## Visualization of the Skeletal Graph reconstructions of St. Peter's

Move the mouse over the underlined numbers in the table to see the corresponding images. Click and hold to compare with the full reconstruction. Each reconstruction is given a unique color.

The table lists the number of cameras in the skeletal set (as well as the final reconstruction, with leaf cameras added in), and the median error in camera position before and after running bundle adjustment.

Please see the pdf file included in the supplemental material for visualizations of reconstructions and skeletal sets for other data sets.

Stretch factor | Number of cameras registered | RMS error (m)
| Skeletal Set | + leaves | Before BA | After BA
t = 2 | 117 | 386 | 0.2118
| 0.0630
t = 4 | 85 | 386 | 0.3153 | 0.0687
t = 10 | 59 | 385 | 0.3537 | 0.0645
t = 20 | 40 | 386 | 0.8124 | 0.0803
t = 40 | 39 | 382 | 0.6690 | 0.0909
t = 100 | 32 | 377 | 2.0885 | 0.5089

[6~[6~