[16:56:40.309] init depth filter
[16:56:43.421] init depth filter
[16:56:47.074] DepthFilter: RESET.
[16:57:03.840] add key frame
[16:57:03.840] update seed
[16:57:03.840] init seeds
[16:57:03.845] DepthFilter: Initialized 65 new seeds
[16:57:06.661] add new frame
[16:57:06.661] update seed
[16:57:06.662]  If point is visible? -0.179351, -1.189585, -1.699112
[16:57:06.662]  If point is visible? -0.164602, -1.167021, -1.717044
[16:57:06.662]  If point is visible? -0.078735, -0.579468, -2.012863
[16:57:06.662]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.662]  If point is visible? -0.074434, -0.520351, -2.029918
[16:57:06.662]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.662]  If point is visible? 0.389323, -0.512534, -1.988616
[16:57:06.662]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.662]  If point is visible? 1.177754, -0.442963, -1.637355
[16:57:06.662]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.662]  If point is visible? -0.036256, -0.353963, -2.067936
[16:57:06.662]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.662]  If point is visible? -0.402407, 0.042201, -2.062437
[16:57:06.662]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.662]  If point is visible? -0.402295, 0.046593, -2.062360
[16:57:06.662]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.662]  If point is visible? -0.366723, 0.098568, -2.067021
[16:57:06.662]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.662]  If point is visible? -0.372412, 0.098693, -2.066006
[16:57:06.662]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.662]  If point is visible? -0.378098, 0.098819, -2.064975
[16:57:06.662]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.662]  If point is visible? -0.406483, 0.099476, -2.059570
[16:57:06.662]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.662]  If point is visible? -0.444479, 0.148868, -2.048562
[16:57:06.662]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.662]  If point is visible? 1.271653, 0.185938, -1.613627
[16:57:06.662]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.662]  If point is visible? -0.427221, 0.157244, -2.051577
[16:57:06.662]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.662]  If point is visible? -0.860018, 0.309218, -1.888446
[16:57:06.662]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.662]  If point is visible? -0.398598, 0.403606, -2.021672
[16:57:06.662]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.662]  If point is visible? 0.108153, 0.532170, -2.023080
[16:57:06.662]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.662]  If point is visible? 0.371849, 0.574091, -1.974562
[16:57:06.662]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.662]  If point is visible? -0.860419, 0.680836, -1.782159
[16:57:06.662]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.662]  If point is visible? -0.152893, -1.170822, -1.715290
[16:57:06.662]  If point is visible? 0.927863, -1.117044, -1.459474
[16:57:06.662]  If point is visible? 1.161718, -0.523909, -1.624256
[16:57:06.662]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.662]  If point is visible? 1.172412, -0.451542, -1.639017
[16:57:06.662]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.662]  If point is visible? 1.183086, -0.442316, -1.633365
[16:57:06.662]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.662]  If point is visible? -0.018651, -0.362530, -2.066431
[16:57:06.662]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.662]  If point is visible? -0.030337, -0.362546, -2.066408
[16:57:06.662]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.662]  If point is visible? 0.404675, -0.279093, -2.033636
[16:57:06.662]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.662]  If point is visible? 0.156952, -0.189051, -2.082639
[16:57:06.662]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.662]  If point is visible? 1.276995, 0.149535, -1.613087
[16:57:06.662]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.662]  If point is visible? -0.427535, 0.148437, -2.052201
[16:57:06.662]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.662]  If point is visible? -0.417949, 0.095351, -2.057484
[16:57:06.662]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.662]  If point is visible? -1.109430, 0.291846, -1.751658
[16:57:06.662]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.662]  If point is visible? -1.119416, 0.292459, -1.744920
[16:57:06.662]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.662]  If point is visible? -0.388579, 0.270999, -2.046743
[16:57:06.662]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.662]  If point is visible? -0.298729, 0.463126, -2.025268
[16:57:06.662]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.662]  If point is visible? -0.310075, 0.463355, -2.023541
[16:57:06.662]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.662]  If point is visible? -0.257290, 0.391844, -2.046520
[16:57:06.662]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.662]  If point is visible? -0.478181, 0.476118, -1.987467
[16:57:06.662]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.662]  If point is visible? -0.801438, 0.530573, -1.862789
[16:57:06.662]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.662]  If point is visible? 0.957923, 0.569725, -1.747480
[16:57:06.663]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.663]  If point is visible? 0.287807, 0.630652, -1.972120
[16:57:06.663]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.663]  If point is visible? 0.068241, -0.895469, -1.885479
[16:57:06.663]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.663]  If point is visible? 1.012133, -0.918253, -1.544280
[16:57:06.663]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.663]  If point is visible? 0.922482, -0.810057, -1.665409
[16:57:06.663]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.663]  If point is visible? 1.012271, -0.932869, -1.534774
[16:57:06.663]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.663]  If point is visible? 0.481551, -0.686706, -1.909297
[16:57:06.663]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.663]  If point is visible? 0.361877, -1.133419, -1.701851
[16:57:06.663]  If point is visible? 0.969712, -1.011761, -1.511117
[16:57:06.663]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.663]  If point is visible? 0.004914, -0.379619, -2.063029
[16:57:06.663]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.663]  If point is visible? -0.018477, -0.379682, -2.063189
[16:57:06.663]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.663]  If point is visible? 0.005110, -0.396742, -2.059635
[16:57:06.663]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.663]  If point is visible? -0.018279, -0.396811, -2.059796
[16:57:06.663]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.663]  If point is visible? -0.315094, -0.581611, -1.990350
[16:57:06.663]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.663]  If point is visible? 1.183082, -0.450241, -1.631058
[16:57:06.663]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.663]  If point is visible? -0.015009, -0.566682, -2.017547
[16:57:06.663]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.663]  If point is visible? -0.019211, -0.241867, -2.084901
[16:57:06.663]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.663]  If point is visible? -0.019197, -0.224550, -2.086936
[16:57:06.663]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.663]  If point is visible? -1.819097, 0.137130, -0.962549
[16:57:06.663]  If point is visible? -1.109987, 0.283157, -1.752803
[16:57:06.663]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.663]  If point is visible? -0.299806, 0.445532, -2.029262
[16:57:06.663]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.663]  calculated Z=  0.921898
[16:57:06.663]  update seeds 
[16:57:06.663]  If point is visible? -0.306563, 0.322203, -2.052688
[16:57:06.663]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.663]  If point is visible? -0.478777, 0.467328, -1.989520
[16:57:06.663]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.663]  If point is visible? 0.903568, 0.611183, -1.763959
[16:57:06.663]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.953] add new frame
[16:57:06.953] update seed
[16:57:06.953]  If point is visible? -0.180433, -1.189585, -1.706183
[16:57:06.953]  If point is visible? -0.165685, -1.167021, -1.724115
[16:57:06.953]  If point is visible? -0.079818, -0.579468, -2.019934
[16:57:06.953]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.953]  If point is visible? -0.075517, -0.520351, -2.036989
[16:57:06.953]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.953]  If point is visible? 0.388240, -0.512534, -1.995687
[16:57:06.953]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.953]  If point is visible? 1.176671, -0.442963, -1.644426
[16:57:06.953]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.953]  If point is visible? -0.037339, -0.353963, -2.075007
[16:57:06.953]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.953]  If point is visible? -0.403490, 0.042201, -2.069508
[16:57:06.953]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.953]  If point is visible? -0.403378, 0.046593, -2.069430
[16:57:06.953]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.953]  If point is visible? -0.367806, 0.098568, -2.074092
[16:57:06.953]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.953]  If point is visible? -0.373495, 0.098693, -2.073077
[16:57:06.953]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.953]  If point is visible? -0.379181, 0.098819, -2.072046
[16:57:06.953]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.953]  If point is visible? -0.407566, 0.099476, -2.066641
[16:57:06.953]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.953]  If point is visible? -0.445561, 0.148868, -2.055633
[16:57:06.953]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.953]  If point is visible? 1.270570, 0.185938, -1.620698
[16:57:06.953]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.953]  If point is visible? -0.428303, 0.157244, -2.058648
[16:57:06.953]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.953]  If point is visible? -0.861101, 0.309218, -1.895517
[16:57:06.953]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.953]  If point is visible? -0.399681, 0.403606, -2.028743
[16:57:06.953]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.953]  If point is visible? 0.107071, 0.532170, -2.030151
[16:57:06.953]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.953]  If point is visible? 0.370766, 0.574091, -1.981633
[16:57:06.953]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.953]  If point is visible? -0.861502, 0.680836, -1.789229
[16:57:06.953]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.953]  If point is visible? -0.153976, -1.170822, -1.722361
[16:57:06.953]  If point is visible? 0.926780, -1.117044, -1.466545
[16:57:06.953]  If point is visible? 1.160635, -0.523909, -1.631327
[16:57:06.953]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.953]  If point is visible? 1.171329, -0.451542, -1.646088
[16:57:06.953]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.953]  If point is visible? 1.182003, -0.442316, -1.640436
[16:57:06.953]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.953]  If point is visible? -0.019733, -0.362530, -2.073502
[16:57:06.953]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.953]  If point is visible? -0.031420, -0.362546, -2.073479
[16:57:06.953]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.953]  If point is visible? 0.403592, -0.279093, -2.040707
[16:57:06.953]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.953]  If point is visible? 0.155869, -0.189051, -2.089710
[16:57:06.954]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.954]  If point is visible? 1.275913, 0.149535, -1.620158
[16:57:06.954]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.954]  If point is visible? -0.428617, 0.148437, -2.059272
[16:57:06.954]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.954]  If point is visible? -0.419032, 0.095351, -2.064555
[16:57:06.954]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.954]  If point is visible? -1.110512, 0.291846, -1.758729
[16:57:06.954]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.954]  If point is visible? -1.120499, 0.292459, -1.751991
[16:57:06.954]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.954]  If point is visible? -0.389662, 0.270999, -2.053814
[16:57:06.954]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.954]  If point is visible? -0.299811, 0.463126, -2.032338
[16:57:06.954]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.954]  If point is visible? -0.311158, 0.463355, -2.030612
[16:57:06.954]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.954]  If point is visible? -0.258373, 0.391844, -2.053591
[16:57:06.954]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.954]  If point is visible? -0.479264, 0.476118, -1.994538
[16:57:06.954]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.954]  If point is visible? -0.802520, 0.530573, -1.869860
[16:57:06.954]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.954]  If point is visible? 0.956840, 0.569725, -1.754551
[16:57:06.954]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.954]  If point is visible? 0.286725, 0.630652, -1.979191
[16:57:06.954]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.954]  If point is visible? 0.067158, -0.895469, -1.892550
[16:57:06.954]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.954]  If point is visible? 1.011050, -0.918253, -1.551351
[16:57:06.954]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.954]  If point is visible? 0.921400, -0.810057, -1.672480
[16:57:06.954]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.954]  If point is visible? 1.011188, -0.932869, -1.541845
[16:57:06.954]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.954]  If point is visible? 0.480468, -0.686706, -1.916368
[16:57:06.954]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.954]  If point is visible? 0.360794, -1.133419, -1.708922
[16:57:06.954]  If point is visible? 0.968629, -1.011761, -1.518188
[16:57:06.954]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.954]  If point is visible? 0.003832, -0.379619, -2.070100
[16:57:06.954]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.954]  If point is visible? -0.019559, -0.379682, -2.070260
[16:57:06.954]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.954]  If point is visible? 0.004027, -0.396742, -2.066706
[16:57:06.954]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.954]  If point is visible? -0.019362, -0.396811, -2.066867
[16:57:06.954]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.954]  If point is visible? -0.316177, -0.581611, -1.997421
[16:57:06.954]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.954]  If point is visible? 1.181999, -0.450241, -1.638129
[16:57:06.954]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.954]  If point is visible? -0.016092, -0.566682, -2.024618
[16:57:06.954]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.954]  If point is visible? -0.020294, -0.241867, -2.091972
[16:57:06.954]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.954]  If point is visible? -0.020280, -0.224550, -2.094007
[16:57:06.954]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.954]  If point is visible? -1.820180, 0.137130, -0.969620
[16:57:06.954]  If point is visible? -1.111070, 0.283157, -1.759874
[16:57:06.954]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.954]  If point is visible? -0.226345, 0.326334, -1.520538
[16:57:06.954]  Z inverse min: 1.042875, Z inverse max: 0.323593
[16:57:06.954]  If point is visible? -0.307646, 0.322203, -2.059759
[16:57:06.954]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.954]  If point is visible? -0.479860, 0.467328, -1.996591
[16:57:06.954]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:06.954]  If point is visible? 0.902485, 0.611183, -1.771030
[16:57:06.954]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:07.115] add new frame
[16:57:07.115] update seed
[16:57:07.115]  If point is visible? -0.180175, -1.189585, -1.706297
[16:57:07.115]  If point is visible? -0.165427, -1.167021, -1.724228
[16:57:07.115]  If point is visible? -0.079560, -0.579468, -2.020047
[16:57:07.115]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:07.115]  If point is visible? -0.075259, -0.520351, -2.037103
[16:57:07.115]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:07.115]  If point is visible? 0.388498, -0.512534, -1.995800
[16:57:07.115]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:07.115]  If point is visible? 1.176929, -0.442963, -1.644540
[16:57:07.115]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:07.115]  If point is visible? -0.037081, -0.353963, -2.075120
[16:57:07.115]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:07.115]  If point is visible? -0.403232, 0.042201, -2.069622
[16:57:07.115]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:07.115]  If point is visible? -0.403120, 0.046593, -2.069544
[16:57:07.115]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:07.115]  If point is visible? -0.367548, 0.098568, -2.074206
[16:57:07.115]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:07.115]  If point is visible? -0.373237, 0.098693, -2.073191
[16:57:07.115]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:07.115]  If point is visible? -0.378923, 0.098819, -2.072159
[16:57:07.115]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:07.115]  If point is visible? -0.407308, 0.099476, -2.066754
[16:57:07.115]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:07.115]  If point is visible? -0.445303, 0.148868, -2.055747
[16:57:07.115]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:07.115]  If point is visible? 1.270828, 0.185938, -1.620811
[16:57:07.115]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:07.115]  If point is visible? -0.428045, 0.157244, -2.058761
[16:57:07.115]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:07.115]  If point is visible? -0.860843, 0.309218, -1.895631
[16:57:07.115]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:07.115]  If point is visible? -0.399423, 0.403606, -2.028856
[16:57:07.115]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:07.115]  If point is visible? 0.107329, 0.532170, -2.030264
[16:57:07.115]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:07.115]  If point is visible? 0.371024, 0.574091, -1.981747
[16:57:07.115]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:07.115]  If point is visible? -0.861244, 0.680836, -1.789343
[16:57:07.115]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:07.115]  If point is visible? -0.153718, -1.170822, -1.722475
[16:57:07.115]  If point is visible? 0.927038, -1.117044, -1.466658
[16:57:07.115]  If point is visible? 1.160893, -0.523909, -1.631440
[16:57:07.115]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:07.115]  If point is visible? 1.171587, -0.451542, -1.646201
[16:57:07.115]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:07.115]  If point is visible? 1.182261, -0.442316, -1.640550
[16:57:07.115]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:07.115]  If point is visible? -0.019475, -0.362530, -2.073615
[16:57:07.115]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:07.115]  If point is visible? -0.031162, -0.362546, -2.073593
[16:57:07.115]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:07.115]  If point is visible? 0.403850, -0.279093, -2.040821
[16:57:07.115]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:07.115]  If point is visible? 0.156127, -0.189051, -2.089823
[16:57:07.115]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:07.115]  If point is visible? 1.276171, 0.149535, -1.620272
[16:57:07.115]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:07.115]  If point is visible? -0.428360, 0.148437, -2.059386
[16:57:07.115]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:07.115]  If point is visible? -0.418774, 0.095351, -2.064669
[16:57:07.115]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:07.115]  If point is visible? -1.110254, 0.291846, -1.758842
[16:57:07.115]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:07.115]  If point is visible? -1.120241, 0.292459, -1.752105
[16:57:07.115]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:07.116]  If point is visible? -0.389404, 0.270999, -2.053928
[16:57:07.116]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:07.116]  If point is visible? -0.299553, 0.463126, -2.032452
[16:57:07.116]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:07.116]  If point is visible? -0.310900, 0.463355, -2.030726
[16:57:07.116]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:07.116]  If point is visible? -0.258115, 0.391844, -2.053705
[16:57:07.116]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:07.116]  If point is visible? -0.479006, 0.476118, -1.994652
[16:57:07.116]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:07.116]  If point is visible? -0.802262, 0.530573, -1.869974
[16:57:07.116]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:07.116]  If point is visible? 0.957098, 0.569725, -1.754664
[16:57:07.116]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:07.116]  If point is visible? 0.286983, 0.630652, -1.979304
[16:57:07.116]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:07.116]  If point is visible? 0.067416, -0.895469, -1.892663
[16:57:07.116]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:07.116]  If point is visible? 1.011308, -0.918253, -1.551464
[16:57:07.116]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:07.116]  If point is visible? 0.921658, -0.810057, -1.672593
[16:57:07.116]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:07.116]  If point is visible? 1.011446, -0.932869, -1.541959
[16:57:07.116]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:07.116]  If point is visible? 0.480726, -0.686706, -1.916481
[16:57:07.116]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:07.116]  If point is visible? 0.361052, -1.133419, -1.709035
[16:57:07.116]  If point is visible? 0.968887, -1.011761, -1.518302
[16:57:07.116]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:07.116]  If point is visible? 0.004090, -0.379619, -2.070214
[16:57:07.116]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:07.116]  If point is visible? -0.019301, -0.379682, -2.070373
[16:57:07.116]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:07.116]  If point is visible? 0.004285, -0.396742, -2.066820
[16:57:07.116]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:07.116]  If point is visible? -0.019104, -0.396811, -2.066980
[16:57:07.116]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:07.116]  If point is visible? -0.315919, -0.581611, -1.997534
[16:57:07.116]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:07.116]  If point is visible? 1.182257, -0.450241, -1.638243
[16:57:07.116]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:07.116]  If point is visible? -0.015834, -0.566682, -2.024731
[16:57:07.116]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:07.116]  If point is visible? -0.020036, -0.241867, -2.092085
[16:57:07.116]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:07.116]  If point is visible? -0.020022, -0.224550, -2.094120
[16:57:07.116]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:07.116]  If point is visible? -1.819922, 0.137130, -0.969733
[16:57:07.116]  If point is visible? -1.110812, 0.283157, -1.759988
[16:57:07.116]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:07.116]  If point is visible? -0.226087, 0.326334, -1.520651
[16:57:07.116]  Z inverse min: 1.042875, Z inverse max: 0.323593
[16:57:07.116]  If point is visible? -0.307388, 0.322203, -2.059872
[16:57:07.116]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:07.116]  If point is visible? -0.479602, 0.467328, -1.996705
[16:57:07.116]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:07.116]  If point is visible? 0.902743, 0.611183, -1.771144
[16:57:07.116]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:08.647] add new frame
[16:57:08.647] add key frame
[16:57:08.647] update seed
[16:57:08.647] init seeds
[16:57:08.647] update seed
[16:57:08.647] init seeds
[16:57:08.650] DepthFilter: Initialized 54 new seeds
[16:57:08.655] DepthFilter: Initialized 96 new seeds
[16:57:08.967] add new frame
[16:57:08.967] add key frame
[16:57:08.967] update seed
[16:57:08.967] init seeds
[16:57:08.967] update seed
[16:57:08.967] init seeds
[16:57:08.971] DepthFilter: Initialized 22 new seeds
[16:57:08.974] DepthFilter: Initialized 83 new seeds
[16:57:09.122] add new frame
[16:57:09.122] add key frame
[16:57:09.122] update seed
[16:57:09.122] init seeds
[16:57:09.125] DepthFilter: Initialized 24 new seeds
[16:57:09.445] add new frame
[16:57:09.445] add key frame
[16:57:09.445] update seed
[16:57:09.445] init seeds
[16:57:09.448] DepthFilter: Initialized 13 new seeds
[16:57:09.963] add new frame
[16:57:09.963] add key frame
[16:57:09.963] update seed
[16:57:09.963] init seeds
[16:57:09.963] update seed
[16:57:09.963] init seeds
[16:57:09.966] DepthFilter: Initialized 13 new seeds
[16:57:09.969] DepthFilter: Initialized 93 new seeds
[16:57:10.158] add new frame
[16:57:10.158] update seed
[16:57:10.158]  If point is visible? -0.209392, -1.189585, -1.801518
[16:57:10.158]  If point is visible? -0.194643, -1.167021, -1.819450
[16:57:10.158]  If point is visible? -0.108776, -0.579468, -2.115269
[16:57:10.158]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:10.158]  If point is visible? -0.104475, -0.520351, -2.132324
[16:57:10.158]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:10.158] add key frame
[16:57:10.158] init seeds
[16:57:10.158] update seed
[16:57:10.158] init seeds
[16:57:10.161] DepthFilter: Initialized 16 new seeds
[16:57:10.164] DepthFilter: Initialized 87 new seeds
[16:57:10.342] add new frame
[16:57:10.342] update seed
[16:57:10.342]  If point is visible? -0.210671, -1.189585, -1.805557
[16:57:10.342]  If point is visible? -0.195922, -1.167021, -1.823488
[16:57:10.342]  If point is visible? -0.110055, -0.579468, -2.119308
[16:57:10.342] add key frame
[16:57:10.342]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:10.342] init seeds
[16:57:10.342] update seed
[16:57:10.342] init seeds
[16:57:10.346] DepthFilter: Initialized 13 new seeds
[16:57:10.348] DepthFilter: Initialized 103 new seeds
[16:57:10.522] add new frame
[16:57:10.522] update seed
[16:57:10.522]  If point is visible? -0.211787, -1.189585, -1.809065
[16:57:10.522]  If point is visible? -0.197038, -1.167021, -1.826996
[16:57:10.522]  If point is visible? -0.111171, -0.579468, -2.122815
[16:57:10.522]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:10.522] add key frame
[16:57:10.522] init seeds
[16:57:10.522] update seed
[16:57:10.523] init seeds
[16:57:10.526] DepthFilter: Initialized 7 new seeds
[16:57:10.528] DepthFilter: Initialized 98 new seeds
[16:57:10.892] add new frame
[16:57:10.892] update seed
[16:57:10.892]  If point is visible? -0.214452, -1.189585, -1.818033
[16:57:10.892]  If point is visible? -0.199704, -1.167021, -1.835964
[16:57:10.892]  If point is visible? -0.113837, -0.579468, -2.131783
[16:57:10.892]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:10.892] add key frame
[16:57:10.893] init seeds
[16:57:10.893] update seed
[16:57:10.893] init seeds
[16:57:10.896] DepthFilter: Initialized 8 new seeds
[16:57:10.898] DepthFilter: Initialized 99 new seeds
[16:57:11.097] add new frame
[16:57:11.097] update seed
[16:57:11.097]  If point is visible? -0.216085, -1.189585, -1.821615
[16:57:11.097]  If point is visible? -0.201337, -1.167021, -1.839546
[16:57:11.097] add key frame
[16:57:11.097]  If point is visible? -0.115470, -0.579468, -2.135365
[16:57:11.097]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:11.097] init seeds
[16:57:11.097] update seed
[16:57:11.097] init seeds
[16:57:11.100] DepthFilter: Initialized 12 new seeds
[16:57:11.102] DepthFilter: Initialized 99 new seeds
[16:57:11.296] add new frame
[16:57:11.296] add key frame
[16:57:11.296] update seed
[16:57:11.296] init seeds
[16:57:11.296] update seed
[16:57:11.296] init seeds
[16:57:11.298] DepthFilter: Initialized 11 new seeds
[16:57:11.301] DepthFilter: Initialized 111 new seeds
[16:57:11.512] add new frame
[16:57:11.512] update seed
[16:57:11.512]  If point is visible? -0.217935, -1.189585, -1.827810
[16:57:11.512]  If point is visible? -0.203186, -1.167021, -1.845741
[16:57:11.512]  If point is visible? -0.117319, -0.579468, -2.141560
[16:57:11.512]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:11.512] add key frame
[16:57:11.512] init seeds
[16:57:11.512] update seed
[16:57:11.512] init seeds
[16:57:11.515] DepthFilter: Initialized 4 new seeds
[16:57:11.517] DepthFilter: Initialized 117 new seeds
[16:57:11.728] add new frame
[16:57:11.728] update seed
[16:57:11.728]  If point is visible? -0.218959, -1.189585, -1.831097
[16:57:11.728]  If point is visible? -0.204210, -1.167021, -1.849028
[16:57:11.728]  If point is visible? -0.118343, -0.579468, -2.144847
[16:57:11.728]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:11.728] add key frame
[16:57:11.728] init seeds
[16:57:11.728] update seed
[16:57:11.728] init seeds
[16:57:11.731] DepthFilter: Initialized 4 new seeds
[16:57:11.733] DepthFilter: Initialized 90 new seeds
[16:57:12.223] add new frame
[16:57:12.223] update seed
[16:57:12.223] add key frame
[16:57:12.223]  If point is visible? -0.223316, -1.189585, -1.843837
[16:57:12.223] init seeds
[16:57:12.223] update seed
[16:57:12.223] init seeds
[16:57:12.226] DepthFilter: Initialized 5 new seeds
[16:57:12.228] DepthFilter: Initialized 105 new seeds
[16:57:12.911] add new frame
[16:57:12.911] update seed
[16:57:12.911]  If point is visible? -0.230395, -1.189585, -1.865398
[16:57:12.911]  If point is visible? -0.215646, -1.167021, -1.883329
[16:57:12.911] add key frame
[16:57:12.911]  If point is visible? -0.129779, -0.579468, -2.179148
[16:57:12.911]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:12.911] init seeds
[16:57:12.911] update seed
[16:57:12.911] init seeds
[16:57:12.914] DepthFilter: Initialized 5 new seeds
[16:57:12.917] DepthFilter: Initialized 97 new seeds
[16:57:13.155] add new frame
[16:57:13.155] update seed
[16:57:13.155] add key frame
[16:57:13.155]  If point is visible? -0.231376, -1.189585, -1.868343
[16:57:13.155] init seeds
[16:57:13.155] update seed
[16:57:13.155] init seeds
[16:57:13.158] DepthFilter: Initialized 5 new seeds
[16:57:13.160] DepthFilter: Initialized 98 new seeds
[16:57:13.932] add new frame
[16:57:13.932] update seed
[16:57:13.932]  If point is visible? -0.231325, -1.189585, -1.868780
[16:57:13.932]  If point is visible? -0.216576, -1.167021, -1.886711
[16:57:13.932] add key frame
[16:57:13.932]  If point is visible? -0.130709, -0.579468, -2.182530
[16:57:13.932]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:13.932] init seeds
[16:57:13.932] update seed
[16:57:13.932] init seeds
[16:57:13.935] DepthFilter: Initialized 3 new seeds
[16:57:13.937] DepthFilter: Initialized 99 new seeds
[16:57:14.455] add new frame
[16:57:14.455] update seed
[16:57:14.455]  If point is visible? -0.231355, -1.189585, -1.869405
[16:57:14.455]  If point is visible? -0.216606, -1.167021, -1.887336
[16:57:14.455]  If point is visible? -0.130739, -0.579468, -2.183155
[16:57:14.455]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:14.455]  If point is visible? -0.126438, -0.520351, -2.200211
[16:57:14.455]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:14.455] add key frame
[16:57:14.455] init seeds
[16:57:14.455] update seed
[16:57:14.455] init seeds
[16:57:14.458] DepthFilter: Initialized 1 new seeds
[16:57:14.460] DepthFilter: Initialized 99 new seeds
[16:57:14.727] add new frame
[16:57:14.727] update seed
[16:57:14.727]  If point is visible? -0.231372, -1.189585, -1.869650
[16:57:14.727] add key frame
[16:57:14.727]  If point is visible? -0.216623, -1.167021, -1.887581
[16:57:14.727] init seeds
[16:57:14.727] remove key frame
[16:57:14.728] update seed
[16:57:14.728]  If point is visible? -0.231372, -1.189585, -1.869650
[16:57:14.728]  If point is visible? -0.216623, -1.167021, -1.887581
[16:57:14.728]  If point is visible? -0.130756, -0.579468, -2.183400
[16:57:14.728]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:14.728]  If point is visible? -0.126455, -0.520351, -2.200456
[16:57:14.728]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:14.728]  If point is visible? 0.337302, -0.512534, -2.159153
[16:57:14.728]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:14.728]  If point is visible? 1.125733, -0.442963, -1.807893
[16:57:14.728]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:14.728]  If point is visible? -0.088277, -0.353963, -2.238474
[16:57:14.728]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:14.728]  If point is visible? -0.454428, 0.042201, -2.232975
[16:57:14.728]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:14.728]  If point is visible? -0.454316, 0.046593, -2.232897
[16:57:14.728]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:14.728]  If point is visible? -0.418744, 0.098568, -2.237559
[16:57:14.728]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:14.728]  If point is visible? -0.424433, 0.098693, -2.236544
[16:57:14.728]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:14.728]  If point is visible? -0.430119, 0.098819, -2.235513
[16:57:14.728]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:14.728]  If point is visible? -0.458504, 0.099476, -2.230107
[16:57:14.728]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:14.728]  If point is visible? -0.496500, 0.148868, -2.219100
[16:57:14.728]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:14.728]  If point is visible? 1.219632, 0.185938, -1.784165
[16:57:14.728]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:14.728]  If point is visible? -0.479242, 0.157244, -2.222114
[16:57:14.728]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:14.728]  If point is visible? -0.912039, 0.309218, -2.058984
[16:57:14.728]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:14.728]  If point is visible? -0.450619, 0.403606, -2.192209
[16:57:14.728]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:14.728]  If point is visible? 0.056132, 0.532170, -2.193617
[16:57:14.728]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:14.728]  If point is visible? 0.319828, 0.574091, -2.145100
[16:57:14.728]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:14.728]  If point is visible? -0.912440, 0.680836, -1.952696
[16:57:14.728]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:14.728]  If point is visible? -0.204914, -1.170822, -1.885828
[16:57:14.728]  If point is visible? 0.875842, -1.117044, -1.630011
[16:57:14.728]  If point is visible? 1.109697, -0.523909, -1.794794
[16:57:14.728]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:14.728]  If point is visible? 1.120391, -0.451542, -1.809554
[16:57:14.728]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:14.729]  calculated Z=  0.930841
[16:57:14.729]  update seeds 
[16:57:14.729]  If point is visible? 1.131065, -0.442316, -1.803903
[16:57:14.729]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:14.729]  If point is visible? -0.070672, -0.362530, -2.236969
[16:57:14.729]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:14.729]  If point is visible? -0.082358, -0.362546, -2.236946
[16:57:14.729]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:14.729]  If point is visible? 0.352654, -0.279093, -2.204174
[16:57:14.729]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:14.729]  If point is visible? 0.104931, -0.189051, -2.253177
[16:57:14.729]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:14.729]  If point is visible? 1.224974, 0.149535, -1.783625
[16:57:14.729]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:14.729]  If point is visible? -0.479556, 0.148437, -2.222739
[16:57:14.729]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:14.729]  If point is visible? -0.469970, 0.095351, -2.228022
[16:57:14.729]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:14.729]  If point is visible? -1.161451, 0.291846, -1.922196
[16:57:14.729]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:14.729]  If point is visible? -1.171437, 0.292459, -1.915458
[16:57:14.729]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:14.729]  If point is visible? -0.440600, 0.270999, -2.217281
[16:57:14.729]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:14.729]  If point is visible? -0.350750, 0.463126, -2.195805
[16:57:14.729]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:14.729]  If point is visible? -0.362096, 0.463355, -2.194079
[16:57:14.729]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:14.729]  If point is visible? -0.309311, 0.391844, -2.217058
[16:57:14.729]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:14.729]  If point is visible? -0.530202, 0.476118, -2.158005
[16:57:14.729]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:14.729]  If point is visible? -0.853459, 0.530573, -2.033327
[16:57:14.729]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:14.729]  If point is visible? 0.905902, 0.569725, -1.918018
[16:57:14.729]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:14.729]  If point is visible? 0.235786, 0.630652, -2.142658
[16:57:14.729]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:14.729]  If point is visible? 0.016220, -0.895469, -2.056017
[16:57:14.729]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:14.729]  If point is visible? 0.960112, -0.918253, -1.714817
[16:57:14.729]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:14.729]  If point is visible? 0.870461, -0.810057, -1.835947
[16:57:14.729]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:14.730]  If point is visible? 0.960250, -0.932869, -1.705312
[16:57:14.730]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:14.730]  If point is visible? 0.429530, -0.686706, -2.079834
[16:57:14.730]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:14.730]  If point is visible? 0.309856, -1.133419, -1.872389
[16:57:14.730]  If point is visible? 0.917691, -1.011761, -1.681655
[16:57:14.730]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:14.730]  If point is visible? -0.047107, -0.379619, -2.233567
[16:57:14.730]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:14.730]  If point is visible? -0.070498, -0.379682, -2.233727
[16:57:14.730]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:14.730]  If point is visible? -0.046911, -0.396742, -2.230173
[16:57:14.730]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:14.730]  If point is visible? -0.070300, -0.396811, -2.230334
[16:57:14.730]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:14.730]  If point is visible? -0.367115, -0.581611, -2.160888
[16:57:14.730]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:14.730]  If point is visible? 1.131061, -0.450241, -1.801596
[16:57:14.730]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:14.730]  If point is visible? -0.067030, -0.566682, -2.188084
[16:57:14.730]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:14.730]  If point is visible? -0.071232, -0.241867, -2.255439
[16:57:14.730]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:14.730]  If point is visible? -0.071218, -0.224550, -2.257473
[16:57:14.730]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:14.730]  If point is visible? -1.871118, 0.137130, -1.133086
[16:57:14.730]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:14.730]  If point is visible? -1.162008, 0.283157, -1.923341
[16:57:14.730]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:14.730]  If point is visible? -0.277284, 0.326334, -1.684005
[16:57:14.730]  Z inverse min: 1.042875, Z inverse max: 0.323593
[16:57:14.730]  If point is visible? -0.358584, 0.322203, -2.223226
[16:57:14.730]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:14.730]  If point is visible? -0.530798, 0.467328, -2.160058
[16:57:14.730]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:14.730]  If point is visible? 0.851547, 0.611183, -1.934497
[16:57:14.730]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:14.730]  If point is visible? -0.042559, -0.025568, -0.409253
[16:57:14.730]  Z inverse min: 5.408916, Z inverse max: 1.176790
[16:57:14.730]  If point is visible? -0.057284, -0.002275, -0.409612
[16:57:14.730]  Z inverse min: 5.408916, Z inverse max: 1.176790
[16:57:14.730]  If point is visible? -0.129447, 0.008900, -0.395314
[16:57:14.730]  Z inverse min: 5.408916, Z inverse max: 1.176790
[16:57:14.731]  If point is visible? -0.124918, 0.016753, -0.396405
[16:57:14.731]  Z inverse min: 5.408916, Z inverse max: 1.176790
[16:57:14.731] init seeds
[16:57:14.731] DepthFilter: Initialized 0 new seeds
[16:57:14.733] DepthFilter: Initialized 0 new seeds
[16:57:15.291] add new frame
[16:57:15.291] update seed
[16:57:15.291]  If point is visible? -0.231445, -1.189585, -1.870357
[16:57:15.291]  If point is visible? -0.216696, -1.167021, -1.888288
[16:57:15.291]  If point is visible? -0.130829, -0.579468, -2.184107
[16:57:15.291]  Z inverse min: 0.845768, Z inverse max: 0.155113
[16:57:15.291] add key frame
[16:57:15.291] remove key frame
[16:57:15.291] init seeds
[16:57:15.291] update seed
[16:57:15.291]  If point is visible? -0.042632, -0.025568, -0.409959
[16:57:15.291]  Z inverse min: 5.408916, Z inverse max: 1.176790
[16:57:15.291]  If point is visible? -0.057357, -0.002275, -0.410319
[16:57:15.291]  Z inverse min: 5.408916, Z inverse max: 1.176790
[16:57:15.291]  If point is visible? -0.129520, 0.008900, -0.396021
[16:57:15.291]  Z inverse min: 5.408916, Z inverse max: 1.176790
[16:57:15.292]  If point is visible? -0.124991, 0.016753, -0.397112
[16:57:15.292]  Z inverse min: 5.408916, Z inverse max: 1.176790
[16:57:15.292]  If point is visible? -0.125829, 0.016785, -0.396849
[16:57:15.292]  Z inverse min: 5.408916, Z inverse max: 1.176790
[16:57:15.292]  If point is visible? -0.130009, 0.016945, -0.395500
[16:57:15.292]  Z inverse min: 5.408916, Z inverse max: 1.176790
[16:57:15.292]  If point is visible? 0.024549, 0.019519, -0.404517
[16:57:15.292]  Z inverse min: 5.408916, Z inverse max: 1.176790
[16:57:15.292]  If point is visible? -0.126042, 0.028853, -0.395829
[16:57:15.292]  Z inverse min: 5.408916, Z inverse max: 1.176790
[16:57:15.292]  If point is visible? -0.229002, 0.046173, -0.336775
[16:57:15.292]  Z inverse min: 5.408916, Z inverse max: 1.176790
[16:57:15.292]  If point is visible? 0.027254, 0.039910, -0.401908
[16:57:15.292]  Z inverse min: 5.408916, Z inverse max: 1.176790
[16:57:15.292]  If point is visible? -0.128286, 0.065844, -0.388960
[16:57:15.292]  Z inverse min: 5.408916, Z inverse max: 1.176790
[16:57:15.292]  If point is visible? -0.129113, 0.065876, -0.388678
[16:57:15.292]  Z inverse min: 5.408916, Z inverse max: 1.176790
[16:57:15.292]  If point is visible? 0.123147, -0.157030, -0.313457
[16:57:15.292]  Z inverse min: 5.408916, Z inverse max: 1.176790
[16:57:15.292]  If point is visible? 0.123097, -0.155993, -0.314282
[16:57:15.292]  Z inverse min: 5.408916, Z inverse max: 1.176790
[16:57:15.292]  If point is visible? 0.000363, -0.168123, -0.357807
[16:57:15.292]  Z inverse min: 5.408916, Z inverse max: 1.176790
[16:57:15.292]  calculated Z=  0.882540
[16:57:15.292]  update seeds 
[16:57:15.292]  If point is visible? 0.077595, -0.171591, -0.331099
[16:57:15.292]  Z inverse min: 5.408916, Z inverse max: 1.176790
[16:57:15.292]  If point is visible? -0.001451, -0.150694, -0.368910
[16:57:15.292]  Z inverse min: 5.408916, Z inverse max: 1.176790
[16:57:15.292]  If point is visible? 0.130881, -0.142904, -0.317603
[16:57:15.292]  Z inverse min: 5.408916, Z inverse max: 1.176790
[16:57:15.292]  If point is visible? 0.135531, -0.133434, -0.320085
[16:57:15.292]  Z inverse min: 5.408916, Z inverse max: 1.176790
[16:57:15.292]  If point is visible? 0.091381, -0.143385, -0.343244
[16:57:15.292]  Z inverse min: 5.408916, Z inverse max: 1.176790
[16:57:15.292]  If point is visible? 0.137077, -0.129890, -0.321029
[16:57:15.292]  Z inverse min: 5.408916, Z inverse max: 1.176790
[16:57:15.292]  If point is visible? 0.137110, -0.130975, -0.320339
[16:57:15.292]  Z inverse min: 5.408916, Z inverse max: 1.176790
[16:57:15.292]  If point is visible? 0.099213, -0.125314, -0.349127
[16:57:15.292]  Z inverse min: 5.408916, Z inverse max: 1.176790
[16:57:15.292]  If point is visible? 0.146453, -0.109449, -0.324676
[16:57:15.292]  Z inverse min: 5.408916, Z inverse max: 1.176790
[16:57:15.293]  If point is visible? -0.048027, -0.030151, -0.409359
[16:57:15.293]  Z inverse min: 5.408916, Z inverse max: 1.176790
[16:57:15.293]  If point is visible? 0.016883, 0.031972, -0.404885
[16:57:15.293]  Z inverse min: 5.408916, Z inverse max: 1.176790
[16:57:15.293]  If point is visible? -0.273685, 0.040636, -0.291215
[16:57:15.293]  Z inverse min: 5.408916, Z inverse max: 1.176790
[16:57:15.293]  If point is visible? -0.274849, 0.040772, -0.289666
[16:57:15.293]  Z inverse min: 5.408916, Z inverse max: 1.176790
[16:57:15.293]  If point is visible? 0.016944, 0.033290, -0.404729
[16:57:15.293]  Z inverse min: 5.408916, Z inverse max: 1.176790
[16:57:15.293]  If point is visible? -0.125004, 0.044917, -0.394094
[16:57:15.293]  Z inverse min: 5.408916, Z inverse max: 1.176790
[16:57:15.293]  If point is visible? -0.126671, 0.044980, -0.393557
[16:57:15.293]  Z inverse min: 5.408916, Z inverse max: 1.176790
[16:57:15.293]  If point is visible? -0.126767, 0.043641, -0.393734
[16:57:15.293]  Z inverse min: 5.408916, Z inverse max: 1.176790
[16:57:15.293]  If point is visible? -0.216345, 0.093565, -0.332637
[16:57:15.293]  Z inverse min: 5.408916, Z inverse max: 1.176790
[16:57:15.293]  If point is visible? 0.107810, 0.098511, -0.356486
[16:57:15.293]  Z inverse min: 5.408916, Z inverse max: 1.176790
[16:57:15.293]  If point is visible? 0.109449, 0.097246, -0.356035
[16:57:15.293]  Z inverse min: 5.408916, Z inverse max: 1.176790
[16:57:15.293]  If point is visible? 0.097965, 0.106130, -0.358809
[16:57:15.293]  Z inverse min: 5.408916, Z inverse max: 1.176790
[16:57:15.293]  If point is visible? -0.005446, 0.097949, -0.393335
[16:57:15.293]  Z inverse min: 5.408916, Z inverse max: 1.176790
[16:57:15.293]  If point is visible? 0.130962, -0.145024, -0.316082
[16:57:15.293]  Z inverse min: 5.408916, Z inverse max: 1.176790
[16:57:15.293]  If point is visible? 0.124706, -0.154645, -0.314056
[16:57:15.293]  Z inverse min: 5.408916, Z inverse max: 1.176790
[16:57:15.293]  If point is visible? 0.140210, -0.123854, -0.322060
[16:57:15.293]  Z inverse min: 5.408916, Z inverse max: 1.176790
[16:57:15.293]  If point is visible? 0.130881, -0.142904, -0.317603
[16:57:15.293]  Z inverse min: 5.408916, Z inverse max: 1.176790
[16:57:15.293]  If point is visible? 0.133953, -0.135887, -0.319794
[16:57:15.293]  Z inverse min: 5.408916, Z inverse max: 1.176790
[16:57:15.293]  If point is visible? 0.137110, -0.130975, -0.320339
[16:57:15.293]  Z inverse min: 5.408916, Z inverse max: 1.176790
[16:57:15.293]  If point is visible? -0.112887, -0.092668, -0.386055
[16:57:15.293]  Z inverse min: 5.408916, Z inverse max: 1.176790
[16:57:15.293]  If point is visible? 0.121591, -0.159407, -0.312823
[16:57:15.293]  Z inverse min: 5.408916, Z inverse max: 1.176790
[16:57:15.293]  If point is visible? 0.140269, -0.126039, -0.320736
[16:57:15.293]  Z inverse min: 5.408916, Z inverse max: 1.176790
[16:57:15.293]  If point is visible? 0.093196, -0.144284, -0.341708
[16:57:15.293]  Z inverse min: 5.408916, Z inverse max: 1.176790
[16:57:15.294]  If point is visible? 0.105712, -0.112931, -0.351512
[16:57:15.294]  Z inverse min: 5.408916, Z inverse max: 1.176790
[16:57:15.294]  If point is visible? -0.111074, 0.087310, -0.388275
[16:57:15.294]  Z inverse min: 5.408916, Z inverse max: 1.176790
[16:57:15.294]  If point is visible? -0.110969, 0.052478, -0.396842
[16:57:15.294]  Z inverse min: 5.408916, Z inverse max: 1.176790
[16:57:15.294]  If point is visible? -0.114343, 0.052591, -0.395919
[16:57:15.294]  Z inverse min: 5.408916, Z inverse max: 1.176790
[16:57:15.294]  If point is visible? 0.114475, 0.095913, -0.353562
[16:57:15.294]  Z inverse min: 5.408916, Z inverse max: 1.176790
[16:57:15.294]  If point is visible? 0.111088, 0.095983, -0.355566
[16:57:15.294]  Z inverse min: 5.408916, Z inverse max: 1.176790
[16:57:15.294]  If point is visible? -0.005188, 0.100558, -0.392401
[16:57:15.294]  Z inverse min: 5.408916, Z inverse max: 1.176790
[16:57:15.294]  If point is visible? -0.061731, -0.142829, -0.374140
[16:57:15.294]  Z inverse min: 5.408916, Z inverse max: 1.176790
[16:57:15.294]  If point is visible? -0.062665, -0.142220, -0.374371
[16:57:15.294]  Z inverse min: 5.408916, Z inverse max: 1.176790
[16:57:15.294] init seeds
[16:57:15.294] DepthFilter: Initialized 0 new seeds
[16:57:15.296] DepthFilter: Initialized 0 new seeds
[16:57:15.588] add new frame
[16:57:15.588] update seed
[16:57:15.588]  If point is visible? -0.042479, -0.025568, -0.410364
[16:57:15.588]  Z inverse min: 5.408916, Z inverse max: 1.176790
[16:57:15.588] add key frame
[16:57:15.588]  If point is visible? -0.057203, -0.002275, -0.410723
[16:57:15.588]  Z inverse min: 5.408916, Z inverse max: 1.176790
[16:57:15.588] remove key frame
[16:57:15.588] init seeds
[16:57:15.588] update seed
[16:57:15.588] init seeds
[16:57:15.591] DepthFilter: Initialized 0 new seeds
[16:57:15.593] DepthFilter: Initialized 113 new seeds
[16:57:16.208] add new frame
[16:57:16.208] update seed
[16:57:16.208]  If point is visible? -0.093186, -0.162757, -0.524512
[16:57:16.208]  Z inverse min: 4.329425, Z inverse max: 0.018509
[16:57:16.208] add key frame
[16:57:16.208] remove key frame
[16:57:16.208] init seeds
[16:57:16.208] update seed
[16:57:16.208] init seeds
[16:57:16.211] DepthFilter: Initialized 2 new seeds
[16:57:16.213] DepthFilter: Initialized 95 new seeds
[16:57:25.024] DepthFilter stop thread invoked.
[16:57:25.024] DepthFilter interrupt and join thread 
