:-0.605510, -0.050517, 0.748369  Reprojection Error: 0.693789, 0.258101 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.662] xyz_f:-0.605102, -0.043935, 0.748912  Reprojection Error: 0.692529, 0.256180 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.662] xyz_f:-0.391898, 0.032131, 0.824274  Reprojection Error: 0.587299, 0.258041 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.662] xyz_f:-0.263245, 0.092837, 0.841108  Reprojection Error: 0.705471, 0.203359 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.662] xyz_f:-0.418098, -0.237663, 0.788844  Reprojection Error: 0.802575, 0.654143 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.662] xyz_f:-0.505402, 0.220466, 0.765578  Reprojection Error: 0.625105, 0.219293 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.662] it:40 	 Success 	 new_chi2: 0.126404 	 dT = 0.071645, -0.005743, -0.027026
[11:52:55.662] xyz_f:-0.535223, 0.218195, 0.779797  Reprojection Error: 0.612899, 0.225397 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.662] xyz_f:-0.455494, -0.248730, 0.795549  Reprojection Error: 0.621982, 0.315679 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.662] xyz_f:-0.244386, -0.461245, 0.742578  Reprojection Error: 0.597409, 0.392138 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.662] xyz_f:-0.567796, -0.147896, 0.782097  Reprojection Error: 0.656097, 0.286738 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.662] xyz_f:-0.283763, -0.439446, 0.751722  Reprojection Error: 0.603287, 0.383437 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.662] xyz_f:-0.183283, -0.642211, 0.621153  Reprojection Error: 0.635101, 0.541985 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.662] xyz_f:-0.196908, -0.464710, 0.740706  Reprojection Error: 0.587030, 0.390751 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.662] xyz_f:-0.567604, -0.141413, 0.783180  Reprojection Error: 0.654808, 0.284858 Feature: -0.069390, 0.103482, 0.992208
[11:52:55.662] xyz_f:-0.444170, -0.238836, 0.800848  Reprojection Error: 0.615699, 0.312208 Feature: 0.060954, 0.013952, 0.998043
[11:52:55.662] xyz_f:-0.633849, -0.053483, 0.765182  Reprojection Error: 0.680005, 0.258883 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.662] xyz_f:-0.273851, -0.459215, 0.742391  Reprojection Error: 0.605082, 0.393406 Feature: 0.224551, -0.214048, 0.950663
[11:52:55.662] xyz_f:-0.421343, -0.220996, 0.810235  Reprojection Error: 0.604484, 0.306508 Feature: 0.084111, 0.033613, 0.995889
[11:52:55.662] xyz_f:-0.233291, -0.449444, 0.748827  Reprojection Error: 0.592104, 0.384938 Feature: 0.264510, -0.202944, 0.942788
[11:52:55.662] xyz_f:-0.284677, -0.472802, 0.734515  Reprojection Error: 0.611845, 0.402364 Feature: 0.213012, -0.229210, 0.949784
[11:52:55.662] xyz_f:-0.290290, 0.092269, 0.848968  Reprojection Error: 0.557370, 0.268839 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.662] xyz_f:-0.633472, -0.046899, 0.765715  Reprojection Error: 0.678773, 0.257170 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.662] xyz_f:-0.215464, -0.451273, 0.747956  Reprojection Error: 0.588377, 0.384724 Feature: 0.281513, -0.204936, 0.937418
[11:52:55.662] xyz_f:-0.421172, -0.206068, 0.813604  Reprojection Error: 0.602167, 0.302416 Feature: 0.084104, 0.048905, 0.995256
[11:52:55.662] xyz_f:-0.424271, -0.231473, 0.807130  Reprojection Error: 0.607165, 0.309556 Feature: 0.081221, 0.022690, 0.996438
[11:52:55.662] xyz_f:-0.562530, -0.154884, 0.782907  Reprojection Error: 0.654509, 0.288789 Feature: -0.063614, 0.090400, 0.993872
[11:52:55.662] xyz_f:-0.435503, -0.215954, 0.808322  Reprojection Error: 0.608630, 0.305272 Feature: 0.069636, 0.037989, 0.996849
[11:52:55.662] xyz_f:-0.167362, 0.052110, 0.852750  Reprojection Error: 0.552841, 0.283110 Feature: 0.319493, 0.308417, 0.895993
[11:52:55.662] xyz_f:-0.418912, 0.030664, 0.835493  Reprojection Error: 0.579816, 0.259534 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.662] xyz_f:-0.279952, -0.453900, 0.744745  Reprojection Error: 0.605593, 0.390948 Feature: 0.218950, -0.208305, 0.953242
[11:52:55.662] xyz_f:-0.444140, -0.239311, 0.800735  Reprojection Error: 0.615772, 0.312354 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.662] xyz_f:-0.419168, 0.030411, 0.835449  Reprojection Error: 0.579891, 0.259539 Feature: 0.074740, 0.282980, 0.956209
[11:52:55.662] xyz_f:-0.183283, -0.642211, 0.621153  Reprojection Error: 0.664603, 0.535312 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.662] xyz_f:-0.244386, -0.461245, 0.742578  Reprojection Error: 0.626764, 0.390647 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.662] xyz_f:-0.196908, -0.464710, 0.740706  Reprojection Error: 0.617861, 0.383988 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.662] xyz_f:-0.283763, -0.439446, 0.751722  Reprojection Error: 0.631858, 0.379971 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.662] xyz_f:-0.455494, -0.248730, 0.795549  Reprojection Error: 0.651123, 0.313492 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.662] xyz_f:-0.567796, -0.147896, 0.782097  Reprojection Error: 0.688228, 0.288809 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.662] xyz_f:-0.633849, -0.053483, 0.765182  Reprojection Error: 0.713046, 0.260495 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.662] xyz_f:-0.633472, -0.046899, 0.765715  Reprojection Error: 0.711850, 0.258762 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.662] xyz_f:-0.418912, 0.030664, 0.835493  Reprojection Error: 0.613247, 0.260321 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.662] xyz_f:-0.290290, 0.092269, 0.848968  Reprojection Error: 0.734430, 0.205050 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.662] xyz_f:-0.444140, -0.239311, 0.800735  Reprojection Error: 0.827227, 0.651726 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.662] xyz_f:-0.535223, 0.218195, 0.779797  Reprojection Error: 0.651310, 0.227456 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.662] it:41 	 Success 	 new_chi2: 0.056716 	 dT = 0.030896, -0.044801, 0.038520
[11:52:55.662] xyz_f:-0.520702, 0.221479, 0.812341  Reprojection Error: 0.567527, 0.232563 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.662] xyz_f:-0.446272, -0.246214, 0.830961  Reprojection Error: 0.586484, 0.299328 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.662] xyz_f:-0.235469, -0.460832, 0.785840  Reprojection Error: 0.567944, 0.357418 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.662] xyz_f:-0.556985, -0.144269, 0.813359  Reprojection Error: 0.614902, 0.275010 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.662] xyz_f:-0.274939, -0.438640, 0.793517  Reprojection Error: 0.572285, 0.351632 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.662] xyz_f:-0.171698, -0.642421, 0.666738  Reprojection Error: 0.597551, 0.471612 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.662] xyz_f:-0.187991, -0.464771, 0.785734  Reprojection Error: 0.560446, 0.354874 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.662] xyz_f:-0.556769, -0.137787, 0.814450  Reprojection Error: 0.613679, 0.273473 Feature: -0.069390, 0.103482, 0.992208
[11:52:55.662] xyz_f:-0.435055, -0.236432, 0.836679  Reprojection Error: 0.581052, 0.296564 Feature: 0.060954, 0.013952, 0.998043
[11:52:55.662] xyz_f:-0.621419, -0.049205, 0.794016  Reprojection Error: 0.634268, 0.250957 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.662] xyz_f:-0.264885, -0.458509, 0.784557  Reprojection Error: 0.573828, 0.359261 Feature: 0.224551, -0.214048, 0.950663
[11:52:55.662] xyz_f:-0.412416, -0.218819, 0.846912  Reprojection Error: 0.571423, 0.292125 Feature: 0.084111, 0.033613, 0.995889
[11:52:55.662] xyz_f:-0.224497, -0.449142, 0.792500  Reprojection Error: 0.563838, 0.351481 Feature: 0.264510, -0.202944, 0.942788
[11:52:55.662] xyz_f:-0.275545, -0.471988, 0.776282  Reprojection Error: 0.579229, 0.366683 Feature: 0.213012, -0.229210, 0.949784
[11:52:55.662] xyz_f:-0.279779, 0.093132, 0.890551  Reprojection Error: 0.529601, 0.272945 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.662] xyz_f:-0.620997, -0.042625, 0.794564  Reprojection Error: 0.633034, 0.249566 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.662] xyz_f:-0.206669, -0.451149, 0.792292  Reprojection Error: 0.561156, 0.350804 Feature: 0.281513, -0.204936, 0.937418
[11:52:55.662] xyz_f:-0.412222, -0.203893, 0.850288  Reprojection Error: 0.569307, 0.288931 Feature: 0.084104, 0.048905, 0.995256
[11:52:55.662] xyz_f:-0.415331, -0.229267, 0.843699  Reprojection Error: 0.573785, 0.294511 Feature: 0.081221, 0.022690, 0.996438
[11:52:55.662] xyz_f:-0.551823, -0.151308, 0.814363  Reprojection Error: 0.613607, 0.276756 Feature: -0.063614, 0.090400, 0.993872
[11:52:55.662] xyz_f:-0.426444, -0.213636, 0.844475  Reprojection Error: 0.574838, 0.291090 Feature: 0.069636, 0.037989, 0.996849
[11:52:55.662] xyz_f:-0.157482, 0.051749, 0.898895  Reprojection Error: 0.531775, 0.286648 Feature: 0.319493, 0.308417, 0.895993
[11:52:55.662] xyz_f:-0.408418, 0.032808, 0.872290  Reprojection Error: 0.546635, 0.258624 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.662] xyz_f:-0.271015, -0.453133, 0.786684  Reprojection Error: 0.574193, 0.357482 Feature: 0.218950, -0.208305, 0.953242
[11:52:55.662] xyz_f:-0.435025, -0.236907, 0.836567  Reprojection Error: 0.581119, 0.296680 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.662] xyz_f:-0.408675, 0.032559, 0.872236  Reprojection Error: 0.546701, 0.258612 Feature: 0.074740, 0.282980, 0.956209
[11:52:55.662] xyz_f:-0.171698, -0.642421, 0.666738  Reprojection Error: 0.627053, 0.464938 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.662] xyz_f:-0.235469, -0.460832, 0.785840  Reprojection Error: 0.597298, 0.355927 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.662] xyz_f:-0.187991, -0.464771, 0.785734  Reprojection Error: 0.591277, 0.348112 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.662] xyz_f:-0.274939, -0.438640, 0.793517  Reprojection Error: 0.600856, 0.348165 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.662] xyz_f:-0.446272, -0.246214, 0.830961  Reprojection Error: 0.615626, 0.297140 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.662] xyz_f:-0.556985, -0.144269, 0.813359  Reprojection Error: 0.647032, 0.277080 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.662] xyz_f:-0.621419, -0.049205, 0.794016  Reprojection Error: 0.667310, 0.252568 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.662] xyz_f:-0.620997, -0.042625, 0.794564  Reprojection Error: 0.666111, 0.251159 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.662] xyz_f:-0.408418, 0.032808, 0.872290  Reprojection Error: 0.580066, 0.259410 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.662] xyz_f:-0.279779, 0.093132, 0.890551  Reprojection Error: 0.706661, 0.209156 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.662] xyz_f:-0.435025, -0.236907, 0.836567  Reprojection Error: 0.792574, 0.636052 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.662] xyz_f:-0.520702, 0.221479, 0.812341  Reprojection Error: 0.605938, 0.234622 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.662] it:42 	 Success 	 new_chi2: 0.173418 	 dT = 0.056469, 0.021238, -0.019133
[11:52:55.662] xyz_f:-0.485655, 0.219808, 0.797340  Reprojection Error: 0.535631, 0.229530 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.662] xyz_f:-0.408578, -0.247510, 0.814561  Reprojection Error: 0.551022, 0.306885 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.662] xyz_f:-0.197584, -0.461084, 0.765542  Reprojection Error: 0.526402, 0.373296 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.662] xyz_f:-0.520101, -0.146115, 0.799013  Reprojection Error: 0.581035, 0.280505 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.662] xyz_f:-0.237015, -0.439087, 0.773948  Reprojection Error: 0.532045, 0.366187 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.662] xyz_f:-0.135127, -0.642360, 0.645273  Reprojection Error: 0.549442, 0.503569 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.662] xyz_f:-0.150098, -0.464788, 0.764559  Reprojection Error: 0.517511, 0.371279 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.662] xyz_f:-0.519897, -0.139633, 0.800100  Reprojection Error: 0.579856, 0.278814 Feature: -0.069390, 0.103482, 0.992208
[11:52:55.662] xyz_f:-0.397306, -0.237673, 0.820071  Reprojection Error: 0.545551, 0.303799 Feature: 0.060954, 0.013952, 0.998043
[11:52:55.662] xyz_f:-0.585351, -0.051372, 0.780868  Reprojection Error: 0.601257, 0.254776 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.662] xyz_f:-0.227030, -0.458907, 0.764803  Reprojection Error: 0.533052, 0.374876 Feature: 0.224551, -0.214048, 0.950663
[11:52:55.662] xyz_f:-0.374569, -0.219947, 0.829884  Reprojection Error: 0.535809, 0.298786 Feature: 0.084111, 0.033613, 0.995889
[11:52:55.662] xyz_f:-0.186549, -0.449339, 0.771998  Reprojection Error: 0.522206, 0.366787 Feature: 0.264510, -0.202944, 0.942788
[11:52:55.662] xyz_f:-0.237774, -0.472439, 0.756725  Reprojection Error: 0.538489, 0.382992 Feature: 0.213012, -0.229210, 0.949784
[11:52:55.662] xyz_f:-0.242695, 0.092659, 0.871080  Reprojection Error: 0.494051, 0.271151 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.662] xyz_f:-0.584951, -0.044790, 0.781408  Reprojection Error: 0.600064, 0.253241 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.662] xyz_f:-0.168718, -0.451258, 0.771461  Reprojection Error: 0.519007, 0.366321 Feature: 0.281513, -0.204936, 0.937418
[11:52:55.662] xyz_f:-0.374386, -0.205020, 0.833257  Reprojection Error: 0.533810, 0.295185 Feature: 0.084104, 0.048905, 0.995256
[11:52:55.662] xyz_f:-0.377491, -0.230410, 0.826725  Reprojection Error: 0.538121, 0.301473 Feature: 0.081221, 0.022690, 0.996438
[11:52:55.662] xyz_f:-0.514886, -0.153129, 0.799920  Reprojection Error: 0.579666, 0.282387 Feature: -0.063614, 0.090400, 0.993872
[11:52:55.662] xyz_f:-0.388665, -0.214834, 0.827707  Reprojection Error: 0.539425, 0.297662 Feature: 0.069636, 0.037989, 0.996849
[11:52:55.662] xyz_f:-0.120061, 0.051883, 0.877160  Reprojection Error: 0.493455, 0.285069 Feature: 0.319493, 0.308417, 0.895993
[11:52:55.662] xyz_f:-0.371349, 0.031698, 0.855196  Reprojection Error: 0.512648, 0.259170 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.662] xyz_f:-0.233147, -0.453561, 0.767043  Reprojection Error: 0.533645, 0.372789 Feature: 0.218950, -0.208305, 0.953242
[11:52:55.662] xyz_f:-0.397276, -0.238148, 0.819958  Reprojection Error: 0.545614, 0.303929 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.662] xyz_f:-0.371606, 0.031447, 0.855147  Reprojection Error: 0.512715, 0.259166 Feature: 0.074740, 0.282980, 0.956209
[11:52:55.662] xyz_f:-0.135127, -0.642360, 0.645273  Reprojection Error: 0.578944, 0.496895 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.662] xyz_f:-0.197584, -0.461084, 0.765542  Reprojection Error: 0.555756, 0.371805 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.662] xyz_f:-0.150098, -0.464788, 0.764559  Reprojection Error: 0.548342, 0.364516 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.662] xyz_f:-0.237015, -0.439087, 0.773948  Reprojection Error: 0.560617, 0.362720 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.662] xyz_f:-0.408578, -0.247510, 0.814561  Reprojection Error: 0.580164, 0.304697 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.662] xyz_f:-0.520101, -0.146115, 0.799013  Reprojection Error: 0.613166, 0.282576 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.662] xyz_f:-0.585351, -0.051372, 0.780868  Reprojection Error: 0.634299, 0.256387 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.662] xyz_f:-0.584951, -0.044790, 0.781408  Reprojection Error: 0.633141, 0.254834 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.662] xyz_f:-0.371349, 0.031698, 0.855196  Reprojection Error: 0.546079, 0.259957 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.662] xyz_f:-0.242695, 0.092659, 0.871080  Reprojection Error: 0.671110, 0.207362 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.662] xyz_f:-0.397276, -0.238148, 0.819958  Reprojection Error: 0.757069, 0.643301 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.662] xyz_f:-0.485655, 0.219808, 0.797340  Reprojection Error: 0.574041, 0.231589 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.662] it:43 	 Success 	 new_chi2: 0.391753 	 dT = 0.049298, 0.036055, -0.022839
[11:52:55.662] xyz_f:-0.480681, 0.217916, 0.768346  Reprojection Error: 0.552142, 0.221590 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.662] xyz_f:-0.400482, -0.248938, 0.783831  Reprojection Error: 0.560358, 0.320618 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.662] xyz_f:-0.189362, -0.461263, 0.730156  Reprojection Error: 0.527649, 0.402730 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.662] xyz_f:-0.512919, -0.148204, 0.770754  Reprojection Error: 0.595582, 0.289921 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.662] xyz_f:-0.228728, -0.439500, 0.739431  Reprojection Error: 0.535132, 0.393227 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.662] xyz_f:-0.128503, -0.642175, 0.608528  Reprojection Error: 0.551202, 0.563377 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.662] xyz_f:-0.141888, -0.464686, 0.728126  Reprojection Error: 0.516059, 0.401558 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.662] xyz_f:-0.512729, -0.141721, 0.771837  Reprojection Error: 0.594363, 0.287910 Feature: -0.069390, 0.103482, 0.992208
[11:52:55.662] xyz_f:-0.389149, -0.239033, 0.789092  Reprojection Error: 0.554235, 0.316901 Feature: 0.060954, 0.013952, 0.998043
[11:52:55.662] xyz_f:-0.579112, -0.053850, 0.754059  Reprojection Error: 0.619633, 0.260401 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.662] xyz_f:-0.218830, -0.459260, 0.730068  Reprojection Error: 0.535944, 0.403909 Feature: 0.224551, -0.214048, 0.950663
[11:52:55.662] xyz_f:-0.366307, -0.221173, 0.798403  Reprojection Error: 0.543258, 0.310771 Feature: 0.084111, 0.033613, 0.995889
[11:52:55.662] xyz_f:-0.178257, -0.449453, 0.736369  Reprojection Error: 0.522638, 0.395105 Feature: 0.264510, -0.202944, 0.942788
[11:52:55.662] xyz_f:-0.229669, -0.472856, 0.722228  Reprojection Error: 0.542275, 0.413391 Feature: 0.213012, -0.229210, 0.949784
[11:52:55.662] xyz_f:-0.235406, 0.092210, 0.836700  Reprojection Error: 0.496788, 0.267317 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.662] xyz_f:-0.578739, -0.047265, 0.754591  Reprojection Error: 0.618435, 0.258558 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.662] xyz_f:-0.160432, -0.451266, 0.735438  Reprojection Error: 0.518451, 0.394984 Feature: 0.281513, -0.204936, 0.937418
[11:52:55.662] xyz_f:-0.366138, -0.206245, 0.801772  Reprojection Error: 0.541166, 0.306374 Feature: 0.084104, 0.048905, 0.995256
[11:52:55.662] xyz_f:-0.369236, -0.231653, 0.795308  Reprojection Error: 0.545779, 0.314045 Feature: 0.081221, 0.022690, 0.996438
[11:52:55.662] xyz_f:-0.507643, -0.155187, 0.771546  Reprojection Error: 0.593950, 0.292095 Feature: -0.063614, 0.090400, 0.993872
[11:52:55.662] xyz_f:-0.380478, -0.216143, 0.796538  Reprojection Error: 0.547521, 0.309462 Feature: 0.069636, 0.037989, 0.996849
[11:52:55.662] xyz_f:-0.112429, 0.052160, 0.840071  Reprojection Error: 0.490413, 0.282128 Feature: 0.319493, 0.308417, 0.895993
[11:52:55.662] xyz_f:-0.364016, 0.030489, 0.823654  Reprojection Error: 0.520375, 0.259219 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.662] xyz_f:-0.224927, -0.453951, 0.732442  Reprojection Error: 0.536782, 0.401254 Feature: 0.218950, -0.208305, 0.953242
[11:52:55.662] xyz_f:-0.389119, -0.239508, 0.788979  Reprojection Error: 0.554300, 0.317057 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.662] xyz_f:-0.364273, 0.030236, 0.823611  Reprojection Error: 0.520451, 0.259228 Feature: 0.074740, 0.282980, 0.956209
[11:52:55.662] xyz_f:-0.128503, -0.642175, 0.608528  Reprojection Error: 0.580704, 0.556703 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.662] xyz_f:-0.189362, -0.461263, 0.730156  Reprojection Error: 0.557004, 0.401240 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.662] xyz_f:-0.141888, -0.464686, 0.728126  Reprojection Error: 0.546890, 0.394795 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.662] xyz_f:-0.228728, -0.439500, 0.739431  Reprojection Error: 0.563704, 0.389760 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.662] xyz_f:-0.400482, -0.248938, 0.783831  Reprojection Error: 0.589500, 0.318430 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.662] xyz_f:-0.512919, -0.148204, 0.770754  Reprojection Error: 0.627712, 0.291991 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.662] xyz_f:-0.579112, -0.053850, 0.754059  Reprojection Error: 0.652675, 0.262012 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.663] xyz_f:-0.578739, -0.047265, 0.754591  Reprojection Error: 0.651512, 0.260151 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.663] xyz_f:-0.364016, 0.030489, 0.823654  Reprojection Error: 0.553806, 0.260006 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.663] xyz_f:-0.235406, 0.092210, 0.836700  Reprojection Error: 0.673847, 0.203527 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.663] xyz_f:-0.389119, -0.239508, 0.788979  Reprojection Error: 0.765755, 0.656429 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.663] xyz_f:-0.480681, 0.217916, 0.768346  Reprojection Error: 0.590553, 0.223649 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.663] it:44 	 Success 	 new_chi2: 0.286122 	 dT = 0.040857, 0.025396, -0.009905
[11:52:55.663] xyz_f:-0.499986, 0.217131, 0.745881  Reprojection Error: 0.596867, 0.214101 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.663] xyz_f:-0.418447, -0.249516, 0.760593  Reprojection Error: 0.599588, 0.331081 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.663] xyz_f:-0.207306, -0.461300, 0.704898  Reprojection Error: 0.562399, 0.425420 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.663] xyz_f:-0.531261, -0.149071, 0.748593  Reprojection Error: 0.639785, 0.296771 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.663] xyz_f:-0.246637, -0.439638, 0.714549  Reprojection Error: 0.570967, 0.414117 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.663] xyz_f:-0.147150, -0.642057, 0.582690  Reprojection Error: 0.592567, 0.609968 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.663] xyz_f:-0.159845, -0.464602, 0.702413  Reprojection Error: 0.548757, 0.424799 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.663] xyz_f:-0.531077, -0.142587, 0.749674  Reprojection Error: 0.638477, 0.294494 Feature: -0.069390, 0.103482, 0.992208
[11:52:55.663] xyz_f:-0.407089, -0.239582, 0.765745  Reprojection Error: 0.592699, 0.326854 Feature: 0.060954, 0.013952, 0.998043
[11:52:55.663] xyz_f:-0.597852, -0.054887, 0.732533  Reprojection Error: 0.667785, 0.263915 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.663] xyz_f:-0.236778, -0.459373, 0.705091  Reprojection Error: 0.572017, 0.426352 Feature: 0.224551, -0.214048, 0.950663
[11:52:55.663] xyz_f:-0.384205, -0.221663, 0.774837  Reprojection Error: 0.580311, 0.319829 Feature: 0.084111, 0.033613, 0.995889
[11:52:55.663] xyz_f:-0.196173, -0.449461, 0.711003  Reprojection Error: 0.556471, 0.416891 Feature: 0.264510, -0.202944, 0.942788
[11:52:55.663] xyz_f:-0.247658, -0.472997, 0.697355  Reprojection Error: 0.579412, 0.436944 Feature: 0.213012, -0.229210, 0.949784
[11:52:55.663] xyz_f:-0.253747, 0.092054, 0.811884  Reprojection Error: 0.527979, 0.264140 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.663] xyz_f:-0.597492, -0.048301, 0.733062  Reprojection Error: 0.666541, 0.261811 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.663] xyz_f:-0.178352, -0.451229, 0.709902  Reprojection Error: 0.551541, 0.417003 Feature: 0.281513, -0.204936, 0.937418
[11:52:55.663] xyz_f:-0.384042, -0.206735, 0.778204  Reprojection Error: 0.578003, 0.314794 Feature: 0.084104, 0.048905, 0.995256
[11:52:55.663] xyz_f:-0.387137, -0.232151, 0.771770  Reprojection Error: 0.583133, 0.323573 Feature: 0.081221, 0.022690, 0.996438
[11:52:55.663] xyz_f:-0.525960, -0.156040, 0.749334  Reprojection Error: 0.637898, 0.299196 Feature: -0.063614, 0.090400, 0.993872
[11:52:55.663] xyz_f:-0.398406, -0.216670, 0.773107  Reprojection Error: 0.585187, 0.318368 Feature: 0.069636, 0.037989, 0.996849
[11:52:55.663] xyz_f:-0.130642, 0.052320, 0.814078  Reprojection Error: 0.517058, 0.279949 Feature: 0.319493, 0.308417, 0.895993
[11:52:55.663] xyz_f:-0.382318, 0.030004, 0.800068  Reprojection Error: 0.556279, 0.258734 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.663] xyz_f:-0.242866, -0.454079, 0.707524  Reprojection Error: 0.572952, 0.423264 Feature: 0.218950, -0.208305, 0.953242
[11:52:55.663] xyz_f:-0.407059, -0.240057, 0.765632  Reprojection Error: 0.592771, 0.327031 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.663] xyz_f:-0.382574, 0.029751, 0.800027  Reprojection Error: 0.556365, 0.258753 Feature: 0.074740, 0.282980, 0.956209
[11:52:55.663] xyz_f:-0.147150, -0.642057, 0.582690  Reprojection Error: 0.622069, 0.603294 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.663] xyz_f:-0.207306, -0.461300, 0.704898  Reprojection Error: 0.591753, 0.423929 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.663] xyz_f:-0.159845, -0.464602, 0.702413  Reprojection Error: 0.579588, 0.418037 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.663] xyz_f:-0.246637, -0.439638, 0.714549  Reprojection Error: 0.599539, 0.410651 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.663] xyz_f:-0.418447, -0.249516, 0.760593  Reprojection Error: 0.628729, 0.328894 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.663] xyz_f:-0.531261, -0.149071, 0.748593  Reprojection Error: 0.671915, 0.298842 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.663] xyz_f:-0.597852, -0.054887, 0.732533  Reprojection Error: 0.700826, 0.265526 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.663] xyz_f:-0.597492, -0.048301, 0.733062  Reprojection Error: 0.699618, 0.263404 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.663] xyz_f:-0.382318, 0.030004, 0.800068  Reprojection Error: 0.589709, 0.259521 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.663] xyz_f:-0.253747, 0.092054, 0.811884  Reprojection Error: 0.705038, 0.200350 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.663] xyz_f:-0.407059, -0.240057, 0.765632  Reprojection Error: 0.804226, 0.666403 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.663] xyz_f:-0.499986, 0.217131, 0.745881  Reprojection Error: 0.635278, 0.216159 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.663] it:45 	 Success 	 new_chi2: 0.114319 	 dT = 0.040555, -0.018541, 0.012251
[11:52:55.663] xyz_f:-0.535353, 0.218105, 0.760785  Reprojection Error: 0.630223, 0.218522 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.663] xyz_f:-0.455473, -0.248797, 0.776451  Reprojection Error: 0.636038, 0.323455 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.663] xyz_f:-0.244361, -0.461251, 0.723255  Reprojection Error: 0.606168, 0.408741 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.663] xyz_f:-0.567819, -0.147995, 0.763119  Reprojection Error: 0.674181, 0.291571 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.663] xyz_f:-0.283734, -0.439464, 0.732441  Reprojection Error: 0.613185, 0.398851 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.663] xyz_f:-0.183336, -0.642200, 0.601764  Reprojection Error: 0.644696, 0.575279 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.663] xyz_f:-0.196885, -0.464703, 0.721332  Reprojection Error: 0.594137, 0.407592 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.663] xyz_f:-0.567627, -0.141512, 0.764202  Reprojection Error: 0.672837, 0.289471 Feature: -0.069390, 0.103482, 0.992208
[11:52:55.663] xyz_f:-0.444146, -0.238899, 0.781738  Reprojection Error: 0.629227, 0.319580 Feature: 0.060954, 0.013952, 0.998043
[11:52:55.663] xyz_f:-0.633916, -0.053601, 0.746274  Reprojection Error: 0.701082, 0.260812 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.663] xyz_f:-0.273827, -0.459230, 0.723099  Reprojection Error: 0.614890, 0.409929 Feature: 0.224551, -0.214048, 0.950663
[11:52:55.663] xyz_f:-0.421314, -0.221053, 0.791101  Reprojection Error: 0.617026, 0.313177 Feature: 0.084111, 0.033613, 0.995889
[11:52:55.663] xyz_f:-0.233263, -0.449447, 0.729492  Reprojection Error: 0.600323, 0.400850 Feature: 0.264510, -0.202944, 0.942788
[11:52:55.663] xyz_f:-0.284657, -0.472820, 0.715235  Reprojection Error: 0.622265, 0.419740 Feature: 0.213012, -0.229210, 0.949784
[11:52:55.663] xyz_f:-0.290310, 0.092250, 0.829694  Reprojection Error: 0.565338, 0.266338 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.663] xyz_f:-0.633541, -0.047017, 0.746807  Reprojection Error: 0.699811, 0.258878 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.663] xyz_f:-0.215437, -0.451271, 0.728602  Reprojection Error: 0.595992, 0.400748 Feature: 0.281513, -0.204936, 0.937418
[11:52:55.663] xyz_f:-0.421144, -0.206125, 0.794469  Reprojection Error: 0.614600, 0.308588 Feature: 0.084104, 0.048905, 0.995256
[11:52:55.663] xyz_f:-0.424243, -0.231531, 0.787999  Reprojection Error: 0.619891, 0.316592 Feature: 0.081221, 0.022690, 0.996438
[11:52:55.663] xyz_f:-0.562550, -0.154981, 0.763923  Reprojection Error: 0.672390, 0.293833 Feature: -0.063614, 0.090400, 0.993872
[11:52:55.663] xyz_f:-0.435478, -0.216015, 0.789203  Reprojection Error: 0.621651, 0.311822 Feature: 0.069636, 0.037989, 0.996849
[11:52:55.663] xyz_f:-0.167366, 0.052125, 0.833344  Reprojection Error: 0.557416, 0.281668 Feature: 0.319493, 0.308417, 0.895993
[11:52:55.663] xyz_f:-0.418928, 0.030607, 0.816356  Reprojection Error: 0.591590, 0.258743 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.663] xyz_f:-0.279927, -0.453917, 0.725460  Reprojection Error: 0.615551, 0.407173 Feature: 0.218950, -0.208305, 0.953242
[11:52:55.663] xyz_f:-0.444116, -0.239374, 0.781625  Reprojection Error: 0.629303, 0.319742 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.663] xyz_f:-0.419185, 0.030355, 0.816313  Reprojection Error: 0.591674, 0.258754 Feature: 0.074740, 0.282980, 0.956209
[11:52:55.663] xyz_f:-0.183336, -0.642200, 0.601764  Reprojection Error: 0.674199, 0.568605 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.663] xyz_f:-0.244361, -0.461251, 0.723255  Reprojection Error: 0.635523, 0.407251 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.663] xyz_f:-0.196885, -0.464703, 0.721332  Reprojection Error: 0.624968, 0.400829 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.663] xyz_f:-0.283734, -0.439464, 0.732441  Reprojection Error: 0.641757, 0.395384 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.663] xyz_f:-0.455473, -0.248797, 0.776451  Reprojection Error: 0.665180, 0.321268 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.663] xyz_f:-0.567819, -0.147995, 0.763119  Reprojection Error: 0.706312, 0.293641 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.663] xyz_f:-0.633916, -0.053601, 0.746274  Reprojection Error: 0.734124, 0.262423 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.663] xyz_f:-0.633541, -0.047017, 0.746807  Reprojection Error: 0.732888, 0.260471 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.663] xyz_f:-0.418928, 0.030607, 0.816356  Reprojection Error: 0.625021, 0.259530 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.663] xyz_f:-0.290310, 0.092250, 0.829694  Reprojection Error: 0.742397, 0.202548 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.663] xyz_f:-0.444116, -0.239374, 0.781625  Reprojection Error: 0.840758, 0.659114 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.663] xyz_f:-0.535353, 0.218105, 0.760785  Reprojection Error: 0.668634, 0.220581 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.663] it:46 	 Success 	 new_chi2: 0.041260 	 dT = -0.103005, -0.082884, 0.205933
[11:52:55.663] xyz_f:-0.537715, 0.239219, 0.764871  Reprojection Error: 0.629551, 0.192450 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.663] xyz_f:-0.487327, -0.231167, 0.793540  Reprojection Error: 0.663547, 0.294338 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.663] xyz_f:-0.281413, -0.454774, 0.781967  Reprojection Error: 0.628182, 0.352575 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.663] xyz_f:-0.589331, -0.124633, 0.758814  Reprojection Error: 0.706753, 0.261883 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.663] xyz_f:-0.320615, -0.430885, 0.783310  Reprojection Error: 0.635111, 0.348934 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.663] xyz_f:-0.207257, -0.639338, 0.673969  Reprojection Error: 0.647549, 0.456700 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.663] xyz_f:-0.234742, -0.460744, 0.789441  Reprojection Error: 0.618543, 0.346996 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.663] xyz_f:-0.589014, -0.118163, 0.759947  Reprojection Error: 0.705138, 0.259784 Feature: -0.069390, 0.103482, 0.992208
[11:52:55.663] xyz_f:-0.476760, -0.221855, 0.801012  Reprojection Error: 0.656271, 0.290948 Feature: 0.060954, 0.013952, 0.998043
[11:52:55.663] xyz_f:-0.645709, -0.026963, 0.729744  Reprojection Error: 0.736483, 0.225936 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.663] xyz_f:-0.310118, -0.451197, 0.776006  Reprojection Error: 0.635839, 0.356279 Feature: 0.224551, -0.214048, 0.950663
[11:52:55.663] xyz_f:-0.455315, -0.205193, 0.814794  Reprojection Error: 0.643269, 0.285586 Feature: 0.084111, 0.033613, 0.995889
[11:52:55.663] xyz_f:-0.271156, -0.443542, 0.790336  Reprojection Error: 0.623651, 0.345947 Feature: 0.264510, -0.202944, 0.942788
[11:52:55.663] xyz_f:-0.319885, -0.464236, 0.766085  Reprojection Error: 0.641832, 0.364656 Feature: 0.213012, -0.229210, 0.949784
[11:52:55.663] xyz_f:-0.318120, 0.100937, 0.880156  Reprojection Error: 0.576874, 0.262842 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.663] xyz_f:-0.645098, -0.020405, 0.730376  Reprojection Error: 0.734720, 0.223859 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.663] xyz_f:-0.253627, -0.446311, 0.792975  Reprojection Error: 0.620149, 0.344214 Feature: 0.281513, -0.204936, 0.937418
[11:52:55.663] xyz_f:-0.455024, -0.190277, 0.818209  Reprojection Error: 0.640626, 0.281691 Feature: 0.084104, 0.048905, 0.995256
[11:52:55.663] xyz_f:-0.458124, -0.215518, 0.811120  Reprojection Error: 0.646315, 0.288474 Feature: 0.081221, 0.022690, 0.996438
[11:52:55.663] xyz_f:-0.584701, -0.131883, 0.760605  Reprojection Error: 0.704725, 0.264350 Feature: -0.063614, 0.090400, 0.993872
[11:52:55.663] xyz_f:-0.468538, -0.199422, 0.810163  Reprojection Error: 0.648182, 0.284260 Feature: 0.069636, 0.037989, 0.996849
[11:52:55.663] xyz_f:-0.200619, 0.054382, 0.907806  Reprojection Error: 0.577573, 0.284313 Feature: 0.319493, 0.308417, 0.895993
[11:52:55.663] xyz_f:-0.444649, 0.046118, 0.841352  Reprojection Error: 0.606915, 0.241421 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.663] xyz_f:-0.316274, -0.445557, 0.777143  Reprojection Error: 0.636660, 0.354804 Feature: 0.218950, -0.208305, 0.953242
[11:52:55.663] xyz_f:-0.476733, -0.222331, 0.800904  Reprojection Error: 0.656350, 0.291091 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.663] xyz_f:-0.444905, 0.045880, 0.841258  Reprojection Error: 0.607020, 0.241403 Feature: 0.074740, 0.282980, 0.956209
[11:52:55.663] xyz_f:-0.207257, -0.639338, 0.673969  Reprojection Error: 0.677052, 0.450026 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.663] xyz_f:-0.281413, -0.454774, 0.781967  Reprojection Error: 0.657537, 0.351084 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.663] xyz_f:-0.234742, -0.460744, 0.789441  Reprojection Error: 0.649374, 0.340233 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.663] xyz_f:-0.320615, -0.430885, 0.783310  Reprojection Error: 0.663682, 0.345467 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.663] xyz_f:-0.487327, -0.231167, 0.793540  Reprojection Error: 0.692688, 0.292151 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.663] xyz_f:-0.589331, -0.124633, 0.758814  Reprojection Error: 0.738883, 0.263954 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.663] xyz_f:-0.645709, -0.026963, 0.729744  Reprojection Error: 0.769525, 0.227547 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.663] xyz_f:-0.645098, -0.020405, 0.730376  Reprojection Error: 0.767797, 0.225452 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.663] xyz_f:-0.444649, 0.046118, 0.841352  Reprojection Error: 0.640346, 0.242208 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.663] xyz_f:-0.318120, 0.100937, 0.880156  Reprojection Error: 0.753933, 0.199053 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.663] xyz_f:-0.476733, -0.222331, 0.800904  Reprojection Error: 0.867805, 0.630462 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.663] xyz_f:-0.537715, 0.239219, 0.764871  Reprojection Error: 0.667961, 0.194508 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.663] it:47 	 Success 	 new_chi2: 0.029920 	 dT = 0.315014, -0.039008, -0.262412
[11:52:55.663] xyz_f:-0.660664, 0.213885, 0.898428  Reprojection Error: 0.661893, 0.267141 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.663] xyz_f:-0.573236, -0.251794, 0.909530  Reprojection Error: 0.679684, 0.279867 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.663] xyz_f:-0.362257, -0.461162, 0.844817  Reprojection Error: 0.697104, 0.316871 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.663] xyz_f:-0.687602, -0.152650, 0.902383  Reprojection Error: 0.692090, 0.266799 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.663] xyz_f:-0.401385, -0.439949, 0.856144  Reprojection Error: 0.694632, 0.312724 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.663] xyz_f:-0.305310, -0.641249, 0.720107  Reprojection Error: 0.764010, 0.398574 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.663] xyz_f:-0.314911, -0.463921, 0.840307  Reprojection Error: 0.695948, 0.315448 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.663] xyz_f:-0.687446, -0.146164, 0.903457  Reprojection Error: 0.690972, 0.266078 Feature: -0.069390, 0.103482, 0.992208
[11:52:55.663] xyz_f:-0.561784, -0.241730, 0.914195  Reprojection Error: 0.675586, 0.278398 Feature: 0.060954, 0.013952, 0.998043
[11:52:55.663] xyz_f:-0.755892, -0.059238, 0.889205  Reprojection Error: 0.701716, 0.255606 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.663] xyz_f:-0.391714, -0.459572, 0.846269  Reprojection Error: 0.699077, 0.317900 Feature: 0.224551, -0.214048, 0.950663
[11:52:55.663] xyz_f:-0.538738, -0.223548, 0.922306  Reprojection Error: 0.668579, 0.276132 Feature: 0.084111, 0.033613, 0.995889
[11:52:55.663] xyz_f:-0.351009, -0.449195, 0.850444  Reprojection Error: 0.693298, 0.312929 Feature: 0.264510, -0.202944, 0.942788
[11:52:55.663] xyz_f:-0.402757, -0.473322, 0.839001  Reprojection Error: 0.704318, 0.322820 Feature: 0.213012, -0.229210, 0.949784
[11:52:55.663] xyz_f:-0.410416, 0.091651, 0.953824  Reprojection Error: 0.645722, 0.281436 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.663] xyz_f:-0.755584, -0.052649, 0.889720  Reprojection Error: 0.700716, 0.255096 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.663] xyz_f:-0.333233, -0.450759, 0.848583  Reprojection Error: 0.693000, 0.312573 Feature: 0.281513, -0.204936, 0.937418
[11:52:55.663] xyz_f:-0.538602, -0.208618, 0.925666  Reprojection Error: 0.666359, 0.274508 Feature: 0.084104, 0.048905, 0.995256
[11:52:55.663] xyz_f:-0.541678, -0.234069, 0.919364  Reprojection Error: 0.670698, 0.277370 Feature: 0.081221, 0.022690, 0.996438
[11:52:55.663] xyz_f:-0.682195, -0.159558, 0.902896  Reprojection Error: 0.691557, 0.267675 Feature: -0.063614, 0.090400, 0.993872
[11:52:55.663] xyz_f:-0.553056, -0.218718, 0.921185  Reprojection Error: 0.670231, 0.275540 Feature: 0.069636, 0.037989, 0.996849
[11:52:55.663] xyz_f:-0.286882, 0.053328, 0.950749  Reprojection Error: 0.658323, 0.288128 Feature: 0.319493, 0.308417, 0.895993
[11:52:55.663] xyz_f:-0.538655, 0.028130, 0.947494  Reprojection Error: 0.646927, 0.266547 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.663] xyz_f:-0.397753, -0.454348, 0.848961  Reprojection Error: 0.698207, 0.316659 Feature: 0.218950, -0.208305, 0.953242
[11:52:55.663] xyz_f:-0.561753, -0.242204, 0.914080  Reprojection Error: 0.675662, 0.278461 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.663] xyz_f:-0.538911, 0.027874, 0.947465  Reprojection Error: 0.646955, 0.266520 Feature: 0.074740, 0.282980, 0.956209
[11:52:55.663] xyz_f:-0.305310, -0.641249, 0.720107  Reprojection Error: 0.793513, 0.391900 Feature: 0.291832, -0.422187, 0.858250
[11:52:55.663] xyz_f:-0.362257, -0.461162, 0.844817  Reprojection Error: 0.726459, 0.315380 Feature: 0.253024, -0.215960, 0.943048
[11:52:55.663] xyz_f:-0.314911, -0.463921, 0.840307  Reprojection Error: 0.726779, 0.308685 Feature: 0.298327, -0.219792, 0.928813
[11:52:55.663] xyz_f:-0.401385, -0.439949, 0.856144  Reprojection Error: 0.723203, 0.309257 Feature: 0.216137, -0.192537, 0.957191
[11:52:55.663] xyz_f:-0.573236, -0.251794, 0.909530  Reprojection Error: 0.708826, 0.277680 Feature: 0.049368, 0.003023, 0.998776
[11:52:55.663] xyz_f:-0.687602, -0.152650, 0.902383  Reprojection Error: 0.724220, 0.268870 Feature: -0.069396, 0.096940, 0.992868
[11:52:55.663] xyz_f:-0.755892, -0.059238, 0.889205  Reprojection Error: 0.734758, 0.257218 Feature: -0.144254, 0.183758, 0.972329
[11:52:55.663] xyz_f:-0.755584, -0.052649, 0.889720  Reprojection Error: 0.733794, 0.256689 Feature: -0.144227, 0.190256, 0.971083
[11:52:55.663] xyz_f:-0.538655, 0.028130, 0.947494  Reprojection Error: 0.680358, 0.267333 Feature: 0.074980, 0.283235, 0.956115
[11:52:55.663] xyz_f:-0.410416, 0.091651, 0.953824  Reprojection Error: 0.822782, 0.217646 Feature: 0.197579, 0.346230, 0.917108
[11:52:55.663] xyz_f:-0.561753, -0.242204, 0.914080  Reprojection Error: 0.887117, 0.617833 Feature: 0.060987, 0.013464, 0.998048
[11:52:55.663] xyz_f:-0.660664, 0.213885, 0.898428  Reprojection Error: 0.700304, 0.269200 Feature: -0.065430, 0.449961, 0.890648
[11:52:55.663] it:48 	 Success 	 new_chi2: 0.000000 	 dT = 0.000000, 0.000000, 0.000000
[11:52:55.663] After pose optimization, distance between two frames:0.059591 ,angle between two frames:-3.719342
[11:52:55.750] Reprojection Map nPoint:25 ,nCell:13 ,nMatches:13 ,distance between two frames:2.764876 ,angle between two frames:-3.566374
[11:52:55.750] Init estimate scale:1.223812
[11:52:55.750] xyz_f:2.346049, 0.227973, 1.356951  Reprojection Error: -1.763964, 0.339262 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.750] xyz_f:2.405075, -0.244271, 1.375579  Reprojection Error: -1.669838, 0.178417 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.750] xyz_f:2.613158, -0.459378, 1.341684  Reprojection Error: -1.650011, 0.111896 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.750] xyz_f:2.299612, -0.136867, 1.354574  Reprojection Error: -1.735429, 0.200747 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.750] xyz_f:2.573564, -0.438653, 1.346249  Reprojection Error: -1.657280, 0.121218 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.750] xyz_f:2.679715, -0.643336, 1.224861  Reprojection Error: -1.818237, 0.026642 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.750] xyz_f:2.661083, -0.467829, 1.342102  Reprojection Error: -1.630751, 0.105180 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.750] xyz_f:2.299790, -0.132548, 1.355309  Reprojection Error: -1.734654, 0.201940 Feature: -0.037549, 0.103507, 0.993920
[11:52:55.750] xyz_f:2.418898, -0.232767, 1.383299  Reprojection Error: -1.655435, 0.182279 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.750] xyz_f:2.237912, -0.040923, 1.332237  Reprojection Error: -1.795133, 0.221316 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.750] xyz_f:2.583943, -0.458626, 1.337823  Reprojection Error: -1.666377, 0.113968 Feature: 0.250180, -0.215986, 0.943801
[11:52:55.750] xyz_f:2.441292, -0.215459, 1.394630  Reprojection Error: -1.633715, 0.188338 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.750] xyz_f:2.627018, -0.449862, 1.348245  Reprojection Error: -1.634931, 0.114361 Feature: 0.292836, -0.204823, 0.933967
[11:52:55.750] xyz_f:2.573597, -0.471943, 1.328970  Reprojection Error: -1.683502, 0.110058 Feature: 0.238659, -0.231141, 0.943195
[11:52:55.750] xyz_f:2.696150, 0.022466, 1.459996  Reprojection Error: -1.454186, 0.298346 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.750] xyz_f:2.238428, -0.034346, 1.332810  Reprojection Error: -1.794926, 0.223284 Feature: -0.112537, 0.192540, 0.974815
[11:52:55.750] xyz_f:2.645064, -0.454042, 1.347957  Reprojection Error: -1.628360, 0.111590 Feature: 0.309735, -0.208935, 0.927583
[11:52:55.750] xyz_f:2.441532, -0.200544, 1.398019  Reprojection Error: -1.629580, 0.192722 Feature: 0.115915, 0.048882, 0.992056
[11:52:55.750] xyz_f:2.304603, -0.143977, 1.355826  Reprojection Error: -1.731694, 0.199240 Feature: -0.031763, 0.092602, 0.995196
[11:52:55.750] xyz_f:2.424673, -0.209866, 1.390671  Reprojection Error: -1.644397, 0.189099 Feature: 0.098575, 0.037976, 0.994405
[11:52:55.750] xyz_f:2.699146, 0.051163, 1.459025  Reprojection Error: -1.454154, 0.312862 Feature: 0.350163, 0.307802, 0.884671
[11:52:55.750] xyz_f:2.448341, 0.035902, 1.420560  Reprojection Error: -1.611652, 0.271749 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.750] xyz_f:2.606452, -0.449439, 1.345912  Reprojection Error: -1.646109, 0.115804 Feature: 0.273007, -0.205018, 0.939912
[11:52:55.750] xyz_f:2.594829, 0.068671, 1.449616  Reprojection Error: -1.517449, 0.305490 Feature: 0.248938, 0.322279, 0.913327
[11:52:55.750] xyz_f:2.740685, 0.017083, 1.460465  Reprojection Error: -1.429531, 0.301928 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.750] xyz_f:2.679715, -0.643336, 1.224861  Reprojection Error: -1.791367, 0.017040 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.750] xyz_f:2.613158, -0.459378, 1.341684  Reprojection Error: -1.619909, 0.107798 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.750] xyz_f:2.661083, -0.467829, 1.342102  Reprojection Error: -1.599293, 0.100613 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.750] xyz_f:2.573564, -0.438653, 1.346249  Reprojection Error: -1.628299, 0.119956 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.750] xyz_f:2.405075, -0.244271, 1.375579  Reprojection Error: -1.640524, 0.176221 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.750] xyz_f:2.441292, -0.215459, 1.394630  Reprojection Error: -1.604064, 0.188449 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.750] xyz_f:2.299612, -0.136867, 1.354574  Reprojection Error: -1.706297, 0.200690 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.750] xyz_f:2.237912, -0.040923, 1.332237  Reprojection Error: -1.765353, 0.223132 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.750] xyz_f:2.448341, 0.035902, 1.420560  Reprojection Error: -1.574821, 0.272930 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.750] xyz_f:2.696150, 0.022466, 1.459996  Reprojection Error: -1.421700, 0.298731 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.750] xyz_f:2.740685, 0.017083, 1.460465  Reprojection Error: -1.391881, 0.300431 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.750] xyz_f:2.418898, -0.232767, 1.383299  Reprojection Error: -1.757952, 0.621394 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.750] xyz_f:2.346049, 0.227973, 1.356951  Reprojection Error: -1.731996, 0.339011 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.750] it:0 	 Success 	 new_chi2: 88.019892 	 dT = -0.191639, 0.032300, 0.001491
[11:52:55.750] xyz_f:-0.110227, 0.227827, 1.389798  Reprojection Error: 0.044259, 0.343338 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.750] xyz_f:-0.050991, -0.244395, 1.408342  Reprojection Error: 0.114777, 0.174374 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.750] xyz_f:0.157126, -0.459421, 1.374147  Reprojection Error: 0.183315, 0.103840 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.750] xyz_f:-0.156526, -0.137032, 1.387488  Reprojection Error: 0.075048, 0.198469 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.750] xyz_f:0.117530, -0.438712, 1.378769  Reprojection Error: 0.169132, 0.113576 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.750] xyz_f:0.223586, -0.643354, 1.257228  Reprojection Error: 0.191694, 0.013134 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.750] xyz_f:0.205054, -0.467854, 1.374495  Reprojection Error: 0.202837, 0.096983 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.750] xyz_f:-0.156349, -0.132712, 1.388223  Reprojection Error: 0.074846, 0.199739 Feature: -0.037549, 0.103507, 0.993920
[11:52:55.750] xyz_f:-0.037161, -0.232886, 1.416041  Reprojection Error: 0.119453, 0.178471 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.750] xyz_f:-0.218295, -0.041111, 1.365240  Reprojection Error: 0.044577, 0.220712 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.750] xyz_f:0.127905, -0.458681, 1.370327  Reprojection Error: 0.171738, 0.105877 Feature: 0.250180, -0.215986, 0.943801
[11:52:55.750] xyz_f:-0.014758, -0.215569, 1.427340  Reprojection Error: 0.127119, 0.184874 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.750] xyz_f:0.170991, -0.449900, 1.380688  Reprojection Error: 0.189695, 0.106548 Feature: 0.292836, -0.204823, 0.933967
[11:52:55.750] xyz_f:0.117551, -0.472002, 1.361490  Reprojection Error: 0.166693, 0.101619 Feature: 0.238659, -0.231141, 0.943195
[11:52:55.750] xyz_f:0.240102, 0.022454, 1.492339  Reprojection Error: 0.231607, 0.298688 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.750] xyz_f:-0.217780, -0.034534, 1.365812  Reprojection Error: 0.044006, 0.222799 Feature: -0.112537, 0.192540, 0.974815
[11:52:55.751] xyz_f:0.189039, -0.454073, 1.380373  Reprojection Error: 0.196968, 0.103703 Feature: 0.309735, -0.208935, 0.927583
[11:52:55.751] xyz_f:-0.014518, -0.200653, 1.430729  Reprojection Error: 0.126991, 0.189520 Feature: 0.115915, 0.048882, 0.992056
[11:52:55.751] xyz_f:-0.151531, -0.144139, 1.388733  Reprojection Error: 0.077198, 0.196841 Feature: -0.031763, 0.092602, 0.995196
[11:52:55.751] xyz_f:-0.031384, -0.209983, 1.423405  Reprojection Error: 0.121179, 0.185711 Feature: 0.098575, 0.037976, 0.994405
[11:52:55.751] xyz_f:0.243086, 0.051153, 1.491364  Reprojection Error: 0.232816, 0.313629 Feature: 0.350163, 0.307802, 0.884671
[11:52:55.751] xyz_f:-0.007769, 0.035795, 1.453260  Reprojection Error: 0.117198, 0.272392 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.751] xyz_f:0.150422, -0.449485, 1.378384  Reprojection Error: 0.181331, 0.107971 Feature: 0.273007, -0.205018, 0.939912
[11:52:55.751] xyz_f:0.138748, 0.068621, 1.482105  Reprojection Error: 0.178946, 0.306563 Feature: 0.248938, 0.322279, 0.913327
[11:52:55.751] xyz_f:0.284640, 0.017088, 1.492744  Reprojection Error: 0.256370, 0.302177 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.751] xyz_f:0.223586, -0.643354, 1.257228  Reprojection Error: 0.218563, 0.003533 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.751] xyz_f:0.157126, -0.459421, 1.374147  Reprojection Error: 0.213417, 0.099741 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.751] xyz_f:0.205054, -0.467854, 1.374495  Reprojection Error: 0.234294, 0.092416 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.751] xyz_f:0.117530, -0.438712, 1.378769  Reprojection Error: 0.198112, 0.112314 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.751] xyz_f:-0.050991, -0.244395, 1.408342  Reprojection Error: 0.144091, 0.172178 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.751] xyz_f:-0.014758, -0.215569, 1.427340  Reprojection Error: 0.156770, 0.184986 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.751] xyz_f:-0.156526, -0.137032, 1.387488  Reprojection Error: 0.104180, 0.198411 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.751] xyz_f:-0.218295, -0.041111, 1.365240  Reprojection Error: 0.074357, 0.222528 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.751] xyz_f:-0.007769, 0.035795, 1.453260  Reprojection Error: 0.154029, 0.273572 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.751] xyz_f:0.240102, 0.022454, 1.492339  Reprojection Error: 0.264093, 0.299072 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.751] xyz_f:0.284640, 0.017088, 1.492744  Reprojection Error: 0.294020, 0.300680 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.751] xyz_f:-0.037161, -0.232886, 1.416041  Reprojection Error: 0.016935, 0.617586 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.751] xyz_f:-0.110227, 0.227827, 1.389798  Reprojection Error: 0.076227, 0.343087 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.751] it:1 	 Success 	 new_chi2: 3.007361 	 dT = -0.042913, 0.037550, 0.044466
[11:52:55.751] xyz_f:0.107058, 0.223669, 1.442863  Reprojection Error: -0.109250, 0.352248 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.751] xyz_f:0.172464, -0.247835, 1.458730  Reprojection Error: -0.039658, 0.170738 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.751] xyz_f:0.381381, -0.460461, 1.415577  Reprojection Error: 0.028242, 0.094789 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.751] xyz_f:0.064903, -0.141698, 1.442453  Reprojection Error: -0.082759, 0.197941 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.751] xyz_f:0.341784, -0.440207, 1.421900  Reprojection Error: 0.014003, 0.104976 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.751] xyz_f:0.444871, -0.643646, 1.295867  Reprojection Error: 0.026234, -0.001899 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.751] xyz_f:0.429374, -0.468342, 1.413865  Reprojection Error: 0.048334, 0.087849 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.751] xyz_f:0.065062, -0.137377, 1.443181  Reprojection Error: -0.082861, 0.199331 Feature: -0.037549, 0.103507, 0.993920
[11:52:55.751] xyz_f:0.186478, -0.236166, 1.465831  Reprojection Error: -0.034007, 0.175123 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.751] xyz_f:0.001136, -0.046500, 1.422901  Reprojection Error: -0.116116, 0.223279 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.751] xyz_f:0.352016, -0.460057, 1.413016  Reprojection Error: 0.015953, 0.096739 Feature: 0.250180, -0.215986, 0.943801
[11:52:55.751] xyz_f:0.209145, -0.218589, 1.476162  Reprojection Error: -0.024903, 0.181925 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.751] xyz_f:0.395404, -0.450779, 1.421519  Reprojection Error: 0.035385, 0.097807 Feature: 0.292836, -0.204823, 0.933967
[11:52:55.751] xyz_f:0.341446, -0.473499, 1.404628  Reprojection Error: 0.009946, 0.092038 Feature: 0.238659, -0.231141, 0.943195
[11:52:55.751] xyz_f:0.463806, 0.022366, 1.530217  Reprojection Error: 0.089399, 0.299117 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.751] xyz_f:0.001599, -0.039918, 1.423453  Reprojection Error: -0.116568, 0.225557 Feature: -0.112537, 0.192540, 0.974815
[11:52:55.751] xyz_f:0.413468, -0.454745, 1.420429  Reprojection Error: 0.042829, 0.094899 Feature: 0.309735, -0.208935, 0.927583
[11:52:55.751] xyz_f:0.209359, -0.203671, 1.479541  Reprojection Error: -0.024659, 0.186932 Feature: 0.115915, 0.048882, 0.992056
[11:52:55.751] xyz_f:0.070028, -0.148747, 1.443480  Reprojection Error: -0.080429, 0.196096 Feature: -0.031763, 0.092602, 0.995196
[11:52:55.751] xyz_f:0.192302, -0.213196, 1.472946  Reprojection Error: -0.031426, 0.182930 Feature: 0.098575, 0.037976, 0.994405
[11:52:55.751] xyz_f:0.466415, 0.051097, 1.529121  Reprojection Error: 0.090790, 0.314512 Feature: 0.350163, 0.307802, 0.884671
[11:52:55.751] xyz_f:0.214348, 0.032845, 1.501820  Reprojection Error: -0.030873, 0.275152 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.751] xyz_f:0.374751, -0.450601, 1.420101  Reprojection Error: 0.026570, 0.099178 Feature: 0.273007, -0.205018, 0.939912
[11:52:55.751] xyz_f:0.361581, 0.067361, 1.524355  Reprojection Error: 0.035359, 0.308672 Feature: 0.248938, 0.322279, 0.913327
[11:52:55.751] xyz_f:0.508379, 0.017513, 1.528708  Reprojection Error: 0.114498, 0.302168 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.751] xyz_f:0.444871, -0.643646, 1.295867  Reprojection Error: 0.053104, -0.011500 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.751] xyz_f:0.381381, -0.460461, 1.415577  Reprojection Error: 0.058344, 0.090690 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.751] xyz_f:0.429374, -0.468342, 1.413865  Reprojection Error: 0.079792, 0.083283 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.751] xyz_f:0.341784, -0.440207, 1.421900  Reprojection Error: 0.042983, 0.103714 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.751] xyz_f:0.172464, -0.247835, 1.458730  Reprojection Error: -0.010344, 0.168542 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.751] xyz_f:0.209145, -0.218589, 1.476162  Reprojection Error: 0.004748, 0.182037 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.751] xyz_f:0.064903, -0.141698, 1.442453  Reprojection Error: -0.053627, 0.197883 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.751] xyz_f:0.001136, -0.046500, 1.422901  Reprojection Error: -0.086336, 0.225095 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.751] xyz_f:0.214348, 0.032845, 1.501820  Reprojection Error: 0.005958, 0.276333 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.751] xyz_f:0.463806, 0.022366, 1.530217  Reprojection Error: 0.121885, 0.299502 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.751] xyz_f:0.508379, 0.017513, 1.528708  Reprojection Error: 0.152148, 0.300671 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.751] xyz_f:0.186478, -0.236166, 1.465831  Reprojection Error: -0.136525, 0.614238 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.751] xyz_f:0.107058, 0.223669, 1.442863  Reprojection Error: -0.077282, 0.351998 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.751] it:2 	 Success 	 new_chi2: 2.136600 	 dT = -0.071212, 0.091579, 0.050713
[11:52:55.751] xyz_f:0.158486, 0.219443, 1.550217  Reprojection Error: -0.137287, 0.365710 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.751] xyz_f:0.230770, -0.251158, 1.562710  Reprojection Error: -0.069103, 0.161559 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.751] xyz_f:0.440096, -0.461039, 1.509311  Reprojection Error: 0.006072, 0.074970 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.751] xyz_f:0.121159, -0.146447, 1.551753  Reprojection Error: -0.115843, 0.194082 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.751] xyz_f:0.400594, -0.441304, 1.517572  Reprojection Error: -0.009596, 0.086181 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.751] xyz_f:0.500046, -0.643413, 1.386577  Reprojection Error: 0.008900, -0.034560 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.751] xyz_f:0.488047, -0.468290, 1.505249  Reprojection Error: 0.027792, 0.067704 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.751] xyz_f:0.121296, -0.142123, 1.552474  Reprojection Error: -0.115910, 0.195687 Feature: -0.037549, 0.103507, 0.993920
[11:52:55.751] xyz_f:0.244962, -0.239303, 1.569120  Reprojection Error: -0.062905, 0.166517 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.751] xyz_f:0.055268, -0.052100, 1.535378  Reprojection Error: -0.151314, 0.224532 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.751] xyz_f:0.410638, -0.461021, 1.508191  Reprojection Error: -0.007195, 0.076832 Feature: 0.250180, -0.215986, 0.943801
[11:52:55.751] xyz_f:0.267875, -0.221428, 1.578334  Reprojection Error: -0.052941, 0.174138 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.751] xyz_f:0.454265, -0.451172, 1.514563  Reprojection Error: 0.013609, 0.078585 Feature: 0.292836, -0.204823, 0.933967
[11:52:55.751] xyz_f:0.399847, -0.474603, 1.500326  Reprojection Error: -0.013474, 0.071272 Feature: 0.238659, -0.231141, 0.943195
[11:52:55.751] xyz_f:0.521694, 0.022865, 1.619933  Reprojection Error: 0.070450, 0.299619 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.751] xyz_f:0.055670, -0.045511, 1.535908  Reprojection Error: -0.151691, 0.227146 Feature: -0.112537, 0.192540, 0.974815
[11:52:55.751] xyz_f:0.472304, -0.454900, 1.512588  Reprojection Error: 0.021667, 0.075496 Feature: 0.309735, -0.208935, 0.927583
[11:52:55.751] xyz_f:0.268058, -0.206507, 1.581704  Reprojection Error: -0.052631, 0.179834 Feature: 0.115915, 0.048882, 0.992056
[11:52:55.751] xyz_f:0.126420, -0.153428, 1.552526  Reprojection Error: -0.113345, 0.191873 Feature: -0.031763, 0.092602, 0.995196
[11:52:55.751] xyz_f:0.250825, -0.216257, 1.575949  Reprojection Error: -0.060028, 0.175412 Feature: 0.098575, 0.037976, 0.994405
[11:52:55.751] xyz_f:0.523868, 0.051628, 1.618720  Reprojection Error: 0.072180, 0.316034 Feature: 0.350163, 0.307802, 0.884671
[11:52:55.751] xyz_f:0.271029, 0.030061, 1.603788  Reprojection Error: -0.057141, 0.278279 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.751] xyz_f:0.433567, -0.451265, 1.514157  Reprojection Error: 0.004118, 0.079906 Feature: 0.273007, -0.205018, 0.939912
[11:52:55.751] xyz_f:0.418723, 0.066514, 1.619098  Reprojection Error: 0.013947, 0.311782 Feature: 0.248938, 0.322279, 0.913327
[11:52:55.751] xyz_f:0.566199, 0.018597, 1.616241  Reprojection Error: 0.096734, 0.302118 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.751] xyz_f:0.500046, -0.643413, 1.386577  Reprojection Error: 0.035770, -0.044162 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.751] xyz_f:0.440096, -0.461039, 1.509311  Reprojection Error: 0.036174, 0.070872 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.751] xyz_f:0.488047, -0.468290, 1.505249  Reprojection Error: 0.059250, 0.063138 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.751] xyz_f:0.400594, -0.441304, 1.517572  Reprojection Error: 0.019385, 0.084919 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.751] xyz_f:0.230770, -0.251158, 1.562710  Reprojection Error: -0.039789, 0.159364 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.751] xyz_f:0.267875, -0.221428, 1.578334  Reprojection Error: -0.023290, 0.174249 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.751] xyz_f:0.121159, -0.146447, 1.551753  Reprojection Error: -0.086711, 0.194024 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.751] xyz_f:0.055268, -0.052100, 1.535378  Reprojection Error: -0.121533, 0.226348 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.751] xyz_f:0.271029, 0.030061, 1.603788  Reprojection Error: -0.020310, 0.279459 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.751] xyz_f:0.521694, 0.022865, 1.619933  Reprojection Error: 0.102937, 0.300003 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.751] xyz_f:0.566199, 0.018597, 1.616241  Reprojection Error: 0.134384, 0.300621 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.751] xyz_f:0.244962, -0.239303, 1.569120  Reprojection Error: -0.165422, 0.605632 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.751] xyz_f:0.158486, 0.219443, 1.550217  Reprojection Error: -0.105319, 0.365459 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.751] it:3 	 Success 	 new_chi2: 2.148143 	 dT = -0.068354, 0.105792, 0.042830
[11:52:55.751] xyz_f:0.353955, 0.222976, 1.431238  Reprojection Error: -0.282359, 0.351473 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.751] xyz_f:0.420442, -0.248394, 1.446602  Reprojection Error: -0.212070, 0.172548 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.751] xyz_f:0.629457, -0.460594, 1.401858  Reprojection Error: -0.151357, 0.098067 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.751] xyz_f:0.312544, -0.142477, 1.431145  Reprojection Error: -0.256152, 0.199261 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.751] xyz_f:0.589869, -0.440420, 1.408483  Reprojection Error: -0.164423, 0.108076 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.751] xyz_f:0.692408, -0.643649, 1.281666  Reprojection Error: -0.170707, 0.003607 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.751] xyz_f:0.677452, -0.468377, 1.399780  Reprojection Error: -0.131948, 0.091207 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.751] xyz_f:0.312699, -0.138155, 1.431872  Reprojection Error: -0.256164, 0.200626 Feature: -0.037549, 0.103507, 0.993920
[11:52:55.751] xyz_f:0.434486, -0.236696, 1.453597  Reprojection Error: -0.205695, 0.176843 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.751] xyz_f:0.248436, -0.047409, 1.412081  Reprojection Error: -0.291254, 0.224173 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.751] xyz_f:0.600073, -0.460250, 1.399521  Reprojection Error: -0.163694, 0.100016 Feature: 0.250180, -0.215986, 0.943801
[11:52:55.751] xyz_f:0.457195, -0.219073, 1.463754  Reprojection Error: -0.195565, 0.183511 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.751] xyz_f:0.643506, -0.450883, 1.407693  Reprojection Error: -0.143595, 0.100995 Feature: 0.292836, -0.204823, 0.933967
[11:52:55.751] xyz_f:0.589467, -0.473713, 1.391213  Reprojection Error: -0.170675, 0.095442 Feature: 0.238659, -0.231141, 0.943195
[11:52:55.751] xyz_f:0.711768, 0.022402, 1.515870  Reprojection Error: -0.077047, 0.298955 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.751] xyz_f:0.248890, -0.040826, 1.412628  Reprojection Error: -0.291634, 0.226415 Feature: -0.112537, 0.192540, 0.974815
[11:52:55.751] xyz_f:0.661569, -0.454812, 1.406466  Reprojection Error: -0.136461, 0.098125 Feature: 0.309735, -0.208935, 0.927583
[11:52:55.751] xyz_f:0.457404, -0.204155, 1.467132  Reprojection Error: -0.194924, 0.188426 Feature: 0.115915, 0.048882, 0.992056
[11:52:55.751] xyz_f:0.317691, -0.149515, 1.432134  Reprojection Error: -0.253747, 0.197449 Feature: -0.031763, 0.092602, 0.995196
[11:52:55.751] xyz_f:0.440317, -0.213714, 1.460667  Reprojection Error: -0.202319, 0.184502 Feature: 0.098575, 0.037976, 0.994405
[11:52:55.751] xyz_f:0.714310, 0.051138, 1.514755  Reprojection Error: -0.075756, 0.314168 Feature: 0.350163, 0.307802, 0.884671
[11:52:55.751] xyz_f:0.462081, 0.032371, 1.489374  Reprojection Error: -0.198399, 0.275288 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.751] xyz_f:0.622842, -0.450747, 1.406432  Reprojection Error: -0.152393, 0.102365 Feature: 0.273007, -0.205018, 0.939912
[11:52:55.751] xyz_f:0.609410, 0.067188, 1.510788  Reprojection Error: -0.130811, 0.308390 Feature: 0.248938, 0.322279, 0.913327
[11:52:55.751] xyz_f:0.756338, 0.017640, 1.514022  Reprojection Error: -0.052503, 0.301973 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.751] xyz_f:0.692408, -0.643649, 1.281666  Reprojection Error: -0.143837, -0.005994 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.751] xyz_f:0.629457, -0.460594, 1.401858  Reprojection Error: -0.121256, 0.093968 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.751] xyz_f:0.677452, -0.468377, 1.399780  Reprojection Error: -0.100491, 0.086641 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.751] xyz_f:0.589869, -0.440420, 1.408483  Reprojection Error: -0.135443, 0.106814 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.751] xyz_f:0.420442, -0.248394, 1.446602  Reprojection Error: -0.182757, 0.170353 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.751] xyz_f:0.457195, -0.219073, 1.463754  Reprojection Error: -0.165914, 0.183622 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.751] xyz_f:0.312544, -0.142477, 1.431145  Reprojection Error: -0.227019, 0.199203 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.751] xyz_f:0.248436, -0.047409, 1.412081  Reprojection Error: -0.261474, 0.225989 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.751] xyz_f:0.462081, 0.032371, 1.489374  Reprojection Error: -0.161568, 0.276468 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.751] xyz_f:0.711768, 0.022402, 1.515870  Reprojection Error: -0.044561, 0.299340 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.751] xyz_f:0.756338, 0.017640, 1.514022  Reprojection Error: -0.014853, 0.300476 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.751] xyz_f:0.434486, -0.236696, 1.453597  Reprojection Error: -0.308212, 0.615958 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.751] xyz_f:0.353955, 0.222976, 1.431238  Reprojection Error: -0.250391, 0.351223 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.751] it:4 	 Success 	 new_chi2: 3.219081 	 dT = -0.056061, 0.083860, 0.026763
[11:52:55.751] xyz_f:0.145972, 0.220722, 1.523510  Reprojection Error: -0.130865, 0.362389 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.751] xyz_f:0.216096, -0.250175, 1.537108  Reprojection Error: -0.062016, 0.163597 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.751] xyz_f:0.425350, -0.460926, 1.486958  Reprojection Error: 0.011605, 0.079487 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.751] xyz_f:0.107104, -0.145009, 1.524455  Reprojection Error: -0.108022, 0.194828 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.751] xyz_f:0.385808, -0.441027, 1.494606  Reprojection Error: -0.003759, 0.090464 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.751] xyz_f:0.486439, -0.643552, 1.365163  Reprojection Error: 0.013211, -0.027180 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.752] xyz_f:0.473328, -0.468377, 1.483640  Reprojection Error: 0.032991, 0.072294 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.752] xyz_f:0.107248, -0.140686, 1.525178  Reprojection Error: -0.108097, 0.196383 Feature: -0.037549, 0.103507, 0.993920
[11:52:55.752] xyz_f:0.230236, -0.238379, 1.543739  Reprojection Error: -0.055932, 0.168426 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.752] xyz_f:0.041868, -0.050389, 1.507063  Reprojection Error: -0.143099, 0.224034 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.752] xyz_f:0.395914, -0.460786, 1.485381  Reprojection Error: -0.001463, 0.081367 Feature: 0.250180, -0.215986, 0.943801
[11:52:55.752] xyz_f:0.253077, -0.220599, 1.553308  Reprojection Error: -0.046149, 0.175864 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.752] xyz_f:0.439477, -0.451118, 1.492429  Reprojection Error: 0.019069, 0.082967 Feature: 0.292836, -0.204823, 0.933967
[11:52:55.752] xyz_f:0.385190, -0.474323, 1.477349  Reprojection Error: -0.007698, 0.076002 Feature: 0.238659, -0.231141, 0.943195
[11:52:55.752] xyz_f:0.507233, 0.022638, 1.598848  Reprojection Error: 0.075248, 0.299575 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.752] xyz_f:0.042290, -0.043803, 1.507599  Reprojection Error: -0.143496, 0.226569 Feature: -0.112537, 0.192540, 0.974815
[11:52:55.752] xyz_f:0.457529, -0.454921, 1.490735  Reprojection Error: 0.027000, 0.079919 Feature: 0.309735, -0.208935, 0.927583
[11:52:55.752] xyz_f:0.253269, -0.205679, 1.556680  Reprojection Error: -0.045855, 0.181401 Feature: 0.115915, 0.048882, 0.992056
[11:52:55.752] xyz_f:0.112324, -0.152012, 1.525310  Reprojection Error: -0.105556, 0.192708 Feature: -0.031763, 0.092602, 0.995196
[11:52:55.752] xyz_f:0.236088, -0.215357, 1.550658  Reprojection Error: -0.053120, 0.177070 Feature: 0.098575, 0.037976, 0.994405
[11:52:55.752] xyz_f:0.509546, 0.051391, 1.597670  Reprojection Error: 0.076881, 0.315762 Feature: 0.350163, 0.307802, 0.884671
[11:52:55.752] xyz_f:0.256881, 0.030875, 1.578815  Reprojection Error: -0.050853, 0.277466 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.752] xyz_f:0.418788, -0.451125, 1.491702  Reprojection Error: 0.009715, 0.084298 Feature: 0.273007, -0.205018, 0.939912
[11:52:55.752] xyz_f:0.404470, 0.066714, 1.596417  Reprojection Error: 0.019200, 0.311072 Feature: 0.248938, 0.322279, 0.913327
[11:52:55.752] xyz_f:0.551772, 0.018185, 1.595848  Reprojection Error: 0.101298, 0.302229 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.752] xyz_f:0.486439, -0.643552, 1.365163  Reprojection Error: 0.040080, -0.036781 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.752] xyz_f:0.425350, -0.460926, 1.486958  Reprojection Error: 0.041707, 0.075388 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.752] xyz_f:0.473328, -0.468377, 1.483640  Reprojection Error: 0.064448, 0.067728 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.752] xyz_f:0.385808, -0.441027, 1.494606  Reprojection Error: 0.025221, 0.089202 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.752] xyz_f:0.216096, -0.250175, 1.537108  Reprojection Error: -0.032702, 0.161401 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.752] xyz_f:0.253077, -0.220599, 1.553308  Reprojection Error: -0.016498, 0.175976 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.752] xyz_f:0.107104, -0.145009, 1.524455  Reprojection Error: -0.078889, 0.194771 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.752] xyz_f:0.041868, -0.050389, 1.507063  Reprojection Error: -0.113318, 0.225850 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.752] xyz_f:0.256881, 0.030875, 1.578815  Reprojection Error: -0.014022, 0.278647 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.752] xyz_f:0.507233, 0.022638, 1.598848  Reprojection Error: 0.107734, 0.299959 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.752] xyz_f:0.551772, 0.018185, 1.595848  Reprojection Error: 0.138947, 0.300732 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.752] xyz_f:0.230236, -0.238379, 1.543739  Reprojection Error: -0.158449, 0.607541 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.752] xyz_f:0.145972, 0.220722, 1.523510  Reprojection Error: -0.098897, 0.362138 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.752] it:5 	 Success 	 new_chi2: 1.880028 	 dT = -0.067080, 0.099678, 0.043599
[11:52:55.752] xyz_f:0.255493, 0.217382, 1.635655  Reprojection Error: -0.191254, 0.374364 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.752] xyz_f:0.331435, -0.252691, 1.646177  Reprojection Error: -0.122766, 0.154341 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.752] xyz_f:0.540756, -0.461080, 1.587211  Reprojection Error: -0.043037, 0.060004 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.752] xyz_f:0.220827, -0.148764, 1.638149  Reprojection Error: -0.172567, 0.190519 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.752] xyz_f:0.501349, -0.441626, 1.596522  Reprojection Error: -0.059651, 0.072003 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.752] xyz_f:0.598720, -0.643034, 1.462909  Reprojection Error: -0.039733, -0.059032 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.752] xyz_f:0.588633, -0.467990, 1.581875  Reprojection Error: -0.020088, 0.052445 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.752] xyz_f:0.220953, -0.144440, 1.638866  Reprojection Error: -0.172599, 0.192275 Feature: -0.037549, 0.103507, 0.993920
[11:52:55.752] xyz_f:0.345707, -0.240735, 1.652209  Reprojection Error: -0.116030, 0.159714 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.752] xyz_f:0.153853, -0.054891, 1.623541  Reprojection Error: -0.210082, 0.224408 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.752] xyz_f:0.511280, -0.461272, 1.586875  Reprojection Error: -0.057116, 0.061833 Feature: 0.250180, -0.215986, 0.943801
[11:52:55.752] xyz_f:0.368729, -0.222696, 1.660812  Reprojection Error: -0.105238, 0.167934 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.752] xyz_f:0.554989, -0.451112, 1.592085  Reprojection Error: -0.035052, 0.064043 Feature: 0.292836, -0.204823, 0.933967
[11:52:55.752] xyz_f:0.500381, -0.474932, 1.579299  Reprojection Error: -0.063805, 0.055662 Feature: 0.238659, -0.231141, 0.943195
[11:52:55.752] xyz_f:0.621817, 0.023404, 1.695670  Reprojection Error: 0.025788, 0.299932 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.752] xyz_f:0.154223, -0.048300, 1.624060  Reprojection Error: -0.210407, 0.227254 Feature: -0.112537, 0.192540, 0.974815
[11:52:55.752] xyz_f:0.572996, -0.454712, 1.589632  Reprojection Error: -0.026543, 0.060802 Feature: 0.309735, -0.208935, 0.927583
[11:52:55.752] xyz_f:0.368895, -0.207774, 1.664177  Reprojection Error: -0.104825, 0.174125 Feature: 0.115915, 0.048882, 0.992056
[11:52:55.752] xyz_f:0.226157, -0.155708, 1.638781  Reprojection Error: -0.169919, 0.188063 Feature: -0.031763, 0.092602, 0.995196
[11:52:55.752] xyz_f:0.351585, -0.217646, 1.658881  Reprojection Error: -0.112811, 0.169390 Feature: 0.098575, 0.037976, 0.994405
[11:52:55.752] xyz_f:0.623754, 0.052181, 1.694403  Reprojection Error: 0.027685, 0.317132 Feature: 0.350163, 0.307802, 0.884671
[11:52:55.752] xyz_f:0.370767, 0.028811, 1.686196  Reprojection Error: -0.108031, 0.279936 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.752] xyz_f:0.534289, -0.451353, 1.592230  Reprojection Error: -0.045100, 0.065347 Feature: 0.273007, -0.205018, 0.939912
[11:52:55.752] xyz_f:0.518552, 0.066317, 1.697578  Reprojection Error: -0.032904, 0.313797 Feature: 0.248938, 0.322279, 0.913327
[11:52:55.752] xyz_f:0.666238, 0.019452, 1.690796  Reprojection Error: 0.053015, 0.302119 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.752] xyz_f:0.598720, -0.643034, 1.462909  Reprojection Error: -0.012863, -0.068633 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.752] xyz_f:0.540756, -0.461080, 1.587211  Reprojection Error: -0.012935, 0.055906 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.752] xyz_f:0.588633, -0.467990, 1.581875  Reprojection Error: 0.011369, 0.047879 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.752] xyz_f:0.501349, -0.441626, 1.596522  Reprojection Error: -0.030671, 0.070741 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.752] xyz_f:0.331435, -0.252691, 1.646177  Reprojection Error: -0.093452, 0.152146 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.752] xyz_f:0.368729, -0.222696, 1.660812  Reprojection Error: -0.075587, 0.168046 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.752] xyz_f:0.220827, -0.148764, 1.638149  Reprojection Error: -0.143435, 0.190461 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.752] xyz_f:0.153853, -0.054891, 1.623541  Reprojection Error: -0.180302, 0.226224 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.752] xyz_f:0.370767, 0.028811, 1.686196  Reprojection Error: -0.071200, 0.281116 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.752] xyz_f:0.621817, 0.023404, 1.695670  Reprojection Error: 0.058275, 0.300316 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.752] xyz_f:0.666238, 0.019452, 1.690796  Reprojection Error: 0.090665, 0.300623 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.752] xyz_f:0.345707, -0.240735, 1.652209  Reprojection Error: -0.218547, 0.598829 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.752] xyz_f:0.255493, 0.217382, 1.635655  Reprojection Error: -0.159286, 0.374113 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.752] it:6 	 Success 	 new_chi2: 2.046779 	 dT = -0.061275, 0.110120, 0.031185
[11:52:55.752] xyz_f:0.457232, 0.219729, 1.516775  Reprojection Error: -0.336502, 0.362400 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.752] xyz_f:0.529027, -0.250940, 1.529522  Reprojection Error: -0.267307, 0.164904 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.752] xyz_f:0.738341, -0.461019, 1.476862  Reprojection Error: -0.202280, 0.081668 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.752] xyz_f:0.419554, -0.146125, 1.518179  Reprojection Error: -0.314117, 0.195957 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.752] xyz_f:0.698829, -0.441247, 1.484984  Reprojection Error: -0.216222, 0.092524 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.752] xyz_f:0.798552, -0.643450, 1.354340  Reprojection Error: -0.220090, -0.023488 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.752] xyz_f:0.786299, -0.468315, 1.472969  Reprojection Error: -0.181797, 0.074540 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.752] xyz_f:0.419693, -0.141802, 1.518900  Reprojection Error: -0.314092, 0.197499 Feature: -0.037549, 0.103507, 0.993920
[11:52:55.752] xyz_f:0.543207, -0.239099, 1.535983  Reprojection Error: -0.260445, 0.169674 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.752] xyz_f:0.353810, -0.051716, 1.501572  Reprojection Error: -0.350944, 0.225040 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.752] xyz_f:0.708887, -0.460973, 1.475638  Reprojection Error: -0.215317, 0.083543 Feature: 0.250180, -0.215986, 0.943801
[11:52:55.752] xyz_f:0.566104, -0.221245, 1.545277  Reprojection Error: -0.249565, 0.177020 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.752] xyz_f:0.752501, -0.451165, 1.482164  Reprojection Error: -0.194164, 0.085092 Feature: 0.292836, -0.204823, 0.933967
[11:52:55.752] xyz_f:0.698112, -0.474545, 1.467735  Reprojection Error: -0.222606, 0.078257 Feature: 0.238659, -0.231141, 0.943195
[11:52:55.752] xyz_f:0.820005, 0.022808, 1.587772  Reprojection Error: -0.123954, 0.299369 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.752] xyz_f:0.354217, -0.045128, 1.502103  Reprojection Error: -0.351259, 0.227557 Feature: -0.112537, 0.192540, 0.974815
[11:52:55.752] xyz_f:0.770543, -0.454911, 1.480253  Reprojection Error: -0.186633, 0.082073 Feature: 0.309735, -0.208935, 0.927583
[11:52:55.752] xyz_f:0.566289, -0.206324, 1.548648  Reprojection Error: -0.248824, 0.182503 Feature: 0.115915, 0.048882, 0.992056
[11:52:55.752] xyz_f:0.424806, -0.153111, 1.518971  Reprojection Error: -0.311583, 0.193848 Feature: -0.031763, 0.092602, 0.995196
[11:52:55.752] xyz_f:0.549068, -0.216058, 1.542832  Reprojection Error: -0.256753, 0.178229 Feature: 0.098575, 0.037976, 0.994405
[11:52:55.752] xyz_f:0.822211, 0.051569, 1.586567  Reprojection Error: -0.122422, 0.315425 Feature: 0.350163, 0.307802, 0.884671
[11:52:55.752] xyz_f:0.569406, 0.030241, 1.570742  Reprojection Error: -0.250655, 0.277770 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.752] xyz_f:0.731804, -0.451239, 1.481685  Reprojection Error: -0.203440, 0.086420 Feature: 0.273007, -0.205018, 0.939912
[11:52:55.752] xyz_f:0.717080, 0.066554, 1.586574  Reprojection Error: -0.179406, 0.310914 Feature: 0.248938, 0.322279, 0.913327
[11:52:55.752] xyz_f:0.864519, 0.018498, 1.584237  Reprojection Error: -0.098648, 0.301948 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.752] xyz_f:0.798552, -0.643450, 1.354340  Reprojection Error: -0.193220, -0.033089 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.752] xyz_f:0.738341, -0.461019, 1.476862  Reprojection Error: -0.172178, 0.077570 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.752] xyz_f:0.786299, -0.468315, 1.472969  Reprojection Error: -0.150339, 0.069973 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.752] xyz_f:0.698829, -0.441247, 1.484984  Reprojection Error: -0.187242, 0.091262 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.752] xyz_f:0.529027, -0.250940, 1.529522  Reprojection Error: -0.237993, 0.162709 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.752] xyz_f:0.566104, -0.221245, 1.545277  Reprojection Error: -0.219914, 0.177132 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.752] xyz_f:0.419554, -0.146125, 1.518179  Reprojection Error: -0.284985, 0.195899 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.752] xyz_f:0.353810, -0.051716, 1.501572  Reprojection Error: -0.321164, 0.226856 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.752] xyz_f:0.569406, 0.030241, 1.570742  Reprojection Error: -0.213824, 0.278950 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.752] xyz_f:0.820005, 0.022808, 1.587772  Reprojection Error: -0.091467, 0.299753 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.752] xyz_f:0.864519, 0.018498, 1.584237  Reprojection Error: -0.060998, 0.300451 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.752] xyz_f:0.543207, -0.239099, 1.535983  Reprojection Error: -0.362962, 0.608789 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.752] xyz_f:0.457232, 0.219729, 1.516775  Reprojection Error: -0.304534, 0.362150 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.752] it:7 	 Success 	 new_chi2: 2.116860 	 dT = -0.051525, 0.072977, 0.016843
[11:52:55.752] xyz_f:0.323281, 0.221084, 1.438739  Reprojection Error: -0.259750, 0.353600 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.752] xyz_f:0.392807, -0.249892, 1.452636  Reprojection Error: -0.191839, 0.172867 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.752] xyz_f:0.602032, -0.460883, 1.403380  Reprojection Error: -0.131328, 0.097917 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.752] xyz_f:0.283991, -0.144602, 1.439517  Reprojection Error: -0.235046, 0.200158 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.752] xyz_f:0.562480, -0.440939, 1.410859  Reprojection Error: -0.144304, 0.107917 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.752] xyz_f:0.663432, -0.643580, 1.281847  Reprojection Error: -0.148026, 0.003482 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.752] xyz_f:0.650015, -0.468389, 1.400268  Reprojection Error: -0.112185, 0.091100 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.752] xyz_f:0.284137, -0.140279, 1.440240  Reprojection Error: -0.235063, 0.201540 Feature: -0.037549, 0.103507, 0.993920
[11:52:55.752] xyz_f:0.406931, -0.238113, 1.459327  Reprojection Error: -0.185639, 0.177175 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.752] xyz_f:0.218938, -0.049907, 1.421845  Reprojection Error: -0.269299, 0.225699 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.752] xyz_f:0.572603, -0.460710, 1.401678  Reprojection Error: -0.143436, 0.099838 Feature: 0.250180, -0.215986, 0.943801
[11:52:55.752] xyz_f:0.429752, -0.220359, 1.468993  Reprojection Error: -0.175770, 0.183852 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.752] xyz_f:0.616147, -0.451091, 1.408912  Reprojection Error: -0.123780, 0.100866 Feature: 0.292836, -0.204823, 0.933967
[11:52:55.752] xyz_f:0.561898, -0.474235, 1.393600  Reprojection Error: -0.150166, 0.095233 Feature: 0.238659, -0.231141, 0.943195
[11:52:55.752] xyz_f:0.683990, 0.022587, 1.515621  Reprojection Error: -0.058797, 0.298831 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.752] xyz_f:0.219365, -0.043322, 1.422384  Reprojection Error: -0.269669, 0.227971 Feature: -0.112537, 0.192540, 0.974815
[11:52:55.752] xyz_f:0.634201, -0.454916, 1.407295  Reprojection Error: -0.116737, 0.098009 Feature: 0.309735, -0.208935, 0.927583
[11:52:55.752] xyz_f:0.429947, -0.205439, 1.472366  Reprojection Error: -0.175168, 0.188804 Feature: 0.115915, 0.048882, 0.992056
[11:52:55.752] xyz_f:0.289199, -0.151610, 1.440393  Reprojection Error: -0.232694, 0.198305 Feature: -0.031763, 0.092602, 0.995196
[11:52:55.752] xyz_f:0.412780, -0.215097, 1.466271  Reprojection Error: -0.182387, 0.184886 Feature: 0.098575, 0.037976, 0.994405
[11:52:55.752] xyz_f:0.686340, 0.051337, 1.514453  Reprojection Error: -0.057382, 0.314030 Feature: 0.350163, 0.307802, 0.884671
[11:52:55.752] xyz_f:0.433735, 0.031111, 1.494517  Reprojection Error: -0.178365, 0.276206 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.752] xyz_f:0.595460, -0.451075, 1.408097  Reprojection Error: -0.132423, 0.102219 Feature: 0.273007, -0.205018, 0.939912
[11:52:55.752] xyz_f:0.581289, 0.066781, 1.512750  Reprojection Error: -0.111698, 0.308717 Feature: 0.248938, 0.322279, 0.913327
[11:52:55.752] xyz_f:0.728536, 0.018083, 1.512811  Reprojection Error: -0.034525, 0.301671 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.752] xyz_f:0.663432, -0.643580, 1.281847  Reprojection Error: -0.121156, -0.006120 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.752] xyz_f:0.602032, -0.460883, 1.403380  Reprojection Error: -0.101226, 0.093818 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.752] xyz_f:0.650015, -0.468389, 1.400268  Reprojection Error: -0.080728, 0.086533 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.752] xyz_f:0.562480, -0.440939, 1.410859  Reprojection Error: -0.115324, 0.106655 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.752] xyz_f:0.392807, -0.249892, 1.452636  Reprojection Error: -0.162526, 0.170671 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.752] xyz_f:0.429752, -0.220359, 1.468993  Reprojection Error: -0.146118, 0.183964 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.752] xyz_f:0.283991, -0.144602, 1.439517  Reprojection Error: -0.205914, 0.200100 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.752] xyz_f:0.218938, -0.049907, 1.421845  Reprojection Error: -0.239519, 0.227515 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.752] xyz_f:0.433735, 0.031111, 1.494517  Reprojection Error: -0.141534, 0.277386 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.753] xyz_f:0.683990, 0.022587, 1.515621  Reprojection Error: -0.026310, 0.299215 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.753] xyz_f:0.728536, 0.018083, 1.512811  Reprojection Error: 0.003125, 0.300175 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.753] xyz_f:0.406931, -0.238113, 1.459327  Reprojection Error: -0.288157, 0.616290 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.753] xyz_f:0.323281, 0.221084, 1.438739  Reprojection Error: -0.227782, 0.353350 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.753] it:8 	 Success 	 new_chi2: 1.746972 	 dT = -0.049659, 0.075808, 0.024827
[11:52:55.753] xyz_f:0.227850, 0.223194, 1.355058  Reprojection Error: -0.203200, 0.342554 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.753] xyz_f:0.293995, -0.248219, 1.370581  Reprojection Error: -0.135933, 0.181944 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.753] xyz_f:0.502981, -0.460553, 1.326341  Reprojection Error: -0.081565, 0.116743 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.753] xyz_f:0.186203, -0.142232, 1.354865  Reprojection Error: -0.175197, 0.204685 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.753] xyz_f:0.463390, -0.440355, 1.332870  Reprojection Error: -0.093288, 0.125766 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.753] xyz_f:0.566103, -0.643650, 1.206301  Reprojection Error: -0.099754, 0.034983 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.753] xyz_f:0.550975, -0.468367, 1.324379  Reprojection Error: -0.064003, 0.110250 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.753] xyz_f:0.186360, -0.137910, 1.355592  Reprojection Error: -0.175253, 0.205875 Feature: -0.037549, 0.103507, 0.993920
[11:52:55.753] xyz_f:0.308030, -0.236530, 1.377610  Reprojection Error: -0.130388, 0.185704 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.753] xyz_f:0.122203, -0.047123, 1.335646  Reprojection Error: -0.206811, 0.225880 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.753] xyz_f:0.473603, -0.460191, 1.323933  Reprojection Error: -0.092647, 0.118747 Feature: 0.250180, -0.215986, 0.943801
[11:52:55.753] xyz_f:0.330726, -0.218922, 1.387822  Reprojection Error: -0.121527, 0.191590 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.753] xyz_f:0.517021, -0.450852, 1.332210  Reprojection Error: -0.074552, 0.119120 Feature: 0.292836, -0.204823, 0.933967
[11:52:55.753] xyz_f:0.463008, -0.473647, 1.315600  Reprojection Error: -0.098904, 0.114963 Feature: 0.238659, -0.231141, 0.943195
[11:52:55.753] xyz_f:0.585328, 0.022389, 1.440552  Reprojection Error: -0.013825, 0.298192 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.753] xyz_f:0.122659, -0.040540, 1.336195  Reprojection Error: -0.207242, 0.227854 Feature: -0.112537, 0.192540, 0.974815
[11:52:55.753] xyz_f:0.535085, -0.454792, 1.331026  Reprojection Error: -0.068093, 0.116439 Feature: 0.309735, -0.208935, 0.927583
[11:52:55.753] xyz_f:0.330936, -0.204003, 1.391200  Reprojection Error: -0.121035, 0.195912 Feature: 0.115915, 0.048882, 0.992056
[11:52:55.753] xyz_f:0.191344, -0.149274, 1.355866  Reprojection Error: -0.173039, 0.203144 Feature: -0.031763, 0.092602, 0.995196
[11:52:55.753] xyz_f:0.313859, -0.213552, 1.384694  Reprojection Error: -0.127533, 0.192412 Feature: 0.098575, 0.037976, 0.994405
[11:52:55.753] xyz_f:0.587891, 0.051124, 1.439443  Reprojection Error: -0.012604, 0.312412 Feature: 0.350163, 0.307802, 0.884671
[11:52:55.753] xyz_f:0.335712, 0.032519, 1.413454  Reprojection Error: -0.125659, 0.274015 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.753] xyz_f:0.496361, -0.450703, 1.330899  Reprojection Error: -0.082491, 0.120521 Feature: 0.273007, -0.205018, 0.939912
[11:52:55.753] xyz_f:0.483012, 0.067241, 1.435223  Reprojection Error: -0.063980, 0.306011 Feature: 0.248938, 0.322279, 0.913327
[11:52:55.753] xyz_f:0.629900, 0.017598, 1.438811  Reprojection Error: 0.009261, 0.301393 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.753] xyz_f:0.566103, -0.643650, 1.206301  Reprojection Error: -0.072884, 0.025381 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.753] xyz_f:0.502981, -0.460553, 1.326341  Reprojection Error: -0.051463, 0.112645 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.753] xyz_f:0.550975, -0.468367, 1.324379  Reprojection Error: -0.032546, 0.105684 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.753] xyz_f:0.463390, -0.440355, 1.332870  Reprojection Error: -0.064308, 0.124504 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.753] xyz_f:0.293995, -0.248219, 1.370581  Reprojection Error: -0.106619, 0.179749 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.753] xyz_f:0.330726, -0.218922, 1.387822  Reprojection Error: -0.091875, 0.191702 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.753] xyz_f:0.186203, -0.142232, 1.354865  Reprojection Error: -0.146065, 0.204628 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.753] xyz_f:0.122203, -0.047123, 1.335646  Reprojection Error: -0.177031, 0.227696 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.753] xyz_f:0.335712, 0.032519, 1.413454  Reprojection Error: -0.088828, 0.275196 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.753] xyz_f:0.585328, 0.022389, 1.440552  Reprojection Error: 0.018661, 0.298576 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.753] xyz_f:0.629900, 0.017598, 1.438811  Reprojection Error: 0.046911, 0.299896 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.753] xyz_f:0.308030, -0.236530, 1.377610  Reprojection Error: -0.232905, 0.624820 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.753] xyz_f:0.227850, 0.223194, 1.355058  Reprojection Error: -0.171232, 0.342303 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.753] it:9 	 Success 	 new_chi2: 1.543598 	 dT = -0.050804, 0.072937, 0.033013
[11:52:55.753] xyz_f:0.126135, 0.226203, 1.270891  Reprojection Error: -0.134302, 0.329278 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.753] xyz_f:0.187722, -0.245755, 1.288451  Reprojection Error: -0.067126, 0.191577 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.753] xyz_f:0.396191, -0.459874, 1.250867  Reprojection Error: -0.019074, 0.137151 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.753] xyz_f:0.081396, -0.138854, 1.269321  Reprojection Error: -0.101890, 0.209099 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.753] xyz_f:0.356586, -0.439337, 1.256134  Reprojection Error: -0.029501, 0.145138 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.753] xyz_f:0.461541, -0.643519, 1.132876  Reprojection Error: -0.037873, 0.069450 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.753] xyz_f:0.444155, -0.468098, 1.250436  Reprojection Error: -0.003178, 0.130948 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.753] xyz_f:0.081566, -0.134534, 1.270053  Reprojection Error: -0.102001, 0.210068 Feature: -0.037549, 0.103507, 0.993920
[11:52:55.753] xyz_f:0.201626, -0.234186, 1.295925  Reprojection Error: -0.062375, 0.194718 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.753] xyz_f:0.018855, -0.043204, 1.248084  Reprojection Error: -0.130425, 0.225216 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.753] xyz_f:0.366909, -0.459260, 1.247524  Reprojection Error: -0.029033, 0.139291 Feature: 0.250180, -0.215986, 0.943801
[11:52:55.753] xyz_f:0.224134, -0.216771, 1.306858  Reprojection Error: -0.054727, 0.199717 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.753] xyz_f:0.410120, -0.450292, 1.257183  Reprojection Error: -0.012681, 0.138871 Feature: 0.292836, -0.204823, 0.933967
[11:52:55.753] xyz_f:0.356470, -0.472627, 1.238856  Reprojection Error: -0.034709, 0.136442 Feature: 0.238659, -0.231141, 0.943195
[11:52:55.753] xyz_f:0.478978, 0.022363, 1.367712  Reprojection Error: 0.042293, 0.297383 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.753] xyz_f:0.019350, -0.036625, 1.248648  Reprojection Error: -0.130942, 0.226846 Feature: -0.112537, 0.192540, 0.974815
[11:52:55.753] xyz_f:0.428177, -0.454386, 1.256575  Reprojection Error: -0.006834, 0.136360 Feature: 0.309735, -0.208935, 0.927583
[11:52:55.753] xyz_f:0.224364, -0.201854, 1.310244  Reprojection Error: -0.054395, 0.203333 Feature: 0.115915, 0.048882, 0.992056
[11:52:55.753] xyz_f:0.086441, -0.145939, 1.270484  Reprojection Error: -0.099954, 0.207918 Feature: -0.031763, 0.092602, 0.995196
[11:52:55.753] xyz_f:0.207421, -0.211257, 1.303195  Reprojection Error: -0.060034, 0.200297 Feature: 0.098575, 0.037976, 0.994405
[11:52:55.753] xyz_f:0.481820, 0.051075, 1.366689  Reprojection Error: 0.043266, 0.310557 Feature: 0.350163, 0.307802, 0.884671
[11:52:55.753] xyz_f:0.230448, 0.034622, 1.332670  Reprojection Error: -0.061070, 0.271043 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.753] xyz_f:0.389514, -0.449966, 1.255214  Reprojection Error: -0.019856, 0.140353 Feature: 0.273007, -0.205018, 0.939912
[11:52:55.753] xyz_f:0.377270, 0.068087, 1.359129  Reprojection Error: -0.005021, 0.302766 Feature: 0.248938, 0.322279, 0.913327
[11:52:55.753] xyz_f:0.523539, 0.017192, 1.367391  Reprojection Error: 0.064178, 0.301052 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.753] xyz_f:0.461541, -0.643519, 1.132876  Reprojection Error: -0.011003, 0.059848 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.753] xyz_f:0.396191, -0.459874, 1.250867  Reprojection Error: 0.011028, 0.133053 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.753] xyz_f:0.444155, -0.468098, 1.250436  Reprojection Error: 0.028279, 0.126381 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.753] xyz_f:0.356586, -0.439337, 1.256134  Reprojection Error: -0.000521, 0.143876 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.753] xyz_f:0.187722, -0.245755, 1.288451  Reprojection Error: -0.037812, 0.189381 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.753] xyz_f:0.224134, -0.216771, 1.306858  Reprojection Error: -0.025076, 0.199829 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.753] xyz_f:0.081396, -0.138854, 1.269321  Reprojection Error: -0.072757, 0.209041 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.753] xyz_f:0.018855, -0.043204, 1.248084  Reprojection Error: -0.100645, 0.227031 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.753] xyz_f:0.230448, 0.034622, 1.332670  Reprojection Error: -0.024239, 0.272224 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.753] xyz_f:0.478978, 0.022363, 1.367712  Reprojection Error: 0.074779, 0.297767 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.753] xyz_f:0.523539, 0.017192, 1.367391  Reprojection Error: 0.101828, 0.299555 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.753] xyz_f:0.201626, -0.234186, 1.295925  Reprojection Error: -0.164892, 0.633833 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.753] xyz_f:0.126135, 0.226203, 1.270891  Reprojection Error: -0.102334, 0.329028 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.753] it:10 	 Success 	 new_chi2: 1.414391 	 dT = -0.053769, 0.066319, 0.043310
[11:52:55.753] xyz_f:0.021283, 0.230498, 1.188542  Reprojection Error: -0.052958, 0.313332 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.753] xyz_f:0.076789, -0.242117, 1.208553  Reprojection Error: 0.015033, 0.201176 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.753] xyz_f:0.284234, -0.458567, 1.179670  Reprojection Error: 0.056715, 0.158232 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.753] xyz_f:-0.027440, -0.134035, 1.185017  Reprojection Error: -0.014608, 0.212815 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.753] xyz_f:0.244676, -0.437586, 1.183280  Reprojection Error: 0.047597, 0.165193 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.753] xyz_f:0.352400, -0.642960, 1.064472  Reprojection Error: 0.038478, 0.105428 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.753] xyz_f:0.332079, -0.467328, 1.181243  Reprojection Error: 0.070895, 0.152224 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.753] xyz_f:-0.027252, -0.129717, 1.185757  Reprojection Error: -0.014796, 0.213536 Feature: -0.037549, 0.103507, 0.993920
[11:52:55.753] xyz_f:0.090496, -0.230702, 1.216604  Reprojection Error: 0.018826, 0.203637 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.753] xyz_f:-0.087962, -0.037696, 1.161206  Reprojection Error: -0.039567, 0.223062 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.753] xyz_f:0.255126, -0.457626, 1.175105  Reprojection Error: 0.047968, 0.160588 Feature: 0.250180, -0.215986, 0.943801
[11:52:55.753] xyz_f:0.112721, -0.213538, 1.228473  Reprojection Error: 0.025022, 0.207669 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.753] xyz_f:0.297993, -0.449140, 1.186564  Reprojection Error: 0.062401, 0.159217 Feature: 0.292836, -0.204823, 0.933967
[11:52:55.753] xyz_f:0.244910, -0.470877, 1.166004  Reprojection Error: 0.042990, 0.158777 Feature: 0.238659, -0.231141, 0.943195
[11:52:55.753] xyz_f:0.367461, 0.022740, 1.299987  Reprojection Error: 0.109832, 0.296242 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.753] xyz_f:-0.087417, -0.031123, 1.161792  Reprojection Error: -0.040201, 0.224302 Feature: -0.112537, 0.192540, 0.974815
[11:52:55.753] xyz_f:0.316013, -0.453437, 1.186711  Reprojection Error: 0.067622, 0.156848 Feature: 0.309735, -0.208935, 0.927583
[11:52:55.753] xyz_f:0.112976, -0.198624, 1.231869  Reprojection Error: 0.025132, 0.210512 Feature: 0.115915, 0.048882, 0.992056
[11:52:55.753] xyz_f:-0.022527, -0.141176, 1.186389  Reprojection Error: -0.012928, 0.212045 Feature: -0.031763, 0.092602, 0.995196
[11:52:55.753] xyz_f:0.096239, -0.207838, 1.224115  Reprojection Error: 0.020511, 0.207976 Feature: 0.098575, 0.037976, 0.994405
[11:52:55.753] xyz_f:0.370665, 0.051417, 1.299091  Reprojection Error: 0.110485, 0.308349 Feature: 0.350163, 0.307802, 0.884671
[11:52:55.753] xyz_f:0.120767, 0.037774, 1.254585  Reprojection Error: 0.015592, 0.266913 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.753] xyz_f:0.277492, -0.448584, 1.183735  Reprojection Error: 0.056039, 0.160832 Feature: 0.273007, -0.205018, 0.939912
[11:52:55.753] xyz_f:0.266720, 0.069599, 1.287169  Reprojection Error: 0.065347, 0.298791 Feature: 0.248938, 0.322279, 0.913327
[11:52:55.753] xyz_f:0.411936, 0.017069, 1.301530  Reprojection Error: 0.130551, 0.300510 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.753] xyz_f:0.352400, -0.642960, 1.064472  Reprojection Error: 0.065348, 0.095827 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.753] xyz_f:0.284234, -0.458567, 1.179670  Reprojection Error: 0.086817, 0.154133 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.753] xyz_f:0.332079, -0.467328, 1.181243  Reprojection Error: 0.102353, 0.147658 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.753] xyz_f:0.244676, -0.437586, 1.183280  Reprojection Error: 0.076577, 0.163931 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.753] xyz_f:0.076789, -0.242117, 1.208553  Reprojection Error: 0.044347, 0.198981 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.753] xyz_f:0.112721, -0.213538, 1.228473  Reprojection Error: 0.054673, 0.207781 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.753] xyz_f:-0.027440, -0.134035, 1.185017  Reprojection Error: 0.014524, 0.212757 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.753] xyz_f:-0.087962, -0.037696, 1.161206  Reprojection Error: -0.009787, 0.224877 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.753] xyz_f:0.120767, 0.037774, 1.254585  Reprojection Error: 0.052423, 0.268094 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.753] xyz_f:0.367461, 0.022740, 1.299987  Reprojection Error: 0.142318, 0.296626 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.753] xyz_f:0.411936, 0.017069, 1.301530  Reprojection Error: 0.168201, 0.299013 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.753] xyz_f:0.090496, -0.230702, 1.216604  Reprojection Error: -0.083692, 0.642752 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.753] xyz_f:0.021283, 0.230498, 1.188542  Reprojection Error: -0.020991, 0.313082 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.753] it:11 	 Success 	 new_chi2: 1.492810 	 dT = -0.053202, 0.054636, 0.051414
[11:52:55.753] xyz_f:-0.086030, 0.236098, 1.113007  Reprojection Error: 0.042243, 0.295140 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.753] xyz_f:-0.037877, -0.237207, 1.135592  Reprojection Error: 0.111925, 0.209724 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.753] xyz_f:0.167849, -0.456406, 1.116971  Reprojection Error: 0.147388, 0.178118 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.753] xyz_f:-0.139362, -0.127756, 1.106947  Reprojection Error: 0.088134, 0.215120 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.753] xyz_f:0.128443, -0.434900, 1.118620  Reprojection Error: 0.139552, 0.184168 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.753] xyz_f:0.239190, -0.641728, 1.005238  Reprojection Error: 0.131590, 0.139795 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.753] xyz_f:0.215436, -0.465802, 1.120914  Reprojection Error: 0.159825, 0.172156 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.753] xyz_f:-0.139154, -0.123440, 1.107697  Reprojection Error: 0.087846, 0.215579 Feature: -0.037549, 0.103507, 0.993920
[11:52:55.753] xyz_f:-0.024436, -0.225973, 1.144318  Reprojection Error: 0.114564, 0.211482 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.753] xyz_f:-0.197341, -0.030628, 1.080193  Reprojection Error: 0.067373, 0.218953 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.753] xyz_f:0.139018, -0.455080, 1.110967  Reprojection Error: 0.139944, 0.180779 Feature: 0.250180, -0.215986, 0.943801
[11:52:55.753] xyz_f:-0.002601, -0.209102, 1.157281  Reprojection Error: 0.119027, 0.214529 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.753] xyz_f:0.181373, -0.447161, 1.124543  Reprojection Error: 0.152255, 0.178334 Feature: 0.292836, -0.204823, 0.933967
[11:52:55.753] xyz_f:0.129092, -0.468197, 1.101366  Reprojection Error: 0.135822, 0.180044 Feature: 0.238659, -0.231141, 0.943195
[11:52:55.753] xyz_f:0.251395, 0.023790, 1.241430  Reprojection Error: 0.189992, 0.294570 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.753] xyz_f:-0.196738, -0.024062, 1.080807  Reprojection Error: 0.066584, 0.219777 Feature: -0.112537, 0.192540, 0.974815
[11:52:55.753] xyz_f:0.199305, -0.451697, 1.125582  Reprojection Error: 0.156848, 0.176054 Feature: 0.309735, -0.208935, 0.927583
[11:52:55.753] xyz_f:-0.002316, -0.194191, 1.160690  Reprojection Error: 0.118839, 0.216581 Feature: 0.115915, 0.048882, 0.992056
[11:52:55.753] xyz_f:-0.134619, -0.134962, 1.108558  Reprojection Error: 0.089520, 0.214794 Feature: -0.031763, 0.092602, 0.995196
[11:52:55.753] xyz_f:-0.018769, -0.203185, 1.152112  Reprojection Error: 0.115421, 0.214548 Feature: 0.098575, 0.037976, 0.994405
[11:52:55.753] xyz_f:0.255021, 0.052423, 1.240703  Reprojection Error: 0.190266, 0.305676 Feature: 0.350163, 0.307802, 0.884671
[11:52:55.753] xyz_f:0.007481, 0.042090, 1.183843  Reprojection Error: 0.105533, 0.261469 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.753] xyz_f:0.161047, -0.446334, 1.120700  Reprojection Error: 0.146758, 0.180138 Feature: 0.273007, -0.205018, 0.939912
[11:52:55.753] xyz_f:0.152047, 0.071981, 1.223643  Reprojection Error: 0.148304, 0.294037 Feature: 0.248938, 0.322279, 0.913327
[11:52:55.753] xyz_f:0.295659, 0.017529, 1.245177  Reprojection Error: 0.209609, 0.299547 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.753] xyz_f:0.239190, -0.641728, 1.005238  Reprojection Error: 0.158460, 0.130193 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.753] xyz_f:0.167849, -0.456406, 1.116971  Reprojection Error: 0.177489, 0.174019 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.753] xyz_f:0.215436, -0.465802, 1.120914  Reprojection Error: 0.191283, 0.167590 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.753] xyz_f:0.128443, -0.434900, 1.118620  Reprojection Error: 0.168532, 0.182906 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.754] xyz_f:-0.037877, -0.237207, 1.135592  Reprojection Error: 0.141239, 0.207528 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.754] xyz_f:-0.002601, -0.209102, 1.157281  Reprojection Error: 0.148678, 0.214641 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.754] xyz_f:-0.139362, -0.127756, 1.106947  Reprojection Error: 0.117266, 0.215062 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.754] xyz_f:-0.197341, -0.030628, 1.080193  Reprojection Error: 0.097153, 0.220769 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.754] xyz_f:0.007481, 0.042090, 1.183843  Reprojection Error: 0.142364, 0.262649 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.754] xyz_f:0.251395, 0.023790, 1.241430  Reprojection Error: 0.222479, 0.294954 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.754] xyz_f:0.295659, 0.017529, 1.245177  Reprojection Error: 0.247259, 0.298050 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.754] xyz_f:-0.024436, -0.225973, 1.144318  Reprojection Error: 0.012046, 0.650597 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.754] xyz_f:-0.086030, 0.236098, 1.113007  Reprojection Error: 0.074211, 0.294889 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.754] it:12 	 Success 	 new_chi2: 1.881660 	 dT = -0.039129, 0.040609, 0.048143
[11:52:55.754] xyz_f:-0.191539, 0.241823, 1.051032  Reprojection Error: 0.147187, 0.277185 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.754] xyz_f:-0.150387, -0.232038, 1.075694  Reprojection Error: 0.218375, 0.216550 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.754] xyz_f:0.053237, -0.453789, 1.066593  Reprojection Error: 0.247746, 0.194964 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.754] xyz_f:-0.249059, -0.121340, 1.042395  Reprojection Error: 0.201166, 0.216112 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.754] xyz_f:0.014067, -0.431793, 1.066415  Reprojection Error: 0.241183, 0.200286 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.754] xyz_f:0.127381, -0.640017, 0.958243  Reprojection Error: 0.236602, 0.169317 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.754] xyz_f:0.100468, -0.463776, 1.072741  Reprojection Error: 0.258366, 0.188928 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.754] xyz_f:-0.248832, -0.117027, 1.043155  Reprojection Error: 0.200760, 0.216327 Feature: -0.037549, 0.103507, 0.993920
[11:52:55.754] xyz_f:-0.137226, -0.220970, 1.085039  Reprojection Error: 0.219681, 0.217661 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.754] xyz_f:-0.304517, -0.023506, 1.013002  Reprojection Error: 0.185291, 0.213803 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.754] xyz_f:0.024735, -0.452105, 1.059256  Reprojection Error: 0.241725, 0.197968 Feature: 0.250180, -0.215986, 0.943801
[11:52:55.754] xyz_f:-0.115809, -0.204369, 1.099008  Reprojection Error: 0.222155, 0.219803 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.754] xyz_f:0.066508, -0.444710, 1.074788  Reprojection Error: 0.251660, 0.194462 Feature: 0.292836, -0.204823, 0.933967
[11:52:55.754] xyz_f:0.015103, -0.465100, 1.049200  Reprojection Error: 0.238638, 0.198229 Feature: 0.238659, -0.231141, 0.943195
[11:52:55.754] xyz_f:0.136881, 0.025366, 1.194940  Reprojection Error: 0.277946, 0.292506 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.754] xyz_f:-0.303862, -0.016948, 1.013646  Reprojection Error: 0.184327, 0.214234 Feature: -0.112537, 0.192540, 0.974815
[11:52:55.754] xyz_f:0.084314, -0.449469, 1.076659  Reprojection Error: 0.255605, 0.192220 Feature: 0.309735, -0.208935, 0.927583
[11:52:55.754] xyz_f:-0.115498, -0.189462, 1.102430  Reprojection Error: 0.221610, 0.221133 Feature: 0.115915, 0.048882, 0.992056
[11:52:55.754] xyz_f:-0.244486, -0.128604, 1.044223  Reprojection Error: 0.202216, 0.216206 Feature: -0.031763, 0.092602, 0.995196
[11:52:55.754] xyz_f:-0.131644, -0.198252, 1.093095  Reprojection Error: 0.219563, 0.219557 Feature: 0.098575, 0.037976, 0.994405
[11:52:55.754] xyz_f:0.140893, 0.053951, 1.194391  Reprojection Error: 0.277849, 0.302758 Feature: 0.350163, 0.307802, 0.884671
[11:52:55.754] xyz_f:-0.103845, 0.046685, 1.126083  Reprojection Error: 0.204071, 0.255564 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.754] xyz_f:0.046395, -0.443631, 1.070005  Reprojection Error: 0.247101, 0.196482 Feature: 0.273007, -0.205018, 0.939912
[11:52:55.754] xyz_f:0.039075, 0.074785, 1.172568  Reprojection Error: 0.239237, 0.289083 Feature: 0.248938, 0.322279, 0.913327
[11:52:55.754] xyz_f:0.180842, 0.018555, 1.200738  Reprojection Error: 0.296443, 0.298171 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.754] xyz_f:0.127381, -0.640017, 0.958243  Reprojection Error: 0.263472, 0.159715 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.754] xyz_f:0.053237, -0.453789, 1.066593  Reprojection Error: 0.277848, 0.190865 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.754] xyz_f:0.100468, -0.463776, 1.072741  Reprojection Error: 0.289824, 0.184362 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.754] xyz_f:0.014067, -0.431793, 1.066415  Reprojection Error: 0.270164, 0.199024 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.754] xyz_f:-0.150387, -0.232038, 1.075694  Reprojection Error: 0.247689, 0.214355 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.754] xyz_f:-0.115809, -0.204369, 1.099008  Reprojection Error: 0.251806, 0.219915 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.754] xyz_f:-0.249059, -0.121340, 1.042395  Reprojection Error: 0.230298, 0.216054 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.754] xyz_f:-0.304517, -0.023506, 1.013002  Reprojection Error: 0.215071, 0.215619 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.754] xyz_f:-0.103845, 0.046685, 1.126083  Reprojection Error: 0.240902, 0.256745 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.754] xyz_f:0.136881, 0.025366, 1.194940  Reprojection Error: 0.310432, 0.292890 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.754] xyz_f:0.180842, 0.018555, 1.200738  Reprojection Error: 0.334093, 0.296675 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.754] xyz_f:-0.137226, -0.220970, 1.085039  Reprojection Error: 0.117164, 0.656776 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.754] xyz_f:-0.191539, 0.241823, 1.051032  Reprojection Error: 0.179155, 0.276934 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.754] it:13 	 Success 	 new_chi2: 2.453724 	 dT = -0.012725, 0.031526, 0.032508
[11:52:55.754] xyz_f:-0.282780, 0.245945, 1.004123  Reprojection Error: 0.246567, 0.262331 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.754] xyz_f:-0.246410, -0.228243, 1.030001  Reprojection Error: 0.317803, 0.222434 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.754] xyz_f:-0.044474, -0.451699, 1.027268  Reprojection Error: 0.340953, 0.209216 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.754] xyz_f:-0.343054, -0.116723, 0.993635  Reprojection Error: 0.307488, 0.217177 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.754] xyz_f:-0.083432, -0.429374, 1.025863  Reprojection Error: 0.335704, 0.213934 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.754] xyz_f:0.031466, -0.638559, 0.921275  Reprojection Error: 0.335379, 0.194535 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.754] xyz_f:0.002455, -0.462082, 1.034895  Reprojection Error: 0.349650, 0.203102 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.754] xyz_f:-0.342815, -0.112412, 0.994402  Reprojection Error: 0.306966, 0.217185 Feature: -0.037549, 0.103507, 0.993920
[11:52:55.754] xyz_f:-0.233457, -0.217284, 1.039756  Reprojection Error: 0.317741, 0.222985 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.754] xyz_f:-0.396737, -0.018429, 0.962529  Reprojection Error: 0.296864, 0.209745 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.754] xyz_f:-0.072716, -0.449777, 1.019040  Reprojection Error: 0.336435, 0.212527 Feature: 0.250180, -0.215986, 0.943801
[11:52:55.754] xyz_f:-0.212351, -0.200862, 1.054393  Reprojection Error: 0.318175, 0.224345 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.754] xyz_f:-0.031391, -0.442732, 1.035877  Reprojection Error: 0.343844, 0.208094 Feature: 0.292836, -0.204823, 0.933967
[11:52:55.754] xyz_f:-0.082137, -0.462692, 1.008685  Reprojection Error: 0.334463, 0.213647 Feature: 0.238659, -0.231141, 0.943195
[11:52:55.754] xyz_f:0.039128, 0.026752, 1.158241  Reprojection Error: 0.358715, 0.290637 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.754] xyz_f:-0.396048, -0.011877, 0.963194  Reprojection Error: 0.295737, 0.209844 Feature: -0.112537, 0.192540, 0.974815
[11:52:55.754] xyz_f:-0.013693, -0.447640, 1.038305  Reprojection Error: 0.347103, 0.205879 Feature: 0.309735, -0.208935, 0.927583
[11:52:55.754] xyz_f:-0.212021, -0.185958, 1.057825  Reprojection Error: 0.317274, 0.225066 Feature: 0.115915, 0.048882, 0.992056
[11:52:55.754] xyz_f:-0.338602, -0.124024, 0.995605  Reprojection Error: 0.308181, 0.217621 Feature: -0.031763, 0.092602, 0.995196
[11:52:55.754] xyz_f:-0.227940, -0.194613, 1.047986  Reprojection Error: 0.316633, 0.223891 Feature: 0.098575, 0.037976, 0.994405
[11:52:55.754] xyz_f:0.043395, 0.055302, 1.157822  Reprojection Error: 0.358331, 0.300165 Feature: 0.350163, 0.307802, 0.884671
[11:52:55.754] xyz_f:-0.199131, 0.050087, 1.081863  Reprojection Error: 0.295915, 0.250726 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.754] xyz_f:-0.051334, -0.441484, 1.030465  Reprojection Error: 0.340277, 0.210307 Feature: 0.273007, -0.205018, 0.939912
[11:52:55.754] xyz_f:-0.057509, 0.076989, 1.132816  Reprojection Error: 0.323328, 0.284900 Feature: 0.248938, 0.322279, 0.913327
[11:52:55.754] xyz_f:0.082826, 0.019572, 1.165416  Reprojection Error: 0.375983, 0.296830 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.754] xyz_f:0.031466, -0.638559, 0.921275  Reprojection Error: 0.362249, 0.184934 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.754] xyz_f:-0.044474, -0.451699, 1.027268  Reprojection Error: 0.371055, 0.205118 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.754] xyz_f:0.002455, -0.462082, 1.034895  Reprojection Error: 0.381107, 0.198535 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.754] xyz_f:-0.083432, -0.429374, 1.025863  Reprojection Error: 0.364684, 0.212672 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.754] xyz_f:-0.246410, -0.228243, 1.030001  Reprojection Error: 0.347117, 0.220239 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.754] xyz_f:-0.212351, -0.200862, 1.054393  Reprojection Error: 0.347826, 0.224457 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.754] xyz_f:-0.343054, -0.116723, 0.993635  Reprojection Error: 0.336620, 0.217119 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.754] xyz_f:-0.396737, -0.018429, 0.962529  Reprojection Error: 0.326644, 0.211561 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.754] xyz_f:-0.199131, 0.050087, 1.081863  Reprojection Error: 0.332747, 0.251906 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.754] xyz_f:0.039128, 0.026752, 1.158241  Reprojection Error: 0.391202, 0.291021 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.754] xyz_f:0.082826, 0.019572, 1.165416  Reprojection Error: 0.413633, 0.295334 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.754] xyz_f:-0.233457, -0.217284, 1.039756  Reprojection Error: 0.215223, 0.662100 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.754] xyz_f:-0.282780, 0.245945, 1.004123  Reprojection Error: 0.278535, 0.262080 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.754] it:14 	 Success 	 new_chi2: 2.757750 	 dT = 0.007816, 0.028787, 0.019687
[11:52:55.754] xyz_f:-0.349264, 0.248539, 0.965653  Reprojection Error: 0.326635, 0.249886 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.754] xyz_f:-0.315809, -0.225826, 0.992195  Reprojection Error: 0.396864, 0.228442 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.754] xyz_f:-0.114999, -0.450309, 0.993291  Reprojection Error: 0.413435, 0.222857 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.754] xyz_f:-0.411175, -0.113817, 0.954003  Reprojection Error: 0.393235, 0.219011 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.754] xyz_f:-0.153809, -0.427786, 0.991147  Reprojection Error: 0.409557, 0.226992 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.754] xyz_f:-0.038010, -0.637558, 0.888752  Reprojection Error: 0.412302, 0.218773 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.754] xyz_f:-0.068276, -0.460930, 1.001808  Reprojection Error: 0.420175, 0.216698 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.754] xyz_f:-0.410928, -0.109507, 0.954775  Reprojection Error: 0.392614, 0.218835 Feature: -0.037549, 0.103507, 0.993920
[11:52:55.754] xyz_f:-0.302988, -0.214933, 1.002195  Reprojection Error: 0.395534, 0.228471 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.754] xyz_f:-0.463755, -0.015252, 0.921887  Reprojection Error: 0.387732, 0.207143 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.754] xyz_f:-0.143069, -0.448243, 0.984528  Reprojection Error: 0.410394, 0.226441 Feature: 0.250180, -0.215986, 0.943801
[11:52:55.754] xyz_f:-0.282080, -0.198618, 1.017231  Reprojection Error: 0.394081, 0.229099 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.754] xyz_f:-0.102036, -0.441407, 1.002148  Reprojection Error: 0.415358, 0.221157 Feature: 0.292836, -0.204823, 0.933967
[11:52:55.754] xyz_f:-0.152357, -0.461110, 0.973995  Reprojection Error: 0.409457, 0.228360 Feature: 0.238659, -0.231141, 0.943195
[11:52:55.754] xyz_f:-0.031466, 0.027717, 1.125854  Reprojection Error: 0.420445, 0.289115 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.754] xyz_f:-0.463045, -0.008704, 0.922565  Reprojection Error: 0.386465, 0.206948 Feature: -0.112537, 0.192540, 0.974815
[11:52:55.754] xyz_f:-0.084412, -0.446406, 1.004912  Reprojection Error: 0.417916, 0.218977 Feature: 0.309735, -0.208935, 0.927583
[11:52:55.754] xyz_f:-0.281740, -0.183716, 1.020670  Reprojection Error: 0.392878, 0.229269 Feature: 0.115915, 0.048882, 0.992056
[11:52:55.754] xyz_f:-0.406798, -0.121141, 0.956057  Reprojection Error: 0.393580, 0.219758 Feature: -0.031763, 0.092602, 0.995196
[11:52:55.754] xyz_f:-0.297513, -0.192290, 1.010530  Reprojection Error: 0.393543, 0.228476 Feature: 0.098575, 0.037976, 0.994405
[11:52:55.754] xyz_f:-0.027046, 0.056244, 1.125518  Reprojection Error: 0.419841, 0.297956 Feature: 0.350163, 0.307802, 0.884671
[11:52:55.754] xyz_f:-0.268107, 0.052261, 1.044960  Reprojection Error: 0.368424, 0.247010 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.754] xyz_f:-0.121866, -0.440058, 0.996358  Reprojection Error: 0.412772, 0.223542 Feature: 0.273007, -0.205018, 0.939912
[11:52:55.754] xyz_f:-0.127344, 0.078444, 1.098598  Reprojection Error: 0.388477, 0.281458 Feature: 0.248938, 0.322279, 0.913327
[11:52:55.754] xyz_f:0.012051, 0.020315, 1.133858  Reprojection Error: 0.436424, 0.295708 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.754] xyz_f:-0.038010, -0.637558, 0.888752  Reprojection Error: 0.439172, 0.209172 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.754] xyz_f:-0.114999, -0.450309, 0.993291  Reprojection Error: 0.443537, 0.218758 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.754] xyz_f:-0.068276, -0.460930, 1.001808  Reprojection Error: 0.451633, 0.212132 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.754] xyz_f:-0.153809, -0.427786, 0.991147  Reprojection Error: 0.438538, 0.225730 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.754] xyz_f:-0.315809, -0.225826, 0.992195  Reprojection Error: 0.426178, 0.226247 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.754] xyz_f:-0.282080, -0.198618, 1.017231  Reprojection Error: 0.423732, 0.229210 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.754] xyz_f:-0.411175, -0.113817, 0.954003  Reprojection Error: 0.422367, 0.218953 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.754] xyz_f:-0.463755, -0.015252, 0.921887  Reprojection Error: 0.417512, 0.208959 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.754] xyz_f:-0.268107, 0.052261, 1.044960  Reprojection Error: 0.405255, 0.248190 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.754] xyz_f:-0.031466, 0.027717, 1.125854  Reprojection Error: 0.452932, 0.289500 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.754] xyz_f:0.012051, 0.020315, 1.133858  Reprojection Error: 0.474074, 0.294211 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.754] xyz_f:-0.302988, -0.214933, 1.002195  Reprojection Error: 0.293017, 0.667586 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.754] xyz_f:-0.349264, 0.248539, 0.965653  Reprojection Error: 0.358603, 0.249636 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.754] it:15 	 Success 	 new_chi2: 2.594770 	 dT = 0.014487, 0.027771, 0.017607
[11:52:55.754] xyz_f:-0.397446, 0.250922, 0.928990  Reprojection Error: 0.392774, 0.237164 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.754] xyz_f:-0.366609, -0.223590, 0.956080  Reprojection Error: 0.462021, 0.234701 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.754] xyz_f:-0.166872, -0.448985, 0.960582  Reprojection Error: 0.471379, 0.236917 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.754] xyz_f:-0.460800, -0.111149, 0.916276  Reprojection Error: 0.465141, 0.221012 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.754] xyz_f:-0.205537, -0.426286, 0.957779  Reprojection Error: 0.468972, 0.240463 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.754] xyz_f:-0.088970, -0.636588, 0.857360  Reprojection Error: 0.473306, 0.243908 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.754] xyz_f:-0.120349, -0.459820, 0.969892  Reprojection Error: 0.476108, 0.230694 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.754] xyz_f:-0.460547, -0.106840, 0.917052  Reprojection Error: 0.464425, 0.220645 Feature: -0.037549, 0.103507, 0.993920
[11:52:55.754] xyz_f:-0.353911, -0.212755, 0.966296  Reprojection Error: 0.459465, 0.234185 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.754] xyz_f:-0.512377, -0.012347, 0.883274  Reprojection Error: 0.464771, 0.204578 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.754] xyz_f:-0.194779, -0.446792, 0.951342  Reprojection Error: 0.469818, 0.240797 Feature: 0.250180, -0.215986, 0.943801
[11:52:55.754] xyz_f:-0.333188, -0.196535, 0.981687  Reprojection Error: 0.456182, 0.234047 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.754] xyz_f:-0.154021, -0.440143, 0.969658  Reprojection Error: 0.472381, 0.234612 Feature: 0.292836, -0.204823, 0.933967
[11:52:55.754] xyz_f:-0.203945, -0.459617, 0.940653  Reprojection Error: 0.469845, 0.243554 Feature: 0.238659, -0.231141, 0.943195
[11:52:55.754] xyz_f:-0.083428, 0.028659, 1.094564  Reprojection Error: 0.468717, 0.287550 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.754] xyz_f:-0.511649, -0.005802, 0.883964  Reprojection Error: 0.463367, 0.204077 Feature: -0.112537, 0.192540, 0.974815
[11:52:55.754] xyz_f:-0.136470, -0.445221, 0.972721  Reprojection Error: 0.474213, 0.232460 Feature: 0.309735, -0.208935, 0.927583
[11:52:55.754] xyz_f:-0.332838, -0.181634, 0.985131  Reprojection Error: 0.454705, 0.233650 Feature: 0.115915, 0.048882, 0.992056
[11:52:55.754] xyz_f:-0.456492, -0.118493, 0.918403  Reprojection Error: 0.465134, 0.222069 Feature: -0.031763, 0.092602, 0.995196
[11:52:55.754] xyz_f:-0.348475, -0.190137, 0.974724  Reprojection Error: 0.456642, 0.233257 Feature: 0.098575, 0.037976, 0.994405
[11:52:55.755] xyz_f:-0.078873, 0.057167, 1.094304  Reprojection Error: 0.467887, 0.295688 Feature: 0.350163, 0.307802, 0.884671
[11:52:55.755] xyz_f:-0.318545, 0.054279, 1.009659  Reprojection Error: 0.427350, 0.243263 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.755] xyz_f:-0.173744, -0.438704, 0.963531  Reprojection Error: 0.470780, 0.237183 Feature: 0.273007, -0.205018, 0.939912
[11:52:55.755] xyz_f:-0.178596, 0.079822, 1.065684  Reprojection Error: 0.440150, 0.277960 Feature: 0.248938, 0.322279, 0.913327
[11:52:55.755] xyz_f:-0.040087, 0.021059, 1.103307  Reprojection Error: 0.483387, 0.294537 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.755] xyz_f:-0.088970, -0.636588, 0.857360  Reprojection Error: 0.500176, 0.234306 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.755] xyz_f:-0.166872, -0.448985, 0.960582  Reprojection Error: 0.501481, 0.232818 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.755] xyz_f:-0.120349, -0.459820, 0.969892  Reprojection Error: 0.507565, 0.226127 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.755] xyz_f:-0.205537, -0.426286, 0.957779  Reprojection Error: 0.497952, 0.239201 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.755] xyz_f:-0.366609, -0.223590, 0.956080  Reprojection Error: 0.491335, 0.232506 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.755] xyz_f:-0.333188, -0.196535, 0.981687  Reprojection Error: 0.485833, 0.234158 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.755] xyz_f:-0.460800, -0.111149, 0.916276  Reprojection Error: 0.494274, 0.220954 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.755] xyz_f:-0.512377, -0.012347, 0.883274  Reprojection Error: 0.494551, 0.206393 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.755] xyz_f:-0.318545, 0.054279, 1.009659  Reprojection Error: 0.464181, 0.244443 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.755] xyz_f:-0.083428, 0.028659, 1.094564  Reprojection Error: 0.501203, 0.287935 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.755] xyz_f:-0.040087, 0.021059, 1.103307  Reprojection Error: 0.521036, 0.293040 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.755] xyz_f:-0.353911, -0.212755, 0.966296  Reprojection Error: 0.356947, 0.673300 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.755] xyz_f:-0.397446, 0.250922, 0.928990  Reprojection Error: 0.424742, 0.236914 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.755] it:16 	 Success 	 new_chi2: 2.117130 	 dT = 0.012216, 0.025986, 0.023178
[11:52:55.755] xyz_f:-0.439445, 0.254145, 0.890972  Reprojection Error: 0.458168, 0.222021 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.755] xyz_f:-0.412069, -0.220541, 0.918713  Reprojection Error: 0.527099, 0.240894 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.755] xyz_f:-0.213838, -0.447130, 0.927671  Reprojection Error: 0.528170, 0.251499 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.755] xyz_f:-0.504669, -0.107540, 0.876819  Reprojection Error: 0.537805, 0.222354 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.755] xyz_f:-0.252294, -0.424199, 0.924004  Reprojection Error: 0.527419, 0.254473 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.755] xyz_f:-0.134772, -0.635203, 0.826206  Reprojection Error: 0.532656, 0.270229 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.755] xyz_f:-0.167602, -0.458242, 0.938019  Reprojection Error: 0.530699, 0.245121 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.755] xyz_f:-0.504408, -0.103233, 0.877600  Reprojection Error: 0.536980, 0.221771 Feature: -0.037549, 0.103507, 0.993920
[11:52:55.755] xyz_f:-0.399538, -0.209782, 0.929213  Reprojection Error: 0.523184, 0.239772 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.755] xyz_f:-0.554901, -0.008432, 0.842677  Reprojection Error: 0.543180, 0.200605 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.755] xyz_f:-0.241518, -0.444770, 0.917809  Reprojection Error: 0.528223, 0.255753 Feature: 0.250180, -0.215986, 0.943801
[11:52:55.755] xyz_f:-0.379068, -0.193685, 0.945064  Reprojection Error: 0.517882, 0.238789 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.755] xyz_f:-0.201141, -0.438364, 0.937033  Reprojection Error: 0.528198, 0.248518 Feature: 0.292836, -0.204823, 0.933967
[11:52:55.755] xyz_f:-0.250519, -0.457541, 0.906916  Reprojection Error: 0.529265, 0.259440 Feature: 0.238659, -0.231141, 0.943195
[11:52:55.755] xyz_f:-0.130551, 0.030015, 1.063520  Reprojection Error: 0.515250, 0.285512 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.755] xyz_f:-0.554149, -0.001891, 0.843383  Reprojection Error: 0.541609, 0.199757 Feature: -0.112537, 0.192540, 0.974815
[11:52:55.755] xyz_f:-0.183694, -0.443548, 0.940488  Reprojection Error: 0.529233, 0.246367 Feature: 0.309735, -0.208935, 0.927583
[11:52:55.755] xyz_f:-0.378706, -0.178786, 0.948517  Reprojection Error: 0.516104, 0.237764 Feature: 0.115915, 0.048882, 0.992056
[11:52:55.755] xyz_f:-0.500455, -0.114909, 0.879041  Reprojection Error: 0.537403, 0.223770 Feature: -0.031763, 0.092602, 0.995196
[11:52:55.755] xyz_f:-0.394157, -0.187196, 0.937761  Reprojection Error: 0.519447, 0.237810 Feature: 0.098575, 0.037976, 0.994405
[11:52:55.755] xyz_f:-0.125820, 0.058494, 1.063364  Reprojection Error: 0.514134, 0.292920 Feature: 0.350163, 0.307802, 0.884671
[11:52:55.755] xyz_f:-0.363550, 0.057038, 0.973374  Reprojection Error: 0.485347, 0.238424 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.755] xyz_f:-0.220713, -0.436807, 0.930466  Reprojection Error: 0.527667, 0.251325 Feature: 0.273007, -0.205018, 0.939912
[11:52:55.755] xyz_f:-0.224741, 0.081746, 1.032520  Reprojection Error: 0.490224, 0.273691 Feature: 0.248938, 0.322279, 0.913327
[11:52:55.755] xyz_f:-0.087464, 0.022156, 1.073230  Reprojection Error: 0.528548, 0.292981 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.755] xyz_f:-0.134772, -0.635203, 0.826206  Reprojection Error: 0.559526, 0.260628 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.755] xyz_f:-0.213838, -0.447130, 0.927671  Reprojection Error: 0.558272, 0.247401 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.755] xyz_f:-0.167602, -0.458242, 0.938019  Reprojection Error: 0.562156, 0.240555 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.755] xyz_f:-0.252294, -0.424199, 0.924004  Reprojection Error: 0.556399, 0.253211 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.755] xyz_f:-0.412069, -0.220541, 0.918713  Reprojection Error: 0.556413, 0.238698 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.755] xyz_f:-0.379068, -0.193685, 0.945064  Reprojection Error: 0.547533, 0.238901 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.755] xyz_f:-0.504669, -0.107540, 0.876819  Reprojection Error: 0.566937, 0.222296 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.755] xyz_f:-0.554901, -0.008432, 0.842677  Reprojection Error: 0.572960, 0.202421 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.755] xyz_f:-0.363550, 0.057038, 0.973374  Reprojection Error: 0.522179, 0.239604 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.755] xyz_f:-0.130551, 0.030015, 1.063520  Reprojection Error: 0.547737, 0.285896 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.755] xyz_f:-0.087464, 0.022156, 1.073230  Reprojection Error: 0.566198, 0.291484 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.755] xyz_f:-0.399538, -0.209782, 0.929213  Reprojection Error: 0.420667, 0.678887 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.755] xyz_f:-0.439445, 0.254145, 0.890972  Reprojection Error: 0.490135, 0.221770 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.755] it:17 	 Success 	 new_chi2: 1.388444 	 dT = 0.006374, 0.022482, 0.032911
[11:52:55.755] xyz_f:-0.482511, 0.258891, 0.850780  Reprojection Error: 0.532088, 0.202967 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.755] xyz_f:-0.460075, -0.216007, 0.879312  Reprojection Error: 0.601791, 0.246495 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.755] xyz_f:-0.264165, -0.444275, 0.894535  Reprojection Error: 0.592969, 0.266162 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.755] xyz_f:-0.550330, -0.102227, 0.834511  Reprojection Error: 0.621701, 0.222206 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.755] xyz_f:-0.302288, -0.421018, 0.889652  Reprojection Error: 0.594157, 0.268625 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.755] xyz_f:-0.183519, -0.633029, 0.795609  Reprojection Error: 0.600198, 0.297063 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.755] xyz_f:-0.218377, -0.455780, 0.906346  Reprojection Error: 0.592965, 0.259476 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.755] xyz_f:-0.550057, -0.097922, 0.835301  Reprojection Error: 0.620735, 0.221371 Feature: -0.037549, 0.103507, 0.993920
[11:52:55.755] xyz_f:-0.447792, -0.205354, 0.890206  Reprojection Error: 0.596230, 0.244690 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.755] xyz_f:-0.598605, -0.002700, 0.798803  Reprojection Error: 0.634060, 0.193979 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.755] xyz_f:-0.291497, -0.441681, 0.883799  Reprojection Error: 0.594899, 0.270906 Feature: 0.250180, -0.215986, 0.943801
[11:52:55.755] xyz_f:-0.427699, -0.189430, 0.906702  Reprojection Error: 0.588488, 0.242767 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.755] xyz_f:-0.251698, -0.435617, 0.904297  Reprojection Error: 0.591876, 0.262414 Feature: 0.292836, -0.204823, 0.933967
[11:52:55.755] xyz_f:-0.300255, -0.454376, 0.872624  Reprojection Error: 0.597116, 0.275640 Feature: 0.238659, -0.231141, 0.943195
[11:52:55.755] xyz_f:-0.181177, 0.032161, 1.033027  Reprojection Error: 0.567882, 0.282601 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.755] xyz_f:-0.597821, 0.003834, 0.799534  Reprojection Error: 0.632266, 0.192719 Feature: -0.112537, 0.192540, 0.974815
[11:52:55.755] xyz_f:-0.234414, -0.440948, 0.908304  Reprojection Error: 0.591994, 0.260216 Feature: 0.309735, -0.208935, 0.927583
[11:52:55.755] xyz_f:-0.427321, -0.174535, 0.910167  Reprojection Error: 0.586340, 0.241035 Feature: 0.115915, 0.048882, 0.992056
[11:52:55.755] xyz_f:-0.546251, -0.109632, 0.836866  Reprojection Error: 0.620819, 0.224052 Feature: -0.031763, 0.092602, 0.995196
[11:52:55.755] xyz_f:-0.442493, -0.182814, 0.898924  Reprojection Error: 0.591377, 0.241559 Feature: 0.098575, 0.037976, 0.994405
[11:52:55.755] xyz_f:-0.176202, 0.060599, 1.033025  Reprojection Error: 0.566380, 0.289267 Feature: 0.350163, 0.307802, 0.884671
[11:52:55.755] xyz_f:-0.410955, 0.061156, 0.935525  Reprojection Error: 0.551130, 0.231652 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.755] xyz_f:-0.271037, -0.433894, 0.897112  Reprojection Error: 0.592581, 0.265531 Feature: 0.273007, -0.205018, 0.939912
[11:52:55.755] xyz_f:-0.273890, 0.084688, 0.999056  Reprojection Error: 0.546710, 0.268094 Feature: 0.248938, 0.322279, 0.913327
[11:52:55.755] xyz_f:-0.138489, 0.023937, 1.044101  Reprojection Error: 0.579692, 0.290699 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.755] xyz_f:-0.183519, -0.633029, 0.795609  Reprojection Error: 0.627068, 0.287461 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.755] xyz_f:-0.264165, -0.444275, 0.894535  Reprojection Error: 0.623071, 0.262063 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.755] xyz_f:-0.218377, -0.455780, 0.906346  Reprojection Error: 0.624422, 0.254910 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.755] xyz_f:-0.302288, -0.421018, 0.889652  Reprojection Error: 0.623137, 0.267363 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.755] xyz_f:-0.460075, -0.216007, 0.879312  Reprojection Error: 0.631105, 0.244299 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.755] xyz_f:-0.427699, -0.189430, 0.906702  Reprojection Error: 0.618139, 0.242879 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.755] xyz_f:-0.550330, -0.102227, 0.834511  Reprojection Error: 0.650833, 0.222149 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.755] xyz_f:-0.598605, -0.002700, 0.798803  Reprojection Error: 0.663840, 0.195795 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.755] xyz_f:-0.410955, 0.061156, 0.935525  Reprojection Error: 0.587961, 0.232832 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.755] xyz_f:-0.181177, 0.032161, 1.033027  Reprojection Error: 0.600368, 0.282985 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.755] xyz_f:-0.138489, 0.023937, 1.044101  Reprojection Error: 0.617342, 0.289202 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.755] xyz_f:-0.447792, -0.205354, 0.890206  Reprojection Error: 0.493713, 0.683805 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.755] xyz_f:-0.482511, 0.258891, 0.850780  Reprojection Error: 0.564056, 0.202717 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.755] it:18 	 Success 	 new_chi2: 0.505129 	 dT = 0.008786, 0.012774, 0.037710
[11:52:55.755] xyz_f:-0.532910, 0.264565, 0.816830  Reprojection Error: 0.617361, 0.183373 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.755] xyz_f:-0.516163, -0.210525, 0.846076  Reprojection Error: 0.688637, 0.249664 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.755] xyz_f:-0.323174, -0.440690, 0.868383  Reprojection Error: 0.669816, 0.276991 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.755] xyz_f:-0.603613, -0.095877, 0.798038  Reprojection Error: 0.718607, 0.219848 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.755] xyz_f:-0.360865, -0.417063, 0.862118  Reprojection Error: 0.672955, 0.279151 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.755] xyz_f:-0.240825, -0.630239, 0.772426  Reprojection Error: 0.681311, 0.317333 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.755] xyz_f:-0.277962, -0.452639, 0.881851  Reprojection Error: 0.667225, 0.269882 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.755] xyz_f:-0.603327, -0.091575, 0.798838  Reprojection Error: 0.717476, 0.218776 Feature: -0.037549, 0.103507, 0.993920
[11:52:55.755] xyz_f:-0.504182, -0.199990, 0.857412  Reprojection Error: 0.681237, 0.247257 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.755] xyz_f:-0.649582, 0.004110, 0.760613  Reprojection Error: 0.738706, 0.185196 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.755] xyz_f:-0.350070, -0.437831, 0.856659  Reprojection Error: 0.673723, 0.282246 Feature: 0.250180, -0.215986, 0.943801
[11:52:55.755] xyz_f:-0.484549, -0.184259, 0.874632  Reprojection Error: 0.670782, 0.244516 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.755] xyz_f:-0.310987, -0.432152, 0.878594  Reprojection Error: 0.667500, 0.272564 Feature: 0.292836, -0.204823, 0.933967
[11:52:55.755] xyz_f:-0.358539, -0.450442, 0.845169  Reprojection Error: 0.677255, 0.287900 Feature: 0.238659, -0.231141, 0.943195
[11:52:55.755] xyz_f:-0.240640, 0.034938, 1.009890  Reprojection Error: 0.630780, 0.279138 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.755] xyz_f:-0.648761, 0.010636, 0.761374  Reprojection Error: 0.736647, 0.183544 Feature: -0.112537, 0.192540, 0.974815
[11:52:55.755] xyz_f:-0.293913, -0.437651, 0.883227  Reprojection Error: 0.666688, 0.270267 Feature: 0.309735, -0.208935, 0.927583
[11:52:55.755] xyz_f:-0.484151, -0.169368, 0.878110  Reprojection Error: 0.668199, 0.242151 Feature: 0.115915, 0.048882, 0.992056
[11:52:55.755] xyz_f:-0.599695, -0.103321, 0.800538  Reprojection Error: 0.717198, 0.222113 Feature: -0.031763, 0.092602, 0.995196
[11:52:55.755] xyz_f:-0.498984, -0.177501, 0.866321  Reprojection Error: 0.675111, 0.243079 Feature: 0.098575, 0.037976, 0.994405
[11:52:55.755] xyz_f:-0.235390, 0.063326, 1.010074  Reprojection Error: 0.628854, 0.285234 Feature: 0.350163, 0.307802, 0.884671
[11:52:55.755] xyz_f:-0.466421, 0.066156, 0.904090  Reprojection Error: 0.627754, 0.223848 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.755] xyz_f:-0.330034, -0.430242, 0.870709  Reprojection Error: 0.669500, 0.276003 Feature: 0.273007, -0.205018, 0.939912
[11:52:55.755] xyz_f:-0.331537, 0.088361, 0.972574  Reprojection Error: 0.613448, 0.262009 Feature: 0.248938, 0.322279, 0.913327
[11:52:55.755] xyz_f:-0.198465, 0.026299, 1.022509  Reprojection Error: 0.641149, 0.287904 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.755] xyz_f:-0.240825, -0.630239, 0.772426  Reprojection Error: 0.708181, 0.307731 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.755] xyz_f:-0.323174, -0.440690, 0.868383  Reprojection Error: 0.699918, 0.272893 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.755] xyz_f:-0.277962, -0.452639, 0.881851  Reprojection Error: 0.698682, 0.265316 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.755] xyz_f:-0.360865, -0.417063, 0.862118  Reprojection Error: 0.701935, 0.277889 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.755] xyz_f:-0.516163, -0.210525, 0.846076  Reprojection Error: 0.717951, 0.247469 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.755] xyz_f:-0.484549, -0.184259, 0.874632  Reprojection Error: 0.700433, 0.244628 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.755] xyz_f:-0.603613, -0.095877, 0.798038  Reprojection Error: 0.747739, 0.219790 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.755] xyz_f:-0.649582, 0.004110, 0.760613  Reprojection Error: 0.768486, 0.187011 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.755] xyz_f:-0.466421, 0.066156, 0.904090  Reprojection Error: 0.664585, 0.225028 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.755] xyz_f:-0.240640, 0.034938, 1.009890  Reprojection Error: 0.663267, 0.279522 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.755] xyz_f:-0.198465, 0.026299, 1.022509  Reprojection Error: 0.678799, 0.286407 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.755] xyz_f:-0.504182, -0.199990, 0.857412  Reprojection Error: 0.578720, 0.686372 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.755] xyz_f:-0.532910, 0.264565, 0.816830  Reprojection Error: 0.649329, 0.183122 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.755] it:19 	 Success 	 new_chi2: 0.044165 	 dT = 0.127253, -0.043976, -0.048113
[11:52:55.755] xyz_f:-0.631466, 0.257370, 0.887659  Reprojection Error: 0.676332, 0.217323 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.755] xyz_f:-0.607465, -0.217466, 0.915958  Reprojection Error: 0.741772, 0.238259 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.755] xyz_f:-0.410799, -0.445205, 0.929209  Reprojection Error: 0.739755, 0.248630 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.755] xyz_f:-0.698473, -0.103930, 0.872067  Reprojection Error: 0.763175, 0.218883 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.755] xyz_f:-0.449031, -0.422051, 0.924709  Reprojection Error: 0.739967, 0.251800 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.755] xyz_f:-0.330643, -0.633742, 0.829475  Reprojection Error: 0.768151, 0.265439 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.755] xyz_f:-0.364864, -0.456586, 0.940559  Reprojection Error: 0.739945, 0.242041 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.755] xyz_f:-0.698203, -0.099624, 0.872855  Reprojection Error: 0.762129, 0.218277 Feature: -0.037549, 0.103507, 0.993920
[11:52:55.755] xyz_f:-0.595103, -0.206780, 0.926728  Reprojection Error: 0.735364, 0.237137 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.755] xyz_f:-0.747372, -0.004534, 0.836848  Reprojection Error: 0.777762, 0.196017 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.755] xyz_f:-0.438244, -0.442685, 0.918748  Reprojection Error: 0.742078, 0.252988 Feature: 0.250180, -0.215986, 0.943801
[11:52:55.755] xyz_f:-0.574888, -0.190801, 0.943022  Reprojection Error: 0.726402, 0.236175 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.755] xyz_f:-0.398257, -0.436513, 0.938845  Reprojection Error: 0.737740, 0.245643 Feature: 0.292836, -0.204823, 0.933967
[11:52:55.756] xyz_f:-0.447080, -0.455404, 0.907661  Reprojection Error: 0.745596, 0.256672 Feature: 0.238659, -0.231141, 0.943195
[11:52:55.756] xyz_f:-0.327707, 0.031455, 1.066866  Reprojection Error: 0.699664, 0.284251 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.756] xyz_f:-0.746597, 0.002003, 0.837571  Reprojection Error: 0.775939, 0.195123 Feature: -0.112537, 0.192540, 0.974815
[11:52:55.756] xyz_f:-0.380920, -0.441798, 0.942678  Reprojection Error: 0.737998, 0.243416 Feature: 0.309735, -0.208935, 0.927583
[11:52:55.756] xyz_f:-0.574515, -0.175905, 0.946483  Reprojection Error: 0.723843, 0.235125 Feature: 0.115915, 0.048882, 0.992056
[11:52:55.756] xyz_f:-0.694350, -0.111324, 0.874381  Reprojection Error: 0.762189, 0.220366 Feature: -0.031763, 0.092602, 0.995196
[11:52:55.756] xyz_f:-0.589777, -0.184225, 0.935393  Reprojection Error: 0.729643, 0.235139 Feature: 0.098575, 0.037976, 0.994405
[11:52:55.756] xyz_f:-0.322808, 0.059906, 1.066815  Reprojection Error: 0.698402, 0.291774 Feature: 0.350163, 0.307802, 0.884671
[11:52:55.756] xyz_f:-0.558530, 0.059829, 0.971678  Reprojection Error: 0.686662, 0.235449 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.756] xyz_f:-0.417672, -0.434842, 0.931855  Reprojection Error: 0.738676, 0.248517 Feature: 0.273007, -0.205018, 0.939912
[11:52:55.756] xyz_f:-0.420897, 0.083731, 1.033829  Reprojection Error: 0.679686, 0.271871 Feature: 0.248938, 0.322279, 0.913327
[11:52:55.756] xyz_f:-0.284887, 0.023345, 1.077510  Reprojection Error: 0.711446, 0.291958 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.756] xyz_f:-0.330643, -0.633742, 0.829475  Reprojection Error: 0.795021, 0.255837 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.756] xyz_f:-0.410799, -0.445205, 0.929209  Reprojection Error: 0.769856, 0.244532 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.756] xyz_f:-0.364864, -0.456586, 0.940559  Reprojection Error: 0.771402, 0.237475 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.756] xyz_f:-0.449031, -0.422051, 0.924709  Reprojection Error: 0.768947, 0.250538 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.756] xyz_f:-0.607465, -0.217466, 0.915958  Reprojection Error: 0.771086, 0.236064 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.756] xyz_f:-0.574888, -0.190801, 0.943022  Reprojection Error: 0.756053, 0.236287 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.756] xyz_f:-0.698473, -0.103930, 0.872067  Reprojection Error: 0.792307, 0.218825 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.756] xyz_f:-0.747372, -0.004534, 0.836848  Reprojection Error: 0.807542, 0.197832 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.756] xyz_f:-0.558530, 0.059829, 0.971678  Reprojection Error: 0.723493, 0.236630 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.756] xyz_f:-0.327707, 0.031455, 1.066866  Reprojection Error: 0.732151, 0.284635 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.756] xyz_f:-0.284887, 0.023345, 1.077510  Reprojection Error: 0.749096, 0.290462 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.756] xyz_f:-0.595103, -0.206780, 0.926728  Reprojection Error: 0.632847, 0.676252 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.756] xyz_f:-0.631466, 0.257370, 0.887659  Reprojection Error: 0.708299, 0.217073 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.756] it:20 	 Success 	 new_chi2: 0.000156 	 dT = 0.167443, -0.040000, -0.067680
[11:52:55.756] xyz_f:-0.579520, 0.247955, 0.962797  Reprojection Error: 0.566861, 0.249730 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.756] xyz_f:-0.545414, -0.226372, 0.989196  Reprojection Error: 0.629942, 0.229684 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.756] xyz_f:-0.344346, -0.450627, 0.989441  Reprojection Error: 0.645680, 0.224943 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.756] xyz_f:-0.641068, -0.114472, 0.951409  Reprojection Error: 0.636045, 0.220025 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.756] xyz_f:-0.383191, -0.428148, 0.987461  Reprojection Error: 0.642431, 0.228969 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.756] xyz_f:-0.267589, -0.637789, 0.884576  Reprojection Error: 0.672039, 0.222421 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.756] xyz_f:-0.297576, -0.461195, 0.997760  Reprojection Error: 0.650266, 0.218831 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.756] xyz_f:-0.640823, -0.110161, 0.952180  Reprojection Error: 0.635228, 0.219835 Feature: -0.037549, 0.103507, 0.993920
[11:52:55.756] xyz_f:-0.532564, -0.215465, 0.999142  Reprojection Error: 0.626231, 0.229659 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.756] xyz_f:-0.693895, -0.015967, 0.919516  Reprojection Error: 0.639314, 0.207963 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.756] xyz_f:-0.372456, -0.448593, 0.980796  Reprojection Error: 0.644825, 0.228529 Feature: 0.250180, -0.215986, 0.943801
[11:52:55.756] xyz_f:-0.511611, -0.199125, 1.014089  Reprojection Error: 0.621282, 0.230204 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.756] xyz_f:-0.331356, -0.441711, 0.998243  Reprojection Error: 0.645480, 0.223184 Feature: 0.292836, -0.204823, 0.933967
[11:52:55.756] xyz_f:-0.381774, -0.461471, 0.970303  Reprojection Error: 0.646491, 0.230533 Feature: 0.238659, -0.231141, 0.943195
[11:52:55.756] xyz_f:-0.260795, 0.027493, 1.121649  Reprojection Error: 0.625007, 0.289222 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.756] xyz_f:-0.693190, -0.009417, 0.920191  Reprojection Error: 0.637866, 0.207748 Feature: -0.112537, 0.192540, 0.974815
[11:52:55.756] xyz_f:-0.313715, -0.446689, 1.000932  Reprojection Error: 0.647339, 0.221026 Feature: 0.309735, -0.208935, 0.927583
[11:52:55.756] xyz_f:-0.511273, -0.184223, 1.017527  Reprojection Error: 0.619310, 0.230324 Feature: 0.115915, 0.048882, 0.992056
[11:52:55.756] xyz_f:-0.636674, -0.121791, 0.953444  Reprojection Error: 0.635847, 0.220786 Feature: -0.031763, 0.092602, 0.995196
[11:52:55.756] xyz_f:-0.527079, -0.192815, 1.007453  Reprojection Error: 0.622310, 0.229578 Feature: 0.098575, 0.037976, 0.994405
[11:52:55.756] xyz_f:-0.256409, 0.056026, 1.121294  Reprojection Error: 0.624484, 0.297963 Feature: 0.350163, 0.307802, 0.884671
[11:52:55.756] xyz_f:-0.497805, 0.051769, 1.041759  Reprojection Error: 0.589703, 0.247328 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.756] xyz_f:-0.351212, -0.440384, 0.992536  Reprojection Error: 0.644314, 0.225571 Feature: 0.273007, -0.205018, 0.939912
[11:52:55.756] xyz_f:-0.356846, 0.078112, 1.094800  Reprojection Error: 0.598507, 0.281514 Feature: 0.248938, 0.322279, 0.913327
[11:52:55.756] xyz_f:-0.217236, 0.020141, 1.129469  Reprojection Error: 0.639388, 0.295792 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.756] xyz_f:-0.267589, -0.637789, 0.884576  Reprojection Error: 0.698909, 0.212819 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.756] xyz_f:-0.344346, -0.450627, 0.989441  Reprojection Error: 0.675782, 0.220844 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.756] xyz_f:-0.297576, -0.461195, 0.997760  Reprojection Error: 0.681724, 0.214264 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.756] xyz_f:-0.383191, -0.428148, 0.987461  Reprojection Error: 0.671411, 0.227707 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.756] xyz_f:-0.545414, -0.226372, 0.989196  Reprojection Error: 0.659256, 0.227489 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.756] xyz_f:-0.511611, -0.199125, 1.014089  Reprojection Error: 0.650933, 0.230316 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.756] xyz_f:-0.641068, -0.114472, 0.951409  Reprojection Error: 0.665177, 0.219967 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.756] xyz_f:-0.693895, -0.015967, 0.919516  Reprojection Error: 0.669094, 0.209779 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.756] xyz_f:-0.497805, 0.051769, 1.041759  Reprojection Error: 0.626534, 0.248509 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.756] xyz_f:-0.260795, 0.027493, 1.121649  Reprojection Error: 0.657494, 0.289606 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.756] xyz_f:-0.217236, 0.020141, 1.129469  Reprojection Error: 0.677037, 0.294295 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.756] xyz_f:-0.532564, -0.215465, 0.999142  Reprojection Error: 0.523713, 0.668774 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.756] xyz_f:-0.579520, 0.247955, 0.962797  Reprojection Error: 0.598829, 0.249479 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.756] it:21 	 Success 	 new_chi2: 0.188545 	 dT = 0.062838, 0.014653, -0.007693
[11:52:55.756] xyz_f:-0.429287, 0.246939, 0.951936  Reprojection Error: 0.415911, 0.247859 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.756] xyz_f:-0.394042, -0.227319, 0.978078  Reprojection Error: 0.481445, 0.233254 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.756] xyz_f:-0.192532, -0.451173, 0.976827  Reprojection Error: 0.494759, 0.231383 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.756] xyz_f:-0.490197, -0.115610, 0.941003  Reprojection Error: 0.483166, 0.222565 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.756] xyz_f:-0.231435, -0.428772, 0.975136  Reprojection Error: 0.491710, 0.235089 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.756] xyz_f:-0.116183, -0.638183, 0.871393  Reprojection Error: 0.502864, 0.233781 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.756] xyz_f:-0.145680, -0.461648, 0.984798  Reprojection Error: 0.499951, 0.225375 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.756] xyz_f:-0.489955, -0.111299, 0.941772  Reprojection Error: 0.482469, 0.222321 Feature: -0.037549, 0.103507, 0.993920
[11:52:55.756] xyz_f:-0.381140, -0.216386, 0.987928  Reprojection Error: 0.479007, 0.233039 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.756] xyz_f:-0.543456, -0.017210, 0.909505  Reprojection Error: 0.482212, 0.209522 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.756] xyz_f:-0.220709, -0.449195, 0.968391  Reprojection Error: 0.492990, 0.235010 Feature: 0.250180, -0.215986, 0.943801
[11:52:55.756] xyz_f:-0.360109, -0.200005, 1.002719  Reprojection Error: 0.475911, 0.233308 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.756] xyz_f:-0.179495, -0.442231, 0.985532  Reprojection Error: 0.495670, 0.229419 Feature: 0.292836, -0.204823, 0.933967
[11:52:55.756] xyz_f:-0.230079, -0.462092, 0.957968  Reprojection Error: 0.493206, 0.237305 Feature: 0.238659, -0.231141, 0.943195
[11:52:55.756] xyz_f:-0.108953, 0.027113, 1.108414  Reprojection Error: 0.490793, 0.289272 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.756] xyz_f:-0.542758, -0.010660, 0.910174  Reprojection Error: 0.480879, 0.209226 Feature: -0.112537, 0.192540, 0.974815
[11:52:55.756] xyz_f:-0.161824, -0.447174, 0.988090  Reprojection Error: 0.497691, 0.227317 Feature: 0.309735, -0.208935, 0.927583
[11:52:55.756] xyz_f:-0.359775, -0.185102, 1.006154  Reprojection Error: 0.474418, 0.233244 Feature: 0.115915, 0.048882, 0.992056
[11:52:55.756] xyz_f:-0.485774, -0.122920, 0.943006  Reprojection Error: 0.483217, 0.223398 Feature: -0.031763, 0.092602, 0.995196
[11:52:55.756] xyz_f:-0.375639, -0.193726, 0.996198  Reprojection Error: 0.476202, 0.232655 Feature: 0.098575, 0.037976, 0.994405
[11:52:55.756] xyz_f:-0.104626, 0.055655, 1.108027  Reprojection Error: 0.490237, 0.297700 Feature: 0.350163, 0.307802, 0.884671
[11:52:55.756] xyz_f:-0.346597, 0.050917, 1.030288  Reprojection Error: 0.448261, 0.247602 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.756] xyz_f:-0.199395, -0.440944, 0.979973  Reprojection Error: 0.493930, 0.231830 Feature: 0.273007, -0.205018, 0.939912
[11:52:55.756] xyz_f:-0.205301, 0.077541, 1.082280  Reprojection Error: 0.462254, 0.281217 Feature: 0.248938, 0.322279, 0.913327
[11:52:55.756] xyz_f:-0.065323, 0.019848, 1.115910  Reprojection Error: 0.505590, 0.295838 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.756] xyz_f:-0.116183, -0.638183, 0.871393  Reprojection Error: 0.529734, 0.224179 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.756] xyz_f:-0.192532, -0.451173, 0.976827  Reprojection Error: 0.524861, 0.227285 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.756] xyz_f:-0.145680, -0.461648, 0.984798  Reprojection Error: 0.531409, 0.220808 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.756] xyz_f:-0.231435, -0.428772, 0.975136  Reprojection Error: 0.520691, 0.233827 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.756] xyz_f:-0.394042, -0.227319, 0.978078  Reprojection Error: 0.510758, 0.231059 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.756] xyz_f:-0.360109, -0.200005, 1.002719  Reprojection Error: 0.505562, 0.233420 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.756] xyz_f:-0.490197, -0.115610, 0.941003  Reprojection Error: 0.512298, 0.222507 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.756] xyz_f:-0.543456, -0.017210, 0.909505  Reprojection Error: 0.511992, 0.211338 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.756] xyz_f:-0.346597, 0.050917, 1.030288  Reprojection Error: 0.485092, 0.248783 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.756] xyz_f:-0.108953, 0.027113, 1.108414  Reprojection Error: 0.523280, 0.289657 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.756] xyz_f:-0.065323, 0.019848, 1.115910  Reprojection Error: 0.543240, 0.294341 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.756] xyz_f:-0.381140, -0.216386, 0.987928  Reprojection Error: 0.376489, 0.672154 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.756] xyz_f:-0.429287, 0.246939, 0.951936  Reprojection Error: 0.447878, 0.247609 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.756] it:22 	 Success 	 new_chi2: 1.893052 	 dT = 0.032522, 0.029126, 0.004742
[11:52:55.756] xyz_f:-0.417097, 0.247564, 0.920478  Reprojection Error: 0.418079, 0.238315 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.756] xyz_f:-0.382554, -0.226737, 0.946779  Reprojection Error: 0.482628, 0.240322 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.756] xyz_f:-0.181315, -0.450838, 0.946451  Reprojection Error: 0.489233, 0.245853 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.756] xyz_f:-0.478400, -0.114910, 0.909265  Reprojection Error: 0.488375, 0.226083 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.756] xyz_f:-0.220181, -0.428389, 0.944582  Reprojection Error: 0.487474, 0.248907 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.756] xyz_f:-0.104713, -0.637942, 0.841367  Reprojection Error: 0.493990, 0.259630 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.756] xyz_f:-0.134513, -0.461371, 0.954636  Reprojection Error: 0.492927, 0.239895 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.756] xyz_f:-0.478156, -0.110599, 0.910035  Reprojection Error: 0.487647, 0.225674 Feature: -0.037549, 0.103507, 0.993920
[11:52:55.756] xyz_f:-0.369683, -0.215820, 0.956688  Reprojection Error: 0.479629, 0.239599 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.756] xyz_f:-0.531394, -0.016445, 0.877523  Reprojection Error: 0.490243, 0.209339 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.756] xyz_f:-0.209450, -0.448825, 0.937886  Reprojection Error: 0.488398, 0.249704 Feature: 0.250180, -0.215986, 0.943801
[11:52:55.756] xyz_f:-0.348700, -0.199465, 0.971576  Reprojection Error: 0.475680, 0.239146 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.756] xyz_f:-0.168306, -0.441912, 0.955215  Reprojection Error: 0.489738, 0.243327 Feature: 0.292836, -0.204823, 0.933967
[11:52:55.756] xyz_f:-0.218788, -0.461710, 0.927420  Reprojection Error: 0.488943, 0.252783 Feature: 0.238659, -0.231141, 0.943195
[11:52:55.756] xyz_f:-0.097752, 0.027346, 1.078421  Reprojection Error: 0.483141, 0.288376 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.756] xyz_f:-0.530691, -0.009895, 0.878196  Reprojection Error: 0.488852, 0.208782 Feature: -0.112537, 0.192540, 0.974815
[11:52:55.756] xyz_f:-0.150654, -0.446877, 0.957854  Reprojection Error: 0.491199, 0.241293 Feature: 0.309735, -0.208935, 0.927583
[11:52:55.756] xyz_f:-0.348364, -0.184562, 0.975012  Reprojection Error: 0.474135, 0.238566 Feature: 0.115915, 0.048882, 0.992056
[11:52:55.756] xyz_f:-0.473995, -0.122225, 0.911288  Reprojection Error: 0.488222, 0.227173 Feature: -0.031763, 0.092602, 0.995196
[11:52:55.756] xyz_f:-0.364192, -0.193166, 0.964984  Reprojection Error: 0.476537, 0.238365 Feature: 0.098575, 0.037976, 0.994405
[11:52:55.756] xyz_f:-0.093389, 0.055882, 1.078053  Reprojection Error: 0.482439, 0.296092 Feature: 0.350163, 0.307802, 0.884671
[11:52:55.756] xyz_f:-0.335007, 0.051441, 0.999207  Reprojection Error: 0.447125, 0.245541 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.756] xyz_f:-0.188180, -0.440601, 0.949565  Reprojection Error: 0.488635, 0.245878 Feature: 0.273007, -0.205018, 0.939912
[11:52:55.756] xyz_f:-0.193917, 0.077891, 1.051846  Reprojection Error: 0.456921, 0.278810 Feature: 0.248938, 0.322279, 0.913327
[11:52:55.756] xyz_f:-0.054166, 0.020027, 1.086116  Reprojection Error: 0.496924, 0.295185 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.756] xyz_f:-0.104713, -0.637942, 0.841367  Reprojection Error: 0.520860, 0.250029 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.756] xyz_f:-0.181315, -0.450838, 0.946451  Reprojection Error: 0.519334, 0.241754 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.756] xyz_f:-0.134513, -0.461371, 0.954636  Reprojection Error: 0.524384, 0.235329 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.756] xyz_f:-0.220181, -0.428389, 0.944582  Reprojection Error: 0.516454, 0.247645 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.756] xyz_f:-0.382554, -0.226737, 0.946779  Reprojection Error: 0.511942, 0.238127 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.756] xyz_f:-0.348700, -0.199465, 0.971576  Reprojection Error: 0.505331, 0.239257 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.756] xyz_f:-0.478400, -0.114910, 0.909265  Reprojection Error: 0.517507, 0.226025 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.756] xyz_f:-0.531394, -0.016445, 0.877523  Reprojection Error: 0.520023, 0.211155 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.756] xyz_f:-0.335007, 0.051441, 0.999207  Reprojection Error: 0.483956, 0.246721 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.756] xyz_f:-0.097752, 0.027346, 1.078421  Reprojection Error: 0.515627, 0.288761 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.756] xyz_f:-0.054166, 0.020027, 1.086116  Reprojection Error: 0.534573, 0.293689 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.756] xyz_f:-0.369683, -0.215820, 0.956688  Reprojection Error: 0.377112, 0.678714 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.756] xyz_f:-0.417097, 0.247564, 0.920478  Reprojection Error: 0.450047, 0.238064 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.756] it:23 	 Success 	 new_chi2: 1.882717 	 dT = 0.020248, 0.027847, 0.015838
[11:52:55.756] xyz_f:-0.445461, 0.249682, 0.884724  Reprojection Error: 0.468450, 0.225051 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.756] xyz_f:-0.413269, -0.224755, 0.911537  Reprojection Error: 0.531946, 0.247407 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.756] xyz_f:-0.212969, -0.449679, 0.914279  Reprojection Error: 0.530595, 0.261347 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.756] xyz_f:-0.508071, -0.112537, 0.872564  Reprojection Error: 0.544509, 0.228680 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.756] xyz_f:-0.251710, -0.427071, 0.911817  Reprojection Error: 0.530428, 0.263759 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.756] xyz_f:-0.135536, -0.637099, 0.810374  Reprojection Error: 0.536785, 0.287588 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.757] xyz_f:-0.166341, -0.460404, 0.923179  Reprojection Error: 0.532205, 0.255315 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.757] xyz_f:-0.507821, -0.108228, 0.873338  Reprojection Error: 0.543693, 0.228065 Feature: -0.037549, 0.103507, 0.993920
[11:52:55.757] xyz_f:-0.400507, -0.213891, 0.921642  Reprojection Error: 0.527767, 0.246085 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.757] xyz_f:-0.560169, -0.013857, 0.840018  Reprojection Error: 0.551536, 0.207095 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.757] xyz_f:-0.240961, -0.447552, 0.905286  Reprojection Error: 0.531248, 0.265530 Feature: 0.250180, -0.215986, 0.943801
[11:52:55.757] xyz_f:-0.379687, -0.197621, 0.936849  Reprojection Error: 0.522060, 0.244788 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.757] xyz_f:-0.200059, -0.440806, 0.923242  Reprojection Error: 0.530233, 0.258151 Feature: 0.292836, -0.204823, 0.933967
[11:52:55.757] xyz_f:-0.250191, -0.460399, 0.894677  Reprojection Error: 0.532676, 0.269536 Feature: 0.238659, -0.231141, 0.943195
[11:52:55.757] xyz_f:-0.129475, 0.028162, 1.047527  Reprojection Error: 0.516098, 0.286849 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.757] xyz_f:-0.559450, -0.007310, 0.840702  Reprojection Error: 0.550011, 0.206210 Feature: -0.112537, 0.192540, 0.974815
[11:52:55.757] xyz_f:-0.182470, -0.445843, 0.926151  Reprojection Error: 0.530935, 0.256147 Feature: 0.309735, -0.208935, 0.927583
[11:52:55.757] xyz_f:-0.379342, -0.182720, 0.940291  Reprojection Error: 0.520274, 0.243597 Feature: 0.115915, 0.048882, 0.992056
[11:52:55.757] xyz_f:-0.503727, -0.119871, 0.874654  Reprojection Error: 0.544001, 0.230098 Feature: -0.031763, 0.092602, 0.995196
[11:52:55.757] xyz_f:-0.395050, -0.191260, 0.930021  Reprojection Error: 0.523906, 0.243840 Feature: 0.098575, 0.037976, 0.994405
[11:52:55.757] xyz_f:-0.124990, 0.056680, 1.047228  Reprojection Error: 0.515164, 0.293804 Feature: 0.350163, 0.307802, 0.884671
[11:52:55.757] xyz_f:-0.365390, 0.053227, 0.964694  Reprojection Error: 0.490615, 0.241848 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.757] xyz_f:-0.219838, -0.439414, 0.917289  Reprojection Error: 0.530121, 0.260910 Feature: 0.273007, -0.205018, 0.939912
[11:52:55.757] xyz_f:-0.225015, 0.079100, 1.019486  Reprojection Error: 0.493275, 0.275274 Feature: 0.248938, 0.322279, 0.913327
[11:52:55.757] xyz_f:-0.086042, 0.020665, 1.055888  Reprojection Error: 0.528540, 0.294053 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.757] xyz_f:-0.135536, -0.637099, 0.810374  Reprojection Error: 0.563655, 0.277987 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.757] xyz_f:-0.212969, -0.449679, 0.914279  Reprojection Error: 0.560697, 0.257249 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.757] xyz_f:-0.166341, -0.460404, 0.923179  Reprojection Error: 0.563662, 0.250749 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.757] xyz_f:-0.251710, -0.427071, 0.911817  Reprojection Error: 0.559408, 0.262497 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.757] xyz_f:-0.413269, -0.224755, 0.911537  Reprojection Error: 0.561260, 0.245212 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.757] xyz_f:-0.379687, -0.197621, 0.936849  Reprojection Error: 0.551711, 0.244900 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.757] xyz_f:-0.508071, -0.112537, 0.872564  Reprojection Error: 0.573641, 0.228622 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.757] xyz_f:-0.560169, -0.013857, 0.840018  Reprojection Error: 0.581316, 0.208911 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.757] xyz_f:-0.365390, 0.053227, 0.964694  Reprojection Error: 0.527446, 0.243028 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.757] xyz_f:-0.129475, 0.028162, 1.047527  Reprojection Error: 0.548584, 0.287234 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.757] xyz_f:-0.086042, 0.020665, 1.055888  Reprojection Error: 0.566190, 0.292557 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.757] xyz_f:-0.400507, -0.213891, 0.921642  Reprojection Error: 0.425250, 0.685200 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.757] xyz_f:-0.445461, 0.249682, 0.884724  Reprojection Error: 0.500418, 0.224801 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.757] it:24 	 Success 	 new_chi2: 1.294737 	 dT = 0.012689, 0.024877, 0.026099
[11:52:55.757] xyz_f:-0.484434, 0.253275, 0.846437  Reprojection Error: 0.537269, 0.208041 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.757] xyz_f:-0.456133, -0.221367, 0.874012  Reprojection Error: 0.600454, 0.254116 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.757] xyz_f:-0.257489, -0.447638, 0.881784  Reprojection Error: 0.589669, 0.277158 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.757] xyz_f:-0.549162, -0.108514, 0.832672  Reprojection Error: 0.621754, 0.230027 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.757] xyz_f:-0.296002, -0.424769, 0.878347  Reprojection Error: 0.591374, 0.278985 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.757] xyz_f:-0.178730, -0.635585, 0.779847  Reprojection Error: 0.598719, 0.316422 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.757] xyz_f:-0.211174, -0.458676, 0.891855  Reprojection Error: 0.588803, 0.270894 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.757] xyz_f:-0.548903, -0.104206, 0.833452  Reprojection Error: 0.620811, 0.229170 Feature: -0.037549, 0.103507, 0.993920
[11:52:55.757] xyz_f:-0.443556, -0.210587, 0.884436  Reprojection Error: 0.594722, 0.252112 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.757] xyz_f:-0.599755, -0.009487, 0.798831  Reprojection Error: 0.635474, 0.202475 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.757] xyz_f:-0.285231, -0.445322, 0.872087  Reprojection Error: 0.592144, 0.281793 Feature: 0.250180, -0.215986, 0.943801
[11:52:55.757] xyz_f:-0.423017, -0.194457, 0.900165  Reprojection Error: 0.586712, 0.249870 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.757] xyz_f:-0.244750, -0.438852, 0.891070  Reprojection Error: 0.588211, 0.273196 Feature: 0.292836, -0.204823, 0.933967
[11:52:55.757] xyz_f:-0.294277, -0.458107, 0.861248  Reprojection Error: 0.594719, 0.286850 Feature: 0.238659, -0.231141, 0.943195
[11:52:55.757] xyz_f:-0.174156, 0.029640, 1.017135  Reprojection Error: 0.563719, 0.284593 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.757] xyz_f:-0.599010, -0.002945, 0.799534  Reprojection Error: 0.633754, 0.201198 Feature: -0.112537, 0.192540, 0.974815
[11:52:55.757] xyz_f:-0.227274, -0.444007, 0.894420  Reprojection Error: 0.588018, 0.271172 Feature: 0.309735, -0.208935, 0.927583
[11:52:55.757] xyz_f:-0.422659, -0.179559, 0.903616  Reprojection Error: 0.584585, 0.247985 Feature: 0.115915, 0.048882, 0.992056
[11:52:55.757] xyz_f:-0.544923, -0.115877, 0.834870  Reprojection Error: 0.620788, 0.231845 Feature: -0.031763, 0.092602, 0.995196
[11:52:55.757] xyz_f:-0.438160, -0.187993, 0.892953  Reprojection Error: 0.589817, 0.248719 Feature: 0.098575, 0.037976, 0.994405
[11:52:55.757] xyz_f:-0.169472, 0.058127, 1.016951  Reprojection Error: 0.562458, 0.290770 Feature: 0.350163, 0.307802, 0.884671
[11:52:55.757] xyz_f:-0.407733, 0.056290, 0.928383  Reprojection Error: 0.551038, 0.236390 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.757] xyz_f:-0.264363, -0.437326, 0.884620  Reprojection Error: 0.589304, 0.276241 Feature: 0.273007, -0.205018, 0.939912
[11:52:55.757] xyz_f:-0.268612, 0.081220, 0.986698  Reprojection Error: 0.544794, 0.270547 Feature: 0.248938, 0.322279, 0.913327
[11:52:55.757] xyz_f:-0.130998, 0.021850, 1.026587  Reprojection Error: 0.574658, 0.292340 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.757] xyz_f:-0.178730, -0.635585, 0.779847  Reprojection Error: 0.625589, 0.306820 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.757] xyz_f:-0.257489, -0.447638, 0.881784  Reprojection Error: 0.619770, 0.273059 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.757] xyz_f:-0.211174, -0.458676, 0.891855  Reprojection Error: 0.620260, 0.266328 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.757] xyz_f:-0.296002, -0.424769, 0.878347  Reprojection Error: 0.620354, 0.277723 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.757] xyz_f:-0.456133, -0.221367, 0.874012  Reprojection Error: 0.629768, 0.251921 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.757] xyz_f:-0.423017, -0.194457, 0.900165  Reprojection Error: 0.616363, 0.249981 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.757] xyz_f:-0.549162, -0.108514, 0.832672  Reprojection Error: 0.650886, 0.229969 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.757] xyz_f:-0.599755, -0.009487, 0.798831  Reprojection Error: 0.665254, 0.204291 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.757] xyz_f:-0.407733, 0.056290, 0.928383  Reprojection Error: 0.587869, 0.237570 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.757] xyz_f:-0.174156, 0.029640, 1.017135  Reprojection Error: 0.596205, 0.284977 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.757] xyz_f:-0.130998, 0.021850, 1.026587  Reprojection Error: 0.612308, 0.290843 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.757] xyz_f:-0.443556, -0.210587, 0.884436  Reprojection Error: 0.492205, 0.691227 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.757] xyz_f:-0.484434, 0.253275, 0.846437  Reprojection Error: 0.569237, 0.207790 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.757] it:25 	 Success 	 new_chi2: 0.487139 	 dT = 0.011516, 0.015298, 0.034028
[11:52:55.757] xyz_f:-0.531944, 0.258147, 0.812957  Reprojection Error: 0.619281, 0.189724 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.757] xyz_f:-0.508745, -0.216721, 0.841378  Reprojection Error: 0.683227, 0.258419 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.757] xyz_f:-0.312464, -0.444732, 0.855640  Reprojection Error: 0.662841, 0.289272 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.757] xyz_f:-0.599368, -0.103060, 0.797019  Reprojection Error: 0.714248, 0.229013 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.757] xyz_f:-0.350641, -0.421525, 0.850943  Reprojection Error: 0.666436, 0.290747 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.757] xyz_f:-0.232055, -0.633380, 0.756320  Reprojection Error: 0.676356, 0.338859 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.757] xyz_f:-0.266604, -0.456176, 0.867227  Reprojection Error: 0.659443, 0.282617 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.757] xyz_f:-0.599097, -0.098755, 0.797808  Reprojection Error: 0.713150, 0.227923 Feature: -0.037549, 0.103507, 0.993920
[11:52:55.757] xyz_f:-0.496423, -0.206052, 0.852211  Reprojection Error: 0.675722, 0.255794 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.757] xyz_f:-0.647948, -0.003596, 0.761549  Reprojection Error: 0.735512, 0.195321 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.757] xyz_f:-0.339851, -0.442173, 0.845038  Reprojection Error: 0.667249, 0.294412 Feature: 0.250180, -0.215986, 0.943801
[11:52:55.757] xyz_f:-0.476271, -0.190101, 0.868609  Reprojection Error: 0.665094, 0.252702 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.757] xyz_f:-0.299960, -0.436057, 0.865341  Reprojection Error: 0.660179, 0.284609 Feature: 0.292836, -0.204823, 0.933967
[11:52:55.757] xyz_f:-0.348648, -0.454880, 0.833906  Reprojection Error: 0.671123, 0.300420 Feature: 0.238659, -0.231141, 0.943195
[11:52:55.757] xyz_f:-0.229424, 0.031813, 0.993726  Reprojection Error: 0.623369, 0.281719 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.757] xyz_f:-0.647168, 0.002939, 0.762276  Reprojection Error: 0.733550, 0.193658 Feature: -0.112537, 0.192540, 0.974815
[11:52:55.757] xyz_f:-0.282650, -0.441365, 0.869264  Reprojection Error: 0.659076, 0.282499 Feature: 0.309735, -0.208935, 0.927583
[11:52:55.757] xyz_f:-0.475895, -0.175205, 0.872072  Reprojection Error: 0.662550, 0.250181 Feature: 0.115915, 0.048882, 0.992056
[11:52:55.757] xyz_f:-0.595268, -0.110459, 0.799354  Reprojection Error: 0.712771, 0.231234 Feature: -0.031763, 0.092602, 0.995196
[11:52:55.757] xyz_f:-0.491111, -0.183505, 0.860904  Reprojection Error: 0.669590, 0.251343 Feature: 0.098575, 0.037976, 0.994405
[11:52:55.757] xyz_f:-0.224486, 0.060258, 0.993700  Reprojection Error: 0.621720, 0.287288 Feature: 0.350163, 0.307802, 0.884671
[11:52:55.757] xyz_f:-0.459715, 0.060507, 0.897350  Reprojection Error: 0.624155, 0.229594 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.757] xyz_f:-0.319336, -0.434359, 0.858251  Reprojection Error: 0.662538, 0.287973 Feature: 0.273007, -0.205018, 0.939912
[11:52:55.757] xyz_f:-0.322371, 0.084219, 0.960209  Reprojection Error: 0.608292, 0.265154 Feature: 0.248938, 0.322279, 0.913327
[11:52:55.757] xyz_f:-0.186671, 0.023645, 1.004590  Reprojection Error: 0.632871, 0.290087 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.757] xyz_f:-0.232055, -0.633380, 0.756320  Reprojection Error: 0.703226, 0.329258 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.757] xyz_f:-0.312464, -0.444732, 0.855640  Reprojection Error: 0.692943, 0.285173 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.757] xyz_f:-0.266604, -0.456176, 0.867227  Reprojection Error: 0.690901, 0.278051 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.757] xyz_f:-0.350641, -0.421525, 0.850943  Reprojection Error: 0.695416, 0.289485 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.757] xyz_f:-0.508745, -0.216721, 0.841378  Reprojection Error: 0.712541, 0.256223 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.757] xyz_f:-0.476271, -0.190101, 0.868609  Reprojection Error: 0.694745, 0.252814 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.757] xyz_f:-0.599368, -0.103060, 0.797019  Reprojection Error: 0.743381, 0.228955 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.757] xyz_f:-0.647948, -0.003596, 0.761549  Reprojection Error: 0.765292, 0.197137 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.757] xyz_f:-0.459715, 0.060507, 0.897350  Reprojection Error: 0.660986, 0.230775 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.757] xyz_f:-0.229424, 0.031813, 0.993726  Reprojection Error: 0.655856, 0.282104 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.757] xyz_f:-0.186671, 0.023645, 1.004590  Reprojection Error: 0.670521, 0.288591 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.757] xyz_f:-0.496423, -0.206052, 0.852211  Reprojection Error: 0.573204, 0.694909 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.757] xyz_f:-0.531944, 0.258147, 0.812957  Reprojection Error: 0.651248, 0.189474 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.757] it:26 	 Success 	 new_chi2: 0.046878 	 dT = 0.148316, -0.042625, -0.071067
[11:52:55.757] xyz_f:-0.633612, 0.248214, 0.892655  Reprojection Error: 0.674754, 0.229204 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.757] xyz_f:-0.599795, -0.226130, 0.919119  Reprojection Error: 0.731147, 0.246869 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.757] xyz_f:-0.398841, -0.450486, 0.919741  Reprojection Error: 0.731304, 0.259304 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.757] xyz_f:-0.695321, -0.114182, 0.881152  Reprojection Error: 0.751341, 0.229289 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.757] xyz_f:-0.437670, -0.427988, 0.917688  Reprojection Error: 0.731302, 0.261761 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.757] xyz_f:-0.321981, -0.637687, 0.815021  Reprojection Error: 0.764592, 0.283828 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.757] xyz_f:-0.352092, -0.461078, 0.928148  Reprojection Error: 0.731371, 0.253372 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.757] xyz_f:-0.695076, -0.109872, 0.881923  Reprojection Error: 0.750358, 0.228723 Feature: -0.037549, 0.103507, 0.993920
[11:52:55.757] xyz_f:-0.586958, -0.215229, 0.929088  Reprojection Error: 0.724966, 0.245665 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.757] xyz_f:-0.748039, -0.015650, 0.849160  Reprojection Error: 0.765600, 0.209029 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.757] xyz_f:-0.426933, -0.448438, 0.911044  Reprojection Error: 0.733697, 0.263378 Feature: 0.250180, -0.215986, 0.943801
[11:52:55.757] xyz_f:-0.566025, -0.198901, 0.944075  Reprojection Error: 0.716334, 0.244529 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.757] xyz_f:-0.385863, -0.441577, 0.928567  Reprojection Error: 0.729087, 0.256242 Feature: 0.292836, -0.204823, 0.933967
[11:52:55.757] xyz_f:-0.436238, -0.461311, 0.900533  Reprojection Error: 0.737454, 0.267203 Feature: 0.238659, -0.231141, 0.943195
[11:52:55.757] xyz_f:-0.315298, 0.027592, 1.052107  Reprojection Error: 0.692179, 0.287508 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.757] xyz_f:-0.747332, -0.009101, 0.849836  Reprojection Error: 0.763939, 0.208223 Feature: -0.112537, 0.192540, 0.974815
[11:52:55.757] xyz_f:-0.368230, -0.446564, 0.931290  Reprojection Error: 0.729313, 0.254264 Feature: 0.309735, -0.208935, 0.927583
[11:52:55.757] xyz_f:-0.565686, -0.183998, 0.947513  Reprojection Error: 0.713865, 0.243465 Feature: 0.115915, 0.048882, 0.992056
[11:52:55.757] xyz_f:-0.690935, -0.121503, 0.883195  Reprojection Error: 0.750397, 0.230621 Feature: -0.031763, 0.092602, 0.995196
[11:52:55.757] xyz_f:-0.581477, -0.192583, 0.937410  Reprojection Error: 0.719432, 0.243631 Feature: 0.098575, 0.037976, 0.994405
[11:52:55.757] xyz_f:-0.310897, 0.056122, 1.051760  Reprojection Error: 0.691408, 0.294568 Feature: 0.350163, 0.307802, 0.884671
[11:52:55.757] xyz_f:-0.552145, 0.051987, 0.971771  Reprojection Error: 0.680036, 0.243525 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.757] xyz_f:-0.405708, -0.440240, 0.922824  Reprojection Error: 0.730098, 0.258933 Feature: 0.273007, -0.205018, 0.939912
[11:52:55.757] xyz_f:-0.411272, 0.078259, 1.025077  Reprojection Error: 0.673772, 0.276518 Feature: 0.248938, 0.322279, 0.913327
[11:52:55.757] xyz_f:-0.271757, 0.020217, 1.060008  Reprojection Error: 0.703426, 0.294551 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.757] xyz_f:-0.321981, -0.637687, 0.815021  Reprojection Error: 0.791462, 0.274227 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.757] xyz_f:-0.398841, -0.450486, 0.919741  Reprojection Error: 0.761406, 0.255205 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.757] xyz_f:-0.352092, -0.461078, 0.928148  Reprojection Error: 0.762828, 0.248806 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.757] xyz_f:-0.437670, -0.427988, 0.917688  Reprojection Error: 0.760282, 0.260499 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.757] xyz_f:-0.599795, -0.226130, 0.919119  Reprojection Error: 0.760461, 0.244674 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.757] xyz_f:-0.566025, -0.198901, 0.944075  Reprojection Error: 0.745985, 0.244640 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.757] xyz_f:-0.695321, -0.114182, 0.881152  Reprojection Error: 0.780473, 0.229231 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.757] xyz_f:-0.748039, -0.015650, 0.849160  Reprojection Error: 0.795380, 0.210845 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.757] xyz_f:-0.552145, 0.051987, 0.971771  Reprojection Error: 0.716867, 0.244706 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.757] xyz_f:-0.315298, 0.027592, 1.052107  Reprojection Error: 0.724666, 0.287893 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.757] xyz_f:-0.271757, 0.020217, 1.060008  Reprojection Error: 0.741075, 0.293055 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.758] xyz_f:-0.586958, -0.215229, 0.929088  Reprojection Error: 0.622449, 0.684780 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.758] xyz_f:-0.633612, 0.248214, 0.892655  Reprojection Error: 0.706722, 0.228953 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.758] it:27 	 Success 	 new_chi2: 0.000066 	 dT = 0.069689, -0.092857, 0.047915
[11:52:55.758] xyz_f:-0.546662, 0.254809, 0.960896  Reprojection Error: 0.533856, 0.242087 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.758] xyz_f:-0.519988, -0.219910, 0.988760  Reprojection Error: 0.604470, 0.223249 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.758] xyz_f:-0.322074, -0.446739, 0.998614  Reprojection Error: 0.620181, 0.216866 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.758] xyz_f:-0.612260, -0.106796, 0.946446  Reprojection Error: 0.609140, 0.212546 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.758] xyz_f:-0.360485, -0.423762, 0.994774  Reprojection Error: 0.616754, 0.221373 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.758] xyz_f:-0.242778, -0.634908, 0.897508  Reprojection Error: 0.640036, 0.208823 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.758] xyz_f:-0.275899, -0.457908, 1.009172  Reprojection Error: 0.625414, 0.210346 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.758] xyz_f:-0.611997, -0.102489, 0.947229  Reprojection Error: 0.608313, 0.212340 Feature: -0.037549, 0.103507, 0.993920
[11:52:55.758] xyz_f:-0.507491, -0.209166, 0.999316  Reprojection Error: 0.601048, 0.223318 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.758] xyz_f:-0.662216, -0.007628, 0.912077  Reprojection Error: 0.610735, 0.198962 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.758] xyz_f:-0.349706, -0.444345, 0.988627  Reprojection Error: 0.618806, 0.220611 Feature: 0.250180, -0.215986, 0.943801
[11:52:55.758] xyz_f:-0.487073, -0.193093, 1.015259  Reprojection Error: 0.596531, 0.224037 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.758] xyz_f:-0.309409, -0.437989, 1.008034  Reprojection Error: 0.620484, 0.215194 Feature: 0.292836, -0.204823, 0.933967
[11:52:55.758] xyz_f:-0.358674, -0.457105, 0.977693  Reprojection Error: 0.619890, 0.222473 Feature: 0.238659, -0.231141, 0.943195
[11:52:55.758] xyz_f:-0.238824, 0.030304, 1.134840  Reprojection Error: 0.602944, 0.287030 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.758] xyz_f:-0.661459, -0.001088, 0.912788  Reprojection Error: 0.609214, 0.198706 Feature: -0.112537, 0.192540, 0.974815
[11:52:55.758] xyz_f:-0.291984, -0.443193, 1.011568  Reprojection Error: 0.622561, 0.212878 Feature: 0.309735, -0.208935, 0.927583
[11:52:55.758] xyz_f:-0.486709, -0.178196, 1.018714  Reprojection Error: 0.594611, 0.224196 Feature: 0.115915, 0.048882, 0.992056
[11:52:55.758] xyz_f:-0.608064, -0.114171, 0.948688  Reprojection Error: 0.609037, 0.213395 Feature: -0.031763, 0.092602, 0.995196
[11:52:55.758] xyz_f:-0.502121, -0.186587, 1.007888  Reprojection Error: 0.597321, 0.223315 Feature: 0.098575, 0.037976, 0.994405
[11:52:55.758] xyz_f:-0.234058, 0.058778, 1.134705  Reprojection Error: 0.602084, 0.296128 Feature: 0.350163, 0.307802, 0.884671
[11:52:55.758] xyz_f:-0.471380, 0.057611, 1.043640  Reprojection Error: 0.563522, 0.241821 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.758] xyz_f:-0.328949, -0.436408, 1.001378  Reprojection Error: 0.618956, 0.217682 Feature: 0.273007, -0.205018, 0.939912
[11:52:55.758] xyz_f:-0.332810, 0.082150, 1.103414  Reprojection Error: 0.574180, 0.278412 Feature: 0.248938, 0.322279, 0.913327
[11:52:55.758] xyz_f:-0.195791, 0.022393, 1.144745  Reprojection Error: 0.618087, 0.294063 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.758] xyz_f:-0.242778, -0.634908, 0.897508  Reprojection Error: 0.666906, 0.199221 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.758] xyz_f:-0.322074, -0.446739, 0.998614  Reprojection Error: 0.650282, 0.212768 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.758] xyz_f:-0.275899, -0.457908, 1.009172  Reprojection Error: 0.656871, 0.205780 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.758] xyz_f:-0.360485, -0.423762, 0.994774  Reprojection Error: 0.645734, 0.220111 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.758] xyz_f:-0.519988, -0.219910, 0.988760  Reprojection Error: 0.633783, 0.221054 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.758] xyz_f:-0.487073, -0.193093, 1.015259  Reprojection Error: 0.626182, 0.224149 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.758] xyz_f:-0.612260, -0.106796, 0.946446  Reprojection Error: 0.638272, 0.212488 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.758] xyz_f:-0.662216, -0.007628, 0.912077  Reprojection Error: 0.640515, 0.200778 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.758] xyz_f:-0.471380, 0.057611, 1.043640  Reprojection Error: 0.600353, 0.243001 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.758] xyz_f:-0.238824, 0.030304, 1.134840  Reprojection Error: 0.635431, 0.287414 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.758] xyz_f:-0.195791, 0.022393, 1.144745  Reprojection Error: 0.655737, 0.292566 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.758] xyz_f:-0.507491, -0.209166, 0.999316  Reprojection Error: 0.498531, 0.662433 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.758] xyz_f:-0.546662, 0.254809, 0.960896  Reprojection Error: 0.565824, 0.241836 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.758] it:28 	 Success 	 new_chi2: 0.439613 	 dT = 0.044836, 0.017329, 0.004598
[11:52:55.758] xyz_f:-0.432178, 0.255465, 0.941122  Reprojection Error: 0.424164, 0.235819 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.758] xyz_f:-0.406193, -0.219286, 0.969103  Reprojection Error: 0.497714, 0.227117 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.758] xyz_f:-0.208596, -0.446350, 0.979835  Reprojection Error: 0.510548, 0.225044 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.758] xyz_f:-0.498142, -0.106063, 0.926380  Reprojection Error: 0.499965, 0.214198 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.758] xyz_f:-0.246961, -0.423327, 0.975824  Reprojection Error: 0.507455, 0.229200 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.758] xyz_f:-0.129075, -0.634614, 0.879082  Reprojection Error: 0.516363, 0.223316 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.758] xyz_f:-0.162481, -0.457574, 0.990598  Reprojection Error: 0.516045, 0.218517 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.758] xyz_f:-0.497877, -0.101756, 0.927164  Reprojection Error: 0.499210, 0.213891 Feature: -0.037549, 0.103507, 0.993920
[11:52:55.758] xyz_f:-0.393731, -0.208557, 0.979714  Reprojection Error: 0.495093, 0.226884 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.758] xyz_f:-0.547827, -0.006835, 0.891790  Reprojection Error: 0.498982, 0.198264 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.758] xyz_f:-0.236180, -0.443924, 0.969726  Reprojection Error: 0.508631, 0.228937 Feature: 0.250180, -0.215986, 0.943801
[11:52:55.758] xyz_f:-0.373365, -0.192509, 0.995749  Reprojection Error: 0.491738, 0.227176 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.758] xyz_f:-0.195962, -0.437615, 0.989311  Reprojection Error: 0.511620, 0.223039 Feature: 0.292836, -0.204823, 0.933967
[11:52:55.758] xyz_f:-0.245114, -0.456673, 0.958752  Reprojection Error: 0.508692, 0.231259 Feature: 0.238659, -0.231141, 0.943195
[11:52:55.758] xyz_f:-0.125384, 0.030594, 1.116431  Reprojection Error: 0.504804, 0.286330 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.758] xyz_f:-0.547065, -0.000296, 0.892504  Reprojection Error: 0.497511, 0.197846 Feature: -0.112537, 0.192540, 0.974815
[11:52:55.758] xyz_f:-0.178559, -0.442840, 0.992922  Reprojection Error: 0.513747, 0.220750 Feature: 0.309735, -0.208935, 0.927583
[11:52:55.758] xyz_f:-0.372998, -0.177611, 0.999205  Reprojection Error: 0.490138, 0.227027 Feature: 0.115915, 0.048882, 0.992056
[11:52:55.758] xyz_f:-0.493965, -0.113442, 0.928641  Reprojection Error: 0.500007, 0.215208 Feature: -0.031763, 0.092602, 0.995196
[11:52:55.758] xyz_f:-0.388372, -0.185984, 0.988311  Reprojection Error: 0.492096, 0.226373 Feature: 0.098575, 0.037976, 0.994405
[11:52:55.758] xyz_f:-0.120583, 0.059062, 1.116318  Reprojection Error: 0.503830, 0.295021 Feature: 0.350163, 0.307802, 0.884671
[11:52:55.758] xyz_f:-0.357500, 0.058177, 1.024199  Reprojection Error: 0.460905, 0.240220 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.758] xyz_f:-0.215470, -0.436011, 0.982569  Reprojection Error: 0.509752, 0.225621 Feature: 0.273007, -0.205018, 0.939912
[11:52:55.758] xyz_f:-0.219167, 0.082551, 1.084588  Reprojection Error: 0.474636, 0.276750 Feature: 0.248938, 0.322279, 0.913327
[11:52:55.758] xyz_f:-0.082404, 0.022631, 1.126527  Reprojection Error: 0.520202, 0.293535 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.758] xyz_f:-0.129075, -0.634614, 0.879082  Reprojection Error: 0.543233, 0.213714 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.758] xyz_f:-0.208596, -0.446350, 0.979835  Reprojection Error: 0.540649, 0.220945 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.758] xyz_f:-0.162481, -0.457574, 0.990598  Reprojection Error: 0.547503, 0.213951 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.758] xyz_f:-0.246961, -0.423327, 0.975824  Reprojection Error: 0.536435, 0.227938 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.758] xyz_f:-0.406193, -0.219286, 0.969103  Reprojection Error: 0.527028, 0.224922 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.758] xyz_f:-0.373365, -0.192509, 0.995749  Reprojection Error: 0.521389, 0.227288 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.758] xyz_f:-0.498142, -0.106063, 0.926380  Reprojection Error: 0.529098, 0.214141 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.758] xyz_f:-0.547827, -0.006835, 0.891790  Reprojection Error: 0.528763, 0.200079 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.758] xyz_f:-0.357500, 0.058177, 1.024199  Reprojection Error: 0.497736, 0.241401 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.758] xyz_f:-0.125384, 0.030594, 1.116431  Reprojection Error: 0.537291, 0.286715 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.758] xyz_f:-0.082404, 0.022631, 1.126527  Reprojection Error: 0.557851, 0.292038 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.758] xyz_f:-0.393731, -0.208557, 0.979714  Reprojection Error: 0.392576, 0.665999 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.758] xyz_f:-0.432178, 0.255465, 0.941122  Reprojection Error: 0.456131, 0.235568 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.758] it:29 	 Success 	 new_chi2: 1.754821 	 dT = 0.015098, 0.022486, 0.023440
[11:52:55.758] xyz_f:-0.436035, 0.258864, 0.905950  Reprojection Error: 0.446249, 0.221528 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.758] xyz_f:-0.413571, -0.216034, 0.934479  Reprojection Error: 0.521138, 0.232020 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.758] xyz_f:-0.217648, -0.444292, 0.949667  Reprojection Error: 0.526842, 0.237347 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.758] xyz_f:-0.503840, -0.102258, 0.889694  Reprojection Error: 0.528543, 0.214643 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.758] xyz_f:-0.255772, -0.421037, 0.944790  Reprojection Error: 0.525094, 0.241026 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.758] xyz_f:-0.137010, -0.633042, 0.850727  Reprojection Error: 0.530584, 0.245529 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.758] xyz_f:-0.171857, -0.455794, 0.961470  Reprojection Error: 0.530767, 0.230660 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.758] xyz_f:-0.503567, -0.097953, 0.890484  Reprojection Error: 0.527719, 0.214140 Feature: -0.037549, 0.103507, 0.993920
[11:52:55.758] xyz_f:-0.401287, -0.205380, 0.945371  Reprojection Error: 0.517685, 0.231256 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.758] xyz_f:-0.552126, -0.002733, 0.853995  Reprojection Error: 0.531204, 0.193799 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.758] xyz_f:-0.244981, -0.441699, 0.938936  Reprojection Error: 0.525990, 0.241579 Feature: 0.250180, -0.215986, 0.943801
[11:52:55.758] xyz_f:-0.381192, -0.189454, 0.961863  Reprojection Error: 0.513085, 0.230812 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.758] xyz_f:-0.205179, -0.435633, 0.959427  Reprojection Error: 0.527396, 0.234751 Feature: 0.292836, -0.204823, 0.933967
[11:52:55.758] xyz_f:-0.253741, -0.454394, 0.927762  Reprojection Error: 0.526531, 0.244714 Feature: 0.238659, -0.231141, 0.943195
[11:52:55.758] xyz_f:-0.134658, 0.032148, 1.088144  Reprojection Error: 0.516247, 0.284190 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.758] xyz_f:-0.551342, 0.003801, 0.854726  Reprojection Error: 0.529606, 0.193067 Feature: -0.112537, 0.192540, 0.974815
[11:52:55.758] xyz_f:-0.187894, -0.440963, 0.963431  Reprojection Error: 0.528942, 0.232454 Feature: 0.309735, -0.208935, 0.927583
[11:52:55.758] xyz_f:-0.380813, -0.174559, 0.965328  Reprojection Error: 0.511334, 0.230103 Feature: 0.115915, 0.048882, 0.992056
[11:52:55.758] xyz_f:-0.499760, -0.109662, 0.892048  Reprojection Error: 0.528323, 0.215982 Feature: -0.031763, 0.092602, 0.995196
[11:52:55.758] xyz_f:-0.395987, -0.182839, 0.954088  Reprojection Error: 0.514173, 0.229827 Feature: 0.098575, 0.037976, 0.994405
[11:52:55.758] xyz_f:-0.129684, 0.060587, 1.088142  Reprojection Error: 0.514990, 0.292249 Feature: 0.350163, 0.307802, 0.884671
[11:52:55.758] xyz_f:-0.364455, 0.061132, 0.990683  Reprojection Error: 0.479734, 0.235315 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.758] xyz_f:-0.224519, -0.433911, 0.952245  Reprojection Error: 0.526239, 0.237547 Feature: 0.273007, -0.205018, 0.939912
[11:52:55.758] xyz_f:-0.227379, 0.084671, 1.054190  Reprojection Error: 0.488253, 0.272544 Feature: 0.248938, 0.322279, 0.913327
[11:52:55.758] xyz_f:-0.091967, 0.023926, 1.099210  Reprojection Error: 0.530719, 0.291858 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.759] xyz_f:-0.137010, -0.633042, 0.850727  Reprojection Error: 0.557454, 0.235927 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.759] xyz_f:-0.217648, -0.444292, 0.949667  Reprojection Error: 0.556944, 0.233248 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.759] xyz_f:-0.171857, -0.455794, 0.961470  Reprojection Error: 0.562224, 0.226093 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.759] xyz_f:-0.255772, -0.421037, 0.944790  Reprojection Error: 0.554074, 0.239764 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.759] xyz_f:-0.413571, -0.216034, 0.934479  Reprojection Error: 0.550452, 0.229825 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.759] xyz_f:-0.381192, -0.189454, 0.961863  Reprojection Error: 0.542736, 0.230923 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.759] xyz_f:-0.503840, -0.102258, 0.889694  Reprojection Error: 0.557675, 0.214585 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.759] xyz_f:-0.552126, -0.002733, 0.853995  Reprojection Error: 0.560984, 0.195615 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.759] xyz_f:-0.364455, 0.061132, 0.990683  Reprojection Error: 0.516565, 0.236496 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.759] xyz_f:-0.134658, 0.032148, 1.088144  Reprojection Error: 0.548733, 0.284574 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.759] xyz_f:-0.091967, 0.023926, 1.099210  Reprojection Error: 0.568369, 0.290361 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.759] xyz_f:-0.401287, -0.205380, 0.945371  Reprojection Error: 0.415168, 0.670371 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.759] xyz_f:-0.436035, 0.258864, 0.905950  Reprojection Error: 0.478217, 0.221278 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.759] it:30 	 Success 	 new_chi2: 1.493291 	 dT = 0.001992, 0.019702, 0.037720
[11:52:55.759] xyz_f:-0.470930, 0.264538, 0.865071  Reprojection Error: 0.509332, 0.201466 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.759] xyz_f:-0.454157, -0.210551, 0.894314  Reprojection Error: 0.586397, 0.236272 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.759] xyz_f:-0.261154, -0.440708, 0.916588  Reprojection Error: 0.582579, 0.250320 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.759] xyz_f:-0.541620, -0.095907, 0.846291  Reprojection Error: 0.602228, 0.213033 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.759] xyz_f:-0.298847, -0.417083, 0.910330  Reprojection Error: 0.582659, 0.253551 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.759] xyz_f:-0.178812, -0.630253, 0.820617  Reprojection Error: 0.587433, 0.269433 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.759] xyz_f:-0.215938, -0.452654, 0.930049  Reprojection Error: 0.584202, 0.243299 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.759] xyz_f:-0.541334, -0.091605, 0.847091  Reprojection Error: 0.601271, 0.212281 Feature: -0.037549, 0.103507, 0.993920
[11:52:55.759] xyz_f:-0.442174, -0.200015, 0.905648  Reprojection Error: 0.581450, 0.234862 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.759] xyz_f:-0.587600, 0.004078, 0.808874  Reprojection Error: 0.611124, 0.185558 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.759] xyz_f:-0.288052, -0.437850, 0.904869  Reprojection Error: 0.583412, 0.255036 Feature: 0.250180, -0.215986, 0.943801
[11:52:55.759] xyz_f:-0.422539, -0.184284, 0.922865  Reprojection Error: 0.574635, 0.233532 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.759] xyz_f:-0.248965, -0.432169, 0.926798  Reprojection Error: 0.582170, 0.247000 Feature: 0.292836, -0.204823, 0.933967
[11:52:55.759] xyz_f:-0.296523, -0.450461, 0.893381  Reprojection Error: 0.584943, 0.259160 Feature: 0.238659, -0.231141, 0.943195
[11:52:55.759] xyz_f:-0.178617, 0.034924, 1.058081  Reprojection Error: 0.561309, 0.280726 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.759] xyz_f:-0.586779, 0.010604, 0.809634  Reprojection Error: 0.609300, 0.184416 Feature: -0.112537, 0.192540, 0.974815
[11:52:55.759] xyz_f:-0.231890, -0.437667, 0.931427  Reprojection Error: 0.582878, 0.244642 Feature: 0.309735, -0.208935, 0.927583
[11:52:55.759] xyz_f:-0.422141, -0.169392, 0.926343  Reprojection Error: 0.572551, 0.232135 Feature: 0.115915, 0.048882, 0.992056
[11:52:55.759] xyz_f:-0.537701, -0.103351, 0.848790  Reprojection Error: 0.601575, 0.214811 Feature: -0.031763, 0.092602, 0.995196
[11:52:55.759] xyz_f:-0.436976, -0.177526, 0.914557  Reprojection Error: 0.576931, 0.232301 Feature: 0.098575, 0.037976, 0.994405
[11:52:55.759] xyz_f:-0.173369, 0.063313, 1.058265  Reprojection Error: 0.559635, 0.288101 Feature: 0.350163, 0.307802, 0.884671
[11:52:55.759] xyz_f:-0.404417, 0.066133, 0.952320  Reprojection Error: 0.536518, 0.227579 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.759] xyz_f:-0.268013, -0.430260, 0.918916  Reprojection Error: 0.582122, 0.250100 Feature: 0.273007, -0.205018, 0.939912
[11:52:55.759] xyz_f:-0.269523, 0.088344, 1.020781  Reprojection Error: 0.536598, 0.266317 Feature: 0.248938, 0.322279, 0.913327
[11:52:55.759] xyz_f:-0.136440, 0.026288, 1.070694  Reprojection Error: 0.574484, 0.289072 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.759] xyz_f:-0.178812, -0.630253, 0.820617  Reprojection Error: 0.614303, 0.259832 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.759] xyz_f:-0.261154, -0.440708, 0.916588  Reprojection Error: 0.612681, 0.246222 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.759] xyz_f:-0.215938, -0.452654, 0.930049  Reprojection Error: 0.615659, 0.238733 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.759] xyz_f:-0.298847, -0.417083, 0.910330  Reprojection Error: 0.611639, 0.252289 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.759] xyz_f:-0.454157, -0.210551, 0.894314  Reprojection Error: 0.615711, 0.234077 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.759] xyz_f:-0.422539, -0.184284, 0.922865  Reprojection Error: 0.604286, 0.233644 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.759] xyz_f:-0.541620, -0.095907, 0.846291  Reprojection Error: 0.631361, 0.212975 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.759] xyz_f:-0.587600, 0.004078, 0.808874  Reprojection Error: 0.640904, 0.187373 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.759] xyz_f:-0.404417, 0.066133, 0.952320  Reprojection Error: 0.573349, 0.228759 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.759] xyz_f:-0.178617, 0.034924, 1.058081  Reprojection Error: 0.593796, 0.281111 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.759] xyz_f:-0.136440, 0.026288, 1.070694  Reprojection Error: 0.612134, 0.287576 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.759] xyz_f:-0.442174, -0.200015, 0.905648  Reprojection Error: 0.478933, 0.673977 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.759] xyz_f:-0.470930, 0.264538, 0.865071  Reprojection Error: 0.541300, 0.201216 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.759] it:31 	 Success 	 new_chi2: 0.708918 	 dT = 0.001944, 0.012849, 0.043542
[11:52:55.759] xyz_f:-0.518986, 0.271393, 0.826641  Reprojection Error: 0.592774, 0.178958 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.759] xyz_f:-0.508810, -0.203848, 0.856451  Reprojection Error: 0.672661, 0.238854 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.759] xyz_f:-0.319520, -0.436160, 0.886766  Reprojection Error: 0.657980, 0.261362 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.759] xyz_f:-0.592880, -0.088238, 0.804820  Reprojection Error: 0.698897, 0.209343 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.759] xyz_f:-0.356648, -0.412113, 0.878934  Reprojection Error: 0.660148, 0.264263 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.759] xyz_f:-0.235356, -0.626643, 0.794297  Reprojection Error: 0.665841, 0.290338 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.759] xyz_f:-0.275048, -0.448612, 0.902113  Reprojection Error: 0.656915, 0.253890 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.759] xyz_f:-0.592579, -0.083939, 0.805633  Reprojection Error: 0.697766, 0.208331 Feature: -0.037549, 0.103507, 0.993920
[11:52:55.759] xyz_f:-0.497197, -0.193446, 0.868281  Reprojection Error: 0.665832, 0.236800 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.759] xyz_f:-0.636116, 0.012250, 0.765527  Reprojection Error: 0.715635, 0.174597 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.759] xyz_f:-0.345867, -0.433002, 0.873926  Reprojection Error: 0.660839, 0.266621 Feature: 0.250180, -0.215986, 0.943801
[11:52:55.759] xyz_f:-0.478127, -0.177932, 0.886312  Reprojection Error: 0.656236, 0.234602 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.759] xyz_f:-0.307676, -0.427756, 0.897480  Reprojection Error: 0.656362, 0.257315 Feature: 0.292836, -0.204823, 0.933967
[11:52:55.759] xyz_f:-0.353989, -0.445520, 0.862090  Reprojection Error: 0.663650, 0.271729 Feature: 0.238659, -0.231141, 0.943195
[11:52:55.759] xyz_f:-0.237652, 0.038546, 1.031717  Reprojection Error: 0.622843, 0.276373 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.759] xyz_f:-0.635255, 0.018767, 0.766323  Reprojection Error: 0.713520, 0.173024 Feature: -0.112537, 0.192540, 0.974815
[11:52:55.759] xyz_f:-0.290874, -0.433445, 0.902823  Reprojection Error: 0.656098, 0.254853 Feature: 0.309735, -0.208935, 0.927583
[11:52:55.759] xyz_f:-0.477708, -0.163046, 0.889808  Reprojection Error: 0.653710, 0.232511 Feature: 0.115915, 0.048882, 0.992056
[11:52:55.759] xyz_f:-0.589153, -0.095725, 0.807480  Reprojection Error: 0.697704, 0.211596 Feature: -0.031763, 0.092602, 0.995196
[11:52:55.759] xyz_f:-0.492125, -0.171014, 0.877406  Reprojection Error: 0.660016, 0.233098 Feature: 0.098575, 0.037976, 0.994405
[11:52:55.759] xyz_f:-0.232096, 0.066874, 1.032127  Reprojection Error: 0.620683, 0.283136 Feature: 0.350163, 0.307802, 0.884671
[11:52:55.759] xyz_f:-0.458440, 0.072271, 0.916562  Reprojection Error: 0.612026, 0.218172 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.759] xyz_f:-0.326353, -0.425634, 0.888806  Reprojection Error: 0.657641, 0.260759 Feature: 0.273007, -0.205018, 0.939912
[11:52:55.759] xyz_f:-0.326302, 0.092977, 0.990640  Reprojection Error: 0.601946, 0.259007 Feature: 0.248938, 0.322279, 0.913327
[11:52:55.759] xyz_f:-0.196142, 0.029438, 1.046089  Reprojection Error: 0.634553, 0.285484 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.759] xyz_f:-0.235356, -0.626643, 0.794297  Reprojection Error: 0.692711, 0.280737 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.759] xyz_f:-0.319520, -0.436160, 0.886766  Reprojection Error: 0.688082, 0.257263 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.759] xyz_f:-0.275048, -0.448612, 0.902113  Reprojection Error: 0.688372, 0.249323 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.759] xyz_f:-0.356648, -0.412113, 0.878934  Reprojection Error: 0.689128, 0.263001 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.759] xyz_f:-0.508810, -0.203848, 0.856451  Reprojection Error: 0.701975, 0.236659 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.759] xyz_f:-0.478127, -0.177932, 0.886312  Reprojection Error: 0.685887, 0.234713 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.759] xyz_f:-0.592880, -0.088238, 0.804820  Reprojection Error: 0.728029, 0.209286 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.759] xyz_f:-0.636116, 0.012250, 0.765527  Reprojection Error: 0.745415, 0.176413 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.759] xyz_f:-0.458440, 0.072271, 0.916562  Reprojection Error: 0.648857, 0.219353 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.759] xyz_f:-0.237652, 0.038546, 1.031717  Reprojection Error: 0.655329, 0.276757 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.759] xyz_f:-0.196142, 0.029438, 1.046089  Reprojection Error: 0.672203, 0.283987 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.759] xyz_f:-0.497197, -0.193446, 0.868281  Reprojection Error: 0.563314, 0.675915 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.759] xyz_f:-0.518986, 0.271393, 0.826641  Reprojection Error: 0.624741, 0.178707 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.759] it:32 	 Success 	 new_chi2: 0.083972 	 dT = 0.086864, -0.038215, -0.012410
[11:52:55.759] xyz_f:-0.608779, 0.269407, 0.872268  Reprojection Error: 0.662874, 0.198408 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.759] xyz_f:-0.596720, -0.205798, 0.901946  Reprojection Error: 0.740162, 0.229011 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.759] xyz_f:-0.406335, -0.437500, 0.929984  Reprojection Error: 0.734585, 0.239946 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.759] xyz_f:-0.681773, -0.090460, 0.851328  Reprojection Error: 0.763071, 0.205964 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.759] xyz_f:-0.443631, -0.413573, 0.922599  Reprojection Error: 0.735224, 0.243655 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.759] xyz_f:-0.322674, -0.627715, 0.836510  Reprojection Error: 0.755272, 0.251807 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.759] xyz_f:-0.361642, -0.449809, 0.944797  Reprojection Error: 0.734794, 0.232690 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.759] xyz_f:-0.681477, -0.086160, 0.852137  Reprojection Error: 0.761948, 0.205251 Feature: -0.037549, 0.103507, 0.993920
[11:52:55.759] xyz_f:-0.584999, -0.195358, 0.913636  Reprojection Error: 0.733508, 0.227834 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.759] xyz_f:-0.725800, 0.009888, 0.812558  Reprojection Error: 0.777912, 0.178430 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.759] xyz_f:-0.432844, -0.434427, 0.917462  Reprojection Error: 0.736861, 0.244663 Feature: 0.250180, -0.215986, 0.943801
[11:52:55.759] xyz_f:-0.565764, -0.179784, 0.931437  Reprojection Error: 0.724189, 0.226863 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.759] xyz_f:-0.394390, -0.429059, 0.940557  Reprojection Error: 0.732856, 0.236871 Feature: 0.292836, -0.204823, 0.933967
[11:52:55.759] xyz_f:-0.441067, -0.446971, 0.905723  Reprojection Error: 0.740010, 0.248435 Feature: 0.238659, -0.231141, 0.943195
[11:52:55.759] xyz_f:-0.324260, 0.037469, 1.073953  Reprojection Error: 0.694428, 0.278845 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.759] xyz_f:-0.724950, 0.016407, 0.813343  Reprojection Error: 0.775876, 0.177341 Feature: -0.112537, 0.192540, 0.974815
[11:52:55.759] xyz_f:-0.377507, -0.434694, 0.945697  Reprojection Error: 0.733099, 0.234408 Feature: 0.309735, -0.208935, 0.927583
[11:52:55.759] xyz_f:-0.565352, -0.164896, 0.934927  Reprojection Error: 0.721544, 0.225647 Feature: 0.115915, 0.048882, 0.992056
[11:52:55.759] xyz_f:-0.677991, -0.097935, 0.853943  Reprojection Error: 0.762037, 0.207734 Feature: -0.031763, 0.092602, 0.995196
[11:52:55.759] xyz_f:-0.579890, -0.172911, 0.922699  Reprojection Error: 0.727601, 0.225586 Feature: 0.098575, 0.037976, 0.994405
[11:52:55.759] xyz_f:-0.318791, 0.065814, 1.074297  Reprojection Error: 0.692555, 0.286666 Feature: 0.350163, 0.307802, 0.884671
[11:52:55.759] xyz_f:-0.546520, 0.070482, 0.961453  Reprojection Error: 0.680283, 0.223714 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.759] xyz_f:-0.413176, -0.426997, 0.932106  Reprojection Error: 0.733732, 0.239974 Feature: 0.273007, -0.205018, 0.939912
[11:52:55.759] xyz_f:-0.413570, 0.091614, 1.033943  Reprojection Error: 0.672555, 0.264256 Feature: 0.248938, 0.322279, 0.913327
[11:52:55.759] xyz_f:-0.282552, 0.028494, 1.087826  Reprojection Error: 0.706793, 0.287431 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.759] xyz_f:-0.322674, -0.627715, 0.836510  Reprojection Error: 0.782142, 0.242206 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.759] xyz_f:-0.406335, -0.437500, 0.929984  Reprojection Error: 0.764687, 0.235847 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.759] xyz_f:-0.361642, -0.449809, 0.944797  Reprojection Error: 0.766251, 0.228124 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.759] xyz_f:-0.443631, -0.413573, 0.922599  Reprojection Error: 0.764204, 0.242393 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.759] xyz_f:-0.596720, -0.205798, 0.901946  Reprojection Error: 0.769476, 0.226816 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.759] xyz_f:-0.565764, -0.179784, 0.931437  Reprojection Error: 0.753840, 0.226975 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.759] xyz_f:-0.681773, -0.090460, 0.851328  Reprojection Error: 0.792203, 0.205906 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.759] xyz_f:-0.725800, 0.009888, 0.812558  Reprojection Error: 0.807692, 0.180246 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.759] xyz_f:-0.546520, 0.070482, 0.961453  Reprojection Error: 0.717114, 0.224895 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.759] xyz_f:-0.324260, 0.037469, 1.073953  Reprojection Error: 0.726915, 0.279229 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.759] xyz_f:-0.282552, 0.028494, 1.087826  Reprojection Error: 0.744443, 0.285934 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.759] xyz_f:-0.584999, -0.195358, 0.913636  Reprojection Error: 0.630990, 0.666949 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.760] xyz_f:-0.608779, 0.269407, 0.872268  Reprojection Error: 0.694842, 0.198158 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.760] it:33 	 Success 	 new_chi2: 0.002212 	 dT = 0.100422, -0.054631, -0.003999
[11:52:55.760] xyz_f:-0.581530, 0.268772, 0.929268  Reprojection Error: 0.590742, 0.218036 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.760] xyz_f:-0.568865, -0.206420, 0.958898  Reprojection Error: 0.671819, 0.216108 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.760] xyz_f:-0.378133, -0.437925, 0.986200  Reprojection Error: 0.681083, 0.213560 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.760] xyz_f:-0.654232, -0.091170, 0.908609  Reprojection Error: 0.682273, 0.200047 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.760] xyz_f:-0.415482, -0.414036, 0.978959  Reprojection Error: 0.678787, 0.218320 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.760] xyz_f:-0.294637, -0.628053, 0.892403  Reprojection Error: 0.699695, 0.205187 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.760] xyz_f:-0.333370, -0.450187, 1.000840  Reprojection Error: 0.685113, 0.206409 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.760] xyz_f:-0.653937, -0.086870, 0.909417  Reprojection Error: 0.681294, 0.199663 Feature: -0.037549, 0.103507, 0.993920
[11:52:55.760] xyz_f:-0.557110, -0.195968, 0.970542  Reprojection Error: 0.667229, 0.215925 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.760] xyz_f:-0.698513, 0.009132, 0.870010  Reprojection Error: 0.687562, 0.180103 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.760] xyz_f:-0.404694, -0.434879, 0.973780  Reprojection Error: 0.680667, 0.217742 Feature: 0.250180, -0.215986, 0.943801
[11:52:55.760] xyz_f:-0.537822, -0.180373, 0.988269  Reprojection Error: 0.660985, 0.216360 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.760] xyz_f:-0.366156, -0.429471, 0.996726  Reprojection Error: 0.680899, 0.211578 Feature: 0.292836, -0.204823, 0.933967
[11:52:55.760] xyz_f:-0.412949, -0.447432, 0.962073  Reprojection Error: 0.682261, 0.220009 Feature: 0.238659, -0.231141, 0.943195
[11:52:55.760] xyz_f:-0.295995, 0.037129, 1.129851  Reprojection Error: 0.654473, 0.280872 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.760] xyz_f:-0.697666, 0.015653, 0.870792  Reprojection Error: 0.685741, 0.179539 Feature: -0.112537, 0.192540, 0.974815
[11:52:55.760] xyz_f:-0.349247, -0.435088, 1.001801  Reprojection Error: 0.682535, 0.209059 Feature: 0.309735, -0.208935, 0.927583
[11:52:55.760] xyz_f:-0.537412, -0.165485, 0.991758  Reprojection Error: 0.658721, 0.216134 Feature: 0.115915, 0.048882, 0.992056
[11:52:55.760] xyz_f:-0.650432, -0.098641, 0.911210  Reprojection Error: 0.681896, 0.201301 Feature: -0.031763, 0.092602, 0.995196
[11:52:55.760] xyz_f:-0.551989, -0.173515, 0.979586  Reprojection Error: 0.662622, 0.215320 Feature: 0.098575, 0.037976, 0.994405
[11:52:55.760] xyz_f:-0.290553, 0.065480, 1.130175  Reprojection Error: 0.652898, 0.289991 Feature: 0.350163, 0.307802, 0.884671
[11:52:55.760] xyz_f:-0.518721, 0.069912, 1.018212  Reprojection Error: 0.621296, 0.228361 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.760] xyz_f:-0.384977, -0.427429, 0.988349  Reprojection Error: 0.679976, 0.214343 Feature: 0.273007, -0.205018, 0.939912
[11:52:55.760] xyz_f:-0.385514, 0.091182, 1.090187  Reprojection Error: 0.626184, 0.269224 Feature: 0.248938, 0.322279, 0.913327
[11:52:55.760] xyz_f:-0.254224, 0.028198, 1.143564  Reprojection Error: 0.669361, 0.288967 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.760] xyz_f:-0.294637, -0.628053, 0.892403  Reprojection Error: 0.726565, 0.195585 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.760] xyz_f:-0.378133, -0.437925, 0.986200  Reprojection Error: 0.711185, 0.209461 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.760] xyz_f:-0.333370, -0.450187, 1.000840  Reprojection Error: 0.716570, 0.201843 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.760] xyz_f:-0.415482, -0.414036, 0.978959  Reprojection Error: 0.707767, 0.217058 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.760] xyz_f:-0.568865, -0.206420, 0.958898  Reprojection Error: 0.701133, 0.213913 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.760] xyz_f:-0.537822, -0.180373, 0.988269  Reprojection Error: 0.690636, 0.216472 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.760] xyz_f:-0.654232, -0.091170, 0.908609  Reprojection Error: 0.711405, 0.199989 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.760] xyz_f:-0.698513, 0.009132, 0.870010  Reprojection Error: 0.717342, 0.181918 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.760] xyz_f:-0.518721, 0.069912, 1.018212  Reprojection Error: 0.658127, 0.229541 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.760] xyz_f:-0.295995, 0.037129, 1.129851  Reprojection Error: 0.686960, 0.281256 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.760] xyz_f:-0.254224, 0.028198, 1.143564  Reprojection Error: 0.707011, 0.287470 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.760] xyz_f:-0.557110, -0.195968, 0.970542  Reprojection Error: 0.564711, 0.655040 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.760] xyz_f:-0.581530, 0.268772, 0.929268  Reprojection Error: 0.622710, 0.217785 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.760] it:34 	 Success 	 new_chi2: 0.053542 	 dT = 0.100522, -0.060197, -0.005210
[11:52:55.760] xyz_f:-0.523609, 0.267949, 0.992536  Reprojection Error: 0.492494, 0.237301 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.760] xyz_f:-0.510154, -0.207225, 1.022100  Reprojection Error: 0.577693, 0.203584 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.760] xyz_f:-0.318975, -0.438472, 1.048441  Reprojection Error: 0.601896, 0.187721 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.760] xyz_f:-0.595929, -0.092090, 0.972242  Reprojection Error: 0.575179, 0.194426 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.760] xyz_f:-0.356392, -0.414634, 1.041388  Reprojection Error: 0.596603, 0.193540 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.760] xyz_f:-0.235696, -0.628488, 0.954224  Reprojection Error: 0.616536, 0.160048 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.760] xyz_f:-0.274123, -0.450674, 1.062856  Reprojection Error: 0.609934, 0.180622 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.760] xyz_f:-0.595635, -0.087790, 0.973048  Reprojection Error: 0.574354, 0.194362 Feature: -0.037549, 0.103507, 0.993920
[11:52:55.760] xyz_f:-0.498354, -0.196757, 1.033685  Reprojection Error: 0.575324, 0.204354 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.760] xyz_f:-0.640538, 0.008152, 0.933866  Reprojection Error: 0.570582, 0.181870 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.760] xyz_f:-0.345602, -0.435463, 1.036155  Reprojection Error: 0.598619, 0.191421 Feature: 0.250180, -0.215986, 0.943801
[11:52:55.760] xyz_f:-0.478999, -0.181137, 1.051314  Reprojection Error: 0.572398, 0.206141 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.760] xyz_f:-0.306957, -0.430002, 1.058907  Reprojection Error: 0.603421, 0.186777 Feature: 0.292836, -0.204823, 0.933967
[11:52:55.760] xyz_f:-0.353899, -0.448027, 1.024490  Reprojection Error: 0.598472, 0.192255 Feature: 0.238659, -0.231141, 0.943195
[11:52:55.760] xyz_f:-0.236755, 0.036692, 1.191679  Reprojection Error: 0.591170, 0.282943 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.760] xyz_f:-0.639696, 0.014673, 0.934644  Reprojection Error: 0.568983, 0.181815 Feature: -0.112537, 0.192540, 0.974815
[11:52:55.760] xyz_f:-0.290015, -0.435597, 1.063897  Reprojection Error: 0.606513, 0.184189 Feature: 0.309735, -0.208935, 0.927583
[11:52:55.760] xyz_f:-0.478591, -0.166247, 1.054802  Reprojection Error: 0.570569, 0.206884 Feature: 0.115915, 0.048882, 0.992056
[11:52:55.760] xyz_f:-0.592106, -0.099556, 0.974823  Reprojection Error: 0.575482, 0.195176 Feature: -0.031763, 0.092602, 0.995196
[11:52:55.760] xyz_f:-0.493218, -0.174297, 1.042703  Reprojection Error: 0.572149, 0.205348 Feature: 0.098575, 0.037976, 0.994405
[11:52:55.760] xyz_f:-0.231351, 0.065051, 1.191975  Reprojection Error: 0.589902, 0.293355 Feature: 0.350163, 0.307802, 0.884671
[11:52:55.760] xyz_f:-0.460085, 0.069175, 1.081162  Reprojection Error: 0.537399, 0.233040 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.760] xyz_f:-0.325822, -0.427985, 1.050624  Reprojection Error: 0.600583, 0.189238 Feature: 0.273007, -0.205018, 0.939912
[11:52:55.760] xyz_f:-0.326546, 0.090624, 1.152465  Reprojection Error: 0.555908, 0.274227 Feature: 0.248938, 0.322279, 0.913327
[11:52:55.760] xyz_f:-0.194904, 0.027817, 1.205181  Reprojection Error: 0.608775, 0.290543 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.760] xyz_f:-0.235696, -0.628488, 0.954224  Reprojection Error: 0.643406, 0.150446 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.760] xyz_f:-0.318975, -0.438472, 1.048441  Reprojection Error: 0.631998, 0.183622 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.760] xyz_f:-0.274123, -0.450674, 1.062856  Reprojection Error: 0.641391, 0.176056 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.760] xyz_f:-0.356392, -0.414634, 1.041388  Reprojection Error: 0.625583, 0.192278 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.760] xyz_f:-0.510154, -0.207225, 1.022100  Reprojection Error: 0.607007, 0.201389 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.760] xyz_f:-0.478999, -0.181137, 1.051314  Reprojection Error: 0.602049, 0.206253 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.760] xyz_f:-0.595929, -0.092090, 0.972242  Reprojection Error: 0.604311, 0.194368 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.760] xyz_f:-0.640538, 0.008152, 0.933866  Reprojection Error: 0.600362, 0.183686 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.760] xyz_f:-0.460085, 0.069175, 1.081162  Reprojection Error: 0.574230, 0.234221 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.760] xyz_f:-0.236755, 0.036692, 1.191679  Reprojection Error: 0.623657, 0.283328 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.760] xyz_f:-0.194904, 0.027817, 1.205181  Reprojection Error: 0.646424, 0.289046 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.760] xyz_f:-0.498354, -0.196757, 1.033685  Reprojection Error: 0.472806, 0.643469 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.760] xyz_f:-0.523609, 0.267949, 0.992536  Reprojection Error: 0.524462, 0.237051 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.760] it:35 	 Success 	 new_chi2: 0.805004 	 dT = 0.024596, 0.006813, 0.024276
[11:52:55.760] xyz_f:-0.403139, 0.271821, 0.971273  Reprojection Error: 0.380011, 0.227405 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.760] xyz_f:-0.393366, -0.203426, 1.001109  Reprojection Error: 0.471501, 0.204041 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.760] xyz_f:-0.204314, -0.435868, 1.031909  Reprojection Error: 0.495656, 0.191897 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.760] xyz_f:-0.477224, -0.087759, 0.949262  Reprojection Error: 0.464967, 0.192156 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.760] xyz_f:-0.241405, -0.411796, 1.023982  Reprojection Error: 0.490127, 0.197537 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.760] xyz_f:-0.120044, -0.626410, 0.939656  Reprojection Error: 0.497287, 0.168047 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.760] xyz_f:-0.159890, -0.448351, 1.047370  Reprojection Error: 0.504681, 0.184673 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.760] xyz_f:-0.476922, -0.083460, 0.950075  Reprojection Error: 0.464205, 0.191986 Feature: -0.037549, 0.103507, 0.993920
[11:52:55.760] xyz_f:-0.381776, -0.193032, 1.012969  Reprojection Error: 0.470098, 0.204569 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.760] xyz_f:-0.520290, 0.012759, 0.909858  Reprojection Error: 0.456519, 0.176576 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.760] xyz_f:-0.230626, -0.432692, 1.019002  Reprojection Error: 0.491403, 0.195777 Feature: 0.250180, -0.215986, 0.943801
[11:52:55.760] xyz_f:-0.362742, -0.177532, 1.031048  Reprojection Error: 0.468598, 0.206031 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.760] xyz_f:-0.192492, -0.427473, 1.042654  Reprojection Error: 0.498158, 0.190682 Feature: 0.292836, -0.204823, 0.933967
[11:52:55.760] xyz_f:-0.238726, -0.445204, 1.007144  Reprojection Error: 0.490066, 0.196985 Feature: 0.238659, -0.231141, 0.943195
[11:52:55.760] xyz_f:-0.122492, 0.038781, 1.177070  Reprojection Error: 0.496562, 0.280786 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.760] xyz_f:-0.519426, 0.019275, 0.910656  Reprojection Error: 0.454941, 0.176348 Feature: -0.112537, 0.192540, 0.974815
[11:52:55.760] xyz_f:-0.175707, -0.433174, 1.048039  Reprojection Error: 0.501569, 0.188071 Feature: 0.309735, -0.208935, 0.927583
[11:52:55.760] xyz_f:-0.362322, -0.162645, 1.034545  Reprojection Error: 0.467067, 0.206488 Feature: 0.115915, 0.048882, 0.992056
[11:52:55.760] xyz_f:-0.473509, -0.095248, 0.951932  Reprojection Error: 0.465503, 0.193106 Feature: -0.031763, 0.092602, 0.995196
[11:52:55.760] xyz_f:-0.376712, -0.170604, 1.022106  Reprojection Error: 0.467695, 0.205103 Feature: 0.098575, 0.037976, 0.994405
[11:52:55.760] xyz_f:-0.116918, 0.067105, 1.177495  Reprojection Error: 0.495105, 0.290939 Feature: 0.350163, 0.307802, 0.884671
[11:52:55.760] xyz_f:-0.342960, 0.072658, 1.061349  Reprojection Error: 0.434989, 0.228564 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.760] xyz_f:-0.211145, -0.425338, 1.033931  Reprojection Error: 0.494676, 0.193255 Feature: 0.273007, -0.205018, 0.939912
[11:52:55.760] xyz_f:-0.210999, 0.093273, 1.135766  Reprojection Error: 0.458338, 0.270739 Feature: 0.248938, 0.322279, 0.913327
[11:52:55.760] xyz_f:-0.081026, 0.029644, 1.191549  Reprojection Error: 0.515053, 0.288745 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.760] xyz_f:-0.120044, -0.626410, 0.939656  Reprojection Error: 0.524157, 0.158446 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.760] xyz_f:-0.204314, -0.435868, 1.031909  Reprojection Error: 0.525757, 0.187799 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.760] xyz_f:-0.159890, -0.448351, 1.047370  Reprojection Error: 0.536138, 0.180106 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.760] xyz_f:-0.241405, -0.411796, 1.023982  Reprojection Error: 0.519107, 0.196275 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.760] xyz_f:-0.393366, -0.203426, 1.001109  Reprojection Error: 0.500815, 0.201845 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.760] xyz_f:-0.362742, -0.177532, 1.031048  Reprojection Error: 0.498249, 0.206143 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.760] xyz_f:-0.477224, -0.087759, 0.949262  Reprojection Error: 0.494099, 0.192098 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.760] xyz_f:-0.520290, 0.012759, 0.909858  Reprojection Error: 0.486299, 0.178392 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.760] xyz_f:-0.342960, 0.072658, 1.061349  Reprojection Error: 0.471820, 0.229745 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.760] xyz_f:-0.122492, 0.038781, 1.177070  Reprojection Error: 0.529049, 0.281171 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.760] xyz_f:-0.081026, 0.029644, 1.191549  Reprojection Error: 0.552703, 0.287249 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.760] xyz_f:-0.381776, -0.193032, 1.012969  Reprojection Error: 0.367581, 0.643684 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.760] xyz_f:-0.403139, 0.271821, 0.971273  Reprojection Error: 0.411978, 0.227154 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.760] it:36 	 Success 	 new_chi2: 2.094126 	 dT = -0.014307, 0.010067, 0.052101
[11:52:55.760] xyz_f:-0.403390, 0.280456, 0.928980  Reprojection Error: 0.399177, 0.205369 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.760] xyz_f:-0.401537, -0.194870, 0.959109  Reprojection Error: 0.497227, 0.204018 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.760] xyz_f:-0.217424, -0.429828, 0.999301  Reprojection Error: 0.515235, 0.199636 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.760] xyz_f:-0.481114, -0.078100, 0.903149  Reprojection Error: 0.494943, 0.186182 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.760] xyz_f:-0.253742, -0.405261, 0.989526  Reprojection Error: 0.510802, 0.204935 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.760] xyz_f:-0.131196, -0.621520, 0.911339  Reprojection Error: 0.513494, 0.183395 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.760] xyz_f:-0.174006, -0.442903, 1.016973  Reprojection Error: 0.523124, 0.192111 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.760] xyz_f:-0.480796, -0.073805, 0.903978  Reprojection Error: 0.494088, 0.185786 Feature: -0.037549, 0.103507, 0.993920
[11:52:55.760] xyz_f:-0.390419, -0.184629, 0.971540  Reprojection Error: 0.495066, 0.204046 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.760] xyz_f:-0.520785, 0.022976, 0.861663  Reprojection Error: 0.489078, 0.163935 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.760] xyz_f:-0.243008, -0.426302, 0.985088  Reprojection Error: 0.511764, 0.203909 Feature: 0.250180, -0.215986, 0.943801
[11:52:55.760] xyz_f:-0.372111, -0.169380, 0.990559  Reprojection Error: 0.492437, 0.204840 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.760] xyz_f:-0.206045, -0.421589, 1.010630  Reprojection Error: 0.517418, 0.197851 Feature: 0.292836, -0.204823, 0.933967
[11:52:55.760] xyz_f:-0.250669, -0.438708, 0.972834  Reprojection Error: 0.510702, 0.205898 Feature: 0.238659, -0.231141, 0.943195
[11:52:55.760] xyz_f:-0.136617, 0.043724, 1.148555  Reprojection Error: 0.511444, 0.275665 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.760] xyz_f:-0.519874, 0.029480, 0.862505  Reprojection Error: 0.487304, 0.163335 Feature: -0.112537, 0.192540, 0.974815
[11:52:55.760] xyz_f:-0.189631, -0.427514, 1.016851  Reprojection Error: 0.520404, 0.195183 Feature: 0.309735, -0.208935, 0.927583
[11:52:55.760] xyz_f:-0.371667, -0.154500, 0.994078  Reprojection Error: 0.490725, 0.204694 Feature: 0.115915, 0.048882, 0.992056
[11:52:55.760] xyz_f:-0.477640, -0.085638, 0.906000  Reprojection Error: 0.495280, 0.187571 Feature: -0.031763, 0.092602, 0.995196
[11:52:55.760] xyz_f:-0.385519, -0.162268, 0.980929  Reprojection Error: 0.492145, 0.203612 Feature: 0.098575, 0.037976, 0.994405
[11:52:55.760] xyz_f:-0.130690, 0.071971, 1.149269  Reprojection Error: 0.509527, 0.285306 Feature: 0.350163, 0.307802, 0.884671
[11:52:55.760] xyz_f:-0.350509, 0.080530, 1.021902  Reprojection Error: 0.454849, 0.218218 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.760] xyz_f:-0.224205, -0.419206, 1.000981  Reprojection Error: 0.514446, 0.200671 Feature: 0.273007, -0.205018, 0.939912
[11:52:55.760] xyz_f:-0.222192, 0.099390, 1.102870  Reprojection Error: 0.474028, 0.262742 Feature: 0.248938, 0.322279, 0.913327
[11:52:55.760] xyz_f:-0.096059, 0.034034, 1.165098  Reprojection Error: 0.529500, 0.284413 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.760] xyz_f:-0.131196, -0.621520, 0.911339  Reprojection Error: 0.540363, 0.173793 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.760] xyz_f:-0.217424, -0.429828, 0.999301  Reprojection Error: 0.545337, 0.195537 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.760] xyz_f:-0.174006, -0.442903, 1.016973  Reprojection Error: 0.554582, 0.187545 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.760] xyz_f:-0.253742, -0.405261, 0.989526  Reprojection Error: 0.539782, 0.203673 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.760] xyz_f:-0.401537, -0.194870, 0.959109  Reprojection Error: 0.526541, 0.201822 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.760] xyz_f:-0.372111, -0.169380, 0.990559  Reprojection Error: 0.522088, 0.204952 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.760] xyz_f:-0.481114, -0.078100, 0.903149  Reprojection Error: 0.524075, 0.186124 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.760] xyz_f:-0.520785, 0.022976, 0.861663  Reprojection Error: 0.518858, 0.165751 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.760] xyz_f:-0.350509, 0.080530, 1.021902  Reprojection Error: 0.491680, 0.219398 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.760] xyz_f:-0.136617, 0.043724, 1.148555  Reprojection Error: 0.543930, 0.276049 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.760] xyz_f:-0.096059, 0.034034, 1.165098  Reprojection Error: 0.567149, 0.282916 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.760] xyz_f:-0.390419, -0.184629, 0.971540  Reprojection Error: 0.392548, 0.643161 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.760] xyz_f:-0.403390, 0.280456, 0.928980  Reprojection Error: 0.431145, 0.205118 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.760] it:37 	 Success 	 new_chi2: 1.869321 	 dT = -0.027546, 0.007236, 0.067706
[11:52:55.760] xyz_f:-0.439571, 0.292307, 0.877514  Reprojection Error: 0.465875, 0.174157 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.760] xyz_f:-0.448014, -0.182961, 0.907428  Reprojection Error: 0.572289, 0.202466 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.760] xyz_f:-0.271063, -0.421084, 0.959430  Reprojection Error: 0.580184, 0.208397 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.760] xyz_f:-0.521706, -0.064847, 0.846453  Reprojection Error: 0.578579, 0.176317 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.760] xyz_f:-0.306228, -0.395890, 0.947317  Reprojection Error: 0.577633, 0.213291 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.760] xyz_f:-0.182641, -0.614306, 0.877182  Reprojection Error: 0.577747, 0.201728 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.760] xyz_f:-0.229128, -0.434907, 0.979895  Reprojection Error: 0.585852, 0.200430 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.760] xyz_f:-0.521368, -0.060559, 0.847304  Reprojection Error: 0.577547, 0.175613 Feature: -0.037549, 0.103507, 0.993920
[11:52:55.760] xyz_f:-0.437554, -0.172909, 0.920565  Reprojection Error: 0.568521, 0.201838 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.760] xyz_f:-0.556806, 0.036883, 0.802521  Reprojection Error: 0.578503, 0.144640 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.760] xyz_f:-0.295598, -0.417119, 0.943578  Reprojection Error: 0.578351, 0.213214 Feature: 0.250180, -0.215986, 0.943801
[11:52:55.760] xyz_f:-0.420264, -0.157972, 0.940748  Reprojection Error: 0.563513, 0.201768 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.761] xyz_f:-0.260306, -0.413039, 0.971484  Reprojection Error: 0.581487, 0.205859 Feature: 0.292836, -0.204823, 0.933967
[11:52:55.761] xyz_f:-0.302658, -0.429396, 0.930842  Reprojection Error: 0.578177, 0.216237 Feature: 0.238659, -0.231141, 0.943195
[11:52:55.761] xyz_f:-0.191903, 0.051067, 1.113917  Reprojection Error: 0.564774, 0.267890 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.761] xyz_f:-0.555838, 0.043371, 0.803425  Reprojection Error: 0.576390, 0.143531 Feature: -0.112537, 0.192540, 0.974815
[11:52:55.761] xyz_f:-0.244440, -0.419247, 0.978761  Reprojection Error: 0.583660, 0.203098 Feature: 0.309735, -0.208935, 0.927583
[11:52:55.761] xyz_f:-0.419791, -0.143100, 0.944297  Reprojection Error: 0.561397, 0.200815 Feature: 0.115915, 0.048882, 0.992056
[11:52:55.761] xyz_f:-0.518558, -0.072443, 0.849521  Reprojection Error: 0.578497, 0.178324 Feature: -0.031763, 0.092602, 0.995196
[11:52:55.761] xyz_f:-0.432888, -0.150632, 0.930266  Reprojection Error: 0.564468, 0.200113 Feature: 0.098575, 0.037976, 0.994405
[11:52:55.761] xyz_f:-0.185542, 0.079205, 1.115034  Reprojection Error: 0.562212, 0.276895 Feature: 0.350163, 0.307802, 0.884671
[11:52:55.761] xyz_f:-0.396383, 0.091540, 0.973578  Reprojection Error: 0.518993, 0.202998 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.761] xyz_f:-0.277753, -0.410344, 0.960670  Reprojection Error: 0.579584, 0.209019 Feature: 0.273007, -0.205018, 0.939912
[11:52:55.761] xyz_f:-0.273321, 0.108196, 1.062769  Reprojection Error: 0.529740, 0.251056 Feature: 0.248938, 0.322279, 0.913327
[11:52:55.761] xyz_f:-0.152688, 0.040677, 1.133070  Reprojection Error: 0.581809, 0.277724 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.761] xyz_f:-0.182641, -0.614306, 0.877182  Reprojection Error: 0.604617, 0.192126 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.761] xyz_f:-0.271063, -0.421084, 0.959430  Reprojection Error: 0.610286, 0.204298 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.761] xyz_f:-0.229128, -0.434907, 0.979895  Reprojection Error: 0.617309, 0.195864 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.761] xyz_f:-0.306228, -0.395890, 0.947317  Reprojection Error: 0.606614, 0.212029 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.761] xyz_f:-0.448014, -0.182961, 0.907428  Reprojection Error: 0.601603, 0.200270 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.761] xyz_f:-0.420264, -0.157972, 0.940748  Reprojection Error: 0.593164, 0.201879 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.761] xyz_f:-0.521706, -0.064847, 0.846453  Reprojection Error: 0.607712, 0.176260 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.761] xyz_f:-0.556806, 0.036883, 0.802521  Reprojection Error: 0.608283, 0.146455 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.761] xyz_f:-0.396383, 0.091540, 0.973578  Reprojection Error: 0.555824, 0.204179 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.761] xyz_f:-0.191903, 0.051067, 1.113917  Reprojection Error: 0.597261, 0.268274 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.761] xyz_f:-0.152688, 0.040677, 1.133070  Reprojection Error: 0.619459, 0.276227 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.761] xyz_f:-0.437554, -0.172909, 0.920565  Reprojection Error: 0.466003, 0.640953 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.761] xyz_f:-0.439571, 0.292307, 0.877514  Reprojection Error: 0.497843, 0.173907 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.761] it:38 	 Success 	 new_chi2: 1.019937 	 dT = -0.013263, 0.002004, 0.061270
[11:52:55.761] xyz_f:-0.493960, 0.303604, 0.833349  Reprojection Error: 0.557689, 0.142948 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.761] xyz_f:-0.511689, -0.171456, 0.862488  Reprojection Error: 0.671841, 0.199633 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.761] xyz_f:-0.341919, -0.412329, 0.924754  Reprojection Error: 0.667400, 0.215388 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.761] xyz_f:-0.579765, -0.052219, 0.797317  Reprojection Error: 0.689380, 0.165199 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.761] xyz_f:-0.375903, -0.386587, 0.910594  Reprojection Error: 0.667186, 0.219929 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.761] xyz_f:-0.251861, -0.606967, 0.847788  Reprojection Error: 0.666614, 0.217352 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.761] xyz_f:-0.301493, -0.426806, 0.947656  Reprojection Error: 0.670168, 0.206980 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.761] xyz_f:-0.579409, -0.047935, 0.798189  Reprojection Error: 0.688127, 0.164196 Feature: -0.037549, 0.103507, 0.993920
[11:52:55.761] xyz_f:-0.501867, -0.161565, 0.876225  Reprojection Error: 0.665969, 0.198396 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.761] xyz_f:-0.610588, 0.050035, 0.751434  Reprojection Error: 0.697246, 0.124013 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.761] xyz_f:-0.365408, -0.407983, 0.907480  Reprojection Error: 0.667739, 0.220732 Feature: 0.250180, -0.215986, 0.943801
[11:52:55.761] xyz_f:-0.485566, -0.146895, 0.897403  Reprojection Error: 0.657858, 0.197535 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.761] xyz_f:-0.331768, -0.404451, 0.937426  Reprojection Error: 0.667454, 0.212144 Feature: 0.292836, -0.204823, 0.933967
[11:52:55.761] xyz_f:-0.371896, -0.420153, 0.894343  Reprojection Error: 0.668864, 0.224728 Feature: 0.238659, -0.231141, 0.943195
[11:52:55.761] xyz_f:-0.264563, 0.058580, 1.083874  Reprojection Error: 0.636587, 0.259687 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.761] xyz_f:-0.609573, 0.056507, 0.752397  Reprojection Error: 0.694729, 0.122411 Feature: -0.112537, 0.192540, 0.974815
[11:52:55.761] xyz_f:-0.316461, -0.410905, 0.945626  Reprojection Error: 0.668573, 0.209286 Feature: 0.309735, -0.208935, 0.927583
[11:52:55.761] xyz_f:-0.485067, -0.132030, 0.900981  Reprojection Error: 0.655220, 0.195815 Feature: 0.115915, 0.048882, 0.992056
[11:52:55.761] xyz_f:-0.576925, -0.059862, 0.800562  Reprojection Error: 0.688733, 0.167823 Feature: -0.031763, 0.092602, 0.995196
[11:52:55.761] xyz_f:-0.497430, -0.139360, 0.886196  Reprojection Error: 0.660439, 0.195446 Feature: 0.098575, 0.037976, 0.994405
[11:52:55.761] xyz_f:-0.257833, 0.086614, 1.085378  Reprojection Error: 0.633363, 0.268127 Feature: 0.350163, 0.307802, 0.884671
[11:52:55.761] xyz_f:-0.459717, 0.102222, 0.931706  Reprojection Error: 0.605267, 0.187307 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.761] xyz_f:-0.348500, -0.401484, 0.925600  Reprojection Error: 0.666972, 0.215631 Feature: 0.273007, -0.205018, 0.939912
[11:52:55.761] xyz_f:-0.341897, 0.116968, 1.028027  Reprojection Error: 0.605138, 0.239083 Feature: 0.248938, 0.322279, 0.913327
[11:52:55.761] xyz_f:-0.226719, 0.047579, 1.105308  Reprojection Error: 0.652171, 0.270578 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.761] xyz_f:-0.251861, -0.606967, 0.847788  Reprojection Error: 0.693484, 0.207750 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.761] xyz_f:-0.341919, -0.412329, 0.924754  Reprojection Error: 0.697502, 0.211289 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.761] xyz_f:-0.301493, -0.426806, 0.947656  Reprojection Error: 0.701626, 0.202414 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.761] xyz_f:-0.375903, -0.386587, 0.910594  Reprojection Error: 0.696166, 0.218667 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.761] xyz_f:-0.511689, -0.171456, 0.862488  Reprojection Error: 0.701155, 0.197437 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.761] xyz_f:-0.485566, -0.146895, 0.897403  Reprojection Error: 0.687509, 0.197646 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.761] xyz_f:-0.579765, -0.052219, 0.797317  Reprojection Error: 0.718512, 0.165142 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.761] xyz_f:-0.610588, 0.050035, 0.751434  Reprojection Error: 0.727026, 0.125829 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.761] xyz_f:-0.459717, 0.102222, 0.931706  Reprojection Error: 0.642098, 0.188488 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.761] xyz_f:-0.264563, 0.058580, 1.083874  Reprojection Error: 0.669073, 0.260071 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.761] xyz_f:-0.226719, 0.047579, 1.105308  Reprojection Error: 0.689821, 0.269081 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.761] xyz_f:-0.501867, -0.161565, 0.876225  Reprojection Error: 0.563452, 0.637511 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.761] xyz_f:-0.493960, 0.303604, 0.833349  Reprojection Error: 0.589657, 0.142697 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.761] it:39 	 Success 	 new_chi2: 0.138713 	 dT = 0.038612, -0.035506, 0.031965
[11:52:55.761] xyz_f:-0.563910, 0.309699, 0.846109  Reprojection Error: 0.631422, 0.141238 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.761] xyz_f:-0.586459, -0.165195, 0.874626  Reprojection Error: 0.749096, 0.189715 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.761] xyz_f:-0.420691, -0.407456, 0.942072  Reprojection Error: 0.744218, 0.202018 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.761] xyz_f:-0.651502, -0.045406, 0.807400  Reprojection Error: 0.769149, 0.155944 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.761] xyz_f:-0.454007, -0.381435, 0.926873  Reprojection Error: 0.744202, 0.206914 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.761] xyz_f:-0.329913, -0.602842, 0.867899  Reprojection Error: 0.749662, 0.196009 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.761] xyz_f:-0.381112, -0.422263, 0.966210  Reprojection Error: 0.746462, 0.193630 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.761] xyz_f:-0.651138, -0.041126, 0.808283  Reprojection Error: 0.767804, 0.155022 Feature: -0.037549, 0.103507, 0.993920
[11:52:55.761] xyz_f:-0.576984, -0.155383, 0.888661  Reprojection Error: 0.742483, 0.188860 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.761] xyz_f:-0.680047, 0.057093, 0.760600  Reprojection Error: 0.778775, 0.115536 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.761] xyz_f:-0.443598, -0.402918, 0.924082  Reprojection Error: 0.745119, 0.207173 Feature: 0.250180, -0.215986, 0.943801
[11:52:55.761] xyz_f:-0.561224, -0.140846, 0.910334  Reprojection Error: 0.733282, 0.188565 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.761] xyz_f:-0.410871, -0.399660, 0.955053  Reprojection Error: 0.743748, 0.199165 Feature: 0.292836, -0.204823, 0.933967
[11:52:55.761] xyz_f:-0.449778, -0.415035, 0.910750  Reprojection Error: 0.746888, 0.210646 Feature: 0.238659, -0.231141, 0.943195
[11:52:55.761] xyz_f:-0.344391, 0.062817, 1.103565  Reprojection Error: 0.704568, 0.256812 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.761] xyz_f:-0.679009, 0.063557, 0.761595  Reprojection Error: 0.776116, 0.114062 Feature: -0.112537, 0.192540, 0.974815
[11:52:55.761] xyz_f:-0.395878, -0.406240, 0.963720  Reprojection Error: 0.744697, 0.196286 Feature: 0.309735, -0.208935, 0.927583
[11:52:55.761] xyz_f:-0.560713, -0.125985, 0.913927  Reprojection Error: 0.730364, 0.187125 Feature: 0.115915, 0.048882, 0.992056
[11:52:55.761] xyz_f:-0.648827, -0.053073, 0.810730  Reprojection Error: 0.768383, 0.158511 Feature: -0.031763, 0.092602, 0.995196
[11:52:55.761] xyz_f:-0.572673, -0.133215, 0.898767  Reprojection Error: 0.736307, 0.186409 Feature: 0.098575, 0.037976, 0.994405
[11:52:55.761] xyz_f:-0.337479, 0.090796, 1.105279  Reprojection Error: 0.701145, 0.265781 Feature: 0.350163, 0.307802, 0.884671
[11:52:55.761] xyz_f:-0.534387, 0.108053, 0.945450  Reprojection Error: 0.677072, 0.182735 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.761] xyz_f:-0.427204, -0.396557, 0.942717  Reprojection Error: 0.743623, 0.202528 Feature: 0.273007, -0.205018, 0.939912
[11:52:55.761] xyz_f:-0.419479, 0.121837, 1.045364  Reprojection Error: 0.673837, 0.236313 Feature: 0.248938, 0.322279, 0.913327
[11:52:55.761] xyz_f:-0.307319, 0.051507, 1.126155  Reprojection Error: 0.719945, 0.267887 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.761] xyz_f:-0.329913, -0.602842, 0.867899  Reprojection Error: 0.776532, 0.186408 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.761] xyz_f:-0.420691, -0.407456, 0.942072  Reprojection Error: 0.774320, 0.197919 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.761] xyz_f:-0.381112, -0.422263, 0.966210  Reprojection Error: 0.777920, 0.189064 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.761] xyz_f:-0.454007, -0.381435, 0.926873  Reprojection Error: 0.773182, 0.205652 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.761] xyz_f:-0.586459, -0.165195, 0.874626  Reprojection Error: 0.778409, 0.187519 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.761] xyz_f:-0.561224, -0.140846, 0.910334  Reprojection Error: 0.762933, 0.188677 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.761] xyz_f:-0.651502, -0.045406, 0.807400  Reprojection Error: 0.798281, 0.155887 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.761] xyz_f:-0.680047, 0.057093, 0.760600  Reprojection Error: 0.808555, 0.117352 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.761] xyz_f:-0.534387, 0.108053, 0.945450  Reprojection Error: 0.713903, 0.183915 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.761] xyz_f:-0.344391, 0.062817, 1.103565  Reprojection Error: 0.737054, 0.257196 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.761] xyz_f:-0.307319, 0.051507, 1.126155  Reprojection Error: 0.757594, 0.266391 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.761] xyz_f:-0.576984, -0.155383, 0.888661  Reprojection Error: 0.639966, 0.627975 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.761] xyz_f:-0.563910, 0.309699, 0.846109  Reprojection Error: 0.663390, 0.140988 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.761] it:40 	 Success 	 new_chi2: 0.020275 	 dT = 0.051356, -0.041535, 0.029314
[11:52:55.761] xyz_f:-0.555217, 0.315403, 0.866359  Reprojection Error: 0.605810, 0.143210 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.761] xyz_f:-0.582165, -0.159304, 0.894175  Reprojection Error: 0.729635, 0.178997 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.761] xyz_f:-0.420216, -0.402808, 0.966261  Reprojection Error: 0.732548, 0.186380 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.761] xyz_f:-0.644369, -0.039032, 0.825147  Reprojection Error: 0.743149, 0.147010 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.761] xyz_f:-0.452890, -0.376537, 0.950128  Reprojection Error: 0.731037, 0.191686 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.761] xyz_f:-0.328859, -0.598885, 0.894666  Reprojection Error: 0.737111, 0.170805 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.761] xyz_f:-0.381450, -0.417913, 0.991508  Reprojection Error: 0.736739, 0.178092 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.761] xyz_f:-0.643998, -0.034755, 0.826040  Reprojection Error: 0.741842, 0.146215 Feature: -0.037549, 0.103507, 0.993920
[11:52:55.761] xyz_f:-0.573018, -0.149563, 0.908474  Reprojection Error: 0.723957, 0.178640 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.761] xyz_f:-0.670799, 0.063675, 0.777569  Reprojection Error: 0.747370, 0.108709 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.761] xyz_f:-0.442570, -0.398098, 0.947630  Reprojection Error: 0.732105, 0.191252 Feature: 0.250180, -0.215986, 0.943801
[11:52:55.761] xyz_f:-0.557768, -0.135143, 0.930586  Reprojection Error: 0.716152, 0.179070 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.761] xyz_f:-0.410708, -0.395085, 0.979515  Reprojection Error: 0.732838, 0.184044 Feature: 0.292836, -0.204823, 0.933967
[11:52:55.761] xyz_f:-0.448462, -0.410170, 0.934126  Reprojection Error: 0.733119, 0.194033 Feature: 0.238659, -0.231141, 0.943195
[11:52:55.761] xyz_f:-0.344953, 0.066890, 1.129899  Reprojection Error: 0.697792, 0.254533 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.761] xyz_f:-0.669740, 0.070131, 0.778593  Reprojection Error: 0.744748, 0.107440 Feature: -0.112537, 0.192540, 0.974815
[11:52:55.761] xyz_f:-0.396017, -0.401778, 0.988603  Reprojection Error: 0.734498, 0.181163 Feature: 0.309735, -0.208935, 0.927583
[11:52:55.761] xyz_f:-0.557246, -0.120286, 0.934193  Reprojection Error: 0.713343, 0.178034 Feature: 0.115915, 0.048882, 0.992056
[11:52:55.761] xyz_f:-0.641847, -0.046718, 0.828551  Reprojection Error: 0.742746, 0.149434 Feature: -0.031763, 0.092602, 0.995196
[11:52:55.761] xyz_f:-0.568827, -0.127427, 0.918700  Reprojection Error: 0.718295, 0.176893 Feature: 0.098575, 0.037976, 0.994405
[11:52:55.761] xyz_f:-0.337881, 0.094816, 1.131812  Reprojection Error: 0.694342, 0.264155 Feature: 0.350163, 0.307802, 0.884671
[11:52:55.761] xyz_f:-0.530048, 0.113549, 0.966474  Reprojection Error: 0.660288, 0.179534 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.761] xyz_f:-0.426662, -0.391860, 0.966722  Reprojection Error: 0.731809, 0.187224 Feature: 0.273007, -0.205018, 0.939912
[11:52:55.761] xyz_f:-0.417913, 0.126471, 1.069603  Reprojection Error: 0.663280, 0.234621 Feature: 0.248938, 0.322279, 0.913327
[11:52:55.761] xyz_f:-0.308622, 0.055302, 1.153529  Reprojection Error: 0.714599, 0.265683 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.761] xyz_f:-0.328859, -0.598885, 0.894666  Reprojection Error: 0.763981, 0.161203 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.761] xyz_f:-0.420216, -0.402808, 0.966261  Reprojection Error: 0.762650, 0.182282 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.761] xyz_f:-0.381450, -0.417913, 0.991508  Reprojection Error: 0.768196, 0.173526 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.761] xyz_f:-0.452890, -0.376537, 0.950128  Reprojection Error: 0.760018, 0.190424 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.761] xyz_f:-0.582165, -0.159304, 0.894175  Reprojection Error: 0.758949, 0.176802 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.761] xyz_f:-0.557768, -0.135143, 0.930586  Reprojection Error: 0.745803, 0.179181 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.761] xyz_f:-0.644369, -0.039032, 0.825147  Reprojection Error: 0.772281, 0.146952 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.761] xyz_f:-0.670799, 0.063675, 0.777569  Reprojection Error: 0.777150, 0.110524 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.761] xyz_f:-0.530048, 0.113549, 0.966474  Reprojection Error: 0.697119, 0.180715 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.761] xyz_f:-0.344953, 0.066890, 1.129899  Reprojection Error: 0.730279, 0.254918 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.761] xyz_f:-0.308622, 0.055302, 1.153529  Reprojection Error: 0.752249, 0.264186 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.761] xyz_f:-0.573018, -0.149563, 0.908474  Reprojection Error: 0.621440, 0.617755 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.761] xyz_f:-0.555217, 0.315403, 0.866359  Reprojection Error: 0.637778, 0.142960 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.761] it:41 	 Success 	 new_chi2: 0.039804 	 dT = 0.050856, -0.044302, 0.029088
[11:52:55.761] xyz_f:-0.526498, 0.321165, 0.889154  Reprojection Error: 0.557082, 0.146063 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.761] xyz_f:-0.557790, -0.153322, 0.916152  Reprojection Error: 0.687411, 0.168194 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.761] xyz_f:-0.399768, -0.398031, 0.992734  Reprojection Error: 0.700353, 0.170451 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.761] xyz_f:-0.617123, -0.032593, 0.845417  Reprojection Error: 0.692198, 0.138259 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.761] xyz_f:-0.431777, -0.371516, 0.975691  Reprojection Error: 0.696909, 0.176157 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.761] xyz_f:-0.307914, -0.594797, 0.923713  Reprojection Error: 0.702877, 0.145330 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.761] xyz_f:-0.361841, -0.413424, 1.019058  Reprojection Error: 0.707096, 0.162292 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.761] xyz_f:-0.616745, -0.028318, 0.846320  Reprojection Error: 0.690958, 0.137601 Feature: -0.037549, 0.103507, 0.993920
[11:52:55.761] xyz_f:-0.548975, -0.143648, 0.930703  Reprojection Error: 0.683059, 0.168353 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.761] xyz_f:-0.641432, 0.070306, 0.797126  Reprojection Error: 0.689364, 0.102400 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.761] xyz_f:-0.421553, -0.393155, 0.973482  Reprojection Error: 0.698113, 0.175018 Feature: 0.250180, -0.215986, 0.943801
[11:52:55.761] xyz_f:-0.534244, -0.129342, 0.953236  Reprojection Error: 0.677232, 0.169533 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.761] xyz_f:-0.390578, -0.390378, 1.006250  Reprojection Error: 0.701693, 0.168649 Feature: 0.292836, -0.204823, 0.933967
[11:52:55.761] xyz_f:-0.427154, -0.405183, 0.959817  Reprojection Error: 0.698069, 0.177084 Feature: 0.238659, -0.231141, 0.943195
[11:52:55.761] xyz_f:-0.325598, 0.071105, 1.158471  Reprojection Error: 0.673555, 0.252355 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.761] xyz_f:-0.640354, 0.076754, 0.798180  Reprojection Error: 0.686823, 0.101353 Feature: -0.112537, 0.192540, 0.974815
[11:52:55.761] xyz_f:-0.376199, -0.397180, 1.015747  Reprojection Error: 0.704283, 0.165776 Feature: 0.309735, -0.208935, 0.927583
[11:52:55.761] xyz_f:-0.533712, -0.114489, 0.956859  Reprojection Error: 0.674619, 0.168925 Feature: 0.115915, 0.048882, 0.992056
[11:52:55.762] xyz_f:-0.614756, -0.040297, 0.848889  Reprojection Error: 0.692273, 0.140519 Feature: -0.031763, 0.092602, 0.995196
[11:52:55.762] xyz_f:-0.544906, -0.121543, 0.941045  Reprojection Error: 0.678174, 0.167347 Feature: 0.098575, 0.037976, 0.994405
[11:52:55.762] xyz_f:-0.318372, 0.098977, 1.160585  Reprojection Error: 0.670132, 0.262647 Feature: 0.350163, 0.307802, 0.884671
[11:52:55.762] xyz_f:-0.505673, 0.119139, 0.989915  Reprojection Error: 0.622677, 0.176670 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.762] xyz_f:-0.406141, -0.387034, 0.993014  Reprojection Error: 0.699459, 0.171632 Feature: 0.273007, -0.205018, 0.939912
[11:52:55.762] xyz_f:-0.396385, 0.131227, 1.096155  Reprojection Error: 0.634176, 0.233146 Feature: 0.248938, 0.322279, 0.913327
[11:52:55.762] xyz_f:-0.290034, 0.059246, 1.183111  Reprojection Error: 0.692198, 0.263548 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.762] xyz_f:-0.307914, -0.594797, 0.923713  Reprojection Error: 0.729747, 0.135729 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.762] xyz_f:-0.399768, -0.398031, 0.992734  Reprojection Error: 0.730455, 0.166353 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.762] xyz_f:-0.361841, -0.413424, 1.019058  Reprojection Error: 0.738553, 0.157726 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.762] xyz_f:-0.431777, -0.371516, 0.975691  Reprojection Error: 0.725889, 0.174895 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.762] xyz_f:-0.557790, -0.153322, 0.916152  Reprojection Error: 0.716725, 0.165998 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.762] xyz_f:-0.534244, -0.129342, 0.953236  Reprojection Error: 0.706883, 0.169644 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.762] xyz_f:-0.617123, -0.032593, 0.845417  Reprojection Error: 0.721331, 0.138201 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.762] xyz_f:-0.641432, 0.070306, 0.797126  Reprojection Error: 0.719144, 0.104216 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.762] xyz_f:-0.505673, 0.119139, 0.989915  Reprojection Error: 0.659508, 0.177850 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.762] xyz_f:-0.325598, 0.071105, 1.158471  Reprojection Error: 0.706041, 0.252740 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.762] xyz_f:-0.290034, 0.059246, 1.183111  Reprojection Error: 0.729847, 0.262051 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.762] xyz_f:-0.548975, -0.143648, 0.930703  Reprojection Error: 0.580542, 0.607468 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.762] xyz_f:-0.526498, 0.321165, 0.889154  Reprojection Error: 0.589050, 0.145812 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.762] it:42 	 Success 	 new_chi2: 0.104797 	 dT = 0.053536, -0.044966, 0.023429
[11:52:55.762] xyz_f:-0.495128, 0.325878, 0.916531  Reprojection Error: 0.505167, 0.151709 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.762] xyz_f:-0.529899, -0.148408, 0.942781  Reprojection Error: 0.640630, 0.158255 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.762] xyz_f:-0.375136, -0.394066, 1.022902  Reprojection Error: 0.664396, 0.154750 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.762] xyz_f:-0.586883, -0.027327, 0.870730  Reprojection Error: 0.636248, 0.131091 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.762] xyz_f:-0.406591, -0.367359, 1.005142  Reprojection Error: 0.658886, 0.160864 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.762] xyz_f:-0.282939, -0.591391, 0.955964  Reprojection Error: 0.665506, 0.120042 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.762] xyz_f:-0.337909, -0.409687, 1.050077  Reprojection Error: 0.673816, 0.146749 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.762] xyz_f:-0.586499, -0.023055, 0.871642  Reprojection Error: 0.635088, 0.130590 Feature: -0.037549, 0.103507, 0.993920
[11:52:55.762] xyz_f:-0.521357, -0.138788, 0.957529  Reprojection Error: 0.637691, 0.158953 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.762] xyz_f:-0.609468, 0.075714, 0.821908  Reprojection Error: 0.626211, 0.098479 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.762] xyz_f:-0.396451, -0.389059, 1.003163  Reprojection Error: 0.660277, 0.158986 Feature: 0.250180, -0.215986, 0.943801
[11:52:55.762] xyz_f:-0.507053, -0.124569, 0.980391  Reprojection Error: 0.633974, 0.160906 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.762] xyz_f:-0.366209, -0.386468, 1.036624  Reprojection Error: 0.666811, 0.153510 Feature: 0.292836, -0.204823, 0.933967
[11:52:55.762] xyz_f:-0.401814, -0.401054, 0.989374  Reprojection Error: 0.659162, 0.160300 Feature: 0.238659, -0.231141, 0.943195
[11:52:55.762] xyz_f:-0.301893, 0.074623, 1.190308  Reprojection Error: 0.646123, 0.251041 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.762] xyz_f:-0.608375, 0.082155, 0.822987  Reprojection Error: 0.623783, 0.097688 Feature: -0.112537, 0.192540, 0.974815
[11:52:55.762] xyz_f:-0.352090, -0.393357, 1.046443  Reprojection Error: 0.670379, 0.150652 Feature: 0.309735, -0.208935, 0.927583
[11:52:55.762] xyz_f:-0.506513, -0.109720, 0.984025  Reprojection Error: 0.631579, 0.160775 Feature: 0.115915, 0.048882, 0.992056
[11:52:55.762] xyz_f:-0.584641, -0.035045, 0.874254  Reprojection Error: 0.636816, 0.133134 Feature: -0.031763, 0.092602, 0.995196
[11:52:55.762] xyz_f:-0.517389, -0.116707, 0.967962  Reprojection Error: 0.633644, 0.158759 Feature: 0.098575, 0.037976, 0.994405
[11:52:55.762] xyz_f:-0.294548, 0.102450, 1.192586  Reprojection Error: 0.642794, 0.262022 Feature: 0.350163, 0.307802, 0.884671
[11:52:55.762] xyz_f:-0.477813, 0.123736, 1.017724  Reprojection Error: 0.581344, 0.175441 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.762] xyz_f:-0.381448, -0.383031, 1.023040  Reprojection Error: 0.663318, 0.156280 Feature: 0.273007, -0.205018, 0.939912
[11:52:55.762] xyz_f:-0.370886, 0.135169, 1.126410  Reprojection Error: 0.601825, 0.232862 Feature: 0.248938, 0.322279, 0.913327
[11:52:55.762] xyz_f:-0.266968, 0.062550, 1.215746  Reprojection Error: 0.666645, 0.262174 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.762] xyz_f:-0.282939, -0.591391, 0.955964  Reprojection Error: 0.692376, 0.110441 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.762] xyz_f:-0.375136, -0.394066, 1.022902  Reprojection Error: 0.694498, 0.150651 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.762] xyz_f:-0.337909, -0.409687, 1.050077  Reprojection Error: 0.705274, 0.142183 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.762] xyz_f:-0.406591, -0.367359, 1.005142  Reprojection Error: 0.687866, 0.159602 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.762] xyz_f:-0.529899, -0.148408, 0.942781  Reprojection Error: 0.669944, 0.156060 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.762] xyz_f:-0.507053, -0.124569, 0.980391  Reprojection Error: 0.663625, 0.161018 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.762] xyz_f:-0.586883, -0.027327, 0.870730  Reprojection Error: 0.665380, 0.131033 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.762] xyz_f:-0.609468, 0.075714, 0.821908  Reprojection Error: 0.655991, 0.100295 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.762] xyz_f:-0.477813, 0.123736, 1.017724  Reprojection Error: 0.618175, 0.176621 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.762] xyz_f:-0.301893, 0.074623, 1.190308  Reprojection Error: 0.678609, 0.251426 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.762] xyz_f:-0.266968, 0.062550, 1.215746  Reprojection Error: 0.704294, 0.260678 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.762] xyz_f:-0.521357, -0.138788, 0.957529  Reprojection Error: 0.535174, 0.598068 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.762] xyz_f:-0.495128, 0.325878, 0.916531  Reprojection Error: 0.537135, 0.151459 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.762] it:43 	 Success 	 new_chi2: 0.368520 	 dT = 0.043660, -0.028889, 0.023892
[11:52:55.762] xyz_f:-0.450296, 0.330747, 0.927249  Reprojection Error: 0.450574, 0.150569 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.762] xyz_f:-0.488596, -0.143314, 0.952656  Reprojection Error: 0.591448, 0.151276 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.762] xyz_f:-0.337246, -0.389918, 1.036310  Reprojection Error: 0.623088, 0.145763 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.762] xyz_f:-0.543152, -0.021887, 0.879318  Reprojection Error: 0.579933, 0.124598 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.762] xyz_f:-0.368116, -0.363018, 1.017831  Reprojection Error: 0.616042, 0.152043 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.762] xyz_f:-0.244750, -0.587814, 0.971503  Reprojection Error: 0.621463, 0.106466 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.762] xyz_f:-0.300752, -0.405767, 1.064335  Reprojection Error: 0.634595, 0.137839 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.762] xyz_f:-0.542764, -0.017618, 0.880239  Reprojection Error: 0.578831, 0.124155 Feature: -0.037549, 0.103507, 0.993920
[11:52:55.762] xyz_f:-0.480337, -0.133745, 0.967598  Reprojection Error: 0.589632, 0.152233 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.762] xyz_f:-0.563968, 0.081288, 0.829996  Reprojection Error: 0.564166, 0.092661 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.762] xyz_f:-0.358067, -0.384781, 1.016085  Reprojection Error: 0.617476, 0.149843 Feature: 0.250180, -0.215986, 0.943801
[11:52:55.762] xyz_f:-0.466477, -0.119614, 0.990785  Reprojection Error: 0.587595, 0.154572 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.762] xyz_f:-0.328590, -0.382374, 1.050235  Reprojection Error: 0.626414, 0.144781 Feature: 0.292836, -0.204823, 0.933967
[11:52:55.762] xyz_f:-0.363185, -0.396743, 1.002175  Reprojection Error: 0.615429, 0.150821 Feature: 0.238659, -0.231141, 0.943195
[11:52:55.762] xyz_f:-0.264988, 0.078321, 1.205395  Reprojection Error: 0.612332, 0.248758 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.762] xyz_f:-0.562860, 0.087722, 0.831100  Reprojection Error: 0.561803, 0.091965 Feature: -0.112537, 0.192540, 0.974815
[11:52:55.762] xyz_f:-0.314744, -0.389349, 1.060376  Reprojection Error: 0.630739, 0.141934 Feature: 0.309735, -0.208935, 0.927583
[11:52:55.762] xyz_f:-0.465930, -0.104767, 0.994432  Reprojection Error: 0.585382, 0.154628 Feature: 0.115915, 0.048882, 0.992056
[11:52:55.762] xyz_f:-0.541041, -0.029619, 0.882893  Reprojection Error: 0.580889, 0.126596 Feature: -0.031763, 0.092602, 0.995196
[11:52:55.762] xyz_f:-0.476475, -0.111689, 0.978122  Reprojection Error: 0.586263, 0.152376 Feature: 0.098575, 0.037976, 0.994405
[11:52:55.762] xyz_f:-0.257526, 0.106103, 1.207844  Reprojection Error: 0.609023, 0.260084 Feature: 0.350163, 0.307802, 0.884671
[11:52:55.762] xyz_f:-0.436572, 0.128509, 1.028800  Reprojection Error: 0.536202, 0.172111 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.762] xyz_f:-0.343490, -0.378844, 1.036302  Reprojection Error: 0.621918, 0.147448 Feature: 0.273007, -0.205018, 0.939912
[11:52:55.762] xyz_f:-0.332112, 0.139288, 1.139926  Reprojection Error: 0.563907, 0.230672 Feature: 0.248938, 0.322279, 0.913327
[11:52:55.762] xyz_f:-0.230735, 0.066034, 1.231631  Reprojection Error: 0.634393, 0.260009 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.762] xyz_f:-0.244750, -0.587814, 0.971503  Reprojection Error: 0.648333, 0.096864 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.762] xyz_f:-0.337246, -0.389918, 1.036310  Reprojection Error: 0.653190, 0.141664 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.762] xyz_f:-0.300752, -0.405767, 1.064335  Reprojection Error: 0.666052, 0.133273 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.762] xyz_f:-0.368116, -0.363018, 1.017831  Reprojection Error: 0.645022, 0.150781 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.762] xyz_f:-0.488596, -0.143314, 0.952656  Reprojection Error: 0.620762, 0.149080 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.762] xyz_f:-0.466477, -0.119614, 0.990785  Reprojection Error: 0.617246, 0.154683 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.762] xyz_f:-0.543152, -0.021887, 0.879318  Reprojection Error: 0.609065, 0.124540 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.762] xyz_f:-0.563968, 0.081288, 0.829996  Reprojection Error: 0.593946, 0.094477 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.762] xyz_f:-0.436572, 0.128509, 1.028800  Reprojection Error: 0.573034, 0.173291 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.762] xyz_f:-0.264988, 0.078321, 1.205395  Reprojection Error: 0.644818, 0.249142 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.762] xyz_f:-0.230735, 0.066034, 1.231631  Reprojection Error: 0.672043, 0.258512 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.762] xyz_f:-0.480337, -0.133745, 0.967598  Reprojection Error: 0.487114, 0.591348 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.762] xyz_f:-0.450296, 0.330747, 0.927249  Reprojection Error: 0.482542, 0.150318 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.762] it:44 	 Success 	 new_chi2: 0.884733 	 dT = 0.011363, -0.020465, 0.046340
[11:52:55.762] xyz_f:-0.407235, 0.340360, 0.911838  Reprojection Error: 0.411557, 0.133997 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.762] xyz_f:-0.452314, -0.133201, 0.935378  Reprojection Error: 0.562133, 0.143243 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.762] xyz_f:-0.307826, -0.381579, 1.025654  Reprojection Error: 0.597785, 0.141542 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.762] xyz_f:-0.502074, -0.011149, 0.859705  Reprojection Error: 0.546243, 0.112675 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.762] xyz_f:-0.337513, -0.354316, 1.005819  Reprojection Error: 0.589936, 0.147651 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.762] xyz_f:-0.214902, -0.580587, 0.964998  Reprojection Error: 0.592231, 0.103056 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.762] xyz_f:-0.272815, -0.397857, 1.055280  Reprojection Error: 0.610546, 0.133615 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.762] xyz_f:-0.501676, -0.006883, 0.860643  Reprojection Error: 0.545129, 0.112139 Feature: -0.037549, 0.103507, 0.993920
[11:52:55.762] xyz_f:-0.444618, -0.123728, 0.950677  Reprojection Error: 0.560895, 0.144156 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.762] xyz_f:-0.519424, 0.092256, 0.809528  Reprojection Error: 0.526320, 0.076637 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.762] xyz_f:-0.327658, -0.376198, 1.004519  Reprojection Error: 0.591261, 0.145659 Feature: 0.250180, -0.215986, 0.943801
[11:52:55.762] xyz_f:-0.431641, -0.109757, 0.974465  Reprojection Error: 0.559731, 0.146479 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.762] xyz_f:-0.299712, -0.374136, 1.039954  Reprojection Error: 0.601738, 0.140458 Feature: 0.292836, -0.204823, 0.933967
[11:52:55.762] xyz_f:-0.332291, -0.388102, 0.990391  Reprojection Error: 0.588548, 0.146806 Feature: 0.238659, -0.231141, 0.943195
[11:52:55.762] xyz_f:-0.237597, 0.085806, 1.197928  Reprojection Error: 0.590837, 0.242105 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.762] xyz_f:-0.518289, 0.098676, 0.810682  Reprojection Error: 0.523880, 0.075794 Feature: -0.112537, 0.192540, 0.974815
[11:52:55.762] xyz_f:-0.286418, -0.381274, 1.050703  Reprojection Error: 0.606513, 0.137628 Feature: 0.309735, -0.208935, 0.927583
[11:52:55.762] xyz_f:-0.431079, -0.094917, 0.978136  Reprojection Error: 0.557558, 0.146313 Feature: 0.115915, 0.048882, 0.992056
[11:52:55.762] xyz_f:-0.500218, -0.018904, 0.863368  Reprojection Error: 0.547463, 0.114944 Feature: -0.031763, 0.092602, 0.995196
[11:52:55.762] xyz_f:-0.440966, -0.101716, 0.961369  Reprojection Error: 0.557816, 0.143993 Feature: 0.098575, 0.037976, 0.994405
[11:52:55.762] xyz_f:-0.229920, 0.113496, 1.200716  Reprojection Error: 0.587297, 0.253405 Feature: 0.350163, 0.307802, 0.884671
[11:52:55.762] xyz_f:-0.400493, 0.137999, 1.013847  Reprojection Error: 0.506876, 0.160908 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.762] xyz_f:-0.313931, -0.370431, 1.025370  Reprojection Error: 0.596623, 0.143141 Feature: 0.273007, -0.205018, 0.939912
[11:52:55.762] xyz_f:-0.300989, 0.147555, 1.129538  Reprojection Error: 0.539033, 0.222229 Feature: 0.248938, 0.322279, 0.913327
[11:52:55.762] xyz_f:-0.204702, 0.073116, 1.225667  Reprojection Error: 0.614065, 0.253971 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.762] xyz_f:-0.214902, -0.580587, 0.964998  Reprojection Error: 0.619101, 0.093454 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.762] xyz_f:-0.307826, -0.381579, 1.025654  Reprojection Error: 0.627887, 0.137443 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.762] xyz_f:-0.272815, -0.397857, 1.055280  Reprojection Error: 0.642004, 0.129049 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.762] xyz_f:-0.337513, -0.354316, 1.005819  Reprojection Error: 0.618916, 0.146389 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.762] xyz_f:-0.452314, -0.133201, 0.935378  Reprojection Error: 0.591447, 0.141047 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.762] xyz_f:-0.431641, -0.109757, 0.974465  Reprojection Error: 0.589382, 0.146590 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.762] xyz_f:-0.502074, -0.011149, 0.859705  Reprojection Error: 0.575376, 0.112617 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.762] xyz_f:-0.519424, 0.092256, 0.809528  Reprojection Error: 0.556100, 0.078453 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.762] xyz_f:-0.400493, 0.137999, 1.013847  Reprojection Error: 0.543707, 0.162088 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.762] xyz_f:-0.237597, 0.085806, 1.197928  Reprojection Error: 0.623324, 0.242490 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.762] xyz_f:-0.204702, 0.073116, 1.225667  Reprojection Error: 0.651715, 0.252474 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.762] xyz_f:-0.444618, -0.123728, 0.950677  Reprojection Error: 0.458378, 0.583271 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.762] xyz_f:-0.407235, 0.340360, 0.911838  Reprojection Error: 0.443525, 0.133747 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.762] it:45 	 Success 	 new_chi2: 1.259349 	 dT = -0.002411, -0.016612, 0.056123
[11:52:55.762] xyz_f:-0.392613, 0.352278, 0.883972  Reprojection Error: 0.409094, 0.108749 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.762] xyz_f:-0.445772, -0.120569, 0.904849  Reprojection Error: 0.571218, 0.134088 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.762] xyz_f:-0.310008, -0.370983, 1.002724  Reprojection Error: 0.606825, 0.139483 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.762] xyz_f:-0.489581, 0.002163, 0.826639  Reprojection Error: 0.554491, 0.097091 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.762] xyz_f:-0.338179, -0.343300, 0.981320  Reprojection Error: 0.598991, 0.145220 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.762] xyz_f:-0.216833, -0.571343, 0.947113  Reprojection Error: 0.598475, 0.104657 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.762] xyz_f:-0.276894, -0.387756, 1.034197  Reprojection Error: 0.619761, 0.131535 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.762] xyz_f:-0.489173, 0.006422, 0.827599  Reprojection Error: 0.553296, 0.096381 Feature: -0.037549, 0.103507, 0.993920
[11:52:55.762] xyz_f:-0.438779, -0.111203, 0.920546  Reprojection Error: 0.569860, 0.134810 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.762] xyz_f:-0.502684, 0.105788, 0.775637  Reprojection Error: 0.532774, 0.054210 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.762] xyz_f:-0.328586, -0.365324, 0.980547  Reprojection Error: 0.600182, 0.143725 Feature: 0.250180, -0.215986, 0.943801
[11:52:55.762] xyz_f:-0.426908, -0.097413, 0.945008  Reprojection Error: 0.568530, 0.136927 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.762] xyz_f:-0.302574, -0.363654, 1.017445  Reprojection Error: 0.610927, 0.138115 Feature: 0.292836, -0.204823, 0.933967
[11:52:55.762] xyz_f:-0.332619, -0.377165, 0.966184  Reprojection Error: 0.597294, 0.145304 Feature: 0.238659, -0.231141, 0.943195
[11:52:55.762] xyz_f:-0.242439, 0.095400, 1.178734  Reprojection Error: 0.598174, 0.232799 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.762] xyz_f:-0.501520, 0.112192, 0.776853  Reprojection Error: 0.530134, 0.053095 Feature: -0.112537, 0.192540, 0.974815
[11:52:55.762] xyz_f:-0.289987, -0.370980, 1.028896  Reprojection Error: 0.615759, 0.135314 Feature: 0.309735, -0.208935, 0.927583
[11:52:55.762] xyz_f:-0.426331, -0.082581, 0.948710  Reprojection Error: 0.566223, 0.136320 Feature: 0.115915, 0.048882, 0.992056
[11:52:55.762] xyz_f:-0.488039, -0.005618, 0.830395  Reprojection Error: 0.555803, 0.099814 Feature: -0.031763, 0.092602, 0.995196
[11:52:55.762] xyz_f:-0.435393, -0.089243, 0.931429  Reprojection Error: 0.566576, 0.134002 Feature: 0.098575, 0.037976, 0.994405
[11:52:55.762] xyz_f:-0.234523, 0.122977, 1.181945  Reprojection Error: 0.594232, 0.243882 Feature: 0.350163, 0.307802, 0.884671
[11:52:55.762] xyz_f:-0.394347, 0.149881, 0.986117  Reprojection Error: 0.511751, 0.145032 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.762] xyz_f:-0.315926, -0.359748, 1.002113  Reprojection Error: 0.605720, 0.140865 Feature: 0.273007, -0.205018, 0.939912
[11:52:55.762] xyz_f:-0.301129, 0.158036, 1.107034  Reprojection Error: 0.544576, 0.210106 Feature: 0.248938, 0.322279, 0.913327
[11:52:55.762] xyz_f:-0.211283, 0.082245, 1.208209  Reprojection Error: 0.621925, 0.245553 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.762] xyz_f:-0.216833, -0.571343, 0.947113  Reprojection Error: 0.625345, 0.095056 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.762] xyz_f:-0.310008, -0.370983, 1.002724  Reprojection Error: 0.636927, 0.135384 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.762] xyz_f:-0.276894, -0.387756, 1.034197  Reprojection Error: 0.651218, 0.126968 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.762] xyz_f:-0.338179, -0.343300, 0.981320  Reprojection Error: 0.627971, 0.143958 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.762] xyz_f:-0.445772, -0.120569, 0.904849  Reprojection Error: 0.600532, 0.131892 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.762] xyz_f:-0.426908, -0.097413, 0.945008  Reprojection Error: 0.598181, 0.137039 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.762] xyz_f:-0.489581, 0.002163, 0.826639  Reprojection Error: 0.583623, 0.097033 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.763] xyz_f:-0.502684, 0.105788, 0.775637  Reprojection Error: 0.562554, 0.056026 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.763] xyz_f:-0.394347, 0.149881, 0.986117  Reprojection Error: 0.548582, 0.146212 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.763] xyz_f:-0.242439, 0.095400, 1.178734  Reprojection Error: 0.630661, 0.233184 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.763] xyz_f:-0.211283, 0.082245, 1.208209  Reprojection Error: 0.659575, 0.244056 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.763] xyz_f:-0.438779, -0.111203, 0.920546  Reprojection Error: 0.467343, 0.573925 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.763] xyz_f:-0.392613, 0.352278, 0.883972  Reprojection Error: 0.441062, 0.108498 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.763] it:46 	 Success 	 new_chi2: 1.187431 	 dT = 0.000180, -0.015200, 0.054265
[11:52:55.763] xyz_f:-0.395075, 0.364054, 0.855222  Reprojection Error: 0.426904, 0.081581 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.763] xyz_f:-0.455887, -0.107992, 0.873111  Reprojection Error: 0.600711, 0.124526 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.763] xyz_f:-0.328966, -0.360251, 0.977871  Reprojection Error: 0.634069, 0.137911 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.763] xyz_f:-0.493812, 0.015314, 0.792758  Reprojection Error: 0.585139, 0.080389 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.763] xyz_f:-0.355585, -0.332183, 0.955031  Reprojection Error: 0.626703, 0.143209 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.763] xyz_f:-0.235827, -0.561920, 0.927145  Reprojection Error: 0.623893, 0.107486 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.763] xyz_f:-0.297785, -0.377476, 1.011030  Reprojection Error: 0.646559, 0.129958 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.763] xyz_f:-0.493394, 0.019567, 0.793740  Reprojection Error: 0.583828, 0.079489 Feature: -0.037549, 0.103507, 0.993920
[11:52:55.763] xyz_f:-0.449595, -0.098719, 0.889156  Reprojection Error: 0.598852, 0.125034 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.763] xyz_f:-0.502768, 0.119094, 0.741178  Reprojection Error: 0.563019, 0.029917 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.763] xyz_f:-0.346275, -0.354339, 0.954754  Reprojection Error: 0.627763, 0.142285 Feature: 0.250180, -0.215986, 0.943801
[11:52:55.763] xyz_f:-0.438830, -0.085088, 0.914211  Reprojection Error: 0.596789, 0.126918 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.763] xyz_f:-0.322211, -0.353021, 0.992965  Reprojection Error: 0.638035, 0.136219 Feature: 0.292836, -0.204823, 0.933967
[11:52:55.763] xyz_f:-0.349716, -0.366128, 0.940195  Reprojection Error: 0.624994, 0.144356 Feature: 0.238659, -0.231141, 0.943195
[11:52:55.763] xyz_f:-0.264170, 0.105202, 1.157351  Reprojection Error: 0.620751, 0.222835 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.763] xyz_f:-0.501580, 0.125482, 0.742456  Reprojection Error: 0.560124, 0.028505 Feature: -0.112537, 0.192540, 0.974815
[11:52:55.763] xyz_f:-0.310346, -0.360519, 1.005057  Reprojection Error: 0.642700, 0.133458 Feature: 0.309735, -0.208935, 0.927583
[11:52:55.763] xyz_f:-0.438239, -0.070265, 0.917944  Reprojection Error: 0.594257, 0.125820 Feature: 0.115915, 0.048882, 0.992056
[11:52:55.763] xyz_f:-0.492577, 0.007514, 0.796587  Reprojection Error: 0.586444, 0.083616 Feature: -0.031763, 0.092602, 0.995196
[11:52:55.763] xyz_f:-0.446476, -0.076805, 0.900209  Reprojection Error: 0.595099, 0.123508 Feature: 0.098575, 0.037976, 0.994405
[11:52:55.763] xyz_f:-0.256047, 0.132667, 1.160983  Reprojection Error: 0.616355, 0.233657 Feature: 0.350163, 0.307802, 0.884671
[11:52:55.763] xyz_f:-0.404999, 0.161739, 0.957061  Reprojection Error: 0.535022, 0.128027 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.763] xyz_f:-0.334686, -0.348934, 0.976956  Reprojection Error: 0.633040, 0.139040 Feature: 0.273007, -0.205018, 0.939912
[11:52:55.763] xyz_f:-0.318139, 0.168630, 1.082698  Reprojection Error: 0.566400, 0.197112 Feature: 0.248938, 0.322279, 0.913327
[11:52:55.763] xyz_f:-0.234789, 0.091622, 1.188414  Reprojection Error: 0.644618, 0.236528 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.763] xyz_f:-0.235827, -0.561920, 0.927145  Reprojection Error: 0.650763, 0.097884 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.763] xyz_f:-0.328966, -0.360251, 0.977871  Reprojection Error: 0.664171, 0.133812 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.763] xyz_f:-0.297785, -0.377476, 1.011030  Reprojection Error: 0.678016, 0.125391 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.763] xyz_f:-0.355585, -0.332183, 0.955031  Reprojection Error: 0.655683, 0.141947 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.763] xyz_f:-0.455887, -0.107992, 0.873111  Reprojection Error: 0.630025, 0.122331 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.763] xyz_f:-0.438830, -0.085088, 0.914211  Reprojection Error: 0.626440, 0.127030 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.763] xyz_f:-0.493812, 0.015314, 0.792758  Reprojection Error: 0.614271, 0.080332 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.763] xyz_f:-0.502768, 0.119094, 0.741178  Reprojection Error: 0.592799, 0.031732 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.763] xyz_f:-0.404999, 0.161739, 0.957061  Reprojection Error: 0.571853, 0.129207 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.763] xyz_f:-0.264170, 0.105202, 1.157351  Reprojection Error: 0.653238, 0.223219 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.763] xyz_f:-0.234789, 0.091622, 1.188414  Reprojection Error: 0.682267, 0.235032 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.763] xyz_f:-0.449595, -0.098719, 0.889156  Reprojection Error: 0.496334, 0.564149 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.763] xyz_f:-0.395075, 0.364054, 0.855222  Reprojection Error: 0.458872, 0.081331 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.763] it:47 	 Success 	 new_chi2: 0.883713 	 dT = 0.008781, -0.014433, 0.047139
[11:52:55.763] xyz_f:-0.400772, 0.374459, 0.830823  Reprojection Error: 0.447328, 0.056557 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.763] xyz_f:-0.468088, -0.096805, 0.845795  Reprojection Error: 0.632000, 0.115295 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.763] xyz_f:-0.349153, -0.350565, 0.956153  Reprojection Error: 0.662823, 0.136148 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.763] xyz_f:-0.500809, 0.026932, 0.763833  Reprojection Error: 0.617889, 0.064448 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.763] xyz_f:-0.374360, -0.322180, 0.932133  Reprojection Error: 0.655992, 0.141023 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.763] xyz_f:-0.256268, -0.553368, 0.909663  Reprojection Error: 0.651252, 0.109733 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.763] xyz_f:-0.319726, -0.368159, 0.990692  Reprojection Error: 0.674752, 0.128218 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.763] xyz_f:-0.500385, 0.031180, 0.764834  Reprojection Error: 0.616461, 0.063374 Feature: -0.037549, 0.103507, 0.993920
[11:52:55.763] xyz_f:-0.462420, -0.087605, 0.862112  Reprojection Error: 0.629590, 0.115626 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.763] xyz_f:-0.506142, 0.130799, 0.711927  Reprojection Error: 0.595629, 0.006874 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.763] xyz_f:-0.365319, -0.344449, 0.932273  Reprojection Error: 0.656935, 0.140625 Feature: 0.250180, -0.215986, 0.943801
[11:52:55.763] xyz_f:-0.452641, -0.074100, 0.887635  Reprojection Error: 0.626720, 0.117325 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.763] xyz_f:-0.343004, -0.343413, 0.971540  Reprojection Error: 0.666593, 0.134169 Feature: 0.292836, -0.204823, 0.933967
[11:52:55.763] xyz_f:-0.368237, -0.356198, 0.917570  Reprojection Error: 0.654350, 0.143136 Feature: 0.238659, -0.231141, 0.943195
[11:52:55.763] xyz_f:-0.286922, 0.114114, 1.138526  Reprojection Error: 0.644508, 0.213504 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.763] xyz_f:-0.504936, 0.137172, 0.713260  Reprojection Error: 0.592483, 0.005197 Feature: -0.112537, 0.192540, 0.974815
[11:52:55.763] xyz_f:-0.331794, -0.351052, 0.984158  Reprojection Error: 0.671051, 0.131456 Feature: 0.309735, -0.208935, 0.927583
[11:52:55.763] xyz_f:-0.452041, -0.059284, 0.891395  Reprojection Error: 0.623959, 0.115781 Feature: 0.115915, 0.048882, 0.992056
[11:52:55.763] xyz_f:-0.499846, 0.019119, 0.767712  Reprojection Error: 0.619170, 0.068145 Feature: -0.031763, 0.092602, 0.995196
[11:52:55.763] xyz_f:-0.459541, -0.065727, 0.873302  Reprojection Error: 0.625341, 0.113452 Feature: 0.098575, 0.037976, 0.994405
[11:52:55.763] xyz_f:-0.278638, 0.141479, 1.142531  Reprojection Error: 0.639689, 0.224099 Feature: 0.350163, 0.307802, 0.884671
[11:52:55.763] xyz_f:-0.417788, 0.172309, 0.932049  Reprojection Error: 0.560099, 0.112152 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.763] xyz_f:-0.354686, -0.339179, 0.954982  Reprojection Error: 0.661867, 0.137043 Feature: 0.273007, -0.205018, 0.939912
[11:52:55.763] xyz_f:-0.336659, 0.178174, 1.061511  Reprojection Error: 0.589712, 0.185012 Feature: 0.248938, 0.322279, 0.913327
[11:52:55.763] xyz_f:-0.259152, 0.100185, 1.170890  Reprojection Error: 0.668382, 0.228061 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.763] xyz_f:-0.256268, -0.553368, 0.909663  Reprojection Error: 0.678122, 0.100131 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.763] xyz_f:-0.349153, -0.350565, 0.956153  Reprojection Error: 0.692925, 0.132049 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.763] xyz_f:-0.319726, -0.368159, 0.990692  Reprojection Error: 0.706210, 0.123652 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.763] xyz_f:-0.374360, -0.322180, 0.932133  Reprojection Error: 0.684972, 0.139761 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.763] xyz_f:-0.468088, -0.096805, 0.845795  Reprojection Error: 0.661314, 0.113099 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.763] xyz_f:-0.452641, -0.074100, 0.887635  Reprojection Error: 0.656371, 0.117437 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.763] xyz_f:-0.500809, 0.026932, 0.763833  Reprojection Error: 0.647021, 0.064390 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.763] xyz_f:-0.506142, 0.130799, 0.711927  Reprojection Error: 0.625409, 0.008689 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.763] xyz_f:-0.417788, 0.172309, 0.932049  Reprojection Error: 0.596930, 0.113332 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.763] xyz_f:-0.286922, 0.114114, 1.138526  Reprojection Error: 0.676995, 0.213888 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.763] xyz_f:-0.259152, 0.100185, 1.170890  Reprojection Error: 0.706032, 0.226565 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.763] xyz_f:-0.462420, -0.087605, 0.862112  Reprojection Error: 0.527073, 0.554741 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.763] xyz_f:-0.400772, 0.374459, 0.830823  Reprojection Error: 0.479296, 0.056306 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.763] it:48 	 Success 	 new_chi2: 0.589009 	 dT = 0.016880, -0.012570, 0.038557
[11:52:55.763] xyz_f:-0.403079, 0.383074, 0.811242  Reprojection Error: 0.461814, 0.035059 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.763] xyz_f:-0.475604, -0.087493, 0.823610  Reprojection Error: 0.656033, 0.107071 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.763] xyz_f:-0.363397, -0.342406, 0.938273  Reprojection Error: 0.684964, 0.134439 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.763] xyz_f:-0.504015, 0.036549, 0.740510  Reprojection Error: 0.642868, 0.050350 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.763] xyz_f:-0.387409, -0.313775, 0.913336  Reprojection Error: 0.678544, 0.138934 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.763] xyz_f:-0.270875, -0.546134, 0.895235  Reprojection Error: 0.672108, 0.111456 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.763] xyz_f:-0.335454, -0.360286, 0.973880  Reprojection Error: 0.696474, 0.126549 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.763] xyz_f:-0.503585, 0.040793, 0.741527  Reprojection Error: 0.641341, 0.049128 Feature: -0.037549, 0.103507, 0.993920
[11:52:55.763] xyz_f:-0.470456, -0.078347, 0.840129  Reprojection Error: 0.653191, 0.107264 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.763] xyz_f:-0.506375, 0.140455, 0.688460  Reprojection Error: 0.620200, -0.013414 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.763] xyz_f:-0.378601, -0.336133, 0.913809  Reprojection Error: 0.679388, 0.138991 Feature: 0.250180, -0.215986, 0.943801
[11:52:55.763] xyz_f:-0.461500, -0.064935, 0.866000  Reprojection Error: 0.649689, 0.108828 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.763] xyz_f:-0.357755, -0.335313, 0.953880  Reprojection Error: 0.688593, 0.132222 Feature: 0.292836, -0.204823, 0.933967
[11:52:55.763] xyz_f:-0.381087, -0.347856, 0.899004  Reprojection Error: 0.676932, 0.141873 Feature: 0.238659, -0.231141, 0.943195
[11:52:55.763] xyz_f:-0.303367, 0.121663, 1.122922  Reprojection Error: 0.662655, 0.205389 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.763] xyz_f:-0.505155, 0.146816, 0.689838  Reprojection Error: 0.616836, -0.015313 Feature: -0.112537, 0.192540, 0.974815
[11:52:55.763] xyz_f:-0.347099, -0.343061, 0.966904  Reprojection Error: 0.692896, 0.129556 Feature: 0.309735, -0.208935, 0.927583
[11:52:55.763] xyz_f:-0.460892, -0.050125, 0.869783  Reprojection Error: 0.646736, 0.106903 Feature: 0.115915, 0.048882, 0.992056
[11:52:55.763] xyz_f:-0.503274, 0.028728, 0.744420  Reprojection Error: 0.644146, 0.054458 Feature: -0.031763, 0.092602, 0.995196
[11:52:55.763] xyz_f:-0.467777, -0.056496, 0.851422  Reprojection Error: 0.648537, 0.104545 Feature: 0.098575, 0.037976, 0.994405
[11:52:55.763] xyz_f:-0.294965, 0.148944, 1.127238  Reprojection Error: 0.657482, 0.215797 Feature: 0.350163, 0.307802, 0.884671
[11:52:55.763] xyz_f:-0.425868, 0.181122, 0.911727  Reprojection Error: 0.578952, 0.098364 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.763] xyz_f:-0.368770, -0.330965, 0.936898  Reprojection Error: 0.684067, 0.135132 Feature: 0.273007, -0.205018, 0.939912
[11:52:55.763] xyz_f:-0.349561, 0.186202, 1.044121  Reprojection Error: 0.607351, 0.174528 Feature: 0.248938, 0.322279, 0.913327
[11:52:55.763] xyz_f:-0.276962, 0.107463, 1.156295  Reprojection Error: 0.686578, 0.220687 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.763] xyz_f:-0.270875, -0.546134, 0.895235  Reprojection Error: 0.698978, 0.101854 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.763] xyz_f:-0.363397, -0.342406, 0.938273  Reprojection Error: 0.715066, 0.130340 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.763] xyz_f:-0.335454, -0.360286, 0.973880  Reprojection Error: 0.727931, 0.121983 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.763] xyz_f:-0.387409, -0.313775, 0.913336  Reprojection Error: 0.707524, 0.137672 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.763] xyz_f:-0.475604, -0.087493, 0.823610  Reprojection Error: 0.685347, 0.104875 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.763] xyz_f:-0.461500, -0.064935, 0.866000  Reprojection Error: 0.679340, 0.108939 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.763] xyz_f:-0.504015, 0.036549, 0.740510  Reprojection Error: 0.672000, 0.050292 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.763] xyz_f:-0.506375, 0.140455, 0.688460  Reprojection Error: 0.649980, -0.011599 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.763] xyz_f:-0.425868, 0.181122, 0.911727  Reprojection Error: 0.615783, 0.099545 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.763] xyz_f:-0.303367, 0.121663, 1.122922  Reprojection Error: 0.695142, 0.205773 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.763] xyz_f:-0.276962, 0.107463, 1.156295  Reprojection Error: 0.724228, 0.219190 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.763] xyz_f:-0.470456, -0.078347, 0.840129  Reprojection Error: 0.550673, 0.546379 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.763] xyz_f:-0.403079, 0.383074, 0.811242  Reprojection Error: 0.493782, 0.034808 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.763] it:49 	 Success 	 new_chi2: 0.409630 	 dT = 0.020456, -0.009549, 0.032674
[11:52:55.763] xyz_f:-0.400398, 0.390437, 0.793311  Reprojection Error: 0.469666, 0.015104 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.763] xyz_f:-0.477253, -0.079498, 0.803321  Reprojection Error: 0.672671, 0.099801 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.763] xyz_f:-0.370880, -0.335335, 0.921434  Reprojection Error: 0.700163, 0.133435 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.763] xyz_f:-0.501978, 0.044769, 0.719382  Reprojection Error: 0.660026, 0.037474 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.763] xyz_f:-0.393850, -0.306506, 0.895756  Reprojection Error: 0.694060, 0.137561 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.763] xyz_f:-0.278772, -0.539844, 0.881310  Reprojection Error: 0.685849, 0.113958 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.763] xyz_f:-0.344227, -0.353446, 0.957902  Reprojection Error: 0.711377, 0.125579 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.763] xyz_f:-0.501545, 0.049009, 0.720413  Reprojection Error: 0.658413, 0.036111 Feature: -0.037549, 0.103507, 0.993920
[11:52:55.763] xyz_f:-0.472552, -0.070393, 0.819995  Reprojection Error: 0.669496, 0.099855 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.763] xyz_f:-0.501816, 0.148684, 0.667298  Reprojection Error: 0.636694, -0.032216 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.763] xyz_f:-0.385251, -0.328937, 0.896503  Reprojection Error: 0.694804, 0.138065 Feature: 0.250180, -0.215986, 0.943801
[11:52:55.763] xyz_f:-0.464304, -0.057054, 0.846138  Reprojection Error: 0.665512, 0.101274 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.763] xyz_f:-0.365674, -0.328288, 0.937212  Reprojection Error: 0.703713, 0.130978 Feature: 0.292836, -0.204823, 0.933967
[11:52:55.763] xyz_f:-0.387368, -0.340640, 0.881626  Reprojection Error: 0.692411, 0.141316 Feature: 0.238659, -0.231141, 0.943195
[11:52:55.763] xyz_f:-0.312785, 0.128234, 1.107948  Reprojection Error: 0.674807, 0.197994 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.763] xyz_f:-0.500587, 0.155035, 0.668715  Reprojection Error: 0.633136, -0.034326 Feature: -0.112537, 0.192540, 0.974815
[11:52:55.763] xyz_f:-0.355500, -0.336124, 0.950565  Reprojection Error: 0.707904, 0.128358 Feature: 0.309735, -0.208935, 0.927583
[11:52:55.763] xyz_f:-0.463690, -0.042249, 0.849941  Reprojection Error: 0.662399, 0.098982 Feature: 0.115915, 0.048882, 0.992056
[11:52:55.763] xyz_f:-0.501427, 0.036942, 0.723313  Reprojection Error: 0.661321, 0.041976 Feature: -0.031763, 0.092602, 0.995196
[11:52:55.763] xyz_f:-0.470046, -0.048565, 0.831370  Reprojection Error: 0.664517, 0.096605 Feature: 0.098575, 0.037976, 0.994405
[11:52:55.763] xyz_f:-0.304293, 0.155444, 1.112530  Reprojection Error: 0.669326, 0.208207 Feature: 0.350163, 0.307802, 0.884671
[11:52:55.763] xyz_f:-0.428053, 0.188698, 0.892999  Reprojection Error: 0.591195, 0.085714 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.763] xyz_f:-0.376110, -0.323850, 0.919892  Reprojection Error: 0.699323, 0.133927 Feature: 0.273007, -0.205018, 0.939912
[11:52:55.763] xyz_f:-0.355922, 0.193151, 1.027736  Reprojection Error: 0.618878, 0.164924 Feature: 0.248938, 0.322279, 0.913327
[11:52:55.763] xyz_f:-0.287568, 0.113816, 1.142135  Reprojection Error: 0.698833, 0.213972 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.763] xyz_f:-0.278772, -0.539844, 0.881310  Reprojection Error: 0.712719, 0.104356 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.763] xyz_f:-0.370880, -0.335335, 0.921434  Reprojection Error: 0.730265, 0.129336 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.763] xyz_f:-0.344227, -0.353446, 0.957902  Reprojection Error: 0.742835, 0.121013 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.763] xyz_f:-0.393850, -0.306506, 0.895756  Reprojection Error: 0.723040, 0.136299 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.763] xyz_f:-0.477253, -0.079498, 0.803321  Reprojection Error: 0.701984, 0.097606 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.763] xyz_f:-0.464304, -0.057054, 0.846138  Reprojection Error: 0.695163, 0.101386 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.763] xyz_f:-0.501978, 0.044769, 0.719382  Reprojection Error: 0.689158, 0.037416 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.763] xyz_f:-0.501816, 0.148684, 0.667298  Reprojection Error: 0.666474, -0.030400 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.763] xyz_f:-0.428053, 0.188698, 0.892999  Reprojection Error: 0.628026, 0.086894 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.763] xyz_f:-0.312785, 0.128234, 1.107948  Reprojection Error: 0.707294, 0.198378 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.763] xyz_f:-0.287568, 0.113816, 1.142135  Reprojection Error: 0.736483, 0.212475 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.763] xyz_f:-0.472552, -0.070393, 0.819995  Reprojection Error: 0.566979, 0.538970 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.763] xyz_f:-0.400398, 0.390437, 0.793311  Reprojection Error: 0.501633, 0.014853 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.763] it:50 	 Success 	 new_chi2: 0.318091 	 dT = 0.018741, -0.006425, 0.032005
[11:52:55.763] xyz_f:-0.394415, 0.397698, 0.772639  Reprojection Error: 0.475425, -0.007461 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.763] xyz_f:-0.475432, -0.071583, 0.780209  Reprojection Error: 0.687935, 0.092589 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.763] xyz_f:-0.374883, -0.328278, 0.901520  Reprojection Error: 0.713494, 0.133645 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.764] xyz_f:-0.496520, 0.052873, 0.695562  Reprojection Error: 0.676076, 0.023692 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.764] xyz_f:-0.396809, -0.299263, 0.875148  Reprojection Error: 0.707794, 0.137342 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.764] xyz_f:-0.283275, -0.533548, 0.864237  Reprojection Error: 0.697309, 0.118773 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.764] xyz_f:-0.349521, -0.346604, 0.938793  Reprojection Error: 0.724331, 0.125802 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.764] xyz_f:-0.496085, 0.057110, 0.696606  Reprojection Error: 0.674366, 0.022157 Feature: -0.037549, 0.103507, 0.993920
[11:52:55.764] xyz_f:-0.471173, -0.062516, 0.797022  Reprojection Error: 0.684377, 0.092446 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.764] xyz_f:-0.493888, 0.156777, 0.643521  Reprojection Error: 0.652160, -0.053024 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.764] xyz_f:-0.388423, -0.321764, 0.876158  Reprojection Error: 0.708402, 0.138398 Feature: 0.250180, -0.215986, 0.943801
[11:52:55.764] xyz_f:-0.463627, -0.049242, 0.823409  Reprojection Error: 0.679837, 0.093648 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.764] xyz_f:-0.370109, -0.321272, 0.917453  Reprojection Error: 0.716950, 0.130875 Feature: 0.292836, -0.204823, 0.933967
[11:52:55.764] xyz_f:-0.390176, -0.333451, 0.861221  Reprojection Error: 0.706082, 0.142123 Feature: 0.238659, -0.231141, 0.943195
[11:52:55.764] xyz_f:-0.318744, 0.134818, 1.089800  Reprojection Error: 0.684976, 0.190025 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.764] xyz_f:-0.492651, 0.163117, 0.644976  Reprojection Error: 0.648383, -0.055390 Feature: -0.112537, 0.192540, 0.974815
[11:52:55.764] xyz_f:-0.360418, -0.329190, 0.931113  Reprojection Error: 0.720998, 0.128298 Feature: 0.309735, -0.208935, 0.927583
[11:52:55.764] xyz_f:-0.463008, -0.034442, 0.827230  Reprojection Error: 0.676552, 0.090910 Feature: 0.115915, 0.048882, 0.992056
[11:52:55.764] xyz_f:-0.496156, 0.045042, 0.699507  Reprojection Error: 0.677379, 0.028657 Feature: -0.031763, 0.092602, 0.995196
[11:52:55.764] xyz_f:-0.468839, -0.040708, 0.808472  Reprojection Error: 0.679038, 0.088541 Feature: 0.098575, 0.037976, 0.994405
[11:52:55.764] xyz_f:-0.310172, 0.161957, 1.094646  Reprojection Error: 0.679165, 0.199974 Feature: 0.350163, 0.307802, 0.884671
[11:52:55.764] xyz_f:-0.426808, 0.196208, 0.871400  Reprojection Error: 0.601648, 0.071858 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.764] xyz_f:-0.379967, -0.316750, 0.899819  Reprojection Error: 0.712731, 0.133890 Feature: 0.273007, -0.205018, 0.939912
[11:52:55.764] xyz_f:-0.358841, 0.200080, 1.008302  Reprojection Error: 0.628448, 0.154430 Feature: 0.248938, 0.322279, 0.913327
[11:52:55.764] xyz_f:-0.294715, 0.120197, 1.124749  Reprojection Error: 0.709080, 0.206759 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.764] xyz_f:-0.283275, -0.533548, 0.864237  Reprojection Error: 0.724179, 0.109172 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.764] xyz_f:-0.374883, -0.328278, 0.901520  Reprojection Error: 0.743596, 0.129546 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.764] xyz_f:-0.349521, -0.346604, 0.938793  Reprojection Error: 0.755788, 0.121236 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.764] xyz_f:-0.396809, -0.299263, 0.875148  Reprojection Error: 0.736774, 0.136080 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.764] xyz_f:-0.475432, -0.071583, 0.780209  Reprojection Error: 0.717249, 0.090393 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.764] xyz_f:-0.463627, -0.049242, 0.823409  Reprojection Error: 0.709488, 0.093760 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.764] xyz_f:-0.496520, 0.052873, 0.695562  Reprojection Error: 0.705208, 0.023634 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.764] xyz_f:-0.493888, 0.156777, 0.643521  Reprojection Error: 0.681940, -0.051208 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.764] xyz_f:-0.426808, 0.196208, 0.871400  Reprojection Error: 0.638479, 0.073039 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.764] xyz_f:-0.318744, 0.134818, 1.089800  Reprojection Error: 0.717462, 0.190409 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.764] xyz_f:-0.294715, 0.120197, 1.124749  Reprojection Error: 0.746730, 0.205262 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.764] xyz_f:-0.471173, -0.062516, 0.797022  Reprojection Error: 0.581860, 0.531561 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.764] xyz_f:-0.394415, 0.397698, 0.772639  Reprojection Error: 0.507393, -0.007711 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.764] it:51 	 Success 	 new_chi2: 0.256403 	 dT = 0.011885, -0.003618, 0.037400
[11:52:55.764] xyz_f:-0.386162, 0.406233, 0.744406  Reprojection Error: 0.483700, -0.038448 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.764] xyz_f:-0.471938, -0.062241, 0.748962  Reprojection Error: 0.708692, 0.083943 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.764] xyz_f:-0.378325, -0.319875, 0.873781  Reprojection Error: 0.730634, 0.135589 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.764] xyz_f:-0.488750, 0.062399, 0.663631  Reprojection Error: 0.698714, 0.005681 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.764] xyz_f:-0.399002, -0.290654, 0.846639  Reprojection Error: 0.725652, 0.138689 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.764] xyz_f:-0.287421, -0.526029, 0.839794  Reprojection Error: 0.711785, 0.127789 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.764] xyz_f:-0.354504, -0.338440, 0.911942  Reprojection Error: 0.740757, 0.127720 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.764] xyz_f:-0.488311, 0.066631, 0.664691  Reprojection Error: 0.696865, 0.003897 Feature: -0.037549, 0.103507, 0.993920
[11:52:55.764] xyz_f:-0.468202, -0.053213, 0.765920  Reprojection Error: 0.704503, 0.083484 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.764] xyz_f:-0.483234, 0.166263, 0.611737  Reprojection Error: 0.674620, -0.081189 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.764] xyz_f:-0.390876, -0.313236, 0.847948  Reprojection Error: 0.726045, 0.140558 Feature: 0.250180, -0.215986, 0.943801
[11:52:55.764] xyz_f:-0.461485, -0.040008, 0.792564  Reprojection Error: 0.699047, 0.084324 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.764] xyz_f:-0.374062, -0.312914, 0.889877  Reprojection Error: 0.733892, 0.132333 Feature: 0.292836, -0.204823, 0.933967
[11:52:55.764] xyz_f:-0.392201, -0.324908, 0.832955  Reprojection Error: 0.723888, 0.145005 Feature: 0.238659, -0.231141, 0.943195
[11:52:55.764] xyz_f:-0.324543, 0.142688, 1.064047  Reprojection Error: 0.697505, 0.179634 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.764] xyz_f:-0.481989, 0.172591, 0.613237  Reprojection Error: 0.670530, -0.083929 Feature: -0.112537, 0.192540, 0.974815
[11:52:55.764] xyz_f:-0.364947, -0.320923, 0.903877  Reprojection Error: 0.737673, 0.129805 Feature: 0.309735, -0.208935, 0.927583
[11:52:55.764] xyz_f:-0.460862, -0.025214, 0.796408  Reprojection Error: 0.695518, 0.080934 Feature: 0.115915, 0.048882, 0.992056
[11:52:55.764] xyz_f:-0.488604, 0.054565, 0.667585  Reprojection Error: 0.699983, 0.011313 Feature: -0.031763, 0.092602, 0.995196
[11:52:55.764] xyz_f:-0.466072, -0.031426, 0.777450  Reprojection Error: 0.698618, 0.078611 Feature: 0.098575, 0.037976, 0.994405
[11:52:55.764] xyz_f:-0.315890, 0.169744, 1.069204  Reprojection Error: 0.691256, 0.189171 Feature: 0.350163, 0.307802, 0.884671
[11:52:55.764] xyz_f:-0.424049, 0.205082, 0.841896  Reprojection Error: 0.615536, 0.053426 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.764] xyz_f:-0.383232, -0.308299, 0.871899  Reprojection Error: 0.729998, 0.135470 Feature: 0.273007, -0.205018, 0.939912
[11:52:55.764] xyz_f:-0.361037, 0.208321, 0.981165  Reprojection Error: 0.640529, 0.140542 Feature: 0.248938, 0.322279, 0.913327
[11:52:55.764] xyz_f:-0.301935, 0.127841, 1.099838  Reprojection Error: 0.721579, 0.197388 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.764] xyz_f:-0.287421, -0.526029, 0.839794  Reprojection Error: 0.738655, 0.118187 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.764] xyz_f:-0.378325, -0.319875, 0.873781  Reprojection Error: 0.760736, 0.131490 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.764] xyz_f:-0.354504, -0.338440, 0.911942  Reprojection Error: 0.772214, 0.123154 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.764] xyz_f:-0.399002, -0.290654, 0.846639  Reprojection Error: 0.754632, 0.137427 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.764] xyz_f:-0.471938, -0.062241, 0.748962  Reprojection Error: 0.738006, 0.081748 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.764] xyz_f:-0.461485, -0.040008, 0.792564  Reprojection Error: 0.728698, 0.084436 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.764] xyz_f:-0.488750, 0.062399, 0.663631  Reprojection Error: 0.727846, 0.005623 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.764] xyz_f:-0.483234, 0.166263, 0.611737  Reprojection Error: 0.704400, -0.079373 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.764] xyz_f:-0.424049, 0.205082, 0.841896  Reprojection Error: 0.652367, 0.054607 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.764] xyz_f:-0.324543, 0.142688, 1.064047  Reprojection Error: 0.729992, 0.180018 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.764] xyz_f:-0.301935, 0.127841, 1.099838  Reprojection Error: 0.759229, 0.195892 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.764] xyz_f:-0.468202, -0.053213, 0.765920  Reprojection Error: 0.601986, 0.522600 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.764] xyz_f:-0.386162, 0.406233, 0.744406  Reprojection Error: 0.515668, -0.038699 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.764] it:52 	 Success 	 new_chi2: 0.195721 	 dT = -0.005102, -0.001603, 0.055799
[11:52:55.764] xyz_f:-0.370759, 0.419041, 0.698205  Reprojection Error: 0.495965, -0.092904 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.764] xyz_f:-0.463408, -0.048144, 0.697952  Reprojection Error: 0.742525, 0.069818 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.764] xyz_f:-0.380384, -0.307054, 0.827532  Reprojection Error: 0.757320, 0.140555 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.764] xyz_f:-0.473798, 0.076693, 0.611887  Reprojection Error: 0.736559, -0.025631 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.764] xyz_f:-0.399145, -0.277548, 0.799328  Reprojection Error: 0.753726, 0.142612 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.764] xyz_f:-0.290766, -0.514512, 0.798412  Reprojection Error: 0.733715, 0.145829 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.764] xyz_f:-0.358924, -0.325946, 0.866914  Reprojection Error: 0.766047, 0.132584 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.764] xyz_f:-0.473356, 0.080919, 0.612971  Reprojection Error: 0.734454, -0.027870 Feature: -0.037549, 0.103507, 0.993920
[11:52:55.764] xyz_f:-0.460461, -0.039164, 0.715090  Reprojection Error: 0.737131, 0.068776 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.764] xyz_f:-0.463996, 0.180446, 0.560407  Reprojection Error: 0.712646, -0.131392 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.764] xyz_f:-0.391429, -0.300244, 0.801063  Reprojection Error: 0.753713, 0.145960 Feature: 0.250180, -0.215986, 0.943801
[11:52:55.764] xyz_f:-0.455000, -0.026046, 0.742063  Reprojection Error: 0.729935, 0.068946 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.764] xyz_f:-0.376894, -0.300148, 0.843837  Reprojection Error: 0.760183, 0.136391 Feature: 0.292836, -0.204823, 0.933967
[11:52:55.764] xyz_f:-0.392112, -0.311901, 0.786016  Reprojection Error: 0.751893, 0.151752 Feature: 0.238659, -0.231141, 0.943195
[11:52:55.764] xyz_f:-0.330259, 0.154760, 1.020599  Reprojection Error: 0.716090, 0.162098 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.764] xyz_f:-0.462743, 0.186756, 0.561973  Reprojection Error: 0.707980, -0.134809 Feature: -0.112537, 0.192540, 0.974815
[11:52:55.764] xyz_f:-0.368663, -0.308282, 0.858305  Reprojection Error: 0.763441, 0.133929 Feature: 0.309735, -0.208935, 0.927583
[11:52:55.764] xyz_f:-0.454371, -0.011262, 0.745940  Reprojection Error: 0.725969, 0.064372 Feature: 0.115915, 0.048882, 0.992056
[11:52:55.764] xyz_f:-0.473979, 0.068860, 0.615840  Reprojection Error: 0.737731, -0.018765 Feature: -0.031763, 0.092602, 0.995196
[11:52:55.764] xyz_f:-0.458641, -0.017405, 0.726727  Reprojection Error: 0.730236, 0.062140 Feature: 0.098575, 0.037976, 0.994405
[11:52:55.764] xyz_f:-0.321506, 0.181690, 1.026225  Reprojection Error: 0.709102, 0.170882 Feature: 0.350163, 0.307802, 0.884671
[11:52:55.764] xyz_f:-0.416742, 0.218497, 0.793435  Reprojection Error: 0.637091, 0.021641 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.764] xyz_f:-0.385015, -0.295409, 0.825394  Reprojection Error: 0.756923, 0.139776 Feature: 0.273007, -0.205018, 0.939912
[11:52:55.764] xyz_f:-0.361284, 0.220880, 0.935897  Reprojection Error: 0.658591, 0.116854 Feature: 0.248938, 0.322279, 0.913327
[11:52:55.764] xyz_f:-0.309828, 0.139601, 1.057550  Reprojection Error: 0.740020, 0.181620 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.764] xyz_f:-0.290766, -0.514512, 0.798412  Reprojection Error: 0.760585, 0.136227 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.764] xyz_f:-0.380384, -0.307054, 0.827532  Reprojection Error: 0.787422, 0.136456 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.764] xyz_f:-0.358924, -0.325946, 0.866914  Reprojection Error: 0.797504, 0.128017 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.764] xyz_f:-0.399145, -0.277548, 0.799328  Reprojection Error: 0.782706, 0.141350 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.764] xyz_f:-0.463408, -0.048144, 0.697952  Reprojection Error: 0.771839, 0.067623 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.764] xyz_f:-0.455000, -0.026046, 0.742063  Reprojection Error: 0.759586, 0.069057 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.764] xyz_f:-0.473798, 0.076693, 0.611887  Reprojection Error: 0.765691, -0.025689 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.764] xyz_f:-0.463996, 0.180446, 0.560407  Reprojection Error: 0.742427, -0.129577 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.764] xyz_f:-0.416742, 0.218497, 0.793435  Reprojection Error: 0.673922, 0.022822 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.764] xyz_f:-0.330259, 0.154760, 1.020599  Reprojection Error: 0.748576, 0.162482 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.764] xyz_f:-0.309828, 0.139601, 1.057550  Reprojection Error: 0.777670, 0.180123 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.764] xyz_f:-0.460461, -0.039164, 0.715090  Reprojection Error: 0.634614, 0.507891 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.764] xyz_f:-0.370759, 0.419041, 0.698205  Reprojection Error: 0.527933, -0.093154 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.764] it:53 	 Success 	 new_chi2: 0.151712 	 dT = -0.033967, 0.001972, 0.092310
[11:52:55.764] xyz_f:-0.342816, 0.440334, 0.616770  Reprojection Error: 0.520773, -0.206669 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.764] xyz_f:-0.446195, -0.024508, 0.607771  Reprojection Error: 0.812720, 0.041165 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.764] xyz_f:-0.381239, -0.285187, 0.743954  Reprojection Error: 0.810109, 0.152847 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.764] xyz_f:-0.445899, 0.100449, 0.521256  Reprojection Error: 0.817668, -0.092998 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.764] xyz_f:-0.396704, -0.255272, 0.714222  Reprojection Error: 0.809811, 0.152798 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.764] xyz_f:-0.294359, -0.494755, 0.722707  Reprojection Error: 0.776834, 0.185996 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.764] xyz_f:-0.363827, -0.304544, 0.785070  Reprojection Error: 0.815455, 0.144519 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.764] xyz_f:-0.445455, 0.104664, 0.522379  Reprojection Error: 0.814964, -0.096220 Feature: -0.037549, 0.103507, 0.993920
[11:52:55.764] xyz_f:-0.444572, -0.015583, 0.625112  Reprojection Error: 0.804397, 0.038937 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.764] xyz_f:-0.429080, 0.203884, 0.470963  Reprojection Error: 0.795752, -0.242310 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.764] xyz_f:-0.389717, -0.278144, 0.716613  Reprojection Error: 0.808908, 0.159290 Feature: 0.250180, -0.215986, 0.943801
[11:52:55.764] xyz_f:-0.441222, -0.002571, 0.652479  Reprojection Error: 0.793004, 0.037786 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.764] xyz_f:-0.379050, -0.278350, 0.760511  Reprojection Error: 0.811955, 0.146699 Feature: 0.292836, -0.204823, 0.933967
[11:52:55.764] xyz_f:-0.389336, -0.289798, 0.701553  Reprojection Error: 0.807995, 0.168019 Feature: 0.238659, -0.231141, 0.943195
[11:52:55.764] xyz_f:-0.337499, 0.175504, 0.941208  Reprojection Error: 0.751078, 0.127267 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.764] xyz_f:-0.427821, 0.210164, 0.472642  Reprojection Error: 0.789724, -0.247145 Feature: -0.112537, 0.192540, 0.974815
[11:52:55.764] xyz_f:-0.372337, -0.286662, 0.775646  Reprojection Error: 0.813951, 0.144332 Feature: 0.309735, -0.208935, 0.927583
[11:52:55.764] xyz_f:-0.440589, 0.012198, 0.656412  Reprojection Error: 0.788050, 0.030690 Feature: 0.115915, 0.048882, 0.992056
[11:52:55.764] xyz_f:-0.446618, 0.092626, 0.525169  Reprojection Error: 0.818512, -0.083326 Feature: -0.031763, 0.092602, 0.995196
[11:52:55.764] xyz_f:-0.443277, 0.006138, 0.636888  Reprojection Error: 0.795134, 0.028551 Feature: 0.098575, 0.037976, 0.994405
[11:52:55.764] xyz_f:-0.328642, 0.202224, 0.947619  Reprojection Error: 0.742620, 0.134527 Feature: 0.350163, 0.307802, 0.884671
[11:52:55.764] xyz_f:-0.401868, 0.241045, 0.707314  Reprojection Error: 0.680013, -0.043767 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.764] xyz_f:-0.385382, -0.273437, 0.741423  Reprojection Error: 0.810247, 0.150676 Feature: 0.273007, -0.205018, 0.939912
[11:52:55.764] xyz_f:-0.359273, 0.242255, 0.854150  Reprojection Error: 0.693182, 0.069241 Feature: 0.248938, 0.322279, 0.913327
[11:52:55.764] xyz_f:-0.320807, 0.159902, 0.979815  Reprojection Error: 0.774469, 0.150428 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.764] xyz_f:-0.294359, -0.494755, 0.722707  Reprojection Error: 0.803704, 0.176394 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.764] xyz_f:-0.381239, -0.285187, 0.743954  Reprojection Error: 0.840210, 0.148749 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.764] xyz_f:-0.363827, -0.304544, 0.785070  Reprojection Error: 0.846912, 0.139953 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.764] xyz_f:-0.396704, -0.255272, 0.714222  Reprojection Error: 0.838791, 0.151536 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.764] xyz_f:-0.446195, -0.024508, 0.607771  Reprojection Error: 0.842034, 0.038969 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.764] xyz_f:-0.441222, -0.002571, 0.652479  Reprojection Error: 0.822655, 0.037898 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.764] xyz_f:-0.445899, 0.100449, 0.521256  Reprojection Error: 0.846800, -0.093056 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.764] xyz_f:-0.429080, 0.203884, 0.470963  Reprojection Error: 0.825532, -0.240494 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.764] xyz_f:-0.401868, 0.241045, 0.707314  Reprojection Error: 0.716844, -0.042586 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.764] xyz_f:-0.337499, 0.175504, 0.941208  Reprojection Error: 0.783564, 0.127651 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.764] xyz_f:-0.320807, 0.159902, 0.979815  Reprojection Error: 0.812119, 0.148932 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.764] xyz_f:-0.444572, -0.015583, 0.625112  Reprojection Error: 0.701879, 0.478052 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.764] xyz_f:-0.342816, 0.440334, 0.616770  Reprojection Error: 0.552741, -0.206920 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.764] it:54 	 Success 	 new_chi2: 0.089326 	 dT = -0.039629, 0.012680, 0.101758
[11:52:55.764] xyz_f:-0.333111, 0.463762, 0.516651  Reprojection Error: 0.609699, -0.390366 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.764] xyz_f:-0.447294, 0.001788, 0.496951  Reprojection Error: 0.978646, -0.002758 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.764] xyz_f:-0.402889, -0.260332, 0.638513  Reprojection Error: 0.928640, 0.177224 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.764] xyz_f:-0.435225, 0.126582, 0.411044  Reprojection Error: 1.021064, -0.208246 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.764] xyz_f:-0.414571, -0.230059, 0.607445  Reprojection Error: 0.936858, 0.174118 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.764] xyz_f:-0.319884, -0.472139, 0.625623  Reprojection Error: 0.880839, 0.256081 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.764] xyz_f:-0.390111, -0.280087, 0.681114  Reprojection Error: 0.924777, 0.167819 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.764] xyz_f:-0.434782, 0.130786, 0.412211  Reprojection Error: 1.016979, -0.213139 Feature: -0.037549, 0.103507, 0.993920
[11:52:55.764] xyz_f:-0.447146, 0.010690, 0.514379  Reprojection Error: 0.962502, -0.006774 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.764] xyz_f:-0.410839, 0.229474, 0.362778  Reprojection Error: 1.017162, -0.441949 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.764] xyz_f:-0.408456, -0.253104, 0.610481  Reprojection Error: 0.934149, 0.185750 Feature: 0.250180, -0.215986, 0.943801
[11:52:55.764] xyz_f:-0.446157, 0.023645, 0.541959  Reprojection Error: 0.940009, -0.009783 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.764] xyz_f:-0.402157, -0.253533, 0.655214  Reprojection Error: 0.927320, 0.167643 Feature: 0.292836, -0.204823, 0.933967
[11:52:55.764] xyz_f:-0.406906, -0.264783, 0.595516  Reprojection Error: 0.936315, 0.199567 Feature: 0.238659, -0.231141, 0.943195
[11:52:55.765] xyz_f:-0.366619, 0.199304, 0.839702  Reprojection Error: 0.829102, 0.076382 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.765] xyz_f:-0.409585, 0.235722, 0.364580  Reprojection Error: 1.007998, -0.449042 Feature: -0.112537, 0.192540, 0.974815
[11:52:55.765] xyz_f:-0.397182, -0.262000, 0.670923  Reprojection Error: 0.925909, 0.165260 Feature: 0.309735, -0.208935, 0.927583
[11:52:55.765] xyz_f:-0.445524, 0.038398, 0.545955  Reprojection Error: 0.932889, -0.021057 Feature: 0.115915, 0.048882, 0.992056
[11:52:55.765] xyz_f:-0.436530, 0.118787, 0.414857  Reprojection Error: 1.020325, -0.193282 Feature: -0.031763, 0.092602, 0.995196
[11:52:55.765] xyz_f:-0.446442, 0.032385, 0.526254  Reprojection Error: 0.947469, -0.023349 Feature: 0.098575, 0.037976, 0.994405
[11:52:55.765] xyz_f:-0.357735, 0.225790, 0.846987  Reprojection Error: 0.818173, 0.081348 Feature: 0.350163, 0.307802, 0.884671
[11:52:55.765] xyz_f:-0.405981, 0.266212, 0.600706  Reprojection Error: 0.787692, -0.146144 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.765] xyz_f:-0.406454, -0.248481, 0.635603  Reprojection Error: 0.929938, 0.172812 Feature: 0.273007, -0.205018, 0.939912
[11:52:55.765] xyz_f:-0.377983, 0.266493, 0.751015  Reprojection Error: 0.775857, -0.001981 Feature: 0.248938, 0.322279, 0.913327
[11:52:55.765] xyz_f:-0.354212, 0.183319, 0.879741  Reprojection Error: 0.849684, 0.105246 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.765] xyz_f:-0.319884, -0.472139, 0.625623  Reprojection Error: 0.907709, 0.246479 Feature: 0.313983, -0.423639, 0.849673
[11:52:55.765] xyz_f:-0.402889, -0.260332, 0.638513  Reprojection Error: 0.958742, 0.173125 Feature: 0.278572, -0.215713, 0.935877
[11:52:55.765] xyz_f:-0.390111, -0.280087, 0.681114  Reprojection Error: 0.956234, 0.163252 Feature: 0.323629, -0.223768, 0.919343
[11:52:55.765] xyz_f:-0.414571, -0.230059, 0.607445  Reprojection Error: 0.965838, 0.172856 Feature: 0.241815, -0.194512, 0.950626
[11:52:55.765] xyz_f:-0.447294, 0.001788, 0.496951  Reprojection Error: 1.007960, -0.004954 Feature: 0.078329, 0.000837, 0.996927
[11:52:55.765] xyz_f:-0.446157, 0.023645, 0.541959  Reprojection Error: 0.969660, -0.009671 Feature: 0.115925, 0.033598, 0.992690
[11:52:55.765] xyz_f:-0.435225, 0.126582, 0.411044  Reprojection Error: 1.050196, -0.208304 Feature: -0.037551, 0.099145, 0.994364
[11:52:55.765] xyz_f:-0.410839, 0.229474, 0.362778  Reprojection Error: 1.046942, -0.440133 Feature: -0.112558, 0.186039, 0.976074
[11:52:55.765] xyz_f:-0.405981, 0.266212, 0.600706  Reprojection Error: 0.824523, -0.144963 Feature: 0.106612, 0.283105, 0.953145
[11:52:55.765] xyz_f:-0.366619, 0.199304, 0.839702  Reprojection Error: 0.861589, 0.076767 Feature: 0.350712, 0.280334, 0.893540
[11:52:55.765] xyz_f:-0.354212, 0.183319, 0.879741  Reprojection Error: 0.887334, 0.103749 Feature: 0.392360, 0.275256, 0.877660
[11:52:55.765] xyz_f:-0.447146, 0.010690, 0.514379  Reprojection Error: 0.859984, 0.432341 Feature: 0.092798, 0.013947, 0.995587
[11:52:55.765] xyz_f:-0.333111, 0.463762, 0.516651  Reprojection Error: 0.641667, -0.390616 Feature: -0.031245, 0.452169, 0.891385
[11:52:55.765] it:55 	 Success 	 new_chi2: 0.000000 	 dT = 0.000000, 0.000000, 0.000000
[11:52:55.765] After pose optimization, distance between two frames:0.707264 ,angle between two frames:-2.319081
[11:52:55.857] Reprojection Map nPoint:24 ,nCell:11 ,nMatches:11 ,distance between two frames:2.764876 ,angle between two frames:-3.565138
[11:52:55.857] Init estimate scale:1.300977
[11:52:55.857] xyz_f:2.416848, -0.246313, 1.293101  Reprojection Error: -1.761148, 0.189127 Feature: 0.107262, -0.001348, 0.994230
[11:52:55.857] xyz_f:2.623371, -0.461004, 1.258873  Reprojection Error: -1.756143, 0.131612 Feature: 0.303996, -0.217582, 0.927494
[11:52:55.857] xyz_f:2.311475, -0.136773, 1.272602  Reprojection Error: -1.824970, 0.207124 Feature: -0.008589, 0.099154, 0.995035
[11:52:55.857] xyz_f:2.583341, -0.438348, 1.264260  Reprojection Error: -1.760007, 0.140846 Feature: 0.267426, -0.194303, 0.943785
[11:52:55.857] xyz_f:2.686530, -0.646225, 1.140388  Reprojection Error: -1.959400, 0.058480 Feature: 0.333195, -0.427158, 0.840545
[11:52:55.857] xyz_f:2.671550, -0.469416, 1.259443  Reprojection Error: -1.737735, 0.124751 Feature: 0.348828, -0.225560, 0.909638
[11:52:55.857] xyz_f:2.309146, -0.129971, 1.272499  Reprojection Error: -1.826204, 0.208439 Feature: -0.011485, 0.105698, 0.994332
[11:52:55.857] xyz_f:2.347109, 0.185852, 1.280053  Reprojection Error: -1.842910, 0.307933 Feature: -0.008478, 0.412715, 0.910821
[11:52:55.857] xyz_f:2.250335, -0.038606, 1.250613  Reprojection Error: -1.884923, 0.223284 Feature: -0.083702, 0.188286, 0.978541
[11:52:55.857] xyz_f:2.594050, -0.460260, 1.254908  Reprojection Error: -1.772623, 0.134034 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.857] xyz_f:2.453137, -0.215422, 1.312765  Reprojection Error: -1.722249, 0.198055 Feature: 0.144803, 0.033580, 0.988890
[11:52:55.857] xyz_f:2.637398, -0.453461, 1.264508  Reprojection Error: -1.741628, 0.132773 Feature: 0.318187, -0.208838, 0.924740
[11:52:55.857] xyz_f:2.583766, -0.473557, 1.246011  Reprojection Error: -1.791311, 0.131058 Feature: 0.264218, -0.233036, 0.935886
[11:52:55.857] xyz_f:2.706712, 0.019763, 1.378334  Reprojection Error: -1.538773, 0.299780 Feature: 0.375741, 0.277722, 0.884132
[11:52:55.857] xyz_f:2.250886, -0.032028, 1.251188  Reprojection Error: -1.884631, 0.224917 Feature: -0.083686, 0.194788, 0.977269
[11:52:55.857] xyz_f:2.655368, -0.455668, 1.265257  Reprojection Error: -1.733859, 0.130618 Feature: 0.335025, -0.210775, 0.918331
[11:52:55.857] xyz_f:2.450600, -0.200296, 1.315349  Reprojection Error: -1.719550, 0.201695 Feature: 0.141905, 0.048859, 0.988674
[11:52:55.857] xyz_f:2.313825, -0.143565, 1.272658  Reprojection Error: -1.823822, 0.205817 Feature: -0.005693, 0.092608, 0.995686
[11:52:55.857] xyz_f:2.436492, -0.209824, 1.308786  Reprojection Error: -1.733021, 0.198617 Feature: 0.127479, 0.037958, 0.991115
[11:52:55.857] xyz_f:2.712893, 0.048295, 1.377543  Reprojection Error: -1.537050, 0.313945 Feature: 0.377907, 0.305077, 0.874136
[11:52:55.857] xyz_f:2.466692, 0.035248, 1.340589  Reprojection Error: -1.691322, 0.271910 Feature: 0.141059, 0.282910, 0.948717
[11:52:55.857] xyz_f:2.613635, -0.451016, 1.262707  Reprojection Error: -1.752864, 0.135287 Feature: 0.295642, -0.206942, 0.932615
[11:52:55.857] xyz_f:2.425161, -0.232240, 1.299655  Reprojection Error: -1.749273, 0.192732 Feature: 0.115933, 0.013942, 0.993159
[11:52:55.857] xyz_f:2.754270, 0.012050, 1.378866  Reprojection Error: -1.512786, 0.303389 Feature: 0.419918, 0.270409, 0.866342
[11:52:55.857] xyz_f:2.686530, -0.646225, 1.140388  Reprojection Error: -1.927956, 0.047864 Feature: 0.333195, -0.427158, 0.840545
[11:52:55.857] xyz_f:2.594050, -0.460260, 1.254908  Reprojection Error: -1.739214, 0.129737 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.857] xyz_f:2.623371, -0.461004, 1.258873  Reprojection Error: -1.725167, 0.124826 Feature: 0.303996, -0.217582, 0.927494
[11:52:55.857] xyz_f:2.583341, -0.438348, 1.264260  Reprojection Error: -1.727017, 0.136868 Feature: 0.267426, -0.194303, 0.943785
[11:52:55.857] xyz_f:2.416848, -0.246313, 1.293101  Reprojection Error: -1.731597, 0.191327 Feature: 0.107262, -0.001348, 0.994230
[11:52:55.857] xyz_f:2.453137, -0.215422, 1.312765  Reprojection Error: -1.692282, 0.195975 Feature: 0.144803, 0.033580, 0.988890
[11:52:55.857] xyz_f:2.311475, -0.136773, 1.272602  Reprojection Error: -1.795857, 0.207139 Feature: -0.008589, 0.099154, 0.995035
[11:52:55.857] xyz_f:2.250335, -0.038606, 1.250613  Reprojection Error: -1.852337, 0.222916 Feature: -0.083702, 0.188286, 0.978541
[11:52:55.858] xyz_f:2.466692, 0.035248, 1.340589  Reprojection Error: -1.660252, 0.273157 Feature: 0.141059, 0.282910, 0.948717
[11:52:55.858] xyz_f:2.706712, 0.019763, 1.378334  Reprojection Error: -1.497747, 0.301157 Feature: 0.375741, 0.277722, 0.884132
[11:52:55.858] xyz_f:2.347109, 0.185852, 1.280053  Reprojection Error: -1.805260, 0.305303 Feature: -0.008478, 0.412715, 0.910821
[11:52:55.858] it:0 	 Success 	 new_chi2: 91.250132 	 dT = -0.180887, 0.030408, 0.001158
[11:52:55.858] xyz_f:-0.122992, -0.246409, 1.323868  Reprojection Error: 0.200788, 0.184773 Feature: 0.107262, -0.001348, 0.994230
[11:52:55.858] xyz_f:0.083557, -0.461038, 1.289410  Reprojection Error: 0.262959, 0.122966 Feature: 0.303996, -0.217582, 0.927494
[11:52:55.858] xyz_f:-0.228421, -0.136901, 1.303487  Reprojection Error: 0.166606, 0.204676 Feature: -0.008589, 0.099154, 0.995035
[11:52:55.858] xyz_f:0.043527, -0.438394, 1.294841  Reprojection Error: 0.249740, 0.132693 Feature: 0.267426, -0.194303, 0.943785
[11:52:55.858] xyz_f:0.146639, -0.646241, 1.170854  Reprojection Error: 0.271163, 0.043748 Feature: 0.333195, -0.427158, 0.840545
[11:52:55.858] xyz_f:0.131739, -0.469436, 1.289926  Reprojection Error: 0.281351, 0.115958 Feature: 0.348828, -0.225560, 0.909638
[11:52:55.858] xyz_f:-0.230752, -0.130100, 1.303387  Reprojection Error: 0.165490, 0.206117 Feature: -0.011485, 0.105698, 0.994332
[11:52:55.858] xyz_f:-0.192875, 0.185735, 1.310899  Reprojection Error: 0.137824, 0.311439 Feature: -0.008478, 0.412715, 0.910821
[11:52:55.858] xyz_f:-0.289615, -0.038752, 1.281567  Reprojection Error: 0.140447, 0.222653 Feature: -0.083702, 0.188286, 0.978541
[11:52:55.858] xyz_f:0.054232, -0.460304, 1.285477  Reprojection Error: 0.252312, 0.125346 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.858] xyz_f:-0.086690, -0.215508, 1.343492  Reprojection Error: 0.210956, 0.194366 Feature: 0.144803, 0.033580, 0.988890
[11:52:55.858] xyz_f:0.097588, -0.453491, 1.295029  Reprojection Error: 0.268727, 0.124345 Feature: 0.318187, -0.208838, 0.924740
[11:52:55.858] xyz_f:0.043941, -0.473603, 1.276592  Reprojection Error: 0.247898, 0.121990 Feature: 0.264218, -0.233036, 0.935886
[11:52:55.858] xyz_f:0.166888, 0.019753, 1.408777  Reprojection Error: 0.306520, 0.300096 Feature: 0.375741, 0.277722, 0.884132
[11:52:55.858] xyz_f:-0.289065, -0.032174, 1.282142  Reprojection Error: 0.139822, 0.224413 Feature: -0.083686, 0.194788, 0.977269
[11:52:55.858] xyz_f:0.115560, -0.455693, 1.295758  Reprojection Error: 0.275636, 0.122160 Feature: 0.335025, -0.210775, 0.918331
[11:52:55.858] xyz_f:-0.089229, -0.200383, 1.346078  Reprojection Error: 0.209818, 0.198283 Feature: 0.141905, 0.048859, 0.988674
[11:52:55.858] xyz_f:-0.226068, -0.143692, 1.303541  Reprojection Error: 0.167708, 0.203242 Feature: -0.005693, 0.092608, 0.995686
[11:52:55.858] xyz_f:-0.103341, -0.209914, 1.339531  Reprojection Error: 0.205770, 0.195005 Feature: 0.127479, 0.037958, 0.991115
[11:52:55.858] xyz_f:0.173059, 0.048288, 1.407980  Reprojection Error: 0.309407, 0.314709 Feature: 0.377907, 0.305077, 0.874136
[11:52:55.858] xyz_f:-0.073179, 0.035166, 1.371301  Reprojection Error: 0.202048, 0.272558 Feature: 0.141059, 0.282910, 0.948717
[11:52:55.858] xyz_f:0.073823, -0.451053, 1.293254  Reprojection Error: 0.259920, 0.126879 Feature: 0.295642, -0.206942, 0.932615
[11:52:55.858] xyz_f:-0.114676, -0.232334, 1.330413  Reprojection Error: 0.202927, 0.188671 Feature: 0.115933, 0.013942, 0.993159
[11:52:55.858] xyz_f:0.214449, 0.012054, 1.409257  Reprojection Error: 0.332531, 0.303574 Feature: 0.419918, 0.270409, 0.866342
[11:52:55.858] xyz_f:0.146639, -0.646241, 1.170854  Reprojection Error: 0.302606, 0.033132 Feature: 0.333195, -0.427158, 0.840545
[11:52:55.858] xyz_f:0.054232, -0.460304, 1.285477  Reprojection Error: 0.285722, 0.121049 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.858] xyz_f:0.083557, -0.461038, 1.289410  Reprojection Error: 0.293934, 0.116180 Feature: 0.303996, -0.217582, 0.927494
[11:52:55.858] xyz_f:0.043527, -0.438394, 1.294841  Reprojection Error: 0.282729, 0.128715 Feature: 0.267426, -0.194303, 0.943785
[11:52:55.858] xyz_f:-0.122992, -0.246409, 1.323868  Reprojection Error: 0.230340, 0.186973 Feature: 0.107262, -0.001348, 0.994230
[11:52:55.858] xyz_f:-0.086690, -0.215508, 1.343492  Reprojection Error: 0.240923, 0.192285 Feature: 0.144803, 0.033580, 0.988890
[11:52:55.858] xyz_f:-0.228421, -0.136901, 1.303487  Reprojection Error: 0.195720, 0.204690 Feature: -0.008589, 0.099154, 0.995035
[11:52:55.858] xyz_f:-0.289615, -0.038752, 1.281567  Reprojection Error: 0.173033, 0.222285 Feature: -0.083702, 0.188286, 0.978541
[11:52:55.858] xyz_f:-0.073179, 0.035166, 1.371301  Reprojection Error: 0.233119, 0.273805 Feature: 0.141059, 0.282910, 0.948717
[11:52:55.858] xyz_f:0.166888, 0.019753, 1.408777  Reprojection Error: 0.347547, 0.301474 Feature: 0.375741, 0.277722, 0.884132
[11:52:55.858] xyz_f:-0.192875, 0.185735, 1.310899  Reprojection Error: 0.175475, 0.308809 Feature: -0.008478, 0.412715, 0.910821
[11:52:55.858] it:1 	 Success 	 new_chi2: 3.481706 	 dT = 0.021941, 0.023727, 0.005976
[11:52:55.858] xyz_f:0.115909, -0.246902, 1.349433  Reprojection Error: 0.021990, 0.181612 Feature: 0.107262, -0.001348, 0.994230
[11:52:55.858] xyz_f:0.322587, -0.461211, 1.313781  Reprojection Error: 0.082220, 0.116465 Feature: 0.303996, -0.217582, 0.927494
[11:52:55.858] xyz_f:0.010195, -0.137557, 1.329660  Reprojection Error: -0.016299, 0.203101 Feature: -0.008589, 0.099154, 0.995035
[11:52:55.858] xyz_f:0.282554, -0.438629, 1.319444  Reprojection Error: 0.069208, 0.126558 Feature: 0.267426, -0.194303, 0.943785
[11:52:55.858] xyz_f:0.385271, -0.646316, 1.194862  Reprojection Error: 0.073965, 0.032721 Feature: 0.333195, -0.427158, 0.840545
[11:52:55.858] xyz_f:0.370785, -0.469534, 1.314019  Reprojection Error: 0.101304, 0.109360 Feature: 0.348828, -0.225560, 0.909638
[11:52:55.858] xyz_f:0.007853, -0.130759, 1.329575  Reprojection Error: -0.017457, 0.204647 Feature: -0.011485, 0.105698, 0.994332
[11:52:55.858] xyz_f:0.045284, 0.185134, 1.336868  Reprojection Error: -0.043181, 0.314641 Feature: -0.008478, 0.412715, 0.910821
[11:52:55.858] xyz_f:-0.051276, -0.039502, 1.308095  Reprojection Error: -0.046339, 0.222613 Feature: -0.083702, 0.188286, 0.978541
[11:52:55.858] xyz_f:0.293239, -0.460522, 1.310018  Reprojection Error: 0.070657, 0.118804 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.858] xyz_f:0.152276, -0.215944, 1.368847  Reprojection Error: 0.035186, 0.191713 Feature: 0.144803, 0.033580, 0.988890
[11:52:55.858] xyz_f:0.336639, -0.453642, 1.319320  Reprojection Error: 0.088921, 0.118012 Feature: 0.318187, -0.208838, 0.924740
[11:52:55.858] xyz_f:0.282918, -0.473838, 1.301192  Reprojection Error: 0.064889, 0.115156 Feature: 0.264218, -0.233036, 0.935886
[11:52:55.858] xyz_f:0.405862, 0.019709, 1.432668  Reprojection Error: 0.141692, 0.300361 Feature: 0.375741, 0.277722, 0.884132
[11:52:55.858] xyz_f:-0.050733, -0.032923, 1.308666  Reprojection Error: -0.046866, 0.224477 Feature: -0.083686, 0.194788, 0.977269
[11:52:55.858] xyz_f:0.354618, -0.455816, 1.319944  Reprojection Error: 0.096158, 0.115810 Feature: 0.335025, -0.210775, 0.918331
[11:52:55.858] xyz_f:0.149729, -0.200823, 1.371448  Reprojection Error: 0.034355, 0.195850 Feature: 0.141905, 0.048859, 0.988674
[11:52:55.858] xyz_f:0.012559, -0.144344, 1.329701  Reprojection Error: -0.015163, 0.201563 Feature: -0.005693, 0.092608, 0.995686
[11:52:55.858] xyz_f:0.135593, -0.210376, 1.364982  Reprojection Error: 0.029285, 0.192422 Feature: 0.127479, 0.037958, 0.991115
[11:52:55.858] xyz_f:0.411985, 0.048253, 1.431835  Reprojection Error: 0.144588, 0.315304 Feature: 0.377907, 0.305077, 0.874136
[11:52:55.858] xyz_f:0.165560, 0.034751, 1.396578  Reprojection Error: 0.030137, 0.273320 Feature: 0.141059, 0.282910, 0.948717
[11:52:55.858] xyz_f:0.312860, -0.451241, 1.317682  Reprojection Error: 0.079571, 0.120556 Feature: 0.295642, -0.206942, 0.932615
[11:52:55.858] xyz_f:0.124241, -0.232813, 1.355929  Reprojection Error: 0.025103, 0.185738 Feature: 0.115933, 0.013942, 0.993159
[11:52:55.858] xyz_f:0.453437, 0.012084, 1.432873  Reprojection Error: 0.168249, 0.303694 Feature: 0.419918, 0.270409, 0.866342
[11:52:55.858] xyz_f:0.385271, -0.646316, 1.194862  Reprojection Error: 0.105408, 0.022105 Feature: 0.333195, -0.427158, 0.840545
[11:52:55.858] xyz_f:0.293239, -0.460522, 1.310018  Reprojection Error: 0.104067, 0.114508 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.858] xyz_f:0.322587, -0.461211, 1.313781  Reprojection Error: 0.113196, 0.109678 Feature: 0.303996, -0.217582, 0.927494
[11:52:55.858] xyz_f:0.282554, -0.438629, 1.319444  Reprojection Error: 0.102198, 0.122580 Feature: 0.267426, -0.194303, 0.943785
[11:52:55.858] xyz_f:0.115909, -0.246902, 1.349433  Reprojection Error: 0.051541, 0.183811 Feature: 0.107262, -0.001348, 0.994230
[11:52:55.858] xyz_f:0.152276, -0.215944, 1.368847  Reprojection Error: 0.065153, 0.189633 Feature: 0.144803, 0.033580, 0.988890
[11:52:55.858] xyz_f:0.010195, -0.137557, 1.329660  Reprojection Error: 0.012814, 0.203116 Feature: -0.008589, 0.099154, 0.995035
[11:52:55.858] xyz_f:-0.051276, -0.039502, 1.308095  Reprojection Error: -0.013753, 0.222245 Feature: -0.083702, 0.188286, 0.978541
[11:52:55.858] xyz_f:0.165560, 0.034751, 1.396578  Reprojection Error: 0.061208, 0.274567 Feature: 0.141059, 0.282910, 0.948717
[11:52:55.858] xyz_f:0.405862, 0.019709, 1.432668  Reprojection Error: 0.182718, 0.301738 Feature: 0.375741, 0.277722, 0.884132
[11:52:55.858] xyz_f:0.045284, 0.185134, 1.336868  Reprojection Error: -0.005530, 0.312010 Feature: -0.008478, 0.412715, 0.910821
[11:52:55.858] it:2 	 Success 	 new_chi2: 1.660409 	 dT = -0.058461, 0.066420, 0.051056
[11:52:55.858] xyz_f:0.108072, -0.250749, 1.430210  Reprojection Error: 0.032321, 0.173968 Feature: 0.107262, -0.001348, 0.994230
[11:52:55.858] xyz_f:0.315554, -0.462321, 1.384344  Reprojection Error: 0.099816, 0.099373 Feature: 0.303996, -0.217582, 0.927494
[11:52:55.858] xyz_f:0.000077, -0.142816, 1.415709  Reprojection Error: -0.008686, 0.200528 Feature: -0.008589, 0.099154, 0.995035
[11:52:55.858] xyz_f:0.275554, -0.440268, 1.391981  Reprojection Error: 0.085397, 0.110412 Feature: 0.267426, -0.194303, 0.943785
[11:52:55.858] xyz_f:0.374739, -0.646621, 1.262420  Reprojection Error: 0.099562, 0.004016 Feature: 0.333195, -0.427158, 0.840545
[11:52:55.858] xyz_f:0.363810, -0.470007, 1.382204  Reprojection Error: 0.120269, 0.092075 Feature: 0.348828, -0.225560, 0.909638
[11:52:55.858] xyz_f:-0.002356, -0.136050, 1.415741  Reprojection Error: -0.009886, 0.202399 Feature: -0.011485, 0.105698, 0.994332
[11:52:55.858] xyz_f:0.031213, 0.180312, 1.421284  Reprojection Error: -0.031269, 0.326258 Feature: -0.008478, 0.412715, 0.910821
[11:52:55.858] xyz_f:-0.063672, -0.045589, 1.397232  Reprojection Error: -0.039967, 0.225043 Feature: -0.083702, 0.188286, 0.978541
[11:52:55.858] xyz_f:0.286050, -0.462021, 1.382033  Reprojection Error: 0.087523, 0.101571 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.858] xyz_f:0.144939, -0.219307, 1.447818  Reprojection Error: 0.046321, 0.185431 Feature: 0.144803, 0.033580, 0.988890
[11:52:55.858] xyz_f:0.329761, -0.454566, 1.389186  Reprojection Error: 0.106706, 0.101383 Feature: 0.318187, -0.208838, 0.924740
[11:52:55.858] xyz_f:0.275483, -0.475475, 1.373722  Reprojection Error: 0.081781, 0.097121 Feature: 0.264218, -0.233036, 0.935886
[11:52:55.858] xyz_f:0.398229, 0.019696, 1.499138  Reprojection Error: 0.159345, 0.300980 Feature: 0.375741, 0.277722, 0.884132
[11:52:55.858] xyz_f:-0.063189, -0.039004, 1.397778  Reprojection Error: -0.040426, 0.227223 Feature: -0.083686, 0.194788, 0.977269
[11:52:55.858] xyz_f:0.347776, -0.456501, 1.388923  Reprojection Error: 0.114427, 0.099153 Feature: 0.335025, -0.210775, 0.918331
[11:52:55.859] xyz_f:0.142325, -0.204220, 1.450546  Reprojection Error: 0.045413, 0.190207 Feature: 0.141905, 0.048859, 0.988674
[11:52:55.859] xyz_f:0.002529, -0.149572, 1.415631  Reprojection Error: -0.007504, 0.198667 Feature: -0.005693, 0.092608, 0.995686
[11:52:55.859] xyz_f:0.128015, -0.213961, 1.444782  Reprojection Error: 0.040017, 0.186391 Feature: 0.127479, 0.037958, 0.991115
[11:52:55.859] xyz_f:0.403926, 0.048318, 1.498014  Reprojection Error: 0.162680, 0.316750 Feature: 0.377907, 0.305077, 0.874136
[11:52:55.859] xyz_f:0.156262, 0.031550, 1.474943  Reprojection Error: 0.042739, 0.276812 Feature: 0.141059, 0.282910, 0.948717
[11:52:55.859] xyz_f:0.305900, -0.452479, 1.388723  Reprojection Error: 0.096728, 0.103930 Feature: 0.295642, -0.206942, 0.932615
[11:52:55.859] xyz_f:0.116528, -0.236549, 1.436293  Reprojection Error: 0.035601, 0.178733 Feature: 0.115933, 0.013942, 0.993159
[11:52:55.859] xyz_f:0.445853, 0.012700, 1.496995  Reprojection Error: 0.186871, 0.303644 Feature: 0.419918, 0.270409, 0.866342
[11:52:55.859] xyz_f:0.374739, -0.646621, 1.262420  Reprojection Error: 0.131006, -0.006600 Feature: 0.333195, -0.427158, 0.840545
[11:52:55.859] xyz_f:0.286050, -0.462021, 1.382033  Reprojection Error: 0.120933, 0.097275 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.859] xyz_f:0.315554, -0.462321, 1.384344  Reprojection Error: 0.130792, 0.092586 Feature: 0.303996, -0.217582, 0.927494
[11:52:55.859] xyz_f:0.275554, -0.440268, 1.391981  Reprojection Error: 0.118386, 0.106434 Feature: 0.267426, -0.194303, 0.943785
[11:52:55.859] xyz_f:0.108072, -0.250749, 1.430210  Reprojection Error: 0.061872, 0.176167 Feature: 0.107262, -0.001348, 0.994230
[11:52:55.859] xyz_f:0.144939, -0.219307, 1.447818  Reprojection Error: 0.076288, 0.183351 Feature: 0.144803, 0.033580, 0.988890
[11:52:55.859] xyz_f:0.000077, -0.142816, 1.415709  Reprojection Error: 0.020427, 0.200543 Feature: -0.008589, 0.099154, 0.995035
[11:52:55.859] xyz_f:-0.063672, -0.045589, 1.397232  Reprojection Error: -0.007382, 0.224675 Feature: -0.083702, 0.188286, 0.978541
[11:52:55.859] xyz_f:0.156262, 0.031550, 1.474943  Reprojection Error: 0.073810, 0.278059 Feature: 0.141059, 0.282910, 0.948717
[11:52:55.859] xyz_f:0.398229, 0.019696, 1.499138  Reprojection Error: 0.200371, 0.302357 Feature: 0.375741, 0.277722, 0.884132
[11:52:55.859] xyz_f:0.031213, 0.180312, 1.421284  Reprojection Error: 0.006382, 0.323628 Feature: -0.008478, 0.412715, 0.910821
[11:52:55.859] it:3 	 Success 	 new_chi2: 1.698852 	 dT = -0.057655, 0.068343, 0.048645
[11:52:55.859] xyz_f:0.244059, -0.247098, 1.348241  Reprojection Error: -0.073136, 0.181919 Feature: 0.107262, -0.001348, 0.994230
[11:52:55.859] xyz_f:0.450787, -0.461278, 1.312108  Reprojection Error: -0.015798, 0.116964 Feature: 0.303996, -0.217582, 0.927494
[11:52:55.859] xyz_f:0.138231, -0.137819, 1.328715  Reprojection Error: -0.112665, 0.203372 Feature: -0.008589, 0.099154, 0.995035
[11:52:55.859] xyz_f:0.410753, -0.438721, 1.317864  Reprojection Error: -0.028326, 0.127026 Feature: 0.267426, -0.194303, 0.943785
[11:52:55.859] xyz_f:0.513309, -0.646344, 1.193044  Reprojection Error: -0.033847, 0.033569 Feature: 0.333195, -0.427158, 0.840545
[11:52:55.859] xyz_f:0.498990, -0.469571, 1.312234  Reprojection Error: 0.003220, 0.109875 Feature: 0.348828, -0.225560, 0.909638
[11:52:55.859] xyz_f:0.135885, -0.131022, 1.328635  Reprojection Error: -0.113824, 0.204915 Feature: -0.011485, 0.105698, 0.994332
[11:52:55.859] xyz_f:0.173135, 0.184893, 1.335842  Reprojection Error: -0.138915, 0.314714 Feature: -0.008478, 0.412715, 0.910821
[11:52:55.859] xyz_f:0.076649, -0.039803, 1.307293  Reprojection Error: -0.144169, 0.222862 Feature: -0.083702, 0.188286, 0.978541
[11:52:55.859] xyz_f:0.421430, -0.460607, 1.308414  Reprojection Error: -0.027592, 0.119301 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.859] xyz_f:0.280451, -0.216117, 1.367570  Reprojection Error: -0.058642, 0.191987 Feature: 0.144803, 0.033580, 0.988890
[11:52:55.859] xyz_f:0.464847, -0.453701, 1.317614  Reprojection Error: -0.008712, 0.118501 Feature: 0.318187, -0.208838, 0.924740
[11:52:55.859] xyz_f:0.411097, -0.473930, 1.299612  Reprojection Error: -0.034004, 0.115669 Feature: 0.264218, -0.233036, 0.935886
[11:52:55.859] xyz_f:0.534039, 0.019694, 1.430801  Reprojection Error: 0.051739, 0.300354 Feature: 0.375741, 0.277722, 0.884132
[11:52:55.859] xyz_f:0.077189, -0.033224, 1.307863  Reprojection Error: -0.144652, 0.224722 Feature: -0.083686, 0.194788, 0.977269
[11:52:55.859] xyz_f:0.482829, -0.455863, 1.318197  Reprojection Error: -0.001460, 0.116303 Feature: 0.335025, -0.210775, 0.918331
[11:52:55.859] xyz_f:0.277901, -0.200998, 1.370177  Reprojection Error: -0.059291, 0.196114 Feature: 0.141905, 0.048859, 0.988674
[11:52:55.859] xyz_f:0.140599, -0.144605, 1.328750  Reprojection Error: -0.111530, 0.201837 Feature: -0.005693, 0.092608, 0.995686
[11:52:55.859] xyz_f:0.263756, -0.210560, 1.363744  Reprojection Error: -0.064784, 0.192696 Feature: 0.127479, 0.037958, 0.991115
[11:52:55.859] xyz_f:0.540142, 0.048242, 1.429954  Reprojection Error: 0.054587, 0.315268 Feature: 0.377907, 0.305077, 0.874136
[11:52:55.859] xyz_f:0.293643, 0.034586, 1.395271  Reprojection Error: -0.061772, 0.273415 Feature: 0.141059, 0.282910, 0.948717
[11:52:55.859] xyz_f:0.441063, -0.451314, 1.316032  Reprojection Error: -0.018143, 0.121041 Feature: 0.295642, -0.206942, 0.932615
[11:52:55.859] xyz_f:0.252397, -0.233004, 1.354718  Reprojection Error: -0.069578, 0.186033 Feature: 0.115933, 0.013942, 0.993159
[11:52:55.859] xyz_f:0.581618, 0.012098, 1.430895  Reprojection Error: 0.078231, 0.303672 Feature: 0.419918, 0.270409, 0.866342
[11:52:55.859] xyz_f:0.513309, -0.646344, 1.193044  Reprojection Error: -0.002404, 0.022954 Feature: 0.333195, -0.427158, 0.840545
[11:52:55.859] xyz_f:0.421430, -0.460607, 1.308414  Reprojection Error: 0.005818, 0.115004 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.859] xyz_f:0.450787, -0.461278, 1.312108  Reprojection Error: 0.015177, 0.110177 Feature: 0.303996, -0.217582, 0.927494
[11:52:55.859] xyz_f:0.410753, -0.438721, 1.317864  Reprojection Error: 0.004664, 0.123048 Feature: 0.267426, -0.194303, 0.943785
[11:52:55.859] xyz_f:0.244059, -0.247098, 1.348241  Reprojection Error: -0.043584, 0.184119 Feature: 0.107262, -0.001348, 0.994230
[11:52:55.859] xyz_f:0.280451, -0.216117, 1.367570  Reprojection Error: -0.028675, 0.189907 Feature: 0.144803, 0.033580, 0.988890
[11:52:55.859] xyz_f:0.138231, -0.137819, 1.328715  Reprojection Error: -0.083552, 0.203387 Feature: -0.008589, 0.099154, 0.995035
[11:52:55.859] xyz_f:0.076649, -0.039803, 1.307293  Reprojection Error: -0.111583, 0.222494 Feature: -0.083702, 0.188286, 0.978541
[11:52:55.859] xyz_f:0.293643, 0.034586, 1.395271  Reprojection Error: -0.030702, 0.274662 Feature: 0.141059, 0.282910, 0.948717
[11:52:55.859] xyz_f:0.534039, 0.019694, 1.430801  Reprojection Error: 0.092765, 0.301731 Feature: 0.375741, 0.277722, 0.884132
[11:52:55.859] xyz_f:0.173135, 0.184893, 1.335842  Reprojection Error: -0.101264, 0.312084 Feature: -0.008478, 0.412715, 0.910821
[11:52:55.859] it:4 	 Success 	 new_chi2: 1.596928 	 dT = -0.053466, 0.073605, 0.040253
[11:52:55.859] xyz_f:0.133562, -0.243637, 1.261719  Reprojection Error: 0.002027, 0.191743 Feature: 0.107262, -0.001348, 0.994230
[11:52:55.859] xyz_f:0.339297, -0.459966, 1.233606  Reprojection Error: 0.052716, 0.138272 Feature: 0.303996, -0.217582, 0.927494
[11:52:55.859] xyz_f:0.029717, -0.133265, 1.238116  Reprojection Error: -0.032634, 0.207284 Feature: -0.008589, 0.099154, 0.995035
[11:52:55.859] xyz_f:0.299307, -0.436992, 1.237806  Reprojection Error: 0.041551, 0.147160 Feature: 0.267426, -0.194303, 0.943785
[11:52:55.859] xyz_f:0.404469, -0.645697, 1.117024  Reprojection Error: 0.034309, 0.069860 Feature: 0.333195, -0.427158, 0.840545
[11:52:55.859] xyz_f:0.387370, -0.468760, 1.235604  Reprojection Error: 0.069973, 0.131411 Feature: 0.348828, -0.225560, 0.909638
[11:52:55.859] xyz_f:0.027447, -0.126445, 1.237946  Reprojection Error: -0.033722, 0.208441 Feature: -0.011485, 0.105698, 0.994332
[11:52:55.859] xyz_f:0.067677, 0.189067, 1.246660  Reprojection Error: -0.063595, 0.301465 Feature: -0.008478, 0.412715, 0.910821
[11:52:55.859] xyz_f:-0.029961, -0.034618, 1.214336  Reprojection Error: -0.060864, 0.220922 Feature: -0.083702, 0.188286, 0.978541
[11:52:55.859] xyz_f:0.310114, -0.458990, 1.228773  Reprojection Error: 0.042123, 0.140801 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.859] xyz_f:0.169497, -0.213033, 1.282454  Reprojection Error: 0.014264, 0.200071 Feature: 0.144803, 0.033580, 0.988890
[11:52:55.859] xyz_f:0.353211, -0.452534, 1.239655  Reprojection Error: 0.059156, 0.139214 Feature: 0.318187, -0.208838, 0.924740
[11:52:55.859] xyz_f:0.299993, -0.472206, 1.219573  Reprojection Error: 0.036337, 0.138188 Feature: 0.264218, -0.233036, 0.935886
[11:52:55.859] xyz_f:0.422877, 0.020137, 1.355542  Reprojection Error: 0.113022, 0.299262 Feature: 0.375741, 0.277722, 0.884132
[11:52:55.859] xyz_f:-0.029375, -0.028044, 1.214928  Reprojection Error: -0.061454, 0.222402 Feature: -0.083686, 0.194788, 0.977269
[11:52:55.859] xyz_f:0.371133, -0.454883, 1.240936  Reprojection Error: 0.065745, 0.137045 Feature: 0.335025, -0.210775, 0.918331
[11:52:55.859] xyz_f:0.167005, -0.197887, 1.284963  Reprojection Error: 0.013562, 0.203421 Feature: 0.141905, 0.048859, 0.988674
[11:52:55.859] xyz_f:0.032011, -0.140076, 1.238242  Reprojection Error: -0.031570, 0.206134 Feature: -0.005693, 0.092608, 0.995686
[11:52:55.859] xyz_f:0.153022, -0.207303, 1.277984  Reprojection Error: 0.008885, 0.200509 Feature: 0.127479, 0.037958, 0.991115
[11:52:55.859] xyz_f:0.429305, 0.048620, 1.354939  Reprojection Error: 0.115476, 0.313121 Feature: 0.377907, 0.305077, 0.874136
[11:52:55.859] xyz_f:0.184212, 0.037525, 1.310698  Reprojection Error: 0.008138, 0.269573 Feature: 0.141059, 0.282910, 0.948717
[11:52:55.859] xyz_f:0.329532, -0.449901, 1.237150  Reprojection Error: 0.050639, 0.141764 Feature: 0.295642, -0.206942, 0.932615
[11:52:55.859] xyz_f:0.141789, -0.229629, 1.268518  Reprojection Error: 0.004956, 0.195060 Feature: 0.115933, 0.013942, 0.993159
[11:52:55.859] xyz_f:0.470336, 0.012047, 1.357484  Reprojection Error: 0.138227, 0.303253 Feature: 0.419918, 0.270409, 0.866342
[11:52:55.859] xyz_f:0.404469, -0.645697, 1.117024  Reprojection Error: 0.065752, 0.059244 Feature: 0.333195, -0.427158, 0.840545
[11:52:55.859] xyz_f:0.310114, -0.458990, 1.228773  Reprojection Error: 0.075533, 0.136504 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.859] xyz_f:0.339297, -0.459966, 1.233606  Reprojection Error: 0.083692, 0.131485 Feature: 0.303996, -0.217582, 0.927494
[11:52:55.859] xyz_f:0.299307, -0.436992, 1.237806  Reprojection Error: 0.074540, 0.143183 Feature: 0.267426, -0.194303, 0.943785
[11:52:55.859] xyz_f:0.133562, -0.243637, 1.261719  Reprojection Error: 0.031578, 0.193943 Feature: 0.107262, -0.001348, 0.994230
[11:52:55.859] xyz_f:0.169497, -0.213033, 1.282454  Reprojection Error: 0.044231, 0.197990 Feature: 0.144803, 0.033580, 0.988890
[11:52:55.859] xyz_f:0.029717, -0.133265, 1.238116  Reprojection Error: -0.003521, 0.207299 Feature: -0.008589, 0.099154, 0.995035
[11:52:55.859] xyz_f:-0.029961, -0.034618, 1.214336  Reprojection Error: -0.028279, 0.220554 Feature: -0.083702, 0.188286, 0.978541
[11:52:55.859] xyz_f:0.184212, 0.037525, 1.310698  Reprojection Error: 0.039209, 0.270820 Feature: 0.141059, 0.282910, 0.948717
[11:52:55.859] xyz_f:0.422877, 0.020137, 1.355542  Reprojection Error: 0.154048, 0.300640 Feature: 0.375741, 0.277722, 0.884132
[11:52:55.859] xyz_f:0.067677, 0.189067, 1.246660  Reprojection Error: -0.025944, 0.298834 Feature: -0.008478, 0.412715, 0.910821
[11:52:55.859] it:5 	 Success 	 new_chi2: 1.621742 	 dT = -0.056595, 0.063335, 0.051488
[11:52:55.859] xyz_f:-0.001450, -0.247993, 1.341313  Reprojection Error: 0.108965, 0.183533 Feature: 0.107262, -0.001348, 0.994230
[11:52:55.860] xyz_f:0.205496, -0.461572, 1.302935  Reprojection Error: 0.170043, 0.119664 Feature: 0.303996, -0.217582, 0.927494
[11:52:55.860] xyz_f:-0.107801, -0.139023, 1.322938  Reprojection Error: 0.072854, 0.204735 Feature: -0.008589, 0.099154, 0.995035
[11:52:55.860] xyz_f:0.165462, -0.439131, 1.309126  Reprojection Error: 0.156964, 0.129562 Feature: 0.267426, -0.194303, 0.943785
[11:52:55.860] xyz_f:0.267260, -0.646457, 1.183196  Reprojection Error: 0.170525, 0.038174 Feature: 0.333195, -0.427158, 0.840545
[11:52:55.860] xyz_f:0.253721, -0.469725, 1.302538  Reprojection Error: 0.188690, 0.112656 Feature: 0.348828, -0.225560, 0.909638
[11:52:55.860] xyz_f:-0.110167, -0.132233, 1.322883  Reprojection Error: 0.071728, 0.206259 Feature: -0.011485, 0.105698, 0.994332
[11:52:55.860] xyz_f:-0.073760, 0.183790, 1.329691  Reprojection Error: 0.046164, 0.314904 Feature: -0.008478, 0.412715, 0.910821
[11:52:55.860] xyz_f:-0.169897, -0.041186, 1.302187  Reprojection Error: 0.044933, 0.224043 Feature: -0.083702, 0.188286, 0.978541
[11:52:55.860] xyz_f:0.176098, -0.460987, 1.299560  Reprojection Error: 0.158994, 0.121991 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.860] xyz_f:0.035060, -0.216907, 1.360247  Reprojection Error: 0.120656, 0.193418 Feature: 0.144803, 0.033580, 0.988890
[11:52:55.860] xyz_f:0.219593, -0.453954, 1.308288  Reprojection Error: 0.176235, 0.121149 Feature: 0.318187, -0.208838, 0.924740
[11:52:55.860] xyz_f:0.165709, -0.474339, 1.290870  Reprojection Error: 0.153949, 0.118456 Feature: 0.264218, -0.233036, 0.935886
[11:52:55.860] xyz_f:0.288632, 0.019642, 1.420725  Reprojection Error: 0.221825, 0.300292 Feature: 0.375741, 0.277722, 0.884132
[11:52:55.860] xyz_f:-0.169370, -0.034606, 1.302751  Reprojection Error: 0.044376, 0.225883 Feature: -0.083686, 0.194788, 0.977269
[11:52:55.860] xyz_f:0.237586, -0.456063, 1.308676  Reprojection Error: 0.183273, 0.118972 Feature: 0.335025, -0.210775, 0.918331
[11:52:55.860] xyz_f:0.032494, -0.201795, 1.362881  Reprojection Error: 0.119688, 0.197483 Feature: 0.141905, 0.048859, 0.988674
[11:52:55.860] xyz_f:-0.105413, -0.145802, 1.322947  Reprojection Error: 0.073963, 0.203219 Feature: -0.005693, 0.092608, 0.995686
[11:52:55.860] xyz_f:0.018308, -0.211398, 1.356602  Reprojection Error: 0.115126, 0.194127 Feature: 0.127479, 0.037958, 0.991115
[11:52:55.860] xyz_f:0.294642, 0.048207, 1.419812  Reprojection Error: 0.224799, 0.315051 Feature: 0.377907, 0.305077, 0.874136
[11:52:55.860] xyz_f:0.047823, 0.033834, 1.387806  Reprojection Error: 0.114224, 0.273823 Feature: 0.141059, 0.282910, 0.948717
[11:52:55.860] xyz_f:0.195786, -0.451636, 1.306964  Reprojection Error: 0.167201, 0.123667 Feature: 0.295642, -0.206942, 0.932615
[11:52:55.860] xyz_f:0.006917, -0.233875, 1.347699  Reprojection Error: 0.111599, 0.187575 Feature: 0.115933, 0.013942, 0.993159
[11:52:55.860] xyz_f:0.336232, 0.012185, 1.420303  Reprojection Error: 0.247970, 0.303548 Feature: 0.419918, 0.270409, 0.866342
[11:52:55.860] xyz_f:0.267260, -0.646457, 1.183196  Reprojection Error: 0.201968, 0.027558 Feature: 0.333195, -0.427158, 0.840545
[11:52:55.860] xyz_f:0.176098, -0.460987, 1.299560  Reprojection Error: 0.192404, 0.117694 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.860] xyz_f:0.205496, -0.461572, 1.302935  Reprojection Error: 0.201019, 0.112878 Feature: 0.303996, -0.217582, 0.927494
[11:52:55.860] xyz_f:0.165462, -0.439131, 1.309126  Reprojection Error: 0.189954, 0.125584 Feature: 0.267426, -0.194303, 0.943785
[11:52:55.860] xyz_f:-0.001450, -0.247993, 1.341313  Reprojection Error: 0.138517, 0.185733 Feature: 0.107262, -0.001348, 0.994230
[11:52:55.860] xyz_f:0.035060, -0.216907, 1.360247  Reprojection Error: 0.150623, 0.191338 Feature: 0.144803, 0.033580, 0.988890
[11:52:55.860] xyz_f:-0.107801, -0.139023, 1.322938  Reprojection Error: 0.101967, 0.204750 Feature: -0.008589, 0.099154, 0.995035
[11:52:55.860] xyz_f:-0.169897, -0.041186, 1.302187  Reprojection Error: 0.077518, 0.223675 Feature: -0.083702, 0.188286, 0.978541
[11:52:55.860] xyz_f:0.047823, 0.033834, 1.387806  Reprojection Error: 0.145295, 0.275070 Feature: 0.141059, 0.282910, 0.948717
[11:52:55.860] xyz_f:0.288632, 0.019642, 1.420725  Reprojection Error: 0.262852, 0.301670 Feature: 0.375741, 0.277722, 0.884132
[11:52:55.860] xyz_f:-0.073760, 0.183790, 1.329691  Reprojection Error: 0.083814, 0.312274 Feature: -0.008478, 0.412715, 0.910821
[11:52:55.860] it:6 	 Success 	 new_chi2: 2.124891 	 dT = -0.033628, 0.041844, 0.039582
[11:52:55.860] xyz_f:0.114627, -0.244702, 1.287184  Reprojection Error: 0.018831, 0.188750 Feature: 0.107262, -0.001348, 0.994230
[11:52:55.860] xyz_f:0.320691, -0.460396, 1.256703  Reprojection Error: 0.072577, 0.131761 Feature: 0.303996, -0.217582, 0.927494
[11:52:55.860] xyz_f:0.010178, -0.134651, 1.264780  Reprojection Error: -0.016679, 0.206111 Feature: -0.008589, 0.099154, 0.995035
[11:52:55.860] xyz_f:0.280681, -0.437545, 1.261364  Reprojection Error: 0.060833, 0.141006 Feature: 0.267426, -0.194303, 0.943785
[11:52:55.860] xyz_f:0.385089, -0.645928, 1.139377  Reprojection Error: 0.058421, 0.058722 Feature: 0.333195, -0.427158, 0.840545
[11:52:55.860] xyz_f:0.368810, -0.469043, 1.258148  Reprojection Error: 0.090342, 0.124838 Feature: 0.348828, -0.225560, 0.909638
[11:52:55.860] xyz_f:0.007885, -0.127838, 1.264636  Reprojection Error: -0.017785, 0.207387 Feature: -0.011485, 0.105698, 0.994332
[11:52:55.860] xyz_f:0.047241, 0.187797, 1.272892  Reprojection Error: -0.046421, 0.305588 Feature: -0.008478, 0.412715, 0.910821
[11:52:55.860] xyz_f:-0.050074, -0.036188, 1.241689  Reprojection Error: -0.045210, 0.221559 Feature: -0.083702, 0.188286, 0.978541
[11:52:55.860] xyz_f:0.291451, -0.459510, 1.252207  Reprojection Error: 0.061750, 0.134226 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.860] xyz_f:0.150703, -0.213987, 1.307506  Reprojection Error: 0.031170, 0.197618 Feature: 0.144803, 0.033580, 0.988890
[11:52:55.860] xyz_f:0.334650, -0.452922, 1.262593  Reprojection Error: 0.079033, 0.132889 Feature: 0.318187, -0.208838, 0.924740
[11:52:55.860] xyz_f:0.281266, -0.472757, 1.243124  Reprojection Error: 0.056062, 0.131297 Feature: 0.264218, -0.233036, 0.935886
[11:52:55.860] xyz_f:0.404188, 0.019964, 1.377679  Reprojection Error: 0.131600, 0.299627 Feature: 0.375741, 0.277722, 0.884132
[11:52:55.860] xyz_f:-0.049501, -0.029613, 1.242275  Reprojection Error: -0.045786, 0.223157 Feature: -0.083686, 0.194788, 0.977269
[11:52:55.860] xyz_f:0.352593, -0.455216, 1.263668  Reprojection Error: 0.085796, 0.130714 Feature: 0.335025, -0.210775, 0.918331
[11:52:55.860] xyz_f:0.148194, -0.198849, 1.310044  Reprojection Error: 0.030409, 0.201207 Feature: 0.141905, 0.048859, 0.988674
[11:52:55.860] xyz_f:0.012495, -0.141455, 1.264879  Reprojection Error: -0.015596, 0.204842 Feature: -0.005693, 0.092608, 0.995686
[11:52:55.860] xyz_f:0.134161, -0.208307, 1.303225  Reprojection Error: 0.025677, 0.198138 Feature: 0.127479, 0.037958, 0.991115
[11:52:55.860] xyz_f:0.410521, 0.048466, 1.377002  Reprojection Error: 0.134194, 0.313807 Feature: 0.377907, 0.305077, 0.874136
[11:52:55.860] xyz_f:0.164971, 0.036616, 1.335583  Reprojection Error: 0.025164, 0.270787 Feature: 0.141059, 0.282910, 0.948717
[11:52:55.860] xyz_f:0.310936, -0.450361, 1.260360  Reprojection Error: 0.070299, 0.135433 Feature: 0.295642, -0.206942, 0.932615
[11:52:55.860] xyz_f:0.122889, -0.230669, 1.293889  Reprojection Error: 0.021755, 0.192314 Feature: 0.115933, 0.013942, 0.993159
[11:52:55.860] xyz_f:0.451690, 0.012020, 1.379075  Reprojection Error: 0.157171, 0.303412 Feature: 0.419918, 0.270409, 0.866342
[11:52:55.860] xyz_f:0.385089, -0.645928, 1.139377  Reprojection Error: 0.089865, 0.048106 Feature: 0.333195, -0.427158, 0.840545
[11:52:55.860] xyz_f:0.291451, -0.459510, 1.252207  Reprojection Error: 0.095160, 0.129930 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.860] xyz_f:0.320691, -0.460396, 1.256703  Reprojection Error: 0.103552, 0.124975 Feature: 0.303996, -0.217582, 0.927494
[11:52:55.860] xyz_f:0.280681, -0.437545, 1.261364  Reprojection Error: 0.093823, 0.137028 Feature: 0.267426, -0.194303, 0.943785
[11:52:55.860] xyz_f:0.114627, -0.244702, 1.287184  Reprojection Error: 0.048383, 0.190950 Feature: 0.107262, -0.001348, 0.994230
[11:52:55.860] xyz_f:0.150703, -0.213987, 1.307506  Reprojection Error: 0.061137, 0.195537 Feature: 0.144803, 0.033580, 0.988890
[11:52:55.860] xyz_f:0.010178, -0.134651, 1.264780  Reprojection Error: 0.012434, 0.206126 Feature: -0.008589, 0.099154, 0.995035
[11:52:55.860] xyz_f:-0.050074, -0.036188, 1.241689  Reprojection Error: -0.012625, 0.221191 Feature: -0.083702, 0.188286, 0.978541
[11:52:55.860] xyz_f:0.164971, 0.036616, 1.335583  Reprojection Error: 0.056235, 0.272035 Feature: 0.141059, 0.282910, 0.948717
[11:52:55.860] xyz_f:0.404188, 0.019964, 1.377679  Reprojection Error: 0.172627, 0.301004 Feature: 0.375741, 0.277722, 0.884132
[11:52:55.860] xyz_f:0.047241, 0.187797, 1.272892  Reprojection Error: -0.008770, 0.302958 Feature: -0.008478, 0.412715, 0.910821
[11:52:55.860] it:7 	 Success 	 new_chi2: 1.313568 	 dT = -0.055147, 0.063166, 0.051037
[11:52:55.860] xyz_f:0.046770, -0.239896, 1.206082  Reprojection Error: 0.069106, 0.197549 Feature: 0.107262, -0.001348, 0.994230
[11:52:55.860] xyz_f:0.251219, -0.458302, 1.185722  Reprojection Error: 0.115891, 0.151926 Feature: 0.303996, -0.217582, 0.927494
[11:52:55.860] xyz_f:-0.054987, -0.128483, 1.178594  Reprojection Error: 0.038022, 0.208663 Feature: -0.008589, 0.099154, 0.995035
[11:52:55.860] xyz_f:0.211333, -0.434923, 1.188412  Reprojection Error: 0.105527, 0.160093 Feature: 0.267426, -0.194303, 0.943785
[11:52:55.860] xyz_f:0.318865, -0.644706, 1.071651  Reprojection Error: 0.098858, 0.093409 Feature: 0.333195, -0.427158, 0.840545
[11:52:55.860] xyz_f:0.299090, -0.467583, 1.189533  Reprojection Error: 0.132045, 0.145114 Feature: 0.348828, -0.225560, 0.909638
[11:52:55.860] xyz_f:-0.057180, -0.121640, 1.178339  Reprojection Error: 0.036976, 0.209530 Feature: -0.011485, 0.105698, 0.994332
[11:52:55.860] xyz_f:-0.014115, 0.193450, 1.188627  Reprojection Error: 0.002567, 0.290373 Feature: -0.008478, 0.412715, 0.910821
[11:52:55.860] xyz_f:-0.112722, -0.029240, 1.152594  Reprojection Error: 0.012261, 0.217784 Feature: -0.083702, 0.188286, 0.978541
[11:52:55.860] xyz_f:0.222251, -0.457032, 1.179790  Reprojection Error: 0.106119, 0.154650 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.860] xyz_f:0.082203, -0.209653, 1.228167  Reprojection Error: 0.079499, 0.204661 Feature: 0.144803, 0.033580, 0.988890
[11:52:55.860] xyz_f:0.264969, -0.451011, 1.192294  Reprojection Error: 0.121849, 0.152437 Feature: 0.318187, -0.208838, 0.924740
[11:52:55.860] xyz_f:0.212351, -0.470146, 1.170212  Reprojection Error: 0.100856, 0.152760 Feature: 0.264218, -0.233036, 0.935886
[11:52:55.860] xyz_f:0.334988, 0.020954, 1.310822  Reprojection Error: 0.169427, 0.298133 Feature: 0.375741, 0.277722, 0.884132
[11:52:55.860] xyz_f:-0.112092, -0.022673, 1.153209  Reprojection Error: 0.011568, 0.218980 Feature: -0.083686, 0.194788, 0.977269
[11:52:55.860] xyz_f:0.282804, -0.453541, 1.194251  Reprojection Error: 0.128015, 0.150250 Feature: 0.335025, -0.210775, 0.918331
[11:52:55.860] xyz_f:0.079771, -0.194483, 1.230582  Reprojection Error: 0.078706, 0.207460 Feature: 0.141905, 0.048859, 0.988674
[11:52:55.860] xyz_f:-0.052768, -0.135316, 1.178804  Reprojection Error: 0.039046, 0.207800 Feature: -0.005693, 0.092608, 0.995686
[11:52:55.860] xyz_f:0.065968, -0.203757, 1.223078  Reprojection Error: 0.074686, 0.204892 Feature: 0.127479, 0.037958, 0.991115
[11:52:55.860] xyz_f:0.341723, 0.049369, 1.310467  Reprojection Error: 0.171556, 0.311331 Feature: 0.377907, 0.305077, 0.874136
[11:52:55.860] xyz_f:0.098377, 0.040748, 1.256994  Reprojection Error: 0.070420, 0.265786 Feature: 0.141059, 0.282910, 0.948717
[11:52:55.860] xyz_f:0.241429, -0.448138, 1.188897  Reprojection Error: 0.113933, 0.155041 Feature: 0.295642, -0.206942, 0.932615
[11:52:55.861] xyz_f:0.054875, -0.225971, 1.213190  Reprojection Error: 0.071500, 0.200300 Feature: 0.115933, 0.013942, 0.993159
[11:52:55.861] xyz_f:0.382255, 0.012383, 1.314554  Reprojection Error: 0.193916, 0.302708 Feature: 0.419918, 0.270409, 0.866342
[11:52:55.861] xyz_f:0.318865, -0.644706, 1.071651  Reprojection Error: 0.130301, 0.082794 Feature: 0.333195, -0.427158, 0.840545
[11:52:55.861] xyz_f:0.222251, -0.457032, 1.179790  Reprojection Error: 0.139529, 0.150353 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.861] xyz_f:0.251219, -0.458302, 1.185722  Reprojection Error: 0.146867, 0.145139 Feature: 0.303996, -0.217582, 0.927494
[11:52:55.861] xyz_f:0.211333, -0.434923, 1.188412  Reprojection Error: 0.138517, 0.156116 Feature: 0.267426, -0.194303, 0.943785
[11:52:55.861] xyz_f:0.046770, -0.239896, 1.206082  Reprojection Error: 0.098658, 0.199749 Feature: 0.107262, -0.001348, 0.994230
[11:52:55.861] xyz_f:0.082203, -0.209653, 1.228167  Reprojection Error: 0.109466, 0.202581 Feature: 0.144803, 0.033580, 0.988890
[11:52:55.861] xyz_f:-0.054987, -0.128483, 1.178594  Reprojection Error: 0.067136, 0.208677 Feature: -0.008589, 0.099154, 0.995035
[11:52:55.861] xyz_f:-0.112722, -0.029240, 1.152594  Reprojection Error: 0.044847, 0.217416 Feature: -0.083702, 0.188286, 0.978541
[11:52:55.861] xyz_f:0.098377, 0.040748, 1.256994  Reprojection Error: 0.101491, 0.267033 Feature: 0.141059, 0.282910, 0.948717
[11:52:55.861] xyz_f:0.334988, 0.020954, 1.310822  Reprojection Error: 0.210454, 0.299510 Feature: 0.375741, 0.277722, 0.884132
[11:52:55.861] xyz_f:-0.014115, 0.193450, 1.188627  Reprojection Error: 0.040218, 0.287742 Feature: -0.008478, 0.412715, 0.910821
[11:52:55.861] it:8 	 Success 	 new_chi2: 1.517938 	 dT = -0.052382, 0.052535, 0.055042
[11:52:55.861] xyz_f:-0.069290, -0.234016, 1.131605  Reprojection Error: 0.169116, 0.205445 Feature: 0.107262, -0.001348, 0.994230
[11:52:55.861] xyz_f:0.132821, -0.455320, 1.122056  Reprojection Error: 0.209388, 0.171199 Feature: 0.303996, -0.217582, 0.927494
[11:52:55.861] xyz_f:-0.167845, -0.121176, 1.098791  Reprojection Error: 0.144122, 0.209930 Feature: -0.008589, 0.099154, 0.995035
[11:52:55.861] xyz_f:0.093186, -0.431374, 1.122632  Reprojection Error: 0.200348, 0.178376 Feature: 0.267426, -0.194303, 0.943785
[11:52:55.861] xyz_f:0.203773, -0.642711, 1.011670  Reprojection Error: 0.194981, 0.127106 Feature: 0.333195, -0.427158, 0.840545
[11:52:55.861] xyz_f:0.180286, -0.465279, 1.128402  Reprojection Error: 0.223709, 0.164368 Feature: 0.348828, -0.225560, 0.909638
[11:52:55.861] xyz_f:-0.169924, -0.114303, 1.098422  Reprojection Error: 0.143148, 0.210362 Feature: -0.011485, 0.105698, 0.994332
[11:52:55.861] xyz_f:-0.122984, 0.200146, 1.111104  Reprojection Error: 0.101379, 0.272991 Feature: -0.008478, 0.412715, 0.910821
[11:52:55.861] xyz_f:-0.222698, -0.021132, 1.069797  Reprojection Error: 0.122631, 0.212168 Feature: -0.083702, 0.188286, 0.978541
[11:52:55.861] xyz_f:0.104231, -0.453639, 1.114593  Reprojection Error: 0.200986, 0.174265 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.861] xyz_f:-0.034654, -0.204273, 1.155553  Reprojection Error: 0.176419, 0.210732 Feature: 0.144803, 0.033580, 0.988890
[11:52:55.861] xyz_f:0.146305, -0.448222, 1.129352  Reprojection Error: 0.214535, 0.171050 Feature: 0.318187, -0.208838, 0.924740
[11:52:55.861] xyz_f:0.094668, -0.466615, 1.104498  Reprojection Error: 0.196608, 0.173467 Feature: 0.264218, -0.233036, 0.935886
[11:52:55.861] xyz_f:0.216640, 0.022742, 1.251612  Reprojection Error: 0.251894, 0.295948 Feature: 0.375741, 0.277722, 0.884132
[11:52:55.861] xyz_f:-0.222009, -0.014574, 1.070448  Reprojection Error: 0.121765, 0.212934 Feature: -0.083686, 0.194788, 0.977269
[11:52:55.861] xyz_f:0.163974, -0.451005, 1.132253  Reprojection Error: 0.219999, 0.168805 Feature: 0.335025, -0.210775, 0.918331
[11:52:55.861] xyz_f:-0.036994, -0.189068, 1.157842  Reprojection Error: 0.175481, 0.212713 Feature: 0.141905, 0.048859, 0.988674
[11:52:55.861] xyz_f:-0.165738, -0.128041, 1.099116  Reprojection Error: 0.145074, 0.209503 Feature: -0.005693, 0.092608, 0.995686
[11:52:55.861] xyz_f:-0.050510, -0.198149, 1.149611  Reprojection Error: 0.172558, 0.210660 Feature: 0.127479, 0.037958, 0.991115
[11:52:55.861] xyz_f:0.223788, 0.051059, 1.251626  Reprojection Error: 0.253523, 0.308210 Feature: 0.377907, 0.305077, 0.874136
[11:52:55.861] xyz_f:-0.016470, 0.045883, 1.185294  Reprojection Error: 0.162579, 0.259492 Feature: 0.141059, 0.282910, 0.948717
[11:52:55.861] xyz_f:0.123023, -0.445016, 1.124710  Reprojection Error: 0.207621, 0.173777 Feature: 0.295642, -0.206942, 0.932615
[11:52:55.861] xyz_f:-0.061376, -0.220206, 1.139139  Reprojection Error: 0.170611, 0.207347 Feature: 0.115933, 0.013942, 0.993159
[11:52:55.861] xyz_f:0.263515, 0.013501, 1.257847  Reprojection Error: 0.275205, 0.301394 Feature: 0.419918, 0.270409, 0.866342
[11:52:55.861] xyz_f:0.203773, -0.642711, 1.011670  Reprojection Error: 0.226425, 0.116490 Feature: 0.333195, -0.427158, 0.840545
[11:52:55.861] xyz_f:0.104231, -0.453639, 1.114593  Reprojection Error: 0.234396, 0.169969 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.861] xyz_f:0.132821, -0.455320, 1.122056  Reprojection Error: 0.240363, 0.164413 Feature: 0.303996, -0.217582, 0.927494
[11:52:55.861] xyz_f:0.093186, -0.431374, 1.122632  Reprojection Error: 0.233338, 0.174398 Feature: 0.267426, -0.194303, 0.943785
[11:52:55.861] xyz_f:-0.069290, -0.234016, 1.131605  Reprojection Error: 0.198668, 0.207644 Feature: 0.107262, -0.001348, 0.994230
[11:52:55.861] xyz_f:-0.034654, -0.204273, 1.155553  Reprojection Error: 0.206386, 0.208652 Feature: 0.144803, 0.033580, 0.988890
[11:52:55.861] xyz_f:-0.167845, -0.121176, 1.098791  Reprojection Error: 0.173236, 0.209945 Feature: -0.008589, 0.099154, 0.995035
[11:52:55.861] xyz_f:-0.222698, -0.021132, 1.069797  Reprojection Error: 0.155217, 0.211800 Feature: -0.083702, 0.188286, 0.978541
[11:52:55.861] xyz_f:-0.016470, 0.045883, 1.185294  Reprojection Error: 0.193650, 0.260740 Feature: 0.141059, 0.282910, 0.948717
[11:52:55.861] xyz_f:0.216640, 0.022742, 1.251612  Reprojection Error: 0.292921, 0.297325 Feature: 0.375741, 0.277722, 0.884132
[11:52:55.861] xyz_f:-0.122984, 0.200146, 1.111104  Reprojection Error: 0.139030, 0.270361 Feature: -0.008478, 0.412715, 0.910821
[11:52:55.861] it:9 	 Success 	 new_chi2: 2.093095 	 dT = -0.033843, 0.037554, 0.047986
[11:52:55.861] xyz_f:-0.182989, -0.228315, 1.072774  Reprojection Error: 0.278460, 0.211471 Feature: 0.107262, -0.001348, 0.994230
[11:52:55.861] xyz_f:0.016584, -0.452113, 1.072535  Reprojection Error: 0.312298, 0.186946 Feature: 0.303996, -0.217582, 0.927494
[11:52:55.861] xyz_f:-0.278510, -0.114270, 1.035460  Reprojection Error: 0.260340, 0.210005 Feature: -0.008589, 0.099154, 0.995035
[11:52:55.861] xyz_f:-0.022735, -0.427677, 1.071281  Reprojection Error: 0.304577, 0.193344 Feature: 0.267426, -0.194303, 0.943785
[11:52:55.861] xyz_f:0.090243, -0.640403, 0.965501  Reprojection Error: 0.302937, 0.155094 Feature: 0.333195, -0.427158, 0.840545
[11:52:55.861] xyz_f:0.063576, -0.462659, 1.081071  Reprojection Error: 0.324671, 0.179998 Feature: 0.348828, -0.225560, 0.909638
[11:52:55.861] xyz_f:-0.280484, -0.107371, 1.034998  Reprojection Error: 0.259449, 0.210041 Feature: -0.011485, 0.105698, 0.994332
[11:52:55.861] xyz_f:-0.230282, 0.206475, 1.049931  Reprojection Error: 0.210023, 0.256468 Feature: -0.008478, 0.412715, 0.910821
[11:52:55.861] xyz_f:-0.330714, -0.013560, 1.003985  Reprojection Error: 0.243864, 0.205921 Feature: -0.083702, 0.188286, 0.978541
[11:52:55.861] xyz_f:-0.011607, -0.450080, 1.063756  Reprojection Error: 0.305412, 0.190370 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.861] xyz_f:-0.149133, -0.198997, 1.098309  Reprojection Error: 0.282215, 0.215142 Feature: 0.144803, 0.033580, 0.988890
[11:52:55.861] xyz_f:0.029803, -0.445181, 1.080451  Reprojection Error: 0.316499, 0.186199 Feature: 0.318187, -0.208838, 0.924740
[11:52:55.861] xyz_f:-0.020852, -0.462939, 1.053225  Reprojection Error: 0.302117, 0.190543 Feature: 0.264218, -0.233036, 0.935886
[11:52:55.861] xyz_f:0.100239, 0.024908, 1.205973  Reprojection Error: 0.341864, 0.293464 Feature: 0.375741, 0.277722, 0.884132
[11:52:55.861] xyz_f:-0.329974, -0.007011, 1.004669  Reprojection Error: 0.242808, 0.206298 Feature: -0.083686, 0.194788, 0.977269
[11:52:55.861] xyz_f:0.047282, -0.448183, 1.084166  Reprojection Error: 0.321208, 0.183869 Feature: 0.335025, -0.210775, 0.918331
[11:52:55.861] xyz_f:-0.151388, -0.183764, 1.100492  Reprojection Error: 0.281094, 0.216402 Feature: 0.141905, 0.048859, 0.988674
[11:52:55.861] xyz_f:-0.276506, -0.121159, 1.035881  Reprojection Error: 0.261210, 0.209972 Feature: -0.005693, 0.092608, 0.995686
[11:52:55.861] xyz_f:-0.164620, -0.192678, 1.091640  Reprojection Error: 0.279422, 0.214801 Feature: 0.127479, 0.037958, 0.991115
[11:52:55.861] xyz_f:0.107730, 0.053134, 1.206327  Reprojection Error: 0.343017, 0.304958 Feature: 0.377907, 0.305077, 0.874136
[11:52:55.861] xyz_f:-0.129243, 0.050923, 1.128932  Reprojection Error: 0.263166, 0.253096 Feature: 0.141059, 0.282910, 0.948717
[11:52:55.861] xyz_f:0.006802, -0.441687, 1.074735  Reprojection Error: 0.310674, 0.189079 Feature: 0.295642, -0.206942, 0.932615
[11:52:55.861] xyz_f:-0.175262, -0.214601, 1.080670  Reprojection Error: 0.278911, 0.212620 Feature: 0.115933, 0.013942, 0.993159
[11:52:55.861] xyz_f:0.146657, 0.015088, 1.214371  Reprojection Error: 0.363935, 0.299703 Feature: 0.419918, 0.270409, 0.866342
[11:52:55.861] xyz_f:0.090243, -0.640403, 0.965501  Reprojection Error: 0.334380, 0.144478 Feature: 0.333195, -0.427158, 0.840545
[11:52:55.861] xyz_f:-0.011607, -0.450080, 1.063756  Reprojection Error: 0.338821, 0.186073 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.861] xyz_f:0.016584, -0.452113, 1.072535  Reprojection Error: 0.343274, 0.180159 Feature: 0.303996, -0.217582, 0.927494
[11:52:55.861] xyz_f:-0.022735, -0.427677, 1.071281  Reprojection Error: 0.337567, 0.189366 Feature: 0.267426, -0.194303, 0.943785
[11:52:55.861] xyz_f:-0.182989, -0.228315, 1.072774  Reprojection Error: 0.308012, 0.213671 Feature: 0.107262, -0.001348, 0.994230
[11:52:55.861] xyz_f:-0.149133, -0.198997, 1.098309  Reprojection Error: 0.312182, 0.213062 Feature: 0.144803, 0.033580, 0.988890
[11:52:55.861] xyz_f:-0.278510, -0.114270, 1.035460  Reprojection Error: 0.289453, 0.210020 Feature: -0.008589, 0.099154, 0.995035
[11:52:55.861] xyz_f:-0.330714, -0.013560, 1.003985  Reprojection Error: 0.276450, 0.205553 Feature: -0.083702, 0.188286, 0.978541
[11:52:55.861] xyz_f:-0.129243, 0.050923, 1.128932  Reprojection Error: 0.294237, 0.254343 Feature: 0.141059, 0.282910, 0.948717
[11:52:55.861] xyz_f:0.100239, 0.024908, 1.205973  Reprojection Error: 0.382891, 0.294841 Feature: 0.375741, 0.277722, 0.884132
[11:52:55.861] xyz_f:-0.230282, 0.206475, 1.049931  Reprojection Error: 0.247673, 0.253838 Feature: -0.008478, 0.412715, 0.910821
[11:52:55.861] it:10 	 Success 	 new_chi2: 2.738344 	 dT = -0.007310, 0.029619, 0.032127
[11:52:55.861] xyz_f:-0.275003, -0.224205, 1.027816  Reprojection Error: 0.375445, 0.216782 Feature: 0.107262, -0.001348, 0.994230
[11:52:55.861] xyz_f:-0.077385, -0.449655, 1.033741  Reprojection Error: 0.402620, 0.200387 Feature: 0.303996, -0.217582, 0.927494
[11:52:55.861] xyz_f:-0.368368, -0.109374, 0.987572  Reprojection Error: 0.364372, 0.210400 Feature: -0.008589, 0.099154, 0.995035
[11:52:55.861] xyz_f:-0.116442, -0.424893, 1.031270  Reprojection Error: 0.396266, 0.206132 Feature: 0.267426, -0.194303, 0.943785
[11:52:55.861] xyz_f:-0.002010, -0.638564, 0.929019  Reprojection Error: 0.398567, 0.179161 Feature: 0.333195, -0.427158, 0.840545
[11:52:55.861] xyz_f:-0.030770, -0.460590, 1.043729  Reprojection Error: 0.412961, 0.193326 Feature: 0.348828, -0.225560, 0.909638
[11:52:55.862] xyz_f:-0.370269, -0.102459, 0.987049  Reprojection Error: 0.363577, 0.210104 Feature: -0.011485, 0.105698, 0.994332
[11:52:55.862] xyz_f:-0.317948, 0.210960, 1.003573  Reprojection Error: 0.307508, 0.242915 Feature: -0.008478, 0.412715, 0.910821
[11:52:55.862] xyz_f:-0.418732, -0.008238, 0.954505  Reprojection Error: 0.353153, 0.201046 Feature: -0.083702, 0.188286, 0.978541
[11:52:55.862] xyz_f:-0.105273, -0.447388, 1.024092  Reprojection Error: 0.397297, 0.204129 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.862] xyz_f:-0.241713, -0.195166, 1.054393  Reprojection Error: 0.375674, 0.219055 Feature: 0.144803, 0.033580, 0.988890
[11:52:55.862] xyz_f:-0.064362, -0.442832, 1.042064  Reprojection Error: 0.405847, 0.199123 Feature: 0.318187, -0.208838, 0.924740
[11:52:55.862] xyz_f:-0.114293, -0.460171, 1.013277  Reprojection Error: 0.395114, 0.205140 Feature: 0.264218, -0.233036, 0.935886
[11:52:55.862] xyz_f:0.006052, 0.026672, 1.169772  Reprojection Error: 0.419810, 0.291317 Feature: 0.375741, 0.277722, 0.884132
[11:52:55.862] xyz_f:-0.417959, -0.001696, 0.955212  Reprojection Error: 0.351924, 0.201094 Feature: -0.083686, 0.194788, 0.977269
[11:52:55.862] xyz_f:-0.047032, -0.445978, 1.046319  Reprojection Error: 0.409769, 0.196715 Feature: 0.335025, -0.210775, 0.918331
[11:52:55.862] xyz_f:-0.243907, -0.179915, 1.056507  Reprojection Error: 0.374392, 0.219711 Feature: 0.141905, 0.048859, 0.988674
[11:52:55.862] xyz_f:-0.366435, -0.116280, 0.988054  Reprojection Error: 0.365148, 0.210696 Feature: -0.005693, 0.092608, 0.995686
[11:52:55.862] xyz_f:-0.256932, -0.188719, 1.047248  Reprojection Error: 0.373962, 0.218503 Feature: 0.127479, 0.037958, 0.991115
[11:52:55.862] xyz_f:0.013762, 0.054835, 1.170361  Reprojection Error: 0.420561, 0.302151 Feature: 0.377907, 0.305077, 0.874136
[11:52:55.862] xyz_f:-0.220705, 0.054584, 1.085651  Reprojection Error: 0.351976, 0.247925 Feature: 0.141059, 0.282910, 0.948717
[11:52:55.862] xyz_f:-0.087144, -0.439148, 1.035638  Reprojection Error: 0.401148, 0.202141 Feature: 0.295642, -0.206942, 0.932615
[11:52:55.862] xyz_f:-0.267411, -0.210555, 1.035950  Reprojection Error: 0.374863, 0.217286 Feature: 0.115933, 0.013942, 0.993159
[11:52:55.862] xyz_f:0.052103, 0.016467, 1.179604  Reprojection Error: 0.440532, 0.298168 Feature: 0.419918, 0.270409, 0.866342
[11:52:55.862] xyz_f:-0.002010, -0.638564, 0.929019  Reprojection Error: 0.430010, 0.168545 Feature: 0.333195, -0.427158, 0.840545
[11:52:55.862] xyz_f:-0.105273, -0.447388, 1.024092  Reprojection Error: 0.430706, 0.199832 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.862] xyz_f:-0.077385, -0.449655, 1.033741  Reprojection Error: 0.433596, 0.193600 Feature: 0.303996, -0.217582, 0.927494
[11:52:55.862] xyz_f:-0.116442, -0.424893, 1.031270  Reprojection Error: 0.429256, 0.202155 Feature: 0.267426, -0.194303, 0.943785
[11:52:55.862] xyz_f:-0.275003, -0.224205, 1.027816  Reprojection Error: 0.404996, 0.218981 Feature: 0.107262, -0.001348, 0.994230
[11:52:55.862] xyz_f:-0.241713, -0.195166, 1.054393  Reprojection Error: 0.405641, 0.216975 Feature: 0.144803, 0.033580, 0.988890
[11:52:55.862] xyz_f:-0.368368, -0.109374, 0.987572  Reprojection Error: 0.393485, 0.210414 Feature: -0.008589, 0.099154, 0.995035
[11:52:55.862] xyz_f:-0.418732, -0.008238, 0.954505  Reprojection Error: 0.385738, 0.200678 Feature: -0.083702, 0.188286, 0.978541
[11:52:55.862] xyz_f:-0.220705, 0.054584, 1.085651  Reprojection Error: 0.383047, 0.249173 Feature: 0.141059, 0.282910, 0.948717
[11:52:55.862] xyz_f:0.006052, 0.026672, 1.169772  Reprojection Error: 0.460836, 0.292694 Feature: 0.375741, 0.277722, 0.884132
[11:52:55.862] xyz_f:-0.317948, 0.210960, 1.003573  Reprojection Error: 0.345158, 0.240285 Feature: -0.008478, 0.412715, 0.910821
[11:52:55.862] it:11 	 Success 	 new_chi2: 2.950839 	 dT = 0.006462, 0.027147, 0.025305
[11:52:55.862] xyz_f:-0.340022, -0.220805, 0.987982  Reprojection Error: 0.452042, 0.222136 Feature: 0.107262, -0.001348, 0.994230
[11:52:55.862] xyz_f:-0.144088, -0.447544, 0.998716  Reprojection Error: 0.472035, 0.213528 Feature: 0.303996, -0.217582, 0.927494
[11:52:55.862] xyz_f:-0.431621, -0.105369, 0.945477  Reprojection Error: 0.447880, 0.211094 Feature: -0.008589, 0.099154, 0.995035
[11:52:55.862] xyz_f:-0.182910, -0.422527, 0.995294  Reprojection Error: 0.467130, 0.218648 Feature: 0.267426, -0.194303, 0.943785
[11:52:55.862] xyz_f:-0.067415, -0.636951, 0.895853  Reprojection Error: 0.471656, 0.202808 Feature: 0.333195, -0.427158, 0.840545
[11:52:55.862] xyz_f:-0.097804, -0.458784, 1.009840  Reprojection Error: 0.480331, 0.206347 Feature: 0.348828, -0.225560, 0.909638
[11:52:55.862] xyz_f:-0.433464, -0.098442, 0.944909  Reprojection Error: 0.447186, 0.210482 Feature: -0.011485, 0.105698, 0.994332
[11:52:55.862] xyz_f:-0.379510, 0.214629, 0.962731  Reprojection Error: 0.384894, 0.230186 Feature: -0.008478, 0.412715, 0.910821
[11:52:55.862] xyz_f:-0.480499, -0.003908, 0.911197  Reprojection Error: 0.441789, 0.196704 Feature: -0.083702, 0.188286, 0.978541
[11:52:55.862] xyz_f:-0.171716, -0.445096, 0.988389  Reprojection Error: 0.468234, 0.217590 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.862] xyz_f:-0.307202, -0.191983, 1.015367  Reprojection Error: 0.448982, 0.223035 Feature: 0.144803, 0.033580, 0.988890
[11:52:55.862] xyz_f:-0.131228, -0.440806, 1.007356  Reprojection Error: 0.474353, 0.211753 Feature: 0.318187, -0.208838, 0.924740
[11:52:55.862] xyz_f:-0.180553, -0.457820, 0.977356  Reprojection Error: 0.467055, 0.219426 Feature: 0.264218, -0.233036, 0.935886
[11:52:55.862] xyz_f:-0.060883, 0.028237, 1.136784  Reprojection Error: 0.478541, 0.289278 Feature: 0.375741, 0.277722, 0.884132
[11:52:55.862] xyz_f:-0.479701, 0.002629, 0.911923  Reprojection Error: 0.440399, 0.196436 Feature: -0.083686, 0.194788, 0.977269
[11:52:55.862] xyz_f:-0.114028, -0.444065, 1.012034  Reprojection Error: 0.477492, 0.209265 Feature: 0.335025, -0.210775, 0.918331
[11:52:55.862] xyz_f:-0.309347, -0.176718, 1.017428  Reprojection Error: 0.447579, 0.223109 Feature: 0.141905, 0.048859, 0.988674
[11:52:55.862] xyz_f:-0.429746, -0.112288, 0.946005  Reprojection Error: 0.448557, 0.211706 Feature: -0.005693, 0.092608, 0.995686
[11:52:55.862] xyz_f:-0.322199, -0.185438, 1.007852  Reprojection Error: 0.448311, 0.222291 Feature: 0.127479, 0.037958, 0.991115
[11:52:55.862] xyz_f:-0.053005, 0.056349, 1.137564  Reprojection Error: 0.478916, 0.299470 Feature: 0.377907, 0.305077, 0.874136
[11:52:55.862] xyz_f:-0.285329, 0.057626, 1.047149  Reprojection Error: 0.421165, 0.243171 Feature: 0.141059, 0.282910, 0.948717
[11:52:55.862] xyz_f:-0.153822, -0.436973, 1.000375  Reprojection Error: 0.470767, 0.214915 Feature: 0.295642, -0.206942, 0.932615
[11:52:55.862] xyz_f:-0.332541, -0.207205, 0.996300  Reprojection Error: 0.450508, 0.222013 Feature: 0.115933, 0.013942, 0.993159
[11:52:55.862] xyz_f:-0.015154, 0.017731, 1.147739  Reprojection Error: 0.497906, 0.296679 Feature: 0.419918, 0.270409, 0.866342
[11:52:55.862] xyz_f:-0.067415, -0.636951, 0.895853  Reprojection Error: 0.503099, 0.192192 Feature: 0.333195, -0.427158, 0.840545
[11:52:55.862] xyz_f:-0.171716, -0.445096, 0.988389  Reprojection Error: 0.501644, 0.213294 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.862] xyz_f:-0.144088, -0.447544, 0.998716  Reprojection Error: 0.503010, 0.206741 Feature: 0.303996, -0.217582, 0.927494
[11:52:55.862] xyz_f:-0.182910, -0.422527, 0.995294  Reprojection Error: 0.500120, 0.214670 Feature: 0.267426, -0.194303, 0.943785
[11:52:55.862] xyz_f:-0.340022, -0.220805, 0.987982  Reprojection Error: 0.481594, 0.224336 Feature: 0.107262, -0.001348, 0.994230
[11:52:55.862] xyz_f:-0.307202, -0.191983, 1.015367  Reprojection Error: 0.478949, 0.220954 Feature: 0.144803, 0.033580, 0.988890
[11:52:55.862] xyz_f:-0.431621, -0.105369, 0.945477  Reprojection Error: 0.476993, 0.211109 Feature: -0.008589, 0.099154, 0.995035
[11:52:55.862] xyz_f:-0.480499, -0.003908, 0.911197  Reprojection Error: 0.474375, 0.196336 Feature: -0.083702, 0.188286, 0.978541
[11:52:55.862] xyz_f:-0.285329, 0.057626, 1.047149  Reprojection Error: 0.452236, 0.244419 Feature: 0.141059, 0.282910, 0.948717
[11:52:55.862] xyz_f:-0.060883, 0.028237, 1.136784  Reprojection Error: 0.519567, 0.290656 Feature: 0.375741, 0.277722, 0.884132
[11:52:55.862] xyz_f:-0.379510, 0.214629, 0.962731  Reprojection Error: 0.422545, 0.227556 Feature: -0.008478, 0.412715, 0.910821
[11:52:55.862] it:12 	 Success 	 new_chi2: 2.681530 	 dT = 0.005348, 0.024994, 0.030655
[11:52:55.862] xyz_f:-0.391801, -0.216499, 0.946917  Reprojection Error: 0.521649, 0.227280 Feature: 0.107262, -0.001348, 0.994230
[11:52:55.862] xyz_f:-0.198076, -0.444784, 0.963421  Reprojection Error: 0.533358, 0.227080 Feature: 0.303996, -0.217582, 0.927494
[11:52:55.862] xyz_f:-0.481183, -0.100345, 0.901732  Reprojection Error: 0.524989, 0.210929 Feature: -0.008589, 0.099154, 0.995035
[11:52:55.862] xyz_f:-0.236580, -0.419460, 0.958854  Reprojection Error: 0.530087, 0.231583 Feature: 0.267426, -0.194303, 0.943785
[11:52:55.862] xyz_f:-0.119895, -0.634805, 0.862851  Reprojection Error: 0.535357, 0.227515 Feature: 0.333195, -0.427158, 0.840545
[11:52:55.862] xyz_f:-0.152232, -0.456389, 0.975909  Reprojection Error: 0.539469, 0.219689 Feature: 0.348828, -0.225560, 0.909638
[11:52:55.862] xyz_f:-0.482953, -0.093403, 0.901111  Reprojection Error: 0.524403, 0.209954 Feature: -0.011485, 0.105698, 0.994332
[11:52:55.862] xyz_f:-0.427069, 0.219232, 0.920559  Reprojection Error: 0.454616, 0.214973 Feature: -0.008478, 0.412715, 0.910821
[11:52:55.862] xyz_f:-0.528218, 0.001497, 0.866033  Reprojection Error: 0.524391, 0.190687 Feature: -0.083702, 0.188286, 0.978541
[11:52:55.862] xyz_f:-0.225366, -0.442117, 0.952280  Reprojection Error: 0.531159, 0.231538 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.862] xyz_f:-0.359578, -0.187935, 0.975265  Reprojection Error: 0.515128, 0.226659 Feature: 0.144803, 0.033580, 0.988890
[11:52:55.862] xyz_f:-0.185424, -0.438147, 0.972438  Reprojection Error: 0.534762, 0.224731 Feature: 0.318187, -0.208838, 0.924740
[11:52:55.862] xyz_f:-0.233973, -0.454773, 0.940989  Reprojection Error: 0.530965, 0.234291 Feature: 0.264218, -0.233036, 0.935886
[11:52:55.862] xyz_f:-0.115223, 0.030339, 1.103947  Reprojection Error: 0.529357, 0.286636 Feature: 0.375741, 0.277722, 0.884132
[11:52:55.862] xyz_f:-0.527390, 0.008028, 0.866783  Reprojection Error: 0.522812, 0.190058 Feature: -0.083686, 0.194788, 0.977269
[11:52:55.862] xyz_f:-0.168396, -0.441542, 0.977623  Reprojection Error: 0.537070, 0.222129 Feature: 0.335025, -0.210775, 0.918331
[11:52:55.862] xyz_f:-0.361662, -0.172652, 0.977263  Reprojection Error: 0.513607, 0.226088 Feature: 0.141905, 0.048859, 0.988674
[11:52:55.862] xyz_f:-0.479380, -0.107278, 0.902315  Reprojection Error: 0.525560, 0.211901 Feature: -0.005693, 0.092608, 0.995686
[11:52:55.862] xyz_f:-0.374294, -0.181271, 0.967311  Reprojection Error: 0.515565, 0.225696 Feature: 0.127479, 0.037958, 0.991115
[11:52:55.862] xyz_f:-0.107149, 0.058387, 1.104963  Reprojection Error: 0.529291, 0.296164 Feature: 0.377907, 0.305077, 0.874136
[11:52:55.862] xyz_f:-0.336677, 0.061497, 1.007710  Reprojection Error: 0.482784, 0.237177 Feature: 0.141059, 0.282910, 0.948717
[11:52:55.862] xyz_f:-0.207770, -0.434136, 0.964792  Reprojection Error: 0.532355, 0.228084 Feature: 0.295642, -0.206942, 0.932615
[11:52:55.862] xyz_f:-0.384462, -0.202957, 0.955454  Reprojection Error: 0.519119, 0.226458 Feature: 0.115933, 0.013942, 0.993159
[11:52:55.862] xyz_f:-0.069923, 0.019472, 1.116250  Reprojection Error: 0.547344, 0.294684 Feature: 0.419918, 0.270409, 0.866342
[11:52:55.862] xyz_f:-0.119895, -0.634805, 0.862851  Reprojection Error: 0.566800, 0.216899 Feature: 0.333195, -0.427158, 0.840545
[11:52:55.863] xyz_f:-0.225366, -0.442117, 0.952280  Reprojection Error: 0.564569, 0.227242 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.863] xyz_f:-0.198076, -0.444784, 0.963421  Reprojection Error: 0.564333, 0.220293 Feature: 0.303996, -0.217582, 0.927494
[11:52:55.863] xyz_f:-0.236580, -0.419460, 0.958854  Reprojection Error: 0.563076, 0.227605 Feature: 0.267426, -0.194303, 0.943785
[11:52:55.863] xyz_f:-0.391801, -0.216499, 0.946917  Reprojection Error: 0.551201, 0.229480 Feature: 0.107262, -0.001348, 0.994230
[11:52:55.863] xyz_f:-0.359578, -0.187935, 0.975265  Reprojection Error: 0.545095, 0.224578 Feature: 0.144803, 0.033580, 0.988890
[11:52:55.863] xyz_f:-0.481183, -0.100345, 0.901732  Reprojection Error: 0.554102, 0.210944 Feature: -0.008589, 0.099154, 0.995035
[11:52:55.863] xyz_f:-0.528218, 0.001497, 0.866033  Reprojection Error: 0.556977, 0.190319 Feature: -0.083702, 0.188286, 0.978541
[11:52:55.863] xyz_f:-0.336677, 0.061497, 1.007710  Reprojection Error: 0.513855, 0.238424 Feature: 0.141059, 0.282910, 0.948717
[11:52:55.863] xyz_f:-0.115223, 0.030339, 1.103947  Reprojection Error: 0.570384, 0.288013 Feature: 0.375741, 0.277722, 0.884132
[11:52:55.863] xyz_f:-0.427069, 0.219232, 0.920559  Reprojection Error: 0.492266, 0.212342 Feature: -0.008478, 0.412715, 0.910821
[11:52:55.863] it:13 	 Success 	 new_chi2: 2.073115 	 dT = -0.003969, 0.021558, 0.043945
[11:52:55.863] xyz_f:-0.443467, -0.209974, 0.901008  Reprojection Error: 0.600074, 0.231688 Feature: 0.107262, -0.001348, 0.994230
[11:52:55.863] xyz_f:-0.253226, -0.440443, 0.925663  Reprojection Error: 0.601322, 0.241222 Feature: 0.303996, -0.217582, 0.927494
[11:52:55.863] xyz_f:-0.529525, -0.092822, 0.852100  Reprojection Error: 0.612804, 0.208582 Feature: -0.008589, 0.099154, 0.995035
[11:52:55.863] xyz_f:-0.291210, -0.414684, 0.919472  Reprojection Error: 0.600070, 0.245125 Feature: 0.267426, -0.194303, 0.943785
[11:52:55.863] xyz_f:-0.173014, -0.631365, 0.828455  Reprojection Error: 0.605243, 0.253908 Feature: 0.333195, -0.427158, 0.840545
[11:52:55.863] xyz_f:-0.208088, -0.452565, 0.940082  Reprojection Error: 0.604830, 0.233444 Feature: 0.348828, -0.225560, 0.909638
[11:52:55.863] xyz_f:-0.531188, -0.085861, 0.851405  Reprojection Error: 0.612346, 0.207147 Feature: -0.011485, 0.105698, 0.994332
[11:52:55.863] xyz_f:-0.472629, 0.226123, 0.873283  Reprojection Error: 0.531901, 0.194189 Feature: -0.008478, 0.412715, 0.910821
[11:52:55.863] xyz_f:-0.573842, 0.009539, 0.814461  Reprojection Error: 0.619029, 0.180703 Feature: -0.083702, 0.188286, 0.978541
[11:52:55.863] xyz_f:-0.279986, -0.437469, 0.913375  Reprojection Error: 0.601040, 0.246224 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.863] xyz_f:-0.412154, -0.181772, 0.930705  Reprojection Error: 0.589271, 0.229263 Feature: 0.144803, 0.033580, 0.988890
[11:52:55.863] xyz_f:-0.240893, -0.433948, 0.935210  Reprojection Error: 0.601664, 0.238177 Feature: 0.318187, -0.208838, 0.924740
[11:52:55.863] xyz_f:-0.288249, -0.450028, 0.901726  Reprojection Error: 0.601983, 0.250074 Feature: 0.264218, -0.233036, 0.935886
[11:52:55.863] xyz_f:-0.171014, 0.033741, 1.069693  Reprojection Error: 0.584855, 0.282576 Feature: 0.375741, 0.277722, 0.884132
[11:52:55.863] xyz_f:-0.572972, 0.016060, 0.815247  Reprojection Error: 0.617188, 0.179619 Feature: -0.083686, 0.194788, 0.977269
[11:52:55.863] xyz_f:-0.224140, -0.437535, 0.941112  Reprojection Error: 0.602985, 0.235393 Feature: 0.335025, -0.210775, 0.918331
[11:52:55.863] xyz_f:-0.414147, -0.166466, 0.932617  Reprojection Error: 0.587601, 0.227912 Feature: 0.141905, 0.048859, 0.988674
[11:52:55.863] xyz_f:-0.527827, -0.099775, 0.852757  Reprojection Error: 0.613248, 0.210012 Feature: -0.005693, 0.092608, 0.995686
[11:52:55.863] xyz_f:-0.426442, -0.174943, 0.922135  Reprojection Error: 0.591073, 0.228013 Feature: 0.127479, 0.037958, 0.991115
[11:52:55.863] xyz_f:-0.162672, 0.061696, 1.071058  Reprojection Error: 0.584200, 0.291402 Feature: 0.377907, 0.305077, 0.874136
[11:52:55.863] xyz_f:-0.387816, 0.067391, 0.964153  Reprojection Error: 0.550918, 0.228306 Feature: 0.141059, 0.282910, 0.948717
[11:52:55.863] xyz_f:-0.262848, -0.429685, 0.926624  Reprojection Error: 0.600665, 0.241816 Feature: 0.295642, -0.206942, 0.932615
[11:52:55.863] xyz_f:-0.436344, -0.196515, 0.909853  Reprojection Error: 0.596308, 0.230024 Feature: 0.115933, 0.013942, 0.993159
[11:52:55.863] xyz_f:-0.126403, 0.022362, 1.083904  Reprojection Error: 0.601321, 0.291496 Feature: 0.419918, 0.270409, 0.866342
[11:52:55.863] xyz_f:-0.173014, -0.631365, 0.828455  Reprojection Error: 0.636686, 0.243292 Feature: 0.333195, -0.427158, 0.840545
[11:52:55.863] xyz_f:-0.279986, -0.437469, 0.913375  Reprojection Error: 0.634450, 0.241928 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.863] xyz_f:-0.253226, -0.440443, 0.925663  Reprojection Error: 0.632298, 0.234435 Feature: 0.303996, -0.217582, 0.927494
[11:52:55.863] xyz_f:-0.291210, -0.414684, 0.919472  Reprojection Error: 0.633059, 0.241148 Feature: 0.267426, -0.194303, 0.943785
[11:52:55.863] xyz_f:-0.443467, -0.209974, 0.901008  Reprojection Error: 0.629626, 0.233888 Feature: 0.107262, -0.001348, 0.994230
[11:52:55.863] xyz_f:-0.412154, -0.181772, 0.930705  Reprojection Error: 0.619238, 0.227182 Feature: 0.144803, 0.033580, 0.988890
[11:52:55.863] xyz_f:-0.529525, -0.092822, 0.852100  Reprojection Error: 0.641918, 0.208597 Feature: -0.008589, 0.099154, 0.995035
[11:52:55.863] xyz_f:-0.573842, 0.009539, 0.814461  Reprojection Error: 0.651615, 0.180335 Feature: -0.083702, 0.188286, 0.978541
[11:52:55.863] xyz_f:-0.387816, 0.067391, 0.964153  Reprojection Error: 0.581989, 0.229553 Feature: 0.141059, 0.282910, 0.948717
[11:52:55.863] xyz_f:-0.171014, 0.033741, 1.069693  Reprojection Error: 0.625881, 0.283953 Feature: 0.375741, 0.277722, 0.884132
[11:52:55.863] xyz_f:-0.472629, 0.226123, 0.873283  Reprojection Error: 0.569552, 0.191559 Feature: -0.008478, 0.412715, 0.910821
[11:52:55.863] it:14 	 Success 	 new_chi2: 1.119221 	 dT = -0.011855, 0.016594, 0.057580
[11:52:55.863] xyz_f:-0.502557, -0.200817, 0.850240  Reprojection Error: 0.698961, 0.234833 Feature: 0.107262, -0.001348, 0.994230
[11:52:55.863] xyz_f:-0.317434, -0.434083, 0.885336  Reprojection Error: 0.686307, 0.255712 Feature: 0.303996, -0.217582, 0.927494
[11:52:55.863] xyz_f:-0.584009, -0.082416, 0.796672  Reprojection Error: 0.724429, 0.203100 Feature: -0.008589, 0.099154, 0.995035
[11:52:55.863] xyz_f:-0.354628, -0.407764, 0.877054  Reprojection Error: 0.687694, 0.259048 Feature: 0.267426, -0.194303, 0.943785
[11:52:55.863] xyz_f:-0.234795, -0.626220, 0.792658  Reprojection Error: 0.692615, 0.281833 Feature: 0.333195, -0.427158, 0.840545
[11:52:55.863] xyz_f:-0.273352, -0.446871, 0.902237  Reprojection Error: 0.686451, 0.247326 Feature: 0.348828, -0.225560, 0.909638
[11:52:55.863] xyz_f:-0.585526, -0.075432, 0.795889  Reprojection Error: 0.724139, 0.201078 Feature: -0.011485, 0.105698, 0.994332
[11:52:55.863] xyz_f:-0.523633, 0.235655, 0.821118  Reprojection Error: 0.628400, 0.166131 Feature: -0.008478, 0.412715, 0.910821
[11:52:55.863] xyz_f:-0.624635, 0.020578, 0.756670  Reprojection Error: 0.739967, 0.165220 Feature: -0.083702, 0.188286, 0.978541
[11:52:55.863] xyz_f:-0.343422, -0.430717, 0.871581  Reprojection Error: 0.688522, 0.261444 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.863] xyz_f:-0.472526, -0.173072, 0.881644  Reprojection Error: 0.682391, 0.230263 Feature: 0.144803, 0.033580, 0.988890
[11:52:55.863] xyz_f:-0.305555, -0.427769, 0.895557  Reprojection Error: 0.685273, 0.251823 Feature: 0.318187, -0.208838, 0.924740
[11:52:55.863] xyz_f:-0.351211, -0.443156, 0.859485  Reprojection Error: 0.690949, 0.266606 Feature: 0.264218, -0.233036, 0.935886
[11:52:55.863] xyz_f:-0.236301, 0.038883, 1.033910  Reprojection Error: 0.653534, 0.276511 Feature: 0.375741, 0.277722, 0.884132
[11:52:55.863] xyz_f:-0.623713, 0.027086, 0.757506  Reprojection Error: 0.737744, 0.163563 Feature: -0.083686, 0.194788, 0.977269
[11:52:55.863] xyz_f:-0.289212, -0.431603, 0.902379  Reprojection Error: 0.685319, 0.248775 Feature: 0.335025, -0.210775, 0.918331
[11:52:55.863] xyz_f:-0.474394, -0.157737, 0.883447  Reprojection Error: 0.680511, 0.227966 Feature: 0.141905, 0.048859, 0.988674
[11:52:55.863] xyz_f:-0.582453, -0.089394, 0.797420  Reprojection Error: 0.724705, 0.205113 Feature: -0.005693, 0.092608, 0.995686
[11:52:55.863] xyz_f:-0.486212, -0.166035, 0.872295  Reprojection Error: 0.686017, 0.228640 Feature: 0.127479, 0.037958, 0.991115
[11:52:55.863] xyz_f:-0.227633, 0.066711, 1.035748  Reprojection Error: 0.652097, 0.284596 Feature: 0.377907, 0.305077, 0.874136
[11:52:55.863] xyz_f:-0.446376, 0.075715, 0.916496  Reprojection Error: 0.635730, 0.215589 Feature: 0.141059, 0.282910, 0.948717
[11:52:55.863] xyz_f:-0.326933, -0.423183, 0.885766  Reprojection Error: 0.686099, 0.255865 Feature: 0.295642, -0.206942, 0.932615
[11:52:55.863] xyz_f:-0.495737, -0.187462, 0.859473  Reprojection Error: 0.693523, 0.232151 Feature: 0.115933, 0.013942, 0.993159
[11:52:55.863] xyz_f:-0.192724, 0.026847, 1.050574  Reprojection Error: 0.668149, 0.286573 Feature: 0.419918, 0.270409, 0.866342
[11:52:55.863] xyz_f:-0.234795, -0.626220, 0.792658  Reprojection Error: 0.724059, 0.271217 Feature: 0.333195, -0.427158, 0.840545
[11:52:55.863] xyz_f:-0.343422, -0.430717, 0.871581  Reprojection Error: 0.721932, 0.257148 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.863] xyz_f:-0.317434, -0.434083, 0.885336  Reprojection Error: 0.717282, 0.248925 Feature: 0.303996, -0.217582, 0.927494
[11:52:55.863] xyz_f:-0.354628, -0.407764, 0.877054  Reprojection Error: 0.720684, 0.255071 Feature: 0.267426, -0.194303, 0.943785
[11:52:55.863] xyz_f:-0.502557, -0.200817, 0.850240  Reprojection Error: 0.728512, 0.237033 Feature: 0.107262, -0.001348, 0.994230
[11:52:55.863] xyz_f:-0.472526, -0.173072, 0.881644  Reprojection Error: 0.712358, 0.228183 Feature: 0.144803, 0.033580, 0.988890
[11:52:55.863] xyz_f:-0.584009, -0.082416, 0.796672  Reprojection Error: 0.753542, 0.203115 Feature: -0.008589, 0.099154, 0.995035
[11:52:55.863] xyz_f:-0.624635, 0.020578, 0.756670  Reprojection Error: 0.772553, 0.164852 Feature: -0.083702, 0.188286, 0.978541
[11:52:55.863] xyz_f:-0.446376, 0.075715, 0.916496  Reprojection Error: 0.666801, 0.216836 Feature: 0.141059, 0.282910, 0.948717
[11:52:55.863] xyz_f:-0.236301, 0.038883, 1.033910  Reprojection Error: 0.694561, 0.277888 Feature: 0.375741, 0.277722, 0.884132
[11:52:55.863] xyz_f:-0.523633, 0.235655, 0.821118  Reprojection Error: 0.666051, 0.163501 Feature: -0.008478, 0.412715, 0.910821
[11:52:55.863] it:15 	 Success 	 new_chi2: 0.154070 	 dT = 0.022147, -0.010562, 0.040628
[11:52:55.863] xyz_f:-0.583937, -0.193956, 0.835197  Reprojection Error: 0.807045, 0.230873 Feature: 0.107262, -0.001348, 0.994230
[11:52:55.863] xyz_f:-0.402796, -0.429148, 0.877481  Reprojection Error: 0.786797, 0.254477 Feature: 0.303996, -0.217582, 0.927494
[11:52:55.863] xyz_f:-0.661975, -0.074717, 0.778499  Reprojection Error: 0.841691, 0.195624 Feature: -0.008589, 0.099154, 0.995035
[11:52:55.863] xyz_f:-0.439357, -0.402442, 0.867751  Reprojection Error: 0.789672, 0.257898 Feature: 0.267426, -0.194303, 0.943785
[11:52:55.863] xyz_f:-0.318609, -0.622162, 0.788077  Reprojection Error: 0.800690, 0.281277 Feature: 0.333195, -0.427158, 0.840545
[11:52:55.864] xyz_f:-0.359548, -0.442395, 0.896096  Reprojection Error: 0.784718, 0.245726 Feature: 0.348828, -0.225560, 0.909638
[11:52:55.864] xyz_f:-0.663388, -0.067717, 0.777658  Reprojection Error: 0.841508, 0.193378 Feature: -0.011485, 0.105698, 0.994332
[11:52:55.864] xyz_f:-0.599265, 0.242707, 0.805360  Reprojection Error: 0.734788, 0.151759 Feature: -0.008478, 0.412715, 0.910821
[11:52:55.864] xyz_f:-0.699916, 0.028690, 0.736955  Reprojection Error: 0.864203, 0.153484 Feature: -0.083702, 0.188286, 0.978541
[11:52:55.864] xyz_f:-0.428188, -0.425511, 0.862717  Reprojection Error: 0.790825, 0.260488 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.864] xyz_f:-0.554872, -0.166522, 0.867760  Reprojection Error: 0.785860, 0.225856 Feature: 0.144803, 0.033580, 0.988890
[11:52:55.864] xyz_f:-0.391262, -0.422957, 0.888161  Reprojection Error: 0.784613, 0.250383 Feature: 0.318187, -0.208838, 0.924740
[11:52:55.864] xyz_f:-0.435627, -0.437871, 0.850322  Reprojection Error: 0.794627, 0.265946 Feature: 0.264218, -0.233036, 0.935886
[11:52:55.864] xyz_f:-0.322587, 0.042969, 1.029221  Reprojection Error: 0.738412, 0.272369 Feature: 0.375741, 0.277722, 0.884132
[11:52:55.864] xyz_f:-0.698959, 0.035189, 0.737828  Reprojection Error: 0.861687, 0.151627 Feature: -0.083686, 0.194788, 0.977269
[11:52:55.864] xyz_f:-0.375240, -0.426961, 0.895619  Reprojection Error: 0.783793, 0.247203 Feature: 0.335025, -0.210775, 0.918331
[11:52:55.864] xyz_f:-0.556648, -0.151168, 0.869492  Reprojection Error: 0.783729, 0.223276 Feature: 0.141905, 0.048859, 0.988674
[11:52:55.864] xyz_f:-0.660524, -0.081710, 0.779305  Reprojection Error: 0.841862, 0.197859 Feature: -0.005693, 0.092608, 0.995686
[11:52:55.864] xyz_f:-0.568106, -0.159343, 0.857883  Reprojection Error: 0.790840, 0.224038 Feature: 0.127479, 0.037958, 0.991115
[11:52:55.864] xyz_f:-0.313705, 0.070705, 1.031403  Reprojection Error: 0.736474, 0.280452 Feature: 0.377907, 0.305077, 0.874136
[11:52:55.864] xyz_f:-0.527495, 0.081984, 0.903663  Reprojection Error: 0.732414, 0.207479 Feature: 0.141059, 0.282910, 0.948717
[11:52:55.864] xyz_f:-0.412189, -0.418149, 0.877539  Reprojection Error: 0.786713, 0.254607 Feature: 0.295642, -0.206942, 0.932615
[11:52:55.864] xyz_f:-0.577344, -0.180671, 0.844693  Reprojection Error: 0.800228, 0.227928 Feature: 0.115933, 0.013942, 0.993159
[11:52:55.864] xyz_f:-0.279826, 0.030480, 1.047579  Reprojection Error: 0.751819, 0.283032 Feature: 0.419918, 0.270409, 0.866342
[11:52:55.864] xyz_f:-0.318609, -0.622162, 0.788077  Reprojection Error: 0.832133, 0.270661 Feature: 0.333195, -0.427158, 0.840545
[11:52:55.864] xyz_f:-0.428188, -0.425511, 0.862717  Reprojection Error: 0.824235, 0.256192 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.864] xyz_f:-0.402796, -0.429148, 0.877481  Reprojection Error: 0.817773, 0.247691 Feature: 0.303996, -0.217582, 0.927494
[11:52:55.864] xyz_f:-0.439357, -0.402442, 0.867751  Reprojection Error: 0.822662, 0.253921 Feature: 0.267426, -0.194303, 0.943785
[11:52:55.864] xyz_f:-0.583937, -0.193956, 0.835197  Reprojection Error: 0.836597, 0.233072 Feature: 0.107262, -0.001348, 0.994230
[11:52:55.864] xyz_f:-0.554872, -0.166522, 0.867760  Reprojection Error: 0.815827, 0.223775 Feature: 0.144803, 0.033580, 0.988890
[11:52:55.864] xyz_f:-0.661975, -0.074717, 0.778499  Reprojection Error: 0.870804, 0.195639 Feature: -0.008589, 0.099154, 0.995035
[11:52:55.864] xyz_f:-0.699916, 0.028690, 0.736955  Reprojection Error: 0.896788, 0.153116 Feature: -0.083702, 0.188286, 0.978541
[11:52:55.864] xyz_f:-0.527495, 0.081984, 0.903663  Reprojection Error: 0.763484, 0.208726 Feature: 0.141059, 0.282910, 0.948717
[11:52:55.864] xyz_f:-0.322587, 0.042969, 1.029221  Reprojection Error: 0.779438, 0.273746 Feature: 0.375741, 0.277722, 0.884132
[11:52:55.864] xyz_f:-0.599265, 0.242707, 0.805360  Reprojection Error: 0.772439, 0.149128 Feature: -0.008478, 0.412715, 0.910821
[11:52:55.864] it:16 	 Success 	 new_chi2: 0.000516 	 dT = 0.091313, -0.039997, -0.002389
[11:52:55.864] xyz_f:-0.640761, -0.194369, 0.876733  Reprojection Error: 0.838735, 0.220341 Feature: 0.107262, -0.001348, 0.994230
[11:52:55.864] xyz_f:-0.459377, -0.429449, 0.918599  Reprojection Error: 0.827846, 0.232913 Feature: 0.303996, -0.217582, 0.927494
[11:52:55.864] xyz_f:-0.719004, -0.075177, 0.820215  Reprojection Error: 0.867972, 0.191305 Feature: -0.008589, 0.099154, 0.995035
[11:52:55.864] xyz_f:-0.495978, -0.402765, 0.908954  Reprojection Error: 0.829013, 0.237231 Feature: 0.267426, -0.194303, 0.943785
[11:52:55.864] xyz_f:-0.375277, -0.622410, 0.829001  Reprojection Error: 0.849090, 0.242604 Feature: 0.333195, -0.427158, 0.840545
[11:52:55.864] xyz_f:-0.416079, -0.442669, 0.937114  Reprojection Error: 0.827480, 0.224408 Feature: 0.348828, -0.225560, 0.909638
[11:52:55.864] xyz_f:-0.720422, -0.068178, 0.819378  Reprojection Error: 0.867681, 0.189508 Feature: -0.011485, 0.105698, 0.994332
[11:52:55.864] xyz_f:-0.656428, 0.242286, 0.846932  Reprojection Error: 0.765758, 0.167049 Feature: -0.008478, 0.412715, 0.910821
[11:52:55.864] xyz_f:-0.757104, 0.028206, 0.778759  Reprojection Error: 0.886655, 0.156195 Feature: -0.083702, 0.188286, 0.978541
[11:52:55.864] xyz_f:-0.484806, -0.425827, 0.903894  Reprojection Error: 0.830853, 0.238369 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.864] xyz_f:-0.611637, -0.166916, 0.909229  Reprojection Error: 0.819129, 0.217537 Feature: 0.144803, 0.033580, 0.988890
[11:52:55.864] xyz_f:-0.447822, -0.423250, 0.929252  Reprojection Error: 0.826000, 0.229640 Feature: 0.318187, -0.208838, 0.924740
[11:52:55.864] xyz_f:-0.492265, -0.438191, 0.891516  Reprojection Error: 0.834486, 0.242512 Feature: 0.264218, -0.233036, 0.935886
[11:52:55.864] xyz_f:-0.379111, 0.042719, 1.070154  Reprojection Error: 0.779242, 0.274200 Feature: 0.375741, 0.277722, 0.884132
[11:52:55.864] xyz_f:-0.756149, 0.034705, 0.779630  Reprojection Error: 0.884249, 0.154804 Feature: -0.083686, 0.194788, 0.977269
[11:52:55.864] xyz_f:-0.431781, -0.427245, 0.936673  Reprojection Error: 0.825793, 0.226610 Feature: 0.335025, -0.210775, 0.918331
[11:52:55.864] xyz_f:-0.613419, -0.151563, 0.910966  Reprojection Error: 0.816903, 0.215795 Feature: 0.141905, 0.048859, 0.988674
[11:52:55.864] xyz_f:-0.717546, -0.082170, 0.821019  Reprojection Error: 0.868253, 0.193092 Feature: -0.005693, 0.092608, 0.995686
[11:52:55.864] xyz_f:-0.624899, -0.159745, 0.899383  Reprojection Error: 0.823431, 0.215915 Feature: 0.127479, 0.037958, 0.991115
[11:52:55.864] xyz_f:-0.370241, 0.070460, 1.072315  Reprojection Error: 0.777593, 0.283296 Feature: 0.377907, 0.305077, 0.874136
[11:52:55.864] xyz_f:-0.584332, 0.081606, 0.945069  Reprojection Error: 0.766979, 0.211853 Feature: 0.141059, 0.282910, 0.948717
[11:52:55.864] xyz_f:-0.468777, -0.418455, 0.918679  Reprojection Error: 0.827276, 0.233602 Feature: 0.295642, -0.206942, 0.932615
[11:52:55.864] xyz_f:-0.634155, -0.181080, 0.886214  Reprojection Error: 0.832309, 0.218368 Feature: 0.115933, 0.013942, 0.993159
[11:52:55.864] xyz_f:-0.336300, 0.030255, 1.088413  Reprojection Error: 0.793684, 0.284330 Feature: 0.419918, 0.270409, 0.866342
[11:52:55.864] xyz_f:-0.375277, -0.622410, 0.829001  Reprojection Error: 0.880534, 0.231988 Feature: 0.333195, -0.427158, 0.840545
[11:52:55.864] xyz_f:-0.484806, -0.425827, 0.903894  Reprojection Error: 0.864262, 0.234072 Feature: 0.275717, -0.217890, 0.936218
[11:52:55.864] xyz_f:-0.459377, -0.429449, 0.918599  Reprojection Error: 0.858821, 0.226126 Feature: 0.303996, -0.217582, 0.927494
[11:52:55.864] xyz_f:-0.495978, -0.402765, 0.908954  Reprojection Error: 0.862003, 0.233253 Feature: 0.267426, -0.194303, 0.943785
[11:52:55.864] xyz_f:-0.640761, -0.194369, 0.876733  Reprojection Error: 0.868287, 0.222541 Feature: 0.107262, -0.001348, 0.994230
[11:52:55.864] xyz_f:-0.611637, -0.166916, 0.909229  Reprojection Error: 0.849096, 0.215456 Feature: 0.144803, 0.033580, 0.988890
[11:52:55.864] xyz_f:-0.719004, -0.075177, 0.820215  Reprojection Error: 0.897085, 0.191319 Feature: -0.008589, 0.099154, 0.995035
[11:52:55.864] xyz_f:-0.757104, 0.028206, 0.778759  Reprojection Error: 0.919240, 0.155827 Feature: -0.083702, 0.188286, 0.978541
[11:52:55.864] xyz_f:-0.584332, 0.081606, 0.945069  Reprojection Error: 0.798050, 0.213100 Feature: 0.141059, 0.282910, 0.948717
[11:52:55.864] xyz_f:-0.379111, 0.042719, 1.070154  Reprojection Error: 0.820268, 0.275577 Feature: 0.375741, 0.277722, 0.884132
[11:52:55.864] xyz_f:-0.656428, 0.242286, 0.846932  Reprojection Error: 0.803409, 0.164419 Feature: -0.008478, 0.412715, 0.910821
[11:52:55.864] it:17 	 Success 	 new_chi2: 0.000000 	 dT = 0.000000, 0.000000, 0.000000
[11:52:55.864] After pose optimization, distance between two frames:0.220985 ,angle between two frames:-3.164419
[11:52:55.951] Reprojection Map nPoint:24 ,nCell:11 ,nMatches:11 ,distance between two frames:2.764875 ,angle between two frames:-3.565574
[11:52:55.951] Init estimate scale:1.357401
[11:52:55.951] xyz_f:2.432253, -0.244918, 1.240306  Reprojection Error: -1.823574, 0.198310 Feature: 0.136156, 0.000836, 0.990687
[11:52:55.951] xyz_f:2.637703, -0.464822, 1.201748  Reprojection Error: -1.836153, 0.145411 Feature: 0.329275, -0.221554, 0.917873
[11:52:55.951] xyz_f:2.326465, -0.137727, 1.220126  Reprojection Error: -1.886260, 0.212543 Feature: 0.020376, 0.099152, 0.994864
[11:52:55.951] xyz_f:2.600107, -0.440461, 1.208818  Reprojection Error: -1.834605, 0.154519 Feature: 0.295751, -0.196193, 0.934901
[11:52:55.951] xyz_f:2.699608, -0.649141, 1.082261  Reprojection Error: -2.066567, 0.080993 Feature: 0.355037, -0.430517, 0.829821
[11:52:55.951] xyz_f:2.685981, -0.471123, 1.203030  Reprojection Error: -1.816880, 0.138821 Feature: 0.373883, -0.227308, 0.899190
[11:52:55.951] xyz_f:2.326760, -0.131249, 1.221234  Reprojection Error: -1.884759, 0.213786 Feature: 0.020374, 0.105696, 0.994190
[11:52:55.951] xyz_f:2.368097, 0.181872, 1.230717  Reprojection Error: -1.895818, 0.302717 Feature: 0.025833, 0.410602, 0.911449
[11:52:55.951] xyz_f:2.267770, -0.040047, 1.200196  Reprojection Error: -1.942452, 0.225414 Feature: -0.051931, 0.188346, 0.980729
[11:52:55.951] xyz_f:2.610968, -0.462293, 1.199369  Reprojection Error: -1.849042, 0.148416 Feature: 0.303971, -0.219727, 0.926996
[11:52:55.951] xyz_f:2.468705, -0.218208, 1.258621  Reprojection Error: -1.785039, 0.205248 Feature: 0.173630, 0.031376, 0.984311
[11:52:55.951] xyz_f:2.651575, -0.455308, 1.208309  Reprojection Error: -1.819212, 0.146639 Feature: 0.343436, -0.210666, 0.915244
[11:52:55.951] xyz_f:2.597759, -0.475515, 1.190106  Reprojection Error: -1.870593, 0.146396 Feature: 0.289678, -0.234896, 0.927853
[11:52:55.951] xyz_f:2.727125, 0.016784, 1.322702  Reprojection Error: -1.595774, 0.302806 Feature: 0.406117, 0.274947, 0.871478
[11:52:55.951] xyz_f:2.268339, -0.033469, 1.200781  Reprojection Error: -1.942063, 0.226810 Feature: -0.051922, 0.194851, 0.979458
[11:52:55.951] xyz_f:2.666663, -0.457431, 1.208700  Reprojection Error: -1.813243, 0.144659 Feature: 0.357391, -0.212616, 0.909432
[11:52:55.951] xyz_f:2.468957, -0.203320, 1.262044  Reprojection Error: -1.779827, 0.208519 Feature: 0.173615, 0.046643, 0.983709
[11:52:55.951] xyz_f:2.331449, -0.144828, 1.221326  Reprojection Error: -1.882657, 0.211618 Feature: 0.026171, 0.092604, 0.995359
[11:52:55.951] xyz_f:2.451972, -0.212648, 1.254780  Reprojection Error: -1.795717, 0.205692 Feature: 0.156338, 0.035754, 0.987056
[11:52:55.951] xyz_f:2.733163, 0.043039, 1.322013  Reprojection Error: -1.593880, 0.315573 Feature: 0.408253, 0.300129, 0.862121
[11:52:55.951] xyz_f:2.482897, 0.034352, 1.287106  Reprojection Error: -1.749300, 0.272761 Feature: 0.169702, 0.282704, 0.944076
[11:52:55.951] xyz_f:2.627677, -0.452935, 1.206646  Reprojection Error: -1.830182, 0.149333 Feature: 0.321002, -0.208804, 0.923774
[11:52:55.951] xyz_f:2.443388, -0.233175, 1.247086  Reprojection Error: -1.809927, 0.201066 Feature: 0.147698, 0.013934, 0.988934
[11:52:55.951] xyz_f:2.771956, 0.009218, 1.322654  Reprojection Error: -1.571753, 0.306611 Feature: 0.447209, 0.267626, 0.853452
[11:52:55.951] xyz_f:2.597759, -0.475515, 1.190106  Reprojection Error: -3.406127, -0.354166 Feature: 0.289678, -0.234896, 0.927853
[11:52:55.951] xyz_f:2.699608, -0.649141, 1.082261  Reprojection Error: -2.038129, 0.070448 Feature: 0.355037, -0.430517, 0.829821
[11:52:55.951] xyz_f:2.637703, -0.464822, 1.201748  Reprojection Error: -1.811594, 0.141310 Feature: 0.329275, -0.221554, 0.917873
[11:52:55.951] xyz_f:2.600107, -0.440461, 1.208818  Reprojection Error: -1.807596, 0.150680 Feature: 0.295751, -0.196193, 0.934901
[11:52:55.951] xyz_f:2.432253, -0.244918, 1.240306  Reprojection Error: -1.799716, 0.198313 Feature: 0.136156, 0.000836, 0.990687
[11:52:55.951] xyz_f:2.326465, -0.137727, 1.220126  Reprojection Error: -1.862940, 0.212607 Feature: 0.020376, 0.099152, 0.994864
[11:52:55.951] xyz_f:2.268339, -0.033469, 1.200781  Reprojection Error: -1.918444, 0.228946 Feature: -0.051922, 0.194851, 0.979458
[11:52:55.951] xyz_f:2.267770, -0.040047, 1.200196  Reprojection Error: -0.773355, 0.356881 Feature: -0.051931, 0.188346, 0.980729
[11:52:55.951] xyz_f:2.482897, 0.034352, 1.287106  Reprojection Error: -1.727417, 0.271304 Feature: 0.169702, 0.282704, 0.944076
[11:52:55.951] xyz_f:2.727125, 0.016784, 1.322702  Reprojection Error: -1.565043, 0.303317 Feature: 0.406117, 0.274947, 0.871478
[11:52:55.951] xyz_f:2.368097, 0.181872, 1.230717  Reprojection Error: -1.873779, 0.305802 Feature: 0.025833, 0.410602, 0.911449
[11:52:55.951] it:0 	 Success 	 new_chi2: 99.921897 	 dT = -0.155414, 0.032229, -0.000005
[11:52:55.951] xyz_f:-0.146417, -0.244918, 1.272534  Reprojection Error: 0.252495, 0.193309 Feature: 0.136156, 0.000836, 0.990687
[11:52:55.951] xyz_f:0.059033, -0.464822, 1.233976  Reprojection Error: 0.310897, 0.135309 Feature: 0.329275, -0.221554, 0.917873
[11:52:55.951] xyz_f:-0.252205, -0.137727, 1.252353  Reprojection Error: 0.221866, 0.209638 Feature: 0.020376, 0.099152, 0.994864
[11:52:55.951] xyz_f:0.021437, -0.440461, 1.241047  Reprojection Error: 0.299072, 0.145056 Feature: 0.295751, -0.196193, 0.934901
[11:52:55.951] xyz_f:0.120938, -0.649140, 1.114490  Reprojection Error: 0.319333, 0.063648 Feature: 0.355037, -0.430517, 0.829821
[11:52:55.951] xyz_f:0.107311, -0.471123, 1.235259  Reprojection Error: 0.328927, 0.128604 Feature: 0.373883, -0.227308, 0.899190
[11:52:55.951] xyz_f:-0.251910, -0.131249, 1.253461  Reprojection Error: 0.221465, 0.211023 Feature: 0.020374, 0.105696, 0.994190
[11:52:55.951] xyz_f:-0.210572, 0.181872, 1.262944  Reprojection Error: 0.195074, 0.306487 Feature: 0.025833, 0.410602, 0.911449
[11:52:55.951] xyz_f:-0.310899, -0.040046, 1.232423  Reprojection Error: 0.199315, 0.224541 Feature: -0.051931, 0.188346, 0.980729
[11:52:55.951] xyz_f:0.032298, -0.462293, 1.231597  Reprojection Error: 0.301686, 0.138329 Feature: 0.303971, -0.219727, 0.926996
[11:52:55.951] xyz_f:-0.109965, -0.218208, 1.290849  Reprojection Error: 0.261585, 0.200919 Feature: 0.173630, 0.031376, 0.984311
[11:52:55.951] xyz_f:0.072905, -0.455308, 1.240537  Reprojection Error: 0.316471, 0.136850 Feature: 0.343436, -0.210666, 0.915244
[11:52:55.951] xyz_f:0.019089, -0.475515, 1.222334  Reprojection Error: 0.296587, 0.135861 Feature: 0.289678, -0.234896, 0.927853
[11:52:55.951] xyz_f:0.148455, 0.016784, 1.354930  Reprojection Error: 0.356443, 0.303108 Feature: 0.406117, 0.274947, 0.871478
[11:52:55.951] xyz_f:-0.310331, -0.033468, 1.233008  Reprojection Error: 0.198675, 0.226081 Feature: -0.051922, 0.194851, 0.979458
[11:52:55.951] xyz_f:0.087993, -0.457431, 1.240928  Reprojection Error: 0.322073, 0.134830 Feature: 0.357391, -0.212616, 0.909432
[11:52:55.951] xyz_f:-0.109713, -0.203320, 1.294271  Reprojection Error: 0.261258, 0.204508 Feature: 0.173615, 0.046643, 0.983709
[11:52:55.951] xyz_f:-0.247220, -0.144827, 1.253553  Reprojection Error: 0.223509, 0.208569 Feature: 0.026171, 0.092604, 0.995359
[11:52:55.951] xyz_f:-0.126698, -0.212647, 1.287007  Reprojection Error: 0.256832, 0.201448 Feature: 0.156338, 0.035754, 0.987056
[11:52:55.951] xyz_f:0.154493, 0.043039, 1.354242  Reprojection Error: 0.359464, 0.316348 Feature: 0.408253, 0.300129, 0.862121
[11:52:55.951] xyz_f:-0.095773, 0.034353, 1.319334  Reprojection Error: 0.252346, 0.273412 Feature: 0.169702, 0.282704, 0.944076
[11:52:55.951] xyz_f:0.049007, -0.452935, 1.238874  Reprojection Error: 0.307932, 0.139568 Feature: 0.321002, -0.208804, 0.923774
[11:52:55.951] xyz_f:-0.135282, -0.233175, 1.279313  Reprojection Error: 0.255097, 0.196355 Feature: 0.147698, 0.013934, 0.988934
[11:52:55.951] xyz_f:0.193286, 0.009218, 1.354883  Reprojection Error: 0.381341, 0.306777 Feature: 0.447209, 0.267626, 0.853452
[11:52:55.951] xyz_f:0.019089, -0.475515, 1.222334  Reprojection Error: -1.238947, -0.364701 Feature: 0.289678, -0.234896, 0.927853
[11:52:55.951] xyz_f:0.120938, -0.649140, 1.114490  Reprojection Error: 0.347770, 0.053103 Feature: 0.355037, -0.430517, 0.829821
[11:52:55.951] xyz_f:0.059033, -0.464822, 1.233976  Reprojection Error: 0.335456, 0.131208 Feature: 0.329275, -0.221554, 0.917873
[11:52:55.951] xyz_f:0.021437, -0.440461, 1.241047  Reprojection Error: 0.326081, 0.141218 Feature: 0.295751, -0.196193, 0.934901
[11:52:55.951] xyz_f:-0.146417, -0.244918, 1.272534  Reprojection Error: 0.276353, 0.193312 Feature: 0.136156, 0.000836, 0.990687
[11:52:55.951] xyz_f:-0.252205, -0.137727, 1.252353  Reprojection Error: 0.245186, 0.209702 Feature: 0.020376, 0.099152, 0.994864
[11:52:55.951] xyz_f:-0.310331, -0.033468, 1.233008  Reprojection Error: 0.222294, 0.228217 Feature: -0.051922, 0.194851, 0.979458
[11:52:55.951] xyz_f:-0.310899, -0.040046, 1.232423  Reprojection Error: 1.368412, 0.356008 Feature: -0.051931, 0.188346, 0.980729
[11:52:55.951] xyz_f:-0.095773, 0.034353, 1.319334  Reprojection Error: 0.274229, 0.271956 Feature: 0.169702, 0.282704, 0.944076
[11:52:55.951] xyz_f:0.148455, 0.016784, 1.354930  Reprojection Error: 0.387174, 0.303619 Feature: 0.406117, 0.274947, 0.871478
[11:52:55.951] xyz_f:-0.210572, 0.181872, 1.262944  Reprojection Error: 0.217114, 0.309572 Feature: 0.025833, 0.410602, 0.911449
[11:52:55.951] it:1 	 Success 	 new_chi2: 7.520910 	 dT = -0.080336, 0.029396, 0.085982
[11:52:55.951] xyz_f:0.043582, -0.250990, 1.324591  Reprojection Error: 0.104533, 0.190329 Feature: 0.136156, 0.000836, 0.990687
[11:52:55.952] xyz_f:0.249963, -0.466309, 1.268921  Reprojection Error: 0.161748, 0.126107 Feature: 0.329275, -0.221554, 0.917873
[11:52:55.952] xyz_f:-0.065871, -0.146195, 1.313354  Reprojection Error: 0.070636, 0.210978 Feature: 0.020376, 0.099152, 0.994864
[11:52:55.952] xyz_f:0.212550, -0.442783, 1.279108  Reprojection Error: 0.150174, 0.136311 Feature: 0.295751, -0.196193, 0.934901
[11:52:55.952] xyz_f:0.305825, -0.649316, 1.144542  Reprojection Error: 0.160644, 0.048508 Feature: 0.355037, -0.430517, 0.829821
[11:52:55.952] xyz_f:0.298309, -0.471534, 1.266189  Reprojection Error: 0.180204, 0.119612 Feature: 0.373883, -0.227308, 0.899190
[11:52:55.952] xyz_f:-0.065630, -0.139711, 1.314440  Reprojection Error: 0.070423, 0.212603 Feature: 0.020374, 0.105696, 0.994190
[11:52:55.952] xyz_f:-0.030617, 0.174260, 1.320750  Reprojection Error: 0.051525, 0.318554 Feature: 0.025833, 0.410602, 0.911449
[11:52:55.952] xyz_f:-0.128173, -0.049862, 1.298451  Reprojection Error: 0.045760, 0.230448 Feature: -0.051931, 0.188346, 0.980729
[11:52:55.952] xyz_f:0.223073, -0.464376, 1.268770  Reprojection Error: 0.152092, 0.128974 Feature: 0.303971, -0.219727, 0.926996
[11:52:55.952] xyz_f:0.080826, -0.223459, 1.339844  Reprojection Error: 0.116073, 0.198657 Feature: 0.173630, 0.031376, 0.984311
[11:52:55.952] xyz_f:0.264116, -0.456483, 1.274318  Reprojection Error: 0.167979, 0.128042 Feature: 0.343436, -0.210666, 0.915244
[11:52:55.952] xyz_f:0.209438, -0.477897, 1.260623  Reprojection Error: 0.146065, 0.125936 Feature: 0.289678, -0.234896, 0.927853
[11:52:55.952] xyz_f:0.338383, 0.017278, 1.382486  Reprojection Error: 0.221246, 0.302998 Feature: 0.406117, 0.274947, 0.871478
[11:52:55.952] xyz_f:-0.127704, -0.043273, 1.298993  Reprojection Error: 0.045300, 0.232250 Feature: -0.051922, 0.194851, 0.979458
[11:52:55.952] xyz_f:0.279228, -0.458270, 1.273454  Reprojection Error: 0.173714, 0.126074 Feature: 0.357391, -0.212616, 0.909432
[11:52:55.952] xyz_f:0.081029, -0.208566, 1.343247  Reprojection Error: 0.116166, 0.202686 Feature: 0.173615, 0.046643, 0.983709
[11:52:55.952] xyz_f:-0.060648, -0.153182, 1.314129  Reprojection Error: 0.072444, 0.209601 Feature: 0.026171, 0.092604, 0.995359
[11:52:55.952] xyz_f:0.063712, -0.218275, 1.337409  Reprojection Error: 0.110750, 0.199430 Feature: 0.156338, 0.035754, 0.987056
[11:52:55.952] xyz_f:0.343758, 0.043660, 1.381323  Reprojection Error: 0.224683, 0.316522 Feature: 0.408253, 0.300129, 0.862121
[11:52:55.952] xyz_f:0.091714, 0.029380, 1.367287  Reprojection Error: 0.112677, 0.277962 Feature: 0.169702, 0.282704, 0.944076
[11:52:55.952] xyz_f:0.240116, -0.454643, 1.274645  Reprojection Error: 0.159111, 0.130648 Feature: 0.321002, -0.208804, 0.923774
[11:52:55.952] xyz_f:0.054977, -0.238996, 1.330435  Reprojection Error: 0.108028, 0.193727 Feature: 0.147698, 0.013934, 0.988934
[11:52:55.952] xyz_f:0.383212, 0.010709, 1.378712  Reprojection Error: 0.246051, 0.305813 Feature: 0.447209, 0.267626, 0.853452
[11:52:55.952] xyz_f:0.209438, -0.477897, 1.260623  Reprojection Error: -1.389469, -0.374627 Feature: 0.289678, -0.234896, 0.927853
[11:52:55.952] xyz_f:0.305825, -0.649316, 1.144542  Reprojection Error: 0.189082, 0.037963 Feature: 0.355037, -0.430517, 0.829821
[11:52:55.952] xyz_f:0.249963, -0.466309, 1.268921  Reprojection Error: 0.186307, 0.122006 Feature: 0.329275, -0.221554, 0.917873
[11:52:55.952] xyz_f:0.212550, -0.442783, 1.279108  Reprojection Error: 0.177183, 0.132472 Feature: 0.295751, -0.196193, 0.934901
[11:52:55.952] xyz_f:0.043582, -0.250990, 1.324591  Reprojection Error: 0.128392, 0.190332 Feature: 0.136156, 0.000836, 0.990687
[11:52:55.952] xyz_f:-0.065871, -0.146195, 1.313354  Reprojection Error: 0.093956, 0.211042 Feature: 0.020376, 0.099152, 0.994864
[11:52:55.952] xyz_f:-0.127704, -0.043273, 1.298993  Reprojection Error: 0.068919, 0.234385 Feature: -0.051922, 0.194851, 0.979458
[11:52:55.952] xyz_f:-0.128173, -0.049862, 1.298451  Reprojection Error: 1.214858, 0.361915 Feature: -0.051931, 0.188346, 0.980729
[11:52:55.952] xyz_f:0.091714, 0.029380, 1.367287  Reprojection Error: 0.134560, 0.276506 Feature: 0.169702, 0.282704, 0.944076
[11:52:55.952] xyz_f:0.338383, 0.017278, 1.382486  Reprojection Error: 0.251976, 0.303509 Feature: 0.406117, 0.274947, 0.871478
[11:52:55.952] xyz_f:-0.030617, 0.174260, 1.320750  Reprojection Error: 0.073564, 0.321639 Feature: 0.025833, 0.410602, 0.911449
[11:52:55.952] it:2 	 Success 	 new_chi2: 5.520970 	 dT = -0.102535, 0.076678, 0.090900
[11:52:55.952] xyz_f:0.140047, -0.255385, 1.417674  Reprojection Error: 0.038649, 0.180988 Feature: 0.136156, 0.000836, 0.990687
[11:52:55.952] xyz_f:0.345753, -0.465854, 1.343900  Reprojection Error: 0.101461, 0.105265 Feature: 0.329275, -0.221554, 0.917873
[11:52:55.952] xyz_f:0.027598, -0.153203, 1.416185  Reprojection Error: 0.000994, 0.207844 Feature: 0.020376, 0.099152, 0.994864
[11:52:55.952] xyz_f:0.308835, -0.443202, 1.357353  Reprojection Error: 0.088817, 0.116665 Feature: 0.295751, -0.196193, 0.934901
[11:52:55.952] xyz_f:0.394778, -0.647626, 1.214913  Reprojection Error: 0.102904, 0.014257 Feature: 0.355037, -0.430517, 0.829821
[11:52:55.952] xyz_f:0.393783, -0.469944, 1.336934  Reprojection Error: 0.121259, 0.098716 Feature: 0.373883, -0.227308, 0.899190
[11:52:55.952] xyz_f:0.027781, -0.146714, 1.417252  Reprojection Error: 0.000891, 0.209834 Feature: 0.020374, 0.105696, 0.994190
[11:52:55.952] xyz_f:0.055826, 0.167999, 1.420792  Reprojection Error: -0.010949, 0.332250 Feature: 0.025833, 0.410602, 0.911449
[11:52:55.952] xyz_f:-0.038017, -0.058375, 1.406902  Reprojection Error: -0.025930, 0.233539 Feature: -0.051931, 0.188346, 0.980729
[11:52:55.952] xyz_f:0.318915, -0.464553, 1.346109  Reprojection Error: 0.090994, 0.108077 Feature: 0.303971, -0.219727, 0.926996
[11:52:55.952] xyz_f:0.177827, -0.226972, 1.429631  Reprojection Error: 0.052011, 0.190639 Feature: 0.173630, 0.031376, 0.984311
[11:52:55.952] xyz_f:0.360090, -0.455692, 1.348045  Reprojection Error: 0.108119, 0.107864 Feature: 0.343436, -0.210666, 0.915244
[11:52:55.952] xyz_f:0.304940, -0.478400, 1.339175  Reprojection Error: 0.084496, 0.104074 Feature: 0.289678, -0.234896, 0.927853
[11:52:55.952] xyz_f:0.432404, 0.019794, 1.449773  Reprojection Error: 0.167754, 0.301842 Feature: 0.406117, 0.274947, 0.871478
[11:52:55.952] xyz_f:-0.037657, -0.051776, 1.407408  Reprojection Error: -0.026254, 0.235726 Feature: -0.051922, 0.194851, 0.979458
[11:52:55.952] xyz_f:0.375106, -0.457124, 1.345858  Reprojection Error: 0.114271, 0.105863 Feature: 0.357391, -0.212616, 0.909432
[11:52:55.952] xyz_f:0.177978, -0.212075, 1.433018  Reprojection Error: 0.052292, 0.195407 Feature: 0.173615, 0.046643, 0.983709
[11:52:55.952] xyz_f:0.033032, -0.160064, 1.416492  Reprojection Error: 0.002974, 0.206036 Feature: 0.026171, 0.092604, 0.995359
[11:52:55.952] xyz_f:0.160449, -0.222194, 1.428711  Reprojection Error: 0.046086, 0.191743 Feature: 0.156338, 0.035754, 0.987056
[11:52:55.952] xyz_f:0.437035, 0.046294, 1.448171  Reprojection Error: 0.171761, 0.316162 Feature: 0.408253, 0.300129, 0.862121
[11:52:55.952] xyz_f:0.185137, 0.026082, 1.456274  Reprojection Error: 0.052624, 0.281540 Feature: 0.169702, 0.282704, 0.944076
[11:52:55.952] xyz_f:0.336174, -0.454416, 1.350477  Reprojection Error: 0.098559, 0.110452 Feature: 0.321002, -0.208804, 0.923774
[11:52:55.952] xyz_f:0.151625, -0.243121, 1.422508  Reprojection Error: 0.042761, 0.185000 Feature: 0.147698, 0.013934, 0.988934
[11:52:55.952] xyz_f:0.476872, 0.014277, 1.442077  Reprojection Error: 0.193316, 0.303681 Feature: 0.447209, 0.267626, 0.853452
[11:52:55.952] xyz_f:0.304940, -0.478400, 1.339175  Reprojection Error: -1.451038, -0.396488 Feature: 0.289678, -0.234896, 0.927853
[11:52:55.952] xyz_f:0.394778, -0.647626, 1.214913  Reprojection Error: 0.131342, 0.003712 Feature: 0.355037, -0.430517, 0.829821
[11:52:55.952] xyz_f:0.345753, -0.465854, 1.343900  Reprojection Error: 0.126020, 0.101165 Feature: 0.329275, -0.221554, 0.917873
[11:52:55.952] xyz_f:0.308835, -0.443202, 1.357353  Reprojection Error: 0.115826, 0.112827 Feature: 0.295751, -0.196193, 0.934901
[11:52:55.952] xyz_f:0.140047, -0.255385, 1.417674  Reprojection Error: 0.062508, 0.180991 Feature: 0.136156, 0.000836, 0.990687
[11:52:55.952] xyz_f:0.027598, -0.153203, 1.416185  Reprojection Error: 0.024314, 0.207908 Feature: 0.020376, 0.099152, 0.994864
[11:52:55.952] xyz_f:-0.037657, -0.051776, 1.407408  Reprojection Error: -0.002635, 0.237861 Feature: -0.051922, 0.194851, 0.979458
[11:52:55.952] xyz_f:-0.038017, -0.058375, 1.406902  Reprojection Error: 1.143167, 0.365006 Feature: -0.051931, 0.188346, 0.980729
[11:52:55.952] xyz_f:0.185137, 0.026082, 1.456274  Reprojection Error: 0.074507, 0.280084 Feature: 0.169702, 0.282704, 0.944076
[11:52:55.952] xyz_f:0.432404, 0.019794, 1.449773  Reprojection Error: 0.198484, 0.302354 Feature: 0.406117, 0.274947, 0.871478
[11:52:55.952] xyz_f:0.055826, 0.167999, 1.420792  Reprojection Error: 0.011090, 0.335335 Feature: 0.025833, 0.410602, 0.911449
[11:52:55.952] it:3 	 Success 	 new_chi2: 5.069990 	 dT = -0.083763, 0.092619, 0.068150
[11:52:55.952] xyz_f:0.303235, -0.257295, 1.517418  Reprojection Error: -0.062400, 0.170405 Feature: 0.136156, 0.000836, 0.990687
[11:52:55.952] xyz_f:0.507320, -0.464147, 1.430151  Reprojection Error: 0.004005, 0.083166 Feature: 0.329275, -0.221554, 0.917873
[11:52:55.952] xyz_f:0.189147, -0.157111, 1.523389  Reprojection Error: -0.103681, 0.202796 Feature: 0.020376, 0.099152, 0.994864
[11:52:55.952] xyz_f:0.470973, -0.442143, 1.446016  Reprojection Error: -0.009359, 0.095911 Feature: 0.295751, -0.196193, 0.934901
[11:52:55.952] xyz_f:0.550950, -0.645102, 1.298113  Reprojection Error: 0.003423, -0.021853 Feature: 0.355037, -0.430517, 0.829821
[11:52:55.952] xyz_f:0.554852, -0.467395, 1.420039  Reprojection Error: 0.025070, 0.076350 Feature: 0.373883, -0.227308, 0.899190
[11:52:55.952] xyz_f:0.189287, -0.150619, 1.524445  Reprojection Error: -0.103674, 0.205116 Feature: 0.020374, 0.105696, 0.994190
[11:52:55.952] xyz_f:0.211952, 0.164542, 1.526316  Reprojection Error: -0.110522, 0.342690 Feature: 0.025833, 0.410602, 0.911449
[11:52:55.952] xyz_f:0.121403, -0.063460, 1.518497  Reprojection Error: -0.132902, 0.233838 Feature: -0.051931, 0.188346, 0.980729
[11:52:55.952] xyz_f:0.480667, -0.463319, 1.434122  Reprojection Error: -0.007254, 0.086037 Feature: 0.303971, -0.219727, 0.926996
[11:52:55.952] xyz_f:0.341213, -0.228213, 1.526881  Reprojection Error: -0.047073, 0.181340 Feature: 0.173630, 0.031376, 0.984311
[11:52:55.952] xyz_f:0.521717, -0.453733, 1.433350  Reprojection Error: 0.011255, 0.086379 Feature: 0.343436, -0.210666, 0.915244
[11:52:55.952] xyz_f:0.466512, -0.477413, 1.428114  Reprojection Error: -0.014460, 0.081136 Feature: 0.289678, -0.234896, 0.927853
[11:52:55.952] xyz_f:0.592174, 0.023013, 1.530378  Reprojection Error: 0.079063, 0.300458 Feature: 0.406117, 0.274947, 0.871478
[11:52:55.952] xyz_f:0.121679, -0.056855, 1.518982  Reprojection Error: -0.133116, 0.236367 Feature: -0.051922, 0.194851, 0.979458
[11:52:55.952] xyz_f:0.536580, -0.454901, 1.430179  Reprojection Error: 0.017798, 0.084283 Feature: 0.357391, -0.212616, 0.909432
[11:52:55.952] xyz_f:0.341324, -0.213313, 1.530260  Reprojection Error: -0.046560, 0.186812 Feature: 0.173615, 0.046643, 0.983709
[11:52:55.952] xyz_f:0.194710, -0.163875, 1.523334  Reprojection Error: -0.101525, 0.200612 Feature: 0.026171, 0.092604, 0.995359
[11:52:55.952] xyz_f:0.323730, -0.223742, 1.527109  Reprojection Error: -0.053600, 0.182736 Feature: 0.156338, 0.035754, 0.987056
[11:52:55.952] xyz_f:0.596222, 0.049589, 1.528490  Reprojection Error: 0.083472, 0.315686 Feature: 0.408253, 0.300129, 0.862121
[11:52:55.952] xyz_f:0.345798, 0.024946, 1.553132  Reprojection Error: -0.042891, 0.283388 Feature: 0.169702, 0.282704, 0.944076
[11:52:55.952] xyz_f:0.497994, -0.452877, 1.437351  Reprojection Error: 0.001023, 0.089043 Feature: 0.321002, -0.208804, 0.923774
[11:52:55.952] xyz_f:0.314888, -0.244826, 1.521487  Reprojection Error: -0.057610, 0.175002 Feature: 0.147698, 0.013934, 0.988934
[11:52:55.952] xyz_f:0.636130, 0.018276, 1.519770  Reprojection Error: 0.105430, 0.301555 Feature: 0.447209, 0.267626, 0.853452
[11:52:55.952] xyz_f:0.466512, -0.477413, 1.428114  Reprojection Error: -1.549993, -0.419426 Feature: 0.289678, -0.234896, 0.927853
[11:52:55.952] xyz_f:0.550950, -0.645102, 1.298113  Reprojection Error: 0.031861, -0.032398 Feature: 0.355037, -0.430517, 0.829821
[11:52:55.952] xyz_f:0.507320, -0.464147, 1.430151  Reprojection Error: 0.028564, 0.079066 Feature: 0.329275, -0.221554, 0.917873
[11:52:55.952] xyz_f:0.470973, -0.442143, 1.446016  Reprojection Error: 0.017649, 0.092073 Feature: 0.295751, -0.196193, 0.934901
[11:52:55.952] xyz_f:0.303235, -0.257295, 1.517418  Reprojection Error: -0.038542, 0.170408 Feature: 0.136156, 0.000836, 0.990687
[11:52:55.952] xyz_f:0.189147, -0.157111, 1.523389  Reprojection Error: -0.080361, 0.202860 Feature: 0.020376, 0.099152, 0.994864
[11:52:55.952] xyz_f:0.121679, -0.056855, 1.518982  Reprojection Error: -0.109497, 0.238503 Feature: -0.051922, 0.194851, 0.979458
[11:52:55.952] xyz_f:0.121403, -0.063460, 1.518497  Reprojection Error: 1.036196, 0.365305 Feature: -0.051931, 0.188346, 0.980729
[11:52:55.952] xyz_f:0.345798, 0.024946, 1.553132  Reprojection Error: -0.021008, 0.281932 Feature: 0.169702, 0.282704, 0.944076
[11:52:55.952] xyz_f:0.592174, 0.023013, 1.530378  Reprojection Error: 0.109794, 0.300969 Feature: 0.406117, 0.274947, 0.871478
[11:52:55.952] xyz_f:0.211952, 0.164542, 1.526316  Reprojection Error: -0.088483, 0.345776 Feature: 0.025833, 0.410602, 0.911449
[11:52:55.952] it:4 	 Success 	 new_chi2: 4.919025 	 dT = -0.048291, 0.083980, 0.032238
[11:52:55.952] xyz_f:0.463507, -0.257781, 1.603212  Reprojection Error: -0.151675, 0.161634 Feature: 0.136156, 0.000836, 0.990687
[11:52:55.952] xyz_f:0.666494, -0.462935, 1.509607  Reprojection Error: -0.082765, 0.065281 Feature: 0.329275, -0.221554, 0.917873
[11:52:55.952] xyz_f:0.348829, -0.158551, 1.612745  Reprojection Error: -0.195814, 0.197975 Feature: 0.020376, 0.099152, 0.994864
[11:52:55.952] xyz_f:0.630477, -0.441232, 1.526599  Reprojection Error: -0.096650, 0.079175 Feature: 0.295751, -0.196193, 0.934901
[11:52:55.952] xyz_f:0.707501, -0.643537, 1.376251  Reprojection Error: -0.086231, -0.051206 Feature: 0.355037, -0.430517, 0.829821
[11:52:55.952] xyz_f:0.713714, -0.465787, 1.498019  Reprojection Error: -0.060638, 0.058143 Feature: 0.373883, -0.227308, 0.899190
[11:52:55.952] xyz_f:0.348947, -0.152058, 1.613798  Reprojection Error: -0.195734, 0.200538 Feature: 0.020374, 0.105696, 0.994190
[11:52:55.952] xyz_f:0.369029, 0.163281, 1.615002  Reprojection Error: -0.200158, 0.349391 Feature: 0.025833, 0.410602, 0.911449
[11:52:55.952] xyz_f:0.280186, -0.065469, 1.609976  Reprojection Error: -0.226983, 0.232711 Feature: -0.051931, 0.188346, 0.980729
[11:52:55.952] xyz_f:0.639972, -0.462329, 1.514406  Reprojection Error: -0.094679, 0.068256 Feature: 0.303971, -0.219727, 0.926996
[11:52:55.952] xyz_f:0.501517, -0.228382, 1.611492  Reprojection Error: -0.134816, 0.173597 Feature: 0.173630, 0.031376, 0.984311
[11:52:55.952] xyz_f:0.680897, -0.452400, 1.512357  Reprojection Error: -0.074983, 0.068960 Feature: 0.343436, -0.210666, 0.915244
[11:52:55.952] xyz_f:0.625755, -0.476541, 1.508839  Reprojection Error: -0.102523, 0.062672 Feature: 0.289678, -0.234896, 0.927853
[11:52:55.952] xyz_f:0.750361, 0.024929, 1.607206  Reprojection Error: -0.000863, 0.299984 Feature: 0.406117, 0.274947, 0.871478
[11:52:55.952] xyz_f:0.280422, -0.058862, 1.610453  Reprojection Error: -0.227137, 0.235488 Feature: -0.051922, 0.194851, 0.979458
[11:52:55.952] xyz_f:0.695663, -0.453445, 1.508725  Reprojection Error: -0.068111, 0.066759 Feature: 0.357391, -0.212616, 0.909432
[11:52:55.952] xyz_f:0.501609, -0.213481, 1.614868  Reprojection Error: -0.134129, 0.179613 Feature: 0.173615, 0.046643, 0.983709
[11:52:55.952] xyz_f:0.354443, -0.165269, 1.612516  Reprojection Error: -0.193515, 0.195527 Feature: 0.026171, 0.092604, 0.995359
[11:52:55.952] xyz_f:0.484013, -0.224057, 1.612264  Reprojection Error: -0.141818, 0.175193 Feature: 0.156338, 0.035754, 0.987056
[11:52:55.952] xyz_f:0.754126, 0.051538, 1.605197  Reprojection Error: 0.003742, 0.316022 Feature: 0.408253, 0.300129, 0.862121
[11:52:55.952] xyz_f:0.504805, 0.024810, 1.637621  Reprojection Error: -0.128501, 0.284300 Feature: 0.169702, 0.282704, 0.944076
[11:52:55.952] xyz_f:0.657304, -0.451742, 1.517095  Reprojection Error: -0.085776, 0.071734 Feature: 0.321002, -0.208804, 0.923774
[11:52:55.952] xyz_f:0.475177, -0.245214, 1.606918  Reprojection Error: -0.146356, 0.166689 Feature: 0.147698, 0.013934, 0.988934
[11:52:55.952] xyz_f:0.794003, 0.020558, 1.595234  Reprojection Error: 0.026265, 0.300694 Feature: 0.447209, 0.267626, 0.853452
[11:52:55.952] xyz_f:0.625755, -0.476541, 1.508839  Reprojection Error: -1.638056, -0.437890 Feature: 0.289678, -0.234896, 0.927853
[11:52:55.952] xyz_f:0.707501, -0.643537, 1.376251  Reprojection Error: -0.057793, -0.061751 Feature: 0.355037, -0.430517, 0.829821
[11:52:55.952] xyz_f:0.666494, -0.462935, 1.509607  Reprojection Error: -0.058206, 0.061181 Feature: 0.329275, -0.221554, 0.917873
[11:52:55.952] xyz_f:0.630477, -0.441232, 1.526599  Reprojection Error: -0.069641, 0.075336 Feature: 0.295751, -0.196193, 0.934901
[11:52:55.952] xyz_f:0.463507, -0.257781, 1.603212  Reprojection Error: -0.127817, 0.161637 Feature: 0.136156, 0.000836, 0.990687
[11:52:55.952] xyz_f:0.348829, -0.158551, 1.612745  Reprojection Error: -0.172494, 0.198039 Feature: 0.020376, 0.099152, 0.994864
[11:52:55.952] xyz_f:0.280422, -0.058862, 1.610453  Reprojection Error: -0.203518, 0.237623 Feature: -0.051922, 0.194851, 0.979458
[11:52:55.952] xyz_f:0.280186, -0.065469, 1.609976  Reprojection Error: 0.942114, 0.364179 Feature: -0.051931, 0.188346, 0.980729
[11:52:55.952] xyz_f:0.504805, 0.024810, 1.637621  Reprojection Error: -0.106618, 0.282844 Feature: 0.169702, 0.282704, 0.944076
[11:52:55.952] xyz_f:0.750361, 0.024929, 1.607206  Reprojection Error: 0.029868, 0.300496 Feature: 0.406117, 0.274947, 0.871478
[11:52:55.952] xyz_f:0.369029, 0.163281, 1.615002  Reprojection Error: -0.178118, 0.352476 Feature: 0.025833, 0.410602, 0.911449
[11:52:55.952] it:5 	 Success 	 new_chi2: 5.350737 	 dT = -0.039027, 0.066106, 0.015652
[11:52:55.952] xyz_f:0.619173, -0.257578, 1.536351  Reprojection Error: -0.265580, 0.168500 Feature: 0.136156, 0.000836, 0.990687
[11:52:55.952] xyz_f:0.822720, -0.463556, 1.445818  Reprojection Error: -0.210298, 0.079241 Feature: 0.329275, -0.221554, 0.917873
[11:52:55.952] xyz_f:0.504767, -0.157885, 1.544151  Reprojection Error: -0.306408, 0.201911 Feature: 0.020376, 0.099152, 0.994864
[11:52:55.952] xyz_f:0.786539, -0.441707, 1.462264  Reprojection Error: -0.221546, 0.092216 Feature: 0.295751, -0.196193, 0.934901
[11:52:55.952] xyz_f:0.865006, -0.644327, 1.313092  Reprojection Error: -0.230908, -0.028113 Feature: 0.355037, -0.430517, 0.829821
[11:52:55.952] xyz_f:0.870098, -0.466600, 1.434945  Reprojection Error: -0.190563, 0.072377 Feature: 0.373883, -0.227308, 0.899190
[11:52:55.953] xyz_f:0.504896, -0.151392, 1.545206  Reprojection Error: -0.306256, 0.204289 Feature: 0.020374, 0.105696, 0.994190
[11:52:55.953] xyz_f:0.526235, 0.163863, 1.546724  Reprojection Error: -0.311883, 0.344552 Feature: 0.025833, 0.410602, 0.911449
[11:52:55.953] xyz_f:0.436552, -0.064525, 1.540348  Reprojection Error: -0.336363, 0.233937 Feature: -0.051931, 0.188346, 0.980729
[11:52:55.953] xyz_f:0.796131, -0.462842, 1.450216  Reprojection Error: -0.221064, 0.082123 Feature: 0.303971, -0.219727, 0.926996
[11:52:55.953] xyz_f:0.657173, -0.228333, 1.545205  Reprojection Error: -0.248901, 0.179645 Feature: 0.173630, 0.031376, 0.984311
[11:52:55.953] xyz_f:0.837122, -0.453079, 1.448787  Reprojection Error: -0.202570, 0.082555 Feature: 0.343436, -0.210666, 0.915244
[11:52:55.953] xyz_f:0.781942, -0.476997, 1.444434  Reprojection Error: -0.229145, 0.077071 Feature: 0.289678, -0.234896, 0.927853
[11:52:55.953] xyz_f:0.907078, 0.023968, 1.544689  Reprojection Error: -0.121214, 0.299979 Feature: 0.406117, 0.274947, 0.871478
[11:52:55.953] xyz_f:0.436807, -0.057920, 1.540829  Reprojection Error: -0.336499, 0.236527 Feature: -0.051922, 0.194851, 0.979458
[11:52:55.953] xyz_f:0.851937, -0.454184, 1.445378  Reprojection Error: -0.196440, 0.080442 Feature: 0.357391, -0.212616, 0.909432
[11:52:55.953] xyz_f:0.657274, -0.213433, 1.548582  Reprojection Error: -0.247946, 0.185240 Feature: 0.173615, 0.046643, 0.983709
[11:52:55.953] xyz_f:0.510357, -0.164625, 1.544007  Reprojection Error: -0.304248, 0.199658 Feature: 0.026171, 0.092604, 0.995359
[11:52:55.953] xyz_f:0.639677, -0.223938, 1.545713  Reprojection Error: -0.255451, 0.181099 Feature: 0.156338, 0.035754, 0.987056
[11:52:55.953] xyz_f:0.910981, 0.050561, 1.542738  Reprojection Error: -0.116951, 0.315355 Feature: 0.408253, 0.300129, 0.862121
[11:52:55.953] xyz_f:0.661091, 0.024844, 1.571388  Reprojection Error: -0.240951, 0.283640 Feature: 0.169702, 0.282704, 0.944076
[11:52:55.953] xyz_f:0.813463, -0.452325, 1.453167  Reprojection Error: -0.212297, 0.085235 Feature: 0.321002, -0.208804, 0.923774
[11:52:55.953] xyz_f:0.630837, -0.245059, 1.540233  Reprojection Error: -0.260221, 0.173195 Feature: 0.147698, 0.013934, 0.988934
[11:52:55.953] xyz_f:0.950877, 0.019419, 1.533379  Reprojection Error: -0.096119, 0.300916 Feature: 0.447209, 0.267626, 0.853452
[11:52:55.953] xyz_f:0.781942, -0.476997, 1.444434  Reprojection Error: -1.764679, -0.423492 Feature: 0.289678, -0.234896, 0.927853
[11:52:55.953] xyz_f:0.865006, -0.644327, 1.313092  Reprojection Error: -0.202470, -0.038658 Feature: 0.355037, -0.430517, 0.829821
[11:52:55.953] xyz_f:0.822720, -0.463556, 1.445818  Reprojection Error: -0.185738, 0.075140 Feature: 0.329275, -0.221554, 0.917873
[11:52:55.953] xyz_f:0.786539, -0.441707, 1.462264  Reprojection Error: -0.194537, 0.088377 Feature: 0.295751, -0.196193, 0.934901
[11:52:55.953] xyz_f:0.619173, -0.257578, 1.536351  Reprojection Error: -0.241722, 0.168503 Feature: 0.136156, 0.000836, 0.990687
[11:52:55.953] xyz_f:0.504767, -0.157885, 1.544151  Reprojection Error: -0.283089, 0.201975 Feature: 0.020376, 0.099152, 0.994864
[11:52:55.953] xyz_f:0.436807, -0.057920, 1.540829  Reprojection Error: -0.312880, 0.238663 Feature: -0.051922, 0.194851, 0.979458
[11:52:55.953] xyz_f:0.436552, -0.064525, 1.540348  Reprojection Error: 0.832734, 0.365404 Feature: -0.051931, 0.188346, 0.980729
[11:52:55.953] xyz_f:0.661091, 0.024844, 1.571388  Reprojection Error: -0.219068, 0.282184 Feature: 0.169702, 0.282704, 0.944076
[11:52:55.953] xyz_f:0.907078, 0.023968, 1.544689  Reprojection Error: -0.090483, 0.300490 Feature: 0.406117, 0.274947, 0.871478
[11:52:55.953] xyz_f:0.526235, 0.163863, 1.546724  Reprojection Error: -0.289843, 0.347637 Feature: 0.025833, 0.410602, 0.911449
[11:52:55.953] it:6 	 Success 	 new_chi2: 5.397151 	 dT = -0.037258, 0.046211, 0.007875
[11:52:55.953] xyz_f:0.484645, -0.257688, 1.582971  Reprojection Error: -0.168726, 0.163632 Feature: 0.136156, 0.000836, 0.990687
[11:52:55.953] xyz_f:0.687917, -0.463251, 1.490892  Reprojection Error: -0.102676, 0.069343 Feature: 0.329275, -0.221554, 0.917873
[11:52:55.953] xyz_f:0.370099, -0.158228, 1.591642  Reprojection Error: -0.212045, 0.199075 Feature: 0.020376, 0.099152, 0.994864
[11:52:55.953] xyz_f:0.651817, -0.441476, 1.507613  Reprojection Error: -0.116006, 0.082977 Feature: 0.295751, -0.196193, 0.934901
[11:52:55.953] xyz_f:0.729560, -0.643936, 1.357846  Reprojection Error: -0.109445, -0.044574 Feature: 0.355037, -0.430517, 0.829821
[11:52:55.953] xyz_f:0.735216, -0.466198, 1.479659  Reprojection Error: -0.081082, 0.062279 Feature: 0.373883, -0.227308, 0.899190
[11:52:55.953] xyz_f:0.370222, -0.151735, 1.592696  Reprojection Error: -0.211956, 0.201583 Feature: 0.020374, 0.105696, 0.994190
[11:52:55.953] xyz_f:0.390929, 0.163563, 1.594054  Reprojection Error: -0.216899, 0.347886 Feature: 0.025833, 0.410602, 0.911449
[11:52:55.953] xyz_f:0.301666, -0.065008, 1.588359  Reprojection Error: -0.242875, 0.232974 Feature: -0.051931, 0.188346, 0.980729
[11:52:55.953] xyz_f:0.661360, -0.462591, 1.495491  Reprojection Error: -0.114326, 0.072293 Feature: 0.303971, -0.219727, 0.926996
[11:52:55.953] xyz_f:0.522651, -0.228366, 1.591536  Reprojection Error: -0.151997, 0.175364 Feature: 0.173630, 0.031376, 0.984311
[11:52:55.953] xyz_f:0.702319, -0.452745, 1.493750  Reprojection Error: -0.094933, 0.072918 Feature: 0.343436, -0.210666, 0.915244
[11:52:55.953] xyz_f:0.647157, -0.476775, 1.489818  Reprojection Error: -0.122183, 0.066862 Feature: 0.289678, -0.234896, 0.927853
[11:52:55.953] xyz_f:0.772030, 0.024444, 1.589122  Reprojection Error: -0.019812, 0.300113 Feature: 0.406117, 0.274947, 0.871478
[11:52:55.953] xyz_f:0.301912, -0.058402, 1.588838  Reprojection Error: -0.243031, 0.235695 Feature: -0.051922, 0.194851, 0.979458
[11:52:55.953] xyz_f:0.717110, -0.453820, 1.490229  Reprojection Error: -0.088226, 0.070741 Feature: 0.357391, -0.212616, 0.909432
[11:52:55.953] xyz_f:0.522748, -0.213465, 1.594912  Reprojection Error: -0.151270, 0.181257 Feature: 0.173615, 0.046643, 0.983709
[11:52:55.953] xyz_f:0.375701, -0.164957, 1.591456  Reprojection Error: -0.209781, 0.196687 Feature: 0.026171, 0.092604, 0.995359
[11:52:55.953] xyz_f:0.505150, -0.224006, 1.592177  Reprojection Error: -0.158882, 0.176914 Feature: 0.156338, 0.035754, 0.987056
[11:52:55.953] xyz_f:0.775864, 0.051045, 1.587141  Reprojection Error: -0.015299, 0.315967 Feature: 0.408253, 0.300129, 0.862121
[11:52:55.953] xyz_f:0.526252, 0.024819, 1.617691  Reprojection Error: -0.145557, 0.284108 Feature: 0.169702, 0.282704, 0.944076
[11:52:55.953] xyz_f:0.678693, -0.452039, 1.498310  Reprojection Error: -0.105483, 0.075665 Feature: 0.321002, -0.208804, 0.923774
[11:52:55.953] xyz_f:0.496312, -0.245145, 1.586765  Reprojection Error: -0.163431, 0.168583 Feature: 0.147698, 0.013934, 0.988934
[11:52:55.953] xyz_f:0.815751, 0.019985, 1.577478  Reprojection Error: 0.006876, 0.300912 Feature: 0.447209, 0.267626, 0.853452
[11:52:55.953] xyz_f:0.647157, -0.476775, 1.489818  Reprojection Error: -1.657717, -0.433700 Feature: 0.289678, -0.234896, 0.927853
[11:52:55.953] xyz_f:0.729560, -0.643936, 1.357846  Reprojection Error: -0.081007, -0.055118 Feature: 0.355037, -0.430517, 0.829821
[11:52:55.953] xyz_f:0.687917, -0.463251, 1.490892  Reprojection Error: -0.078117, 0.065243 Feature: 0.329275, -0.221554, 0.917873
[11:52:55.953] xyz_f:0.651817, -0.441476, 1.507613  Reprojection Error: -0.088997, 0.079138 Feature: 0.295751, -0.196193, 0.934901
[11:52:55.953] xyz_f:0.484645, -0.257688, 1.582971  Reprojection Error: -0.144867, 0.163634 Feature: 0.136156, 0.000836, 0.990687
[11:52:55.953] xyz_f:0.370099, -0.158228, 1.591642  Reprojection Error: -0.188725, 0.199139 Feature: 0.020376, 0.099152, 0.994864
[11:52:55.953] xyz_f:0.301912, -0.058402, 1.588838  Reprojection Error: -0.219412, 0.237830 Feature: -0.051922, 0.194851, 0.979458
[11:52:55.953] xyz_f:0.301666, -0.065008, 1.588359  Reprojection Error: 0.926222, 0.364442 Feature: -0.051931, 0.188346, 0.980729
[11:52:55.953] xyz_f:0.526252, 0.024819, 1.617691  Reprojection Error: -0.123674, 0.282651 Feature: 0.169702, 0.282704, 0.944076
[11:52:55.953] xyz_f:0.772030, 0.024444, 1.589122  Reprojection Error: 0.010919, 0.300624 Feature: 0.406117, 0.274947, 0.871478
[11:52:55.953] xyz_f:0.390929, 0.163563, 1.594054  Reprojection Error: -0.194860, 0.350971 Feature: 0.025833, 0.410602, 0.911449
[11:52:55.953] it:7 	 Success 	 new_chi2: 2.276211 	 dT = -0.034740, 0.055667, 0.013427
[11:52:55.953] xyz_f:0.546787, -0.257838, 1.639198  Reprojection Error: -0.196134, 0.158140 Feature: 0.136156, 0.000836, 0.990687
[11:52:55.953] xyz_f:0.749561, -0.462696, 1.544486  Reprojection Error: -0.126578, 0.058201 Feature: 0.329275, -0.221554, 0.917873
[11:52:55.953] xyz_f:0.432018, -0.158777, 1.649357  Reprojection Error: -0.241450, 0.195929 Feature: 0.020376, 0.099152, 0.994864
[11:52:55.953] xyz_f:0.713605, -0.441046, 1.561674  Reprojection Error: -0.140604, 0.072564 Feature: 0.295751, -0.196193, 0.934901
[11:52:55.953] xyz_f:0.790103, -0.643238, 1.410907  Reprojection Error: -0.132149, -0.062903 Feature: 0.355037, -0.430517, 0.829821
[11:52:55.953] xyz_f:0.796721, -0.465479, 1.532640  Reprojection Error: -0.104035, 0.050918 Feature: 0.373883, -0.227308, 0.899190
[11:52:55.953] xyz_f:0.432132, -0.152283, 1.650409  Reprojection Error: -0.241340, 0.198584 Feature: 0.020374, 0.105696, 0.994190
[11:52:55.953] xyz_f:0.451760, 0.163085, 1.651505  Reprojection Error: -0.245202, 0.351744 Feature: 0.025833, 0.410602, 0.911449
[11:52:55.953] xyz_f:0.363226, -0.065795, 1.646963  Reprojection Error: -0.273494, 0.231996 Feature: -0.051931, 0.188346, 0.980729
[11:52:55.953] xyz_f:0.723065, -0.462128, 1.549429  Reprojection Error: -0.138755, 0.061226 Feature: 0.303971, -0.219727, 0.926996
[11:52:55.953] xyz_f:0.584799, -0.228384, 1.647270  Reprojection Error: -0.178614, 0.170520 Feature: 0.173630, 0.031376, 0.984311
[11:52:55.953] xyz_f:0.763963, -0.452140, 1.547157  Reprojection Error: -0.118546, 0.062064 Feature: 0.343436, -0.210666, 0.915244
[11:52:55.953] xyz_f:0.708838, -0.476362, 1.543940  Reprojection Error: -0.146906, 0.055376 Feature: 0.289678, -0.234896, 0.927853
[11:52:55.953] xyz_f:0.833246, 0.025291, 1.641628  Reprojection Error: -0.041563, 0.300089 Feature: 0.406117, 0.274947, 0.871478
[11:52:55.953] xyz_f:0.363454, -0.059188, 1.647439  Reprojection Error: -0.273628, 0.234865 Feature: -0.051922, 0.194851, 0.979458
[11:52:55.953] xyz_f:0.778710, -0.453163, 1.543444  Reprojection Error: -0.111546, 0.059815 Feature: 0.357391, -0.212616, 0.909432
[11:52:55.953] xyz_f:0.584888, -0.213483, 1.650645  Reprojection Error: -0.177849, 0.176748 Feature: 0.173615, 0.046643, 0.983709
[11:52:55.953] xyz_f:0.437641, -0.165486, 1.649097  Reprojection Error: -0.239089, 0.193385 Feature: 0.026171, 0.092604, 0.995359
[11:52:55.953] xyz_f:0.567293, -0.224085, 1.648138  Reprojection Error: -0.185814, 0.172185 Feature: 0.156338, 0.035754, 0.987056
[11:52:55.953] xyz_f:0.836961, 0.051906, 1.639598  Reprojection Error: -0.036923, 0.316472 Feature: 0.408253, 0.300129, 0.862121
[11:52:55.953] xyz_f:0.587859, 0.024813, 1.673382  Reprojection Error: -0.171546, 0.284622 Feature: 0.169702, 0.282704, 0.944076
[11:52:55.953] xyz_f:0.740395, -0.451516, 1.552023  Reprojection Error: -0.129562, 0.064887 Feature: 0.321002, -0.208804, 0.923774
[11:52:55.953] xyz_f:0.558459, -0.245255, 1.642841  Reprojection Error: -0.190584, 0.163377 Feature: 0.147698, 0.013934, 0.988934
[11:52:55.953] xyz_f:0.876828, 0.020983, 1.629418  Reprojection Error: -0.014124, 0.300703 Feature: 0.447209, 0.267626, 0.853452
[11:52:55.953] xyz_f:0.708838, -0.476362, 1.543940  Reprojection Error: -1.682440, -0.445187 Feature: 0.289678, -0.234896, 0.927853
[11:52:55.953] xyz_f:0.790103, -0.643238, 1.410907  Reprojection Error: -0.103712, -0.073448 Feature: 0.355037, -0.430517, 0.829821
[11:52:55.953] xyz_f:0.749561, -0.462696, 1.544486  Reprojection Error: -0.102018, 0.054101 Feature: 0.329275, -0.221554, 0.917873
[11:52:55.953] xyz_f:0.713605, -0.441046, 1.561674  Reprojection Error: -0.113596, 0.068725 Feature: 0.295751, -0.196193, 0.934901
[11:52:55.953] xyz_f:0.546787, -0.257838, 1.639198  Reprojection Error: -0.172276, 0.158142 Feature: 0.136156, 0.000836, 0.990687
[11:52:55.953] xyz_f:0.432018, -0.158777, 1.649357  Reprojection Error: -0.218130, 0.195993 Feature: 0.020376, 0.099152, 0.994864
[11:52:55.953] xyz_f:0.363454, -0.059188, 1.647439  Reprojection Error: -0.250009, 0.237000 Feature: -0.051922, 0.194851, 0.979458
[11:52:55.953] xyz_f:0.363226, -0.065795, 1.646963  Reprojection Error: 0.895603, 0.363463 Feature: -0.051931, 0.188346, 0.980729
[11:52:55.953] xyz_f:0.587859, 0.024813, 1.673382  Reprojection Error: -0.149663, 0.283166 Feature: 0.169702, 0.282704, 0.944076
[11:52:55.953] xyz_f:0.833246, 0.025291, 1.641628  Reprojection Error: -0.010832, 0.300600 Feature: 0.406117, 0.274947, 0.871478
[11:52:55.953] xyz_f:0.451760, 0.163085, 1.651505  Reprojection Error: -0.223162, 0.354830 Feature: 0.025833, 0.410602, 0.911449
[11:52:55.953] it:8 	 Success 	 new_chi2: 2.489038 	 dT = -0.036999, 0.051286, 0.010613
[11:52:55.953] xyz_f:0.663590, -0.257723, 1.587484  Reprojection Error: -0.280578, 0.163191 Feature: 0.136156, 0.000836, 0.990687
[11:52:55.953] xyz_f:0.866760, -0.463139, 1.494852  Reprojection Error: -0.221094, 0.068445 Feature: 0.329275, -0.221554, 0.917873
[11:52:55.953] xyz_f:0.548995, -0.158347, 1.596466  Reprojection Error: -0.323400, 0.198849 Feature: 0.020376, 0.099152, 0.994864
[11:52:55.953] xyz_f:0.830690, -0.441389, 1.511671  Reprojection Error: -0.233173, 0.082133 Feature: 0.295751, -0.196193, 0.934901
[11:52:55.953] xyz_f:0.908174, -0.643793, 1.361693  Reprojection Error: -0.239097, -0.046018 Feature: 0.355037, -0.430517, 0.829821
[11:52:55.953] xyz_f:0.914031, -0.466051, 1.483490  Reprojection Error: -0.200335, 0.061366 Feature: 0.373883, -0.227308, 0.899190
[11:52:55.953] xyz_f:0.549116, -0.151854, 1.597520  Reprojection Error: -0.323237, 0.201370 Feature: 0.020374, 0.105696, 0.994190
[11:52:55.953] xyz_f:0.569598, 0.163459, 1.598822  Reprojection Error: -0.327918, 0.348256 Feature: 0.025833, 0.410602, 0.911449
[11:52:55.953] xyz_f:0.480486, -0.065176, 1.593369  Reprojection Error: -0.354505, 0.232952 Feature: -0.051931, 0.188346, 0.980729
[11:52:55.953] xyz_f:0.840216, -0.462498, 1.499523  Reprojection Error: -0.232412, 0.071399 Feature: 0.303971, -0.219727, 0.926996
[11:52:55.953] xyz_f:0.701598, -0.228373, 1.595945  Reprojection Error: -0.263215, 0.174972 Feature: 0.173630, 0.031376, 0.984311
[11:52:55.953] xyz_f:0.881163, -0.452622, 1.497671  Reprojection Error: -0.213116, 0.072042 Feature: 0.343436, -0.210666, 0.915244
[11:52:55.953] xyz_f:0.826007, -0.476692, 1.493889  Reprojection Error: -0.240721, 0.065934 Feature: 0.289678, -0.234896, 0.927853
[11:52:55.953] xyz_f:0.950785, 0.024618, 1.592853  Reprojection Error: -0.130897, 0.300040 Feature: 0.406117, 0.274947, 0.871478
[11:52:55.953] xyz_f:0.480728, -0.058570, 1.593847  Reprojection Error: -0.354626, 0.235685 Feature: -0.051922, 0.194851, 0.979458
[11:52:55.953] xyz_f:0.895945, -0.453686, 1.494109  Reprojection Error: -0.206669, 0.069860 Feature: 0.357391, -0.212616, 0.909432
[11:52:55.953] xyz_f:0.701693, -0.213473, 1.599321  Reprojection Error: -0.262254, 0.180892 Feature: 0.173615, 0.046643, 0.983709
[11:52:55.953] xyz_f:0.554602, -0.165072, 1.596265  Reprojection Error: -0.321144, 0.196447 Feature: 0.026171, 0.092604, 0.995359
[11:52:55.953] xyz_f:0.684096, -0.224026, 1.596634  Reprojection Error: -0.270073, 0.176534 Feature: 0.156338, 0.035754, 0.987056
[11:52:55.953] xyz_f:0.954594, 0.051222, 1.590862  Reprojection Error: -0.126503, 0.315931 Feature: 0.408253, 0.300129, 0.862121
[11:52:55.953] xyz_f:0.705086, 0.024814, 1.622090  Reprojection Error: -0.254923, 0.284152 Feature: 0.169702, 0.282704, 0.944076
[11:52:55.953] xyz_f:0.857548, -0.451933, 1.502295  Reprojection Error: -0.223336, 0.074794 Feature: 0.321002, -0.208804, 0.923774
[11:52:55.953] xyz_f:0.675258, -0.245172, 1.591246  Reprojection Error: -0.275007, 0.168165 Feature: 0.147698, 0.013934, 0.988934
[11:52:55.953] xyz_f:0.994478, 0.020191, 1.581091  Reprojection Error: -0.104982, 0.300811 Feature: 0.447209, 0.267626, 0.853452
[11:52:55.953] xyz_f:0.826007, -0.476692, 1.493889  Reprojection Error: -1.776255, -0.434628 Feature: 0.289678, -0.234896, 0.927853
[11:52:55.953] xyz_f:0.908174, -0.643793, 1.361693  Reprojection Error: -0.210659, -0.056563 Feature: 0.355037, -0.430517, 0.829821
[11:52:55.953] xyz_f:0.866760, -0.463139, 1.494852  Reprojection Error: -0.196534, 0.064344 Feature: 0.329275, -0.221554, 0.917873
[11:52:55.953] xyz_f:0.830690, -0.441389, 1.511671  Reprojection Error: -0.206164, 0.078295 Feature: 0.295751, -0.196193, 0.934901
[11:52:55.953] xyz_f:0.663590, -0.257723, 1.587484  Reprojection Error: -0.256720, 0.163194 Feature: 0.136156, 0.000836, 0.990687
[11:52:55.953] xyz_f:0.548995, -0.158347, 1.596466  Reprojection Error: -0.300080, 0.198913 Feature: 0.020376, 0.099152, 0.994864
[11:52:55.953] xyz_f:0.480728, -0.058570, 1.593847  Reprojection Error: -0.331006, 0.237820 Feature: -0.051922, 0.194851, 0.979458
[11:52:55.953] xyz_f:0.480486, -0.065176, 1.593369  Reprojection Error: 0.814592, 0.364419 Feature: -0.051931, 0.188346, 0.980729
[11:52:55.953] xyz_f:0.705086, 0.024814, 1.622090  Reprojection Error: -0.233040, 0.282696 Feature: 0.169702, 0.282704, 0.944076
[11:52:55.953] xyz_f:0.950785, 0.024618, 1.592853  Reprojection Error: -0.100166, 0.300551 Feature: 0.406117, 0.274947, 0.871478
[11:52:55.953] xyz_f:0.569598, 0.163459, 1.598822  Reprojection Error: -0.305879, 0.351342 Feature: 0.025833, 0.410602, 0.911449
[11:52:55.953] it:9 	 Success 	 new_chi2: 2.221230 	 dT = -0.045345, 0.040244, 0.007787
[11:52:55.953] xyz_f:0.612872, -0.257621, 1.546856  Reprojection Error: -0.258769, 0.167389 Feature: 0.136156, 0.000836, 0.990687
[11:52:55.953] xyz_f:0.816320, -0.463446, 1.455753  Reprojection Error: -0.202017, 0.076977 Feature: 0.329275, -0.221554, 0.917873
[11:52:55.953] xyz_f:0.498414, -0.158013, 1.554977  Reprojection Error: -0.300047, 0.201281 Feature: 0.020376, 0.099152, 0.994864
[11:52:55.953] xyz_f:0.780168, -0.441624, 1.472301  Reprojection Error: -0.213552, 0.090100 Feature: 0.295751, -0.196193, 0.934901
[11:52:55.953] xyz_f:0.858369, -0.644184, 1.322909  Reprojection Error: -0.221003, -0.031862 Feature: 0.355037, -0.430517, 0.829821
[11:52:55.954] xyz_f:0.863669, -0.466453, 1.444748  Reprojection Error: -0.181999, 0.070069 Feature: 0.373883, -0.227308, 0.899190
[11:52:55.954] xyz_f:0.498540, -0.151521, 1.556032  Reprojection Error: -0.299899, 0.203690 Feature: 0.020374, 0.105696, 0.994190
[11:52:55.954] xyz_f:0.519647, 0.163750, 1.557490  Reprojection Error: -0.305301, 0.345356 Feature: 0.025833, 0.410602, 0.911449
[11:52:55.954] xyz_f:0.430118, -0.064705, 1.551366  Reprojection Error: -0.330203, 0.233755 Feature: -0.051931, 0.188346, 0.980729
[11:52:55.954] xyz_f:0.789742, -0.462752, 1.460225  Reprojection Error: -0.212926, 0.079873 Feature: 0.303971, -0.219727, 0.926996
[11:52:55.954] xyz_f:0.650875, -0.228347, 1.555603  Reprojection Error: -0.242009, 0.178667 Feature: 0.173630, 0.031376, 0.984311
[11:52:55.954] xyz_f:0.830722, -0.452958, 1.458681  Reprojection Error: -0.194263, 0.080351 Feature: 0.343436, -0.210666, 0.915244
[11:52:55.954] xyz_f:0.775548, -0.476917, 1.454484  Reprojection Error: -0.221009, 0.074734 Feature: 0.289678, -0.234896, 0.927853
[11:52:55.954] xyz_f:0.900588, 0.024141, 1.554388  Reprojection Error: -0.113374, 0.299964 Feature: 0.406117, 0.274947, 0.871478
[11:52:55.954] xyz_f:0.430370, -0.058099, 1.551846  Reprojection Error: -0.330338, 0.236376 Feature: -0.051922, 0.194851, 0.979458
[11:52:55.954] xyz_f:0.845528, -0.454052, 1.455231  Reprojection Error: -0.188045, 0.078224 Feature: 0.357391, -0.212616, 0.909432
[11:52:55.954] xyz_f:0.650975, -0.213447, 1.558980  Reprojection Error: -0.241074, 0.184330 Feature: 0.173615, 0.046643, 0.983709
[11:52:55.954] xyz_f:0.504009, -0.164749, 1.554818  Reprojection Error: -0.297866, 0.198996 Feature: 0.026171, 0.092604, 0.995359
[11:52:55.954] xyz_f:0.633377, -0.223965, 1.556161  Reprojection Error: -0.248624, 0.180144 Feature: 0.156338, 0.035754, 0.987056
[11:52:55.954] xyz_f:0.904465, 0.050738, 1.552425  Reprojection Error: -0.109069, 0.315446 Feature: 0.408253, 0.300129, 0.862121
[11:52:55.954] xyz_f:0.654676, 0.024833, 1.581776  Reprojection Error: -0.234133, 0.283751 Feature: 0.169702, 0.282704, 0.944076
[11:52:55.954] xyz_f:0.807075, -0.452222, 1.463128  Reprojection Error: -0.204120, 0.083045 Feature: 0.321002, -0.208804, 0.923774
[11:52:55.954] xyz_f:0.624537, -0.245093, 1.550706  Reprojection Error: -0.253393, 0.172142 Feature: 0.147698, 0.013934, 0.988934
[11:52:55.954] xyz_f:0.944359, 0.019626, 1.542955  Reprojection Error: -0.088046, 0.300861 Feature: 0.447209, 0.267626, 0.853452
[11:52:55.954] xyz_f:0.775548, -0.476917, 1.454484  Reprojection Error: -1.756542, -0.425828 Feature: 0.289678, -0.234896, 0.927853
[11:52:55.954] xyz_f:0.858369, -0.644184, 1.322909  Reprojection Error: -0.192565, -0.042406 Feature: 0.355037, -0.430517, 0.829821
[11:52:55.954] xyz_f:0.816320, -0.463446, 1.455753  Reprojection Error: -0.177458, 0.072876 Feature: 0.329275, -0.221554, 0.917873
[11:52:55.954] xyz_f:0.780168, -0.441624, 1.472301  Reprojection Error: -0.186543, 0.086262 Feature: 0.295751, -0.196193, 0.934901
[11:52:55.954] xyz_f:0.612872, -0.257621, 1.546856  Reprojection Error: -0.234911, 0.167391 Feature: 0.136156, 0.000836, 0.990687
[11:52:55.954] xyz_f:0.498414, -0.158013, 1.554977  Reprojection Error: -0.276727, 0.201345 Feature: 0.020376, 0.099152, 0.994864
[11:52:55.954] xyz_f:0.430370, -0.058099, 1.551846  Reprojection Error: -0.306719, 0.238511 Feature: -0.051922, 0.194851, 0.979458
[11:52:55.954] xyz_f:0.430118, -0.064705, 1.551366  Reprojection Error: 0.838894, 0.365223 Feature: -0.051931, 0.188346, 0.980729
[11:52:55.954] xyz_f:0.654676, 0.024833, 1.581776  Reprojection Error: -0.212250, 0.282294 Feature: 0.169702, 0.282704, 0.944076
[11:52:55.954] xyz_f:0.900588, 0.024141, 1.554388  Reprojection Error: -0.082643, 0.300475 Feature: 0.406117, 0.274947, 0.871478
[11:52:55.954] xyz_f:0.519647, 0.163750, 1.557490  Reprojection Error: -0.283262, 0.348441 Feature: 0.025833, 0.410602, 0.911449
[11:52:55.954] it:10 	 Success 	 new_chi2: 2.100338 	 dT = -0.041642, 0.043032, 0.009082
[11:52:55.954] xyz_f:0.559860, -0.257481, 1.503303  Reprojection Error: -0.234984, 0.172121 Feature: 0.136156, 0.000836, 0.990687
[11:52:55.954] xyz_f:0.763614, -0.463784, 1.413986  Reprojection Error: -0.181307, 0.086620 Feature: 0.329275, -0.221554, 0.917873
[11:52:55.954] xyz_f:0.445569, -0.157605, 1.510421  Reprojection Error: -0.274515, 0.204008 Feature: 0.020376, 0.099152, 0.994864
[11:52:55.954] xyz_f:0.727369, -0.441877, 1.430216  Reprojection Error: -0.192228, 0.099104 Feature: 0.295751, -0.196193, 0.934901
[11:52:55.954] xyz_f:0.806402, -0.644623, 1.281514  Reprojection Error: -0.201410, -0.015790 Feature: 0.355037, -0.430517, 0.829821
[11:52:55.954] xyz_f:0.811050, -0.466904, 1.403396  Reprojection Error: -0.162119, 0.079903 Feature: 0.373883, -0.227308, 0.899190
[11:52:55.954] xyz_f:0.445701, -0.151112, 1.511476  Reprojection Error: -0.274385, 0.206290 Feature: 0.020374, 0.105696, 0.994190
[11:52:55.954] xyz_f:0.467535, 0.164108, 1.513123  Reprojection Error: -0.280644, 0.342037 Feature: 0.025833, 0.410602, 0.911449
[11:52:55.954] xyz_f:0.377527, -0.064136, 1.506211  Reprojection Error: -0.303599, 0.234628 Feature: -0.051931, 0.188346, 0.980729
[11:52:55.954] xyz_f:0.737000, -0.463028, 1.418225  Reprojection Error: -0.191754, 0.089453 Feature: 0.303971, -0.219727, 0.926996
[11:52:55.954] xyz_f:0.597852, -0.228297, 1.512383  Reprojection Error: -0.218908, 0.182828 Feature: 0.173630, 0.031376, 0.984311
[11:52:55.954] xyz_f:0.778014, -0.453331, 1.417040  Reprojection Error: -0.173802, 0.089739 Feature: 0.343436, -0.210666, 0.915244
[11:52:55.954] xyz_f:0.722823, -0.477160, 1.412359  Reprojection Error: -0.199581, 0.084686 Feature: 0.289678, -0.234896, 0.927853
[11:52:55.954] xyz_f:0.848159, 0.023604, 1.513361  Reprojection Error: -0.094437, 0.299898 Feature: 0.406117, 0.274947, 0.871478
[11:52:55.954] xyz_f:0.377790, -0.057531, 1.506693  Reprojection Error: -0.303752, 0.237121 Feature: -0.051922, 0.194851, 0.979458
[11:52:55.954] xyz_f:0.792848, -0.454459, 1.413720  Reprojection Error: -0.167842, 0.087674 Feature: 0.357391, -0.212616, 0.909432
[11:52:55.954] xyz_f:0.597958, -0.213397, 1.515761  Reprojection Error: -0.218003, 0.188201 Feature: 0.173615, 0.046643, 0.983709
[11:52:55.954] xyz_f:0.451149, -0.164354, 1.510310  Reprojection Error: -0.272420, 0.201857 Feature: 0.026171, 0.092604, 0.995359
[11:52:55.954] xyz_f:0.580361, -0.223873, 1.512787  Reprojection Error: -0.225248, 0.184210 Feature: 0.156338, 0.035754, 0.987056
[11:52:55.954] xyz_f:0.852116, 0.050191, 1.511433  Reprojection Error: -0.090235, 0.314921 Feature: 0.408253, 0.300129, 0.862121
[11:52:55.954] xyz_f:0.602019, 0.024874, 1.538591  Reprojection Error: -0.211525, 0.283283 Feature: 0.169702, 0.282704, 0.944076
[11:52:55.954] xyz_f:0.754331, -0.452539, 1.421279  Reprojection Error: -0.183251, 0.092368 Feature: 0.321002, -0.208804, 0.923774
[11:52:55.954] xyz_f:0.571520, -0.244980, 1.507255  Reprojection Error: -0.229828, 0.176624 Feature: 0.147698, 0.013934, 0.988934
[11:52:55.954] xyz_f:0.892018, 0.018985, 1.502312  Reprojection Error: -0.069764, 0.300943 Feature: 0.447209, 0.267626, 0.853452
[11:52:55.954] xyz_f:0.722823, -0.477160, 1.412359  Reprojection Error: -1.735115, -0.415876 Feature: 0.289678, -0.234896, 0.927853
[11:52:55.954] xyz_f:0.806402, -0.644623, 1.281514  Reprojection Error: -0.172973, -0.026335 Feature: 0.355037, -0.430517, 0.829821
[11:52:55.954] xyz_f:0.763614, -0.463784, 1.413986  Reprojection Error: -0.156747, 0.082519 Feature: 0.329275, -0.221554, 0.917873
[11:52:55.954] xyz_f:0.727369, -0.441877, 1.430216  Reprojection Error: -0.165220, 0.095265 Feature: 0.295751, -0.196193, 0.934901
[11:52:55.954] xyz_f:0.559860, -0.257481, 1.503303  Reprojection Error: -0.211126, 0.172124 Feature: 0.136156, 0.000836, 0.990687
[11:52:55.954] xyz_f:0.445569, -0.157605, 1.510421  Reprojection Error: -0.251195, 0.204073 Feature: 0.020376, 0.099152, 0.994864
[11:52:55.954] xyz_f:0.377790, -0.057531, 1.506693  Reprojection Error: -0.280133, 0.239256 Feature: -0.051922, 0.194851, 0.979458
[11:52:55.954] xyz_f:0.377527, -0.064136, 1.506211  Reprojection Error: 0.865499, 0.366095 Feature: -0.051931, 0.188346, 0.980729
[11:52:55.954] xyz_f:0.602019, 0.024874, 1.538591  Reprojection Error: -0.189642, 0.281827 Feature: 0.169702, 0.282704, 0.944076
[11:52:55.954] xyz_f:0.848159, 0.023604, 1.513361  Reprojection Error: -0.063707, 0.300409 Feature: 0.406117, 0.274947, 0.871478
[11:52:55.954] xyz_f:0.467535, 0.164108, 1.513123  Reprojection Error: -0.258605, 0.345122 Feature: 0.025833, 0.410602, 0.911449
[11:52:55.954] it:11 	 Success 	 new_chi2: 1.970109 	 dT = -0.038213, 0.045492, 0.010663
[11:52:55.954] xyz_f:0.502761, -0.257290, 1.457097  Reprojection Error: -0.207607, 0.177421 Feature: 0.136156, 0.000836, 0.990687
[11:52:55.954] xyz_f:0.706854, -0.464156, 1.369881  Reprojection Error: -0.157260, 0.097452 Feature: 0.329275, -0.221554, 0.917873
[11:52:55.954] xyz_f:0.388679, -0.157098, 1.463039  Reprojection Error: -0.245184, 0.207042 Feature: 0.020376, 0.099152, 0.994864
[11:52:55.954] xyz_f:0.670505, -0.442149, 1.385737  Reprojection Error: -0.167517, 0.109217 Feature: 0.295751, -0.196193, 0.934901
[11:52:55.954] xyz_f:0.750505, -0.645114, 1.237854  Reprojection Error: -0.178448, 0.002348 Feature: 0.355037, -0.430517, 0.829821
[11:52:55.954] xyz_f:0.754389, -0.467406, 1.359780  Reprojection Error: -0.138987, 0.090944 Feature: 0.373883, -0.227308, 0.899190
[11:52:55.954] xyz_f:0.388818, -0.150606, 1.464096  Reprojection Error: -0.245076, 0.209180 Feature: 0.020374, 0.105696, 0.994190
[11:52:55.954] xyz_f:0.411504, 0.164553, 1.465972  Reprojection Error: -0.252361, 0.338245 Feature: 0.025833, 0.410602, 0.911449
[11:52:55.954] xyz_f:0.320942, -0.063442, 1.458130  Reprojection Error: -0.273057, 0.235556 Feature: -0.051931, 0.188346, 0.980729
[11:52:55.954] xyz_f:0.680200, -0.463326, 1.373845  Reprojection Error: -0.167197, 0.100217 Feature: 0.303971, -0.219727, 0.926996
[11:52:55.954] xyz_f:0.540739, -0.228210, 1.466569  Reprojection Error: -0.192313, 0.187485 Feature: 0.173630, 0.031376, 0.984311
[11:52:55.954] xyz_f:0.721251, -0.453742, 1.373084  Reprojection Error: -0.150039, 0.100280 Feature: 0.343436, -0.210666, 0.915244
[11:52:55.954] xyz_f:0.666046, -0.477419, 1.367834  Reprojection Error: -0.174732, 0.095873 Feature: 0.289678, -0.234896, 0.927853
[11:52:55.954] xyz_f:0.791716, 0.022999, 1.470129  Reprojection Error: -0.072526, 0.299851 Feature: 0.406117, 0.274947, 0.871478
[11:52:55.954] xyz_f:0.321218, -0.056838, 1.458615  Reprojection Error: -0.273232, 0.237905 Feature: -0.051922, 0.194851, 0.979458
[11:52:55.954] xyz_f:0.736115, -0.454912, 1.369916  Reprojection Error: -0.144361, 0.098283 Feature: 0.357391, -0.212616, 0.909432
[11:52:55.954] xyz_f:0.540850, -0.213311, 1.469948  Reprojection Error: -0.191448, 0.192530 Feature: 0.173615, 0.046643, 0.983709
[11:52:55.954] xyz_f:0.394241, -0.163863, 1.462986  Reprojection Error: -0.243184, 0.205041 Feature: 0.026171, 0.092604, 0.995359
[11:52:55.954] xyz_f:0.523256, -0.223739, 1.466793  Reprojection Error: -0.198346, 0.188758 Feature: 0.156338, 0.035754, 0.987056
[11:52:55.954] xyz_f:0.795766, 0.049575, 1.468242  Reprojection Error: -0.068441, 0.314364 Feature: 0.408253, 0.300129, 0.862121
[11:52:55.954] xyz_f:0.545334, 0.024948, 1.492822  Reprojection Error: -0.185550, 0.282738 Feature: 0.169702, 0.282704, 0.944076
[11:52:55.954] xyz_f:0.697528, -0.452885, 1.377078  Reprojection Error: -0.159038, 0.102840 Feature: 0.321002, -0.208804, 0.923774
[11:52:55.954] xyz_f:0.514414, -0.244821, 1.461169  Reprojection Error: -0.202706, 0.181641 Feature: 0.147698, 0.013934, 0.988934
[11:52:55.954] xyz_f:0.835674, 0.018259, 1.459532  Reprojection Error: -0.048563, 0.301071 Feature: 0.447209, 0.267626, 0.853452
[11:52:55.954] xyz_f:0.666046, -0.477419, 1.367834  Reprojection Error: -1.710265, -0.404690 Feature: 0.289678, -0.234896, 0.927853
[11:52:55.954] xyz_f:0.750505, -0.645114, 1.237854  Reprojection Error: -0.150011, -0.008197 Feature: 0.355037, -0.430517, 0.829821
[11:52:55.954] xyz_f:0.706854, -0.464156, 1.369881  Reprojection Error: -0.132701, 0.093351 Feature: 0.329275, -0.221554, 0.917873
[11:52:55.954] xyz_f:0.670505, -0.442149, 1.385737  Reprojection Error: -0.140508, 0.105378 Feature: 0.295751, -0.196193, 0.934901
[11:52:55.954] xyz_f:0.502761, -0.257290, 1.457097  Reprojection Error: -0.183749, 0.177424 Feature: 0.136156, 0.000836, 0.990687
[11:52:55.954] xyz_f:0.388679, -0.157098, 1.463039  Reprojection Error: -0.221864, 0.207106 Feature: 0.020376, 0.099152, 0.994864
[11:52:55.954] xyz_f:0.321218, -0.056838, 1.458615  Reprojection Error: -0.249613, 0.240040 Feature: -0.051922, 0.194851, 0.979458
[11:52:55.954] xyz_f:0.320942, -0.063442, 1.458130  Reprojection Error: 0.896040, 0.367024 Feature: -0.051931, 0.188346, 0.980729
[11:52:55.954] xyz_f:0.545334, 0.024948, 1.492822  Reprojection Error: -0.163667, 0.281282 Feature: 0.169702, 0.282704, 0.944076
[11:52:55.954] xyz_f:0.791716, 0.022999, 1.470129  Reprojection Error: -0.041795, 0.300363 Feature: 0.406117, 0.274947, 0.871478
[11:52:55.954] xyz_f:0.411504, 0.164553, 1.465972  Reprojection Error: -0.230322, 0.341331 Feature: 0.025833, 0.410602, 0.911449
[11:52:55.954] it:12 	 Success 	 new_chi2: 1.825566 	 dT = -0.035089, 0.047597, 0.012658
[11:52:55.954] xyz_f:0.441529, -0.257025, 1.408512  Reprojection Error: -0.176036, 0.183324 Feature: 0.136156, 0.000836, 0.990687
[11:52:55.954] xyz_f:0.645994, -0.464560, 1.323793  Reprojection Error: -0.129251, 0.109553 Feature: 0.329275, -0.221554, 0.917873
[11:52:55.954] xyz_f:0.327712, -0.156460, 1.413060  Reprojection Error: -0.211435, 0.210388 Feature: 0.020376, 0.099152, 0.994864
[11:52:55.954] xyz_f:0.609527, -0.442434, 1.339204  Reprojection Error: -0.138796, 0.120516 Feature: 0.295751, -0.196193, 0.934901
[11:52:55.954] xyz_f:0.690664, -0.645663, 1.192306  Reprojection Error: -0.151420, 0.022717 Feature: 0.355037, -0.430517, 0.829821
[11:52:55.954] xyz_f:0.693638, -0.467967, 1.314274  Reprojection Error: -0.111972, 0.103272 Feature: 0.373883, -0.227308, 0.899190
[11:52:55.954] xyz_f:0.327859, -0.149968, 1.414119  Reprojection Error: -0.211354, 0.212365 Feature: 0.020374, 0.105696, 0.994190
[11:52:55.954] xyz_f:0.351553, 0.165115, 1.416278  Reprojection Error: -0.219880, 0.333910 Feature: 0.025833, 0.410602, 0.911449
[11:52:55.954] xyz_f:0.260347, -0.062583, 1.407325  Reprojection Error: -0.237946, 0.236516 Feature: -0.051931, 0.188346, 0.980729
[11:52:55.954] xyz_f:0.619297, -0.463643, 1.327431  Reprojection Error: -0.138628, 0.112247 Feature: 0.303971, -0.219727, 0.926996
[11:52:55.954] xyz_f:0.479483, -0.228070, 1.418448  Reprojection Error: -0.161636, 0.192665 Feature: 0.173630, 0.031376, 0.984311
[11:52:55.954] xyz_f:0.660385, -0.454194, 1.327172  Reprojection Error: -0.122349, 0.112052 Feature: 0.343436, -0.210666, 0.915244
[11:52:55.954] xyz_f:0.605171, -0.477690, 1.321247  Reprojection Error: -0.145827, 0.108384 Feature: 0.289678, -0.234896, 0.927853
[11:52:55.954] xyz_f:0.731220, 0.022316, 1.425081  Reprojection Error: -0.047098, 0.299836 Feature: 0.406117, 0.274947, 0.871478
[11:52:55.954] xyz_f:0.260639, -0.055979, 1.407814  Reprojection Error: -0.238148, 0.238701 Feature: -0.051922, 0.194851, 0.979458
[11:52:55.954] xyz_f:0.675283, -0.455412, 1.324186  Reprojection Error: -0.116978, 0.110128 Feature: 0.357391, -0.212616, 0.909432
[11:52:55.954] xyz_f:0.479602, -0.213171, 1.421828  Reprojection Error: -0.160824, 0.197342 Feature: 0.173615, 0.046643, 0.983709
[11:52:55.954] xyz_f:0.333252, -0.163243, 1.413075  Reprojection Error: -0.209542, 0.208559 Feature: 0.026171, 0.092604, 0.995359
[11:52:55.954] xyz_f:0.462014, -0.223541, 1.418458  Reprojection Error: -0.167327, 0.193817 Feature: 0.156338, 0.035754, 0.987056
[11:52:55.954] xyz_f:0.735380, 0.048879, 1.423244  Reprojection Error: -0.043148, 0.313786 Feature: 0.408253, 0.300129, 0.862121
[11:52:55.954] xyz_f:0.484586, 0.025073, 1.444760  Reprojection Error: -0.155655, 0.282095 Feature: 0.169702, 0.282704, 0.944076
[11:52:55.954] xyz_f:0.636618, -0.453258, 1.330876  Reprojection Error: -0.130855, 0.114537 Feature: 0.321002, -0.208804, 0.923774
[11:52:55.954] xyz_f:0.453172, -0.244595, 1.412726  Reprojection Error: -0.171428, 0.187226 Feature: 0.147698, 0.013934, 0.988934
[11:52:55.954] xyz_f:0.775288, 0.017432, 1.415022  Reprojection Error: -0.023898, 0.301261 Feature: 0.447209, 0.267626, 0.853452
[11:52:55.954] xyz_f:0.605171, -0.477690, 1.321247  Reprojection Error: -1.681361, -0.392178 Feature: 0.289678, -0.234896, 0.927853
[11:52:55.954] xyz_f:0.690664, -0.645663, 1.192306  Reprojection Error: -0.122982, 0.012173 Feature: 0.355037, -0.430517, 0.829821
[11:52:55.954] xyz_f:0.645994, -0.464560, 1.323793  Reprojection Error: -0.104691, 0.105453 Feature: 0.329275, -0.221554, 0.917873
[11:52:55.954] xyz_f:0.609527, -0.442434, 1.339204  Reprojection Error: -0.111787, 0.116678 Feature: 0.295751, -0.196193, 0.934901
[11:52:55.954] xyz_f:0.441529, -0.257025, 1.408512  Reprojection Error: -0.152178, 0.183326 Feature: 0.136156, 0.000836, 0.990687
[11:52:55.954] xyz_f:0.327712, -0.156460, 1.413060  Reprojection Error: -0.188115, 0.210452 Feature: 0.020376, 0.099152, 0.994864
[11:52:55.954] xyz_f:0.260639, -0.055979, 1.407814  Reprojection Error: -0.214529, 0.240836 Feature: -0.051922, 0.194851, 0.979458
[11:52:55.954] xyz_f:0.260347, -0.062583, 1.407325  Reprojection Error: 0.931151, 0.367984 Feature: -0.051931, 0.188346, 0.980729
[11:52:55.954] xyz_f:0.484586, 0.025073, 1.444760  Reprojection Error: -0.133773, 0.280639 Feature: 0.169702, 0.282704, 0.944076
[11:52:55.954] xyz_f:0.731220, 0.022316, 1.425081  Reprojection Error: -0.016367, 0.300347 Feature: 0.406117, 0.274947, 0.871478
[11:52:55.954] xyz_f:0.351553, 0.165115, 1.416278  Reprojection Error: -0.197841, 0.336995 Feature: 0.025833, 0.410602, 0.911449
[11:52:55.954] it:13 	 Success 	 new_chi2: 1.673594 	 dT = -0.032387, 0.049171, 0.015155
[11:52:55.954] xyz_f:0.376143, -0.256653, 1.357953  Reprojection Error: -0.139556, 0.189844 Feature: 0.136156, 0.000836, 0.990687
[11:52:55.954] xyz_f:0.581011, -0.464991, 1.276231  Reprojection Error: -0.096519, 0.122969 Feature: 0.329275, -0.221554, 0.917873
[11:52:55.954] xyz_f:0.262666, -0.155643, 1.360838  Reprojection Error: -0.172537, 0.214036 Feature: 0.020376, 0.099152, 0.994864
[11:52:55.954] xyz_f:0.544409, -0.442722, 1.291107  Reprojection Error: -0.105315, 0.133046 Feature: 0.295751, -0.196193, 0.934901
[11:52:55.954] xyz_f:0.626889, -0.646272, 1.145407  Reprojection Error: -0.119460, 0.045422 Feature: 0.355037, -0.430517, 0.829821
[11:52:55.954] xyz_f:0.628775, -0.468585, 1.267411  Reprojection Error: -0.080309, 0.116926 Feature: 0.373883, -0.227308, 0.899190
[11:52:55.954] xyz_f:0.262824, -0.149152, 1.361899  Reprojection Error: -0.172490, 0.215831 Feature: 0.020374, 0.105696, 0.994190
[11:52:55.954] xyz_f:0.287719, 0.165836, 1.364414  Reprojection Error: -0.182531, 0.328950 Feature: 0.025833, 0.410602, 0.911449
[11:52:55.954] xyz_f:0.195762, -0.061502, 1.354121  Reprojection Error: -0.197519, 0.237465 Feature: -0.051931, 0.188346, 0.980729
[11:52:55.954] xyz_f:0.554267, -0.463969, 1.279478  Reprojection Error: -0.105288, 0.125593 Feature: 0.303971, -0.219727, 0.926996
[11:52:55.954] xyz_f:0.414061, -0.227847, 1.368445  Reprojection Error: -0.126180, 0.198377 Feature: 0.173630, 0.031376, 0.984311
[11:52:55.954] xyz_f:0.595392, -0.454681, 1.279820  Reprojection Error: -0.089976, 0.125094 Feature: 0.343436, -0.210666, 0.915244
[11:52:55.954] xyz_f:0.540178, -0.477961, 1.273087  Reprojection Error: -0.112102, 0.122274 Feature: 0.289678, -0.234896, 0.927853
[11:52:55.955] xyz_f:0.666654, 0.021550, 1.378769  Reprojection Error: -0.017504, 0.299866 Feature: 0.406117, 0.274947, 0.871478
[11:52:55.955] xyz_f:0.196072, -0.054900, 1.354614  Reprojection Error: -0.197755, 0.239465 Feature: -0.051922, 0.194851, 0.979458
[11:52:55.955] xyz_f:0.610326, -0.455958, 1.277053  Reprojection Error: -0.084935, 0.123249 Feature: 0.357391, -0.212616, 0.909432
[11:52:55.955] xyz_f:0.414189, -0.212948, 1.371827  Reprojection Error: -0.125435, 0.202645 Feature: 0.173615, 0.046643, 0.983709
[11:52:55.955] xyz_f:0.268179, -0.162447, 1.360934  Reprojection Error: -0.170762, 0.212400 Feature: 0.026171, 0.092604, 0.995359
[11:52:55.955] xyz_f:0.396611, -0.223249, 1.368199  Reprojection Error: -0.131490, 0.199393 Feature: 0.156338, 0.035754, 0.987056
[11:52:55.955] xyz_f:0.670944, 0.048096, 1.376994  Reprojection Error: -0.013708, 0.313201 Feature: 0.408253, 0.300129, 0.862121
[11:52:55.955] xyz_f:0.419771, 0.025275, 1.394836  Reprojection Error: -0.121192, 0.281330 Feature: 0.169702, 0.282704, 0.944076
[11:52:55.955] xyz_f:0.571576, -0.453653, 1.283176  Reprojection Error: -0.097949, 0.127505 Feature: 0.321002, -0.208804, 0.923774
[11:52:55.955] xyz_f:0.387772, -0.244269, 1.362338  Reprojection Error: -0.135286, 0.193391 Feature: 0.147698, 0.013934, 0.988934
[11:52:55.955] xyz_f:0.710845, 0.016492, 1.369357  Reprojection Error: 0.004891, 0.301537 Feature: 0.447209, 0.267626, 0.853452
[11:52:55.955] xyz_f:0.540178, -0.477961, 1.273087  Reprojection Error: -1.647636, -0.378288 Feature: 0.289678, -0.234896, 0.927853
[11:52:55.955] xyz_f:0.626889, -0.646272, 1.145407  Reprojection Error: -0.091022, 0.034877 Feature: 0.355037, -0.430517, 0.829821
[11:52:55.955] xyz_f:0.581011, -0.464991, 1.276231  Reprojection Error: -0.071959, 0.118869 Feature: 0.329275, -0.221554, 0.917873
[11:52:55.955] xyz_f:0.544409, -0.442722, 1.291107  Reprojection Error: -0.078307, 0.129208 Feature: 0.295751, -0.196193, 0.934901
[11:52:55.955] xyz_f:0.376143, -0.256653, 1.357953  Reprojection Error: -0.115698, 0.189847 Feature: 0.136156, 0.000836, 0.990687
[11:52:55.955] xyz_f:0.262666, -0.155643, 1.360838  Reprojection Error: -0.149217, 0.214100 Feature: 0.020376, 0.099152, 0.994864
[11:52:55.955] xyz_f:0.196072, -0.054900, 1.354614  Reprojection Error: -0.174136, 0.241601 Feature: -0.051922, 0.194851, 0.979458
[11:52:55.955] xyz_f:0.195762, -0.061502, 1.354121  Reprojection Error: 0.971578, 0.368933 Feature: -0.051931, 0.188346, 0.980729
[11:52:55.955] xyz_f:0.419771, 0.025275, 1.394836  Reprojection Error: -0.099310, 0.279873 Feature: 0.169702, 0.282704, 0.944076
[11:52:55.955] xyz_f:0.666654, 0.021550, 1.378769  Reprojection Error: 0.013227, 0.300377 Feature: 0.406117, 0.274947, 0.871478
[11:52:55.955] xyz_f:0.287719, 0.165836, 1.364414  Reprojection Error: -0.160492, 0.332035 Feature: 0.025833, 0.410602, 0.911449
[11:52:55.955] it:14 	 Success 	 new_chi2: 1.527926 	 dT = -0.030150, 0.049982, 0.018198
[11:52:55.955] xyz_f:0.306651, -0.256129, 1.306014  Reprojection Error: -0.097363, 0.196959 Feature: 0.136156, 0.000836, 0.990687
[11:52:55.955] xyz_f:0.511941, -0.465433, 1.227897  Reprojection Error: -0.058188, 0.137671 Feature: 0.329275, -0.221554, 0.917873
[11:52:55.955] xyz_f:0.193619, -0.154585, 1.306908  Reprojection Error: -0.127669, 0.217946 Feature: 0.020376, 0.099152, 0.994864
[11:52:55.955] xyz_f:0.475188, -0.442990, 1.242128  Reprojection Error: -0.066215, 0.146784 Feature: 0.295751, -0.196193, 0.934901
[11:52:55.955] xyz_f:0.559257, -0.646933, 1.097892  Reprojection Error: -0.081545, 0.070443 Feature: 0.355037, -0.430517, 0.829821
[11:52:55.955] xyz_f:0.559835, -0.469252, 1.219917  Reprojection Error: -0.043112, 0.131866 Feature: 0.373883, -0.227308, 0.899190
[11:52:55.955] xyz_f:0.193788, -0.148095, 1.307972  Reprojection Error: -0.127666, 0.219538 Feature: 0.020374, 0.105696, 0.994190
[11:52:55.955] xyz_f:0.220119, 0.166773, 1.310937  Reprojection Error: -0.139567, 0.323277 Feature: 0.025833, 0.410602, 0.911449
[11:52:55.955] xyz_f:0.127287, -0.060130, 1.299020  Reprojection Error: -0.150939, 0.238336 Feature: -0.051931, 0.188346, 0.980729
[11:52:55.955] xyz_f:0.485149, -0.464285, 1.230673  Reprojection Error: -0.066304, 0.140230 Feature: 0.303971, -0.219727, 0.926996
[11:52:55.955] xyz_f:0.344514, -0.227501, 1.317172  Reprojection Error: -0.085159, 0.204596 Feature: 0.173630, 0.031376, 0.984311
[11:52:55.955] xyz_f:0.526304, -0.455190, 1.231739  Reprojection Error: -0.052046, 0.139376 Feature: 0.343436, -0.210666, 0.915244
[11:52:55.955] xyz_f:0.471108, -0.478210, 1.224035  Reprojection Error: -0.072678, 0.137523 Feature: 0.289678, -0.234896, 0.927853
[11:52:55.955] xyz_f:0.598058, 0.020704, 1.331945  Reprojection Error: 0.016998, 0.299951 Feature: 0.406117, 0.274947, 0.871478
[11:52:55.955] xyz_f:0.127620, -0.053530, 1.299518  Reprojection Error: -0.151216, 0.240129 Feature: -0.051922, 0.194851, 0.979458
[11:52:55.955] xyz_f:0.541279, -0.456538, 1.229234  Reprojection Error: -0.047356, 0.137610 Feature: 0.357391, -0.212616, 0.909432
[11:52:55.955] xyz_f:0.344653, -0.212603, 1.320557  Reprojection Error: -0.084501, 0.208410 Feature: 0.173615, 0.046643, 0.983709
[11:52:55.955] xyz_f:0.199097, -0.161415, 1.307101  Reprojection Error: -0.126026, 0.216527 Feature: 0.026171, 0.092604, 0.995359
[11:52:55.955] xyz_f:0.327093, -0.222821, 1.316620  Reprojection Error: -0.090046, 0.205460 Feature: 0.156338, 0.035754, 0.987056
[11:52:55.955] xyz_f:0.602504, 0.047229, 1.330247  Reprojection Error: 0.020618, 0.312625 Feature: 0.408253, 0.300129, 0.862121
[11:52:55.955] xyz_f:0.350952, 0.025592, 1.343670  Reprojection Error: -0.081435, 0.280404 Feature: 0.169702, 0.282704, 0.944076
[11:52:55.955] xyz_f:0.502438, -0.454050, 1.234676  Reprojection Error: -0.059450, 0.141714 Feature: 0.321002, -0.208804, 0.923774
[11:52:55.955] xyz_f:0.318260, -0.243799, 1.310603  Reprojection Error: -0.093484, 0.200110 Feature: 0.147698, 0.013934, 0.988934
[11:52:55.955] xyz_f:0.642384, 0.015438, 1.323310  Reprojection Error: 0.038563, 0.301914 Feature: 0.447209, 0.267626, 0.853452
[11:52:55.955] xyz_f:0.471108, -0.478210, 1.224035  Reprojection Error: -1.608212, -0.363040 Feature: 0.289678, -0.234896, 0.927853
[11:52:55.955] xyz_f:0.559257, -0.646933, 1.097892  Reprojection Error: -0.053107, 0.059898 Feature: 0.355037, -0.430517, 0.829821
[11:52:55.955] xyz_f:0.511941, -0.465433, 1.227897  Reprojection Error: -0.033629, 0.133570 Feature: 0.329275, -0.221554, 0.917873
[11:52:55.955] xyz_f:0.475188, -0.442990, 1.242128  Reprojection Error: -0.039206, 0.142945 Feature: 0.295751, -0.196193, 0.934901
[11:52:55.955] xyz_f:0.306651, -0.256129, 1.306014  Reprojection Error: -0.073505, 0.196961 Feature: 0.136156, 0.000836, 0.990687
[11:52:55.955] xyz_f:0.193619, -0.154585, 1.306908  Reprojection Error: -0.104349, 0.218010 Feature: 0.020376, 0.099152, 0.994864
[11:52:55.955] xyz_f:0.127620, -0.053530, 1.299518  Reprojection Error: -0.127597, 0.242265 Feature: -0.051922, 0.194851, 0.979458
[11:52:55.955] xyz_f:0.127287, -0.060130, 1.299020  Reprojection Error: 1.018158, 0.369803 Feature: -0.051931, 0.188346, 0.980729
[11:52:55.955] xyz_f:0.350952, 0.025592, 1.343670  Reprojection Error: -0.059552, 0.278947 Feature: 0.169702, 0.282704, 0.944076
[11:52:55.955] xyz_f:0.598058, 0.020704, 1.331945  Reprojection Error: 0.047729, 0.300463 Feature: 0.406117, 0.274947, 0.871478
[11:52:55.955] xyz_f:0.220119, 0.166773, 1.310937  Reprojection Error: -0.117527, 0.326363 Feature: 0.025833, 0.410602, 0.911449
[11:52:55.955] it:15 	 Success 	 new_chi2: 1.412332 	 dT = -0.028199, 0.049721, 0.021653
[11:52:55.955] xyz_f:0.233253, -0.255394, 1.253551  Reprojection Error: -0.048638, 0.204581 Feature: 0.136156, 0.000836, 0.990687
[11:52:55.955] xyz_f:0.438955, -0.465850, 1.179732  Reprojection Error: -0.013343, 0.153500 Feature: 0.329275, -0.221554, 0.917873
[11:52:55.955] xyz_f:0.120797, -0.153218, 1.252087  Reprojection Error: -0.075995, 0.222034 Feature: 0.020376, 0.099152, 0.994864
[11:52:55.955] xyz_f:0.402038, -0.443201, 1.193193  Reprojection Error: -0.020599, 0.161587 Feature: 0.295751, -0.196193, 0.934901
[11:52:55.955] xyz_f:0.487962, -0.647619, 1.050734  Reprojection Error: -0.036554, 0.097542 Feature: 0.355037, -0.430517, 0.829821
[11:52:55.955] xyz_f:0.486983, -0.469937, 1.172755  Reprojection Error: 0.000553, 0.147920 Feature: 0.373883, -0.227308, 0.899190
[11:52:55.955] xyz_f:0.120981, -0.146729, 1.253155  Reprojection Error: -0.076048, 0.223401 Feature: 0.020374, 0.105696, 0.994190
[11:52:55.955] xyz_f:0.149007, 0.167986, 1.256688  Reprojection Error: -0.090228, 0.316820 Feature: 0.025833, 0.410602, 0.911449
[11:52:55.955] xyz_f:0.055175, -0.058394, 1.242819  Reprojection Error: -0.097347, 0.239032 Feature: -0.051931, 0.188346, 0.980729
[11:52:55.955] xyz_f:0.412118, -0.464551, 1.181947  Reprojection Error: -0.020767, 0.156008 Feature: 0.303971, -0.219727, 0.926996
[11:52:55.955] xyz_f:0.271034, -0.226978, 1.265500  Reprojection Error: -0.037774, 0.211235 Feature: 0.173630, 0.031376, 0.984311
[11:52:55.955] xyz_f:0.453292, -0.455688, 1.183874  Reprojection Error: -0.007649, 0.154737 Feature: 0.343436, -0.210666, 0.915244
[11:52:55.955] xyz_f:0.398141, -0.478398, 1.175016  Reprojection Error: -0.026636, 0.153981 Feature: 0.289678, -0.234896, 0.927853
[11:52:55.955] xyz_f:0.525600, 0.019803, 1.285586  Reprojection Error: 0.057169, 0.300092 Feature: 0.406117, 0.274947, 0.871478
[11:52:55.955] xyz_f:0.055534, -0.051795, 1.243324  Reprojection Error: -0.097676, 0.240596 Feature: -0.051922, 0.194851, 0.979458
[11:52:55.955] xyz_f:0.468308, -0.457119, 1.181683  Reprojection Error: -0.003324, 0.153047 Feature: 0.357391, -0.212616, 0.909432
[11:52:55.955] xyz_f:0.271185, -0.212081, 1.268887  Reprojection Error: -0.037229, 0.214555 Feature: 0.173615, 0.046643, 0.983709
[11:52:55.955] xyz_f:0.126231, -0.160079, 1.252393  Reprojection Error: -0.074499, 0.220854 Feature: 0.026171, 0.092604, 0.995359
[11:52:55.955] xyz_f:0.253655, -0.222201, 1.264584  Reprojection Error: -0.042195, 0.211933 Feature: 0.156338, 0.035754, 0.987056
[11:52:55.955] xyz_f:0.530229, 0.046303, 1.283983  Reprojection Error: 0.060588, 0.312067 Feature: 0.408253, 0.300129, 0.862121
[11:52:55.955] xyz_f:0.278334, 0.026076, 1.292141  Reprojection Error: -0.035651, 0.279269 Feature: 0.169702, 0.282704, 0.944076
[11:52:55.955] xyz_f:0.429377, -0.454413, 1.186311  Reprojection Error: -0.014453, 0.157013 Feature: 0.321002, -0.208804, 0.923774
[11:52:55.955] xyz_f:0.244831, -0.243129, 1.258383  Reprojection Error: -0.045209, 0.207297 Feature: 0.147698, 0.013934, 0.988934
[11:52:55.955] xyz_f:0.570067, 0.014288, 1.277880  Reprojection Error: 0.077897, 0.302399 Feature: 0.447209, 0.267626, 0.853452
[11:52:55.955] xyz_f:0.398141, -0.478398, 1.175016  Reprojection Error: -1.562170, -0.346581 Feature: 0.289678, -0.234896, 0.927853
[11:52:55.955] xyz_f:0.487962, -0.647619, 1.050734  Reprojection Error: -0.008116, 0.086998 Feature: 0.355037, -0.430517, 0.829821
[11:52:55.955] xyz_f:0.438955, -0.465850, 1.179732  Reprojection Error: 0.011216, 0.149399 Feature: 0.329275, -0.221554, 0.917873
[11:52:55.955] xyz_f:0.402038, -0.443201, 1.193193  Reprojection Error: 0.006410, 0.157748 Feature: 0.295751, -0.196193, 0.934901
[11:52:55.955] xyz_f:0.233253, -0.255394, 1.253551  Reprojection Error: -0.024779, 0.204583 Feature: 0.136156, 0.000836, 0.990687
[11:52:55.955] xyz_f:0.120797, -0.153218, 1.252087  Reprojection Error: -0.052675, 0.222098 Feature: 0.020376, 0.099152, 0.994864
[11:52:55.955] xyz_f:0.055534, -0.051795, 1.243324  Reprojection Error: -0.074057, 0.242731 Feature: -0.051922, 0.194851, 0.979458
[11:52:55.955] xyz_f:0.055175, -0.058394, 1.242819  Reprojection Error: 1.071750, 0.370499 Feature: -0.051931, 0.188346, 0.980729
[11:52:55.955] xyz_f:0.278334, 0.026076, 1.292141  Reprojection Error: -0.013768, 0.277813 Feature: 0.169702, 0.282704, 0.944076
[11:52:55.955] xyz_f:0.525600, 0.019803, 1.285586  Reprojection Error: 0.087900, 0.300603 Feature: 0.406117, 0.274947, 0.871478
[11:52:55.955] xyz_f:0.149007, 0.167986, 1.256688  Reprojection Error: -0.068189, 0.319905 Feature: 0.025833, 0.410602, 0.911449
[11:52:55.955] it:16 	 Success 	 new_chi2: 1.362954 	 dT = -0.025773, 0.048032, 0.024886
[11:52:55.955] xyz_f:0.156518, -0.254401, 1.201814  Reprojection Error: 0.007201, 0.212525 Feature: 0.136156, 0.000836, 0.990687
[11:52:55.955] xyz_f:0.362575, -0.466183, 1.132944  Reprojection Error: 0.038707, 0.170102 Feature: 0.329275, -0.221554, 0.917873
[11:52:55.955] xyz_f:0.044790, -0.151503, 1.197655  Reprojection Error: -0.016917, 0.226163 Feature: 0.020376, 0.099152, 0.994864
[11:52:55.955] xyz_f:0.325493, -0.443296, 1.145515  Reprojection Error: 0.032199, 0.177129 Feature: 0.295751, -0.196193, 0.934901
[11:52:55.955] xyz_f:0.413497, -0.648274, 1.005147  Reprojection Error: 0.016467, 0.126148 Feature: 0.355037, -0.430517, 0.829821
[11:52:55.955] xyz_f:0.410730, -0.470580, 1.127123  Reprojection Error: 0.051395, 0.164713 Feature: 0.373883, -0.227308, 0.899190
[11:52:55.955] xyz_f:0.044990, -0.145015, 1.198727  Reprojection Error: -0.017038, 0.227288 Feature: 0.020374, 0.105696, 0.994190
[11:52:55.955] xyz_f:0.074950, 0.169513, 1.202958  Reprojection Error: -0.033962, 0.309580 Feature: 0.025833, 0.410602, 0.911449
[11:52:55.955] xyz_f:-0.019978, -0.056259, 1.186820  Reprojection Error: -0.036119, 0.239450 Feature: -0.051931, 0.188346, 0.980729
[11:52:55.955] xyz_f:0.335702, -0.464712, 1.134514  Reprojection Error: 0.032011, 0.172582 Feature: 0.303971, -0.219727, 0.926996
[11:52:55.955] xyz_f:0.194183, -0.226228, 1.214669  Reprojection Error: 0.016532, 0.218123 Feature: 0.173630, 0.031376, 0.984311
[11:52:55.955] xyz_f:0.376874, -0.456113, 1.137430  Reprojection Error: 0.043901, 0.170828 Feature: 0.343436, -0.210666, 0.915244
[11:52:55.955] xyz_f:0.321807, -0.478469, 1.127247  Reprojection Error: 0.026723, 0.171297 Feature: 0.289678, -0.234896, 0.927853
[11:52:55.955] xyz_f:0.449778, 0.018909, 1.240888  Reprojection Error: 0.103545, 0.300257 Feature: 0.406117, 0.274947, 0.871478
[11:52:55.955] xyz_f:-0.019588, -0.049663, 1.187334  Reprojection Error: -0.036513, 0.240765 Feature: -0.051922, 0.194851, 0.979458
[11:52:55.955] xyz_f:0.391929, -0.457641, 1.135600  Reprojection Error: 0.047853, 0.169205 Feature: 0.357391, -0.212616, 0.909432
[11:52:55.955] xyz_f:0.194349, -0.211332, 1.218061  Reprojection Error: 0.016934, 0.220914 Feature: 0.173615, 0.046643, 0.983709
[11:52:55.955] xyz_f:0.050172, -0.158399, 1.198092  Reprojection Error: -0.015583, 0.225245 Feature: 0.026171, 0.092604, 0.995359
[11:52:55.955] xyz_f:0.176863, -0.221339, 1.213336  Reprojection Error: 0.012623, 0.218645 Feature: 0.156338, 0.035754, 0.987056
[11:52:55.955] xyz_f:0.454615, 0.045379, 1.239398  Reprojection Error: 0.106742, 0.311515 Feature: 0.408253, 0.300129, 0.862121
[11:52:55.955] xyz_f:0.202471, 0.026776, 1.241498  Reprojection Error: 0.016668, 0.277883 Feature: 0.169702, 0.282704, 0.944076
[11:52:55.955] xyz_f:0.352916, -0.454684, 1.139292  Reprojection Error: 0.037722, 0.173060 Feature: 0.321002, -0.208804, 0.923774
[11:52:55.955] xyz_f:0.168056, -0.242211, 1.206923  Reprojection Error: 0.010108, 0.214774 Feature: 0.147698, 0.013934, 0.988934
[11:52:55.955] xyz_f:0.494380, 0.013108, 1.234252  Reprojection Error: 0.123450, 0.302960 Feature: 0.447209, 0.267626, 0.853452
[11:52:55.955] xyz_f:0.321807, -0.478469, 1.127247  Reprojection Error: -1.508811, -0.329265 Feature: 0.289678, -0.234896, 0.927853
[11:52:55.955] xyz_f:0.413497, -0.648274, 1.005147  Reprojection Error: 0.044905, 0.115603 Feature: 0.355037, -0.430517, 0.829821
[11:52:55.955] xyz_f:0.362575, -0.466183, 1.132944  Reprojection Error: 0.063267, 0.166001 Feature: 0.329275, -0.221554, 0.917873
[11:52:55.955] xyz_f:0.325493, -0.443296, 1.145515  Reprojection Error: 0.059208, 0.173291 Feature: 0.295751, -0.196193, 0.934901
[11:52:55.955] xyz_f:0.156518, -0.254401, 1.201814  Reprojection Error: 0.031059, 0.212528 Feature: 0.136156, 0.000836, 0.990687
[11:52:55.955] xyz_f:0.044790, -0.151503, 1.197655  Reprojection Error: 0.006403, 0.226228 Feature: 0.020376, 0.099152, 0.994864
[11:52:55.955] xyz_f:-0.019588, -0.049663, 1.187334  Reprojection Error: -0.012894, 0.242900 Feature: -0.051922, 0.194851, 0.979458
[11:52:55.955] xyz_f:-0.019978, -0.056259, 1.186820  Reprojection Error: 1.132979, 0.370918 Feature: -0.051931, 0.188346, 0.980729
[11:52:55.955] xyz_f:0.202471, 0.026776, 1.241498  Reprojection Error: 0.038551, 0.276426 Feature: 0.169702, 0.282704, 0.944076
[11:52:55.955] xyz_f:0.449778, 0.018909, 1.240888  Reprojection Error: 0.134276, 0.300768 Feature: 0.406117, 0.274947, 0.871478
[11:52:55.955] xyz_f:0.074950, 0.169513, 1.202958  Reprojection Error: -0.011922, 0.312666 Feature: 0.025833, 0.410602, 0.911449
[11:52:55.955] it:17 	 Success 	 new_chi2: 1.425796 	 dT = -0.021026, 0.044730, 0.026222
[11:52:55.955] xyz_f:0.077943, -0.253184, 1.152541  Reprojection Error: 0.069809, 0.220519 Feature: 0.136156, 0.000836, 0.990687
[11:52:55.955] xyz_f:0.284236, -0.466365, 1.088894  Reprojection Error: 0.097704, 0.186915 Feature: 0.329275, -0.221554, 0.917873
[11:52:55.955] xyz_f:-0.032943, -0.149531, 1.145563  Reprojection Error: 0.049238, 0.230194 Feature: 0.020376, 0.099152, 0.994864
[11:52:55.955] xyz_f:0.247004, -0.443226, 1.100524  Reprojection Error: 0.091903, 0.192886 Feature: 0.295751, -0.196193, 0.934901
[11:52:55.955] xyz_f:0.337142, -0.648809, 0.962412  Reprojection Error: 0.077538, 0.155342 Feature: 0.355037, -0.430517, 0.829821
[11:52:55.955] xyz_f:0.332492, -0.471090, 1.084294  Reprojection Error: 0.109156, 0.181675 Feature: 0.373883, -0.227308, 0.899190
[11:52:55.955] xyz_f:-0.032726, -0.143044, 1.146641  Reprojection Error: 0.049034, 0.231064 Feature: 0.020374, 0.105696, 0.994190
[11:52:55.955] xyz_f:-0.000749, 0.171274, 1.151656  Reprojection Error: 0.028994, 0.301774 Feature: 0.025833, 0.410602, 0.911449
[11:52:55.955] xyz_f:-0.096768, -0.053850, 1.133099  Reprojection Error: 0.032449, 0.239572 Feature: -0.051931, 0.188346, 0.980729
[11:52:55.955] xyz_f:0.257342, -0.464711, 1.089783  Reprojection Error: 0.091769, 0.189395 Feature: 0.303971, -0.219727, 0.926996
[11:52:55.955] xyz_f:0.115461, -0.225266, 1.166349  Reprojection Error: 0.077404, 0.225014 Feature: 0.173630, 0.031376, 0.984311
[11:52:55.955] xyz_f:0.298485, -0.456392, 1.093741  Reprojection Error: 0.102337, 0.187101 Feature: 0.343436, -0.210666, 0.915244
[11:52:55.955] xyz_f:0.243543, -0.478374, 1.082165  Reprojection Error: 0.087152, 0.188892 Feature: 0.289678, -0.234896, 0.927853
[11:52:55.955] xyz_f:0.371967, 0.018134, 1.199053  Reprojection Error: 0.155793, 0.300372 Feature: 0.406117, 0.274947, 0.871478
[11:52:55.955] xyz_f:-0.096347, -0.047257, 1.133624  Reprojection Error: 0.031980, 0.240624 Feature: -0.051922, 0.194851, 0.979458
[11:52:55.955] xyz_f:0.313570, -0.458023, 1.092294  Reprojection Error: 0.105907, 0.185532 Feature: 0.357391, -0.212616, 0.909432
[11:52:55.955] xyz_f:0.115642, -0.210371, 1.169745  Reprojection Error: 0.077629, 0.227259 Feature: 0.173615, 0.046643, 0.983709
[11:52:55.955] xyz_f:-0.027621, -0.156463, 1.146135  Reprojection Error: 0.050392, 0.229549 Feature: 0.026171, 0.092604, 0.995359
[11:52:55.955] xyz_f:0.098213, -0.220260, 1.164578  Reprojection Error: 0.074055, 0.225355 Feature: 0.156338, 0.035754, 0.987056
[11:52:55.955] xyz_f:0.377019, 0.044570, 1.197689  Reprojection Error: 0.158756, 0.310916 Feature: 0.408253, 0.300129, 0.862121
[11:52:55.955] xyz_f:0.124783, 0.027678, 1.193401  Reprojection Error: 0.075194, 0.276257 Feature: 0.169702, 0.282704, 0.944076
[11:52:55.955] xyz_f:0.274498, -0.454801, 1.094996  Reprojection Error: 0.096806, 0.189311 Feature: 0.321002, -0.208804, 0.923774
[11:52:55.955] xyz_f:0.089430, -0.241072, 1.157942  Reprojection Error: 0.072119, 0.222279 Feature: 0.147698, 0.013934, 0.988934
[11:52:55.956] xyz_f:0.416682, 0.012029, 1.193549  Reprojection Error: 0.174888, 0.303502 Feature: 0.447209, 0.267626, 0.853452
[11:52:55.956] xyz_f:0.243543, -0.478374, 1.082165  Reprojection Error: -1.448382, -0.311670 Feature: 0.289678, -0.234896, 0.927853
[11:52:55.956] xyz_f:0.337142, -0.648809, 0.962412  Reprojection Error: 0.105976, 0.144797 Feature: 0.355037, -0.430517, 0.829821
[11:52:55.956] xyz_f:0.284236, -0.466365, 1.088894  Reprojection Error: 0.122264, 0.182814 Feature: 0.329275, -0.221554, 0.917873
[11:52:55.956] xyz_f:0.247004, -0.443226, 1.100524  Reprojection Error: 0.118912, 0.189048 Feature: 0.295751, -0.196193, 0.934901
[11:52:55.956] xyz_f:0.077943, -0.253184, 1.152541  Reprojection Error: 0.093667, 0.220521 Feature: 0.136156, 0.000836, 0.990687
[11:52:55.956] xyz_f:-0.032943, -0.149531, 1.145563  Reprojection Error: 0.072558, 0.230258 Feature: 0.020376, 0.099152, 0.994864
[11:52:55.956] xyz_f:-0.096347, -0.047257, 1.133624  Reprojection Error: 0.055599, 0.242759 Feature: -0.051922, 0.194851, 0.979458
[11:52:55.956] xyz_f:-0.096768, -0.053850, 1.133099  Reprojection Error: 1.201547, 0.371039 Feature: -0.051931, 0.188346, 0.980729
[11:52:55.956] xyz_f:0.124783, 0.027678, 1.193401  Reprojection Error: 0.097076, 0.274801 Feature: 0.169702, 0.282704, 0.944076
[11:52:55.956] xyz_f:0.371967, 0.018134, 1.199053  Reprojection Error: 0.186523, 0.300883 Feature: 0.406117, 0.274947, 0.871478
[11:52:55.956] xyz_f:-0.000749, 0.171274, 1.151656  Reprojection Error: 0.051033, 0.304859 Feature: 0.025833, 0.410602, 0.911449
[11:52:55.956] it:18 	 Success 	 new_chi2: 1.640399 	 dT = -0.011253, 0.040416, 0.022942
[11:52:55.956] xyz_f:0.000979, -0.251976, 1.107616  Reprojection Error: 0.136552, 0.228338 Feature: 0.136156, 0.000836, 0.990687
[11:52:55.956] xyz_f:0.207362, -0.466383, 1.048541  Reprojection Error: 0.160974, 0.203414 Feature: 0.329275, -0.221554, 0.917873
[11:52:55.956] xyz_f:-0.109108, -0.147666, 1.098190  Reprojection Error: 0.119834, 0.234127 Feature: 0.020376, 0.099152, 0.994864
[11:52:55.956] xyz_f:0.170019, -0.443021, 1.059345  Reprojection Error: 0.155850, 0.208349 Feature: 0.295751, -0.196193, 0.934901
[11:52:55.956] xyz_f:0.261973, -0.649145, 0.923251  Reprojection Error: 0.144096, 0.184301 Feature: 0.355037, -0.430517, 0.829821
[11:52:55.956] xyz_f:0.255679, -0.471394, 1.045012  Reprojection Error: 0.171134, 0.198297 Feature: 0.373883, -0.227308, 0.899190
[11:52:55.956] xyz_f:-0.108877, -0.141181, 1.099272  Reprojection Error: 0.119538, 0.234745 Feature: 0.020374, 0.105696, 0.994190
[11:52:55.956] xyz_f:-0.075153, 0.172942, 1.105015  Reprojection Error: 0.096354, 0.293988 Feature: 0.025833, 0.410602, 0.911449
[11:52:55.956] xyz_f:-0.172072, -0.051610, 1.084321  Reprojection Error: 0.105739, 0.239643 Feature: -0.051931, 0.188346, 0.980729
[11:52:55.956] xyz_f:0.180465, -0.464569, 1.048834  Reprojection Error: 0.155847, 0.205907 Feature: 0.303971, -0.219727, 0.926996
[11:52:55.956] xyz_f:0.038346, -0.224280, 1.122254  Reprojection Error: 0.142228, 0.231725 Feature: 0.173630, 0.031376, 0.984311
[11:52:55.956] xyz_f:0.221559, -0.456494, 1.053704  Reprojection Error: 0.164973, 0.203053 Feature: 0.343436, -0.210666, 0.915244
[11:52:55.956] xyz_f:0.166757, -0.478150, 1.040912  Reprojection Error: 0.152000, 0.206196 Feature: 0.289678, -0.234896, 0.927853
[11:52:55.956] xyz_f:0.295505, 0.017594, 1.160650  Reprojection Error: 0.211406, 0.300336 Feature: 0.406117, 0.274947, 0.871478
[11:52:55.956] xyz_f:-0.171624, -0.045018, 1.084855  Reprojection Error: 0.105189, 0.240435 Feature: -0.051922, 0.194851, 0.979458
[11:52:55.956] xyz_f:0.236663, -0.458214, 1.052591  Reprojection Error: 0.168144, 0.201530 Feature: 0.357391, -0.212616, 0.909432
[11:52:55.956] xyz_f:0.038540, -0.209387, 1.125654  Reprojection Error: 0.142252, 0.233429 Feature: 0.173615, 0.046643, 0.983709
[11:52:55.956] xyz_f:-0.103842, -0.154630, 1.098879  Reprojection Error: 0.120791, 0.233752 Feature: 0.026171, 0.092604, 0.995359
[11:52:55.956] xyz_f:0.021172, -0.219172, 1.120101  Reprojection Error: 0.139487, 0.231894 Feature: 0.156338, 0.035754, 0.987056
[11:52:55.956] xyz_f:0.300744, 0.044000, 1.159399  Reprojection Error: 0.214149, 0.310179 Feature: 0.408253, 0.300129, 0.862121
[11:52:55.956] xyz_f:0.048568, 0.028606, 1.149522  Reprojection Error: 0.137503, 0.274565 Feature: 0.169702, 0.282704, 0.944076
[11:52:55.956] xyz_f:0.197559, -0.454760, 1.054427  Reprojection Error: 0.160128, 0.205252 Feature: 0.321002, -0.208804, 0.923774
[11:52:55.956] xyz_f:0.012415, -0.239932, 1.113271  Reprojection Error: 0.138199, 0.229609 Feature: 0.147698, 0.013934, 0.988934
[11:52:55.956] xyz_f:0.340295, 0.011224, 1.156137  Reprojection Error: 0.229662, 0.303872 Feature: 0.447209, 0.267626, 0.853452
[11:52:55.956] xyz_f:0.166757, -0.478150, 1.040912  Reprojection Error: -1.383534, -0.294366 Feature: 0.289678, -0.234896, 0.927853
[11:52:55.956] xyz_f:0.261973, -0.649145, 0.923251  Reprojection Error: 0.172534, 0.173757 Feature: 0.355037, -0.430517, 0.829821
[11:52:55.956] xyz_f:0.207362, -0.466383, 1.048541  Reprojection Error: 0.185533, 0.199313 Feature: 0.329275, -0.221554, 0.917873
[11:52:55.956] xyz_f:0.170019, -0.443021, 1.059345  Reprojection Error: 0.182859, 0.204510 Feature: 0.295751, -0.196193, 0.934901
[11:52:55.956] xyz_f:0.000979, -0.251976, 1.107616  Reprojection Error: 0.160411, 0.228340 Feature: 0.136156, 0.000836, 0.990687
[11:52:55.956] xyz_f:-0.109108, -0.147666, 1.098190  Reprojection Error: 0.143154, 0.234191 Feature: 0.020376, 0.099152, 0.994864
[11:52:55.956] xyz_f:-0.171624, -0.045018, 1.084855  Reprojection Error: 0.128808, 0.242570 Feature: -0.051922, 0.194851, 0.979458
[11:52:55.956] xyz_f:-0.172072, -0.051610, 1.084321  Reprojection Error: 1.274837, 0.371111 Feature: -0.051931, 0.188346, 0.980729
[11:52:55.956] xyz_f:0.048568, 0.028606, 1.149522  Reprojection Error: 0.159386, 0.273109 Feature: 0.169702, 0.282704, 0.944076
[11:52:55.956] xyz_f:0.295505, 0.017594, 1.160650  Reprojection Error: 0.242137, 0.300848 Feature: 0.406117, 0.274947, 0.871478
[11:52:55.956] xyz_f:-0.075153, 0.172942, 1.105015  Reprojection Error: 0.118394, 0.297073 Feature: 0.025833, 0.410602, 0.911449
[11:52:55.956] it:19 	 Success 	 new_chi2: 2.000163 	 dT = 0.004136, 0.036911, 0.013823
[11:52:55.956] xyz_f:-0.068306, -0.251184, 1.067749  Reprojection Error: 0.201408, 0.236090 Feature: 0.136156, 0.000836, 0.990687
[11:52:55.956] xyz_f:0.138080, -0.466329, 1.011430  Reprojection Error: 0.222217, 0.219681 Feature: 0.329275, -0.221554, 0.917873
[11:52:55.956] xyz_f:-0.177883, -0.146481, 1.056856  Reprojection Error: 0.188795, 0.238265 Feature: 0.020376, 0.099152, 0.994864
[11:52:55.956] xyz_f:0.100680, -0.442834, 1.021735  Reprojection Error: 0.217807, 0.223559 Feature: 0.295751, -0.196193, 0.934901
[11:52:55.956] xyz_f:0.193704, -0.649289, 0.886875  Reprojection Error: 0.209435, 0.213301 Feature: 0.355037, -0.430517, 0.829821
[11:52:55.956] xyz_f:0.186421, -0.471513, 1.008546  Reprojection Error: 0.230958, 0.214725 Feature: 0.373883, -0.227308, 0.899190
[11:52:55.956] xyz_f:-0.177643, -0.139997, 1.057942  Reprojection Error: 0.188407, 0.238643 Feature: 0.020374, 0.105696, 0.994190
[11:52:55.956] xyz_f:-0.142876, 0.174003, 1.064142  Reprojection Error: 0.162607, 0.286978 Feature: 0.025833, 0.410602, 0.911449
[11:52:55.956] xyz_f:-0.240312, -0.050200, 1.042150  Reprojection Error: 0.177641, 0.240217 Feature: -0.051931, 0.188346, 0.980729
[11:52:55.956] xyz_f:0.111188, -0.464419, 1.011364  Reprojection Error: 0.217972, 0.222170 Feature: 0.303971, -0.219727, 0.926996
[11:52:55.956] xyz_f:-0.031038, -0.223622, 1.082885  Reprojection Error: 0.205060, 0.238382 Feature: 0.173630, 0.031376, 0.984311
[11:52:55.956] xyz_f:0.152242, -0.456491, 1.016782  Reprojection Error: 0.225510, 0.218781 Feature: 0.343436, -0.210666, 0.915244
[11:52:55.956] xyz_f:0.097538, -0.477951, 1.003259  Reprojection Error: 0.214982, 0.223238 Feature: 0.289678, -0.234896, 0.927853
[11:52:55.956] xyz_f:0.226449, 0.017332, 1.124716  Reprojection Error: 0.264671, 0.300085 Feature: 0.406117, 0.274947, 0.871478
[11:52:55.956] xyz_f:-0.239847, -0.043611, 1.042691  Reprojection Error: 0.177017, 0.240763 Feature: -0.051922, 0.194851, 0.979458
[11:52:55.956] xyz_f:0.167353, -0.458265, 1.015871  Reprojection Error: 0.228244, 0.217316 Feature: 0.357391, -0.212616, 0.909432
[11:52:55.956] xyz_f:-0.030836, -0.208729, 1.086288  Reprojection Error: 0.204877, 0.239564 Feature: 0.173615, 0.046643, 0.983709
[11:52:55.956] xyz_f:-0.172651, -0.153464, 1.057616  Reprojection Error: 0.189539, 0.238139 Feature: 0.026171, 0.092604, 0.995359
[11:52:55.956] xyz_f:-0.048164, -0.218452, 1.080504  Reprojection Error: 0.202964, 0.238399 Feature: 0.156338, 0.035754, 0.987056
[11:52:55.956] xyz_f:0.231798, 0.043719, 1.123537  Reprojection Error: 0.267234, 0.309217 Feature: 0.408253, 0.300129, 0.862121
[11:52:55.956] xyz_f:-0.020276, 0.029227, 1.110294  Reprojection Error: 0.198016, 0.273126 Feature: 0.169702, 0.282704, 0.944076
[11:52:55.956] xyz_f:0.128241, -0.454671, 1.017184  Reprojection Error: 0.221415, 0.220956 Feature: 0.321002, -0.208804, 0.923774
[11:52:55.956] xyz_f:-0.056903, -0.239180, 1.073557  Reprojection Error: 0.202355, 0.236882 Feature: 0.147698, 0.013934, 0.988934
[11:52:55.956] xyz_f:0.271272, 0.010802, 1.120802  Reprojection Error: 0.281966, 0.303943 Feature: 0.447209, 0.267626, 0.853452
[11:52:55.956] xyz_f:0.097538, -0.477951, 1.003259  Reprojection Error: -1.320552, -0.277324 Feature: 0.289678, -0.234896, 0.927853
[11:52:55.956] xyz_f:0.193704, -0.649289, 0.886875  Reprojection Error: 0.237873, 0.202757 Feature: 0.355037, -0.430517, 0.829821
[11:52:55.956] xyz_f:0.138080, -0.466329, 1.011430  Reprojection Error: 0.246777, 0.215580 Feature: 0.329275, -0.221554, 0.917873
[11:52:55.956] xyz_f:0.100680, -0.442834, 1.021735  Reprojection Error: 0.244816, 0.219721 Feature: 0.295751, -0.196193, 0.934901
[11:52:55.956] xyz_f:-0.068306, -0.251184, 1.067749  Reprojection Error: 0.225266, 0.236093 Feature: 0.136156, 0.000836, 0.990687
[11:52:55.956] xyz_f:-0.177883, -0.146481, 1.056856  Reprojection Error: 0.212114, 0.238329 Feature: 0.020376, 0.099152, 0.994864
[11:52:55.956] xyz_f:-0.239847, -0.043611, 1.042691  Reprojection Error: 0.200636, 0.242898 Feature: -0.051922, 0.194851, 0.979458
[11:52:55.956] xyz_f:-0.240312, -0.050200, 1.042150  Reprojection Error: 1.346738, 0.371684 Feature: -0.051931, 0.188346, 0.980729
[11:52:55.956] xyz_f:-0.020276, 0.029227, 1.110294  Reprojection Error: 0.219899, 0.271670 Feature: 0.169702, 0.282704, 0.944076
[11:52:55.956] xyz_f:0.226449, 0.017332, 1.124716  Reprojection Error: 0.295402, 0.300596 Feature: 0.406117, 0.274947, 0.871478
[11:52:55.956] xyz_f:-0.142876, 0.174003, 1.064142  Reprojection Error: 0.184646, 0.290064 Feature: 0.025833, 0.410602, 0.911449
[11:52:55.956] it:20 	 Success 	 new_chi2: 2.413906 	 dT = 0.020387, 0.035788, 0.002503
[11:52:55.956] xyz_f:-0.123904, -0.251035, 1.031407  Reprojection Error: 0.257567, 0.244235 Feature: 0.136156, 0.000836, 0.990687
[11:52:55.956] xyz_f:0.082477, -0.466314, 0.975586  Reprojection Error: 0.274195, 0.236605 Feature: 0.329275, -0.221554, 0.917873
[11:52:55.956] xyz_f:-0.233387, -0.146262, 1.020249  Reprojection Error: 0.249236, 0.243022 Feature: 0.020376, 0.099152, 0.994864
[11:52:55.956] xyz_f:0.045068, -0.442795, 0.985801  Reprojection Error: 0.270628, 0.239318 Feature: 0.295751, -0.196193, 0.934901
[11:52:55.956] xyz_f:0.138284, -0.649310, 0.851166  Reprojection Error: 0.265383, 0.244040 Feature: 0.355037, -0.430517, 0.829821
[11:52:55.956] xyz_f:0.130823, -0.471529, 0.972819  Reprojection Error: 0.281322, 0.231911 Feature: 0.373883, -0.227308, 0.899190
[11:52:55.956] xyz_f:-0.233145, -0.139778, 1.021335  Reprojection Error: 0.248768, 0.243171 Feature: 0.020374, 0.105696, 0.994190
[11:52:55.956] xyz_f:-0.198190, 0.174200, 1.027620  Reprojection Error: 0.221206, 0.280975 Feature: 0.025833, 0.410602, 0.911449
[11:52:55.956] xyz_f:-0.295718, -0.049940, 1.005392  Reprojection Error: 0.241180, 0.241719 Feature: -0.051931, 0.188346, 0.980729
[11:52:55.956] xyz_f:0.055587, -0.464386, 0.975455  Reprojection Error: 0.270924, 0.239041 Feature: 0.303971, -0.219727, 0.926996
[11:52:55.956] xyz_f:-0.086656, -0.223497, 1.046633  Reprojection Error: 0.259192, 0.245416 Feature: 0.173630, 0.031376, 0.984311
[11:52:55.956] xyz_f:0.096633, -0.456485, 0.980973  Reprojection Error: 0.276732, 0.235164 Feature: 0.343436, -0.210666, 0.915244
[11:52:55.956] xyz_f:0.041949, -0.477910, 0.967318  Reprojection Error: 0.268837, 0.240896 Feature: 0.289678, -0.234896, 0.927853
[11:52:55.956] xyz_f:0.170886, 0.017290, 1.089087  Reprojection Error: 0.309102, 0.299620 Feature: 0.406117, 0.274947, 0.871478
[11:52:55.956] xyz_f:-0.295250, -0.043351, 1.005934  Reprojection Error: 0.240498, 0.242033 Feature: -0.051922, 0.194851, 0.979458
[11:52:55.956] xyz_f:0.111745, -0.458269, 0.980098  Reprojection Error: 0.278968, 0.233785 Feature: 0.357391, -0.212616, 0.909432
[11:52:55.956] xyz_f:-0.086452, -0.208604, 1.050036  Reprojection Error: 0.258822, 0.246079 Feature: 0.173615, 0.046643, 0.983709
[11:52:55.956] xyz_f:-0.228161, -0.153247, 1.021021  Reprojection Error: 0.249757, 0.243128 Feature: 0.026171, 0.092604, 0.995359
[11:52:55.956] xyz_f:-0.103772, -0.218317, 1.044210  Reprojection Error: 0.257767, 0.245296 Feature: 0.156338, 0.035754, 0.987056
[11:52:55.956] xyz_f:0.176255, 0.043673, 1.087920  Reprojection Error: 0.311534, 0.307985 Feature: 0.408253, 0.300129, 0.862121
[11:52:55.956] xyz_f:-0.075796, 0.029345, 1.074067  Reprojection Error: 0.250324, 0.272129 Feature: 0.169702, 0.282704, 0.944076
[11:52:55.956] xyz_f:0.072632, -0.454650, 0.981317  Reprojection Error: 0.273474, 0.237271 Feature: 0.321002, -0.208804, 0.923774
[11:52:55.956] xyz_f:-0.112508, -0.239039, 1.037242  Reprojection Error: 0.257819, 0.244546 Feature: 0.147698, 0.013934, 0.988934
[11:52:55.956] xyz_f:0.215714, 0.010731, 1.085281  Reprojection Error: 0.325237, 0.303693 Feature: 0.447209, 0.267626, 0.853452
[11:52:55.956] xyz_f:0.041949, -0.477910, 0.967318  Reprojection Error: -1.266696, -0.259666 Feature: 0.289678, -0.234896, 0.927853
[11:52:55.956] xyz_f:0.138284, -0.649310, 0.851166  Reprojection Error: 0.293820, 0.233495 Feature: 0.355037, -0.430517, 0.829821
[11:52:55.956] xyz_f:0.082477, -0.466314, 0.975586  Reprojection Error: 0.298755, 0.232505 Feature: 0.329275, -0.221554, 0.917873
[11:52:55.956] xyz_f:0.045068, -0.442795, 0.985801  Reprojection Error: 0.297637, 0.235480 Feature: 0.295751, -0.196193, 0.934901
[11:52:55.956] xyz_f:-0.123904, -0.251035, 1.031407  Reprojection Error: 0.281425, 0.244238 Feature: 0.136156, 0.000836, 0.990687
[11:52:55.956] xyz_f:-0.233387, -0.146262, 1.020249  Reprojection Error: 0.272556, 0.243087 Feature: 0.020376, 0.099152, 0.994864
[11:52:55.956] xyz_f:-0.295250, -0.043351, 1.005934  Reprojection Error: 0.264117, 0.244168 Feature: -0.051922, 0.194851, 0.979458
[11:52:55.956] xyz_f:-0.295718, -0.049940, 1.005392  Reprojection Error: 1.410278, 0.373187 Feature: -0.051931, 0.188346, 0.980729
[11:52:55.956] xyz_f:-0.075796, 0.029345, 1.074067  Reprojection Error: 0.272206, 0.270673 Feature: 0.169702, 0.282704, 0.944076
[11:52:55.956] xyz_f:0.170886, 0.017290, 1.089087  Reprojection Error: 0.339833, 0.300131 Feature: 0.406117, 0.274947, 0.871478
[11:52:55.956] xyz_f:-0.198190, 0.174200, 1.027620  Reprojection Error: 0.243245, 0.284061 Feature: 0.025833, 0.410602, 0.911449
[11:52:55.956] it:21 	 Success 	 new_chi2: 2.754293 	 dT = 0.031876, 0.036526, -0.005991
[11:52:55.956] xyz_f:-0.165347, -0.251388, 0.996199  Reprojection Error: 0.303414, 0.253191 Feature: 0.136156, 0.000836, 0.990687
[11:52:55.956] xyz_f:0.041042, -0.466347, 0.939184  Reprojection Error: 0.315037, 0.255167 Feature: 0.329275, -0.221554, 0.917873
[11:52:55.956] xyz_f:-0.275055, -0.146785, 0.985675  Reprojection Error: 0.299533, 0.248582 Feature: 0.020376, 0.099152, 0.994864
[11:52:55.956] xyz_f:0.003655, -0.442886, 0.949615  Reprojection Error: 0.312496, 0.256530 Feature: 0.295751, -0.196193, 0.934901
[11:52:55.956] xyz_f:0.096412, -0.649257, 0.814442  Reprojection Error: 0.309470, 0.278372 Feature: 0.355037, -0.430517, 0.829821
[11:52:55.956] xyz_f:0.089378, -0.471487, 0.936137  Reprojection Error: 0.320325, 0.250860 Feature: 0.373883, -0.227308, 0.899190
[11:52:55.956] xyz_f:-0.274817, -0.140300, 0.986760  Reprojection Error: 0.298998, 0.248496 Feature: 0.020374, 0.105696, 0.994190
[11:52:55.956] xyz_f:-0.240312, 0.173731, 0.992844  Reprojection Error: 0.270387, 0.275510 Feature: 0.025833, 0.410602, 0.911449
[11:52:55.956] xyz_f:-0.337620, -0.050560, 0.971179  Reprojection Error: 0.294687, 0.244107 Feature: -0.051931, 0.188346, 0.980729
[11:52:55.956] xyz_f:0.014148, -0.464461, 0.939209  Reprojection Error: 0.312846, 0.257493 Feature: 0.303971, -0.219727, 0.926996
[11:52:55.956] xyz_f:-0.128054, -0.223793, 1.011209  Reprojection Error: 0.303031, 0.253188 Feature: 0.173630, 0.031376, 0.984311
[11:52:55.956] xyz_f:0.055213, -0.456496, 0.944489  Reprojection Error: 0.316782, 0.253151 Feature: 0.343436, -0.210666, 0.915244
[11:52:55.956] xyz_f:0.000484, -0.478006, 0.931150  Reprojection Error: 0.311684, 0.260190 Feature: 0.289678, -0.234896, 0.927853
[11:52:55.956] xyz_f:0.129356, 0.017394, 1.052173  Reprojection Error: 0.343068, 0.298964 Feature: 0.406117, 0.274947, 0.871478
[11:52:55.956] xyz_f:-0.337159, -0.043970, 0.971719  Reprojection Error: 0.293962, 0.244187 Feature: -0.051922, 0.194851, 0.979458
[11:52:55.956] xyz_f:0.070322, -0.458256, 0.943526  Reprojection Error: 0.318451, 0.251895 Feature: 0.357391, -0.212616, 0.909432
[11:52:55.956] xyz_f:-0.127854, -0.208899, 1.014611  Reprojection Error: 0.302502, 0.253306 Feature: 0.173615, 0.046643, 0.983709
[11:52:55.956] xyz_f:-0.269814, -0.153762, 0.986417  Reprojection Error: 0.299822, 0.248915 Feature: 0.026171, 0.092604, 0.995359
[11:52:55.956] xyz_f:-0.145192, -0.218638, 1.008885  Reprojection Error: 0.302302, 0.252935 Feature: 0.156338, 0.035754, 0.987056
[11:52:55.956] xyz_f:0.134677, 0.043785, 1.050976  Reprojection Error: 0.345400, 0.306467 Feature: 0.408253, 0.300129, 0.862121
[11:52:55.956] xyz_f:-0.117428, 0.029066, 1.038582  Reprojection Error: 0.292820, 0.271464 Feature: 0.169702, 0.282704, 0.944076
[11:52:55.956] xyz_f:0.031212, -0.454698, 0.944972  Reprojection Error: 0.314460, 0.255142 Feature: 0.321002, -0.208804, 0.923774
[11:52:55.956] xyz_f:-0.153935, -0.239374, 1.001968  Reprojection Error: 0.302984, 0.252994 Feature: 0.147698, 0.013934, 0.988934
[11:52:55.956] xyz_f:0.174171, 0.010904, 1.048108  Reprojection Error: 0.357824, 0.303177 Feature: 0.447209, 0.267626, 0.853452
[11:52:55.956] xyz_f:0.000484, -0.478006, 0.931150  Reprojection Error: -1.223850, -0.240373 Feature: 0.289678, -0.234896, 0.927853
[11:52:55.956] xyz_f:0.096412, -0.649257, 0.814442  Reprojection Error: 0.337908, 0.267828 Feature: 0.355037, -0.430517, 0.829821
[11:52:55.957] xyz_f:0.041042, -0.466347, 0.939184  Reprojection Error: 0.339597, 0.251066 Feature: 0.329275, -0.221554, 0.917873
[11:52:55.957] xyz_f:0.003655, -0.442886, 0.949615  Reprojection Error: 0.339504, 0.252692 Feature: 0.295751, -0.196193, 0.934901
[11:52:55.957] xyz_f:-0.165347, -0.251388, 0.996199  Reprojection Error: 0.327272, 0.253194 Feature: 0.136156, 0.000836, 0.990687
[11:52:55.957] xyz_f:-0.275055, -0.146785, 0.985675  Reprojection Error: 0.322853, 0.248646 Feature: 0.020376, 0.099152, 0.994864
[11:52:55.957] xyz_f:-0.337159, -0.043970, 0.971719  Reprojection Error: 0.317581, 0.246323 Feature: -0.051922, 0.194851, 0.979458
[11:52:55.957] xyz_f:-0.337620, -0.050560, 0.971179  Reprojection Error: 1.463785, 0.375575 Feature: -0.051931, 0.188346, 0.980729
[11:52:55.957] xyz_f:-0.117428, 0.029066, 1.038582  Reprojection Error: 0.314703, 0.270007 Feature: 0.169702, 0.282704, 0.944076
[11:52:55.957] xyz_f:0.129356, 0.017394, 1.052173  Reprojection Error: 0.373799, 0.299475 Feature: 0.406117, 0.274947, 0.871478
[11:52:55.957] xyz_f:-0.240312, 0.173731, 0.992844  Reprojection Error: 0.292427, 0.278595 Feature: 0.025833, 0.410602, 0.911449
[11:52:55.957] it:22 	 Success 	 new_chi2: 2.967002 	 dT = 0.037854, 0.037768, -0.010593
[11:52:55.957] xyz_f:-0.197517, -0.251990, 0.960678  Reprojection Error: 0.343037, 0.263149 Feature: 0.136156, 0.000836, 0.990687
[11:52:55.957] xyz_f:0.008866, -0.466383, 0.901551  Reprojection Error: 0.348902, 0.275934 Feature: 0.329275, -0.221554, 0.917873
[11:52:55.957] xyz_f:-0.307613, -0.147688, 0.951279  Reprojection Error: 0.343849, 0.254916 Feature: 0.020376, 0.099152, 0.994864
[11:52:55.957] xyz_f:-0.028476, -0.443025, 0.912364  Reprojection Error: 0.347555, 0.275724 Feature: 0.295751, -0.196193, 0.934901
[11:52:55.957] xyz_f:0.063458, -0.649142, 0.776247  Reprojection Error: 0.346097, 0.317450 Feature: 0.355037, -0.430517, 0.829821
[11:52:55.957] xyz_f:0.057183, -0.471391, 0.898010  Reprojection Error: 0.352123, 0.272136 Feature: 0.373883, -0.227308, 0.899190
[11:52:55.957] xyz_f:-0.307382, -0.141203, 0.952361  Reprojection Error: 0.343251, 0.254580 Feature: 0.020374, 0.105696, 0.994190
[11:52:55.957] xyz_f:-0.273678, 0.172922, 0.958095  Reprojection Error: 0.313991, 0.270008 Feature: 0.025833, 0.410602, 0.911449
[11:52:55.957] xyz_f:-0.370587, -0.051635, 0.937425  Reprojection Error: 0.342372, 0.247129 Feature: -0.051931, 0.188346, 0.980729
[11:52:55.957] xyz_f:-0.018030, -0.464571, 0.901851  Reprojection Error: 0.347903, 0.278100 Feature: 0.303971, -0.219727, 0.926996
[11:52:55.957] xyz_f:-0.160147, -0.224292, 0.975306  Reprojection Error: 0.340599, 0.261848 Feature: 0.173630, 0.031376, 0.984311
[11:52:55.957] xyz_f:0.023064, -0.456493, 0.906710  Reprojection Error: 0.349802, 0.273286 Feature: 0.343436, -0.210666, 0.915244
[11:52:55.957] xyz_f:-0.031740, -0.478153, 0.893932  Reprojection Error: 0.347709, 0.281727 Feature: 0.289678, -0.234896, 0.927853
[11:52:55.957] xyz_f:0.097005, 0.017600, 1.013637  Reprojection Error: 0.370310, 0.298132 Feature: 0.406117, 0.274947, 0.871478
[11:52:55.957] xyz_f:-0.370139, -0.045044, 0.937960  Reprojection Error: 0.341610, 0.246961 Feature: -0.051922, 0.194851, 0.979458
[11:52:55.957] xyz_f:0.038168, -0.458212, 0.905594  Reprojection Error: 0.350836, 0.272190 Feature: 0.357391, -0.212616, 0.909432
[11:52:55.957] xyz_f:-0.159953, -0.209398, 0.978706  Reprojection Error: 0.339923, 0.261370 Feature: 0.173615, 0.046643, 0.983709
[11:52:55.957] xyz_f:-0.302346, -0.154651, 0.951966  Reprojection Error: 0.343894, 0.255490 Feature: 0.026171, 0.092604, 0.995359
[11:52:55.957] xyz_f:-0.177322, -0.219185, 0.973158  Reprojection Error: 0.340602, 0.261453 Feature: 0.156338, 0.035754, 0.987056
[11:52:55.957] xyz_f:0.102242, 0.044005, 1.012386  Reprojection Error: 0.372554, 0.304662 Feature: 0.408253, 0.300129, 0.862121
[11:52:55.957] xyz_f:-0.149935, 0.028595, 1.002572  Reprojection Error: 0.329305, 0.270928 Feature: 0.169702, 0.282704, 0.944076
[11:52:55.957] xyz_f:-0.000936, -0.454761, 0.907439  Reprojection Error: 0.348520, 0.275114 Feature: 0.321002, -0.208804, 0.923774
[11:52:55.957] xyz_f:-0.186080, -0.239945, 0.966330  Reprojection Error: 0.341914, 0.262395 Feature: 0.147698, 0.013934, 0.988934
[11:52:55.957] xyz_f:0.141794, 0.011232, 1.009114  Reprojection Error: 0.383486, 0.302450 Feature: 0.447209, 0.267626, 0.853452
[11:52:55.957] xyz_f:-0.031740, -0.478153, 0.893932  Reprojection Error: -1.187825, -0.218835 Feature: 0.289678, -0.234896, 0.927853
[11:52:55.957] xyz_f:0.063458, -0.649142, 0.776247  Reprojection Error: 0.374535, 0.306906 Feature: 0.355037, -0.430517, 0.829821
[11:52:55.957] xyz_f:0.008866, -0.466383, 0.901551  Reprojection Error: 0.373461, 0.271833 Feature: 0.329275, -0.221554, 0.917873
[11:52:55.957] xyz_f:-0.028476, -0.443025, 0.912364  Reprojection Error: 0.374564, 0.271885 Feature: 0.295751, -0.196193, 0.934901
[11:52:55.957] xyz_f:-0.197517, -0.251990, 0.960678  Reprojection Error: 0.366896, 0.263151 Feature: 0.136156, 0.000836, 0.990687
[11:52:55.957] xyz_f:-0.307613, -0.147688, 0.951279  Reprojection Error: 0.367169, 0.254980 Feature: 0.020376, 0.099152, 0.994864
[11:52:55.957] xyz_f:-0.370139, -0.045044, 0.937960  Reprojection Error: 0.365229, 0.249096 Feature: -0.051922, 0.194851, 0.979458
[11:52:55.957] xyz_f:-0.370587, -0.051635, 0.937425  Reprojection Error: 1.511469, 0.378597 Feature: -0.051931, 0.188346, 0.980729
[11:52:55.957] xyz_f:-0.149935, 0.028595, 1.002572  Reprojection Error: 0.351188, 0.269472 Feature: 0.169702, 0.282704, 0.944076
[11:52:55.957] xyz_f:0.097005, 0.017600, 1.013637  Reprojection Error: 0.401040, 0.298644 Feature: 0.406117, 0.274947, 0.871478
[11:52:55.957] xyz_f:-0.273678, 0.172922, 0.958095  Reprojection Error: 0.336030, 0.273094 Feature: 0.025833, 0.410602, 0.911449
[11:52:55.957] it:23 	 Success 	 new_chi2: 3.063275 	 dT = 0.040298, 0.038863, -0.012606
[11:52:55.957] xyz_f:-0.225398, -0.252670, 0.924351  Reprojection Error: 0.381281, 0.274192 Feature: 0.136156, 0.000836, 0.990687
[11:52:55.957] xyz_f:-0.019052, -0.466389, 0.862712  Reprojection Error: 0.380821, 0.299230 Feature: 0.329275, -0.221554, 0.917873
[11:52:55.957] xyz_f:-0.335940, -0.148728, 0.916296  Reprojection Error: 0.387110, 0.261978 Feature: 0.020376, 0.099152, 0.994864
[11:52:55.957] xyz_f:-0.056336, -0.443152, 0.873979  Reprojection Error: 0.380804, 0.297197 Feature: 0.295751, -0.196193, 0.934901
[11:52:55.957] xyz_f:0.034606, -0.648972, 0.736749  Reprojection Error: 0.380876, 0.362052 Feature: 0.355037, -0.430517, 0.829821
[11:52:55.957] xyz_f:0.029234, -0.471240, 0.858582  Reprojection Error: 0.381751, 0.296066 Feature: 0.373883, -0.227308, 0.899190
[11:52:55.957] xyz_f:-0.335717, -0.142242, 0.917375  Reprojection Error: 0.386448, 0.261367 Feature: 0.020374, 0.105696, 0.994190
[11:52:55.957] xyz_f:-0.302971, 0.171992, 0.922705  Reprojection Error: 0.356694, 0.264094 Feature: 0.025833, 0.410602, 0.911449
[11:52:55.957] xyz_f:-0.399391, -0.052881, 0.903212  Reprojection Error: 0.389238, 0.250595 Feature: -0.051931, 0.188346, 0.980729
[11:52:55.957] xyz_f:-0.045949, -0.464665, 0.863339  Reprojection Error: 0.381133, 0.301188 Feature: 0.303971, -0.219727, 0.926996
[11:52:55.957] xyz_f:-0.187944, -0.224850, 0.938524  Reprojection Error: 0.376652, 0.271455 Feature: 0.173630, 0.031376, 0.984311
[11:52:55.957] xyz_f:-0.004825, -0.456453, 0.867698  Reprojection Error: 0.380800, 0.295876 Feature: 0.343436, -0.210666, 0.915244
[11:52:55.957] xyz_f:-0.059709, -0.478292, 0.855588  Reprojection Error: 0.381991, 0.305861 Feature: 0.289678, -0.234896, 0.927853
[11:52:55.957] xyz_f:0.068865, 0.017881, 0.973726  Reprojection Error: 0.395286, 0.297132 Feature: 0.406117, 0.274947, 0.871478
[11:52:55.957] xyz_f:-0.398958, -0.046289, 0.903741  Reprojection Error: 0.388441, 0.250156 Feature: -0.051922, 0.194851, 0.979458
[11:52:55.957] xyz_f:0.010269, -0.458123, 0.866397  Reprojection Error: 0.381129, 0.294978 Feature: 0.357391, -0.212616, 0.909432
[11:52:55.957] xyz_f:-0.187758, -0.209955, 0.941921  Reprojection Error: 0.375824, 0.270316 Feature: 0.173615, 0.046643, 0.983709
[11:52:55.957] xyz_f:-0.330643, -0.155674, 0.916919  Reprojection Error: 0.386895, 0.262815 Feature: 0.026171, 0.092604, 0.995359
[11:52:55.957] xyz_f:-0.205161, -0.219799, 0.936585  Reprojection Error: 0.377441, 0.270903 Feature: 0.156338, 0.035754, 0.987056
[11:52:55.957] xyz_f:0.074000, 0.044303, 0.972412  Reprojection Error: 0.397445, 0.302569 Feature: 0.408253, 0.300129, 0.862121
[11:52:55.957] xyz_f:-0.178226, 0.028070, 0.965668  Reprojection Error: 0.364317, 0.270382 Feature: 0.169702, 0.282704, 0.944076
[11:52:55.957] xyz_f:-0.028820, -0.454799, 0.868719  Reprojection Error: 0.380664, 0.297494 Feature: 0.321002, -0.208804, 0.923774
[11:52:55.957] xyz_f:-0.213933, -0.240587, 0.929864  Reprojection Error: 0.379420, 0.272824 Feature: 0.147698, 0.013934, 0.988934
[11:52:55.957] xyz_f:0.113616, 0.011660, 0.968657  Reprojection Error: 0.406707, 0.301544 Feature: 0.447209, 0.267626, 0.853452
[11:52:55.957] xyz_f:-0.059709, -0.478292, 0.855588  Reprojection Error: -1.153543, -0.194701 Feature: 0.289678, -0.234896, 0.927853
[11:52:55.957] xyz_f:0.034606, -0.648972, 0.736749  Reprojection Error: 0.409314, 0.351508 Feature: 0.355037, -0.430517, 0.829821
[11:52:55.957] xyz_f:-0.019052, -0.466389, 0.862712  Reprojection Error: 0.405380, 0.295130 Feature: 0.329275, -0.221554, 0.917873
[11:52:55.957] xyz_f:-0.056336, -0.443152, 0.873979  Reprojection Error: 0.407812, 0.293358 Feature: 0.295751, -0.196193, 0.934901
[11:52:55.957] xyz_f:-0.225398, -0.252670, 0.924351  Reprojection Error: 0.405139, 0.274195 Feature: 0.136156, 0.000836, 0.990687
[11:52:55.957] xyz_f:-0.335940, -0.148728, 0.916296  Reprojection Error: 0.410430, 0.262042 Feature: 0.020376, 0.099152, 0.994864
[11:52:55.957] xyz_f:-0.398958, -0.046289, 0.903741  Reprojection Error: 0.412060, 0.252292 Feature: -0.051922, 0.194851, 0.979458
[11:52:55.957] xyz_f:-0.399391, -0.052881, 0.903212  Reprojection Error: 1.558336, 0.382062 Feature: -0.051931, 0.188346, 0.980729
[11:52:55.957] xyz_f:-0.178226, 0.028070, 0.965668  Reprojection Error: 0.386200, 0.268926 Feature: 0.169702, 0.282704, 0.944076
[11:52:55.957] xyz_f:0.068865, 0.017881, 0.973726  Reprojection Error: 0.426017, 0.297643 Feature: 0.406117, 0.274947, 0.871478
[11:52:55.957] xyz_f:-0.302971, 0.171992, 0.922705  Reprojection Error: 0.378733, 0.267179 Feature: 0.025833, 0.410602, 0.911449
[11:52:55.957] it:24 	 Success 	 new_chi2: 3.046100 	 dT = 0.040870, 0.039691, -0.013184
[11:52:55.957] xyz_f:-0.251904, -0.253337, 0.887152  Reprojection Error: 0.421383, 0.286407 Feature: 0.136156, 0.000836, 0.990687
[11:52:55.957] xyz_f:-0.045632, -0.466353, 0.822885  Reprojection Error: 0.414190, 0.325351 Feature: 0.329275, -0.221554, 0.917873
[11:52:55.957] xyz_f:-0.362894, -0.149773, 0.880507  Reprojection Error: 0.432623, 0.269762 Feature: 0.020376, 0.099152, 0.994864
[11:52:55.957] xyz_f:-0.082848, -0.443243, 0.834627  Reprojection Error: 0.415608, 0.321213 Feature: 0.295751, -0.196193, 0.934901
[11:52:55.957] xyz_f:0.007041, -0.648754, 0.696245  Reprojection Error: 0.417735, 0.412983 Feature: 0.355037, -0.430517, 0.829821
[11:52:55.957] xyz_f:0.002614, -0.471038, 0.818141  Reprojection Error: 0.412605, 0.322950 Feature: 0.373883, -0.227308, 0.899190
[11:52:55.957] xyz_f:-0.362679, -0.143287, 0.881584  Reprojection Error: 0.431888, 0.268847 Feature: 0.020374, 0.105696, 0.994190
[11:52:55.957] xyz_f:-0.330940, 0.171057, 0.886503  Reprojection Error: 0.401653, 0.257537 Feature: 0.025833, 0.410602, 0.911449
[11:52:55.957] xyz_f:-0.426833, -0.054144, 0.868234  Reprojection Error: 0.438659, 0.254408 Feature: -0.051931, 0.188346, 0.980729
[11:52:55.957] xyz_f:-0.072524, -0.464720, 0.823855  Reprojection Error: 0.415941, 0.327050 Feature: 0.303971, -0.219727, 0.926996
[11:52:55.957] xyz_f:-0.214368, -0.225389, 0.900847  Reprojection Error: 0.414360, 0.282074 Feature: 0.173630, 0.031376, 0.984311
[11:52:55.957] xyz_f:-0.031376, -0.456368, 0.827690  Reprojection Error: 0.413148, 0.321201 Feature: 0.343436, -0.210666, 0.915244
[11:52:55.957] xyz_f:-0.086335, -0.478395, 0.816279  Reprojection Error: 0.417970, 0.332907 Feature: 0.289678, -0.234896, 0.927853
[11:52:55.957] xyz_f:0.042040, 0.018217, 0.932781  Reprojection Error: 0.420941, 0.295966 Feature: 0.406117, 0.274947, 0.871478
[11:52:55.957] xyz_f:-0.426416, -0.047550, 0.868758  Reprojection Error: 0.437823, 0.253671 Feature: -0.051922, 0.194851, 0.979458
[11:52:55.957] xyz_f:-0.016294, -0.457987, 0.826197  Reprojection Error: 0.412704, 0.320541 Feature: 0.357391, -0.212616, 0.909432
[11:52:55.957] xyz_f:-0.214189, -0.210494, 0.904242  Reprojection Error: 0.413361, 0.280201 Feature: 0.173615, 0.046643, 0.983709
[11:52:55.957] xyz_f:-0.357565, -0.156701, 0.881063  Reprojection Error: 0.432127, 0.270890 Feature: 0.026171, 0.092604, 0.995359
[11:52:55.957] xyz_f:-0.231625, -0.220397, 0.899128  Reprojection Error: 0.415999, 0.281346 Feature: 0.156338, 0.035754, 0.987056
[11:52:55.957] xyz_f:0.047067, 0.044657, 0.931402  Reprojection Error: 0.423012, 0.300183 Feature: 0.408253, 0.300129, 0.862121
[11:52:55.957] xyz_f:-0.205168, 0.027563, 0.927871  Reprojection Error: 0.400871, 0.269745 Feature: 0.169702, 0.282704, 0.944076
[11:52:55.957] xyz_f:-0.055361, -0.454796, 0.829017  Reprojection Error: 0.414269, 0.322563 Feature: 0.321002, -0.208804, 0.923774
[11:52:55.957] xyz_f:-0.240410, -0.241216, 0.892519  Reprojection Error: 0.418713, 0.284354 Feature: 0.147698, 0.013934, 0.988934
[11:52:55.957] xyz_f:0.086743, 0.012148, 0.927143  Reprojection Error: 0.430440, 0.300478 Feature: 0.447209, 0.267626, 0.853452
[11:52:55.957] xyz_f:-0.086335, -0.478395, 0.816279  Reprojection Error: -1.117564, -0.167655 Feature: 0.289678, -0.234896, 0.927853
[11:52:55.957] xyz_f:0.007041, -0.648754, 0.696245  Reprojection Error: 0.446173, 0.402438 Feature: 0.355037, -0.430517, 0.829821
[11:52:55.957] xyz_f:-0.045632, -0.466353, 0.822885  Reprojection Error: 0.438749, 0.321251 Feature: 0.329275, -0.221554, 0.917873
[11:52:55.957] xyz_f:-0.082848, -0.443243, 0.834627  Reprojection Error: 0.442617, 0.317374 Feature: 0.295751, -0.196193, 0.934901
[11:52:55.957] xyz_f:-0.251904, -0.253337, 0.887152  Reprojection Error: 0.445241, 0.286409 Feature: 0.136156, 0.000836, 0.990687
[11:52:55.957] xyz_f:-0.362894, -0.149773, 0.880507  Reprojection Error: 0.455943, 0.269827 Feature: 0.020376, 0.099152, 0.994864
[11:52:55.957] xyz_f:-0.426416, -0.047550, 0.868758  Reprojection Error: 0.461442, 0.255806 Feature: -0.051922, 0.194851, 0.979458
[11:52:55.957] xyz_f:-0.426833, -0.054144, 0.868234  Reprojection Error: 1.607756, 0.385876 Feature: -0.051931, 0.188346, 0.980729
[11:52:55.957] xyz_f:-0.205168, 0.027563, 0.927871  Reprojection Error: 0.422754, 0.268289 Feature: 0.169702, 0.282704, 0.944076
[11:52:55.957] xyz_f:0.042040, 0.018217, 0.932781  Reprojection Error: 0.451672, 0.296477 Feature: 0.406117, 0.274947, 0.871478
[11:52:55.957] xyz_f:-0.330940, 0.171057, 0.886503  Reprojection Error: 0.423692, 0.260622 Feature: 0.025833, 0.410602, 0.911449
[11:52:55.957] it:25 	 Success 	 new_chi2: 2.889135 	 dT = 0.040662, 0.040311, -0.013160
[11:52:55.957] xyz_f:-0.278449, -0.253960, 0.849163  Reprojection Error: 0.465346, 0.299915 Feature: 0.136156, 0.000836, 0.990687
[11:52:55.957] xyz_f:-0.072286, -0.466273, 0.782275  Reprojection Error: 0.451141, 0.354669 Feature: 0.329275, -0.221554, 0.917873
[11:52:55.957] xyz_f:-0.389866, -0.150774, 0.843932  Reprojection Error: 0.482446, 0.278321 Feature: 0.020376, 0.099152, 0.994864
[11:52:55.957] xyz_f:-0.109428, -0.443290, 0.794489  Reprojection Error: 0.454079, 0.348101 Feature: 0.295751, -0.196193, 0.934901
[11:52:55.957] xyz_f:-0.020607, -0.648496, 0.654971  Reprojection Error: 0.459309, 0.471307 Feature: 0.355037, -0.430517, 0.829821
[11:52:55.957] xyz_f:-0.024089, -0.470794, 0.776918  Reprojection Error: 0.446806, 0.353185 Feature: 0.373883, -0.227308, 0.899190
[11:52:55.957] xyz_f:-0.389660, -0.144287, 0.845006  Reprojection Error: 0.481627, 0.277066 Feature: 0.020374, 0.105696, 0.994190
[11:52:55.957] xyz_f:-0.358932, 0.170163, 0.849528  Reprojection Error: 0.450851, 0.250191 Feature: 0.025833, 0.410602, 0.911449
[11:52:55.957] xyz_f:-0.454282, -0.055364, 0.832475  Reprojection Error: 0.492749, 0.258552 Feature: -0.051931, 0.188346, 0.980729
[11:52:55.957] xyz_f:-0.099169, -0.464732, 0.783586  Reprojection Error: 0.454469, 0.356052 Feature: 0.303971, -0.219727, 0.926996
[11:52:55.957] xyz_f:-0.240837, -0.225884, 0.862380  Reprojection Error: 0.455668, 0.293807 Feature: 0.173630, 0.031376, 0.984311
[11:52:55.957] xyz_f:-0.058005, -0.456240, 0.786898  Reprojection Error: 0.448953, 0.349620 Feature: 0.343436, -0.210666, 0.915244
[11:52:55.957] xyz_f:-0.113029, -0.478453, 0.776187  Reprojection Error: 0.457824, 0.363255 Feature: 0.289678, -0.234896, 0.927853
[11:52:55.957] xyz_f:0.015124, 0.018595, 0.891058  Reprojection Error: 0.449037, 0.294627 Feature: 0.406117, 0.274947, 0.871478
[11:52:55.957] xyz_f:-0.453880, -0.048768, 0.832993  Reprojection Error: 0.491868, 0.257483 Feature: -0.051922, 0.194851, 0.979458
[11:52:55.957] xyz_f:-0.042937, -0.457807, 0.785214  Reprojection Error: 0.447665, 0.349244 Feature: 0.357391, -0.212616, 0.909432
[11:52:55.957] xyz_f:-0.240666, -0.210988, 0.865774  Reprojection Error: 0.454467, 0.291114 Feature: 0.173615, 0.046643, 0.983709
[11:52:55.957] xyz_f:-0.384507, -0.157684, 0.844419  Reprojection Error: 0.481644, 0.279772 Feature: 0.026171, 0.092604, 0.995359
[11:52:55.957] xyz_f:-0.258132, -0.220950, 0.860881  Reprojection Error: 0.458235, 0.292879 Feature: 0.156338, 0.035754, 0.987056
[11:52:55.957] xyz_f:0.020043, 0.045052, 0.889616  Reprojection Error: 0.451015, 0.297487 Feature: 0.408253, 0.300129, 0.862121
[11:52:55.957] xyz_f:-0.232156, 0.027099, 0.889291  Reprojection Error: 0.440812, 0.268978 Feature: 0.169702, 0.282704, 0.944076
[11:52:55.957] xyz_f:-0.081976, -0.454749, 0.788530  Reprojection Error: 0.451450, 0.350671 Feature: 0.321002, -0.208804, 0.923774
[11:52:55.957] xyz_f:-0.266930, -0.241799, 0.854383  Reprojection Error: 0.461775, 0.297100 Feature: 0.147698, 0.013934, 0.988934
[11:52:55.957] xyz_f:0.059773, 0.012679, 0.884852  Reprojection Error: 0.456448, 0.299252 Feature: 0.447209, 0.267626, 0.853452
[11:52:55.957] xyz_f:-0.113029, -0.478453, 0.776187  Reprojection Error: -1.077710, -0.137307 Feature: 0.289678, -0.234896, 0.927853
[11:52:55.957] xyz_f:-0.020607, -0.648496, 0.654971  Reprojection Error: 0.487747, 0.460762 Feature: 0.355037, -0.430517, 0.829821
[11:52:55.957] xyz_f:-0.072286, -0.466273, 0.782275  Reprojection Error: 0.475701, 0.350569 Feature: 0.329275, -0.221554, 0.917873
[11:52:55.957] xyz_f:-0.109428, -0.443290, 0.794489  Reprojection Error: 0.481088, 0.344262 Feature: 0.295751, -0.196193, 0.934901
[11:52:55.958] xyz_f:-0.278449, -0.253960, 0.849163  Reprojection Error: 0.489205, 0.299917 Feature: 0.136156, 0.000836, 0.990687
[11:52:55.958] xyz_f:-0.389866, -0.150774, 0.843932  Reprojection Error: 0.505766, 0.278385 Feature: 0.020376, 0.099152, 0.994864
[11:52:55.958] xyz_f:-0.453880, -0.048768, 0.832993  Reprojection Error: 0.515487, 0.259619 Feature: -0.051922, 0.194851, 0.979458
[11:52:55.958] xyz_f:-0.454282, -0.055364, 0.832475  Reprojection Error: 1.661846, 0.390019 Feature: -0.051931, 0.188346, 0.980729
[11:52:55.958] xyz_f:-0.232156, 0.027099, 0.889291  Reprojection Error: 0.462695, 0.267521 Feature: 0.169702, 0.282704, 0.944076
[11:52:55.958] xyz_f:0.015124, 0.018595, 0.891058  Reprojection Error: 0.479767, 0.295138 Feature: 0.406117, 0.274947, 0.871478
[11:52:55.958] xyz_f:-0.358932, 0.170163, 0.849528  Reprojection Error: 0.472890, 0.253276 Feature: 0.025833, 0.410602, 0.911449
[11:52:55.958] it:26 	 Success 	 new_chi2: 2.549848 	 dT = 0.040913, 0.040886, -0.013776
[11:52:55.958] xyz_f:-0.305434, -0.254564, 0.810532  Reprojection Error: 0.514268, 0.314914 Feature: 0.136156, 0.000836, 0.990687
[11:52:55.958] xyz_f:-0.099424, -0.466142, 0.740901  Reprojection Error: 0.492929, 0.387778 Feature: 0.329275, -0.221554, 0.917873
[11:52:55.958] xyz_f:-0.417278, -0.151776, 0.806786  Reprojection Error: 0.537692, 0.287788 Feature: 0.020376, 0.099152, 0.994864
[11:52:55.958] xyz_f:-0.136482, -0.443291, 0.753610  Reprojection Error: 0.497449, 0.378370 Feature: 0.295751, -0.196193, 0.934901
[11:52:55.958] xyz_f:-0.048793, -0.648183, 0.612917  Reprojection Error: 0.507456, 0.538731 Feature: 0.355037, -0.430517, 0.829821
[11:52:55.958] xyz_f:-0.051286, -0.470492, 0.734903  Reprojection Error: 0.485587, 0.387417 Feature: 0.373883, -0.227308, 0.899190
[11:52:55.958] xyz_f:-0.417081, -0.145288, 0.807857  Reprojection Error: 0.536774, 0.286158 Feature: 0.020374, 0.105696, 0.994190
[11:52:55.958] xyz_f:-0.387417, 0.169269, 0.811978  Reprojection Error: 0.505470, 0.242028 Feature: 0.025833, 0.410602, 0.911449
[11:52:55.958] xyz_f:-0.482180, -0.056597, 0.796189  Reprojection Error: 0.552659, 0.263131 Feature: -0.051931, 0.188346, 0.980729
[11:52:55.958] xyz_f:-0.126293, -0.464697, 0.742570  Reprojection Error: 0.497985, 0.388765 Feature: 0.303971, -0.219727, 0.926996
[11:52:55.958] xyz_f:-0.267750, -0.226354, 0.823248  Reprojection Error: 0.501633, 0.306828 Feature: 0.173630, 0.031376, 0.984311
[11:52:55.958] xyz_f:-0.085118, -0.456058, 0.745335  Reprojection Error: 0.489441, 0.381708 Feature: 0.343436, -0.210666, 0.915244
[11:52:55.958] xyz_f:-0.140200, -0.478468, 0.735355  Reprojection Error: 0.502860, 0.397502 Feature: 0.289678, -0.234896, 0.927853
[11:52:55.958] xyz_f:-0.012303, 0.019037, 0.848524  Reprojection Error: 0.480509, 0.293060 Feature: 0.406117, 0.274947, 0.871478
[11:52:55.958] xyz_f:-0.481796, -0.050000, 0.796702  Reprojection Error: 0.551726, 0.261696 Feature: -0.051922, 0.194851, 0.979458
[11:52:55.958] xyz_f:-0.070069, -0.457571, 0.743450  Reprojection Error: 0.487231, 0.381680 Feature: 0.357391, -0.212616, 0.909432
[11:52:55.958] xyz_f:-0.267587, -0.211457, 0.826639  Reprojection Error: 0.500194, 0.303219 Feature: 0.173615, 0.046643, 0.983709
[11:52:55.958] xyz_f:-0.411889, -0.158667, 0.807202  Reprojection Error: 0.536560, 0.289600 Feature: 0.026171, 0.092604, 0.995359
[11:52:55.958] xyz_f:-0.285080, -0.221482, 0.821979  Reprojection Error: 0.505211, 0.305672 Feature: 0.156338, 0.035754, 0.987056
[11:52:55.958] xyz_f:-0.007498, 0.045511, 0.847016  Reprojection Error: 0.482397, 0.294398 Feature: 0.408253, 0.300129, 0.862121
[11:52:55.958] xyz_f:-0.259614, 0.026659, 0.850047  Reprojection Error: 0.485165, 0.268089 Feature: 0.169702, 0.282704, 0.944076
[11:52:55.958] xyz_f:-0.109071, -0.454653, 0.747285  Reprojection Error: 0.493446, 0.382372 Feature: 0.321002, -0.208804, 0.923774
[11:52:55.958] xyz_f:-0.293890, -0.242362, 0.815599  Reprojection Error: 0.509687, 0.311248 Feature: 0.147698, 0.013934, 0.988934
[11:52:55.958] xyz_f:0.032280, 0.013279, 0.841724  Reprojection Error: 0.485650, 0.297804 Feature: 0.447209, 0.267626, 0.853452
[11:52:55.958] xyz_f:-0.140200, -0.478468, 0.735355  Reprojection Error: -1.032674, -0.103061 Feature: 0.289678, -0.234896, 0.927853
[11:52:55.958] xyz_f:-0.048793, -0.648183, 0.612917  Reprojection Error: 0.535894, 0.528187 Feature: 0.355037, -0.430517, 0.829821
[11:52:55.958] xyz_f:-0.099424, -0.466142, 0.740901  Reprojection Error: 0.517489, 0.383677 Feature: 0.329275, -0.221554, 0.917873
[11:52:55.958] xyz_f:-0.136482, -0.443291, 0.753610  Reprojection Error: 0.524458, 0.374531 Feature: 0.295751, -0.196193, 0.934901
[11:52:55.958] xyz_f:-0.305434, -0.254564, 0.810532  Reprojection Error: 0.538126, 0.314917 Feature: 0.136156, 0.000836, 0.990687
[11:52:55.958] xyz_f:-0.417278, -0.151776, 0.806786  Reprojection Error: 0.561012, 0.287853 Feature: 0.020376, 0.099152, 0.994864
[11:52:55.958] xyz_f:-0.481796, -0.050000, 0.796702  Reprojection Error: 0.575346, 0.263831 Feature: -0.051922, 0.194851, 0.979458
[11:52:55.958] xyz_f:-0.482180, -0.056597, 0.796189  Reprojection Error: 1.721756, 0.394599 Feature: -0.051931, 0.188346, 0.980729
[11:52:55.958] xyz_f:-0.259614, 0.026659, 0.850047  Reprojection Error: 0.507048, 0.266632 Feature: 0.169702, 0.282704, 0.944076
[11:52:55.958] xyz_f:-0.012303, 0.019037, 0.848524  Reprojection Error: 0.511240, 0.293572 Feature: 0.406117, 0.274947, 0.871478
[11:52:55.958] xyz_f:-0.387417, 0.169269, 0.811978  Reprojection Error: 0.527510, 0.245113 Feature: 0.025833, 0.410602, 0.911449
[11:52:55.958] it:27 	 Success 	 new_chi2: 2.004800 	 dT = 0.044020, 0.041553, -0.017864
[11:52:55.958] xyz_f:-0.331777, -0.255275, 0.771634  Reprojection Error: 0.567402, 0.331668 Feature: 0.136156, 0.000836, 0.990687
[11:52:55.958] xyz_f:-0.126022, -0.465902, 0.698450  Reprojection Error: 0.539167, 0.425672 Feature: 0.329275, -0.221554, 0.917873
[11:52:55.958] xyz_f:-0.444143, -0.153006, 0.769822  Reprojection Error: 0.597423, 0.298419 Feature: 0.020376, 0.099152, 0.994864
[11:52:55.958] xyz_f:-0.162960, -0.443222, 0.711797  Reprojection Error: 0.545287, 0.412825 Feature: 0.295751, -0.196193, 0.934901
[11:52:55.958] xyz_f:-0.076766, -0.647712, 0.569604  Reprojection Error: 0.562619, 0.618318 Feature: 0.355037, -0.430517, 0.829821
[11:52:55.958] xyz_f:-0.077975, -0.470029, 0.691622  Reprojection Error: 0.528543, 0.426811 Feature: 0.373883, -0.227308, 0.899190
[11:52:55.958] xyz_f:-0.443957, -0.146517, 0.770890  Reprojection Error: 0.596395, 0.296376 Feature: 0.020374, 0.105696, 0.994190
[11:52:55.958] xyz_f:-0.415680, 0.168174, 0.774511  Reprojection Error: 0.565044, 0.233357 Feature: 0.025833, 0.410602, 0.911449
[11:52:55.958] xyz_f:-0.509657, -0.058128, 0.760351  Reprojection Error: 0.617340, 0.268495 Feature: -0.051931, 0.188346, 0.980729
[11:52:55.958] xyz_f:-0.152864, -0.464581, 0.700583  Reprojection Error: 0.546106, 0.426104 Feature: 0.303971, -0.219727, 0.926996
[11:52:55.958] xyz_f:-0.294009, -0.226891, 0.783699  Reprojection Error: 0.551553, 0.321389 Feature: 0.173630, 0.031376, 0.984311
[11:52:55.958] xyz_f:-0.111689, -0.455751, 0.702637  Reprojection Error: 0.534196, 0.418455 Feature: 0.343436, -0.210666, 0.915244
[11:52:55.958] xyz_f:-0.166831, -0.478416, 0.693608  Reprojection Error: 0.552729, 0.436589 Feature: 0.289678, -0.234896, 0.927853
[11:52:55.958] xyz_f:-0.039301, 0.019679, 0.804573  Reprojection Error: 0.514857, 0.291036 Feature: 0.406117, 0.274947, 0.871478
[11:52:55.958] xyz_f:-0.509294, -0.051529, 0.760858  Reprojection Error: 0.616358, 0.266662 Feature: -0.051922, 0.194851, 0.979458
[11:52:55.958] xyz_f:-0.096667, -0.457195, 0.700492  Reprojection Error: 0.530981, 0.418887 Feature: 0.357391, -0.212616, 0.909432
[11:52:55.958] xyz_f:-0.293856, -0.211993, 0.787087  Reprojection Error: 0.549836, 0.316754 Feature: 0.173615, 0.046643, 0.983709
[11:52:55.958] xyz_f:-0.438715, -0.159871, 0.770145  Reprojection Error: 0.595945, 0.300622 Feature: 0.026171, 0.092604, 0.995359
[11:52:55.958] xyz_f:-0.311381, -0.222099, 0.782729  Reprojection Error: 0.556203, 0.319972 Feature: 0.156338, 0.035754, 0.987056
[11:52:55.958] xyz_f:-0.034645, 0.046175, 0.802984  Reprojection Error: 0.516691, 0.290624 Feature: 0.408253, 0.300129, 0.862121
[11:52:55.958] xyz_f:-0.286581, 0.026158, 0.810363  Reprojection Error: 0.533400, 0.267171 Feature: 0.169702, 0.282704, 0.944076
[11:52:55.958] xyz_f:-0.135610, -0.454457, 0.705000  Reprojection Error: 0.539845, 0.418585 Feature: 0.321002, -0.208804, 0.923774
[11:52:55.958] xyz_f:-0.320203, -0.243020, 0.776501  Reprojection Error: 0.561717, 0.327057 Feature: 0.147698, 0.013934, 0.988934
[11:52:55.958] xyz_f:0.005184, 0.014128, 0.797004  Reprojection Error: 0.517496, 0.295854 Feature: 0.447209, 0.267626, 0.853452
[11:52:55.958] xyz_f:-0.166831, -0.478416, 0.693608  Reprojection Error: -0.982805, -0.063973 Feature: 0.289678, -0.234896, 0.927853
[11:52:55.958] xyz_f:-0.076766, -0.647712, 0.569604  Reprojection Error: 0.591056, 0.607774 Feature: 0.355037, -0.430517, 0.829821
[11:52:55.958] xyz_f:-0.126022, -0.465902, 0.698450  Reprojection Error: 0.563726, 0.421572 Feature: 0.329275, -0.221554, 0.917873
[11:52:55.958] xyz_f:-0.162960, -0.443222, 0.711797  Reprojection Error: 0.572296, 0.408987 Feature: 0.295751, -0.196193, 0.934901
[11:52:55.958] xyz_f:-0.331777, -0.255275, 0.771634  Reprojection Error: 0.591261, 0.331671 Feature: 0.136156, 0.000836, 0.990687
[11:52:55.958] xyz_f:-0.444143, -0.153006, 0.769822  Reprojection Error: 0.620743, 0.298483 Feature: 0.020376, 0.099152, 0.994864
[11:52:55.958] xyz_f:-0.509294, -0.051529, 0.760858  Reprojection Error: 0.639977, 0.268798 Feature: -0.051922, 0.194851, 0.979458
[11:52:55.958] xyz_f:-0.509657, -0.058128, 0.760351  Reprojection Error: 1.786437, 0.399963 Feature: -0.051931, 0.188346, 0.980729
[11:52:55.958] xyz_f:-0.286581, 0.026158, 0.810363  Reprojection Error: 0.555283, 0.265715 Feature: 0.169702, 0.282704, 0.944076
[11:52:55.958] xyz_f:-0.039301, 0.019679, 0.804573  Reprojection Error: 0.545588, 0.291547 Feature: 0.406117, 0.274947, 0.871478
[11:52:55.958] xyz_f:-0.415680, 0.168174, 0.774511  Reprojection Error: 0.587083, 0.236442 Feature: 0.025833, 0.410602, 0.911449
[11:52:55.958] it:28 	 Success 	 new_chi2: 1.329528 	 dT = 0.042178, 0.039184, -0.014796
[11:52:55.958] xyz_f:-0.356833, -0.255802, 0.734418  Reprojection Error: 0.623308, 0.349151 Feature: 0.136156, 0.000836, 0.990687
[11:52:55.958] xyz_f:-0.151340, -0.465641, 0.658296  Reprojection Error: 0.588633, 0.465966 Feature: 0.329275, -0.221554, 0.917873
[11:52:55.958] xyz_f:-0.469604, -0.153964, 0.734215  Reprojection Error: 0.660082, 0.309363 Feature: 0.020376, 0.099152, 0.994864
[11:52:55.958] xyz_f:-0.188171, -0.443103, 0.672169  Reprojection Error: 0.596290, 0.449359 Feature: 0.295751, -0.196193, 0.934901
[11:52:55.958] xyz_f:-0.103235, -0.647265, 0.528754  Reprojection Error: 0.623090, 0.705326 Feature: 0.355037, -0.430517, 0.829821
[11:52:55.958] xyz_f:-0.103381, -0.469585, 0.650781  Reprojection Error: 0.574656, 0.468778 Feature: 0.373883, -0.227308, 0.899190
[11:52:55.958] xyz_f:-0.469428, -0.147475, 0.735280  Reprojection Error: 0.658927, 0.306883 Feature: 0.020374, 0.105696, 0.994190
[11:52:55.958] xyz_f:-0.442308, 0.167323, 0.738505  Reprojection Error: 0.627266, 0.223924 Feature: 0.025833, 0.410602, 0.911449
[11:52:55.958] xyz_f:-0.535610, -0.059338, 0.725683  Reprojection Error: 0.685125, 0.273815 Feature: -0.051931, 0.188346, 0.980729
[11:52:55.958] xyz_f:-0.178154, -0.464423, 0.660812  Reprojection Error: 0.597509, 0.465777 Feature: 0.303971, -0.219727, 0.926996
[11:52:55.958] xyz_f:-0.319006, -0.227273, 0.745943  Reprojection Error: 0.604052, 0.336555 Feature: 0.173630, 0.031376, 0.984311
[11:52:55.958] xyz_f:-0.136987, -0.455436, 0.662277  Reprojection Error: 0.582083, 0.457507 Feature: 0.343436, -0.210666, 0.915244
[11:52:55.958] xyz_f:-0.192166, -0.478312, 0.654037  Reprojection Error: 0.606018, 0.478162 Feature: 0.289678, -0.234896, 0.927853
[11:52:55.958] xyz_f:-0.064972, 0.020271, 0.763181  Reprojection Error: 0.551143, 0.288934 Feature: 0.406117, 0.274947, 0.871478
[11:52:55.958] xyz_f:-0.535265, -0.052738, 0.726185  Reprojection Error: 0.684081, 0.271561 Feature: -0.051922, 0.194851, 0.979458
[11:52:55.958] xyz_f:-0.121993, -0.456822, 0.659918  Reprojection Error: 0.577843, 0.458451 Feature: 0.357391, -0.212616, 0.909432
[11:52:55.958] xyz_f:-0.318861, -0.212375, 0.749329  Reprojection Error: 0.602019, 0.330836 Feature: 0.173615, 0.046643, 0.983709
[11:52:55.958] xyz_f:-0.464146, -0.160809, 0.734460  Reprojection Error: 0.658248, 0.311984 Feature: 0.026171, 0.092604, 0.995359
[11:52:55.958] xyz_f:-0.336408, -0.222548, 0.745221  Reprojection Error: 0.609809, 0.334856 Feature: 0.156338, 0.035754, 0.987056
[11:52:55.958] xyz_f:-0.060440, 0.046785, 0.761527  Reprojection Error: 0.552912, 0.286694 Feature: 0.408253, 0.300129, 0.862121
[11:52:55.958] xyz_f:-0.312167, 0.025803, 0.772505  Reprojection Error: 0.583851, 0.266049 Feature: 0.169702, 0.282704, 0.944076
[11:52:55.958] xyz_f:-0.160878, -0.454233, 0.664982  Reprojection Error: 0.589417, 0.457042 Feature: 0.321002, -0.208804, 0.923774
[11:52:55.958] xyz_f:-0.345238, -0.243503, 0.739119  Reprojection Error: 0.616444, 0.343539 Feature: 0.147698, 0.013934, 0.988934
[11:52:55.958] xyz_f:-0.020578, 0.014890, 0.754978  Reprojection Error: 0.551257, 0.293859 Feature: 0.447209, 0.267626, 0.853452
[11:52:55.958] xyz_f:-0.192166, -0.478312, 0.654037  Reprojection Error: -0.929516, -0.022400 Feature: 0.289678, -0.234896, 0.927853
[11:52:55.958] xyz_f:-0.103235, -0.647265, 0.528754  Reprojection Error: 0.651527, 0.694781 Feature: 0.355037, -0.430517, 0.829821
[11:52:55.958] xyz_f:-0.151340, -0.465641, 0.658296  Reprojection Error: 0.613193, 0.461865 Feature: 0.329275, -0.221554, 0.917873
[11:52:55.958] xyz_f:-0.188171, -0.443103, 0.672169  Reprojection Error: 0.623299, 0.445520 Feature: 0.295751, -0.196193, 0.934901
[11:52:55.958] xyz_f:-0.356833, -0.255802, 0.734418  Reprojection Error: 0.647166, 0.349153 Feature: 0.136156, 0.000836, 0.990687
[11:52:55.958] xyz_f:-0.469604, -0.153964, 0.734215  Reprojection Error: 0.683402, 0.309427 Feature: 0.020376, 0.099152, 0.994864
[11:52:55.958] xyz_f:-0.535265, -0.052738, 0.726185  Reprojection Error: 0.707700, 0.273696 Feature: -0.051922, 0.194851, 0.979458
[11:52:55.958] xyz_f:-0.535610, -0.059338, 0.725683  Reprojection Error: 1.854222, 0.405283 Feature: -0.051931, 0.188346, 0.980729
[11:52:55.958] xyz_f:-0.312167, 0.025803, 0.772505  Reprojection Error: 0.605734, 0.264592 Feature: 0.169702, 0.282704, 0.944076
[11:52:55.958] xyz_f:-0.064972, 0.020271, 0.763181  Reprojection Error: 0.581873, 0.289446 Feature: 0.406117, 0.274947, 0.871478
[11:52:55.958] xyz_f:-0.442308, 0.167323, 0.738505  Reprojection Error: 0.649306, 0.227009 Feature: 0.025833, 0.410602, 0.911449
[11:52:55.958] it:29 	 Success 	 new_chi2: 0.656157 	 dT = 0.037414, 0.030140, -0.003541
[11:52:55.958] xyz_f:-0.387741, -0.255920, 0.704718  Reprojection Error: 0.687644, 0.363997 Feature: 0.136156, 0.000836, 0.990687
[11:52:55.958] xyz_f:-0.182317, -0.465571, 0.627893  Reprojection Error: 0.649100, 0.500103 Feature: 0.329275, -0.221554, 0.917873
[11:52:55.958] xyz_f:-0.500606, -0.154186, 0.704901  Reprojection Error: 0.730660, 0.318397 Feature: 0.020376, 0.099152, 0.994864
[11:52:55.958] xyz_f:-0.219121, -0.443066, 0.641893  Reprojection Error: 0.657712, 0.480395 Feature: 0.295751, -0.196193, 0.934901
[11:52:55.958] xyz_f:-0.134490, -0.647151, 0.498187  Reprojection Error: 0.697805, 0.780204 Feature: 0.355037, -0.430517, 0.829821
[11:52:55.958] xyz_f:-0.134380, -0.469470, 0.620215  Reprojection Error: 0.632468, 0.504156 Feature: 0.373883, -0.227308, 0.899190
[11:52:55.958] xyz_f:-0.500432, -0.147696, 0.705966  Reprojection Error: 0.729355, 0.315525 Feature: 0.020374, 0.105696, 0.994190
[11:52:55.958] xyz_f:-0.473589, 0.167126, 0.709098  Reprojection Error: 0.696219, 0.214805 Feature: 0.025833, 0.410602, 0.911449
[11:52:55.958] xyz_f:-0.566727, -0.059620, 0.696595  Reprojection Error: 0.760615, 0.277634 Feature: -0.051931, 0.188346, 0.980729
[11:52:55.958] xyz_f:-0.209124, -0.464377, 0.630501  Reprojection Error: 0.659590, 0.499491 Feature: 0.303971, -0.219727, 0.926996
[11:52:55.958] xyz_f:-0.349901, -0.227356, 0.716114  Reprojection Error: 0.665008, 0.349363 Feature: 0.173630, 0.031376, 0.984311
[11:52:55.958] xyz_f:-0.167961, -0.455353, 0.631825  Reprojection Error: 0.641074, 0.490519 Feature: 0.343436, -0.210666, 0.915244
[11:52:55.958] xyz_f:-0.223146, -0.478279, 0.623774  Reprojection Error: 0.669939, 0.513590 Feature: 0.289678, -0.234896, 0.927853
[11:52:55.958] xyz_f:-0.096037, 0.020420, 0.732483  Reprojection Error: 0.597121, 0.287617 Feature: 0.406117, 0.274947, 0.871478
[11:52:55.958] xyz_f:-0.566386, -0.053019, 0.697096  Reprojection Error: 0.759484, 0.274995 Feature: -0.051922, 0.194851, 0.979458
[11:52:55.958] xyz_f:-0.152973, -0.456725, 0.629415  Reprojection Error: 0.636022, 0.491844 Feature: 0.357391, -0.212616, 0.909432
[11:52:55.958] xyz_f:-0.349759, -0.212458, 0.719499  Reprojection Error: 0.662604, 0.342702 Feature: 0.173615, 0.046643, 0.983709
[11:52:55.958] xyz_f:-0.495140, -0.161025, 0.705127  Reprojection Error: 0.728493, 0.321399 Feature: 0.026171, 0.092604, 0.995359
[11:52:55.958] xyz_f:-0.367310, -0.222647, 0.715452  Reprojection Error: 0.671785, 0.347421 Feature: 0.156338, 0.035754, 0.987056
[11:52:55.958] xyz_f:-0.091535, 0.046938, 0.730814  Reprojection Error: 0.598796, 0.283902 Feature: 0.408253, 0.300129, 0.862121
[11:52:55.958] xyz_f:-0.343203, 0.025726, 0.742653  Reprojection Error: 0.641886, 0.264810 Feature: 0.169702, 0.282704, 0.944076
[11:52:55.958] xyz_f:-0.191843, -0.454172, 0.634612  Reprojection Error: 0.649789, 0.489634 Feature: 0.321002, -0.208804, 0.923774
[11:52:55.958] xyz_f:-0.376141, -0.243610, 0.709380  Reprojection Error: 0.679590, 0.357502 Feature: 0.147698, 0.013934, 0.988934
[11:52:55.958] xyz_f:-0.051666, 0.015080, 0.724128  Reprojection Error: 0.595350, 0.292756 Feature: 0.447209, 0.267626, 0.853452
[11:52:55.958] xyz_f:-0.223146, -0.478279, 0.623774  Reprojection Error: -0.865595, 0.013028 Feature: 0.289678, -0.234896, 0.927853
[11:52:55.958] xyz_f:-0.134490, -0.647151, 0.498187  Reprojection Error: 0.726243, 0.769659 Feature: 0.355037, -0.430517, 0.829821
[11:52:55.958] xyz_f:-0.182317, -0.465571, 0.627893  Reprojection Error: 0.673660, 0.496003 Feature: 0.329275, -0.221554, 0.917873
[11:52:55.958] xyz_f:-0.219121, -0.443066, 0.641893  Reprojection Error: 0.684721, 0.476556 Feature: 0.295751, -0.196193, 0.934901
[11:52:55.958] xyz_f:-0.387741, -0.255920, 0.704718  Reprojection Error: 0.711502, 0.363999 Feature: 0.136156, 0.000836, 0.990687
[11:52:55.958] xyz_f:-0.500606, -0.154186, 0.704901  Reprojection Error: 0.753980, 0.318462 Feature: 0.020376, 0.099152, 0.994864
[11:52:55.958] xyz_f:-0.566386, -0.053019, 0.697096  Reprojection Error: 0.783103, 0.277130 Feature: -0.051922, 0.194851, 0.979458
[11:52:55.958] xyz_f:-0.566727, -0.059620, 0.696595  Reprojection Error: 1.929713, 0.409101 Feature: -0.051931, 0.188346, 0.980729
[11:52:55.958] xyz_f:-0.343203, 0.025726, 0.742653  Reprojection Error: 0.663769, 0.263353 Feature: 0.169702, 0.282704, 0.944076
[11:52:55.958] xyz_f:-0.096037, 0.020420, 0.732483  Reprojection Error: 0.627851, 0.288128 Feature: 0.406117, 0.274947, 0.871478
[11:52:55.958] xyz_f:-0.473589, 0.167126, 0.709098  Reprojection Error: 0.718258, 0.217890 Feature: 0.025833, 0.410602, 0.911449
[11:52:55.958] it:30 	 Success 	 new_chi2: 0.240413 	 dT = -0.236138, -0.040503, 0.389164
[11:52:55.958] xyz_f:-0.511195, -0.224268, 0.627092  Reprojection Error: 0.952619, 0.358476 Feature: 0.136156, 0.000836, 0.990687
[11:52:55.958] xyz_f:-0.313564, -0.454477, 0.626993  Reprojection Error: 0.858844, 0.483474 Feature: 0.329275, -0.221554, 0.917873
[11:52:55.958] xyz_f:-0.605697, -0.111956, 0.587800  Reprojection Error: 1.050928, 0.290130 Feature: 0.020376, 0.099152, 0.994864
[11:52:55.959] xyz_f:-0.350536, -0.428209, 0.626948  Reprojection Error: 0.875460, 0.473151 Feature: 0.295751, -0.196193, 0.934901
[11:52:55.959] xyz_f:-0.239608, -0.642269, 0.520469  Reprojection Error: 0.888216, 0.715210 Feature: 0.355037, -0.430517, 0.829821
[11:52:55.959] xyz_f:-0.266780, -0.463208, 0.637345  Reprojection Error: 0.834380, 0.473984 Feature: 0.373883, -0.227308, 0.899190
[11:52:55.959] xyz_f:-0.605289, -0.105496, 0.588976  Reprojection Error: 1.048191, 0.285431 Feature: 0.020374, 0.105696, 0.994190
[11:52:55.959] xyz_f:-0.550686, 0.205172, 0.607612  Reprojection Error: 0.934655, 0.112824 Feature: 0.025833, 0.410602, 0.911449
[11:52:55.959] xyz_f:-0.654544, -0.011526, 0.557609  Reprojection Error: 1.120888, 0.212717 Feature: -0.051931, 0.188346, 0.980729
[11:52:55.959] xyz_f:-0.339204, -0.450608, 0.619616  Reprojection Error: 0.875353, 0.490207 Feature: 0.303971, -0.219727, 0.926996
[11:52:55.959] xyz_f:-0.477556, -0.199350, 0.652094  Reprojection Error: 0.908739, 0.337583 Feature: 0.173630, 0.031376, 0.984311
[11:52:55.959] xyz_f:-0.300718, -0.445646, 0.636103  Reprojection Error: 0.847990, 0.470413 Feature: 0.343436, -0.210666, 0.915244
[11:52:55.959] xyz_f:-0.351078, -0.463189, 0.607960  Reprojection Error: 0.889672, 0.508714 Feature: 0.289678, -0.234896, 0.927853
[11:52:55.959] xyz_f:-0.224341, 0.022562, 0.764992  Reprojection Error: 0.759269, 0.286002 Feature: 0.406117, 0.274947, 0.871478
[11:52:55.959] xyz_f:-0.653764, -0.004983, 0.558323  Reprojection Error: 1.117931, 0.207862 Feature: -0.051922, 0.194851, 0.979458
[11:52:55.959] xyz_f:-0.286103, -0.448528, 0.639328  Reprojection Error: 0.840488, 0.467772 Feature: 0.357391, -0.212616, 0.909432
[11:52:55.959] xyz_f:-0.477202, -0.184477, 0.655574  Reprojection Error: 0.904404, 0.328813 Feature: 0.173615, 0.046643, 0.983709
[11:52:55.959] xyz_f:-0.601395, -0.119294, 0.589886  Reprojection Error: 1.045803, 0.295267 Feature: 0.026171, 0.092604, 0.995359
[11:52:55.959] xyz_f:-0.492958, -0.192967, 0.645186  Reprojection Error: 0.922443, 0.335310 Feature: 0.156338, 0.035754, 0.987056
[11:52:55.959] xyz_f:-0.216960, 0.048474, 0.765584  Reprojection Error: 0.756937, 0.284812 Feature: 0.408253, 0.300129, 0.862121
[11:52:55.959] xyz_f:-0.456232, 0.052303, 0.683968  Reprojection Error: 0.846792, 0.222980 Feature: 0.169702, 0.282704, 0.944076
[11:52:55.959] xyz_f:-0.323720, -0.442074, 0.629965  Reprojection Error: 0.861359, 0.475709 Feature: 0.321002, -0.208804, 0.923774
[11:52:55.959] xyz_f:-0.500962, -0.213071, 0.635910  Reprojection Error: 0.937138, 0.349154 Feature: 0.147698, 0.013934, 0.988934
[11:52:55.959] xyz_f:-0.180751, 0.012735, 0.773381  Reprojection Error: 0.757715, 0.297113 Feature: 0.447209, 0.267626, 0.853452
[11:52:55.959] xyz_f:-0.351078, -0.463189, 0.607960  Reprojection Error: -0.645862, 0.008151 Feature: 0.289678, -0.234896, 0.927853
[11:52:55.959] xyz_f:-0.239608, -0.642269, 0.520469  Reprojection Error: 0.916653, 0.704666 Feature: 0.355037, -0.430517, 0.829821
[11:52:55.959] xyz_f:-0.313564, -0.454477, 0.626993  Reprojection Error: 0.883404, 0.479374 Feature: 0.329275, -0.221554, 0.917873
[11:52:55.959] xyz_f:-0.350536, -0.428209, 0.626948  Reprojection Error: 0.902469, 0.469313 Feature: 0.295751, -0.196193, 0.934901
[11:52:55.959] xyz_f:-0.511195, -0.224268, 0.627092  Reprojection Error: 0.976478, 0.358478 Feature: 0.136156, 0.000836, 0.990687
[11:52:55.959] xyz_f:-0.605697, -0.111956, 0.587800  Reprojection Error: 1.074248, 0.290194 Feature: 0.020376, 0.099152, 0.994864
[11:52:55.959] xyz_f:-0.653764, -0.004983, 0.558323  Reprojection Error: 1.141550, 0.209997 Feature: -0.051922, 0.194851, 0.979458
[11:52:55.959] xyz_f:-0.654544, -0.011526, 0.557609  Reprojection Error: 2.289985, 0.344184 Feature: -0.051931, 0.188346, 0.980729
[11:52:55.959] xyz_f:-0.456232, 0.052303, 0.683968  Reprojection Error: 0.868675, 0.221524 Feature: 0.169702, 0.282704, 0.944076
[11:52:55.959] xyz_f:-0.224341, 0.022562, 0.764992  Reprojection Error: 0.790000, 0.286513 Feature: 0.406117, 0.274947, 0.871478
[11:52:55.959] xyz_f:-0.550686, 0.205172, 0.607612  Reprojection Error: 0.956694, 0.115909 Feature: 0.025833, 0.410602, 0.911449
[11:52:55.959] it:31 	 Success 	 new_chi2: 0.048172 	 dT = -0.009243, 0.003049, -0.050000
[11:52:55.959] xyz_f:-0.653506, -0.230373, 0.646828  Reprojection Error: 1.147760, 0.357002 Feature: 0.136156, 0.000836, 0.990687
[11:52:55.959] xyz_f:-0.453149, -0.458006, 0.637116  Reprojection Error: 1.069987, 0.477496 Feature: 0.329275, -0.221554, 0.917873
[11:52:55.959] xyz_f:-0.751239, -0.119305, 0.612179  Reprojection Error: 1.247637, 0.294550 Feature: 0.020376, 0.099152, 0.994864
[11:52:55.959] xyz_f:-0.490417, -0.432219, 0.638865  Reprojection Error: 1.083983, 0.466688 Feature: 0.295751, -0.196193, 0.934901
[11:52:55.959] xyz_f:-0.381998, -0.644859, 0.527088  Reprojection Error: 1.152581, 0.704629 Feature: 0.355037, -0.430517, 0.829821
[11:52:55.959] xyz_f:-0.405811, -0.466128, 0.645196  Reprojection Error: 1.044774, 0.469668 Feature: 0.373883, -0.227308, 0.899190
[11:52:55.959] xyz_f:-0.750859, -0.112840, 0.613336  Reprojection Error: 1.244714, 0.290291 Feature: 0.020374, 0.105696, 0.994190
[11:52:55.959] xyz_f:-0.699443, 0.198514, 0.629412  Reprojection Error: 1.139608, 0.135097 Feature: 0.025833, 0.410602, 0.911449
[11:52:55.959] xyz_f:-0.802782, -0.019525, 0.584413  Reprojection Error: 1.320703, 0.225456 Feature: -0.051931, 0.188346, 0.980729
[11:52:55.959] xyz_f:-0.479164, -0.454472, 0.630987  Reprojection Error: 1.087297, 0.483224 Feature: 0.303971, -0.219727, 0.926996
[11:52:55.959] xyz_f:-0.619024, -0.205014, 0.670185  Reprojection Error: 1.100059, 0.337783 Feature: 0.173630, 0.031376, 0.984311
[11:52:55.959] xyz_f:-0.439994, -0.449007, 0.645598  Reprojection Error: 1.056768, 0.465315 Feature: 0.343436, -0.210666, 0.915244
[11:52:55.959] xyz_f:-0.491422, -0.467209, 0.619914  Reprojection Error: 1.104929, 0.500507 Feature: 0.289678, -0.234896, 0.927853
[11:52:55.959] xyz_f:-0.363546, 0.020190, 0.770796  Reprojection Error: 0.937660, 0.289301 Feature: 0.406117, 0.274947, 0.871478
[11:52:55.959] xyz_f:-0.802053, -0.012972, 0.585091  Reprojection Error: 1.317808, 0.221108 Feature: -0.051922, 0.194851, 0.979458
[11:52:55.959] xyz_f:-0.425204, -0.451699, 0.648113  Reprojection Error: 1.049046, 0.463155 Feature: 0.357391, -0.212616, 0.909432
[11:52:55.959] xyz_f:-0.618695, -0.190137, 0.673648  Reprojection Error: 1.094914, 0.329665 Feature: 0.173615, 0.046643, 0.983709
[11:52:55.959] xyz_f:-0.746747, -0.126586, 0.614053  Reprojection Error: 1.242389, 0.299184 Feature: 0.026171, 0.092604, 0.995359
[11:52:55.959] xyz_f:-0.634823, -0.198833, 0.664031  Reprojection Error: 1.114403, 0.335656 Feature: 0.156338, 0.035754, 0.987056
[11:52:55.959] xyz_f:-0.356481, 0.046196, 0.771039  Reprojection Error: 0.935884, 0.288215 Feature: 0.408253, 0.300129, 0.862121
[11:52:55.959] xyz_f:-0.599444, 0.046904, 0.701070  Reprojection Error: 1.034795, 0.232547 Feature: 0.169702, 0.282704, 0.944076
[11:52:55.959] xyz_f:-0.463309, -0.445735, 0.640579  Reprojection Error: 1.070756, 0.469797 Feature: 0.321002, -0.208804, 0.923774
[11:52:55.959] xyz_f:-0.643005, -0.219042, 0.655145  Reprojection Error: 1.130820, 0.348431 Feature: 0.147698, 0.013934, 0.988934
[11:52:55.959] xyz_f:-0.319478, 0.010931, 0.777068  Reprojection Error: 0.935133, 0.299514 Feature: 0.447209, 0.267626, 0.853452
[11:52:55.959] xyz_f:-0.491422, -0.467209, 0.619914  Reprojection Error: -0.430605, -0.000056 Feature: 0.289678, -0.234896, 0.927853
[11:52:55.959] xyz_f:-0.381998, -0.644859, 0.527088  Reprojection Error: 1.181019, 0.694085 Feature: 0.355037, -0.430517, 0.829821
[11:52:55.959] xyz_f:-0.453149, -0.458006, 0.637116  Reprojection Error: 1.094546, 0.473396 Feature: 0.329275, -0.221554, 0.917873
[11:52:55.959] xyz_f:-0.490417, -0.432219, 0.638865  Reprojection Error: 1.110992, 0.462849 Feature: 0.295751, -0.196193, 0.934901
[11:52:55.959] xyz_f:-0.653506, -0.230373, 0.646828  Reprojection Error: 1.171619, 0.357005 Feature: 0.136156, 0.000836, 0.990687
[11:52:55.959] xyz_f:-0.751239, -0.119305, 0.612179  Reprojection Error: 1.270957, 0.294614 Feature: 0.020376, 0.099152, 0.994864
[11:52:55.959] xyz_f:-0.802053, -0.012972, 0.585091  Reprojection Error: 1.341427, 0.223244 Feature: -0.051922, 0.194851, 0.979458
[11:52:55.959] xyz_f:-0.802782, -0.019525, 0.584413  Reprojection Error: 2.489800, 0.356923 Feature: -0.051931, 0.188346, 0.980729
[11:52:55.959] xyz_f:-0.599444, 0.046904, 0.701070  Reprojection Error: 1.056678, 0.231091 Feature: 0.169702, 0.282704, 0.944076
[11:52:55.959] xyz_f:-0.363546, 0.020190, 0.770796  Reprojection Error: 0.968391, 0.289812 Feature: 0.406117, 0.274947, 0.871478
[11:52:55.959] xyz_f:-0.699443, 0.198514, 0.629412  Reprojection Error: 1.161648, 0.138182 Feature: 0.025833, 0.410602, 0.911449
[11:52:55.959] it:32 	 Success 	 new_chi2: 0.092573 	 dT = -0.026690, -0.000005, 0.000000
[11:52:55.959] xyz_f:-0.639108, -0.230373, 0.646832  Reprojection Error: 1.125494, 0.357000 Feature: 0.136156, 0.000836, 0.990687
[11:52:55.959] xyz_f:-0.438751, -0.458006, 0.637120  Reprojection Error: 1.047383, 0.477491 Feature: 0.329275, -0.221554, 0.917873
[11:52:55.959] xyz_f:-0.736841, -0.119305, 0.612184  Reprojection Error: 1.224108, 0.294548 Feature: 0.020376, 0.099152, 0.994864
[11:52:55.959] xyz_f:-0.476019, -0.432219, 0.638869  Reprojection Error: 1.061441, 0.466683 Feature: 0.295751, -0.196193, 0.934901
[11:52:55.959] xyz_f:-0.367600, -0.644859, 0.527093  Reprojection Error: 1.125258, 0.704619 Feature: 0.355037, -0.430517, 0.829821
[11:52:55.959] xyz_f:-0.391413, -0.466128, 0.645200  Reprojection Error: 1.022454, 0.469663 Feature: 0.373883, -0.227308, 0.899190
[11:52:55.959] xyz_f:-0.736461, -0.112840, 0.613341  Reprojection Error: 1.221230, 0.290290 Feature: 0.020374, 0.105696, 0.994190
[11:52:55.959] xyz_f:-0.685045, 0.198514, 0.629416  Reprojection Error: 1.116725, 0.135099 Feature: 0.025833, 0.410602, 0.911449
[11:52:55.959] xyz_f:-0.788384, -0.019525, 0.584418  Reprojection Error: 1.296056, 0.225456 Feature: -0.051931, 0.188346, 0.980729
[11:52:55.959] xyz_f:-0.464765, -0.454472, 0.630992  Reprojection Error: 1.064473, 0.483219 Feature: 0.303971, -0.219727, 0.926996
[11:52:55.959] xyz_f:-0.604626, -0.205014, 0.670189  Reprojection Error: 1.078569, 0.337781 Feature: 0.173630, 0.031376, 0.984311
[11:52:55.959] xyz_f:-0.425596, -0.449007, 0.645603  Reprojection Error: 1.034461, 0.465310 Feature: 0.343436, -0.210666, 0.915244
[11:52:55.959] xyz_f:-0.477024, -0.467209, 0.619919  Reprojection Error: 1.081698, 0.500501 Feature: 0.289678, -0.234896, 0.927853
[11:52:55.959] xyz_f:-0.349148, 0.020190, 0.770801  Reprojection Error: 0.918978, 0.289301 Feature: 0.406117, 0.274947, 0.871478
[11:52:55.959] xyz_f:-0.787655, -0.012972, 0.585095  Reprojection Error: 1.293189, 0.221108 Feature: -0.051922, 0.194851, 0.979458
[11:52:55.959] xyz_f:-0.410805, -0.451699, 0.648118  Reprojection Error: 1.026826, 0.463150 Feature: 0.357391, -0.212616, 0.909432
[11:52:55.959] xyz_f:-0.604297, -0.190137, 0.673653  Reprojection Error: 1.073534, 0.329663 Feature: 0.173615, 0.046643, 0.983709
[11:52:55.959] xyz_f:-0.732349, -0.126586, 0.614058  Reprojection Error: 1.218932, 0.299183 Feature: 0.026171, 0.092604, 0.995359
[11:52:55.959] xyz_f:-0.620425, -0.198833, 0.664035  Reprojection Error: 1.092714, 0.335654 Feature: 0.156338, 0.035754, 0.987056
[11:52:55.959] xyz_f:-0.342083, 0.046196, 0.771044  Reprojection Error: 0.917207, 0.288216 Feature: 0.408253, 0.300129, 0.862121
[11:52:55.959] xyz_f:-0.585046, 0.046904, 0.701075  Reprojection Error: 1.014252, 0.232548 Feature: 0.169702, 0.282704, 0.944076
[11:52:55.959] xyz_f:-0.448911, -0.445735, 0.640584  Reprojection Error: 1.048274, 0.469792 Feature: 0.321002, -0.208804, 0.923774
[11:52:55.959] xyz_f:-0.628607, -0.219042, 0.655150  Reprojection Error: 1.108836, 0.348428 Feature: 0.147698, 0.013934, 0.988934
[11:52:55.959] xyz_f:-0.305080, 0.010931, 0.777072  Reprojection Error: 0.916602, 0.299514 Feature: 0.447209, 0.267626, 0.853452
[11:52:55.959] xyz_f:-0.477024, -0.467209, 0.619919  Reprojection Error: -0.453836, -0.000061 Feature: 0.289678, -0.234896, 0.927853
[11:52:55.959] xyz_f:-0.367600, -0.644859, 0.527093  Reprojection Error: 1.153696, 0.694074 Feature: 0.355037, -0.430517, 0.829821
[11:52:55.959] xyz_f:-0.438751, -0.458006, 0.637120  Reprojection Error: 1.071942, 0.473391 Feature: 0.329275, -0.221554, 0.917873
[11:52:55.959] xyz_f:-0.476019, -0.432219, 0.638869  Reprojection Error: 1.088449, 0.462844 Feature: 0.295751, -0.196193, 0.934901
[11:52:55.959] xyz_f:-0.639108, -0.230373, 0.646832  Reprojection Error: 1.149352, 0.357002 Feature: 0.136156, 0.000836, 0.990687
[11:52:55.959] xyz_f:-0.736841, -0.119305, 0.612184  Reprojection Error: 1.247428, 0.294612 Feature: 0.020376, 0.099152, 0.994864
[11:52:55.959] xyz_f:-0.787655, -0.012972, 0.585095  Reprojection Error: 1.316808, 0.223243 Feature: -0.051922, 0.194851, 0.979458
[11:52:55.959] xyz_f:-0.788384, -0.019525, 0.584418  Reprojection Error: 2.465153, 0.356923 Feature: -0.051931, 0.188346, 0.980729
[11:52:55.959] xyz_f:-0.585046, 0.046904, 0.701075  Reprojection Error: 1.036135, 0.231091 Feature: 0.169702, 0.282704, 0.944076
[11:52:55.959] xyz_f:-0.349148, 0.020190, 0.770801  Reprojection Error: 0.949709, 0.289813 Feature: 0.406117, 0.274947, 0.871478
[11:52:55.959] xyz_f:-0.685045, 0.198514, 0.629416  Reprojection Error: 1.138764, 0.138185 Feature: 0.025833, 0.410602, 0.911449
[11:52:55.959] it:33 	 Success 	 new_chi2: 0.093585 	 dT = -0.012632, 0.001756, -0.025000
[11:52:55.959] xyz_f:-0.630692, -0.233210, 0.655663  Reprojection Error: 1.099351, 0.356529 Feature: 0.136156, 0.000836, 0.990687
[11:52:55.959] xyz_f:-0.429160, -0.459543, 0.641099  Reprojection Error: 1.028150, 0.475427 Feature: 0.329275, -0.221554, 0.917873
[11:52:55.959] xyz_f:-0.729951, -0.122779, 0.623393  Reprojection Error: 1.191412, 0.296617 Feature: 0.020376, 0.099152, 0.994864
[11:52:55.959] xyz_f:-0.466541, -0.433997, 0.643749  Reprojection Error: 1.041070, 0.464317 Feature: 0.295751, -0.196193, 0.934901
[11:52:55.959] xyz_f:-0.359479, -0.645940, 0.529370  Reprojection Error: 1.106917, 0.701397 Feature: 0.355037, -0.430517, 0.829821
[11:52:55.959] xyz_f:-0.381589, -0.467357, 0.648032  Reprojection Error: 1.004643, 0.468403 Feature: 0.373883, -0.227308, 0.899190
[11:52:55.959] xyz_f:-0.729584, -0.116312, 0.624541  Reprojection Error: 1.188686, 0.292549 Feature: 0.020374, 0.105696, 0.994190
[11:52:55.959] xyz_f:-0.679811, 0.195370, 0.639395  Reprojection Error: 1.091553, 0.144939 Feature: 0.025833, 0.410602, 0.911449
[11:52:55.959] xyz_f:-0.782793, -0.023337, 0.596888  Reprojection Error: 1.258507, 0.231144 Feature: -0.051931, 0.188346, 0.980729
[11:52:55.959] xyz_f:-0.455337, -0.456177, 0.635600  Reprojection Error: 1.044300, 0.480680 Feature: 0.303971, -0.219727, 0.926996
[11:52:55.959] xyz_f:-0.595822, -0.207626, 0.678183  Reprojection Error: 1.054953, 0.338027 Feature: 0.173630, 0.031376, 0.984311
[11:52:55.959] xyz_f:-0.415862, -0.450458, 0.649262  Reprojection Error: 1.015755, 0.463625 Feature: 0.343436, -0.210666, 0.915244
[11:52:55.959] xyz_f:-0.467777, -0.468994, 0.624825  Reprojection Error: 1.060856, 0.497440 Feature: 0.289678, -0.234896, 0.927853
[11:52:55.959] xyz_f:-0.339451, 0.019234, 0.772614  Reprojection Error: 0.905364, 0.290601 Feature: 0.406117, 0.274947, 0.871478
[11:52:55.959] xyz_f:-0.782091, -0.016779, 0.597548  Reprojection Error: 1.255823, 0.227017 Feature: -0.051922, 0.194851, 0.979458
[11:52:55.959] xyz_f:-0.400999, -0.453054, 0.651418  Reprojection Error: 1.008560, 0.461699 Feature: 0.357391, -0.212616, 0.909432
[11:52:55.959] xyz_f:-0.595505, -0.192747, 0.681639  Reprojection Error: 1.050127, 0.330186 Feature: 0.173615, 0.046643, 0.983709
[11:52:55.959] xyz_f:-0.725368, -0.130031, 0.625157  Reprojection Error: 1.186589, 0.301033 Feature: 0.026171, 0.092604, 0.995359
[11:52:55.959] xyz_f:-0.611804, -0.201549, 0.672413  Reprojection Error: 1.068253, 0.335962 Feature: 0.156338, 0.035754, 0.987056
[11:52:55.959] xyz_f:-0.332551, 0.045285, 0.772688  Reprojection Error: 0.903927, 0.289522 Feature: 0.408253, 0.300129, 0.862121
[11:52:55.959] xyz_f:-0.577132, 0.044415, 0.708606  Reprojection Error: 0.994215, 0.236771 Feature: 0.169702, 0.282704, 0.944076
[11:52:55.959] xyz_f:-0.439313, -0.447337, 0.644807  Reprojection Error: 1.028798, 0.467719 Feature: 0.321002, -0.208804, 0.923774
[11:52:55.959] xyz_f:-0.620067, -0.221810, 0.663725  Reprojection Error: 1.083573, 0.348280 Feature: 0.147698, 0.013934, 0.988934
[11:52:55.959] xyz_f:-0.295186, 0.010260, 0.777818  Reprojection Error: 0.903505, 0.300390 Feature: 0.447209, 0.267626, 0.853452
[11:52:55.959] xyz_f:-0.467777, -0.468994, 0.624825  Reprojection Error: -0.474678, -0.003122 Feature: 0.289678, -0.234896, 0.927853
[11:52:55.959] xyz_f:-0.359479, -0.645940, 0.529370  Reprojection Error: 1.135355, 0.690852 Feature: 0.355037, -0.430517, 0.829821
[11:52:55.959] xyz_f:-0.429160, -0.459543, 0.641099  Reprojection Error: 1.052709, 0.471327 Feature: 0.329275, -0.221554, 0.917873
[11:52:55.959] xyz_f:-0.466541, -0.433997, 0.643749  Reprojection Error: 1.068079, 0.460478 Feature: 0.295751, -0.196193, 0.934901
[11:52:55.959] xyz_f:-0.630692, -0.233210, 0.655663  Reprojection Error: 1.123210, 0.356532 Feature: 0.136156, 0.000836, 0.990687
[11:52:55.959] xyz_f:-0.729951, -0.122779, 0.623393  Reprojection Error: 1.214732, 0.296681 Feature: 0.020376, 0.099152, 0.994864
[11:52:55.959] xyz_f:-0.782091, -0.016779, 0.597548  Reprojection Error: 1.279442, 0.229153 Feature: -0.051922, 0.194851, 0.979458
[11:52:55.959] xyz_f:-0.782793, -0.023337, 0.596888  Reprojection Error: 2.427604, 0.362611 Feature: -0.051931, 0.188346, 0.980729
[11:52:55.959] xyz_f:-0.577132, 0.044415, 0.708606  Reprojection Error: 1.016097, 0.235314 Feature: 0.169702, 0.282704, 0.944076
[11:52:55.959] xyz_f:-0.339451, 0.019234, 0.772614  Reprojection Error: 0.936095, 0.291112 Feature: 0.406117, 0.274947, 0.871478
[11:52:55.959] xyz_f:-0.679811, 0.195370, 0.639395  Reprojection Error: 1.113592, 0.148025 Feature: 0.025833, 0.410602, 0.911449
[11:52:55.959] it:34 	 Success 	 new_chi2: 0.093287 	 dT = -0.029465, -0.000260, -0.000000
[11:52:55.959] xyz_f:-0.615616, -0.233210, 0.655923  Reprojection Error: 1.075986, 0.356388 Feature: 0.136156, 0.000836, 0.990687
[11:52:55.959] xyz_f:-0.414084, -0.459543, 0.641358  Reprojection Error: 1.004372, 0.475137 Feature: 0.329275, -0.221554, 0.917873
[11:52:55.959] xyz_f:-0.714875, -0.122779, 0.623653  Reprojection Error: 1.166751, 0.296535 Feature: 0.020376, 0.099152, 0.994864
[11:52:55.959] xyz_f:-0.451465, -0.433997, 0.644009  Reprojection Error: 1.017368, 0.464045 Feature: 0.295751, -0.196193, 0.934901
[11:52:55.959] xyz_f:-0.344403, -0.645940, 0.529630  Reprojection Error: 1.078119, 0.700798 Feature: 0.355037, -0.430517, 0.829821
[11:52:55.959] xyz_f:-0.366513, -0.467357, 0.648292  Reprojection Error: 0.981152, 0.468113 Feature: 0.373883, -0.227308, 0.899190
[11:52:55.959] xyz_f:-0.714508, -0.116312, 0.624801  Reprojection Error: 1.164071, 0.292472 Feature: 0.020374, 0.105696, 0.994190
[11:52:55.959] xyz_f:-0.664735, 0.195370, 0.639655  Reprojection Error: 1.067552, 0.145063 Feature: 0.025833, 0.410602, 0.911449
[11:52:55.960] xyz_f:-0.767717, -0.023337, 0.597147  Reprojection Error: 1.232689, 0.231127 Feature: -0.051931, 0.188346, 0.980729
[11:52:55.960] xyz_f:-0.440261, -0.456177, 0.635860  Reprojection Error: 1.020297, 0.480387 Feature: 0.303971, -0.219727, 0.926996
[11:52:55.960] xyz_f:-0.580746, -0.207626, 0.678443  Reprojection Error: 1.032395, 0.337910 Feature: 0.173630, 0.031376, 0.984311
[11:52:55.960] xyz_f:-0.400786, -0.450458, 0.649521  Reprojection Error: 0.992288, 0.463348 Feature: 0.343436, -0.210666, 0.915244
[11:52:55.960] xyz_f:-0.452701, -0.468994, 0.625085  Reprojection Error: 1.036426, 0.497128 Feature: 0.289678, -0.234896, 0.927853
[11:52:55.960] xyz_f:-0.324375, 0.019234, 0.772873  Reprojection Error: 0.885710, 0.290609 Feature: 0.406117, 0.274947, 0.871478
[11:52:55.960] xyz_f:-0.767015, -0.016779, 0.597808  Reprojection Error: 1.230035, 0.227005 Feature: -0.051922, 0.194851, 0.979458
[11:52:55.960] xyz_f:-0.385923, -0.453054, 0.651678  Reprojection Error: 0.985180, 0.461422 Feature: 0.357391, -0.212616, 0.909432
[11:52:55.960] xyz_f:-0.580429, -0.192747, 0.681898  Reprojection Error: 1.027686, 0.330078 Feature: 0.173615, 0.046643, 0.983709
[11:52:55.960] xyz_f:-0.710292, -0.130031, 0.625417  Reprojection Error: 1.162001, 0.300946 Feature: 0.026171, 0.092604, 0.995359
[11:52:55.960] xyz_f:-0.596728, -0.201549, 0.672672  Reprojection Error: 1.045489, 0.335846 Feature: 0.156338, 0.035754, 0.987056
[11:52:55.960] xyz_f:-0.317475, 0.045285, 0.772948  Reprojection Error: 0.884277, 0.289542 Feature: 0.408253, 0.300129, 0.862121
[11:52:55.960] xyz_f:-0.562056, 0.044415, 0.708866  Reprojection Error: 0.972648, 0.236794 Feature: 0.169702, 0.282704, 0.944076
[11:52:55.960] xyz_f:-0.424237, -0.447337, 0.645067  Reprojection Error: 1.005153, 0.467439 Feature: 0.321002, -0.208804, 0.923774
[11:52:55.960] xyz_f:-0.604991, -0.221810, 0.663985  Reprojection Error: 1.060502, 0.348149 Feature: 0.147698, 0.013934, 0.988934
[11:52:55.960] xyz_f:-0.280110, 0.010260, 0.778078  Reprojection Error: 0.884002, 0.300394 Feature: 0.447209, 0.267626, 0.853452
[11:52:55.960] xyz_f:-0.452701, -0.468994, 0.625085  Reprojection Error: -0.499108, -0.003434 Feature: 0.289678, -0.234896, 0.927853
[11:52:55.960] xyz_f:-0.344403, -0.645940, 0.529630  Reprojection Error: 1.106557, 0.690253 Feature: 0.355037, -0.430517, 0.829821
[11:52:55.960] xyz_f:-0.414084, -0.459543, 0.641358  Reprojection Error: 1.028931, 0.471036 Feature: 0.329275, -0.221554, 0.917873
[11:52:55.960] xyz_f:-0.451465, -0.433997, 0.644009  Reprojection Error: 1.044377, 0.460206 Feature: 0.295751, -0.196193, 0.934901
[11:52:55.960] xyz_f:-0.615616, -0.233210, 0.655923  Reprojection Error: 1.099844, 0.356391 Feature: 0.136156, 0.000836, 0.990687
[11:52:55.960] xyz_f:-0.714875, -0.122779, 0.623653  Reprojection Error: 1.190071, 0.296599 Feature: 0.020376, 0.099152, 0.994864
[11:52:55.960] xyz_f:-0.767015, -0.016779, 0.597808  Reprojection Error: 1.253654, 0.229141 Feature: -0.051922, 0.194851, 0.979458
[11:52:55.960] xyz_f:-0.767717, -0.023337, 0.597147  Reprojection Error: 2.401786, 0.362594 Feature: -0.051931, 0.188346, 0.980729
[11:52:55.960] xyz_f:-0.562056, 0.044415, 0.708866  Reprojection Error: 0.994531, 0.235337 Feature: 0.169702, 0.282704, 0.944076
[11:52:55.960] xyz_f:-0.324375, 0.019234, 0.772873  Reprojection Error: 0.916441, 0.291120 Feature: 0.406117, 0.274947, 0.871478
[11:52:55.960] xyz_f:-0.664735, 0.195370, 0.639655  Reprojection Error: 1.089592, 0.148149 Feature: 0.025833, 0.410602, 0.911449
[11:52:55.960] it:35 	 Success 	 new_chi2: 0.091420 	 dT = 0.000263, 0.003170, -0.050000
[11:52:55.960] xyz_f:-0.599360, -0.238443, 0.672284  Reprojection Error: 1.028965, 0.355520 Feature: 0.136156, 0.000836, 0.990687
[11:52:55.960] xyz_f:-0.395855, -0.462155, 0.647936  Reprojection Error: 0.969684, 0.471894 Feature: 0.329275, -0.221554, 0.917873
[11:52:55.960] xyz_f:-0.701481, -0.129316, 0.644878  Reprojection Error: 1.108254, 0.300191 Feature: 0.020376, 0.099152, 0.994864
[11:52:55.960] xyz_f:-0.433392, -0.437094, 0.652396  Reprojection Error: 0.980653, 0.460128 Feature: 0.295751, -0.196193, 0.934901
[11:52:55.960] xyz_f:-0.329244, -0.647669, 0.532916  Reprojection Error: 1.045664, 0.696524 Feature: 0.355037, -0.430517, 0.829821
[11:52:55.960] xyz_f:-0.347908, -0.469351, 0.652563  Reprojection Error: 0.948941, 0.466451 Feature: 0.373883, -0.227308, 0.899190
[11:52:55.960] xyz_f:-0.701143, -0.122844, 0.646008  Reprojection Error: 1.105840, 0.296472 Feature: 0.020374, 0.105696, 0.994190
[11:52:55.960] xyz_f:-0.654747, 0.189460, 0.658540  Reprojection Error: 1.022584, 0.162796 Feature: 0.025833, 0.410602, 0.911449
[11:52:55.960] xyz_f:-0.756823, -0.030573, 0.620985  Reprojection Error: 1.165795, 0.241280 Feature: -0.051931, 0.188346, 0.980729
[11:52:55.960] xyz_f:-0.422309, -0.459130, 0.643709  Reprojection Error: 0.983965, 0.476226 Feature: 0.303971, -0.219727, 0.926996
[11:52:55.960] xyz_f:-0.563777, -0.212403, 0.693102  Reprojection Error: 0.989808, 0.338330 Feature: 0.173630, 0.031376, 0.984311
[11:52:55.960] xyz_f:-0.382297, -0.452896, 0.655450  Reprojection Error: 0.958498, 0.460794 Feature: 0.343436, -0.210666, 0.915244
[11:52:55.960] xyz_f:-0.435087, -0.472110, 0.633543  Reprojection Error: 0.998955, 0.492029 Feature: 0.289678, -0.234896, 0.927853
[11:52:55.960] xyz_f:-0.306103, 0.017784, 0.775117  Reprojection Error: 0.860922, 0.292552 Feature: 0.406117, 0.274947, 0.871478
[11:52:55.960] xyz_f:-0.756175, -0.024007, 0.621613  Reprojection Error: 1.163462, 0.237558 Feature: -0.051922, 0.194851, 0.979458
[11:52:55.960] xyz_f:-0.367315, -0.455299, 0.656886  Reprojection Error: 0.952157, 0.459327 Feature: 0.357391, -0.212616, 0.909432
[11:52:55.960] xyz_f:-0.563486, -0.197521, 0.696543  Reprojection Error: 0.985466, 0.330988 Feature: 0.173615, 0.046643, 0.983709
[11:52:55.960] xyz_f:-0.696724, -0.136507, 0.646416  Reprojection Error: 1.104119, 0.304210 Feature: 0.026171, 0.092604, 0.995359
[11:52:55.960] xyz_f:-0.580097, -0.206535, 0.688112  Reprojection Error: 1.001416, 0.336370 Feature: 0.156338, 0.035754, 0.987056
[11:52:55.960] xyz_f:-0.299544, 0.043921, 0.774866  Reprojection Error: 0.860120, 0.291447 Feature: 0.408253, 0.300129, 0.862121
[11:52:55.960] xyz_f:-0.546902, 0.039868, 0.722666  Reprojection Error: 0.936538, 0.244282 Feature: 0.169702, 0.282704, 0.944076
[11:52:55.960] xyz_f:-0.405974, -0.450080, 0.652134  Reprojection Error: 0.970021, 0.464130 Feature: 0.321002, -0.208804, 0.923774
[11:52:55.960] xyz_f:-0.588507, -0.226904, 0.679827  Reprojection Error: 1.015022, 0.347858 Feature: 0.147698, 0.013934, 0.988934
[11:52:55.960] xyz_f:-0.261525, 0.009385, 0.778176  Reprojection Error: 0.860075, 0.301521 Feature: 0.447209, 0.267626, 0.853452
[11:52:55.960] xyz_f:-0.435087, -0.472110, 0.633543  Reprojection Error: -0.536578, -0.008533 Feature: 0.289678, -0.234896, 0.927853
[11:52:55.960] xyz_f:-0.329244, -0.647669, 0.532916  Reprojection Error: 1.074102, 0.685979 Feature: 0.355037, -0.430517, 0.829821
[11:52:55.960] xyz_f:-0.395855, -0.462155, 0.647936  Reprojection Error: 0.994243, 0.467793 Feature: 0.329275, -0.221554, 0.917873
[11:52:55.960] xyz_f:-0.433392, -0.437094, 0.652396  Reprojection Error: 1.007662, 0.456289 Feature: 0.295751, -0.196193, 0.934901
[11:52:55.960] xyz_f:-0.599360, -0.238443, 0.672284  Reprojection Error: 1.052823, 0.355522 Feature: 0.136156, 0.000836, 0.990687
[11:52:55.960] xyz_f:-0.701481, -0.129316, 0.644878  Reprojection Error: 1.131574, 0.300255 Feature: 0.020376, 0.099152, 0.994864
[11:52:55.960] xyz_f:-0.756175, -0.024007, 0.621613  Reprojection Error: 1.187081, 0.239693 Feature: -0.051922, 0.194851, 0.979458
[11:52:55.960] xyz_f:-0.756823, -0.030573, 0.620985  Reprojection Error: 2.334892, 0.372748 Feature: -0.051931, 0.188346, 0.980729
[11:52:55.960] xyz_f:-0.546902, 0.039868, 0.722666  Reprojection Error: 0.958421, 0.242826 Feature: 0.169702, 0.282704, 0.944076
[11:52:55.960] xyz_f:-0.306103, 0.017784, 0.775117  Reprojection Error: 0.891652, 0.293063 Feature: 0.406117, 0.274947, 0.871478
[11:52:55.960] xyz_f:-0.654747, 0.189460, 0.658540  Reprojection Error: 1.044623, 0.165881 Feature: 0.025833, 0.410602, 0.911449
[11:52:55.960] it:36 	 Success 	 new_chi2: 0.085313 	 dT = 0.014019, 0.004532, -0.075000
[11:52:55.960] xyz_f:-0.545949, -0.245167, 0.692849  Reprojection Error: 0.925413, 0.354698 Feature: 0.136156, 0.000836, 0.990687
[11:52:55.960] xyz_f:-0.340440, -0.464908, 0.653679  Reprojection Error: 0.879542, 0.469839 Feature: 0.329275, -0.221554, 0.917873
[11:52:55.960] xyz_f:-0.651883, -0.138061, 0.672983  Reprojection Error: 0.989128, 0.304811 Feature: 0.020376, 0.099152, 0.994864
[11:52:55.960] xyz_f:-0.378035, -0.440576, 0.660862  Reprojection Error: 0.888377, 0.456815 Feature: 0.295751, -0.196193, 0.934901
[11:52:55.960] xyz_f:-0.278744, -0.649177, 0.534009  Reprojection Error: 0.949830, 0.696858 Feature: 0.355037, -0.430517, 0.829821
[11:52:55.960] xyz_f:-0.292153, -0.471170, 0.654818  Reprojection Error: 0.861959, 0.466750 Feature: 0.373883, -0.227308, 0.899190
[11:52:55.960] xyz_f:-0.651590, -0.131582, 0.674091  Reprojection Error: 0.987113, 0.301514 Feature: 0.020374, 0.105696, 0.994190
[11:52:55.960] xyz_f:-0.610473, 0.181571, 0.683450  Reprojection Error: 0.921565, 0.184825 Feature: 0.025833, 0.410602, 0.911449
[11:52:55.960] xyz_f:-0.710714, -0.040427, 0.653228  Reprojection Error: 1.035051, 0.253935 Feature: -0.051931, 0.188346, 0.980729
[11:52:55.960] xyz_f:-0.367184, -0.462399, 0.651380  Reprojection Error: 0.891612, 0.472846 Feature: 0.303971, -0.219727, 0.926996
[11:52:55.960] xyz_f:-0.509464, -0.218428, 0.711055  Reprojection Error: 0.892887, 0.339065 Feature: 0.173630, 0.031376, 0.984311
[11:52:55.960] xyz_f:-0.326556, -0.455383, 0.660199  Reprojection Error: 0.869872, 0.459590 Feature: 0.343436, -0.210666, 0.915244
[11:52:55.960] xyz_f:-0.380410, -0.475632, 0.642156  Reprojection Error: 0.904598, 0.487519 Feature: 0.289678, -0.234896, 0.927853
[11:52:55.960] xyz_f:-0.251043, 0.016770, 0.774367  Reprojection Error: 0.790200, 0.293839 Feature: 0.406117, 0.274947, 0.871478
[11:52:55.960] xyz_f:-0.710149, -0.033849, 0.653811  Reprojection Error: 1.033157, 0.250709 Feature: -0.051922, 0.194851, 0.979458
[11:52:55.960] xyz_f:-0.311465, -0.457494, 0.660545  Reprojection Error: 0.864509, 0.458810 Feature: 0.357391, -0.212616, 0.909432
[11:52:55.960] xyz_f:-0.509214, -0.203540, 0.714477  Reprojection Error: 0.889199, 0.332295 Feature: 0.173615, 0.046643, 0.983709
[11:52:55.960] xyz_f:-0.646889, -0.145157, 0.674168  Reprojection Error: 0.985830, 0.308349 Feature: 0.026171, 0.092604, 0.995359
[11:52:55.960] xyz_f:-0.526213, -0.212881, 0.707264  Reprojection Error: 0.902401, 0.337215 Feature: 0.156338, 0.035754, 0.987056
[11:52:55.960] xyz_f:-0.245028, 0.043030, 0.773661  Reprojection Error: 0.790257, 0.292510 Feature: 0.408253, 0.300129, 0.862121
[11:52:55.960] xyz_f:-0.495389, 0.034144, 0.739498  Reprojection Error: 0.849653, 0.253279 Feature: 0.169702, 0.282704, 0.944076
[11:52:55.960] xyz_f:-0.350461, -0.453028, 0.658607  Reprojection Error: 0.879614, 0.461824 Feature: 0.321002, -0.208804, 0.923774
[11:52:55.960] xyz_f:-0.534804, -0.233416, 0.699595  Reprojection Error: 0.913799, 0.347733 Feature: 0.147698, 0.013934, 0.988934
[11:52:55.960] xyz_f:-0.206206, 0.009239, 0.774186  Reprojection Error: 0.790352, 0.301646 Feature: 0.447209, 0.267626, 0.853452
[11:52:55.960] xyz_f:-0.380410, -0.475632, 0.642156  Reprojection Error: -0.630935, -0.013043 Feature: 0.289678, -0.234896, 0.927853
[11:52:55.960] xyz_f:-0.278744, -0.649177, 0.534009  Reprojection Error: 0.978267, 0.686314 Feature: 0.355037, -0.430517, 0.829821
[11:52:55.960] xyz_f:-0.340440, -0.464908, 0.653679  Reprojection Error: 0.904101, 0.465738 Feature: 0.329275, -0.221554, 0.917873
[11:52:55.960] xyz_f:-0.378035, -0.440576, 0.660862  Reprojection Error: 0.915386, 0.452976 Feature: 0.295751, -0.196193, 0.934901
[11:52:55.960] xyz_f:-0.545949, -0.245167, 0.692849  Reprojection Error: 0.949272, 0.354701 Feature: 0.136156, 0.000836, 0.990687
[11:52:55.960] xyz_f:-0.651883, -0.138061, 0.672983  Reprojection Error: 1.012448, 0.304875 Feature: 0.020376, 0.099152, 0.994864
[11:52:55.960] xyz_f:-0.710149, -0.033849, 0.653811  Reprojection Error: 1.056776, 0.252844 Feature: -0.051922, 0.194851, 0.979458
[11:52:55.960] xyz_f:-0.710714, -0.040427, 0.653228  Reprojection Error: 2.204148, 0.385402 Feature: -0.051931, 0.188346, 0.980729
[11:52:55.960] xyz_f:-0.495389, 0.034144, 0.739498  Reprojection Error: 0.871536, 0.251822 Feature: 0.169702, 0.282704, 0.944076
[11:52:55.960] xyz_f:-0.251043, 0.016770, 0.774367  Reprojection Error: 0.820931, 0.294350 Feature: 0.406117, 0.274947, 0.871478
[11:52:55.960] xyz_f:-0.610473, 0.181571, 0.683450  Reprojection Error: 0.943605, 0.187910 Feature: 0.025833, 0.410602, 0.911449
[11:52:55.960] it:37 	 Success 	 new_chi2: 0.054460 	 dT = -0.039846, -0.001131, 0.000000
[11:52:55.960] xyz_f:-0.496616, -0.245167, 0.693980  Reprojection Error: 0.853041, 0.354122 Feature: 0.136156, 0.000836, 0.990687
[11:52:55.960] xyz_f:-0.291106, -0.464908, 0.654810  Reprojection Error: 0.803302, 0.468611 Feature: 0.329275, -0.221554, 0.917873
[11:52:55.960] xyz_f:-0.602549, -0.138061, 0.674114  Reprojection Error: 0.914320, 0.304467 Feature: 0.020376, 0.099152, 0.994864
[11:52:55.960] xyz_f:-0.328701, -0.440576, 0.661993  Reprojection Error: 0.812877, 0.455676 Feature: 0.295751, -0.196193, 0.934901
[11:52:55.960] xyz_f:-0.229410, -0.649177, 0.535140  Reprojection Error: 0.856538, 0.694289 Feature: 0.355037, -0.430517, 0.829821
[11:52:55.960] xyz_f:-0.242819, -0.471170, 0.655949  Reprojection Error: 0.785980, 0.465510 Feature: 0.373883, -0.227308, 0.899190
[11:52:55.960] xyz_f:-0.602256, -0.131582, 0.675222  Reprojection Error: 0.912431, 0.301187 Feature: 0.020374, 0.105696, 0.994190
[11:52:55.960] xyz_f:-0.561140, 0.181571, 0.684581  Reprojection Error: 0.848026, 0.185264 Feature: 0.025833, 0.410602, 0.911449
[11:52:55.960] xyz_f:-0.661380, -0.040427, 0.654359  Reprojection Error: 0.957778, 0.253828 Feature: -0.051931, 0.188346, 0.980729
[11:52:55.960] xyz_f:-0.317850, -0.462399, 0.652511  Reprojection Error: 0.815029, 0.471615 Feature: 0.303971, -0.219727, 0.926996
[11:52:55.960] xyz_f:-0.460130, -0.218428, 0.712186  Reprojection Error: 0.822479, 0.338578 Feature: 0.173630, 0.031376, 0.984311
[11:52:55.960] xyz_f:-0.277222, -0.455383, 0.661330  Reprojection Error: 0.794429, 0.458411 Feature: 0.343436, -0.210666, 0.915244
[11:52:55.960] xyz_f:-0.331077, -0.475632, 0.643287  Reprojection Error: 0.826867, 0.486217 Feature: 0.289678, -0.234896, 0.927853
[11:52:55.960] xyz_f:-0.201709, 0.016770, 0.775498  Reprojection Error: 0.726112, 0.293870 Feature: 0.406117, 0.274947, 0.871478
[11:52:55.960] xyz_f:-0.660815, -0.033849, 0.654942  Reprojection Error: 0.955956, 0.250619 Feature: -0.051922, 0.194851, 0.979458
[11:52:55.960] xyz_f:-0.262131, -0.457494, 0.661676  Reprojection Error: 0.789144, 0.457626 Feature: 0.357391, -0.212616, 0.909432
[11:52:55.960] xyz_f:-0.459880, -0.203540, 0.715608  Reprojection Error: 0.819133, 0.331845 Feature: 0.173615, 0.046643, 0.983709
[11:52:55.960] xyz_f:-0.597555, -0.145157, 0.675299  Reprojection Error: 0.911168, 0.307988 Feature: 0.026171, 0.092604, 0.995359
[11:52:55.960] xyz_f:-0.476879, -0.212881, 0.708395  Reprojection Error: 0.831572, 0.336734 Feature: 0.156338, 0.035754, 0.987056
[11:52:55.960] xyz_f:-0.195694, 0.043030, 0.774792  Reprojection Error: 0.726121, 0.292592 Feature: 0.408253, 0.300129, 0.862121
[11:52:55.960] xyz_f:-0.446055, 0.034144, 0.740629  Reprojection Error: 0.782020, 0.253349 Feature: 0.169702, 0.282704, 0.944076
[11:52:55.960] xyz_f:-0.301127, -0.453028, 0.659738  Reprojection Error: 0.803924, 0.460645 Feature: 0.321002, -0.208804, 0.923774
[11:52:55.960] xyz_f:-0.485470, -0.233416, 0.700726  Reprojection Error: 0.842161, 0.347195 Feature: 0.147698, 0.013934, 0.988934
[11:52:55.960] xyz_f:-0.156872, 0.009239, 0.775317  Reprojection Error: 0.726333, 0.301664 Feature: 0.447209, 0.267626, 0.853452
[11:52:55.960] xyz_f:-0.331077, -0.475632, 0.643287  Reprojection Error: -0.708667, -0.014345 Feature: 0.289678, -0.234896, 0.927853
[11:52:55.960] xyz_f:-0.229410, -0.649177, 0.535140  Reprojection Error: 0.884976, 0.683745 Feature: 0.355037, -0.430517, 0.829821
[11:52:55.960] xyz_f:-0.291106, -0.464908, 0.654810  Reprojection Error: 0.827861, 0.464510 Feature: 0.329275, -0.221554, 0.917873
[11:52:55.960] xyz_f:-0.328701, -0.440576, 0.661993  Reprojection Error: 0.839886, 0.451838 Feature: 0.295751, -0.196193, 0.934901
[11:52:55.960] xyz_f:-0.496616, -0.245167, 0.693980  Reprojection Error: 0.876899, 0.354124 Feature: 0.136156, 0.000836, 0.990687
[11:52:55.960] xyz_f:-0.602549, -0.138061, 0.674114  Reprojection Error: 0.937640, 0.304531 Feature: 0.020376, 0.099152, 0.994864
[11:52:55.960] xyz_f:-0.660815, -0.033849, 0.654942  Reprojection Error: 0.979575, 0.252755 Feature: -0.051922, 0.194851, 0.979458
[11:52:55.960] xyz_f:-0.661380, -0.040427, 0.654359  Reprojection Error: 2.126876, 0.385295 Feature: -0.051931, 0.188346, 0.980729
[11:52:55.960] xyz_f:-0.446055, 0.034144, 0.740629  Reprojection Error: 0.803903, 0.251893 Feature: 0.169702, 0.282704, 0.944076
[11:52:55.960] xyz_f:-0.201709, 0.016770, 0.775498  Reprojection Error: 0.756843, 0.294382 Feature: 0.406117, 0.274947, 0.871478
[11:52:55.960] xyz_f:-0.561140, 0.181571, 0.684581  Reprojection Error: 0.870065, 0.188349 Feature: 0.025833, 0.410602, 0.911449
[11:52:55.960] it:38 	 Success 	 new_chi2: 0.022458 	 dT = -0.528443, -0.043918, 0.751653
[11:52:55.960] xyz_f:-0.572028, -0.123910, 0.285359  Reprojection Error: 2.142026, 0.435069 Feature: 0.136156, 0.000836, 0.990687
[11:52:55.960] xyz_f:-0.434890, -0.378643, 0.376785  Reprojection Error: 1.512951, 0.763555 Feature: 0.329275, -0.221554, 0.917873
[11:52:55.960] xyz_f:-0.617386, -0.001353, 0.207830  Reprojection Error: 2.991106, 0.106173 Feature: 0.020376, 0.099152, 0.994864
[11:52:55.960] xyz_f:-0.462793, -0.347623, 0.359004  Reprojection Error: 1.605448, 0.758445 Feature: 0.295751, -0.196193, 0.934901
[11:52:55.960] xyz_f:-0.343452, -0.578551, 0.315480  Reprojection Error: 1.516513, 1.315070 Feature: 0.355037, -0.430517, 0.829821
[11:52:55.960] xyz_f:-0.401472, -0.393249, 0.409064  Reprojection Error: 1.397240, 0.708546 Feature: 0.373883, -0.227308, 0.899190
[11:52:55.960] xyz_f:-0.616757, 0.005031, 0.209289  Reprojection Error: 2.967406, 0.082273 Feature: 0.020374, 0.105696, 0.994190
[11:52:55.960] xyz_f:-0.537548, 0.305897, 0.264509  Reprojection Error: 2.060589, -0.705975 Feature: 0.025833, 0.410602, 0.911449
[11:52:55.960] xyz_f:-0.630080, 0.103586, 0.160814  Reprojection Error: 3.865114, -0.452086 Feature: -0.051931, 0.188346, 0.980729
[11:52:55.960] xyz_f:-0.452468, -0.371608, 0.357592  Reprojection Error: 1.593229, 0.802165 Feature: 0.303971, -0.219727, 0.926996
[11:52:55.960] xyz_f:-0.552656, -0.102875, 0.324855  Reprojection Error: 1.877638, 0.348558 Feature: 0.173630, 0.031376, 0.984311
[11:52:55.960] xyz_f:-0.427364, -0.371305, 0.391464  Reprojection Error: 1.466946, 0.718327 Feature: 0.343436, -0.210666, 0.915244
[11:52:55.961] xyz_f:-0.458386, -0.382886, 0.341072  Reprojection Error: 1.656160, 0.869435 Feature: 0.289678, -0.234896, 0.927853
[11:52:55.961] xyz_f:-0.364055, 0.086671, 0.558543  Reprojection Error: 1.117804, 0.160322 Feature: 0.406117, 0.274947, 0.871478
[11:52:55.961] xyz_f:-0.628890, 0.109984, 0.162067  Reprojection Error: 3.827428, -0.479699 Feature: -0.051922, 0.194851, 0.979458
[11:52:55.961] xyz_f:-0.416941, -0.376021, 0.401535  Reprojection Error: 1.431349, 0.702669 Feature: 0.357391, -0.212616, 0.909432
[11:52:55.961] xyz_f:-0.552099, -0.088070, 0.328584  Reprojection Error: 1.856727, 0.315444 Feature: 0.173615, 0.046643, 0.983709
[11:52:55.961] xyz_f:-0.615773, -0.009124, 0.211533  Reprojection Error: 2.937294, 0.136168 Feature: 0.026171, 0.092604, 0.995359
[11:52:55.961] xyz_f:-0.561411, -0.094723, 0.311342  Reprojection Error: 1.961582, 0.340464 Feature: 0.156338, 0.035754, 0.987056
[11:52:55.961] xyz_f:-0.354554, 0.111346, 0.563751  Reprojection Error: 1.102464, 0.150620 Feature: 0.408253, 0.300129, 0.862121
[11:52:55.961] xyz_f:-0.516496, 0.144566, 0.372444  Reprojection Error: 1.566529, -0.088706 Feature: 0.169702, 0.282704, 0.944076
[11:52:55.961] xyz_f:-0.443362, -0.364875, 0.374664  Reprojection Error: 1.530848, 0.747839 Feature: 0.321002, -0.208804, 0.923774
[11:52:55.961] xyz_f:-0.566258, -0.113886, 0.298552  Reprojection Error: 2.046031, 0.395550 Feature: 0.147698, 0.013934, 0.988934
[11:52:55.961] xyz_f:-0.332511, 0.071340, 0.587473  Reprojection Error: 1.090001, 0.192146 Feature: 0.447209, 0.267626, 0.853452
[11:52:55.961] xyz_f:-0.458386, -0.382886, 0.341072  Reprojection Error: 0.120626, 0.368872 Feature: 0.289678, -0.234896, 0.927853
[11:52:55.961] xyz_f:-0.343452, -0.578551, 0.315480  Reprojection Error: 1.544951, 1.304525 Feature: 0.355037, -0.430517, 0.829821
[11:52:55.961] xyz_f:-0.434890, -0.378643, 0.376785  Reprojection Error: 1.537511, 0.759455 Feature: 0.329275, -0.221554, 0.917873
[11:52:55.961] xyz_f:-0.462793, -0.347623, 0.359004  Reprojection Error: 1.632457, 0.754606 Feature: 0.295751, -0.196193, 0.934901
[11:52:55.961] xyz_f:-0.572028, -0.123910, 0.285359  Reprojection Error: 2.165884, 0.435072 Feature: 0.136156, 0.000836, 0.990687
[11:52:55.961] xyz_f:-0.617386, -0.001353, 0.207830  Reprojection Error: 3.014425, 0.106237 Feature: 0.020376, 0.099152, 0.994864
[11:52:55.961] xyz_f:-0.628890, 0.109984, 0.162067  Reprojection Error: 3.851047, -0.477564 Feature: -0.051922, 0.194851, 0.979458
[11:52:55.961] xyz_f:-0.630080, 0.103586, 0.160814  Reprojection Error: 5.034211, -0.320619 Feature: -0.051931, 0.188346, 0.980729
[11:52:55.961] xyz_f:-0.516496, 0.144566, 0.372444  Reprojection Error: 1.588411, -0.090162 Feature: 0.169702, 0.282704, 0.944076
[11:52:55.961] xyz_f:-0.364055, 0.086671, 0.558543  Reprojection Error: 1.148534, 0.160834 Feature: 0.406117, 0.274947, 0.871478
[11:52:55.961] xyz_f:-0.537548, 0.305897, 0.264509  Reprojection Error: 2.082629, -0.702890 Feature: 0.025833, 0.410602, 0.911449
[11:52:55.961] it:39 	 Success 	 new_chi2: 0.087377 	 dT = -0.010948, 0.011207, 0.000000
[11:52:55.961] xyz_f:-1.045604, -0.123910, 0.274152  Reprojection Error: 3.951397, 0.452820 Feature: 0.136156, 0.000836, 0.990687
[11:52:55.961] xyz_f:-0.908467, -0.378643, 0.365577  Reprojection Error: 2.843756, 0.794363 Feature: 0.329275, -0.221554, 0.917873
[11:52:55.961] xyz_f:-1.090962, -0.001353, 0.196623  Reprojection Error: 5.568977, 0.106544 Feature: 0.020376, 0.099152, 0.994864
[11:52:55.961] xyz_f:-0.936369, -0.347623, 0.347796  Reprojection Error: 3.008636, 0.789647 Feature: 0.295751, -0.196193, 0.934901
[11:52:55.961] xyz_f:-0.817029, -0.578551, 0.304273  Reprojection Error: 3.113034, 1.382617 Feature: 0.355037, -0.430517, 0.829821
[11:52:55.961] xyz_f:-0.875048, -0.393249, 0.397857  Reprojection Error: 2.615203, 0.735626 Feature: 0.373883, -0.227308, 0.899190
[11:52:55.961] xyz_f:-1.090334, 0.005031, 0.198082  Reprojection Error: 5.524949, 0.080913 Feature: 0.020374, 0.105696, 0.994190
[11:52:55.961] xyz_f:-1.011125, 0.305897, 0.253302  Reprojection Error: 4.020116, -0.757143 Feature: 0.025833, 0.410602, 0.911449
[11:52:55.961] xyz_f:-1.103657, 0.103586, 0.149607  Reprojection Error: 7.324095, -0.500339 Feature: -0.051931, 0.188346, 0.980729
[11:52:55.961] xyz_f:-0.926045, -0.371608, 0.346385  Reprojection Error: 3.001364, 0.835788 Feature: 0.303971, -0.219727, 0.926996
[11:52:55.961] xyz_f:-1.026232, -0.102875, 0.313647  Reprojection Error: 3.448328, 0.359874 Feature: 0.173630, 0.031376, 0.984311
[11:52:55.961] xyz_f:-0.900941, -0.371305, 0.380257  Reprojection Error: 2.744533, 0.746282 Feature: 0.343436, -0.210666, 0.915244
[11:52:55.961] xyz_f:-0.931963, -0.382886, 0.329865  Reprojection Error: 3.137489, 0.907575 Feature: 0.289678, -0.234896, 0.927853
[11:52:55.961] xyz_f:-0.837632, 0.086671, 0.547336  Reprojection Error: 1.996389, 0.157145 Feature: 0.406117, 0.274947, 0.871478
[11:52:55.961] xyz_f:-1.102466, 0.109984, 0.150859  Reprojection Error: 7.254892, -0.530115 Feature: -0.051922, 0.194851, 0.979458
[11:52:55.961] xyz_f:-0.890517, -0.376021, 0.390328  Reprojection Error: 2.674441, 0.729557 Feature: 0.357391, -0.212616, 0.909432
[11:52:55.961] xyz_f:-1.025675, -0.088070, 0.317377  Reprojection Error: 3.408220, 0.324908 Feature: 0.173615, 0.046643, 0.983709
[11:52:55.961] xyz_f:-1.089350, -0.009124, 0.200326  Reprojection Error: 5.464180, 0.138581 Feature: 0.026171, 0.092604, 0.995359
[11:52:55.961] xyz_f:-1.034987, -0.094723, 0.300135  Reprojection Error: 3.606791, 0.351825 Feature: 0.156338, 0.035754, 0.987056
[11:52:55.961] xyz_f:-0.828130, 0.111346, 0.552543  Reprojection Error: 1.972306, 0.146614 Feature: 0.408253, 0.300129, 0.862121
[11:52:55.961] xyz_f:-0.990072, 0.144566, 0.361237  Reprojection Error: 2.920540, -0.100748 Feature: 0.169702, 0.282704, 0.944076
[11:52:55.961] xyz_f:-0.916938, -0.364875, 0.363457  Reprojection Error: 2.870316, 0.777869 Feature: 0.321002, -0.208804, 0.923774
[11:52:55.961] xyz_f:-1.039835, -0.113886, 0.287345  Reprojection Error: 3.768117, 0.410428 Feature: 0.147698, 0.013934, 0.988934
[11:52:55.961] xyz_f:-0.806087, 0.071340, 0.576266  Reprojection Error: 1.922810, 0.189784 Feature: 0.447209, 0.267626, 0.853452
[11:52:55.961] xyz_f:-0.931963, -0.382886, 0.329865  Reprojection Error: 1.601955, 0.407013 Feature: 0.289678, -0.234896, 0.927853
[11:52:55.961] xyz_f:-0.817029, -0.578551, 0.304273  Reprojection Error: 3.141472, 1.372072 Feature: 0.355037, -0.430517, 0.829821
[11:52:55.961] xyz_f:-0.908467, -0.378643, 0.365577  Reprojection Error: 2.868315, 0.790262 Feature: 0.329275, -0.221554, 0.917873
[11:52:55.961] xyz_f:-0.936369, -0.347623, 0.347796  Reprojection Error: 3.035645, 0.785808 Feature: 0.295751, -0.196193, 0.934901
[11:52:55.961] xyz_f:-1.045604, -0.123910, 0.274152  Reprojection Error: 3.975256, 0.452823 Feature: 0.136156, 0.000836, 0.990687
[11:52:55.961] xyz_f:-1.090962, -0.001353, 0.196623  Reprojection Error: 5.592296, 0.106608 Feature: 0.020376, 0.099152, 0.994864
[11:52:55.961] xyz_f:-1.102466, 0.109984, 0.150859  Reprojection Error: 7.278511, -0.527980 Feature: -0.051922, 0.194851, 0.979458
[11:52:55.961] xyz_f:-1.103657, 0.103586, 0.149607  Reprojection Error: 8.493192, -0.368872 Feature: -0.051931, 0.188346, 0.980729
[11:52:55.961] xyz_f:-0.990072, 0.144566, 0.361237  Reprojection Error: 2.942423, -0.102204 Feature: 0.169702, 0.282704, 0.944076
[11:52:55.961] xyz_f:-0.837632, 0.086671, 0.547336  Reprojection Error: 2.027120, 0.157656 Feature: 0.406117, 0.274947, 0.871478
[11:52:55.961] xyz_f:-1.011125, 0.305897, 0.253302  Reprojection Error: 4.042156, -0.754058 Feature: 0.025833, 0.410602, 0.911449
[11:52:55.961] it:40 	 Success 	 new_chi2: 0.000000 	 dT = 0.000000, 0.000000, 0.000000
[11:52:55.961] After pose optimization, distance between two frames:0.271258 ,angle between two frames:-2.816999
[11:52:56.046] Reprojection Map nPoint:23 ,nCell:12 ,nMatches:12 ,distance between two frames:2.764876 ,angle between two frames:-3.565039
[11:52:56.046] Init estimate scale:1.430499
[11:52:56.046] xyz_f:2.438782, -0.244888, 1.174986  Reprojection Error: -1.914289, 0.209264 Feature: 0.159236, 0.000836, 0.987240
[11:52:56.046] xyz_f:2.642578, -0.466457, 1.135424  Reprojection Error: -1.944097, 0.165344 Feature: 0.348858, -0.223423, 0.910154
[11:52:56.046] xyz_f:2.332974, -0.137692, 1.154749  Reprojection Error: -1.976529, 0.218967 Feature: 0.043544, 0.099141, 0.994120
[11:52:56.046] xyz_f:2.607676, -0.442234, 1.142842  Reprojection Error: -1.938394, 0.173267 Feature: 0.318308, -0.198106, 0.927057
[11:52:56.046] xyz_f:2.706646, -0.651984, 1.014625  Reprojection Error: -2.211347, 0.113235 Feature: 0.374003, -0.433894, 0.819670
[11:52:56.046] xyz_f:2.691281, -0.474652, 1.135817  Reprojection Error: -1.927598, 0.158047 Feature: 0.393217, -0.231237, 0.889893
[11:52:56.046] xyz_f:2.333281, -0.131216, 1.155863  Reprojection Error: -1.974823, 0.219904 Feature: 0.043539, 0.105685, 0.993446
[11:52:56.046] xyz_f:2.373950, 0.184224, 1.164605  Reprojection Error: -1.988035, 0.295393 Feature: 0.045835, 0.412639, 0.909741
[11:52:56.046] xyz_f:3.097969, -0.032901, 1.195920  Reprojection Error: -1.474304, 0.351025 Feature: 0.728025, 0.211018, 0.652267
[11:52:56.046] xyz_f:2.615746, -0.463939, 1.132964  Reprojection Error: -1.956905, 0.168553 Feature: 0.323657, -0.221627, 0.919852
[11:52:56.046] xyz_f:2.475239, -0.224567, 1.191805  Reprojection Error: -1.876254, 0.213746 Feature: 0.196648, 0.024817, 0.980160
[11:52:56.046] xyz_f:2.656445, -0.456958, 1.142035  Reprojection Error: -1.925978, 0.165858 Feature: 0.362972, -0.212537, 0.907237
[11:52:56.046] xyz_f:1.869601, -0.463560, 0.324338  Reprojection Error: -6.987694, 0.675527 Feature: -0.698802, -0.430549, 0.571229
[11:52:56.046] xyz_f:2.735186, 0.014044, 1.257561  Reprojection Error: -1.678252, 0.304839 Feature: 0.428064, 0.272317, 0.861745
[11:52:56.046] xyz_f:2.275324, -0.031233, 1.135711  Reprojection Error: -2.032827, 0.228574 Feature: -0.028803, 0.197046, 0.979971
[11:52:56.046] xyz_f:2.674799, -0.461039, 1.141733  Reprojection Error: -1.920707, 0.163039 Feature: 0.379607, -0.216557, 0.899445
[11:52:56.046] xyz_f:2.469960, -0.202896, 1.195172  Reprojection Error: -1.871942, 0.217311 Feature: 0.190877, 0.046621, 0.980506
[11:52:56.046] xyz_f:2.335315, -0.144477, 1.154775  Reprojection Error: -1.975617, 0.218208 Feature: 0.046443, 0.092594, 0.994620
[11:52:56.046] xyz_f:2.458552, -0.212643, 1.189479  Reprojection Error: -1.884455, 0.215116 Feature: 0.179383, 0.035733, 0.983130
[11:52:56.046] xyz_f:2.487200, 0.032133, 1.221268  Reprojection Error: -1.834935, 0.271682 Feature: 0.189730, 0.280396, 0.940947
[11:52:56.046] xyz_f:2.635419, -0.454656, 1.140670  Reprojection Error: -1.935173, 0.168412 Feature: 0.343436, -0.210666, 0.915244
[11:52:56.046] xyz_f:2.449928, -0.235269, 1.181236  Reprojection Error: -1.900720, 0.211092 Feature: 0.170760, 0.011745, 0.985243
[11:52:56.046] xyz_f:2.779994, 0.004267, 1.257452  Reprojection Error: -1.654690, 0.308324 Feature: 0.468934, 0.262845, 0.843216
[11:52:56.046] xyz_f:1.869601, -0.463560, 0.324338  Reprojection Error: -6.938182, 0.702326 Feature: -0.698802, -0.430549, 0.571229
[11:52:56.046] xyz_f:2.706646, -0.651984, 1.014625  Reprojection Error: -2.190228, 0.103578 Feature: 0.374003, -0.433894, 0.819670
[11:52:56.046] xyz_f:2.642578, -0.466457, 1.135424  Reprojection Error: -1.915206, 0.158300 Feature: 0.348858, -0.223423, 0.910154
[11:52:56.046] xyz_f:2.691281, -0.474652, 1.135817  Reprojection Error: -1.900850, 0.150743 Feature: 0.393217, -0.231237, 0.889893
[11:52:56.046] xyz_f:2.607676, -0.442234, 1.142842  Reprojection Error: -1.914260, 0.169463 Feature: 0.318308, -0.198106, 0.927057
[11:52:56.046] xyz_f:2.438782, -0.244888, 1.174986  Reprojection Error: -1.887170, 0.207048 Feature: 0.159236, 0.000836, 0.987240
[11:52:56.046] xyz_f:2.332974, -0.137692, 1.154749  Reprojection Error: -1.947303, 0.216894 Feature: 0.043544, 0.099141, 0.994120
[11:52:56.046] xyz_f:2.275324, -0.031233, 1.135711  Reprojection Error: -2.003333, 0.226201 Feature: -0.028803, 0.197046, 0.979971
[11:52:56.046] xyz_f:2.487200, 0.032133, 1.221268  Reprojection Error: -1.803243, 0.270853 Feature: 0.189730, 0.280396, 0.940947
[11:52:56.046] xyz_f:2.735186, 0.014044, 1.257561  Reprojection Error: -1.906324, 0.283101 Feature: 0.428064, 0.272317, 0.861745
[11:52:56.046] xyz_f:2.779994, 0.004267, 1.257452  Reprojection Error: -1.612887, 0.307592 Feature: 0.468934, 0.262845, 0.843216
[11:52:56.046] xyz_f:2.373950, 0.184224, 1.164605  Reprojection Error: -1.953458, 0.290727 Feature: 0.045835, 0.412639, 0.909741
[11:52:56.046] it:0 	 Success 	 new_chi2: 102.381340 	 dT = -0.179523, 0.027152, 0.001609
[11:52:56.046] xyz_f:-0.234559, -0.245018, 1.202626  Reprojection Error: 0.356333, 0.204583 Feature: 0.159236, 0.000836, 0.987240
[11:52:56.046] xyz_f:-0.030732, -0.466503, 1.162747  Reprojection Error: 0.409727, 0.155729 Feature: 0.348858, -0.223423, 0.910154
[11:52:56.046] xyz_f:-0.340443, -0.137867, 1.182552  Reprojection Error: 0.331690, 0.216312 Feature: 0.043544, 0.099141, 0.994120
[11:52:56.046] xyz_f:-0.065633, -0.442294, 1.170218  Reprojection Error: 0.399440, 0.164266 Feature: 0.318308, -0.198106, 0.927057
[11:52:56.046] xyz_f:0.033225, -0.652003, 1.041848  Reprojection Error: 0.424394, 0.096462 Feature: 0.374003, -0.433894, 0.819670
[11:52:56.046] xyz_f:0.017975, -0.474677, 1.163063  Reprojection Error: 0.426416, 0.148279 Feature: 0.393217, -0.231237, 0.889893
[11:52:56.046] xyz_f:-0.340137, -0.131391, 1.183666  Reprojection Error: 0.331186, 0.217385 Feature: 0.043539, 0.105685, 0.993446
[11:52:56.046] xyz_f:-0.299585, 0.184066, 1.192345  Reprojection Error: 0.301640, 0.299206 Feature: 0.045835, 0.412639, 0.909741
[11:52:56.046] xyz_f:0.424571, -0.032757, 1.222535  Reprojection Error: 0.768858, 0.350309 Feature: 0.728025, 0.211018, 0.652267
[11:52:56.046] xyz_f:-0.057570, -0.463996, 1.160329  Reprojection Error: 0.401472, 0.158945 Feature: 0.323657, -0.221627, 0.919852
[11:52:56.046] xyz_f:-0.198084, -0.224683, 1.219388  Reprojection Error: 0.363074, 0.209578 Feature: 0.196648, 0.024817, 0.980160
[11:52:56.046] xyz_f:-0.016859, -0.456998, 1.169336  Reprojection Error: 0.414503, 0.156551 Feature: 0.362972, -0.212537, 0.907237
[11:52:56.046] xyz_f:-0.804970, -0.463928, 0.352862  Reprojection Error: 1.057926, 0.561032 Feature: -0.698802, -0.430549, 0.571229
[11:52:56.046] xyz_f:0.061865, 0.014037, 1.284739  Reprojection Error: 0.448587, 0.305080 Feature: 0.428064, 0.272317, 0.861745
[11:52:56.046] xyz_f:-0.398167, -0.031432, 1.163604  Reprojection Error: 0.312793, 0.228085 Feature: -0.028803, 0.197046, 0.979971
[11:52:56.046] xyz_f:0.001495, -0.461072, 1.169006  Reprojection Error: 0.420766, 0.153646 Feature: 0.379607, -0.216557, 0.899445
[11:52:56.046] xyz_f:-0.203367, -0.203014, 1.222763  Reprojection Error: 0.360990, 0.213577 Feature: 0.190877, 0.046621, 0.980506
[11:52:56.046] xyz_f:-0.338099, -0.144651, 1.182575  Reprojection Error: 0.332595, 0.215414 Feature: 0.046443, 0.092594, 0.994620
[11:52:56.046] xyz_f:-0.214780, -0.212765, 1.217087  Reprojection Error: 0.358932, 0.211161 Feature: 0.179383, 0.035733, 0.983130
[11:52:56.046] xyz_f:-0.186184, 0.032023, 1.248832  Reprojection Error: 0.350724, 0.272352 Feature: 0.189730, 0.280396, 0.940947
[11:52:56.046] xyz_f:-0.037889, -0.454705, 1.168004  Reprojection Error: 0.407678, 0.159126 Feature: 0.343436, -0.210666, 0.915244
[11:52:56.046] xyz_f:-0.223407, -0.235395, 1.208858  Reprojection Error: 0.358127, 0.206646 Feature: 0.170760, 0.011745, 0.985243
[11:52:56.046] xyz_f:0.106677, 0.004279, 1.284561  Reprojection Error: 0.473080, 0.308386 Feature: 0.468934, 0.262845, 0.843216
[11:52:56.046] xyz_f:-0.804970, -0.463928, 0.352862  Reprojection Error: 1.107438, 0.587831 Feature: -0.698802, -0.430549, 0.571229
[11:52:56.046] xyz_f:0.033225, -0.652003, 1.041848  Reprojection Error: 0.445513, 0.086806 Feature: 0.374003, -0.433894, 0.819670
[11:52:56.046] xyz_f:-0.030732, -0.466503, 1.162747  Reprojection Error: 0.438617, 0.148686 Feature: 0.348858, -0.223423, 0.910154
[11:52:56.046] xyz_f:0.017975, -0.474677, 1.163063  Reprojection Error: 0.453164, 0.140975 Feature: 0.393217, -0.231237, 0.889893
[11:52:56.046] xyz_f:-0.065633, -0.442294, 1.170218  Reprojection Error: 0.423573, 0.160461 Feature: 0.318308, -0.198106, 0.927057
[11:52:56.046] xyz_f:-0.234559, -0.245018, 1.202626  Reprojection Error: 0.383452, 0.202367 Feature: 0.159236, 0.000836, 0.987240
[11:52:56.046] xyz_f:-0.340443, -0.137867, 1.182552  Reprojection Error: 0.360916, 0.214239 Feature: 0.043544, 0.099141, 0.994120
[11:52:56.046] xyz_f:-0.398167, -0.031432, 1.163604  Reprojection Error: 0.342287, 0.225712 Feature: -0.028803, 0.197046, 0.979971
[11:52:56.046] xyz_f:-0.186184, 0.032023, 1.248832  Reprojection Error: 0.382416, 0.271522 Feature: 0.189730, 0.280396, 0.940947
[11:52:56.046] xyz_f:0.061865, 0.014037, 1.284739  Reprojection Error: 0.220515, 0.283343 Feature: 0.428064, 0.272317, 0.861745
[11:52:56.046] xyz_f:0.106677, 0.004279, 1.284561  Reprojection Error: 0.514883, 0.307655 Feature: 0.468934, 0.262845, 0.843216
[11:52:56.046] xyz_f:-0.299585, 0.184066, 1.192345  Reprojection Error: 0.336216, 0.294539 Feature: 0.045835, 0.412639, 0.909741
[11:52:56.046] it:1 	 Success 	 new_chi2: 9.755489 	 dT = -0.011653, 0.014523, 0.044931
[11:52:56.046] xyz_f:0.003441, -0.248407, 1.229797  Reprojection Error: 0.158496, 0.202837 Feature: 0.159236, 0.000836, 0.987240
[11:52:56.046] xyz_f:0.207906, -0.467518, 1.181057  Reprojection Error: 0.207262, 0.150368 Feature: 0.348858, -0.223423, 0.910154
[11:52:56.046] xyz_f:-0.104454, -0.142499, 1.214363  Reprojection Error: 0.129816, 0.217072 Feature: 0.043544, 0.099141, 0.994120
[11:52:56.046] xyz_f:0.173083, -0.443714, 1.190041  Reprojection Error: 0.197911, 0.159163 Feature: 0.318308, -0.198106, 0.927057
[11:52:56.046] xyz_f:0.268710, -0.652292, 1.057450  Reprojection Error: 0.202173, 0.087502 Feature: 0.374003, -0.433894, 0.819670
[11:52:56.046] xyz_f:0.256673, -0.475125, 1.179257  Reprojection Error: 0.224214, 0.143054 Feature: 0.393217, -0.231237, 0.889893
[11:52:56.046] xyz_f:-0.104174, -0.136019, 1.215464  Reprojection Error: 0.129534, 0.218289 Feature: 0.043539, 0.105685, 0.993446
[11:52:56.046] xyz_f:-0.066955, 0.179890, 1.222455  Reprojection Error: 0.105153, 0.306424 Feature: 0.045835, 0.412639, 0.909741
[11:52:56.046] xyz_f:0.660302, -0.028493, 1.221144  Reprojection Error: 0.575421, 0.346847 Feature: 0.728025, 0.211018, 0.652267
[11:52:56.046] xyz_f:0.180961, -0.465323, 1.179806  Reprojection Error: 0.198475, 0.153469 Feature: 0.323657, -0.221627, 0.919852
[11:52:56.046] xyz_f:0.040369, -0.227645, 1.244966  Reprojection Error: 0.168203, 0.208172 Feature: 0.196648, 0.024817, 0.980160
[11:52:56.046] xyz_f:0.221940, -0.457850, 1.187040  Reprojection Error: 0.213115, 0.151440 Feature: 0.362972, -0.212537, 0.907237
[11:52:56.046] xyz_f:-0.600718, -0.474147, 0.405526  Reprojection Error: 0.257998, 0.415492 Feature: -0.698802, -0.430549, 0.571229
[11:52:56.046] xyz_f:0.300116, 0.014098, 1.299038  Reprojection Error: 0.265711, 0.305154 Feature: 0.428064, 0.272317, 0.861745
[11:52:56.046] xyz_f:-0.164179, -0.036747, 1.197964  Reprojection Error: 0.107656, 0.231747 Feature: -0.028803, 0.197046, 0.979971
[11:52:56.046] xyz_f:0.240310, -0.461710, 1.185913  Reprojection Error: 0.219409, 0.148562 Feature: 0.379607, -0.216557, 0.899445
[11:52:56.046] xyz_f:0.034986, -0.206038, 1.248572  Reprojection Error: 0.166651, 0.212567 Feature: 0.190877, 0.046621, 0.980506
[11:52:56.046] xyz_f:-0.102032, -0.149255, 1.214283  Reprojection Error: 0.130721, 0.216011 Feature: 0.046443, 0.092594, 0.994620
[11:52:56.046] xyz_f:0.023452, -0.215922, 1.243394  Reprojection Error: 0.163600, 0.210002 Feature: 0.179383, 0.035733, 0.983130
[11:52:56.046] xyz_f:0.050550, 0.029189, 1.273930  Reprojection Error: 0.161957, 0.275081 Feature: 0.189730, 0.280396, 0.940947
[11:52:56.046] xyz_f:0.200848, -0.455802, 1.186622  Reprojection Error: 0.205979, 0.153942 Feature: 0.343436, -0.210666, 0.915244
[11:52:56.046] xyz_f:0.014739, -0.238653, 1.235542  Reprojection Error: 0.161389, 0.205077 Feature: 0.170760, 0.011745, 0.985243
[11:52:56.046] xyz_f:0.344988, 0.004861, 1.296913  Reprojection Error: 0.290118, 0.307969 Feature: 0.468934, 0.262845, 0.843216
[11:52:56.046] xyz_f:-0.600718, -0.474147, 0.405526  Reprojection Error: 0.307510, 0.442291 Feature: -0.698802, -0.430549, 0.571229
[11:52:56.046] xyz_f:0.268710, -0.652292, 1.057450  Reprojection Error: 0.223293, 0.077846 Feature: 0.374003, -0.433894, 0.819670
[11:52:56.046] xyz_f:0.207906, -0.467518, 1.181057  Reprojection Error: 0.236152, 0.143325 Feature: 0.348858, -0.223423, 0.910154
[11:52:56.047] xyz_f:0.256673, -0.475125, 1.179257  Reprojection Error: 0.250963, 0.135750 Feature: 0.393217, -0.231237, 0.889893
[11:52:56.047] xyz_f:0.173083, -0.443714, 1.190041  Reprojection Error: 0.222044, 0.155359 Feature: 0.318308, -0.198106, 0.927057
[11:52:56.047] xyz_f:0.003441, -0.248407, 1.229797  Reprojection Error: 0.185616, 0.200621 Feature: 0.159236, 0.000836, 0.987240
[11:52:56.047] xyz_f:-0.104454, -0.142499, 1.214363  Reprojection Error: 0.159043, 0.214999 Feature: 0.043544, 0.099141, 0.994120
[11:52:56.047] xyz_f:-0.164179, -0.036747, 1.197964  Reprojection Error: 0.137150, 0.229374 Feature: -0.028803, 0.197046, 0.979971
[11:52:56.047] xyz_f:0.050550, 0.029189, 1.273930  Reprojection Error: 0.193649, 0.274251 Feature: 0.189730, 0.280396, 0.940947
[11:52:56.047] xyz_f:0.300116, 0.014098, 1.299038  Reprojection Error: 0.037639, 0.283417 Feature: 0.428064, 0.272317, 0.861745
[11:52:56.047] xyz_f:0.344988, 0.004861, 1.296913  Reprojection Error: 0.331921, 0.307238 Feature: 0.468934, 0.262845, 0.843216
[11:52:56.047] xyz_f:-0.066955, 0.179890, 1.222455  Reprojection Error: 0.139730, 0.301758 Feature: 0.045835, 0.412639, 0.909741
[11:52:56.047] it:2 	 Success 	 new_chi2: 3.641842 	 dT = -0.028750, 0.015991, 0.041388
[11:52:56.047] xyz_f:0.040939, -0.251084, 1.255777  Reprojection Error: 0.128694, 0.200790 Feature: 0.159236, 0.000836, 0.987240
[11:52:56.047] xyz_f:0.245628, -0.468003, 1.198858  Reprojection Error: 0.178411, 0.144895 Feature: 0.348858, -0.223423, 0.910154
[11:52:56.047] xyz_f:-0.068614, -0.146340, 1.244691  Reprojection Error: 0.098926, 0.217299 Feature: 0.043544, 0.099141, 0.994120
[11:52:56.047] xyz_f:0.210939, -0.444572, 1.209232  Reprojection Error: 0.168913, 0.153955 Feature: 0.318308, -0.198106, 0.927057
[11:52:56.047] xyz_f:0.303419, -0.652142, 1.072880  Reprojection Error: 0.173477, 0.078491 Feature: 0.374003, -0.433894, 0.819670
[11:52:56.047] xyz_f:0.294362, -0.475087, 1.195109  Reprojection Error: 0.195565, 0.137679 Feature: 0.393217, -0.231237, 0.889893
[11:52:56.047] xyz_f:-0.068360, -0.139858, 1.245781  Reprojection Error: 0.098700, 0.218647 Feature: 0.043539, 0.105685, 0.993446
[11:52:56.047] xyz_f:-0.034276, 0.176433, 1.251347  Reprojection Error: 0.077774, 0.312584 Feature: 0.045835, 0.412639, 0.909741
[11:52:56.047] xyz_f:0.694537, -0.024150, 1.220926  Reprojection Error: 0.547285, 0.343294 Feature: 0.728025, 0.211018, 0.652267
[11:52:56.047] xyz_f:0.218633, -0.466097, 1.198685  Reprojection Error: 0.169463, 0.147902 Feature: 0.323657, -0.221627, 0.919852
[11:52:56.047] xyz_f:0.078220, -0.229924, 1.269463  Reprojection Error: 0.139012, 0.206439 Feature: 0.196648, 0.024817, 0.980160
[11:52:56.047] xyz_f:0.259786, -0.458184, 1.204277  Reprojection Error: 0.184365, 0.146196 Feature: 0.362972, -0.212537, 0.907237
[11:52:56.047] xyz_f:-0.593228, -0.483457, 0.456263  Reprojection Error: 0.076856, 0.305879 Feature: -0.698802, -0.430549, 0.571229
[11:52:56.047] xyz_f:0.337316, 0.014598, 1.313162  Reprojection Error: 0.239867, 0.304890 Feature: 0.428064, 0.272317, 0.861745
[11:52:56.047] xyz_f:-0.130075, -0.041238, 1.230715  Reprojection Error: 0.076299, 0.234580 Feature: -0.028803, 0.197046, 0.979971
[11:52:56.047] xyz_f:0.278136, -0.461848, 1.202416  Reprojection Error: 0.190732, 0.143333 Feature: 0.379607, -0.216557, 0.899445
[11:52:56.047] xyz_f:0.072754, -0.208375, 1.273286  Reprojection Error: 0.137533, 0.211200 Feature: 0.190877, 0.046621, 0.980506
[11:52:56.047] xyz_f:-0.066125, -0.153070, 1.244512  Reprojection Error: 0.099828, 0.216091 Feature: 0.046443, 0.092594, 0.994620
[11:52:56.047] xyz_f:0.061129, -0.218384, 1.268571  Reprojection Error: 0.134274, 0.208496 Feature: 0.179383, 0.035733, 0.983130
[11:52:56.047] xyz_f:0.086799, 0.027010, 1.298052  Reprojection Error: 0.134768, 0.277185 Feature: 0.189730, 0.280396, 0.940947
[11:52:56.047] xyz_f:0.238673, -0.456362, 1.204703  Reprojection Error: 0.177122, 0.148642 Feature: 0.343436, -0.210666, 0.915244
[11:52:56.047] xyz_f:0.052353, -0.241208, 1.261068  Reprojection Error: 0.131803, 0.203194 Feature: 0.170760, 0.011745, 0.985243
[11:52:56.047] xyz_f:0.382165, 0.005841, 1.309244  Reprojection Error: 0.264228, 0.307256 Feature: 0.468934, 0.262845, 0.843216
[11:52:56.047] xyz_f:-0.593228, -0.483457, 0.456263  Reprojection Error: 0.126368, 0.332678 Feature: -0.698802, -0.430549, 0.571229
[11:52:56.047] xyz_f:0.303419, -0.652142, 1.072880  Reprojection Error: 0.194596, 0.068834 Feature: 0.374003, -0.433894, 0.819670
[11:52:56.047] xyz_f:0.245628, -0.468003, 1.198858  Reprojection Error: 0.207301, 0.137852 Feature: 0.348858, -0.223423, 0.910154
[11:52:56.047] xyz_f:0.294362, -0.475087, 1.195109  Reprojection Error: 0.222313, 0.130375 Feature: 0.393217, -0.231237, 0.889893
[11:52:56.047] xyz_f:0.210939, -0.444572, 1.209232  Reprojection Error: 0.193047, 0.150150 Feature: 0.318308, -0.198106, 0.927057
[11:52:56.047] xyz_f:0.040939, -0.251084, 1.255777  Reprojection Error: 0.155813, 0.198574 Feature: 0.159236, 0.000836, 0.987240
[11:52:56.047] xyz_f:-0.068614, -0.146340, 1.244691  Reprojection Error: 0.128153, 0.215226 Feature: 0.043544, 0.099141, 0.994120
[11:52:56.047] xyz_f:-0.130075, -0.041238, 1.230715  Reprojection Error: 0.105793, 0.232207 Feature: -0.028803, 0.197046, 0.979971
[11:52:56.047] xyz_f:0.086799, 0.027010, 1.298052  Reprojection Error: 0.166460, 0.276356 Feature: 0.189730, 0.280396, 0.940947
[11:52:56.047] xyz_f:0.337316, 0.014598, 1.313162  Reprojection Error: 0.011795, 0.283153 Feature: 0.428064, 0.272317, 0.861745
[11:52:56.047] xyz_f:0.382165, 0.005841, 1.309244  Reprojection Error: 0.306031, 0.306524 Feature: 0.468934, 0.262845, 0.843216
[11:52:56.047] xyz_f:-0.034276, 0.176433, 1.251347  Reprojection Error: 0.112350, 0.307918 Feature: 0.045835, 0.412639, 0.909741
[11:52:56.047] it:3 	 Success 	 new_chi2: 2.989861 	 dT = -0.031628, 0.014899, 0.039785
[11:52:56.047] xyz_f:0.092944, -0.253251, 1.278762  Reprojection Error: 0.088611, 0.198890 Feature: 0.159236, 0.000836, 0.987240
[11:52:56.047] xyz_f:0.297517, -0.468062, 1.213977  Reprojection Error: 0.138219, 0.140082 Feature: 0.348858, -0.223423, 0.910154
[11:52:56.047] xyz_f:-0.018026, -0.149642, 1.271913  Reprojection Error: 0.057974, 0.217379 Feature: 0.043544, 0.099141, 0.994120
[11:52:56.047] xyz_f:0.263013, -0.444987, 1.225681  Reprojection Error: 0.128769, 0.149360 Feature: 0.318308, -0.198106, 0.927057
[11:52:56.047] xyz_f:0.352318, -0.651621, 1.085836  Reprojection Error: 0.131818, 0.070758 Feature: 0.374003, -0.433894, 0.819670
[11:52:56.047] xyz_f:0.346142, -0.474645, 1.208358  Reprojection Error: 0.155414, 0.132954 Feature: 0.393217, -0.231237, 0.889893
[11:52:56.047] xyz_f:-0.017798, -0.143157, 1.272994  Reprojection Error: 0.057808, 0.218839 Feature: 0.043539, 0.105685, 0.993446
[11:52:56.047] xyz_f:0.013218, 0.173469, 1.277309  Reprojection Error: 0.040034, 0.317771 Feature: 0.045835, 0.412639, 0.909741
[11:52:56.047] xyz_f:0.742350, -0.019607, 1.218870  Reprojection Error: 0.507098, 0.339600 Feature: 0.728025, 0.211018, 0.652267
[11:52:56.047] xyz_f:0.270517, -0.466434, 1.214842  Reprojection Error: 0.129180, 0.143008 Feature: 0.323657, -0.221627, 0.919852
[11:52:56.047] xyz_f:0.130504, -0.231705, 1.291009  Reprojection Error: 0.099542, 0.204795 Feature: 0.196648, 0.024817, 0.980160
[11:52:56.047] xyz_f:0.311771, -0.458097, 1.218851  Reprojection Error: 0.144294, 0.141575 Feature: 0.362972, -0.212537, 0.907237
[11:52:56.047] xyz_f:-0.569045, -0.492298, 0.504156  Reprojection Error: -0.094623, 0.222756 Feature: -0.698802, -0.430549, 0.571229
[11:52:56.047] xyz_f:0.388557, 0.015480, 1.324771  Reprojection Error: 0.203439, 0.304322 Feature: 0.428064, 0.272317, 0.861745
[11:52:56.047] xyz_f:-0.081058, -0.045181, 1.260330  Reprojection Error: 0.034923, 0.236921 Feature: -0.028803, 0.197046, 0.979971
[11:52:56.047] xyz_f:0.330073, -0.461572, 1.216285  Reprojection Error: 0.150668, 0.138726 Feature: 0.379607, -0.216557, 0.899445
[11:52:56.047] xyz_f:0.124967, -0.210213, 1.295044  Reprojection Error: 0.098176, 0.209869 Feature: 0.190877, 0.046621, 0.980506
[11:52:56.047] xyz_f:-0.015477, -0.156346, 1.271638  Reprojection Error: 0.058865, 0.216044 Feature: 0.046443, 0.092594, 0.994620
[11:52:56.047] xyz_f:0.113273, -0.220342, 1.290777  Reprojection Error: 0.094706, 0.207051 Feature: 0.179383, 0.035733, 0.983130
[11:52:56.047] xyz_f:0.137530, 0.025310, 1.319299  Reprojection Error: 0.097393, 0.278810 Feature: 0.189730, 0.280396, 0.940947
[11:52:56.047] xyz_f:0.290672, -0.456492, 1.220088  Reprojection Error: 0.137001, 0.143972 Feature: 0.343436, -0.210666, 0.915244
[11:52:56.047] xyz_f:0.104451, -0.243257, 1.283612  Reprojection Error: 0.091946, 0.201430 Feature: 0.170760, 0.011745, 0.985243
[11:52:56.047] xyz_f:0.433309, 0.007185, 1.319130  Reprojection Error: 0.227644, 0.306271 Feature: 0.468934, 0.262845, 0.843216
[11:52:56.047] xyz_f:-0.569045, -0.492298, 0.504156  Reprojection Error: -0.045111, 0.249555 Feature: -0.698802, -0.430549, 0.571229
[11:52:56.047] xyz_f:0.352318, -0.651621, 1.085836  Reprojection Error: 0.152937, 0.061102 Feature: 0.374003, -0.433894, 0.819670
[11:52:56.047] xyz_f:0.297517, -0.468062, 1.213977  Reprojection Error: 0.167109, 0.133038 Feature: 0.348858, -0.223423, 0.910154
[11:52:56.047] xyz_f:0.346142, -0.474645, 1.208358  Reprojection Error: 0.182162, 0.125651 Feature: 0.393217, -0.231237, 0.889893
[11:52:56.047] xyz_f:0.263013, -0.444987, 1.225681  Reprojection Error: 0.152902, 0.145555 Feature: 0.318308, -0.198106, 0.927057
[11:52:56.047] xyz_f:0.092944, -0.253251, 1.278762  Reprojection Error: 0.115730, 0.196674 Feature: 0.159236, 0.000836, 0.987240
[11:52:56.047] xyz_f:-0.018026, -0.149642, 1.271913  Reprojection Error: 0.087200, 0.215306 Feature: 0.043544, 0.099141, 0.994120
[11:52:56.047] xyz_f:-0.081058, -0.045181, 1.260330  Reprojection Error: 0.064417, 0.234548 Feature: -0.028803, 0.197046, 0.979971
[11:52:56.047] xyz_f:0.137530, 0.025310, 1.319299  Reprojection Error: 0.129085, 0.277980 Feature: 0.189730, 0.280396, 0.940947
[11:52:56.047] xyz_f:0.388557, 0.015480, 1.324771  Reprojection Error: -0.024632, 0.282585 Feature: 0.428064, 0.272317, 0.861745
[11:52:56.047] xyz_f:0.433309, 0.007185, 1.319130  Reprojection Error: 0.269447, 0.305539 Feature: 0.468934, 0.262845, 0.843216
[11:52:56.047] xyz_f:0.013218, 0.173469, 1.277309  Reprojection Error: 0.074611, 0.313104 Feature: 0.045835, 0.412639, 0.909741
[11:52:56.047] it:4 	 Success 	 new_chi2: 2.490921 	 dT = -0.032979, 0.013081, 0.035579
[11:52:56.047] xyz_f:0.141531, -0.254847, 1.297803  Reprojection Error: 0.052240, 0.197215 Feature: 0.159236, 0.000836, 0.987240
[11:52:56.047] xyz_f:0.345727, -0.467776, 1.225993  Reprojection Error: 0.101299, 0.136070 Feature: 0.348858, -0.223423, 0.910154
[11:52:56.047] xyz_f:0.029442, -0.152266, 1.294788  Reprojection Error: 0.021062, 0.217327 Feature: 0.043544, 0.099141, 0.994120
[11:52:56.047] xyz_f:0.311433, -0.445018, 1.238880  Reprojection Error: 0.091970, 0.145517 Feature: 0.318308, -0.198106, 0.927057
[11:52:56.047] xyz_f:0.397779, -0.650844, 1.096016  Reprojection Error: 0.093353, 0.064475 Feature: 0.374003, -0.433894, 0.819670
[11:52:56.047] xyz_f:0.394188, -0.473913, 1.218706  Reprojection Error: 0.118422, 0.129018 Feature: 0.393217, -0.231237, 0.889893
[11:52:56.047] xyz_f:0.029648, -0.145780, 1.295861  Reprojection Error: 0.020948, 0.218878 Feature: 0.043539, 0.105685, 0.993446
[11:52:56.047] xyz_f:0.057876, 0.171120, 1.299158  Reprojection Error: 0.005833, 0.321863 Feature: 0.045835, 0.412639, 0.909741
[11:52:56.047] xyz_f:0.786317, -0.015244, 1.215670  Reprojection Error: 0.469328, 0.336054 Feature: 0.728025, 0.211018, 0.652267
[11:52:56.047] xyz_f:0.318758, -0.466397, 1.227786  Reprojection Error: 0.092237, 0.138931 Feature: 0.323657, -0.221627, 0.919852
[11:52:56.047] xyz_f:0.179289, -0.232955, 1.308756  Reprojection Error: 0.063637, 0.203317 Feature: 0.196648, 0.024817, 0.980160
[11:52:56.047] xyz_f:0.360047, -0.457680, 1.230376  Reprojection Error: 0.107453, 0.137716 Feature: 0.362972, -0.212537, 0.907237
[11:52:56.047] xyz_f:-0.544454, -0.500102, 0.546363  Reprojection Error: -0.226825, 0.161607 Feature: -0.698802, -0.430549, 0.571229
[11:52:56.047] xyz_f:0.436063, 0.016600, 1.333670  Reprojection Error: 0.169776, 0.303560 Feature: 0.428064, 0.272317, 0.861745
[11:52:56.047] xyz_f:-0.034910, -0.048391, 1.285393  Reprojection Error: -0.002233, 0.238720 Feature: -0.028803, 0.197046, 0.979971
[11:52:56.047] xyz_f:0.378281, -0.460986, 1.227183  Reprojection Error: 0.113794, 0.134879 Feature: 0.379607, -0.216557, 0.899445
[11:52:56.047] xyz_f:0.173697, -0.211514, 1.312982  Reprojection Error: 0.062380, 0.208643 Feature: 0.190877, 0.046621, 0.980506
[11:52:56.047] xyz_f:0.032042, -0.158947, 1.294424  Reprojection Error: 0.021941, 0.215889 Feature: 0.046443, 0.092594, 0.994620
[11:52:56.047] xyz_f:0.161957, -0.221751, 1.309118  Reprojection Error: 0.058747, 0.205736 Feature: 0.179383, 0.035733, 0.983130
[11:52:56.047] xyz_f:0.184916, 0.024118, 1.336828  Reprojection Error: 0.063312, 0.279953 Feature: 0.189730, 0.280396, 0.940947
[11:52:56.047] xyz_f:0.338989, -0.456269, 1.232338  Reprojection Error: 0.100161, 0.140072 Feature: 0.343436, -0.210666, 0.915244
[11:52:56.047] xyz_f:0.153105, -0.244747, 1.302257  Reprojection Error: 0.055749, 0.199861 Feature: 0.170760, 0.011745, 0.985243
[11:52:56.047] xyz_f:0.480670, 0.008717, 1.326494  Reprojection Error: 0.193764, 0.305146 Feature: 0.468934, 0.262845, 0.843216
[11:52:56.047] xyz_f:-0.544454, -0.500102, 0.546363  Reprojection Error: -0.177313, 0.188405 Feature: -0.698802, -0.430549, 0.571229
[11:52:56.047] xyz_f:0.397779, -0.650844, 1.096016  Reprojection Error: 0.114472, 0.054819 Feature: 0.374003, -0.433894, 0.819670
[11:52:56.047] xyz_f:0.345727, -0.467776, 1.225993  Reprojection Error: 0.130189, 0.129027 Feature: 0.348858, -0.223423, 0.910154
[11:52:56.047] xyz_f:0.394188, -0.473913, 1.218706  Reprojection Error: 0.145171, 0.121714 Feature: 0.393217, -0.231237, 0.889893
[11:52:56.047] xyz_f:0.311433, -0.445018, 1.238880  Reprojection Error: 0.116104, 0.141713 Feature: 0.318308, -0.198106, 0.927057
[11:52:56.047] xyz_f:0.141531, -0.254847, 1.297803  Reprojection Error: 0.079359, 0.194999 Feature: 0.159236, 0.000836, 0.987240
[11:52:56.047] xyz_f:0.029442, -0.152266, 1.294788  Reprojection Error: 0.050289, 0.215254 Feature: 0.043544, 0.099141, 0.994120
[11:52:56.047] xyz_f:-0.034910, -0.048391, 1.285393  Reprojection Error: 0.027261, 0.236347 Feature: -0.028803, 0.197046, 0.979971
[11:52:56.047] xyz_f:0.184916, 0.024118, 1.336828  Reprojection Error: 0.095004, 0.279123 Feature: 0.189730, 0.280396, 0.940947
[11:52:56.047] xyz_f:0.436063, 0.016600, 1.333670  Reprojection Error: -0.058296, 0.281822 Feature: 0.428064, 0.272317, 0.861745
[11:52:56.047] xyz_f:0.480670, 0.008717, 1.326494  Reprojection Error: 0.235567, 0.304414 Feature: 0.468934, 0.262845, 0.843216
[11:52:56.047] xyz_f:0.057876, 0.171120, 1.299158  Reprojection Error: 0.040410, 0.317197 Feature: 0.045835, 0.412639, 0.909741
[11:52:56.047] it:5 	 Success 	 new_chi2: 2.237545 	 dT = -0.033014, 0.010824, 0.030733
[11:52:56.047] xyz_f:0.185004, -0.255966, 1.312803  Reprojection Error: 0.020371, 0.195824 Feature: 0.159236, 0.000836, 0.987240
[11:52:56.047] xyz_f:0.388665, -0.467273, 1.234939  Reprojection Error: 0.068572, 0.132899 Feature: 0.348858, -0.223423, 0.910154
[11:52:56.047] xyz_f:0.072062, -0.154280, 1.313128  Reprojection Error: -0.011077, 0.217218 Feature: 0.043544, 0.099141, 0.994120
[11:52:56.047] xyz_f:0.354589, -0.444787, 1.248840  Reprojection Error: 0.059419, 0.142467 Feature: 0.318308, -0.198106, 0.927057
[11:52:56.047] xyz_f:0.438291, -0.649936, 1.103452  Reprojection Error: 0.059085, 0.059651 Feature: 0.374003, -0.433894, 0.819670
[11:52:56.047] xyz_f:0.436936, -0.473025, 1.226215  Reprojection Error: 0.085542, 0.125912 Feature: 0.393217, -0.231237, 0.889893
[11:52:56.047] xyz_f:0.072248, -0.147792, 1.314196  Reprojection Error: -0.011148, 0.218840 Feature: 0.043539, 0.105685, 0.993446
[11:52:56.047] xyz_f:0.098041, 0.169322, 1.316690  Reprojection Error: -0.024078, 0.324982 Feature: 0.045835, 0.412639, 0.909741
[11:52:56.047] xyz_f:0.825141, -0.011252, 1.211597  Reprojection Error: 0.435109, 0.332801 Feature: 0.728025, 0.211018, 0.652267
[11:52:56.047] xyz_f:0.361751, -0.466108, 1.237531  Reprojection Error: 0.059540, 0.135706 Feature: 0.323657, -0.221627, 0.919852
[11:52:56.047] xyz_f:0.222895, -0.233773, 1.322632  Reprojection Error: 0.032105, 0.202068 Feature: 0.196648, 0.024817, 0.980160
[11:52:56.047] xyz_f:0.403028, -0.457063, 1.238896  Reprojection Error: 0.074772, 0.134659 Feature: 0.362972, -0.212537, 0.907237
[11:52:56.047] xyz_f:-0.521010, -0.506758, 0.582026  Reprojection Error: -0.328163, 0.116957 Feature: -0.698802, -0.430549, 0.571229
[11:52:56.047] xyz_f:0.478302, 0.017819, 1.339944  Reprojection Error: 0.139783, 0.302708 Feature: 0.428064, 0.272317, 0.861745
[11:52:56.047] xyz_f:0.006635, -0.050921, 1.305660  Reprojection Error: -0.034474, 0.240073 Feature: -0.028803, 0.197046, 0.979971
[11:52:56.047] xyz_f:0.421185, -0.460224, 1.235162  Reprojection Error: 0.081050, 0.131835 Feature: 0.379607, -0.216557, 0.899445
[11:52:56.047] xyz_f:0.217260, -0.212377, 1.327026  Reprojection Error: 0.030953, 0.207588 Feature: 0.190877, 0.046621, 0.980506
[11:52:56.047] xyz_f:0.074703, -0.160940, 1.312686  Reprojection Error: -0.010214, 0.215699 Feature: 0.046443, 0.092594, 0.994620
[11:52:56.047] xyz_f:0.205493, -0.222707, 1.323510  Reprojection Error: 0.027198, 0.204616 Feature: 0.179383, 0.035733, 0.983130
[11:52:56.047] xyz_f:0.227308, 0.023340, 1.350556  Reprojection Error: 0.033330, 0.280712 Feature: 0.189730, 0.280396, 0.940947
[11:52:56.047] xyz_f:0.382027, -0.455819, 1.241482  Reprojection Error: 0.067521, 0.136982 Feature: 0.343436, -0.210666, 0.915244
[11:52:56.047] xyz_f:0.196624, -0.245774, 1.316912  Reprojection Error: 0.024011, 0.198550 Feature: 0.170760, 0.011745, 0.985243
[11:52:56.047] xyz_f:0.522738, 0.010290, 1.331446  Reprojection Error: 0.163516, 0.303989 Feature: 0.468934, 0.262845, 0.843216
[11:52:56.047] xyz_f:-0.521010, -0.506758, 0.582026  Reprojection Error: -0.278651, 0.143755 Feature: -0.698802, -0.430549, 0.571229
[11:52:56.047] xyz_f:0.438291, -0.649936, 1.103452  Reprojection Error: 0.080204, 0.049994 Feature: 0.374003, -0.433894, 0.819670
[11:52:56.047] xyz_f:0.388665, -0.467273, 1.234939  Reprojection Error: 0.097462, 0.125855 Feature: 0.348858, -0.223423, 0.910154
[11:52:56.047] xyz_f:0.436936, -0.473025, 1.226215  Reprojection Error: 0.112290, 0.118609 Feature: 0.393217, -0.231237, 0.889893
[11:52:56.047] xyz_f:0.354589, -0.444787, 1.248840  Reprojection Error: 0.083552, 0.138663 Feature: 0.318308, -0.198106, 0.927057
[11:52:56.047] xyz_f:0.185004, -0.255966, 1.312803  Reprojection Error: 0.047491, 0.193608 Feature: 0.159236, 0.000836, 0.987240
[11:52:56.047] xyz_f:0.072062, -0.154280, 1.313128  Reprojection Error: 0.018150, 0.215145 Feature: 0.043544, 0.099141, 0.994120
[11:52:56.047] xyz_f:0.006635, -0.050921, 1.305660  Reprojection Error: -0.004980, 0.237700 Feature: -0.028803, 0.197046, 0.979971
[11:52:56.048] xyz_f:0.227308, 0.023340, 1.350556  Reprojection Error: 0.065022, 0.279883 Feature: 0.189730, 0.280396, 0.940947
[11:52:56.048] xyz_f:0.478302, 0.017819, 1.339944  Reprojection Error: -0.088288, 0.280971 Feature: 0.428064, 0.272317, 0.861745
[11:52:56.048] xyz_f:0.522738, 0.010290, 1.331446  Reprojection Error: 0.205319, 0.303257 Feature: 0.468934, 0.262845, 0.843216
[11:52:56.048] xyz_f:0.098041, 0.169322, 1.316690  Reprojection Error: 0.010499, 0.320316 Feature: 0.045835, 0.412639, 0.909741
[11:52:56.048] it:6 	 Success 	 new_chi2: 2.139416 	 dT = -0.032625, 0.008506, 0.026213
[11:52:56.048] xyz_f:0.222262, -0.256729, 1.324156  Reprojection Error: -0.006558, 0.194728 Feature: 0.159236, 0.000836, 0.987240
[11:52:56.048] xyz_f:0.425315, -0.466656, 1.241143  Reprojection Error: 0.040616, 0.130511 Feature: 0.348858, -0.223423, 0.910154
[11:52:56.048] xyz_f:0.108677, -0.155812, 1.327349  Reprojection Error: -0.038074, 0.217113 Feature: 0.043544, 0.099141, 0.994120
[11:52:56.048] xyz_f:0.391451, -0.444401, 1.255904  Reprojection Error: 0.031665, 0.140156 Feature: 0.318308, -0.198106, 0.927057
[11:52:56.048] xyz_f:0.472835, -0.648990, 1.108426  Reprojection Error: 0.029703, 0.056154 Feature: 0.374003, -0.433894, 0.819670
[11:52:56.048] xyz_f:0.473387, -0.472081, 1.231199  Reprojection Error: 0.057377, 0.123584 Feature: 0.393217, -0.231237, 0.889893
[11:52:56.048] xyz_f:0.108846, -0.149322, 1.328412  Reprojection Error: -0.038110, 0.218789 Feature: 0.043539, 0.105685, 0.993446
[11:52:56.048] xyz_f:0.132542, 0.167960, 1.330280  Reprojection Error: -0.049252, 0.327320 Feature: 0.045835, 0.412639, 0.909741
[11:52:56.048] xyz_f:0.857957, -0.007687, 1.206797  Reprojection Error: 0.405208, 0.329884 Feature: 0.728025, 0.211018, 0.652267
[11:52:56.048] xyz_f:0.398469, -0.465674, 1.244416  Reprojection Error: 0.031652, 0.133273 Feature: 0.323657, -0.221627, 0.919852
[11:52:56.048] xyz_f:0.260238, -0.234279, 1.333025  Reprojection Error: 0.005405, 0.201069 Feature: 0.196648, 0.024817, 0.980160
[11:52:56.048] xyz_f:0.439704, -0.456348, 1.244736  Reprojection Error: 0.046834, 0.132355 Feature: 0.362972, -0.212537, 0.907237
[11:52:56.048] xyz_f:-0.500309, -0.512367, 0.611465  Reprojection Error: -0.405117, 0.084210 Feature: -0.698802, -0.430549, 0.571229
[11:52:56.048] xyz_f:0.514290, 0.019042, 1.343886  Reprojection Error: 0.114052, 0.301837 Feature: 0.428064, 0.272317, 0.861745
[11:52:56.048] xyz_f:0.042383, -0.052899, 1.321549  Reprojection Error: -0.061462, 0.241101 Feature: -0.028803, 0.197046, 0.979971
[11:52:56.048] xyz_f:0.457782, -0.459387, 1.240543  Reprojection Error: 0.053028, 0.129544 Feature: 0.379607, -0.216557, 0.899445
[11:52:56.048] xyz_f:0.254571, -0.212921, 1.337561  Reprojection Error: 0.004347, 0.206734 Feature: 0.190877, 0.046621, 0.980506
[11:52:56.048] xyz_f:0.111351, -0.162453, 1.326840  Reprojection Error: -0.037228, 0.215531 Feature: 0.046443, 0.092594, 0.994620
[11:52:56.048] xyz_f:0.242789, -0.223331, 1.334344  Reprojection Error: 0.000508, 0.203718 Feature: 0.179383, 0.035733, 0.983130
[11:52:56.048] xyz_f:0.263613, 0.022861, 1.360850  Reprojection Error: 0.007925, 0.281195 Feature: 0.189730, 0.280396, 0.940947
[11:52:56.048] xyz_f:0.418768, -0.455247, 1.247853  Reprojection Error: 0.039649, 0.134649 Feature: 0.343436, -0.210666, 0.915244
[11:52:56.048] xyz_f:0.233913, -0.246458, 1.327971  Reprojection Error: -0.002825, 0.197510 Feature: 0.170760, 0.011745, 0.985243
[11:52:56.048] xyz_f:0.558545, 0.011814, 1.334266  Reprojection Error: 0.137509, 0.302863 Feature: 0.468934, 0.262845, 0.843216
[11:52:56.048] xyz_f:-0.500309, -0.512367, 0.611465  Reprojection Error: -0.355605, 0.111009 Feature: -0.698802, -0.430549, 0.571229
[11:52:56.048] xyz_f:0.472835, -0.648990, 1.108426  Reprojection Error: 0.050822, 0.046497 Feature: 0.374003, -0.433894, 0.819670
[11:52:56.048] xyz_f:0.425315, -0.466656, 1.241143  Reprojection Error: 0.069506, 0.123467 Feature: 0.348858, -0.223423, 0.910154
[11:52:56.048] xyz_f:0.473387, -0.472081, 1.231199  Reprojection Error: 0.084126, 0.116280 Feature: 0.393217, -0.231237, 0.889893
[11:52:56.048] xyz_f:0.391451, -0.444401, 1.255904  Reprojection Error: 0.055799, 0.136352 Feature: 0.318308, -0.198106, 0.927057
[11:52:56.048] xyz_f:0.222262, -0.256729, 1.324156  Reprojection Error: 0.020562, 0.192512 Feature: 0.159236, 0.000836, 0.987240
[11:52:56.048] xyz_f:0.108677, -0.155812, 1.327349  Reprojection Error: -0.008848, 0.215040 Feature: 0.043544, 0.099141, 0.994120
[11:52:56.048] xyz_f:0.042383, -0.052899, 1.321549  Reprojection Error: -0.031968, 0.238728 Feature: -0.028803, 0.197046, 0.979971
[11:52:56.048] xyz_f:0.263613, 0.022861, 1.360850  Reprojection Error: 0.039617, 0.280365 Feature: 0.189730, 0.280396, 0.940947
[11:52:56.048] xyz_f:0.514290, 0.019042, 1.343886  Reprojection Error: -0.114020, 0.280100 Feature: 0.428064, 0.272317, 0.861745
[11:52:56.048] xyz_f:0.558545, 0.011814, 1.334266  Reprojection Error: 0.179312, 0.302132 Feature: 0.468934, 0.262845, 0.843216
[11:52:56.048] xyz_f:0.132542, 0.167960, 1.330280  Reprojection Error: -0.014676, 0.322653 Feature: 0.045835, 0.412639, 0.909741
[11:52:56.048] it:7 	 Success 	 new_chi2: 2.133374 	 dT = -0.032315, 0.006376, 0.022488
[11:52:56.048] xyz_f:0.253477, -0.257243, 1.332448  Reprojection Error: -0.028940, 0.193907 Feature: 0.159236, 0.000836, 0.987240
[11:52:56.048] xyz_f:0.455898, -0.465989, 1.245031  Reprojection Error: 0.017122, 0.128801 Feature: 0.348858, -0.223423, 0.910154
[11:52:56.048] xyz_f:0.139404, -0.156987, 1.338113  Reprojection Error: -0.060378, 0.217048 Feature: 0.043544, 0.099141, 0.994120
[11:52:56.048] xyz_f:0.422233, -0.443930, 1.260526  Reprojection Error: 0.008387, 0.138486 Feature: 0.318308, -0.198106, 0.927057
[11:52:56.048] xyz_f:0.501584, -0.648052, 1.111301  Reprojection Error: 0.004936, 0.053795 Feature: 0.374003, -0.433894, 0.819670
[11:52:56.048] xyz_f:0.503774, -0.471135, 1.234045  Reprojection Error: 0.033640, 0.121933 Feature: 0.393217, -0.231237, 0.889893
[11:52:56.048] xyz_f:0.139558, -0.150497, 1.339173  Reprojection Error: -0.060385, 0.218763 Feature: 0.043539, 0.105685, 0.993446
[11:52:56.048] xyz_f:0.161442, 0.166917, 1.340546  Reprojection Error: -0.070048, 0.329064 Feature: 0.045835, 0.412639, 0.909741
[11:52:56.048] xyz_f:0.885014, -0.004512, 1.201325  Reprojection Error: 0.379447, 0.327270 Feature: 0.728025, 0.211018, 0.652267
[11:52:56.048] xyz_f:0.429124, -0.465163, 1.248886  Reprojection Error: 0.008252, 0.131524 Feature: 0.323657, -0.221627, 0.919852
[11:52:56.048] xyz_f:0.291506, -0.234571, 1.340491  Reprojection Error: -0.016833, 0.200308 Feature: 0.196648, 0.024817, 0.980160
[11:52:56.048] xyz_f:0.470302, -0.455598, 1.248311  Reprojection Error: 0.023334, 0.130703 Feature: 0.362972, -0.212537, 0.907237
[11:52:56.048] xyz_f:-0.482902, -0.517126, 0.635603  Reprojection Error: -0.463575, 0.059877 Feature: -0.698802, -0.430549, 0.571229
[11:52:56.048] xyz_f:0.544255, 0.020225, 1.345848  Reprojection Error: 0.092345, 0.300979 Feature: 0.428064, 0.272317, 0.861745
[11:52:56.048] xyz_f:0.072401, -0.054463, 1.333761  Reprojection Error: -0.083675, 0.241907 Feature: -0.028803, 0.197046, 0.979971
[11:52:56.048] xyz_f:0.488301, -0.458531, 1.243727  Reprojection Error: 0.029434, 0.127908 Feature: 0.379607, -0.216557, 0.899445
[11:52:56.048] xyz_f:0.285815, -0.213246, 1.345151  Reprojection Error: -0.017806, 0.206078 Feature: 0.190877, 0.046621, 0.980506
[11:52:56.048] xyz_f:0.142105, -0.163613, 1.337546  Reprojection Error: -0.059549, 0.215419 Feature: 0.046443, 0.092594, 0.994620
[11:52:56.048] xyz_f:0.274027, -0.223725, 1.342190  Reprojection Error: -0.021702, 0.203033 Feature: 0.179383, 0.035733, 0.983130
[11:52:56.048] xyz_f:0.293988, 0.022586, 1.368252  Reprojection Error: -0.013227, 0.281487 Feature: 0.189730, 0.280396, 0.940947
[11:52:56.048] xyz_f:0.449432, -0.454618, 1.251882  Reprojection Error: 0.016234, 0.132973 Feature: 0.343436, -0.210666, 0.915244
[11:52:56.048] xyz_f:0.265149, -0.246903, 1.336009  Reprojection Error: -0.025145, 0.196727 Feature: 0.170760, 0.011745, 0.985243
[11:52:56.048] xyz_f:0.588333, 0.013253, 1.335268  Reprojection Error: 0.115515, 0.301791 Feature: 0.468934, 0.262845, 0.843216
[11:52:56.048] xyz_f:-0.482902, -0.517126, 0.635603  Reprojection Error: -0.414063, 0.086675 Feature: -0.698802, -0.430549, 0.571229
[11:52:56.048] xyz_f:0.501584, -0.648052, 1.111301  Reprojection Error: 0.026056, 0.044138 Feature: 0.374003, -0.433894, 0.819670
[11:52:56.048] xyz_f:0.455898, -0.465989, 1.245031  Reprojection Error: 0.046012, 0.121757 Feature: 0.348858, -0.223423, 0.910154
[11:52:56.048] xyz_f:0.503774, -0.471135, 1.234045  Reprojection Error: 0.060389, 0.114630 Feature: 0.393217, -0.231237, 0.889893
[11:52:56.048] xyz_f:0.422233, -0.443930, 1.260526  Reprojection Error: 0.032521, 0.134681 Feature: 0.318308, -0.198106, 0.927057
[11:52:56.048] xyz_f:0.253477, -0.257243, 1.332448  Reprojection Error: -0.001821, 0.191691 Feature: 0.159236, 0.000836, 0.987240
[11:52:56.048] xyz_f:0.139404, -0.156987, 1.338113  Reprojection Error: -0.031152, 0.214975 Feature: 0.043544, 0.099141, 0.994120
[11:52:56.048] xyz_f:0.072401, -0.054463, 1.333761  Reprojection Error: -0.054181, 0.239534 Feature: -0.028803, 0.197046, 0.979971
[11:52:56.048] xyz_f:0.293988, 0.022586, 1.368252  Reprojection Error: 0.018465, 0.280657 Feature: 0.189730, 0.280396, 0.940947
[11:52:56.048] xyz_f:0.544255, 0.020225, 1.345848  Reprojection Error: -0.135727, 0.279242 Feature: 0.428064, 0.272317, 0.861745
[11:52:56.048] xyz_f:0.588333, 0.013253, 1.335268  Reprojection Error: 0.157318, 0.301060 Feature: 0.468934, 0.262845, 0.843216
[11:52:56.048] xyz_f:0.161442, 0.166917, 1.340546  Reprojection Error: -0.035471, 0.324398 Feature: 0.045835, 0.412639, 0.909741
[11:52:56.048] it:8 	 Success 	 new_chi2: 2.176196 	 dT = -0.032175, 0.004517, 0.019554
[11:52:56.048] xyz_f:0.304863, -0.256804, 1.326293  Reprojection Error: -0.068567, 0.194472 Feature: 0.159236, 0.000836, 0.987240
[11:52:56.048] xyz_f:0.507840, -0.466576, 1.242704  Reprojection Error: -0.025361, 0.129974 Feature: 0.348858, -0.223423, 0.910154
[11:52:56.048] xyz_f:0.191212, -0.155972, 1.329807  Reprojection Error: -0.099988, 0.217017 Feature: 0.043544, 0.099141, 0.994120
[11:52:56.048] xyz_f:0.474001, -0.444347, 1.257561  Reprojection Error: -0.033567, 0.139647 Feature: 0.318308, -0.198106, 0.927057
[11:52:56.048] xyz_f:0.555122, -0.648874, 1.109853  Reprojection Error: -0.043891, 0.055297 Feature: 0.374003, -0.433894, 0.819670
[11:52:56.048] xyz_f:0.555888, -0.471965, 1.232624  Reprojection Error: -0.009109, 0.123046 Feature: 0.393217, -0.231237, 0.889893
[11:52:56.048] xyz_f:0.191379, -0.149483, 1.330870  Reprojection Error: -0.099973, 0.218702 Feature: 0.043539, 0.105685, 0.993446
[11:52:56.048] xyz_f:0.214839, 0.167817, 1.332671  Reprojection Error: -0.110827, 0.327653 Feature: 0.045835, 0.412639, 0.909741
[11:52:56.048] xyz_f:0.940035, -0.007279, 1.207133  Reprojection Error: 0.337412, 0.329544 Feature: 0.728025, 0.211018, 0.652267
[11:52:56.048] xyz_f:0.481002, -0.465615, 1.246053  Reprojection Error: -0.034163, 0.132733 Feature: 0.323657, -0.221627, 0.919852
[11:52:56.048] xyz_f:0.342848, -0.234324, 1.335054  Reprojection Error: -0.056176, 0.200836 Feature: 0.196648, 0.024817, 0.980160
[11:52:56.048] xyz_f:0.522232, -0.456257, 1.246256  Reprojection Error: -0.018956, 0.131835 Feature: 0.362972, -0.212537, 0.907237
[11:52:56.048] xyz_f:-0.419530, -0.512990, 0.615652  Reprojection Error: -0.541891, 0.079525 Feature: -0.698802, -0.430549, 0.571229
[11:52:56.048] xyz_f:0.596737, 0.019189, 1.345196  Reprojection Error: 0.053135, 0.301741 Feature: 0.428064, 0.272317, 0.861745
[11:52:56.048] xyz_f:0.124823, -0.053110, 1.324195  Reprojection Error: -0.123655, 0.241181 Feature: -0.028803, 0.197046, 0.979971
[11:52:56.048] xyz_f:0.540299, -0.459282, 1.242013  Reprojection Error: -0.012974, 0.129022 Feature: 0.379607, -0.216557, 0.899445
[11:52:56.048] xyz_f:0.337178, -0.212971, 1.339606  Reprojection Error: -0.057027, 0.206528 Feature: 0.190877, 0.046621, 0.980506
[11:52:56.048] xyz_f:0.193890, -0.162612, 1.329291  Reprojection Error: -0.099165, 0.215425 Feature: 0.046443, 0.092594, 0.994620
[11:52:56.048] xyz_f:0.325394, -0.223389, 1.336423  Reprojection Error: -0.061020, 0.203501 Feature: 0.179383, 0.035733, 0.983130
[11:52:56.048] xyz_f:0.346106, 0.022818, 1.362869  Reprojection Error: -0.052317, 0.281251 Feature: 0.189730, 0.280396, 0.940947
[11:52:56.048] xyz_f:0.501303, -0.455172, 1.249433  Reprojection Error: -0.025985, 0.134128 Feature: 0.343436, -0.210666, 0.915244
[11:52:56.048] xyz_f:0.316518, -0.246523, 1.330074  Reprojection Error: -0.064652, 0.197266 Feature: 0.170760, 0.011745, 0.985243
[11:52:56.048] xyz_f:0.640971, 0.011994, 1.335450  Reprojection Error: 0.076159, 0.302735 Feature: 0.468934, 0.262845, 0.843216
[11:52:56.048] xyz_f:-0.419530, -0.512990, 0.615652  Reprojection Error: -0.492378, 0.106323 Feature: -0.698802, -0.430549, 0.571229
[11:52:56.048] xyz_f:0.555122, -0.648874, 1.109853  Reprojection Error: -0.022772, 0.045640 Feature: 0.374003, -0.433894, 0.819670
[11:52:56.048] xyz_f:0.507840, -0.466576, 1.242704  Reprojection Error: 0.003529, 0.122930 Feature: 0.348858, -0.223423, 0.910154
[11:52:56.048] xyz_f:0.555888, -0.471965, 1.232624  Reprojection Error: 0.017639, 0.115743 Feature: 0.393217, -0.231237, 0.889893
[11:52:56.048] xyz_f:0.474001, -0.444347, 1.257561  Reprojection Error: -0.009434, 0.135842 Feature: 0.318308, -0.198106, 0.927057
[11:52:56.048] xyz_f:0.304863, -0.256804, 1.326293  Reprojection Error: -0.041448, 0.192256 Feature: 0.159236, 0.000836, 0.987240
[11:52:56.048] xyz_f:0.191212, -0.155972, 1.329807  Reprojection Error: -0.070762, 0.214944 Feature: 0.043544, 0.099141, 0.994120
[11:52:56.048] xyz_f:0.124823, -0.053110, 1.324195  Reprojection Error: -0.094161, 0.238807 Feature: -0.028803, 0.197046, 0.979971
[11:52:56.048] xyz_f:0.346106, 0.022818, 1.362869  Reprojection Error: -0.020625, 0.280422 Feature: 0.189730, 0.280396, 0.940947
[11:52:56.048] xyz_f:0.596737, 0.019189, 1.345196  Reprojection Error: -0.174937, 0.280004 Feature: 0.428064, 0.272317, 0.861745
[11:52:56.048] xyz_f:0.640971, 0.011994, 1.335450  Reprojection Error: 0.117962, 0.302004 Feature: 0.468934, 0.262845, 0.843216
[11:52:56.048] xyz_f:0.214839, 0.167817, 1.332671  Reprojection Error: -0.076250, 0.322987 Feature: 0.045835, 0.412639, 0.909741
[11:52:56.048] it:9 	 Success 	 new_chi2: 2.316547 	 dT = -0.036124, 0.006692, 0.018390
[11:52:56.048] xyz_f:0.250367, -0.257219, 1.334535  Reprojection Error: -0.026312, 0.193587 Feature: 0.159236, 0.000836, 0.987240
[11:52:56.048] xyz_f:0.452822, -0.466027, 1.247346  Reprojection Error: 0.020267, 0.128136 Feature: 0.348858, -0.223423, 0.910154
[11:52:56.048] xyz_f:0.136317, -0.156930, 1.340073  Reprojection Error: -0.057922, 0.216833 Feature: 0.043544, 0.099141, 0.994120
[11:52:56.048] xyz_f:0.419147, -0.443958, 1.262803  Reprojection Error: 0.011436, 0.137872 Feature: 0.318308, -0.198106, 0.927057
[11:52:56.048] xyz_f:0.498604, -0.648103, 1.113668  Reprojection Error: 0.008572, 0.052602 Feature: 0.374003, -0.433894, 0.819670
[11:52:56.048] xyz_f:0.500709, -0.471187, 1.236414  Reprojection Error: 0.036901, 0.121244 Feature: 0.393217, -0.231237, 0.889893
[11:52:56.048] xyz_f:0.136472, -0.150439, 1.341133  Reprojection Error: -0.057932, 0.218555 Feature: 0.043539, 0.105685, 0.993446
[11:52:56.048] xyz_f:0.158450, 0.166969, 1.342530  Reprojection Error: -0.067641, 0.329210 Feature: 0.045835, 0.412639, 0.909741
[11:52:56.048] xyz_f:0.882126, -0.004679, 1.204123  Reprojection Error: 0.383557, 0.327400 Feature: 0.728025, 0.211018, 0.652267
[11:52:56.048] xyz_f:0.426044, -0.465193, 1.251171  Reprojection Error: 0.011341, 0.130868 Feature: 0.323657, -0.221627, 0.919852
[11:52:56.048] xyz_f:0.288393, -0.234559, 1.342622  Reprojection Error: -0.014170, 0.200022 Feature: 0.196648, 0.024817, 0.980160
[11:52:56.048] xyz_f:0.467225, -0.455640, 1.250642  Reprojection Error: 0.026496, 0.130057 Feature: 0.362972, -0.212537, 0.907237
[11:52:56.048] xyz_f:-0.485308, -0.516881, 0.636863  Reprojection Error: -0.461302, 0.057882 Feature: -0.698802, -0.430549, 0.571229
[11:52:56.048] xyz_f:0.541213, 0.020161, 1.348263  Reprojection Error: 0.095326, 0.301054 Feature: 0.428064, 0.272317, 0.861745
[11:52:56.048] xyz_f:0.069350, -0.054385, 1.335645  Reprojection Error: -0.081314, 0.241791 Feature: -0.028803, 0.197046, 0.979971
[11:52:56.048] xyz_f:0.485229, -0.458579, 1.246078  Reprojection Error: 0.032640, 0.127251 Feature: 0.379607, -0.216557, 0.899445
[11:52:56.048] xyz_f:0.282703, -0.213232, 1.347275  Reprojection Error: -0.015161, 0.205817 Feature: 0.190877, 0.046621, 0.980506
[11:52:56.048] xyz_f:0.139016, -0.163557, 1.339508  Reprojection Error: -0.057087, 0.215197 Feature: 0.046443, 0.092594, 0.994620
[11:52:56.048] xyz_f:0.270915, -0.223707, 1.344301  Reprojection Error: -0.019067, 0.202758 Feature: 0.179383, 0.035733, 0.983130
[11:52:56.048] xyz_f:0.290921, 0.022597, 1.370386  Reprojection Error: -0.010654, 0.281504 Feature: 0.189730, 0.280396, 0.940947
[11:52:56.048] xyz_f:0.446352, -0.454654, 1.254190  Reprojection Error: 0.019351, 0.132333 Feature: 0.343436, -0.210666, 0.915244
[11:52:56.048] xyz_f:0.262037, -0.246883, 1.338110  Reprojection Error: -0.022508, 0.196422 Feature: 0.170760, 0.011745, 0.985243
[11:52:56.048] xyz_f:0.585300, 0.013176, 1.337732  Reprojection Error: 0.118593, 0.301868 Feature: 0.468934, 0.262845, 0.843216
[11:52:56.048] xyz_f:-0.485308, -0.516881, 0.636863  Reprojection Error: -0.411790, 0.084681 Feature: -0.698802, -0.430549, 0.571229
[11:52:56.048] xyz_f:0.498604, -0.648103, 1.113668  Reprojection Error: 0.029691, 0.042945 Feature: 0.374003, -0.433894, 0.819670
[11:52:56.048] xyz_f:0.452822, -0.466027, 1.247346  Reprojection Error: 0.049157, 0.121093 Feature: 0.348858, -0.223423, 0.910154
[11:52:56.048] xyz_f:0.500709, -0.471187, 1.236414  Reprojection Error: 0.063650, 0.113940 Feature: 0.393217, -0.231237, 0.889893
[11:52:56.048] xyz_f:0.419147, -0.443958, 1.262803  Reprojection Error: 0.035569, 0.134068 Feature: 0.318308, -0.198106, 0.927057
[11:52:56.048] xyz_f:0.250367, -0.257219, 1.334535  Reprojection Error: 0.000808, 0.191371 Feature: 0.159236, 0.000836, 0.987240
[11:52:56.048] xyz_f:0.136317, -0.156930, 1.340073  Reprojection Error: -0.028696, 0.214760 Feature: 0.043544, 0.099141, 0.994120
[11:52:56.048] xyz_f:0.069350, -0.054385, 1.335645  Reprojection Error: -0.051820, 0.239418 Feature: -0.028803, 0.197046, 0.979971
[11:52:56.048] xyz_f:0.290921, 0.022597, 1.370386  Reprojection Error: 0.021038, 0.280675 Feature: 0.189730, 0.280396, 0.940947
[11:52:56.048] xyz_f:0.541213, 0.020161, 1.348263  Reprojection Error: -0.132746, 0.279316 Feature: 0.428064, 0.272317, 0.861745
[11:52:56.048] xyz_f:0.585300, 0.013176, 1.337732  Reprojection Error: 0.160397, 0.301136 Feature: 0.468934, 0.262845, 0.843216
[11:52:56.048] xyz_f:0.158450, 0.166969, 1.342530  Reprojection Error: -0.033064, 0.324544 Feature: 0.045835, 0.412639, 0.909741
[11:52:56.048] it:10 	 Success 	 new_chi2: 2.009219 	 dT = -0.029601, 0.004397, 0.018116
[11:52:56.048] xyz_f:0.281654, -0.257543, 1.340142  Reprojection Error: -0.048873, 0.193023 Feature: 0.159236, 0.000836, 0.987240
[11:52:56.048] xyz_f:0.483530, -0.465403, 1.249414  Reprojection Error: -0.003709, 0.127019 Feature: 0.348858, -0.223423, 0.910154
[11:52:56.048] xyz_f:0.167250, -0.157789, 1.347678  Reprojection Error: -0.080301, 0.216810 Feature: 0.043544, 0.099141, 0.994120
[11:52:56.048] xyz_f:0.450027, -0.443492, 1.265459  Reprojection Error: -0.012270, 0.136766 Feature: 0.318308, -0.198106, 0.927057
[11:52:56.049] xyz_f:0.527819, -0.647268, 1.114949  Reprojection Error: -0.017117, 0.051185 Feature: 0.374003, -0.433894, 0.819670
[11:52:56.049] xyz_f:0.531242, -0.470339, 1.237646  Reprojection Error: 0.012635, 0.120179 Feature: 0.393217, -0.231237, 0.889893
[11:52:56.049] xyz_f:0.167393, -0.151298, 1.348735  Reprojection Error: -0.080284, 0.218560 Feature: 0.043539, 0.105685, 0.993446
[11:52:56.049] xyz_f:0.187904, 0.166209, 1.349761  Reprojection Error: -0.088830, 0.330439 Feature: 0.045835, 0.412639, 0.909741
[11:52:56.049] xyz_f:0.909844, -0.002050, 1.198705  Reprojection Error: 0.357123, 0.325224 Feature: 0.728025, 0.211018, 0.652267
[11:52:56.049] xyz_f:0.456819, -0.464694, 1.253708  Reprojection Error: -0.012517, 0.129718 Feature: 0.323657, -0.221627, 0.919852
[11:52:56.049] xyz_f:0.319710, -0.234705, 1.347562  Reprojection Error: -0.036622, 0.199489 Feature: 0.196648, 0.024817, 0.980160
[11:52:56.049] xyz_f:0.497940, -0.454948, 1.252459  Reprojection Error: 0.002515, 0.128976 Feature: 0.362972, -0.212537, 0.907237
[11:52:56.049] xyz_f:-0.464890, -0.520680, 0.655438  Reprojection Error: -0.514050, 0.040677 Feature: -0.698802, -0.430549, 0.571229
[11:52:56.049] xyz_f:0.571392, 0.021198, 1.348789  Reprojection Error: 0.073107, 0.300291 Feature: 0.428064, 0.272317, 0.861745
[11:52:56.049] xyz_f:0.099736, -0.055560, 1.344427  Reprojection Error: -0.103576, 0.242399 Feature: -0.028803, 0.197046, 0.979971
[11:52:56.049] xyz_f:0.515875, -0.457803, 1.247580  Reprojection Error: 0.008545, 0.126186 Feature: 0.379607, -0.216557, 0.899445
[11:52:56.049] xyz_f:0.314002, -0.213405, 1.352315  Reprojection Error: -0.037524, 0.205355 Feature: 0.190877, 0.046621, 0.980506
[11:52:56.049] xyz_f:0.169970, -0.164404, 1.347066  Reprojection Error: -0.079484, 0.215141 Feature: 0.046443, 0.092594, 0.994620
[11:52:56.049] xyz_f:0.302213, -0.223935, 1.349547  Reprojection Error: -0.041475, 0.202280 Feature: 0.179383, 0.035733, 0.983130
[11:52:56.049] xyz_f:0.321517, 0.022461, 1.375288  Reprojection Error: -0.032145, 0.281662 Feature: 0.189730, 0.280396, 0.940947
[11:52:56.049] xyz_f:0.477127, -0.454061, 1.256371  Reprojection Error: -0.004527, 0.131231 Feature: 0.343436, -0.210666, 0.915244
[11:52:56.049] xyz_f:0.293337, -0.247153, 1.343512  Reprojection Error: -0.045018, 0.195881 Feature: 0.170760, 0.011745, 0.985243
[11:52:56.049] xyz_f:0.615321, 0.014419, 1.337489  Reprojection Error: 0.096068, 0.300936 Feature: 0.468934, 0.262845, 0.843216
[11:52:56.049] xyz_f:-0.464890, -0.520680, 0.655438  Reprojection Error: -0.464538, 0.067476 Feature: -0.698802, -0.430549, 0.571229
[11:52:56.049] xyz_f:0.527819, -0.647268, 1.114949  Reprojection Error: 0.004002, 0.041528 Feature: 0.374003, -0.433894, 0.819670
[11:52:56.049] xyz_f:0.483530, -0.465403, 1.249414  Reprojection Error: 0.025181, 0.119975 Feature: 0.348858, -0.223423, 0.910154
[11:52:56.049] xyz_f:0.531242, -0.470339, 1.237646  Reprojection Error: 0.039383, 0.112876 Feature: 0.393217, -0.231237, 0.889893
[11:52:56.049] xyz_f:0.450027, -0.443492, 1.265459  Reprojection Error: 0.011863, 0.132962 Feature: 0.318308, -0.198106, 0.927057
[11:52:56.049] xyz_f:0.281654, -0.257543, 1.340142  Reprojection Error: -0.021754, 0.190807 Feature: 0.159236, 0.000836, 0.987240
[11:52:56.049] xyz_f:0.167250, -0.157789, 1.347678  Reprojection Error: -0.051075, 0.214737 Feature: 0.043544, 0.099141, 0.994120
[11:52:56.049] xyz_f:0.099736, -0.055560, 1.344427  Reprojection Error: -0.074082, 0.240026 Feature: -0.028803, 0.197046, 0.979971
[11:52:56.049] xyz_f:0.321517, 0.022461, 1.375288  Reprojection Error: -0.000453, 0.280832 Feature: 0.189730, 0.280396, 0.940947
[11:52:56.049] xyz_f:0.571392, 0.021198, 1.348789  Reprojection Error: -0.154965, 0.278553 Feature: 0.428064, 0.272317, 0.861745
[11:52:56.049] xyz_f:0.615321, 0.014419, 1.337489  Reprojection Error: 0.137871, 0.300205 Feature: 0.468934, 0.262845, 0.843216
[11:52:56.049] xyz_f:0.187904, 0.166209, 1.349761  Reprojection Error: -0.054253, 0.325773 Feature: 0.045835, 0.412639, 0.909741
[11:52:56.049] it:11 	 Success 	 new_chi2: 2.068148 	 dT = -0.029648, 0.003106, 0.015597
[11:52:56.049] xyz_f:0.329739, -0.257269, 1.336013  Reprojection Error: -0.085514, 0.193412 Feature: 0.159236, 0.000836, 0.987240
[11:52:56.049] xyz_f:0.532118, -0.465945, 1.248331  Reprojection Error: -0.042967, 0.127776 Feature: 0.348858, -0.223423, 0.910154
[11:52:56.049] xyz_f:0.215637, -0.157054, 1.341828  Reprojection Error: -0.116903, 0.216773 Feature: 0.043544, 0.099141, 0.994120
[11:52:56.049] xyz_f:0.498466, -0.443898, 1.263870  Reprojection Error: -0.051043, 0.137528 Feature: 0.318308, -0.198106, 0.927057
[11:52:56.049] xyz_f:0.577693, -0.647992, 1.114542  Reprojection Error: -0.062038, 0.052045 Feature: 0.374003, -0.433894, 0.819670
[11:52:56.049] xyz_f:0.579981, -0.471074, 1.237283  Reprojection Error: -0.026884, 0.120885 Feature: 0.393217, -0.231237, 0.889893
[11:52:56.049] xyz_f:0.215791, -0.150564, 1.342888  Reprojection Error: -0.116865, 0.218502 Feature: 0.043539, 0.105685, 0.993446
[11:52:56.049] xyz_f:0.237565, 0.166858, 1.344232  Reprojection Error: -0.126347, 0.329450 Feature: 0.045835, 0.412639, 0.909741
[11:52:56.049] xyz_f:0.961014, -0.004318, 1.204064  Reprojection Error: 0.318003, 0.327100 Feature: 0.728025, 0.211018, 0.652267
[11:52:56.049] xyz_f:0.505348, -0.465128, 1.252221  Reprojection Error: -0.051704, 0.130505 Feature: 0.323657, -0.221627, 0.919852
[11:52:56.049] xyz_f:0.367770, -0.234584, 1.344007  Reprojection Error: -0.073008, 0.199860 Feature: 0.196648, 0.024817, 0.980160
[11:52:56.049] xyz_f:0.546522, -0.455548, 1.251592  Reprojection Error: -0.036577, 0.129707 Feature: 0.362972, -0.212537, 0.907237
[11:52:56.049] xyz_f:-0.407462, -0.517411, 0.640133  Reprojection Error: -0.586804, 0.054565 Feature: -0.698802, -0.430549, 0.571229
[11:52:56.049] xyz_f:0.620436, 0.020300, 1.349033  Reprojection Error: 0.036829, 0.300959 Feature: 0.428064, 0.272317, 0.861745
[11:52:56.049] xyz_f:0.148593, -0.054554, 1.337563  Reprojection Error: -0.140484, 0.241859 Feature: -0.028803, 0.197046, 0.979971
[11:52:56.049] xyz_f:0.564517, -0.458476, 1.246985  Reprojection Error: -0.030660, 0.126900 Feature: 0.379607, -0.216557, 0.899445
[11:52:56.049] xyz_f:0.362078, -0.213261, 1.348674  Reprojection Error: -0.073797, 0.205675 Feature: 0.190877, 0.046621, 0.980506
[11:52:56.049] xyz_f:0.218340, -0.163679, 1.341257  Reprojection Error: -0.116093, 0.215129 Feature: 0.046443, 0.092594, 0.994620
[11:52:56.049] xyz_f:0.350289, -0.223744, 1.345728  Reprojection Error: -0.077835, 0.202609 Feature: 0.179383, 0.035733, 0.983130
[11:52:56.049] xyz_f:0.370198, 0.022573, 1.371765  Reprojection Error: -0.068233, 0.281538 Feature: 0.189730, 0.280396, 0.940947
[11:52:56.049] xyz_f:0.525657, -0.454577, 1.255191  Reprojection Error: -0.043547, 0.131982 Feature: 0.343436, -0.210666, 0.915244
[11:52:56.049] xyz_f:0.341411, -0.246926, 1.339559  Reprojection Error: -0.081550, 0.196254 Feature: 0.170760, 0.011745, 0.985243
[11:52:56.049] xyz_f:0.664503, 0.013344, 1.338395  Reprojection Error: 0.059633, 0.301747 Feature: 0.468934, 0.262845, 0.843216
[11:52:56.049] xyz_f:-0.407462, -0.517411, 0.640133  Reprojection Error: -0.537292, 0.081363 Feature: -0.698802, -0.430549, 0.571229
[11:52:56.049] xyz_f:0.577693, -0.647992, 1.114542  Reprojection Error: -0.040919, 0.042389 Feature: 0.374003, -0.433894, 0.819670
[11:52:56.049] xyz_f:0.532118, -0.465945, 1.248331  Reprojection Error: -0.014077, 0.120732 Feature: 0.348858, -0.223423, 0.910154
[11:52:56.049] xyz_f:0.579981, -0.471074, 1.237283  Reprojection Error: -0.000135, 0.113581 Feature: 0.393217, -0.231237, 0.889893
[11:52:56.049] xyz_f:0.498466, -0.443898, 1.263870  Reprojection Error: -0.026909, 0.133724 Feature: 0.318308, -0.198106, 0.927057
[11:52:56.049] xyz_f:0.329739, -0.257269, 1.336013  Reprojection Error: -0.058395, 0.191196 Feature: 0.159236, 0.000836, 0.987240
[11:52:56.049] xyz_f:0.215637, -0.157054, 1.341828  Reprojection Error: -0.087676, 0.214700 Feature: 0.043544, 0.099141, 0.994120
[11:52:56.049] xyz_f:0.148593, -0.054554, 1.337563  Reprojection Error: -0.110990, 0.239486 Feature: -0.028803, 0.197046, 0.979971
[11:52:56.049] xyz_f:0.370198, 0.022573, 1.371765  Reprojection Error: -0.036541, 0.280709 Feature: 0.189730, 0.280396, 0.940947
[11:52:56.049] xyz_f:0.620436, 0.020300, 1.349033  Reprojection Error: -0.191243, 0.279222 Feature: 0.428064, 0.272317, 0.861745
[11:52:56.049] xyz_f:0.664503, 0.013344, 1.338395  Reprojection Error: 0.101436, 0.301016 Feature: 0.468934, 0.262845, 0.843216
[11:52:56.049] xyz_f:0.237565, 0.166858, 1.344232  Reprojection Error: -0.091770, 0.324783 Feature: 0.045835, 0.412639, 0.909741
[11:52:56.049] it:12 	 Success 	 new_chi2: 1.606083 	 dT = -0.021342, 0.009255, 0.009113
[11:52:56.049] xyz_f:0.309244, -0.257080, 1.326052  Reprojection Error: -0.071912, 0.194716 Feature: 0.159236, 0.000836, 0.987240
[11:52:56.049] xyz_f:0.511894, -0.466234, 1.240153  Reprojection Error: -0.029471, 0.130470 Feature: 0.348858, -0.223423, 0.910154
[11:52:56.049] xyz_f:0.195332, -0.156596, 1.330864  Reprojection Error: -0.102970, 0.217393 Feature: 0.043544, 0.099141, 0.994120
[11:52:56.049] xyz_f:0.478159, -0.444107, 1.255395  Reprojection Error: -0.037529, 0.140066 Feature: 0.318308, -0.198106, 0.927057
[11:52:56.049] xyz_f:0.558215, -0.648388, 1.106768  Reprojection Error: -0.048080, 0.056488 Feature: 0.374003, -0.433894, 0.819670
[11:52:56.049] xyz_f:0.559841, -0.471475, 1.229526  Reprojection Error: -0.013460, 0.123613 Feature: 0.393217, -0.231237, 0.889893
[11:52:56.049] xyz_f:0.195492, -0.150106, 1.331924  Reprojection Error: -0.102947, 0.219081 Feature: 0.043539, 0.105685, 0.993446
[11:52:56.049] xyz_f:0.218002, 0.167264, 1.333464  Reprojection Error: -0.113103, 0.328143 Feature: 0.045835, 0.412639, 0.909741
[11:52:56.049] xyz_f:0.942251, -0.005619, 1.199667  Reprojection Error: 0.330718, 0.328198 Feature: 0.728025, 0.211018, 0.652267
[11:52:56.049] xyz_f:0.485094, -0.465354, 1.243807  Reprojection Error: -0.038150, 0.133198 Feature: 0.323657, -0.221627, 0.919852
[11:52:56.049] xyz_f:0.347257, -0.234485, 1.334381  Reprojection Error: -0.059609, 0.201045 Feature: 0.196648, 0.024817, 0.980160
[11:52:56.049] xyz_f:0.526294, -0.455871, 1.243541  Reprojection Error: -0.023137, 0.132323 Feature: 0.362972, -0.212537, 0.907237
[11:52:56.049] xyz_f:-0.422414, -0.515490, 0.623707  Reprojection Error: -0.546067, 0.072771 Feature: -0.698802, -0.430549, 0.571229
[11:52:56.049] xyz_f:0.600469, 0.019803, 1.341633  Reprojection Error: 0.049175, 0.301246 Feature: 0.428064, 0.272317, 0.861745
[11:52:56.049] xyz_f:0.128570, -0.053938, 1.326010  Reprojection Error: -0.126352, 0.241750 Feature: -0.028803, 0.197046, 0.979971
[11:52:56.049] xyz_f:0.544321, -0.458841, 1.239092  Reprojection Error: -0.017245, 0.129537 Feature: 0.379607, -0.216557, 0.899445
[11:52:56.049] xyz_f:0.341574, -0.213149, 1.338998  Reprojection Error: -0.060424, 0.206733 Feature: 0.190877, 0.046621, 0.980506
[11:52:56.049] xyz_f:0.198024, -0.163228, 1.330316  Reprojection Error: -0.102161, 0.215793 Feature: 0.046443, 0.092594, 0.994620
[11:52:56.049] xyz_f:0.329787, -0.223603, 1.335948  Reprojection Error: -0.064394, 0.203721 Feature: 0.179383, 0.035733, 0.983130
[11:52:56.049] xyz_f:0.350046, 0.022666, 1.362162  Reprojection Error: -0.055342, 0.281354 Feature: 0.189730, 0.280396, 0.940947
[11:52:56.049] xyz_f:0.505400, -0.454850, 1.246955  Reprojection Error: -0.030067, 0.134593 Feature: 0.343436, -0.210666, 0.915244
[11:52:56.049] xyz_f:0.320909, -0.246764, 1.329701  Reprojection Error: -0.068021, 0.197499 Feature: 0.170760, 0.011745, 0.985243
[11:52:56.049] xyz_f:0.644611, 0.012743, 1.331384  Reprojection Error: 0.071959, 0.302146 Feature: 0.468934, 0.262845, 0.843216
[11:52:56.049] xyz_f:-0.422414, -0.515490, 0.623707  Reprojection Error: -0.496555, 0.099569 Feature: -0.698802, -0.430549, 0.571229
[11:52:56.049] xyz_f:0.558215, -0.648388, 1.106768  Reprojection Error: -0.026961, 0.046831 Feature: 0.374003, -0.433894, 0.819670
[11:52:56.049] xyz_f:0.511894, -0.466234, 1.240153  Reprojection Error: -0.000581, 0.123427 Feature: 0.348858, -0.223423, 0.910154
[11:52:56.049] xyz_f:0.559841, -0.471475, 1.229526  Reprojection Error: 0.013288, 0.116310 Feature: 0.393217, -0.231237, 0.889893
[11:52:56.049] xyz_f:0.478159, -0.444107, 1.255395  Reprojection Error: -0.013396, 0.136261 Feature: 0.318308, -0.198106, 0.927057
[11:52:56.049] xyz_f:0.309244, -0.257080, 1.326052  Reprojection Error: -0.044793, 0.192500 Feature: 0.159236, 0.000836, 0.987240
[11:52:56.049] xyz_f:0.195332, -0.156596, 1.330864  Reprojection Error: -0.073743, 0.215320 Feature: 0.043544, 0.099141, 0.994120
[11:52:56.049] xyz_f:0.128570, -0.053938, 1.326010  Reprojection Error: -0.096858, 0.239376 Feature: -0.028803, 0.197046, 0.979971
[11:52:56.049] xyz_f:0.350046, 0.022666, 1.362162  Reprojection Error: -0.023650, 0.280524 Feature: 0.189730, 0.280396, 0.940947
[11:52:56.049] xyz_f:0.600469, 0.019803, 1.341633  Reprojection Error: -0.178897, 0.279509 Feature: 0.428064, 0.272317, 0.861745
[11:52:56.049] xyz_f:0.644611, 0.012743, 1.331384  Reprojection Error: 0.113762, 0.301414 Feature: 0.468934, 0.262845, 0.843216
[11:52:56.049] xyz_f:0.218002, 0.167264, 1.333464  Reprojection Error: -0.078526, 0.323477 Feature: 0.045835, 0.412639, 0.909741
[11:52:56.049] it:13 	 Success 	 new_chi2: 1.597457 	 dT = -0.022154, 0.008716, 0.010552
[11:52:56.049] xyz_f:0.290291, -0.256834, 1.316419  Reprojection Error: -0.059222, 0.195948 Feature: 0.159236, 0.000836, 0.987240
[11:52:56.049] xyz_f:0.493235, -0.466542, 1.232586  Reprojection Error: -0.016867, 0.133028 Feature: 0.348858, -0.223423, 0.910154
[11:52:56.049] xyz_f:0.176612, -0.156040, 1.320070  Reprojection Error: -0.089988, 0.217933 Feature: 0.043544, 0.099141, 0.994120
[11:52:56.049] xyz_f:0.459406, -0.444323, 1.247484  Reprojection Error: -0.024913, 0.142482 Feature: 0.318308, -0.198106, 0.927057
[11:52:56.049] xyz_f:0.540416, -0.648824, 1.099678  Reprojection Error: -0.035146, 0.060661 Feature: 0.374003, -0.433894, 0.819670
[11:52:56.049] xyz_f:0.541273, -0.471915, 1.222449  Reprojection Error: -0.000907, 0.126193 Feature: 0.393217, -0.231237, 0.889893
[11:52:56.049] xyz_f:0.176778, -0.149550, 1.321133  Reprojection Error: -0.089981, 0.219580 Feature: 0.043539, 0.105685, 0.993446
[11:52:56.049] xyz_f:0.200138, 0.167757, 1.322906  Reprojection Error: -0.100904, 0.326769 Feature: 0.045835, 0.412639, 0.909741
[11:52:56.049] xyz_f:0.925238, -0.007105, 1.196495  Reprojection Error: 0.342855, 0.329453 Feature: 0.728025, 0.211018, 0.652267
[11:52:56.049] xyz_f:0.466401, -0.465589, 1.235967  Reprojection Error: -0.025500, 0.135762 Feature: 0.323657, -0.221627, 0.919852
[11:52:56.049] xyz_f:0.328279, -0.234343, 1.325134  Reprojection Error: -0.047104, 0.202164 Feature: 0.196648, 0.024817, 0.980160
[11:52:56.049] xyz_f:0.507627, -0.456218, 1.236121  Reprojection Error: -0.010577, 0.134805 Feature: 0.362972, -0.212537, 0.907237
[11:52:56.049] xyz_f:-0.434873, -0.513255, 0.606649  Reprojection Error: -0.506486, 0.092326 Feature: -0.698802, -0.430549, 0.571229
[11:52:56.049] xyz_f:0.582098, 0.019253, 1.334971  Reprojection Error: 0.060702, 0.301585 Feature: 0.428064, 0.272317, 0.861745
[11:52:56.049] xyz_f:0.110183, -0.053199, 1.314538  Reprojection Error: -0.113211, 0.241543 Feature: -0.028803, 0.197046, 0.979971
[11:52:56.049] xyz_f:0.525691, -0.459237, 1.231856  Reprojection Error: -0.004702, 0.132034 Feature: 0.379607, -0.216557, 0.899445
[11:52:56.049] xyz_f:0.322608, -0.212991, 1.329693  Reprojection Error: -0.047946, 0.207729 Feature: 0.190877, 0.046621, 0.980506
[11:52:56.049] xyz_f:0.179291, -0.162678, 1.319550  Reprojection Error: -0.089178, 0.216378 Feature: 0.046443, 0.092594, 0.994620
[11:52:56.049] xyz_f:0.310824, -0.223414, 1.326524  Reprojection Error: -0.051853, 0.204767 Feature: 0.179383, 0.035733, 0.983130
[11:52:56.049] xyz_f:0.331488, 0.022800, 1.352946  Reprojection Error: -0.043375, 0.281142 Feature: 0.189730, 0.280396, 0.940947
[11:52:56.049] xyz_f:0.486702, -0.455140, 1.239322  Reprojection Error: -0.017477, 0.137074 Feature: 0.343436, -0.210666, 0.915244
[11:52:56.049] xyz_f:0.301947, -0.246550, 1.320186  Reprojection Error: -0.055397, 0.198675 Feature: 0.170760, 0.011745, 0.985243
[11:52:56.049] xyz_f:0.626323, 0.012072, 1.325171  Reprojection Error: 0.083490, 0.302607 Feature: 0.468934, 0.262845, 0.843216
[11:52:56.049] xyz_f:-0.434873, -0.513255, 0.606649  Reprojection Error: -0.456974, 0.119125 Feature: -0.698802, -0.430549, 0.571229
[11:52:56.049] xyz_f:0.540416, -0.648824, 1.099678  Reprojection Error: -0.014027, 0.051005 Feature: 0.374003, -0.433894, 0.819670
[11:52:56.049] xyz_f:0.493235, -0.466542, 1.232586  Reprojection Error: 0.012023, 0.125984 Feature: 0.348858, -0.223423, 0.910154
[11:52:56.049] xyz_f:0.541273, -0.471915, 1.222449  Reprojection Error: 0.025841, 0.118889 Feature: 0.393217, -0.231237, 0.889893
[11:52:56.049] xyz_f:0.459406, -0.444323, 1.247484  Reprojection Error: -0.000779, 0.138678 Feature: 0.318308, -0.198106, 0.927057
[11:52:56.049] xyz_f:0.290291, -0.256834, 1.316419  Reprojection Error: -0.032103, 0.193732 Feature: 0.159236, 0.000836, 0.987240
[11:52:56.049] xyz_f:0.176612, -0.156040, 1.320070  Reprojection Error: -0.060762, 0.215860 Feature: 0.043544, 0.099141, 0.994120
[11:52:56.049] xyz_f:0.110183, -0.053199, 1.314538  Reprojection Error: -0.083717, 0.239170 Feature: -0.028803, 0.197046, 0.979971
[11:52:56.049] xyz_f:0.331488, 0.022800, 1.352946  Reprojection Error: -0.011683, 0.280312 Feature: 0.189730, 0.280396, 0.940947
[11:52:56.049] xyz_f:0.582098, 0.019253, 1.334971  Reprojection Error: -0.167369, 0.279848 Feature: 0.428064, 0.272317, 0.861745
[11:52:56.049] xyz_f:0.626323, 0.012072, 1.325171  Reprojection Error: 0.125293, 0.301876 Feature: 0.468934, 0.262845, 0.843216
[11:52:56.049] xyz_f:0.200138, 0.167757, 1.322906  Reprojection Error: -0.066328, 0.322103 Feature: 0.045835, 0.412639, 0.909741
[11:52:56.049] it:14 	 Success 	 new_chi2: 1.589658 	 dT = -0.023256, 0.008840, 0.012320
[11:52:56.049] xyz_f:0.270421, -0.256511, 1.306372  Reprojection Error: -0.045707, 0.197201 Feature: 0.159236, 0.000836, 0.987240
[11:52:56.049] xyz_f:0.473678, -0.466866, 1.224956  Reprojection Error: -0.003393, 0.135650 Feature: 0.348858, -0.223423, 0.910154
[11:52:56.049] xyz_f:0.157028, -0.155354, 1.308672  Reprojection Error: -0.076189, 0.218439 Feature: 0.043544, 0.099141, 0.994120
[11:52:56.049] xyz_f:0.439745, -0.444539, 1.239451  Reprojection Error: -0.011437, 0.144965 Feature: 0.318308, -0.198106, 0.927057
[11:52:56.049] xyz_f:0.521855, -0.649301, 1.092616  Reprojection Error: -0.021335, 0.064911 Feature: 0.374003, -0.433894, 0.819670
[11:52:56.049] xyz_f:0.521815, -0.472392, 1.215391  Reprojection Error: 0.012531, 0.128827 Feature: 0.393217, -0.231237, 0.889893
[11:52:56.050] xyz_f:0.157202, -0.148865, 1.309737  Reprojection Error: -0.076199, 0.220043 Feature: 0.043539, 0.105685, 0.993446
[11:52:56.050] xyz_f:0.181551, 0.168366, 1.311794  Reprojection Error: -0.088017, 0.325231 Feature: 0.045835, 0.412639, 0.909741
[11:52:56.050] xyz_f:0.907543, -0.008810, 1.194017  Reprojection Error: 0.356070, 0.330893 Feature: 0.728025, 0.211018, 0.652267
[11:52:56.050] xyz_f:0.446809, -0.465827, 1.228018  Reprojection Error: -0.011988, 0.138395 Feature: 0.323657, -0.221627, 0.919852
[11:52:56.050] xyz_f:0.308374, -0.234141, 1.315540  Reprojection Error: -0.033780, 0.203300 Feature: 0.196648, 0.024817, 0.980160
[11:52:56.050] xyz_f:0.488060, -0.456588, 1.228662  Reprojection Error: 0.002856, 0.137346 Feature: 0.362972, -0.212537, 0.907237
[11:52:56.050] xyz_f:-0.447061, -0.510632, 0.588019  Reprojection Error: -0.463048, 0.114670 Feature: -0.698802, -0.430549, 0.571229
[11:52:56.050] xyz_f:0.562865, 0.018644, 1.328400  Reprojection Error: 0.073024, 0.301971 Feature: 0.428064, 0.272317, 0.861745
[11:52:56.050] xyz_f:0.090998, -0.052303, 1.302352  Reprojection Error: -0.099264, 0.241233 Feature: -0.028803, 0.197046, 0.979971
[11:52:56.050] xyz_f:0.506163, -0.459665, 1.224612  Reprojection Error: 0.008720, 0.134589 Feature: 0.379607, -0.216557, 0.899445
[11:52:56.050] xyz_f:0.302716, -0.212771, 1.320031  Reprojection Error: -0.034653, 0.208734 Feature: 0.190877, 0.046621, 0.980506
[11:52:56.050] xyz_f:0.159692, -0.162002, 1.308184  Reprojection Error: -0.075377, 0.216932 Feature: 0.046443, 0.092594, 0.994620
[11:52:56.050] xyz_f:0.290938, -0.223156, 1.316722  Reprojection Error: -0.038495, 0.205825 Feature: 0.179383, 0.035733, 0.983130
[11:52:56.050] xyz_f:0.312071, 0.022991, 1.343392  Reprojection Error: -0.030664, 0.280879 Feature: 0.189730, 0.280396, 0.940947
[11:52:56.050] xyz_f:0.467102, -0.455443, 1.231615  Reprojection Error: -0.004020, 0.139619 Feature: 0.343436, -0.210666, 0.915244
[11:52:56.050] xyz_f:0.282063, -0.246264, 1.310278  Reprojection Error: -0.041952, 0.199869 Feature: 0.170760, 0.011745, 0.985243
[11:52:56.050] xyz_f:0.607180, 0.011322, 1.319128  Reprojection Error: 0.095836, 0.303134 Feature: 0.468934, 0.262845, 0.843216
[11:52:56.050] xyz_f:-0.447061, -0.510632, 0.588019  Reprojection Error: -0.413536, 0.141469 Feature: -0.698802, -0.430549, 0.571229
[11:52:56.050] xyz_f:0.521855, -0.649301, 1.092616  Reprojection Error: -0.000216, 0.055254 Feature: 0.374003, -0.433894, 0.819670
[11:52:56.050] xyz_f:0.473678, -0.466866, 1.224956  Reprojection Error: 0.025497, 0.128607 Feature: 0.348858, -0.223423, 0.910154
[11:52:56.050] xyz_f:0.521815, -0.472392, 1.215391  Reprojection Error: 0.039279, 0.121524 Feature: 0.393217, -0.231237, 0.889893
[11:52:56.050] xyz_f:0.439745, -0.444539, 1.239451  Reprojection Error: 0.012697, 0.141161 Feature: 0.318308, -0.198106, 0.927057
[11:52:56.050] xyz_f:0.270421, -0.256511, 1.306372  Reprojection Error: -0.018588, 0.194985 Feature: 0.159236, 0.000836, 0.987240
[11:52:56.050] xyz_f:0.157028, -0.155354, 1.308672  Reprojection Error: -0.046962, 0.216366 Feature: 0.043544, 0.099141, 0.994120
[11:52:56.050] xyz_f:0.090998, -0.052303, 1.302352  Reprojection Error: -0.069770, 0.238860 Feature: -0.028803, 0.197046, 0.979971
[11:52:56.050] xyz_f:0.312071, 0.022991, 1.343392  Reprojection Error: 0.001028, 0.280050 Feature: 0.189730, 0.280396, 0.940947
[11:52:56.050] xyz_f:0.562865, 0.018644, 1.328400  Reprojection Error: -0.155048, 0.280234 Feature: 0.428064, 0.272317, 0.861745
[11:52:56.050] xyz_f:0.607180, 0.011322, 1.319128  Reprojection Error: 0.137639, 0.302402 Feature: 0.468934, 0.262845, 0.843216
[11:52:56.050] xyz_f:0.181551, 0.168366, 1.311794  Reprojection Error: -0.053440, 0.320564 Feature: 0.045835, 0.412639, 0.909741
[11:52:56.050] it:15 	 Success 	 new_chi2: 1.581430 	 dT = -0.024502, 0.009344, 0.014426
[11:52:56.050] xyz_f:0.248496, -0.256083, 1.295430  Reprojection Error: -0.030531, 0.198529 Feature: 0.159236, 0.000836, 0.987240
[11:52:56.050] xyz_f:0.452081, -0.467197, 1.216849  Reprojection Error: 0.011778, 0.138462 Feature: 0.348858, -0.223423, 0.910154
[11:52:56.050] xyz_f:0.135460, -0.154504, 1.296153  Reprojection Error: -0.060708, 0.218929 Feature: 0.043544, 0.099141, 0.994120
[11:52:56.050] xyz_f:0.418034, -0.444744, 1.230870  Reprojection Error: 0.003729, 0.147632 Feature: 0.318308, -0.198106, 0.927057
[11:52:56.050] xyz_f:0.501416, -0.649814, 1.085188  Reprojection Error: -0.005770, 0.069451 Feature: 0.374003, -0.433894, 0.819670
[11:52:56.050] xyz_f:0.500326, -0.472904, 1.207955  Reprojection Error: 0.027677, 0.131643 Feature: 0.393217, -0.231237, 0.889893
[11:52:56.050] xyz_f:0.135644, -0.148015, 1.297220  Reprojection Error: -0.060738, 0.220484 Feature: 0.043539, 0.105685, 0.993446
[11:52:56.050] xyz_f:0.161146, 0.169123, 1.299624  Reprojection Error: -0.073612, 0.323447 Feature: 0.045835, 0.412639, 0.909741
[11:52:56.050] xyz_f:0.888042, -0.010765, 1.191970  Reprojection Error: 0.371125, 0.332546 Feature: 0.728025, 0.211018, 0.652267
[11:52:56.050] xyz_f:0.425176, -0.466058, 1.219536  Reprojection Error: 0.003220, 0.141222 Feature: 0.323657, -0.221627, 0.919852
[11:52:56.050] xyz_f:0.286401, -0.233854, 1.305126  Reprojection Error: -0.018814, 0.204501 Feature: 0.196648, 0.024817, 0.980160
[11:52:56.050] xyz_f:0.466449, -0.456974, 1.220755  Reprojection Error: 0.017986, 0.140069 Feature: 0.362972, -0.212537, 0.907237
[11:52:56.050] xyz_f:-0.459850, -0.507542, 0.567143  Reprojection Error: -0.412512, 0.141187 Feature: -0.698802, -0.430549, 0.571229
[11:52:56.050] xyz_f:0.541630, 0.017979, 1.321538  Reprojection Error: 0.086892, 0.302402 Feature: 0.428064, 0.272317, 0.861745
[11:52:56.050] xyz_f:0.069911, -0.051206, 1.288915  Reprojection Error: -0.083632, 0.240801 Feature: -0.028803, 0.197046, 0.979971
[11:52:56.050] xyz_f:0.484595, -0.460118, 1.216958  Reprojection Error: 0.023843, 0.137322 Feature: 0.379607, -0.216557, 0.899445
[11:52:56.050] xyz_f:0.280761, -0.212463, 1.309539  Reprojection Error: -0.019725, 0.209791 Feature: 0.190877, 0.046621, 0.980506
[11:52:56.050] xyz_f:0.138106, -0.161161, 1.295702  Reprojection Error: -0.059894, 0.217476 Feature: 0.046443, 0.092594, 0.994620
[11:52:56.050] xyz_f:0.268991, -0.222804, 1.306065  Reprojection Error: -0.023494, 0.206939 Feature: 0.179383, 0.035733, 0.983130
[11:52:56.050] xyz_f:0.290670, 0.023263, 1.333034  Reprojection Error: -0.016414, 0.280543 Feature: 0.189730, 0.280396, 0.940947
[11:52:56.050] xyz_f:0.445456, -0.455750, 1.223415  Reprojection Error: 0.011131, 0.142348 Feature: 0.343436, -0.210666, 0.915244
[11:52:56.050] xyz_f:0.260121, -0.245880, 1.299498  Reprojection Error: -0.026852, 0.201132 Feature: 0.170760, 0.011745, 0.985243
[11:52:56.050] xyz_f:0.586042, 0.010492, 1.312884  Reprojection Error: 0.109747, 0.303726 Feature: 0.468934, 0.262845, 0.843216
[11:52:56.050] xyz_f:-0.459850, -0.507542, 0.567143  Reprojection Error: -0.363000, 0.167986 Feature: -0.698802, -0.430549, 0.571229
[11:52:56.050] xyz_f:0.501416, -0.649814, 1.085188  Reprojection Error: 0.015349, 0.059795 Feature: 0.374003, -0.433894, 0.819670
[11:52:56.050] xyz_f:0.452081, -0.467197, 1.216849  Reprojection Error: 0.040668, 0.131418 Feature: 0.348858, -0.223423, 0.910154
[11:52:56.050] xyz_f:0.500326, -0.472904, 1.207955  Reprojection Error: 0.054426, 0.124340 Feature: 0.393217, -0.231237, 0.889893
[11:52:56.050] xyz_f:0.418034, -0.444744, 1.230870  Reprojection Error: 0.027862, 0.143827 Feature: 0.318308, -0.198106, 0.927057
[11:52:56.050] xyz_f:0.248496, -0.256083, 1.295430  Reprojection Error: -0.003412, 0.196313 Feature: 0.159236, 0.000836, 0.987240
[11:52:56.050] xyz_f:0.135460, -0.154504, 1.296153  Reprojection Error: -0.031482, 0.216856 Feature: 0.043544, 0.099141, 0.994120
[11:52:56.050] xyz_f:0.069911, -0.051206, 1.288915  Reprojection Error: -0.054138, 0.238428 Feature: -0.028803, 0.197046, 0.979971
[11:52:56.050] xyz_f:0.290670, 0.023263, 1.333034  Reprojection Error: 0.015278, 0.279713 Feature: 0.189730, 0.280396, 0.940947
[11:52:56.050] xyz_f:0.541630, 0.017979, 1.321538  Reprojection Error: -0.141180, 0.280665 Feature: 0.428064, 0.272317, 0.861745
[11:52:56.050] xyz_f:0.586042, 0.010492, 1.312884  Reprojection Error: 0.151550, 0.302994 Feature: 0.468934, 0.262845, 0.843216
[11:52:56.050] xyz_f:0.161146, 0.169123, 1.299624  Reprojection Error: -0.039035, 0.318780 Feature: 0.045835, 0.412639, 0.909741
[11:52:56.050] it:16 	 Success 	 new_chi2: 1.573854 	 dT = -0.025774, 0.010143, 0.016878
[11:52:56.050] xyz_f:0.223690, -0.255514, 1.283165  Reprojection Error: -0.013033, 0.199975 Feature: 0.159236, 0.000836, 0.987240
[11:52:56.050] xyz_f:0.427605, -0.467519, 1.207905  Reprojection Error: 0.029291, 0.141571 Feature: 0.348858, -0.223423, 0.910154
[11:52:56.050] xyz_f:0.111102, -0.153442, 1.282048  Reprojection Error: -0.042859, 0.219413 Feature: 0.043544, 0.099141, 0.994120
[11:52:56.050] xyz_f:0.393432, -0.444916, 1.221370  Reprojection Error: 0.021231, 0.150583 Feature: 0.318308, -0.198106, 0.927057
[11:52:56.050] xyz_f:0.478282, -0.650354, 1.077059  Reprojection Error: 0.012222, 0.074472 Feature: 0.374003, -0.433894, 0.819670
[11:52:56.050] xyz_f:0.475963, -0.473436, 1.199799  Reprojection Error: 0.045168, 0.134748 Feature: 0.393217, -0.231237, 0.889893
[11:52:56.050] xyz_f:0.111297, -0.146954, 1.283118  Reprojection Error: -0.042913, 0.220911 Feature: 0.043539, 0.105685, 0.993446
[11:52:56.050] xyz_f:0.138142, 0.170069, 1.285949  Reprojection Error: -0.057041, 0.321327 Feature: 0.045835, 0.412639, 0.909741
[11:52:56.050] xyz_f:0.865903, -0.012996, 1.190154  Reprojection Error: 0.388590, 0.334434 Feature: 0.728025, 0.211018, 0.652267
[11:52:56.050] xyz_f:0.400665, -0.466262, 1.210153  Reprojection Error: 0.020772, 0.144354 Feature: 0.323657, -0.221627, 0.919852
[11:52:56.050] xyz_f:0.261528, -0.233451, 1.293478  Reprojection Error: -0.001561, 0.205802 Feature: 0.196648, 0.024817, 0.980160
[11:52:56.050] xyz_f:0.441951, -0.457358, 1.212046  Reprojection Error: 0.035452, 0.143076 Feature: 0.362972, -0.212537, 0.907237
[11:52:56.050] xyz_f:-0.473781, -0.503902, 0.543418  Reprojection Error: -0.351476, 0.173561 Feature: -0.698802, -0.430549, 0.571229
[11:52:56.050] xyz_f:0.517554, 0.017266, 1.314058  Reprojection Error: 0.102881, 0.302867 Feature: 0.428064, 0.272317, 0.861745
[11:52:56.050] xyz_f:0.046131, -0.049860, 1.273747  Reprojection Error: -0.065608, 0.240217 Feature: -0.028803, 0.197046, 0.979971
[11:52:56.050] xyz_f:0.460143, -0.460581, 1.208544  Reprojection Error: 0.041304, 0.140337 Feature: 0.379607, -0.216557, 0.899445
[11:52:56.050] xyz_f:0.255911, -0.212035, 1.297799  Reprojection Error: -0.002516, 0.210929 Feature: 0.190877, 0.046621, 0.980506
[11:52:56.050] xyz_f:0.113726, -0.160111, 1.281640  Reprojection Error: -0.042040, 0.218021 Feature: 0.046443, 0.092594, 0.994620
[11:52:56.050] xyz_f:0.244154, -0.222325, 1.294134  Reprojection Error: -0.006201, 0.208141 Feature: 0.179383, 0.035733, 0.983130
[11:52:56.050] xyz_f:0.266465, 0.023646, 1.321461  Reprojection Error: -0.000007, 0.280100 Feature: 0.189730, 0.280396, 0.940947
[11:52:56.050] xyz_f:0.420923, -0.456042, 1.214363  Reprojection Error: 0.028619, 0.145365 Feature: 0.343436, -0.210666, 0.915244
[11:52:56.050] xyz_f:0.235292, -0.245362, 1.287422  Reprojection Error: -0.009444, 0.202504 Feature: 0.170760, 0.011745, 0.985243
[11:52:56.050] xyz_f:0.562068, 0.009584, 1.306129  Reprojection Error: 0.125794, 0.304379 Feature: 0.468934, 0.262845, 0.843216
[11:52:56.050] xyz_f:-0.473781, -0.503902, 0.543418  Reprojection Error: -0.301964, 0.200359 Feature: -0.698802, -0.430549, 0.571229
[11:52:56.050] xyz_f:0.478282, -0.650354, 1.077059  Reprojection Error: 0.033342, 0.064815 Feature: 0.374003, -0.433894, 0.819670
[11:52:56.050] xyz_f:0.427605, -0.467519, 1.207905  Reprojection Error: 0.058181, 0.134527 Feature: 0.348858, -0.223423, 0.910154
[11:52:56.050] xyz_f:0.475963, -0.473436, 1.199799  Reprojection Error: 0.071916, 0.127445 Feature: 0.393217, -0.231237, 0.889893
[11:52:56.050] xyz_f:0.393432, -0.444916, 1.221370  Reprojection Error: 0.045364, 0.146779 Feature: 0.318308, -0.198106, 0.927057
[11:52:56.050] xyz_f:0.223690, -0.255514, 1.283165  Reprojection Error: 0.014087, 0.197759 Feature: 0.159236, 0.000836, 0.987240
[11:52:56.050] xyz_f:0.111102, -0.153442, 1.282048  Reprojection Error: -0.013632, 0.217340 Feature: 0.043544, 0.099141, 0.994120
[11:52:56.050] xyz_f:0.046131, -0.049860, 1.273747  Reprojection Error: -0.036114, 0.237844 Feature: -0.028803, 0.197046, 0.979971
[11:52:56.050] xyz_f:0.266465, 0.023646, 1.321461  Reprojection Error: 0.031685, 0.279270 Feature: 0.189730, 0.280396, 0.940947
[11:52:56.050] xyz_f:0.517554, 0.017266, 1.314058  Reprojection Error: -0.125190, 0.281130 Feature: 0.428064, 0.272317, 0.861745
[11:52:56.050] xyz_f:0.562068, 0.009584, 1.306129  Reprojection Error: 0.167597, 0.303648 Feature: 0.468934, 0.262845, 0.843216
[11:52:56.050] xyz_f:0.138142, 0.170069, 1.285949  Reprojection Error: -0.022465, 0.316660 Feature: 0.045835, 0.412639, 0.909741
[11:52:56.050] it:17 	 Success 	 new_chi2: 1.570886 	 dT = -0.026904, 0.011182, 0.019649
[11:52:56.050] xyz_f:0.195246, -0.254760, 1.269168  Reprojection Error: 0.007457, 0.201577 Feature: 0.159236, 0.000836, 0.987240
[11:52:56.050] xyz_f:0.399471, -0.467802, 1.197782  Reprojection Error: 0.049787, 0.145079 Feature: 0.348858, -0.223423, 0.910154
[11:52:56.050] xyz_f:0.083220, -0.152117, 1.265920  Reprojection Error: -0.021937, 0.219891 Feature: 0.043544, 0.099141, 0.994120
[11:52:56.050] xyz_f:0.365164, -0.445026, 1.210597  Reprojection Error: 0.041714, 0.153915 Feature: 0.318308, -0.198106, 0.927057
[11:52:56.050] xyz_f:0.451692, -0.650899, 1.067913  Reprojection Error: 0.033318, 0.080154 Feature: 0.374003, -0.433894, 0.819670
[11:52:56.050] xyz_f:0.447944, -0.473966, 1.190595  Reprojection Error: 0.065635, 0.138244 Feature: 0.393217, -0.231237, 0.889893
[11:52:56.050] xyz_f:0.083427, -0.145630, 1.266994  Reprojection Error: -0.022020, 0.221324 Feature: 0.043539, 0.105685, 0.993446
[11:52:56.050] xyz_f:0.111825, 0.171253, 1.270349  Reprojection Error: -0.037645, 0.318771 Feature: 0.045835, 0.412639, 0.909741
[11:52:56.050] xyz_f:0.840333, -0.015515, 1.188374  Reprojection Error: 0.409016, 0.336570 Feature: 0.728025, 0.211018, 0.652267
[11:52:56.050] xyz_f:0.372500, -0.466409, 1.199519  Reprojection Error: 0.041316, 0.147892 Feature: 0.323657, -0.221627, 0.919852
[11:52:56.050] xyz_f:0.232993, -0.232889, 1.280199  Reprojection Error: 0.018631, 0.207236 Feature: 0.196648, 0.024817, 0.980160
[11:52:56.050] xyz_f:0.413788, -0.457714, 1.202194  Reprojection Error: 0.055891, 0.146464 Feature: 0.362972, -0.212537, 0.907237
[11:52:56.050] xyz_f:-0.489315, -0.499634, 0.516306  Reprojection Error: -0.275608, 0.213986 Feature: -0.698802, -0.430549, 0.571229
[11:52:56.050] xyz_f:0.489854, 0.016524, 1.305646  Reprojection Error: 0.121560, 0.303351 Feature: 0.428064, 0.272317, 0.861745
[11:52:56.050] xyz_f:0.018945, -0.048206, 1.256392  Reprojection Error: -0.044471, 0.239441 Feature: -0.028803, 0.197046, 0.979971
[11:52:56.050] xyz_f:0.432027, -0.461031, 1.199039  Reprojection Error: 0.061735, 0.143733 Feature: 0.379607, -0.216557, 0.899445
[11:52:56.050] xyz_f:0.227404, -0.211445, 1.284414  Reprojection Error: 0.017623, 0.212172 Feature: 0.190877, 0.046621, 0.980506
[11:52:56.050] xyz_f:0.085817, -0.158799, 1.265562  Reprojection Error: -0.021115, 0.218572 Feature: 0.046443, 0.092594, 0.994620
[11:52:56.050] xyz_f:0.215667, -0.221675, 1.280525  Reprojection Error: 0.014041, 0.209459 Feature: 0.179383, 0.035733, 0.983130
[11:52:56.050] xyz_f:0.238705, 0.024181, 1.308283  Reprojection Error: 0.019180, 0.279511 Feature: 0.189730, 0.280396, 0.940947
[11:52:56.050] xyz_f:0.392727, -0.456292, 1.204113  Reprojection Error: 0.049085, 0.148769 Feature: 0.343436, -0.210666, 0.915244
[11:52:56.050] xyz_f:0.206816, -0.244666, 1.273646  Reprojection Error: 0.010937, 0.204020 Feature: 0.170760, 0.011745, 0.985243
[11:52:56.050] xyz_f:0.534471, 0.008615, 1.298563  Reprojection Error: 0.144539, 0.305083 Feature: 0.468934, 0.262845, 0.843216
[11:52:56.050] xyz_f:-0.489315, -0.499634, 0.516306  Reprojection Error: -0.226096, 0.240785 Feature: -0.698802, -0.430549, 0.571229
[11:52:56.050] xyz_f:0.451692, -0.650899, 1.067913  Reprojection Error: 0.054437, 0.070498 Feature: 0.374003, -0.433894, 0.819670
[11:52:56.050] xyz_f:0.399471, -0.467802, 1.197782  Reprojection Error: 0.078677, 0.138035 Feature: 0.348858, -0.223423, 0.910154
[11:52:56.050] xyz_f:0.447944, -0.473966, 1.190595  Reprojection Error: 0.092383, 0.130940 Feature: 0.393217, -0.231237, 0.889893
[11:52:56.050] xyz_f:0.365164, -0.445026, 1.210597  Reprojection Error: 0.065847, 0.150111 Feature: 0.318308, -0.198106, 0.927057
[11:52:56.050] xyz_f:0.195246, -0.254760, 1.269168  Reprojection Error: 0.034576, 0.199361 Feature: 0.159236, 0.000836, 0.987240
[11:52:56.050] xyz_f:0.083220, -0.152117, 1.265920  Reprojection Error: 0.007289, 0.217818 Feature: 0.043544, 0.099141, 0.994120
[11:52:56.050] xyz_f:0.018945, -0.048206, 1.256392  Reprojection Error: -0.014977, 0.237068 Feature: -0.028803, 0.197046, 0.979971
[11:52:56.050] xyz_f:0.238705, 0.024181, 1.308283  Reprojection Error: 0.050872, 0.278681 Feature: 0.189730, 0.280396, 0.940947
[11:52:56.050] xyz_f:0.489854, 0.016524, 1.305646  Reprojection Error: -0.106512, 0.281614 Feature: 0.428064, 0.272317, 0.861745
[11:52:56.050] xyz_f:0.534471, 0.008615, 1.298563  Reprojection Error: 0.186342, 0.304351 Feature: 0.468934, 0.262845, 0.843216
[11:52:56.050] xyz_f:0.111825, 0.171253, 1.270349  Reprojection Error: -0.003068, 0.314104 Feature: 0.045835, 0.412639, 0.909741
[11:52:56.050] it:18 	 Success 	 new_chi2: 1.582299 	 dT = -0.027646, 0.012398, 0.022647
[11:52:56.050] xyz_f:0.162486, -0.253769, 1.253070  Reprojection Error: 0.031623, 0.203364 Feature: 0.159236, 0.000836, 0.987240
[11:52:56.050] xyz_f:0.366973, -0.468009, 1.186154  Reprojection Error: 0.073916, 0.149081 Feature: 0.348858, -0.223423, 0.910154
[11:52:56.050] xyz_f:0.051162, -0.150471, 1.247379  Reprojection Error: 0.002786, 0.220357 Feature: 0.043544, 0.099141, 0.994120
[11:52:56.050] xyz_f:0.332527, -0.445030, 1.198217  Reprojection Error: 0.065835, 0.157717 Feature: 0.318308, -0.198106, 0.927057
[11:52:56.050] xyz_f:0.420947, -0.651417, 1.057446  Reprojection Error: 0.058206, 0.086676 Feature: 0.374003, -0.433894, 0.819670
[11:52:56.050] xyz_f:0.415554, -0.474457, 1.180028  Reprojection Error: 0.089714, 0.142224 Feature: 0.393217, -0.231237, 0.889893
[11:52:56.050] xyz_f:0.051384, -0.143985, 1.248457  Reprojection Error: 0.002669, 0.221713 Feature: 0.043539, 0.105685, 0.993446
[11:52:56.050] xyz_f:0.081558, 0.172726, 1.252453  Reprojection Error: -0.014736, 0.315668 Feature: 0.045835, 0.412639, 0.909741
[11:52:56.050] xyz_f:0.810578, -0.018314, 1.186420  Reprojection Error: 0.432932, 0.338950 Feature: 0.728025, 0.211018, 0.652267
[11:52:56.050] xyz_f:0.339978, -0.466457, 1.187300  Reprojection Error: 0.065511, 0.151934 Feature: 0.323657, -0.221627, 0.919852
[11:52:56.050] xyz_f:0.200111, -0.232118, 1.264925  Reprojection Error: 0.042429, 0.208823 Feature: 0.196648, 0.024817, 0.980160
[11:52:56.051] xyz_f:0.381248, -0.458004, 1.190879  Reprojection Error: 0.079944, 0.150326 Feature: 0.362972, -0.212537, 0.907237
[11:52:56.051] xyz_f:-0.506866, -0.494674, 0.485398  Reprojection Error: -0.179103, 0.265387 Feature: -0.698802, -0.430549, 0.571229
[11:52:56.051] xyz_f:0.457811, 0.015786, 1.296000  Reprojection Error: 0.143491, 0.303826 Feature: 0.428064, 0.272317, 0.861745
[11:52:56.051] xyz_f:-0.012278, -0.046185, 1.236454  Reprojection Error: -0.019461, 0.238426 Feature: -0.028803, 0.197046, 0.979971
[11:52:56.051] xyz_f:0.399532, -0.461428, 1.188123  Reprojection Error: 0.085774, 0.147600 Feature: 0.379607, -0.216557, 0.899445
[11:52:56.051] xyz_f:0.194557, -0.210642, 1.269018  Reprojection Error: 0.041359, 0.213536 Feature: 0.190877, 0.046621, 0.980506
[11:52:56.051] xyz_f:0.053727, -0.157168, 1.247077  Reprojection Error: 0.003612, 0.219124 Feature: 0.046443, 0.092594, 0.994620
[11:52:56.051] xyz_f:0.182848, -0.220803, 1.264873  Reprojection Error: 0.037903, 0.210912 Feature: 0.179383, 0.035733, 0.983130
[11:52:56.051] xyz_f:0.206714, 0.024916, 1.293144  Reprojection Error: 0.041783, 0.278726 Feature: 0.189730, 0.280396, 0.940947
[11:52:56.051] xyz_f:0.360159, -0.456459, 1.192336  Reprojection Error: 0.073178, 0.152652 Feature: 0.343436, -0.210666, 0.915244
[11:52:56.051] xyz_f:0.174015, -0.243743, 1.257800  Reprojection Error: 0.034969, 0.205705 Feature: 0.170760, 0.011745, 0.985243
[11:52:56.051] xyz_f:0.502525, 0.007616, 1.289894  Reprojection Error: 0.166538, 0.305813 Feature: 0.468934, 0.262845, 0.843216
[11:52:56.051] xyz_f:-0.506866, -0.494674, 0.485398  Reprojection Error: -0.129591, 0.292186 Feature: -0.698802, -0.430549, 0.571229
[11:52:56.051] xyz_f:0.420947, -0.651417, 1.057446  Reprojection Error: 0.079325, 0.077020 Feature: 0.374003, -0.433894, 0.819670
[11:52:56.051] xyz_f:0.366973, -0.468009, 1.186154  Reprojection Error: 0.102806, 0.142038 Feature: 0.348858, -0.223423, 0.910154
[11:52:56.051] xyz_f:0.415554, -0.474457, 1.180028  Reprojection Error: 0.116463, 0.134921 Feature: 0.393217, -0.231237, 0.889893
[11:52:56.051] xyz_f:0.332527, -0.445030, 1.198217  Reprojection Error: 0.089968, 0.153913 Feature: 0.318308, -0.198106, 0.927057
[11:52:56.051] xyz_f:0.162486, -0.253769, 1.253070  Reprojection Error: 0.058743, 0.201148 Feature: 0.159236, 0.000836, 0.987240
[11:52:56.051] xyz_f:0.051162, -0.150471, 1.247379  Reprojection Error: 0.032012, 0.218284 Feature: 0.043544, 0.099141, 0.994120
[11:52:56.051] xyz_f:-0.012278, -0.046185, 1.236454  Reprojection Error: 0.010033, 0.236053 Feature: -0.028803, 0.197046, 0.979971
[11:52:56.051] xyz_f:0.206714, 0.024916, 1.293144  Reprojection Error: 0.073475, 0.277897 Feature: 0.189730, 0.280396, 0.940947
[11:52:56.051] xyz_f:0.457811, 0.015786, 1.296000  Reprojection Error: -0.084580, 0.282089 Feature: 0.428064, 0.272317, 0.861745
[11:52:56.051] xyz_f:0.502525, 0.007616, 1.289894  Reprojection Error: 0.208342, 0.305081 Feature: 0.468934, 0.262845, 0.843216
[11:52:56.051] xyz_f:0.081558, 0.172726, 1.252453  Reprojection Error: 0.019840, 0.311002 Feature: 0.045835, 0.412639, 0.909741
[11:52:56.051] it:19 	 Success 	 new_chi2: 1.628454 	 dT = -0.027700, 0.013706, 0.025703
[11:52:56.051] xyz_f:0.124922, -0.252485, 1.234574  Reprojection Error: 0.060108, 0.205359 Feature: 0.159236, 0.000836, 0.987240
[11:52:56.051] xyz_f:0.329577, -0.468086, 1.172738  Reprojection Error: 0.102264, 0.153661 Feature: 0.348858, -0.223423, 0.910154
[11:52:56.051] xyz_f:0.014463, -0.148449, 1.226130  Reprojection Error: 0.032006, 0.220799 Feature: 0.043544, 0.099141, 0.994120
[11:52:56.051] xyz_f:0.294996, -0.444878, 1.183944  Reprojection Error: 0.094189, 0.162067 Feature: 0.318308, -0.198106, 0.927057
[11:52:56.051] xyz_f:0.385509, -0.651860, 1.045394  Reprojection Error: 0.087516, 0.094202 Feature: 0.374003, -0.433894, 0.819670
[11:52:56.051] xyz_f:0.378251, -0.474858, 1.167819  Reprojection Error: 0.117975, 0.146771 Feature: 0.393217, -0.231237, 0.889893
[11:52:56.051] xyz_f:0.014701, -0.141965, 1.227214  Reprojection Error: 0.031848, 0.222063 Feature: 0.043539, 0.105685, 0.993446
[11:52:56.051] xyz_f:0.046873, 0.174539, 1.231984  Reprojection Error: 0.012336, 0.311906 Feature: 0.045835, 0.412639, 0.909741
[11:52:56.051] xyz_f:0.776020, -0.021352, 1.184053  Reprojection Error: 0.460752, 0.341547 Feature: 0.728025, 0.211018, 0.652267
[11:52:56.051] xyz_f:0.302573, -0.466355, 1.173213  Reprojection Error: 0.093956, 0.156564 Feature: 0.323657, -0.221627, 0.919852
[11:52:56.051] xyz_f:0.162384, -0.231084, 1.247361  Reprojection Error: 0.070447, 0.210578 Feature: 0.196648, 0.024817, 0.980160
[11:52:56.051] xyz_f:0.343797, -0.458176, 1.177816  Reprojection Error: 0.108191, 0.154737 Feature: 0.362972, -0.212537, 0.907237
[11:52:56.051] xyz_f:-0.526755, -0.488996, 0.450503  Reprojection Error: -0.054071, 0.331723 Feature: -0.698802, -0.430549, 0.571229
[11:52:56.051] xyz_f:0.420876, 0.015103, 1.284845  Reprojection Error: 0.169171, 0.304252 Feature: 0.428064, 0.272317, 0.861745
[11:52:56.051] xyz_f:-0.047992, -0.043745, 1.213642  Reprojection Error: 0.010152, 0.237117 Feature: -0.028803, 0.197046, 0.979971
[11:52:56.051] xyz_f:0.362120, -0.461722, 1.175515  Reprojection Error: 0.113993, 0.152016 Feature: 0.379607, -0.216557, 0.899445
[11:52:56.051] xyz_f:0.156873, -0.209571, 1.251317  Reprojection Error: 0.069306, 0.215028 Feature: 0.190877, 0.046621, 0.980506
[11:52:56.051] xyz_f:0.016990, -0.155163, 1.225891  Reprojection Error: 0.032835, 0.219667 Feature: 0.046443, 0.092594, 0.994620
[11:52:56.051] xyz_f:0.145203, -0.219655, 1.246882  Reprojection Error: 0.066009, 0.212510 Feature: 0.179383, 0.035733, 0.983130
[11:52:56.051] xyz_f:0.169994, 0.025902, 1.275757  Reprojection Error: 0.068388, 0.277690 Feature: 0.189730, 0.280396, 0.940947
[11:52:56.051] xyz_f:0.322689, -0.456490, 1.178750  Reprojection Error: 0.101484, 0.157092 Feature: 0.343436, -0.210666, 0.915244
[11:52:56.051] xyz_f:0.136396, -0.242536, 1.239590  Reprojection Error: 0.063285, 0.207579 Feature: 0.170760, 0.011745, 0.985243
[11:52:56.051] xyz_f:0.465673, 0.006635, 1.279850  Reprojection Error: 0.192275, 0.306533 Feature: 0.468934, 0.262845, 0.843216
[11:52:56.051] xyz_f:-0.526755, -0.488996, 0.450503  Reprojection Error: -0.004559, 0.358522 Feature: -0.698802, -0.430549, 0.571229
[11:52:56.051] xyz_f:0.385509, -0.651860, 1.045394  Reprojection Error: 0.108635, 0.084546 Feature: 0.374003, -0.433894, 0.819670
[11:52:56.051] xyz_f:0.329577, -0.468086, 1.172738  Reprojection Error: 0.131154, 0.146618 Feature: 0.348858, -0.223423, 0.910154
[11:52:56.051] xyz_f:0.378251, -0.474858, 1.167819  Reprojection Error: 0.144723, 0.139468 Feature: 0.393217, -0.231237, 0.889893
[11:52:56.051] xyz_f:0.294996, -0.444878, 1.183944  Reprojection Error: 0.118323, 0.158262 Feature: 0.318308, -0.198106, 0.927057
[11:52:56.051] xyz_f:0.124922, -0.252485, 1.234574  Reprojection Error: 0.087227, 0.203143 Feature: 0.159236, 0.000836, 0.987240
[11:52:56.051] xyz_f:0.014463, -0.148449, 1.226130  Reprojection Error: 0.061232, 0.218726 Feature: 0.043544, 0.099141, 0.994120
[11:52:56.051] xyz_f:-0.047992, -0.043745, 1.213642  Reprojection Error: 0.039646, 0.234744 Feature: -0.028803, 0.197046, 0.979971
[11:52:56.051] xyz_f:0.169994, 0.025902, 1.275757  Reprojection Error: 0.100080, 0.276861 Feature: 0.189730, 0.280396, 0.940947
[11:52:56.051] xyz_f:0.420876, 0.015103, 1.284845  Reprojection Error: -0.058901, 0.282515 Feature: 0.428064, 0.272317, 0.861745
[11:52:56.051] xyz_f:0.465673, 0.006635, 1.279850  Reprojection Error: 0.234078, 0.305802 Feature: 0.468934, 0.262845, 0.843216
[11:52:56.051] xyz_f:0.046873, 0.174539, 1.231984  Reprojection Error: 0.046913, 0.307239 Feature: 0.045835, 0.412639, 0.909741
[11:52:56.051] it:20 	 Success 	 new_chi2: 1.740484 	 dT = -0.026777, 0.015024, 0.028592
[11:52:56.051] xyz_f:0.082401, -0.250861, 1.213488  Reprojection Error: 0.093390, 0.207574 Feature: 0.159236, 0.000836, 0.987240
[11:52:56.051] xyz_f:0.287084, -0.467977, 1.157304  Reprojection Error: 0.135233, 0.158889 Feature: 0.348858, -0.223423, 0.910154
[11:52:56.051] xyz_f:-0.027010, -0.146011, 1.202007  Reprojection Error: 0.066272, 0.221201 Feature: 0.043544, 0.099141, 0.994120
[11:52:56.051] xyz_f:0.252380, -0.444512, 1.167554  Reprojection Error: 0.127192, 0.167028 Feature: 0.318308, -0.198106, 0.927057
[11:52:56.051] xyz_f:0.345150, -0.652172, 1.031535  Reprojection Error: 0.121687, 0.102882 Feature: 0.374003, -0.433894, 0.819670
[11:52:56.051] xyz_f:0.335825, -0.475108, 1.153731  Reprojection Error: 0.150793, 0.151954 Feature: 0.393217, -0.231237, 0.889893
[11:52:56.051] xyz_f:-0.026754, -0.139529, 1.203098  Reprojection Error: 0.066065, 0.222357 Feature: 0.043539, 0.105685, 0.993446
[11:52:56.051] xyz_f:0.007615, 0.176729, 1.208787  Reprojection Error: 0.044083, 0.307376 Feature: 0.045835, 0.412639, 0.909741
[11:52:56.051] xyz_f:0.736338, -0.024557, 1.180989  Reprojection Error: 0.492652, 0.344308 Feature: 0.728025, 0.211018, 0.652267
[11:52:56.051] xyz_f:0.260092, -0.466045, 1.157035  Reprojection Error: 0.127066, 0.161855 Feature: 0.323657, -0.221627, 0.919852
[11:52:56.051] xyz_f:0.119653, -0.229737, 1.227307  Reprojection Error: 0.103137, 0.212507 Feature: 0.196648, 0.024817, 0.980160
[11:52:56.051] xyz_f:0.301232, -0.458172, 1.162775  Reprojection Error: 0.141022, 0.159765 Feature: 0.362972, -0.212537, 0.907237
[11:52:56.051] xyz_f:-0.549108, -0.482624, 0.411696  Reprojection Error: 0.110440, 0.418559 Feature: -0.698802, -0.430549, 0.571229
[11:52:56.051] xyz_f:0.378826, 0.014535, 1.271939  Reprojection Error: 0.198907, 0.304579 Feature: 0.428064, 0.272317, 0.861745
[11:52:56.051] xyz_f:-0.088320, -0.040849, 1.187810  Reprojection Error: 0.044964, 0.235463 Feature: -0.028803, 0.197046, 0.979971
[11:52:56.051] xyz_f:0.319585, -0.461853, 1.160980  Reprojection Error: 0.146774, 0.157046 Feature: 0.379607, -0.216557, 0.899445
[11:52:56.051] xyz_f:0.114194, -0.208183, 1.231111  Reprojection Error: 0.101915, 0.216649 Feature: 0.190877, 0.046621, 0.980506
[11:52:56.051] xyz_f:-0.024527, -0.152744, 1.201838  Reprojection Error: 0.067103, 0.220187 Feature: 0.046443, 0.092594, 0.994620
[11:52:56.051] xyz_f:0.102576, -0.218180, 1.226354  Reprojection Error: 0.098818, 0.214256 Feature: 0.179383, 0.035733, 0.983130
[11:52:56.051] xyz_f:0.128377, 0.027189, 1.255928  Reprojection Error: 0.099420, 0.276345 Feature: 0.189730, 0.280396, 0.940947
[11:52:56.051] xyz_f:0.280119, -0.456330, 1.163125  Reprojection Error: 0.134406, 0.162155 Feature: 0.343436, -0.210666, 0.915244
[11:52:56.051] xyz_f:0.093805, -0.240996, 1.218820  Reprojection Error: 0.096354, 0.209650 Feature: 0.170760, 0.011745, 0.985243
[11:52:56.051] xyz_f:0.423679, 0.005736, 1.268182  Reprojection Error: 0.222041, 0.307194 Feature: 0.468934, 0.262845, 0.843216
[11:52:56.051] xyz_f:-0.549108, -0.482624, 0.411696  Reprojection Error: 0.159952, 0.445357 Feature: -0.698802, -0.430549, 0.571229
[11:52:56.051] xyz_f:0.345150, -0.652172, 1.031535  Reprojection Error: 0.142806, 0.093226 Feature: 0.374003, -0.433894, 0.819670
[11:52:56.051] xyz_f:0.287084, -0.467977, 1.157304  Reprojection Error: 0.164123, 0.151846 Feature: 0.348858, -0.223423, 0.910154
[11:52:56.051] xyz_f:0.335825, -0.475108, 1.153731  Reprojection Error: 0.177542, 0.144650 Feature: 0.393217, -0.231237, 0.889893
[11:52:56.051] xyz_f:0.252380, -0.444512, 1.167554  Reprojection Error: 0.151325, 0.163223 Feature: 0.318308, -0.198106, 0.927057
[11:52:56.051] xyz_f:0.082401, -0.250861, 1.213488  Reprojection Error: 0.120509, 0.205358 Feature: 0.159236, 0.000836, 0.987240
[11:52:56.051] xyz_f:-0.027010, -0.146011, 1.202007  Reprojection Error: 0.095499, 0.219128 Feature: 0.043544, 0.099141, 0.994120
[11:52:56.051] xyz_f:-0.088320, -0.040849, 1.187810  Reprojection Error: 0.074458, 0.233090 Feature: -0.028803, 0.197046, 0.979971
[11:52:56.051] xyz_f:0.128377, 0.027189, 1.255928  Reprojection Error: 0.131112, 0.275515 Feature: 0.189730, 0.280396, 0.940947
[11:52:56.051] xyz_f:0.378826, 0.014535, 1.271939  Reprojection Error: -0.029165, 0.282842 Feature: 0.428064, 0.272317, 0.861745
[11:52:56.051] xyz_f:0.423679, 0.005736, 1.268182  Reprojection Error: 0.263844, 0.306463 Feature: 0.468934, 0.262845, 0.843216
[11:52:56.051] xyz_f:0.007615, 0.176729, 1.208787  Reprojection Error: 0.078660, 0.302709 Feature: 0.045835, 0.412639, 0.909741
[11:52:56.051] it:21 	 Success 	 new_chi2: 1.926281 	 dT = -0.024723, 0.016409, 0.031096
[11:52:56.051] xyz_f:0.035204, -0.248861, 1.189615  Reprojection Error: 0.131702, 0.210041 Feature: 0.159236, 0.000836, 0.987240
[11:52:56.051] xyz_f:0.239728, -0.467623, 1.139578  Reprojection Error: 0.172930, 0.164870 Feature: 0.348858, -0.223423, 0.910154
[11:52:56.051] xyz_f:-0.072966, -0.143136, 1.174866  Reprojection Error: 0.105907, 0.221559 Feature: 0.043544, 0.099141, 0.994120
[11:52:56.051] xyz_f:0.204922, -0.443879, 1.148783  Reprojection Error: 0.164972, 0.172698 Feature: 0.318308, -0.198106, 0.927057
[11:52:56.051] xyz_f:0.300061, -0.652295, 1.015587  Reprojection Error: 0.160829, 0.112932 Feature: 0.374003, -0.433894, 0.819670
[11:52:56.051] xyz_f:0.288495, -0.475148, 1.137469  Reprojection Error: 0.188241, 0.157876 Feature: 0.393217, -0.231237, 0.889893
[11:52:56.051] xyz_f:-0.072691, -0.136656, 1.175966  Reprojection Error: 0.105641, 0.222589 Feature: 0.043539, 0.105685, 0.993446
[11:52:56.051] xyz_f:-0.035964, 0.179316, 1.182722  Reprojection Error: 0.080791, 0.301966 Feature: 0.045835, 0.412639, 0.909741
[11:52:56.051] xyz_f:0.691622, -0.027830, 1.176797  Reprojection Error: 0.528430, 0.347163 Feature: 0.728025, 0.211018, 0.652267
[11:52:56.051] xyz_f:0.212772, -0.465475, 1.138497  Reprojection Error: 0.164969, 0.167912 Feature: 0.323657, -0.221627, 0.919852
[11:52:56.051] xyz_f:0.072193, -0.228035, 1.204549  Reprojection Error: 0.140696, 0.214631 Feature: 0.196648, 0.024817, 0.980160
[11:52:56.051] xyz_f:0.253783, -0.457932, 1.145472  Reprojection Error: 0.178531, 0.165508 Feature: 0.362972, -0.212537, 0.907237
[11:52:56.051] xyz_f:-0.573786, -0.475631, 0.369192  Reprojection Error: 0.330838, 0.534582 Feature: -0.698802, -0.430549, 0.571229
[11:52:56.051] xyz_f:0.331866, 0.014148, 1.256974  Reprojection Error: 0.232721, 0.304751 Feature: 0.428064, 0.272317, 0.861745
[11:52:56.051] xyz_f:-0.132974, -0.037486, 1.158847  Reprojection Error: 0.085355, 0.233420 Feature: -0.028803, 0.197046, 0.979971
[11:52:56.051] xyz_f:0.272152, -0.461761, 1.144228  Reprojection Error: 0.184198, 0.162790 Feature: 0.379607, -0.216557, 0.899445
[11:52:56.051] xyz_f:0.066795, -0.206438, 1.208190  Reprojection Error: 0.139387, 0.218413 Feature: 0.190877, 0.046621, 0.980506
[11:52:56.051] xyz_f:-0.070533, -0.149888, 1.174771  Reprojection Error: 0.106735, 0.220684 Feature: 0.046443, 0.092594, 0.994620
[11:52:56.051] xyz_f:0.055246, -0.216342, 1.203086  Reprojection Error: 0.136541, 0.216169 Feature: 0.179383, 0.035733, 0.983130
[11:52:56.051] xyz_f:0.082120, 0.028816, 1.233450  Reprojection Error: 0.135059, 0.274632 Feature: 0.189730, 0.280396, 0.940947
[11:52:56.051] xyz_f:0.232685, -0.455920, 1.145188  Reprojection Error: 0.172054, 0.167943 Feature: 0.343436, -0.210666, 0.915244
[11:52:56.051] xyz_f:0.046522, -0.239087, 1.195288  Reprojection Error: 0.134397, 0.211945 Feature: 0.170760, 0.011745, 0.985243
[11:52:56.051] xyz_f:0.376739, 0.004988, 1.254565  Reprojection Error: 0.255830, 0.307741 Feature: 0.468934, 0.262845, 0.843216
[11:52:56.051] xyz_f:-0.573786, -0.475631, 0.369192  Reprojection Error: 0.380350, 0.561381 Feature: -0.698802, -0.430549, 0.571229
[11:52:56.051] xyz_f:0.300061, -0.652295, 1.015587  Reprojection Error: 0.181948, 0.103276 Feature: 0.374003, -0.433894, 0.819670
[11:52:56.051] xyz_f:0.239728, -0.467623, 1.139578  Reprojection Error: 0.201820, 0.157826 Feature: 0.348858, -0.223423, 0.910154
[11:52:56.051] xyz_f:0.288495, -0.475148, 1.137469  Reprojection Error: 0.214990, 0.150572 Feature: 0.393217, -0.231237, 0.889893
[11:52:56.051] xyz_f:0.204922, -0.443879, 1.148783  Reprojection Error: 0.189105, 0.168893 Feature: 0.318308, -0.198106, 0.927057
[11:52:56.051] xyz_f:0.035204, -0.248861, 1.189615  Reprojection Error: 0.158821, 0.207825 Feature: 0.159236, 0.000836, 0.987240
[11:52:56.051] xyz_f:-0.072966, -0.143136, 1.174866  Reprojection Error: 0.135133, 0.219486 Feature: 0.043544, 0.099141, 0.994120
[11:52:56.051] xyz_f:-0.132974, -0.037486, 1.158847  Reprojection Error: 0.114849, 0.231047 Feature: -0.028803, 0.197046, 0.979971
[11:52:56.051] xyz_f:0.082120, 0.028816, 1.233450  Reprojection Error: 0.166751, 0.273802 Feature: 0.189730, 0.280396, 0.940947
[11:52:56.051] xyz_f:0.331866, 0.014148, 1.256974  Reprojection Error: 0.004649, 0.283013 Feature: 0.428064, 0.272317, 0.861745
[11:52:56.051] xyz_f:0.376739, 0.004988, 1.254565  Reprojection Error: 0.297633, 0.307010 Feature: 0.468934, 0.262845, 0.843216
[11:52:56.051] xyz_f:-0.035964, 0.179316, 1.182722  Reprojection Error: 0.115367, 0.297299 Feature: 0.045835, 0.412639, 0.909741
[11:52:56.051] it:22 	 Success 	 new_chi2: 2.058312 	 dT = -0.021627, 0.019548, 0.033294
[11:52:56.051] xyz_f:-0.016266, -0.246452, 1.161077  Reprojection Error: 0.175303, 0.213108 Feature: 0.159236, 0.000836, 0.987240
[11:52:56.051] xyz_f:0.187870, -0.466975, 1.117611  Reprojection Error: 0.215197, 0.172355 Feature: 0.348858, -0.223423, 0.910154
[11:52:56.051] xyz_f:-0.122990, -0.139801, 1.142873  Reprojection Error: 0.151416, 0.222052 Feature: 0.043544, 0.099141, 0.994120
[11:52:56.051] xyz_f:0.152991, -0.442931, 1.125696  Reprojection Error: 0.207445, 0.179780 Feature: 0.318308, -0.198106, 0.927057
[11:52:56.051] xyz_f:0.250565, -0.652177, 0.995599  Reprojection Error: 0.204613, 0.125708 Feature: 0.374003, -0.433894, 0.819670
[11:52:56.051] xyz_f:0.236612, -0.474920, 1.117071  Reprojection Error: 0.230055, 0.165300 Feature: 0.393217, -0.231237, 0.889893
[11:52:56.051] xyz_f:-0.122695, -0.133323, 1.143981  Reprojection Error: 0.151079, 0.222925 Feature: 0.043539, 0.105685, 0.993446
[11:52:56.051] xyz_f:-0.083484, 0.182321, 1.151959  Reprojection Error: 0.122853, 0.295308 Feature: 0.045835, 0.412639, 0.909741
[11:52:56.051] xyz_f:0.642105, -0.031086, 1.169402  Reprojection Error: 0.567057, 0.350097 Feature: 0.728025, 0.211018, 0.652267
[11:52:56.051] xyz_f:0.160982, -0.464595, 1.115665  Reprojection Error: 0.207565, 0.175490 Feature: 0.323657, -0.221627, 0.919852
[11:52:56.051] xyz_f:0.020402, -0.225944, 1.177196  Reprojection Error: 0.183298, 0.217253 Feature: 0.196648, 0.024817, 0.980160
[11:52:56.051] xyz_f:0.201811, -0.457405, 1.123956  Reprojection Error: 0.220530, 0.172692 Feature: 0.362972, -0.212537, 0.907237
[11:52:56.051] xyz_f:-0.600492, -0.468081, 0.321465  Reprojection Error: 0.644653, 0.702362 Feature: -0.698802, -0.430549, 0.571229
[11:52:56.051] xyz_f:0.280332, 0.014001, 1.237977  Reprojection Error: 0.270297, 0.304697 Feature: 0.428064, 0.272317, 0.861745
[11:52:56.051] xyz_f:-0.181539, -0.033640, 1.124947  Reprojection Error: 0.131984, 0.230976 Feature: -0.028803, 0.197046, 0.979971
[11:52:56.051] xyz_f:0.220176, -0.461392, 1.123303  Reprojection Error: 0.226038, 0.169979 Feature: 0.379607, -0.216557, 0.899445
[11:52:56.051] xyz_f:0.015077, -0.204300, 1.180664  Reprojection Error: 0.181902, 0.220586 Feature: 0.190877, 0.046621, 0.980506
[11:52:56.051] xyz_f:-0.120614, -0.146574, 1.142854  Reprojection Error: 0.152232, 0.221347 Feature: 0.046443, 0.092594, 0.994620
[11:52:56.051] xyz_f:0.003613, -0.214105, 1.175189  Reprojection Error: 0.179387, 0.218534 Feature: 0.179383, 0.035733, 0.983130
[11:52:56.051] xyz_f:0.031608, 0.030816, 1.206437  Reprojection Error: 0.175438, 0.272451 Feature: 0.189730, 0.280396, 0.940947
[11:52:56.051] xyz_f:0.180751, -0.455211, 1.122994  Reprojection Error: 0.214285, 0.175179 Feature: 0.343436, -0.210666, 0.915244
[11:52:56.051] xyz_f:-0.005052, -0.236775, 1.167112  Reprojection Error: 0.177647, 0.214793 Feature: 0.170760, 0.011745, 0.985243
[11:52:56.052] xyz_f:0.325180, 0.004454, 1.237010  Reprojection Error: 0.293249, 0.308117 Feature: 0.468934, 0.262845, 0.843216
[11:52:56.052] xyz_f:-0.600492, -0.468081, 0.321465  Reprojection Error: 0.694165, 0.729161 Feature: -0.698802, -0.430549, 0.571229
[11:52:56.052] xyz_f:0.250565, -0.652177, 0.995599  Reprojection Error: 0.225732, 0.116052 Feature: 0.374003, -0.433894, 0.819670
[11:52:56.052] xyz_f:0.187870, -0.466975, 1.117611  Reprojection Error: 0.244087, 0.165311 Feature: 0.348858, -0.223423, 0.910154
[11:52:56.052] xyz_f:0.236612, -0.474920, 1.117071  Reprojection Error: 0.256804, 0.157996 Feature: 0.393217, -0.231237, 0.889893
[11:52:56.052] xyz_f:0.152991, -0.442931, 1.125696  Reprojection Error: 0.231579, 0.175975 Feature: 0.318308, -0.198106, 0.927057
[11:52:56.052] xyz_f:-0.016266, -0.246452, 1.161077  Reprojection Error: 0.202422, 0.210892 Feature: 0.159236, 0.000836, 0.987240
[11:52:56.052] xyz_f:-0.122990, -0.139801, 1.142873  Reprojection Error: 0.180643, 0.219979 Feature: 0.043544, 0.099141, 0.994120
[11:52:56.052] xyz_f:-0.181539, -0.033640, 1.124947  Reprojection Error: 0.161478, 0.228603 Feature: -0.028803, 0.197046, 0.979971
[11:52:56.052] xyz_f:0.031608, 0.030816, 1.206437  Reprojection Error: 0.207130, 0.271621 Feature: 0.189730, 0.280396, 0.940947
[11:52:56.052] xyz_f:0.280332, 0.014001, 1.237977  Reprojection Error: 0.042225, 0.282960 Feature: 0.428064, 0.272317, 0.861745
[11:52:56.052] xyz_f:0.325180, 0.004454, 1.237010  Reprojection Error: 0.335053, 0.307385 Feature: 0.468934, 0.262845, 0.843216
[11:52:56.052] xyz_f:-0.083484, 0.182321, 1.151959  Reprojection Error: 0.157430, 0.290642 Feature: 0.045835, 0.412639, 0.909741
[11:52:56.052] it:23 	 Success 	 new_chi2: 2.198112 	 dT = -0.010884, 0.037324, 0.030410
[11:52:56.052] xyz_f:-0.075467, -0.244012, 1.114648  Reprojection Error: 0.228999, 0.219761 Feature: 0.159236, 0.000836, 0.987240
[11:52:56.052] xyz_f:0.128115, -0.466140, 1.077171  Reprojection Error: 0.264360, 0.187266 Feature: 0.348858, -0.223423, 0.910154
[11:52:56.052] xyz_f:-0.180769, -0.136526, 1.093329  Reprojection Error: 0.209139, 0.224600 Feature: 0.043544, 0.099141, 0.994120
[11:52:56.052] xyz_f:0.093204, -0.441821, 1.084230  Reprojection Error: 0.257390, 0.193804 Feature: 0.318308, -0.198106, 0.927057
[11:52:56.052] xyz_f:0.192907, -0.651844, 0.957031  Reprojection Error: 0.254717, 0.151759 Feature: 0.374003, -0.433894, 0.819670
[11:52:56.052] xyz_f:0.176788, -0.474468, 1.078061  Reprojection Error: 0.277883, 0.180264 Feature: 0.393217, -0.231237, 0.889893
[11:52:56.052] xyz_f:-0.180455, -0.130051, 1.094446  Reprojection Error: 0.208709, 0.225211 Feature: 0.043539, 0.105685, 0.993446
[11:52:56.052] xyz_f:-0.139012, 0.185276, 1.103609  Reprojection Error: 0.176344, 0.285697 Feature: 0.045835, 0.412639, 0.909741
[11:52:56.052] xyz_f:0.584050, -0.033833, 1.142330  Reprojection Error: 0.604866, 0.353132 Feature: 0.728025, 0.211018, 0.652267
[11:52:56.052] xyz_f:0.101315, -0.463548, 1.074436  Reprojection Error: 0.257561, 0.190496 Feature: 0.323657, -0.221627, 0.919852
[11:52:56.052] xyz_f:-0.039129, -0.223791, 1.131839  Reprojection Error: 0.235200, 0.223043 Feature: 0.196648, 0.024817, 0.980160
[11:52:56.052] xyz_f:0.141939, -0.456679, 1.083923  Reprojection Error: 0.269136, 0.187052 Feature: 0.362972, -0.212537, 0.907237
[11:52:56.052] xyz_f:-0.636509, -0.461134, 0.258214  Reprojection Error: 1.241711, 1.032133 Feature: -0.698802, -0.430549, 0.571229
[11:52:56.052] xyz_f:0.220784, 0.014108, 1.200255  Reprojection Error: 0.312793, 0.304253 Feature: 0.428064, 0.272317, 0.861745
[11:52:56.052] xyz_f:-0.237929, -0.029910, 1.073704  Reprojection Error: 0.192205, 0.228930 Feature: -0.028803, 0.197046, 0.979971
[11:52:56.052] xyz_f:0.160283, -0.460810, 1.083809  Reprojection Error: 0.274157, 0.184409 Feature: 0.379607, -0.216557, 0.899445
[11:52:56.052] xyz_f:-0.044383, -0.202106, 1.135152  Reprojection Error: 0.233771, 0.225591 Feature: 0.190877, 0.046621, 0.980506
[11:52:56.052] xyz_f:-0.178446, -0.143318, 1.093380  Reprojection Error: 0.209901, 0.224173 Feature: 0.046443, 0.092594, 0.994620
[11:52:56.052] xyz_f:-0.055758, -0.211821, 1.129342  Reprojection Error: 0.231834, 0.223908 Feature: 0.179383, 0.035733, 0.983130
[11:52:56.052] xyz_f:-0.026766, 0.032876, 1.161426  Reprojection Error: 0.224683, 0.269687 Feature: 0.189730, 0.280396, 0.940947
[11:52:56.052] xyz_f:0.120934, -0.454319, 1.082343  Reprojection Error: 0.263506, 0.189580 Feature: 0.343436, -0.210666, 0.915244
[11:52:56.052] xyz_f:-0.064360, -0.234423, 1.121011  Reprojection Error: 0.230731, 0.221038 Feature: 0.170760, 0.011745, 0.985243
[11:52:56.052] xyz_f:0.265564, 0.004208, 1.200605  Reprojection Error: 0.334933, 0.308213 Feature: 0.468934, 0.262845, 0.843216
[11:52:56.052] xyz_f:-0.636509, -0.461134, 0.258214  Reprojection Error: 1.291223, 1.058932 Feature: -0.698802, -0.430549, 0.571229
[11:52:56.052] xyz_f:0.192907, -0.651844, 0.957031  Reprojection Error: 0.275836, 0.142102 Feature: 0.374003, -0.433894, 0.819670
[11:52:56.052] xyz_f:0.128115, -0.466140, 1.077171  Reprojection Error: 0.293250, 0.180223 Feature: 0.348858, -0.223423, 0.910154
[11:52:56.052] xyz_f:0.176788, -0.474468, 1.078061  Reprojection Error: 0.304631, 0.172961 Feature: 0.393217, -0.231237, 0.889893
[11:52:56.052] xyz_f:0.093204, -0.441821, 1.084230  Reprojection Error: 0.281523, 0.190000 Feature: 0.318308, -0.198106, 0.927057
[11:52:56.052] xyz_f:-0.075467, -0.244012, 1.114648  Reprojection Error: 0.256118, 0.217545 Feature: 0.159236, 0.000836, 0.987240
[11:52:56.052] xyz_f:-0.180769, -0.136526, 1.093329  Reprojection Error: 0.238366, 0.222527 Feature: 0.043544, 0.099141, 0.994120
[11:52:56.052] xyz_f:-0.237929, -0.029910, 1.073704  Reprojection Error: 0.221699, 0.226557 Feature: -0.028803, 0.197046, 0.979971
[11:52:56.052] xyz_f:-0.026766, 0.032876, 1.161426  Reprojection Error: 0.256375, 0.268858 Feature: 0.189730, 0.280396, 0.940947
[11:52:56.052] xyz_f:0.220784, 0.014108, 1.200255  Reprojection Error: 0.084721, 0.282516 Feature: 0.428064, 0.272317, 0.861745
[11:52:56.052] xyz_f:0.265564, 0.004208, 1.200605  Reprojection Error: 0.376736, 0.307481 Feature: 0.468934, 0.262845, 0.843216
[11:52:56.052] xyz_f:-0.139012, 0.185276, 1.103609  Reprojection Error: 0.210921, 0.281030 Feature: 0.045835, 0.412639, 0.909741
[11:52:56.052] it:24 	 Success 	 new_chi2: 2.561181 	 dT = 0.004186, 0.034089, 0.020803
[11:52:56.052] xyz_f:-0.147467, -0.242212, 1.073842  Reprojection Error: 0.298621, 0.226403 Feature: 0.159236, 0.000836, 0.987240
[11:52:56.052] xyz_f:0.055628, -0.465435, 1.040451  Reprojection Error: 0.329831, 0.201861 Feature: 0.348858, -0.223423, 0.910154
[11:52:56.052] xyz_f:-0.251739, -0.134163, 1.050418  Reprojection Error: 0.283457, 0.227451 Feature: 0.043544, 0.099141, 0.994120
[11:52:56.052] xyz_f:0.020714, -0.440928, 1.046809  Reprojection Error: 0.323566, 0.207519 Feature: 0.318308, -0.198106, 0.927057
[11:52:56.052] xyz_f:0.121820, -0.651492, 0.921627  Reprojection Error: 0.324106, 0.177541 Feature: 0.374003, -0.433894, 0.819670
[11:52:56.052] xyz_f:0.104228, -0.474025, 1.042319  Reprojection Error: 0.341874, 0.194931 Feature: 0.393217, -0.231237, 0.889893
[11:52:56.052] xyz_f:-0.251413, -0.127689, 1.051542  Reprojection Error: 0.282916, 0.227813 Feature: 0.043539, 0.105685, 0.993446
[11:52:56.052] xyz_f:-0.208465, 0.187411, 1.061552  Reprojection Error: 0.246760, 0.277035 Feature: 0.045835, 0.412639, 0.909741
[11:52:56.052] xyz_f:0.512482, -0.035586, 1.114782  Reprojection Error: 0.656430, 0.355436 Feature: 0.728025, 0.211018, 0.652267
[11:52:56.052] xyz_f:0.028903, -0.462699, 1.037179  Reprojection Error: 0.323990, 0.205175 Feature: 0.323657, -0.221627, 0.919852
[11:52:56.052] xyz_f:-0.111373, -0.222187, 1.091761  Reprojection Error: 0.302641, 0.228831 Feature: 0.196648, 0.024817, 0.980160
[11:52:56.052] xyz_f:0.069364, -0.456048, 1.047480  Reprojection Error: 0.333865, 0.201108 Feature: 0.362972, -0.212537, 0.907237
[11:52:56.052] xyz_f:-0.692348, -0.456357, 0.206297  Reprojection Error: 2.132740, 1.458409 Feature: -0.698802, -0.430549, 0.571229
[11:52:56.052] xyz_f:0.148390, 0.014313, 1.165399  Reprojection Error: 0.369411, 0.303725 Feature: 0.428064, 0.272317, 0.861745
[11:52:56.052] xyz_f:-0.307918, -0.027241, 1.029654  Reprojection Error: 0.269658, 0.227529 Feature: -0.028803, 0.197046, 0.979971
[11:52:56.052] xyz_f:0.087685, -0.460278, 1.047735  Reprojection Error: 0.338356, 0.198541 Feature: 0.379607, -0.216557, 0.899445
[11:52:56.052] xyz_f:-0.116576, -0.200473, 1.094969  Reprojection Error: 0.301137, 0.230633 Feature: 0.190877, 0.046621, 0.980506
[11:52:56.052] xyz_f:-0.249454, -0.140967, 1.050515  Reprojection Error: 0.284154, 0.227283 Feature: 0.046443, 0.092594, 0.994620
[11:52:56.052] xyz_f:-0.127884, -0.210127, 1.088931  Reprojection Error: 0.299902, 0.229313 Feature: 0.179383, 0.035733, 0.983130
[11:52:56.052] xyz_f:-0.098226, 0.034412, 1.121604  Reprojection Error: 0.289213, 0.267313 Feature: 0.189730, 0.280396, 0.940947
[11:52:56.052] xyz_f:0.048408, -0.453576, 1.045479  Reprojection Error: 0.328937, 0.203670 Feature: 0.343436, -0.210666, 0.915244
[11:52:56.052] xyz_f:-0.136438, -0.232683, 1.080428  Reprojection Error: 0.299600, 0.227283 Feature: 0.170760, 0.011745, 0.985243
[11:52:56.052] xyz_f:0.193100, 0.004172, 1.166648  Reprojection Error: 0.390608, 0.308141 Feature: 0.468934, 0.262845, 0.843216
[11:52:56.052] xyz_f:-0.692348, -0.456357, 0.206297  Reprojection Error: 2.182252, 1.485208 Feature: -0.698802, -0.430549, 0.571229
[11:52:56.052] xyz_f:0.121820, -0.651492, 0.921627  Reprojection Error: 0.345225, 0.167884 Feature: 0.374003, -0.433894, 0.819670
[11:52:56.052] xyz_f:0.055628, -0.465435, 1.040451  Reprojection Error: 0.358721, 0.194818 Feature: 0.348858, -0.223423, 0.910154
[11:52:56.052] xyz_f:0.104228, -0.474025, 1.042319  Reprojection Error: 0.368622, 0.187628 Feature: 0.393217, -0.231237, 0.889893
[11:52:56.052] xyz_f:0.020714, -0.440928, 1.046809  Reprojection Error: 0.347699, 0.203714 Feature: 0.318308, -0.198106, 0.927057
[11:52:56.052] xyz_f:-0.147467, -0.242212, 1.073842  Reprojection Error: 0.325740, 0.224187 Feature: 0.159236, 0.000836, 0.987240
[11:52:56.052] xyz_f:-0.251739, -0.134163, 1.050418  Reprojection Error: 0.312683, 0.225378 Feature: 0.043544, 0.099141, 0.994120
[11:52:56.052] xyz_f:-0.307918, -0.027241, 1.029654  Reprojection Error: 0.299152, 0.225156 Feature: -0.028803, 0.197046, 0.979971
[11:52:56.052] xyz_f:-0.098226, 0.034412, 1.121604  Reprojection Error: 0.320905, 0.266483 Feature: 0.189730, 0.280396, 0.940947
[11:52:56.052] xyz_f:0.148390, 0.014313, 1.165399  Reprojection Error: 0.141339, 0.281988 Feature: 0.428064, 0.272317, 0.861745
[11:52:56.052] xyz_f:0.193100, 0.004172, 1.166648  Reprojection Error: 0.432411, 0.307409 Feature: 0.468934, 0.262845, 0.843216
[11:52:56.052] xyz_f:-0.208465, 0.187411, 1.061552  Reprojection Error: 0.281337, 0.272368 Feature: 0.045835, 0.412639, 0.909741
[11:52:56.052] it:25 	 Success 	 new_chi2: 2.976735 	 dT = 0.026434, 0.032985, 0.004446
[11:52:56.052] xyz_f:-0.207975, -0.241814, 1.039371  Reprojection Error: 0.361391, 0.233501 Feature: 0.159236, 0.000836, 0.987240
[11:52:56.052] xyz_f:-0.004996, -0.465271, 1.006852  Reprojection Error: 0.388258, 0.216626 Feature: 0.348858, -0.223423, 0.910154
[11:52:56.052] xyz_f:-0.312021, -0.133644, 1.015499  Reprojection Error: 0.351060, 0.231332 Feature: 0.043544, 0.099141, 0.994120
[11:52:56.052] xyz_f:-0.039908, -0.440723, 1.013060  Reprojection Error: 0.382747, 0.221349 Feature: 0.318308, -0.198106, 0.927057
[11:52:56.052] xyz_f:0.061492, -0.651403, 0.888313  Reprojection Error: 0.387062, 0.203952 Feature: 0.374003, -0.433894, 0.819670
[11:52:56.052] xyz_f:0.043586, -0.473916, 1.008928  Reprojection Error: 0.398670, 0.209875 Feature: 0.393217, -0.231237, 0.889893
[11:52:56.052] xyz_f:-0.311692, -0.127171, 1.016624  Reprojection Error: 0.350422, 0.231474 Feature: 0.043539, 0.105685, 0.993446
[11:52:56.052] xyz_f:-0.268426, 0.187879, 1.026820  Reprojection Error: 0.311797, 0.270607 Feature: 0.045835, 0.412639, 0.909741
[11:52:56.052] xyz_f:0.452030, -0.035947, 1.083145  Reprojection Error: 0.698815, 0.356702 Feature: 0.728025, 0.211018, 0.652267
[11:52:56.052] xyz_f:-0.031703, -0.462504, 1.003465  Reprojection Error: 0.383451, 0.219969 Feature: 0.323657, -0.221627, 0.919852
[11:52:56.052] xyz_f:-0.171935, -0.221830, 1.057445  Reprojection Error: 0.363224, 0.235098 Feature: 0.196648, 0.024817, 0.980160
[11:52:56.052] xyz_f:0.008721, -0.455899, 1.013940  Reprojection Error: 0.391484, 0.215364 Feature: 0.362972, -0.212537, 0.907237
[11:52:56.052] xyz_f:-0.749372, -0.455333, 0.169493  Reprojection Error: 3.197916, 1.932716 Feature: -0.698802, -0.430549, 0.571229
[11:52:56.052] xyz_f:0.087781, 0.014371, 1.132198  Reprojection Error: 0.419209, 0.303313 Feature: 0.428064, 0.272317, 0.861745
[11:52:56.052] xyz_f:-0.367987, -0.026658, 0.994495  Reprojection Error: 0.340633, 0.227879 Feature: -0.028803, 0.197046, 0.979971
[11:52:56.052] xyz_f:0.027035, -0.460151, 1.014273  Reprojection Error: 0.395390, 0.212908 Feature: 0.379607, -0.216557, 0.899445
[11:52:56.052] xyz_f:-0.177127, -0.200110, 1.060630  Reprojection Error: 0.361674, 0.236219 Feature: 0.190877, 0.046621, 0.980506
[11:52:56.052] xyz_f:-0.309745, -0.140451, 1.015606  Reprojection Error: 0.351680, 0.231388 Feature: 0.046443, 0.092594, 0.994620
[11:52:56.052] xyz_f:-0.188420, -0.209751, 1.054544  Reprojection Error: 0.361136, 0.235249 Feature: 0.179383, 0.035733, 0.983130
[11:52:56.052] xyz_f:-0.158621, 0.034754, 1.087345  Reprojection Error: 0.347516, 0.266032 Feature: 0.189730, 0.280396, 0.940947
[11:52:56.052] xyz_f:-0.012223, -0.453403, 1.011849  Reprojection Error: 0.387319, 0.217918 Feature: 0.343436, -0.210666, 0.915244
[11:52:56.052] xyz_f:-0.196964, -0.232298, 1.046004  Reprojection Error: 0.361620, 0.234002 Feature: 0.170760, 0.011745, 0.985243
[11:52:56.052] xyz_f:0.132473, 0.004179, 1.133639  Reprojection Error: 0.439268, 0.308031 Feature: 0.468934, 0.262845, 0.843216
[11:52:56.052] xyz_f:-0.749372, -0.455333, 0.169493  Reprojection Error: 3.247428, 1.959515 Feature: -0.698802, -0.430549, 0.571229
[11:52:56.052] xyz_f:0.061492, -0.651403, 0.888313  Reprojection Error: 0.408181, 0.194295 Feature: 0.374003, -0.433894, 0.819670
[11:52:56.052] xyz_f:-0.004996, -0.465271, 1.006852  Reprojection Error: 0.417148, 0.209582 Feature: 0.348858, -0.223423, 0.910154
[11:52:56.052] xyz_f:0.043586, -0.473916, 1.008928  Reprojection Error: 0.425418, 0.202571 Feature: 0.393217, -0.231237, 0.889893
[11:52:56.052] xyz_f:-0.039908, -0.440723, 1.013060  Reprojection Error: 0.406881, 0.217544 Feature: 0.318308, -0.198106, 0.927057
[11:52:56.052] xyz_f:-0.207975, -0.241814, 1.039371  Reprojection Error: 0.388511, 0.231285 Feature: 0.159236, 0.000836, 0.987240
[11:52:56.052] xyz_f:-0.312021, -0.133644, 1.015499  Reprojection Error: 0.380286, 0.229259 Feature: 0.043544, 0.099141, 0.994120
[11:52:56.052] xyz_f:-0.367987, -0.026658, 0.994495  Reprojection Error: 0.370127, 0.225506 Feature: -0.028803, 0.197046, 0.979971
[11:52:56.052] xyz_f:-0.158621, 0.034754, 1.087345  Reprojection Error: 0.379209, 0.265202 Feature: 0.189730, 0.280396, 0.940947
[11:52:56.052] xyz_f:0.087781, 0.014371, 1.132198  Reprojection Error: 0.191137, 0.281576 Feature: 0.428064, 0.272317, 0.861745
[11:52:56.052] xyz_f:0.132473, 0.004179, 1.133639  Reprojection Error: 0.481071, 0.307300 Feature: 0.468934, 0.262845, 0.843216
[11:52:56.052] xyz_f:-0.268426, 0.187879, 1.026820  Reprojection Error: 0.346374, 0.265941 Feature: 0.045835, 0.412639, 0.909741
[11:52:56.052] it:26 	 Success 	 new_chi2: 3.220734 	 dT = 0.042323, 0.034581, -0.007805
[11:52:56.052] xyz_f:-0.249522, -0.242510, 1.007388  Reprojection Error: 0.408986, 0.241578 Feature: 0.159236, 0.000836, 0.987240
[11:52:56.052] xyz_f:-0.046342, -0.465556, 0.973338  Reprojection Error: 0.430908, 0.232831 Feature: 0.348858, -0.223423, 0.910154
[11:52:56.052] xyz_f:-0.353963, -0.134551, 0.984302  Reprojection Error: 0.403409, 0.236425 Feature: 0.043544, 0.099141, 0.994120
[11:52:56.052] xyz_f:-0.081257, -0.441080, 0.979809  Reprojection Error: 0.426285, 0.236476 Feature: 0.318308, -0.198106, 0.927057
[11:52:56.052] xyz_f:0.019626, -0.651555, 0.854299  Reprojection Error: 0.433312, 0.233326 Feature: 0.374003, -0.433894, 0.819670
[11:52:56.052] xyz_f:0.002271, -0.474104, 0.975048  Reprojection Error: 0.439541, 0.226389 Feature: 0.393217, -0.231237, 0.889893
[11:52:56.052] xyz_f:-0.353639, -0.128077, 0.985425  Reprojection Error: 0.402696, 0.236354 Feature: 0.043539, 0.105685, 0.993446
[11:52:56.052] xyz_f:-0.310933, 0.187060, 0.995296  Reprojection Error: 0.362785, 0.265635 Feature: 0.045835, 0.412639, 0.909741
[11:52:56.052] xyz_f:0.410377, -0.035310, 1.046186  Reprojection Error: 0.723885, 0.357265 Feature: 0.728025, 0.211018, 0.652267
[11:52:56.052] xyz_f:-0.073080, -0.462844, 0.970152  Reprojection Error: 0.427186, 0.236146 Feature: 0.323657, -0.221627, 0.919852
[11:52:56.052] xyz_f:-0.213387, -0.222453, 1.025189  Reprojection Error: 0.408773, 0.242306 Feature: 0.196648, 0.024817, 0.980160
[11:52:56.052] xyz_f:-0.032592, -0.456157, 0.980322  Reprojection Error: 0.433330, 0.231046 Feature: 0.362972, -0.212537, 0.907237
[11:52:56.052] xyz_f:-0.797029, -0.457129, 0.141615  Reprojection Error: 4.404811, 2.474252 Feature: -0.698802, -0.430549, 0.571229
[11:52:56.052] xyz_f:0.046407, 0.014273, 1.097984  Reprojection Error: 0.454475, 0.303008 Feature: 0.428064, 0.272317, 0.861745
[11:52:56.052] xyz_f:-0.410302, -0.027678, 0.963721  Reprojection Error: 0.396356, 0.229793 Feature: -0.028803, 0.197046, 0.979971
[11:52:56.052] xyz_f:-0.014267, -0.460372, 0.980517  Reprojection Error: 0.436596, 0.228752 Feature: 0.379607, -0.216557, 0.899445
[11:52:56.052] xyz_f:-0.218599, -0.200744, 1.028414  Reprojection Error: 0.407231, 0.242745 Feature: 0.190877, 0.046621, 0.980506
[11:52:56.052] xyz_f:-0.351673, -0.141353, 0.984391  Reprojection Error: 0.403943, 0.236689 Feature: 0.046443, 0.092594, 0.994620
[11:52:56.052] xyz_f:-0.229918, -0.210408, 1.022413  Reprojection Error: 0.407339, 0.242142 Feature: 0.179383, 0.035733, 0.983130
[11:52:56.052] xyz_f:-0.200366, 0.034157, 1.054990  Reprojection Error: 0.391560, 0.265617 Feature: 0.189730, 0.280396, 0.940947
[11:52:56.052] xyz_f:-0.053556, -0.453703, 0.978389  Reprojection Error: 0.429978, 0.233550 Feature: 0.343436, -0.210666, 0.915244
[11:52:56.052] xyz_f:-0.238480, -0.232971, 1.013938  Reprojection Error: 0.408520, 0.241690 Feature: 0.170760, 0.011745, 0.985243
[11:52:56.052] xyz_f:0.091130, 0.004171, 1.099088  Reprojection Error: 0.473211, 0.307922 Feature: 0.468934, 0.262845, 0.843216
[11:52:56.052] xyz_f:-0.797029, -0.457129, 0.141615  Reprojection Error: 4.454323, 2.501051 Feature: -0.698802, -0.430549, 0.571229
[11:52:56.052] xyz_f:0.019626, -0.651555, 0.854299  Reprojection Error: 0.454431, 0.223670 Feature: 0.374003, -0.433894, 0.819670
[11:52:56.052] xyz_f:-0.046342, -0.465556, 0.973338  Reprojection Error: 0.459798, 0.225787 Feature: 0.348858, -0.223423, 0.910154
[11:52:56.052] xyz_f:0.002271, -0.474104, 0.975048  Reprojection Error: 0.466289, 0.219085 Feature: 0.393217, -0.231237, 0.889893
[11:52:56.052] xyz_f:-0.081257, -0.441080, 0.979809  Reprojection Error: 0.450418, 0.232671 Feature: 0.318308, -0.198106, 0.927057
[11:52:56.053] xyz_f:-0.249522, -0.242510, 1.007388  Reprojection Error: 0.436106, 0.239362 Feature: 0.159236, 0.000836, 0.987240
[11:52:56.053] xyz_f:-0.353963, -0.134551, 0.984302  Reprojection Error: 0.432636, 0.234351 Feature: 0.043544, 0.099141, 0.994120
[11:52:56.053] xyz_f:-0.410302, -0.027678, 0.963721  Reprojection Error: 0.425850, 0.227420 Feature: -0.028803, 0.197046, 0.979971
[11:52:56.053] xyz_f:-0.200366, 0.034157, 1.054990  Reprojection Error: 0.423252, 0.264788 Feature: 0.189730, 0.280396, 0.940947
[11:52:56.053] xyz_f:0.046407, 0.014273, 1.097984  Reprojection Error: 0.226403, 0.281270 Feature: 0.428064, 0.272317, 0.861745
[11:52:56.053] xyz_f:0.091130, 0.004171, 1.099088  Reprojection Error: 0.515014, 0.307191 Feature: 0.468934, 0.262845, 0.843216
[11:52:56.053] xyz_f:-0.310933, 0.187060, 0.995296  Reprojection Error: 0.397362, 0.260968 Feature: 0.045835, 0.412639, 0.909741
[11:52:56.053] it:27 	 Success 	 new_chi2: 3.270825 	 dT = 0.048979, 0.036505, -0.013130
[11:52:56.053] xyz_f:-0.278387, -0.243647, 0.975128  Reprojection Error: 0.446781, 0.250709 Feature: 0.159236, 0.000836, 0.987240
[11:52:56.053] xyz_f:-0.074898, -0.466003, 0.938499  Reprojection Error: 0.463103, 0.251062 Feature: 0.348858, -0.223423, 0.910154
[11:52:56.053] xyz_f:-0.383478, -0.136044, 0.953371  Reprojection Error: 0.446035, 0.242426 Feature: 0.043544, 0.099141, 0.994120
[11:52:56.053] xyz_f:-0.109811, -0.441645, 0.945413  Reprojection Error: 0.459505, 0.253452 Feature: 0.318308, -0.198106, 0.927057
[11:52:56.053] xyz_f:-0.009814, -0.651779, 0.818629  Reprojection Error: 0.468273, 0.266831 Feature: 0.374003, -0.433894, 0.819670
[11:52:56.053] xyz_f:-0.026238, -0.474385, 0.939592  Reprojection Error: 0.469795, 0.245036 Feature: 0.393217, -0.231237, 0.889893
[11:52:56.053] xyz_f:-0.383162, -0.129570, 0.954489  Reprojection Error: 0.445258, 0.242130 Feature: 0.043539, 0.105685, 0.993446
[11:52:56.053] xyz_f:-0.341406, 0.185711, 0.963825  Reprojection Error: 0.404602, 0.260898 Feature: 0.045835, 0.412639, 0.909741
[11:52:56.053] xyz_f:0.381243, -0.034205, 1.005558  Reprojection Error: 0.737009, 0.357530 Feature: 0.728025, 0.211018, 0.652267
[11:52:56.053] xyz_f:-0.101683, -0.463381, 0.935653  Reprojection Error: 0.460534, 0.254311 Feature: 0.323657, -0.221627, 0.919852
[11:52:56.053] xyz_f:-0.242097, -0.223467, 0.992470  Reprojection Error: 0.444563, 0.250482 Feature: 0.196648, 0.024817, 0.980160
[11:52:56.053] xyz_f:-0.061092, -0.456557, 0.945309  Reprojection Error: 0.464711, 0.248703 Feature: 0.362972, -0.212537, 0.907237
[11:52:56.053] xyz_f:-0.836097, -0.460145, 0.116363  Reprojection Error: 5.961888, 3.200653 Feature: -0.698802, -0.430549, 0.571229
[11:52:56.053] xyz_f:0.017794, 0.014141, 1.061970  Reprojection Error: 0.479985, 0.302690 Feature: 0.428064, 0.272317, 0.861745
[11:52:56.053] xyz_f:-0.440437, -0.029364, 0.933508  Reprojection Error: 0.442417, 0.232529 Feature: -0.028803, 0.197046, 0.979971
[11:52:56.053] xyz_f:-0.042752, -0.460709, 0.945271  Reprojection Error: 0.467273, 0.246616 Feature: 0.379607, -0.216557, 0.899445
[11:52:56.053] xyz_f:-0.247341, -0.201776, 0.995761  Reprojection Error: 0.443066, 0.250183 Feature: 0.190877, 0.046621, 0.980506
[11:52:56.053] xyz_f:-0.381164, -0.142839, 0.953431  Reprojection Error: 0.446475, 0.242910 Feature: 0.046443, 0.092594, 0.994620
[11:52:56.053] xyz_f:-0.258703, -0.211478, 0.989904  Reprojection Error: 0.443803, 0.249982 Feature: 0.179383, 0.035733, 0.983130
[11:52:56.053] xyz_f:-0.229572, 0.033186, 1.022109  Reprojection Error: 0.426243, 0.265525 Feature: 0.189730, 0.280396, 0.940947
[11:52:56.053] xyz_f:-0.082087, -0.454174, 0.943641  Reprojection Error: 0.462230, 0.251124 Feature: 0.343436, -0.210666, 0.915244
[11:52:56.053] xyz_f:-0.267295, -0.234071, 0.981537  Reprojection Error: 0.445641, 0.250395 Feature: 0.170760, 0.011745, 0.985243
[11:52:56.053] xyz_f:0.062561, 0.004191, 1.062506  Reprojection Error: 0.497244, 0.307772 Feature: 0.468934, 0.262845, 0.843216
[11:52:56.053] xyz_f:-0.836097, -0.460145, 0.116363  Reprojection Error: 6.011400, 3.227451 Feature: -0.698802, -0.430549, 0.571229
[11:52:56.053] xyz_f:-0.009814, -0.651779, 0.818629  Reprojection Error: 0.489392, 0.257175 Feature: 0.374003, -0.433894, 0.819670
[11:52:56.053] xyz_f:-0.074898, -0.466003, 0.938499  Reprojection Error: 0.491993, 0.244019 Feature: 0.348858, -0.223423, 0.910154
[11:52:56.053] xyz_f:-0.026238, -0.474385, 0.939592  Reprojection Error: 0.496544, 0.237733 Feature: 0.393217, -0.231237, 0.889893
[11:52:56.053] xyz_f:-0.109811, -0.441645, 0.945413  Reprojection Error: 0.483638, 0.249647 Feature: 0.318308, -0.198106, 0.927057
[11:52:56.053] xyz_f:-0.278387, -0.243647, 0.975128  Reprojection Error: 0.473901, 0.248493 Feature: 0.159236, 0.000836, 0.987240
[11:52:56.053] xyz_f:-0.383478, -0.136044, 0.953371  Reprojection Error: 0.475262, 0.240353 Feature: 0.043544, 0.099141, 0.994120
[11:52:56.053] xyz_f:-0.440437, -0.029364, 0.933508  Reprojection Error: 0.471911, 0.230156 Feature: -0.028803, 0.197046, 0.979971
[11:52:56.053] xyz_f:-0.229572, 0.033186, 1.022109  Reprojection Error: 0.457935, 0.264696 Feature: 0.189730, 0.280396, 0.940947
[11:52:56.053] xyz_f:0.017794, 0.014141, 1.061970  Reprojection Error: 0.251913, 0.280953 Feature: 0.428064, 0.272317, 0.861745
[11:52:56.053] xyz_f:0.062561, 0.004191, 1.062506  Reprojection Error: 0.539048, 0.307041 Feature: 0.468934, 0.262845, 0.843216
[11:52:56.053] xyz_f:-0.341406, 0.185711, 0.963825  Reprojection Error: 0.439179, 0.256231 Feature: 0.045835, 0.412639, 0.909741
[11:52:56.053] it:28 	 Success 	 new_chi2: 3.199176 	 dT = 0.050830, 0.037960, -0.014925
[11:52:56.053] xyz_f:-0.302609, -0.244889, 0.941801  Reprojection Error: 0.482603, 0.260869 Feature: 0.159236, 0.000836, 0.987240
[11:52:56.053] xyz_f:-0.098813, -0.466458, 0.902237  Reprojection Error: 0.492816, 0.271523 Feature: 0.348858, -0.223423, 0.910154
[11:52:56.053] xyz_f:-0.408419, -0.137693, 0.921565  Reprojection Error: 0.486981, 0.249140 Feature: 0.043544, 0.099141, 0.994120
[11:52:56.053] xyz_f:-0.133716, -0.442235, 0.909654  Reprojection Error: 0.490350, 0.272464 Feature: 0.318308, -0.198106, 0.927057
[11:52:56.053] xyz_f:-0.034746, -0.651985, 0.781436  Reprojection Error: 0.500749, 0.304989 Feature: 0.374003, -0.433894, 0.819670
[11:52:56.053] xyz_f:-0.050110, -0.474652, 0.902628  Reprojection Error: 0.497386, 0.266008 Feature: 0.393217, -0.231237, 0.889893
[11:52:56.053] xyz_f:-0.408111, -0.131218, 0.922679  Reprojection Error: 0.486138, 0.248596 Feature: 0.043539, 0.105685, 0.993446
[11:52:56.053] xyz_f:-0.367443, 0.184222, 0.931421  Reprojection Error: 0.444880, 0.255792 Feature: 0.045835, 0.412639, 0.909741
[11:52:56.053] xyz_f:0.356577, -0.032900, 0.962726  Reprojection Error: 0.745763, 0.357688 Feature: 0.728025, 0.211018, 0.652267
[11:52:56.053] xyz_f:-0.125646, -0.463940, 0.899777  Reprojection Error: 0.491499, 0.274678 Feature: 0.323657, -0.221627, 0.919852
[11:52:56.053] xyz_f:-0.266152, -0.224568, 0.958620  Reprojection Error: 0.478270, 0.259582 Feature: 0.196648, 0.024817, 0.980160
[11:52:56.053] xyz_f:-0.084947, -0.456958, 0.908847  Reprojection Error: 0.493551, 0.268521 Feature: 0.362972, -0.212537, 0.907237
[11:52:56.053] xyz_f:-0.871801, -0.463563, 0.091160  Reprojection Error: 8.340041, 4.331411 Feature: -0.698802, -0.430549, 0.571229
[11:52:56.053] xyz_f:-0.006206, 0.014044, 1.024372  Reprojection Error: 0.502799, 0.302296 Feature: 0.428064, 0.272317, 0.861745
[11:52:56.053] xyz_f:-0.466069, -0.031235, 0.902528  Reprojection Error: 0.487013, 0.235681 Feature: -0.028803, 0.197046, 0.979971
[11:52:56.053] xyz_f:-0.066593, -0.461040, 0.908545  Reprojection Error: 0.495342, 0.266681 Feature: 0.379607, -0.216557, 0.899445
[11:52:56.053] xyz_f:-0.271432, -0.202897, 0.961987  Reprojection Error: 0.476830, 0.258463 Feature: 0.190877, 0.046621, 0.980506
[11:52:56.053] xyz_f:-0.406077, -0.144479, 0.921591  Reprojection Error: 0.487320, 0.249866 Feature: 0.046443, 0.092594, 0.994620
[11:52:56.053] xyz_f:-0.282839, -0.212644, 0.956293  Reprojection Error: 0.478228, 0.258709 Feature: 0.179383, 0.035733, 0.983130
[11:52:56.053] xyz_f:-0.254192, 0.032132, 0.988082  Reprojection Error: 0.458895, 0.265474 Feature: 0.189730, 0.280396, 0.940947
[11:52:56.053] xyz_f:-0.105973, -0.454657, 0.907483  Reprojection Error: 0.492016, 0.270834 Feature: 0.343436, -0.210666, 0.915244
[11:52:56.053] xyz_f:-0.291464, -0.235270, 0.948051  Reprojection Error: 0.480753, 0.260082 Feature: 0.170760, 0.011745, 0.985243
[11:52:56.053] xyz_f:0.038602, 0.004267, 1.024262  Reprojection Error: 0.518437, 0.307551 Feature: 0.468934, 0.262845, 0.843216
[11:52:56.053] xyz_f:-0.871801, -0.463563, 0.091160  Reprojection Error: 8.389553, 4.358209 Feature: -0.698802, -0.430549, 0.571229
[11:52:56.053] xyz_f:-0.034746, -0.651985, 0.781436  Reprojection Error: 0.521868, 0.295333 Feature: 0.374003, -0.433894, 0.819670
[11:52:56.053] xyz_f:-0.098813, -0.466458, 0.902237  Reprojection Error: 0.521706, 0.264479 Feature: 0.348858, -0.223423, 0.910154
[11:52:56.053] xyz_f:-0.050110, -0.474652, 0.902628  Reprojection Error: 0.524134, 0.258704 Feature: 0.393217, -0.231237, 0.889893
[11:52:56.053] xyz_f:-0.133716, -0.442235, 0.909654  Reprojection Error: 0.514483, 0.268659 Feature: 0.318308, -0.198106, 0.927057
[11:52:56.053] xyz_f:-0.302609, -0.244889, 0.941801  Reprojection Error: 0.509722, 0.258653 Feature: 0.159236, 0.000836, 0.987240
[11:52:56.053] xyz_f:-0.408419, -0.137693, 0.921565  Reprojection Error: 0.516207, 0.247067 Feature: 0.043544, 0.099141, 0.994120
[11:52:56.053] xyz_f:-0.466069, -0.031235, 0.902528  Reprojection Error: 0.516507, 0.233308 Feature: -0.028803, 0.197046, 0.979971
[11:52:56.053] xyz_f:-0.254192, 0.032132, 0.988082  Reprojection Error: 0.490587, 0.264644 Feature: 0.189730, 0.280396, 0.940947
[11:52:56.053] xyz_f:-0.006206, 0.014044, 1.024372  Reprojection Error: 0.274727, 0.280559 Feature: 0.428064, 0.272317, 0.861745
[11:52:56.053] xyz_f:0.038602, 0.004267, 1.024262  Reprojection Error: 0.560240, 0.306819 Feature: 0.468934, 0.262845, 0.843216
[11:52:56.053] xyz_f:-0.367443, 0.184222, 0.931421  Reprojection Error: 0.479457, 0.251126 Feature: 0.045835, 0.412639, 0.909741
[11:52:56.053] it:29 	 Success 	 new_chi2: 3.023383 	 dT = 0.050868, 0.039063, -0.015424
[11:52:56.053] xyz_f:-0.325928, -0.246115, 0.907313  Reprojection Error: 0.520518, 0.272103 Feature: 0.159236, 0.000836, 0.987240
[11:52:56.053] xyz_f:-0.121861, -0.466869, 0.864710  Reprojection Error: 0.524223, 0.294436 Feature: 0.348858, -0.223423, 0.910154
[11:52:56.053] xyz_f:-0.432454, -0.139343, 0.888658  Reprojection Error: 0.530439, 0.256529 Feature: 0.043544, 0.099141, 0.994120
[11:52:56.053] xyz_f:-0.156746, -0.442786, 0.872647  Reprojection Error: 0.522975, 0.293712 Feature: 0.318308, -0.198106, 0.927057
[11:52:56.053] xyz_f:-0.058861, -0.652143, 0.742963  Reprojection Error: 0.535509, 0.348407 Feature: 0.374003, -0.433894, 0.819670
[11:52:56.053] xyz_f:-0.073125, -0.474869, 0.864376  Reprojection Error: 0.526469, 0.289530 Feature: 0.393217, -0.231237, 0.889893
[11:52:56.053] xyz_f:-0.432156, -0.132866, 0.889768  Reprojection Error: 0.529522, 0.255709 Feature: 0.043539, 0.105685, 0.993446
[11:52:56.053] xyz_f:-0.392622, 0.182734, 0.897912  Reprojection Error: 0.487643, 0.250069 Feature: 0.045835, 0.412639, 0.909741
[11:52:56.053] xyz_f:0.332645, -0.031495, 0.918421  Reprojection Error: 0.753953, 0.357807 Feature: 0.728025, 0.211018, 0.652267
[11:52:56.053] xyz_f:-0.148738, -0.464458, 0.862650  Reprojection Error: 0.524277, 0.297471 Feature: 0.323657, -0.221627, 0.919852
[11:52:56.053] xyz_f:-0.289306, -0.225648, 0.923587  Reprojection Error: 0.513871, 0.269637 Feature: 0.196648, 0.024817, 0.980160
[11:52:56.053] xyz_f:-0.107936, -0.457315, 0.871113  Reprojection Error: 0.523990, 0.290709 Feature: 0.362972, -0.212537, 0.907237
[11:52:56.053] xyz_f:-0.906852, -0.467084, 0.065240  Reprojection Error: 12.676979, 6.405788 Feature: -0.698802, -0.430549, 0.571229
[11:52:56.053] xyz_f:-0.029363, 0.014002, 0.985466  Reprojection Error: 0.526537, 0.301798 Feature: 0.428064, 0.272317, 0.861745
[11:52:56.053] xyz_f:-0.490807, -0.033116, 0.870486  Reprojection Error: 0.534439, 0.239116 Feature: -0.028803, 0.197046, 0.979971
[11:52:56.053] xyz_f:-0.089572, -0.461322, 0.870538  Reprojection Error: 0.524939, 0.289161 Feature: 0.379607, -0.216557, 0.899445
[11:52:56.053] xyz_f:-0.294621, -0.203998, 0.927033  Reprojection Error: 0.512483, 0.267603 Feature: 0.190877, 0.046621, 0.980506
[11:52:56.053] xyz_f:-0.430086, -0.146119, 0.888650  Reprojection Error: 0.530671, 0.257523 Feature: 0.046443, 0.092594, 0.994620
[11:52:56.053] xyz_f:-0.306073, -0.213790, 0.921510  Reprojection Error: 0.514605, 0.268347 Feature: 0.179383, 0.035733, 0.983130
[11:52:56.053] xyz_f:-0.277933, 0.031099, 0.952875  Reprojection Error: 0.493315, 0.265357 Feature: 0.189730, 0.280396, 0.940947
[11:52:56.053] xyz_f:-0.128989, -0.455097, 0.870062  Reprojection Error: 0.523492, 0.292887 Feature: 0.343436, -0.210666, 0.915244
[11:52:56.053] xyz_f:-0.314729, -0.236451, 0.913396  Reprojection Error: 0.517889, 0.270791 Feature: 0.170760, 0.011745, 0.985243
[11:52:56.053] xyz_f:0.015477, 0.004404, 0.984689  Reprojection Error: 0.540407, 0.307244 Feature: 0.468934, 0.262845, 0.843216
[11:52:56.053] xyz_f:-0.906852, -0.467084, 0.065240  Reprojection Error: 12.726491, 6.432587 Feature: -0.698802, -0.430549, 0.571229
[11:52:56.053] xyz_f:-0.058861, -0.652143, 0.742963  Reprojection Error: 0.556628, 0.338751 Feature: 0.374003, -0.433894, 0.819670
[11:52:56.053] xyz_f:-0.121861, -0.466869, 0.864710  Reprojection Error: 0.553113, 0.287392 Feature: 0.348858, -0.223423, 0.910154
[11:52:56.053] xyz_f:-0.073125, -0.474869, 0.864376  Reprojection Error: 0.553218, 0.282227 Feature: 0.393217, -0.231237, 0.889893
[11:52:56.053] xyz_f:-0.156746, -0.442786, 0.872647  Reprojection Error: 0.547108, 0.289907 Feature: 0.318308, -0.198106, 0.927057
[11:52:56.053] xyz_f:-0.325928, -0.246115, 0.907313  Reprojection Error: 0.547637, 0.269887 Feature: 0.159236, 0.000836, 0.987240
[11:52:56.053] xyz_f:-0.432454, -0.139343, 0.888658  Reprojection Error: 0.559665, 0.254456 Feature: 0.043544, 0.099141, 0.994120
[11:52:56.053] xyz_f:-0.490807, -0.033116, 0.870486  Reprojection Error: 0.563933, 0.236743 Feature: -0.028803, 0.197046, 0.979971
[11:52:56.053] xyz_f:-0.277933, 0.031099, 0.952875  Reprojection Error: 0.525007, 0.264527 Feature: 0.189730, 0.280396, 0.940947
[11:52:56.053] xyz_f:-0.029363, 0.014002, 0.985466  Reprojection Error: 0.298465, 0.280061 Feature: 0.428064, 0.272317, 0.861745
[11:52:56.053] xyz_f:0.015477, 0.004404, 0.984689  Reprojection Error: 0.582211, 0.306513 Feature: 0.468934, 0.262845, 0.843216
[11:52:56.053] xyz_f:-0.392622, 0.182734, 0.897912  Reprojection Error: 0.522220, 0.245402 Feature: 0.045835, 0.412639, 0.909741
[11:52:56.053] it:30 	 Success 	 new_chi2: 2.719247 	 dT = 0.050366, 0.039977, -0.015617
[11:52:56.053] xyz_f:-0.349554, -0.247296, 0.871744  Reprojection Error: 0.562277, 0.284526 Feature: 0.159236, 0.000836, 0.987240
[11:52:56.053] xyz_f:-0.145262, -0.467225, 0.826061  Reprojection Error: 0.559145, 0.320128 Feature: 0.348858, -0.223423, 0.910154
[11:52:56.053] xyz_f:-0.456780, -0.140956, 0.854701  Reprojection Error: 0.578234, 0.264646 Feature: 0.043544, 0.099141, 0.994120
[11:52:56.053] xyz_f:-0.180121, -0.443282, 0.834524  Reprojection Error: 0.559190, 0.317487 Feature: 0.318308, -0.198106, 0.927057
[11:52:56.053] xyz_f:-0.083357, -0.652246, 0.703372  Reprojection Error: 0.574796, 0.397961 Feature: 0.374003, -0.433894, 0.819670
[11:52:56.053] xyz_f:-0.096505, -0.475028, 0.824991  Reprojection Error: 0.558848, 0.315950 Feature: 0.393217, -0.231237, 0.889893
[11:52:56.053] xyz_f:-0.456492, -0.134478, 0.855806  Reprojection Error: 0.577232, 0.263518 Feature: 0.043539, 0.105685, 0.993446
[11:52:56.053] xyz_f:-0.418115, 0.181280, 0.863363  Reprojection Error: 0.534668, 0.243610 Feature: 0.045835, 0.412639, 0.909741
[11:52:56.053] xyz_f:0.308239, -0.030016, 0.872923  Reprojection Error: 0.763034, 0.357900 Feature: 0.728025, 0.211018, 0.652267
[11:52:56.053] xyz_f:-0.172176, -0.464923, 0.824407  Reprojection Error: 0.560706, 0.323010 Feature: 0.323657, -0.221627, 0.919852
[11:52:56.053] xyz_f:-0.312774, -0.226681, 0.887464  Reprojection Error: 0.553064, 0.280745 Feature: 0.196648, 0.024817, 0.980160
[11:52:56.053] xyz_f:-0.131281, -0.457614, 0.832253  Reprojection Error: 0.557826, 0.315581 Feature: 0.362972, -0.212537, 0.907237
[11:52:56.053] xyz_f:-0.942216, -0.470637, 0.038522  Reprojection Error: 23.235543, 11.463495 Feature: -0.698802, -0.430549, 0.571229
[11:52:56.053] xyz_f:-0.052898, 0.014020, 0.945422  Reprojection Error: 0.552692, 0.301177 Feature: 0.428064, 0.272317, 0.861745
[11:52:56.053] xyz_f:-0.515829, -0.034966, 0.837414  Reprojection Error: 0.586587, 0.242828 Feature: -0.028803, 0.197046, 0.979971
[11:52:56.053] xyz_f:-0.112912, -0.461548, 0.831401  Reprojection Error: 0.557855, 0.314377 Feature: 0.379607, -0.216557, 0.899445
[11:52:56.053] xyz_f:-0.318124, -0.205053, 0.890990  Reprojection Error: 0.551717, 0.277688 Feature: 0.190877, 0.046621, 0.980506
[11:52:56.053] xyz_f:-0.454385, -0.147722, 0.854657  Reprojection Error: 0.578352, 0.265939 Feature: 0.046443, 0.092594, 0.994620
[11:52:56.053] xyz_f:-0.329618, -0.214891, 0.885640  Reprojection Error: 0.554642, 0.278986 Feature: 0.179383, 0.035733, 0.983130
[11:52:56.053] xyz_f:-0.301998, 0.030111, 0.916585  Reprojection Error: 0.531119, 0.265143 Feature: 0.189730, 0.280396, 0.940947
[11:52:56.053] xyz_f:-0.152356, -0.455482, 0.831520  Reprojection Error: 0.558465, 0.317594 Feature: 0.343436, -0.210666, 0.915244
[11:52:56.053] xyz_f:-0.338304, -0.237587, 0.877657  Reprojection Error: 0.558781, 0.282626 Feature: 0.170760, 0.011745, 0.985243
[11:52:56.053] xyz_f:-0.008036, 0.004603, 0.943969  Reprojection Error: 0.564638, 0.306841 Feature: 0.468934, 0.262845, 0.843216
[11:52:56.054] xyz_f:-0.942216, -0.470637, 0.038522  Reprojection Error: 23.285055, 11.490294 Feature: -0.698802, -0.430549, 0.571229
[11:52:56.054] xyz_f:-0.083357, -0.652246, 0.703372  Reprojection Error: 0.595915, 0.388305 Feature: 0.374003, -0.433894, 0.819670
[11:52:56.054] xyz_f:-0.145262, -0.467225, 0.826061  Reprojection Error: 0.588036, 0.313084 Feature: 0.348858, -0.223423, 0.910154
[11:52:56.054] xyz_f:-0.096505, -0.475028, 0.824991  Reprojection Error: 0.585596, 0.308646 Feature: 0.393217, -0.231237, 0.889893
[11:52:56.054] xyz_f:-0.180121, -0.443282, 0.834524  Reprojection Error: 0.583323, 0.313682 Feature: 0.318308, -0.198106, 0.927057
[11:52:56.054] xyz_f:-0.349554, -0.247296, 0.871744  Reprojection Error: 0.589396, 0.282310 Feature: 0.159236, 0.000836, 0.987240
[11:52:56.054] xyz_f:-0.456780, -0.140956, 0.854701  Reprojection Error: 0.607460, 0.262573 Feature: 0.043544, 0.099141, 0.994120
[11:52:56.054] xyz_f:-0.515829, -0.034966, 0.837414  Reprojection Error: 0.616081, 0.240455 Feature: -0.028803, 0.197046, 0.979971
[11:52:56.054] xyz_f:-0.301998, 0.030111, 0.916585  Reprojection Error: 0.562811, 0.264313 Feature: 0.189730, 0.280396, 0.940947
[11:52:56.054] xyz_f:-0.052898, 0.014020, 0.945422  Reprojection Error: 0.324621, 0.279440 Feature: 0.428064, 0.272317, 0.861745
[11:52:56.054] xyz_f:-0.008036, 0.004603, 0.943969  Reprojection Error: 0.606441, 0.306109 Feature: 0.468934, 0.262845, 0.843216
[11:52:56.054] xyz_f:-0.418115, 0.181280, 0.863363  Reprojection Error: 0.569245, 0.238943 Feature: 0.045835, 0.412639, 0.909741
[11:52:56.054] it:31 	 Success 	 new_chi2: 2.258585 	 dT = 0.050496, 0.040934, -0.016714
[11:52:56.054] xyz_f:-0.373600, -0.248493, 0.835278  Reprojection Error: 0.608571, 0.298344 Feature: 0.159236, 0.000836, 0.987240
[11:52:56.054] xyz_f:-0.169123, -0.467538, 0.786295  Reprojection Error: 0.598384, 0.349131 Feature: 0.348858, -0.223423, 0.910154
[11:52:56.054] xyz_f:-0.481546, -0.142619, 0.819972  Reprojection Error: 0.631073, 0.273659 Feature: 0.043544, 0.099141, 0.994120
[11:52:56.054] xyz_f:-0.203943, -0.443746, 0.795321  Reprojection Error: 0.599783, 0.344253 Feature: 0.318308, -0.198106, 0.927057
[11:52:56.054] xyz_f:-0.108407, -0.652294, 0.662616  Reprojection Error: 0.619889, 0.455070 Feature: 0.374003, -0.433894, 0.819670
[11:52:56.054] xyz_f:-0.120356, -0.475130, 0.784438  Reprojection Error: 0.595300, 0.345847 Feature: 0.393217, -0.231237, 0.889893
[11:52:56.054] xyz_f:-0.481268, -0.136139, 0.821073  Reprojection Error: 0.629972, 0.272189 Feature: 0.043539, 0.105685, 0.993446
[11:52:56.054] xyz_f:-0.444140, 0.179782, 0.828020  Reprojection Error: 0.586771, 0.236456 Feature: 0.045835, 0.412639, 0.909741
[11:52:56.054] xyz_f:0.283180, -0.028369, 0.825845  Reprojection Error: 0.773248, 0.357866 Feature: 0.728025, 0.211018, 0.652267
[11:52:56.054] xyz_f:-0.196070, -0.465353, 0.785076  Reprojection Error: 0.601604, 0.351810 Feature: 0.323657, -0.221627, 0.919852
[11:52:56.054] xyz_f:-0.336660, -0.227719, 0.850403  Reprojection Error: 0.596512, 0.293097 Feature: 0.196648, 0.024817, 0.980160
[11:52:56.054] xyz_f:-0.155085, -0.457866, 0.792262  Reprojection Error: 0.595834, 0.343655 Feature: 0.362972, -0.212537, 0.907237
[11:52:56.054] xyz_f:-0.978665, -0.474425, 0.011725  Reprojection Error: 82.244534, 39.708820 Feature: -0.698802, -0.430549, 0.571229
[11:52:56.054] xyz_f:-0.076926, 0.014106, 0.904167  Reprojection Error: 0.581821, 0.300405 Feature: 0.428064, 0.272317, 0.861745
[11:52:56.054] xyz_f:-0.541324, -0.036886, 0.803644  Reprojection Error: 0.644195, 0.246971 Feature: -0.028803, 0.197046, 0.979971
[11:52:56.054] xyz_f:-0.136716, -0.461721, 0.791113  Reprojection Error: 0.594860, 0.342867 Feature: 0.379607, -0.216557, 0.899445
[11:52:56.054] xyz_f:-0.342046, -0.206114, 0.854016  Reprojection Error: 0.595187, 0.288894 Feature: 0.190877, 0.046621, 0.980506
[11:52:56.054] xyz_f:-0.479123, -0.149374, 0.819889  Reprojection Error: 0.631069, 0.275284 Feature: 0.046443, 0.092594, 0.994620
[11:52:56.054] xyz_f:-0.353583, -0.216002, 0.848852  Reprojection Error: 0.599004, 0.290810 Feature: 0.179383, 0.035733, 0.983130
[11:52:56.054] xyz_f:-0.326527, 0.029118, 0.879356  Reprojection Error: 0.572962, 0.264880 Feature: 0.189730, 0.280396, 0.940947
[11:52:56.054] xyz_f:-0.176179, -0.455825, 0.791869  Reprojection Error: 0.597724, 0.345457 Feature: 0.343436, -0.210666, 0.915244
[11:52:56.054] xyz_f:-0.362298, -0.238735, 0.841009  Reprojection Error: 0.604108, 0.295788 Feature: 0.170760, 0.011745, 0.985243
[11:52:56.054] xyz_f:-0.032054, 0.004883, 0.901989  Reprojection Error: 0.591661, 0.306303 Feature: 0.468934, 0.262845, 0.843216
[11:52:56.054] xyz_f:-0.978665, -0.474425, 0.011725  Reprojection Error: 82.294046, 39.735619 Feature: -0.698802, -0.430549, 0.571229
[11:52:56.054] xyz_f:-0.108407, -0.652294, 0.662616  Reprojection Error: 0.641009, 0.445413 Feature: 0.374003, -0.433894, 0.819670
[11:52:56.054] xyz_f:-0.169123, -0.467538, 0.786295  Reprojection Error: 0.627275, 0.342087 Feature: 0.348858, -0.223423, 0.910154
[11:52:56.054] xyz_f:-0.120356, -0.475130, 0.784438  Reprojection Error: 0.622049, 0.338543 Feature: 0.393217, -0.231237, 0.889893
[11:52:56.054] xyz_f:-0.203943, -0.443746, 0.795321  Reprojection Error: 0.623916, 0.340448 Feature: 0.318308, -0.198106, 0.927057
[11:52:56.054] xyz_f:-0.373600, -0.248493, 0.835278  Reprojection Error: 0.635690, 0.296128 Feature: 0.159236, 0.000836, 0.987240
[11:52:56.054] xyz_f:-0.481546, -0.142619, 0.819972  Reprojection Error: 0.660299, 0.271586 Feature: 0.043544, 0.099141, 0.994120
[11:52:56.054] xyz_f:-0.541324, -0.036886, 0.803644  Reprojection Error: 0.673689, 0.244598 Feature: -0.028803, 0.197046, 0.979971
[11:52:56.054] xyz_f:-0.326527, 0.029118, 0.879356  Reprojection Error: 0.604654, 0.264051 Feature: 0.189730, 0.280396, 0.940947
[11:52:56.054] xyz_f:-0.076926, 0.014106, 0.904167  Reprojection Error: 0.353749, 0.278668 Feature: 0.428064, 0.272317, 0.861745
[11:52:56.054] xyz_f:-0.032054, 0.004883, 0.901989  Reprojection Error: 0.633465, 0.305572 Feature: 0.468934, 0.262845, 0.843216
[11:52:56.054] xyz_f:-0.444140, 0.179782, 0.828020  Reprojection Error: 0.621348, 0.231790 Feature: 0.045835, 0.412639, 0.909741
[11:52:56.054] it:32 	 Success 	 new_chi2: 1.643626 	 dT = 0.054211, 0.042443, -0.022274
[11:52:56.054] xyz_f:-0.396729, -0.249980, 0.798385  Reprojection Error: 0.658208, 0.313954 Feature: 0.159236, 0.000836, 0.987240
[11:52:56.054] xyz_f:-0.192093, -0.467846, 0.745001  Reprojection Error: 0.641139, 0.382502 Feature: 0.348858, -0.223423, 0.910154
[11:52:56.054] xyz_f:-0.505588, -0.144731, 0.785412  Reprojection Error: 0.687524, 0.284001 Feature: 0.043544, 0.099141, 0.994120
[11:52:56.054] xyz_f:-0.226848, -0.444254, 0.754775  Reprojection Error: 0.643904, 0.374898 Feature: 0.318308, -0.198106, 0.927057
[11:52:56.054] xyz_f:-0.132988, -0.652256, 0.620033  Reprojection Error: 0.670770, 0.522618 Feature: 0.374003, -0.433894, 0.819670
[11:52:56.054] xyz_f:-0.143335, -0.475156, 0.742095  Reprojection Error: 0.635019, 0.380443 Feature: 0.393217, -0.231237, 0.889893
[11:52:56.054] xyz_f:-0.505323, -0.138250, 0.786507  Reprojection Error: 0.686317, 0.282159 Feature: 0.043539, 0.105685, 0.993446
[11:52:56.054] xyz_f:-0.469876, 0.177880, 0.792673  Reprojection Error: 0.643157, 0.229173 Feature: 0.045835, 0.412639, 0.909741
[11:52:56.054] xyz_f:0.258417, -0.026075, 0.774838  Reprojection Error: 0.782634, 0.357166 Feature: 0.728025, 0.211018, 0.652267
[11:52:56.054] xyz_f:-0.219072, -0.465816, 0.744362  Reprojection Error: 0.646166, 0.384854 Feature: 0.323657, -0.221627, 0.919852
[11:52:56.054] xyz_f:-0.359592, -0.228992, 0.812713  Reprojection Error: 0.643088, 0.307082 Feature: 0.196648, 0.024817, 0.980160
[11:52:56.054] xyz_f:-0.177986, -0.458093, 0.750665  Reprojection Error: 0.637189, 0.375982 Feature: 0.362972, -0.212537, 0.907237
[11:52:56.054] xyz_f:-1.018058, -0.479448, -0.011974  Reprojection Error: -86.244404, -40.793819 Feature: -0.698802, -0.430549, 0.571229
[11:52:56.054] xyz_f:-0.100160, 0.014329, 0.860892  Reprojection Error: 0.613085, 0.299362 Feature: 0.428064, 0.272317, 0.861745
[11:52:56.054] xyz_f:-0.566312, -0.039345, 0.770380  Reprojection Error: 0.705715, 0.252145 Feature: -0.028803, 0.197046, 0.979971
[11:52:56.054] xyz_f:-0.159624, -0.461841, 0.749121  Reprojection Error: 0.635127, 0.375744 Feature: 0.379607, -0.216557, 0.899445
[11:52:56.054] xyz_f:-0.365023, -0.207418, 0.816443  Reprojection Error: 0.641762, 0.301599 Feature: 0.190877, 0.046621, 0.980506
[11:52:56.054] xyz_f:-0.503127, -0.151472, 0.785276  Reprojection Error: 0.687396, 0.285986 Feature: 0.046443, 0.092594, 0.994620
[11:52:56.054] xyz_f:-0.376611, -0.217373, 0.811527  Reprojection Error: 0.646539, 0.304203 Feature: 0.179383, 0.035733, 0.983130
[11:52:56.054] xyz_f:-0.350319, 0.027901, 0.841457  Reprojection Error: 0.617961, 0.264836 Feature: 0.189730, 0.280396, 0.940947
[11:52:56.054] xyz_f:-0.199095, -0.456173, 0.750726  Reprojection Error: 0.640442, 0.377468 Feature: 0.343436, -0.210666, 0.915244
[11:52:56.054] xyz_f:-0.385362, -0.240157, 0.803872  Reprojection Error: 0.652700, 0.310671 Feature: 0.170760, 0.011745, 0.985243
[11:52:56.054] xyz_f:-0.055292, 0.005365, 0.857748  Reprojection Error: 0.620587, 0.305462 Feature: 0.468934, 0.262845, 0.843216
[11:52:56.054] xyz_f:-1.018058, -0.479448, -0.011974  Reprojection Error: -86.194892, -40.767020 Feature: -0.698802, -0.430549, 0.571229
[11:52:56.054] xyz_f:-0.132988, -0.652256, 0.620033  Reprojection Error: 0.691889, 0.512962 Feature: 0.374003, -0.433894, 0.819670
[11:52:56.054] xyz_f:-0.192093, -0.467846, 0.745001  Reprojection Error: 0.670029, 0.375458 Feature: 0.348858, -0.223423, 0.910154
[11:52:56.054] xyz_f:-0.143335, -0.475156, 0.742095  Reprojection Error: 0.661768, 0.373140 Feature: 0.393217, -0.231237, 0.889893
[11:52:56.054] xyz_f:-0.226848, -0.444254, 0.754775  Reprojection Error: 0.668037, 0.371094 Feature: 0.318308, -0.198106, 0.927057
[11:52:56.054] xyz_f:-0.396729, -0.249980, 0.798385  Reprojection Error: 0.685327, 0.311738 Feature: 0.159236, 0.000836, 0.987240
[11:52:56.054] xyz_f:-0.505588, -0.144731, 0.785412  Reprojection Error: 0.716750, 0.281928 Feature: 0.043544, 0.099141, 0.994120
[11:52:56.054] xyz_f:-0.566312, -0.039345, 0.770380  Reprojection Error: 0.735209, 0.249772 Feature: -0.028803, 0.197046, 0.979971
[11:52:56.054] xyz_f:-0.350319, 0.027901, 0.841457  Reprojection Error: 0.649653, 0.264006 Feature: 0.189730, 0.280396, 0.940947
[11:52:56.054] xyz_f:-0.100160, 0.014329, 0.860892  Reprojection Error: 0.385013, 0.277625 Feature: 0.428064, 0.272317, 0.861745
[11:52:56.054] xyz_f:-0.055292, 0.005365, 0.857748  Reprojection Error: 0.662390, 0.304731 Feature: 0.468934, 0.262845, 0.843216
[11:52:56.054] xyz_f:-0.469876, 0.177880, 0.792673  Reprojection Error: 0.677734, 0.224507 Feature: 0.045835, 0.412639, 0.909741
[11:52:56.054] it:33 	 Success 	 new_chi2: 0.979315 	 dT = 0.059065, 0.042828, -0.029372
[11:52:56.054] xyz_f:-0.415463, -0.251751, 0.762165  Reprojection Error: 0.706403, 0.331157 Feature: 0.159236, 0.000836, 0.987240
[11:52:56.054] xyz_f:-0.210774, -0.468061, 0.702974  Reprojection Error: 0.683128, 0.420351 Feature: 0.348858, -0.223423, 0.910154
[11:52:56.054] xyz_f:-0.525443, -0.147333, 0.752297  Reprojection Error: 0.742253, 0.295572 Feature: 0.043544, 0.099141, 0.994120
[11:52:56.054] xyz_f:-0.245416, -0.444733, 0.713733  Reprojection Error: 0.687202, 0.409415 Feature: 0.318308, -0.198106, 0.927057
[11:52:56.054] xyz_f:-0.153838, -0.652030, 0.576360  Reprojection Error: 0.723198, 0.601937 Feature: 0.374003, -0.433894, 0.819670
[11:52:56.054] xyz_f:-0.162064, -0.475001, 0.698685  Reprojection Error: 0.673826, 0.420002 Feature: 0.393217, -0.231237, 0.889893
[11:52:56.054] xyz_f:-0.525197, -0.140850, 0.753384  Reprojection Error: 0.740944, 0.293339 Feature: 0.043539, 0.105685, 0.993446
[11:52:56.054] xyz_f:-0.491993, 0.175541, 0.758576  Reprojection Error: 0.698957, 0.222171 Feature: 0.045835, 0.412639, 0.909741
[11:52:56.054] xyz_f:0.237030, -0.022875, 0.720068  Reprojection Error: 0.786968, 0.355282 Feature: 0.728025, 0.211018, 0.652267
[11:52:56.054] xyz_f:-0.237775, -0.466236, 0.703101  Reprojection Error: 0.690038, 0.422175 Feature: 0.323657, -0.221627, 0.919852
[11:52:56.054] xyz_f:-0.378096, -0.230480, 0.775436  Reprojection Error: 0.688220, 0.322545 Feature: 0.196648, 0.024817, 0.980160
[11:52:56.054] xyz_f:-0.196587, -0.458200, 0.708236  Reprojection Error: 0.677657, 0.412691 Feature: 0.362972, -0.212537, 0.907237
[11:52:56.054] xyz_f:-1.057768, -0.486021, -0.030268  Reprojection Error: -36.170537, -16.811212 Feature: -0.698802, -0.430549, 0.571229
[11:52:56.054] xyz_f:-0.119258, 0.014812, 0.816263  Reprojection Error: 0.642843, 0.297861 Feature: 0.428064, 0.272317, 0.861745
[11:52:56.054] xyz_f:-0.587368, -0.042414, 0.739005  Reprojection Error: 0.765418, 0.258466 Feature: -0.028803, 0.197046, 0.979971
[11:52:56.054] xyz_f:-0.178248, -0.461809, 0.706172  Reprojection Error: 0.674459, 0.413194 Feature: 0.379607, -0.216557, 0.899445
[11:52:56.054] xyz_f:-0.383583, -0.208947, 0.779321  Reprojection Error: 0.686874, 0.315663 Feature: 0.190877, 0.046621, 0.980506
[11:52:56.054] xyz_f:-0.522936, -0.154056, 0.752090  Reprojection Error: 0.742005, 0.297932 Feature: 0.046443, 0.092594, 0.994620
[11:52:56.054] xyz_f:-0.395230, -0.218990, 0.774735  Reprojection Error: 0.692610, 0.319011 Feature: 0.179383, 0.035733, 0.983130
[11:52:56.054] xyz_f:-0.369964, 0.026480, 0.803933  Reprojection Error: 0.661829, 0.265056 Feature: 0.189730, 0.280396, 0.940947
[11:52:56.054] xyz_f:-0.217699, -0.456441, 0.708897  Reprojection Error: 0.682335, 0.413700 Feature: 0.343436, -0.210666, 0.915244
[11:52:56.054] xyz_f:-0.404021, -0.241841, 0.767329  Reprojection Error: 0.699847, 0.327093 Feature: 0.170760, 0.011745, 0.985243
[11:52:56.054] xyz_f:-0.074431, 0.006189, 0.811847  Reprojection Error: 0.647806, 0.304094 Feature: 0.468934, 0.262845, 0.843216
[11:52:56.054] xyz_f:-1.057768, -0.486021, -0.030268  Reprojection Error: -36.121025, -16.784413 Feature: -0.698802, -0.430549, 0.571229
[11:52:56.054] xyz_f:-0.153838, -0.652030, 0.576360  Reprojection Error: 0.744317, 0.592280 Feature: 0.374003, -0.433894, 0.819670
[11:52:56.054] xyz_f:-0.210774, -0.468061, 0.702974  Reprojection Error: 0.712018, 0.413307 Feature: 0.348858, -0.223423, 0.910154
[11:52:56.054] xyz_f:-0.162064, -0.475001, 0.698685  Reprojection Error: 0.700574, 0.412698 Feature: 0.393217, -0.231237, 0.889893
[11:52:56.054] xyz_f:-0.245416, -0.444733, 0.713733  Reprojection Error: 0.711335, 0.405610 Feature: 0.318308, -0.198106, 0.927057
[11:52:56.054] xyz_f:-0.415463, -0.251751, 0.762165  Reprojection Error: 0.733522, 0.328941 Feature: 0.159236, 0.000836, 0.987240
[11:52:56.054] xyz_f:-0.525443, -0.147333, 0.752297  Reprojection Error: 0.771480, 0.293499 Feature: 0.043544, 0.099141, 0.994120
[11:52:56.054] xyz_f:-0.587368, -0.042414, 0.739005  Reprojection Error: 0.794912, 0.256093 Feature: -0.028803, 0.197046, 0.979971
[11:52:56.054] xyz_f:-0.369964, 0.026480, 0.803933  Reprojection Error: 0.693521, 0.264227 Feature: 0.189730, 0.280396, 0.940947
[11:52:56.054] xyz_f:-0.119258, 0.014812, 0.816263  Reprojection Error: 0.414772, 0.276123 Feature: 0.428064, 0.272317, 0.861745
[11:52:56.054] xyz_f:-0.074431, 0.006189, 0.811847  Reprojection Error: 0.689609, 0.303362 Feature: 0.468934, 0.262845, 0.843216
[11:52:56.054] xyz_f:-0.491993, 0.175541, 0.758576  Reprojection Error: 0.733534, 0.217504 Feature: 0.045835, 0.412639, 0.909741
[11:52:56.054] it:34 	 Success 	 new_chi2: 0.457980 	 dT = 0.057403, 0.037993, -0.027681
[11:52:56.054] xyz_f:-0.429537, -0.253220, 0.729656  Reprojection Error: 0.749978, 0.347887 Feature: 0.159236, 0.000836, 0.987240
[11:52:56.054] xyz_f:-0.224959, -0.468064, 0.664993  Reprojection Error: 0.721584, 0.458384 Feature: 0.348858, -0.223423, 0.910154
[11:52:56.054] xyz_f:-0.540487, -0.149594, 0.722741  Reprojection Error: 0.791630, 0.306709 Feature: 0.043544, 0.099141, 0.994120
[11:52:56.054] xyz_f:-0.259467, -0.444984, 0.676677  Reprojection Error: 0.726797, 0.443909 Feature: 0.318308, -0.198106, 0.927057
[11:52:56.054] xyz_f:-0.170112, -0.651632, 0.536884  Reprojection Error: 0.773135, 0.684377 Feature: 0.374003, -0.433894, 0.819670
[11:52:56.054] xyz_f:-0.176333, -0.474655, 0.659403  Reprojection Error: 0.709283, 0.459978 Feature: 0.393217, -0.231237, 0.889893
[11:52:56.054] xyz_f:-0.540258, -0.143109, 0.723822  Reprojection Error: 0.790222, 0.304095 Feature: 0.043539, 0.105685, 0.993446
[11:52:56.054] xyz_f:-0.509194, 0.173512, 0.728155  Reprojection Error: 0.749676, 0.215289 Feature: 0.045835, 0.412639, 0.909741
[11:52:56.054] xyz_f:0.219941, -0.019680, 0.670151  Reprojection Error: 0.787949, 0.352880 Feature: 0.728025, 0.211018, 0.652267
[11:52:56.054] xyz_f:-0.251960, -0.466432, 0.665842  Reprojection Error: 0.730265, 0.459577 Feature: 0.323657, -0.221627, 0.919852
[11:52:56.054] xyz_f:-0.391981, -0.231680, 0.741925  Reprojection Error: 0.728959, 0.337589 Feature: 0.196648, 0.024817, 0.980160
[11:52:56.054] xyz_f:-0.210707, -0.458101, 0.669875  Reprojection Error: 0.714631, 0.449593 Feature: 0.362972, -0.212537, 0.907237
[11:52:56.054] xyz_f:-1.091103, -0.492162, -0.045344  Reprojection Error: -25.286048, -11.607652 Feature: -0.698802, -0.430549, 0.571229
[11:52:56.054] xyz_f:-0.133909, 0.015463, 0.775841  Reprojection Error: 0.669339, 0.296076 Feature: 0.428064, 0.272317, 0.861745
[11:52:56.054] xyz_f:-0.603495, -0.045122, 0.711120  Reprojection Error: 0.819263, 0.264525 Feature: -0.028803, 0.197046, 0.979971
[11:52:56.054] xyz_f:-0.192405, -0.461579, 0.667321  Reprojection Error: 0.710369, 0.450923 Feature: 0.379607, -0.216557, 0.899445
[11:52:56.054] xyz_f:-0.397517, -0.210188, 0.745957  Reprojection Error: 0.727567, 0.329317 Feature: 0.190877, 0.046621, 0.980506
[11:52:56.054] xyz_f:-0.537938, -0.156299, 0.722467  Reprojection Error: 0.791279, 0.309435 Feature: 0.046443, 0.092594, 0.994620
[11:52:56.054] xyz_f:-0.409210, -0.220314, 0.741683  Reprojection Error: 0.734192, 0.333393 Feature: 0.179383, 0.035733, 0.983130
[11:52:56.054] xyz_f:-0.384931, 0.025333, 0.770219  Reprojection Error: 0.701405, 0.265103 Feature: 0.189730, 0.280396, 0.940947
[11:52:56.054] xyz_f:-0.231806, -0.456493, 0.671100  Reprojection Error: 0.720652, 0.450041 Feature: 0.343436, -0.210666, 0.915244
[11:52:56.054] xyz_f:-0.418032, -0.243228, 0.734513  Reprojection Error: 0.742446, 0.343062 Feature: 0.170760, 0.011745, 0.985243
[11:52:56.054] xyz_f:-0.089155, 0.007161, 0.770227  Reprojection Error: 0.671876, 0.302420 Feature: 0.468934, 0.262845, 0.843216
[11:52:56.054] xyz_f:-1.091103, -0.492162, -0.045344  Reprojection Error: -25.236536, -11.580853 Feature: -0.698802, -0.430549, 0.571229
[11:52:56.054] xyz_f:-0.170112, -0.651632, 0.536884  Reprojection Error: 0.794254, 0.674721 Feature: 0.374003, -0.433894, 0.819670
[11:52:56.054] xyz_f:-0.224959, -0.468064, 0.664993  Reprojection Error: 0.750474, 0.451340 Feature: 0.348858, -0.223423, 0.910154
[11:52:56.054] xyz_f:-0.176333, -0.474655, 0.659403  Reprojection Error: 0.736031, 0.452674 Feature: 0.393217, -0.231237, 0.889893
[11:52:56.054] xyz_f:-0.259467, -0.444984, 0.676677  Reprojection Error: 0.750931, 0.440104 Feature: 0.318308, -0.198106, 0.927057
[11:52:56.054] xyz_f:-0.429537, -0.253220, 0.729656  Reprojection Error: 0.777097, 0.345671 Feature: 0.159236, 0.000836, 0.987240
[11:52:56.054] xyz_f:-0.540487, -0.149594, 0.722741  Reprojection Error: 0.820856, 0.304636 Feature: 0.043544, 0.099141, 0.994120
[11:52:56.055] xyz_f:-0.603495, -0.045122, 0.711120  Reprojection Error: 0.848757, 0.262152 Feature: -0.028803, 0.197046, 0.979971
[11:52:56.055] xyz_f:-0.384931, 0.025333, 0.770219  Reprojection Error: 0.733097, 0.264273 Feature: 0.189730, 0.280396, 0.940947
[11:52:56.055] xyz_f:-0.133909, 0.015463, 0.775841  Reprojection Error: 0.441267, 0.274339 Feature: 0.428064, 0.272317, 0.861745
[11:52:56.055] xyz_f:-0.089155, 0.007161, 0.770227  Reprojection Error: 0.713679, 0.301689 Feature: 0.468934, 0.262845, 0.843216
[11:52:56.055] xyz_f:-0.509194, 0.173512, 0.728155  Reprojection Error: 0.784253, 0.210622 Feature: 0.045835, 0.412639, 0.909741
[11:52:56.055] it:35 	 Success 	 new_chi2: 0.234050 	 dT = -0.183000, -0.013905, 0.288151
[11:52:56.055] xyz_f:-0.498149, -0.228660, 0.651902  Reprojection Error: 0.925441, 0.351605 Feature: 0.159236, 0.000836, 0.987240
[11:52:56.055] xyz_f:-0.300058, -0.458624, 0.643668  Reprojection Error: 0.849466, 0.467038 Feature: 0.348858, -0.223423, 0.910154
[11:52:56.055] xyz_f:-0.595005, -0.117231, 0.615866  Reprojection Error: 1.009928, 0.290079 Feature: 0.043544, 0.099141, 0.994120
[11:52:56.055] xyz_f:-0.334653, -0.432949, 0.645668  Reprojection Error: 0.861659, 0.456851 Feature: 0.318308, -0.198106, 0.927057
[11:52:56.055] xyz_f:-0.225808, -0.647040, 0.533651  Reprojection Error: 0.879424, 0.683126 Feature: 0.374003, -0.433894, 0.819670
[11:52:56.055] xyz_f:-0.252387, -0.468831, 0.651573  Reprojection Error: 0.829220, 0.459690 Feature: 0.393217, -0.231237, 0.889893
[11:52:56.055] xyz_f:-0.594605, -0.110770, 0.617035  Reprojection Error: 1.007475, 0.285902 Feature: 0.043539, 0.105685, 0.993446
[11:52:56.055] xyz_f:-0.542724, 0.202737, 0.632992  Reprojection Error: 0.907777, 0.133295 Feature: 0.045835, 0.412639, 0.909741
[11:52:56.055] xyz_f:0.158063, -0.044148, 0.775373  Reprojection Error: 0.912292, 0.380452 Feature: 0.728025, 0.211018, 0.652267
[11:52:56.055] xyz_f:-0.326059, -0.455002, 0.637090  Reprojection Error: 0.863651, 0.473250 Feature: 0.323657, -0.221627, 0.919852
[11:52:56.055] xyz_f:-0.463926, -0.209816, 0.674230  Reprojection Error: 0.888710, 0.336512 Feature: 0.196648, 0.024817, 0.980160
[11:52:56.055] xyz_f:-0.287001, -0.449687, 0.652377  Reprojection Error: 0.840016, 0.455037 Feature: 0.362972, -0.212537, 0.907237
[11:52:56.055] xyz_f:-0.937279, -0.426271, -0.277346  Reprojection Error: -4.602782, -2.290687 Feature: -0.698802, -0.430549, 0.571229
[11:52:56.055] xyz_f:-0.207625, 0.018013, 0.780229  Reprojection Error: 0.762849, 0.292920 Feature: 0.428064, 0.272317, 0.861745
[11:52:56.055] xyz_f:-0.644541, -0.008533, 0.588473  Reprojection Error: 1.065886, 0.215573 Feature: -0.028803, 0.197046, 0.979971
[11:52:56.055] xyz_f:-0.269008, -0.454527, 0.654909  Reprojection Error: 0.832801, 0.453264 Feature: 0.379607, -0.216557, 0.899445
[11:52:56.055] xyz_f:-0.468759, -0.187934, 0.676809  Reprojection Error: 0.887273, 0.325224 Feature: 0.190877, 0.046621, 0.980506
[11:52:56.055] xyz_f:-0.592979, -0.124107, 0.616233  Reprojection Error: 1.008959, 0.294492 Feature: 0.046443, 0.092594, 0.994620
[11:52:56.055] xyz_f:-0.479541, -0.197216, 0.669386  Reprojection Error: 0.898851, 0.330969 Feature: 0.179383, 0.035733, 0.983130
[11:52:56.055] xyz_f:-0.446029, 0.046261, 0.706020  Reprojection Error: 0.833388, 0.232470 Feature: 0.189730, 0.280396, 0.940947
[11:52:56.055] xyz_f:-0.307448, -0.446519, 0.647780  Reprojection Error: 0.849858, 0.459131 Feature: 0.343436, -0.210666, 0.915244
[11:52:56.055] xyz_f:-0.487717, -0.219492, 0.659834  Reprojection Error: 0.912469, 0.344568 Feature: 0.170760, 0.011745, 0.985243
[11:52:56.055] xyz_f:-0.163786, 0.006384, 0.787030  Reprojection Error: 0.764231, 0.303605 Feature: 0.468934, 0.262845, 0.843216
[11:52:56.055] xyz_f:-0.937279, -0.426271, -0.277346  Reprojection Error: -4.553270, -2.263888 Feature: -0.698802, -0.430549, 0.571229
[11:52:56.055] xyz_f:-0.225808, -0.647040, 0.533651  Reprojection Error: 0.900543, 0.673470 Feature: 0.374003, -0.433894, 0.819670
[11:52:56.055] xyz_f:-0.300058, -0.458624, 0.643668  Reprojection Error: 0.878356, 0.459994 Feature: 0.348858, -0.223423, 0.910154
[11:52:56.055] xyz_f:-0.252387, -0.468831, 0.651573  Reprojection Error: 0.855969, 0.452386 Feature: 0.393217, -0.231237, 0.889893
[11:52:56.055] xyz_f:-0.334653, -0.432949, 0.645668  Reprojection Error: 0.885792, 0.453047 Feature: 0.318308, -0.198106, 0.927057
[11:52:56.055] xyz_f:-0.498149, -0.228660, 0.651902  Reprojection Error: 0.952560, 0.349389 Feature: 0.159236, 0.000836, 0.987240
[11:52:56.055] xyz_f:-0.595005, -0.117231, 0.615866  Reprojection Error: 1.039154, 0.288006 Feature: 0.043544, 0.099141, 0.994120
[11:52:56.055] xyz_f:-0.644541, -0.008533, 0.588473  Reprojection Error: 1.095380, 0.213200 Feature: -0.028803, 0.197046, 0.979971
[11:52:56.055] xyz_f:-0.446029, 0.046261, 0.706020  Reprojection Error: 0.865080, 0.231640 Feature: 0.189730, 0.280396, 0.940947
[11:52:56.055] xyz_f:-0.207625, 0.018013, 0.780229  Reprojection Error: 0.534777, 0.271183 Feature: 0.428064, 0.272317, 0.861745
[11:52:56.055] xyz_f:-0.163786, 0.006384, 0.787030  Reprojection Error: 0.806034, 0.302874 Feature: 0.468934, 0.262845, 0.843216
[11:52:56.055] xyz_f:-0.542724, 0.202737, 0.632992  Reprojection Error: 0.942354, 0.128629 Feature: 0.045835, 0.412639, 0.909741
[11:52:56.055] it:36 	 Success 	 new_chi2: 0.088000 	 dT = 7.247068, -0.231892, -8.921480
[11:52:56.055] xyz_f:-6.618961, 0.144080, -0.507292  Reprojection Error: -12.886341, 0.284864 Feature: 0.159236, 0.000836, 0.987240
[11:52:56.055] xyz_f:-6.767617, -0.036119, -0.701253  Reprojection Error: -9.267448, -0.296984 Feature: 0.348858, -0.223423, 0.910154
[11:52:56.055] xyz_f:-6.564814, 0.212514, -0.382870  Reprojection Error: -17.102536, 0.654784 Feature: 0.043544, 0.099141, 0.994120
[11:52:56.055] xyz_f:-6.739585, -0.017051, -0.674595  Reprojection Error: -9.647209, -0.238969 Feature: 0.318308, -0.198106, 0.927057
[11:52:56.055] xyz_f:-6.860394, -0.243186, -0.741663  Reprojection Error: -8.793733, -0.857245 Feature: 0.374003, -0.433894, 0.819670
[11:52:56.055] xyz_f:-6.804420, -0.035385, -0.734181  Reprojection Error: -8.826171, -0.308044 Feature: 0.393217, -0.231237, 0.889893
[11:52:56.055] xyz_f:-6.565426, 0.218762, -0.380903  Reprojection Error: -17.192650, 0.680706 Feature: 0.043539, 0.105685, 0.993446
[11:52:56.055] xyz_f:-6.642576, 0.506831, -0.270012  Reprojection Error: -24.550662, 2.330647 Feature: 0.045835, 0.412639, 0.909741
[11:52:56.055] xyz_f:-7.159311, 0.445229, -0.819118  Reprojection Error: -7.624126, 0.867061 Feature: 0.728025, 0.211018, 0.652267
[11:52:56.055] xyz_f:-6.748358, -0.039283, -0.682506  Reprojection Error: -9.535764, -0.298495 Feature: 0.323657, -0.221627, 0.919852
[11:52:56.055] xyz_f:-6.640891, 0.175300, -0.531152  Reprojection Error: -12.302183, 0.355357 Feature: 0.196648, 0.024817, 0.980160
[11:52:56.055] xyz_f:-6.776113, -0.022590, -0.709680  Reprojection Error: -9.148042, -0.266099 Feature: 0.362972, -0.212537, 0.907237
[11:52:56.055] xyz_f:-6.642537, -0.519332, 0.301854  Reprojection Error: 20.782491, 0.966754 Feature: -0.698802, -0.430549, 0.571229
[11:52:56.055] xyz_f:-6.844467, 0.456206, -0.623240  Reprojection Error: -10.485337, 1.047997 Feature: 0.428064, 0.272317, 0.861745
[11:52:56.055] xyz_f:-6.547751, 0.288521, -0.288259  Reprojection Error: -22.744236, 1.201983 Feature: -0.028803, 0.197046, 0.979971
[11:52:56.055] xyz_f:-6.790092, -0.023389, -0.722233  Reprojection Error: -8.979485, -0.273151 Feature: 0.379607, -0.216557, 0.899445
[11:52:56.055] xyz_f:-6.638187, 0.195038, -0.520572  Reprojection Error: -12.557039, 0.422210 Feature: 0.190877, 0.046621, 0.980506
[11:52:56.055] xyz_f:-6.565559, 0.206927, -0.387314  Reprojection Error: -16.904832, 0.627356 Feature: 0.046443, 0.092594, 0.994620
[11:52:56.055] xyz_f:-6.631041, 0.182095, -0.514333  Reprojection Error: -12.710057, 0.390387 Feature: 0.179383, 0.035733, 0.983130
[11:52:56.055] xyz_f:-6.673724, 0.416340, -0.443243  Reprojection Error: -14.854956, 1.237298 Feature: 0.189730, 0.280396, 0.940947
[11:52:56.055] xyz_f:-6.760739, -0.024529, -0.695218  Reprojection Error: -9.349386, -0.265458 Feature: 0.343436, -0.210666, 0.915244
[11:52:56.055] xyz_f:-6.625549, 0.157118, -0.513804  Reprojection Error: -12.721783, 0.317714 Feature: 0.170760, 0.011745, 0.985243
[11:52:56.055] xyz_f:-6.878250, 0.454701, -0.654221  Reprojection Error: -9.957523, 1.006743 Feature: 0.468934, 0.262845, 0.843216
[11:52:56.055] xyz_f:-6.642537, -0.519332, 0.301854  Reprojection Error: 20.832003, 0.993552 Feature: -0.698802, -0.430549, 0.571229
[11:52:56.055] xyz_f:-6.860394, -0.243186, -0.741663  Reprojection Error: -8.772614, -0.866901 Feature: 0.374003, -0.433894, 0.819670
[11:52:56.055] xyz_f:-6.767617, -0.036119, -0.701253  Reprojection Error: -9.238558, -0.304028 Feature: 0.348858, -0.223423, 0.910154
[11:52:56.055] xyz_f:-6.804420, -0.035385, -0.734181  Reprojection Error: -8.799422, -0.315348 Feature: 0.393217, -0.231237, 0.889893
[11:52:56.055] xyz_f:-6.739585, -0.017051, -0.674595  Reprojection Error: -9.623076, -0.242773 Feature: 0.318308, -0.198106, 0.927057
[11:52:56.055] xyz_f:-6.618961, 0.144080, -0.507292  Reprojection Error: -12.859222, 0.282648 Feature: 0.159236, 0.000836, 0.987240
[11:52:56.055] xyz_f:-6.564814, 0.212514, -0.382870  Reprojection Error: -17.073309, 0.652710 Feature: 0.043544, 0.099141, 0.994120
[11:52:56.055] xyz_f:-6.547751, 0.288521, -0.288259  Reprojection Error: -22.714742, 1.199610 Feature: -0.028803, 0.197046, 0.979971
[11:52:56.055] xyz_f:-6.673724, 0.416340, -0.443243  Reprojection Error: -14.823264, 1.236469 Feature: 0.189730, 0.280396, 0.940947
[11:52:56.055] xyz_f:-6.844467, 0.456206, -0.623240  Reprojection Error: -10.713409, 1.026260 Feature: 0.428064, 0.272317, 0.861745
[11:52:56.055] xyz_f:-6.878250, 0.454701, -0.654221  Reprojection Error: -9.915720, 1.006012 Feature: 0.468934, 0.262845, 0.843216
[11:52:56.055] xyz_f:-6.642576, 0.506831, -0.270012  Reprojection Error: -24.516085, 2.325980 Feature: 0.045835, 0.412639, 0.909741
[11:52:56.055] it:37 	 Success 	 new_chi2: 0.000000 	 dT = 0.000000, 0.000000, 0.000000
[11:52:56.055] After pose optimization, distance between two frames:0.038039 ,angle between two frames:0.240906
[11:52:56.055] Update EKF and 3D points, distance between two frames:0.000003 ,angle between two frames:0.027339
[11:52:56.148] Reprojection Map nPoint:23 ,nCell:11 ,nMatches:11 ,distance between two frames:2.764876 ,angle between two frames:-3.563708
[11:52:56.148] Init estimate scale:1.542972
[11:52:56.148] xyz_f:2.442801, -0.246803, 1.094683  Reprojection Error: -2.043102, 0.224087 Feature: 0.185155, -0.001346, 0.982708
[11:52:56.148] xyz_f:2.645331, -0.469911, 1.054110  Reprojection Error: -2.097354, 0.193267 Feature: 0.371103, -0.227353, 0.900329
[11:52:56.148] xyz_f:2.339547, -0.139922, 1.075532  Reprojection Error: -2.102218, 0.227750 Feature: 0.072491, 0.096937, 0.992647
[11:52:56.148] xyz_f:2.606973, -0.443708, 1.061910  Reprojection Error: -2.087497, 0.200342 Feature: 0.337962, -0.200023, 0.919659
[11:52:56.148] xyz_f:2.702817, -0.654796, 0.932483  Reprojection Error: -2.421111, 0.163198 Feature: 0.387424, -0.437417, 0.811522
[11:52:56.148] xyz_f:2.691278, -0.478057, 1.054482  Reprojection Error: -2.083609, 0.186206 Feature: 0.412440, -0.235125, 0.880119
[11:52:56.148] xyz_f:2.337234, -0.133132, 1.075480  Reprojection Error: -2.103063, 0.228084 Feature: 0.069591, 0.103482, 0.992194
[11:52:56.148] xyz_f:2.384170, 0.179027, 1.088271  Reprojection Error: -2.105828, 0.284406 Feature: 0.077276, 0.408315, 0.909564
[11:52:56.148] xyz_f:2.703810, -0.454913, 1.067598  Reprojection Error: -2.047713, 0.188143 Feature: 0.426639, -0.209375, 0.879853
[11:52:56.148] xyz_f:2.615430, -0.467326, 1.051081  Reprojection Error: -2.111866, 0.197133 Feature: 0.343233, -0.225640, 0.911744
[11:52:56.148] xyz_f:2.479369, -0.222308, 1.112690  Reprojection Error: -1.999979, 0.227472 Feature: 0.222479, 0.026975, 0.974564
[11:52:56.148] xyz_f:2.659178, -0.460439, 1.060814  Reprojection Error: -2.077401, 0.192746 Feature: 0.385157, -0.216469, 0.897104
[11:52:56.148] xyz_f:1.872421, -0.457746, 0.239632  Reprojection Error: -8.987550, 1.183277 Feature: -0.688546, -0.426404, 0.586587
[11:52:56.148] xyz_f:2.525241, 0.022582, 1.150732  Reprojection Error: -1.925797, 0.274645 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.148] xyz_f:2.282067, -0.033514, 1.056872  Reprojection Error: -2.159162, 0.230410 Feature: 0.000100, 0.194890, 0.980825
[11:52:56.148] xyz_f:2.674627, -0.464480, 1.060316  Reprojection Error: -2.074288, 0.190326 Feature: 0.398928, -0.220500, 0.890077
[11:52:56.148] xyz_f:2.479615, -0.207458, 1.116174  Reprojection Error: -1.993136, 0.229212 Feature: 0.222462, 0.042220, 0.974027
[11:52:56.148] xyz_f:2.341885, -0.146702, 1.075540  Reprojection Error: -2.101485, 0.227421 Feature: 0.075390, 0.090389, 0.993049
[11:52:56.148] xyz_f:2.470976, -0.217413, 1.111287  Reprojection Error: -2.004476, 0.227740 Feature: 0.213872, 0.031340, 0.976359
[11:52:56.148] xyz_f:2.494727, 0.029520, 1.142681  Reprojection Error: -1.949893, 0.271330 Feature: 0.218270, 0.277985, 0.935459
[11:52:56.148] xyz_f:2.635078, -0.458087, 1.058968  Reprojection Error: -2.088076, 0.195826 Feature: 0.362941, -0.214674, 0.906746
[11:52:56.148] xyz_f:2.453949, -0.239315, 1.100438  Reprojection Error: -2.029397, 0.224996 Feature: 0.196657, 0.007376, 0.980445
[11:52:56.148] xyz_f:2.788885, -0.000852, 1.178366  Reprojection Error: -1.768811, 0.311708 Feature: 0.495830, 0.257884, 0.829246
[11:52:56.148] xyz_f:1.872421, -0.457746, 0.239632  Reprojection Error: -8.932686, 1.210827 Feature: -0.688546, -0.426404, 0.586587
[11:52:56.148] xyz_f:2.702817, -0.654796, 0.932483  Reprojection Error: -2.386960, 0.150997 Feature: 0.387424, -0.437417, 0.811522
[11:52:56.148] xyz_f:2.645331, -0.469911, 1.054110  Reprojection Error: -2.063956, 0.185643 Feature: 0.371103, -0.227353, 0.900329
[11:52:56.148] xyz_f:2.691278, -0.478057, 1.054482  Reprojection Error: -2.048008, 0.175298 Feature: 0.412440, -0.235125, 0.880119
[11:52:56.148] xyz_f:2.442801, -0.246803, 1.094683  Reprojection Error: -2.015633, 0.219621 Feature: 0.185155, -0.001346, 0.982708
[11:52:56.148] xyz_f:2.479369, -0.222308, 1.112690  Reprojection Error: -1.968780, 0.223143 Feature: 0.222479, 0.026975, 0.974564
[11:52:56.148] xyz_f:2.339547, -0.139922, 1.075532  Reprojection Error: -2.072842, 0.225742 Feature: 0.072491, 0.096937, 0.992647
[11:52:56.148] xyz_f:2.282067, -0.033514, 1.056872  Reprojection Error: -2.129690, 0.228187 Feature: 0.000100, 0.194890, 0.980825
[11:52:56.148] xyz_f:2.525241, 0.022582, 1.150732  Reprojection Error: -1.892905, 0.274289 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.148] xyz_f:2.788885, -0.000852, 1.178366  Reprojection Error: -1.725565, 0.308476 Feature: 0.495830, 0.257884, 0.829246
[11:52:56.148] xyz_f:2.384170, 0.179027, 1.088271  Reprojection Error: -2.064748, 0.280464 Feature: 0.077276, 0.408315, 0.909564
[11:52:56.148] it:0 	 Success 	 new_chi2: 115.361199 	 dT = -0.151870, 0.028733, -0.000187
[11:52:56.148] xyz_f:-0.289867, -0.246787, 1.123358  Reprojection Error: 0.446449, 0.218318 Feature: 0.185155, -0.001346, 0.982708
[11:52:56.148] xyz_f:-0.087340, -0.469906, 1.082822  Reprojection Error: 0.492845, 0.181442 Feature: 0.371103, -0.227353, 0.900329
[11:52:56.148] xyz_f:-0.393112, -0.139902, 1.104189  Reprojection Error: 0.429046, 0.224355 Feature: 0.072491, 0.096937, 0.992647
[11:52:56.148] xyz_f:-0.125698, -0.443700, 1.090616  Reprojection Error: 0.482741, 0.189337 Feature: 0.337962, -0.200023, 0.919659
[11:52:56.148] xyz_f:-0.029841, -0.654793, 0.961206  Reprojection Error: 0.508449, 0.142212 Feature: 0.387424, -0.437417, 0.811522
[11:52:56.148] xyz_f:-0.041393, -0.478054, 1.083203  Reprojection Error: 0.506833, 0.174182 Feature: 0.412440, -0.235125, 0.880119
[11:52:56.148] xyz_f:-0.395424, -0.133111, 1.104137  Reprojection Error: 0.428268, 0.224853 Feature: 0.069591, 0.103482, 0.992194
[11:52:56.148] xyz_f:-0.348476, 0.179045, 1.116936  Reprojection Error: 0.396952, 0.288612 Feature: 0.077276, 0.408315, 0.909564
[11:52:56.148] xyz_f:-0.028863, -0.454911, 1.096321  Reprojection Error: 0.511224, 0.176977 Feature: 0.426639, -0.209375, 0.879853
[11:52:56.148] xyz_f:-0.117241, -0.467319, 1.079787  Reprojection Error: 0.485035, 0.185306 Feature: 0.343233, -0.225640, 0.911744
[11:52:56.148] xyz_f:-0.253301, -0.222294, 1.141372  Reprojection Error: 0.450213, 0.222440 Feature: 0.222479, 0.026975, 0.974564
[11:52:56.148] xyz_f:-0.073494, -0.460435, 1.089528  Reprojection Error: 0.496789, 0.181302 Feature: 0.385157, -0.216469, 0.897104
[11:52:56.148] xyz_f:-0.860102, -0.457703, 0.268205  Reprojection Error: 2.033069, 0.979618 Feature: -0.688546, -0.426404, 0.586587
[11:52:56.148] xyz_f:-0.207423, 0.022593, 1.179422  Reprojection Error: 0.444537, 0.275113 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.148] xyz_f:-0.450584, -0.033491, 1.085519  Reprojection Error: 0.415188, 0.229552 Feature: 0.000100, 0.194890, 0.980825
[11:52:56.148] xyz_f:-0.058045, -0.464475, 1.089033  Reprojection Error: 0.501494, 0.178771 Feature: 0.398928, -0.220500, 0.890077
[11:52:56.148] xyz_f:-0.253055, -0.207445, 1.144857  Reprojection Error: 0.449430, 0.224543 Feature: 0.222462, 0.042220, 0.974027
[11:52:56.148] xyz_f:-0.390775, -0.146682, 1.104198  Reprojection Error: 0.429817, 0.223863 Feature: 0.075390, 0.090389, 0.993049
[11:52:56.148] xyz_f:-0.261693, -0.217399, 1.139968  Reprojection Error: 0.448612, 0.222805 Feature: 0.213872, 0.031340, 0.976359
[11:52:56.148] xyz_f:-0.237936, 0.029533, 1.171366  Reprojection Error: 0.436456, 0.271952 Feature: 0.218270, 0.277985, 0.935459
[11:52:56.148] xyz_f:-0.097593, -0.458081, 1.087679  Reprojection Error: 0.489994, 0.184402 Feature: 0.362941, -0.214674, 0.906746
[11:52:56.148] xyz_f:-0.278719, -0.239301, 1.129115  Reprojection Error: 0.447426, 0.219459 Feature: 0.196657, 0.007376, 0.980445
[11:52:56.148] xyz_f:0.056214, -0.000853, 1.207104  Reprojection Error: 0.551359, 0.311692 Feature: 0.495830, 0.257884, 0.829246
[11:52:56.148] xyz_f:-0.860102, -0.457703, 0.268205  Reprojection Error: 2.087933, 1.007168 Feature: -0.688546, -0.426404, 0.586587
[11:52:56.148] xyz_f:-0.029841, -0.654793, 0.961206  Reprojection Error: 0.542600, 0.130011 Feature: 0.387424, -0.437417, 0.811522
[11:52:56.148] xyz_f:-0.087340, -0.469906, 1.082822  Reprojection Error: 0.526243, 0.173817 Feature: 0.371103, -0.227353, 0.900329
[11:52:56.148] xyz_f:-0.041393, -0.478054, 1.083203  Reprojection Error: 0.542434, 0.163275 Feature: 0.412440, -0.235125, 0.880119
[11:52:56.148] xyz_f:-0.289867, -0.246787, 1.123358  Reprojection Error: 0.473918, 0.213852 Feature: 0.185155, -0.001346, 0.982708
[11:52:56.148] xyz_f:-0.253301, -0.222294, 1.141372  Reprojection Error: 0.481412, 0.218110 Feature: 0.222479, 0.026975, 0.974564
[11:52:56.148] xyz_f:-0.393112, -0.139902, 1.104189  Reprojection Error: 0.458423, 0.222348 Feature: 0.072491, 0.096937, 0.992647
[11:52:56.148] xyz_f:-0.450584, -0.033491, 1.085519  Reprojection Error: 0.444660, 0.227328 Feature: 0.000100, 0.194890, 0.980825
[11:52:56.148] xyz_f:-0.207423, 0.022593, 1.179422  Reprojection Error: 0.477430, 0.274757 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.148] xyz_f:0.056214, -0.000853, 1.207104  Reprojection Error: 0.594605, 0.308460 Feature: 0.495830, 0.257884, 0.829246
[11:52:56.148] xyz_f:-0.348476, 0.179045, 1.116936  Reprojection Error: 0.438032, 0.284669 Feature: 0.077276, 0.408315, 0.909564
[11:52:56.148] it:1 	 Success 	 new_chi2: 17.269480 	 dT = -0.005909, 0.015160, 0.046495
[11:52:56.148] xyz_f:-0.070746, -0.250333, 1.151751  Reprojection Error: 0.249838, 0.215981 Feature: 0.185155, -0.001346, 0.982708
[11:52:56.148] xyz_f:0.132426, -0.471010, 1.102103  Reprojection Error: 0.292028, 0.174852 Feature: 0.371103, -0.227353, 0.900329
[11:52:56.148] xyz_f:-0.176026, -0.144702, 1.137265  Reprojection Error: 0.227808, 0.224892 Feature: 0.072491, 0.096937, 0.992647
[11:52:56.148] xyz_f:0.094144, -0.445266, 1.111617  Reprojection Error: 0.282796, 0.183059 Feature: 0.337962, -0.200023, 0.919659
[11:52:56.148] xyz_f:0.186627, -0.655225, 0.977978  Reprojection Error: 0.286575, 0.130971 Feature: 0.387424, -0.437417, 0.811522
[11:52:56.148] xyz_f:0.178438, -0.478604, 1.100418  Reprojection Error: 0.306464, 0.167778 Feature: 0.412440, -0.235125, 0.880119
[11:52:56.148] xyz_f:-0.178420, -0.137940, 1.137318  Reprojection Error: 0.227016, 0.225582 Feature: 0.069591, 0.103482, 0.992194
[11:52:56.148] xyz_f:-0.134703, 0.174762, 1.148081  Reprojection Error: 0.202288, 0.296691 Feature: 0.077276, 0.408315, 0.909564
[11:52:56.148] xyz_f:0.191266, -0.455309, 1.112967  Reprojection Error: 0.313045, 0.171129 Feature: 0.426639, -0.209375, 0.879853
[11:52:56.148] xyz_f:0.102390, -0.468784, 1.100414  Reprojection Error: 0.283411, 0.178525 Feature: 0.343233, -0.225640, 0.911744
[11:52:56.148] xyz_f:-0.033706, -0.225397, 1.168111  Reprojection Error: 0.257141, 0.220638 Feature: 0.222479, 0.026975, 0.974564
[11:52:56.148] xyz_f:0.146444, -0.461371, 1.108183  Reprojection Error: 0.297186, 0.175034 Feature: 0.385157, -0.216469, 0.897104
[11:52:56.148] xyz_f:-0.676220, -0.468324, 0.323003  Reprojection Error: 0.919724, 0.722982 Feature: -0.688546, -0.426404, 0.586587
[11:52:56.148] xyz_f:0.010885, 0.020035, 1.204129  Reprojection Error: 0.259629, 0.277631 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.148] xyz_f:-0.235554, -0.038995, 1.121222  Reprojection Error: 0.210189, 0.233479 Feature: 0.000100, 0.194890, 0.980825
[11:52:56.148] xyz_f:0.161903, -0.465226, 1.106994  Reprojection Error: 0.301940, 0.172529 Feature: 0.398928, -0.220500, 0.890077
[11:52:56.148] xyz_f:-0.033482, -0.210545, 1.171585  Reprojection Error: 0.256972, 0.223055 Feature: 0.222462, 0.042220, 0.974027
[11:52:56.148] xyz_f:-0.173609, -0.151454, 1.137166  Reprojection Error: 0.228587, 0.224208 Feature: 0.075390, 0.090389, 0.993049
[11:52:56.148] xyz_f:-0.042211, -0.220603, 1.167086  Reprojection Error: 0.255218, 0.221120 Feature: 0.213872, 0.031340, 0.976359
[11:52:56.148] xyz_f:-0.020040, 0.026605, 1.197453  Reprojection Error: 0.250065, 0.274946 Feature: 0.218270, 0.277985, 0.935459
[11:52:56.148] xyz_f:0.122259, -0.459308, 1.107418  Reprojection Error: 0.289867, 0.178004 Feature: 0.362941, -0.214674, 0.906746
[11:52:56.148] xyz_f:-0.059442, -0.242711, 1.157003  Reprojection Error: 0.251955, 0.217299 Feature: 0.196657, 0.007376, 0.980445
[11:52:56.148] xyz_f:0.275762, -0.000231, 1.219941  Reprojection Error: 0.371883, 0.311175 Feature: 0.495830, 0.257884, 0.829246
[11:52:56.148] xyz_f:-0.676220, -0.468324, 0.323003  Reprojection Error: 0.974589, 0.750532 Feature: -0.688546, -0.426404, 0.586587
[11:52:56.148] xyz_f:0.186627, -0.655225, 0.977978  Reprojection Error: 0.320725, 0.118770 Feature: 0.387424, -0.437417, 0.811522
[11:52:56.148] xyz_f:0.132426, -0.471010, 1.102103  Reprojection Error: 0.325426, 0.167227 Feature: 0.371103, -0.227353, 0.900329
[11:52:56.148] xyz_f:0.178438, -0.478604, 1.100418  Reprojection Error: 0.342065, 0.156871 Feature: 0.412440, -0.235125, 0.880119
[11:52:56.148] xyz_f:-0.070746, -0.250333, 1.151751  Reprojection Error: 0.277307, 0.211515 Feature: 0.185155, -0.001346, 0.982708
[11:52:56.148] xyz_f:-0.033706, -0.225397, 1.168111  Reprojection Error: 0.288340, 0.216308 Feature: 0.222479, 0.026975, 0.974564
[11:52:56.148] xyz_f:-0.176026, -0.144702, 1.137265  Reprojection Error: 0.257184, 0.222884 Feature: 0.072491, 0.096937, 0.992647
[11:52:56.148] xyz_f:-0.235554, -0.038995, 1.121222  Reprojection Error: 0.239661, 0.231255 Feature: 0.000100, 0.194890, 0.980825
[11:52:56.148] xyz_f:0.010885, 0.020035, 1.204129  Reprojection Error: 0.292522, 0.277274 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.148] xyz_f:0.275762, -0.000231, 1.219941  Reprojection Error: 0.415129, 0.307943 Feature: 0.495830, 0.257884, 0.829246
[11:52:56.148] xyz_f:-0.134703, 0.174762, 1.148081  Reprojection Error: 0.243368, 0.292749 Feature: 0.077276, 0.408315, 0.909564
[11:52:56.148] it:2 	 Success 	 new_chi2: 6.811203 	 dT = -0.018367, 0.016883, 0.042672
[11:52:56.148] xyz_f:-0.026751, -0.253113, 1.179011  Reprojection Error: 0.211103, 0.213314 Feature: 0.185155, -0.001346, 0.982708
[11:52:56.148] xyz_f:0.176627, -0.471545, 1.120983  Reprojection Error: 0.254621, 0.168131 Feature: 0.371103, -0.227353, 0.900329
[11:52:56.148] xyz_f:-0.133698, -0.148655, 1.168900  Reprojection Error: 0.187407, 0.224830 Feature: 0.072491, 0.096937, 0.992647
[11:52:56.148] xyz_f:0.138488, -0.446223, 1.132073  Reprojection Error: 0.245156, 0.176667 Feature: 0.337962, -0.200023, 0.919659
[11:52:56.148] xyz_f:0.227698, -0.655179, 0.994688  Reprojection Error: 0.248490, 0.119669 Feature: 0.387424, -0.437417, 0.811522
[11:52:56.148] xyz_f:0.222612, -0.478631, 1.117402  Reprojection Error: 0.269396, 0.161192 Feature: 0.412440, -0.235125, 0.880119
[11:52:56.148] xyz_f:-0.136162, -0.141919, 1.169053  Reprojection Error: 0.186610, 0.225693 Feature: 0.069591, 0.103482, 0.992194
[11:52:56.148] xyz_f:-0.095494, 0.171249, 1.178076  Reprojection Error: 0.166019, 0.303549 Feature: 0.077276, 0.408315, 0.909564
[11:52:56.149] xyz_f:0.235688, -0.455193, 1.129417  Reprojection Error: 0.276217, 0.165067 Feature: 0.426639, -0.209375, 0.879853
[11:52:56.149] xyz_f:0.146525, -0.469651, 1.120534  Reprojection Error: 0.245695, 0.171650 Feature: 0.343233, -0.225640, 0.911744
[11:52:56.149] xyz_f:0.010655, -0.227766, 1.193837  Reprojection Error: 0.219361, 0.218464 Feature: 0.222479, 0.026975, 0.974564
[11:52:56.149] xyz_f:0.190777, -0.461751, 1.126483  Reprojection Error: 0.259978, 0.168607 Feature: 0.385157, -0.216469, 0.897104
[11:52:56.149] xyz_f:-0.663415, -0.477964, 0.375866  Reprojection Error: 0.591213, 0.544711 Feature: -0.688546, -0.426404, 0.586587
[11:52:56.149] xyz_f:0.053979, 0.018151, 1.228043  Reprojection Error: 0.224713, 0.279489 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.149] xyz_f:-0.195000, -0.043615, 1.155347  Reprojection Error: 0.168883, 0.236450 Feature: 0.000100, 0.194890, 0.980825
[11:52:56.149] xyz_f:0.206215, -0.465435, 1.124657  Reprojection Error: 0.264836, 0.166114 Feature: 0.398928, -0.220500, 0.890077
[11:52:56.149] xyz_f:0.010857, -0.212912, 1.197302  Reprojection Error: 0.219326, 0.221172 Feature: 0.222462, 0.042220, 0.974027
[11:52:56.149] xyz_f:-0.131213, -0.155379, 1.168700  Reprojection Error: 0.188191, 0.223973 Feature: 0.075390, 0.090389, 0.993049
[11:52:56.149] xyz_f:0.002062, -0.223067, 1.193165  Reprojection Error: 0.217322, 0.219053 Feature: 0.213872, 0.031340, 0.976359
[11:52:56.149] xyz_f:0.022735, 0.024378, 1.222648  Reprojection Error: 0.214734, 0.277225 Feature: 0.218270, 0.277985, 0.935459
[11:52:56.149] xyz_f:0.166560, -0.459954, 1.126715  Reprojection Error: 0.252440, 0.171474 Feature: 0.362941, -0.214674, 0.906746
[11:52:56.149] xyz_f:-0.015325, -0.245366, 1.183795  Reprojection Error: 0.213524, 0.214794 Feature: 0.196657, 0.007376, 0.980445
[11:52:56.149] xyz_f:0.319490, 0.000815, 1.232923  Reprojection Error: 0.338796, 0.310325 Feature: 0.495830, 0.257884, 0.829246
[11:52:56.149] xyz_f:-0.663415, -0.477964, 0.375866  Reprojection Error: 0.646078, 0.572262 Feature: -0.688546, -0.426404, 0.586587
[11:52:56.149] xyz_f:0.227698, -0.655179, 0.994688  Reprojection Error: 0.282640, 0.107468 Feature: 0.387424, -0.437417, 0.811522
[11:52:56.149] xyz_f:0.176627, -0.471545, 1.120983  Reprojection Error: 0.288019, 0.160506 Feature: 0.371103, -0.227353, 0.900329
[11:52:56.149] xyz_f:0.222612, -0.478631, 1.117402  Reprojection Error: 0.304997, 0.150284 Feature: 0.412440, -0.235125, 0.880119
[11:52:56.149] xyz_f:-0.026751, -0.253113, 1.179011  Reprojection Error: 0.238571, 0.208848 Feature: 0.185155, -0.001346, 0.982708
[11:52:56.149] xyz_f:0.010655, -0.227766, 1.193837  Reprojection Error: 0.250560, 0.214135 Feature: 0.222479, 0.026975, 0.974564
[11:52:56.149] xyz_f:-0.133698, -0.148655, 1.168900  Reprojection Error: 0.216783, 0.222822 Feature: 0.072491, 0.096937, 0.992647
[11:52:56.149] xyz_f:-0.195000, -0.043615, 1.155347  Reprojection Error: 0.198355, 0.234227 Feature: 0.000100, 0.194890, 0.980825
[11:52:56.149] xyz_f:0.053979, 0.018151, 1.228043  Reprojection Error: 0.257606, 0.279132 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.149] xyz_f:0.319490, 0.000815, 1.232923  Reprojection Error: 0.382042, 0.307093 Feature: 0.495830, 0.257884, 0.829246
[11:52:56.149] xyz_f:-0.095494, 0.171249, 1.178076  Reprojection Error: 0.207098, 0.299607 Feature: 0.077276, 0.408315, 0.909564
[11:52:56.149] it:3 	 Success 	 new_chi2: 4.804351 	 dT = -0.022001, 0.017076, 0.041849
[11:52:56.149] xyz_f:0.027405, -0.255395, 1.204602  Reprojection Error: 0.165663, 0.210647 Feature: 0.185155, -0.001346, 0.982708
[11:52:56.149] xyz_f:0.230625, -0.471624, 1.138355  Reprojection Error: 0.209591, 0.161781 Feature: 0.371103, -0.227353, 0.900329
[11:52:56.149] xyz_f:-0.080988, -0.152103, 1.198843  Reprojection Error: 0.140583, 0.224529 Feature: 0.072491, 0.096937, 0.992647
[11:52:56.149] xyz_f:0.192693, -0.446714, 1.150983  Reprojection Error: 0.200071, 0.170618 Feature: 0.337962, -0.200023, 0.919659
[11:52:56.149] xyz_f:0.278536, -0.654722, 1.010059  Reprojection Error: 0.201642, 0.109193 Feature: 0.387424, -0.437417, 0.811522
[11:52:56.149] xyz_f:0.276501, -0.478213, 1.132917  Reprojection Error: 0.224557, 0.154957 Feature: 0.412440, -0.235125, 0.880119
[11:52:56.149] xyz_f:-0.083517, -0.145395, 1.199098  Reprojection Error: 0.139788, 0.225550 Feature: 0.069591, 0.103482, 0.992194
[11:52:56.149] xyz_f:-0.045911, 0.168197, 1.206539  Reprojection Error: 0.123011, 0.309507 Feature: 0.077276, 0.408315, 0.909564
[11:52:56.149] xyz_f:0.289798, -0.454632, 1.144398  Reprojection Error: 0.231666, 0.159301 Feature: 0.426639, -0.209375, 0.879853
[11:52:56.149] xyz_f:0.200510, -0.470057, 1.139123  Reprojection Error: 0.200436, 0.165166 Feature: 0.343233, -0.225640, 0.911744
[11:52:56.149] xyz_f:0.065103, -0.229641, 1.217910  Reprojection Error: 0.174832, 0.216233 Feature: 0.222479, 0.026975, 0.974564
[11:52:56.149] xyz_f:0.244879, -0.461676, 1.143280  Reprojection Error: 0.215145, 0.162520 Feature: 0.385157, -0.216469, 0.897104
[11:52:56.149] xyz_f:-0.638724, -0.487303, 0.427792  Reprojection Error: 0.319251, 0.412186 Feature: -0.688546, -0.426404, 0.586587
[11:52:56.149] xyz_f:0.107108, 0.016739, 1.250391  Reprojection Error: 0.183009, 0.280883 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.149] xyz_f:-0.143921, -0.047736, 1.187803  Reprojection Error: 0.121268, 0.238888 Feature: 0.000100, 0.194890, 0.980825
[11:52:56.149] xyz_f:0.260270, -0.465193, 1.140831  Reprojection Error: 0.220054, 0.160035 Feature: 0.398928, -0.220500, 0.890077
[11:52:56.149] xyz_f:0.065284, -0.214784, 1.221367  Reprojection Error: 0.174942, 0.219202 Feature: 0.222462, 0.042220, 0.974027
[11:52:56.149] xyz_f:-0.078441, -0.158800, 1.198542  Reprojection Error: 0.141365, 0.223517 Feature: 0.075390, 0.090389, 0.993049
[11:52:56.149] xyz_f:0.056440, -0.225035, 1.217586  Reprojection Error: 0.172697, 0.216920 Feature: 0.213872, 0.031340, 0.976359
[11:52:56.149] xyz_f:0.075606, 0.022626, 1.246264  Reprojection Error: 0.172663, 0.279009 Feature: 0.218270, 0.277985, 0.935459
[11:52:56.149] xyz_f:0.220673, -0.460142, 1.144492  Reprojection Error: 0.207455, 0.165298 Feature: 0.362941, -0.214674, 0.906746
[11:52:56.149] xyz_f:0.038931, -0.247523, 1.208922  Reprojection Error: 0.168376, 0.212270 Feature: 0.196657, 0.007376, 0.980445
[11:52:56.149] xyz_f:0.372772, 0.002279, 1.244533  Reprojection Error: 0.298400, 0.309154 Feature: 0.495830, 0.257884, 0.829246
[11:52:56.149] xyz_f:-0.638724, -0.487303, 0.427792  Reprojection Error: 0.374116, 0.439737 Feature: -0.688546, -0.426404, 0.586587
[11:52:56.149] xyz_f:0.278536, -0.654722, 1.010059  Reprojection Error: 0.235792, 0.096992 Feature: 0.387424, -0.437417, 0.811522
[11:52:56.149] xyz_f:0.230625, -0.471624, 1.138355  Reprojection Error: 0.242988, 0.154157 Feature: 0.371103, -0.227353, 0.900329
[11:52:56.149] xyz_f:0.276501, -0.478213, 1.132917  Reprojection Error: 0.260158, 0.144049 Feature: 0.412440, -0.235125, 0.880119
[11:52:56.149] xyz_f:0.027405, -0.255395, 1.204602  Reprojection Error: 0.193132, 0.206181 Feature: 0.185155, -0.001346, 0.982708
[11:52:56.149] xyz_f:0.065103, -0.229641, 1.217910  Reprojection Error: 0.206031, 0.211903 Feature: 0.222479, 0.026975, 0.974564
[11:52:56.149] xyz_f:-0.080988, -0.152103, 1.198843  Reprojection Error: 0.169959, 0.222521 Feature: 0.072491, 0.096937, 0.992647
[11:52:56.149] xyz_f:-0.143921, -0.047736, 1.187803  Reprojection Error: 0.150740, 0.236665 Feature: 0.000100, 0.194890, 0.980825
[11:52:56.149] xyz_f:0.107108, 0.016739, 1.250391  Reprojection Error: 0.215901, 0.280526 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.149] xyz_f:0.372772, 0.002279, 1.244533  Reprojection Error: 0.341647, 0.305922 Feature: 0.495830, 0.257884, 0.829246
[11:52:56.149] xyz_f:-0.045911, 0.168197, 1.206539  Reprojection Error: 0.164091, 0.305565 Feature: 0.077276, 0.408315, 0.909564
[11:52:56.149] it:4 	 Success 	 new_chi2: 3.409555 	 dT = -0.024877, 0.016526, 0.039238
[11:52:56.149] xyz_f:0.080263, -0.257130, 1.227603  Reprojection Error: 0.123031, 0.208088 Feature: 0.185155, -0.001346, 0.982708
[11:52:56.149] xyz_f:0.283012, -0.471298, 1.153662  Reprojection Error: 0.166870, 0.156001 Feature: 0.371103, -0.227353, 0.900329
[11:52:56.149] xyz_f:-0.029313, -0.154945, 1.225976  Reprojection Error: 0.096938, 0.224040 Feature: 0.072491, 0.096937, 0.992647
[11:52:56.149] xyz_f:0.245335, -0.446772, 1.167723  Reprojection Error: 0.157390, 0.165103 Feature: 0.337962, -0.200023, 0.919659
[11:52:56.149] xyz_f:0.327884, -0.653925, 1.023608  Reprojection Error: 0.157082, 0.099834 Feature: 0.387424, -0.437417, 0.811522
[11:52:56.149] xyz_f:0.328714, -0.477422, 1.146488  Reprojection Error: 0.181905, 0.149270 Feature: 0.412440, -0.235125, 0.880119
[11:52:56.149] xyz_f:-0.031899, -0.148263, 1.226328  Reprojection Error: 0.096150, 0.225196 Feature: 0.069591, 0.103482, 0.992194
[11:52:56.149] xyz_f:0.002777, 0.165696, 1.232399  Reprojection Error: 0.082706, 0.314462 Feature: 0.077276, 0.408315, 0.909564
[11:52:56.149] xyz_f:0.342196, -0.453704, 1.157463  Reprojection Error: 0.189254, 0.154016 Feature: 0.426639, -0.209375, 0.879853
[11:52:56.149] xyz_f:0.252934, -0.470036, 1.155571  Reprojection Error: 0.157576, 0.159275 Feature: 0.343233, -0.225640, 0.911744
[11:52:56.149] xyz_f:0.118175, -0.230993, 1.239479  Reprojection Error: 0.132944, 0.214042 Feature: 0.222479, 0.026975, 0.974564
[11:52:56.149] xyz_f:0.297340, -0.461204, 1.158046  Reprojection Error: 0.172574, 0.156963 Feature: 0.385157, -0.216469, 0.897104
[11:52:56.149] xyz_f:-0.612432, -0.495938, 0.476548  Reprojection Error: 0.111326, 0.313766 Feature: -0.688546, -0.426404, 0.586587
[11:52:56.149] xyz_f:0.158877, 0.015807, 1.270392  Reprojection Error: 0.143607, 0.281827 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.149] xyz_f:-0.093676, -0.051225, 1.217348  Reprojection Error: 0.077053, 0.240779 Feature: 0.000100, 0.194890, 0.980825
[11:52:56.149] xyz_f:0.312662, -0.464566, 1.155014  Reprojection Error: 0.177495, 0.154485 Feature: 0.398928, -0.220500, 0.890077
[11:52:56.149] xyz_f:0.118336, -0.216134, 1.242929  Reprojection Error: 0.133186, 0.217237 Feature: 0.222462, 0.042220, 0.974027
[11:52:56.149] xyz_f:-0.026711, -0.161616, 1.225577  Reprojection Error: 0.097713, 0.222892 Feature: 0.075390, 0.090389, 0.993049
[11:52:56.149] xyz_f:0.109459, -0.226475, 1.239484  Reprojection Error: 0.130740, 0.214816 Feature: 0.213872, 0.031340, 0.976359
[11:52:56.149] xyz_f:0.127183, 0.021373, 1.267463  Reprojection Error: 0.132985, 0.280301 Feature: 0.218270, 0.277985, 0.935459
[11:52:56.149] xyz_f:0.273183, -0.459916, 1.160174  Reprojection Error: 0.164800, 0.159668 Feature: 0.362941, -0.214674, 0.906746
[11:52:56.149] xyz_f:0.091864, -0.249141, 1.231485  Reprojection Error: 0.125983, 0.209833 Feature: 0.196657, 0.007376, 0.980445
[11:52:56.149] xyz_f:0.424261, 0.004045, 1.254469  Reprojection Error: 0.259728, 0.307761 Feature: 0.495830, 0.257884, 0.829246
[11:52:56.149] xyz_f:-0.612432, -0.495938, 0.476548  Reprojection Error: 0.166191, 0.341317 Feature: -0.688546, -0.426404, 0.586587
[11:52:56.149] xyz_f:0.327884, -0.653925, 1.023608  Reprojection Error: 0.191232, 0.087633 Feature: 0.387424, -0.437417, 0.811522
[11:52:56.149] xyz_f:0.283012, -0.471298, 1.153662  Reprojection Error: 0.200267, 0.148376 Feature: 0.371103, -0.227353, 0.900329
[11:52:56.149] xyz_f:0.328714, -0.477422, 1.146488  Reprojection Error: 0.217506, 0.138362 Feature: 0.412440, -0.235125, 0.880119
[11:52:56.149] xyz_f:0.080263, -0.257130, 1.227603  Reprojection Error: 0.150500, 0.203622 Feature: 0.185155, -0.001346, 0.982708
[11:52:56.149] xyz_f:0.118175, -0.230993, 1.239479  Reprojection Error: 0.164143, 0.209712 Feature: 0.222479, 0.026975, 0.974564
[11:52:56.149] xyz_f:-0.029313, -0.154945, 1.225976  Reprojection Error: 0.126314, 0.222032 Feature: 0.072491, 0.096937, 0.992647
[11:52:56.149] xyz_f:-0.093676, -0.051225, 1.217348  Reprojection Error: 0.106525, 0.238555 Feature: 0.000100, 0.194890, 0.980825
[11:52:56.149] xyz_f:0.158877, 0.015807, 1.270392  Reprojection Error: 0.176499, 0.281470 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.149] xyz_f:0.424261, 0.004045, 1.254469  Reprojection Error: 0.302975, 0.304529 Feature: 0.495830, 0.257884, 0.829246
[11:52:56.149] xyz_f:0.002777, 0.165696, 1.232399  Reprojection Error: 0.123786, 0.310519 Feature: 0.077276, 0.408315, 0.909564
[11:52:56.149] it:5 	 Success 	 new_chi2: 2.577278 	 dT = -0.025866, 0.015174, 0.034909
[11:52:56.149] xyz_f:0.130392, -0.258343, 1.247303  Reprojection Error: 0.083875, 0.205752 Feature: 0.185155, -0.001346, 0.982708
[11:52:56.149] xyz_f:0.332459, -0.470682, 1.166536  Reprojection Error: 0.127189, 0.150965 Feature: 0.371103, -0.227353, 0.900329
[11:52:56.149] xyz_f:0.019904, -0.157152, 1.249386  Reprojection Error: 0.057097, 0.223438 Feature: 0.072491, 0.096937, 0.992647
[11:52:56.149] xyz_f:0.295057, -0.446495, 1.181863  Reprojection Error: 0.117833, 0.160292 Feature: 0.337962, -0.200023, 0.919659
[11:52:56.149] xyz_f:0.374568, -0.652915, 1.035015  Reprojection Error: 0.115508, 0.091818 Feature: 0.387424, -0.437417, 0.811522
[11:52:56.149] xyz_f:0.377946, -0.476393, 1.157825  Reprojection Error: 0.142191, 0.144304 Feature: 0.412440, -0.235125, 0.880119
[11:52:56.149] xyz_f:0.017272, -0.150493, 1.249826  Reprojection Error: 0.056319, 0.224708 Feature: 0.069591, 0.103482, 0.992194
[11:52:56.149] xyz_f:0.049294, 0.163767, 1.254772  Reprojection Error: 0.045674, 0.318397 Feature: 0.077276, 0.408315, 0.909564
[11:52:56.149] xyz_f:0.391575, -0.452554, 1.168342  Reprojection Error: 0.149743, 0.149381 Feature: 0.426639, -0.209375, 0.879853
[11:52:56.149] xyz_f:0.302452, -0.469691, 1.169458  Reprojection Error: 0.117833, 0.154150 Feature: 0.343233, -0.225640, 0.911744
[11:52:56.149] xyz_f:0.168444, -0.231862, 1.257897  Reprojection Error: 0.094377, 0.212004 Feature: 0.222479, 0.026975, 0.974564
[11:52:56.149] xyz_f:0.346835, -0.460459, 1.170436  Reprojection Error: 0.133005, 0.152110 Feature: 0.385157, -0.216469, 0.897104
[11:52:56.149] xyz_f:-0.585045, -0.503513, 0.519990  Reprojection Error: -0.048711, 0.241388 Feature: -0.688546, -0.426404, 0.586587
[11:52:56.149] xyz_f:0.207935, 0.015300, 1.287459  Reprojection Error: 0.107161, 0.282385 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.149] xyz_f:-0.045648, -0.054019, 1.242949  Reprojection Error: 0.036828, 0.242160 Feature: 0.000100, 0.194890, 0.980825
[11:52:56.149] xyz_f:0.362076, -0.463682, 1.166889  Reprojection Error: 0.137903, 0.149634 Feature: 0.398928, -0.220500, 0.890077
[11:52:56.149] xyz_f:0.168588, -0.217002, 1.261343  Reprojection Error: 0.094737, 0.215387 Feature: 0.222462, 0.042220, 0.974027
[11:52:56.149] xyz_f:0.022551, -0.163800, 1.248899  Reprojection Error: 0.057861, 0.222177 Feature: 0.075390, 0.090389, 0.993049
[11:52:56.149] xyz_f:0.159693, -0.227423, 1.258197  Reprojection Error: 0.092128, 0.212852 Feature: 0.213872, 0.031340, 0.976359
[11:52:56.149] xyz_f:0.176111, 0.020579, 1.285601  Reprojection Error: 0.096342, 0.281157 Feature: 0.218270, 0.277985, 0.935459
[11:52:56.149] xyz_f:0.322753, -0.459388, 1.173377  Reprojection Error: 0.125205, 0.154758 Feature: 0.362941, -0.214674, 0.906746
[11:52:56.149] xyz_f:0.142044, -0.250249, 1.250793  Reprojection Error: 0.087016, 0.207595 Feature: 0.196657, 0.007376, 0.980445
[11:52:56.149] xyz_f:0.472726, 0.005933, 1.262596  Reprojection Error: 0.223520, 0.306287 Feature: 0.495830, 0.257884, 0.829246
[11:52:56.149] xyz_f:-0.585045, -0.503513, 0.519990  Reprojection Error: 0.006154, 0.268939 Feature: -0.688546, -0.426404, 0.586587
[11:52:56.149] xyz_f:0.374568, -0.652915, 1.035015  Reprojection Error: 0.149658, 0.079617 Feature: 0.387424, -0.437417, 0.811522
[11:52:56.149] xyz_f:0.332459, -0.470682, 1.166536  Reprojection Error: 0.160587, 0.143340 Feature: 0.371103, -0.227353, 0.900329
[11:52:56.149] xyz_f:0.377946, -0.476393, 1.157825  Reprojection Error: 0.177792, 0.133397 Feature: 0.412440, -0.235125, 0.880119
[11:52:56.149] xyz_f:0.130392, -0.258343, 1.247303  Reprojection Error: 0.111343, 0.201287 Feature: 0.185155, -0.001346, 0.982708
[11:52:56.149] xyz_f:0.168444, -0.231862, 1.257897  Reprojection Error: 0.125576, 0.207675 Feature: 0.222479, 0.026975, 0.974564
[11:52:56.149] xyz_f:0.019904, -0.157152, 1.249386  Reprojection Error: 0.086473, 0.221430 Feature: 0.072491, 0.096937, 0.992647
[11:52:56.149] xyz_f:-0.045648, -0.054019, 1.242949  Reprojection Error: 0.066300, 0.239936 Feature: 0.000100, 0.194890, 0.980825
[11:52:56.149] xyz_f:0.207935, 0.015300, 1.287459  Reprojection Error: 0.140053, 0.282029 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.149] xyz_f:0.472726, 0.005933, 1.262596  Reprojection Error: 0.266766, 0.303055 Feature: 0.495830, 0.257884, 0.829246
[11:52:56.149] xyz_f:0.049294, 0.163767, 1.254772  Reprojection Error: 0.086754, 0.314454 Feature: 0.077276, 0.408315, 0.909564
[11:52:56.149] it:6 	 Success 	 new_chi2: 2.105132 	 dT = -0.025139, 0.013209, 0.029400
[11:52:56.149] xyz_f:0.175536, -0.259121, 1.263418  Reprojection Error: 0.049476, 0.203726 Feature: 0.185155, -0.001346, 0.982708
[11:52:56.149] xyz_f:0.376838, -0.469925, 1.176923  Reprojection Error: 0.091997, 0.146761 Feature: 0.371103, -0.227353, 0.900329
[11:52:56.149] xyz_f:0.064385, -0.158774, 1.268648  Reprojection Error: 0.022277, 0.222807 Feature: 0.072491, 0.096937, 0.992647
[11:52:56.149] xyz_f:0.339704, -0.446022, 1.193308  Reprojection Error: 0.082813, 0.156272 Feature: 0.337962, -0.200023, 0.919659
[11:52:56.149] xyz_f:0.416582, -0.651848, 1.044240  Reprojection Error: 0.078471, 0.085223 Feature: 0.387424, -0.437417, 0.811522
[11:52:56.149] xyz_f:0.422102, -0.475292, 1.166923  Reprojection Error: 0.106896, 0.140152 Feature: 0.412440, -0.235125, 0.880119
[11:52:56.149] xyz_f:0.061716, -0.152135, 1.269163  Reprojection Error: 0.021511, 0.224167 Feature: 0.069591, 0.103482, 0.992194
[11:52:56.149] xyz_f:0.091474, 0.162360, 1.273232  Reprojection Error: 0.013115, 0.321394 Feature: 0.077276, 0.408315, 0.909564
[11:52:56.149] xyz_f:0.435843, -0.451348, 1.177051  Reprojection Error: 0.114614, 0.145490 Feature: 0.426639, -0.209375, 0.879853
[11:52:56.149] xyz_f:0.346919, -0.469163, 1.180696  Reprojection Error: 0.082632, 0.149880 Feature: 0.343233, -0.225640, 0.911744
[11:52:56.149] xyz_f:0.213671, -0.232351, 1.272930  Reprojection Error: 0.060428, 0.210211 Feature: 0.222479, 0.026975, 0.974564
[11:52:56.149] xyz_f:0.391241, -0.459593, 1.180414  Reprojection Error: 0.097890, 0.148051 Feature: 0.385157, -0.216469, 0.897104
[11:52:56.149] xyz_f:-0.558377, -0.509806, 0.556686  Reprojection Error: -0.170780, 0.188864 Feature: -0.688546, -0.426404, 0.586587
[11:52:56.149] xyz_f:0.252104, 0.015108, 1.301385  Reprojection Error: 0.074949, 0.282660 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.149] xyz_f:-0.002105, -0.056143, 1.264086  Reprojection Error: 0.001768, 0.243113 Feature: 0.000100, 0.194890, 0.980825
[11:52:56.150] xyz_f:0.406399, -0.462700, 1.176435  Reprojection Error: 0.102745, 0.145575 Feature: 0.398928, -0.220500, 0.890077
[11:52:56.150] xyz_f:0.213800, -0.217490, 1.276372  Reprojection Error: 0.060888, 0.213743 Feature: 0.222462, 0.042220, 0.974027
[11:52:56.150] xyz_f:0.067068, -0.165401, 1.268085  Reprojection Error: 0.023029, 0.221456 Feature: 0.075390, 0.090389, 0.993049
[11:52:56.150] xyz_f:0.204899, -0.227979, 1.273479  Reprojection Error: 0.058153, 0.211119 Feature: 0.213872, 0.031340, 0.976359
[11:52:56.150] xyz_f:0.220201, 0.020145, 1.300432  Reprojection Error: 0.064000, 0.281673 Feature: 0.218270, 0.277985, 0.935459
[11:52:56.150] xyz_f:0.367245, -0.458705, 1.184038  Reprojection Error: 0.090105, 0.150656 Feature: 0.362941, -0.214674, 0.906746
[11:52:56.150] xyz_f:0.187221, -0.250939, 1.266576  Reprojection Error: 0.052763, 0.205647 Feature: 0.196657, 0.007376, 0.980445
[11:52:56.150] xyz_f:0.516147, 0.007753, 1.269013  Reprojection Error: 0.191197, 0.304876 Feature: 0.495830, 0.257884, 0.829246
[11:52:56.150] xyz_f:-0.558377, -0.509806, 0.556686  Reprojection Error: -0.115915, 0.216415 Feature: -0.688546, -0.426404, 0.586587
[11:52:56.150] xyz_f:0.416582, -0.651848, 1.044240  Reprojection Error: 0.112621, 0.073022 Feature: 0.387424, -0.437417, 0.811522
[11:52:56.150] xyz_f:0.376838, -0.469925, 1.176923  Reprojection Error: 0.125394, 0.139136 Feature: 0.371103, -0.227353, 0.900329
[11:52:56.150] xyz_f:0.422102, -0.475292, 1.166923  Reprojection Error: 0.142497, 0.129245 Feature: 0.412440, -0.235125, 0.880119
[11:52:56.150] xyz_f:0.175536, -0.259121, 1.263418  Reprojection Error: 0.076945, 0.199261 Feature: 0.185155, -0.001346, 0.982708
[11:52:56.150] xyz_f:0.213671, -0.232351, 1.272930  Reprojection Error: 0.091627, 0.205882 Feature: 0.222479, 0.026975, 0.974564
[11:52:56.150] xyz_f:0.064385, -0.158774, 1.268648  Reprojection Error: 0.051653, 0.220799 Feature: 0.072491, 0.096937, 0.992647
[11:52:56.150] xyz_f:-0.002105, -0.056143, 1.264086  Reprojection Error: 0.031240, 0.240890 Feature: 0.000100, 0.194890, 0.980825
[11:52:56.150] xyz_f:0.252104, 0.015108, 1.301385  Reprojection Error: 0.107841, 0.282304 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.150] xyz_f:0.516147, 0.007753, 1.269013  Reprojection Error: 0.234444, 0.301644 Feature: 0.495830, 0.257884, 0.829246
[11:52:56.150] xyz_f:0.091474, 0.162360, 1.273232  Reprojection Error: 0.054195, 0.317451 Feature: 0.077276, 0.408315, 0.909564
[11:52:56.150] it:7 	 Success 	 new_chi2: 1.867027 	 dT = -0.023774, 0.011038, 0.023991
[11:52:56.150] xyz_f:0.214032, -0.259592, 1.276210  Reprojection Error: 0.020705, 0.202039 Feature: 0.185155, -0.001346, 0.982708
[11:52:56.150] xyz_f:0.414581, -0.469148, 1.185059  Reprojection Error: 0.062347, 0.143364 Feature: 0.371103, -0.227353, 0.900329
[11:52:56.150] xyz_f:0.102411, -0.159936, 1.284022  Reprojection Error: -0.006730, 0.222213 Feature: 0.072491, 0.096937, 0.992647
[11:52:56.150] xyz_f:0.377688, -0.445474, 1.202302  Reprojection Error: 0.053350, 0.153020 Feature: 0.337962, -0.200023, 0.919659
[11:52:56.150] xyz_f:0.452368, -0.650829, 1.051478  Reprojection Error: 0.047183, 0.079958 Feature: 0.387424, -0.437417, 0.811522
[11:52:56.150] xyz_f:0.459633, -0.474234, 1.174013  Reprojection Error: 0.077113, 0.136792 Feature: 0.412440, -0.235125, 0.880119
[11:52:56.150] xyz_f:0.099713, -0.153314, 1.284599  Reprojection Error: -0.007484, 0.223644 Feature: 0.069591, 0.103482, 0.992194
[11:52:56.150] xyz_f:0.127605, 0.161361, 1.288000  Reprojection Error: -0.014113, 0.323632 Feature: 0.077276, 0.408315, 0.909564
[11:52:56.150] xyz_f:0.473455, -0.450204, 1.183822  Reprojection Error: 0.084959, 0.142331 Feature: 0.426639, -0.209375, 0.879853
[11:52:56.150] xyz_f:0.384753, -0.468571, 1.189525  Reprojection Error: 0.053007, 0.146433 Feature: 0.343233, -0.225640, 0.911744
[11:52:56.150] xyz_f:0.252210, -0.232584, 1.284839  Reprojection Error: 0.031989, 0.208701 Feature: 0.222479, 0.026975, 0.974564
[11:52:56.150] xyz_f:0.428996, -0.458726, 1.188216  Reprojection Error: 0.068292, 0.144765 Feature: 0.385157, -0.216469, 0.897104
[11:52:56.150] xyz_f:-0.534490, -0.514879, 0.586656  Reprojection Error: -0.262740, 0.150727 Feature: -0.688546, -0.426404, 0.586587
[11:52:56.150] xyz_f:0.289754, 0.015111, 1.312413  Reprojection Error: 0.047889, 0.282756 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.150] xyz_f:0.035197, -0.057720, 1.281009  Reprojection Error: -0.027373, 0.243758 Feature: 0.000100, 0.194890, 0.980825
[11:52:56.150] xyz_f:0.444077, -0.461739, 1.183888  Reprojection Error: 0.073094, 0.142288 Feature: 0.398928, -0.220500, 0.890077
[11:52:56.150] xyz_f:0.252326, -0.217722, 1.288277  Reprojection Error: 0.032531, 0.212349 Feature: 0.222462, 0.042220, 0.974027
[11:52:56.150] xyz_f:0.105121, -0.166546, 1.283397  Reprojection Error: -0.005990, 0.220792 Feature: 0.075390, 0.090389, 0.993049
[11:52:56.150] xyz_f:0.243426, -0.228266, 1.285591  Reprojection Error: 0.029701, 0.209657 Feature: 0.213872, 0.031340, 0.976359
[11:52:56.150] xyz_f:0.257807, 0.019949, 1.312200  Reprojection Error: 0.036860, 0.281961 Feature: 0.218270, 0.277985, 0.935459
[11:52:56.150] xyz_f:0.405085, -0.457987, 1.192396  Reprojection Error: 0.060544, 0.147338 Feature: 0.362941, -0.214674, 0.906746
[11:52:56.150] xyz_f:0.225735, -0.251336, 1.279098  Reprojection Error: 0.024099, 0.204018 Feature: 0.196657, 0.007376, 0.980445
[11:52:56.150] xyz_f:0.553017, 0.009393, 1.273931  Reprojection Error: 0.163826, 0.303612 Feature: 0.495830, 0.257884, 0.829246
[11:52:56.150] xyz_f:-0.534490, -0.514879, 0.586656  Reprojection Error: -0.207875, 0.178277 Feature: -0.688546, -0.426404, 0.586587
[11:52:56.150] xyz_f:0.452368, -0.650829, 1.051478  Reprojection Error: 0.081333, 0.067757 Feature: 0.387424, -0.437417, 0.811522
[11:52:56.150] xyz_f:0.414581, -0.469148, 1.185059  Reprojection Error: 0.095744, 0.135739 Feature: 0.371103, -0.227353, 0.900329
[11:52:56.150] xyz_f:0.459633, -0.474234, 1.174013  Reprojection Error: 0.112714, 0.125884 Feature: 0.412440, -0.235125, 0.880119
[11:52:56.150] xyz_f:0.214032, -0.259592, 1.276210  Reprojection Error: 0.048173, 0.197573 Feature: 0.185155, -0.001346, 0.982708
[11:52:56.150] xyz_f:0.252210, -0.232584, 1.284839  Reprojection Error: 0.063188, 0.204371 Feature: 0.222479, 0.026975, 0.974564
[11:52:56.150] xyz_f:0.102411, -0.159936, 1.284022  Reprojection Error: 0.022646, 0.220205 Feature: 0.072491, 0.096937, 0.992647
[11:52:56.150] xyz_f:0.035197, -0.057720, 1.281009  Reprojection Error: 0.002099, 0.241534 Feature: 0.000100, 0.194890, 0.980825
[11:52:56.150] xyz_f:0.289754, 0.015111, 1.312413  Reprojection Error: 0.080781, 0.282399 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.150] xyz_f:0.553017, 0.009393, 1.273931  Reprojection Error: 0.207072, 0.300381 Feature: 0.495830, 0.257884, 0.829246
[11:52:56.150] xyz_f:0.127605, 0.161361, 1.288000  Reprojection Error: 0.026967, 0.319690 Feature: 0.077276, 0.408315, 0.909564
[11:52:56.150] it:8 	 Success 	 new_chi2: 1.772894 	 dT = -0.022648, 0.009005, 0.019558
[11:52:56.150] xyz_f:0.245725, -0.259865, 1.286236  Reprojection Error: -0.002629, 0.200666 Feature: 0.185155, -0.001346, 0.982708
[11:52:56.150] xyz_f:0.445575, -0.468408, 1.191303  Reprojection Error: 0.038163, 0.140668 Feature: 0.371103, -0.227353, 0.900329
[11:52:56.150] xyz_f:0.133769, -0.160775, 1.296160  Reprojection Error: -0.030177, 0.221694 Feature: 0.072491, 0.096937, 0.992647
[11:52:56.150] xyz_f:0.408895, -0.444921, 1.209240  Reprojection Error: 0.029345, 0.150436 Feature: 0.337962, -0.200023, 0.919659
[11:52:56.150] xyz_f:0.481751, -0.649902, 1.057022  Reprojection Error: 0.021642, 0.075834 Feature: 0.387424, -0.437417, 0.811522
[11:52:56.150] xyz_f:0.490436, -0.473266, 1.179406  Reprojection Error: 0.052786, 0.134124 Feature: 0.412440, -0.235125, 0.880119
[11:52:56.150] xyz_f:0.131049, -0.154167, 1.296788  Reprojection Error: -0.030919, 0.223180 Feature: 0.069591, 0.103482, 0.992194
[11:52:56.150] xyz_f:0.157407, 0.160645, 1.299676  Reprojection Error: -0.036153, 0.325308 Feature: 0.077276, 0.408315, 0.909564
[11:52:56.150] xyz_f:0.504319, -0.449166, 1.188954  Reprojection Error: 0.060727, 0.139817 Feature: 0.426639, -0.209375, 0.879853
[11:52:56.150] xyz_f:0.415834, -0.467982, 1.196331  Reprojection Error: 0.028866, 0.143699 Feature: 0.343233, -0.225640, 0.911744
[11:52:56.150] xyz_f:0.283923, -0.232664, 1.294143  Reprojection Error: 0.008895, 0.207461 Feature: 0.222479, 0.026975, 0.974564
[11:52:56.150] xyz_f:0.459994, -0.457913, 1.194187  Reprojection Error: 0.044140, 0.142154 Feature: 0.385157, -0.216469, 0.897104
[11:52:56.150] xyz_f:-0.514387, -0.518971, 0.610932  Reprojection Error: -0.331848, 0.122550 Feature: -0.688546, -0.426404, 0.586587
[11:52:56.150] xyz_f:0.320727, 0.015219, 1.321015  Reprojection Error: 0.025880, 0.282749 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.150] xyz_f:0.065994, -0.058901, 1.294422  Reprojection Error: -0.050881, 0.244203 Feature: 0.000100, 0.194890, 0.980825
[11:52:56.150] xyz_f:0.475006, -0.460850, 1.189574  Reprojection Error: 0.048887, 0.139676 Feature: 0.398928, -0.220500, 0.890077
[11:52:56.150] xyz_f:0.284028, -0.217802, 1.297579  Reprojection Error: 0.009503, 0.211198 Feature: 0.222462, 0.042220, 0.974027
[11:52:56.150] xyz_f:0.136501, -0.167372, 1.295483  Reprojection Error: -0.029448, 0.220218 Feature: 0.075390, 0.090389, 0.993049
[11:52:56.150] xyz_f:0.275133, -0.228391, 1.295061  Reprojection Error: 0.006602, 0.208454 Feature: 0.213872, 0.031340, 0.976359
[11:52:56.150] xyz_f:0.288758, 0.019895, 1.321405  Reprojection Error: 0.014806, 0.282108 Feature: 0.218270, 0.277985, 0.935459
[11:52:56.150] xyz_f:0.436163, -0.457295, 1.198818  Reprojection Error: 0.036440, 0.144703 Feature: 0.362941, -0.214674, 0.906746
[11:52:56.150] xyz_f:0.257440, -0.251550, 1.288902  Reprojection Error: 0.000843, 0.202689 Feature: 0.196657, 0.007376, 0.980445
[11:52:56.150] xyz_f:0.583241, 0.010832, 1.277566  Reprojection Error: 0.141403, 0.302507 Feature: 0.495830, 0.257884, 0.829246
[11:52:56.150] xyz_f:-0.514387, -0.518971, 0.610932  Reprojection Error: -0.276983, 0.150100 Feature: -0.688546, -0.426404, 0.586587
[11:52:56.150] xyz_f:0.481751, -0.649902, 1.057022  Reprojection Error: 0.055792, 0.063633 Feature: 0.387424, -0.437417, 0.811522
[11:52:56.150] xyz_f:0.445575, -0.468408, 1.191303  Reprojection Error: 0.071560, 0.133043 Feature: 0.371103, -0.227353, 0.900329
[11:52:56.150] xyz_f:0.490436, -0.473266, 1.179406  Reprojection Error: 0.088387, 0.123216 Feature: 0.412440, -0.235125, 0.880119
[11:52:56.150] xyz_f:0.245725, -0.259865, 1.286236  Reprojection Error: 0.024840, 0.196201 Feature: 0.185155, -0.001346, 0.982708
[11:52:56.150] xyz_f:0.283923, -0.232664, 1.294143  Reprojection Error: 0.040094, 0.203132 Feature: 0.222479, 0.026975, 0.974564
[11:52:56.150] xyz_f:0.133769, -0.160775, 1.296160  Reprojection Error: -0.000800, 0.219686 Feature: 0.072491, 0.096937, 0.992647
[11:52:56.150] xyz_f:0.065994, -0.058901, 1.294422  Reprojection Error: -0.021409, 0.241980 Feature: 0.000100, 0.194890, 0.980825
[11:52:56.150] xyz_f:0.320727, 0.015219, 1.321015  Reprojection Error: 0.058772, 0.282392 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.150] xyz_f:0.583241, 0.010832, 1.277566  Reprojection Error: 0.184649, 0.299275 Feature: 0.495830, 0.257884, 0.829246
[11:52:56.150] xyz_f:0.157407, 0.160645, 1.299676  Reprojection Error: 0.004927, 0.321366 Feature: 0.077276, 0.408315, 0.909564
[11:52:56.150] it:9 	 Success 	 new_chi2: 1.758732 	 dT = -0.021974, 0.007248, 0.016215
[11:52:56.150] xyz_f:0.271609, -0.260017, 1.294050  Reprojection Error: -0.021477, 0.199563 Feature: 0.185155, -0.001346, 0.982708
[11:52:56.150] xyz_f:0.470820, -0.467722, 1.195991  Reprojection Error: 0.018521, 0.138553 Feature: 0.371103, -0.227353, 0.900329
[11:52:56.150] xyz_f:0.159407, -0.161397, 1.305729  Reprojection Error: -0.049055, 0.221261 Feature: 0.072491, 0.096937, 0.992647
[11:52:56.150] xyz_f:0.434327, -0.444388, 1.214502  Reprojection Error: 0.009869, 0.148404 Feature: 0.337962, -0.200023, 0.919659
[11:52:56.150] xyz_f:0.505650, -0.649067, 1.061155  Reprojection Error: 0.000895, 0.072653 Feature: 0.387424, -0.437417, 0.811522
[11:52:56.150] xyz_f:0.515509, -0.472393, 1.183394  Reprojection Error: 0.032999, 0.132033 Feature: 0.412440, -0.235125, 0.880119
[11:52:56.150] xyz_f:0.156669, -0.154800, 1.306400  Reprojection Error: -0.049787, 0.222790 Feature: 0.069591, 0.103482, 0.992194
[11:52:56.150] xyz_f:0.181748, 0.160120, 1.308886  Reprojection Error: -0.053898, 0.326579 Feature: 0.077276, 0.408315, 0.909564
[11:52:56.150] xyz_f:0.529439, -0.448234, 1.192723  Reprojection Error: 0.041006, 0.137841 Feature: 0.426639, -0.209375, 0.879853
[11:52:56.150] xyz_f:0.441161, -0.467421, 1.201484  Reprojection Error: 0.009278, 0.141554 Feature: 0.343233, -0.225640, 0.911744
[11:52:56.150] xyz_f:0.309811, -0.232655, 1.301358  Reprojection Error: -0.009781, 0.206458 Feature: 0.222479, 0.026975, 0.974564
[11:52:56.150] xyz_f:0.485239, -0.457166, 1.198650  Reprojection Error: 0.024513, 0.140104 Feature: 0.385157, -0.216469, 0.897104
[11:52:56.150] xyz_f:-0.497893, -0.522332, 0.630725  Reprojection Error: -0.384421, 0.101222 Feature: -0.688546, -0.426404, 0.586587
[11:52:56.150] xyz_f:0.345991, 0.015381, 1.327659  Reprojection Error: 0.008066, 0.282685 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.150] xyz_f:0.091185, -0.059808, 1.305056  Reprojection Error: -0.069769, 0.244528 Feature: 0.000100, 0.194890, 0.980825
[11:52:56.150] xyz_f:0.500188, -0.460041, 1.193802  Reprojection Error: 0.029207, 0.137626 Feature: 0.398928, -0.220500, 0.890077
[11:52:56.150] xyz_f:0.309908, -0.217792, 1.304793  Reprojection Error: -0.009121, 0.210263 Feature: 0.222462, 0.042220, 0.974027
[11:52:56.150] xyz_f:0.162155, -0.167982, 1.305009  Reprojection Error: -0.048338, 0.219743 Feature: 0.075390, 0.090389, 0.993049
[11:52:56.150] xyz_f:0.301019, -0.228419, 1.302414  Reprojection Error: -0.012073, 0.207480 Feature: 0.213872, 0.031340, 0.976359
[11:52:56.150] xyz_f:0.314012, 0.019923, 1.328550  Reprojection Error: -0.003028, 0.282168 Feature: 0.218270, 0.277985, 0.935459
[11:52:56.150] xyz_f:0.461481, -0.456648, 1.203653  Reprojection Error: 0.016868, 0.142634 Feature: 0.362941, -0.214674, 0.906746
[11:52:56.150] xyz_f:0.283328, -0.251653, 1.296533  Reprojection Error: -0.017949, 0.201620 Feature: 0.196657, 0.007376, 0.980445
[11:52:56.150] xyz_f:0.607808, 0.012094, 1.280104  Reprojection Error: 0.123116, 0.301538 Feature: 0.495830, 0.257884, 0.829246
[11:52:56.150] xyz_f:-0.497893, -0.522332, 0.630725  Reprojection Error: -0.329556, 0.128772 Feature: -0.688546, -0.426404, 0.586587
[11:52:56.150] xyz_f:0.505650, -0.649067, 1.061155  Reprojection Error: 0.035045, 0.060451 Feature: 0.387424, -0.437417, 0.811522
[11:52:56.150] xyz_f:0.470820, -0.467722, 1.195991  Reprojection Error: 0.051918, 0.130928 Feature: 0.371103, -0.227353, 0.900329
[11:52:56.150] xyz_f:0.515509, -0.472393, 1.183394  Reprojection Error: 0.068600, 0.121126 Feature: 0.412440, -0.235125, 0.880119
[11:52:56.150] xyz_f:0.271609, -0.260017, 1.294050  Reprojection Error: 0.005992, 0.195098 Feature: 0.185155, -0.001346, 0.982708
[11:52:56.150] xyz_f:0.309811, -0.232655, 1.301358  Reprojection Error: 0.021418, 0.202128 Feature: 0.222479, 0.026975, 0.974564
[11:52:56.150] xyz_f:0.159407, -0.161397, 1.305729  Reprojection Error: -0.019679, 0.219253 Feature: 0.072491, 0.096937, 0.992647
[11:52:56.150] xyz_f:0.091185, -0.059808, 1.305056  Reprojection Error: -0.040297, 0.242304 Feature: 0.000100, 0.194890, 0.980825
[11:52:56.150] xyz_f:0.345991, 0.015381, 1.327659  Reprojection Error: 0.040959, 0.282328 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.150] xyz_f:0.607808, 0.012094, 1.280104  Reprojection Error: 0.166363, 0.298306 Feature: 0.495830, 0.257884, 0.829246
[11:52:56.150] xyz_f:0.181748, 0.160120, 1.308886  Reprojection Error: -0.012818, 0.322637 Feature: 0.077276, 0.408315, 0.909564
[11:52:56.150] it:10 	 Success 	 new_chi2: 1.784794 	 dT = -0.021653, 0.005771, 0.013730
[11:52:56.150] xyz_f:0.308763, -0.259893, 1.287816  Reprojection Error: -0.051344, 0.200440 Feature: 0.185155, -0.001346, 0.982708
[11:52:56.150] xyz_f:0.508518, -0.468307, 1.192403  Reprojection Error: -0.014279, 0.140220 Feature: 0.371103, -0.227353, 0.900329
[11:52:56.150] xyz_f:0.196767, -0.160875, 1.298009  Reprojection Error: -0.078564, 0.221594 Feature: 0.072491, 0.096937, 0.992647
[11:52:56.150] xyz_f:0.471866, -0.444843, 1.210429  Reprojection Error: -0.022347, 0.150011 Feature: 0.337962, -0.200023, 0.919659
[11:52:56.150] xyz_f:0.544488, -0.649778, 1.058036  Reprojection Error: -0.037217, 0.075128 Feature: 0.387424, -0.437417, 0.811522
[11:52:56.150] xyz_f:0.553353, -0.473136, 1.180399  Reprojection Error: -0.000166, 0.133676 Feature: 0.412440, -0.235125, 0.880119
[11:52:56.150] xyz_f:0.194044, -0.154268, 1.298643  Reprojection Error: -0.079283, 0.223088 Feature: 0.069591, 0.103482, 0.992194
[11:52:56.150] xyz_f:0.220206, 0.160561, 1.301469  Reprojection Error: -0.084239, 0.325544 Feature: 0.077276, 0.408315, 0.909564
[11:52:56.150] xyz_f:0.567244, -0.449028, 1.189913  Reprojection Error: 0.008187, 0.139396 Feature: 0.426639, -0.209375, 0.879853
[11:52:56.150] xyz_f:0.478789, -0.467900, 1.197502  Reprojection Error: -0.023365, 0.143248 Feature: 0.343233, -0.225640, 0.911744
[11:52:56.150] xyz_f:0.346962, -0.232667, 1.295631  Reprojection Error: -0.039508, 0.207257 Feature: 0.222479, 0.026975, 0.974564
[11:52:56.150] xyz_f:0.522937, -0.457802, 1.195253  Reprojection Error: -0.008178, 0.141720 Feature: 0.385157, -0.216469, 0.897104
[11:52:56.150] xyz_f:-0.452801, -0.519488, 0.614338  Reprojection Error: -0.436763, 0.118681 Feature: -0.688546, -0.426404, 0.586587
[11:52:56.150] xyz_f:0.383671, 0.015239, 1.322415  Reprojection Error: -0.021460, 0.282745 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.150] xyz_f:0.128922, -0.059044, 1.296433  Reprojection Error: -0.099341, 0.244243 Feature: 0.000100, 0.194890, 0.980825
[11:52:56.150] xyz_f:0.537939, -0.460730, 1.190604  Reprojection Error: -0.003626, 0.139240 Feature: 0.398928, -0.220500, 0.890077
[11:52:56.150] xyz_f:0.347066, -0.217805, 1.299067  Reprojection Error: -0.038772, 0.211009 Feature: 0.222462, 0.042220, 0.974027
[11:52:56.150] xyz_f:0.199501, -0.167469, 1.297325  Reprojection Error: -0.077860, 0.220110 Feature: 0.075390, 0.090389, 0.993049
[11:52:56.150] xyz_f:0.338171, -0.228400, 1.296570  Reprojection Error: -0.041769, 0.208256 Feature: 0.213872, 0.031340, 0.976359
[11:52:56.150] xyz_f:0.351699, 0.019895, 1.322882  Reprojection Error: -0.032529, 0.282125 Feature: 0.218270, 0.277985, 0.935459
[11:52:56.150] xyz_f:0.499117, -0.457200, 1.199941  Reprojection Error: -0.015683, 0.144267 Feature: 0.362941, -0.214674, 0.906746
[11:52:56.150] xyz_f:0.320478, -0.251570, 1.290454  Reprojection Error: -0.047766, 0.202470 Feature: 0.196657, 0.007376, 0.980445
[11:52:56.150] xyz_f:0.646083, 0.011021, 1.278336  Reprojection Error: 0.092519, 0.302364 Feature: 0.495830, 0.257884, 0.829246
[11:52:56.150] xyz_f:-0.452801, -0.519488, 0.614338  Reprojection Error: -0.381898, 0.146232 Feature: -0.688546, -0.426404, 0.586587
[11:52:56.151] xyz_f:0.544488, -0.649778, 1.058036  Reprojection Error: -0.003067, 0.062926 Feature: 0.387424, -0.437417, 0.811522
[11:52:56.151] xyz_f:0.508518, -0.468307, 1.192403  Reprojection Error: 0.019119, 0.132595 Feature: 0.371103, -0.227353, 0.900329
[11:52:56.151] xyz_f:0.553353, -0.473136, 1.180399  Reprojection Error: 0.035435, 0.122769 Feature: 0.412440, -0.235125, 0.880119
[11:52:56.151] xyz_f:0.308763, -0.259893, 1.287816  Reprojection Error: -0.023875, 0.195974 Feature: 0.185155, -0.001346, 0.982708
[11:52:56.151] xyz_f:0.346962, -0.232667, 1.295631  Reprojection Error: -0.008308, 0.202928 Feature: 0.222479, 0.026975, 0.974564
[11:52:56.151] xyz_f:0.196767, -0.160875, 1.298009  Reprojection Error: -0.049187, 0.219586 Feature: 0.072491, 0.096937, 0.992647
[11:52:56.151] xyz_f:0.128922, -0.059044, 1.296433  Reprojection Error: -0.069869, 0.242020 Feature: 0.000100, 0.194890, 0.980825
[11:52:56.151] xyz_f:0.383671, 0.015239, 1.322415  Reprojection Error: 0.011432, 0.282389 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.151] xyz_f:0.646083, 0.011021, 1.278336  Reprojection Error: 0.135766, 0.299132 Feature: 0.495830, 0.257884, 0.829246
[11:52:56.151] xyz_f:0.220206, 0.160561, 1.301469  Reprojection Error: -0.043159, 0.321601 Feature: 0.077276, 0.408315, 0.909564
[11:52:56.151] it:11 	 Success 	 new_chi2: 1.871621 	 dT = -0.025461, 0.007524, 0.013784
[11:52:56.151] xyz_f:0.269652, -0.260017, 1.295804  Reprojection Error: -0.019683, 0.199291 Feature: 0.185155, -0.001346, 0.982708
[11:52:56.151] xyz_f:0.468862, -0.467720, 1.197736  Reprojection Error: 0.020729, 0.137981 Feature: 0.371103, -0.227353, 0.900329
[11:52:56.151] xyz_f:0.157450, -0.161399, 1.307490  Reprojection Error: -0.047394, 0.221096 Feature: 0.072491, 0.096937, 0.992647
[11:52:56.151] xyz_f:0.432370, -0.444386, 1.216248  Reprojection Error: 0.011992, 0.147877 Feature: 0.337962, -0.200023, 0.919659
[11:52:56.151] xyz_f:0.503687, -0.649064, 1.062898  Reprojection Error: 0.003523, 0.071647 Feature: 0.387424, -0.437417, 0.811522
[11:52:56.151] xyz_f:0.513550, -0.472389, 1.185136  Reprojection Error: 0.035293, 0.131444 Feature: 0.412440, -0.235125, 0.880119
[11:52:56.151] xyz_f:0.154712, -0.154802, 1.308161  Reprojection Error: -0.048129, 0.222632 Feature: 0.069591, 0.103482, 0.992194
[11:52:56.151] xyz_f:0.179786, 0.160118, 1.310645  Reprojection Error: -0.052215, 0.326745 Feature: 0.077276, 0.408315, 0.909564
[11:52:56.151] xyz_f:0.527481, -0.448231, 1.194465  Reprojection Error: 0.043293, 0.137291 Feature: 0.426639, -0.209375, 0.879853
[11:52:56.151] xyz_f:0.439202, -0.467419, 1.203230  Reprojection Error: 0.011439, 0.140988 Feature: 0.343233, -0.225640, 0.911744
[11:52:56.151] xyz_f:0.307855, -0.232655, 1.303111  Reprojection Error: -0.007960, 0.206217 Feature: 0.222479, 0.026975, 0.974564
[11:52:56.151] xyz_f:0.483280, -0.457164, 1.200394  Reprojection Error: 0.026733, 0.139547 Feature: 0.385157, -0.216469, 0.897104
[11:52:56.151] xyz_f:-0.499880, -0.522343, 0.632520  Reprojection Error: -0.383520, 0.098889 Feature: -0.688546, -0.426404, 0.586587
[11:52:56.151] xyz_f:0.344033, 0.015381, 1.329409  Reprojection Error: 0.009883, 0.282699 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.151] xyz_f:0.089227, -0.059811, 1.306820  Reprojection Error: -0.068176, 0.244468 Feature: 0.000100, 0.194890, 0.980825
[11:52:56.151] xyz_f:0.498230, -0.460038, 1.195545  Reprojection Error: 0.031456, 0.137062 Feature: 0.398928, -0.220500, 0.890077
[11:52:56.151] xyz_f:0.307952, -0.217792, 1.306546  Reprojection Error: -0.007305, 0.210039 Feature: 0.222462, 0.042220, 0.974027
[11:52:56.151] xyz_f:0.160198, -0.167984, 1.306770  Reprojection Error: -0.046673, 0.219571 Feature: 0.075390, 0.090389, 0.993049
[11:52:56.151] xyz_f:0.299062, -0.228419, 1.304167  Reprojection Error: -0.010262, 0.207244 Feature: 0.213872, 0.031340, 0.976359
[11:52:56.151] xyz_f:0.312054, 0.019923, 1.330303  Reprojection Error: -0.001244, 0.282188 Feature: 0.218270, 0.277985, 0.935459
[11:52:56.151] xyz_f:0.459522, -0.456646, 1.205398  Reprojection Error: 0.019047, 0.142083 Feature: 0.362941, -0.214674, 0.906746
[11:52:56.151] xyz_f:0.281372, -0.251653, 1.298287  Reprojection Error: -0.016147, 0.201358 Feature: 0.196657, 0.007376, 0.980445
[11:52:56.151] xyz_f:0.605848, 0.012098, 1.281841  Reprojection Error: 0.125289, 0.301547 Feature: 0.495830, 0.257884, 0.829246
[11:52:56.151] xyz_f:-0.499880, -0.522343, 0.632520  Reprojection Error: -0.328655, 0.126440 Feature: -0.688546, -0.426404, 0.586587
[11:52:56.151] xyz_f:0.503687, -0.649064, 1.062898  Reprojection Error: 0.037673, 0.059446 Feature: 0.387424, -0.437417, 0.811522
[11:52:56.151] xyz_f:0.468862, -0.467720, 1.197736  Reprojection Error: 0.054127, 0.130356 Feature: 0.371103, -0.227353, 0.900329
[11:52:56.151] xyz_f:0.513550, -0.472389, 1.185136  Reprojection Error: 0.070894, 0.120536 Feature: 0.412440, -0.235125, 0.880119
[11:52:56.151] xyz_f:0.269652, -0.260017, 1.295804  Reprojection Error: 0.007785, 0.194826 Feature: 0.185155, -0.001346, 0.982708
[11:52:56.151] xyz_f:0.307855, -0.232655, 1.303111  Reprojection Error: 0.023239, 0.201888 Feature: 0.222479, 0.026975, 0.974564
[11:52:56.151] xyz_f:0.157450, -0.161399, 1.307490  Reprojection Error: -0.018017, 0.219088 Feature: 0.072491, 0.096937, 0.992647
[11:52:56.151] xyz_f:0.089227, -0.059811, 1.306820  Reprojection Error: -0.038704, 0.242245 Feature: 0.000100, 0.194890, 0.980825
[11:52:56.151] xyz_f:0.344033, 0.015381, 1.329409  Reprojection Error: 0.042775, 0.282343 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.151] xyz_f:0.605848, 0.012098, 1.281841  Reprojection Error: 0.168536, 0.298316 Feature: 0.495830, 0.257884, 0.829246
[11:52:56.151] xyz_f:0.179786, 0.160118, 1.310645  Reprojection Error: -0.011135, 0.322802 Feature: 0.077276, 0.408315, 0.909564
[11:52:56.151] it:12 	 Success 	 new_chi2: 1.701779 	 dT = -0.019943, 0.005537, 0.012731
[11:52:56.151] xyz_f:0.295423, -0.260088, 1.301607  Reprojection Error: -0.038554, 0.198452 Feature: 0.185155, -0.001346, 0.982708
[11:52:56.151] xyz_f:0.494094, -0.467135, 1.201092  Reprojection Error: 0.000815, 0.136403 Feature: 0.371103, -0.227353, 0.900329
[11:52:56.151] xyz_f:0.183048, -0.161840, 1.314673  Reprojection Error: -0.066207, 0.220757 Feature: 0.072491, 0.096937, 0.992647
[11:52:56.151] xyz_f:0.457756, -0.443922, 1.220052  Reprojection Error: -0.007707, 0.146357 Feature: 0.337962, -0.200023, 0.919659
[11:52:56.151] xyz_f:0.527857, -0.648367, 1.065832  Reprojection Error: -0.017849, 0.069312 Feature: 0.387424, -0.437417, 0.811522
[11:52:56.151] xyz_f:0.538640, -0.471658, 1.187943  Reprojection Error: 0.015197, 0.129886 Feature: 0.412440, -0.235125, 0.880119
[11:52:56.151] xyz_f:0.180297, -0.155252, 1.315378  Reprojection Error: -0.066931, 0.222325 Feature: 0.069591, 0.103482, 0.992194
[11:52:56.151] xyz_f:0.204362, 0.159749, 1.317560  Reprojection Error: -0.070147, 0.327666 Feature: 0.077276, 0.408315, 0.909564
[11:52:56.151] xyz_f:0.552604, -0.447454, 1.197101  Reprojection Error: 0.023279, 0.135815 Feature: 0.426639, -0.209375, 0.879853
[11:52:56.151] xyz_f:0.464504, -0.466932, 1.206951  Reprojection Error: -0.008400, 0.139387 Feature: 0.343233, -0.225640, 0.911744
[11:52:56.151] xyz_f:0.333622, -0.232600, 1.308444  Reprojection Error: -0.026690, 0.205448 Feature: 0.222479, 0.026975, 0.974564
[11:52:56.151] xyz_f:0.508510, -0.456532, 1.203573  Reprojection Error: 0.006834, 0.138016 Feature: 0.385157, -0.216469, 0.897104
[11:52:56.151] xyz_f:-0.481339, -0.524962, 0.647830  Reprojection Error: -0.430817, 0.083416 Feature: -0.688546, -0.426404, 0.586587
[11:52:56.151] xyz_f:0.369303, 0.015554, 1.334300  Reprojection Error: -0.008108, 0.282612 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.151] xyz_f:0.114488, -0.060477, 1.314845  Reprojection Error: -0.086971, 0.244696 Feature: 0.000100, 0.194890, 0.980825
[11:52:56.151] xyz_f:0.523408, -0.459357, 1.198541  Reprojection Error: 0.011490, 0.135532 Feature: 0.398928, -0.220500, 0.890077
[11:52:56.151] xyz_f:0.333712, -0.217737, 1.311878  Reprojection Error: -0.025983, 0.209320 Feature: 0.222462, 0.042220, 0.974027
[11:52:56.151] xyz_f:0.185809, -0.168416, 1.313919  Reprojection Error: -0.065498, 0.219201 Feature: 0.075390, 0.090389, 0.993049
[11:52:56.151] xyz_f:0.324829, -0.228393, 1.309608  Reprojection Error: -0.028985, 0.206497 Feature: 0.213872, 0.031340, 0.976359
[11:52:56.151] xyz_f:0.337323, 0.019991, 1.335587  Reprojection Error: -0.019236, 0.282196 Feature: 0.218270, 0.277985, 0.935459
[11:52:56.151] xyz_f:0.484814, -0.456093, 1.208869  Reprojection Error: -0.000780, 0.140537 Feature: 0.362941, -0.214674, 0.906746
[11:52:56.151] xyz_f:0.307144, -0.251685, 1.303945  Reprojection Error: -0.034971, 0.200541 Feature: 0.196657, 0.007376, 0.980445
[11:52:56.151] xyz_f:0.630523, 0.013133, 1.283516  Reprojection Error: 0.106682, 0.300754 Feature: 0.495830, 0.257884, 0.829246
[11:52:56.151] xyz_f:-0.481339, -0.524962, 0.647830  Reprojection Error: -0.375952, 0.110966 Feature: -0.688546, -0.426404, 0.586587
[11:52:56.151] xyz_f:0.527857, -0.648367, 1.065832  Reprojection Error: 0.016301, 0.057110 Feature: 0.387424, -0.437417, 0.811522
[11:52:56.151] xyz_f:0.494094, -0.467135, 1.201092  Reprojection Error: 0.034213, 0.128779 Feature: 0.371103, -0.227353, 0.900329
[11:52:56.151] xyz_f:0.538640, -0.471658, 1.187943  Reprojection Error: 0.050798, 0.118979 Feature: 0.412440, -0.235125, 0.880119
[11:52:56.151] xyz_f:0.295423, -0.260088, 1.301607  Reprojection Error: -0.011086, 0.193986 Feature: 0.185155, -0.001346, 0.982708
[11:52:56.151] xyz_f:0.333622, -0.232600, 1.308444  Reprojection Error: 0.004509, 0.201118 Feature: 0.222479, 0.026975, 0.974564
[11:52:56.151] xyz_f:0.183048, -0.161840, 1.314673  Reprojection Error: -0.036831, 0.218749 Feature: 0.072491, 0.096937, 0.992647
[11:52:56.151] xyz_f:0.114488, -0.060477, 1.314845  Reprojection Error: -0.057499, 0.242472 Feature: 0.000100, 0.194890, 0.980825
[11:52:56.151] xyz_f:0.369303, 0.015554, 1.334300  Reprojection Error: 0.024785, 0.282255 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.151] xyz_f:0.630523, 0.013133, 1.283516  Reprojection Error: 0.149928, 0.297522 Feature: 0.495830, 0.257884, 0.829246
[11:52:56.151] xyz_f:0.204362, 0.159749, 1.317560  Reprojection Error: -0.029068, 0.323724 Feature: 0.077276, 0.408315, 0.909564
[11:52:56.151] it:13 	 Success 	 new_chi2: 1.745837 	 dT = -0.019919, 0.004450, 0.010654
[11:52:56.151] xyz_f:0.330169, -0.260031, 1.296945  Reprojection Error: -0.066161, 0.199126 Feature: 0.185155, -0.001346, 0.982708
[11:52:56.151] xyz_f:0.529293, -0.467627, 1.198477  Reprojection Error: -0.029452, 0.137662 Feature: 0.371103, -0.227353, 0.900329
[11:52:56.151] xyz_f:0.217937, -0.161474, 1.308856  Reprojection Error: -0.093482, 0.221025 Feature: 0.072491, 0.096937, 0.992647
[11:52:56.151] xyz_f:0.492826, -0.444313, 1.217063  Reprojection Error: -0.037443, 0.147573 Feature: 0.337962, -0.200023, 0.919659
[11:52:56.151] xyz_f:0.563945, -0.648953, 1.063569  Reprojection Error: -0.052834, 0.071157 Feature: 0.387424, -0.437417, 0.811522
[11:52:56.151] xyz_f:0.573959, -0.472273, 1.185788  Reprojection Error: -0.015413, 0.131127 Feature: 0.412440, -0.235125, 0.880119
[11:52:56.151] xyz_f:0.215198, -0.154878, 1.309532  Reprojection Error: -0.094194, 0.222566 Feature: 0.069591, 0.103482, 0.992194
[11:52:56.151] xyz_f:0.240107, 0.160055, 1.311966  Reprojection Error: -0.098054, 0.326916 Feature: 0.077276, 0.408315, 0.909564
[11:52:56.151] xyz_f:0.587895, -0.448107, 1.195089  Reprojection Error: -0.007028, 0.136991 Feature: 0.426639, -0.209375, 0.879853
[11:52:56.151] xyz_f:0.499645, -0.467342, 1.204031  Reprojection Error: -0.038518, 0.140666 Feature: 0.343233, -0.225640, 0.911744
[11:52:56.151] xyz_f:0.368371, -0.232649, 1.304175  Reprojection Error: -0.054169, 0.206067 Feature: 0.222479, 0.026975, 0.974564
[11:52:56.151] xyz_f:0.543711, -0.457063, 1.201106  Reprojection Error: -0.023341, 0.139238 Feature: 0.385157, -0.216469, 0.897104
[11:52:56.151] xyz_f:-0.440550, -0.522772, 0.635205  Reprojection Error: -0.480262, 0.096073 Feature: -0.688546, -0.426404, 0.586587
[11:52:56.151] xyz_f:0.404469, 0.015407, 1.330401  Reprojection Error: -0.035351, 0.282689 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.151] xyz_f:0.149659, -0.059922, 1.308323  Reprojection Error: -0.114287, 0.244501 Feature: 0.000100, 0.194890, 0.980825
[11:52:56.151] xyz_f:0.558652, -0.459930, 1.196228  Reprojection Error: -0.018817, 0.136752 Feature: 0.398928, -0.220500, 0.890077
[11:52:56.151] xyz_f:0.368467, -0.217786, 1.307610  Reprojection Error: -0.053393, 0.209899 Feature: 0.222462, 0.042220, 0.974027
[11:52:56.151] xyz_f:0.220688, -0.168057, 1.308130  Reprojection Error: -0.092786, 0.219494 Feature: 0.075390, 0.090389, 0.993049
[11:52:56.151] xyz_f:0.359579, -0.228418, 1.305249  Reprojection Error: -0.056436, 0.207098 Feature: 0.213872, 0.031340, 0.976359
[11:52:56.151] xyz_f:0.372489, 0.019932, 1.331359  Reprojection Error: -0.046452, 0.282193 Feature: 0.218270, 0.277985, 0.935459
[11:52:56.151] xyz_f:0.519963, -0.456559, 1.206158  Reprojection Error: -0.030823, 0.141771 Feature: 0.362941, -0.214674, 0.906746
[11:52:56.151] xyz_f:0.341889, -0.251661, 1.299404  Reprojection Error: -0.062533, 0.201197 Feature: 0.196657, 0.007376, 0.980445
[11:52:56.151] xyz_f:0.666189, 0.012264, 1.282308  Reprojection Error: 0.078404, 0.301421 Feature: 0.495830, 0.257884, 0.829246
[11:52:56.151] xyz_f:-0.440550, -0.522772, 0.635205  Reprojection Error: -0.425398, 0.123623 Feature: -0.688546, -0.426404, 0.586587
[11:52:56.151] xyz_f:0.563945, -0.648953, 1.063569  Reprojection Error: -0.018684, 0.058956 Feature: 0.387424, -0.437417, 0.811522
[11:52:56.151] xyz_f:0.529293, -0.467627, 1.198477  Reprojection Error: 0.003946, 0.130038 Feature: 0.371103, -0.227353, 0.900329
[11:52:56.151] xyz_f:0.573959, -0.472273, 1.185788  Reprojection Error: 0.020188, 0.120219 Feature: 0.412440, -0.235125, 0.880119
[11:52:56.151] xyz_f:0.330169, -0.260031, 1.296945  Reprojection Error: -0.038692, 0.194661 Feature: 0.185155, -0.001346, 0.982708
[11:52:56.151] xyz_f:0.368371, -0.232649, 1.304175  Reprojection Error: -0.022970, 0.201737 Feature: 0.222479, 0.026975, 0.974564
[11:52:56.151] xyz_f:0.217937, -0.161474, 1.308856  Reprojection Error: -0.064106, 0.219017 Feature: 0.072491, 0.096937, 0.992647
[11:52:56.151] xyz_f:0.149659, -0.059922, 1.308323  Reprojection Error: -0.084815, 0.242277 Feature: 0.000100, 0.194890, 0.980825
[11:52:56.151] xyz_f:0.404469, 0.015407, 1.330401  Reprojection Error: -0.002459, 0.282332 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.151] xyz_f:0.666189, 0.012264, 1.282308  Reprojection Error: 0.121651, 0.298189 Feature: 0.495830, 0.257884, 0.829246
[11:52:56.151] xyz_f:0.240107, 0.160055, 1.311966  Reprojection Error: -0.056974, 0.322973 Feature: 0.077276, 0.408315, 0.909564
[11:52:56.151] it:14 	 Success 	 new_chi2: 1.531851 	 dT = -0.015322, 0.006374, 0.006097
[11:52:56.151] xyz_f:0.315029, -0.259986, 1.290401  Reprojection Error: -0.055719, 0.200107 Feature: 0.185155, -0.001346, 0.982708
[11:52:56.151] xyz_f:0.514401, -0.467896, 1.193106  Reprojection Error: -0.018958, 0.139644 Feature: 0.371103, -0.227353, 0.900329
[11:52:56.151] xyz_f:0.202884, -0.161251, 1.301650  Reprojection Error: -0.082839, 0.221536 Feature: 0.072491, 0.096937, 0.992647
[11:52:56.151] xyz_f:0.477862, -0.444525, 1.211477  Reprojection Error: -0.026959, 0.149430 Feature: 0.337962, -0.200023, 0.919659
[11:52:56.151] xyz_f:0.549561, -0.649277, 1.058404  Reprojection Error: -0.041832, 0.074441 Feature: 0.387424, -0.437417, 0.811522
[11:52:56.151] xyz_f:0.559133, -0.472612, 1.180680  Reprojection Error: -0.004950, 0.133137 Feature: 0.412440, -0.235125, 0.880119
[11:52:56.151] xyz_f:0.200151, -0.154651, 1.302311  Reprojection Error: -0.083551, 0.223048 Feature: 0.069591, 0.103482, 0.992194
[11:52:56.151] xyz_f:0.225543, 0.160243, 1.304893  Reprojection Error: -0.087885, 0.326111 Feature: 0.077276, 0.408315, 0.909564
[11:52:56.151] xyz_f:0.573052, -0.448468, 1.190063  Reprojection Error: 0.003366, 0.138878 Feature: 0.426639, -0.209375, 0.879853
[11:52:56.151] xyz_f:0.484721, -0.467564, 1.198485  Reprojection Error: -0.027987, 0.142647 Feature: 0.343233, -0.225640, 0.911744
[11:52:56.151] xyz_f:0.353231, -0.232664, 1.297856  Reprojection Error: -0.043879, 0.206947 Feature: 0.222479, 0.026975, 0.974564
[11:52:56.151] xyz_f:0.528820, -0.457355, 1.195820  Reprojection Error: -0.012890, 0.141164 Feature: 0.385157, -0.216469, 0.897104
[11:52:56.151] xyz_f:-0.452194, -0.521512, 0.624132  Reprojection Error: -0.449301, 0.108657 Feature: -0.688546, -0.426404, 0.586587
[11:52:56.151] xyz_f:0.389564, 0.015335, 1.324295  Reprojection Error: -0.025499, 0.282690 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.151] xyz_f:0.134770, -0.059592, 1.300716  Reprojection Error: -0.103510, 0.244514 Feature: 0.000100, 0.194890, 0.980825
[11:52:56.151] xyz_f:0.543785, -0.460245, 1.191030  Reprojection Error: -0.008373, 0.138694 Feature: 0.398928, -0.220500, 0.890077
[11:52:56.151] xyz_f:0.353330, -0.217801, 1.301291  Reprojection Error: -0.043129, 0.210719 Feature: 0.222462, 0.042220, 0.974027
[11:52:56.151] xyz_f:0.205628, -0.167839, 1.300941  Reprojection Error: -0.082143, 0.220036 Feature: 0.075390, 0.090389, 0.993049
[11:52:56.151] xyz_f:0.344439, -0.228418, 1.298878  Reprojection Error: -0.046131, 0.207957 Feature: 0.213872, 0.031340, 0.976359
[11:52:56.151] xyz_f:0.357587, 0.019910, 1.325064  Reprojection Error: -0.036535, 0.282138 Feature: 0.218270, 0.277985, 0.935459
[11:52:56.151] xyz_f:0.505043, -0.456813, 1.200732  Reprojection Error: -0.020345, 0.143693 Feature: 0.362941, -0.214674, 0.906746
[11:52:56.151] xyz_f:0.326747, -0.251634, 1.292929  Reprojection Error: -0.052140, 0.202146 Feature: 0.196657, 0.007376, 0.980445
[11:52:56.151] xyz_f:0.651558, 0.011780, 1.277744  Reprojection Error: 0.087999, 0.301767 Feature: 0.495830, 0.257884, 0.829246
[11:52:56.151] xyz_f:-0.452194, -0.521512, 0.624132  Reprojection Error: -0.394437, 0.136207 Feature: -0.688546, -0.426404, 0.586587
[11:52:56.151] xyz_f:0.549561, -0.649277, 1.058404  Reprojection Error: -0.007682, 0.062240 Feature: 0.387424, -0.437417, 0.811522
[11:52:56.151] xyz_f:0.514401, -0.467896, 1.193106  Reprojection Error: 0.014439, 0.132019 Feature: 0.371103, -0.227353, 0.900329
[11:52:56.151] xyz_f:0.559133, -0.472612, 1.180680  Reprojection Error: 0.030651, 0.122229 Feature: 0.412440, -0.235125, 0.880119
[11:52:56.151] xyz_f:0.315029, -0.259986, 1.290401  Reprojection Error: -0.028250, 0.195642 Feature: 0.185155, -0.001346, 0.982708
[11:52:56.151] xyz_f:0.353231, -0.232664, 1.297856  Reprojection Error: -0.012680, 0.202617 Feature: 0.222479, 0.026975, 0.974564
[11:52:56.151] xyz_f:0.202884, -0.161251, 1.301650  Reprojection Error: -0.053463, 0.219529 Feature: 0.072491, 0.096937, 0.992647
[11:52:56.151] xyz_f:0.134770, -0.059592, 1.300716  Reprojection Error: -0.074038, 0.242291 Feature: 0.000100, 0.194890, 0.980825
[11:52:56.151] xyz_f:0.389564, 0.015335, 1.324295  Reprojection Error: 0.007394, 0.282333 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.151] xyz_f:0.651558, 0.011780, 1.277744  Reprojection Error: 0.131246, 0.298535 Feature: 0.495830, 0.257884, 0.829246
[11:52:56.151] xyz_f:0.225543, 0.160243, 1.304893  Reprojection Error: -0.046805, 0.322168 Feature: 0.077276, 0.408315, 0.909564
[11:52:56.151] it:15 	 Success 	 new_chi2: 1.514442 	 dT = -0.016247, 0.007004, 0.007677
[11:52:56.152] xyz_f:0.301907, -0.259915, 1.283132  Reprojection Error: -0.046876, 0.201193 Feature: 0.185155, -0.001346, 0.982708
[11:52:56.152] xyz_f:0.501582, -0.468221, 1.187316  Reprojection Error: -0.010264, 0.141830 Feature: 0.371103, -0.227353, 0.900329
[11:52:56.152] xyz_f:0.189878, -0.160957, 1.293550  Reprojection Error: -0.073761, 0.222085 Feature: 0.072491, 0.096937, 0.992647
[11:52:56.152] xyz_f:0.464954, -0.444777, 1.205416  Reprojection Error: -0.018234, 0.151485 Feature: 0.337962, -0.200023, 0.919659
[11:52:56.152] xyz_f:0.537379, -0.649673, 1.052877  Reprojection Error: -0.032987, 0.078037 Feature: 0.387424, -0.437417, 0.811522
[11:52:56.152] xyz_f:0.546395, -0.473026, 1.175222  Reprojection Error: 0.003689, 0.135348 Feature: 0.412440, -0.235125, 0.880119
[11:52:56.152] xyz_f:0.187154, -0.154352, 1.294190  Reprojection Error: -0.074473, 0.223562 Feature: 0.069591, 0.103482, 0.992194
[11:52:56.152] xyz_f:0.213151, 0.160491, 1.296963  Reprojection Error: -0.079387, 0.325169 Feature: 0.077276, 0.408315, 0.909564
[11:52:56.152] xyz_f:0.560293, -0.448910, 1.184708  Reprojection Error: 0.011960, 0.140954 Feature: 0.426639, -0.209375, 0.879853
[11:52:56.152] xyz_f:0.471863, -0.467830, 1.192476  Reprojection Error: -0.019243, 0.144837 Feature: 0.343233, -0.225640, 0.911744
[11:52:56.152] xyz_f:0.340107, -0.232668, 1.290870  Reprojection Error: -0.035185, 0.207921 Feature: 0.222479, 0.026975, 0.974564
[11:52:56.152] xyz_f:0.516001, -0.457709, 1.190137  Reprojection Error: -0.004230, 0.143287 Feature: 0.385157, -0.216469, 0.897104
[11:52:56.152] xyz_f:-0.460873, -0.519921, 0.611190  Reprojection Error: -0.419761, 0.123746 Feature: -0.688546, -0.426404, 0.586587
[11:52:56.152] xyz_f:0.376736, 0.015258, 1.317579  Reprojection Error: -0.017262, 0.282689 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.152] xyz_f:0.121975, -0.059163, 1.292111  Reprojection Error: -0.094298, 0.244488 Feature: 0.000100, 0.194890, 0.980825
[11:52:56.152] xyz_f:0.530996, -0.460629, 1.185458  Reprojection Error: 0.000270, 0.140834 Feature: 0.398928, -0.220500, 0.890077
[11:52:56.152] xyz_f:0.340210, -0.217806, 1.294306  Reprojection Error: -0.034457, 0.211626 Feature: 0.222462, 0.042220, 0.974027
[11:52:56.152] xyz_f:0.192615, -0.167550, 1.292861  Reprojection Error: -0.073065, 0.220619 Feature: 0.075390, 0.090389, 0.993049
[11:52:56.152] xyz_f:0.331316, -0.228406, 1.291827  Reprojection Error: -0.037420, 0.208907 Feature: 0.213872, 0.031340, 0.976359
[11:52:56.152] xyz_f:0.344763, 0.019897, 1.318112  Reprojection Error: -0.028229, 0.282069 Feature: 0.218270, 0.277985, 0.935459
[11:52:56.152] xyz_f:0.492190, -0.457119, 1.194873  Reprojection Error: -0.011651, 0.145816 Feature: 0.362941, -0.214674, 0.906746
[11:52:56.152] xyz_f:0.313623, -0.251586, 1.285746  Reprojection Error: -0.043344, 0.203196 Feature: 0.196657, 0.007376, 0.980445
[11:52:56.152] xyz_f:0.639061, 0.011181, 1.272972  Reprojection Error: 0.095906, 0.302202 Feature: 0.495830, 0.257884, 0.829246
[11:52:56.152] xyz_f:-0.460873, -0.519921, 0.611190  Reprojection Error: -0.364896, 0.151297 Feature: -0.688546, -0.426404, 0.586587
[11:52:56.152] xyz_f:0.537379, -0.649673, 1.052877  Reprojection Error: 0.001163, 0.065836 Feature: 0.387424, -0.437417, 0.811522
[11:52:56.152] xyz_f:0.501582, -0.468221, 1.187316  Reprojection Error: 0.023134, 0.134206 Feature: 0.371103, -0.227353, 0.900329
[11:52:56.152] xyz_f:0.546395, -0.473026, 1.175222  Reprojection Error: 0.039290, 0.124441 Feature: 0.412440, -0.235125, 0.880119
[11:52:56.152] xyz_f:0.301907, -0.259915, 1.283132  Reprojection Error: -0.019407, 0.196728 Feature: 0.185155, -0.001346, 0.982708
[11:52:56.152] xyz_f:0.340107, -0.232668, 1.290870  Reprojection Error: -0.003986, 0.203591 Feature: 0.222479, 0.026975, 0.974564
[11:52:56.152] xyz_f:0.189878, -0.160957, 1.293550  Reprojection Error: -0.044385, 0.220077 Feature: 0.072491, 0.096937, 0.992647
[11:52:56.152] xyz_f:0.121975, -0.059163, 1.292111  Reprojection Error: -0.064826, 0.242264 Feature: 0.000100, 0.194890, 0.980825
[11:52:56.152] xyz_f:0.376736, 0.015258, 1.317579  Reprojection Error: 0.015631, 0.282333 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.152] xyz_f:0.639061, 0.011181, 1.272972  Reprojection Error: 0.139152, 0.298970 Feature: 0.495830, 0.257884, 0.829246
[11:52:56.152] xyz_f:0.213151, 0.160491, 1.296963  Reprojection Error: -0.038307, 0.321226 Feature: 0.077276, 0.408315, 0.909564
[11:52:56.152] it:16 	 Success 	 new_chi2: 1.503274 	 dT = -0.017403, 0.007862, 0.009386
[11:52:56.152] xyz_f:0.286684, -0.259807, 1.274868  Reprojection Error: -0.036460, 0.202422 Feature: 0.185155, -0.001346, 0.982708
[11:52:56.152] xyz_f:0.486713, -0.468599, 1.180864  Reprojection Error: 0.000020, 0.144305 Feature: 0.371103, -0.227353, 0.900329
[11:52:56.152] xyz_f:0.174806, -0.160577, 1.284271  Reprojection Error: -0.063086, 0.222688 Feature: 0.072491, 0.096937, 0.992647
[11:52:56.152] xyz_f:0.449979, -0.445066, 1.198631  Reprojection Error: -0.007924, 0.153814 Feature: 0.337962, -0.200023, 0.919659
[11:52:56.152] xyz_f:0.523287, -0.650138, 1.046753  Reprojection Error: -0.022510, 0.082092 Feature: 0.387424, -0.437417, 0.811522
[11:52:56.152] xyz_f:0.531622, -0.473513, 1.169177  Reprojection Error: 0.013921, 0.137846 Feature: 0.412440, -0.235125, 0.880119
[11:52:56.152] xyz_f:0.172092, -0.153966, 1.284886  Reprojection Error: -0.063797, 0.224125 Feature: 0.069591, 0.103482, 0.992194
[11:52:56.152] xyz_f:0.198828, 0.160813, 1.287898  Reprojection Error: -0.069422, 0.324048 Feature: 0.077276, 0.408315, 0.909564
[11:52:56.152] xyz_f:0.545491, -0.449431, 1.178789  Reprojection Error: 0.022142, 0.143299 Feature: 0.426639, -0.209375, 0.879853
[11:52:56.152] xyz_f:0.456950, -0.468136, 1.185754  Reprojection Error: -0.008908, 0.147318 Feature: 0.343233, -0.225640, 0.911744
[11:52:56.152] xyz_f:0.324878, -0.232653, 1.282952  Reprojection Error: -0.024941, 0.209021 Feature: 0.222479, 0.026975, 0.974564
[11:52:56.152] xyz_f:0.501131, -0.458122, 1.183816  Reprojection Error: 0.006015, 0.145690 Feature: 0.385157, -0.216469, 0.897104
[11:52:56.152] xyz_f:-0.470602, -0.517967, 0.596036  Reprojection Error: -0.384265, 0.142097 Feature: -0.688546, -0.426404, 0.586587
[11:52:56.152] xyz_f:0.361866, 0.015183, 1.309995  Reprojection Error: -0.007566, 0.282679 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.152] xyz_f:0.107166, -0.058619, 1.282218  Reprojection Error: -0.083477, 0.244416 Feature: 0.000100, 0.194890, 0.980825
[11:52:56.152] xyz_f:0.516161, -0.461078, 1.179272  Reprojection Error: 0.010501, 0.143253 Feature: 0.398928, -0.220500, 0.890077
[11:52:56.152] xyz_f:0.324986, -0.217791, 1.286389  Reprojection Error: -0.024241, 0.212651 Feature: 0.222462, 0.042220, 0.974027
[11:52:56.152] xyz_f:0.177533, -0.167177, 1.283607  Reprojection Error: -0.062389, 0.221263 Feature: 0.075390, 0.090389, 0.993049
[11:52:56.152] xyz_f:0.316089, -0.228369, 1.283829  Reprojection Error: -0.027158, 0.209980 Feature: 0.213872, 0.031340, 0.976359
[11:52:56.152] xyz_f:0.329901, 0.019900, 1.310238  Reprojection Error: -0.018458, 0.281976 Feature: 0.218270, 0.277985, 0.935459
[11:52:56.152] xyz_f:0.477280, -0.457474, 1.188335  Reprojection Error: -0.001369, 0.148219 Feature: 0.362941, -0.214674, 0.906746
[11:52:56.152] xyz_f:0.298396, -0.251507, 1.277588  Reprojection Error: -0.032983, 0.204384 Feature: 0.196657, 0.007376, 0.980445
[11:52:56.152] xyz_f:0.624573, 0.010469, 1.267768  Reprojection Error: 0.105272, 0.302728 Feature: 0.495830, 0.257884, 0.829246
[11:52:56.152] xyz_f:-0.470602, -0.517967, 0.596036  Reprojection Error: -0.329400, 0.169647 Feature: -0.688546, -0.426404, 0.586587
[11:52:56.152] xyz_f:0.523287, -0.650138, 1.046753  Reprojection Error: 0.011640, 0.069890 Feature: 0.387424, -0.437417, 0.811522
[11:52:56.152] xyz_f:0.486713, -0.468599, 1.180864  Reprojection Error: 0.033417, 0.136680 Feature: 0.371103, -0.227353, 0.900329
[11:52:56.152] xyz_f:0.531622, -0.473513, 1.169177  Reprojection Error: 0.049522, 0.126938 Feature: 0.412440, -0.235125, 0.880119
[11:52:56.152] xyz_f:0.286684, -0.259807, 1.274868  Reprojection Error: -0.008991, 0.197957 Feature: 0.185155, -0.001346, 0.982708
[11:52:56.152] xyz_f:0.324878, -0.232653, 1.282952  Reprojection Error: 0.006258, 0.204692 Feature: 0.222479, 0.026975, 0.974564
[11:52:56.152] xyz_f:0.174806, -0.160577, 1.284271  Reprojection Error: -0.033709, 0.220680 Feature: 0.072491, 0.096937, 0.992647
[11:52:56.152] xyz_f:0.107166, -0.058619, 1.282218  Reprojection Error: -0.054005, 0.242193 Feature: 0.000100, 0.194890, 0.980825
[11:52:56.152] xyz_f:0.361866, 0.015183, 1.309995  Reprojection Error: 0.025327, 0.282322 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.152] xyz_f:0.624573, 0.010469, 1.267768  Reprojection Error: 0.148519, 0.299496 Feature: 0.495830, 0.257884, 0.829246
[11:52:56.152] xyz_f:0.198828, 0.160813, 1.287898  Reprojection Error: -0.028343, 0.320105 Feature: 0.077276, 0.408315, 0.909564
[11:52:56.152] it:17 	 Success 	 new_chi2: 1.492887 	 dT = -0.018691, 0.008865, 0.011416
[11:52:56.152] xyz_f:0.268710, -0.259645, 1.265399  Reprojection Error: -0.023939, 0.203819 Feature: 0.185155, -0.001346, 0.982708
[11:52:56.152] xyz_f:0.469146, -0.469029, 1.173603  Reprojection Error: 0.012438, 0.147126 Feature: 0.371103, -0.227353, 0.900329
[11:52:56.152] xyz_f:0.157029, -0.160085, 1.273569  Reprojection Error: -0.050271, 0.223353 Feature: 0.072491, 0.096937, 0.992647
[11:52:56.152] xyz_f:0.432288, -0.445387, 1.190964  Reprojection Error: 0.004514, 0.156474 Feature: 0.337962, -0.200023, 0.919659
[11:52:56.152] xyz_f:0.506659, -0.650678, 1.039900  Reprojection Error: -0.009815, 0.086703 Feature: 0.387424, -0.437417, 0.811522
[11:52:56.152] xyz_f:0.514167, -0.474076, 1.162412  Reprojection Error: 0.026291, 0.140687 Feature: 0.412440, -0.235125, 0.880119
[11:52:56.152] xyz_f:0.154328, -0.153466, 1.274155  Reprojection Error: -0.050984, 0.224741 Feature: 0.069591, 0.103482, 0.992194
[11:52:56.152] xyz_f:0.181959, 0.161233, 1.277467  Reprojection Error: -0.057478, 0.322699 Feature: 0.077276, 0.408315, 0.909564
[11:52:56.152] xyz_f:0.528000, -0.450034, 1.172176  Reprojection Error: 0.034453, 0.145965 Feature: 0.426639, -0.209375, 0.879853
[11:52:56.152] xyz_f:0.439332, -0.468478, 1.178164  Reprojection Error: 0.003563, 0.150152 Feature: 0.343233, -0.225640, 0.911744
[11:52:56.152] xyz_f:0.306893, -0.232604, 1.273904  Reprojection Error: -0.012621, 0.210271 Feature: 0.222479, 0.026975, 0.974564
[11:52:56.152] xyz_f:0.483562, -0.458594, 1.176714  Reprojection Error: 0.018391, 0.148427 Feature: 0.385157, -0.216469, 0.897104
[11:52:56.152] xyz_f:-0.481804, -0.515578, 0.578253  Reprojection Error: -0.340613, 0.164689 Feature: -0.688546, -0.426404, 0.586587
[11:52:56.152] xyz_f:0.344312, 0.015122, 1.301358  Reprojection Error: 0.004089, 0.282649 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.152] xyz_f:0.089718, -0.057927, 1.270772  Reprojection Error: -0.070499, 0.244284 Feature: 0.000100, 0.194890, 0.980825
[11:52:56.152] xyz_f:0.498631, -0.461595, 1.172336  Reprojection Error: 0.022863, 0.146007 Feature: 0.398928, -0.220500, 0.890077
[11:52:56.152] xyz_f:0.307007, -0.217743, 1.277342  Reprojection Error: -0.011954, 0.213812 Feature: 0.222462, 0.042220, 0.974027
[11:52:56.152] xyz_f:0.159743, -0.166693, 1.272935  Reprojection Error: -0.049574, 0.221974 Feature: 0.075390, 0.090389, 0.993049
[11:52:56.152] xyz_f:0.298108, -0.228295, 1.274685  Reprojection Error: -0.014817, 0.211198 Feature: 0.213872, 0.031340, 0.976359
[11:52:56.152] xyz_f:0.312361, 0.019933, 1.301248  Reprojection Error: -0.006718, 0.281846 Feature: 0.218270, 0.277985, 0.935459
[11:52:56.152] xyz_f:0.459664, -0.457876, 1.180970  Reprojection Error: 0.011042, 0.150960 Feature: 0.362941, -0.214674, 0.906746
[11:52:56.152] xyz_f:0.280416, -0.251380, 1.268248  Reprojection Error: -0.020526, 0.205733 Feature: 0.196657, 0.007376, 0.980445
[11:52:56.152] xyz_f:0.607455, 0.009631, 1.262030  Reprojection Error: 0.116597, 0.303354 Feature: 0.495830, 0.257884, 0.829246
[11:52:56.152] xyz_f:-0.481804, -0.515578, 0.578253  Reprojection Error: -0.285748, 0.192239 Feature: -0.688546, -0.426404, 0.586587
[11:52:56.152] xyz_f:0.506659, -0.650678, 1.039900  Reprojection Error: 0.024335, 0.074502 Feature: 0.387424, -0.437417, 0.811522
[11:52:56.152] xyz_f:0.469146, -0.469029, 1.173603  Reprojection Error: 0.045836, 0.139502 Feature: 0.371103, -0.227353, 0.900329
[11:52:56.152] xyz_f:0.514167, -0.474076, 1.162412  Reprojection Error: 0.061892, 0.129779 Feature: 0.412440, -0.235125, 0.880119
[11:52:56.152] xyz_f:0.268710, -0.259645, 1.265399  Reprojection Error: 0.003530, 0.199354 Feature: 0.185155, -0.001346, 0.982708
[11:52:56.152] xyz_f:0.306893, -0.232604, 1.273904  Reprojection Error: 0.018578, 0.205941 Feature: 0.222479, 0.026975, 0.974564
[11:52:56.152] xyz_f:0.157029, -0.160085, 1.273569  Reprojection Error: -0.020895, 0.221345 Feature: 0.072491, 0.096937, 0.992647
[11:52:56.152] xyz_f:0.089718, -0.057927, 1.270772  Reprojection Error: -0.041027, 0.242061 Feature: 0.000100, 0.194890, 0.980825
[11:52:56.152] xyz_f:0.344312, 0.015122, 1.301358  Reprojection Error: 0.036982, 0.282292 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.152] xyz_f:0.607455, 0.009631, 1.262030  Reprojection Error: 0.159843, 0.300122 Feature: 0.495830, 0.257884, 0.829246
[11:52:56.152] xyz_f:0.181959, 0.161233, 1.277467  Reprojection Error: -0.016398, 0.318757 Feature: 0.077276, 0.408315, 0.909564
[11:52:56.152] it:18 	 Success 	 new_chi2: 1.485828 	 dT = -0.020057, 0.010016, 0.013811
[11:52:56.152] xyz_f:0.247432, -0.259404, 1.254485  Reprojection Error: -0.008824, 0.205412 Feature: 0.185155, -0.001346, 0.982708
[11:52:56.152] xyz_f:0.448324, -0.469505, 1.165366  Reprojection Error: 0.027480, 0.150360 Feature: 0.371103, -0.227353, 0.900329
[11:52:56.152] xyz_f:0.136008, -0.159446, 1.261168  Reprojection Error: -0.034816, 0.224082 Feature: 0.072491, 0.096937, 0.992647
[11:52:56.152] xyz_f:0.411323, -0.445732, 1.182235  Reprojection Error: 0.019567, 0.159527 Feature: 0.337962, -0.200023, 0.919659
[11:52:56.152] xyz_f:0.486969, -0.651291, 1.032172  Reprojection Error: 0.005614, 0.091982 Feature: 0.387424, -0.437417, 0.811522
[11:52:56.152] xyz_f:0.493472, -0.474714, 1.154776  Reprojection Error: 0.041288, 0.143936 Feature: 0.412440, -0.235125, 0.880119
[11:52:56.152] xyz_f:0.133323, -0.152817, 1.261717  Reprojection Error: -0.035530, 0.225414 Feature: 0.069591, 0.103482, 0.992194
[11:52:56.152] xyz_f:0.162032, 0.161781, 1.265405  Reprojection Error: -0.043088, 0.321063 Feature: 0.077276, 0.408315, 0.909564
[11:52:56.152] xyz_f:0.507260, -0.450722, 1.164725  Reprojection Error: 0.049379, 0.149011 Feature: 0.426639, -0.209375, 0.879853
[11:52:56.152] xyz_f:0.418454, -0.468848, 1.169529  Reprojection Error: 0.018661, 0.153404 Feature: 0.343233, -0.225640, 0.911744
[11:52:56.152] xyz_f:0.285594, -0.232500, 1.263500  Reprojection Error: 0.002252, 0.211692 Feature: 0.222479, 0.026975, 0.974564
[11:52:56.152] xyz_f:0.462735, -0.459122, 1.168669  Reprojection Error: 0.033384, 0.151562 Feature: 0.385157, -0.216469, 0.897104
[11:52:56.152] xyz_f:-0.494759, -0.512669, 0.557383  Reprojection Error: -0.286172, 0.192856 Feature: -0.688546, -0.426404, 0.586587
[11:52:56.152] xyz_f:0.323529, 0.015092, 1.291456  Reprojection Error: 0.018154, 0.282583 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.152] xyz_f:0.069106, -0.057048, 1.257475  Reprojection Error: -0.054854, 0.244067 Feature: 0.000100, 0.194890, 0.980825
[11:52:56.152] xyz_f:0.477850, -0.462177, 1.164493  Reprojection Error: 0.037844, 0.149159 Feature: 0.398928, -0.220500, 0.890077
[11:52:56.152] xyz_f:0.285715, -0.217639, 1.266940  Reprojection Error: 0.002878, 0.215129 Feature: 0.222462, 0.042220, 0.974027
[11:52:56.152] xyz_f:0.138707, -0.166064, 1.260569  Reprojection Error: -0.034117, 0.222759 Feature: 0.075390, 0.090389, 0.993049
[11:52:56.152] xyz_f:0.276815, -0.228159, 1.264163  Reprojection Error: 0.000080, 0.212581 Feature: 0.213872, 0.031340, 0.976359
[11:52:56.152] xyz_f:0.291599, 0.020017, 1.290920  Reprojection Error: 0.007445, 0.281658 Feature: 0.218270, 0.277985, 0.935459
[11:52:56.152] xyz_f:0.438785, -0.458319, 1.172606  Reprojection Error: 0.026072, 0.154103 Feature: 0.362941, -0.214674, 0.906746
[11:52:56.152] xyz_f:0.259128, -0.251181, 1.257491  Reprojection Error: -0.005488, 0.207271 Feature: 0.196657, 0.007376, 0.980445
[11:52:56.152] xyz_f:0.587151, 0.008659, 1.255642  Reprojection Error: 0.130318, 0.304089 Feature: 0.495830, 0.257884, 0.829246
[11:52:56.152] xyz_f:-0.494759, -0.512669, 0.557383  Reprojection Error: -0.231307, 0.220407 Feature: -0.688546, -0.426404, 0.586587
[11:52:56.152] xyz_f:0.486969, -0.651291, 1.032172  Reprojection Error: 0.039764, 0.079781 Feature: 0.387424, -0.437417, 0.811522
[11:52:56.152] xyz_f:0.448324, -0.469505, 1.165366  Reprojection Error: 0.060877, 0.142735 Feature: 0.371103, -0.227353, 0.900329
[11:52:56.152] xyz_f:0.493472, -0.474714, 1.154776  Reprojection Error: 0.076889, 0.133028 Feature: 0.412440, -0.235125, 0.880119
[11:52:56.152] xyz_f:0.247432, -0.259404, 1.254485  Reprojection Error: 0.018645, 0.200947 Feature: 0.185155, -0.001346, 0.982708
[11:52:56.152] xyz_f:0.285594, -0.232500, 1.263500  Reprojection Error: 0.033451, 0.207362 Feature: 0.222479, 0.026975, 0.974564
[11:52:56.152] xyz_f:0.136008, -0.159446, 1.261168  Reprojection Error: -0.005439, 0.222074 Feature: 0.072491, 0.096937, 0.992647
[11:52:56.152] xyz_f:0.069106, -0.057048, 1.257475  Reprojection Error: -0.025382, 0.241844 Feature: 0.000100, 0.194890, 0.980825
[11:52:56.152] xyz_f:0.323529, 0.015092, 1.291456  Reprojection Error: 0.051046, 0.282227 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.152] xyz_f:0.587151, 0.008659, 1.255642  Reprojection Error: 0.173564, 0.300857 Feature: 0.495830, 0.257884, 0.829246
[11:52:56.152] xyz_f:0.162032, 0.161781, 1.265405  Reprojection Error: -0.002009, 0.317120 Feature: 0.077276, 0.408315, 0.909564
[11:52:56.152] it:19 	 Success 	 new_chi2: 1.488038 	 dT = -0.021404, 0.011303, 0.016581
[11:52:56.152] xyz_f:0.222238, -0.259051, 1.241861  Reprojection Error: 0.009457, 0.207229 Feature: 0.185155, -0.001346, 0.982708
[11:52:56.152] xyz_f:0.423629, -0.470015, 1.155964  Reprojection Error: 0.045714, 0.154078 Feature: 0.371103, -0.227353, 0.900329
[11:52:56.152] xyz_f:0.111152, -0.158615, 1.246762  Reprojection Error: -0.016125, 0.224876 Feature: 0.072491, 0.096937, 0.992647
[11:52:56.152] xyz_f:0.386465, -0.446082, 1.172238  Reprojection Error: 0.037806, 0.163041 Feature: 0.337962, -0.200023, 0.919659
[11:52:56.152] xyz_f:0.463621, -0.651969, 1.023399  Reprojection Error: 0.024383, 0.098054 Feature: 0.387424, -0.437417, 0.811522
[11:52:56.152] xyz_f:0.468918, -0.475417, 1.146098  Reprojection Error: 0.059476, 0.147662 Feature: 0.412440, -0.235125, 0.880119
[11:52:56.152] xyz_f:0.108487, -0.151974, 1.247268  Reprojection Error: -0.016842, 0.226142 Feature: 0.069591, 0.103482, 0.992194
[11:52:56.152] xyz_f:0.138483, 0.162498, 1.251426  Reprojection Error: -0.025701, 0.319062 Feature: 0.077276, 0.408315, 0.909564
[11:52:56.152] xyz_f:0.482647, -0.451484, 1.156267  Reprojection Error: 0.067479, 0.152501 Feature: 0.426639, -0.209375, 0.879853
[11:52:56.152] xyz_f:0.393699, -0.469228, 1.159648  Reprojection Error: 0.036959, 0.157148 Feature: 0.343233, -0.225640, 0.911744
[11:52:56.152] xyz_f:0.260367, -0.232310, 1.251486  Reprojection Error: 0.020240, 0.213306 Feature: 0.222479, 0.026975, 0.974564
[11:52:56.152] xyz_f:0.438029, -0.459693, 1.159497  Reprojection Error: 0.051559, 0.155162 Feature: 0.385157, -0.216469, 0.897104
[11:52:56.152] xyz_f:-0.509773, -0.509152, 0.532953  Reprojection Error: -0.217313, 0.228418 Feature: -0.688546, -0.426404, 0.586587
[11:52:56.152] xyz_f:0.298911, 0.015118, 1.280055  Reprojection Error: 0.035154, 0.282459 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.152] xyz_f:0.044758, -0.055931, 1.242002  Reprojection Error: -0.035934, 0.243732 Feature: 0.000100, 0.194890, 0.980825
[11:52:56.152] xyz_f:0.453197, -0.462813, 1.155564  Reprojection Error: 0.056008, 0.152777 Feature: 0.398928, -0.220500, 0.890077
[11:52:56.153] xyz_f:0.260497, -0.217449, 1.254928  Reprojection Error: 0.020815, 0.216622 Feature: 0.222462, 0.042220, 0.974027
[11:52:56.153] xyz_f:0.113832, -0.165244, 1.246207  Reprojection Error: -0.015424, 0.223620 Feature: 0.075390, 0.090389, 0.993049
[11:52:56.153] xyz_f:0.251597, -0.227931, 1.252009  Reprojection Error: 0.018096, 0.214151 Feature: 0.213872, 0.031340, 0.976359
[11:52:56.153] xyz_f:0.267015, 0.020180, 1.279008  Reprojection Error: 0.024562, 0.281386 Feature: 0.218270, 0.277985, 0.935459
[11:52:56.153] xyz_f:0.414023, -0.458787, 1.163050  Reprojection Error: 0.044288, 0.157717 Feature: 0.362941, -0.214674, 0.906746
[11:52:56.153] xyz_f:0.233920, -0.250877, 1.245054  Reprojection Error: 0.012699, 0.209022 Feature: 0.196657, 0.007376, 0.980445
[11:52:56.153] xyz_f:0.563043, 0.007553, 1.248467  Reprojection Error: 0.146941, 0.304936 Feature: 0.495830, 0.257884, 0.829246
[11:52:56.153] xyz_f:-0.509773, -0.509152, 0.532953  Reprojection Error: -0.162448, 0.255968 Feature: -0.688546, -0.426404, 0.586587
[11:52:56.153] xyz_f:0.463621, -0.651969, 1.023399  Reprojection Error: 0.058533, 0.085852 Feature: 0.387424, -0.437417, 0.811522
[11:52:56.153] xyz_f:0.423629, -0.470015, 1.155964  Reprojection Error: 0.079111, 0.146453 Feature: 0.371103, -0.227353, 0.900329
[11:52:56.153] xyz_f:0.468918, -0.475417, 1.146098  Reprojection Error: 0.095077, 0.136755 Feature: 0.412440, -0.235125, 0.880119
[11:52:56.153] xyz_f:0.222238, -0.259051, 1.241861  Reprojection Error: 0.036926, 0.202764 Feature: 0.185155, -0.001346, 0.982708
[11:52:56.153] xyz_f:0.260367, -0.232310, 1.251486  Reprojection Error: 0.051439, 0.208977 Feature: 0.222479, 0.026975, 0.974564
[11:52:56.153] xyz_f:0.111152, -0.158615, 1.246762  Reprojection Error: 0.013251, 0.222868 Feature: 0.072491, 0.096937, 0.992647
[11:52:56.153] xyz_f:0.044758, -0.055931, 1.242002  Reprojection Error: -0.006462, 0.241509 Feature: 0.000100, 0.194890, 0.980825
[11:52:56.153] xyz_f:0.298911, 0.015118, 1.280055  Reprojection Error: 0.068047, 0.282102 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.153] xyz_f:0.563043, 0.007553, 1.248467  Reprojection Error: 0.190187, 0.301704 Feature: 0.495830, 0.257884, 0.829246
[11:52:56.153] xyz_f:0.138483, 0.162498, 1.251426  Reprojection Error: 0.015379, 0.315119 Feature: 0.077276, 0.408315, 0.909564
[11:52:56.153] it:20 	 Success 	 new_chi2: 1.511222 	 dT = -0.022555, 0.012698, 0.019682
[11:52:56.153] xyz_f:0.192505, -0.258538, 1.227251  Reprojection Error: 0.031555, 0.209295 Feature: 0.185155, -0.001346, 0.982708
[11:52:56.153] xyz_f:0.394415, -0.470530, 1.145188  Reprojection Error: 0.067776, 0.158354 Feature: 0.371103, -0.227353, 0.900329
[11:52:56.153] xyz_f:0.081859, -0.157538, 1.230044  Reprojection Error: 0.006478, 0.225729 Feature: 0.072491, 0.096937, 0.992647
[11:52:56.153] xyz_f:0.357070, -0.446407, 1.160754  Reprojection Error: 0.059868, 0.167086 Feature: 0.337962, -0.200023, 0.919659
[11:52:56.153] xyz_f:0.435992, -0.652692, 1.013398  Reprojection Error: 0.047176, 0.105054 Feature: 0.387424, -0.437417, 0.811522
[11:52:56.153] xyz_f:0.439855, -0.476163, 1.136184  Reprojection Error: 0.081485, 0.151939 Feature: 0.412440, -0.235125, 0.880119
[11:52:56.153] xyz_f:0.079218, -0.150883, 1.230500  Reprojection Error: 0.005759, 0.226916 Feature: 0.069591, 0.103482, 0.992194
[11:52:56.153] xyz_f:0.110731, 0.163432, 1.235243  Reprojection Error: -0.004684, 0.316605 Feature: 0.077276, 0.408315, 0.909564
[11:52:56.153] xyz_f:0.453510, -0.452300, 1.146614  Reprojection Error: 0.089376, 0.156500 Feature: 0.426639, -0.209375, 0.879853
[11:52:56.153] xyz_f:0.364425, -0.469591, 1.148302  Reprojection Error: 0.059098, 0.161462 Feature: 0.343233, -0.225640, 0.911744
[11:52:56.153] xyz_f:0.230579, -0.231992, 1.237601  Reprojection Error: 0.041975, 0.215132 Feature: 0.222479, 0.026975, 0.974564
[11:52:56.153] xyz_f:0.408797, -0.460282, 1.148995  Reprojection Error: 0.073547, 0.159298 Feature: 0.385157, -0.216469, 0.897104
[11:52:56.153] xyz_f:-0.527162, -0.504943, 0.504544  Reprojection Error: -0.128989, 0.273866 Feature: -0.688546, -0.426404, 0.586587
[11:52:56.153] xyz_f:0.269833, 0.015238, 1.266910  Reprojection Error: 0.055683, 0.282242 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.153] xyz_f:0.016090, -0.054517, 1.224028  Reprojection Error: -0.013043, 0.243239 Feature: 0.000100, 0.194890, 0.980825
[11:52:56.153] xyz_f:0.424021, -0.463479, 1.145351  Reprojection Error: 0.077984, 0.156929 Feature: 0.398928, -0.220500, 0.890077
[11:52:56.153] xyz_f:0.230719, -0.217132, 1.241046  Reprojection Error: 0.042487, 0.218305 Feature: 0.222462, 0.042220, 0.974027
[11:52:56.153] xyz_f:0.084514, -0.164181, 1.229540  Reprojection Error: 0.007182, 0.224552 Feature: 0.075390, 0.090389, 0.993049
[11:52:56.153] xyz_f:0.221823, -0.227568, 1.237957  Reprojection Error: 0.039866, 0.215925 Feature: 0.213872, 0.031340, 0.976359
[11:52:56.153] xyz_f:0.237989, 0.020462, 1.265256  Reprojection Error: 0.045234, 0.280992 Feature: 0.218270, 0.277985, 0.935459
[11:52:56.153] xyz_f:0.384733, -0.459253, 1.152091  Reprojection Error: 0.066325, 0.161874 Feature: 0.362941, -0.214674, 0.906746
[11:52:56.153] xyz_f:0.204165, -0.250424, 1.230666  Reprojection Error: 0.034681, 0.211010 Feature: 0.196657, 0.007376, 0.980445
[11:52:56.153] xyz_f:0.534476, 0.006326, 1.240348  Reprojection Error: 0.167020, 0.305885 Feature: 0.495830, 0.257884, 0.829246
[11:52:56.153] xyz_f:-0.527162, -0.504943, 0.504544  Reprojection Error: -0.074124, 0.301417 Feature: -0.688546, -0.426404, 0.586587
[11:52:56.153] xyz_f:0.435992, -0.652692, 1.013398  Reprojection Error: 0.081326, 0.092852 Feature: 0.387424, -0.437417, 0.811522
[11:52:56.153] xyz_f:0.394415, -0.470530, 1.145188  Reprojection Error: 0.101173, 0.150729 Feature: 0.371103, -0.227353, 0.900329
[11:52:56.153] xyz_f:0.439855, -0.476163, 1.136184  Reprojection Error: 0.117087, 0.141031 Feature: 0.412440, -0.235125, 0.880119
[11:52:56.153] xyz_f:0.192505, -0.258538, 1.227251  Reprojection Error: 0.059024, 0.204830 Feature: 0.185155, -0.001346, 0.982708
[11:52:56.153] xyz_f:0.230579, -0.231992, 1.237601  Reprojection Error: 0.073174, 0.210802 Feature: 0.222479, 0.026975, 0.974564
[11:52:56.153] xyz_f:0.081859, -0.157538, 1.230044  Reprojection Error: 0.035855, 0.223721 Feature: 0.072491, 0.096937, 0.992647
[11:52:56.153] xyz_f:0.016090, -0.054517, 1.224028  Reprojection Error: 0.016429, 0.241015 Feature: 0.000100, 0.194890, 0.980825
[11:52:56.153] xyz_f:0.269833, 0.015238, 1.266910  Reprojection Error: 0.088576, 0.281885 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.153] xyz_f:0.534476, 0.006326, 1.240348  Reprojection Error: 0.210267, 0.302654 Feature: 0.495830, 0.257884, 0.829246
[11:52:56.153] xyz_f:0.110731, 0.163432, 1.235243  Reprojection Error: 0.036396, 0.312662 Feature: 0.077276, 0.408315, 0.909564
[11:52:56.153] it:21 	 Success 	 new_chi2: 1.576143 	 dT = -0.023250, 0.014147, 0.022993
[11:52:56.153] xyz_f:0.157680, -0.257814, 1.210400  Reprojection Error: 0.058142, 0.211630 Feature: 0.185155, -0.001346, 0.982708
[11:52:56.153] xyz_f:0.360097, -0.471008, 1.132827  Reprojection Error: 0.094311, 0.163259 Feature: 0.371103, -0.227353, 0.900329
[11:52:56.153] xyz_f:0.047602, -0.156156, 1.210742  Reprojection Error: 0.033711, 0.226630 Feature: 0.072491, 0.096937, 0.992647
[11:52:56.153] xyz_f:0.322561, -0.446663, 1.147562  Reprojection Error: 0.086404, 0.171730 Feature: 0.337962, -0.200023, 0.919659
[11:52:56.153] xyz_f:0.403507, -0.653423, 1.001981  Reprojection Error: 0.074695, 0.113123 Feature: 0.387424, -0.437417, 0.811522
[11:52:56.153] xyz_f:0.405692, -0.476913, 1.124835  Reprojection Error: 0.107951, 0.156834 Feature: 0.412440, -0.235125, 0.880119
[11:52:56.153] xyz_f:0.044992, -0.149486, 1.211140  Reprojection Error: 0.032990, 0.227723 Feature: 0.069591, 0.103482, 0.992194
[11:52:56.153] xyz_f:0.078262, 0.164636, 1.216602  Reprojection Error: 0.020631, 0.313588 Feature: 0.077276, 0.408315, 0.909564
[11:52:56.153] xyz_f:0.419254, -0.453130, 1.135567  Reprojection Error: 0.115695, 0.161069 Feature: 0.426639, -0.209375, 0.879853
[11:52:56.153] xyz_f:0.330052, -0.469891, 1.135275  Reprojection Error: 0.085734, 0.166419 Feature: 0.343233, -0.225640, 0.911744
[11:52:56.153] xyz_f:0.195672, -0.231494, 1.221595  Reprojection Error: 0.068108, 0.217180 Feature: 0.222479, 0.026975, 0.974564
[11:52:56.153] xyz_f:0.374453, -0.460846, 1.136954  Reprojection Error: 0.099986, 0.164037 Feature: 0.385157, -0.216469, 0.897104
[11:52:56.153] xyz_f:-0.547214, -0.499979, 0.471873  Reprojection Error: -0.014156, 0.332639 Feature: -0.688546, -0.426404, 0.586587
[11:52:56.153] xyz_f:0.235737, 0.015500, 1.251784  Reprojection Error: 0.080348, 0.281887 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.153] xyz_f:-0.017402, -0.052747, 1.203274  Reprojection Error: 0.014565, 0.242536 Feature: 0.000100, 0.194890, 0.980825
[11:52:56.153] xyz_f:0.389734, -0.464134, 1.133648  Reprojection Error: 0.104407, 0.161684 Feature: 0.398928, -0.220500, 0.890077
[11:52:56.153] xyz_f:0.195824, -0.216635, 1.225043  Reprojection Error: 0.068543, 0.220185 Feature: 0.222462, 0.042220, 0.974027
[11:52:56.153] xyz_f:0.050229, -0.162815, 1.210297  Reprojection Error: 0.034417, 0.225547 Feature: 0.075390, 0.090389, 0.993049
[11:52:56.153] xyz_f:0.186937, -0.227018, 1.221757  Reprojection Error: 0.066044, 0.217912 Feature: 0.213872, 0.031340, 0.976359
[11:52:56.153] xyz_f:0.203969, 0.020914, 1.249425  Reprojection Error: 0.070079, 0.280426 Feature: 0.218270, 0.277985, 0.935459
[11:52:56.153] xyz_f:0.350332, -0.459674, 1.139515  Reprojection Error: 0.092828, 0.166643 Feature: 0.362941, -0.214674, 0.906746
[11:52:56.153] xyz_f:0.169310, -0.249769, 1.214074  Reprojection Error: 0.061123, 0.213251 Feature: 0.196657, 0.007376, 0.980445
[11:52:56.153] xyz_f:0.500846, 0.005012, 1.231106  Reprojection Error: 0.191102, 0.306915 Feature: 0.495830, 0.257884, 0.829246
[11:52:56.153] xyz_f:-0.547214, -0.499979, 0.471873  Reprojection Error: 0.040709, 0.360189 Feature: -0.688546, -0.426404, 0.586587
[11:52:56.153] xyz_f:0.403507, -0.653423, 1.001981  Reprojection Error: 0.108845, 0.100921 Feature: 0.387424, -0.437417, 0.811522
[11:52:56.153] xyz_f:0.360097, -0.471008, 1.132827  Reprojection Error: 0.127709, 0.155635 Feature: 0.371103, -0.227353, 0.900329
[11:52:56.153] xyz_f:0.405692, -0.476913, 1.124835  Reprojection Error: 0.143552, 0.145926 Feature: 0.412440, -0.235125, 0.880119
[11:52:56.153] xyz_f:0.157680, -0.257814, 1.210400  Reprojection Error: 0.085611, 0.207164 Feature: 0.185155, -0.001346, 0.982708
[11:52:56.153] xyz_f:0.195672, -0.231494, 1.221595  Reprojection Error: 0.099308, 0.212851 Feature: 0.222479, 0.026975, 0.974564
[11:52:56.153] xyz_f:0.047602, -0.156156, 1.210742  Reprojection Error: 0.063087, 0.224622 Feature: 0.072491, 0.096937, 0.992647
[11:52:56.153] xyz_f:-0.017402, -0.052747, 1.203274  Reprojection Error: 0.044037, 0.240312 Feature: 0.000100, 0.194890, 0.980825
[11:52:56.153] xyz_f:0.235737, 0.015500, 1.251784  Reprojection Error: 0.113241, 0.281531 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.153] xyz_f:0.500846, 0.005012, 1.231106  Reprojection Error: 0.234348, 0.303683 Feature: 0.495830, 0.257884, 0.829246
[11:52:56.153] xyz_f:0.078262, 0.164636, 1.216602  Reprojection Error: 0.061711, 0.309645 Feature: 0.077276, 0.408315, 0.909564
[11:52:56.153] it:22 	 Success 	 new_chi2: 1.711679 	 dT = -0.023158, 0.015587, 0.026291
[11:52:56.153] xyz_f:0.117433, -0.256819, 1.191101  Reprojection Error: 0.089821, 0.214246 Feature: 0.185155, -0.001346, 0.982708
[11:52:56.153] xyz_f:0.320300, -0.471393, 1.118674  Reprojection Error: 0.125865, 0.168863 Feature: 0.371103, -0.227353, 0.900329
[11:52:56.153] xyz_f:0.008076, -0.154415, 1.188657  Reprojection Error: 0.066233, 0.227562 Feature: 0.072491, 0.096937, 0.992647
[11:52:56.153] xyz_f:0.282567, -0.446791, 1.132454  Reprojection Error: 0.117969, 0.177036 Feature: 0.337962, -0.200023, 0.919659
[11:52:56.153] xyz_f:0.365776, -0.654110, 0.988958  Reprojection Error: 0.107544, 0.122405 Feature: 0.387424, -0.437417, 0.811522
[11:52:56.153] xyz_f:0.366041, -0.477608, 1.111842  Reprojection Error: 0.139398, 0.162414 Feature: 0.412440, -0.235125, 0.880119
[11:52:56.153] xyz_f:0.005502, -0.147728, 1.188989  Reprojection Error: 0.065511, 0.228543 Feature: 0.069591, 0.103482, 0.992194
[11:52:56.153] xyz_f:0.040759, 0.166161, 1.195321  Reprojection Error: 0.050861, 0.309902 Feature: 0.077276, 0.408315, 0.909564
[11:52:56.153] xyz_f:0.379488, -0.453918, 1.122917  Reprojection Error: 0.146949, 0.166265 Feature: 0.426639, -0.209375, 0.879853
[11:52:56.153] xyz_f:0.290210, -0.470071, 1.120359  Reprojection Error: 0.117425, 0.172090 Feature: 0.343233, -0.225640, 0.911744
[11:52:56.153] xyz_f:0.155307, -0.230758, 1.203259  Reprojection Error: 0.099214, 0.219456 Feature: 0.222479, 0.026975, 0.974564
[11:52:56.153] xyz_f:0.334614, -0.461328, 1.123165  Reprojection Error: 0.131413, 0.169442 Feature: 0.385157, -0.216469, 0.897104
[11:52:56.153] xyz_f:-0.570112, -0.494247, 0.434893  Reprojection Error: 0.137108, 0.409557 Feature: -0.688546, -0.426404, 0.586587
[11:52:56.153] xyz_f:0.196271, 0.015961, 1.234478  Reprojection Error: 0.109678, 0.281340 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.153] xyz_f:-0.056013, -0.050566, 1.179549  Reprojection Error: 0.047589, 0.241569 Feature: 0.000100, 0.194890, 0.980825
[11:52:56.153] xyz_f:0.349952, -0.464720, 1.120248  Reprojection Error: 0.135807, 0.167105 Feature: 0.398928, -0.220500, 0.890077
[11:52:56.153] xyz_f:0.155472, -0.215899, 1.206711  Reprojection Error: 0.099554, 0.222262 Feature: 0.222462, 0.042220, 0.974027
[11:52:56.153] xyz_f:0.010668, -0.161092, 1.188277  Reprojection Error: 0.066941, 0.226590 Feature: 0.075390, 0.090389, 0.993049
[11:52:56.153] xyz_f:0.146601, -0.226223, 1.203200  Reprojection Error: 0.097208, 0.220116 Feature: 0.213872, 0.031340, 0.976359
[11:52:56.153] xyz_f:0.164611, 0.021590, 1.231313  Reprojection Error: 0.099642, 0.279630 Feature: 0.218270, 0.277985, 0.935459
[11:52:56.153] xyz_f:0.310445, -0.459991, 1.125113  Reprojection Error: 0.124344, 0.172089 Feature: 0.362941, -0.214674, 0.906746
[11:52:56.153] xyz_f:0.129020, -0.248854, 1.195070  Reprojection Error: 0.092619, 0.215757 Feature: 0.196657, 0.007376, 0.980445
[11:52:56.153] xyz_f:0.461743, 0.003667, 1.220537  Reprojection Error: 0.219617, 0.307981 Feature: 0.495830, 0.257884, 0.829246
[11:52:56.153] xyz_f:-0.570112, -0.494247, 0.434893  Reprojection Error: 0.191972, 0.437107 Feature: -0.688546, -0.426404, 0.586587
[11:52:56.153] xyz_f:0.365776, -0.654110, 0.988958  Reprojection Error: 0.141695, 0.110204 Feature: 0.387424, -0.437417, 0.811522
[11:52:56.153] xyz_f:0.320300, -0.471393, 1.118674  Reprojection Error: 0.159263, 0.161238 Feature: 0.371103, -0.227353, 0.900329
[11:52:56.153] xyz_f:0.366041, -0.477608, 1.111842  Reprojection Error: 0.174999, 0.151506 Feature: 0.412440, -0.235125, 0.880119
[11:52:56.153] xyz_f:0.117433, -0.256819, 1.191101  Reprojection Error: 0.117290, 0.209780 Feature: 0.185155, -0.001346, 0.982708
[11:52:56.153] xyz_f:0.155307, -0.230758, 1.203259  Reprojection Error: 0.130413, 0.215126 Feature: 0.222479, 0.026975, 0.974564
[11:52:56.153] xyz_f:0.008076, -0.154415, 1.188657  Reprojection Error: 0.095610, 0.225554 Feature: 0.072491, 0.096937, 0.992647
[11:52:56.153] xyz_f:-0.056013, -0.050566, 1.179549  Reprojection Error: 0.077061, 0.239346 Feature: 0.000100, 0.194890, 0.980825
[11:52:56.153] xyz_f:0.196271, 0.015961, 1.234478  Reprojection Error: 0.142570, 0.280984 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.153] xyz_f:0.461743, 0.003667, 1.220537  Reprojection Error: 0.262863, 0.304749 Feature: 0.495830, 0.257884, 0.829246
[11:52:56.153] xyz_f:0.040759, 0.166161, 1.195321  Reprojection Error: 0.091941, 0.305960 Feature: 0.077276, 0.408315, 0.909564
[11:52:56.153] it:23 	 Success 	 new_chi2: 1.929320 	 dT = -0.021916, 0.017039, 0.029255
[11:52:56.153] xyz_f:0.071794, -0.255505, 1.169158  Reprojection Error: 0.127007, 0.217169 Feature: 0.185155, -0.001346, 0.982708
[11:52:56.153] xyz_f:0.274996, -0.471616, 1.102469  Reprojection Error: 0.162750, 0.175260 Feature: 0.371103, -0.227353, 0.900329
[11:52:56.153] xyz_f:-0.036672, -0.152276, 1.163635  Reprojection Error: 0.104543, 0.228517 Feature: 0.072491, 0.096937, 0.992647
[11:52:56.153] xyz_f:0.237076, -0.446728, 1.115179  Reprojection Error: 0.154897, 0.183091 Feature: 0.337962, -0.200023, 0.919659
[11:52:56.153] xyz_f:0.322734, -0.654686, 0.974069  Reprojection Error: 0.146079, 0.133106 Feature: 0.387424, -0.437417, 0.811522
[11:52:56.153] xyz_f:0.320864, -0.478178, 1.096931  Reprojection Error: 0.176108, 0.168773 Feature: 0.412440, -0.235125, 0.880119
[11:52:56.153] xyz_f:-0.039204, -0.145569, 1.163895  Reprojection Error: 0.103821, 0.229367 Feature: 0.069591, 0.103482, 0.992194
[11:52:56.153] xyz_f:-0.001765, 0.168044, 1.171254  Reprojection Error: 0.086466, 0.305438 Feature: 0.077276, 0.408315, 0.909564
[11:52:56.153] xyz_f:0.334171, -0.454589, 1.108383  Reprojection Error: 0.183403, 0.172171 Feature: 0.426639, -0.209375, 0.879853
[11:52:56.153] xyz_f:0.244881, -0.470066, 1.103302  Reprojection Error: 0.154505, 0.178572 Feature: 0.343233, -0.225640, 0.911744
[11:52:56.153] xyz_f:0.109505, -0.229730, 1.182384  Reprojection Error: 0.135672, 0.221973 Feature: 0.222479, 0.026975, 0.974564
[11:52:56.153] xyz_f:0.289254, -0.461659, 1.107363  Reprojection Error: 0.168125, 0.175602 Feature: 0.385157, -0.216469, 0.897104
[11:52:56.153] xyz_f:-0.595888, -0.487802, 0.393799  Reprojection Error: 0.339359, 0.511782 Feature: -0.688546, -0.426404, 0.586587
[11:52:56.153] xyz_f:0.151438, 0.016675, 1.214773  Reprojection Error: 0.144005, 0.280543 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.153] xyz_f:-0.099690, -0.047946, 1.152732  Reprojection Error: 0.086584, 0.240293 Feature: 0.000100, 0.194890, 0.980825
[11:52:56.153] xyz_f:0.304641, -0.465168, 1.104880  Reprojection Error: 0.172471, 0.173280 Feature: 0.398928, -0.220500, 0.890077
[11:52:56.153] xyz_f:0.109686, -0.214873, 1.185841  Reprojection Error: 0.135898, 0.224545 Feature: 0.222462, 0.042220, 0.974027
[11:52:56.153] xyz_f:-0.034121, -0.158972, 1.163329  Reprojection Error: 0.105249, 0.227675 Feature: 0.075390, 0.090389, 0.993049
[11:52:56.153] xyz_f:0.100839, -0.225129, 1.182079  Reprojection Error: 0.133744, 0.222551 Feature: 0.213872, 0.031340, 0.976359
[11:52:56.153] xyz_f:0.119923, 0.022543, 1.210716  Reprojection Error: 0.134278, 0.278544 Feature: 0.218270, 0.277985, 0.935459
[11:52:56.153] xyz_f:0.265050, -0.460140, 1.108627  Reprojection Error: 0.161189, 0.178302 Feature: 0.362941, -0.214674, 0.906746
[11:52:56.153] xyz_f:0.083324, -0.247627, 1.173453  Reprojection Error: 0.129571, 0.218547 Feature: 0.196657, 0.007376, 0.980445
[11:52:56.153] xyz_f:0.417097, 0.002370, 1.208337  Reprojection Error: 0.252746, 0.309024 Feature: 0.495830, 0.257884, 0.829246
[11:52:56.154] xyz_f:-0.595888, -0.487802, 0.393799  Reprojection Error: 0.394224, 0.539333 Feature: -0.688546, -0.426404, 0.586587
[11:52:56.154] xyz_f:0.322734, -0.654686, 0.974069  Reprojection Error: 0.180229, 0.120905 Feature: 0.387424, -0.437417, 0.811522
[11:52:56.154] xyz_f:0.274996, -0.471616, 1.102469  Reprojection Error: 0.196148, 0.167635 Feature: 0.371103, -0.227353, 0.900329
[11:52:56.154] xyz_f:0.320864, -0.478178, 1.096931  Reprojection Error: 0.211709, 0.157865 Feature: 0.412440, -0.235125, 0.880119
[11:52:56.154] xyz_f:0.071794, -0.255505, 1.169158  Reprojection Error: 0.154476, 0.212703 Feature: 0.185155, -0.001346, 0.982708
[11:52:56.154] xyz_f:0.109505, -0.229730, 1.182384  Reprojection Error: 0.166871, 0.217643 Feature: 0.222479, 0.026975, 0.974564
[11:52:56.154] xyz_f:-0.036672, -0.152276, 1.163635  Reprojection Error: 0.133919, 0.226509 Feature: 0.072491, 0.096937, 0.992647
[11:52:56.154] xyz_f:-0.099690, -0.047946, 1.152732  Reprojection Error: 0.116056, 0.238070 Feature: 0.000100, 0.194890, 0.980825
[11:52:56.154] xyz_f:0.151438, 0.016675, 1.214773  Reprojection Error: 0.176898, 0.280186 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.154] xyz_f:0.417097, 0.002370, 1.208337  Reprojection Error: 0.295992, 0.305792 Feature: 0.495830, 0.257884, 0.829246
[11:52:56.154] xyz_f:-0.001765, 0.168044, 1.171254  Reprojection Error: 0.127546, 0.301496 Feature: 0.077276, 0.408315, 0.909564
[11:52:56.154] it:24 	 Success 	 new_chi2: 2.135122 	 dT = -0.018829, 0.019302, 0.031283
[11:52:56.154] xyz_f:0.021039, -0.253859, 1.143713  Reprojection Error: 0.170018, 0.220592 Feature: 0.185155, -0.001346, 0.982708
[11:52:56.154] xyz_f:0.224407, -0.471616, 1.083167  Reprojection Error: 0.205009, 0.182883 Feature: 0.371103, -0.227353, 0.900329
[11:52:56.154] xyz_f:-0.086371, -0.149756, 1.134928  Reprojection Error: 0.149130, 0.229607 Feature: 0.072491, 0.096937, 0.992647
[11:52:56.154] xyz_f:0.186324, -0.446421, 1.094728  Reprojection Error: 0.197286, 0.190294 Feature: 0.337962, -0.200023, 0.919659
[11:52:56.154] xyz_f:0.274519, -0.655082, 0.956245  Reprojection Error: 0.190324, 0.146048 Feature: 0.387424, -0.437417, 0.811522
[11:52:56.154] xyz_f:0.270367, -0.478550, 1.079016  Reprojection Error: 0.218051, 0.176355 Feature: 0.412440, -0.235125, 0.880119
[11:52:56.154] xyz_f:-0.088855, -0.143029, 1.135112  Reprojection Error: 0.148417, 0.230301 Feature: 0.069591, 0.103482, 0.992194
[11:52:56.154] xyz_f:-0.049118, 0.170272, 1.143638  Reprojection Error: 0.127908, 0.300026 Feature: 0.077276, 0.408315, 0.909564
[11:52:56.154] xyz_f:0.283513, -0.455068, 1.090869  Reprojection Error: 0.225001, 0.179195 Feature: 0.426639, -0.209375, 0.879853
[11:52:56.154] xyz_f:0.194295, -0.469822, 1.083090  Reprojection Error: 0.197068, 0.186298 Feature: 0.343233, -0.225640, 0.911744
[11:52:56.154] xyz_f:0.058541, -0.228388, 1.158075  Reprojection Error: 0.177735, 0.224893 Feature: 0.222479, 0.026975, 0.974564
[11:52:56.154] xyz_f:0.238591, -0.461775, 1.088491  Reprojection Error: 0.210140, 0.182936 Feature: 0.385157, -0.216469, 0.897104
[11:52:56.154] xyz_f:-0.624771, -0.480838, 0.348508  Reprojection Error: 0.618886, 0.652781 Feature: -0.688546, -0.426404, 0.586587
[11:52:56.154] xyz_f:0.101470, 0.017673, 1.191747  Reprojection Error: 0.183525, 0.279440 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.154] xyz_f:-0.148184, -0.044921, 1.122138  Reprojection Error: 0.132157, 0.238731 Feature: 0.000100, 0.194890, 0.980825
[11:52:56.154] xyz_f:0.254018, -0.465408, 1.086473  Reprojection Error: 0.214394, 0.180634 Feature: 0.398928, -0.220500, 0.890077
[11:52:56.154] xyz_f:0.058738, -0.213533, 1.161538  Reprojection Error: 0.177825, 0.227182 Feature: 0.222462, 0.042220, 0.974027
[11:52:56.154] xyz_f:-0.083866, -0.156473, 1.134698  Reprojection Error: 0.149829, 0.228920 Feature: 0.075390, 0.090389, 0.993049
[11:52:56.154] xyz_f:0.049926, -0.223717, 1.157509  Reprojection Error: 0.175918, 0.225374 Feature: 0.213872, 0.031340, 0.976359
[11:52:56.154] xyz_f:0.070141, 0.023796, 1.186740  Reprojection Error: 0.174225, 0.277113 Feature: 0.218270, 0.277985, 0.935459
[11:52:56.154] xyz_f:0.214373, -0.460059, 1.089023  Reprojection Error: 0.203419, 0.185699 Feature: 0.362941, -0.214674, 0.906746
[11:52:56.154] xyz_f:0.032498, -0.246074, 1.148355  Reprojection Error: 0.172279, 0.221807 Feature: 0.196657, 0.007376, 0.980445
[11:52:56.154] xyz_f:0.367077, 0.001217, 1.193338  Reprojection Error: 0.290323, 0.309966 Feature: 0.495830, 0.257884, 0.829246
[11:52:56.154] xyz_f:-0.624771, -0.480838, 0.348508  Reprojection Error: 0.673750, 0.680331 Feature: -0.688546, -0.426404, 0.586587
[11:52:56.154] xyz_f:0.274519, -0.655082, 0.956245  Reprojection Error: 0.224474, 0.133847 Feature: 0.387424, -0.437417, 0.811522
[11:52:56.154] xyz_f:0.224407, -0.471616, 1.083167  Reprojection Error: 0.238407, 0.175258 Feature: 0.371103, -0.227353, 0.900329
[11:52:56.154] xyz_f:0.270367, -0.478550, 1.079016  Reprojection Error: 0.253652, 0.165447 Feature: 0.412440, -0.235125, 0.880119
[11:52:56.154] xyz_f:0.021039, -0.253859, 1.143713  Reprojection Error: 0.197486, 0.216126 Feature: 0.185155, -0.001346, 0.982708
[11:52:56.154] xyz_f:0.058541, -0.228388, 1.158075  Reprojection Error: 0.208934, 0.220563 Feature: 0.222479, 0.026975, 0.974564
[11:52:56.154] xyz_f:-0.086371, -0.149756, 1.134928  Reprojection Error: 0.178506, 0.227599 Feature: 0.072491, 0.096937, 0.992647
[11:52:56.154] xyz_f:-0.148184, -0.044921, 1.122138  Reprojection Error: 0.161629, 0.236508 Feature: 0.000100, 0.194890, 0.980825
[11:52:56.154] xyz_f:0.101470, 0.017673, 1.191747  Reprojection Error: 0.216417, 0.279084 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.154] xyz_f:0.367077, 0.001217, 1.193338  Reprojection Error: 0.333569, 0.306734 Feature: 0.495830, 0.257884, 0.829246
[11:52:56.154] xyz_f:-0.049118, 0.170272, 1.143638  Reprojection Error: 0.168988, 0.296083 Feature: 0.077276, 0.408315, 0.909564
[11:52:56.154] it:25 	 Success 	 new_chi2: 2.249325 	 dT = 0.009154, 0.036443, 0.014073
[11:52:56.154] xyz_f:-0.039956, -0.253038, 1.104205  Reprojection Error: 0.224598, 0.227790 Feature: 0.185155, -0.001346, 0.982708
[11:52:56.154] xyz_f:0.163422, -0.471536, 1.046423  Reprojection Error: 0.256014, 0.198095 Feature: 0.371103, -0.227353, 0.900329
[11:52:56.154] xyz_f:-0.146857, -0.148545, 1.093964  Reprojection Error: 0.207270, 0.233441 Feature: 0.072491, 0.096937, 0.992647
[11:52:56.154] xyz_f:0.125277, -0.446201, 1.057467  Reprojection Error: 0.249018, 0.204455 Feature: 0.337962, -0.200023, 0.919659
[11:52:56.154] xyz_f:0.214586, -0.655186, 0.920190  Reprojection Error: 0.244207, 0.173004 Feature: 0.387424, -0.437417, 0.811522
[11:52:56.154] xyz_f:0.209408, -0.478637, 1.042898  Reprojection Error: 0.267824, 0.191798 Feature: 0.412440, -0.235125, 0.880119
[11:52:56.154] xyz_f:-0.149319, -0.141809, 1.094114  Reprojection Error: 0.206613, 0.233907 Feature: 0.069591, 0.103482, 0.992194
[11:52:56.154] xyz_f:-0.108560, 0.171346, 1.103187  Reprojection Error: 0.183365, 0.293593 Feature: 0.077276, 0.408315, 0.909564
[11:52:56.154] xyz_f:0.222477, -0.455203, 1.054928  Reprojection Error: 0.274004, 0.193535 Feature: 0.426639, -0.209375, 0.879853
[11:52:56.154] xyz_f:0.133320, -0.469632, 1.045938  Reprojection Error: 0.248993, 0.201524 Feature: 0.343233, -0.225640, 0.911744
[11:52:56.154] xyz_f:-0.002560, -0.227703, 1.119076  Reprojection Error: 0.230574, 0.231153 Feature: 0.222479, 0.026975, 0.974564
[11:52:56.154] xyz_f:0.177568, -0.461746, 1.051940  Reprojection Error: 0.260534, 0.197650 Feature: 0.385157, -0.216469, 0.897104
[11:52:56.154] xyz_f:-0.675720, -0.477683, 0.300289  Reprojection Error: 1.076412, 0.863817 Feature: -0.688546, -0.426404, 0.586587
[11:52:56.154] xyz_f:0.040803, 0.018200, 1.153335  Reprojection Error: 0.233291, 0.278489 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.154] xyz_f:-0.208108, -0.043485, 1.080338  Reprojection Error: 0.192735, 0.238951 Feature: 0.000100, 0.194890, 0.980825
[11:52:56.154] xyz_f:0.193007, -0.465435, 1.050132  Reprojection Error: 0.264402, 0.195484 Feature: 0.398928, -0.220500, 0.890077
[11:52:56.154] xyz_f:-0.002357, -0.212849, 1.122541  Reprojection Error: 0.230493, 0.232959 Feature: 0.222462, 0.042220, 0.974027
[11:52:56.154] xyz_f:-0.144374, -0.155270, 1.093767  Reprojection Error: 0.207915, 0.232981 Feature: 0.075390, 0.090389, 0.993049
[11:52:56.154] xyz_f:-0.011150, -0.223001, 1.118393  Reprojection Error: 0.229020, 0.231493 Feature: 0.213872, 0.031340, 0.976359
[11:52:56.154] xyz_f:0.009567, 0.024437, 1.147902  Reprojection Error: 0.224995, 0.275876 Feature: 0.218270, 0.277985, 0.935459
[11:52:56.154] xyz_f:0.153351, -0.459942, 1.052143  Reprojection Error: 0.254517, 0.200396 Feature: 0.362941, -0.214674, 0.906746
[11:52:56.154] xyz_f:-0.028533, -0.245295, 1.109003  Reprojection Error: 0.226307, 0.228708 Feature: 0.196657, 0.007376, 0.980445
[11:52:56.154] xyz_f:0.306302, 0.000778, 1.158536  Reprojection Error: 0.333541, 0.310314 Feature: 0.495830, 0.257884, 0.829246
[11:52:56.154] xyz_f:-0.675720, -0.477683, 0.300289  Reprojection Error: 1.131276, 0.891368 Feature: -0.688546, -0.426404, 0.586587
[11:52:56.154] xyz_f:0.214586, -0.655186, 0.920190  Reprojection Error: 0.278357, 0.160802 Feature: 0.387424, -0.437417, 0.811522
[11:52:56.154] xyz_f:0.163422, -0.471536, 1.046423  Reprojection Error: 0.289412, 0.190470 Feature: 0.371103, -0.227353, 0.900329
[11:52:56.154] xyz_f:0.209408, -0.478637, 1.042898  Reprojection Error: 0.303425, 0.180890 Feature: 0.412440, -0.235125, 0.880119
[11:52:56.154] xyz_f:-0.039956, -0.253038, 1.104205  Reprojection Error: 0.252067, 0.223324 Feature: 0.185155, -0.001346, 0.982708
[11:52:56.154] xyz_f:-0.002560, -0.227703, 1.119076  Reprojection Error: 0.261773, 0.226824 Feature: 0.222479, 0.026975, 0.974564
[11:52:56.154] xyz_f:-0.146857, -0.148545, 1.093964  Reprojection Error: 0.236647, 0.231433 Feature: 0.072491, 0.096937, 0.992647
[11:52:56.154] xyz_f:-0.208108, -0.043485, 1.080338  Reprojection Error: 0.222207, 0.236728 Feature: 0.000100, 0.194890, 0.980825
[11:52:56.154] xyz_f:0.040803, 0.018200, 1.153335  Reprojection Error: 0.266183, 0.278132 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.154] xyz_f:0.306302, 0.000778, 1.158536  Reprojection Error: 0.376787, 0.307082 Feature: 0.495830, 0.257884, 0.829246
[11:52:56.154] xyz_f:-0.108560, 0.171346, 1.103187  Reprojection Error: 0.224445, 0.289650 Feature: 0.077276, 0.408315, 0.909564
[11:52:56.154] it:26 	 Success 	 new_chi2: 2.702289 	 dT = 0.022710, 0.035112, 0.005044
[11:52:56.154] xyz_f:-0.094859, -0.252732, 1.067949  Reprojection Error: 0.277237, 0.235282 Feature: 0.185155, -0.001346, 0.982708
[11:52:56.154] xyz_f:0.108512, -0.471495, 1.011159  Reprojection Error: 0.304872, 0.213770 Feature: 0.371103, -0.227353, 0.900329
[11:52:56.154] xyz_f:-0.201572, -0.148099, 1.057188  Reprojection Error: 0.263696, 0.237742 Feature: 0.072491, 0.096937, 0.992647
[11:52:56.154] xyz_f:0.070347, -0.446111, 1.022017  Reprojection Error: 0.298656, 0.219003 Feature: 0.337962, -0.200023, 0.919659
[11:52:56.154] xyz_f:0.160051, -0.655213, 0.885176  Reprojection Error: 0.296592, 0.201198 Feature: 0.387424, -0.437417, 0.811522
[11:52:56.154] xyz_f:0.154506, -0.478656, 1.007857  Reprojection Error: 0.315318, 0.207773 Feature: 0.412440, -0.235125, 0.880119
[11:52:56.154] xyz_f:-0.204026, -0.141360, 1.057326  Reprojection Error: 0.263102, 0.237992 Feature: 0.069591, 0.103482, 0.992194
[11:52:56.154] xyz_f:-0.162904, 0.171742, 1.066598  Reprojection Error: 0.237691, 0.287894 Feature: 0.077276, 0.408315, 0.909564
[11:52:56.154] xyz_f:0.167546, -0.455239, 1.019951  Reprojection Error: 0.320628, 0.208368 Feature: 0.426639, -0.209375, 0.879853
[11:52:56.154] xyz_f:0.078416, -0.469552, 1.010527  Reprojection Error: 0.298859, 0.217179 Feature: 0.343233, -0.225640, 0.911744
[11:52:56.154] xyz_f:-0.057503, -0.227446, 1.083003  Reprojection Error: 0.281382, 0.237693 Feature: 0.222479, 0.026975, 0.974564
[11:52:56.154] xyz_f:0.122644, -0.461723, 1.016744  Reprojection Error: 0.308710, 0.212822 Feature: 0.385157, -0.216469, 0.897104
[11:52:56.154] xyz_f:-0.726992, -0.476549, 0.260945  Reprojection Error: 1.612178, 1.099318 Feature: -0.688546, -0.426404, 0.586587
[11:52:56.154] xyz_f:-0.013987, 0.018401, 1.117473  Reprojection Error: 0.281185, 0.277803 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.154] xyz_f:-0.262619, -0.042960, 1.043264  Reprojection Error: 0.251831, 0.239878 Feature: 0.000100, 0.194890, 0.980825
[11:52:56.154] xyz_f:0.138087, -0.465433, 1.015012  Reprojection Error: 0.312150, 0.210817 Feature: 0.398928, -0.220500, 0.890077
[11:52:56.154] xyz_f:-0.057297, -0.212591, 1.086469  Reprojection Error: 0.281131, 0.239018 Feature: 0.222462, 0.042220, 0.974027
[11:52:56.154] xyz_f:-0.199097, -0.154828, 1.057004  Reprojection Error: 0.264278, 0.237500 Feature: 0.075390, 0.090389, 0.993049
[11:52:56.154] xyz_f:-0.066084, -0.222732, 1.082278  Reprojection Error: 0.280110, 0.237899 Feature: 0.213872, 0.031340, 0.976359
[11:52:56.154] xyz_f:-0.045188, 0.024679, 1.111888  Reprojection Error: 0.273970, 0.274969 Feature: 0.218270, 0.277985, 0.935459
[11:52:56.154] xyz_f:0.098428, -0.459888, 1.016830  Reprojection Error: 0.303468, 0.215524 Feature: 0.362941, -0.214674, 0.906746
[11:52:56.154] xyz_f:-0.083450, -0.245003, 1.072803  Reprojection Error: 0.278366, 0.235900 Feature: 0.196657, 0.007376, 0.980445
[11:52:56.154] xyz_f:0.251461, 0.000632, 1.123967  Reprojection Error: 0.374202, 0.310423 Feature: 0.495830, 0.257884, 0.829246
[11:52:56.154] xyz_f:-0.726992, -0.476549, 0.260945  Reprojection Error: 1.667043, 1.126868 Feature: -0.688546, -0.426404, 0.586587
[11:52:56.154] xyz_f:0.160051, -0.655213, 0.885176  Reprojection Error: 0.330742, 0.188996 Feature: 0.387424, -0.437417, 0.811522
[11:52:56.154] xyz_f:0.108512, -0.471495, 1.011159  Reprojection Error: 0.338269, 0.206145 Feature: 0.371103, -0.227353, 0.900329
[11:52:56.154] xyz_f:0.154506, -0.478656, 1.007857  Reprojection Error: 0.350919, 0.196866 Feature: 0.412440, -0.235125, 0.880119
[11:52:56.154] xyz_f:-0.094859, -0.252732, 1.067949  Reprojection Error: 0.304706, 0.230817 Feature: 0.185155, -0.001346, 0.982708
[11:52:56.154] xyz_f:-0.057503, -0.227446, 1.083003  Reprojection Error: 0.312581, 0.233363 Feature: 0.222479, 0.026975, 0.974564
[11:52:56.154] xyz_f:-0.201572, -0.148099, 1.057188  Reprojection Error: 0.293072, 0.235734 Feature: 0.072491, 0.096937, 0.992647
[11:52:56.154] xyz_f:-0.262619, -0.042960, 1.043264  Reprojection Error: 0.281303, 0.237654 Feature: 0.000100, 0.194890, 0.980825
[11:52:56.154] xyz_f:-0.013987, 0.018401, 1.117473  Reprojection Error: 0.314078, 0.277446 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.154] xyz_f:0.251461, 0.000632, 1.123967  Reprojection Error: 0.417448, 0.307191 Feature: 0.495830, 0.257884, 0.829246
[11:52:56.154] xyz_f:-0.162904, 0.171742, 1.066598  Reprojection Error: 0.278771, 0.283951 Feature: 0.077276, 0.408315, 0.909564
[11:52:56.154] it:27 	 Success 	 new_chi2: 3.132471 	 dT = 0.034151, 0.035468, -0.003126
[11:52:56.154] xyz_f:-0.138374, -0.252922, 1.033192  Reprojection Error: 0.322342, 0.243428 Feature: 0.185155, -0.001346, 0.982708
[11:52:56.154] xyz_f:0.065002, -0.471521, 0.975788  Reprojection Error: 0.345572, 0.230699 Feature: 0.371103, -0.227353, 0.900329
[11:52:56.154] xyz_f:-0.245204, -0.148376, 1.022753  Reprojection Error: 0.312776, 0.242730 Feature: 0.072491, 0.096937, 0.992647
[11:52:56.154] xyz_f:0.026849, -0.446168, 0.986761  Reprojection Error: 0.340278, 0.234656 Feature: 0.337962, -0.200023, 0.919659
[11:52:56.154] xyz_f:0.116309, -0.655197, 0.849650  Reprojection Error: 0.340514, 0.232129 Feature: 0.387424, -0.437417, 0.811522
[11:52:56.154] xyz_f:0.110991, -0.478645, 0.972348  Reprojection Error: 0.354471, 0.225106 Feature: 0.412440, -0.235125, 0.880119
[11:52:56.154] xyz_f:-0.247663, -0.141639, 1.022899  Reprojection Error: 0.312256, 0.242764 Feature: 0.069591, 0.103482, 0.992194
[11:52:56.154] xyz_f:-0.206765, 0.171496, 1.032048  Reprojection Error: 0.285304, 0.282742 Feature: 0.077276, 0.408315, 0.909564
[11:52:56.154] xyz_f:0.124049, -0.455217, 0.984402  Reprojection Error: 0.358883, 0.224464 Feature: 0.426639, -0.209375, 0.879853
[11:52:56.154] xyz_f:0.034902, -0.469603, 0.975247  Reprojection Error: 0.340670, 0.234040 Feature: 0.343233, -0.225640, 0.911744
[11:52:56.154] xyz_f:-0.100993, -0.227606, 1.048133  Reprojection Error: 0.324641, 0.244833 Feature: 0.222479, 0.026975, 0.974564
[11:52:56.154] xyz_f:0.079142, -0.461738, 0.981331  Reprojection Error: 0.348686, 0.229225 Feature: 0.385157, -0.216469, 0.897104
[11:52:56.154] xyz_f:-0.772759, -0.477252, 0.228100  Reprojection Error: 2.213988, 1.365367 Feature: -0.688546, -0.426404, 0.586587
[11:52:56.154] xyz_f:-0.057572, 0.018276, 1.082472  Reprojection Error: 0.321854, 0.277386 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.154] xyz_f:-0.306377, -0.043286, 1.009014  Reprojection Error: 0.303743, 0.241599 Feature: 0.000100, 0.194890, 0.980825
[11:52:56.154] xyz_f:0.094583, -0.465435, 0.979552  Reprojection Error: 0.351637, 0.227419 Feature: 0.398928, -0.220500, 0.890077
[11:52:56.154] xyz_f:-0.100789, -0.212752, 1.051599  Reprojection Error: 0.324237, 0.245659 Feature: 0.222462, 0.042220, 0.974027
[11:52:56.154] xyz_f:-0.242724, -0.155103, 1.022562  Reprojection Error: 0.313287, 0.242703 Feature: 0.075390, 0.090389, 0.993049
[11:52:56.154] xyz_f:-0.109580, -0.222900, 1.047434  Reprojection Error: 0.323668, 0.244904 Feature: 0.213872, 0.031340, 0.976359
[11:52:56.154] xyz_f:-0.088794, 0.024528, 1.076982  Reprojection Error: 0.315777, 0.274389 Feature: 0.218270, 0.277985, 0.935459
[11:52:56.154] xyz_f:0.054926, -0.459922, 0.981489  Reprojection Error: 0.344306, 0.231844 Feature: 0.362941, -0.214674, 0.906746
[11:52:56.154] xyz_f:-0.126956, -0.245185, 1.038012  Reprojection Error: 0.322886, 0.243729 Feature: 0.196657, 0.007376, 0.980445
[11:52:56.154] xyz_f:0.207909, 0.000722, 1.088165  Reprojection Error: 0.406865, 0.310323 Feature: 0.495830, 0.257884, 0.829246
[11:52:56.154] xyz_f:-0.772759, -0.477252, 0.228100  Reprojection Error: 2.268853, 1.392917 Feature: -0.688546, -0.426404, 0.586587
[11:52:56.154] xyz_f:0.116309, -0.655197, 0.849650  Reprojection Error: 0.374664, 0.219928 Feature: 0.387424, -0.437417, 0.811522
[11:52:56.154] xyz_f:0.065002, -0.471521, 0.975788  Reprojection Error: 0.378969, 0.223074 Feature: 0.371103, -0.227353, 0.900329
[11:52:56.154] xyz_f:0.110991, -0.478645, 0.972348  Reprojection Error: 0.390072, 0.214198 Feature: 0.412440, -0.235125, 0.880119
[11:52:56.154] xyz_f:-0.138374, -0.252922, 1.033192  Reprojection Error: 0.349811, 0.238962 Feature: 0.185155, -0.001346, 0.982708
[11:52:56.154] xyz_f:-0.100993, -0.227606, 1.048133  Reprojection Error: 0.355840, 0.240503 Feature: 0.222479, 0.026975, 0.974564
[11:52:56.154] xyz_f:-0.245204, -0.148376, 1.022753  Reprojection Error: 0.342153, 0.240722 Feature: 0.072491, 0.096937, 0.992647
[11:52:56.154] xyz_f:-0.306377, -0.043286, 1.009014  Reprojection Error: 0.333215, 0.239376 Feature: 0.000100, 0.194890, 0.980825
[11:52:56.154] xyz_f:-0.057572, 0.018276, 1.082472  Reprojection Error: 0.354747, 0.277029 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.155] xyz_f:0.207909, 0.000722, 1.088165  Reprojection Error: 0.450111, 0.307091 Feature: 0.495830, 0.257884, 0.829246
[11:52:56.155] xyz_f:-0.206765, 0.171496, 1.032048  Reprojection Error: 0.326384, 0.278799 Feature: 0.077276, 0.408315, 0.909564
[11:52:56.155] it:28 	 Success 	 new_chi2: 3.459162 	 dT = 0.041035, 0.036680, -0.008278
[11:52:56.155] xyz_f:-0.172671, -0.253415, 0.998353  Reprojection Error: 0.361369, 0.252464 Feature: 0.185155, -0.001346, 0.982708
[11:52:56.155] xyz_f:0.030707, -0.471578, 0.939322  Reprojection Error: 0.379496, 0.249519 Feature: 0.371103, -0.227353, 0.900329
[11:52:56.155] xyz_f:-0.279805, -0.149098, 0.988770  Reprojection Error: 0.356010, 0.248446 Feature: 0.072491, 0.096937, 0.992647
[11:52:56.155] xyz_f:-0.007411, -0.446307, 0.950600  Reprojection Error: 0.375283, 0.252002 Feature: 0.337962, -0.200023, 0.919659
[11:52:56.155] xyz_f:0.081397, -0.655145, 0.812777  Reprojection Error: 0.377257, 0.267050 Feature: 0.387424, -0.437417, 0.811522
[11:52:56.155] xyz_f:0.076682, -0.478604, 0.935514  Reprojection Error: 0.386651, 0.244443 Feature: 0.412440, -0.235125, 0.880119
[11:52:56.155] xyz_f:-0.282277, -0.142366, 0.988935  Reprojection Error: 0.355573, 0.248255 Feature: 0.069591, 0.103482, 0.992194
[11:52:56.155] xyz_f:-0.241979, 0.170855, 0.997759  Reprojection Error: 0.327482, 0.277673 Feature: 0.077276, 0.408315, 0.909564
[11:52:56.155] xyz_f:0.089786, -0.455148, 0.947465  Reprojection Error: 0.390132, 0.242419 Feature: 0.426639, -0.209375, 0.879853
[11:52:56.155] xyz_f:0.000600, -0.469724, 0.939022  Reprojection Error: 0.375819, 0.252746 Feature: 0.343233, -0.225640, 0.911744
[11:52:56.155] xyz_f:-0.135226, -0.228019, 1.012995  Reprojection Error: 0.361778, 0.252773 Feature: 0.222479, 0.026975, 0.974564
[11:52:56.155] xyz_f:0.044870, -0.461765, 0.944752  Reprojection Error: 0.381840, 0.247471 Feature: 0.385157, -0.216469, 0.897104
[11:52:56.155] xyz_f:-0.812991, -0.479110, 0.198357  Reprojection Error: 2.924808, 1.688470 Feature: -0.688546, -0.426404, 0.586587
[11:52:56.155] xyz_f:-0.092059, 0.017956, 1.046987  Reprojection Error: 0.356596, 0.277119 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.155] xyz_f:-0.341311, -0.044140, 0.975520  Reprojection Error: 0.349979, 0.243947 Feature: 0.000100, 0.194890, 0.980825
[11:52:56.155] xyz_f:0.060304, -0.465429, 0.942850  Reprojection Error: 0.384235, 0.245909 Feature: 0.398928, -0.220500, 0.890077
[11:52:56.155] xyz_f:-0.135026, -0.213164, 1.016459  Reprojection Error: 0.361234, 0.253059 Feature: 0.222462, 0.042220, 0.974027
[11:52:56.155] xyz_f:-0.277312, -0.155820, 0.988558  Reprojection Error: 0.356440, 0.248645 Feature: 0.075390, 0.090389, 0.993049
[11:52:56.155] xyz_f:-0.143828, -0.223331, 1.012365  Reprojection Error: 0.361122, 0.252702 Feature: 0.213872, 0.031340, 0.976359
[11:52:56.155] xyz_f:-0.123338, 0.024141, 1.041747  Reprojection Error: 0.351724, 0.273990 Feature: 0.218270, 0.277985, 0.935459
[11:52:56.155] xyz_f:0.020652, -0.460001, 0.945104  Reprojection Error: 0.378416, 0.249968 Feature: 0.362941, -0.214674, 0.906746
[11:52:56.155] xyz_f:-0.161232, -0.245653, 1.003081  Reprojection Error: 0.361315, 0.252422 Feature: 0.196657, 0.007376, 0.980445
[11:52:56.155] xyz_f:0.173496, 0.000970, 1.050557  Reprojection Error: 0.432782, 0.310062 Feature: 0.495830, 0.257884, 0.829246
[11:52:56.155] xyz_f:-0.812991, -0.479110, 0.198357  Reprojection Error: 2.979673, 1.716020 Feature: -0.688546, -0.426404, 0.586587
[11:52:56.155] xyz_f:0.081397, -0.655145, 0.812777  Reprojection Error: 0.411408, 0.254848 Feature: 0.387424, -0.437417, 0.811522
[11:52:56.155] xyz_f:0.030707, -0.471578, 0.939322  Reprojection Error: 0.412893, 0.241894 Feature: 0.371103, -0.227353, 0.900329
[11:52:56.155] xyz_f:0.076682, -0.478604, 0.935514  Reprojection Error: 0.422252, 0.233536 Feature: 0.412440, -0.235125, 0.880119
[11:52:56.155] xyz_f:-0.172671, -0.253415, 0.998353  Reprojection Error: 0.388838, 0.247999 Feature: 0.185155, -0.001346, 0.982708
[11:52:56.155] xyz_f:-0.135226, -0.228019, 1.012995  Reprojection Error: 0.392977, 0.248443 Feature: 0.222479, 0.026975, 0.974564
[11:52:56.155] xyz_f:-0.279805, -0.149098, 0.988770  Reprojection Error: 0.385387, 0.246439 Feature: 0.072491, 0.096937, 0.992647
[11:52:56.155] xyz_f:-0.341311, -0.044140, 0.975520  Reprojection Error: 0.379451, 0.241724 Feature: 0.000100, 0.194890, 0.980825
[11:52:56.155] xyz_f:-0.092059, 0.017956, 1.046987  Reprojection Error: 0.389489, 0.276763 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.155] xyz_f:0.173496, 0.000970, 1.050557  Reprojection Error: 0.476028, 0.306830 Feature: 0.495830, 0.257884, 0.829246
[11:52:56.155] xyz_f:-0.241979, 0.170855, 0.997759  Reprojection Error: 0.368561, 0.273731 Feature: 0.077276, 0.408315, 0.909564
[11:52:56.155] it:29 	 Success 	 new_chi2: 3.680800 	 dT = 0.044272, 0.037958, -0.010880
[11:52:56.155] xyz_f:-0.201976, -0.254037, 0.962716  Reprojection Error: 0.398211, 0.262506 Feature: 0.185155, -0.001346, 0.982708
[11:52:56.155] xyz_f:0.001384, -0.471627, 0.901548  Reprojection Error: 0.410651, 0.270609 Feature: 0.371103, -0.227353, 0.900329
[11:52:56.155] xyz_f:-0.309498, -0.150022, 0.954260  Reprojection Error: 0.397360, 0.254868 Feature: 0.072491, 0.096937, 0.992647
[11:52:56.155] xyz_f:-0.036684, -0.446463, 0.913226  Reprojection Error: 0.407657, 0.271388 Feature: 0.337962, -0.200023, 0.919659
[11:52:56.155] xyz_f:0.051258, -0.655053, 0.774474  Reprojection Error: 0.411220, 0.306795 Feature: 0.387424, -0.437417, 0.811522
[11:52:56.155] xyz_f:0.047337, -0.478524, 0.897257  Reprojection Error: 0.415862, 0.266167 Feature: 0.412440, -0.235125, 0.880119
[11:52:56.155] xyz_f:-0.311987, -0.143297, 0.954452  Reprojection Error: 0.397013, 0.254432 Feature: 0.069591, 0.103482, 0.992194
[11:52:56.155] xyz_f:-0.272480, 0.170037, 0.962856  Reprojection Error: 0.367951, 0.272316 Feature: 0.077276, 0.408315, 0.909564
[11:52:56.155] xyz_f:0.060500, -0.455031, 0.909069  Reprojection Error: 0.418346, 0.262580 Feature: 0.426639, -0.209375, 0.879853
[11:52:56.155] xyz_f:-0.028730, -0.469858, 0.901564  Reprojection Error: 0.408324, 0.273678 Feature: 0.343233, -0.225640, 0.911744
[11:52:56.155] xyz_f:-0.164451, -0.228535, 0.976964  Reprojection Error: 0.396615, 0.261603 Feature: 0.222479, 0.026975, 0.974564
[11:52:56.155] xyz_f:0.015576, -0.461774, 0.906828  Reprojection Error: 0.412158, 0.267922 Feature: 0.385157, -0.216469, 0.897104
[11:52:56.155] xyz_f:-0.850030, -0.481546, 0.169490  Reprojection Error: 3.841401, 2.114223 Feature: -0.688546, -0.426404, 0.586587
[11:52:56.155] xyz_f:-0.121621, 0.017561, 1.010504  Reprojection Error: 0.389026, 0.276891 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.155] xyz_f:-0.371435, -0.045238, 0.941660  Reprojection Error: 0.394550, 0.246740 Feature: 0.000100, 0.194890, 0.980825
[11:52:56.155] xyz_f:0.031000, -0.465395, 0.904764  Reprojection Error: 0.413932, 0.266651 Feature: 0.398928, -0.220500, 0.890077
[11:52:56.155] xyz_f:-0.164256, -0.213680, 0.980425  Reprojection Error: 0.395929, 0.261292 Feature: 0.222462, 0.042220, 0.974027
[11:52:56.155] xyz_f:-0.306988, -0.156737, 0.954022  Reprojection Error: 0.397701, 0.255313 Feature: 0.075390, 0.090389, 0.993049
[11:52:56.155] xyz_f:-0.173072, -0.223872, 0.976424  Reprojection Error: 0.396301, 0.261376 Feature: 0.213872, 0.031340, 0.976359
[11:52:56.155] xyz_f:-0.152971, 0.023658, 1.005593  Reprojection Error: 0.385449, 0.273638 Feature: 0.218270, 0.277985, 0.935459
[11:52:56.155] xyz_f:-0.008642, -0.460078, 0.907435  Reprojection Error: 0.409791, 0.270258 Feature: 0.362941, -0.214674, 0.906746
[11:52:56.155] xyz_f:-0.190509, -0.246243, 0.967323  Reprojection Error: 0.397524, 0.262084 Feature: 0.196657, 0.007376, 0.980445
[11:52:56.155] xyz_f:0.144003, 0.001323, 1.011283  Reprojection Error: 0.455532, 0.309677 Feature: 0.495830, 0.257884, 0.829246
[11:52:56.155] xyz_f:-0.850030, -0.481546, 0.169490  Reprojection Error: 3.896266, 2.141773 Feature: -0.688546, -0.426404, 0.586587
[11:52:56.155] xyz_f:0.051258, -0.655053, 0.774474  Reprojection Error: 0.445370, 0.294594 Feature: 0.387424, -0.437417, 0.811522
[11:52:56.155] xyz_f:0.001384, -0.471627, 0.901548  Reprojection Error: 0.444048, 0.262984 Feature: 0.371103, -0.227353, 0.900329
[11:52:56.155] xyz_f:0.047337, -0.478524, 0.897257  Reprojection Error: 0.451463, 0.255260 Feature: 0.412440, -0.235125, 0.880119
[11:52:56.155] xyz_f:-0.201976, -0.254037, 0.962716  Reprojection Error: 0.425680, 0.258041 Feature: 0.185155, -0.001346, 0.982708
[11:52:56.155] xyz_f:-0.164451, -0.228535, 0.976964  Reprojection Error: 0.427814, 0.257273 Feature: 0.222479, 0.026975, 0.974564
[11:52:56.155] xyz_f:-0.309498, -0.150022, 0.954260  Reprojection Error: 0.426736, 0.252860 Feature: 0.072491, 0.096937, 0.992647
[11:52:56.155] xyz_f:-0.371435, -0.045238, 0.941660  Reprojection Error: 0.424022, 0.244517 Feature: 0.000100, 0.194890, 0.980825
[11:52:56.155] xyz_f:-0.121621, 0.017561, 1.010504  Reprojection Error: 0.421918, 0.276535 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.155] xyz_f:0.144003, 0.001323, 1.011283  Reprojection Error: 0.498778, 0.306445 Feature: 0.495830, 0.257884, 0.829246
[11:52:56.155] xyz_f:-0.272480, 0.170037, 0.962856  Reprojection Error: 0.409031, 0.268374 Feature: 0.077276, 0.408315, 0.909564
[11:52:56.155] it:30 	 Success 	 new_chi2: 3.811189 	 dT = 0.045269, 0.039029, -0.011843
[11:52:56.155] xyz_f:-0.229351, -0.254680, 0.926086  Reprojection Error: 0.436069, 0.273638 Feature: 0.185155, -0.001346, 0.982708
[11:52:56.155] xyz_f:-0.026038, -0.471647, 0.862592  Reprojection Error: 0.442371, 0.294257 Feature: 0.371103, -0.227353, 0.900329
[11:52:56.155] xyz_f:-0.337280, -0.150995, 0.918863  Reprojection Error: 0.440090, 0.261983 Feature: 0.072491, 0.096937, 0.992647
[11:52:56.155] xyz_f:-0.064047, -0.446599, 0.874705  Reprojection Error: 0.440708, 0.293074 Feature: 0.337962, -0.200023, 0.919659
[11:52:56.155] xyz_f:0.022941, -0.654921, 0.734952  Reprojection Error: 0.446189, 0.352098 Feature: 0.387424, -0.437417, 0.811522
[11:52:56.155] xyz_f:0.019884, -0.478402, 0.857775  Reprojection Error: 0.445438, 0.290574 Feature: 0.412440, -0.235125, 0.880119
[11:52:56.155] xyz_f:-0.339788, -0.144278, 0.919083  Reprojection Error: 0.439841, 0.261277 Feature: 0.069591, 0.103482, 0.992194
[11:52:56.155] xyz_f:-0.301148, 0.169176, 0.927040  Reprojection Error: 0.409809, 0.266422 Feature: 0.077276, 0.408315, 0.909564
[11:52:56.155] xyz_f:0.033109, -0.454869, 0.869436  Reprojection Error: 0.446817, 0.285211 Feature: 0.426639, -0.209375, 0.879853
[11:52:56.155] xyz_f:-0.056154, -0.469970, 0.862952  Reprojection Error: 0.441530, 0.297126 Feature: 0.343233, -0.225640, 0.911744
[11:52:56.155] xyz_f:-0.191743, -0.229063, 0.939904  Reprojection Error: 0.432289, 0.271388 Feature: 0.222479, 0.026975, 0.974564
[11:52:56.155] xyz_f:-0.011816, -0.461750, 0.867710  Reprojection Error: 0.442952, 0.290851 Feature: 0.385157, -0.216469, 0.897104
[11:52:56.155] xyz_f:-0.885736, -0.484188, 0.140321  Reprojection Error: 5.138386, 2.723647 Feature: -0.688546, -0.426404, 0.586587
[11:52:56.155] xyz_f:-0.149288, 0.017164, 0.972957  Reprojection Error: 0.422106, 0.276629 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.155] xyz_f:-0.399679, -0.046401, 0.906973  Reprojection Error: 0.440776, 0.249860 Feature: 0.000100, 0.194890, 0.980825
[11:52:56.155] xyz_f:0.003594, -0.465323, 0.865469  Reprojection Error: 0.444042, 0.289923 Feature: 0.398928, -0.220500, 0.890077
[11:52:56.155] xyz_f:-0.191555, -0.214207, 0.943363  Reprojection Error: 0.431449, 0.270413 Feature: 0.222462, 0.042220, 0.974027
[11:52:56.155] xyz_f:-0.334753, -0.157702, 0.918596  Reprojection Error: 0.440337, 0.262699 Feature: 0.075390, 0.090389, 0.993049
[11:52:56.155] xyz_f:-0.200384, -0.224426, 0.939463  Reprojection Error: 0.432347, 0.270986 Feature: 0.213872, 0.031340, 0.976359
[11:52:56.155] xyz_f:-0.180710, 0.023165, 0.968404  Reprojection Error: 0.419935, 0.273244 Feature: 0.218270, 0.277985, 0.935459
[11:52:56.155] xyz_f:-0.036031, -0.460129, 0.868593  Reprojection Error: 0.441750, 0.292988 Feature: 0.362941, -0.214674, 0.906746
[11:52:56.155] xyz_f:-0.217856, -0.246850, 0.930562  Reprojection Error: 0.434691, 0.272793 Feature: 0.196657, 0.007376, 0.980445
[11:52:56.155] xyz_f:0.116377, 0.001740, 0.970696  Reprojection Error: 0.478038, 0.309193 Feature: 0.495830, 0.257884, 0.829246
[11:52:56.155] xyz_f:-0.885736, -0.484188, 0.140321  Reprojection Error: 5.193251, 2.751198 Feature: -0.688546, -0.426404, 0.586587
[11:52:56.155] xyz_f:0.022941, -0.654921, 0.734952  Reprojection Error: 0.480339, 0.339897 Feature: 0.387424, -0.437417, 0.811522
[11:52:56.155] xyz_f:-0.026038, -0.471647, 0.862592  Reprojection Error: 0.475769, 0.286632 Feature: 0.371103, -0.227353, 0.900329
[11:52:56.155] xyz_f:0.019884, -0.478402, 0.857775  Reprojection Error: 0.481039, 0.279666 Feature: 0.412440, -0.235125, 0.880119
[11:52:56.155] xyz_f:-0.229351, -0.254680, 0.926086  Reprojection Error: 0.463538, 0.269172 Feature: 0.185155, -0.001346, 0.982708
[11:52:56.155] xyz_f:-0.191743, -0.229063, 0.939904  Reprojection Error: 0.463488, 0.267058 Feature: 0.222479, 0.026975, 0.974564
[11:52:56.155] xyz_f:-0.337280, -0.150995, 0.918863  Reprojection Error: 0.469467, 0.259975 Feature: 0.072491, 0.096937, 0.992647
[11:52:56.155] xyz_f:-0.399679, -0.046401, 0.906973  Reprojection Error: 0.470248, 0.247637 Feature: 0.000100, 0.194890, 0.980825
[11:52:56.155] xyz_f:-0.149288, 0.017164, 0.972957  Reprojection Error: 0.454998, 0.276272 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.155] xyz_f:0.116377, 0.001740, 0.970696  Reprojection Error: 0.521284, 0.305961 Feature: 0.495830, 0.257884, 0.829246
[11:52:56.155] xyz_f:-0.301148, 0.169176, 0.927040  Reprojection Error: 0.450888, 0.262479 Feature: 0.077276, 0.408315, 0.909564
[11:52:56.155] it:31 	 Success 	 new_chi2: 3.840520 	 dT = 0.044968, 0.039857, -0.011785
[11:52:56.155] xyz_f:-0.256527, -0.255284, 0.888484  Reprojection Error: 0.477137, 0.285957 Feature: 0.185155, -0.001346, 0.982708
[11:52:56.155] xyz_f:-0.053289, -0.471631, 0.822676  Reprojection Error: 0.476961, 0.320767 Feature: 0.371103, -0.227353, 0.900329
[11:52:56.155] xyz_f:-0.364847, -0.151930, 0.882492  Reprojection Error: 0.486456, 0.269814 Feature: 0.072491, 0.096937, 0.992647
[11:52:56.155] xyz_f:-0.091234, -0.446699, 0.835222  Reprojection Error: 0.476720, 0.317330 Feature: 0.337962, -0.200023, 0.919659
[11:52:56.155] xyz_f:-0.005207, -0.654757, 0.694484  Reprojection Error: 0.484902, 0.403788 Feature: 0.387424, -0.437417, 0.811522
[11:52:56.155] xyz_f:-0.007405, -0.478247, 0.817337  Reprojection Error: 0.477678, 0.317977 Feature: 0.412440, -0.235125, 0.880119
[11:52:56.155] xyz_f:-0.367373, -0.145220, 0.882741  Reprojection Error: 0.486311, 0.268806 Feature: 0.069591, 0.103482, 0.992194
[11:52:56.155] xyz_f:-0.329601, 0.168350, 0.890263  Reprojection Error: 0.455188, 0.259810 Feature: 0.077276, 0.408315, 0.909564
[11:52:56.155] xyz_f:0.005880, -0.454673, 0.828847  Reprojection Error: 0.477803, 0.310594 Feature: 0.426639, -0.209375, 0.879853
[11:52:56.155] xyz_f:-0.083405, -0.470046, 0.823379  Reprojection Error: 0.477753, 0.323393 Feature: 0.343233, -0.225640, 0.911744
[11:52:56.155] xyz_f:-0.218843, -0.229552, 0.901874  Reprojection Error: 0.470940, 0.282207 Feature: 0.222479, 0.026975, 0.974564
[11:52:56.155] xyz_f:-0.039040, -0.461691, 0.827632  Reprojection Error: 0.476505, 0.316548 Feature: 0.385157, -0.216469, 0.897104
[11:52:56.155] xyz_f:-0.921111, -0.486807, 0.110238  Reprojection Error: 7.181803, 3.689022 Feature: -0.688546, -0.426404, 0.586587
[11:52:56.155] xyz_f:-0.176765, 0.016803, 0.934445  Reprojection Error: 0.457834, 0.276288 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.155] xyz_f:-0.427696, -0.047526, 0.871315  Reprojection Error: 0.490965, 0.253245 Feature: 0.000100, 0.194890, 0.980825
[11:52:56.155] xyz_f:-0.023646, -0.465217, 0.825216  Reprojection Error: 0.476849, 0.316021 Feature: 0.398928, -0.220500, 0.890077
[11:52:56.155] xyz_f:-0.218660, -0.214696, 0.905331  Reprojection Error: 0.469919, 0.280492 Feature: 0.222462, 0.042220, 0.974027
[11:52:56.155] xyz_f:-0.362303, -0.158628, 0.882196  Reprojection Error: 0.486601, 0.270833 Feature: 0.075390, 0.090389, 0.993049
[11:52:56.155] xyz_f:-0.227503, -0.224942, 0.901531  Reprojection Error: 0.471402, 0.281610 Feature: 0.213872, 0.031340, 0.976359
[11:52:56.155] xyz_f:-0.208255, 0.022708, 0.930251  Reprojection Error: 0.457199, 0.272753 Feature: 0.218270, 0.277985, 0.935459
[11:52:56.155] xyz_f:-0.063248, -0.460143, 0.828791  Reprojection Error: 0.476581, 0.318446 Feature: 0.362941, -0.214674, 0.906746
[11:52:56.155] xyz_f:-0.245006, -0.247420, 0.892829  Reprojection Error: 0.474994, 0.284642 Feature: 0.196657, 0.007376, 0.980445
[11:52:56.155] xyz_f:0.088902, 0.002190, 0.929161  Reprojection Error: 0.502248, 0.308629 Feature: 0.495830, 0.257884, 0.829246
[11:52:56.155] xyz_f:-0.921111, -0.486807, 0.110238  Reprojection Error: 7.236668, 3.716572 Feature: -0.688546, -0.426404, 0.586587
[11:52:56.155] xyz_f:-0.005207, -0.654757, 0.694484  Reprojection Error: 0.519052, 0.391587 Feature: 0.387424, -0.437417, 0.811522
[11:52:56.155] xyz_f:-0.053289, -0.471631, 0.822676  Reprojection Error: 0.510359, 0.313142 Feature: 0.371103, -0.227353, 0.900329
[11:52:56.155] xyz_f:-0.007405, -0.478247, 0.817337  Reprojection Error: 0.513279, 0.307069 Feature: 0.412440, -0.235125, 0.880119
[11:52:56.155] xyz_f:-0.256527, -0.255284, 0.888484  Reprojection Error: 0.504606, 0.281491 Feature: 0.185155, -0.001346, 0.982708
[11:52:56.155] xyz_f:-0.218843, -0.229552, 0.901874  Reprojection Error: 0.502139, 0.277878 Feature: 0.222479, 0.026975, 0.974564
[11:52:56.155] xyz_f:-0.364847, -0.151930, 0.882492  Reprojection Error: 0.515833, 0.267806 Feature: 0.072491, 0.096937, 0.992647
[11:52:56.155] xyz_f:-0.427696, -0.047526, 0.871315  Reprojection Error: 0.520437, 0.251022 Feature: 0.000100, 0.194890, 0.980825
[11:52:56.155] xyz_f:-0.176765, 0.016803, 0.934445  Reprojection Error: 0.490727, 0.275931 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.155] xyz_f:0.088902, 0.002190, 0.929161  Reprojection Error: 0.545494, 0.305397 Feature: 0.495830, 0.257884, 0.829246
[11:52:56.155] xyz_f:-0.329601, 0.168350, 0.890263  Reprojection Error: 0.496268, 0.255868 Feature: 0.077276, 0.408315, 0.909564
[11:52:56.155] it:32 	 Success 	 new_chi2: 3.731837 	 dT = 0.044070, 0.040510, -0.011254
[11:52:56.155] xyz_f:-0.284430, -0.255829, 0.850005  Reprojection Error: 0.523035, 0.299604 Feature: 0.185155, -0.001346, 0.982708
[11:52:56.155] xyz_f:-0.081291, -0.471584, 0.781988  Reprojection Error: 0.516140, 0.350535 Feature: 0.371103, -0.227353, 0.900329
[11:52:56.155] xyz_f:-0.393110, -0.152790, 0.845193  Reprojection Error: 0.538141, 0.278430 Feature: 0.072491, 0.096937, 0.992647
[11:52:56.155] xyz_f:-0.119170, -0.446762, 0.794946  Reprojection Error: 0.517396, 0.344505 Feature: 0.337962, -0.200023, 0.919659
[11:52:56.155] xyz_f:-0.034072, -0.654571, 0.653278  Reprojection Error: 0.529560, 0.462970 Feature: 0.387424, -0.437417, 0.811522
[11:52:56.155] xyz_f:-0.035448, -0.478065, 0.776151  Reprojection Error: 0.514291, 0.348793 Feature: 0.412440, -0.235125, 0.880119
[11:52:56.155] xyz_f:-0.395652, -0.146087, 0.845469  Reprojection Error: 0.538106, 0.277085 Feature: 0.069591, 0.103482, 0.992194
[11:52:56.155] xyz_f:-0.358715, 0.167592, 0.852585  Reprojection Error: 0.505697, 0.252344 Feature: 0.077276, 0.408315, 0.909564
[11:52:56.155] xyz_f:-0.022108, -0.454453, 0.787516  Reprojection Error: 0.512970, 0.339105 Feature: 0.426639, -0.209375, 0.879853
[11:52:56.155] xyz_f:-0.111401, -0.470086, 0.783019  Reprojection Error: 0.518730, 0.352870 Feature: 0.343233, -0.225640, 0.911744
[11:52:56.156] xyz_f:-0.246678, -0.229987, 0.862985  Reprojection Error: 0.514129, 0.294181 Feature: 0.222479, 0.026975, 0.974564
[11:52:56.156] xyz_f:-0.067018, -0.461602, 0.786789  Reprojection Error: 0.514513, 0.345393 Feature: 0.385157, -0.216469, 0.897104
[11:52:56.156] xyz_f:-0.956758, -0.489298, 0.079026  Reprojection Error: 10.933028, 5.464674 Feature: -0.688546, -0.426404, 0.586587
[11:52:56.156] xyz_f:-0.204967, 0.016491, 0.895101  Reprojection Error: 0.497656, 0.275846 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.156] xyz_f:-0.456381, -0.048570, 0.834702  Reprojection Error: 0.546862, 0.256889 Feature: 0.000100, 0.194890, 0.980825
[11:52:56.156] xyz_f:-0.051641, -0.465083, 0.784206  Reprojection Error: 0.514046, 0.345331 Feature: 0.398928, -0.220500, 0.890077
[11:52:56.156] xyz_f:-0.246501, -0.215130, 0.866440  Reprojection Error: 0.512893, 0.291638 Feature: 0.222462, 0.042220, 0.974027
[11:52:56.156] xyz_f:-0.390550, -0.159481, 0.844869  Reprojection Error: 0.538179, 0.279787 Feature: 0.075390, 0.090389, 0.993049
[11:52:56.156] xyz_f:-0.255355, -0.225401, 0.862736  Reprojection Error: 0.515033, 0.293362 Feature: 0.213872, 0.031340, 0.976359
[11:52:56.156] xyz_f:-0.236517, 0.022304, 0.891249  Reprojection Error: 0.498706, 0.272138 Feature: 0.218270, 0.277985, 0.935459
[11:52:56.156] xyz_f:-0.091216, -0.460125, 0.788212  Reprojection Error: 0.515993, 0.347006 Feature: 0.362941, -0.214674, 0.906746
[11:52:56.156] xyz_f:-0.272886, -0.247930, 0.854225  Reprojection Error: 0.520033, 0.297763 Feature: 0.196657, 0.007376, 0.980445
[11:52:56.156] xyz_f:0.060669, 0.002652, 0.886929  Reprojection Error: 0.529525, 0.307996 Feature: 0.495830, 0.257884, 0.829246
[11:52:56.156] xyz_f:-0.956758, -0.489298, 0.079026  Reprojection Error: 10.987892, 5.492224 Feature: -0.688546, -0.426404, 0.586587
[11:52:56.156] xyz_f:-0.034072, -0.654571, 0.653278  Reprojection Error: 0.563710, 0.450768 Feature: 0.387424, -0.437417, 0.811522
[11:52:56.156] xyz_f:-0.081291, -0.471584, 0.781988  Reprojection Error: 0.549537, 0.342910 Feature: 0.371103, -0.227353, 0.900329
[11:52:56.156] xyz_f:-0.035448, -0.478065, 0.776151  Reprojection Error: 0.549892, 0.337885 Feature: 0.412440, -0.235125, 0.880119
[11:52:56.156] xyz_f:-0.284430, -0.255829, 0.850005  Reprojection Error: 0.550504, 0.295138 Feature: 0.185155, -0.001346, 0.982708
[11:52:56.156] xyz_f:-0.246678, -0.229987, 0.862985  Reprojection Error: 0.545328, 0.289851 Feature: 0.222479, 0.026975, 0.974564
[11:52:56.156] xyz_f:-0.393110, -0.152790, 0.845193  Reprojection Error: 0.567517, 0.276422 Feature: 0.072491, 0.096937, 0.992647
[11:52:56.156] xyz_f:-0.456381, -0.048570, 0.834702  Reprojection Error: 0.576334, 0.254665 Feature: 0.000100, 0.194890, 0.980825
[11:52:56.156] xyz_f:-0.204967, 0.016491, 0.895101  Reprojection Error: 0.530548, 0.275489 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.156] xyz_f:0.060669, 0.002652, 0.886929  Reprojection Error: 0.572771, 0.304764 Feature: 0.495830, 0.257884, 0.829246
[11:52:56.156] xyz_f:-0.358715, 0.167592, 0.852585  Reprojection Error: 0.546777, 0.248401 Feature: 0.077276, 0.408315, 0.909564
[11:52:56.156] it:33 	 Success 	 new_chi2: 3.427373 	 dT = 0.043451, 0.041172, -0.011171
[11:52:56.156] xyz_f:-0.313324, -0.256337, 0.810731  Reprojection Error: 0.574884, 0.314811 Feature: 0.185155, -0.001346, 0.982708
[11:52:56.156] xyz_f:-0.110307, -0.471505, 0.740522  Reprojection Error: 0.561145, 0.384197 Feature: 0.371103, -0.227353, 0.900329
[11:52:56.156] xyz_f:-0.422347, -0.153613, 0.807093  Reprojection Error: 0.596322, 0.287983 Feature: 0.072491, 0.096937, 0.992647
[11:52:56.156] xyz_f:-0.148116, -0.446793, 0.753889  Reprojection Error: 0.563956, 0.375153 Feature: 0.337962, -0.200023, 0.919659
[11:52:56.156] xyz_f:-0.063951, -0.654356, 0.611307  Reprojection Error: 0.582018, 0.531413 Feature: 0.387424, -0.437417, 0.811522
[11:52:56.156] xyz_f:-0.064512, -0.477854, 0.734190  Reprojection Error: 0.556487, 0.383707 Feature: 0.412440, -0.235125, 0.880119
[11:52:56.156] xyz_f:-0.424905, -0.146918, 0.807396  Reprojection Error: 0.596404, 0.286261 Feature: 0.069591, 0.103482, 0.992194
[11:52:56.156] xyz_f:-0.388800, 0.166867, 0.814119  Reprojection Error: 0.562531, 0.243946 Feature: 0.077276, 0.408315, 0.909564
[11:52:56.156] xyz_f:-0.051118, -0.454203, 0.745412  Reprojection Error: 0.553474, 0.371365 Feature: 0.426639, -0.209375, 0.879853
[11:52:56.156] xyz_f:-0.140409, -0.470095, 0.741878  Reprojection Error: 0.565720, 0.386173 Feature: 0.343233, -0.225640, 0.911744
[11:52:56.156] xyz_f:-0.275509, -0.230386, 0.823303  Reprojection Error: 0.562925, 0.307510 Feature: 0.222479, 0.026975, 0.974564
[11:52:56.156] xyz_f:-0.096013, -0.461482, 0.745169  Reprojection Error: 0.558181, 0.378000 Feature: 0.385157, -0.216469, 0.897104
[11:52:56.156] xyz_f:-0.993254, -0.491762, 0.047047  Reprojection Error: 19.938005, 9.725577 Feature: -0.688546, -0.426404, 0.586587
[11:52:56.156] xyz_f:-0.234166, 0.016212, 0.854971  Reprojection Error: 0.542556, 0.275308 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.156] xyz_f:-0.486028, -0.049577, 0.797286  Reprojection Error: 0.609705, 0.260882 Feature: 0.000100, 0.194890, 0.980825
[11:52:56.156] xyz_f:-0.080654, -0.464919, 0.742420  Reprojection Error: 0.556831, 0.378489 Feature: 0.398928, -0.220500, 0.890077
[11:52:56.156] xyz_f:-0.275338, -0.215528, 0.826756  Reprojection Error: 0.561428, 0.304038 Feature: 0.222462, 0.042220, 0.974027
[11:52:56.156] xyz_f:-0.419771, -0.160297, 0.806741  Reprojection Error: 0.596247, 0.289719 Feature: 0.075390, 0.090389, 0.993049
[11:52:56.156] xyz_f:-0.284201, -0.225825, 0.823148  Reprojection Error: 0.564311, 0.306443 Feature: 0.213872, 0.031340, 0.976359
[11:52:56.156] xyz_f:-0.265773, 0.021934, 0.851460  Reprojection Error: 0.545467, 0.271404 Feature: 0.218270, 0.277985, 0.935459
[11:52:56.156] xyz_f:-0.120198, -0.460074, 0.746853  Reprojection Error: 0.561207, 0.379266 Feature: 0.362941, -0.214674, 0.906746
[11:52:56.156] xyz_f:-0.301758, -0.248405, 0.814826  Reprojection Error: 0.570913, 0.312380 Feature: 0.196657, 0.007376, 0.980445
[11:52:56.156] xyz_f:0.031405, 0.003141, 0.843932  Reprojection Error: 0.560716, 0.307264 Feature: 0.495830, 0.257884, 0.829246
[11:52:56.156] xyz_f:-0.993254, -0.491762, 0.047047  Reprojection Error: 19.992870, 9.753127 Feature: -0.688546, -0.426404, 0.586587
[11:52:56.156] xyz_f:-0.063951, -0.654356, 0.611307  Reprojection Error: 0.616168, 0.519211 Feature: 0.387424, -0.437417, 0.811522
[11:52:56.156] xyz_f:-0.110307, -0.471505, 0.740522  Reprojection Error: 0.594542, 0.376572 Feature: 0.371103, -0.227353, 0.900329
[11:52:56.156] xyz_f:-0.064512, -0.477854, 0.734190  Reprojection Error: 0.592088, 0.372800 Feature: 0.412440, -0.235125, 0.880119
[11:52:56.156] xyz_f:-0.313324, -0.256337, 0.810731  Reprojection Error: 0.602353, 0.310345 Feature: 0.185155, -0.001346, 0.982708
[11:52:56.156] xyz_f:-0.275509, -0.230386, 0.823303  Reprojection Error: 0.594124, 0.303181 Feature: 0.222479, 0.026975, 0.974564
[11:52:56.156] xyz_f:-0.422347, -0.153613, 0.807093  Reprojection Error: 0.625699, 0.285975 Feature: 0.072491, 0.096937, 0.992647
[11:52:56.156] xyz_f:-0.486028, -0.049577, 0.797286  Reprojection Error: 0.639177, 0.258658 Feature: 0.000100, 0.194890, 0.980825
[11:52:56.156] xyz_f:-0.234166, 0.016212, 0.854971  Reprojection Error: 0.575449, 0.274951 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.156] xyz_f:0.031405, 0.003141, 0.843932  Reprojection Error: 0.603962, 0.304032 Feature: 0.495830, 0.257884, 0.829246
[11:52:56.156] xyz_f:-0.388800, 0.166867, 0.814119  Reprojection Error: 0.603611, 0.240003 Feature: 0.077276, 0.408315, 0.909564
[11:52:56.156] it:34 	 Success 	 new_chi2: 2.869349 	 dT = 0.045011, 0.042260, -0.013975
[11:52:56.156] xyz_f:-0.342269, -0.256928, 0.770677  Reprojection Error: 0.632529, 0.332010 Feature: 0.185155, -0.001346, 0.982708
[11:52:56.156] xyz_f:-0.139442, -0.471362, 0.697730  Reprojection Error: 0.612037, 0.423043 Feature: 0.371103, -0.227353, 0.900329
[11:52:56.156] xyz_f:-0.451703, -0.154599, 0.768513  Reprojection Error: 0.660789, 0.298821 Feature: 0.072491, 0.096937, 0.992647
[11:52:56.156] xyz_f:-0.177156, -0.446786, 0.711606  Reprojection Error: 0.616439, 0.410359 Feature: 0.337962, -0.200023, 0.919659
[11:52:56.156] xyz_f:-0.094173, -0.654048, 0.567896  Reprojection Error: 0.643233, 0.612695 Feature: 0.387424, -0.437417, 0.811522
[11:52:56.156] xyz_f:-0.093714, -0.477546, 0.690780  Reprojection Error: 0.604282, 0.424163 Feature: 0.412440, -0.235125, 0.880119
[11:52:56.156] xyz_f:-0.454281, -0.147913, 0.768852  Reprojection Error: 0.660994, 0.296678 Feature: 0.069591, 0.103482, 0.992194
[11:52:56.156] xyz_f:-0.419223, 0.166000, 0.775094  Reprojection Error: 0.625827, 0.234745 Feature: 0.077276, 0.408315, 0.909564
[11:52:56.156] xyz_f:-0.080255, -0.453846, 0.701820  Reprojection Error: 0.599250, 0.408704 Feature: 0.426639, -0.209375, 0.879853
[11:52:56.156] xyz_f:-0.169528, -0.470061, 0.699491  Reprojection Error: 0.618817, 0.424522 Feature: 0.343233, -0.225640, 0.911744
[11:52:56.156] xyz_f:-0.304383, -0.230840, 0.782738  Reprojection Error: 0.617155, 0.322593 Feature: 0.222479, 0.026975, 0.974564
[11:52:56.156] xyz_f:-0.125122, -0.461287, 0.702183  Reprojection Error: 0.607524, 0.415635 Feature: 0.385157, -0.216469, 0.897104
[11:52:56.156] xyz_f:-1.031590, -0.494829, 0.016235  Reprojection Error: 62.365928, 29.751582 Feature: -0.688546, -0.426404, 0.586587
[11:52:56.156] xyz_f:-0.263508, 0.015906, 0.813851  Reprojection Error: 0.592448, 0.274725 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.156] xyz_f:-0.515886, -0.050794, 0.759570  Reprojection Error: 0.679284, 0.265572 Feature: 0.000100, 0.194890, 0.980825
[11:52:56.156] xyz_f:-0.109790, -0.464669, 0.699227  Reprojection Error: 0.605211, 0.416814 Feature: 0.398928, -0.220500, 0.890077
[11:52:56.156] xyz_f:-0.304218, -0.215982, 0.786189  Reprojection Error: 0.615347, 0.318066 Feature: 0.222462, 0.042220, 0.974027
[11:52:56.156] xyz_f:-0.449107, -0.161274, 0.768127  Reprojection Error: 0.660596, 0.300979 Feature: 0.075390, 0.090389, 0.993049
[11:52:56.156] xyz_f:-0.313092, -0.226311, 0.782701  Reprojection Error: 0.619065, 0.321240 Feature: 0.213872, 0.031340, 0.976359
[11:52:56.156] xyz_f:-0.295180, 0.021514, 0.810767  Reprojection Error: 0.597404, 0.270629 Feature: 0.218270, 0.277985, 0.935459
[11:52:56.156] xyz_f:-0.149288, -0.459967, 0.704193  Reprojection Error: 0.612266, 0.416432 Feature: 0.362941, -0.214674, 0.906746
[11:52:56.156] xyz_f:-0.330678, -0.248954, 0.774616  Reprojection Error: 0.627471, 0.328914 Feature: 0.196657, 0.007376, 0.980445
[11:52:56.156] xyz_f:0.001935, 0.003795, 0.799229  Reprojection Error: 0.595506, 0.306237 Feature: 0.495830, 0.257884, 0.829246
[11:52:56.156] xyz_f:-1.031590, -0.494829, 0.016235  Reprojection Error: 62.420793, 29.779132 Feature: -0.688546, -0.426404, 0.586587
[11:52:56.156] xyz_f:-0.094173, -0.654048, 0.567896  Reprojection Error: 0.677383, 0.600493 Feature: 0.387424, -0.437417, 0.811522
[11:52:56.156] xyz_f:-0.139442, -0.471362, 0.697730  Reprojection Error: 0.645435, 0.415419 Feature: 0.371103, -0.227353, 0.900329
[11:52:56.156] xyz_f:-0.093714, -0.477546, 0.690780  Reprojection Error: 0.639883, 0.413255 Feature: 0.412440, -0.235125, 0.880119
[11:52:56.156] xyz_f:-0.342269, -0.256928, 0.770677  Reprojection Error: 0.659997, 0.327545 Feature: 0.185155, -0.001346, 0.982708
[11:52:56.156] xyz_f:-0.304383, -0.230840, 0.782738  Reprojection Error: 0.648354, 0.318263 Feature: 0.222479, 0.026975, 0.974564
[11:52:56.156] xyz_f:-0.451703, -0.154599, 0.768513  Reprojection Error: 0.690166, 0.296813 Feature: 0.072491, 0.096937, 0.992647
[11:52:56.156] xyz_f:-0.515886, -0.050794, 0.759570  Reprojection Error: 0.708756, 0.263349 Feature: 0.000100, 0.194890, 0.980825
[11:52:56.156] xyz_f:-0.263508, 0.015906, 0.813851  Reprojection Error: 0.625340, 0.274368 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.156] xyz_f:0.001935, 0.003795, 0.799229  Reprojection Error: 0.638753, 0.303005 Feature: 0.495830, 0.257884, 0.829246
[11:52:56.156] xyz_f:-0.419223, 0.166000, 0.775094  Reprojection Error: 0.666907, 0.230802 Feature: 0.077276, 0.408315, 0.909564
[11:52:56.156] it:35 	 Success 	 new_chi2: 2.074354 	 dT = 0.049839, 0.043502, -0.021332
[11:52:56.156] xyz_f:-0.368253, -0.257734, 0.730183  Reprojection Error: 0.692744, 0.351603 Feature: 0.185155, -0.001346, 0.982708
[11:52:56.156] xyz_f:-0.165791, -0.471049, 0.653059  Reprojection Error: 0.666054, 0.468774 Feature: 0.371103, -0.227353, 0.900329
[11:52:56.156] xyz_f:-0.478271, -0.156011, 0.730280  Reprojection Error: 0.727942, 0.311286 Feature: 0.072491, 0.096937, 0.992647
[11:52:56.156] xyz_f:-0.203346, -0.446681, 0.667711  Reprojection Error: 0.672029, 0.451476 Feature: 0.337962, -0.200023, 0.919659
[11:52:56.156] xyz_f:-0.122199, -0.653490, 0.522311  Reprojection Error: 0.711363, 0.712143 Feature: 0.387424, -0.437417, 0.811522
[11:52:56.156] xyz_f:-0.120182, -0.476981, 0.645168  Reprojection Error: 0.654899, 0.472161 Feature: 0.412440, -0.235125, 0.880119
[11:52:56.156] xyz_f:-0.480879, -0.149339, 0.730672  Reprojection Error: 0.728270, 0.308683 Feature: 0.069591, 0.103482, 0.992194
[11:52:56.156] xyz_f:-0.447434, 0.164763, 0.736208  Reprojection Error: 0.692714, 0.225113 Feature: 0.077276, 0.408315, 0.909564
[11:52:56.156] xyz_f:-0.106630, -0.453206, 0.655930  Reprojection Error: 0.647460, 0.452970 Feature: 0.426639, -0.209375, 0.879853
[11:52:56.156] xyz_f:-0.195841, -0.469914, 0.655441  Reprojection Error: 0.675251, 0.469461 Feature: 0.343233, -0.225640, 0.911744
[11:52:56.156] xyz_f:-0.330271, -0.231437, 0.741462  Reprojection Error: 0.673718, 0.339815 Feature: 0.222479, 0.026975, 0.974564
[11:52:56.156] xyz_f:-0.151439, -0.460895, 0.657218  Reprojection Error: 0.659758, 0.459985 Feature: 0.385157, -0.216469, 0.897104
[11:52:56.156] xyz_f:-1.071648, -0.499480, -0.009910  Reprojection Error: -109.313958, -51.129517 Feature: -0.688546, -0.426404, 0.586587
[11:52:56.156] xyz_f:-0.290126, 0.015533, 0.771740  Reprojection Error: 0.644606, 0.274142 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.156] xyz_f:-0.543197, -0.052563, 0.722667  Reprojection Error: 0.751758, 0.271434 Feature: 0.000100, 0.194890, 0.980825
[11:52:56.156] xyz_f:-0.136152, -0.464192, 0.653946  Reprojection Error: 0.656395, 0.462101 Feature: 0.398928, -0.220500, 0.890077
[11:52:56.156] xyz_f:-0.330117, -0.216577, 0.744910  Reprojection Error: 0.671558, 0.334089 Feature: 0.222462, 0.042220, 0.974027
[11:52:56.156] xyz_f:-0.475647, -0.162671, 0.729840  Reprojection Error: 0.727633, 0.313908 Feature: 0.075390, 0.090389, 0.993049
[11:52:56.156] xyz_f:-0.339004, -0.226956, 0.741604  Reprojection Error: 0.676172, 0.338132 Feature: 0.213872, 0.031340, 0.976359
[11:52:56.156] xyz_f:-0.321886, 0.020966, 0.769310  Reprojection Error: 0.651737, 0.269911 Feature: 0.218270, 0.277985, 0.935459
[11:52:56.156] xyz_f:-0.175564, -0.459709, 0.659725  Reprojection Error: 0.666385, 0.460067 Feature: 0.362941, -0.214674, 0.906746
[11:52:56.156] xyz_f:-0.356627, -0.249696, 0.733882  Reprojection Error: 0.686525, 0.347763 Feature: 0.196657, 0.007376, 0.980445
[11:52:56.156] xyz_f:-0.024978, 0.004887, 0.751651  Reprojection Error: 0.631159, 0.304484 Feature: 0.495830, 0.257884, 0.829246
[11:52:56.156] xyz_f:-1.071648, -0.499480, -0.009910  Reprojection Error: -109.259093, -51.101967 Feature: -0.688546, -0.426404, 0.586587
[11:52:56.156] xyz_f:-0.122199, -0.653490, 0.522311  Reprojection Error: 0.745513, 0.699942 Feature: 0.387424, -0.437417, 0.811522
[11:52:56.156] xyz_f:-0.165791, -0.471049, 0.653059  Reprojection Error: 0.699452, 0.461149 Feature: 0.371103, -0.227353, 0.900329
[11:52:56.156] xyz_f:-0.120182, -0.476981, 0.645168  Reprojection Error: 0.690500, 0.461253 Feature: 0.412440, -0.235125, 0.880119
[11:52:56.156] xyz_f:-0.368253, -0.257734, 0.730183  Reprojection Error: 0.720212, 0.347137 Feature: 0.185155, -0.001346, 0.982708
[11:52:56.156] xyz_f:-0.330271, -0.231437, 0.741462  Reprojection Error: 0.704917, 0.335485 Feature: 0.222479, 0.026975, 0.974564
[11:52:56.156] xyz_f:-0.478271, -0.156011, 0.730280  Reprojection Error: 0.757319, 0.309278 Feature: 0.072491, 0.096937, 0.992647
[11:52:56.156] xyz_f:-0.543197, -0.052563, 0.722667  Reprojection Error: 0.781230, 0.269210 Feature: 0.000100, 0.194890, 0.980825
[11:52:56.156] xyz_f:-0.290126, 0.015533, 0.771740  Reprojection Error: 0.677499, 0.273785 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.156] xyz_f:-0.024978, 0.004887, 0.751651  Reprojection Error: 0.674405, 0.301252 Feature: 0.495830, 0.257884, 0.829246
[11:52:56.156] xyz_f:-0.447434, 0.164763, 0.736208  Reprojection Error: 0.733793, 0.221170 Feature: 0.077276, 0.408315, 0.909564
[11:52:56.156] it:36 	 Success 	 new_chi2: 1.194864 	 dT = 0.043494, 0.040451, -0.012776
[11:52:56.156] xyz_f:-0.392742, -0.258161, 0.691325  Reprojection Error: 0.756514, 0.372060 Feature: 0.185155, -0.001346, 0.982708
[11:52:56.156] xyz_f:-0.190543, -0.470807, 0.611705  Reprojection Error: 0.723680, 0.517142 Feature: 0.371103, -0.227353, 0.900329
[11:52:56.156] xyz_f:-0.503086, -0.156802, 0.692782  Reprojection Error: 0.799210, 0.323991 Feature: 0.072491, 0.096937, 0.992647
[11:52:56.156] xyz_f:-0.227994, -0.446563, 0.626819  Reprojection Error: 0.731219, 0.494930 Feature: 0.337962, -0.200023, 0.919659
[11:52:56.156] xyz_f:-0.147965, -0.653105, 0.480424  Reprojection Error: 0.785392, 0.820426 Feature: 0.387424, -0.437417, 0.811522
[11:52:56.156] xyz_f:-0.145015, -0.476588, 0.603251  Reprojection Error: 0.709008, 0.522881 Feature: 0.412440, -0.235125, 0.880119
[11:52:56.156] xyz_f:-0.505710, -0.150139, 0.693206  Reprojection Error: 0.799662, 0.320883 Feature: 0.069591, 0.103482, 0.992194
[11:52:56.156] xyz_f:-0.473239, 0.164072, 0.698335  Reprojection Error: 0.762626, 0.213965 Feature: 0.077276, 0.408315, 0.909564
[11:52:56.156] xyz_f:-0.131410, -0.452769, 0.613846  Reprojection Error: 0.698974, 0.499627 Feature: 0.426639, -0.209375, 0.879853
[11:52:56.156] xyz_f:-0.220565, -0.469771, 0.614457  Reprojection Error: 0.735417, 0.517049 Feature: 0.343233, -0.225640, 0.911744
[11:52:56.156] xyz_f:-0.354710, -0.231738, 0.702135  Reprojection Error: 0.733474, 0.357726 Feature: 0.222479, 0.026975, 0.974564
[11:52:56.156] xyz_f:-0.176174, -0.460605, 0.615686  Reprojection Error: 0.715476, 0.506820 Feature: 0.385157, -0.216469, 0.897104
[11:52:56.156] xyz_f:-1.104412, -0.502246, -0.040036  Reprojection Error: -28.759009, -13.271657 Feature: -0.688546, -0.426404, 0.586587
[11:52:56.156] xyz_f:-0.315012, 0.015364, 0.731921  Reprojection Error: 0.699060, 0.273278 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.156] xyz_f:-0.568443, -0.053569, 0.685973  Reprojection Error: 0.828769, 0.276792 Feature: 0.000100, 0.194890, 0.980825
[11:52:56.156] xyz_f:-0.160918, -0.463852, 0.612226  Reprojection Error: 0.711035, 0.509917 Feature: 0.398928, -0.220500, 0.890077
[11:52:56.156] xyz_f:-0.354563, -0.216878, 0.705581  Reprojection Error: 0.730906, 0.350721 Feature: 0.222462, 0.042220, 0.974027
[11:52:56.156] xyz_f:-0.500446, -0.163454, 0.692309  Reprojection Error: 0.798783, 0.327121 Feature: 0.075390, 0.090389, 0.993049
[11:52:56.156] xyz_f:-0.363455, -0.227286, 0.702385  Reprojection Error: 0.736509, 0.355690 Feature: 0.213872, 0.031340, 0.976359
[11:52:56.156] xyz_f:-0.346817, 0.020692, 0.729883  Reprojection Error: 0.708497, 0.268815 Feature: 0.218270, 0.277985, 0.935459
[11:52:56.156] xyz_f:-0.200270, -0.459499, 0.618491  Reprojection Error: 0.724073, 0.506184 Feature: 0.362941, -0.214674, 0.906746
[11:52:56.157] xyz_f:-0.381097, -0.250084, 0.694881  Reprojection Error: 0.749015, 0.367419 Feature: 0.196657, 0.007376, 0.980445
[11:52:56.157] xyz_f:-0.050098, 0.005595, 0.708561  Reprojection Error: 0.668632, 0.303090 Feature: 0.495830, 0.257884, 0.829246
[11:52:56.157] xyz_f:-1.104412, -0.502246, -0.040036  Reprojection Error: -28.704144, -13.244107 Feature: -0.688546, -0.426404, 0.586587
[11:52:56.157] xyz_f:-0.147965, -0.653105, 0.480424  Reprojection Error: 0.819542, 0.808225 Feature: 0.387424, -0.437417, 0.811522
[11:52:56.157] xyz_f:-0.190543, -0.470807, 0.611705  Reprojection Error: 0.757078, 0.509517 Feature: 0.371103, -0.227353, 0.900329
[11:52:56.157] xyz_f:-0.145015, -0.476588, 0.603251  Reprojection Error: 0.744609, 0.511973 Feature: 0.412440, -0.235125, 0.880119
[11:52:56.157] xyz_f:-0.392742, -0.258161, 0.691325  Reprojection Error: 0.783983, 0.367595 Feature: 0.185155, -0.001346, 0.982708
[11:52:56.157] xyz_f:-0.354710, -0.231738, 0.702135  Reprojection Error: 0.764673, 0.353397 Feature: 0.222479, 0.026975, 0.974564
[11:52:56.157] xyz_f:-0.503086, -0.156802, 0.692782  Reprojection Error: 0.828586, 0.321984 Feature: 0.072491, 0.096937, 0.992647
[11:52:56.157] xyz_f:-0.568443, -0.053569, 0.685973  Reprojection Error: 0.858241, 0.274569 Feature: 0.000100, 0.194890, 0.980825
[11:52:56.157] xyz_f:-0.315012, 0.015364, 0.731921  Reprojection Error: 0.731952, 0.272921 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.157] xyz_f:-0.050098, 0.005595, 0.708561  Reprojection Error: 0.711878, 0.299858 Feature: 0.495830, 0.257884, 0.829246
[11:52:56.157] xyz_f:-0.473239, 0.164072, 0.698335  Reprojection Error: 0.803706, 0.210022 Feature: 0.077276, 0.408315, 0.909564
[11:52:56.157] it:37 	 Success 	 new_chi2: 0.453317 	 dT = 0.058622, 0.031384, -0.026793
[11:52:56.157] xyz_f:-0.421690, -0.258920, 0.662773  Reprojection Error: 0.824664, 0.389292 Feature: 0.185155, -0.001346, 0.982708
[11:52:56.157] xyz_f:-0.220149, -0.470166, 0.577929  Reprojection Error: 0.793114, 0.561014 Feature: 0.371103, -0.227353, 0.900329
[11:52:56.157] xyz_f:-0.532659, -0.158328, 0.667094  Reprojection Error: 0.871505, 0.334995 Feature: 0.072491, 0.096937, 0.992647
[11:52:56.157] xyz_f:-0.257364, -0.446181, 0.594009  Reprojection Error: 0.800754, 0.533637 Feature: 0.337962, -0.200023, 0.919659
[11:52:56.157] xyz_f:-0.179720, -0.652176, 0.445574  Reprojection Error: 0.880748, 0.924669 Feature: 0.387424, -0.437417, 0.811522
[11:52:56.157] xyz_f:-0.174817, -0.475632, 0.568299  Reprojection Error: 0.776233, 0.569787 Feature: 0.412440, -0.235125, 0.880119
[11:52:56.157] xyz_f:-0.535318, -0.151684, 0.667587  Reprojection Error: 0.872008, 0.331509 Feature: 0.069591, 0.103482, 0.992194
[11:52:56.157] xyz_f:-0.504904, 0.162746, 0.671903  Reprojection Error: 0.836413, 0.206696 Feature: 0.077276, 0.408315, 0.909564
[11:52:56.157] xyz_f:-0.161107, -0.451718, 0.578540  Reprojection Error: 0.763369, 0.542823 Feature: 0.426639, -0.209375, 0.879853
[11:52:56.157] xyz_f:-0.250096, -0.469338, 0.581456  Reprojection Error: 0.806578, 0.559694 Feature: 0.343233, -0.225640, 0.911744
[11:52:56.157] xyz_f:-0.383575, -0.232233, 0.672598  Reprojection Error: 0.798575, 0.372956 Feature: 0.222479, 0.026975, 0.974564
[11:52:56.157] xyz_f:-0.205753, -0.459865, 0.581537  Reprojection Error: 0.783143, 0.549477 Feature: 0.385157, -0.216469, 0.897104
[11:52:56.157] xyz_f:-1.150338, -0.507999, -0.049949  Reprojection Error: -24.204052, -10.897279 Feature: -0.688546, -0.426404, 0.586587
[11:52:56.157] xyz_f:-0.344834, 0.015141, 0.701369  Reprojection Error: 0.760327, 0.272681 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.157] xyz_f:-0.598885, -0.055552, 0.661988  Reprojection Error: 0.904778, 0.282616 Feature: 0.000100, 0.194890, 0.980825
[11:52:56.157] xyz_f:-0.190570, -0.463006, 0.577683  Reprojection Error: 0.778081, 0.553755 Feature: 0.398928, -0.220500, 0.890077
[11:52:56.157] xyz_f:-0.383442, -0.217372, 0.676041  Reprojection Error: 0.795582, 0.364883 Feature: 0.222462, 0.042220, 0.974027
[11:52:56.157] xyz_f:-0.529986, -0.164961, 0.666553  Reprojection Error: 0.871033, 0.338507 Feature: 0.075390, 0.090389, 0.993049
[11:52:56.157] xyz_f:-0.392342, -0.227841, 0.673075  Reprojection Error: 0.801960, 0.370607 Feature: 0.213872, 0.031340, 0.976359
[11:52:56.157] xyz_f:-0.376717, 0.020248, 0.700155  Reprojection Error: 0.771377, 0.268245 Feature: 0.218270, 0.277985, 0.935459
[11:52:56.157] xyz_f:-0.229776, -0.458925, 0.584965  Reprojection Error: 0.793071, 0.547782 Feature: 0.362941, -0.214674, 0.906746
[11:52:56.157] xyz_f:-0.410014, -0.250763, 0.666028  Reprojection Error: 0.816190, 0.384028 Feature: 0.196657, 0.007376, 0.980445
[11:52:56.157] xyz_f:-0.080552, 0.007207, 0.671161  Reprojection Error: 0.717947, 0.300248 Feature: 0.495830, 0.257884, 0.829246
[11:52:56.157] xyz_f:-1.150338, -0.507999, -0.049949  Reprojection Error: -24.149187, -10.869729 Feature: -0.688546, -0.426404, 0.586587
[11:52:56.157] xyz_f:-0.179720, -0.652176, 0.445574  Reprojection Error: 0.914898, 0.912467 Feature: 0.387424, -0.437417, 0.811522
[11:52:56.157] xyz_f:-0.220149, -0.470166, 0.577929  Reprojection Error: 0.826512, 0.553389 Feature: 0.371103, -0.227353, 0.900329
[11:52:56.157] xyz_f:-0.174817, -0.475632, 0.568299  Reprojection Error: 0.811834, 0.558880 Feature: 0.412440, -0.235125, 0.880119
[11:52:56.157] xyz_f:-0.421690, -0.258920, 0.662773  Reprojection Error: 0.852133, 0.384826 Feature: 0.185155, -0.001346, 0.982708
[11:52:56.157] xyz_f:-0.383575, -0.232233, 0.672598  Reprojection Error: 0.829774, 0.368626 Feature: 0.222479, 0.026975, 0.974564
[11:52:56.157] xyz_f:-0.532659, -0.158328, 0.667094  Reprojection Error: 0.900881, 0.332987 Feature: 0.072491, 0.096937, 0.992647
[11:52:56.157] xyz_f:-0.598885, -0.055552, 0.661988  Reprojection Error: 0.934250, 0.280393 Feature: 0.000100, 0.194890, 0.980825
[11:52:56.157] xyz_f:-0.344834, 0.015141, 0.701369  Reprojection Error: 0.793220, 0.272325 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.157] xyz_f:-0.080552, 0.007207, 0.671161  Reprojection Error: 0.761193, 0.297016 Feature: 0.495830, 0.257884, 0.829246
[11:52:56.157] xyz_f:-0.504904, 0.162746, 0.671903  Reprojection Error: 0.877493, 0.202754 Feature: 0.077276, 0.408315, 0.909564
[11:52:56.157] it:38 	 Success 	 new_chi2: 0.137312 	 dT = -0.047583, -0.013835, 0.146559
[11:52:56.157] xyz_f:-0.491197, -0.252525, 0.652742  Reprojection Error: 0.940927, 0.385499 Feature: 0.185155, -0.001346, 0.982708
[11:52:56.157] xyz_f:-0.287833, -0.471464, 0.596609  Reprojection Error: 0.894634, 0.537718 Feature: 0.371103, -0.227353, 0.900329
[11:52:56.157] xyz_f:-0.597784, -0.147800, 0.641636  Reprojection Error: 1.004684, 0.328003 Feature: 0.072491, 0.096937, 0.992647
[11:52:56.157] xyz_f:-0.326011, -0.446047, 0.607343  Reprojection Error: 0.904269, 0.516925 Feature: 0.337962, -0.200023, 0.919659
[11:52:56.157] xyz_f:-0.236046, -0.655227, 0.470793  Reprojection Error: 0.978784, 0.852742 Feature: 0.387424, -0.437417, 0.811522
[11:52:56.157] xyz_f:-0.241835, -0.478665, 0.593456  Reprojection Error: 0.876122, 0.539421 Feature: 0.412440, -0.235125, 0.880119
[11:52:56.157] xyz_f:-0.600233, -0.141058, 0.641767  Reprojection Error: 1.005420, 0.324093 Feature: 0.069591, 0.103482, 0.992194
[11:52:56.157] xyz_f:-0.558869, 0.172007, 0.651172  Reprojection Error: 0.943210, 0.184762 Feature: 0.077276, 0.408315, 0.909564
[11:52:56.157] xyz_f:-0.228813, -0.455259, 0.605592  Reprojection Error: 0.862731, 0.513793 Feature: 0.426639, -0.209375, 0.879853
[11:52:56.157] xyz_f:-0.317925, -0.469495, 0.595879  Reprojection Error: 0.909998, 0.540422 Feature: 0.343233, -0.225640, 0.911744
[11:52:56.157] xyz_f:-0.453868, -0.227271, 0.667917  Reprojection Error: 0.907814, 0.367948 Feature: 0.222479, 0.026975, 0.974564
[11:52:56.157] xyz_f:-0.273711, -0.461705, 0.602240  Reprojection Error: 0.883822, 0.525349 Feature: 0.385157, -0.216469, 0.897104
[11:52:56.157] xyz_f:-1.120912, -0.475795, -0.156301  Reprojection Error: -8.345304, -3.771018 Feature: -0.688546, -0.426404, 0.586587
[11:52:56.157] xyz_f:-0.410251, 0.018538, 0.702527  Reprojection Error: 0.852633, 0.267882 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.157] xyz_f:-0.658695, -0.042608, 0.627515  Reprojection Error: 1.049790, 0.266599 Feature: 0.000100, 0.194890, 0.980825
[11:52:56.157] xyz_f:-0.258265, -0.465428, 0.600558  Reprojection Error: 0.878237, 0.527261 Feature: 0.398928, -0.220500, 0.890077
[11:52:56.157] xyz_f:-0.453661, -0.212417, 0.671383  Reprojection Error: 0.904104, 0.359733 Feature: 0.222462, 0.042220, 0.974027
[11:52:56.157] xyz_f:-0.595314, -0.154531, 0.641460  Reprojection Error: 1.003980, 0.331927 Feature: 0.075390, 0.090389, 0.993049
[11:52:56.157] xyz_f:-0.462442, -0.222551, 0.667164  Reprojection Error: 0.912196, 0.365676 Feature: 0.213872, 0.031340, 0.976359
[11:52:56.157] xyz_f:-0.441428, 0.024843, 0.696842  Reprojection Error: 0.866798, 0.261514 Feature: 0.218270, 0.277985, 0.935459
[11:52:56.157] xyz_f:-0.297925, -0.459848, 0.602247  Reprojection Error: 0.894956, 0.526803 Feature: 0.362941, -0.214674, 0.906746
[11:52:56.157] xyz_f:-0.479797, -0.244806, 0.657633  Reprojection Error: 0.930160, 0.379777 Feature: 0.196657, 0.007376, 0.980445
[11:52:56.157] xyz_f:-0.144840, 0.000539, 0.709880  Reprojection Error: 0.801963, 0.310226 Feature: 0.495830, 0.257884, 0.829246
[11:52:56.157] xyz_f:-1.120912, -0.475795, -0.156301  Reprojection Error: -8.290439, -3.743467 Feature: -0.688546, -0.426404, 0.586587
[11:52:56.157] xyz_f:-0.236046, -0.655227, 0.470793  Reprojection Error: 1.012935, 0.840541 Feature: 0.387424, -0.437417, 0.811522
[11:52:56.157] xyz_f:-0.287833, -0.471464, 0.596609  Reprojection Error: 0.928032, 0.530093 Feature: 0.371103, -0.227353, 0.900329
[11:52:56.157] xyz_f:-0.241835, -0.478665, 0.593456  Reprojection Error: 0.911723, 0.528514 Feature: 0.412440, -0.235125, 0.880119
[11:52:56.157] xyz_f:-0.491197, -0.252525, 0.652742  Reprojection Error: 0.968395, 0.381033 Feature: 0.185155, -0.001346, 0.982708
[11:52:56.157] xyz_f:-0.453868, -0.227271, 0.667917  Reprojection Error: 0.939013, 0.363618 Feature: 0.222479, 0.026975, 0.974564
[11:52:56.157] xyz_f:-0.597784, -0.147800, 0.641636  Reprojection Error: 1.034060, 0.325995 Feature: 0.072491, 0.096937, 0.992647
[11:52:56.157] xyz_f:-0.658695, -0.042608, 0.627515  Reprojection Error: 1.079262, 0.264375 Feature: 0.000100, 0.194890, 0.980825
[11:52:56.157] xyz_f:-0.410251, 0.018538, 0.702527  Reprojection Error: 0.885525, 0.267525 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.157] xyz_f:-0.144840, 0.000539, 0.709880  Reprojection Error: 0.845210, 0.306995 Feature: 0.495830, 0.257884, 0.829246
[11:52:56.157] xyz_f:-0.558869, 0.172007, 0.651172  Reprojection Error: 0.984290, 0.180819 Feature: 0.077276, 0.408315, 0.909564
[11:52:56.157] it:39 	 Success 	 new_chi2: 0.007055 	 dT = -103.055718, -16.996379, 148.568105
[11:52:56.157] xyz_f:103.686451, 0.102986, 16.322333  Reprojection Error: -6.164015, -0.007679 Feature: 0.185155, -0.001346, 0.982708
[11:52:56.157] xyz_f:103.564095, -0.073274, 16.106917  Reprojection Error: -6.017604, -0.247973 Feature: 0.371103, -0.227353, 0.900329
[11:52:56.157] xyz_f:103.721651, 0.170100, 16.451593  Reprojection Error: -6.231629, 0.087315 Feature: 0.072491, 0.096937, 0.992647
[11:52:56.157] xyz_f:103.590429, -0.054097, 16.140941  Reprojection Error: -6.050381, -0.214146 Feature: 0.337962, -0.200023, 0.919659
[11:52:56.157] xyz_f:103.473900, -0.277272, 16.056624  Reprojection Error: -5.966908, -0.521740 Feature: 0.387424, -0.437417, 0.811522
[11:52:56.157] xyz_f:103.535047, -0.071545, 16.070437  Reprojection Error: -5.973959, -0.262699 Feature: 0.412440, -0.235125, 0.880119
[11:52:56.157] xyz_f:103.721866, 0.175665, 16.456115  Reprojection Error: -6.232800, 0.093622 Feature: 0.069591, 0.103482, 0.992194
[11:52:56.157] xyz_f:103.639644, 0.467204, 16.545859  Reprojection Error: -6.178822, 0.420675 Feature: 0.077276, 0.408315, 0.909564
[11:52:56.157] xyz_f:103.531572, -0.043109, 16.063802  Reprojection Error: -5.960126, -0.235283 Feature: 0.426639, -0.209375, 0.879853
[11:52:56.157] xyz_f:103.581526, -0.077976, 16.131084  Reprojection Error: -6.044780, -0.242648 Feature: 0.343233, -0.225640, 0.911744
[11:52:56.157] xyz_f:103.670065, 0.139274, 16.296329  Reprojection Error: -6.133273, 0.019133 Feature: 0.222479, 0.026975, 0.974564
[11:52:56.157] xyz_f:103.557770, -0.059406, 16.097218  Reprojection Error: -6.003937, -0.237607 Feature: 0.385157, -0.216469, 0.897104
[11:52:56.157] xyz_f:103.498522, -0.551064, 17.120983  Reprojection Error: -7.218946, -0.694738 Feature: -0.688546, -0.426404, 0.586587
[11:52:56.157] xyz_f:103.619513, 0.381429, 16.344575  Reprojection Error: -6.071020, 0.270933 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.157] xyz_f:103.726533, 0.245774, 16.547638  Reprojection Error: -6.268257, 0.183847 Feature: 0.000100, 0.194890, 0.980825
[11:52:56.157] xyz_f:103.547807, -0.060241, 16.084756  Reprojection Error: -5.989441, -0.243987 Feature: 0.398928, -0.220500, 0.890077
[11:52:56.157] xyz_f:103.669545, 0.153963, 16.300409  Reprojection Error: -6.131541, 0.033901 Feature: 0.222462, 0.042220, 0.974027
[11:52:56.157] xyz_f:103.721385, 0.164531, 16.447082  Reprojection Error: -6.230452, 0.081019 Feature: 0.075390, 0.090389, 0.993049
[11:52:56.157] xyz_f:103.673762, 0.141425, 16.305165  Reprojection Error: -6.139289, 0.023425 Feature: 0.213872, 0.031340, 0.976359
[11:52:56.157] xyz_f:103.632929, 0.378377, 16.373812  Reprojection Error: -6.095859, 0.274056 Feature: 0.218270, 0.277985, 0.935459
[11:52:56.157] xyz_f:103.572194, -0.062708, 16.116474  Reprojection Error: -6.026212, -0.232861 Feature: 0.362941, -0.214674, 0.906746
[11:52:56.157] xyz_f:103.681641, 0.114177, 16.314265  Reprojection Error: -6.154696, 0.000524 Feature: 0.196657, 0.007376, 0.980445
[11:52:56.157] xyz_f:103.466608, 0.422704, 16.130713  Reprojection Error: -5.816333, 0.284781 Feature: 0.495830, 0.257884, 0.829246
[11:52:56.157] xyz_f:103.498522, -0.551064, 17.120983  Reprojection Error: -7.164081, -0.667187 Feature: -0.688546, -0.426404, 0.586587
[11:52:56.157] xyz_f:103.473900, -0.277272, 16.056624  Reprojection Error: -5.932758, -0.533941 Feature: 0.387424, -0.437417, 0.811522
[11:52:56.157] xyz_f:103.564095, -0.073274, 16.106917  Reprojection Error: -5.984206, -0.255598 Feature: 0.371103, -0.227353, 0.900329
[11:52:56.157] xyz_f:103.535047, -0.071545, 16.070437  Reprojection Error: -5.938358, -0.273607 Feature: 0.412440, -0.235125, 0.880119
[11:52:56.157] xyz_f:103.686451, 0.102986, 16.322333  Reprojection Error: -6.136546, -0.012144 Feature: 0.185155, -0.001346, 0.982708
[11:52:56.157] xyz_f:103.670065, 0.139274, 16.296329  Reprojection Error: -6.102074, 0.014803 Feature: 0.222479, 0.026975, 0.974564
[11:52:56.157] xyz_f:103.721651, 0.170100, 16.451593  Reprojection Error: -6.202253, 0.085307 Feature: 0.072491, 0.096937, 0.992647
[11:52:56.157] xyz_f:103.726533, 0.245774, 16.547638  Reprojection Error: -6.238785, 0.181624 Feature: 0.000100, 0.194890, 0.980825
[11:52:56.157] xyz_f:103.619513, 0.381429, 16.344575  Reprojection Error: -6.038127, 0.270576 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.157] xyz_f:103.466608, 0.422704, 16.130713  Reprojection Error: -5.773087, 0.281549 Feature: 0.495830, 0.257884, 0.829246
[11:52:56.157] xyz_f:103.639644, 0.467204, 16.545859  Reprojection Error: -6.137742, 0.416733 Feature: 0.077276, 0.408315, 0.909564
[11:52:56.157] it:40 	 Success 	 new_chi2: 0.000000 	 dT = 0.000000, 0.000000, 0.000000
[11:52:56.157] After pose optimization, distance between two frames:23.633753 ,angle between two frames:0.411799
[11:52:56.247] Reprojection Map nPoint:22 ,nCell:10 ,nMatches:10 ,distance between two frames:2.764875 ,angle between two frames:-3.566373
[11:52:56.247] Init estimate scale:1.630300
[11:52:56.247] xyz_f:2.451586, -0.251497, 1.039121  Reprojection Error: -2.143406, 0.236193 Feature: 0.211017, -0.005703, 0.977466
[11:52:56.247] xyz_f:2.350464, -0.143057, 1.022430  Reprojection Error: -2.196496, 0.235565 Feature: 0.101413, 0.094721, 0.990325
[11:52:56.247] xyz_f:2.617565, -0.449566, 1.003970  Reprojection Error: -2.207668, 0.220952 Feature: 0.363061, -0.206122, 0.908681
[11:52:56.247] xyz_f:2.712315, -0.657518, 0.874324  Reprojection Error: -2.590631, 0.200820 Feature: 0.408848, -0.440542, 0.799228
[11:52:56.247] xyz_f:2.702597, -0.483470, 0.995867  Reprojection Error: -2.209593, 0.207417 Feature: 0.436959, -0.240967, 0.866604
[11:52:56.247] xyz_f:2.350782, -0.136593, 1.023579  Reprojection Error: -2.194168, 0.235765 Feature: 0.101404, 0.101262, 0.989678
[11:52:56.247] xyz_f:2.403389, 0.172341, 1.039806  Reprojection Error: -2.185342, 0.279226 Feature: 0.114398, 0.403870, 0.907635
[11:52:56.247] xyz_f:2.711998, -0.460399, 1.008833  Reprojection Error: -2.171399, 0.208158 Feature: 0.448381, -0.215327, 0.867519
[11:52:56.247] xyz_f:2.626225, -0.473063, 0.992985  Reprojection Error: -2.235791, 0.219119 Feature: 0.368254, -0.231661, 0.900401
[11:52:56.247] xyz_f:2.491125, -0.227213, 1.057831  Reprojection Error: -2.095452, 0.238141 Feature: 0.251103, 0.022595, 0.967697
[11:52:56.247] xyz_f:2.670184, -0.466055, 1.002485  Reprojection Error: -2.200156, 0.213445 Feature: 0.409924, -0.222432, 0.884583
[11:52:56.247] xyz_f:1.874254, -0.454756, 0.187640  Reprojection Error: -11.107496, 1.724178 Feature: -0.675839, -0.422416, 0.603992
[11:52:56.247] xyz_f:2.537528, 0.019403, 1.096732  Reprojection Error: -2.012156, 0.276222 Feature: 0.277925, 0.270876, 0.921620
[11:52:56.247] xyz_f:2.292737, -0.036832, 1.004588  Reprojection Error: -2.252693, 0.233140 Feature: 0.029007, 0.192709, 0.980827
[11:52:56.247] xyz_f:2.685753, -0.470020, 1.001871  Reprojection Error: -2.197801, 0.210995 Feature: 0.423585, -0.226422, 0.877103
[11:52:56.247] xyz_f:2.491348, -0.212394, 1.061371  Reprojection Error: -2.087698, 0.239220 Feature: 0.251085, 0.037826, 0.967226
[11:52:56.247] xyz_f:2.352814, -0.149827, 1.022401  Reprojection Error: -2.195964, 0.235553 Feature: 0.104312, 0.088175, 0.990628
[11:52:56.247] xyz_f:2.471378, -0.221463, 1.053261  Reprojection Error: -2.108812, 0.237992 Feature: 0.231075, 0.026967, 0.972562
[11:52:56.247] xyz_f:2.509352, 0.023867, 1.089694  Reprojection Error: -2.034137, 0.272367 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.247] xyz_f:2.645926, -0.463796, 1.000798  Reprojection Error: -2.210407, 0.216823 Feature: 0.387861, -0.220687, 0.894908
[11:52:56.247] xyz_f:2.465579, -0.244236, 1.045701  Reprojection Error: -2.126516, 0.236654 Feature: 0.225358, 0.003013, 0.974271
[11:52:56.247] xyz_f:2.802534, -0.008084, 1.121723  Reprojection Error: -1.857245, 0.314961 Feature: 0.522505, 0.250794, 0.814918
[11:52:56.247] xyz_f:1.874254, -0.454756, 0.187640  Reprojection Error: -11.054378, 1.754215 Feature: -0.675839, -0.422416, 0.603992
[11:52:56.247] xyz_f:2.712315, -0.657518, 0.874324  Reprojection Error: -2.563890, 0.189555 Feature: 0.408848, -0.440542, 0.799228
[11:52:56.247] xyz_f:2.617565, -0.449566, 1.003970  Reprojection Error: -2.182504, 0.219259 Feature: 0.363061, -0.206122, 0.908681
[11:52:56.247] xyz_f:2.702597, -0.483470, 0.995867  Reprojection Error: -2.181354, 0.202114 Feature: 0.436959, -0.240967, 0.866604
[11:52:56.247] xyz_f:2.451586, -0.251497, 1.039121  Reprojection Error: -2.115537, 0.236163 Feature: 0.211017, -0.005703, 0.977466
[11:52:56.247] xyz_f:2.350464, -0.143057, 1.022430  Reprojection Error: -2.172801, 0.238012 Feature: 0.101413, 0.094721, 0.990325
[11:52:56.247] xyz_f:2.292737, -0.036832, 1.004588  Reprojection Error: -2.229051, 0.235603 Feature: 0.029007, 0.192709, 0.980827
[11:52:56.247] xyz_f:2.537528, 0.019403, 1.096732  Reprojection Error: -1.985176, 0.278129 Feature: 0.277925, 0.270876, 0.921620
[11:52:56.247] xyz_f:2.802534, -0.008084, 1.121723  Reprojection Error: -1.820622, 0.316491 Feature: 0.522505, 0.250794, 0.814918
[11:52:56.247] xyz_f:2.403389, 0.172341, 1.039806  Reprojection Error: -2.156504, 0.280678 Feature: 0.114398, 0.403870, 0.907635
[11:52:56.247] it:0 	 Success 	 new_chi2: 120.140772 	 dT = -0.146575, 0.027997, -0.000579
[11:52:56.247] xyz_f:-0.335471, -0.251450, 1.066944  Reprojection Error: 0.530304, 0.229838 Feature: 0.211017, -0.005703, 0.977466
[11:52:56.247] xyz_f:-0.436567, -0.142995, 1.050196  Reprojection Error: 0.518105, 0.231807 Feature: 0.101413, 0.094721, 0.990325
[11:52:56.247] xyz_f:-0.169502, -0.449544, 1.031885  Reprojection Error: 0.563811, 0.208817 Feature: 0.363061, -0.206122, 0.908681
[11:52:56.247] xyz_f:-0.074711, -0.657510, 0.902293  Reprojection Error: 0.594355, 0.177501 Feature: 0.408848, -0.440542, 0.799228
[11:52:56.247] xyz_f:-0.084470, -0.483461, 1.023831  Reprojection Error: 0.586724, 0.194149 Feature: 0.436959, -0.240967, 0.866604
[11:52:56.247] xyz_f:-0.436249, -0.136532, 1.051345  Reprojection Error: 0.517405, 0.232182 Feature: 0.101404, 0.101262, 0.989678
[11:52:56.247] xyz_f:-0.383605, 0.172395, 1.067602  Reprojection Error: 0.485353, 0.283491 Feature: 0.114398, 0.403870, 0.907635
[11:52:56.247] xyz_f:-0.075073, -0.460391, 1.036801  Reprojection Error: 0.589263, 0.195840 Feature: 0.448381, -0.215327, 0.867519
[11:52:56.247] xyz_f:-0.160839, -0.473043, 1.020905  Reprojection Error: 0.566534, 0.206070 Feature: 0.368254, -0.231661, 0.900401
[11:52:56.247] xyz_f:-0.295938, -0.227172, 1.085676  Reprojection Error: 0.532069, 0.232595 Feature: 0.251103, 0.022595, 0.967697
[11:52:56.247] xyz_f:-0.116884, -0.466041, 1.030430  Reprojection Error: 0.576841, 0.200823 Feature: 0.409924, -0.222432, 0.884583
[11:52:56.247] xyz_f:-0.912357, -0.454623, 0.215140  Reprojection Error: 3.121798, 1.413772 Feature: -0.675839, -0.422416, 0.603992
[11:52:56.248] xyz_f:-0.249520, 0.019436, 1.124603  Reprojection Error: 0.523435, 0.276630 Feature: 0.277925, 0.270876, 0.921620
[11:52:56.248] xyz_f:-0.494268, -0.036761, 1.032322  Reprojection Error: 0.508367, 0.232086 Feature: 0.029007, 0.192709, 0.980827
[11:52:56.248] xyz_f:-0.101315, -0.470009, 1.029825  Reprojection Error: 0.581318, 0.198249 Feature: 0.423585, -0.226422, 0.877103
[11:52:56.248] xyz_f:-0.295716, -0.212353, 1.089216  Reprojection Error: 0.531087, 0.234067 Feature: 0.251085, 0.037826, 0.967226
[11:52:56.248] xyz_f:-0.434218, -0.149765, 1.050169  Reprojection Error: 0.518774, 0.231620 Feature: 0.104312, 0.088175, 0.990628
[11:52:56.248] xyz_f:-0.315682, -0.221419, 1.081095  Reprojection Error: 0.529596, 0.232538 Feature: 0.231075, 0.026967, 0.972562
[11:52:56.248] xyz_f:-0.277691, 0.023905, 1.117549  Reprojection Error: 0.517151, 0.272879 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.248] xyz_f:-0.141141, -0.463778, 1.028730  Reprojection Error: 0.570608, 0.204223 Feature: 0.387861, -0.220687, 0.894908
[11:52:56.248] xyz_f:-0.321480, -0.244192, 1.073531  Reprojection Error: 0.530769, 0.230558 Feature: 0.225358, 0.003013, 0.974271
[11:52:56.248] xyz_f:0.015467, -0.008090, 1.149742  Reprojection Error: 0.627722, 0.314790 Feature: 0.522505, 0.250794, 0.814918
[11:52:56.248] xyz_f:-0.912357, -0.454623, 0.215140  Reprojection Error: 3.174916, 1.443809 Feature: -0.675839, -0.422416, 0.603992
[11:52:56.248] xyz_f:-0.074711, -0.657510, 0.902293  Reprojection Error: 0.621096, 0.166236 Feature: 0.408848, -0.440542, 0.799228
[11:52:56.248] xyz_f:-0.169502, -0.449544, 1.031885  Reprojection Error: 0.588975, 0.207123 Feature: 0.363061, -0.206122, 0.908681
[11:52:56.248] xyz_f:-0.084470, -0.483461, 1.023831  Reprojection Error: 0.614963, 0.188846 Feature: 0.436959, -0.240967, 0.866604
[11:52:56.248] xyz_f:-0.335471, -0.251450, 1.066944  Reprojection Error: 0.558173, 0.229808 Feature: 0.211017, -0.005703, 0.977466
[11:52:56.248] xyz_f:-0.436567, -0.142995, 1.050196  Reprojection Error: 0.541800, 0.234254 Feature: 0.101413, 0.094721, 0.990325
[11:52:56.248] xyz_f:-0.494268, -0.036761, 1.032322  Reprojection Error: 0.532008, 0.234549 Feature: 0.029007, 0.192709, 0.980827
[11:52:56.248] xyz_f:-0.249520, 0.019436, 1.124603  Reprojection Error: 0.550416, 0.278538 Feature: 0.277925, 0.270876, 0.921620
[11:52:56.248] xyz_f:0.015467, -0.008090, 1.149742  Reprojection Error: 0.664345, 0.316321 Feature: 0.522505, 0.250794, 0.814918
[11:52:56.248] xyz_f:-0.383605, 0.172395, 1.067602  Reprojection Error: 0.514191, 0.284943 Feature: 0.114398, 0.403870, 0.907635
[11:52:56.248] it:1 	 Success 	 new_chi2: 25.960602 	 dT = -0.003348, 0.014218, 0.050531
[11:52:56.248] xyz_f:-0.115853, -0.255207, 1.095186  Reprojection Error: 0.321666, 0.227192 Feature: 0.211017, -0.005703, 0.977466
[11:52:56.248] xyz_f:-0.219056, -0.148089, 1.083424  Reprojection Error: 0.304592, 0.232333 Feature: 0.101413, 0.094721, 0.990325
[11:52:56.248] xyz_f:0.050783, -0.451127, 1.052008  Reprojection Error: 0.351275, 0.201988 Feature: 0.363061, -0.206122, 0.908681
[11:52:56.248] xyz_f:0.141849, -0.657877, 0.917879  Reprojection Error: 0.357014, 0.165526 Feature: 0.408848, -0.440542, 0.799228
[11:52:56.248] xyz_f:0.135757, -0.483931, 1.039804  Reprojection Error: 0.373660, 0.187347 Feature: 0.436959, -0.240967, 0.866604
[11:52:56.248] xyz_f:-0.218766, -0.141622, 1.084559  Reprojection Error: 0.304171, 0.232898 Feature: 0.101404, 0.101262, 0.989678
[11:52:56.248] xyz_f:-0.169434, 0.167972, 1.098327  Reprojection Error: 0.280305, 0.292035 Feature: 0.114398, 0.403870, 0.907635
[11:52:56.248] xyz_f:0.145473, -0.460737, 1.052307  Reprojection Error: 0.378613, 0.189625 Feature: 0.448381, -0.215327, 0.867519
[11:52:56.248] xyz_f:0.059207, -0.474513, 1.040611  Reprojection Error: 0.352093, 0.198708 Feature: 0.368254, -0.231661, 0.900401
[11:52:56.248] xyz_f:-0.075775, -0.230409, 1.111974  Reprojection Error: 0.327629, 0.230557 Feature: 0.251103, 0.022595, 0.967697
[11:52:56.248] xyz_f:0.103478, -0.466934, 1.047982  Reprojection Error: 0.364668, 0.194101 Feature: 0.409924, -0.222432, 0.884583
[11:52:56.248] xyz_f:-0.730905, -0.466177, 0.272477  Reprojection Error: 1.563495, 1.011512 Feature: -0.675839, -0.422416, 0.603992
[11:52:56.248] xyz_f:-0.030740, 0.016798, 1.148669  Reprojection Error: 0.328323, 0.279289 Feature: 0.277925, 0.270876, 0.921620
[11:52:56.248] xyz_f:-0.278943, -0.042624, 1.068420  Reprojection Error: 0.290654, 0.236371 Feature: 0.029007, 0.192709, 0.980827
[11:52:56.248] xyz_f:0.119050, -0.470698, 1.046617  Reprojection Error: 0.369190, 0.191586 Feature: 0.423585, -0.226422, 0.877103
[11:52:56.248] xyz_f:-0.075573, -0.215588, 1.115504  Reprojection Error: 0.327341, 0.232372 Feature: 0.251085, 0.037826, 0.967226
[11:52:56.248] xyz_f:-0.216622, -0.154828, 1.083280  Reprojection Error: 0.305268, 0.231934 Feature: 0.104312, 0.088175, 0.990628
[11:52:56.248] xyz_f:-0.095792, -0.224916, 1.108364  Reprojection Error: 0.324020, 0.230654 Feature: 0.231075, 0.026967, 0.972562
[11:52:56.248] xyz_f:-0.059278, 0.020895, 1.142999  Reprojection Error: 0.320531, 0.275989 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.248] xyz_f:0.079140, -0.464989, 1.047468  Reprojection Error: 0.357855, 0.197314 Feature: 0.387861, -0.220687, 0.894908
[11:52:56.248] xyz_f:-0.101654, -0.247765, 1.101085  Reprojection Error: 0.323630, 0.228111 Feature: 0.225358, 0.003013, 0.974271
[11:52:56.248] xyz_f:0.235495, -0.007254, 1.160841  Reprojection Error: 0.438308, 0.314003 Feature: 0.522505, 0.250794, 0.814918
[11:52:56.248] xyz_f:-0.730905, -0.466177, 0.272477  Reprojection Error: 1.616613, 1.041549 Feature: -0.675839, -0.422416, 0.603992
[11:52:56.248] xyz_f:0.141849, -0.657877, 0.917879  Reprojection Error: 0.383755, 0.154262 Feature: 0.408848, -0.440542, 0.799228
[11:52:56.248] xyz_f:0.050783, -0.451127, 1.052008  Reprojection Error: 0.376439, 0.200294 Feature: 0.363061, -0.206122, 0.908681
[11:52:56.248] xyz_f:0.135757, -0.483931, 1.039804  Reprojection Error: 0.401899, 0.182044 Feature: 0.436959, -0.240967, 0.866604
[11:52:56.248] xyz_f:-0.115853, -0.255207, 1.095186  Reprojection Error: 0.349535, 0.227162 Feature: 0.211017, -0.005703, 0.977466
[11:52:56.248] xyz_f:-0.219056, -0.148089, 1.083424  Reprojection Error: 0.328287, 0.234780 Feature: 0.101413, 0.094721, 0.990325
[11:52:56.248] xyz_f:-0.278943, -0.042624, 1.068420  Reprojection Error: 0.314296, 0.238834 Feature: 0.029007, 0.192709, 0.980827
[11:52:56.248] xyz_f:-0.030740, 0.016798, 1.148669  Reprojection Error: 0.355303, 0.281197 Feature: 0.277925, 0.270876, 0.921620
[11:52:56.248] xyz_f:0.235495, -0.007254, 1.160841  Reprojection Error: 0.474932, 0.315533 Feature: 0.522505, 0.250794, 0.814918
[11:52:56.248] xyz_f:-0.169434, 0.167972, 1.098327  Reprojection Error: 0.309143, 0.293487 Feature: 0.114398, 0.403870, 0.907635
[11:52:56.248] it:2 	 Success 	 new_chi2: 11.569705 	 dT = -0.013816, 0.016653, 0.045628
[11:52:56.248] xyz_f:-0.067825, -0.258053, 1.122459  Reprojection Error: 0.276308, 0.224065 Feature: 0.211017, -0.005703, 0.977466
[11:52:56.248] xyz_f:-0.172703, -0.152163, 1.115284  Reprojection Error: 0.257255, 0.232081 Feature: 0.101413, 0.094721, 0.990325
[11:52:56.248] xyz_f:0.099048, -0.452003, 1.071930  Reprojection Error: 0.307146, 0.194835 Feature: 0.363061, -0.206122, 0.908681
[11:52:56.248] xyz_f:0.186551, -0.657698, 0.933865  Reprojection Error: 0.311792, 0.153065 Feature: 0.408848, -0.440542, 0.799228
[11:52:56.248] xyz_f:0.183783, -0.483805, 1.055986  Reprojection Error: 0.330181, 0.180096 Feature: 0.436959, -0.240967, 0.866604
[11:52:56.248] xyz_f:-0.172440, -0.145693, 1.116406  Reprojection Error: 0.256922, 0.232820 Feature: 0.101404, 0.101262, 0.989678
[11:52:56.248] xyz_f:-0.126208, 0.164466, 1.128068  Reprojection Error: 0.237919, 0.299176 Feature: 0.114398, 0.403870, 0.907635
[11:52:56.248] xyz_f:0.193766, -0.460494, 1.068055  Reprojection Error: 0.335435, 0.182942 Feature: 0.448381, -0.215327, 0.867519
[11:52:56.248] xyz_f:0.107237, -0.475291, 1.060167  Reprojection Error: 0.307838, 0.191030 Feature: 0.368254, -0.231661, 0.900401
[11:52:56.248] xyz_f:-0.027342, -0.232779, 1.137471  Reprojection Error: 0.283522, 0.227996 Feature: 0.251103, 0.022595, 0.967697
[11:52:56.248] xyz_f:0.151698, -0.467188, 1.065583  Reprojection Error: 0.321048, 0.186979 Feature: 0.409924, -0.222432, 0.884583
[11:52:56.248] xyz_f:-0.715993, -0.476482, 0.327592  Reprojection Error: 1.066673, 0.755128 Feature: -0.675839, -0.422416, 0.603992
[11:52:56.248] xyz_f:0.016344, 0.014952, 1.172211  Reprojection Error: 0.287618, 0.281158 Feature: 0.277925, 0.270876, 0.921620
[11:52:56.248] xyz_f:-0.234434, -0.047417, 1.102960  Reprojection Error: 0.242124, 0.239467 Feature: 0.029007, 0.192709, 0.980827
[11:52:56.248] xyz_f:0.167237, -0.470769, 1.063532  Reprojection Error: 0.325690, 0.184499 Feature: 0.423585, -0.226422, 0.877103
[11:52:56.248] xyz_f:-0.027160, -0.217955, 1.140993  Reprojection Error: 0.283397, 0.230130 Feature: 0.251085, 0.037826, 0.967226
[11:52:56.248] xyz_f:-0.170199, -0.158873, 1.115031  Reprojection Error: 0.257940, 0.231492 Feature: 0.104312, 0.088175, 0.990628
[11:52:56.248] xyz_f:-0.047562, -0.227523, 1.134748  Reprojection Error: 0.279508, 0.228233 Feature: 0.231075, 0.026967, 0.972562
[11:52:56.248] xyz_f:-0.012462, 0.018711, 1.167805  Reprojection Error: 0.279340, 0.278247 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.248] xyz_f:0.127339, -0.465531, 1.066142  Reprojection Error: 0.313970, 0.190047 Feature: 0.387861, -0.220687, 0.894908
[11:52:56.248] xyz_f:-0.053469, -0.250442, 1.127729  Reprojection Error: 0.278722, 0.225169 Feature: 0.225358, 0.003013, 0.974271
[11:52:56.248] xyz_f:0.283123, -0.005952, 1.172635  Reprojection Error: 0.399733, 0.312830 Feature: 0.522505, 0.250794, 0.814918
[11:52:56.248] xyz_f:-0.715993, -0.476482, 0.327592  Reprojection Error: 1.119791, 0.785164 Feature: -0.675839, -0.422416, 0.603992
[11:52:56.248] xyz_f:0.186551, -0.657698, 0.933865  Reprojection Error: 0.338533, 0.141801 Feature: 0.408848, -0.440542, 0.799228
[11:52:56.248] xyz_f:0.099048, -0.452003, 1.071930  Reprojection Error: 0.332310, 0.193142 Feature: 0.363061, -0.206122, 0.908681
[11:52:56.248] xyz_f:0.183783, -0.483805, 1.055986  Reprojection Error: 0.358420, 0.174793 Feature: 0.436959, -0.240967, 0.866604
[11:52:56.248] xyz_f:-0.067825, -0.258053, 1.122459  Reprojection Error: 0.304176, 0.224035 Feature: 0.211017, -0.005703, 0.977466
[11:52:56.248] xyz_f:-0.172703, -0.152163, 1.115284  Reprojection Error: 0.280950, 0.234528 Feature: 0.101413, 0.094721, 0.990325
[11:52:56.248] xyz_f:-0.234434, -0.047417, 1.102960  Reprojection Error: 0.265766, 0.241930 Feature: 0.029007, 0.192709, 0.980827
[11:52:56.248] xyz_f:0.016344, 0.014952, 1.172211  Reprojection Error: 0.314599, 0.283065 Feature: 0.277925, 0.270876, 0.921620
[11:52:56.248] xyz_f:0.283123, -0.005952, 1.172635  Reprojection Error: 0.436357, 0.314360 Feature: 0.522505, 0.250794, 0.814918
[11:52:56.248] xyz_f:-0.126208, 0.164466, 1.128068  Reprojection Error: 0.266757, 0.300628 Feature: 0.114398, 0.403870, 0.907635
[11:52:56.248] it:3 	 Success 	 new_chi2: 7.748030 	 dT = -0.017565, 0.017735, 0.044917
[11:52:56.248] xyz_f:-0.010887, -0.260341, 1.148731  Reprojection Error: 0.225359, 0.220799 Feature: 0.211017, -0.005703, 0.977466
[11:52:56.248] xyz_f:-0.117201, -0.155679, 1.146139  Reprojection Error: 0.204661, 0.231476 Feature: 0.101413, 0.094721, 0.990325
[11:52:56.248] xyz_f:0.155881, -0.452351, 1.090964  Reprojection Error: 0.256664, 0.187798 Feature: 0.363061, -0.206122, 0.908681
[11:52:56.248] xyz_f:0.239698, -0.657050, 0.949182  Reprojection Error: 0.259024, 0.141018 Feature: 0.408848, -0.440542, 0.799228
[11:52:56.248] xyz_f:0.240208, -0.483170, 1.071351  Reprojection Error: 0.280010, 0.172932 Feature: 0.436959, -0.240967, 0.866604
[11:52:56.248] xyz_f:-0.116965, -0.149205, 1.147250  Reprojection Error: 0.204414, 0.232373 Feature: 0.101404, 0.101262, 0.989678
[11:52:56.248] xyz_f:-0.073878, 0.161472, 1.156974  Reprojection Error: 0.189893, 0.305405 Feature: 0.114398, 0.403870, 0.907635
[11:52:56.248] xyz_f:0.250434, -0.459742, 1.082983  Reprojection Error: 0.285610, 0.176305 Feature: 0.448381, -0.215327, 0.867519
[11:52:56.248] xyz_f:0.163822, -0.475545, 1.078851  Reprojection Error: 0.257140, 0.183502 Feature: 0.368254, -0.231661, 0.900401
[11:52:56.248] xyz_f:0.029913, -0.234594, 1.161981  Reprojection Error: 0.233742, 0.225241 Feature: 0.251103, 0.022595, 0.967697
[11:52:56.248] xyz_f:0.208378, -0.466925, 1.082336  Reprojection Error: 0.270882, 0.179950 Feature: 0.409924, -0.222432, 0.884583
[11:52:56.248] xyz_f:-0.690337, -0.486488, 0.382669  Reprojection Error: 0.685050, 0.571929 Feature: -0.675839, -0.422416, 0.603992
[11:52:56.248] xyz_f:0.072183, 0.013636, 1.194855  Reprojection Error: 0.241150, 0.282500 Feature: 0.277925, 0.270876, 0.921620
[11:52:56.248] xyz_f:-0.180621, -0.051660, 1.136530  Reprojection Error: 0.188498, 0.241930 Feature: 0.029007, 0.192709, 0.980827
[11:52:56.248] xyz_f:0.223855, -0.470325, 1.079612  Reprojection Error: 0.275589, 0.177495 Feature: 0.423585, -0.226422, 0.877103
[11:52:56.248] xyz_f:0.030075, -0.219768, 1.165495  Reprojection Error: 0.233788, 0.227670 Feature: 0.251085, 0.037826, 0.967226
[11:52:56.248] xyz_f:-0.114632, -0.162359, 1.145776  Reprojection Error: 0.205347, 0.230711 Feature: 0.104312, 0.088175, 0.990628
[11:52:56.248] xyz_f:0.009534, -0.229575, 1.160138  Reprojection Error: 0.229376, 0.225613 Feature: 0.231075, 0.026967, 0.972562
[11:52:56.248] xyz_f:0.043171, 0.017059, 1.191704  Reprojection Error: 0.232443, 0.279955 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.248] xyz_f:0.184049, -0.465551, 1.083951  Reprojection Error: 0.263614, 0.182891 Feature: 0.387861, -0.220687, 0.894908
[11:52:56.248] xyz_f:0.003595, -0.252562, 1.153376  Reprojection Error: 0.228192, 0.222069 Feature: 0.225358, 0.003013, 0.974271
[11:52:56.248] xyz_f:0.338954, -0.004166, 1.183703  Reprojection Error: 0.354824, 0.311273 Feature: 0.522505, 0.250794, 0.814918
[11:52:56.248] xyz_f:-0.690337, -0.486488, 0.382669  Reprojection Error: 0.738168, 0.601965 Feature: -0.675839, -0.422416, 0.603992
[11:52:56.248] xyz_f:0.239698, -0.657050, 0.949182  Reprojection Error: 0.285765, 0.129753 Feature: 0.408848, -0.440542, 0.799228
[11:52:56.248] xyz_f:0.155881, -0.452351, 1.090964  Reprojection Error: 0.281828, 0.186104 Feature: 0.363061, -0.206122, 0.908681
[11:52:56.248] xyz_f:0.240208, -0.483170, 1.071351  Reprojection Error: 0.308248, 0.167629 Feature: 0.436959, -0.240967, 0.866604
[11:52:56.248] xyz_f:-0.010887, -0.260341, 1.148731  Reprojection Error: 0.253228, 0.220768 Feature: 0.211017, -0.005703, 0.977466
[11:52:56.248] xyz_f:-0.117201, -0.155679, 1.146139  Reprojection Error: 0.228356, 0.233923 Feature: 0.101413, 0.094721, 0.990325
[11:52:56.248] xyz_f:-0.180621, -0.051660, 1.136530  Reprojection Error: 0.212140, 0.244393 Feature: 0.029007, 0.192709, 0.980827
[11:52:56.248] xyz_f:0.072183, 0.013636, 1.194855  Reprojection Error: 0.268130, 0.284408 Feature: 0.277925, 0.270876, 0.921620
[11:52:56.248] xyz_f:0.338954, -0.004166, 1.183703  Reprojection Error: 0.391448, 0.312804 Feature: 0.522505, 0.250794, 0.814918
[11:52:56.248] xyz_f:-0.073878, 0.161472, 1.156974  Reprojection Error: 0.218731, 0.306858 Feature: 0.114398, 0.403870, 0.907635
[11:52:56.248] it:4 	 Success 	 new_chi2: 5.188925 	 dT = -0.021381, 0.018107, 0.043296
[11:52:56.248] xyz_f:0.045811, -0.262060, 1.173253  Reprojection Error: 0.176836, 0.217527 Feature: 0.211017, -0.005703, 0.977466
[11:52:56.248] xyz_f:-0.061684, -0.158596, 1.175131  Reprojection Error: 0.154895, 0.230607 Feature: 0.101413, 0.094721, 0.990325
[11:52:56.248] xyz_f:0.212158, -0.452203, 1.108519  Reprojection Error: 0.208158, 0.181098 Feature: 0.363061, -0.206122, 0.908681
[11:52:56.248] xyz_f:0.292262, -0.655984, 0.963309  Reprojection Error: 0.208160, 0.129760 Feature: 0.408848, -0.440542, 0.799228
[11:52:56.248] xyz_f:0.295932, -0.482080, 1.085390  Reprojection Error: 0.231570, 0.166095 Feature: 0.436959, -0.240967, 0.866604
[11:52:56.248] xyz_f:-0.061474, -0.152120, 1.176234  Reprojection Error: 0.154725, 0.231646 Feature: 0.101404, 0.101262, 0.989678
[11:52:56.248] xyz_f:-0.021501, 0.159023, 1.184220  Reprojection Error: 0.144196, 0.310685 Feature: 0.114398, 0.403870, 0.907635
[11:52:56.248] xyz_f:0.306372, -0.458536, 1.096589  Reprojection Error: 0.237469, 0.169938 Feature: 0.448381, -0.215327, 0.867519
[11:52:56.248] xyz_f:0.219845, -0.475310, 1.096079  Reprojection Error: 0.208414, 0.176359 Feature: 0.368254, -0.231661, 0.900401
[11:52:56.248] xyz_f:0.086839, -0.235855, 1.184791  Reprojection Error: 0.186190, 0.222418 Feature: 0.251103, 0.022595, 0.967697
[11:52:56.248] xyz_f:0.264409, -0.466190, 1.097700  Reprojection Error: 0.222533, 0.173243 Feature: 0.409924, -0.222432, 0.884583
[11:52:56.248] xyz_f:-0.662496, -0.495984, 0.436214  Reprojection Error: 0.399788, 0.437646 Feature: -0.675839, -0.422416, 0.603992
[11:52:56.248] xyz_f:0.127662, 0.012842, 1.215927  Reprojection Error: 0.196569, 0.283352 Feature: 0.277925, 0.270876, 0.921620
[11:52:56.248] xyz_f:-0.126612, -0.055296, 1.168208  Reprojection Error: 0.137956, 0.243811 Feature: 0.029007, 0.192709, 0.980827
[11:52:56.248] xyz_f:0.279796, -0.469417, 1.094330  Reprojection Error: 0.227259, 0.170806 Feature: 0.423585, -0.226422, 0.877103
[11:52:56.248] xyz_f:0.086981, -0.221027, 1.188299  Reprojection Error: 0.186395, 0.225110 Feature: 0.251085, 0.037826, 0.967226
[11:52:56.248] xyz_f:-0.059058, -0.165247, 1.174660  Reprojection Error: 0.155576, 0.229686 Feature: 0.104312, 0.088175, 0.990628
[11:52:56.248] xyz_f:0.066346, -0.231064, 1.183803  Reprojection Error: 0.181550, 0.222916 Feature: 0.231075, 0.026967, 0.972562
[11:52:56.248] xyz_f:0.098507, 0.015938, 1.213992  Reprojection Error: 0.187526, 0.281141 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.248] xyz_f:0.240155, -0.465088, 1.100331  Reprojection Error: 0.215152, 0.176077 Feature: 0.387861, -0.220687, 0.894908
[11:52:56.248] xyz_f:0.060387, -0.254118, 1.177289  Reprojection Error: 0.180016, 0.218942 Feature: 0.225358, 0.003013, 0.974271
[11:52:56.248] xyz_f:0.393916, -0.001974, 1.193628  Reprojection Error: 0.311158, 0.309407 Feature: 0.522505, 0.250794, 0.814918
[11:52:56.248] xyz_f:-0.662496, -0.495984, 0.436214  Reprojection Error: 0.452906, 0.467683 Feature: -0.675839, -0.422416, 0.603992
[11:52:56.248] xyz_f:0.292262, -0.655984, 0.963309  Reprojection Error: 0.234901, 0.118495 Feature: 0.408848, -0.440542, 0.799228
[11:52:56.248] xyz_f:0.212158, -0.452203, 1.108519  Reprojection Error: 0.233322, 0.179404 Feature: 0.363061, -0.206122, 0.908681
[11:52:56.248] xyz_f:0.295932, -0.482080, 1.085390  Reprojection Error: 0.259809, 0.160792 Feature: 0.436959, -0.240967, 0.866604
[11:52:56.248] xyz_f:0.045811, -0.262060, 1.173253  Reprojection Error: 0.204704, 0.217497 Feature: 0.211017, -0.005703, 0.977466
[11:52:56.248] xyz_f:-0.061684, -0.158596, 1.175131  Reprojection Error: 0.178590, 0.233054 Feature: 0.101413, 0.094721, 0.990325
[11:52:56.248] xyz_f:-0.126612, -0.055296, 1.168208  Reprojection Error: 0.161598, 0.246273 Feature: 0.029007, 0.192709, 0.980827
[11:52:56.248] xyz_f:0.127662, 0.012842, 1.215927  Reprojection Error: 0.223550, 0.285259 Feature: 0.277925, 0.270876, 0.921620
[11:52:56.249] xyz_f:0.393916, -0.001974, 1.193628  Reprojection Error: 0.347782, 0.310938 Feature: 0.522505, 0.250794, 0.814918
[11:52:56.249] xyz_f:-0.021501, 0.159023, 1.184220  Reprojection Error: 0.173034, 0.312137 Feature: 0.114398, 0.403870, 0.907635
[11:52:56.249] it:5 	 Success 	 new_chi2: 3.621343 	 dT = -0.024023, 0.017664, 0.040299
[11:52:56.249] xyz_f:0.101318, -0.263227, 1.195274  Reprojection Error: 0.131116, 0.214389 Feature: 0.211017, -0.005703, 0.977466
[11:52:56.249] xyz_f:-0.007096, -0.160890, 1.201356  Reprojection Error: 0.108310, 0.229570 Feature: 0.101413, 0.094721, 0.990325
[11:52:56.249] xyz_f:0.266994, -0.451639, 1.124078  Reprojection Error: 0.162025, 0.174950 Feature: 0.363061, -0.206122, 0.908681
[11:52:56.249] xyz_f:0.343506, -0.654603, 0.975819  Reprojection Error: 0.159536, 0.119615 Feature: 0.408848, -0.440542, 0.799228
[11:52:56.249] xyz_f:0.350110, -0.480645, 1.097701  Reprojection Error: 0.185271, 0.159807 Feature: 0.436959, -0.240967, 0.866604
[11:52:56.249] xyz_f:-0.006911, -0.154412, 1.202450  Reprojection Error: 0.108209, 0.230732 Feature: 0.101404, 0.101262, 0.989678
[11:52:56.249] xyz_f:0.030096, 0.157133, 1.208939  Reprojection Error: 0.101144, 0.314994 Feature: 0.114398, 0.403870, 0.907635
[11:52:56.249] xyz_f:0.360732, -0.456992, 1.108490  Reprojection Error: 0.191428, 0.164055 Feature: 0.448381, -0.215327, 0.867519
[11:52:56.249] xyz_f:0.274431, -0.474667, 1.111343  Reprojection Error: 0.162052, 0.169825 Feature: 0.368254, -0.231661, 0.900401
[11:52:56.249] xyz_f:0.142488, -0.236594, 1.205212  Reprojection Error: 0.141259, 0.219658 Feature: 0.251103, 0.022595, 0.967697
[11:52:56.249] xyz_f:0.318927, -0.465083, 1.111230  Reprojection Error: 0.176405, 0.167075 Feature: 0.409924, -0.222432, 0.884583
[11:52:56.249] xyz_f:-0.632657, -0.504674, 0.486310  Reprojection Error: 0.181979, 0.338388 Feature: -0.675839, -0.422416, 0.603992
[11:52:56.249] xyz_f:0.181897, 0.012521, 1.234787  Reprojection Error: 0.154251, 0.283773 Feature: 0.277925, 0.270876, 0.921620
[11:52:56.249] xyz_f:-0.073318, -0.058274, 1.196985  Reprojection Error: 0.090826, 0.245160 Feature: 0.029007, 0.192709, 0.980827
[11:52:56.249] xyz_f:0.334203, -0.468150, 1.107264  Reprojection Error: 0.181109, 0.164651 Feature: 0.423585, -0.226422, 0.877103
[11:52:56.249] xyz_f:0.142612, -0.221765, 1.208715  Reprojection Error: 0.141606, 0.222579 Feature: 0.251085, 0.037826, 0.967226
[11:52:56.249] xyz_f:-0.004421, -0.167513, 1.200781  Reprojection Error: 0.108981, 0.228513 Feature: 0.104312, 0.088175, 0.990628
[11:52:56.249] xyz_f:0.121923, -0.232017, 1.205024  Reprojection Error: 0.136415, 0.220269 Feature: 0.231075, 0.026967, 0.972562
[11:52:56.249] xyz_f:0.152658, 0.015313, 1.233989  Reprojection Error: 0.144958, 0.281860 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.249] xyz_f:0.294783, -0.464233, 1.114804  Reprojection Error: 0.168983, 0.169823 Feature: 0.387861, -0.220687, 0.894908
[11:52:56.249] xyz_f:0.115956, -0.255133, 1.198742  Reprojection Error: 0.134577, 0.215926 Feature: 0.225358, 0.003013, 0.974271
[11:52:56.249] xyz_f:0.447221, 0.000478, 1.202140  Reprojection Error: 0.269153, 0.307356 Feature: 0.522505, 0.250794, 0.814918
[11:52:56.249] xyz_f:-0.632657, -0.504674, 0.486310  Reprojection Error: 0.235097, 0.368425 Feature: -0.675839, -0.422416, 0.603992
[11:52:56.249] xyz_f:0.343506, -0.654603, 0.975819  Reprojection Error: 0.186277, 0.108350 Feature: 0.408848, -0.440542, 0.799228
[11:52:56.249] xyz_f:0.266994, -0.451639, 1.124078  Reprojection Error: 0.187189, 0.173256 Feature: 0.363061, -0.206122, 0.908681
[11:52:56.249] xyz_f:0.350110, -0.480645, 1.097701  Reprojection Error: 0.213510, 0.154504 Feature: 0.436959, -0.240967, 0.866604
[11:52:56.249] xyz_f:0.101318, -0.263227, 1.195274  Reprojection Error: 0.158985, 0.214358 Feature: 0.211017, -0.005703, 0.977466
[11:52:56.249] xyz_f:-0.007096, -0.160890, 1.201356  Reprojection Error: 0.132005, 0.232017 Feature: 0.101413, 0.094721, 0.990325
[11:52:56.249] xyz_f:-0.073318, -0.058274, 1.196985  Reprojection Error: 0.114468, 0.247623 Feature: 0.029007, 0.192709, 0.980827
[11:52:56.249] xyz_f:0.181897, 0.012521, 1.234787  Reprojection Error: 0.181231, 0.285680 Feature: 0.277925, 0.270876, 0.921620
[11:52:56.249] xyz_f:0.447221, 0.000478, 1.202140  Reprojection Error: 0.305777, 0.308886 Feature: 0.522505, 0.250794, 0.814918
[11:52:56.249] xyz_f:0.030096, 0.157133, 1.208939  Reprojection Error: 0.129982, 0.316446 Feature: 0.114398, 0.403870, 0.907635
[11:52:56.249] it:6 	 Success 	 new_chi2: 2.674782 	 dT = -0.024707, 0.016393, 0.035475
[11:52:56.249] xyz_f:0.153672, -0.263909, 1.214212  Reprojection Error: 0.089321, 0.211515 Feature: 0.211017, -0.005703, 0.977466
[11:52:56.249] xyz_f:0.044595, -0.162570, 1.224020  Reprojection Error: 0.065971, 0.228463 Feature: 0.101413, 0.094721, 0.990325
[11:52:56.249] xyz_f:0.318533, -0.450803, 1.137352  Reprojection Error: 0.119481, 0.169526 Feature: 0.363061, -0.206122, 0.908681
[11:52:56.249] xyz_f:0.391782, -0.653080, 0.986527  Reprojection Error: 0.114421, 0.110789 Feature: 0.408848, -0.440542, 0.799228
[11:52:56.249] xyz_f:0.400961, -0.479050, 1.108138  Reprojection Error: 0.142387, 0.154243 Feature: 0.436959, -0.240967, 0.866604
[11:52:56.249] xyz_f:0.044758, -0.156090, 1.225109  Reprojection Error: 0.065928, 0.229728 Feature: 0.101404, 0.101262, 0.989678
[11:52:56.249] xyz_f:0.079104, 0.155782, 1.230374  Reprojection Error: 0.061746, 0.318356 Feature: 0.114398, 0.403870, 0.907635
[11:52:56.249] xyz_f:0.411728, -0.455298, 1.118560  Reprojection Error: 0.148767, 0.158829 Feature: 0.448381, -0.215327, 0.867519
[11:52:56.249] xyz_f:0.325741, -0.473764, 1.124366  Reprojection Error: 0.119278, 0.164074 Feature: 0.368254, -0.231661, 0.900401
[11:52:56.249] xyz_f:0.194912, -0.236897, 1.222738  Reprojection Error: 0.100079, 0.217093 Feature: 0.251103, 0.022595, 0.967697
[11:52:56.249] xyz_f:0.370117, -0.463771, 1.122730  Reprojection Error: 0.133751, 0.161620 Feature: 0.409924, -0.222432, 0.884583
[11:52:56.249] xyz_f:-0.601914, -0.512195, 0.530771  Reprojection Error: 0.015083, 0.265628 Feature: -0.675839, -0.422416, 0.603992
[11:52:56.249] xyz_f:0.233022, 0.012574, 1.250985  Reprojection Error: 0.115290, 0.283862 Feature: 0.277925, 0.270876, 0.921620
[11:52:56.249] xyz_f:-0.022677, -0.060567, 1.221936  Reprojection Error: 0.048133, 0.246043 Feature: 0.029007, 0.192709, 0.980827
[11:52:56.249] xyz_f:0.385276, -0.466699, 1.118242  Reprojection Error: 0.138399, 0.159203 Feature: 0.423585, -0.226422, 0.877103
[11:52:56.249] xyz_f:0.195020, -0.222067, 1.226237  Reprojection Error: 0.100554, 0.220204 Feature: 0.251085, 0.037826, 0.967226
[11:52:56.249] xyz_f:0.047309, -0.169169, 1.223353  Reprojection Error: 0.066627, 0.227292 Feature: 0.104312, 0.088175, 0.990628
[11:52:56.249] xyz_f:0.174311, -0.232509, 1.223255  Reprojection Error: 0.095096, 0.217802 Feature: 0.231075, 0.026967, 0.972562
[11:52:56.249] xyz_f:0.203749, 0.015097, 1.251189  Reprojection Error: 0.105825, 0.282203 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.249] xyz_f:0.346103, -0.463143, 1.127129  Reprojection Error: 0.126342, 0.164302 Feature: 0.387861, -0.220687, 0.894908
[11:52:56.249] xyz_f:0.168345, -0.255680, 1.217178  Reprojection Error: 0.093001, 0.213152 Feature: 0.225358, 0.003013, 0.974271
[11:52:56.249] xyz_f:0.497172, 0.002962, 1.209265  Reprojection Error: 0.230039, 0.305304 Feature: 0.522505, 0.250794, 0.814918
[11:52:56.249] xyz_f:-0.601914, -0.512195, 0.530771  Reprojection Error: 0.068201, 0.295664 Feature: -0.675839, -0.422416, 0.603992
[11:52:56.249] xyz_f:0.391782, -0.653080, 0.986527  Reprojection Error: 0.141163, 0.099524 Feature: 0.408848, -0.440542, 0.799228
[11:52:56.249] xyz_f:0.318533, -0.450803, 1.137352  Reprojection Error: 0.144645, 0.167832 Feature: 0.363061, -0.206122, 0.908681
[11:52:56.249] xyz_f:0.400961, -0.479050, 1.108138  Reprojection Error: 0.170626, 0.148940 Feature: 0.436959, -0.240967, 0.866604
[11:52:56.249] xyz_f:0.153672, -0.263909, 1.214212  Reprojection Error: 0.117190, 0.211485 Feature: 0.211017, -0.005703, 0.977466
[11:52:56.249] xyz_f:0.044595, -0.162570, 1.224020  Reprojection Error: 0.089666, 0.230910 Feature: 0.101413, 0.094721, 0.990325
[11:52:56.249] xyz_f:-0.022677, -0.060567, 1.221936  Reprojection Error: 0.071774, 0.248506 Feature: 0.029007, 0.192709, 0.980827
[11:52:56.249] xyz_f:0.233022, 0.012574, 1.250985  Reprojection Error: 0.142271, 0.285769 Feature: 0.277925, 0.270876, 0.921620
[11:52:56.249] xyz_f:0.497172, 0.002962, 1.209265  Reprojection Error: 0.266663, 0.306835 Feature: 0.522505, 0.250794, 0.814918
[11:52:56.249] xyz_f:0.079104, 0.155782, 1.230374  Reprojection Error: 0.090584, 0.319808 Feature: 0.114398, 0.403870, 0.907635
[11:52:56.249] it:7 	 Success 	 new_chi2: 2.131561 	 dT = -0.023745, 0.014524, 0.029547
[11:52:56.249] xyz_f:0.200547, -0.264229, 1.229929  Reprojection Error: 0.052826, 0.208998 Feature: 0.211017, -0.005703, 0.977466
[11:52:56.249] xyz_f:0.091023, -0.163726, 1.242856  Reprojection Error: 0.029167, 0.227380 Feature: 0.101413, 0.094721, 0.990325
[11:52:56.249] xyz_f:0.364572, -0.449865, 1.148375  Reprojection Error: 0.082079, 0.164904 Feature: 0.363061, -0.206122, 0.908681
[11:52:56.249] xyz_f:0.435032, -0.651592, 0.995499  Reprojection Error: 0.074555, 0.103329 Feature: 0.408848, -0.440542, 0.799228
[11:52:56.249] xyz_f:0.446346, -0.477484, 1.116818  Reprojection Error: 0.104561, 0.149481 Feature: 0.436959, -0.240967, 0.866604
[11:52:56.249] xyz_f:0.091167, -0.157245, 1.243941  Reprojection Error: 0.029172, 0.228727 Feature: 0.101404, 0.101262, 0.989678
[11:52:56.249] xyz_f:0.123264, 0.154881, 1.248258  Reprojection Error: 0.027290, 0.320891 Feature: 0.114398, 0.403870, 0.907635
[11:52:56.249] xyz_f:0.457225, -0.453649, 1.126931  Reprojection Error: 0.111129, 0.154343 Feature: 0.448381, -0.215327, 0.867519
[11:52:56.249] xyz_f:0.371582, -0.472772, 1.135186  Reprojection Error: 0.081657, 0.159184 Feature: 0.368254, -0.231661, 0.900401
[11:52:56.249] xyz_f:0.241806, -0.236901, 1.237277  Reprojection Error: 0.064051, 0.214819 Feature: 0.251103, 0.022595, 0.967697
[11:52:56.249] xyz_f:0.415816, -0.462440, 1.132286  Reprojection Error: 0.096173, 0.156958 Feature: 0.409924, -0.222432, 0.884583
[11:52:56.249] xyz_f:-0.572313, -0.518359, 0.568300  Reprojection Error: -0.111893, 0.212748 Feature: -0.675839, -0.422416, 0.603992
[11:52:56.249] xyz_f:0.278798, 0.012857, 1.264452  Reprojection Error: 0.081072, 0.283745 Feature: 0.277925, 0.270876, 0.921620
[11:52:56.249] xyz_f:0.022941, -0.062240, 1.242704  Reprojection Error: 0.011114, 0.246561 Feature: 0.029007, 0.192709, 0.980827
[11:52:56.249] xyz_f:0.430862, -0.465252, 1.127367  Reprojection Error: 0.100752, 0.154542 Feature: 0.423585, -0.226422, 0.877103
[11:52:56.249] xyz_f:0.241900, -0.222070, 1.240773  Reprojection Error: 0.064634, 0.218085 Feature: 0.251085, 0.037826, 0.967226
[11:52:56.249] xyz_f:0.093767, -0.170303, 1.242111  Reprojection Error: 0.029809, 0.226117 Feature: 0.104312, 0.088175, 0.990628
[11:52:56.249] xyz_f:0.221195, -0.232671, 1.238382  Reprojection Error: 0.058978, 0.215611 Feature: 0.231075, 0.026967, 0.972562
[11:52:56.249] xyz_f:0.249524, 0.015156, 1.265492  Reprojection Error: 0.071493, 0.282293 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.249] xyz_f:0.391933, -0.461995, 1.137368  Reprojection Error: 0.088812, 0.159593 Feature: 0.387861, -0.220687, 0.894908
[11:52:56.249] xyz_f:0.215236, -0.255888, 1.232475  Reprojection Error: 0.056672, 0.210713 Feature: 0.225358, 0.003013, 0.974271
[11:52:56.249] xyz_f:0.541715, 0.005260, 1.215211  Reprojection Error: 0.195395, 0.303425 Feature: 0.522505, 0.250794, 0.814918
[11:52:56.249] xyz_f:-0.572313, -0.518359, 0.568300  Reprojection Error: -0.058775, 0.242785 Feature: -0.675839, -0.422416, 0.603992
[11:52:56.249] xyz_f:0.435032, -0.651592, 0.995499  Reprojection Error: 0.101296, 0.092064 Feature: 0.408848, -0.440542, 0.799228
[11:52:56.249] xyz_f:0.364572, -0.449865, 1.148375  Reprojection Error: 0.107243, 0.163211 Feature: 0.363061, -0.206122, 0.908681
[11:52:56.249] xyz_f:0.446346, -0.477484, 1.116818  Reprojection Error: 0.132800, 0.144178 Feature: 0.436959, -0.240967, 0.866604
[11:52:56.249] xyz_f:0.200547, -0.264229, 1.229929  Reprojection Error: 0.080695, 0.208967 Feature: 0.211017, -0.005703, 0.977466
[11:52:56.249] xyz_f:0.091023, -0.163726, 1.242856  Reprojection Error: 0.052862, 0.229827 Feature: 0.101413, 0.094721, 0.990325
[11:52:56.249] xyz_f:0.022941, -0.062240, 1.242704  Reprojection Error: 0.034756, 0.249024 Feature: 0.029007, 0.192709, 0.980827
[11:52:56.249] xyz_f:0.278798, 0.012857, 1.264452  Reprojection Error: 0.108052, 0.285653 Feature: 0.277925, 0.270876, 0.921620
[11:52:56.249] xyz_f:0.541715, 0.005260, 1.215211  Reprojection Error: 0.232019, 0.304956 Feature: 0.522505, 0.250794, 0.814918
[11:52:56.249] xyz_f:0.123264, 0.154881, 1.248258  Reprojection Error: 0.056128, 0.322344 Feature: 0.114398, 0.403870, 0.907635
[11:52:56.249] it:8 	 Success 	 new_chi2: 1.850405 	 dT = -0.022307, 0.012466, 0.023900
[11:52:56.249] xyz_f:0.240405, -0.264322, 1.242743  Reprojection Error: 0.022435, 0.206858 Feature: 0.211017, -0.005703, 0.977466
[11:52:56.249] xyz_f:0.130589, -0.164497, 1.258203  Reprojection Error: -0.001386, 0.226387 Feature: 0.101413, 0.094721, 0.990325
[11:52:56.249] xyz_f:0.403649, -0.448946, 1.157411  Reprojection Error: 0.050795, 0.161052 Feature: 0.363061, -0.206122, 0.908681
[11:52:56.249] xyz_f:0.471808, -0.650244, 1.002935  Reprojection Error: 0.041127, 0.097132 Feature: 0.408848, -0.440542, 0.799228
[11:52:56.249] xyz_f:0.484842, -0.476061, 1.123973  Reprojection Error: 0.072855, 0.145493 Feature: 0.436959, -0.240967, 0.866604
[11:52:56.249] xyz_f:0.130719, -0.158016, 1.259284  Reprojection Error: -0.001342, 0.227799 Feature: 0.101404, 0.101262, 0.989678
[11:52:56.249] xyz_f:0.160975, 0.154303, 1.262881  Reprojection Error: -0.001427, 0.322786 Feature: 0.114398, 0.403870, 0.907635
[11:52:56.249] xyz_f:0.495804, -0.452158, 1.133835  Reprojection Error: 0.079574, 0.150577 Feature: 0.448381, -0.215327, 0.867519
[11:52:56.249] xyz_f:0.410495, -0.471810, 1.144063  Reprojection Error: 0.050185, 0.155112 Feature: 0.368254, -0.231661, 0.900401
[11:52:56.249] xyz_f:0.281653, -0.236739, 1.249139  Reprojection Error: 0.034008, 0.212871 Feature: 0.251103, 0.022595, 0.967697
[11:52:56.249] xyz_f:0.454585, -0.461205, 1.140143  Reprojection Error: 0.064701, 0.153060 Feature: 0.409924, -0.222432, 0.884583
[11:52:56.249] xyz_f:-0.545934, -0.523275, 0.599113  Reprojection Error: -0.207715, 0.174043 Feature: -0.675839, -0.422416, 0.603992
[11:52:56.249] xyz_f:0.317717, 0.013244, 1.275471  Reprojection Error: 0.052463, 0.283529 Feature: 0.277925, 0.270876, 0.921620
[11:52:56.249] xyz_f:0.061895, -0.063435, 1.259629  Reprojection Error: -0.019563, 0.246836 Feature: 0.029007, 0.192709, 0.980827
[11:52:56.249] xyz_f:0.469531, -0.463925, 1.134878  Reprojection Error: 0.069209, 0.150640 Feature: 0.423585, -0.226422, 0.877103
[11:52:56.249] xyz_f:0.281736, -0.221908, 1.252633  Reprojection Error: 0.034678, 0.216260 Feature: 0.251085, 0.037826, 0.967226
[11:52:56.249] xyz_f:0.133356, -0.171058, 1.257394  Reprojection Error: -0.000758, 0.225051 Feature: 0.104312, 0.088175, 0.990628
[11:52:56.249] xyz_f:0.261048, -0.232637, 1.250720  Reprojection Error: 0.028876, 0.213730 Feature: 0.231075, 0.026967, 0.972562
[11:52:56.249] xyz_f:0.288461, 0.015363, 1.277186  Reprojection Error: 0.042812, 0.282241 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.249] xyz_f:0.430823, -0.460908, 1.145775  Reprojection Error: 0.057399, 0.155664 Feature: 0.387861, -0.220687, 0.894908
[11:52:56.249] xyz_f:0.255097, -0.255890, 1.244950  Reprojection Error: 0.026404, 0.208635 Feature: 0.225358, 0.003013, 0.974271
[11:52:56.249] xyz_f:0.579470, 0.007271, 1.220173  Reprojection Error: 0.166267, 0.301795 Feature: 0.522505, 0.250794, 0.814918
[11:52:56.249] xyz_f:-0.545934, -0.523275, 0.599113  Reprojection Error: -0.154597, 0.204079 Feature: -0.675839, -0.422416, 0.603992
[11:52:56.249] xyz_f:0.471808, -0.650244, 1.002935  Reprojection Error: 0.067869, 0.085867 Feature: 0.408848, -0.440542, 0.799228
[11:52:56.249] xyz_f:0.403649, -0.448946, 1.157411  Reprojection Error: 0.075959, 0.159358 Feature: 0.363061, -0.206122, 0.908681
[11:52:56.249] xyz_f:0.484842, -0.476061, 1.123973  Reprojection Error: 0.101094, 0.140190 Feature: 0.436959, -0.240967, 0.866604
[11:52:56.249] xyz_f:0.240405, -0.264322, 1.242743  Reprojection Error: 0.050304, 0.206827 Feature: 0.211017, -0.005703, 0.977466
[11:52:56.249] xyz_f:0.130589, -0.164497, 1.258203  Reprojection Error: 0.022308, 0.228834 Feature: 0.101413, 0.094721, 0.990325
[11:52:56.249] xyz_f:0.061895, -0.063435, 1.259629  Reprojection Error: 0.004078, 0.249299 Feature: 0.029007, 0.192709, 0.980827
[11:52:56.249] xyz_f:0.317717, 0.013244, 1.275471  Reprojection Error: 0.079444, 0.285436 Feature: 0.277925, 0.270876, 0.921620
[11:52:56.249] xyz_f:0.579470, 0.007271, 1.220173  Reprojection Error: 0.202890, 0.303325 Feature: 0.522505, 0.250794, 0.814918
[11:52:56.249] xyz_f:0.160975, 0.154303, 1.262881  Reprojection Error: 0.027411, 0.324238 Feature: 0.114398, 0.403870, 0.907635
[11:52:56.249] it:9 	 Success 	 new_chi2: 1.730418 	 dT = -0.021223, 0.010535, 0.019363
[11:52:56.249] xyz_f:0.273317, -0.264289, 1.253156  Reprojection Error: -0.002221, 0.205064 Feature: 0.211017, -0.005703, 0.977466
[11:52:56.249] xyz_f:0.163311, -0.165015, 1.270671  Reprojection Error: -0.026119, 0.225511 Feature: 0.101413, 0.094721, 0.990325
[11:52:56.249] xyz_f:0.435860, -0.448097, 1.164777  Reprojection Error: 0.025347, 0.157870 Feature: 0.363061, -0.206122, 0.908681
[11:52:56.249] xyz_f:0.502125, -0.649058, 1.009044  Reprojection Error: 0.013930, 0.092031 Feature: 0.408848, -0.440542, 0.799228
[11:52:56.249] xyz_f:0.516548, -0.474806, 1.129825  Reprojection Error: 0.047027, 0.142188 Feature: 0.436959, -0.240967, 0.866604
[11:52:56.249] xyz_f:0.163428, -0.158533, 1.271750  Reprojection Error: -0.026045, 0.226976 Feature: 0.101404, 0.101262, 0.989678
[11:52:56.250] xyz_f:0.192181, 0.153934, 1.274795  Reprojection Error: -0.024715, 0.324218 Feature: 0.114398, 0.403870, 0.907635
[11:52:56.250] xyz_f:0.527572, -0.450848, 1.139481  Reprojection Error: 0.053861, 0.147451 Feature: 0.448381, -0.215327, 0.867519
[11:52:56.250] xyz_f:0.442569, -0.470927, 1.151302  Reprojection Error: 0.024581, 0.151752 Feature: 0.368254, -0.231661, 0.900401
[11:52:56.250] xyz_f:0.314538, -0.236500, 1.258780  Reprojection Error: 0.009610, 0.211230 Feature: 0.251103, 0.022595, 0.967697
[11:52:56.250] xyz_f:0.486524, -0.460101, 1.146559  Reprojection Error: 0.039075, 0.149834 Feature: 0.409924, -0.222432, 0.884583
[11:52:56.250] xyz_f:-0.523615, -0.527210, 0.624332  Reprojection Error: -0.280274, 0.145064 Feature: -0.675839, -0.422416, 0.603992
[11:52:56.250] xyz_f:0.349836, 0.013663, 1.284445  Reprojection Error: 0.029198, 0.283276 Feature: 0.277925, 0.270876, 0.921620
[11:52:56.250] xyz_f:0.094150, -0.064299, 1.273387  Reprojection Error: -0.044362, 0.246970 Feature: 0.029007, 0.192709, 0.980827
[11:52:56.250] xyz_f:0.501383, -0.462746, 1.141015  Reprojection Error: 0.043519, 0.147409 Feature: 0.423585, -0.226422, 0.877103
[11:52:56.250] xyz_f:0.314613, -0.221668, 1.262273  Reprojection Error: 0.010350, 0.214717 Feature: 0.251085, 0.037826, 0.967226
[11:52:56.250] xyz_f:0.166095, -0.171562, 1.269811  Reprojection Error: -0.025504, 0.224118 Feature: 0.104312, 0.088175, 0.990628
[11:52:56.250] xyz_f:0.293946, -0.232500, 1.260746  Reprojection Error: 0.004442, 0.212143 Feature: 0.231075, 0.026967, 0.972562
[11:52:56.250] xyz_f:0.320606, 0.015635, 1.286707  Reprojection Error: 0.019501, 0.282118 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.250] xyz_f:0.462871, -0.459923, 1.152634  Reprojection Error: 0.031832, 0.152415 Feature: 0.387861, -0.220687, 0.894908
[11:52:56.250] xyz_f:0.288005, -0.255784, 1.255088  Reprojection Error: 0.001839, 0.206890 Feature: 0.225358, 0.003013, 0.974271
[11:52:56.250] xyz_f:0.610535, 0.008999, 1.224261  Reprojection Error: 0.142478, 0.300404 Feature: 0.522505, 0.250794, 0.814918
[11:52:56.250] xyz_f:-0.523615, -0.527210, 0.624332  Reprojection Error: -0.227156, 0.175101 Feature: -0.675839, -0.422416, 0.603992
[11:52:56.250] xyz_f:0.502125, -0.649058, 1.009044  Reprojection Error: 0.040671, 0.080766 Feature: 0.408848, -0.440542, 0.799228
[11:52:56.250] xyz_f:0.435860, -0.448097, 1.164777  Reprojection Error: 0.050511, 0.156176 Feature: 0.363061, -0.206122, 0.908681
[11:52:56.250] xyz_f:0.516548, -0.474806, 1.129825  Reprojection Error: 0.075266, 0.136885 Feature: 0.436959, -0.240967, 0.866604
[11:52:56.250] xyz_f:0.273317, -0.264289, 1.253156  Reprojection Error: 0.025648, 0.205034 Feature: 0.211017, -0.005703, 0.977466
[11:52:56.250] xyz_f:0.163311, -0.165015, 1.270671  Reprojection Error: -0.002424, 0.227958 Feature: 0.101413, 0.094721, 0.990325
[11:52:56.250] xyz_f:0.094150, -0.064299, 1.273387  Reprojection Error: -0.020721, 0.249433 Feature: 0.029007, 0.192709, 0.980827
[11:52:56.250] xyz_f:0.349836, 0.013663, 1.284445  Reprojection Error: 0.056178, 0.285183 Feature: 0.277925, 0.270876, 0.921620
[11:52:56.250] xyz_f:0.610535, 0.008999, 1.224261  Reprojection Error: 0.179101, 0.301934 Feature: 0.522505, 0.250794, 0.814918
[11:52:56.250] xyz_f:0.192181, 0.153934, 1.274795  Reprojection Error: 0.004123, 0.325670 Feature: 0.114398, 0.403870, 0.907635
[11:52:56.250] it:10 	 Success 	 new_chi2: 1.700810 	 dT = -0.020643, 0.008845, 0.015974
[11:52:56.250] xyz_f:0.300402, -0.264189, 1.261627  Reprojection Error: -0.022225, 0.203569 Feature: 0.211017, -0.005703, 0.977466
[11:52:56.250] xyz_f:0.190269, -0.165370, 1.280841  Reprojection Error: -0.046146, 0.224758 Feature: 0.101413, 0.094721, 0.990325
[11:52:56.250] xyz_f:0.462320, -0.447326, 1.170745  Reprojection Error: 0.004653, 0.155250 Feature: 0.363061, -0.206122, 0.908681
[11:52:56.250] xyz_f:0.527005, -0.648017, 1.014002  Reprojection Error: -0.008174, 0.087859 Feature: 0.408848, -0.440542, 0.799228
[11:52:56.250] xyz_f:0.542569, -0.473702, 1.134551  Reprojection Error: 0.025996, 0.139465 Feature: 0.436959, -0.240967, 0.866604
[11:52:56.250] xyz_f:0.190376, -0.158887, 1.281918  Reprojection Error: -0.046047, 0.226263 Feature: 0.101404, 0.101262, 0.989678
[11:52:56.250] xyz_f:0.217881, 0.153696, 1.284529  Reprojection Error: -0.043580, 0.325318 Feature: 0.114398, 0.403870, 0.907635
[11:52:56.250] xyz_f:0.553642, -0.449699, 1.144037  Reprojection Error: 0.032918, 0.144871 Feature: 0.448381, -0.215327, 0.867519
[11:52:56.250] xyz_f:0.468915, -0.470128, 1.157167  Reprojection Error: 0.003762, 0.148988 Feature: 0.368254, -0.231661, 0.900401
[11:52:56.250] xyz_f:0.341590, -0.236229, 1.266616  Reprojection Error: -0.010202, 0.209854 Feature: 0.251103, 0.022595, 0.967697
[11:52:56.250] xyz_f:0.512746, -0.459122, 1.151747  Reprojection Error: 0.018219, 0.147176 Feature: 0.409924, -0.222432, 0.884583
[11:52:56.250] xyz_f:-0.505044, -0.530422, 0.645166  Reprojection Error: -0.336141, 0.122775 Feature: -0.675839, -0.422416, 0.603992
[11:52:56.250] xyz_f:0.376244, 0.014078, 1.291741  Reprojection Error: 0.010292, 0.283015 Feature: 0.277925, 0.270876, 0.921620
[11:52:56.250] xyz_f:0.120743, -0.064940, 1.284627  Reprojection Error: -0.064416, 0.247028 Feature: 0.029007, 0.192709, 0.980827
[11:52:56.250] xyz_f:0.527528, -0.461705, 1.145974  Reprojection Error: 0.022605, 0.144745 Feature: 0.423585, -0.226422, 0.877103
[11:52:56.250] xyz_f:0.341657, -0.221397, 1.270107  Reprojection Error: -0.009405, 0.213421 Feature: 0.251085, 0.037826, 0.967226
[11:52:56.250] xyz_f:0.193067, -0.171906, 1.279937  Reprojection Error: -0.045542, 0.223317 Feature: 0.104312, 0.088175, 0.990628
[11:52:56.250] xyz_f:0.321014, -0.232315, 1.268899  Reprojection Error: -0.015392, 0.210812 Feature: 0.231075, 0.026967, 0.972562
[11:52:56.250] xyz_f:0.347045, 0.015929, 1.294454  Reprojection Error: 0.000567, 0.281964 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.250] xyz_f:0.489189, -0.459040, 1.158187  Reprojection Error: 0.011034, 0.149741 Feature: 0.387861, -0.220687, 0.894908
[11:52:56.250] xyz_f:0.315082, -0.255623, 1.263333  Reprojection Error: -0.018097, 0.205432 Feature: 0.225358, 0.003013, 0.974271
[11:52:56.250] xyz_f:0.636001, 0.010490, 1.227541  Reprojection Error: 0.123065, 0.299209 Feature: 0.522505, 0.250794, 0.814918
[11:52:56.250] xyz_f:-0.505044, -0.530422, 0.645166  Reprojection Error: -0.283023, 0.152811 Feature: -0.675839, -0.422416, 0.603992
[11:52:56.250] xyz_f:0.527005, -0.648017, 1.014002  Reprojection Error: 0.018568, 0.076594 Feature: 0.408848, -0.440542, 0.799228
[11:52:56.250] xyz_f:0.462320, -0.447326, 1.170745  Reprojection Error: 0.029817, 0.153557 Feature: 0.363061, -0.206122, 0.908681
[11:52:56.250] xyz_f:0.542569, -0.473702, 1.134551  Reprojection Error: 0.054235, 0.134162 Feature: 0.436959, -0.240967, 0.866604
[11:52:56.250] xyz_f:0.300402, -0.264189, 1.261627  Reprojection Error: 0.005644, 0.203538 Feature: 0.211017, -0.005703, 0.977466
[11:52:56.250] xyz_f:0.190269, -0.165370, 1.280841  Reprojection Error: -0.022451, 0.227204 Feature: 0.101413, 0.094721, 0.990325
[11:52:56.250] xyz_f:0.120743, -0.064940, 1.284627  Reprojection Error: -0.040774, 0.249491 Feature: 0.029007, 0.192709, 0.980827
[11:52:56.250] xyz_f:0.376244, 0.014078, 1.291741  Reprojection Error: 0.037273, 0.284922 Feature: 0.277925, 0.270876, 0.921620
[11:52:56.250] xyz_f:0.636001, 0.010490, 1.227541  Reprojection Error: 0.159689, 0.300739 Feature: 0.522505, 0.250794, 0.814918
[11:52:56.250] xyz_f:0.217881, 0.153696, 1.284529  Reprojection Error: -0.014742, 0.326770 Feature: 0.114398, 0.403870, 0.907635
[11:52:56.250] it:11 	 Success 	 new_chi2: 1.718140 	 dT = -0.020438, 0.007397, 0.013465
[11:52:56.250] xyz_f:0.336867, -0.264278, 1.254561  Reprojection Error: -0.052632, 0.204819 Feature: 0.211017, -0.005703, 0.977466
[11:52:56.250] xyz_f:0.226839, -0.165076, 1.272343  Reprojection Error: -0.075880, 0.225388 Feature: 0.101413, 0.094721, 0.990325
[11:52:56.250] xyz_f:0.499314, -0.447980, 1.165788  Reprojection Error: -0.028759, 0.157436 Feature: 0.363061, -0.206122, 0.908681
[11:52:56.250] xyz_f:0.565332, -0.648899, 1.009895  Reprojection Error: -0.048239, 0.091331 Feature: 0.408848, -0.440542, 0.799228
[11:52:56.250] xyz_f:0.579935, -0.474637, 1.130641  Reprojection Error: -0.008706, 0.141735 Feature: 0.436959, -0.240967, 0.866604
[11:52:56.250] xyz_f:0.226954, -0.158593, 1.273421  Reprojection Error: -0.075762, 0.226859 Feature: 0.101404, 0.101262, 0.989678
[11:52:56.250] xyz_f:0.255511, 0.153892, 1.276398  Reprojection Error: -0.074143, 0.324402 Feature: 0.114398, 0.403870, 0.907635
[11:52:56.250] xyz_f:0.590967, -0.450672, 1.140270  Reprojection Error: -0.001414, 0.147023 Feature: 0.448381, -0.215327, 0.867519
[11:52:56.250] xyz_f:0.506005, -0.470805, 1.152297  Reprojection Error: -0.030139, 0.151293 Feature: 0.368254, -0.231661, 0.900401
[11:52:56.250] xyz_f:0.378083, -0.236462, 1.260086  Reprojection Error: -0.040561, 0.211005 Feature: 0.251103, 0.022595, 0.967697
[11:52:56.250] xyz_f:0.549942, -0.459952, 1.147448  Reprojection Error: -0.015865, 0.149393 Feature: 0.409924, -0.222432, 0.884583
[11:52:56.250] xyz_f:-0.461416, -0.527716, 0.627670  Reprojection Error: -0.383829, 0.141380 Feature: -0.675839, -0.422416, 0.603992
[11:52:56.250] xyz_f:0.413280, 0.013724, 1.285665  Reprojection Error: -0.019892, 0.283238 Feature: 0.277925, 0.270876, 0.921620
[11:52:56.250] xyz_f:0.157619, -0.064404, 1.275227  Reprojection Error: -0.094027, 0.246980 Feature: 0.029007, 0.192709, 0.980827
[11:52:56.250] xyz_f:0.564789, -0.462587, 1.141868  Reprojection Error: -0.011682, 0.146967 Feature: 0.423585, -0.226422, 0.877103
[11:52:56.250] xyz_f:0.378157, -0.221630, 1.263578  Reprojection Error: -0.039681, 0.214506 Feature: 0.251085, 0.037826, 0.967226
[11:52:56.250] xyz_f:0.229625, -0.171620, 1.271476  Reprojection Error: -0.075298, 0.223986 Feature: 0.104312, 0.088175, 0.990628
[11:52:56.250] xyz_f:0.357493, -0.232476, 1.262102  Reprojection Error: -0.045658, 0.211925 Feature: 0.231075, 0.026967, 0.972562
[11:52:56.250] xyz_f:0.384055, 0.015677, 1.287998  Reprojection Error: -0.029511, 0.282098 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.250] xyz_f:0.526303, -0.459788, 1.153580  Reprojection Error: -0.022826, 0.151972 Feature: 0.387861, -0.220687, 0.894908
[11:52:56.250] xyz_f:0.351554, -0.255763, 1.256458  Reprojection Error: -0.048489, 0.206651 Feature: 0.225358, 0.003013, 0.974271
[11:52:56.250] xyz_f:0.673836, 0.009229, 1.224849  Reprojection Error: 0.091037, 0.300219 Feature: 0.522505, 0.250794, 0.814918
[11:52:56.250] xyz_f:-0.461416, -0.527716, 0.627670  Reprojection Error: -0.330711, 0.171417 Feature: -0.675839, -0.422416, 0.603992
[11:52:56.250] xyz_f:0.565332, -0.648899, 1.009895  Reprojection Error: -0.021498, 0.080066 Feature: 0.408848, -0.440542, 0.799228
[11:52:56.250] xyz_f:0.499314, -0.447980, 1.165788  Reprojection Error: -0.003595, 0.155742 Feature: 0.363061, -0.206122, 0.908681
[11:52:56.250] xyz_f:0.579935, -0.474637, 1.130641  Reprojection Error: 0.019533, 0.136433 Feature: 0.436959, -0.240967, 0.866604
[11:52:56.250] xyz_f:0.336867, -0.264278, 1.254561  Reprojection Error: -0.024763, 0.204789 Feature: 0.211017, -0.005703, 0.977466
[11:52:56.250] xyz_f:0.226839, -0.165076, 1.272343  Reprojection Error: -0.052185, 0.227835 Feature: 0.101413, 0.094721, 0.990325
[11:52:56.250] xyz_f:0.157619, -0.064404, 1.275227  Reprojection Error: -0.070385, 0.249443 Feature: 0.029007, 0.192709, 0.980827
[11:52:56.250] xyz_f:0.413280, 0.013724, 1.285665  Reprojection Error: 0.007089, 0.285146 Feature: 0.277925, 0.270876, 0.921620
[11:52:56.250] xyz_f:0.673836, 0.009229, 1.224849  Reprojection Error: 0.127660, 0.301750 Feature: 0.522505, 0.250794, 0.814918
[11:52:56.250] xyz_f:0.255511, 0.153892, 1.276398  Reprojection Error: -0.045305, 0.325854 Feature: 0.114398, 0.403870, 0.907635
[11:52:56.250] it:12 	 Success 	 new_chi2: 1.806826 	 dT = -0.024437, 0.009226, 0.013809
[11:52:56.250] xyz_f:0.298399, -0.264186, 1.263445  Reprojection Error: -0.020296, 0.203265 Feature: 0.211017, -0.005703, 0.977466
[11:52:56.250] xyz_f:0.188264, -0.165377, 1.282696  Reprojection Error: -0.044368, 0.224576 Feature: 0.101413, 0.094721, 0.990325
[11:52:56.250] xyz_f:0.460303, -0.447309, 1.172510  Reprojection Error: 0.006968, 0.154661 Feature: 0.363061, -0.206122, 0.908681
[11:52:56.250] xyz_f:0.524954, -0.647994, 1.015745  Reprojection Error: -0.005262, 0.086740 Feature: 0.408848, -0.440542, 0.799228
[11:52:56.250] xyz_f:0.540542, -0.473678, 1.136289  Reprojection Error: 0.028511, 0.138805 Feature: 0.436959, -0.240967, 0.866604
[11:52:56.250] xyz_f:0.188370, -0.158894, 1.283772  Reprojection Error: -0.044270, 0.226090 Feature: 0.101404, 0.101262, 0.989678
[11:52:56.250] xyz_f:0.215848, 0.153691, 1.286375  Reprojection Error: -0.041756, 0.325493 Feature: 0.114398, 0.403870, 0.907635
[11:52:56.250] xyz_f:0.551616, -0.449674, 1.145771  Reprojection Error: 0.035418, 0.144254 Feature: 0.448381, -0.215327, 0.867519
[11:52:56.250] xyz_f:0.466895, -0.470110, 1.158930  Reprojection Error: 0.006121, 0.148355 Feature: 0.368254, -0.231661, 0.900401
[11:52:56.250] xyz_f:0.339586, -0.236223, 1.268420  Reprojection Error: -0.008238, 0.209583 Feature: 0.251103, 0.022595, 0.967697
[11:52:56.250] xyz_f:0.510724, -0.459100, 1.153495  Reprojection Error: 0.020646, 0.146553 Feature: 0.409924, -0.222432, 0.884583
[11:52:56.250] xyz_f:-0.507228, -0.530491, 0.647252  Reprojection Error: -0.335290, 0.120232 Feature: -0.675839, -0.422416, 0.603992
[11:52:56.250] xyz_f:0.374226, 0.014087, 1.293534  Reprojection Error: 0.012256, 0.283022 Feature: 0.277925, 0.270876, 0.921620
[11:52:56.250] xyz_f:0.118730, -0.064953, 1.286505  Reprojection Error: -0.062714, 0.246965 Feature: 0.029007, 0.192709, 0.980827
[11:52:56.250] xyz_f:0.525504, -0.461682, 1.147717  Reprojection Error: 0.025067, 0.144113 Feature: 0.423585, -0.226422, 0.877103
[11:52:56.250] xyz_f:0.339653, -0.221391, 1.271912  Reprojection Error: -0.007448, 0.213169 Feature: 0.251085, 0.037826, 0.967226
[11:52:56.250] xyz_f:0.191062, -0.171912, 1.281791  Reprojection Error: -0.043759, 0.223128 Feature: 0.104312, 0.088175, 0.990628
[11:52:56.250] xyz_f:0.319010, -0.232310, 1.270711  Reprojection Error: -0.013455, 0.210547 Feature: 0.231075, 0.026967, 0.972562
[11:52:56.250] xyz_f:0.345028, 0.015936, 1.296256  Reprojection Error: 0.002496, 0.281975 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.250] xyz_f:0.487169, -0.459021, 1.159942  Reprojection Error: 0.013414, 0.149124 Feature: 0.387861, -0.220687, 0.894908
[11:52:56.250] xyz_f:0.313079, -0.255619, 1.265146  Reprojection Error: -0.016156, 0.205139 Feature: 0.225358, 0.003013, 0.974271
[11:52:56.250] xyz_f:0.633962, 0.010522, 1.229248  Reprojection Error: 0.125443, 0.299194 Feature: 0.522505, 0.250794, 0.814918
[11:52:56.250] xyz_f:-0.507228, -0.530491, 0.647252  Reprojection Error: -0.282172, 0.150268 Feature: -0.675839, -0.422416, 0.603992
[11:52:56.250] xyz_f:0.524954, -0.647994, 1.015745  Reprojection Error: 0.021479, 0.075475 Feature: 0.408848, -0.440542, 0.799228
[11:52:56.250] xyz_f:0.460303, -0.447309, 1.172510  Reprojection Error: 0.032132, 0.152967 Feature: 0.363061, -0.206122, 0.908681
[11:52:56.250] xyz_f:0.540542, -0.473678, 1.136289  Reprojection Error: 0.056750, 0.133502 Feature: 0.436959, -0.240967, 0.866604
[11:52:56.250] xyz_f:0.298399, -0.264186, 1.263445  Reprojection Error: 0.007572, 0.203235 Feature: 0.211017, -0.005703, 0.977466
[11:52:56.250] xyz_f:0.188264, -0.165377, 1.282696  Reprojection Error: -0.020673, 0.227023 Feature: 0.101413, 0.094721, 0.990325
[11:52:56.250] xyz_f:0.118730, -0.064953, 1.286505  Reprojection Error: -0.039072, 0.249428 Feature: 0.029007, 0.192709, 0.980827
[11:52:56.250] xyz_f:0.374226, 0.014087, 1.293534  Reprojection Error: 0.039236, 0.284930 Feature: 0.277925, 0.270876, 0.921620
[11:52:56.250] xyz_f:0.633962, 0.010522, 1.229248  Reprojection Error: 0.162067, 0.300724 Feature: 0.522505, 0.250794, 0.814918
[11:52:56.250] xyz_f:0.215848, 0.153691, 1.286375  Reprojection Error: -0.012918, 0.326946 Feature: 0.114398, 0.403870, 0.907635
[11:52:56.250] it:13 	 Success 	 new_chi2: 1.648765 	 dT = -0.019032, 0.007129, 0.012622
[11:52:56.250] xyz_f:0.325642, -0.264059, 1.270101  Reprojection Error: -0.040508, 0.202070 Feature: 0.211017, -0.005703, 0.977466
[11:52:56.250] xyz_f:0.215427, -0.165610, 1.290695  Reprojection Error: -0.064504, 0.223958 Feature: 0.101413, 0.094721, 0.990325
[11:52:56.250] xyz_f:0.487023, -0.446654, 1.177195  Reprojection Error: -0.014168, 0.152586 Feature: 0.363061, -0.206122, 0.908681
[11:52:56.250] xyz_f:0.550413, -0.647130, 1.019649  Reprojection Error: -0.028252, 0.083449 Feature: 0.408848, -0.440542, 0.799228
[11:52:56.250] xyz_f:0.566900, -0.472761, 1.139998  Reprojection Error: 0.006938, 0.136645 Feature: 0.436959, -0.240967, 0.866604
[11:52:56.250] xyz_f:0.215526, -0.159127, 1.291770  Reprojection Error: -0.064384, 0.225503 Feature: 0.101404, 0.101262, 0.989678
[11:52:56.250] xyz_f:0.242012, 0.153547, 1.294044  Reprojection Error: -0.060981, 0.326313 Feature: 0.114398, 0.403870, 0.907635
[11:52:56.250] xyz_f:0.578010, -0.448721, 1.149345  Reprojection Error: 0.013951, 0.142205 Feature: 0.448381, -0.215327, 0.867519
[11:52:56.250] xyz_f:0.493523, -0.469434, 1.163535  Reprojection Error: -0.015170, 0.146168 Feature: 0.368254, -0.231661, 0.900401
[11:52:56.250] xyz_f:0.366795, -0.235961, 1.274574  Reprojection Error: -0.028293, 0.208479 Feature: 0.251103, 0.022595, 0.967697
[11:52:56.250] xyz_f:0.537246, -0.458280, 1.157566  Reprojection Error: -0.000708, 0.144445 Feature: 0.409924, -0.222432, 0.884583
[11:52:56.250] xyz_f:-0.486563, -0.533007, 0.663770  Reprojection Error: -0.385924, 0.103625 Feature: -0.675839, -0.422416, 0.603992
[11:52:56.250] xyz_f:0.400921, 0.014461, 1.299268  Reprojection Error: -0.007013, 0.282783 Feature: 0.277925, 0.270876, 0.921620
[11:52:56.250] xyz_f:0.145617, -0.065414, 1.295353  Reprojection Error: -0.082841, 0.246975 Feature: 0.029007, 0.192709, 0.980827
[11:52:56.250] xyz_f:0.551964, -0.460814, 1.151609  Reprojection Error: 0.003639, 0.142001 Feature: 0.423585, -0.226422, 0.877103
[11:52:56.250] xyz_f:0.366856, -0.221129, 1.278065  Reprojection Error: -0.027447, 0.212126 Feature: 0.251085, 0.037826, 0.967226
[11:52:56.250] xyz_f:0.218235, -0.172136, 1.289756  Reprojection Error: -0.063908, 0.222473 Feature: 0.104312, 0.088175, 0.990628
[11:52:56.250] xyz_f:0.346236, -0.232116, 1.277115  Reprojection Error: -0.033514, 0.209478 Feature: 0.231075, 0.026967, 0.972562
[11:52:56.251] xyz_f:0.371752, 0.016214, 1.302347  Reprojection Error: -0.016779, 0.281819 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.251] xyz_f:0.513772, -0.458278, 1.164300  Reprojection Error: -0.007862, 0.147005 Feature: 0.387861, -0.220687, 0.894908
[11:52:56.251] xyz_f:0.340314, -0.255444, 1.271623  Reprojection Error: -0.036313, 0.203972 Feature: 0.225358, 0.003013, 0.974271
[11:52:56.251] xyz_f:0.659864, 0.011743, 1.231821  Reprojection Error: 0.105493, 0.298221 Feature: 0.522505, 0.250794, 0.814918
[11:52:56.251] xyz_f:-0.486563, -0.533007, 0.663770  Reprojection Error: -0.332806, 0.133662 Feature: -0.675839, -0.422416, 0.603992
[11:52:56.251] xyz_f:0.550413, -0.647130, 1.019649  Reprojection Error: -0.001510, 0.072185 Feature: 0.408848, -0.440542, 0.799228
[11:52:56.251] xyz_f:0.487023, -0.446654, 1.177195  Reprojection Error: 0.010996, 0.150892 Feature: 0.363061, -0.206122, 0.908681
[11:52:56.251] xyz_f:0.566900, -0.472761, 1.139998  Reprojection Error: 0.035177, 0.131342 Feature: 0.436959, -0.240967, 0.866604
[11:52:56.251] xyz_f:0.325642, -0.264059, 1.270101  Reprojection Error: -0.012640, 0.202039 Feature: 0.211017, -0.005703, 0.977466
[11:52:56.251] xyz_f:0.215427, -0.165610, 1.290695  Reprojection Error: -0.040809, 0.226405 Feature: 0.101413, 0.094721, 0.990325
[11:52:56.251] xyz_f:0.145617, -0.065414, 1.295353  Reprojection Error: -0.059199, 0.249438 Feature: 0.029007, 0.192709, 0.980827
[11:52:56.251] xyz_f:0.400921, 0.014461, 1.299268  Reprojection Error: 0.019967, 0.284690 Feature: 0.277925, 0.270876, 0.921620
[11:52:56.251] xyz_f:0.659864, 0.011743, 1.231821  Reprojection Error: 0.142116, 0.299751 Feature: 0.522505, 0.250794, 0.814918
[11:52:56.251] xyz_f:0.242012, 0.153547, 1.294044  Reprojection Error: -0.032143, 0.327765 Feature: 0.114398, 0.403870, 0.907635
[11:52:56.251] it:14 	 Success 	 new_chi2: 1.692709 	 dT = -0.019250, 0.006035, 0.010583
[11:52:56.251] xyz_f:0.360479, -0.264169, 1.264473  Reprojection Error: -0.069200, 0.203081 Feature: 0.211017, -0.005703, 0.977466
[11:52:56.251] xyz_f:0.250330, -0.165418, 1.283940  Reprojection Error: -0.092566, 0.224483 Feature: 0.101413, 0.094721, 0.990325
[11:52:56.251] xyz_f:0.522301, -0.447206, 1.173219  Reprojection Error: -0.045639, 0.154342 Feature: 0.363061, -0.206122, 0.908681
[11:52:56.251] xyz_f:0.586748, -0.647857, 1.016327  Reprojection Error: -0.065768, 0.086239 Feature: 0.408848, -0.440542, 0.799228
[11:52:56.251] xyz_f:0.602482, -0.473532, 1.136840  Reprojection Error: -0.025742, 0.138475 Feature: 0.436959, -0.240967, 0.866604
[11:52:56.251] xyz_f:0.250435, -0.158935, 1.285017  Reprojection Error: -0.092427, 0.226001 Feature: 0.101404, 0.101262, 0.989678
[11:52:56.251] xyz_f:0.277753, 0.153665, 1.287566  Reprojection Error: -0.089681, 0.325624 Feature: 0.114398, 0.403870, 0.907635
[11:52:56.251] xyz_f:0.613562, -0.449522, 1.146300  Reprojection Error: -0.018400, 0.143941 Feature: 0.448381, -0.215327, 0.867519
[11:52:56.251] xyz_f:0.528878, -0.470004, 1.159626  Reprojection Error: -0.047088, 0.148020 Feature: 0.368254, -0.231661, 0.900401
[11:52:56.251] xyz_f:0.401661, -0.236183, 1.269367  Reprojection Error: -0.056941, 0.209413 Feature: 0.251103, 0.022595, 0.967697
[11:52:56.251] xyz_f:0.572691, -0.458970, 1.154105  Reprojection Error: -0.032812, 0.146230 Feature: 0.409924, -0.222432, 0.884583
[11:52:56.251] xyz_f:-0.446219, -0.530899, 0.649868  Reprojection Error: -0.432323, 0.117560 Feature: -0.675839, -0.422416, 0.603992
[11:52:56.251] xyz_f:0.436219, 0.014145, 1.294412  Reprojection Error: -0.035441, 0.282985 Feature: 0.277925, 0.270876, 0.921620
[11:52:56.251] xyz_f:0.180751, -0.065030, 1.287887  Reprojection Error: -0.110772, 0.246970 Feature: 0.029007, 0.192709, 0.980827
[11:52:56.251] xyz_f:0.587461, -0.461544, 1.148298  Reprojection Error: -0.028656, 0.143790 Feature: 0.423585, -0.226422, 0.877103
[11:52:56.251] xyz_f:0.401727, -0.221351, 1.272858  Reprojection Error: -0.056017, 0.213008 Feature: 0.251085, 0.037826, 0.967226
[11:52:56.251] xyz_f:0.253130, -0.171951, 1.283030  Reprojection Error: -0.091991, 0.223029 Feature: 0.104312, 0.088175, 0.990628
[11:52:56.251] xyz_f:0.381088, -0.232282, 1.271698  Reprojection Error: -0.062075, 0.210383 Feature: 0.231075, 0.026967, 0.972562
[11:52:56.251] xyz_f:0.407025, 0.015978, 1.297193  Reprojection Error: -0.045105, 0.281952 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.251] xyz_f:0.549148, -0.458903, 1.160598  Reprojection Error: -0.039751, 0.148799 Feature: 0.387861, -0.220687, 0.894908
[11:52:56.251] xyz_f:0.375158, -0.255593, 1.266145  Reprojection Error: -0.064991, 0.204960 Feature: 0.225358, 0.003013, 0.974271
[11:52:56.251] xyz_f:0.695829, 0.010717, 1.229615  Reprojection Error: 0.075283, 0.299038 Feature: 0.522505, 0.250794, 0.814918
[11:52:56.251] xyz_f:-0.446219, -0.530899, 0.649868  Reprojection Error: -0.379205, 0.147596 Feature: -0.675839, -0.422416, 0.603992
[11:52:56.251] xyz_f:0.586748, -0.647857, 1.016327  Reprojection Error: -0.039027, 0.074975 Feature: 0.408848, -0.440542, 0.799228
[11:52:56.251] xyz_f:0.522301, -0.447206, 1.173219  Reprojection Error: -0.020475, 0.152648 Feature: 0.363061, -0.206122, 0.908681
[11:52:56.251] xyz_f:0.602482, -0.473532, 1.136840  Reprojection Error: 0.002496, 0.133172 Feature: 0.436959, -0.240967, 0.866604
[11:52:56.251] xyz_f:0.360479, -0.264169, 1.264473  Reprojection Error: -0.041332, 0.203051 Feature: 0.211017, -0.005703, 0.977466
[11:52:56.251] xyz_f:0.250330, -0.165418, 1.283940  Reprojection Error: -0.068871, 0.226930 Feature: 0.101413, 0.094721, 0.990325
[11:52:56.251] xyz_f:0.180751, -0.065030, 1.287887  Reprojection Error: -0.087131, 0.249433 Feature: 0.029007, 0.192709, 0.980827
[11:52:56.251] xyz_f:0.436219, 0.014145, 1.294412  Reprojection Error: -0.008460, 0.284893 Feature: 0.277925, 0.270876, 0.921620
[11:52:56.251] xyz_f:0.695829, 0.010717, 1.229615  Reprojection Error: 0.111906, 0.300569 Feature: 0.522505, 0.250794, 0.814918
[11:52:56.251] xyz_f:0.277753, 0.153665, 1.287566  Reprojection Error: -0.060843, 0.327076 Feature: 0.114398, 0.403870, 0.907635
[11:52:56.251] it:15 	 Success 	 new_chi2: 1.551056 	 dT = -0.017201, 0.007785, 0.007436
[11:52:56.251] xyz_f:0.344963, -0.264228, 1.256910  Reprojection Error: -0.058571, 0.204386 Feature: 0.211017, -0.005703, 0.977466
[11:52:56.251] xyz_f:0.234867, -0.165265, 1.275586  Reprojection Error: -0.081721, 0.225207 Feature: 0.101413, 0.094721, 0.990325
[11:52:56.251] xyz_f:0.507084, -0.447577, 1.166819  Reprojection Error: -0.035039, 0.156751 Feature: 0.363061, -0.206122, 0.908681
[11:52:56.251] xyz_f:0.572270, -0.648352, 1.010392  Reprojection Error: -0.054830, 0.090474 Feature: 0.408848, -0.440542, 0.799228
[11:52:56.251] xyz_f:0.587473, -0.474058, 1.131017  Reprojection Error: -0.015201, 0.141084 Feature: 0.436959, -0.240967, 0.866604
[11:52:56.251] xyz_f:0.234977, -0.158782, 1.276663  Reprojection Error: -0.081594, 0.226691 Feature: 0.101404, 0.101262, 0.989678
[11:52:56.251] xyz_f:0.262878, 0.153764, 1.279410  Reprojection Error: -0.079429, 0.324786 Feature: 0.114398, 0.403870, 0.907635
[11:52:56.251] xyz_f:0.598531, -0.450069, 1.140556  Reprojection Error: -0.007917, 0.146395 Feature: 0.448381, -0.215327, 0.867519
[11:52:56.251] xyz_f:0.513714, -0.470388, 1.153273  Reprojection Error: -0.036452, 0.150585 Feature: 0.368254, -0.231661, 0.900401
[11:52:56.251] xyz_f:0.386163, -0.236322, 1.262100  Reprojection Error: -0.046483, 0.210595 Feature: 0.251103, 0.022595, 0.967697
[11:52:56.251] xyz_f:0.557586, -0.459438, 1.148067  Reprojection Error: -0.022265, 0.148730 Feature: 0.409924, -0.222432, 0.884583
[11:52:56.251] xyz_f:-0.457812, -0.529409, 0.636524  Reprojection Error: -0.399717, 0.132345 Feature: -0.675839, -0.422416, 0.603992
[11:52:56.251] xyz_f:0.421021, 0.013940, 1.287394  Reprojection Error: -0.025473, 0.283085 Feature: 0.277925, 0.270876, 0.921620
[11:52:56.251] xyz_f:0.165455, -0.064744, 1.279033  Reprojection Error: -0.099785, 0.247096 Feature: 0.029007, 0.192709, 0.980827
[11:52:56.251] xyz_f:0.572393, -0.462041, 1.142366  Reprojection Error: -0.018122, 0.146312 Feature: 0.423585, -0.226422, 0.877103
[11:52:56.251] xyz_f:0.386232, -0.221490, 1.265591  Reprojection Error: -0.045586, 0.214116 Feature: 0.251085, 0.037826, 0.967226
[11:52:56.251] xyz_f:0.237661, -0.171804, 1.274696  Reprojection Error: -0.081146, 0.223790 Feature: 0.104312, 0.088175, 0.990628
[11:52:56.251] xyz_f:0.365581, -0.232381, 1.264283  Reprojection Error: -0.051567, 0.211532 Feature: 0.231075, 0.026967, 0.972562
[11:52:56.251] xyz_f:0.391812, 0.015829, 1.289964  Reprojection Error: -0.035070, 0.281998 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.251] xyz_f:0.533998, -0.459326, 1.154391  Reprojection Error: -0.029171, 0.151291 Feature: 0.387861, -0.220687, 0.894908
[11:52:56.251] xyz_f:0.359647, -0.255681, 1.258687  Reprojection Error: -0.054423, 0.206225 Feature: 0.225358, 0.003013, 0.974271
[11:52:56.251] xyz_f:0.681083, 0.010012, 1.224463  Reprojection Error: 0.084944, 0.299578 Feature: 0.522505, 0.250794, 0.814918
[11:52:56.251] xyz_f:-0.457812, -0.529409, 0.636524  Reprojection Error: -0.346599, 0.162382 Feature: -0.675839, -0.422416, 0.603992
[11:52:56.251] xyz_f:0.572270, -0.648352, 1.010392  Reprojection Error: -0.028089, 0.079209 Feature: 0.408848, -0.440542, 0.799228
[11:52:56.251] xyz_f:0.507084, -0.447577, 1.166819  Reprojection Error: -0.009875, 0.155057 Feature: 0.363061, -0.206122, 0.908681
[11:52:56.251] xyz_f:0.587473, -0.474058, 1.131017  Reprojection Error: 0.013038, 0.135781 Feature: 0.436959, -0.240967, 0.866604
[11:52:56.251] xyz_f:0.344963, -0.264228, 1.256910  Reprojection Error: -0.030703, 0.204355 Feature: 0.211017, -0.005703, 0.977466
[11:52:56.251] xyz_f:0.234867, -0.165265, 1.275586  Reprojection Error: -0.058026, 0.227654 Feature: 0.101413, 0.094721, 0.990325
[11:52:56.251] xyz_f:0.165455, -0.064744, 1.279033  Reprojection Error: -0.076143, 0.249559 Feature: 0.029007, 0.192709, 0.980827
[11:52:56.251] xyz_f:0.421021, 0.013940, 1.287394  Reprojection Error: 0.001508, 0.284993 Feature: 0.277925, 0.270876, 0.921620
[11:52:56.251] xyz_f:0.681083, 0.010012, 1.224463  Reprojection Error: 0.121568, 0.301108 Feature: 0.522505, 0.250794, 0.814918
[11:52:56.251] xyz_f:0.262878, 0.153764, 1.279410  Reprojection Error: -0.050591, 0.326238 Feature: 0.114398, 0.403870, 0.907635
[11:52:56.251] it:16 	 Success 	 new_chi2: 1.527154 	 dT = -0.017894, 0.008625, 0.009011
[11:52:56.251] xyz_f:0.328862, -0.264281, 1.248482  Reprojection Error: -0.047528, 0.205847 Feature: 0.211017, -0.005703, 0.977466
[11:52:56.251] xyz_f:0.218839, -0.165061, 1.266200  Reprojection Error: -0.070427, 0.226006 Feature: 0.101413, 0.094721, 0.990325
[11:52:56.251] xyz_f:0.491333, -0.448008, 1.159803  Reprojection Error: -0.024087, 0.159443 Feature: 0.363061, -0.206122, 0.908681
[11:52:56.251] xyz_f:0.557409, -0.648937, 1.003948  Reprojection Error: -0.043663, 0.095175 Feature: 0.408848, -0.440542, 0.799228
[11:52:56.251] xyz_f:0.571969, -0.474677, 1.124702  Reprojection Error: -0.004332, 0.143988 Feature: 0.436959, -0.240967, 0.866604
[11:52:56.251] xyz_f:0.218955, -0.158579, 1.267279  Reprojection Error: -0.070314, 0.227451 Feature: 0.101404, 0.101262, 0.989678
[11:52:56.251] xyz_f:0.247559, 0.153902, 1.270271  Reprojection Error: -0.068848, 0.323813 Feature: 0.114398, 0.403870, 0.907635
[11:52:56.251] xyz_f:0.582999, -0.450714, 1.134338  Reprojection Error: 0.002899, 0.149127 Feature: 0.448381, -0.215327, 0.867519
[11:52:56.251] xyz_f:0.498028, -0.470834, 1.146316  Reprojection Error: -0.025471, 0.153450 Feature: 0.368254, -0.231661, 0.900401
[11:52:56.251] xyz_f:0.370080, -0.236471, 1.254030  Reprojection Error: -0.035627, 0.211918 Feature: 0.251103, 0.022595, 0.967697
[11:52:56.251] xyz_f:0.541969, -0.459988, 1.141492  Reprojection Error: -0.011381, 0.151516 Feature: 0.409924, -0.222432, 0.884583
[11:52:56.251] xyz_f:-0.469099, -0.527596, 0.621130  Reprojection Error: -0.363719, 0.150039 Feature: -0.675839, -0.422416, 0.603992
[11:52:56.251] xyz_f:0.405301, 0.013709, 1.279630  Reprojection Error: -0.015172, 0.283200 Feature: 0.277925, 0.270876, 0.921620
[11:52:56.251] xyz_f:0.149634, -0.064379, 1.269044  Reprojection Error: -0.088336, 0.247206 Feature: 0.029007, 0.192709, 0.980827
[11:52:56.251] xyz_f:0.556818, -0.462625, 1.135920  Reprojection Error: -0.007255, 0.149121 Feature: 0.423585, -0.226422, 0.877103
[11:52:56.251] xyz_f:0.370153, -0.221639, 1.257523  Reprojection Error: -0.034758, 0.215358 Feature: 0.251085, 0.037826, 0.967226
[11:52:56.251] xyz_f:0.221625, -0.171607, 1.265334  Reprojection Error: -0.069852, 0.224631 Feature: 0.104312, 0.088175, 0.990628
[11:52:56.251] xyz_f:0.349489, -0.232482, 1.256034  Reprojection Error: -0.040654, 0.212820 Feature: 0.231075, 0.026967, 0.972562
[11:52:56.251] xyz_f:0.376075, 0.015667, 1.281946  Reprojection Error: -0.024694, 0.282048 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.251] xyz_f:0.518327, -0.459820, 1.147611  Reprojection Error: -0.018249, 0.154073 Feature: 0.387861, -0.220687, 0.894908
[11:52:56.251] xyz_f:0.343549, -0.255768, 1.250387  Reprojection Error: -0.043445, 0.207643 Feature: 0.225358, 0.003013, 0.974271
[11:52:56.251] xyz_f:0.665891, 0.009174, 1.218965  Reprojection Error: 0.094899, 0.300228 Feature: 0.522505, 0.250794, 0.814918
[11:52:56.251] xyz_f:-0.469099, -0.527596, 0.621130  Reprojection Error: -0.310601, 0.180075 Feature: -0.675839, -0.422416, 0.603992
[11:52:56.251] xyz_f:0.557409, -0.648937, 1.003948  Reprojection Error: -0.016922, 0.083910 Feature: 0.408848, -0.440542, 0.799228
[11:52:56.251] xyz_f:0.491333, -0.448008, 1.159803  Reprojection Error: 0.001077, 0.157749 Feature: 0.363061, -0.206122, 0.908681
[11:52:56.251] xyz_f:0.571969, -0.474677, 1.124702  Reprojection Error: 0.023907, 0.138685 Feature: 0.436959, -0.240967, 0.866604
[11:52:56.251] xyz_f:0.328862, -0.264281, 1.248482  Reprojection Error: -0.019659, 0.205817 Feature: 0.211017, -0.005703, 0.977466
[11:52:56.251] xyz_f:0.218839, -0.165061, 1.266200  Reprojection Error: -0.046733, 0.228453 Feature: 0.101413, 0.094721, 0.990325
[11:52:56.251] xyz_f:0.149634, -0.064379, 1.269044  Reprojection Error: -0.064694, 0.249669 Feature: 0.029007, 0.192709, 0.980827
[11:52:56.251] xyz_f:0.405301, 0.013709, 1.279630  Reprojection Error: 0.011809, 0.285107 Feature: 0.277925, 0.270876, 0.921620
[11:52:56.251] xyz_f:0.665891, 0.009174, 1.218965  Reprojection Error: 0.131523, 0.301759 Feature: 0.522505, 0.250794, 0.814918
[11:52:56.251] xyz_f:0.247559, 0.153902, 1.270271  Reprojection Error: -0.040010, 0.325265 Feature: 0.114398, 0.403870, 0.907635
[11:52:56.251] it:17 	 Success 	 new_chi2: 1.507551 	 dT = -0.018748, 0.009618, 0.010829
[11:52:56.251] xyz_f:0.310262, -0.264316, 1.238996  Reprojection Error: -0.034532, 0.207496 Feature: 0.211017, -0.005703, 0.977466
[11:52:56.251] xyz_f:0.200339, -0.164789, 1.255565  Reprojection Error: -0.057157, 0.226893 Feature: 0.101413, 0.094721, 0.990325
[11:52:56.251] xyz_f:0.473136, -0.448500, 1.152020  Reprojection Error: -0.011154, 0.162480 Feature: 0.363061, -0.206122, 0.908681
[11:52:56.251] xyz_f:0.540276, -0.649615, 0.996861  Reprojection Error: -0.030423, 0.100451 Feature: 0.408848, -0.440542, 0.799228
[11:52:56.251] xyz_f:0.554060, -0.475395, 1.117764  Reprojection Error: 0.008534, 0.147250 Feature: 0.436959, -0.240967, 0.866604
[11:52:56.251] xyz_f:0.200461, -0.158307, 1.256644  Reprojection Error: -0.057060, 0.228294 Feature: 0.101404, 0.101262, 0.989678
[11:52:56.251] xyz_f:0.229908, 0.154093, 1.259941  Reprojection Error: -0.056436, 0.322668 Feature: 0.114398, 0.403870, 0.907635
[11:52:56.251] xyz_f:0.565056, -0.451463, 1.127515  Reprojection Error: 0.015703, 0.152196 Feature: 0.448381, -0.215327, 0.867519
[11:52:56.251] xyz_f:0.479908, -0.471345, 1.138603  Reprojection Error: -0.012500, 0.156681 Feature: 0.368254, -0.231661, 0.900401
[11:52:56.251] xyz_f:0.351498, -0.236622, 1.244976  Reprojection Error: -0.022848, 0.213411 Feature: 0.251103, 0.022595, 0.967697
[11:52:56.251] xyz_f:0.523927, -0.460621, 1.134239  Reprojection Error: 0.001489, 0.154651 Feature: 0.409924, -0.222432, 0.884583
[11:52:56.251] xyz_f:-0.481827, -0.525403, 0.603328  Reprojection Error: -0.320338, 0.171467 Feature: -0.675839, -0.422416, 0.603992
[11:52:56.251] xyz_f:0.387150, 0.013459, 1.270946  Reprojection Error: -0.003054, 0.283324 Feature: 0.277925, 0.270876, 0.921620
[11:52:56.251] xyz_f:0.131390, -0.063912, 1.257686  Reprojection Error: -0.074895, 0.247294 Feature: 0.029007, 0.192709, 0.980827
[11:52:56.251] xyz_f:0.538827, -0.463300, 1.128823  Reprojection Error: 0.005601, 0.152280 Feature: 0.423585, -0.226422, 0.877103
[11:52:56.251] xyz_f:0.351576, -0.221790, 1.248469  Reprojection Error: -0.022013, 0.216757 Feature: 0.251085, 0.037826, 0.967226
[11:52:56.251] xyz_f:0.203115, -0.171342, 1.254728  Reprojection Error: -0.056581, 0.225566 Feature: 0.104312, 0.088175, 0.990628
[11:52:56.251] xyz_f:0.330898, -0.232575, 1.246765  Reprojection Error: -0.027812, 0.214271 Feature: 0.231075, 0.026967, 0.972562
[11:52:56.251] xyz_f:0.357907, 0.015498, 1.272957  Reprojection Error: -0.012493, 0.282095 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.251] xyz_f:0.500223, -0.460388, 1.140110  Reprojection Error: -0.005341, 0.157207 Feature: 0.387861, -0.220687, 0.894908
[11:52:56.251] xyz_f:0.324953, -0.255845, 1.241056  Reprojection Error: -0.030527, 0.209243 Feature: 0.225358, 0.003013, 0.974271
[11:52:56.251] xyz_f:0.648347, 0.008192, 1.213011  Reprojection Error: 0.106681, 0.301000 Feature: 0.522505, 0.250794, 0.814918
[11:52:56.251] xyz_f:-0.481827, -0.525403, 0.603328  Reprojection Error: -0.267220, 0.201504 Feature: -0.675839, -0.422416, 0.603992
[11:52:56.251] xyz_f:0.540276, -0.649615, 0.996861  Reprojection Error: -0.003682, 0.089186 Feature: 0.408848, -0.440542, 0.799228
[11:52:56.251] xyz_f:0.473136, -0.448500, 1.152020  Reprojection Error: 0.014010, 0.160786 Feature: 0.363061, -0.206122, 0.908681
[11:52:56.251] xyz_f:0.554060, -0.475395, 1.117764  Reprojection Error: 0.036772, 0.141947 Feature: 0.436959, -0.240967, 0.866604
[11:52:56.251] xyz_f:0.310262, -0.264316, 1.238996  Reprojection Error: -0.006663, 0.207466 Feature: 0.211017, -0.005703, 0.977466
[11:52:56.251] xyz_f:0.200339, -0.164789, 1.255565  Reprojection Error: -0.033462, 0.229340 Feature: 0.101413, 0.094721, 0.990325
[11:52:56.251] xyz_f:0.131390, -0.063912, 1.257686  Reprojection Error: -0.051253, 0.249757 Feature: 0.029007, 0.192709, 0.980827
[11:52:56.251] xyz_f:0.387150, 0.013459, 1.270946  Reprojection Error: 0.023926, 0.285231 Feature: 0.277925, 0.270876, 0.921620
[11:52:56.251] xyz_f:0.648347, 0.008192, 1.213011  Reprojection Error: 0.143304, 0.302531 Feature: 0.522505, 0.250794, 0.814918
[11:52:56.251] xyz_f:0.229908, 0.154093, 1.259941  Reprojection Error: -0.027598, 0.324120 Feature: 0.114398, 0.403870, 0.907635
[11:52:56.251] it:18 	 Success 	 new_chi2: 1.491603 	 dT = -0.019673, 0.010739, 0.012977
[11:52:56.251] xyz_f:0.288593, -0.264319, 1.228267  Reprojection Error: -0.019077, 0.209362 Feature: 0.211017, -0.005703, 0.977466
[11:52:56.251] xyz_f:0.178805, -0.164423, 1.243458  Reprojection Error: -0.041393, 0.227877 Feature: 0.101413, 0.094721, 0.990325
[11:52:56.252] xyz_f:0.451925, -0.449050, 1.143335  Reprojection Error: 0.004279, 0.165918 Feature: 0.363061, -0.206122, 0.908681
[11:52:56.252] xyz_f:0.520328, -0.650393, 0.989026  Reprojection Error: -0.014548, 0.106400 Feature: 0.408848, -0.440542, 0.799228
[11:52:56.252] xyz_f:0.533181, -0.476218, 1.110096  Reprojection Error: 0.023918, 0.150929 Feature: 0.436959, -0.240967, 0.866604
[11:52:56.252] xyz_f:0.178936, -0.157941, 1.244540  Reprojection Error: -0.041315, 0.229225 Feature: 0.101404, 0.101262, 0.989678
[11:52:56.252] xyz_f:0.209388, 0.154358, 1.248212  Reprojection Error: -0.041712, 0.321306 Feature: 0.114398, 0.403870, 0.907635
[11:52:56.252] xyz_f:0.544134, -0.452323, 1.119984  Reprojection Error: 0.031014, 0.155656 Feature: 0.448381, -0.215327, 0.867519
[11:52:56.252] xyz_f:0.458787, -0.471918, 1.130004  Reprojection Error: 0.002984, 0.160339 Feature: 0.368254, -0.231661, 0.900401
[11:52:56.252] xyz_f:0.329843, -0.236763, 1.234764  Reprojection Error: -0.007645, 0.215097 Feature: 0.251103, 0.022595, 0.967697
[11:52:56.252] xyz_f:0.502894, -0.461343, 1.126192  Reprojection Error: 0.016865, 0.158194 Feature: 0.409924, -0.222432, 0.884583
[11:52:56.252] xyz_f:-0.496339, -0.522757, 0.582715  Reprojection Error: -0.267184, 0.197732 Feature: -0.675839, -0.422416, 0.603992
[11:52:56.252] xyz_f:0.366007, 0.013197, 1.261184  Reprojection Error: 0.011352, 0.283449 Feature: 0.277925, 0.270876, 0.921620
[11:52:56.252] xyz_f:0.110174, -0.063315, 1.244717  Reprojection Error: -0.058939, 0.247343 Feature: 0.029007, 0.192709, 0.980827
[11:52:56.252] xyz_f:0.517851, -0.464072, 1.120963  Reprojection Error: 0.020967, 0.155846 Feature: 0.423585, -0.226422, 0.877103
[11:52:56.252] xyz_f:0.329928, -0.221932, 1.238258  Reprojection Error: -0.006852, 0.218336 Feature: 0.251085, 0.037826, 0.967226
[11:52:56.252] xyz_f:0.181570, -0.170985, 1.242657  Reprojection Error: -0.040815, 0.226605 Feature: 0.104312, 0.088175, 0.990628
[11:52:56.252] xyz_f:0.309237, -0.232647, 1.236295  Reprojection Error: -0.012538, 0.215909 Feature: 0.231075, 0.026967, 0.972562
[11:52:56.252] xyz_f:0.336748, 0.015334, 1.262828  Reprojection Error: 0.002007, 0.282127 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.252] xyz_f:0.479119, -0.461030, 1.131766  Reprojection Error: 0.010071, 0.160751 Feature: 0.387861, -0.220687, 0.894908
[11:52:56.252] xyz_f:0.303285, -0.255897, 1.230511  Reprojection Error: -0.015162, 0.211052 Feature: 0.225358, 0.003013, 0.974271
[11:52:56.252] xyz_f:0.627890, 0.007052, 1.206527  Reprojection Error: 0.120764, 0.301909 Feature: 0.522505, 0.250794, 0.814918
[11:52:56.252] xyz_f:-0.496339, -0.522757, 0.582715  Reprojection Error: -0.214066, 0.227769 Feature: -0.675839, -0.422416, 0.603992
[11:52:56.252] xyz_f:0.520328, -0.650393, 0.989026  Reprojection Error: 0.012194, 0.095135 Feature: 0.408848, -0.440542, 0.799228
[11:52:56.252] xyz_f:0.451925, -0.449050, 1.143335  Reprojection Error: 0.029443, 0.164225 Feature: 0.363061, -0.206122, 0.908681
[11:52:56.252] xyz_f:0.533181, -0.476218, 1.110096  Reprojection Error: 0.052157, 0.145627 Feature: 0.436959, -0.240967, 0.866604
[11:52:56.252] xyz_f:0.288593, -0.264319, 1.228267  Reprojection Error: 0.008791, 0.209332 Feature: 0.211017, -0.005703, 0.977466
[11:52:56.252] xyz_f:0.178805, -0.164423, 1.243458  Reprojection Error: -0.017698, 0.230324 Feature: 0.101413, 0.094721, 0.990325
[11:52:56.252] xyz_f:0.110174, -0.063315, 1.244717  Reprojection Error: -0.035297, 0.249806 Feature: 0.029007, 0.192709, 0.980827
[11:52:56.252] xyz_f:0.366007, 0.013197, 1.261184  Reprojection Error: 0.038333, 0.285357 Feature: 0.277925, 0.270876, 0.921620
[11:52:56.252] xyz_f:0.627890, 0.007052, 1.206527  Reprojection Error: 0.157387, 0.303440 Feature: 0.522505, 0.250794, 0.814918
[11:52:56.252] xyz_f:0.209388, 0.154358, 1.248212  Reprojection Error: -0.012874, 0.322758 Feature: 0.114398, 0.403870, 0.907635
[11:52:56.252] it:19 	 Success 	 new_chi2: 1.485125 	 dT = -0.020610, 0.011983, 0.015485
[11:52:56.252] xyz_f:0.263308, -0.264265, 1.216084  Reprojection Error: -0.000639, 0.211474 Feature: 0.211017, -0.005703, 0.977466
[11:52:56.252] xyz_f:0.153706, -0.163929, 1.229634  Reprojection Error: -0.022597, 0.228962 Feature: 0.101413, 0.094721, 0.990325
[11:52:56.252] xyz_f:0.427149, -0.449652, 1.133599  Reprojection Error: 0.022739, 0.169823 Feature: 0.363061, -0.206122, 0.908681
[11:52:56.252] xyz_f:0.497046, -0.651272, 0.980324  Reprojection Error: 0.004532, 0.113134 Feature: 0.408848, -0.440542, 0.799228
[11:52:56.252] xyz_f:0.508784, -0.477146, 1.101578  Reprojection Error: 0.042351, 0.155089 Feature: 0.436959, -0.240967, 0.866604
[11:52:56.252] xyz_f:0.153847, -0.157448, 1.230718  Reprojection Error: -0.022544, 0.230250 Feature: 0.101404, 0.101262, 0.989678
[11:52:56.252] xyz_f:0.185492, 0.154727, 1.234854  Reprojection Error: -0.024175, 0.319670 Feature: 0.114398, 0.403870, 0.907635
[11:52:56.252] xyz_f:0.519684, -0.453295, 1.111629  Reprojection Error: 0.049357, 0.159566 Feature: 0.448381, -0.215327, 0.867519
[11:52:56.252] xyz_f:0.434119, -0.472548, 1.120371  Reprojection Error: 0.021511, 0.164492 Feature: 0.368254, -0.231661, 0.900401
[11:52:56.252] xyz_f:0.304566, -0.236875, 1.223198  Reprojection Error: 0.010494, 0.217002 Feature: 0.251103, 0.022595, 0.967697
[11:52:56.252] xyz_f:0.478320, -0.462149, 1.117219  Reprojection Error: 0.035275, 0.162206 Feature: 0.409924, -0.222432, 0.884583
[11:52:56.252] xyz_f:-0.512911, -0.519575, 0.558856  Reprojection Error: -0.201167, 0.230338 Feature: -0.675839, -0.422416, 0.603992
[11:52:56.252] xyz_f:0.341332, 0.012939, 1.250164  Reprojection Error: 0.028531, 0.283563 Feature: 0.277925, 0.270876, 0.921620
[11:52:56.252] xyz_f:0.085470, -0.062548, 1.229870  Reprojection Error: -0.039921, 0.247333 Feature: 0.029007, 0.192709, 0.980827
[11:52:56.252] xyz_f:0.493342, -0.464939, 1.112215  Reprojection Error: 0.039369, 0.159882 Feature: 0.423585, -0.226422, 0.877103
[11:52:56.252] xyz_f:0.304658, -0.222044, 1.226694  Reprojection Error: 0.011236, 0.220117 Feature: 0.251085, 0.037826, 0.967226
[11:52:56.252] xyz_f:0.156456, -0.170503, 1.228874  Reprojection Error: -0.022017, 0.227756 Feature: 0.104312, 0.088175, 0.990628
[11:52:56.252] xyz_f:0.283956, -0.232676, 1.224420  Reprojection Error: 0.005684, 0.217758 Feature: 0.231075, 0.026967, 0.972562
[11:52:56.252] xyz_f:0.312060, 0.015194, 1.251370  Reprojection Error: 0.019294, 0.282128 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.252] xyz_f:0.454465, -0.461741, 1.122437  Reprojection Error: 0.028517, 0.164770 Feature: 0.387861, -0.220687, 0.894908
[11:52:56.252] xyz_f:0.277998, -0.255902, 1.218547  Reprojection Error: 0.003170, 0.213098 Feature: 0.225358, 0.003013, 0.974271
[11:52:56.252] xyz_f:0.603976, 0.005743, 1.199429  Reprojection Error: 0.137621, 0.302966 Feature: 0.522505, 0.250794, 0.814918
[11:52:56.252] xyz_f:-0.512911, -0.519575, 0.558856  Reprojection Error: -0.148049, 0.260374 Feature: -0.675839, -0.422416, 0.603992
[11:52:56.252] xyz_f:0.497046, -0.651272, 0.980324  Reprojection Error: 0.031273, 0.101869 Feature: 0.408848, -0.440542, 0.799228
[11:52:56.252] xyz_f:0.427149, -0.449652, 1.133599  Reprojection Error: 0.047903, 0.168129 Feature: 0.363061, -0.206122, 0.908681
[11:52:56.252] xyz_f:0.508784, -0.477146, 1.101578  Reprojection Error: 0.070590, 0.149787 Feature: 0.436959, -0.240967, 0.866604
[11:52:56.252] xyz_f:0.263308, -0.264265, 1.216084  Reprojection Error: 0.027230, 0.211443 Feature: 0.211017, -0.005703, 0.977466
[11:52:56.252] xyz_f:0.153706, -0.163929, 1.229634  Reprojection Error: 0.001097, 0.231409 Feature: 0.101413, 0.094721, 0.990325
[11:52:56.252] xyz_f:0.085470, -0.062548, 1.229870  Reprojection Error: -0.016279, 0.249796 Feature: 0.029007, 0.192709, 0.980827
[11:52:56.252] xyz_f:0.341332, 0.012939, 1.250164  Reprojection Error: 0.055512, 0.285471 Feature: 0.277925, 0.270876, 0.921620
[11:52:56.252] xyz_f:0.603976, 0.005743, 1.199429  Reprojection Error: 0.174245, 0.304496 Feature: 0.522505, 0.250794, 0.814918
[11:52:56.252] xyz_f:0.185492, 0.154727, 1.234854  Reprojection Error: 0.004663, 0.321122 Feature: 0.114398, 0.403870, 0.907635
[11:52:56.252] it:20 	 Success 	 new_chi2: 1.499168 	 dT = -0.021450, 0.013329, 0.018349
[11:52:56.252] xyz_f:0.233825, -0.264121, 1.202218  Reprojection Error: 0.021388, 0.213860 Feature: 0.211017, -0.005703, 0.977466
[11:52:56.252] xyz_f:0.124478, -0.163265, 1.213828  Reprojection Error: -0.000146, 0.230151 Feature: 0.101413, 0.094721, 0.990325
[11:52:56.252] xyz_f:0.398220, -0.450287, 1.122642  Reprojection Error: 0.044830, 0.174260 Feature: 0.363061, -0.206122, 0.908681
[11:52:56.252] xyz_f:0.469864, -0.652244, 0.970621  Reprojection Error: 0.027468, 0.120776 Feature: 0.408848, -0.440542, 0.799228
[11:52:56.252] xyz_f:0.480278, -0.478170, 1.092071  Reprojection Error: 0.064433, 0.159798 Feature: 0.436959, -0.240967, 0.866604
[11:52:56.252] xyz_f:0.124630, -0.156785, 1.214914  Reprojection Error: -0.000122, 0.231368 Feature: 0.101404, 0.101262, 0.989678
[11:52:56.252] xyz_f:0.157679, 0.155236, 1.219624  Reprojection Error: -0.003246, 0.317687 Feature: 0.114398, 0.403870, 0.907635
[11:52:56.252] xyz_f:0.491112, -0.454371, 1.102315  Reprojection Error: 0.071328, 0.163987 Feature: 0.448381, -0.215327, 0.867519
[11:52:56.252] xyz_f:0.405315, -0.473217, 1.109538  Reprojection Error: 0.043688, 0.169212 Feature: 0.368254, -0.231661, 0.900401
[11:52:56.252] xyz_f:0.275080, -0.236927, 1.210063  Reprojection Error: 0.032158, 0.219147 Feature: 0.251103, 0.022595, 0.967697
[11:52:56.252] xyz_f:0.449613, -0.463028, 1.107171  Reprojection Error: 0.057317, 0.166754 Feature: 0.409924, -0.222432, 0.884583
[11:52:56.252] xyz_f:-0.531828, -0.515770, 0.531326  Reprojection Error: -0.118009, 0.271348 Feature: -0.675839, -0.422416, 0.603992
[11:52:56.252] xyz_f:0.312548, 0.012711, 1.237687  Reprojection Error: 0.049035, 0.283643 Feature: 0.277925, 0.270876, 0.921620
[11:52:56.252] xyz_f:0.056730, -0.061561, 1.212858  Reprojection Error: -0.017200, 0.247233 Feature: 0.029007, 0.192709, 0.980827
[11:52:56.252] xyz_f:0.464708, -0.465889, 1.102433  Reprojection Error: 0.061407, 0.164453 Feature: 0.423585, -0.226422, 0.877103
[11:52:56.252] xyz_f:0.275180, -0.222096, 1.213560  Reprojection Error: 0.032839, 0.222119 Feature: 0.251085, 0.037826, 0.967226
[11:52:56.252] xyz_f:0.127210, -0.169852, 1.213116  Reprojection Error: 0.000437, 0.229022 Feature: 0.104312, 0.088175, 0.990628
[11:52:56.252] xyz_f:0.254471, -0.232630, 1.210920  Reprojection Error: 0.027447, 0.219838 Feature: 0.231075, 0.026967, 0.972562
[11:52:56.252] xyz_f:0.283271, 0.015105, 1.238374  Reprojection Error: 0.039925, 0.282072 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.252] xyz_f:0.425672, -0.462506, 1.111965  Reprojection Error: 0.050598, 0.169333 Feature: 0.387861, -0.220687, 0.894908
[11:52:56.252] xyz_f:0.248508, -0.255828, 1.204942  Reprojection Error: 0.025068, 0.215408 Feature: 0.225358, 0.003013, 0.974271
[11:52:56.252] xyz_f:0.576013, 0.004265, 1.191615  Reprojection Error: 0.157786, 0.304174 Feature: 0.522505, 0.250794, 0.814918
[11:52:56.252] xyz_f:-0.531828, -0.515770, 0.531326  Reprojection Error: -0.064891, 0.301384 Feature: -0.675839, -0.422416, 0.603992
[11:52:56.252] xyz_f:0.469864, -0.652244, 0.970621  Reprojection Error: 0.054209, 0.109511 Feature: 0.408848, -0.440542, 0.799228
[11:52:56.252] xyz_f:0.398220, -0.450287, 1.122642  Reprojection Error: 0.069994, 0.172566 Feature: 0.363061, -0.206122, 0.908681
[11:52:56.252] xyz_f:0.480278, -0.478170, 1.092071  Reprojection Error: 0.092672, 0.154495 Feature: 0.436959, -0.240967, 0.866604
[11:52:56.252] xyz_f:0.233825, -0.264121, 1.202218  Reprojection Error: 0.049257, 0.213830 Feature: 0.211017, -0.005703, 0.977466
[11:52:56.252] xyz_f:0.124478, -0.163265, 1.213828  Reprojection Error: 0.023549, 0.232598 Feature: 0.101413, 0.094721, 0.990325
[11:52:56.252] xyz_f:0.056730, -0.061561, 1.212858  Reprojection Error: 0.006442, 0.249696 Feature: 0.029007, 0.192709, 0.980827
[11:52:56.252] xyz_f:0.312548, 0.012711, 1.237687  Reprojection Error: 0.076016, 0.285551 Feature: 0.277925, 0.270876, 0.921620
[11:52:56.252] xyz_f:0.576013, 0.004265, 1.191615  Reprojection Error: 0.194409, 0.305705 Feature: 0.522505, 0.250794, 0.814918
[11:52:56.252] xyz_f:0.157679, 0.155236, 1.219624  Reprojection Error: 0.025592, 0.319140 Feature: 0.114398, 0.403870, 0.907635
[11:52:56.252] it:21 	 Success 	 new_chi2: 1.552404 	 dT = -0.022010, 0.014738, 0.021504
[11:52:56.252] xyz_f:0.199580, -0.263842, 1.186437  Reprojection Error: 0.047664, 0.216547 Feature: 0.211017, -0.005703, 0.977466
[11:52:56.252] xyz_f:0.090579, -0.162378, 1.195779  Reprojection Error: 0.026655, 0.231439 Feature: 0.101413, 0.094721, 0.990325
[11:52:56.252] xyz_f:0.364555, -0.450925, 1.110281  Reprojection Error: 0.071203, 0.179299 Feature: 0.363061, -0.206122, 0.908681
[11:52:56.252] xyz_f:0.438216, -0.653285, 0.959770  Reprojection Error: 0.054970, 0.129459 Feature: 0.408848, -0.440542, 0.799228
[11:52:56.252] xyz_f:0.447073, -0.479266, 1.081420  Reprojection Error: 0.090806, 0.165123 Feature: 0.436959, -0.240967, 0.866604
[11:52:56.252] xyz_f:0.090744, -0.155898, 1.196868  Reprojection Error: 0.026643, 0.232573 Feature: 0.101404, 0.101262, 0.989678
[11:52:56.252] xyz_f:0.125425, 0.155934, 1.202281  Reprojection Error: 0.021717, 0.315271 Feature: 0.114398, 0.403870, 0.907635
[11:52:56.252] xyz_f:0.457824, -0.455526, 1.091888  Reprojection Error: 0.097559, 0.168981 Feature: 0.448381, -0.215327, 0.867519
[11:52:56.252] xyz_f:0.371792, -0.473894, 1.097327  Reprojection Error: 0.070173, 0.174575 Feature: 0.368254, -0.231661, 0.900401
[11:52:56.252] xyz_f:0.240814, -0.236877, 1.195139  Reprojection Error: 0.057990, 0.221550 Feature: 0.251103, 0.022595, 0.967697
[11:52:56.252] xyz_f:0.416186, -0.463952, 1.095881  Reprojection Error: 0.083636, 0.171905 Feature: 0.409924, -0.222432, 0.884583
[11:52:56.252] xyz_f:-0.553362, -0.511264, 0.499773  Reprojection Error: -0.011727, 0.323619 Feature: -0.675839, -0.422416, 0.603992
[11:52:56.252] xyz_f:0.279089, 0.012550, 1.223549  Reprojection Error: 0.073463, 0.283656 Feature: 0.277925, 0.270876, 0.921620
[11:52:56.252] xyz_f:0.023433, -0.060298, 1.193408  Reprojection Error: 0.009939, 0.247002 Feature: 0.029007, 0.192709, 0.980827
[11:52:56.252] xyz_f:0.431360, -0.466897, 1.091457  Reprojection Error: 0.087722, 0.169626 Feature: 0.423585, -0.226422, 0.877103
[11:52:56.252] xyz_f:0.240924, -0.222047, 1.198638  Reprojection Error: 0.058595, 0.224357 Feature: 0.251085, 0.037826, 0.967226
[11:52:56.252] xyz_f:0.093288, -0.168980, 1.195124  Reprojection Error: 0.027242, 0.230400 Feature: 0.104312, 0.088175, 0.990628
[11:52:56.252] xyz_f:0.220217, -0.232466, 1.195568  Reprojection Error: 0.053400, 0.222167 Feature: 0.231075, 0.026967, 0.972562
[11:52:56.252] xyz_f:0.249818, 0.015107, 1.223628  Reprojection Error: 0.064507, 0.281923 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.252] xyz_f:0.392154, -0.463296, 1.100176  Reprojection Error: 0.076962, 0.174508 Feature: 0.387861, -0.220687, 0.894908
[11:52:56.252] xyz_f:0.214250, -0.255630, 1.189465  Reprojection Error: 0.051186, 0.218004 Feature: 0.225358, 0.003013, 0.974271
[11:52:56.252] xyz_f:0.543404, 0.002636, 1.182958  Reprojection Error: 0.181815, 0.305526 Feature: 0.522505, 0.250794, 0.814918
[11:52:56.252] xyz_f:-0.553362, -0.511264, 0.499773  Reprojection Error: 0.041391, 0.353656 Feature: -0.675839, -0.422416, 0.603992
[11:52:56.252] xyz_f:0.438216, -0.653285, 0.959770  Reprojection Error: 0.081711, 0.118194 Feature: 0.408848, -0.440542, 0.799228
[11:52:56.252] xyz_f:0.364555, -0.450925, 1.110281  Reprojection Error: 0.096367, 0.177605 Feature: 0.363061, -0.206122, 0.908681
[11:52:56.252] xyz_f:0.447073, -0.479266, 1.081420  Reprojection Error: 0.119045, 0.159820 Feature: 0.436959, -0.240967, 0.866604
[11:52:56.252] xyz_f:0.199580, -0.263842, 1.186437  Reprojection Error: 0.075533, 0.216517 Feature: 0.211017, -0.005703, 0.977466
[11:52:56.252] xyz_f:0.090579, -0.162378, 1.195779  Reprojection Error: 0.050350, 0.233886 Feature: 0.101413, 0.094721, 0.990325
[11:52:56.252] xyz_f:0.023433, -0.060298, 1.193408  Reprojection Error: 0.033581, 0.249465 Feature: 0.029007, 0.192709, 0.980827
[11:52:56.252] xyz_f:0.279089, 0.012550, 1.223549  Reprojection Error: 0.100444, 0.285563 Feature: 0.277925, 0.270876, 0.921620
[11:52:56.252] xyz_f:0.543404, 0.002636, 1.182958  Reprojection Error: 0.218438, 0.307056 Feature: 0.522505, 0.250794, 0.814918
[11:52:56.252] xyz_f:0.125425, 0.155934, 1.202281  Reprojection Error: 0.050555, 0.316723 Feature: 0.114398, 0.403870, 0.907635
[11:52:56.252] it:22 	 Success 	 new_chi2: 1.671036 	 dT = -0.022022, 0.016157, 0.024791
[11:52:56.252] xyz_f:0.160131, -0.263371, 1.168524  Reprojection Error: 0.078845, 0.219553 Feature: 0.211017, -0.005703, 0.977466
[11:52:56.252] xyz_f:0.051591, -0.161210, 1.175261  Reprojection Error: 0.058507, 0.232816 Feature: 0.101413, 0.094721, 0.990325
[11:52:56.252] xyz_f:0.325678, -0.451514, 1.096326  Reprojection Error: 0.102484, 0.185007 Feature: 0.363061, -0.206122, 0.908681
[11:52:56.252] xyz_f:0.401622, -0.654355, 0.947606  Reprojection Error: 0.087726, 0.139325 Feature: 0.408848, -0.440542, 0.799228
[11:52:56.252] xyz_f:0.408681, -0.480386, 1.069447  Reprojection Error: 0.122077, 0.171133 Feature: 0.436959, -0.240967, 0.866604
[11:52:56.252] xyz_f:0.051772, -0.154731, 1.176355  Reprojection Error: 0.058451, 0.233852 Feature: 0.101404, 0.101262, 0.989678
[11:52:56.252] xyz_f:0.088312, 0.156873, 1.182621  Reprojection Error: 0.051364, 0.312321 Feature: 0.114398, 0.403870, 0.907635
[11:52:56.252] xyz_f:0.419330, -0.456715, 1.080171  Reprojection Error: 0.128648, 0.174608 Feature: 0.448381, -0.215327, 0.867519
[11:52:56.252] xyz_f:0.333076, -0.474531, 1.083547  Reprojection Error: 0.101594, 0.180655 Feature: 0.368254, -0.231661, 0.900401
[11:52:56.252] xyz_f:0.201317, -0.236671, 1.178213  Reprojection Error: 0.088618, 0.224222 Feature: 0.251103, 0.022595, 0.967697
[11:52:56.252] xyz_f:0.377555, -0.464874, 1.083165  Reprojection Error: 0.114843, 0.177727 Feature: 0.409924, -0.222432, 0.884583
[11:52:56.252] xyz_f:-0.577725, -0.506010, 0.464009  Reprojection Error: 0.126118, 0.391144 Feature: -0.675839, -0.422416, 0.603992
[11:52:56.252] xyz_f:0.240501, 0.012507, 1.207550  Reprojection Error: 0.102397, 0.283555 Feature: 0.277925, 0.270876, 0.921620
[11:52:56.252] xyz_f:-0.014823, -0.058701, 1.171291  Reprojection Error: 0.042229, 0.246593 Feature: 0.029007, 0.192709, 0.980827
[11:52:56.252] xyz_f:0.392812, -0.467917, 1.079106  Reprojection Error: 0.118921, 0.175468 Feature: 0.423585, -0.226422, 0.877103
[11:52:56.252] xyz_f:0.201439, -0.221841, 1.181715  Reprojection Error: 0.089130, 0.226836 Feature: 0.251085, 0.037826, 0.967226
[11:52:56.252] xyz_f:0.054272, -0.167828, 1.174670  Reprojection Error: 0.059097, 0.231882 Feature: 0.104312, 0.088175, 0.990628
[11:52:56.252] xyz_f:0.180744, -0.232128, 1.178149  Reprojection Error: 0.084180, 0.224755 Feature: 0.231075, 0.026967, 0.972562
[11:52:56.252] xyz_f:0.211253, 0.015252, 1.206929  Reprojection Error: 0.093635, 0.281632 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.252] xyz_f:0.353431, -0.464064, 1.086884  Reprojection Error: 0.108230, 0.180364 Feature: 0.387861, -0.220687, 0.894908
[11:52:56.253] xyz_f:0.174777, -0.255253, 1.171903  Reprojection Error: 0.082170, 0.220903 Feature: 0.225358, 0.003013, 0.974271
[11:52:56.253] xyz_f:0.505642, 0.000895, 1.173299  Reprojection Error: 0.210217, 0.306991 Feature: 0.522505, 0.250794, 0.814918
[11:52:56.253] xyz_f:-0.577725, -0.506010, 0.464009  Reprojection Error: 0.179236, 0.421180 Feature: -0.675839, -0.422416, 0.603992
[11:52:56.253] xyz_f:0.401622, -0.654355, 0.947606  Reprojection Error: 0.114467, 0.128060 Feature: 0.408848, -0.440542, 0.799228
[11:52:56.253] xyz_f:0.325678, -0.451514, 1.096326  Reprojection Error: 0.127648, 0.183313 Feature: 0.363061, -0.206122, 0.908681
[11:52:56.253] xyz_f:0.408681, -0.480386, 1.069447  Reprojection Error: 0.150316, 0.165830 Feature: 0.436959, -0.240967, 0.866604
[11:52:56.253] xyz_f:0.160131, -0.263371, 1.168524  Reprojection Error: 0.106714, 0.219523 Feature: 0.211017, -0.005703, 0.977466
[11:52:56.253] xyz_f:0.051591, -0.161210, 1.175261  Reprojection Error: 0.082202, 0.235263 Feature: 0.101413, 0.094721, 0.990325
[11:52:56.253] xyz_f:-0.014823, -0.058701, 1.171291  Reprojection Error: 0.065871, 0.249056 Feature: 0.029007, 0.192709, 0.980827
[11:52:56.253] xyz_f:0.240501, 0.012507, 1.207550  Reprojection Error: 0.129378, 0.285463 Feature: 0.277925, 0.270876, 0.921620
[11:52:56.253] xyz_f:0.505642, 0.000895, 1.173299  Reprojection Error: 0.246841, 0.308522 Feature: 0.522505, 0.250794, 0.814918
[11:52:56.253] xyz_f:0.088312, 0.156873, 1.182621  Reprojection Error: 0.080202, 0.313773 Feature: 0.114398, 0.403870, 0.907635
[11:52:56.253] it:23 	 Success 	 new_chi2: 1.873473 	 dT = -0.021124, 0.017560, 0.027922
[11:52:56.253] xyz_f:0.115295, -0.262652, 1.148278  Reprojection Error: 0.115475, 0.222901 Feature: 0.211017, -0.005703, 0.977466
[11:52:56.253] xyz_f:0.007353, -0.159708, 1.152096  Reprojection Error: 0.096021, 0.234270 Feature: 0.101413, 0.094721, 0.990325
[11:52:56.253] xyz_f:0.281365, -0.451993, 1.080552  Reprojection Error: 0.139157, 0.191462 Feature: 0.363061, -0.206122, 0.908681
[11:52:56.253] xyz_f:0.359824, -0.655392, 0.933914  Reprojection Error: 0.126268, 0.150559 Feature: 0.408848, -0.440542, 0.799228
[11:52:56.253] xyz_f:0.364852, -0.481467, 1.055918  Reprojection Error: 0.158689, 0.177911 Feature: 0.436959, -0.240967, 0.866604
[11:52:56.253] xyz_f:0.007552, -0.153230, 1.153194  Reprojection Error: 0.095913, 0.235193 Feature: 0.101404, 0.101262, 0.989678
[11:52:56.253] xyz_f:0.046161, 0.158102, 1.160474  Reprojection Error: 0.086262, 0.308730 Feature: 0.114398, 0.403870, 0.907635
[11:52:56.253] xyz_f:0.375378, -0.457872, 1.066928  Reprojection Error: 0.165024, 0.180940 Feature: 0.448381, -0.215327, 0.867519
[11:52:56.253] xyz_f:0.288938, -0.475063, 1.067975  Reprojection Error: 0.138441, 0.187540 Feature: 0.368254, -0.231661, 0.900401
[11:52:56.253] xyz_f:0.156397, -0.236249, 1.159077  Reprojection Error: 0.124553, 0.227174 Feature: 0.251103, 0.022595, 0.967697
[11:52:56.253] xyz_f:0.333480, -0.465728, 1.068793  Reprojection Error: 0.151394, 0.184297 Feature: 0.409924, -0.222432, 0.884583
[11:52:56.253] xyz_f:-0.605028, -0.500022, 0.424099  Reprojection Error: 0.307669, 0.479648 Feature: -0.675839, -0.422416, 0.603992
[11:52:56.253] xyz_f:0.196574, 0.012643, 1.189484  Reprojection Error: 0.136301, 0.283284 Feature: 0.277925, 0.270876, 0.921620
[11:52:56.253] xyz_f:-0.058186, -0.056722, 1.146346  Reprojection Error: 0.080332, 0.245957 Feature: 0.029007, 0.192709, 0.980827
[11:52:56.253] xyz_f:0.348818, -0.468882, 1.065147  Reprojection Error: 0.155453, 0.182056 Feature: 0.423585, -0.226422, 0.877103
[11:52:56.253] xyz_f:0.156531, -0.221420, 1.162582  Reprojection Error: 0.124952, 0.229563 Feature: 0.251085, 0.037826, 0.967226
[11:52:56.253] xyz_f:0.010002, -0.166346, 1.151577  Reprojection Error: 0.096614, 0.233460 Feature: 0.104312, 0.088175, 0.990628
[11:52:56.253] xyz_f:0.135866, -0.231557, 1.158458  Reprojection Error: 0.120312, 0.227611 Feature: 0.231075, 0.026967, 0.972562
[11:52:56.253] xyz_f:0.167374, 0.015599, 1.188074  Reprojection Error: 0.127790, 0.281140 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.253] xyz_f:0.309272, -0.464744, 1.071861  Reprojection Error: 0.144872, 0.186983 Feature: 0.387861, -0.220687, 0.894908
[11:52:56.253] xyz_f:0.129903, -0.254640, 1.152052  Reprojection Error: 0.118551, 0.224124 Feature: 0.225358, 0.003013, 0.974271
[11:52:56.253] xyz_f:0.462452, -0.000889, 1.162395  Reprojection Error: 0.243330, 0.308518 Feature: 0.522505, 0.250794, 0.814918
[11:52:56.253] xyz_f:-0.605028, -0.500022, 0.424099  Reprojection Error: 0.360787, 0.509685 Feature: -0.675839, -0.422416, 0.603992
[11:52:56.253] xyz_f:0.359824, -0.655392, 0.933914  Reprojection Error: 0.153009, 0.139294 Feature: 0.408848, -0.440542, 0.799228
[11:52:56.253] xyz_f:0.281365, -0.451993, 1.080552  Reprojection Error: 0.164321, 0.189768 Feature: 0.363061, -0.206122, 0.908681
[11:52:56.253] xyz_f:0.364852, -0.481467, 1.055918  Reprojection Error: 0.186928, 0.172608 Feature: 0.436959, -0.240967, 0.866604
[11:52:56.253] xyz_f:0.115295, -0.262652, 1.148278  Reprojection Error: 0.143344, 0.222870 Feature: 0.211017, -0.005703, 0.977466
[11:52:56.253] xyz_f:0.007353, -0.159708, 1.152096  Reprojection Error: 0.119716, 0.236717 Feature: 0.101413, 0.094721, 0.990325
[11:52:56.253] xyz_f:-0.058186, -0.056722, 1.146346  Reprojection Error: 0.103974, 0.248420 Feature: 0.029007, 0.192709, 0.980827
[11:52:56.253] xyz_f:0.196574, 0.012643, 1.189484  Reprojection Error: 0.163282, 0.285191 Feature: 0.277925, 0.270876, 0.921620
[11:52:56.253] xyz_f:0.462452, -0.000889, 1.162395  Reprojection Error: 0.279954, 0.310049 Feature: 0.522505, 0.250794, 0.814918
[11:52:56.253] xyz_f:0.046161, 0.158102, 1.160474  Reprojection Error: 0.115100, 0.310182 Feature: 0.114398, 0.403870, 0.907635
[11:52:56.253] it:24 	 Success 	 new_chi2: 2.109751 	 dT = -0.018674, 0.019222, 0.030324
[11:52:56.253] xyz_f:0.065213, -0.261643, 1.125292  Reprojection Error: 0.157930, 0.226677 Feature: 0.211017, -0.005703, 0.977466
[11:52:56.253] xyz_f:-0.041983, -0.157855, 1.125959  Reprojection Error: 0.139691, 0.235842 Feature: 0.101413, 0.094721, 0.990325
[11:52:56.253] xyz_f:0.231704, -0.452290, 1.062437  Reprojection Error: 0.181460, 0.198873 Feature: 0.363061, -0.206122, 0.908681
[11:52:56.253] xyz_f:0.312826, -0.656314, 0.918137  Reprojection Error: 0.170836, 0.163623 Feature: 0.408848, -0.440542, 0.799228
[11:52:56.253] xyz_f:0.315643, -0.482420, 1.040255  Reprojection Error: 0.200792, 0.185693 Feature: 0.436959, -0.240967, 0.866604
[11:52:56.253] xyz_f:-0.041766, -0.151379, 1.127063  Reprojection Error: 0.139519, 0.236631 Feature: 0.101404, 0.101262, 0.989678
[11:52:56.253] xyz_f:-0.000945, 0.159642, 1.135506  Reprojection Error: 0.126871, 0.304379 Feature: 0.114398, 0.403870, 0.907635
[11:52:56.253] xyz_f:0.326027, -0.458908, 1.051572  Reprojection Error: 0.206817, 0.188192 Feature: 0.448381, -0.215327, 0.867519
[11:52:56.253] xyz_f:0.239461, -0.475420, 1.050084  Reprojection Error: 0.180949, 0.195458 Feature: 0.368254, -0.231661, 0.900401
[11:52:56.253] xyz_f:0.106187, -0.235562, 1.137293  Reprojection Error: 0.166117, 0.230475 Feature: 0.251103, 0.022595, 0.967697
[11:52:56.253] xyz_f:0.284031, -0.466435, 1.052208  Reprojection Error: 0.193470, 0.191837 Feature: 0.409924, -0.222432, 0.884583
[11:52:56.253] xyz_f:-0.635433, -0.493436, 0.380300  Reprojection Error: 0.551921, 0.598119 Feature: -0.675839, -0.422416, 0.603992
[11:52:56.253] xyz_f:0.147408, 0.013010, 1.168893  Reprojection Error: 0.175452, 0.282783 Feature: 0.277925, 0.270876, 0.921620
[11:52:56.253] xyz_f:-0.106516, -0.054359, 1.118304  Reprojection Error: 0.124822, 0.245085 Feature: 0.029007, 0.192709, 0.980827
[11:52:56.253] xyz_f:0.299445, -0.469709, 1.049012  Reprojection Error: 0.197483, 0.189615 Feature: 0.423585, -0.226422, 0.877103
[11:52:56.253] xyz_f:0.106334, -0.220735, 1.140802  Reprojection Error: 0.166383, 0.232598 Feature: 0.251085, 0.037826, 0.967226
[11:52:56.253] xyz_f:-0.039372, -0.164513, 1.125517  Reprojection Error: 0.140281, 0.235176 Feature: 0.104312, 0.088175, 0.990628
[11:52:56.253] xyz_f:0.085720, -0.230709, 1.136074  Reprojection Error: 0.162141, 0.230804 Feature: 0.231075, 0.026967, 0.972562
[11:52:56.253] xyz_f:0.118286, 0.016195, 1.166628  Reprojection Error: 0.167277, 0.280388 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.253] xyz_f:0.259752, -0.465260, 1.054565  Reprojection Error: 0.187096, 0.194583 Feature: 0.387861, -0.220687, 0.894908
[11:52:56.253] xyz_f:0.079766, -0.253745, 1.129493  Reprojection Error: 0.160688, 0.227746 Feature: 0.225358, 0.003013, 0.974271
[11:52:56.253] xyz_f:0.413851, -0.002611, 1.149600  Reprojection Error: 0.281179, 0.310025 Feature: 0.522505, 0.250794, 0.814918
[11:52:56.253] xyz_f:-0.635433, -0.493436, 0.380300  Reprojection Error: 0.605039, 0.628155 Feature: -0.675839, -0.422416, 0.603992
[11:52:56.253] xyz_f:0.312826, -0.656314, 0.918137  Reprojection Error: 0.197577, 0.152359 Feature: 0.408848, -0.440542, 0.799228
[11:52:56.253] xyz_f:0.231704, -0.452290, 1.062437  Reprojection Error: 0.206624, 0.197180 Feature: 0.363061, -0.206122, 0.908681
[11:52:56.253] xyz_f:0.315643, -0.482420, 1.040255  Reprojection Error: 0.229030, 0.180390 Feature: 0.436959, -0.240967, 0.866604
[11:52:56.253] xyz_f:0.065213, -0.261643, 1.125292  Reprojection Error: 0.185799, 0.226646 Feature: 0.211017, -0.005703, 0.977466
[11:52:56.253] xyz_f:-0.041983, -0.157855, 1.125959  Reprojection Error: 0.163385, 0.238289 Feature: 0.101413, 0.094721, 0.990325
[11:52:56.253] xyz_f:-0.106516, -0.054359, 1.118304  Reprojection Error: 0.148464, 0.247548 Feature: 0.029007, 0.192709, 0.980827
[11:52:56.253] xyz_f:0.147408, 0.013010, 1.168893  Reprojection Error: 0.202432, 0.284690 Feature: 0.277925, 0.270876, 0.921620
[11:52:56.253] xyz_f:0.413851, -0.002611, 1.149600  Reprojection Error: 0.317803, 0.311555 Feature: 0.522505, 0.250794, 0.814918
[11:52:56.253] xyz_f:-0.000945, 0.159642, 1.135506  Reprojection Error: 0.155709, 0.305831 Feature: 0.114398, 0.403870, 0.907635
[11:52:56.253] it:25 	 Success 	 new_chi2: 2.210087 	 dT = -0.007908, 0.025853, 0.026713
[11:52:56.253] xyz_f:0.008844, -0.260559, 1.095394  Reprojection Error: 0.207808, 0.232033 Feature: 0.211017, -0.005703, 0.977466
[11:52:56.253] xyz_f:-0.097614, -0.156032, 1.093304  Reprojection Error: 0.191687, 0.238363 Feature: 0.101413, 0.094721, 0.990325
[11:52:56.253] xyz_f:0.175580, -0.452358, 1.036838  Reprojection Error: 0.230206, 0.209450 Feature: 0.363061, -0.206122, 0.908681
[11:52:56.253] xyz_f:0.258984, -0.656952, 0.894661  Reprojection Error: 0.222077, 0.183093 Feature: 0.408848, -0.440542, 0.799228
[11:52:56.253] xyz_f:0.259852, -0.483070, 1.016827  Reprojection Error: 0.248668, 0.197017 Feature: 0.436959, -0.240967, 0.866604
[11:52:56.253] xyz_f:-0.097381, -0.149558, 1.094415  Reprojection Error: 0.191441, 0.238974 Feature: 0.101404, 0.101262, 0.989678
[11:52:56.253] xyz_f:-0.054642, 0.161174, 1.103935  Reprojection Error: 0.175536, 0.298970 Feature: 0.114398, 0.403870, 0.907635
[11:52:56.253] xyz_f:0.270103, -0.459629, 1.028410  Reprojection Error: 0.254213, 0.198722 Feature: 0.448381, -0.215327, 0.867519
[11:52:56.253] xyz_f:0.183493, -0.475542, 1.024688  Reprojection Error: 0.229917, 0.206799 Feature: 0.368254, -0.231661, 0.900401
[11:52:56.253] xyz_f:0.049674, -0.234761, 1.108450  Reprojection Error: 0.214671, 0.235142 Feature: 0.251103, 0.022595, 0.967697
[11:52:56.253] xyz_f:0.228054, -0.466865, 1.027961  Reprojection Error: 0.241558, 0.202712 Feature: 0.409924, -0.222432, 0.884583
[11:52:56.253] xyz_f:-0.673934, -0.487570, 0.332553  Reprojection Error: 0.907594, 0.766768 Feature: -0.675839, -0.422416, 0.603992
[11:52:56.253] xyz_f:0.091784, 0.013523, 1.141125  Reprojection Error: 0.221129, 0.282062 Feature: 0.277925, 0.270876, 0.921620
[11:52:56.253] xyz_f:-0.161211, -0.052094, 1.083996  Reprojection Error: 0.178293, 0.244533 Feature: 0.029007, 0.192709, 0.980827
[11:52:56.253] xyz_f:0.243522, -0.470246, 1.025164  Reprojection Error: 0.245392, 0.200556 Feature: 0.423585, -0.226422, 0.877103
[11:52:56.253] xyz_f:0.049833, -0.219935, 1.111964  Reprojection Error: 0.214777, 0.236897 Feature: 0.251085, 0.037826, 0.967226
[11:52:56.253] xyz_f:-0.095038, -0.162709, 1.092929  Reprojection Error: 0.192257, 0.237883 Feature: 0.104312, 0.088175, 0.990628
[11:52:56.253] xyz_f:0.029280, -0.229767, 1.106704  Reprojection Error: 0.211137, 0.235342 Feature: 0.231075, 0.026967, 0.972562
[11:52:56.253] xyz_f:0.062753, 0.016909, 1.138111  Reprojection Error: 0.213531, 0.279412 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.253] xyz_f:0.203731, -0.465522, 1.029692  Reprojection Error: 0.235552, 0.205496 Feature: 0.387861, -0.220687, 0.894908
[11:52:56.253] xyz_f:0.023338, -0.252762, 1.099970  Reprojection Error: 0.210092, 0.232882 Feature: 0.225358, 0.003013, 0.974271
[11:52:56.253] xyz_f:0.358521, -0.003941, 1.128712  Reprojection Error: 0.323537, 0.311246 Feature: 0.522505, 0.250794, 0.814918
[11:52:56.253] xyz_f:-0.673934, -0.487570, 0.332553  Reprojection Error: 0.960712, 0.796805 Feature: -0.675839, -0.422416, 0.603992
[11:52:56.253] xyz_f:0.258984, -0.656952, 0.894661  Reprojection Error: 0.248818, 0.171828 Feature: 0.408848, -0.440542, 0.799228
[11:52:56.253] xyz_f:0.175580, -0.452358, 1.036838  Reprojection Error: 0.255370, 0.207756 Feature: 0.363061, -0.206122, 0.908681
[11:52:56.253] xyz_f:0.259852, -0.483070, 1.016827  Reprojection Error: 0.276907, 0.191714 Feature: 0.436959, -0.240967, 0.866604
[11:52:56.253] xyz_f:0.008844, -0.260559, 1.095394  Reprojection Error: 0.235677, 0.232003 Feature: 0.211017, -0.005703, 0.977466
[11:52:56.253] xyz_f:-0.097614, -0.156032, 1.093304  Reprojection Error: 0.215382, 0.240810 Feature: 0.101413, 0.094721, 0.990325
[11:52:56.253] xyz_f:-0.161211, -0.052094, 1.083996  Reprojection Error: 0.201935, 0.246996 Feature: 0.029007, 0.192709, 0.980827
[11:52:56.253] xyz_f:0.091784, 0.013523, 1.141125  Reprojection Error: 0.248109, 0.283970 Feature: 0.277925, 0.270876, 0.921620
[11:52:56.253] xyz_f:0.358521, -0.003941, 1.128712  Reprojection Error: 0.360161, 0.312776 Feature: 0.522505, 0.250794, 0.814918
[11:52:56.253] xyz_f:-0.054642, 0.161174, 1.103935  Reprojection Error: 0.204374, 0.300423 Feature: 0.114398, 0.403870, 0.907635
[11:52:56.253] it:26 	 Success 	 new_chi2: 2.534071 	 dT = 0.021206, 0.034719, 0.005896
[11:52:56.253] xyz_f:-0.051930, -0.260296, 1.059691  Reprojection Error: 0.264887, 0.239799 Feature: 0.211017, -0.005703, 0.977466
[11:52:56.253] xyz_f:-0.158215, -0.155606, 1.056996  Reprojection Error: 0.252087, 0.242862 Feature: 0.101413, 0.094721, 0.990325
[11:52:56.253] xyz_f:0.114843, -0.452349, 1.002085  Reprojection Error: 0.284943, 0.224571 Feature: 0.363061, -0.206122, 0.908681
[11:52:56.253] xyz_f:0.198744, -0.657070, 0.860384  Reprojection Error: 0.280560, 0.212484 Feature: 0.408848, -0.440542, 0.799228
[11:52:56.253] xyz_f:0.199181, -0.483190, 0.982554  Reprojection Error: 0.301502, 0.213710 Feature: 0.436959, -0.240967, 0.866604
[11:52:56.253] xyz_f:-0.157978, -0.149133, 1.058107  Reprojection Error: 0.251764, 0.243261 Feature: 0.101404, 0.101262, 0.989678
[11:52:56.253] xyz_f:-0.114820, 0.161534, 1.067873  Reprojection Error: 0.233561, 0.293703 Feature: 0.114398, 0.403870, 0.907635
[11:52:56.253] xyz_f:0.209402, -0.459764, 0.994195  Reprojection Error: 0.306230, 0.214239 Feature: 0.448381, -0.215327, 0.867519
[11:52:56.253] xyz_f:0.122790, -0.475545, 0.989980  Reprojection Error: 0.284956, 0.223072 Feature: 0.368254, -0.231661, 0.900401
[11:52:56.253] xyz_f:-0.011136, -0.234560, 1.072980  Reprojection Error: 0.269864, 0.241955 Feature: 0.251103, 0.022595, 0.967697
[11:52:56.253] xyz_f:0.167345, -0.466936, 0.993507  Reprojection Error: 0.294970, 0.218533 Feature: 0.409924, -0.222432, 0.884583
[11:52:56.253] xyz_f:-0.730699, -0.486267, 0.292973  Reprojection Error: 1.375127, 0.960394 Feature: -0.675839, -0.422416, 0.603992
[11:52:56.253] xyz_f:0.031166, 0.013660, 1.105895  Reprojection Error: 0.273380, 0.281561 Feature: 0.277925, 0.270876, 0.921620
[11:52:56.253] xyz_f:-0.221599, -0.051571, 1.047326  Reprojection Error: 0.241160, 0.245717 Feature: 0.029007, 0.192709, 0.980827
[11:52:56.253] xyz_f:0.182824, -0.470341, 0.990798  Reprojection Error: 0.298415, 0.216561 Feature: 0.423585, -0.226422, 0.877103
[11:52:56.253] xyz_f:-0.010974, -0.219734, 1.076494  Reprojection Error: 0.269787, 0.243227 Feature: 0.251085, 0.037826, 0.967226
[11:52:56.253] xyz_f:-0.155648, -0.162287, 1.056635  Reprojection Error: 0.252604, 0.242598 Feature: 0.104312, 0.088175, 0.990628
[11:52:56.253] xyz_f:-0.031512, -0.229534, 1.071118  Reprojection Error: 0.267014, 0.242022 Feature: 0.231075, 0.026967, 0.972562
[11:52:56.253] xyz_f:0.002157, 0.017090, 1.102716  Reprojection Error: 0.266712, 0.278771 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.253] xyz_f:0.143015, -0.465556, 0.995099  Reprojection Error: 0.289690, 0.221246 Feature: 0.387861, -0.220687, 0.894908
[11:52:56.253] xyz_f:-0.037451, -0.252520, 1.064349  Reprojection Error: 0.266495, 0.240346 Feature: 0.225358, 0.003013, 0.974271
[11:52:56.253] xyz_f:0.297943, -0.004211, 1.095001  Reprojection Error: 0.369081, 0.311600 Feature: 0.522505, 0.250794, 0.814918
[11:52:56.253] xyz_f:-0.730699, -0.486267, 0.292973  Reprojection Error: 1.428245, 0.990430 Feature: -0.675839, -0.422416, 0.603992
[11:52:56.253] xyz_f:0.198744, -0.657070, 0.860384  Reprojection Error: 0.307301, 0.201219 Feature: 0.408848, -0.440542, 0.799228
[11:52:56.253] xyz_f:0.114843, -0.452349, 1.002085  Reprojection Error: 0.310107, 0.222877 Feature: 0.363061, -0.206122, 0.908681
[11:52:56.253] xyz_f:0.199181, -0.483190, 0.982554  Reprojection Error: 0.329741, 0.208407 Feature: 0.436959, -0.240967, 0.866604
[11:52:56.253] xyz_f:-0.051930, -0.260296, 1.059691  Reprojection Error: 0.292756, 0.239768 Feature: 0.211017, -0.005703, 0.977466
[11:52:56.253] xyz_f:-0.158215, -0.155606, 1.056996  Reprojection Error: 0.275782, 0.245309 Feature: 0.101413, 0.094721, 0.990325
[11:52:56.253] xyz_f:-0.221599, -0.051571, 1.047326  Reprojection Error: 0.264802, 0.248180 Feature: 0.029007, 0.192709, 0.980827
[11:52:56.253] xyz_f:0.031166, 0.013660, 1.105895  Reprojection Error: 0.300360, 0.283468 Feature: 0.277925, 0.270876, 0.921620
[11:52:56.253] xyz_f:0.297943, -0.004211, 1.095001  Reprojection Error: 0.405705, 0.313130 Feature: 0.522505, 0.250794, 0.814918
[11:52:56.253] xyz_f:-0.114820, 0.161534, 1.067873  Reprojection Error: 0.262399, 0.295155 Feature: 0.114398, 0.403870, 0.907635
[11:52:56.253] it:27 	 Success 	 new_chi2: 3.016364 	 dT = 0.031970, 0.034874, -0.001331
[11:52:56.253] xyz_f:-0.096103, -0.260356, 1.025042  Reprojection Error: 0.309637, 0.248160 Feature: 0.211017, -0.005703, 0.977466
[11:52:56.253] xyz_f:-0.202427, -0.155703, 1.022484  Reprojection Error: 0.300379, 0.247926 Feature: 0.101413, 0.094721, 0.990325
[11:52:56.253] xyz_f:0.070663, -0.452351, 0.967222  Reprojection Error: 0.326490, 0.240845 Feature: 0.363061, -0.206122, 0.908681
[11:52:56.253] xyz_f:0.154452, -0.657044, 0.825413  Reprojection Error: 0.324434, 0.244808 Feature: 0.408848, -0.440542, 0.799228
[11:52:56.253] xyz_f:0.154986, -0.483163, 0.947582  Reprojection Error: 0.340660, 0.231832 Feature: 0.436959, -0.240967, 0.866604
[11:52:56.253] xyz_f:-0.202191, -0.149229, 1.023595  Reprojection Error: 0.299991, 0.248108 Feature: 0.101404, 0.101262, 0.989678
[11:52:56.253] xyz_f:-0.159127, 0.161452, 1.033305  Reprojection Error: 0.280037, 0.288722 Feature: 0.114398, 0.403870, 0.907635
[11:52:56.253] xyz_f:0.165214, -0.459734, 0.959210  Reprojection Error: 0.344616, 0.231074 Feature: 0.448381, -0.215327, 0.867519
[11:52:56.253] xyz_f:0.078602, -0.475545, 0.955106  Reprojection Error: 0.326692, 0.240611 Feature: 0.368254, -0.231661, 0.900401
[11:52:56.254] xyz_f:-0.055301, -0.234606, 1.038279  Reprojection Error: 0.312747, 0.249306 Feature: 0.251103, 0.022595, 0.967697
[11:52:56.254] xyz_f:0.123159, -0.466921, 0.958577  Reprojection Error: 0.334928, 0.235644 Feature: 0.409924, -0.222432, 0.884583
[11:52:56.254] xyz_f:-0.775778, -0.486562, 0.259197  Reprojection Error: 1.874048, 1.177811 Feature: -0.675839, -0.422416, 0.603992
[11:52:56.254] xyz_f:-0.013042, 0.013628, 1.071140  Reprojection Error: 0.313737, 0.281190 Feature: 0.277925, 0.270876, 0.921620
[11:52:56.254] xyz_f:-0.265859, -0.051689, 1.012896  Reprojection Error: 0.292049, 0.247508 Feature: 0.029007, 0.192709, 0.980827
[11:52:56.254] xyz_f:0.138635, -0.470320, 0.955848  Reprojection Error: 0.337898, 0.233897 Feature: 0.423585, -0.226422, 0.877103
[11:52:56.254] xyz_f:-0.055139, -0.219780, 1.041793  Reprojection Error: 0.312520, 0.250070 Feature: 0.251085, 0.037826, 0.967226
[11:52:56.254] xyz_f:-0.199858, -0.162383, 1.022120  Reprojection Error: 0.300832, 0.247878 Feature: 0.104312, 0.088175, 0.990628
[11:52:56.254] xyz_f:-0.075681, -0.229588, 1.036443  Reprojection Error: 0.310614, 0.249243 Feature: 0.231075, 0.026967, 0.972562
[11:52:56.254] xyz_f:-0.042055, 0.017049, 1.067997  Reprojection Error: 0.308047, 0.278306 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.254] xyz_f:0.098830, -0.465549, 0.960200  Reprojection Error: 0.330483, 0.238243 Feature: 0.387861, -0.220687, 0.894908
[11:52:56.254] xyz_f:-0.081620, -0.252576, 1.029682  Reprojection Error: 0.310576, 0.248387 Feature: 0.225358, 0.003013, 0.974271
[11:52:56.254] xyz_f:0.253727, -0.004151, 1.059902  Reprojection Error: 0.401787, 0.311670 Feature: 0.522505, 0.250794, 0.814918
[11:52:56.254] xyz_f:-0.775778, -0.486562, 0.259197  Reprojection Error: 1.927166, 1.207847 Feature: -0.675839, -0.422416, 0.603992
[11:52:56.254] xyz_f:0.154452, -0.657044, 0.825413  Reprojection Error: 0.351175, 0.233544 Feature: 0.408848, -0.440542, 0.799228
[11:52:56.254] xyz_f:0.070663, -0.452351, 0.967222  Reprojection Error: 0.351654, 0.239151 Feature: 0.363061, -0.206122, 0.908681
[11:52:56.254] xyz_f:0.154986, -0.483163, 0.947582  Reprojection Error: 0.368899, 0.226529 Feature: 0.436959, -0.240967, 0.866604
[11:52:56.254] xyz_f:-0.096103, -0.260356, 1.025042  Reprojection Error: 0.337506, 0.248130 Feature: 0.211017, -0.005703, 0.977466
[11:52:56.254] xyz_f:-0.202427, -0.155703, 1.022484  Reprojection Error: 0.324074, 0.250373 Feature: 0.101413, 0.094721, 0.990325
[11:52:56.254] xyz_f:-0.265859, -0.051689, 1.012896  Reprojection Error: 0.315691, 0.249971 Feature: 0.029007, 0.192709, 0.980827
[11:52:56.254] xyz_f:-0.013042, 0.013628, 1.071140  Reprojection Error: 0.340717, 0.283097 Feature: 0.277925, 0.270876, 0.921620
[11:52:56.254] xyz_f:0.253727, -0.004151, 1.059902  Reprojection Error: 0.438411, 0.313201 Feature: 0.522505, 0.250794, 0.814918
[11:52:56.254] xyz_f:-0.159127, 0.161452, 1.033305  Reprojection Error: 0.308875, 0.290174 Feature: 0.114398, 0.403870, 0.907635
[11:52:56.254] it:28 	 Success 	 new_chi2: 3.380883 	 dT = 0.038284, 0.035849, -0.005889
[11:52:56.254] xyz_f:-0.131489, -0.260617, 0.990169  Reprojection Error: 0.348676, 0.257370 Feature: 0.211017, -0.005703, 0.977466
[11:52:56.254] xyz_f:-0.237985, -0.156127, 0.988216  Reprojection Error: 0.343227, 0.253635 Feature: 0.101413, 0.094721, 0.990325
[11:52:56.254] xyz_f:0.035237, -0.452359, 0.931401  Reprojection Error: 0.361715, 0.258840 Feature: 0.363061, -0.206122, 0.908681
[11:52:56.254] xyz_f:0.118531, -0.656924, 0.789116  Reprojection Error: 0.361348, 0.281271 Feature: 0.408848, -0.440542, 0.799228
[11:52:56.254] xyz_f:0.119495, -0.483042, 0.911281  Reprojection Error: 0.373092, 0.252010 Feature: 0.436959, -0.240967, 0.866604
[11:52:56.254] xyz_f:-0.237752, -0.149653, 0.989326  Reprojection Error: 0.342779, 0.253585 Feature: 0.101404, 0.101262, 0.989678
[11:52:56.254] xyz_f:-0.195108, 0.161094, 0.998792  Reprojection Error: 0.321383, 0.283681 Feature: 0.114398, 0.403870, 0.907635
[11:52:56.254] xyz_f:0.129753, -0.459598, 0.922851  Reprojection Error: 0.376255, 0.249809 Feature: 0.448381, -0.215327, 0.867519
[11:52:56.254] xyz_f:0.043143, -0.475541, 0.919240  Reprojection Error: 0.362055, 0.260033 Feature: 0.368254, -0.231661, 0.900401
[11:52:56.254] xyz_f:-0.090651, -0.234805, 1.003173  Reprojection Error: 0.349850, 0.257412 Feature: 0.251103, 0.022595, 0.967697
[11:52:56.254] xyz_f:0.087706, -0.466848, 0.922457  Reprojection Error: 0.368331, 0.254638 Feature: 0.409924, -0.222432, 0.884583
[11:52:56.254] xyz_f:-0.815164, -0.487862, 0.228202  Reprojection Error: 2.453166, 1.438480 Feature: -0.675839, -0.422416, 0.603992
[11:52:56.254] xyz_f:-0.048585, 0.013493, 1.035795  Reprojection Error: 0.348467, 0.280886 Feature: 0.277925, 0.270876, 0.921620
[11:52:56.254] xyz_f:-0.301629, -0.052210, 0.978989  Reprojection Error: 0.337677, 0.249807 Feature: 0.029007, 0.192709, 0.980827
[11:52:56.254] xyz_f:0.103171, -0.470224, 0.919639  Reprojection Error: 0.370750, 0.253165 Feature: 0.423585, -0.226422, 0.877103
[11:52:56.254] xyz_f:-0.090492, -0.219979, 1.006687  Reprojection Error: 0.349484, 0.257625 Feature: 0.251085, 0.037826, 0.967226
[11:52:56.254] xyz_f:-0.235408, -0.162803, 0.987837  Reprojection Error: 0.343605, 0.253816 Feature: 0.104312, 0.088175, 0.990628
[11:52:56.254] xyz_f:-0.111049, -0.229818, 1.001453  Reprojection Error: 0.348482, 0.257212 Feature: 0.231075, 0.026967, 0.972562
[11:52:56.254] xyz_f:-0.077621, 0.016869, 1.032817  Reprojection Error: 0.343823, 0.277936 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.254] xyz_f:0.063384, -0.465514, 0.924218  Reprojection Error: 0.364827, 0.257081 Feature: 0.387861, -0.220687, 0.894908
[11:52:56.254] xyz_f:-0.116991, -0.252815, 0.994726  Reprojection Error: 0.348921, 0.257248 Feature: 0.225358, 0.003013, 0.974271
[11:52:56.254] xyz_f:0.218143, -0.003879, 1.023040  Reprojection Error: 0.427945, 0.311546 Feature: 0.522505, 0.250794, 0.814918
[11:52:56.254] xyz_f:-0.815164, -0.487862, 0.228202  Reprojection Error: 2.506284, 1.468516 Feature: -0.675839, -0.422416, 0.603992
[11:52:56.254] xyz_f:0.118531, -0.656924, 0.789116  Reprojection Error: 0.388089, 0.270006 Feature: 0.408848, -0.440542, 0.799228
[11:52:56.254] xyz_f:0.035237, -0.452359, 0.931401  Reprojection Error: 0.386879, 0.257146 Feature: 0.363061, -0.206122, 0.908681
[11:52:56.254] xyz_f:0.119495, -0.483042, 0.911281  Reprojection Error: 0.401330, 0.246707 Feature: 0.436959, -0.240967, 0.866604
[11:52:56.254] xyz_f:-0.131489, -0.260617, 0.990169  Reprojection Error: 0.376545, 0.257340 Feature: 0.211017, -0.005703, 0.977466
[11:52:56.254] xyz_f:-0.237985, -0.156127, 0.988216  Reprojection Error: 0.366922, 0.256082 Feature: 0.101413, 0.094721, 0.990325
[11:52:56.254] xyz_f:-0.301629, -0.052210, 0.978989  Reprojection Error: 0.361319, 0.252270 Feature: 0.029007, 0.192709, 0.980827
[11:52:56.254] xyz_f:-0.048585, 0.013493, 1.035795  Reprojection Error: 0.375447, 0.282793 Feature: 0.277925, 0.270876, 0.921620
[11:52:56.254] xyz_f:0.218143, -0.003879, 1.023040  Reprojection Error: 0.464568, 0.313076 Feature: 0.522505, 0.250794, 0.814918
[11:52:56.254] xyz_f:-0.195108, 0.161094, 0.998792  Reprojection Error: 0.350221, 0.285133 Feature: 0.114398, 0.403870, 0.907635
[11:52:56.254] it:29 	 Success 	 new_chi2: 3.660542 	 dT = 0.041473, 0.036947, -0.008320
[11:52:56.254] xyz_f:-0.162320, -0.260972, 0.954545  Reprojection Error: 0.385932, 0.267564 Feature: 0.211017, -0.005703, 0.977466
[11:52:56.254] xyz_f:-0.269053, -0.156711, 0.953448  Reprojection Error: 0.384593, 0.260009 Feature: 0.101413, 0.094721, 0.990325
[11:52:56.254] xyz_f:0.004341, -0.452354, 0.894436  Reprojection Error: 0.394694, 0.278906 Feature: 0.363061, -0.206122, 0.908681
[11:52:56.254] xyz_f:0.086928, -0.656741, 0.751486  Reprojection Error: 0.395879, 0.322713 Feature: 0.408848, -0.440542, 0.799228
[11:52:56.254] xyz_f:0.088500, -0.482856, 0.873640  Reprojection Error: 0.402920, 0.274635 Feature: 0.436959, -0.240967, 0.866604
[11:52:56.254] xyz_f:-0.268826, -0.150236, 0.954556  Reprojection Error: 0.384085, 0.259706 Feature: 0.101404, 0.101262, 0.989678
[11:52:56.254] xyz_f:-0.226776, 0.160602, 0.963682  Reprojection Error: 0.361361, 0.278315 Feature: 0.114398, 0.403870, 0.907635
[11:52:56.254] xyz_f:0.098800, -0.459389, 0.885128  Reprojection Error: 0.405233, 0.270799 Feature: 0.448381, -0.215327, 0.867519
[11:52:56.254] xyz_f:0.012199, -0.475519, 0.882212  Reprojection Error: 0.395162, 0.281721 Feature: 0.368254, -0.231661, 0.900401
[11:52:56.254] xyz_f:-0.121435, -0.235071, 0.967220  Reprojection Error: 0.385035, 0.266387 Feature: 0.251103, 0.022595, 0.967697
[11:52:56.254] xyz_f:0.056767, -0.466731, 0.885071  Reprojection Error: 0.399271, 0.275882 Feature: 0.409924, -0.222432, 0.884583
[11:52:56.254] xyz_f:-0.851606, -0.489694, 0.198094  Reprojection Error: 3.180039, 1.772654 Feature: -0.675839, -0.422416, 0.603992
[11:52:56.254] xyz_f:-0.079642, 0.013317, 0.999505  Reprojection Error: 0.381243, 0.280589 Feature: 0.277925, 0.270876, 0.921620
[11:52:56.254] xyz_f:-0.332993, -0.052931, 0.944734  Reprojection Error: 0.382047, 0.252504 Feature: 0.029007, 0.192709, 0.980827
[11:52:56.254] xyz_f:0.072216, -0.470073, 0.882130  Reprojection Error: 0.401071, 0.274736 Feature: 0.423585, -0.226422, 0.877103
[11:52:56.254] xyz_f:-0.121279, -0.220245, 0.970733  Reprojection Error: 0.384529, 0.265992 Feature: 0.251085, 0.037826, 0.967226
[11:52:56.254] xyz_f:-0.266465, -0.163381, 0.953049  Reprojection Error: 0.384891, 0.260439 Feature: 0.104312, 0.088175, 0.990628
[11:52:56.254] xyz_f:-0.141857, -0.230128, 0.965664  Reprojection Error: 0.384495, 0.266039 Feature: 0.231075, 0.026967, 0.972562
[11:52:56.254] xyz_f:-0.108709, 0.016631, 0.996761  Reprojection Error: 0.377731, 0.277585 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.254] xyz_f:0.032458, -0.465448, 0.887028  Reprojection Error: 0.396817, 0.278125 Feature: 0.387861, -0.220687, 0.894908
[11:52:56.254] xyz_f:-0.147803, -0.253138, 0.958985  Reprojection Error: 0.385434, 0.267057 Feature: 0.225358, 0.003013, 0.974271
[11:52:56.254] xyz_f:0.187011, -0.003481, 0.984607  Reprojection Error: 0.451240, 0.311289 Feature: 0.522505, 0.250794, 0.814918
[11:52:56.254] xyz_f:-0.851606, -0.489694, 0.198094  Reprojection Error: 3.233157, 1.802691 Feature: -0.675839, -0.422416, 0.603992
[11:52:56.254] xyz_f:0.086928, -0.656741, 0.751486  Reprojection Error: 0.422620, 0.311448 Feature: 0.408848, -0.440542, 0.799228
[11:52:56.254] xyz_f:0.004341, -0.452354, 0.894436  Reprojection Error: 0.419858, 0.277212 Feature: 0.363061, -0.206122, 0.908681
[11:52:56.254] xyz_f:0.088500, -0.482856, 0.873640  Reprojection Error: 0.431158, 0.269333 Feature: 0.436959, -0.240967, 0.866604
[11:52:56.254] xyz_f:-0.162320, -0.260972, 0.954545  Reprojection Error: 0.413800, 0.267534 Feature: 0.211017, -0.005703, 0.977466
[11:52:56.254] xyz_f:-0.269053, -0.156711, 0.953448  Reprojection Error: 0.408288, 0.262456 Feature: 0.101413, 0.094721, 0.990325
[11:52:56.254] xyz_f:-0.332993, -0.052931, 0.944734  Reprojection Error: 0.405689, 0.254967 Feature: 0.029007, 0.192709, 0.980827
[11:52:56.254] xyz_f:-0.079642, 0.013317, 0.999505  Reprojection Error: 0.408223, 0.282496 Feature: 0.277925, 0.270876, 0.921620
[11:52:56.254] xyz_f:0.187011, -0.003481, 0.984607  Reprojection Error: 0.487864, 0.312820 Feature: 0.522505, 0.250794, 0.814918
[11:52:56.254] xyz_f:-0.226776, 0.160602, 0.963682  Reprojection Error: 0.390199, 0.279768 Feature: 0.114398, 0.403870, 0.907635
[11:52:56.254] it:30 	 Success 	 new_chi2: 3.868277 	 dT = 0.042600, 0.037902, -0.009227
[11:52:56.254] xyz_f:-0.191280, -0.261344, 0.918032  Reprojection Error: 0.424241, 0.278844 Feature: 0.211017, -0.005703, 0.977466
[11:52:56.254] xyz_f:-0.298267, -0.157338, 0.917887  Reprojection Error: 0.427354, 0.267060 Feature: 0.101413, 0.094721, 0.990325
[11:52:56.254] xyz_f:-0.024705, -0.452328, 0.856438  Reprojection Error: 0.428393, 0.301314 Feature: 0.363061, -0.206122, 0.908681
[11:52:56.254] xyz_f:0.057093, -0.656519, 0.712755  Reprojection Error: 0.431452, 0.369890 Feature: 0.408848, -0.440542, 0.799228
[11:52:56.254] xyz_f:0.059338, -0.482630, 0.834893  Reprojection Error: 0.433147, 0.300015 Feature: 0.436959, -0.240967, 0.866604
[11:52:56.254] xyz_f:-0.298045, -0.150863, 0.918994  Reprojection Error: 0.426779, 0.266479 Feature: 0.101404, 0.101262, 0.989678
[11:52:56.254] xyz_f:-0.256658, 0.160074, 0.927748  Reprojection Error: 0.402686, 0.272429 Feature: 0.114398, 0.403870, 0.907635
[11:52:56.254] xyz_f:0.069684, -0.459138, 0.846288  Reprojection Error: 0.434514, 0.294322 Feature: 0.448381, -0.215327, 0.867519
[11:52:56.254] xyz_f:-0.016901, -0.475475, 0.844144  Reprojection Error: 0.429010, 0.305975 Feature: 0.368254, -0.231661, 0.900401
[11:52:56.254] xyz_f:-0.150345, -0.235346, 0.930343  Reprojection Error: 0.421087, 0.276316 Feature: 0.251103, 0.022595, 0.967697
[11:52:56.254] xyz_f:0.027670, -0.466580, 0.846606  Reprojection Error: 0.430726, 0.299663 Feature: 0.409924, -0.222432, 0.884583
[11:52:56.254] xyz_f:-0.886732, -0.491720, 0.167752  Reprojection Error: 4.167017, 2.231860 Feature: -0.675839, -0.422416, 0.603992
[11:52:56.254] xyz_f:-0.108860, 0.013142, 0.962256  Reprojection Error: 0.414691, 0.280255 Feature: 0.277925, 0.270876, 0.921620
[11:52:56.254] xyz_f:-0.362530, -0.053712, 0.909745  Reprojection Error: 0.428071, 0.255517 Feature: 0.029007, 0.192709, 0.980827
[11:52:56.254] xyz_f:0.043100, -0.469885, 0.843527  Reprojection Error: 0.431841, 0.298900 Feature: 0.423585, -0.226422, 0.877103
[11:52:56.254] xyz_f:-0.150194, -0.220519, 0.933854  Reprojection Error: 0.420426, 0.275246 Feature: 0.251085, 0.037826, 0.967226
[11:52:56.254] xyz_f:-0.295667, -0.164002, 0.917465  Reprojection Error: 0.427564, 0.267765 Feature: 0.104312, 0.088175, 0.990628
[11:52:56.254] xyz_f:-0.170792, -0.230452, 0.928969  Reprojection Error: 0.421445, 0.275800 Feature: 0.231075, 0.026967, 0.972562
[11:52:56.254] xyz_f:-0.137957, 0.016386, 0.959771  Reprojection Error: 0.412409, 0.277196 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.254] xyz_f:0.003376, -0.465355, 0.848779  Reprojection Error: 0.429431, 0.301661 Feature: 0.387861, -0.220687, 0.894908
[11:52:56.254] xyz_f:-0.176743, -0.253476, 0.922343  Reprojection Error: 0.422933, 0.277909 Feature: 0.225358, 0.003013, 0.974271
[11:52:56.254] xyz_f:0.157689, -0.003019, 0.944982  Reprojection Error: 0.474305, 0.310949 Feature: 0.522505, 0.250794, 0.814918
[11:52:56.254] xyz_f:-0.886732, -0.491720, 0.167752  Reprojection Error: 4.220135, 2.261896 Feature: -0.675839, -0.422416, 0.603992
[11:52:56.254] xyz_f:0.057093, -0.656519, 0.712755  Reprojection Error: 0.458193, 0.358625 Feature: 0.408848, -0.440542, 0.799228
[11:52:56.254] xyz_f:-0.024705, -0.452328, 0.856438  Reprojection Error: 0.453557, 0.299620 Feature: 0.363061, -0.206122, 0.908681
[11:52:56.254] xyz_f:0.059338, -0.482630, 0.834893  Reprojection Error: 0.461386, 0.294712 Feature: 0.436959, -0.240967, 0.866604
[11:52:56.254] xyz_f:-0.191280, -0.261344, 0.918032  Reprojection Error: 0.452110, 0.278813 Feature: 0.211017, -0.005703, 0.977466
[11:52:56.254] xyz_f:-0.298267, -0.157338, 0.917887  Reprojection Error: 0.451048, 0.269507 Feature: 0.101413, 0.094721, 0.990325
[11:52:56.254] xyz_f:-0.362530, -0.053712, 0.909745  Reprojection Error: 0.451713, 0.257979 Feature: 0.029007, 0.192709, 0.980827
[11:52:56.254] xyz_f:-0.108860, 0.013142, 0.962256  Reprojection Error: 0.441672, 0.282163 Feature: 0.277925, 0.270876, 0.921620
[11:52:56.254] xyz_f:0.157689, -0.003019, 0.944982  Reprojection Error: 0.510928, 0.312480 Feature: 0.522505, 0.250794, 0.814918
[11:52:56.254] xyz_f:-0.256658, 0.160074, 0.927748  Reprojection Error: 0.431524, 0.273881 Feature: 0.114398, 0.403870, 0.907635
[11:52:56.254] it:31 	 Success 	 new_chi2: 3.995705 	 dT = 0.042432, 0.038646, -0.009084
[11:52:56.254] xyz_f:-0.220029, -0.261689, 0.880674  Reprojection Error: 0.465724, 0.291311 Feature: 0.211017, -0.005703, 0.977466
[11:52:56.254] xyz_f:-0.327258, -0.157935, 0.881469  Reprojection Error: 0.473668, 0.274819 Feature: 0.101413, 0.094721, 0.990325
[11:52:56.254] xyz_f:-0.053552, -0.452282, 0.817619  Reprojection Error: 0.465045, 0.326333 Feature: 0.363061, -0.206122, 0.908681
[11:52:56.254] xyz_f:0.027462, -0.656281, 0.673222  Reprojection Error: 0.470763, 0.423626 Feature: 0.408848, -0.440542, 0.799228
[11:52:56.254] xyz_f:0.030369, -0.482386, 0.795337  Reprojection Error: 0.466035, 0.328459 Feature: 0.436959, -0.240967, 0.866604
[11:52:56.254] xyz_f:-0.327041, -0.151459, 0.882574  Reprojection Error: 0.473016, 0.273929 Feature: 0.101404, 0.101262, 0.989678
[11:52:56.254] xyz_f:-0.286310, 0.159575, 0.890967  Reprojection Error: 0.447387, 0.265867 Feature: 0.114398, 0.403870, 0.907635
[11:52:56.254] xyz_f:0.040760, -0.458870, 0.806641  Reprojection Error: 0.466325, 0.320655 Feature: 0.448381, -0.215327, 0.867519
[11:52:56.254] xyz_f:-0.045802, -0.475410, 0.805257  Reprojection Error: 0.465868, 0.333096 Feature: 0.368254, -0.231661, 0.900401
[11:52:56.254] xyz_f:-0.179049, -0.235595, 0.892626  Reprojection Error: 0.460072, 0.287284 Feature: 0.251103, 0.022595, 0.967697
[11:52:56.254] xyz_f:-0.001232, -0.466410, 0.807328  Reprojection Error: 0.464936, 0.326267 Feature: 0.409924, -0.222432, 0.884583
[11:52:56.254] xyz_f:-0.921494, -0.493707, 0.136523  Reprojection Error: 5.630801, 2.916933 Feature: -0.675839, -0.422416, 0.603992
[11:52:56.254] xyz_f:-0.137870, 0.012991, 0.924176  Reprojection Error: 0.450742, 0.279856 Feature: 0.277925, 0.270876, 0.921620
[11:52:56.254] xyz_f:-0.391833, -0.054460, 0.873892  Reprojection Error: 0.477951, 0.258795 Feature: 0.029007, 0.192709, 0.980827
[11:52:56.254] xyz_f:0.014178, -0.469679, 0.804113  Reprojection Error: 0.465305, 0.325948 Feature: 0.423585, -0.226422, 0.877103
[11:52:56.254] xyz_f:-0.178902, -0.220767, 0.896135  Reprojection Error: 0.459230, 0.285462 Feature: 0.251085, 0.037826, 0.967226
[11:52:56.254] xyz_f:-0.324645, -0.164593, 0.881024  Reprojection Error: 0.473785, 0.275829 Feature: 0.104312, 0.088175, 0.990628
[11:52:56.254] xyz_f:-0.199519, -0.230749, 0.891431  Reprojection Error: 0.461412, 0.286580 Feature: 0.231075, 0.026967, 0.972562
[11:52:56.254] xyz_f:-0.166995, 0.016166, 0.921947  Reprojection Error: 0.449802, 0.276735 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.254] xyz_f:-0.025509, -0.465243, 0.809714  Reprojection Error: 0.464913, 0.327974 Feature: 0.387861, -0.220687, 0.894908
[11:52:56.254] xyz_f:-0.205473, -0.253787, 0.884857  Reprojection Error: 0.463520, 0.289903 Feature: 0.225358, 0.003013, 0.974271
[11:52:56.254] xyz_f:0.128555, -0.002545, 0.904564  Reprojection Error: 0.499057, 0.310567 Feature: 0.522505, 0.250794, 0.814918
[11:52:56.254] xyz_f:-0.921494, -0.493707, 0.136523  Reprojection Error: 5.683919, 2.946970 Feature: -0.675839, -0.422416, 0.603992
[11:52:56.254] xyz_f:0.027462, -0.656281, 0.673222  Reprojection Error: 0.497504, 0.412361 Feature: 0.408848, -0.440542, 0.799228
[11:52:56.254] xyz_f:-0.053552, -0.452282, 0.817619  Reprojection Error: 0.490209, 0.324639 Feature: 0.363061, -0.206122, 0.908681
[11:52:56.254] xyz_f:0.030369, -0.482386, 0.795337  Reprojection Error: 0.494274, 0.323156 Feature: 0.436959, -0.240967, 0.866604
[11:52:56.254] xyz_f:-0.220029, -0.261689, 0.880674  Reprojection Error: 0.493592, 0.291281 Feature: 0.211017, -0.005703, 0.977466
[11:52:56.255] xyz_f:-0.327258, -0.157935, 0.881469  Reprojection Error: 0.497363, 0.277266 Feature: 0.101413, 0.094721, 0.990325
[11:52:56.255] xyz_f:-0.391833, -0.054460, 0.873892  Reprojection Error: 0.501593, 0.261258 Feature: 0.029007, 0.192709, 0.980827
[11:52:56.255] xyz_f:-0.137870, 0.012991, 0.924176  Reprojection Error: 0.477723, 0.281764 Feature: 0.277925, 0.270876, 0.921620
[11:52:56.255] xyz_f:0.128555, -0.002545, 0.904564  Reprojection Error: 0.535680, 0.312097 Feature: 0.522505, 0.250794, 0.814918
[11:52:56.255] xyz_f:-0.286310, 0.159575, 0.890967  Reprojection Error: 0.476225, 0.267319 Feature: 0.114398, 0.403870, 0.907635
[11:52:56.255] it:32 	 Success 	 new_chi2: 4.010156 	 dT = 0.041591, 0.039212, -0.008355
[11:52:56.255] xyz_f:-0.249560, -0.261988, 0.842577  Reprojection Error: 0.512069, 0.305102 Feature: 0.211017, -0.005703, 0.977466
[11:52:56.255] xyz_f:-0.357003, -0.158466, 0.844238  Reprojection Error: 0.525274, 0.283349 Feature: 0.101413, 0.094721, 0.990325
[11:52:56.255] xyz_f:-0.083185, -0.452221, 0.778179  Reprojection Error: 0.506445, 0.354291 Feature: 0.363061, -0.206122, 0.908681
[11:52:56.255] xyz_f:-0.002899, -0.656045, 0.633131  Reprojection Error: 0.516132, 0.484983 Feature: 0.408848, -0.440542, 0.799228
[11:52:56.255] xyz_f:0.000618, -0.482143, 0.755220  Reprojection Error: 0.503401, 0.360356 Feature: 0.436959, -0.240967, 0.866604
[11:52:56.255] xyz_f:-0.356792, -0.151990, 0.845341  Reprojection Error: 0.524530, 0.282115 Feature: 0.101404, 0.101262, 0.989678
[11:52:56.255] xyz_f:-0.316667, 0.159131, 0.853408  Reprojection Error: 0.497100, 0.258504 Feature: 0.114398, 0.403870, 0.907635
[11:52:56.255] xyz_f:0.011049, -0.458605, 0.766440  Reprojection Error: 0.502439, 0.350148 Feature: 0.448381, -0.215327, 0.867519
[11:52:56.255] xyz_f:-0.075486, -0.475332, 0.765755  Reprojection Error: 0.507566, 0.363450 Feature: 0.368254, -0.231661, 0.900401
[11:52:56.255] xyz_f:-0.208542, -0.235805, 0.854198  Reprojection Error: 0.503623, 0.299404 Feature: 0.251103, 0.022595, 0.967697
[11:52:56.255] xyz_f:-0.030920, -0.466236, 0.767465  Reprojection Error: 0.503698, 0.356047 Feature: 0.409924, -0.222432, 0.884583
[11:52:56.255] xyz_f:-0.956504, -0.495529, 0.104108  Reprojection Error: 8.068629, 4.060371 Feature: -0.675839, -0.422416, 0.603992
[11:52:56.255] xyz_f:-0.167647, 0.012869, 0.885417  Reprojection Error: 0.490903, 0.279378 Feature: 0.277925, 0.270876, 0.921620
[11:52:56.255] xyz_f:-0.421861, -0.055131, 0.837183  Reprojection Error: 0.533479, 0.262329 Feature: 0.029007, 0.192709, 0.980827
[11:52:56.255] xyz_f:-0.015529, -0.469472, 0.764127  Reprojection Error: 0.503259, 0.356242 Feature: 0.423585, -0.226422, 0.877103
[11:52:56.255] xyz_f:-0.208398, -0.220977, 0.857706  Reprojection Error: 0.502565, 0.296745 Feature: 0.251085, 0.037826, 0.967226
[11:52:56.255] xyz_f:-0.354380, -0.165118, 0.843772  Reprojection Error: 0.525294, 0.284700 Feature: 0.104312, 0.088175, 0.990628
[11:52:56.255] xyz_f:-0.229030, -0.231003, 0.853168  Reprojection Error: 0.506041, 0.298487 Feature: 0.231075, 0.026967, 0.972562
[11:52:56.255] xyz_f:-0.196796, 0.015982, 0.883423  Reprojection Error: 0.491434, 0.276179 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.255] xyz_f:-0.055179, -0.465121, 0.770047  Reprojection Error: 0.505066, 0.357413 Feature: 0.387861, -0.220687, 0.894908
[11:52:56.255] xyz_f:-0.234988, -0.254054, 0.846643  Reprojection Error: 0.508862, 0.303164 Feature: 0.225358, 0.003013, 0.974271
[11:52:56.255] xyz_f:0.098644, -0.002090, 0.863655  Reprojection Error: 0.526958, 0.310174 Feature: 0.522505, 0.250794, 0.814918
[11:52:56.255] xyz_f:-0.956504, -0.495529, 0.104108  Reprojection Error: 8.121747, 4.090407 Feature: -0.675839, -0.422416, 0.603992
[11:52:56.255] xyz_f:-0.002899, -0.656045, 0.633131  Reprojection Error: 0.542874, 0.473718 Feature: 0.408848, -0.440542, 0.799228
[11:52:56.255] xyz_f:-0.083185, -0.452221, 0.778179  Reprojection Error: 0.531609, 0.352597 Feature: 0.363061, -0.206122, 0.908681
[11:52:56.255] xyz_f:0.000618, -0.482143, 0.755220  Reprojection Error: 0.531640, 0.355053 Feature: 0.436959, -0.240967, 0.866604
[11:52:56.255] xyz_f:-0.249560, -0.261988, 0.842577  Reprojection Error: 0.539937, 0.305071 Feature: 0.211017, -0.005703, 0.977466
[11:52:56.255] xyz_f:-0.357003, -0.158466, 0.844238  Reprojection Error: 0.548968, 0.285796 Feature: 0.101413, 0.094721, 0.990325
[11:52:56.255] xyz_f:-0.421861, -0.055131, 0.837183  Reprojection Error: 0.557121, 0.264792 Feature: 0.029007, 0.192709, 0.980827
[11:52:56.255] xyz_f:-0.167647, 0.012869, 0.885417  Reprojection Error: 0.517884, 0.281286 Feature: 0.277925, 0.270876, 0.921620
[11:52:56.255] xyz_f:0.098644, -0.002090, 0.863655  Reprojection Error: 0.563581, 0.311704 Feature: 0.522505, 0.250794, 0.814918
[11:52:56.255] xyz_f:-0.316667, 0.159131, 0.853408  Reprojection Error: 0.525938, 0.259956 Feature: 0.114398, 0.403870, 0.907635
[11:52:56.255] it:33 	 Success 	 new_chi2: 3.854502 	 dT = 0.040808, 0.039739, -0.007779
[11:52:56.255] xyz_f:-0.280276, -0.262250, 0.803816  Reprojection Error: 0.564564, 0.320421 Feature: 0.211017, -0.005703, 0.977466
[11:52:56.255] xyz_f:-0.387912, -0.158944, 0.806286  Reprojection Error: 0.583514, 0.292778 Feature: 0.101413, 0.094721, 0.990325
[11:52:56.255] xyz_f:-0.114008, -0.452148, 0.738169  Reprojection Error: 0.553994, 0.385691 Feature: 0.363061, -0.206122, 0.908681
[11:52:56.255] xyz_f:-0.034403, -0.655812, 0.592520  Reprojection Error: 0.569616, 0.555609 Feature: 0.408848, -0.440542, 0.799228
[11:52:56.255] xyz_f:-0.030319, -0.481902, 0.714580  Reprojection Error: 0.546649, 0.396326 Feature: 0.436959, -0.240967, 0.866604
[11:52:56.255] xyz_f:-0.387705, -0.152468, 0.807387  Reprojection Error: 0.582659, 0.291159 Feature: 0.101404, 0.101262, 0.989678
[11:52:56.255] xyz_f:-0.348147, 0.158734, 0.815155  Reprojection Error: 0.553133, 0.250242 Feature: 0.114398, 0.403870, 0.907635
[11:52:56.255] xyz_f:-0.019852, -0.458343, 0.725722  Reprojection Error: 0.544210, 0.383358 Feature: 0.448381, -0.215327, 0.867519
[11:52:56.255] xyz_f:-0.106355, -0.475244, 0.725686  Reprojection Error: 0.555547, 0.397602 Feature: 0.368254, -0.231661, 0.900401
[11:52:56.255] xyz_f:-0.239225, -0.235984, 0.815128  Reprojection Error: 0.552966, 0.312855 Feature: 0.251103, 0.022595, 0.967697
[11:52:56.255] xyz_f:-0.061796, -0.466058, 0.727062  Reprojection Error: 0.548404, 0.389561 Feature: 0.409924, -0.222432, 0.884583
[11:52:56.255] xyz_f:-0.992277, -0.497219, 0.070679  Reprojection Error: 12.920328, 6.335559 Feature: -0.675839, -0.422416, 0.603992
[11:52:56.255] xyz_f:-0.198597, 0.012772, 0.846042  Reprojection Error: 0.536298, 0.278817 Feature: 0.277925, 0.270876, 0.921620
[11:52:56.255] xyz_f:-0.453029, -0.055740, 0.799719  Reprojection Error: 0.596060, 0.266176 Feature: 0.029007, 0.192709, 0.980827
[11:52:56.255] xyz_f:-0.046424, -0.469263, 0.723608  Reprojection Error: 0.547093, 0.390357 Feature: 0.423585, -0.226422, 0.877103
[11:52:56.255] xyz_f:-0.239085, -0.221156, 0.818636  Reprojection Error: 0.551646, 0.309260 Feature: 0.251085, 0.037826, 0.967226
[11:52:56.255] xyz_f:-0.385279, -0.165591, 0.805800  Reprojection Error: 0.583432, 0.294509 Feature: 0.104312, 0.088175, 0.990628
[11:52:56.255] xyz_f:-0.259730, -0.231224, 0.814253  Reprojection Error: 0.556574, 0.311698 Feature: 0.231075, 0.026967, 0.972562
[11:52:56.255] xyz_f:-0.227767, 0.015826, 0.844267  Reprojection Error: 0.538449, 0.275525 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.255] xyz_f:-0.086038, -0.464992, 0.729827  Reprojection Error: 0.551297, 0.390524 Feature: 0.387861, -0.220687, 0.894908
[11:52:56.255] xyz_f:-0.265690, -0.254287, 0.807772  Reprojection Error: 0.560226, 0.317892 Feature: 0.225358, 0.003013, 0.974271
[11:52:56.255] xyz_f:0.067552, -0.001651, 0.822279  Reprojection Error: 0.559022, 0.309762 Feature: 0.522505, 0.250794, 0.814918
[11:52:56.255] xyz_f:-0.992277, -0.497219, 0.070679  Reprojection Error: 12.973446, 6.365596 Feature: -0.675839, -0.422416, 0.603992
[11:52:56.255] xyz_f:-0.034403, -0.655812, 0.592520  Reprojection Error: 0.596357, 0.544344 Feature: 0.408848, -0.440542, 0.799228
[11:52:56.255] xyz_f:-0.114008, -0.452148, 0.738169  Reprojection Error: 0.579158, 0.383997 Feature: 0.363061, -0.206122, 0.908681
[11:52:56.255] xyz_f:-0.030319, -0.481902, 0.714580  Reprojection Error: 0.574887, 0.391023 Feature: 0.436959, -0.240967, 0.866604
[11:52:56.255] xyz_f:-0.280276, -0.262250, 0.803816  Reprojection Error: 0.592433, 0.320391 Feature: 0.211017, -0.005703, 0.977466
[11:52:56.255] xyz_f:-0.387912, -0.158944, 0.806286  Reprojection Error: 0.607208, 0.295225 Feature: 0.101413, 0.094721, 0.990325
[11:52:56.255] xyz_f:-0.453029, -0.055740, 0.799719  Reprojection Error: 0.619701, 0.268639 Feature: 0.029007, 0.192709, 0.980827
[11:52:56.255] xyz_f:-0.198597, 0.012772, 0.846042  Reprojection Error: 0.563278, 0.280724 Feature: 0.277925, 0.270876, 0.921620
[11:52:56.255] xyz_f:0.067552, -0.001651, 0.822279  Reprojection Error: 0.595646, 0.311293 Feature: 0.522505, 0.250794, 0.814918
[11:52:56.255] xyz_f:-0.348147, 0.158734, 0.815155  Reprojection Error: 0.581971, 0.251694 Feature: 0.114398, 0.403870, 0.907635
[11:52:56.255] it:34 	 Success 	 new_chi2: 3.456554 	 dT = 0.041507, 0.040557, -0.009183
[11:52:56.255] xyz_f:-0.311599, -0.262539, 0.764339  Reprojection Error: 0.623554, 0.337650 Feature: 0.211017, -0.005703, 0.977466
[11:52:56.255] xyz_f:-0.419454, -0.159490, 0.767765  Reprojection Error: 0.648735, 0.303380 Feature: 0.101413, 0.094721, 0.990325
[11:52:56.255] xyz_f:-0.145469, -0.452043, 0.697218  Reprojection Error: 0.608189, 0.421516 Feature: 0.363061, -0.206122, 0.908681
[11:52:56.255] xyz_f:-0.066675, -0.655518, 0.550866  Reprojection Error: 0.632591, 0.638767 Feature: 0.408848, -0.440542, 0.799228
[11:52:56.255] xyz_f:-0.061922, -0.481598, 0.672887  Reprojection Error: 0.596244, 0.437659 Feature: 0.436959, -0.240967, 0.866604
[11:52:56.255] xyz_f:-0.419253, -0.153013, 0.768864  Reprojection Error: 0.647751, 0.301330 Feature: 0.101404, 0.101262, 0.989678
[11:52:56.255] xyz_f:-0.380368, 0.158282, 0.776284  Reprojection Error: 0.616024, 0.241073 Feature: 0.114398, 0.403870, 0.907635
[11:52:56.255] xyz_f:-0.051413, -0.458013, 0.683936  Reprojection Error: 0.592027, 0.421463 Feature: 0.448381, -0.215327, 0.867519
[11:52:56.255] xyz_f:-0.137872, -0.475120, 0.684668  Reprojection Error: 0.610360, 0.436656 Feature: 0.368254, -0.231661, 0.900401
[11:52:56.255] xyz_f:-0.270511, -0.236176, 0.775287  Reprojection Error: 0.608403, 0.327980 Feature: 0.251103, 0.022595, 0.967697
[11:52:56.255] xyz_f:-0.093325, -0.465829, 0.685649  Reprojection Error: 0.599521, 0.427944 Feature: 0.409924, -0.222432, 0.884583
[11:52:56.255] xyz_f:-1.029515, -0.499208, 0.037544  Reprojection Error: 26.302815, 12.597348 Feature: -0.675839, -0.422416, 0.603992
[11:52:56.255] xyz_f:-0.230202, 0.012676, 0.805842  Reprojection Error: 0.587228, 0.278182 Feature: 0.277925, 0.270876, 0.921620
[11:52:56.255] xyz_f:-0.484872, -0.056441, 0.761777  Reprojection Error: 0.666075, 0.270567 Feature: 0.029007, 0.192709, 0.980827
[11:52:56.255] xyz_f:-0.077977, -0.468997, 0.682058  Reprojection Error: 0.597262, 0.429472 Feature: 0.423585, -0.226422, 0.877103
[11:52:56.255] xyz_f:-0.270376, -0.221348, 0.778793  Reprojection Error: 0.606766, 0.323326 Feature: 0.251085, 0.037826, 0.967226
[11:52:56.255] xyz_f:-0.416810, -0.166131, 0.767255  Reprojection Error: 0.648547, 0.305535 Feature: 0.104312, 0.088175, 0.990628
[11:52:56.255] xyz_f:-0.291035, -0.231464, 0.774594  Reprojection Error: 0.613320, 0.326548 Feature: 0.231075, 0.026967, 0.972562
[11:52:56.255] xyz_f:-0.259394, 0.015661, 0.804326  Reprojection Error: 0.591168, 0.274799 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.255] xyz_f:-0.117543, -0.464820, 0.688628  Reprojection Error: 0.604101, 0.428392 Feature: 0.387861, -0.220687, 0.894908
[11:52:56.255] xyz_f:-0.296998, -0.254541, 0.768166  Reprojection Error: 0.617941, 0.334454 Feature: 0.225358, 0.003013, 0.974271
[11:52:56.255] xyz_f:0.035759, -0.001115, 0.779719  Reprojection Error: 0.595313, 0.309183 Feature: 0.522505, 0.250794, 0.814918
[11:52:56.255] xyz_f:-1.029515, -0.499208, 0.037544  Reprojection Error: 26.355933, 12.627385 Feature: -0.675839, -0.422416, 0.603992
[11:52:56.255] xyz_f:-0.066675, -0.655518, 0.550866  Reprojection Error: 0.659332, 0.627502 Feature: 0.408848, -0.440542, 0.799228
[11:52:56.255] xyz_f:-0.145469, -0.452043, 0.697218  Reprojection Error: 0.633353, 0.419822 Feature: 0.363061, -0.206122, 0.908681
[11:52:56.255] xyz_f:-0.061922, -0.481598, 0.672887  Reprojection Error: 0.624483, 0.432356 Feature: 0.436959, -0.240967, 0.866604
[11:52:56.255] xyz_f:-0.311599, -0.262539, 0.764339  Reprojection Error: 0.651422, 0.337620 Feature: 0.211017, -0.005703, 0.977466
[11:52:56.255] xyz_f:-0.419454, -0.159490, 0.767765  Reprojection Error: 0.672430, 0.305826 Feature: 0.101413, 0.094721, 0.990325
[11:52:56.255] xyz_f:-0.484872, -0.056441, 0.761777  Reprojection Error: 0.689717, 0.273030 Feature: 0.029007, 0.192709, 0.980827
[11:52:56.255] xyz_f:-0.230202, 0.012676, 0.805842  Reprojection Error: 0.614209, 0.280090 Feature: 0.277925, 0.270876, 0.921620
[11:52:56.255] xyz_f:0.035759, -0.001115, 0.779719  Reprojection Error: 0.631937, 0.310714 Feature: 0.522505, 0.250794, 0.814918
[11:52:56.255] xyz_f:-0.380368, 0.158282, 0.776284  Reprojection Error: 0.644862, 0.242525 Feature: 0.114398, 0.403870, 0.907635
[11:52:56.255] it:35 	 Success 	 new_chi2: 2.776697 	 dT = 0.046958, 0.042186, -0.017231
[11:52:56.255] xyz_f:-0.340480, -0.263024, 0.723962  Reprojection Error: 0.686183, 0.357477 Feature: 0.211017, -0.005703, 0.977466
[11:52:56.255] xyz_f:-0.448721, -0.160456, 0.729186  Reprojection Error: 0.717777, 0.315695 Feature: 0.101413, 0.094721, 0.990325
[11:52:56.255] xyz_f:-0.174646, -0.451787, 0.654078  Reprojection Error: 0.666558, 0.463887 Feature: 0.363061, -0.206122, 0.908681
[11:52:56.255] xyz_f:-0.097392, -0.654914, 0.506428  Reprojection Error: 0.703867, 0.741994 Feature: 0.408848, -0.440542, 0.799228
[11:52:56.255] xyz_f:-0.091385, -0.480970, 0.628359  Reprojection Error: 0.649653, 0.487379 Feature: 0.436959, -0.240967, 0.866604
[11:52:56.255] xyz_f:-0.448531, -0.153979, 0.730282  Reprojection Error: 0.716650, 0.313166 Feature: 0.101404, 0.101262, 0.989678
[11:52:56.255] xyz_f:-0.410916, 0.157487, 0.737065  Reprojection Error: 0.683542, 0.231302 Feature: 0.114398, 0.403870, 0.907635
[11:52:56.255] xyz_f:-0.080798, -0.457339, 0.639232  Reprojection Error: 0.643254, 0.467240 Feature: 0.448381, -0.215327, 0.867519
[11:52:56.255] xyz_f:-0.167157, -0.474831, 0.641402  Reprojection Error: 0.669600, 0.483014 Feature: 0.368254, -0.231661, 0.900401
[11:52:56.255] xyz_f:-0.299334, -0.236477, 0.734226  Reprojection Error: 0.667171, 0.345427 Feature: 0.251103, 0.022595, 0.967697
[11:52:56.255] xyz_f:-0.122641, -0.465341, 0.641642  Reprojection Error: 0.654545, 0.473780 Feature: 0.409924, -0.222432, 0.884583
[11:52:56.255] xyz_f:-1.069329, -0.502919, 0.009206  Reprojection Error: 115.034272, 53.928931 Feature: -0.675839, -0.422416, 0.603992
[11:52:56.255] xyz_f:-0.259632, 0.012553, 0.764114  Reprojection Error: 0.641342, 0.277484 Feature: 0.277925, 0.270876, 0.921620
[11:52:56.255] xyz_f:-0.514688, -0.057700, 0.724291  Reprojection Error: 0.740184, 0.276141 Feature: 0.029007, 0.192709, 0.980827
[11:52:56.255] xyz_f:-0.107341, -0.468441, 0.637796  Reprojection Error: 0.651236, 0.476320 Feature: 0.423585, -0.226422, 0.877103
[11:52:56.255] xyz_f:-0.299205, -0.221648, 0.737730  Reprojection Error: 0.665169, 0.339554 Feature: 0.251085, 0.037826, 0.967226
[11:52:56.255] xyz_f:-0.446056, -0.167085, 0.728632  Reprojection Error: 0.717482, 0.318323 Feature: 0.104312, 0.088175, 0.990628
[11:52:56.255] xyz_f:-0.319887, -0.231857, 0.733874  Reprojection Error: 0.673482, 0.343663 Feature: 0.231075, 0.026967, 0.972562
[11:52:56.255] xyz_f:-0.288857, 0.015408, 0.763084  Reprojection Error: 0.647208, 0.274078 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.255] xyz_f:-0.146811, -0.464440, 0.645024  Reprojection Error: 0.661014, 0.473433 Feature: 0.387861, -0.220687, 0.894908
[11:52:56.255] xyz_f:-0.325853, -0.254961, 0.727546  Reprojection Error: 0.679188, 0.353532 Feature: 0.225358, 0.003013, 0.974271
[11:52:56.255] xyz_f:0.005917, -0.000052, 0.733569  Reprojection Error: 0.633109, 0.307825 Feature: 0.522505, 0.250794, 0.814918
[11:52:56.255] xyz_f:-1.069329, -0.502919, 0.009206  Reprojection Error: 115.087390, 53.958968 Feature: -0.675839, -0.422416, 0.603992
[11:52:56.255] xyz_f:-0.097392, -0.654914, 0.506428  Reprojection Error: 0.730608, 0.730729 Feature: 0.408848, -0.440542, 0.799228
[11:52:56.255] xyz_f:-0.174646, -0.451787, 0.654078  Reprojection Error: 0.691722, 0.462193 Feature: 0.363061, -0.206122, 0.908681
[11:52:56.255] xyz_f:-0.091385, -0.480970, 0.628359  Reprojection Error: 0.677892, 0.482076 Feature: 0.436959, -0.240967, 0.866604
[11:52:56.255] xyz_f:-0.340480, -0.263024, 0.723962  Reprojection Error: 0.714052, 0.357446 Feature: 0.211017, -0.005703, 0.977466
[11:52:56.255] xyz_f:-0.448721, -0.160456, 0.729186  Reprojection Error: 0.741472, 0.318142 Feature: 0.101413, 0.094721, 0.990325
[11:52:56.255] xyz_f:-0.514688, -0.057700, 0.724291  Reprojection Error: 0.763826, 0.278604 Feature: 0.029007, 0.192709, 0.980827
[11:52:56.255] xyz_f:-0.259632, 0.012553, 0.764114  Reprojection Error: 0.668323, 0.279392 Feature: 0.277925, 0.270876, 0.921620
[11:52:56.255] xyz_f:0.005917, -0.000052, 0.733569  Reprojection Error: 0.669732, 0.309356 Feature: 0.522505, 0.250794, 0.814918
[11:52:56.255] xyz_f:-0.410916, 0.157487, 0.737065  Reprojection Error: 0.712380, 0.232754 Feature: 0.114398, 0.403870, 0.907635
[11:52:56.255] it:36 	 Success 	 new_chi2: 1.922522 	 dT = 0.045501, 0.040961, -0.015946
[11:52:56.255] xyz_f:-0.365330, -0.263404, 0.684421  Reprojection Error: 0.749663, 0.379022 Feature: 0.211017, -0.005703, 0.977466
[11:52:56.256] xyz_f:-0.473901, -0.161284, 0.691314  Reprojection Error: 0.787911, 0.328947 Feature: 0.101413, 0.094721, 0.990325
[11:52:56.256] xyz_f:-0.199815, -0.451483, 0.611984  Reprojection Error: 0.726051, 0.510900 Feature: 0.363061, -0.206122, 0.908681
[11:52:56.256] xyz_f:-0.124007, -0.654295, 0.463155  Reprojection Error: 0.779298, 0.861480 Feature: 0.408848, -0.440542, 0.799228
[11:52:56.256] xyz_f:-0.116840, -0.480323, 0.584986  Reprojection Error: 0.703951, 0.543027 Feature: 0.436959, -0.240967, 0.866604
[11:52:56.256] xyz_f:-0.473720, -0.154805, 0.692407  Reprojection Error: 0.786626, 0.325894 Feature: 0.101404, 0.101262, 0.989678
[11:52:56.256] xyz_f:-0.437291, 0.156813, 0.698620  Reprojection Error: 0.751974, 0.220509 Feature: 0.114398, 0.403870, 0.907635
[11:52:56.256] xyz_f:-0.106185, -0.456648, 0.595695  Reprojection Error: 0.695109, 0.518371 Feature: 0.448381, -0.215327, 0.867519
[11:52:56.256] xyz_f:-0.192427, -0.474497, 0.599194  Reprojection Error: 0.730131, 0.534604 Feature: 0.368254, -0.231661, 0.900401
[11:52:56.256] xyz_f:-0.324141, -0.236688, 0.694050  Reprojection Error: 0.726513, 0.364373 Feature: 0.251103, 0.022595, 0.967697
[11:52:56.256] xyz_f:-0.147952, -0.464823, 0.598749  Reprojection Error: 0.710511, 0.524869 Feature: 0.409924, -0.222432, 0.884583
[11:52:56.256] xyz_f:-1.104106, -0.506328, -0.019032  Reprojection Error: -59.130992, -27.302898 Feature: -0.675839, -0.422416, 0.603992
[11:52:56.256] xyz_f:-0.285011, 0.012506, 0.723331  Reprojection Error: 0.695587, 0.276624 Feature: 0.277925, 0.270876, 0.921620
[11:52:56.256] xyz_f:-0.540359, -0.058801, 0.687440  Reprojection Error: 0.815620, 0.282013 Feature: 0.029007, 0.192709, 0.980827
[11:52:56.256] xyz_f:-0.132700, -0.467860, 0.594668  Reprojection Error: 0.706087, 0.528610 Feature: 0.423585, -0.226422, 0.877103
[11:52:56.256] xyz_f:-0.324020, -0.221858, 0.697552  Reprojection Error: 0.724103, 0.357160 Feature: 0.251085, 0.037826, 0.967226
[11:52:56.256] xyz_f:-0.471217, -0.167902, 0.690719  Reprojection Error: 0.787511, 0.332092 Feature: 0.104312, 0.088175, 0.990628
[11:52:56.256] xyz_f:-0.344716, -0.232152, 0.694016  Reprojection Error: 0.734292, 0.362234 Feature: 0.231075, 0.026967, 0.972562
[11:52:56.256] xyz_f:-0.314261, 0.015239, 0.722752  Reprojection Error: 0.703481, 0.273184 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.256] xyz_f:-0.172070, -0.464022, 0.602503  Reprojection Error: 0.719002, 0.523555 Feature: 0.387861, -0.220687, 0.894908
[11:52:56.256] xyz_f:-0.350683, -0.255281, 0.687779  Reprojection Error: 0.741187, 0.374259 Feature: 0.225358, 0.003013, 0.974271
[11:52:56.256] xyz_f:-0.019915, 0.000995, 0.688699  Reprojection Error: 0.670091, 0.306309 Feature: 0.522505, 0.250794, 0.814918
[11:52:56.256] xyz_f:-1.104106, -0.506328, -0.019032  Reprojection Error: -59.077874, -27.272862 Feature: -0.675839, -0.422416, 0.603992
[11:52:56.256] xyz_f:-0.124007, -0.654295, 0.463155  Reprojection Error: 0.806039, 0.850215 Feature: 0.408848, -0.440542, 0.799228
[11:52:56.256] xyz_f:-0.199815, -0.451483, 0.611984  Reprojection Error: 0.751215, 0.509207 Feature: 0.363061, -0.206122, 0.908681
[11:52:56.256] xyz_f:-0.116840, -0.480323, 0.584986  Reprojection Error: 0.732190, 0.537724 Feature: 0.436959, -0.240967, 0.866604
[11:52:56.256] xyz_f:-0.365330, -0.263404, 0.684421  Reprojection Error: 0.777531, 0.378992 Feature: 0.211017, -0.005703, 0.977466
[11:52:56.256] xyz_f:-0.473901, -0.161284, 0.691314  Reprojection Error: 0.811606, 0.331394 Feature: 0.101413, 0.094721, 0.990325
[11:52:56.256] xyz_f:-0.540359, -0.058801, 0.687440  Reprojection Error: 0.839262, 0.284476 Feature: 0.029007, 0.192709, 0.980827
[11:52:56.256] xyz_f:-0.285011, 0.012506, 0.723331  Reprojection Error: 0.722568, 0.278531 Feature: 0.277925, 0.270876, 0.921620
[11:52:56.256] xyz_f:-0.019915, 0.000995, 0.688699  Reprojection Error: 0.706715, 0.307840 Feature: 0.522505, 0.250794, 0.814918
[11:52:56.256] xyz_f:-0.437291, 0.156813, 0.698620  Reprojection Error: 0.780812, 0.221961 Feature: 0.114398, 0.403870, 0.907635
[11:52:56.256] it:37 	 Success 	 new_chi2: 1.030443 	 dT = 0.046360, 0.036855, -0.015364
[11:52:56.256] xyz_f:-0.391831, -0.263708, 0.648701  Reprojection Error: 0.819906, 0.400683 Feature: 0.211017, -0.005703, 0.977466
[11:52:56.256] xyz_f:-0.500692, -0.162021, 0.657208  Reprojection Error: 0.864251, 0.342176 Feature: 0.101413, 0.094721, 0.990325
[11:52:56.256] xyz_f:-0.226662, -0.451130, 0.573811  Reprojection Error: 0.794559, 0.559363 Feature: 0.363061, -0.206122, 0.908681
[11:52:56.256] xyz_f:-0.152265, -0.653643, 0.423868  Reprojection Error: 0.870783, 0.990882 Feature: 0.408848, -0.440542, 0.799228
[11:52:56.256] xyz_f:-0.143983, -0.479641, 0.545583  Reprojection Error: 0.768126, 0.601075 Feature: 0.436959, -0.240967, 0.866604
[11:52:56.256] xyz_f:-0.500522, -0.155541, 0.658299  Reprojection Error: 0.862787, 0.338596 Feature: 0.101404, 0.101262, 0.989678
[11:52:56.256] xyz_f:-0.465243, 0.156219, 0.663980  Reprojection Error: 0.826728, 0.209693 Feature: 0.114398, 0.403870, 0.907635
[11:52:56.256] xyz_f:-0.133264, -0.455923, 0.556134  Reprojection Error: 0.756481, 0.571598 Feature: 0.448381, -0.215327, 0.867519
[11:52:56.256] xyz_f:-0.219373, -0.474114, 0.560912  Reprojection Error: 0.800089, 0.587969 Feature: 0.368254, -0.231661, 0.900401
[11:52:56.256] xyz_f:-0.350610, -0.236828, 0.657719  Reprojection Error: 0.792554, 0.383424 Feature: 0.251103, 0.022595, 0.967697
[11:52:56.256] xyz_f:-0.174949, -0.464264, 0.559807  Reprojection Error: 0.775926, 0.577874 Feature: 0.409924, -0.222432, 0.884583
[11:52:56.256] xyz_f:-1.139992, -0.509588, -0.043718  Reprojection Error: -27.195051, -12.355662 Feature: -0.675839, -0.422416, 0.603992
[11:52:56.256] xyz_f:-0.312041, 0.012520, 0.686424  Reprojection Error: 0.756151, 0.275674 Feature: 0.277925, 0.270876, 0.921620
[11:52:56.256] xyz_f:-0.567608, -0.059803, 0.654323  Reprojection Error: 0.897047, 0.287873 Feature: 0.029007, 0.192709, 0.980827
[11:52:56.256] xyz_f:-0.159747, -0.467240, 0.555500  Reprojection Error: 0.770510, 0.582968 Feature: 0.423585, -0.226422, 0.877103
[11:52:56.256] xyz_f:-0.350496, -0.221998, 0.661220  Reprojection Error: 0.789668, 0.374848 Feature: 0.251085, 0.037826, 0.967226
[11:52:56.256] xyz_f:-0.497992, -0.168628, 0.656573  Reprojection Error: 0.863770, 0.345839 Feature: 0.104312, 0.088175, 0.990628
[11:52:56.256] xyz_f:-0.371201, -0.232375, 0.657990  Reprojection Error: 0.801737, 0.380886 Feature: 0.231075, 0.026967, 0.972562
[11:52:56.256] xyz_f:-0.341307, 0.015137, 0.686279  Reprojection Error: 0.765999, 0.272213 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.256] xyz_f:-0.199012, -0.463559, 0.563918  Reprojection Error: 0.786318, 0.575429 Feature: 0.387861, -0.220687, 0.894908
[11:52:56.256] xyz_f:-0.377168, -0.255527, 0.651842  Reprojection Error: 0.809928, 0.395099 Feature: 0.225358, 0.003013, 0.974271
[11:52:56.256] xyz_f:-0.047444, 0.002062, 0.647861  Reprojection Error: 0.714407, 0.304571 Feature: 0.522505, 0.250794, 0.814918
[11:52:56.256] xyz_f:-1.139992, -0.509588, -0.043718  Reprojection Error: -27.141933, -12.325626 Feature: -0.675839, -0.422416, 0.603992
[11:52:56.256] xyz_f:-0.152265, -0.653643, 0.423868  Reprojection Error: 0.897524, 0.979617 Feature: 0.408848, -0.440542, 0.799228
[11:52:56.256] xyz_f:-0.226662, -0.451130, 0.573811  Reprojection Error: 0.819723, 0.557670 Feature: 0.363061, -0.206122, 0.908681
[11:52:56.256] xyz_f:-0.143983, -0.479641, 0.545583  Reprojection Error: 0.796365, 0.595772 Feature: 0.436959, -0.240967, 0.866604
[11:52:56.256] xyz_f:-0.391831, -0.263708, 0.648701  Reprojection Error: 0.847775, 0.400652 Feature: 0.211017, -0.005703, 0.977466
[11:52:56.256] xyz_f:-0.500692, -0.162021, 0.657208  Reprojection Error: 0.887946, 0.344623 Feature: 0.101413, 0.094721, 0.990325
[11:52:56.256] xyz_f:-0.567608, -0.059803, 0.654323  Reprojection Error: 0.920689, 0.290336 Feature: 0.029007, 0.192709, 0.980827
[11:52:56.256] xyz_f:-0.312041, 0.012520, 0.686424  Reprojection Error: 0.783131, 0.277581 Feature: 0.277925, 0.270876, 0.921620
[11:52:56.256] xyz_f:-0.047444, 0.002062, 0.647861  Reprojection Error: 0.751030, 0.306101 Feature: 0.522505, 0.250794, 0.814918
[11:52:56.256] xyz_f:-0.465243, 0.156219, 0.663980  Reprojection Error: 0.855566, 0.211145 Feature: 0.114398, 0.403870, 0.907635
[11:52:56.256] it:38 	 Success 	 new_chi2: 0.388746 	 dT = 0.127054, 0.035064, -0.128733
[11:52:56.256] xyz_f:-0.380740, -0.263861, 0.614206  Reprojection Error: 0.835772, 0.423762 Feature: 0.211017, -0.005703, 0.977466
[11:52:56.256] xyz_f:-0.491024, -0.165829, 0.636357  Reprojection Error: 0.874022, 0.356238 Feature: 0.101413, 0.094721, 0.990325
[11:52:56.256] xyz_f:-0.219997, -0.445846, 0.519025  Reprojection Error: 0.823413, 0.632170 Feature: 0.363061, -0.206122, 0.908681
[11:52:56.256] xyz_f:-0.158080, -0.646085, 0.360595  Reprojection Error: 0.949942, 1.240509 Feature: 0.408848, -0.440542, 0.799228
[11:52:56.256] xyz_f:-0.140555, -0.471652, 0.480704  Reprojection Error: 0.796614, 0.703111 Feature: 0.436959, -0.240967, 0.866604
[11:52:56.256] xyz_f:-0.490935, -0.159345, 0.637431  Reprojection Error: 0.872639, 0.352299 Feature: 0.101404, 0.101262, 0.989678
[11:52:56.256] xyz_f:-0.465603, 0.153426, 0.639339  Reprojection Error: 0.854296, 0.204993 Feature: 0.114398, 0.403870, 0.907635
[11:52:56.256] xyz_f:-0.129405, -0.447570, 0.489893  Reprojection Error: 0.781004, 0.665397 Feature: 0.448381, -0.215327, 0.867519
[11:52:56.256] xyz_f:-0.213604, -0.468602, 0.505274  Reprojection Error: 0.831737, 0.670133 Feature: 0.368254, -0.231661, 0.900401
[11:52:56.256] xyz_f:-0.339634, -0.235607, 0.618099  Reprojection Error: 0.808968, 0.404530 Feature: 0.251103, 0.022595, 0.967697
[11:52:56.256] xyz_f:-0.170012, -0.457283, 0.498689  Reprojection Error: 0.804327, 0.665515 Feature: 0.409924, -0.222432, 0.884583
[11:52:56.256] xyz_f:-1.200403, -0.535896, 0.019398  Reprojection Error: 60.762555, 26.926388 Feature: -0.675839, -0.422416, 0.603992
[11:52:56.256] xyz_f:-0.306111, 0.014943, 0.642315  Reprojection Error: 0.778135, 0.270648 Feature: 0.277925, 0.270876, 0.921620
[11:52:56.256] xyz_f:-0.561140, -0.065897, 0.642004  Reprojection Error: 0.903620, 0.299120 Feature: 0.029007, 0.192709, 0.980827
[11:52:56.256] xyz_f:-0.155371, -0.459761, 0.492524  Reprojection Error: 0.798395, 0.675331 Feature: 0.423585, -0.226422, 0.877103
[11:52:56.256] xyz_f:-0.339580, -0.220775, 0.621588  Reprojection Error: 0.805904, 0.394286 Feature: 0.251085, 0.037826, 0.967226
[11:52:56.256] xyz_f:-0.488205, -0.172344, 0.635378  Reprojection Error: 0.873668, 0.360256 Feature: 0.104312, 0.088175, 0.990628
[11:52:56.256] xyz_f:-0.360170, -0.231840, 0.620930  Reprojection Error: 0.817643, 0.401103 Feature: 0.231075, 0.026967, 0.972562
[11:52:56.256] xyz_f:-0.335239, 0.016586, 0.645805  Reprojection Error: 0.787771, 0.268586 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.256] xyz_f:-0.193389, -0.457369, 0.505754  Reprojection Error: 0.815787, 0.657728 Feature: 0.387861, -0.220687, 0.894908
[11:52:56.256] xyz_f:-0.366080, -0.255190, 0.615521  Reprojection Error: 0.826058, 0.417684 Feature: 0.225358, 0.003013, 0.974271
[11:52:56.256] xyz_f:-0.048138, 0.013203, 0.571217  Reprojection Error: 0.725446, 0.284639 Feature: 0.522505, 0.250794, 0.814918
[11:52:56.256] xyz_f:-1.200403, -0.535896, 0.019398  Reprojection Error: 60.815673, 26.956424 Feature: -0.675839, -0.422416, 0.603992
[11:52:56.256] xyz_f:-0.158080, -0.646085, 0.360595  Reprojection Error: 0.976683, 1.229244 Feature: 0.408848, -0.440542, 0.799228
[11:52:56.256] xyz_f:-0.219997, -0.445846, 0.519025  Reprojection Error: 0.848577, 0.630476 Feature: 0.363061, -0.206122, 0.908681
[11:52:56.256] xyz_f:-0.140555, -0.471652, 0.480704  Reprojection Error: 0.824852, 0.697808 Feature: 0.436959, -0.240967, 0.866604
[11:52:56.256] xyz_f:-0.380740, -0.263861, 0.614206  Reprojection Error: 0.863640, 0.423731 Feature: 0.211017, -0.005703, 0.977466
[11:52:56.256] xyz_f:-0.491024, -0.165829, 0.636357  Reprojection Error: 0.897716, 0.358685 Feature: 0.101413, 0.094721, 0.990325
[11:52:56.256] xyz_f:-0.561140, -0.065897, 0.642004  Reprojection Error: 0.927261, 0.301583 Feature: 0.029007, 0.192709, 0.980827
[11:52:56.256] xyz_f:-0.306111, 0.014943, 0.642315  Reprojection Error: 0.805116, 0.272556 Feature: 0.277925, 0.270876, 0.921620
[11:52:56.256] xyz_f:-0.048138, 0.013203, 0.571217  Reprojection Error: 0.762070, 0.286170 Feature: 0.522505, 0.250794, 0.814918
[11:52:56.256] xyz_f:-0.465603, 0.153426, 0.639339  Reprojection Error: 0.883134, 0.206445 Feature: 0.114398, 0.403870, 0.907635
[11:52:56.256] it:39 	 Success 	 new_chi2: 0.290570 	 dT = 0.021363, 0.012716, 0.034587
[11:52:56.256] xyz_f:-0.344667, -0.264241, 0.602909  Reprojection Error: 0.787555, 0.432442 Feature: 0.211017, -0.005703, 0.977466
[11:52:56.256] xyz_f:-0.454748, -0.165223, 0.621379  Reprojection Error: 0.834240, 0.361544 Feature: 0.101413, 0.094721, 0.990325
[11:52:56.256] xyz_f:-0.182470, -0.447672, 0.513124  Reprojection Error: 0.755153, 0.645608 Feature: 0.363061, -0.206122, 0.908681
[11:52:56.256] xyz_f:-0.117090, -0.648480, 0.356820  Reprojection Error: 0.839704, 1.266179 Feature: 0.408848, -0.440542, 0.799228
[11:52:56.256] xyz_f:-0.102026, -0.474193, 0.477473  Reprojection Error: 0.717898, 0.715072 Feature: 0.436959, -0.240967, 0.866604
[11:52:56.256] xyz_f:-0.454636, -0.158740, 0.622456  Reprojection Error: 0.832852, 0.357340 Feature: 0.101404, 0.101262, 0.989678
[11:52:56.256] xyz_f:-0.426584, 0.153793, 0.625256  Reprojection Error: 0.808294, 0.199002 Feature: 0.114398, 0.403870, 0.907635
[11:52:56.256] xyz_f:-0.090974, -0.450210, 0.487033  Reprojection Error: 0.703647, 0.676184 Feature: 0.448381, -0.215327, 0.867519
[11:52:56.256] xyz_f:-0.175825, -0.470486, 0.499591  Reprojection Error: 0.760926, 0.684456 Feature: 0.368254, -0.231661, 0.900401
[11:52:56.256] xyz_f:-0.303463, -0.236356, 0.608177  Reprojection Error: 0.758457, 0.411980 Feature: 0.251103, 0.022595, 0.967697
[11:52:56.256] xyz_f:-0.131937, -0.459559, 0.494467  Reprojection Error: 0.730237, 0.677948 Feature: 0.409924, -0.222432, 0.884583
[11:52:56.256] xyz_f:-1.146406, -0.529018, -0.018986  Reprojection Error: -61.501954, -28.563576 Feature: -0.675839, -0.422416, 0.603992
[11:52:56.256] xyz_f:-0.268526, 0.013888, 0.633537  Reprojection Error: 0.725413, 0.271991 Feature: 0.277925, 0.270876, 0.921620
[11:52:56.256] xyz_f:-0.524116, -0.064667, 0.624695  Reprojection Error: 0.868569, 0.299994 Feature: 0.029007, 0.192709, 0.980827
[11:52:56.256] xyz_f:-0.117122, -0.462169, 0.488794  Reprojection Error: 0.722550, 0.687381 Feature: 0.423585, -0.226422, 0.877103
[11:52:56.256] xyz_f:-0.303393, -0.221524, 0.611669  Reprojection Error: 0.755601, 0.401270 Feature: 0.251085, 0.037826, 0.967226
[11:52:56.256] xyz_f:-0.451956, -0.171763, 0.620494  Reprojection Error: 0.833680, 0.365826 Feature: 0.104312, 0.088175, 0.990628
[11:52:56.256] xyz_f:-0.324047, -0.232404, 0.610321  Reprojection Error: 0.768539, 0.408518 Feature: 0.231075, 0.026967, 0.972562
[11:52:56.256] xyz_f:-0.297739, 0.015792, 0.636052  Reprojection Error: 0.736773, 0.269441 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.256] xyz_f:-0.155538, -0.459435, 0.500747  Reprojection Error: 0.744020, 0.670896 Feature: 0.387861, -0.220687, 0.894908
[11:52:56.256] xyz_f:-0.329982, -0.255702, 0.604715  Reprojection Error: 0.776992, 0.425939 Feature: 0.225358, 0.003013, 0.974271
[11:52:56.256] xyz_f:-0.008348, 0.009829, 0.571096  Reprojection Error: 0.655792, 0.290543 Feature: 0.522505, 0.250794, 0.814918
[11:52:56.256] xyz_f:-1.146406, -0.529018, -0.018986  Reprojection Error: -61.448836, -28.533539 Feature: -0.675839, -0.422416, 0.603992
[11:52:56.256] xyz_f:-0.117090, -0.648480, 0.356820  Reprojection Error: 0.866445, 1.254914 Feature: 0.408848, -0.440542, 0.799228
[11:52:56.256] xyz_f:-0.182470, -0.447672, 0.513124  Reprojection Error: 0.780317, 0.643914 Feature: 0.363061, -0.206122, 0.908681
[11:52:56.256] xyz_f:-0.102026, -0.474193, 0.477473  Reprojection Error: 0.746137, 0.709770 Feature: 0.436959, -0.240967, 0.866604
[11:52:56.256] xyz_f:-0.344667, -0.264241, 0.602909  Reprojection Error: 0.815424, 0.432412 Feature: 0.211017, -0.005703, 0.977466
[11:52:56.256] xyz_f:-0.454748, -0.165223, 0.621379  Reprojection Error: 0.857935, 0.363991 Feature: 0.101413, 0.094721, 0.990325
[11:52:56.256] xyz_f:-0.524116, -0.064667, 0.624695  Reprojection Error: 0.892211, 0.302457 Feature: 0.029007, 0.192709, 0.980827
[11:52:56.256] xyz_f:-0.268526, 0.013888, 0.633537  Reprojection Error: 0.752393, 0.273899 Feature: 0.277925, 0.270876, 0.921620
[11:52:56.256] xyz_f:-0.008348, 0.009829, 0.571096  Reprojection Error: 0.692415, 0.292074 Feature: 0.522505, 0.250794, 0.814918
[11:52:56.256] xyz_f:-0.426584, 0.153793, 0.625256  Reprojection Error: 0.837132, 0.200454 Feature: 0.114398, 0.403870, 0.907635
[11:52:56.256] it:40 	 Success 	 new_chi2: 0.570060 	 dT = 0.091845, 0.035533, -0.095311
[11:52:56.256] xyz_f:-0.332844, -0.262446, 0.560677  Reprojection Error: 0.809529, 0.462253 Feature: 0.211017, -0.005703, 0.977466
[11:52:56.256] xyz_f:-0.443167, -0.166149, 0.589300  Reprojection Error: 0.854426, 0.377589 Feature: 0.101413, 0.094721, 0.990325
[11:52:56.256] xyz_f:-0.175119, -0.441928, 0.456154  Reprojection Error: 0.783450, 0.741977 Feature: 0.363061, -0.206122, 0.908681
[11:52:56.256] xyz_f:-0.119458, -0.641242, 0.294274  Reprojection Error: 0.917495, 1.627854 Feature: 0.408848, -0.440542, 0.799228
[11:52:56.256] xyz_f:-0.097664, -0.466501, 0.413230  Reprojection Error: 0.740563, 0.850855 Feature: 0.436959, -0.240967, 0.866604
[11:52:56.256] xyz_f:-0.443116, -0.159664, 0.590370  Reprojection Error: 0.853035, 0.372765 Feature: 0.101404, 0.101262, 0.989678
[11:52:56.256] xyz_f:-0.422632, 0.153468, 0.590934  Reprojection Error: 0.841232, 0.185265 Feature: 0.114398, 0.403870, 0.907635
[11:52:56.256] xyz_f:-0.086374, -0.442242, 0.421761  Reprojection Error: 0.721649, 0.800351 Feature: 0.448381, -0.215327, 0.867519
[11:52:56.256] xyz_f:-0.169186, -0.464587, 0.442042  Reprojection Error: 0.791727, 0.793716 Feature: 0.368254, -0.231661, 0.900401
[11:52:56.256] xyz_f:-0.292030, -0.233549, 0.562167  Reprojection Error: 0.778958, 0.438793 Feature: 0.251103, 0.022595, 0.967697
[11:52:56.256] xyz_f:-0.126238, -0.452588, 0.432917  Reprojection Error: 0.755008, 0.793982 Feature: 0.409924, -0.222432, 0.884583
[11:52:56.256] xyz_f:-1.181591, -0.547596, 0.014815  Reprojection Error: 78.638412, 36.263351 Feature: -0.675839, -0.422416, 0.603992
[11:52:56.256] xyz_f:-0.261084, 0.017509, 0.584492  Reprojection Error: 0.748247, 0.263957 Feature: 0.277925, 0.270876, 0.921620
[11:52:56.256] xyz_f:-0.514392, -0.067328, 0.599093  Reprojection Error: 0.888192, 0.308859 Feature: 0.029007, 0.192709, 0.980827
[11:52:56.256] xyz_f:-0.111947, -0.454839, 0.425904  Reprojection Error: 0.745781, 0.809789 Feature: 0.423585, -0.226422, 0.877103
[11:52:56.256] xyz_f:-0.292005, -0.218715, 0.565654  Reprojection Error: 0.775818, 0.425767 Feature: 0.251085, 0.037826, 0.967226
[11:52:56.256] xyz_f:-0.440308, -0.172619, 0.588155  Reprojection Error: 0.853924, 0.382501 Feature: 0.104312, 0.088175, 0.990628
[11:52:56.256] xyz_f:-0.312421, -0.230103, 0.566199  Reprojection Error: 0.789380, 0.434127 Feature: 0.231075, 0.026967, 0.972562
[11:52:56.257] xyz_f:-0.289980, 0.018696, 0.589684  Reprojection Error: 0.760424, 0.262565 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.257] xyz_f:-0.149157, -0.453038, 0.441341  Reprojection Error: 0.771372, 0.779901 Feature: 0.387861, -0.220687, 0.894908
[11:52:56.257] xyz_f:-0.318271, -0.253545, 0.561135  Reprojection Error: 0.798500, 0.454936 Feature: 0.225358, 0.003013, 0.974271
[11:52:56.257] xyz_f:-0.007727, 0.019788, 0.498394  Reprojection Error: 0.656678, 0.268050 Feature: 0.522505, 0.250794, 0.814918
[11:52:56.257] xyz_f:-1.181591, -0.547596, 0.014815  Reprojection Error: 78.691530, 36.293387 Feature: -0.675839, -0.422416, 0.603992
[11:52:56.257] xyz_f:-0.119458, -0.641242, 0.294274  Reprojection Error: 0.944236, 1.616589 Feature: 0.408848, -0.440542, 0.799228
[11:52:56.257] xyz_f:-0.175119, -0.441928, 0.456154  Reprojection Error: 0.808614, 0.740283 Feature: 0.363061, -0.206122, 0.908681
[11:52:56.257] xyz_f:-0.097664, -0.466501, 0.413230  Reprojection Error: 0.768802, 0.845552 Feature: 0.436959, -0.240967, 0.866604
[11:52:56.257] xyz_f:-0.332844, -0.262446, 0.560677  Reprojection Error: 0.837398, 0.462223 Feature: 0.211017, -0.005703, 0.977466
[11:52:56.257] xyz_f:-0.443167, -0.166149, 0.589300  Reprojection Error: 0.878121, 0.380036 Feature: 0.101413, 0.094721, 0.990325
[11:52:56.257] xyz_f:-0.514392, -0.067328, 0.599093  Reprojection Error: 0.911834, 0.311322 Feature: 0.029007, 0.192709, 0.980827
[11:52:56.257] xyz_f:-0.261084, 0.017509, 0.584492  Reprojection Error: 0.775227, 0.265865 Feature: 0.277925, 0.270876, 0.921620
[11:52:56.257] xyz_f:-0.007727, 0.019788, 0.498394  Reprojection Error: 0.693302, 0.269580 Feature: 0.522505, 0.250794, 0.814918
[11:52:56.257] xyz_f:-0.422632, 0.153468, 0.590934  Reprojection Error: 0.870070, 0.186717 Feature: 0.114398, 0.403870, 0.907635
[11:52:56.257] it:41 	 Success 	 new_chi2: 0.436790 	 dT = -0.016675, 0.003512, 0.100371
[11:52:56.257] xyz_f:-0.359936, -0.264271, 0.563975  Reprojection Error: 0.854096, 0.462751 Feature: 0.211017, -0.005703, 0.977466
[11:52:56.257] xyz_f:-0.469976, -0.165108, 0.581906  Reprojection Error: 0.910054, 0.379384 Feature: 0.101413, 0.094721, 0.990325
[11:52:56.257] xyz_f:-0.197543, -0.447914, 0.474982  Reprojection Error: 0.815442, 0.716175 Feature: 0.363061, -0.206122, 0.908681
[11:52:56.257] xyz_f:-0.131663, -0.648808, 0.318999  Reprojection Error: 0.924292, 1.482676 Feature: 0.408848, -0.440542, 0.799228
[11:52:56.257] xyz_f:-0.116960, -0.474541, 0.439725  Reprojection Error: 0.770205, 0.801117 Feature: 0.436959, -0.240967, 0.866604
[11:52:56.257] xyz_f:-0.469862, -0.158626, 0.582985  Reprojection Error: 0.908421, 0.374411 Feature: 0.101404, 0.101262, 0.989678
[11:52:56.257] xyz_f:-0.441414, 0.153870, 0.585922  Reprojection Error: 0.879405, 0.182358 Feature: 0.114398, 0.403870, 0.907635
[11:52:56.257] xyz_f:-0.105924, -0.450573, 0.449340  Reprojection Error: 0.752587, 0.754534 Feature: 0.448381, -0.215327, 0.867519
[11:52:56.257] xyz_f:-0.190862, -0.470737, 0.461482  Reprojection Error: 0.822573, 0.762768 Feature: 0.368254, -0.231661, 0.900401
[11:52:56.257] xyz_f:-0.318722, -0.236440, 0.569444  Reprojection Error: 0.819193, 0.438561 Feature: 0.251103, 0.022595, 0.967697
[11:52:56.257] xyz_f:-0.146936, -0.459867, 0.456573  Reprojection Error: 0.785232, 0.755761 Feature: 0.409924, -0.222432, 0.884583
[11:52:56.257] xyz_f:-1.158973, -0.528000, -0.061832  Reprojection Error: -19.862899, -9.238654 Feature: -0.675839, -0.422416, 0.603992
[11:52:56.257] xyz_f:-0.283582, 0.013759, 0.594975  Reprojection Error: 0.778189, 0.270788 Feature: 0.277925, 0.270876, 0.921620
[11:52:56.257] xyz_f:-0.539228, -0.064462, 0.584884  Reprojection Error: 0.951515, 0.306689 Feature: 0.029007, 0.192709, 0.980827
[11:52:56.257] xyz_f:-0.132096, -0.462497, 0.450973  Reprojection Error: 0.775849, 0.767407 Feature: 0.423585, -0.226422, 0.877103
[11:52:56.257] xyz_f:-0.318650, -0.221608, 0.572936  Reprojection Error: 0.815763, 0.425900 Feature: 0.251085, 0.037826, 0.967226
[11:52:56.257] xyz_f:-0.467189, -0.171652, 0.581035  Reprojection Error: 0.909362, 0.384434 Feature: 0.104312, 0.088175, 0.990628
[11:52:56.257] xyz_f:-0.339311, -0.232461, 0.571488  Reprojection Error: 0.831327, 0.434493 Feature: 0.231075, 0.026967, 0.972562
[11:52:56.257] xyz_f:-0.312804, 0.015701, 0.597348  Reprojection Error: 0.792324, 0.267985 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.257] xyz_f:-0.170566, -0.459712, 0.462737  Reprojection Error: 0.802011, 0.746859 Feature: 0.387861, -0.220687, 0.894908
[11:52:56.257] xyz_f:-0.345250, -0.255750, 0.565852  Reprojection Error: 0.841451, 0.455066 Feature: 0.225358, 0.003013, 0.974271
[11:52:56.257] xyz_f:-0.023107, 0.009358, 0.533806  Reprojection Error: 0.684462, 0.290222 Feature: 0.522505, 0.250794, 0.814918
[11:52:56.257] xyz_f:-1.158973, -0.528000, -0.061832  Reprojection Error: -19.809780, -9.208617 Feature: -0.675839, -0.422416, 0.603992
[11:52:56.257] xyz_f:-0.131663, -0.648808, 0.318999  Reprojection Error: 0.951033, 1.471412 Feature: 0.408848, -0.440542, 0.799228
[11:52:56.257] xyz_f:-0.197543, -0.447914, 0.474982  Reprojection Error: 0.840606, 0.714482 Feature: 0.363061, -0.206122, 0.908681
[11:52:56.257] xyz_f:-0.116960, -0.474541, 0.439725  Reprojection Error: 0.798444, 0.795814 Feature: 0.436959, -0.240967, 0.866604
[11:52:56.257] xyz_f:-0.359936, -0.264271, 0.563975  Reprojection Error: 0.881964, 0.462721 Feature: 0.211017, -0.005703, 0.977466
[11:52:56.257] xyz_f:-0.469976, -0.165108, 0.581906  Reprojection Error: 0.933748, 0.381831 Feature: 0.101413, 0.094721, 0.990325
[11:52:56.257] xyz_f:-0.539228, -0.064462, 0.584884  Reprojection Error: 0.975157, 0.309152 Feature: 0.029007, 0.192709, 0.980827
[11:52:56.257] xyz_f:-0.283582, 0.013759, 0.594975  Reprojection Error: 0.805170, 0.272696 Feature: 0.277925, 0.270876, 0.921620
[11:52:56.257] xyz_f:-0.023107, 0.009358, 0.533806  Reprojection Error: 0.721086, 0.291753 Feature: 0.522505, 0.250794, 0.814918
[11:52:56.257] xyz_f:-0.441414, 0.153870, 0.585922  Reprojection Error: 0.908243, 0.183810 Feature: 0.114398, 0.403870, 0.907635
[11:52:56.257] it:42 	 Success 	 new_chi2: 0.288484 	 dT = -0.140908, -0.035141, 0.336726
[11:52:56.257] xyz_f:-0.570673, -0.251461, 0.551310  Reprojection Error: 1.251004, 0.450281 Feature: 0.211017, -0.005703, 0.977466
[11:52:56.257] xyz_f:-0.671776, -0.143010, 0.534576  Reprojection Error: 1.359057, 0.363168 Feature: 0.101413, 0.094721, 0.990325
[11:52:56.257] xyz_f:-0.404702, -0.449550, 0.516229  Reprojection Error: 1.183506, 0.643998 Feature: 0.363061, -0.206122, 0.908681
[11:52:56.257] xyz_f:-0.309921, -0.657512, 0.386623  Reprojection Error: 1.313164, 1.149445 Feature: 0.408848, -0.440542, 0.799228
[11:52:56.257] xyz_f:-0.319670, -0.483463, 0.508162  Reprojection Error: 1.133291, 0.673336 Feature: 0.436959, -0.240967, 0.866604
[11:52:56.257] xyz_f:-0.671458, -0.136547, 0.535725  Reprojection Error: 1.355824, 0.357200 Feature: 0.101404, 0.101262, 0.989678
[11:52:56.257] xyz_f:-0.618823, 0.172382, 0.551975  Reprojection Error: 1.247145, 0.132669 Feature: 0.114398, 0.403870, 0.907635
[11:52:56.257] xyz_f:-0.310272, -0.460393, 0.521131  Reprojection Error: 1.112237, 0.635239 Feature: 0.448381, -0.215327, 0.867519
[11:52:56.257] xyz_f:-0.396039, -0.473048, 0.505247  Reprojection Error: 1.192841, 0.678983 Feature: 0.368254, -0.231661, 0.900401
[11:52:56.257] xyz_f:-0.531139, -0.227182, 0.570036  Reprojection Error: 1.191249, 0.421890 Feature: 0.251103, 0.022595, 0.967697
[11:52:56.257] xyz_f:-0.352084, -0.466044, 0.514766  Reprojection Error: 1.147377, 0.653896 Feature: 0.409924, -0.222432, 0.884583
[11:52:56.257] xyz_f:-1.147669, -0.454656, -0.300414  Reprojection Error: -4.939243, -2.212804 Feature: -0.675839, -0.422416, 0.603992
[11:52:56.257] xyz_f:-0.484725, 0.019428, 0.608957  Reprojection Error: 1.097552, 0.262009 Feature: 0.277925, 0.270876, 0.921620
[11:52:56.257] xyz_f:-0.729483, -0.036778, 0.516710  Reprojection Error: 1.441359, 0.267655 Feature: 0.029007, 0.192709, 0.980827
[11:52:56.257] xyz_f:-0.336515, -0.470012, 0.514159  Reprojection Error: 1.137432, 0.655989 Feature: 0.423585, -0.226422, 0.877103
[11:52:56.257] xyz_f:-0.530917, -0.212363, 0.573577  Reprojection Error: 1.185217, 0.409351 Feature: 0.251085, 0.037826, 0.967226
[11:52:56.257] xyz_f:-0.669427, -0.149780, 0.534548  Reprojection Error: 1.357622, 0.369209 Feature: 0.104312, 0.088175, 0.990628
[11:52:56.257] xyz_f:-0.550884, -0.221430, 0.565458  Reprojection Error: 1.211819, 0.419321 Feature: 0.231075, 0.026967, 0.972562
[11:52:56.257] xyz_f:-0.512897, 0.023895, 0.601907  Reprojection Error: 1.120789, 0.254570 Feature: 0.249584, 0.273366, 0.928966
[11:52:56.257] xyz_f:-0.376341, -0.463783, 0.513069  Reprojection Error: 1.166919, 0.657335 Feature: 0.387861, -0.220687, 0.894908
[11:52:56.257] xyz_f:-0.556682, -0.244203, 0.557896  Reprojection Error: 1.229133, 0.440813 Feature: 0.225358, 0.003013, 0.974271
[11:52:56.257] xyz_f:-0.219733, -0.008088, 0.634060  Reprojection Error: 0.987724, 0.320510 Feature: 0.522505, 0.250794, 0.814918
[11:52:56.257] xyz_f:-1.147669, -0.454656, -0.300414  Reprojection Error: -4.886125, -2.182767 Feature: -0.675839, -0.422416, 0.603992
[11:52:56.257] xyz_f:-0.309921, -0.657512, 0.386623  Reprojection Error: 1.339906, 1.138180 Feature: 0.408848, -0.440542, 0.799228
[11:52:56.257] xyz_f:-0.404702, -0.449550, 0.516229  Reprojection Error: 1.208670, 0.642305 Feature: 0.363061, -0.206122, 0.908681
[11:52:56.257] xyz_f:-0.319670, -0.483463, 0.508162  Reprojection Error: 1.161530, 0.668033 Feature: 0.436959, -0.240967, 0.866604
[11:52:56.257] xyz_f:-0.570673, -0.251461, 0.551310  Reprojection Error: 1.278873, 0.450251 Feature: 0.211017, -0.005703, 0.977466
[11:52:56.257] xyz_f:-0.671776, -0.143010, 0.534576  Reprojection Error: 1.382752, 0.365615 Feature: 0.101413, 0.094721, 0.990325
[11:52:56.257] xyz_f:-0.729483, -0.036778, 0.516710  Reprojection Error: 1.465001, 0.270117 Feature: 0.029007, 0.192709, 0.980827
[11:52:56.257] xyz_f:-0.484725, 0.019428, 0.608957  Reprojection Error: 1.124533, 0.263917 Feature: 0.277925, 0.270876, 0.921620
[11:52:56.257] xyz_f:-0.219733, -0.008088, 0.634060  Reprojection Error: 1.024347, 0.322041 Feature: 0.522505, 0.250794, 0.814918
[11:52:56.257] xyz_f:-0.618823, 0.172382, 0.551975  Reprojection Error: 1.275983, 0.134121 Feature: 0.114398, 0.403870, 0.907635
[11:52:56.257] it:43 	 Success 	 new_chi2: 0.000000 	 dT = 0.000000, 0.000000, 0.000000
[11:52:56.257] After pose optimization, distance between two frames:0.516780 ,angle between two frames:-3.565936
[11:52:56.350] Reprojection Map nPoint:21 ,nCell:11 ,nMatches:11 ,distance between two frames:2.764875 ,angle between two frames:-3.566049
[11:52:56.350] Init estimate scale:1.672630
[11:52:56.350] xyz_f:2.466946, -0.252655, 1.011224  Reprojection Error: -2.195814, 0.243986 Feature: 0.236813, -0.005698, 0.971538
[11:52:56.350] xyz_f:2.362455, -0.142171, 0.995163  Reprojection Error: -2.247839, 0.240955 Feature: 0.124520, 0.096865, 0.987478
[11:52:56.350] xyz_f:2.628346, -0.449667, 0.973189  Reprojection Error: -2.276046, 0.233525 Feature: 0.382544, -0.205841, 0.900716
[11:52:56.350] xyz_f:2.721983, -0.660380, 0.840084  Reprojection Error: -2.701837, 0.223614 Feature: 0.424746, -0.443825, 0.789057
[11:52:56.350] xyz_f:2.714138, -0.485129, 0.963349  Reprojection Error: -2.284940, 0.220224 Feature: 0.455942, -0.242641, 0.856296
[11:52:56.350] xyz_f:2.360012, -0.137553, 0.994790  Reprojection Error: -2.249195, 0.240794 Feature: 0.121625, 0.101229, 0.987401
[11:52:56.350] xyz_f:2.418632, 0.170570, 1.013245  Reprojection Error: -2.232139, 0.278082 Feature: 0.140031, 0.403629, 0.904143
[11:52:56.350] xyz_f:2.723529, -0.462083, 0.976240  Reprojection Error: -2.244522, 0.220077 Feature: 0.467331, -0.217044, 0.857026
[11:52:56.350] xyz_f:2.637333, -0.475037, 0.961153  Reprojection Error: -2.309225, 0.232436 Feature: 0.387647, -0.233462, 0.891754
[11:52:56.350] xyz_f:2.503942, -0.228058, 1.028659  Reprojection Error: -2.149281, 0.245182 Feature: 0.273926, 0.022574, 0.961486
[11:52:56.350] xyz_f:2.681508, -0.467884, 0.970270  Reprojection Error: -2.273260, 0.225997 Feature: 0.429105, -0.224192, 0.874989
[11:52:56.350] xyz_f:1.875129, -0.451966, 0.168281  Reprojection Error: -12.208695, 2.016450 Feature: -0.663044, -0.416387, 0.622089
[11:52:56.350] xyz_f:2.550836, 0.018345, 1.067214  Reprojection Error: -2.061641, 0.278631 Feature: 0.300486, 0.270559, 0.914607
[11:52:56.350] xyz_f:2.304507, -0.036101, 0.977892  Reprojection Error: -2.303391, 0.235856 Feature: 0.052122, 0.194850, 0.979447
[11:52:56.350] xyz_f:2.697171, -0.471781, 0.969514  Reprojection Error: -2.271496, 0.223516 Feature: 0.442678, -0.228152, 0.867169
[11:52:56.350] xyz_f:2.501309, -0.213048, 1.031450  Reprojection Error: -2.143224, 0.245847 Feature: 0.271058, 0.037795, 0.961821
[11:52:56.350] xyz_f:2.364811, -0.148933, 0.995117  Reprojection Error: -2.247414, 0.241107 Feature: 0.127418, 0.090321, 0.987728
[11:52:56.350] xyz_f:2.484062, -0.222366, 1.024300  Reprojection Error: -2.162466, 0.244958 Feature: 0.253955, 0.026944, 0.966841
[11:52:56.350] xyz_f:2.522473, 0.022756, 1.060505  Reprojection Error: -2.083497, 0.274515 Feature: 0.272243, 0.273084, 0.922664
[11:52:56.350] xyz_f:2.475400, -0.242811, 1.016542  Reprojection Error: -2.181978, 0.244211 Feature: 0.245396, 0.005187, 0.969409
[11:52:56.350] xyz_f:2.817228, -0.010783, 1.088826  Reprojection Error: -1.909602, 0.319187 Feature: 0.543533, 0.248018, 0.801910
[11:52:56.350] xyz_f:1.875129, -0.451966, 0.168281  Reprojection Error: -12.183369, 2.030754 Feature: -0.663044, -0.416387, 0.622089
[11:52:56.350] xyz_f:2.721983, -0.660380, 0.840084  Reprojection Error: -2.683777, 0.216956 Feature: 0.424746, -0.443825, 0.789057
[11:52:56.350] xyz_f:2.628346, -0.449667, 0.973189  Reprojection Error: -2.261215, 0.229997 Feature: 0.382544, -0.205841, 0.900716
[11:52:56.350] xyz_f:2.714138, -0.485129, 0.963349  Reprojection Error: -2.268296, 0.215940 Feature: 0.455942, -0.242641, 0.856296
[11:52:56.350] xyz_f:2.466946, -0.252655, 1.011224  Reprojection Error: -2.183280, 0.241724 Feature: 0.236813, -0.005698, 0.971538
[11:52:56.350] xyz_f:2.362455, -0.142171, 0.995163  Reprojection Error: -2.235961, 0.238854 Feature: 0.124520, 0.096865, 0.987478
[11:52:56.350] xyz_f:2.304507, -0.036101, 0.977892  Reprojection Error: -2.288586, 0.236008 Feature: 0.052122, 0.194850, 0.979447
[11:52:56.350] xyz_f:2.522473, 0.022756, 1.060505  Reprojection Error: -2.070124, 0.275433 Feature: 0.272243, 0.273084, 0.922664
[11:52:56.350] xyz_f:2.550836, 0.018345, 1.067214  Reprojection Error: -2.044704, 0.277377 Feature: 0.300486, 0.270559, 0.914607
[11:52:56.350] xyz_f:2.817228, -0.010783, 1.088826  Reprojection Error: -1.890958, 0.318623 Feature: 0.543533, 0.248018, 0.801910
[11:52:56.350] xyz_f:2.418632, 0.170570, 1.013245  Reprojection Error: -2.222460, 0.278634 Feature: 0.140031, 0.403629, 0.904143
[11:52:56.350] it:0 	 Success 	 new_chi2: 126.701521 	 dT = -0.144952, 0.026793, -0.000950
[11:52:56.350] xyz_f:-0.352348, -0.252582, 1.037744  Reprojection Error: 0.583283, 0.237531 Feature: 0.236813, -0.005698, 0.971538
[11:52:56.350] xyz_f:-0.456797, -0.142072, 1.021588  Reprojection Error: 0.573243, 0.237163 Feature: 0.124520, 0.096865, 0.987478
[11:52:56.350] xyz_f:-0.190961, -0.449633, 0.999857  Reprojection Error: 0.615699, 0.221168 Feature: 0.382544, -0.205841, 0.900716
[11:52:56.350] xyz_f:-0.097254, -0.660370, 0.866838  Reprojection Error: 0.650489, 0.199340 Feature: 0.424746, -0.443825, 0.789057
[11:52:56.350] xyz_f:-0.105168, -0.485117, 0.990096  Reprojection Error: 0.638679, 0.206608 Feature: 0.455942, -0.242641, 0.856296
[11:52:56.350] xyz_f:-0.459238, -0.137454, 1.021213  Reprojection Error: 0.572876, 0.237119 Feature: 0.121625, 0.101229, 0.987401
[11:52:56.350] xyz_f:-0.400559, 0.170655, 1.039721  Reprojection Error: 0.540133, 0.282287 Feature: 0.140031, 0.403629, 0.904143
[11:52:56.350] xyz_f:-0.095784, -0.462073, 1.002995  Reprojection Error: 0.640792, 0.207440 Feature: 0.467331, -0.217044, 0.857026
[11:52:56.350] xyz_f:-0.181970, -0.475006, 0.987830  Reprojection Error: 0.618913, 0.219058 Feature: 0.387647, -0.233462, 0.891754
[11:52:56.350] xyz_f:-0.315362, -0.227994, 1.055213  Reprojection Error: 0.583760, 0.239542 Feature: 0.273926, 0.022574, 0.961486
[11:52:56.350] xyz_f:-0.137801, -0.467864, 0.996988  Reprojection Error: 0.628629, 0.213054 Feature: 0.429105, -0.224192, 0.874989
[11:52:56.350] xyz_f:-0.943440, -0.451748, 0.194259  Reprojection Error: 3.790778, 1.656158 Feature: -0.663044, -0.416387, 0.622089
[11:52:56.350] xyz_f:-0.268442, 0.018397, 1.093811  Reprojection Error: 0.573961, 0.279001 Feature: 0.300486, 0.270559, 0.914607
[11:52:56.350] xyz_f:-0.514703, -0.035988, 1.004263  Reprojection Error: 0.565734, 0.234775 Feature: 0.052122, 0.194850, 0.979447
[11:52:56.350] xyz_f:-0.122139, -0.471764, 0.996245  Reprojection Error: 0.633086, 0.210442 Feature: 0.442678, -0.228152, 0.867169
[11:52:56.350] xyz_f:-0.317993, -0.212983, 1.058002  Reprojection Error: 0.582377, 0.240602 Feature: 0.271058, 0.037795, 0.961821
[11:52:56.350] xyz_f:-0.454442, -0.148835, 1.021544  Reprojection Error: 0.573859, 0.237140 Feature: 0.127418, 0.090321, 0.987728
[11:52:56.350] xyz_f:-0.335236, -0.222297, 1.050836  Reprojection Error: 0.581684, 0.239411 Feature: 0.253955, 0.026944, 0.966841
[11:52:56.350] xyz_f:-0.296798, 0.022815, 1.087076  Reprojection Error: 0.568087, 0.274985 Feature: 0.272243, 0.273084, 0.922664
[11:52:56.350] xyz_f:-0.343896, -0.242740, 1.043071  Reprojection Error: 0.582835, 0.238068 Feature: 0.245396, 0.005187, 0.969409
[11:52:56.350] xyz_f:-0.002077, -0.010796, 1.115668  Reprojection Error: 0.679660, 0.318961 Feature: 0.543533, 0.248018, 0.801910
[11:52:56.350] xyz_f:-0.943440, -0.451748, 0.194259  Reprojection Error: 3.816104, 1.670461 Feature: -0.663044, -0.416387, 0.622089
[11:52:56.350] xyz_f:-0.097254, -0.660370, 0.866838  Reprojection Error: 0.668549, 0.192682 Feature: 0.424746, -0.443825, 0.789057
[11:52:56.350] xyz_f:-0.190961, -0.449633, 0.999857  Reprojection Error: 0.630530, 0.217639 Feature: 0.382544, -0.205841, 0.900716
[11:52:56.350] xyz_f:-0.105168, -0.485117, 0.990096  Reprojection Error: 0.655323, 0.202323 Feature: 0.455942, -0.242641, 0.856296
[11:52:56.350] xyz_f:-0.352348, -0.252582, 1.037744  Reprojection Error: 0.595818, 0.235269 Feature: 0.236813, -0.005698, 0.971538
[11:52:56.350] xyz_f:-0.456797, -0.142072, 1.021588  Reprojection Error: 0.585121, 0.235063 Feature: 0.124520, 0.096865, 0.987478
[11:52:56.350] xyz_f:-0.514703, -0.035988, 1.004263  Reprojection Error: 0.580539, 0.234926 Feature: 0.052122, 0.194850, 0.979447
[11:52:56.350] xyz_f:-0.296798, 0.022815, 1.087076  Reprojection Error: 0.581459, 0.275903 Feature: 0.272243, 0.273084, 0.922664
[11:52:56.350] xyz_f:-0.268442, 0.018397, 1.093811  Reprojection Error: 0.590897, 0.277747 Feature: 0.300486, 0.270559, 0.914607
[11:52:56.350] xyz_f:-0.002077, -0.010796, 1.115668  Reprojection Error: 0.698303, 0.318396 Feature: 0.543533, 0.248018, 0.801910
[11:52:56.350] xyz_f:-0.400559, 0.170655, 1.039721  Reprojection Error: 0.549812, 0.282839 Feature: 0.140031, 0.403629, 0.904143
[11:52:56.350] it:1 	 Success 	 new_chi2: 30.434472 	 dT = -0.002078, 0.013557, 0.053151
[11:52:56.350] xyz_f:-0.131545, -0.256327, 1.065276  Reprojection Error: 0.367235, 0.234755 Feature: 0.236813, -0.005698, 0.971538
[11:52:56.350] xyz_f:-0.238195, -0.147269, 1.054540  Reprojection Error: 0.351974, 0.237746 Feature: 0.124520, 0.096865, 0.987478
[11:52:56.350] xyz_f:0.030380, -0.451154, 1.019088  Reprojection Error: 0.394901, 0.214173 Feature: 0.382544, -0.205841, 0.900716
[11:52:56.350] xyz_f:0.120026, -0.660629, 0.881362  Reprojection Error: 0.402113, 0.187080 Feature: 0.424746, -0.443825, 0.789057
[11:52:56.350] xyz_f:0.116038, -0.485458, 1.004925  Reprojection Error: 0.416989, 0.199717 Feature: 0.455942, -0.242641, 0.856296
[11:52:56.350] xyz_f:-0.240715, -0.142685, 1.054292  Reprojection Error: 0.351496, 0.237858 Feature: 0.121625, 0.101229, 0.987401
[11:52:56.350] xyz_f:-0.185406, 0.166208, 1.069874  Reprojection Error: 0.328174, 0.291069 Feature: 0.140031, 0.403629, 0.904143
[11:52:56.350] xyz_f:0.125754, -0.462282, 1.017334  Reprojection Error: 0.421683, 0.201153 Feature: 0.467331, -0.217044, 0.857026
[11:52:56.350] xyz_f:0.039090, -0.476405, 1.006606  Reprojection Error: 0.395868, 0.211477 Feature: 0.387647, -0.233462, 0.891754
[11:52:56.350] xyz_f:-0.094053, -0.231226, 1.080834  Reprojection Error: 0.371918, 0.237411 Feature: 0.273926, 0.022574, 0.961486
[11:52:56.350] xyz_f:0.083568, -0.468652, 1.013488  Reprojection Error: 0.407956, 0.206192 Feature: 0.429105, -0.224192, 0.874989
[11:52:56.350] xyz_f:-0.762348, -0.463899, 0.253164  Reprojection Error: 1.945439, 1.163065 Feature: -0.663044, -0.416387, 0.622089
[11:52:56.350] xyz_f:-0.048606, 0.015800, 1.117060  Reprojection Error: 0.372054, 0.281676 Feature: 0.300486, 0.270559, 0.914607
[11:52:56.350] xyz_f:-0.298366, -0.041997, 1.040248  Reprojection Error: 0.340039, 0.239312 Feature: 0.052122, 0.194850, 0.979447
[11:52:56.350] xyz_f:0.099224, -0.472338, 1.011942  Reprojection Error: 0.412434, 0.203663 Feature: 0.442678, -0.228152, 0.867169
[11:52:56.350] xyz_f:-0.096743, -0.216252, 1.083759  Reprojection Error: 0.371084, 0.238834 Feature: 0.271058, 0.037795, 0.961821
[11:52:56.350] xyz_f:-0.235753, -0.153999, 1.054373  Reprojection Error: 0.352596, 0.237501 Feature: 0.127418, 0.090321, 0.987728
[11:52:56.350] xyz_f:-0.114202, -0.225804, 1.077484  Reprojection Error: 0.368655, 0.237434 Feature: 0.253955, 0.026944, 0.966841
[11:52:56.350] xyz_f:-0.077329, 0.019826, 1.111790  Reprojection Error: 0.364616, 0.278141 Feature: 0.272243, 0.273084, 0.922664
[11:52:56.350] xyz_f:-0.122967, -0.246368, 1.070166  Reprojection Error: 0.368044, 0.235565 Feature: 0.245396, 0.005187, 0.969409
[11:52:56.350] xyz_f:0.218906, -0.009719, 1.125209  Reprojection Error: 0.483251, 0.317922 Feature: 0.543533, 0.248018, 0.801910
[11:52:56.350] xyz_f:-0.762348, -0.463899, 0.253164  Reprojection Error: 1.970765, 1.177368 Feature: -0.663044, -0.416387, 0.622089
[11:52:56.350] xyz_f:0.120026, -0.660629, 0.881362  Reprojection Error: 0.420173, 0.180423 Feature: 0.424746, -0.443825, 0.789057
[11:52:56.350] xyz_f:0.030380, -0.451154, 1.019088  Reprojection Error: 0.409731, 0.210645 Feature: 0.382544, -0.205841, 0.900716
[11:52:56.351] xyz_f:0.116038, -0.485458, 1.004925  Reprojection Error: 0.433633, 0.195432 Feature: 0.455942, -0.242641, 0.856296
[11:52:56.351] xyz_f:-0.131545, -0.256327, 1.065276  Reprojection Error: 0.379769, 0.232493 Feature: 0.236813, -0.005698, 0.971538
[11:52:56.351] xyz_f:-0.238195, -0.147269, 1.054540  Reprojection Error: 0.363852, 0.235645 Feature: 0.124520, 0.096865, 0.987478
[11:52:56.351] xyz_f:-0.298366, -0.041997, 1.040248  Reprojection Error: 0.354844, 0.239463 Feature: 0.052122, 0.194850, 0.979447
[11:52:56.351] xyz_f:-0.077329, 0.019826, 1.111790  Reprojection Error: 0.377988, 0.279058 Feature: 0.272243, 0.273084, 0.922664
[11:52:56.351] xyz_f:-0.048606, 0.015800, 1.117060  Reprojection Error: 0.388991, 0.280422 Feature: 0.300486, 0.270559, 0.914607
[11:52:56.351] xyz_f:0.218906, -0.009719, 1.125209  Reprojection Error: 0.501895, 0.317358 Feature: 0.543533, 0.248018, 0.801910
[11:52:56.351] xyz_f:-0.185406, 0.166208, 1.069874  Reprojection Error: 0.337853, 0.291621 Feature: 0.140031, 0.403629, 0.904143
[11:52:56.351] it:2 	 Success 	 new_chi2: 14.977633 	 dT = -0.011997, 0.016396, 0.047930
[11:52:56.351] xyz_f:-0.081192, -0.259097, 1.092008  Reprojection Error: 0.318102, 0.231401 Feature: 0.236813, -0.005698, 0.971538
[11:52:56.351] xyz_f:-0.189569, -0.151372, 1.086250  Reprojection Error: 0.300616, 0.237447 Feature: 0.124520, 0.096865, 0.987478
[11:52:56.351] xyz_f:0.080825, -0.451914, 1.038320  Reprojection Error: 0.346870, 0.206705 Feature: 0.382544, -0.205841, 0.900716
[11:52:56.351] xyz_f:0.166592, -0.660301, 0.896532  Reprojection Error: 0.352477, 0.174031 Feature: 0.424746, -0.443825, 0.789057
[11:52:56.351] xyz_f:0.166154, -0.485157, 1.020198  Reprojection Error: 0.369594, 0.192190 Feature: 0.455942, -0.242641, 0.856296
[11:52:56.351] xyz_f:-0.192155, -0.146820, 1.086121  Reprojection Error: 0.300095, 0.237699 Feature: 0.121625, 0.101229, 0.987401
[11:52:56.351] xyz_f:-0.140019, 0.162739, 1.099215  Reprojection Error: 0.282258, 0.298371 Feature: 0.140031, 0.403629, 0.904143
[11:52:56.351] xyz_f:0.176146, -0.461859, 1.032150  Reprojection Error: 0.374635, 0.194220 Feature: 0.467331, -0.217044, 0.857026
[11:52:56.351] xyz_f:0.089260, -0.477058, 1.025441  Reprojection Error: 0.347656, 0.203422 Feature: 0.387647, -0.233462, 0.891754
[11:52:56.351] xyz_f:-0.043335, -0.233528, 1.105821  Reprojection Error: 0.324087, 0.234659 Feature: 0.273926, 0.022574, 0.961486
[11:52:56.351] xyz_f:0.133910, -0.468753, 1.030259  Reprojection Error: 0.360435, 0.198762 Feature: 0.429105, -0.224192, 0.874989
[11:52:56.351] xyz_f:-0.746280, -0.474708, 0.309900  Reprojection Error: 1.342301, 0.862475 Feature: -0.663044, -0.416387, 0.622089
[11:52:56.351] xyz_f:0.000673, 0.014053, 1.139976  Reprojection Error: 0.327951, 0.283493 Feature: 0.300486, 0.270559, 0.914607
[11:52:56.351] xyz_f:-0.251638, -0.046859, 1.074788  Reprojection Error: 0.287345, 0.242538 Feature: 0.052122, 0.194850, 0.979447
[11:52:56.351] xyz_f:0.149521, -0.472244, 1.027989  Reprojection Error: 0.365036, 0.196286 Feature: 0.442678, -0.228152, 0.867169
[11:52:56.351] xyz_f:-0.046072, -0.218588, 1.108872  Reprojection Error: 0.323366, 0.236421 Feature: 0.271058, 0.037795, 0.961821
[11:52:56.351] xyz_f:-0.187054, -0.158072, 1.085969  Reprojection Error: 0.301247, 0.237002 Feature: 0.127418, 0.090321, 0.987728
[11:52:56.351] xyz_f:-0.063683, -0.228358, 1.103409  Reprojection Error: 0.320380, 0.234825 Feature: 0.253955, 0.026944, 0.966841
[11:52:56.351] xyz_f:-0.028310, 0.017721, 1.136042  Reprojection Error: 0.319983, 0.280374 Feature: 0.272243, 0.273084, 0.922664
[11:52:56.351] xyz_f:-0.072521, -0.249030, 1.096498  Reprojection Error: 0.319278, 0.232465 Feature: 0.245396, 0.005187, 0.969409
[11:52:56.351] xyz_f:0.268571, -0.008145, 1.135728  Reprojection Error: 0.441323, 0.316456 Feature: 0.543533, 0.248018, 0.801910
[11:52:56.351] xyz_f:-0.746280, -0.474708, 0.309900  Reprojection Error: 1.367627, 0.876779 Feature: -0.663044, -0.416387, 0.622089
[11:52:56.351] xyz_f:0.166592, -0.660301, 0.896532  Reprojection Error: 0.370537, 0.167373 Feature: 0.424746, -0.443825, 0.789057
[11:52:56.351] xyz_f:0.080825, -0.451914, 1.038320  Reprojection Error: 0.361700, 0.203177 Feature: 0.382544, -0.205841, 0.900716
[11:52:56.351] xyz_f:0.166154, -0.485157, 1.020198  Reprojection Error: 0.386237, 0.187905 Feature: 0.455942, -0.242641, 0.856296
[11:52:56.351] xyz_f:-0.081192, -0.259097, 1.092008  Reprojection Error: 0.330636, 0.229139 Feature: 0.236813, -0.005698, 0.971538
[11:52:56.351] xyz_f:-0.189569, -0.151372, 1.086250  Reprojection Error: 0.312494, 0.235346 Feature: 0.124520, 0.096865, 0.987478
[11:52:56.351] xyz_f:-0.251638, -0.046859, 1.074788  Reprojection Error: 0.302150, 0.242689 Feature: 0.052122, 0.194850, 0.979447
[11:52:56.351] xyz_f:-0.028310, 0.017721, 1.136042  Reprojection Error: 0.333355, 0.281292 Feature: 0.272243, 0.273084, 0.922664
[11:52:56.351] xyz_f:0.000673, 0.014053, 1.139976  Reprojection Error: 0.344888, 0.282239 Feature: 0.300486, 0.270559, 0.914607
[11:52:56.351] xyz_f:0.268571, -0.008145, 1.135728  Reprojection Error: 0.459967, 0.315892 Feature: 0.543533, 0.248018, 0.801910
[11:52:56.351] xyz_f:-0.140019, 0.162739, 1.099215  Reprojection Error: 0.291936, 0.298924 Feature: 0.140031, 0.403629, 0.904143
[11:52:56.351] it:3 	 Success 	 new_chi2: 9.962653 	 dT = -0.015652, 0.017868, 0.047094
[11:52:56.351] xyz_f:-0.022104, -0.261251, 1.117915  Reprojection Error: 0.263523, 0.227829 Feature: 0.236813, -0.005698, 0.971538
[11:52:56.351] xyz_f:-0.131935, -0.154856, 1.117121  Reprojection Error: 0.244201, 0.236715 Feature: 0.124520, 0.096865, 0.987478
[11:52:56.351] xyz_f:0.139641, -0.452094, 1.056861  Reprojection Error: 0.292583, 0.199241 Feature: 0.382544, -0.205841, 0.900716
[11:52:56.351] xyz_f:0.221405, -0.659460, 0.911262  Reprojection Error: 0.295330, 0.161203 Feature: 0.424746, -0.443825, 0.789057
[11:52:56.351] xyz_f:0.224458, -0.484300, 1.034869  Reprojection Error: 0.315564, 0.184620 Feature: 0.455942, -0.242641, 0.856296
[11:52:56.351] xyz_f:-0.134579, -0.150336, 1.117110  Reprojection Error: 0.243648, 0.237096 Feature: 0.121625, 0.101229, 0.987401
[11:52:56.351] xyz_f:-0.085677, 0.159839, 1.127906  Reprojection Error: 0.230838, 0.304709 Feature: 0.140031, 0.403629, 0.904143
[11:52:56.351] xyz_f:0.234698, -0.460879, 1.046361  Reprojection Error: 0.320995, 0.187207 Feature: 0.467331, -0.217044, 0.857026
[11:52:56.351] xyz_f:0.147788, -0.477138, 1.043605  Reprojection Error: 0.293088, 0.195401 Feature: 0.387647, -0.233462, 0.891754
[11:52:56.351] xyz_f:0.016028, -0.235219, 1.129999  Reprojection Error: 0.270715, 0.231637 Feature: 0.273926, 0.022574, 0.961486
[11:52:56.351] xyz_f:0.192506, -0.468288, 1.046390  Reprojection Error: 0.306440, 0.191304 Feature: 0.429105, -0.224192, 0.874989
[11:52:56.351] xyz_f:-0.719392, -0.485166, 0.366799  Reprojection Error: 0.895437, 0.653367 Feature: -0.663044, -0.416387, 0.622089
[11:52:56.351] xyz_f:0.058524, 0.012890, 1.162186  Reprojection Error: 0.278185, 0.284729 Feature: 0.300486, 0.270559, 0.914607
[11:52:56.351] xyz_f:-0.195730, -0.051111, 1.108522  Reprojection Error: 0.229785, 0.245046 Feature: 0.052122, 0.194850, 0.979447
[11:52:56.351] xyz_f:0.208040, -0.471589, 1.043411  Reprojection Error: 0.311102, 0.188868 Feature: 0.442678, -0.228152, 0.867169
[11:52:56.351] xyz_f:0.013250, -0.220312, 1.133175  Reprojection Error: 0.270124, 0.233715 Feature: 0.271058, 0.037795, 0.961821
[11:52:56.351] xyz_f:-0.129354, -0.161525, 1.116723  Reprojection Error: 0.244834, 0.236085 Feature: 0.127418, 0.090321, 0.987728
[11:52:56.351] xyz_f:-0.004470, -0.230297, 1.128516  Reprojection Error: 0.266626, 0.231939 Feature: 0.253955, 0.026944, 0.966841
[11:52:56.351] xyz_f:0.029349, 0.016203, 1.159575  Reprojection Error: 0.269752, 0.282000 Feature: 0.272243, 0.273084, 0.922664
[11:52:56.351] xyz_f:-0.013361, -0.251078, 1.122009  Reprojection Error: 0.265047, 0.229126 Feature: 0.245396, 0.005187, 0.969409
[11:52:56.351] xyz_f:0.326202, -0.006044, 1.145755  Reprojection Error: 0.393093, 0.314559 Feature: 0.543533, 0.248018, 0.801910
[11:52:56.351] xyz_f:-0.719392, -0.485166, 0.366799  Reprojection Error: 0.920763, 0.667671 Feature: -0.663044, -0.416387, 0.622089
[11:52:56.351] xyz_f:0.221405, -0.659460, 0.911262  Reprojection Error: 0.313390, 0.154545 Feature: 0.424746, -0.443825, 0.789057
[11:52:56.351] xyz_f:0.139641, -0.452094, 1.056861  Reprojection Error: 0.307413, 0.195712 Feature: 0.382544, -0.205841, 0.900716
[11:52:56.351] xyz_f:0.224458, -0.484300, 1.034869  Reprojection Error: 0.332208, 0.180336 Feature: 0.455942, -0.242641, 0.856296
[11:52:56.351] xyz_f:-0.022104, -0.261251, 1.117915  Reprojection Error: 0.276058, 0.225568 Feature: 0.236813, -0.005698, 0.971538
[11:52:56.351] xyz_f:-0.131935, -0.154856, 1.117121  Reprojection Error: 0.256079, 0.234614 Feature: 0.124520, 0.096865, 0.987478
[11:52:56.351] xyz_f:-0.195730, -0.051111, 1.108522  Reprojection Error: 0.244590, 0.245198 Feature: 0.052122, 0.194850, 0.979447
[11:52:56.351] xyz_f:0.029349, 0.016203, 1.159575  Reprojection Error: 0.283125, 0.282918 Feature: 0.272243, 0.273084, 0.922664
[11:52:56.351] xyz_f:0.058524, 0.012890, 1.162186  Reprojection Error: 0.295122, 0.283476 Feature: 0.300486, 0.270559, 0.914607
[11:52:56.351] xyz_f:0.326202, -0.006044, 1.145755  Reprojection Error: 0.411737, 0.313995 Feature: 0.543533, 0.248018, 0.801910
[11:52:56.351] xyz_f:-0.085677, 0.159839, 1.127906  Reprojection Error: 0.240517, 0.305261 Feature: 0.140031, 0.403629, 0.904143
[11:52:56.351] it:4 	 Success 	 new_chi2: 6.602506 	 dT = -0.019661, 0.018618, 0.045690
[11:52:56.351] xyz_f:0.037047, -0.262798, 1.142310  Reprojection Error: 0.211319, 0.224194 Feature: 0.236813, -0.005698, 0.971538
[11:52:56.351] xyz_f:-0.073962, -0.157710, 1.146390  Reprojection Error: 0.190616, 0.235665 Feature: 0.124520, 0.096865, 0.987478
[11:52:56.351] xyz_f:0.198186, -0.451732, 1.074130  Reprojection Error: 0.240203, 0.192027 Feature: 0.382544, -0.205841, 0.900716
[11:52:56.351] xyz_f:0.275893, -0.658155, 0.925011  Reprojection Error: 0.240037, 0.149036 Feature: 0.424746, -0.443825, 0.789057
[11:52:56.351] xyz_f:0.282325, -0.482939, 1.048408  Reprojection Error: 0.263170, 0.177279 Feature: 0.455942, -0.242641, 0.856296
[11:52:56.351] xyz_f:-0.076657, -0.153221, 1.146497  Reprojection Error: 0.190039, 0.236164 Feature: 0.121625, 0.101229, 0.987401
[11:52:56.351] xyz_f:-0.030996, 0.157513, 1.155206  Reprojection Error: 0.181709, 0.310071 Feature: 0.140031, 0.403629, 0.904143
[11:52:56.351] xyz_f:0.292784, -0.459396, 1.059444  Reprojection Error: 0.268938, 0.180367 Feature: 0.467331, -0.217044, 0.857026
[11:52:56.351] xyz_f:0.206036, -0.476681, 1.060520  Reprojection Error: 0.240423, 0.187678 Feature: 0.387647, -0.233462, 0.891754
[11:52:56.351] xyz_f:0.075365, -0.236315, 1.152706  Reprojection Error: 0.219518, 0.228487 Feature: 0.273926, 0.022574, 0.961486
[11:52:56.351] xyz_f:0.250726, -0.467303, 1.061332  Reprojection Error: 0.254175, 0.184075 Feature: 0.429105, -0.224192, 0.874989
[11:52:56.351] xyz_f:-0.690004, -0.495137, 0.422630  Reprojection Error: 0.566809, 0.502226 Feature: -0.663044, -0.416387, 0.622089
[11:52:56.351] xyz_f:0.116303, 0.012287, 1.183052  Reprojection Error: 0.230234, 0.285434 Feature: 0.300486, 0.270559, 0.914607
[11:52:56.351] xyz_f:-0.139296, -0.054728, 1.140641  Reprojection Error: 0.175337, 0.246919 Feature: 0.052122, 0.194850, 0.979447
[11:52:56.351] xyz_f:0.266151, -0.470421, 1.057670  Reprojection Error: 0.258848, 0.181671 Feature: 0.442678, -0.228152, 0.867169
[11:52:56.351] xyz_f:0.072554, -0.221441, 1.156006  Reprojection Error: 0.219055, 0.230852 Feature: 0.271058, 0.037795, 0.961821
[11:52:56.351] xyz_f:-0.071322, -0.164348, 1.145877  Reprojection Error: 0.191243, 0.234869 Feature: 0.127418, 0.090321, 0.987728
[11:52:56.351] xyz_f:0.054765, -0.231636, 1.152131  Reprojection Error: 0.215132, 0.228918 Feature: 0.253955, 0.026944, 0.966841
[11:52:56.351] xyz_f:0.087005, 0.015255, 1.181732  Reprojection Error: 0.221438, 0.283064 Feature: 0.272243, 0.273084, 0.922664
[11:52:56.351] xyz_f:0.045842, -0.252522, 1.146016  Reprojection Error: 0.213138, 0.225699 Feature: 0.245396, 0.005187, 0.969409
[11:52:56.351] xyz_f:0.383201, -0.003485, 1.154822  Reprojection Error: 0.345971, 0.312302 Feature: 0.543533, 0.248018, 0.801910
[11:52:56.351] xyz_f:-0.690004, -0.495137, 0.422630  Reprojection Error: 0.592135, 0.516530 Feature: -0.663044, -0.416387, 0.622089
[11:52:56.351] xyz_f:0.275893, -0.658155, 0.925011  Reprojection Error: 0.258097, 0.142378 Feature: 0.424746, -0.443825, 0.789057
[11:52:56.351] xyz_f:0.198186, -0.451732, 1.074130  Reprojection Error: 0.255033, 0.188498 Feature: 0.382544, -0.205841, 0.900716
[11:52:56.351] xyz_f:0.282325, -0.482939, 1.048408  Reprojection Error: 0.279814, 0.172994 Feature: 0.455942, -0.242641, 0.856296
[11:52:56.351] xyz_f:0.037047, -0.262798, 1.142310  Reprojection Error: 0.223853, 0.221932 Feature: 0.236813, -0.005698, 0.971538
[11:52:56.351] xyz_f:-0.073962, -0.157710, 1.146390  Reprojection Error: 0.202494, 0.233564 Feature: 0.124520, 0.096865, 0.987478
[11:52:56.351] xyz_f:-0.139296, -0.054728, 1.140641  Reprojection Error: 0.190143, 0.247071 Feature: 0.052122, 0.194850, 0.979447
[11:52:56.351] xyz_f:0.087005, 0.015255, 1.181732  Reprojection Error: 0.234810, 0.283982 Feature: 0.272243, 0.273084, 0.922664
[11:52:56.351] xyz_f:0.116303, 0.012287, 1.183052  Reprojection Error: 0.247170, 0.284181 Feature: 0.300486, 0.270559, 0.914607
[11:52:56.351] xyz_f:0.383201, -0.003485, 1.154822  Reprojection Error: 0.364614, 0.311738 Feature: 0.543533, 0.248018, 0.801910
[11:52:56.351] xyz_f:-0.030996, 0.157513, 1.155206  Reprojection Error: 0.191388, 0.310623 Feature: 0.140031, 0.403629, 0.904143
[11:52:56.351] it:5 	 Success 	 new_chi2: 4.523520 	 dT = -0.022865, 0.018549, 0.043177
[11:52:56.351] xyz_f:0.095472, -0.263768, 1.164476  Reprojection Error: 0.161764, 0.220647 Feature: 0.236813, -0.005698, 0.971538
[11:52:56.351] xyz_f:-0.016438, -0.159925, 1.173205  Reprojection Error: 0.140110, 0.234408 Feature: 0.124520, 0.096865, 0.987478
[11:52:56.351] xyz_f:0.255729, -0.450906, 1.089593  Reprojection Error: 0.190010, 0.185299 Feature: 0.382544, -0.205841, 0.900716
[11:52:56.351] xyz_f:0.329452, -0.656482, 0.937316  Reprojection Error: 0.186811, 0.137910 Feature: 0.424746, -0.443825, 0.789057
[11:52:56.351] xyz_f:0.339065, -0.481177, 1.060379  Reprojection Error: 0.212700, 0.170416 Feature: 0.455942, -0.242641, 0.856296
[11:52:56.351] xyz_f:-0.019176, -0.155467, 1.173426  Reprojection Error: 0.139519, 0.235010 Feature: 0.121625, 0.101229, 0.987401
[11:52:56.351] xyz_f:0.023334, 0.155760, 1.180296  Reprojection Error: 0.135108, 0.314455 Feature: 0.140031, 0.403629, 0.904143
[11:52:56.351] xyz_f:0.349712, -0.457515, 1.070974  Reprojection Error: 0.218758, 0.173943 Feature: 0.467331, -0.217044, 0.857026
[11:52:56.351] xyz_f:0.263282, -0.475768, 1.075662  Reprojection Error: 0.189938, 0.180502 Feature: 0.387647, -0.233462, 0.891754
[11:52:56.351] xyz_f:0.133892, -0.236855, 1.173272  Reprojection Error: 0.170781, 0.225354 Feature: 0.273926, 0.022574, 0.961486
[11:52:56.351] xyz_f:0.307860, -0.465891, 1.074613  Reprojection Error: 0.203928, 0.177320 Feature: 0.429105, -0.224192, 0.874989
[11:52:56.351] xyz_f:-0.658312, -0.504382, 0.475680  Reprojection Error: 0.318101, 0.391001 Feature: -0.663044, -0.416387, 0.622089
[11:52:56.351] xyz_f:0.173279, 0.012196, 1.201943  Reprojection Error: 0.184376, 0.285673 Feature: 0.300486, 0.270559, 0.914607
[11:52:56.351] xyz_f:-0.083101, -0.057681, 1.170209  Reprojection Error: 0.124230, 0.248230 Feature: 0.052122, 0.194850, 0.979447
[11:52:56.351] xyz_f:0.323152, -0.468837, 1.070310  Reprojection Error: 0.208563, 0.174939 Feature: 0.442678, -0.228152, 0.867169
[11:52:56.351] xyz_f:0.131055, -0.222013, 1.176690  Reprojection Error: 0.170442, 0.227971 Feature: 0.271058, 0.037795, 0.961821
[11:52:56.351] xyz_f:-0.013748, -0.166533, 1.172581  Reprojection Error: 0.140725, 0.233466 Feature: 0.127418, 0.090321, 0.987728
[11:52:56.351] xyz_f:0.113234, -0.232407, 1.173557  Reprojection Error: 0.166177, 0.225905 Feature: 0.253955, 0.026944, 0.966841
[11:52:56.351] xyz_f:0.143920, 0.014835, 1.201846  Reprojection Error: 0.175313, 0.283629 Feature: 0.272243, 0.273084, 0.922664
[11:52:56.351] xyz_f:0.104298, -0.253393, 1.167815  Reprojection Error: 0.163829, 0.222331 Feature: 0.245396, 0.005187, 0.969409
[11:52:56.351] xyz_f:0.438928, -0.000600, 1.162606  Reprojection Error: 0.300260, 0.309801 Feature: 0.543533, 0.248018, 0.801910
[11:52:56.351] xyz_f:-0.658312, -0.504382, 0.475680  Reprojection Error: 0.343428, 0.405305 Feature: -0.663044, -0.416387, 0.622089
[11:52:56.351] xyz_f:0.329452, -0.656482, 0.937316  Reprojection Error: 0.204871, 0.131253 Feature: 0.424746, -0.443825, 0.789057
[11:52:56.351] xyz_f:0.255729, -0.450906, 1.089593  Reprojection Error: 0.204841, 0.181771 Feature: 0.382544, -0.205841, 0.900716
[11:52:56.351] xyz_f:0.339065, -0.481177, 1.060379  Reprojection Error: 0.229344, 0.166132 Feature: 0.455942, -0.242641, 0.856296
[11:52:56.351] xyz_f:0.095472, -0.263768, 1.164476  Reprojection Error: 0.174298, 0.218385 Feature: 0.236813, -0.005698, 0.971538
[11:52:56.351] xyz_f:-0.016438, -0.159925, 1.173205  Reprojection Error: 0.151988, 0.232308 Feature: 0.124520, 0.096865, 0.987478
[11:52:56.351] xyz_f:-0.083101, -0.057681, 1.170209  Reprojection Error: 0.139036, 0.248382 Feature: 0.052122, 0.194850, 0.979447
[11:52:56.351] xyz_f:0.143920, 0.014835, 1.201846  Reprojection Error: 0.188686, 0.284547 Feature: 0.272243, 0.273084, 0.922664
[11:52:56.351] xyz_f:0.173279, 0.012196, 1.201943  Reprojection Error: 0.201312, 0.284420 Feature: 0.300486, 0.270559, 0.914607
[11:52:56.351] xyz_f:0.438928, -0.000600, 1.162606  Reprojection Error: 0.318904, 0.309236 Feature: 0.543533, 0.248018, 0.801910
[11:52:56.351] xyz_f:0.023334, 0.155760, 1.180296  Reprojection Error: 0.144787, 0.315007 Feature: 0.140031, 0.403629, 0.904143
[11:52:56.351] it:6 	 Success 	 new_chi2: 3.242589 	 dT = -0.024228, 0.017610, 0.038762
[11:52:56.351] xyz_f:0.151376, -0.264228, 1.183802  Reprojection Error: 0.115878, 0.217337 Feature: 0.236813, -0.005698, 0.971538
[11:52:56.351] xyz_f:0.038836, -0.161511, 1.196734  Reprojection Error: 0.093647, 0.233054 Feature: 0.124520, 0.096865, 0.987478
[11:52:56.351] xyz_f:0.310587, -0.449763, 1.102938  Reprojection Error: 0.143112, 0.179256 Feature: 0.382544, -0.205841, 0.900716
[11:52:56.351] xyz_f:0.380616, -0.654618, 0.947970  Reprojection Error: 0.136789, 0.128073 Feature: 0.424746, -0.443825, 0.789057
[11:52:56.351] xyz_f:0.393070, -0.479202, 1.070619  Reprojection Error: 0.165316, 0.164232 Feature: 0.455942, -0.242641, 0.856296
[11:52:56.351] xyz_f:0.036063, -0.157080, 1.197058  Reprojection Error: 0.093050, 0.233743 Feature: 0.121625, 0.101229, 0.987401
[11:52:56.351] xyz_f:0.075677, 0.154559, 1.202390  Reprojection Error: 0.091938, 0.317879 Feature: 0.140031, 0.403629, 0.904143
[11:52:56.351] xyz_f:0.403869, -0.455433, 1.080813  Reprojection Error: 0.171623, 0.168128 Feature: 0.467331, -0.217044, 0.857026
[11:52:56.351] xyz_f:0.317863, -0.474551, 1.088730  Reprojection Error: 0.142744, 0.174075 Feature: 0.387647, -0.233462, 0.891754
[11:52:56.351] xyz_f:0.189827, -0.236929, 1.191159  Reprojection Error: 0.125536, 0.222385 Feature: 0.273926, 0.022574, 0.961486
[11:52:56.351] xyz_f:0.362268, -0.464227, 1.086014  Reprojection Error: 0.156836, 0.171237 Feature: 0.429105, -0.224192, 0.874989
[11:52:56.351] xyz_f:-0.625210, -0.512520, 0.523660  Reprojection Error: 0.128089, 0.309389 Feature: -0.663044, -0.416387, 0.622089
[11:52:56.351] xyz_f:0.227760, 0.012509, 1.218382  Reprojection Error: 0.141605, 0.285553 Feature: 0.300486, 0.270559, 0.914607
[11:52:56.351] xyz_f:-0.028915, -0.059941, 1.196255  Reprojection Error: 0.077387, 0.249046 Feature: 0.052122, 0.194850, 0.979447
[11:52:56.351] xyz_f:0.377418, -0.467021, 1.081142  Reprojection Error: 0.161395, 0.168870 Feature: 0.442678, -0.228152, 0.867169
[11:52:56.351] xyz_f:0.186971, -0.222116, 1.194684  Reprojection Error: 0.125315, 0.225215 Feature: 0.271058, 0.037795, 0.961821
[11:52:56.351] xyz_f:0.041567, -0.168092, 1.196009  Reprojection Error: 0.094246, 0.231987 Feature: 0.127418, 0.090321, 0.987728
[11:52:56.351] xyz_f:0.169150, -0.232689, 1.192218  Reprojection Error: 0.120786, 0.223041 Feature: 0.253955, 0.026944, 0.966841
[11:52:56.351] xyz_f:0.198392, 0.014854, 1.219385  Reprojection Error: 0.132364, 0.283791 Feature: 0.272243, 0.273084, 0.922664
[11:52:56.351] xyz_f:0.160217, -0.253764, 1.186811  Reprojection Error: 0.118142, 0.219171 Feature: 0.245396, 0.005187, 0.969409
[11:52:56.351] xyz_f:0.491865, 0.002371, 1.169127  Reprojection Error: 0.257087, 0.307256 Feature: 0.543533, 0.248018, 0.801910
[11:52:56.351] xyz_f:-0.625210, -0.512520, 0.523660  Reprojection Error: 0.153416, 0.323693 Feature: -0.663044, -0.416387, 0.622089
[11:52:56.351] xyz_f:0.380616, -0.654618, 0.947970  Reprojection Error: 0.154849, 0.121415 Feature: 0.424746, -0.443825, 0.789057
[11:52:56.351] xyz_f:0.310587, -0.449763, 1.102938  Reprojection Error: 0.157942, 0.175728 Feature: 0.382544, -0.205841, 0.900716
[11:52:56.351] xyz_f:0.393070, -0.479202, 1.070619  Reprojection Error: 0.181959, 0.159947 Feature: 0.455942, -0.242641, 0.856296
[11:52:56.351] xyz_f:0.151376, -0.264228, 1.183802  Reprojection Error: 0.128412, 0.215076 Feature: 0.236813, -0.005698, 0.971538
[11:52:56.352] xyz_f:0.038836, -0.161511, 1.196734  Reprojection Error: 0.105525, 0.230953 Feature: 0.124520, 0.096865, 0.987478
[11:52:56.352] xyz_f:-0.028915, -0.059941, 1.196255  Reprojection Error: 0.092193, 0.249198 Feature: 0.052122, 0.194850, 0.979447
[11:52:56.352] xyz_f:0.198392, 0.014854, 1.219385  Reprojection Error: 0.145736, 0.284709 Feature: 0.272243, 0.273084, 0.922664
[11:52:56.352] xyz_f:0.227760, 0.012509, 1.218382  Reprojection Error: 0.158542, 0.284300 Feature: 0.300486, 0.270559, 0.914607
[11:52:56.352] xyz_f:0.491865, 0.002371, 1.169127  Reprojection Error: 0.275730, 0.306692 Feature: 0.543533, 0.248018, 0.801910
[11:52:56.352] xyz_f:0.075677, 0.154559, 1.202390  Reprojection Error: 0.101617, 0.318431 Feature: 0.140031, 0.403629, 0.904143
[11:52:56.352] it:7 	 Success 	 new_chi2: 2.478489 	 dT = -0.023596, 0.015945, 0.032737
[11:52:56.352] xyz_f:0.202350, -0.264313, 1.200068  Reprojection Error: 0.075135, 0.214384 Feature: 0.236813, -0.005698, 0.971538
[11:52:56.352] xyz_f:0.089409, -0.162552, 1.216565  Reprojection Error: 0.052606, 0.231709 Feature: 0.124520, 0.096865, 0.987478
[11:52:56.352] xyz_f:0.360491, -0.448504, 1.114186  Reprojection Error: 0.101165, 0.174010 Feature: 0.382544, -0.205841, 0.900716
[11:52:56.352] xyz_f:0.427319, -0.652780, 0.957054  Reprojection Error: 0.091802, 0.119598 Feature: 0.424746, -0.443825, 0.789057
[11:52:56.352] xyz_f:0.442158, -0.477248, 1.079272  Reprojection Error: 0.122777, 0.158833 Feature: 0.455942, -0.242641, 0.856296
[11:52:56.352] xyz_f:0.086610, -0.158145, 1.216977  Reprojection Error: 0.052008, 0.232470 Feature: 0.121625, 0.101229, 0.987401
[11:52:56.352] xyz_f:0.123731, 0.153819, 1.221096  Reprojection Error: 0.053549, 0.320454 Feature: 0.140031, 0.403629, 0.904143
[11:52:56.352] xyz_f:0.453071, -0.453387, 1.089122  Reprojection Error: 0.129297, 0.163034 Feature: 0.467331, -0.217044, 0.857026
[11:52:56.352] xyz_f:0.367524, -0.473232, 1.099751  Reprojection Error: 0.100514, 0.168507 Feature: 0.387647, -0.233462, 0.891754
[11:52:56.352] xyz_f:0.240781, -0.236690, 1.206209  Reprojection Error: 0.085281, 0.219704 Feature: 0.273926, 0.022574, 0.961486
[11:52:56.352] xyz_f:0.411732, -0.462532, 1.095634  Reprojection Error: 0.114619, 0.165936 Feature: 0.429105, -0.224192, 0.874989
[11:52:56.352] xyz_f:-0.592587, -0.519264, 0.564774  Reprojection Error: -0.016589, 0.250081 Feature: -0.663044, -0.416387, 0.622089
[11:52:56.352] xyz_f:0.277442, 0.013065, 1.232253  Reprojection Error: 0.103391, 0.285217 Feature: 0.300486, 0.270559, 0.914607
[11:52:56.352] xyz_f:0.020819, -0.061560, 1.218241  Reprojection Error: 0.036127, 0.249471 Feature: 0.052122, 0.194850, 0.979447
[11:52:56.352] xyz_f:0.426743, -0.465199, 1.090285  Reprojection Error: 0.119082, 0.163576 Feature: 0.442678, -0.228152, 0.867169
[11:52:56.352] xyz_f:0.237913, -0.221900, 1.209824  Reprojection Error: 0.085166, 0.222710 Feature: 0.271058, 0.037795, 0.961821
[11:52:56.352] xyz_f:0.092171, -0.169110, 1.215753  Reprojection Error: 0.053187, 0.230542 Feature: 0.127418, 0.090321, 0.987728
[11:52:56.352] xyz_f:0.220114, -0.232624, 1.207922  Reprojection Error: 0.080440, 0.220450 Feature: 0.253955, 0.026944, 0.966841
[11:52:56.352] xyz_f:0.248102, 0.015161, 1.234184  Reprojection Error: 0.094037, 0.283688 Feature: 0.272243, 0.273084, 0.922664
[11:52:56.352] xyz_f:0.211192, -0.253775, 1.202797  Reprojection Error: 0.077555, 0.216339 Feature: 0.245396, 0.005187, 0.969409
[11:52:56.352] xyz_f:0.539934, 0.005158, 1.174671  Reprojection Error: 0.218151, 0.304893 Feature: 0.543533, 0.248018, 0.801910
[11:52:56.352] xyz_f:-0.592587, -0.519264, 0.564774  Reprojection Error: 0.008738, 0.264385 Feature: -0.663044, -0.416387, 0.622089
[11:52:56.352] xyz_f:0.427319, -0.652780, 0.957054  Reprojection Error: 0.109862, 0.112940 Feature: 0.424746, -0.443825, 0.789057
[11:52:56.352] xyz_f:0.360491, -0.448504, 1.114186  Reprojection Error: 0.115995, 0.170482 Feature: 0.382544, -0.205841, 0.900716
[11:52:56.352] xyz_f:0.442158, -0.477248, 1.079272  Reprojection Error: 0.139421, 0.154548 Feature: 0.455942, -0.242641, 0.856296
[11:52:56.352] xyz_f:0.202350, -0.264313, 1.200068  Reprojection Error: 0.087669, 0.212122 Feature: 0.236813, -0.005698, 0.971538
[11:52:56.352] xyz_f:0.089409, -0.162552, 1.216565  Reprojection Error: 0.064484, 0.229609 Feature: 0.124520, 0.096865, 0.987478
[11:52:56.352] xyz_f:0.020819, -0.061560, 1.218241  Reprojection Error: 0.050933, 0.249623 Feature: 0.052122, 0.194850, 0.979447
[11:52:56.352] xyz_f:0.248102, 0.015161, 1.234184  Reprojection Error: 0.107409, 0.284606 Feature: 0.272243, 0.273084, 0.922664
[11:52:56.352] xyz_f:0.277442, 0.013065, 1.232253  Reprojection Error: 0.120328, 0.283964 Feature: 0.300486, 0.270559, 0.914607
[11:52:56.352] xyz_f:0.539934, 0.005158, 1.174671  Reprojection Error: 0.236794, 0.304329 Feature: 0.543533, 0.248018, 0.801910
[11:52:56.352] xyz_f:0.123731, 0.153819, 1.221096  Reprojection Error: 0.063228, 0.321006 Feature: 0.140031, 0.403629, 0.904143
[11:52:56.352] it:8 	 Success 	 new_chi2: 2.055107 	 dT = -0.022051, 0.013949, 0.026516
[11:52:56.352] xyz_f:0.246350, -0.264180, 1.213518  Reprojection Error: 0.040746, 0.211832 Feature: 0.236813, -0.005698, 0.971538
[11:52:56.352] xyz_f:0.133173, -0.163195, 1.232911  Reprojection Error: 0.018083, 0.230459 Feature: 0.124520, 0.096865, 0.987478
[11:52:56.352] xyz_f:0.403500, -0.447288, 1.123598  Reprojection Error: 0.065597, 0.169556 Feature: 0.382544, -0.205841, 0.900716
[11:52:56.352] xyz_f:0.467682, -0.651114, 0.964787  Reprojection Error: 0.053544, 0.112404 Feature: 0.424746, -0.443825, 0.789057
[11:52:56.352] xyz_f:0.484441, -0.475474, 1.086601  Reprojection Error: 0.086627, 0.154218 Feature: 0.455942, -0.242641, 0.856296
[11:52:56.352] xyz_f:0.130356, -0.158806, 1.233394  Reprojection Error: 0.017488, 0.231276 Feature: 0.121625, 0.101229, 0.987401
[11:52:56.352] xyz_f:0.165428, 0.153405, 1.236589  Reprojection Error: 0.021099, 0.322367 Feature: 0.140031, 0.403629, 0.904143
[11:52:56.352] xyz_f:0.495439, -0.451538, 1.096170  Reprojection Error: 0.093321, 0.158671 Feature: 0.467331, -0.217044, 0.857026
[11:52:56.352] xyz_f:0.410330, -0.471969, 1.108985  Reprojection Error: 0.064697, 0.163785 Feature: 0.387647, -0.233462, 0.891754
[11:52:56.352] xyz_f:0.284736, -0.236292, 1.218675  Reprojection Error: 0.051255, 0.217371 Feature: 0.273926, 0.022574, 0.961486
[11:52:56.352] xyz_f:0.454344, -0.460966, 1.103739  Reprojection Error: 0.078771, 0.161418 Feature: 0.429105, -0.224192, 0.874989
[11:52:56.352] xyz_f:-0.562828, -0.524635, 0.598768  Reprojection Error: -0.125858, 0.206853 Feature: -0.663044, -0.416387, 0.622089
[11:52:56.352] xyz_f:0.320337, 0.013711, 1.243793  Reprojection Error: 0.070994, 0.284797 Feature: 0.300486, 0.270559, 0.914607
[11:52:56.352] xyz_f:0.063957, -0.062675, 1.236352  Reprojection Error: 0.001486, 0.249633 Feature: 0.052122, 0.194850, 0.979447
[11:52:56.352] xyz_f:0.469231, -0.463530, 1.098006  Reprojection Error: 0.083138, 0.159056 Feature: 0.442678, -0.228152, 0.867169
[11:52:56.352] xyz_f:0.281859, -0.221523, 1.222364  Reprojection Error: 0.051232, 0.220520 Feature: 0.271058, 0.037795, 0.961821
[11:52:56.352] xyz_f:0.135958, -0.169733, 1.232027  Reprojection Error: 0.018647, 0.229210 Feature: 0.127418, 0.090321, 0.987728
[11:52:56.352] xyz_f:0.264091, -0.232369, 1.220917  Reprojection Error: 0.046359, 0.218191 Feature: 0.253955, 0.026944, 0.966841
[11:52:56.352] xyz_f:0.291042, 0.015606, 1.246475  Reprojection Error: 0.061570, 0.283453 Feature: 0.272243, 0.273084, 0.922664
[11:52:56.352] xyz_f:0.255187, -0.253581, 1.216020  Reprojection Error: 0.043285, 0.213884 Feature: 0.245396, 0.005187, 0.969409
[11:52:56.352] xyz_f:0.581316, 0.007600, 1.179507  Reprojection Error: 0.184952, 0.302841 Feature: 0.543533, 0.248018, 0.801910
[11:52:56.352] xyz_f:-0.562828, -0.524635, 0.598768  Reprojection Error: -0.100532, 0.221157 Feature: -0.663044, -0.416387, 0.622089
[11:52:56.352] xyz_f:0.467682, -0.651114, 0.964787  Reprojection Error: 0.071604, 0.105746 Feature: 0.424746, -0.443825, 0.789057
[11:52:56.352] xyz_f:0.403500, -0.447288, 1.123598  Reprojection Error: 0.080428, 0.166028 Feature: 0.382544, -0.205841, 0.900716
[11:52:56.352] xyz_f:0.484441, -0.475474, 1.086601  Reprojection Error: 0.103271, 0.149933 Feature: 0.455942, -0.242641, 0.856296
[11:52:56.352] xyz_f:0.246350, -0.264180, 1.213518  Reprojection Error: 0.053280, 0.209571 Feature: 0.236813, -0.005698, 0.971538
[11:52:56.352] xyz_f:0.133173, -0.163195, 1.232911  Reprojection Error: 0.029961, 0.228358 Feature: 0.124520, 0.096865, 0.987478
[11:52:56.352] xyz_f:0.063957, -0.062675, 1.236352  Reprojection Error: 0.016292, 0.249784 Feature: 0.052122, 0.194850, 0.979447
[11:52:56.352] xyz_f:0.291042, 0.015606, 1.246475  Reprojection Error: 0.074943, 0.284371 Feature: 0.272243, 0.273084, 0.922664
[11:52:56.352] xyz_f:0.320337, 0.013711, 1.243793  Reprojection Error: 0.087930, 0.283543 Feature: 0.300486, 0.270559, 0.914607
[11:52:56.352] xyz_f:0.581316, 0.007600, 1.179507  Reprojection Error: 0.203595, 0.302277 Feature: 0.543533, 0.248018, 0.801910
[11:52:56.352] xyz_f:0.165428, 0.153405, 1.236589  Reprojection Error: 0.030778, 0.322919 Feature: 0.140031, 0.403629, 0.904143
[11:52:56.352] it:9 	 Success 	 new_chi2: 1.849132 	 dT = -0.020720, 0.011996, 0.021310
[11:52:56.352] xyz_f:0.282920, -0.263940, 1.224621  Reprojection Error: 0.012724, 0.209663 Feature: 0.236813, -0.005698, 0.971538
[11:52:56.352] xyz_f:0.169611, -0.163580, 1.246345  Reprojection Error: -0.009988, 0.229341 Feature: 0.124520, 0.096865, 0.987478
[11:52:56.352] xyz_f:0.439193, -0.446185, 1.131475  Reprojection Error: 0.036551, 0.165809 Feature: 0.382544, -0.205841, 0.900716
[11:52:56.352] xyz_f:0.501216, -0.649663, 0.971366  Reprojection Error: 0.022304, 0.106339 Feature: 0.424746, -0.443825, 0.789057
[11:52:56.352] xyz_f:0.519510, -0.473926, 1.092818  Reprojection Error: 0.057073, 0.150311 Feature: 0.455942, -0.242641, 0.856296
[11:52:56.352] xyz_f:0.166780, -0.159207, 1.246887  Reprojection Error: -0.010580, 0.230205 Feature: 0.121625, 0.101229, 0.987401
[11:52:56.352] xyz_f:0.200189, 0.153193, 1.249376  Reprojection Error: -0.005354, 0.323806 Feature: 0.140031, 0.403629, 0.904143
[11:52:56.352] xyz_f:0.530571, -0.449928, 1.102161  Reprojection Error: 0.063903, 0.154972 Feature: 0.467331, -0.217044, 0.857026
[11:52:56.352] xyz_f:0.445857, -0.470828, 1.116724  Reprojection Error: 0.035447, 0.159815 Feature: 0.387647, -0.233462, 0.891754
[11:52:56.352] xyz_f:0.321249, -0.235841, 1.228988  Reprojection Error: 0.023506, 0.215377 Feature: 0.273926, 0.022574, 0.961486
[11:52:56.352] xyz_f:0.489692, -0.459583, 1.110573  Reprojection Error: 0.049475, 0.157602 Feature: 0.429105, -0.224192, 0.874989
[11:52:56.352] xyz_f:-0.537291, -0.528889, 0.626641  Reprojection Error: -0.208421, 0.174669 Feature: -0.663044, -0.416387, 0.622089
[11:52:56.352] xyz_f:0.355980, 0.014356, 1.253383  Reprojection Error: 0.044526, 0.284367 Feature: 0.300486, 0.270559, 0.914607
[11:52:56.352] xyz_f:0.099927, -0.063443, 1.251216  Reprojection Error: -0.026648, 0.249644 Feature: 0.052122, 0.194850, 0.979447
[11:52:56.352] xyz_f:0.504472, -0.462065, 1.104535  Reprojection Error: 0.053758, 0.155234 Feature: 0.442678, -0.228152, 0.867169
[11:52:56.352] xyz_f:0.318368, -0.221088, 1.232736  Reprojection Error: 0.023556, 0.218642 Feature: 0.271058, 0.037795, 0.961821
[11:52:56.352] xyz_f:0.172414, -0.170103, 1.245404  Reprojection Error: -0.009439, 0.228028 Feature: 0.127418, 0.090321, 0.987728
[11:52:56.352] xyz_f:0.300634, -0.232031, 1.231655  Reprojection Error: 0.018576, 0.216258 Feature: 0.253955, 0.026944, 0.966841
[11:52:56.352] xyz_f:0.326737, 0.016089, 1.256667  Reprojection Error: 0.035059, 0.283170 Feature: 0.272243, 0.273084, 0.922664
[11:52:56.352] xyz_f:0.291748, -0.253293, 1.226941  Reprojection Error: 0.015355, 0.211793 Feature: 0.245396, 0.005187, 0.969409
[11:52:56.352] xyz_f:0.615611, 0.009680, 1.183739  Reprojection Error: 0.157741, 0.301107 Feature: 0.543533, 0.248018, 0.801910
[11:52:56.352] xyz_f:-0.537291, -0.528889, 0.626641  Reprojection Error: -0.183095, 0.188972 Feature: -0.663044, -0.416387, 0.622089
[11:52:56.352] xyz_f:0.501216, -0.649663, 0.971366  Reprojection Error: 0.040364, 0.099681 Feature: 0.424746, -0.443825, 0.789057
[11:52:56.352] xyz_f:0.439193, -0.446185, 1.131475  Reprojection Error: 0.051382, 0.162281 Feature: 0.382544, -0.205841, 0.900716
[11:52:56.352] xyz_f:0.519510, -0.473926, 1.092818  Reprojection Error: 0.073717, 0.146027 Feature: 0.455942, -0.242641, 0.856296
[11:52:56.352] xyz_f:0.282920, -0.263940, 1.224621  Reprojection Error: 0.025258, 0.207401 Feature: 0.236813, -0.005698, 0.971538
[11:52:56.352] xyz_f:0.169611, -0.163580, 1.246345  Reprojection Error: 0.001890, 0.227240 Feature: 0.124520, 0.096865, 0.987478
[11:52:56.352] xyz_f:0.099927, -0.063443, 1.251216  Reprojection Error: -0.011842, 0.249796 Feature: 0.052122, 0.194850, 0.979447
[11:52:56.352] xyz_f:0.326737, 0.016089, 1.256667  Reprojection Error: 0.048432, 0.284088 Feature: 0.272243, 0.273084, 0.922664
[11:52:56.352] xyz_f:0.355980, 0.014356, 1.253383  Reprojection Error: 0.061462, 0.283113 Feature: 0.300486, 0.270559, 0.914607
[11:52:56.352] xyz_f:0.615611, 0.009680, 1.183739  Reprojection Error: 0.176385, 0.300542 Feature: 0.543533, 0.248018, 0.801910
[11:52:56.352] xyz_f:0.200189, 0.153193, 1.249376  Reprojection Error: 0.004325, 0.324358 Feature: 0.140031, 0.403629, 0.904143
[11:52:56.352] it:10 	 Success 	 new_chi2: 1.770760 	 dT = -0.019956, 0.010256, 0.017389
[11:52:56.352] xyz_f:0.313035, -0.263658, 1.233823  Reprojection Error: -0.009960, 0.207827 Feature: 0.236813, -0.005698, 0.971538
[11:52:56.352] xyz_f:0.199656, -0.163808, 1.257451  Reprojection Error: -0.032679, 0.228363 Feature: 0.124520, 0.096865, 0.987478
[11:52:56.352] xyz_f:0.468540, -0.445201, 1.138059  Reprojection Error: 0.013011, 0.162663 Feature: 0.382544, -0.205841, 0.900716
[11:52:56.352] xyz_f:0.528780, -0.648404, 0.976923  Reprojection Error: -0.002975, 0.101246 Feature: 0.424746, -0.443825, 0.789057
[11:52:56.352] xyz_f:0.548320, -0.472581, 1.098058  Reprojection Error: 0.033104, 0.147018 Feature: 0.455942, -0.242641, 0.856296
[11:52:56.352] xyz_f:0.196814, -0.159448, 1.258041  Reprojection Error: -0.033268, 0.229264 Feature: 0.121625, 0.101229, 0.987401
[11:52:56.352] xyz_f:0.228854, 0.153100, 1.259981  Reprojection Error: -0.026756, 0.324912 Feature: 0.140031, 0.403629, 0.904143
[11:52:56.352] xyz_f:0.559428, -0.448534, 1.107214  Reprojection Error: 0.040037, 0.151849 Feature: 0.467331, -0.217044, 0.857026
[11:52:56.352] xyz_f:0.475066, -0.469814, 1.123197  Reprojection Error: 0.011743, 0.156482 Feature: 0.387647, -0.233462, 0.891754
[11:52:56.352] xyz_f:0.351305, -0.235387, 1.237548  Reprojection Error: 0.001027, 0.213682 Feature: 0.273926, 0.022574, 0.961486
[11:52:56.352] xyz_f:0.518740, -0.458373, 1.116311  Reprojection Error: 0.025720, 0.154391 Feature: 0.429105, -0.224192, 0.874989
[11:52:56.352] xyz_f:-0.515904, -0.532318, 0.649694  Reprojection Error: -0.271764, 0.149999 Feature: -0.663044, -0.416387, 0.622089
[11:52:56.352] xyz_f:0.385314, 0.014965, 1.261365  Reprojection Error: 0.023067, 0.283956 Feature: 0.300486, 0.270559, 0.914607
[11:52:56.352] xyz_f:0.129613, -0.063985, 1.263496  Reprojection Error: -0.049367, 0.249581 Feature: 0.052122, 0.194850, 0.979447
[11:52:56.352] xyz_f:0.533428, -0.460788, 1.110026  Reprojection Error: 0.029932, 0.152015 Feature: 0.442678, -0.228152, 0.867169
[11:52:56.352] xyz_f:0.348421, -0.220646, 1.241344  Reprojection Error: 0.001137, 0.217043 Feature: 0.271058, 0.037795, 0.961821
[11:52:56.352] xyz_f:0.202471, -0.170318, 1.256463  Reprojection Error: -0.032143, 0.226997 Feature: 0.127418, 0.090321, 0.987728
[11:52:56.352] xyz_f:0.330720, -0.231669, 1.240560  Reprojection Error: -0.003924, 0.214614 Feature: 0.253955, 0.026944, 0.966841
[11:52:56.352] xyz_f:0.356123, 0.016567, 1.265140  Reprojection Error: 0.013573, 0.282878 Feature: 0.272243, 0.273084, 0.922664
[11:52:56.352] xyz_f:0.321852, -0.252971, 1.235996  Reprojection Error: -0.007260, 0.210021 Feature: 0.245396, 0.005187, 0.969409
[11:52:56.352] xyz_f:0.643757, 0.011456, 1.187370  Reprojection Error: 0.135627, 0.299637 Feature: 0.543533, 0.248018, 0.801910
[11:52:56.352] xyz_f:-0.515904, -0.532318, 0.649694  Reprojection Error: -0.246437, 0.164303 Feature: -0.663044, -0.416387, 0.622089
[11:52:56.352] xyz_f:0.528780, -0.648404, 0.976923  Reprojection Error: 0.015085, 0.094588 Feature: 0.424746, -0.443825, 0.789057
[11:52:56.352] xyz_f:0.468540, -0.445201, 1.138059  Reprojection Error: 0.027841, 0.159135 Feature: 0.382544, -0.205841, 0.900716
[11:52:56.352] xyz_f:0.548320, -0.472581, 1.098058  Reprojection Error: 0.049748, 0.142733 Feature: 0.455942, -0.242641, 0.856296
[11:52:56.352] xyz_f:0.313035, -0.263658, 1.233823  Reprojection Error: 0.002574, 0.205565 Feature: 0.236813, -0.005698, 0.971538
[11:52:56.352] xyz_f:0.199656, -0.163808, 1.257451  Reprojection Error: -0.020801, 0.226262 Feature: 0.124520, 0.096865, 0.987478
[11:52:56.352] xyz_f:0.129613, -0.063985, 1.263496  Reprojection Error: -0.034561, 0.249733 Feature: 0.052122, 0.194850, 0.979447
[11:52:56.352] xyz_f:0.356123, 0.016567, 1.265140  Reprojection Error: 0.026946, 0.283796 Feature: 0.272243, 0.273084, 0.922664
[11:52:56.352] xyz_f:0.385314, 0.014965, 1.261365  Reprojection Error: 0.040004, 0.282703 Feature: 0.300486, 0.270559, 0.914607
[11:52:56.352] xyz_f:0.643757, 0.011456, 1.187370  Reprojection Error: 0.154271, 0.299072 Feature: 0.543533, 0.248018, 0.801910
[11:52:56.352] xyz_f:0.228854, 0.153100, 1.259981  Reprojection Error: -0.017077, 0.325464 Feature: 0.140031, 0.403629, 0.904143
[11:52:56.352] it:11 	 Success 	 new_chi2: 1.761464 	 dT = -0.019663, 0.008751, 0.014508
[11:52:56.352] xyz_f:0.338046, -0.263363, 1.241472  Reprojection Error: -0.028543, 0.206272 Feature: 0.236813, -0.005698, 0.971538
[11:52:56.352] xyz_f:0.224635, -0.163938, 1.266689  Reprojection Error: -0.051241, 0.227516 Feature: 0.124520, 0.096865, 0.987478
[11:52:56.352] xyz_f:0.492874, -0.444323, 1.143534  Reprojection Error: -0.006298, 0.160023 Feature: 0.382544, -0.205841, 0.900716
[11:52:56.352] xyz_f:0.551613, -0.647302, 0.981564  Reprojection Error: -0.023678, 0.096986 Feature: 0.424746, -0.443825, 0.789057
[11:52:56.352] xyz_f:0.572188, -0.471405, 1.102418  Reprojection Error: 0.013428, 0.144248 Feature: 0.455942, -0.242641, 0.856296
[11:52:56.352] xyz_f:0.221786, -0.159589, 1.267319  Reprojection Error: -0.051827, 0.228447 Feature: 0.121625, 0.101229, 0.987401
[11:52:56.352] xyz_f:0.252676, 0.153077, 1.268818  Reprojection Error: -0.044265, 0.325776 Feature: 0.140031, 0.403629, 0.904143
[11:52:56.352] xyz_f:0.583333, -0.447316, 1.111418  Reprojection Error: 0.020440, 0.149221 Feature: 0.467331, -0.217044, 0.857026
[11:52:56.352] xyz_f:0.499284, -0.468912, 1.128581  Reprojection Error: -0.007698, 0.153687 Feature: 0.387647, -0.233462, 0.891754
[11:52:56.352] xyz_f:0.376258, -0.234948, 1.244661  Reprojection Error: -0.017398, 0.212243 Feature: 0.273926, 0.022574, 0.961486
[11:52:56.352] xyz_f:0.542814, -0.457307, 1.121084  Reprojection Error: 0.006225, 0.151692 Feature: 0.429105, -0.224192, 0.874989
[11:52:56.352] xyz_f:-0.497982, -0.535148, 0.669009  Reprojection Error: -0.321478, 0.130575 Feature: -0.663044, -0.416387, 0.622089
[11:52:56.352] xyz_f:0.409658, 0.015530, 1.268006  Reprojection Error: 0.005469, 0.283572 Feature: 0.300486, 0.270559, 0.914607
[11:52:56.352] xyz_f:0.154310, -0.064380, 1.273717  Reprojection Error: -0.067933, 0.249484 Feature: 0.052122, 0.194850, 0.979447
[11:52:56.352] xyz_f:0.557421, -0.459667, 1.114594  Reprojection Error: 0.010375, 0.149308 Feature: 0.442678, -0.228152, 0.867169
[11:52:56.352] xyz_f:0.373372, -0.220218, 1.248498  Reprojection Error: -0.017240, 0.215681 Feature: 0.271058, 0.037795, 0.961821
[11:52:56.352] xyz_f:0.227461, -0.170438, 1.265662  Reprojection Error: -0.050716, 0.226106 Feature: 0.127418, 0.090321, 0.987728
[11:52:56.352] xyz_f:0.355704, -0.231308, 1.247962  Reprojection Error: -0.022363, 0.213217 Feature: 0.253955, 0.026944, 0.966841
[11:52:56.352] xyz_f:0.380516, 0.017023, 1.272189  Reprojection Error: -0.004041, 0.282592 Feature: 0.272243, 0.273084, 0.922664
[11:52:56.352] xyz_f:0.346852, -0.252642, 1.243521  Reprojection Error: -0.025788, 0.208518 Feature: 0.245396, 0.005187, 0.969409
[11:52:56.352] xyz_f:0.667050, 0.012989, 1.190396  Reprojection Error: 0.117439, 0.298373 Feature: 0.543533, 0.248018, 0.801910
[11:52:56.352] xyz_f:-0.497982, -0.535148, 0.669009  Reprojection Error: -0.296151, 0.144878 Feature: -0.663044, -0.416387, 0.622089
[11:52:56.352] xyz_f:0.551613, -0.647302, 0.981564  Reprojection Error: -0.005618, 0.090328 Feature: 0.424746, -0.443825, 0.789057
[11:52:56.352] xyz_f:0.492874, -0.444323, 1.143534  Reprojection Error: 0.008532, 0.156494 Feature: 0.382544, -0.205841, 0.900716
[11:52:56.352] xyz_f:0.572188, -0.471405, 1.102418  Reprojection Error: 0.030072, 0.139964 Feature: 0.455942, -0.242641, 0.856296
[11:52:56.352] xyz_f:0.338046, -0.263363, 1.241472  Reprojection Error: -0.016009, 0.204011 Feature: 0.236813, -0.005698, 0.971538
[11:52:56.352] xyz_f:0.224635, -0.163938, 1.266689  Reprojection Error: -0.039364, 0.225415 Feature: 0.124520, 0.096865, 0.987478
[11:52:56.352] xyz_f:0.154310, -0.064380, 1.273717  Reprojection Error: -0.053127, 0.249636 Feature: 0.052122, 0.194850, 0.979447
[11:52:56.353] xyz_f:0.380516, 0.017023, 1.272189  Reprojection Error: 0.009331, 0.283510 Feature: 0.272243, 0.273084, 0.922664
[11:52:56.353] xyz_f:0.409658, 0.015530, 1.268006  Reprojection Error: 0.022406, 0.282319 Feature: 0.300486, 0.270559, 0.914607
[11:52:56.353] xyz_f:0.667050, 0.012989, 1.190396  Reprojection Error: 0.136082, 0.297808 Feature: 0.543533, 0.248018, 0.801910
[11:52:56.353] xyz_f:0.252676, 0.153077, 1.268818  Reprojection Error: -0.034587, 0.326329 Feature: 0.140031, 0.403629, 0.904143
[11:52:56.353] it:12 	 Success 	 new_chi2: 1.788015 	 dT = -0.019678, 0.007458, 0.012365
[11:52:56.353] xyz_f:0.373812, -0.263618, 1.234967  Reprojection Error: -0.058939, 0.207596 Feature: 0.236813, -0.005698, 0.971538
[11:52:56.353] xyz_f:0.260427, -0.163830, 1.258829  Reprojection Error: -0.080781, 0.228239 Feature: 0.124520, 0.096865, 0.987478
[11:52:56.353] xyz_f:0.529219, -0.445074, 1.138881  Reprojection Error: -0.039972, 0.162270 Feature: 0.382544, -0.205841, 0.900716
[11:52:56.353] xyz_f:0.589238, -0.648244, 0.977620  Reprojection Error: -0.064432, 0.100609 Feature: 0.424746, -0.443825, 0.789057
[11:52:56.353] xyz_f:0.608931, -0.472411, 1.098714  Reprojection Error: -0.021763, 0.146605 Feature: 0.455942, -0.242641, 0.856296
[11:52:56.353] xyz_f:0.257584, -0.159472, 1.259425  Reprojection Error: -0.081348, 0.229144 Feature: 0.121625, 0.101229, 0.987401
[11:52:56.353] xyz_f:0.289454, 0.153093, 1.261298  Reprojection Error: -0.074612, 0.325044 Feature: 0.140031, 0.403629, 0.904143
[11:52:56.353] xyz_f:0.620045, -0.448358, 1.107848  Reprojection Error: -0.014390, 0.151458 Feature: 0.467331, -0.217044, 0.857026
[11:52:56.353] xyz_f:0.535728, -0.469684, 1.124005  Reprojection Error: -0.041923, 0.156066 Feature: 0.387647, -0.233462, 0.891754
[11:52:56.353] xyz_f:0.412074, -0.235325, 1.238612  Reprojection Error: -0.047791, 0.213469 Feature: 0.273926, 0.022574, 0.961486
[11:52:56.353] xyz_f:0.579382, -0.458218, 1.117029  Reprojection Error: -0.028269, 0.153989 Feature: 0.429105, -0.224192, 0.874989
[11:52:56.353] xyz_f:-0.456185, -0.532737, 0.652554  Reprojection Error: -0.366760, 0.147051 Feature: -0.663044, -0.416387, 0.622089
[11:52:56.353] xyz_f:0.445994, 0.015045, 1.262359  Reprojection Error: -0.024760, 0.283902 Feature: 0.300486, 0.270559, 0.914607
[11:52:56.353] xyz_f:0.190341, -0.064047, 1.265019  Reprojection Error: -0.097249, 0.249569 Feature: 0.052122, 0.194850, 0.979447
[11:52:56.353] xyz_f:0.594058, -0.460626, 1.110713  Reprojection Error: -0.024357, 0.151612 Feature: 0.442678, -0.228152, 0.867169
[11:52:56.353] xyz_f:0.409189, -0.220586, 1.242414  Reprojection Error: -0.047533, 0.216841 Feature: 0.271058, 0.037795, 0.961821
[11:52:56.353] xyz_f:0.263244, -0.170339, 1.257835  Reprojection Error: -0.080283, 0.226866 Feature: 0.127418, 0.090321, 0.987728
[11:52:56.353] xyz_f:0.391494, -0.231619, 1.241667  Reprojection Error: -0.052632, 0.214407 Feature: 0.253955, 0.026944, 0.966841
[11:52:56.353] xyz_f:0.416809, 0.016631, 1.266194  Reprojection Error: -0.034120, 0.282838 Feature: 0.272243, 0.273084, 0.922664
[11:52:56.353] xyz_f:0.382628, -0.252926, 1.237121  Reprojection Error: -0.056150, 0.209798 Feature: 0.245396, 0.005187, 0.969409
[11:52:56.353] xyz_f:0.704285, 0.011679, 1.187829  Reprojection Error: 0.084880, 0.299452 Feature: 0.543533, 0.248018, 0.801910
[11:52:56.353] xyz_f:-0.456185, -0.532737, 0.652554  Reprojection Error: -0.341434, 0.161355 Feature: -0.663044, -0.416387, 0.622089
[11:52:56.353] xyz_f:0.589238, -0.648244, 0.977620  Reprojection Error: -0.046372, 0.093951 Feature: 0.424746, -0.443825, 0.789057
[11:52:56.353] xyz_f:0.529219, -0.445074, 1.138881  Reprojection Error: -0.025142, 0.158742 Feature: 0.382544, -0.205841, 0.900716
[11:52:56.353] xyz_f:0.608931, -0.472411, 1.098714  Reprojection Error: -0.005119, 0.142321 Feature: 0.455942, -0.242641, 0.856296
[11:52:56.353] xyz_f:0.373812, -0.263618, 1.234967  Reprojection Error: -0.046405, 0.205335 Feature: 0.236813, -0.005698, 0.971538
[11:52:56.353] xyz_f:0.260427, -0.163830, 1.258829  Reprojection Error: -0.068903, 0.226138 Feature: 0.124520, 0.096865, 0.987478
[11:52:56.353] xyz_f:0.190341, -0.064047, 1.265019  Reprojection Error: -0.082444, 0.249720 Feature: 0.052122, 0.194850, 0.979447
[11:52:56.353] xyz_f:0.416809, 0.016631, 1.266194  Reprojection Error: -0.020748, 0.283756 Feature: 0.272243, 0.273084, 0.922664
[11:52:56.353] xyz_f:0.445994, 0.015045, 1.262359  Reprojection Error: -0.007824, 0.282648 Feature: 0.300486, 0.270559, 0.914607
[11:52:56.353] xyz_f:0.704285, 0.011679, 1.187829  Reprojection Error: 0.103524, 0.298888 Feature: 0.543533, 0.248018, 0.801910
[11:52:56.353] xyz_f:0.289454, 0.153093, 1.261298  Reprojection Error: -0.064933, 0.325596 Feature: 0.140031, 0.403629, 0.904143
[11:52:56.353] it:13 	 Success 	 new_chi2: 1.895047 	 dT = -0.023886, 0.009279, 0.012963
[11:52:56.353] xyz_f:0.335711, -0.263349, 1.243244  Reprojection Error: -0.026278, 0.205959 Feature: 0.236813, -0.005698, 0.971538
[11:52:56.353] xyz_f:0.222299, -0.163942, 1.268526  Reprojection Error: -0.049144, 0.227332 Feature: 0.124520, 0.096865, 0.987478
[11:52:56.353] xyz_f:0.490511, -0.444286, 1.145216  Reprojection Error: -0.003602, 0.159419 Feature: 0.382544, -0.205841, 0.900716
[11:52:56.353] xyz_f:0.549187, -0.647256, 0.983212  Reprojection Error: -0.020269, 0.095833 Feature: 0.424746, -0.443825, 0.789057
[11:52:56.353] xyz_f:0.569805, -0.471355, 1.104054  Reprojection Error: 0.016356, 0.143570 Feature: 0.455942, -0.242641, 0.856296
[11:52:56.353] xyz_f:0.219450, -0.159594, 1.269157  Reprojection Error: -0.049733, 0.228269 Feature: 0.121625, 0.101229, 0.987401
[11:52:56.353] xyz_f:0.250292, 0.153077, 1.270638  Reprojection Error: -0.042104, 0.325949 Feature: 0.140031, 0.403629, 0.904143
[11:52:56.353] xyz_f:0.580951, -0.447265, 1.113048  Reprojection Error: 0.023348, 0.148586 Feature: 0.467331, -0.217044, 0.857026
[11:52:56.353] xyz_f:0.496916, -0.468874, 1.130259  Reprojection Error: -0.004946, 0.153037 Feature: 0.387647, -0.233462, 0.891754
[11:52:56.353] xyz_f:0.373921, -0.234928, 1.246410  Reprojection Error: -0.015099, 0.211962 Feature: 0.273926, 0.022574, 0.961486
[11:52:56.353] xyz_f:0.540440, -0.457262, 1.122737  Reprojection Error: 0.009053, 0.151051 Feature: 0.429105, -0.224192, 0.874989
[11:52:56.353] xyz_f:-0.500605, -0.535264, 0.671263  Reprojection Error: -0.320070, 0.128062 Feature: -0.663044, -0.416387, 0.622089
[11:52:56.353] xyz_f:0.407295, 0.015555, 1.269736  Reprojection Error: 0.007770, 0.283570 Feature: 0.300486, 0.270559, 0.914607
[11:52:56.353] xyz_f:0.151963, -0.064395, 1.275595  Reprojection Error: -0.065915, 0.249421 Feature: 0.052122, 0.194850, 0.979447
[11:52:56.353] xyz_f:0.555044, -0.459620, 1.116238  Reprojection Error: 0.013242, 0.148658 Feature: 0.442678, -0.228152, 0.867169
[11:52:56.353] xyz_f:0.371034, -0.220199, 1.250249  Reprojection Error: -0.014951, 0.215419 Feature: 0.271058, 0.037795, 0.961821
[11:52:56.353] xyz_f:0.225126, -0.170442, 1.267497  Reprojection Error: -0.048614, 0.225914 Feature: 0.127418, 0.090321, 0.987728
[11:52:56.353] xyz_f:0.353368, -0.231292, 1.249723  Reprojection Error: -0.020092, 0.212943 Feature: 0.253955, 0.026944, 0.966841
[11:52:56.353] xyz_f:0.378156, 0.017043, 1.273936  Reprojection Error: -0.001778, 0.282595 Feature: 0.272243, 0.273084, 0.922664
[11:52:56.353] xyz_f:0.344517, -0.252628, 1.245288  Reprojection Error: -0.023517, 0.208218 Feature: 0.245396, 0.005187, 0.969409
[11:52:56.353] xyz_f:0.664643, 0.013054, 1.191978  Reprojection Error: 0.120202, 0.298333 Feature: 0.543533, 0.248018, 0.801910
[11:52:56.353] xyz_f:-0.500605, -0.535264, 0.671263  Reprojection Error: -0.294743, 0.142365 Feature: -0.663044, -0.416387, 0.622089
[11:52:56.353] xyz_f:0.549187, -0.647256, 0.983212  Reprojection Error: -0.002209, 0.089175 Feature: 0.424746, -0.443825, 0.789057
[11:52:56.353] xyz_f:0.490511, -0.444286, 1.145216  Reprojection Error: 0.011229, 0.155891 Feature: 0.382544, -0.205841, 0.900716
[11:52:56.353] xyz_f:0.569805, -0.471355, 1.104054  Reprojection Error: 0.033000, 0.139285 Feature: 0.455942, -0.242641, 0.856296
[11:52:56.353] xyz_f:0.335711, -0.263349, 1.243244  Reprojection Error: -0.013743, 0.203698 Feature: 0.236813, -0.005698, 0.971538
[11:52:56.353] xyz_f:0.222299, -0.163942, 1.268526  Reprojection Error: -0.037266, 0.225231 Feature: 0.124520, 0.096865, 0.987478
[11:52:56.353] xyz_f:0.151963, -0.064395, 1.275595  Reprojection Error: -0.051109, 0.249573 Feature: 0.052122, 0.194850, 0.979447
[11:52:56.353] xyz_f:0.378156, 0.017043, 1.273936  Reprojection Error: 0.011594, 0.283513 Feature: 0.272243, 0.273084, 0.922664
[11:52:56.353] xyz_f:0.407295, 0.015555, 1.269736  Reprojection Error: 0.024707, 0.282316 Feature: 0.300486, 0.270559, 0.914607
[11:52:56.353] xyz_f:0.664643, 0.013054, 1.191978  Reprojection Error: 0.138845, 0.297769 Feature: 0.543533, 0.248018, 0.801910
[11:52:56.353] xyz_f:0.250292, 0.153077, 1.270638  Reprojection Error: -0.032426, 0.326501 Feature: 0.140031, 0.403629, 0.904143
[11:52:56.353] it:14 	 Success 	 new_chi2: 1.717451 	 dT = -0.018228, 0.007172, 0.011507
[11:52:56.353] xyz_f:0.362106, -0.263075, 1.249391  Reprojection Error: -0.046076, 0.204697 Feature: 0.236813, -0.005698, 0.971538
[11:52:56.353] xyz_f:0.248687, -0.164006, 1.275934  Reprojection Error: -0.068807, 0.226631 Feature: 0.124520, 0.096865, 0.987478
[11:52:56.353] xyz_f:0.516345, -0.443551, 1.149645  Reprojection Error: -0.024423, 0.157286 Feature: 0.382544, -0.205841, 0.900716
[11:52:56.353] xyz_f:0.573822, -0.646348, 0.986996  Reprojection Error: -0.043087, 0.092390 Feature: 0.424746, -0.443825, 0.789057
[11:52:56.353] xyz_f:0.595258, -0.470385, 1.107604  Reprojection Error: -0.004970, 0.141325 Feature: 0.455942, -0.242641, 0.856296
[11:52:56.353] xyz_f:0.245832, -0.159665, 1.276596  Reprojection Error: -0.069391, 0.227592 Feature: 0.121625, 0.101229, 0.987401
[11:52:56.353] xyz_f:0.275758, 0.153096, 1.277740  Reprojection Error: -0.060940, 0.326604 Feature: 0.140031, 0.403629, 0.904143
[11:52:56.353] xyz_f:0.606431, -0.446261, 1.116474  Reprojection Error: 0.002128, 0.146454 Feature: 0.467331, -0.217044, 0.857026
[11:52:56.353] xyz_f:0.522657, -0.468120, 1.134618  Reprojection Error: -0.025944, 0.150779 Feature: 0.387647, -0.233462, 0.891754
[11:52:56.353] xyz_f:0.400264, -0.234540, 1.252133  Reprojection Error: -0.034767, 0.210791 Feature: 0.273926, 0.022574, 0.961486
[11:52:56.353] xyz_f:0.566060, -0.456379, 1.126613  Reprojection Error: -0.012032, 0.148866 Feature: 0.429105, -0.224192, 0.874989
[11:52:56.353] xyz_f:-0.479702, -0.537489, 0.686736  Reprojection Error: -0.367311, 0.113334 Feature: -0.663044, -0.416387, 0.622089
[11:52:56.353] xyz_f:0.433149, 0.016042, 1.275090  Reprojection Error: -0.011159, 0.283239 Feature: 0.300486, 0.270559, 0.914607
[11:52:56.353] xyz_f:0.178137, -0.064668, 1.283785  Reprojection Error: -0.085543, 0.249312 Feature: 0.052122, 0.194850, 0.979447
[11:52:56.353] xyz_f:0.580597, -0.458694, 1.119952  Reprojection Error: -0.007926, 0.146465 Feature: 0.442678, -0.228152, 0.867169
[11:52:56.353] xyz_f:0.397377, -0.219820, 1.256003  Reprojection Error: -0.034565, 0.214310 Feature: 0.271058, 0.037795, 0.961821
[11:52:56.353] xyz_f:0.251521, -0.170496, 1.274873  Reprojection Error: -0.068290, 0.225179 Feature: 0.127418, 0.090321, 0.987728
[11:52:56.353] xyz_f:0.379739, -0.230965, 1.255673  Reprojection Error: -0.039753, 0.211805 Feature: 0.253955, 0.026944, 0.966841
[11:52:56.353] xyz_f:0.404054, 0.017443, 1.279614  Reprojection Error: -0.020700, 0.282342 Feature: 0.272243, 0.273084, 0.922664
[11:52:56.353] xyz_f:0.370903, -0.252327, 1.251337  Reprojection Error: -0.043266, 0.206997 Feature: 0.245396, 0.005187, 0.969409
[11:52:56.353] xyz_f:0.689623, 0.014306, 1.194476  Reprojection Error: 0.100455, 0.297308 Feature: 0.543533, 0.248018, 0.801910
[11:52:56.353] xyz_f:-0.479702, -0.537489, 0.686736  Reprojection Error: -0.341985, 0.127638 Feature: -0.663044, -0.416387, 0.622089
[11:52:56.353] xyz_f:0.573822, -0.646348, 0.986996  Reprojection Error: -0.025027, 0.085732 Feature: 0.424746, -0.443825, 0.789057
[11:52:56.353] xyz_f:0.516345, -0.443551, 1.149645  Reprojection Error: -0.009593, 0.153757 Feature: 0.382544, -0.205841, 0.900716
[11:52:56.353] xyz_f:0.595258, -0.470385, 1.107604  Reprojection Error: 0.011674, 0.137041 Feature: 0.455942, -0.242641, 0.856296
[11:52:56.353] xyz_f:0.362106, -0.263075, 1.249391  Reprojection Error: -0.033542, 0.202436 Feature: 0.236813, -0.005698, 0.971538
[11:52:56.353] xyz_f:0.248687, -0.164006, 1.275934  Reprojection Error: -0.056929, 0.224531 Feature: 0.124520, 0.096865, 0.987478
[11:52:56.353] xyz_f:0.178137, -0.064668, 1.283785  Reprojection Error: -0.070738, 0.249464 Feature: 0.052122, 0.194850, 0.979447
[11:52:56.353] xyz_f:0.404054, 0.017443, 1.279614  Reprojection Error: -0.007328, 0.283259 Feature: 0.272243, 0.273084, 0.922664
[11:52:56.353] xyz_f:0.433149, 0.016042, 1.275090  Reprojection Error: 0.005777, 0.281986 Feature: 0.300486, 0.270559, 0.914607
[11:52:56.353] xyz_f:0.689623, 0.014306, 1.194476  Reprojection Error: 0.119098, 0.296743 Feature: 0.543533, 0.248018, 0.801910
[11:52:56.353] xyz_f:0.275758, 0.153096, 1.277740  Reprojection Error: -0.051261, 0.327156 Feature: 0.140031, 0.403629, 0.904143
[11:52:56.353] it:15 	 Success 	 new_chi2: 1.769738 	 dT = -0.018759, 0.006220, 0.009788
[11:52:56.353] xyz_f:0.396519, -0.263311, 1.244050  Reprojection Error: -0.074982, 0.205791 Feature: 0.236813, -0.005698, 0.971538
[11:52:56.353] xyz_f:0.283105, -0.163954, 1.269521  Reprojection Error: -0.096903, 0.227240 Feature: 0.124520, 0.096865, 0.987478
[11:52:56.353] xyz_f:0.551236, -0.444178, 1.145765  Reprojection Error: -0.056396, 0.159139 Feature: 0.382544, -0.205841, 0.900716
[11:52:56.353] xyz_f:0.609734, -0.647122, 0.983664  Reprojection Error: -0.081564, 0.095394 Feature: 0.424746, -0.443825, 0.789057
[11:52:56.353] xyz_f:0.630474, -0.471212, 1.104472  Reprojection Error: -0.038379, 0.143279 Feature: 0.455942, -0.242641, 0.856296
[11:52:56.353] xyz_f:0.280255, -0.159607, 1.270157  Reprojection Error: -0.097469, 0.228180 Feature: 0.121625, 0.101229, 0.987401
[11:52:56.353] xyz_f:0.310961, 0.153078, 1.271587  Reprojection Error: -0.089668, 0.326039 Feature: 0.140031, 0.403629, 0.904143
[11:52:56.353] xyz_f:0.641625, -0.447117, 1.113447  Reprojection Error: -0.030956, 0.148308 Feature: 0.467331, -0.217044, 0.857026
[11:52:56.353] xyz_f:0.557627, -0.468763, 1.130799  Reprojection Error: -0.058426, 0.152741 Feature: 0.387647, -0.233462, 0.891754
[11:52:56.353] xyz_f:0.434721, -0.234873, 1.247154  Reprojection Error: -0.063672, 0.211805 Feature: 0.273926, 0.022574, 0.961486
[11:52:56.353] xyz_f:0.601134, -0.457132, 1.123204  Reprojection Error: -0.044783, 0.150766 Feature: 0.429105, -0.224192, 0.874989
[11:52:56.353] xyz_f:-0.440625, -0.535598, 0.673460  Reprojection Error: -0.411565, 0.125956 Feature: -0.663044, -0.416387, 0.622089
[11:52:56.353] xyz_f:0.468023, 0.015626, 1.270424  Reprojection Error: -0.039857, 0.283521 Feature: 0.300486, 0.270559, 0.914607
[11:52:56.353] xyz_f:0.212736, -0.064438, 1.276707  Reprojection Error: -0.113413, 0.249411 Feature: 0.052122, 0.194850, 0.979447
[11:52:56.353] xyz_f:0.615728, -0.459484, 1.116681  Reprojection Error: -0.040904, 0.148372 Feature: 0.442678, -0.228152, 0.867169
[11:52:56.353] xyz_f:0.431835, -0.220145, 1.250997  Reprojection Error: -0.063375, 0.215270 Feature: 0.271058, 0.037795, 0.961821
[11:52:56.353] xyz_f:0.285933, -0.170452, 1.268487  Reprojection Error: -0.096412, 0.225817 Feature: 0.127418, 0.090321, 0.987728
[11:52:56.353] xyz_f:0.414172, -0.231245, 1.250500  Reprojection Error: -0.068540, 0.212790 Feature: 0.253955, 0.026944, 0.966841
[11:52:56.353] xyz_f:0.438890, 0.017100, 1.274673  Reprojection Error: -0.049253, 0.282558 Feature: 0.272243, 0.273084, 0.922664
[11:52:56.353] xyz_f:0.405324, -0.252585, 1.246080  Reprojection Error: -0.072140, 0.208055 Feature: 0.245396, 0.005187, 0.969409
[11:52:56.353] xyz_f:0.725242, 0.013239, 1.192238  Reprojection Error: 0.069495, 0.298180 Feature: 0.543533, 0.248018, 0.801910
[11:52:56.353] xyz_f:-0.440625, -0.535598, 0.673460  Reprojection Error: -0.386239, 0.140260 Feature: -0.663044, -0.416387, 0.622089
[11:52:56.353] xyz_f:0.609734, -0.647122, 0.983664  Reprojection Error: -0.063504, 0.088737 Feature: 0.424746, -0.443825, 0.789057
[11:52:56.353] xyz_f:0.551236, -0.444178, 1.145765  Reprojection Error: -0.041566, 0.155611 Feature: 0.382544, -0.205841, 0.900716
[11:52:56.353] xyz_f:0.630474, -0.471212, 1.104472  Reprojection Error: -0.021736, 0.138994 Feature: 0.455942, -0.242641, 0.856296
[11:52:56.353] xyz_f:0.396519, -0.263311, 1.244050  Reprojection Error: -0.062447, 0.203529 Feature: 0.236813, -0.005698, 0.971538
[11:52:56.353] xyz_f:0.283105, -0.163954, 1.269521  Reprojection Error: -0.085025, 0.225139 Feature: 0.124520, 0.096865, 0.987478
[11:52:56.353] xyz_f:0.212736, -0.064438, 1.276707  Reprojection Error: -0.098607, 0.249563 Feature: 0.052122, 0.194850, 0.979447
[11:52:56.353] xyz_f:0.438890, 0.017100, 1.274673  Reprojection Error: -0.035881, 0.283475 Feature: 0.272243, 0.273084, 0.922664
[11:52:56.353] xyz_f:0.468023, 0.015626, 1.270424  Reprojection Error: -0.022921, 0.282267 Feature: 0.300486, 0.270559, 0.914607
[11:52:56.353] xyz_f:0.725242, 0.013239, 1.192238  Reprojection Error: 0.088139, 0.297616 Feature: 0.543533, 0.248018, 0.801910
[11:52:56.353] xyz_f:0.310961, 0.153078, 1.271587  Reprojection Error: -0.079989, 0.326591 Feature: 0.140031, 0.403629, 0.904143
[11:52:56.353] it:16 	 Success 	 new_chi2: 1.649909 	 dT = -0.017325, 0.007925, 0.007069
[11:52:56.353] xyz_f:0.381822, -0.263465, 1.236703  Reprojection Error: -0.064991, 0.207173 Feature: 0.236813, -0.005698, 0.971538
[11:52:56.353] xyz_f:0.268419, -0.163901, 1.261400  Reprojection Error: -0.086696, 0.228030 Feature: 0.124520, 0.096865, 0.987478
[11:52:56.353] xyz_f:0.536875, -0.444616, 1.139476  Reprojection Error: -0.046449, 0.161664 Feature: 0.382544, -0.205841, 0.900716
[11:52:56.353] xyz_f:0.596107, -0.647668, 0.977777  Reprojection Error: -0.071360, 0.099914 Feature: 0.424746, -0.443825, 0.789057
[11:52:56.353] xyz_f:0.616344, -0.471796, 1.098724  Reprojection Error: -0.028505, 0.146042 Feature: 0.455942, -0.242641, 0.856296
[11:52:56.353] xyz_f:0.265572, -0.159549, 1.262016  Reprojection Error: -0.087258, 0.228945 Feature: 0.121625, 0.101229, 0.987401
[11:52:56.353] xyz_f:0.296839, 0.153079, 1.263658  Reprojection Error: -0.080028, 0.325282 Feature: 0.140031, 0.403629, 0.904143
[11:52:56.353] xyz_f:0.627477, -0.447721, 1.107776  Reprojection Error: -0.021135, 0.150909 Feature: 0.467331, -0.217044, 0.857026
[11:52:56.353] xyz_f:0.543324, -0.469213, 1.124553  Reprojection Error: -0.048445, 0.155444 Feature: 0.387647, -0.233462, 0.891754
[11:52:56.353] xyz_f:0.420054, -0.235097, 1.240067  Reprojection Error: -0.053836, 0.213063 Feature: 0.273926, 0.022574, 0.961486
[11:52:56.353] xyz_f:0.586902, -0.457662, 1.117256  Reprojection Error: -0.034895, 0.153407 Feature: 0.429105, -0.224192, 0.874989
[11:52:56.353] xyz_f:-0.451903, -0.534224, 0.660408  Reprojection Error: -0.381557, 0.139593 Feature: -0.663044, -0.416387, 0.622089
[11:52:56.353] xyz_f:0.453654, 0.015340, 1.263566  Reprojection Error: -0.030485, 0.283680 Feature: 0.300486, 0.270559, 0.914607
[11:52:56.353] xyz_f:0.198185, -0.064256, 1.268105  Reprojection Error: -0.103068, 0.249610 Feature: 0.052122, 0.194850, 0.979447
[11:52:56.353] xyz_f:0.601536, -0.460040, 1.110833  Reprojection Error: -0.031031, 0.151040 Feature: 0.442678, -0.228152, 0.867169
[11:52:56.353] xyz_f:0.417168, -0.220364, 1.243891  Reprojection Error: -0.053556, 0.216452 Feature: 0.271058, 0.037795, 0.961821
[11:52:56.353] xyz_f:0.271242, -0.170405, 1.260385  Reprojection Error: -0.086204, 0.226644 Feature: 0.127418, 0.090321, 0.987728
[11:52:56.353] xyz_f:0.399489, -0.231432, 1.243274  Reprojection Error: -0.058655, 0.214016 Feature: 0.253955, 0.026944, 0.966841
[11:52:56.353] xyz_f:0.424496, 0.016868, 1.267616  Reprojection Error: -0.039815, 0.282666 Feature: 0.272243, 0.273084, 0.922664
[11:52:56.353] xyz_f:0.390632, -0.252756, 1.238793  Reprojection Error: -0.062194, 0.209385 Feature: 0.245396, 0.005187, 0.969409
[11:52:56.353] xyz_f:0.711396, 0.012482, 1.187139  Reprojection Error: 0.078545, 0.298770 Feature: 0.543533, 0.248018, 0.801910
[11:52:56.353] xyz_f:-0.451903, -0.534224, 0.660408  Reprojection Error: -0.356231, 0.153897 Feature: -0.663044, -0.416387, 0.622089
[11:52:56.353] xyz_f:0.596107, -0.647668, 0.977777  Reprojection Error: -0.053300, 0.093256 Feature: 0.424746, -0.443825, 0.789057
[11:52:56.353] xyz_f:0.536875, -0.444616, 1.139476  Reprojection Error: -0.031618, 0.158135 Feature: 0.382544, -0.205841, 0.900716
[11:52:56.353] xyz_f:0.616344, -0.471796, 1.098724  Reprojection Error: -0.011861, 0.141757 Feature: 0.455942, -0.242641, 0.856296
[11:52:56.353] xyz_f:0.381822, -0.263465, 1.236703  Reprojection Error: -0.052457, 0.204912 Feature: 0.236813, -0.005698, 0.971538
[11:52:56.353] xyz_f:0.268419, -0.163901, 1.261400  Reprojection Error: -0.074818, 0.225929 Feature: 0.124520, 0.096865, 0.987478
[11:52:56.354] xyz_f:0.198185, -0.064256, 1.268105  Reprojection Error: -0.088262, 0.249762 Feature: 0.052122, 0.194850, 0.979447
[11:52:56.354] xyz_f:0.424496, 0.016868, 1.267616  Reprojection Error: -0.026442, 0.283584 Feature: 0.272243, 0.273084, 0.922664
[11:52:56.354] xyz_f:0.453654, 0.015340, 1.263566  Reprojection Error: -0.013549, 0.282427 Feature: 0.300486, 0.270559, 0.914607
[11:52:56.354] xyz_f:0.711396, 0.012482, 1.187139  Reprojection Error: 0.097189, 0.298206 Feature: 0.543533, 0.248018, 0.801910
[11:52:56.354] xyz_f:0.296839, 0.153079, 1.263658  Reprojection Error: -0.070349, 0.325834 Feature: 0.140031, 0.403629, 0.904143
[11:52:56.354] it:17 	 Success 	 new_chi2: 1.622274 	 dT = -0.017815, 0.008744, 0.008463
[11:52:56.354] xyz_f:0.365949, -0.263634, 1.228588  Reprojection Error: -0.054110, 0.208718 Feature: 0.236813, -0.005698, 0.971538
[11:52:56.354] xyz_f:0.252566, -0.163821, 1.252358  Reprojection Error: -0.075574, 0.228904 Feature: 0.124520, 0.096865, 0.987478
[11:52:56.354] xyz_f:0.521395, -0.445125, 1.132630  Reprojection Error: -0.035629, 0.164471 Feature: 0.382544, -0.205841, 0.900716
[11:52:56.354] xyz_f:0.581501, -0.648307, 0.971419  Reprojection Error: -0.060315, 0.104907 Feature: 0.424746, -0.443825, 0.789057
[11:52:56.354] xyz_f:0.601134, -0.472479, 1.092529  Reprojection Error: -0.017764, 0.149102 Feature: 0.455942, -0.242641, 0.856296
[11:52:56.354] xyz_f:0.249724, -0.159463, 1.252951  Reprojection Error: -0.076132, 0.229790 Feature: 0.121625, 0.101229, 0.987401
[11:52:56.354] xyz_f:0.281661, 0.153096, 1.254851  Reprojection Error: -0.069581, 0.324419 Feature: 0.140031, 0.403629, 0.904143
[11:52:56.354] xyz_f:0.612245, -0.448428, 1.101671  Reprojection Error: -0.010448, 0.153791 Feature: 0.467331, -0.217044, 0.857026
[11:52:56.354] xyz_f:0.527911, -0.469736, 1.117760  Reprojection Error: -0.037592, 0.158447 Feature: 0.387647, -0.233462, 0.891754
[11:52:56.354] xyz_f:0.404214, -0.235350, 1.232265  Reprojection Error: -0.043126, 0.214468 Feature: 0.273926, 0.022574, 0.961486
[11:52:56.354] xyz_f:0.571573, -0.458280, 1.110820  Reprojection Error: -0.024138, 0.156337 Feature: 0.429105, -0.224192, 0.874989
[11:52:56.354] xyz_f:-0.463628, -0.532571, 0.645494  Reprojection Error: -0.347582, 0.155722 Feature: -0.663044, -0.416387, 0.622089
[11:52:56.354] xyz_f:0.438169, 0.015013, 1.256039  Reprojection Error: -0.020308, 0.283867 Feature: 0.300486, 0.270559, 0.914607
[11:52:56.354] xyz_f:0.182498, -0.064023, 1.258490  Reprojection Error: -0.091797, 0.249812 Feature: 0.052122, 0.194850, 0.979447
[11:52:56.354] xyz_f:0.586253, -0.460690, 1.104516  Reprojection Error: -0.020292, 0.153997 Feature: 0.442678, -0.228152, 0.867169
[11:52:56.354] xyz_f:0.401330, -0.220610, 1.236065  Reprojection Error: -0.042866, 0.217773 Feature: 0.271058, 0.037795, 0.961821
[11:52:56.354] xyz_f:0.255383, -0.170331, 1.251366  Reprojection Error: -0.075082, 0.227559 Feature: 0.127418, 0.090321, 0.987728
[11:52:56.354] xyz_f:0.383632, -0.231639, 1.235303  Reprojection Error: -0.047892, 0.215384 Feature: 0.253955, 0.026944, 0.966841
[11:52:56.354] xyz_f:0.408982, 0.016605, 1.259851  Reprojection Error: -0.029565, 0.282793 Feature: 0.272243, 0.273084, 0.922664
[11:52:56.354] xyz_f:0.374765, -0.252944, 1.230750  Reprojection Error: -0.051362, 0.210871 Feature: 0.245396, 0.005187, 0.969409
[11:52:56.354] xyz_f:0.696521, 0.011590, 1.181722  Reprojection Error: 0.088386, 0.299476 Feature: 0.543533, 0.248018, 0.801910
[11:52:56.354] xyz_f:-0.463628, -0.532571, 0.645494  Reprojection Error: -0.322256, 0.170026 Feature: -0.663044, -0.416387, 0.622089
[11:52:56.354] xyz_f:0.581501, -0.648307, 0.971419  Reprojection Error: -0.042255, 0.098250 Feature: 0.424746, -0.443825, 0.789057
[11:52:56.354] xyz_f:0.521395, -0.445125, 1.132630  Reprojection Error: -0.020798, 0.160943 Feature: 0.382544, -0.205841, 0.900716
[11:52:56.354] xyz_f:0.601134, -0.472479, 1.092529  Reprojection Error: -0.001120, 0.144817 Feature: 0.455942, -0.242641, 0.856296
[11:52:56.354] xyz_f:0.365949, -0.263634, 1.228588  Reprojection Error: -0.041576, 0.206456 Feature: 0.236813, -0.005698, 0.971538
[11:52:56.354] xyz_f:0.252566, -0.163821, 1.252358  Reprojection Error: -0.063696, 0.226803 Feature: 0.124520, 0.096865, 0.987478
[11:52:56.354] xyz_f:0.182498, -0.064023, 1.258490  Reprojection Error: -0.076991, 0.249964 Feature: 0.052122, 0.194850, 0.979447
[11:52:56.354] xyz_f:0.408982, 0.016605, 1.259851  Reprojection Error: -0.016193, 0.283710 Feature: 0.272243, 0.273084, 0.922664
[11:52:56.354] xyz_f:0.438169, 0.015013, 1.256039  Reprojection Error: -0.003372, 0.282614 Feature: 0.300486, 0.270559, 0.914607
[11:52:56.354] xyz_f:0.696521, 0.011590, 1.181722  Reprojection Error: 0.107030, 0.298912 Feature: 0.543533, 0.248018, 0.801910
[11:52:56.354] xyz_f:0.281661, 0.153096, 1.254851  Reprojection Error: -0.059902, 0.324971 Feature: 0.140031, 0.403629, 0.904143
[11:52:56.354] it:18 	 Success 	 new_chi2: 1.597118 	 dT = -0.018433, 0.009689, 0.010103
[11:52:56.354] xyz_f:0.347744, -0.263811, 1.219559  Reprojection Error: -0.041388, 0.210451 Feature: 0.236813, -0.005698, 0.971538
[11:52:56.354] xyz_f:0.234396, -0.163702, 1.242222  Reprojection Error: -0.062592, 0.229875 Feature: 0.124520, 0.096865, 0.987478
[11:52:56.354] xyz_f:0.503644, -0.445709, 1.125120  Reprojection Error: -0.022924, 0.167613 Feature: 0.382544, -0.205841, 0.900716
[11:52:56.354] xyz_f:0.564789, -0.649050, 0.964501  Reprojection Error: -0.047282, 0.110464 Feature: 0.424746, -0.443825, 0.789057
[11:52:56.354] xyz_f:0.583699, -0.473272, 1.085799  Reprojection Error: -0.005117, 0.152512 Feature: 0.455942, -0.242641, 0.856296
[11:52:56.354] xyz_f:0.231560, -0.159336, 1.242788  Reprojection Error: -0.063146, 0.230729 Feature: 0.121625, 0.101229, 0.987401
[11:52:56.354] xyz_f:0.264294, 0.153138, 1.245003  Reprojection Error: -0.057407, 0.323419 Feature: 0.140031, 0.403629, 0.904143
[11:52:56.354] xyz_f:0.594783, -0.449250, 1.095050  Reprojection Error: 0.002138, 0.157003 Feature: 0.467331, -0.217044, 0.857026
[11:52:56.354] xyz_f:0.510240, -0.470337, 1.110314  Reprojection Error: -0.024844, 0.161806 Feature: 0.387647, -0.233462, 0.891754
[11:52:56.354] xyz_f:0.386045, -0.235627, 1.223610  Reprojection Error: -0.030598, 0.216045 Feature: 0.273926, 0.022574, 0.961486
[11:52:56.354] xyz_f:0.553998, -0.458995, 1.103800  Reprojection Error: -0.011488, 0.159609 Feature: 0.429105, -0.224192, 0.874989
[11:52:56.354] xyz_f:-0.476804, -0.530585, 0.628394  Reprojection Error: -0.307070, 0.175014 Feature: -0.663044, -0.416387, 0.622089
[11:52:56.354] xyz_f:0.420422, 0.014647, 1.247718  Reprojection Error: -0.008411, 0.284081 Feature: 0.300486, 0.270559, 0.914607
[11:52:56.354] xyz_f:0.164532, -0.063720, 1.247672  Reprojection Error: -0.078655, 0.250011 Feature: 0.052122, 0.194850, 0.979447
[11:52:56.354] xyz_f:0.568733, -0.461444, 1.097640  Reprojection Error: -0.007654, 0.157296 Feature: 0.442678, -0.228152, 0.867169
[11:52:56.354] xyz_f:0.383162, -0.220880, 1.227381  Reprojection Error: -0.030361, 0.219255 Feature: 0.271058, 0.037795, 0.961821
[11:52:56.354] xyz_f:0.237205, -0.170219, 1.241258  Reprojection Error: -0.062100, 0.228577 Feature: 0.127418, 0.090321, 0.987728
[11:52:56.354] xyz_f:0.365444, -0.231863, 1.226447  Reprojection Error: -0.035305, 0.216920 Feature: 0.253955, 0.026944, 0.966841
[11:52:56.354] xyz_f:0.391203, 0.016315, 1.251244  Reprojection Error: -0.017589, 0.282934 Feature: 0.272243, 0.273084, 0.922664
[11:52:56.354] xyz_f:0.356567, -0.253144, 1.221807  Reprojection Error: -0.038696, 0.212539 Feature: 0.245396, 0.005187, 0.969409
[11:52:56.354] xyz_f:0.679476, 0.010548, 1.175924  Reprojection Error: 0.099975, 0.300315 Feature: 0.543533, 0.248018, 0.801910
[11:52:56.354] xyz_f:-0.476804, -0.530585, 0.628394  Reprojection Error: -0.281743, 0.189317 Feature: -0.663044, -0.416387, 0.622089
[11:52:56.354] xyz_f:0.564789, -0.649050, 0.964501  Reprojection Error: -0.029222, 0.103806 Feature: 0.424746, -0.443825, 0.789057
[11:52:56.354] xyz_f:0.503644, -0.445709, 1.125120  Reprojection Error: -0.008094, 0.164085 Feature: 0.382544, -0.205841, 0.900716
[11:52:56.354] xyz_f:0.583699, -0.473272, 1.085799  Reprojection Error: 0.011527, 0.148228 Feature: 0.455942, -0.242641, 0.856296
[11:52:56.354] xyz_f:0.347744, -0.263811, 1.219559  Reprojection Error: -0.028854, 0.208190 Feature: 0.236813, -0.005698, 0.971538
[11:52:56.354] xyz_f:0.234396, -0.163702, 1.242222  Reprojection Error: -0.050714, 0.227774 Feature: 0.124520, 0.096865, 0.987478
[11:52:56.354] xyz_f:0.164532, -0.063720, 1.247672  Reprojection Error: -0.063850, 0.250162 Feature: 0.052122, 0.194850, 0.979447
[11:52:56.354] xyz_f:0.391203, 0.016315, 1.251244  Reprojection Error: -0.004216, 0.283851 Feature: 0.272243, 0.273084, 0.922664
[11:52:56.354] xyz_f:0.420422, 0.014647, 1.247718  Reprojection Error: 0.008526, 0.282828 Feature: 0.300486, 0.270559, 0.914607
[11:52:56.354] xyz_f:0.679476, 0.010548, 1.175924  Reprojection Error: 0.118619, 0.299750 Feature: 0.543533, 0.248018, 0.801910
[11:52:56.354] xyz_f:0.264294, 0.153138, 1.245003  Reprojection Error: -0.047728, 0.323972 Feature: 0.140031, 0.403629, 0.904143
[11:52:56.354] it:19 	 Success 	 new_chi2: 1.574752 	 dT = -0.019130, 0.010753, 0.012050
[11:52:56.354] xyz_f:0.326721, -0.263987, 1.209465  Reprojection Error: -0.026386, 0.212403 Feature: 0.236813, -0.005698, 0.971538
[11:52:56.354] xyz_f:0.213430, -0.163525, 1.230809  Reprojection Error: -0.047307, 0.230953 Feature: 0.124520, 0.096865, 0.987478
[11:52:56.354] xyz_f:0.483141, -0.446372, 1.116844  Reprojection Error: -0.007884, 0.171143 Feature: 0.382544, -0.205841, 0.900716
[11:52:56.354] xyz_f:0.545518, -0.649906, 0.956943  Reprojection Error: -0.031768, 0.116673 Feature: 0.424746, -0.443825, 0.789057
[11:52:56.354] xyz_f:0.563562, -0.474185, 1.078457  Reprojection Error: 0.009895, 0.156327 Feature: 0.455942, -0.242641, 0.856296
[11:52:56.354] xyz_f:0.210601, -0.159150, 1.231342  Reprojection Error: -0.047856, 0.231770 Feature: 0.121625, 0.101229, 0.987401
[11:52:56.354] xyz_f:0.244281, 0.153220, 1.233944  Reprojection Error: -0.043091, 0.322250 Feature: 0.140031, 0.403629, 0.904143
[11:52:56.354] xyz_f:0.574613, -0.450198, 1.087836  Reprojection Error: 0.017078, 0.160595 Feature: 0.467331, -0.217044, 0.857026
[11:52:56.354] xyz_f:0.489833, -0.471021, 1.102115  Reprojection Error: -0.009746, 0.165579 Feature: 0.387647, -0.233462, 0.891754
[11:52:56.354] xyz_f:0.365060, -0.235923, 1.213962  Reprojection Error: -0.015819, 0.217819 Feature: 0.273926, 0.022574, 0.961486
[11:52:56.354] xyz_f:0.533698, -0.459816, 1.096111  Reprojection Error: 0.003510, 0.163275 Feature: 0.429105, -0.224192, 0.874989
[11:52:56.354] xyz_f:-0.491718, -0.528200, 0.608738  Reprojection Error: -0.258069, 0.198359 Feature: -0.663044, -0.416387, 0.622089
[11:52:56.354] xyz_f:0.399934, 0.014243, 1.238473  Reprojection Error: 0.005616, 0.284320 Feature: 0.300486, 0.270559, 0.914607
[11:52:56.354] xyz_f:0.143819, -0.063326, 1.235447  Reprojection Error: -0.063195, 0.250197 Feature: 0.052122, 0.194850, 0.979447
[11:52:56.354] xyz_f:0.548496, -0.462311, 1.090123  Reprojection Error: 0.007336, 0.160991 Feature: 0.442678, -0.228152, 0.867169
[11:52:56.354] xyz_f:0.362180, -0.221167, 1.217700  Reprojection Error: -0.015612, 0.220921 Feature: 0.271058, 0.037795, 0.961821
[11:52:56.354] xyz_f:0.216229, -0.170050, 1.229878  Reprojection Error: -0.046813, 0.229709 Feature: 0.127418, 0.090321, 0.987728
[11:52:56.354] xyz_f:0.344440, -0.232094, 1.216559  Reprojection Error: -0.020461, 0.218647 Feature: 0.253955, 0.026944, 0.966841
[11:52:56.354] xyz_f:0.370682, 0.016003, 1.241659  Reprojection Error: -0.003475, 0.283085 Feature: 0.272243, 0.273084, 0.922664
[11:52:56.354] xyz_f:0.335550, -0.253348, 1.211816  Reprojection Error: -0.023759, 0.214415 Feature: 0.245396, 0.005187, 0.969409
[11:52:56.354] xyz_f:0.659793, 0.009334, 1.169700  Reprojection Error: 0.113728, 0.301304 Feature: 0.543533, 0.248018, 0.801910
[11:52:56.354] xyz_f:-0.491718, -0.528200, 0.608738  Reprojection Error: -0.232742, 0.212663 Feature: -0.663044, -0.416387, 0.622089
[11:52:56.354] xyz_f:0.545518, -0.649906, 0.956943  Reprojection Error: -0.013708, 0.110016 Feature: 0.424746, -0.443825, 0.789057
[11:52:56.354] xyz_f:0.483141, -0.446372, 1.116844  Reprojection Error: 0.006946, 0.167615 Feature: 0.382544, -0.205841, 0.900716
[11:52:56.354] xyz_f:0.563562, -0.474185, 1.078457  Reprojection Error: 0.026538, 0.152043 Feature: 0.455942, -0.242641, 0.856296
[11:52:56.354] xyz_f:0.326721, -0.263987, 1.209465  Reprojection Error: -0.013852, 0.210141 Feature: 0.236813, -0.005698, 0.971538
[11:52:56.354] xyz_f:0.213430, -0.163525, 1.230809  Reprojection Error: -0.035429, 0.228853 Feature: 0.124520, 0.096865, 0.987478
[11:52:56.354] xyz_f:0.143819, -0.063326, 1.235447  Reprojection Error: -0.048389, 0.250348 Feature: 0.052122, 0.194850, 0.979447
[11:52:56.354] xyz_f:0.370682, 0.016003, 1.241659  Reprojection Error: 0.009897, 0.284002 Feature: 0.272243, 0.273084, 0.922664
[11:52:56.354] xyz_f:0.399934, 0.014243, 1.238473  Reprojection Error: 0.022553, 0.283066 Feature: 0.300486, 0.270559, 0.914607
[11:52:56.354] xyz_f:0.659793, 0.009334, 1.169700  Reprojection Error: 0.132371, 0.300740 Feature: 0.543533, 0.248018, 0.801910
[11:52:56.354] xyz_f:0.244281, 0.153220, 1.233944  Reprojection Error: -0.033412, 0.322803 Feature: 0.140031, 0.403629, 0.904143
[11:52:56.354] it:20 	 Success 	 new_chi2: 1.560137 	 dT = -0.019875, 0.011936, 0.014349
[11:52:56.354] xyz_f:0.302378, -0.264149, 1.198131  Reprojection Error: -0.008624, 0.214602 Feature: 0.236813, -0.005698, 0.971538
[11:52:56.354] xyz_f:0.189176, -0.163266, 1.217905  Reprojection Error: -0.029230, 0.232148 Feature: 0.124520, 0.096865, 0.987478
[11:52:56.354] xyz_f:0.459389, -0.447115, 1.107681  Reprojection Error: 0.009981, 0.175120 Feature: 0.382544, -0.205841, 0.900716
[11:52:56.354] xyz_f:0.523219, -0.650884, 0.948656  Reprojection Error: -0.013242, 0.123637 Feature: 0.424746, -0.443825, 0.789057
[11:52:56.354] xyz_f:0.540230, -0.475228, 1.070412  Reprojection Error: 0.027765, 0.160606 Feature: 0.455942, -0.242641, 0.856296
[11:52:56.354] xyz_f:0.186356, -0.158880, 1.218399  Reprojection Error: -0.029774, 0.232921 Feature: 0.121625, 0.101229, 0.987401
[11:52:56.354] xyz_f:0.221157, 0.153363, 1.221475  Reprojection Error: -0.026180, 0.320866 Feature: 0.140031, 0.403629, 0.904143
[11:52:56.354] xyz_f:0.551239, -0.451282, 1.079944  Reprojection Error: 0.034862, 0.164623 Feature: 0.467331, -0.217044, 0.857026
[11:52:56.354] xyz_f:0.466192, -0.471790, 1.093046  Reprojection Error: 0.008195, 0.169827 Feature: 0.387647, -0.233462, 0.891754
[11:52:56.354] xyz_f:0.340755, -0.236226, 1.203159  Reprojection Error: 0.001682, 0.219817 Feature: 0.273926, 0.022574, 0.961486
[11:52:56.354] xyz_f:0.510178, -0.460748, 1.087651  Reprojection Error: 0.021348, 0.167394 Feature: 0.429105, -0.224192, 0.874989
[11:52:56.354] xyz_f:-0.508632, -0.525335, 0.586111  Reprojection Error: -0.198027, 0.226969 Feature: -0.663044, -0.416387, 0.622089
[11:52:56.354] xyz_f:0.376215, 0.013809, 1.228157  Reprojection Error: 0.022217, 0.284577 Feature: 0.300486, 0.270559, 0.914607
[11:52:56.354] xyz_f:0.119880, -0.062808, 1.221580  Reprojection Error: -0.044919, 0.250355 Feature: 0.052122, 0.194850, 0.979447
[11:52:56.354] xyz_f:0.525048, -0.463298, 1.081869  Reprojection Error: 0.025171, 0.165138 Feature: 0.442678, -0.228152, 0.867169
[11:52:56.354] xyz_f:0.337878, -0.221460, 1.206857  Reprojection Error: 0.001852, 0.222796 Feature: 0.271058, 0.037795, 0.961821
[11:52:56.354] xyz_f:0.191964, -0.169801, 1.217013  Reprojection Error: -0.028733, 0.230966 Feature: 0.127418, 0.090321, 0.987728
[11:52:56.354] xyz_f:0.320115, -0.232321, 1.205470  Reprojection Error: -0.002887, 0.220591 Feature: 0.253955, 0.026944, 0.966841
[11:52:56.354] xyz_f:0.346928, 0.015677, 1.230938  Reprojection Error: 0.013222, 0.283237 Feature: 0.272243, 0.273084, 0.922664
[11:52:56.354] xyz_f:0.311213, -0.253542, 1.200604  Reprojection Error: -0.006075, 0.216529 Feature: 0.245396, 0.005187, 0.969409
[11:52:56.354] xyz_f:0.636982, 0.007933, 1.162992  Reprojection Error: 0.130089, 0.302463 Feature: 0.543533, 0.248018, 0.801910
[11:52:56.354] xyz_f:-0.508632, -0.525335, 0.586111  Reprojection Error: -0.172700, 0.241273 Feature: -0.663044, -0.416387, 0.622089
[11:52:56.354] xyz_f:0.523219, -0.650884, 0.948656  Reprojection Error: 0.004818, 0.116979 Feature: 0.424746, -0.443825, 0.789057
[11:52:56.354] xyz_f:0.459389, -0.447115, 1.107681  Reprojection Error: 0.024812, 0.171592 Feature: 0.382544, -0.205841, 0.900716
[11:52:56.354] xyz_f:0.540230, -0.475228, 1.070412  Reprojection Error: 0.044409, 0.156321 Feature: 0.455942, -0.242641, 0.856296
[11:52:56.354] xyz_f:0.302378, -0.264149, 1.198131  Reprojection Error: 0.003910, 0.212340 Feature: 0.236813, -0.005698, 0.971538
[11:52:56.354] xyz_f:0.189176, -0.163266, 1.217905  Reprojection Error: -0.017352, 0.230047 Feature: 0.124520, 0.096865, 0.987478
[11:52:56.354] xyz_f:0.119880, -0.062808, 1.221580  Reprojection Error: -0.030114, 0.250507 Feature: 0.052122, 0.194850, 0.979447
[11:52:56.354] xyz_f:0.346928, 0.015677, 1.230938  Reprojection Error: 0.026595, 0.284155 Feature: 0.272243, 0.273084, 0.922664
[11:52:56.354] xyz_f:0.376215, 0.013809, 1.228157  Reprojection Error: 0.039154, 0.283323 Feature: 0.300486, 0.270559, 0.914607
[11:52:56.354] xyz_f:0.636982, 0.007933, 1.162992  Reprojection Error: 0.148733, 0.301899 Feature: 0.543533, 0.248018, 0.801910
[11:52:56.354] xyz_f:0.221157, 0.153363, 1.221475  Reprojection Error: -0.016501, 0.321418 Feature: 0.140031, 0.403629, 0.904143
[11:52:56.354] it:21 	 Success 	 new_chi2: 1.562463 	 dT = -0.020604, 0.013230, 0.017022
[11:52:56.354] xyz_f:0.274156, -0.264271, 1.185357  Reprojection Error: 0.012465, 0.217081 Feature: 0.236813, -0.005698, 0.971538
[11:52:56.354] xyz_f:0.161089, -0.162889, 1.203271  Reprojection Error: -0.007777, 0.233466 Feature: 0.124520, 0.096865, 0.987478
[11:52:56.354] xyz_f:0.431825, -0.447931, 1.097494  Reprojection Error: 0.031247, 0.179609 Feature: 0.382544, -0.205841, 0.900716
[11:52:56.354] xyz_f:0.497363, -0.651984, 0.939532  Reprojection Error: 0.008922, 0.131471 Feature: 0.424746, -0.443825, 0.789057
[11:52:56.354] xyz_f:0.513144, -0.476401, 1.061558  Reprojection Error: 0.049071, 0.165413 Feature: 0.455942, -0.242641, 0.856296
[11:52:56.354] xyz_f:0.158281, -0.158491, 1.203718  Reprojection Error: -0.008316, 0.234189 Feature: 0.121625, 0.101229, 0.987401
[11:52:56.354] xyz_f:0.194402, 0.153596, 1.207378  Reprojection Error: -0.006135, 0.319208 Feature: 0.140031, 0.403629, 0.904143
[11:52:56.354] xyz_f:0.524099, -0.452503, 1.071271  Reprojection Error: 0.056063, 0.169146 Feature: 0.467331, -0.217044, 0.857026
[11:52:56.354] xyz_f:0.438759, -0.472635, 1.082972  Reprojection Error: 0.029558, 0.174623 Feature: 0.387647, -0.233462, 0.891754
[11:52:56.354] xyz_f:0.312568, -0.236518, 1.191016  Reprojection Error: 0.022461, 0.222063 Feature: 0.273926, 0.022574, 0.961486
[11:52:56.354] xyz_f:0.482876, -0.461787, 1.078302  Reprojection Error: 0.042600, 0.172031 Feature: 0.429105, -0.224192, 0.874989
[11:52:56.354] xyz_f:-0.527825, -0.521904, 0.560076  Reprojection Error: -0.123419, 0.262507 Feature: -0.663044, -0.416387, 0.622089
[11:52:56.354] xyz_f:0.348713, 0.013360, 1.216603  Reprojection Error: 0.041913, 0.284839 Feature: 0.300486, 0.270559, 0.914607
[11:52:56.354] xyz_f:0.092186, -0.062128, 1.205810  Reprojection Error: -0.023236, 0.250463 Feature: 0.052122, 0.194850, 0.979447
[11:52:56.354] xyz_f:0.497828, -0.464403, 1.072764  Reprojection Error: 0.046426, 0.169803 Feature: 0.442678, -0.228152, 0.867169
[11:52:56.354] xyz_f:0.309695, -0.221738, 1.194667  Reprojection Error: 0.022586, 0.224902 Feature: 0.271058, 0.037795, 0.961821
[11:52:56.354] xyz_f:0.163863, -0.169437, 1.202424  Reprojection Error: -0.007276, 0.232356 Feature: 0.127418, 0.090321, 0.987728
[11:52:56.354] xyz_f:0.291910, -0.232522, 1.192988  Reprojection Error: 0.017977, 0.222775 Feature: 0.253955, 0.026944, 0.966841
[11:52:56.354] xyz_f:0.319392, 0.015357, 1.218902  Reprojection Error: 0.033029, 0.283374 Feature: 0.272243, 0.273084, 0.922664
[11:52:56.354] xyz_f:0.282996, -0.253703, 1.187975  Reprojection Error: 0.014922, 0.218910 Feature: 0.245396, 0.005187, 0.969409
[11:52:56.354] xyz_f:0.610487, 0.006333, 1.155734  Reprojection Error: 0.149573, 0.303805 Feature: 0.543533, 0.248018, 0.801910
[11:52:56.354] xyz_f:-0.527825, -0.521904, 0.560076  Reprojection Error: -0.098093, 0.276811 Feature: -0.663044, -0.416387, 0.622089
[11:52:56.354] xyz_f:0.497363, -0.651984, 0.939532  Reprojection Error: 0.026982, 0.124813 Feature: 0.424746, -0.443825, 0.789057
[11:52:56.354] xyz_f:0.431825, -0.447931, 1.097494  Reprojection Error: 0.046077, 0.176081 Feature: 0.382544, -0.205841, 0.900716
[11:52:56.354] xyz_f:0.513144, -0.476401, 1.061558  Reprojection Error: 0.065715, 0.161129 Feature: 0.455942, -0.242641, 0.856296
[11:52:56.354] xyz_f:0.274156, -0.264271, 1.185357  Reprojection Error: 0.024999, 0.214819 Feature: 0.236813, -0.005698, 0.971538
[11:52:56.354] xyz_f:0.161089, -0.162889, 1.203271  Reprojection Error: 0.004101, 0.231365 Feature: 0.124520, 0.096865, 0.987478
[11:52:56.354] xyz_f:0.092186, -0.062128, 1.205810  Reprojection Error: -0.008430, 0.250615 Feature: 0.052122, 0.194850, 0.979447
[11:52:56.354] xyz_f:0.319392, 0.015357, 1.218902  Reprojection Error: 0.046402, 0.284291 Feature: 0.272243, 0.273084, 0.922664
[11:52:56.354] xyz_f:0.348713, 0.013360, 1.216603  Reprojection Error: 0.058850, 0.283586 Feature: 0.300486, 0.270559, 0.914607
[11:52:56.355] xyz_f:0.610487, 0.006333, 1.155734  Reprojection Error: 0.168217, 0.303240 Feature: 0.543533, 0.248018, 0.801910
[11:52:56.355] xyz_f:0.194402, 0.153596, 1.207378  Reprojection Error: 0.003544, 0.319760 Feature: 0.140031, 0.403629, 0.904143
[11:52:56.355] it:22 	 Success 	 new_chi2: 1.597295 	 dT = -0.021193, 0.014610, 0.020050
[11:52:56.355] xyz_f:0.241467, -0.264318, 1.170925  Reprojection Error: 0.037532, 0.219870 Feature: 0.236813, -0.005698, 0.971538
[11:52:56.355] xyz_f:0.128602, -0.162351, 1.186651  Reprojection Error: 0.017724, 0.234908 Feature: 0.124520, 0.096865, 0.987478
[11:52:56.355] xyz_f:0.399853, -0.448799, 1.086123  Reprojection Error: 0.056564, 0.184682 Feature: 0.382544, -0.205841, 0.900716
[11:52:56.355] xyz_f:0.467378, -0.653197, 0.929449  Reprojection Error: 0.035440, 0.140304 Feature: 0.424746, -0.443825, 0.789057
[11:52:56.355] xyz_f:0.481704, -0.477692, 1.051766  Reprojection Error: 0.074464, 0.170819 Feature: 0.455942, -0.242641, 0.856296
[11:52:56.355] xyz_f:0.125809, -0.157938, 1.187044  Reprojection Error: 0.017192, 0.235573 Feature: 0.121625, 0.101229, 0.987401
[11:52:56.355] xyz_f:0.163471, 0.153957, 1.191418  Reprojection Error: 0.017670, 0.317200 Feature: 0.140031, 0.403629, 0.904143
[11:52:56.355] xyz_f:0.492593, -0.453850, 1.061691  Reprojection Error: 0.081324, 0.174227 Feature: 0.467331, -0.217044, 0.857026
[11:52:56.355] xyz_f:0.406939, -0.473539, 1.071736  Reprojection Error: 0.055001, 0.180042 Feature: 0.387647, -0.233462, 0.891754
[11:52:56.355] xyz_f:0.279906, -0.236765, 1.177328  Reprojection Error: 0.047152, 0.224582 Feature: 0.273926, 0.022574, 0.961486
[11:52:56.355] xyz_f:0.451194, -0.462921, 1.067921  Reprojection Error: 0.067915, 0.177255 Feature: 0.429105, -0.224192, 0.874989
[11:52:56.355] xyz_f:-0.549581, -0.517818, 0.530218  Reprojection Error: -0.029317, 0.307277 Feature: -0.663044, -0.416387, 0.622089
[11:52:56.355] xyz_f:0.316845, 0.012923, 1.203623  Reprojection Error: 0.065299, 0.285084 Feature: 0.300486, 0.270559, 0.914607
[11:52:56.355] xyz_f:0.060187, -0.061233, 1.187860  Reprojection Error: 0.002548, 0.250488 Feature: 0.052122, 0.194850, 0.979447
[11:52:56.355] xyz_f:0.466236, -0.465614, 1.062674  Reprojection Error: 0.071748, 0.175053 Feature: 0.442678, -0.228152, 0.867169
[11:52:56.355] xyz_f:0.277040, -0.221970, 1.180924  Reprojection Error: 0.047221, 0.227258 Feature: 0.271058, 0.037795, 0.961821
[11:52:56.355] xyz_f:0.131358, -0.168913, 1.185857  Reprojection Error: 0.018230, 0.233883 Feature: 0.127418, 0.090321, 0.987728
[11:52:56.355] xyz_f:0.259235, -0.232662, 1.178900  Reprojection Error: 0.042770, 0.225223 Feature: 0.253955, 0.026944, 0.966841
[11:52:56.355] xyz_f:0.287496, 0.015073, 1.205354  Reprojection Error: 0.056546, 0.283468 Feature: 0.272243, 0.273084, 0.922664
[11:52:56.355] xyz_f:0.250310, -0.253796, 1.173714  Reprojection Error: 0.039876, 0.221585 Feature: 0.245396, 0.005187, 0.969409
[11:52:56.355] xyz_f:0.579709, 0.004535, 1.147834  Reprojection Error: 0.172752, 0.305333 Feature: 0.543533, 0.248018, 0.801910
[11:52:56.355] xyz_f:-0.549581, -0.517818, 0.530218  Reprojection Error: -0.003990, 0.321580 Feature: -0.663044, -0.416387, 0.622089
[11:52:56.355] xyz_f:0.467378, -0.653197, 0.929449  Reprojection Error: 0.053500, 0.133646 Feature: 0.424746, -0.443825, 0.789057
[11:52:56.355] xyz_f:0.399853, -0.448799, 1.086123  Reprojection Error: 0.071395, 0.181153 Feature: 0.382544, -0.205841, 0.900716
[11:52:56.355] xyz_f:0.481704, -0.477692, 1.051766  Reprojection Error: 0.091107, 0.166534 Feature: 0.455942, -0.242641, 0.856296
[11:52:56.355] xyz_f:0.241467, -0.264318, 1.170925  Reprojection Error: 0.050066, 0.217608 Feature: 0.236813, -0.005698, 0.971538
[11:52:56.355] xyz_f:0.128602, -0.162351, 1.186651  Reprojection Error: 0.029602, 0.232807 Feature: 0.124520, 0.096865, 0.987478
[11:52:56.355] xyz_f:0.060187, -0.061233, 1.187860  Reprojection Error: 0.017353, 0.250640 Feature: 0.052122, 0.194850, 0.979447
[11:52:56.355] xyz_f:0.287496, 0.015073, 1.205354  Reprojection Error: 0.069919, 0.284386 Feature: 0.272243, 0.273084, 0.922664
[11:52:56.355] xyz_f:0.316845, 0.012923, 1.203623  Reprojection Error: 0.082236, 0.283830 Feature: 0.300486, 0.270559, 0.914607
[11:52:56.355] xyz_f:0.579709, 0.004535, 1.147834  Reprojection Error: 0.191396, 0.304769 Feature: 0.543533, 0.248018, 0.801910
[11:52:56.355] xyz_f:0.163471, 0.153957, 1.191418  Reprojection Error: 0.027348, 0.317752 Feature: 0.140031, 0.403629, 0.904143
[11:52:56.355] it:23 	 Success 	 new_chi2: 1.688080 	 dT = -0.021436, 0.016033, 0.023335
[11:52:56.355] xyz_f:0.203767, -0.264243, 1.154610  Reprojection Error: 0.067269, 0.222994 Feature: 0.236813, -0.005698, 0.971538
[11:52:56.355] xyz_f:0.091194, -0.161595, 1.167795  Reprojection Error: 0.048008, 0.236469 Feature: 0.124520, 0.096865, 0.987478
[11:52:56.355] xyz_f:0.362907, -0.449682, 1.073386  Reprojection Error: 0.086616, 0.190408 Feature: 0.382544, -0.205841, 0.900716
[11:52:56.355] xyz_f:0.432710, -0.654495, 0.918260  Reprojection Error: 0.067067, 0.150281 Feature: 0.424746, -0.443825, 0.789057
[11:52:56.355] xyz_f:0.445335, -0.479071, 1.040882  Reprojection Error: 0.104614, 0.176894 Feature: 0.455942, -0.242641, 0.856296
[11:52:56.355] xyz_f:0.088419, -0.157165, 1.168125  Reprojection Error: 0.047484, 0.237066 Feature: 0.121625, 0.101229, 0.987401
[11:52:56.355] xyz_f:0.127857, 0.154497, 1.173368  Reprojection Error: 0.045912, 0.314752 Feature: 0.140031, 0.403629, 0.904143
[11:52:56.355] xyz_f:0.456142, -0.455296, 1.051051  Reprojection Error: 0.111308, 0.179929 Feature: 0.467331, -0.217044, 0.857026
[11:52:56.355] xyz_f:0.370166, -0.474466, 1.059162  Reprojection Error: 0.085212, 0.186163 Feature: 0.387647, -0.233462, 0.891754
[11:52:56.355] xyz_f:0.242217, -0.236922, 1.161880  Reprojection Error: 0.076429, 0.227390 Feature: 0.273926, 0.022574, 0.961486
[11:52:56.355] xyz_f:0.414558, -0.464115, 1.056346  Reprojection Error: 0.097966, 0.183136 Feature: 0.429105, -0.224192, 0.874989
[11:52:56.355] xyz_f:-0.574156, -0.513005, 0.496220  Reprojection Error: 0.091224, 0.364488 Feature: -0.663044, -0.416387, 0.622089
[11:52:56.355] xyz_f:0.280061, 0.012540, 1.189017  Reprojection Error: 0.093001, 0.285274 Feature: 0.300486, 0.270559, 0.914607
[11:52:56.355] xyz_f:0.023381, -0.060065, 1.167469  Reprojection Error: 0.033189, 0.250388 Feature: 0.052122, 0.194850, 0.979447
[11:52:56.355] xyz_f:0.429699, -0.466900, 1.051439  Reprojection Error: 0.101810, 0.180958 Feature: 0.442678, -0.228152, 0.867169
[11:52:56.355] xyz_f:0.239361, -0.222110, 1.165411  Reprojection Error: 0.076430, 0.229880 Feature: 0.271058, 0.037795, 0.961821
[11:52:56.355] xyz_f:0.093927, -0.168174, 1.167064  Reprojection Error: 0.048519, 0.235543 Feature: 0.127418, 0.090321, 0.987728
[11:52:56.355] xyz_f:0.221541, -0.232694, 1.162985  Reprojection Error: 0.072172, 0.227951 Feature: 0.253955, 0.026944, 0.966841
[11:52:56.355] xyz_f:0.250695, 0.014867, 1.190086  Reprojection Error: 0.084410, 0.283480 Feature: 0.272243, 0.273084, 0.922664
[11:52:56.355] xyz_f:0.212608, -0.253774, 1.157598  Reprojection Error: 0.069476, 0.224576 Feature: 0.245396, 0.005187, 0.969409
[11:52:56.355] xyz_f:0.544061, 0.002561, 1.139167  Reprojection Error: 0.200203, 0.307036 Feature: 0.543533, 0.248018, 0.801910
[11:52:56.355] xyz_f:-0.574156, -0.513005, 0.496220  Reprojection Error: 0.116551, 0.378791 Feature: -0.663044, -0.416387, 0.622089
[11:52:56.355] xyz_f:0.432710, -0.654495, 0.918260  Reprojection Error: 0.085127, 0.143623 Feature: 0.424746, -0.443825, 0.789057
[11:52:56.355] xyz_f:0.362907, -0.449682, 1.073386  Reprojection Error: 0.101446, 0.186879 Feature: 0.382544, -0.205841, 0.900716
[11:52:56.355] xyz_f:0.445335, -0.479071, 1.040882  Reprojection Error: 0.121258, 0.172609 Feature: 0.455942, -0.242641, 0.856296
[11:52:56.355] xyz_f:0.203767, -0.264243, 1.154610  Reprojection Error: 0.079804, 0.220732 Feature: 0.236813, -0.005698, 0.971538
[11:52:56.355] xyz_f:0.091194, -0.161595, 1.167795  Reprojection Error: 0.059886, 0.234369 Feature: 0.124520, 0.096865, 0.987478
[11:52:56.355] xyz_f:0.023381, -0.060065, 1.167469  Reprojection Error: 0.047995, 0.250540 Feature: 0.052122, 0.194850, 0.979447
[11:52:56.355] xyz_f:0.250695, 0.014867, 1.190086  Reprojection Error: 0.097782, 0.284398 Feature: 0.272243, 0.273084, 0.922664
[11:52:56.355] xyz_f:0.280061, 0.012540, 1.189017  Reprojection Error: 0.109938, 0.284020 Feature: 0.300486, 0.270559, 0.914607
[11:52:56.355] xyz_f:0.544061, 0.002561, 1.139167  Reprojection Error: 0.218846, 0.306472 Feature: 0.543533, 0.248018, 0.801910
[11:52:56.355] xyz_f:0.127857, 0.154497, 1.173368  Reprojection Error: 0.055591, 0.315304 Feature: 0.140031, 0.403629, 0.904143
[11:52:56.355] it:24 	 Success 	 new_chi2: 1.860419 	 dT = -0.021012, 0.017451, 0.026654
[11:52:56.355] xyz_f:0.160676, -0.263984, 1.136194  Reprojection Error: 0.102335, 0.226476 Feature: 0.236813, -0.005698, 0.971538
[11:52:56.355] xyz_f:0.048512, -0.160561, 1.146486  Reprojection Error: 0.083785, 0.238140 Feature: 0.124520, 0.096865, 0.987478
[11:52:56.355] xyz_f:0.320571, -0.450524, 1.059078  Reprojection Error: 0.122022, 0.196863 Feature: 0.382544, -0.205841, 0.900716
[11:52:56.355] xyz_f:0.392931, -0.655828, 0.905782  Reprojection Error: 0.104493, 0.161571 Feature: 0.424746, -0.443825, 0.789057
[11:52:56.355] xyz_f:0.403604, -0.480484, 1.028703  Reprojection Error: 0.140116, 0.183716 Feature: 0.455942, -0.242641, 0.856296
[11:52:56.355] xyz_f:0.045760, -0.156112, 1.146745  Reprojection Error: 0.083272, 0.238656 Feature: 0.121625, 0.101229, 0.987401
[11:52:56.355] xyz_f:0.087198, 0.155271, 1.153030  Reprojection Error: 0.079252, 0.311758 Feature: 0.140031, 0.403629, 0.904143
[11:52:56.355] xyz_f:0.414310, -0.456782, 1.039149  Reprojection Error: 0.146593, 0.186321 Feature: 0.467331, -0.217044, 0.857026
[11:52:56.355] xyz_f:0.328023, -0.475359, 1.045043  Reprojection Error: 0.120817, 0.193070 Feature: 0.387647, -0.233462, 0.891754
[11:52:56.355] xyz_f:0.199114, -0.236928, 1.144454  Reprojection Error: 0.110917, 0.230501 Feature: 0.273926, 0.022574, 0.961486
[11:52:56.355] xyz_f:0.372544, -0.465315, 1.043371  Reprojection Error: 0.133354, 0.189749 Feature: 0.429105, -0.224192, 0.874989
[11:52:56.355] xyz_f:-0.601738, -0.507433, 0.457975  Reprojection Error: 0.248076, 0.438656 Feature: -0.663044, -0.416387, 0.622089
[11:52:56.355] xyz_f:0.237967, 0.012269, 1.172579  Reprojection Error: 0.125598, 0.285357 Feature: 0.300486, 0.270559, 0.914607
[11:52:56.355] xyz_f:-0.018569, -0.058566, 1.144423  Reprojection Error: 0.069441, 0.250115 Feature: 0.052122, 0.194850, 0.979447
[11:52:56.355] xyz_f:0.387786, -0.468204, 1.038856  Reprojection Error: 0.137205, 0.187592 Feature: 0.442678, -0.228152, 0.867169
[11:52:56.355] xyz_f:0.196270, -0.222097, 1.147911  Reprojection Error: 0.110838, 0.232774 Feature: 0.271058, 0.037795, 0.961821
[11:52:56.355] xyz_f:0.051218, -0.167159, 1.145825  Reprojection Error: 0.084301, 0.237328 Feature: 0.127418, 0.090321, 0.987728
[11:52:56.355] xyz_f:0.178446, -0.232558, 1.145027  Reprojection Error: 0.106821, 0.230970 Feature: 0.253955, 0.026944, 0.966841
[11:52:56.355] xyz_f:0.208599, 0.014799, 1.172892  Reprojection Error: 0.117212, 0.283356 Feature: 0.272243, 0.273084, 0.922664
[11:52:56.355] xyz_f:0.169509, -0.253577, 1.139410  Reprojection Error: 0.104370, 0.227902 Feature: 0.245396, 0.005187, 0.969409
[11:52:56.355] xyz_f:0.503087, 0.000465, 1.129540  Reprojection Error: 0.232407, 0.308873 Feature: 0.543533, 0.248018, 0.801910
[11:52:56.355] xyz_f:-0.601738, -0.507433, 0.457975  Reprojection Error: 0.273402, 0.452960 Feature: -0.663044, -0.416387, 0.622089
[11:52:56.355] xyz_f:0.392931, -0.655828, 0.905782  Reprojection Error: 0.122553, 0.154913 Feature: 0.424746, -0.443825, 0.789057
[11:52:56.355] xyz_f:0.320571, -0.450524, 1.059078  Reprojection Error: 0.136853, 0.193334 Feature: 0.382544, -0.205841, 0.900716
[11:52:56.355] xyz_f:0.403604, -0.480484, 1.028703  Reprojection Error: 0.156760, 0.179431 Feature: 0.455942, -0.242641, 0.856296
[11:52:56.355] xyz_f:0.160676, -0.263984, 1.136194  Reprojection Error: 0.114869, 0.224214 Feature: 0.236813, -0.005698, 0.971538
[11:52:56.355] xyz_f:0.048512, -0.160561, 1.146486  Reprojection Error: 0.095663, 0.236039 Feature: 0.124520, 0.096865, 0.987478
[11:52:56.355] xyz_f:-0.018569, -0.058566, 1.144423  Reprojection Error: 0.084247, 0.250266 Feature: 0.052122, 0.194850, 0.979447
[11:52:56.355] xyz_f:0.208599, 0.014799, 1.172892  Reprojection Error: 0.130584, 0.284273 Feature: 0.272243, 0.273084, 0.922664
[11:52:56.355] xyz_f:0.237967, 0.012269, 1.172579  Reprojection Error: 0.142535, 0.284103 Feature: 0.300486, 0.270559, 0.914607
[11:52:56.355] xyz_f:0.503087, 0.000465, 1.129540  Reprojection Error: 0.251051, 0.308308 Feature: 0.543533, 0.248018, 0.801910
[11:52:56.355] xyz_f:0.087198, 0.155271, 1.153030  Reprojection Error: 0.088931, 0.312310 Feature: 0.140031, 0.403629, 0.904143
[11:52:56.355] it:25 	 Success 	 new_chi2: 2.109174 	 dT = -0.019413, 0.018901, 0.029563
[11:52:56.355] xyz_f:0.112128, -0.263483, 1.115421  Reprojection Error: 0.143225, 0.230353 Feature: 0.236813, -0.005698, 0.971538
[11:52:56.355] xyz_f:0.000511, -0.159203, 1.122518  Reprojection Error: 0.125644, 0.239920 Feature: 0.124520, 0.096865, 0.987478
[11:52:56.355] xyz_f:0.272728, -0.451249, 1.042882  Reprojection Error: 0.163197, 0.204164 Feature: 0.382544, -0.205841, 0.900716
[11:52:56.355] xyz_f:0.347862, -0.657117, 0.891692  Reprojection Error: 0.148181, 0.174458 Feature: 0.424746, -0.443825, 0.789057
[11:52:56.355] xyz_f:0.356363, -0.481846, 1.014887  Reprojection Error: 0.181323, 0.191417 Feature: 0.455942, -0.242641, 0.856296
[11:52:56.355] xyz_f:-0.002214, -0.154734, 1.122699  Reprojection Error: 0.125149, 0.240344 Feature: 0.121625, 0.101229, 0.987401
[11:52:56.355] xyz_f:0.041409, 0.156325, 1.130198  Reprojection Error: 0.118238, 0.308106 Feature: 0.140031, 0.403629, 0.904143
[11:52:56.355] xyz_f:0.366947, -0.458226, 1.025637  Reprojection Error: 0.187520, 0.193520 Feature: 0.467331, -0.217044, 0.857026
[11:52:56.355] xyz_f:0.280387, -0.476141, 1.029062  Reprojection Error: 0.162233, 0.200894 Feature: 0.387647, -0.233462, 0.891754
[11:52:56.355] xyz_f:0.150521, -0.236721, 1.124778  Reprojection Error: 0.151076, 0.233938 Feature: 0.273926, 0.022574, 0.961486
[11:52:56.355] xyz_f:0.325013, -0.466438, 1.028664  Reprojection Error: 0.174455, 0.197218 Feature: 0.429105, -0.224192, 0.874989
[11:52:56.355] xyz_f:-0.632451, -0.501165, 0.415684  Reprojection Error: 0.455636, 0.536304 Feature: -0.663044, -0.416387, 0.622089
[11:52:56.355] xyz_f:0.190460, 0.012175, 1.154028  Reprojection Error: 0.163503, 0.285270 Feature: 0.300486, 0.270559, 0.914607
[11:52:56.355] xyz_f:-0.065702, -0.056699, 1.118552  Reprojection Error: 0.111954, 0.249628 Feature: 0.052122, 0.194850, 0.979447
[11:52:56.355] xyz_f:0.340355, -0.469445, 1.024585  Reprojection Error: 0.178298, 0.195080 Feature: 0.442678, -0.228152, 0.867169
[11:52:56.355] xyz_f:0.147692, -0.221868, 1.128155  Reprojection Error: 0.150903, 0.235959 Feature: 0.271058, 0.037795, 0.961821
[11:52:56.355] xyz_f:0.003183, -0.165821, 1.121934  Reprojection Error: 0.126163, 0.239243 Feature: 0.127418, 0.090321, 0.987728
[11:52:56.355] xyz_f:0.129878, -0.232192, 1.124762  Reprojection Error: 0.147193, 0.234305 Feature: 0.253955, 0.026944, 0.966841
[11:52:56.355] xyz_f:0.161115, 0.014929, 1.153503  Reprojection Error: 0.155388, 0.283030 Feature: 0.272243, 0.273084, 0.922664
[11:52:56.355] xyz_f:0.120945, -0.253143, 1.118890  Reprojection Error: 0.145045, 0.231596 Feature: 0.245396, 0.005187, 0.969409
[11:52:56.355] xyz_f:0.456602, -0.001662, 1.118575  Reprojection Error: 0.269598, 0.310770 Feature: 0.543533, 0.248018, 0.801910
[11:52:56.355] xyz_f:-0.632451, -0.501165, 0.415684  Reprojection Error: 0.480962, 0.550608 Feature: -0.663044, -0.416387, 0.622089
[11:52:56.355] xyz_f:0.347862, -0.657117, 0.891692  Reprojection Error: 0.166241, 0.167800 Feature: 0.424746, -0.443825, 0.789057
[11:52:56.355] xyz_f:0.272728, -0.451249, 1.042882  Reprojection Error: 0.178028, 0.200636 Feature: 0.382544, -0.205841, 0.900716
[11:52:56.355] xyz_f:0.356363, -0.481846, 1.014887  Reprojection Error: 0.197967, 0.187132 Feature: 0.455942, -0.242641, 0.856296
[11:52:56.355] xyz_f:0.112128, -0.263483, 1.115421  Reprojection Error: 0.155759, 0.228091 Feature: 0.236813, -0.005698, 0.971538
[11:52:56.355] xyz_f:0.000511, -0.159203, 1.122518  Reprojection Error: 0.137522, 0.237820 Feature: 0.124520, 0.096865, 0.987478
[11:52:56.355] xyz_f:-0.065702, -0.056699, 1.118552  Reprojection Error: 0.126760, 0.249780 Feature: 0.052122, 0.194850, 0.979447
[11:52:56.355] xyz_f:0.161115, 0.014929, 1.153503  Reprojection Error: 0.168760, 0.283948 Feature: 0.272243, 0.273084, 0.922664
[11:52:56.355] xyz_f:0.190460, 0.012175, 1.154028  Reprojection Error: 0.180439, 0.284017 Feature: 0.300486, 0.270559, 0.914607
[11:52:56.355] xyz_f:0.456602, -0.001662, 1.118575  Reprojection Error: 0.288242, 0.310205 Feature: 0.543533, 0.248018, 0.801910
[11:52:56.355] xyz_f:0.041409, 0.156325, 1.130198  Reprojection Error: 0.127917, 0.308658 Feature: 0.140031, 0.403629, 0.904143
[11:52:56.355] it:26 	 Success 	 new_chi2: 2.316807 	 dT = -0.014868, 0.021237, 0.030551
[11:52:56.355] xyz_f:0.058273, -0.262728, 1.091366  Reprojection Error: 0.190357, 0.234868 Feature: 0.236813, -0.005698, 0.971538
[11:52:56.355] xyz_f:-0.052678, -0.157568, 1.095179  Reprojection Error: 0.174199, 0.241968 Feature: 0.124520, 0.096865, 0.987478
[11:52:56.355] xyz_f:0.219454, -0.451766, 1.023575  Reprojection Error: 0.210312, 0.212831 Feature: 0.382544, -0.205841, 0.900716
[11:52:56.355] xyz_f:0.297386, -0.658239, 0.874644  Reprojection Error: 0.198287, 0.190105 Feature: 0.424746, -0.443825, 0.789057
[11:52:56.355] xyz_f:0.303633, -0.483027, 0.998056  Reprojection Error: 0.228234, 0.200606 Feature: 0.455942, -0.242641, 0.856296
[11:52:56.355] xyz_f:-0.055371, -0.153077, 1.095280  Reprojection Error: 0.173731, 0.242282 Feature: 0.121625, 0.101229, 0.987401
[11:52:56.355] xyz_f:-0.009530, 0.157627, 1.104099  Reprojection Error: 0.163509, 0.303656 Feature: 0.140031, 0.403629, 0.904143
[11:52:56.355] xyz_f:0.314082, -0.459490, 1.009116  Reprojection Error: 0.234050, 0.202087 Feature: 0.467331, -0.217044, 0.857026
[11:52:56.355] xyz_f:0.227320, -0.476720, 1.009984  Reprojection Error: 0.209629, 0.210207 Feature: 0.387647, -0.233462, 0.891754
[11:52:56.355] xyz_f:0.096583, -0.236269, 1.101855  Reprojection Error: 0.197244, 0.237906 Feature: 0.273926, 0.022574, 0.961486
[11:52:56.355] xyz_f:0.272014, -0.467370, 1.010904  Reprojection Error: 0.221333, 0.206106 Feature: 0.429105, -0.224192, 0.874989
[11:52:56.355] xyz_f:-0.667192, -0.494598, 0.369936  Reprojection Error: 0.737697, 0.667644 Feature: -0.663044, -0.416387, 0.622089
[11:52:56.355] xyz_f:0.137608, 0.012307, 1.132300  Reprojection Error: 0.207012, 0.284951 Feature: 0.300486, 0.270559, 0.914607
[11:52:56.355] xyz_f:-0.117932, -0.054544, 1.089273  Reprojection Error: 0.161483, 0.249013 Feature: 0.052122, 0.194850, 0.979447
[11:52:56.355] xyz_f:0.287445, -0.470498, 1.007279  Reprojection Error: 0.225119, 0.203998 Feature: 0.442678, -0.228152, 0.867169
[11:52:56.355] xyz_f:0.093773, -0.221393, 1.105148  Reprojection Error: 0.196966, 0.239624 Feature: 0.271058, 0.037795, 0.961821
[11:52:56.355] xyz_f:-0.050041, -0.164207, 1.094672  Reprojection Error: 0.174714, 0.241449 Feature: 0.127418, 0.090321, 0.987728
[11:52:56.355] xyz_f:0.075986, -0.231577, 1.101230  Reprojection Error: 0.193664, 0.238158 Feature: 0.253955, 0.026944, 0.966841
[11:52:56.355] xyz_f:0.108314, 0.015293, 1.130909  Reprojection Error: 0.199286, 0.282450 Feature: 0.272243, 0.273084, 0.922664
[11:52:56.355] xyz_f:0.067065, -0.252457, 1.095094  Reprojection Error: 0.191898, 0.235886 Feature: 0.245396, 0.005187, 0.969409
[11:52:56.355] xyz_f:0.404563, -0.003638, 1.104713  Reprojection Error: 0.311583, 0.312577 Feature: 0.543533, 0.248018, 0.801910
[11:52:56.355] xyz_f:-0.667192, -0.494598, 0.369936  Reprojection Error: 0.763024, 0.681948 Feature: -0.663044, -0.416387, 0.622089
[11:52:56.355] xyz_f:0.297386, -0.658239, 0.874644  Reprojection Error: 0.216347, 0.183447 Feature: 0.424746, -0.443825, 0.789057
[11:52:56.355] xyz_f:0.219454, -0.451766, 1.023575  Reprojection Error: 0.225143, 0.209303 Feature: 0.382544, -0.205841, 0.900716
[11:52:56.355] xyz_f:0.303633, -0.483027, 0.998056  Reprojection Error: 0.244878, 0.196322 Feature: 0.455942, -0.242641, 0.856296
[11:52:56.355] xyz_f:0.058273, -0.262728, 1.091366  Reprojection Error: 0.202891, 0.232606 Feature: 0.236813, -0.005698, 0.971538
[11:52:56.355] xyz_f:-0.052678, -0.157568, 1.095179  Reprojection Error: 0.186076, 0.239867 Feature: 0.124520, 0.096865, 0.987478
[11:52:56.355] xyz_f:-0.117932, -0.054544, 1.089273  Reprojection Error: 0.176288, 0.249164 Feature: 0.052122, 0.194850, 0.979447
[11:52:56.355] xyz_f:0.108314, 0.015293, 1.130909  Reprojection Error: 0.212658, 0.283368 Feature: 0.272243, 0.273084, 0.922664
[11:52:56.355] xyz_f:0.137608, 0.012307, 1.132300  Reprojection Error: 0.223949, 0.283698 Feature: 0.300486, 0.270559, 0.914607
[11:52:56.355] xyz_f:0.404563, -0.003638, 1.104713  Reprojection Error: 0.330226, 0.312013 Feature: 0.543533, 0.248018, 0.801910
[11:52:56.355] xyz_f:-0.009530, 0.157627, 1.104099  Reprojection Error: 0.173188, 0.304208 Feature: 0.140031, 0.403629, 0.904143
[11:52:56.355] it:27 	 Success 	 new_chi2: 2.453509 	 dT = 0.022559, 0.033564, 0.003685
[11:52:56.355] xyz_f:-0.004053, -0.262620, 1.057402  Reprojection Error: 0.247584, 0.242499 Feature: 0.236813, -0.005698, 0.971538
[11:52:56.355] xyz_f:-0.114916, -0.157355, 1.060820  Reprojection Error: 0.234426, 0.246427 Feature: 0.124520, 0.096865, 0.987478
[11:52:56.355] xyz_f:0.157188, -0.451812, 0.990184  Reprojection Error: 0.265965, 0.227761 Feature: 0.382544, -0.205841, 0.900716
[11:52:56.356] xyz_f:0.235453, -0.658360, 0.841531  Reprojection Error: 0.258504, 0.219861 Feature: 0.424746, -0.443825, 0.789057
[11:52:56.356] xyz_f:0.241428, -0.483154, 0.964965  Reprojection Error: 0.282265, 0.217334 Feature: 0.455942, -0.242641, 0.856296
[11:52:56.356] xyz_f:-0.117605, -0.152861, 1.060911  Reprojection Error: 0.234030, 0.246606 Feature: 0.121625, 0.101229, 0.987401
[11:52:56.356] xyz_f:-0.071500, 0.157799, 1.069893  Reprojection Error: 0.221706, 0.298931 Feature: 0.140031, 0.403629, 0.904143
[11:52:56.356] xyz_f:0.251859, -0.459627, 0.976063  Reprojection Error: 0.287258, 0.217647 Feature: 0.467331, -0.217044, 0.857026
[11:52:56.356] xyz_f:0.165079, -0.476774, 0.976622  Reprojection Error: 0.265671, 0.226386 Feature: 0.387647, -0.233462, 0.891754
[11:52:56.356] xyz_f:0.034245, -0.236198, 1.068027  Reprojection Error: 0.252835, 0.244632 Feature: 0.273926, 0.022574, 0.961486
[11:52:56.356] xyz_f:0.209778, -0.467466, 0.977700  Reprojection Error: 0.275850, 0.221905 Feature: 0.429105, -0.224192, 0.874989
[11:52:56.356] xyz_f:-0.727166, -0.493800, 0.333393  Reprojection Error: 1.115269, 0.811795 Feature: -0.663044, -0.416387, 0.622089
[11:52:56.356] xyz_f:0.075398, 0.012339, 1.098618  Reprojection Error: 0.259912, 0.284589 Feature: 0.300486, 0.270559, 0.914607
[11:52:56.356] xyz_f:-0.180050, -0.054268, 1.054681  Reprojection Error: 0.223931, 0.250394 Feature: 0.052122, 0.194850, 0.979447
[11:52:56.356] xyz_f:0.225219, -0.470610, 0.974130  Reprojection Error: 0.279286, 0.220007 Feature: 0.442678, -0.228152, 0.867169
[11:52:56.356] xyz_f:0.031438, -0.221320, 1.071310  Reprojection Error: 0.252472, 0.245883 Feature: 0.271058, 0.037795, 0.961821
[11:52:56.356] xyz_f:-0.112284, -0.163997, 1.060322  Reprojection Error: 0.234897, 0.246110 Feature: 0.127418, 0.090321, 0.987728
[11:52:56.356] xyz_f:0.013655, -0.231487, 1.067328  Reprojection Error: 0.249871, 0.244752 Feature: 0.253955, 0.026944, 0.966841
[11:52:56.356] xyz_f:0.046113, 0.015352, 1.097123  Reprojection Error: 0.253032, 0.281980 Feature: 0.272243, 0.273084, 0.922664
[11:52:56.356] xyz_f:0.004736, -0.252358, 1.061161  Reprojection Error: 0.248677, 0.243164 Feature: 0.245396, 0.005187, 0.969409
[11:52:56.356] xyz_f:0.342435, -0.003861, 1.071982  Reprojection Error: 0.358357, 0.312886 Feature: 0.543533, 0.248018, 0.801910
[11:52:56.356] xyz_f:-0.727166, -0.493800, 0.333393  Reprojection Error: 1.140595, 0.826099 Feature: -0.663044, -0.416387, 0.622089
[11:52:56.356] xyz_f:0.235453, -0.658360, 0.841531  Reprojection Error: 0.276564, 0.213204 Feature: 0.424746, -0.443825, 0.789057
[11:52:56.356] xyz_f:0.157188, -0.451812, 0.990184  Reprojection Error: 0.280796, 0.224233 Feature: 0.382544, -0.205841, 0.900716
[11:52:56.356] xyz_f:0.241428, -0.483154, 0.964965  Reprojection Error: 0.298909, 0.213049 Feature: 0.455942, -0.242641, 0.856296
[11:52:56.356] xyz_f:-0.004053, -0.262620, 1.057402  Reprojection Error: 0.260118, 0.240237 Feature: 0.236813, -0.005698, 0.971538
[11:52:56.356] xyz_f:-0.114916, -0.157355, 1.060820  Reprojection Error: 0.246304, 0.244326 Feature: 0.124520, 0.096865, 0.987478
[11:52:56.356] xyz_f:-0.180050, -0.054268, 1.054681  Reprojection Error: 0.238737, 0.250546 Feature: 0.052122, 0.194850, 0.979447
[11:52:56.356] xyz_f:0.046113, 0.015352, 1.097123  Reprojection Error: 0.266404, 0.282897 Feature: 0.272243, 0.273084, 0.922664
[11:52:56.356] xyz_f:0.075398, 0.012339, 1.098618  Reprojection Error: 0.276848, 0.283336 Feature: 0.300486, 0.270559, 0.914607
[11:52:56.356] xyz_f:0.342435, -0.003861, 1.071982  Reprojection Error: 0.377001, 0.312321 Feature: 0.543533, 0.248018, 0.801910
[11:52:56.356] xyz_f:-0.071500, 0.157799, 1.069893  Reprojection Error: 0.231385, 0.299483 Feature: 0.140031, 0.403629, 0.904143
[11:52:56.356] it:28 	 Success 	 new_chi2: 2.946490 	 dT = 0.031780, 0.033922, -0.001964
[11:52:56.356] xyz_f:-0.044887, -0.262678, 1.023695  Reprojection Error: 0.287599, 0.250733 Feature: 0.236813, -0.005698, 0.971538
[11:52:56.356] xyz_f:-0.155797, -0.157469, 1.027323  Reprojection Error: 0.277752, 0.251374 Feature: 0.124520, 0.096865, 0.987478
[11:52:56.356] xyz_f:0.116322, -0.451788, 0.956171  Reprojection Error: 0.303057, 0.243967 Feature: 0.382544, -0.205841, 0.900716
[11:52:56.356] xyz_f:0.194410, -0.658296, 0.807370  Reprojection Error: 0.297501, 0.252884 Feature: 0.424746, -0.443825, 0.789057
[11:52:56.356] xyz_f:0.200531, -0.483087, 0.930793  Reprojection Error: 0.317018, 0.235644 Feature: 0.455942, -0.242641, 0.856296
[11:52:56.356] xyz_f:-0.158488, -0.152977, 1.027420  Reprojection Error: 0.277435, 0.251415 Feature: 0.121625, 0.101229, 0.987401
[11:52:56.356] xyz_f:-0.112524, 0.157707, 1.036315  Reprojection Error: 0.263458, 0.294241 Feature: 0.140031, 0.403629, 0.904143
[11:52:56.356] xyz_f:0.210971, -0.459554, 0.941870  Reprojection Error: 0.321303, 0.234664 Feature: 0.467331, -0.217044, 0.857026
[11:52:56.356] xyz_f:0.124200, -0.476745, 0.942594  Reprojection Error: 0.302937, 0.243980 Feature: 0.387647, -0.233462, 0.891754
[11:52:56.356] xyz_f:-0.006582, -0.236236, 1.034247  Reprojection Error: 0.291263, 0.251892 Feature: 0.273926, 0.022574, 0.961486
[11:52:56.356] xyz_f:0.168896, -0.467415, 0.943588  Reprojection Error: 0.311418, 0.239137 Feature: 0.429105, -0.224192, 0.874989
[11:52:56.356] xyz_f:-0.769254, -0.494225, 0.301060  Reprojection Error: 1.489319, 0.972281 Feature: -0.663044, -0.416387, 0.622089
[11:52:56.356] xyz_f:0.034503, 0.012321, 1.064760  Reprojection Error: 0.296137, 0.284248 Feature: 0.300486, 0.270559, 0.914607
[11:52:56.356] xyz_f:-0.220995, -0.054415, 1.021308  Reprojection Error: 0.269600, 0.252219 Feature: 0.052122, 0.194850, 0.979447
[11:52:56.356] xyz_f:0.184333, -0.470551, 0.939989  Reprojection Error: 0.314386, 0.237492 Feature: 0.442678, -0.228152, 0.867169
[11:52:56.356] xyz_f:-0.009391, -0.221360, 1.037536  Reprojection Error: 0.290868, 0.252646 Feature: 0.271058, 0.037795, 0.961821
[11:52:56.356] xyz_f:-0.153162, -0.164109, 1.026821  Reprojection Error: 0.278162, 0.251266 Feature: 0.127418, 0.090321, 0.987728
[11:52:56.356] xyz_f:-0.027176, -0.231535, 1.033588  Reprojection Error: 0.288958, 0.251879 Feature: 0.253955, 0.026944, 0.966841
[11:52:56.356] xyz_f:0.005213, 0.015320, 1.063321  Reprojection Error: 0.290160, 0.281565 Feature: 0.272243, 0.273084, 0.922664
[11:52:56.356] xyz_f:-0.036096, -0.252411, 1.027437  Reprojection Error: 0.288272, 0.251022 Feature: 0.245396, 0.005187, 0.969409
[11:52:56.356] xyz_f:0.301496, -0.003742, 1.037618  Reprojection Error: 0.387232, 0.312891 Feature: 0.543533, 0.248018, 0.801910
[11:52:56.356] xyz_f:-0.769254, -0.494225, 0.301060  Reprojection Error: 1.514646, 0.986585 Feature: -0.663044, -0.416387, 0.622089
[11:52:56.356] xyz_f:0.194410, -0.658296, 0.807370  Reprojection Error: 0.315561, 0.246226 Feature: 0.424746, -0.443825, 0.789057
[11:52:56.356] xyz_f:0.116322, -0.451788, 0.956171  Reprojection Error: 0.317887, 0.240439 Feature: 0.382544, -0.205841, 0.900716
[11:52:56.356] xyz_f:0.200531, -0.483087, 0.930793  Reprojection Error: 0.333662, 0.231360 Feature: 0.455942, -0.242641, 0.856296
[11:52:56.356] xyz_f:-0.044887, -0.262678, 1.023695  Reprojection Error: 0.300133, 0.248471 Feature: 0.236813, -0.005698, 0.971538
[11:52:56.356] xyz_f:-0.155797, -0.157469, 1.027323  Reprojection Error: 0.289630, 0.249274 Feature: 0.124520, 0.096865, 0.987478
[11:52:56.356] xyz_f:-0.220995, -0.054415, 1.021308  Reprojection Error: 0.284406, 0.252371 Feature: 0.052122, 0.194850, 0.979447
[11:52:56.356] xyz_f:0.005213, 0.015320, 1.063321  Reprojection Error: 0.303532, 0.282482 Feature: 0.272243, 0.273084, 0.922664
[11:52:56.356] xyz_f:0.034503, 0.012321, 1.064760  Reprojection Error: 0.313074, 0.282995 Feature: 0.300486, 0.270559, 0.914607
[11:52:56.356] xyz_f:0.301496, -0.003742, 1.037618  Reprojection Error: 0.405876, 0.312327 Feature: 0.543533, 0.248018, 0.801910
[11:52:56.356] xyz_f:-0.112524, 0.157707, 1.036315  Reprojection Error: 0.273137, 0.294793 Feature: 0.140031, 0.403629, 0.904143
[11:52:56.356] it:29 	 Success 	 new_chi2: 3.303066 	 dT = 0.036922, 0.034853, -0.005534
[11:52:56.356] xyz_f:-0.078450, -0.262835, 0.989427  Reprojection Error: 0.323039, 0.259779 Feature: 0.236813, -0.005698, 0.971538
[11:52:56.356] xyz_f:-0.189490, -0.157785, 0.993649  Reprojection Error: 0.316800, 0.256887 Feature: 0.124520, 0.096865, 0.987478
[11:52:56.356] xyz_f:0.082666, -0.451714, 0.921043  Reprojection Error: 0.334958, 0.261908 Feature: 0.382544, -0.205841, 0.900716
[11:52:56.356] xyz_f:0.160253, -0.658110, 0.771825  Reprojection Error: 0.330667, 0.290193 Feature: 0.424746, -0.443825, 0.789057
[11:52:56.356] xyz_f:0.166782, -0.482892, 0.895214  Reprojection Error: 0.346154, 0.256054 Feature: 0.455942, -0.242641, 0.856296
[11:52:56.356] xyz_f:-0.192187, -0.153297, 0.993760  Reprojection Error: 0.316571, 0.256780 Feature: 0.121625, 0.101229, 0.987401
[11:52:56.356] xyz_f:-0.146621, 0.157453, 1.002411  Reprojection Error: 0.301145, 0.289347 Feature: 0.140031, 0.403629, 0.904143
[11:52:56.356] xyz_f:0.177248, -0.459345, 0.906236  Reprojection Error: 0.349707, 0.253619 Feature: 0.467331, -0.217044, 0.857026
[11:52:56.356] xyz_f:0.090507, -0.476660, 0.907423  Reprojection Error: 0.334961, 0.263489 Feature: 0.387647, -0.233462, 0.891754
[11:52:56.356] xyz_f:-0.040128, -0.236338, 0.999775  Reprojection Error: 0.325036, 0.259870 Feature: 0.273926, 0.022574, 0.961486
[11:52:56.356] xyz_f:0.135194, -0.467266, 0.908178  Reprojection Error: 0.341549, 0.258286 Feature: 0.429105, -0.224192, 0.874989
[11:52:56.356] xyz_f:-0.806338, -0.495422, 0.270674  Reprojection Error: 1.913167, 1.160993 Feature: -0.663044, -0.416387, 0.622089
[11:52:56.356] xyz_f:0.000764, 0.012278, 1.030069  Reprojection Error: 0.327800, 0.283901 Feature: 0.300486, 0.270559, 0.914607
[11:52:56.356] xyz_f:-0.254867, -0.054825, 0.987983  Reprojection Error: 0.311183, 0.254431 Feature: 0.052122, 0.194850, 0.979447
[11:52:56.356] xyz_f:0.150616, -0.470379, 0.904497  Reprojection Error: 0.343968, 0.256945 Feature: 0.442678, -0.228152, 0.867169
[11:52:56.356] xyz_f:-0.042940, -0.221466, 1.003079  Reprojection Error: 0.324626, 0.260081 Feature: 0.271058, 0.037795, 0.961821
[11:52:56.356] xyz_f:-0.186849, -0.164422, 0.993133  Reprojection Error: 0.317142, 0.257002 Feature: 0.127418, 0.090321, 0.987728
[11:52:56.356] xyz_f:-0.060731, -0.231667, 0.999226  Reprojection Error: 0.323443, 0.259714 Feature: 0.253955, 0.026944, 0.966841
[11:52:56.356] xyz_f:-0.028538, 0.015235, 1.028786  Reprojection Error: 0.322802, 0.281164 Feature: 0.272243, 0.273084, 0.922664
[11:52:56.356] xyz_f:-0.069655, -0.252556, 0.993123  Reprojection Error: 0.323276, 0.259656 Feature: 0.245396, 0.005187, 0.969409
[11:52:56.356] xyz_f:0.267631, -0.003403, 1.001500  Reprojection Error: 0.410568, 0.312683 Feature: 0.543533, 0.248018, 0.801910
[11:52:56.356] xyz_f:-0.806338, -0.495422, 0.270674  Reprojection Error: 1.938494, 1.175296 Feature: -0.663044, -0.416387, 0.622089
[11:52:56.356] xyz_f:0.160253, -0.658110, 0.771825  Reprojection Error: 0.348727, 0.283536 Feature: 0.424746, -0.443825, 0.789057
[11:52:56.356] xyz_f:0.082666, -0.451714, 0.921043  Reprojection Error: 0.349789, 0.258380 Feature: 0.382544, -0.205841, 0.900716
[11:52:56.356] xyz_f:0.166782, -0.482892, 0.895214  Reprojection Error: 0.362798, 0.251769 Feature: 0.455942, -0.242641, 0.856296
[11:52:56.356] xyz_f:-0.078450, -0.262835, 0.989427  Reprojection Error: 0.335574, 0.257517 Feature: 0.236813, -0.005698, 0.971538
[11:52:56.356] xyz_f:-0.189490, -0.157785, 0.993649  Reprojection Error: 0.328678, 0.254786 Feature: 0.124520, 0.096865, 0.987478
[11:52:56.356] xyz_f:-0.254867, -0.054825, 0.987983  Reprojection Error: 0.325988, 0.254583 Feature: 0.052122, 0.194850, 0.979447
[11:52:56.356] xyz_f:-0.028538, 0.015235, 1.028786  Reprojection Error: 0.336174, 0.282082 Feature: 0.272243, 0.273084, 0.922664
[11:52:56.356] xyz_f:0.000764, 0.012278, 1.030069  Reprojection Error: 0.344737, 0.282647 Feature: 0.300486, 0.270559, 0.914607
[11:52:56.356] xyz_f:0.267631, -0.003403, 1.001500  Reprojection Error: 0.429211, 0.312118 Feature: 0.543533, 0.248018, 0.801910
[11:52:56.356] xyz_f:-0.146621, 0.157453, 1.002411  Reprojection Error: 0.310824, 0.289900 Feature: 0.140031, 0.403629, 0.904143
[11:52:56.356] it:30 	 Success 	 new_chi2: 3.603340 	 dT = 0.039692, 0.035876, -0.007565
[11:52:56.356] xyz_f:-0.108549, -0.263037, 0.954305  Reprojection Error: 0.357497, 0.269767 Feature: 0.236813, -0.005698, 0.971538
[11:52:56.356] xyz_f:-0.219760, -0.158204, 0.959339  Reprojection Error: 0.355173, 0.263003 Feature: 0.124520, 0.096865, 0.987478
[11:52:56.356] xyz_f:0.052433, -0.451601, 0.884744  Reprojection Error: 0.365448, 0.281901 Feature: 0.382544, -0.205841, 0.900716
[11:52:56.356] xyz_f:0.129332, -0.657846, 0.734962  Reprojection Error: 0.362325, 0.332601 Feature: 0.424746, -0.443825, 0.789057
[11:52:56.356] xyz_f:0.136419, -0.482614, 0.858301  Reprojection Error: 0.373518, 0.278929 Feature: 0.455942, -0.242641, 0.856296
[11:52:56.356] xyz_f:-0.222465, -0.153722, 0.959470  Reprojection Error: 0.355039, 0.262736 Feature: 0.121625, 0.101229, 0.987401
[11:52:56.356] xyz_f:-0.177446, 0.157117, 0.967789  Reprojection Error: 0.338229, 0.284076 Feature: 0.140031, 0.403629, 0.904143
[11:52:56.356] xyz_f:0.146919, -0.459047, 0.869246  Reprojection Error: 0.376275, 0.274845 Feature: 0.467331, -0.217044, 0.857026
[11:52:56.356] xyz_f:0.060223, -0.476532, 0.871067  Reprojection Error: 0.365564, 0.285266 Feature: 0.387647, -0.233462, 0.891754
[11:52:56.356] xyz_f:-0.070204, -0.236465, 0.964373  Reprojection Error: 0.357697, 0.268679 Feature: 0.273926, 0.022574, 0.961486
[11:52:56.356] xyz_f:0.104896, -0.467050, 0.871496  Reprojection Error: 0.370048, 0.279695 Feature: 0.429105, -0.224192, 0.874989
[11:52:56.356] xyz_f:-0.841212, -0.497054, 0.240888  Reprojection Error: 2.426292, 1.394085 Feature: -0.663044, -0.416387, 0.622089
[11:52:56.356] xyz_f:-0.029579, 0.012231, 0.994369  Reprojection Error: 0.358288, 0.283520 Feature: 0.300486, 0.270559, 0.914607
[11:52:56.356] xyz_f:-0.285378, -0.055373, 0.954152  Reprojection Error: 0.352307, 0.256973 Feature: 0.052122, 0.194850, 0.979447
[11:52:56.356] xyz_f:0.120297, -0.470133, 0.867701  Reprojection Error: 0.371849, 0.278714 Feature: 0.442678, -0.228152, 0.867169
[11:52:56.356] xyz_f:-0.073021, -0.221598, 0.967697  Reprojection Error: 0.357276, 0.268290 Feature: 0.271058, 0.037795, 0.961821
[11:52:56.356] xyz_f:-0.217110, -0.164836, 0.958804  Reprojection Error: 0.355439, 0.263362 Feature: 0.127418, 0.090321, 0.987728
[11:52:56.356] xyz_f:-0.090820, -0.231834, 0.963974  Reprojection Error: 0.356879, 0.268366 Feature: 0.253955, 0.026944, 0.966841
[11:52:56.356] xyz_f:-0.058895, 0.015130, 0.993300  Reprojection Error: 0.354354, 0.280741 Feature: 0.272243, 0.273084, 0.922664
[11:52:56.356] xyz_f:-0.099747, -0.252741, 0.957937  Reprojection Error: 0.357266, 0.269190 Feature: 0.245396, 0.005187, 0.969409
[11:52:56.356] xyz_f:0.237103, -0.002928, 0.963850  Reprojection Error: 0.431803, 0.312322 Feature: 0.543533, 0.248018, 0.801910
[11:52:56.356] xyz_f:-0.841212, -0.497054, 0.240888  Reprojection Error: 2.451618, 1.408389 Feature: -0.663044, -0.416387, 0.622089
[11:52:56.356] xyz_f:0.129332, -0.657846, 0.734962  Reprojection Error: 0.380385, 0.325943 Feature: 0.424746, -0.443825, 0.789057
[11:52:56.356] xyz_f:0.052433, -0.451601, 0.884744  Reprojection Error: 0.380278, 0.278373 Feature: 0.382544, -0.205841, 0.900716
[11:52:56.356] xyz_f:0.136419, -0.482614, 0.858301  Reprojection Error: 0.390161, 0.274644 Feature: 0.455942, -0.242641, 0.856296
[11:52:56.356] xyz_f:-0.108549, -0.263037, 0.954305  Reprojection Error: 0.370031, 0.267505 Feature: 0.236813, -0.005698, 0.971538
[11:52:56.356] xyz_f:-0.219760, -0.158204, 0.959339  Reprojection Error: 0.367051, 0.260903 Feature: 0.124520, 0.096865, 0.987478
[11:52:56.356] xyz_f:-0.285378, -0.055373, 0.954152  Reprojection Error: 0.367112, 0.257124 Feature: 0.052122, 0.194850, 0.979447
[11:52:56.356] xyz_f:-0.058895, 0.015130, 0.993300  Reprojection Error: 0.367726, 0.281658 Feature: 0.272243, 0.273084, 0.922664
[11:52:56.356] xyz_f:-0.029579, 0.012231, 0.994369  Reprojection Error: 0.375225, 0.282267 Feature: 0.300486, 0.270559, 0.914607
[11:52:56.356] xyz_f:0.237103, -0.002928, 0.963850  Reprojection Error: 0.450446, 0.311758 Feature: 0.543533, 0.248018, 0.801910
[11:52:56.356] xyz_f:-0.177446, 0.157117, 0.967789  Reprojection Error: 0.347907, 0.284628 Feature: 0.140031, 0.403629, 0.904143
[11:52:56.356] it:31 	 Success 	 new_chi2: 3.860043 	 dT = 0.040756, 0.036791, -0.008332
[11:52:56.356] xyz_f:-0.137194, -0.263242, 0.918281  Reprojection Error: 0.393154, 0.280804 Feature: 0.236813, -0.005698, 0.971538
[11:52:56.356] xyz_f:-0.248587, -0.158650, 0.924211  Reprojection Error: 0.395071, 0.269753 Feature: 0.124520, 0.096865, 0.987478
[11:52:56.356] xyz_f:0.023629, -0.451459, 0.847424  Reprojection Error: 0.396828, 0.304213 Feature: 0.382544, -0.205841, 0.900716
[11:52:56.356] xyz_f:0.099764, -0.657539, 0.697027  Reprojection Error: 0.395167, 0.380874 Feature: 0.424746, -0.443825, 0.789057
[11:52:56.356] xyz_f:0.107466, -0.482292, 0.820306  Reprojection Error: 0.401451, 0.304579 Feature: 0.455942, -0.242641, 0.856296
[11:52:56.356] xyz_f:-0.251300, -0.154173, 0.924363  Reprojection Error: 0.395040, 0.269309 Feature: 0.121625, 0.101229, 0.987401
[11:52:56.356] xyz_f:-0.206886, 0.156762, 0.932323  Reprojection Error: 0.376781, 0.278281 Feature: 0.140031, 0.403629, 0.904143
[11:52:56.356] xyz_f:0.118003, -0.458701, 0.831167  Reprojection Error: 0.403322, 0.298624 Feature: 0.467331, -0.217044, 0.857026
[11:52:56.356] xyz_f:0.031363, -0.476373, 0.833685  Reprojection Error: 0.397082, 0.309606 Feature: 0.387647, -0.233462, 0.891754
[11:52:56.356] xyz_f:-0.098827, -0.236588, 0.928040  Reprojection Error: 0.391389, 0.278411 Feature: 0.273926, 0.022574, 0.961486
[11:52:56.356] xyz_f:0.076017, -0.466795, 0.833755  Reprojection Error: 0.399237, 0.303649 Feature: 0.429105, -0.224192, 0.874989
[11:52:56.356] xyz_f:-0.875069, -0.498845, 0.210782  Reprojection Error: 3.085703, 1.697304 Feature: -0.663044, -0.416387, 0.622089
[11:52:56.356] xyz_f:-0.058498, 0.012195, 0.957710  Reprojection Error: 0.389623, 0.283087 Feature: 0.300486, 0.270559, 0.914607
[11:52:56.356] xyz_f:-0.314466, -0.055960, 0.919553  Reprojection Error: 0.395193, 0.259795 Feature: 0.052122, 0.194850, 0.979447
[11:52:56.356] xyz_f:0.091393, -0.469845, 0.829836  Reprojection Error: 0.400353, 0.303090 Feature: 0.442678, -0.228152, 0.867169
[11:52:56.356] xyz_f:-0.101649, -0.221727, 0.931387  Reprojection Error: 0.390955, 0.277356 Feature: 0.271058, 0.037795, 0.961821
[11:52:56.356] xyz_f:-0.245927, -0.165276, 0.923654  Reprojection Error: 0.395255, 0.270380 Feature: 0.127418, 0.090321, 0.987728
[11:52:56.356] xyz_f:-0.119455, -0.232001, 0.927807  Reprojection Error: 0.391415, 0.277921 Feature: 0.253955, 0.026944, 0.966841
[11:52:56.356] xyz_f:-0.087828, 0.015032, 0.956878  Reprojection Error: 0.386848, 0.280264 Feature: 0.272243, 0.273084, 0.922664
[11:52:56.356] xyz_f:-0.128385, -0.252927, 0.921842  Reprojection Error: 0.392410, 0.279722 Feature: 0.245396, 0.005187, 0.969409
[11:52:56.356] xyz_f:0.207961, -0.002389, 0.925046  Reprojection Error: 0.452986, 0.311867 Feature: 0.543533, 0.248018, 0.801910
[11:52:56.356] xyz_f:-0.875069, -0.498845, 0.210782  Reprojection Error: 3.111029, 1.711607 Feature: -0.663044, -0.416387, 0.622089
[11:52:56.356] xyz_f:0.099764, -0.657539, 0.697027  Reprojection Error: 0.413227, 0.374217 Feature: 0.424746, -0.443825, 0.789057
[11:52:56.356] xyz_f:0.023629, -0.451459, 0.847424  Reprojection Error: 0.411658, 0.300684 Feature: 0.382544, -0.205841, 0.900716
[11:52:56.356] xyz_f:0.107466, -0.482292, 0.820306  Reprojection Error: 0.418095, 0.300295 Feature: 0.455942, -0.242641, 0.856296
[11:52:56.356] xyz_f:-0.137194, -0.263242, 0.918281  Reprojection Error: 0.405688, 0.278542 Feature: 0.236813, -0.005698, 0.971538
[11:52:56.356] xyz_f:-0.248587, -0.158650, 0.924211  Reprojection Error: 0.406949, 0.267653 Feature: 0.124520, 0.096865, 0.987478
[11:52:56.356] xyz_f:-0.314466, -0.055960, 0.919553  Reprojection Error: 0.409999, 0.259946 Feature: 0.052122, 0.194850, 0.979447
[11:52:56.356] xyz_f:-0.087828, 0.015032, 0.956878  Reprojection Error: 0.400220, 0.281181 Feature: 0.272243, 0.273084, 0.922664
[11:52:56.356] xyz_f:-0.058498, 0.012195, 0.957710  Reprojection Error: 0.406559, 0.281833 Feature: 0.300486, 0.270559, 0.914607
[11:52:56.356] xyz_f:0.207961, -0.002389, 0.925046  Reprojection Error: 0.471630, 0.311302 Feature: 0.543533, 0.248018, 0.801910
[11:52:56.356] xyz_f:-0.206886, 0.156762, 0.932323  Reprojection Error: 0.386460, 0.278833 Feature: 0.140031, 0.403629, 0.904143
[11:52:56.356] it:32 	 Success 	 new_chi2: 4.066256 	 dT = 0.040638, 0.037520, -0.008120
[11:52:56.356] xyz_f:-0.165777, -0.263425, 0.881444  Reprojection Error: 0.431825, 0.292992 Feature: 0.236813, -0.005698, 0.971538
[11:52:56.356] xyz_f:-0.277340, -0.159067, 0.888248  Reprojection Error: 0.438331, 0.277173 Feature: 0.124520, 0.096865, 0.987478
[11:52:56.356] xyz_f:-0.005119, -0.451304, 0.809326  Reprojection Error: 0.431037, 0.329100 Feature: 0.382544, -0.205841, 0.900716
[11:52:56.356] xyz_f:0.070266, -0.657225, 0.658334  Reprojection Error: 0.431562, 0.435841 Feature: 0.424746, -0.443825, 0.789057
[11:52:56.356] xyz_f:0.078567, -0.481961, 0.781551  Reprojection Error: 0.431932, 0.333311 Feature: 0.455942, -0.242641, 0.856296
[11:52:56.356] xyz_f:-0.280061, -0.154596, 0.888421  Reprojection Error: 0.438411, 0.276533 Feature: 0.121625, 0.101229, 0.987401
[11:52:56.356] xyz_f:-0.236239, 0.156432, 0.896035  Reprojection Error: 0.418527, 0.271840 Feature: 0.140031, 0.403629, 0.904143
[11:52:56.357] xyz_f:0.089139, -0.458348, 0.792329  Reprojection Error: 0.432792, 0.325230 Feature: 0.467331, -0.217044, 0.857026
[11:52:56.357] xyz_f:0.002558, -0.476202, 0.795527  Reprojection Error: 0.431486, 0.336799 Feature: 0.387647, -0.233462, 0.891754
[11:52:56.357] xyz_f:-0.127391, -0.236690, 0.890902  Reprojection Error: 0.427890, 0.289153 Feature: 0.273926, 0.022574, 0.961486
[11:52:56.357] xyz_f:0.047192, -0.466531, 0.795246  Reprojection Error: 0.431069, 0.330427 Feature: 0.429105, -0.224192, 0.874989
[11:52:56.357] xyz_f:-0.908683, -0.500584, 0.179752  Reprojection Error: 3.989362, 2.115522 Feature: -0.663044, -0.416387, 0.622089
[11:52:56.357] xyz_f:-0.087353, 0.012177, 0.920257  Reprojection Error: 0.423464, 0.282588 Feature: 0.300486, 0.270559, 0.914607
[11:52:56.357] xyz_f:-0.343469, -0.056516, 0.884108  Reprojection Error: 0.441709, 0.262864 Feature: 0.052122, 0.194850, 0.979447
[11:52:56.357] xyz_f:0.062543, -0.469548, 0.791207  Reprojection Error: 0.431439, 0.330358 Feature: 0.442678, -0.228152, 0.867169
[11:52:56.357] xyz_f:-0.130218, -0.221835, 0.894271  Reprojection Error: 0.427431, 0.287358 Feature: 0.271058, 0.037795, 0.961821
[11:52:56.357] xyz_f:-0.274670, -0.165687, 0.887670  Reprojection Error: 0.438429, 0.278097 Feature: 0.127418, 0.090321, 0.987728
[11:52:56.357] xyz_f:-0.148030, -0.232147, 0.890831  Reprojection Error: 0.428835, 0.288464 Feature: 0.253955, 0.026944, 0.966841
[11:52:56.357] xyz_f:-0.116694, 0.014952, 0.919654  Reprojection Error: 0.421952, 0.279714 Feature: 0.272243, 0.273084, 0.922664
[11:52:56.357] xyz_f:-0.156962, -0.253092, 0.884935  Reprojection Error: 0.430511, 0.291351 Feature: 0.245396, 0.005187, 0.969409
[11:52:56.357] xyz_f:0.178872, -0.001847, 0.885503  Reprojection Error: 0.475798, 0.311370 Feature: 0.543533, 0.248018, 0.801910
[11:52:56.357] xyz_f:-0.908683, -0.500584, 0.179752  Reprojection Error: 4.014688, 2.129825 Feature: -0.663044, -0.416387, 0.622089
[11:52:56.357] xyz_f:0.070266, -0.657225, 0.658334  Reprojection Error: 0.449622, 0.429183 Feature: 0.424746, -0.443825, 0.789057
[11:52:56.357] xyz_f:-0.005119, -0.451304, 0.809326  Reprojection Error: 0.445867, 0.325571 Feature: 0.382544, -0.205841, 0.900716
[11:52:56.357] xyz_f:0.078567, -0.481961, 0.781551  Reprojection Error: 0.448575, 0.329026 Feature: 0.455942, -0.242641, 0.856296
[11:52:56.357] xyz_f:-0.165777, -0.263425, 0.881444  Reprojection Error: 0.444359, 0.290730 Feature: 0.236813, -0.005698, 0.971538
[11:52:56.357] xyz_f:-0.277340, -0.159067, 0.888248  Reprojection Error: 0.450209, 0.275072 Feature: 0.124520, 0.096865, 0.987478
[11:52:56.357] xyz_f:-0.343469, -0.056516, 0.884108  Reprojection Error: 0.456514, 0.263015 Feature: 0.052122, 0.194850, 0.979447
[11:52:56.357] xyz_f:-0.116694, 0.014952, 0.919654  Reprojection Error: 0.435324, 0.280632 Feature: 0.272243, 0.273084, 0.922664
[11:52:56.357] xyz_f:-0.087353, 0.012177, 0.920257  Reprojection Error: 0.440401, 0.281334 Feature: 0.300486, 0.270559, 0.914607
[11:52:56.357] xyz_f:0.178872, -0.001847, 0.885503  Reprojection Error: 0.494442, 0.310805 Feature: 0.543533, 0.248018, 0.801910
[11:52:56.357] xyz_f:-0.236239, 0.156432, 0.896035  Reprojection Error: 0.428206, 0.272392 Feature: 0.140031, 0.403629, 0.904143
[11:52:56.357] it:33 	 Success 	 new_chi2: 4.196922 	 dT = 0.039843, 0.038074, -0.007286
[11:52:56.357] xyz_f:-0.195239, -0.263575, 0.843929  Reprojection Error: 0.475096, 0.306454 Feature: 0.236813, -0.005698, 0.971538
[11:52:56.357] xyz_f:-0.306947, -0.159427, 0.851518  Reprojection Error: 0.486570, 0.285321 Feature: 0.124520, 0.096865, 0.987478
[11:52:56.357] xyz_f:-0.034739, -0.451151, 0.770681  Reprojection Error: 0.469787, 0.356863 Feature: 0.382544, -0.205841, 0.900716
[11:52:56.357] xyz_f:0.039971, -0.656930, 0.619160  Reprojection Error: 0.473739, 0.498527 Feature: 0.424746, -0.443825, 0.789057
[11:52:56.357] xyz_f:0.048808, -0.481650, 0.742317  Reprojection Error: 0.466708, 0.365485 Feature: 0.455942, -0.242641, 0.856296
[11:52:56.357] xyz_f:-0.309676, -0.154961, 0.851711  Reprojection Error: 0.486770, 0.284462 Feature: 0.121625, 0.101229, 0.987401
[11:52:56.357] xyz_f:-0.266388, 0.156148, 0.859018  Reprojection Error: 0.464985, 0.264646 Feature: 0.140031, 0.403629, 0.904143
[11:52:56.357] xyz_f:0.059411, -0.458017, 0.753020  Reprojection Error: 0.466397, 0.354988 Feature: 0.467331, -0.217044, 0.857026
[11:52:56.357] xyz_f:-0.027111, -0.476035, 0.756828  Reprojection Error: 0.470524, 0.367186 Feature: 0.387647, -0.233462, 0.891754
[11:52:56.357] xyz_f:-0.156837, -0.236767, 0.853116  Reprojection Error: 0.468739, 0.301011 Feature: 0.273926, 0.022574, 0.961486
[11:52:56.357] xyz_f:0.017501, -0.466279, 0.756232  Reprojection Error: 0.467270, 0.360358 Feature: 0.429105, -0.224192, 0.874989
[11:52:56.357] xyz_f:-0.942616, -0.502139, 0.147481  Reprojection Error: 5.325593, 2.735429 Feature: -0.663044, -0.416387, 0.622089
[11:52:56.357] xyz_f:-0.117064, 0.012175, 0.882190  Reprojection Error: 0.461238, 0.282019 Feature: 0.300486, 0.270559, 0.914607
[11:52:56.357] xyz_f:-0.373298, -0.057001, 0.847844  Reprojection Error: 0.493506, 0.266170 Feature: 0.052122, 0.194850, 0.979447
[11:52:56.357] xyz_f:0.032829, -0.469267, 0.752086  Reprojection Error: 0.466837, 0.360854 Feature: 0.442678, -0.228152, 0.867169
[11:52:56.357] xyz_f:-0.159669, -0.221918, 0.856505  Reprojection Error: 0.468236, 0.298392 Feature: 0.271058, 0.037795, 0.961821
[11:52:56.357] xyz_f:-0.304269, -0.166042, 0.850922  Reprojection Error: 0.486577, 0.286576 Feature: 0.127418, 0.090321, 0.987728
[11:52:56.357] xyz_f:-0.177485, -0.232263, 0.853191  Reprojection Error: 0.470690, 0.300097 Feature: 0.253955, 0.026944, 0.966841
[11:52:56.357] xyz_f:-0.146414, 0.014895, 0.881794  Reprojection Error: 0.461103, 0.279081 Feature: 0.272243, 0.273084, 0.922664
[11:52:56.357] xyz_f:-0.186419, -0.253225, 0.847358  Reprojection Error: 0.473140, 0.304191 Feature: 0.245396, 0.005187, 0.969409
[11:52:56.357] xyz_f:0.148936, -0.001347, 0.845564  Reprojection Error: 0.501660, 0.310877 Feature: 0.543533, 0.248018, 0.801910
[11:52:56.357] xyz_f:-0.942616, -0.502139, 0.147481  Reprojection Error: 5.350919, 2.749733 Feature: -0.663044, -0.416387, 0.622089
[11:52:56.357] xyz_f:0.039971, -0.656930, 0.619160  Reprojection Error: 0.491799, 0.491870 Feature: 0.424746, -0.443825, 0.789057
[11:52:56.357] xyz_f:-0.034739, -0.451151, 0.770681  Reprojection Error: 0.484617, 0.353335 Feature: 0.382544, -0.205841, 0.900716
[11:52:56.357] xyz_f:0.048808, -0.481650, 0.742317  Reprojection Error: 0.483352, 0.361201 Feature: 0.455942, -0.242641, 0.856296
[11:52:56.357] xyz_f:-0.195239, -0.263575, 0.843929  Reprojection Error: 0.487630, 0.304192 Feature: 0.236813, -0.005698, 0.971538
[11:52:56.357] xyz_f:-0.306947, -0.159427, 0.851518  Reprojection Error: 0.498447, 0.283220 Feature: 0.124520, 0.096865, 0.987478
[11:52:56.357] xyz_f:-0.373298, -0.057001, 0.847844  Reprojection Error: 0.508312, 0.266321 Feature: 0.052122, 0.194850, 0.979447
[11:52:56.357] xyz_f:-0.146414, 0.014895, 0.881794  Reprojection Error: 0.474475, 0.279999 Feature: 0.272243, 0.273084, 0.922664
[11:52:56.357] xyz_f:-0.117064, 0.012175, 0.882190  Reprojection Error: 0.478175, 0.280765 Feature: 0.300486, 0.270559, 0.914607
[11:52:56.357] xyz_f:0.148936, -0.001347, 0.845564  Reprojection Error: 0.520303, 0.310313 Feature: 0.543533, 0.248018, 0.801910
[11:52:56.357] xyz_f:-0.266388, 0.156148, 0.859018  Reprojection Error: 0.474664, 0.265198 Feature: 0.140031, 0.403629, 0.904143
[11:52:56.357] it:34 	 Success 	 new_chi2: 4.204244 	 dT = 0.038971, 0.038551, -0.006409
[11:52:56.357] xyz_f:-0.226049, -0.263695, 0.805826  Reprojection Error: 0.524269, 0.321371 Feature: 0.236813, -0.005698, 0.971538
[11:52:56.357] xyz_f:-0.337881, -0.159733, 0.814108  Reprojection Error: 0.541131, 0.294300 Feature: 0.124520, 0.096865, 0.987478
[11:52:56.357] xyz_f:-0.065694, -0.451005, 0.731585  Reprojection Error: 0.514509, 0.387947 Feature: 0.382544, -0.205841, 0.900716
[11:52:56.357] xyz_f:0.008417, -0.656661, 0.579604  Reprojection Error: 0.523773, 0.570473 Feature: 0.424746, -0.443825, 0.789057
[11:52:56.357] xyz_f:0.017725, -0.481366, 0.702705  Reprojection Error: 0.507234, 0.401657 Feature: 0.455942, -0.242641, 0.856296
[11:52:56.357] xyz_f:-0.340616, -0.155271, 0.814317  Reprojection Error: 0.541461, 0.293198 Feature: 0.121625, 0.101229, 0.987401
[11:52:56.357] xyz_f:-0.297800, 0.155910, 0.821358  Reprojection Error: 0.517447, 0.256602 Feature: 0.140031, 0.403629, 0.904143
[11:52:56.357] xyz_f:0.028355, -0.457716, 0.713342  Reprojection Error: 0.505544, 0.388397 Feature: 0.467331, -0.217044, 0.857026
[11:52:56.357] xyz_f:-0.058112, -0.475876, 0.717685  Reprojection Error: 0.515672, 0.401271 Feature: 0.387647, -0.233462, 0.891754
[11:52:56.357] xyz_f:-0.187636, -0.236824, 0.814776  Reprojection Error: 0.515190, 0.314140 Feature: 0.273926, 0.022574, 0.961486
[11:52:56.357] xyz_f:-0.013520, -0.466046, 0.716814  Reprojection Error: 0.509273, 0.393941 Feature: 0.429105, -0.224192, 0.874989
[11:52:56.357] xyz_f:-0.977326, -0.503503, 0.114018  Reprojection Error: 7.505873, 3.746667 Feature: -0.663044, -0.416387, 0.622089
[11:52:56.357] xyz_f:-0.148096, 0.012185, 0.843605  Reprojection Error: 0.504093, 0.281377 Feature: 0.300486, 0.270559, 0.914607
[11:52:56.357] xyz_f:-0.404422, -0.057417, 0.810845  Reprojection Error: 0.551983, 0.269751 Feature: 0.052122, 0.194850, 0.979447
[11:52:56.357] xyz_f:0.001786, -0.469010, 0.712572  Reprojection Error: 0.507980, 0.395092 Feature: 0.442678, -0.228152, 0.867169
[11:52:56.357] xyz_f:-0.190471, -0.221979, 0.818183  Reprojection Error: 0.514614, 0.310603 Feature: 0.271058, 0.037795, 0.961821
[11:52:56.357] xyz_f:-0.335196, -0.166344, 0.813495  Reprojection Error: 0.541045, 0.295924 Feature: 0.127418, 0.090321, 0.987728
[11:52:56.357] xyz_f:-0.208290, -0.232354, 0.814978  Reprojection Error: 0.518242, 0.312973 Feature: 0.253955, 0.026944, 0.966841
[11:52:56.357] xyz_f:-0.177452, 0.014855, 0.843390  Reprojection Error: 0.505466, 0.278359 Feature: 0.272243, 0.273084, 0.922664
[11:52:56.357] xyz_f:-0.217225, -0.253330, 0.809201  Reprojection Error: 0.521584, 0.318413 Feature: 0.245396, 0.005187, 0.969409
[11:52:56.357] xyz_f:0.117694, -0.000897, 0.805332  Reprojection Error: 0.531654, 0.310398 Feature: 0.543533, 0.248018, 0.801910
[11:52:56.357] xyz_f:-0.977326, -0.503503, 0.114018  Reprojection Error: 7.531199, 3.760971 Feature: -0.663044, -0.416387, 0.622089
[11:52:56.357] xyz_f:0.008417, -0.656661, 0.579604  Reprojection Error: 0.541833, 0.563815 Feature: 0.424746, -0.443825, 0.789057
[11:52:56.357] xyz_f:-0.065694, -0.451005, 0.731585  Reprojection Error: 0.529339, 0.384419 Feature: 0.382544, -0.205841, 0.900716
[11:52:56.357] xyz_f:0.017725, -0.481366, 0.702705  Reprojection Error: 0.523878, 0.397372 Feature: 0.455942, -0.242641, 0.856296
[11:52:56.357] xyz_f:-0.226049, -0.263695, 0.805826  Reprojection Error: 0.536803, 0.319109 Feature: 0.236813, -0.005698, 0.971538
[11:52:56.357] xyz_f:-0.337881, -0.159733, 0.814108  Reprojection Error: 0.553009, 0.292199 Feature: 0.124520, 0.096865, 0.987478
[11:52:56.357] xyz_f:-0.404422, -0.057417, 0.810845  Reprojection Error: 0.566788, 0.269902 Feature: 0.052122, 0.194850, 0.979447
[11:52:56.357] xyz_f:-0.177452, 0.014855, 0.843390  Reprojection Error: 0.518838, 0.279277 Feature: 0.272243, 0.273084, 0.922664
[11:52:56.357] xyz_f:-0.148096, 0.012185, 0.843605  Reprojection Error: 0.521030, 0.280123 Feature: 0.300486, 0.270559, 0.914607
[11:52:56.357] xyz_f:0.117694, -0.000897, 0.805332  Reprojection Error: 0.550298, 0.309833 Feature: 0.543533, 0.248018, 0.801910
[11:52:56.357] xyz_f:-0.297800, 0.155910, 0.821358  Reprojection Error: 0.527126, 0.257155 Feature: 0.140031, 0.403629, 0.904143
[11:52:56.357] it:35 	 Success 	 new_chi2: 4.017519 	 dT = 0.039069, 0.039203, -0.006801
[11:52:56.357] xyz_f:-0.257912, -0.263812, 0.767056  Reprojection Error: 0.579987, 0.338062 Feature: 0.236813, -0.005698, 0.971538
[11:52:56.357] xyz_f:-0.369870, -0.160046, 0.776073  Reprojection Error: 0.602691, 0.304319 Feature: 0.124520, 0.096865, 0.987478
[11:52:56.357] xyz_f:-0.097719, -0.450839, 0.691762  Reprojection Error: 0.565973, 0.423196 Feature: 0.382544, -0.205841, 0.900716
[11:52:56.357] xyz_f:-0.024246, -0.656365, 0.539297  Reprojection Error: 0.583254, 0.654602 Feature: 0.424746, -0.443825, 0.789057
[11:52:56.357] xyz_f:-0.014438, -0.481053, 0.662334  Reprojection Error: 0.554257, 0.442938 Feature: 0.455942, -0.242641, 0.856296
[11:52:56.357] xyz_f:-0.372611, -0.155589, 0.776301  Reprojection Error: 0.603160, 0.302945 Feature: 0.121625, 0.101229, 0.987401
[11:52:56.357] xyz_f:-0.330298, 0.155667, 0.783062  Reprojection Error: 0.576680, 0.247629 Feature: 0.140031, 0.403629, 0.904143
[11:52:56.357] xyz_f:-0.003780, -0.457384, 0.672902  Reprojection Error: 0.550911, 0.426466 Feature: 0.467331, -0.217044, 0.857026
[11:52:56.357] xyz_f:-0.090184, -0.475697, 0.677812  Reprojection Error: 0.567753, 0.440012 Feature: 0.387647, -0.233462, 0.891754
[11:52:56.357] xyz_f:-0.219488, -0.236873, 0.775754  Reprojection Error: 0.567835, 0.328823 Feature: 0.273926, 0.022574, 0.961486
[11:52:56.357] xyz_f:-0.045617, -0.465789, 0.676648  Reprojection Error: 0.557828, 0.432153 Feature: 0.429105, -0.224192, 0.874989
[11:52:56.357] xyz_f:-1.013295, -0.504945, 0.080197  Reprojection Error: 11.569296, 5.626998 Feature: -0.663044, -0.416387, 0.622089
[11:52:56.357] xyz_f:-0.180198, 0.012206, 0.804324  Reprojection Error: 0.552579, 0.280645 Feature: 0.300486, 0.270559, 0.914607
[11:52:56.357] xyz_f:-0.436612, -0.057847, 0.773248  Reprojection Error: 0.617862, 0.273750 Feature: 0.052122, 0.194850, 0.979447
[11:52:56.357] xyz_f:-0.030333, -0.468725, 0.672306  Reprojection Error: 0.555605, 0.434089 Feature: 0.442678, -0.228152, 0.867169
[11:52:56.357] xyz_f:-0.222327, -0.222033, 0.779179  Reprojection Error: 0.567152, 0.324252 Feature: 0.271058, 0.037795, 0.961821
[11:52:56.357] xyz_f:-0.367177, -0.166652, 0.775442  Reprojection Error: 0.602508, 0.306356 Feature: 0.127418, 0.090321, 0.987728
[11:52:56.357] xyz_f:-0.240149, -0.232439, 0.776092  Reprojection Error: 0.572098, 0.327367 Feature: 0.253955, 0.026944, 0.966841
[11:52:56.357] xyz_f:-0.209560, 0.014825, 0.804302  Reprojection Error: 0.555611, 0.277541 Feature: 0.272243, 0.273084, 0.922664
[11:52:56.357] xyz_f:-0.249085, -0.253431, 0.770373  Reprojection Error: 0.576470, 0.334323 Feature: 0.245396, 0.005187, 0.969409
[11:52:56.357] xyz_f:0.085357, -0.000408, 0.764306  Reprojection Error: 0.566119, 0.309818 Feature: 0.543533, 0.248018, 0.801910
[11:52:56.357] xyz_f:-1.013295, -0.504945, 0.080197  Reprojection Error: 11.594622, 5.641301 Feature: -0.663044, -0.416387, 0.622089
[11:52:56.357] xyz_f:-0.024246, -0.656365, 0.539297  Reprojection Error: 0.601314, 0.647944 Feature: 0.424746, -0.443825, 0.789057
[11:52:56.357] xyz_f:-0.097719, -0.450839, 0.691762  Reprojection Error: 0.580803, 0.419667 Feature: 0.382544, -0.205841, 0.900716
[11:52:56.357] xyz_f:-0.014438, -0.481053, 0.662334  Reprojection Error: 0.570901, 0.438653 Feature: 0.455942, -0.242641, 0.856296
[11:52:56.357] xyz_f:-0.257912, -0.263812, 0.767056  Reprojection Error: 0.592521, 0.335800 Feature: 0.236813, -0.005698, 0.971538
[11:52:56.357] xyz_f:-0.369870, -0.160046, 0.776073  Reprojection Error: 0.614569, 0.302218 Feature: 0.124520, 0.096865, 0.987478
[11:52:56.357] xyz_f:-0.436612, -0.057847, 0.773248  Reprojection Error: 0.632668, 0.273902 Feature: 0.052122, 0.194850, 0.979447
[11:52:56.357] xyz_f:-0.209560, 0.014825, 0.804302  Reprojection Error: 0.568984, 0.278459 Feature: 0.272243, 0.273084, 0.922664
[11:52:56.357] xyz_f:-0.180198, 0.012206, 0.804324  Reprojection Error: 0.569515, 0.279392 Feature: 0.300486, 0.270559, 0.914607
[11:52:56.357] xyz_f:0.085357, -0.000408, 0.764306  Reprojection Error: 0.584762, 0.309254 Feature: 0.543533, 0.248018, 0.801910
[11:52:56.357] xyz_f:-0.330298, 0.155667, 0.783062  Reprojection Error: 0.586359, 0.248182 Feature: 0.140031, 0.403629, 0.904143
[11:52:56.357] it:36 	 Success 	 new_chi2: 3.565325 	 dT = 0.042759, 0.040581, -0.012214
[11:52:56.357] xyz_f:-0.288612, -0.263990, 0.727142  Reprojection Error: 0.640663, 0.357187 Feature: 0.236813, -0.005698, 0.971538
[11:52:56.357] xyz_f:-0.400783, -0.160579, 0.737480  Reprojection Error: 0.669548, 0.315833 Feature: 0.124520, 0.096865, 0.987478
[11:52:56.357] xyz_f:-0.128728, -0.450512, 0.649960  Reprojection Error: 0.622766, 0.464608 Feature: 0.382544, -0.205841, 0.900716
[11:52:56.357] xyz_f:-0.056409, -0.655807, 0.496634  Reprojection Error: 0.651878, 0.758031 Feature: 0.424746, -0.443825, 0.789057
[11:52:56.357] xyz_f:-0.045704, -0.480463, 0.619550  Reprojection Error: 0.606228, 0.492140 Feature: 0.455942, -0.242641, 0.856296
[11:52:56.357] xyz_f:-0.403535, -0.156131, 0.737740  Reprojection Error: 0.670165, 0.314154 Feature: 0.121625, 0.101229, 0.987401
[11:52:56.357] xyz_f:-0.362129, 0.155258, 0.744008  Reprojection Error: 0.641605, 0.237744 Feature: 0.140031, 0.403629, 0.904143
[11:52:56.357] xyz_f:-0.034997, -0.456760, 0.629992  Reprojection Error: 0.600846, 0.471773 Feature: 0.467331, -0.217044, 0.857026
[11:52:56.357] xyz_f:-0.121279, -0.475346, 0.635921  Reprojection Error: 0.625416, 0.485691 Feature: 0.387647, -0.233462, 0.891754
[11:52:56.357] xyz_f:-0.250173, -0.236930, 0.735386  Reprojection Error: 0.625092, 0.345662 Feature: 0.273926, 0.022574, 0.961486
[11:52:56.357] xyz_f:-0.076760, -0.465297, 0.634231  Reprojection Error: 0.611441, 0.477416 Feature: 0.429105, -0.224192, 0.874989
[11:52:56.357] xyz_f:-1.051279, -0.507523, 0.049237  Reprojection Error: 20.285466, 9.638366 Feature: -0.663044, -0.416387, 0.622089
[11:52:56.357] xyz_f:-0.211336, 0.012272, 0.763495  Reprojection Error: 0.605343, 0.279747 Feature: 0.300486, 0.270559, 0.914607
[11:52:56.357] xyz_f:-0.467876, -0.058592, 0.735445  Reprojection Error: 0.689396, 0.278608 Feature: 0.052122, 0.194850, 0.979447
[11:52:56.357] xyz_f:-0.061520, -0.468185, 0.629710  Reprojection Error: 0.608182, 0.480393 Feature: 0.442678, -0.228152, 0.867169
[11:52:56.357] xyz_f:-0.253018, -0.222099, 0.738844  Reprojection Error: 0.624268, 0.339898 Feature: 0.271058, 0.037795, 0.961821
[11:52:56.357] xyz_f:-0.398077, -0.167176, 0.736818  Reprojection Error: 0.669266, 0.318333 Feature: 0.127418, 0.090321, 0.987728
[11:52:56.357] xyz_f:-0.270842, -0.232561, 0.735967  Reprojection Error: 0.630673, 0.343862 Feature: 0.253955, 0.026944, 0.966841
[11:52:56.357] xyz_f:-0.240704, 0.014798, 0.763820  Reprojection Error: 0.610195, 0.276599 Feature: 0.272243, 0.273084, 0.922664
[11:52:56.357] xyz_f:-0.279778, -0.253581, 0.730354  Reprojection Error: 0.636212, 0.352554 Feature: 0.245396, 0.005187, 0.969409
[11:52:56.357] xyz_f:0.053767, 0.000497, 0.720346  Reprojection Error: 0.603158, 0.308594 Feature: 0.543533, 0.248018, 0.801910
[11:52:56.357] xyz_f:-1.051279, -0.507523, 0.049237  Reprojection Error: 20.310792, 9.652669 Feature: -0.663044, -0.416387, 0.622089
[11:52:56.357] xyz_f:-0.056409, -0.655807, 0.496634  Reprojection Error: 0.669938, 0.751373 Feature: 0.424746, -0.443825, 0.789057
[11:52:56.357] xyz_f:-0.128728, -0.450512, 0.649960  Reprojection Error: 0.637597, 0.461080 Feature: 0.382544, -0.205841, 0.900716
[11:52:56.357] xyz_f:-0.045704, -0.480463, 0.619550  Reprojection Error: 0.622872, 0.487856 Feature: 0.455942, -0.242641, 0.856296
[11:52:56.357] xyz_f:-0.288612, -0.263990, 0.727142  Reprojection Error: 0.653197, 0.354925 Feature: 0.236813, -0.005698, 0.971538
[11:52:56.357] xyz_f:-0.400783, -0.160579, 0.737480  Reprojection Error: 0.681425, 0.313733 Feature: 0.124520, 0.096865, 0.987478
[11:52:56.357] xyz_f:-0.467876, -0.058592, 0.735445  Reprojection Error: 0.704202, 0.278759 Feature: 0.052122, 0.194850, 0.979447
[11:52:56.357] xyz_f:-0.240704, 0.014798, 0.763820  Reprojection Error: 0.623567, 0.277516 Feature: 0.272243, 0.273084, 0.922664
[11:52:56.357] xyz_f:-0.211336, 0.012272, 0.763495  Reprojection Error: 0.622280, 0.278493 Feature: 0.300486, 0.270559, 0.914607
[11:52:56.357] xyz_f:0.053767, 0.000497, 0.720346  Reprojection Error: 0.621801, 0.308030 Feature: 0.543533, 0.248018, 0.801910
[11:52:56.357] xyz_f:-0.362129, 0.155258, 0.744008  Reprojection Error: 0.651284, 0.238297 Feature: 0.140031, 0.403629, 0.904143
[11:52:56.357] it:37 	 Success 	 new_chi2: 2.874423 	 dT = 0.046984, 0.041297, -0.019026
[11:52:56.357] xyz_f:-0.314407, -0.264191, 0.686596  Reprojection Error: 0.701672, 0.378919 Feature: 0.236813, -0.005698, 0.971538
[11:52:56.357] xyz_f:-0.426877, -0.161333, 0.698999  Reprojection Error: 0.736797, 0.328900 Feature: 0.124520, 0.096865, 0.987478
[11:52:56.357] xyz_f:-0.155052, -0.449927, 0.606480  Reprojection Error: 0.680370, 0.513336 Feature: 0.382544, -0.205841, 0.900716
[11:52:56.357] xyz_f:-0.084553, -0.654871, 0.451842  Reprojection Error: 0.725426, 0.886862 Feature: 0.424746, -0.443825, 0.789057
[11:52:56.357] xyz_f:-0.072455, -0.479470, 0.574549  Reprojection Error: 0.658566, 0.551154 Feature: 0.455942, -0.242641, 0.856296
[11:52:56.358] xyz_f:-0.429646, -0.156899, 0.699310  Reprojection Error: 0.737563, 0.326883 Feature: 0.121625, 0.101229, 0.987401
[11:52:56.358] xyz_f:-0.389666, 0.154690, 0.704829  Reprojection Error: 0.707729, 0.226950 Feature: 0.140031, 0.403629, 0.904143
[11:52:56.358] xyz_f:-0.061675, -0.455714, 0.584793  Reprojection Error: 0.650758, 0.526022 Feature: 0.467331, -0.217044, 0.857026
[11:52:56.358] xyz_f:-0.147741, -0.474725, 0.592306  Reprojection Error: 0.684134, 0.539685 Feature: 0.387647, -0.233462, 0.891754
[11:52:56.358] xyz_f:-0.275957, -0.236941, 0.694133  Reprojection Error: 0.682456, 0.364827 Feature: 0.273926, 0.022574, 0.961486
[11:52:56.358] xyz_f:-0.103310, -0.464457, 0.589799  Reprojection Error: 0.665574, 0.531260 Feature: 0.429105, -0.224192, 0.874989
[11:52:56.358] xyz_f:-1.088195, -0.511507, 0.022810  Reprojection Error: 46.640500, 21.755071 Feature: -0.663044, -0.416387, 0.622089
[11:52:56.358] xyz_f:-0.237838, 0.012450, 0.721535  Reprojection Error: 0.658170, 0.278566 Feature: 0.300486, 0.270559, 0.914607
[11:52:56.358] xyz_f:-0.494498, -0.059678, 0.698201  Reprojection Error: 0.761461, 0.284413 Feature: 0.052122, 0.194850, 0.979447
[11:52:56.358] xyz_f:-0.088141, -0.467270, 0.584998  Reprojection Error: 0.661156, 0.535655 Feature: 0.442678, -0.228152, 0.867169
[11:52:56.358] xyz_f:-0.278811, -0.222125, 0.697644  Reprojection Error: 0.681464, 0.357687 Feature: 0.271058, 0.037795, 0.961821
[11:52:56.358] xyz_f:-0.424151, -0.167917, 0.698286  Reprojection Error: 0.736419, 0.331914 Feature: 0.127418, 0.090321, 0.987728
[11:52:56.358] xyz_f:-0.296633, -0.232675, 0.695095  Reprojection Error: 0.689417, 0.362606 Feature: 0.253955, 0.026944, 0.966841
[11:52:56.358] xyz_f:-0.267207, 0.014831, 0.722400  Reprojection Error: 0.664951, 0.275442 Feature: 0.272243, 0.273084, 0.922664
[11:52:56.358] xyz_f:-0.305568, -0.253739, 0.689646  Reprojection Error: 0.696219, 0.373278 Feature: 0.245396, 0.005187, 0.969409
[11:52:56.358] xyz_f:0.026482, 0.001978, 0.673522  Reprojection Error: 0.638479, 0.306347 Feature: 0.543533, 0.248018, 0.801910
[11:52:56.358] xyz_f:-1.088195, -0.511507, 0.022810  Reprojection Error: 46.665827, 21.769375 Feature: -0.663044, -0.416387, 0.622089
[11:52:56.358] xyz_f:-0.084553, -0.654871, 0.451842  Reprojection Error: 0.743486, 0.880204 Feature: 0.424746, -0.443825, 0.789057
[11:52:56.358] xyz_f:-0.155052, -0.449927, 0.606480  Reprojection Error: 0.695201, 0.509808 Feature: 0.382544, -0.205841, 0.900716
[11:52:56.358] xyz_f:-0.072455, -0.479470, 0.574549  Reprojection Error: 0.675209, 0.546869 Feature: 0.455942, -0.242641, 0.856296
[11:52:56.358] xyz_f:-0.314407, -0.264191, 0.686596  Reprojection Error: 0.714207, 0.376657 Feature: 0.236813, -0.005698, 0.971538
[11:52:56.358] xyz_f:-0.426877, -0.161333, 0.698999  Reprojection Error: 0.748675, 0.326799 Feature: 0.124520, 0.096865, 0.987478
[11:52:56.358] xyz_f:-0.494498, -0.059678, 0.698201  Reprojection Error: 0.776267, 0.284564 Feature: 0.052122, 0.194850, 0.979447
[11:52:56.358] xyz_f:-0.267207, 0.014831, 0.722400  Reprojection Error: 0.678323, 0.276360 Feature: 0.272243, 0.273084, 0.922664
[11:52:56.358] xyz_f:-0.237838, 0.012450, 0.721535  Reprojection Error: 0.675106, 0.277312 Feature: 0.300486, 0.270559, 0.914607
[11:52:56.358] xyz_f:0.026482, 0.001978, 0.673522  Reprojection Error: 0.657122, 0.305783 Feature: 0.543533, 0.248018, 0.801910
[11:52:56.358] xyz_f:-0.389666, 0.154690, 0.704829  Reprojection Error: 0.717407, 0.227502 Feature: 0.140031, 0.403629, 0.904143
[11:52:56.358] it:38 	 Success 	 new_chi2: 2.025895 	 dT = 0.044630, 0.038991, -0.016197
[11:52:56.358] xyz_f:-0.337158, -0.264289, 0.647968  Reprojection Error: 0.764083, 0.402008 Feature: 0.236813, -0.005698, 0.971538
[11:52:56.358] xyz_f:-0.449851, -0.161903, 0.662133  Reprojection Error: 0.805496, 0.342610 Feature: 0.124520, 0.096865, 0.987478
[11:52:56.358] xyz_f:-0.178299, -0.449358, 0.565363  Reprojection Error: 0.740082, 0.566282 Feature: 0.382544, -0.205841, 0.900716
[11:52:56.358] xyz_f:-0.109370, -0.654009, 0.409634  Reprojection Error: 0.805288, 1.034093 Feature: 0.424746, -0.443825, 0.789057
[11:52:56.358] xyz_f:-0.096088, -0.478555, 0.532143  Reprojection Error: 0.713027, 0.615936 Feature: 0.455942, -0.242641, 0.856296
[11:52:56.358] xyz_f:-0.452633, -0.157480, 0.662487  Reprojection Error: 0.806411, 0.340231 Feature: 0.121625, 0.101229, 0.987401
[11:52:56.358] xyz_f:-0.413878, 0.154274, 0.667390  Reprojection Error: 0.775021, 0.215262 Feature: 0.140031, 0.403629, 0.904143
[11:52:56.358] xyz_f:-0.085249, -0.454754, 0.542218  Reprojection Error: 0.702517, 0.585440 Feature: 0.467331, -0.217044, 0.857026
[11:52:56.358] xyz_f:-0.171106, -0.474125, 0.551076  Reprojection Error: 0.745197, 0.598561 Feature: 0.387647, -0.233462, 0.891754
[11:52:56.358] xyz_f:-0.298710, -0.236878, 0.654904  Reprojection Error: 0.741012, 0.385177 Feature: 0.273926, 0.022574, 0.961486
[11:52:56.358] xyz_f:-0.126764, -0.463671, 0.547874  Reprojection Error: 0.721786, 0.590085 Feature: 0.429105, -0.224192, 0.874989
[11:52:56.358] xyz_f:-1.120192, -0.514868, -0.003639  Reprojection Error: -308.901016, -142.157891 Feature: -0.663044, -0.416387, 0.622089
[11:52:56.358] xyz_f:-0.261213, 0.012672, 0.681714  Reprojection Error: 0.711712, 0.277232 Feature: 0.300486, 0.270559, 0.914607
[11:52:56.358] xyz_f:-0.517901, -0.060532, 0.662396  Reprojection Error: 0.835076, 0.290322 Feature: 0.052122, 0.194850, 0.979447
[11:52:56.358] xyz_f:-0.111660, -0.466420, 0.542836  Reprojection Error: 0.716185, 0.596128 Feature: 0.442678, -0.228152, 0.867169
[11:52:56.358] xyz_f:-0.301571, -0.222073, 0.658460  Reprojection Error: 0.739811, 0.376556 Feature: 0.271058, 0.037795, 0.961821
[11:52:56.358] xyz_f:-0.447109, -0.168475, 0.661377  Reprojection Error: 0.805028, 0.346177 Feature: 0.127418, 0.090321, 0.987728
[11:52:56.358] xyz_f:-0.319386, -0.232698, 0.656189  Reprojection Error: 0.749393, 0.382488 Feature: 0.253955, 0.026944, 0.966841
[11:52:56.358] xyz_f:-0.290574, 0.014930, 0.683039  Reprojection Error: 0.720477, 0.274114 Feature: 0.272243, 0.273084, 0.922664
[11:52:56.358] xyz_f:-0.328316, -0.253800, 0.650880  Reprojection Error: 0.757559, 0.395284 Feature: 0.245396, 0.005187, 0.969409
[11:52:56.358] xyz_f:0.002366, 0.003307, 0.629571  Reprojection Error: 0.674040, 0.304031 Feature: 0.543533, 0.248018, 0.801910
[11:52:56.358] xyz_f:-1.120192, -0.514868, -0.003639  Reprojection Error: -308.875690, -142.143587 Feature: -0.663044, -0.416387, 0.622089
[11:52:56.358] xyz_f:-0.109370, -0.654009, 0.409634  Reprojection Error: 0.823349, 1.027435 Feature: 0.424746, -0.443825, 0.789057
[11:52:56.358] xyz_f:-0.178299, -0.449358, 0.565363  Reprojection Error: 0.754912, 0.562754 Feature: 0.382544, -0.205841, 0.900716
[11:52:56.358] xyz_f:-0.096088, -0.478555, 0.532143  Reprojection Error: 0.729671, 0.611652 Feature: 0.455942, -0.242641, 0.856296
[11:52:56.358] xyz_f:-0.337158, -0.264289, 0.647968  Reprojection Error: 0.776617, 0.399746 Feature: 0.236813, -0.005698, 0.971538
[11:52:56.358] xyz_f:-0.449851, -0.161903, 0.662133  Reprojection Error: 0.817374, 0.340510 Feature: 0.124520, 0.096865, 0.987478
[11:52:56.358] xyz_f:-0.517901, -0.060532, 0.662396  Reprojection Error: 0.849881, 0.290474 Feature: 0.052122, 0.194850, 0.979447
[11:52:56.358] xyz_f:-0.290574, 0.014930, 0.683039  Reprojection Error: 0.733849, 0.275032 Feature: 0.272243, 0.273084, 0.922664
[11:52:56.358] xyz_f:-0.261213, 0.012672, 0.681714  Reprojection Error: 0.728648, 0.275979 Feature: 0.300486, 0.270559, 0.914607
[11:52:56.358] xyz_f:0.002366, 0.003307, 0.629571  Reprojection Error: 0.692684, 0.303467 Feature: 0.543533, 0.248018, 0.801910
[11:52:56.358] xyz_f:-0.413878, 0.154274, 0.667390  Reprojection Error: 0.784700, 0.215814 Feature: 0.140031, 0.403629, 0.904143
[11:52:56.358] it:39 	 Success 	 new_chi2: 1.148804 	 dT = 0.064806, 0.036243, -0.044713
[11:52:56.358] xyz_f:-0.351618, -0.264206, 0.611415  Reprojection Error: 0.818840, 0.426257 Feature: 0.236813, -0.005698, 0.971538
[11:52:56.358] xyz_f:-0.464771, -0.163126, 0.630457  Reprojection Error: 0.863296, 0.356837 Feature: 0.124520, 0.096865, 0.987478
[11:52:56.358] xyz_f:-0.194343, -0.447445, 0.521982  Reprojection Error: 0.797029, 0.628674 Feature: 0.382544, -0.205841, 0.900716
[11:52:56.358] xyz_f:-0.129839, -0.651324, 0.363371  Reprojection Error: 0.895612, 1.229975 Feature: 0.424746, -0.443825, 0.789057
[11:52:56.358] xyz_f:-0.113311, -0.475698, 0.485236  Reprojection Error: 0.765976, 0.696982 Feature: 0.455942, -0.242641, 0.856296
[11:52:56.358] xyz_f:-0.467587, -0.158736, 0.630932  Reprojection Error: 0.864281, 0.354110 Feature: 0.121625, 0.101229, 0.987401
[11:52:56.358] xyz_f:-0.432265, 0.153446, 0.634236  Reprojection Error: 0.836429, 0.204483 Feature: 0.140031, 0.403629, 0.904143
[11:52:56.358] xyz_f:-0.102323, -0.451770, 0.494839  Reprojection Error: 0.752074, 0.659711 Feature: 0.467331, -0.217044, 0.857026
[11:52:56.358] xyz_f:-0.187488, -0.472131, 0.507391  Reprojection Error: 0.804215, 0.668706 Feature: 0.387647, -0.233462, 0.891754
[11:52:56.358] xyz_f:-0.313226, -0.236350, 0.616691  Reprojection Error: 0.792813, 0.406733 Feature: 0.273926, 0.022574, 0.961486
[11:52:56.358] xyz_f:-0.143449, -0.461165, 0.502281  Reprojection Error: 0.776008, 0.661919 Feature: 0.429105, -0.224192, 0.874989
[11:52:56.358] xyz_f:-1.159104, -0.523989, -0.005840  Reprojection Error: -199.546502, -90.395314 Feature: -0.663044, -0.416387, 0.622089
[11:52:56.358] xyz_f:-0.277496, 0.013623, 0.641920  Reprojection Error: 0.760832, 0.274597 Feature: 0.300486, 0.270559, 0.914607
[11:52:56.358] xyz_f:-0.533914, -0.062549, 0.633684  Reprojection Error: 0.895772, 0.297647 Feature: 0.052122, 0.194850, 0.979447
[11:52:56.358] xyz_f:-0.128546, -0.463741, 0.496594  Reprojection Error: 0.769343, 0.670743 Feature: 0.442678, -0.228152, 0.867169
[11:52:56.358] xyz_f:-0.316101, -0.221578, 0.620371  Reprojection Error: 0.791354, 0.396465 Feature: 0.271058, 0.037795, 0.961821
[11:52:56.358] xyz_f:-0.461989, -0.169667, 0.629582  Reprojection Error: 0.862803, 0.360935 Feature: 0.127418, 0.090321, 0.987728
[11:52:56.358] xyz_f:-0.333874, -0.232409, 0.618869  Reprojection Error: 0.802156, 0.403407 Feature: 0.253955, 0.026944, 0.966841
[11:52:56.358] xyz_f:-0.306797, 0.015543, 0.644511  Reprojection Error: 0.771077, 0.271858 Feature: 0.272243, 0.273084, 0.922664
[11:52:56.358] xyz_f:-0.342781, -0.253614, 0.613945  Reprojection Error: 0.811465, 0.418440 Feature: 0.245396, 0.005187, 0.969409
[11:52:56.358] xyz_f:-0.016323, 0.007296, 0.578443  Reprojection Error: 0.706017, 0.296672 Feature: 0.543533, 0.248018, 0.801910
[11:52:56.358] xyz_f:-1.159104, -0.523989, -0.005840  Reprojection Error: -199.521176, -90.381010 Feature: -0.663044, -0.416387, 0.622089
[11:52:56.358] xyz_f:-0.129839, -0.651324, 0.363371  Reprojection Error: 0.913672, 1.223318 Feature: 0.424746, -0.443825, 0.789057
[11:52:56.358] xyz_f:-0.194343, -0.447445, 0.521982  Reprojection Error: 0.811860, 0.625146 Feature: 0.382544, -0.205841, 0.900716
[11:52:56.358] xyz_f:-0.113311, -0.475698, 0.485236  Reprojection Error: 0.782620, 0.692697 Feature: 0.455942, -0.242641, 0.856296
[11:52:56.358] xyz_f:-0.351618, -0.264206, 0.611415  Reprojection Error: 0.831375, 0.423995 Feature: 0.236813, -0.005698, 0.971538
[11:52:56.358] xyz_f:-0.464771, -0.163126, 0.630457  Reprojection Error: 0.875174, 0.354736 Feature: 0.124520, 0.096865, 0.987478
[11:52:56.358] xyz_f:-0.533914, -0.062549, 0.633684  Reprojection Error: 0.910578, 0.297798 Feature: 0.052122, 0.194850, 0.979447
[11:52:56.358] xyz_f:-0.306797, 0.015543, 0.644511  Reprojection Error: 0.784450, 0.272775 Feature: 0.272243, 0.273084, 0.922664
[11:52:56.358] xyz_f:-0.277496, 0.013623, 0.641920  Reprojection Error: 0.777768, 0.273344 Feature: 0.300486, 0.270559, 0.914607
[11:52:56.358] xyz_f:-0.016323, 0.007296, 0.578443  Reprojection Error: 0.724661, 0.296107 Feature: 0.543533, 0.248018, 0.801910
[11:52:56.358] xyz_f:-0.432265, 0.153446, 0.634236  Reprojection Error: 0.846108, 0.205035 Feature: 0.140031, 0.403629, 0.904143
[11:52:56.358] it:40 	 Success 	 new_chi2: 0.615469 	 dT = 0.090557, 0.034802, -0.087395
[11:52:56.358] xyz_f:-0.326481, -0.262551, 0.570437  Reprojection Error: 0.816085, 0.454397 Feature: 0.236813, -0.005698, 0.971538
[11:52:56.358] xyz_f:-0.439879, -0.164036, 0.599048  Reprojection Error: 0.860396, 0.371921 Feature: 0.124520, 0.096865, 0.987478
[11:52:56.358] xyz_f:-0.173206, -0.442276, 0.467888  Reprojection Error: 0.794898, 0.716729 Feature: 0.382544, -0.205841, 0.900716
[11:52:56.358] xyz_f:-0.117715, -0.644797, 0.304209  Reprojection Error: 0.925248, 1.557109 Feature: 0.424746, -0.443825, 0.789057
[11:52:56.358] xyz_f:-0.094943, -0.468726, 0.424414  Reprojection Error: 0.756163, 0.821044 Feature: 0.455942, -0.242641, 0.856296
[11:52:56.358] xyz_f:-0.442743, -0.159709, 0.599763  Reprojection Error: 0.861374, 0.368808 Feature: 0.121625, 0.101229, 0.987401
[11:52:56.358] xyz_f:-0.414330, 0.153194, 0.600375  Reprojection Error: 0.844996, 0.191257 Feature: 0.140031, 0.403629, 0.904143
[11:52:56.358] xyz_f:-0.083728, -0.444547, 0.433080  Reprojection Error: 0.738625, 0.773225 Feature: 0.467331, -0.217044, 0.857026
[11:52:56.358] xyz_f:-0.167050, -0.466814, 0.452748  Reprojection Error: 0.803670, 0.769268 Feature: 0.387647, -0.233462, 0.891754
[11:52:56.358] xyz_f:-0.288419, -0.233830, 0.572485  Reprojection Error: 0.788701, 0.431926 Feature: 0.273926, 0.022574, 0.961486
[11:52:56.358] xyz_f:-0.123858, -0.454861, 0.443953  Reprojection Error: 0.769400, 0.768347 Feature: 0.429105, -0.224192, 0.874989
[11:52:56.358] xyz_f:-1.177056, -0.541099, 0.023212  Reprojection Error: 49.643892, 22.642178 Feature: -0.663044, -0.416387, 0.622089
[11:52:56.358] xyz_f:-0.256345, 0.016911, 0.594849  Reprojection Error: 0.759483, 0.267392 Feature: 0.300486, 0.270559, 0.914607
[11:52:56.358] xyz_f:-0.510759, -0.065043, 0.608189  Reprojection Error: 0.893019, 0.305885 Feature: 0.052122, 0.194850, 0.979447
[11:52:56.358] xyz_f:-0.109433, -0.457105, 0.437028  Reprojection Error: 0.760889, 0.782840 Feature: 0.442678, -0.228152, 0.867169
[11:52:56.358] xyz_f:-0.291307, -0.219123, 0.576408  Reprojection Error: 0.787201, 0.419448 Feature: 0.271058, 0.037795, 0.961821
[11:52:56.358] xyz_f:-0.437034, -0.170512, 0.597936  Reprojection Error: 0.859905, 0.376612 Feature: 0.127418, 0.090321, 0.987728
[11:52:56.358] xyz_f:-0.308894, -0.230355, 0.576399  Reprojection Error: 0.798568, 0.427512 Feature: 0.253955, 0.026944, 0.966841
[11:52:56.358] xyz_f:-0.285359, 0.018170, 0.599904  Reprojection Error: 0.770738, 0.265685 Feature: 0.272243, 0.273084, 0.922664
[11:52:56.358] xyz_f:-0.317703, -0.251760, 0.572223  Reprojection Error: 0.808347, 0.445319 Feature: 0.245396, 0.005187, 0.969409
[11:52:56.358] xyz_f:-0.001378, 0.016424, 0.509573  Reprojection Error: 0.680503, 0.277053 Feature: 0.543533, 0.248018, 0.801910
[11:52:56.358] xyz_f:-1.177056, -0.541099, 0.023212  Reprojection Error: 49.669218, 22.656481 Feature: -0.663044, -0.416387, 0.622089
[11:52:56.358] xyz_f:-0.117715, -0.644797, 0.304209  Reprojection Error: 0.943308, 1.550451 Feature: 0.424746, -0.443825, 0.789057
[11:52:56.358] xyz_f:-0.173206, -0.442276, 0.467888  Reprojection Error: 0.809729, 0.713201 Feature: 0.382544, -0.205841, 0.900716
[11:52:56.358] xyz_f:-0.094943, -0.468726, 0.424414  Reprojection Error: 0.772806, 0.816760 Feature: 0.455942, -0.242641, 0.856296
[11:52:56.358] xyz_f:-0.326481, -0.262551, 0.570437  Reprojection Error: 0.828619, 0.452135 Feature: 0.236813, -0.005698, 0.971538
[11:52:56.358] xyz_f:-0.439879, -0.164036, 0.599048  Reprojection Error: 0.872274, 0.369820 Feature: 0.124520, 0.096865, 0.987478
[11:52:56.358] xyz_f:-0.510759, -0.065043, 0.608189  Reprojection Error: 0.907825, 0.306036 Feature: 0.052122, 0.194850, 0.979447
[11:52:56.358] xyz_f:-0.285359, 0.018170, 0.599904  Reprojection Error: 0.784110, 0.266602 Feature: 0.272243, 0.273084, 0.922664
[11:52:56.358] xyz_f:-0.256345, 0.016911, 0.594849  Reprojection Error: 0.776419, 0.266138 Feature: 0.300486, 0.270559, 0.914607
[11:52:56.358] xyz_f:-0.001378, 0.016424, 0.509573  Reprojection Error: 0.699147, 0.276489 Feature: 0.543533, 0.248018, 0.801910
[11:52:56.358] xyz_f:-0.414330, 0.153194, 0.600375  Reprojection Error: 0.854675, 0.191809 Feature: 0.140031, 0.403629, 0.904143
[11:52:56.358] it:41 	 Success 	 new_chi2: 0.623040 	 dT = 0.028328, 0.021079, 0.012969
[11:52:56.358] xyz_f:-0.311943, -0.262921, 0.550739  Reprojection Error: 0.810160, 0.471531 Feature: 0.236813, -0.005698, 0.971538
[11:52:56.358] xyz_f:-0.425361, -0.164025, 0.577929  Reprojection Error: 0.862107, 0.381909 Feature: 0.124520, 0.096865, 0.987478
[11:52:56.358] xyz_f:-0.158001, -0.443161, 0.450114  Reprojection Error: 0.775735, 0.756023 Feature: 0.382544, -0.205841, 0.900716
[11:52:56.358] xyz_f:-0.101143, -0.645871, 0.287139  Reprojection Error: 0.890540, 1.686859 Feature: 0.424746, -0.443825, 0.789057
[11:52:56.358] xyz_f:-0.079288, -0.469875, 0.407623  Reprojection Error: 0.726972, 0.869356 Feature: 0.455942, -0.242641, 0.856296
[11:52:56.358] xyz_f:-0.428219, -0.159689, 0.578608  Reprojection Error: 0.863261, 0.378509 Feature: 0.121625, 0.101229, 0.987401
[11:52:56.358] xyz_f:-0.398765, 0.153118, 0.579582  Reprojection Error: 0.842899, 0.182236 Feature: 0.140031, 0.403629, 0.904143
[11:52:56.358] xyz_f:-0.068101, -0.445734, 0.416430  Reprojection Error: 0.708830, 0.817118 Feature: 0.467331, -0.217044, 0.857026
[11:52:56.358] xyz_f:-0.151737, -0.467721, 0.435051  Reprojection Error: 0.783482, 0.813292 Feature: 0.387647, -0.233462, 0.891754
[11:52:56.358] xyz_f:-0.273815, -0.234328, 0.553263  Reprojection Error: 0.779807, 0.447016 Feature: 0.273926, 0.022574, 0.961486
[11:52:56.358] xyz_f:-0.108399, -0.455913, 0.426799  Reprojection Error: 0.744392, 0.811992 Feature: 0.429105, -0.224192, 0.874989
[11:52:56.358] xyz_f:-1.156528, -0.538624, -0.007105  Reprojection Error: -163.841056, -76.477792 Feature: -0.663044, -0.416387, 0.622089
[11:52:56.358] xyz_f:-0.241182, 0.016304, 0.576033  Reprojection Error: 0.747236, 0.267516 Feature: 0.300486, 0.270559, 0.914607
[11:52:56.358] xyz_f:-0.496016, -0.064795, 0.586183  Reprojection Error: 0.899396, 0.309476 Feature: 0.052122, 0.194850, 0.979447
[11:52:56.358] xyz_f:-0.093896, -0.458206, 0.420055  Reprojection Error: 0.734019, 0.827723 Feature: 0.442678, -0.228152, 0.867169
[11:52:56.358] xyz_f:-0.276702, -0.219612, 0.557150  Reprojection Error: 0.778456, 0.433464 Feature: 0.271058, 0.037795, 0.961821
[11:52:56.358] xyz_f:-0.422523, -0.170511, 0.576852  Reprojection Error: 0.861464, 0.387033 Feature: 0.127418, 0.090321, 0.987728
[11:52:56.358] xyz_f:-0.294325, -0.230784, 0.556921  Reprojection Error: 0.791151, 0.442260 Feature: 0.253955, 0.026944, 0.966841
[11:52:56.358] xyz_f:-0.270253, 0.017661, 0.580724  Reprojection Error: 0.760435, 0.265561 Feature: 0.272243, 0.273084, 0.922664
[11:52:56.358] xyz_f:-0.303153, -0.252159, 0.552635  Reprojection Error: 0.801698, 0.461637 Feature: 0.245396, 0.005187, 0.969409
[11:52:56.358] xyz_f:0.014830, 0.014960, 0.493958  Reprojection Error: 0.647775, 0.278998 Feature: 0.543533, 0.248018, 0.801910
[11:52:56.358] xyz_f:-1.156528, -0.538624, -0.007105  Reprojection Error: -163.815729, -76.463488 Feature: -0.663044, -0.416387, 0.622089
[11:52:56.358] xyz_f:-0.101143, -0.645871, 0.287139  Reprojection Error: 0.908600, 1.680202 Feature: 0.424746, -0.443825, 0.789057
[11:52:56.358] xyz_f:-0.158001, -0.443161, 0.450114  Reprojection Error: 0.790565, 0.752495 Feature: 0.382544, -0.205841, 0.900716
[11:52:56.358] xyz_f:-0.079288, -0.469875, 0.407623  Reprojection Error: 0.743616, 0.865072 Feature: 0.455942, -0.242641, 0.856296
[11:52:56.358] xyz_f:-0.311943, -0.262921, 0.550739  Reprojection Error: 0.822694, 0.469270 Feature: 0.236813, -0.005698, 0.971538
[11:52:56.358] xyz_f:-0.425361, -0.164025, 0.577929  Reprojection Error: 0.873985, 0.379808 Feature: 0.124520, 0.096865, 0.987478
[11:52:56.358] xyz_f:-0.496016, -0.064795, 0.586183  Reprojection Error: 0.914202, 0.309628 Feature: 0.052122, 0.194850, 0.979447
[11:52:56.358] xyz_f:-0.270253, 0.017661, 0.580724  Reprojection Error: 0.773807, 0.266479 Feature: 0.272243, 0.273084, 0.922664
[11:52:56.358] xyz_f:-0.241182, 0.016304, 0.576033  Reprojection Error: 0.764172, 0.266262 Feature: 0.300486, 0.270559, 0.914607
[11:52:56.358] xyz_f:0.014830, 0.014960, 0.493958  Reprojection Error: 0.666418, 0.278434 Feature: 0.543533, 0.248018, 0.801910
[11:52:56.358] xyz_f:-0.398765, 0.153118, 0.579582  Reprojection Error: 0.852578, 0.182788 Feature: 0.140031, 0.403629, 0.904143
[11:52:56.358] it:42 	 Success 	 new_chi2: 0.665173 	 dT = 0.015436, 0.017391, 0.035289
[11:52:56.358] xyz_f:-0.355286, -0.263708, 0.536286  Reprojection Error: 0.906244, 0.485865 Feature: 0.236813, -0.005698, 0.971538
[11:52:56.358] xyz_f:-0.468656, -0.163777, 0.559611  Reprojection Error: 0.963567, 0.390755 Feature: 0.124520, 0.096865, 0.987478
[11:52:56.358] xyz_f:-0.199656, -0.445363, 0.440938  Reprojection Error: 0.877509, 0.781504 Feature: 0.382544, -0.205841, 0.900716
[11:52:56.359] xyz_f:-0.139130, -0.648609, 0.279964  Reprojection Error: 1.035253, 1.754283 Feature: 0.424746, -0.443825, 0.789057
[11:52:56.359] xyz_f:-0.119788, -0.472800, 0.401151  Reprojection Error: 0.831070, 0.895249 Feature: 0.455942, -0.242641, 0.856296
[11:52:56.359] xyz_f:-0.471496, -0.159415, 0.560193  Reprojection Error: 0.964844, 0.387092 Feature: 0.121625, 0.101229, 0.987401
[11:52:56.359] xyz_f:-0.439238, 0.153110, 0.562219  Reprojection Error: 0.936135, 0.174090 Feature: 0.140031, 0.403629, 0.904143
[11:52:56.359] xyz_f:-0.108688, -0.448761, 0.410337  Reprojection Error: 0.810169, 0.840389 Feature: 0.467331, -0.217044, 0.857026
[11:52:56.359] xyz_f:-0.193107, -0.469981, 0.426094  Reprojection Error: 0.887905, 0.841197 Feature: 0.387647, -0.233462, 0.891754
[11:52:56.359] xyz_f:-0.317006, -0.235464, 0.540113  Reprojection Error: 0.871824, 0.459432 Feature: 0.273926, 0.022574, 0.961486
[11:52:56.359] xyz_f:-0.149406, -0.458570, 0.419325  Reprojection Error: 0.846714, 0.837369 Feature: 0.429105, -0.224192, 0.874989
[11:52:56.359] xyz_f:-1.182851, -0.531774, -0.050060  Reprojection Error: -24.694612, -11.292121 Feature: -0.663044, -0.416387, 0.622089
[11:52:56.359] xyz_f:-0.282881, 0.014863, 0.564021  Reprojection Error: 0.830084, 0.269469 Feature: 0.300486, 0.270559, 0.914607
[11:52:56.359] xyz_f:-0.538643, -0.063904, 0.565468  Reprojection Error: 1.005778, 0.311950 Feature: 0.052122, 0.194850, 0.979447
[11:52:56.359] xyz_f:-0.134704, -0.460997, 0.413079  Reprojection Error: 0.836583, 0.852900 Feature: 0.442678, -0.228152, 0.867169
[11:52:56.359] xyz_f:-0.319890, -0.220722, 0.543902  Reprojection Error: 0.869956, 0.445107 Feature: 0.271058, 0.037795, 0.961821
[11:52:56.359] xyz_f:-0.465842, -0.170289, 0.558630  Reprojection Error: 0.962902, 0.396276 Feature: 0.127418, 0.090321, 0.987728
[11:52:56.359] xyz_f:-0.337596, -0.231732, 0.543070  Reprojection Error: 0.884307, 0.454576 Feature: 0.253955, 0.026944, 0.966841
[11:52:56.359] xyz_f:-0.312081, 0.016486, 0.567718  Reprojection Error: 0.844773, 0.266934 Feature: 0.272243, 0.273084, 0.922664
[11:52:56.359] xyz_f:-0.346467, -0.253027, 0.538482  Reprojection Error: 0.896553, 0.475241 Feature: 0.245396, 0.005187, 0.969409
[11:52:56.359] xyz_f:-0.024243, 0.011168, 0.490718  Reprojection Error: 0.727202, 0.286526 Feature: 0.543533, 0.248018, 0.801910
[11:52:56.359] xyz_f:-1.182851, -0.531774, -0.050060  Reprojection Error: -24.669285, -11.277818 Feature: -0.663044, -0.416387, 0.622089
[11:52:56.359] xyz_f:-0.139130, -0.648609, 0.279964  Reprojection Error: 1.053313, 1.747626 Feature: 0.424746, -0.443825, 0.789057
[11:52:56.359] xyz_f:-0.199656, -0.445363, 0.440938  Reprojection Error: 0.892339, 0.777976 Feature: 0.382544, -0.205841, 0.900716
[11:52:56.359] xyz_f:-0.119788, -0.472800, 0.401151  Reprojection Error: 0.847714, 0.890964 Feature: 0.455942, -0.242641, 0.856296
[11:52:56.359] xyz_f:-0.355286, -0.263708, 0.536286  Reprojection Error: 0.918778, 0.483603 Feature: 0.236813, -0.005698, 0.971538
[11:52:56.359] xyz_f:-0.468656, -0.163777, 0.559611  Reprojection Error: 0.975445, 0.388654 Feature: 0.124520, 0.096865, 0.987478
[11:52:56.359] xyz_f:-0.538643, -0.063904, 0.565468  Reprojection Error: 1.020584, 0.312102 Feature: 0.052122, 0.194850, 0.979447
[11:52:56.359] xyz_f:-0.312081, 0.016486, 0.567718  Reprojection Error: 0.858145, 0.267852 Feature: 0.272243, 0.273084, 0.922664
[11:52:56.359] xyz_f:-0.282881, 0.014863, 0.564021  Reprojection Error: 0.847021, 0.268215 Feature: 0.300486, 0.270559, 0.914607
[11:52:56.359] xyz_f:-0.024243, 0.011168, 0.490718  Reprojection Error: 0.745845, 0.285961 Feature: 0.543533, 0.248018, 0.801910
[11:52:56.359] xyz_f:-0.439238, 0.153110, 0.562219  Reprojection Error: 0.945813, 0.174642 Feature: 0.140031, 0.403629, 0.904143
[11:52:56.359] it:43 	 Success 	 new_chi2: 0.259546 	 dT = -0.731056, -0.275574, 1.590492
[11:52:56.359] xyz_f:-0.693599, -0.018178, -0.104473  Reprojection Error: -6.395297, -0.179863 Feature: 0.236813, -0.005698, 0.971538
[11:52:56.359] xyz_f:-0.688033, 0.110210, -0.187350  Reprojection Error: -3.546350, 0.686353 Feature: 0.124520, 0.096865, 0.987478
[11:52:56.359] xyz_f:-0.651590, -0.252003, -0.005117  Reprojection Error: -126.901944, -49.472199 Feature: 0.382544, -0.205841, 0.900716
[11:52:56.359] xyz_f:-0.549916, -0.498064, -0.006303  Reprojection Error: -86.705562, -79.580006 Feature: 0.424746, -0.443825, 0.789057
[11:52:56.359] xyz_f:-0.621838, -0.308377, 0.063085  Reprojection Error: 10.389629, 4.604917 Feature: 0.455942, -0.242641, 0.856296
[11:52:56.359] xyz_f:-0.687410, 0.115157, -0.188952  Reprojection Error: -3.514835, 0.711974 Feature: 0.121625, 0.101229, 0.987401
[11:52:56.359] xyz_f:-0.609131, 0.398504, -0.078031  Reprojection Error: -7.651412, 5.553430 Feature: 0.140031, 0.403629, 0.904143
[11:52:56.359] xyz_f:-0.624708, -0.286510, 0.080380  Reprojection Error: 8.317252, 3.311205 Feature: 0.467331, -0.217044, 0.857026
[11:52:56.359] xyz_f:-0.643753, -0.280418, -0.005791  Reprojection Error: -110.735682, -48.687445 Feature: 0.387647, -0.233462, 0.891754
[11:52:56.359] xyz_f:-0.690741, -0.000793, -0.060118  Reprojection Error: -11.204865, 0.010282 Feature: 0.273926, 0.022574, 0.961486
[11:52:56.359] xyz_f:-0.635125, -0.282821, 0.038993  Reprojection Error: 16.778727, 6.996970 Feature: 0.429105, -0.224192, 0.874989
[11:52:56.359] xyz_f:-0.180411, -0.203259, -1.000523  Reprojection Error: -1.246152, -0.872490 Feature: -0.663044, -0.416387, 0.622089
[11:52:56.359] xyz_f:-0.649725, 0.229699, 0.037814  Reprojection Error: 17.510446, -5.778548 Feature: 0.300486, 0.270559, 0.914607
[11:52:56.359] xyz_f:-0.666467, 0.222864, -0.229194  Reprojection Error: -2.854651, 1.171320 Feature: 0.052122, 0.194850, 0.979447
[11:52:56.359] xyz_f:-0.630010, -0.290478, 0.052269  Reprojection Error: 12.563621, 5.294232 Feature: 0.442678, -0.228152, 0.867169
[11:52:56.359] xyz_f:-0.690528, 0.014654, -0.058961  Reprojection Error: -11.429869, 0.287838 Feature: 0.271058, 0.037795, 0.961821
[11:52:56.359] xyz_f:-0.688826, 0.103165, -0.186340  Reprojection Error: -3.567600, 0.645079 Feature: 0.127418, 0.090321, 0.987728
[11:52:56.359] xyz_f:-0.692225, 0.008765, -0.078907  Reprojection Error: -8.509978, 0.138954 Feature: 0.253955, 0.026944, 0.966841
[11:52:56.359] xyz_f:-0.652300, 0.239710, 0.010208  Reprojection Error: 64.195708, -23.186458 Feature: 0.272243, 0.273084, 0.922664
[11:52:56.359] xyz_f:-0.693130, -0.009949, -0.093126  Reprojection Error: -7.189772, -0.101482 Feature: 0.245396, 0.005187, 0.969409
[11:52:56.359] xyz_f:-0.584983, 0.140643, 0.283085  Reprojection Error: 2.744253, -0.187537 Feature: 0.543533, 0.248018, 0.801910
[11:52:56.359] xyz_f:-0.180411, -0.203259, -1.000523  Reprojection Error: -1.220825, -0.858186 Feature: -0.663044, -0.416387, 0.622089
[11:52:56.359] xyz_f:-0.549916, -0.498064, -0.006303  Reprojection Error: -86.687502, -79.586663 Feature: 0.424746, -0.443825, 0.789057
[11:52:56.359] xyz_f:-0.651590, -0.252003, -0.005117  Reprojection Error: -126.887113, -49.475727 Feature: 0.382544, -0.205841, 0.900716
[11:52:56.359] xyz_f:-0.621838, -0.308377, 0.063085  Reprojection Error: 10.406272, 4.600633 Feature: 0.455942, -0.242641, 0.856296
[11:52:56.359] xyz_f:-0.693599, -0.018178, -0.104473  Reprojection Error: -6.382763, -0.182125 Feature: 0.236813, -0.005698, 0.971538
[11:52:56.359] xyz_f:-0.688033, 0.110210, -0.187350  Reprojection Error: -3.534472, 0.684252 Feature: 0.124520, 0.096865, 0.987478
[11:52:56.359] xyz_f:-0.666467, 0.222864, -0.229194  Reprojection Error: -2.839845, 1.171472 Feature: 0.052122, 0.194850, 0.979447
[11:52:56.359] xyz_f:-0.652300, 0.239710, 0.010208  Reprojection Error: 64.209080, -23.185541 Feature: 0.272243, 0.273084, 0.922664
[11:52:56.359] xyz_f:-0.649725, 0.229699, 0.037814  Reprojection Error: 17.527383, -5.779802 Feature: 0.300486, 0.270559, 0.914607
[11:52:56.359] xyz_f:-0.584983, 0.140643, 0.283085  Reprojection Error: 2.762897, -0.188101 Feature: 0.543533, 0.248018, 0.801910
[11:52:56.359] xyz_f:-0.609131, 0.398504, -0.078031  Reprojection Error: -7.641733, 5.553982 Feature: 0.140031, 0.403629, 0.904143
[11:52:56.359] it:44 	 Success 	 new_chi2: 0.000000 	 dT = 0.000000, 0.000000, 0.000000
[11:52:56.359] After pose optimization, distance between two frames:0.212992 ,angle between two frames:-2.345591
[11:52:56.448] Reprojection Map nPoint:21 ,nCell:11 ,nMatches:11 ,distance between two frames:2.764876 ,angle between two frames:-3.566484
[11:52:56.448] Init estimate scale:1.657318
[11:52:56.448] xyz_f:2.479555, -0.255751, 1.018538  Reprojection Error: -2.178141, 0.242970 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.448] xyz_f:2.374288, -0.145694, 1.003972  Reprojection Error: -2.226917, 0.241111 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.448] xyz_f:2.641858, -0.451923, 0.978181  Reprojection Error: -2.261245, 0.229945 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.448] xyz_f:2.735675, -0.661763, 0.843667  Reprojection Error: -2.686246, 0.215256 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.448] xyz_f:2.727972, -0.486948, 0.967177  Reprojection Error: -2.271447, 0.215827 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.448] xyz_f:2.374609, -0.139235, 1.005121  Reprojection Error: -2.224457, 0.241214 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.448] xyz_f:2.427788, 0.169507, 1.021015  Reprojection Error: -2.213262, 0.280955 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.448] xyz_f:2.737173, -0.461985, 0.980968  Reprojection Error: -2.228513, 0.216220 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.448] xyz_f:2.650634, -0.475288, 0.967019  Reprojection Error: -2.291497, 0.228495 Feature: 0.398705, -0.233263, 0.886918
[11:52:56.448] xyz_f:2.516745, -0.228945, 1.036086  Reprojection Error: -2.131322, 0.244519 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.448] xyz_f:2.695230, -0.469882, 0.974550  Reprojection Error: -2.259334, 0.222000 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.448] xyz_f:1.876321, -0.452179, 0.185120  Reprojection Error: -11.176225, 1.787598 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.448] xyz_f:2.566300, 0.015030, 1.074697  Reprojection Error: -2.042452, 0.280581 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.448] xyz_f:2.318531, -0.038028, 0.989148  Reprojection Error: -2.275946, 0.237536 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.448] xyz_f:2.710948, -0.473702, 0.973583  Reprojection Error: -2.257811, 0.219404 Feature: 0.453513, -0.230032, 0.861052
[11:52:56.448] xyz_f:2.514097, -0.213952, 1.038910  Reprojection Error: -2.125274, 0.245349 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.448] xyz_f:2.376670, -0.152445, 1.003882  Reprojection Error: -2.226593, 0.241194 Feature: 0.138965, 0.088121, 0.986369
[11:52:56.448] xyz_f:2.499609, -0.223527, 1.032733  Reprojection Error: -2.141849, 0.244406 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.448] xyz_f:2.535177, 0.021762, 1.067786  Reprojection Error: -2.065802, 0.276510 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.448] xyz_f:2.490891, -0.243995, 1.025109  Reprojection Error: -2.160972, 0.243387 Feature: 0.259679, 0.005184, 0.965681
[11:52:56.448] xyz_f:2.830849, -0.013079, 1.092127  Reprojection Error: -1.895608, 0.320695 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.448] xyz_f:1.876321, -0.452179, 0.185120  Reprojection Error: -11.176225, 1.787598 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.448] xyz_f:2.641858, -0.451923, 0.978181  Reprojection Error: -2.261245, 0.229945 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.448] xyz_f:2.727972, -0.486948, 0.967177  Reprojection Error: -2.271447, 0.215827 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.448] xyz_f:2.737173, -0.461985, 0.980968  Reprojection Error: -2.224352, 0.215842 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.448] xyz_f:2.479555, -0.255751, 1.018538  Reprojection Error: -2.174997, 0.245213 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.448] xyz_f:2.374288, -0.145694, 1.003972  Reprojection Error: -2.226917, 0.241111 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.448] xyz_f:2.318531, -0.038028, 0.989148  Reprojection Error: -2.275946, 0.237536 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.448] xyz_f:2.566300, 0.015030, 1.074697  Reprojection Error: -2.045894, 0.280321 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.448] xyz_f:2.830849, -0.013079, 1.092127  Reprojection Error: -1.895608, 0.320695 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.448] xyz_f:2.735675, -0.661763, 0.843667  Reprojection Error: -3.086037, 1.264574 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.448] xyz_f:2.427788, 0.169507, 1.021015  Reprojection Error: -2.219718, 0.280583 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.448] it:0 	 Success 	 new_chi2: 127.323450 	 dT = -0.107524, 0.044748, 0.000116
[11:52:56.448] xyz_f:-0.297014, -0.255760, 1.063318  Reprojection Error: 0.535612, 0.232403 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.448] xyz_f:-0.402286, -0.145706, 1.048764  Reprojection Error: 0.521558, 0.234924 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.448] xyz_f:-0.134709, -0.451927, 1.022943  Reprojection Error: 0.571230, 0.209733 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.448] xyz_f:-0.040901, -0.661763, 0.888418  Reprojection Error: 0.602393, 0.175746 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.448] xyz_f:-0.048595, -0.486949, 1.011929  Reprojection Error: 0.597125, 0.193563 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.448] xyz_f:-0.401964, -0.139246, 1.049912  Reprojection Error: 0.520910, 0.235316 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.448] xyz_f:-0.348794, 0.169497, 1.065801  Reprojection Error: 0.491815, 0.287941 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.448] xyz_f:-0.039394, -0.461986, 1.025719  Reprojection Error: 0.600171, 0.195674 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.448] xyz_f:-0.125934, -0.475292, 1.011779  Reprojection Error: 0.574008, 0.206755 Feature: 0.398705, -0.233263, 0.886918
[11:52:56.448] xyz_f:-0.259822, -0.228953, 1.080862  Reprojection Error: 0.538151, 0.235372 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.448] xyz_f:-0.081337, -0.469884, 1.019306  Reprojection Error: 0.586078, 0.200832 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.448] xyz_f:-0.900335, -0.452206, 0.229967  Reprojection Error: 2.874548, 1.311360 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.448] xyz_f:-0.210270, 0.015024, 1.119467  Reprojection Error: 0.533309, 0.281146 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.448] xyz_f:-0.458047, -0.038042, 1.033946  Reprojection Error: 0.511031, 0.235884 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.448] xyz_f:-0.065619, -0.473704, 1.018337  Reprojection Error: 0.591134, 0.198022 Feature: 0.453513, -0.230032, 0.861052
[11:52:56.448] xyz_f:-0.262471, -0.213959, 1.083686  Reprojection Error: 0.536865, 0.236846 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.448] xyz_f:-0.399903, -0.152456, 1.048674  Reprojection Error: 0.522227, 0.234719 Feature: 0.138965, 0.088121, 0.986369
[11:52:56.448] xyz_f:-0.276959, -0.223535, 1.077511  Reprojection Error: 0.535569, 0.235418 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.448] xyz_f:-0.241394, 0.021755, 1.112560  Reprojection Error: 0.525407, 0.277337 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.448] xyz_f:-0.285677, -0.244003, 1.069887  Reprojection Error: 0.535924, 0.233433 Feature: 0.259679, 0.005184, 0.965681
[11:52:56.448] xyz_f:0.054281, -0.013077, 1.136868  Reprojection Error: 0.648696, 0.320222 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.448] xyz_f:-0.900335, -0.452206, 0.229967  Reprojection Error: 2.874548, 1.311360 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.448] xyz_f:-0.134709, -0.451927, 1.022943  Reprojection Error: 0.571230, 0.209733 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.448] xyz_f:-0.048595, -0.486949, 1.011929  Reprojection Error: 0.597125, 0.193563 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.448] xyz_f:-0.039394, -0.461986, 1.025719  Reprojection Error: 0.604332, 0.195296 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.448] xyz_f:-0.297014, -0.255760, 1.063318  Reprojection Error: 0.538757, 0.234646 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.448] xyz_f:-0.402286, -0.145706, 1.048764  Reprojection Error: 0.521558, 0.234924 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.448] xyz_f:-0.458047, -0.038042, 1.033946  Reprojection Error: 0.511031, 0.235884 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.448] xyz_f:-0.210270, 0.015024, 1.119467  Reprojection Error: 0.529866, 0.280885 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.448] xyz_f:0.054281, -0.013077, 1.136868  Reprojection Error: 0.648696, 0.320222 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.448] xyz_f:-0.040901, -0.661763, 0.888418  Reprojection Error: 0.202602, 1.225064 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.448] xyz_f:-0.348794, 0.169497, 1.065801  Reprojection Error: 0.485359, 0.287569 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.448] it:1 	 Success 	 new_chi2: 25.870532 	 dT = -0.010563, 0.016140, 0.056937
[11:52:56.448] xyz_f:-0.100283, -0.259540, 1.093566  Reprojection Error: 0.347987, 0.229207 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.448] xyz_f:-0.207805, -0.151055, 1.084865  Reprojection Error: 0.329526, 0.235231 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.448] xyz_f:0.062429, -0.453312, 1.044251  Reprojection Error: 0.379758, 0.202044 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.448] xyz_f:0.151781, -0.661798, 0.904689  Reprojection Error: 0.388584, 0.162388 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.448] xyz_f:0.148314, -0.487066, 1.028507  Reprojection Error: 0.404900, 0.185920 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.448] xyz_f:-0.207516, -0.144590, 1.085997  Reprojection Error: 0.329138, 0.235830 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.448] xyz_f:-0.158105, 0.164909, 1.099064  Reprojection Error: 0.308410, 0.296929 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.448] xyz_f:0.157891, -0.461964, 1.041780  Reprojection Error: 0.410207, 0.188710 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.448] xyz_f:0.070921, -0.476549, 1.032613  Reprojection Error: 0.380859, 0.198495 Feature: 0.398705, -0.233263, 0.886918
[11:52:56.448] xyz_f:-0.062582, -0.232181, 1.109050  Reprojection Error: 0.354195, 0.232899 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.448] xyz_f:0.115779, -0.470482, 1.037679  Reprojection Error: 0.394706, 0.193246 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.448] xyz_f:-0.745539, -0.465189, 0.294559  Reprojection Error: 1.490527, 0.924238 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.448] xyz_f:-0.014581, 0.012515, 1.144972  Reprojection Error: 0.358213, 0.283636 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.448] xyz_f:-0.265876, -0.044229, 1.073179  Reprojection Error: 0.315768, 0.240304 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.448] xyz_f:0.131475, -0.474071, 1.035846  Reprojection Error: 0.399771, 0.190513 Feature: 0.453513, -0.230032, 0.861052
[11:52:56.448] xyz_f:-0.065292, -0.217227, 1.112022  Reprojection Error: 0.353378, 0.234754 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.448] xyz_f:-0.205332, -0.157769, 1.084642  Reprojection Error: 0.330194, 0.234797 Feature: 0.138965, 0.088121, 0.986369
[11:52:56.448] xyz_f:-0.079954, -0.227017, 1.106648  Reprojection Error: 0.350783, 0.233103 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.448] xyz_f:-0.046134, 0.018783, 1.139789  Reprojection Error: 0.348910, 0.280411 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.448] xyz_f:-0.088776, -0.247615, 1.099508  Reprojection Error: 0.349650, 0.230574 Feature: 0.259679, 0.005184, 0.965681
[11:52:56.448] xyz_f:0.250911, -0.011679, 1.147794  Reprojection Error: 0.477838, 0.318896 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.448] xyz_f:-0.745539, -0.465189, 0.294559  Reprojection Error: 1.490527, 0.924238 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.448] xyz_f:0.062429, -0.453312, 1.044251  Reprojection Error: 0.379758, 0.202044 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.448] xyz_f:0.148314, -0.487066, 1.028507  Reprojection Error: 0.404900, 0.185920 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.448] xyz_f:0.157891, -0.461964, 1.041780  Reprojection Error: 0.414368, 0.188332 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.448] xyz_f:-0.100283, -0.259540, 1.093566  Reprojection Error: 0.351131, 0.231450 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.448] xyz_f:-0.207805, -0.151055, 1.084865  Reprojection Error: 0.329526, 0.235231 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.448] xyz_f:-0.265876, -0.044229, 1.073179  Reprojection Error: 0.315768, 0.240304 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.449] xyz_f:-0.014581, 0.012515, 1.144972  Reprojection Error: 0.354771, 0.283376 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.449] xyz_f:0.250911, -0.011679, 1.147794  Reprojection Error: 0.477838, 0.318896 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.449] xyz_f:0.151781, -0.661798, 0.904689  Reprojection Error: -0.011207, 1.211707 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.449] xyz_f:-0.158105, 0.164909, 1.099064  Reprojection Error: 0.301954, 0.296557 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.449] it:2 	 Success 	 new_chi2: 12.501238 	 dT = -0.019123, 0.018964, 0.051210
[11:52:56.449] xyz_f:-0.042576, -0.262243, 1.122617  Reprojection Error: 0.294210, 0.225473 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.449] xyz_f:-0.151824, -0.155194, 1.119279  Reprojection Error: 0.273622, 0.234648 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.449] xyz_f:0.120052, -0.453858, 1.065254  Reprojection Error: 0.326844, 0.193998 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.449] xyz_f:0.205148, -0.661188, 0.921376  Reprojection Error: 0.333701, 0.148478 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.449] xyz_f:0.205492, -0.486477, 1.045272  Reprojection Error: 0.352510, 0.177761 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.449] xyz_f:-0.151566, -0.148727, 1.120397  Reprojection Error: 0.273333, 0.235433 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.449] xyz_f:-0.105674, 0.161405, 1.131106  Reprojection Error: 0.257981, 0.304277 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.449] xyz_f:0.215381, -0.461246, 1.058063  Reprojection Error: 0.358204, 0.181206 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.449] xyz_f:0.128264, -0.476985, 1.053202  Reprojection Error: 0.327755, 0.189886 Feature: 0.398705, -0.233263, 0.886918
[11:52:56.449] xyz_f:-0.004521, -0.234381, 1.136227  Reprojection Error: 0.301746, 0.229828 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.449] xyz_f:0.173234, -0.470323, 1.056046  Reprojection Error: 0.342241, 0.185209 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.449] xyz_f:-0.723768, -0.476684, 0.356423  Reprojection Error: 0.990131, 0.682375 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.449] xyz_f:0.041951, 0.010941, 1.169812  Reprojection Error: 0.309617, 0.285214 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.449] xyz_f:-0.211813, -0.049151, 1.110513  Reprojection Error: 0.258756, 0.243351 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.449] xyz_f:0.188866, -0.473703, 1.053438  Reprojection Error: 0.347411, 0.182521 Feature: 0.453513, -0.230032, 0.861052
[11:52:56.449] xyz_f:-0.007279, -0.219464, 1.139334  Reprojection Error: 0.301052, 0.232035 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.449] xyz_f:-0.149276, -0.161876, 1.118931  Reprojection Error: 0.274295, 0.234009 Feature: 0.138965, 0.088121, 0.986369
[11:52:56.449] xyz_f:-0.022058, -0.229450, 1.134689  Reprojection Error: 0.297973, 0.230177 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.449] xyz_f:0.010100, 0.016789, 1.166197  Reprojection Error: 0.299774, 0.282494 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.449] xyz_f:-0.030948, -0.250165, 1.127986  Reprojection Error: 0.296345, 0.227148 Feature: 0.259679, 0.005184, 0.965681
[11:52:56.449] xyz_f:0.307555, -0.009733, 1.159495  Reprojection Error: 0.431192, 0.317115 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.449] xyz_f:-0.723768, -0.476684, 0.356423  Reprojection Error: 0.990131, 0.682375 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.449] xyz_f:0.120052, -0.453858, 1.065254  Reprojection Error: 0.326844, 0.193998 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.449] xyz_f:0.205492, -0.486477, 1.045272  Reprojection Error: 0.352510, 0.177761 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.449] xyz_f:0.215381, -0.461246, 1.058063  Reprojection Error: 0.362365, 0.180829 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.449] xyz_f:-0.042576, -0.262243, 1.122617  Reprojection Error: 0.297354, 0.227716 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.449] xyz_f:-0.151824, -0.155194, 1.119279  Reprojection Error: 0.273622, 0.234648 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.449] xyz_f:-0.211813, -0.049151, 1.110513  Reprojection Error: 0.258756, 0.243351 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.449] xyz_f:0.041951, 0.010941, 1.169812  Reprojection Error: 0.306175, 0.284954 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.449] xyz_f:0.307555, -0.009733, 1.159495  Reprojection Error: 0.431192, 0.317115 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.449] xyz_f:0.205148, -0.661188, 0.921376  Reprojection Error: -0.066090, 1.197796 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.449] xyz_f:-0.105674, 0.161405, 1.131106  Reprojection Error: 0.251525, 0.303905 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.449] it:3 	 Success 	 new_chi2: 8.638461 	 dT = -0.024405, 0.020781, 0.050875
[11:52:56.449] xyz_f:0.021370, -0.264267, 1.150951  Reprojection Error: 0.237718, 0.221481 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.449] xyz_f:-0.089311, -0.158667, 1.153018  Reprojection Error: 0.215435, 0.233603 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.449] xyz_f:0.183491, -0.453744, 1.085608  Reprojection Error: 0.270520, 0.185905 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.449] xyz_f:0.264139, -0.659982, 0.937656  Reprojection Error: 0.274654, 0.134732 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.449] xyz_f:0.268269, -0.485242, 1.061442  Reprojection Error: 0.296362, 0.169507 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.449] xyz_f:-0.089082, -0.152196, 1.154125  Reprojection Error: 0.215241, 0.234560 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.449] xyz_f:-0.046806, 0.158516, 1.162667  Reprojection Error: 0.204813, 0.310635 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.449] xyz_f:0.278441, -0.459879, 1.073740  Reprojection Error: 0.302447, 0.173568 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.449] xyz_f:0.191405, -0.476764, 1.073160  Reprojection Error: 0.271183, 0.181258 Feature: 0.398705, -0.233263, 0.886918
[11:52:56.449] xyz_f:0.059677, -0.235903, 1.162685  Reprojection Error: 0.246440, 0.226442 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.449] xyz_f:0.236369, -0.469510, 1.073793  Reprojection Error: 0.286156, 0.177092 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.449] xyz_f:-0.693754, -0.487903, 0.419074  Reprojection Error: 0.614937, 0.509206 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.449] xyz_f:0.104510, 0.010021, 1.194026  Reprojection Error: 0.257951, 0.286174 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.449] xyz_f:-0.151048, -0.053425, 1.147244  Reprojection Error: 0.199683, 0.245659 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.449] xyz_f:0.251897, -0.472685, 1.070419  Reprojection Error: 0.291371, 0.174437 Feature: 0.453513, -0.230032, 0.861052
[11:52:56.449] xyz_f:0.056879, -0.221022, 1.165928  Reprojection Error: 0.245879, 0.228977 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.449] xyz_f:-0.086695, -0.165314, 1.152544  Reprojection Error: 0.216106, 0.232773 Feature: 0.138965, 0.088121, 0.986369
[11:52:56.449] xyz_f:0.042022, -0.231202, 1.162012  Reprojection Error: 0.242370, 0.226931 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.449] xyz_f:0.072446, 0.015448, 1.191982  Reprojection Error: 0.247657, 0.283931 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.449] xyz_f:0.033087, -0.252035, 1.155747  Reprojection Error: 0.240280, 0.223440 Feature: 0.259679, 0.005184, 0.965681
[11:52:56.449] xyz_f:0.369536, -0.007159, 1.170668  Reprojection Error: 0.380779, 0.314835 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.449] xyz_f:-0.693754, -0.487903, 0.419074  Reprojection Error: 0.614937, 0.509206 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.449] xyz_f:0.183491, -0.453744, 1.085608  Reprojection Error: 0.270520, 0.185905 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.449] xyz_f:0.268269, -0.485242, 1.061442  Reprojection Error: 0.296362, 0.169507 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.449] xyz_f:0.278441, -0.459879, 1.073740  Reprojection Error: 0.306608, 0.173190 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.449] xyz_f:0.021370, -0.264267, 1.150951  Reprojection Error: 0.240862, 0.223724 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.449] xyz_f:-0.089311, -0.158667, 1.153018  Reprojection Error: 0.215435, 0.233603 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.449] xyz_f:-0.151048, -0.053425, 1.147244  Reprojection Error: 0.199683, 0.245659 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.449] xyz_f:0.104510, 0.010021, 1.194026  Reprojection Error: 0.254509, 0.285914 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.449] xyz_f:0.369536, -0.007159, 1.170668  Reprojection Error: 0.380779, 0.314835 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.449] xyz_f:0.264139, -0.659982, 0.937656  Reprojection Error: -0.125137, 1.184050 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.449] xyz_f:-0.046806, 0.158516, 1.162667  Reprojection Error: 0.198357, 0.310263 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.449] it:4 	 Success 	 new_chi2: 6.166932 	 dT = -0.028545, 0.021803, 0.048600
[11:52:56.449] xyz_f:0.086337, -0.265580, 1.177656  Reprojection Error: 0.182972, 0.217389 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.449] xyz_f:-0.025443, -0.161379, 1.184945  Reprojection Error: 0.159449, 0.232184 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.449] xyz_f:0.247583, -0.453023, 1.104721  Reprojection Error: 0.215428, 0.178021 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.449] xyz_f:0.323787, -0.658275, 0.953087  Reprojection Error: 0.216631, 0.121545 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.449] xyz_f:0.331523, -0.483460, 1.076594  Reprojection Error: 0.241165, 0.161418 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.449] xyz_f:-0.025244, -0.154906, 1.186042  Reprojection Error: 0.159339, 0.233296 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.449] xyz_f:0.013476, 0.156316, 1.192682  Reprojection Error: 0.153257, 0.315911 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.449] xyz_f:0.341941, -0.457967, 1.088409  Reprojection Error: 0.247599, 0.166039 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.449] xyz_f:0.255194, -0.475946, 1.091908  Reprojection Error: 0.215826, 0.172881 Feature: 0.398705, -0.233263, 0.886918
[11:52:56.449] xyz_f:0.124793, -0.236733, 1.187587  Reprojection Error: 0.192686, 0.222887 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.449] xyz_f:0.300043, -0.468126, 1.090433  Reprojection Error: 0.231122, 0.169151 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.449] xyz_f:-0.659474, -0.498406, 0.480076  Reprojection Error: 0.333177, 0.383148 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.449] xyz_f:0.167951, 0.009744, 1.216862  Reprojection Error: 0.207458, 0.286560 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.449] xyz_f:-0.088701, -0.056924, 1.182105  Reprojection Error: 0.143058, 0.247246 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.449] xyz_f:0.315434, -0.471107, 1.086333  Reprojection Error: 0.236331, 0.166515 Feature: 0.453513, -0.230032, 0.861052
[11:52:56.449] xyz_f:0.121964, -0.221888, 1.190963  Reprojection Error: 0.192256, 0.225719 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.449] xyz_f:-0.022769, -0.167993, 1.184347  Reprojection Error: 0.160111, 0.231184 Feature: 0.138965, 0.088121, 0.986369
[11:52:56.449] xyz_f:0.107069, -0.232255, 1.187744  Reprojection Error: 0.188389, 0.223507 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.449] xyz_f:0.135761, 0.014767, 1.216327  Reprojection Error: 0.196819, 0.284750 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.449] xyz_f:0.098112, -0.253200, 1.181900  Reprojection Error: 0.185896, 0.219600 Feature: 0.259679, 0.005184, 0.965681
[11:52:56.449] xyz_f:0.431785, -0.004109, 1.181089  Reprojection Error: 0.330860, 0.312199 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.449] xyz_f:-0.659474, -0.498406, 0.480076  Reprojection Error: 0.333177, 0.383148 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.449] xyz_f:0.247583, -0.453023, 1.104721  Reprojection Error: 0.215428, 0.178021 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.449] xyz_f:0.331523, -0.483460, 1.076594  Reprojection Error: 0.241165, 0.161418 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.449] xyz_f:0.341941, -0.457967, 1.088409  Reprojection Error: 0.251760, 0.165662 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.449] xyz_f:0.086337, -0.265580, 1.177656  Reprojection Error: 0.186116, 0.219632 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.449] xyz_f:-0.025443, -0.161379, 1.184945  Reprojection Error: 0.159449, 0.232184 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.449] xyz_f:-0.088701, -0.056924, 1.182105  Reprojection Error: 0.143058, 0.247246 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.449] xyz_f:0.167951, 0.009744, 1.216862  Reprojection Error: 0.204016, 0.286299 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.449] xyz_f:0.431785, -0.004109, 1.181089  Reprojection Error: 0.330860, 0.312199 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.449] xyz_f:0.323787, -0.658275, 0.953087  Reprojection Error: -0.183160, 1.170863 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.449] xyz_f:0.013476, 0.156316, 1.192682  Reprojection Error: 0.146800, 0.315539 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.449] it:5 	 Success 	 new_chi2: 4.663079 	 dT = -0.029557, 0.021740, 0.043127
[11:52:56.449] xyz_f:0.150177, -0.266236, 1.201842  Reprojection Error: 0.131330, 0.213396 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.449] xyz_f:0.037641, -0.163287, 1.213804  Reprojection Error: 0.106966, 0.230518 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.449] xyz_f:0.310327, -0.451884, 1.122211  Reprojection Error: 0.163010, 0.170615 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.449] xyz_f:0.382435, -0.656308, 0.967488  Reprojection Error: 0.161069, 0.109231 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.449] xyz_f:0.393357, -0.481389, 1.090606  Reprojection Error: 0.188425, 0.153750 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.449] xyz_f:0.037813, -0.156811, 1.214893  Reprojection Error: 0.106930, 0.231763 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.449] xyz_f:0.073301, 0.154825, 1.219987  Reprojection Error: 0.104472, 0.320067 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.449] xyz_f:0.403973, -0.455779, 1.101983  Reprojection Error: 0.195178, 0.158871 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.449] xyz_f:0.317652, -0.474724, 1.109088  Reprojection Error: 0.163131, 0.165027 Feature: 0.398705, -0.233263, 0.886918
[11:52:56.449] xyz_f:0.188688, -0.236959, 1.210170  Reprojection Error: 0.141848, 0.219354 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.449] xyz_f:0.362311, -0.466405, 1.105748  Reprojection Error: 0.178620, 0.161648 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.449] xyz_f:-0.621393, -0.507531, 0.535872  Reprojection Error: 0.119084, 0.292080 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.449] xyz_f:0.230275, 0.009991, 1.237679  Reprojection Error: 0.159424, 0.286494 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.449] xyz_f:-0.026842, -0.059545, 1.213625  Reprojection Error: 0.090139, 0.248154 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.449] xyz_f:0.377551, -0.469215, 1.101010  Reprojection Error: 0.183783, 0.159015 Feature: 0.453513, -0.230032, 0.861052
[11:52:56.449] xyz_f:0.185837, -0.222145, 1.213663  Reprojection Error: 0.141543, 0.222447 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.449] xyz_f:0.040361, -0.169871, 1.213093  Reprojection Error: 0.107614, 0.229370 Feature: 0.138965, 0.088121, 0.986369
[11:52:56.449] xyz_f:0.170937, -0.232679, 1.211066  Reprojection Error: 0.137388, 0.220091 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.449] xyz_f:0.198037, 0.014654, 1.238487  Reprojection Error: 0.148532, 0.285058 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.449] xyz_f:0.161979, -0.253724, 1.205595  Reprojection Error: 0.134552, 0.215824 Feature: 0.259679, 0.005184, 0.965681
[11:52:56.449] xyz_f:0.492528, -0.000925, 1.190947  Reprojection Error: 0.282881, 0.309497 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.449] xyz_f:-0.621393, -0.507531, 0.535872  Reprojection Error: 0.119084, 0.292080 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.449] xyz_f:0.310327, -0.451884, 1.122211  Reprojection Error: 0.163010, 0.170615 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.449] xyz_f:0.393357, -0.481389, 1.090606  Reprojection Error: 0.188425, 0.153750 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.449] xyz_f:0.403973, -0.455779, 1.101983  Reprojection Error: 0.199339, 0.158493 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.449] xyz_f:0.150177, -0.266236, 1.201842  Reprojection Error: 0.134474, 0.215639 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.449] xyz_f:0.037641, -0.163287, 1.213804  Reprojection Error: 0.106966, 0.230518 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.449] xyz_f:-0.026842, -0.059545, 1.213625  Reprojection Error: 0.090139, 0.248154 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.449] xyz_f:0.230275, 0.009991, 1.237679  Reprojection Error: 0.155982, 0.286234 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.449] xyz_f:0.492528, -0.000925, 1.190947  Reprojection Error: 0.282881, 0.309497 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.449] xyz_f:0.382435, -0.656308, 0.967488  Reprojection Error: -0.238722, 1.158550 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.449] xyz_f:0.073301, 0.154825, 1.219987  Reprojection Error: 0.098016, 0.319695 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.449] it:6 	 Success 	 new_chi2: 3.782088 	 dT = -0.027217, 0.020630, 0.034918
[11:52:56.449] xyz_f:0.209165, -0.266414, 1.223137  Reprojection Error: 0.085278, 0.209685 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.449] xyz_f:0.096171, -0.164484, 1.238903  Reprojection Error: 0.060351, 0.228759 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.449] xyz_f:0.368210, -0.450620, 1.138123  Reprojection Error: 0.116018, 0.163874 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.449] xyz_f:0.436904, -0.654408, 0.981025  Reprojection Error: 0.111001, 0.097933 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.449] xyz_f:0.450390, -0.479378, 1.103732  Reprojection Error: 0.141041, 0.146679 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.449] xyz_f:0.096321, -0.158007, 1.239986  Reprojection Error: 0.060375, 0.230115 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.449] xyz_f:0.129144, 0.153938, 1.243929  Reprojection Error: 0.060736, 0.323223 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.449] xyz_f:0.461152, -0.453671, 1.114748  Reprojection Error: 0.148083, 0.152244 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.449] xyz_f:0.375295, -0.473394, 1.124757  Reprojection Error: 0.115872, 0.157882 Feature: 0.398705, -0.233263, 0.886918
[11:52:56.449] xyz_f:0.247670, -0.236789, 1.230166  Reprojection Error: 0.096437, 0.216033 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.449] xyz_f:0.419738, -0.464673, 1.119914  Reprojection Error: 0.131486, 0.154766 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.449] xyz_f:-0.582212, -0.514773, 0.583528  Reprojection Error: -0.042764, 0.227140 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.449] xyz_f:0.287928, 0.010531, 1.256296  Reprojection Error: 0.116290, 0.286184 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.449] xyz_f:0.030784, -0.061329, 1.240915  Reprojection Error: 0.043214, 0.248513 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.449] xyz_f:0.434835, -0.467345, 1.114664  Reprojection Error: 0.136593, 0.152118 Feature: 0.453513, -0.230032, 0.861052
[11:52:56.450] xyz_f:0.244804, -0.222001, 1.233756  Reprojection Error: 0.096242, 0.219349 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.450] xyz_f:0.098925, -0.171043, 1.238100  Reprojection Error: 0.060985, 0.227489 Feature: 0.138965, 0.088121, 0.986369
[11:52:56.450] xyz_f:0.229921, -0.232670, 1.231661  Reprojection Error: 0.091858, 0.216871 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.450] xyz_f:0.255694, 0.014903, 1.258190  Reprojection Error: 0.105211, 0.285046 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.450] xyz_f:0.220974, -0.253796, 1.226492  Reprojection Error: 0.088741, 0.212297 Feature: 0.259679, 0.005184, 0.965681
[11:52:56.450] xyz_f:0.548544, 0.001977, 1.200745  Reprojection Error: 0.239606, 0.307073 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.450] xyz_f:-0.582212, -0.514773, 0.583528  Reprojection Error: -0.042764, 0.227140 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.450] xyz_f:0.368210, -0.450620, 1.138123  Reprojection Error: 0.116018, 0.163874 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.450] xyz_f:0.450390, -0.479378, 1.103732  Reprojection Error: 0.141041, 0.146679 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.450] xyz_f:0.461152, -0.453671, 1.114748  Reprojection Error: 0.152244, 0.151866 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.450] xyz_f:0.209165, -0.266414, 1.223137  Reprojection Error: 0.088422, 0.211928 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.450] xyz_f:0.096171, -0.164484, 1.238903  Reprojection Error: 0.060351, 0.228759 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.450] xyz_f:0.030784, -0.061329, 1.240915  Reprojection Error: 0.043214, 0.248513 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.450] xyz_f:0.287928, 0.010531, 1.256296  Reprojection Error: 0.112848, 0.285924 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.450] xyz_f:0.548544, 0.001977, 1.200745  Reprojection Error: 0.239606, 0.307073 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.450] xyz_f:0.436904, -0.654408, 0.981025  Reprojection Error: -0.288790, 1.147251 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.450] xyz_f:0.129144, 0.153938, 1.243929  Reprojection Error: 0.054280, 0.322851 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.450] it:7 	 Success 	 new_chi2: 3.313110 	 dT = -0.023997, 0.019056, 0.026815
[11:52:56.450] xyz_f:0.259828, -0.266337, 1.241905  Reprojection Error: 0.047068, 0.206331 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.450] xyz_f:0.146576, -0.165192, 1.260602  Reprojection Error: 0.021702, 0.227035 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.450] xyz_f:0.417892, -0.449442, 1.152784  Reprojection Error: 0.077035, 0.157817 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.450] xyz_f:0.483907, -0.652763, 0.993941  Reprojection Error: 0.069499, 0.087609 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.450] xyz_f:0.499352, -0.477632, 1.116273  Reprojection Error: 0.101764, 0.140235 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.450] xyz_f:0.146709, -0.158714, 1.261681  Reprojection Error: 0.021774, 0.228484 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.450] xyz_f:0.177457, 0.153451, 1.264800  Reprojection Error: 0.024252, 0.325649 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.450] xyz_f:0.510216, -0.451851, 1.127009  Reprojection Error: 0.109048, 0.146201 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.450] xyz_f:0.424786, -0.472168, 1.139236  Reprojection Error: 0.076671, 0.151456 Feature: 0.398705, -0.233263, 0.886918
[11:52:56.450] xyz_f:0.298295, -0.236445, 1.247937  Reprojection Error: 0.058737, 0.213016 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.450] xyz_f:0.469028, -0.463138, 1.133245  Reprojection Error: 0.092401, 0.148531 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.450] xyz_f:-0.546106, -0.520239, 0.622983  Reprojection Error: -0.163911, 0.180043 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.450] xyz_f:0.337499, 0.011151, 1.273038  Reprojection Error: 0.080365, 0.285808 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.450] xyz_f:0.080548, -0.062493, 1.264315  Reprojection Error: 0.004313, 0.248519 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.450] xyz_f:0.484001, -0.465707, 1.127606  Reprojection Error: 0.097468, 0.145853 Feature: 0.453513, -0.230032, 0.861052
[11:52:56.450] xyz_f:0.295420, -0.221677, 1.251602  Reprojection Error: 0.058630, 0.216524 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.450] xyz_f:0.149353, -0.171732, 1.259726  Reprojection Error: 0.022325, 0.225664 Feature: 0.138965, 0.088121, 0.986369
[11:52:56.450] xyz_f:0.280562, -0.232449, 1.249892  Reprojection Error: 0.054064, 0.213938 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.450] xyz_f:0.305296, 0.015299, 1.275767  Reprojection Error: 0.069131, 0.284898 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.450] xyz_f:0.271631, -0.253637, 1.244954  Reprojection Error: 0.050722, 0.209100 Feature: 0.259679, 0.005184, 0.965681
[11:52:56.450] xyz_f:0.596642, 0.004401, 1.210755  Reprojection Error: 0.203657, 0.305085 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.450] xyz_f:-0.546106, -0.520239, 0.622983  Reprojection Error: -0.163911, 0.180043 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.450] xyz_f:0.417892, -0.449442, 1.152784  Reprojection Error: 0.077035, 0.157817 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.450] xyz_f:0.499352, -0.477632, 1.116273  Reprojection Error: 0.101764, 0.140235 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.450] xyz_f:0.510216, -0.451851, 1.127009  Reprojection Error: 0.113210, 0.145823 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.450] xyz_f:0.259828, -0.266337, 1.241905  Reprojection Error: 0.050212, 0.208574 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.450] xyz_f:0.146576, -0.165192, 1.260602  Reprojection Error: 0.021702, 0.227035 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.450] xyz_f:0.080548, -0.062493, 1.264315  Reprojection Error: 0.004313, 0.248519 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.450] xyz_f:0.337499, 0.011151, 1.273038  Reprojection Error: 0.076923, 0.285547 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.450] xyz_f:0.596642, 0.004401, 1.210755  Reprojection Error: 0.203657, 0.305085 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.450] xyz_f:0.483907, -0.652763, 0.993941  Reprojection Error: -0.330292, 1.136928 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.450] xyz_f:0.177457, 0.153451, 1.264800  Reprojection Error: 0.017795, 0.325277 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.450] it:8 	 Success 	 new_chi2: 3.103366 	 dT = -0.021940, 0.017556, 0.020793
[11:52:56.450] xyz_f:0.301721, -0.266149, 1.258760  Reprojection Error: 0.016588, 0.203310 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.450] xyz_f:0.188324, -0.165614, 1.279733  Reprojection Error: -0.009182, 0.225406 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.450] xyz_f:0.458946, -0.448406, 1.166472  Reprojection Error: 0.046094, 0.152353 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.450] xyz_f:0.522851, -0.651377, 1.006325  Reprojection Error: 0.036791, 0.078150 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.450] xyz_f:0.539807, -0.476159, 1.128331  Reprojection Error: 0.070691, 0.134357 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.450] xyz_f:0.188444, -0.159135, 1.280809  Reprojection Error: -0.009074, 0.226935 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.450] xyz_f:0.217569, 0.153191, 1.283328  Reprojection Error: -0.004979, 0.327604 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.450] xyz_f:0.550746, -0.450319, 1.138849  Reprojection Error: 0.078166, 0.140688 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.450] xyz_f:0.465690, -0.471095, 1.152788  Reprojection Error: 0.045572, 0.145653 Feature: 0.398705, -0.233263, 0.886918
[11:52:56.450] xyz_f:0.340140, -0.236050, 1.264020  Reprojection Error: 0.028673, 0.210293 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.450] xyz_f:0.509753, -0.461828, 1.145910  Reprojection Error: 0.061436, 0.142870 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.450] xyz_f:-0.515102, -0.524417, 0.656135  Reprojection Error: -0.255454, 0.144219 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.450] xyz_f:0.378507, 0.011755, 1.288341  Reprojection Error: 0.051684, 0.285443 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.450] xyz_f:0.121833, -0.063272, 1.284777  Reprojection Error: -0.026806, 0.248338 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.450] xyz_f:0.524623, -0.464316, 1.139971  Reprojection Error: 0.066489, 0.140153 Feature: 0.453513, -0.230032, 0.861052
[11:52:56.450] xyz_f:0.337260, -0.221297, 1.267742  Reprojection Error: 0.028631, 0.213970 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.450] xyz_f:0.191119, -0.172139, 1.278801  Reprojection Error: -0.008566, 0.223949 Feature: 0.138965, 0.088121, 0.986369
[11:52:56.450] xyz_f:0.322429, -0.232149, 1.266330  Reprojection Error: 0.023917, 0.211288 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.450] xyz_f:0.346343, 0.015730, 1.291717  Reprojection Error: 0.040308, 0.284713 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.450] xyz_f:0.313515, -0.253385, 1.261572  Reprojection Error: 0.020397, 0.206217 Feature: 0.259679, 0.005184, 0.965681
[11:52:56.450] xyz_f:0.636380, 0.006396, 1.220866  Reprojection Error: 0.175189, 0.303481 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.450] xyz_f:-0.515102, -0.524417, 0.656135  Reprojection Error: -0.255454, 0.144219 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.450] xyz_f:0.458946, -0.448406, 1.166472  Reprojection Error: 0.046094, 0.152353 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.450] xyz_f:0.539807, -0.476159, 1.128331  Reprojection Error: 0.070691, 0.134357 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.450] xyz_f:0.550746, -0.450319, 1.138849  Reprojection Error: 0.082327, 0.140310 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.450] xyz_f:0.301721, -0.266149, 1.258760  Reprojection Error: 0.019732, 0.205553 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.450] xyz_f:0.188324, -0.165614, 1.279733  Reprojection Error: -0.009182, 0.225406 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.450] xyz_f:0.121833, -0.063272, 1.284777  Reprojection Error: -0.026806, 0.248338 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.450] xyz_f:0.378507, 0.011755, 1.288341  Reprojection Error: 0.048241, 0.285183 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.450] xyz_f:0.636380, 0.006396, 1.220866  Reprojection Error: 0.175189, 0.303481 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.450] xyz_f:0.522851, -0.651377, 1.006325  Reprojection Error: -0.363000, 1.127469 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.450] xyz_f:0.217569, 0.153191, 1.283328  Reprojection Error: -0.011435, 0.327232 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.450] it:9 	 Success 	 new_chi2: 3.037622 	 dT = -0.021172, 0.016263, 0.016768
[11:52:56.450] xyz_f:0.336788, -0.265916, 1.274153  Reprojection Error: -0.008038, 0.200573 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.450] xyz_f:0.223311, -0.165873, 1.296963  Reprojection Error: -0.034203, 0.223886 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.450] xyz_f:0.493288, -0.447492, 1.179325  Reprojection Error: 0.021262, 0.147389 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.450] xyz_f:0.555470, -0.650189, 1.018156  Reprojection Error: 0.010790, 0.069462 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.450] xyz_f:0.573640, -0.474895, 1.139878  Reprojection Error: 0.045856, 0.128973 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.450] xyz_f:0.223420, -0.159394, 1.298038  Reprojection Error: -0.034067, 0.225485 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.450] xyz_f:0.251226, 0.153056, 1.300095  Reprojection Error: -0.028681, 0.329247 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.450] xyz_f:0.584635, -0.449008, 1.150218  Reprojection Error: 0.053483, 0.135639 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.450] xyz_f:0.499907, -0.470152, 1.165532  Reprojection Error: 0.020631, 0.140376 Feature: 0.398705, -0.233263, 0.886918
[11:52:56.450] xyz_f:0.375157, -0.235650, 1.278791  Reprojection Error: 0.004399, 0.207823 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.450] xyz_f:0.543812, -0.460694, 1.157942  Reprojection Error: 0.036644, 0.137703 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.450] xyz_f:-0.488560, -0.527748, 0.684828  Reprojection Error: -0.327104, 0.115595 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.450] xyz_f:0.412837, 0.012319, 1.302497  Reprojection Error: 0.028520, 0.285109 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.450] xyz_f:0.156466, -0.063820, 1.303087  Reprojection Error: -0.052052, 0.248067 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.450] xyz_f:0.558595, -0.463118, 1.151763  Reprojection Error: 0.041705, 0.134943 Feature: 0.453513, -0.230032, 0.861052
[11:52:56.450] xyz_f:0.372273, -0.220910, 1.282560  Reprojection Error: 0.004405, 0.211651 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.450] xyz_f:0.226119, -0.172386, 1.295987  Reprojection Error: -0.033591, 0.222354 Feature: 0.138965, 0.088121, 0.986369
[11:52:56.450] xyz_f:0.357469, -0.231826, 1.281388  Reprojection Error: -0.000436, 0.208881 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.450] xyz_f:0.380715, 0.016155, 1.306393  Reprojection Error: 0.017010, 0.284524 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.450] xyz_f:0.348571, -0.253101, 1.276774  Reprojection Error: -0.004101, 0.203603 Feature: 0.259679, 0.005184, 0.965681
[11:52:56.450] xyz_f:0.669603, 0.008078, 1.230854  Reprojection Error: 0.152426, 0.302157 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.450] xyz_f:-0.488560, -0.527748, 0.684828  Reprojection Error: -0.327104, 0.115595 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.450] xyz_f:0.493288, -0.447492, 1.179325  Reprojection Error: 0.021262, 0.147389 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.450] xyz_f:0.573640, -0.474895, 1.139878  Reprojection Error: 0.045856, 0.128973 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.450] xyz_f:0.584635, -0.449008, 1.150218  Reprojection Error: 0.057644, 0.135262 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.450] xyz_f:0.336788, -0.265916, 1.274153  Reprojection Error: -0.004894, 0.202816 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.450] xyz_f:0.223311, -0.165873, 1.296963  Reprojection Error: -0.034203, 0.223886 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.450] xyz_f:0.156466, -0.063820, 1.303087  Reprojection Error: -0.052052, 0.248067 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.450] xyz_f:0.412837, 0.012319, 1.302497  Reprojection Error: 0.025078, 0.284848 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.450] xyz_f:0.669603, 0.008078, 1.230854  Reprojection Error: 0.152426, 0.302157 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.450] xyz_f:0.555470, -0.650189, 1.018156  Reprojection Error: -0.389001, 1.118781 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.450] xyz_f:0.251226, 0.153056, 1.300095  Reprojection Error: -0.035137, 0.328875 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.450] it:10 	 Success 	 new_chi2: 3.045842 	 dT = -0.021256, 0.015146, 0.014071
[11:52:56.450] xyz_f:0.381431, -0.266116, 1.259755  Reprojection Error: -0.046497, 0.203117 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.450] xyz_f:0.268019, -0.165661, 1.281023  Reprojection Error: -0.071246, 0.225312 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.450] xyz_f:0.538542, -0.448263, 1.167058  Reprojection Error: -0.021911, 0.152039 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.450] xyz_f:0.602171, -0.651190, 1.006744  Reprojection Error: -0.041781, 0.077695 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.450] xyz_f:0.619322, -0.475960, 1.128706  Reprojection Error: 0.000401, 0.134040 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.450] xyz_f:0.268137, -0.159182, 1.282100  Reprojection Error: -0.071084, 0.226846 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.450] xyz_f:0.297050, 0.153165, 1.284542  Reprojection Error: -0.066694, 0.327737 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.450] xyz_f:0.630271, -0.450112, 1.139195  Reprojection Error: 0.008505, 0.140386 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.450] xyz_f:0.545265, -0.470948, 1.153356  Reprojection Error: -0.023224, 0.145325 Feature: 0.398705, -0.233263, 0.886918
[11:52:56.450] xyz_f:0.419842, -0.235990, 1.264915  Reprojection Error: -0.034146, 0.210114 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.450] xyz_f:0.589304, -0.461650, 1.146363  Reprojection Error: -0.007783, 0.142556 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.450] xyz_f:-0.436780, -0.524956, 0.659260  Reprojection Error: -0.377979, 0.141246 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.450] xyz_f:0.458100, 0.011841, 1.289136  Reprojection Error: -0.009876, 0.285382 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.450] xyz_f:0.201469, -0.063365, 1.286241  Reprojection Error: -0.088613, 0.248354 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.450] xyz_f:0.604161, -0.464128, 1.140386  Reprojection Error: -0.003090, 0.139840 Feature: 0.453513, -0.230032, 0.861052
[11:52:56.450] xyz_f:0.416962, -0.221240, 1.268645  Reprojection Error: -0.034004, 0.213800 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.450] xyz_f:0.270816, -0.172184, 1.280085  Reprojection Error: -0.070675, 0.223849 Feature: 0.138965, 0.088121, 0.986369
[11:52:56.450] xyz_f:0.402135, -0.232102, 1.267272  Reprojection Error: -0.038790, 0.211114 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.450] xyz_f:0.425942, 0.015793, 1.292596  Reprojection Error: -0.021090, 0.284672 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.450] xyz_f:0.393223, -0.253344, 1.262536  Reprojection Error: -0.042547, 0.206031 Feature: 0.259679, 0.005184, 0.965681
[11:52:56.450] xyz_f:0.715799, 0.006662, 1.220990  Reprojection Error: 0.110197, 0.303264 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.450] xyz_f:-0.436780, -0.524956, 0.659260  Reprojection Error: -0.377979, 0.141246 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.450] xyz_f:0.538542, -0.448263, 1.167058  Reprojection Error: -0.021911, 0.152039 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.450] xyz_f:0.619322, -0.475960, 1.128706  Reprojection Error: 0.000401, 0.134040 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.450] xyz_f:0.630271, -0.450112, 1.139195  Reprojection Error: 0.012667, 0.140009 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.450] xyz_f:0.381431, -0.266116, 1.259755  Reprojection Error: -0.043352, 0.205361 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.450] xyz_f:0.268019, -0.165661, 1.281023  Reprojection Error: -0.071246, 0.225312 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.450] xyz_f:0.201469, -0.063365, 1.286241  Reprojection Error: -0.088613, 0.248354 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.450] xyz_f:0.458100, 0.011841, 1.289136  Reprojection Error: -0.013318, 0.285121 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.450] xyz_f:0.715799, 0.006662, 1.220990  Reprojection Error: 0.110197, 0.303264 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.450] xyz_f:0.602171, -0.651190, 1.006744  Reprojection Error: -0.441572, 1.127013 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.450] xyz_f:0.297050, 0.153165, 1.284542  Reprojection Error: -0.073150, 0.327365 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.451] it:11 	 Success 	 new_chi2: 3.000404 	 dT = -0.027065, 0.016933, 0.015374
[11:52:56.451] xyz_f:0.356733, -0.266277, 1.243421  Reprojection Error: -0.030611, 0.206022 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.451] xyz_f:0.243418, -0.165370, 1.263005  Reprojection Error: -0.054753, 0.226927 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.451] xyz_f:0.514477, -0.449050, 1.153062  Reprojection Error: -0.006642, 0.157384 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.451] xyz_f:0.579672, -0.652233, 0.993704  Reprojection Error: -0.026989, 0.087233 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.451] xyz_f:0.595707, -0.477070, 1.115913  Reprojection Error: 0.015273, 0.139869 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.451] xyz_f:0.243546, -0.158892, 1.264084  Reprojection Error: -0.054611, 0.228386 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.451] xyz_f:0.273662, 0.153338, 1.266965  Reprojection Error: -0.051442, 0.325946 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.451] xyz_f:0.606602, -0.451265, 1.126564  Reprojection Error: 0.023312, 0.145840 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.451] xyz_f:0.521313, -0.471762, 1.139460  Reprojection Error: -0.007969, 0.151018 Feature: 0.398705, -0.233263, 0.886918
[11:52:56.451] xyz_f:0.395183, -0.236304, 1.249151  Reprojection Error: -0.018594, 0.212719 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.451] xyz_f:0.565487, -0.462639, 1.133122  Reprojection Error: 0.007229, 0.148135 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.451] xyz_f:-0.453494, -0.521876, 0.630835  Reprojection Error: -0.321630, 0.172245 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.451] xyz_f:0.434062, 0.011374, 1.273945  Reprojection Error: 0.004755, 0.285639 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.451] xyz_f:0.177206, -0.062810, 1.267237  Reprojection Error: -0.071815, 0.248655 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.451] xyz_f:0.580421, -0.465177, 1.127366  Reprojection Error: 0.011849, 0.145470 Feature: 0.453513, -0.230032, 0.861052
[11:52:56.451] xyz_f:0.392306, -0.221542, 1.252838  Reprojection Error: -0.018470, 0.216242 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.451] xyz_f:0.246203, -0.171904, 1.262108  Reprojection Error: -0.054187, 0.225543 Feature: 0.138965, 0.088121, 0.986369
[11:52:56.451] xyz_f:0.377458, -0.232345, 1.251245  Reprojection Error: -0.023132, 0.213654 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.451] xyz_f:0.401873, 0.015455, 1.276927  Reprojection Error: -0.006284, 0.284788 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.451] xyz_f:0.368533, -0.253552, 1.246377  Reprojection Error: -0.026775, 0.208799 Feature: 0.259679, 0.005184, 0.965681
[11:52:56.451] xyz_f:0.692722, 0.005168, 1.209633  Reprojection Error: 0.123770, 0.304448 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.451] xyz_f:-0.453494, -0.521876, 0.630835  Reprojection Error: -0.321630, 0.172245 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.451] xyz_f:0.514477, -0.449050, 1.153062  Reprojection Error: -0.006642, 0.157384 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.451] xyz_f:0.595707, -0.477070, 1.115913  Reprojection Error: 0.015273, 0.139869 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.451] xyz_f:0.606602, -0.451265, 1.126564  Reprojection Error: 0.027473, 0.145462 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.451] xyz_f:0.356733, -0.266277, 1.243421  Reprojection Error: -0.027467, 0.208265 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.451] xyz_f:0.243418, -0.165370, 1.263005  Reprojection Error: -0.054753, 0.226927 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.451] xyz_f:0.177206, -0.062810, 1.267237  Reprojection Error: -0.071815, 0.248655 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.451] xyz_f:0.434062, 0.011374, 1.273945  Reprojection Error: 0.001313, 0.285378 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.451] xyz_f:0.692722, 0.005168, 1.209633  Reprojection Error: 0.123770, 0.304448 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.451] xyz_f:0.579672, -0.652233, 0.993704  Reprojection Error: -0.426780, 1.136551 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.451] xyz_f:0.273662, 0.153338, 1.266965  Reprojection Error: -0.057899, 0.325574 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.451] it:12 	 Success 	 new_chi2: 2.955957 	 dT = -0.026902, 0.017989, 0.017320
[11:52:56.451] xyz_f:0.322322, -0.266384, 1.225833  Reprojection Error: -0.006656, 0.209182 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.451] xyz_f:0.209149, -0.164970, 1.243523  Reprojection Error: -0.030214, 0.228656 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.451] xyz_f:0.480736, -0.449866, 1.138118  Reprojection Error: 0.017147, 0.163214 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.451] xyz_f:0.547675, -0.653345, 0.979866  Reprojection Error: -0.002573, 0.097638 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.451] xyz_f:0.562449, -0.478251, 1.102333  Reprojection Error: 0.038867, 0.146208 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.451] xyz_f:0.209288, -0.158492, 1.244603  Reprojection Error: -0.030102, 0.230032 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.451] xyz_f:0.240751, 0.153599, 1.247999  Reprojection Error: -0.028354, 0.323898 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.451] xyz_f:0.573279, -0.452495, 1.113165  Reprojection Error: 0.046766, 0.151766 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.451] xyz_f:0.487696, -0.472609, 1.124632  Reprojection Error: 0.015891, 0.157230 Feature: 0.398705, -0.233263, 0.886918
[11:52:56.451] xyz_f:0.360805, -0.236584, 1.232207  Reprojection Error: 0.004955, 0.215548 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.451] xyz_f:0.532010, -0.463685, 1.119035  Reprojection Error: 0.030862, 0.154209 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.451] xyz_f:-0.478681, -0.518372, 0.599769  Reprojection Error: -0.242400, 0.209254 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.451] xyz_f:0.400374, 0.010918, 1.257657  Reprojection Error: 0.027129, 0.285886 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.451] xyz_f:0.143336, -0.062114, 1.246650  Reprojection Error: -0.046955, 0.248916 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.451] xyz_f:0.547027, -0.466289, 1.113529  Reprojection Error: 0.035441, 0.151597 Feature: 0.453513, -0.230032, 0.861052
[11:52:56.451] xyz_f:0.357933, -0.221809, 1.235846  Reprojection Error: 0.005037, 0.218889 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.451] xyz_f:0.211919, -0.171516, 1.242672  Reprojection Error: -0.029650, 0.227361 Feature: 0.138965, 0.088121, 0.986369
[11:52:56.451] xyz_f:0.343066, -0.232545, 1.234004  Reprojection Error: 0.000523, 0.216411 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.451] xyz_f:0.368158, 0.015143, 1.260100  Reprojection Error: 0.016269, 0.284873 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.451] xyz_f:0.334128, -0.253712, 1.228987  Reprojection Error: -0.002965, 0.211809 Feature: 0.259679, 0.005184, 0.965681
[11:52:56.451] xyz_f:0.660043, 0.003550, 1.197680  Reprojection Error: 0.145340, 0.305756 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.451] xyz_f:-0.478681, -0.518372, 0.599769  Reprojection Error: -0.242400, 0.209254 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.451] xyz_f:0.480736, -0.449866, 1.138118  Reprojection Error: 0.017147, 0.163214 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.451] xyz_f:0.562449, -0.478251, 1.102333  Reprojection Error: 0.038867, 0.146208 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.451] xyz_f:0.573279, -0.452495, 1.113165  Reprojection Error: 0.050927, 0.151389 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.451] xyz_f:0.322322, -0.266384, 1.225833  Reprojection Error: -0.003512, 0.211425 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.451] xyz_f:0.209149, -0.164970, 1.243523  Reprojection Error: -0.030214, 0.228656 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.451] xyz_f:0.143336, -0.062114, 1.246650  Reprojection Error: -0.046955, 0.248916 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.451] xyz_f:0.400374, 0.010918, 1.257657  Reprojection Error: 0.023687, 0.285625 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.451] xyz_f:0.660043, 0.003550, 1.197680  Reprojection Error: 0.145340, 0.305756 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.451] xyz_f:0.547675, -0.653345, 0.979866  Reprojection Error: -0.402364, 1.146956 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.451] xyz_f:0.240751, 0.153599, 1.247999  Reprojection Error: -0.034810, 0.323526 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.451] it:13 	 Success 	 new_chi2: 2.926621 	 dT = -0.026521, 0.018932, 0.019918
[11:52:56.451] xyz_f:0.284035, -0.266412, 1.207005  Reprojection Error: 0.020963, 0.212595 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.451] xyz_f:0.171067, -0.164415, 1.222519  Reprojection Error: -0.001953, 0.230481 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.451] xyz_f:0.443159, -0.450713, 1.122345  Reprojection Error: 0.044691, 0.169523 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.451] xyz_f:0.512081, -0.654542, 0.965400  Reprojection Error: 0.025922, 0.108869 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.451] xyz_f:0.525398, -0.479520, 1.088136  Reprojection Error: 0.066260, 0.153034 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.451] xyz_f:0.171219, -0.157938, 1.223603  Reprojection Error: -0.001875, 0.231765 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.451] xyz_f:0.204219, 0.153987, 1.227619  Reprojection Error: -0.001798, 0.321538 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.451] xyz_f:0.536151, -0.453820, 1.099177  Reprojection Error: 0.073990, 0.158144 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.451] xyz_f:0.450260, -0.473491, 1.108994  Reprojection Error: 0.043532, 0.163952 Feature: 0.398705, -0.233263, 0.886918
[11:52:56.451] xyz_f:0.322542, -0.236810, 1.214119  Reprojection Error: 0.032108, 0.218594 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.451] xyz_f:0.494719, -0.464796, 1.104250  Reprojection Error: 0.058267, 0.160763 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.451] xyz_f:-0.506063, -0.514299, 0.565634  Reprojection Error: -0.145826, 0.254209 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.451] xyz_f:0.362889, 0.010486, 1.240339  Reprojection Error: 0.052906, 0.286113 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.451] xyz_f:0.105737, -0.061221, 1.224385  Reprojection Error: -0.018338, 0.249092 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.451] xyz_f:0.509826, -0.467478, 1.099034  Reprojection Error: 0.062811, 0.158201 Feature: 0.453513, -0.230032, 0.861052
[11:52:56.451] xyz_f:0.319676, -0.222020, 1.217703  Reprojection Error: 0.032139, 0.221737 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.451] xyz_f:0.173819, -0.170976, 1.221722  Reprojection Error: -0.001388, 0.229286 Feature: 0.138965, 0.088121, 0.986369
[11:52:56.451] xyz_f:0.304792, -0.232680, 1.215575  Reprojection Error: 0.027795, 0.219379 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.451] xyz_f:0.330654, 0.014877, 1.242161  Reprojection Error: 0.042242, 0.284914 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.451] xyz_f:0.295844, -0.253801, 1.210386  Reprojection Error: 0.024487, 0.215054 Feature: 0.259679, 0.005184, 0.965681
[11:52:56.451] xyz_f:0.623623, 0.001777, 1.185368  Reprojection Error: 0.170341, 0.307221 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.451] xyz_f:-0.506063, -0.514299, 0.565634  Reprojection Error: -0.145826, 0.254209 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.451] xyz_f:0.443159, -0.450713, 1.122345  Reprojection Error: 0.044691, 0.169523 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.451] xyz_f:0.525398, -0.479520, 1.088136  Reprojection Error: 0.066260, 0.153034 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.451] xyz_f:0.536151, -0.453820, 1.099177  Reprojection Error: 0.078152, 0.157767 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.451] xyz_f:0.284035, -0.266412, 1.207005  Reprojection Error: 0.024107, 0.214838 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.451] xyz_f:0.171067, -0.164415, 1.222519  Reprojection Error: -0.001953, 0.230481 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.451] xyz_f:0.105737, -0.061221, 1.224385  Reprojection Error: -0.018338, 0.249092 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.451] xyz_f:0.362889, 0.010486, 1.240339  Reprojection Error: 0.049463, 0.285852 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.451] xyz_f:0.623623, 0.001777, 1.185368  Reprojection Error: 0.170341, 0.307221 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.451] xyz_f:0.512081, -0.654542, 0.965400  Reprojection Error: -0.373869, 1.158187 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.451] xyz_f:0.204219, 0.153987, 1.227619  Reprojection Error: -0.008254, 0.321166 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.451] it:14 	 Success 	 new_chi2: 2.966856 	 dT = -0.026504, 0.019888, 0.023243
[11:52:56.451] xyz_f:0.235320, -0.266370, 1.226734  Reprojection Error: 0.064459, 0.209010 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.451] xyz_f:0.122117, -0.165053, 1.244788  Reprojection Error: 0.039874, 0.228588 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.451] xyz_f:0.393609, -0.449715, 1.138511  Reprojection Error: 0.093819, 0.162945 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.451] xyz_f:0.460214, -0.653137, 0.980044  Reprojection Error: 0.086770, 0.097304 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.451] xyz_f:0.475231, -0.478030, 1.102463  Reprojection Error: 0.118039, 0.145956 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.451] xyz_f:0.122254, -0.158575, 1.245868  Reprojection Error: 0.039927, 0.229969 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.451] xyz_f:0.153459, 0.153543, 1.249163  Reprojection Error: 0.041707, 0.324057 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.451] xyz_f:0.486074, -0.452265, 1.113261  Reprojection Error: 0.125143, 0.151524 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.451] xyz_f:0.400545, -0.472452, 1.125002  Reprojection Error: 0.093501, 0.156953 Feature: 0.398705, -0.233263, 0.886918
[11:52:56.451] xyz_f:0.273798, -0.236536, 1.232985  Reprojection Error: 0.075706, 0.215388 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.451] xyz_f:0.444834, -0.463490, 1.119263  Reprojection Error: 0.108846, 0.153950 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.451] xyz_f:-0.567473, -0.519048, 0.603246  Reprojection Error: -0.099810, 0.205392 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.451] xyz_f:0.313235, 0.011000, 1.258308  Reprojection Error: 0.096545, 0.285825 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.451] xyz_f:0.056226, -0.062253, 1.248127  Reprojection Error: 0.022974, 0.248968 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.451] xyz_f:0.459835, -0.466081, 1.113709  Reprojection Error: 0.113810, 0.151343 Feature: 0.453513, -0.230032, 0.861052
[11:52:56.451] xyz_f:0.270925, -0.221764, 1.236633  Reprojection Error: 0.075581, 0.218738 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.451] xyz_f:0.124890, -0.171597, 1.243928  Reprojection Error: 0.040486, 0.227287 Feature: 0.138965, 0.088121, 0.986369
[11:52:56.451] xyz_f:0.256060, -0.232513, 1.234838  Reprojection Error: 0.071170, 0.216258 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.451] xyz_f:0.281023, 0.015197, 1.260854  Reprojection Error: 0.085552, 0.284837 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.451] xyz_f:0.247125, -0.253687, 1.229850  Reprojection Error: 0.067969, 0.211644 Feature: 0.259679, 0.005184, 0.965681
[11:52:56.451] xyz_f:0.572716, 0.003855, 1.197497  Reprojection Error: 0.218181, 0.305500 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.451] xyz_f:-0.567473, -0.519048, 0.603246  Reprojection Error: -0.099810, 0.205392 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.451] xyz_f:0.393609, -0.449715, 1.138511  Reprojection Error: 0.093819, 0.162945 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.451] xyz_f:0.475231, -0.478030, 1.102463  Reprojection Error: 0.118039, 0.145956 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.451] xyz_f:0.486074, -0.452265, 1.113261  Reprojection Error: 0.129305, 0.151147 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.451] xyz_f:0.235320, -0.266370, 1.226734  Reprojection Error: 0.067603, 0.211253 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.451] xyz_f:0.122117, -0.165053, 1.244788  Reprojection Error: 0.039874, 0.228588 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.451] xyz_f:0.056226, -0.062253, 1.248127  Reprojection Error: 0.022974, 0.248968 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.451] xyz_f:0.313235, 0.011000, 1.258308  Reprojection Error: 0.093102, 0.285565 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.451] xyz_f:0.572716, 0.003855, 1.197497  Reprojection Error: 0.218181, 0.305500 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.451] xyz_f:0.460214, -0.653137, 0.980044  Reprojection Error: -0.313021, 1.146622 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.451] xyz_f:0.153459, 0.153543, 1.249163  Reprojection Error: 0.035250, 0.323685 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.451] it:15 	 Success 	 new_chi2: 2.333402 	 dT = -0.021097, 0.014582, 0.022671
[11:52:56.451] xyz_f:0.283273, -0.266194, 1.240659  Reprojection Error: 0.027960, 0.206431 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.451] xyz_f:0.169901, -0.165541, 1.261193  Reprojection Error: 0.003262, 0.227251 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.451] xyz_f:0.440666, -0.448613, 1.148979  Reprojection Error: 0.056014, 0.158387 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.451] xyz_f:0.504978, -0.651651, 0.989079  Reprojection Error: 0.045802, 0.089713 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.451] xyz_f:0.521644, -0.476451, 1.111151  Reprojection Error: 0.079639, 0.141144 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.451] xyz_f:0.170023, -0.159063, 1.262271  Reprojection Error: 0.003358, 0.228702 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.451] xyz_f:0.199461, 0.153233, 1.264902  Reprojection Error: 0.006867, 0.325832 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.451] xyz_f:0.532569, -0.450622, 1.121710  Reprojection Error: 0.086982, 0.146999 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.451] xyz_f:0.447438, -0.471310, 1.135321  Reprojection Error: 0.055433, 0.152130 Feature: 0.398705, -0.233263, 0.886918
[11:52:56.451] xyz_f:0.321703, -0.236134, 1.246067  Reprojection Error: 0.039592, 0.213051 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.451] xyz_f:0.491537, -0.462088, 1.128613  Reprojection Error: 0.070758, 0.149278 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.451] xyz_f:-0.531482, -0.523618, 0.634882  Reprojection Error: -0.203374, 0.169715 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.451] xyz_f:0.360233, 0.011630, 1.270537  Reprojection Error: 0.061950, 0.285413 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.451] xyz_f:0.103496, -0.063130, 1.265981  Reprojection Error: -0.013730, 0.248958 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.451] xyz_f:0.506428, -0.464592, 1.122732  Reprojection Error: 0.075629, 0.146653 Feature: 0.453513, -0.230032, 0.861052
[11:52:56.451] xyz_f:0.318824, -0.221379, 1.249779  Reprojection Error: 0.039559, 0.216544 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.451] xyz_f:0.172692, -0.172069, 1.260273  Reprojection Error: 0.003858, 0.225872 Feature: 0.138965, 0.088121, 0.986369
[11:52:56.451] xyz_f:0.303987, -0.232215, 1.248309  Reprojection Error: 0.035014, 0.213987 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.451] xyz_f:0.328060, 0.015639, 1.273788  Reprojection Error: 0.050888, 0.284613 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.452] xyz_f:0.295070, -0.253442, 1.243516  Reprojection Error: 0.031622, 0.209179 Feature: 0.259679, 0.005184, 0.965681
[11:52:56.452] xyz_f:0.618358, 0.006004, 1.204059  Reprojection Error: 0.182880, 0.303733 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.452] xyz_f:-0.531482, -0.523618, 0.634882  Reprojection Error: -0.203374, 0.169715 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.452] xyz_f:0.440666, -0.448613, 1.148979  Reprojection Error: 0.056014, 0.158387 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.452] xyz_f:0.521644, -0.476451, 1.111151  Reprojection Error: 0.079639, 0.141144 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.452] xyz_f:0.532569, -0.450622, 1.121710  Reprojection Error: 0.091143, 0.146622 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.452] xyz_f:0.283273, -0.266194, 1.240659  Reprojection Error: 0.031104, 0.208674 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.452] xyz_f:0.169901, -0.165541, 1.261193  Reprojection Error: 0.003262, 0.227251 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.452] xyz_f:0.103496, -0.063130, 1.265981  Reprojection Error: -0.013730, 0.248958 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.452] xyz_f:0.360233, 0.011630, 1.270537  Reprojection Error: 0.058508, 0.285153 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.452] xyz_f:0.618358, 0.006004, 1.204059  Reprojection Error: 0.182880, 0.303733 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.452] xyz_f:0.504978, -0.651651, 0.989079  Reprojection Error: -0.353989, 1.139032 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.452] xyz_f:0.199461, 0.153233, 1.264902  Reprojection Error: 0.000410, 0.325460 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.452] it:16 	 Success 	 new_chi2: 2.208862 	 dT = -0.020099, 0.012976, 0.017783
[11:52:56.452] xyz_f:0.316613, -0.265962, 1.252772  Reprojection Error: 0.003555, 0.204172 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.452] xyz_f:0.203148, -0.165832, 1.275255  Reprojection Error: -0.021323, 0.226031 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.452] xyz_f:0.473245, -0.447660, 1.158395  Reprojection Error: 0.031007, 0.154390 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.452] xyz_f:0.535735, -0.650405, 0.997406  Reprojection Error: 0.019227, 0.082964 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.452] xyz_f:0.553689, -0.475125, 1.119181  Reprojection Error: 0.054375, 0.136884 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.452] xyz_f:0.203259, -0.159353, 1.276330  Reprojection Error: -0.021198, 0.227541 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.452] xyz_f:0.231300, 0.153075, 1.278468  Reprojection Error: -0.016364, 0.327241 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.452] xyz_f:0.564675, -0.449246, 1.129552  Reprojection Error: 0.061854, 0.142993 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.452] xyz_f:0.479886, -0.470325, 1.144622  Reprojection Error: 0.030287, 0.147896 Feature: 0.398705, -0.233263, 0.886918
[11:52:56.452] xyz_f:0.354991, -0.235727, 1.257521  Reprojection Error: 0.015473, 0.211001 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.452] xyz_f:0.523820, -0.460901, 1.137158  Reprojection Error: 0.045641, 0.145157 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.452] xyz_f:-0.507234, -0.527157, 0.661068  Reprojection Error: -0.273215, 0.142399 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.452] xyz_f:0.392795, 0.012214, 1.281335  Reprojection Error: 0.038927, 0.285035 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.452] xyz_f:0.136365, -0.063728, 1.281186  Reprojection Error: -0.038415, 0.248832 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.452] xyz_f:0.538620, -0.463336, 1.131022  Reprojection Error: 0.050473, 0.142510 Feature: 0.453513, -0.230032, 0.861052
[11:52:56.452] xyz_f:0.352108, -0.220984, 1.261281  Reprojection Error: 0.015496, 0.214616 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.452] xyz_f:0.205953, -0.172347, 1.274286  Reprojection Error: -0.020737, 0.224589 Feature: 0.138965, 0.088121, 0.986369
[11:52:56.452] xyz_f:0.337299, -0.231889, 1.260067  Reprojection Error: 0.010850, 0.211993 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.452] xyz_f:0.360664, 0.016074, 1.285138  Reprojection Error: 0.027792, 0.284383 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.452] xyz_f:0.328398, -0.253157, 1.255427  Reprojection Error: 0.007326, 0.207018 Feature: 0.259679, 0.005184, 0.965681
[11:52:56.452] xyz_f:0.649763, 0.007773, 1.210433  Reprojection Error: 0.159639, 0.302298 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.452] xyz_f:-0.507234, -0.527157, 0.661068  Reprojection Error: -0.273215, 0.142399 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.452] xyz_f:0.473245, -0.447660, 1.158395  Reprojection Error: 0.031007, 0.154390 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.452] xyz_f:0.553689, -0.475125, 1.119181  Reprojection Error: 0.054375, 0.136884 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.452] xyz_f:0.564675, -0.449246, 1.129552  Reprojection Error: 0.066016, 0.142615 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.452] xyz_f:0.316613, -0.265962, 1.252772  Reprojection Error: 0.006699, 0.206415 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.452] xyz_f:0.203148, -0.165832, 1.275255  Reprojection Error: -0.021323, 0.226031 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.452] xyz_f:0.136365, -0.063728, 1.281186  Reprojection Error: -0.038415, 0.248832 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.452] xyz_f:0.392795, 0.012214, 1.281335  Reprojection Error: 0.035485, 0.284774 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.452] xyz_f:0.649763, 0.007773, 1.210433  Reprojection Error: 0.159639, 0.302298 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.452] xyz_f:0.535735, -0.650405, 0.997406  Reprojection Error: -0.380564, 1.132282 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.452] xyz_f:0.231300, 0.153075, 1.278468  Reprojection Error: -0.022820, 0.326869 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.452] it:17 	 Success 	 new_chi2: 2.185252 	 dT = -0.019559, 0.011577, 0.014619
[11:52:56.452] xyz_f:0.344714, -0.265711, 1.263412  Reprojection Error: -0.016559, 0.202186 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.452] xyz_f:0.231199, -0.166011, 1.287497  Reprojection Error: -0.041596, 0.224933 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.452] xyz_f:0.500684, -0.446817, 1.166828  Reprojection Error: 0.010443, 0.150875 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.452] xyz_f:0.561662, -0.649329, 1.004967  Reprojection Error: -0.002530, 0.076987 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.452] xyz_f:0.580670, -0.473979, 1.126480  Reprojection Error: 0.033630, 0.133115 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.452] xyz_f:0.231301, -0.159531, 1.288571  Reprojection Error: -0.041447, 0.226493 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.452] xyz_f:0.258187, 0.153001, 1.290321  Reprojection Error: -0.035540, 0.328398 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.452] xyz_f:0.591703, -0.448058, 1.136696  Reprojection Error: 0.041219, 0.139448 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.452] xyz_f:0.507216, -0.469457, 1.152961  Reprojection Error: 0.009616, 0.144172 Feature: 0.398705, -0.233263, 0.886918
[11:52:56.452] xyz_f:0.383041, -0.235330, 1.267619  Reprojection Error: -0.004406, 0.209195 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.452] xyz_f:0.551004, -0.459867, 1.144878  Reprojection Error: 0.025003, 0.141521 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.452] xyz_f:-0.486412, -0.530037, 0.683393  Reprojection Error: -0.328749, 0.120563 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.452] xyz_f:0.420238, 0.012752, 1.290903  Reprojection Error: 0.019940, 0.284689 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.452] xyz_f:0.164121, -0.064159, 1.294373  Reprojection Error: -0.058774, 0.248659 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.452] xyz_f:0.565724, -0.462247, 1.138533  Reprojection Error: 0.029808, 0.138850 Feature: 0.453513, -0.230032, 0.861052
[11:52:56.452] xyz_f:0.380156, -0.220599, 1.271420  Reprojection Error: -0.004337, 0.212916 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.452] xyz_f:0.234015, -0.172515, 1.286489  Reprojection Error: -0.041017, 0.223437 Feature: 0.138965, 0.088121, 0.986369
[11:52:56.452] xyz_f:0.365371, -0.231560, 1.270415  Reprojection Error: -0.009067, 0.210234 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.452] xyz_f:0.388151, 0.016491, 1.295160  Reprojection Error: 0.008742, 0.284158 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.452] xyz_f:0.356486, -0.252861, 1.265900  Reprojection Error: -0.012699, 0.205116 Feature: 0.259679, 0.005184, 0.965681
[11:52:56.452] xyz_f:0.676195, 0.009282, 1.216380  Reprojection Error: 0.140534, 0.301089 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.452] xyz_f:-0.486412, -0.530037, 0.683393  Reprojection Error: -0.328749, 0.120563 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.452] xyz_f:0.500684, -0.446817, 1.166828  Reprojection Error: 0.010443, 0.150875 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.452] xyz_f:0.580670, -0.473979, 1.126480  Reprojection Error: 0.033630, 0.133115 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.452] xyz_f:0.591703, -0.448058, 1.136696  Reprojection Error: 0.045380, 0.139070 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.452] xyz_f:0.344714, -0.265711, 1.263412  Reprojection Error: -0.013415, 0.204429 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.452] xyz_f:0.231199, -0.166011, 1.287497  Reprojection Error: -0.041596, 0.224933 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.452] xyz_f:0.164121, -0.064159, 1.294373  Reprojection Error: -0.058774, 0.248659 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.452] xyz_f:0.420238, 0.012752, 1.290903  Reprojection Error: 0.016498, 0.284428 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.452] xyz_f:0.676195, 0.009282, 1.216380  Reprojection Error: 0.140534, 0.301089 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.452] xyz_f:0.561662, -0.649329, 1.004967  Reprojection Error: -0.402321, 1.126306 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.452] xyz_f:0.258187, 0.153001, 1.290321  Reprojection Error: -0.041996, 0.328026 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.452] it:18 	 Success 	 new_chi2: 2.201179 	 dT = -0.019478, 0.010390, 0.012327
[11:52:56.452] xyz_f:0.383030, -0.265927, 1.253825  Reprojection Error: -0.049204, 0.203965 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.452] xyz_f:0.269555, -0.165864, 1.276559  Reprojection Error: -0.073181, 0.225923 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.452] xyz_f:0.539560, -0.447531, 1.159102  Reprojection Error: -0.025957, 0.154043 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.452] xyz_f:0.601814, -0.650239, 0.997975  Reprojection Error: -0.046680, 0.082427 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.452] xyz_f:0.619934, -0.474949, 1.119709  Reprojection Error: -0.004554, 0.136526 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.452] xyz_f:0.269665, -0.159385, 1.277634  Reprojection Error: -0.073011, 0.227439 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.452] xyz_f:0.297525, 0.153060, 1.279710  Reprojection Error: -0.067938, 0.327369 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.452] xyz_f:0.630927, -0.449063, 1.130056  Reprojection Error: 0.003450, 0.142653 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.452] xyz_f:0.546184, -0.470192, 1.145313  Reprojection Error: -0.027347, 0.147532 Feature: 0.398705, -0.233263, 0.886918
[11:52:56.452] xyz_f:0.421401, -0.235668, 1.258489  Reprojection Error: -0.037079, 0.210810 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.452] xyz_f:0.590097, -0.460742, 1.137752  Reprojection Error: -0.012370, 0.144806 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.452] xyz_f:-0.441970, -0.527611, 0.663947  Reprojection Error: -0.374839, 0.139625 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.452] xyz_f:0.459109, 0.012295, 1.282220  Reprojection Error: -0.012580, 0.284978 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.452] xyz_f:0.202725, -0.063799, 1.282638  Reprojection Error: -0.090031, 0.248831 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.452] xyz_f:0.604883, -0.463169, 1.131583  Reprojection Error: -0.007849, 0.142158 Feature: 0.453513, -0.230032, 0.861052
[11:52:56.452] xyz_f:0.418517, -0.220927, 1.262256  Reprojection Error: -0.036900, 0.214436 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.452] xyz_f:0.272362, -0.172377, 1.275585  Reprojection Error: -0.072634, 0.224475 Feature: 0.138965, 0.088121, 0.986369
[11:52:56.452] xyz_f:0.403712, -0.231841, 1.261074  Reprojection Error: -0.041599, 0.211807 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.452] xyz_f:0.426986, 0.016136, 1.286094  Reprojection Error: -0.023567, 0.284344 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.452] xyz_f:0.394813, -0.253114, 1.256454  Reprojection Error: -0.045320, 0.206820 Feature: 0.259679, 0.005184, 0.965681
[11:52:56.452] xyz_f:0.715923, 0.008007, 1.210749  Reprojection Error: 0.105136, 0.302107 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.452] xyz_f:-0.441970, -0.527611, 0.663947  Reprojection Error: -0.374839, 0.139625 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.452] xyz_f:0.539560, -0.447531, 1.159102  Reprojection Error: -0.025957, 0.154043 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.452] xyz_f:0.619934, -0.474949, 1.119709  Reprojection Error: -0.004554, 0.136526 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.452] xyz_f:0.630927, -0.449063, 1.130056  Reprojection Error: 0.007611, 0.142276 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.452] xyz_f:0.383030, -0.265927, 1.253825  Reprojection Error: -0.046060, 0.206209 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.452] xyz_f:0.269555, -0.165864, 1.276559  Reprojection Error: -0.073181, 0.225923 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.452] xyz_f:0.202725, -0.063799, 1.282638  Reprojection Error: -0.090031, 0.248831 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.452] xyz_f:0.459109, 0.012295, 1.282220  Reprojection Error: -0.016023, 0.284718 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.452] xyz_f:0.715923, 0.008007, 1.210749  Reprojection Error: 0.105136, 0.302107 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.452] xyz_f:0.601814, -0.650239, 0.997975  Reprojection Error: -0.446471, 1.131745 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.452] xyz_f:0.297525, 0.153060, 1.279710  Reprojection Error: -0.074395, 0.326997 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.452] it:19 	 Success 	 new_chi2: 1.518647 	 dT = -0.017874, 0.008348, 0.009018
[11:52:56.452] xyz_f:0.362033, -0.266059, 1.245973  Reprojection Error: -0.034278, 0.205409 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.452] xyz_f:0.248599, -0.165732, 1.267719  Reprojection Error: -0.058122, 0.226725 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.452] xyz_f:0.518958, -0.448029, 1.152615  Reprojection Error: -0.010703, 0.156649 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.452] xyz_f:0.582140, -0.650884, 0.992034  Reprojection Error: -0.030459, 0.086979 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.452] xyz_f:0.599608, -0.475636, 1.113923  Reprojection Error: 0.010818, 0.139345 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.452] xyz_f:0.248714, -0.159253, 1.268795  Reprojection Error: -0.057969, 0.228204 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.452] xyz_f:0.277284, 0.153126, 1.271116  Reprojection Error: -0.053587, 0.326508 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.452] xyz_f:0.610571, -0.449775, 1.124366  Reprojection Error: 0.018729, 0.145298 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.452] xyz_f:0.525649, -0.470706, 1.138884  Reprojection Error: -0.012008, 0.150301 Feature: 0.398705, -0.233263, 0.886918
[11:52:56.452] xyz_f:0.400432, -0.235890, 1.250971  Reprojection Error: -0.022330, 0.212113 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.452] xyz_f:0.569648, -0.461359, 1.131706  Reprojection Error: 0.002928, 0.147514 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.452] xyz_f:-0.458406, -0.525823, 0.648929  Reprojection Error: -0.334105, 0.155261 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.452] xyz_f:0.438512, 0.011984, 1.275032  Reprojection Error: 0.001556, 0.285168 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.452] xyz_f:0.181956, -0.063511, 1.273217  Reprojection Error: -0.074889, 0.248973 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.452] xyz_f:0.584482, -0.463820, 1.125666  Reprojection Error: 0.007464, 0.144888 Feature: 0.453513, -0.230032, 0.861052
[11:52:56.452] xyz_f:0.397551, -0.221143, 1.254713  Reprojection Error: -0.022182, 0.215660 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.452] xyz_f:0.251399, -0.172252, 1.266769  Reprojection Error: -0.057571, 0.225316 Feature: 0.138965, 0.088121, 0.986369
[11:52:56.452] xyz_f:0.382730, -0.232022, 1.253402  Reprojection Error: -0.026819, 0.213077 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.452] xyz_f:0.406364, 0.015900, 1.278627  Reprojection Error: -0.009378, 0.284455 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.452] xyz_f:0.373822, -0.253274, 1.248705  Reprojection Error: -0.030460, 0.208198 Feature: 0.259679, 0.005184, 0.965681
[11:52:56.452] xyz_f:0.695927, 0.007096, 1.205801  Reprojection Error: 0.119292, 0.302835 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.452] xyz_f:-0.458406, -0.525823, 0.648929  Reprojection Error: -0.334105, 0.155261 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.452] xyz_f:0.518958, -0.448029, 1.152615  Reprojection Error: -0.010703, 0.156649 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.452] xyz_f:0.599608, -0.475636, 1.113923  Reprojection Error: 0.010818, 0.139345 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.452] xyz_f:0.610571, -0.449775, 1.124366  Reprojection Error: 0.022891, 0.144920 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.452] xyz_f:0.362033, -0.266059, 1.245973  Reprojection Error: -0.031133, 0.207652 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.452] xyz_f:0.248599, -0.165732, 1.267719  Reprojection Error: -0.058122, 0.226725 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.452] xyz_f:0.181956, -0.063511, 1.273217  Reprojection Error: -0.074889, 0.248973 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.452] xyz_f:0.438512, 0.011984, 1.275032  Reprojection Error: -0.001886, 0.284908 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.452] xyz_f:0.695927, 0.007096, 1.205801  Reprojection Error: 0.119292, 0.302835 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.452] xyz_f:0.582140, -0.650884, 0.992034  Reprojection Error: -0.430250, 1.136297 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.452] xyz_f:0.277284, 0.153126, 1.271116  Reprojection Error: -0.060043, 0.326136 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.452] it:20 	 Success 	 new_chi2: 1.492505 	 dT = -0.018376, 0.009235, 0.010872
[11:52:56.452] xyz_f:0.343328, -0.266192, 1.237231  Reprojection Error: -0.021212, 0.207024 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.452] xyz_f:0.229954, -0.165545, 1.257786  Reprojection Error: -0.044848, 0.227609 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.452] xyz_f:0.500712, -0.448604, 1.145523  Reprojection Error: 0.002438, 0.159557 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.452] xyz_f:0.565006, -0.651638, 0.985612  Reprojection Error: -0.016898, 0.092018 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.452] xyz_f:0.581685, -0.476437, 1.107680  Reprojection Error: 0.023964, 0.142475 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.452] xyz_f:0.230076, -0.159066, 1.258863  Reprojection Error: -0.044710, 0.229046 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.453] xyz_f:0.259500, 0.153231, 1.261489  Reprojection Error: -0.041153, 0.325505 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.453] xyz_f:0.592611, -0.450608, 1.118238  Reprojection Error: 0.031814, 0.148234 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.453] xyz_f:0.507483, -0.471300, 1.131864  Reprojection Error: 0.001179, 0.153389 Feature: 0.398705, -0.233263, 0.886918
[11:52:56.453] xyz_f:0.381757, -0.236131, 1.242633  Reprojection Error: -0.009449, 0.213572 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.453] xyz_f:0.551580, -0.462076, 1.125148  Reprojection Error: 0.016052, 0.150528 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.453] xyz_f:-0.471524, -0.523655, 0.631600  Reprojection Error: -0.293954, 0.174059 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.453] xyz_f:0.420279, 0.011636, 1.267096  Reprojection Error: 0.013791, 0.285384 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.453] xyz_f:0.163545, -0.063137, 1.262585  Reprojection Error: -0.061510, 0.249097 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.453] xyz_f:0.566470, -0.464579, 1.119264  Reprojection Error: 0.020587, 0.147923 Feature: 0.453513, -0.230032, 0.861052
[11:52:56.453] xyz_f:0.378878, -0.221375, 1.246345  Reprojection Error: -0.009328, 0.217029 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.453] xyz_f:0.232746, -0.172073, 1.256865  Reprojection Error: -0.044294, 0.226245 Feature: 0.138965, 0.088121, 0.986369
[11:52:56.453] xyz_f:0.364041, -0.232212, 1.244878  Reprojection Error: -0.013898, 0.214498 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.453] xyz_f:0.388107, 0.015643, 1.270353  Reprojection Error: 0.002924, 0.284577 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.453] xyz_f:0.355124, -0.253440, 1.240087  Reprojection Error: -0.017462, 0.209741 Feature: 0.259679, 0.005184, 0.965681
[11:52:56.453] xyz_f:0.678393, 0.006023, 1.200571  Reprojection Error: 0.131383, 0.303704 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.453] xyz_f:-0.471524, -0.523655, 0.631600  Reprojection Error: -0.293954, 0.174059 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.453] xyz_f:0.500712, -0.448604, 1.145523  Reprojection Error: 0.002438, 0.159557 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.453] xyz_f:0.581685, -0.476437, 1.107680  Reprojection Error: 0.023964, 0.142475 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.453] xyz_f:0.592611, -0.450608, 1.118238  Reprojection Error: 0.035976, 0.147857 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.453] xyz_f:0.343328, -0.266192, 1.237231  Reprojection Error: -0.018068, 0.209267 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.453] xyz_f:0.229954, -0.165545, 1.257786  Reprojection Error: -0.044848, 0.227609 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.453] xyz_f:0.163545, -0.063137, 1.262585  Reprojection Error: -0.061510, 0.249097 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.453] xyz_f:0.420279, 0.011636, 1.267096  Reprojection Error: 0.010349, 0.285123 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.453] xyz_f:0.678393, 0.006023, 1.200571  Reprojection Error: 0.131383, 0.303704 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.453] xyz_f:0.565006, -0.651638, 0.985612  Reprojection Error: -0.416689, 1.141337 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.453] xyz_f:0.259500, 0.153231, 1.261489  Reprojection Error: -0.047609, 0.325133 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.453] it:21 	 Success 	 new_chi2: 1.479808 	 dT = -0.019210, 0.010352, 0.012926
[11:52:56.453] xyz_f:0.322010, -0.266309, 1.227317  Reprojection Error: -0.006084, 0.208858 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.453] xyz_f:0.208725, -0.165283, 1.246457  Reprojection Error: -0.029478, 0.228595 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.453] xyz_f:0.479916, -0.449248, 1.137578  Reprojection Error: 0.017667, 0.162859 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.453] xyz_f:0.545521, -0.652500, 0.978477  Reprojection Error: -0.001165, 0.097720 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.453] xyz_f:0.561261, -0.477353, 1.100748  Reprojection Error: 0.039212, 0.146017 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.453] xyz_f:0.208856, -0.158805, 1.247536  Reprojection Error: -0.029360, 0.229983 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.453] xyz_f:0.239289, 0.153393, 1.250536  Reprojection Error: -0.026793, 0.324312 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.453] xyz_f:0.572141, -0.451560, 1.111442  Reprojection Error: 0.046992, 0.151555 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.453] xyz_f:0.486781, -0.471967, 1.124003  Reprojection Error: 0.016462, 0.156895 Feature: 0.398705, -0.233263, 0.886918
[11:52:56.453] xyz_f:0.360469, -0.236376, 1.233199  Reprojection Error: 0.005463, 0.215225 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.453] xyz_f:0.530989, -0.462891, 1.117839  Reprojection Error: 0.031267, 0.153942 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.453] xyz_f:-0.486074, -0.521057, 0.611555  Reprojection Error: -0.245692, 0.196987 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.453] xyz_f:0.399511, 0.011260, 1.258146  Reprojection Error: 0.027939, 0.285617 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.453] xyz_f:0.142605, -0.062653, 1.250429  Reprojection Error: -0.046023, 0.249196 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.453] xyz_f:0.545943, -0.465444, 1.112141  Reprojection Error: 0.035803, 0.151360 Feature: 0.453513, -0.230032, 0.861052
[11:52:56.453] xyz_f:0.357593, -0.221611, 1.236875  Reprojection Error: 0.005553, 0.218580 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.453] xyz_f:0.211507, -0.171820, 1.245571  Reprojection Error: -0.028921, 0.227284 Feature: 0.138965, 0.088121, 0.986369
[11:52:56.453] xyz_f:0.342740, -0.232399, 1.235223  Reprojection Error: 0.001062, 0.216107 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.453] xyz_f:0.367314, 0.015375, 1.261001  Reprojection Error: 0.017147, 0.284698 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.453] xyz_f:0.333812, -0.253596, 1.230320  Reprojection Error: -0.002413, 0.211491 Feature: 0.259679, 0.005184, 0.965681
[11:52:56.453] xyz_f:0.658415, 0.004782, 1.194849  Reprojection Error: 0.145397, 0.304718 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.453] xyz_f:-0.486074, -0.521057, 0.611555  Reprojection Error: -0.245692, 0.196987 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.453] xyz_f:0.479916, -0.449248, 1.137578  Reprojection Error: 0.017667, 0.162859 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.453] xyz_f:0.561261, -0.477353, 1.100748  Reprojection Error: 0.039212, 0.146017 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.453] xyz_f:0.572141, -0.451560, 1.111442  Reprojection Error: 0.051153, 0.151178 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.453] xyz_f:0.322010, -0.266309, 1.227317  Reprojection Error: -0.002940, 0.211101 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.453] xyz_f:0.208725, -0.165283, 1.246457  Reprojection Error: -0.029478, 0.228595 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.453] xyz_f:0.142605, -0.062653, 1.250429  Reprojection Error: -0.046023, 0.249196 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.453] xyz_f:0.399511, 0.011260, 1.258146  Reprojection Error: 0.024496, 0.285357 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.453] xyz_f:0.658415, 0.004782, 1.194849  Reprojection Error: 0.145397, 0.304718 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.453] xyz_f:0.545521, -0.652500, 0.978477  Reprojection Error: -0.400956, 1.147038 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.453] xyz_f:0.239289, 0.153393, 1.250536  Reprojection Error: -0.033250, 0.323941 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.453] it:22 	 Success 	 new_chi2: 1.476818 	 dT = -0.020120, 0.011605, 0.015342
[11:52:56.453] xyz_f:0.297230, -0.266392, 1.216023  Reprojection Error: 0.011857, 0.210941 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.453] xyz_f:0.184077, -0.164916, 1.233485  Reprojection Error: -0.011256, 0.229693 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.453] xyz_f:0.455721, -0.449960, 1.128628  Reprojection Error: 0.035759, 0.166620 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.453] xyz_f:0.522869, -0.653475, 0.970511  Reprojection Error: 0.017599, 0.104199 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.453] xyz_f:0.537491, -0.478389, 1.093007  Reprojection Error: 0.057348, 0.150035 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.453] xyz_f:0.184217, -0.158439, 1.234566  Reprojection Error: -0.011161, 0.231024 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.453] xyz_f:0.215841, 0.153635, 1.238025  Reprojection Error: -0.009787, 0.322877 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.453] xyz_f:0.548313, -0.452639, 1.103861  Reprojection Error: 0.065042, 0.155322 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.453] xyz_f:0.462696, -0.472706, 1.115156  Reprojection Error: 0.034624, 0.160889 Feature: 0.398705, -0.233263, 0.886918
[11:52:56.453] xyz_f:0.335716, -0.236612, 1.222475  Reprojection Error: 0.023147, 0.217099 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.453] xyz_f:0.507026, -0.463806, 1.109647  Reprojection Error: 0.049355, 0.157823 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.453] xyz_f:-0.502645, -0.517948, 0.588346  Reprojection Error: -0.186172, 0.225313 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.453] xyz_f:0.375367, 0.010868, 1.248005  Reprojection Error: 0.044704, 0.285858 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.453] xyz_f:0.118313, -0.062025, 1.236480  Reprojection Error: -0.027663, 0.249253 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.453] xyz_f:0.522053, -0.466418, 1.104172  Reprojection Error: 0.053896, 0.155262 Feature: 0.453513, -0.230032, 0.861052
[11:52:56.453] xyz_f:0.332845, -0.221836, 1.226108  Reprojection Error: 0.023199, 0.220337 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.453] xyz_f:0.186844, -0.171465, 1.232640  Reprojection Error: -0.010695, 0.228443 Feature: 0.138965, 0.088121, 0.986369
[11:52:56.453] xyz_f:0.317975, -0.232564, 1.224236  Reprojection Error: 0.018800, 0.217930 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.453] xyz_f:0.343148, 0.015111, 1.250383  Reprojection Error: 0.034000, 0.284806 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.453] xyz_f:0.309037, -0.253726, 1.219201  Reprojection Error: 0.015433, 0.213477 Feature: 0.259679, 0.005184, 0.965681
[11:52:56.453] xyz_f:0.635153, 0.003360, 1.188551  Reprojection Error: 0.162049, 0.305893 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.453] xyz_f:-0.502645, -0.517948, 0.588346  Reprojection Error: -0.186172, 0.225313 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.453] xyz_f:0.455721, -0.449960, 1.128628  Reprojection Error: 0.035759, 0.166620 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.453] xyz_f:0.537491, -0.478389, 1.093007  Reprojection Error: 0.057348, 0.150035 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.453] xyz_f:0.548313, -0.452639, 1.103861  Reprojection Error: 0.069203, 0.154945 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.453] xyz_f:0.297230, -0.266392, 1.216023  Reprojection Error: 0.015001, 0.213184 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.453] xyz_f:0.184077, -0.164916, 1.233485  Reprojection Error: -0.011256, 0.229693 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.453] xyz_f:0.118313, -0.062025, 1.236480  Reprojection Error: -0.027663, 0.249253 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.453] xyz_f:0.375367, 0.010868, 1.248005  Reprojection Error: 0.041262, 0.285598 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.453] xyz_f:0.635153, 0.003360, 1.188551  Reprojection Error: 0.162049, 0.305893 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.453] xyz_f:0.522869, -0.653475, 0.970511  Reprojection Error: -0.382192, 1.153517 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.453] xyz_f:0.215841, 0.153635, 1.238025  Reprojection Error: -0.016244, 0.322505 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.453] it:23 	 Success 	 new_chi2: 1.492388 	 dT = -0.021022, 0.012978, 0.018160
[11:52:56.453] xyz_f:0.268370, -0.266412, 1.203118  Reprojection Error: 0.033223, 0.213307 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.453] xyz_f:0.155405, -0.164405, 1.218597  Reprojection Error: 0.010449, 0.230906 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.453] xyz_f:0.427504, -0.450726, 1.118509  Reprojection Error: 0.057332, 0.170912 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.453] xyz_f:0.496459, -0.654561, 0.961585  Reprojection Error: 0.040064, 0.111578 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.453] xyz_f:0.509752, -0.479540, 1.084326  Reprojection Error: 0.078993, 0.154601 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.453] xyz_f:0.155557, -0.157928, 1.219680  Reprojection Error: 0.010515, 0.232172 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.453] xyz_f:0.188582, 0.153994, 1.223707  Reprojection Error: 0.010448, 0.321131 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.453] xyz_f:0.520503, -0.453841, 1.095370  Reprojection Error: 0.086580, 0.159598 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.453] xyz_f:0.434608, -0.473505, 1.105160  Reprojection Error: 0.056287, 0.165446 Feature: 0.398705, -0.233263, 0.886918
[11:52:56.453] xyz_f:0.306876, -0.236813, 1.210245  Reprojection Error: 0.044202, 0.219221 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.453] xyz_f:0.479070, -0.464814, 1.100431  Reprojection Error: 0.070934, 0.162240 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.453] xyz_f:-0.521547, -0.514231, 0.561497  Reprojection Error: -0.111659, 0.260788 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.453] xyz_f:0.347236, 0.010479, 1.236477  Reprojection Error: 0.064651, 0.286092 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.453] xyz_f:0.090083, -0.061205, 1.220442  Reprojection Error: -0.005790, 0.249241 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.453] xyz_f:0.494177, -0.467497, 1.095219  Reprojection Error: 0.075484, 0.159700 Feature: 0.453513, -0.230032, 0.861052
[11:52:56.453] xyz_f:0.304011, -0.222023, 1.213828  Reprojection Error: 0.044207, 0.222321 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.453] xyz_f:0.158157, -0.170966, 1.217800  Reprojection Error: 0.011014, 0.229728 Feature: 0.138965, 0.088121, 0.986369
[11:52:56.453] xyz_f:0.289126, -0.232682, 1.211695  Reprojection Error: 0.039920, 0.219993 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.453] xyz_f:0.315001, 0.014873, 1.238289  Reprojection Error: 0.054051, 0.284879 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.453] xyz_f:0.280178, -0.253801, 1.206503  Reprojection Error: 0.036685, 0.215730 Feature: 0.259679, 0.005184, 0.965681
[11:52:56.453] xyz_f:0.607987, 0.001748, 1.181589  Reprojection Error: 0.181892, 0.307240 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.453] xyz_f:-0.521547, -0.514231, 0.561497  Reprojection Error: -0.111659, 0.260788 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.453] xyz_f:0.427504, -0.450726, 1.118509  Reprojection Error: 0.057332, 0.170912 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.453] xyz_f:0.509752, -0.479540, 1.084326  Reprojection Error: 0.078993, 0.154601 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.453] xyz_f:0.520503, -0.453841, 1.095370  Reprojection Error: 0.090741, 0.159221 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.453] xyz_f:0.268370, -0.266412, 1.203118  Reprojection Error: 0.036367, 0.215550 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.453] xyz_f:0.155405, -0.164405, 1.218597  Reprojection Error: 0.010449, 0.230906 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.453] xyz_f:0.090083, -0.061205, 1.220442  Reprojection Error: -0.005790, 0.249241 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.453] xyz_f:0.347236, 0.010479, 1.236477  Reprojection Error: 0.061209, 0.285831 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.453] xyz_f:0.607987, 0.001748, 1.181589  Reprojection Error: 0.181892, 0.307240 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.453] xyz_f:0.496459, -0.654561, 0.961585  Reprojection Error: -0.359727, 1.160896 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.453] xyz_f:0.188582, 0.153994, 1.223707  Reprojection Error: 0.003992, 0.320759 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.453] it:24 	 Success 	 new_chi2: 1.542434 	 dT = -0.021788, 0.014444, 0.021366
[11:52:56.453] xyz_f:0.234794, -0.266325, 1.188353  Reprojection Error: 0.058705, 0.215986 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.453] xyz_f:0.122100, -0.163695, 1.201503  Reprojection Error: 0.036354, 0.232234 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.453] xyz_f:0.394619, -0.451522, 1.107035  Reprojection Error: 0.083076, 0.175808 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.453] xyz_f:0.465669, -0.655744, 0.951556  Reprojection Error: 0.066979, 0.119995 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.453] xyz_f:0.477395, -0.480792, 1.074555  Reprojection Error: 0.104830, 0.159787 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.453] xyz_f:0.122265, -0.157218, 1.202590  Reprojection Error: 0.036386, 0.233422 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.453] xyz_f:0.156925, 0.154517, 1.207314  Reprojection Error: 0.034577, 0.318990 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.453] xyz_f:0.488058, -0.455152, 1.085820  Reprojection Error: 0.112282, 0.164450 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.453] xyz_f:0.401871, -0.474341, 1.093834  Reprojection Error: 0.082143, 0.170646 Feature: 0.398705, -0.233263, 0.886918
[11:52:56.453] xyz_f:0.273309, -0.236940, 1.196275  Reprojection Error: 0.069301, 0.221612 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.453] xyz_f:0.446468, -0.465895, 1.090024  Reprojection Error: 0.096686, 0.167265 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.453] xyz_f:-0.543071, -0.509810, 0.530553  Reprojection Error: -0.016914, 0.305869 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.453] xyz_f:0.314485, 0.010127, 1.223348  Reprojection Error: 0.088409, 0.286289 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.453] xyz_f:0.057326, -0.060135, 1.202005  Reprojection Error: 0.020330, 0.249120 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.453] xyz_f:0.461665, -0.468662, 1.085125  Reprojection Error: 0.101248, 0.164745 Feature: 0.453513, -0.230032, 0.861052
[11:52:56.453] xyz_f:0.270452, -0.222134, 1.199798  Reprojection Error: 0.069249, 0.224552 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.453] xyz_f:0.124831, -0.170271, 1.200763  Reprojection Error: 0.036925, 0.231141 Feature: 0.138965, 0.088121, 0.986369
[11:52:56.453] xyz_f:0.255556, -0.232710, 1.197358  Reprojection Error: 0.065101, 0.222317 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.453] xyz_f:0.282244, 0.014700, 1.224495  Reprojection Error: 0.077936, 0.284886 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.453] xyz_f:0.246600, -0.253780, 1.191981  Reprojection Error: 0.062026, 0.218275 Feature: 0.259679, 0.005184, 0.965681
[11:52:56.453] xyz_f:0.576261, -0.000049, 1.173852  Reprojection Error: 0.205527, 0.308762 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.453] xyz_f:-0.543071, -0.509810, 0.530553  Reprojection Error: -0.016914, 0.305869 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.453] xyz_f:0.394619, -0.451522, 1.107035  Reprojection Error: 0.083076, 0.175808 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.453] xyz_f:0.477395, -0.480792, 1.074555  Reprojection Error: 0.104830, 0.159787 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.453] xyz_f:0.488058, -0.455152, 1.085820  Reprojection Error: 0.116444, 0.164072 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.453] xyz_f:0.234794, -0.266325, 1.188353  Reprojection Error: 0.061850, 0.218229 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.453] xyz_f:0.122100, -0.163695, 1.201503  Reprojection Error: 0.036354, 0.232234 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.453] xyz_f:0.057326, -0.060135, 1.202005  Reprojection Error: 0.020330, 0.249120 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.454] xyz_f:0.314485, 0.010127, 1.223348  Reprojection Error: 0.084966, 0.286028 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.454] xyz_f:0.576261, -0.000049, 1.173852  Reprojection Error: 0.205527, 0.308762 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.454] xyz_f:0.465669, -0.655744, 0.951556  Reprojection Error: -0.332812, 1.169313 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.454] xyz_f:0.156925, 0.154517, 1.207314  Reprojection Error: 0.028121, 0.318618 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.454] it:25 	 Success 	 new_chi2: 1.651268 	 dT = -0.022198, 0.015953, 0.024872
[11:52:56.454] xyz_f:0.195909, -0.266076, 1.171470  Reprojection Error: 0.089052, 0.219003 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.454] xyz_f:0.083595, -0.162721, 1.181917  Reprojection Error: 0.067249, 0.233669 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.454] xyz_f:0.356446, -0.452304, 1.094000  Reprojection Error: 0.113723, 0.181382 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.454] xyz_f:0.429894, -0.656991, 0.940258  Reprojection Error: 0.099146, 0.129602 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.454] xyz_f:0.439788, -0.482109, 1.063517  Reprojection Error: 0.135580, 0.165670 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.454] xyz_f:0.083775, -0.156246, 1.183008  Reprojection Error: 0.067239, 0.234764 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.454] xyz_f:0.120317, 0.155260, 1.188588  Reprojection Error: 0.063329, 0.316349 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.454] xyz_f:0.450342, -0.456537, 1.075036  Reprojection Error: 0.142857, 0.169943 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.454] xyz_f:0.363865, -0.475170, 1.080976  Reprojection Error: 0.112932, 0.176571 Feature: 0.398705, -0.233263, 0.886918
[11:52:56.454] xyz_f:0.234410, -0.236938, 1.180317  Reprojection Error: 0.099168, 0.224289 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.454] xyz_f:0.408595, -0.467012, 1.078239  Reprojection Error: 0.127335, 0.172972 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.454] xyz_f:-0.567482, -0.504600, 0.495155  Reprojection Error: 0.105559, 0.364041 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.454] xyz_f:0.276514, 0.009860, 1.208391  Reprojection Error: 0.116650, 0.286407 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.454] xyz_f:0.019495, -0.058747, 1.180871  Reprojection Error: 0.051513, 0.248840 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.454] xyz_f:0.423887, -0.469877, 1.073707  Reprojection Error: 0.131908, 0.170470 Feature: 0.453513, -0.230032, 0.861052
[11:52:56.454] xyz_f:0.231565, -0.222114, 1.183772  Reprojection Error: 0.099047, 0.227042 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.454] xyz_f:0.086300, -0.169315, 1.181242  Reprojection Error: 0.067827, 0.232675 Feature: 0.138965, 0.088121, 0.986369
[11:52:56.454] xyz_f:0.216664, -0.232595, 1.180974  Reprojection Error: 0.095072, 0.224915 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.454] xyz_f:0.244285, 0.014640, 1.208763  Reprojection Error: 0.106340, 0.284779 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.454] xyz_f:0.207704, -0.253607, 1.175382  Reprojection Error: 0.092196, 0.221134 Feature: 0.259679, 0.005184, 0.965681
[11:52:56.454] xyz_f:0.539332, -0.002004, 1.165197  Reprojection Error: 0.233574, 0.310440 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.454] xyz_f:-0.567482, -0.504600, 0.495155  Reprojection Error: 0.105559, 0.364041 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.454] xyz_f:0.356446, -0.452304, 1.094000  Reprojection Error: 0.113723, 0.181382 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.454] xyz_f:0.439788, -0.482109, 1.063517  Reprojection Error: 0.135580, 0.165670 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.454] xyz_f:0.450342, -0.456537, 1.075036  Reprojection Error: 0.147018, 0.169566 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.454] xyz_f:0.195909, -0.266076, 1.171470  Reprojection Error: 0.092196, 0.221247 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.454] xyz_f:0.083595, -0.162721, 1.181917  Reprojection Error: 0.067249, 0.233669 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.454] xyz_f:0.019495, -0.058747, 1.180871  Reprojection Error: 0.051513, 0.248840 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.454] xyz_f:0.276514, 0.009860, 1.208391  Reprojection Error: 0.113207, 0.286146 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.454] xyz_f:0.539332, -0.002004, 1.165197  Reprojection Error: 0.233574, 0.310440 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.454] xyz_f:0.429894, -0.656991, 0.940258  Reprojection Error: -0.300644, 1.178921 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.454] xyz_f:0.120317, 0.155260, 1.188588  Reprojection Error: 0.056873, 0.315977 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.454] it:26 	 Success 	 new_chi2: 1.845720 	 dT = -0.021932, 0.017455, 0.028465
[11:52:56.454] xyz_f:0.151287, -0.265595, 1.152219  Reprojection Error: 0.124984, 0.222381 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.454] xyz_f:0.039493, -0.161414, 1.159585  Reprojection Error: 0.103919, 0.235193 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.454] xyz_f:0.312518, -0.453008, 1.079173  Reprojection Error: 0.149952, 0.187715 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.454] xyz_f:0.388655, -0.658246, 0.927487  Reprojection Error: 0.137315, 0.140577 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.454] xyz_f:0.396444, -0.483429, 1.050989  Reprojection Error: 0.171892, 0.172329 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.454] xyz_f:0.039691, -0.154941, 1.160681  Reprojection Error: 0.103858, 0.236180 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.454] xyz_f:0.078359, 0.156288, 1.167295  Reprojection Error: 0.097427, 0.313085 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.454] xyz_f:0.406865, -0.457935, 1.062797  Reprojection Error: 0.178940, 0.176149 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.454] xyz_f:0.320124, -0.475929, 1.066355  Reprojection Error: 0.149336, 0.183310 Feature: 0.398705, -0.233263, 0.886918
[11:52:56.454] xyz_f:0.189745, -0.236741, 1.162124  Reprojection Error: 0.134493, 0.227261 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.454] xyz_f:0.364970, -0.468102, 1.064850  Reprojection Error: 0.163538, 0.179442 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.454] xyz_f:-0.594958, -0.498557, 0.455149  Reprojection Error: 0.266662, 0.440338 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.454] xyz_f:0.232878, 0.009744, 1.191369  Reprojection Error: 0.150008, 0.286388 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.454] xyz_f:-0.023786, -0.056971, 1.156788  Reprojection Error: 0.088584, 0.248340 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.454] xyz_f:0.380359, -0.471080, 1.060739  Reprojection Error: 0.168117, 0.176953 Feature: 0.453513, -0.230032, 0.861052
[11:52:56.454] xyz_f:0.186915, -0.221896, 1.165501  Reprojection Error: 0.134290, 0.229796 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.454] xyz_f:0.042167, -0.168028, 1.158984  Reprojection Error: 0.104502, 0.234318 Feature: 0.138965, 0.088121, 0.986369
[11:52:56.454] xyz_f:0.172020, -0.232266, 1.162293  Reprojection Error: 0.130534, 0.227798 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.454] xyz_f:0.200687, 0.014761, 1.190856  Reprojection Error: 0.139912, 0.284495 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.454] xyz_f:0.163062, -0.253213, 1.156455  Reprojection Error: 0.127906, 0.224325 Feature: 0.259679, 0.005184, 0.965681
[11:52:56.454] xyz_f:0.496689, -0.004061, 1.155416  Reprojection Error: 0.266562, 0.312234 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.454] xyz_f:-0.594958, -0.498557, 0.455149  Reprojection Error: 0.266662, 0.440338 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.454] xyz_f:0.312518, -0.453008, 1.079173  Reprojection Error: 0.149952, 0.187715 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.454] xyz_f:0.396444, -0.483429, 1.050989  Reprojection Error: 0.171892, 0.172329 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.454] xyz_f:0.406865, -0.457935, 1.062797  Reprojection Error: 0.183101, 0.175771 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.454] xyz_f:0.151287, -0.265595, 1.152219  Reprojection Error: 0.128128, 0.224624 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.454] xyz_f:0.039493, -0.161414, 1.159585  Reprojection Error: 0.103919, 0.235193 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.454] xyz_f:-0.023786, -0.056971, 1.156788  Reprojection Error: 0.088584, 0.248340 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.454] xyz_f:0.232878, 0.009744, 1.191369  Reprojection Error: 0.146565, 0.286127 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.454] xyz_f:0.496689, -0.004061, 1.155416  Reprojection Error: 0.266562, 0.312234 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.454] xyz_f:0.388655, -0.658246, 0.927487  Reprojection Error: -0.262476, 1.189895 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.454] xyz_f:0.078359, 0.156288, 1.167295  Reprojection Error: 0.090971, 0.312713 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.454] it:27 	 Success 	 new_chi2: 2.118619 	 dT = -0.020528, 0.019011, 0.031753
[11:52:56.454] xyz_f:0.100822, -0.264812, 1.130284  Reprojection Error: 0.167084, 0.226161 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.454] xyz_f:-0.010286, -0.159715, 1.134232  Reprojection Error: 0.147045, 0.236806 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.454] xyz_f:0.262671, -0.453552, 1.062194  Reprojection Error: 0.192251, 0.194937 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.454] xyz_f:0.341735, -0.659428, 0.912888  Reprojection Error: 0.182010, 0.153222 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.454] xyz_f:0.347169, -0.484666, 1.036593  Reprojection Error: 0.214188, 0.179910 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.454] xyz_f:-0.010068, -0.153243, 1.135334  Reprojection Error: 0.146923, 0.237665 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.454] xyz_f:0.030935, 0.157658, 1.143170  Reprojection Error: 0.137495, 0.309061 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.454] xyz_f:0.357433, -0.459256, 1.048718  Reprojection Error: 0.220937, 0.183194 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.454] xyz_f:0.270478, -0.476537, 1.049612  Reprojection Error: 0.191847, 0.191009 Feature: 0.398705, -0.233263, 0.886918
[11:52:56.454] xyz_f:0.139193, -0.236273, 1.141368  Reprojection Error: 0.175814, 0.230556 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.454] xyz_f:0.315412, -0.469078, 1.049483  Reprojection Error: 0.205741, 0.186808 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.454] xyz_f:-0.625585, -0.491722, 0.410629  Reprojection Error: 0.482971, 0.542452 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.454] xyz_f:0.183433, 0.009853, 1.171953  Reprojection Error: 0.188959, 0.286160 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.454] xyz_f:-0.072589, -0.054755, 1.129509  Reprojection Error: 0.132288, 0.247568 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.454] xyz_f:0.330895, -0.472183, 1.045847  Reprojection Error: 0.210307, 0.184332 Feature: 0.453513, -0.230032, 0.861052
[11:52:56.454] xyz_f:0.136383, -0.221405, 1.144658  Reprojection Error: 0.175516, 0.232834 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.454] xyz_f:-0.007649, -0.166350, 1.133712  Reprojection Error: 0.147632, 0.236070 Feature: 0.138965, 0.088121, 0.986369
[11:52:56.454] xyz_f:0.121509, -0.231653, 1.140994  Reprojection Error: 0.172040, 0.230991 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.454] xyz_f:0.151315, 0.015134, 1.170454  Reprojection Error: 0.179156, 0.283960 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.454] xyz_f:0.112563, -0.252526, 1.134881  Reprojection Error: 0.169723, 0.227882 Feature: 0.259679, 0.005184, 0.965681
[11:52:56.454] xyz_f:0.448101, -0.006124, 1.144105  Reprojection Error: 0.304781, 0.314072 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.454] xyz_f:-0.625585, -0.491722, 0.410629  Reprojection Error: 0.482971, 0.542452 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.454] xyz_f:0.262671, -0.453552, 1.062194  Reprojection Error: 0.192251, 0.194937 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.454] xyz_f:0.347169, -0.484666, 1.036593  Reprojection Error: 0.214188, 0.179910 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.454] xyz_f:0.357433, -0.459256, 1.048718  Reprojection Error: 0.225098, 0.182816 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.454] xyz_f:0.100822, -0.264812, 1.130284  Reprojection Error: 0.170228, 0.228404 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.454] xyz_f:-0.010286, -0.159715, 1.134232  Reprojection Error: 0.147045, 0.236806 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.454] xyz_f:-0.072589, -0.054755, 1.129509  Reprojection Error: 0.132288, 0.247568 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.454] xyz_f:0.183433, 0.009853, 1.171953  Reprojection Error: 0.185517, 0.285899 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.454] xyz_f:0.448101, -0.006124, 1.144105  Reprojection Error: 0.304781, 0.314072 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.454] xyz_f:0.341735, -0.659428, 0.912888  Reprojection Error: -0.217781, 1.202540 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.454] xyz_f:0.030935, 0.157658, 1.143170  Reprojection Error: 0.131039, 0.308689 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.454] it:28 	 Success 	 new_chi2: 2.334556 	 dT = -0.016647, 0.021877, 0.033670
[11:52:56.454] xyz_f:0.044539, -0.263698, 1.104249  Reprojection Error: 0.215951, 0.230676 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.454] xyz_f:-0.065719, -0.157636, 1.104597  Reprojection Error: 0.197472, 0.238702 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.454] xyz_f:0.206866, -0.453851, 1.041431  Reprojection Error: 0.240905, 0.203737 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.454] xyz_f:0.288946, -0.660429, 0.894746  Reprojection Error: 0.233419, 0.168987 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.454] xyz_f:0.291878, -0.485703, 1.018586  Reprojection Error: 0.262551, 0.189194 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.454] xyz_f:-0.065481, -0.151166, 1.105707  Reprojection Error: 0.197275, 0.239404 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.454] xyz_f:-0.022047, 0.159367, 1.114916  Reprojection Error: 0.184330, 0.304033 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.454] xyz_f:0.301962, -0.460382, 1.031042  Reprojection Error: 0.268894, 0.191793 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.454] xyz_f:0.214877, -0.476905, 1.029107  Reprojection Error: 0.240740, 0.200412 Feature: 0.398705, -0.233263, 0.886918
[11:52:56.454] xyz_f:0.082777, -0.235493, 1.116579  Reprojection Error: 0.223633, 0.234453 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.454] xyz_f:0.259855, -0.469838, 1.030440  Reprojection Error: 0.254102, 0.195806 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.454] xyz_f:-0.660033, -0.484372, 0.361322  Reprojection Error: 0.786206, 0.685522 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.454] xyz_f:0.128142, 0.010242, 1.148622  Reprojection Error: 0.233917, 0.285650 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.454] xyz_f:-0.126919, -0.052139, 1.097865  Reprojection Error: 0.183627, 0.246582 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.454] xyz_f:0.275421, -0.473078, 1.027308  Reprojection Error: 0.258597, 0.193350 Feature: 0.453513, -0.230032, 0.861052
[11:52:56.454] xyz_f:0.079991, -0.220600, 1.119778  Reprojection Error: 0.223229, 0.236413 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.454] xyz_f:-0.063124, -0.164295, 1.104163  Reprojection Error: 0.198054, 0.238135 Feature: 0.138965, 0.088121, 0.986369
[11:52:56.454] xyz_f:0.065155, -0.230719, 1.115631  Reprojection Error: 0.220132, 0.234769 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.454] xyz_f:0.096136, 0.015803, 1.146079  Reprojection Error: 0.224552, 0.283102 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.454] xyz_f:0.056231, -0.251514, 1.109227  Reprojection Error: 0.218214, 0.232116 Feature: 0.259679, 0.005184, 0.965681
[11:52:56.454] xyz_f:0.393425, -0.008043, 1.129392  Reprojection Error: 0.348090, 0.315842 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.454] xyz_f:-0.660033, -0.484372, 0.361322  Reprojection Error: 0.786206, 0.685522 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.454] xyz_f:0.206866, -0.453851, 1.041431  Reprojection Error: 0.240905, 0.203737 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.454] xyz_f:0.291878, -0.485703, 1.018586  Reprojection Error: 0.262551, 0.189194 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.454] xyz_f:0.301962, -0.460382, 1.031042  Reprojection Error: 0.273055, 0.191415 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.454] xyz_f:0.044539, -0.263698, 1.104249  Reprojection Error: 0.219095, 0.232919 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.454] xyz_f:-0.065719, -0.157636, 1.104597  Reprojection Error: 0.197472, 0.238702 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.454] xyz_f:-0.126919, -0.052139, 1.097865  Reprojection Error: 0.183627, 0.246582 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.454] xyz_f:0.128142, 0.010242, 1.148622  Reprojection Error: 0.230475, 0.285389 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.454] xyz_f:0.393425, -0.008043, 1.129392  Reprojection Error: 0.348090, 0.315842 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.454] xyz_f:0.288946, -0.660429, 0.894746  Reprojection Error: -0.166372, 1.218305 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.454] xyz_f:-0.022047, 0.159367, 1.114916  Reprojection Error: 0.177874, 0.303661 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.454] it:29 	 Success 	 new_chi2: 2.503889 	 dT = 0.014513, 0.037783, 0.013446
[11:52:56.454] xyz_f:-0.021788, -0.263172, 1.064503  Reprojection Error: 0.276753, 0.239098 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.454] xyz_f:-0.131672, -0.156727, 1.063421  Reprojection Error: 0.261796, 0.243373 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.454] xyz_f:0.140678, -0.453890, 1.003794  Reprojection Error: 0.299396, 0.220116 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.454] xyz_f:0.223937, -0.660756, 0.858183  Reprojection Error: 0.295412, 0.200815 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.454] xyz_f:0.225868, -0.486038, 0.982055  Reprojection Error: 0.319107, 0.207273 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.454] xyz_f:-0.131426, -0.150258, 1.064534  Reprojection Error: 0.261513, 0.243838 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.454] xyz_f:-0.087034, 0.160122, 1.074314  Reprojection Error: 0.245570, 0.297928 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.454] xyz_f:0.235878, -0.460752, 0.994641  Reprojection Error: 0.324616, 0.208507 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.454] xyz_f:0.148768, -0.476972, 0.991575  Reprojection Error: 0.299508, 0.218021 Feature: 0.398705, -0.233263, 0.886918
[11:52:56.454] xyz_f:0.016384, -0.235100, 1.077329  Reprojection Error: 0.282559, 0.241772 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.454] xyz_f:0.193749, -0.470061, 0.993492  Reprojection Error: 0.311262, 0.212988 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.454] xyz_f:-0.717416, -0.481410, 0.312484  Reprojection Error: 1.255343, 0.885560 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.454] xyz_f:0.062183, 0.010477, 1.109964  Reprojection Error: 0.289455, 0.285128 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.454] xyz_f:-0.192412, -0.051017, 1.055898  Reprojection Error: 0.250247, 0.247407 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.454] xyz_f:0.209343, -0.473356, 0.990563  Reprojection Error: 0.315359, 0.210714 Feature: 0.453513, -0.230032, 0.861052
[11:52:56.454] xyz_f:0.013609, -0.220198, 1.080493  Reprojection Error: 0.282069, 0.243203 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.455] xyz_f:-0.129095, -0.163394, 1.063021  Reprojection Error: 0.262327, 0.243047 Feature: 0.138965, 0.088121, 0.986369
[11:52:56.455] xyz_f:-0.001208, -0.230265, 1.076152  Reprojection Error: 0.279656, 0.241934 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.455] xyz_f:0.030234, 0.016149, 1.107006  Reprojection Error: 0.281124, 0.282302 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.455] xyz_f:-0.010120, -0.251029, 1.069633  Reprojection Error: 0.278369, 0.240055 Feature: 0.259679, 0.005184, 0.965681
[11:52:56.455] xyz_f:0.327629, -0.008732, 1.094180  Reprojection Error: 0.397013, 0.316701 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.455] xyz_f:-0.717416, -0.481410, 0.312484  Reprojection Error: 1.255343, 0.885560 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.455] xyz_f:0.140678, -0.453890, 1.003794  Reprojection Error: 0.299396, 0.220116 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.455] xyz_f:0.225868, -0.486038, 0.982055  Reprojection Error: 0.319107, 0.207273 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.455] xyz_f:0.235878, -0.460752, 0.994641  Reprojection Error: 0.328778, 0.208129 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.455] xyz_f:-0.021788, -0.263172, 1.064503  Reprojection Error: 0.279897, 0.241341 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.455] xyz_f:-0.131672, -0.156727, 1.063421  Reprojection Error: 0.261796, 0.243373 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.455] xyz_f:-0.192412, -0.051017, 1.055898  Reprojection Error: 0.250247, 0.247407 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.455] xyz_f:0.062183, 0.010477, 1.109964  Reprojection Error: 0.286013, 0.284867 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.455] xyz_f:0.327629, -0.008732, 1.094180  Reprojection Error: 0.397013, 0.316701 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.455] xyz_f:0.223937, -0.660756, 0.858183  Reprojection Error: -0.104379, 1.250134 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.455] xyz_f:-0.087034, 0.160122, 1.074314  Reprojection Error: 0.239113, 0.297556 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.455] it:30 	 Success 	 new_chi2: 3.005052 	 dT = 0.030521, 0.036355, 0.001739
[11:52:56.455] xyz_f:-0.077296, -0.263100, 1.027882  Reprojection Error: 0.331484, 0.247836 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.455] xyz_f:-0.187130, -0.156606, 1.026615  Reprojection Error: 0.320255, 0.248539 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.455] xyz_f:0.085186, -0.453891, 0.967445  Reprojection Error: 0.351489, 0.237107 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.455] xyz_f:0.168596, -0.660795, 0.821974  Reprojection Error: 0.351244, 0.234780 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.455] xyz_f:0.170398, -0.486078, 0.945849  Reprojection Error: 0.368949, 0.226261 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.455] xyz_f:-0.186882, -0.150137, 1.027729  Reprojection Error: 0.319895, 0.248775 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.455] xyz_f:-0.142368, 0.160223, 1.037583  Reprojection Error: 0.301767, 0.292554 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.455] xyz_f:0.180398, -0.460797, 0.958453  Reprojection Error: 0.373547, 0.226044 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.455] xyz_f:0.093286, -0.476977, 0.955240  Reprojection Error: 0.351882, 0.236323 Feature: 0.398705, -0.233263, 0.886918
[11:52:56.455] xyz_f:-0.039133, -0.235046, 1.040772  Reprojection Error: 0.335367, 0.249385 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.455] xyz_f:0.138268, -0.470087, 0.957233  Reprojection Error: 0.361836, 0.230937 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.455] xyz_f:-0.771758, -0.481026, 0.274695  Reprojection Error: 1.769002, 1.096095 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.455] xyz_f:0.006722, 0.010510, 1.073483  Reprojection Error: 0.339216, 0.284776 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.455] xyz_f:-0.247809, -0.050869, 1.018990  Reprojection Error: 0.311213, 0.249012 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.455] xyz_f:0.153865, -0.473388, 0.954329  Reprojection Error: 0.365469, 0.228891 Feature: 0.453513, -0.230032, 0.861052
[11:52:56.455] xyz_f:-0.041907, -0.220142, 1.043931  Reprojection Error: 0.334807, 0.250288 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.455] xyz_f:-0.184555, -0.163275, 1.026219  Reprojection Error: 0.320725, 0.248442 Feature: 0.138965, 0.088121, 0.986369
[11:52:56.455] xyz_f:-0.056720, -0.230203, 1.039565  Reprojection Error: 0.333095, 0.249405 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.455] xyz_f:-0.025220, 0.016197, 1.070472  Reprojection Error: 0.331994, 0.281760 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.455] xyz_f:-0.065631, -0.250963, 1.033031  Reprojection Error: 0.332440, 0.248307 Feature: 0.259679, 0.005184, 0.965681
[11:52:56.455] xyz_f:0.272186, -0.008818, 1.058146  Reprojection Error: 0.439213, 0.317054 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.455] xyz_f:-0.771758, -0.481026, 0.274695  Reprojection Error: 1.769002, 1.096095 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.455] xyz_f:0.085186, -0.453891, 0.967445  Reprojection Error: 0.351489, 0.237107 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.455] xyz_f:0.170398, -0.486078, 0.945849  Reprojection Error: 0.368949, 0.226261 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.455] xyz_f:0.180398, -0.460797, 0.958453  Reprojection Error: 0.377708, 0.225666 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.455] xyz_f:-0.077296, -0.263100, 1.027882  Reprojection Error: 0.334629, 0.250080 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.455] xyz_f:-0.187130, -0.156606, 1.026615  Reprojection Error: 0.320255, 0.248539 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.455] xyz_f:-0.247809, -0.050869, 1.018990  Reprojection Error: 0.311213, 0.249012 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.455] xyz_f:0.006722, 0.010510, 1.073483  Reprojection Error: 0.335774, 0.284515 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.455] xyz_f:0.272186, -0.008818, 1.058146  Reprojection Error: 0.439213, 0.317054 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.455] xyz_f:0.168596, -0.660795, 0.821974  Reprojection Error: -0.048547, 1.284098 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.455] xyz_f:-0.142368, 0.160223, 1.037583  Reprojection Error: 0.295311, 0.292182 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.455] it:31 	 Success 	 new_chi2: 3.429760 	 dT = 0.043049, 0.036887, -0.008219
[11:52:56.455] xyz_f:-0.118060, -0.263431, 0.992229  Reprojection Error: 0.375270, 0.257367 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.455] xyz_f:-0.228126, -0.157171, 0.991835  Reprojection Error: 0.367981, 0.254458 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.455] xyz_f:0.044343, -0.453877, 0.930503  Reprojection Error: 0.391887, 0.255718 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.455] xyz_f:0.127036, -0.660603, 0.784372  Reprojection Error: 0.394397, 0.273075 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.455] xyz_f:0.129449, -0.485882, 0.908231  Reprojection Error: 0.406574, 0.247331 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.455] xyz_f:-0.227884, -0.150701, 0.992946  Reprojection Error: 0.367557, 0.254461 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.455] xyz_f:-0.183953, 0.159753, 1.002450  Reprojection Error: 0.348060, 0.287611 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.455] xyz_f:0.139495, -0.460580, 0.920754  Reprojection Error: 0.410264, 0.245492 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.455] xyz_f:0.052395, -0.476945, 0.918233  Reprojection Error: 0.392479, 0.256412 Feature: 0.398705, -0.233263, 0.886918
[11:52:56.455] xyz_f:-0.079855, -0.235295, 1.004815  Reprojection Error: 0.377240, 0.257715 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.455] xyz_f:0.097376, -0.469959, 0.919869  Reprojection Error: 0.400423, 0.250746 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.455] xyz_f:-0.818014, -0.482840, 0.244577  Reprojection Error: 2.304105, 1.319153 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.455] xyz_f:-0.034264, 0.010358, 1.037164  Reprojection Error: 0.378515, 0.284580 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.455] xyz_f:-0.289089, -0.051563, 0.984693  Reprojection Error: 0.361605, 0.251456 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.455] xyz_f:0.112956, -0.473228, 0.916842  Reprojection Error: 0.403495, 0.248998 Feature: 0.453513, -0.230032, 0.861052
[11:52:56.455] xyz_f:-0.082636, -0.220397, 1.007996  Reprojection Error: 0.376644, 0.258059 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.455] xyz_f:-0.225541, -0.163834, 0.991418  Reprojection Error: 0.368378, 0.254591 Feature: 0.138965, 0.088121, 0.986369
[11:52:56.455] xyz_f:-0.097462, -0.230489, 1.003749  Reprojection Error: 0.375632, 0.257592 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.455] xyz_f:-0.066242, 0.015977, 1.034407  Reprojection Error: 0.372473, 0.281445 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.455] xyz_f:-0.106380, -0.251269, 0.997285  Reprojection Error: 0.375578, 0.257321 Feature: 0.259679, 0.005184, 0.965681
[11:52:56.455] xyz_f:0.231109, -0.008406, 1.019720  Reprojection Error: 0.469801, 0.316963 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.455] xyz_f:-0.818014, -0.482840, 0.244577  Reprojection Error: 2.304105, 1.319153 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.455] xyz_f:0.044343, -0.453877, 0.930503  Reprojection Error: 0.391887, 0.255718 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.455] xyz_f:0.129449, -0.485882, 0.908231  Reprojection Error: 0.406574, 0.247331 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.455] xyz_f:0.139495, -0.460580, 0.920754  Reprojection Error: 0.414426, 0.245114 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.455] xyz_f:-0.118060, -0.263431, 0.992229  Reprojection Error: 0.378414, 0.259610 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.455] xyz_f:-0.228126, -0.157171, 0.991835  Reprojection Error: 0.367981, 0.254458 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.455] xyz_f:-0.289089, -0.051563, 0.984693  Reprojection Error: 0.361605, 0.251456 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.455] xyz_f:-0.034264, 0.010358, 1.037164  Reprojection Error: 0.375072, 0.284319 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.455] xyz_f:0.231109, -0.008406, 1.019720  Reprojection Error: 0.469801, 0.316963 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.455] xyz_f:0.127036, -0.660603, 0.784372  Reprojection Error: -0.005394, 1.322393 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.455] xyz_f:-0.183953, 0.159753, 1.002450  Reprojection Error: 0.341603, 0.287239 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.455] it:32 	 Success 	 new_chi2: 3.719069 	 dT = 0.049804, 0.038157, -0.014143
[11:52:56.455] xyz_f:-0.147710, -0.263959, 0.956045  Reprojection Error: 0.410786, 0.267968 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.455] xyz_f:-0.258159, -0.158103, 0.957157  Reprojection Error: 0.407691, 0.261173 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.455] xyz_f:0.014531, -0.453811, 0.892101  Reprojection Error: 0.423253, 0.276641 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.455] xyz_f:0.095976, -0.660237, 0.744849  Reprojection Error: 0.427502, 0.317272 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.455] xyz_f:0.099441, -0.485506, 0.868668  Reprojection Error: 0.434627, 0.271262 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.455] xyz_f:-0.257925, -0.151633, 0.958265  Reprojection Error: 0.407213, 0.260926 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.455] xyz_f:-0.215005, 0.158981, 0.967175  Reprojection Error: 0.386858, 0.282598 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.455] xyz_f:0.109565, -0.460166, 0.881054  Reprojection Error: 0.437408, 0.267562 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.455] xyz_f:0.022499, -0.476850, 0.879722  Reprojection Error: 0.423964, 0.279043 Feature: 0.398705, -0.233263, 0.886918
[11:52:56.455] xyz_f:-0.109440, -0.235684, 0.968109  Reprojection Error: 0.410812, 0.266995 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.455] xyz_f:0.067472, -0.469700, 0.880743  Reprojection Error: 0.429673, 0.273147 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.455] xyz_f:-0.857004, -0.485947, 0.218018  Reprojection Error: 2.890373, 1.573898 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.455] xyz_f:-0.064310, 0.010136, 0.999838  Reprojection Error: 0.409799, 0.284430 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.455] xyz_f:-0.319600, -0.052719, 0.950851  Reprojection Error: 0.404142, 0.254535 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.455] xyz_f:0.083022, -0.472911, 0.877503  Reprojection Error: 0.432085, 0.271776 Feature: 0.453513, -0.230032, 0.861052
[11:52:56.455] xyz_f:-0.112231, -0.220796, 0.971328  Reprojection Error: 0.410207, 0.266724 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.455] xyz_f:-0.255555, -0.164757, 0.956705  Reprojection Error: 0.408005, 0.261552 Feature: 0.138965, 0.088121, 0.986369
[11:52:56.455] xyz_f:-0.127077, -0.230943, 0.967283  Reprojection Error: 0.409909, 0.266717 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.455] xyz_f:-0.096343, 0.015637, 0.997518  Reprojection Error: 0.405017, 0.281215 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.455] xyz_f:-0.136006, -0.251754, 0.960941  Reprojection Error: 0.410442, 0.267356 Feature: 0.259679, 0.005184, 0.965681
[11:52:56.455] xyz_f:0.200867, -0.007657, 0.978769  Reprojection Error: 0.491217, 0.316544 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.455] xyz_f:-0.857004, -0.485947, 0.218018  Reprojection Error: 2.890373, 1.573898 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.455] xyz_f:0.014531, -0.453811, 0.892101  Reprojection Error: 0.423253, 0.276641 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.455] xyz_f:0.099441, -0.485506, 0.868668  Reprojection Error: 0.434627, 0.271262 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.455] xyz_f:0.109565, -0.460166, 0.881054  Reprojection Error: 0.441570, 0.267185 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.455] xyz_f:-0.147710, -0.263959, 0.956045  Reprojection Error: 0.413930, 0.270212 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.455] xyz_f:-0.258159, -0.158103, 0.957157  Reprojection Error: 0.407691, 0.261173 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.455] xyz_f:-0.319600, -0.052719, 0.950851  Reprojection Error: 0.404142, 0.254535 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.455] xyz_f:-0.064310, 0.010136, 0.999838  Reprojection Error: 0.406357, 0.284169 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.455] xyz_f:0.200867, -0.007657, 0.978769  Reprojection Error: 0.491217, 0.316544 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.455] xyz_f:0.095976, -0.660237, 0.744849  Reprojection Error: 0.027712, 1.366590 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.455] xyz_f:-0.215005, 0.158981, 0.967175  Reprojection Error: 0.380402, 0.282226 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.455] it:33 	 Success 	 new_chi2: 3.898705 	 dT = 0.052365, 0.039323, -0.017006
[11:52:56.455] xyz_f:-0.171563, -0.264527, 0.918840  Reprojection Error: 0.443002, 0.279766 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.455] xyz_f:-0.282445, -0.159158, 0.921770  Reprojection Error: 0.444392, 0.268658 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.455] xyz_f:-0.009561, -0.453665, 0.852233  Reprojection Error: 0.450761, 0.300267 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.455] xyz_f:0.070362, -0.659736, 0.703656  Reprojection Error: 0.456361, 0.368451 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.455] xyz_f:0.075091, -0.484987, 0.827407  Reprojection Error: 0.458347, 0.298506 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.455] xyz_f:-0.282221, -0.152687, 0.922875  Reprojection Error: 0.443861, 0.268135 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.455] xyz_f:-0.240528, 0.158113, 0.931090  Reprojection Error: 0.422886, 0.277159 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.455] xyz_f:0.085306, -0.459602, 0.839626  Reprojection Error: 0.460166, 0.292661 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.455] xyz_f:-0.001696, -0.476669, 0.839724  Reprojection Error: 0.451559, 0.304646 Feature: 0.398705, -0.233263, 0.886918
[11:52:56.455] xyz_f:-0.133225, -0.236083, 0.930275  Reprojection Error: 0.440978, 0.277325 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.455] xyz_f:0.043256, -0.469321, 0.840007  Reprojection Error: 0.454786, 0.298558 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.455] xyz_f:-0.891901, -0.489662, 0.192556  Reprojection Error: 3.591390, 1.887921 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.455] xyz_f:-0.088663, 0.009934, 0.961268  Reprojection Error: 0.437714, 0.284233 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.455] xyz_f:-0.344444, -0.054046, 0.916478  Reprojection Error: 0.443856, 0.258062 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.455] xyz_f:0.058764, -0.472464, 0.836512  Reprojection Error: 0.456448, 0.297650 Feature: 0.453513, -0.230032, 0.861052
[11:52:56.455] xyz_f:-0.136029, -0.221208, 0.933540  Reprojection Error: 0.440376, 0.276365 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.455] xyz_f:-0.279819, -0.165800, 0.921275  Reprojection Error: 0.444616, 0.269307 Feature: 0.138965, 0.088121, 0.986369
[11:52:56.455] xyz_f:-0.150895, -0.231419, 0.929739  Reprojection Error: 0.440831, 0.276871 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.455] xyz_f:-0.120753, 0.015294, 0.959474  Reprojection Error: 0.434288, 0.280950 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.455] xyz_f:-0.159835, -0.252271, 0.923544  Reprojection Error: 0.441975, 0.278523 Feature: 0.259679, 0.005184, 0.965681
[11:52:56.455] xyz_f:0.176208, -0.006693, 0.935845  Reprojection Error: 0.508154, 0.315871 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.455] xyz_f:-0.891901, -0.489662, 0.192556  Reprojection Error: 3.591390, 1.887921 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.455] xyz_f:-0.009561, -0.453665, 0.852233  Reprojection Error: 0.450761, 0.300267 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.455] xyz_f:0.075091, -0.484987, 0.827407  Reprojection Error: 0.458347, 0.298506 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.455] xyz_f:0.085306, -0.459602, 0.839626  Reprojection Error: 0.464327, 0.292283 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.455] xyz_f:-0.171563, -0.264527, 0.918840  Reprojection Error: 0.446146, 0.282009 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.455] xyz_f:-0.282445, -0.159158, 0.921770  Reprojection Error: 0.444392, 0.268658 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.455] xyz_f:-0.344444, -0.054046, 0.916478  Reprojection Error: 0.443856, 0.258062 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.455] xyz_f:-0.088663, 0.009934, 0.961268  Reprojection Error: 0.434272, 0.283972 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.455] xyz_f:0.176208, -0.006693, 0.935845  Reprojection Error: 0.508154, 0.315871 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.455] xyz_f:0.070362, -0.659736, 0.703656  Reprojection Error: 0.056570, 1.417770 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.455] xyz_f:-0.240528, 0.158113, 0.931090  Reprojection Error: 0.416429, 0.276787 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.455] it:34 	 Success 	 new_chi2: 3.998909 	 dT = 0.052553, 0.040175, -0.018066
[11:52:56.455] xyz_f:-0.193122, -0.265049, 0.880612  Reprojection Error: 0.475590, 0.292856 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.456] xyz_f:-0.304427, -0.160199, 0.885481  Reprojection Error: 0.481775, 0.276911 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.456] xyz_f:-0.031425, -0.453430, 0.811180  Reprojection Error: 0.478281, 0.326917 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.456] xyz_f:0.046856, -0.659131, 0.661223  Reprojection Error: 0.485492, 0.427705 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.456] xyz_f:0.052928, -0.484356, 0.784880  Reprojection Error: 0.481668, 0.329463 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.456] xyz_f:-0.304215, -0.153727, 0.886581  Reprojection Error: 0.481187, 0.276082 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.456] xyz_f:-0.263838, 0.157265, 0.894080  Reprojection Error: 0.459651, 0.271078 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.456] xyz_f:0.063235, -0.458924, 0.796920  Reprojection Error: 0.482416, 0.321144 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.456] xyz_f:-0.023671, -0.476398, 0.798535  Reprojection Error: 0.479183, 0.333586 Feature: 0.398705, -0.233263, 0.886918
[11:52:56.456] xyz_f:-0.154724, -0.236425, 0.891377  Reprojection Error: 0.471346, 0.288783 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.456] xyz_f:0.021244, -0.468839, 0.798034  Reprojection Error: 0.479661, 0.327341 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.456] xyz_f:-0.924963, -0.493578, 0.166999  Reprojection Error: 4.498233, 2.300548 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.456] xyz_f:-0.110779, 0.009799, 0.921597  Reprojection Error: 0.465681, 0.283935 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.456] xyz_f:-0.367000, -0.055378, 0.881275  Reprojection Error: 0.484464, 0.261930 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.456] xyz_f:0.036703, -0.471910, 0.794269  Reprojection Error: 0.480486, 0.326992 Feature: 0.453513, -0.230032, 0.861052
[11:52:56.456] xyz_f:-0.157540, -0.221563, 0.894691  Reprojection Error: 0.470746, 0.287052 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.456] xyz_f:-0.301779, -0.166829, 0.884940  Reprojection Error: 0.481902, 0.277859 Feature: 0.138965, 0.088121, 0.986369
[11:52:56.456] xyz_f:-0.172421, -0.231844, 0.891150  Reprojection Error: 0.472016, 0.288127 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.456] xyz_f:-0.142920, 0.015009, 0.920364  Reprojection Error: 0.463721, 0.280583 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.456] xyz_f:-0.181371, -0.252737, 0.885111  Reprojection Error: 0.473821, 0.290912 Feature: 0.259679, 0.005184, 0.965681
[11:52:56.456] xyz_f:0.153684, -0.005590, 0.891556  Reprojection Error: 0.524065, 0.314990 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.456] xyz_f:-0.924963, -0.493578, 0.166999  Reprojection Error: 4.498233, 2.300548 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.456] xyz_f:-0.031425, -0.453430, 0.811180  Reprojection Error: 0.478281, 0.326917 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.456] xyz_f:0.052928, -0.484356, 0.784880  Reprojection Error: 0.481668, 0.329463 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.456] xyz_f:0.063235, -0.458924, 0.796920  Reprojection Error: 0.486578, 0.320767 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.456] xyz_f:-0.193122, -0.265049, 0.880612  Reprojection Error: 0.478734, 0.295099 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.456] xyz_f:-0.304427, -0.160199, 0.885481  Reprojection Error: 0.481775, 0.276911 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.456] xyz_f:-0.367000, -0.055378, 0.881275  Reprojection Error: 0.484464, 0.261930 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.456] xyz_f:-0.110779, 0.009799, 0.921597  Reprojection Error: 0.462239, 0.283674 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.456] xyz_f:0.153684, -0.005590, 0.891556  Reprojection Error: 0.524065, 0.314990 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.456] xyz_f:0.046856, -0.659131, 0.661223  Reprojection Error: 0.085701, 1.477023 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.456] xyz_f:-0.263838, 0.157265, 0.894080  Reprojection Error: 0.453194, 0.270706 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.456] it:35 	 Success 	 new_chi2: 4.020209 	 dT = 0.051535, 0.040732, -0.018157
[11:52:56.456] xyz_f:-0.214203, -0.265489, 0.841520  Reprojection Error: 0.510828, 0.307360 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.456] xyz_f:-0.325896, -0.161163, 0.848345  Reprojection Error: 0.522133, 0.285966 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.456] xyz_f:-0.052864, -0.453111, 0.769256  Reprojection Error: 0.508263, 0.356966 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.456] xyz_f:0.023741, -0.658448, 0.617940  Reprojection Error: 0.517936, 0.496421 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.456] xyz_f:0.031158, -0.483641, 0.741479  Reprojection Error: 0.507081, 0.364619 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.456] xyz_f:-0.325695, -0.154689, 0.849442  Reprojection Error: 0.521477, 0.284796 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.456] xyz_f:-0.286655, 0.156489, 0.856244  Reprojection Error: 0.499338, 0.264212 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.456] xyz_f:0.041555, -0.458160, 0.753337  Reprojection Error: 0.506604, 0.353446 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.456] xyz_f:-0.045226, -0.476042, 0.756476  Reprojection Error: 0.509325, 0.366286 Feature: 0.398705, -0.233263, 0.886918
[11:52:56.456] xyz_f:-0.175756, -0.236684, 0.851612  Reprojection Error: 0.504148, 0.301472 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.456] xyz_f:-0.000363, -0.468273, 0.755187  Reprojection Error: 0.506761, 0.359923 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.456] xyz_f:-0.957364, -0.497484, 0.140842  Reprojection Error: 5.756925, 2.877182 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.456] xyz_f:-0.132446, 0.009744, 0.881067  Reprojection Error: 0.495802, 0.283507 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.456] xyz_f:-0.389026, -0.056637, 0.845242  Reprojection Error: 0.528276, 0.266098 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.456] xyz_f:0.015043, -0.471271, 0.751151  Reprojection Error: 0.506670, 0.360246 Feature: 0.453513, -0.230032, 0.861052
[11:52:56.456] xyz_f:-0.178583, -0.221835, 0.854975  Reprojection Error: 0.503539, 0.298874 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.456] xyz_f:-0.323228, -0.167780, 0.847757  Reprojection Error: 0.522159, 0.287249 Feature: 0.138965, 0.088121, 0.986369
[11:52:56.456] xyz_f:-0.193477, -0.232187, 0.851695  Reprojection Error: 0.505700, 0.300581 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.456] xyz_f:-0.164628, 0.014803, 0.880398  Reprojection Error: 0.495427, 0.280076 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.456] xyz_f:-0.202432, -0.253122, 0.845813  Reprojection Error: 0.508243, 0.304633 Feature: 0.259679, 0.005184, 0.965681
[11:52:56.456] xyz_f:0.131519, -0.004403, 0.846392  Reprojection Error: 0.541054, 0.313922 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.456] xyz_f:-0.957364, -0.497484, 0.140842  Reprojection Error: 5.756925, 2.877182 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.456] xyz_f:-0.052864, -0.453111, 0.769256  Reprojection Error: 0.508263, 0.356966 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.456] xyz_f:0.031158, -0.483641, 0.741479  Reprojection Error: 0.507081, 0.364619 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.456] xyz_f:0.041555, -0.458160, 0.753337  Reprojection Error: 0.510765, 0.353068 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.456] xyz_f:-0.214203, -0.265489, 0.841520  Reprojection Error: 0.513972, 0.309603 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.456] xyz_f:-0.325896, -0.161163, 0.848345  Reprojection Error: 0.522133, 0.285966 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.456] xyz_f:-0.389026, -0.056637, 0.845242  Reprojection Error: 0.528276, 0.266098 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.456] xyz_f:-0.132446, 0.009744, 0.881067  Reprojection Error: 0.492360, 0.283246 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.456] xyz_f:0.131519, -0.004403, 0.846392  Reprojection Error: 0.541054, 0.313922 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.456] xyz_f:0.023741, -0.658448, 0.617940  Reprojection Error: 0.118145, 1.545739 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.456] xyz_f:-0.286655, 0.156489, 0.856244  Reprojection Error: 0.492882, 0.263840 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.456] it:36 	 Success 	 new_chi2: 3.936914 	 dT = 0.050217, 0.041099, -0.018084
[11:52:56.456] xyz_f:-0.235586, -0.265842, 0.801740  Reprojection Error: 0.550128, 0.323454 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.456] xyz_f:-0.347630, -0.162040, 0.810518  Reprojection Error: 0.566875, 0.295914 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.456] xyz_f:-0.074657, -0.452710, 0.726661  Reprojection Error: 0.542282, 0.390942 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.456] xyz_f:0.000253, -0.657693, 0.574022  Reprojection Error: 0.555915, 0.576630 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.456] xyz_f:0.009009, -0.482848, 0.697419  Reprojection Error: 0.536185, 0.404689 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.456] xyz_f:-0.347440, -0.155566, 0.811612  Reprojection Error: 0.566141, 0.294364 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.456] xyz_f:-0.309744, 0.155792, 0.817745  Reprojection Error: 0.543334, 0.256459 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.456] xyz_f:0.019492, -0.457318, 0.709095  Reprojection Error: 0.534276, 0.390204 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.456] xyz_f:-0.067136, -0.475606, 0.713748  Reprojection Error: 0.543601, 0.403346 Feature: 0.398705, -0.233263, 0.886918
[11:52:56.456] xyz_f:-0.197104, -0.236858, 0.811159  Reprojection Error: 0.540758, 0.315546 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.456] xyz_f:-0.022339, -0.467627, 0.711676  Reprojection Error: 0.537670, 0.396925 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.456] xyz_f:-0.989778, -0.501342, 0.114140  Reprojection Error: 7.631116, 3.737313 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.456] xyz_f:-0.154439, 0.009772, 0.839864  Reprojection Error: 0.529364, 0.282931 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.456] xyz_f:-0.411292, -0.057811, 0.808523  Reprojection Error: 0.576718, 0.270593 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.456] xyz_f:-0.006993, -0.470553, 0.707372  Reprojection Error: 0.536582, 0.398060 Feature: 0.453513, -0.230032, 0.861052
[11:52:56.456] xyz_f:-0.199941, -0.222022, 0.814573  Reprojection Error: 0.540119, 0.311972 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.456] xyz_f:-0.344941, -0.168644, 0.809884  Reprojection Error: 0.566799, 0.297572 Feature: 0.138965, 0.088121, 0.986369
[11:52:56.456] xyz_f:-0.214841, -0.232443, 0.811553  Reprojection Error: 0.543262, 0.314381 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.456] xyz_f:-0.186651, 0.014681, 0.839757  Reprojection Error: 0.530703, 0.279409 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.456] xyz_f:-0.223800, -0.253420, 0.805827  Reprojection Error: 0.546635, 0.319853 Feature: 0.259679, 0.005184, 0.965681
[11:52:56.456] xyz_f:0.108943, -0.003141, 0.800583  Reprojection Error: 0.560363, 0.312643 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.456] xyz_f:-0.989778, -0.501342, 0.114140  Reprojection Error: 7.631116, 3.737313 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.456] xyz_f:-0.074657, -0.452710, 0.726661  Reprojection Error: 0.542282, 0.390942 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.456] xyz_f:0.009009, -0.482848, 0.697419  Reprojection Error: 0.536185, 0.404689 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.456] xyz_f:0.019492, -0.457318, 0.709095  Reprojection Error: 0.538438, 0.389826 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.456] xyz_f:-0.235586, -0.265842, 0.801740  Reprojection Error: 0.553272, 0.325697 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.456] xyz_f:-0.347630, -0.162040, 0.810518  Reprojection Error: 0.566875, 0.295914 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.456] xyz_f:-0.411292, -0.057811, 0.808523  Reprojection Error: 0.576718, 0.270593 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.456] xyz_f:-0.154439, 0.009772, 0.839864  Reprojection Error: 0.525922, 0.282671 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.456] xyz_f:0.108943, -0.003141, 0.800583  Reprojection Error: 0.560363, 0.312643 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.456] xyz_f:0.000253, -0.657693, 0.574022  Reprojection Error: 0.156124, 1.625949 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.456] xyz_f:-0.309744, 0.155792, 0.817745  Reprojection Error: 0.536878, 0.256087 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.456] it:37 	 Success 	 new_chi2: 3.705870 	 dT = 0.049677, 0.041468, -0.019121
[11:52:56.456] xyz_f:-0.257056, -0.266124, 0.761323  Reprojection Error: 0.593928, 0.341427 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.456] xyz_f:-0.369431, -0.162877, 0.772174  Reprojection Error: 0.616406, 0.306926 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.456] xyz_f:-0.096618, -0.452196, 0.683277  Reprojection Error: 0.580946, 0.429748 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.456] xyz_f:-0.023527, -0.656813, 0.529270  Reprojection Error: 0.600806, 0.671846 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.456] xyz_f:-0.013358, -0.481922, 0.652493  Reprojection Error: 0.569575, 0.450939 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.456] xyz_f:-0.369253, -0.156402, 0.773265  Reprojection Error: 0.615579, 0.304950 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.456] xyz_f:-0.332991, 0.155139, 0.778714  Reprojection Error: 0.592173, 0.247749 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.456] xyz_f:-0.002788, -0.456340, 0.663975  Reprojection Error: 0.565964, 0.432557 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.456] xyz_f:-0.089224, -0.475056, 0.670226  Reprojection Error: 0.582665, 0.445796 Feature: 0.398705, -0.233263, 0.886918
[11:52:56.456] xyz_f:-0.218550, -0.236949, 0.770032  Reprojection Error: 0.581587, 0.331261 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.456] xyz_f:-0.044513, -0.466855, 0.667327  Reprojection Error: 0.572984, 0.439436 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.456] xyz_f:-1.022643, -0.505384, 0.087758  Reprojection Error: 10.612439, 5.103783 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.456] xyz_f:-0.176584, 0.009890, 0.797954  Reprojection Error: 0.566774, 0.282172 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.456] xyz_f:-0.433634, -0.058965, 0.771359  Reprojection Error: 0.630191, 0.275533 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.456] xyz_f:-0.029234, -0.469705, 0.662740  Reprojection Error: 0.570808, 0.441580 Feature: 0.453513, -0.230032, 0.861052
[11:52:56.456] xyz_f:-0.221397, -0.222127, 0.773497  Reprojection Error: 0.580893, 0.326583 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.456] xyz_f:-0.366721, -0.169468, 0.771490  Reprojection Error: 0.616227, 0.309003 Feature: 0.138965, 0.088121, 0.986369
[11:52:56.456] xyz_f:-0.236299, -0.232622, 0.770753  Reprojection Error: 0.585115, 0.329775 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.456] xyz_f:-0.208816, 0.014639, 0.798443  Reprojection Error: 0.569964, 0.278556 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.456] xyz_f:-0.245258, -0.253643, 0.765193  Reprojection Error: 0.589426, 0.336845 Feature: 0.259679, 0.005184, 0.965681
[11:52:56.456] xyz_f:0.086088, -0.001721, 0.753815  Reprojection Error: 0.582238, 0.311003 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.456] xyz_f:-1.022643, -0.505384, 0.087758  Reprojection Error: 10.612439, 5.103783 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.456] xyz_f:-0.096618, -0.452196, 0.683277  Reprojection Error: 0.580946, 0.429748 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.456] xyz_f:-0.013358, -0.481922, 0.652493  Reprojection Error: 0.569575, 0.450939 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.456] xyz_f:-0.002788, -0.456340, 0.663975  Reprojection Error: 0.570125, 0.432179 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.456] xyz_f:-0.257056, -0.266124, 0.761323  Reprojection Error: 0.597072, 0.343670 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.456] xyz_f:-0.369431, -0.162877, 0.772174  Reprojection Error: 0.616406, 0.306926 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.456] xyz_f:-0.433634, -0.058965, 0.771359  Reprojection Error: 0.630191, 0.275533 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.456] xyz_f:-0.176584, 0.009890, 0.797954  Reprojection Error: 0.563331, 0.281912 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.456] xyz_f:0.086088, -0.001721, 0.753815  Reprojection Error: 0.582238, 0.311003 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.456] xyz_f:-0.023527, -0.656813, 0.529270  Reprojection Error: 0.201015, 1.721164 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.456] xyz_f:-0.332991, 0.155139, 0.778714  Reprojection Error: 0.585716, 0.247377 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.456] it:38 	 Success 	 new_chi2: 3.287585 	 dT = 0.051068, 0.042002, -0.022982
[11:52:56.456] xyz_f:-0.276949, -0.266337, 0.720118  Reprojection Error: 0.640874, 0.361725 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.456] xyz_f:-0.389668, -0.163760, 0.733468  Reprojection Error: 0.669245, 0.319261 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.456] xyz_f:-0.117180, -0.451458, 0.638517  Reprojection Error: 0.623061, 0.474983 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.456] xyz_f:-0.046309, -0.655646, 0.482913  Reprojection Error: 0.652251, 0.788557 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.456] xyz_f:-0.034449, -0.480689, 0.605891  Reprojection Error: 0.605959, 0.505712 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.456] xyz_f:-0.389504, -0.157284, 0.734554  Reprojection Error: 0.668314, 0.316810 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.456] xyz_f:-0.354985, 0.154468, 0.739218  Reprojection Error: 0.644772, 0.238013 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.456] xyz_f:-0.023778, -0.455044, 0.617137  Reprojection Error: 0.600295, 0.482619 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.456] xyz_f:-0.109941, -0.474273, 0.625304  Reprojection Error: 0.625361, 0.495465 Feature: 0.398705, -0.233263, 0.886918
[11:52:56.456] xyz_f:-0.238435, -0.236933, 0.727972  Reprojection Error: 0.625300, 0.349018 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.456] xyz_f:-0.065355, -0.465807, 0.621415  Reprojection Error: 0.611453, 0.489439 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.456] xyz_f:-1.055863, -0.510191, 0.063697  Reprojection Error: 15.535763, 7.354598 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.456] xyz_f:-0.197327, 0.010153, 0.754972  Reprojection Error: 0.606848, 0.281119 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.456] xyz_f:-0.454491, -0.060232, 0.734085  Reprojection Error: 0.687147, 0.281141 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.456] xyz_f:-0.050166, -0.468567, 0.616489  Reprojection Error: 0.608070, 0.492905 Feature: 0.453513, -0.230032, 0.861052
[11:52:56.456] xyz_f:-0.241292, -0.222129, 0.731501  Reprojection Error: 0.624522, 0.343072 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.456] xyz_f:-0.386935, -0.170335, 0.732723  Reprojection Error: 0.668964, 0.321808 Feature: 0.138965, 0.088121, 0.986369
[11:52:56.456] xyz_f:-0.256188, -0.232712, 0.729087  Reprojection Error: 0.629915, 0.347147 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.456] xyz_f:-0.229569, 0.014710, 0.756176  Reprojection Error: 0.612026, 0.277437 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.457] xyz_f:-0.265143, -0.253787, 0.723726  Reprojection Error: 0.635267, 0.356036 Feature: 0.259679, 0.005184, 0.965681
[11:52:56.457] xyz_f:0.064365, 0.000101, 0.705013  Reprojection Error: 0.605146, 0.308577 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.457] xyz_f:-1.055863, -0.510191, 0.063697  Reprojection Error: 15.535763, 7.354598 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.457] xyz_f:-0.117180, -0.451458, 0.638517  Reprojection Error: 0.623061, 0.474983 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.457] xyz_f:-0.034449, -0.480689, 0.605891  Reprojection Error: 0.605959, 0.505712 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.457] xyz_f:-0.023778, -0.455044, 0.617137  Reprojection Error: 0.604456, 0.482241 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.457] xyz_f:-0.276949, -0.266337, 0.720118  Reprojection Error: 0.644018, 0.363969 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.457] xyz_f:-0.389668, -0.163760, 0.733468  Reprojection Error: 0.669245, 0.319261 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.457] xyz_f:-0.454491, -0.060232, 0.734085  Reprojection Error: 0.687147, 0.281141 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.457] xyz_f:-0.197327, 0.010153, 0.754972  Reprojection Error: 0.603406, 0.280858 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.457] xyz_f:0.064365, 0.000101, 0.705013  Reprojection Error: 0.605146, 0.308577 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.457] xyz_f:-0.046309, -0.655646, 0.482913  Reprojection Error: 0.252460, 1.837876 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.457] xyz_f:-0.354985, 0.154468, 0.739218  Reprojection Error: 0.638316, 0.237641 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.457] it:39 	 Success 	 new_chi2: 2.703097 	 dT = 0.048674, 0.041088, -0.021862
[11:52:56.457] xyz_f:-0.294699, -0.266414, 0.679315  Reprojection Error: 0.690103, 0.384053 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.457] xyz_f:-0.407690, -0.164475, 0.695048  Reprojection Error: 0.724540, 0.332631 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.457] xyz_f:-0.135644, -0.450632, 0.594348  Reprojection Error: 0.667765, 0.526138 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.457] xyz_f:-0.066920, -0.654426, 0.437269  Reprojection Error: 0.709396, 0.927486 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.457] xyz_f:-0.053456, -0.479397, 0.559980  Reprojection Error: 0.644562, 0.568450 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.457] xyz_f:-0.407539, -0.157998, 0.696131  Reprojection Error: 0.723489, 0.329655 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.457] xyz_f:-0.374693, 0.153944, 0.700083  Reprojection Error: 0.699768, 0.227080 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.457] xyz_f:-0.042695, -0.453691, 0.571000  Reprojection Error: 0.636538, 0.539828 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.457] xyz_f:-0.128557, -0.473407, 0.580983  Reprojection Error: 0.670814, 0.551835 Feature: 0.398705, -0.233263, 0.886918
[11:52:56.457] xyz_f:-0.256194, -0.236792, 0.686355  Reprojection Error: 0.671035, 0.368546 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.457] xyz_f:-0.084111, -0.464689, 0.576154  Reprojection Error: 0.652268, 0.546384 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.457] xyz_f:-1.085907, -0.514710, 0.039473  Reprojection Error: 26.469770, 12.384586 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.457] xyz_f:-0.215924, 0.010525, 0.712497  Reprojection Error: 0.648532, 0.279795 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.457] xyz_f:-0.473069, -0.061315, 0.697040  Reprojection Error: 0.746705, 0.287056 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.457] xyz_f:-0.069014, -0.467363, 0.570908  Reprojection Error: 0.647580, 0.551478 Feature: 0.453513, -0.230032, 0.861052
[11:52:56.457] xyz_f:-0.259060, -0.222004, 0.689945  Reprojection Error: 0.670143, 0.361180 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.457] xyz_f:-0.404936, -0.171035, 0.694245  Reprojection Error: 0.724161, 0.335700 Feature: 0.138965, 0.088121, 0.986369
[11:52:56.457] xyz_f:-0.273943, -0.232671, 0.687845  Reprojection Error: 0.676797, 0.366225 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.457] xyz_f:-0.248158, 0.014899, 0.714381  Reprojection Error: 0.655810, 0.276034 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.457] xyz_f:-0.282891, -0.253796, 0.682673  Reprojection Error: 0.683295, 0.377137 Feature: 0.259679, 0.005184, 0.965681
[11:52:56.457] xyz_f:0.044707, 0.001951, 0.657022  Reprojection Error: 0.628397, 0.305751 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.457] xyz_f:-1.085907, -0.514710, 0.039473  Reprojection Error: 26.469770, 12.384586 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.457] xyz_f:-0.135644, -0.450632, 0.594348  Reprojection Error: 0.667765, 0.526138 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.457] xyz_f:-0.053456, -0.479397, 0.559980  Reprojection Error: 0.644562, 0.568450 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.457] xyz_f:-0.042695, -0.453691, 0.571000  Reprojection Error: 0.640699, 0.539450 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.457] xyz_f:-0.294699, -0.266414, 0.679315  Reprojection Error: 0.693247, 0.386296 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.457] xyz_f:-0.407690, -0.164475, 0.695048  Reprojection Error: 0.724540, 0.332631 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.457] xyz_f:-0.473069, -0.061315, 0.697040  Reprojection Error: 0.746705, 0.287056 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.457] xyz_f:-0.215924, 0.010525, 0.712497  Reprojection Error: 0.645089, 0.279535 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.457] xyz_f:0.044707, 0.001951, 0.657022  Reprojection Error: 0.628397, 0.305751 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.457] xyz_f:-0.066920, -0.654426, 0.437269  Reprojection Error: 0.309605, 1.976805 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.457] xyz_f:-0.374693, 0.153944, 0.700083  Reprojection Error: 0.693312, 0.226708 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.457] it:40 	 Success 	 new_chi2: 1.972478 	 dT = 0.046352, 0.038969, -0.019969
[11:52:56.457] xyz_f:-0.313498, -0.266375, 0.640203  Reprojection Error: 0.745970, 0.407953 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.457] xyz_f:-0.426689, -0.165021, 0.658117  Reprojection Error: 0.786325, 0.346740 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.457] xyz_f:-0.155161, -0.449774, 0.552175  Reprojection Error: 0.720542, 0.582492 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.457] xyz_f:-0.088427, -0.653217, 0.393790  Reprojection Error: 0.780910, 1.089663 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.457] xyz_f:-0.073503, -0.478115, 0.516227  Reprojection Error: 0.691488, 0.638526 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.457] xyz_f:-0.426552, -0.158543, 0.659198  Reprojection Error: 0.785131, 0.343198 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.457] xyz_f:-0.395248, 0.153564, 0.662531  Reprojection Error: 0.761128, 0.215190 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.457] xyz_f:-0.062665, -0.452353, 0.527038  Reprojection Error: 0.680666, 0.603566 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.457] xyz_f:-0.148215, -0.472512, 0.538675  Reprojection Error: 0.724688, 0.614172 Feature: 0.398705, -0.233263, 0.886918
[11:52:56.457] xyz_f:-0.275018, -0.236555, 0.646501  Reprojection Error: 0.723161, 0.389447 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.457] xyz_f:-0.103917, -0.463565, 0.532989  Reprojection Error: 0.701251, 0.609593 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.457] xyz_f:-1.115606, -0.518789, 0.015728  Reprojection Error: 69.892814, 32.331037 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.457] xyz_f:-0.235530, 0.010968, 0.671873  Reprojection Error: 0.696036, 0.278242 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.457] xyz_f:-0.492551, -0.062200, 0.661375  Reprojection Error: 0.812759, 0.293138 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.457] xyz_f:-0.088910, -0.466161, 0.527454  Reprojection Error: 0.695260, 0.616643 Feature: 0.453513, -0.230032, 0.861052
[11:52:56.457] xyz_f:-0.277890, -0.221781, 0.650146  Reprojection Error: 0.722091, 0.380535 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.457] xyz_f:-0.423918, -0.171566, 0.657261  Reprojection Error: 0.785861, 0.350371 Feature: 0.138965, 0.088121, 0.986369
[11:52:56.457] xyz_f:-0.292756, -0.232526, 0.648333  Reprojection Error: 0.730086, 0.386615 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.457] xyz_f:-0.267744, 0.015176, 0.674379  Reprojection Error: 0.705457, 0.274387 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.457] xyz_f:-0.301692, -0.253697, 0.643333  Reprojection Error: 0.737859, 0.399716 Feature: 0.259679, 0.005184, 0.965681
[11:52:56.457] xyz_f:0.024024, 0.003738, 0.611381  Reprojection Error: 0.657147, 0.302606 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.457] xyz_f:-1.115606, -0.518789, 0.015728  Reprojection Error: 69.892814, 32.331037 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.457] xyz_f:-0.155161, -0.449774, 0.552175  Reprojection Error: 0.720542, 0.582492 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.457] xyz_f:-0.073503, -0.478115, 0.516227  Reprojection Error: 0.691488, 0.638526 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.457] xyz_f:-0.062665, -0.452353, 0.527038  Reprojection Error: 0.684828, 0.603188 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.457] xyz_f:-0.313498, -0.266375, 0.640203  Reprojection Error: 0.749114, 0.410196 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.457] xyz_f:-0.426689, -0.165021, 0.658117  Reprojection Error: 0.786325, 0.346740 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.457] xyz_f:-0.492551, -0.062200, 0.661375  Reprojection Error: 0.812759, 0.293138 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.457] xyz_f:-0.235530, 0.010968, 0.671873  Reprojection Error: 0.692593, 0.277982 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.457] xyz_f:0.024024, 0.003738, 0.611381  Reprojection Error: 0.657147, 0.302606 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.457] xyz_f:-0.088427, -0.653217, 0.393790  Reprojection Error: 0.381119, 2.138981 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.457] xyz_f:-0.395248, 0.153564, 0.662531  Reprojection Error: 0.754672, 0.214818 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.457] it:41 	 Success 	 new_chi2: 1.167902 	 dT = 0.069149, 0.037559, -0.054544
[11:52:56.457] xyz_f:-0.320783, -0.265745, 0.600292  Reprojection Error: 0.790664, 0.434566 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.457] xyz_f:-0.434293, -0.165992, 0.624180  Reprojection Error: 0.833759, 0.361928 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.457] xyz_f:-0.164730, -0.446924, 0.503980  Reprojection Error: 0.766400, 0.654731 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.457] xyz_f:-0.103565, -0.649464, 0.342225  Reprojection Error: 0.858978, 1.328637 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.457] xyz_f:-0.084687, -0.474123, 0.463771  Reprojection Error: 0.731707, 0.734675 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.457] xyz_f:-0.434190, -0.159512, 0.625254  Reprojection Error: 0.832477, 0.357804 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.457] xyz_f:-0.407161, 0.153008, 0.627050  Reprojection Error: 0.813884, 0.202962 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.457] xyz_f:-0.073659, -0.448207, 0.474006  Reprojection Error: 0.717162, 0.690845 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.457] xyz_f:-0.158184, -0.469567, 0.490124  Reprojection Error: 0.772284, 0.695054 Feature: 0.398705, -0.233263, 0.886918
[11:52:56.457] xyz_f:-0.282450, -0.235382, 0.604566  Reprojection Error: 0.764961, 0.412888 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.457] xyz_f:-0.114377, -0.459998, 0.482117  Reprojection Error: 0.743521, 0.693967 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.457] xyz_f:-1.151021, -0.529684, 0.018828  Reprojection Error: 60.094422, 27.478402 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.457] xyz_f:-0.245177, 0.012683, 0.627915  Reprojection Error: 0.735940, 0.274369 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.457] xyz_f:-0.501336, -0.064109, 0.630940  Reprojection Error: 0.862608, 0.300699 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.457] xyz_f:-0.099647, -0.462384, 0.475798  Reprojection Error: 0.736129, 0.704654 Feature: 0.453513, -0.230032, 0.861052
[11:52:56.457] xyz_f:-0.285335, -0.220649, 0.608362  Reprojection Error: 0.763684, 0.402104 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.457] xyz_f:-0.431478, -0.172497, 0.623177  Reprojection Error: 0.833271, 0.366142 Feature: 0.138965, 0.088121, 0.986369
[11:52:56.457] xyz_f:-0.300122, -0.231603, 0.607331  Reprojection Error: 0.772699, 0.409309 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.457] xyz_f:-0.277270, 0.016437, 0.632116  Reprojection Error: 0.747073, 0.270888 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.457] xyz_f:-0.309009, -0.252900, 0.602801  Reprojection Error: 0.781530, 0.424911 Feature: 0.259679, 0.005184, 0.965681
[11:52:56.457] xyz_f:0.010907, 0.009093, 0.553837  Reprojection Error: 0.676748, 0.292301 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.457] xyz_f:-1.151021, -0.529684, 0.018828  Reprojection Error: 60.094422, 27.478402 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.457] xyz_f:-0.164730, -0.446924, 0.503980  Reprojection Error: 0.766400, 0.654731 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.457] xyz_f:-0.084687, -0.474123, 0.463771  Reprojection Error: 0.731707, 0.734675 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.457] xyz_f:-0.073659, -0.448207, 0.474006  Reprojection Error: 0.721323, 0.690467 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.457] xyz_f:-0.320783, -0.265745, 0.600292  Reprojection Error: 0.793808, 0.436809 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.457] xyz_f:-0.434293, -0.165992, 0.624180  Reprojection Error: 0.833759, 0.361928 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.457] xyz_f:-0.501336, -0.064109, 0.630940  Reprojection Error: 0.862608, 0.300699 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.457] xyz_f:-0.245177, 0.012683, 0.627915  Reprojection Error: 0.732498, 0.274108 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.457] xyz_f:0.010907, 0.009093, 0.553837  Reprojection Error: 0.676748, 0.292301 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.457] xyz_f:-0.103565, -0.649464, 0.342225  Reprojection Error: 0.459187, 2.377955 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.457] xyz_f:-0.407161, 0.153008, 0.627050  Reprojection Error: 0.807427, 0.202590 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.457] it:42 	 Success 	 new_chi2: 0.715991 	 dT = 0.096123, 0.039639, -0.104991
[11:52:56.457] xyz_f:-0.281188, -0.262374, 0.548072  Reprojection Error: 0.769335, 0.470595 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.457] xyz_f:-0.394361, -0.165703, 0.583464  Reprojection Error: 0.813871, 0.379992 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.457] xyz_f:-0.130829, -0.439386, 0.436208  Reprojection Error: 0.739466, 0.775226 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.457] xyz_f:-0.080882, -0.640415, 0.268814  Reprojection Error: 0.857238, 1.813238 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.457] xyz_f:-0.054559, -0.464460, 0.388067  Reprojection Error: 0.689695, 0.909210 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.457] xyz_f:-0.394325, -0.159222, 0.584532  Reprojection Error: 0.812655, 0.375081 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.457] xyz_f:-0.375740, 0.153918, 0.584013  Reprojection Error: 0.807932, 0.183422 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.457] xyz_f:-0.043259, -0.438240, 0.397168  Reprojection Error: 0.670685, 0.848684 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.457] xyz_f:-0.125108, -0.461862, 0.421730  Reprojection Error: 0.746195, 0.832157 Feature: 0.398705, -0.233263, 0.886918
[11:52:56.457] xyz_f:-0.243457, -0.230977, 0.548485  Reprojection Error: 0.741638, 0.444665 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.457] xyz_f:-0.082613, -0.451119, 0.409343  Reprojection Error: 0.708099, 0.841904 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.457] xyz_f:-1.158556, -0.549535, 0.053274  Reprojection Error: 20.706561, 9.660205 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.457] xyz_f:-0.210754, 0.018040, 0.568283  Reprojection Error: 0.716339, 0.262823 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.457] xyz_f:-0.463113, -0.065667, 0.597116  Reprojection Error: 0.843605, 0.309065 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.457] xyz_f:-0.068539, -0.453114, 0.401562  Reprojection Error: 0.697377, 0.861225 Feature: 0.453513, -0.230032, 0.861052
[11:52:56.457] xyz_f:-0.246341, -0.216322, 0.552574  Reprojection Error: 0.740469, 0.430891 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.457] xyz_f:-0.391486, -0.172132, 0.582173  Reprojection Error: 0.813343, 0.385010 Feature: 0.138965, 0.088121, 0.986369
[11:52:56.457] xyz_f:-0.260854, -0.227675, 0.553030  Reprojection Error: 0.750215, 0.439649 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.457] xyz_f:-0.242347, 0.020928, 0.575717  Reprojection Error: 0.729384, 0.260540 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.457] xyz_f:-0.269573, -0.249211, 0.549394  Reprojection Error: 0.759582, 0.458980 Feature: 0.259679, 0.005184, 0.965681
[11:52:56.457] xyz_f:0.036519, 0.021296, 0.468658  Reprojection Error: 0.618520, 0.263280 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.457] xyz_f:-1.158556, -0.549535, 0.053274  Reprojection Error: 20.706561, 9.660205 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.457] xyz_f:-0.130829, -0.439386, 0.436208  Reprojection Error: 0.739466, 0.775226 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.457] xyz_f:-0.054559, -0.464460, 0.388067  Reprojection Error: 0.689695, 0.909210 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.457] xyz_f:-0.043259, -0.438240, 0.397168  Reprojection Error: 0.674846, 0.848306 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.457] xyz_f:-0.281188, -0.262374, 0.548072  Reprojection Error: 0.772479, 0.472838 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.457] xyz_f:-0.394361, -0.165703, 0.583464  Reprojection Error: 0.813871, 0.379992 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.457] xyz_f:-0.463113, -0.065667, 0.597116  Reprojection Error: 0.843605, 0.309065 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.457] xyz_f:-0.210754, 0.018040, 0.568283  Reprojection Error: 0.712897, 0.262562 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.457] xyz_f:0.036519, 0.021296, 0.468658  Reprojection Error: 0.618520, 0.263280 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.457] xyz_f:-0.080882, -0.640415, 0.268814  Reprojection Error: 0.457447, 2.862556 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.457] xyz_f:-0.375740, 0.153918, 0.584013  Reprojection Error: 0.801475, 0.183050 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.457] it:43 	 Success 	 new_chi2: 0.847199 	 dT = 0.036840, 0.027898, -0.012459
[11:52:56.457] xyz_f:-0.249295, -0.261787, 0.517983  Reprojection Error: 0.737565, 0.497270 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.457] xyz_f:-0.362344, -0.165481, 0.554736  Reprojection Error: 0.791159, 0.394298 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.457] xyz_f:-0.099723, -0.438315, 0.404314  Reprojection Error: 0.686189, 0.852037 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.458] xyz_f:-0.051145, -0.639185, 0.236327  Reprojection Error: 0.772773, 2.135530 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.458] xyz_f:-0.023957, -0.463144, 0.355257  Reprojection Error: 0.616539, 1.016038 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.458] xyz_f:-0.362317, -0.158999, 0.555803  Reprojection Error: 0.789935, 0.388760 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.458] xyz_f:-0.344749, 0.154199, 0.555067  Reprojection Error: 0.785650, 0.169171 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.458] xyz_f:-0.012633, -0.436888, 0.364223  Reprojection Error: 0.596450, 0.944777 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.458] xyz_f:-0.094104, -0.460773, 0.389768  Reprojection Error: 0.690976, 0.919170 Feature: 0.398705, -0.233263, 0.886918
[11:52:56.458] xyz_f:-0.211662, -0.230268, 0.517942  Reprojection Error: 0.706427, 0.468129 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.458] xyz_f:-0.051795, -0.449893, 0.376870  Reprojection Error: 0.643716, 0.933609 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.458] xyz_f:-1.131622, -0.551785, 0.033773  Reprojection Error: 32.465923, 15.682876 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.458] xyz_f:-0.179527, 0.018853, 0.537350  Reprojection Error: 0.679575, 0.259482 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.458] xyz_f:-0.431250, -0.065667, 0.569217  Reprojection Error: 0.825642, 0.314454 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.458] xyz_f:-0.037810, -0.451843, 0.368921  Reprojection Error: 0.629184, 0.957617 Feature: 0.453513, -0.230032, 0.861052
[11:52:56.458] xyz_f:-0.214544, -0.215623, 0.522066  Reprojection Error: 0.705616, 0.452428 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.458] xyz_f:-0.359465, -0.171900, 0.553410  Reprojection Error: 0.790431, 0.399959 Feature: 0.138965, 0.088121, 0.986369
[11:52:56.458] xyz_f:-0.229014, -0.227022, 0.522696  Reprojection Error: 0.716674, 0.462292 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.458] xyz_f:-0.211038, 0.021639, 0.545163  Reprojection Error: 0.695544, 0.257197 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.458] xyz_f:-0.237707, -0.248587, 0.519165  Reprojection Error: 0.726773, 0.484189 Feature: 0.259679, 0.005184, 0.965681
[11:52:56.458] xyz_f:0.066517, 0.022904, 0.434757  Reprojection Error: 0.543443, 0.256037 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.458] xyz_f:-1.131622, -0.551785, 0.033773  Reprojection Error: 32.465923, 15.682876 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.458] xyz_f:-0.099723, -0.438315, 0.404314  Reprojection Error: 0.686189, 0.852037 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.458] xyz_f:-0.023957, -0.463144, 0.355257  Reprojection Error: 0.616539, 1.016038 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.458] xyz_f:-0.012633, -0.436888, 0.364223  Reprojection Error: 0.600612, 0.944400 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.458] xyz_f:-0.249295, -0.261787, 0.517983  Reprojection Error: 0.740709, 0.499513 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.458] xyz_f:-0.362344, -0.165481, 0.554736  Reprojection Error: 0.791159, 0.394298 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.458] xyz_f:-0.431250, -0.065667, 0.569217  Reprojection Error: 0.825642, 0.314454 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.458] xyz_f:-0.179527, 0.018853, 0.537350  Reprojection Error: 0.676133, 0.259221 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.458] xyz_f:0.066517, 0.022904, 0.434757  Reprojection Error: 0.543443, 0.256037 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.458] xyz_f:-0.051145, -0.639185, 0.236327  Reprojection Error: 0.372982, 3.184849 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.458] xyz_f:-0.344749, 0.154199, 0.555067  Reprojection Error: 0.779194, 0.168800 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.458] it:44 	 Success 	 new_chi2: 1.033579 	 dT = 0.029657, 0.026691, -0.004815
[11:52:56.458] xyz_f:-0.265282, -0.261549, 0.490405  Reprojection Error: 0.797230, 0.525206 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.458] xyz_f:-0.378280, -0.165384, 0.527685  Reprojection Error: 0.854843, 0.409408 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.458] xyz_f:-0.116021, -0.437891, 0.376042  Reprojection Error: 0.748074, 0.932416 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.458] xyz_f:-0.067975, -0.638701, 0.207830  Reprojection Error: 0.883424, 2.504053 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.458] xyz_f:-0.040453, -0.462626, 0.326633  Reprojection Error: 0.672952, 1.128699 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.458] xyz_f:-0.378256, -0.158903, 0.528751  Reprojection Error: 0.853430, 0.403213 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.458] xyz_f:-0.361082, 0.154317, 0.527935  Reprojection Error: 0.848507, 0.154670 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.458] xyz_f:-0.029120, -0.436355, 0.335546  Reprojection Error: 0.648550, 1.045705 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.458] xyz_f:-0.110442, -0.460343, 0.361470  Reprojection Error: 0.755076, 1.010527 Feature: 0.398705, -0.233263, 0.886918
[11:52:56.458] xyz_f:-0.227690, -0.229983, 0.490190  Reprojection Error: 0.762260, 0.492719 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.458] xyz_f:-0.068207, -0.449410, 0.348376  Reprojection Error: 0.702067, 1.029862 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.458] xyz_f:-1.149490, -0.552648, 0.010304  Reprojection Error: 110.520123, 52.980707 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.458] xyz_f:-0.195775, 0.019177, 0.509449  Reprojection Error: 0.729766, 0.256924 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.458] xyz_f:-0.447242, -0.065656, 0.542486  Reprojection Error: 0.892452, 0.320119 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.458] xyz_f:-0.054256, -0.451342, 0.340361  Reprojection Error: 0.686105, 1.058916 Feature: 0.453513, -0.230032, 0.861052
[11:52:56.458] xyz_f:-0.230571, -0.215342, 0.494328  Reprojection Error: 0.761097, 0.475036 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.458] xyz_f:-0.375399, -0.171800, 0.526345  Reprojection Error: 0.854104, 0.415740 Feature: 0.138965, 0.088121, 0.986369
[11:52:56.458] xyz_f:-0.245024, -0.226759, 0.495025  Reprojection Error: 0.773506, 0.486040 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.458] xyz_f:-0.227252, 0.021924, 0.517409  Reprojection Error: 0.747648, 0.254517 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.458] xyz_f:-0.253706, -0.248335, 0.491534  Reprojection Error: 0.785060, 0.510593 Feature: 0.259679, 0.005184, 0.965681
[11:52:56.458] xyz_f:0.049784, 0.023535, 0.405712  Reprojection Error: 0.573734, 0.250711 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.458] xyz_f:-1.149490, -0.552648, 0.010304  Reprojection Error: 110.520123, 52.980707 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.458] xyz_f:-0.116021, -0.437891, 0.376042  Reprojection Error: 0.748074, 0.932416 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.458] xyz_f:-0.040453, -0.462626, 0.326633  Reprojection Error: 0.672952, 1.128699 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.458] xyz_f:-0.029120, -0.436355, 0.335546  Reprojection Error: 0.652712, 1.045327 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.458] xyz_f:-0.265282, -0.261549, 0.490405  Reprojection Error: 0.800374, 0.527449 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.458] xyz_f:-0.378280, -0.165384, 0.527685  Reprojection Error: 0.854843, 0.409408 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.458] xyz_f:-0.447242, -0.065656, 0.542486  Reprojection Error: 0.892452, 0.320119 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.458] xyz_f:-0.195775, 0.019177, 0.509449  Reprojection Error: 0.726324, 0.256663 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.458] xyz_f:0.049784, 0.023535, 0.405712  Reprojection Error: 0.573734, 0.250711 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.458] xyz_f:-0.067975, -0.638701, 0.207830  Reprojection Error: 0.483633, 3.553371 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.458] xyz_f:-0.361082, 0.154317, 0.527935  Reprojection Error: 0.842051, 0.154298 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.458] it:45 	 Success 	 new_chi2: 0.626807 	 dT = -0.063277, -0.013817, 0.208796
[11:52:56.458] xyz_f:-0.406610, -0.266387, 0.522276  Reprojection Error: 1.034819, 0.501923 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.458] xyz_f:-0.519458, -0.164097, 0.536698  Reprojection Error: 1.105854, 0.401746 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.458] xyz_f:-0.247153, -0.451101, 0.439158  Reprojection Error: 1.002330, 0.795137 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.458] xyz_f:-0.177245, -0.655110, 0.282885  Reprojection Error: 1.182917, 1.746688 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.458] xyz_f:-0.164661, -0.480122, 0.405747  Reprojection Error: 0.954926, 0.895658 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.458] xyz_f:-0.519300, -0.157620, 0.537783  Reprojection Error: 1.103686, 0.395782 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.458] xyz_f:-0.485532, 0.154218, 0.542122  Reprojection Error: 1.060169, 0.162503 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.458] xyz_f:-0.153950, -0.454449, 0.416891  Reprojection Error: 0.931046, 0.835365 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.458] xyz_f:-0.239982, -0.473898, 0.425876  Reprojection Error: 1.013042, 0.849756 Feature: 0.398705, -0.233263, 0.886918
[11:52:56.458] xyz_f:-0.368098, -0.236885, 0.529764  Reprojection Error: 0.992600, 0.470699 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.458] xyz_f:-0.195457, -0.465318, 0.421563  Reprojection Error: 0.969928, 0.843640 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.458] xyz_f:-1.191106, -0.512233, -0.126712  Reprojection Error: -10.440601, -4.697524 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.458] xyz_f:-0.327365, 0.010306, 0.556375  Reprojection Error: 0.933867, 0.276044 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.458] xyz_f:-0.584535, -0.060734, 0.537933  Reprojection Error: 1.154653, 0.311993 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.458] xyz_f:-0.180308, -0.468039, 0.416494  Reprojection Error: 0.959615, 0.856609 Feature: 0.453513, -0.230032, 0.861052
[11:52:56.458] xyz_f:-0.370959, -0.222088, 0.533320  Reprojection Error: 0.990229, 0.455835 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.458] xyz_f:-0.516716, -0.170665, 0.535928  Reprojection Error: 1.105037, 0.407787 Feature: 0.138965, 0.088121, 0.986369
[11:52:56.458] xyz_f:-0.385850, -0.232709, 0.531048  Reprojection Error: 1.005116, 0.466171 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.458] xyz_f:-0.359605, 0.014781, 0.557886  Reprojection Error: 0.953019, 0.270397 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.458] xyz_f:-0.394802, -0.253807, 0.525772  Reprojection Error: 1.019809, 0.488100 Feature: 0.259679, 0.005184, 0.965681
[11:52:56.458] xyz_f:-0.066135, 0.000920, 0.503930  Reprojection Error: 0.827680, 0.306895 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.458] xyz_f:-1.191106, -0.512233, -0.126712  Reprojection Error: -10.440601, -4.697524 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.458] xyz_f:-0.247153, -0.451101, 0.439158  Reprojection Error: 1.002330, 0.795137 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.458] xyz_f:-0.164661, -0.480122, 0.405747  Reprojection Error: 0.954926, 0.895658 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.458] xyz_f:-0.153950, -0.454449, 0.416891  Reprojection Error: 0.935207, 0.834987 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.458] xyz_f:-0.406610, -0.266387, 0.522276  Reprojection Error: 1.037963, 0.504166 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.458] xyz_f:-0.519458, -0.164097, 0.536698  Reprojection Error: 1.105854, 0.401746 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.458] xyz_f:-0.584535, -0.060734, 0.537933  Reprojection Error: 1.154653, 0.311993 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.458] xyz_f:-0.327365, 0.010306, 0.556375  Reprojection Error: 0.930425, 0.275784 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.458] xyz_f:-0.066135, 0.000920, 0.503930  Reprojection Error: 0.827680, 0.306895 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.458] xyz_f:-0.177245, -0.655110, 0.282885  Reprojection Error: 0.783126, 2.796006 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.458] xyz_f:-0.485532, 0.154218, 0.542122  Reprojection Error: 1.053713, 0.162131 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.458] it:46 	 Success 	 new_chi2: 0.046545 	 dT = -27.461260, -8.713549, 56.783159
[11:52:56.458] xyz_f:26.773273, -0.258427, 9.206120  Reprojection Error: -2.651919, 0.019944 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.458] xyz_f:26.666428, -0.149440, 9.195547  Reprojection Error: -2.761952, 0.112244 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.458] xyz_f:26.935913, -0.452960, 9.159647  Reprojection Error: -2.501173, -0.182606 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.458] xyz_f:27.026712, -0.661869, 9.021658  Reprojection Error: -2.439404, -0.495768 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.458] xyz_f:27.021900, -0.487117, 9.145404  Reprojection Error: -2.405595, -0.234383 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.458] xyz_f:26.666728, -0.142977, 9.196684  Reprojection Error: -2.761548, 0.118235 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.458] xyz_f:26.717351, 0.166288, 9.210624  Reprojection Error: -2.736154, 0.428920 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.458] xyz_f:27.031362, -0.462060, 9.158843  Reprojection Error: -2.389630, -0.204278 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.458] xyz_f:26.944497, -0.476238, 9.148158  Reprojection Error: -2.495807, -0.210945 Feature: 0.398705, -0.233263, 0.886918
[11:52:56.458] xyz_f:26.810826, -0.231244, 9.222262  Reprojection Error: -2.609418, 0.048622 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.458] xyz_f:26.989288, -0.470381, 9.154007  Reprojection Error: -2.442077, -0.208767 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.458] xyz_f:26.141116, -0.461086, 8.395955  Reprojection Error: -4.154046, -0.600116 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.458] xyz_f:26.859336, 0.013226, 9.259026  Reprojection Error: -2.555403, 0.293138 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.458] xyz_f:26.609071, -0.042345, 9.182852  Reprojection Error: -2.829670, 0.203702 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.458] xyz_f:27.004997, -0.474043, 9.152448  Reprojection Error: -2.423880, -0.215358 Feature: 0.453513, -0.230032, 0.861052
[11:52:56.458] xyz_f:26.808134, -0.216278, 9.225186  Reprojection Error: -2.611309, 0.062854 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.458] xyz_f:26.668874, -0.156166, 9.195366  Reprojection Error: -2.759366, 0.106322 Feature: 0.138965, 0.088121, 0.986369
[11:52:56.458] xyz_f:26.793522, -0.226000, 9.219557  Reprojection Error: -2.627628, 0.052477 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.458] xyz_f:26.827909, 0.019642, 9.253293  Reprojection Error: -2.590847, 0.294768 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.458] xyz_f:26.784730, -0.246556, 9.212262  Reprojection Error: -2.638600, 0.032132 Feature: 0.259679, 0.005184, 0.965681
[11:52:56.458] xyz_f:27.124623, -0.012211, 9.266484  Reprojection Error: -2.230734, 0.310038 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.458] xyz_f:26.141116, -0.461086, 8.395955  Reprojection Error: -4.154046, -0.600116 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.458] xyz_f:26.935913, -0.452960, 9.159647  Reprojection Error: -2.501173, -0.182606 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.458] xyz_f:27.021900, -0.487117, 9.145404  Reprojection Error: -2.405595, -0.234383 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.458] xyz_f:27.031362, -0.462060, 9.158843  Reprojection Error: -2.385468, -0.204656 Feature: 0.478125, -0.216802, 0.851113
[11:52:56.458] xyz_f:26.773273, -0.258427, 9.206120  Reprojection Error: -2.648775, 0.022188 Feature: 0.248254, -0.007872, 0.968663
[11:52:56.458] xyz_f:26.666428, -0.149440, 9.195547  Reprojection Error: -2.761952, 0.112244 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.458] xyz_f:26.609071, -0.042345, 9.182852  Reprojection Error: -2.829670, 0.203702 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.458] xyz_f:26.859336, 0.013226, 9.259026  Reprojection Error: -2.558845, 0.292878 Feature: 0.314575, 0.268218, 0.910550
[11:52:56.458] xyz_f:27.124623, -0.012211, 9.266484  Reprojection Error: -2.230734, 0.310038 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.458] xyz_f:27.026712, -0.661869, 9.021658  Reprojection Error: -2.839194, 0.553550 Feature: 0.435312, -0.445309, 0.782435
[11:52:56.458] xyz_f:26.717351, 0.166288, 9.210624  Reprojection Error: -2.742611, 0.428548 Feature: 0.148565, 0.403538, 0.902821
[11:52:56.458] it:47 	 Success 	 new_chi2: 0.000000 	 dT = 0.000000, 0.000000, 0.000000
[11:52:56.458] After pose optimization, distance between two frames:11.698017 ,angle between two frames:-3.605452
[11:52:56.547] Reprojection Map nPoint:21 ,nCell:10 ,nMatches:10 ,distance between two frames:2.764876 ,angle between two frames:-3.566504
[11:52:56.547] Init estimate scale:1.643571
[11:52:56.547] xyz_f:2.484544, -0.254050, 1.027530  Reprojection Error: -2.158547, 0.241359 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.547] xyz_f:2.376345, -0.145946, 1.011845  Reprojection Error: -2.210550, 0.240231 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.547] xyz_f:2.644051, -0.452001, 0.985405  Reprojection Error: -2.243669, 0.226638 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.547] xyz_f:2.427324, 0.196954, 1.022423  Reprojection Error: -2.217526, 0.287551 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.547] xyz_f:2.730160, -0.486971, 0.974193  Reprojection Error: -2.253381, 0.212225 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.547] xyz_f:2.376665, -0.139487, 1.012993  Reprojection Error: -2.208127, 0.240386 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.547] xyz_f:2.424337, 0.169904, 1.026705  Reprojection Error: -2.203179, 0.281117 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.547] xyz_f:2.742460, -0.461964, 0.988059  Reprojection Error: -2.209677, 0.212441 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.547] xyz_f:2.656061, -0.477328, 0.973553  Reprojection Error: -2.274698, 0.224421 Feature: 0.401425, -0.235336, 0.885141
[11:52:56.547] xyz_f:2.518934, -0.229105, 1.043614  Reprojection Error: -2.115898, 0.243078 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.547] xyz_f:2.697425, -0.469926, 0.981645  Reprojection Error: -2.241581, 0.218560 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.547] xyz_f:1.876595, -0.452755, 0.194201  Reprojection Error: -10.703654, 1.676338 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.547] xyz_f:2.565523, 0.015104, 1.081520  Reprojection Error: -2.030110, 0.280341 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.547] xyz_f:2.320483, -0.038317, 0.997156  Reprojection Error: -2.259079, 0.237517 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.547] xyz_f:2.716201, -0.473721, 0.980817  Reprojection Error: -2.238602, 0.215463 Feature: 0.456227, -0.229971, 0.859634
[11:52:56.547] xyz_f:2.516282, -0.214113, 1.046444  Reprojection Error: -2.109940, 0.244020 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.547] xyz_f:2.381420, -0.152991, 1.012832  Reprojection Error: -2.207381, 0.240423 Feature: 0.141850, 0.088116, 0.985959
[11:52:56.547] xyz_f:2.501786, -0.223698, 1.040302  Reprojection Error: -2.126332, 0.242995 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.547] xyz_f:2.537280, 0.021614, 1.075269  Reprojection Error: -2.051234, 0.276790 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.547] xyz_f:2.493059, -0.246275, 1.032144  Reprojection Error: -2.146512, 0.241721 Feature: 0.259680, 0.003009, 0.965690
[11:52:56.547] xyz_f:2.833032, -0.013034, 1.098894  Reprojection Error: -1.881634, 0.320581 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.547] xyz_f:2.644051, -0.452001, 0.985405  Reprojection Error: -2.243669, 0.226638 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.547] xyz_f:2.730160, -0.486971, 0.974193  Reprojection Error: -2.253381, 0.212225 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.547] xyz_f:2.742460, -0.461964, 0.988059  Reprojection Error: -2.209677, 0.212441 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.547] xyz_f:2.484544, -0.254050, 1.027530  Reprojection Error: -2.158543, 0.239111 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.547] xyz_f:2.376345, -0.145946, 1.011845  Reprojection Error: -2.210550, 0.240231 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.547] xyz_f:2.320483, -0.038317, 0.997156  Reprojection Error: -2.259079, 0.237517 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.547] xyz_f:2.565523, 0.015104, 1.081520  Reprojection Error: -2.030110, 0.280341 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.547] xyz_f:2.833032, -0.013034, 1.098894  Reprojection Error: -1.881634, 0.320581 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.547] xyz_f:2.427324, 0.196954, 1.022423  Reprojection Error: -2.217230, 0.293284 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.547] xyz_f:2.424337, 0.169904, 1.026705  Reprojection Error: -2.203179, 0.281117 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.547] it:0 	 Success 	 new_chi2: 120.967349 	 dT = -0.146517, 0.035825, 0.001912
[11:52:56.547] xyz_f:-0.322117, -0.254187, 1.063868  Reprojection Error: 0.562208, 0.233044 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.547] xyz_f:-0.430398, -0.146138, 1.048383  Reprojection Error: 0.548512, 0.235386 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.547] xyz_f:-0.162590, -0.452060, 1.021449  Reprojection Error: 0.598718, 0.210509 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.547] xyz_f:-0.379570, 0.196788, 1.058866  Reprojection Error: 0.515033, 0.294338 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.547] xyz_f:-0.076484, -0.486987, 1.010077  Reprojection Error: 0.624824, 0.194482 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.547] xyz_f:-0.430079, -0.139678, 1.049530  Reprojection Error: 0.547837, 0.235775 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.547] xyz_f:-0.382535, 0.169737, 1.063155  Reprojection Error: 0.517911, 0.286948 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.547] xyz_f:-0.064172, -0.461974, 1.023920  Reprojection Error: 0.628599, 0.196075 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.547] xyz_f:-0.150590, -0.477381, 1.009574  Reprojection Error: 0.602677, 0.206980 Feature: 0.401425, -0.235336, 0.885141
[11:52:56.547] xyz_f:-0.287710, -0.229225, 1.079888  Reprojection Error: 0.564193, 0.235815 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.547] xyz_f:-0.109214, -0.469958, 1.017589  Reprojection Error: 0.613607, 0.201682 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.547] xyz_f:-0.931506, -0.453194, 0.231663  Reprojection Error: 2.980434, 1.301227 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.547] xyz_f:-0.241172, 0.015007, 1.117708  Reprojection Error: 0.557809, 0.280880 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.547] xyz_f:-0.486341, -0.038535, 1.033797  Reprojection Error: 0.538463, 0.236366 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.547] xyz_f:-0.090438, -0.473743, 1.016727  Reprojection Error: 0.619672, 0.198427 Feature: 0.456227, -0.229971, 0.859634
[11:52:56.547] xyz_f:-0.290364, -0.214235, 1.082723  Reprojection Error: 0.562842, 0.237277 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.547] xyz_f:-0.425317, -0.153179, 1.049360  Reprojection Error: 0.549181, 0.235345 Feature: 0.141850, 0.088116, 0.985959
[11:52:56.547] xyz_f:-0.304866, -0.223827, 1.076608  Reprojection Error: 0.561706, 0.235863 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.547] xyz_f:-0.269430, 0.021502, 1.111510  Reprojection Error: 0.550834, 0.277545 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.547] xyz_f:-0.313598, -0.246408, 1.068466  Reprojection Error: 0.562409, 0.233734 Feature: 0.259680, 0.003009, 0.965690
[11:52:56.547] xyz_f:0.026383, -0.012999, 1.134588  Reprojection Error: 0.673189, 0.320177 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.547] xyz_f:-0.162590, -0.452060, 1.021449  Reprojection Error: 0.598718, 0.210509 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.547] xyz_f:-0.076484, -0.486987, 1.010077  Reprojection Error: 0.624824, 0.194482 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.547] xyz_f:-0.064172, -0.461974, 1.023920  Reprojection Error: 0.628599, 0.196075 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.547] xyz_f:-0.322117, -0.254187, 1.063868  Reprojection Error: 0.562211, 0.230795 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.547] xyz_f:-0.430398, -0.146138, 1.048383  Reprojection Error: 0.548512, 0.235386 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.547] xyz_f:-0.486341, -0.038535, 1.033797  Reprojection Error: 0.538463, 0.236366 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.547] xyz_f:-0.241172, 0.015007, 1.117708  Reprojection Error: 0.557809, 0.280880 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.547] xyz_f:0.026383, -0.012999, 1.134588  Reprojection Error: 0.673189, 0.320177 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.547] xyz_f:-0.379570, 0.196788, 1.058866  Reprojection Error: 0.515328, 0.300071 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.547] xyz_f:-0.382535, 0.169737, 1.063155  Reprojection Error: 0.517911, 0.286948 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.547] it:1 	 Success 	 new_chi2: 18.783083 	 dT = 0.001349, 0.014288, 0.047666
[11:52:56.547] xyz_f:-0.092329, -0.257321, 1.089851  Reprojection Error: 0.344146, 0.230223 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.548] xyz_f:-0.202533, -0.150619, 1.079396  Reprojection Error: 0.325612, 0.235533 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.548] xyz_f:0.067504, -0.453223, 1.040078  Reprojection Error: 0.374639, 0.203701 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.548] xyz_f:-0.155508, 0.192911, 1.087627  Reprojection Error: 0.299544, 0.302818 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.548] xyz_f:0.153420, -0.487089, 1.024746  Reprojection Error: 0.399387, 0.187680 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.548] xyz_f:-0.202241, -0.144155, 1.080529  Reprojection Error: 0.325223, 0.236101 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.548] xyz_f:-0.157939, 0.165825, 1.092039  Reprojection Error: 0.302727, 0.294753 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.548] xyz_f:0.166047, -0.461922, 1.038014  Reprojection Error: 0.405960, 0.189899 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.548] xyz_f:0.079257, -0.478398, 1.027656  Reprojection Error: 0.376391, 0.199649 Feature: 0.401425, -0.235336, 0.885141
[11:52:56.548] xyz_f:-0.057531, -0.231932, 1.104277  Reprojection Error: 0.349866, 0.233578 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.548] xyz_f:0.120863, -0.470463, 1.033761  Reprojection Error: 0.389365, 0.194946 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.548] xyz_f:-0.736873, -0.464064, 0.286519  Reprojection Error: 1.531308, 0.964632 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.548] xyz_f:-0.012317, 0.012866, 1.139985  Reprojection Error: 0.352841, 0.283020 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.548] xyz_f:-0.260410, -0.043719, 1.067431  Reprojection Error: 0.311981, 0.240048 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.548] xyz_f:0.139625, -0.474017, 1.032034  Reprojection Error: 0.395431, 0.191781 Feature: 0.456227, -0.229971, 0.859634
[11:52:56.548] xyz_f:-0.060236, -0.216975, 1.107236  Reprojection Error: 0.349066, 0.235370 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.548] xyz_f:-0.197326, -0.157597, 1.080137  Reprojection Error: 0.326556, 0.235276 Feature: 0.141850, 0.088116, 0.985959
[11:52:56.548] xyz_f:-0.074886, -0.226746, 1.101792  Reprojection Error: 0.346501, 0.233761 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.548] xyz_f:-0.040909, 0.019011, 1.135095  Reprojection Error: 0.344474, 0.280142 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.548] xyz_f:-0.083704, -0.249436, 1.094054  Reprojection Error: 0.345414, 0.231108 Feature: 0.259680, 0.003009, 0.965690
[11:52:56.548] xyz_f:0.256055, -0.011833, 1.144525  Reprojection Error: 0.472720, 0.319059 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.548] xyz_f:0.067504, -0.453223, 1.040078  Reprojection Error: 0.374639, 0.203701 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.548] xyz_f:0.153420, -0.487089, 1.024746  Reprojection Error: 0.399387, 0.187680 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.548] xyz_f:0.166047, -0.461922, 1.038014  Reprojection Error: 0.405960, 0.189899 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.548] xyz_f:-0.092329, -0.257321, 1.089851  Reprojection Error: 0.344150, 0.227974 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.548] xyz_f:-0.202533, -0.150619, 1.079396  Reprojection Error: 0.325612, 0.235533 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.548] xyz_f:-0.260410, -0.043719, 1.067431  Reprojection Error: 0.311981, 0.240048 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.548] xyz_f:-0.012317, 0.012866, 1.139985  Reprojection Error: 0.352841, 0.283020 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.548] xyz_f:0.256055, -0.011833, 1.144525  Reprojection Error: 0.472720, 0.319059 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.548] xyz_f:-0.155508, 0.192911, 1.087627  Reprojection Error: 0.299840, 0.308551 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.548] xyz_f:-0.157939, 0.165825, 1.092039  Reprojection Error: 0.302727, 0.294753 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.548] it:2 	 Success 	 new_chi2: 8.585092 	 dT = -0.013559, 0.017364, 0.046267
[11:52:56.548] xyz_f:-0.047703, -0.259816, 1.116525  Reprojection Error: 0.302153, 0.226816 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.548] xyz_f:-0.159533, -0.154443, 1.111033  Reprojection Error: 0.281566, 0.235002 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.548] xyz_f:0.112081, -0.453804, 1.059609  Reprojection Error: 0.333766, 0.196217 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.548] xyz_f:-0.116303, 0.189627, 1.117246  Reprojection Error: 0.260662, 0.310459 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.548] xyz_f:0.197625, -0.486642, 1.040445  Reprojection Error: 0.359159, 0.180079 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.548] xyz_f:-0.159268, -0.147976, 1.112154  Reprojection Error: 0.281261, 0.235743 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.548] xyz_f:-0.118210, 0.162516, 1.121756  Reprojection Error: 0.263479, 0.301726 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.548] xyz_f:0.210531, -0.461323, 1.053143  Reprojection Error: 0.366020, 0.182938 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.548] xyz_f:0.123568, -0.478839, 1.046668  Reprojection Error: 0.335457, 0.191615 Feature: 0.401425, -0.235336, 0.885141
[11:52:56.548] xyz_f:-0.012602, -0.234008, 1.129389  Reprojection Error: 0.308925, 0.230746 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.548] xyz_f:0.165307, -0.470405, 1.050910  Reprojection Error: 0.348982, 0.187464 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.548] xyz_f:-0.724971, -0.474474, 0.342734  Reprojection Error: 1.074747, 0.729346 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.548] xyz_f:0.031229, 0.011323, 1.163107  Reprojection Error: 0.315186, 0.284571 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.548] xyz_f:-0.219162, -0.048247, 1.101694  Reprojection Error: 0.266954, 0.242884 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.548] xyz_f:0.184014, -0.473735, 1.048346  Reprojection Error: 0.355194, 0.184365 Feature: 0.456227, -0.229971, 0.859634
[11:52:56.548] xyz_f:-0.015351, -0.219083, 1.132470  Reprojection Error: 0.308219, 0.232866 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.548] xyz_f:-0.154215, -0.161359, 1.111538  Reprojection Error: 0.282610, 0.234538 Feature: 0.141850, 0.088116, 0.985959
[11:52:56.548] xyz_f:-0.030111, -0.229031, 1.127683  Reprojection Error: 0.305235, 0.231062 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.548] xyz_f:0.002376, 0.017124, 1.159501  Reprojection Error: 0.306385, 0.282122 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.548] xyz_f:-0.038993, -0.251827, 1.120341  Reprojection Error: 0.303710, 0.227893 Feature: 0.259680, 0.003009, 0.965690
[11:52:56.548] xyz_f:0.299813, -0.010161, 1.155646  Reprojection Error: 0.437009, 0.317512 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.548] xyz_f:0.112081, -0.453804, 1.059609  Reprojection Error: 0.333766, 0.196217 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.548] xyz_f:0.197625, -0.486642, 1.040445  Reprojection Error: 0.359159, 0.180079 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.548] xyz_f:0.210531, -0.461323, 1.053143  Reprojection Error: 0.366020, 0.182938 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.548] xyz_f:-0.047703, -0.259816, 1.116525  Reprojection Error: 0.302157, 0.224568 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.548] xyz_f:-0.159533, -0.154443, 1.111033  Reprojection Error: 0.281566, 0.235002 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.548] xyz_f:-0.219162, -0.048247, 1.101694  Reprojection Error: 0.266954, 0.242884 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.548] xyz_f:0.031229, 0.011323, 1.163107  Reprojection Error: 0.315186, 0.284571 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.548] xyz_f:0.299813, -0.010161, 1.155646  Reprojection Error: 0.437009, 0.317512 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.548] xyz_f:-0.116303, 0.189627, 1.117246  Reprojection Error: 0.260958, 0.316192 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.548] xyz_f:-0.118210, 0.162516, 1.121756  Reprojection Error: 0.263479, 0.301726 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.548] it:3 	 Success 	 new_chi2: 6.431461 	 dT = -0.016814, 0.018453, 0.045449
[11:52:56.548] xyz_f:0.011241, -0.261736, 1.142146  Reprojection Error: 0.249587, 0.223278 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.548] xyz_f:-0.101953, -0.157688, 1.141594  Reprojection Error: 0.227285, 0.234122 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.548] xyz_f:0.170643, -0.453847, 1.078223  Reprojection Error: 0.281278, 0.188863 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.548] xyz_f:-0.062542, 0.186869, 1.145993  Reprojection Error: 0.211139, 0.317123 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.548] xyz_f:0.255644, -0.485682, 1.055314  Reprojection Error: 0.306858, 0.172579 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.548] xyz_f:-0.101716, -0.151218, 1.142704  Reprojection Error: 0.227068, 0.235022 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.548] xyz_f:-0.063930, 0.159738, 1.150575  Reprojection Error: 0.213663, 0.307769 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.548] xyz_f:0.268796, -0.460209, 1.067441  Reprojection Error: 0.314113, 0.176027 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.548] xyz_f:0.181845, -0.478749, 1.064784  Reprojection Error: 0.282735, 0.183746 Feature: 0.401425, -0.235336, 0.885141
[11:52:56.548] xyz_f:0.046567, -0.235514, 1.153464  Reprojection Error: 0.257396, 0.227727 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.548] xyz_f:0.223628, -0.469823, 1.067192  Reprojection Error: 0.296733, 0.180090 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.548] xyz_f:-0.696761, -0.484544, 0.398767  Reprojection Error: 0.706779, 0.560070 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.548] xyz_f:0.088947, 0.010324, 1.185289  Reprojection Error: 0.266993, 0.285596 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.548] xyz_f:-0.163180, -0.052202, 1.134909  Reprojection Error: 0.211804, 0.245088 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.548] xyz_f:0.242242, -0.472933, 1.063809  Reprojection Error: 0.303010, 0.177044 Feature: 0.456227, -0.229971, 0.859634
[11:52:56.548] xyz_f:0.043780, -0.220622, 1.156666  Reprojection Error: 0.256813, 0.230150 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.548] xyz_f:-0.096537, -0.164540, 1.141863  Reprojection Error: 0.228413, 0.233469 Feature: 0.141850, 0.088116, 0.985959
[11:52:56.548] xyz_f:0.028943, -0.230744, 1.152530  Reprojection Error: 0.253421, 0.228170 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.548] xyz_f:0.059898, 0.015785, 1.182955  Reprojection Error: 0.257801, 0.283547 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.548] xyz_f:0.020015, -0.253645, 1.145578  Reprojection Error: 0.251434, 0.224528 Feature: 0.259680, 0.003009, 0.965690
[11:52:56.548] xyz_f:0.357179, -0.008002, 1.166043  Reprojection Error: 0.390125, 0.315583 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.548] xyz_f:0.170643, -0.453847, 1.078223  Reprojection Error: 0.281278, 0.188863 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.548] xyz_f:0.255644, -0.485682, 1.055314  Reprojection Error: 0.306858, 0.172579 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.548] xyz_f:0.268796, -0.460209, 1.067441  Reprojection Error: 0.314113, 0.176027 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.548] xyz_f:0.011241, -0.261736, 1.142146  Reprojection Error: 0.249590, 0.221029 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.548] xyz_f:-0.101953, -0.157688, 1.141594  Reprojection Error: 0.227285, 0.234122 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.548] xyz_f:-0.163180, -0.052202, 1.134909  Reprojection Error: 0.211804, 0.245088 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.548] xyz_f:0.088947, 0.010324, 1.185289  Reprojection Error: 0.266993, 0.285596 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.548] xyz_f:0.357179, -0.008002, 1.166043  Reprojection Error: 0.390125, 0.315583 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.548] xyz_f:-0.062542, 0.186869, 1.145993  Reprojection Error: 0.211435, 0.322856 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.548] xyz_f:-0.063930, 0.159738, 1.150575  Reprojection Error: 0.213663, 0.307769 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.548] it:4 	 Success 	 new_chi2: 4.723876 	 dT = -0.019971, 0.018925, 0.043231
[11:52:56.548] xyz_f:0.069455, -0.263072, 1.166057  Reprojection Error: 0.199865, 0.219724 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.548] xyz_f:-0.044820, -0.160296, 1.170255  Reprojection Error: 0.176276, 0.232968 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.548] xyz_f:0.228189, -0.453403, 1.095490  Reprojection Error: 0.231243, 0.181823 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.548] xyz_f:-0.009116, 0.184680, 1.173085  Reprojection Error: 0.164335, 0.322755 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.548] xyz_f:0.312510, -0.484290, 1.069046  Reprojection Error: 0.256776, 0.165366 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.548] xyz_f:-0.044609, -0.153824, 1.171355  Reprojection Error: 0.176138, 0.234010 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.548] xyz_f:-0.010009, 0.157537, 1.177715  Reprojection Error: 0.166598, 0.312837 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.548] xyz_f:0.325871, -0.458669, 1.080618  Reprojection Error: 0.264367, 0.169345 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.548] xyz_f:0.239097, -0.478181, 1.081589  Reprojection Error: 0.232455, 0.176235 Feature: 0.401425, -0.235336, 0.885141
[11:52:56.548] xyz_f:0.104927, -0.236454, 1.175896  Reprojection Error: 0.208535, 0.224632 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.548] xyz_f:0.280842, -0.468788, 1.082253  Reprojection Error: 0.246784, 0.173007 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.548] xyz_f:-0.666426, -0.493959, 0.452830  Reprojection Error: 0.431184, 0.435793 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.548] xyz_f:0.145846, 0.009851, 1.205982  Reprojection Error: 0.221100, 0.286138 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.548] xyz_f:-0.107449, -0.055504, 1.166156  Reprojection Error: 0.160161, 0.246687 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.548] xyz_f:0.299332, -0.471690, 1.078095  Reprojection Error: 0.253073, 0.170000 Feature: 0.456227, -0.229971, 0.859634
[11:52:56.548] xyz_f:0.102110, -0.221593, 1.179215  Reprojection Error: 0.208072, 0.227326 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.548] xyz_f:-0.039321, -0.167087, 1.170296  Reprojection Error: 0.177469, 0.232145 Feature: 0.141850, 0.088116, 0.985959
[11:52:56.548] xyz_f:0.087227, -0.231881, 1.175699  Reprojection Error: 0.204342, 0.225192 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.548] xyz_f:0.116666, 0.014985, 1.204863  Reprojection Error: 0.211606, 0.284453 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.548] xyz_f:0.078274, -0.254882, 1.169121  Reprojection Error: 0.201955, 0.221127 Feature: 0.259680, 0.003009, 0.965690
[11:52:56.548] xyz_f:0.413229, -0.005479, 1.175551  Reprojection Error: 0.344922, 0.313381 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.548] xyz_f:0.228189, -0.453403, 1.095490  Reprojection Error: 0.231243, 0.181823 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.548] xyz_f:0.312510, -0.484290, 1.069046  Reprojection Error: 0.256776, 0.165366 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.548] xyz_f:0.325871, -0.458669, 1.080618  Reprojection Error: 0.264367, 0.169345 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.548] xyz_f:0.069455, -0.263072, 1.166057  Reprojection Error: 0.199868, 0.217476 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.548] xyz_f:-0.044820, -0.160296, 1.170255  Reprojection Error: 0.176276, 0.232968 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.548] xyz_f:-0.107449, -0.055504, 1.166156  Reprojection Error: 0.160161, 0.246687 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.548] xyz_f:0.145846, 0.009851, 1.205982  Reprojection Error: 0.221100, 0.286138 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.548] xyz_f:0.413229, -0.005479, 1.175551  Reprojection Error: 0.344922, 0.313381 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.548] xyz_f:-0.009116, 0.184680, 1.173085  Reprojection Error: 0.164631, 0.328488 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.548] xyz_f:-0.010009, 0.157537, 1.177715  Reprojection Error: 0.166598, 0.312837 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.548] it:5 	 Success 	 new_chi2: 3.584283 	 dT = -0.020976, 0.018512, 0.038918
[11:52:56.548] xyz_f:0.126170, -0.263863, 1.187521  Reprojection Error: 0.153182, 0.216313 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.548] xyz_f:0.011104, -0.162242, 1.196030  Reprojection Error: 0.128693, 0.231644 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.548] xyz_f:0.284048, -0.452599, 1.111002  Reprojection Error: 0.183873, 0.175321 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.548] xyz_f:0.043414, 0.183077, 1.197582  Reprojection Error: 0.120313, 0.327314 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.548] xyz_f:0.367623, -0.482641, 1.081402  Reprojection Error: 0.209152, 0.158664 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.548] xyz_f:0.011291, -0.155768, 1.197123  Reprojection Error: 0.128623, 0.232807 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.548] xyz_f:0.042969, 0.155927, 1.202236  Reprojection Error: 0.122358, 0.316905 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.548] xyz_f:0.381150, -0.456884, 1.092469  Reprojection Error: 0.217038, 0.163107 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.548] xyz_f:0.294676, -0.477268, 1.096697  Reprojection Error: 0.184822, 0.169313 Feature: 0.401425, -0.235336, 0.885141
[11:52:56.548] xyz_f:0.161717, -0.236887, 1.196025  Reprojection Error: 0.162555, 0.221610 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.548] xyz_f:0.336319, -0.467456, 1.095793  Reprojection Error: 0.199363, 0.166439 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.548] xyz_f:-0.633634, -0.502283, 0.502410  Reprojection Error: 0.220679, 0.344714 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.548] xyz_f:0.201256, 0.009823, 1.224598  Reprojection Error: 0.177692, 0.286285 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.548] xyz_f:-0.052686, -0.058087, 1.194307  Reprojection Error: 0.112136, 0.247727 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.548] xyz_f:0.354668, -0.470172, 1.090942  Reprojection Error: 0.205619, 0.163456 Feature: 0.456227, -0.229971, 0.859634
[11:52:56.548] xyz_f:0.158877, -0.222055, 1.199450  Reprojection Error: 0.162205, 0.224540 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.548] xyz_f:0.016669, -0.168978, 1.195863  Reprojection Error: 0.129931, 0.230673 Feature: 0.141850, 0.088116, 0.985959
[11:52:56.548] xyz_f:0.143977, -0.232493, 1.196494  Reprojection Error: 0.158201, 0.222275 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.548] xyz_f:0.172003, 0.014663, 1.224578  Reprojection Error: 0.167975, 0.284917 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.548] xyz_f:0.135015, -0.255584, 1.190253  Reprojection Error: 0.155472, 0.217846 Feature: 0.259680, 0.003009, 0.965690
[11:52:56.548] xyz_f:0.467447, -0.002819, 1.184137  Reprojection Error: 0.301684, 0.311101 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.548] xyz_f:0.284048, -0.452599, 1.111002  Reprojection Error: 0.183873, 0.175321 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.548] xyz_f:0.367623, -0.482641, 1.081402  Reprojection Error: 0.209152, 0.158664 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.548] xyz_f:0.381150, -0.456884, 1.092469  Reprojection Error: 0.217038, 0.163107 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.548] xyz_f:0.126170, -0.263863, 1.187521  Reprojection Error: 0.153186, 0.214064 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.548] xyz_f:0.011104, -0.162242, 1.196030  Reprojection Error: 0.128693, 0.231644 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.548] xyz_f:-0.052686, -0.058087, 1.194307  Reprojection Error: 0.112136, 0.247727 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.548] xyz_f:0.201256, 0.009823, 1.224598  Reprojection Error: 0.177692, 0.286285 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.549] xyz_f:0.467447, -0.002819, 1.184137  Reprojection Error: 0.301684, 0.311101 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.549] xyz_f:0.043414, 0.183077, 1.197582  Reprojection Error: 0.120609, 0.333047 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.549] xyz_f:0.042969, 0.155927, 1.202236  Reprojection Error: 0.122358, 0.316905 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.549] it:6 	 Success 	 new_chi2: 2.828066 	 dT = -0.019270, 0.017168, 0.032331
[11:52:56.549] xyz_f:0.178688, -0.264222, 1.206031  Reprojection Error: 0.111267, 0.213201 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.549] xyz_f:0.063097, -0.163567, 1.218141  Reprojection Error: 0.086179, 0.230269 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.549] xyz_f:0.335673, -0.451641, 1.124595  Reprojection Error: 0.141058, 0.169545 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.549] xyz_f:0.092549, 0.182010, 1.218729  Reprojection Error: 0.080626, 0.330841 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.549] xyz_f:0.418531, -0.480987, 1.092395  Reprojection Error: 0.165971, 0.152658 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.549] xyz_f:0.063264, -0.157091, 1.219229  Reprojection Error: 0.086166, 0.231533 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.549] xyz_f:0.092477, 0.154858, 1.223392  Reprojection Error: 0.082509, 0.320021 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.549] xyz_f:0.432181, -0.455116, 1.103038  Reprojection Error: 0.174117, 0.157497 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.549] xyz_f:0.346054, -0.476222, 1.109961  Reprojection Error: 0.141744, 0.163170 Feature: 0.401425, -0.235336, 0.885141
[11:52:56.549] xyz_f:0.214256, -0.236949, 1.213424  Reprojection Error: 0.121196, 0.218821 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.549] xyz_f:0.387565, -0.466062, 1.107759  Reprojection Error: 0.156417, 0.160572 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.549] xyz_f:-0.600117, -0.509081, 0.544947  Reprojection Error: 0.060730, 0.279151 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.549] xyz_f:0.252602, 0.010087, 1.240781  Reprojection Error: 0.138453, 0.286177 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.549] xyz_f:-0.001585, -0.059949, 1.218425  Reprojection Error: 0.069323, 0.248293 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.549] xyz_f:0.405776, -0.468626, 1.102337  Reprojection Error: 0.162617, 0.157598 Feature: 0.456227, -0.229971, 0.859634
[11:52:56.549] xyz_f:0.211400, -0.222141, 1.216938  Reprojection Error: 0.120949, 0.221950 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.549] xyz_f:0.068710, -0.170256, 1.217800  Reprojection Error: 0.087449, 0.229177 Feature: 0.141850, 0.088116, 0.985959
[11:52:56.549] xyz_f:0.196503, -0.232704, 1.214448  Reprojection Error: 0.116730, 0.219576 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.549] xyz_f:0.223324, 0.014682, 1.241675  Reprojection Error: 0.128578, 0.285066 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.549] xyz_f:0.187544, -0.255869, 1.208486  Reprojection Error: 0.113717, 0.214843 Feature: 0.259680, 0.003009, 0.965690
[11:52:56.549] xyz_f:0.517496, -0.000333, 1.192026  Reprojection Error: 0.262310, 0.308999 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.549] xyz_f:0.335673, -0.451641, 1.124595  Reprojection Error: 0.141058, 0.169545 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.549] xyz_f:0.418531, -0.480987, 1.092395  Reprojection Error: 0.165971, 0.152658 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.549] xyz_f:0.432181, -0.455116, 1.103038  Reprojection Error: 0.174117, 0.157497 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.549] xyz_f:0.178688, -0.264222, 1.206031  Reprojection Error: 0.111271, 0.210952 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.549] xyz_f:0.063097, -0.163567, 1.218141  Reprojection Error: 0.086179, 0.230269 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.549] xyz_f:-0.001585, -0.059949, 1.218425  Reprojection Error: 0.069323, 0.248293 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.549] xyz_f:0.252602, 0.010087, 1.240781  Reprojection Error: 0.138453, 0.286177 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.549] xyz_f:0.517496, -0.000333, 1.192026  Reprojection Error: 0.262310, 0.308999 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.549] xyz_f:0.092549, 0.182010, 1.218729  Reprojection Error: 0.080921, 0.336575 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.549] xyz_f:0.092477, 0.154858, 1.223392  Reprojection Error: 0.082509, 0.320021 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.549] it:7 	 Success 	 new_chi2: 2.351833 	 dT = -0.016318, 0.015261, 0.025217
[11:52:56.549] xyz_f:0.224021, -0.264315, 1.221638  Reprojection Error: 0.076051, 0.210478 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.549] xyz_f:0.108105, -0.164415, 1.236568  Reprojection Error: 0.050553, 0.228954 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.549] xyz_f:0.380196, -0.450712, 1.136388  Reprojection Error: 0.104976, 0.164560 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.549] xyz_f:0.135307, 0.181347, 1.236466  Reprojection Error: 0.047134, 0.333520 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.549] xyz_f:0.462435, -0.479519, 1.102177  Reprojection Error: 0.129537, 0.147419 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.549] xyz_f:0.108257, -0.157938, 1.237652  Reprojection Error: 0.050585, 0.230300 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.549] xyz_f:0.135526, 0.154195, 1.241127  Reprojection Error: 0.048903, 0.322364 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.549] xyz_f:0.476171, -0.453559, 1.112487  Reprojection Error: 0.137902, 0.152592 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.549] xyz_f:0.390378, -0.475226, 1.121504  Reprojection Error: 0.105431, 0.157866 Feature: 0.401425, -0.235336, 0.885141
[11:52:56.549] xyz_f:0.259580, -0.236810, 1.228165  Reprojection Error: 0.086411, 0.216363 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.549] xyz_f:0.431756, -0.464795, 1.118292  Reprojection Error: 0.120196, 0.155477 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.549] xyz_f:-0.569038, -0.514304, 0.579699  Reprojection Error: -0.058899, 0.232158 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.549] xyz_f:0.296968, 0.010473, 1.254599  Reprojection Error: 0.105332, 0.285959 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.549] xyz_f:0.042774, -0.061222, 1.238436  Reprojection Error: 0.033483, 0.248526 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.549] xyz_f:0.449846, -0.467240, 1.112428  Reprojection Error: 0.126340, 0.152496 Feature: 0.456227, -0.229971, 0.859634
[11:52:56.549] xyz_f:0.256715, -0.222020, 1.231749  Reprojection Error: 0.086249, 0.219658 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.549] xyz_f:0.113752, -0.171067, 1.236090  Reprojection Error: 0.051844, 0.227765 Feature: 0.141850, 0.088116, 0.985959
[11:52:56.549] xyz_f:0.241830, -0.232680, 1.229621  Reprojection Error: 0.081863, 0.217193 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.549] xyz_f:0.267691, 0.014877, 1.256207  Reprojection Error: 0.095340, 0.285047 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.549] xyz_f:0.232880, -0.255904, 1.223878  Reprojection Error: 0.078626, 0.212209 Feature: 0.259680, 0.003009, 0.965690
[11:52:56.549] xyz_f:0.560659, 0.001779, 1.199407  Reprojection Error: 0.228995, 0.307237 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.549] xyz_f:0.380196, -0.450712, 1.136388  Reprojection Error: 0.104976, 0.164560 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.549] xyz_f:0.462435, -0.479519, 1.102177  Reprojection Error: 0.129537, 0.147419 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.549] xyz_f:0.476171, -0.453559, 1.112487  Reprojection Error: 0.137902, 0.152592 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.549] xyz_f:0.224021, -0.264315, 1.221638  Reprojection Error: 0.076055, 0.208229 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.549] xyz_f:0.108105, -0.164415, 1.236568  Reprojection Error: 0.050553, 0.228954 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.549] xyz_f:0.042774, -0.061222, 1.238436  Reprojection Error: 0.033483, 0.248526 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.549] xyz_f:0.296968, 0.010473, 1.254599  Reprojection Error: 0.105332, 0.285959 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.549] xyz_f:0.560659, 0.001779, 1.199407  Reprojection Error: 0.228995, 0.307237 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.549] xyz_f:0.135307, 0.181347, 1.236466  Reprojection Error: 0.047430, 0.339253 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.549] xyz_f:0.135526, 0.154195, 1.241127  Reprojection Error: 0.048903, 0.322364 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.549] it:8 	 Success 	 new_chi2: 2.076625 	 dT = -0.013934, 0.013318, 0.019407
[11:52:56.549] xyz_f:0.261072, -0.264275, 1.234804  Reprojection Error: 0.048001, 0.208138 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.549] xyz_f:0.144956, -0.164958, 1.251910  Reprojection Error: 0.022189, 0.227758 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.549] xyz_f:0.416556, -0.449888, 1.146633  Reprojection Error: 0.076256, 0.160298 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.549] xyz_f:0.170414, 0.180937, 1.251313  Reprojection Error: 0.020376, 0.335588 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.549] xyz_f:0.498282, -0.478283, 1.110886  Reprojection Error: 0.100557, 0.142896 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.549] xyz_f:0.145095, -0.158480, 1.252990  Reprojection Error: 0.022256, 0.229170 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.549] xyz_f:0.170857, 0.153787, 1.255968  Reprojection Error: 0.022064, 0.324157 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.549] xyz_f:0.512079, -0.452254, 1.120937  Reprojection Error: 0.109095, 0.148355 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.549] xyz_f:0.426580, -0.474352, 1.131559  Reprojection Error: 0.076532, 0.153328 Feature: 0.401425, -0.235336, 0.885141
[11:52:56.549] xyz_f:0.296608, -0.236591, 1.240665  Reprojection Error: 0.058695, 0.214244 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.549] xyz_f:0.467838, -0.463713, 1.127573  Reprojection Error: 0.091374, 0.151096 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.549] xyz_f:-0.542616, -0.518273, 0.607832  Reprojection Error: -0.147802, 0.197626 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.549] xyz_f:0.333242, 0.010878, 1.266406  Reprojection Error: 0.078895, 0.285717 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.549] xyz_f:0.079154, -0.062093, 1.255006  Reprojection Error: 0.004951, 0.248567 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.549] xyz_f:0.485826, -0.466068, 1.121371  Reprojection Error: 0.097479, 0.148101 Feature: 0.456227, -0.229971, 0.859634
[11:52:56.549] xyz_f:0.293736, -0.221815, 1.244303  Reprojection Error: 0.058599, 0.217674 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.549] xyz_f:0.150626, -0.171581, 1.251325  Reprojection Error: 0.023497, 0.226490 Feature: 0.141850, 0.088116, 0.985959
[11:52:56.549] xyz_f:0.278868, -0.232550, 1.242454  Reprojection Error: 0.054084, 0.215133 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.549] xyz_f:0.303979, 0.015135, 1.268562  Reprojection Error: 0.068810, 0.284959 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.549] xyz_f:0.269928, -0.255819, 1.236878  Reprojection Error: 0.050672, 0.209942 Feature: 0.259680, 0.003009, 0.965690
[11:52:56.549] xyz_f:0.595893, 0.003506, 1.206279  Reprojection Error: 0.202449, 0.305814 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.549] xyz_f:0.416556, -0.449888, 1.146633  Reprojection Error: 0.076256, 0.160298 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.549] xyz_f:0.498282, -0.478283, 1.110886  Reprojection Error: 0.100557, 0.142896 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.549] xyz_f:0.512079, -0.452254, 1.120937  Reprojection Error: 0.109095, 0.148355 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.549] xyz_f:0.261072, -0.264275, 1.234804  Reprojection Error: 0.048005, 0.205889 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.549] xyz_f:0.144956, -0.164958, 1.251910  Reprojection Error: 0.022189, 0.227758 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.549] xyz_f:0.079154, -0.062093, 1.255006  Reprojection Error: 0.004951, 0.248567 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.549] xyz_f:0.333242, 0.010878, 1.266406  Reprojection Error: 0.078895, 0.285717 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.549] xyz_f:0.595893, 0.003506, 1.206279  Reprojection Error: 0.202449, 0.305814 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.549] xyz_f:0.170414, 0.180937, 1.251313  Reprojection Error: 0.020672, 0.341321 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.549] xyz_f:0.170857, 0.153787, 1.255968  Reprojection Error: 0.022064, 0.324157 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.549] it:9 	 Success 	 new_chi2: 1.930949 	 dT = -0.012574, 0.011588, 0.015271
[11:52:56.549] xyz_f:0.291016, -0.264174, 1.246017  Reprojection Error: 0.025872, 0.206131 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.549] xyz_f:0.174773, -0.165316, 1.264837  Reprojection Error: -0.000202, 0.226695 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.549] xyz_f:0.445914, -0.449174, 1.155557  Reprojection Error: 0.053655, 0.156650 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.549] xyz_f:0.198852, 0.180676, 1.263875  Reprojection Error: -0.000771, 0.337232 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.549] xyz_f:0.527217, -0.477247, 1.118607  Reprojection Error: 0.077787, 0.138998 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.549] xyz_f:0.174902, -0.158838, 1.265915  Reprojection Error: -0.000108, 0.228162 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.549] xyz_f:0.199471, 0.153529, 1.268522  Reprojection Error: 0.000853, 0.325572 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.549] xyz_f:0.541057, -0.451163, 1.128454  Reprojection Error: 0.086459, 0.144701 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.549] xyz_f:0.455812, -0.473599, 1.140336  Reprojection Error: 0.053799, 0.149441 Feature: 0.401425, -0.235336, 0.885141
[11:52:56.549] xyz_f:0.326525, -0.236350, 1.251354  Reprojection Error: 0.036830, 0.212423 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.549] xyz_f:0.496964, -0.462797, 1.135743  Reprojection Error: 0.068714, 0.147332 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.549] xyz_f:-0.520822, -0.521365, 0.630961  Reprojection Error: -0.215066, 0.171271 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.549] xyz_f:0.362557, 0.011263, 1.276559  Reprojection Error: 0.058025, 0.285484 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.549] xyz_f:0.108618, -0.062713, 1.268906  Reprojection Error: -0.017578, 0.248514 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.549] xyz_f:0.514869, -0.465081, 1.129276  Reprojection Error: 0.074794, 0.144318 Feature: 0.456227, -0.229971, 0.859634
[11:52:56.549] xyz_f:0.323649, -0.221586, 1.255034  Reprojection Error: 0.036783, 0.215967 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.549] xyz_f:0.180460, -0.171917, 1.264169  Reprojection Error: 0.001120, 0.225363 Feature: 0.141850, 0.088116, 0.985959
[11:52:56.549] xyz_f:0.308797, -0.232379, 1.253404  Reprojection Error: 0.032167, 0.213362 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.549] xyz_f:0.333312, 0.015404, 1.279146  Reprojection Error: 0.047861, 0.284848 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.549] xyz_f:0.299868, -0.255684, 1.247961  Reprojection Error: 0.028619, 0.207997 Feature: 0.259680, 0.003009, 0.965690
[11:52:56.549] xyz_f:0.624318, 0.004927, 1.212565  Reprojection Error: 0.181567, 0.304657 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.549] xyz_f:0.445914, -0.449174, 1.155557  Reprojection Error: 0.053655, 0.156650 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.549] xyz_f:0.527217, -0.477247, 1.118607  Reprojection Error: 0.077787, 0.138998 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.549] xyz_f:0.541057, -0.451163, 1.128454  Reprojection Error: 0.086459, 0.144701 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.549] xyz_f:0.291016, -0.264174, 1.246017  Reprojection Error: 0.025876, 0.203883 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.549] xyz_f:0.174773, -0.165316, 1.264837  Reprojection Error: -0.000202, 0.226695 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.549] xyz_f:0.108618, -0.062713, 1.268906  Reprojection Error: -0.017578, 0.248514 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.549] xyz_f:0.362557, 0.011263, 1.276559  Reprojection Error: 0.058025, 0.285484 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.549] xyz_f:0.624318, 0.004927, 1.212565  Reprojection Error: 0.181567, 0.304657 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.549] xyz_f:0.198852, 0.180676, 1.263875  Reprojection Error: -0.000475, 0.342965 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.549] xyz_f:0.199471, 0.153529, 1.268522  Reprojection Error: 0.000853, 0.325572 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.549] it:10 	 Success 	 new_chi2: 1.859538 	 dT = -0.011955, 0.010095, 0.012387
[11:52:56.549] xyz_f:0.315600, -0.264048, 1.255643  Reprojection Error: 0.008083, 0.204405 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.549] xyz_f:0.199275, -0.165563, 1.275853  Reprojection Error: -0.018212, 0.225759 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.549] xyz_f:0.469998, -0.448553, 1.163332  Reprojection Error: 0.035532, 0.153518 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.549] xyz_f:0.222231, 0.180505, 1.274610  Reprojection Error: -0.017788, 0.338570 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.549] xyz_f:0.550942, -0.476365, 1.125412  Reprojection Error: 0.059555, 0.135635 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.549] xyz_f:0.199396, -0.159084, 1.276931  Reprojection Error: -0.018098, 0.227272 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.549] xyz_f:0.222993, 0.153359, 1.279249  Reprojection Error: -0.016216, 0.326720 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.549] xyz_f:0.564815, -0.450237, 1.135093  Reprojection Error: 0.068333, 0.141547 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.549] xyz_f:0.479791, -0.472945, 1.147994  Reprojection Error: 0.035577, 0.146102 Feature: 0.401425, -0.235336, 0.885141
[11:52:56.549] xyz_f:0.351081, -0.236110, 1.260555  Reprojection Error: 0.019254, 0.210854 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.549] xyz_f:0.520850, -0.462012, 1.142908  Reprojection Error: 0.050558, 0.144090 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.549] xyz_f:-0.502710, -0.523853, 0.650338  Reprojection Error: -0.267511, 0.150475 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.549] xyz_f:0.386618, 0.011617, 1.285331  Reprojection Error: 0.041243, 0.285268 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.549] xyz_f:0.132844, -0.063172, 1.280716  Reprojection Error: -0.035705, 0.248417 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.549] xyz_f:0.538683, -0.464239, 1.136227  Reprojection Error: 0.056624, 0.141057 Feature: 0.456227, -0.229971, 0.859634
[11:52:56.550] xyz_f:0.348202, -0.221355, 1.264270  Reprojection Error: 0.019246, 0.214495 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.550] xyz_f:0.204974, -0.172146, 1.275117  Reprojection Error: -0.016879, 0.224375 Feature: 0.141850, 0.088116, 0.985959
[11:52:56.550] xyz_f:0.333367, -0.232196, 1.262817  Reprojection Error: 0.014547, 0.211835 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.550] xyz_f:0.357393, 0.015665, 1.288269  Reprojection Error: 0.031014, 0.284731 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.550] xyz_f:0.324448, -0.255529, 1.257480  Reprojection Error: 0.010891, 0.206323 Feature: 0.259680, 0.003009, 0.965690
[11:52:56.550] xyz_f:0.647614, 0.006119, 1.218210  Reprojection Error: 0.164830, 0.303697 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.550] xyz_f:0.469998, -0.448553, 1.163332  Reprojection Error: 0.035532, 0.153518 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.550] xyz_f:0.550942, -0.476365, 1.125412  Reprojection Error: 0.059555, 0.135635 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.550] xyz_f:0.564815, -0.450237, 1.135093  Reprojection Error: 0.068333, 0.141547 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.550] xyz_f:0.315600, -0.264048, 1.255643  Reprojection Error: 0.008087, 0.202157 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.550] xyz_f:0.199275, -0.165563, 1.275853  Reprojection Error: -0.018212, 0.225759 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.550] xyz_f:0.132844, -0.063172, 1.280716  Reprojection Error: -0.035705, 0.248417 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.550] xyz_f:0.386618, 0.011617, 1.285331  Reprojection Error: 0.041243, 0.285268 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.550] xyz_f:0.647614, 0.006119, 1.218210  Reprojection Error: 0.164830, 0.303697 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.550] xyz_f:0.222231, 0.180505, 1.274610  Reprojection Error: -0.017492, 0.344303 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.550] xyz_f:0.222993, 0.153359, 1.279249  Reprojection Error: -0.016216, 0.326720 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.550] it:11 	 Success 	 new_chi2: 1.829121 	 dT = -0.011783, 0.008805, 0.010323
[11:52:56.550] xyz_f:0.336177, -0.263913, 1.263943  Reprojection Error: -0.006546, 0.202918 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.550] xyz_f:0.219796, -0.165739, 1.285314  Reprojection Error: -0.033029, 0.224941 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.550] xyz_f:0.490139, -0.448006, 1.170095  Reprojection Error: 0.020654, 0.150822 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.550] xyz_f:0.241814, 0.180389, 1.283847  Reprojection Error: -0.031787, 0.339679 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.550] xyz_f:0.570775, -0.475602, 1.131369  Reprojection Error: 0.044603, 0.132732 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.550] xyz_f:0.219911, -0.159260, 1.286390  Reprojection Error: -0.032897, 0.226492 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.550] xyz_f:0.242694, 0.153246, 1.288477  Reprojection Error: -0.030258, 0.327666 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.550] xyz_f:0.584674, -0.449437, 1.140912  Reprojection Error: 0.053464, 0.138822 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.550] xyz_f:0.499843, -0.472372, 1.154659  Reprojection Error: 0.020623, 0.143227 Feature: 0.401425, -0.235336, 0.885141
[11:52:56.550] xyz_f:0.371630, -0.235880, 1.268502  Reprojection Error: 0.004799, 0.209499 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.550] xyz_f:0.540821, -0.461329, 1.149165  Reprojection Error: 0.035661, 0.141295 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.550] xyz_f:-0.487431, -0.525911, 0.666824  Reprojection Error: -0.309536, 0.133646 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.550] xyz_f:0.406750, 0.011941, 1.292926  Reprojection Error: 0.027439, 0.285070 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.550] xyz_f:0.153144, -0.063526, 1.290840  Reprojection Error: -0.050617, 0.248303 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.550] xyz_f:0.558592, -0.463508, 1.142307  Reprojection Error: 0.041718, 0.138243 Feature: 0.456227, -0.229971, 0.859634
[11:52:56.550] xyz_f:0.368749, -0.221133, 1.272245  Reprojection Error: 0.004823, 0.213223 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.550] xyz_f:0.225505, -0.172306, 1.284521  Reprojection Error: -0.031686, 0.223511 Feature: 0.141850, 0.088116, 0.985959
[11:52:56.550] xyz_f:0.353929, -0.232014, 1.270940  Reprojection Error: 0.000056, 0.210516 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.550] xyz_f:0.377545, 0.015911, 1.296154  Reprojection Error: 0.017154, 0.284615 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.550] xyz_f:0.345020, -0.255371, 1.265692  Reprojection Error: -0.003688, 0.204879 Feature: 0.259680, 0.003009, 0.965690
[11:52:56.550] xyz_f:0.667078, 0.007140, 1.223205  Reprojection Error: 0.151089, 0.302883 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.550] xyz_f:0.490139, -0.448006, 1.170095  Reprojection Error: 0.020654, 0.150822 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.550] xyz_f:0.570775, -0.475602, 1.131369  Reprojection Error: 0.044603, 0.132732 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.550] xyz_f:0.584674, -0.449437, 1.140912  Reprojection Error: 0.053464, 0.138822 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.550] xyz_f:0.336177, -0.263913, 1.263943  Reprojection Error: -0.006542, 0.200669 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.550] xyz_f:0.219796, -0.165739, 1.285314  Reprojection Error: -0.033029, 0.224941 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.550] xyz_f:0.153144, -0.063526, 1.290840  Reprojection Error: -0.050617, 0.248303 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.550] xyz_f:0.406750, 0.011941, 1.292926  Reprojection Error: 0.027439, 0.285070 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.550] xyz_f:0.667078, 0.007140, 1.223205  Reprojection Error: 0.151089, 0.302883 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.550] xyz_f:0.241814, 0.180389, 1.283847  Reprojection Error: -0.031491, 0.345412 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.550] xyz_f:0.242694, 0.153246, 1.288477  Reprojection Error: -0.030258, 0.327666 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.550] it:12 	 Success 	 new_chi2: 1.821754 	 dT = -0.011870, 0.007683, 0.008796
[11:52:56.550] xyz_f:0.353675, -0.263776, 1.271115  Reprojection Error: -0.018811, 0.201632 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.550] xyz_f:0.237256, -0.165867, 1.293475  Reprojection Error: -0.045449, 0.224226 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.550] xyz_f:0.507252, -0.447519, 1.175961  Reprojection Error: 0.008190, 0.148498 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.550] xyz_f:0.258474, 0.180310, 1.291824  Reprojection Error: -0.043520, 0.340608 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.550] xyz_f:0.587619, -0.474932, 1.136551  Reprojection Error: 0.032083, 0.130225 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.550] xyz_f:0.237366, -0.159388, 1.294550  Reprojection Error: -0.045303, 0.225811 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.550] xyz_f:0.259455, 0.153169, 1.296447  Reprojection Error: -0.042028, 0.328457 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.550] xyz_f:0.601539, -0.448735, 1.145976  Reprojection Error: 0.041012, 0.136469 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.550] xyz_f:0.516881, -0.471863, 1.160443  Reprojection Error: 0.008099, 0.140749 Feature: 0.401425, -0.235336, 0.885141
[11:52:56.550] xyz_f:0.389102, -0.235662, 1.275373  Reprojection Error: -0.007321, 0.208327 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.550] xyz_f:0.557785, -0.460727, 1.154601  Reprojection Error: 0.023184, 0.138883 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.550] xyz_f:-0.474378, -0.527654, 0.681013  Reprojection Error: -0.343932, 0.119774 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.550] xyz_f:0.423864, 0.012239, 1.299500  Reprojection Error: 0.015861, 0.284888 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.550] xyz_f:0.170421, -0.063806, 1.299569  Reprojection Error: -0.063115, 0.248188 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.550] xyz_f:0.575502, -0.462866, 1.147592  Reprojection Error: 0.029235, 0.135814 Feature: 0.456227, -0.229971, 0.859634
[11:52:56.550] xyz_f:0.386218, -0.220922, 1.279141  Reprojection Error: -0.007272, 0.212121 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.550] xyz_f:0.242974, -0.172421, 1.292634  Reprojection Error: -0.044098, 0.222759 Feature: 0.141850, 0.088116, 0.985959
[11:52:56.550] xyz_f:0.371413, -0.231836, 1.277962  Reprojection Error: -0.012095, 0.209374 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.550] xyz_f:0.394678, 0.016142, 1.302977  Reprojection Error: 0.005530, 0.284502 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.550] xyz_f:0.362513, -0.255214, 1.272789  Reprojection Error: -0.015912, 0.203631 Feature: 0.259680, 0.003009, 0.965690
[11:52:56.550] xyz_f:0.683600, 0.008029, 1.227571  Reprojection Error: 0.139569, 0.302179 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.550] xyz_f:0.507252, -0.447519, 1.175961  Reprojection Error: 0.008190, 0.148498 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.550] xyz_f:0.587619, -0.474932, 1.136551  Reprojection Error: 0.032083, 0.130225 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.550] xyz_f:0.601539, -0.448735, 1.145976  Reprojection Error: 0.041012, 0.136469 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.550] xyz_f:0.353675, -0.263776, 1.271115  Reprojection Error: -0.018807, 0.199383 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.550] xyz_f:0.237256, -0.165867, 1.293475  Reprojection Error: -0.045449, 0.224226 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.550] xyz_f:0.170421, -0.063806, 1.299569  Reprojection Error: -0.063115, 0.248188 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.550] xyz_f:0.423864, 0.012239, 1.299500  Reprojection Error: 0.015861, 0.284888 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.550] xyz_f:0.683600, 0.008029, 1.227571  Reprojection Error: 0.139569, 0.302179 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.550] xyz_f:0.258474, 0.180310, 1.291824  Reprojection Error: -0.043224, 0.346341 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.550] xyz_f:0.259455, 0.153169, 1.296447  Reprojection Error: -0.042028, 0.328457 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.550] it:13 	 Success 	 new_chi2: 1.827636 	 dT = -0.012104, 0.006703, 0.007633
[11:52:56.550] xyz_f:0.377713, -0.263896, 1.264860  Reprojection Error: -0.039192, 0.202753 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.550] xyz_f:0.261327, -0.165757, 1.286361  Reprojection Error: -0.065175, 0.224850 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.550] xyz_f:0.531625, -0.447942, 1.170839  Reprojection Error: -0.014513, 0.150524 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.550] xyz_f:0.283240, 0.180378, 1.284870  Reprojection Error: -0.063878, 0.339800 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.550] xyz_f:0.612226, -0.475515, 1.132022  Reprojection Error: 0.008278, 0.132412 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.550] xyz_f:0.261441, -0.159278, 1.287437  Reprojection Error: -0.065016, 0.226406 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.550] xyz_f:0.284133, 0.153235, 1.289499  Reprojection Error: -0.062244, 0.327769 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.550] xyz_f:0.626128, -0.449345, 1.141550  Reprojection Error: 0.017437, 0.138522 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.550] xyz_f:0.541320, -0.472306, 1.155392  Reprojection Error: -0.015000, 0.142910 Feature: 0.401425, -0.235336, 0.885141
[11:52:56.550] xyz_f:0.413163, -0.235852, 1.269379  Reprojection Error: -0.027718, 0.209349 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.550] xyz_f:0.582287, -0.461251, 1.149852  Reprojection Error: -0.000121, 0.140987 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.550] xyz_f:-0.446486, -0.526142, 0.668667  Reprojection Error: -0.372784, 0.131819 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.550] xyz_f:0.448236, 0.011980, 1.293763  Reprojection Error: -0.004423, 0.285047 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.550] xyz_f:0.194651, -0.063564, 1.291963  Reprojection Error: -0.082641, 0.248290 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.550] xyz_f:0.600052, -0.463424, 1.142974  Reprojection Error: 0.005730, 0.137933 Feature: 0.456227, -0.229971, 0.859634
[11:52:56.550] xyz_f:0.410282, -0.221106, 1.273125  Reprojection Error: -0.027600, 0.213082 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.550] xyz_f:0.267037, -0.172323, 1.285562  Reprojection Error: -0.063851, 0.223416 Feature: 0.141850, 0.088116, 0.985959
[11:52:56.550] xyz_f:0.395464, -0.231991, 1.271837  Reprojection Error: -0.032405, 0.210370 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.550] xyz_f:0.419034, 0.015941, 1.297025  Reprojection Error: -0.014638, 0.284600 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.550] xyz_f:0.386556, -0.255351, 1.266599  Reprojection Error: -0.036286, 0.204719 Feature: 0.259680, 0.003009, 0.965690
[11:52:56.550] xyz_f:0.708487, 0.007256, 1.223750  Reprojection Error: 0.117494, 0.302790 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.550] xyz_f:0.531625, -0.447942, 1.170839  Reprojection Error: -0.014513, 0.150524 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.550] xyz_f:0.612226, -0.475515, 1.132022  Reprojection Error: 0.008278, 0.132412 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.550] xyz_f:0.626128, -0.449345, 1.141550  Reprojection Error: 0.017437, 0.138522 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.550] xyz_f:0.377713, -0.263896, 1.264860  Reprojection Error: -0.039188, 0.200504 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.550] xyz_f:0.261327, -0.165757, 1.286361  Reprojection Error: -0.065175, 0.224850 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.550] xyz_f:0.194651, -0.063564, 1.291963  Reprojection Error: -0.082641, 0.248290 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.550] xyz_f:0.448236, 0.011980, 1.293763  Reprojection Error: -0.004423, 0.285047 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.550] xyz_f:0.708487, 0.007256, 1.223750  Reprojection Error: 0.117494, 0.302790 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.550] xyz_f:0.283240, 0.180378, 1.284870  Reprojection Error: -0.063582, 0.345533 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.550] xyz_f:0.284133, 0.153235, 1.289499  Reprojection Error: -0.062244, 0.327769 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.550] it:14 	 Success 	 new_chi2: 1.854729 	 dT = -0.015824, 0.008517, 0.008698
[11:52:56.550] xyz_f:0.351764, -0.263758, 1.272862  Reprojection Error: -0.016928, 0.201333 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.550] xyz_f:0.235342, -0.165881, 1.295342  Reprojection Error: -0.043706, 0.224053 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.550] xyz_f:0.505294, -0.447458, 1.177549  Reprojection Error: 0.010435, 0.147933 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.550] xyz_f:0.256462, 0.180302, 1.293669  Reprojection Error: -0.041679, 0.340813 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.550] xyz_f:0.585628, -0.474850, 1.138057  Reprojection Error: 0.034517, 0.129600 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.550] xyz_f:0.235450, -0.159402, 1.296417  Reprojection Error: -0.043562, 0.225644 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.550] xyz_f:0.257455, 0.153161, 1.298290  Reprojection Error: -0.040204, 0.328631 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.550] xyz_f:0.599551, -0.448649, 1.147467  Reprojection Error: 0.043427, 0.135885 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.550] xyz_f:0.514914, -0.471800, 1.162022  Reprojection Error: 0.010397, 0.140143 Feature: 0.401425, -0.235336, 0.885141
[11:52:56.550] xyz_f:0.387188, -0.235635, 1.277083  Reprojection Error: -0.005414, 0.208058 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.550] xyz_f:0.555808, -0.460653, 1.156137  Reprojection Error: 0.025535, 0.138289 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.550] xyz_f:-0.476823, -0.527865, 0.683613  Reprojection Error: -0.343005, 0.117136 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.550] xyz_f:0.421906, 0.012276, 1.301175  Reprojection Error: 0.017786, 0.284872 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.550] xyz_f:0.168485, -0.063838, 1.301504  Reprojection Error: -0.061432, 0.248140 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.550] xyz_f:0.573519, -0.462787, 1.149110  Reprojection Error: 0.031623, 0.135212 Feature: 0.456227, -0.229971, 0.859634
[11:52:56.550] xyz_f:0.384304, -0.220895, 1.280854  Reprojection Error: -0.005374, 0.211869 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.550] xyz_f:0.241060, -0.172434, 1.294494  Reprojection Error: -0.042350, 0.222577 Feature: 0.141850, 0.088116, 0.985959
[11:52:56.550] xyz_f:0.369500, -0.231813, 1.279690  Reprojection Error: -0.010208, 0.209112 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.550] xyz_f:0.392723, 0.016171, 1.304681  Reprojection Error: 0.007424, 0.284496 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.550] xyz_f:0.360602, -0.255193, 1.274527  Reprojection Error: -0.014024, 0.203342 Feature: 0.259680, 0.003009, 0.965690
[11:52:56.550] xyz_f:0.681569, 0.008138, 1.228977  Reprojection Error: 0.141859, 0.302098 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.550] xyz_f:0.505294, -0.447458, 1.177549  Reprojection Error: 0.010435, 0.147933 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.550] xyz_f:0.585628, -0.474850, 1.138057  Reprojection Error: 0.034517, 0.129600 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.550] xyz_f:0.599551, -0.448649, 1.147467  Reprojection Error: 0.043427, 0.135885 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.550] xyz_f:0.351764, -0.263758, 1.272862  Reprojection Error: -0.016924, 0.199084 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.550] xyz_f:0.235342, -0.165881, 1.295342  Reprojection Error: -0.043706, 0.224053 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.550] xyz_f:0.168485, -0.063838, 1.301504  Reprojection Error: -0.061432, 0.248140 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.550] xyz_f:0.421906, 0.012276, 1.301175  Reprojection Error: 0.017786, 0.284872 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.550] xyz_f:0.681569, 0.008138, 1.228977  Reprojection Error: 0.141859, 0.302098 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.550] xyz_f:0.256462, 0.180302, 1.293669  Reprojection Error: -0.041383, 0.346546 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.550] xyz_f:0.257455, 0.153161, 1.298290  Reprojection Error: -0.040204, 0.328631 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.550] it:15 	 Success 	 new_chi2: 1.750811 	 dT = -0.010091, 0.006382, 0.006456
[11:52:56.550] xyz_f:0.372454, -0.263643, 1.278815  Reprojection Error: -0.031821, 0.200278 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.550] xyz_f:0.256011, -0.165961, 1.302020  Reprojection Error: -0.058649, 0.223457 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.550] xyz_f:0.525694, -0.447087, 1.182545  Reprojection Error: -0.005003, 0.146014 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.550] xyz_f:0.276542, 0.180257, 1.300218  Reprojection Error: -0.056124, 0.341550 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.550] xyz_f:0.605825, -0.474344, 1.142553  Reprojection Error: 0.018864, 0.127516 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.550] xyz_f:0.256116, -0.159481, 1.303095  Reprojection Error: -0.058490, 0.225075 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.550] xyz_f:0.277609, 0.153118, 1.304833  Reprojection Error: -0.054655, 0.329255 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.551] xyz_f:0.619763, -0.448120, 1.151876  Reprojection Error: 0.027880, 0.133929 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.551] xyz_f:0.535257, -0.471413, 1.166958  Reprojection Error: -0.005161, 0.138093 Feature: 0.401425, -0.235336, 0.885141
[11:52:56.551] xyz_f:0.407857, -0.235460, 1.282815  Reprojection Error: -0.020172, 0.207097 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.551] xyz_f:0.576096, -0.460197, 1.160819  Reprojection Error: 0.009997, 0.136289 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.551] xyz_f:-0.459348, -0.529137, 0.694742  Reprojection Error: -0.379331, 0.106597 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.551] xyz_f:0.442310, 0.012508, 1.306691  Reprojection Error: 0.003539, 0.284734 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.551] xyz_f:0.189024, -0.064030, 1.308600  Reprojection Error: -0.076426, 0.248021 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.551] xyz_f:0.593766, -0.462301, 1.153681  Reprojection Error: 0.016051, 0.133196 Feature: 0.456227, -0.229971, 0.859634
[11:52:56.551] xyz_f:0.404972, -0.220726, 1.286604  Reprojection Error: -0.020097, 0.210967 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.551] xyz_f:0.261735, -0.172504, 1.301137  Reprojection Error: -0.057289, 0.221950 Feature: 0.141850, 0.088116, 0.985959
[11:52:56.551] xyz_f:0.390180, -0.231669, 1.285532  Reprojection Error: -0.024982, 0.208176 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.551] xyz_f:0.413143, 0.016354, 1.310379  Reprojection Error: -0.006851, 0.284410 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.551] xyz_f:0.381288, -0.255063, 1.280424  Reprojection Error: -0.028877, 0.202318 Feature: 0.259680, 0.003009, 0.965690
[11:52:56.551] xyz_f:0.701525, 0.008803, 1.232876  Reprojection Error: 0.127426, 0.301579 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.551] xyz_f:0.525694, -0.447087, 1.182545  Reprojection Error: -0.005003, 0.146014 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.551] xyz_f:0.605825, -0.474344, 1.142553  Reprojection Error: 0.018864, 0.127516 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.551] xyz_f:0.619763, -0.448120, 1.151876  Reprojection Error: 0.027880, 0.133929 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.551] xyz_f:0.372454, -0.263643, 1.278815  Reprojection Error: -0.031817, 0.198030 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.551] xyz_f:0.256011, -0.165961, 1.302020  Reprojection Error: -0.058649, 0.223457 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.551] xyz_f:0.189024, -0.064030, 1.308600  Reprojection Error: -0.076426, 0.248021 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.551] xyz_f:0.442310, 0.012508, 1.306691  Reprojection Error: 0.003539, 0.284734 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.551] xyz_f:0.701525, 0.008803, 1.232876  Reprojection Error: 0.127426, 0.301579 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.551] xyz_f:0.276542, 0.180257, 1.300218  Reprojection Error: -0.055829, 0.347283 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.551] xyz_f:0.277609, 0.153118, 1.304833  Reprojection Error: -0.054655, 0.329255 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.551] it:16 	 Success 	 new_chi2: 1.768625 	 dT = -0.011060, 0.005819, 0.005685
[11:52:56.551] xyz_f:0.394316, -0.263745, 1.273376  Reprojection Error: -0.050233, 0.201239 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.551] xyz_f:0.277891, -0.165891, 1.295942  Reprojection Error: -0.076455, 0.224001 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.551] xyz_f:0.547812, -0.447414, 1.177949  Reprojection Error: -0.025514, 0.147767 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.551] xyz_f:0.298941, 0.180296, 1.294254  Reprojection Error: -0.074411, 0.340881 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.551] xyz_f:0.628122, -0.474790, 1.138396  Reprojection Error: -0.002658, 0.129423 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.551] xyz_f:0.277999, -0.159412, 1.297017  Reprojection Error: -0.076283, 0.225595 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.551] xyz_f:0.299943, 0.153155, 1.298874  Reprojection Error: -0.072826, 0.328688 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.551] xyz_f:0.642046, -0.448586, 1.147796  Reprojection Error: 0.006553, 0.135718 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.551] xyz_f:0.557425, -0.471754, 1.162414  Reprojection Error: -0.026025, 0.139966 Feature: 0.401425, -0.235336, 0.885141
[11:52:56.551] xyz_f:0.429737, -0.235614, 1.277570  Reprojection Error: -0.038604, 0.207971 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.551] xyz_f:0.598313, -0.460599, 1.156499  Reprojection Error: -0.011067, 0.138118 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.551] xyz_f:-0.434657, -0.528017, 0.684744  Reprojection Error: -0.405736, 0.116083 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.551] xyz_f:0.464424, 0.012303, 1.301636  Reprojection Error: -0.014765, 0.284854 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.551] xyz_f:0.211019, -0.063862, 1.302154  Reprojection Error: -0.094032, 0.248134 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.551] xyz_f:0.616019, -0.462729, 1.149458  Reprojection Error: -0.005199, 0.135040 Feature: 0.456227, -0.229971, 0.859634
[11:52:56.551] xyz_f:0.426854, -0.220875, 1.281343  Reprojection Error: -0.038466, 0.211788 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.551] xyz_f:0.283610, -0.172443, 1.295090  Reprojection Error: -0.075119, 0.222522 Feature: 0.141850, 0.088116, 0.985959
[11:52:56.551] xyz_f:0.412051, -0.231797, 1.280191  Reprojection Error: -0.043333, 0.209028 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.551] xyz_f:0.435243, 0.016193, 1.305164  Reprojection Error: -0.025043, 0.284484 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.551] xyz_f:0.403153, -0.255178, 1.275034  Reprojection Error: -0.047284, 0.203250 Feature: 0.259680, 0.003009, 0.965690
[11:52:56.551] xyz_f:0.724034, 0.008217, 1.229245  Reprojection Error: 0.107434, 0.302035 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.551] xyz_f:0.547812, -0.447414, 1.177949  Reprojection Error: -0.025514, 0.147767 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.551] xyz_f:0.628122, -0.474790, 1.138396  Reprojection Error: -0.002658, 0.129423 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.551] xyz_f:0.642046, -0.448586, 1.147796  Reprojection Error: 0.006553, 0.135718 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.551] xyz_f:0.394316, -0.263745, 1.273376  Reprojection Error: -0.050230, 0.198990 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.551] xyz_f:0.277891, -0.165891, 1.295942  Reprojection Error: -0.076455, 0.224001 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.551] xyz_f:0.211019, -0.063862, 1.302154  Reprojection Error: -0.094032, 0.248134 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.551] xyz_f:0.464424, 0.012303, 1.301636  Reprojection Error: -0.014765, 0.284854 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.551] xyz_f:0.724034, 0.008217, 1.229245  Reprojection Error: 0.107434, 0.302035 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.551] xyz_f:0.298941, 0.180296, 1.294254  Reprojection Error: -0.074115, 0.346614 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.551] xyz_f:0.299943, 0.153155, 1.298874  Reprojection Error: -0.072826, 0.328688 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.551] it:17 	 Success 	 new_chi2: 1.566665 	 dT = -0.008111, 0.007873, 0.003090
[11:52:56.551] xyz_f:0.382465, -0.263797, 1.265697  Reprojection Error: -0.042749, 0.202536 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.551] xyz_f:0.266051, -0.165850, 1.287915  Reprojection Error: -0.068599, 0.224767 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.551] xyz_f:0.536098, -0.447589, 1.170728  Reprojection Error: -0.018377, 0.150259 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.551] xyz_f:0.287383, 0.180321, 1.286290  Reprojection Error: -0.066856, 0.339999 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.551] xyz_f:0.616504, -0.475029, 1.131415  Reprojection Error: 0.004206, 0.132207 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.551] xyz_f:0.266162, -0.159371, 1.288991  Reprojection Error: -0.068434, 0.226329 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.551] xyz_f:0.288350, 0.153179, 1.290914  Reprojection Error: -0.065269, 0.327943 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.551] xyz_f:0.630421, -0.448836, 1.140857  Reprojection Error: 0.013341, 0.138315 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.551] xyz_f:0.545738, -0.471937, 1.155222  Reprojection Error: -0.018894, 0.142651 Feature: 0.401425, -0.235336, 0.885141
[11:52:56.551] xyz_f:0.417896, -0.235695, 1.269997  Reprojection Error: -0.031286, 0.209134 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.551] xyz_f:0.586652, -0.460814, 1.149429  Reprojection Error: -0.004105, 0.140754 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.551] xyz_f:-0.444958, -0.527406, 0.674592  Reprojection Error: -0.380914, 0.126781 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.551] xyz_f:0.452709, 0.012195, 1.294166  Reprojection Error: -0.007772, 0.284883 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.551] xyz_f:0.199242, -0.063767, 1.293928  Reprojection Error: -0.085961, 0.248373 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.551] xyz_f:0.604377, -0.462958, 1.142441  Reprojection Error: 0.001699, 0.137714 Feature: 0.456227, -0.229971, 0.859634
[11:52:56.551] xyz_f:0.415013, -0.220953, 1.273761  Reprojection Error: -0.031154, 0.212875 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.551] xyz_f:0.271768, -0.172406, 1.287081  Reprojection Error: -0.067281, 0.223322 Feature: 0.141850, 0.088116, 0.985959
[11:52:56.551] xyz_f:0.400205, -0.231863, 1.272565  Reprojection Error: -0.035954, 0.210165 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.551] xyz_f:0.423521, 0.016108, 1.297608  Reprojection Error: -0.017951, 0.284477 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.551] xyz_f:0.391304, -0.255237, 1.267381  Reprojection Error: -0.039844, 0.204505 Feature: 0.259680, 0.003009, 0.965690
[11:52:56.551] xyz_f:0.712531, 0.007901, 1.222551  Reprojection Error: 0.113618, 0.302257 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.551] xyz_f:0.536098, -0.447589, 1.170728  Reprojection Error: -0.018377, 0.150259 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.551] xyz_f:0.616504, -0.475029, 1.131415  Reprojection Error: 0.004206, 0.132207 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.551] xyz_f:0.630421, -0.448836, 1.140857  Reprojection Error: 0.013341, 0.138315 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.551] xyz_f:0.382465, -0.263797, 1.265697  Reprojection Error: -0.042745, 0.200288 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.551] xyz_f:0.266051, -0.165850, 1.287915  Reprojection Error: -0.068599, 0.224767 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.551] xyz_f:0.199242, -0.063767, 1.293928  Reprojection Error: -0.085961, 0.248373 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.551] xyz_f:0.452709, 0.012195, 1.294166  Reprojection Error: -0.007772, 0.284883 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.551] xyz_f:0.712531, 0.007901, 1.222551  Reprojection Error: 0.113618, 0.302257 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.551] xyz_f:0.287383, 0.180321, 1.286290  Reprojection Error: -0.066560, 0.345732 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.551] xyz_f:0.288350, 0.153179, 1.290914  Reprojection Error: -0.065269, 0.327943 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.551] it:18 	 Success 	 new_chi2: 1.558790 	 dT = -0.008181, 0.008377, 0.003809
[11:52:56.551] xyz_f:0.370861, -0.263857, 1.257546  Reprojection Error: -0.035480, 0.203935 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.551] xyz_f:0.254463, -0.165796, 1.279336  Reprojection Error: -0.060926, 0.225588 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.551] xyz_f:0.524661, -0.447801, 1.163142  Reprojection Error: -0.011531, 0.152934 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.551] xyz_f:0.276142, 0.180354, 1.277790  Reprojection Error: -0.059544, 0.339041 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.551] xyz_f:0.605184, -0.475320, 1.124126  Reprojection Error: 0.010743, 0.135189 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.551] xyz_f:0.254576, -0.159316, 1.280412  Reprojection Error: -0.060769, 0.227115 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.551] xyz_f:0.277065, 0.153211, 1.282417  Reprojection Error: -0.057949, 0.327131 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.551] xyz_f:0.619092, -0.449142, 1.133619  Reprojection Error: 0.019806, 0.141096 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.551] xyz_f:0.534334, -0.472158, 1.147672  Reprojection Error: -0.012065, 0.145531 Feature: 0.401425, -0.235336, 0.885141
[11:52:56.551] xyz_f:0.406304, -0.235790, 1.261977  Reprojection Error: -0.024191, 0.210389 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.551] xyz_f:0.575280, -0.461076, 1.142030  Reprojection Error: 0.002546, 0.143581 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.551] xyz_f:-0.454641, -0.526652, 0.663401  Reprojection Error: -0.355190, 0.138833 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.551] xyz_f:0.441272, 0.012065, 1.286274  Reprojection Error: -0.001026, 0.284926 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.551] xyz_f:0.187733, -0.063647, 1.285103  Reprojection Error: -0.078062, 0.248618 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.551] xyz_f:0.593029, -0.463238, 1.135108  Reprojection Error: 0.008279, 0.140578 Feature: 0.456227, -0.229971, 0.859634
[11:52:56.551] xyz_f:0.403421, -0.221046, 1.265730  Reprojection Error: -0.024063, 0.214049 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.551] xyz_f:0.260176, -0.172357, 1.278523  Reprojection Error: -0.059628, 0.224181 Feature: 0.141850, 0.088116, 0.985959
[11:52:56.551] xyz_f:0.388608, -0.231941, 1.264479  Reprojection Error: -0.028793, 0.211391 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.551] xyz_f:0.412075, 0.016007, 1.289608  Reprojection Error: -0.011100, 0.284478 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.551] xyz_f:0.379702, -0.255306, 1.259263  Reprojection Error: -0.032622, 0.205858 Feature: 0.259680, 0.003009, 0.965690
[11:52:56.551] xyz_f:0.701351, 0.007515, 1.215615  Reprojection Error: 0.119490, 0.302538 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.551] xyz_f:0.524661, -0.447801, 1.163142  Reprojection Error: -0.011531, 0.152934 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.551] xyz_f:0.605184, -0.475320, 1.124126  Reprojection Error: 0.010743, 0.135189 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.551] xyz_f:0.619092, -0.449142, 1.133619  Reprojection Error: 0.019806, 0.141096 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.551] xyz_f:0.370861, -0.263857, 1.257546  Reprojection Error: -0.035476, 0.201687 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.551] xyz_f:0.254463, -0.165796, 1.279336  Reprojection Error: -0.060926, 0.225588 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.551] xyz_f:0.187733, -0.063647, 1.285103  Reprojection Error: -0.078062, 0.248618 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.551] xyz_f:0.441272, 0.012065, 1.286274  Reprojection Error: -0.001026, 0.284926 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.551] xyz_f:0.701351, 0.007515, 1.215615  Reprojection Error: 0.119490, 0.302538 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.551] xyz_f:0.276142, 0.180354, 1.277790  Reprojection Error: -0.059249, 0.344774 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.551] xyz_f:0.277065, 0.153211, 1.282417  Reprojection Error: -0.057949, 0.327131 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.551] it:19 	 Success 	 new_chi2: 1.553817 	 dT = -0.008472, 0.009024, 0.004704
[11:52:56.551] xyz_f:0.358079, -0.263927, 1.248781  Reprojection Error: -0.027314, 0.205464 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.551] xyz_f:0.241702, -0.165723, 1.270043  Reprojection Error: -0.052334, 0.226479 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.551] xyz_f:0.512082, -0.448058, 1.155077  Reprojection Error: -0.003790, 0.155845 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.551] xyz_f:0.263809, 0.180399, 1.268596  Reprojection Error: -0.051389, 0.337982 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.551] xyz_f:0.592748, -0.475675, 1.116427  Reprojection Error: 0.018170, 0.138423 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.551] xyz_f:0.241818, -0.159244, 1.271119  Reprojection Error: -0.052186, 0.227968 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.551] xyz_f:0.264678, 0.153255, 1.273227  Reprojection Error: -0.049780, 0.326234 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.551] xyz_f:0.606645, -0.449514, 1.125983  Reprojection Error: 0.027157, 0.144113 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.551] xyz_f:0.521795, -0.472427, 1.139651  Reprojection Error: -0.004340, 0.148663 Feature: 0.401425, -0.235336, 0.885141
[11:52:56.551] xyz_f:0.393535, -0.235903, 1.253373  Reprojection Error: -0.016214, 0.211762 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.551] xyz_f:0.562780, -0.461395, 1.134194  Reprojection Error: 0.010087, 0.146651 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.551] xyz_f:-0.465035, -0.525718, 0.650891  Reprojection Error: -0.326050, 0.152657 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.551] xyz_f:0.428694, 0.011910, 1.277830  Reprojection Error: 0.006550, 0.284986 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.551] xyz_f:0.175071, -0.063493, 1.275507  Reprojection Error: -0.069235, 0.248870 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.551] xyz_f:0.580558, -0.463578, 1.127353  Reprojection Error: 0.015748, 0.143687 Feature: 0.456227, -0.229971, 0.859634
[11:52:56.551] xyz_f:0.390654, -0.221155, 1.257113  Reprojection Error: -0.016091, 0.215333 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.551] xyz_f:0.247411, -0.172292, 1.269255  Reprojection Error: -0.051056, 0.225114 Feature: 0.141850, 0.088116, 0.985959
[11:52:56.551] xyz_f:0.375832, -0.232032, 1.255795  Reprojection Error: -0.020745, 0.212732 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.551] xyz_f:0.399487, 0.015887, 1.281031  Reprojection Error: -0.003413, 0.284489 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.551] xyz_f:0.366922, -0.255387, 1.250538  Reprojection Error: -0.024506, 0.207337 Feature: 0.259680, 0.003009, 0.965690
[11:52:56.551] xyz_f:0.689086, 0.007043, 1.208353  Reprojection Error: 0.126173, 0.302892 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.551] xyz_f:0.512082, -0.448058, 1.155077  Reprojection Error: -0.003790, 0.155845 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.551] xyz_f:0.592748, -0.475675, 1.116427  Reprojection Error: 0.018170, 0.138423 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.551] xyz_f:0.606645, -0.449514, 1.125983  Reprojection Error: 0.027157, 0.144113 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.551] xyz_f:0.358079, -0.263927, 1.248781  Reprojection Error: -0.027310, 0.203215 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.551] xyz_f:0.241702, -0.165723, 1.270043  Reprojection Error: -0.052334, 0.226479 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.551] xyz_f:0.175071, -0.063493, 1.275507  Reprojection Error: -0.069235, 0.248870 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.551] xyz_f:0.428694, 0.011910, 1.277830  Reprojection Error: 0.006550, 0.284986 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.551] xyz_f:0.689086, 0.007043, 1.208353  Reprojection Error: 0.126173, 0.302892 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.551] xyz_f:0.263809, 0.180399, 1.268596  Reprojection Error: -0.051093, 0.343715 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.552] xyz_f:0.264678, 0.153255, 1.273227  Reprojection Error: -0.049780, 0.326234 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.552] it:20 	 Success 	 new_chi2: 1.550718 	 dT = -0.008906, 0.009779, 0.005813
[11:52:56.552] xyz_f:0.343684, -0.264005, 1.239293  Reprojection Error: -0.017893, 0.207145 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.552] xyz_f:0.227337, -0.165626, 1.259902  Reprojection Error: -0.042464, 0.227453 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.552] xyz_f:0.497934, -0.448368, 1.146455  Reprojection Error: 0.005217, 0.159033 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.552] xyz_f:0.249973, 0.180462, 1.258581  Reprojection Error: -0.042050, 0.336800 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.552] xyz_f:0.578773, -0.476107, 1.108258  Reprojection Error: 0.026866, 0.141953 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.552] xyz_f:0.227457, -0.159148, 1.260978  Reprojection Error: -0.042327, 0.228898 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.552] xyz_f:0.250775, 0.153318, 1.263217  Reprojection Error: -0.040421, 0.325231 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.552] xyz_f:0.592655, -0.449966, 1.117892  Reprojection Error: 0.035772, 0.147407 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.552] xyz_f:0.507696, -0.472752, 1.131083  Reprojection Error: 0.004657, 0.152090 Feature: 0.401425, -0.235336, 0.885141
[11:52:56.552] xyz_f:0.379156, -0.236034, 1.244084  Reprojection Error: -0.007000, 0.213273 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.552] xyz_f:0.548728, -0.461781, 1.125857  Reprojection Error: 0.018894, 0.150007 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.552] xyz_f:-0.476453, -0.524560, 0.636790  Reprojection Error: -0.292298, 0.168724 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.552] xyz_f:0.414550, 0.011725, 1.268739  Reprojection Error: 0.015294, 0.285065 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.552] xyz_f:0.160831, -0.063296, 1.264992  Reprojection Error: -0.059118, 0.249128 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.552] xyz_f:0.566540, -0.463991, 1.119115  Reprojection Error: 0.024483, 0.147083 Feature: 0.456227, -0.229971, 0.859634
[11:52:56.552] xyz_f:0.376275, -0.221282, 1.247809  Reprojection Error: -0.006885, 0.216746 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.552] xyz_f:0.233040, -0.172204, 1.259146  Reprojection Error: -0.041208, 0.226133 Feature: 0.141850, 0.088116, 0.985959
[11:52:56.552] xyz_f:0.361445, -0.232137, 1.246407  Reprojection Error: -0.011456, 0.214208 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.552] xyz_f:0.385331, 0.015746, 1.271777  Reprojection Error: 0.005448, 0.284509 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.552] xyz_f:0.352530, -0.255478, 1.241100  Reprojection Error: -0.015140, 0.208964 Feature: 0.259680, 0.003009, 0.965690
[11:52:56.552] xyz_f:0.675320, 0.006466, 1.200726  Reprojection Error: 0.134015, 0.303335 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.552] xyz_f:0.497934, -0.448368, 1.146455  Reprojection Error: 0.005217, 0.159033 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.552] xyz_f:0.578773, -0.476107, 1.108258  Reprojection Error: 0.026866, 0.141953 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.552] xyz_f:0.592655, -0.449966, 1.117892  Reprojection Error: 0.035772, 0.147407 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.552] xyz_f:0.343684, -0.264005, 1.239293  Reprojection Error: -0.017890, 0.204896 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.552] xyz_f:0.227337, -0.165626, 1.259902  Reprojection Error: -0.042464, 0.227453 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.552] xyz_f:0.160831, -0.063296, 1.264992  Reprojection Error: -0.059118, 0.249128 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.552] xyz_f:0.414550, 0.011725, 1.268739  Reprojection Error: 0.015294, 0.285065 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.552] xyz_f:0.675320, 0.006466, 1.200726  Reprojection Error: 0.134015, 0.303335 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.552] xyz_f:0.249973, 0.180462, 1.258581  Reprojection Error: -0.041755, 0.342533 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.552] xyz_f:0.250775, 0.153318, 1.263217  Reprojection Error: -0.040421, 0.325231 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.552] it:21 	 Success 	 new_chi2: 1.550657 	 dT = -0.009493, 0.010647, 0.007185
[11:52:56.552] xyz_f:0.327314, -0.264089, 1.228961  Reprojection Error: -0.006905, 0.209004 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.552] xyz_f:0.211011, -0.165495, 1.248762  Reprojection Error: -0.030999, 0.228520 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.552] xyz_f:0.481861, -0.448740, 1.137195  Reprojection Error: 0.015814, 0.162544 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.552] xyz_f:0.234298, 0.180552, 1.247601  Reprojection Error: -0.031235, 0.335467 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.552] xyz_f:0.562912, -0.476629, 1.099560  Reprojection Error: 0.037159, 0.145826 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.552] xyz_f:0.211135, -0.159016, 1.249840  Reprojection Error: -0.030875, 0.229918 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.552] xyz_f:0.235017, 0.153405, 1.252242  Reprojection Error: -0.029578, 0.324097 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.552] xyz_f:0.576776, -0.450514, 1.109290  Reprojection Error: 0.045976, 0.151022 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.552] xyz_f:0.491685, -0.473142, 1.121891  Reprojection Error: 0.015251, 0.155862 Feature: 0.401425, -0.235336, 0.885141
[11:52:56.552] xyz_f:0.362804, -0.236185, 1.233999  Reprojection Error: 0.003761, 0.214945 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.552] xyz_f:0.532772, -0.462247, 1.116950  Reprojection Error: 0.029292, 0.153695 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.552] xyz_f:-0.489105, -0.523123, 0.620779  Reprojection Error: -0.252621, 0.187654 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.552] xyz_f:0.398487, 0.011509, 1.258901  Reprojection Error: 0.025500, 0.285164 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.552] xyz_f:0.144660, -0.063041, 1.253392  Reprojection Error: -0.047394, 0.249387 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.552] xyz_f:0.550627, -0.464490, 1.110332  Reprojection Error: 0.034810, 0.150812 Feature: 0.456227, -0.229971, 0.859634
[11:52:56.552] xyz_f:0.359925, -0.221427, 1.237703  Reprojection Error: 0.003863, 0.218311 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.552] xyz_f:0.216707, -0.172083, 1.248046  Reprojection Error: -0.029767, 0.227253 Feature: 0.141850, 0.088116, 0.985959
[11:52:56.552] xyz_f:0.345085, -0.232254, 1.236199  Reprojection Error: -0.000617, 0.215841 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.552] xyz_f:0.369255, 0.015584, 1.261735  Reprojection Error: 0.015778, 0.284539 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.552] xyz_f:0.336163, -0.255579, 1.230830  Reprojection Error: -0.004213, 0.210763 Feature: 0.259680, 0.003009, 0.965690
[11:52:56.552] xyz_f:0.659712, 0.005765, 1.192698  Reprojection Error: 0.143316, 0.303887 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.552] xyz_f:0.481861, -0.448740, 1.137195  Reprojection Error: 0.015814, 0.162544 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.552] xyz_f:0.562912, -0.476629, 1.099560  Reprojection Error: 0.037159, 0.145826 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.552] xyz_f:0.576776, -0.450514, 1.109290  Reprojection Error: 0.045976, 0.151022 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.552] xyz_f:0.327314, -0.264089, 1.228961  Reprojection Error: -0.006901, 0.206756 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.552] xyz_f:0.211011, -0.165495, 1.248762  Reprojection Error: -0.030999, 0.228520 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.552] xyz_f:0.144660, -0.063041, 1.253392  Reprojection Error: -0.047394, 0.249387 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.552] xyz_f:0.398487, 0.011509, 1.258901  Reprojection Error: 0.025500, 0.285164 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.552] xyz_f:0.659712, 0.005765, 1.192698  Reprojection Error: 0.143316, 0.303887 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.552] xyz_f:0.234298, 0.180552, 1.247601  Reprojection Error: -0.030939, 0.341200 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.552] xyz_f:0.235017, 0.153405, 1.252242  Reprojection Error: -0.029578, 0.324097 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.552] it:22 	 Success 	 new_chi2: 1.555904 	 dT = -0.010249, 0.011636, 0.008877
[11:52:56.552] xyz_f:0.308553, -0.264175, 1.217646  Reprojection Error: 0.006028, 0.211072 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.552] xyz_f:0.192311, -0.165313, 1.236450  Reprojection Error: -0.017558, 0.229693 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.552] xyz_f:0.463457, -0.449181, 1.127206  Reprojection Error: 0.028386, 0.166433 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.552] xyz_f:0.216402, 0.180679, 1.235491  Reprojection Error: -0.018590, 0.333946 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.552] xyz_f:0.544763, -0.477257, 1.090267  Reprojection Error: 0.049442, 0.150097 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.552] xyz_f:0.192440, -0.158835, 1.237529  Reprojection Error: -0.017449, 0.231037 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.552] xyz_f:0.217019, 0.153531, 1.240138  Reprojection Error: -0.016897, 0.322801 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.552] xyz_f:0.558603, -0.451173, 1.100116  Reprojection Error: 0.058159, 0.155009 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.552] xyz_f:0.473355, -0.473606, 1.111986  Reprojection Error: 0.027831, 0.160035 Feature: 0.401425, -0.235336, 0.885141
[11:52:56.552] xyz_f:0.344062, -0.236352, 1.222987  Reprojection Error: 0.016438, 0.216805 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.552] xyz_f:0.514508, -0.462805, 1.107398  Reprojection Error: 0.041671, 0.157769 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.552] xyz_f:-0.503214, -0.521338, 0.602483  Reprojection Error: -0.205275, 0.210283 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.552] xyz_f:0.380099, 0.011259, 1.248197  Reprojection Error: 0.037517, 0.285286 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.552] xyz_f:0.126159, -0.062707, 1.240511  Reprojection Error: -0.033677, 0.249641 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.552] xyz_f:0.532414, -0.465090, 1.100933  Reprojection Error: 0.047120, 0.154928 Feature: 0.456227, -0.229971, 0.859634
[11:52:56.552] xyz_f:0.341186, -0.221588, 1.226667  Reprojection Error: 0.016523, 0.220052 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.552] xyz_f:0.197997, -0.171914, 1.235783  Reprojection Error: -0.016350, 0.228485 Feature: 0.141850, 0.088116, 0.985959
[11:52:56.552] xyz_f:0.326334, -0.232381, 1.225035  Reprojection Error: 0.012146, 0.217657 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.552] xyz_f:0.350854, 0.015402, 1.250780  Reprojection Error: 0.027927, 0.284577 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.552] xyz_f:0.317405, -0.255685, 1.219590  Reprojection Error: 0.008650, 0.212764 Feature: 0.259680, 0.003009, 0.965690
[11:52:56.552] xyz_f:0.641869, 0.004914, 1.184237  Reprojection Error: 0.154431, 0.304571 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.552] xyz_f:0.463457, -0.449181, 1.127206  Reprojection Error: 0.028386, 0.166433 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.552] xyz_f:0.544763, -0.477257, 1.090267  Reprojection Error: 0.049442, 0.150097 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.552] xyz_f:0.558603, -0.451173, 1.100116  Reprojection Error: 0.058159, 0.155009 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.552] xyz_f:0.308553, -0.264175, 1.217646  Reprojection Error: 0.006032, 0.208823 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.552] xyz_f:0.192311, -0.165313, 1.236450  Reprojection Error: -0.017558, 0.229693 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.552] xyz_f:0.126159, -0.062707, 1.240511  Reprojection Error: -0.033677, 0.249641 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.552] xyz_f:0.380099, 0.011259, 1.248197  Reprojection Error: 0.037517, 0.285286 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.552] xyz_f:0.641869, 0.004914, 1.184237  Reprojection Error: 0.154431, 0.304571 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.552] xyz_f:0.216402, 0.180679, 1.235491  Reprojection Error: -0.018295, 0.339679 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.552] xyz_f:0.217019, 0.153531, 1.240138  Reprojection Error: -0.016897, 0.322801 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.552] it:23 	 Success 	 new_chi2: 1.570234 	 dT = -0.011179, 0.012753, 0.010949
[11:52:56.552] xyz_f:0.286902, -0.264253, 1.205183  Reprojection Error: 0.021372, 0.213380 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.552] xyz_f:0.170749, -0.165062, 1.222758  Reprojection Error: -0.001665, 0.230984 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.552] xyz_f:0.442229, -0.449698, 1.116383  Reprojection Error: 0.043415, 0.170759 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.552] xyz_f:0.195829, 0.180860, 1.222060  Reprojection Error: -0.003681, 0.332190 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.552] xyz_f:0.523841, -0.478005, 1.080306  Reprojection Error: 0.064201, 0.154826 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.552] xyz_f:0.170885, -0.158584, 1.223838  Reprojection Error: -0.001576, 0.232268 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.552] xyz_f:0.196320, 0.153711, 1.226712  Reprojection Error: -0.001938, 0.321299 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.552] xyz_f:0.537650, -0.451961, 1.090301  Reprojection Error: 0.072805, 0.159423 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.552] xyz_f:0.452219, -0.474151, 1.101269  Reprojection Error: 0.042881, 0.164676 Feature: 0.401425, -0.235336, 0.885141
[11:52:56.552] xyz_f:0.322432, -0.236530, 1.210900  Reprojection Error: 0.031493, 0.218882 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.552] xyz_f:0.493449, -0.463468, 1.097116  Reprojection Error: 0.056512, 0.162289 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.552] xyz_f:-0.519039, -0.519124, 0.581466  Reprojection Error: -0.147870, 0.237751 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.552] xyz_f:0.358902, 0.010978, 1.236493  Reprojection Error: 0.051778, 0.285428 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.552] xyz_f:0.104848, -0.062269, 1.226121  Reprojection Error: -0.017491, 0.249876 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.552] xyz_f:0.511415, -0.465803, 1.090842  Reprojection Error: 0.061896, 0.159490 Feature: 0.456227, -0.229971, 0.859634
[11:52:56.552] xyz_f:0.319559, -0.221758, 1.214549  Reprojection Error: 0.031555, 0.221995 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.552] xyz_f:0.176423, -0.171679, 1.222151  Reprojection Error: -0.000485, 0.229844 Feature: 0.141850, 0.088116, 0.985959
[11:52:56.552] xyz_f:0.304695, -0.232509, 1.212761  Reprojection Error: 0.027293, 0.219682 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.552] xyz_f:0.329643, 0.015203, 1.238767  Reprojection Error: 0.042329, 0.284617 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.552] xyz_f:0.295758, -0.255788, 1.207221  Reprojection Error: 0.023915, 0.214997 Feature: 0.259680, 0.003009, 0.965690
[11:52:56.552] xyz_f:0.621314, 0.003890, 1.175305  Reprojection Error: 0.167801, 0.305410 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.552] xyz_f:0.442229, -0.449698, 1.116383  Reprojection Error: 0.043415, 0.170759 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.552] xyz_f:0.523841, -0.478005, 1.080306  Reprojection Error: 0.064201, 0.154826 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.552] xyz_f:0.537650, -0.451961, 1.090301  Reprojection Error: 0.072805, 0.159423 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.552] xyz_f:0.286902, -0.264253, 1.205183  Reprojection Error: 0.021376, 0.211132 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.552] xyz_f:0.170749, -0.165062, 1.222758  Reprojection Error: -0.001665, 0.230984 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.552] xyz_f:0.104848, -0.062269, 1.226121  Reprojection Error: -0.017491, 0.249876 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.552] xyz_f:0.358902, 0.010978, 1.236493  Reprojection Error: 0.051778, 0.285428 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.552] xyz_f:0.621314, 0.003890, 1.175305  Reprojection Error: 0.167801, 0.305410 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.552] xyz_f:0.195829, 0.180860, 1.222060  Reprojection Error: -0.003385, 0.337923 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.552] xyz_f:0.196320, 0.153711, 1.226712  Reprojection Error: -0.001938, 0.321299 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.552] it:24 	 Success 	 new_chi2: 1.599789 	 dT = -0.012256, 0.013997, 0.013449
[11:52:56.552] xyz_f:0.261779, -0.264306, 1.191385  Reprojection Error: 0.039703, 0.215964 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.552] xyz_f:0.145752, -0.164711, 1.207452  Reprojection Error: 0.017266, 0.232405 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.552] xyz_f:0.417599, -0.450293, 1.104606  Reprojection Error: 0.061489, 0.175592 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.552] xyz_f:0.172044, 0.181122, 1.207087  Reprojection Error: 0.014036, 0.330137 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.552] xyz_f:0.499575, -0.478884, 1.069591  Reprojection Error: 0.082032, 0.160080 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.552] xyz_f:0.145897, -0.158233, 1.208534  Reprojection Error: 0.017332, 0.233619 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.552] xyz_f:0.172380, 0.153971, 1.211745  Reprojection Error: 0.015842, 0.319537 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.552] xyz_f:0.513343, -0.452888, 1.079765  Reprojection Error: 0.090506, 0.164326 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.552] xyz_f:0.427700, -0.474781, 1.089623  Reprojection Error: 0.060995, 0.169856 Feature: 0.401425, -0.235336, 0.885141
[11:52:56.552] xyz_f:0.297327, -0.236707, 1.197564  Reprojection Error: 0.049490, 0.221205 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.552] xyz_f:0.469017, -0.464241, 1.086006  Reprojection Error: 0.074408, 0.167323 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.552] xyz_f:-0.536875, -0.516384, 0.557245  Reprojection Error: -0.077065, 0.271640 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.552] xyz_f:0.334323, 0.010673, 1.223634  Reprojection Error: 0.068814, 0.285584 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.552] xyz_f:0.080172, -0.061689, 1.209961  Reprojection Error: 0.001761, 0.250075 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.552] xyz_f:0.487055, -0.466639, 1.079965  Reprojection Error: 0.079731, 0.164565 Feature: 0.456227, -0.229971, 0.859634
[11:52:56.552] xyz_f:0.294458, -0.221925, 1.201176  Reprojection Error: 0.049522, 0.224166 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.552] xyz_f:0.151411, -0.171348, 1.206918  Reprojection Error: 0.018417, 0.231342 Feature: 0.141850, 0.088116, 0.985959
[11:52:56.552] xyz_f:0.279582, -0.232624, 1.199194  Reprojection Error: 0.045392, 0.221947 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.552] xyz_f:0.305052, 0.015001, 1.225528  Reprojection Error: 0.059520, 0.284650 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.552] xyz_f:0.270636, -0.255872, 1.193538  Reprojection Error: 0.042154, 0.217497 Feature: 0.259680, 0.003009, 0.965690
[11:52:56.552] xyz_f:0.597482, 0.002671, 1.165859  Reprojection Error: 0.183960, 0.306429 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.552] xyz_f:0.417599, -0.450293, 1.104606  Reprojection Error: 0.061489, 0.175592 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.552] xyz_f:0.499575, -0.478884, 1.069591  Reprojection Error: 0.082032, 0.160080 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.552] xyz_f:0.513343, -0.452888, 1.079765  Reprojection Error: 0.090506, 0.164326 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.552] xyz_f:0.261779, -0.264306, 1.191385  Reprojection Error: 0.039706, 0.213716 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.552] xyz_f:0.145752, -0.164711, 1.207452  Reprojection Error: 0.017266, 0.232405 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.553] xyz_f:0.080172, -0.061689, 1.209961  Reprojection Error: 0.001761, 0.250075 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.553] xyz_f:0.334323, 0.010673, 1.223634  Reprojection Error: 0.068814, 0.285584 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.553] xyz_f:0.597482, 0.002671, 1.165859  Reprojection Error: 0.183960, 0.306429 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.553] xyz_f:0.172044, 0.181122, 1.207087  Reprojection Error: 0.014332, 0.335870 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.553] xyz_f:0.172380, 0.153971, 1.211745  Reprojection Error: 0.015842, 0.319537 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.553] it:25 	 Success 	 new_chi2: 1.654206 	 dT = -0.013388, 0.015353, 0.016390
[11:52:56.553] xyz_f:0.232525, -0.264308, 1.176038  Reprojection Error: 0.061710, 0.218860 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.553] xyz_f:0.116682, -0.164221, 1.190269  Reprojection Error: 0.039946, 0.233962 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.553] xyz_f:0.388910, -0.450957, 1.091730  Reprojection Error: 0.083309, 0.181008 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.553] xyz_f:0.144443, 0.181498, 1.190333  Reprojection Error: 0.035217, 0.327710 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.553] xyz_f:0.471307, -0.479897, 1.058017  Reprojection Error: 0.103640, 0.165935 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.553] xyz_f:0.116838, -0.157744, 1.191354  Reprojection Error: 0.039983, 0.235096 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.553] xyz_f:0.144590, 0.154346, 1.194994  Reprojection Error: 0.037103, 0.317442 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.553] xyz_f:0.485023, -0.453959, 1.068408  Reprojection Error: 0.111959, 0.169787 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.553] xyz_f:0.399142, -0.475487, 1.076908  Reprojection Error: 0.082879, 0.175656 Feature: 0.401425, -0.235336, 0.885141
[11:52:56.553] xyz_f:0.268088, -0.236860, 1.182780  Reprojection Error: 0.071108, 0.223804 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.553] xyz_f:0.440555, -0.465123, 1.073946  Reprojection Error: 0.096060, 0.172945 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.553] xyz_f:-0.557052, -0.513017, 0.529326  Reprojection Error: 0.011870, 0.314156 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.553] xyz_f:0.305715, 0.010363, 1.209440  Reprojection Error: 0.089261, 0.285738 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.553] xyz_f:0.051509, -0.060921, 1.191743  Reprojection Error: 0.024801, 0.250210 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.553] xyz_f:0.458676, -0.467598, 1.068191  Reprojection Error: 0.101327, 0.170225 Feature: 0.456227, -0.229971, 0.859634
[11:52:56.553] xyz_f:0.265225, -0.222065, 1.186346  Reprojection Error: 0.071099, 0.226594 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.553] xyz_f:0.122321, -0.170881, 1.189825  Reprojection Error: 0.041064, 0.232990 Feature: 0.141850, 0.088116, 0.985959
[11:52:56.553] xyz_f:0.250336, -0.232701, 1.184128  Reprojection Error: 0.067124, 0.224480 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.553] xyz_f:0.276436, 0.014814, 1.210871  Reprojection Error: 0.080139, 0.284656 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.553] xyz_f:0.241383, -0.255911, 1.178331  Reprojection Error: 0.064054, 0.220297 Feature: 0.259680, 0.003009, 0.965690
[11:52:56.553] xyz_f:0.569720, 0.001242, 1.155839  Reprojection Error: 0.203536, 0.307646 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.553] xyz_f:0.388910, -0.450957, 1.091730  Reprojection Error: 0.083309, 0.181008 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.553] xyz_f:0.471307, -0.479897, 1.058017  Reprojection Error: 0.103640, 0.165935 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.553] xyz_f:0.485023, -0.453959, 1.068408  Reprojection Error: 0.111959, 0.169787 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.553] xyz_f:0.232525, -0.264308, 1.176038  Reprojection Error: 0.061714, 0.216612 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.553] xyz_f:0.116682, -0.164221, 1.190269  Reprojection Error: 0.039946, 0.233962 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.553] xyz_f:0.051509, -0.060921, 1.191743  Reprojection Error: 0.024801, 0.250210 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.553] xyz_f:0.305715, 0.010363, 1.209440  Reprojection Error: 0.089261, 0.285738 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.553] xyz_f:0.569720, 0.001242, 1.155839  Reprojection Error: 0.203536, 0.307646 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.553] xyz_f:0.144443, 0.181498, 1.190333  Reprojection Error: 0.035513, 0.333443 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.553] xyz_f:0.144590, 0.154346, 1.194994  Reprojection Error: 0.037103, 0.317442 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.553] it:26 	 Success 	 new_chi2: 1.747320 	 dT = -0.014369, 0.016795, 0.019696
[11:52:56.553] xyz_f:0.198462, -0.264217, 1.158906  Reprojection Error: 0.088180, 0.222105 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.553] xyz_f:0.082881, -0.163540, 1.170936  Reprojection Error: 0.067195, 0.235659 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.553] xyz_f:0.355469, -0.451665, 1.077580  Reprojection Error: 0.109665, 0.187090 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.553] xyz_f:0.112398, 0.182032, 1.171544  Reprojection Error: 0.060625, 0.324808 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.553] xyz_f:0.438344, -0.481026, 1.045438  Reprojection Error: 0.129810, 0.172473 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.553] xyz_f:0.083049, -0.157064, 1.172024  Reprojection Error: 0.067195, 0.236700 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.553] xyz_f:0.112318, 0.154880, 1.176207  Reprojection Error: 0.062608, 0.314925 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.553] xyz_f:0.451991, -0.455158, 1.056090  Reprojection Error: 0.137941, 0.175879 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.553] xyz_f:0.365856, -0.476249, 1.062953  Reprojection Error: 0.109328, 0.182169 Feature: 0.401425, -0.235336, 0.885141
[11:52:56.553] xyz_f:0.234030, -0.236951, 1.166325  Reprojection Error: 0.097111, 0.226708 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.553] xyz_f:0.407371, -0.466096, 1.060780  Reprojection Error: 0.122252, 0.179237 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.553] xyz_f:-0.579927, -0.508930, 0.497279  Reprojection Error: 0.125690, 0.368397 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.553] xyz_f:0.272403, 0.010078, 1.193708  Reprojection Error: 0.113837, 0.285864 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.553] xyz_f:0.018219, -0.059910, 1.171175  Reprojection Error: 0.052466, 0.250245 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.553] xyz_f:0.425585, -0.468663, 1.055371  Reprojection Error: 0.127466, 0.176552 Feature: 0.456227, -0.229971, 0.859634
[11:52:56.553] xyz_f:0.231175, -0.222142, 1.169837  Reprojection Error: 0.097051, 0.229301 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.553] xyz_f:0.088493, -0.170230, 1.170599  Reprojection Error: 0.068273, 0.234792 Feature: 0.141850, 0.088116, 0.985959
[11:52:56.553] xyz_f:0.216277, -0.232702, 1.167336  Reprojection Error: 0.093260, 0.227308 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.553] xyz_f:0.243125, 0.014679, 1.194582  Reprojection Error: 0.104912, 0.284603 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.553] xyz_f:0.207318, -0.255866, 1.161368  Reprojection Error: 0.090394, 0.223430 Feature: 0.259680, 0.003009, 0.965690
[11:52:56.553] xyz_f:0.537329, -0.000391, 1.145138  Reprojection Error: 0.227215, 0.309062 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.553] xyz_f:0.355469, -0.451665, 1.077580  Reprojection Error: 0.109665, 0.187090 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.553] xyz_f:0.438344, -0.481026, 1.045438  Reprojection Error: 0.129810, 0.172473 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.553] xyz_f:0.451991, -0.455158, 1.056090  Reprojection Error: 0.137941, 0.175879 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.553] xyz_f:0.198462, -0.264217, 1.158906  Reprojection Error: 0.088183, 0.219856 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.553] xyz_f:0.082881, -0.163540, 1.170936  Reprojection Error: 0.067195, 0.235659 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.553] xyz_f:0.018219, -0.059910, 1.171175  Reprojection Error: 0.052466, 0.250245 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.553] xyz_f:0.272403, 0.010078, 1.193708  Reprojection Error: 0.113837, 0.285864 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.553] xyz_f:0.537329, -0.000391, 1.145138  Reprojection Error: 0.227215, 0.309062 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.553] xyz_f:0.112398, 0.182032, 1.171544  Reprojection Error: 0.060920, 0.330542 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.553] xyz_f:0.112318, 0.154880, 1.176207  Reprojection Error: 0.062608, 0.314925 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.553] it:27 	 Success 	 new_chi2: 1.894493 	 dT = -0.014802, 0.018306, 0.023119
[11:52:56.553] xyz_f:0.159000, -0.263983, 1.139727  Reprojection Error: 0.119922, 0.225736 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.553] xyz_f:0.043784, -0.162616, 1.149181  Reprojection Error: 0.099877, 0.237499 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.553] xyz_f:0.316659, -0.452373, 1.061915  Reprojection Error: 0.141345, 0.193939 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.553] xyz_f:0.075346, 0.182773, 1.150471  Reprojection Error: 0.091073, 0.321318 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.553] xyz_f:0.400054, -0.482231, 1.031630  Reprojection Error: 0.161314, 0.179800 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.553] xyz_f:0.043966, -0.156141, 1.150272  Reprojection Error: 0.099832, 0.238432 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.553] xyz_f:0.075000, 0.155623, 1.155128  Reprojection Error: 0.093172, 0.311879 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.553] xyz_f:0.413615, -0.456445, 1.042586  Reprojection Error: 0.169206, 0.182695 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.553] xyz_f:0.327223, -0.477019, 1.047522  Reprojection Error: 0.141138, 0.189504 Feature: 0.401425, -0.235336, 0.885141
[11:52:56.553] xyz_f:0.194556, -0.236930, 1.147940  Reprojection Error: 0.128285, 0.229943 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.553] xyz_f:0.368836, -0.467115, 1.046278  Reprojection Error: 0.153759, 0.186301 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.553] xyz_f:-0.605871, -0.504079, 0.460868  Reprojection Error: 0.274121, 0.438726 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.553] xyz_f:0.233785, 0.009867, 1.176190  Reprojection Error: 0.143271, 0.285918 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.553] xyz_f:-0.020247, -0.058601, 1.147982  Reprojection Error: 0.085659, 0.250138 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.553] xyz_f:0.387151, -0.469791, 1.041276  Reprojection Error: 0.158918, 0.183646 Feature: 0.456227, -0.229971, 0.859634
[11:52:56.553] xyz_f:0.191712, -0.222104, 1.151389  Reprojection Error: 0.128159, 0.232310 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.553] xyz_f:0.049362, -0.169339, 1.148968  Reprojection Error: 0.100908, 0.236755 Feature: 0.141850, 0.088116, 0.985959
[11:52:56.553] xyz_f:0.176810, -0.232575, 1.148555  Reprojection Error: 0.124592, 0.230457 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.553] xyz_f:0.204523, 0.014643, 1.176410  Reprojection Error: 0.134581, 0.284444 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.553] xyz_f:0.167848, -0.255685, 1.142387  Reprojection Error: 0.121978, 0.226932 Feature: 0.259680, 0.003009, 0.965690
[11:52:56.553] xyz_f:0.499663, -0.002190, 1.133547  Reprojection Error: 0.255646, 0.310652 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.553] xyz_f:0.316659, -0.452373, 1.061915  Reprojection Error: 0.141345, 0.193939 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.553] xyz_f:0.400054, -0.482231, 1.031630  Reprojection Error: 0.161314, 0.179800 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.553] xyz_f:0.413615, -0.456445, 1.042586  Reprojection Error: 0.169206, 0.182695 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.553] xyz_f:0.159000, -0.263983, 1.139727  Reprojection Error: 0.119926, 0.223488 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.553] xyz_f:0.043784, -0.162616, 1.149181  Reprojection Error: 0.099877, 0.237499 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.553] xyz_f:-0.020247, -0.058601, 1.147982  Reprojection Error: 0.085659, 0.250138 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.553] xyz_f:0.233785, 0.009867, 1.176190  Reprojection Error: 0.143271, 0.285918 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.553] xyz_f:0.499663, -0.002190, 1.133547  Reprojection Error: 0.255646, 0.310652 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.553] xyz_f:0.075346, 0.182773, 1.150471  Reprojection Error: 0.091368, 0.327051 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.553] xyz_f:0.075000, 0.155623, 1.155128  Reprojection Error: 0.093172, 0.311879 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.553] it:28 	 Success 	 new_chi2: 2.097791 	 dT = -0.013910, 0.020005, 0.026053
[11:52:56.553] xyz_f:0.113803, -0.263554, 1.118121  Reprojection Error: 0.157649, 0.229828 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.553] xyz_f:-0.000929, -0.161412, 1.124681  Reprojection Error: 0.138802, 0.239511 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.553] xyz_f:0.272096, -0.453009, 1.044284  Reprojection Error: 0.178984, 0.201740 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.553] xyz_f:0.032919, 0.183757, 1.126794  Reprojection Error: 0.127349, 0.317106 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.553] xyz_f:0.356023, -0.483432, 1.016104  Reprojection Error: 0.198722, 0.188124 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.553] xyz_f:-0.000730, -0.154938, 1.125777  Reprojection Error: 0.138703, 0.240316 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.553] xyz_f:0.032273, 0.156610, 1.131439  Reprojection Error: 0.129576, 0.308186 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.553] xyz_f:0.369478, -0.457736, 1.027400  Reprojection Error: 0.206302, 0.190423 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.553] xyz_f:0.282852, -0.477727, 1.030160  Reprojection Error: 0.178944, 0.197867 Feature: 0.401425, -0.235336, 0.885141
[11:52:56.553] xyz_f:0.149322, -0.236740, 1.127228  Reprojection Error: 0.165299, 0.233567 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.553] xyz_f:0.324549, -0.468104, 1.029963  Reprojection Error: 0.191174, 0.194333 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.553] xyz_f:-0.635346, -0.498545, 0.420211  Reprojection Error: 0.471462, 0.531384 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.553] xyz_f:0.189491, 0.009788, 1.156477  Reprojection Error: 0.178184, 0.285842 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.553] xyz_f:-0.064206, -0.056967, 1.121880  Reprojection Error: 0.125253, 0.249869 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.553] xyz_f:0.342966, -0.470904, 1.025424  Reprojection Error: 0.196260, 0.191706 Feature: 0.456227, -0.229971, 0.859634
[11:52:56.553] xyz_f:0.146492, -0.221895, 1.130605  Reprojection Error: 0.165094, 0.235672 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.553] xyz_f:0.004607, -0.168172, 1.124608  Reprojection Error: 0.139773, 0.238909 Feature: 0.141850, 0.088116, 0.985959
[11:52:56.553] xyz_f:0.131597, -0.232265, 1.127396  Reprojection Error: 0.161807, 0.233983 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.553] xyz_f:0.160266, 0.014762, 1.155961  Reprojection Error: 0.169792, 0.284120 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.553] xyz_f:0.122637, -0.255316, 1.121003  Reprojection Error: 0.159506, 0.230872 Feature: 0.259680, 0.003009, 0.965690
[11:52:56.553] xyz_f:0.456270, -0.004064, 1.120537  Reprojection Error: 0.289253, 0.312347 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.553] xyz_f:0.272096, -0.453009, 1.044284  Reprojection Error: 0.178984, 0.201740 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.553] xyz_f:0.356023, -0.483432, 1.016104  Reprojection Error: 0.198722, 0.188124 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.553] xyz_f:0.369478, -0.457736, 1.027400  Reprojection Error: 0.206302, 0.190423 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.553] xyz_f:0.113803, -0.263554, 1.118121  Reprojection Error: 0.157652, 0.227580 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.553] xyz_f:-0.000929, -0.161412, 1.124681  Reprojection Error: 0.138802, 0.239511 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.553] xyz_f:-0.064206, -0.056967, 1.121880  Reprojection Error: 0.125253, 0.249869 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.553] xyz_f:0.189491, 0.009788, 1.156477  Reprojection Error: 0.178184, 0.285842 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.553] xyz_f:0.456270, -0.004064, 1.120537  Reprojection Error: 0.289253, 0.312347 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.553] xyz_f:0.032919, 0.183757, 1.126794  Reprojection Error: 0.127645, 0.322839 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.553] xyz_f:0.032273, 0.156610, 1.131439  Reprojection Error: 0.129576, 0.308186 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.553] it:29 	 Success 	 new_chi2: 2.310271 	 dT = -0.008955, 0.023149, 0.026245
[11:52:56.553] xyz_f:0.062706, -0.262945, 1.092698  Reprojection Error: 0.202043, 0.234755 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.553] xyz_f:-0.051458, -0.160025, 1.096356  Reprojection Error: 0.184912, 0.241953 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.553] xyz_f:0.221530, -0.453477, 1.022881  Reprojection Error: 0.222967, 0.211275 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.553] xyz_f:-0.015331, 0.184906, 1.099357  Reprojection Error: 0.170510, 0.311991 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.553] xyz_f:0.305936, -0.484471, 0.996835  Reprojection Error: 0.242195, 0.198363 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.553] xyz_f:-0.051244, -0.153553, 1.097458  Reprojection Error: 0.184748, 0.242605 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.553] xyz_f:-0.016280, 0.157764, 1.103982  Reprojection Error: 0.172846, 0.303697 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.553] xyz_f:0.319274, -0.458867, 1.008471  Reprojection Error: 0.249334, 0.199907 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.553] xyz_f:0.232473, -0.478268, 1.009032  Reprojection Error: 0.223124, 0.208113 Feature: 0.401425, -0.235336, 0.885141
[11:52:56.553] xyz_f:0.098165, -0.236372, 1.102705  Reprojection Error: 0.208746, 0.237904 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.553] xyz_f:0.274225, -0.468929, 1.009893  Reprojection Error: 0.234742, 0.204182 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.553] xyz_f:-0.670091, -0.492903, 0.376003  Reprojection Error: 0.741634, 0.655868 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.553] xyz_f:0.139253, 0.009881, 1.132984  Reprojection Error: 0.219128, 0.285585 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.554] xyz_f:-0.113934, -0.055153, 1.091962  Reprojection Error: 0.172360, 0.249599 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.554] xyz_f:0.292731, -0.471854, 1.005822  Reprojection Error: 0.239685, 0.201601 Feature: 0.456227, -0.229971, 0.859634
[11:52:56.554] xyz_f:0.095351, -0.221508, 1.106011  Reprojection Error: 0.208452, 0.239686 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.554] xyz_f:-0.045968, -0.166823, 1.096424  Reprojection Error: 0.185795, 0.241523 Feature: 0.141850, 0.088116, 0.985959
[11:52:56.554] xyz_f:0.080471, -0.231777, 1.102424  Reprojection Error: 0.205539, 0.238206 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.554] xyz_f:0.110084, 0.015052, 1.131728  Reprojection Error: 0.211164, 0.283590 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.554] xyz_f:0.071520, -0.254766, 1.095804  Reprojection Error: 0.203638, 0.235608 Feature: 0.259680, 0.003009, 0.965690
[11:52:56.554] xyz_f:0.406757, -0.005787, 1.103816  Reprojection Error: 0.327941, 0.313963 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.554] xyz_f:0.221530, -0.453477, 1.022881  Reprojection Error: 0.222967, 0.211275 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.554] xyz_f:0.305936, -0.484471, 0.996835  Reprojection Error: 0.242195, 0.198363 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.554] xyz_f:0.319274, -0.458867, 1.008471  Reprojection Error: 0.249334, 0.199907 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.554] xyz_f:0.062706, -0.262945, 1.092698  Reprojection Error: 0.202046, 0.232506 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.554] xyz_f:-0.051458, -0.160025, 1.096356  Reprojection Error: 0.184912, 0.241953 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.554] xyz_f:-0.113934, -0.055153, 1.091962  Reprojection Error: 0.172360, 0.249599 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.554] xyz_f:0.139253, 0.009881, 1.132984  Reprojection Error: 0.219128, 0.285585 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.554] xyz_f:0.406757, -0.005787, 1.103816  Reprojection Error: 0.327941, 0.313963 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.554] xyz_f:-0.015331, 0.184906, 1.099357  Reprojection Error: 0.170806, 0.317724 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.554] xyz_f:-0.016280, 0.157764, 1.103982  Reprojection Error: 0.172846, 0.303697 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.554] it:30 	 Success 	 new_chi2: 2.530990 	 dT = 0.033127, 0.034212, -0.005459
[11:52:56.554] xyz_f:0.002907, -0.263086, 1.059014  Reprojection Error: 0.256684, 0.242542 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.554] xyz_f:-0.111382, -0.160328, 1.063274  Reprojection Error: 0.242731, 0.246780 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.554] xyz_f:0.161629, -0.453394, 0.988359  Reprojection Error: 0.276009, 0.226676 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.554] xyz_f:-0.075727, 0.184654, 1.066085  Reprojection Error: 0.227597, 0.306978 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.554] xyz_f:0.245940, -0.484269, 0.961869  Reprojection Error: 0.293412, 0.215821 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.554] xyz_f:-0.111171, -0.153855, 1.064375  Reprojection Error: 0.242502, 0.247238 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.554] xyz_f:-0.076613, 0.157511, 1.070715  Reprojection Error: 0.229653, 0.299494 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.554] xyz_f:0.259303, -0.458646, 0.973434  Reprojection Error: 0.299546, 0.216057 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.554] xyz_f:0.172534, -0.478170, 0.974453  Reprojection Error: 0.276459, 0.224832 Feature: 0.401425, -0.235336, 0.885141
[11:52:56.554] xyz_f:0.038380, -0.236463, 1.068834  Reprojection Error: 0.261859, 0.244782 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.554] xyz_f:0.214277, -0.468771, 0.975094  Reprojection Error: 0.286531, 0.220592 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.554] xyz_f:-0.733333, -0.494082, 0.346191  Reprojection Error: 1.077779, 0.772159 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.554] xyz_f:0.079279, 0.009847, 1.098897  Reprojection Error: 0.269891, 0.285345 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.554] xyz_f:-0.174028, -0.055544, 1.059210  Reprojection Error: 0.232322, 0.251530 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.554] xyz_f:0.232766, -0.471671, 0.970925  Reprojection Error: 0.290986, 0.218273 Feature: 0.456227, -0.229971, 0.859634
[11:52:56.554] xyz_f:0.035563, -0.221603, 1.072154  Reprojection Error: 0.261494, 0.246099 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.554] xyz_f:-0.105882, -0.167118, 1.063313  Reprojection Error: 0.243447, 0.246538 Feature: 0.141850, 0.088116, 0.985959
[11:52:56.554] xyz_f:0.020679, -0.231893, 1.068646  Reprojection Error: 0.259183, 0.244961 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.554] xyz_f:0.050097, 0.014978, 1.097794  Reprojection Error: 0.262800, 0.283247 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.554] xyz_f:0.011726, -0.254895, 1.062073  Reprojection Error: 0.257866, 0.243113 Feature: 0.259680, 0.003009, 0.965690
[11:52:56.554] xyz_f:0.346648, -0.005442, 1.068319  Reprojection Error: 0.371962, 0.313814 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.554] xyz_f:0.161629, -0.453394, 0.988359  Reprojection Error: 0.276009, 0.226676 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.554] xyz_f:0.245940, -0.484269, 0.961869  Reprojection Error: 0.293412, 0.215821 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.554] xyz_f:0.259303, -0.458646, 0.973434  Reprojection Error: 0.299546, 0.216057 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.554] xyz_f:0.002907, -0.263086, 1.059014  Reprojection Error: 0.256688, 0.240294 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.554] xyz_f:-0.111382, -0.160328, 1.063274  Reprojection Error: 0.242731, 0.246780 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.554] xyz_f:-0.174028, -0.055544, 1.059210  Reprojection Error: 0.232322, 0.251530 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.554] xyz_f:0.079279, 0.009847, 1.098897  Reprojection Error: 0.269891, 0.285345 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.554] xyz_f:0.346648, -0.005442, 1.068319  Reprojection Error: 0.371962, 0.313814 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.554] xyz_f:-0.075727, 0.184654, 1.066085  Reprojection Error: 0.227893, 0.312711 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.554] xyz_f:-0.076613, 0.157511, 1.070715  Reprojection Error: 0.229653, 0.299494 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.554] it:31 	 Success 	 new_chi2: 2.973872 	 dT = 0.062875, 0.032978, -0.030959
[11:52:56.554] xyz_f:-0.030201, -0.263743, 1.028485  Reprojection Error: 0.288793, 0.250554 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.554] xyz_f:-0.145131, -0.161902, 1.036173  Reprojection Error: 0.278041, 0.252243 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.554] xyz_f:0.127858, -0.452781, 0.953094  Reprojection Error: 0.305391, 0.243006 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.554] xyz_f:-0.112172, 0.183354, 1.037958  Reprojection Error: 0.264635, 0.303537 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.554] xyz_f:0.211584, -0.482983, 0.924091  Reprojection Error: 0.320138, 0.235011 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.554] xyz_f:-0.144939, -0.155428, 1.037268  Reprojection Error: 0.277786, 0.252533 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.554] xyz_f:-0.112702, 0.156205, 1.042609  Reprojection Error: 0.266195, 0.296780 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.554] xyz_f:0.225081, -0.457252, 0.935254  Reprojection Error: 0.325263, 0.233801 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.554] xyz_f:0.138540, -0.477471, 0.938864  Reprojection Error: 0.305955, 0.242688 Feature: 0.401425, -0.235336, 0.885141
[11:52:56.554] xyz_f:0.005336, -0.236835, 1.037243  Reprojection Error: 0.292623, 0.251879 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.554] xyz_f:0.180207, -0.467738, 0.938258  Reprojection Error: 0.314215, 0.238364 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.554] xyz_f:-0.785550, -0.500715, 0.337967  Reprojection Error: 1.283829, 0.826514 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.554] xyz_f:0.045141, 0.009799, 1.066099  Reprojection Error: 0.299693, 0.285115 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.554] xyz_f:-0.208707, -0.057625, 1.033996  Reprojection Error: 0.269867, 0.254821 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.554] xyz_f:0.198585, -0.470490, 0.933539  Reprojection Error: 0.317999, 0.236463 Feature: 0.456227, -0.229971, 0.859634
[11:52:56.554] xyz_f:0.002500, -0.221997, 1.040648  Reprojection Error: 0.292261, 0.252736 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.554] xyz_f:-0.139578, -0.168648, 1.036047  Reprojection Error: 0.278591, 0.252152 Feature: 0.141850, 0.088116, 0.985959
[11:52:56.554] xyz_f:-0.012399, -0.232407, 1.037586  Reprojection Error: 0.290483, 0.251952 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.554] xyz_f:0.015899, 0.014695, 1.065871  Reprojection Error: 0.293518, 0.283104 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.554] xyz_f:-0.021360, -0.255481, 1.031280  Reprojection Error: 0.289618, 0.250847 Feature: 0.259680, 0.003009, 0.965690
[11:52:56.554] xyz_f:0.311590, -0.003352, 1.027539  Reprojection Error: 0.393203, 0.311982 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.554] xyz_f:0.127858, -0.452781, 0.953094  Reprojection Error: 0.305391, 0.243006 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.554] xyz_f:0.211584, -0.482983, 0.924091  Reprojection Error: 0.320138, 0.235011 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.554] xyz_f:0.225081, -0.457252, 0.935254  Reprojection Error: 0.325263, 0.233801 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.554] xyz_f:-0.030201, -0.263743, 1.028485  Reprojection Error: 0.288797, 0.248306 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.554] xyz_f:-0.145131, -0.161902, 1.036173  Reprojection Error: 0.278041, 0.252243 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.554] xyz_f:-0.208707, -0.057625, 1.033996  Reprojection Error: 0.269867, 0.254821 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.554] xyz_f:0.045141, 0.009799, 1.066099  Reprojection Error: 0.299693, 0.285115 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.554] xyz_f:0.311590, -0.003352, 1.027539  Reprojection Error: 0.393203, 0.311982 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.554] xyz_f:-0.112172, 0.183354, 1.037958  Reprojection Error: 0.264930, 0.309270 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.554] xyz_f:-0.112702, 0.156205, 1.042609  Reprojection Error: 0.266195, 0.296780 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.554] it:32 	 Success 	 new_chi2: 3.248925 	 dT = 0.078429, 0.035127, -0.045910
[11:52:56.554] xyz_f:-0.032870, -0.264260, 0.995290  Reprojection Error: 0.292455, 0.259627 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.554] xyz_f:-0.148548, -0.163790, 1.008092  Reprojection Error: 0.285332, 0.258469 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.554] xyz_f:0.123925, -0.451428, 0.912916  Reprojection Error: 0.303795, 0.262432 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.554] xyz_f:-0.119647, 0.181834, 1.008505  Reprojection Error: 0.275202, 0.299886 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.554] xyz_f:0.206636, -0.480641, 0.880222  Reprojection Error: 0.314348, 0.258399 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.554] xyz_f:-0.148385, -0.157314, 1.009179  Reprojection Error: 0.285090, 0.258572 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.554] xyz_f:-0.119647, 0.154682, 1.013168  Reprojection Error: 0.276191, 0.293931 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.554] xyz_f:0.220308, -0.454748, 0.890783  Reprojection Error: 0.318607, 0.255398 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.554] xyz_f:0.134258, -0.475993, 0.898221  Reprojection Error: 0.304045, 0.264054 Feature: 0.401425, -0.235336, 0.885141
[11:52:56.554] xyz_f:0.002697, -0.236930, 1.002471  Reprojection Error: 0.295077, 0.259894 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.554] xyz_f:0.175739, -0.465765, 0.895771  Reprojection Error: 0.310093, 0.259808 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.554] xyz_f:-0.815220, -0.510370, 0.338873  Reprojection Error: 1.365168, 0.851044 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.554] xyz_f:0.040810, 0.010167, 1.029599  Reprojection Error: 0.302399, 0.284432 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.554] xyz_f:-0.213393, -0.060276, 1.008763  Reprojection Error: 0.279561, 0.258843 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.554] xyz_f:0.193921, -0.468300, 0.890240  Reprojection Error: 0.312892, 0.258516 Feature: 0.456227, -0.229971, 0.859634
[11:52:56.554] xyz_f:-0.000161, -0.222126, 1.006002  Reprojection Error: 0.294823, 0.260211 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.554] xyz_f:-0.142927, -0.170470, 1.007718  Reprojection Error: 0.285702, 0.258535 Feature: 0.141850, 0.088116, 0.985959
[11:52:56.554] xyz_f:-0.015056, -0.232713, 1.003601  Reprojection Error: 0.293536, 0.259842 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.554] xyz_f:0.011531, 0.014715, 1.030668  Reprojection Error: 0.297247, 0.282613 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.554] xyz_f:-0.024013, -0.255893, 0.997693  Reprojection Error: 0.292975, 0.259601 Feature: 0.259680, 0.003009, 0.965690
[11:52:56.554] xyz_f:0.305425, 0.000172, 0.979262  Reprojection Error: 0.384549, 0.308545 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.554] xyz_f:0.123925, -0.451428, 0.912916  Reprojection Error: 0.303795, 0.262432 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.554] xyz_f:0.206636, -0.480641, 0.880222  Reprojection Error: 0.314348, 0.258399 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.554] xyz_f:0.220308, -0.454748, 0.890783  Reprojection Error: 0.318607, 0.255398 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.554] xyz_f:-0.032870, -0.264260, 0.995290  Reprojection Error: 0.292459, 0.257379 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.554] xyz_f:-0.148548, -0.163790, 1.008092  Reprojection Error: 0.285332, 0.258469 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.554] xyz_f:-0.213393, -0.060276, 1.008763  Reprojection Error: 0.279561, 0.258843 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.554] xyz_f:0.040810, 0.010167, 1.029599  Reprojection Error: 0.302399, 0.284432 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.554] xyz_f:0.305425, 0.000172, 0.979262  Reprojection Error: 0.384549, 0.308545 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.554] xyz_f:-0.119647, 0.181834, 1.008505  Reprojection Error: 0.275498, 0.305619 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.554] xyz_f:-0.119647, 0.154682, 1.013168  Reprojection Error: 0.276191, 0.293931 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.554] it:33 	 Success 	 new_chi2: 3.317653 	 dT = 0.081385, 0.037026, -0.051471
[11:52:56.554] xyz_f:-0.019490, -0.264192, 0.958010  Reprojection Error: 0.279773, 0.269888 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.554] xyz_f:-0.135716, -0.165267, 0.976578  Reprojection Error: 0.276948, 0.265224 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.554] xyz_f:0.135496, -0.449282, 0.867884  Reprojection Error: 0.283419, 0.285618 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.554] xyz_f:-0.111435, 0.180711, 0.975669  Reprojection Error: 0.270778, 0.294968 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.554] xyz_f:0.216862, -0.477402, 0.831110  Reprojection Error: 0.288172, 0.286769 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.554] xyz_f:-0.135585, -0.158789, 0.977657  Reprojection Error: 0.276738, 0.265107 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.554] xyz_f:-0.110842, 0.153563, 0.980317  Reprojection Error: 0.271167, 0.289956 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.554] xyz_f:0.230696, -0.451327, 0.840987  Reprojection Error: 0.291610, 0.281557 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.554] xyz_f:0.145413, -0.473712, 0.852685  Reprojection Error: 0.282981, 0.289680 Feature: 0.401425, -0.235336, 0.885141
[11:52:56.554] xyz_f:0.016023, -0.236389, 0.963424  Reprojection Error: 0.281135, 0.268911 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.554] xyz_f:0.186581, -0.462935, 0.848180  Reprojection Error: 0.286303, 0.285645 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.554] xyz_f:-0.830147, -0.520915, 0.341202  Reprojection Error: 1.392502, 0.871673 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.554] xyz_f:0.052144, 0.011203, 0.988706  Reprojection Error: 0.289296, 0.282976 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.554] xyz_f:-0.201820, -0.062626, 0.980505  Reprojection Error: 0.273855, 0.262962 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.554] xyz_f:0.204498, -0.465229, 0.841752  Reprojection Error: 0.287779, 0.285169 Feature: 0.456227, -0.229971, 0.859634
[11:52:56.554] xyz_f:0.013148, -0.221623, 0.967097  Reprojection Error: 0.281068, 0.268573 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.554] xyz_f:-0.130032, -0.171872, 0.975922  Reprojection Error: 0.277110, 0.265483 Feature: 0.141850, 0.088116, 0.985959
[11:52:56.554] xyz_f:-0.001706, -0.232408, 0.965435  Reprojection Error: 0.280301, 0.268692 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.554] xyz_f:0.022896, 0.015361, 0.991230  Reprojection Error: 0.285336, 0.281393 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.554] xyz_f:-0.010637, -0.255707, 0.959972  Reprojection Error: 0.279986, 0.269485 Feature: 0.259680, 0.003009, 0.965690
[11:52:56.554] xyz_f:0.314039, 0.004715, 0.925277  Reprojection Error: 0.357041, 0.303624 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.554] xyz_f:0.135496, -0.449282, 0.867884  Reprojection Error: 0.283419, 0.285618 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.554] xyz_f:0.216862, -0.477402, 0.831110  Reprojection Error: 0.288172, 0.286769 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.554] xyz_f:0.230696, -0.451327, 0.840987  Reprojection Error: 0.291610, 0.281557 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.554] xyz_f:-0.019490, -0.264192, 0.958010  Reprojection Error: 0.279777, 0.267640 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.554] xyz_f:-0.135716, -0.165267, 0.976578  Reprojection Error: 0.276948, 0.265224 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.554] xyz_f:-0.201820, -0.062626, 0.980505  Reprojection Error: 0.273855, 0.262962 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.554] xyz_f:0.052144, 0.011203, 0.988706  Reprojection Error: 0.289296, 0.282976 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.554] xyz_f:0.314039, 0.004715, 0.925277  Reprojection Error: 0.357041, 0.303624 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.554] xyz_f:-0.111435, 0.180711, 0.975669  Reprojection Error: 0.271074, 0.300701 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.554] xyz_f:-0.110842, 0.153563, 0.980317  Reprojection Error: 0.271167, 0.289956 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.554] it:34 	 Success 	 new_chi2: 3.280669 	 dT = 0.078843, 0.038156, -0.053083
[11:52:56.554] xyz_f:-0.000985, -0.263405, 0.916913  Reprojection Error: 0.260504, 0.281390 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.554] xyz_f:-0.117455, -0.166078, 0.941449  Reprojection Error: 0.262736, 0.272400 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.554] xyz_f:0.151706, -0.446381, 0.818897  Reprojection Error: 0.254286, 0.313041 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.554] xyz_f:-0.098005, 0.180201, 0.939418  Reprojection Error: 0.260890, 0.288364 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.554] xyz_f:0.231458, -0.473393, 0.777992  Reprojection Error: 0.251595, 0.320835 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.555] xyz_f:-0.117358, -0.159599, 0.942522  Reprojection Error: 0.262569, 0.272020 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.555] xyz_f:-0.096802, 0.153065, 0.944020  Reprojection Error: 0.260642, 0.284460 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.555] xyz_f:0.245421, -0.447127, 0.787156  Reprojection Error: 0.254145, 0.312922 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.555] xyz_f:0.161164, -0.470677, 0.803201  Reprojection Error: 0.252863, 0.320128 Feature: 0.401425, -0.235336, 0.885141
[11:52:56.555] xyz_f:0.034374, -0.235114, 0.920509  Reprojection Error: 0.260425, 0.278965 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.555] xyz_f:0.201896, -0.459337, 0.796596  Reprojection Error: 0.252833, 0.316472 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.555] xyz_f:-0.838587, -0.531452, 0.342372  Reprojection Error: 1.408836, 0.897232 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.555] xyz_f:0.068339, 0.012959, 0.943995  Reprojection Error: 0.269642, 0.280578 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.555] xyz_f:-0.184674, -0.064353, 0.948794  Reprojection Error: 0.262662, 0.266917 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.555] xyz_f:0.219489, -0.461387, 0.789257  Reprojection Error: 0.252626, 0.317062 Feature: 0.456227, -0.229971, 0.859634
[11:52:56.555] xyz_f:0.031488, -0.220388, 0.924331  Reprojection Error: 0.260598, 0.277839 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.555] xyz_f:-0.111721, -0.172604, 0.940500  Reprojection Error: 0.262659, 0.272895 Feature: 0.141850, 0.088116, 0.985959
[11:52:56.555] xyz_f:0.016717, -0.231376, 0.923429  Reprojection Error: 0.260430, 0.278526 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.555] xyz_f:0.039204, 0.016717, 0.948016  Reprojection Error: 0.267081, 0.279257 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.555] xyz_f:0.007840, -0.254798, 0.918422  Reprojection Error: 0.260370, 0.280546 Feature: 0.259680, 0.003009, 0.965690
[11:52:56.555] xyz_f:0.326704, 0.010047, 0.867225  Reprojection Error: 0.319718, 0.297135 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.555] xyz_f:0.151706, -0.446381, 0.818897  Reprojection Error: 0.254286, 0.313041 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.555] xyz_f:0.231458, -0.473393, 0.777992  Reprojection Error: 0.251595, 0.320835 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.555] xyz_f:0.245421, -0.447127, 0.787156  Reprojection Error: 0.254145, 0.312922 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.555] xyz_f:-0.000985, -0.263405, 0.916913  Reprojection Error: 0.260507, 0.279141 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.555] xyz_f:-0.117455, -0.166078, 0.941449  Reprojection Error: 0.262736, 0.272400 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.555] xyz_f:-0.184674, -0.064353, 0.948794  Reprojection Error: 0.262662, 0.266917 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.555] xyz_f:0.068339, 0.012959, 0.943995  Reprojection Error: 0.269642, 0.280578 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.555] xyz_f:0.326704, 0.010047, 0.867225  Reprojection Error: 0.319718, 0.297135 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.555] xyz_f:-0.098005, 0.180201, 0.939418  Reprojection Error: 0.261186, 0.294097 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.555] xyz_f:-0.096802, 0.153065, 0.944020  Reprojection Error: 0.260642, 0.284460 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.555] it:35 	 Success 	 new_chi2: 3.213574 	 dT = 0.073491, 0.038839, -0.052331
[11:52:56.555] xyz_f:0.018217, -0.261917, 0.872522  Reprojection Error: 0.238550, 0.294300 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.555] xyz_f:-0.098170, -0.166168, 0.902944  Reprojection Error: 0.246699, 0.280022 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.555] xyz_f:0.168224, -0.442842, 0.766854  Reprojection Error: 0.220172, 0.345421 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.555] xyz_f:-0.083538, 0.180342, 0.900051  Reprojection Error: 0.249379, 0.279817 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.555] xyz_f:0.246166, -0.468787, 0.721962  Reprojection Error: 0.208134, 0.361678 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.555] xyz_f:-0.098107, -0.159687, 0.904013  Reprojection Error: 0.246578, 0.279331 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.555] xyz_f:-0.081737, 0.153227, 0.904578  Reprojection Error: 0.248458, 0.277212 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.555] xyz_f:0.260217, -0.442330, 0.730418  Reprojection Error: 0.209668, 0.350480 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.555] xyz_f:0.177206, -0.467014, 0.750692  Reprojection Error: 0.217459, 0.356238 Feature: 0.401425, -0.235336, 0.885141
[11:52:56.555] xyz_f:0.053327, -0.233149, 0.874337  Reprojection Error: 0.236776, 0.290205 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.555] xyz_f:0.217394, -0.455126, 0.742041  Reprojection Error: 0.213313, 0.353190 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.555] xyz_f:-0.843637, -0.541476, 0.340942  Reprojection Error: 1.433919, 0.933141 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.555] xyz_f:0.085074, 0.015370, 0.896161  Reprojection Error: 0.247104, 0.277156 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.555] xyz_f:-0.166304, -0.065359, 0.913711  Reprojection Error: 0.250031, 0.270622 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.555] xyz_f:0.234621, -0.456940, 0.733822  Reprojection Error: 0.210997, 0.355163 Feature: 0.456227, -0.229971, 0.859634
[11:52:56.555] xyz_f:0.050438, -0.218462, 0.878304  Reprojection Error: 0.237237, 0.288141 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.555] xyz_f:-0.092404, -0.172616, 0.901705  Reprojection Error: 0.246347, 0.280804 Feature: 0.141850, 0.088116, 0.985959
[11:52:56.555] xyz_f:0.035792, -0.229649, 0.878145  Reprojection Error: 0.237776, 0.289480 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.555] xyz_f:0.056131, 0.018734, 0.901650  Reprojection Error: 0.246181, 0.276114 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.555] xyz_f:0.026990, -0.253191, 0.873586  Reprojection Error: 0.238010, 0.292945 Feature: 0.259680, 0.003009, 0.965690
[11:52:56.555] xyz_f:0.339246, 0.015929, 0.806434  Reprojection Error: 0.275768, 0.288968 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.555] xyz_f:0.168224, -0.442842, 0.766854  Reprojection Error: 0.220172, 0.345421 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.555] xyz_f:0.246166, -0.468787, 0.721962  Reprojection Error: 0.208134, 0.361678 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.555] xyz_f:0.260217, -0.442330, 0.730418  Reprojection Error: 0.209668, 0.350480 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.555] xyz_f:0.018217, -0.261917, 0.872522  Reprojection Error: 0.238554, 0.292051 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.555] xyz_f:-0.098170, -0.166168, 0.902944  Reprojection Error: 0.246699, 0.280022 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.555] xyz_f:-0.166304, -0.065359, 0.913711  Reprojection Error: 0.250031, 0.270622 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.555] xyz_f:0.085074, 0.015370, 0.896161  Reprojection Error: 0.247104, 0.277156 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.555] xyz_f:0.339246, 0.015929, 0.806434  Reprojection Error: 0.275768, 0.288968 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.555] xyz_f:-0.083538, 0.180342, 0.900051  Reprojection Error: 0.249675, 0.285550 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.555] xyz_f:-0.081737, 0.153227, 0.904578  Reprojection Error: 0.248458, 0.277212 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.555] it:36 	 Success 	 new_chi2: 3.151813 	 dT = 0.066292, 0.039101, -0.049556
[11:52:56.555] xyz_f:0.035487, -0.259860, 0.825747  Reprojection Error: 0.216453, 0.308814 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.555] xyz_f:-0.080530, -0.165602, 0.861732  Reprojection Error: 0.231428, 0.288167 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.555] xyz_f:0.182573, -0.438880, 0.712967  Reprojection Error: 0.183466, 0.383511 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.555] xyz_f:-0.070496, 0.181066, 0.858250  Reprojection Error: 0.238704, 0.269215 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.555] xyz_f:0.258605, -0.463837, 0.664389  Reprojection Error: 0.159866, 0.410495 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.555] xyz_f:-0.080498, -0.159121, 0.862799  Reprojection Error: 0.231354, 0.287113 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.555] xyz_f:-0.068133, 0.153977, 0.862676  Reprojection Error: 0.237078, 0.268114 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.555] xyz_f:0.272704, -0.437200, 0.672171  Reprojection Error: 0.160220, 0.395324 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.555] xyz_f:0.191081, -0.462940, 0.696386  Reprojection Error: 0.179127, 0.398901 Feature: 0.401425, -0.235336, 0.885141
[11:52:56.555] xyz_f:0.070271, -0.230644, 0.825889  Reprojection Error: 0.212681, 0.302815 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.555] xyz_f:0.230653, -0.450540, 0.685826  Reprojection Error: 0.169967, 0.396778 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.555] xyz_f:-0.847160, -0.550609, 0.335928  Reprojection Error: 1.481339, 0.984034 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.555] xyz_f:0.099837, 0.018267, 0.846245  Reprojection Error: 0.224059, 0.272720 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.555] xyz_f:-0.149357, -0.065672, 0.875778  Reprojection Error: 0.238563, 0.274078 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.555] xyz_f:0.247489, -0.452136, 0.676792  Reprojection Error: 0.165042, 0.400535 Feature: 0.456227, -0.229971, 0.859634
[11:52:56.555] xyz_f:0.067388, -0.215994, 0.829994  Reprojection Error: 0.213473, 0.299645 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.555] xyz_f:-0.074747, -0.171976, 0.860217  Reprojection Error: 0.230763, 0.289293 Feature: 0.141850, 0.088116, 0.985959
[11:52:56.555] xyz_f:0.052895, -0.227369, 0.830533  Reprojection Error: 0.214846, 0.301726 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.555] xyz_f:0.071150, 0.021262, 0.853114  Reprojection Error: 0.225034, 0.271968 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.555] xyz_f:0.044188, -0.251023, 0.826393  Reprojection Error: 0.215435, 0.306873 Feature: 0.259680, 0.003009, 0.965690
[11:52:56.555] xyz_f:0.349397, 0.022058, 0.744459  Reprojection Error: 0.227112, 0.279091 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.555] xyz_f:0.182573, -0.438880, 0.712967  Reprojection Error: 0.183466, 0.383511 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.555] xyz_f:0.258605, -0.463837, 0.664389  Reprojection Error: 0.159866, 0.410495 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.555] xyz_f:0.272704, -0.437200, 0.672171  Reprojection Error: 0.160220, 0.395324 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.555] xyz_f:0.035487, -0.259860, 0.825747  Reprojection Error: 0.216457, 0.306565 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.555] xyz_f:-0.080530, -0.165602, 0.861732  Reprojection Error: 0.231428, 0.288167 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.555] xyz_f:-0.149357, -0.065672, 0.875778  Reprojection Error: 0.238563, 0.274078 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.555] xyz_f:0.099837, 0.018267, 0.846245  Reprojection Error: 0.224059, 0.272720 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.555] xyz_f:0.349397, 0.022058, 0.744459  Reprojection Error: 0.227112, 0.279091 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.555] xyz_f:-0.070496, 0.181066, 0.858250  Reprojection Error: 0.239000, 0.274948 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.555] xyz_f:-0.068133, 0.153977, 0.862676  Reprojection Error: 0.237078, 0.268114 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.555] it:37 	 Success 	 new_chi2: 3.118761 	 dT = 0.058268, 0.038869, -0.045370
[11:52:56.555] xyz_f:0.048793, -0.257430, 0.777808  Reprojection Error: 0.196697, 0.325085 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.555] xyz_f:-0.066634, -0.164531, 0.818866  Reprojection Error: 0.219350, 0.296919 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.555] xyz_f:0.192889, -0.434740, 0.658646  Reprojection Error: 0.146685, 0.427993 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.555] xyz_f:-0.060833, 0.182230, 0.815036  Reprojection Error: 0.231203, 0.256601 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.555] xyz_f:0.267007, -0.458815, 0.606778  Reprojection Error: 0.109062, 0.468504 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.555] xyz_f:-0.066632, -0.158049, 0.819932  Reprojection Error: 0.219320, 0.295448 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.555] xyz_f:-0.057960, 0.155172, 0.819348  Reprojection Error: 0.228839, 0.257217 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.555] xyz_f:0.281120, -0.432013, 0.613942  Reprojection Error: 0.108034, 0.448565 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.555] xyz_f:0.200943, -0.458703, 0.641703  Reprojection Error: 0.140375, 0.448947 Feature: 0.401425, -0.235336, 0.885141
[11:52:56.555] xyz_f:0.083205, -0.227807, 0.776433  Reprojection Error: 0.190604, 0.316950 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.555] xyz_f:0.239867, -0.445841, 0.629422  Reprojection Error: 0.125190, 0.448182 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.555] xyz_f:-0.850991, -0.558646, 0.327053  Reprojection Error: 1.561489, 1.053087 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.555] xyz_f:0.110711, 0.021439, 0.795539  Reprojection Error: 0.202872, 0.267357 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.555] xyz_f:-0.135948, -0.065412, 0.835939  Reprojection Error: 0.230651, 0.277341 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.555] xyz_f:0.256308, -0.447242, 0.619659  Reprojection Error: 0.117094, 0.454233 Feature: 0.456227, -0.229971, 0.859634
[11:52:56.555] xyz_f:0.080333, -0.213191, 0.780665  Reprojection Error: 0.191761, 0.312499 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.555] xyz_f:-0.060849, -0.170837, 0.817097  Reprojection Error: 0.218340, 0.298449 Feature: 0.141850, 0.088116, 0.985959
[11:52:56.555] xyz_f:0.066012, -0.224735, 0.781835  Reprojection Error: 0.194102, 0.315409 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.555] xyz_f:0.082318, 0.024098, 0.803659  Reprojection Error: 0.206005, 0.266905 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.555] xyz_f:0.057410, -0.248491, 0.778074  Reprojection Error: 0.195122, 0.322482 Feature: 0.259680, 0.003009, 0.965690
[11:52:56.555] xyz_f:0.355510, 0.028132, 0.682919  Reprojection Error: 0.175868, 0.267526 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.555] xyz_f:0.192889, -0.434740, 0.658646  Reprojection Error: 0.146685, 0.427993 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.555] xyz_f:0.267007, -0.458815, 0.606778  Reprojection Error: 0.109062, 0.468504 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.555] xyz_f:0.281120, -0.432013, 0.613942  Reprojection Error: 0.108034, 0.448565 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.555] xyz_f:0.048793, -0.257430, 0.777808  Reprojection Error: 0.196701, 0.322837 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.555] xyz_f:-0.066634, -0.164531, 0.818866  Reprojection Error: 0.219350, 0.296919 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.555] xyz_f:-0.135948, -0.065412, 0.835939  Reprojection Error: 0.230651, 0.277341 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.555] xyz_f:0.110711, 0.021439, 0.795539  Reprojection Error: 0.202872, 0.267357 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.555] xyz_f:0.355510, 0.028132, 0.682919  Reprojection Error: 0.175868, 0.267526 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.555] xyz_f:-0.060833, 0.182230, 0.815036  Reprojection Error: 0.231499, 0.262334 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.555] xyz_f:-0.057960, 0.155172, 0.819348  Reprojection Error: 0.228839, 0.257217 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.555] it:38 	 Success 	 new_chi2: 3.124052 	 dT = 0.050417, 0.038111, -0.040567
[11:52:56.555] xyz_f:0.057063, -0.254818, 0.729947  Reprojection Error: 0.181255, 0.343207 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.555] xyz_f:-0.057636, -0.163127, 0.775514  Reprojection Error: 0.212297, 0.306340 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.555] xyz_f:0.198233, -0.430630, 0.605196  Reprojection Error: 0.111990, 0.479496 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.555] xyz_f:-0.055630, 0.183675, 0.771532  Reprojection Error: 0.228667, 0.242120 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.555] xyz_f:0.270511, -0.453937, 0.550459  Reprojection Error: 0.057675, 0.537005 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.555] xyz_f:-0.057660, -0.156646, 0.776581  Reprojection Error: 0.212304, 0.304401 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.555] xyz_f:-0.052306, 0.156650, 0.775722  Reprojection Error: 0.225528, 0.244662 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.555] xyz_f:0.284611, -0.426986, 0.557070  Reprojection Error: 0.055019, 0.511379 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.555] xyz_f:0.205869, -0.454510, 0.587945  Reprojection Error: 0.103366, 0.507175 Feature: 0.401425, -0.235336, 0.885141
[11:52:56.555] xyz_f:0.091082, -0.224836, 0.727232  Reprojection Error: 0.172523, 0.332714 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.555] xyz_f:0.244144, -0.441244, 0.574152  Reprojection Error: 0.081055, 0.508361 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.555] xyz_f:-0.856477, -0.565555, 0.314724  Reprojection Error: 1.680849, 1.141950 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.555] xyz_f:0.116697, 0.024690, 0.745296  Reprojection Error: 0.185458, 0.261179 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.555] xyz_f:-0.127265, -0.064737, 0.795311  Reprojection Error: 0.228040, 0.280490 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.555] xyz_f:0.260204, -0.442474, 0.563751  Reprojection Error: 0.069163, 0.517351 Feature: 0.456227, -0.229971, 0.859634
[11:52:56.555] xyz_f:0.088224, -0.210250, 0.731576  Reprojection Error: 0.174069, 0.326803 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.555] xyz_f:-0.051859, -0.169372, 0.773519  Reprojection Error: 0.210913, 0.308334 Feature: 0.141850, 0.088116, 0.985959
[11:52:56.555] xyz_f:0.074082, -0.221943, 0.733304  Reprojection Error: 0.177509, 0.330625 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.555] xyz_f:0.088618, 0.027052, 0.754523  Reprojection Error: 0.190986, 0.261037 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.555] xyz_f:0.065589, -0.245788, 0.729878  Reprojection Error: 0.179043, 0.339868 Feature: 0.259680, 0.003009, 0.965690
[11:52:56.555] xyz_f:0.356812, 0.033929, 0.623175  Reprojection Error: 0.123870, 0.254275 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.555] xyz_f:0.198233, -0.430630, 0.605196  Reprojection Error: 0.111990, 0.479496 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.555] xyz_f:0.270511, -0.453937, 0.550459  Reprojection Error: 0.057675, 0.537005 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.555] xyz_f:0.284611, -0.426986, 0.557070  Reprojection Error: 0.055019, 0.511379 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.555] xyz_f:0.057063, -0.254818, 0.729947  Reprojection Error: 0.181258, 0.340959 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.555] xyz_f:-0.057636, -0.163127, 0.775514  Reprojection Error: 0.212297, 0.306340 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.555] xyz_f:-0.127265, -0.064737, 0.795311  Reprojection Error: 0.228040, 0.280490 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.555] xyz_f:0.116697, 0.024690, 0.745296  Reprojection Error: 0.185458, 0.261179 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.555] xyz_f:0.356812, 0.033929, 0.623175  Reprojection Error: 0.123870, 0.254275 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.555] xyz_f:-0.055630, 0.183675, 0.771532  Reprojection Error: 0.228963, 0.247853 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.556] xyz_f:-0.052306, 0.156650, 0.775722  Reprojection Error: 0.225528, 0.244662 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.556] it:39 	 Success 	 new_chi2: 3.148765 	 dT = 0.043421, 0.036878, -0.035825
[11:52:56.556] xyz_f:0.060278, -0.252170, 0.683186  Reprojection Error: 0.171199, 0.363225 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.556] xyz_f:-0.053621, -0.161539, 0.732708  Reprojection Error: 0.211159, 0.316461 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.556] xyz_f:0.198671, -0.426686, 0.553597  Reprojection Error: 0.080669, 0.538693 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.556] xyz_f:-0.054969, 0.185266, 0.728714  Reprojection Error: 0.231997, 0.225948 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.556] xyz_f:0.269225, -0.449330, 0.496388  Reprojection Error: 0.006735, 0.617553 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.556] xyz_f:-0.053669, -0.155058, 0.733776  Reprojection Error: 0.211195, 0.314003 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.556] xyz_f:-0.051252, 0.158274, 0.732783  Reprojection Error: 0.228041, 0.230612 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.556] xyz_f:0.283295, -0.422249, 0.502512  Reprojection Error: 0.002168, 0.585170 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.556] xyz_f:0.205926, -0.450497, 0.536088  Reprojection Error: 0.069388, 0.574467 Feature: 0.401425, -0.235336, 0.885141
[11:52:56.556] xyz_f:0.093903, -0.221874, 0.679300  Reprojection Error: 0.159533, 0.350169 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.556] xyz_f:0.243577, -0.436878, 0.520981  Reprojection Error: 0.038746, 0.578415 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.556] xyz_f:-0.864161, -0.571428, 0.299767  Reprojection Error: 1.842270, 1.251209 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.556] xyz_f:0.117813, 0.027881, 0.696507  Reprojection Error: 0.172887, 0.254276 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.556] xyz_f:-0.123432, -0.063796, 0.754917  Reprojection Error: 0.231526, 0.283598 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.556] xyz_f:0.259278, -0.437961, 0.510031  Reprojection Error: 0.022364, 0.591172 Feature: 0.456227, -0.229971, 0.859634
[11:52:56.556] xyz_f:0.091062, -0.207314, 0.683742  Reprojection Error: 0.161482, 0.342615 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.556] xyz_f:-0.047859, -0.167730, 0.730513  Reprojection Error: 0.209384, 0.318977 Feature: 0.141850, 0.088116, 0.985959
[11:52:56.556] xyz_f:0.077097, -0.219138, 0.685957  Reprojection Error: 0.166140, 0.347427 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.556] xyz_f:0.090050, 0.029985, 0.706700  Reprojection Error: 0.181012, 0.254461 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.556] xyz_f:0.068712, -0.243061, 0.682823  Reprojection Error: 0.168276, 0.359081 Feature: 0.259680, 0.003009, 0.965690
[11:52:56.556] xyz_f:0.353464, 0.039326, 0.566153  Reprojection Error: 0.072116, 0.239258 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.556] xyz_f:0.198671, -0.426686, 0.553597  Reprojection Error: 0.080669, 0.538693 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.556] xyz_f:0.269225, -0.449330, 0.496388  Reprojection Error: 0.006735, 0.617553 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.556] xyz_f:0.283295, -0.422249, 0.502512  Reprojection Error: 0.002168, 0.585170 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.556] xyz_f:0.060278, -0.252170, 0.683186  Reprojection Error: 0.171202, 0.360976 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.556] xyz_f:-0.053621, -0.161539, 0.732708  Reprojection Error: 0.211159, 0.316461 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.556] xyz_f:-0.123432, -0.063796, 0.754917  Reprojection Error: 0.231526, 0.283598 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.556] xyz_f:0.117813, 0.027881, 0.696507  Reprojection Error: 0.172887, 0.254276 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.556] xyz_f:0.353464, 0.039326, 0.566153  Reprojection Error: 0.072116, 0.239258 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.556] xyz_f:-0.054969, 0.185266, 0.728714  Reprojection Error: 0.232293, 0.231682 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.556] xyz_f:-0.051252, 0.158274, 0.732783  Reprojection Error: 0.228041, 0.230612 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.556] it:40 	 Success 	 new_chi2: 3.137309 	 dT = 0.037673, 0.035285, -0.031704
[11:52:56.556] xyz_f:0.059206, -0.249562, 0.638168  Reprojection Error: 0.166654, 0.385176 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.556] xyz_f:-0.053863, -0.159862, 0.691166  Reprojection Error: 0.215907, 0.327287 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.556] xyz_f:0.194994, -0.422953, 0.504381  Reprojection Error: 0.052941, 0.606501 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.556] xyz_f:-0.058177, 0.186920, 0.687259  Reprojection Error: 0.241216, 0.208207 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.556] xyz_f:0.263946, -0.445025, 0.445036  Reprojection Error: -0.043987, 0.712330 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.556] xyz_f:-0.053931, -0.153382, 0.692236  Reprojection Error: 0.215963, 0.324263 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.556] xyz_f:-0.054116, 0.159959, 0.691208  Reprojection Error: 0.236392, 0.215183 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.556] xyz_f:0.277975, -0.417828, 0.450729  Reprojection Error: -0.050796, 0.671900 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.556] xyz_f:0.201905, -0.446706, 0.486655  Reprojection Error: 0.038633, 0.652037 Feature: 0.401425, -0.235336, 0.885141
[11:52:56.556] xyz_f:0.092447, -0.218992, 0.633258  Reprojection Error: 0.151781, 0.369365 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.556] xyz_f:0.238962, -0.432781, 0.470404  Reprojection Error: -0.001713, 0.659867 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.556] xyz_f:-0.873889, -0.576442, 0.283194  Reprojection Error: 2.045321, 1.380469 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.556] xyz_f:0.114823, 0.030953, 0.649757  Reprojection Error: 0.165319, 0.246668 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.556] xyz_f:-0.123761, -0.062692, 0.715515  Reprojection Error: 0.240989, 0.286710 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.556] xyz_f:0.254329, -0.433736, 0.458978  Reprojection Error: -0.023399, 0.677481 Feature: 0.456227, -0.229971, 0.859634
[11:52:56.556] xyz_f:0.089624, -0.204456, 0.637788  Reprojection Error: 0.154141, 0.359980 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.556] xyz_f:-0.048120, -0.166007, 0.688795  Reprojection Error: 0.213731, 0.330382 Feature: 0.141850, 0.088116, 0.985959
[11:52:56.556] xyz_f:0.075831, -0.216393, 0.640427  Reprojection Error: 0.160127, 0.365852 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.556] xyz_f:0.087368, 0.032830, 0.660795  Reprojection Error: 0.176218, 0.247207 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.556] xyz_f:0.067550, -0.240385, 0.637548  Reprojection Error: 0.162953, 0.380162 Feature: 0.259680, 0.003009, 0.965690
[11:52:56.556] xyz_f:0.346270, 0.044315, 0.512250  Reprojection Error: 0.020462, 0.222210 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.556] xyz_f:0.194994, -0.422953, 0.504381  Reprojection Error: 0.052941, 0.606501 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.556] xyz_f:0.263946, -0.445025, 0.445036  Reprojection Error: -0.043987, 0.712330 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.556] xyz_f:0.277975, -0.417828, 0.450729  Reprojection Error: -0.050796, 0.671900 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.556] xyz_f:0.059206, -0.249562, 0.638168  Reprojection Error: 0.166657, 0.382928 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.556] xyz_f:-0.053863, -0.159862, 0.691166  Reprojection Error: 0.215907, 0.327287 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.556] xyz_f:-0.123761, -0.062692, 0.715515  Reprojection Error: 0.240989, 0.286710 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.556] xyz_f:0.114823, 0.030953, 0.649757  Reprojection Error: 0.165319, 0.246668 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.556] xyz_f:0.346270, 0.044315, 0.512250  Reprojection Error: 0.020462, 0.222210 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.556] xyz_f:-0.058177, 0.186920, 0.687259  Reprojection Error: 0.241511, 0.213941 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.556] xyz_f:-0.054116, 0.159959, 0.691208  Reprojection Error: 0.236392, 0.215183 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.556] it:41 	 Success 	 new_chi2: 3.004280 	 dT = 0.033567, 0.033505, -0.028996
[11:52:56.556] xyz_f:0.055226, -0.246962, 0.594960  Reprojection Error: 0.166607, 0.409206 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.556] xyz_f:-0.056985, -0.158108, 0.651113  Reprojection Error: 0.225496, 0.338820 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.556] xyz_f:0.188511, -0.419343, 0.457404  Reprojection Error: 0.027410, 0.684731 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.556] xyz_f:-0.064009, 0.188632, 0.647365  Reprojection Error: 0.255440, 0.188802 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.556] xyz_f:0.255938, -0.440904, 0.396149  Reprojection Error: -0.096961, 0.825327 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.556] xyz_f:-0.057071, -0.151628, 0.652185  Reprojection Error: 0.225562, 0.335181 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.556] xyz_f:-0.059637, 0.161702, 0.651196  Reprojection Error: 0.249680, 0.198286 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.556] xyz_f:0.269916, -0.413602, 0.401450  Reprojection Error: -0.106425, 0.775163 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.556] xyz_f:0.195101, -0.443046, 0.439490  Reprojection Error: 0.009590, 0.742217 Feature: 0.401425, -0.235336, 0.885141
[11:52:56.556] xyz_f:0.088085, -0.216144, 0.589124  Reprojection Error: 0.148248, 0.390438 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.556] xyz_f:0.231583, -0.428845, 0.422209  Reprojection Error: -0.042223, 0.755565 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.556] xyz_f:-0.884965, -0.580872, 0.266222  Reprojection Error: 2.283659, 1.526879 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.556] xyz_f:0.109039, 0.033964, 0.605016  Reprojection Error: 0.161811, 0.238170 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.556] xyz_f:-0.126900, -0.061463, 0.677420  Reprojection Error: 0.255351, 0.289821 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.556] xyz_f:0.246631, -0.429686, 0.410357  Reprojection Error: -0.070294, 0.779580 Feature: 0.456227, -0.229971, 0.859634
[11:52:56.556] xyz_f:0.085281, -0.201629, 0.593733  Reprojection Error: 0.151028, 0.379005 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.556] xyz_f:-0.051265, -0.164209, 0.648581  Reprojection Error: 0.222911, 0.342553 Feature: 0.141850, 0.088116, 0.985959
[11:52:56.556] xyz_f:0.071658, -0.213669, 0.596756  Reprojection Error: 0.158455, 0.386014 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.556] xyz_f:0.081891, 0.035636, 0.616820  Reprojection Error: 0.175672, 0.239117 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.556] xyz_f:0.063480, -0.237723, 0.594108  Reprojection Error: 0.162056, 0.403250 Feature: 0.259680, 0.003009, 0.965690
[11:52:56.556] xyz_f:0.336438, 0.049047, 0.461083  Reprojection Error: -0.033227, 0.202346 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.556] xyz_f:0.188511, -0.419343, 0.457404  Reprojection Error: 0.027410, 0.684731 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.556] xyz_f:0.255938, -0.440904, 0.396149  Reprojection Error: -0.096961, 0.825327 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.556] xyz_f:0.269916, -0.413602, 0.401450  Reprojection Error: -0.106425, 0.775163 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.556] xyz_f:0.055226, -0.246962, 0.594960  Reprojection Error: 0.166610, 0.406958 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.556] xyz_f:-0.056985, -0.158108, 0.651113  Reprojection Error: 0.225496, 0.338820 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.556] xyz_f:-0.126900, -0.061463, 0.677420  Reprojection Error: 0.255351, 0.289821 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.556] xyz_f:0.109039, 0.033964, 0.605016  Reprojection Error: 0.161811, 0.238170 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.556] xyz_f:0.336438, 0.049047, 0.461083  Reprojection Error: -0.033227, 0.202346 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.556] xyz_f:-0.064009, 0.188632, 0.647365  Reprojection Error: 0.255736, 0.194535 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.556] xyz_f:-0.059637, 0.161702, 0.651196  Reprojection Error: 0.249680, 0.198286 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.556] it:42 	 Success 	 new_chi2: 2.672747 	 dT = 0.032170, 0.031875, -0.029846
[11:52:56.556] xyz_f:0.050797, -0.244074, 0.552307  Reprojection Error: 0.167456, 0.436034 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.556] xyz_f:-0.060431, -0.156083, 0.611681  Reprojection Error: 0.236771, 0.351163 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.556] xyz_f:0.181390, -0.415436, 0.410947  Reprojection Error: -0.001853, 0.778866 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.556] xyz_f:-0.070238, 0.190592, 0.608175  Reprojection Error: 0.272054, 0.166803 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.556] xyz_f:0.247187, -0.436482, 0.347771  Reprojection Error: -0.161674, 0.967436 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.556] xyz_f:-0.060536, -0.149604, 0.612755  Reprojection Error: 0.236848, 0.346838 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.556] xyz_f:-0.065549, 0.163697, 0.611875  Reprojection Error: 0.265228, 0.179068 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.556] xyz_f:0.261101, -0.409072, 0.352670  Reprojection Error: -0.174429, 0.904822 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.556] xyz_f:0.187643, -0.439089, 0.392847  Reprojection Error: -0.024134, 0.851836 Feature: 0.401425, -0.235336, 0.885141
[11:52:56.556] xyz_f:0.083236, -0.213004, 0.545529  Reprojection Error: 0.145188, 0.414001 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.556] xyz_f:0.223502, -0.424608, 0.374523  Reprojection Error: -0.090482, 0.873578 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.556] xyz_f:-0.895871, -0.585273, 0.250768  Reprojection Error: 2.531995, 1.678882 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.556] xyz_f:0.102707, 0.037260, 0.560839  Reprojection Error: 0.158905, 0.227870 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.556] xyz_f:-0.130303, -0.059978, 0.640003  Reprojection Error: 0.271620, 0.292806 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.556] xyz_f:0.238207, -0.425334, 0.362242  Reprojection Error: -0.126870, 0.906648 Feature: 0.456227, -0.229971, 0.859634
[11:52:56.556] xyz_f:0.080454, -0.198510, 0.550218  Reprojection Error: 0.148441, 0.400194 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.556] xyz_f:-0.054739, -0.162140, 0.608984  Reprojection Error: 0.233755, 0.355618 Feature: 0.141850, 0.088116, 0.985959
[11:52:56.556] xyz_f:0.067017, -0.210655, 0.553632  Reprojection Error: 0.157484, 0.408460 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.556] xyz_f:0.075898, 0.038724, 0.573420  Reprojection Error: 0.176074, 0.229359 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.556] xyz_f:0.058952, -0.234771, 0.551218  Reprojection Error: 0.161956, 0.429030 Feature: 0.259680, 0.003009, 0.965690
[11:52:56.556] xyz_f:0.325739, 0.054084, 0.410412  Reprojection Error: -0.097246, 0.176941 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.556] xyz_f:0.181390, -0.415436, 0.410947  Reprojection Error: -0.001853, 0.778866 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.556] xyz_f:0.247187, -0.436482, 0.347771  Reprojection Error: -0.161674, 0.967436 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.556] xyz_f:0.261101, -0.409072, 0.352670  Reprojection Error: -0.174429, 0.904822 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.556] xyz_f:0.050797, -0.244074, 0.552307  Reprojection Error: 0.167459, 0.433786 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.556] xyz_f:-0.060431, -0.156083, 0.611681  Reprojection Error: 0.236771, 0.351163 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.556] xyz_f:-0.130303, -0.059978, 0.640003  Reprojection Error: 0.271620, 0.292806 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.556] xyz_f:0.102707, 0.037260, 0.560839  Reprojection Error: 0.158905, 0.227870 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.556] xyz_f:0.325739, 0.054084, 0.410412  Reprojection Error: -0.097246, 0.176941 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.556] xyz_f:-0.070238, 0.190592, 0.608175  Reprojection Error: 0.272350, 0.172536 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.556] xyz_f:-0.065549, 0.163697, 0.611875  Reprojection Error: 0.265228, 0.179068 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.556] it:43 	 Success 	 new_chi2: 2.241647 	 dT = 0.035446, 0.031269, -0.038665
[11:52:56.556] xyz_f:0.050988, -0.240017, 0.505897  Reprojection Error: 0.158641, 0.468555 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.556] xyz_f:-0.058820, -0.153132, 0.569399  Reprojection Error: 0.241279, 0.364929 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.556] xyz_f:0.177919, -0.410090, 0.359728  Reprojection Error: -0.055052, 0.907944 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.556] xyz_f:-0.072219, 0.193426, 0.566327  Reprojection Error: 0.284086, 0.138641 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.556] xyz_f:0.241519, -0.430488, 0.294135  Reprojection Error: -0.272014, 1.175927 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.556] xyz_f:-0.058950, -0.146654, 0.570478  Reprojection Error: 0.241390, 0.359761 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.556] xyz_f:-0.067127, 0.166581, 0.569845  Reprojection Error: 0.275898, 0.154275 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.556] xyz_f:0.255332, -0.402940, 0.298516  Reprojection Error: -0.289409, 1.094703 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.556] xyz_f:0.183729, -0.433683, 0.341402  Reprojection Error: -0.084644, 1.004424 Feature: 0.401425, -0.235336, 0.885141
[11:52:56.556] xyz_f:0.082839, -0.208625, 0.497919  Reprojection Error: 0.131397, 0.442541 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.556] xyz_f:0.218731, -0.418848, 0.321755  Reprojection Error: -0.173526, 1.041607 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.556] xyz_f:-0.902818, -0.590726, 0.239852  Reprojection Error: 2.723549, 1.807840 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.556] xyz_f:0.100363, 0.041824, 0.512537  Reprojection Error: 0.146221, 0.212705 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.556] xyz_f:-0.128545, -0.057725, 0.600328  Reprojection Error: 0.282146, 0.295247 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.556] xyz_f:0.232975, -0.419429, 0.308934  Reprojection Error: -0.223404, 1.090144 Feature: 0.456227, -0.229971, 0.859634
[11:52:56.556] xyz_f:0.080089, -0.194159, 0.502711  Reprojection Error: 0.135349, 0.425634 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.556] xyz_f:-0.053173, -0.159133, 0.566491  Reprojection Error: 0.237733, 0.370281 Feature: 0.141850, 0.088116, 0.985959
[11:52:56.556] xyz_f:0.066911, -0.206437, 0.506622  Reprojection Error: 0.146462, 0.435441 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.556] xyz_f:0.074029, 0.043022, 0.526111  Reprojection Error: 0.167724, 0.215117 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.556] xyz_f:0.059003, -0.230633, 0.504506  Reprojection Error: 0.151953, 0.460263 Feature: 0.259680, 0.003009, 0.965690
[11:52:56.556] xyz_f:0.317443, 0.060850, 0.353891  Reprojection Error: -0.200566, 0.136775 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.556] xyz_f:0.177919, -0.410090, 0.359728  Reprojection Error: -0.055052, 0.907944 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.556] xyz_f:0.241519, -0.430488, 0.294135  Reprojection Error: -0.272014, 1.175927 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.556] xyz_f:0.255332, -0.402940, 0.298516  Reprojection Error: -0.289409, 1.094703 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.556] xyz_f:0.050988, -0.240017, 0.505897  Reprojection Error: 0.158645, 0.466307 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.556] xyz_f:-0.058820, -0.153132, 0.569399  Reprojection Error: 0.241279, 0.364929 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.557] xyz_f:-0.128545, -0.057725, 0.600328  Reprojection Error: 0.282146, 0.295247 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.557] xyz_f:0.100363, 0.041824, 0.512537  Reprojection Error: 0.146221, 0.212705 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.557] xyz_f:0.317443, 0.060850, 0.353891  Reprojection Error: -0.200566, 0.136775 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.557] xyz_f:-0.072219, 0.193426, 0.566327  Reprojection Error: 0.284382, 0.144374 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.557] xyz_f:-0.067127, 0.166581, 0.569845  Reprojection Error: 0.275898, 0.154275 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.557] it:44 	 Success 	 new_chi2: 2.095540 	 dT = 0.031229, 0.029125, -0.035704
[11:52:56.557] xyz_f:0.056011, -0.235959, 0.461628  Reprojection Error: 0.138095, 0.505262 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.557] xyz_f:-0.052340, -0.150082, 0.528893  Reprojection Error: 0.236939, 0.379760 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.557] xyz_f:0.179392, -0.404876, 0.311142  Reprojection Error: -0.137019, 1.069199 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.557] xyz_f:-0.069039, 0.196337, 0.526339  Reprojection Error: 0.287732, 0.107163 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.557] xyz_f:0.240879, -0.424696, 0.243393  Reprojection Error: -0.440570, 1.457255 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.557] xyz_f:-0.052493, -0.143606, 0.529977  Reprojection Error: 0.237103, 0.373654 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.557] xyz_f:-0.063580, 0.169540, 0.529675  Reprojection Error: 0.278136, 0.126519 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.557] xyz_f:0.254579, -0.397021, 0.247299  Reprojection Error: -0.463510, 1.350320 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.557] xyz_f:0.184785, -0.428416, 0.292624  Reprojection Error: -0.177959, 1.198179 Feature: 0.401425, -0.235336, 0.885141
[11:52:56.557] xyz_f:0.087276, -0.204276, 0.452562  Reprojection Error: 0.104918, 0.474924 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.557] xyz_f:0.218950, -0.413262, 0.271784  Reprojection Error: -0.299324, 1.260402 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.557] xyz_f:-0.903121, -0.595508, 0.228574  Reprojection Error: 2.910605, 1.950287 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.557] xyz_f:0.102979, 0.046327, 0.466607  Reprojection Error: 0.121339, 0.195022 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.557] xyz_f:-0.121836, -0.055319, 0.562223  Reprojection Error: 0.284725, 0.297485 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.557] xyz_f:0.232748, -0.413713, 0.258479  Reprojection Error: -0.369732, 1.333049 Feature: 0.456227, -0.229971, 0.859634
[11:52:56.557] xyz_f:0.084560, -0.189835, 0.457448  Reprojection Error: 0.109812, 0.454396 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.557] xyz_f:-0.046742, -0.156031, 0.525791  Reprojection Error: 0.232768, 0.386126 Feature: 0.141850, 0.088116, 0.985959
[11:52:56.557] xyz_f:0.071638, -0.202234, 0.461809  Reprojection Error: 0.123409, 0.465879 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.557] xyz_f:0.077119, 0.047284, 0.481081  Reprojection Error: 0.148130, 0.198604 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.557] xyz_f:0.063886, -0.226502, 0.459963  Reprojection Error: 0.130011, 0.495551 Feature: 0.259680, 0.003009, 0.965690
[11:52:56.557] xyz_f:0.314275, 0.067332, 0.300573  Reprojection Error: -0.349144, 0.084707 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.557] xyz_f:0.179392, -0.404876, 0.311142  Reprojection Error: -0.137019, 1.069199 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.557] xyz_f:0.240879, -0.424696, 0.243393  Reprojection Error: -0.440570, 1.457255 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.557] xyz_f:0.254579, -0.397021, 0.247299  Reprojection Error: -0.463510, 1.350320 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.557] xyz_f:0.056011, -0.235959, 0.461628  Reprojection Error: 0.138099, 0.503014 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.557] xyz_f:-0.052340, -0.150082, 0.528893  Reprojection Error: 0.236939, 0.379760 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.557] xyz_f:-0.121836, -0.055319, 0.562223  Reprojection Error: 0.284725, 0.297485 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.557] xyz_f:0.102979, 0.046327, 0.466607  Reprojection Error: 0.121339, 0.195022 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.557] xyz_f:0.314275, 0.067332, 0.300573  Reprojection Error: -0.349144, 0.084707 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.557] xyz_f:-0.069039, 0.196337, 0.526339  Reprojection Error: 0.288028, 0.112896 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.557] xyz_f:-0.063580, 0.169540, 0.529675  Reprojection Error: 0.278136, 0.126519 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.557] it:45 	 Success 	 new_chi2: 2.156429 	 dT = 0.024252, 0.026047, -0.026944
[11:52:56.557] xyz_f:0.057687, -0.232702, 0.423426  Reprojection Error: 0.123190, 0.543687 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.557] xyz_f:-0.049473, -0.147577, 0.493495  Reprojection Error: 0.238227, 0.395037 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.557] xyz_f:0.178285, -0.400768, 0.269765  Reprojection Error: -0.221351, 1.253563 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.557] xyz_f:-0.068647, 0.198717, 0.491409  Reprojection Error: 0.296260, 0.075803 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.557] xyz_f:0.238125, -0.420165, 0.200436  Reprojection Error: -0.638930, 1.808606 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.557] xyz_f:-0.049643, -0.141101, 0.494583  Reprojection Error: 0.238428, 0.387982 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.557] xyz_f:-0.062917, 0.171960, 0.494599  Reprojection Error: 0.285308, 0.098927 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.557] xyz_f:0.251729, -0.392394, 0.203988  Reprojection Error: -0.668111, 1.668513 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.557] xyz_f:0.183358, -0.424272, 0.251110  Reprojection Error: -0.276674, 1.423712 Feature: 0.401425, -0.235336, 0.885141
[11:52:56.557] xyz_f:0.088484, -0.200802, 0.413552  Reprojection Error: 0.083805, 0.509102 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.557] xyz_f:0.216863, -0.408882, 0.229389  Reprojection Error: -0.439113, 1.522326 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.557] xyz_f:-0.904654, -0.598951, 0.215377  Reprojection Error: 3.159811, 2.125904 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.557] xyz_f:0.102799, 0.049905, 0.427207  Reprojection Error: 0.101404, 0.177490 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.557] xyz_f:-0.118737, -0.053298, 0.528631  Reprojection Error: 0.292633, 0.299913 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.557] xyz_f:0.230313, -0.409238, 0.215730  Reprojection Error: -0.536877, 1.629472 Feature: 0.456227, -0.229971, 0.859634
[11:52:56.557] xyz_f:0.085795, -0.186380, 0.418509  Reprojection Error: 0.089661, 0.484754 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.557] xyz_f:-0.043916, -0.153487, 0.490248  Reprojection Error: 0.233448, 0.402451 Feature: 0.141850, 0.088116, 0.985959
[11:52:56.557] xyz_f:0.073078, -0.198868, 0.423203  Reprojection Error: 0.105855, 0.497876 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.557] xyz_f:0.077319, 0.050683, 0.442349  Reprojection Error: 0.133642, 0.182314 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.557] xyz_f:0.065450, -0.223191, 0.421557  Reprojection Error: 0.113647, 0.532559 Feature: 0.259680, 0.003009, 0.965690
[11:52:56.557] xyz_f:0.309552, 0.072368, 0.255732  Reprojection Error: -0.514010, 0.025736 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.557] xyz_f:0.178285, -0.400768, 0.269765  Reprojection Error: -0.221351, 1.253563 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.557] xyz_f:0.238125, -0.420165, 0.200436  Reprojection Error: -0.638930, 1.808606 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.557] xyz_f:0.251729, -0.392394, 0.203988  Reprojection Error: -0.668111, 1.668513 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.557] xyz_f:0.057687, -0.232702, 0.423426  Reprojection Error: 0.123193, 0.541438 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.557] xyz_f:-0.049473, -0.147577, 0.493495  Reprojection Error: 0.238227, 0.395037 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.557] xyz_f:-0.118737, -0.053298, 0.528631  Reprojection Error: 0.292633, 0.299913 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.557] xyz_f:0.102799, 0.049905, 0.427207  Reprojection Error: 0.101404, 0.177490 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.557] xyz_f:0.309552, 0.072368, 0.255732  Reprojection Error: -0.514010, 0.025736 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.557] xyz_f:-0.068647, 0.198717, 0.491409  Reprojection Error: 0.296556, 0.081536 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.557] xyz_f:-0.062917, 0.171960, 0.494599  Reprojection Error: 0.285308, 0.098927 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.557] it:46 	 Success 	 new_chi2: 2.240836 	 dT = 0.021181, 0.024031, -0.024164
[11:52:56.557] xyz_f:0.055782, -0.229641, 0.387970  Reprojection Error: 0.115650, 0.586020 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.557] xyz_f:-0.050244, -0.145182, 0.460528  Reprojection Error: 0.247078, 0.411245 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.557] xyz_f:0.173810, -0.396961, 0.231524  Reprojection Error: -0.311178, 1.482496 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.557] xyz_f:-0.071627, 0.200985, 0.458914  Reprojection Error: 0.312644, 0.042229 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.557] xyz_f:0.232135, -0.415988, 0.160817  Reprojection Error: -0.894373, 2.299076 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.557] xyz_f:-0.050429, -0.138708, 0.461620  Reprojection Error: 0.247298, 0.403169 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.557] xyz_f:-0.065657, 0.174264, 0.461968  Reprojection Error: 0.300224, 0.069382 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.557] xyz_f:0.245644, -0.388133, 0.164052  Reprojection Error: -0.931431, 2.110812 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.557] xyz_f:0.178592, -0.420434, 0.212755  Reprojection Error: -0.385914, 1.710271 Feature: 0.401425, -0.235336, 0.885141
[11:52:56.557] xyz_f:0.086140, -0.197550, 0.377383  Reprojection Error: 0.069511, 0.547021 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.557] xyz_f:0.211485, -0.404836, 0.190259  Reprojection Error: -0.605282, 1.867662 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.557] xyz_f:-0.908844, -0.601916, 0.202411  Reprojection Error: 3.449578, 2.318695 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.557] xyz_f:0.099202, 0.053243, 0.390718  Reprojection Error: 0.088139, 0.158037 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.557] xyz_f:-0.119257, -0.051335, 0.497277  Reprojection Error: 0.307841, 0.302324 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.557] xyz_f:0.224614, -0.405109, 0.176289  Reprojection Error: -0.743401, 2.030460 Feature: 0.456227, -0.229971, 0.859634
[11:52:56.557] xyz_f:0.083477, -0.183145, 0.382402  Reprojection Error: 0.076366, 0.518342 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.557] xyz_f:-0.044727, -0.151058, 0.457151  Reprojection Error: 0.241709, 0.419803 Feature: 0.141850, 0.088116, 0.985959
[11:52:56.557] xyz_f:0.070952, -0.195712, 0.387391  Reprojection Error: 0.095381, 0.533168 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.557] xyz_f:0.074078, 0.053862, 0.406450  Reprojection Error: 0.126180, 0.164371 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.557] xyz_f:0.063440, -0.220081, 0.385922  Reprojection Error: 0.104521, 0.573390 Feature: 0.259680, 0.003009, 0.965690
[11:52:56.557] xyz_f:0.301752, 0.076986, 0.214467  Reprojection Error: -0.710544, -0.050246 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.557] xyz_f:0.173810, -0.396961, 0.231524  Reprojection Error: -0.311178, 1.482496 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.557] xyz_f:0.232135, -0.415988, 0.160817  Reprojection Error: -0.894373, 2.299076 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.557] xyz_f:0.245644, -0.388133, 0.164052  Reprojection Error: -0.931431, 2.110812 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.557] xyz_f:0.055782, -0.229641, 0.387970  Reprojection Error: 0.115654, 0.583772 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.557] xyz_f:-0.050244, -0.145182, 0.460528  Reprojection Error: 0.247078, 0.411245 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.557] xyz_f:-0.119257, -0.051335, 0.497277  Reprojection Error: 0.307841, 0.302324 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.557] xyz_f:0.099202, 0.053243, 0.390718  Reprojection Error: 0.088139, 0.158037 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.557] xyz_f:0.301752, 0.076986, 0.214467  Reprojection Error: -0.710544, -0.050246 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.557] xyz_f:-0.071627, 0.200985, 0.458914  Reprojection Error: 0.312940, 0.047962 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.557] xyz_f:-0.065657, 0.174264, 0.461968  Reprojection Error: 0.300224, 0.069382 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.557] it:47 	 Success 	 new_chi2: 2.193392 	 dT = 0.020770, 0.023188, -0.026384
[11:52:56.557] xyz_f:0.054835, -0.226149, 0.351750  Reprojection Error: 0.103538, 0.637042 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.557] xyz_f:-0.049883, -0.142410, 0.426993  Reprojection Error: 0.254800, 0.429511 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.557] xyz_f:0.169977, -0.392673, 0.192332  Reprojection Error: -0.444226, 1.809577 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.557] xyz_f:-0.073663, 0.203603, 0.425955  Reprojection Error: 0.329500, 0.002194 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.557] xyz_f:0.226610, -0.411307, 0.120160  Reprojection Error: -1.336802, 3.135355 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.557] xyz_f:-0.050084, -0.135937, 0.428090  Reprojection Error: 0.255048, 0.420231 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.557] xyz_f:-0.067434, 0.176924, 0.428854  Reprojection Error: 0.315343, 0.034052 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.557] xyz_f:0.240007, -0.383360, 0.123052  Reprojection Error: -1.384523, 2.860328 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.557] xyz_f:0.174440, -0.416114, 0.173445  Reprojection Error: -0.552222, 2.133241 Feature: 0.401425, -0.235336, 0.885141
[11:52:56.557] xyz_f:0.084693, -0.193852, 0.340395  Reprojection Error: 0.048958, 0.593039 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.557] xyz_f:0.206641, -0.400294, 0.150120  Reprojection Error: -0.870228, 2.406344 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.557] xyz_f:-0.911642, -0.605018, 0.190800  Reprojection Error: 3.737497, 2.515926 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.557] xyz_f:0.096378, 0.057025, 0.353415  Reprojection Error: 0.069331, 0.132952 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.557] xyz_f:-0.118575, -0.049033, 0.465497  Reprojection Error: 0.322750, 0.304426 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.557] xyz_f:0.219412, -0.400479, 0.135820  Reprojection Error: -1.084740, 2.681081 Feature: 0.456227, -0.229971, 0.859634
[11:52:56.557] xyz_f:0.082061, -0.179465, 0.345482  Reprojection Error: 0.057137, 0.558874 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.557] xyz_f:-0.044413, -0.148248, 0.423476  Reprojection Error: 0.248748, 0.439444 Feature: 0.141850, 0.088116, 0.985959
[11:52:56.557] xyz_f:0.069752, -0.192117, 0.350787  Reprojection Error: 0.079688, 0.575637 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.557] xyz_f:0.071659, 0.057474, 0.369782  Reprojection Error: 0.114648, 0.141463 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.557] xyz_f:0.062372, -0.216537, 0.349508  Reprojection Error: 0.090448, 0.622665 Feature: 0.259680, 0.003009, 0.965690
[11:52:56.557] xyz_f:0.294204, 0.082135, 0.172061  Reprojection Error: -1.013434, -0.168641 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.557] xyz_f:0.169977, -0.392673, 0.192332  Reprojection Error: -0.444226, 1.809577 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.557] xyz_f:0.226610, -0.411307, 0.120160  Reprojection Error: -1.336802, 3.135355 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.557] xyz_f:0.240007, -0.383360, 0.123052  Reprojection Error: -1.384523, 2.860328 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.557] xyz_f:0.054835, -0.226149, 0.351750  Reprojection Error: 0.103542, 0.634794 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.557] xyz_f:-0.049883, -0.142410, 0.426993  Reprojection Error: 0.254800, 0.429511 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.557] xyz_f:-0.118575, -0.049033, 0.465497  Reprojection Error: 0.322750, 0.304426 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.557] xyz_f:0.096378, 0.057025, 0.353415  Reprojection Error: 0.069331, 0.132952 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.557] xyz_f:0.294204, 0.082135, 0.172061  Reprojection Error: -1.013434, -0.168641 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.557] xyz_f:-0.073663, 0.203603, 0.425955  Reprojection Error: 0.329796, 0.007927 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.557] xyz_f:-0.067434, 0.176924, 0.428854  Reprojection Error: 0.315343, 0.034052 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.557] it:48 	 Success 	 new_chi2: 1.970944 	 dT = 0.005297, 0.023980, 0.008631
[11:52:56.557] xyz_f:0.039741, -0.227309, 0.332097  Reprojection Error: 0.139761, 0.678581 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.557] xyz_f:-0.065412, -0.143335, 0.406465  Reprojection Error: 0.298906, 0.448631 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.557] xyz_f:0.155837, -0.394090, 0.173643  Reprojection Error: -0.457912, 2.037485 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.557] xyz_f:-0.088410, 0.202730, 0.405232  Reprojection Error: 0.374735, -0.020096 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.557] xyz_f:0.213028, -0.412852, 0.101945  Reprojection Error: -1.540529, 3.762107 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.557] xyz_f:-0.065608, -0.136861, 0.407560  Reprojection Error: 0.299032, 0.438495 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.557] xyz_f:-0.082266, 0.176037, 0.408182  Reprojection Error: 0.359641, 0.015331 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.557] xyz_f:0.226462, -0.384935, 0.104949  Reprojection Error: -1.591902, 3.412724 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.557] xyz_f:0.160404, -0.417542, 0.154793  Reprojection Error: -0.582734, 2.431545 Feature: 0.401425, -0.235336, 0.885141
[11:52:56.557] xyz_f:0.069766, -0.195078, 0.320991  Reprojection Error: 0.080423, 0.631285 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.557] xyz_f:0.192834, -0.401794, 0.131737  Reprojection Error: -0.957496, 2.789805 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.558] xyz_f:-0.926204, -0.604019, 0.163091  Reprojection Error: 4.638565, 3.048544 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.558] xyz_f:0.081902, 0.055772, 0.334110  Reprojection Error: 0.096902, 0.127379 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.558] xyz_f:-0.134215, -0.049805, 0.444396  Reprojection Error: 0.370039, 0.311164 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.558] xyz_f:0.205723, -0.402007, 0.117545  Reprojection Error: -1.219449, 3.152521 Feature: 0.456227, -0.229971, 0.859634
[11:52:56.558] xyz_f:0.067123, -0.180686, 0.326056  Reprojection Error: 0.088800, 0.593565 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.558] xyz_f:-0.059927, -0.149185, 0.402994  Reprojection Error: 0.292574, 0.459562 Feature: 0.141850, 0.088116, 0.985959
[11:52:56.558] xyz_f:0.054743, -0.193310, 0.331259  Reprojection Error: 0.113277, 0.611525 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.558] xyz_f:0.057048, 0.056277, 0.350271  Reprojection Error: 0.145566, 0.136224 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.558] xyz_f:0.047319, -0.217714, 0.329917  Reprojection Error: 0.125480, 0.663019 Feature: 0.259680, 0.003009, 0.965690
[11:52:56.558] xyz_f:0.281288, 0.080439, 0.154413  Reprojection Error: -1.125221, -0.212213 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.558] xyz_f:0.155837, -0.394090, 0.173643  Reprojection Error: -0.457912, 2.037485 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.558] xyz_f:0.213028, -0.412852, 0.101945  Reprojection Error: -1.540529, 3.762107 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.558] xyz_f:0.226462, -0.384935, 0.104949  Reprojection Error: -1.591902, 3.412724 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.558] xyz_f:0.039741, -0.227309, 0.332097  Reprojection Error: 0.139765, 0.676333 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.558] xyz_f:-0.065412, -0.143335, 0.406465  Reprojection Error: 0.298906, 0.448631 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.558] xyz_f:-0.134215, -0.049805, 0.444396  Reprojection Error: 0.370039, 0.311164 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.558] xyz_f:0.081902, 0.055772, 0.334110  Reprojection Error: 0.096902, 0.127379 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.558] xyz_f:0.281288, 0.080439, 0.154413  Reprojection Error: -1.125221, -0.212213 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.558] xyz_f:-0.088410, 0.202730, 0.405232  Reprojection Error: 0.375031, -0.014363 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.558] xyz_f:-0.082266, 0.176037, 0.408182  Reprojection Error: 0.359641, 0.015331 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.558] it:49 	 Success 	 new_chi2: 2.023430 	 dT = 0.002879, 0.022528, 0.016075
[11:52:56.558] xyz_f:0.004337, -0.229424, 0.317463  Reprojection Error: 0.245768, 0.716796 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.558] xyz_f:-0.101608, -0.145011, 0.390192  Reprojection Error: 0.398383, 0.467633 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.558] xyz_f:0.122184, -0.396692, 0.160825  Reprojection Error: -0.320187, 2.234545 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.558] xyz_f:-0.123144, 0.201147, 0.388613  Reprojection Error: 0.473446, -0.037416 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.558] xyz_f:0.180402, -0.415694, 0.090023  Reprojection Error: -1.454849, 4.329982 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.558] xyz_f:-0.101794, -0.138536, 0.391284  Reprojection Error: 0.398209, 0.456744 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.558] xyz_f:-0.117158, 0.174429, 0.391657  Reprojection Error: 0.457232, 0.001242 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.558] xyz_f:0.193904, -0.387833, 0.093236  Reprojection Error: -1.513781, 3.904569 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.558] xyz_f:0.126946, -0.420163, 0.142048  Reprojection Error: -0.440168, 2.692025 Feature: 0.401425, -0.235336, 0.885141
[11:52:56.558] xyz_f:0.034664, -0.197319, 0.306826  Reprojection Error: 0.184792, 0.666646 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.558] xyz_f:0.159795, -0.404551, 0.119499  Reprojection Error: -0.830928, 3.125239 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.558] xyz_f:-0.960427, -0.602117, 0.133467  Reprojection Error: 6.155489, 3.856333 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.558] xyz_f:0.047638, 0.053479, 0.320140  Reprojection Error: 0.193232, 0.127257 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.558] xyz_f:-0.170602, -0.051194, 0.427053  Reprojection Error: 0.467509, 0.318968 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.558] xyz_f:0.172902, -0.404818, 0.105508  Reprojection Error: -1.108034, 3.569335 Feature: 0.456227, -0.229971, 0.859634
[11:52:56.558] xyz_f:0.032003, -0.182915, 0.311849  Reprojection Error: 0.192041, 0.625960 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.558] xyz_f:-0.096094, -0.150884, 0.386806  Reprojection Error: 0.392300, 0.479447 Feature: 0.141850, 0.088116, 0.985959
[11:52:56.558] xyz_f:0.019491, -0.195488, 0.316859  Reprojection Error: 0.217022, 0.644919 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.558] xyz_f:0.022539, 0.054088, 0.335913  Reprojection Error: 0.241337, 0.135873 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.558] xyz_f:0.011987, -0.219860, 0.315402  Reprojection Error: 0.230900, 0.700197 Feature: 0.259680, 0.003009, 0.965690
[11:52:56.558] xyz_f:0.249892, 0.077310, 0.143561  Reprojection Error: -1.044229, -0.229800 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.558] xyz_f:0.122184, -0.396692, 0.160825  Reprojection Error: -0.320187, 2.234545 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.558] xyz_f:0.180402, -0.415694, 0.090023  Reprojection Error: -1.454849, 4.329982 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.558] xyz_f:0.193904, -0.387833, 0.093236  Reprojection Error: -1.513781, 3.904569 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.558] xyz_f:0.004337, -0.229424, 0.317463  Reprojection Error: 0.245772, 0.714547 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.558] xyz_f:-0.101608, -0.145011, 0.390192  Reprojection Error: 0.398383, 0.467633 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.558] xyz_f:-0.170602, -0.051194, 0.427053  Reprojection Error: 0.467509, 0.318968 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.558] xyz_f:0.047638, 0.053479, 0.320140  Reprojection Error: 0.193232, 0.127257 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.558] xyz_f:0.249892, 0.077310, 0.143561  Reprojection Error: -1.044229, -0.229800 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.558] xyz_f:-0.123144, 0.201147, 0.388613  Reprojection Error: 0.473741, -0.031683 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.558] xyz_f:-0.117158, 0.174429, 0.391657  Reprojection Error: 0.457232, 0.001242 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.558] it:50 	 Success 	 new_chi2: 2.084701 	 dT = -0.000017, 0.021023, 0.028024
[11:52:56.558] xyz_f:-0.039735, -0.232972, 0.309684  Reprojection Error: 0.387736, 0.746407 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.558] xyz_f:-0.146995, -0.147786, 0.379527  Reprojection Error: 0.525286, 0.485389 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.558] xyz_f:0.081092, -0.401106, 0.156277  Reprojection Error: -0.079358, 2.334575 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.558] xyz_f:-0.165969, 0.198518, 0.377400  Reprojection Error: 0.596333, -0.045830 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.558] xyz_f:0.141067, -0.420537, 0.087075  Reprojection Error: -1.070955, 4.541942 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.558] xyz_f:-0.147163, -0.141311, 0.380615  Reprojection Error: 0.524700, 0.473958 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.558] xyz_f:-0.160261, 0.171758, 0.380603  Reprojection Error: 0.579170, -0.004676 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.558] xyz_f:0.154679, -0.392774, 0.090655  Reprojection Error: -1.140303, 4.077511 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.558] xyz_f:0.086191, -0.424613, 0.137633  Reprojection Error: -0.172719, 2.819231 Feature: 0.401425, -0.235336, 0.885141
[11:52:56.558] xyz_f:-0.008899, -0.201090, 0.299875  Reprojection Error: 0.327442, 0.694126 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.558] xyz_f:0.119751, -0.409242, 0.115983  Reprojection Error: -0.526200, 3.268300 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.558] xyz_f:-1.001842, -0.598678, 0.099607  Reprojection Error: 9.017470, 5.355382 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.558] xyz_f:0.005529, 0.049609, 0.313560  Reprojection Error: 0.324403, 0.136093 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.558] xyz_f:-0.216278, -0.053468, 0.414517  Reprojection Error: 0.589782, 0.328079 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.558] xyz_f:0.133229, -0.409606, 0.102352  Reprojection Error: -0.770950, 3.734408 Feature: 0.456227, -0.229971, 0.859634
[11:52:56.558] xyz_f:-0.011590, -0.186666, 0.304826  Reprojection Error: 0.332686, 0.651780 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.558] xyz_f:-0.141433, -0.153699, 0.376292  Reprojection Error: 0.519731, 0.497829 Feature: 0.141850, 0.088116, 0.985959
[11:52:56.558] xyz_f:-0.024324, -0.199147, 0.309494  Reprojection Error: 0.357127, 0.671425 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.558] xyz_f:-0.019983, 0.050401, 0.328648  Reprojection Error: 0.369237, 0.143531 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.558] xyz_f:-0.031962, -0.223465, 0.307832  Reprojection Error: 0.372736, 0.729048 Feature: 0.259680, 0.003009, 0.965690
[11:52:56.558] xyz_f:0.212655, 0.071956, 0.142522  Reprojection Error: -0.795645, -0.196154 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.558] xyz_f:0.081092, -0.401106, 0.156277  Reprojection Error: -0.079358, 2.334575 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.558] xyz_f:0.141067, -0.420537, 0.087075  Reprojection Error: -1.070955, 4.541942 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.558] xyz_f:0.154679, -0.392774, 0.090655  Reprojection Error: -1.140303, 4.077511 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.558] xyz_f:-0.039735, -0.232972, 0.309684  Reprojection Error: 0.387740, 0.744159 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.558] xyz_f:-0.146995, -0.147786, 0.379527  Reprojection Error: 0.525286, 0.485389 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.558] xyz_f:-0.216278, -0.053468, 0.414517  Reprojection Error: 0.589782, 0.328079 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.558] xyz_f:0.005529, 0.049609, 0.313560  Reprojection Error: 0.324403, 0.136093 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.558] xyz_f:0.212655, 0.071956, 0.142522  Reprojection Error: -0.795645, -0.196154 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.558] xyz_f:-0.165969, 0.198518, 0.377400  Reprojection Error: 0.596628, -0.040097 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.558] xyz_f:-0.160261, 0.171758, 0.380603  Reprojection Error: 0.579170, -0.004676 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.558] it:51 	 Success 	 new_chi2: 1.972228 	 dT = 0.005996, 0.014916, 0.019825
[11:52:56.558] xyz_f:-0.084287, -0.235375, 0.303735  Reprojection Error: 0.536931, 0.769053 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.558] xyz_f:-0.192426, -0.149637, 0.371516  Reprojection Error: 0.655926, 0.498766 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.558] xyz_f:0.038591, -0.404134, 0.152662  Reprojection Error: 0.186754, 2.415198 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.558] xyz_f:-0.209579, 0.196761, 0.369043  Reprojection Error: 0.724464, -0.052980 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.558] xyz_f:0.099779, -0.423876, 0.084620  Reprojection Error: -0.630045, 4.721543 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.558] xyz_f:-0.192582, -0.143160, 0.372600  Reprojection Error: 0.654915, 0.486907 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.558] xyz_f:-0.204071, 0.169971, 0.372353  Reprojection Error: 0.706157, -0.009878 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.558] xyz_f:0.113462, -0.396183, 0.088461  Reprojection Error: -0.716695, 4.223509 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.558] xyz_f:0.043925, -0.427668, 0.134118  Reprojection Error: 0.126006, 2.922880 Feature: 0.401425, -0.235336, 0.885141
[11:52:56.558] xyz_f:-0.053106, -0.203651, 0.294520  Reprojection Error: 0.478081, 0.715017 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.558] xyz_f:0.077971, -0.412470, 0.113115  Reprojection Error: -0.183031, 3.386315 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.558] xyz_f:-1.044059, -0.596149, 0.075255  Reprojection Error: 12.833095, 7.266684 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.558] xyz_f:-0.037657, 0.046971, 0.308491  Reprojection Error: 0.464103, 0.142046 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.558] xyz_f:-0.261883, -0.054962, 0.405177  Reprojection Error: 0.714363, 0.334740 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.558] xyz_f:0.091706, -0.412904, 0.099744  Reprojection Error: -0.388691, 3.872104 Feature: 0.456227, -0.229971, 0.859634
[11:52:56.558] xyz_f:-0.055818, -0.189214, 0.299419  Reprojection Error: 0.481083, 0.671348 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.558] xyz_f:-0.186835, -0.155578, 0.368387  Reprojection Error: 0.651040, 0.511694 Feature: 0.141850, 0.088116, 0.985959
[11:52:56.558] xyz_f:-0.068703, -0.201629, 0.303841  Reprojection Error: 0.504647, 0.691564 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.558] xyz_f:-0.063448, 0.047895, 0.323088  Reprojection Error: 0.504816, 0.148650 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.558] xyz_f:-0.076432, -0.225908, 0.302032  Reprojection Error: 0.521965, 0.751075 Feature: 0.259680, 0.003009, 0.965690
[11:52:56.558] xyz_f:0.172819, 0.068246, 0.141451  Reprojection Error: -0.525311, -0.173748 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.558] xyz_f:0.038591, -0.404134, 0.152662  Reprojection Error: 0.186754, 2.415198 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.558] xyz_f:0.099779, -0.423876, 0.084620  Reprojection Error: -0.630045, 4.721543 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.558] xyz_f:0.113462, -0.396183, 0.088461  Reprojection Error: -0.716695, 4.223509 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.558] xyz_f:-0.084287, -0.235375, 0.303735  Reprojection Error: 0.536935, 0.766804 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.558] xyz_f:-0.192426, -0.149637, 0.371516  Reprojection Error: 0.655926, 0.498766 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.558] xyz_f:-0.261883, -0.054962, 0.405177  Reprojection Error: 0.714363, 0.334740 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.558] xyz_f:-0.037657, 0.046971, 0.308491  Reprojection Error: 0.464103, 0.142046 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.558] xyz_f:0.172819, 0.068246, 0.141451  Reprojection Error: -0.525311, -0.173748 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.558] xyz_f:-0.209579, 0.196761, 0.369043  Reprojection Error: 0.724759, -0.047247 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.558] xyz_f:-0.204071, 0.169971, 0.372353  Reprojection Error: 0.706157, -0.009878 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.558] it:52 	 Success 	 new_chi2: 1.532946 	 dT = -0.012014, 0.006467, 0.087195
[11:52:56.558] xyz_f:-0.160285, -0.244858, 0.332659  Reprojection Error: 0.741259, 0.730179 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.558] xyz_f:-0.271783, -0.156640, 0.391185  Reprojection Error: 0.832744, 0.496417 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.558] xyz_f:-0.028970, -0.416488, 0.192298  Reprojection Error: 0.590192, 1.933792 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.558] xyz_f:-0.280855, 0.190054, 0.387607  Reprojection Error: 0.881151, -0.010141 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.558] xyz_f:0.037264, -0.437668, 0.129625  Reprojection Error: 0.261624, 3.088771 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.558] xyz_f:-0.271883, -0.150160, 0.392259  Reprojection Error: 0.831177, 0.485498 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.558] xyz_f:-0.276249, 0.163150, 0.391343  Reprojection Error: 0.864000, 0.029704 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.558] xyz_f:0.051197, -0.410287, 0.134630  Reprojection Error: 0.185651, 2.792408 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.558] xyz_f:-0.022627, -0.440153, 0.174246  Reprojection Error: 0.583371, 2.260177 Feature: 0.401425, -0.235336, 0.885141
[11:52:56.558] xyz_f:-0.127732, -0.213854, 0.326130  Reprojection Error: 0.689428, 0.679281 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.558] xyz_f:0.013400, -0.425746, 0.156196  Reprojection Error: 0.420492, 2.465571 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.558] xyz_f:-1.105323, -0.584125, 0.023913  Reprojection Error: 45.181496, 23.771704 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.558] xyz_f:-0.107868, 0.036369, 0.341589  Reprojection Error: 0.657819, 0.187835 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.558] xyz_f:-0.341673, -0.060392, 0.418974  Reprojection Error: 0.883520, 0.343233 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.558] xyz_f:0.028197, -0.426502, 0.144027  Reprojection Error: 0.334945, 2.693739 Feature: 0.456227, -0.229971, 0.859634
[11:52:56.558] xyz_f:-0.130520, -0.199355, 0.330797  Reprojection Error: 0.689226, 0.642059 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.558] xyz_f:-0.266083, -0.162709, 0.388532  Reprojection Error: 0.828712, 0.508149 Feature: 0.141850, 0.088116, 0.985959
[11:52:56.558] xyz_f:-0.144008, -0.211472, 0.334108  Reprojection Error: 0.709556, 0.660909 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.558] xyz_f:-0.134769, 0.037888, 0.353965  Reprojection Error: 0.689174, 0.189852 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.558] xyz_f:-0.152103, -0.235572, 0.331633  Reprojection Error: 0.727556, 0.713457 Feature: 0.259680, 0.003009, 0.965690
[11:52:56.558] xyz_f:0.116338, 0.052736, 0.192866  Reprojection Error: 0.093237, 0.035286 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.558] xyz_f:-0.028970, -0.416488, 0.192298  Reprojection Error: 0.590192, 1.933792 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.558] xyz_f:0.037264, -0.437668, 0.129625  Reprojection Error: 0.261624, 3.088771 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.558] xyz_f:0.051197, -0.410287, 0.134630  Reprojection Error: 0.185651, 2.792408 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.558] xyz_f:-0.160285, -0.244858, 0.332659  Reprojection Error: 0.741262, 0.727931 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.558] xyz_f:-0.271783, -0.156640, 0.391185  Reprojection Error: 0.832744, 0.496417 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.558] xyz_f:-0.341673, -0.060392, 0.418974  Reprojection Error: 0.883520, 0.343233 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.558] xyz_f:-0.107868, 0.036369, 0.341589  Reprojection Error: 0.657819, 0.187835 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.558] xyz_f:0.116338, 0.052736, 0.192866  Reprojection Error: 0.093237, 0.035286 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.558] xyz_f:-0.280855, 0.190054, 0.387607  Reprojection Error: 0.881447, -0.004407 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.558] xyz_f:-0.276249, 0.163150, 0.391343  Reprojection Error: 0.864000, 0.029704 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.559] it:53 	 Success 	 new_chi2: 0.451094 	 dT = -0.031724, -0.003254, 0.163463
[11:52:56.559] xyz_f:-0.302612, -0.257689, 0.383800  Reprojection Error: 1.047892, 0.665532 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.559] xyz_f:-0.418107, -0.164659, 0.424365  Reprojection Error: 1.123229, 0.484004 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.559] xyz_f:-0.158212, -0.435164, 0.265253  Reprojection Error: 1.035998, 1.408502 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.559] xyz_f:-0.411893, 0.182096, 0.420561  Reprojection Error: 1.135954, 0.047203 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.559] xyz_f:-0.083901, -0.459324, 0.213701  Reprojection Error: 0.941713, 1.861730 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.559] xyz_f:-0.418102, -0.158177, 0.425431  Reprojection Error: 1.120827, 0.474492 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.559] xyz_f:-0.409070, 0.155035, 0.424885  Reprojection Error: 1.120877, 0.081716 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.559] xyz_f:-0.069789, -0.432538, 0.220925  Reprojection Error: 0.881818, 1.702740 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.559] xyz_f:-0.150113, -0.459136, 0.248344  Reprojection Error: 1.057970, 1.582914 Feature: 0.401425, -0.235336, 0.885141
[11:52:56.559] xyz_f:-0.268161, -0.228106, 0.382572  Reprojection Error: 0.998709, 0.619791 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.559] xyz_f:-0.111122, -0.446319, 0.236230  Reprojection Error: 0.976681, 1.629191 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.559] xyz_f:-1.200810, -0.557878, -0.070788  Reprojection Error: -18.003895, -8.535969 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.559] xyz_f:-0.240452, 0.021109, 0.401795  Reprojection Error: 0.940480, 0.241769 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.559] xyz_f:-0.487380, -0.065460, 0.441143  Reprojection Error: 1.172832, 0.347478 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.559] xyz_f:-0.094641, -0.447739, 0.226536  Reprojection Error: 0.948498, 1.708931 Feature: 0.456227, -0.229971, 0.859634
[11:52:56.559] xyz_f:-0.271035, -0.213487, 0.386792  Reprojection Error: 0.995389, 0.591352 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.559] xyz_f:-0.412322, -0.170971, 0.422621  Reprojection Error: 1.119501, 0.493920 Feature: 0.141850, 0.088116, 0.985959
[11:52:56.559] xyz_f:-0.285373, -0.225014, 0.387901  Reprojection Error: 1.014220, 0.608045 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.559] xyz_f:-0.268876, 0.023801, 0.409794  Reprojection Error: 0.964558, 0.238811 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.559] xyz_f:-0.293986, -0.248760, 0.384103  Reprojection Error: 1.034290, 0.650754 Feature: 0.259680, 0.003009, 0.965690
[11:52:56.559] xyz_f:0.004832, 0.027522, 0.290220  Reprojection Error: 0.679791, 0.213888 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.559] xyz_f:-0.158212, -0.435164, 0.265253  Reprojection Error: 1.035998, 1.408502 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.559] xyz_f:-0.083901, -0.459324, 0.213701  Reprojection Error: 0.941713, 1.861730 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.559] xyz_f:-0.069789, -0.432538, 0.220925  Reprojection Error: 0.881818, 1.702740 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.559] xyz_f:-0.302612, -0.257689, 0.383800  Reprojection Error: 1.047895, 0.663284 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.559] xyz_f:-0.418107, -0.164659, 0.424365  Reprojection Error: 1.123229, 0.484004 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.559] xyz_f:-0.487380, -0.065460, 0.441143  Reprojection Error: 1.172832, 0.347478 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.559] xyz_f:-0.240452, 0.021109, 0.401795  Reprojection Error: 0.940480, 0.241769 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.559] xyz_f:0.004832, 0.027522, 0.290220  Reprojection Error: 0.679791, 0.213888 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.559] xyz_f:-0.411893, 0.182096, 0.420561  Reprojection Error: 1.136250, 0.052936 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.559] xyz_f:-0.409070, 0.155035, 0.424885  Reprojection Error: 1.120877, 0.081716 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.559] it:54 	 Success 	 new_chi2: 0.207364 	 dT = 0.022259, -0.065457, -0.012474
[11:52:56.559] xyz_f:-0.341205, -0.256944, 0.446475  Reprojection Error: 1.023648, 0.569611 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.559] xyz_f:-0.456503, -0.164286, 0.488431  Reprojection Error: 1.072608, 0.432347 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.559] xyz_f:-0.197672, -0.433954, 0.326194  Reprojection Error: 1.045536, 1.098297 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.559] xyz_f:-0.451455, 0.182487, 0.484559  Reprojection Error: 1.088246, 0.103582 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.559] xyz_f:-0.123910, -0.457875, 0.273750  Reprojection Error: 1.001742, 1.384957 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.559] xyz_f:-0.456506, -0.157804, 0.489497  Reprojection Error: 1.070656, 0.425068 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.559] xyz_f:-0.448492, 0.155435, 0.488848  Reprojection Error: 1.075547, 0.128640 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.559] xyz_f:-0.109798, -0.431043, 0.280804  Reprojection Error: 0.956939, 1.279926 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.559] xyz_f:-0.189700, -0.457900, 0.309188  Reprojection Error: 1.067056, 1.215100 Feature: 0.401425, -0.235336, 0.885141
[11:52:56.559] xyz_f:-0.306867, -0.227249, 0.444833  Reprojection Error: 0.987615, 0.534412 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.559] xyz_f:-0.150900, -0.444958, 0.296605  Reprojection Error: 1.015037, 1.240015 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.559] xyz_f:-1.243841, -0.560040, 0.002736  Reprojection Error: 453.539894, 204.019933 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.559] xyz_f:-0.279733, 0.022054, 0.463726  Reprojection Error: 0.945266, 0.246748 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.559] xyz_f:-0.525888, -0.065311, 0.506045  Reprojection Error: 1.107235, 0.328153 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.559] xyz_f:-0.134532, -0.446324, 0.286714  Reprojection Error: 0.999943, 1.289166 Feature: 0.456227, -0.229971, 0.859634
[11:52:56.559] xyz_f:-0.309737, -0.212639, 0.449087  Reprojection Error: 0.984367, 0.512902 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.559] xyz_f:-0.450719, -0.170579, 0.486617  Reprojection Error: 1.070099, 0.439912 Feature: 0.141850, 0.088116, 0.985959
[11:52:56.559] xyz_f:-0.324024, -0.224213, 0.450369  Reprojection Error: 0.997997, 0.525807 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.559] xyz_f:-0.308067, 0.024654, 0.472067  Reprojection Error: 0.961027, 0.244665 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.559] xyz_f:-0.332605, -0.247986, 0.446675  Reprojection Error: 1.013532, 0.558299 Feature: 0.259680, 0.003009, 0.965690
[11:52:56.559] xyz_f:-0.035833, 0.029257, 0.349204  Reprojection Error: 0.799055, 0.224938 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.559] xyz_f:-0.197672, -0.433954, 0.326194  Reprojection Error: 1.045536, 1.098297 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.559] xyz_f:-0.123910, -0.457875, 0.273750  Reprojection Error: 1.001742, 1.384957 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.559] xyz_f:-0.109798, -0.431043, 0.280804  Reprojection Error: 0.956939, 1.279926 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.559] xyz_f:-0.341205, -0.256944, 0.446475  Reprojection Error: 1.023652, 0.567362 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.559] xyz_f:-0.456503, -0.164286, 0.488431  Reprojection Error: 1.072608, 0.432347 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.559] xyz_f:-0.525888, -0.065311, 0.506045  Reprojection Error: 1.107235, 0.328153 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.559] xyz_f:-0.279733, 0.022054, 0.463726  Reprojection Error: 0.945266, 0.246748 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.559] xyz_f:-0.035833, 0.029257, 0.349204  Reprojection Error: 0.799055, 0.224938 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.559] xyz_f:-0.451455, 0.182487, 0.484559  Reprojection Error: 1.088542, 0.109315 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.559] xyz_f:-0.448492, 0.155435, 0.488848  Reprojection Error: 1.075547, 0.128640 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.559] it:55 	 Success 	 new_chi2: 0.090482 	 dT = 0.037002, -0.093755, 0.001493
[11:52:56.559] xyz_f:-0.291941, -0.257035, 0.540571  Reprojection Error: 0.799490, 0.469605 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.559] xyz_f:-0.407264, -0.164332, 0.582360  Reprojection Error: 0.837309, 0.378176 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.559] xyz_f:-0.148303, -0.434101, 0.420497  Reprojection Error: 0.792228, 0.800294 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.559] xyz_f:-0.402076, 0.182438, 0.578496  Reprojection Error: 0.851602, 0.164819 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.559] xyz_f:-0.074475, -0.458050, 0.368159  Reprojection Error: 0.751393, 0.956518 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.559] xyz_f:-0.407266, -0.157851, 0.583427  Reprojection Error: 0.836113, 0.373247 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.559] xyz_f:-0.399130, 0.155385, 0.582789  Reprojection Error: 0.842962, 0.179979 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.559] xyz_f:-0.060363, -0.431224, 0.375233  Reprojection Error: 0.726794, 0.894109 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.559] xyz_f:-0.140316, -0.458050, 0.403502  Reprojection Error: 0.801260, 0.869310 Feature: 0.401425, -0.235336, 0.885141
[11:52:56.559] xyz_f:-0.257589, -0.227354, 0.538978  Reprojection Error: 0.775689, 0.445372 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.559] xyz_f:-0.101493, -0.445122, 0.390975  Reprojection Error: 0.765870, 0.878340 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.559] xyz_f:-1.194054, -0.559783, 0.095531  Reprojection Error: 11.458647, 5.204677 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.559] xyz_f:-0.230387, 0.021939, 0.557910  Reprojection Error: 0.754982, 0.254983 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.559] xyz_f:-0.476636, -0.065331, 0.599874  Reprojection Error: 0.862582, 0.307999 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.559] xyz_f:-0.085111, -0.446495, 0.381107  Reprojection Error: 0.754048, 0.904050 Feature: 0.456227, -0.229971, 0.859634
[11:52:56.559] xyz_f:-0.260460, -0.212743, 0.543228  Reprojection Error: 0.774130, 0.431037 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.559] xyz_f:-0.401479, -0.170628, 0.580555  Reprojection Error: 0.835414, 0.383277 Feature: 0.141850, 0.088116, 0.985959
[11:52:56.559] xyz_f:-0.274753, -0.224311, 0.544489  Reprojection Error: 0.783141, 0.439929 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.559] xyz_f:-0.258731, 0.024550, 0.566210  Reprojection Error: 0.765388, 0.253532 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.559] xyz_f:-0.283339, -0.248081, 0.540783  Reprojection Error: 0.792848, 0.461860 Feature: 0.259680, 0.003009, 0.965690
[11:52:56.559] xyz_f:0.013681, 0.029048, 0.443740  Reprojection Error: 0.665610, 0.243259 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.559] xyz_f:-0.148303, -0.434101, 0.420497  Reprojection Error: 0.792228, 0.800294 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.559] xyz_f:-0.074475, -0.458050, 0.368159  Reprojection Error: 0.751393, 0.956518 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.559] xyz_f:-0.060363, -0.431224, 0.375233  Reprojection Error: 0.726794, 0.894109 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.559] xyz_f:-0.291941, -0.257035, 0.540571  Reprojection Error: 0.799494, 0.467356 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.559] xyz_f:-0.407264, -0.164332, 0.582360  Reprojection Error: 0.837309, 0.378176 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.559] xyz_f:-0.476636, -0.065331, 0.599874  Reprojection Error: 0.862582, 0.307999 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.559] xyz_f:-0.230387, 0.021939, 0.557910  Reprojection Error: 0.754982, 0.254983 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.559] xyz_f:0.013681, 0.029048, 0.443740  Reprojection Error: 0.665610, 0.243259 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.559] xyz_f:-0.402076, 0.182438, 0.578496  Reprojection Error: 0.851898, 0.170553 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.559] xyz_f:-0.399130, 0.155385, 0.582789  Reprojection Error: 0.842962, 0.179979 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.559] it:56 	 Success 	 new_chi2: 0.610272 	 dT = -0.025182, -0.002843, 0.122802
[11:52:56.559] xyz_f:-0.256821, -0.262608, 0.564210  Reprojection Error: 0.714616, 0.459559 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.559] xyz_f:-0.373281, -0.166217, 0.592236  Reprojection Error: 0.768267, 0.376653 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.559] xyz_f:-0.105671, -0.444364, 0.461641  Reprojection Error: 0.668445, 0.730515 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.559] xyz_f:-0.356681, 0.180207, 0.589665  Reprojection Error: 0.761452, 0.174576 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.559] xyz_f:-0.026966, -0.470740, 0.418361  Reprojection Error: 0.613559, 0.837554 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.559] xyz_f:-0.373203, -0.159736, 0.593306  Reprojection Error: 0.767078, 0.371919 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.559] xyz_f:-0.355123, 0.153082, 0.594225  Reprojection Error: 0.755723, 0.188985 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.559] xyz_f:-0.012946, -0.444361, 0.427106  Reprojection Error: 0.596238, 0.785293 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.559] xyz_f:-0.096492, -0.468586, 0.445666  Reprojection Error: 0.670028, 0.785553 Feature: 0.401425, -0.235336, 0.885141
[11:52:56.559] xyz_f:-0.221598, -0.234033, 0.566749  Reprojection Error: 0.688767, 0.436488 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.559] xyz_f:-0.056070, -0.456919, 0.437845  Reprojection Error: 0.634339, 0.783411 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.559] xyz_f:-1.109081, -0.537440, 0.014989  Reprojection Error: 72.950461, 35.199587 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.559] xyz_f:-0.188937, 0.014307, 0.589236  Reprojection Error: 0.662684, 0.270025 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.559] xyz_f:-0.441064, -0.065033, 0.601604  Reprojection Error: 0.801168, 0.307190 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.559] xyz_f:-0.038688, -0.458829, 0.429982  Reprojection Error: 0.620697, 0.799566 Feature: 0.456227, -0.229971, 0.859634
[11:52:56.559] xyz_f:-0.224487, -0.219331, 0.570657  Reprojection Error: 0.688047, 0.423757 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.559] xyz_f:-0.367526, -0.172696, 0.591115  Reprojection Error: 0.765620, 0.381524 Feature: 0.141850, 0.088116, 0.985959
[11:52:56.559] xyz_f:-0.239189, -0.230437, 0.570196  Reprojection Error: 0.698019, 0.432100 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.559] xyz_f:-0.217968, 0.017831, 0.594129  Reprojection Error: 0.675304, 0.266879 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.559] xyz_f:-0.248024, -0.253930, 0.565455  Reprojection Error: 0.707534, 0.452188 Feature: 0.259680, 0.003009, 0.965690
[11:52:56.559] xyz_f:0.067027, 0.013459, 0.504759  Reprojection Error: 0.563652, 0.282055 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.559] xyz_f:-0.105671, -0.444364, 0.461641  Reprojection Error: 0.668445, 0.730515 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.559] xyz_f:-0.026966, -0.470740, 0.418361  Reprojection Error: 0.613559, 0.837554 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.559] xyz_f:-0.012946, -0.444361, 0.427106  Reprojection Error: 0.596238, 0.785293 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.559] xyz_f:-0.256821, -0.262608, 0.564210  Reprojection Error: 0.714620, 0.457311 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.559] xyz_f:-0.373281, -0.166217, 0.592236  Reprojection Error: 0.768267, 0.376653 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.559] xyz_f:-0.441064, -0.065033, 0.601604  Reprojection Error: 0.801168, 0.307190 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.559] xyz_f:-0.188937, 0.014307, 0.589236  Reprojection Error: 0.662684, 0.270025 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.559] xyz_f:0.067027, 0.013459, 0.504759  Reprojection Error: 0.563652, 0.282055 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.559] xyz_f:-0.356681, 0.180207, 0.589665  Reprojection Error: 0.761748, 0.180309 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.559] xyz_f:-0.355123, 0.153082, 0.594225  Reprojection Error: 0.755723, 0.188985 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.559] it:57 	 Success 	 new_chi2: 1.311744 	 dT = 0.056976, 0.030114, -0.048601
[11:52:56.559] xyz_f:-0.288011, -0.260862, 0.527581  Reprojection Error: 0.805338, 0.488566 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.559] xyz_f:-0.404230, -0.165935, 0.561069  Reprojection Error: 0.858440, 0.391740 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.559] xyz_f:-0.139567, -0.440733, 0.417978  Reprojection Error: 0.773452, 0.822382 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.559] xyz_f:-0.392126, 0.180670, 0.557824  Reprojection Error: 0.859521, 0.156303 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.559] xyz_f:-0.062654, -0.466131, 0.371045  Reprojection Error: 0.717961, 0.968619 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.559] xyz_f:-0.404184, -0.159453, 0.562137  Reprojection Error: 0.857068, 0.386345 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.559] xyz_f:-0.390015, 0.153568, 0.562299  Reprojection Error: 0.851707, 0.173494 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.559] xyz_f:-0.048572, -0.439575, 0.379130  Reprojection Error: 0.694042, 0.904325 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.559] xyz_f:-0.130844, -0.464843, 0.401583  Reprojection Error: 0.779337, 0.891652 Feature: 0.401425, -0.235336, 0.885141
[11:52:56.559] xyz_f:-0.253070, -0.231846, 0.528472  Reprojection Error: 0.776638, 0.462258 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.559] xyz_f:-0.090983, -0.452671, 0.391877  Reprojection Error: 0.738454, 0.894984 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.559] xyz_f:-1.161582, -0.546551, 0.018878  Reprojection Error: 60.491206, 28.297033 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.559] xyz_f:-0.222515, 0.016892, 0.549475  Reprojection Error: 0.746995, 0.263564 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.559] xyz_f:-0.472766, -0.065608, 0.573638  Reprojection Error: 0.892175, 0.313463 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.559] xyz_f:-0.073967, -0.454365, 0.383207  Reprojection Error: 0.723742, 0.918169 Feature: 0.456227, -0.229971, 0.859634
[11:52:56.559] xyz_f:-0.255957, -0.217180, 0.532516  Reprojection Error: 0.775319, 0.447247 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.559] xyz_f:-0.398453, -0.172342, 0.559678  Reprojection Error: 0.855803, 0.397301 Feature: 0.141850, 0.088116, 0.985959
[11:52:56.559] xyz_f:-0.270523, -0.228471, 0.532742  Reprojection Error: 0.786327, 0.456821 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.559] xyz_f:-0.251326, 0.020052, 0.555726  Reprojection Error: 0.760682, 0.260808 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.559] xyz_f:-0.279275, -0.252074, 0.528414  Reprojection Error: 0.797422, 0.480155 Feature: 0.259680, 0.003009, 0.965690
[11:52:56.559] xyz_f:0.029193, 0.019238, 0.453079  Reprojection Error: 0.632008, 0.266260 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.559] xyz_f:-0.139567, -0.440733, 0.417978  Reprojection Error: 0.773452, 0.822382 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.559] xyz_f:-0.062654, -0.466131, 0.371045  Reprojection Error: 0.717961, 0.968619 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.559] xyz_f:-0.048572, -0.439575, 0.379130  Reprojection Error: 0.694042, 0.904325 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.559] xyz_f:-0.288011, -0.260862, 0.527581  Reprojection Error: 0.805341, 0.486317 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.559] xyz_f:-0.404230, -0.165935, 0.561069  Reprojection Error: 0.858440, 0.391740 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.560] xyz_f:-0.472766, -0.065608, 0.573638  Reprojection Error: 0.892175, 0.313463 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.560] xyz_f:-0.222515, 0.016892, 0.549475  Reprojection Error: 0.746995, 0.263564 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.560] xyz_f:0.029193, 0.019238, 0.453079  Reprojection Error: 0.632008, 0.266260 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.560] xyz_f:-0.392126, 0.180670, 0.557824  Reprojection Error: 0.859817, 0.162036 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.560] xyz_f:-0.390015, 0.153568, 0.562299  Reprojection Error: 0.851707, 0.173494 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.560] it:58 	 Success 	 new_chi2: 0.566710 	 dT = -0.058178, -0.011373, 0.189713
[11:52:56.560] xyz_f:-0.391950, -0.264227, 0.551512  Reprojection Error: 0.970111, 0.473212 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.560] xyz_f:-0.507550, -0.163591, 0.563696  Reprojection Error: 1.038374, 0.386205 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.560] xyz_f:-0.234985, -0.451619, 0.469977  Reprojection Error: 0.939533, 0.728880 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.560] xyz_f:-0.478156, 0.181991, 0.564265  Reprojection Error: 1.003961, 0.157658 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.560] xyz_f:-0.152142, -0.480950, 0.437725  Reprojection Error: 0.896677, 0.811103 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.560] xyz_f:-0.507384, -0.157115, 0.564784  Reprojection Error: 1.036423, 0.380875 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.560] xyz_f:-0.478221, 0.154839, 0.568928  Reprojection Error: 0.998664, 0.174442 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.560] xyz_f:-0.138490, -0.455078, 0.448359  Reprojection Error: 0.874807, 0.759878 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.560] xyz_f:-0.224608, -0.476199, 0.455337  Reprojection Error: 0.946795, 0.779942 Feature: 0.401425, -0.235336, 0.885141
[11:52:56.560] xyz_f:-0.356382, -0.236948, 0.558884  Reprojection Error: 0.935435, 0.447513 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.560] xyz_f:-0.183100, -0.466031, 0.453109  Reprojection Error: 0.910379, 0.768366 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.560] xyz_f:-1.171131, -0.509218, -0.109079  Reprojection Error: -11.777068, -5.323380 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.560] xyz_f:-0.318061, 0.010095, 0.586216  Reprojection Error: 0.884602, 0.277087 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.560] xyz_f:-0.572250, -0.059984, 0.564021  Reprojection Error: 1.082611, 0.305442 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.560] xyz_f:-0.164892, -0.468592, 0.447676  Reprojection Error: 0.899052, 0.779199 Feature: 0.456227, -0.229971, 0.859634
[11:52:56.560] xyz_f:-0.359238, -0.222140, 0.562399  Reprojection Error: 0.933422, 0.434395 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.560] xyz_f:-0.501937, -0.170279, 0.563352  Reprojection Error: 1.034852, 0.391631 Feature: 0.141850, 0.088116, 0.985959
[11:52:56.560] xyz_f:-0.374135, -0.232705, 0.559918  Reprojection Error: 0.946730, 0.443569 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.560] xyz_f:-0.347339, 0.014685, 0.587129  Reprojection Error: 0.900024, 0.271879 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.560] xyz_f:-0.383094, -0.255872, 0.553962  Reprojection Error: 0.960458, 0.465011 Feature: 0.259680, 0.003009, 0.965690
[11:52:56.560] xyz_f:-0.053195, -0.000280, 0.537294  Reprojection Error: 0.795448, 0.309241 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.560] xyz_f:-0.234985, -0.451619, 0.469977  Reprojection Error: 0.939533, 0.728880 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.560] xyz_f:-0.152142, -0.480950, 0.437725  Reprojection Error: 0.896677, 0.811103 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.560] xyz_f:-0.138490, -0.455078, 0.448359  Reprojection Error: 0.874807, 0.759878 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.560] xyz_f:-0.391950, -0.264227, 0.551512  Reprojection Error: 0.970115, 0.470963 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.560] xyz_f:-0.507550, -0.163591, 0.563696  Reprojection Error: 1.038374, 0.386205 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.560] xyz_f:-0.572250, -0.059984, 0.564021  Reprojection Error: 1.082611, 0.305442 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.560] xyz_f:-0.318061, 0.010095, 0.586216  Reprojection Error: 0.884602, 0.277087 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.560] xyz_f:-0.053195, -0.000280, 0.537294  Reprojection Error: 0.795448, 0.309241 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.560] xyz_f:-0.478156, 0.181991, 0.564265  Reprojection Error: 1.004257, 0.163391 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.560] xyz_f:-0.478221, 0.154839, 0.568928  Reprojection Error: 0.998664, 0.174442 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.560] it:59 	 Success 	 new_chi2: 0.077505 	 dT = -2.196065, -0.639812, 4.281206
[11:52:56.560] xyz_f:2.702552, 0.096481, -0.154858  Reprojection Error: 17.711219, 0.617144 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.560] xyz_f:2.737896, 0.164696, -0.021678  Reprojection Error: 126.436555, 7.693376 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.560] xyz_f:2.609462, -0.065108, -0.332693  Reprojection Error: 8.282996, -0.427757 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.560] xyz_f:2.644854, 0.484567, 0.074849  Reprojection Error: -35.179434, -5.993762 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.560] xyz_f:2.553434, -0.083607, -0.405370  Reprojection Error: 6.848118, -0.493895 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.560] xyz_f:2.737258, 0.170981, -0.019880  Reprojection Error: 137.828438, 8.703446 Feature: 0.136055, 0.101202, 0.985519
[11:52:56.560] xyz_f:2.655356, 0.461631, 0.063774  Reprojection Error: -41.478755, -6.791927 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.560] xyz_f:2.550976, -0.053212, -0.411614  Reprojection Error: 6.763429, -0.384383 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.560] xyz_f:2.598058, -0.090103, -0.345783  Reprojection Error: 7.967059, -0.526449 Feature: 0.401425, -0.235336, 0.885141
[11:52:56.560] xyz_f:2.687741, 0.132145, -0.178780  Reprojection Error: 15.331549, 0.762697 Feature: 0.285311, 0.022563, 0.958169
[11:52:56.560] xyz_f:2.576364, -0.071931, -0.377883  Reprojection Error: 7.324160, -0.450504 Feature: 0.439995, -0.226091, 0.869073
[11:52:56.560] xyz_f:2.506132, -0.542618, 0.655386  Reprojection Error: -4.864414, 0.172904 Feature: -0.656538, -0.413311, 0.630977
[11:52:56.560] xyz_f:2.637623, 0.374422, -0.133662  Reprojection Error: 20.075533, 3.095560 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.560] xyz_f:2.740861, 0.243364, 0.071719  Reprojection Error: -38.148556, -3.194203 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.560] xyz_f:2.564588, -0.071893, -0.393014  Reprojection Error: 7.056155, -0.450450 Feature: 0.456227, -0.229971, 0.859634
[11:52:56.560] xyz_f:2.688538, 0.146121, -0.172161  Reprojection Error: 15.911111, 0.888160 Feature: 0.282446, 0.037776, 0.958539
[11:52:56.560] xyz_f:2.736820, 0.159841, -0.028864  Reprojection Error: 94.962912, 5.627185 Feature: 0.141850, 0.088116, 0.985959
[11:52:56.560] xyz_f:2.695071, 0.132177, -0.162032  Reprojection Error: 16.911508, 0.843713 Feature: 0.268222, 0.026928, 0.962981
[11:52:56.560] xyz_f:2.649581, 0.372015, -0.106638  Reprojection Error: 25.155040, 3.785488 Feature: 0.283544, 0.272931, 0.919299
[11:52:56.560] xyz_f:2.699037, 0.106993, -0.160459  Reprojection Error: 17.089600, 0.669906 Feature: 0.259680, 0.003009, 0.965690
[11:52:56.560] xyz_f:2.486433, 0.409968, -0.353963  Reprojection Error: 7.720987, 1.466941 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.560] xyz_f:2.609462, -0.065108, -0.332693  Reprojection Error: 8.282996, -0.427757 Feature: 0.393603, -0.207805, 0.895485
[11:52:56.560] xyz_f:2.553434, -0.083607, -0.405370  Reprojection Error: 6.848118, -0.493895 Feature: 0.466708, -0.244484, 0.849948
[11:52:56.560] xyz_f:2.550976, -0.053212, -0.411614  Reprojection Error: 6.763429, -0.384383 Feature: 0.480817, -0.216741, 0.849611
[11:52:56.560] xyz_f:2.702552, 0.096481, -0.154858  Reprojection Error: 17.711222, 0.614895 Feature: 0.251112, -0.005695, 0.967941
[11:52:56.560] xyz_f:2.737896, 0.164696, -0.021678  Reprojection Error: 126.436555, 7.693376 Feature: 0.136068, 0.094665, 0.986166
[11:52:56.560] xyz_f:2.740861, 0.243364, 0.071719  Reprojection Error: -38.148556, -3.194203 Feature: 0.066564, 0.194826, 0.978577
[11:52:56.560] xyz_f:2.637623, 0.374422, -0.133662  Reprojection Error: 20.075533, 3.095560 Feature: 0.311767, 0.268261, 0.911503
[11:52:56.560] xyz_f:2.486433, 0.409968, -0.353963  Reprojection Error: 7.720987, 1.466941 Feature: 0.554000, 0.245578, 0.795472
[11:52:56.560] xyz_f:2.644854, 0.484567, 0.074849  Reprojection Error: -35.179138, -5.988029 Feature: 0.139751, 0.428619, 0.892611
[11:52:56.560] xyz_f:2.655356, 0.461631, 0.063774  Reprojection Error: -41.478755, -6.791927 Feature: 0.142876, 0.403599, 0.903711
[11:52:56.560] it:60 	 Success 	 new_chi2: 0.000000 	 dT = 0.000000, 0.000000, 0.000000
[11:52:56.560] After pose optimization, distance between two frames:0.320876 ,angle between two frames:0.458272
[11:52:56.560] Update EKF and 3D points, distance between two frames:0.000003 ,angle between two frames:-0.002590
[11:52:56.646] Reprojection Map nPoint:21 ,nCell:9 ,nMatches:9 ,distance between two frames:2.764875 ,angle between two frames:-3.566497
[11:52:56.746] Reprojection Map nPoint:21 ,nCell:21 ,nMatches:0 ,distance between two frames:2.746773 ,angle between two frames:3.563876
[11:52:56.746] After pose optimization, distance between two frames:2.746773 ,angle between two frames:3.563876
[11:52:56.833] Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames:0.000001 ,angle between two frames:-0.000503
[11:52:56.933] Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames:0.000003 ,angle between two frames:-0.002537
[11:52:57.033] Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames:0.000003 ,angle between two frames:-0.002522
[11:52:57.133] Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames:0.000003 ,angle between two frames:-0.002521
