[10:20:40.613] New key frame 
[10:20:40.613] BA loop run 
[10:20:41.976] New key frame 
[10:20:41.977] BA loop run 
[10:20:42.166] New key frame 
[10:20:42.166] BA loop run 
[10:20:43.810] New key frame 
[10:20:43.810] BA loop run 
[10:20:44.089] New key frame 
[10:20:44.089] BA loop run 
[10:20:45.872] New key frame 
[10:20:45.872] BA loop run 
[10:20:46.135] New key frame 
[10:20:46.135] BA loop run 
[10:20:46.138] init error: 111.515436 
[10:20:46.141] end error: 1.729429 
[10:20:49.427] New key frame 
[10:20:49.428] BA loop run 
[10:20:49.433] init error: 254.786029 
[10:20:49.443] end error: 15.672577 
[10:20:49.832] New key frame 
[10:20:49.832] BA loop run 
[10:20:49.838] init error: 249.475397 
[10:20:49.849] end error: 49.278147 
[10:20:50.532] New key frame 
[10:20:50.532] BA loop run 
[10:20:50.538] init error: 254.368373 
[10:20:50.552] end error: 45.489316 
[10:20:51.395] New key frame 
[10:20:51.396] BA loop run 
[10:20:51.403] init error: 252.991840 
[10:20:51.417] end error: 26.570105 
[10:20:52.201] New key frame 
[10:20:52.201] BA loop run 
[10:20:52.207] init error: 271.855495 
[10:20:52.220] end error: 29.310106 
[10:20:53.086] New key frame 
[10:20:53.086] BA loop run 
[10:20:53.093] init error: 274.895253 
[10:20:53.104] end error: 30.065412 
[10:20:53.867] New key frame 
[10:20:53.867] BA loop run 
[10:20:53.876] init error: 334.202889 
[10:20:53.889] end error: 64.227123 
[10:20:54.625] New key frame 
[10:20:54.625] BA loop run 
[10:20:54.631] init error: 193.785127 
[10:20:54.641] end error: 49.594006 
[10:20:55.270] New key frame 
[10:20:55.271] BA loop run 
[10:20:55.278] init error: 298.736841 
[10:20:55.290] end error: 41.156798 
[10:20:56.208] New key frame 
[10:20:56.208] BA loop run 
[10:20:56.218] init error: 367.881322 
[10:20:56.234] end error: 44.782346 
[10:20:57.149] New key frame 
[10:20:57.149] BA loop run 
[10:20:57.159] init error: 2983.504957 
[10:20:57.177] end error: 54.766284 
[10:20:58.334] New key frame 
[10:20:58.334] BA loop run 
[10:20:58.346] init error: 369.850114 
[10:20:58.370] end error: 51.997171 
[10:20:59.855] New key frame 
[10:20:59.855] BA loop run 
[10:20:59.868] init error: 481.237189 
[10:20:59.889] end error: 72.018658 
[10:21:01.060] New key frame 
[10:21:01.060] BA loop run 
[10:21:01.074] init error: 399.810786 
[10:21:01.096] end error: 75.617754 
[10:21:02.464] New key frame 
[10:21:02.464] BA loop run 
[10:21:02.474] init error: 475.060363 
[10:21:02.493] end error: 79.983876 
[10:21:03.877] New key frame 
[10:21:03.877] BA loop run 
[10:21:03.887] init error: 457.014129 
[10:21:03.906] end error: 83.459347 
[10:21:05.323] New key frame 
[10:21:05.323] BA loop run 
[10:21:05.341] init error: 747.490295 
[10:21:05.372] end error: 132.027915 
[10:21:07.316] New key frame 
[10:21:07.316] BA loop run 
[10:21:07.331] init error: 822.589732 
[10:21:07.359] end error: 926.803751 
[10:21:08.623] New key frame 
[10:21:08.623] BA loop run 
[10:21:08.637] init error: 885.983129 
[10:21:08.665] end error: 534.120875 
[10:21:09.864] New key frame 
[10:21:09.864] BA loop run 
[10:21:09.883] init error: 864.099098 
[10:21:09.910] end error: 1925.142176 
[10:21:11.044] New key frame 
[10:21:11.044] BA loop run 
[10:21:11.061] init error: 285204.654693 
[10:21:11.089] end error: 1542.316455 
[10:21:13.905] New key frame 
[10:21:13.905] BA loop run 
[10:21:13.919] init error: 5800.269291 
[10:21:13.945] end error: 939.296280 
[10:21:20.938] New key frame 
[10:21:20.938] BA loop run 
[10:21:20.952] init error: 17686.291865 
[10:21:20.982] end error: 1993.793895 
[10:21:24.731] New key frame 
[10:21:24.732] BA loop run 
[10:21:24.748] init error: 175503.496642 
[10:21:24.783] end error: 7875.903157 
[10:21:30.048] New key frame 
[10:21:30.048] BA loop run 
[10:21:30.069] init error: 10923372.480944 
[10:21:30.109] end error: 2767.293737 
[10:21:32.819] New key frame 
[10:21:32.819] BA loop run 
[10:21:32.840] init error: 4407303.714091 
[10:21:32.877] end error: 2406.055787 
[10:21:35.019] New key frame 
[10:21:35.019] BA loop run 
[10:21:35.038] init error: 75150489.050763 
[10:21:35.069] end error: 3842.685517 
[10:21:40.769] New key frame 
[10:21:40.769] BA loop run 
[10:21:40.786] init error: 129925.548703 
[10:21:40.812] end error: 2806.264523 
[10:21:43.440] New key frame 
[10:21:43.440] BA loop run 
[10:21:43.453] init error: 16329915.161626 
[10:21:43.472] end error: 2300.690079 
[10:21:45.879] New key frame 
[10:21:45.879] BA loop run 
[10:21:45.893] init error: 150162.722231 
[10:21:45.912] end error: 1889.360943 
[10:21:47.906] New key frame 
[10:21:47.906] BA loop run 
[10:21:47.922] init error: 58310.067507 
[10:21:47.942] end error: 1254.251346 
[10:21:50.032] New key frame 
[10:21:50.032] BA loop run 
[10:21:50.047] init error: 779404.826745 
[10:21:50.067] end error: 1328.589741 
[10:21:52.256] New key frame 
[10:21:52.256] BA loop run 
[10:21:52.269] init error: 358418.400359 
[10:21:52.286] end error: 1413.448003 
[10:21:54.031] New key frame 
[10:21:54.031] BA loop run 
[10:21:54.042] init error: 156363.448534 
[10:21:54.056] end error: 3676.950800 
[10:21:55.370] New key frame 
[10:21:55.370] BA loop run 
[10:21:55.380] init error: 1109576.860168 
[10:21:55.392] end error: 1065.199685 
[10:21:56.652] New key frame 
[10:21:56.652] BA loop run 
[10:21:56.663] init error: 35530.244947 
[10:21:56.675] end error: 1150.186793 
[10:21:57.840] New key frame 
[10:21:57.841] BA loop run 
[10:21:57.851] init error: 10924.093702 
[10:21:57.863] end error: 479.159296 
[10:21:58.980] New key frame 
[10:21:58.980] BA loop run 
[10:21:58.991] init error: 8503.011338 
[10:21:59.001] end error: 655.495939 
[10:22:00.300] New key frame 
[10:22:00.300] BA loop run 
[10:22:00.309] init error: 194851.488259 
[10:22:00.318] end error: 701.052402 
[10:22:01.076] New key frame 
[10:22:01.076] BA loop run 
[10:22:01.083] init error: 127681.981590 
[10:22:01.091] end error: 661.633557 
[10:22:01.867] New key frame 
[10:22:01.867] BA loop run 
[10:22:01.875] init error: 20426.846409 
[10:22:01.881] end error: 198.901288 
[10:22:02.618] New key frame 
[10:22:02.618] BA loop run 
[10:22:02.625] init error: 4718850.400845 
[10:22:02.630] end error: 421.309123 
[10:22:03.208] New key frame 
[10:22:03.208] BA loop run 
[10:22:03.214] init error: 22146604.173581 
[10:22:03.220] end error: 911.872444 
[10:22:03.738] New key frame 
[10:22:03.739] BA loop run 
[10:22:03.745] init error: 21930.877091 
[10:22:03.750] end error: 1494.255573 
[10:22:04.286] New key frame 
[10:22:04.286] BA loop run 
[10:22:04.292] init error: 2517.970856 
[10:22:04.296] end error: 320.399692 
[10:22:04.682] New key frame 
[10:22:04.682] BA loop run 
[10:22:04.687] init error: 11071.056653 
[10:22:04.692] end error: 207.054228 
[10:22:05.035] New key frame 
[10:22:05.035] BA loop run 
[10:22:05.040] init error: 7824.538956 
[10:22:05.044] end error: 215.049708 
[10:22:05.523] New key frame 
[10:22:05.523] BA loop run 
[10:22:05.528] init error: 1408508.381403 
[10:22:05.533] end error: 2079.123600 
[10:22:06.130] New key frame 
[10:22:06.130] BA loop run 
[10:22:06.137] init error: 28374.682691 
[10:22:06.143] end error: 265.084628 
[10:22:06.810] New key frame 
[10:22:06.811] BA loop run 
[10:22:06.818] init error: 92146.833883 
[10:22:06.826] end error: 363.156574 
[10:22:07.437] New key frame 
[10:22:07.437] BA loop run 
[10:22:07.443] init error: 812.305994 
[10:22:07.449] end error: 366.001259 
[10:22:08.064] New key frame 
[10:22:08.064] BA loop run 
[10:22:08.071] init error: 35646.460541 
[10:22:08.078] end error: 15622.440773 
[10:22:08.625] New key frame 
[10:22:08.625] BA loop run 
[10:22:08.634] init error: 15057.402516 
[10:22:08.641] end error: 487.835605 
[10:22:09.281] New key frame 
[10:22:09.281] BA loop run 
[10:22:09.288] init error: 865.462673 
[10:22:09.294] end error: 337.904637 
[10:22:09.796] New key frame 
[10:22:09.796] BA loop run 
[10:22:09.804] init error: 15216.998779 
[10:22:09.815] end error: 278.006301 
[10:22:10.339] New key frame 
[10:22:10.339] BA loop run 
[10:22:10.346] init error: 2806.291024 
[10:22:10.354] end error: 328.467991 
[10:22:12.654] New key frame 
[10:22:12.654] BA loop run 
[10:22:12.663] init error: 68848.199953 
[10:22:12.676] end error: 509.210944 
[10:22:13.388] New key frame 
[10:22:13.388] BA loop run 
[10:22:13.403] init error: 4722243.529127 
[10:22:13.422] end error: 2687.242929 
[10:22:14.115] New key frame 
[10:22:14.115] BA loop run 
[10:22:14.131] init error: 19432.541420 
[10:22:14.153] end error: 335.205556 
[10:22:15.030] New key frame 
[10:22:15.030] BA loop run 
[10:22:15.049] init error: 74414.967515 
[10:22:15.077] end error: 802.217198 
[10:22:15.815] New key frame 
[10:22:15.815] BA loop run 
[10:22:15.834] init error: 211864.358318 
[10:22:15.861] end error: 861.614087 
[10:22:16.708] New key frame 
[10:22:16.708] BA loop run 
[10:22:16.727] init error: 31442.228519 
[10:22:16.756] end error: 1922.391569 
[10:22:17.579] New key frame 
[10:22:17.579] BA loop run 
[10:22:17.599] init error: 219444.324630 
[10:22:17.628] end error: 2139.696878 
[10:22:18.674] New key frame 
[10:22:18.674] BA loop run 
[10:22:18.697] init error: 103016.190886 
[10:22:18.730] end error: 2421.178836 
