How can I view the pre and post optimize reprojection error?

[antithing]

I am running my own data through a ba function based on the one in Orbslam. What it prints on completion is:

iteration= 0     chi2= 1109927.592435    time= 0.000736741       cumTime= 0.000736741    edges= 454      schur= 1
 lambda= 0.000730        levenbergIter= 1
iteration= 1     chi2= 1072750.700422    time= 0.000479187       cumTime= 0.00121593     edges= 454      schur= 1
 lambda= 0.000243        levenbergIter= 1
iteration= 2     chi2= 1066378.589286    time= 0.000466357       cumTime= 0.00168228     edges= 454      schur= 1
 lambda= 0.000081        levenbergIter= 1
iteration= 3     chi2= 1066023.401195    time= 0.000468602       cumTime= 0.00215089     edges= 454      schur= 1
 lambda= 0.000054        levenbergIter= 1
iteration= 4     chi2= 1065377.343175    time= 0.000491696       cumTime= 0.00264258     edges= 454      schur= 1
 lambda= 0.000018        levenbergIter= 1
iteration= 5     chi2= 1065222.712634    time= 0.000472771       cumTime= 0.00311535     edges= 454      schur= 1
 lambda= 0.000010        levenbergIter= 1
iteration= 6     chi2= 1065191.093684    time= 0.000468602       cumTime= 0.00358396     edges= 454      schur= 1
 lambda= 0.000005        levenbergIter= 1
iteration= 7     chi2= 1065184.064498    time= 0.000485923       cumTime= 0.00406988     edges= 454      schur= 1
 lambda= 0.000004        levenbergIter= 1
iteration= 8     chi2= 1065176.693901    time= 0.00049362        cumTime= 0.0045635      edges= 454      schur= 1
 lambda= 0.000002        levenbergIter= 1
iteration= 9     chi2= 1065172.087132    time= 0.000476621       cumTime= 0.00504012     edges= 454      schur= 1
 lambda= 0.000002        levenbergIter= 1
iteration= 10    chi2= 1065168.591905    time= 0.000468923       cumTime= 0.00550904     edges= 454      schur= 1
 lambda= 0.000001        levenbergIter= 1
iteration= 11    chi2= 1065165.669307    time= 0.000477583       cumTime= 0.00598663     edges= 454      schur= 1
 lambda= 0.000001        levenbergIter= 1
iteration= 12    chi2= 1065163.141226    time= 0.000490412       cumTime= 0.00647704     edges= 454      schur= 1
 lambda= 0.000000        levenbergIter= 1
iteration= 13    chi2= 1065160.957140    time= 0.000471168       cumTime= 0.00694821     edges= 454      schur= 1
 lambda= 0.000000        levenbergIter= 1
iteration= 14    chi2= 1065159.075406    time= 0.000477904       cumTime= 0.00742611     edges= 454      schur= 1
 lambda= 0.000000        levenbergIter= 1
iteration= 15    chi2= 1065157.419718    time= 0.000477262       cumTime= 0.00790337     edges= 454      schur= 1
 lambda= 0.000000        levenbergIter= 1
iteration= 16    chi2= 1065156.472438    time= 0.000476942       cumTime= 0.00838031     edges= 454      schur= 1
 lambda= 0.000000        levenbergIter= 1
iteration= 17    chi2= 1065155.002115    time= 0.00047662        cumTime= 0.00885693     edges= 454      schur= 1
 lambda= 0.000000        levenbergIter= 1
iteration= 18    chi2= 1065153.915789    time= 0.000484639       cumTime= 0.00934157     edges= 454      schur= 1
 lambda= 0.000000        levenbergIter= 1
iteration= 19    chi2= 1065152.991854    time= 0.000485281       cumTime= 0.00982685     edges= 454      schur= 1
 lambda= 0.000000        levenbergIter= 1

Is it possible to work out the reprojection error from these numbers? Or is there a function to print any stats to see if my function is working correctly?

-Or, if the information is in these numbers printed, how do i translate them?

Thank you!

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