You called :
./pool pool4.jpeg pool3.jpeg ground.yml
Using 4.89 as sensor width and 4.15mm as focal
Detecting CCTag markers in first image
Found 0 reliable markers
Detecting CCTag markers in second image
Found 0 reliable markers
Mached 0 markers; using them for reconstruction
 /!\ Robust relative pose estimation failure.
MacBook-Pro-4:david_pool stepanmalkut$ ./pool david_2.jpg david_1.jpg ground.yml
 You called :
./pool david_2.jpg david_1.jpg ground.yml
EXIF Camera Model: iPhone 11 Pro
EXIF Focal: 4.25mm
Detecting CCTag markers in first image
Found 20 reliable markers
Detecting CCTag markers in second image
Found 19 reliable markers
Mached 19 markers; using them for reconstruction

Found an Essential matrix:
	precision: 15.1679 pixels
	#inliers: 19
	#matches: 19

Triangulation residuals statistics:
	-- Residual min:	0
	-- Residual median:	0.10918
	-- Residual max:	 2.02379
	-- Residual mean:	 0.42602

Bundle Adjustment statistics (approximated RMSE):
 #views: 2
 #poses: 2
 #intrinsics: 1
 #tracks: 19
 #residuals: 76
 Initial RMSE: 0.512133
 Final RMSE: 0.440908
 Time (s): 0.00802612

|   18|   19|   131.372|     131.3| 0.0715665| 0.0545061%|
|   14|   17|   159.263|     159.5|  0.237389|  0.148833%|
|   15|   17|   213.086|     213.9|  0.813694|  0.380409%|
|   16|   17|     327.4|     327.4|5.68434e-14|1.73621e-14%|
|   15|   16|   195.793|     192.4|   3.39288|   1.76345%|
|   14|   16|   216.472|     217.4|  0.928327|  0.427013%|