diff --git a/GPU_version/vio/depth_filter_log.txt b/GPU_version/vio/depth_filter_log.txt
index 9860393..3ffea9c 100755
--- a/GPU_version/vio/depth_filter_log.txt
+++ b/GPU_version/vio/depth_filter_log.txt
@@ -1,8525 +1,4 @@
-[01:08:00.781] init depth filter
-[01:08:10.130] DepthFilter: RESET.
-[01:08:14.712] add key frame
-[01:08:14.712] update seed
-[01:08:14.712] init seeds
-[01:08:14.715] DepthFilter: Initialized 77 new seeds
-[01:08:14.797] add new frame
-[01:08:14.797] update seed
-[01:08:14.797]  If point is visible? -0.227745, 0.183256, -0.342230
-[01:08:14.797]  If point is visible? -0.227736, 0.182522, -0.342668
-[01:08:14.797]  If point is visible? -0.116845, 0.167406, -0.358097
-[01:08:14.797]  If point is visible? -0.247054, 0.131649, -0.362578
-[01:08:14.797]  If point is visible? -0.241803, 0.127929, -0.365509
-[01:08:14.797]  If point is visible? -0.240638, 0.110963, -0.371874
-[01:08:14.797]  If point is visible? -0.241689, 0.110945, -0.371603
-[01:08:14.797]  If point is visible? -0.350674, 0.106087, -0.323189
-[01:08:14.797]  If point is visible? 0.086411, 0.059151, -0.305870
-[01:08:14.797]  If point is visible? -0.299003, -0.026250, -0.368729
-[01:08:14.797]  If point is visible? -0.300037, -0.026243, -0.368274
-[01:08:14.797]  If point is visible? -0.240278, -0.034484, -0.388042
-[01:08:14.797]  If point is visible? -0.238161, -0.035288, -0.388484
-[01:08:14.797]  If point is visible? -0.236043, -0.036092, -0.388910
-[01:08:14.797]  If point is visible? -0.231805, -0.037700, -0.389719
-[01:08:14.797]  If point is visible? -0.232866, -0.037695, -0.389480
-[01:08:14.797]  If point is visible? -0.215896, -0.044132, -0.392178
-[01:08:14.797]  If point is visible? -0.196760, -0.047395, -0.394649
-[01:08:14.797]  If point is visible? -0.198889, -0.047387, -0.394380
-[01:08:14.797]  If point is visible? -0.199953, -0.047382, -0.394241
-[01:08:14.797]  If point is visible? 0.152769, -0.076444, -0.222441
-[01:08:14.797]  If point is visible? 0.104012, -0.096750, -0.277609
-[01:08:14.797]  If point is visible? -0.284418, -0.100598, -0.360626
-[01:08:14.797]  If point is visible? -0.277169, -0.101538, -0.363181
-[01:08:14.797]  If point is visible? -0.278206, -0.101515, -0.362792
-[01:08:14.797]  If point is visible? -0.203124, -0.142259, -0.367869
-[01:08:14.797]  If point is visible? -0.212636, -0.145931, -0.364680
-[01:08:14.797]  If point is visible? -0.199262, -0.161357, -0.359652
-[01:08:14.797]  If point is visible? -0.200309, -0.161339, -0.359507
-[01:08:14.797]  If point is visible? -0.200323, -0.162095, -0.359130
-[01:08:14.797]  If point is visible? -0.196352, -0.172691, -0.354202
-[01:08:14.797]  If point is visible? -0.115900, 0.169669, -0.356813
-[01:08:14.797]  If point is visible? 0.059237, 0.139485, -0.298917
-[01:08:14.797]  If point is visible? -0.247063, 0.133179, -0.361958
-[01:08:14.797]  If point is visible? -0.242793, 0.119437, -0.368396
-[01:08:14.797]  If point is visible? -0.247054, 0.131649, -0.362578
-[01:08:14.797]  If point is visible? 0.074842, 0.096883, -0.304945
-[01:08:14.797]  If point is visible? 0.147867, 0.058897, -0.236113
-[01:08:14.797]  If point is visible? 0.087263, 0.059894, -0.304957
-[01:08:14.797]  If point is visible? 0.087376, 0.056826, -0.305517
-[01:08:14.797]  If point is visible? 0.087320, 0.058361, -0.305241
-[01:08:14.797]  If point is visible? -0.428504, 0.023303, -0.273538
-[01:08:14.797]  If point is visible? -0.221194, -0.040133, -0.391666
-[01:08:14.797]  If point is visible? -0.223319, -0.040123, -0.391250
-[01:08:14.797]  If point is visible? -0.225438, -0.038524, -0.390997
-[01:08:14.797]  If point is visible? -0.227562, -0.038514, -0.390556
-[01:08:14.797]  If point is visible? -0.229680, -0.036916, -0.390270
-[01:08:14.797]  If point is visible? -0.231802, -0.036906, -0.389803
-[01:08:14.797]  If point is visible? -0.240276, -0.033690, -0.388119
-[01:08:14.797]  If point is visible? -0.216948, -0.041742, -0.392276
-[01:08:14.797]  If point is visible? -0.212702, -0.043351, -0.392828
-[01:08:14.797]  If point is visible? -0.197802, -0.043409, -0.395020
-[01:08:14.797]  If point is visible? -0.199931, -0.043402, -0.394745
-[01:08:14.797]  If point is visible? 0.131471, -0.086842, -0.249278
-[01:08:14.797]  If point is visible? 0.150631, -0.078065, -0.225204
-[01:08:14.797]  If point is visible? 0.152099, -0.076503, -0.223497
-[01:08:14.797]  If point is visible? 0.095482, -0.099466, -0.285216
-[01:08:14.797]  If point is visible? 0.093785, -0.099558, -0.286841
-[01:08:14.797]  If point is visible? 0.006832, 0.167132, -0.318798
-[01:08:14.797]  If point is visible? -0.113953, 0.172675, -0.354990
-[01:08:14.797]  If point is visible? 0.074369, 0.104446, -0.302520
-[01:08:14.797]  If point is visible? -0.115781, 0.098516, -0.385114
-[01:08:14.797]  If point is visible? 0.060902, 0.140857, -0.296850
-[01:08:14.797]  If point is visible? 0.065722, 0.125814, -0.300505
-[01:08:14.797]  If point is visible? -0.115922, 0.104813, -0.383301
-[01:08:14.797]  If point is visible? 0.064200, 0.143582, -0.292649
-[01:08:14.797]  If point is visible? -0.020782, 0.097824, -0.361854
-[01:08:14.797]  If point is visible? 0.065485, 0.128795, -0.299272
-[01:08:14.797]  If point is visible? -0.115850, 0.101666, -0.384222
-[01:08:14.797]  If point is visible? 0.082861, 0.079882, -0.303651
-[01:08:14.797]  If point is visible? 0.054657, -0.056588, -0.331236
-[01:08:14.797]  If point is visible? -0.204167, -0.038608, -0.394704
-[01:08:14.797]  If point is visible? -0.216936, -0.038560, -0.392635
-[01:08:14.797]  If point is visible? -0.313423, -0.019104, -0.362518
-[01:08:14.797]  If point is visible? -0.204182, -0.041793, -0.394347
-[01:08:14.797]  If point is visible? -0.208439, -0.041777, -0.393708
-[01:08:14.797]  If point is visible? -0.212695, -0.041760, -0.393018
-[01:08:29.094] add new frame
-[01:08:29.094] update seed
-[01:08:29.094]  If point is visible? 0.635577, 0.183256, 0.253384
-[01:08:29.094]  If point is visible? 0.635948, 0.182522, 0.253151
-[01:08:29.094]  If point is visible? 0.709841, 0.167406, 0.337263
-[01:08:29.094]  If point is visible? 0.641946, 0.131649, 0.226065
-[01:08:29.094]  If point is visible? 0.647282, 0.127929, 0.228837
-[01:08:29.094]  If point is visible? 0.653239, 0.110963, 0.226309
-[01:08:29.094]  If point is visible? 0.652434, 0.110945, 0.225581
-[01:08:29.094]  If point is visible? 0.552045, 0.106087, 0.161208
-[01:08:29.094]  If point is visible? 0.778053, 0.059151, 0.535726
-[01:08:29.094]  If point is visible? 0.618502, -0.026250, 0.179301
-[01:08:29.094]  If point is visible? 0.617553, -0.026243, 0.178688
-[01:08:29.094]  If point is visible? 0.666938, -0.034484, 0.217715
-[01:08:29.094]  If point is visible? 0.668471, -0.035288, 0.219240
-[01:08:29.094]  If point is visible? 0.669993, -0.036092, 0.220773
-[01:08:29.094]  If point is visible? 0.672999, -0.037700, 0.223867
-[01:08:29.094]  If point is visible? 0.672216, -0.037695, 0.223113
-[01:08:29.094]  If point is visible? 0.683806, -0.044132, 0.235799
-[01:08:29.094]  If point is visible? 0.696397, -0.047395, 0.250420
-[01:08:29.094]  If point is visible? 0.695002, -0.047387, 0.248790
-[01:08:29.094]  If point is visible? 0.694300, -0.047382, 0.247977
-[01:08:29.094]  If point is visible? 0.744893, -0.076444, 0.637039
-[01:08:29.094]  If point is visible? 0.764138, -0.096750, 0.565972
-[01:08:29.094]  If point is visible? 0.619760, -0.100598, 0.195938
-[01:08:29.094]  If point is visible? 0.625881, -0.101538, 0.200586
-[01:08:29.094]  If point is visible? 0.624986, -0.101515, 0.199934
-[01:08:29.094]  If point is visible? 0.670533, -0.142259, 0.259839
-[01:08:29.094]  If point is visible? 0.662637, -0.145931, 0.253650
-[01:08:29.094]  If point is visible? 0.665796, -0.161357, 0.267585
-[01:08:29.094]  If point is visible? 0.665099, -0.161339, 0.266790
-[01:08:29.094]  If point is visible? 0.664776, -0.162095, 0.266986
-[01:08:29.094]  If point is visible? 0.662846, -0.172691, 0.273013
-[01:08:29.094]  If point is visible? 0.709289, 0.169669, 0.338758
-[01:08:29.094]  If point is visible? 0.757297, 0.139485, 0.516859
-[01:08:29.094]  If point is visible? 0.641423, 0.133179, 0.226399
-[01:08:29.094]  If point is visible? 0.649148, 0.119437, 0.226423
-[01:08:29.094]  If point is visible? 0.641946, 0.131649, 0.226065
-[01:08:29.094]  If point is visible? 0.770916, 0.096883, 0.526574
-[01:08:29.094]  If point is visible? 0.753614, 0.058897, 0.625423
-[01:08:29.094]  If point is visible? 0.777759, 0.059894, 0.536940
-[01:08:29.094]  If point is visible? 0.778289, 0.056826, 0.536725
-[01:08:29.094]  If point is visible? 0.778028, 0.058361, 0.536831
-[01:08:29.094]  If point is visible? 0.467765, 0.023303, 0.123532
-[01:08:29.094]  If point is visible? 0.680463, -0.040133, 0.231657
-[01:08:29.094]  If point is visible? 0.678947, -0.040123, 0.230111
-[01:08:29.094]  If point is visible? 0.677570, -0.038524, 0.228481
-[01:08:29.094]  If point is visible? 0.676033, -0.038514, 0.226950
-[01:08:29.094]  If point is visible? 0.674629, -0.036916, 0.225338
-[01:08:29.094]  If point is visible? 0.673071, -0.036906, 0.223823
-[01:08:29.094]  If point is visible? 0.667003, -0.033690, 0.217674
-[01:08:29.094]  If point is visible? 0.683308, -0.041742, 0.234866
-[01:08:29.094]  If point is visible? 0.686106, -0.043351, 0.238109
-[01:08:29.094]  If point is visible? 0.696134, -0.043409, 0.249345
-[01:08:29.094]  If point is visible? 0.694733, -0.043402, 0.247718
-[01:08:29.094]  If point is visible? 0.755587, -0.086842, 0.604489
-[01:08:29.094]  If point is visible? 0.746024, -0.078065, 0.633733
-[01:08:29.094]  If point is visible? 0.745407, -0.076503, 0.635898
-[01:08:29.094]  If point is visible? 0.765796, -0.099466, 0.554664
-[01:08:29.094]  If point is visible? 0.766220, -0.099558, 0.552353
-[01:08:29.094]  If point is visible? 0.745067, 0.167132, 0.462161
-[01:08:29.094]  If point is visible? 0.708837, 0.172675, 0.341387
-[01:08:29.094]  If point is visible? 0.768631, 0.104446, 0.527513
-[01:08:29.094]  If point is visible? 0.732987, 0.098516, 0.323288
-[01:08:29.094]  If point is visible? 0.756487, 0.140857, 0.519387
-[01:08:29.094]  If point is visible? 0.762191, 0.125814, 0.521401
-[01:08:29.094]  If point is visible? 0.731395, 0.104813, 0.324167
-[01:08:29.094]  If point is visible? 0.754793, 0.143582, 0.524452
-[01:08:29.094]  If point is visible? 0.765829, 0.097824, 0.415413
-[01:08:29.094]  If point is visible? 0.761031, 0.128795, 0.521881
-[01:08:29.094]  If point is visible? 0.732204, 0.101666, 0.323720
-[01:08:29.094]  If point is visible? 0.774247, 0.079882, 0.533983
-[01:08:29.094]  If point is visible? 0.781766, -0.056588, 0.495254
-[01:08:29.094]  If point is visible? 0.692368, -0.038608, 0.244204
-[01:08:29.094]  If point is visible? 0.683615, -0.038560, 0.234680
-[01:08:29.094]  If point is visible? 0.605382, -0.019104, 0.170677
-[01:08:29.094]  If point is visible? 0.692061, -0.041793, 0.244388
-[01:08:29.094]  If point is visible? 0.689186, -0.041777, 0.241185
-[01:08:29.094]  If point is visible? 0.686268, -0.041760, 0.238011
-[01:08:30.066] add new frame
-[01:08:30.066] update seed
-[01:08:30.066]  If point is visible? 0.441822, 0.183256, 0.228417
-[01:08:30.066]  If point is visible? 0.442113, 0.182522, 0.228090
-[01:08:30.066]  If point is visible? 0.536433, 0.167406, 0.288412
-[01:08:30.066]  If point is visible? 0.440365, 0.131649, 0.200404
-[01:08:30.066]  If point is visible? 0.446261, 0.127929, 0.201587
-[01:08:30.066]  If point is visible? 0.451282, 0.110963, 0.197506
-[01:08:30.066]  If point is visible? 0.450307, 0.110945, 0.197030
-[01:08:30.066]  If point is visible? 0.336004, 0.106087, 0.163021
-[01:08:30.066]  If point is visible? 0.657006, 0.059151, 0.460175
-[01:08:30.066]  If point is visible? 0.404872, -0.026250, 0.161975
-[01:08:30.066]  If point is visible? 0.403790, -0.026243, 0.161649
-[01:08:30.066]  If point is visible? 0.462061, -0.034484, 0.185450
-[01:08:30.066]  If point is visible? 0.463957, -0.035288, 0.186490
-[01:08:30.066]  If point is visible? 0.465844, -0.036092, 0.187542
-[01:08:30.066]  If point is visible? 0.469591, -0.037700, 0.189681
-[01:08:30.066]  If point is visible? 0.468629, -0.037695, 0.189173
-[01:08:30.066]  If point is visible? 0.483283, -0.044132, 0.198148
-[01:08:30.066]  If point is visible? 0.499434, -0.047395, 0.208703
-[01:08:30.066]  If point is visible? 0.497641, -0.047387, 0.207524
-[01:08:30.066]  If point is visible? 0.496742, -0.047382, 0.206938
-[01:08:30.066]  If point is visible? 0.653242, -0.076444, 0.566710
-[01:08:30.066]  If point is visible? 0.652024, -0.096750, 0.493094
-[01:08:30.066]  If point is visible? 0.410694, -0.100598, 0.177611
-[01:08:30.066]  If point is visible? 0.417864, -0.101538, 0.180379
-[01:08:30.066]  If point is visible? 0.416823, -0.101515, 0.180000
-[01:08:30.066]  If point is visible? 0.477196, -0.142259, 0.224925
-[01:08:30.066]  If point is visible? 0.467893, -0.145931, 0.221169
-[01:08:30.066]  If point is visible? 0.474793, -0.161357, 0.233681
-[01:08:30.066]  If point is visible? 0.473903, -0.161339, 0.233110
-[01:08:30.066]  If point is visible? 0.473647, -0.162095, 0.233388
-[01:08:30.066]  If point is visible? 0.473464, -0.172691, 0.239714
-[01:08:30.066]  If point is visible? 0.536318, 0.169669, 0.290002
-[01:08:30.066]  If point is visible? 0.631833, 0.139485, 0.447805
-[01:08:30.066]  If point is visible? 0.439955, 0.133179, 0.200869
-[01:08:30.066]  If point is visible? 0.447384, 0.119437, 0.198750
-[01:08:30.066]  If point is visible? 0.440365, 0.131649, 0.200404
-[01:08:30.066]  If point is visible? 0.647611, 0.096883, 0.453362
-[01:08:30.066]  If point is visible? 0.658399, 0.058897, 0.553132
-[01:08:30.066]  If point is visible? 0.657061, 0.059894, 0.461423
-[01:08:30.066]  If point is visible? 0.657511, 0.056826, 0.461070
-[01:08:30.066]  If point is visible? 0.657289, 0.058361, 0.461244
-[01:08:30.066]  If point is visible? 0.244581, 0.023303, 0.150195
-[01:08:30.066]  If point is visible? 0.478922, -0.040133, 0.195095
-[01:08:30.066]  If point is visible? 0.477036, -0.040123, 0.194030
-[01:08:30.066]  If point is visible? 0.475262, -0.038524, 0.192846
-[01:08:30.066]  If point is visible? 0.473360, -0.038514, 0.191801
-[01:08:30.066]  If point is visible? 0.471564, -0.036916, 0.190642
-[01:08:30.066]  If point is visible? 0.469647, -0.036906, 0.189619
-[01:08:30.066]  If point is visible? 0.462112, -0.033690, 0.185393
-[01:08:30.066]  If point is visible? 0.482546, -0.041742, 0.197390
-[01:08:30.066]  If point is visible? 0.486132, -0.043351, 0.199729
-[01:08:30.066]  If point is visible? 0.498883, -0.043409, 0.207744
-[01:08:30.066]  If point is visible? 0.497086, -0.043402, 0.206569
-[01:08:30.066]  If point is visible? 0.654490, -0.086842, 0.532471
-[01:08:30.066]  If point is visible? 0.653412, -0.078065, 0.563220
-[01:08:30.066]  If point is visible? 0.653419, -0.076503, 0.565472
-[01:08:30.066]  If point is visible? 0.650482, -0.099466, 0.481770
-[01:08:30.066]  If point is visible? 0.650248, -0.099558, 0.479432
-[01:08:30.066]  If point is visible? 0.604914, 0.167132, 0.398643
-[01:08:30.066]  If point is visible? 0.536612, 0.172675, 0.292653
-[01:08:30.066]  If point is visible? 0.645676, 0.104446, 0.454898
-[01:08:30.066]  If point is visible? 0.554796, 0.098516, 0.268566
-[01:08:30.066]  If point is visible? 0.631755, 0.140857, 0.450458
-[01:08:30.066]  If point is visible? 0.637793, 0.125814, 0.450811
-[01:08:30.066]  If point is visible? 0.553511, 0.104813, 0.269853
-[01:08:30.066]  If point is visible? 0.631532, 0.143582, 0.455794
-[01:08:30.066]  If point is visible? 0.611898, 0.097824, 0.347971
-[01:08:30.066]  If point is visible? 0.636812, 0.128795, 0.451594
-[01:08:30.066]  If point is visible? 0.554164, 0.101666, 0.269199
-[01:08:30.066]  If point is visible? 0.652866, 0.079882, 0.459556
-[01:08:30.066]  If point is visible? 0.649350, -0.056588, 0.420261
-[01:08:30.066]  If point is visible? 0.493839, -0.038608, 0.203849
-[01:08:30.066]  If point is visible? 0.482788, -0.038560, 0.197125
-[01:08:30.066]  If point is visible? 0.389875, -0.019104, 0.157328
-[01:08:30.066]  If point is visible? 0.493596, -0.041793, 0.204111
-[01:08:30.066]  If point is visible? 0.489944, -0.041777, 0.201830
-[01:08:30.066]  If point is visible? 0.486261, -0.041760, 0.199590
-[01:08:30.682] add new frame
-[01:08:30.682] update seed
-[01:08:30.682]  If point is visible? 0.054535, 0.183256, 0.353248
-[01:08:30.682]  If point is visible? 0.054826, 0.182522, 0.352921
-[01:08:30.682]  If point is visible? 0.149112, 0.167406, 0.413297
-[01:08:30.682]  If point is visible? 0.053094, 0.131649, 0.325234
-[01:08:30.682]  If point is visible? 0.058989, 0.127929, 0.326421
-[01:08:30.682]  If point is visible? 0.064012, 0.110963, 0.322342
-[01:08:30.682]  If point is visible? 0.063038, 0.110945, 0.321865
-[01:08:30.682]  If point is visible? -0.051246, 0.106087, 0.287792
-[01:08:30.682]  If point is visible? 0.269588, 0.059151, 0.585128
-[01:08:30.682]  If point is visible? 0.017623, -0.026250, 0.286785
-[01:08:30.682]  If point is visible? 0.016541, -0.026243, 0.286459
-[01:08:30.682]  If point is visible? 0.074798, -0.034484, 0.310292
-[01:08:30.682]  If point is visible? 0.076694, -0.035288, 0.311333
-[01:08:30.682]  If point is visible? 0.078580, -0.036092, 0.312386
-[01:08:30.682]  If point is visible? 0.082326, -0.037700, 0.314527
-[01:08:30.682]  If point is visible? 0.081365, -0.037695, 0.314019
-[01:08:30.682]  If point is visible? 0.096013, -0.044132, 0.323002
-[01:08:30.682]  If point is visible? 0.112159, -0.047395, 0.333566
-[01:08:30.682]  If point is visible? 0.110366, -0.047387, 0.332386
-[01:08:30.682]  If point is visible? 0.109467, -0.047382, 0.331800
-[01:08:30.682]  If point is visible? 0.265764, -0.076444, 0.691661
-[01:08:30.682]  If point is visible? 0.264588, -0.096750, 0.618044
-[01:08:30.682]  If point is visible? 0.023436, -0.100598, 0.302424
-[01:08:30.682]  If point is visible? 0.030604, -0.101538, 0.305196
-[01:08:30.682]  If point is visible? 0.029564, -0.101515, 0.304817
-[01:08:30.682]  If point is visible? 0.089911, -0.142259, 0.349776
-[01:08:30.682]  If point is visible? 0.080611, -0.145931, 0.346014
-[01:08:30.682]  If point is visible? 0.087504, -0.161357, 0.358530
-[01:08:30.682]  If point is visible? 0.086614, -0.161339, 0.357959
-[01:08:30.682]  If point is visible? 0.086358, -0.162095, 0.358237
-[01:08:30.682]  If point is visible? 0.086171, -0.172691, 0.364563
-[01:08:30.682]  If point is visible? 0.148996, 0.169669, 0.414886
-[01:08:30.682]  If point is visible? 0.244422, 0.139485, 0.572743
-[01:08:30.682]  If point is visible? 0.052684, 0.133179, 0.325699
-[01:08:30.682]  If point is visible? 0.060114, 0.119437, 0.323584
-[01:08:30.682]  If point is visible? 0.053094, 0.131649, 0.325234
-[01:08:30.682]  If point is visible? 0.260197, 0.096883, 0.578309
-[01:08:30.682]  If point is visible? 0.270929, 0.058897, 0.678085
-[01:08:30.682]  If point is visible? 0.269642, 0.059894, 0.586375
-[01:08:30.682]  If point is visible? 0.270092, 0.056826, 0.586023
-[01:08:30.682]  If point is visible? 0.269870, 0.058361, 0.586197
-[01:08:30.682]  If point is visible? -0.142661, 0.023303, 0.274914
-[01:08:30.682]  If point is visible? 0.091654, -0.040133, 0.319947
-[01:08:30.682]  If point is visible? 0.089769, -0.040123, 0.318881
-[01:08:30.682]  If point is visible? 0.087995, -0.038524, 0.317695
-[01:08:30.682]  If point is visible? 0.086094, -0.038514, 0.316650
-[01:08:30.682]  If point is visible? 0.084299, -0.036916, 0.315490
-[01:08:30.682]  If point is visible? 0.082382, -0.036906, 0.314465
-[01:08:30.682]  If point is visible? 0.074850, -0.033690, 0.310235
-[01:08:30.682]  If point is visible? 0.095276, -0.041742, 0.322243
-[01:08:30.682]  If point is visible? 0.098862, -0.043351, 0.324585
-[01:08:30.682]  If point is visible? 0.111608, -0.043409, 0.332607
-[01:08:30.682]  If point is visible? 0.109811, -0.043402, 0.331431
-[01:08:30.682]  If point is visible? 0.267031, -0.086842, 0.657422
-[01:08:30.682]  If point is visible? 0.265936, -0.078065, 0.688171
-[01:08:30.682]  If point is visible? 0.265942, -0.076503, 0.690422
-[01:08:30.682]  If point is visible? 0.263052, -0.099466, 0.606718
-[01:08:30.682]  If point is visible? 0.262819, -0.099558, 0.604380
-[01:08:30.682]  If point is visible? 0.217531, 0.167132, 0.523566
-[01:08:30.682]  If point is visible? 0.149289, 0.172675, 0.417537
-[01:08:30.682]  If point is visible? 0.258261, 0.104446, 0.579844
-[01:08:30.682]  If point is visible? 0.167487, 0.098516, 0.393461
-[01:08:30.682]  If point is visible? 0.244343, 0.140857, 0.575396
-[01:08:30.682]  If point is visible? 0.250381, 0.125814, 0.575753
-[01:08:30.682]  If point is visible? 0.166200, 0.104813, 0.394747
-[01:08:30.682]  If point is visible? 0.244117, 0.143582, 0.580732
-[01:08:30.682]  If point is visible? 0.224543, 0.097824, 0.472898
-[01:08:30.682]  If point is visible? 0.249399, 0.128795, 0.576535
-[01:08:30.682]  If point is visible? 0.166854, 0.101666, 0.394093
-[01:08:30.682]  If point is visible? 0.265449, 0.079882, 0.584506
-[01:08:30.682]  If point is visible? 0.261955, -0.056588, 0.545209
-[01:08:30.682]  If point is visible? 0.106566, -0.038608, 0.328709
-[01:08:30.682]  If point is visible? 0.095519, -0.038560, 0.321979
-[01:08:30.682]  If point is visible? 0.002628, -0.019104, 0.282129
-[01:08:30.682]  If point is visible? 0.106323, -0.041793, 0.328971
-[01:08:30.682]  If point is visible? 0.102673, -0.041777, 0.326688
-[01:08:30.682]  If point is visible? 0.098991, -0.041760, 0.324446
-[01:08:30.825] add new frame
-[01:08:30.825] update seed
-[01:08:30.825]  If point is visible? 0.216275, 0.183256, 0.315611
-[01:08:30.825]  If point is visible? 0.216574, 0.182522, 0.315291
-[01:08:30.825]  If point is visible? 0.309422, 0.167406, 0.377855
-[01:08:30.825]  If point is visible? 0.215489, 0.131649, 0.287571
-[01:08:30.825]  If point is visible? 0.221355, 0.127929, 0.288895
-[01:08:30.825]  If point is visible? 0.226473, 0.110963, 0.284935
-[01:08:30.825]  If point is visible? 0.225510, 0.110945, 0.284436
-[01:08:30.825]  If point is visible? 0.112054, 0.106087, 0.247698
-[01:08:30.825]  If point is visible? 0.425845, 0.059151, 0.552458
-[01:08:30.825]  If point is visible? 0.180927, -0.026250, 0.248303
-[01:08:30.825]  If point is visible? 0.179854, -0.026243, 0.247951
-[01:08:30.825]  If point is visible? 0.237537, -0.034484, 0.273141
-[01:08:30.825]  If point is visible? 0.239408, -0.035288, 0.274226
-[01:08:30.825]  If point is visible? 0.241269, -0.036092, 0.275323
-[01:08:30.825]  If point is visible? 0.244964, -0.037700, 0.277551
-[01:08:30.825]  If point is visible? 0.244015, -0.037695, 0.277020
-[01:08:30.825]  If point is visible? 0.258449, -0.044132, 0.286343
-[01:08:30.825]  If point is visible? 0.274343, -0.047395, 0.297283
-[01:08:30.825]  If point is visible? 0.272579, -0.047387, 0.296061
-[01:08:30.825]  If point is visible? 0.271693, -0.047382, 0.295454
-[01:08:30.825]  If point is visible? 0.419530, -0.076444, 0.658872
-[01:08:30.825]  If point is visible? 0.420076, -0.096750, 0.585248
-[01:08:30.825]  If point is visible? 0.186373, -0.100598, 0.264074
-[01:08:30.825]  If point is visible? 0.193475, -0.101538, 0.267012
-[01:08:30.825]  If point is visible? 0.192443, -0.101515, 0.266609
-[01:08:30.825]  If point is visible? 0.251723, -0.142259, 0.312967
-[01:08:30.825]  If point is visible? 0.242513, -0.145931, 0.308989
-[01:08:30.825]  If point is visible? 0.249111, -0.161357, 0.321663
-[01:08:30.825]  If point is visible? 0.248235, -0.161339, 0.321071
-[01:08:30.825]  If point is visible? 0.247972, -0.162095, 0.321343
-[01:08:30.825]  If point is visible? 0.247638, -0.172691, 0.327663
-[01:08:30.825]  If point is visible? 0.309268, 0.169669, 0.379442
-[01:08:30.825]  If point is visible? 0.400975, 0.139485, 0.539488
-[01:08:30.825]  If point is visible? 0.215069, 0.133179, 0.288026
-[01:08:30.825]  If point is visible? 0.222546, 0.119437, 0.286086
-[01:08:30.825]  If point is visible? 0.215489, 0.131649, 0.287571
-[01:08:30.825]  If point is visible? 0.416616, 0.096883, 0.545421
-[01:08:30.825]  If point is visible? 0.425011, 0.058897, 0.645421
-[01:08:30.825]  If point is visible? 0.425870, 0.059894, 0.553706
-[01:08:30.825]  If point is visible? 0.426328, 0.056826, 0.553365
-[01:08:30.825]  If point is visible? 0.426102, 0.058361, 0.553533
-[01:08:30.825]  If point is visible? 0.020965, 0.023303, 0.232685
-[01:08:30.825]  If point is visible? 0.254163, -0.040133, 0.283187
-[01:08:30.825]  If point is visible? 0.252303, -0.040123, 0.282077
-[01:08:30.825]  If point is visible? 0.250557, -0.038524, 0.280851
-[01:08:30.825]  If point is visible? 0.248681, -0.038514, 0.279761
-[01:08:30.825]  If point is visible? 0.246914, -0.036916, 0.278559
-[01:08:30.825]  If point is visible? 0.245022, -0.036906, 0.277490
-[01:08:30.825]  If point is visible? 0.237590, -0.033690, 0.273085
-[01:08:30.825]  If point is visible? 0.257730, -0.041742, 0.285568
-[01:08:30.825]  If point is visible? 0.261260, -0.043351, 0.287993
-[01:08:30.825]  If point is visible? 0.273815, -0.043409, 0.296310
-[01:08:30.825]  If point is visible? 0.272046, -0.043402, 0.295093
-[01:08:30.825]  If point is visible? 0.421598, -0.086842, 0.624673
-[01:08:30.825]  If point is visible? 0.419783, -0.078065, 0.655387
-[01:08:30.825]  If point is visible? 0.419736, -0.076503, 0.657638
-[01:08:30.825]  If point is visible? 0.418806, -0.099466, 0.573890
-[01:08:30.825]  If point is visible? 0.418627, -0.099558, 0.571547
-[01:08:30.825]  If point is visible? 0.375242, 0.167132, 0.489695
-[01:08:30.825]  If point is visible? 0.309499, 0.172675, 0.382099
-[01:08:30.825]  If point is visible? 0.414644, 0.104446, 0.546910
-[01:08:30.825]  If point is visible? 0.328255, 0.098516, 0.358455
-[01:08:30.825]  If point is visible? 0.400834, 0.140857, 0.542138
-[01:08:30.825]  If point is visible? 0.406862, 0.125814, 0.542636
-[01:08:30.825]  If point is visible? 0.326939, 0.104813, 0.359710
-[01:08:30.825]  If point is visible? 0.400484, 0.143582, 0.547467
-[01:08:30.825]  If point is visible? 0.383438, 0.097824, 0.439205
-[01:08:30.825]  If point is visible? 0.405862, 0.128795, 0.543396
-[01:08:30.825]  If point is visible? 0.327607, 0.101666, 0.359073
-[01:08:30.825]  If point is visible? 0.421721, 0.079882, 0.551739
-[01:08:30.825]  If point is visible? 0.419147, -0.056588, 0.512372
-[01:08:30.825]  If point is visible? 0.268866, -0.038608, 0.292296
-[01:08:30.825]  If point is visible? 0.257979, -0.038560, 0.285309
-[01:08:30.825]  If point is visible? 0.166046, -0.019104, 0.243297
-[01:08:30.825]  If point is visible? 0.268616, -0.041793, 0.292552
-[01:08:30.825]  If point is visible? 0.265021, -0.041777, 0.290184
-[01:08:30.825]  If point is visible? 0.261392, -0.041760, 0.287856
-[01:08:30.988] add new frame
-[01:08:30.988] update seed
-[01:08:30.988]  If point is visible? -0.302712, 0.183256, 0.247406
-[01:08:30.988]  If point is visible? -0.302471, 0.182522, 0.247040
-[01:08:30.988]  If point is visible? -0.200449, 0.167406, 0.293154
-[01:08:30.988]  If point is visible? -0.308187, 0.131649, 0.219894
-[01:08:30.988]  If point is visible? -0.302182, 0.127929, 0.220216
-[01:08:30.988]  If point is visible? -0.297801, 0.110963, 0.215455
-[01:08:30.988]  If point is visible? -0.298834, 0.110945, 0.215123
-[01:08:30.988]  If point is visible? -0.416843, 0.106087, 0.197926
-[01:08:30.988]  If point is visible? -0.056401, 0.059151, 0.445767
-[01:08:30.988]  If point is visible? -0.348843, -0.026250, 0.186976
-[01:08:30.988]  If point is visible? -0.349961, -0.026243, 0.186809
-[01:08:30.988]  If point is visible? -0.288870, -0.034484, 0.201972
-[01:08:30.988]  If point is visible? -0.286844, -0.035288, 0.202729
-[01:08:30.988]  If point is visible? -0.284825, -0.036092, 0.203498
-[01:08:30.988]  If point is visible? -0.280810, -0.037700, 0.205075
-[01:08:30.988]  If point is visible? -0.281834, -0.037695, 0.204711
-[01:08:30.988]  If point is visible? -0.266041, -0.044132, 0.211482
-[01:08:30.988]  If point is visible? -0.248538, -0.047395, 0.219602
-[01:08:30.988]  If point is visible? -0.250482, -0.047387, 0.218694
-[01:08:30.988]  If point is visible? -0.251457, -0.047382, 0.218243
-[01:08:30.988]  If point is visible? -0.044787, -0.076444, 0.551734
-[01:08:30.988]  If point is visible? -0.056592, -0.096750, 0.479060
-[01:08:30.988]  If point is visible? -0.340830, -0.100598, 0.201611
-[01:08:30.988]  If point is visible? -0.333337, -0.101538, 0.203317
-[01:08:30.989]  If point is visible? -0.334421, -0.101515, 0.203093
-[01:08:30.989]  If point is visible? -0.268209, -0.142259, 0.238857
-[01:08:30.989]  If point is visible? -0.277956, -0.145931, 0.236479
-[01:08:30.989]  If point is visible? -0.269326, -0.161357, 0.247867
-[01:08:30.989]  If point is visible? -0.270289, -0.161339, 0.247431
-[01:08:30.989]  If point is visible? -0.270502, -0.162095, 0.247743
-[01:08:30.989]  If point is visible? -0.269773, -0.172691, 0.254030
-[01:08:30.989]  If point is visible? -0.200334, 0.169669, 0.294744
-[01:08:30.989]  If point is visible? -0.083094, 0.139485, 0.437150
-[01:08:30.989]  If point is visible? -0.308526, 0.133179, 0.220414
-[01:08:30.989]  If point is visible? -0.301480, 0.119437, 0.217247
-[01:08:30.989]  If point is visible? -0.308187, 0.131649, 0.219894
-[01:08:30.989]  If point is visible? -0.066680, 0.096883, 0.440378
-[01:08:30.989]  If point is visible? -0.041639, 0.058897, 0.537555
-[01:08:30.989]  If point is visible? -0.056168, 0.059894, 0.446994
-[01:08:30.989]  If point is visible? -0.055773, 0.056826, 0.446580
-[01:08:30.989]  If point is visible? -0.055968, 0.058361, 0.446784
-[01:08:30.989]  If point is visible? -0.509160, 0.023303, 0.198397
-[01:08:30.989]  If point is visible? -0.270796, -0.040133, 0.209089
-[01:08:30.989]  If point is visible? -0.272815, -0.040123, 0.208307
-[01:08:30.989]  If point is visible? -0.274742, -0.038524, 0.207390
-[01:08:30.989]  If point is visible? -0.276774, -0.038514, 0.206631
-[01:08:30.989]  If point is visible? -0.278718, -0.036916, 0.205742
-[01:08:30.989]  If point is visible? -0.280763, -0.036906, 0.205005
-[01:08:30.989]  If point is visible? -0.288828, -0.033690, 0.201908
-[01:08:30.989]  If point is visible? -0.266880, -0.041742, 0.210838
-[01:08:30.989]  If point is visible? -0.262994, -0.043351, 0.212637
-[01:08:30.989]  If point is visible? -0.249222, -0.043409, 0.218732
-[01:08:30.989]  If point is visible? -0.251170, -0.043402, 0.217829
-[01:08:30.989]  If point is visible? -0.048482, -0.086842, 0.517672
-[01:08:30.989]  If point is visible? -0.045122, -0.078065, 0.548256
-[01:08:30.989]  If point is visible? -0.044791, -0.076503, 0.550483
-[01:08:30.989]  If point is visible? -0.059748, -0.099466, 0.468076
-[01:08:30.989]  If point is visible? -0.060317, -0.099558, 0.465796
-[01:08:30.989]  If point is visible? -0.116811, 0.167132, 0.392376
-[01:08:30.989]  If point is visible? -0.199661, 0.172675, 0.297324
-[01:08:30.989]  If point is visible? -0.068374, 0.104446, 0.442176
-[01:08:30.989]  If point is visible? -0.185134, 0.098516, 0.270871
-[01:08:30.989]  If point is visible? -0.082789, 0.140857, 0.439787
-[01:08:30.989]  If point is visible? -0.076762, 0.125814, 0.439267
-[01:08:30.989]  If point is visible? -0.186221, 0.104813, 0.272329
-[01:08:30.989]  If point is visible? -0.082241, 0.143582, 0.445099
-[01:08:30.989]  If point is visible? -0.117195, 0.097824, 0.341227
-[01:08:30.989]  If point is visible? -0.077621, 0.128795, 0.440183
-[01:08:30.989]  If point is visible? -0.185669, 0.101666, 0.271588
-[01:08:30.989]  If point is visible? -0.060587, 0.079882, 0.445750
-[01:08:30.989]  If point is visible? -0.069725, -0.056588, 0.407371
-[01:08:30.989]  If point is visible? -0.254774, -0.038608, 0.215604
-[01:08:30.989]  If point is visible? -0.266678, -0.038560, 0.210542
-[01:08:30.989]  If point is visible? -0.364353, -0.019104, 0.184537
-[01:08:30.989]  If point is visible? -0.254977, -0.041793, 0.215898
-[01:08:30.989]  If point is visible? -0.258919, -0.041777, 0.214167
-[01:08:30.989]  If point is visible? -0.262886, -0.041760, 0.212480
-[01:08:31.134] add new frame
-[01:08:31.135] update seed
-[01:08:31.135]  If point is visible? -0.417961, 0.183256, 0.234270
-[01:08:31.135]  If point is visible? -0.417751, 0.182522, 0.233886
-[01:08:31.135]  If point is visible? -0.312285, 0.167406, 0.271462
-[01:08:31.135]  If point is visible? -0.425678, 0.131649, 0.207301
-[01:08:31.135]  If point is visible? -0.419667, 0.127929, 0.207129
-[01:08:31.135]  If point is visible? -0.415692, 0.110963, 0.202023
-[01:08:31.135]  If point is visible? -0.416749, 0.110945, 0.201778
-[01:08:31.135]  If point is visible? -0.535771, 0.106087, 0.194334
-[01:08:31.135]  If point is visible? -0.156187, 0.059151, 0.411725
-[01:08:31.135]  If point is visible? -0.468901, -0.026250, 0.177834
-[01:08:31.135]  If point is visible? -0.470028, -0.026243, 0.177760
-[01:08:31.135]  If point is visible? -0.407899, -0.034484, 0.187853
-[01:08:31.135]  If point is visible? -0.405818, -0.035288, 0.188440
-[01:08:31.135]  If point is visible? -0.403742, -0.036092, 0.189041
-[01:08:31.135]  If point is visible? -0.399611, -0.037700, 0.190283
-[01:08:31.135]  If point is visible? -0.400662, -0.037695, 0.190004
-[01:08:31.135]  If point is visible? -0.384366, -0.044132, 0.195455
-[01:08:31.135]  If point is visible? -0.366255, -0.047395, 0.202110
-[01:08:31.135]  If point is visible? -0.368267, -0.047387, 0.201364
-[01:08:31.135]  If point is visible? -0.369275, -0.047382, 0.200995
-[01:08:31.135]  If point is visible? -0.135906, -0.076444, 0.516380
-[01:08:31.135]  If point is visible? -0.153642, -0.096750, 0.444921
-[01:08:31.135]  If point is visible? -0.459713, -0.100598, 0.191761
-[01:08:31.135]  If point is visible? -0.452105, -0.101538, 0.192847
-[01:08:31.135]  If point is visible? -0.453204, -0.101515, 0.192712
-[01:08:31.135]  If point is visible? -0.384277, -0.142259, 0.222915
-[01:08:31.135]  If point is visible? -0.394186, -0.145931, 0.221346
-[01:08:31.135]  If point is visible? -0.384650, -0.161357, 0.231987
-[01:08:31.135]  If point is visible? -0.385646, -0.161339, 0.231631
-[01:08:31.135]  If point is visible? -0.385833, -0.162095, 0.231960
-[01:08:31.135]  If point is visible? -0.384589, -0.172691, 0.238165
-[01:08:31.135]  If point is visible? -0.312040, 0.169669, 0.273037
-[01:08:31.135]  If point is visible? -0.183497, 0.139485, 0.405330
-[01:08:31.135]  If point is visible? -0.425973, 0.133179, 0.207847
-[01:08:31.135]  If point is visible? -0.419211, 0.119437, 0.204112
-[01:08:31.135]  If point is visible? -0.425678, 0.131649, 0.207301
-[01:08:31.135]  If point is visible? -0.166873, 0.096883, 0.407198
-[01:08:31.135]  If point is visible? -0.133934, 0.058897, 0.501990
-[01:08:31.135]  If point is visible? -0.155853, 0.059894, 0.412929
-[01:08:31.135]  If point is visible? -0.155494, 0.056826, 0.412484
-[01:08:31.135]  If point is visible? -0.155672, 0.058361, 0.412703
-[01:08:31.135]  If point is visible? -0.627738, 0.023303, 0.202387
-[01:08:31.135]  If point is visible? -0.389301, -0.040133, 0.193461
-[01:08:31.135]  If point is visible? -0.391378, -0.040123, 0.192847
-[01:08:31.135]  If point is visible? -0.393374, -0.038524, 0.192092
-[01:08:31.135]  If point is visible? -0.395461, -0.038514, 0.191502
-[01:08:31.135]  If point is visible? -0.397471, -0.036916, 0.190776
-[01:08:31.135]  If point is visible? -0.399570, -0.036906, 0.190209
-[01:08:31.135]  If point is visible? -0.407862, -0.033690, 0.187786
-[01:08:31.135]  If point is visible? -0.385255, -0.041742, 0.194882
-[01:08:31.135]  If point is visible? -0.381234, -0.043351, 0.196356
-[01:08:31.135]  If point is visible? -0.367008, -0.043409, 0.201299
-[01:08:31.135]  If point is visible? -0.369023, -0.043402, 0.200558
-[01:08:31.135]  If point is visible? -0.142387, -0.086842, 0.482737
-[01:08:31.135]  If point is visible? -0.136526, -0.078065, 0.512941
-[01:08:31.135]  If point is visible? -0.136013, -0.076503, 0.515133
-[01:08:31.135]  If point is visible? -0.157690, -0.099466, 0.434233
-[01:08:31.135]  If point is visible? -0.158444, -0.099558, 0.432008
-[01:08:31.135]  If point is visible? -0.220778, 0.167132, 0.363478
-[01:08:31.135]  If point is visible? -0.311157, 0.172675, 0.275554
-[01:08:31.135]  If point is visible? -0.168414, 0.104446, 0.409129
-[01:08:31.135]  If point is visible? -0.298853, 0.098516, 0.247996
-[01:08:31.135]  If point is visible? -0.182976, 0.140857, 0.407933
-[01:08:31.135]  If point is visible? -0.177013, 0.125814, 0.406920
-[01:08:31.135]  If point is visible? -0.299817, 0.104813, 0.249538
-[01:08:31.135]  If point is visible? -0.181994, 0.143582, 0.413182
-[01:08:31.135]  If point is visible? -0.225363, 0.097824, 0.312533
-[01:08:31.135]  If point is visible? -0.177793, 0.128795, 0.407903
-[01:08:31.135]  If point is visible? -0.299327, 0.101666, 0.248755
-[01:08:31.135]  If point is visible? -0.160360, 0.079882, 0.412052
-[01:08:31.135]  If point is visible? -0.172620, -0.056588, 0.374554
-[01:08:31.135]  If point is visible? -0.372798, -0.038608, 0.198637
-[01:08:31.135]  If point is visible? -0.385077, -0.038560, 0.194570
-[01:08:31.135]  If point is visible? -0.484559, -0.019104, 0.176677
-[01:08:31.135]  If point is visible? -0.372976, -0.041793, 0.198947
-[01:08:31.135]  If point is visible? -0.377047, -0.041777, 0.197546
-[01:08:31.135]  If point is visible? -0.381140, -0.041760, 0.196191
-[01:08:31.283] add new frame
-[01:08:31.283] update seed
-[01:08:31.283]  If point is visible? -0.417960, 0.183256, 0.234272
-[01:08:31.283]  If point is visible? -0.417749, 0.182522, 0.233888
-[01:08:31.283]  If point is visible? -0.312284, 0.167406, 0.271464
-[01:08:31.283]  If point is visible? -0.425677, 0.131649, 0.207303
-[01:08:31.283]  If point is visible? -0.419665, 0.127929, 0.207131
-[01:08:31.283]  If point is visible? -0.415690, 0.110963, 0.202026
-[01:08:31.283]  If point is visible? -0.416747, 0.110945, 0.201780
-[01:08:31.283]  If point is visible? -0.535769, 0.106087, 0.194336
-[01:08:31.283]  If point is visible? -0.156185, 0.059151, 0.411728
-[01:08:31.283]  If point is visible? -0.468899, -0.026250, 0.177837
-[01:08:31.283]  If point is visible? -0.470027, -0.026243, 0.177762
-[01:08:31.283]  If point is visible? -0.407897, -0.034484, 0.187855
-[01:08:31.283]  If point is visible? -0.405816, -0.035288, 0.188442
-[01:08:31.283]  If point is visible? -0.403741, -0.036092, 0.189043
-[01:08:31.283]  If point is visible? -0.399609, -0.037700, 0.190285
-[01:08:31.283]  If point is visible? -0.400660, -0.037695, 0.190006
-[01:08:31.283]  If point is visible? -0.384364, -0.044132, 0.195457
-[01:08:31.283]  If point is visible? -0.366253, -0.047395, 0.202112
-[01:08:31.283]  If point is visible? -0.368265, -0.047387, 0.201366
-[01:08:31.283]  If point is visible? -0.369274, -0.047382, 0.200998
-[01:08:31.283]  If point is visible? -0.135905, -0.076444, 0.516382
-[01:08:31.283]  If point is visible? -0.153640, -0.096750, 0.444924
-[01:08:31.283]  If point is visible? -0.459711, -0.100598, 0.191764
-[01:08:31.283]  If point is visible? -0.452103, -0.101538, 0.192849
-[01:08:31.283]  If point is visible? -0.453202, -0.101515, 0.192714
-[01:08:31.283]  If point is visible? -0.384276, -0.142259, 0.222918
-[01:08:31.283]  If point is visible? -0.394185, -0.145931, 0.221349
-[01:08:31.283]  If point is visible? -0.384649, -0.161357, 0.231989
-[01:08:31.283]  If point is visible? -0.385644, -0.161339, 0.231634
-[01:08:31.283]  If point is visible? -0.385831, -0.162095, 0.231962
-[01:08:31.283]  If point is visible? -0.384588, -0.172691, 0.238167
-[01:08:31.283]  If point is visible? -0.312039, 0.169669, 0.273039
-[01:08:31.283]  If point is visible? -0.183495, 0.139485, 0.405332
-[01:08:31.283]  If point is visible? -0.425971, 0.133179, 0.207849
-[01:08:31.283]  If point is visible? -0.419209, 0.119437, 0.204114
-[01:08:31.283]  If point is visible? -0.425677, 0.131649, 0.207303
-[01:08:31.283]  If point is visible? -0.166872, 0.096883, 0.407201
-[01:08:31.283]  If point is visible? -0.133932, 0.058897, 0.501992
-[01:08:31.283]  If point is visible? -0.155852, 0.059894, 0.412931
-[01:08:31.283]  If point is visible? -0.155493, 0.056826, 0.412486
-[01:08:31.283]  If point is visible? -0.155670, 0.058361, 0.412706
-[01:08:31.283]  If point is visible? -0.627736, 0.023303, 0.202389
-[01:08:31.283]  If point is visible? -0.389300, -0.040133, 0.193463
-[01:08:31.283]  If point is visible? -0.391376, -0.040123, 0.192849
-[01:08:31.283]  If point is visible? -0.393372, -0.038524, 0.192094
-[01:08:31.283]  If point is visible? -0.395459, -0.038514, 0.191504
-[01:08:31.283]  If point is visible? -0.397470, -0.036916, 0.190778
-[01:08:31.283]  If point is visible? -0.399568, -0.036906, 0.190212
-[01:08:31.283]  If point is visible? -0.407860, -0.033690, 0.187788
-[01:08:31.283]  If point is visible? -0.385253, -0.041742, 0.194884
-[01:08:31.283]  If point is visible? -0.381232, -0.043351, 0.196358
-[01:08:31.283]  If point is visible? -0.367006, -0.043409, 0.201301
-[01:08:31.283]  If point is visible? -0.369021, -0.043402, 0.200561
-[01:08:31.283]  If point is visible? -0.142386, -0.086842, 0.482739
-[01:08:31.283]  If point is visible? -0.136524, -0.078065, 0.512943
-[01:08:31.283]  If point is visible? -0.136011, -0.076503, 0.515136
-[01:08:31.283]  If point is visible? -0.157688, -0.099466, 0.434236
-[01:08:31.283]  If point is visible? -0.158442, -0.099558, 0.432010
-[01:08:31.283]  If point is visible? -0.220777, 0.167132, 0.363480
-[01:08:31.283]  If point is visible? -0.311156, 0.172675, 0.275556
-[01:08:31.283]  If point is visible? -0.168412, 0.104446, 0.409132
-[01:08:31.283]  If point is visible? -0.298852, 0.098516, 0.247998
-[01:08:31.283]  If point is visible? -0.182975, 0.140857, 0.407935
-[01:08:31.283]  If point is visible? -0.177011, 0.125814, 0.406922
-[01:08:31.283]  If point is visible? -0.299815, 0.104813, 0.249541
-[01:08:31.283]  If point is visible? -0.181992, 0.143582, 0.413184
-[01:08:31.283]  If point is visible? -0.225362, 0.097824, 0.312535
-[01:08:31.283]  If point is visible? -0.177792, 0.128795, 0.407906
-[01:08:31.283]  If point is visible? -0.299325, 0.101666, 0.248757
-[01:08:31.283]  If point is visible? -0.160359, 0.079882, 0.412055
-[01:08:31.284]  If point is visible? -0.172618, -0.056588, 0.374556
-[01:08:31.284]  If point is visible? -0.372796, -0.038608, 0.198639
-[01:08:31.284]  If point is visible? -0.385076, -0.038560, 0.194572
-[01:08:31.284]  If point is visible? -0.484557, -0.019104, 0.176679
-[01:08:31.284]  If point is visible? -0.372975, -0.041793, 0.198949
-[01:08:31.284]  If point is visible? -0.377045, -0.041777, 0.197548
-[01:08:31.284]  If point is visible? -0.381138, -0.041760, 0.196193
-[01:08:31.431] add new frame
-[01:08:31.431] update seed
-[01:08:31.431]  If point is visible? -0.639147, 0.183256, 0.236366
-[01:08:31.431]  If point is visible? -0.639000, 0.182522, 0.235953
-[01:08:31.431]  If point is visible? -0.528930, 0.167406, 0.256441
-[01:08:31.431]  If point is visible? -0.651017, 0.131649, 0.210950
-[01:08:31.431]  If point is visible? -0.645108, 0.127929, 0.209833
-[01:08:31.431]  If point is visible? -0.641987, 0.110963, 0.204164
-[01:08:31.431]  If point is visible? -0.643069, 0.110945, 0.204089
-[01:08:31.431]  If point is visible? -0.761778, 0.106087, 0.215493
-[01:08:31.431]  If point is visible? -0.352680, 0.059151, 0.370354
-[01:08:31.431]  If point is visible? -0.698343, -0.026250, 0.188662
-[01:08:31.431]  If point is visible? -0.699468, -0.026243, 0.188766
-[01:08:31.431]  If point is visible? -0.636524, -0.034484, 0.188943
-[01:08:31.431]  If point is visible? -0.634376, -0.035288, 0.189195
-[01:08:31.431]  If point is visible? -0.632233, -0.036092, 0.189461
-[01:08:31.431]  If point is visible? -0.627957, -0.037700, 0.190036
-[01:08:31.431]  If point is visible? -0.629039, -0.037695, 0.189927
-[01:08:31.431]  If point is visible? -0.612087, -0.044132, 0.192742
-[01:08:31.431]  If point is visible? -0.593154, -0.047395, 0.196459
-[01:08:31.431]  If point is visible? -0.595259, -0.047387, 0.196040
-[01:08:31.431]  If point is visible? -0.596312, -0.047382, 0.195835
-[01:08:31.431]  If point is visible? -0.316162, -0.076444, 0.470506
-[01:08:31.431]  If point is visible? -0.344935, -0.096750, 0.402735
-[01:08:31.431]  If point is visible? -0.687075, -0.100598, 0.200967
-[01:08:31.431]  If point is visible? -0.679391, -0.101538, 0.200840
-[01:08:31.431]  If point is visible? -0.680498, -0.101515, 0.200880
-[01:08:31.431]  If point is visible? -0.607673, -0.142259, 0.219845
-[01:08:31.431]  If point is visible? -0.617705, -0.145931, 0.219857
-[01:08:31.431]  If point is visible? -0.606612, -0.161357, 0.228862
-[01:08:31.431]  If point is visible? -0.607651, -0.161339, 0.228668
-[01:08:31.431]  If point is visible? -0.607784, -0.162095, 0.229022
-[01:08:31.431]  If point is visible? -0.605578, -0.172691, 0.234954
-[01:08:31.431]  If point is visible? -0.528440, 0.169669, 0.257958
-[01:08:31.431]  If point is visible? -0.380657, 0.139485, 0.368342
-[01:08:31.431]  If point is visible? -0.651222, 0.133179, 0.211535
-[01:08:31.431]  If point is visible? -0.645133, 0.119437, 0.206781
-[01:08:31.431]  If point is visible? -0.651017, 0.131649, 0.210950
-[01:08:31.431]  If point is visible? -0.363946, 0.096883, 0.367568
-[01:08:31.431]  If point is visible? -0.316481, 0.058897, 0.455984
-[01:08:31.431]  If point is visible? -0.352161, 0.059894, 0.371490
-[01:08:31.431]  If point is visible? -0.351876, 0.056826, 0.370994
-[01:08:31.431]  If point is visible? -0.352017, 0.058361, 0.371239
-[01:08:31.431]  If point is visible? -0.851326, 0.023303, 0.237937
-[01:08:31.431]  If point is visible? -0.617275, -0.040133, 0.191550
-[01:08:31.431]  If point is visible? -0.619423, -0.040123, 0.191271
-[01:08:31.431]  If point is visible? -0.621513, -0.038524, 0.190840
-[01:08:31.431]  If point is visible? -0.623667, -0.038514, 0.190586
-[01:08:31.431]  If point is visible? -0.625767, -0.036916, 0.190186
-[01:08:31.431]  If point is visible? -0.627928, -0.036906, 0.189958
-[01:08:31.431]  If point is visible? -0.636498, -0.033690, 0.188871
-[01:08:31.431]  If point is visible? -0.613055, -0.041742, 0.192316
-[01:08:31.431]  If point is visible? -0.608852, -0.043351, 0.193138
-[01:08:31.431]  If point is visible? -0.594025, -0.043409, 0.195777
-[01:08:31.431]  If point is visible? -0.596132, -0.043402, 0.195364
-[01:08:31.431]  If point is visible? -0.327863, -0.086842, 0.438304
-[01:08:31.431]  If point is visible? -0.317315, -0.078065, 0.467207
-[01:08:31.431]  If point is visible? -0.316463, -0.076503, 0.469292
-[01:08:31.431]  If point is visible? -0.350617, -0.099466, 0.392818
-[01:08:31.431]  If point is visible? -0.351713, -0.099558, 0.390739
-[01:08:31.431]  If point is visible? -0.424067, 0.167132, 0.332888
-[01:08:31.431]  If point is visible? -0.527172, 0.172675, 0.260304
-[01:08:31.431]  If point is visible? -0.365163, 0.104446, 0.369718
-[01:08:31.431]  If point is visible? -0.519364, 0.098516, 0.231151
-[01:08:31.431]  If point is visible? -0.379732, 0.140857, 0.370831
-[01:08:31.431]  If point is visible? -0.374003, 0.125814, 0.368891
-[01:08:31.431]  If point is visible? -0.520072, 0.104813, 0.232827
-[01:08:31.431]  If point is visible? -0.377935, 0.143582, 0.375860
-[01:08:31.431]  If point is visible? -0.436623, 0.097824, 0.283302
-[01:08:31.431]  If point is visible? -0.374618, 0.128795, 0.369985
-[01:08:31.431]  If point is visible? -0.519712, 0.101666, 0.231975
-[01:08:31.431]  If point is visible? -0.356749, 0.079882, 0.371335
-[01:08:31.431]  If point is visible? -0.374765, -0.056588, 0.336237
-[01:08:31.431]  If point is visible? -0.600163, -0.038608, 0.194061
-[01:08:31.431]  If point is visible? -0.612929, -0.038560, 0.191980
-[01:08:31.431]  If point is visible? -0.713988, -0.019104, 0.189987
-[01:08:31.431]  If point is visible? -0.600290, -0.041793, 0.194396
-[01:08:31.431]  If point is visible? -0.604530, -0.041777, 0.193653
-[01:08:31.431]  If point is visible? -0.608785, -0.041760, 0.192960
-[01:08:31.741] add new frame
-[01:08:31.741] update seed
-[01:08:31.741]  If point is visible? -0.637575, 0.183256, 0.244074
-[01:08:31.741]  If point is visible? -0.637431, 0.182522, 0.243661
-[01:08:31.741]  If point is visible? -0.527232, 0.167406, 0.263443
-[01:08:31.741]  If point is visible? -0.649608, 0.131649, 0.218735
-[01:08:31.741]  If point is visible? -0.643706, 0.127929, 0.217580
-[01:08:31.741]  If point is visible? -0.640622, 0.110963, 0.211892
-[01:08:31.741]  If point is visible? -0.641704, 0.110945, 0.211823
-[01:08:31.741]  If point is visible? -0.760337, 0.106087, 0.223987
-[01:08:31.741]  If point is visible? -0.350256, 0.059151, 0.376225
-[01:08:31.741]  If point is visible? -0.697076, -0.026250, 0.196751
-[01:08:31.741]  If point is visible? -0.698200, -0.026243, 0.196862
-[01:08:31.741]  If point is visible? -0.635257, -0.034484, 0.196635
-[01:08:31.741]  If point is visible? -0.633107, -0.035288, 0.196874
-[01:08:31.741]  If point is visible? -0.630962, -0.036092, 0.197126
-[01:08:31.741]  If point is visible? -0.626682, -0.037700, 0.197674
-[01:08:31.741]  If point is visible? -0.627765, -0.037695, 0.197571
-[01:08:31.741]  If point is visible? -0.610796, -0.044132, 0.200278
-[01:08:31.741]  If point is visible? -0.591839, -0.047395, 0.203874
-[01:08:31.741]  If point is visible? -0.593946, -0.047387, 0.203468
-[01:08:31.741]  If point is visible? -0.595001, -0.047382, 0.203270
-[01:08:31.741]  If point is visible? -0.313096, -0.076444, 0.476140
-[01:08:31.741]  If point is visible? -0.342304, -0.096750, 0.408555
-[01:08:31.741]  If point is visible? -0.685730, -0.100598, 0.208983
-[01:08:31.741]  If point is visible? -0.678046, -0.101538, 0.208807
-[01:08:31.741]  If point is visible? -0.679153, -0.101515, 0.208854
-[01:08:31.741]  If point is visible? -0.606208, -0.142259, 0.227352
-[01:08:31.741]  If point is visible? -0.616240, -0.145931, 0.227428
-[01:08:31.741]  If point is visible? -0.605089, -0.161357, 0.236363
-[01:08:31.741]  If point is visible? -0.606129, -0.161339, 0.236175
-[01:08:31.741]  If point is visible? -0.606260, -0.162095, 0.236529
-[01:08:31.741]  If point is visible? -0.604016, -0.172691, 0.242447
-[01:08:31.741]  If point is visible? -0.526733, 0.169669, 0.264956
-[01:08:31.741]  If point is visible? -0.378245, 0.139485, 0.374392
-[01:08:31.741]  If point is visible? -0.649809, 0.133179, 0.219321
-[01:08:31.741]  If point is visible? -0.643751, 0.119437, 0.214529
-[01:08:31.741]  If point is visible? -0.649608, 0.131649, 0.218735
-[01:08:31.741]  If point is visible? -0.361540, 0.096883, 0.373510
-[01:08:31.741]  If point is visible? -0.313509, 0.058897, 0.461621
-[01:08:31.741]  If point is visible? -0.349730, 0.059894, 0.377357
-[01:08:31.741]  If point is visible? -0.349448, 0.056826, 0.376859
-[01:08:31.741]  If point is visible? -0.349587, 0.058361, 0.377105
-[01:08:31.741]  If point is visible? -0.849740, 0.023303, 0.247005
-[01:08:31.741]  If point is visible? -0.615991, -0.040133, 0.199119
-[01:08:31.741]  If point is visible? -0.618140, -0.040123, 0.198854
-[01:08:31.741]  If point is visible? -0.620233, -0.038524, 0.198436
-[01:08:31.741]  If point is visible? -0.622389, -0.038514, 0.198196
-[01:08:31.741]  If point is visible? -0.624491, -0.036916, 0.197810
-[01:08:31.741]  If point is visible? -0.626654, -0.036906, 0.197595
-[01:08:31.741]  If point is visible? -0.635231, -0.033690, 0.196563
-[01:08:31.741]  If point is visible? -0.611766, -0.041742, 0.199858
-[01:08:31.741]  If point is visible? -0.607558, -0.043351, 0.200653
-[01:08:31.741]  If point is visible? -0.592714, -0.043409, 0.203197
-[01:08:31.741]  If point is visible? -0.594824, -0.043402, 0.202797
-[01:08:31.741]  If point is visible? -0.325004, -0.086842, 0.444014
-[01:08:31.741]  If point is visible? -0.314271, -0.078065, 0.472849
-[01:08:31.741]  If point is visible? -0.313405, -0.076503, 0.474928
-[01:08:31.741]  If point is visible? -0.348049, -0.099466, 0.398675
-[01:08:31.741]  If point is visible? -0.349158, -0.099558, 0.396603
-[01:08:31.741]  If point is visible? -0.421881, 0.167132, 0.339216
-[01:08:31.741]  If point is visible? -0.525449, 0.172675, 0.267294
-[01:08:31.741]  If point is visible? -0.362743, 0.104446, 0.375668
-[01:08:31.741]  If point is visible? -0.517828, 0.098516, 0.238093
-[01:08:31.741]  If point is visible? -0.377304, 0.140857, 0.376874
-[01:08:31.741]  If point is visible? -0.371588, 0.125814, 0.374897
-[01:08:31.741]  If point is visible? -0.518525, 0.104813, 0.239772
-[01:08:31.741]  If point is visible? -0.375475, 0.143582, 0.381892
-[01:08:31.741]  If point is visible? -0.434754, 0.097824, 0.289712
-[01:08:31.741]  If point is visible? -0.372196, 0.128795, 0.375996
-[01:08:31.741]  If point is visible? -0.518171, 0.101666, 0.238919
-[01:08:31.741]  If point is visible? -0.354319, 0.079882, 0.377231
-[01:08:31.741]  If point is visible? -0.372559, -0.056588, 0.342249
-[01:08:31.741]  If point is visible? -0.598863, -0.038608, 0.201521
-[01:08:31.741]  If point is visible? -0.611643, -0.038560, 0.199521
-[01:08:31.741]  If point is visible? -0.712712, -0.019104, 0.198176
-[01:08:31.741]  If point is visible? -0.598988, -0.041793, 0.201856
-[01:08:31.741]  If point is visible? -0.603233, -0.041777, 0.201141
-[01:08:31.741]  If point is visible? -0.607493, -0.041760, 0.200475
-[01:08:31.896] add new frame
-[01:08:31.896] update seed
-[01:08:31.896]  If point is visible? -0.637737, 0.183256, 0.244230
-[01:08:31.896]  If point is visible? -0.637593, 0.182522, 0.243817
-[01:08:31.896]  If point is visible? -0.527399, 0.167406, 0.263627
-[01:08:31.896]  If point is visible? -0.649764, 0.131649, 0.218888
-[01:08:31.896]  If point is visible? -0.643862, 0.127929, 0.217734
-[01:08:31.896]  If point is visible? -0.640776, 0.110963, 0.212047
-[01:08:31.896]  If point is visible? -0.641858, 0.110945, 0.211978
-[01:08:31.896]  If point is visible? -0.760495, 0.106087, 0.224113
-[01:08:31.896]  If point is visible? -0.350451, 0.059151, 0.376453
-[01:08:31.896]  If point is visible? -0.697226, -0.026250, 0.196892
-[01:08:31.896]  If point is visible? -0.698351, -0.026243, 0.197003
-[01:08:31.896]  If point is visible? -0.635407, -0.034484, 0.196792
-[01:08:31.896]  If point is visible? -0.633258, -0.035288, 0.197031
-[01:08:31.896]  If point is visible? -0.631112, -0.036092, 0.197284
-[01:08:31.896]  If point is visible? -0.626833, -0.037700, 0.197833
-[01:08:31.896]  If point is visible? -0.627915, -0.037695, 0.197730
-[01:08:31.896]  If point is visible? -0.610947, -0.044132, 0.200441
-[01:08:31.896]  If point is visible? -0.591991, -0.047395, 0.204042
-[01:08:31.896]  If point is visible? -0.594098, -0.047387, 0.203635
-[01:08:31.896]  If point is visible? -0.595153, -0.047382, 0.203437
-[01:08:31.896]  If point is visible? -0.313317, -0.076444, 0.476377
-[01:08:31.896]  If point is visible? -0.342507, -0.096750, 0.408785
-[01:08:31.896]  If point is visible? -0.685883, -0.100598, 0.209128
-[01:08:31.896]  If point is visible? -0.678200, -0.101538, 0.208953
-[01:08:31.896]  If point is visible? -0.679306, -0.101515, 0.209000
-[01:08:31.896]  If point is visible? -0.606366, -0.142259, 0.227516
-[01:08:31.896]  If point is visible? -0.616398, -0.145931, 0.227590
-[01:08:31.896]  If point is visible? -0.605249, -0.161357, 0.236527
-[01:08:31.896]  If point is visible? -0.606289, -0.161339, 0.236339
-[01:08:31.896]  If point is visible? -0.606420, -0.162095, 0.236693
-[01:08:31.896]  If point is visible? -0.604178, -0.172691, 0.242611
-[01:08:31.896]  If point is visible? -0.526900, 0.169669, 0.265140
-[01:08:31.896]  If point is visible? -0.378440, 0.139485, 0.374613
-[01:08:31.896]  If point is visible? -0.649965, 0.133179, 0.219474
-[01:08:31.896]  If point is visible? -0.643905, 0.119437, 0.214683
-[01:08:31.896]  If point is visible? -0.649764, 0.131649, 0.218888
-[01:08:31.896]  If point is visible? -0.361734, 0.096883, 0.373736
-[01:08:31.896]  If point is visible? -0.313726, 0.058897, 0.461858
-[01:08:31.896]  If point is visible? -0.349925, 0.059894, 0.377585
-[01:08:31.896]  If point is visible? -0.349644, 0.056826, 0.377088
-[01:08:31.896]  If point is visible? -0.349783, 0.058361, 0.377333
-[01:08:31.896]  If point is visible? -0.849903, 0.023303, 0.247108
-[01:08:31.896]  If point is visible? -0.616142, -0.040133, 0.199281
-[01:08:31.896]  If point is visible? -0.618291, -0.040123, 0.199015
-[01:08:31.896]  If point is visible? -0.620384, -0.038524, 0.198597
-[01:08:31.896]  If point is visible? -0.622540, -0.038514, 0.198356
-[01:08:31.896]  If point is visible? -0.624642, -0.036916, 0.197969
-[01:08:31.896]  If point is visible? -0.626804, -0.036906, 0.197754
-[01:08:31.896]  If point is visible? -0.635381, -0.033690, 0.196720
-[01:08:31.896]  If point is visible? -0.611918, -0.041742, 0.200021
-[01:08:31.896]  If point is visible? -0.607710, -0.043351, 0.200817
-[01:08:31.896]  If point is visible? -0.592867, -0.043409, 0.203365
-[01:08:31.896]  If point is visible? -0.594976, -0.043402, 0.202964
-[01:08:31.896]  If point is visible? -0.325216, -0.086842, 0.444248
-[01:08:31.897]  If point is visible? -0.314491, -0.078065, 0.473086
-[01:08:31.897]  If point is visible? -0.313626, -0.076503, 0.475165
-[01:08:31.897]  If point is visible? -0.348250, -0.099466, 0.398903
-[01:08:31.897]  If point is visible? -0.349358, -0.099558, 0.396831
-[01:08:31.897]  If point is visible? -0.422067, 0.167132, 0.339426
-[01:08:31.897]  If point is visible? -0.525617, 0.172675, 0.267478
-[01:08:31.897]  If point is visible? -0.362938, 0.104446, 0.375893
-[01:08:31.897]  If point is visible? -0.517989, 0.098516, 0.238279
-[01:08:31.897]  If point is visible? -0.377500, 0.140857, 0.377096
-[01:08:31.897]  If point is visible? -0.371783, 0.125814, 0.375120
-[01:08:31.897]  If point is visible? -0.518687, 0.104813, 0.239958
-[01:08:31.897]  If point is visible? -0.375672, 0.143582, 0.382113
-[01:08:31.897]  If point is visible? -0.434928, 0.097824, 0.289919
-[01:08:31.897]  If point is visible? -0.372392, 0.128795, 0.376218
-[01:08:31.897]  If point is visible? -0.518332, 0.101666, 0.239105
-[01:08:31.897]  If point is visible? -0.354515, 0.079882, 0.377458
-[01:08:31.897]  If point is visible? -0.372746, -0.056588, 0.342472
-[01:08:31.899]  If point is visible? -0.599014, -0.038608, 0.201687
-[01:08:31.899]  If point is visible? -0.611794, -0.038560, 0.199684
-[01:08:31.899]  If point is visible? -0.712863, -0.019104, 0.198313
-[01:08:31.900]  If point is visible? -0.599140, -0.041793, 0.202022
-[01:08:31.900]  If point is visible? -0.603385, -0.041777, 0.201306
-[01:08:31.900]  If point is visible? -0.607644, -0.041760, 0.200638
-[01:08:32.054] add new frame
-[01:08:32.054] update seed
-[01:08:32.054]  If point is visible? -0.637611, 0.183256, 0.244322
-[01:08:32.054]  If point is visible? -0.637466, 0.182522, 0.243909
-[01:08:32.054]  If point is visible? -0.527273, 0.167406, 0.263718
-[01:08:32.054]  If point is visible? -0.649637, 0.131649, 0.218980
-[01:08:32.054]  If point is visible? -0.643735, 0.127929, 0.217826
-[01:08:32.054]  If point is visible? -0.640649, 0.110963, 0.212139
-[01:08:32.054]  If point is visible? -0.641732, 0.110945, 0.212070
-[01:08:32.054]  If point is visible? -0.760368, 0.106087, 0.224205
-[01:08:32.054]  If point is visible? -0.350324, 0.059151, 0.376544
-[01:08:32.054]  If point is visible? -0.697100, -0.026250, 0.196984
-[01:08:32.054]  If point is visible? -0.698224, -0.026243, 0.197095
-[01:08:32.054]  If point is visible? -0.635280, -0.034484, 0.196884
-[01:08:32.054]  If point is visible? -0.633131, -0.035288, 0.197123
-[01:08:32.054]  If point is visible? -0.630986, -0.036092, 0.197376
-[01:08:32.054]  If point is visible? -0.626706, -0.037700, 0.197925
-[01:08:32.054]  If point is visible? -0.627789, -0.037695, 0.197822
-[01:08:32.054]  If point is visible? -0.610821, -0.044132, 0.200533
-[01:08:32.054]  If point is visible? -0.591865, -0.047395, 0.204133
-[01:08:32.054]  If point is visible? -0.593972, -0.047387, 0.203727
-[01:08:32.054]  If point is visible? -0.595027, -0.047382, 0.203528
-[01:08:32.054]  If point is visible? -0.313190, -0.076444, 0.476469
-[01:08:32.054]  If point is visible? -0.342381, -0.096750, 0.408876
-[01:08:32.054]  If point is visible? -0.685757, -0.100598, 0.209220
-[01:08:32.054]  If point is visible? -0.678073, -0.101538, 0.209045
-[01:08:32.054]  If point is visible? -0.679180, -0.101515, 0.209092
-[01:08:32.054]  If point is visible? -0.606239, -0.142259, 0.227608
-[01:08:32.054]  If point is visible? -0.616271, -0.145931, 0.227682
-[01:08:32.054]  If point is visible? -0.605123, -0.161357, 0.236619
-[01:08:32.054]  If point is visible? -0.606163, -0.161339, 0.236431
-[01:08:32.054]  If point is visible? -0.606294, -0.162095, 0.236785
-[01:08:32.054]  If point is visible? -0.604051, -0.172691, 0.242703
-[01:08:32.054]  If point is visible? -0.526774, 0.169669, 0.265232
-[01:08:32.054]  If point is visible? -0.378313, 0.139485, 0.374705
-[01:08:32.054]  If point is visible? -0.649839, 0.133179, 0.219566
-[01:08:32.054]  If point is visible? -0.643779, 0.119437, 0.214775
-[01:08:32.054]  If point is visible? -0.649637, 0.131649, 0.218980
-[01:08:32.054]  If point is visible? -0.361608, 0.096883, 0.373827
-[01:08:32.054]  If point is visible? -0.313599, 0.058897, 0.461950
-[01:08:32.054]  If point is visible? -0.349798, 0.059894, 0.377677
-[01:08:32.054]  If point is visible? -0.349517, 0.056826, 0.377179
-[01:08:32.054]  If point is visible? -0.349656, 0.058361, 0.377425
-[01:08:32.054]  If point is visible? -0.849777, 0.023303, 0.247200
-[01:08:32.054]  If point is visible? -0.616016, -0.040133, 0.199373
-[01:08:32.054]  If point is visible? -0.618165, -0.040123, 0.199107
-[01:08:32.054]  If point is visible? -0.620257, -0.038524, 0.198689
-[01:08:32.054]  If point is visible? -0.622413, -0.038514, 0.198448
-[01:08:32.054]  If point is visible? -0.624515, -0.036916, 0.198061
-[01:08:32.054]  If point is visible? -0.626678, -0.036906, 0.197846
-[01:08:32.054]  If point is visible? -0.635255, -0.033690, 0.196812
-[01:08:32.054]  If point is visible? -0.611791, -0.041742, 0.200113
-[01:08:32.054]  If point is visible? -0.607583, -0.043351, 0.200909
-[01:08:32.055]  If point is visible? -0.592740, -0.043409, 0.203457
-[01:08:32.055]  If point is visible? -0.594849, -0.043402, 0.203056
-[01:08:32.055]  If point is visible? -0.325089, -0.086842, 0.444340
-[01:08:32.055]  If point is visible? -0.314364, -0.078065, 0.473178
-[01:08:32.055]  If point is visible? -0.313499, -0.076503, 0.475257
-[01:08:32.055]  If point is visible? -0.348124, -0.099466, 0.398995
-[01:08:32.055]  If point is visible? -0.349232, -0.099558, 0.396923
-[01:08:32.055]  If point is visible? -0.421941, 0.167132, 0.339518
-[01:08:32.055]  If point is visible? -0.525491, 0.172675, 0.267570
-[01:08:32.055]  If point is visible? -0.362811, 0.104446, 0.375984
-[01:08:32.055]  If point is visible? -0.517862, 0.098516, 0.238370
-[01:08:32.055]  If point is visible? -0.377373, 0.140857, 0.377187
-[01:08:32.055]  If point is visible? -0.371656, 0.125814, 0.375212
-[01:08:32.055]  If point is visible? -0.518560, 0.104813, 0.240050
-[01:08:32.055]  If point is visible? -0.375545, 0.143582, 0.382205
-[01:08:32.055]  If point is visible? -0.434802, 0.097824, 0.290010
-[01:08:32.055]  If point is visible? -0.372265, 0.128795, 0.376310
-[01:08:32.055]  If point is visible? -0.518206, 0.101666, 0.239197
-[01:08:32.055]  If point is visible? -0.354388, 0.079882, 0.377550
-[01:08:32.055]  If point is visible? -0.372619, -0.056588, 0.342563
-[01:08:32.055]  If point is visible? -0.598888, -0.038608, 0.201779
-[01:08:32.055]  If point is visible? -0.611667, -0.038560, 0.199776
-[01:08:32.055]  If point is visible? -0.712736, -0.019104, 0.198405
-[01:08:32.055]  If point is visible? -0.599013, -0.041793, 0.202114
-[01:08:32.055]  If point is visible? -0.603258, -0.041777, 0.201397
-[01:08:32.055]  If point is visible? -0.607517, -0.041760, 0.200730
-[01:08:32.203] add new frame
-[01:08:32.203] update seed
-[01:08:32.204]  If point is visible? -0.777100, 0.183256, 0.480039
-[01:08:32.204]  If point is visible? -0.776956, 0.182522, 0.479626
-[01:08:32.204]  If point is visible? -0.666762, 0.167406, 0.499433
-[01:08:32.204]  If point is visible? -0.789127, 0.131649, 0.454697
-[01:08:32.204]  If point is visible? -0.783225, 0.127929, 0.453543
-[01:08:32.204]  If point is visible? -0.780139, 0.110963, 0.447856
-[01:08:32.204]  If point is visible? -0.781222, 0.110945, 0.447787
-[01:08:32.204]  If point is visible? -0.899858, 0.106087, 0.459924
-[01:08:32.204]  If point is visible? -0.489811, 0.059151, 0.612255
-[01:08:32.204]  If point is visible? -0.836590, -0.026250, 0.432702
-[01:08:32.204]  If point is visible? -0.837714, -0.026243, 0.432813
-[01:08:32.204]  If point is visible? -0.774771, -0.034484, 0.432601
-[01:08:32.204]  If point is visible? -0.772621, -0.035288, 0.432839
-[01:08:32.204]  If point is visible? -0.770476, -0.036092, 0.433092
-[01:08:32.204]  If point is visible? -0.766197, -0.037700, 0.433641
-[01:08:32.204]  If point is visible? -0.767279, -0.037695, 0.433538
-[01:08:32.204]  If point is visible? -0.750311, -0.044132, 0.436249
-[01:08:32.204]  If point is visible? -0.731355, -0.047395, 0.439849
-[01:08:32.204]  If point is visible? -0.733462, -0.047387, 0.439443
-[01:08:32.204]  If point is visible? -0.734517, -0.047382, 0.439244
-[01:08:32.204]  If point is visible? -0.452675, -0.076444, 0.712179
-[01:08:32.204]  If point is visible? -0.481867, -0.096750, 0.644587
-[01:08:32.204]  If point is visible? -0.825247, -0.100598, 0.444937
-[01:08:32.204]  If point is visible? -0.817563, -0.101538, 0.444762
-[01:08:32.204]  If point is visible? -0.818670, -0.101515, 0.444809
-[01:08:32.204]  If point is visible? -0.745729, -0.142259, 0.463324
-[01:08:32.204]  If point is visible? -0.755761, -0.145931, 0.463398
-[01:08:32.204]  If point is visible? -0.744612, -0.161357, 0.472335
-[01:08:32.204]  If point is visible? -0.745652, -0.161339, 0.472147
-[01:08:32.204]  If point is visible? -0.745783, -0.162095, 0.472501
-[01:08:32.204]  If point is visible? -0.743541, -0.172691, 0.478419
-[01:08:32.204]  If point is visible? -0.666263, 0.169669, 0.500946
-[01:08:32.204]  If point is visible? -0.517800, 0.139485, 0.610416
-[01:08:32.204]  If point is visible? -0.789329, 0.133179, 0.455283
-[01:08:32.204]  If point is visible? -0.783269, 0.119437, 0.450492
-[01:08:32.204]  If point is visible? -0.789127, 0.131649, 0.454697
-[01:08:32.204]  If point is visible? -0.501094, 0.096883, 0.609538
-[01:08:32.204]  If point is visible? -0.453084, 0.058897, 0.697660
-[01:08:32.204]  If point is visible? -0.489285, 0.059894, 0.613388
-[01:08:32.204]  If point is visible? -0.489004, 0.056826, 0.612890
-[01:08:32.204]  If point is visible? -0.489143, 0.058361, 0.613136
-[01:08:32.204]  If point is visible? -0.989266, 0.023303, 0.482921
-[01:08:32.204]  If point is visible? -0.755506, -0.040133, 0.435089
-[01:08:32.204]  If point is visible? -0.757655, -0.040123, 0.434824
-[01:08:32.204]  If point is visible? -0.759748, -0.038524, 0.434405
-[01:08:32.204]  If point is visible? -0.761904, -0.038514, 0.434165
-[01:08:32.204]  If point is visible? -0.764006, -0.036916, 0.433778
-[01:08:32.204]  If point is visible? -0.766168, -0.036906, 0.433562
-[01:08:32.204]  If point is visible? -0.774745, -0.033690, 0.432528
-[01:08:32.204]  If point is visible? -0.751281, -0.041742, 0.435829
-[01:08:32.204]  If point is visible? -0.747073, -0.043351, 0.436625
-[01:08:32.204]  If point is visible? -0.732230, -0.043409, 0.439172
-[01:08:32.204]  If point is visible? -0.734340, -0.043402, 0.438772
-[01:08:32.204]  If point is visible? -0.464575, -0.086842, 0.680050
-[01:08:32.204]  If point is visible? -0.453849, -0.078065, 0.708888
-[01:08:32.204]  If point is visible? -0.452984, -0.076503, 0.710967
-[01:08:32.204]  If point is visible? -0.487610, -0.099466, 0.634706
-[01:08:32.204]  If point is visible? -0.488718, -0.099558, 0.632634
-[01:08:32.204]  If point is visible? -0.561428, 0.167132, 0.575230
-[01:08:32.204]  If point is visible? -0.664980, 0.172675, 0.503285
-[01:08:32.204]  If point is visible? -0.502298, 0.104446, 0.611696
-[01:08:32.204]  If point is visible? -0.657352, 0.098516, 0.474085
-[01:08:32.204]  If point is visible? -0.516860, 0.140857, 0.612899
-[01:08:32.204]  If point is visible? -0.511143, 0.125814, 0.610923
-[01:08:32.204]  If point is visible? -0.658050, 0.104813, 0.475764
-[01:08:32.204]  If point is visible? -0.515032, 0.143582, 0.617916
-[01:08:32.204]  If point is visible? -0.574290, 0.097824, 0.525723
-[01:08:32.204]  If point is visible? -0.511752, 0.128795, 0.612021
-[01:08:32.204]  If point is visible? -0.657695, 0.101666, 0.474911
-[01:08:32.204]  If point is visible? -0.493875, 0.079882, 0.613261
-[01:08:32.204]  If point is visible? -0.512106, -0.056588, 0.578275
-[01:08:32.204]  If point is visible? -0.738378, -0.038608, 0.437494
-[01:08:32.204]  If point is visible? -0.751158, -0.038560, 0.435492
-[01:08:32.204]  If point is visible? -0.852226, -0.019104, 0.434123
-[01:08:32.204]  If point is visible? -0.738503, -0.041793, 0.437830
-[01:08:32.204]  If point is visible? -0.742748, -0.041777, 0.437113
-[01:08:32.204]  If point is visible? -0.747008, -0.041760, 0.436446
-[01:08:32.349] add new frame
-[01:08:32.349] update seed
-[01:08:32.349]  If point is visible? -1.034217, 0.183256, 0.405145
-[01:08:32.349]  If point is visible? -1.034146, 0.182522, 0.404713
-[01:08:32.349]  If point is visible? -0.922187, 0.167406, 0.405142
-[01:08:32.349]  If point is visible? -1.050450, 0.131649, 0.382269
-[01:08:32.349]  If point is visible? -1.044837, 0.127929, 0.380110
-[01:08:32.349]  If point is visible? -1.042783, 0.110963, 0.373974
-[01:08:32.349]  If point is visible? -1.043861, 0.110945, 0.374094
-[01:08:32.349]  If point is visible? -1.158603, 0.106087, 0.406589
-[01:08:32.349]  If point is visible? -0.728375, 0.059151, 0.485622
-[01:08:32.349]  If point is visible? -1.101005, -0.026250, 0.368824
-[01:08:32.349]  If point is visible? -1.102093, -0.026243, 0.369128
-[01:08:32.349]  If point is visible? -1.040136, -0.034484, 0.358020
-[01:08:32.349]  If point is visible? -1.037978, -0.035288, 0.357883
-[01:08:32.349]  If point is visible? -1.035821, -0.036092, 0.357761
-[01:08:32.349]  If point is visible? -1.031512, -0.037700, 0.357561
-[01:08:32.349]  If point is visible? -1.032596, -0.037695, 0.357647
-[01:08:32.349]  If point is visible? -1.015414, -0.044132, 0.357378
-[01:08:32.349]  If point is visible? -0.996121, -0.047395, 0.357642
-[01:08:32.349]  If point is visible? -0.998267, -0.047387, 0.357607
-[01:08:32.350]  If point is visible? -0.999340, -0.047382, 0.357594
-[01:08:32.350]  If point is visible? -0.674498, -0.076444, 0.577607
-[01:08:32.350]  If point is visible? -0.714952, -0.096750, 0.516091
-[01:08:32.350]  If point is visible? -1.087714, -0.100598, 0.378910
-[01:08:32.350]  If point is visible? -1.080177, -0.101538, 0.377408
-[01:08:32.350]  If point is visible? -1.081258, -0.101515, 0.377646
-[01:08:32.350]  If point is visible? -1.006214, -0.142259, 0.383251
-[01:08:32.350]  If point is visible? -1.016081, -0.145931, 0.385061
-[01:08:32.350]  If point is visible? -1.003554, -0.161357, 0.391932
-[01:08:32.350]  If point is visible? -1.004611, -0.161339, 0.391927
-[01:08:32.350]  If point is visible? -1.004678, -0.162095, 0.392299
-[01:08:32.350]  If point is visible? -1.001445, -0.172691, 0.397740
-[01:08:32.350]  If point is visible? -0.921433, 0.169669, 0.406546
-[01:08:32.350]  If point is visible? -0.756259, 0.139485, 0.488657
-[01:08:32.350]  If point is visible? -1.050547, 0.133179, 0.382881
-[01:08:32.350]  If point is visible? -1.045408, 0.119437, 0.377113
-[01:08:32.350]  If point is visible? -1.050450, 0.131649, 0.382269
-[01:08:32.350]  If point is visible? -0.739958, 0.096883, 0.484900
-[01:08:32.350]  If point is visible? -0.677415, 0.058897, 0.563378
-[01:08:32.350]  If point is visible? -0.727660, 0.059894, 0.486647
-[01:08:32.350]  If point is visible? -0.727469, 0.056826, 0.486108
-[01:08:32.350]  If point is visible? -0.727564, 0.058361, 0.486374
-[01:08:32.350]  If point is visible? -1.242679, 0.023303, 0.444719
-[01:08:32.350]  If point is visible? -1.020732, -0.040133, 0.357135
-[01:08:32.350]  If point is visible? -1.022894, -0.040123, 0.357246
-[01:08:32.350]  If point is visible? -1.025028, -0.038524, 0.357196
-[01:08:32.350]  If point is visible? -1.027193, -0.038514, 0.357333
-[01:08:32.350]  If point is visible? -1.029330, -0.036916, 0.357315
-[01:08:32.350]  If point is visible? -1.031497, -0.036906, 0.357478
-[01:08:32.350]  If point is visible? -1.040124, -0.033690, 0.357945
-[01:08:32.350]  If point is visible? -1.016443, -0.041742, 0.357133
-[01:08:32.350]  If point is visible? -1.012161, -0.043351, 0.357188
-[01:08:32.350]  If point is visible? -0.997100, -0.043409, 0.357127
-[01:08:32.350]  If point is visible? -0.999247, -0.043402, 0.357098
-[01:08:32.350]  If point is visible? -0.691781, -0.086842, 0.548024
-[01:08:32.350]  If point is visible? -0.676224, -0.078065, 0.574569
-[01:08:32.350]  If point is visible? -0.675012, -0.076503, 0.576467
-[01:08:32.350]  If point is visible? -0.722319, -0.099466, 0.507353
-[01:08:32.350]  If point is visible? -0.723769, -0.099558, 0.505504
-[01:08:32.350]  If point is visible? -0.805321, 0.167132, 0.461557
-[01:08:32.350]  If point is visible? -0.919765, 0.172675, 0.408627
-[01:08:32.350]  If point is visible? -0.740770, 0.104446, 0.487233
-[01:08:32.350]  If point is visible? -0.917308, 0.098516, 0.378547
-[01:08:32.350]  If point is visible? -0.754903, 0.140857, 0.490940
-[01:08:32.350]  If point is visible? -0.749615, 0.125814, 0.488004
-[01:08:32.350]  If point is visible? -0.917705, 0.104813, 0.380322
-[01:08:32.350]  If point is visible? -0.752234, 0.143582, 0.495565
-[01:08:32.350]  If point is visible? -0.826560, 0.097824, 0.415024
-[01:08:32.350]  If point is visible? -0.750024, 0.128795, 0.489191
-[01:08:32.350]  If point is visible? -0.917503, 0.101666, 0.379421
-[01:08:32.350]  If point is visible? -0.732202, 0.079882, 0.487316
-[01:08:32.350]  If point is visible? -0.756217, -0.056588, 0.456015
-[01:08:32.350]  If point is visible? -1.003446, -0.038608, 0.356539
-[01:08:32.350]  If point is visible? -1.016379, -0.038560, 0.356779
-[01:08:32.350]  If point is visible? -1.116159, -0.019104, 0.372931
-[01:08:32.350]  If point is visible? -1.003511, -0.041793, 0.356891
-[01:08:32.350]  If point is visible? -1.007816, -0.041777, 0.356920
-[01:08:32.350]  If point is visible? -1.012127, -0.041760, 0.357001
-[01:08:32.496] add new frame
-[01:08:32.496] update seed
-[01:08:32.496]  If point is visible? -1.034744, 0.183256, 0.404878
-[01:08:32.496]  If point is visible? -1.034673, 0.182522, 0.404446
-[01:08:32.496]  If point is visible? -0.922714, 0.167406, 0.404885
-[01:08:32.496]  If point is visible? -1.050975, 0.131649, 0.382000
-[01:08:32.496]  If point is visible? -1.045362, 0.127929, 0.379842
-[01:08:32.496]  If point is visible? -1.043307, 0.110963, 0.373706
-[01:08:32.496]  If point is visible? -1.044385, 0.110945, 0.373826
-[01:08:32.496]  If point is visible? -1.159130, 0.106087, 0.406310
-[01:08:32.496]  If point is visible? -0.728909, 0.059151, 0.485384
-[01:08:32.496]  If point is visible? -1.101528, -0.026250, 0.368550
-[01:08:32.496]  If point is visible? -1.102616, -0.026243, 0.368854
-[01:08:32.496]  If point is visible? -1.040659, -0.034484, 0.357753
-[01:08:32.496]  If point is visible? -1.038501, -0.035288, 0.357616
-[01:08:32.496]  If point is visible? -1.036344, -0.036092, 0.357494
-[01:08:32.496]  If point is visible? -1.032034, -0.037700, 0.357294
-[01:08:32.496]  If point is visible? -1.033118, -0.037695, 0.357380
-[01:08:32.496]  If point is visible? -1.015937, -0.044132, 0.357113
-[01:08:32.496]  If point is visible? -0.996644, -0.047395, 0.357379
-[01:08:32.496]  If point is visible? -0.998789, -0.047387, 0.357343
-[01:08:32.496]  If point is visible? -0.999863, -0.047382, 0.357330
-[01:08:32.496]  If point is visible? -0.675041, -0.076444, 0.577374
-[01:08:32.496]  If point is visible? -0.715490, -0.096750, 0.515854
-[01:08:32.496]  If point is visible? -1.088238, -0.100598, 0.378638
-[01:08:32.496]  If point is visible? -1.080701, -0.101538, 0.377136
-[01:08:32.496]  If point is visible? -1.081783, -0.101515, 0.377374
-[01:08:32.496]  If point is visible? -1.006738, -0.142259, 0.382987
-[01:08:32.496]  If point is visible? -1.016606, -0.145931, 0.384796
-[01:08:32.496]  If point is visible? -1.004079, -0.161357, 0.391668
-[01:08:32.496]  If point is visible? -1.005136, -0.161339, 0.391663
-[01:08:32.496]  If point is visible? -1.005204, -0.162095, 0.392035
-[01:08:32.496]  If point is visible? -1.001971, -0.172691, 0.397476
-[01:08:32.496]  If point is visible? -0.921960, 0.169669, 0.406290
-[01:08:32.496]  If point is visible? -0.756794, 0.139485, 0.488417
-[01:08:32.496]  If point is visible? -1.051072, 0.133179, 0.382612
-[01:08:32.496]  If point is visible? -1.045933, 0.119437, 0.376845
-[01:08:32.496]  If point is visible? -1.050975, 0.131649, 0.382000
-[01:08:32.496]  If point is visible? -0.740492, 0.096883, 0.484661
-[01:08:32.496]  If point is visible? -0.677957, 0.058897, 0.563145
-[01:08:32.496]  If point is visible? -0.728195, 0.059894, 0.486409
-[01:08:32.496]  If point is visible? -0.728004, 0.056826, 0.485870
-[01:08:32.496]  If point is visible? -0.728098, 0.058361, 0.486136
-[01:08:32.496]  If point is visible? -1.243210, 0.023303, 0.444432
-[01:08:32.496]  If point is visible? -1.021254, -0.040133, 0.356870
-[01:08:32.496]  If point is visible? -1.023417, -0.040123, 0.356980
-[01:08:32.496]  If point is visible? -1.025550, -0.038524, 0.356930
-[01:08:32.496]  If point is visible? -1.027715, -0.038514, 0.357066
-[01:08:32.496]  If point is visible? -1.029852, -0.036916, 0.357049
-[01:08:32.496]  If point is visible? -1.032020, -0.036906, 0.357211
-[01:08:32.496]  If point is visible? -1.040646, -0.033690, 0.357677
-[01:08:32.496]  If point is visible? -1.016965, -0.041742, 0.356867
-[01:08:32.496]  If point is visible? -1.012683, -0.043351, 0.356923
-[01:08:32.496]  If point is visible? -0.997623, -0.043409, 0.356864
-[01:08:32.496]  If point is visible? -0.999770, -0.043402, 0.356834
-[01:08:32.496]  If point is visible? -0.692322, -0.086842, 0.547790
-[01:08:32.496]  If point is visible? -0.676767, -0.078065, 0.574336
-[01:08:32.496]  If point is visible? -0.675555, -0.076503, 0.576234
-[01:08:32.496]  If point is visible? -0.722856, -0.099466, 0.507115
-[01:08:32.496]  If point is visible? -0.724306, -0.099558, 0.505266
-[01:08:32.496]  If point is visible? -0.805853, 0.167132, 0.461311
-[01:08:32.496]  If point is visible? -0.920292, 0.172675, 0.408371
-[01:08:32.496]  If point is visible? -0.741304, 0.104446, 0.486994
-[01:08:32.496]  If point is visible? -0.917833, 0.098516, 0.378291
-[01:08:32.496]  If point is visible? -0.755439, 0.140857, 0.490699
-[01:08:32.496]  If point is visible? -0.750150, 0.125814, 0.487764
-[01:08:32.496]  If point is visible? -0.918229, 0.104813, 0.380066
-[01:08:32.496]  If point is visible? -0.752769, 0.143582, 0.495325
-[01:08:32.496]  If point is visible? -0.827088, 0.097824, 0.414777
-[01:08:32.496]  If point is visible? -0.750559, 0.128795, 0.488951
-[01:08:32.496]  If point is visible? -0.918028, 0.101666, 0.379164
-[01:08:32.496]  If point is visible? -0.732737, 0.079882, 0.487078
-[01:08:32.496]  If point is visible? -0.756748, -0.056588, 0.455775
-[01:08:32.496]  If point is visible? -1.003968, -0.038608, 0.356275
-[01:08:32.496]  If point is visible? -1.016902, -0.038560, 0.356514
-[01:08:32.496]  If point is visible? -1.116682, -0.019104, 0.372656
-[01:08:32.496]  If point is visible? -1.004034, -0.041793, 0.356626
-[01:08:32.496]  If point is visible? -1.008339, -0.041777, 0.356656
-[01:08:32.496]  If point is visible? -1.012649, -0.041760, 0.356736
-[01:08:32.648] add new frame
-[01:08:32.648] update seed
-[01:08:32.648]  If point is visible? -1.036229, 0.183256, 0.405143
-[01:08:32.648]  If point is visible? -1.036158, 0.182522, 0.404711
-[01:08:32.648]  If point is visible? -0.924199, 0.167406, 0.405145
-[01:08:32.648]  If point is visible? -1.052461, 0.131649, 0.382265
-[01:08:32.648]  If point is visible? -1.046848, 0.127929, 0.380107
-[01:08:32.648]  If point is visible? -1.044793, 0.110963, 0.373971
-[01:08:32.648]  If point is visible? -1.045871, 0.110945, 0.374091
-[01:08:32.648]  If point is visible? -1.160615, 0.106087, 0.406580
-[01:08:32.648]  If point is visible? -0.730390, 0.059151, 0.485635
-[01:08:32.648]  If point is visible? -1.103014, -0.026250, 0.368818
-[01:08:32.648]  If point is visible? -1.104103, -0.026243, 0.369122
-[01:08:32.648]  If point is visible? -1.042146, -0.034484, 0.358017
-[01:08:32.648]  If point is visible? -1.039987, -0.035288, 0.357880
-[01:08:32.648]  If point is visible? -1.037831, -0.036092, 0.357758
-[01:08:32.648]  If point is visible? -1.033521, -0.037700, 0.357558
-[01:08:32.648]  If point is visible? -1.034605, -0.037695, 0.357644
-[01:08:32.648]  If point is visible? -1.017424, -0.044132, 0.357377
-[01:08:32.648]  If point is visible? -0.998131, -0.047395, 0.357641
-[01:08:32.648]  If point is visible? -1.000276, -0.047387, 0.357606
-[01:08:32.648]  If point is visible? -1.001350, -0.047382, 0.357593
-[01:08:32.648]  If point is visible? -0.676518, -0.076444, 0.577622
-[01:08:32.648]  If point is visible? -0.716969, -0.096750, 0.516104
-[01:08:32.648]  If point is visible? -1.089724, -0.100598, 0.378905
-[01:08:32.648]  If point is visible? -1.082187, -0.101538, 0.377403
-[01:08:32.648]  If point is visible? -1.083269, -0.101515, 0.377641
-[01:08:32.648]  If point is visible? -1.008224, -0.142259, 0.383250
-[01:08:32.648]  If point is visible? -1.018092, -0.145931, 0.385059
-[01:08:32.648]  If point is visible? -1.005565, -0.161357, 0.391931
-[01:08:32.648]  If point is visible? -1.006622, -0.161339, 0.391926
-[01:08:32.648]  If point is visible? -1.006689, -0.162095, 0.392298
-[01:08:32.648]  If point is visible? -1.003456, -0.172691, 0.397739
-[01:08:32.648]  If point is visible? -0.923445, 0.169669, 0.406549
-[01:08:32.648]  If point is visible? -0.758274, 0.139485, 0.488668
-[01:08:32.648]  If point is visible? -1.052557, 0.133179, 0.382877
-[01:08:32.648]  If point is visible? -1.047419, 0.119437, 0.377110
-[01:08:32.648]  If point is visible? -1.052461, 0.131649, 0.382265
-[01:08:32.648]  If point is visible? -0.741973, 0.096883, 0.484912
-[01:08:32.648]  If point is visible? -0.679434, 0.058897, 0.563393
-[01:08:32.648]  If point is visible? -0.729676, 0.059894, 0.486659
-[01:08:32.648]  If point is visible? -0.729485, 0.056826, 0.486120
-[01:08:32.648]  If point is visible? -0.729579, 0.058361, 0.486386
-[01:08:32.648]  If point is visible? -1.244693, 0.023303, 0.444707
-[01:08:32.648]  If point is visible? -1.022741, -0.040133, 0.357133
-[01:08:32.648]  If point is visible? -1.024904, -0.040123, 0.357244
-[01:08:32.648]  If point is visible? -1.027037, -0.038524, 0.357194
-[01:08:32.648]  If point is visible? -1.029202, -0.038514, 0.357330
-[01:08:32.648]  If point is visible? -1.031339, -0.036916, 0.357313
-[01:08:32.648]  If point is visible? -1.033507, -0.036906, 0.357475
-[01:08:32.648]  If point is visible? -1.042133, -0.033690, 0.357942
-[01:08:32.648]  If point is visible? -1.018452, -0.041742, 0.357131
-[01:08:32.648]  If point is visible? -1.014170, -0.043351, 0.357186
-[01:08:32.648]  If point is visible? -0.999110, -0.043409, 0.357126
-[01:08:32.648]  If point is visible? -1.001257, -0.043402, 0.357097
-[01:08:32.648]  If point is visible? -0.693800, -0.086842, 0.548038
-[01:08:32.648]  If point is visible? -0.678244, -0.078065, 0.574584
-[01:08:32.648]  If point is visible? -0.677032, -0.076503, 0.576482
-[01:08:32.648]  If point is visible? -0.724336, -0.099466, 0.507365
-[01:08:32.648]  If point is visible? -0.725786, -0.099558, 0.505516
-[01:08:32.648]  If point is visible? -0.807335, 0.167132, 0.461565
-[01:08:32.648]  If point is visible? -0.921777, 0.172675, 0.408630
-[01:08:32.648]  If point is visible? -0.742785, 0.104446, 0.487245
-[01:08:32.648]  If point is visible? -0.919319, 0.098516, 0.378550
-[01:08:32.648]  If point is visible? -0.756919, 0.140857, 0.490951
-[01:08:32.648]  If point is visible? -0.751630, 0.125814, 0.488015
-[01:08:32.648]  If point is visible? -0.919715, 0.104813, 0.380325
-[01:08:32.648]  If point is visible? -0.754250, 0.143582, 0.495576
-[01:08:32.648]  If point is visible? -0.828572, 0.097824, 0.415032
-[01:08:32.648]  If point is visible? -0.752040, 0.128795, 0.489202
-[01:08:32.648]  If point is visible? -0.919514, 0.101666, 0.379424
-[01:08:32.648]  If point is visible? -0.734218, 0.079882, 0.487329
-[01:08:32.648]  If point is visible? -0.758231, -0.056588, 0.456026
-[01:08:32.648]  If point is visible? -1.005455, -0.038608, 0.356538
-[01:08:32.648]  If point is visible? -1.018389, -0.038560, 0.356778
-[01:08:32.648]  If point is visible? -1.118169, -0.019104, 0.372924
-[01:08:32.648]  If point is visible? -1.005521, -0.041793, 0.356890
-[01:08:32.648]  If point is visible? -1.009825, -0.041777, 0.356919
-[01:08:32.648]  If point is visible? -1.014136, -0.041760, 0.356999
-[01:08:32.802] add new frame
-[01:08:32.802] update seed
-[01:08:32.802]  If point is visible? -1.036343, 0.183256, 0.405227
-[01:08:32.802]  If point is visible? -1.036273, 0.182522, 0.404795
-[01:08:32.802]  If point is visible? -0.924314, 0.167406, 0.405238
-[01:08:32.802]  If point is visible? -1.052574, 0.131649, 0.382348
-[01:08:32.802]  If point is visible? -1.046961, 0.127929, 0.380191
-[01:08:32.802]  If point is visible? -1.044905, 0.110963, 0.374055
-[01:08:32.802]  If point is visible? -1.045983, 0.110945, 0.374174
-[01:08:32.802]  If point is visible? -1.160730, 0.106087, 0.406655
-[01:08:32.802]  If point is visible? -0.730511, 0.059151, 0.485742
-[01:08:32.803]  If point is visible? -1.103127, -0.026250, 0.368897
-[01:08:32.803]  If point is visible? -1.104215, -0.026243, 0.369201
-[01:08:32.803]  If point is visible? -1.042257, -0.034484, 0.358101
-[01:08:32.803]  If point is visible? -1.040099, -0.035288, 0.357964
-[01:08:32.803]  If point is visible? -1.037942, -0.036092, 0.357842
-[01:08:32.803]  If point is visible? -1.033632, -0.037700, 0.357642
-[01:08:32.803]  If point is visible? -1.034716, -0.037695, 0.357728
-[01:08:32.803]  If point is visible? -1.017535, -0.044132, 0.357462
-[01:08:32.803]  If point is visible? -0.998242, -0.047395, 0.357728
-[01:08:32.803]  If point is visible? -1.000387, -0.047387, 0.357693
-[01:08:32.803]  If point is visible? -1.001461, -0.047382, 0.357680
-[01:08:32.803]  If point is visible? -0.676646, -0.076444, 0.577734
-[01:08:32.803]  If point is visible? -0.717092, -0.096750, 0.516212
-[01:08:32.803]  If point is visible? -1.089837, -0.100598, 0.378985
-[01:08:32.803]  If point is visible? -1.082300, -0.101538, 0.377483
-[01:08:32.803]  If point is visible? -1.083381, -0.101515, 0.377721
-[01:08:32.803]  If point is visible? -1.008337, -0.142259, 0.383336
-[01:08:32.803]  If point is visible? -1.018205, -0.145931, 0.385145
-[01:08:32.803]  If point is visible? -1.005678, -0.161357, 0.392018
-[01:08:32.803]  If point is visible? -1.006735, -0.161339, 0.392013
-[01:08:32.803]  If point is visible? -1.006803, -0.162095, 0.392384
-[01:08:32.803]  If point is visible? -1.003570, -0.172691, 0.397825
-[01:08:32.803]  If point is visible? -0.923560, 0.169669, 0.406642
-[01:08:32.803]  If point is visible? -0.758396, 0.139485, 0.488774
-[01:08:32.803]  If point is visible? -1.052671, 0.133179, 0.382960
-[01:08:32.803]  If point is visible? -1.047531, 0.119437, 0.377193
-[01:08:32.803]  If point is visible? -1.052574, 0.131649, 0.382348
-[01:08:32.803]  If point is visible? -0.742094, 0.096883, 0.485019
-[01:08:32.803]  If point is visible? -0.679561, 0.058897, 0.563505
-[01:08:32.803]  If point is visible? -0.729797, 0.059894, 0.486767
-[01:08:32.803]  If point is visible? -0.729606, 0.056826, 0.486228
-[01:08:32.803]  If point is visible? -0.729700, 0.058361, 0.486494
-[01:08:32.803]  If point is visible? -1.244811, 0.023303, 0.444775
-[01:08:32.803]  If point is visible? -1.022852, -0.040133, 0.357219
-[01:08:32.803]  If point is visible? -1.025015, -0.040123, 0.357329
-[01:08:32.803]  If point is visible? -1.027148, -0.038524, 0.357279
-[01:08:32.803]  If point is visible? -1.029313, -0.038514, 0.357415
-[01:08:32.803]  If point is visible? -1.031450, -0.036916, 0.357398
-[01:08:32.803]  If point is visible? -1.033618, -0.036906, 0.357560
-[01:08:32.803]  If point is visible? -1.042244, -0.033690, 0.358025
-[01:08:32.803]  If point is visible? -1.018563, -0.041742, 0.357217
-[01:08:32.803]  If point is visible? -1.014281, -0.043351, 0.357272
-[01:08:32.803]  If point is visible? -0.999221, -0.043409, 0.357213
-[01:08:32.803]  If point is visible? -1.001368, -0.043402, 0.357184
-[01:08:32.803]  If point is visible? -0.693925, -0.086842, 0.548149
-[01:08:32.803]  If point is visible? -0.678372, -0.078065, 0.574695
-[01:08:32.803]  If point is visible? -0.677160, -0.076503, 0.576593
-[01:08:32.803]  If point is visible? -0.724459, -0.099466, 0.507474
-[01:08:32.803]  If point is visible? -0.725908, -0.099558, 0.505624
-[01:08:32.803]  If point is visible? -0.807454, 0.167132, 0.461667
-[01:08:32.803]  If point is visible? -0.921892, 0.172675, 0.408723
-[01:08:32.803]  If point is visible? -0.742906, 0.104446, 0.487352
-[01:08:32.803]  If point is visible? -0.919431, 0.098516, 0.378644
-[01:08:32.803]  If point is visible? -0.757041, 0.140857, 0.491056
-[01:08:32.803]  If point is visible? -0.751752, 0.125814, 0.488121
-[01:08:32.803]  If point is visible? -0.919828, 0.104813, 0.380418
-[01:08:32.803]  If point is visible? -0.754372, 0.143582, 0.495682
-[01:08:32.803]  If point is visible? -0.828688, 0.097824, 0.415132
-[01:08:32.803]  If point is visible? -0.752161, 0.128795, 0.489308
-[01:08:32.803]  If point is visible? -0.919626, 0.101666, 0.379517
-[01:08:32.803]  If point is visible? -0.734339, 0.079882, 0.487436
-[01:08:32.803]  If point is visible? -0.758349, -0.056588, 0.456132
-[01:08:32.803]  If point is visible? -1.005566, -0.038608, 0.356624
-[01:08:32.803]  If point is visible? -1.018500, -0.038560, 0.356863
-[01:08:32.803]  If point is visible? -1.118281, -0.019104, 0.373002
-[01:08:32.803]  If point is visible? -1.005632, -0.041793, 0.356976
-[01:08:32.803]  If point is visible? -1.009937, -0.041777, 0.357005
-[01:08:32.803]  If point is visible? -1.014247, -0.041760, 0.357085
-[01:08:32.969] add new frame
-[01:08:32.969] update seed
-[01:08:32.969]  If point is visible? -1.036479, 0.183256, 0.406177
-[01:08:32.969]  If point is visible? -1.036408, 0.182522, 0.405745
-[01:08:32.969]  If point is visible? -0.924449, 0.167406, 0.406204
-[01:08:32.969]  If point is visible? -1.052706, 0.131649, 0.383295
-[01:08:32.969]  If point is visible? -1.047092, 0.127929, 0.381139
-[01:08:32.969]  If point is visible? -1.045036, 0.110963, 0.375003
-[01:08:32.969]  If point is visible? -1.046114, 0.110945, 0.375122
-[01:08:32.969]  If point is visible? -1.160866, 0.106087, 0.407586
-[01:08:32.969]  If point is visible? -0.730659, 0.059151, 0.486738
-[01:08:32.969]  If point is visible? -1.103256, -0.026250, 0.369836
-[01:08:32.969]  If point is visible? -1.104344, -0.026243, 0.370140
-[01:08:32.969]  If point is visible? -1.042385, -0.034484, 0.359050
-[01:08:32.969]  If point is visible? -1.040227, -0.035288, 0.358913
-[01:08:32.969]  If point is visible? -1.038070, -0.036092, 0.358792
-[01:08:32.969]  If point is visible? -1.033760, -0.037700, 0.358592
-[01:08:32.969]  If point is visible? -1.034844, -0.037695, 0.358678
-[01:08:32.969]  If point is visible? -1.017663, -0.044132, 0.358415
-[01:08:32.969]  If point is visible? -0.998370, -0.047395, 0.358684
-[01:08:32.969]  If point is visible? -1.000516, -0.047387, 0.358648
-[01:08:32.969]  If point is visible? -1.001589, -0.047382, 0.358635
-[01:08:32.969]  If point is visible? -0.676807, -0.076444, 0.578738
-[01:08:32.969]  If point is visible? -0.717245, -0.096750, 0.517210
-[01:08:32.969]  If point is visible? -1.089968, -0.100598, 0.379926
-[01:08:32.969]  If point is visible? -1.082431, -0.101538, 0.378426
-[01:08:32.969]  If point is visible? -1.083512, -0.101515, 0.378664
-[01:08:32.969]  If point is visible? -1.008469, -0.142259, 0.384290
-[01:08:32.969]  If point is visible? -1.018338, -0.145931, 0.386097
-[01:08:32.969]  If point is visible? -1.005812, -0.161357, 0.392972
-[01:08:32.969]  If point is visible? -1.006869, -0.161339, 0.392967
-[01:08:32.969]  If point is visible? -1.006936, -0.162095, 0.393338
-[01:08:32.969]  If point is visible? -1.003704, -0.172691, 0.398780
-[01:08:32.969]  If point is visible? -0.923695, 0.169669, 0.407609
-[01:08:32.969]  If point is visible? -0.758544, 0.139485, 0.489765
-[01:08:32.969]  If point is visible? -1.052803, 0.133179, 0.383907
-[01:08:32.969]  If point is visible? -1.047662, 0.119437, 0.378141
-[01:08:32.969]  If point is visible? -1.052706, 0.131649, 0.383295
-[01:08:32.969]  If point is visible? -0.742242, 0.096883, 0.486013
-[01:08:32.969]  If point is visible? -0.679720, 0.058897, 0.564508
-[01:08:32.969]  If point is visible? -0.729945, 0.059894, 0.487763
-[01:08:32.969]  If point is visible? -0.729754, 0.056826, 0.487224
-[01:08:32.969]  If point is visible? -0.729848, 0.058361, 0.487490
-[01:08:32.969]  If point is visible? -1.244952, 0.023303, 0.445693
-[01:08:32.969]  If point is visible? -1.022980, -0.040133, 0.358170
-[01:08:32.969]  If point is visible? -1.025143, -0.040123, 0.358281
-[01:08:32.969]  If point is visible? -1.027276, -0.038524, 0.358230
-[01:08:32.969]  If point is visible? -1.029441, -0.038514, 0.358366
-[01:08:32.969]  If point is visible? -1.031579, -0.036916, 0.358348
-[01:08:32.969]  If point is visible? -1.033746, -0.036906, 0.358510
-[01:08:32.969]  If point is visible? -1.042372, -0.033690, 0.358974
-[01:08:32.969]  If point is visible? -1.018691, -0.041742, 0.358169
-[01:08:32.969]  If point is visible? -1.014409, -0.043351, 0.358225
-[01:08:32.969]  If point is visible? -0.999349, -0.043409, 0.358169
-[01:08:32.969]  If point is visible? -1.001496, -0.043402, 0.358139
-[01:08:32.969]  If point is visible? -0.694082, -0.086842, 0.549150
-[01:08:32.969]  If point is visible? -0.678533, -0.078065, 0.575699
-[01:08:32.969]  If point is visible? -0.677321, -0.076503, 0.577597
-[01:08:32.969]  If point is visible? -0.724609, -0.099466, 0.508470
-[01:08:32.969]  If point is visible? -0.726059, -0.099558, 0.506621
-[01:08:32.969]  If point is visible? -0.807598, 0.167132, 0.462651
-[01:08:32.969]  If point is visible? -0.922028, 0.172675, 0.409690
-[01:08:32.969]  If point is visible? -0.743054, 0.104446, 0.488346
-[01:08:32.969]  If point is visible? -0.919563, 0.098516, 0.379611
-[01:08:32.969]  If point is visible? -0.757189, 0.140857, 0.492048
-[01:08:32.969]  If point is visible? -0.751900, 0.125814, 0.489114
-[01:08:32.969]  If point is visible? -0.919960, 0.104813, 0.381386
-[01:08:32.969]  If point is visible? -0.754521, 0.143582, 0.496674
-[01:08:32.969]  If point is visible? -0.828825, 0.097824, 0.416113
-[01:08:32.969]  If point is visible? -0.752309, 0.128795, 0.490301
-[01:08:32.969]  If point is visible? -0.919758, 0.101666, 0.380484
-[01:08:32.969]  If point is visible? -0.734487, 0.079882, 0.488431
-[01:08:32.969]  If point is visible? -0.758492, -0.056588, 0.457124
-[01:08:32.969]  If point is visible? -1.005694, -0.038608, 0.357579
-[01:08:32.969]  If point is visible? -1.018628, -0.038560, 0.357816
-[01:08:32.969]  If point is visible? -1.118411, -0.019104, 0.373939
-[01:08:32.969]  If point is visible? -1.005760, -0.041793, 0.357930
-[01:08:32.969]  If point is visible? -1.010065, -0.041777, 0.357959
-[01:08:32.969]  If point is visible? -1.014375, -0.041760, 0.358038
-[01:08:33.124] add new frame
-[01:08:33.124] update seed
-[01:08:33.124]  If point is visible? -1.036114, 0.183256, 0.406603
-[01:08:33.124]  If point is visible? -1.036043, 0.182522, 0.406171
-[01:08:33.124]  If point is visible? -0.924084, 0.167406, 0.406614
-[01:08:33.124]  If point is visible? -1.052345, 0.131649, 0.383725
-[01:08:33.124]  If point is visible? -1.046731, 0.127929, 0.381567
-[01:08:33.124]  If point is visible? -1.044676, 0.110963, 0.375431
-[01:08:33.124]  If point is visible? -1.045754, 0.110945, 0.375551
-[01:08:33.124]  If point is visible? -1.160501, 0.106087, 0.408032
-[01:08:33.124]  If point is visible? -0.730282, 0.059151, 0.487118
-[01:08:33.124]  If point is visible? -1.102897, -0.026250, 0.370273
-[01:08:33.124]  If point is visible? -1.103985, -0.026243, 0.370577
-[01:08:33.124]  If point is visible? -1.042028, -0.034484, 0.359478
-[01:08:33.124]  If point is visible? -1.039870, -0.035288, 0.359341
-[01:08:33.124]  If point is visible? -1.037713, -0.036092, 0.359219
-[01:08:33.124]  If point is visible? -1.033403, -0.037700, 0.359019
-[01:08:33.124]  If point is visible? -1.034487, -0.037695, 0.359105
-[01:08:33.125]  If point is visible? -1.017306, -0.044132, 0.358839
-[01:08:33.125]  If point is visible? -0.998013, -0.047395, 0.359105
-[01:08:33.125]  If point is visible? -1.000158, -0.047387, 0.359069
-[01:08:33.125]  If point is visible? -1.001232, -0.047382, 0.359056
-[01:08:33.125]  If point is visible? -0.676416, -0.076444, 0.579109
-[01:08:33.125]  If point is visible? -0.716863, -0.096750, 0.517588
-[01:08:33.125]  If point is visible? -1.089608, -0.100598, 0.380361
-[01:08:33.125]  If point is visible? -1.082071, -0.101538, 0.378860
-[01:08:33.125]  If point is visible? -1.083152, -0.101515, 0.379098
-[01:08:33.125]  If point is visible? -1.008108, -0.142259, 0.384713
-[01:08:33.125]  If point is visible? -1.017976, -0.145931, 0.386521
-[01:08:33.125]  If point is visible? -1.005449, -0.161357, 0.393394
-[01:08:33.125]  If point is visible? -1.006506, -0.161339, 0.393389
-[01:08:33.125]  If point is visible? -1.006574, -0.162095, 0.393761
-[01:08:33.125]  If point is visible? -1.003341, -0.172691, 0.399202
-[01:08:33.125]  If point is visible? -0.923331, 0.169669, 0.408018
-[01:08:33.125]  If point is visible? -0.758166, 0.139485, 0.490149
-[01:08:33.125]  If point is visible? -1.052441, 0.133179, 0.384337
-[01:08:33.125]  If point is visible? -1.047302, 0.119437, 0.378569
-[01:08:33.125]  If point is visible? -1.052345, 0.131649, 0.383725
-[01:08:33.125]  If point is visible? -0.741865, 0.096883, 0.486394
-[01:08:33.125]  If point is visible? -0.679331, 0.058897, 0.564880
-[01:08:33.125]  If point is visible? -0.729568, 0.059894, 0.488143
-[01:08:33.125]  If point is visible? -0.729376, 0.056826, 0.487604
-[01:08:33.125]  If point is visible? -0.729471, 0.058361, 0.487870
-[01:08:33.125]  If point is visible? -1.244582, 0.023303, 0.446152
-[01:08:33.125]  If point is visible? -1.022623, -0.040133, 0.358595
-[01:08:33.125]  If point is visible? -1.024786, -0.040123, 0.358706
-[01:08:33.125]  If point is visible? -1.026919, -0.038524, 0.358655
-[01:08:33.125]  If point is visible? -1.029084, -0.038514, 0.358792
-[01:08:33.125]  If point is visible? -1.031221, -0.036916, 0.358774
-[01:08:33.125]  If point is visible? -1.033389, -0.036906, 0.358936
-[01:08:33.125]  If point is visible? -1.042015, -0.033690, 0.359402
-[01:08:33.125]  If point is visible? -1.018334, -0.041742, 0.358593
-[01:08:33.125]  If point is visible? -1.014052, -0.043351, 0.358649
-[01:08:33.125]  If point is visible? -0.998992, -0.043409, 0.358590
-[01:08:33.125]  If point is visible? -1.001139, -0.043402, 0.358560
-[01:08:33.125]  If point is visible? -0.693696, -0.086842, 0.549524
-[01:08:33.125]  If point is visible? -0.678142, -0.078065, 0.576071
-[01:08:33.125]  If point is visible? -0.676930, -0.076503, 0.577969
-[01:08:33.125]  If point is visible? -0.724229, -0.099466, 0.508849
-[01:08:33.125]  If point is visible? -0.725679, -0.099558, 0.507000
-[01:08:33.125]  If point is visible? -0.807225, 0.167132, 0.463043
-[01:08:33.125]  If point is visible? -0.921662, 0.172675, 0.410099
-[01:08:33.125]  If point is visible? -0.742677, 0.104446, 0.488727
-[01:08:33.125]  If point is visible? -0.919202, 0.098516, 0.380020
-[01:08:33.125]  If point is visible? -0.756811, 0.140857, 0.492432
-[01:08:33.125]  If point is visible? -0.751522, 0.125814, 0.489497
-[01:08:33.125]  If point is visible? -0.919599, 0.104813, 0.381795
-[01:08:33.125]  If point is visible? -0.754142, 0.143582, 0.497057
-[01:08:33.125]  If point is visible? -0.828458, 0.097824, 0.416508
-[01:08:33.125]  If point is visible? -0.751932, 0.128795, 0.490684
-[01:08:33.125]  If point is visible? -0.919397, 0.101666, 0.380893
-[01:08:33.125]  If point is visible? -0.734110, 0.079882, 0.488811
-[01:08:33.125]  If point is visible? -0.758120, -0.056588, 0.457507
-[01:08:33.125]  If point is visible? -1.005337, -0.038608, 0.358001
-[01:08:33.125]  If point is visible? -1.018271, -0.038560, 0.358240
-[01:08:33.125]  If point is visible? -1.118052, -0.019104, 0.374379
-[01:08:33.125]  If point is visible? -1.005403, -0.041793, 0.358352
-[01:08:33.125]  If point is visible? -1.009707, -0.041777, 0.358382
-[01:08:33.125]  If point is visible? -1.014018, -0.041760, 0.358462
-[01:08:33.298] add new frame
-[01:08:33.298] update seed
-[01:08:33.298]  If point is visible? -1.035888, 0.183256, 0.406736
-[01:08:33.298]  If point is visible? -1.035817, 0.182522, 0.406304
-[01:08:33.298]  If point is visible? -0.923858, 0.167406, 0.406745
-[01:08:33.298]  If point is visible? -1.052119, 0.131649, 0.383858
-[01:08:33.298]  If point is visible? -1.046505, 0.127929, 0.381700
-[01:08:33.298]  If point is visible? -1.044450, 0.110963, 0.375564
-[01:08:33.298]  If point is visible? -1.045528, 0.110945, 0.375684
-[01:08:33.298]  If point is visible? -1.160274, 0.106087, 0.408166
-[01:08:33.298]  If point is visible? -0.730055, 0.059151, 0.487248
-[01:08:33.298]  If point is visible? -1.102671, -0.026250, 0.370407
-[01:08:33.298]  If point is visible? -1.103760, -0.026243, 0.370711
-[01:08:33.298]  If point is visible? -1.041802, -0.034484, 0.359611
-[01:08:33.298]  If point is visible? -1.039644, -0.035288, 0.359474
-[01:08:33.298]  If point is visible? -1.037487, -0.036092, 0.359352
-[01:08:33.298]  If point is visible? -1.033177, -0.037700, 0.359152
-[01:08:33.298]  If point is visible? -1.034261, -0.037695, 0.359238
-[01:08:33.298]  If point is visible? -1.017080, -0.044132, 0.358971
-[01:08:33.298]  If point is visible? -0.997787, -0.047395, 0.359237
-[01:08:33.298]  If point is visible? -0.999933, -0.047387, 0.359202
-[01:08:33.298]  If point is visible? -1.001006, -0.047382, 0.359189
-[01:08:33.298]  If point is visible? -0.676188, -0.076444, 0.579239
-[01:08:33.298]  If point is visible? -0.716635, -0.096750, 0.517717
-[01:08:33.298]  If point is visible? -1.089382, -0.100598, 0.380495
-[01:08:33.298]  If point is visible? -1.081845, -0.101538, 0.378993
-[01:08:33.298]  If point is visible? -1.082926, -0.101515, 0.379231
-[01:08:33.298]  If point is visible? -1.007882, -0.142259, 0.384845
-[01:08:33.298]  If point is visible? -1.017750, -0.145931, 0.386654
-[01:08:33.298]  If point is visible? -1.005223, -0.161357, 0.393527
-[01:08:33.298]  If point is visible? -1.006280, -0.161339, 0.393522
-[01:08:33.298]  If point is visible? -1.006348, -0.162095, 0.393893
-[01:08:33.298]  If point is visible? -1.003115, -0.172691, 0.399334
-[01:08:33.298]  If point is visible? -0.923104, 0.169669, 0.408150
-[01:08:33.298]  If point is visible? -0.757939, 0.139485, 0.490279
-[01:08:33.298]  If point is visible? -1.052215, 0.133179, 0.384470
-[01:08:33.299]  If point is visible? -1.047076, 0.119437, 0.378703
-[01:08:33.299]  If point is visible? -1.052119, 0.131649, 0.383858
-[01:08:33.299]  If point is visible? -0.741638, 0.096883, 0.486524
-[01:08:33.299]  If point is visible? -0.679104, 0.058897, 0.565009
-[01:08:33.299]  If point is visible? -0.729341, 0.059894, 0.488272
-[01:08:33.299]  If point is visible? -0.729149, 0.056826, 0.487734
-[01:08:33.299]  If point is visible? -0.729244, 0.058361, 0.487999
-[01:08:33.299]  If point is visible? -1.244355, 0.023303, 0.446287
-[01:08:33.299]  If point is visible? -1.022397, -0.040133, 0.358728
-[01:08:33.299]  If point is visible? -1.024560, -0.040123, 0.358838
-[01:08:33.299]  If point is visible? -1.026693, -0.038524, 0.358788
-[01:08:33.299]  If point is visible? -1.028858, -0.038514, 0.358925
-[01:08:33.299]  If point is visible? -1.030996, -0.036916, 0.358907
-[01:08:33.299]  If point is visible? -1.033163, -0.036906, 0.359069
-[01:08:33.299]  If point is visible? -1.041789, -0.033690, 0.359535
-[01:08:33.299]  If point is visible? -1.018108, -0.041742, 0.358726
-[01:08:33.299]  If point is visible? -1.013826, -0.043351, 0.358781
-[01:08:33.299]  If point is visible? -0.998766, -0.043409, 0.358722
-[01:08:33.299]  If point is visible? -1.000913, -0.043402, 0.358693
-[01:08:33.299]  If point is visible? -0.693468, -0.086842, 0.549654
-[01:08:33.299]  If point is visible? -0.677914, -0.078065, 0.576200
-[01:08:33.299]  If point is visible? -0.676702, -0.076503, 0.578098
-[01:08:33.299]  If point is visible? -0.724002, -0.099466, 0.508979
-[01:08:33.299]  If point is visible? -0.725452, -0.099558, 0.507130
-[01:08:33.299]  If point is visible? -0.806998, 0.167132, 0.463174
-[01:08:33.299]  If point is visible? -0.921436, 0.172675, 0.410231
-[01:08:33.299]  If point is visible? -0.742450, 0.104446, 0.488857
-[01:08:33.299]  If point is visible? -0.918976, 0.098516, 0.380152
-[01:08:33.299]  If point is visible? -0.756584, 0.140857, 0.492562
-[01:08:33.299]  If point is visible? -0.751295, 0.125814, 0.489627
-[01:08:33.299]  If point is visible? -0.919373, 0.104813, 0.381926
-[01:08:33.299]  If point is visible? -0.753915, 0.143582, 0.497188
-[01:08:33.299]  If point is visible? -0.828232, 0.097824, 0.416638
-[01:08:33.299]  If point is visible? -0.751704, 0.128795, 0.490814
-[01:08:33.299]  If point is visible? -0.919171, 0.101666, 0.381025
-[01:08:33.299]  If point is visible? -0.733883, 0.079882, 0.488941
-[01:08:33.299]  If point is visible? -0.757893, -0.056588, 0.457638
-[01:08:33.299]  If point is visible? -1.005112, -0.038608, 0.358133
-[01:08:33.299]  If point is visible? -1.018045, -0.038560, 0.358372
-[01:08:33.299]  If point is visible? -1.117826, -0.019104, 0.374512
-[01:08:33.299]  If point is visible? -1.005177, -0.041793, 0.358485
-[01:08:33.299]  If point is visible? -1.009482, -0.041777, 0.358514
-[01:08:33.299]  If point is visible? -1.013792, -0.041760, 0.358594
-[01:08:33.467] add new frame
-[01:08:33.467] add key frame
-[01:08:33.467] update seed
-[01:08:33.467] init seeds
-[01:08:33.469] DepthFilter: Initialized 28 new seeds
-[01:08:33.469] update seed
-[01:08:33.469]  If point is visible? -1.035306, 0.183256, 0.411024
-[01:08:33.469]  If point is visible? -1.035236, 0.182522, 0.410591
-[01:08:33.469]  If point is visible? -0.923276, 0.167406, 0.410872
-[01:08:33.469]  If point is visible? -1.051569, 0.131649, 0.388168
-[01:08:33.469]  If point is visible? -1.045959, 0.127929, 0.386002
-[01:08:33.469]  If point is visible? -1.043913, 0.110963, 0.379864
-[01:08:33.469]  If point is visible? -1.044990, 0.110945, 0.379985
-[01:08:33.469]  If point is visible? -1.159690, 0.106087, 0.412631
-[01:08:33.469]  If point is visible? -0.729358, 0.059151, 0.491098
-[01:08:33.469]  If point is visible? -1.102141, -0.026250, 0.374790
-[01:08:33.469]  If point is visible? -1.103229, -0.026243, 0.375095
-[01:08:33.469]  If point is visible? -1.041287, -0.034484, 0.363906
-[01:08:33.469]  If point is visible? -1.039129, -0.035288, 0.363766
-[01:08:33.469]  If point is visible? -1.036972, -0.036092, 0.363641
-[01:08:33.469]  If point is visible? -1.032663, -0.037700, 0.363435
-[01:08:33.469]  If point is visible? -1.033747, -0.037695, 0.363523
-[01:08:33.470]  If point is visible? -1.016566, -0.044132, 0.363232
-[01:08:33.470]  If point is visible? -0.997273, -0.047395, 0.363470
-[01:08:33.470]  If point is visible? -0.999418, -0.047387, 0.363438
-[01:08:33.470]  If point is visible? -1.000492, -0.047382, 0.363426
-[01:08:33.470]  If point is visible? -0.675360, -0.076444, 0.583011
-[01:08:33.470]  If point is visible? -0.715895, -0.096750, 0.521548
-[01:08:33.470]  If point is visible? -1.088837, -0.100598, 0.384859
-[01:08:33.470]  If point is visible? -1.081302, -0.101538, 0.383346
-[01:08:33.470]  If point is visible? -1.082383, -0.101515, 0.383586
-[01:08:33.470]  If point is visible? -1.007331, -0.142259, 0.389093
-[01:08:33.470]  If point is visible? -1.017197, -0.145931, 0.390915
-[01:08:33.470]  If point is visible? -1.004660, -0.161357, 0.397770
-[01:08:33.470]  If point is visible? -1.005717, -0.161339, 0.397766
-[01:08:33.470]  If point is visible? -1.005784, -0.162095, 0.398138
-[01:08:33.470]  If point is visible? -1.002543, -0.172691, 0.403575
-[01:08:33.470]  If point is visible? -0.922520, 0.169669, 0.412276
-[01:08:33.470]  If point is visible? -0.757238, 0.139485, 0.494169
-[01:08:33.470]  If point is visible? -1.051665, 0.133179, 0.388780
-[01:08:33.470]  If point is visible? -1.046534, 0.119437, 0.383006
-[01:08:33.470]  If point is visible? -1.051569, 0.131649, 0.388168
-[01:08:33.470]  If point is visible? -0.740942, 0.096883, 0.490391
-[01:08:33.470]  If point is visible? -0.678296, 0.058897, 0.568786
-[01:08:33.470]  If point is visible? -0.728642, 0.059894, 0.492121
-[01:08:33.470]  If point is visible? -0.728452, 0.056826, 0.491582
-[01:08:33.470]  If point is visible? -0.728546, 0.058361, 0.491848
-[01:08:33.470]  If point is visible? -1.243716, 0.023303, 0.450872
-[01:08:33.470]  If point is visible? -1.021884, -0.040133, 0.362996
-[01:08:33.470]  If point is visible? -1.024046, -0.040123, 0.363109
-[01:08:33.470]  If point is visible? -1.026180, -0.038524, 0.363062
-[01:08:33.470]  If point is visible? -1.028345, -0.038514, 0.363202
-[01:08:33.470]  If point is visible? -1.030482, -0.036916, 0.363187
-[01:08:33.470]  If point is visible? -1.032649, -0.036906, 0.363352
-[01:08:33.470]  If point is visible? -1.041275, -0.033690, 0.363830
-[01:08:33.470]  If point is visible? -1.017595, -0.041742, 0.362987
-[01:08:33.470]  If point is visible? -1.013313, -0.043351, 0.363037
-[01:08:33.470]  If point is visible? -0.998253, -0.043409, 0.362957
-[01:08:33.470]  If point is visible? -1.000400, -0.043402, 0.362930
-[01:08:33.470]  If point is visible? -0.692682, -0.086842, 0.553451
-[01:08:33.470]  If point is visible? -0.677090, -0.078065, 0.579976
-[01:08:33.470]  If point is visible? -0.675875, -0.076503, 0.581872
-[01:08:33.470]  If point is visible? -0.723274, -0.099466, 0.512820
-[01:08:33.470]  If point is visible? -0.724726, -0.099558, 0.510973
-[01:08:33.470]  If point is visible? -0.806335, 0.167132, 0.467134
-[01:08:33.470]  If point is visible? -0.920849, 0.172675, 0.414354
-[01:08:33.470]  If point is visible? -0.741751, 0.104446, 0.492725
-[01:08:33.470]  If point is visible? -0.918432, 0.098516, 0.384272
-[01:08:33.470]  If point is visible? -0.755880, 0.140857, 0.496450
-[01:08:33.470]  If point is visible? -0.750595, 0.125814, 0.493507
-[01:08:33.470]  If point is visible? -0.918826, 0.104813, 0.386047
-[01:08:33.470]  If point is visible? -0.753204, 0.143582, 0.501072
-[01:08:33.470]  If point is visible? -0.827636, 0.097824, 0.420629
-[01:08:33.470]  If point is visible? -0.751002, 0.128795, 0.494695
-[01:08:33.470]  If point is visible? -0.918626, 0.101666, 0.385145
-[01:08:33.470]  If point is visible? -0.733183, 0.079882, 0.492797
-[01:08:33.470]  If point is visible? -0.757239, -0.056588, 0.461527
-[01:08:33.470]  If point is visible? -1.004599, -0.038608, 0.362377
-[01:08:33.470]  If point is visible? -1.017532, -0.038560, 0.362634
-[01:08:33.470]  If point is visible? -1.117290, -0.019104, 0.378917
-[01:08:33.470]  If point is visible? -1.004664, -0.041793, 0.362728
-[01:08:33.470]  If point is visible? -1.008969, -0.041777, 0.362764
-[01:08:33.470]  If point is visible? -1.013279, -0.041760, 0.362850
-[01:08:33.470]  If point is visible? -0.441299, -0.607778, 1.588102
-[01:08:33.470]  If point is visible? -0.351827, -0.601628, 1.612597
-[01:08:33.470]  If point is visible? -0.346833, -0.601688, 1.613655
-[01:08:33.470]  If point is visible? 0.198582, -0.044577, 1.744931
-[01:08:33.470]  If point is visible? 0.203660, -0.044575, 1.744346
-[01:08:33.470]  If point is visible? 0.490136, 0.294827, 1.661039
-[01:08:33.470]  If point is visible? -0.511780, 0.535254, 1.593044
-[01:08:33.470]  If point is visible? -0.822552, 0.494892, 1.471290
-[01:08:33.470]  If point is visible? -0.451150, -0.611315, 1.583971
-[01:08:33.470]  If point is visible? -0.381705, -0.604955, 1.604536
-[01:08:33.470]  If point is visible? -0.371737, -0.605088, 1.606825
-[01:08:33.470]  If point is visible? -0.361762, -0.605217, 1.609052
-[01:08:33.470]  If point is visible? -0.091430, -0.129046, 1.749627
-[01:08:33.470]  If point is visible? -0.081254, -0.129051, 1.750129
-[01:08:33.470]  If point is visible? -0.751916, 0.130033, 1.582378
-[01:08:33.470]  If point is visible? -0.722647, 0.152897, 1.593929
-[01:08:33.470]  If point is visible? -0.742128, 0.145208, 1.585676
-[01:08:33.470]  If point is visible? -0.742175, 0.137650, 1.586327
-[01:08:33.470]  If point is visible? -0.732465, 0.137711, 1.590829
-[01:08:33.470]  If point is visible? -0.442322, 0.540029, 1.612119
-[01:08:33.470]  If point is visible? 0.020434, 0.475154, 1.691159
-[01:08:33.470]  If point is visible? -0.391666, -0.604819, 1.602185
-[01:08:33.470]  If point is visible? -0.371737, -0.605088, 1.606825
-[01:08:33.470]  If point is visible? -0.111435, -0.381199, 1.711279
-[01:08:33.470]  If point is visible? -0.091177, -0.366031, 1.715784
-[01:08:33.470]  If point is visible? 0.355062, -0.243274, 1.703219
-[01:08:33.470]  If point is visible? -0.475666, -0.135995, 1.685661
-[01:08:33.470]  If point is visible? 0.010312, 0.444910, 1.699457
-[01:08:33.470] init seeds
-[01:08:33.473] DepthFilter: Initialized 26 new seeds
-[01:08:33.637] add new frame
-[01:08:33.637] update seed
-[01:08:33.637]  If point is visible? -1.035156, 0.183256, 0.411139
-[01:08:33.637]  If point is visible? -1.035085, 0.182522, 0.410707
-[01:08:33.637]  If point is visible? -0.923126, 0.167406, 0.410998
-[01:08:33.637] add key frame
-[01:08:33.637]  If point is visible? -1.051417, 0.131649, 0.388282
-[01:08:33.637] init seeds
-[01:08:33.639] DepthFilter: Initialized 45 new seeds
-[01:08:33.639] update seed
-[01:08:33.639]  If point is visible? -1.035156, 0.183256, 0.411139
-[01:08:33.639]  If point is visible? -1.035085, 0.182522, 0.410707
-[01:08:33.639]  If point is visible? -0.923126, 0.167406, 0.410998
-[01:08:33.639]  If point is visible? -1.051417, 0.131649, 0.388282
-[01:08:33.639]  If point is visible? -1.045807, 0.127929, 0.386117
-[01:08:33.639]  If point is visible? -1.043760, 0.110963, 0.379978
-[01:08:33.639]  If point is visible? -1.044837, 0.110945, 0.380099
-[01:08:33.639]  If point is visible? -1.159540, 0.106087, 0.412735
-[01:08:33.639]  If point is visible? -0.729215, 0.059151, 0.491240
-[01:08:33.639]  If point is visible? -1.101988, -0.026250, 0.374899
-[01:08:33.639]  If point is visible? -1.103075, -0.026243, 0.375205
-[01:08:33.639]  If point is visible? -1.041133, -0.034484, 0.364021
-[01:08:33.639]  If point is visible? -1.038975, -0.035288, 0.363881
-[01:08:33.639]  If point is visible? -1.036818, -0.036092, 0.363756
-[01:08:33.639]  If point is visible? -1.032509, -0.037700, 0.363551
-[01:08:33.640]  If point is visible? -1.033593, -0.037695, 0.363638
-[01:08:33.640]  If point is visible? -1.016412, -0.044132, 0.363349
-[01:08:33.640]  If point is visible? -0.997118, -0.047395, 0.363589
-[01:08:33.640]  If point is visible? -0.999264, -0.047387, 0.363556
-[01:08:33.640]  If point is visible? -1.000337, -0.047382, 0.363544
-[01:08:33.640]  If point is visible? -0.675225, -0.076444, 0.583158
-[01:08:33.640]  If point is visible? -0.715755, -0.096750, 0.521692
-[01:08:33.640]  If point is visible? -1.088685, -0.100598, 0.384969
-[01:08:33.640]  If point is visible? -1.081149, -0.101538, 0.383458
-[01:08:33.640]  If point is visible? -1.082231, -0.101515, 0.383697
-[01:08:33.640]  If point is visible? -1.007179, -0.142259, 0.389210
-[01:08:33.640]  If point is visible? -1.017045, -0.145931, 0.391032
-[01:08:33.640]  If point is visible? -1.004508, -0.161357, 0.397888
-[01:08:33.640]  If point is visible? -1.005566, -0.161339, 0.397884
-[01:08:33.640]  If point is visible? -1.005633, -0.162095, 0.398256
-[01:08:33.640]  If point is visible? -1.002392, -0.172691, 0.403693
-[01:08:33.640]  If point is visible? -0.922370, 0.169669, 0.412401
-[01:08:33.640]  If point is visible? -0.757095, 0.139485, 0.494309
-[01:08:33.640]  If point is visible? -1.051513, 0.133179, 0.388894
-[01:08:33.640]  If point is visible? -1.046381, 0.119437, 0.383120
-[01:08:33.640]  If point is visible? -1.051417, 0.131649, 0.388282
-[01:08:33.640]  If point is visible? -0.740799, 0.096883, 0.490532
-[01:08:33.640]  If point is visible? -0.678159, 0.058897, 0.568933
-[01:08:33.640]  If point is visible? -0.728499, 0.059894, 0.492264
-[01:08:33.640]  If point is visible? -0.728309, 0.056826, 0.491724
-[01:08:33.640]  If point is visible? -0.728403, 0.058361, 0.491990
-[01:08:33.640]  If point is visible? -1.243569, 0.023303, 0.450969
-[01:08:33.640]  If point is visible? -1.021730, -0.040133, 0.363112
-[01:08:33.640]  If point is visible? -1.023892, -0.040123, 0.363226
-[01:08:33.640]  If point is visible? -1.026025, -0.038524, 0.363178
-[01:08:33.640]  If point is visible? -1.028190, -0.038514, 0.363318
-[01:08:33.640]  If point is visible? -1.030327, -0.036916, 0.363303
-[01:08:33.640]  If point is visible? -1.032495, -0.036906, 0.363468
-[01:08:33.640]  If point is visible? -1.041120, -0.033690, 0.363945
-[01:08:33.640]  If point is visible? -1.017440, -0.041742, 0.363104
-[01:08:33.640]  If point is visible? -1.013158, -0.043351, 0.363154
-[01:08:33.640]  If point is visible? -0.998098, -0.043409, 0.363075
-[01:08:33.640]  If point is visible? -1.000245, -0.043402, 0.363048
-[01:08:33.640]  If point is visible? -0.692544, -0.086842, 0.553597
-[01:08:33.640]  If point is visible? -0.676954, -0.078065, 0.580122
-[01:08:33.640]  If point is visible? -0.675740, -0.076503, 0.582019
-[01:08:33.640]  If point is visible? -0.723133, -0.099466, 0.512963
-[01:08:33.640]  If point is visible? -0.724585, -0.099558, 0.511116
-[01:08:33.640]  If point is visible? -0.806190, 0.167132, 0.467269
-[01:08:33.640]  If point is visible? -0.920699, 0.172675, 0.414480
-[01:08:33.640]  If point is visible? -0.741608, 0.104446, 0.492866
-[01:08:33.640]  If point is visible? -0.918280, 0.098516, 0.384397
-[01:08:33.640]  If point is visible? -0.755737, 0.140857, 0.496590
-[01:08:33.640]  If point is visible? -0.750452, 0.125814, 0.493648
-[01:08:33.640]  If point is visible? -0.918674, 0.104813, 0.386173
-[01:08:33.640]  If point is visible? -0.753062, 0.143582, 0.501212
-[01:08:33.640]  If point is visible? -0.827487, 0.097824, 0.420762
-[01:08:33.640]  If point is visible? -0.750860, 0.128795, 0.494835
-[01:08:33.640]  If point is visible? -0.918474, 0.101666, 0.385271
-[01:08:33.640]  If point is visible? -0.733040, 0.079882, 0.492939
-[01:08:33.640]  If point is visible? -0.757093, -0.056588, 0.461667
-[01:08:33.640]  If point is visible? -1.004444, -0.038608, 0.362495
-[01:08:33.640]  If point is visible? -1.017377, -0.038560, 0.362751
-[01:08:33.640]  If point is visible? -1.117137, -0.019104, 0.379025
-[01:08:33.640]  If point is visible? -1.004509, -0.041793, 0.362846
-[01:08:33.640]  If point is visible? -1.008814, -0.041777, 0.362881
-[01:08:33.640]  If point is visible? -1.013125, -0.041760, 0.362967
-[01:08:33.640]  If point is visible? -0.441316, -0.607778, 1.588181
-[01:08:33.640]  If point is visible? -0.351846, -0.601628, 1.612684
-[01:08:33.640]  If point is visible? -0.346853, -0.601688, 1.613743
-[01:08:33.640]  If point is visible? 0.198552, -0.044577, 1.745067
-[01:08:33.640]  If point is visible? 0.203629, -0.044575, 1.744482
-[01:08:33.640]  If point is visible? 0.490113, 0.294827, 1.661200
-[01:08:33.640]  If point is visible? -0.511797, 0.535254, 1.593118
-[01:08:33.640]  If point is visible? -0.822559, 0.494892, 1.471336
-[01:08:33.640]  If point is visible? -0.451167, -0.611315, 1.584049
-[01:08:33.640]  If point is visible? -0.381723, -0.604955, 1.604621
-[01:08:33.640]  If point is visible? -0.371756, -0.605088, 1.606910
-[01:08:33.640]  If point is visible? -0.361781, -0.605217, 1.609138
-[01:08:33.640]  If point is visible? -0.091461, -0.129046, 1.749737
-[01:08:33.640]  If point is visible? -0.081286, -0.129051, 1.750239
-[01:08:33.640]  If point is visible? -0.751932, 0.130033, 1.582430
-[01:08:33.640]  If point is visible? -0.722664, 0.152897, 1.593984
-[01:08:33.640]  If point is visible? -0.742145, 0.145208, 1.585729
-[01:08:33.640]  If point is visible? -0.742192, 0.137650, 1.586380
-[01:08:33.640]  If point is visible? -0.732482, 0.137711, 1.590883
-[01:08:33.640]  If point is visible? -0.442341, 0.540029, 1.612198
-[01:08:33.640]  If point is visible? 0.020408, 0.475154, 1.691279
-[01:08:33.640]  If point is visible? -0.391684, -0.604819, 1.602269
-[01:08:33.640]  If point is visible? -0.371756, -0.605088, 1.606910
-[01:08:33.640]  If point is visible? -0.111463, -0.381199, 1.711387
-[01:08:33.640]  If point is visible? -0.091205, -0.366031, 1.715894
-[01:08:33.640]  If point is visible? 0.355035, -0.243274, 1.703368
-[01:08:33.640]  If point is visible? -0.475691, -0.135995, 1.685738
-[01:08:33.640]  If point is visible? 0.010286, 0.444910, 1.699576
-[01:08:33.640]  If point is visible? -0.441316, -0.607778, 1.588181
-[01:08:33.640]  If point is visible? -0.351846, -0.601628, 1.612684
-[01:08:33.640]  If point is visible? -0.346853, -0.601688, 1.613743
-[01:08:33.640]  If point is visible? 0.198552, -0.044577, 1.745067
-[01:08:33.640]  If point is visible? 0.203629, -0.044575, 1.744482
-[01:08:33.640]  If point is visible? 0.490113, 0.294827, 1.661200
-[01:08:33.640]  If point is visible? -0.822559, 0.494892, 1.471336
-[01:08:33.640]  If point is visible? -0.511797, 0.535254, 1.593118
-[01:08:33.640]  If point is visible? -0.381723, -0.604955, 1.604621
-[01:08:33.640]  If point is visible? -0.371756, -0.605088, 1.606910
-[01:08:33.640]  If point is visible? -0.361781, -0.605217, 1.609138
-[01:08:33.640]  If point is visible? -0.091461, -0.129046, 1.749737
-[01:08:33.640]  If point is visible? -0.081286, -0.129051, 1.750239
-[01:08:33.640]  If point is visible? -0.722664, 0.152897, 1.593984
-[01:08:33.640]  If point is visible? -0.742145, 0.145208, 1.585729
-[01:08:33.640]  If point is visible? -0.742192, 0.137650, 1.586380
-[01:08:33.640]  If point is visible? -0.732482, 0.137711, 1.590883
-[01:08:33.640]  If point is visible? -0.442341, 0.540029, 1.612198
-[01:08:33.640]  If point is visible? 0.020408, 0.475154, 1.691279
-[01:08:33.640]  If point is visible? -0.111463, -0.381199, 1.711387
-[01:08:33.640]  If point is visible? -0.091205, -0.366031, 1.715894
-[01:08:33.640]  If point is visible? -0.391684, -0.604819, 1.602269
-[01:08:33.640]  If point is visible? -0.371756, -0.605088, 1.606910
-[01:08:33.640]  If point is visible? 0.355035, -0.243274, 1.703368
-[01:08:33.640]  If point is visible? -0.475691, -0.135995, 1.685738
-[01:08:33.640]  If point is visible? 0.010286, 0.444910, 1.699576
-[01:08:33.640]  If point is visible? 0.423686, -0.952041, 1.825360
-[01:08:33.640]  If point is visible? 0.193141, -0.744069, 1.956244
-[01:08:33.640]  If point is visible? 0.193166, -0.739618, 1.957929
-[01:08:33.640]  If point is visible? -0.403167, -0.706682, 1.938012
-[01:08:33.640]  If point is visible? -0.686527, -0.402656, 1.945349
-[01:08:33.640]  If point is visible? -0.188513, 0.107374, 2.090638
-[01:08:33.640]  If point is visible? 0.592314, 0.361769, 1.983966
-[01:08:33.640]  If point is visible? 0.592385, 0.352697, 1.985577
-[01:08:33.640]  If point is visible? 0.592350, 0.357233, 1.984777
-[01:08:33.640]  If point is visible? 0.430299, 0.394694, 2.019131
-[01:08:33.640]  If point is visible? 0.370062, 0.390482, 2.031849
-[01:08:33.640]  If point is visible? 0.315639, 0.404388, 2.038302
-[01:08:33.640]  If point is visible? 0.254599, 0.531704, 2.017499
-[01:08:33.640]  If point is visible? -0.600414, 0.645047, 1.908206
-[01:08:33.640]  If point is visible? 0.229909, 0.635504, 1.990254
-[01:08:33.640]  If point is visible? 0.235942, 0.635471, 1.989558
-[01:08:33.640]  If point is visible? 0.229885, 0.639994, 1.988817
-[01:08:33.640]  If point is visible? 0.235916, 0.639961, 1.988121
-[01:08:33.640]  If point is visible? 0.675274, 0.749737, 1.843836
-[01:08:33.640]  If point is visible? -0.784779, 0.768754, 1.791919
-[01:08:33.640]  If point is visible? -0.585909, 0.791183, 1.857033
-[01:08:33.640]  If point is visible? 0.264849, 0.800188, 1.925458
-[01:08:33.640]  If point is visible? -0.597207, 0.812837, 1.844037
-[01:08:33.640]  If point is visible? 0.417769, -0.952150, 1.826667
-[01:08:33.640]  If point is visible? 0.024581, -0.016621, 2.101655
-[01:08:33.640]  If point is visible? -0.267512, 0.093548, 2.082671
-[01:08:33.640]  If point is visible? -0.255369, 0.093558, 2.084194
-[01:08:33.640]  If point is visible? -0.255362, 0.102735, 2.083763
-[01:08:33.640]  If point is visible? -0.340299, 0.075139, 2.072772
-[01:08:33.640]  If point is visible? -0.352418, 0.065959, 2.071059
-[01:08:33.640]  If point is visible? -0.699940, 0.211166, 1.970616
-[01:08:33.640]  If point is visible? 0.400189, 0.394869, 2.025280
-[01:08:33.640]  If point is visible? 0.036560, 0.577521, 2.020635
-[01:08:33.640]  If point is visible? 0.276422, 0.844160, 1.904946
-[01:08:33.640]  If point is visible? 0.276508, 0.835363, 1.908807
-[01:08:33.640]  If point is visible? -0.109144, -0.401502, 2.060271
-[01:08:33.640]  If point is visible? -0.352437, -0.034932, 2.071811
-[01:08:33.640]  If point is visible? 0.424811, -0.291063, 2.037805
-[01:08:33.640]  If point is visible? -0.569107, -0.162710, 2.016798
-[01:08:33.640]  If point is visible? -0.640596, 0.202381, 1.991610
-[01:08:33.640]  If point is visible? -0.616758, 0.202494, 1.999109
-[01:08:33.640]  If point is visible? -0.569371, -0.016531, 2.023209
-[01:08:33.640]  If point is visible? -0.616838, 0.184268, 2.000847
-[01:08:33.640]  If point is visible? 0.012338, 0.532310, 2.033304
-[01:08:33.640]  If point is visible? 0.276508, 0.835363, 1.908807
-[01:08:33.640] init seeds
-[01:08:33.643] DepthFilter: Initialized 40 new seeds
-[01:08:33.809] add new frame
-[01:08:33.809] add key frame
-[01:08:33.809] update seed
-[01:08:33.809] init seeds
-[01:08:33.811] DepthFilter: Initialized 22 new seeds
-[01:08:33.982] add new frame
-[01:08:33.982] add key frame
-[01:08:33.982] update seed
-[01:08:33.982] init seeds
-[01:08:33.984] DepthFilter: Initialized 21 new seeds
-[01:08:34.323] add new frame
-[01:08:34.323] add key frame
-[01:08:34.323] update seed
-[01:08:34.323] init seeds
-[01:08:34.326] DepthFilter: Initialized 15 new seeds
-[01:08:34.490] add new frame
-[01:08:34.490] add key frame
-[01:08:34.490] update seed
-[01:08:34.490] init seeds
-[01:08:34.493] DepthFilter: Initialized 11 new seeds
-[01:08:34.660] add new frame
-[01:08:34.660] update seed
-[01:08:34.660]  If point is visible? -1.070031, 0.183256, 0.550737
-[01:08:34.660]  If point is visible? -1.069958, 0.182522, 0.550305
-[01:08:34.660]  If point is visible? -0.958004, 0.167406, 0.551524
-[01:08:34.660] add key frame
-[01:08:34.660]  If point is visible? -1.086103, 0.131649, 0.527746
-[01:08:34.660] init seeds
-[01:08:34.662] DepthFilter: Initialized 6 new seeds
-[01:08:34.663] update seed
-[01:08:34.663]  If point is visible? -1.070031, 0.183256, 0.550737
-[01:08:34.663]  If point is visible? -1.069958, 0.182522, 0.550305
-[01:08:34.663]  If point is visible? -0.958004, 0.167406, 0.551524
-[01:08:34.663]  If point is visible? -1.086103, 0.131649, 0.527746
-[01:08:34.663]  If point is visible? -1.080475, 0.127929, 0.525627
-[01:08:34.663]  If point is visible? -1.078377, 0.110963, 0.519506
-[01:08:34.663]  If point is visible? -1.079456, 0.110945, 0.519618
-[01:08:34.663]  If point is visible? -1.194425, 0.106087, 0.551303
-[01:08:34.663]  If point is visible? -0.764764, 0.059151, 0.633369
-[01:08:34.663]  If point is visible? -1.136561, -0.026250, 0.513945
-[01:08:34.663]  If point is visible? -1.137651, -0.026243, 0.514241
-[01:08:34.663]  If point is visible? -1.075618, -0.034484, 0.503571
-[01:08:34.663]  If point is visible? -1.073459, -0.035288, 0.503449
-[01:08:34.663]  If point is visible? -1.071301, -0.036092, 0.503342
-[01:08:34.663]  If point is visible? -1.066990, -0.037700, 0.503172
-[01:08:34.663]  If point is visible? -1.068075, -0.037695, 0.503251
-[01:08:34.663]  If point is visible? -1.050892, -0.044132, 0.503104
-[01:08:34.663]  If point is visible? -1.031601, -0.047395, 0.503503
-[01:08:34.663]  If point is visible? -1.033747, -0.047387, 0.503453
-[01:08:34.663]  If point is visible? -1.034820, -0.047382, 0.503432
-[01:08:34.663]  If point is visible? -0.711538, -0.076444, 0.725732
-[01:08:34.663]  If point is visible? -0.751557, -0.096750, 0.663931
-[01:08:34.663]  If point is visible? -1.123342, -0.100598, 0.524125
-[01:08:34.663]  If point is visible? -1.115794, -0.101538, 0.522676
-[01:08:34.663]  If point is visible? -1.116878, -0.101515, 0.522906
-[01:08:34.663]  If point is visible? -1.041874, -0.142259, 0.529041
-[01:08:34.663]  If point is visible? -1.051755, -0.145931, 0.530781
-[01:08:34.663]  If point is visible? -1.039276, -0.161357, 0.537741
-[01:08:34.663]  If point is visible? -1.040333, -0.161339, 0.537728
-[01:08:34.663]  If point is visible? -1.040403, -0.162095, 0.538099
-[01:08:34.663]  If point is visible? -1.037208, -0.172691, 0.543562
-[01:08:34.663]  If point is visible? -0.957260, 0.169669, 0.552933
-[01:08:34.663]  If point is visible? -0.792669, 0.139485, 0.636207
-[01:08:34.663]  If point is visible? -1.086204, 0.133179, 0.528358
-[01:08:34.663]  If point is visible? -1.081025, 0.119437, 0.522626
-[01:08:34.663]  If point is visible? -1.086103, 0.131649, 0.527746
-[01:08:34.663]  If point is visible? -0.776342, 0.096883, 0.632565
-[01:08:34.663]  If point is visible? -0.714354, 0.058897, 0.711483
-[01:08:34.663]  If point is visible? -0.764057, 0.059894, 0.634399
-[01:08:34.663]  If point is visible? -0.763862, 0.056826, 0.633861
-[01:08:34.663]  If point is visible? -0.763959, 0.058361, 0.634126
-[01:08:34.663]  If point is visible? -1.278768, 0.023303, 0.588839
-[01:08:34.663]  If point is visible? -1.056208, -0.040133, 0.502823
-[01:08:34.663]  If point is visible? -1.058371, -0.040123, 0.502919
-[01:08:34.663]  If point is visible? -1.060504, -0.038524, 0.502854
-[01:08:34.663]  If point is visible? -1.062670, -0.038514, 0.502975
-[01:08:34.663]  If point is visible? -1.064807, -0.036916, 0.502943
-[01:08:34.663]  If point is visible? -1.066976, -0.036906, 0.503090
-[01:08:34.663]  If point is visible? -1.075605, -0.033690, 0.503496
-[01:08:34.663]  If point is visible? -1.051919, -0.041742, 0.502851
-[01:08:34.663]  If point is visible? -1.047637, -0.043351, 0.502936
-[01:08:34.663]  If point is visible? -1.032577, -0.043409, 0.502982
-[01:08:34.663]  If point is visible? -1.034724, -0.043402, 0.502937
-[01:08:34.663]  If point is visible? -0.728612, -0.086842, 0.696027
-[01:08:34.663]  If point is visible? -0.713242, -0.078065, 0.722681
-[01:08:34.663]  If point is visible? -0.712044, -0.076503, 0.724588
-[01:08:34.663]  If point is visible? -0.758862, -0.099466, 0.655142
-[01:08:34.663]  If point is visible? -0.760299, -0.099558, 0.653283
-[01:08:34.663]  If point is visible? -0.841539, 0.167132, 0.608761
-[01:08:34.663]  If point is visible? -0.955607, 0.172675, 0.555026
-[01:08:34.663]  If point is visible? -0.777170, 0.104446, 0.634893
-[01:08:34.663]  If point is visible? -0.952938, 0.098516, 0.524964
-[01:08:34.663]  If point is visible? -0.791330, 0.140857, 0.638499
-[01:08:34.663]  If point is visible? -0.786021, 0.125814, 0.635601
-[01:08:34.663]  If point is visible? -0.953347, 0.104813, 0.526736
-[01:08:34.663]  If point is visible? -0.788693, 0.143582, 0.643143
-[01:08:34.663]  If point is visible? -0.862449, 0.097824, 0.562080
-[01:08:34.663]  If point is visible? -0.786438, 0.128795, 0.636785
-[01:08:34.663]  If point is visible? -0.953139, 0.101666, 0.525836
-[01:08:34.663]  If point is visible? -0.768604, 0.079882, 0.635036
-[01:08:34.663]  If point is visible? -0.792397, -0.056588, 0.603566
-[01:08:34.663]  If point is visible? -1.038918, -0.038608, 0.502349
-[01:08:34.663]  If point is visible? -1.051853, -0.038560, 0.502498
-[01:08:34.663]  If point is visible? -1.151744, -0.019104, 0.517945
-[01:08:34.663]  If point is visible? -1.038986, -0.041793, 0.502700
-[01:08:34.663]  If point is visible? -1.043291, -0.041777, 0.502699
-[01:08:34.663]  If point is visible? -1.047602, -0.041760, 0.502749
-[01:08:34.663]  If point is visible? -0.491947, -0.607778, 1.724319
-[01:08:34.663]  If point is visible? -0.402683, -0.601628, 1.749562
-[01:08:34.663]  If point is visible? -0.397698, -0.601688, 1.750663
-[01:08:34.663]  If point is visible? 0.146600, -0.044577, 1.886499
-[01:08:34.663]  If point is visible? 0.151682, -0.044575, 1.885956
-[01:08:34.663]  If point is visible? 0.438846, 0.294827, 1.805050
-[01:08:34.663]  If point is visible? -0.562466, 0.535254, 1.728672
-[01:08:34.663]  If point is visible? -0.872209, 0.494892, 1.604321
-[01:08:34.663]  If point is visible? -0.501763, -0.611315, 1.720106
-[01:08:34.663]  If point is visible? -0.432492, -0.604955, 1.741252
-[01:08:34.663]  If point is visible? -0.422544, -0.605088, 1.743624
-[01:08:34.663]  If point is visible? -0.412588, -0.605217, 1.745934
-[01:08:34.663]  If point is visible? -0.143441, -0.129046, 1.888767
-[01:08:34.663]  If point is visible? -0.133271, -0.129051, 1.889354
-[01:08:34.663]  If point is visible? -0.802504, 0.130033, 1.715996
-[01:08:34.663]  If point is visible? -0.773333, 0.152897, 1.727792
-[01:08:34.663]  If point is visible? -0.792744, 0.145208, 1.719375
-[01:08:34.663]  If point is visible? -0.792797, 0.137650, 1.720027
-[01:08:34.663]  If point is visible? -0.783125, 0.137711, 1.724609
-[01:08:34.663]  If point is visible? -0.493170, 0.540029, 1.748327
-[01:08:34.663]  If point is visible? -0.031092, 0.475154, 1.831238
-[01:08:34.663]  If point is visible? -0.442433, -0.604819, 1.738818
-[01:08:34.663]  If point is visible? -0.422544, -0.605088, 1.743624
-[01:08:34.663]  If point is visible? -0.163125, -0.381199, 1.850253
-[01:08:34.663]  If point is visible? -0.142905, -0.366031, 1.854928
-[01:08:34.663]  If point is visible? 0.303423, -0.243274, 1.846099
-[01:08:34.663]  If point is visible? -0.527128, -0.135995, 1.821588
-[01:08:34.663]  If point is visible? -0.041283, 0.444910, 1.839451
-[01:08:34.663]  If point is visible? -0.491947, -0.607778, 1.724319
-[01:08:34.663]  If point is visible? -0.402683, -0.601628, 1.749562
-[01:08:34.663]  If point is visible? -0.397698, -0.601688, 1.750663
-[01:08:34.663]  If point is visible? 0.146600, -0.044577, 1.886499
-[01:08:34.663]  If point is visible? 0.151682, -0.044575, 1.885956
-[01:08:34.663]  If point is visible? 0.438846, 0.294827, 1.805050
-[01:08:34.663]  If point is visible? -0.872209, 0.494892, 1.604321
-[01:08:34.663]  If point is visible? -0.562466, 0.535254, 1.728672
-[01:08:34.663]  If point is visible? -0.432492, -0.604955, 1.741252
-[01:08:34.663]  If point is visible? -0.422544, -0.605088, 1.743624
-[01:08:34.663]  If point is visible? -0.412588, -0.605217, 1.745934
-[01:08:34.663]  If point is visible? -0.143441, -0.129046, 1.888767
-[01:08:34.663]  If point is visible? -0.133271, -0.129051, 1.889354
-[01:08:34.663]  If point is visible? -0.773333, 0.152897, 1.727792
-[01:08:34.663]  If point is visible? -0.792744, 0.145208, 1.719375
-[01:08:34.663]  If point is visible? -0.792797, 0.137650, 1.720027
-[01:08:34.663]  If point is visible? -0.783125, 0.137711, 1.724609
-[01:08:34.663]  If point is visible? -0.493170, 0.540029, 1.748327
-[01:08:34.663]  If point is visible? -0.031092, 0.475154, 1.831238
-[01:08:34.663]  If point is visible? -0.163125, -0.381199, 1.850253
-[01:08:34.663]  If point is visible? -0.142905, -0.366031, 1.854928
-[01:08:34.663]  If point is visible? -0.442433, -0.604819, 1.738818
-[01:08:34.663]  If point is visible? -0.422544, -0.605088, 1.743624
-[01:08:34.663]  If point is visible? 0.303423, -0.243274, 1.846099
-[01:08:34.663]  If point is visible? -0.527128, -0.135995, 1.821588
-[01:08:34.663]  If point is visible? -0.041283, 0.444910, 1.839451
-[01:08:34.663]  If point is visible? 0.371061, -0.952041, 1.968656
-[01:08:34.663]  If point is visible? 0.139439, -0.744069, 2.097626
-[01:08:34.663]  If point is visible? 0.139450, -0.739618, 2.099311
-[01:08:34.663]  If point is visible? -0.456697, -0.706682, 2.074455
-[01:08:34.663]  If point is visible? -0.740109, -0.402656, 2.079445
-[01:08:34.663]  If point is visible? -0.243315, 0.107374, 2.228854
-[01:08:34.663]  If point is visible? 0.538368, 0.361769, 2.128653
-[01:08:34.663]  If point is visible? 0.538427, 0.352697, 2.130265
-[01:08:34.663]  If point is visible? 0.538398, 0.357233, 2.129464
-[01:08:34.663]  If point is visible? 0.376069, 0.394694, 2.162475
-[01:08:34.663]  If point is visible? 0.315728, 0.390482, 2.174693
-[01:08:34.663]  If point is visible? 0.261254, 0.404388, 2.180695
-[01:08:34.663]  If point is visible? 0.200388, 0.531704, 2.159388
-[01:08:34.663]  If point is visible? -0.653690, 0.645047, 2.043017
-[01:08:34.663]  If point is visible? 0.175925, 0.635504, 2.131939
-[01:08:34.663]  If point is visible? 0.181963, 0.635471, 2.131293
-[01:08:34.663]  If point is visible? 0.175912, 0.639994, 2.130502
-[01:08:34.663]  If point is visible? 0.181949, 0.639961, 2.129856
-[01:08:34.663]  If point is visible? 0.622487, 0.749737, 1.989215
-[01:08:34.663]  If point is visible? -0.837086, 0.768754, 1.925206
-[01:08:34.663]  If point is visible? -0.638762, 0.791183, 1.991966
-[01:08:34.663]  If point is visible? 0.211400, 0.800188, 2.067434
-[01:08:34.663]  If point is visible? -0.649953, 0.812837, 1.978876
-[01:08:34.663]  If point is visible? 0.365133, -0.952150, 1.969913
-[01:08:34.663]  If point is visible? -0.030319, -0.016621, 2.241635
-[01:08:34.663]  If point is visible? -0.322245, 0.093548, 2.220233
-[01:08:34.663]  If point is visible? -0.310116, 0.093558, 2.221857
-[01:08:34.663]  If point is visible? -0.310105, 0.102735, 2.221426
-[01:08:34.663]  If point is visible? -0.394947, 0.075139, 2.209731
-[01:08:34.663]  If point is visible? -0.407052, 0.065959, 2.207918
-[01:08:34.663]  If point is visible? -0.753730, 0.211166, 2.104600
-[01:08:34.663]  If point is visible? 0.345909, 0.394869, 2.168374
-[01:08:34.663]  If point is visible? -0.017670, 0.577521, 2.160717
-[01:08:34.663]  If point is visible? 0.223142, 0.844160, 2.047019
-[01:08:34.663]  If point is visible? 0.223196, 0.835363, 2.050881
-[01:08:34.663]  If point is visible? -0.163697, -0.401502, 2.199145
-[01:08:34.663]  If point is visible? -0.407077, -0.034932, 2.208670
-[01:08:34.663]  If point is visible? 0.370426, -0.291063, 2.181103
-[01:08:34.663]  If point is visible? -0.623284, -0.162710, 2.151864
-[01:08:34.663]  If point is visible? -0.694562, 0.202381, 2.126085
-[01:08:34.663]  If point is visible? -0.670787, 0.202494, 2.133782
-[01:08:34.663]  If point is visible? -0.623602, -0.016531, 2.158273
-[01:08:34.663]  If point is visible? -0.670881, 0.184268, 2.135519
-[01:08:34.663]  If point is visible? -0.041996, 0.532310, 2.173186
-[01:08:34.663]  If point is visible? 0.223196, 0.835363, 2.050881
-[01:08:34.663]  If point is visible? 0.371061, -0.952041, 1.968656
-[01:08:34.663]  If point is visible? 0.139439, -0.744069, 2.097626
-[01:08:34.663]  If point is visible? 0.139450, -0.739618, 2.099311
-[01:08:34.663]  If point is visible? -0.456697, -0.706682, 2.074455
-[01:08:34.663]  If point is visible? -0.740109, -0.402656, 2.079445
-[01:08:34.663]  If point is visible? -0.243315, 0.107374, 2.228854
-[01:08:34.663]  If point is visible? 0.538398, 0.357233, 2.129464
-[01:08:34.663]  If point is visible? 0.315728, 0.390482, 2.174693
-[01:08:34.663]  If point is visible? 0.357958, 0.399346, 2.165182
-[01:08:34.663]  If point is visible? 0.261254, 0.404388, 2.180695
-[01:08:34.663]  If point is visible? 0.200388, 0.531704, 2.159388
-[01:08:34.663]  If point is visible? 0.175925, 0.635504, 2.131939
-[01:08:34.663]  If point is visible? 0.181963, 0.635471, 2.131293
-[01:08:34.663]  If point is visible? -0.653690, 0.645047, 2.043017
-[01:08:34.663]  If point is visible? 0.175912, 0.639994, 2.130502
-[01:08:34.663]  If point is visible? 0.181949, 0.639961, 2.129856
-[01:08:34.663]  If point is visible? 0.622487, 0.749737, 1.989215
-[01:08:34.663]  If point is visible? -0.837086, 0.768754, 1.925206
-[01:08:34.663]  If point is visible? -0.638762, 0.791183, 1.991966
-[01:08:34.663]  If point is visible? 0.211400, 0.800188, 2.067434
-[01:08:34.663]  If point is visible? -0.649953, 0.812837, 1.978876
-[01:08:34.663]  If point is visible? 0.365133, -0.952150, 1.969913
-[01:08:34.664]  If point is visible? -0.407061, 0.056788, 2.208188
-[01:08:34.664]  If point is visible? -0.394966, 0.056796, 2.210313
-[01:08:34.664]  If point is visible? -0.030319, -0.016621, 2.241635
-[01:08:34.664]  If point is visible? -0.407052, 0.065959, 2.207918
-[01:08:34.664]  If point is visible? -0.753730, 0.211166, 2.104600
-[01:08:34.664]  If point is visible? 0.345909, 0.394869, 2.168374
-[01:08:34.664]  If point is visible? -0.017670, 0.577521, 2.160717
-[01:08:34.664]  If point is visible? 0.223196, 0.835363, 2.050881
-[01:08:34.664]  If point is visible? -0.163697, -0.401502, 2.199145
-[01:08:34.664]  If point is visible? 0.370426, -0.291063, 2.181103
-[01:08:34.664]  If point is visible? -0.623284, -0.162710, 2.151864
-[01:08:34.664]  If point is visible? -0.407077, -0.034932, 2.208670
-[01:08:34.664]  If point is visible? -0.623602, -0.016531, 2.158273
-[01:08:34.664]  If point is visible? -0.694562, 0.202381, 2.126085
-[01:08:34.664]  If point is visible? -0.670787, 0.202494, 2.133782
-[01:08:34.664]  If point is visible? -0.670881, 0.184268, 2.135519
-[01:08:34.664]  If point is visible? -0.041996, 0.532310, 2.173186
-[01:08:34.664]  If point is visible? 0.223196, 0.835363, 2.050881
-[01:08:34.664]  If point is visible? 0.237873, 0.429304, 2.189515
-[01:08:34.664]  If point is visible? 0.243957, 0.429278, 2.188693
-[01:08:34.664]  If point is visible? 0.243969, 0.424709, 2.189643
-[01:08:34.664]  If point is visible? -1.722918, 0.469185, 1.323617
-[01:08:34.664]  If point is visible? 0.619870, 0.726972, 2.010776
-[01:08:34.664]  If point is visible? -0.731375, 0.753381, 1.987196
-[01:08:34.664]  If point is visible? -0.725510, 0.753515, 1.989333
-[01:08:34.664]  If point is visible? 0.428367, 0.810237, 2.033942
-[01:08:34.664]  If point is visible? -0.600595, 0.800250, 2.011798
-[01:08:34.664]  If point is visible? 0.434220, 0.818964, 2.028732
-[01:08:34.664]  If point is visible? -0.372817, 0.047867, 2.224767
-[01:08:34.664]  If point is visible? -0.360647, 0.047873, 2.226686
-[01:08:34.664]  If point is visible? -0.372802, 0.066305, 2.224265
-[01:08:34.664]  If point is visible? -0.372810, 0.057086, 2.224536
-[01:08:34.664]  If point is visible? -0.164562, -0.458339, 2.197826
-[01:08:34.664]  If point is visible? -0.140180, -0.458376, 2.199175
-[01:08:34.664]  If point is visible? -0.213521, -0.403360, 2.205723
-[01:08:34.664]  If point is visible? -0.164745, -0.403448, 2.209276
-[01:08:34.664]  If point is visible? -0.140344, -0.403480, 2.210623
-[01:08:34.664]  If point is visible? -0.816985, 0.184467, 2.094380
-[01:08:34.664]  If point is visible? 0.006276, 0.516646, 2.187421
-[01:08:34.664]  If point is visible? 0.249704, 0.534024, 2.163109
-[01:08:34.664]  If point is visible? 0.450288, -0.992753, 1.952337
-[01:08:34.664]  If point is visible? -0.404375, -0.725943, 2.092442
-[01:08:34.664]  If point is visible? -0.398261, -0.726008, 2.093588
-[01:08:34.664]  If point is visible? -0.085203, -0.209071, 2.244407
-[01:08:34.664]  If point is visible? -0.085204, -0.204391, 2.244861
-[01:08:34.664]  If point is visible? 0.286244, 0.440581, 2.187036
-[01:08:34.664]  If point is visible? 0.286267, 0.435942, 2.188012
-[01:08:34.664]  If point is visible? 0.584093, 0.622003, 2.071814
-[01:08:34.664]  If point is visible? 0.590138, 0.621913, 2.069964
-[01:08:34.664]  If point is visible? -0.603499, 0.807605, 2.010752
-[01:08:34.664]  If point is visible? 0.295319, 0.838660, 2.059097
-[01:08:34.664]  If point is visible? -0.738822, 0.638163, 2.028908
-[01:08:34.664]  If point is visible? -0.810608, 0.627642, 2.004054
-[01:08:34.664]  If point is visible? 0.301476, 0.834100, 2.060041
-[01:08:34.664]  If point is visible? -0.103697, -0.465492, 2.202842
-[01:08:34.664]  If point is visible? 0.440769, -0.315513, 2.181098
-[01:08:34.664]  If point is visible? 0.465312, -0.315389, 2.175476
-[01:08:34.664]  If point is visible? -0.671015, 0.206519, 2.144592
-[01:08:34.664]  If point is visible? 0.044897, 0.524667, 2.189310
-[01:08:34.664]  If point is visible? 0.291825, 0.542314, 2.161969
-[01:08:34.664]  If point is visible? 0.338302, 0.815695, 2.061368
-[01:08:34.664]  If point is visible? 0.252083, -0.801875, 2.089758
-[01:08:34.664]  If point is visible? 0.239255, -0.792426, 2.094864
-[01:08:34.664]  If point is visible? -0.306218, 0.075652, 2.230277
-[01:08:34.664]  If point is visible? 0.326055, 0.169006, 2.222333
-[01:08:34.664]  If point is visible? 0.660490, 0.363184, 2.122615
-[01:08:34.664]  If point is visible? -1.765759, 0.382316, 1.345197
-[01:08:34.664]  If point is visible? -1.765543, 0.386799, 1.344198
-[01:08:34.664]  If point is visible? -0.710573, 0.808468, 1.978659
-[01:08:34.664]  If point is visible? -0.735547, 0.812589, 1.967815
-[01:08:34.664]  If point is visible? -0.476887, -0.756784, 2.067241
-[01:08:34.664]  If point is visible? -0.090863, -0.488854, 2.196907
-[01:08:34.664]  If point is visible? 0.065221, 0.550998, 2.183067
-[01:08:34.664]  If point is visible? -0.576085, 0.909876, 1.978353
-[01:08:34.664]  If point is visible? 0.065199, 0.570420, 2.178074
-[01:08:34.664]  If point is visible? 0.324609, 0.569531, 2.154972
-[01:08:34.664]  If point is visible? 0.643368, -0.368348, 2.285772
-[01:08:34.664]  If point is visible? -0.243334, 0.112243, 2.388000
-[01:08:34.664]  If point is visible? 0.339982, 0.493608, 2.327041
-[01:08:34.664]  If point is visible? 0.340005, 0.488411, 2.328134
-[01:08:34.664]  If point is visible? -1.849964, 0.562003, 1.426930
-[01:08:34.664]  If point is visible? -0.625571, 0.728190, 2.202896
-[01:08:34.664]  If point is visible? 0.635878, -0.456609, 2.271899
-[01:08:34.664]  If point is visible? -0.508750, -0.807351, 2.205382
-[01:08:34.664]  If point is visible? -0.894959, 0.188975, 2.222091
-[01:08:34.664]  If point is visible? 0.069581, 0.587814, 2.328946
-[01:08:34.664]  If point is visible? 0.346301, 0.607586, 2.298972
-[01:08:34.664]  If point is visible? 0.462535, -1.029752, 1.961846
-[01:08:34.664]  If point is visible? -0.824649, 0.643489, 2.007248
-[01:08:34.664]  If point is visible? -0.117441, -0.491193, 2.206379
-[01:08:34.664]  If point is visible? -0.091300, -0.491232, 2.207606
-[01:08:34.664]  If point is visible? -0.065355, -0.156400, 2.257086
-[01:08:34.664]  If point is visible? 0.065565, 0.534142, 2.198536
-[01:08:34.664] init seeds
-[01:08:34.667] DepthFilter: Initialized 7 new seeds
-[01:08:34.835] add new frame
-[01:08:34.835] add key frame
-[01:08:34.835] update seed
-[01:08:34.835] init seeds
-[01:08:34.838] DepthFilter: Initialized 5 new seeds
-[01:08:34.838] update seed
-[01:08:34.838]  If point is visible? -1.070028, 0.183256, 0.550740
-[01:08:34.838]  If point is visible? -1.069955, 0.182522, 0.550309
-[01:08:34.838]  If point is visible? -0.958001, 0.167406, 0.551527
-[01:08:34.838]  If point is visible? -1.086100, 0.131649, 0.527750
-[01:08:34.838]  If point is visible? -1.080472, 0.127929, 0.525631
-[01:08:34.838]  If point is visible? -1.078374, 0.110963, 0.519510
-[01:08:34.838]  If point is visible? -1.079453, 0.110945, 0.519622
-[01:08:34.838]  If point is visible? -1.194422, 0.106087, 0.551306
-[01:08:34.838]  If point is visible? -0.764762, 0.059151, 0.633373
-[01:08:34.838]  If point is visible? -1.136558, -0.026250, 0.513948
-[01:08:34.838]  If point is visible? -1.137648, -0.026243, 0.514245
-[01:08:34.838]  If point is visible? -1.075615, -0.034484, 0.503575
-[01:08:34.838]  If point is visible? -1.073456, -0.035288, 0.503453
-[01:08:34.838]  If point is visible? -1.071298, -0.036092, 0.503346
-[01:08:34.838]  If point is visible? -1.066987, -0.037700, 0.503176
-[01:08:34.838]  If point is visible? -1.068072, -0.037695, 0.503254
-[01:08:34.838]  If point is visible? -1.050889, -0.044132, 0.503107
-[01:08:34.838]  If point is visible? -1.031598, -0.047395, 0.503507
-[01:08:34.838]  If point is visible? -1.033744, -0.047387, 0.503457
-[01:08:34.838]  If point is visible? -1.034817, -0.047382, 0.503436
-[01:08:34.838]  If point is visible? -0.711535, -0.076444, 0.725736
-[01:08:34.838]  If point is visible? -0.751554, -0.096750, 0.663936
-[01:08:34.838]  If point is visible? -1.123339, -0.100598, 0.524128
-[01:08:34.838]  If point is visible? -1.115791, -0.101538, 0.522679
-[01:08:34.838]  If point is visible? -1.116875, -0.101515, 0.522909
-[01:08:34.838]  If point is visible? -1.041871, -0.142259, 0.529045
-[01:08:34.838]  If point is visible? -1.051752, -0.145931, 0.530785
-[01:08:34.838]  If point is visible? -1.039273, -0.161357, 0.537744
-[01:08:34.838]  If point is visible? -1.040330, -0.161339, 0.537732
-[01:08:34.838]  If point is visible? -1.040400, -0.162095, 0.538103
-[01:08:34.838]  If point is visible? -1.037205, -0.172691, 0.543566
-[01:08:34.838]  If point is visible? -0.957258, 0.169669, 0.552937
-[01:08:34.838]  If point is visible? -0.792666, 0.139485, 0.636211
-[01:08:34.838]  If point is visible? -1.086201, 0.133179, 0.528361
-[01:08:34.839]  If point is visible? -1.081022, 0.119437, 0.522630
-[01:08:34.839]  If point is visible? -1.086100, 0.131649, 0.527750
-[01:08:34.839]  If point is visible? -0.776339, 0.096883, 0.632570
-[01:08:34.839]  If point is visible? -0.714352, 0.058897, 0.711487
-[01:08:34.839]  If point is visible? -0.764055, 0.059894, 0.634403
-[01:08:34.839]  If point is visible? -0.763860, 0.056826, 0.633866
-[01:08:34.839]  If point is visible? -0.763956, 0.058361, 0.634131
-[01:08:34.839]  If point is visible? -1.278765, 0.023303, 0.588842
-[01:08:34.839]  If point is visible? -1.056205, -0.040133, 0.502827
-[01:08:34.839]  If point is visible? -1.058368, -0.040123, 0.502922
-[01:08:34.839]  If point is visible? -1.060501, -0.038524, 0.502857
-[01:08:34.839]  If point is visible? -1.062667, -0.038514, 0.502979
-[01:08:34.839]  If point is visible? -1.064804, -0.036916, 0.502946
-[01:08:34.839]  If point is visible? -1.066973, -0.036906, 0.503093
-[01:08:34.839]  If point is visible? -1.075602, -0.033690, 0.503499
-[01:08:34.839]  If point is visible? -1.051916, -0.041742, 0.502854
-[01:08:34.839]  If point is visible? -1.047634, -0.043351, 0.502940
-[01:08:34.839]  If point is visible? -1.032574, -0.043409, 0.502985
-[01:08:34.839]  If point is visible? -1.034721, -0.043402, 0.502941
-[01:08:34.839]  If point is visible? -0.728609, -0.086842, 0.696032
-[01:08:34.839]  If point is visible? -0.713240, -0.078065, 0.722686
-[01:08:34.839]  If point is visible? -0.712041, -0.076503, 0.724592
-[01:08:34.839]  If point is visible? -0.758860, -0.099466, 0.655146
-[01:08:34.839]  If point is visible? -0.760297, -0.099558, 0.653287
-[01:08:34.839]  If point is visible? -0.841536, 0.167132, 0.608766
-[01:08:34.839]  If point is visible? -0.955604, 0.172675, 0.555030
-[01:08:34.839]  If point is visible? -0.777168, 0.104446, 0.634897
-[01:08:34.839]  If point is visible? -0.952935, 0.098516, 0.524968
-[01:08:34.839]  If point is visible? -0.791327, 0.140857, 0.638503
-[01:08:34.839]  If point is visible? -0.786018, 0.125814, 0.635605
-[01:08:34.839]  If point is visible? -0.953344, 0.104813, 0.526740
-[01:08:34.839]  If point is visible? -0.788690, 0.143582, 0.643147
-[01:08:34.839]  If point is visible? -0.862446, 0.097824, 0.562084
-[01:08:34.839]  If point is visible? -0.786436, 0.128795, 0.636789
-[01:08:34.839]  If point is visible? -0.953136, 0.101666, 0.525840
-[01:08:34.839]  If point is visible? -0.768601, 0.079882, 0.635040
-[01:08:34.839]  If point is visible? -0.792394, -0.056588, 0.603571
-[01:08:34.839]  If point is visible? -1.038915, -0.038608, 0.502352
-[01:08:34.839]  If point is visible? -1.051850, -0.038560, 0.502502
-[01:08:34.839]  If point is visible? -1.151741, -0.019104, 0.517948
-[01:08:34.839]  If point is visible? -1.038983, -0.041793, 0.502704
-[01:08:34.839]  If point is visible? -1.043288, -0.041777, 0.502703
-[01:08:34.839]  If point is visible? -1.047599, -0.041760, 0.502753
-[01:08:34.839]  If point is visible? -0.491949, -0.607778, 1.724322
-[01:08:34.839]  If point is visible? -0.402685, -0.601628, 1.749565
-[01:08:34.839]  If point is visible? -0.397700, -0.601688, 1.750666
-[01:08:34.839]  If point is visible? 0.146597, -0.044577, 1.886503
-[01:08:34.839]  If point is visible? 0.151680, -0.044575, 1.885960
-[01:08:34.839]  If point is visible? 0.438843, 0.294827, 1.805055
-[01:08:34.839]  If point is visible? -0.562468, 0.535254, 1.728674
-[01:08:34.839]  If point is visible? -0.872211, 0.494892, 1.604322
-[01:08:34.839]  If point is visible? -0.501765, -0.611315, 1.720109
-[01:08:34.839]  If point is visible? -0.432494, -0.604955, 1.741255
-[01:08:34.839]  If point is visible? -0.422546, -0.605088, 1.743627
-[01:08:34.839]  If point is visible? -0.412590, -0.605217, 1.745937
-[01:08:34.839]  If point is visible? -0.143444, -0.129046, 1.888771
-[01:08:34.839]  If point is visible? -0.133273, -0.129051, 1.889358
-[01:08:34.839]  If point is visible? -0.802506, 0.130033, 1.715998
-[01:08:34.839]  If point is visible? -0.773335, 0.152897, 1.727793
-[01:08:34.839]  If point is visible? -0.792747, 0.145208, 1.719377
-[01:08:34.839]  If point is visible? -0.792799, 0.137650, 1.720028
-[01:08:34.839]  If point is visible? -0.783127, 0.137711, 1.724611
-[01:08:34.839]  If point is visible? -0.493172, 0.540029, 1.748329
-[01:08:34.839]  If point is visible? -0.031095, 0.475154, 1.831241
-[01:08:34.839]  If point is visible? -0.442435, -0.604819, 1.738821
-[01:08:34.839]  If point is visible? -0.422546, -0.605088, 1.743627
-[01:08:34.839]  If point is visible? -0.163128, -0.381199, 1.850257
-[01:08:34.839]  If point is visible? -0.142908, -0.366031, 1.854931
-[01:08:34.839]  If point is visible? 0.303420, -0.243274, 1.846103
-[01:08:34.839]  If point is visible? -0.527131, -0.135995, 1.821590
-[01:08:34.839]  If point is visible? -0.041285, 0.444910, 1.839455
-[01:08:34.839]  If point is visible? -0.491949, -0.607778, 1.724322
-[01:08:34.839]  If point is visible? -0.402685, -0.601628, 1.749565
-[01:08:34.839]  If point is visible? -0.397700, -0.601688, 1.750666
-[01:08:34.839]  If point is visible? 0.146597, -0.044577, 1.886503
-[01:08:34.839]  If point is visible? 0.151680, -0.044575, 1.885960
-[01:08:34.839]  If point is visible? 0.438843, 0.294827, 1.805055
-[01:08:34.839]  If point is visible? -0.872211, 0.494892, 1.604322
-[01:08:34.839]  If point is visible? -0.562468, 0.535254, 1.728674
-[01:08:34.839]  If point is visible? -0.432494, -0.604955, 1.741255
-[01:08:34.839]  If point is visible? -0.422546, -0.605088, 1.743627
-[01:08:34.839]  If point is visible? -0.412590, -0.605217, 1.745937
-[01:08:34.839]  If point is visible? -0.143444, -0.129046, 1.888771
-[01:08:34.839]  If point is visible? -0.133273, -0.129051, 1.889358
-[01:08:34.839]  If point is visible? -0.773335, 0.152897, 1.727793
-[01:08:34.839]  If point is visible? -0.792747, 0.145208, 1.719377
-[01:08:34.839]  If point is visible? -0.792799, 0.137650, 1.720028
-[01:08:34.839]  If point is visible? -0.783127, 0.137711, 1.724611
-[01:08:34.839]  If point is visible? -0.493172, 0.540029, 1.748329
-[01:08:34.839]  If point is visible? -0.031095, 0.475154, 1.831241
-[01:08:34.839]  If point is visible? -0.163128, -0.381199, 1.850257
-[01:08:34.839]  If point is visible? -0.142908, -0.366031, 1.854931
-[01:08:34.839]  If point is visible? -0.442435, -0.604819, 1.738821
-[01:08:34.839]  If point is visible? -0.422546, -0.605088, 1.743627
-[01:08:34.839]  If point is visible? 0.303420, -0.243274, 1.846103
-[01:08:34.839]  If point is visible? -0.527131, -0.135995, 1.821590
-[01:08:34.839]  If point is visible? -0.041285, 0.444910, 1.839455
-[01:08:34.839]  If point is visible? 0.371058, -0.952041, 1.968660
-[01:08:34.839]  If point is visible? 0.139436, -0.744069, 2.097630
-[01:08:34.839]  If point is visible? 0.139447, -0.739618, 2.099315
-[01:08:34.839]  If point is visible? -0.456700, -0.706682, 2.074458
-[01:08:34.839]  If point is visible? -0.740112, -0.402656, 2.079447
-[01:08:34.839]  If point is visible? -0.243318, 0.107374, 2.228857
-[01:08:34.839]  If point is visible? 0.538365, 0.361769, 2.128658
-[01:08:34.839]  If point is visible? 0.538424, 0.352697, 2.130270
-[01:08:34.839]  If point is visible? 0.538395, 0.357233, 2.129469
-[01:08:34.839]  If point is visible? 0.376065, 0.394694, 2.162480
-[01:08:34.839]  If point is visible? 0.315725, 0.390482, 2.174698
-[01:08:34.839]  If point is visible? 0.261250, 0.404388, 2.180700
-[01:08:34.839]  If point is visible? 0.200385, 0.531704, 2.159392
-[01:08:34.839]  If point is visible? -0.653693, 0.645047, 2.043019
-[01:08:34.839]  If point is visible? 0.175922, 0.635504, 2.131943
-[01:08:34.839]  If point is visible? 0.181960, 0.635471, 2.131297
-[01:08:34.839]  If point is visible? 0.175909, 0.639994, 2.130506
-[01:08:34.839]  If point is visible? 0.181946, 0.639961, 2.129860
-[01:08:34.839]  If point is visible? 0.622484, 0.749737, 1.989220
-[01:08:34.839]  If point is visible? -0.837089, 0.768754, 1.925208
-[01:08:34.839]  If point is visible? -0.638765, 0.791183, 1.991968
-[01:08:34.839]  If point is visible? 0.211397, 0.800188, 2.067439
-[01:08:34.839]  If point is visible? -0.649955, 0.812837, 1.978878
-[01:08:34.839]  If point is visible? 0.365130, -0.952150, 1.969918
-[01:08:34.839]  If point is visible? -0.030323, -0.016621, 2.241639
-[01:08:34.839]  If point is visible? -0.322249, 0.093548, 2.220236
-[01:08:34.839]  If point is visible? -0.310119, 0.093558, 2.221860
-[01:08:34.839]  If point is visible? -0.310108, 0.102735, 2.221428
-[01:08:34.839]  If point is visible? -0.394951, 0.075139, 2.209734
-[01:08:34.839]  If point is visible? -0.407056, 0.065959, 2.207920
-[01:08:34.839]  If point is visible? -0.753733, 0.211166, 2.104602
-[01:08:34.839]  If point is visible? 0.345905, 0.394869, 2.168379
-[01:08:34.839]  If point is visible? -0.017673, 0.577521, 2.160721
-[01:08:34.839]  If point is visible? 0.223139, 0.844160, 2.047023
-[01:08:34.839]  If point is visible? 0.223193, 0.835363, 2.050885
-[01:08:34.839]  If point is visible? -0.163701, -0.401502, 2.199149
-[01:08:34.839]  If point is visible? -0.407080, -0.034932, 2.208673
-[01:08:34.839]  If point is visible? 0.370423, -0.291063, 2.181108
-[01:08:34.839]  If point is visible? -0.623287, -0.162710, 2.151867
-[01:08:34.839]  If point is visible? -0.694565, 0.202381, 2.126087
-[01:08:34.839]  If point is visible? -0.670790, 0.202494, 2.133783
-[01:08:34.839]  If point is visible? -0.623605, -0.016531, 2.158275
-[01:08:34.839]  If point is visible? -0.670884, 0.184268, 2.135521
-[01:08:34.839]  If point is visible? -0.041999, 0.532310, 2.173189
-[01:08:34.839]  If point is visible? 0.223193, 0.835363, 2.050885
-[01:08:34.839]  If point is visible? 0.371058, -0.952041, 1.968660
-[01:08:34.839]  If point is visible? 0.139436, -0.744069, 2.097630
-[01:08:34.839]  If point is visible? 0.139447, -0.739618, 2.099315
-[01:08:34.839]  If point is visible? -0.456700, -0.706682, 2.074458
-[01:08:34.839]  If point is visible? -0.740112, -0.402656, 2.079447
-[01:08:34.839]  If point is visible? -0.243318, 0.107374, 2.228857
-[01:08:34.839]  If point is visible? 0.538395, 0.357233, 2.129469
-[01:08:34.839]  If point is visible? 0.315725, 0.390482, 2.174698
-[01:08:34.839]  If point is visible? 0.357955, 0.399346, 2.165187
-[01:08:34.839]  If point is visible? 0.261250, 0.404388, 2.180700
-[01:08:34.839]  If point is visible? 0.200385, 0.531704, 2.159392
-[01:08:34.839]  If point is visible? 0.175922, 0.635504, 2.131943
-[01:08:34.839]  If point is visible? 0.181960, 0.635471, 2.131297
-[01:08:34.839]  If point is visible? -0.653693, 0.645047, 2.043019
-[01:08:34.839]  If point is visible? 0.175909, 0.639994, 2.130506
-[01:08:34.839]  If point is visible? 0.181946, 0.639961, 2.129860
-[01:08:34.839]  If point is visible? 0.622484, 0.749737, 1.989220
-[01:08:34.839]  If point is visible? -0.837089, 0.768754, 1.925208
-[01:08:34.839]  If point is visible? -0.638765, 0.791183, 1.991968
-[01:08:34.839]  If point is visible? 0.211397, 0.800188, 2.067439
-[01:08:34.839]  If point is visible? -0.649955, 0.812837, 1.978878
-[01:08:34.839]  If point is visible? 0.365130, -0.952150, 1.969918
-[01:08:34.839]  If point is visible? -0.407065, 0.056788, 2.208191
-[01:08:34.839]  If point is visible? -0.394969, 0.056796, 2.210315
-[01:08:34.839]  If point is visible? -0.030323, -0.016621, 2.241639
-[01:08:34.839]  If point is visible? -0.407056, 0.065959, 2.207920
-[01:08:34.839]  If point is visible? -0.753733, 0.211166, 2.104602
-[01:08:34.839]  If point is visible? 0.345905, 0.394869, 2.168379
-[01:08:34.839]  If point is visible? -0.017673, 0.577521, 2.160721
-[01:08:34.839]  If point is visible? 0.223193, 0.835363, 2.050885
-[01:08:34.839]  If point is visible? -0.163701, -0.401502, 2.199149
-[01:08:34.839]  If point is visible? 0.370423, -0.291063, 2.181108
-[01:08:34.839]  If point is visible? -0.623287, -0.162710, 2.151867
-[01:08:34.839]  If point is visible? -0.407080, -0.034932, 2.208673
-[01:08:34.839]  If point is visible? -0.623605, -0.016531, 2.158275
-[01:08:34.839]  If point is visible? -0.694565, 0.202381, 2.126087
-[01:08:34.839]  If point is visible? -0.670790, 0.202494, 2.133783
-[01:08:34.839]  If point is visible? -0.670884, 0.184268, 2.135521
-[01:08:34.839]  If point is visible? -0.041999, 0.532310, 2.173189
-[01:08:34.839]  If point is visible? 0.223193, 0.835363, 2.050885
-[01:08:34.839]  If point is visible? 0.237870, 0.429304, 2.189519
-[01:08:34.839]  If point is visible? 0.243954, 0.429278, 2.188697
-[01:08:34.839]  If point is visible? 0.243966, 0.424709, 2.189647
-[01:08:34.839]  If point is visible? -1.722919, 0.469185, 1.323616
-[01:08:34.839]  If point is visible? 0.619867, 0.726972, 2.010782
-[01:08:34.839]  If point is visible? -0.731378, 0.753381, 1.987198
-[01:08:34.839]  If point is visible? -0.725512, 0.753515, 1.989335
-[01:08:34.839]  If point is visible? 0.428364, 0.810237, 2.033947
-[01:08:34.839]  If point is visible? -0.600598, 0.800250, 2.011800
-[01:08:34.839]  If point is visible? 0.434217, 0.818964, 2.028737
-[01:08:34.839]  If point is visible? -0.372821, 0.047867, 2.224770
-[01:08:34.839]  If point is visible? -0.360650, 0.047873, 2.226689
-[01:08:34.839]  If point is visible? -0.372806, 0.066305, 2.224267
-[01:08:34.839]  If point is visible? -0.372814, 0.057086, 2.224539
-[01:08:34.839]  If point is visible? -0.164566, -0.458339, 2.197829
-[01:08:34.839]  If point is visible? -0.140184, -0.458376, 2.199178
-[01:08:34.839]  If point is visible? -0.213524, -0.403360, 2.205726
-[01:08:34.839]  If point is visible? -0.164749, -0.403448, 2.209280
-[01:08:34.839]  If point is visible? -0.140347, -0.403480, 2.210627
-[01:08:34.839]  If point is visible? -0.816988, 0.184467, 2.094382
-[01:08:34.839]  If point is visible? 0.006273, 0.516646, 2.187424
-[01:08:34.839]  If point is visible? 0.249701, 0.534024, 2.163113
-[01:08:34.839]  If point is visible? 0.450285, -0.992753, 1.952342
-[01:08:34.839]  If point is visible? -0.404378, -0.725943, 2.092445
-[01:08:34.839]  If point is visible? -0.398264, -0.726008, 2.093590
-[01:08:34.839]  If point is visible? -0.085207, -0.209071, 2.244411
-[01:08:34.839]  If point is visible? -0.085208, -0.204391, 2.244864
-[01:08:34.839]  If point is visible? 0.286241, 0.440581, 2.187041
-[01:08:34.839]  If point is visible? 0.286264, 0.435942, 2.188016
-[01:08:34.839]  If point is visible? 0.584090, 0.622003, 2.071819
-[01:08:34.839]  If point is visible? 0.590135, 0.621913, 2.069969
-[01:08:34.839]  If point is visible? -0.603502, 0.807605, 2.010754
-[01:08:34.839]  If point is visible? 0.295316, 0.838660, 2.059101
-[01:08:34.839]  If point is visible? -0.738825, 0.638163, 2.028909
-[01:08:34.839]  If point is visible? -0.810611, 0.627642, 2.004055
-[01:08:34.839]  If point is visible? 0.301473, 0.834100, 2.060046
-[01:08:34.839]  If point is visible? -0.103700, -0.465492, 2.202846
-[01:08:34.839]  If point is visible? 0.440766, -0.315513, 2.181103
-[01:08:34.839]  If point is visible? 0.465308, -0.315389, 2.175481
-[01:08:34.839]  If point is visible? -0.671018, 0.206519, 2.144594
-[01:08:34.839]  If point is visible? 0.044893, 0.524667, 2.189314
-[01:08:34.839]  If point is visible? 0.291821, 0.542314, 2.161974
-[01:08:34.839]  If point is visible? 0.338298, 0.815695, 2.061372
-[01:08:34.839]  If point is visible? 0.252080, -0.801875, 2.089762
-[01:08:34.840]  If point is visible? 0.239252, -0.792426, 2.094869
-[01:08:34.840]  If point is visible? -0.306222, 0.075652, 2.230280
-[01:08:34.840]  If point is visible? 0.326052, 0.169006, 2.222337
-[01:08:34.840]  If point is visible? 0.660486, 0.363184, 2.122621
-[01:08:34.840]  If point is visible? -1.765761, 0.382316, 1.345196
-[01:08:34.840]  If point is visible? -1.765545, 0.386799, 1.344197
-[01:08:34.840]  If point is visible? -0.710577, 0.808468, 1.978661
-[01:08:34.840]  If point is visible? -0.735550, 0.812589, 1.967817
-[01:08:34.840]  If point is visible? -0.476890, -0.756784, 2.067244
-[01:08:34.840]  If point is visible? -0.090867, -0.488854, 2.196910
-[01:08:34.840]  If point is visible? 0.065217, 0.550998, 2.183071
-[01:08:34.840]  If point is visible? -0.576088, 0.909876, 1.978355
-[01:08:34.840]  If point is visible? 0.065196, 0.570420, 2.178077
-[01:08:34.840]  If point is visible? 0.324605, 0.569531, 2.154976
-[01:08:34.840]  If point is visible? 0.643364, -0.368348, 2.285778
-[01:08:34.840]  If point is visible? -0.243338, 0.112243, 2.388003
-[01:08:34.840]  If point is visible? 0.339977, 0.493608, 2.327046
-[01:08:34.840]  If point is visible? 0.340001, 0.488411, 2.328139
-[01:08:34.840]  If point is visible? -1.849966, 0.562003, 1.426928
-[01:08:34.840]  If point is visible? -0.625574, 0.728190, 2.202898
-[01:08:34.840]  If point is visible? 0.635874, -0.456609, 2.271905
-[01:08:34.840]  If point is visible? -0.508753, -0.807351, 2.205384
-[01:08:34.840]  If point is visible? -0.894963, 0.188975, 2.222092
-[01:08:34.840]  If point is visible? 0.069577, 0.587814, 2.328949
-[01:08:34.840]  If point is visible? 0.346297, 0.607586, 2.298977
-[01:08:34.840]  If point is visible? 0.462532, -1.029752, 1.961851
-[01:08:34.840]  If point is visible? -0.824652, 0.643489, 2.007249
-[01:08:34.840]  If point is visible? -0.117445, -0.491193, 2.206382
-[01:08:34.840]  If point is visible? -0.091304, -0.491232, 2.207609
-[01:08:34.840]  If point is visible? -0.065358, -0.156400, 2.257089
-[01:08:34.840]  If point is visible? 0.065561, 0.534142, 2.198540
-[01:08:34.840]  If point is visible? 0.462532, -1.029752, 1.961851
-[01:08:34.840]  If point is visible? -0.685393, 0.655617, 2.055136
-[01:08:34.840]  If point is visible? -0.824652, 0.643489, 2.007249
-[01:08:34.840]  If point is visible? -0.117445, -0.491193, 2.206382
-[01:08:34.840]  If point is visible? -0.091304, -0.491232, 2.207609
-[01:08:34.840]  If point is visible? -0.065358, -0.156400, 2.257089
-[01:08:34.840]  If point is visible? 0.065561, 0.534142, 2.198540
-[01:08:34.840]  If point is visible? -0.760561, -0.700572, 2.055464
-[01:08:34.840]  If point is visible? -0.079739, -0.229301, 2.288067
-[01:08:34.840]  If point is visible? -0.073078, -0.224284, 2.288786
-[01:08:34.840]  If point is visible? -0.487135, -0.773054, 2.111699
-[01:08:34.840]  If point is visible? 0.066650, 0.542984, 2.234930
-[01:08:34.840] init seeds
-[01:08:34.843] DepthFilter: Initialized 4 new seeds
-[01:08:35.030] add new frame
-[01:08:35.030] add key frame
-[01:08:35.030] update seed
-[01:08:35.030] init seeds
-[01:08:35.033] DepthFilter: Initialized 2 new seeds
-[01:08:35.033] update seed
-[01:08:35.033]  If point is visible? -1.070027, 0.183256, 0.550756
-[01:08:35.033]  If point is visible? -1.069953, 0.182522, 0.550325
-[01:08:35.033]  If point is visible? -0.958000, 0.167406, 0.551543
-[01:08:35.033]  If point is visible? -1.086099, 0.131649, 0.527765
-[01:08:35.033]  If point is visible? -1.080471, 0.127929, 0.525647
-[01:08:35.033]  If point is visible? -1.078373, 0.110963, 0.519526
-[01:08:35.033]  If point is visible? -1.079452, 0.110945, 0.519637
-[01:08:35.033]  If point is visible? -1.194421, 0.106087, 0.551322
-[01:08:35.033]  If point is visible? -0.764760, 0.059151, 0.633390
-[01:08:35.033]  If point is visible? -1.136557, -0.026250, 0.513964
-[01:08:35.033]  If point is visible? -1.137647, -0.026243, 0.514261
-[01:08:35.033]  If point is visible? -1.075614, -0.034484, 0.503591
-[01:08:35.033]  If point is visible? -1.073455, -0.035288, 0.503469
-[01:08:35.033]  If point is visible? -1.071297, -0.036092, 0.503362
-[01:08:35.033]  If point is visible? -1.066986, -0.037700, 0.503192
-[01:08:35.033]  If point is visible? -1.068071, -0.037695, 0.503270
-[01:08:35.033]  If point is visible? -1.050888, -0.044132, 0.503123
-[01:08:35.033]  If point is visible? -1.031597, -0.047395, 0.503523
-[01:08:35.033]  If point is visible? -1.033743, -0.047387, 0.503472
-[01:08:35.033]  If point is visible? -1.034816, -0.047382, 0.503452
-[01:08:35.033]  If point is visible? -0.711534, -0.076444, 0.725752
-[01:08:35.033]  If point is visible? -0.751553, -0.096750, 0.663952
-[01:08:35.033]  If point is visible? -1.123338, -0.100598, 0.524144
-[01:08:35.033]  If point is visible? -1.115790, -0.101538, 0.522695
-[01:08:35.033]  If point is visible? -1.116873, -0.101515, 0.522925
-[01:08:35.033]  If point is visible? -1.041870, -0.142259, 0.529060
-[01:08:35.033]  If point is visible? -1.051750, -0.145931, 0.530800
-[01:08:35.033]  If point is visible? -1.039271, -0.161357, 0.537760
-[01:08:35.033]  If point is visible? -1.040328, -0.161339, 0.537747
-[01:08:35.033]  If point is visible? -1.040399, -0.162095, 0.538119
-[01:08:35.033]  If point is visible? -1.037203, -0.172691, 0.543582
-[01:08:35.033]  If point is visible? -0.957256, 0.169669, 0.552953
-[01:08:35.033]  If point is visible? -0.792665, 0.139485, 0.636228
-[01:08:35.033]  If point is visible? -1.086200, 0.133179, 0.528377
-[01:08:35.033]  If point is visible? -1.081020, 0.119437, 0.522645
-[01:08:35.033]  If point is visible? -1.086099, 0.131649, 0.527765
-[01:08:35.033]  If point is visible? -0.776338, 0.096883, 0.632586
-[01:08:35.033]  If point is visible? -0.714351, 0.058897, 0.711503
-[01:08:35.033]  If point is visible? -0.764053, 0.059894, 0.634419
-[01:08:35.033]  If point is visible? -0.763859, 0.056826, 0.633882
-[01:08:35.033]  If point is visible? -0.763955, 0.058361, 0.634147
-[01:08:35.033]  If point is visible? -1.278764, 0.023303, 0.588858
-[01:08:35.033]  If point is visible? -1.056204, -0.040133, 0.502843
-[01:08:35.033]  If point is visible? -1.058367, -0.040123, 0.502938
-[01:08:35.033]  If point is visible? -1.060500, -0.038524, 0.502873
-[01:08:35.033]  If point is visible? -1.062666, -0.038514, 0.502994
-[01:08:35.033]  If point is visible? -1.064803, -0.036916, 0.502962
-[01:08:35.033]  If point is visible? -1.066971, -0.036906, 0.503109
-[01:08:35.033]  If point is visible? -1.075601, -0.033690, 0.503515
-[01:08:35.033]  If point is visible? -1.051915, -0.041742, 0.502870
-[01:08:35.033]  If point is visible? -1.047633, -0.043351, 0.502955
-[01:08:35.033]  If point is visible? -1.032573, -0.043409, 0.503001
-[01:08:35.033]  If point is visible? -1.034719, -0.043402, 0.502957
-[01:08:35.033]  If point is visible? -0.728608, -0.086842, 0.696048
-[01:08:35.033]  If point is visible? -0.713239, -0.078065, 0.722702
-[01:08:35.033]  If point is visible? -0.712040, -0.076503, 0.724608
-[01:08:35.033]  If point is visible? -0.758859, -0.099466, 0.655162
-[01:08:35.033]  If point is visible? -0.760296, -0.099558, 0.653303
-[01:08:35.033]  If point is visible? -0.841535, 0.167132, 0.608782
-[01:08:35.033]  If point is visible? -0.955602, 0.172675, 0.555045
-[01:08:35.033]  If point is visible? -0.777166, 0.104446, 0.634913
-[01:08:35.033]  If point is visible? -0.952934, 0.098516, 0.524984
-[01:08:35.033]  If point is visible? -0.791326, 0.140857, 0.638519
-[01:08:35.033]  If point is visible? -0.786017, 0.125814, 0.635621
-[01:08:35.033]  If point is visible? -0.953343, 0.104813, 0.526756
-[01:08:35.033]  If point is visible? -0.788689, 0.143582, 0.643163
-[01:08:35.033]  If point is visible? -0.862445, 0.097824, 0.562100
-[01:08:35.033]  If point is visible? -0.786434, 0.128795, 0.636805
-[01:08:35.033]  If point is visible? -0.953135, 0.101666, 0.525856
-[01:08:35.033]  If point is visible? -0.768600, 0.079882, 0.635056
-[01:08:35.033]  If point is visible? -0.792393, -0.056588, 0.603587
-[01:08:35.033]  If point is visible? -1.038914, -0.038608, 0.502368
-[01:08:35.033]  If point is visible? -1.051849, -0.038560, 0.502517
-[01:08:35.033]  If point is visible? -1.151739, -0.019104, 0.517964
-[01:08:35.033]  If point is visible? -1.038982, -0.041793, 0.502719
-[01:08:35.033]  If point is visible? -1.043287, -0.041777, 0.502719
-[01:08:35.033]  If point is visible? -1.047598, -0.041760, 0.502769
-[01:08:35.033]  If point is visible? -0.491949, -0.607778, 1.724337
-[01:08:35.033]  If point is visible? -0.402685, -0.601628, 1.749581
-[01:08:35.033]  If point is visible? -0.397700, -0.601688, 1.750681
-[01:08:35.033]  If point is visible? 0.146597, -0.044577, 1.886519
-[01:08:35.033]  If point is visible? 0.151680, -0.044575, 1.885976
-[01:08:35.033]  If point is visible? 0.438843, 0.294827, 1.805071
-[01:08:35.033]  If point is visible? -0.562469, 0.535254, 1.728690
-[01:08:35.033]  If point is visible? -0.872211, 0.494892, 1.604338
-[01:08:35.033]  If point is visible? -0.501765, -0.611315, 1.720124
-[01:08:35.033]  If point is visible? -0.432494, -0.604955, 1.741270
-[01:08:35.033]  If point is visible? -0.422546, -0.605088, 1.743642
-[01:08:35.033]  If point is visible? -0.412590, -0.605217, 1.745952
-[01:08:35.033]  If point is visible? -0.143444, -0.129046, 1.888786
-[01:08:35.033]  If point is visible? -0.133273, -0.129051, 1.889373
-[01:08:35.033]  If point is visible? -0.802506, 0.130033, 1.716013
-[01:08:35.033]  If point is visible? -0.773335, 0.152897, 1.727809
-[01:08:35.033]  If point is visible? -0.792747, 0.145208, 1.719392
-[01:08:35.033]  If point is visible? -0.792799, 0.137650, 1.720044
-[01:08:35.033]  If point is visible? -0.783127, 0.137711, 1.724626
-[01:08:35.033]  If point is visible? -0.493172, 0.540029, 1.748345
-[01:08:35.033]  If point is visible? -0.031095, 0.475154, 1.831257
-[01:08:35.033]  If point is visible? -0.442435, -0.604819, 1.738836
-[01:08:35.033]  If point is visible? -0.422546, -0.605088, 1.743642
-[01:08:35.033]  If point is visible? -0.163128, -0.381199, 1.850272
-[01:08:35.034]  If point is visible? -0.142908, -0.366031, 1.854947
-[01:08:35.034]  If point is visible? 0.303420, -0.243274, 1.846119
-[01:08:35.034]  If point is visible? -0.527131, -0.135995, 1.821606
-[01:08:35.034]  If point is visible? -0.041286, 0.444910, 1.839470
-[01:08:35.034]  If point is visible? -0.491949, -0.607778, 1.724337
-[01:08:35.034]  If point is visible? -0.402685, -0.601628, 1.749581
-[01:08:35.034]  If point is visible? -0.397700, -0.601688, 1.750681
-[01:08:35.034]  If point is visible? 0.146597, -0.044577, 1.886519
-[01:08:35.034]  If point is visible? 0.151680, -0.044575, 1.885976
-[01:08:35.034]  If point is visible? 0.438843, 0.294827, 1.805071
-[01:08:35.034]  If point is visible? -0.872211, 0.494892, 1.604338
-[01:08:35.034]  If point is visible? -0.562469, 0.535254, 1.728690
-[01:08:35.034]  If point is visible? -0.432494, -0.604955, 1.741270
-[01:08:35.034]  If point is visible? -0.422546, -0.605088, 1.743642
-[01:08:35.034]  If point is visible? -0.412590, -0.605217, 1.745952
-[01:08:35.034]  If point is visible? -0.143444, -0.129046, 1.888786
-[01:08:35.034]  If point is visible? -0.133273, -0.129051, 1.889373
-[01:08:35.034]  If point is visible? -0.773335, 0.152897, 1.727809
-[01:08:35.034]  If point is visible? -0.792747, 0.145208, 1.719392
-[01:08:35.034]  If point is visible? -0.792799, 0.137650, 1.720044
-[01:08:35.034]  If point is visible? -0.783127, 0.137711, 1.724626
-[01:08:35.034]  If point is visible? -0.493172, 0.540029, 1.748345
-[01:08:35.034]  If point is visible? -0.031095, 0.475154, 1.831257
-[01:08:35.034]  If point is visible? -0.163128, -0.381199, 1.850272
-[01:08:35.034]  If point is visible? -0.142908, -0.366031, 1.854947
-[01:08:35.034]  If point is visible? -0.442435, -0.604819, 1.738836
-[01:08:35.034]  If point is visible? -0.422546, -0.605088, 1.743642
-[01:08:35.034]  If point is visible? 0.303420, -0.243274, 1.846119
-[01:08:35.034]  If point is visible? -0.527131, -0.135995, 1.821606
-[01:08:35.034]  If point is visible? -0.041286, 0.444910, 1.839470
-[01:08:35.034]  If point is visible? 0.371058, -0.952041, 1.968677
-[01:08:35.034]  If point is visible? 0.139436, -0.744069, 2.097646
-[01:08:35.034]  If point is visible? 0.139447, -0.739618, 2.099331
-[01:08:35.034]  If point is visible? -0.456701, -0.706682, 2.074473
-[01:08:35.034]  If point is visible? -0.740112, -0.402656, 2.079462
-[01:08:35.034]  If point is visible? -0.243319, 0.107374, 2.228872
-[01:08:35.034]  If point is visible? 0.538365, 0.361769, 2.128674
-[01:08:35.034]  If point is visible? 0.538423, 0.352697, 2.130286
-[01:08:35.034]  If point is visible? 0.538394, 0.357233, 2.129485
-[01:08:35.034]  If point is visible? 0.376065, 0.394694, 2.162496
-[01:08:35.034]  If point is visible? 0.315725, 0.390482, 2.174714
-[01:08:35.034]  If point is visible? 0.261250, 0.404388, 2.180716
-[01:08:35.034]  If point is visible? 0.200384, 0.531704, 2.159408
-[01:08:35.034]  If point is visible? -0.653693, 0.645047, 2.043034
-[01:08:35.034]  If point is visible? 0.175921, 0.635504, 2.131959
-[01:08:35.034]  If point is visible? 0.181959, 0.635471, 2.131313
-[01:08:35.034]  If point is visible? 0.175908, 0.639994, 2.130522
-[01:08:35.034]  If point is visible? 0.181946, 0.639961, 2.129876
-[01:08:35.034]  If point is visible? 0.622484, 0.749737, 1.989236
-[01:08:35.034]  If point is visible? -0.837089, 0.768754, 1.925223
-[01:08:35.034]  If point is visible? -0.638765, 0.791183, 1.991983
-[01:08:35.034]  If point is visible? 0.211397, 0.800188, 2.067455
-[01:08:35.034]  If point is visible? -0.649956, 0.812837, 1.978894
-[01:08:35.034]  If point is visible? 0.365130, -0.952150, 1.969934
-[01:08:35.034]  If point is visible? -0.030323, -0.016621, 2.241655
-[01:08:35.034]  If point is visible? -0.322249, 0.093548, 2.220251
-[01:08:35.034]  If point is visible? -0.310119, 0.093558, 2.221875
-[01:08:35.034]  If point is visible? -0.310108, 0.102735, 2.221444
-[01:08:35.034]  If point is visible? -0.394951, 0.075139, 2.209750
-[01:08:35.034]  If point is visible? -0.407056, 0.065959, 2.207936
-[01:08:35.034]  If point is visible? -0.753733, 0.211166, 2.104617
-[01:08:35.034]  If point is visible? 0.345905, 0.394869, 2.168395
-[01:08:35.034]  If point is visible? -0.017673, 0.577521, 2.160737
-[01:08:35.034]  If point is visible? 0.223139, 0.844160, 2.047039
-[01:08:35.034]  If point is visible? 0.223193, 0.835363, 2.050901
-[01:08:35.034]  If point is visible? -0.163701, -0.401502, 2.199164
-[01:08:35.034]  If point is visible? -0.407081, -0.034932, 2.208688
-[01:08:35.034]  If point is visible? 0.370422, -0.291063, 2.181124
-[01:08:35.034]  If point is visible? -0.623288, -0.162710, 2.151882
-[01:08:35.034]  If point is visible? -0.694565, 0.202381, 2.126103
-[01:08:35.034]  If point is visible? -0.670791, 0.202494, 2.133799
-[01:08:35.034]  If point is visible? -0.623605, -0.016531, 2.158291
-[01:08:35.034]  If point is visible? -0.670885, 0.184268, 2.135536
-[01:08:35.034]  If point is visible? -0.041999, 0.532310, 2.173205
-[01:08:35.034]  If point is visible? 0.223193, 0.835363, 2.050901
-[01:08:35.034]  If point is visible? 0.371058, -0.952041, 1.968677
-[01:08:35.034]  If point is visible? 0.139436, -0.744069, 2.097646
-[01:08:35.034]  If point is visible? 0.139447, -0.739618, 2.099331
-[01:08:35.034]  If point is visible? -0.456701, -0.706682, 2.074473
-[01:08:35.034]  If point is visible? -0.740112, -0.402656, 2.079462
-[01:08:35.034]  If point is visible? -0.243319, 0.107374, 2.228872
-[01:08:35.034]  If point is visible? 0.538394, 0.357233, 2.129485
-[01:08:35.034]  If point is visible? 0.315725, 0.390482, 2.174714
-[01:08:35.034]  If point is visible? 0.357955, 0.399346, 2.165203
-[01:08:35.034]  If point is visible? 0.261250, 0.404388, 2.180716
-[01:08:35.034]  If point is visible? 0.200384, 0.531704, 2.159408
-[01:08:35.034]  If point is visible? 0.175921, 0.635504, 2.131959
-[01:08:35.034]  If point is visible? 0.181959, 0.635471, 2.131313
-[01:08:35.034]  If point is visible? -0.653693, 0.645047, 2.043034
-[01:08:35.034]  If point is visible? 0.175908, 0.639994, 2.130522
-[01:08:35.034]  If point is visible? 0.181946, 0.639961, 2.129876
-[01:08:35.034]  If point is visible? 0.622484, 0.749737, 1.989236
-[01:08:35.034]  If point is visible? -0.837089, 0.768754, 1.925223
-[01:08:35.034]  If point is visible? -0.638765, 0.791183, 1.991983
-[01:08:35.034]  If point is visible? 0.211397, 0.800188, 2.067455
-[01:08:35.034]  If point is visible? -0.649956, 0.812837, 1.978894
-[01:08:35.034]  If point is visible? 0.365130, -0.952150, 1.969934
-[01:08:35.034]  If point is visible? -0.407065, 0.056788, 2.208206
-[01:08:35.034]  If point is visible? -0.394969, 0.056796, 2.210331
-[01:08:35.034]  If point is visible? -0.030323, -0.016621, 2.241655
-[01:08:35.034]  If point is visible? -0.407056, 0.065959, 2.207936
-[01:08:35.034]  If point is visible? -0.753733, 0.211166, 2.104617
-[01:08:35.034]  If point is visible? 0.345905, 0.394869, 2.168395
-[01:08:35.034]  If point is visible? -0.017673, 0.577521, 2.160737
-[01:08:35.034]  If point is visible? 0.223193, 0.835363, 2.050901
-[01:08:35.034]  If point is visible? -0.163701, -0.401502, 2.199164
-[01:08:35.034]  If point is visible? 0.370422, -0.291063, 2.181124
-[01:08:35.034]  If point is visible? -0.623288, -0.162710, 2.151882
-[01:08:35.034]  If point is visible? -0.407081, -0.034932, 2.208688
-[01:08:35.034]  If point is visible? -0.623605, -0.016531, 2.158291
-[01:08:35.034]  If point is visible? -0.694565, 0.202381, 2.126103
-[01:08:35.034]  If point is visible? -0.670791, 0.202494, 2.133799
-[01:08:35.034]  If point is visible? -0.670885, 0.184268, 2.135536
-[01:08:35.034]  If point is visible? -0.041999, 0.532310, 2.173205
-[01:08:35.034]  If point is visible? 0.223193, 0.835363, 2.050901
-[01:08:35.034]  If point is visible? 0.237870, 0.429304, 2.189535
-[01:08:35.034]  If point is visible? 0.243953, 0.429278, 2.188713
-[01:08:35.034]  If point is visible? 0.243965, 0.424709, 2.189663
-[01:08:35.034]  If point is visible? -1.722919, 0.469185, 1.323631
-[01:08:35.034]  If point is visible? 0.619867, 0.726972, 2.010798
-[01:08:35.034]  If point is visible? -0.731378, 0.753381, 1.987213
-[01:08:35.034]  If point is visible? -0.725513, 0.753515, 1.989350
-[01:08:35.034]  If point is visible? 0.428364, 0.810237, 2.033963
-[01:08:35.034]  If point is visible? -0.600599, 0.800250, 2.011816
-[01:08:35.034]  If point is visible? 0.434217, 0.818964, 2.028753
-[01:08:35.034]  If point is visible? -0.372821, 0.047867, 2.224785
-[01:08:35.034]  If point is visible? -0.360650, 0.047873, 2.226705
-[01:08:35.034]  If point is visible? -0.372806, 0.066305, 2.224283
-[01:08:35.034]  If point is visible? -0.372814, 0.057086, 2.224554
-[01:08:35.034]  If point is visible? -0.164566, -0.458339, 2.197845
-[01:08:35.034]  If point is visible? -0.140184, -0.458376, 2.199194
-[01:08:35.034]  If point is visible? -0.213525, -0.403360, 2.205742
-[01:08:35.034]  If point is visible? -0.164749, -0.403448, 2.209295
-[01:08:35.034]  If point is visible? -0.140347, -0.403480, 2.210642
-[01:08:35.034]  If point is visible? -0.816989, 0.184467, 2.094397
-[01:08:35.034]  If point is visible? 0.006273, 0.516646, 2.187440
-[01:08:35.034]  If point is visible? 0.249701, 0.534024, 2.163129
-[01:08:35.034]  If point is visible? 0.450285, -0.992753, 1.952358
-[01:08:35.034]  If point is visible? -0.404378, -0.725943, 2.092460
-[01:08:35.034]  If point is visible? -0.398264, -0.726008, 2.093606
-[01:08:35.034]  If point is visible? -0.085207, -0.209071, 2.244427
-[01:08:35.034]  If point is visible? -0.085208, -0.204391, 2.244880
-[01:08:35.034]  If point is visible? 0.286240, 0.440581, 2.187057
-[01:08:35.034]  If point is visible? 0.286263, 0.435942, 2.188032
-[01:08:35.034]  If point is visible? 0.584090, 0.622003, 2.071835
-[01:08:35.034]  If point is visible? 0.590135, 0.621913, 2.069985
-[01:08:35.034]  If point is visible? -0.603502, 0.807605, 2.010769
-[01:08:35.034]  If point is visible? 0.295316, 0.838660, 2.059117
-[01:08:35.034]  If point is visible? -0.738825, 0.638163, 2.028925
-[01:08:35.034]  If point is visible? -0.810611, 0.627642, 2.004071
-[01:08:35.034]  If point is visible? 0.301473, 0.834100, 2.060062
-[01:08:35.034]  If point is visible? -0.103701, -0.465492, 2.202861
-[01:08:35.034]  If point is visible? 0.440765, -0.315513, 2.181119
-[01:08:35.034]  If point is visible? 0.465308, -0.315389, 2.175497
-[01:08:35.034]  If point is visible? -0.671019, 0.206519, 2.144610
-[01:08:35.034]  If point is visible? 0.044893, 0.524667, 2.189330
-[01:08:35.034]  If point is visible? 0.291821, 0.542314, 2.161990
-[01:08:35.034]  If point is visible? 0.338298, 0.815695, 2.061388
-[01:08:35.034]  If point is visible? 0.252079, -0.801875, 2.089778
-[01:08:35.034]  If point is visible? 0.239252, -0.792426, 2.094885
-[01:08:35.034]  If point is visible? -0.306222, 0.075652, 2.230295
-[01:08:35.034]  If point is visible? 0.326051, 0.169006, 2.222353
-[01:08:35.034]  If point is visible? 0.660486, 0.363184, 2.122637
-[01:08:35.034]  If point is visible? -1.765760, 0.382316, 1.345210
-[01:08:35.034]  If point is visible? -1.765544, 0.386799, 1.344212
-[01:08:35.034]  If point is visible? -0.710577, 0.808468, 1.978677
-[01:08:35.034]  If point is visible? -0.735550, 0.812589, 1.967832
-[01:08:35.034]  If point is visible? -0.476890, -0.756784, 2.067259
-[01:08:35.034]  If point is visible? -0.090867, -0.488854, 2.196926
-[01:08:35.034]  If point is visible? 0.065217, 0.550998, 2.183087
-[01:08:35.034]  If point is visible? -0.576089, 0.909876, 1.978371
-[01:08:35.034]  If point is visible? 0.065195, 0.570420, 2.178093
-[01:08:35.034]  If point is visible? 0.324605, 0.569531, 2.154992
-[01:08:35.034]  If point is visible? 0.643364, -0.368348, 2.285794
-[01:08:35.034]  If point is visible? -0.243339, 0.112243, 2.388019
-[01:08:35.034]  If point is visible? 0.339977, 0.493608, 2.327062
-[01:08:35.034]  If point is visible? 0.340000, 0.488411, 2.328155
-[01:08:35.034]  If point is visible? -1.849966, 0.562003, 1.426943
-[01:08:35.034]  If point is visible? -0.625575, 0.728190, 2.202914
-[01:08:35.034]  If point is visible? 0.635873, -0.456609, 2.271921
-[01:08:35.034]  If point is visible? -0.508754, -0.807351, 2.205400
-[01:08:35.034]  If point is visible? -0.894963, 0.188975, 2.222107
-[01:08:35.034]  If point is visible? 0.069576, 0.587814, 2.328965
-[01:08:35.034]  If point is visible? 0.346296, 0.607586, 2.298993
-[01:08:35.034]  If point is visible? 0.462532, -1.029752, 1.961867
-[01:08:35.034]  If point is visible? -0.824653, 0.643489, 2.007265
-[01:08:35.034]  If point is visible? -0.117446, -0.491193, 2.206398
-[01:08:35.034]  If point is visible? -0.091304, -0.491232, 2.207625
-[01:08:35.034]  If point is visible? -0.065359, -0.156400, 2.257105
-[01:08:35.034]  If point is visible? 0.065560, 0.534142, 2.198556
-[01:08:35.034]  If point is visible? 0.462532, -1.029752, 1.961867
-[01:08:35.034]  If point is visible? -0.685393, 0.655617, 2.055152
-[01:08:35.034]  If point is visible? -0.824653, 0.643489, 2.007265
-[01:08:35.034]  If point is visible? -0.117446, -0.491193, 2.206398
-[01:08:35.034]  If point is visible? -0.091304, -0.491232, 2.207625
-[01:08:35.034]  If point is visible? -0.065359, -0.156400, 2.257105
-[01:08:35.034]  If point is visible? 0.065560, 0.534142, 2.198556
-[01:08:35.034]  If point is visible? -0.760561, -0.700572, 2.055479
-[01:08:35.034]  If point is visible? -0.079739, -0.229301, 2.288082
-[01:08:35.034]  If point is visible? -0.073078, -0.224284, 2.288802
-[01:08:35.034]  If point is visible? -0.487135, -0.773054, 2.111714
-[01:08:35.034]  If point is visible? 0.066649, 0.542984, 2.234946
-[01:08:35.034]  If point is visible? -0.760561, -0.700572, 2.055479
-[01:08:35.034]  If point is visible? -0.073078, -0.224284, 2.288802
-[01:08:35.034]  If point is visible? -0.487135, -0.773054, 2.111714
-[01:08:35.034]  If point is visible? 0.066649, 0.542984, 2.234946
-[01:08:35.034]  If point is visible? -1.791934, 0.398837, 1.444977
-[01:08:35.034]  If point is visible? -0.599736, 0.826559, 2.101231
-[01:08:35.034] init seeds
-[01:08:35.037] DepthFilter: Initialized 2 new seeds
-[01:08:35.220] add new frame
-[01:08:35.220] update seed
-[01:08:35.220]  If point is visible? -1.070027, 0.183256, 0.550759
-[01:08:35.220]  If point is visible? -1.069953, 0.182522, 0.550327
-[01:08:35.220] add key frame
-[01:08:35.220]  If point is visible? -0.958000, 0.167406, 0.551546
-[01:08:35.220] init seeds
-[01:08:35.223] DepthFilter: Initialized 2 new seeds
-[01:08:35.223] update seed
-[01:08:35.223]  If point is visible? -1.070027, 0.183256, 0.550759
-[01:08:35.223]  If point is visible? -1.069953, 0.182522, 0.550327
-[01:08:35.223]  If point is visible? -0.958000, 0.167406, 0.551546
-[01:08:35.223]  If point is visible? -1.086098, 0.131649, 0.527768
-[01:08:35.223]  If point is visible? -1.080470, 0.127929, 0.525649
-[01:08:35.223]  If point is visible? -1.078372, 0.110963, 0.519528
-[01:08:35.223]  If point is visible? -1.079451, 0.110945, 0.519640
-[01:08:35.223]  If point is visible? -1.194420, 0.106087, 0.551325
-[01:08:35.223]  If point is visible? -0.764760, 0.059151, 0.633392
-[01:08:35.223]  If point is visible? -1.136556, -0.026250, 0.513967
-[01:08:35.223]  If point is visible? -1.137646, -0.026243, 0.514263
-[01:08:35.223]  If point is visible? -1.075613, -0.034484, 0.503593
-[01:08:35.223]  If point is visible? -1.073454, -0.035288, 0.503471
-[01:08:35.223]  If point is visible? -1.071296, -0.036092, 0.503364
-[01:08:35.223]  If point is visible? -1.066985, -0.037700, 0.503194
-[01:08:35.223]  If point is visible? -1.068070, -0.037695, 0.503273
-[01:08:35.223]  If point is visible? -1.050887, -0.044132, 0.503126
-[01:08:35.223]  If point is visible? -1.031597, -0.047395, 0.503526
-[01:08:35.223]  If point is visible? -1.033742, -0.047387, 0.503475
-[01:08:35.223]  If point is visible? -1.034815, -0.047382, 0.503455
-[01:08:35.223]  If point is visible? -0.711533, -0.076444, 0.725755
-[01:08:35.223]  If point is visible? -0.751552, -0.096750, 0.663954
-[01:08:35.223]  If point is visible? -1.123337, -0.100598, 0.524147
-[01:08:35.223]  If point is visible? -1.115789, -0.101538, 0.522698
-[01:08:35.223]  If point is visible? -1.116873, -0.101515, 0.522928
-[01:08:35.223]  If point is visible? -1.041869, -0.142259, 0.529063
-[01:08:35.223]  If point is visible? -1.051750, -0.145931, 0.530803
-[01:08:35.223]  If point is visible? -1.039271, -0.161357, 0.537763
-[01:08:35.223]  If point is visible? -1.040328, -0.161339, 0.537750
-[01:08:35.223]  If point is visible? -1.040398, -0.162095, 0.538121
-[01:08:35.223]  If point is visible? -1.037203, -0.172691, 0.543585
-[01:08:35.223]  If point is visible? -0.957256, 0.169669, 0.552956
-[01:08:35.223]  If point is visible? -0.792665, 0.139485, 0.636230
-[01:08:35.223]  If point is visible? -1.086199, 0.133179, 0.528380
-[01:08:35.223]  If point is visible? -1.081020, 0.119437, 0.522648
-[01:08:35.223]  If point is visible? -1.086098, 0.131649, 0.527768
-[01:08:35.223]  If point is visible? -0.776338, 0.096883, 0.632588
-[01:08:35.223]  If point is visible? -0.714350, 0.058897, 0.711506
-[01:08:35.223]  If point is visible? -0.764053, 0.059894, 0.634422
-[01:08:35.223]  If point is visible? -0.763858, 0.056826, 0.633884
-[01:08:35.223]  If point is visible? -0.763954, 0.058361, 0.634149
-[01:08:35.223]  If point is visible? -1.278763, 0.023303, 0.588861
-[01:08:35.223]  If point is visible? -1.056203, -0.040133, 0.502845
-[01:08:35.223]  If point is visible? -1.058366, -0.040123, 0.502941
-[01:08:35.223]  If point is visible? -1.060499, -0.038524, 0.502876
-[01:08:35.223]  If point is visible? -1.062665, -0.038514, 0.502997
-[01:08:35.223]  If point is visible? -1.064802, -0.036916, 0.502965
-[01:08:35.223]  If point is visible? -1.066971, -0.036906, 0.503112
-[01:08:35.223]  If point is visible? -1.075600, -0.033690, 0.503518
-[01:08:35.223]  If point is visible? -1.051914, -0.041742, 0.502873
-[01:08:35.223]  If point is visible? -1.047632, -0.043351, 0.502958
-[01:08:35.223]  If point is visible? -1.032572, -0.043409, 0.503004
-[01:08:35.223]  If point is visible? -1.034719, -0.043402, 0.502959
-[01:08:35.223]  If point is visible? -0.728607, -0.086842, 0.696050
-[01:08:35.223]  If point is visible? -0.713238, -0.078065, 0.722704
-[01:08:35.223]  If point is visible? -0.712039, -0.076503, 0.724611
-[01:08:35.223]  If point is visible? -0.758858, -0.099466, 0.655165
-[01:08:35.223]  If point is visible? -0.760295, -0.099558, 0.653306
-[01:08:35.223]  If point is visible? -0.841534, 0.167132, 0.608784
-[01:08:35.223]  If point is visible? -0.955602, 0.172675, 0.555048
-[01:08:35.223]  If point is visible? -0.777166, 0.104446, 0.634916
-[01:08:35.223]  If point is visible? -0.952933, 0.098516, 0.524987
-[01:08:35.223]  If point is visible? -0.791325, 0.140857, 0.638522
-[01:08:35.223]  If point is visible? -0.786016, 0.125814, 0.635624
-[01:08:35.223]  If point is visible? -0.953342, 0.104813, 0.526759
-[01:08:35.223]  If point is visible? -0.788689, 0.143582, 0.643166
-[01:08:35.223]  If point is visible? -0.862445, 0.097824, 0.562103
-[01:08:35.223]  If point is visible? -0.786434, 0.128795, 0.636808
-[01:08:35.223]  If point is visible? -0.953134, 0.101666, 0.525858
-[01:08:35.223]  If point is visible? -0.768599, 0.079882, 0.635059
-[01:08:35.223]  If point is visible? -0.792392, -0.056588, 0.603589
-[01:08:35.223]  If point is visible? -1.038913, -0.038608, 0.502371
-[01:08:35.223]  If point is visible? -1.051848, -0.038560, 0.502520
-[01:08:35.223]  If point is visible? -1.151739, -0.019104, 0.517967
-[01:08:35.223]  If point is visible? -1.038981, -0.041793, 0.502722
-[01:08:35.224]  If point is visible? -1.043286, -0.041777, 0.502721
-[01:08:35.224]  If point is visible? -1.047597, -0.041760, 0.502772
-[01:08:35.224]  If point is visible? -0.491948, -0.607778, 1.724340
-[01:08:35.224]  If point is visible? -0.402684, -0.601628, 1.749583
-[01:08:35.224]  If point is visible? -0.397699, -0.601688, 1.750684
-[01:08:35.224]  If point is visible? 0.146598, -0.044577, 1.886522
-[01:08:35.224]  If point is visible? 0.151681, -0.044575, 1.885979
-[01:08:35.224]  If point is visible? 0.438844, 0.294827, 1.805074
-[01:08:35.224]  If point is visible? -0.562467, 0.535254, 1.728692
-[01:08:35.224]  If point is visible? -0.872209, 0.494892, 1.604341
-[01:08:35.224]  If point is visible? -0.501764, -0.611315, 1.720127
-[01:08:35.224]  If point is visible? -0.432493, -0.604955, 1.741273
-[01:08:35.224]  If point is visible? -0.422545, -0.605088, 1.743645
-[01:08:35.224]  If point is visible? -0.412589, -0.605217, 1.745955
-[01:08:35.224]  If point is visible? -0.143443, -0.129046, 1.888789
-[01:08:35.224]  If point is visible? -0.133272, -0.129051, 1.889376
-[01:08:35.224]  If point is visible? -0.802505, 0.130033, 1.716016
-[01:08:35.224]  If point is visible? -0.773334, 0.152897, 1.727812
-[01:08:35.224]  If point is visible? -0.792745, 0.145208, 1.719395
-[01:08:35.224]  If point is visible? -0.792798, 0.137650, 1.720046
-[01:08:35.224]  If point is visible? -0.783126, 0.137711, 1.724629
-[01:08:35.224]  If point is visible? -0.493171, 0.540029, 1.748348
-[01:08:35.224]  If point is visible? -0.031094, 0.475154, 1.831260
-[01:08:35.224]  If point is visible? -0.442434, -0.604819, 1.738839
-[01:08:35.224]  If point is visible? -0.422545, -0.605088, 1.743645
-[01:08:35.224]  If point is visible? -0.163127, -0.381199, 1.850275
-[01:08:35.224]  If point is visible? -0.142907, -0.366031, 1.854950
-[01:08:35.224]  If point is visible? 0.303421, -0.243274, 1.846122
-[01:08:35.224]  If point is visible? -0.527130, -0.135995, 1.821608
-[01:08:35.224]  If point is visible? -0.041284, 0.444910, 1.839473
-[01:08:35.224]  If point is visible? -0.491948, -0.607778, 1.724340
-[01:08:35.224]  If point is visible? -0.402684, -0.601628, 1.749583
-[01:08:35.224]  If point is visible? -0.397699, -0.601688, 1.750684
-[01:08:35.224]  If point is visible? 0.146598, -0.044577, 1.886522
-[01:08:35.224]  If point is visible? 0.151681, -0.044575, 1.885979
-[01:08:35.224]  If point is visible? 0.438844, 0.294827, 1.805074
-[01:08:35.224]  If point is visible? -0.872209, 0.494892, 1.604341
-[01:08:35.224]  If point is visible? -0.562467, 0.535254, 1.728692
-[01:08:35.224]  If point is visible? -0.432493, -0.604955, 1.741273
-[01:08:35.224]  If point is visible? -0.422545, -0.605088, 1.743645
-[01:08:35.224]  If point is visible? -0.412589, -0.605217, 1.745955
-[01:08:35.224]  If point is visible? -0.143443, -0.129046, 1.888789
-[01:08:35.224]  If point is visible? -0.133272, -0.129051, 1.889376
-[01:08:35.224]  If point is visible? -0.773334, 0.152897, 1.727812
-[01:08:35.224]  If point is visible? -0.792745, 0.145208, 1.719395
-[01:08:35.224]  If point is visible? -0.792798, 0.137650, 1.720046
-[01:08:35.224]  If point is visible? -0.783126, 0.137711, 1.724629
-[01:08:35.224]  If point is visible? -0.493171, 0.540029, 1.748348
-[01:08:35.224]  If point is visible? -0.031094, 0.475154, 1.831260
-[01:08:35.224]  If point is visible? -0.163127, -0.381199, 1.850275
-[01:08:35.224]  If point is visible? -0.142907, -0.366031, 1.854950
-[01:08:35.224]  If point is visible? -0.442434, -0.604819, 1.738839
-[01:08:35.224]  If point is visible? -0.422545, -0.605088, 1.743645
-[01:08:35.224]  If point is visible? 0.303421, -0.243274, 1.846122
-[01:08:35.224]  If point is visible? -0.527130, -0.135995, 1.821608
-[01:08:35.224]  If point is visible? -0.041284, 0.444910, 1.839473
-[01:08:35.224]  If point is visible? 0.371059, -0.952041, 1.968679
-[01:08:35.224]  If point is visible? 0.139437, -0.744069, 2.097648
-[01:08:35.224]  If point is visible? 0.139448, -0.739618, 2.099333
-[01:08:35.224]  If point is visible? -0.456699, -0.706682, 2.074476
-[01:08:35.224]  If point is visible? -0.740111, -0.402656, 2.079465
-[01:08:35.224]  If point is visible? -0.243318, 0.107374, 2.228875
-[01:08:35.224]  If point is visible? 0.538366, 0.361769, 2.128677
-[01:08:35.224]  If point is visible? 0.538425, 0.352697, 2.130289
-[01:08:35.224]  If point is visible? 0.538396, 0.357233, 2.129488
-[01:08:35.224]  If point is visible? 0.376066, 0.394694, 2.162499
-[01:08:35.224]  If point is visible? 0.315726, 0.390482, 2.174717
-[01:08:35.224]  If point is visible? 0.261251, 0.404388, 2.180718
-[01:08:35.224]  If point is visible? 0.200386, 0.531704, 2.159411
-[01:08:35.224]  If point is visible? -0.653692, 0.645047, 2.043037
-[01:08:35.224]  If point is visible? 0.175922, 0.635504, 2.131961
-[01:08:35.224]  If point is visible? 0.181960, 0.635471, 2.131316
-[01:08:35.224]  If point is visible? 0.175910, 0.639994, 2.130525
-[01:08:35.224]  If point is visible? 0.181947, 0.639961, 2.129879
-[01:08:35.224]  If point is visible? 0.622485, 0.749737, 1.989239
-[01:08:35.224]  If point is visible? -0.837088, 0.768754, 1.925226
-[01:08:35.224]  If point is visible? -0.638764, 0.791183, 1.991986
-[01:08:35.224]  If point is visible? 0.211398, 0.800188, 2.067457
-[01:08:35.224]  If point is visible? -0.649954, 0.812837, 1.978897
-[01:08:35.224]  If point is visible? 0.365131, -0.952150, 1.969937
-[01:08:35.224]  If point is visible? -0.030322, -0.016621, 2.241657
-[01:08:35.224]  If point is visible? -0.322248, 0.093548, 2.220254
-[01:08:35.224]  If point is visible? -0.310118, 0.093558, 2.221878
-[01:08:35.224]  If point is visible? -0.310107, 0.102735, 2.221447
-[01:08:35.224]  If point is visible? -0.394950, 0.075139, 2.209752
-[01:08:35.224]  If point is visible? -0.407055, 0.065959, 2.207939
-[01:08:35.224]  If point is visible? -0.753732, 0.211166, 2.104620
-[01:08:35.224]  If point is visible? 0.345906, 0.394869, 2.168398
-[01:08:35.224]  If point is visible? -0.017672, 0.577521, 2.160740
-[01:08:35.224]  If point is visible? 0.223140, 0.844160, 2.047042
-[01:08:35.224]  If point is visible? 0.223194, 0.835363, 2.050904
-[01:08:35.224]  If point is visible? -0.163700, -0.401502, 2.199167
-[01:08:35.224]  If point is visible? -0.407079, -0.034932, 2.208691
-[01:08:35.224]  If point is visible? 0.370424, -0.291063, 2.181126
-[01:08:35.224]  If point is visible? -0.623286, -0.162710, 2.151885
-[01:08:35.224]  If point is visible? -0.694564, 0.202381, 2.126105
-[01:08:35.224]  If point is visible? -0.670790, 0.202494, 2.133802
-[01:08:35.224]  If point is visible? -0.623604, -0.016531, 2.158293
-[01:08:35.224]  If point is visible? -0.670883, 0.184268, 2.135539
-[01:08:35.224]  If point is visible? -0.041998, 0.532310, 2.173208
-[01:08:35.224]  If point is visible? 0.223194, 0.835363, 2.050904
-[01:08:35.224]  If point is visible? 0.371059, -0.952041, 1.968679
-[01:08:35.224]  If point is visible? 0.139437, -0.744069, 2.097648
-[01:08:35.224]  If point is visible? 0.139448, -0.739618, 2.099333
-[01:08:35.224]  If point is visible? -0.456699, -0.706682, 2.074476
-[01:08:35.224]  If point is visible? -0.740111, -0.402656, 2.079465
-[01:08:35.224]  If point is visible? -0.243318, 0.107374, 2.228875
-[01:08:35.224]  If point is visible? 0.538396, 0.357233, 2.129488
-[01:08:35.224]  If point is visible? 0.315726, 0.390482, 2.174717
-[01:08:35.224]  If point is visible? 0.357956, 0.399346, 2.165206
-[01:08:35.224]  If point is visible? 0.261251, 0.404388, 2.180718
-[01:08:35.224]  If point is visible? 0.200386, 0.531704, 2.159411
-[01:08:35.224]  If point is visible? 0.175922, 0.635504, 2.131961
-[01:08:35.224]  If point is visible? 0.181960, 0.635471, 2.131316
-[01:08:35.224]  If point is visible? -0.653692, 0.645047, 2.043037
-[01:08:35.224]  If point is visible? 0.175910, 0.639994, 2.130525
-[01:08:35.224]  If point is visible? 0.181947, 0.639961, 2.129879
-[01:08:35.224]  If point is visible? 0.622485, 0.749737, 1.989239
-[01:08:35.224]  If point is visible? -0.837088, 0.768754, 1.925226
-[01:08:35.224]  If point is visible? -0.638764, 0.791183, 1.991986
-[01:08:35.224]  If point is visible? 0.211398, 0.800188, 2.067457
-[01:08:35.224]  If point is visible? -0.649954, 0.812837, 1.978897
-[01:08:35.224]  If point is visible? 0.365131, -0.952150, 1.969937
-[01:08:35.224]  If point is visible? -0.407064, 0.056788, 2.208209
-[01:08:35.224]  If point is visible? -0.394968, 0.056796, 2.210334
-[01:08:35.224]  If point is visible? -0.030322, -0.016621, 2.241657
-[01:08:35.224]  If point is visible? -0.407055, 0.065959, 2.207939
-[01:08:35.224]  If point is visible? -0.753732, 0.211166, 2.104620
-[01:08:35.224]  If point is visible? 0.345906, 0.394869, 2.168398
-[01:08:35.224]  If point is visible? -0.017672, 0.577521, 2.160740
-[01:08:35.224]  If point is visible? 0.223194, 0.835363, 2.050904
-[01:08:35.224]  If point is visible? -0.163700, -0.401502, 2.199167
-[01:08:35.224]  If point is visible? 0.370424, -0.291063, 2.181126
-[01:08:35.224]  If point is visible? -0.623286, -0.162710, 2.151885
-[01:08:35.224]  If point is visible? -0.407079, -0.034932, 2.208691
-[01:08:35.224]  If point is visible? -0.623604, -0.016531, 2.158293
-[01:08:35.224]  If point is visible? -0.694564, 0.202381, 2.126105
-[01:08:35.224]  If point is visible? -0.670790, 0.202494, 2.133802
-[01:08:35.224]  If point is visible? -0.670883, 0.184268, 2.135539
-[01:08:35.224]  If point is visible? -0.041998, 0.532310, 2.173208
-[01:08:35.224]  If point is visible? 0.223194, 0.835363, 2.050904
-[01:08:35.224]  If point is visible? 0.237871, 0.429304, 2.189537
-[01:08:35.224]  If point is visible? 0.243954, 0.429278, 2.188716
-[01:08:35.224]  If point is visible? 0.243967, 0.424709, 2.189666
-[01:08:35.224]  If point is visible? -1.722918, 0.469185, 1.323634
-[01:08:35.224]  If point is visible? 0.619868, 0.726972, 2.010800
-[01:08:35.224]  If point is visible? -0.731377, 0.753381, 1.987216
-[01:08:35.224]  If point is visible? -0.725511, 0.753515, 1.989353
-[01:08:35.224]  If point is visible? 0.428365, 0.810237, 2.033966
-[01:08:35.224]  If point is visible? -0.600597, 0.800250, 2.011819
-[01:08:35.224]  If point is visible? 0.434218, 0.818964, 2.028756
-[01:08:35.224]  If point is visible? -0.372820, 0.047867, 2.224788
-[01:08:35.224]  If point is visible? -0.360649, 0.047873, 2.226708
-[01:08:35.224]  If point is visible? -0.372805, 0.066305, 2.224286
-[01:08:35.224]  If point is visible? -0.372813, 0.057086, 2.224557
-[01:08:35.224]  If point is visible? -0.164565, -0.458339, 2.197847
-[01:08:35.224]  If point is visible? -0.140183, -0.458376, 2.199197
-[01:08:35.224]  If point is visible? -0.213523, -0.403360, 2.205744
-[01:08:35.224]  If point is visible? -0.164748, -0.403448, 2.209298
-[01:08:35.224]  If point is visible? -0.140346, -0.403480, 2.210645
-[01:08:35.224]  If point is visible? -0.816987, 0.184467, 2.094400
-[01:08:35.224]  If point is visible? 0.006274, 0.516646, 2.187443
-[01:08:35.224]  If point is visible? 0.249702, 0.534024, 2.163131
-[01:08:35.224]  If point is visible? 0.450286, -0.992753, 1.952361
-[01:08:35.224]  If point is visible? -0.404377, -0.725943, 2.092463
-[01:08:35.224]  If point is visible? -0.398263, -0.726008, 2.093609
-[01:08:35.224]  If point is visible? -0.085206, -0.209071, 2.244429
-[01:08:35.224]  If point is visible? -0.085207, -0.204391, 2.244883
-[01:08:35.224]  If point is visible? 0.286242, 0.440581, 2.187059
-[01:08:35.224]  If point is visible? 0.286265, 0.435942, 2.188035
-[01:08:35.224]  If point is visible? 0.584091, 0.622003, 2.071838
-[01:08:35.224]  If point is visible? 0.590136, 0.621913, 2.069988
-[01:08:35.224]  If point is visible? -0.603501, 0.807605, 2.010772
-[01:08:35.224]  If point is visible? 0.295317, 0.838660, 2.059120
-[01:08:35.224]  If point is visible? -0.738824, 0.638163, 2.028927
-[01:08:35.224]  If point is visible? -0.810610, 0.627642, 2.004074
-[01:08:35.224]  If point is visible? 0.301474, 0.834100, 2.060064
-[01:08:35.224]  If point is visible? -0.103699, -0.465492, 2.202864
-[01:08:35.224]  If point is visible? 0.440767, -0.315513, 2.181121
-[01:08:35.224]  If point is visible? 0.465309, -0.315389, 2.175500
-[01:08:35.224]  If point is visible? -0.671017, 0.206519, 2.144612
-[01:08:35.224]  If point is visible? 0.044894, 0.524667, 2.189333
-[01:08:35.224]  If point is visible? 0.291822, 0.542314, 2.161992
-[01:08:35.224]  If point is visible? 0.338299, 0.815695, 2.061391
-[01:08:35.224]  If point is visible? 0.252080, -0.801875, 2.089781
-[01:08:35.224]  If point is visible? 0.239253, -0.792426, 2.094887
-[01:08:35.224]  If point is visible? -0.306221, 0.075652, 2.230298
-[01:08:35.224]  If point is visible? 0.326052, 0.169006, 2.222356
-[01:08:35.224]  If point is visible? 0.660487, 0.363184, 2.122639
-[01:08:35.224]  If point is visible? -1.765759, 0.382316, 1.345214
-[01:08:35.224]  If point is visible? -1.765543, 0.386799, 1.344215
-[01:08:35.224]  If point is visible? -0.710576, 0.808468, 1.978679
-[01:08:35.224]  If point is visible? -0.735549, 0.812589, 1.967835
-[01:08:35.224]  If point is visible? -0.476889, -0.756784, 2.067262
-[01:08:35.224]  If point is visible? -0.090866, -0.488854, 2.196928
-[01:08:35.224]  If point is visible? 0.065218, 0.550998, 2.183089
-[01:08:35.224]  If point is visible? -0.576087, 0.909876, 1.978373
-[01:08:35.224]  If point is visible? 0.065197, 0.570420, 2.178096
-[01:08:35.224]  If point is visible? 0.324606, 0.569531, 2.154995
-[01:08:35.224]  If point is visible? 0.643365, -0.368348, 2.285797
-[01:08:35.225]  If point is visible? -0.243338, 0.112243, 2.388021
-[01:08:35.225]  If point is visible? 0.339978, 0.493608, 2.327064
-[01:08:35.225]  If point is visible? 0.340001, 0.488411, 2.328157
-[01:08:35.225]  If point is visible? -1.849965, 0.562003, 1.426946
-[01:08:35.225]  If point is visible? -0.625574, 0.728190, 2.202916
-[01:08:35.225]  If point is visible? 0.635875, -0.456609, 2.271923
-[01:08:35.225]  If point is visible? -0.508753, -0.807351, 2.205403
-[01:08:35.225]  If point is visible? -0.894962, 0.188975, 2.222110
-[01:08:35.225]  If point is visible? 0.069578, 0.587814, 2.328968
-[01:08:35.225]  If point is visible? 0.346297, 0.607586, 2.298995
-[01:08:35.225]  If point is visible? 0.462533, -1.029752, 1.961870
-[01:08:35.225]  If point is visible? -0.824651, 0.643489, 2.007268
-[01:08:35.225]  If point is visible? -0.117444, -0.491193, 2.206400
-[01:08:35.225]  If point is visible? -0.091303, -0.491232, 2.207628
-[01:08:35.225]  If point is visible? -0.065358, -0.156400, 2.257108
-[01:08:35.225]  If point is visible? 0.065562, 0.534142, 2.198559
-[01:08:35.225]  If point is visible? 0.462533, -1.029752, 1.961870
-[01:08:35.225]  If point is visible? -0.685392, 0.655617, 2.055154
-[01:08:35.225]  If point is visible? -0.824651, 0.643489, 2.007268
-[01:08:35.225]  If point is visible? -0.117444, -0.491193, 2.206400
-[01:08:35.225]  If point is visible? -0.091303, -0.491232, 2.207628
-[01:08:35.225]  If point is visible? -0.065358, -0.156400, 2.257108
-[01:08:35.225]  If point is visible? 0.065562, 0.534142, 2.198559
-[01:08:35.225]  If point is visible? -0.760560, -0.700572, 2.055482
-[01:08:35.225]  If point is visible? -0.079738, -0.229301, 2.288085
-[01:08:35.225]  If point is visible? -0.073077, -0.224284, 2.288805
-[01:08:35.225]  If point is visible? -0.487134, -0.773054, 2.111717
-[01:08:35.225]  If point is visible? 0.066651, 0.542984, 2.234948
-[01:08:35.225]  If point is visible? -0.760560, -0.700572, 2.055482
-[01:08:35.225]  If point is visible? -0.073077, -0.224284, 2.288805
-[01:08:35.225]  If point is visible? -0.487134, -0.773054, 2.111717
-[01:08:35.225]  If point is visible? 0.066651, 0.542984, 2.234948
-[01:08:35.225]  If point is visible? -1.791933, 0.398837, 1.444980
-[01:08:35.225]  If point is visible? -0.599734, 0.826559, 2.101234
-[01:08:35.225]  If point is visible? -1.791933, 0.398837, 1.444980
-[01:08:35.225]  If point is visible? -0.599734, 0.826559, 2.101234
-[01:08:35.225]  If point is visible? 0.609230, -0.426406, 2.258954
-[01:08:35.225]  If point is visible? -1.796905, 0.440829, 1.494208
-[01:08:35.225] init seeds
-[01:08:35.228] DepthFilter: Initialized 2 new seeds
-[01:08:35.419] add new frame
-[01:08:35.419] update seed
-[01:08:35.419]  If point is visible? -1.070027, 0.183256, 0.550762
-[01:08:35.419]  If point is visible? -1.069953, 0.182522, 0.550330
-[01:08:35.419]  If point is visible? -0.958000, 0.167406, 0.551548
-[01:08:35.419]  If point is visible? -1.086098, 0.131649, 0.527771
-[01:08:35.419]  If point is visible? -1.080470, 0.127929, 0.525652
-[01:08:35.419] add key frame
-[01:08:35.419]  If point is visible? -1.078372, 0.110963, 0.519531
-[01:08:35.419] init seeds
-[01:08:35.422] DepthFilter: Initialized 1 new seeds
-[01:08:35.422] update seed
-[01:08:35.422]  If point is visible? -1.070027, 0.183256, 0.550762
-[01:08:35.422]  If point is visible? -1.069953, 0.182522, 0.550330
-[01:08:35.422]  If point is visible? -0.958000, 0.167406, 0.551548
-[01:08:35.422]  If point is visible? -1.086098, 0.131649, 0.527771
-[01:08:35.422]  If point is visible? -1.080470, 0.127929, 0.525652
-[01:08:35.422]  If point is visible? -1.078372, 0.110963, 0.519531
-[01:08:35.422]  If point is visible? -1.079451, 0.110945, 0.519643
-[01:08:35.422]  If point is visible? -1.194420, 0.106087, 0.551328
-[01:08:35.422]  If point is visible? -0.764760, 0.059151, 0.633394
-[01:08:35.422]  If point is visible? -1.136557, -0.026250, 0.513970
-[01:08:35.422]  If point is visible? -1.137647, -0.026243, 0.514266
-[01:08:35.422]  If point is visible? -1.075614, -0.034484, 0.503596
-[01:08:35.422]  If point is visible? -1.073455, -0.035288, 0.503474
-[01:08:35.422]  If point is visible? -1.071297, -0.036092, 0.503367
-[01:08:35.422]  If point is visible? -1.066986, -0.037700, 0.503197
-[01:08:35.422]  If point is visible? -1.068070, -0.037695, 0.503275
-[01:08:35.422]  If point is visible? -1.050888, -0.044132, 0.503128
-[01:08:35.422]  If point is visible? -1.031597, -0.047395, 0.503528
-[01:08:35.422]  If point is visible? -1.033742, -0.047387, 0.503478
-[01:08:35.422]  If point is visible? -1.034816, -0.047382, 0.503457
-[01:08:35.422]  If point is visible? -0.711533, -0.076444, 0.725756
-[01:08:35.422]  If point is visible? -0.751552, -0.096750, 0.663956
-[01:08:35.422]  If point is visible? -1.123337, -0.100598, 0.524150
-[01:08:35.422]  If point is visible? -1.115790, -0.101538, 0.522700
-[01:08:35.422]  If point is visible? -1.116873, -0.101515, 0.522931
-[01:08:35.422]  If point is visible? -1.041870, -0.142259, 0.529066
-[01:08:35.422]  If point is visible? -1.051750, -0.145931, 0.530806
-[01:08:35.422]  If point is visible? -1.039271, -0.161357, 0.537765
-[01:08:35.422]  If point is visible? -1.040328, -0.161339, 0.537753
-[01:08:35.422]  If point is visible? -1.040398, -0.162095, 0.538124
-[01:08:35.422]  If point is visible? -1.037203, -0.172691, 0.543587
-[01:08:35.422]  If point is visible? -0.957256, 0.169669, 0.552958
-[01:08:35.422]  If point is visible? -0.792665, 0.139485, 0.636232
-[01:08:35.422]  If point is visible? -1.086199, 0.133179, 0.528382
-[01:08:35.422]  If point is visible? -1.081020, 0.119437, 0.522651
-[01:08:35.422]  If point is visible? -1.086098, 0.131649, 0.527771
-[01:08:35.422]  If point is visible? -0.776338, 0.096883, 0.632590
-[01:08:35.422]  If point is visible? -0.714350, 0.058897, 0.711507
-[01:08:35.422]  If point is visible? -0.764053, 0.059894, 0.634423
-[01:08:35.422]  If point is visible? -0.763858, 0.056826, 0.633886
-[01:08:35.422]  If point is visible? -0.763954, 0.058361, 0.634151
-[01:08:35.422]  If point is visible? -1.278763, 0.023303, 0.588864
-[01:08:35.422]  If point is visible? -1.056203, -0.040133, 0.502848
-[01:08:35.422]  If point is visible? -1.058367, -0.040123, 0.502943
-[01:08:35.422]  If point is visible? -1.060500, -0.038524, 0.502878
-[01:08:35.422]  If point is visible? -1.062666, -0.038514, 0.503000
-[01:08:35.422]  If point is visible? -1.064803, -0.036916, 0.502967
-[01:08:35.422]  If point is visible? -1.066971, -0.036906, 0.503114
-[01:08:35.422]  If point is visible? -1.075600, -0.033690, 0.503520
-[01:08:35.422]  If point is visible? -1.051914, -0.041742, 0.502875
-[01:08:35.422]  If point is visible? -1.047633, -0.043351, 0.502961
-[01:08:35.422]  If point is visible? -1.032573, -0.043409, 0.503006
-[01:08:35.422]  If point is visible? -1.034719, -0.043402, 0.502962
-[01:08:35.422]  If point is visible? -0.728607, -0.086842, 0.696052
-[01:08:35.422]  If point is visible? -0.713238, -0.078065, 0.722706
-[01:08:35.422]  If point is visible? -0.712039, -0.076503, 0.724612
-[01:08:35.422]  If point is visible? -0.758858, -0.099466, 0.655166
-[01:08:35.422]  If point is visible? -0.760295, -0.099558, 0.653307
-[01:08:35.422]  If point is visible? -0.841534, 0.167132, 0.608786
-[01:08:35.422]  If point is visible? -0.955602, 0.172675, 0.555050
-[01:08:35.422]  If point is visible? -0.777166, 0.104446, 0.634917
-[01:08:35.422]  If point is visible? -0.952933, 0.098516, 0.524989
-[01:08:35.422]  If point is visible? -0.791325, 0.140857, 0.638524
-[01:08:35.422]  If point is visible? -0.786016, 0.125814, 0.635626
-[01:08:35.422]  If point is visible? -0.953342, 0.104813, 0.526761
-[01:08:35.422]  If point is visible? -0.788689, 0.143582, 0.643168
-[01:08:35.422]  If point is visible? -0.862445, 0.097824, 0.562105
-[01:08:35.422]  If point is visible? -0.786434, 0.128795, 0.636810
-[01:08:35.422]  If point is visible? -0.953135, 0.101666, 0.525861
-[01:08:35.422]  If point is visible? -0.768599, 0.079882, 0.635061
-[01:08:35.422]  If point is visible? -0.792392, -0.056588, 0.603591
-[01:08:35.422]  If point is visible? -1.038914, -0.038608, 0.502373
-[01:08:35.422]  If point is visible? -1.051848, -0.038560, 0.502523
-[01:08:35.422]  If point is visible? -1.151739, -0.019104, 0.517970
-[01:08:35.422]  If point is visible? -1.038982, -0.041793, 0.502725
-[01:08:35.422]  If point is visible? -1.043287, -0.041777, 0.502724
-[01:08:35.422]  If point is visible? -1.047598, -0.041760, 0.502774
-[01:08:35.422]  If point is visible? -0.491942, -0.607778, 1.724344
-[01:08:35.422]  If point is visible? -0.402678, -0.601628, 1.749587
-[01:08:35.422]  If point is visible? -0.397694, -0.601688, 1.750688
-[01:08:35.422]  If point is visible? 0.146604, -0.044577, 1.886524
-[01:08:35.422]  If point is visible? 0.151687, -0.044575, 1.885981
-[01:08:35.422]  If point is visible? 0.438850, 0.294827, 1.805075
-[01:08:35.422]  If point is visible? -0.562462, 0.535254, 1.728697
-[01:08:35.422]  If point is visible? -0.872204, 0.494892, 1.604346
-[01:08:35.422]  If point is visible? -0.501758, -0.611315, 1.720131
-[01:08:35.422]  If point is visible? -0.432488, -0.604955, 1.741277
-[01:08:35.422]  If point is visible? -0.422539, -0.605088, 1.743649
-[01:08:35.422]  If point is visible? -0.412583, -0.605217, 1.745959
-[01:08:35.422]  If point is visible? -0.143437, -0.129046, 1.888792
-[01:08:35.422]  If point is visible? -0.133266, -0.129051, 1.889379
-[01:08:35.422]  If point is visible? -0.802500, 0.130033, 1.716021
-[01:08:35.422]  If point is visible? -0.773329, 0.152897, 1.727816
-[01:08:35.422]  If point is visible? -0.792740, 0.145208, 1.719400
-[01:08:35.422]  If point is visible? -0.792793, 0.137650, 1.720051
-[01:08:35.422]  If point is visible? -0.783121, 0.137711, 1.724634
-[01:08:35.422]  If point is visible? -0.493166, 0.540029, 1.748352
-[01:08:35.422]  If point is visible? -0.031088, 0.475154, 1.831262
-[01:08:35.422]  If point is visible? -0.442429, -0.604819, 1.738843
-[01:08:35.422]  If point is visible? -0.422539, -0.605088, 1.743649
-[01:08:35.422]  If point is visible? -0.163121, -0.381199, 1.850278
-[01:08:35.422]  If point is visible? -0.142901, -0.366031, 1.854952
-[01:08:35.422]  If point is visible? 0.303427, -0.243274, 1.846123
-[01:08:35.422]  If point is visible? -0.527124, -0.135995, 1.821612
-[01:08:35.422]  If point is visible? -0.041279, 0.444910, 1.839476
-[01:08:35.422]  If point is visible? -0.491942, -0.607778, 1.724344
-[01:08:35.422]  If point is visible? -0.402678, -0.601628, 1.749587
-[01:08:35.422]  If point is visible? -0.397694, -0.601688, 1.750688
-[01:08:35.422]  If point is visible? 0.146604, -0.044577, 1.886524
-[01:08:35.422]  If point is visible? 0.151687, -0.044575, 1.885981
-[01:08:35.422]  If point is visible? 0.438850, 0.294827, 1.805075
-[01:08:35.422]  If point is visible? -0.872204, 0.494892, 1.604346
-[01:08:35.422]  If point is visible? -0.562462, 0.535254, 1.728697
-[01:08:35.422]  If point is visible? -0.432488, -0.604955, 1.741277
-[01:08:35.423]  If point is visible? -0.422539, -0.605088, 1.743649
-[01:08:35.423]  If point is visible? -0.412583, -0.605217, 1.745959
-[01:08:35.423]  If point is visible? -0.143437, -0.129046, 1.888792
-[01:08:35.423]  If point is visible? -0.133266, -0.129051, 1.889379
-[01:08:35.423]  If point is visible? -0.773329, 0.152897, 1.727816
-[01:08:35.423]  If point is visible? -0.792740, 0.145208, 1.719400
-[01:08:35.423]  If point is visible? -0.792793, 0.137650, 1.720051
-[01:08:35.423]  If point is visible? -0.783121, 0.137711, 1.724634
-[01:08:35.423]  If point is visible? -0.493166, 0.540029, 1.748352
-[01:08:35.423]  If point is visible? -0.031088, 0.475154, 1.831262
-[01:08:35.423]  If point is visible? -0.163121, -0.381199, 1.850278
-[01:08:35.423]  If point is visible? -0.142901, -0.366031, 1.854952
-[01:08:35.423]  If point is visible? -0.442429, -0.604819, 1.738843
-[01:08:35.423]  If point is visible? -0.422539, -0.605088, 1.743649
-[01:08:35.423]  If point is visible? 0.303427, -0.243274, 1.846123
-[01:08:35.423]  If point is visible? -0.527124, -0.135995, 1.821612
-[01:08:35.423]  If point is visible? -0.041279, 0.444910, 1.839476
-[01:08:35.423]  If point is visible? 0.371065, -0.952041, 1.968680
-[01:08:35.423]  If point is visible? 0.139444, -0.744069, 2.097650
-[01:08:35.423]  If point is visible? 0.139455, -0.739618, 2.099335
-[01:08:35.423]  If point is visible? -0.456693, -0.706682, 2.074480
-[01:08:35.423]  If point is visible? -0.740104, -0.402656, 2.079469
-[01:08:35.423]  If point is visible? -0.243311, 0.107374, 2.228878
-[01:08:35.423]  If point is visible? 0.538373, 0.361769, 2.128677
-[01:08:35.423]  If point is visible? 0.538431, 0.352697, 2.130289
-[01:08:35.423]  If point is visible? 0.538402, 0.357233, 2.129489
-[01:08:35.423]  If point is visible? 0.376073, 0.394694, 2.162500
-[01:08:35.423]  If point is visible? 0.315733, 0.390482, 2.174718
-[01:08:35.423]  If point is visible? 0.261258, 0.404388, 2.180720
-[01:08:35.423]  If point is visible? 0.200392, 0.531704, 2.159412
-[01:08:35.423]  If point is visible? -0.653686, 0.645047, 2.043041
-[01:08:35.423]  If point is visible? 0.175929, 0.635504, 2.131963
-[01:08:35.423]  If point is visible? 0.181967, 0.635471, 2.131318
-[01:08:35.423]  If point is visible? 0.175916, 0.639994, 2.130526
-[01:08:35.423]  If point is visible? 0.181954, 0.639961, 2.129881
-[01:08:35.423]  If point is visible? 0.622492, 0.749737, 1.989239
-[01:08:35.423]  If point is visible? -0.837082, 0.768754, 1.925231
-[01:08:35.423]  If point is visible? -0.638758, 0.791183, 1.991990
-[01:08:35.423]  If point is visible? 0.211404, 0.800188, 2.067459
-[01:08:35.423]  If point is visible? -0.649948, 0.812837, 1.978901
-[01:08:35.423]  If point is visible? 0.365138, -0.952150, 1.969938
-[01:08:35.423]  If point is visible? -0.030315, -0.016621, 2.241660
-[01:08:35.423]  If point is visible? -0.322241, 0.093548, 2.220258
-[01:08:35.423]  If point is visible? -0.310111, 0.093558, 2.221881
-[01:08:35.423]  If point is visible? -0.310100, 0.102735, 2.221450
-[01:08:35.423]  If point is visible? -0.394943, 0.075139, 2.209756
-[01:08:35.423]  If point is visible? -0.407048, 0.065959, 2.207942
-[01:08:35.423]  If point is visible? -0.753725, 0.211166, 2.104625
-[01:08:35.423]  If point is visible? 0.345913, 0.394869, 2.168399
-[01:08:35.423]  If point is visible? -0.017665, 0.577521, 2.160742
-[01:08:35.423]  If point is visible? 0.223146, 0.844160, 2.047044
-[01:08:35.423]  If point is visible? 0.223201, 0.835363, 2.050906
-[01:08:35.423]  If point is visible? -0.163693, -0.401502, 2.199170
-[01:08:35.423]  If point is visible? -0.407072, -0.034932, 2.208695
-[01:08:35.423]  If point is visible? 0.370430, -0.291063, 2.181128
-[01:08:35.423]  If point is visible? -0.623280, -0.162710, 2.151889
-[01:08:35.423]  If point is visible? -0.694557, 0.202381, 2.126110
-[01:08:35.423]  If point is visible? -0.670783, 0.202494, 2.133806
-[01:08:35.423]  If point is visible? -0.623597, -0.016531, 2.158298
-[01:08:35.423]  If point is visible? -0.670877, 0.184268, 2.135543
-[01:08:35.423]  If point is visible? -0.041991, 0.532310, 2.173210
-[01:08:35.423]  If point is visible? 0.223201, 0.835363, 2.050906
-[01:08:35.423]  If point is visible? 0.371065, -0.952041, 1.968680
-[01:08:35.423]  If point is visible? 0.139444, -0.744069, 2.097650
-[01:08:35.423]  If point is visible? 0.139455, -0.739618, 2.099335
-[01:08:35.423]  If point is visible? -0.456693, -0.706682, 2.074480
-[01:08:35.423]  If point is visible? -0.740104, -0.402656, 2.079469
-[01:08:35.423]  If point is visible? -0.243311, 0.107374, 2.228878
-[01:08:35.423]  If point is visible? 0.538402, 0.357233, 2.129489
-[01:08:35.423]  If point is visible? 0.315733, 0.390482, 2.174718
-[01:08:35.423]  If point is visible? 0.357963, 0.399346, 2.165207
-[01:08:35.423]  If point is visible? 0.261258, 0.404388, 2.180720
-[01:08:35.423]  If point is visible? 0.200392, 0.531704, 2.159412
-[01:08:35.423]  If point is visible? 0.175929, 0.635504, 2.131963
-[01:08:35.423]  If point is visible? 0.181967, 0.635471, 2.131318
-[01:08:35.423]  If point is visible? -0.653686, 0.645047, 2.043041
-[01:08:35.423]  If point is visible? 0.175916, 0.639994, 2.130526
-[01:08:35.423]  If point is visible? 0.181954, 0.639961, 2.129881
-[01:08:35.423]  If point is visible? 0.622492, 0.749737, 1.989239
-[01:08:35.423]  If point is visible? -0.837082, 0.768754, 1.925231
-[01:08:35.423]  If point is visible? -0.638758, 0.791183, 1.991990
-[01:08:35.423]  If point is visible? 0.211404, 0.800188, 2.067459
-[01:08:35.423]  If point is visible? -0.649948, 0.812837, 1.978901
-[01:08:35.423]  If point is visible? 0.365138, -0.952150, 1.969938
-[01:08:35.423]  If point is visible? -0.407057, 0.056788, 2.208213
-[01:08:35.423]  If point is visible? -0.394961, 0.056796, 2.210337
-[01:08:35.423]  If point is visible? -0.030315, -0.016621, 2.241660
-[01:08:35.423]  If point is visible? -0.407048, 0.065959, 2.207942
-[01:08:35.423]  If point is visible? -0.753725, 0.211166, 2.104625
-[01:08:35.423]  If point is visible? 0.345913, 0.394869, 2.168399
-[01:08:35.423]  If point is visible? -0.017665, 0.577521, 2.160742
-[01:08:35.423]  If point is visible? 0.223201, 0.835363, 2.050906
-[01:08:35.423]  If point is visible? -0.163693, -0.401502, 2.199170
-[01:08:35.423]  If point is visible? 0.370430, -0.291063, 2.181128
-[01:08:35.423]  If point is visible? -0.623280, -0.162710, 2.151889
-[01:08:35.423]  If point is visible? -0.407072, -0.034932, 2.208695
-[01:08:35.423]  If point is visible? -0.623597, -0.016531, 2.158298
-[01:08:35.423]  If point is visible? -0.694557, 0.202381, 2.126110
-[01:08:35.423]  If point is visible? -0.670783, 0.202494, 2.133806
-[01:08:35.423]  If point is visible? -0.670877, 0.184268, 2.135543
-[01:08:35.423]  If point is visible? -0.041991, 0.532310, 2.173210
-[01:08:35.423]  If point is visible? 0.223201, 0.835363, 2.050906
-[01:08:35.423]  If point is visible? 0.237878, 0.429304, 2.189539
-[01:08:35.423]  If point is visible? 0.243961, 0.429278, 2.188717
-[01:08:35.423]  If point is visible? 0.243974, 0.424709, 2.189668
-[01:08:35.423]  If point is visible? -1.722914, 0.469185, 1.323642
-[01:08:35.423]  If point is visible? 0.619874, 0.726972, 2.010801
-[01:08:35.423]  If point is visible? -0.731371, 0.753381, 1.987221
-[01:08:35.423]  If point is visible? -0.725505, 0.753515, 1.989358
-[01:08:35.423]  If point is visible? 0.428372, 0.810237, 2.033967
-[01:08:35.423]  If point is visible? -0.600591, 0.800250, 2.011823
-[01:08:35.423]  If point is visible? 0.434225, 0.818964, 2.028757
-[01:08:35.423]  If point is visible? -0.372813, 0.047867, 2.224792
-[01:08:35.423]  If point is visible? -0.360642, 0.047873, 2.226711
-[01:08:35.423]  If point is visible? -0.372798, 0.066305, 2.224289
-[01:08:35.423]  If point is visible? -0.372806, 0.057086, 2.224561
-[01:08:35.423]  If point is visible? -0.164558, -0.458339, 2.197850
-[01:08:35.423]  If point is visible? -0.140176, -0.458376, 2.199200
-[01:08:35.423]  If point is visible? -0.213516, -0.403360, 2.205748
-[01:08:35.423]  If point is visible? -0.164741, -0.403448, 2.209301
-[01:08:35.423]  If point is visible? -0.140339, -0.403480, 2.210648
-[01:08:35.423]  If point is visible? -0.816981, 0.184467, 2.094405
-[01:08:35.423]  If point is visible? 0.006281, 0.516646, 2.187445
-[01:08:35.423]  If point is visible? 0.249709, 0.534024, 2.163133
-[01:08:35.423]  If point is visible? 0.450292, -0.992753, 1.952362
-[01:08:35.423]  If point is visible? -0.404370, -0.725943, 2.092467
-[01:08:35.423]  If point is visible? -0.398256, -0.726008, 2.093613
-[01:08:35.423]  If point is visible? -0.085199, -0.209071, 2.244432
-[01:08:35.423]  If point is visible? -0.085200, -0.204391, 2.244885
-[01:08:35.423]  If point is visible? 0.286249, 0.440581, 2.187061
-[01:08:35.423]  If point is visible? 0.286272, 0.435942, 2.188036
-[01:08:35.423]  If point is visible? 0.584098, 0.622003, 2.071839
-[01:08:35.423]  If point is visible? 0.590142, 0.621913, 2.069988
-[01:08:35.423]  If point is visible? -0.603494, 0.807605, 2.010776
-[01:08:35.423]  If point is visible? 0.295324, 0.838660, 2.059121
-[01:08:35.423]  If point is visible? -0.738817, 0.638163, 2.028932
-[01:08:35.423]  If point is visible? -0.810604, 0.627642, 2.004079
-[01:08:35.423]  If point is visible? 0.301480, 0.834100, 2.060066
-[01:08:35.423]  If point is visible? -0.103692, -0.465492, 2.202867
-[01:08:35.423]  If point is visible? 0.440774, -0.315513, 2.181122
-[01:08:35.423]  If point is visible? 0.465316, -0.315389, 2.175501
-[01:08:35.423]  If point is visible? -0.671010, 0.206519, 2.144617
-[01:08:35.423]  If point is visible? 0.044901, 0.524667, 2.189335
-[01:08:35.423]  If point is visible? 0.291829, 0.542314, 2.161994
-[01:08:35.423]  If point is visible? 0.338306, 0.815695, 2.061392
-[01:08:35.423]  If point is visible? 0.252087, -0.801875, 2.089783
-[01:08:35.423]  If point is visible? 0.239260, -0.792426, 2.094889
-[01:08:35.423]  If point is visible? -0.306214, 0.075652, 2.230302
-[01:08:35.423]  If point is visible? 0.326060, 0.169006, 2.222357
-[01:08:35.423]  If point is visible? 0.660494, 0.363184, 2.122640
-[01:08:35.423]  If point is visible? -1.765755, 0.382316, 1.345221
-[01:08:35.423]  If point is visible? -1.765539, 0.386799, 1.344223
-[01:08:35.423]  If point is visible? -0.710569, 0.808468, 1.978684
-[01:08:35.423]  If point is visible? -0.735542, 0.812589, 1.967840
-[01:08:35.423]  If point is visible? -0.476882, -0.756784, 2.067266
-[01:08:35.423]  If point is visible? -0.090859, -0.488854, 2.196931
-[01:08:35.423]  If point is visible? 0.065226, 0.550998, 2.183092
-[01:08:35.423]  If point is visible? -0.576081, 0.909876, 1.978378
-[01:08:35.423]  If point is visible? 0.065204, 0.570420, 2.178098
-[01:08:35.423]  If point is visible? 0.324613, 0.569531, 2.154996
-[01:08:35.423]  If point is visible? 0.643373, -0.368348, 2.285797
-[01:08:35.423]  If point is visible? -0.243330, 0.112243, 2.388025
-[01:08:35.423]  If point is visible? 0.339986, 0.493608, 2.327066
-[01:08:35.423]  If point is visible? 0.340009, 0.488411, 2.328159
-[01:08:35.423]  If point is visible? -1.849960, 0.562003, 1.426954
-[01:08:35.423]  If point is visible? -0.625566, 0.728190, 2.202921
-[01:08:35.423]  If point is visible? 0.635882, -0.456609, 2.271924
-[01:08:35.423]  If point is visible? -0.508745, -0.807351, 2.205407
-[01:08:35.423]  If point is visible? -0.894954, 0.188975, 2.222115
-[01:08:35.423]  If point is visible? 0.069585, 0.587814, 2.328970
-[01:08:35.423]  If point is visible? 0.346305, 0.607586, 2.298997
-[01:08:35.423]  If point is visible? 0.462540, -1.029752, 1.961871
-[01:08:35.423]  If point is visible? -0.824645, 0.643489, 2.007273
-[01:08:35.423]  If point is visible? -0.117437, -0.491193, 2.206403
-[01:08:35.423]  If point is visible? -0.091296, -0.491232, 2.207631
-[01:08:35.423]  If point is visible? -0.065350, -0.156400, 2.257111
-[01:08:35.423]  If point is visible? 0.065569, 0.534142, 2.198561
-[01:08:35.423]  If point is visible? 0.462540, -1.029752, 1.961871
-[01:08:35.423]  If point is visible? -0.685385, 0.655617, 2.055159
-[01:08:35.423]  If point is visible? -0.824645, 0.643489, 2.007273
-[01:08:35.423]  If point is visible? -0.117437, -0.491193, 2.206403
-[01:08:35.423]  If point is visible? -0.091296, -0.491232, 2.207631
-[01:08:35.423]  If point is visible? -0.065350, -0.156400, 2.257111
-[01:08:35.423]  If point is visible? 0.065569, 0.534142, 2.198561
-[01:08:35.423]  If point is visible? -0.760553, -0.700572, 2.055487
-[01:08:35.423]  If point is visible? -0.079730, -0.229301, 2.288088
-[01:08:35.423]  If point is visible? -0.073069, -0.224284, 2.288807
-[01:08:35.423]  If point is visible? -0.487127, -0.773054, 2.111721
-[01:08:35.423]  If point is visible? 0.066658, 0.542984, 2.234951
-[01:08:35.423]  If point is visible? -0.760553, -0.700572, 2.055487
-[01:08:35.423]  If point is visible? -0.073069, -0.224284, 2.288807
-[01:08:35.423]  If point is visible? -0.487127, -0.773054, 2.111721
-[01:08:35.423]  If point is visible? 0.066658, 0.542984, 2.234951
-[01:08:35.423]  If point is visible? -1.791928, 0.398837, 1.444988
-[01:08:35.423]  If point is visible? -0.599727, 0.826559, 2.101239
-[01:08:35.423]  If point is visible? -1.791928, 0.398837, 1.444988
-[01:08:35.423]  If point is visible? -0.599727, 0.826559, 2.101239
-[01:08:35.423]  If point is visible? 0.609238, -0.426406, 2.258954
-[01:08:35.423]  If point is visible? -1.796900, 0.440829, 1.494216
-[01:08:35.423]  If point is visible? 0.609238, -0.426406, 2.258954
-[01:08:35.423]  If point is visible? -1.796900, 0.440829, 1.494216
-[01:08:35.423]  If point is visible? -0.577237, 1.100719, 1.962221
-[01:08:35.423] init seeds
-[01:08:35.426] DepthFilter: Initialized 1 new seeds
-[01:08:35.625] add new frame
-[01:08:35.625] update seed
-[01:08:35.625]  If point is visible? -1.070027, 0.183256, 0.550764
-[01:08:35.625]  If point is visible? -1.069953, 0.182522, 0.550333
-[01:08:35.625]  If point is visible? -0.958000, 0.167406, 0.551551
-[01:08:35.625]  If point is visible? -1.086098, 0.131649, 0.527774
-[01:08:35.625]  If point is visible? -1.080470, 0.127929, 0.525655
-[01:08:35.625]  If point is visible? -1.078373, 0.110963, 0.519534
-[01:08:35.625]  If point is visible? -1.079451, 0.110945, 0.519646
-[01:08:35.625]  If point is visible? -1.194420, 0.106087, 0.551331
-[01:08:35.625]  If point is visible? -0.764760, 0.059151, 0.633396
-[01:08:35.625] add key frame
-[01:08:35.625]  If point is visible? -1.136557, -0.026250, 0.513973
-[01:08:35.625] init seeds
-[01:08:35.628] DepthFilter: Initialized 2 new seeds
-[01:08:35.628] update seed
-[01:08:35.628]  If point is visible? -1.070027, 0.183256, 0.550764
-[01:08:35.628]  If point is visible? -1.069953, 0.182522, 0.550333
-[01:08:35.628]  If point is visible? -0.958000, 0.167406, 0.551551
-[01:08:35.628]  If point is visible? -1.086098, 0.131649, 0.527774
-[01:08:35.628]  If point is visible? -1.080470, 0.127929, 0.525655
-[01:08:35.628]  If point is visible? -1.078373, 0.110963, 0.519534
-[01:08:35.628]  If point is visible? -1.079451, 0.110945, 0.519646
-[01:08:35.628]  If point is visible? -1.194420, 0.106087, 0.551331
-[01:08:35.628]  If point is visible? -0.764760, 0.059151, 0.633396
-[01:08:35.628]  If point is visible? -1.136557, -0.026250, 0.513973
-[01:08:35.628]  If point is visible? -1.137647, -0.026243, 0.514269
-[01:08:35.628]  If point is visible? -1.075614, -0.034484, 0.503599
-[01:08:35.628]  If point is visible? -1.073455, -0.035288, 0.503477
-[01:08:35.628]  If point is visible? -1.071297, -0.036092, 0.503370
-[01:08:35.628]  If point is visible? -1.066986, -0.037700, 0.503200
-[01:08:35.628]  If point is visible? -1.068071, -0.037695, 0.503278
-[01:08:35.628]  If point is visible? -1.050888, -0.044132, 0.503131
-[01:08:35.628]  If point is visible? -1.031597, -0.047395, 0.503531
-[01:08:35.628]  If point is visible? -1.033743, -0.047387, 0.503480
-[01:08:35.628]  If point is visible? -1.034816, -0.047382, 0.503460
-[01:08:35.628]  If point is visible? -0.711533, -0.076444, 0.725758
-[01:08:35.628]  If point is visible? -0.751552, -0.096750, 0.663958
-[01:08:35.628]  If point is visible? -1.123338, -0.100598, 0.524152
-[01:08:35.628]  If point is visible? -1.115790, -0.101538, 0.522703
-[01:08:35.628]  If point is visible? -1.116873, -0.101515, 0.522933
-[01:08:35.628]  If point is visible? -1.041870, -0.142259, 0.529068
-[01:08:35.628]  If point is visible? -1.051750, -0.145931, 0.530808
-[01:08:35.628]  If point is visible? -1.039271, -0.161357, 0.537768
-[01:08:35.628]  If point is visible? -1.040328, -0.161339, 0.537755
-[01:08:35.628]  If point is visible? -1.040398, -0.162095, 0.538127
-[01:08:35.628]  If point is visible? -1.037203, -0.172691, 0.543590
-[01:08:35.628]  If point is visible? -0.957256, 0.169669, 0.552960
-[01:08:35.628]  If point is visible? -0.792664, 0.139485, 0.636234
-[01:08:35.628]  If point is visible? -1.086199, 0.133179, 0.528385
-[01:08:35.628]  If point is visible? -1.081020, 0.119437, 0.522654
-[01:08:35.628]  If point is visible? -1.086098, 0.131649, 0.527774
-[01:08:35.628]  If point is visible? -0.776337, 0.096883, 0.632592
-[01:08:35.628]  If point is visible? -0.714349, 0.058897, 0.711509
-[01:08:35.628]  If point is visible? -0.764053, 0.059894, 0.634425
-[01:08:35.628]  If point is visible? -0.763858, 0.056826, 0.633888
-[01:08:35.628]  If point is visible? -0.763954, 0.058361, 0.634153
-[01:08:35.628]  If point is visible? -1.278763, 0.023303, 0.588867
-[01:08:35.628]  If point is visible? -1.056204, -0.040133, 0.502851
-[01:08:35.628]  If point is visible? -1.058367, -0.040123, 0.502946
-[01:08:35.628]  If point is visible? -1.060500, -0.038524, 0.502881
-[01:08:35.628]  If point is visible? -1.062666, -0.038514, 0.503002
-[01:08:35.628]  If point is visible? -1.064803, -0.036916, 0.502970
-[01:08:35.628]  If point is visible? -1.066971, -0.036906, 0.503117
-[01:08:35.628]  If point is visible? -1.075601, -0.033690, 0.503523
-[01:08:35.628]  If point is visible? -1.051915, -0.041742, 0.502878
-[01:08:35.628]  If point is visible? -1.047633, -0.043351, 0.502963
-[01:08:35.628]  If point is visible? -1.032573, -0.043409, 0.503009
-[01:08:35.628]  If point is visible? -1.034719, -0.043402, 0.502965
-[01:08:35.628]  If point is visible? -0.728607, -0.086842, 0.696054
-[01:08:35.628]  If point is visible? -0.713237, -0.078065, 0.722708
-[01:08:35.628]  If point is visible? -0.712039, -0.076503, 0.724614
-[01:08:35.628]  If point is visible? -0.758858, -0.099466, 0.655168
-[01:08:35.628]  If point is visible? -0.760295, -0.099558, 0.653309
-[01:08:35.628]  If point is visible? -0.841534, 0.167132, 0.608788
-[01:08:35.628]  If point is visible? -0.955602, 0.172675, 0.555053
-[01:08:35.628]  If point is visible? -0.777166, 0.104446, 0.634919
-[01:08:35.628]  If point is visible? -0.952934, 0.098516, 0.524991
-[01:08:35.628]  If point is visible? -0.791325, 0.140857, 0.638526
-[01:08:35.628]  If point is visible? -0.786016, 0.125814, 0.635628
-[01:08:35.628]  If point is visible? -0.953342, 0.104813, 0.526763
-[01:08:35.628]  If point is visible? -0.788688, 0.143582, 0.643170
-[01:08:35.628]  If point is visible? -0.862445, 0.097824, 0.562107
-[01:08:35.628]  If point is visible? -0.786434, 0.128795, 0.636812
-[01:08:35.628]  If point is visible? -0.953135, 0.101666, 0.525863
-[01:08:35.628]  If point is visible? -0.768599, 0.079882, 0.635063
-[01:08:35.628]  If point is visible? -0.792392, -0.056588, 0.603593
-[01:08:35.628]  If point is visible? -1.038914, -0.038608, 0.502376
-[01:08:35.628]  If point is visible? -1.051849, -0.038560, 0.502525
-[01:08:35.628]  If point is visible? -1.151739, -0.019104, 0.517973
-[01:08:35.628]  If point is visible? -1.038982, -0.041793, 0.502727
-[01:08:35.628]  If point is visible? -1.043287, -0.041777, 0.502727
-[01:08:35.628]  If point is visible? -1.047598, -0.041760, 0.502777
-[01:08:35.628]  If point is visible? -0.491937, -0.607778, 1.724348
-[01:08:35.628]  If point is visible? -0.402673, -0.601628, 1.749591
-[01:08:35.628]  If point is visible? -0.397689, -0.601688, 1.750691
-[01:08:35.628]  If point is visible? 0.146610, -0.044577, 1.886526
-[01:08:35.628]  If point is visible? 0.151692, -0.044575, 1.885983
-[01:08:35.628]  If point is visible? 0.438855, 0.294827, 1.805076
-[01:08:35.628]  If point is visible? -0.562457, 0.535254, 1.728701
-[01:08:35.628]  If point is visible? -0.872200, 0.494892, 1.604351
-[01:08:35.628]  If point is visible? -0.501754, -0.611315, 1.720135
-[01:08:35.628]  If point is visible? -0.432483, -0.604955, 1.741281
-[01:08:35.628]  If point is visible? -0.422534, -0.605088, 1.743653
-[01:08:35.628]  If point is visible? -0.412578, -0.605217, 1.745963
-[01:08:35.628]  If point is visible? -0.143432, -0.129046, 1.888795
-[01:08:35.628]  If point is visible? -0.133261, -0.129051, 1.889382
-[01:08:35.628]  If point is visible? -0.802495, 0.130033, 1.716025
-[01:08:35.628]  If point is visible? -0.773324, 0.152897, 1.727821
-[01:08:35.628]  If point is visible? -0.792735, 0.145208, 1.719405
-[01:08:35.628]  If point is visible? -0.792788, 0.137650, 1.720056
-[01:08:35.628]  If point is visible? -0.783116, 0.137711, 1.724639
-[01:08:35.628]  If point is visible? -0.493161, 0.540029, 1.748355
-[01:08:35.628]  If point is visible? -0.031083, 0.475154, 1.831265
-[01:08:35.628]  If point is visible? -0.442424, -0.604819, 1.738846
-[01:08:35.628]  If point is visible? -0.422534, -0.605088, 1.743653
-[01:08:35.628]  If point is visible? -0.163116, -0.381199, 1.850281
-[01:08:35.628]  If point is visible? -0.142896, -0.366031, 1.854955
-[01:08:35.628]  If point is visible? 0.303432, -0.243274, 1.846125
-[01:08:35.628]  If point is visible? -0.527119, -0.135995, 1.821616
-[01:08:35.628]  If point is visible? -0.041273, 0.444910, 1.839478
-[01:08:35.628]  If point is visible? -0.491937, -0.607778, 1.724348
-[01:08:35.628]  If point is visible? -0.402673, -0.601628, 1.749591
-[01:08:35.628]  If point is visible? -0.397689, -0.601688, 1.750691
-[01:08:35.628]  If point is visible? 0.146610, -0.044577, 1.886526
-[01:08:35.628]  If point is visible? 0.151692, -0.044575, 1.885983
-[01:08:35.628]  If point is visible? 0.438855, 0.294827, 1.805076
-[01:08:35.628]  If point is visible? -0.872200, 0.494892, 1.604351
-[01:08:35.628]  If point is visible? -0.562457, 0.535254, 1.728701
-[01:08:35.628]  If point is visible? -0.432483, -0.604955, 1.741281
-[01:08:35.628]  If point is visible? -0.422534, -0.605088, 1.743653
-[01:08:35.628]  If point is visible? -0.412578, -0.605217, 1.745963
-[01:08:35.628]  If point is visible? -0.143432, -0.129046, 1.888795
-[01:08:35.628]  If point is visible? -0.133261, -0.129051, 1.889382
-[01:08:35.628]  If point is visible? -0.773324, 0.152897, 1.727821
-[01:08:35.628]  If point is visible? -0.792735, 0.145208, 1.719405
-[01:08:35.628]  If point is visible? -0.792788, 0.137650, 1.720056
-[01:08:35.628]  If point is visible? -0.783116, 0.137711, 1.724639
-[01:08:35.628]  If point is visible? -0.493161, 0.540029, 1.748355
-[01:08:35.628]  If point is visible? -0.031083, 0.475154, 1.831265
-[01:08:35.628]  If point is visible? -0.163116, -0.381199, 1.850281
-[01:08:35.628]  If point is visible? -0.142896, -0.366031, 1.854955
-[01:08:35.628]  If point is visible? -0.442424, -0.604819, 1.738846
-[01:08:35.628]  If point is visible? -0.422534, -0.605088, 1.743653
-[01:08:35.628]  If point is visible? 0.303432, -0.243274, 1.846125
-[01:08:35.628]  If point is visible? -0.527119, -0.135995, 1.821616
-[01:08:35.628]  If point is visible? -0.041273, 0.444910, 1.839478
-[01:08:35.628]  If point is visible? 0.371071, -0.952041, 1.968682
-[01:08:35.628]  If point is visible? 0.139449, -0.744069, 2.097652
-[01:08:35.628]  If point is visible? 0.139461, -0.739618, 2.099337
-[01:08:35.628]  If point is visible? -0.456687, -0.706682, 2.074484
-[01:08:35.628]  If point is visible? -0.740098, -0.402656, 2.079474
-[01:08:35.628]  If point is visible? -0.243304, 0.107374, 2.228882
-[01:08:35.628]  If point is visible? 0.538379, 0.361769, 2.128679
-[01:08:35.628]  If point is visible? 0.538437, 0.352697, 2.130291
-[01:08:35.628]  If point is visible? 0.538408, 0.357233, 2.129490
-[01:08:35.628]  If point is visible? 0.376079, 0.394694, 2.162501
-[01:08:35.628]  If point is visible? 0.315739, 0.390482, 2.174720
-[01:08:35.628]  If point is visible? 0.261264, 0.404388, 2.180722
-[01:08:35.628]  If point is visible? 0.200398, 0.531704, 2.159414
-[01:08:35.628]  If point is visible? -0.653680, 0.645047, 2.043046
-[01:08:35.628]  If point is visible? 0.175935, 0.635504, 2.131965
-[01:08:35.628]  If point is visible? 0.181973, 0.635471, 2.131320
-[01:08:35.628]  If point is visible? 0.175922, 0.639994, 2.130529
-[01:08:35.628]  If point is visible? 0.181960, 0.639961, 2.129883
-[01:08:35.628]  If point is visible? 0.622497, 0.749737, 1.989240
-[01:08:35.628]  If point is visible? -0.837076, 0.768754, 1.925236
-[01:08:35.628]  If point is visible? -0.638752, 0.791183, 1.991995
-[01:08:35.628]  If point is visible? 0.211410, 0.800188, 2.067461
-[01:08:35.628]  If point is visible? -0.649943, 0.812837, 1.978905
-[01:08:35.628]  If point is visible? 0.365143, -0.952150, 1.969940
-[01:08:35.628]  If point is visible? -0.030309, -0.016621, 2.241663
-[01:08:35.628]  If point is visible? -0.322235, 0.093548, 2.220261
-[01:08:35.628]  If point is visible? -0.310105, 0.093558, 2.221885
-[01:08:35.628]  If point is visible? -0.310094, 0.102735, 2.221454
-[01:08:35.628]  If point is visible? -0.394937, 0.075139, 2.209760
-[01:08:35.628]  If point is visible? -0.407042, 0.065959, 2.207946
-[01:08:35.628]  If point is visible? -0.753719, 0.211166, 2.104629
-[01:08:35.628]  If point is visible? 0.345919, 0.394869, 2.168401
-[01:08:35.628]  If point is visible? -0.017659, 0.577521, 2.160745
-[01:08:35.628]  If point is visible? 0.223152, 0.844160, 2.047046
-[01:08:35.628]  If point is visible? 0.223207, 0.835363, 2.050908
-[01:08:35.628]  If point is visible? -0.163687, -0.401502, 2.199173
-[01:08:35.628]  If point is visible? -0.407066, -0.034932, 2.208698
-[01:08:35.628]  If point is visible? 0.370436, -0.291063, 2.181129
-[01:08:35.628]  If point is visible? -0.623274, -0.162710, 2.151893
-[01:08:35.628]  If point is visible? -0.694552, 0.202381, 2.126114
-[01:08:35.628]  If point is visible? -0.670777, 0.202494, 2.133810
-[01:08:35.628]  If point is visible? -0.623591, -0.016531, 2.158302
-[01:08:35.628]  If point is visible? -0.670871, 0.184268, 2.135548
-[01:08:35.628]  If point is visible? -0.041985, 0.532310, 2.173213
-[01:08:35.628]  If point is visible? 0.223207, 0.835363, 2.050908
-[01:08:35.628]  If point is visible? 0.371071, -0.952041, 1.968682
-[01:08:35.628]  If point is visible? 0.139449, -0.744069, 2.097652
-[01:08:35.628]  If point is visible? 0.139461, -0.739618, 2.099337
-[01:08:35.628]  If point is visible? -0.456687, -0.706682, 2.074484
-[01:08:35.628]  If point is visible? -0.740098, -0.402656, 2.079474
-[01:08:35.628]  If point is visible? -0.243304, 0.107374, 2.228882
-[01:08:35.628]  If point is visible? 0.538408, 0.357233, 2.129490
-[01:08:35.628]  If point is visible? 0.315739, 0.390482, 2.174720
-[01:08:35.628]  If point is visible? 0.357969, 0.399346, 2.165209
-[01:08:35.628]  If point is visible? 0.261264, 0.404388, 2.180722
-[01:08:35.628]  If point is visible? 0.200398, 0.531704, 2.159414
-[01:08:35.628]  If point is visible? 0.175935, 0.635504, 2.131965
-[01:08:35.628]  If point is visible? 0.181973, 0.635471, 2.131320
-[01:08:35.628]  If point is visible? -0.653680, 0.645047, 2.043046
-[01:08:35.628]  If point is visible? 0.175922, 0.639994, 2.130529
-[01:08:35.628]  If point is visible? 0.181960, 0.639961, 2.129883
-[01:08:35.628]  If point is visible? 0.622497, 0.749737, 1.989240
-[01:08:35.628]  If point is visible? -0.837076, 0.768754, 1.925236
-[01:08:35.628]  If point is visible? -0.638752, 0.791183, 1.991995
-[01:08:35.628]  If point is visible? 0.211410, 0.800188, 2.067461
-[01:08:35.628]  If point is visible? -0.649943, 0.812837, 1.978905
-[01:08:35.628]  If point is visible? 0.365143, -0.952150, 1.969940
-[01:08:35.628]  If point is visible? -0.407051, 0.056788, 2.208216
-[01:08:35.628]  If point is visible? -0.394955, 0.056796, 2.210341
-[01:08:35.629]  If point is visible? -0.030309, -0.016621, 2.241663
-[01:08:35.629]  If point is visible? -0.407042, 0.065959, 2.207946
-[01:08:35.629]  If point is visible? -0.753719, 0.211166, 2.104629
-[01:08:35.629]  If point is visible? 0.345919, 0.394869, 2.168401
-[01:08:35.629]  If point is visible? -0.017659, 0.577521, 2.160745
-[01:08:35.629]  If point is visible? 0.223207, 0.835363, 2.050908
-[01:08:35.629]  If point is visible? -0.163687, -0.401502, 2.199173
-[01:08:35.629]  If point is visible? 0.370436, -0.291063, 2.181129
-[01:08:35.629]  If point is visible? -0.623274, -0.162710, 2.151893
-[01:08:35.629]  If point is visible? -0.407066, -0.034932, 2.208698
-[01:08:35.629]  If point is visible? -0.623591, -0.016531, 2.158302
-[01:08:35.629]  If point is visible? -0.694552, 0.202381, 2.126114
-[01:08:35.629]  If point is visible? -0.670777, 0.202494, 2.133810
-[01:08:35.629]  If point is visible? -0.670871, 0.184268, 2.135548
-[01:08:35.629]  If point is visible? -0.041985, 0.532310, 2.173213
-[01:08:35.629]  If point is visible? 0.223207, 0.835363, 2.050908
-[01:08:35.629]  If point is visible? 0.237884, 0.429304, 2.189541
-[01:08:35.629]  If point is visible? 0.243967, 0.429278, 2.188719
-[01:08:35.629]  If point is visible? 0.243980, 0.424709, 2.189670
-[01:08:35.629]  If point is visible? -1.722910, 0.469185, 1.323649
-[01:08:35.629]  If point is visible? 0.619880, 0.726972, 2.010802
-[01:08:35.629]  If point is visible? -0.731365, 0.753381, 1.987225
-[01:08:35.629]  If point is visible? -0.725500, 0.753515, 1.989362
-[01:08:35.629]  If point is visible? 0.428377, 0.810237, 2.033969
-[01:08:35.629]  If point is visible? -0.600585, 0.800250, 2.011827
-[01:08:35.629]  If point is visible? 0.434230, 0.818964, 2.028758
-[01:08:35.629]  If point is visible? -0.372807, 0.047867, 2.224795
-[01:08:35.629]  If point is visible? -0.360636, 0.047873, 2.226715
-[01:08:35.629]  If point is visible? -0.372792, 0.066305, 2.224293
-[01:08:35.629]  If point is visible? -0.372800, 0.057086, 2.224564
-[01:08:35.629]  If point is visible? -0.164552, -0.458339, 2.197853
-[01:08:35.629]  If point is visible? -0.140170, -0.458376, 2.199202
-[01:08:35.629]  If point is visible? -0.213510, -0.403360, 2.205751
-[01:08:35.629]  If point is visible? -0.164735, -0.403448, 2.209304
-[01:08:35.629]  If point is visible? -0.140333, -0.403480, 2.210651
-[01:08:35.629]  If point is visible? -0.816975, 0.184467, 2.094410
-[01:08:35.629]  If point is visible? 0.006287, 0.516646, 2.187448
-[01:08:35.629]  If point is visible? 0.249715, 0.534024, 2.163135
-[01:08:35.629]  If point is visible? 0.450298, -0.992753, 1.952363
-[01:08:35.629]  If point is visible? -0.404364, -0.725943, 2.092471
-[01:08:35.629]  If point is visible? -0.398250, -0.726008, 2.093616
-[01:08:35.629]  If point is visible? -0.085192, -0.209071, 2.244435
-[01:08:35.629]  If point is visible? -0.085193, -0.204391, 2.244888
-[01:08:35.629]  If point is visible? 0.286255, 0.440581, 2.187063
-[01:08:35.629]  If point is visible? 0.286278, 0.435942, 2.188038
-[01:08:35.629]  If point is visible? 0.584104, 0.622003, 2.071840
-[01:08:35.629]  If point is visible? 0.590148, 0.621913, 2.069989
-[01:08:35.629]  If point is visible? -0.603489, 0.807605, 2.010781
-[01:08:35.629]  If point is visible? 0.295330, 0.838660, 2.059123
-[01:08:35.629]  If point is visible? -0.738812, 0.638163, 2.028937
-[01:08:35.629]  If point is visible? -0.810598, 0.627642, 2.004083
-[01:08:35.629]  If point is visible? 0.301486, 0.834100, 2.060068
-[01:08:35.629]  If point is visible? -0.103686, -0.465492, 2.202870
-[01:08:35.629]  If point is visible? 0.440780, -0.315513, 2.181124
-[01:08:35.629]  If point is visible? 0.465322, -0.315389, 2.175502
-[01:08:35.629]  If point is visible? -0.671004, 0.206519, 2.144621
-[01:08:35.629]  If point is visible? 0.044907, 0.524667, 2.189337
-[01:08:35.629]  If point is visible? 0.291835, 0.542314, 2.161996
-[01:08:35.629]  If point is visible? 0.338312, 0.815695, 2.061394
-[01:08:35.629]  If point is visible? 0.252094, -0.801875, 2.089785
-[01:08:35.629]  If point is visible? 0.239266, -0.792426, 2.094891
-[01:08:35.629]  If point is visible? -0.306207, 0.075652, 2.230305
-[01:08:35.629]  If point is visible? 0.326066, 0.169006, 2.222359
-[01:08:35.629]  If point is visible? 0.660500, 0.363184, 2.122641
-[01:08:35.629]  If point is visible? -1.765750, 0.382316, 1.345229
-[01:08:35.629]  If point is visible? -1.765534, 0.386799, 1.344230
-[01:08:35.629]  If point is visible? -0.710563, 0.808468, 1.978689
-[01:08:35.629]  If point is visible? -0.735536, 0.812589, 1.967845
-[01:08:35.629]  If point is visible? -0.476876, -0.756784, 2.067270
-[01:08:35.629]  If point is visible? -0.090852, -0.488854, 2.196934
-[01:08:35.629]  If point is visible? 0.065232, 0.550998, 2.183094
-[01:08:35.629]  If point is visible? -0.576075, 0.909876, 1.978382
-[01:08:35.629]  If point is visible? 0.065210, 0.570420, 2.178101
-[01:08:35.629]  If point is visible? 0.324620, 0.569531, 2.154998
-[01:08:35.629]  If point is visible? 0.643380, -0.368348, 2.285798
-[01:08:35.629]  If point is visible? -0.243323, 0.112243, 2.388028
-[01:08:35.629]  If point is visible? 0.339993, 0.493608, 2.327068
-[01:08:35.629]  If point is visible? 0.340016, 0.488411, 2.328161
-[01:08:35.629]  If point is visible? -1.849955, 0.562003, 1.426962
-[01:08:35.629]  If point is visible? -0.625560, 0.728190, 2.202925
-[01:08:35.629]  If point is visible? 0.635889, -0.456609, 2.271925
-[01:08:35.629]  If point is visible? -0.508739, -0.807351, 2.205411
-[01:08:35.629]  If point is visible? -0.894948, 0.188975, 2.222120
-[01:08:35.629]  If point is visible? 0.069592, 0.587814, 2.328973
-[01:08:35.629]  If point is visible? 0.346312, 0.607586, 2.298998
-[01:08:35.629]  If point is visible? 0.462546, -1.029752, 1.961872
-[01:08:35.629]  If point is visible? -0.824639, 0.643489, 2.007277
-[01:08:35.629]  If point is visible? -0.117430, -0.491193, 2.206406
-[01:08:35.629]  If point is visible? -0.091289, -0.491232, 2.207634
-[01:08:35.629]  If point is visible? -0.065343, -0.156400, 2.257113
-[01:08:35.629]  If point is visible? 0.065575, 0.534142, 2.198564
-[01:08:35.629]  If point is visible? 0.462546, -1.029752, 1.961872
-[01:08:35.629]  If point is visible? -0.685379, 0.655617, 2.055163
-[01:08:35.629]  If point is visible? -0.824639, 0.643489, 2.007277
-[01:08:35.629]  If point is visible? -0.117430, -0.491193, 2.206406
-[01:08:35.629]  If point is visible? -0.091289, -0.491232, 2.207634
-[01:08:35.629]  If point is visible? -0.065343, -0.156400, 2.257113
-[01:08:35.629]  If point is visible? 0.065575, 0.534142, 2.198564
-[01:08:35.629]  If point is visible? -0.760547, -0.700572, 2.055492
-[01:08:35.629]  If point is visible? -0.079724, -0.229301, 2.288091
-[01:08:35.629]  If point is visible? -0.073063, -0.224284, 2.288810
-[01:08:35.629]  If point is visible? -0.487121, -0.773054, 2.111725
-[01:08:35.629]  If point is visible? 0.066665, 0.542984, 2.234953
-[01:08:35.629]  If point is visible? -0.760547, -0.700572, 2.055492
-[01:08:35.629]  If point is visible? -0.073063, -0.224284, 2.288810
-[01:08:35.629]  If point is visible? -0.487121, -0.773054, 2.111725
-[01:08:35.629]  If point is visible? 0.066665, 0.542984, 2.234953
-[01:08:35.629]  If point is visible? -1.791923, 0.398837, 1.444995
-[01:08:35.629]  If point is visible? -0.599721, 0.826559, 2.101243
-[01:08:35.629]  If point is visible? -1.791923, 0.398837, 1.444995
-[01:08:35.629]  If point is visible? -0.599721, 0.826559, 2.101243
-[01:08:35.629]  If point is visible? 0.609245, -0.426406, 2.258955
-[01:08:35.629]  If point is visible? -1.796895, 0.440829, 1.494224
-[01:08:35.629]  If point is visible? 0.609245, -0.426406, 2.258955
-[01:08:35.629]  If point is visible? -1.796895, 0.440829, 1.494224
-[01:08:35.629]  If point is visible? -0.577231, 1.100719, 1.962226
-[01:08:35.629]  If point is visible? -0.577231, 1.100719, 1.962226
-[01:08:35.629]  If point is visible? -0.040275, -0.171198, 2.323566
-[01:08:35.629]  If point is visible? 0.094784, 0.022327, 2.328177
-[01:08:35.629] init seeds
-[01:08:35.632] DepthFilter: Initialized 2 new seeds
-[01:08:35.857] add new frame
-[01:08:35.857] update seed
-[01:08:35.857]  If point is visible? -1.070024, 0.183256, 0.550769
-[01:08:35.857]  If point is visible? -1.069950, 0.182522, 0.550338
-[01:08:35.857]  If point is visible? -0.957997, 0.167406, 0.551557
-[01:08:35.857]  If point is visible? -1.086095, 0.131649, 0.527779
-[01:08:35.857]  If point is visible? -1.080467, 0.127929, 0.525660
-[01:08:35.857]  If point is visible? -1.078369, 0.110963, 0.519539
-[01:08:35.857]  If point is visible? -1.079448, 0.110945, 0.519651
-[01:08:35.857]  If point is visible? -1.194417, 0.106087, 0.551335
-[01:08:35.857]  If point is visible? -0.764757, 0.059151, 0.633403
-[01:08:35.857] add key frame
-[01:08:35.857]  If point is visible? -1.136553, -0.026250, 0.513977
-[01:08:35.857] init seeds
-[01:08:35.860] DepthFilter: Initialized 3 new seeds
-[01:08:35.860] update seed
-[01:08:35.860]  If point is visible? -1.070024, 0.183256, 0.550769
-[01:08:35.860]  If point is visible? -1.069950, 0.182522, 0.550338
-[01:08:35.860]  If point is visible? -0.957997, 0.167406, 0.551557
-[01:08:35.860]  If point is visible? -1.086095, 0.131649, 0.527779
-[01:08:35.860]  If point is visible? -1.080467, 0.127929, 0.525660
-[01:08:35.860]  If point is visible? -1.078369, 0.110963, 0.519539
-[01:08:35.860]  If point is visible? -1.079448, 0.110945, 0.519651
-[01:08:35.860]  If point is visible? -1.194417, 0.106087, 0.551335
-[01:08:35.860]  If point is visible? -0.764757, 0.059151, 0.633403
-[01:08:35.860]  If point is visible? -1.136553, -0.026250, 0.513977
-[01:08:35.860]  If point is visible? -1.137643, -0.026243, 0.514274
-[01:08:35.860]  If point is visible? -1.075610, -0.034484, 0.503604
-[01:08:35.860]  If point is visible? -1.073451, -0.035288, 0.503482
-[01:08:35.860]  If point is visible? -1.071293, -0.036092, 0.503375
-[01:08:35.860]  If point is visible? -1.066983, -0.037700, 0.503205
-[01:08:35.860]  If point is visible? -1.068067, -0.037695, 0.503283
-[01:08:35.860]  If point is visible? -1.050884, -0.044132, 0.503136
-[01:08:35.860]  If point is visible? -1.031594, -0.047395, 0.503536
-[01:08:35.860]  If point is visible? -1.033739, -0.047387, 0.503486
-[01:08:35.860]  If point is visible? -1.034812, -0.047382, 0.503465
-[01:08:35.860]  If point is visible? -0.711530, -0.076444, 0.725765
-[01:08:35.860]  If point is visible? -0.751550, -0.096750, 0.663965
-[01:08:35.860]  If point is visible? -1.123334, -0.100598, 0.524157
-[01:08:35.860]  If point is visible? -1.115787, -0.101538, 0.522708
-[01:08:35.860]  If point is visible? -1.116870, -0.101515, 0.522938
-[01:08:35.860]  If point is visible? -1.041866, -0.142259, 0.529074
-[01:08:35.860]  If point is visible? -1.051747, -0.145931, 0.530814
-[01:08:35.860]  If point is visible? -1.039268, -0.161357, 0.537773
-[01:08:35.860]  If point is visible? -1.040325, -0.161339, 0.537761
-[01:08:35.860]  If point is visible? -1.040395, -0.162095, 0.538132
-[01:08:35.860]  If point is visible? -1.037200, -0.172691, 0.543595
-[01:08:35.860]  If point is visible? -0.957253, 0.169669, 0.552966
-[01:08:35.860]  If point is visible? -0.792662, 0.139485, 0.636241
-[01:08:35.860]  If point is visible? -1.086196, 0.133179, 0.528390
-[01:08:35.860]  If point is visible? -1.081017, 0.119437, 0.522659
-[01:08:35.860]  If point is visible? -1.086095, 0.131649, 0.527779
-[01:08:35.860]  If point is visible? -0.776335, 0.096883, 0.632599
-[01:08:35.860]  If point is visible? -0.714347, 0.058897, 0.711516
-[01:08:35.860]  If point is visible? -0.764050, 0.059894, 0.634432
-[01:08:35.860]  If point is visible? -0.763855, 0.056826, 0.633895
-[01:08:35.860]  If point is visible? -0.763951, 0.058361, 0.634160
-[01:08:35.860]  If point is visible? -1.278760, 0.023303, 0.588871
-[01:08:35.860]  If point is visible? -1.056200, -0.040133, 0.502856
-[01:08:35.860]  If point is visible? -1.058363, -0.040123, 0.502951
-[01:08:35.860]  If point is visible? -1.060496, -0.038524, 0.502886
-[01:08:35.860]  If point is visible? -1.062662, -0.038514, 0.503008
-[01:08:35.860]  If point is visible? -1.064799, -0.036916, 0.502975
-[01:08:35.860]  If point is visible? -1.066968, -0.036906, 0.503122
-[01:08:35.860]  If point is visible? -1.075597, -0.033690, 0.503528
-[01:08:35.860]  If point is visible? -1.051911, -0.041742, 0.502883
-[01:08:35.860]  If point is visible? -1.047629, -0.043351, 0.502969
-[01:08:35.860]  If point is visible? -1.032569, -0.043409, 0.503014
-[01:08:35.860]  If point is visible? -1.034716, -0.043402, 0.502970
-[01:08:35.860]  If point is visible? -0.728604, -0.086842, 0.696061
-[01:08:35.860]  If point is visible? -0.713235, -0.078065, 0.722715
-[01:08:35.860]  If point is visible? -0.712036, -0.076503, 0.724621
-[01:08:35.860]  If point is visible? -0.758855, -0.099466, 0.655175
-[01:08:35.860]  If point is visible? -0.760292, -0.099558, 0.653316
-[01:08:35.860]  If point is visible? -0.841531, 0.167132, 0.608795
-[01:08:35.860]  If point is visible? -0.955599, 0.172675, 0.555059
-[01:08:35.860]  If point is visible? -0.777163, 0.104446, 0.634926
-[01:08:35.860]  If point is visible? -0.952930, 0.098516, 0.524997
-[01:08:35.860]  If point is visible? -0.791323, 0.140857, 0.638533
-[01:08:35.860]  If point is visible? -0.786013, 0.125814, 0.635634
-[01:08:35.860]  If point is visible? -0.953339, 0.104813, 0.526769
-[01:08:35.860]  If point is visible? -0.788686, 0.143582, 0.643177
-[01:08:35.860]  If point is visible? -0.862442, 0.097824, 0.562113
-[01:08:35.860]  If point is visible? -0.786431, 0.128795, 0.636818
-[01:08:35.860]  If point is visible? -0.953131, 0.101666, 0.525869
-[01:08:35.860]  If point is visible? -0.768596, 0.079882, 0.635070
-[01:08:35.860]  If point is visible? -0.792389, -0.056588, 0.603600
-[01:08:35.860]  If point is visible? -1.038910, -0.038608, 0.502381
-[01:08:35.860]  If point is visible? -1.051845, -0.038560, 0.502531
-[01:08:35.860]  If point is visible? -1.151736, -0.019104, 0.517977
-[01:08:35.860]  If point is visible? -1.038978, -0.041793, 0.502733
-[01:08:35.860]  If point is visible? -1.043283, -0.041777, 0.502732
-[01:08:35.860]  If point is visible? -1.047594, -0.041760, 0.502782
-[01:08:35.860]  If point is visible? -0.491945, -0.607778, 1.724351
-[01:08:35.860]  If point is visible? -0.402681, -0.601628, 1.749594
-[01:08:35.860]  If point is visible? -0.397696, -0.601688, 1.750695
-[01:08:35.860]  If point is visible? 0.146601, -0.044577, 1.886532
-[01:08:35.860]  If point is visible? 0.151684, -0.044575, 1.885990
-[01:08:35.860]  If point is visible? 0.438847, 0.294827, 1.805084
-[01:08:35.860]  If point is visible? -0.562465, 0.535254, 1.728703
-[01:08:35.860]  If point is visible? -0.872207, 0.494892, 1.604351
-[01:08:35.860]  If point is visible? -0.501761, -0.611315, 1.720137
-[01:08:35.860]  If point is visible? -0.432490, -0.604955, 1.741284
-[01:08:35.860]  If point is visible? -0.422542, -0.605088, 1.743656
-[01:08:35.860]  If point is visible? -0.412586, -0.605217, 1.745966
-[01:08:35.860]  If point is visible? -0.143440, -0.129046, 1.888800
-[01:08:35.860]  If point is visible? -0.133269, -0.129051, 1.889387
-[01:08:35.860]  If point is visible? -0.802502, 0.130033, 1.716026
-[01:08:35.860]  If point is visible? -0.773331, 0.152897, 1.727822
-[01:08:35.860]  If point is visible? -0.792743, 0.145208, 1.719406
-[01:08:35.860]  If point is visible? -0.792795, 0.137650, 1.720057
-[01:08:35.860]  If point is visible? -0.783123, 0.137711, 1.724640
-[01:08:35.860]  If point is visible? -0.493168, 0.540029, 1.748358
-[01:08:35.860]  If point is visible? -0.031091, 0.475154, 1.831270
-[01:08:35.860]  If point is visible? -0.442431, -0.604819, 1.738849
-[01:08:35.860]  If point is visible? -0.422542, -0.605088, 1.743656
-[01:08:35.860]  If point is visible? -0.163124, -0.381199, 1.850286
-[01:08:35.860]  If point is visible? -0.142904, -0.366031, 1.854960
-[01:08:35.860]  If point is visible? 0.303424, -0.243274, 1.846132
-[01:08:35.860]  If point is visible? -0.527127, -0.135995, 1.821619
-[01:08:35.860]  If point is visible? -0.041282, 0.444910, 1.839484
-[01:08:35.860]  If point is visible? -0.491945, -0.607778, 1.724351
-[01:08:35.860]  If point is visible? -0.402681, -0.601628, 1.749594
-[01:08:35.860]  If point is visible? -0.397696, -0.601688, 1.750695
-[01:08:35.861]  If point is visible? 0.146601, -0.044577, 1.886532
-[01:08:35.861]  If point is visible? 0.151684, -0.044575, 1.885990
-[01:08:35.861]  If point is visible? 0.438847, 0.294827, 1.805084
-[01:08:35.861]  If point is visible? -0.872207, 0.494892, 1.604351
-[01:08:35.861]  If point is visible? -0.562465, 0.535254, 1.728703
-[01:08:35.861]  If point is visible? -0.432490, -0.604955, 1.741284
-[01:08:35.861]  If point is visible? -0.422542, -0.605088, 1.743656
-[01:08:35.861]  If point is visible? -0.412586, -0.605217, 1.745966
-[01:08:35.861]  If point is visible? -0.143440, -0.129046, 1.888800
-[01:08:35.861]  If point is visible? -0.133269, -0.129051, 1.889387
-[01:08:35.861]  If point is visible? -0.773331, 0.152897, 1.727822
-[01:08:35.861]  If point is visible? -0.792743, 0.145208, 1.719406
-[01:08:35.861]  If point is visible? -0.792795, 0.137650, 1.720057
-[01:08:35.861]  If point is visible? -0.783123, 0.137711, 1.724640
-[01:08:35.861]  If point is visible? -0.493168, 0.540029, 1.748358
-[01:08:35.861]  If point is visible? -0.031091, 0.475154, 1.831270
-[01:08:35.861]  If point is visible? -0.163124, -0.381199, 1.850286
-[01:08:35.861]  If point is visible? -0.142904, -0.366031, 1.854960
-[01:08:35.861]  If point is visible? -0.442431, -0.604819, 1.738849
-[01:08:35.861]  If point is visible? -0.422542, -0.605088, 1.743656
-[01:08:35.861]  If point is visible? 0.303424, -0.243274, 1.846132
-[01:08:35.861]  If point is visible? -0.527127, -0.135995, 1.821619
-[01:08:35.861]  If point is visible? -0.041282, 0.444910, 1.839484
-[01:08:35.861]  If point is visible? 0.371062, -0.952041, 1.968690
-[01:08:35.861]  If point is visible? 0.139440, -0.744069, 2.097659
-[01:08:35.861]  If point is visible? 0.139451, -0.739618, 2.099344
-[01:08:35.861]  If point is visible? -0.456696, -0.706682, 2.074487
-[01:08:35.861]  If point is visible? -0.740108, -0.402656, 2.079475
-[01:08:35.861]  If point is visible? -0.243315, 0.107374, 2.228886
-[01:08:35.861]  If point is visible? 0.538369, 0.361769, 2.128687
-[01:08:35.861]  If point is visible? 0.538428, 0.352697, 2.130299
-[01:08:35.861]  If point is visible? 0.538399, 0.357233, 2.129498
-[01:08:35.861]  If point is visible? 0.376069, 0.394694, 2.162509
-[01:08:35.861]  If point is visible? 0.315729, 0.390482, 2.174727
-[01:08:35.861]  If point is visible? 0.261254, 0.404388, 2.180729
-[01:08:35.861]  If point is visible? 0.200388, 0.531704, 2.159421
-[01:08:35.861]  If point is visible? -0.653689, 0.645047, 2.043048
-[01:08:35.861]  If point is visible? 0.175925, 0.635504, 2.131972
-[01:08:35.861]  If point is visible? 0.181963, 0.635471, 2.131326
-[01:08:35.861]  If point is visible? 0.175913, 0.639994, 2.130535
-[01:08:35.861]  If point is visible? 0.181950, 0.639961, 2.129889
-[01:08:35.861]  If point is visible? 0.622488, 0.749737, 1.989249
-[01:08:35.861]  If point is visible? -0.837085, 0.768754, 1.925237
-[01:08:35.861]  If point is visible? -0.638761, 0.791183, 1.991997
-[01:08:35.861]  If point is visible? 0.211401, 0.800188, 2.067468
-[01:08:35.861]  If point is visible? -0.649951, 0.812837, 1.978907
-[01:08:35.861]  If point is visible? 0.365134, -0.952150, 1.969947
-[01:08:35.861]  If point is visible? -0.030319, -0.016621, 2.241668
-[01:08:35.861]  If point is visible? -0.322245, 0.093548, 2.220265
-[01:08:35.861]  If point is visible? -0.310115, 0.093558, 2.221889
-[01:08:35.861]  If point is visible? -0.310104, 0.102735, 2.221457
-[01:08:35.861]  If point is visible? -0.394947, 0.075139, 2.209763
-[01:08:35.861]  If point is visible? -0.407052, 0.065959, 2.207949
-[01:08:35.861]  If point is visible? -0.753729, 0.211166, 2.104630
-[01:08:35.861]  If point is visible? 0.345909, 0.394869, 2.168408
-[01:08:35.861]  If point is visible? -0.017669, 0.577521, 2.160750
-[01:08:35.861]  If point is visible? 0.223143, 0.844160, 2.047052
-[01:08:35.861]  If point is visible? 0.223197, 0.835363, 2.050914
-[01:08:35.861]  If point is visible? -0.163697, -0.401502, 2.199178
-[01:08:35.861]  If point is visible? -0.407076, -0.034932, 2.208701
-[01:08:35.861]  If point is visible? 0.370426, -0.291063, 2.181137
-[01:08:35.861]  If point is visible? -0.623284, -0.162710, 2.151895
-[01:08:35.861]  If point is visible? -0.694561, 0.202381, 2.126116
-[01:08:35.861]  If point is visible? -0.670787, 0.202494, 2.133812
-[01:08:35.861]  If point is visible? -0.623601, -0.016531, 2.158304
-[01:08:35.861]  If point is visible? -0.670880, 0.184268, 2.135549
-[01:08:35.861]  If point is visible? -0.041995, 0.532310, 2.173219
-[01:08:35.861]  If point is visible? 0.223197, 0.835363, 2.050914
-[01:08:35.861]  If point is visible? 0.371062, -0.952041, 1.968690
-[01:08:35.861]  If point is visible? 0.139440, -0.744069, 2.097659
-[01:08:35.861]  If point is visible? 0.139451, -0.739618, 2.099344
-[01:08:35.861]  If point is visible? -0.456696, -0.706682, 2.074487
-[01:08:35.861]  If point is visible? -0.740108, -0.402656, 2.079475
-[01:08:35.861]  If point is visible? -0.243315, 0.107374, 2.228886
-[01:08:35.861]  If point is visible? 0.538399, 0.357233, 2.129498
-[01:08:35.861]  If point is visible? 0.315729, 0.390482, 2.174727
-[01:08:35.861]  If point is visible? 0.357959, 0.399346, 2.165216
-[01:08:35.861]  If point is visible? 0.261254, 0.404388, 2.180729
-[01:08:35.861]  If point is visible? 0.200388, 0.531704, 2.159421
-[01:08:35.861]  If point is visible? 0.175925, 0.635504, 2.131972
-[01:08:35.861]  If point is visible? 0.181963, 0.635471, 2.131326
-[01:08:35.861]  If point is visible? -0.653689, 0.645047, 2.043048
-[01:08:35.861]  If point is visible? 0.175913, 0.639994, 2.130535
-[01:08:35.861]  If point is visible? 0.181950, 0.639961, 2.129889
-[01:08:35.861]  If point is visible? 0.622488, 0.749737, 1.989249
-[01:08:35.861]  If point is visible? -0.837085, 0.768754, 1.925237
-[01:08:35.861]  If point is visible? -0.638761, 0.791183, 1.991997
-[01:08:35.861]  If point is visible? 0.211401, 0.800188, 2.067468
-[01:08:35.861]  If point is visible? -0.649951, 0.812837, 1.978907
-[01:08:35.861]  If point is visible? 0.365134, -0.952150, 1.969947
-[01:08:35.861]  If point is visible? -0.407061, 0.056788, 2.208220
-[01:08:35.861]  If point is visible? -0.394965, 0.056796, 2.210344
-[01:08:35.861]  If point is visible? -0.030319, -0.016621, 2.241668
-[01:08:35.861]  If point is visible? -0.407052, 0.065959, 2.207949
-[01:08:35.861]  If point is visible? -0.753729, 0.211166, 2.104630
-[01:08:35.861]  If point is visible? 0.345909, 0.394869, 2.168408
-[01:08:35.861]  If point is visible? -0.017669, 0.577521, 2.160750
-[01:08:35.861]  If point is visible? 0.223197, 0.835363, 2.050914
-[01:08:35.861]  If point is visible? -0.163697, -0.401502, 2.199178
-[01:08:35.861]  If point is visible? 0.370426, -0.291063, 2.181137
-[01:08:35.861]  If point is visible? -0.623284, -0.162710, 2.151895
-[01:08:35.861]  If point is visible? -0.407076, -0.034932, 2.208701
-[01:08:35.861]  If point is visible? -0.623601, -0.016531, 2.158304
-[01:08:35.861]  If point is visible? -0.694561, 0.202381, 2.126116
-[01:08:35.861]  If point is visible? -0.670787, 0.202494, 2.133812
-[01:08:35.861]  If point is visible? -0.670880, 0.184268, 2.135549
-[01:08:35.861]  If point is visible? -0.041995, 0.532310, 2.173219
-[01:08:35.861]  If point is visible? 0.223197, 0.835363, 2.050914
-[01:08:35.861]  If point is visible? 0.237874, 0.429304, 2.189548
-[01:08:35.861]  If point is visible? 0.243957, 0.429278, 2.188726
-[01:08:35.861]  If point is visible? 0.243970, 0.424709, 2.189677
-[01:08:35.861]  If point is visible? -1.722915, 0.469185, 1.323645
-[01:08:35.861]  If point is visible? 0.619871, 0.726972, 2.010811
-[01:08:35.861]  If point is visible? -0.731374, 0.753381, 1.987227
-[01:08:35.861]  If point is visible? -0.725509, 0.753515, 1.989364
-[01:08:35.861]  If point is visible? 0.428368, 0.810237, 2.033977
-[01:08:35.861]  If point is visible? -0.600594, 0.800250, 2.011829
-[01:08:35.861]  If point is visible? 0.434221, 0.818964, 2.028766
-[01:08:35.861]  If point is visible? -0.372817, 0.047867, 2.224799
-[01:08:35.861]  If point is visible? -0.360646, 0.047873, 2.226718
-[01:08:35.861]  If point is visible? -0.372802, 0.066305, 2.224296
-[01:08:35.861]  If point is visible? -0.372810, 0.057086, 2.224568
-[01:08:35.861]  If point is visible? -0.164562, -0.458339, 2.197858
-[01:08:35.861]  If point is visible? -0.140180, -0.458376, 2.199207
-[01:08:35.861]  If point is visible? -0.213521, -0.403360, 2.205755
-[01:08:35.861]  If point is visible? -0.164745, -0.403448, 2.209309
-[01:08:35.861]  If point is visible? -0.140343, -0.403480, 2.210656
-[01:08:35.861]  If point is visible? -0.816984, 0.184467, 2.094411
-[01:08:35.861]  If point is visible? 0.006277, 0.516646, 2.187454
-[01:08:35.861]  If point is visible? 0.249705, 0.534024, 2.163142
-[01:08:35.861]  If point is visible? 0.450289, -0.992753, 1.952371
-[01:08:35.861]  If point is visible? -0.404374, -0.725943, 2.092474
-[01:08:35.861]  If point is visible? -0.398260, -0.726008, 2.093619
-[01:08:35.861]  If point is visible? -0.085203, -0.209071, 2.244440
-[01:08:35.861]  If point is visible? -0.085204, -0.204391, 2.244893
-[01:08:35.861]  If point is visible? 0.286244, 0.440581, 2.187070
-[01:08:35.861]  If point is visible? 0.286267, 0.435942, 2.188045
-[01:08:35.861]  If point is visible? 0.584094, 0.622003, 2.071849
-[01:08:35.861]  If point is visible? 0.590139, 0.621913, 2.069998
-[01:08:35.861]  If point is visible? -0.603498, 0.807605, 2.010783
-[01:08:35.861]  If point is visible? 0.295320, 0.838660, 2.059130
-[01:08:35.861]  If point is visible? -0.738821, 0.638163, 2.028938
-[01:08:35.861]  If point is visible? -0.810607, 0.627642, 2.004084
-[01:08:35.861]  If point is visible? 0.301477, 0.834100, 2.060075
-[01:08:35.861]  If point is visible? -0.103697, -0.465492, 2.202875
-[01:08:35.861]  If point is visible? 0.440770, -0.315513, 2.181132
-[01:08:35.861]  If point is visible? 0.465312, -0.315389, 2.175510
-[01:08:35.861]  If point is visible? -0.671014, 0.206519, 2.144623
-[01:08:35.861]  If point is visible? 0.044897, 0.524667, 2.189343
-[01:08:35.861]  If point is visible? 0.291825, 0.542314, 2.162003
-[01:08:35.861]  If point is visible? 0.338302, 0.815695, 2.061401
-[01:08:35.861]  If point is visible? 0.252083, -0.801875, 2.089792
-[01:08:35.861]  If point is visible? 0.239256, -0.792426, 2.094898
-[01:08:35.861]  If point is visible? -0.306218, 0.075652, 2.230309
-[01:08:35.861]  If point is visible? 0.326055, 0.169006, 2.222366
-[01:08:35.861]  If point is visible? 0.660490, 0.363184, 2.122650
-[01:08:35.861]  If point is visible? -1.765756, 0.382316, 1.345224
-[01:08:35.861]  If point is visible? -1.765540, 0.386799, 1.344226
-[01:08:35.861]  If point is visible? -0.710573, 0.808468, 1.978690
-[01:08:35.861]  If point is visible? -0.735546, 0.812589, 1.967846
-[01:08:35.861]  If point is visible? -0.476886, -0.756784, 2.067272
-[01:08:35.861]  If point is visible? -0.090863, -0.488854, 2.196939
-[01:08:35.861]  If point is visible? 0.065221, 0.550998, 2.183100
-[01:08:35.861]  If point is visible? -0.576085, 0.909876, 1.978384
-[01:08:35.861]  If point is visible? 0.065200, 0.570420, 2.178107
-[01:08:35.861]  If point is visible? 0.324609, 0.569531, 2.155005
-[01:08:35.861]  If point is visible? 0.643368, -0.368348, 2.285807
-[01:08:35.861]  If point is visible? -0.243335, 0.112243, 2.388032
-[01:08:35.861]  If point is visible? 0.339981, 0.493608, 2.327075
-[01:08:35.861]  If point is visible? 0.340004, 0.488411, 2.328168
-[01:08:35.861]  If point is visible? -1.849962, 0.562003, 1.426957
-[01:08:35.861]  If point is visible? -0.625571, 0.728190, 2.202927
-[01:08:35.861]  If point is visible? 0.635877, -0.456609, 2.271934
-[01:08:35.861]  If point is visible? -0.508750, -0.807351, 2.205413
-[01:08:35.861]  If point is visible? -0.894959, 0.188975, 2.222121
-[01:08:35.861]  If point is visible? 0.069581, 0.587814, 2.328979
-[01:08:35.861]  If point is visible? 0.346300, 0.607586, 2.299006
-[01:08:35.861]  If point is visible? 0.462536, -1.029752, 1.961880
-[01:08:35.861]  If point is visible? -0.824649, 0.643489, 2.007278
-[01:08:35.861]  If point is visible? -0.117441, -0.491193, 2.206411
-[01:08:35.861]  If point is visible? -0.091300, -0.491232, 2.207638
-[01:08:35.861]  If point is visible? -0.065355, -0.156400, 2.257118
-[01:08:35.861]  If point is visible? 0.065565, 0.534142, 2.198569
-[01:08:35.861]  If point is visible? 0.462536, -1.029752, 1.961880
-[01:08:35.861]  If point is visible? -0.685389, 0.655617, 2.055165
-[01:08:35.861]  If point is visible? -0.824649, 0.643489, 2.007278
-[01:08:35.861]  If point is visible? -0.117441, -0.491193, 2.206411
-[01:08:35.861]  If point is visible? -0.091300, -0.491232, 2.207638
-[01:08:35.861]  If point is visible? -0.065355, -0.156400, 2.257118
-[01:08:35.861]  If point is visible? 0.065565, 0.534142, 2.198569
-[01:08:35.861]  If point is visible? -0.760557, -0.700572, 2.055493
-[01:08:35.861]  If point is visible? -0.079735, -0.229301, 2.288096
-[01:08:35.861]  If point is visible? -0.073074, -0.224284, 2.288815
-[01:08:35.861]  If point is visible? -0.487131, -0.773054, 2.111728
-[01:08:35.861]  If point is visible? 0.066654, 0.542984, 2.234959
-[01:08:35.861]  If point is visible? -0.760557, -0.700572, 2.055493
-[01:08:35.861]  If point is visible? -0.073074, -0.224284, 2.288815
-[01:08:35.861]  If point is visible? -0.487131, -0.773054, 2.111728
-[01:08:35.861]  If point is visible? 0.066654, 0.542984, 2.234959
-[01:08:35.861]  If point is visible? -1.791930, 0.398837, 1.444990
-[01:08:35.861]  If point is visible? -0.599731, 0.826559, 2.101245
-[01:08:35.861]  If point is visible? -1.791930, 0.398837, 1.444990
-[01:08:35.861]  If point is visible? -0.599731, 0.826559, 2.101245
-[01:08:35.861]  If point is visible? 0.609233, -0.426406, 2.258964
-[01:08:35.861]  If point is visible? -1.796902, 0.440829, 1.494219
-[01:08:35.861]  If point is visible? 0.609233, -0.426406, 2.258964
-[01:08:35.861]  If point is visible? -1.796902, 0.440829, 1.494219
-[01:08:35.861]  If point is visible? -0.577241, 1.100719, 1.962228
-[01:08:35.861]  If point is visible? -0.577241, 1.100719, 1.962228
-[01:08:35.861]  If point is visible? -0.040287, -0.171198, 2.323571
-[01:08:35.861]  If point is visible? 0.094772, 0.022327, 2.328183
-[01:08:35.861]  If point is visible? -0.040287, -0.171198, 2.323571
-[01:08:35.861]  If point is visible? 0.094772, 0.022327, 2.328183
-[01:08:35.861]  If point is visible? -0.486760, -0.059267, 2.288957
-[01:08:35.861]  If point is visible? -0.486777, 0.032566, 2.289489
-[01:08:35.861]  If point is visible? -0.694686, 0.737773, 2.110184
-[01:08:35.861] init seeds
-[01:08:35.864] DepthFilter: Initialized 3 new seeds
-[01:08:36.080] add new frame
-[01:08:36.080] update seed
-[01:08:36.080]  If point is visible? -1.065368, 0.183256, 0.557164
-[01:08:36.080]  If point is visible? -1.065290, 0.182522, 0.556734
-[01:08:36.080]  If point is visible? -0.953352, 0.167406, 0.558950
-[01:08:36.080]  If point is visible? -1.081233, 0.131649, 0.534031
-[01:08:36.080]  If point is visible? -1.075587, 0.127929, 0.531963
-[01:08:36.080]  If point is visible? -1.073434, 0.110963, 0.525861
-[01:08:36.080]  If point is visible? -1.074514, 0.110945, 0.525963
-[01:08:36.080]  If point is visible? -1.189761, 0.106087, 0.556621
-[01:08:36.080]  If point is visible? -0.760850, 0.059151, 0.642516
-[01:08:36.080]  If point is visible? -1.131567, -0.026250, 0.519781
-[01:08:36.080]  If point is visible? -1.132659, -0.026243, 0.520067
-[01:08:36.080]  If point is visible? -1.070534, -0.034484, 0.509951
-[01:08:36.080]  If point is visible? -1.068373, -0.035288, 0.509848
-[01:08:36.080]  If point is visible? -1.066215, -0.036092, 0.509760
-[01:08:36.080]  If point is visible? -1.061903, -0.037700, 0.509629
-[01:08:36.080]  If point is visible? -1.062988, -0.037695, 0.509698
-[01:08:36.080]  If point is visible? -1.045804, -0.044132, 0.509704
-[01:08:36.080]  If point is visible? -1.026518, -0.047395, 0.510276
-[01:08:36.080]  If point is visible? -1.028663, -0.047387, 0.510206
-[01:08:36.080]  If point is visible? -1.029736, -0.047382, 0.510176
-[01:08:36.080]  If point is visible? -0.708449, -0.076444, 0.735350
-[01:08:36.080]  If point is visible? -0.747915, -0.096750, 0.673195
-[01:08:36.080]  If point is visible? -1.118439, -0.100598, 0.530078
-[01:08:36.080]  If point is visible? -1.110878, -0.101538, 0.528696
-[01:08:36.080]  If point is visible? -1.111964, -0.101515, 0.528917
-[01:08:36.080]  If point is visible? -1.037018, -0.142259, 0.535721
-[01:08:36.080] add key frame
-[01:08:36.080]  If point is visible? -1.046914, -0.145931, 0.537372
-[01:08:36.080] init seeds
-[01:08:36.083] DepthFilter: Initialized 0 new seeds
-[01:08:36.083] update seed
-[01:08:36.083]  If point is visible? -1.065368, 0.183256, 0.557164
-[01:08:36.083]  If point is visible? -1.065290, 0.182522, 0.556734
-[01:08:36.083]  If point is visible? -0.953352, 0.167406, 0.558950
-[01:08:36.083]  If point is visible? -1.081233, 0.131649, 0.534031
-[01:08:36.083]  If point is visible? -1.075587, 0.127929, 0.531963
-[01:08:36.083]  If point is visible? -1.073434, 0.110963, 0.525861
-[01:08:36.083]  If point is visible? -1.074514, 0.110945, 0.525963
-[01:08:36.083]  If point is visible? -1.189761, 0.106087, 0.556621
-[01:08:36.083]  If point is visible? -0.760850, 0.059151, 0.642516
-[01:08:36.083]  If point is visible? -1.131567, -0.026250, 0.519781
-[01:08:36.083]  If point is visible? -1.132659, -0.026243, 0.520067
-[01:08:36.083]  If point is visible? -1.070534, -0.034484, 0.509951
-[01:08:36.083]  If point is visible? -1.068373, -0.035288, 0.509848
-[01:08:36.083]  If point is visible? -1.066215, -0.036092, 0.509760
-[01:08:36.083]  If point is visible? -1.061903, -0.037700, 0.509629
-[01:08:36.083]  If point is visible? -1.062988, -0.037695, 0.509698
-[01:08:36.083]  If point is visible? -1.045804, -0.044132, 0.509704
-[01:08:36.083]  If point is visible? -1.026518, -0.047395, 0.510276
-[01:08:36.083]  If point is visible? -1.028663, -0.047387, 0.510206
-[01:08:36.083]  If point is visible? -1.029736, -0.047382, 0.510176
-[01:08:36.083]  If point is visible? -0.708449, -0.076444, 0.735350
-[01:08:36.083]  If point is visible? -0.747915, -0.096750, 0.673195
-[01:08:36.083]  If point is visible? -1.118439, -0.100598, 0.530078
-[01:08:36.083]  If point is visible? -1.110878, -0.101538, 0.528696
-[01:08:36.083]  If point is visible? -1.111964, -0.101515, 0.528917
-[01:08:36.083]  If point is visible? -1.037018, -0.142259, 0.535721
-[01:08:36.083]  If point is visible? -1.046914, -0.145931, 0.537372
-[01:08:36.083]  If point is visible? -1.034497, -0.161357, 0.544443
-[01:08:36.083]  If point is visible? -1.035554, -0.161339, 0.544421
-[01:08:36.083]  If point is visible? -1.035628, -0.162095, 0.544792
-[01:08:36.083]  If point is visible? -1.032481, -0.172691, 0.550283
-[01:08:36.083]  If point is visible? -0.952621, 0.169669, 0.560366
-[01:08:36.083]  If point is visible? -0.788779, 0.139485, 0.645105
-[01:08:36.083]  If point is visible? -1.081340, 0.133179, 0.534642
-[01:08:36.083]  If point is visible? -1.076110, 0.119437, 0.528957
-[01:08:36.083]  If point is visible? -1.081233, 0.131649, 0.534031
-[01:08:36.083]  If point is visible? -0.772420, 0.096883, 0.641609
-[01:08:36.083]  If point is visible? -0.711138, 0.058897, 0.721076
-[01:08:36.083]  If point is visible? -0.760152, 0.059894, 0.643552
-[01:08:36.083]  If point is visible? -0.759952, 0.056826, 0.643016
-[01:08:36.083]  If point is visible? -0.760051, 0.058361, 0.643281
-[01:08:36.083]  If point is visible? -1.274436, 0.023303, 0.593404
-[01:08:36.083]  If point is visible? -1.051117, -0.040133, 0.509376
-[01:08:36.083]  If point is visible? -1.053282, -0.040123, 0.509452
-[01:08:36.083]  If point is visible? -1.055414, -0.038524, 0.509368
-[01:08:36.083]  If point is visible? -1.057581, -0.038514, 0.509470
-[01:08:36.084]  If point is visible? -1.059717, -0.036916, 0.509419
-[01:08:36.084]  If point is visible? -1.061887, -0.036906, 0.509546
-[01:08:36.084]  If point is visible? -1.070520, -0.033690, 0.509875
-[01:08:36.084]  If point is visible? -1.046829, -0.041742, 0.509442
-[01:08:36.084]  If point is visible? -1.042548, -0.043351, 0.509565
-[01:08:36.084]  If point is visible? -1.027489, -0.043409, 0.509745
-[01:08:36.084]  If point is visible? -1.029635, -0.043402, 0.509682
-[01:08:36.084]  If point is visible? -0.725258, -0.086842, 0.705494
-[01:08:36.084]  If point is visible? -0.710126, -0.078065, 0.732284
-[01:08:36.084]  If point is visible? -0.708945, -0.076503, 0.734201
-[01:08:36.084]  If point is visible? -0.755142, -0.099466, 0.664341
-[01:08:36.084]  If point is visible? -0.756563, -0.099558, 0.662469
-[01:08:36.084]  If point is visible? -0.837402, 0.167132, 0.617225
-[01:08:36.084]  If point is visible? -0.950986, 0.172675, 0.562474
-[01:08:36.084]  If point is visible? -0.773269, 0.104446, 0.643929
-[01:08:36.084]  If point is visible? -0.948049, 0.098516, 0.532437
-[01:08:36.084]  If point is visible? -0.787460, 0.140857, 0.647409
-[01:08:36.084]  If point is visible? -0.782125, 0.125814, 0.644558
-[01:08:36.084]  If point is visible? -0.948474, 0.104813, 0.534205
-[01:08:36.084]  If point is visible? -0.784865, 0.143582, 0.652076
-[01:08:36.084]  If point is visible? -0.857895, 0.097824, 0.570359
-[01:08:36.084]  If point is visible? -0.782553, 0.128795, 0.645738
-[01:08:36.084]  If point is visible? -0.948258, 0.101666, 0.533307
-[01:08:36.084]  If point is visible? -0.764704, 0.079882, 0.644149
-[01:08:36.084]  If point is visible? -0.788215, -0.056588, 0.612468
-[01:08:36.084]  If point is visible? -1.033824, -0.038608, 0.509056
-[01:08:36.084]  If point is visible? -1.046760, -0.038560, 0.509090
-[01:08:36.084]  If point is visible? -1.146784, -0.019104, 0.523645
-[01:08:36.084]  If point is visible? -1.033895, -0.041793, 0.509406
-[01:08:36.084]  If point is visible? -1.038200, -0.041777, 0.509367
-[01:08:36.084]  If point is visible? -1.042511, -0.041760, 0.509379
-[01:08:36.084]  If point is visible? -0.504217, -0.607778, 1.726875
-[01:08:36.084]  If point is visible? -0.415181, -0.601628, 1.752913
-[01:08:36.084]  If point is visible? -0.410207, -0.601688, 1.754058
-[01:08:36.084]  If point is visible? 0.132858, -0.044577, 1.894744
-[01:08:36.084]  If point is visible? 0.137945, -0.044575, 1.894247
-[01:08:36.084]  If point is visible? 0.425819, 0.294827, 1.815905
-[01:08:36.084]  If point is visible? -0.574772, 0.535254, 1.730599
-[01:08:36.084]  If point is visible? -0.883393, 0.494892, 1.603490
-[01:08:36.084]  If point is visible? -0.513995, -0.611315, 1.722575
-[01:08:36.084]  If point is visible? -0.444915, -0.604955, 1.744338
-[01:08:36.084]  If point is visible? -0.434988, -0.605088, 1.746798
-[01:08:36.084]  If point is visible? -0.425054, -0.605217, 1.749197
-[01:08:36.084]  If point is visible? -0.157192, -0.129046, 1.894425
-[01:08:36.084]  If point is visible? -0.147027, -0.129051, 1.895103
-[01:08:36.084]  If point is visible? -0.814688, 0.130033, 1.715782
-[01:08:36.084]  If point is visible? -0.785623, 0.152897, 1.727838
-[01:08:36.084]  If point is visible? -0.804958, 0.145208, 1.719249
-[01:08:36.084]  If point is visible? -0.805017, 0.137650, 1.719899
-[01:08:36.084]  If point is visible? -0.795386, 0.137711, 1.724568
-[01:08:36.084]  If point is visible? -0.505654, 0.540029, 1.750871
-[01:08:36.084]  If point is visible? -0.044334, 0.475154, 1.837900
-[01:08:36.084]  If point is visible? -0.454834, -0.604819, 1.741815
-[01:08:36.084]  If point is visible? -0.434988, -0.605088, 1.746798
-[01:08:36.084]  If point is visible? -0.176532, -0.381199, 1.855737
-[01:08:36.084]  If point is visible? -0.156354, -0.366031, 1.860592
-[01:08:36.084]  If point is visible? 0.290035, -0.243274, 1.855744
-[01:08:36.084]  If point is visible? -0.540265, -0.135995, 1.823826
-[01:08:36.084]  If point is visible? -0.054598, 0.444910, 1.846022
-[01:08:36.084]  If point is visible? -0.504217, -0.607778, 1.726875
-[01:08:36.084]  If point is visible? -0.415181, -0.601628, 1.752913
-[01:08:36.084]  If point is visible? -0.410207, -0.601688, 1.754058
-[01:08:36.084]  If point is visible? 0.132858, -0.044577, 1.894744
-[01:08:36.084]  If point is visible? 0.137945, -0.044575, 1.894247
-[01:08:36.084]  If point is visible? 0.425819, 0.294827, 1.815905
-[01:08:36.084]  If point is visible? -0.883393, 0.494892, 1.603490
-[01:08:36.084]  If point is visible? -0.574772, 0.535254, 1.730599
-[01:08:36.084]  If point is visible? -0.444915, -0.604955, 1.744338
-[01:08:36.084]  If point is visible? -0.434988, -0.605088, 1.746798
-[01:08:36.084]  If point is visible? -0.425054, -0.605217, 1.749197
-[01:08:36.084]  If point is visible? -0.157192, -0.129046, 1.894425
-[01:08:36.084]  If point is visible? -0.147027, -0.129051, 1.895103
-[01:08:36.084]  If point is visible? -0.785623, 0.152897, 1.727838
-[01:08:36.084]  If point is visible? -0.804958, 0.145208, 1.719249
-[01:08:36.084]  If point is visible? -0.805017, 0.137650, 1.719899
-[01:08:36.084]  If point is visible? -0.795386, 0.137711, 1.724568
-[01:08:36.084]  If point is visible? -0.505654, 0.540029, 1.750871
-[01:08:36.084]  If point is visible? -0.044334, 0.475154, 1.837900
-[01:08:36.084]  If point is visible? -0.176532, -0.381199, 1.855737
-[01:08:36.084]  If point is visible? -0.156354, -0.366031, 1.860592
-[01:08:36.084]  If point is visible? -0.454834, -0.604819, 1.741815
-[01:08:36.084]  If point is visible? -0.434988, -0.605088, 1.746798
-[01:08:36.084]  If point is visible? 0.290035, -0.243274, 1.855744
-[01:08:36.084]  If point is visible? -0.540265, -0.135995, 1.823826
-[01:08:36.084]  If point is visible? -0.054598, 0.444910, 1.846022
-[01:08:36.084]  If point is visible? 0.356576, -0.952041, 1.978901
-[01:08:36.084]  If point is visible? 0.123813, -0.744069, 2.105799
-[01:08:36.084]  If point is visible? 0.123810, -0.739618, 2.107484
-[01:08:36.084]  If point is visible? -0.472093, -0.706682, 2.077313
-[01:08:36.084]  If point is visible? -0.755537, -0.402656, 2.079774
-[01:08:36.084]  If point is visible? -0.260096, 0.107374, 2.233608
-[01:08:36.084]  If point is visible? 0.522450, 0.361769, 2.140383
-[01:08:36.084]  If point is visible? 0.522494, 0.352697, 2.141996
-[01:08:36.084]  If point is visible? 0.522472, 0.357233, 2.141195
-[01:08:36.084]  If point is visible? 0.359855, 0.394694, 2.172757
-[01:08:36.084]  If point is visible? 0.299408, 0.390482, 2.184436
-[01:08:36.084]  If point is visible? 0.244882, 0.404388, 2.189952
-[01:08:36.084]  If point is visible? 0.184209, 0.531704, 2.168103
-[01:08:36.084]  If point is visible? -0.668797, 0.645047, 2.044119
-[01:08:36.084]  If point is visible? 0.159992, 0.635504, 2.140436
-[01:08:36.084]  If point is visible? 0.166035, 0.635471, 2.139845
-[01:08:36.084]  If point is visible? 0.159992, 0.639994, 2.139000
-[01:08:36.084]  If point is visible? 0.166034, 0.639961, 2.138408
-[01:08:36.084]  If point is visible? 0.607809, 0.749737, 2.001701
-[01:08:36.084]  If point is visible? -0.851135, 0.768754, 1.924677
-[01:08:36.084]  If point is visible? -0.653414, 0.791183, 1.993203
-[01:08:36.084]  If point is visible? 0.196041, 0.800188, 2.076251
-[01:08:36.084]  If point is visible? -0.664488, 0.812837, 1.980014
-[01:08:36.084]  If point is visible? 0.350638, -0.952150, 1.980105
-[01:08:36.084]  If point is visible? -0.047223, -0.016621, 2.248289
-[01:08:36.084]  If point is visible? -0.338946, 0.093548, 2.224284
-[01:08:36.084]  If point is visible? -0.326831, 0.093558, 2.226016
-[01:08:36.084]  If point is visible? -0.326817, 0.102735, 2.225585
-[01:08:36.084]  If point is visible? -0.411552, 0.075139, 2.213134
-[01:08:36.084]  If point is visible? -0.423640, 0.065959, 2.211213
-[01:08:36.084]  If point is visible? -0.769382, 0.211166, 2.104807
-[01:08:36.084]  If point is visible? 0.329644, 0.394869, 2.178387
-[01:08:36.084]  If point is visible? -0.033852, 0.577521, 2.167487
-[01:08:36.084]  If point is visible? 0.207964, 0.844160, 2.055941
-[01:08:36.084]  If point is visible? 0.207984, 0.835363, 2.059804
-[01:08:36.084]  If point is visible? -0.180217, -0.401502, 2.204611
-[01:08:36.084]  If point is visible? -0.423671, -0.034932, 2.211965
-[01:08:36.084]  If point is visible? 0.354046, -0.291063, 2.191334
-[01:08:36.084]  If point is visible? -0.639363, -0.162710, 2.153233
-[01:08:36.084]  If point is visible? -0.710408, 0.202381, 2.126819
-[01:08:36.084]  If point is visible? -0.686703, 0.202494, 2.134727
-[01:08:36.084]  If point is visible? -0.639738, -0.016531, 2.159639
-[01:08:36.084]  If point is visible? -0.686812, 0.184268, 2.136463
-[01:08:36.084]  If point is visible? -0.058288, 0.532310, 2.179738
-[01:08:36.084]  If point is visible? 0.207984, 0.835363, 2.059804
-[01:08:36.084]  If point is visible? 0.356576, -0.952041, 1.978901
-[01:08:36.084]  If point is visible? 0.123813, -0.744069, 2.105799
-[01:08:36.084]  If point is visible? 0.123810, -0.739618, 2.107484
-[01:08:36.084]  If point is visible? -0.472093, -0.706682, 2.077313
-[01:08:36.084]  If point is visible? -0.755537, -0.402656, 2.079774
-[01:08:36.084]  If point is visible? -0.260096, 0.107374, 2.233608
-[01:08:36.084]  If point is visible? 0.522472, 0.357233, 2.141195
-[01:08:36.084]  If point is visible? 0.299408, 0.390482, 2.184436
-[01:08:36.084]  If point is visible? 0.341721, 0.399346, 2.175302
-[01:08:36.085]  If point is visible? 0.244882, 0.404388, 2.189952
-[01:08:36.085]  If point is visible? 0.184209, 0.531704, 2.168103
-[01:08:36.085]  If point is visible? 0.159992, 0.635504, 2.140436
-[01:08:36.085]  If point is visible? 0.166035, 0.635471, 2.139845
-[01:08:36.085]  If point is visible? -0.668797, 0.645047, 2.044119
-[01:08:36.085]  If point is visible? 0.159992, 0.639994, 2.139000
-[01:08:36.085]  If point is visible? 0.166034, 0.639961, 2.138408
-[01:08:36.085]  If point is visible? 0.607809, 0.749737, 2.001701
-[01:08:36.085]  If point is visible? -0.851135, 0.768754, 1.924677
-[01:08:36.085]  If point is visible? -0.653414, 0.791183, 1.993203
-[01:08:36.085]  If point is visible? 0.196041, 0.800188, 2.076251
-[01:08:36.085]  If point is visible? -0.664488, 0.812837, 1.980014
-[01:08:36.085]  If point is visible? 0.350638, -0.952150, 1.980105
-[01:08:36.085]  If point is visible? -0.423651, 0.056788, 2.211483
-[01:08:36.085]  If point is visible? -0.411575, 0.056796, 2.213715
-[01:08:36.085]  If point is visible? -0.047223, -0.016621, 2.248289
-[01:08:36.085]  If point is visible? -0.423640, 0.065959, 2.211213
-[01:08:36.085]  If point is visible? -0.769382, 0.211166, 2.104807
-[01:08:36.085]  If point is visible? 0.329644, 0.394869, 2.178387
-[01:08:36.085]  If point is visible? -0.033852, 0.577521, 2.167487
-[01:08:36.085]  If point is visible? 0.207984, 0.835363, 2.059804
-[01:08:36.085]  If point is visible? -0.180217, -0.401502, 2.204611
-[01:08:36.085]  If point is visible? 0.354046, -0.291063, 2.191334
-[01:08:36.085]  If point is visible? -0.639363, -0.162710, 2.153233
-[01:08:36.085]  If point is visible? -0.423671, -0.034932, 2.211965
-[01:08:36.085]  If point is visible? -0.639738, -0.016531, 2.159639
-[01:08:36.085]  If point is visible? -0.710408, 0.202381, 2.126819
-[01:08:36.085]  If point is visible? -0.686703, 0.202494, 2.134727
-[01:08:36.085]  If point is visible? -0.686812, 0.184268, 2.136463
-[01:08:36.085]  If point is visible? -0.058288, 0.532310, 2.179738
-[01:08:36.085]  If point is visible? 0.207984, 0.835363, 2.059804
-[01:08:36.085]  If point is visible? 0.221426, 0.429304, 2.198565
-[01:08:36.085]  If point is visible? 0.227516, 0.429278, 2.197798
-[01:08:36.085]  If point is visible? 0.227520, 0.424709, 2.198748
-[01:08:36.085]  If point is visible? -1.731565, 0.469185, 1.315213
-[01:08:36.085]  If point is visible? 0.605001, 0.726972, 2.023241
-[01:08:36.085]  If point is visible? -0.745980, 0.753381, 1.987610
-[01:08:36.085]  If point is visible? -0.740134, 0.753515, 1.989799
-[01:08:36.085]  If point is visible? 0.413300, 0.810237, 2.044698
-[01:08:36.085]  If point is visible? -0.615425, 0.800250, 2.013377
-[01:08:36.085]  If point is visible? 0.419199, 0.818964, 2.039540
-[01:08:36.085]  If point is visible? -0.389555, 0.047867, 2.228369
-[01:08:36.085]  If point is visible? -0.377402, 0.047873, 2.230397
-[01:08:36.085]  If point is visible? -0.389536, 0.066305, 2.227867
-[01:08:36.085]  If point is visible? -0.389546, 0.057086, 2.228138
-[01:08:36.085]  If point is visible? -0.181068, -0.458339, 2.203287
-[01:08:36.085]  If point is visible? -0.156699, -0.458376, 2.204853
-[01:08:36.085]  If point is visible? -0.230095, -0.403360, 2.210747
-[01:08:36.085]  If point is visible? -0.181353, -0.403448, 2.214735
-[01:08:36.085]  If point is visible? -0.156965, -0.403480, 2.216300
-[01:08:36.085]  If point is visible? -0.832543, 0.184467, 2.094026
-[01:08:36.085]  If point is visible? -0.010143, 0.516646, 2.194406
-[01:08:36.085]  If point is visible? 0.233492, 0.534024, 2.172266
-[01:08:36.085]  If point is visible? 0.435686, -0.992753, 1.963151
-[01:08:36.085]  If point is visible? -0.420192, -0.725943, 2.095628
-[01:08:36.085]  If point is visible? -0.414088, -0.726008, 2.096828
-[01:08:36.085]  If point is visible? -0.102388, -0.209071, 2.250434
-[01:08:36.085]  If point is visible? -0.102393, -0.204391, 2.250887
-[01:08:36.085]  If point is visible? 0.269556, 0.440581, 2.196378
-[01:08:36.085]  If point is visible? 0.269570, 0.435942, 2.197353
-[01:08:36.085]  If point is visible? 0.568421, 0.622003, 2.083817
-[01:08:36.085]  If point is visible? 0.574482, 0.621913, 2.082020
-[01:08:36.085]  If point is visible? -0.618580, 0.807605, 2.012164
-[01:08:36.085]  If point is visible? 0.279772, 0.838660, 2.068524
-[01:08:36.085]  If point is visible? -0.754059, 0.638163, 2.029113
-[01:08:36.085]  If point is visible? -0.825621, 0.627642, 2.003620
-[01:08:36.085]  If point is visible? 0.285920, 0.834100, 2.069524
-[01:08:36.085]  If point is visible? -0.120511, -0.465492, 2.208705
-[01:08:36.085]  If point is visible? 0.424128, -0.315513, 2.191818
-[01:08:36.085]  If point is visible? 0.448719, -0.315389, 2.186415
-[01:08:36.085]  If point is visible? -0.687287, 0.206519, 2.145397
-[01:08:36.085]  If point is visible? 0.028198, 0.524667, 2.196499
-[01:08:36.085]  If point is visible? 0.275360, 0.542314, 2.171362
-[01:08:36.085]  If point is visible? 0.322732, 0.815695, 2.071179
-[01:08:36.085]  If point is visible? 0.235277, -0.801875, 2.098597
-[01:08:36.085]  If point is visible? 0.222404, -0.792426, 2.103589
-[01:08:36.085]  If point is visible? -0.324255, 0.075652, 2.234131
-[01:08:36.085]  If point is visible? 0.308064, 0.169006, 2.231826
-[01:08:36.085]  If point is visible? 0.643374, 0.363184, 2.135095
-[01:08:36.085]  If point is visible? -1.775844, 0.382316, 1.336067
-[01:08:36.085]  If point is visible? -1.775619, 0.386799, 1.335071
-[01:08:36.085]  If point is visible? -0.726350, 0.808468, 1.978916
-[01:08:36.085]  If point is visible? -0.751226, 0.812589, 1.967850
-[01:08:36.085]  If point is visible? -0.493463, -0.756784, 2.069579
-[01:08:36.085]  If point is visible? -0.108611, -0.488854, 2.202682
-[01:08:36.085]  If point is visible? 0.047590, 0.550998, 2.190236
-[01:08:36.085]  If point is visible? -0.591865, 0.909876, 1.979810
-[01:08:36.085]  If point is visible? 0.047613, 0.570420, 2.185242
-[01:08:36.085]  If point is visible? 0.307219, 0.569531, 2.164455
-[01:08:36.085]  If point is visible? 0.624799, -0.368348, 2.298094
-[01:08:36.085]  If point is visible? -0.262780, 0.112243, 2.392408
-[01:08:36.085]  If point is visible? 0.321056, 0.493608, 2.336655
-[01:08:36.085]  If point is visible? 0.321069, 0.488411, 2.337748
-[01:08:36.085]  If point is visible? -1.860775, 0.562003, 1.417046
-[01:08:36.085]  If point is visible? -0.643351, 0.728190, 2.203902
-[01:08:36.085]  If point is visible? 0.617432, -0.456609, 2.284154
-[01:08:36.085]  If point is visible? -0.526557, -0.807351, 2.207430
-[01:08:36.085]  If point is visible? -0.912899, 0.188975, 2.220693
-[01:08:36.085]  If point is visible? 0.050649, 0.587814, 2.336147
-[01:08:36.085]  If point is visible? 0.327625, 0.607586, 2.308643
-[01:08:36.085]  If point is visible? 0.446862, -1.029752, 1.972567
-[01:08:36.085]  If point is visible? -0.840676, 0.643489, 2.006486
-[01:08:36.085]  If point is visible? -0.135273, -0.491193, 2.211917
-[01:08:36.085]  If point is visible? -0.109143, -0.491232, 2.213377
-[01:08:36.085]  If point is visible? -0.083640, -0.156400, 2.263087
-[01:08:36.085]  If point is visible? 0.047796, 0.534142, 2.205707
-[01:08:36.085]  If point is visible? 0.446862, -1.029752, 1.972567
-[01:08:36.085]  If point is visible? -0.701849, 0.655617, 2.055613
-[01:08:36.085]  If point is visible? -0.840676, 0.643489, 2.006486
-[01:08:36.085]  If point is visible? -0.135273, -0.491193, 2.211917
-[01:08:36.085]  If point is visible? -0.109143, -0.491232, 2.213377
-[01:08:36.085]  If point is visible? -0.083640, -0.156400, 2.263087
-[01:08:36.085]  If point is visible? 0.047796, 0.534142, 2.205707
-[01:08:36.085]  If point is visible? -0.777017, -0.700572, 2.055270
-[01:08:36.085]  If point is visible? -0.098296, -0.229301, 2.293935
-[01:08:36.085]  If point is visible? -0.091642, -0.224284, 2.294714
-[01:08:36.085]  If point is visible? -0.504104, -0.773054, 2.113941
-[01:08:36.085]  If point is visible? 0.048560, 0.542984, 2.242105
-[01:08:36.085]  If point is visible? -0.777017, -0.700572, 2.055270
-[01:08:36.085]  If point is visible? -0.091642, -0.224284, 2.294714
-[01:08:36.085]  If point is visible? -0.504104, -0.773054, 2.113941
-[01:08:36.085]  If point is visible? 0.048560, 0.542984, 2.242105
-[01:08:36.085]  If point is visible? -1.802906, 0.398837, 1.435596
-[01:08:36.086]  If point is visible? -0.616606, 0.826559, 2.102455
-[01:08:36.086]  If point is visible? -1.802906, 0.398837, 1.435596
-[01:08:36.086]  If point is visible? -0.616606, 0.826559, 2.102455
-[01:08:36.086]  If point is visible? 0.590904, -0.426406, 2.270947
-[01:08:36.086]  If point is visible? -1.808316, 0.440829, 1.484779
-[01:08:36.086]  If point is visible? 0.590904, -0.426406, 2.270947
-[01:08:36.086]  If point is visible? -1.808316, 0.440829, 1.484779
-[01:08:36.086]  If point is visible? -0.592877, 1.100719, 1.963644
-[01:08:36.086]  If point is visible? -0.592877, 1.100719, 1.963644
-[01:08:36.086]  If point is visible? -0.059166, -0.171198, 2.329760
-[01:08:36.086]  If point is visible? 0.075846, 0.022327, 2.335576
-[01:08:36.086]  If point is visible? -0.059166, -0.171198, 2.329760
-[01:08:36.086]  If point is visible? 0.075846, 0.022327, 2.335576
-[01:08:36.086]  If point is visible? -0.505313, -0.059267, 2.291167
-[01:08:36.086]  If point is visible? -0.505334, 0.032566, 2.291699
-[01:08:36.086]  If point is visible? -0.711637, 0.737773, 2.110546
-[01:08:36.086]  If point is visible? -0.505313, -0.059267, 2.291167
-[01:08:36.086]  If point is visible? -0.505334, 0.032566, 2.291699
-[01:08:36.086]  If point is visible? -0.711637, 0.737773, 2.110546
-[01:08:36.086] init seeds
-[01:08:36.089] DepthFilter: Initialized 0 new seeds
-[01:08:36.318] add new frame
-[01:08:36.318] update seed
-[01:08:36.318]  If point is visible? -1.059585, 0.183256, 0.559499
-[01:08:36.318]  If point is visible? -1.059500, 0.182522, 0.559070
-[01:08:36.318]  If point is visible? -0.947611, 0.167406, 0.563048
-[01:08:36.318]  If point is visible? -1.075084, 0.131649, 0.536119
-[01:08:36.318]  If point is visible? -1.069406, 0.127929, 0.534140
-[01:08:36.318]  If point is visible? -1.067158, 0.110963, 0.528073
-[01:08:36.318]  If point is visible? -1.068239, 0.110945, 0.528158
-[01:08:36.318]  If point is visible? -1.183954, 0.106087, 0.556998
-[01:08:36.318]  If point is visible? -0.756448, 0.059151, 0.649633
-[01:08:36.318]  If point is visible? -1.125187, -0.026250, 0.521078
-[01:08:36.318]  If point is visible? -1.126284, -0.026243, 0.521348
-[01:08:36.318]  If point is visible? -1.064007, -0.034484, 0.512210
-[01:08:36.318]  If point is visible? -1.061846, -0.035288, 0.512142
-[01:08:36.318]  If point is visible? -1.059686, -0.036092, 0.512088
-[01:08:36.318]  If point is visible? -1.055372, -0.037700, 0.512024
-[01:08:36.318]  If point is visible? -1.056458, -0.037695, 0.512076
-[01:08:36.318]  If point is visible? -1.039277, -0.044132, 0.512352
-[01:08:36.318]  If point is visible? -1.020002, -0.047395, 0.513228
-[01:08:36.318]  If point is visible? -1.022145, -0.047387, 0.513124
-[01:08:36.318] add key frame
-[01:08:36.318]  If point is visible? -1.023218, -0.047382, 0.513078
-[01:08:36.318] init seeds
-[01:08:36.321] DepthFilter: Initialized 4 new seeds
-[01:08:36.321] update seed
-[01:08:36.321]  If point is visible? -1.059585, 0.183256, 0.559499
-[01:08:36.321]  If point is visible? -1.059500, 0.182522, 0.559070
-[01:08:36.321]  If point is visible? -0.947611, 0.167406, 0.563048
-[01:08:36.321]  If point is visible? -1.075084, 0.131649, 0.536119
-[01:08:36.321]  If point is visible? -1.069406, 0.127929, 0.534140
-[01:08:36.321]  If point is visible? -1.067158, 0.110963, 0.528073
-[01:08:36.321]  If point is visible? -1.068239, 0.110945, 0.528158
-[01:08:36.321]  If point is visible? -1.183954, 0.106087, 0.556998
-[01:08:36.321]  If point is visible? -0.756448, 0.059151, 0.649633
-[01:08:36.321]  If point is visible? -1.125187, -0.026250, 0.521078
-[01:08:36.321]  If point is visible? -1.126284, -0.026243, 0.521348
-[01:08:36.321]  If point is visible? -1.064007, -0.034484, 0.512210
-[01:08:36.321]  If point is visible? -1.061846, -0.035288, 0.512142
-[01:08:36.321]  If point is visible? -1.059686, -0.036092, 0.512088
-[01:08:36.321]  If point is visible? -1.055372, -0.037700, 0.512024
-[01:08:36.321]  If point is visible? -1.056458, -0.037695, 0.512076
-[01:08:36.321]  If point is visible? -1.039277, -0.044132, 0.512352
-[01:08:36.321]  If point is visible? -1.020002, -0.047395, 0.513228
-[01:08:36.321]  If point is visible? -1.022145, -0.047387, 0.513124
-[01:08:36.321]  If point is visible? -1.023218, -0.047382, 0.513078
-[01:08:36.321]  If point is visible? -0.705514, -0.076444, 0.743280
-[01:08:36.321]  If point is visible? -0.743998, -0.096750, 0.680511
-[01:08:36.321]  If point is visible? -1.112223, -0.100598, 0.531581
-[01:08:36.321]  If point is visible? -1.104642, -0.101538, 0.530318
-[01:08:36.321]  If point is visible? -1.105731, -0.101515, 0.530522
-[01:08:36.321]  If point is visible? -1.030901, -0.142259, 0.538504
-[01:08:36.321]  If point is visible? -1.040822, -0.145931, 0.540000
-[01:08:36.321]  If point is visible? -1.028518, -0.161357, 0.547265
-[01:08:36.321]  If point is visible? -1.029574, -0.161339, 0.547227
-[01:08:36.321]  If point is visible? -1.029654, -0.162095, 0.547596
-[01:08:36.321]  If point is visible? -1.026594, -0.172691, 0.553136
-[01:08:36.321]  If point is visible? -0.946902, 0.169669, 0.564475
-[01:08:36.321]  If point is visible? -0.784414, 0.139485, 0.651782
-[01:08:36.321]  If point is visible? -1.075201, 0.133179, 0.536728
-[01:08:36.321]  If point is visible? -1.069882, 0.119437, 0.531126
-[01:08:36.321]  If point is visible? -1.075084, 0.131649, 0.536119
-[01:08:36.321]  If point is visible? -0.768002, 0.096883, 0.648544
-[01:08:36.321]  If point is visible? -0.707979, 0.058897, 0.728965
-[01:08:36.321]  If point is visible? -0.755766, 0.059894, 0.650680
-[01:08:36.321]  If point is visible? -0.755558, 0.056826, 0.650147
-[01:08:36.321]  If point is visible? -0.755661, 0.058361, 0.650410
-[01:08:36.321]  If point is visible? -1.269197, 0.023303, 0.592444
-[01:08:36.321]  If point is visible? -1.044584, -0.040133, 0.511941
-[01:08:36.321]  If point is visible? -1.046749, -0.040123, 0.511983
-[01:08:36.321]  If point is visible? -1.048880, -0.038524, 0.511866
-[01:08:36.321]  If point is visible? -1.051048, -0.038514, 0.511934
-[01:08:36.321]  If point is visible? -1.053184, -0.036916, 0.511848
-[01:08:36.321]  If point is visible? -1.055355, -0.036906, 0.511942
-[01:08:36.321]  If point is visible? -1.063992, -0.033690, 0.512135
-[01:08:36.321]  If point is visible? -1.040297, -0.041742, 0.512074
-[01:08:36.321]  If point is visible? -1.036019, -0.043351, 0.512265
-[01:08:36.321]  If point is visible? -1.020964, -0.043409, 0.512682
-[01:08:36.321]  If point is visible? -1.023109, -0.043402, 0.512585
-[01:08:36.321]  If point is visible? -0.721851, -0.086842, 0.713163
-[01:08:36.321]  If point is visible? -0.707143, -0.078065, 0.740188
-[01:08:36.321]  If point is visible? -0.705992, -0.076503, 0.742123
-[01:08:36.321]  If point is visible? -0.751084, -0.099466, 0.671544
-[01:08:36.321]  If point is visible? -0.752475, -0.099558, 0.669650
-[01:08:36.321]  If point is visible? -0.832592, 0.167132, 0.623140
-[01:08:36.321]  If point is visible? -0.945301, 0.172675, 0.566608
-[01:08:36.321]  If point is visible? -0.768888, 0.104446, 0.650850
-[01:08:36.321]  If point is visible? -0.941891, 0.098516, 0.536622
-[01:08:36.321]  If point is visible? -0.783132, 0.140857, 0.654106
-[01:08:36.321]  If point is visible? -0.777753, 0.125814, 0.651340
-[01:08:36.321]  If point is visible? -0.942344, 0.104813, 0.538383
-[01:08:36.321]  If point is visible? -0.780610, 0.143582, 0.658814
-[01:08:36.321]  If point is visible? -0.852345, 0.097824, 0.575957
-[01:08:36.321]  If point is visible? -0.778199, 0.128795, 0.652513
-[01:08:36.321]  If point is visible? -0.942114, 0.101666, 0.537488
-[01:08:36.321]  If point is visible? -0.760327, 0.079882, 0.651205
-[01:08:36.321]  If point is visible? -0.783337, -0.056588, 0.619158
-[01:08:36.321]  If point is visible? -1.027288, -0.038608, 0.511893
-[01:08:36.321]  If point is visible? -1.040223, -0.038560, 0.511723
-[01:08:36.321]  If point is visible? -1.140464, -0.019104, 0.524703
-[01:08:36.321]  If point is visible? -1.027365, -0.041793, 0.512243
-[01:08:36.321]  If point is visible? -1.031668, -0.041777, 0.512136
-[01:08:36.321]  If point is visible? -1.035979, -0.041760, 0.512080
-[01:08:36.321]  If point is visible? -0.528225, -0.607778, 1.722011
-[01:08:36.321]  If point is visible? -0.439611, -0.601628, 1.749447
-[01:08:36.321]  If point is visible? -0.434655, -0.601688, 1.750671
-[01:08:36.321]  If point is visible? 0.106129, -0.044577, 1.899885
-[01:08:36.321]  If point is visible? 0.111223, -0.044575, 1.899468
-[01:08:36.321]  If point is visible? 0.400294, 0.294827, 1.825666
-[01:08:36.321]  If point is visible? -0.598831, 0.535254, 1.724624
-[01:08:36.321]  If point is visible? -0.905413, 0.494892, 1.592674
-[01:08:36.321]  If point is visible? -0.537934, -0.611315, 1.717558
-[01:08:36.321]  If point is visible? -0.469206, -0.604955, 1.740405
-[01:08:36.321]  If point is visible? -0.459319, -0.605088, 1.743022
-[01:08:36.321]  If point is visible? -0.449423, -0.605217, 1.745576
-[01:08:36.321]  If point is visible? -0.183880, -0.129046, 1.895002
-[01:08:36.321]  If point is visible? -0.173727, -0.129051, 1.895839
-[01:08:36.321]  If point is visible? -0.838483, 0.130033, 1.706034
-[01:08:36.321]  If point is visible? -0.809612, 0.152897, 1.718545
-[01:08:36.321]  If point is visible? -0.828810, 0.145208, 1.709653
-[01:08:36.321]  If point is visible? -0.828878, 0.137650, 1.710303
-[01:08:36.322]  If point is visible? -0.819322, 0.137711, 1.715122
-[01:08:36.322]  If point is visible? -0.530040, 0.540029, 1.745982
-[01:08:36.322]  If point is visible? -0.070147, 0.475154, 1.840259
-[01:08:36.322]  If point is visible? -0.479084, -0.604819, 1.737726
-[01:08:36.322]  If point is visible? -0.459319, -0.605088, 1.743022
-[01:08:36.322]  If point is visible? -0.202609, -0.381199, 1.856014
-[01:08:36.322]  If point is visible? -0.182510, -0.366031, 1.861186
-[01:08:36.322]  If point is visible? 0.263900, -0.243274, 1.863363
-[01:08:36.322]  If point is visible? -0.565794, -0.135995, 1.818383
-[01:08:36.322]  If point is visible? -0.080537, 0.444910, 1.848219
-[01:08:36.322]  If point is visible? -0.528225, -0.607778, 1.722011
-[01:08:36.322]  If point is visible? -0.439611, -0.601628, 1.749447
-[01:08:36.322]  If point is visible? -0.434655, -0.601688, 1.750671
-[01:08:36.322]  If point is visible? 0.106129, -0.044577, 1.899885
-[01:08:36.322]  If point is visible? 0.111223, -0.044575, 1.899468
-[01:08:36.322]  If point is visible? 0.400294, 0.294827, 1.825666
-[01:08:36.322]  If point is visible? -0.905413, 0.494892, 1.592674
-[01:08:36.322]  If point is visible? -0.598831, 0.535254, 1.724624
-[01:08:36.322]  If point is visible? -0.469206, -0.604955, 1.740405
-[01:08:36.322]  If point is visible? -0.459319, -0.605088, 1.743022
-[01:08:36.322]  If point is visible? -0.449423, -0.605217, 1.745576
-[01:08:36.322]  If point is visible? -0.183880, -0.129046, 1.895002
-[01:08:36.322]  If point is visible? -0.173727, -0.129051, 1.895839
-[01:08:36.322]  If point is visible? -0.809612, 0.152897, 1.718545
-[01:08:36.322]  If point is visible? -0.828810, 0.145208, 1.709653
-[01:08:36.322]  If point is visible? -0.828878, 0.137650, 1.710303
-[01:08:36.322]  If point is visible? -0.819322, 0.137711, 1.715122
-[01:08:36.322]  If point is visible? -0.530040, 0.540029, 1.745982
-[01:08:36.322]  If point is visible? -0.070147, 0.475154, 1.840259
-[01:08:36.322]  If point is visible? -0.202609, -0.381199, 1.856014
-[01:08:36.322]  If point is visible? -0.182510, -0.366031, 1.861186
-[01:08:36.322]  If point is visible? -0.479084, -0.604819, 1.737726
-[01:08:36.322]  If point is visible? -0.459319, -0.605088, 1.743022
-[01:08:36.322]  If point is visible? 0.263900, -0.243274, 1.863363
-[01:08:36.322]  If point is visible? -0.565794, -0.135995, 1.818383
-[01:08:36.322]  If point is visible? -0.080537, 0.444910, 1.848219
-[01:08:36.322]  If point is visible? 0.328493, -0.952041, 1.987554
-[01:08:36.322]  If point is visible? 0.093762, -0.744069, 2.110774
-[01:08:36.322]  If point is visible? 0.093732, -0.739618, 2.112459
-[01:08:36.322]  If point is visible? -0.501622, -0.706682, 2.072913
-[01:08:36.322]  If point is visible? -0.785070, -0.402656, 2.070913
-[01:08:36.322]  If point is visible? -0.292111, 0.107374, 2.232525
-[01:08:36.322]  If point is visible? 0.491805, 0.361769, 2.151627
-[01:08:36.322]  If point is visible? 0.491824, 0.352697, 2.153240
-[01:08:36.322]  If point is visible? 0.491815, 0.357233, 2.152439
-[01:08:36.322]  If point is visible? 0.328721, 0.394694, 2.181438
-[01:08:36.322]  If point is visible? 0.268098, 0.390482, 2.192165
-[01:08:36.322]  If point is visible? 0.213492, 0.404388, 2.196822
-[01:08:36.322]  If point is visible? 0.153170, 0.531704, 2.174020
-[01:08:36.322]  If point is visible? -0.697780, 0.645047, 2.036627
-[01:08:36.322]  If point is visible? 0.129391, 0.635504, 2.145976
-[01:08:36.322]  If point is visible? 0.135443, 0.635471, 2.145479
-[01:08:36.322]  If point is visible? 0.129413, 0.639994, 2.144539
-[01:08:36.322]  If point is visible? 0.135465, 0.639961, 2.144043
-[01:08:36.322]  If point is visible? 0.579336, 0.749737, 2.014305
-[01:08:36.322]  If point is visible? -0.878215, 0.768754, 1.914331
-[01:08:36.322]  If point is visible? -0.681598, 0.791183, 1.985960
-[01:08:36.322]  If point is visible? 0.166445, 0.800188, 2.082366
-[01:08:36.322]  If point is visible? -0.692462, 0.812837, 1.972598
-[01:08:36.322]  If point is visible? 0.322536, -0.952150, 1.988665
-[01:08:36.322]  If point is visible? -0.079495, -0.016621, 2.250554
-[01:08:36.322]  If point is visible? -0.370805, 0.093548, 2.221961
-[01:08:36.322]  If point is visible? -0.358719, 0.093558, 2.223884
-[01:08:36.322]  If point is visible? -0.358697, 0.102735, 2.223453
-[01:08:36.322]  If point is visible? -0.443226, 0.075139, 2.209670
-[01:08:36.322]  If point is visible? -0.455283, 0.065959, 2.207559
-[01:08:36.322]  If point is visible? -0.799307, 0.211166, 2.095725
-[01:08:36.322]  If point is visible? 0.298425, 0.394869, 2.186591
-[01:08:36.322]  If point is visible? -0.064855, 0.577521, 2.169973
-[01:08:36.322]  If point is visible? 0.178687, 0.844160, 2.062246
-[01:08:36.322]  If point is visible? 0.178646, 0.835363, 2.066108
-[01:08:36.322]  If point is visible? -0.211785, -0.401502, 2.204789
-[01:08:36.322]  If point is visible? -0.455326, -0.034932, 2.208310
-[01:08:36.322]  If point is visible? 0.322621, -0.291063, 2.199921
-[01:08:36.322]  If point is visible? -0.670067, -0.162710, 2.146191
-[01:08:36.322]  If point is visible? -0.740687, 0.202381, 2.118663
-[01:08:36.322]  If point is visible? -0.717110, 0.202494, 2.126943
-[01:08:36.322]  If point is visible? -0.670542, -0.016531, 2.152590
-[01:08:36.322]  If point is visible? -0.717246, 0.184268, 2.128677
-[01:08:36.322]  If point is visible? -0.089481, 0.532310, 2.181838
-[01:08:36.322]  If point is visible? 0.178646, 0.835363, 2.066108
-[01:08:36.322]  If point is visible? 0.328493, -0.952041, 1.987554
-[01:08:36.322]  If point is visible? 0.093762, -0.744069, 2.110774
-[01:08:36.322]  If point is visible? 0.093732, -0.739618, 2.112459
-[01:08:36.322]  If point is visible? -0.501622, -0.706682, 2.072913
-[01:08:36.322]  If point is visible? -0.785070, -0.402656, 2.070913
-[01:08:36.322]  If point is visible? -0.292111, 0.107374, 2.232525
-[01:08:36.322]  If point is visible? 0.491815, 0.357233, 2.152439
-[01:08:36.322]  If point is visible? 0.268098, 0.390482, 2.192165
-[01:08:36.322]  If point is visible? 0.310549, 0.399346, 2.183698
-[01:08:36.322]  If point is visible? 0.213492, 0.404388, 2.196822
-[01:08:36.322]  If point is visible? 0.153170, 0.531704, 2.174020
-[01:08:36.322]  If point is visible? 0.129391, 0.635504, 2.145976
-[01:08:36.322]  If point is visible? 0.135443, 0.635471, 2.145479
-[01:08:36.322]  If point is visible? -0.697780, 0.645047, 2.036627
-[01:08:36.322]  If point is visible? 0.129413, 0.639994, 2.144539
-[01:08:36.322]  If point is visible? 0.135465, 0.639961, 2.144043
-[01:08:36.322]  If point is visible? 0.579336, 0.749737, 2.014305
-[01:08:36.322]  If point is visible? -0.878215, 0.768754, 1.914331
-[01:08:36.322]  If point is visible? -0.681598, 0.791183, 1.985960
-[01:08:36.322]  If point is visible? 0.166445, 0.800188, 2.082366
-[01:08:36.322]  If point is visible? -0.692462, 0.812837, 1.972598
-[01:08:36.322]  If point is visible? 0.322536, -0.952150, 1.988665
-[01:08:36.322]  If point is visible? -0.455298, 0.056788, 2.207829
-[01:08:36.322]  If point is visible? -0.443259, 0.056796, 2.210251
-[01:08:36.322]  If point is visible? -0.079495, -0.016621, 2.250554
-[01:08:36.322]  If point is visible? -0.455283, 0.065959, 2.207559
-[01:08:36.322]  If point is visible? -0.799307, 0.211166, 2.095725
-[01:08:36.322]  If point is visible? 0.298425, 0.394869, 2.186591
-[01:08:36.322]  If point is visible? -0.064855, 0.577521, 2.169973
-[01:08:36.322]  If point is visible? 0.178646, 0.835363, 2.066108
-[01:08:36.322]  If point is visible? -0.211785, -0.401502, 2.204789
-[01:08:36.322]  If point is visible? 0.322621, -0.291063, 2.199921
-[01:08:36.322]  If point is visible? -0.670067, -0.162710, 2.146191
-[01:08:36.322]  If point is visible? -0.455326, -0.034932, 2.208310
-[01:08:36.322]  If point is visible? -0.670542, -0.016531, 2.152590
-[01:08:36.322]  If point is visible? -0.740687, 0.202381, 2.118663
-[01:08:36.322]  If point is visible? -0.717110, 0.202494, 2.126943
-[01:08:36.322]  If point is visible? -0.717246, 0.184268, 2.128677
-[01:08:36.322]  If point is visible? -0.089481, 0.532310, 2.181838
-[01:08:36.322]  If point is visible? 0.178646, 0.835363, 2.066108
-[01:08:36.322]  If point is visible? 0.189905, 0.429304, 2.205069
-[01:08:36.322]  If point is visible? 0.196007, 0.429278, 2.204397
-[01:08:36.322]  If point is visible? 0.195995, 0.424709, 2.205348
-[01:08:36.322]  If point is visible? -1.748942, 0.469185, 1.291092
-[01:08:36.322]  If point is visible? 0.576192, 0.726972, 2.035803
-[01:08:36.322]  If point is visible? -0.774061, 0.753381, 1.978915
-[01:08:36.322]  If point is visible? -0.768250, 0.753515, 1.981196
-[01:08:36.322]  If point is visible? 0.384176, 0.810237, 2.054241
-[01:08:36.322]  If point is visible? -0.643928, 0.800250, 2.006734
-[01:08:36.322]  If point is visible? 0.390156, 0.818964, 2.049176
-[01:08:36.322]  If point is visible? -0.421470, 0.047867, 2.225254
-[01:08:36.322]  If point is visible? -0.409350, 0.047873, 2.227473
-[01:08:36.322]  If point is visible? -0.421442, 0.066305, 2.224752
-[01:08:36.322]  If point is visible? -0.421457, 0.057086, 2.225023
-[01:08:36.322]  If point is visible? -0.212614, -0.458339, 2.203455
-[01:08:36.322]  If point is visible? -0.188272, -0.458376, 2.205405
-[01:08:36.322]  If point is visible? -0.261752, -0.403360, 2.210143
-[01:08:36.323]  If point is visible? -0.213079, -0.403448, 2.214898
-[01:08:36.323]  If point is visible? -0.188718, -0.403480, 2.216846
-[01:08:36.323]  If point is visible? -0.862288, 0.184467, 2.083956
-[01:08:36.323]  If point is visible? -0.041570, 0.516646, 2.197266
-[01:08:36.323]  If point is visible? 0.202383, 0.534024, 2.178963
-[01:08:36.323]  If point is visible? 0.407385, -0.992753, 1.972807
-[01:08:36.323]  If point is visible? -0.450472, -0.725943, 2.091797
-[01:08:36.323]  If point is visible? -0.444389, -0.726008, 2.093093
-[01:08:36.323]  If point is visible? -0.135144, -0.209071, 2.251585
-[01:08:36.323]  If point is visible? -0.135157, -0.204391, 2.252039
-[01:08:36.323]  If point is visible? 0.237604, 0.440581, 2.203390
-[01:08:36.323]  If point is visible? 0.237603, 0.435942, 2.204365
-[01:08:36.323]  If point is visible? 0.538204, 0.622003, 2.095546
-[01:08:36.323]  If point is visible? 0.544292, 0.621913, 2.093845
-[01:08:36.323]  If point is visible? -0.647522, 0.807605, 2.005222
-[01:08:36.323]  If point is visible? 0.249831, 0.838660, 2.075713
-[01:08:36.323]  If point is visible? -0.783251, 0.638163, 2.020036
-[01:08:36.323]  If point is visible? -0.854403, 0.627642, 1.993420
-[01:08:36.323]  If point is visible? 0.255963, 0.834100, 2.076809
-[01:08:36.323]  If point is visible? -0.152608, -0.465492, 2.209577
-[01:08:36.323]  If point is visible? 0.392229, -0.315513, 2.201263
-[01:08:36.323]  If point is visible? 0.416903, -0.315389, 2.196248
-[01:08:36.323]  If point is visible? -0.718317, 0.206519, 2.137358
-[01:08:36.323]  If point is visible? -0.003726, 0.524667, 2.199713
-[01:08:36.323]  If point is visible? 0.243801, 0.542314, 2.178468
-[01:08:36.323]  If point is visible? 0.292744, 0.815695, 2.079043
-[01:08:36.323]  If point is visible? 0.203129, -0.801875, 2.104719
-[01:08:36.323]  If point is visible? 0.190179, -0.792426, 2.109507
-[01:08:36.323]  If point is visible? -0.358467, 0.075652, 2.231430
-[01:08:36.323]  If point is visible? 0.273810, 0.169006, 2.239077
-[01:08:36.323]  If point is visible? 0.610601, 0.363184, 2.147635
-[01:08:36.323]  If point is visible? -1.795743, 0.382316, 1.310634
-[01:08:36.323]  If point is visible? -1.795502, 0.386799, 1.309641
-[01:08:36.323]  If point is visible? -0.756496, 0.808468, 1.969920
-[01:08:36.323]  If point is visible? -0.781194, 0.812589, 1.958463
-[01:08:36.323]  If point is visible? -0.525064, -0.756784, 2.064236
-[01:08:36.323]  If point is visible? -0.142355, -0.488854, 2.203379
-[01:08:36.323]  If point is visible? 0.014023, 0.550998, 2.193393
-[01:08:36.323]  If point is visible? -0.622041, 0.909876, 1.972929
-[01:08:36.323]  If point is visible? 0.014125, 0.570420, 2.188400
-[01:08:36.323]  If point is visible? 0.274025, 0.569531, 2.171701
-[01:08:36.323]  If point is visible? 0.589463, -0.368348, 2.310321
-[01:08:36.323]  If point is visible? -0.299490, 0.112243, 2.390656
-[01:08:36.323]  If point is visible? 0.285151, 0.493608, 2.344097
-[01:08:36.323]  If point is visible? 0.285147, 0.488411, 2.345190
-[01:08:36.323]  If point is visible? -1.881937, 0.562003, 1.390266
-[01:08:36.323]  If point is visible? -0.677047, 0.728190, 2.196184
-[01:08:36.323]  If point is visible? 0.582317, -0.456609, 2.296267
-[01:08:36.323]  If point is visible? -0.560323, -0.807351, 2.201550
-[01:08:36.323]  If point is visible? -0.946827, 0.188975, 2.208731
-[01:08:36.323]  If point is visible? 0.014785, 0.587814, 2.339334
-[01:08:36.323]  If point is visible? 0.292160, 0.607586, 2.316192
-[01:08:36.323]  If point is visible? 0.416671, -1.029752, 1.982035
-[01:08:36.323]  If point is visible? -0.871241, 0.643489, 1.995687
-[01:08:36.323]  If point is visible? -0.169158, -0.491193, 2.212194
-[01:08:36.323]  If point is visible? -0.143055, -0.491232, 2.214065
-[01:08:36.323]  If point is visible? -0.118337, -0.156400, 2.264170
-[01:08:36.323]  If point is visible? 0.013985, 0.534142, 2.208866
-[01:08:36.323]  If point is visible? 0.416671, -1.029752, 1.982035
-[01:08:36.323]  If point is visible? -0.733205, 0.655617, 2.046993
-[01:08:36.323]  If point is visible? -0.871241, 0.643489, 1.995687
-[01:08:36.323]  If point is visible? -0.169158, -0.491193, 2.212194
-[01:08:36.323]  If point is visible? -0.143055, -0.491232, 2.214065
-[01:08:36.323]  If point is visible? -0.118337, -0.156400, 2.264170
-[01:08:36.323]  If point is visible? 0.013985, 0.534142, 2.208866
-[01:08:36.323]  If point is visible? -0.808358, -0.700572, 2.045467
-[01:08:36.323]  If point is visible? -0.133477, -0.229301, 2.294783
-[01:08:36.323]  If point is visible? -0.126836, -0.224284, 2.295667
-[01:08:36.323]  If point is visible? -0.536402, -0.773054, 2.108426
-[01:08:36.323]  If point is visible? 0.014177, 0.542984, 2.245271
-[01:08:36.323]  If point is visible? -0.808358, -0.700572, 2.045467
-[01:08:36.323]  If point is visible? -0.126836, -0.224284, 2.295667
-[01:08:36.323]  If point is visible? -0.536402, -0.773054, 2.108426
-[01:08:36.323]  If point is visible? 0.014177, 0.542984, 2.245271
-[01:08:36.323]  If point is visible? -1.824368, 0.398837, 1.409725
-[01:08:36.323]  If point is visible? -0.648710, 0.826559, 2.095170
-[01:08:36.323]  If point is visible? -1.824368, 0.398837, 1.409725
-[01:08:36.323]  If point is visible? -0.648710, 0.826559, 2.095170
-[01:08:36.323]  If point is visible? 0.556000, -0.426406, 2.282645
-[01:08:36.323]  If point is visible? -1.830552, 0.440829, 1.458816
-[01:08:36.323]  If point is visible? 0.556000, -0.426406, 2.282645
-[01:08:36.323]  If point is visible? -1.830552, 0.440829, 1.458816
-[01:08:36.323]  If point is visible? -0.622799, 1.100719, 1.956750
-[01:08:36.323]  If point is visible? -0.622799, 1.100719, 1.956750
-[01:08:36.323]  If point is visible? -0.094916, -0.171198, 2.331220
-[01:08:36.323]  If point is visible? 0.039988, 0.022327, 2.339160
-[01:08:36.323]  If point is visible? -0.094916, -0.171198, 2.331220
-[01:08:36.323]  If point is visible? 0.039988, 0.022327, 2.339160
-[01:08:36.323]  If point is visible? -0.540401, -0.059267, 2.285610
-[01:08:36.323]  If point is visible? -0.540430, 0.032566, 2.286142
-[01:08:36.323]  If point is visible? -0.743856, 0.737773, 2.101765
-[01:08:36.323]  If point is visible? -0.540401, -0.059267, 2.285610
-[01:08:36.323]  If point is visible? -0.540430, 0.032566, 2.286142
-[01:08:36.323]  If point is visible? -0.743856, 0.737773, 2.101765
-[01:08:36.323]  If point is visible? 0.339878, 0.411859, 2.290885
-[01:08:36.323]  If point is visible? 0.528984, 0.390556, 2.258527
-[01:08:36.323]  If point is visible? 0.528860, 0.410912, 2.254941
-[01:08:36.323]  If point is visible? 1.376303, 0.991303, 1.629848
-[01:08:36.323] init seeds
-[01:08:36.327] DepthFilter: Initialized 3 new seeds
-[01:08:36.581] add new frame
-[01:08:36.581] update seed
-[01:08:36.581]  If point is visible? -1.056607, 0.183256, 0.562143
-[01:08:36.581]  If point is visible? -1.056520, 0.182522, 0.561714
-[01:08:36.581]  If point is visible? -0.944660, 0.167406, 0.566447
-[01:08:36.581]  If point is visible? -1.071949, 0.131649, 0.538659
-[01:08:36.581]  If point is visible? -1.066257, 0.127929, 0.536718
-[01:08:36.581]  If point is visible? -1.063968, 0.110963, 0.530666
-[01:08:36.581]  If point is visible? -1.065050, 0.110945, 0.530743
-[01:08:36.581]  If point is visible? -1.180957, 0.106087, 0.558803
-[01:08:36.581]  If point is visible? -0.754085, 0.059151, 0.654319
-[01:08:36.581]  If point is visible? -1.121949, -0.026250, 0.523280
-[01:08:36.581]  If point is visible? -1.123048, -0.026243, 0.523542
-[01:08:36.581]  If point is visible? -1.060710, -0.034484, 0.514825
-[01:08:36.581]  If point is visible? -1.058548, -0.035288, 0.514771
-[01:08:36.581]  If point is visible? -1.056388, -0.036092, 0.514732
-[01:08:36.581]  If point is visible? -1.052074, -0.037700, 0.514697
-[01:08:36.581]  If point is visible? -1.053161, -0.037695, 0.514742
-[01:08:36.581]  If point is visible? -1.035982, -0.044132, 0.515134
-[01:08:36.581] add key frame
-[01:08:36.581]  If point is visible? -1.016713, -0.047395, 0.516139
-[01:08:36.581] init seeds
-[01:08:36.584] DepthFilter: Initialized 2 new seeds
-[01:08:36.584] update seed
-[01:08:36.584]  If point is visible? -1.056607, 0.183256, 0.562143
-[01:08:36.584]  If point is visible? -1.056520, 0.182522, 0.561714
-[01:08:36.584]  If point is visible? -0.944660, 0.167406, 0.566447
-[01:08:36.584]  If point is visible? -1.071949, 0.131649, 0.538659
-[01:08:36.584]  If point is visible? -1.066257, 0.127929, 0.536718
-[01:08:36.584]  If point is visible? -1.063968, 0.110963, 0.530666
-[01:08:36.584]  If point is visible? -1.065050, 0.110945, 0.530743
-[01:08:36.584]  If point is visible? -1.180957, 0.106087, 0.558803
-[01:08:36.584]  If point is visible? -0.754085, 0.059151, 0.654319
-[01:08:36.584]  If point is visible? -1.121949, -0.026250, 0.523280
-[01:08:36.584]  If point is visible? -1.123048, -0.026243, 0.523542
-[01:08:36.584]  If point is visible? -1.060710, -0.034484, 0.514825
-[01:08:36.584]  If point is visible? -1.058548, -0.035288, 0.514771
-[01:08:36.584]  If point is visible? -1.056388, -0.036092, 0.514732
-[01:08:36.584]  If point is visible? -1.052074, -0.037700, 0.514697
-[01:08:36.584]  If point is visible? -1.053161, -0.037695, 0.514742
-[01:08:36.584]  If point is visible? -1.035982, -0.044132, 0.515134
-[01:08:36.584]  If point is visible? -1.016713, -0.047395, 0.516139
-[01:08:36.584]  If point is visible? -1.018856, -0.047387, 0.516021
-[01:08:36.584]  If point is visible? -1.019928, -0.047382, 0.515967
-[01:08:36.584]  If point is visible? -0.703785, -0.076444, 0.748307
-[01:08:36.584]  If point is visible? -0.741844, -0.096750, 0.685281
-[01:08:36.584]  If point is visible? -1.109056, -0.100598, 0.533870
-[01:08:36.584]  If point is visible? -1.101467, -0.101538, 0.532659
-[01:08:36.584]  If point is visible? -1.102556, -0.101515, 0.532855
-[01:08:36.584]  If point is visible? -1.027783, -0.142259, 0.541342
-[01:08:36.584]  If point is visible? -1.037713, -0.145931, 0.542771
-[01:08:36.584]  If point is visible? -1.025458, -0.161357, 0.550119
-[01:08:36.584]  If point is visible? -1.026515, -0.161339, 0.550073
-[01:08:36.584]  If point is visible? -1.026596, -0.162095, 0.550442
-[01:08:36.584]  If point is visible? -1.023574, -0.172691, 0.556003
-[01:08:36.584]  If point is visible? -0.943961, 0.169669, 0.567879
-[01:08:36.584]  If point is visible? -0.782065, 0.139485, 0.656280
-[01:08:36.584]  If point is visible? -1.072069, 0.133179, 0.539267
-[01:08:36.584]  If point is visible? -1.066713, 0.119437, 0.533701
-[01:08:36.584]  If point is visible? -1.071949, 0.131649, 0.538659
-[01:08:36.584]  If point is visible? -0.765632, 0.096883, 0.653152
-[01:08:36.584]  If point is visible? -0.706153, 0.058897, 0.733977
-[01:08:36.584]  If point is visible? -0.753411, 0.059894, 0.655371
-[01:08:36.584]  If point is visible? -0.753199, 0.056826, 0.654839
-[01:08:36.584]  If point is visible? -0.753304, 0.058361, 0.655101
-[01:08:36.584]  If point is visible? -1.266437, 0.023303, 0.593673
-[01:08:36.584]  If point is visible? -1.041286, -0.040133, 0.514687
-[01:08:36.584]  If point is visible? -1.043451, -0.040123, 0.514714
-[01:08:36.584]  If point is visible? -1.045581, -0.038524, 0.514582
-[01:08:36.584]  If point is visible? -1.047750, -0.038514, 0.514636
-[01:08:36.584]  If point is visible? -1.049885, -0.036916, 0.514536
-[01:08:36.584]  If point is visible? -1.052057, -0.036906, 0.514615
-[01:08:36.584]  If point is visible? -1.060695, -0.033690, 0.514750
-[01:08:36.584]  If point is visible? -1.037000, -0.041742, 0.514849
-[01:08:36.584]  If point is visible? -1.032723, -0.043351, 0.515069
-[01:08:36.584]  If point is visible? -1.017672, -0.043409, 0.515587
-[01:08:36.584]  If point is visible? -1.019816, -0.043402, 0.515475
-[01:08:36.584]  If point is visible? -0.719918, -0.086842, 0.718082
-[01:08:36.584]  If point is visible? -0.705393, -0.078065, 0.745205
-[01:08:36.584]  If point is visible? -0.704255, -0.076503, 0.747148
-[01:08:36.584]  If point is visible? -0.748870, -0.099466, 0.676266
-[01:08:36.585]  If point is visible? -0.750248, -0.099558, 0.674363
-[01:08:36.585]  If point is visible? -0.830049, 0.167132, 0.627313
-[01:08:36.585]  If point is visible? -0.942374, 0.172675, 0.570022
-[01:08:36.585]  If point is visible? -0.766533, 0.104446, 0.655452
-[01:08:36.585]  If point is visible? -0.938762, 0.098516, 0.540059
-[01:08:36.585]  If point is visible? -0.780799, 0.140857, 0.658613
-[01:08:36.585]  If point is visible? -0.775401, 0.125814, 0.655882
-[01:08:36.585]  If point is visible? -0.939227, 0.104813, 0.541818
-[01:08:36.585]  If point is visible? -0.778309, 0.143582, 0.663337
-[01:08:36.585]  If point is visible? -0.849484, 0.097824, 0.579998
-[01:08:36.585]  If point is visible? -0.775856, 0.128795, 0.657053
-[01:08:36.585]  If point is visible? -0.938991, 0.101666, 0.540924
-[01:08:36.585]  If point is visible? -0.757975, 0.079882, 0.655865
-[01:08:36.585]  If point is visible? -0.780768, -0.056588, 0.623664
-[01:08:36.585]  If point is visible? -1.023990, -0.038608, 0.514755
-[01:08:36.585]  If point is visible? -1.036923, -0.038560, 0.514498
-[01:08:36.585]  If point is visible? -1.137250, -0.019104, 0.526802
-[01:08:36.585]  If point is visible? -1.024069, -0.041793, 0.515104
-[01:08:36.585]  If point is visible? -1.028372, -0.041777, 0.514968
-[01:08:36.585]  If point is visible? -1.032682, -0.041760, 0.514883
-[01:08:36.585]  If point is visible? -0.537983, -0.607778, 1.721425
-[01:08:36.585]  If point is visible? -0.449555, -0.601628, 1.749459
-[01:08:36.585]  If point is visible? -0.444608, -0.601688, 1.750715
-[01:08:36.585]  If point is visible? 0.095157, -0.044577, 1.903575
-[01:08:36.585]  If point is visible? 0.100254, -0.044575, 1.903192
-[01:08:36.585]  If point is visible? 0.389816, 0.294827, 1.831342
-[01:08:36.585]  If point is visible? -0.608604, 0.535254, 1.723562
-[01:08:36.585]  If point is visible? -0.914290, 0.494892, 1.589547
-[01:08:36.585]  If point is visible? -0.547662, -0.611315, 1.716906
-[01:08:36.585]  If point is visible? -0.479089, -0.604955, 1.740217
-[01:08:36.585]  If point is visible? -0.469220, -0.605088, 1.742900
-[01:08:36.585]  If point is visible? -0.459342, -0.605217, 1.745521
-[01:08:36.585]  If point is visible? -0.194813, -0.129046, 1.896735
-[01:08:36.585]  If point is visible? -0.184665, -0.129051, 1.897641
-[01:08:36.585]  If point is visible? -0.848126, 0.130033, 1.703355
-[01:08:36.585]  If point is visible? -0.819340, 0.152897, 1.716061
-[01:08:36.585]  If point is visible? -0.838477, 0.145208, 1.707039
-[01:08:36.585]  If point is visible? -0.838550, 0.137650, 1.707689
-[01:08:36.585]  If point is visible? -0.829027, 0.137711, 1.712573
-[01:08:36.585]  If point is visible? -0.539959, 0.540029, 1.745383
-[01:08:36.585]  If point is visible? -0.080713, 0.475154, 1.842761
-[01:08:36.585]  If point is visible? -0.488949, -0.604819, 1.737472
-[01:08:36.585]  If point is visible? -0.469220, -0.605088, 1.742900
-[01:08:36.585]  If point is visible? -0.213278, -0.381199, 1.857622
-[01:08:36.585]  If point is visible? -0.193214, -0.366031, 1.862929
-[01:08:36.585]  If point is visible? 0.253171, -0.243274, 1.868118
-[01:08:36.585]  If point is visible? -0.576201, -0.135995, 1.817541
-[01:08:36.585]  If point is visible? -0.091156, 0.444910, 1.850651
-[01:08:36.585]  If point is visible? -0.537983, -0.607778, 1.721425
-[01:08:36.585]  If point is visible? -0.449555, -0.601628, 1.749459
-[01:08:36.585]  If point is visible? -0.444608, -0.601688, 1.750715
-[01:08:36.585]  If point is visible? 0.095157, -0.044577, 1.903575
-[01:08:36.585]  If point is visible? 0.100254, -0.044575, 1.903192
-[01:08:36.585]  If point is visible? 0.389816, 0.294827, 1.831342
-[01:08:36.585]  If point is visible? -0.914290, 0.494892, 1.589547
-[01:08:36.585]  If point is visible? -0.608604, 0.535254, 1.723562
-[01:08:36.585]  If point is visible? -0.479089, -0.604955, 1.740217
-[01:08:36.585]  If point is visible? -0.469220, -0.605088, 1.742900
-[01:08:36.585]  If point is visible? -0.459342, -0.605217, 1.745521
-[01:08:36.585]  If point is visible? -0.194813, -0.129046, 1.896735
-[01:08:36.585]  If point is visible? -0.184665, -0.129051, 1.897641
-[01:08:36.585]  If point is visible? -0.819340, 0.152897, 1.716061
-[01:08:36.585]  If point is visible? -0.838477, 0.145208, 1.707039
-[01:08:36.585]  If point is visible? -0.838550, 0.137650, 1.707689
-[01:08:36.585]  If point is visible? -0.829027, 0.137711, 1.712573
-[01:08:36.585]  If point is visible? -0.539959, 0.540029, 1.745383
-[01:08:36.585]  If point is visible? -0.080713, 0.475154, 1.842761
-[01:08:36.585]  If point is visible? -0.213278, -0.381199, 1.857622
-[01:08:36.585]  If point is visible? -0.193214, -0.366031, 1.862929
-[01:08:36.585]  If point is visible? -0.488949, -0.604819, 1.737472
-[01:08:36.585]  If point is visible? -0.469220, -0.605088, 1.742900
-[01:08:36.585]  If point is visible? 0.253171, -0.243274, 1.868118
-[01:08:36.585]  If point is visible? -0.576201, -0.135995, 1.817541
-[01:08:36.585]  If point is visible? -0.091156, 0.444910, 1.850651
-[01:08:36.585]  If point is visible? 0.316923, -0.952041, 1.992742
-[01:08:36.585]  If point is visible? 0.081367, -0.744069, 2.114376
-[01:08:36.585]  If point is visible? 0.081325, -0.739618, 2.116061
-[01:08:36.585]  If point is visible? -0.513748, -0.706682, 2.072499
-[01:08:36.585]  If point is visible? -0.797177, -0.402656, 2.068588
-[01:08:36.585]  If point is visible? -0.305319, 0.107374, 2.233521
-[01:08:36.585]  If point is visible? 0.479125, 0.361769, 2.157914
-[01:08:36.585]  If point is visible? 0.479133, 0.352697, 2.159527
-[01:08:36.585]  If point is visible? 0.479129, 0.357233, 2.158725
-[01:08:36.585]  If point is visible? 0.315843, 0.394694, 2.186623
-[01:08:36.585]  If point is visible? 0.255149, 0.390482, 2.196941
-[01:08:36.585]  If point is visible? 0.200513, 0.404388, 2.201230
-[01:08:36.585]  If point is visible? 0.140346, 0.531704, 2.178021
-[01:08:36.585]  If point is visible? -0.709657, 0.645047, 2.034891
-[01:08:36.585]  If point is visible? 0.116757, 0.635504, 2.149818
-[01:08:36.585]  If point is visible? 0.122812, 0.635471, 2.149362
-[01:08:36.585]  If point is visible? 0.116789, 0.639994, 2.148381
-[01:08:36.585]  If point is visible? 0.122844, 0.639961, 2.147925
-[01:08:36.585]  If point is visible? 0.567580, 0.749737, 2.021186
-[01:08:36.585]  If point is visible? -0.889263, 0.768754, 1.911380
-[01:08:36.585]  If point is visible? -0.693133, 0.791183, 1.984334
-[01:08:36.585]  If point is visible? 0.154240, 0.800188, 2.086459
-[01:08:36.585]  If point is visible? -0.703907, 0.812837, 1.970900
-[01:08:36.585]  If point is visible? 0.310959, -0.952150, 1.993813
-[01:08:36.585]  If point is visible? -0.092830, -0.016621, 2.252984
-[01:08:36.585]  If point is visible? -0.383940, 0.093548, 2.222427
-[01:08:36.585]  If point is visible? -0.371867, 0.093558, 2.224431
-[01:08:36.585]  If point is visible? -0.371842, 0.102735, 2.224000
-[01:08:36.585]  If point is visible? -0.456276, 0.075139, 2.209648
-[01:08:36.585]  If point is visible? -0.468318, 0.065959, 2.207455
-[01:08:36.585]  If point is visible? -0.811581, 0.211166, 2.093303
-[01:08:36.585]  If point is visible? 0.285513, 0.394869, 2.191573
-[01:08:36.585]  If point is visible? -0.077646, 0.577521, 2.172504
-[01:08:36.585]  If point is visible? 0.166617, 0.844160, 2.066422
-[01:08:36.585]  If point is visible? 0.166550, 0.835363, 2.070284
-[01:08:36.585]  If point is visible? -0.224808, -0.401502, 2.206328
-[01:08:36.585]  If point is visible? -0.468366, -0.034932, 2.208206
-[01:08:36.585]  If point is visible? 0.309619, -0.291063, 2.205065
-[01:08:36.585]  If point is visible? -0.682684, -0.162710, 2.144640
-[01:08:36.585]  If point is visible? -0.753117, 0.202381, 2.116635
-[01:08:36.585]  If point is visible? -0.729596, 0.202494, 2.125074
-[01:08:36.585]  If point is visible? -0.683202, -0.016531, 2.151035
-[01:08:36.585]  If point is visible? -0.729744, 0.184268, 2.126807
-[01:08:36.585]  If point is visible? -0.102351, 0.532310, 2.184202
-[01:08:36.585]  If point is visible? 0.166550, 0.835363, 2.070284
-[01:08:36.585]  If point is visible? 0.316923, -0.952041, 1.992742
-[01:08:36.585]  If point is visible? 0.081367, -0.744069, 2.114376
-[01:08:36.585]  If point is visible? 0.081325, -0.739618, 2.116061
-[01:08:36.585]  If point is visible? -0.513748, -0.706682, 2.072499
-[01:08:36.585]  If point is visible? -0.797177, -0.402656, 2.068588
-[01:08:36.585]  If point is visible? -0.305319, 0.107374, 2.233521
-[01:08:36.585]  If point is visible? 0.479129, 0.357233, 2.158725
-[01:08:36.585]  If point is visible? 0.255149, 0.390482, 2.196941
-[01:08:36.585]  If point is visible? 0.297657, 0.399346, 2.188761
-[01:08:36.585]  If point is visible? 0.200513, 0.404388, 2.201230
-[01:08:36.585]  If point is visible? 0.140346, 0.531704, 2.178021
-[01:08:36.585]  If point is visible? 0.116757, 0.635504, 2.149818
-[01:08:36.585]  If point is visible? 0.122812, 0.635471, 2.149362
-[01:08:36.585]  If point is visible? -0.709657, 0.645047, 2.034891
-[01:08:36.585]  If point is visible? 0.116789, 0.639994, 2.148381
-[01:08:36.585]  If point is visible? 0.122844, 0.639961, 2.147925
-[01:08:36.586]  If point is visible? 0.567580, 0.749737, 2.021186
-[01:08:36.586]  If point is visible? -0.889263, 0.768754, 1.911380
-[01:08:36.586]  If point is visible? -0.693133, 0.791183, 1.984334
-[01:08:36.586]  If point is visible? 0.154240, 0.800188, 2.086459
-[01:08:36.586]  If point is visible? -0.703907, 0.812837, 1.970900
-[01:08:36.586]  If point is visible? 0.310959, -0.952150, 1.993813
-[01:08:36.586]  If point is visible? -0.468336, 0.056788, 2.207725
-[01:08:36.586]  If point is visible? -0.456313, 0.056796, 2.210228
-[01:08:36.586]  If point is visible? -0.092830, -0.016621, 2.252984
-[01:08:36.586]  If point is visible? -0.468318, 0.065959, 2.207455
-[01:08:36.586]  If point is visible? -0.811581, 0.211166, 2.093303
-[01:08:36.586]  If point is visible? 0.285513, 0.394869, 2.191573
-[01:08:36.586]  If point is visible? -0.077646, 0.577521, 2.172504
-[01:08:36.586]  If point is visible? 0.166550, 0.835363, 2.070284
-[01:08:36.586]  If point is visible? -0.224808, -0.401502, 2.206328
-[01:08:36.586]  If point is visible? 0.309619, -0.291063, 2.205065
-[01:08:36.586]  If point is visible? -0.682684, -0.162710, 2.144640
-[01:08:36.586]  If point is visible? -0.468366, -0.034932, 2.208206
-[01:08:36.586]  If point is visible? -0.683202, -0.016531, 2.151035
-[01:08:36.586]  If point is visible? -0.753117, 0.202381, 2.116635
-[01:08:36.586]  If point is visible? -0.729596, 0.202494, 2.125074
-[01:08:36.586]  If point is visible? -0.729744, 0.184268, 2.126807
-[01:08:36.586]  If point is visible? -0.102351, 0.532310, 2.184202
-[01:08:36.586]  If point is visible? 0.166550, 0.835363, 2.070284
-[01:08:36.586]  If point is visible? 0.176872, 0.429304, 2.209319
-[01:08:36.586]  If point is visible? 0.182978, 0.429278, 2.208689
-[01:08:36.586]  If point is visible? 0.182961, 0.424709, 2.209639
-[01:08:36.586]  If point is visible? -1.755765, 0.469185, 1.282283
-[01:08:36.586]  If point is visible? 0.564292, 0.726972, 2.042663
-[01:08:36.586]  If point is visible? -0.785546, 0.753381, 1.976668
-[01:08:36.586]  If point is visible? -0.779751, 0.753515, 1.978988
-[01:08:36.586]  If point is visible? 0.372157, 0.810237, 2.059805
-[01:08:36.586]  If point is visible? -0.655603, 0.800250, 2.005364
-[01:08:36.586]  If point is visible? 0.378170, 0.818964, 2.054781
-[01:08:36.586]  If point is visible? -0.434624, 0.047867, 2.225380
-[01:08:36.586]  If point is visible? -0.422520, 0.047873, 2.227680
-[01:08:36.586]  If point is visible? -0.434594, 0.066305, 2.224878
-[01:08:36.586]  If point is visible? -0.434610, 0.057086, 2.225149
-[01:08:36.586]  If point is visible? -0.225626, -0.458339, 2.204991
-[01:08:36.586]  If point is visible? -0.201298, -0.458376, 2.207105
-[01:08:36.586]  If point is visible? -0.274809, -0.403360, 2.211347
-[01:08:36.586]  If point is visible? -0.226169, -0.403448, 2.216430
-[01:08:36.586]  If point is visible? -0.201821, -0.403480, 2.218542
-[01:08:36.586]  If point is visible? -0.874479, 0.184467, 2.081111
-[01:08:36.586]  If point is visible? -0.054545, 0.516646, 2.199955
-[01:08:36.586]  If point is visible? 0.189526, 0.534024, 2.183298
-[01:08:36.586]  If point is visible? 0.395717, -0.992753, 1.978423
-[01:08:36.586]  If point is visible? -0.462924, -0.725943, 2.091624
-[01:08:36.586]  If point is visible? -0.456849, -0.726008, 2.092961
-[01:08:36.586]  If point is visible? -0.148681, -0.209071, 2.253536
-[01:08:36.586]  If point is visible? -0.148696, -0.204391, 2.253989
-[01:08:36.586]  If point is visible? 0.224385, 0.440581, 2.207856
-[01:08:36.586]  If point is visible? 0.224377, 0.435942, 2.208832
-[01:08:36.586]  If point is visible? 0.525705, 0.622003, 2.102043
-[01:08:36.586]  If point is visible? 0.531805, 0.621913, 2.100383
-[01:08:36.586]  If point is visible? -0.659385, 0.807605, 2.003722
-[01:08:36.586]  If point is visible? 0.237473, 0.838660, 2.080264
-[01:08:36.586]  If point is visible? -0.795211, 0.638163, 2.017620
-[01:08:36.586]  If point is visible? -0.866182, 0.627642, 1.990524
-[01:08:36.586]  If point is visible? 0.243596, 0.834100, 2.081402
-[01:08:36.586]  If point is visible? -0.165860, -0.465492, 2.211411
-[01:08:36.586]  If point is visible? 0.379020, -0.315513, 2.206772
-[01:08:36.586]  If point is visible? 0.403727, -0.315389, 2.201924
-[01:08:36.586]  If point is visible? -0.731070, 0.206519, 2.135376
-[01:08:36.586]  If point is visible? -0.016915, 0.524667, 2.202551
-[01:08:36.586]  If point is visible? 0.230749, 0.542314, 2.182976
-[01:08:36.586]  If point is visible? 0.280362, 0.815695, 2.083884
-[01:08:36.586]  If point is visible? 0.189829, -0.801875, 2.108803
-[01:08:36.586]  If point is visible? 0.176848, -0.792426, 2.113504
-[01:08:36.586]  If point is visible? -0.372609, 0.075652, 2.231723
-[01:08:36.586]  If point is visible? 0.259602, 0.169006, 2.243635
-[01:08:36.586]  If point is visible? 0.597003, 0.363184, 2.154467
-[01:08:36.586]  If point is visible? -1.803640, 0.382316, 1.301251
-[01:08:36.586]  If point is visible? -1.803393, 0.386799, 1.300260
-[01:08:36.586]  If point is visible? -0.768864, 0.808468, 1.967533
-[01:08:36.586]  If point is visible? -0.793485, 0.812589, 1.955910
-[01:08:36.586]  If point is visible? -0.538074, -0.756784, 2.063408
-[01:08:36.586]  If point is visible? -0.156312, -0.488854, 2.205130
-[01:08:36.586]  If point is visible? 0.000130, 0.550998, 2.196199
-[01:08:36.586]  If point is visible? -0.634433, 0.909876, 1.971449
-[01:08:36.586]  If point is visible? 0.000265, 0.570420, 2.191207
-[01:08:36.586]  If point is visible? 0.260272, 0.569531, 2.176261
-[01:08:36.586]  If point is visible? 0.574767, -0.368348, 2.317006
-[01:08:36.586]  If point is visible? -0.314708, 0.112243, 2.391342
-[01:08:36.586]  If point is visible? 0.270234, 0.493608, 2.348729
-[01:08:36.586]  If point is visible? 0.270223, 0.488411, 2.349822
-[01:08:36.586]  If point is visible? -1.890370, 0.562003, 1.380300
-[01:08:36.586]  If point is visible? -0.690944, 0.728190, 2.194328
-[01:08:36.586]  If point is visible? 0.567716, -0.456609, 2.302905
-[01:08:36.586]  If point is visible? -0.574259, -0.807351, 2.200481
-[01:08:36.586]  If point is visible? -0.960802, 0.188975, 2.205055
-[01:08:36.586]  If point is visible? -0.000093, 0.587814, 2.342142
-[01:08:36.586]  If point is visible? 0.277432, 0.607586, 2.320872
-[01:08:36.586]  If point is visible? 0.404194, -1.029752, 1.987562
-[01:08:36.586]  If point is visible? -0.883781, 0.643489, 1.992526
-[01:08:36.586]  If point is visible? -0.183174, -0.491193, 2.213763
-[01:08:36.586]  If point is visible? -0.157085, -0.491232, 2.215811
-[01:08:36.586]  If point is visible? -0.132705, -0.156400, 2.266081
-[01:08:36.586]  If point is visible? -0.000012, 0.534142, 2.211671
-[01:08:36.586]  If point is visible? 0.404194, -1.029752, 1.987562
-[01:08:36.586]  If point is visible? -0.746094, 0.655617, 2.044761
-[01:08:36.586]  If point is visible? -0.883781, 0.643489, 1.992526
-[01:08:36.586]  If point is visible? -0.183174, -0.491193, 2.213763
-[01:08:36.586]  If point is visible? -0.157085, -0.491232, 2.215811
-[01:08:36.586]  If point is visible? -0.132705, -0.156400, 2.266081
-[01:08:36.586]  If point is visible? -0.000012, 0.534142, 2.211671
-[01:08:36.586]  If point is visible? -0.821235, -0.700572, 2.042729
-[01:08:36.586]  If point is visible? -0.148051, -0.229301, 2.296592
-[01:08:36.586]  If point is visible? -0.141416, -0.224284, 2.297520
-[01:08:36.586]  If point is visible? -0.549709, -0.773054, 2.107521
-[01:08:36.586]  If point is visible? -0.000067, 0.542984, 2.248077
-[01:08:36.586]  If point is visible? -0.821235, -0.700572, 2.042729
-[01:08:36.586]  If point is visible? -0.141416, -0.224284, 2.297520
-[01:08:36.586]  If point is visible? -0.549709, -0.773054, 2.107521
-[01:08:36.586]  If point is visible? -0.000067, 0.542984, 2.248077
-[01:08:36.586]  If point is visible? -1.832933, 0.398837, 1.400147
-[01:08:36.586]  If point is visible? -0.661926, 0.826559, 2.093508
-[01:08:36.586]  If point is visible? -1.832933, 0.398837, 1.400147
-[01:08:36.586]  If point is visible? -0.661926, 0.826559, 2.093508
-[01:08:36.586]  If point is visible? 0.541491, -0.426406, 2.289105
-[01:08:36.586]  If point is visible? -1.839448, 0.440829, 1.449195
-[01:08:36.586]  If point is visible? 0.541491, -0.426406, 2.289105
-[01:08:36.586]  If point is visible? -1.839448, 0.440829, 1.449195
-[01:08:36.586]  If point is visible? -0.635082, 1.100719, 1.955265
-[01:08:36.586]  If point is visible? -0.635082, 1.100719, 1.955265
-[01:08:36.586]  If point is visible? -0.109737, -0.171198, 2.333288
-[01:08:36.586]  If point is visible? 0.025110, 0.022327, 2.342138
-[01:08:36.586]  If point is visible? -0.109737, -0.171198, 2.333288
-[01:08:36.586]  If point is visible? 0.025110, 0.022327, 2.342138
-[01:08:36.586]  If point is visible? -0.554904, -0.059267, 2.284674
-[01:08:36.586]  If point is visible? -0.554937, 0.032566, 2.285205
-[01:08:36.586]  If point is visible? -0.757114, 0.737773, 2.099461
-[01:08:36.586]  If point is visible? -0.554904, -0.059267, 2.284674
-[01:08:36.587]  If point is visible? -0.554937, 0.032566, 2.285205
-[01:08:36.587]  If point is visible? -0.757114, 0.737773, 2.099461
-[01:08:36.587]  If point is visible? 0.325256, 0.411859, 2.295905
-[01:08:36.587]  If point is visible? 0.514576, 0.390556, 2.264823
-[01:08:36.587]  If point is visible? 0.514477, 0.410912, 2.261236
-[01:08:36.587]  If point is visible? 1.366117, 0.991303, 1.641875
-[01:08:36.587]  If point is visible? 0.325256, 0.411859, 2.295905
-[01:08:36.587]  If point is visible? 0.514477, 0.410912, 2.261236
-[01:08:36.587]  If point is visible? 1.366117, 0.991303, 1.641875
-[01:08:36.587]  If point is visible? 0.363182, -1.113394, 2.058396
-[01:08:36.587]  If point is visible? 1.318836, 0.947247, 1.723930
-[01:08:36.587] init seeds
-[01:08:36.590] DepthFilter: Initialized 2 new seeds
-[01:08:36.833] add new frame
-[01:08:36.833] update seed
-[01:08:36.833]  If point is visible? -1.051947, 0.183256, 0.566173
-[01:08:36.833]  If point is visible? -1.051855, 0.182522, 0.565745
-[01:08:36.833]  If point is visible? -0.940052, 0.167406, 0.571673
-[01:08:36.833]  If point is visible? -1.067037, 0.131649, 0.542526
-[01:08:36.833]  If point is visible? -1.061324, 0.127929, 0.540646
-[01:08:36.833]  If point is visible? -1.058971, 0.110963, 0.534619
-[01:08:36.833]  If point is visible? -1.060053, 0.110945, 0.534685
-[01:08:36.834]  If point is visible? -1.176254, 0.106087, 0.561503
-[01:08:36.834]  If point is visible? -0.750428, 0.059151, 0.661579
-[01:08:36.834]  If point is visible? -1.116869, -0.026250, 0.526614
-[01:08:36.834]  If point is visible? -1.117971, -0.026243, 0.526864
-[01:08:36.834] add key frame
-[01:08:36.834]  If point is visible? -1.055544, -0.034484, 0.518814
-[01:08:36.834] init seeds
-[01:08:36.837] DepthFilter: Initialized 2 new seeds
-[01:08:36.837] update seed
-[01:08:36.837]  If point is visible? -1.051947, 0.183256, 0.566173
-[01:08:36.837]  If point is visible? -1.051855, 0.182522, 0.565745
-[01:08:36.837]  If point is visible? -0.940052, 0.167406, 0.571673
-[01:08:36.837]  If point is visible? -1.067037, 0.131649, 0.542526
-[01:08:36.837]  If point is visible? -1.061324, 0.127929, 0.540646
-[01:08:36.837]  If point is visible? -1.058971, 0.110963, 0.534619
-[01:08:36.837]  If point is visible? -1.060053, 0.110945, 0.534685
-[01:08:36.837]  If point is visible? -1.176254, 0.106087, 0.561503
-[01:08:36.837]  If point is visible? -0.750428, 0.059151, 0.661579
-[01:08:36.837]  If point is visible? -1.116869, -0.026250, 0.526614
-[01:08:36.837]  If point is visible? -1.117971, -0.026243, 0.526864
-[01:08:36.837]  If point is visible? -1.055544, -0.034484, 0.518814
-[01:08:36.837]  If point is visible? -1.053381, -0.035288, 0.518783
-[01:08:36.837]  If point is visible? -1.051221, -0.036092, 0.518767
-[01:08:36.837]  If point is visible? -1.046907, -0.037700, 0.518778
-[01:08:36.837]  If point is visible? -1.047994, -0.037695, 0.518811
-[01:08:36.837]  If point is visible? -1.030820, -0.044132, 0.519387
-[01:08:36.837]  If point is visible? -1.011563, -0.047395, 0.520598
-[01:08:36.837]  If point is visible? -1.013705, -0.047387, 0.520458
-[01:08:36.837]  If point is visible? -1.014776, -0.047382, 0.520392
-[01:08:36.837]  If point is visible? -0.701135, -0.076444, 0.756100
-[01:08:36.837]  If point is visible? -0.738518, -0.096750, 0.692670
-[01:08:36.837]  If point is visible? -1.104090, -0.100598, 0.537341
-[01:08:36.837]  If point is visible? -1.096488, -0.101538, 0.536210
-[01:08:36.837]  If point is visible? -1.097580, -0.101515, 0.536395
-[01:08:36.837]  If point is visible? -1.022902, -0.142259, 0.545681
-[01:08:36.837]  If point is visible? -1.032847, -0.145931, 0.547004
-[01:08:36.837]  If point is visible? -1.020671, -0.161357, 0.554482
-[01:08:36.837]  If point is visible? -1.021727, -0.161339, 0.554425
-[01:08:36.837]  If point is visible? -1.021813, -0.162095, 0.554793
-[01:08:36.837]  If point is visible? -1.018850, -0.172691, 0.560386
-[01:08:36.837]  If point is visible? -0.939368, 0.169669, 0.573113
-[01:08:36.837]  If point is visible? -0.778427, 0.139485, 0.663240
-[01:08:36.837]  If point is visible? -1.067163, 0.133179, 0.543133
-[01:08:36.837]  If point is visible? -1.061748, 0.119437, 0.537624
-[01:08:36.837]  If point is visible? -1.067037, 0.131649, 0.542526
-[01:08:36.837]  If point is visible? -0.761962, 0.096883, 0.660288
-[01:08:36.837]  If point is visible? -0.703350, 0.058897, 0.741745
-[01:08:36.837]  If point is visible? -0.749765, 0.059894, 0.662637
-[01:08:36.837]  If point is visible? -0.749548, 0.056826, 0.662109
-[01:08:36.837]  If point is visible? -0.749655, 0.058361, 0.662369
-[01:08:36.837]  If point is visible? -1.262102, 0.023303, 0.595457
-[01:08:36.837]  If point is visible? -1.036119, -0.040133, 0.518883
-[01:08:36.837]  If point is visible? -1.038285, -0.040123, 0.518888
-[01:08:36.837]  If point is visible? -1.040413, -0.038524, 0.518733
-[01:08:36.837]  If point is visible? -1.042582, -0.038514, 0.518763
-[01:08:36.837]  If point is visible? -1.044716, -0.036916, 0.518641
-[01:08:36.837]  If point is visible? -1.046889, -0.036906, 0.518696
-[01:08:36.837]  If point is visible? -1.055527, -0.033690, 0.518739
-[01:08:36.837]  If point is visible? -1.031835, -0.041742, 0.519091
-[01:08:36.837]  If point is visible? -1.027561, -0.043351, 0.519357
-[01:08:36.837]  If point is visible? -1.012516, -0.043409, 0.520036
-[01:08:36.837]  If point is visible? -1.014659, -0.043402, 0.519901
-[01:08:36.837]  If point is visible? -0.716944, -0.086842, 0.725703
-[01:08:36.837]  If point is visible? -0.702710, -0.078065, 0.752980
-[01:08:36.837]  If point is visible? -0.701593, -0.076503, 0.754935
-[01:08:36.837]  If point is visible? -0.745447, -0.099466, 0.683581
-[01:08:36.837]  If point is visible? -0.746805, -0.099558, 0.681663
-[01:08:36.837]  If point is visible? -0.826099, 0.167132, 0.633762
-[01:08:36.837]  If point is visible? -0.937804, 0.172675, 0.575273
-[01:08:36.837]  If point is visible? -0.762887, 0.104446, 0.662579
-[01:08:36.837]  If point is visible? -0.933873, 0.098516, 0.545351
-[01:08:36.837]  If point is visible? -0.777186, 0.140857, 0.665586
-[01:08:36.837]  If point is visible? -0.771759, 0.125814, 0.662914
-[01:08:36.837]  If point is visible? -0.934356, 0.104813, 0.547104
-[01:08:36.837]  If point is visible? -0.774747, 0.143582, 0.670337
-[01:08:36.837]  If point is visible? -0.845026, 0.097824, 0.586242
-[01:08:36.837]  If point is visible? -0.772226, 0.128795, 0.664079
-[01:08:36.837]  If point is visible? -0.934110, 0.101666, 0.546213
-[01:08:36.837]  If point is visible? -0.754334, 0.079882, 0.663083
-[01:08:36.837]  If point is visible? -0.776782, -0.056588, 0.630640
-[01:08:36.837]  If point is visible? -1.018825, -0.038608, 0.519137
-[01:08:36.837]  If point is visible? -1.031754, -0.038560, 0.518742
-[01:08:36.837]  If point is visible? -1.132207, -0.019104, 0.529971
-[01:08:36.837]  If point is visible? -1.018908, -0.041793, 0.519485
-[01:08:36.837]  If point is visible? -1.023209, -0.041777, 0.519303
-[01:08:36.837]  If point is visible? -1.027518, -0.041760, 0.519172
-[01:08:36.837]  If point is visible? -0.553464, -0.607778, 1.720161
-[01:08:36.837]  If point is visible? -0.465341, -0.601628, 1.749138
-[01:08:36.837]  If point is visible? -0.460407, -0.601688, 1.750447
-[01:08:36.837]  If point is visible? 0.077691, -0.044577, 1.909070
-[01:08:36.837]  If point is visible? 0.082792, -0.044575, 1.908742
-[01:08:36.837]  If point is visible? 0.373106, 0.294827, 1.839992
-[01:08:36.837]  If point is visible? -0.624104, 0.535254, 1.721542
-[01:08:36.837]  If point is visible? -0.928339, 0.494892, 1.584265
-[01:08:36.837]  If point is visible? -0.563094, -0.611315, 1.715538
-[01:08:36.837]  If point is visible? -0.494775, -0.604955, 1.739581
-[01:08:36.837]  If point is visible? -0.484935, -0.605088, 1.742369
-[01:08:36.837]  If point is visible? -0.475085, -0.605217, 1.745096
-[01:08:36.837]  If point is visible? -0.212188, -0.129046, 1.899130
-[01:08:36.837]  If point is visible? -0.202051, -0.129051, 1.900144
-[01:08:36.837]  If point is visible? -0.863396, 0.130033, 1.698775
-[01:08:36.837]  If point is visible? -0.834747, 0.152897, 1.711788
-[01:08:36.837]  If point is visible? -0.853787, 0.145208, 1.702562
-[01:08:36.837]  If point is visible? -0.853867, 0.137650, 1.703211
-[01:08:36.837]  If point is visible? -0.844397, 0.137711, 1.708196
-[01:08:36.837]  If point is visible? -0.555697, 0.540029, 1.744095
-[01:08:36.837]  If point is visible? -0.097517, 0.475154, 1.846379
-[01:08:36.837]  If point is visible? -0.504604, -0.604819, 1.736730
-[01:08:36.837]  If point is visible? -0.484935, -0.605088, 1.742369
-[01:08:36.837]  If point is visible? -0.230234, -0.381199, 1.859822
-[01:08:36.837]  If point is visible? -0.210228, -0.366031, 1.865343
-[01:08:36.837]  If point is visible? 0.236076, -0.243274, 1.875305
-[01:08:36.837]  If point is visible? -0.592708, -0.135995, 1.815862
-[01:08:36.837]  If point is visible? -0.108045, 0.444910, 1.854157
-[01:08:36.837]  If point is visible? -0.553464, -0.607778, 1.720161
-[01:08:36.837]  If point is visible? -0.465341, -0.601628, 1.749138
-[01:08:36.837]  If point is visible? -0.460407, -0.601688, 1.750447
-[01:08:36.837]  If point is visible? 0.077691, -0.044577, 1.909070
-[01:08:36.837]  If point is visible? 0.082792, -0.044575, 1.908742
-[01:08:36.837]  If point is visible? 0.373106, 0.294827, 1.839992
-[01:08:36.837]  If point is visible? -0.928339, 0.494892, 1.584265
-[01:08:36.837]  If point is visible? -0.624104, 0.535254, 1.721542
-[01:08:36.837]  If point is visible? -0.494775, -0.604955, 1.739581
-[01:08:36.837]  If point is visible? -0.484935, -0.605088, 1.742369
-[01:08:36.838]  If point is visible? -0.475085, -0.605217, 1.745096
-[01:08:36.838]  If point is visible? -0.212188, -0.129046, 1.899130
-[01:08:36.838]  If point is visible? -0.202051, -0.129051, 1.900144
-[01:08:36.838]  If point is visible? -0.834747, 0.152897, 1.711788
-[01:08:36.838]  If point is visible? -0.853787, 0.145208, 1.702562
-[01:08:36.838]  If point is visible? -0.853867, 0.137650, 1.703211
-[01:08:36.838]  If point is visible? -0.844397, 0.137711, 1.708196
-[01:08:36.838]  If point is visible? -0.555697, 0.540029, 1.744095
-[01:08:36.838]  If point is visible? -0.097517, 0.475154, 1.846379
-[01:08:36.838]  If point is visible? -0.230234, -0.381199, 1.859822
-[01:08:36.838]  If point is visible? -0.210228, -0.366031, 1.865343
-[01:08:36.838]  If point is visible? -0.504604, -0.604819, 1.736730
-[01:08:36.838]  If point is visible? -0.484935, -0.605088, 1.742369
-[01:08:36.838]  If point is visible? 0.236076, -0.243274, 1.875305
-[01:08:36.838]  If point is visible? -0.592708, -0.135995, 1.815862
-[01:08:36.838]  If point is visible? -0.108045, 0.444910, 1.854157
-[01:08:36.838]  If point is visible? 0.298491, -0.952041, 2.000605
-[01:08:36.838]  If point is visible? 0.061647, -0.744069, 2.119713
-[01:08:36.838]  If point is visible? 0.061587, -0.739618, 2.121397
-[01:08:36.838]  If point is visible? -0.532986, -0.706682, 2.071475
-[01:08:36.838]  If point is visible? -0.816356, -0.402656, 2.064533
-[01:08:36.838]  If point is visible? -0.326291, 0.107374, 2.234717
-[01:08:36.838]  If point is visible? 0.458917, 0.361769, 2.167502
-[01:08:36.838]  If point is visible? 0.458908, 0.352697, 2.169115
-[01:08:36.838]  If point is visible? 0.458912, 0.357233, 2.168313
-[01:08:36.838]  If point is visible? 0.295338, 0.394694, 2.194464
-[01:08:36.838]  If point is visible? 0.234537, 0.390482, 2.204132
-[01:08:36.838]  If point is visible? 0.179858, 0.404388, 2.207836
-[01:08:36.838]  If point is visible? 0.119942, 0.531704, 2.183985
-[01:08:36.838]  If point is visible? -0.728482, 0.645047, 2.031774
-[01:08:36.838]  If point is visible? 0.096656, 0.635504, 2.155531
-[01:08:36.838]  If point is visible? 0.102716, 0.635471, 2.155140
-[01:08:36.838]  If point is visible? 0.096704, 0.639994, 2.154095
-[01:08:36.838]  If point is visible? 0.102763, 0.639961, 2.153704
-[01:08:36.838]  If point is visible? 0.548829, 0.749737, 2.031727
-[01:08:36.838]  If point is visible? -0.906757, 0.768754, 1.906350
-[01:08:36.838]  If point is visible? -0.711418, 0.791183, 1.981396
-[01:08:36.838]  If point is visible? 0.134815, 0.800188, 2.092577
-[01:08:36.838]  If point is visible? -0.722048, 0.812837, 1.967848
-[01:08:36.838]  If point is visible? 0.292516, -0.952150, 2.001612
-[01:08:36.838]  If point is visible? -0.114022, -0.016621, 2.256451
-[01:08:36.838]  If point is visible? -0.404789, 0.093548, 2.222782
-[01:08:36.838]  If point is visible? -0.392738, 0.093558, 2.224915
-[01:08:36.838]  If point is visible? -0.392709, 0.102735, 2.224484
-[01:08:36.838]  If point is visible? -0.476984, 0.075139, 2.209230
-[01:08:36.838]  If point is visible? -0.489002, 0.065959, 2.206908
-[01:08:36.838]  If point is visible? -0.831024, 0.211166, 2.089092
-[01:08:36.838]  If point is visible? 0.264956, 0.394869, 2.199088
-[01:08:36.838]  If point is visible? -0.097978, 0.577521, 2.176137
-[01:08:36.838]  If point is visible? 0.147405, 0.844160, 2.072674
-[01:08:36.838]  If point is visible? 0.147297, 0.835363, 2.076535
-[01:08:36.838]  If point is visible? -0.245494, -0.401502, 2.208385
-[01:08:36.838]  If point is visible? -0.489058, -0.034932, 2.207659
-[01:08:36.838]  If point is visible? 0.288916, -0.291063, 2.212838
-[01:08:36.838]  If point is visible? -0.702683, -0.162710, 2.141805
-[01:08:36.838]  If point is visible? -0.772813, 0.202381, 2.113049
-[01:08:36.838]  If point is visible? -0.749383, 0.202494, 2.121739
-[01:08:36.838]  If point is visible? -0.703270, -0.016531, 2.148194
-[01:08:36.838]  If point is visible? -0.749550, 0.184268, 2.123470
-[01:08:36.838]  If point is visible? -0.122807, 0.532310, 2.187571
-[01:08:36.838]  If point is visible? 0.147297, 0.835363, 2.076535
-[01:08:36.838]  If point is visible? 0.298491, -0.952041, 2.000605
-[01:08:36.838]  If point is visible? 0.061647, -0.744069, 2.119713
-[01:08:36.838]  If point is visible? 0.061587, -0.739618, 2.121397
-[01:08:36.838]  If point is visible? -0.532986, -0.706682, 2.071475
-[01:08:36.838]  If point is visible? -0.816356, -0.402656, 2.064533
-[01:08:36.838]  If point is visible? -0.326291, 0.107374, 2.234717
-[01:08:36.838]  If point is visible? 0.458912, 0.357233, 2.168313
-[01:08:36.838]  If point is visible? 0.234537, 0.390482, 2.204132
-[01:08:36.838]  If point is visible? 0.277129, 0.399346, 2.196406
-[01:08:36.838]  If point is visible? 0.179858, 0.404388, 2.207836
-[01:08:36.838]  If point is visible? 0.119942, 0.531704, 2.183985
-[01:08:36.838]  If point is visible? 0.096656, 0.635504, 2.155531
-[01:08:36.838]  If point is visible? 0.102716, 0.635471, 2.155140
-[01:08:36.838]  If point is visible? -0.728482, 0.645047, 2.031774
-[01:08:36.838]  If point is visible? 0.096704, 0.639994, 2.154095
-[01:08:36.838]  If point is visible? 0.102763, 0.639961, 2.153704
-[01:08:36.838]  If point is visible? 0.548829, 0.749737, 2.031727
-[01:08:36.838]  If point is visible? -0.906757, 0.768754, 1.906350
-[01:08:36.838]  If point is visible? -0.711418, 0.791183, 1.981396
-[01:08:36.838]  If point is visible? 0.134815, 0.800188, 2.092577
-[01:08:36.838]  If point is visible? -0.722048, 0.812837, 1.967848
-[01:08:36.838]  If point is visible? 0.292516, -0.952150, 2.001612
-[01:08:36.838]  If point is visible? -0.489022, 0.056788, 2.207178
-[01:08:36.838]  If point is visible? -0.477027, 0.056796, 2.209810
-[01:08:36.838]  If point is visible? -0.114022, -0.016621, 2.256451
-[01:08:36.838]  If point is visible? -0.489002, 0.065959, 2.206908
-[01:08:36.838]  If point is visible? -0.831024, 0.211166, 2.089092
-[01:08:36.838]  If point is visible? 0.264956, 0.394869, 2.199088
-[01:08:36.838]  If point is visible? -0.097978, 0.577521, 2.176137
-[01:08:36.838]  If point is visible? 0.147297, 0.835363, 2.076535
-[01:08:36.838]  If point is visible? -0.245494, -0.401502, 2.208385
-[01:08:36.838]  If point is visible? 0.288916, -0.291063, 2.212838
-[01:08:36.838]  If point is visible? -0.702683, -0.162710, 2.141805
-[01:08:36.838]  If point is visible? -0.489058, -0.034932, 2.207659
-[01:08:36.838]  If point is visible? -0.703270, -0.016531, 2.148194
-[01:08:36.838]  If point is visible? -0.772813, 0.202381, 2.113049
-[01:08:36.838]  If point is visible? -0.749383, 0.202494, 2.121739
-[01:08:36.838]  If point is visible? -0.749550, 0.184268, 2.123470
-[01:08:36.838]  If point is visible? -0.122807, 0.532310, 2.187571
-[01:08:36.838]  If point is visible? 0.147297, 0.835363, 2.076535
-[01:08:36.838]  If point is visible? 0.156133, 0.429304, 2.215675
-[01:08:36.838]  If point is visible? 0.162246, 0.429278, 2.215110
-[01:08:36.838]  If point is visible? 0.162218, 0.424709, 2.216060
-[01:08:36.838]  If point is visible? -1.766480, 0.469185, 1.268025
-[01:08:36.838]  If point is visible? 0.545313, 0.726972, 2.053172
-[01:08:36.838]  If point is visible? -0.803742, 0.753381, 1.972745
-[01:08:36.838]  If point is visible? -0.797972, 0.753515, 1.975127
-[01:08:36.838]  If point is visible? 0.353006, 0.810237, 2.068258
-[01:08:36.838]  If point is visible? -0.674114, 0.800250, 2.002830
-[01:08:36.838]  If point is visible? 0.359073, 0.818964, 2.063299
-[01:08:36.838]  If point is visible? -0.455500, 0.047867, 2.225196
-[01:08:36.838]  If point is visible? -0.443421, 0.047873, 2.227626
-[01:08:36.838]  If point is visible? -0.455464, 0.066305, 2.224694
-[01:08:36.838]  If point is visible? -0.455483, 0.057086, 2.224965
-[01:08:36.838]  If point is visible? -0.246296, -0.458339, 2.207043
-[01:08:36.838]  If point is visible? -0.221992, -0.458376, 2.209417
-[01:08:36.838]  If point is visible? -0.295543, -0.403360, 2.212872
-[01:08:36.838]  If point is visible? -0.246961, -0.403448, 2.218476
-[01:08:36.838]  If point is visible? -0.222637, -0.403480, 2.220848
-[01:08:36.838]  If point is visible? -0.893787, 0.184467, 2.076232
-[01:08:36.838]  If point is visible? -0.075170, 0.516646, 2.203837
-[01:08:36.838]  If point is visible? 0.169065, 0.534024, 2.189791
-[01:08:36.838]  If point is visible? 0.377122, -0.992753, 1.986964
-[01:08:36.838]  If point is visible? -0.482680, -0.725943, 2.090976
-[01:08:36.838]  If point is visible? -0.476619, -0.726008, 2.092378
-[01:08:36.838]  If point is visible? -0.170186, -0.209071, 2.256239
-[01:08:36.838]  If point is visible? -0.170206, -0.204391, 2.256692
-[01:08:36.838]  If point is visible? 0.203346, 0.440581, 2.214551
-[01:08:36.838]  If point is visible? 0.203328, 0.435942, 2.215527
-[01:08:36.838]  If point is visible? 0.505781, 0.622003, 2.111966
-[01:08:36.838]  If point is visible? 0.511898, 0.621913, 2.110372
-[01:08:36.838]  If point is visible? -0.678190, 0.807605, 2.000978
-[01:08:36.838]  If point is visible? 0.217798, 0.838660, 2.087107
-[01:08:36.838]  If point is visible? -0.814157, 0.638163, 2.013423
-[01:08:36.838]  If point is visible? -0.884834, 0.627642, 1.985570
-[01:08:36.838]  If point is visible? 0.223909, 0.834100, 2.088310
-[01:08:36.838]  If point is visible? -0.186914, -0.465492, 2.213933
-[01:08:36.839]  If point is visible? 0.357984, -0.315513, 2.215121
-[01:08:36.839]  If point is visible? 0.382742, -0.315389, 2.210537
-[01:08:36.839]  If point is visible? -0.751278, 0.206519, 2.131859
-[01:08:36.839]  If point is visible? -0.037883, 0.524667, 2.206666
-[01:08:36.839]  If point is visible? 0.209977, 0.542314, 2.189741
-[01:08:36.839]  If point is visible? 0.260646, 0.815695, 2.091185
-[01:08:36.839]  If point is visible? 0.168669, -0.801875, 2.114891
-[01:08:36.839]  If point is visible? 0.155638, -0.792426, 2.119453
-[01:08:36.839]  If point is visible? -0.395051, 0.075652, 2.231789
-[01:08:36.839]  If point is visible? 0.236997, 0.169006, 2.250461
-[01:08:36.839]  If point is visible? 0.575331, 0.363184, 2.164907
-[01:08:36.839]  If point is visible? -1.816050, 0.382316, 1.286069
-[01:08:36.839]  If point is visible? -1.815792, 0.386799, 1.285080
-[01:08:36.839]  If point is visible? -0.788459, 0.808468, 1.963377
-[01:08:36.839]  If point is visible? -0.812953, 0.812589, 1.951492
-[01:08:36.839]  If point is visible? -0.558707, -0.756784, 2.061715
-[01:08:36.839]  If point is visible? -0.178483, -0.488854, 2.207512
-[01:08:36.839]  If point is visible? -0.021954, 0.550998, 2.200253
-[01:08:36.839]  If point is visible? -0.654077, 0.909876, 1.968731
-[01:08:36.839]  If point is visible? -0.021765, 0.570420, 2.195263
-[01:08:36.839]  If point is visible? 0.238387, 0.569531, 2.183099
-[01:08:36.839]  If point is visible? 0.551359, -0.368348, 2.327199
-[01:08:36.839]  If point is visible? -0.338860, 0.112243, 2.392019
-[01:08:36.839]  If point is visible? 0.246504, 0.493608, 2.355663
-[01:08:36.839]  If point is visible? 0.246481, 0.488411, 2.356756
-[01:08:36.839]  If point is visible? -1.903620, 0.562003, 1.364185
-[01:08:36.839]  If point is visible? -0.712968, 0.728190, 2.190993
-[01:08:36.839]  If point is visible? 0.544459, -0.456609, 2.313023
-[01:08:36.839]  If point is visible? -0.596355, -0.807351, 2.198393
-[01:08:36.839]  If point is visible? -0.982925, 0.188975, 2.198833
-[01:08:36.839]  If point is visible? -0.023737, 0.587814, 2.346186
-[01:08:36.839]  If point is visible? 0.253999, 0.607586, 2.327885
-[01:08:36.839]  If point is visible? 0.384319, -1.029752, 1.995950
-[01:08:36.839]  If point is visible? -0.903636, 0.643489, 1.987140
-[01:08:36.839]  If point is visible? -0.205435, -0.491193, 2.215857
-[01:08:36.839]  If point is visible? -0.179369, -0.491232, 2.218184
-[01:08:36.839]  If point is visible? -0.155529, -0.156400, 2.268712
-[01:08:36.839]  If point is visible? -0.022261, 0.534142, 2.215724
-[01:08:36.839]  If point is visible? 0.384319, -1.029752, 1.995950
-[01:08:36.839]  If point is visible? -0.766515, 0.655617, 2.040845
-[01:08:36.839]  If point is visible? -0.903636, 0.643489, 1.987140
-[01:08:36.839]  If point is visible? -0.205435, -0.491193, 2.215857
-[01:08:36.839]  If point is visible? -0.179369, -0.491232, 2.218184
-[01:08:36.839]  If point is visible? -0.155529, -0.156400, 2.268712
-[01:08:36.839]  If point is visible? -0.022261, 0.534142, 2.215724
-[01:08:36.839]  If point is visible? -0.841630, -0.700572, 2.038009
-[01:08:36.839]  If point is visible? -0.171200, -0.229301, 2.299056
-[01:08:36.839]  If point is visible? -0.164575, -0.224284, 2.300056
-[01:08:36.839]  If point is visible? -0.570813, -0.773054, 2.105701
-[01:08:36.839]  If point is visible? -0.022705, 0.542984, 2.252127
-[01:08:36.839]  If point is visible? -0.841630, -0.700572, 2.038009
-[01:08:36.839]  If point is visible? -0.164575, -0.224284, 2.300056
-[01:08:36.839]  If point is visible? -0.570813, -0.773054, 2.105701
-[01:08:36.839]  If point is visible? -0.022705, 0.542984, 2.252127
-[01:08:36.839]  If point is visible? -1.846399, 0.398837, 1.384646
-[01:08:36.839]  If point is visible? -0.682873, 0.826559, 2.090489
-[01:08:36.839]  If point is visible? -1.846399, 0.398837, 1.384646
-[01:08:36.839]  If point is visible? -0.682873, 0.826559, 2.090489
-[01:08:36.839]  If point is visible? 0.518383, -0.426406, 2.298944
-[01:08:36.839]  If point is visible? -1.853438, 0.440829, 1.433621
-[01:08:36.839]  If point is visible? 0.518383, -0.426406, 2.298944
-[01:08:36.839]  If point is visible? -1.853438, 0.440829, 1.433621
-[01:08:36.839]  If point is visible? -0.654553, 1.100719, 1.952541
-[01:08:36.839]  If point is visible? -0.654553, 1.100719, 1.952541
-[01:08:36.839]  If point is visible? -0.133281, -0.171198, 2.336161
-[01:08:36.839]  If point is visible? 0.001465, 0.022327, 2.346452
-[01:08:36.839]  If point is visible? -0.133281, -0.171198, 2.336161
-[01:08:36.839]  If point is visible? 0.001465, 0.022327, 2.346452
-[01:08:36.839]  If point is visible? -0.577902, -0.059267, 2.282789
-[01:08:36.839]  If point is visible? -0.577941, 0.032566, 2.283320
-[01:08:36.839]  If point is visible? -0.778120, 0.737773, 2.095424
-[01:08:36.839]  If point is visible? -0.577902, -0.059267, 2.282789
-[01:08:36.839]  If point is visible? -0.577941, 0.032566, 2.283320
-[01:08:36.839]  If point is visible? -0.778120, 0.737773, 2.095424
-[01:08:36.839]  If point is visible? 0.301988, 0.411859, 2.303459
-[01:08:36.839]  If point is visible? 0.491628, 0.390556, 2.274403
-[01:08:36.839]  If point is visible? 0.491568, 0.410912, 2.270815
-[01:08:36.839]  If point is visible? 1.349783, 0.991303, 1.660597
-[01:08:36.839]  If point is visible? 0.301988, 0.411859, 2.303459
-[01:08:36.839]  If point is visible? 0.491568, 0.410912, 2.270815
-[01:08:36.839]  If point is visible? 1.349783, 0.991303, 1.660597
-[01:08:36.839]  If point is visible? 0.342421, -1.113394, 2.066377
-[01:08:36.839]  If point is visible? 1.301597, 0.947247, 1.742150
-[01:08:36.839]  If point is visible? 0.342421, -1.113394, 2.066377
-[01:08:36.839]  If point is visible? 1.301597, 0.947247, 1.742150
-[01:08:36.839]  If point is visible? 0.097214, -0.854836, 2.254800
-[01:08:36.839]  If point is visible? -1.039836, 1.020786, 1.923812
-[01:08:36.839] init seeds
-[01:08:36.842] DepthFilter: Initialized 2 new seeds
-[01:08:37.094] add new frame
-[01:08:37.094] update seed
-[01:08:37.094]  If point is visible? -1.051947, 0.183256, 0.566176
-[01:08:37.094]  If point is visible? -1.051855, 0.182522, 0.565748
-[01:08:37.094]  If point is visible? -0.940053, 0.167406, 0.571677
-[01:08:37.094]  If point is visible? -1.067037, 0.131649, 0.542530
-[01:08:37.094]  If point is visible? -1.061325, 0.127929, 0.540650
-[01:08:37.094]  If point is visible? -1.058971, 0.110963, 0.534622
-[01:08:37.094]  If point is visible? -1.060054, 0.110945, 0.534689
-[01:08:37.094]  If point is visible? -1.176255, 0.106087, 0.561508
-[01:08:37.094]  If point is visible? -0.750428, 0.059151, 0.661581
-[01:08:37.094]  If point is visible? -1.116870, -0.026250, 0.526618
-[01:08:37.094]  If point is visible? -1.117972, -0.026243, 0.526868
-[01:08:37.094] add key frame
-[01:08:37.095]  If point is visible? -1.055545, -0.034484, 0.518818
-[01:08:37.095] init seeds
-[01:08:37.097] DepthFilter: Initialized 0 new seeds
-[01:08:37.097] update seed
-[01:08:37.097]  If point is visible? -1.051947, 0.183256, 0.566176
-[01:08:37.097]  If point is visible? -1.051855, 0.182522, 0.565748
-[01:08:37.097]  If point is visible? -0.940053, 0.167406, 0.571677
-[01:08:37.097]  If point is visible? -1.067037, 0.131649, 0.542530
-[01:08:37.097]  If point is visible? -1.061325, 0.127929, 0.540650
-[01:08:37.097]  If point is visible? -1.058971, 0.110963, 0.534622
-[01:08:37.097]  If point is visible? -1.060054, 0.110945, 0.534689
-[01:08:37.097]  If point is visible? -1.176255, 0.106087, 0.561508
-[01:08:37.097]  If point is visible? -0.750428, 0.059151, 0.661581
-[01:08:37.097]  If point is visible? -1.116870, -0.026250, 0.526618
-[01:08:37.097]  If point is visible? -1.117972, -0.026243, 0.526868
-[01:08:37.097]  If point is visible? -1.055545, -0.034484, 0.518818
-[01:08:37.097]  If point is visible? -1.053382, -0.035288, 0.518787
-[01:08:37.097]  If point is visible? -1.051222, -0.036092, 0.518770
-[01:08:37.097]  If point is visible? -1.046908, -0.037700, 0.518782
-[01:08:37.097]  If point is visible? -1.047995, -0.037695, 0.518815
-[01:08:37.097]  If point is visible? -1.030821, -0.044132, 0.519391
-[01:08:37.097]  If point is visible? -1.011564, -0.047395, 0.520602
-[01:08:37.097]  If point is visible? -1.013705, -0.047387, 0.520461
-[01:08:37.097]  If point is visible? -1.014777, -0.047382, 0.520396
-[01:08:37.097]  If point is visible? -0.701135, -0.076444, 0.756102
-[01:08:37.097]  If point is visible? -0.738518, -0.096750, 0.692672
-[01:08:37.097]  If point is visible? -1.104091, -0.100598, 0.537345
-[01:08:37.097]  If point is visible? -1.096489, -0.101538, 0.536214
-[01:08:37.097]  If point is visible? -1.097581, -0.101515, 0.536399
-[01:08:37.097]  If point is visible? -1.022902, -0.142259, 0.545685
-[01:08:37.097]  If point is visible? -1.032847, -0.145931, 0.547007
-[01:08:37.097]  If point is visible? -1.020672, -0.161357, 0.554486
-[01:08:37.097]  If point is visible? -1.021727, -0.161339, 0.554429
-[01:08:37.097]  If point is visible? -1.021813, -0.162095, 0.554797
-[01:08:37.097]  If point is visible? -1.018851, -0.172691, 0.560390
-[01:08:37.097]  If point is visible? -0.939369, 0.169669, 0.573116
-[01:08:37.097]  If point is visible? -0.778427, 0.139485, 0.663242
-[01:08:37.097]  If point is visible? -1.067164, 0.133179, 0.543136
-[01:08:37.097]  If point is visible? -1.061748, 0.119437, 0.537628
-[01:08:37.097]  If point is visible? -1.067037, 0.131649, 0.542530
-[01:08:37.097]  If point is visible? -0.761962, 0.096883, 0.660291
-[01:08:37.097]  If point is visible? -0.703349, 0.058897, 0.741747
-[01:08:37.097]  If point is visible? -0.749765, 0.059894, 0.662640
-[01:08:37.097]  If point is visible? -0.749548, 0.056826, 0.662111
-[01:08:37.097]  If point is visible? -0.749655, 0.058361, 0.662372
-[01:08:37.097]  If point is visible? -1.262102, 0.023303, 0.595462
-[01:08:37.097]  If point is visible? -1.036120, -0.040133, 0.518887
-[01:08:37.097]  If point is visible? -1.038285, -0.040123, 0.518891
-[01:08:37.097]  If point is visible? -1.040414, -0.038524, 0.518737
-[01:08:37.097]  If point is visible? -1.042583, -0.038514, 0.518767
-[01:08:37.097]  If point is visible? -1.044717, -0.036916, 0.518644
-[01:08:37.097]  If point is visible? -1.046889, -0.036906, 0.518700
-[01:08:37.097]  If point is visible? -1.055528, -0.033690, 0.518742
-[01:08:37.097]  If point is visible? -1.031836, -0.041742, 0.519095
-[01:08:37.097]  If point is visible? -1.027562, -0.043351, 0.519360
-[01:08:37.097]  If point is visible? -1.012517, -0.043409, 0.520040
-[01:08:37.097]  If point is visible? -1.014660, -0.043402, 0.519905
-[01:08:37.097]  If point is visible? -0.716944, -0.086842, 0.725705
-[01:08:37.097]  If point is visible? -0.702710, -0.078065, 0.752982
-[01:08:37.097]  If point is visible? -0.701592, -0.076503, 0.754937
-[01:08:37.097]  If point is visible? -0.745447, -0.099466, 0.683583
-[01:08:37.097]  If point is visible? -0.746805, -0.099558, 0.681665
-[01:08:37.097]  If point is visible? -0.826099, 0.167132, 0.633765
-[01:08:37.097]  If point is visible? -0.937804, 0.172675, 0.575276
-[01:08:37.097]  If point is visible? -0.762887, 0.104446, 0.662581
-[01:08:37.097]  If point is visible? -0.933873, 0.098516, 0.545354
-[01:08:37.097]  If point is visible? -0.777186, 0.140857, 0.665589
-[01:08:37.097]  If point is visible? -0.771759, 0.125814, 0.662916
-[01:08:37.098]  If point is visible? -0.934356, 0.104813, 0.547107
-[01:08:37.098]  If point is visible? -0.774747, 0.143582, 0.670339
-[01:08:37.098]  If point is visible? -0.845027, 0.097824, 0.586245
-[01:08:37.098]  If point is visible? -0.772226, 0.128795, 0.664082
-[01:08:37.098]  If point is visible? -0.934111, 0.101666, 0.546216
-[01:08:37.098]  If point is visible? -0.754334, 0.079882, 0.663085
-[01:08:37.098]  If point is visible? -0.776782, -0.056588, 0.630642
-[01:08:37.098]  If point is visible? -1.018826, -0.038608, 0.519140
-[01:08:37.098]  If point is visible? -1.031755, -0.038560, 0.518745
-[01:08:37.098]  If point is visible? -1.132207, -0.019104, 0.529975
-[01:08:37.098]  If point is visible? -1.018908, -0.041793, 0.519488
-[01:08:37.098]  If point is visible? -1.023209, -0.041777, 0.519307
-[01:08:37.098]  If point is visible? -1.027519, -0.041760, 0.519175
-[01:08:37.098]  If point is visible? -0.553455, -0.607778, 1.720167
-[01:08:37.098]  If point is visible? -0.465332, -0.601628, 1.749144
-[01:08:37.098]  If point is visible? -0.460398, -0.601688, 1.750453
-[01:08:37.098]  If point is visible? 0.077702, -0.044577, 1.909073
-[01:08:37.098]  If point is visible? 0.082802, -0.044575, 1.908745
-[01:08:37.098]  If point is visible? 0.373116, 0.294827, 1.839994
-[01:08:37.098]  If point is visible? -0.624095, 0.535254, 1.721548
-[01:08:37.098]  If point is visible? -0.928331, 0.494892, 1.584274
-[01:08:37.098]  If point is visible? -0.563085, -0.611315, 1.715544
-[01:08:37.098]  If point is visible? -0.494765, -0.604955, 1.739587
-[01:08:37.098]  If point is visible? -0.484925, -0.605088, 1.742375
-[01:08:37.098]  If point is visible? -0.475076, -0.605217, 1.745102
-[01:08:37.098]  If point is visible? -0.212178, -0.129046, 1.899134
-[01:08:37.098]  If point is visible? -0.202041, -0.129051, 1.900149
-[01:08:37.098]  If point is visible? -0.863387, 0.130033, 1.698783
-[01:08:37.098]  If point is visible? -0.834738, 0.152897, 1.711796
-[01:08:37.098]  If point is visible? -0.853778, 0.145208, 1.702570
-[01:08:37.098]  If point is visible? -0.853858, 0.137650, 1.703218
-[01:08:37.098]  If point is visible? -0.844388, 0.137711, 1.708204
-[01:08:37.098]  If point is visible? -0.555687, 0.540029, 1.744102
-[01:08:37.098]  If point is visible? -0.097508, 0.475154, 1.846383
-[01:08:37.098]  If point is visible? -0.504595, -0.604819, 1.736736
-[01:08:37.098]  If point is visible? -0.484925, -0.605088, 1.742375
-[01:08:37.098]  If point is visible? -0.230224, -0.381199, 1.859826
-[01:08:37.098]  If point is visible? -0.210219, -0.366031, 1.865347
-[01:08:37.098]  If point is visible? 0.236086, -0.243274, 1.875307
-[01:08:37.098]  If point is visible? -0.592698, -0.135995, 1.815869
-[01:08:37.098]  If point is visible? -0.108035, 0.444910, 1.854161
-[01:08:37.098]  If point is visible? -0.553455, -0.607778, 1.720167
-[01:08:37.098]  If point is visible? -0.465332, -0.601628, 1.749144
-[01:08:37.098]  If point is visible? -0.460398, -0.601688, 1.750453
-[01:08:37.098]  If point is visible? 0.077702, -0.044577, 1.909073
-[01:08:37.098]  If point is visible? 0.082802, -0.044575, 1.908745
-[01:08:37.098]  If point is visible? 0.373116, 0.294827, 1.839994
-[01:08:37.098]  If point is visible? -0.928331, 0.494892, 1.584274
-[01:08:37.098]  If point is visible? -0.624095, 0.535254, 1.721548
-[01:08:37.098]  If point is visible? -0.494765, -0.604955, 1.739587
-[01:08:37.098]  If point is visible? -0.484925, -0.605088, 1.742375
-[01:08:37.098]  If point is visible? -0.475076, -0.605217, 1.745102
-[01:08:37.098]  If point is visible? -0.212178, -0.129046, 1.899134
-[01:08:37.098]  If point is visible? -0.202041, -0.129051, 1.900149
-[01:08:37.098]  If point is visible? -0.834738, 0.152897, 1.711796
-[01:08:37.098]  If point is visible? -0.853778, 0.145208, 1.702570
-[01:08:37.098]  If point is visible? -0.853858, 0.137650, 1.703218
-[01:08:37.098]  If point is visible? -0.844388, 0.137711, 1.708204
-[01:08:37.098]  If point is visible? -0.555687, 0.540029, 1.744102
-[01:08:37.098]  If point is visible? -0.097508, 0.475154, 1.846383
-[01:08:37.098]  If point is visible? -0.230224, -0.381199, 1.859826
-[01:08:37.098]  If point is visible? -0.210219, -0.366031, 1.865347
-[01:08:37.098]  If point is visible? -0.504595, -0.604819, 1.736736
-[01:08:37.098]  If point is visible? -0.484925, -0.605088, 1.742375
-[01:08:37.098]  If point is visible? 0.236086, -0.243274, 1.875307
-[01:08:37.098]  If point is visible? -0.592698, -0.135995, 1.815869
-[01:08:37.098]  If point is visible? -0.108035, 0.444910, 1.854161
-[01:08:37.098]  If point is visible? 0.298501, -0.952041, 2.000607
-[01:08:37.098]  If point is visible? 0.061658, -0.744069, 2.119716
-[01:08:37.098]  If point is visible? 0.061598, -0.739618, 2.121400
-[01:08:37.098]  If point is visible? -0.532975, -0.706682, 2.071481
-[01:08:37.098]  If point is visible? -0.816346, -0.402656, 2.064540
-[01:08:37.098]  If point is visible? -0.326279, 0.107374, 2.234722
-[01:08:37.098]  If point is visible? 0.458928, 0.361769, 2.167503
-[01:08:37.098]  If point is visible? 0.458919, 0.352697, 2.169116
-[01:08:37.098]  If point is visible? 0.458924, 0.357233, 2.168314
-[01:08:37.098]  If point is visible? 0.295349, 0.394694, 2.194466
-[01:08:37.098]  If point is visible? 0.234548, 0.390482, 2.204134
-[01:08:37.098]  If point is visible? 0.179869, 0.404388, 2.207838
-[01:08:37.098]  If point is visible? 0.119954, 0.531704, 2.183988
-[01:08:37.098]  If point is visible? -0.728471, 0.645047, 2.031781
-[01:08:37.098]  If point is visible? 0.096667, 0.635504, 2.155534
-[01:08:37.098]  If point is visible? 0.102727, 0.635471, 2.155143
-[01:08:37.098]  If point is visible? 0.096715, 0.639994, 2.154098
-[01:08:37.098]  If point is visible? 0.102774, 0.639961, 2.153707
-[01:08:37.098]  If point is visible? 0.548840, 0.749737, 2.031728
-[01:08:37.098]  If point is visible? -0.906747, 0.768754, 1.906358
-[01:08:37.098]  If point is visible? -0.711408, 0.791183, 1.981403
-[01:08:37.098]  If point is visible? 0.134826, 0.800188, 2.092580
-[01:08:37.098]  If point is visible? -0.722038, 0.812837, 1.967855
-[01:08:37.098]  If point is visible? 0.292526, -0.952150, 2.001614
-[01:08:37.098]  If point is visible? -0.114010, -0.016621, 2.256455
-[01:08:37.098]  If point is visible? -0.404777, 0.093548, 2.222787
-[01:08:37.098]  If point is visible? -0.392726, 0.093558, 2.224920
-[01:08:37.098]  If point is visible? -0.392697, 0.102735, 2.224490
-[01:08:37.098]  If point is visible? -0.476973, 0.075139, 2.209236
-[01:08:37.098]  If point is visible? -0.488991, 0.065959, 2.206914
-[01:08:37.098]  If point is visible? -0.831013, 0.211166, 2.089100
-[01:08:37.098]  If point is visible? 0.264968, 0.394869, 2.199090
-[01:08:37.098]  If point is visible? -0.097967, 0.577521, 2.176141
-[01:08:37.098]  If point is visible? 0.147416, 0.844160, 2.072677
-[01:08:37.098]  If point is visible? 0.147308, 0.835363, 2.076537
-[01:08:37.098]  If point is visible? -0.245482, -0.401502, 2.208390
-[01:08:37.098]  If point is visible? -0.489047, -0.034932, 2.207665
-[01:08:37.098]  If point is visible? 0.288928, -0.291063, 2.212840
-[01:08:37.098]  If point is visible? -0.702672, -0.162710, 2.141812
-[01:08:37.098]  If point is visible? -0.772802, 0.202381, 2.113056
-[01:08:37.098]  If point is visible? -0.749372, 0.202494, 2.121746
-[01:08:37.098]  If point is visible? -0.703259, -0.016531, 2.148201
-[01:08:37.098]  If point is visible? -0.749539, 0.184268, 2.123478
-[01:08:37.098]  If point is visible? -0.122796, 0.532310, 2.187575
-[01:08:37.098]  If point is visible? 0.147308, 0.835363, 2.076537
-[01:08:37.098]  If point is visible? 0.298501, -0.952041, 2.000607
-[01:08:37.098]  If point is visible? 0.061658, -0.744069, 2.119716
-[01:08:37.098]  If point is visible? 0.061598, -0.739618, 2.121400
-[01:08:37.098]  If point is visible? -0.532975, -0.706682, 2.071481
-[01:08:37.098]  If point is visible? -0.816346, -0.402656, 2.064540
-[01:08:37.098]  If point is visible? -0.326279, 0.107374, 2.234722
-[01:08:37.098]  If point is visible? 0.458924, 0.357233, 2.168314
-[01:08:37.098]  If point is visible? 0.234548, 0.390482, 2.204134
-[01:08:37.098]  If point is visible? 0.277141, 0.399346, 2.196408
-[01:08:37.098]  If point is visible? 0.179869, 0.404388, 2.207838
-[01:08:37.098]  If point is visible? 0.119954, 0.531704, 2.183988
-[01:08:37.098]  If point is visible? 0.096667, 0.635504, 2.155534
-[01:08:37.098]  If point is visible? 0.102727, 0.635471, 2.155143
-[01:08:37.098]  If point is visible? -0.728471, 0.645047, 2.031781
-[01:08:37.098]  If point is visible? 0.096715, 0.639994, 2.154098
-[01:08:37.098]  If point is visible? 0.102774, 0.639961, 2.153707
-[01:08:37.098]  If point is visible? 0.548840, 0.749737, 2.031728
-[01:08:37.098]  If point is visible? -0.906747, 0.768754, 1.906358
-[01:08:37.098]  If point is visible? -0.711408, 0.791183, 1.981403
-[01:08:37.098]  If point is visible? 0.134826, 0.800188, 2.092580
-[01:08:37.098]  If point is visible? -0.722038, 0.812837, 1.967855
-[01:08:37.098]  If point is visible? 0.292526, -0.952150, 2.001614
-[01:08:37.098]  If point is visible? -0.489011, 0.056788, 2.207184
-[01:08:37.098]  If point is visible? -0.477015, 0.056796, 2.209816
-[01:08:37.098]  If point is visible? -0.114010, -0.016621, 2.256455
-[01:08:37.098]  If point is visible? -0.488991, 0.065959, 2.206914
-[01:08:37.098]  If point is visible? -0.831013, 0.211166, 2.089100
-[01:08:37.098]  If point is visible? 0.264968, 0.394869, 2.199090
-[01:08:37.098]  If point is visible? -0.097967, 0.577521, 2.176141
-[01:08:37.098]  If point is visible? 0.147308, 0.835363, 2.076537
-[01:08:37.098]  If point is visible? -0.245482, -0.401502, 2.208390
-[01:08:37.098]  If point is visible? 0.288928, -0.291063, 2.212840
-[01:08:37.098]  If point is visible? -0.702672, -0.162710, 2.141812
-[01:08:37.098]  If point is visible? -0.489047, -0.034932, 2.207665
-[01:08:37.098]  If point is visible? -0.703259, -0.016531, 2.148201
-[01:08:37.098]  If point is visible? -0.772802, 0.202381, 2.113056
-[01:08:37.098]  If point is visible? -0.749372, 0.202494, 2.121746
-[01:08:37.098]  If point is visible? -0.749539, 0.184268, 2.123478
-[01:08:37.098]  If point is visible? -0.122796, 0.532310, 2.187575
-[01:08:37.098]  If point is visible? 0.147308, 0.835363, 2.076537
-[01:08:37.098]  If point is visible? 0.156145, 0.429304, 2.215678
-[01:08:37.098]  If point is visible? 0.162258, 0.429278, 2.215113
-[01:08:37.098]  If point is visible? 0.162230, 0.424709, 2.216063
-[01:08:37.098]  If point is visible? -1.766473, 0.469185, 1.268038
-[01:08:37.098]  If point is visible? 0.545324, 0.726972, 2.053173
-[01:08:37.098]  If point is visible? -0.803732, 0.753381, 1.972753
-[01:08:37.098]  If point is visible? -0.797961, 0.753515, 1.975135
-[01:08:37.098]  If point is visible? 0.353017, 0.810237, 2.068260
-[01:08:37.098]  If point is visible? -0.674103, 0.800250, 2.002837
-[01:08:37.098]  If point is visible? 0.359083, 0.818964, 2.063300
-[01:08:37.098]  If point is visible? -0.455488, 0.047867, 2.225202
-[01:08:37.098]  If point is visible? -0.443409, 0.047873, 2.227631
-[01:08:37.098]  If point is visible? -0.455452, 0.066305, 2.224700
-[01:08:37.098]  If point is visible? -0.455472, 0.057086, 2.224971
-[01:08:37.098]  If point is visible? -0.246284, -0.458339, 2.207047
-[01:08:37.098]  If point is visible? -0.221980, -0.458376, 2.209421
-[01:08:37.098]  If point is visible? -0.295532, -0.403360, 2.212877
-[01:08:37.098]  If point is visible? -0.246949, -0.403448, 2.218480
-[01:08:37.098]  If point is visible? -0.222625, -0.403480, 2.220853
-[01:08:37.099]  If point is visible? -0.893776, 0.184467, 2.076240
-[01:08:37.099]  If point is visible? -0.075159, 0.516646, 2.203841
-[01:08:37.099]  If point is visible? 0.169077, 0.534024, 2.189793
-[01:08:37.099]  If point is visible? 0.377132, -0.992753, 1.986966
-[01:08:37.099]  If point is visible? -0.482668, -0.725943, 2.090982
-[01:08:37.099]  If point is visible? -0.476608, -0.726008, 2.092384
-[01:08:37.099]  If point is visible? -0.170174, -0.209071, 2.256244
-[01:08:37.099]  If point is visible? -0.170194, -0.204391, 2.256697
-[01:08:37.099]  If point is visible? 0.203358, 0.440581, 2.214554
-[01:08:37.099]  If point is visible? 0.203340, 0.435942, 2.215529
-[01:08:37.099]  If point is visible? 0.505792, 0.622003, 2.111967
-[01:08:37.099]  If point is visible? 0.511909, 0.621913, 2.110373
-[01:08:37.099]  If point is visible? -0.678179, 0.807605, 2.000985
-[01:08:37.099]  If point is visible? 0.217809, 0.838660, 2.087110
-[01:08:37.099]  If point is visible? -0.814146, 0.638163, 2.013431
-[01:08:37.099]  If point is visible? -0.884823, 0.627642, 1.985578
-[01:08:37.099]  If point is visible? 0.223920, 0.834100, 2.088312
-[01:08:37.099]  If point is visible? -0.186903, -0.465492, 2.213937
-[01:08:37.099]  If point is visible? 0.357996, -0.315513, 2.215123
-[01:08:37.099]  If point is visible? 0.382754, -0.315389, 2.210539
-[01:08:37.099]  If point is visible? -0.751267, 0.206519, 2.131866
-[01:08:37.099]  If point is visible? -0.037871, 0.524667, 2.206670
-[01:08:37.099]  If point is visible? 0.209988, 0.542314, 2.189744
-[01:08:37.099]  If point is visible? 0.260658, 0.815695, 2.091187
-[01:08:37.099]  If point is visible? 0.168681, -0.801875, 2.114894
-[01:08:37.099]  If point is visible? 0.155650, -0.792426, 2.119456
-[01:08:37.099]  If point is visible? -0.395039, 0.075652, 2.231795
-[01:08:37.099]  If point is visible? 0.237009, 0.169006, 2.250464
-[01:08:37.099]  If point is visible? 0.575343, 0.363184, 2.164908
-[01:08:37.099]  If point is visible? -1.816043, 0.382316, 1.286081
-[01:08:37.099]  If point is visible? -1.815785, 0.386799, 1.285093
-[01:08:37.099]  If point is visible? -0.788448, 0.808468, 1.963385
-[01:08:37.099]  If point is visible? -0.812942, 0.812589, 1.951500
-[01:08:37.099]  If point is visible? -0.558695, -0.756784, 2.061722
-[01:08:37.099]  If point is visible? -0.178470, -0.488854, 2.207516
-[01:08:37.099]  If point is visible? -0.021942, 0.550998, 2.200257
-[01:08:37.099]  If point is visible? -0.654066, 0.909876, 1.968738
-[01:08:37.099]  If point is visible? -0.021753, 0.570420, 2.195267
-[01:08:37.099]  If point is visible? 0.238399, 0.569531, 2.183102
-[01:08:37.099]  If point is visible? 0.551372, -0.368348, 2.327200
-[01:08:37.099]  If point is visible? -0.338847, 0.112243, 2.392025
-[01:08:37.099]  If point is visible? 0.246517, 0.493608, 2.355666
-[01:08:37.099]  If point is visible? 0.246495, 0.488411, 2.356759
-[01:08:37.099]  If point is visible? -1.903612, 0.562003, 1.364199
-[01:08:37.099]  If point is visible? -0.712956, 0.728190, 2.191000
-[01:08:37.099]  If point is visible? 0.544472, -0.456609, 2.313024
-[01:08:37.099]  If point is visible? -0.596343, -0.807351, 2.198400
-[01:08:37.099]  If point is visible? -0.982913, 0.188975, 2.198842
-[01:08:37.099]  If point is visible? -0.023724, 0.587814, 2.346190
-[01:08:37.099]  If point is visible? 0.254012, 0.607586, 2.327887
-[01:08:37.099]  If point is visible? 0.384330, -1.029752, 1.995951
-[01:08:37.099]  If point is visible? -0.903625, 0.643489, 1.987148
-[01:08:37.099]  If point is visible? -0.205423, -0.491193, 2.215862
-[01:08:37.099]  If point is visible? -0.179356, -0.491232, 2.218188
-[01:08:37.099]  If point is visible? -0.155516, -0.156400, 2.268716
-[01:08:37.099]  If point is visible? -0.022249, 0.534142, 2.215727
-[01:08:37.099]  If point is visible? 0.384330, -1.029752, 1.995951
-[01:08:37.099]  If point is visible? -0.766503, 0.655617, 2.040852
-[01:08:37.099]  If point is visible? -0.903625, 0.643489, 1.987148
-[01:08:37.099]  If point is visible? -0.205423, -0.491193, 2.215862
-[01:08:37.099]  If point is visible? -0.179356, -0.491232, 2.218188
-[01:08:37.099]  If point is visible? -0.155516, -0.156400, 2.268716
-[01:08:37.099]  If point is visible? -0.022249, 0.534142, 2.215727
-[01:08:37.099]  If point is visible? -0.841619, -0.700572, 2.038017
-[01:08:37.099]  If point is visible? -0.171187, -0.229301, 2.299061
-[01:08:37.099]  If point is visible? -0.164562, -0.224284, 2.300060
-[01:08:37.099]  If point is visible? -0.570801, -0.773054, 2.105707
-[01:08:37.099]  If point is visible? -0.022692, 0.542984, 2.252131
-[01:08:37.099]  If point is visible? -0.841619, -0.700572, 2.038017
-[01:08:37.099]  If point is visible? -0.164562, -0.224284, 2.300060
-[01:08:37.099]  If point is visible? -0.570801, -0.773054, 2.105707
-[01:08:37.099]  If point is visible? -0.022692, 0.542984, 2.252131
-[01:08:37.099]  If point is visible? -1.846391, 0.398837, 1.384659
-[01:08:37.099]  If point is visible? -0.682862, 0.826559, 2.090496
-[01:08:37.099]  If point is visible? -1.846391, 0.398837, 1.384659
-[01:08:37.099]  If point is visible? -0.682862, 0.826559, 2.090496
-[01:08:37.099]  If point is visible? 0.518396, -0.426406, 2.298945
-[01:08:37.099]  If point is visible? -1.853430, 0.440829, 1.433634
-[01:08:37.099]  If point is visible? 0.518396, -0.426406, 2.298945
-[01:08:37.099]  If point is visible? -1.853430, 0.440829, 1.433634
-[01:08:37.099]  If point is visible? -0.654542, 1.100719, 1.952548
-[01:08:37.099]  If point is visible? -0.654542, 1.100719, 1.952548
-[01:08:37.099]  If point is visible? -0.133268, -0.171198, 2.336165
-[01:08:37.099]  If point is visible? 0.001478, 0.022327, 2.346455
-[01:08:37.099]  If point is visible? -0.133268, -0.171198, 2.336165
-[01:08:37.099]  If point is visible? 0.001478, 0.022327, 2.346455
-[01:08:37.099]  If point is visible? -0.577889, -0.059267, 2.282795
-[01:08:37.099]  If point is visible? -0.577928, 0.032566, 2.283326
-[01:08:37.099]  If point is visible? -0.778109, 0.737773, 2.095431
-[01:08:37.099]  If point is visible? -0.577889, -0.059267, 2.282795
-[01:08:37.099]  If point is visible? -0.577928, 0.032566, 2.283326
-[01:08:37.099]  If point is visible? -0.778109, 0.737773, 2.095431
-[01:08:37.099]  If point is visible? 0.302001, 0.411859, 2.303461
-[01:08:37.099]  If point is visible? 0.491641, 0.390556, 2.274404
-[01:08:37.099]  If point is visible? 0.491580, 0.410912, 2.270816
-[01:08:37.099]  If point is visible? 1.349793, 0.991303, 1.660594
-[01:08:37.099]  If point is visible? 0.302001, 0.411859, 2.303461
-[01:08:37.099]  If point is visible? 0.491580, 0.410912, 2.270816
-[01:08:37.099]  If point is visible? 1.349793, 0.991303, 1.660594
-[01:08:37.099]  If point is visible? 0.342433, -1.113394, 2.066379
-[01:08:37.099]  If point is visible? 1.301607, 0.947247, 1.742147
-[01:08:37.099]  If point is visible? 0.342433, -1.113394, 2.066379
-[01:08:37.099]  If point is visible? 1.301607, 0.947247, 1.742147
-[01:08:37.099]  If point is visible? 0.097226, -0.854836, 2.254803
-[01:08:37.099]  If point is visible? -1.039825, 1.020786, 1.923821
-[01:08:37.099]  If point is visible? 0.097226, -0.854836, 2.254803
-[01:08:37.099]  If point is visible? -1.039825, 1.020786, 1.923821
-[01:08:37.099] init seeds
-[01:08:37.101] DepthFilter: Initialized 0 new seeds
-[01:08:37.368] add new frame
-[01:08:37.368] update seed
-[01:08:37.368]  If point is visible? -1.051948, 0.183256, 0.566183
-[01:08:37.368]  If point is visible? -1.051856, 0.182522, 0.565755
-[01:08:37.368]  If point is visible? -0.940053, 0.167406, 0.571683
-[01:08:37.368]  If point is visible? -1.067038, 0.131649, 0.542537
-[01:08:37.368]  If point is visible? -1.061325, 0.127929, 0.540657
-[01:08:37.368]  If point is visible? -1.058972, 0.110963, 0.534629
-[01:08:37.368]  If point is visible? -1.060055, 0.110945, 0.534696
-[01:08:37.368]  If point is visible? -1.176255, 0.106087, 0.561515
-[01:08:37.368]  If point is visible? -0.750427, 0.059151, 0.661586
-[01:08:37.368]  If point is visible? -1.116871, -0.026250, 0.526625
-[01:08:37.368]  If point is visible? -1.117972, -0.026243, 0.526875
-[01:08:37.368]  If point is visible? -1.055545, -0.034484, 0.518824
-[01:08:37.368]  If point is visible? -1.053383, -0.035288, 0.518793
-[01:08:37.368] add key frame
-[01:08:37.368]  If point is visible? -1.051223, -0.036092, 0.518777
-[01:08:37.368] init seeds
-[01:08:37.368] remove key frame
-[01:08:37.371] DepthFilter: Initialized 1 new seeds
-[01:08:37.371] update seed
-[01:08:37.371]  If point is visible? -1.051948, 0.183256, 0.566183
-[01:08:37.371]  If point is visible? -1.051856, 0.182522, 0.565755
-[01:08:37.371]  If point is visible? -0.940053, 0.167406, 0.571683
-[01:08:37.371]  If point is visible? -1.067038, 0.131649, 0.542537
-[01:08:37.371]  If point is visible? -1.061325, 0.127929, 0.540657
-[01:08:37.371]  If point is visible? -1.058972, 0.110963, 0.534629
-[01:08:37.371]  If point is visible? -1.060055, 0.110945, 0.534696
-[01:08:37.371]  If point is visible? -1.176255, 0.106087, 0.561515
-[01:08:37.371]  If point is visible? -0.750427, 0.059151, 0.661586
-[01:08:37.371]  If point is visible? -1.116871, -0.026250, 0.526625
-[01:08:37.371]  If point is visible? -1.117972, -0.026243, 0.526875
-[01:08:37.371]  If point is visible? -1.055545, -0.034484, 0.518824
-[01:08:37.371]  If point is visible? -1.053383, -0.035288, 0.518793
-[01:08:37.371]  If point is visible? -1.051223, -0.036092, 0.518777
-[01:08:37.371]  If point is visible? -1.046908, -0.037700, 0.518789
-[01:08:37.371]  If point is visible? -1.047995, -0.037695, 0.518822
-[01:08:37.371]  If point is visible? -1.030821, -0.044132, 0.519397
-[01:08:37.371]  If point is visible? -1.011565, -0.047395, 0.520609
-[01:08:37.371]  If point is visible? -1.013706, -0.047387, 0.520468
-[01:08:37.371]  If point is visible? -1.014777, -0.047382, 0.520402
-[01:08:37.371]  If point is visible? -0.701134, -0.076444, 0.756106
-[01:08:37.371]  If point is visible? -0.738518, -0.096750, 0.692677
-[01:08:37.371]  If point is visible? -1.104091, -0.100598, 0.537352
-[01:08:37.371]  If point is visible? -1.096489, -0.101538, 0.536222
-[01:08:37.371]  If point is visible? -1.097581, -0.101515, 0.536406
-[01:08:37.371]  If point is visible? -1.022903, -0.142259, 0.545691
-[01:08:37.371]  If point is visible? -1.032848, -0.145931, 0.547014
-[01:08:37.371]  If point is visible? -1.020672, -0.161357, 0.554492
-[01:08:37.371]  If point is visible? -1.021728, -0.161339, 0.554435
-[01:08:37.371]  If point is visible? -1.021814, -0.162095, 0.554803
-[01:08:37.371]  If point is visible? -1.018851, -0.172691, 0.560396
-[01:08:37.371]  If point is visible? -0.939369, 0.169669, 0.573122
-[01:08:37.371]  If point is visible? -0.778427, 0.139485, 0.663247
-[01:08:37.371]  If point is visible? -1.067164, 0.133179, 0.543143
-[01:08:37.371]  If point is visible? -1.061749, 0.119437, 0.537635
-[01:08:37.371]  If point is visible? -1.067038, 0.131649, 0.542537
-[01:08:37.371]  If point is visible? -0.761961, 0.096883, 0.660296
-[01:08:37.371]  If point is visible? -0.703348, 0.058897, 0.741751
-[01:08:37.371]  If point is visible? -0.749764, 0.059894, 0.662644
-[01:08:37.371]  If point is visible? -0.749547, 0.056826, 0.662115
-[01:08:37.371]  If point is visible? -0.749654, 0.058361, 0.662376
-[01:08:37.371]  If point is visible? -1.262102, 0.023303, 0.595470
-[01:08:37.371]  If point is visible? -1.036121, -0.040133, 0.518894
-[01:08:37.371]  If point is visible? -1.038286, -0.040123, 0.518898
-[01:08:37.371]  If point is visible? -1.040414, -0.038524, 0.518743
-[01:08:37.371]  If point is visible? -1.042583, -0.038514, 0.518773
-[01:08:37.371]  If point is visible? -1.044717, -0.036916, 0.518651
-[01:08:37.371]  If point is visible? -1.046890, -0.036906, 0.518707
-[01:08:37.371]  If point is visible? -1.055529, -0.033690, 0.518749
-[01:08:37.371]  If point is visible? -1.031837, -0.041742, 0.519102
-[01:08:37.371]  If point is visible? -1.027562, -0.043351, 0.519367
-[01:08:37.371]  If point is visible? -1.012517, -0.043409, 0.520046
-[01:08:37.371]  If point is visible? -1.014660, -0.043402, 0.519911
-[01:08:37.371]  If point is visible? -0.716943, -0.086842, 0.725710
-[01:08:37.371]  If point is visible? -0.702709, -0.078065, 0.752987
-[01:08:37.371]  If point is visible? -0.701591, -0.076503, 0.754942
-[01:08:37.371]  If point is visible? -0.745447, -0.099466, 0.683588
-[01:08:37.371]  If point is visible? -0.746804, -0.099558, 0.681670
-[01:08:37.371]  If point is visible? -0.826098, 0.167132, 0.633770
-[01:08:37.371]  If point is visible? -0.937805, 0.172675, 0.575282
-[01:08:37.371]  If point is visible? -0.762887, 0.104446, 0.662586
-[01:08:37.371]  If point is visible? -0.933874, 0.098516, 0.545360
-[01:08:37.371]  If point is visible? -0.777185, 0.140857, 0.665594
-[01:08:37.371]  If point is visible? -0.771759, 0.125814, 0.662921
-[01:08:37.371]  If point is visible? -0.934357, 0.104813, 0.547113
-[01:08:37.371]  If point is visible? -0.774746, 0.143582, 0.670344
-[01:08:37.371]  If point is visible? -0.845027, 0.097824, 0.586250
-[01:08:37.371]  If point is visible? -0.772226, 0.128795, 0.664087
-[01:08:37.371]  If point is visible? -0.934111, 0.101666, 0.546222
-[01:08:37.371]  If point is visible? -0.754334, 0.079882, 0.663090
-[01:08:37.371]  If point is visible? -0.776782, -0.056588, 0.630647
-[01:08:37.371]  If point is visible? -1.018826, -0.038608, 0.519147
-[01:08:37.371]  If point is visible? -1.031756, -0.038560, 0.518752
-[01:08:37.371]  If point is visible? -1.132208, -0.019104, 0.529983
-[01:08:37.371]  If point is visible? -1.018909, -0.041793, 0.519495
-[01:08:37.371]  If point is visible? -1.023210, -0.041777, 0.519313
-[01:08:37.371]  If point is visible? -1.027519, -0.041760, 0.519182
-[01:08:37.371]  If point is visible? -0.553442, -0.607778, 1.720177
-[01:08:37.371]  If point is visible? -0.465319, -0.601628, 1.749154
-[01:08:37.371]  If point is visible? -0.460385, -0.601688, 1.750463
-[01:08:37.371]  If point is visible? 0.077716, -0.044577, 1.909079
-[01:08:37.371]  If point is visible? 0.082817, -0.044575, 1.908751
-[01:08:37.371]  If point is visible? 0.373130, 0.294827, 1.839998
-[01:08:37.371]  If point is visible? -0.624082, 0.535254, 1.721559
-[01:08:37.371]  If point is visible? -0.928318, 0.494892, 1.584287
-[01:08:37.371]  If point is visible? -0.563072, -0.611315, 1.715555
-[01:08:37.371]  If point is visible? -0.494752, -0.604955, 1.739597
-[01:08:37.371]  If point is visible? -0.484912, -0.605088, 1.742385
-[01:08:37.372]  If point is visible? -0.475062, -0.605217, 1.745112
-[01:08:37.372]  If point is visible? -0.212164, -0.129046, 1.899142
-[01:08:37.372]  If point is visible? -0.202027, -0.129051, 1.900157
-[01:08:37.372]  If point is visible? -0.863374, 0.130033, 1.698795
-[01:08:37.372]  If point is visible? -0.834725, 0.152897, 1.711808
-[01:08:37.372]  If point is visible? -0.853765, 0.145208, 1.702582
-[01:08:37.372]  If point is visible? -0.853845, 0.137650, 1.703231
-[01:08:37.372]  If point is visible? -0.844375, 0.137711, 1.708216
-[01:08:37.372]  If point is visible? -0.555674, 0.540029, 1.744112
-[01:08:37.372]  If point is visible? -0.097494, 0.475154, 1.846390
-[01:08:37.372]  If point is visible? -0.504582, -0.604819, 1.736746
-[01:08:37.372]  If point is visible? -0.484912, -0.605088, 1.742385
-[01:08:37.372]  If point is visible? -0.230210, -0.381199, 1.859834
-[01:08:37.372]  If point is visible? -0.210204, -0.366031, 1.865355
-[01:08:37.372]  If point is visible? 0.236100, -0.243274, 1.875312
-[01:08:37.372]  If point is visible? -0.592685, -0.135995, 1.815880
-[01:08:37.372]  If point is visible? -0.108021, 0.444910, 1.854168
-[01:08:37.372]  If point is visible? -0.553442, -0.607778, 1.720177
-[01:08:37.372]  If point is visible? -0.465319, -0.601628, 1.749154
-[01:08:37.372]  If point is visible? -0.460385, -0.601688, 1.750463
-[01:08:37.372]  If point is visible? 0.077716, -0.044577, 1.909079
-[01:08:37.372]  If point is visible? 0.082817, -0.044575, 1.908751
-[01:08:37.372]  If point is visible? 0.373130, 0.294827, 1.839998
-[01:08:37.372]  If point is visible? -0.928318, 0.494892, 1.584287
-[01:08:37.372]  If point is visible? -0.624082, 0.535254, 1.721559
-[01:08:37.372]  If point is visible? -0.494752, -0.604955, 1.739597
-[01:08:37.372]  If point is visible? -0.484912, -0.605088, 1.742385
-[01:08:37.372]  If point is visible? -0.475062, -0.605217, 1.745112
-[01:08:37.372]  If point is visible? -0.212164, -0.129046, 1.899142
-[01:08:37.372]  If point is visible? -0.202027, -0.129051, 1.900157
-[01:08:37.372]  If point is visible? -0.834725, 0.152897, 1.711808
-[01:08:37.372]  If point is visible? -0.853765, 0.145208, 1.702582
-[01:08:37.372]  If point is visible? -0.853845, 0.137650, 1.703231
-[01:08:37.372]  If point is visible? -0.844375, 0.137711, 1.708216
-[01:08:37.372]  If point is visible? -0.555674, 0.540029, 1.744112
-[01:08:37.372]  If point is visible? -0.097494, 0.475154, 1.846390
-[01:08:37.372]  If point is visible? -0.230210, -0.381199, 1.859834
-[01:08:37.372]  If point is visible? -0.210204, -0.366031, 1.865355
-[01:08:37.372]  If point is visible? -0.504582, -0.604819, 1.736746
-[01:08:37.372]  If point is visible? -0.484912, -0.605088, 1.742385
-[01:08:37.372]  If point is visible? 0.236100, -0.243274, 1.875312
-[01:08:37.372]  If point is visible? -0.592685, -0.135995, 1.815880
-[01:08:37.372]  If point is visible? -0.108021, 0.444910, 1.854168
-[01:08:37.372]  If point is visible? 0.298517, -0.952041, 2.000612
-[01:08:37.372]  If point is visible? 0.061674, -0.744069, 2.119722
-[01:08:37.372]  If point is visible? 0.061614, -0.739618, 2.121406
-[01:08:37.372]  If point is visible? -0.532960, -0.706682, 2.071491
-[01:08:37.372]  If point is visible? -0.816330, -0.402656, 2.064553
-[01:08:37.372]  If point is visible? -0.326262, 0.107374, 2.234731
-[01:08:37.372]  If point is visible? 0.458945, 0.361769, 2.167506
-[01:08:37.372]  If point is visible? 0.458935, 0.352697, 2.169119
-[01:08:37.372]  If point is visible? 0.458940, 0.357233, 2.168318
-[01:08:37.372]  If point is visible? 0.295366, 0.394694, 2.194470
-[01:08:37.372]  If point is visible? 0.234565, 0.390482, 2.204139
-[01:08:37.372]  If point is visible? 0.179886, 0.404388, 2.207844
-[01:08:37.372]  If point is visible? 0.119970, 0.531704, 2.183994
-[01:08:37.372]  If point is visible? -0.728455, 0.645047, 2.031793
-[01:08:37.372]  If point is visible? 0.096684, 0.635504, 2.155540
-[01:08:37.372]  If point is visible? 0.102744, 0.635471, 2.155149
-[01:08:37.372]  If point is visible? 0.096731, 0.639994, 2.154104
-[01:08:37.372]  If point is visible? 0.102791, 0.639961, 2.153713
-[01:08:37.372]  If point is visible? 0.548856, 0.749737, 2.031731
-[01:08:37.372]  If point is visible? -0.906732, 0.768754, 1.906371
-[01:08:37.372]  If point is visible? -0.711393, 0.791183, 1.981415
-[01:08:37.372]  If point is visible? 0.134841, 0.800188, 2.092585
-[01:08:37.372]  If point is visible? -0.722023, 0.812837, 1.967866
-[01:08:37.372]  If point is visible? 0.292541, -0.952150, 2.001619
-[01:08:37.372]  If point is visible? -0.113993, -0.016621, 2.256462
-[01:08:37.372]  If point is visible? -0.404760, 0.093548, 2.222797
-[01:08:37.372]  If point is visible? -0.392709, 0.093558, 2.224930
-[01:08:37.372]  If point is visible? -0.392680, 0.102735, 2.224499
-[01:08:37.372]  If point is visible? -0.476956, 0.075139, 2.209246
-[01:08:37.372]  If point is visible? -0.488974, 0.065959, 2.206924
-[01:08:37.372]  If point is visible? -0.830997, 0.211166, 2.089112
-[01:08:37.372]  If point is visible? 0.264984, 0.394869, 2.199095
-[01:08:37.372]  If point is visible? -0.097950, 0.577521, 2.176148
-[01:08:37.372]  If point is visible? 0.147432, 0.844160, 2.072682
-[01:08:37.372]  If point is visible? 0.147324, 0.835363, 2.076543
-[01:08:37.372]  If point is visible? -0.245465, -0.401502, 2.208398
-[01:08:37.372]  If point is visible? -0.489030, -0.034932, 2.207675
-[01:08:37.372]  If point is visible? 0.288944, -0.291063, 2.212844
-[01:08:37.372]  If point is visible? -0.702656, -0.162710, 2.141823
-[01:08:37.372]  If point is visible? -0.772786, 0.202381, 2.113068
-[01:08:37.372]  If point is visible? -0.749356, 0.202494, 2.121758
-[01:08:37.372]  If point is visible? -0.703243, -0.016531, 2.148213
-[01:08:37.372]  If point is visible? -0.749523, 0.184268, 2.123489
-[01:08:37.372]  If point is visible? -0.122779, 0.532310, 2.187582
-[01:08:37.372]  If point is visible? 0.147324, 0.835363, 2.076543
-[01:08:37.372]  If point is visible? 0.298517, -0.952041, 2.000612
-[01:08:37.372]  If point is visible? 0.061674, -0.744069, 2.119722
-[01:08:37.372]  If point is visible? 0.061614, -0.739618, 2.121406
-[01:08:37.372]  If point is visible? -0.532960, -0.706682, 2.071491
-[01:08:37.372]  If point is visible? -0.816330, -0.402656, 2.064553
-[01:08:37.372]  If point is visible? -0.326262, 0.107374, 2.234731
-[01:08:37.372]  If point is visible? 0.458940, 0.357233, 2.168318
-[01:08:37.372]  If point is visible? 0.234565, 0.390482, 2.204139
-[01:08:37.372]  If point is visible? 0.277157, 0.399346, 2.196413
-[01:08:37.372]  If point is visible? 0.179886, 0.404388, 2.207844
-[01:08:37.372]  If point is visible? 0.119970, 0.531704, 2.183994
-[01:08:37.372]  If point is visible? 0.096684, 0.635504, 2.155540
-[01:08:37.372]  If point is visible? 0.102744, 0.635471, 2.155149
-[01:08:37.372]  If point is visible? -0.728455, 0.645047, 2.031793
-[01:08:37.372]  If point is visible? 0.096731, 0.639994, 2.154104
-[01:08:37.372]  If point is visible? 0.102791, 0.639961, 2.153713
-[01:08:37.372]  If point is visible? 0.548856, 0.749737, 2.031731
-[01:08:37.372]  If point is visible? -0.906732, 0.768754, 1.906371
-[01:08:37.372]  If point is visible? -0.711393, 0.791183, 1.981415
-[01:08:37.372]  If point is visible? 0.134841, 0.800188, 2.092585
-[01:08:37.372]  If point is visible? -0.722023, 0.812837, 1.967866
-[01:08:37.372]  If point is visible? 0.292541, -0.952150, 2.001619
-[01:08:37.372]  If point is visible? -0.488994, 0.056788, 2.207194
-[01:08:37.372]  If point is visible? -0.476999, 0.056796, 2.209826
-[01:08:37.372]  If point is visible? -0.113993, -0.016621, 2.256462
-[01:08:37.372]  If point is visible? -0.488974, 0.065959, 2.206924
-[01:08:37.372]  If point is visible? -0.830997, 0.211166, 2.089112
-[01:08:37.372]  If point is visible? 0.264984, 0.394869, 2.199095
-[01:08:37.372]  If point is visible? -0.097950, 0.577521, 2.176148
-[01:08:37.372]  If point is visible? 0.147324, 0.835363, 2.076543
-[01:08:37.372]  If point is visible? -0.245465, -0.401502, 2.208398
-[01:08:37.372]  If point is visible? 0.288944, -0.291063, 2.212844
-[01:08:37.372]  If point is visible? -0.702656, -0.162710, 2.141823
-[01:08:37.372]  If point is visible? -0.489030, -0.034932, 2.207675
-[01:08:37.372]  If point is visible? -0.703243, -0.016531, 2.148213
-[01:08:37.372]  If point is visible? -0.772786, 0.202381, 2.113068
-[01:08:37.372]  If point is visible? -0.749356, 0.202494, 2.121758
-[01:08:37.372]  If point is visible? -0.749523, 0.184268, 2.123489
-[01:08:37.372]  If point is visible? -0.122779, 0.532310, 2.187582
-[01:08:37.372]  If point is visible? 0.147324, 0.835363, 2.076543
-[01:08:37.372]  If point is visible? 0.156162, 0.429304, 2.215683
-[01:08:37.372]  If point is visible? 0.162274, 0.429278, 2.215118
-[01:08:37.372]  If point is visible? 0.162246, 0.424709, 2.216068
-[01:08:37.372]  If point is visible? -1.766463, 0.469185, 1.268057
-[01:08:37.372]  If point is visible? 0.545340, 0.726972, 2.053175
-[01:08:37.372]  If point is visible? -0.803717, 0.753381, 1.972765
-[01:08:37.372]  If point is visible? -0.797946, 0.753515, 1.975147
-[01:08:37.372]  If point is visible? 0.353032, 0.810237, 2.068264
-[01:08:37.372]  If point is visible? -0.674088, 0.800250, 2.002848
-[01:08:37.372]  If point is visible? 0.359099, 0.818964, 2.063304
-[01:08:37.372]  If point is visible? -0.455472, 0.047867, 2.225211
-[01:08:37.372]  If point is visible? -0.443392, 0.047873, 2.227641
-[01:08:37.372]  If point is visible? -0.455435, 0.066305, 2.224710
-[01:08:37.372]  If point is visible? -0.455455, 0.057086, 2.224981
-[01:08:37.372]  If point is visible? -0.246268, -0.458339, 2.207056
-[01:08:37.372]  If point is visible? -0.221964, -0.458376, 2.209429
-[01:08:37.372]  If point is visible? -0.295515, -0.403360, 2.212886
-[01:08:37.372]  If point is visible? -0.246932, -0.403448, 2.218489
-[01:08:37.372]  If point is visible? -0.222609, -0.403480, 2.220861
-[01:08:37.372]  If point is visible? -0.893760, 0.184467, 2.076253
-[01:08:37.372]  If point is visible? -0.075142, 0.516646, 2.203848
-[01:08:37.372]  If point is visible? 0.169093, 0.534024, 2.189799
-[01:08:37.372]  If point is visible? 0.377148, -0.992753, 1.986970
-[01:08:37.372]  If point is visible? -0.482652, -0.725943, 2.090993
-[01:08:37.372]  If point is visible? -0.476592, -0.726008, 2.092394
-[01:08:37.372]  If point is visible? -0.170157, -0.209071, 2.256252
-[01:08:37.372]  If point is visible? -0.170177, -0.204391, 2.256704
-[01:08:37.372]  If point is visible? 0.203375, 0.440581, 2.214559
-[01:08:37.372]  If point is visible? 0.203357, 0.435942, 2.215535
-[01:08:37.372]  If point is visible? 0.505808, 0.622003, 2.111970
-[01:08:37.372]  If point is visible? 0.511925, 0.621913, 2.110376
-[01:08:37.372]  If point is visible? -0.678163, 0.807605, 2.000997
-[01:08:37.372]  If point is visible? 0.217825, 0.838660, 2.087115
-[01:08:37.372]  If point is visible? -0.814130, 0.638163, 2.013443
-[01:08:37.372]  If point is visible? -0.884808, 0.627642, 1.985591
-[01:08:37.372]  If point is visible? 0.223936, 0.834100, 2.088317
-[01:08:37.372]  If point is visible? -0.186886, -0.465492, 2.213945
-[01:08:37.372]  If point is visible? 0.358013, -0.315513, 2.215127
-[01:08:37.372]  If point is visible? 0.382771, -0.315389, 2.210543
-[01:08:37.372]  If point is visible? -0.751251, 0.206519, 2.131878
-[01:08:37.372]  If point is visible? -0.037854, 0.524667, 2.206677
-[01:08:37.372]  If point is visible? 0.210005, 0.542314, 2.189749
-[01:08:37.372]  If point is visible? 0.260674, 0.815695, 2.091192
-[01:08:37.372]  If point is visible? 0.168698, -0.801875, 2.114900
-[01:08:37.372]  If point is visible? 0.155667, -0.792426, 2.119462
-[01:08:37.372]  If point is visible? -0.395021, 0.075652, 2.231805
-[01:08:37.372]  If point is visible? 0.237027, 0.169006, 2.250469
-[01:08:37.372]  If point is visible? 0.575361, 0.363184, 2.164910
-[01:08:37.372]  If point is visible? -1.816032, 0.382316, 1.286101
-[01:08:37.372]  If point is visible? -1.815774, 0.386799, 1.285113
-[01:08:37.372]  If point is visible? -0.788432, 0.808468, 1.963398
-[01:08:37.372]  If point is visible? -0.812926, 0.812589, 1.951512
-[01:08:37.372]  If point is visible? -0.558679, -0.756784, 2.061733
-[01:08:37.372]  If point is visible? -0.178453, -0.488854, 2.207524
-[01:08:37.372]  If point is visible? -0.021924, 0.550998, 2.200264
-[01:08:37.372]  If point is visible? -0.654050, 0.909876, 1.968750
-[01:08:37.372]  If point is visible? -0.021736, 0.570420, 2.195274
-[01:08:37.372]  If point is visible? 0.238416, 0.569531, 2.183107
-[01:08:37.372]  If point is visible? 0.551391, -0.368348, 2.327203
-[01:08:37.372]  If point is visible? -0.338828, 0.112243, 2.392034
-[01:08:37.372]  If point is visible? 0.246536, 0.493608, 2.355671
-[01:08:37.372]  If point is visible? 0.246513, 0.488411, 2.356764
-[01:08:37.372]  If point is visible? -1.903601, 0.562003, 1.364219
-[01:08:37.372]  If point is visible? -0.712938, 0.728190, 2.191012
-[01:08:37.372]  If point is visible? 0.544490, -0.456609, 2.313027
-[01:08:37.372]  If point is visible? -0.596325, -0.807351, 2.198411
-[01:08:37.372]  If point is visible? -0.982895, 0.188975, 2.198856
-[01:08:37.372]  If point is visible? -0.023705, 0.587814, 2.346197
-[01:08:37.372]  If point is visible? 0.254030, 0.607586, 2.327892
-[01:08:37.372]  If point is visible? 0.384346, -1.029752, 1.995955
-[01:08:37.372]  If point is visible? -0.903609, 0.643489, 1.987162
-[01:08:37.372]  If point is visible? -0.205405, -0.491193, 2.215870
-[01:08:37.372]  If point is visible? -0.179339, -0.491232, 2.218196
-[01:08:37.372]  If point is visible? -0.155498, -0.156400, 2.268724
-[01:08:37.372]  If point is visible? -0.022231, 0.534142, 2.215734
-[01:08:37.372]  If point is visible? 0.384346, -1.029752, 1.995955
-[01:08:37.372]  If point is visible? -0.766487, 0.655617, 2.040865
-[01:08:37.372]  If point is visible? -0.903609, 0.643489, 1.987162
-[01:08:37.372]  If point is visible? -0.205405, -0.491193, 2.215870
-[01:08:37.372]  If point is visible? -0.179339, -0.491232, 2.218196
-[01:08:37.372]  If point is visible? -0.155498, -0.156400, 2.268724
-[01:08:37.372]  If point is visible? -0.022231, 0.534142, 2.215734
-[01:08:37.373]  If point is visible? -0.841602, -0.700572, 2.038030
-[01:08:37.373]  If point is visible? -0.171169, -0.229301, 2.299069
-[01:08:37.373]  If point is visible? -0.164544, -0.224284, 2.300068
-[01:08:37.373]  If point is visible? -0.570785, -0.773054, 2.105718
-[01:08:37.373]  If point is visible? -0.022674, 0.542984, 2.252138
-[01:08:37.373]  If point is visible? -0.841602, -0.700572, 2.038030
-[01:08:37.373]  If point is visible? -0.164544, -0.224284, 2.300068
-[01:08:37.373]  If point is visible? -0.570785, -0.773054, 2.105718
-[01:08:37.373]  If point is visible? -0.022674, 0.542984, 2.252138
-[01:08:37.373]  If point is visible? -1.846379, 0.398837, 1.384679
-[01:08:37.373]  If point is visible? -0.682845, 0.826559, 2.090508
-[01:08:37.373]  If point is visible? -1.846379, 0.398837, 1.384679
-[01:08:37.373]  If point is visible? -0.682845, 0.826559, 2.090508
-[01:08:37.373]  If point is visible? 0.518414, -0.426406, 2.298948
-[01:08:37.373]  If point is visible? -1.853418, 0.440829, 1.433654
-[01:08:37.373]  If point is visible? 0.518414, -0.426406, 2.298948
-[01:08:37.373]  If point is visible? -1.853418, 0.440829, 1.433654
-[01:08:37.373]  If point is visible? -0.654526, 1.100719, 1.952560
-[01:08:37.373]  If point is visible? -0.654526, 1.100719, 1.952560
-[01:08:37.373]  If point is visible? -0.133249, -0.171198, 2.336173
-[01:08:37.373]  If point is visible? 0.001496, 0.022327, 2.346462
-[01:08:37.373]  If point is visible? -0.133249, -0.171198, 2.336173
-[01:08:37.373]  If point is visible? 0.001496, 0.022327, 2.346462
-[01:08:37.373]  If point is visible? -0.577871, -0.059267, 2.282806
-[01:08:37.373]  If point is visible? -0.577910, 0.032566, 2.283337
-[01:08:37.373]  If point is visible? -0.778092, 0.737773, 2.095444
-[01:08:37.373]  If point is visible? -0.577871, -0.059267, 2.282806
-[01:08:37.373]  If point is visible? -0.577910, 0.032566, 2.283337
-[01:08:37.373]  If point is visible? -0.778092, 0.737773, 2.095444
-[01:08:37.373]  If point is visible? 0.302019, 0.411859, 2.303465
-[01:08:37.373]  If point is visible? 0.491659, 0.390556, 2.274407
-[01:08:37.373]  If point is visible? 0.491599, 0.410912, 2.270820
-[01:08:37.373]  If point is visible? 1.349806, 0.991303, 1.660591
-[01:08:37.373]  If point is visible? 0.302019, 0.411859, 2.303465
-[01:08:37.373]  If point is visible? 0.491599, 0.410912, 2.270820
-[01:08:37.373]  If point is visible? 1.349806, 0.991303, 1.660591
-[01:08:37.373]  If point is visible? 0.342449, -1.113394, 2.066383
-[01:08:37.373]  If point is visible? 1.301621, 0.947247, 1.742145
-[01:08:37.373]  If point is visible? 0.342449, -1.113394, 2.066383
-[01:08:37.373]  If point is visible? 1.301621, 0.947247, 1.742145
-[01:08:37.373]  If point is visible? 0.097244, -0.854836, 2.254809
-[01:08:37.373]  If point is visible? -1.039809, 1.020786, 1.923835
-[01:08:37.373]  If point is visible? 0.097244, -0.854836, 2.254809
-[01:08:37.373]  If point is visible? -1.039809, 1.020786, 1.923835
-[01:08:37.373]  If point is visible? 0.042074, 0.633068, 2.332802
-[01:08:37.373] init seeds
-[01:08:37.375] DepthFilter: Initialized 1 new seeds
-[01:08:37.655] add new frame
-[01:08:37.655] update seed
-[01:08:37.655]  If point is visible? -1.052504, 0.183256, 0.574717
-[01:08:37.655]  If point is visible? -1.052416, 0.182522, 0.574288
-[01:08:37.655]  If point is visible? -0.940562, 0.167406, 0.579147
-[01:08:37.655]  If point is visible? -1.067819, 0.131649, 0.551215
-[01:08:37.655]  If point is visible? -1.062125, 0.127929, 0.549281
-[01:08:37.655]  If point is visible? -1.059829, 0.110963, 0.543231
-[01:08:37.655]  If point is visible? -1.060911, 0.110945, 0.543308
-[01:08:37.655]  If point is visible? -1.176850, 0.106087, 0.571236
-[01:08:37.655]  If point is visible? -0.750086, 0.059151, 0.667235
-[01:08:37.655]  If point is visible? -1.117802, -0.026250, 0.535780
-[01:08:37.655]  If point is visible? -1.118901, -0.026243, 0.536041
-[01:08:37.655]  If point is visible? -1.056553, -0.034484, 0.527394
-[01:08:37.655]  If point is visible? -1.054391, -0.035288, 0.527343
-[01:08:37.655]  If point is visible? -1.052231, -0.036092, 0.527306
-[01:08:37.655]  If point is visible? -1.047917, -0.037700, 0.527276
-[01:08:37.655]  If point is visible? -1.049004, -0.037695, 0.527319
-[01:08:37.655]  If point is visible? -1.031825, -0.044132, 0.527731
-[01:08:37.655]  If point is visible? -1.012558, -0.047395, 0.528758
-[01:08:37.656]  If point is visible? -1.014700, -0.047387, 0.528638
-[01:08:37.656]  If point is visible? -1.015772, -0.047382, 0.528583
-[01:08:37.656]  If point is visible? -0.699892, -0.076444, 0.761280
-[01:08:37.656]  If point is visible? -0.737880, -0.096750, 0.698211
-[01:08:37.656]  If point is visible? -1.104920, -0.100598, 0.546385
-[01:08:37.656] add key frame
-[01:08:37.656]  If point is visible? -1.097330, -0.101538, 0.545182
-[01:08:37.656] init seeds
-[01:08:37.656] remove key frame
-[01:08:37.658] DepthFilter: Initialized 0 new seeds
-[01:08:37.658] update seed
-[01:08:37.658]  If point is visible? -0.536013, -0.607778, 1.733449
-[01:08:37.658]  If point is visible? -0.447617, -0.601628, 1.761583
-[01:08:37.658]  If point is visible? -0.442671, -0.601688, 1.762845
-[01:08:37.658]  If point is visible? 0.096920, -0.044577, 1.916315
-[01:08:37.658]  If point is visible? 0.102018, -0.044575, 1.915938
-[01:08:37.658]  If point is visible? 0.391661, 0.294827, 1.844415
-[01:08:37.658]  If point is visible? -0.606636, 0.535254, 1.735506
-[01:08:37.658]  If point is visible? -0.912170, 0.494892, 1.601145
-[01:08:37.658]  If point is visible? -0.545686, -0.611315, 1.728919
-[01:08:37.658]  If point is visible? -0.477140, -0.604955, 1.752307
-[01:08:37.658]  If point is visible? -0.467274, -0.605088, 1.755002
-[01:08:37.658]  If point is visible? -0.457399, -0.605217, 1.757634
-[01:08:37.658]  If point is visible? -0.193041, -0.129046, 1.909147
-[01:08:37.658]  If point is visible? -0.182895, -0.129051, 1.910064
-[01:08:37.658]  If point is visible? -0.846135, 0.130033, 1.715028
-[01:08:37.658]  If point is visible? -0.817363, 0.152897, 1.727767
-[01:08:37.658]  If point is visible? -0.836490, 0.145208, 1.718723
-[01:08:37.658]  If point is visible? -0.836564, 0.137650, 1.719373
-[01:08:37.658]  If point is visible? -0.827046, 0.137711, 1.724267
-[01:08:37.658]  If point is visible? -0.538016, 0.540029, 1.757404
-[01:08:37.658]  If point is visible? -0.078880, 0.475154, 1.855302
-[01:08:37.658]  If point is visible? -0.486997, -0.604819, 1.749551
-[01:08:37.658]  If point is visible? -0.467274, -0.605088, 1.755002
-[01:08:37.658]  If point is visible? -0.211462, -0.381199, 1.870013
-[01:08:37.658]  If point is visible? -0.191404, -0.366031, 1.875343
-[01:08:37.658]  If point is visible? 0.254975, -0.243274, 1.881037
-[01:08:37.658]  If point is visible? -0.574340, -0.135995, 1.829522
-[01:08:37.658]  If point is visible? -0.089332, 0.444910, 1.863180
-[01:08:37.658]  If point is visible? -0.536013, -0.607778, 1.733449
-[01:08:37.658]  If point is visible? -0.447617, -0.601628, 1.761583
-[01:08:37.658]  If point is visible? -0.442671, -0.601688, 1.762845
-[01:08:37.658]  If point is visible? 0.096920, -0.044577, 1.916315
-[01:08:37.658]  If point is visible? 0.102018, -0.044575, 1.915938
-[01:08:37.658]  If point is visible? 0.391661, 0.294827, 1.844415
-[01:08:37.658]  If point is visible? -0.912170, 0.494892, 1.601145
-[01:08:37.658]  If point is visible? -0.606636, 0.535254, 1.735506
-[01:08:37.658]  If point is visible? -0.477140, -0.604955, 1.752307
-[01:08:37.658]  If point is visible? -0.467274, -0.605088, 1.755002
-[01:08:37.658]  If point is visible? -0.457399, -0.605217, 1.757634
-[01:08:37.658]  If point is visible? -0.193041, -0.129046, 1.909147
-[01:08:37.659]  If point is visible? -0.182895, -0.129051, 1.910064
-[01:08:37.659]  If point is visible? -0.817363, 0.152897, 1.727767
-[01:08:37.659]  If point is visible? -0.836490, 0.145208, 1.718723
-[01:08:37.659]  If point is visible? -0.836564, 0.137650, 1.719373
-[01:08:37.659]  If point is visible? -0.827046, 0.137711, 1.724267
-[01:08:37.659]  If point is visible? -0.538016, 0.540029, 1.757404
-[01:08:37.659]  If point is visible? -0.078880, 0.475154, 1.855302
-[01:08:37.659]  If point is visible? -0.211462, -0.381199, 1.870013
-[01:08:37.659]  If point is visible? -0.191404, -0.366031, 1.875343
-[01:08:37.659]  If point is visible? -0.486997, -0.604819, 1.749551
-[01:08:37.659]  If point is visible? -0.467274, -0.605088, 1.755002
-[01:08:37.659]  If point is visible? 0.254975, -0.243274, 1.881037
-[01:08:37.659]  If point is visible? -0.574340, -0.135995, 1.829522
-[01:08:37.659]  If point is visible? -0.089332, 0.444910, 1.863180
-[01:08:37.659]  If point is visible? 0.318586, -0.952041, 2.005733
-[01:08:37.659]  If point is visible? 0.082892, -0.744069, 2.127100
-[01:08:37.659]  If point is visible? 0.082848, -0.739618, 2.128785
-[01:08:37.659]  If point is visible? -0.512175, -0.706682, 2.084551
-[01:08:37.659]  If point is visible? -0.795599, -0.402656, 2.080318
-[01:08:37.659]  If point is visible? -0.303928, 0.107374, 2.245808
-[01:08:37.659]  If point is visible? 0.480601, 0.361769, 2.171088
-[01:08:37.659]  If point is visible? 0.480607, 0.352697, 2.172701
-[01:08:37.659]  If point is visible? 0.480604, 0.357233, 2.171900
-[01:08:37.659]  If point is visible? 0.317287, 0.394694, 2.199613
-[01:08:37.659]  If point is visible? 0.256581, 0.390482, 2.209862
-[01:08:37.659]  If point is visible? 0.201940, 0.404388, 2.214089
-[01:08:37.659]  If point is visible? 0.141799, 0.531704, 2.190812
-[01:08:37.659]  If point is visible? -0.708041, 0.645047, 2.046721
-[01:08:37.659]  If point is visible? 0.118242, 0.635504, 2.162582
-[01:08:37.659]  If point is visible? 0.124298, 0.635471, 2.162133
-[01:08:37.659]  If point is visible? 0.118276, 0.639994, 2.161146
-[01:08:37.659]  If point is visible? 0.124331, 0.639961, 2.160697
-[01:08:37.659]  If point is visible? 0.569211, 0.749737, 2.034460
-[01:08:37.659]  If point is visible? -0.887508, 0.768754, 1.923007
-[01:08:37.659]  If point is visible? -0.691460, 0.791183, 1.996182
-[01:08:37.659]  If point is visible? 0.155797, 0.800188, 2.099266
-[01:08:37.659]  If point is visible? -0.702219, 0.812837, 1.982736
-[01:08:37.659]  If point is visible? 0.312621, -0.952150, 2.006797
-[01:08:37.659]  If point is visible? -0.091461, -0.016621, 2.265512
-[01:08:37.659]  If point is visible? -0.382537, 0.093548, 2.234625
-[01:08:37.659]  If point is visible? -0.370466, 0.093558, 2.236642
-[01:08:37.659]  If point is visible? -0.370441, 0.102735, 2.236212
-[01:08:37.659]  If point is visible? -0.454858, 0.075139, 2.221764
-[01:08:37.659]  If point is visible? -0.466898, 0.065959, 2.219557
-[01:08:37.659]  If point is visible? -0.810031, 0.211166, 2.105017
-[01:08:37.659]  If point is visible? 0.286951, 0.394869, 2.204528
-[01:08:37.659]  If point is visible? -0.076186, 0.577521, 2.185048
-[01:08:37.659]  If point is visible? 0.168197, 0.844160, 2.079243
-[01:08:37.659]  If point is visible? 0.168126, 0.835363, 2.083105
-[01:08:37.659]  If point is visible? -0.223386, -0.401502, 2.218706
-[01:08:37.659]  If point is visible? -0.466947, -0.034932, 2.220308
-[01:08:37.659]  If point is visible? 0.311041, -0.291063, 2.218047
-[01:08:37.659]  If point is visible? -0.681192, -0.162710, 2.156500
-[01:08:37.659]  If point is visible? -0.751593, 0.202381, 2.128416
-[01:08:37.659]  If point is visible? -0.728082, 0.202494, 2.136881
-[01:08:37.659]  If point is visible? -0.681718, -0.016531, 2.162895
-[01:08:37.659]  If point is visible? -0.728232, 0.184268, 2.138614
-[01:08:37.659]  If point is visible? -0.100905, 0.532310, 2.196719
-[01:08:37.659]  If point is visible? 0.168126, 0.835363, 2.083105
-[01:08:37.659]  If point is visible? 0.318586, -0.952041, 2.005733
-[01:08:37.659]  If point is visible? 0.082892, -0.744069, 2.127100
-[01:08:37.659]  If point is visible? 0.082848, -0.739618, 2.128785
-[01:08:37.659]  If point is visible? -0.512175, -0.706682, 2.084551
-[01:08:37.659]  If point is visible? -0.795599, -0.402656, 2.080318
-[01:08:37.659]  If point is visible? -0.303928, 0.107374, 2.245808
-[01:08:37.659]  If point is visible? 0.480604, 0.357233, 2.171900
-[01:08:37.659]  If point is visible? 0.256581, 0.390482, 2.209862
-[01:08:37.659]  If point is visible? 0.299098, 0.399346, 2.201730
-[01:08:37.659]  If point is visible? 0.201940, 0.404388, 2.214089
-[01:08:37.659]  If point is visible? 0.141799, 0.531704, 2.190812
-[01:08:37.659]  If point is visible? 0.118242, 0.635504, 2.162582
-[01:08:37.659]  If point is visible? 0.124298, 0.635471, 2.162133
-[01:08:37.659]  If point is visible? -0.708041, 0.645047, 2.046721
-[01:08:37.659]  If point is visible? 0.118276, 0.639994, 2.161146
-[01:08:37.659]  If point is visible? 0.124331, 0.639961, 2.160697
-[01:08:37.659]  If point is visible? 0.569211, 0.749737, 2.034460
-[01:08:37.659]  If point is visible? -0.887508, 0.768754, 1.923007
-[01:08:37.659]  If point is visible? -0.691460, 0.791183, 1.996182
-[01:08:37.659]  If point is visible? 0.155797, 0.800188, 2.099266
-[01:08:37.659]  If point is visible? -0.702219, 0.812837, 1.982736
-[01:08:37.659]  If point is visible? 0.312621, -0.952150, 2.006797
-[01:08:37.659]  If point is visible? -0.466916, 0.056788, 2.219827
-[01:08:37.659]  If point is visible? -0.454896, 0.056796, 2.222344
-[01:08:37.659]  If point is visible? -0.091461, -0.016621, 2.265512
-[01:08:37.659]  If point is visible? -0.466898, 0.065959, 2.219557
-[01:08:37.659]  If point is visible? -0.810031, 0.211166, 2.105017
-[01:08:37.659]  If point is visible? 0.286951, 0.394869, 2.204528
-[01:08:37.659]  If point is visible? -0.076186, 0.577521, 2.185048
-[01:08:37.659]  If point is visible? 0.168126, 0.835363, 2.083105
-[01:08:37.659]  If point is visible? -0.223386, -0.401502, 2.218706
-[01:08:37.659]  If point is visible? 0.311041, -0.291063, 2.218047
-[01:08:37.659]  If point is visible? -0.681192, -0.162710, 2.156500
-[01:08:37.659]  If point is visible? -0.466947, -0.034932, 2.220308
-[01:08:37.659]  If point is visible? -0.681718, -0.016531, 2.162895
-[01:08:37.659]  If point is visible? -0.751593, 0.202381, 2.128416
-[01:08:37.659]  If point is visible? -0.728082, 0.202494, 2.136881
-[01:08:37.659]  If point is visible? -0.728232, 0.184268, 2.138614
-[01:08:37.659]  If point is visible? -0.100905, 0.532310, 2.196719
-[01:08:37.659]  If point is visible? 0.168126, 0.835363, 2.083105
-[01:08:37.659]  If point is visible? 0.178290, 0.429304, 2.222152
-[01:08:37.659]  If point is visible? 0.184397, 0.429278, 2.221529
-[01:08:37.659]  If point is visible? 0.184378, 0.424709, 2.222479
-[01:08:37.659]  If point is visible? -1.753297, 0.469185, 1.292930
-[01:08:37.659]  If point is visible? 0.565899, 0.726972, 2.055934
-[01:08:37.659]  If point is visible? -0.783864, 0.753381, 1.988412
-[01:08:37.659]  If point is visible? -0.778071, 0.753515, 1.990739
-[01:08:37.659]  If point is visible? 0.373744, 0.810237, 2.072859
-[01:08:37.659]  If point is visible? -0.653954, 0.800250, 2.017255
-[01:08:37.659]  If point is visible? 0.379763, 0.818964, 2.067842
-[01:08:37.659]  If point is visible? -0.433224, 0.047867, 2.237521
-[01:08:37.659]  If point is visible? -0.421122, 0.047873, 2.239835
-[01:08:37.659]  If point is visible? -0.433193, 0.066305, 2.237019
-[01:08:37.659]  If point is visible? -0.433210, 0.057086, 2.237290
-[01:08:37.659]  If point is visible? -0.224203, -0.458339, 2.217368
-[01:08:37.659]  If point is visible? -0.199878, -0.458376, 2.219510
-[01:08:37.659]  If point is visible? -0.273393, -0.403360, 2.223668
-[01:08:37.659]  If point is visible? -0.224758, -0.403448, 2.228807
-[01:08:37.659]  If point is visible? -0.200413, -0.403480, 2.230947
-[01:08:37.659]  If point is visible? -0.872916, 0.184467, 2.092755
-[01:08:37.659]  If point is visible? -0.053116, 0.516646, 2.212526
-[01:08:37.659]  If point is visible? 0.190974, 0.534024, 2.196145
-[01:08:37.659]  If point is visible? 0.397363, -0.992753, 1.991486
-[01:08:37.659]  If point is visible? -0.461405, -0.725943, 2.103716
-[01:08:37.659]  If point is visible? -0.455332, -0.726008, 2.105060
-[01:08:37.659]  If point is visible? -0.147346, -0.209071, 2.265983
-[01:08:37.659]  If point is visible? -0.147361, -0.204391, 2.266436
-[01:08:37.659]  If point is visible? 0.225771, 0.440581, 2.220725
-[01:08:37.659]  If point is visible? 0.225762, 0.435942, 2.221700
-[01:08:37.659]  If point is visible? 0.527211, 0.622003, 2.115252
-[01:08:37.659]  If point is visible? 0.533312, 0.621913, 2.113599
-[01:08:37.659]  If point is visible? -0.657767, 0.807605, 2.015591
-[01:08:37.659]  If point is visible? 0.239003, 0.838660, 2.093148
-[01:08:37.659]  If point is visible? -0.793609, 0.638163, 2.029335
-[01:08:37.659]  If point is visible? -0.864549, 0.627642, 2.002160
-[01:08:37.659]  If point is visible? 0.245126, 0.834100, 2.094292
-[01:08:37.659]  If point is visible? -0.164478, -0.465492, 2.223838
-[01:08:37.659]  If point is visible? 0.380408, -0.315513, 2.219816
-[01:08:37.659]  If point is visible? 0.405120, -0.315389, 2.214996
-[01:08:37.659]  If point is visible? -0.729601, 0.206519, 2.147164
-[01:08:37.659]  If point is visible? -0.015522, 0.524667, 2.215147
-[01:08:37.659]  If point is visible? 0.232164, 0.542314, 2.195852
-[01:08:37.659]  If point is visible? 0.281889, 0.815695, 2.096816
-[01:08:37.659]  If point is visible? 0.191203, -0.801875, 2.121608
-[01:08:37.659]  If point is visible? 0.178216, -0.792426, 2.126294
-[01:08:37.659]  If point is visible? -0.371374, 0.075652, 2.243891
-[01:08:37.659]  If point is visible? 0.260823, 0.169006, 2.256518
-[01:08:37.659]  If point is visible? 0.598324, 0.363184, 2.167732
-[01:08:37.659]  If point is visible? -1.801352, 0.382316, 1.311802
-[01:08:37.659]  If point is visible? -1.801103, 0.386799, 1.310811
-[01:08:37.659]  If point is visible? -0.767331, 0.808468, 1.979253
-[01:08:37.659]  If point is visible? -0.791938, 0.812589, 1.967602
-[01:08:37.659]  If point is visible? -0.536649, -0.756784, 2.075390
-[01:08:37.659]  If point is visible? -0.155048, -0.488854, 2.217543
-[01:08:37.659]  If point is visible? 0.001404, 0.550998, 2.208789
-[01:08:37.659]  If point is visible? -0.632903, 0.909876, 1.983322
-[01:08:37.659]  If point is visible? 0.001545, 0.570420, 2.203797
-[01:08:37.659]  If point is visible? 0.261569, 0.569531, 2.189146
-[01:08:37.659]  If point is visible? 0.575905, -0.368348, 2.330246
-[01:08:37.659]  If point is visible? -0.313654, 0.112243, 2.403576
-[01:08:37.659]  If point is visible? 0.271336, 0.493608, 2.361624
-[01:08:37.659]  If point is visible? 0.271324, 0.488411, 2.362717
-[01:08:37.659]  If point is visible? -1.888171, 0.562003, 1.390752
-[01:08:37.660]  If point is visible? -0.689667, 0.728190, 2.206137
-[01:08:37.660]  If point is visible? 0.568870, -0.456609, 2.316137
-[01:08:37.660]  If point is visible? -0.572988, -0.807351, 2.212421
-[01:08:37.660]  If point is visible? -0.959537, 0.188975, 2.216558
-[01:08:37.660]  If point is visible? 0.001017, 0.587814, 2.354732
-[01:08:37.660]  If point is visible? 0.278565, 0.607586, 2.333776
-[01:08:37.660]  If point is visible? 0.405705, -1.029752, 2.000609
-[01:08:37.660]  If point is visible? -0.882276, 0.643489, 2.004116
-[01:08:37.660]  If point is visible? -0.181919, -0.491193, 2.226146
-[01:08:37.660]  If point is visible? -0.155832, -0.491232, 2.228223
-[01:08:37.660]  If point is visible? -0.131510, -0.156400, 2.278521
-[01:08:37.660]  If point is visible? 0.001245, 0.534142, 2.224261
-[01:08:37.660]  If point is visible? 0.405705, -1.029752, 2.000609
-[01:08:37.660]  If point is visible? -0.744647, 0.655617, 2.056507
-[01:08:37.660]  If point is visible? -0.882276, 0.643489, 2.004116
-[01:08:37.660]  If point is visible? -0.181919, -0.491193, 2.226146
-[01:08:37.660]  If point is visible? -0.155832, -0.491232, 2.228223
-[01:08:37.660]  If point is visible? -0.131510, -0.156400, 2.278521
-[01:08:37.660]  If point is visible? 0.001245, 0.534142, 2.224261
-[01:08:37.660]  If point is visible? -0.819786, -0.700572, 2.054390
-[01:08:37.660]  If point is visible? -0.146890, -0.229301, 2.309014
-[01:08:37.660]  If point is visible? -0.140256, -0.224284, 2.309950
-[01:08:37.660]  If point is visible? -0.548334, -0.773054, 2.119489
-[01:08:37.660]  If point is visible? 0.001149, 0.542984, 2.260667
-[01:08:37.660]  If point is visible? -0.819786, -0.700572, 2.054390
-[01:08:37.660]  If point is visible? -0.140256, -0.224284, 2.309950
-[01:08:37.660]  If point is visible? -0.548334, -0.773054, 2.119489
-[01:08:37.660]  If point is visible? 0.001149, 0.542984, 2.260667
-[01:08:37.660]  If point is visible? -1.830757, 0.398837, 1.410664
-[01:08:37.660]  If point is visible? -0.660534, 0.826559, 2.105349
-[01:08:37.660]  If point is visible? -1.830757, 0.398837, 1.410664
-[01:08:37.660]  If point is visible? -0.660534, 0.826559, 2.105349
-[01:08:37.660]  If point is visible? 0.542661, -0.426406, 2.302308
-[01:08:37.660]  If point is visible? -1.837327, 0.440829, 1.459705
-[01:08:37.660]  If point is visible? 0.542661, -0.426406, 2.302308
-[01:08:37.660]  If point is visible? -1.837327, 0.440829, 1.459705
-[01:08:37.660]  If point is visible? -0.633534, 1.100719, 1.967137
-[01:08:37.660]  If point is visible? -0.633534, 1.100719, 1.967137
-[01:08:37.660]  If point is visible? -0.108618, -0.171198, 2.345754
-[01:08:37.660]  If point is visible? 0.026220, 0.022327, 2.354756
-[01:08:37.660]  If point is visible? -0.108618, -0.171198, 2.345754
-[01:08:37.660]  If point is visible? 0.026220, 0.022327, 2.354756
-[01:08:37.660]  If point is visible? -0.553729, -0.059267, 2.296636
-[01:08:37.660]  If point is visible? -0.553762, 0.032566, 2.297168
-[01:08:37.660]  If point is visible? -0.755730, 0.737773, 2.111194
-[01:08:37.660]  If point is visible? -0.553729, -0.059267, 2.296636
-[01:08:37.660]  If point is visible? -0.553762, 0.032566, 2.297168
-[01:08:37.660]  If point is visible? -0.755730, 0.737773, 2.111194
-[01:08:37.660]  If point is visible? 0.326408, 0.411859, 2.308866
-[01:08:37.660]  If point is visible? 0.515762, 0.390556, 2.277998
-[01:08:37.660]  If point is visible? 0.515667, 0.410912, 2.274411
-[01:08:37.660]  If point is visible? 1.368008, 0.991303, 1.656014
-[01:08:37.660]  If point is visible? 0.326408, 0.411859, 2.308866
-[01:08:37.660]  If point is visible? 0.515667, 0.410912, 2.274411
-[01:08:37.660]  If point is visible? 1.368008, 0.991303, 1.656014
-[01:08:37.660]  If point is visible? 0.364598, -1.113394, 2.071400
-[01:08:37.660]  If point is visible? 1.320630, 0.947247, 1.738016
-[01:08:37.660]  If point is visible? 0.364598, -1.113394, 2.071400
-[01:08:37.660]  If point is visible? 1.320630, 0.947247, 1.738016
-[01:08:37.660]  If point is visible? 0.121244, -0.854836, 2.262146
-[01:08:37.660]  If point is visible? -1.018918, 1.020786, 1.942047
-[01:08:37.660]  If point is visible? 0.121244, -0.854836, 2.262146
-[01:08:37.660]  If point is visible? -1.018918, 1.020786, 1.942047
-[01:08:37.660]  If point is visible? 0.066821, 0.633068, 2.340663
-[01:08:37.660]  If point is visible? 0.066821, 0.633068, 2.340663
-[01:08:37.660] init seeds
-[01:08:37.663] DepthFilter: Initialized 0 new seeds
-[01:08:37.960] add new frame
-[01:08:37.960] update seed
-[01:08:37.960]  If point is visible? -0.536023, -0.607778, 1.733453
-[01:08:37.960]  If point is visible? -0.447627, -0.601628, 1.761587
-[01:08:37.960]  If point is visible? -0.442681, -0.601688, 1.762849
-[01:08:37.960]  If point is visible? 0.096909, -0.044577, 1.916323
-[01:08:37.960]  If point is visible? 0.102006, -0.044575, 1.915946
-[01:08:37.960]  If point is visible? 0.391650, 0.294827, 1.844426
-[01:08:37.960]  If point is visible? -0.606647, 0.535254, 1.735508
-[01:08:37.961]  If point is visible? -0.912179, 0.494892, 1.601145
-[01:08:37.961]  If point is visible? -0.545696, -0.611315, 1.728922
-[01:08:37.961]  If point is visible? -0.477150, -0.604955, 1.752311
-[01:08:37.961]  If point is visible? -0.467284, -0.605088, 1.755005
-[01:08:37.961]  If point is visible? -0.457409, -0.605217, 1.757638
-[01:08:37.961]  If point is visible? -0.193052, -0.129046, 1.909153
-[01:08:37.961]  If point is visible? -0.182906, -0.129051, 1.910070
-[01:08:37.961]  If point is visible? -0.846145, 0.130033, 1.715029
-[01:08:37.961]  If point is visible? -0.817373, 0.152897, 1.727768
-[01:08:37.961]  If point is visible? -0.836500, 0.145208, 1.718724
-[01:08:37.961]  If point is visible? -0.836574, 0.137650, 1.719373
-[01:08:37.961]  If point is visible? -0.827056, 0.137711, 1.724268
-[01:08:37.961]  If point is visible? -0.538027, 0.540029, 1.757408
-[01:08:37.961]  If point is visible? -0.078891, 0.475154, 1.855309
-[01:08:37.961]  If point is visible? -0.487007, -0.604819, 1.749555
-[01:08:37.961]  If point is visible? -0.467284, -0.605088, 1.755005
-[01:08:37.961]  If point is visible? -0.211473, -0.381199, 1.870019
-[01:08:37.961]  If point is visible? -0.191416, -0.366031, 1.875349
-[01:08:37.961]  If point is visible? 0.254963, -0.243274, 1.881046
-[01:08:37.961]  If point is visible? -0.574351, -0.135995, 1.829525
-[01:08:37.961]  If point is visible? -0.089344, 0.444910, 1.863187
-[01:08:37.961]  If point is visible? -0.536023, -0.607778, 1.733453
-[01:08:37.961]  If point is visible? -0.447627, -0.601628, 1.761587
-[01:08:37.961]  If point is visible? -0.442681, -0.601688, 1.762849
-[01:08:37.961]  If point is visible? 0.096909, -0.044577, 1.916323
-[01:08:37.961]  If point is visible? 0.102006, -0.044575, 1.915946
-[01:08:37.961]  If point is visible? 0.391650, 0.294827, 1.844426
-[01:08:37.961]  If point is visible? -0.912179, 0.494892, 1.601145
-[01:08:37.961]  If point is visible? -0.606647, 0.535254, 1.735508
-[01:08:37.961]  If point is visible? -0.477150, -0.604955, 1.752311
-[01:08:37.961]  If point is visible? -0.467284, -0.605088, 1.755005
-[01:08:37.961]  If point is visible? -0.457409, -0.605217, 1.757638
-[01:08:37.961]  If point is visible? -0.193052, -0.129046, 1.909153
-[01:08:37.961]  If point is visible? -0.182906, -0.129051, 1.910070
-[01:08:37.961]  If point is visible? -0.817373, 0.152897, 1.727768
-[01:08:37.961]  If point is visible? -0.836500, 0.145208, 1.718724
-[01:08:37.961]  If point is visible? -0.836574, 0.137650, 1.719373
-[01:08:37.961]  If point is visible? -0.827056, 0.137711, 1.724268
-[01:08:37.961]  If point is visible? -0.538027, 0.540029, 1.757408
-[01:08:37.961]  If point is visible? -0.078891, 0.475154, 1.855309
-[01:08:37.961]  If point is visible? -0.211473, -0.381199, 1.870019
-[01:08:37.961]  If point is visible? -0.191416, -0.366031, 1.875349
-[01:08:37.961]  If point is visible? -0.487007, -0.604819, 1.749555
-[01:08:37.961]  If point is visible? -0.467284, -0.605088, 1.755005
-[01:08:37.961]  If point is visible? 0.254963, -0.243274, 1.881046
-[01:08:37.961]  If point is visible? -0.574351, -0.135995, 1.829525
-[01:08:37.961]  If point is visible? -0.089344, 0.444910, 1.863187
-[01:08:37.961]  If point is visible? 0.318574, -0.952041, 2.005743
-[01:08:37.961]  If point is visible? 0.082879, -0.744069, 2.127109
-[01:08:37.961]  If point is visible? 0.082835, -0.739618, 2.128793
-[01:08:37.961]  If point is visible? -0.512188, -0.706682, 2.084554
-[01:08:37.961]  If point is visible? -0.795612, -0.402656, 2.080320
-[01:08:37.961]  If point is visible? -0.303943, 0.107374, 2.245814
-[01:08:37.961]  If point is visible? 0.480587, 0.361769, 2.171099
-[01:08:37.961]  If point is visible? 0.480593, 0.352697, 2.172712
-[01:08:37.961]  If point is visible? 0.480590, 0.357233, 2.171911
-[01:08:37.961]  If point is visible? 0.317273, 0.394694, 2.199623
-[01:08:37.961]  If point is visible? 0.256567, 0.390482, 2.209871
-[01:08:37.961]  If point is visible? 0.201926, 0.404388, 2.214098
-[01:08:37.961]  If point is visible? 0.141786, 0.531704, 2.190821
-[01:08:37.961]  If point is visible? -0.708054, 0.645047, 2.046723
-[01:08:37.961]  If point is visible? 0.118229, 0.635504, 2.162591
-[01:08:37.961]  If point is visible? 0.124284, 0.635471, 2.162142
-[01:08:37.961]  If point is visible? 0.118263, 0.639994, 2.161154
-[01:08:37.961]  If point is visible? 0.124318, 0.639961, 2.160705
-[01:08:37.961]  If point is visible? 0.569198, 0.749737, 2.034472
-[01:08:37.961]  If point is visible? -0.887519, 0.768754, 1.923007
-[01:08:37.961]  If point is visible? -0.691473, 0.791183, 1.996184
-[01:08:37.961]  If point is visible? 0.155784, 0.800188, 2.099275
-[01:08:37.961]  If point is visible? -0.702231, 0.812837, 1.982738
-[01:08:37.961]  If point is visible? 0.312609, -0.952150, 2.006807
-[01:08:37.961]  If point is visible? -0.091476, -0.016621, 2.265518
-[01:08:37.961]  If point is visible? -0.382551, 0.093548, 2.234629
-[01:08:37.961]  If point is visible? -0.370480, 0.093558, 2.236647
-[01:08:37.961]  If point is visible? -0.370455, 0.102735, 2.236216
-[01:08:37.961]  If point is visible? -0.454872, 0.075139, 2.221768
-[01:08:37.961]  If point is visible? -0.466912, 0.065959, 2.219561
-[01:08:37.961]  If point is visible? -0.810044, 0.211166, 2.105018
-[01:08:37.961]  If point is visible? 0.286937, 0.394869, 2.204538
-[01:08:37.961]  If point is visible? -0.076200, 0.577521, 2.185055
-[01:08:37.961]  If point is visible? 0.168184, 0.844160, 2.079252
-[01:08:37.961]  If point is visible? 0.168113, 0.835363, 2.083114
-[01:08:37.961]  If point is visible? -0.223400, -0.401502, 2.218711
-[01:08:37.961]  If point is visible? -0.466961, -0.034932, 2.220312
-[01:08:37.961]  If point is visible? 0.311027, -0.291063, 2.218057
-[01:08:37.961]  If point is visible? -0.681205, -0.162710, 2.156502
-[01:08:37.961]  If point is visible? -0.751607, 0.202381, 2.128417
-[01:08:37.961]  If point is visible? -0.728095, 0.202494, 2.136883
-[01:08:37.961]  If point is visible? -0.681731, -0.016531, 2.162897
-[01:08:37.961]  If point is visible? -0.728245, 0.184268, 2.138616
-[01:08:37.961]  If point is visible? -0.100919, 0.532310, 2.196725
-[01:08:37.961]  If point is visible? 0.168113, 0.835363, 2.083114
-[01:08:37.961]  If point is visible? 0.318574, -0.952041, 2.005743
-[01:08:37.961]  If point is visible? 0.082879, -0.744069, 2.127109
-[01:08:37.961]  If point is visible? 0.082835, -0.739618, 2.128793
-[01:08:37.961]  If point is visible? -0.512188, -0.706682, 2.084554
-[01:08:37.961]  If point is visible? -0.795612, -0.402656, 2.080320
-[01:08:37.961]  If point is visible? -0.303943, 0.107374, 2.245814
-[01:08:37.961]  If point is visible? 0.480590, 0.357233, 2.171911
-[01:08:37.961]  If point is visible? 0.256567, 0.390482, 2.209871
-[01:08:37.961]  If point is visible? 0.299084, 0.399346, 2.201739
-[01:08:37.961]  If point is visible? 0.201926, 0.404388, 2.214098
-[01:08:37.961]  If point is visible? 0.141786, 0.531704, 2.190821
-[01:08:37.961]  If point is visible? 0.118229, 0.635504, 2.162591
-[01:08:37.961]  If point is visible? 0.124284, 0.635471, 2.162142
-[01:08:37.961]  If point is visible? -0.708054, 0.645047, 2.046723
-[01:08:37.961]  If point is visible? 0.118263, 0.639994, 2.161154
-[01:08:37.961]  If point is visible? 0.124318, 0.639961, 2.160705
-[01:08:37.961]  If point is visible? 0.569198, 0.749737, 2.034472
-[01:08:37.961]  If point is visible? -0.887519, 0.768754, 1.923007
-[01:08:37.961]  If point is visible? -0.691473, 0.791183, 1.996184
-[01:08:37.961]  If point is visible? 0.155784, 0.800188, 2.099275
-[01:08:37.961]  If point is visible? -0.702231, 0.812837, 1.982738
-[01:08:37.961]  If point is visible? 0.312609, -0.952150, 2.006807
-[01:08:37.961]  If point is visible? -0.466930, 0.056788, 2.219831
-[01:08:37.961]  If point is visible? -0.454910, 0.056796, 2.222348
-[01:08:37.961]  If point is visible? -0.091476, -0.016621, 2.265518
-[01:08:37.961]  If point is visible? -0.466912, 0.065959, 2.219561
-[01:08:37.961]  If point is visible? -0.810044, 0.211166, 2.105018
-[01:08:37.961]  If point is visible? 0.286937, 0.394869, 2.204538
-[01:08:37.961]  If point is visible? -0.076200, 0.577521, 2.185055
-[01:08:37.961]  If point is visible? 0.168113, 0.835363, 2.083114
-[01:08:37.961]  If point is visible? -0.223400, -0.401502, 2.218711
-[01:08:37.961]  If point is visible? 0.311027, -0.291063, 2.218057
-[01:08:37.961]  If point is visible? -0.681205, -0.162710, 2.156502
-[01:08:37.961]  If point is visible? -0.466961, -0.034932, 2.220312
-[01:08:37.961]  If point is visible? -0.681731, -0.016531, 2.162897
-[01:08:37.961]  If point is visible? -0.751607, 0.202381, 2.128417
-[01:08:37.961]  If point is visible? -0.728095, 0.202494, 2.136883
-[01:08:37.961]  If point is visible? -0.728245, 0.184268, 2.138616
-[01:08:37.961]  If point is visible? -0.100919, 0.532310, 2.196725
-[01:08:37.961]  If point is visible? 0.168113, 0.835363, 2.083114
-[01:08:37.961]  If point is visible? 0.178276, 0.429304, 2.222161
-[01:08:37.961]  If point is visible? 0.184383, 0.429278, 2.221538
-[01:08:37.961]  If point is visible? 0.184364, 0.424709, 2.222488
-[01:08:37.961]  If point is visible? -1.753304, 0.469185, 1.292924
-[01:08:37.961]  If point is visible? 0.565886, 0.726972, 2.055946
-[01:08:37.961]  If point is visible? -0.783876, 0.753381, 1.988413
-[01:08:37.961]  If point is visible? -0.778084, 0.753515, 1.990740
-[01:08:37.961]  If point is visible? 0.373731, 0.810237, 2.072869
-[01:08:37.961]  If point is visible? -0.653966, 0.800250, 2.017258
-[01:08:37.961]  If point is visible? 0.379750, 0.818964, 2.067852
-[01:08:37.961]  If point is visible? -0.433238, 0.047867, 2.237525
-[01:08:37.961]  If point is visible? -0.421137, 0.047873, 2.239839
-[01:08:37.961]  If point is visible? -0.433207, 0.066305, 2.237023
-[01:08:37.961]  If point is visible? -0.433224, 0.057086, 2.237294
-[01:08:37.961]  If point is visible? -0.224217, -0.458339, 2.217374
-[01:08:37.961]  If point is visible? -0.199892, -0.458376, 2.219515
-[01:08:37.961]  If point is visible? -0.273407, -0.403360, 2.223674
-[01:08:37.961]  If point is visible? -0.224772, -0.403448, 2.228812
-[01:08:37.961]  If point is visible? -0.200427, -0.403480, 2.230952
-[01:08:37.961]  If point is visible? -0.872929, 0.184467, 2.092755
-[01:08:37.961]  If point is visible? -0.053130, 0.516646, 2.212533
-[01:08:37.961]  If point is visible? 0.190960, 0.534024, 2.196154
-[01:08:37.961]  If point is visible? 0.397350, -0.992753, 1.991497
-[01:08:37.961]  If point is visible? -0.461418, -0.725943, 2.103719
-[01:08:37.961]  If point is visible? -0.455345, -0.726008, 2.105063
-[01:08:37.961]  If point is visible? -0.147360, -0.209071, 2.265989
-[01:08:37.961]  If point is visible? -0.147376, -0.204391, 2.266442
-[01:08:37.961]  If point is visible? 0.225757, 0.440581, 2.220734
-[01:08:37.961]  If point is visible? 0.225748, 0.435942, 2.221710
-[01:08:37.961]  If point is visible? 0.527197, 0.622003, 2.115264
-[01:08:37.961]  If point is visible? 0.533299, 0.621913, 2.113611
-[01:08:37.961]  If point is visible? -0.657779, 0.807605, 2.015593
-[01:08:37.961]  If point is visible? 0.238990, 0.838660, 2.093157
-[01:08:37.961]  If point is visible? -0.793621, 0.638163, 2.029336
-[01:08:37.961]  If point is visible? -0.864561, 0.627642, 2.002160
-[01:08:37.961]  If point is visible? 0.245113, 0.834100, 2.094302
-[01:08:37.961]  If point is visible? -0.164492, -0.465492, 2.223844
-[01:08:37.961]  If point is visible? 0.380393, -0.315513, 2.219826
-[01:08:37.961]  If point is visible? 0.405106, -0.315389, 2.215006
-[01:08:37.961]  If point is visible? -0.729614, 0.206519, 2.147166
-[01:08:37.961]  If point is visible? -0.015537, 0.524667, 2.215154
-[01:08:37.961]  If point is visible? 0.232150, 0.542314, 2.195862
-[01:08:37.961]  If point is visible? 0.281876, 0.815695, 2.096826
-[01:08:37.961]  If point is visible? 0.191188, -0.801875, 2.121616
-[01:08:37.961]  If point is visible? 0.178201, -0.792426, 2.126302
-[01:08:37.961]  If point is visible? -0.371389, 0.075652, 2.243895
-[01:08:37.961]  If point is visible? 0.260808, 0.169006, 2.256527
-[01:08:37.961]  If point is visible? 0.598309, 0.363184, 2.167744
-[01:08:37.961]  If point is visible? -1.801360, 0.382316, 1.311795
-[01:08:37.961]  If point is visible? -1.801111, 0.386799, 1.310804
-[01:08:37.961]  If point is visible? -0.767344, 0.808468, 1.979254
-[01:08:37.961]  If point is visible? -0.791951, 0.812589, 1.967603
-[01:08:37.961]  If point is visible? -0.536663, -0.756784, 2.075393
-[01:08:37.961]  If point is visible? -0.155063, -0.488854, 2.217549
-[01:08:37.961]  If point is visible? 0.001389, 0.550998, 2.208796
-[01:08:37.961]  If point is visible? -0.632917, 0.909876, 1.983324
-[01:08:37.961]  If point is visible? 0.001530, 0.570420, 2.203804
-[01:08:37.961]  If point is visible? 0.261554, 0.569531, 2.189155
-[01:08:37.961]  If point is visible? 0.575889, -0.368348, 2.330258
-[01:08:37.961]  If point is visible? -0.313670, 0.112243, 2.403581
-[01:08:37.961]  If point is visible? 0.271320, 0.493608, 2.361634
-[01:08:37.961]  If point is visible? 0.271308, 0.488411, 2.362727
-[01:08:37.961]  If point is visible? -1.888179, 0.562003, 1.390744
-[01:08:37.961]  If point is visible? -0.689682, 0.728190, 2.206138
-[01:08:37.961]  If point is visible? 0.568854, -0.456609, 2.316149
-[01:08:37.961]  If point is visible? -0.573003, -0.807351, 2.212424
-[01:08:37.961]  If point is visible? -0.959552, 0.188975, 2.216557
-[01:08:37.962]  If point is visible? 0.001001, 0.587814, 2.354739
-[01:08:37.962]  If point is visible? 0.278549, 0.607586, 2.333785
-[01:08:37.962]  If point is visible? 0.405691, -1.029752, 2.000620
-[01:08:37.962]  If point is visible? -0.882289, 0.643489, 2.004116
-[01:08:37.962]  If point is visible? -0.181935, -0.491193, 2.226152
-[01:08:37.962]  If point is visible? -0.155847, -0.491232, 2.228229
-[01:08:37.962]  If point is visible? -0.131525, -0.156400, 2.278527
-[01:08:37.962]  If point is visible? 0.001230, 0.534142, 2.224268
-[01:08:37.962]  If point is visible? 0.405691, -1.029752, 2.000620
-[01:08:37.962]  If point is visible? -0.744661, 0.655617, 2.056508
-[01:08:37.962]  If point is visible? -0.882289, 0.643489, 2.004116
-[01:08:37.962]  If point is visible? -0.181935, -0.491193, 2.226152
-[01:08:37.962]  If point is visible? -0.155847, -0.491232, 2.228229
-[01:08:37.962]  If point is visible? -0.131525, -0.156400, 2.278527
-[01:08:37.962]  If point is visible? 0.001230, 0.534142, 2.224268
-[01:08:37.962]  If point is visible? -0.819800, -0.700572, 2.054391
-[01:08:37.962]  If point is visible? -0.146906, -0.229301, 2.309020
-[01:08:37.962]  If point is visible? -0.140272, -0.224284, 2.309956
-[01:08:37.962]  If point is visible? -0.548348, -0.773054, 2.119492
-[01:08:37.962]  If point is visible? 0.001134, 0.542984, 2.260674
-[01:08:37.962]  If point is visible? -0.819800, -0.700572, 2.054391
-[01:08:37.962]  If point is visible? -0.140272, -0.224284, 2.309956
-[01:08:37.962]  If point is visible? -0.548348, -0.773054, 2.119492
-[01:08:37.962]  If point is visible? 0.001134, 0.542984, 2.260674
-[01:08:37.962]  If point is visible? -1.830765, 0.398837, 1.410657
-[01:08:37.962]  If point is visible? -0.660549, 0.826559, 2.105351
-[01:08:37.962]  If point is visible? -1.830765, 0.398837, 1.410657
-[01:08:37.962]  If point is visible? -0.660549, 0.826559, 2.105351
-[01:08:37.962]  If point is visible? 0.542645, -0.426406, 2.302319
-[01:08:37.962]  If point is visible? -1.837336, 0.440829, 1.459698
-[01:08:37.962]  If point is visible? 0.542645, -0.426406, 2.302319
-[01:08:37.962]  If point is visible? -1.837336, 0.440829, 1.459698
-[01:08:37.962]  If point is visible? -0.633547, 1.100719, 1.967139
-[01:08:37.962]  If point is visible? -0.633547, 1.100719, 1.967139
-[01:08:37.962]  If point is visible? -0.108634, -0.171198, 2.345760
-[01:08:37.962]  If point is visible? 0.026204, 0.022327, 2.354764
-[01:08:37.962]  If point is visible? -0.108634, -0.171198, 2.345760
-[01:08:37.962]  If point is visible? 0.026204, 0.022327, 2.354764
-[01:08:37.962]  If point is visible? -0.553745, -0.059267, 2.296639
-[01:08:37.962]  If point is visible? -0.553778, 0.032566, 2.297170
-[01:08:37.962]  If point is visible? -0.755744, 0.737773, 2.111196
-[01:08:37.962]  If point is visible? -0.553745, -0.059267, 2.296639
-[01:08:37.962]  If point is visible? -0.553778, 0.032566, 2.297170
-[01:08:37.962]  If point is visible? -0.755744, 0.737773, 2.111196
-[01:08:37.962]  If point is visible? 0.326392, 0.411859, 2.308875
-[01:08:37.962]  If point is visible? 0.515746, 0.390556, 2.278009
-[01:08:37.962]  If point is visible? 0.515651, 0.410912, 2.274422
-[01:08:37.962]  If point is visible? 1.367997, 0.991303, 1.656032
-[01:08:37.962]  If point is visible? 0.326392, 0.411859, 2.308875
-[01:08:37.962]  If point is visible? 0.515651, 0.410912, 2.274422
-[01:08:37.962]  If point is visible? 1.367997, 0.991303, 1.656032
-[01:08:37.962]  If point is visible? 0.364584, -1.113394, 2.071410
-[01:08:37.962]  If point is visible? 1.320619, 0.947247, 1.738034
-[01:08:37.962]  If point is visible? 0.364584, -1.113394, 2.071410
-[01:08:37.962]  If point is visible? 1.320619, 0.947247, 1.738034
-[01:08:37.962]  If point is visible? 0.121229, -0.854836, 2.262155
-[01:08:37.962]  If point is visible? -1.018931, 1.020786, 1.942046
-[01:08:37.962]  If point is visible? 0.121229, -0.854836, 2.262155
-[01:08:37.962]  If point is visible? -1.018931, 1.020786, 1.942046
-[01:08:37.962]  If point is visible? 0.066805, 0.633068, 2.340671
-[01:08:37.962]  If point is visible? 0.066805, 0.633068, 2.340671
-[01:08:38.246] add new frame
-[01:08:38.246] update seed
-[01:08:38.246]  If point is visible? -0.536039, -0.607778, 1.733452
-[01:08:38.246]  If point is visible? -0.447644, -0.601628, 1.761587
-[01:08:38.246]  If point is visible? -0.442697, -0.601688, 1.762849
-[01:08:38.246]  If point is visible? 0.096891, -0.044577, 1.916329
-[01:08:38.246]  If point is visible? 0.101988, -0.044575, 1.915952
-[01:08:38.246]  If point is visible? 0.391633, 0.294827, 1.844436
-[01:08:38.246]  If point is visible? -0.606663, 0.535254, 1.735507
-[01:08:38.246]  If point is visible? -0.912194, 0.494892, 1.601140
-[01:08:38.246]  If point is visible? -0.545713, -0.611315, 1.728922
-[01:08:38.246]  If point is visible? -0.477167, -0.604955, 1.752311
-[01:08:38.246]  If point is visible? -0.467301, -0.605088, 1.755006
-[01:08:38.246]  If point is visible? -0.457425, -0.605217, 1.757638
-[01:08:38.246]  If point is visible? -0.193071, -0.129046, 1.909156
-[01:08:38.246]  If point is visible? -0.182924, -0.129051, 1.910074
-[01:08:38.246]  If point is visible? -0.846161, 0.130033, 1.715025
-[01:08:38.246]  If point is visible? -0.817389, 0.152897, 1.727764
-[01:08:38.246]  If point is visible? -0.836516, 0.145208, 1.718720
-[01:08:38.246]  If point is visible? -0.836590, 0.137650, 1.719369
-[01:08:38.246]  If point is visible? -0.827072, 0.137711, 1.724264
-[01:08:38.246]  If point is visible? -0.538043, 0.540029, 1.757407
-[01:08:38.246]  If point is visible? -0.078908, 0.475154, 1.855314
-[01:08:38.246]  If point is visible? -0.487023, -0.604819, 1.749555
-[01:08:38.246]  If point is visible? -0.467301, -0.605088, 1.755006
-[01:08:38.246]  If point is visible? -0.211491, -0.381199, 1.870022
-[01:08:38.246]  If point is visible? -0.191433, -0.366031, 1.875352
-[01:08:38.246]  If point is visible? 0.254946, -0.243274, 1.881055
-[01:08:38.246]  If point is visible? -0.574368, -0.135995, 1.829524
-[01:08:38.246]  If point is visible? -0.089361, 0.444910, 1.863191
-[01:08:38.247]  If point is visible? -0.536039, -0.607778, 1.733452
-[01:08:38.247]  If point is visible? -0.447644, -0.601628, 1.761587
-[01:08:38.247]  If point is visible? -0.442697, -0.601688, 1.762849
-[01:08:38.247]  If point is visible? 0.096891, -0.044577, 1.916329
-[01:08:38.247]  If point is visible? 0.101988, -0.044575, 1.915952
-[01:08:38.247]  If point is visible? 0.391633, 0.294827, 1.844436
-[01:08:38.247]  If point is visible? -0.912194, 0.494892, 1.601140
-[01:08:38.247]  If point is visible? -0.606663, 0.535254, 1.735507
-[01:08:38.247]  If point is visible? -0.477167, -0.604955, 1.752311
-[01:08:38.247]  If point is visible? -0.467301, -0.605088, 1.755006
-[01:08:38.247]  If point is visible? -0.457425, -0.605217, 1.757638
-[01:08:38.247]  If point is visible? -0.193071, -0.129046, 1.909156
-[01:08:38.247]  If point is visible? -0.182924, -0.129051, 1.910074
-[01:08:38.247]  If point is visible? -0.817389, 0.152897, 1.727764
-[01:08:38.247]  If point is visible? -0.836516, 0.145208, 1.718720
-[01:08:38.247]  If point is visible? -0.836590, 0.137650, 1.719369
-[01:08:38.247]  If point is visible? -0.827072, 0.137711, 1.724264
-[01:08:38.247]  If point is visible? -0.538043, 0.540029, 1.757407
-[01:08:38.247]  If point is visible? -0.078908, 0.475154, 1.855314
-[01:08:38.247]  If point is visible? -0.211491, -0.381199, 1.870022
-[01:08:38.247]  If point is visible? -0.191433, -0.366031, 1.875352
-[01:08:38.247]  If point is visible? -0.487023, -0.604819, 1.749555
-[01:08:38.247]  If point is visible? -0.467301, -0.605088, 1.755006
-[01:08:38.247]  If point is visible? 0.254946, -0.243274, 1.881055
-[01:08:38.247]  If point is visible? -0.574368, -0.135995, 1.829524
-[01:08:38.247]  If point is visible? -0.089361, 0.444910, 1.863191
-[01:08:38.247]  If point is visible? 0.318555, -0.952041, 2.005752
-[01:08:38.247]  If point is visible? 0.082858, -0.744069, 2.127115
-[01:08:38.247]  If point is visible? 0.082815, -0.739618, 2.128799
-[01:08:38.247]  If point is visible? -0.512208, -0.706682, 2.084554
-[01:08:38.247]  If point is visible? -0.795632, -0.402656, 2.080316
-[01:08:38.247]  If point is visible? -0.303964, 0.107374, 2.245815
-[01:08:38.247]  If point is visible? 0.480566, 0.361769, 2.171110
-[01:08:38.247]  If point is visible? 0.480572, 0.352697, 2.172723
-[01:08:38.247]  If point is visible? 0.480569, 0.357233, 2.171922
-[01:08:38.247]  If point is visible? 0.317252, 0.394694, 2.199632
-[01:08:38.247]  If point is visible? 0.256546, 0.390482, 2.209880
-[01:08:38.247]  If point is visible? 0.201905, 0.404388, 2.214105
-[01:08:38.247]  If point is visible? 0.141764, 0.531704, 2.190828
-[01:08:38.247]  If point is visible? -0.708073, 0.645047, 2.046720
-[01:08:38.247]  If point is visible? 0.118208, 0.635504, 2.162597
-[01:08:38.247]  If point is visible? 0.124263, 0.635471, 2.162148
-[01:08:38.247]  If point is visible? 0.118242, 0.639994, 2.161161
-[01:08:38.247]  If point is visible? 0.124297, 0.639961, 2.160712
-[01:08:38.247]  If point is visible? 0.569179, 0.749737, 2.034484
-[01:08:38.247]  If point is visible? -0.887538, 0.768754, 1.923003
-[01:08:38.247]  If point is visible? -0.691492, 0.791183, 1.996182
-[01:08:38.247]  If point is visible? 0.155764, 0.800188, 2.099282
-[01:08:38.247]  If point is visible? -0.702250, 0.812837, 1.982735
-[01:08:38.247]  If point is visible? 0.312589, -0.952150, 2.006816
-[01:08:38.247]  If point is visible? -0.091498, -0.016621, 2.265523
-[01:08:38.247]  If point is visible? -0.382572, 0.093548, 2.234630
-[01:08:38.247]  If point is visible? -0.370502, 0.093558, 2.236648
-[01:08:38.247]  If point is visible? -0.370477, 0.102735, 2.236217
-[01:08:38.247]  If point is visible? -0.454894, 0.075139, 2.221768
-[01:08:38.247]  If point is visible? -0.466934, 0.065959, 2.219561
-[01:08:38.247]  If point is visible? -0.810064, 0.211166, 2.105014
-[01:08:38.247]  If point is visible? 0.286916, 0.394869, 2.204546
-[01:08:38.247]  If point is visible? -0.076221, 0.577521, 2.185060
-[01:08:38.247]  If point is visible? 0.168164, 0.844160, 2.079259
-[01:08:38.247]  If point is visible? 0.168093, 0.835363, 2.083121
-[01:08:38.247]  If point is visible? -0.223422, -0.401502, 2.218714
-[01:08:38.247]  If point is visible? -0.466983, -0.034932, 2.220312
-[01:08:38.247]  If point is visible? 0.311006, -0.291063, 2.218066
-[01:08:38.247]  If point is visible? -0.681226, -0.162710, 2.156500
-[01:08:38.247]  If point is visible? -0.751627, 0.202381, 2.128414
-[01:08:38.247]  If point is visible? -0.728116, 0.202494, 2.136880
-[01:08:38.247]  If point is visible? -0.681752, -0.016531, 2.162894
-[01:08:38.247]  If point is visible? -0.728266, 0.184268, 2.138613
-[01:08:38.247]  If point is visible? -0.100940, 0.532310, 2.196730
-[01:08:38.247]  If point is visible? 0.168093, 0.835363, 2.083121
-[01:08:38.247]  If point is visible? 0.318555, -0.952041, 2.005752
-[01:08:38.247]  If point is visible? 0.082858, -0.744069, 2.127115
-[01:08:38.247]  If point is visible? 0.082815, -0.739618, 2.128799
-[01:08:38.247]  If point is visible? -0.512208, -0.706682, 2.084554
-[01:08:38.247]  If point is visible? -0.795632, -0.402656, 2.080316
-[01:08:38.247]  If point is visible? -0.303964, 0.107374, 2.245815
-[01:08:38.247]  If point is visible? 0.480569, 0.357233, 2.171922
-[01:08:38.247]  If point is visible? 0.256546, 0.390482, 2.209880
-[01:08:38.247]  If point is visible? 0.299063, 0.399346, 2.201748
-[01:08:38.247]  If point is visible? 0.201905, 0.404388, 2.214105
-[01:08:38.247]  If point is visible? 0.141764, 0.531704, 2.190828
-[01:08:38.247]  If point is visible? 0.118208, 0.635504, 2.162597
-[01:08:38.247]  If point is visible? 0.124263, 0.635471, 2.162148
-[01:08:38.247]  If point is visible? -0.708073, 0.645047, 2.046720
-[01:08:38.247]  If point is visible? 0.118242, 0.639994, 2.161161
-[01:08:38.247]  If point is visible? 0.124297, 0.639961, 2.160712
-[01:08:38.247]  If point is visible? 0.569179, 0.749737, 2.034484
-[01:08:38.247]  If point is visible? -0.887538, 0.768754, 1.923003
-[01:08:38.247]  If point is visible? -0.691492, 0.791183, 1.996182
-[01:08:38.247]  If point is visible? 0.155764, 0.800188, 2.099282
-[01:08:38.247]  If point is visible? -0.702250, 0.812837, 1.982735
-[01:08:38.247]  If point is visible? 0.312589, -0.952150, 2.006816
-[01:08:38.247]  If point is visible? -0.466951, 0.056788, 2.219831
-[01:08:38.247]  If point is visible? -0.454931, 0.056796, 2.222348
-[01:08:38.247]  If point is visible? -0.091498, -0.016621, 2.265523
-[01:08:38.247]  If point is visible? -0.466934, 0.065959, 2.219561
-[01:08:38.247]  If point is visible? -0.810064, 0.211166, 2.105014
-[01:08:38.247]  If point is visible? 0.286916, 0.394869, 2.204546
-[01:08:38.247]  If point is visible? -0.076221, 0.577521, 2.185060
-[01:08:38.247]  If point is visible? 0.168093, 0.835363, 2.083121
-[01:08:38.247]  If point is visible? -0.223422, -0.401502, 2.218714
-[01:08:38.247]  If point is visible? 0.311006, -0.291063, 2.218066
-[01:08:38.247]  If point is visible? -0.681226, -0.162710, 2.156500
-[01:08:38.247]  If point is visible? -0.466983, -0.034932, 2.220312
-[01:08:38.247]  If point is visible? -0.681752, -0.016531, 2.162894
-[01:08:38.247]  If point is visible? -0.751627, 0.202381, 2.128414
-[01:08:38.247]  If point is visible? -0.728116, 0.202494, 2.136880
-[01:08:38.247]  If point is visible? -0.728266, 0.184268, 2.138613
-[01:08:38.247]  If point is visible? -0.100940, 0.532310, 2.196730
-[01:08:38.247]  If point is visible? 0.168093, 0.835363, 2.083121
-[01:08:38.247]  If point is visible? 0.178255, 0.429304, 2.222168
-[01:08:38.247]  If point is visible? 0.184362, 0.429278, 2.221545
-[01:08:38.247]  If point is visible? 0.184343, 0.424709, 2.222495
-[01:08:38.247]  If point is visible? -1.753315, 0.469185, 1.292909
-[01:08:38.247]  If point is visible? 0.565866, 0.726972, 2.055958
-[01:08:38.247]  If point is visible? -0.783895, 0.753381, 1.988410
-[01:08:38.247]  If point is visible? -0.778103, 0.753515, 1.990736
-[01:08:38.247]  If point is visible? 0.373711, 0.810237, 2.072879
-[01:08:38.247]  If point is visible? -0.653986, 0.800250, 2.017256
-[01:08:38.247]  If point is visible? 0.379731, 0.818964, 2.067862
-[01:08:38.247]  If point is visible? -0.433260, 0.047867, 2.237525
-[01:08:38.247]  If point is visible? -0.421158, 0.047873, 2.239840
-[01:08:38.247]  If point is visible? -0.433229, 0.066305, 2.237024
-[01:08:38.247]  If point is visible? -0.433246, 0.057086, 2.237295
-[01:08:38.247]  If point is visible? -0.224239, -0.458339, 2.217377
-[01:08:38.247]  If point is visible? -0.199913, -0.458376, 2.219519
-[01:08:38.247]  If point is visible? -0.273428, -0.403360, 2.223676
-[01:08:38.247]  If point is visible? -0.224794, -0.403448, 2.228815
-[01:08:38.247]  If point is visible? -0.200449, -0.403480, 2.230956
-[01:08:38.247]  If point is visible? -0.872949, 0.184467, 2.092751
-[01:08:38.247]  If point is visible? -0.053152, 0.516646, 2.212538
-[01:08:38.247]  If point is visible? 0.190939, 0.534024, 2.196161
-[01:08:38.247]  If point is visible? 0.397331, -0.992753, 1.991506
-[01:08:38.247]  If point is visible? -0.461439, -0.725943, 2.103719
-[01:08:38.247]  If point is visible? -0.455366, -0.726008, 2.105063
-[01:08:38.247]  If point is visible? -0.147383, -0.209071, 2.265992
-[01:08:38.247]  If point is visible? -0.147398, -0.204391, 2.266445
-[01:08:38.247]  If point is visible? 0.225735, 0.440581, 2.220742
-[01:08:38.247]  If point is visible? 0.225726, 0.435942, 2.221717
-[01:08:38.247]  If point is visible? 0.527177, 0.622003, 2.115275
-[01:08:38.247]  If point is visible? 0.533278, 0.621913, 2.113622
-[01:08:38.247]  If point is visible? -0.657799, 0.807605, 2.015591
-[01:08:38.247]  If point is visible? 0.238970, 0.838660, 2.093165
-[01:08:38.247]  If point is visible? -0.793641, 0.638163, 2.029333
-[01:08:38.247]  If point is visible? -0.864580, 0.627642, 2.002156
-[01:08:38.247]  If point is visible? 0.245092, 0.834100, 2.094310
-[01:08:38.247]  If point is visible? -0.164514, -0.465492, 2.223847
-[01:08:38.247]  If point is visible? 0.380371, -0.315513, 2.219836
-[01:08:38.247]  If point is visible? 0.405084, -0.315389, 2.215016
-[01:08:38.247]  If point is visible? -0.729635, 0.206519, 2.147163
-[01:08:38.247]  If point is visible? -0.015558, 0.524667, 2.215159
-[01:08:38.247]  If point is visible? 0.232128, 0.542314, 2.195869
-[01:08:38.247]  If point is visible? 0.281855, 0.815695, 2.096834
-[01:08:38.247]  If point is visible? 0.191166, -0.801875, 2.121623
-[01:08:38.247]  If point is visible? 0.178179, -0.792426, 2.126309
-[01:08:38.247]  If point is visible? -0.371413, 0.075652, 2.243896
-[01:08:38.247]  If point is visible? 0.260784, 0.169006, 2.256535
-[01:08:38.247]  If point is visible? 0.598287, 0.363184, 2.167756
-[01:08:38.247]  If point is visible? -1.801373, 0.382316, 1.311779
-[01:08:38.247]  If point is visible? -1.801124, 0.386799, 1.310788
-[01:08:38.247]  If point is visible? -0.767364, 0.808468, 1.979251
-[01:08:38.247]  If point is visible? -0.791971, 0.812589, 1.967599
-[01:08:38.247]  If point is visible? -0.536684, -0.756784, 2.075392
-[01:08:38.247]  If point is visible? -0.155086, -0.488854, 2.217553
-[01:08:38.247]  If point is visible? 0.001366, 0.550998, 2.208801
-[01:08:38.247]  If point is visible? -0.632937, 0.909876, 1.983322
-[01:08:38.247]  If point is visible? 0.001507, 0.570420, 2.203809
-[01:08:38.247]  If point is visible? 0.261531, 0.569531, 2.189163
-[01:08:38.247]  If point is visible? 0.575865, -0.368348, 2.330270
-[01:08:38.247]  If point is visible? -0.313695, 0.112243, 2.403582
-[01:08:38.247]  If point is visible? 0.271295, 0.493608, 2.361642
-[01:08:38.247]  If point is visible? 0.271283, 0.488411, 2.362735
-[01:08:38.247]  If point is visible? -1.888193, 0.562003, 1.390728
-[01:08:38.247]  If point is visible? -0.689705, 0.728190, 2.206135
-[01:08:38.247]  If point is visible? 0.568830, -0.456609, 2.316160
-[01:08:38.247]  If point is visible? -0.573026, -0.807351, 2.212422
-[01:08:38.247]  If point is visible? -0.959575, 0.188975, 2.216552
-[01:08:38.247]  If point is visible? 0.000976, 0.587814, 2.354744
-[01:08:38.247]  If point is visible? 0.278525, 0.607586, 2.333793
-[01:08:38.247]  If point is visible? 0.405671, -1.029752, 2.000629
-[01:08:38.247]  If point is visible? -0.882310, 0.643489, 2.004111
-[01:08:38.247]  If point is visible? -0.181958, -0.491193, 2.226155
-[01:08:38.247]  If point is visible? -0.155870, -0.491232, 2.228232
-[01:08:38.247]  If point is visible? -0.131549, -0.156400, 2.278531
-[01:08:38.247]  If point is visible? 0.001206, 0.534142, 2.224273
-[01:08:38.247]  If point is visible? 0.405671, -1.029752, 2.000629
-[01:08:38.247]  If point is visible? -0.744682, 0.655617, 2.056505
-[01:08:38.247]  If point is visible? -0.882310, 0.643489, 2.004111
-[01:08:38.247]  If point is visible? -0.181958, -0.491193, 2.226155
-[01:08:38.247]  If point is visible? -0.155870, -0.491232, 2.228232
-[01:08:38.247]  If point is visible? -0.131549, -0.156400, 2.278531
-[01:08:38.247]  If point is visible? 0.001206, 0.534142, 2.224273
-[01:08:38.247]  If point is visible? -0.819821, -0.700572, 2.054386
-[01:08:38.247]  If point is visible? -0.146930, -0.229301, 2.309023
-[01:08:38.247]  If point is visible? -0.140296, -0.224284, 2.309959
-[01:08:38.247]  If point is visible? -0.548370, -0.773054, 2.119490
-[01:08:38.247]  If point is visible? 0.001110, 0.542984, 2.260679
-[01:08:38.247]  If point is visible? -0.819821, -0.700572, 2.054386
-[01:08:38.247]  If point is visible? -0.140296, -0.224284, 2.309959
-[01:08:38.247]  If point is visible? -0.548370, -0.773054, 2.119490
-[01:08:38.247]  If point is visible? 0.001110, 0.542984, 2.260679
-[01:08:38.247]  If point is visible? -1.830779, 0.398837, 1.410641
-[01:08:38.247]  If point is visible? -0.660570, 0.826559, 2.105348
-[01:08:38.247]  If point is visible? -1.830779, 0.398837, 1.410641
-[01:08:38.247]  If point is visible? -0.660570, 0.826559, 2.105348
-[01:08:38.247]  If point is visible? 0.542621, -0.426406, 2.302330
-[01:08:38.248]  If point is visible? -1.837351, 0.440829, 1.459682
-[01:08:38.248]  If point is visible? 0.542621, -0.426406, 2.302330
-[01:08:38.248]  If point is visible? -1.837351, 0.440829, 1.459682
-[01:08:38.248]  If point is visible? -0.633568, 1.100719, 1.967137
-[01:08:38.248]  If point is visible? -0.633568, 1.100719, 1.967137
-[01:08:38.248]  If point is visible? -0.108658, -0.171198, 2.345764
-[01:08:38.248]  If point is visible? 0.026179, 0.022327, 2.354769
-[01:08:38.248]  If point is visible? -0.108658, -0.171198, 2.345764
-[01:08:38.248]  If point is visible? 0.026179, 0.022327, 2.354769
-[01:08:38.248]  If point is visible? -0.553769, -0.059267, 2.296638
-[01:08:38.248]  If point is visible? -0.553802, 0.032566, 2.297169
-[01:08:38.248]  If point is visible? -0.755766, 0.737773, 2.111192
-[01:08:38.248]  If point is visible? -0.553769, -0.059267, 2.296638
-[01:08:38.248]  If point is visible? -0.553802, 0.032566, 2.297169
-[01:08:38.248]  If point is visible? -0.755766, 0.737773, 2.111192
-[01:08:38.248]  If point is visible? 0.326367, 0.411859, 2.308884
-[01:08:38.248]  If point is visible? 0.515722, 0.390556, 2.278020
-[01:08:38.248]  If point is visible? 0.515627, 0.410912, 2.274433
-[01:08:38.248]  If point is visible? 1.367980, 0.991303, 1.656052
-[01:08:38.248]  If point is visible? 0.326367, 0.411859, 2.308884
-[01:08:38.248]  If point is visible? 0.515627, 0.410912, 2.274433
-[01:08:38.248]  If point is visible? 1.367980, 0.991303, 1.656052
-[01:08:38.248]  If point is visible? 0.364563, -1.113394, 2.071420
-[01:08:38.248]  If point is visible? 1.320601, 0.947247, 1.738054
-[01:08:38.248]  If point is visible? 0.364563, -1.113394, 2.071420
-[01:08:38.248]  If point is visible? 1.320601, 0.947247, 1.738054
-[01:08:38.248]  If point is visible? 0.121205, -0.854836, 2.262161
-[01:08:38.248]  If point is visible? -1.018952, 1.020786, 1.942040
-[01:08:38.248]  If point is visible? 0.121205, -0.854836, 2.262161
-[01:08:38.248]  If point is visible? -1.018952, 1.020786, 1.942040
-[01:08:38.248]  If point is visible? 0.066780, 0.633068, 2.340676
-[01:08:38.248]  If point is visible? 0.066780, 0.633068, 2.340676
-[01:08:38.532] add new frame
-[01:08:38.532] update seed
-[01:08:38.533]  If point is visible? -0.536037, -0.607778, 1.733456
-[01:08:38.533]  If point is visible? -0.447642, -0.601628, 1.761591
-[01:08:38.533]  If point is visible? -0.442696, -0.601688, 1.762853
-[01:08:38.533]  If point is visible? 0.096892, -0.044577, 1.916333
-[01:08:38.533]  If point is visible? 0.101990, -0.044575, 1.915956
-[01:08:38.533]  If point is visible? 0.391634, 0.294827, 1.844439
-[01:08:38.533]  If point is visible? -0.606661, 0.535254, 1.735511
-[01:08:38.533]  If point is visible? -0.912192, 0.494892, 1.601144
-[01:08:38.533]  If point is visible? -0.545711, -0.611315, 1.728925
-[01:08:38.533]  If point is visible? -0.477165, -0.604955, 1.752315
-[01:08:38.533]  If point is visible? -0.467299, -0.605088, 1.755009
-[01:08:38.533]  If point is visible? -0.457424, -0.605217, 1.757642
-[01:08:38.533]  If point is visible? -0.193069, -0.129046, 1.909160
-[01:08:38.533]  If point is visible? -0.182923, -0.129051, 1.910077
-[01:08:38.533]  If point is visible? -0.846160, 0.130033, 1.715029
-[01:08:38.533]  If point is visible? -0.817388, 0.152897, 1.727767
-[01:08:38.533]  If point is visible? -0.836515, 0.145208, 1.718724
-[01:08:38.533]  If point is visible? -0.836589, 0.137650, 1.719373
-[01:08:38.533]  If point is visible? -0.827071, 0.137711, 1.724268
-[01:08:38.533]  If point is visible? -0.538042, 0.540029, 1.757411
-[01:08:38.533]  If point is visible? -0.078907, 0.475154, 1.855317
-[01:08:38.533]  If point is visible? -0.487022, -0.604819, 1.749558
-[01:08:38.533]  If point is visible? -0.467299, -0.605088, 1.755009
-[01:08:38.533]  If point is visible? -0.211489, -0.381199, 1.870025
-[01:08:38.533]  If point is visible? -0.191432, -0.366031, 1.875355
-[01:08:38.533]  If point is visible? 0.254947, -0.243274, 1.881058
-[01:08:38.533]  If point is visible? -0.574366, -0.135995, 1.829527
-[01:08:38.533]  If point is visible? -0.089360, 0.444910, 1.863195
-[01:08:38.533]  If point is visible? -0.536037, -0.607778, 1.733456
-[01:08:38.533]  If point is visible? -0.447642, -0.601628, 1.761591
-[01:08:38.533]  If point is visible? -0.442696, -0.601688, 1.762853
-[01:08:38.533]  If point is visible? 0.096892, -0.044577, 1.916333
-[01:08:38.533]  If point is visible? 0.101990, -0.044575, 1.915956
-[01:08:38.533]  If point is visible? 0.391634, 0.294827, 1.844439
-[01:08:38.533]  If point is visible? -0.912192, 0.494892, 1.601144
-[01:08:38.533]  If point is visible? -0.606661, 0.535254, 1.735511
-[01:08:38.533]  If point is visible? -0.477165, -0.604955, 1.752315
-[01:08:38.533]  If point is visible? -0.467299, -0.605088, 1.755009
-[01:08:38.533]  If point is visible? -0.457424, -0.605217, 1.757642
-[01:08:38.533]  If point is visible? -0.193069, -0.129046, 1.909160
-[01:08:38.533]  If point is visible? -0.182923, -0.129051, 1.910077
-[01:08:38.533]  If point is visible? -0.817388, 0.152897, 1.727767
-[01:08:38.533]  If point is visible? -0.836515, 0.145208, 1.718724
-[01:08:38.533]  If point is visible? -0.836589, 0.137650, 1.719373
-[01:08:38.533]  If point is visible? -0.827071, 0.137711, 1.724268
-[01:08:38.533]  If point is visible? -0.538042, 0.540029, 1.757411
-[01:08:38.533]  If point is visible? -0.078907, 0.475154, 1.855317
-[01:08:38.533]  If point is visible? -0.211489, -0.381199, 1.870025
-[01:08:38.533]  If point is visible? -0.191432, -0.366031, 1.875355
-[01:08:38.533]  If point is visible? -0.487022, -0.604819, 1.749558
-[01:08:38.533]  If point is visible? -0.467299, -0.605088, 1.755009
-[01:08:38.533]  If point is visible? 0.254947, -0.243274, 1.881058
-[01:08:38.533]  If point is visible? -0.574366, -0.135995, 1.829527
-[01:08:38.533]  If point is visible? -0.089360, 0.444910, 1.863195
-[01:08:38.533]  If point is visible? 0.318556, -0.952041, 2.005756
-[01:08:38.533]  If point is visible? 0.082860, -0.744069, 2.127118
-[01:08:38.533]  If point is visible? 0.082816, -0.739618, 2.128803
-[01:08:38.533]  If point is visible? -0.512207, -0.706682, 2.084557
-[01:08:38.533]  If point is visible? -0.795630, -0.402656, 2.080320
-[01:08:38.533]  If point is visible? -0.303963, 0.107374, 2.245819
-[01:08:38.533]  If point is visible? 0.480568, 0.361769, 2.171113
-[01:08:38.533]  If point is visible? 0.480574, 0.352697, 2.172726
-[01:08:38.533]  If point is visible? 0.480571, 0.357233, 2.171925
-[01:08:38.533]  If point is visible? 0.317253, 0.394694, 2.199635
-[01:08:38.533]  If point is visible? 0.256547, 0.390482, 2.209883
-[01:08:38.533]  If point is visible? 0.201906, 0.404388, 2.214109
-[01:08:38.533]  If point is visible? 0.141766, 0.531704, 2.190831
-[01:08:38.533]  If point is visible? -0.708072, 0.645047, 2.046724
-[01:08:38.533]  If point is visible? 0.118209, 0.635504, 2.162601
-[01:08:38.533]  If point is visible? 0.124265, 0.635471, 2.162152
-[01:08:38.533]  If point is visible? 0.118243, 0.639994, 2.161164
-[01:08:38.533]  If point is visible? 0.124298, 0.639961, 2.160715
-[01:08:38.533]  If point is visible? 0.569180, 0.749737, 2.034487
-[01:08:38.533]  If point is visible? -0.887536, 0.768754, 1.923006
-[01:08:38.533]  If point is visible? -0.691490, 0.791183, 1.996186
-[01:08:38.533]  If point is visible? 0.155765, 0.800188, 2.099285
-[01:08:38.533]  If point is visible? -0.702249, 0.812837, 1.982739
-[01:08:38.533]  If point is visible? 0.312591, -0.952150, 2.006820
-[01:08:38.533]  If point is visible? -0.091496, -0.016621, 2.265526
-[01:08:38.533]  If point is visible? -0.382571, 0.093548, 2.234634
-[01:08:38.533]  If point is visible? -0.370500, 0.093558, 2.236652
-[01:08:38.533]  If point is visible? -0.370475, 0.102735, 2.236221
-[01:08:38.533]  If point is visible? -0.454893, 0.075139, 2.221771
-[01:08:38.533]  If point is visible? -0.466932, 0.065959, 2.219565
-[01:08:38.533]  If point is visible? -0.810063, 0.211166, 2.105018
-[01:08:38.533]  If point is visible? 0.286917, 0.394869, 2.204550
-[01:08:38.533]  If point is visible? -0.076220, 0.577521, 2.185063
-[01:08:38.533]  If point is visible? 0.168165, 0.844160, 2.079263
-[01:08:38.533]  If point is visible? 0.168094, 0.835363, 2.083125
-[01:08:38.533]  If point is visible? -0.223421, -0.401502, 2.218718
-[01:08:38.533]  If point is visible? -0.466981, -0.034932, 2.220316
-[01:08:38.533]  If point is visible? 0.311007, -0.291063, 2.218070
-[01:08:38.533]  If point is visible? -0.681225, -0.162710, 2.156503
-[01:08:38.533]  If point is visible? -0.751626, 0.202381, 2.128418
-[01:08:38.533]  If point is visible? -0.728114, 0.202494, 2.136884
-[01:08:38.533]  If point is visible? -0.681751, -0.016531, 2.162898
-[01:08:38.533]  If point is visible? -0.728265, 0.184268, 2.138617
-[01:08:38.533]  If point is visible? -0.100938, 0.532310, 2.196733
-[01:08:38.533]  If point is visible? 0.168094, 0.835363, 2.083125
-[01:08:38.533]  If point is visible? 0.318556, -0.952041, 2.005756
-[01:08:38.533]  If point is visible? 0.082860, -0.744069, 2.127118
-[01:08:38.533]  If point is visible? 0.082816, -0.739618, 2.128803
-[01:08:38.533]  If point is visible? -0.512207, -0.706682, 2.084557
-[01:08:38.533]  If point is visible? -0.795630, -0.402656, 2.080320
-[01:08:38.533]  If point is visible? -0.303963, 0.107374, 2.245819
-[01:08:38.533]  If point is visible? 0.480571, 0.357233, 2.171925
-[01:08:38.533]  If point is visible? 0.256547, 0.390482, 2.209883
-[01:08:38.533]  If point is visible? 0.299064, 0.399346, 2.201752
-[01:08:38.533]  If point is visible? 0.201906, 0.404388, 2.214109
-[01:08:38.533]  If point is visible? 0.141766, 0.531704, 2.190831
-[01:08:38.533]  If point is visible? 0.118209, 0.635504, 2.162601
-[01:08:38.533]  If point is visible? 0.124265, 0.635471, 2.162152
-[01:08:38.533]  If point is visible? -0.708072, 0.645047, 2.046724
-[01:08:38.533]  If point is visible? 0.118243, 0.639994, 2.161164
-[01:08:38.533]  If point is visible? 0.124298, 0.639961, 2.160715
-[01:08:38.533]  If point is visible? 0.569180, 0.749737, 2.034487
-[01:08:38.533]  If point is visible? -0.887536, 0.768754, 1.923006
-[01:08:38.533]  If point is visible? -0.691490, 0.791183, 1.996186
-[01:08:38.533]  If point is visible? 0.155765, 0.800188, 2.099285
-[01:08:38.533]  If point is visible? -0.702249, 0.812837, 1.982739
-[01:08:38.533]  If point is visible? 0.312591, -0.952150, 2.006820
-[01:08:38.533]  If point is visible? -0.466950, 0.056788, 2.219835
-[01:08:38.533]  If point is visible? -0.454930, 0.056796, 2.222352
-[01:08:38.533]  If point is visible? -0.091496, -0.016621, 2.265526
-[01:08:38.533]  If point is visible? -0.466932, 0.065959, 2.219565
-[01:08:38.533]  If point is visible? -0.810063, 0.211166, 2.105018
-[01:08:38.533]  If point is visible? 0.286917, 0.394869, 2.204550
-[01:08:38.533]  If point is visible? -0.076220, 0.577521, 2.185063
-[01:08:38.533]  If point is visible? 0.168094, 0.835363, 2.083125
-[01:08:38.533]  If point is visible? -0.223421, -0.401502, 2.218718
-[01:08:38.533]  If point is visible? 0.311007, -0.291063, 2.218070
-[01:08:38.533]  If point is visible? -0.681225, -0.162710, 2.156503
-[01:08:38.533]  If point is visible? -0.466981, -0.034932, 2.220316
-[01:08:38.533]  If point is visible? -0.681751, -0.016531, 2.162898
-[01:08:38.533]  If point is visible? -0.751626, 0.202381, 2.128418
-[01:08:38.533]  If point is visible? -0.728114, 0.202494, 2.136884
-[01:08:38.533]  If point is visible? -0.728265, 0.184268, 2.138617
-[01:08:38.533]  If point is visible? -0.100938, 0.532310, 2.196733
-[01:08:38.533]  If point is visible? 0.168094, 0.835363, 2.083125
-[01:08:38.533]  If point is visible? 0.178256, 0.429304, 2.222172
-[01:08:38.533]  If point is visible? 0.184363, 0.429278, 2.221548
-[01:08:38.533]  If point is visible? 0.184344, 0.424709, 2.222499
-[01:08:38.533]  If point is visible? -1.753314, 0.469185, 1.292913
-[01:08:38.533]  If point is visible? 0.565868, 0.726972, 2.055962
-[01:08:38.533]  If point is visible? -0.783894, 0.753381, 1.988413
-[01:08:38.533]  If point is visible? -0.778101, 0.753515, 1.990740
-[01:08:38.533]  If point is visible? 0.373713, 0.810237, 2.072882
-[01:08:38.533]  If point is visible? -0.653984, 0.800250, 2.017259
-[01:08:38.533]  If point is visible? 0.379732, 0.818964, 2.067865
-[01:08:38.533]  If point is visible? -0.433259, 0.047867, 2.237529
-[01:08:38.533]  If point is visible? -0.421157, 0.047873, 2.239843
-[01:08:38.533]  If point is visible? -0.433227, 0.066305, 2.237027
-[01:08:38.533]  If point is visible? -0.433244, 0.057086, 2.237298
-[01:08:38.533]  If point is visible? -0.224237, -0.458339, 2.217380
-[01:08:38.533]  If point is visible? -0.199912, -0.458376, 2.219522
-[01:08:38.533]  If point is visible? -0.273427, -0.403360, 2.223680
-[01:08:38.533]  If point is visible? -0.224793, -0.403448, 2.228819
-[01:08:38.533]  If point is visible? -0.200448, -0.403480, 2.230959
-[01:08:38.533]  If point is visible? -0.872947, 0.184467, 2.092754
-[01:08:38.533]  If point is visible? -0.053150, 0.516646, 2.212541
-[01:08:38.533]  If point is visible? 0.190940, 0.534024, 2.196165
-[01:08:38.533]  If point is visible? 0.397332, -0.992753, 1.991510
-[01:08:38.533]  If point is visible? -0.461438, -0.725943, 2.103723
-[01:08:38.533]  If point is visible? -0.455364, -0.726008, 2.105067
-[01:08:38.533]  If point is visible? -0.147381, -0.209071, 2.265996
-[01:08:38.533]  If point is visible? -0.147397, -0.204391, 2.266449
-[01:08:38.533]  If point is visible? 0.225736, 0.440581, 2.220745
-[01:08:38.533]  If point is visible? 0.225728, 0.435942, 2.221721
-[01:08:38.533]  If point is visible? 0.527178, 0.622003, 2.115278
-[01:08:38.533]  If point is visible? 0.533280, 0.621913, 2.113626
-[01:08:38.533]  If point is visible? -0.657797, 0.807605, 2.015595
-[01:08:38.533]  If point is visible? 0.238971, 0.838660, 2.093169
-[01:08:38.533]  If point is visible? -0.793640, 0.638163, 2.029336
-[01:08:38.533]  If point is visible? -0.864579, 0.627642, 2.002159
-[01:08:38.533]  If point is visible? 0.245094, 0.834100, 2.094313
-[01:08:38.533]  If point is visible? -0.164512, -0.465492, 2.223851
-[01:08:38.533]  If point is visible? 0.380373, -0.315513, 2.219839
-[01:08:38.533]  If point is visible? 0.405086, -0.315389, 2.215019
-[01:08:38.533]  If point is visible? -0.729634, 0.206519, 2.147167
-[01:08:38.533]  If point is visible? -0.015557, 0.524667, 2.215163
-[01:08:38.533]  If point is visible? 0.232130, 0.542314, 2.195873
-[01:08:38.533]  If point is visible? 0.281857, 0.815695, 2.096837
-[01:08:38.533]  If point is visible? 0.191168, -0.801875, 2.121627
-[01:08:38.533]  If point is visible? 0.178181, -0.792426, 2.126313
-[01:08:38.533]  If point is visible? -0.371411, 0.075652, 2.243900
-[01:08:38.533]  If point is visible? 0.260786, 0.169006, 2.256539
-[01:08:38.533]  If point is visible? 0.598288, 0.363184, 2.167759
-[01:08:38.533]  If point is visible? -1.801371, 0.382316, 1.311783
-[01:08:38.533]  If point is visible? -1.801123, 0.386799, 1.310792
-[01:08:38.533]  If point is visible? -0.767363, 0.808468, 1.979254
-[01:08:38.533]  If point is visible? -0.791970, 0.812589, 1.967603
-[01:08:38.533]  If point is visible? -0.536683, -0.756784, 2.075395
-[01:08:38.533]  If point is visible? -0.155084, -0.488854, 2.217556
-[01:08:38.533]  If point is visible? 0.001368, 0.550998, 2.208804
-[01:08:38.533]  If point is visible? -0.632936, 0.909876, 1.983325
-[01:08:38.533]  If point is visible? 0.001509, 0.570420, 2.203813
-[01:08:38.533]  If point is visible? 0.261533, 0.569531, 2.189166
-[01:08:38.533]  If point is visible? 0.575866, -0.368348, 2.330273
-[01:08:38.533]  If point is visible? -0.313694, 0.112243, 2.403586
-[01:08:38.533]  If point is visible? 0.271297, 0.493608, 2.361645
-[01:08:38.534]  If point is visible? 0.271284, 0.488411, 2.362738
-[01:08:38.534]  If point is visible? -1.888192, 0.562003, 1.390732
-[01:08:38.534]  If point is visible? -0.689703, 0.728190, 2.206139
-[01:08:38.534]  If point is visible? 0.568831, -0.456609, 2.316163
-[01:08:38.534]  If point is visible? -0.573025, -0.807351, 2.212426
-[01:08:38.534]  If point is visible? -0.959573, 0.188975, 2.216555
-[01:08:38.534]  If point is visible? 0.000978, 0.587814, 2.354748
-[01:08:38.534]  If point is visible? 0.278526, 0.607586, 2.333797
-[01:08:38.534]  If point is visible? 0.405672, -1.029752, 2.000633
-[01:08:38.534]  If point is visible? -0.882308, 0.643489, 2.004115
-[01:08:38.534]  If point is visible? -0.181956, -0.491193, 2.226158
-[01:08:38.534]  If point is visible? -0.155869, -0.491232, 2.228236
-[01:08:38.534]  If point is visible? -0.131548, -0.156400, 2.278534
-[01:08:38.534]  If point is visible? 0.001208, 0.534142, 2.224277
-[01:08:38.534]  If point is visible? 0.405672, -1.029752, 2.000633
-[01:08:38.534]  If point is visible? -0.744681, 0.655617, 2.056509
-[01:08:38.534]  If point is visible? -0.882308, 0.643489, 2.004115
-[01:08:38.534]  If point is visible? -0.181956, -0.491193, 2.226158
-[01:08:38.534]  If point is visible? -0.155869, -0.491232, 2.228236
-[01:08:38.534]  If point is visible? -0.131548, -0.156400, 2.278534
-[01:08:38.534]  If point is visible? 0.001208, 0.534142, 2.224277
-[01:08:38.534]  If point is visible? -0.819820, -0.700572, 2.054390
-[01:08:38.534]  If point is visible? -0.146929, -0.229301, 2.309027
-[01:08:38.534]  If point is visible? -0.140295, -0.224284, 2.309963
-[01:08:38.534]  If point is visible? -0.548369, -0.773054, 2.119494
-[01:08:38.534]  If point is visible? 0.001112, 0.542984, 2.260683
-[01:08:38.534]  If point is visible? -0.819820, -0.700572, 2.054390
-[01:08:38.534]  If point is visible? -0.140295, -0.224284, 2.309963
-[01:08:38.534]  If point is visible? -0.548369, -0.773054, 2.119494
-[01:08:38.534]  If point is visible? 0.001112, 0.542984, 2.260683
-[01:08:38.534]  If point is visible? -1.830778, 0.398837, 1.410645
-[01:08:38.534]  If point is visible? -0.660569, 0.826559, 2.105352
-[01:08:38.534]  If point is visible? -1.830778, 0.398837, 1.410645
-[01:08:38.534]  If point is visible? -0.660569, 0.826559, 2.105352
-[01:08:38.534]  If point is visible? 0.542622, -0.426406, 2.302334
-[01:08:38.534]  If point is visible? -1.837350, 0.440829, 1.459686
-[01:08:38.534]  If point is visible? 0.542622, -0.426406, 2.302334
-[01:08:38.534]  If point is visible? -1.837350, 0.440829, 1.459686
-[01:08:38.534]  If point is visible? -0.633566, 1.100719, 1.967140
-[01:08:38.534]  If point is visible? -0.633566, 1.100719, 1.967140
-[01:08:38.534]  If point is visible? -0.108657, -0.171198, 2.345768
-[01:08:38.534]  If point is visible? 0.026181, 0.022327, 2.354772
-[01:08:38.534]  If point is visible? -0.108657, -0.171198, 2.345768
-[01:08:38.534]  If point is visible? 0.026181, 0.022327, 2.354772
-[01:08:38.534]  If point is visible? -0.553767, -0.059267, 2.296641
-[01:08:38.534]  If point is visible? -0.553801, 0.032566, 2.297173
-[01:08:38.534]  If point is visible? -0.755765, 0.737773, 2.111196
-[01:08:38.534]  If point is visible? -0.553767, -0.059267, 2.296641
-[01:08:38.534]  If point is visible? -0.553801, 0.032566, 2.297173
-[01:08:38.534]  If point is visible? -0.755765, 0.737773, 2.111196
-[01:08:38.534]  If point is visible? 0.326369, 0.411859, 2.308888
-[01:08:38.534]  If point is visible? 0.515724, 0.390556, 2.278023
-[01:08:38.534]  If point is visible? 0.515629, 0.410912, 2.274436
-[01:08:38.534]  If point is visible? 1.367981, 0.991303, 1.656056
-[01:08:38.534]  If point is visible? 0.326369, 0.411859, 2.308888
-[01:08:38.534]  If point is visible? 0.515629, 0.410912, 2.274436
-[01:08:38.534]  If point is visible? 1.367981, 0.991303, 1.656056
-[01:08:38.534]  If point is visible? 0.364564, -1.113394, 2.071423
-[01:08:38.534]  If point is visible? 1.320602, 0.947247, 1.738057
-[01:08:38.534]  If point is visible? 0.364564, -1.113394, 2.071423
-[01:08:38.534]  If point is visible? 1.320602, 0.947247, 1.738057
-[01:08:38.534]  If point is visible? 0.121206, -0.854836, 2.262164
-[01:08:38.534]  If point is visible? -1.018950, 1.020786, 1.942044
-[01:08:38.534]  If point is visible? 0.121206, -0.854836, 2.262164
-[01:08:38.534]  If point is visible? -1.018950, 1.020786, 1.942044
-[01:08:38.534]  If point is visible? 0.066782, 0.633068, 2.340680
-[01:08:38.534]  If point is visible? 0.066782, 0.633068, 2.340680
-[01:08:38.820] add new frame
-[01:08:38.820] update seed
-[01:08:38.820]  If point is visible? -0.536030, -0.607778, 1.733461
-[01:08:38.820]  If point is visible? -0.447635, -0.601628, 1.761596
-[01:08:38.820]  If point is visible? -0.442688, -0.601688, 1.762858
-[01:08:38.820]  If point is visible? 0.096901, -0.044577, 1.916336
-[01:08:38.820]  If point is visible? 0.101998, -0.044575, 1.915959
-[01:08:38.820]  If point is visible? 0.391642, 0.294827, 1.844441
-[01:08:38.820]  If point is visible? -0.606654, 0.535254, 1.735517
-[01:08:38.820]  If point is visible? -0.912185, 0.494892, 1.601151
-[01:08:38.820]  If point is visible? -0.545704, -0.611315, 1.728931
-[01:08:38.820]  If point is visible? -0.477158, -0.604955, 1.752320
-[01:08:38.820]  If point is visible? -0.467292, -0.605088, 1.755015
-[01:08:38.820]  If point is visible? -0.457416, -0.605217, 1.757648
-[01:08:38.820]  If point is visible? -0.193061, -0.129046, 1.909164
-[01:08:38.820]  If point is visible? -0.182915, -0.129051, 1.910082
-[01:08:38.820]  If point is visible? -0.846152, 0.130033, 1.715036
-[01:08:38.820]  If point is visible? -0.817380, 0.152897, 1.727774
-[01:08:38.820]  If point is visible? -0.836507, 0.145208, 1.718731
-[01:08:38.820]  If point is visible? -0.836581, 0.137650, 1.719380
-[01:08:38.820]  If point is visible? -0.827064, 0.137711, 1.724275
-[01:08:38.820]  If point is visible? -0.538034, 0.540029, 1.757416
-[01:08:38.820]  If point is visible? -0.078899, 0.475154, 1.855321
-[01:08:38.820]  If point is visible? -0.487014, -0.604819, 1.749564
-[01:08:38.820]  If point is visible? -0.467292, -0.605088, 1.755015
-[01:08:38.820]  If point is visible? -0.211481, -0.381199, 1.870030
-[01:08:38.820]  If point is visible? -0.191424, -0.366031, 1.875360
-[01:08:38.820]  If point is visible? 0.254955, -0.243274, 1.881061
-[01:08:38.820]  If point is visible? -0.574358, -0.135995, 1.829533
-[01:08:38.820]  If point is visible? -0.089352, 0.444910, 1.863198
-[01:08:38.820]  If point is visible? -0.536030, -0.607778, 1.733461
-[01:08:38.820]  If point is visible? -0.447635, -0.601628, 1.761596
-[01:08:38.820]  If point is visible? -0.442688, -0.601688, 1.762858
-[01:08:38.820]  If point is visible? 0.096901, -0.044577, 1.916336
-[01:08:38.820]  If point is visible? 0.101998, -0.044575, 1.915959
-[01:08:38.820]  If point is visible? 0.391642, 0.294827, 1.844441
-[01:08:38.820]  If point is visible? -0.912185, 0.494892, 1.601151
-[01:08:38.820]  If point is visible? -0.606654, 0.535254, 1.735517
-[01:08:38.820]  If point is visible? -0.477158, -0.604955, 1.752320
-[01:08:38.820]  If point is visible? -0.467292, -0.605088, 1.755015
-[01:08:38.820]  If point is visible? -0.457416, -0.605217, 1.757648
-[01:08:38.820]  If point is visible? -0.193061, -0.129046, 1.909164
-[01:08:38.820]  If point is visible? -0.182915, -0.129051, 1.910082
-[01:08:38.820]  If point is visible? -0.817380, 0.152897, 1.727774
-[01:08:38.820]  If point is visible? -0.836507, 0.145208, 1.718731
-[01:08:38.820]  If point is visible? -0.836581, 0.137650, 1.719380
-[01:08:38.820]  If point is visible? -0.827064, 0.137711, 1.724275
-[01:08:38.820]  If point is visible? -0.538034, 0.540029, 1.757416
-[01:08:38.820]  If point is visible? -0.078899, 0.475154, 1.855321
-[01:08:38.820]  If point is visible? -0.211481, -0.381199, 1.870030
-[01:08:38.820]  If point is visible? -0.191424, -0.366031, 1.875360
-[01:08:38.820]  If point is visible? -0.487014, -0.604819, 1.749564
-[01:08:38.820]  If point is visible? -0.467292, -0.605088, 1.755015
-[01:08:38.820]  If point is visible? 0.254955, -0.243274, 1.881061
-[01:08:38.820]  If point is visible? -0.574358, -0.135995, 1.829533
-[01:08:38.820]  If point is visible? -0.089352, 0.444910, 1.863198
-[01:08:38.820]  If point is visible? 0.318565, -0.952041, 2.005758
-[01:08:38.820]  If point is visible? 0.082869, -0.744069, 2.127122
-[01:08:38.820]  If point is visible? 0.082825, -0.739618, 2.128806
-[01:08:38.820]  If point is visible? -0.512198, -0.706682, 2.084563
-[01:08:38.820]  If point is visible? -0.795621, -0.402656, 2.080326
-[01:08:38.820]  If point is visible? -0.303953, 0.107374, 2.245824
-[01:08:38.820]  If point is visible? 0.480577, 0.361769, 2.171115
-[01:08:38.820]  If point is visible? 0.480583, 0.352697, 2.172728
-[01:08:38.820]  If point is visible? 0.480580, 0.357233, 2.171927
-[01:08:38.820]  If point is visible? 0.317263, 0.394694, 2.199638
-[01:08:38.820]  If point is visible? 0.256557, 0.390482, 2.209886
-[01:08:38.820]  If point is visible? 0.201916, 0.404388, 2.214112
-[01:08:38.820]  If point is visible? 0.141775, 0.531704, 2.190834
-[01:08:38.820]  If point is visible? -0.708063, 0.645047, 2.046730
-[01:08:38.820]  If point is visible? 0.118218, 0.635504, 2.162604
-[01:08:38.820]  If point is visible? 0.124274, 0.635471, 2.162155
-[01:08:38.820]  If point is visible? 0.118252, 0.639994, 2.161167
-[01:08:38.820]  If point is visible? 0.124308, 0.639961, 2.160718
-[01:08:38.820]  If point is visible? 0.569189, 0.749737, 2.034488
-[01:08:38.820]  If point is visible? -0.887528, 0.768754, 1.923014
-[01:08:38.820]  If point is visible? -0.691482, 0.791183, 1.996192
-[01:08:38.820]  If point is visible? 0.155774, 0.800188, 2.099288
-[01:08:38.820]  If point is visible? -0.702240, 0.812837, 1.982745
-[01:08:38.820]  If point is visible? 0.312600, -0.952150, 2.006822
-[01:08:38.820]  If point is visible? -0.091486, -0.016621, 2.265530
-[01:08:38.820]  If point is visible? -0.382561, 0.093548, 2.234639
-[01:08:38.820]  If point is visible? -0.370491, 0.093558, 2.236657
-[01:08:38.820]  If point is visible? -0.370466, 0.102735, 2.236226
-[01:08:38.820]  If point is visible? -0.454883, 0.075139, 2.221777
-[01:08:38.820]  If point is visible? -0.466923, 0.065959, 2.219570
-[01:08:38.820]  If point is visible? -0.810054, 0.211166, 2.105025
-[01:08:38.820]  If point is visible? 0.286927, 0.394869, 2.204552
-[01:08:38.820]  If point is visible? -0.076210, 0.577521, 2.185067
-[01:08:38.820]  If point is visible? 0.168174, 0.844160, 2.079266
-[01:08:38.820]  If point is visible? 0.168103, 0.835363, 2.083127
-[01:08:38.820]  If point is visible? -0.223411, -0.401502, 2.218722
-[01:08:38.820]  If point is visible? -0.466971, -0.034932, 2.220321
-[01:08:38.820]  If point is visible? 0.311017, -0.291063, 2.218072
-[01:08:38.820]  If point is visible? -0.681216, -0.162710, 2.156510
-[01:08:38.820]  If point is visible? -0.751617, 0.202381, 2.128425
-[01:08:38.820]  If point is visible? -0.728105, 0.202494, 2.136890
-[01:08:38.820]  If point is visible? -0.681741, -0.016531, 2.162905
-[01:08:38.820]  If point is visible? -0.728255, 0.184268, 2.138624
-[01:08:38.820]  If point is visible? -0.100929, 0.532310, 2.196737
-[01:08:38.820]  If point is visible? 0.168103, 0.835363, 2.083127
-[01:08:38.820]  If point is visible? 0.318565, -0.952041, 2.005758
-[01:08:38.820]  If point is visible? 0.082869, -0.744069, 2.127122
-[01:08:38.820]  If point is visible? 0.082825, -0.739618, 2.128806
-[01:08:38.820]  If point is visible? -0.512198, -0.706682, 2.084563
-[01:08:38.820]  If point is visible? -0.795621, -0.402656, 2.080326
-[01:08:38.820]  If point is visible? -0.303953, 0.107374, 2.245824
-[01:08:38.820]  If point is visible? 0.480580, 0.357233, 2.171927
-[01:08:38.820]  If point is visible? 0.256557, 0.390482, 2.209886
-[01:08:38.820]  If point is visible? 0.299074, 0.399346, 2.201754
-[01:08:38.820]  If point is visible? 0.201916, 0.404388, 2.214112
-[01:08:38.820]  If point is visible? 0.141775, 0.531704, 2.190834
-[01:08:38.820]  If point is visible? 0.118218, 0.635504, 2.162604
-[01:08:38.820]  If point is visible? 0.124274, 0.635471, 2.162155
-[01:08:38.820]  If point is visible? -0.708063, 0.645047, 2.046730
-[01:08:38.820]  If point is visible? 0.118252, 0.639994, 2.161167
-[01:08:38.820]  If point is visible? 0.124308, 0.639961, 2.160718
-[01:08:38.820]  If point is visible? 0.569189, 0.749737, 2.034488
-[01:08:38.820]  If point is visible? -0.887528, 0.768754, 1.923014
-[01:08:38.821]  If point is visible? -0.691482, 0.791183, 1.996192
-[01:08:38.821]  If point is visible? 0.155774, 0.800188, 2.099288
-[01:08:38.821]  If point is visible? -0.702240, 0.812837, 1.982745
-[01:08:38.821]  If point is visible? 0.312600, -0.952150, 2.006822
-[01:08:38.821]  If point is visible? -0.466940, 0.056788, 2.219840
-[01:08:38.821]  If point is visible? -0.454920, 0.056796, 2.222357
-[01:08:38.821]  If point is visible? -0.091486, -0.016621, 2.265530
-[01:08:38.821]  If point is visible? -0.466923, 0.065959, 2.219570
-[01:08:38.821]  If point is visible? -0.810054, 0.211166, 2.105025
-[01:08:38.821]  If point is visible? 0.286927, 0.394869, 2.204552
-[01:08:38.821]  If point is visible? -0.076210, 0.577521, 2.185067
-[01:08:38.821]  If point is visible? 0.168103, 0.835363, 2.083127
-[01:08:38.821]  If point is visible? -0.223411, -0.401502, 2.218722
-[01:08:38.821]  If point is visible? 0.311017, -0.291063, 2.218072
-[01:08:38.821]  If point is visible? -0.681216, -0.162710, 2.156510
-[01:08:38.821]  If point is visible? -0.466971, -0.034932, 2.220321
-[01:08:38.821]  If point is visible? -0.681741, -0.016531, 2.162905
-[01:08:38.821]  If point is visible? -0.751617, 0.202381, 2.128425
-[01:08:38.821]  If point is visible? -0.728105, 0.202494, 2.136890
-[01:08:38.821]  If point is visible? -0.728255, 0.184268, 2.138624
-[01:08:38.821]  If point is visible? -0.100929, 0.532310, 2.196737
-[01:08:38.821]  If point is visible? 0.168103, 0.835363, 2.083127
-[01:08:38.821]  If point is visible? 0.178266, 0.429304, 2.222175
-[01:08:38.821]  If point is visible? 0.184373, 0.429278, 2.221551
-[01:08:38.821]  If point is visible? 0.184354, 0.424709, 2.222501
-[01:08:38.821]  If point is visible? -1.753308, 0.469185, 1.292924
-[01:08:38.821]  If point is visible? 0.565877, 0.726972, 2.055963
-[01:08:38.821]  If point is visible? -0.783885, 0.753381, 1.988420
-[01:08:38.821]  If point is visible? -0.778092, 0.753515, 1.990747
-[01:08:38.821]  If point is visible? 0.373722, 0.810237, 2.072884
-[01:08:38.821]  If point is visible? -0.653976, 0.800250, 2.017265
-[01:08:38.821]  If point is visible? 0.379741, 0.818964, 2.067867
-[01:08:38.821]  If point is visible? -0.433249, 0.047867, 2.237534
-[01:08:38.821]  If point is visible? -0.421147, 0.047873, 2.239849
-[01:08:38.821]  If point is visible? -0.433218, 0.066305, 2.237032
-[01:08:38.821]  If point is visible? -0.433235, 0.057086, 2.237304
-[01:08:38.821]  If point is visible? -0.224228, -0.458339, 2.217385
-[01:08:38.821]  If point is visible? -0.199902, -0.458376, 2.219527
-[01:08:38.821]  If point is visible? -0.273417, -0.403360, 2.223684
-[01:08:38.821]  If point is visible? -0.224783, -0.403448, 2.228823
-[01:08:38.821]  If point is visible? -0.200438, -0.403480, 2.230963
-[01:08:38.821]  If point is visible? -0.872938, 0.184467, 2.092762
-[01:08:38.821]  If point is visible? -0.053140, 0.516646, 2.212545
-[01:08:38.821]  If point is visible? 0.190950, 0.534024, 2.196168
-[01:08:38.821]  If point is visible? 0.397341, -0.992753, 1.991512
-[01:08:38.821]  If point is visible? -0.461428, -0.725943, 2.103728
-[01:08:38.821]  If point is visible? -0.455355, -0.726008, 2.105072
-[01:08:38.821]  If point is visible? -0.147371, -0.209071, 2.266000
-[01:08:38.821]  If point is visible? -0.147387, -0.204391, 2.266453
-[01:08:38.821]  If point is visible? 0.225746, 0.440581, 2.220748
-[01:08:38.821]  If point is visible? 0.225737, 0.435942, 2.221723
-[01:08:38.821]  If point is visible? 0.527187, 0.622003, 2.115280
-[01:08:38.821]  If point is visible? 0.533289, 0.621913, 2.113627
-[01:08:38.821]  If point is visible? -0.657789, 0.807605, 2.015601
-[01:08:38.821]  If point is visible? 0.238980, 0.838660, 2.093171
-[01:08:38.821]  If point is visible? -0.793631, 0.638163, 2.029343
-[01:08:38.821]  If point is visible? -0.864570, 0.627642, 2.002167
-[01:08:38.821]  If point is visible? 0.245103, 0.834100, 2.094316
-[01:08:38.821]  If point is visible? -0.164503, -0.465492, 2.223855
-[01:08:38.821]  If point is visible? 0.380383, -0.315513, 2.219841
-[01:08:38.821]  If point is visible? 0.405095, -0.315389, 2.215021
-[01:08:38.821]  If point is visible? -0.729624, 0.206519, 2.147173
-[01:08:38.821]  If point is visible? -0.015547, 0.524667, 2.215166
-[01:08:38.821]  If point is visible? 0.232140, 0.542314, 2.195876
-[01:08:38.821]  If point is visible? 0.281866, 0.815695, 2.096840
-[01:08:38.821]  If point is visible? 0.191177, -0.801875, 2.121630
-[01:08:38.821]  If point is visible? 0.178190, -0.792426, 2.126316
-[01:08:38.821]  If point is visible? -0.371401, 0.075652, 2.243905
-[01:08:38.821]  If point is visible? 0.260796, 0.169006, 2.256541
-[01:08:38.821]  If point is visible? 0.598298, 0.363184, 2.167761
-[01:08:38.821]  If point is visible? -1.801365, 0.382316, 1.311794
-[01:08:38.821]  If point is visible? -1.801116, 0.386799, 1.310803
-[01:08:38.821]  If point is visible? -0.767354, 0.808468, 1.979261
-[01:08:38.821]  If point is visible? -0.791960, 0.812589, 1.967610
-[01:08:38.821]  If point is visible? -0.536673, -0.756784, 2.075401
-[01:08:38.821]  If point is visible? -0.155074, -0.488854, 2.217560
-[01:08:38.821]  If point is visible? 0.001378, 0.550998, 2.208808
-[01:08:38.821]  If point is visible? -0.632927, 0.909876, 1.983332
-[01:08:38.821]  If point is visible? 0.001519, 0.570420, 2.203817
-[01:08:38.821]  If point is visible? 0.261543, 0.569531, 2.189169
-[01:08:38.821]  If point is visible? 0.575877, -0.368348, 2.330274
-[01:08:38.821]  If point is visible? -0.313683, 0.112243, 2.403591
-[01:08:38.821]  If point is visible? 0.271308, 0.493608, 2.361648
-[01:08:38.821]  If point is visible? 0.271295, 0.488411, 2.362741
-[01:08:38.821]  If point is visible? -1.888185, 0.562003, 1.390743
-[01:08:38.821]  If point is visible? -0.689693, 0.728190, 2.206146
-[01:08:38.821]  If point is visible? 0.568842, -0.456609, 2.316165
-[01:08:38.821]  If point is visible? -0.573015, -0.807351, 2.212432
-[01:08:38.821]  If point is visible? -0.959563, 0.188975, 2.216563
-[01:08:38.821]  If point is visible? 0.000988, 0.587814, 2.354751
-[01:08:38.821]  If point is visible? 0.278537, 0.607586, 2.333799
-[01:08:38.821]  If point is visible? 0.405681, -1.029752, 2.000635
-[01:08:38.821]  If point is visible? -0.882299, 0.643489, 2.004122
-[01:08:38.821]  If point is visible? -0.181946, -0.491193, 2.226163
-[01:08:38.821]  If point is visible? -0.155859, -0.491232, 2.228240
-[01:08:38.821]  If point is visible? -0.131537, -0.156400, 2.278538
-[01:08:38.821]  If point is visible? 0.001218, 0.534142, 2.224281
-[01:08:38.821]  If point is visible? 0.405681, -1.029752, 2.000635
-[01:08:38.821]  If point is visible? -0.744671, 0.655617, 2.056515
-[01:08:38.821]  If point is visible? -0.882299, 0.643489, 2.004122
-[01:08:38.821]  If point is visible? -0.181946, -0.491193, 2.226163
-[01:08:38.821]  If point is visible? -0.155859, -0.491232, 2.228240
-[01:08:38.821]  If point is visible? -0.131537, -0.156400, 2.278538
-[01:08:38.821]  If point is visible? 0.001218, 0.534142, 2.224281
-[01:08:38.821]  If point is visible? -0.819810, -0.700572, 2.054397
-[01:08:38.821]  If point is visible? -0.146918, -0.229301, 2.309031
-[01:08:38.821]  If point is visible? -0.140284, -0.224284, 2.309967
-[01:08:38.821]  If point is visible? -0.548359, -0.773054, 2.119500
-[01:08:38.821]  If point is visible? 0.001122, 0.542984, 2.260687
-[01:08:38.821]  If point is visible? -0.819810, -0.700572, 2.054397
-[01:08:38.821]  If point is visible? -0.140284, -0.224284, 2.309967
-[01:08:38.821]  If point is visible? -0.548359, -0.773054, 2.119500
-[01:08:38.821]  If point is visible? 0.001122, 0.542984, 2.260687
-[01:08:38.821]  If point is visible? -1.830771, 0.398837, 1.410656
-[01:08:38.821]  If point is visible? -0.660559, 0.826559, 2.105358
-[01:08:38.821]  If point is visible? -1.830771, 0.398837, 1.410656
-[01:08:38.821]  If point is visible? -0.660559, 0.826559, 2.105358
-[01:08:38.821]  If point is visible? 0.542633, -0.426406, 2.302335
-[01:08:38.821]  If point is visible? -1.837343, 0.440829, 1.459697
-[01:08:38.821]  If point is visible? 0.542633, -0.426406, 2.302335
-[01:08:38.821]  If point is visible? -1.837343, 0.440829, 1.459697
-[01:08:38.821]  If point is visible? -0.633557, 1.100719, 1.967147
-[01:08:38.821]  If point is visible? -0.633557, 1.100719, 1.967147
-[01:08:38.821]  If point is visible? -0.108646, -0.171198, 2.345772
-[01:08:38.821]  If point is visible? 0.026191, 0.022327, 2.354776
-[01:08:38.821]  If point is visible? -0.108646, -0.171198, 2.345772
-[01:08:38.821]  If point is visible? 0.026191, 0.022327, 2.354776
-[01:08:38.821]  If point is visible? -0.553757, -0.059267, 2.296647
-[01:08:38.821]  If point is visible? -0.553790, 0.032566, 2.297179
-[01:08:38.821]  If point is visible? -0.755755, 0.737773, 2.111203
-[01:08:38.821]  If point is visible? -0.553757, -0.059267, 2.296647
-[01:08:38.821]  If point is visible? -0.553790, 0.032566, 2.297179
-[01:08:38.821]  If point is visible? -0.755755, 0.737773, 2.111203
-[01:08:38.821]  If point is visible? 0.326380, 0.411859, 2.308890
-[01:08:38.821]  If point is visible? 0.515734, 0.390556, 2.278025
-[01:08:38.821]  If point is visible? 0.515639, 0.410912, 2.274438
-[01:08:38.821]  If point is visible? 1.367989, 0.991303, 1.656054
-[01:08:38.821]  If point is visible? 0.326380, 0.411859, 2.308890
-[01:08:38.821]  If point is visible? 0.515639, 0.410912, 2.274438
-[01:08:38.821]  If point is visible? 1.367989, 0.991303, 1.656054
-[01:08:38.821]  If point is visible? 0.364574, -1.113394, 2.071425
-[01:08:38.821]  If point is visible? 1.320610, 0.947247, 1.738055
-[01:08:38.821]  If point is visible? 0.364574, -1.113394, 2.071425
-[01:08:38.821]  If point is visible? 1.320610, 0.947247, 1.738055
-[01:08:38.821]  If point is visible? 0.121217, -0.854836, 2.262168
-[01:08:38.821]  If point is visible? -1.018941, 1.020786, 1.942052
-[01:08:38.821]  If point is visible? 0.121217, -0.854836, 2.262168
-[01:08:38.821]  If point is visible? -1.018941, 1.020786, 1.942052
-[01:08:38.821]  If point is visible? 0.066792, 0.633068, 2.340683
-[01:08:38.821]  If point is visible? 0.066792, 0.633068, 2.340683
-[01:08:39.120] add new frame
-[01:08:39.120] update seed
-[01:08:39.120]  If point is visible? -0.536017, -0.607778, 1.733472
-[01:08:39.120]  If point is visible? -0.447622, -0.601628, 1.761606
-[01:08:39.120]  If point is visible? -0.442675, -0.601688, 1.762868
-[01:08:39.120]  If point is visible? 0.096915, -0.044577, 1.916342
-[01:08:39.120]  If point is visible? 0.102012, -0.044575, 1.915965
-[01:08:39.120]  If point is visible? 0.391656, 0.294827, 1.844445
-[01:08:39.120]  If point is visible? -0.606641, 0.535254, 1.735528
-[01:08:39.120]  If point is visible? -0.912173, 0.494892, 1.601164
-[01:08:39.120]  If point is visible? -0.545691, -0.611315, 1.728941
-[01:08:39.120]  If point is visible? -0.477145, -0.604955, 1.752330
-[01:08:39.120]  If point is visible? -0.467279, -0.605088, 1.755025
-[01:08:39.120]  If point is visible? -0.457403, -0.605217, 1.757657
-[01:08:39.120]  If point is visible? -0.193047, -0.129046, 1.909172
-[01:08:39.120]  If point is visible? -0.182901, -0.129051, 1.910089
-[01:08:39.120]  If point is visible? -0.846139, 0.130033, 1.715048
-[01:08:39.120]  If point is visible? -0.817368, 0.152897, 1.727787
-[01:08:39.120]  If point is visible? -0.836495, 0.145208, 1.718743
-[01:08:39.120]  If point is visible? -0.836569, 0.137650, 1.719393
-[01:08:39.120]  If point is visible? -0.827051, 0.137711, 1.724288
-[01:08:39.120]  If point is visible? -0.538021, 0.540029, 1.757427
-[01:08:39.120]  If point is visible? -0.078885, 0.475154, 1.855328
-[01:08:39.120]  If point is visible? -0.487001, -0.604819, 1.749574
-[01:08:39.120]  If point is visible? -0.467279, -0.605088, 1.755025
-[01:08:39.120]  If point is visible? -0.211467, -0.381199, 1.870038
-[01:08:39.120]  If point is visible? -0.191410, -0.366031, 1.875368
-[01:08:39.120]  If point is visible? 0.254969, -0.243274, 1.881065
-[01:08:39.120]  If point is visible? -0.574345, -0.135995, 1.829544
-[01:08:39.120]  If point is visible? -0.089338, 0.444910, 1.863206
-[01:08:39.120]  If point is visible? -0.536017, -0.607778, 1.733472
-[01:08:39.120]  If point is visible? -0.447622, -0.601628, 1.761606
-[01:08:39.120]  If point is visible? -0.442675, -0.601688, 1.762868
-[01:08:39.120]  If point is visible? 0.096915, -0.044577, 1.916342
-[01:08:39.120]  If point is visible? 0.102012, -0.044575, 1.915965
-[01:08:39.120]  If point is visible? 0.391656, 0.294827, 1.844445
-[01:08:39.120]  If point is visible? -0.912173, 0.494892, 1.601164
-[01:08:39.120]  If point is visible? -0.606641, 0.535254, 1.735528
-[01:08:39.120]  If point is visible? -0.477145, -0.604955, 1.752330
-[01:08:39.120]  If point is visible? -0.467279, -0.605088, 1.755025
-[01:08:39.120]  If point is visible? -0.457403, -0.605217, 1.757657
-[01:08:39.120]  If point is visible? -0.193047, -0.129046, 1.909172
-[01:08:39.120]  If point is visible? -0.182901, -0.129051, 1.910089
-[01:08:39.120]  If point is visible? -0.817368, 0.152897, 1.727787
-[01:08:39.120]  If point is visible? -0.836495, 0.145208, 1.718743
-[01:08:39.120]  If point is visible? -0.836569, 0.137650, 1.719393
-[01:08:39.120]  If point is visible? -0.827051, 0.137711, 1.724288
-[01:08:39.120]  If point is visible? -0.538021, 0.540029, 1.757427
-[01:08:39.120]  If point is visible? -0.078885, 0.475154, 1.855328
-[01:08:39.120]  If point is visible? -0.211467, -0.381199, 1.870038
-[01:08:39.120]  If point is visible? -0.191410, -0.366031, 1.875368
-[01:08:39.120]  If point is visible? -0.487001, -0.604819, 1.749574
-[01:08:39.120]  If point is visible? -0.467279, -0.605088, 1.755025
-[01:08:39.120]  If point is visible? 0.254969, -0.243274, 1.881065
-[01:08:39.120]  If point is visible? -0.574345, -0.135995, 1.829544
-[01:08:39.120]  If point is visible? -0.089338, 0.444910, 1.863206
-[01:08:39.120]  If point is visible? 0.318580, -0.952041, 2.005762
-[01:08:39.120]  If point is visible? 0.082884, -0.744069, 2.127127
-[01:08:39.120]  If point is visible? 0.082841, -0.739618, 2.128812
-[01:08:39.120]  If point is visible? -0.512182, -0.706682, 2.084573
-[01:08:39.120]  If point is visible? -0.795606, -0.402656, 2.080339
-[01:08:39.120]  If point is visible? -0.303937, 0.107374, 2.245832
-[01:08:39.120]  If point is visible? 0.480593, 0.361769, 2.171118
-[01:08:39.120]  If point is visible? 0.480599, 0.352697, 2.172731
-[01:08:39.120]  If point is visible? 0.480596, 0.357233, 2.171930
-[01:08:39.120]  If point is visible? 0.317279, 0.394694, 2.199642
-[01:08:39.121]  If point is visible? 0.256573, 0.390482, 2.209890
-[01:08:39.121]  If point is visible? 0.201932, 0.404388, 2.214117
-[01:08:39.121]  If point is visible? 0.141791, 0.531704, 2.190840
-[01:08:39.121]  If point is visible? -0.708048, 0.645047, 2.046742
-[01:08:39.121]  If point is visible? 0.118234, 0.635504, 2.162609
-[01:08:39.121]  If point is visible? 0.124290, 0.635471, 2.162160
-[01:08:39.121]  If point is visible? 0.118268, 0.639994, 2.161173
-[01:08:39.121]  If point is visible? 0.124323, 0.639961, 2.160724
-[01:08:39.121]  If point is visible? 0.569204, 0.749737, 2.034491
-[01:08:39.121]  If point is visible? -0.887514, 0.768754, 1.923027
-[01:08:39.121]  If point is visible? -0.691467, 0.791183, 1.996204
-[01:08:39.121]  If point is visible? 0.155790, 0.800188, 2.099293
-[01:08:39.121]  If point is visible? -0.702226, 0.812837, 1.982757
-[01:08:39.121]  If point is visible? 0.312614, -0.952150, 2.006826
-[01:08:39.121]  If point is visible? -0.091470, -0.016621, 2.265537
-[01:08:39.121]  If point is visible? -0.382545, 0.093548, 2.234648
-[01:08:39.121]  If point is visible? -0.370474, 0.093558, 2.236666
-[01:08:39.121]  If point is visible? -0.370449, 0.102735, 2.236235
-[01:08:39.121]  If point is visible? -0.454867, 0.075139, 2.221787
-[01:08:39.121]  If point is visible? -0.466906, 0.065959, 2.219580
-[01:08:39.121]  If point is visible? -0.810038, 0.211166, 2.105037
-[01:08:39.121]  If point is visible? 0.286943, 0.394869, 2.204556
-[01:08:39.121]  If point is visible? -0.076194, 0.577521, 2.185074
-[01:08:39.121]  If point is visible? 0.168189, 0.844160, 2.079271
-[01:08:39.121]  If point is visible? 0.168118, 0.835363, 2.083133
-[01:08:39.121]  If point is visible? -0.223395, -0.401502, 2.218730
-[01:08:39.121]  If point is visible? -0.466955, -0.034932, 2.220331
-[01:08:39.121]  If point is visible? 0.311033, -0.291063, 2.218076
-[01:08:39.121]  If point is visible? -0.681200, -0.162710, 2.156521
-[01:08:39.121]  If point is visible? -0.751601, 0.202381, 2.128436
-[01:08:39.121]  If point is visible? -0.728089, 0.202494, 2.136902
-[01:08:39.121]  If point is visible? -0.681726, -0.016531, 2.162916
-[01:08:39.121]  If point is visible? -0.728240, 0.184268, 2.138635
-[01:08:39.121]  If point is visible? -0.100913, 0.532310, 2.196744
-[01:08:39.121]  If point is visible? 0.168118, 0.835363, 2.083133
-[01:08:39.121]  If point is visible? 0.318580, -0.952041, 2.005762
-[01:08:39.121]  If point is visible? 0.082884, -0.744069, 2.127127
-[01:08:39.121]  If point is visible? 0.082841, -0.739618, 2.128812
-[01:08:39.121]  If point is visible? -0.512182, -0.706682, 2.084573
-[01:08:39.121]  If point is visible? -0.795606, -0.402656, 2.080339
-[01:08:39.121]  If point is visible? -0.303937, 0.107374, 2.245832
-[01:08:39.121]  If point is visible? 0.480596, 0.357233, 2.171930
-[01:08:39.121]  If point is visible? 0.256573, 0.390482, 2.209890
-[01:08:39.121]  If point is visible? 0.299090, 0.399346, 2.201758
-[01:08:39.121]  If point is visible? 0.201932, 0.404388, 2.214117
-[01:08:39.121]  If point is visible? 0.141791, 0.531704, 2.190840
-[01:08:39.121]  If point is visible? 0.118234, 0.635504, 2.162609
-[01:08:39.121]  If point is visible? 0.124290, 0.635471, 2.162160
-[01:08:39.121]  If point is visible? -0.708048, 0.645047, 2.046742
-[01:08:39.121]  If point is visible? 0.118268, 0.639994, 2.161173
-[01:08:39.121]  If point is visible? 0.124323, 0.639961, 2.160724
-[01:08:39.121]  If point is visible? 0.569204, 0.749737, 2.034491
-[01:08:39.121]  If point is visible? -0.887514, 0.768754, 1.923027
-[01:08:39.121]  If point is visible? -0.691467, 0.791183, 1.996204
-[01:08:39.121]  If point is visible? 0.155790, 0.800188, 2.099293
-[01:08:39.121]  If point is visible? -0.702226, 0.812837, 1.982757
-[01:08:39.121]  If point is visible? 0.312614, -0.952150, 2.006826
-[01:08:39.121]  If point is visible? -0.466924, 0.056788, 2.219850
-[01:08:39.121]  If point is visible? -0.454904, 0.056796, 2.222367
-[01:08:39.121]  If point is visible? -0.091470, -0.016621, 2.265537
-[01:08:39.121]  If point is visible? -0.466906, 0.065959, 2.219580
-[01:08:39.121]  If point is visible? -0.810038, 0.211166, 2.105037
-[01:08:39.121]  If point is visible? 0.286943, 0.394869, 2.204556
-[01:08:39.121]  If point is visible? -0.076194, 0.577521, 2.185074
-[01:08:39.121]  If point is visible? 0.168118, 0.835363, 2.083133
-[01:08:39.121]  If point is visible? -0.223395, -0.401502, 2.218730
-[01:08:39.121]  If point is visible? 0.311033, -0.291063, 2.218076
-[01:08:39.121]  If point is visible? -0.681200, -0.162710, 2.156521
-[01:08:39.121]  If point is visible? -0.466955, -0.034932, 2.220331
-[01:08:39.121]  If point is visible? -0.681726, -0.016531, 2.162916
-[01:08:39.121]  If point is visible? -0.751601, 0.202381, 2.128436
-[01:08:39.121]  If point is visible? -0.728089, 0.202494, 2.136902
-[01:08:39.121]  If point is visible? -0.728240, 0.184268, 2.138635
-[01:08:39.121]  If point is visible? -0.100913, 0.532310, 2.196744
-[01:08:39.121]  If point is visible? 0.168118, 0.835363, 2.083133
-[01:08:39.121]  If point is visible? 0.178282, 0.429304, 2.222180
-[01:08:39.121]  If point is visible? 0.184389, 0.429278, 2.221556
-[01:08:39.121]  If point is visible? 0.184370, 0.424709, 2.222506
-[01:08:39.121]  If point is visible? -1.753298, 0.469185, 1.292943
-[01:08:39.121]  If point is visible? 0.565892, 0.726972, 2.055965
-[01:08:39.121]  If point is visible? -0.783871, 0.753381, 1.988432
-[01:08:39.121]  If point is visible? -0.778078, 0.753515, 1.990759
-[01:08:39.121]  If point is visible? 0.373737, 0.810237, 2.072888
-[01:08:39.121]  If point is visible? -0.653961, 0.800250, 2.017277
-[01:08:39.121]  If point is visible? 0.379756, 0.818964, 2.067871
-[01:08:39.121]  If point is visible? -0.433233, 0.047867, 2.237544
-[01:08:39.121]  If point is visible? -0.421131, 0.047873, 2.239858
-[01:08:39.121]  If point is visible? -0.433201, 0.066305, 2.237042
-[01:08:39.121]  If point is visible? -0.433218, 0.057086, 2.237313
-[01:08:39.121]  If point is visible? -0.224211, -0.458339, 2.217393
-[01:08:39.121]  If point is visible? -0.199886, -0.458376, 2.219534
-[01:08:39.121]  If point is visible? -0.273401, -0.403360, 2.223693
-[01:08:39.121]  If point is visible? -0.224767, -0.403448, 2.228831
-[01:08:39.121]  If point is visible? -0.200422, -0.403480, 2.230971
-[01:08:39.121]  If point is visible? -0.872923, 0.184467, 2.092774
-[01:08:39.121]  If point is visible? -0.053124, 0.516646, 2.212552
-[01:08:39.121]  If point is visible? 0.190966, 0.534024, 2.196173
-[01:08:39.121]  If point is visible? 0.397356, -0.992753, 1.991515
-[01:08:39.121]  If point is visible? -0.461413, -0.725943, 2.103738
-[01:08:39.121]  If point is visible? -0.455339, -0.726008, 2.105082
-[01:08:39.121]  If point is visible? -0.147354, -0.209071, 2.266008
-[01:08:39.121]  If point is visible? -0.147370, -0.204391, 2.266461
-[01:08:39.121]  If point is visible? 0.225763, 0.440581, 2.220753
-[01:08:39.121]  If point is visible? 0.225754, 0.435942, 2.221728
-[01:08:39.121]  If point is visible? 0.527203, 0.622003, 2.115282
-[01:08:39.121]  If point is visible? 0.533305, 0.621913, 2.113630
-[01:08:39.121]  If point is visible? -0.657774, 0.807605, 2.015612
-[01:08:39.121]  If point is visible? 0.238996, 0.838660, 2.093176
-[01:08:39.121]  If point is visible? -0.793616, 0.638163, 2.029356
-[01:08:39.121]  If point is visible? -0.864555, 0.627642, 2.002179
-[01:08:39.121]  If point is visible? 0.245118, 0.834100, 2.094320
-[01:08:39.121]  If point is visible? -0.164486, -0.465492, 2.223863
-[01:08:39.121]  If point is visible? 0.380399, -0.315513, 2.219845
-[01:08:39.121]  If point is visible? 0.405112, -0.315389, 2.215025
-[01:08:39.121]  If point is visible? -0.729608, 0.206519, 2.147185
-[01:08:39.121]  If point is visible? -0.015531, 0.524667, 2.215173
-[01:08:39.121]  If point is visible? 0.232156, 0.542314, 2.195880
-[01:08:39.121]  If point is visible? 0.281881, 0.815695, 2.096844
-[01:08:39.121]  If point is visible? 0.191194, -0.801875, 2.121635
-[01:08:39.121]  If point is visible? 0.178207, -0.792426, 2.126321
-[01:08:39.121]  If point is visible? -0.371384, 0.075652, 2.243914
-[01:08:39.121]  If point is visible? 0.260814, 0.169006, 2.256546
-[01:08:39.121]  If point is visible? 0.598315, 0.363184, 2.167763
-[01:08:39.121]  If point is visible? -1.801354, 0.382316, 1.311814
-[01:08:39.121]  If point is visible? -1.801106, 0.386799, 1.310823
-[01:08:39.121]  If point is visible? -0.767338, 0.808468, 1.979274
-[01:08:39.121]  If point is visible? -0.791945, 0.812589, 1.967623
-[01:08:39.121]  If point is visible? -0.536657, -0.756784, 2.075412
-[01:08:39.121]  If point is visible? -0.155057, -0.488854, 2.217568
-[01:08:39.121]  If point is visible? 0.001395, 0.550998, 2.208815
-[01:08:39.121]  If point is visible? -0.632911, 0.909876, 1.983343
-[01:08:39.121]  If point is visible? 0.001536, 0.570420, 2.203823
-[01:08:39.121]  If point is visible? 0.261560, 0.569531, 2.189174
-[01:08:39.121]  If point is visible? 0.575895, -0.368348, 2.330277
-[01:08:39.121]  If point is visible? -0.313664, 0.112243, 2.403600
-[01:08:39.121]  If point is visible? 0.271326, 0.493608, 2.361652
-[01:08:39.121]  If point is visible? 0.271314, 0.488411, 2.362745
-[01:08:39.121]  If point is visible? -1.888174, 0.562003, 1.390764
-[01:08:39.121]  If point is visible? -0.689676, 0.728190, 2.206157
-[01:08:39.121]  If point is visible? 0.568860, -0.456609, 2.316167
-[01:08:39.121]  If point is visible? -0.572998, -0.807351, 2.212443
-[01:08:39.121]  If point is visible? -0.959546, 0.188975, 2.216577
-[01:08:39.121]  If point is visible? 0.001007, 0.587814, 2.354758
-[01:08:39.121]  If point is visible? 0.278555, 0.607586, 2.333804
-[01:08:39.121]  If point is visible? 0.405697, -1.029752, 2.000638
-[01:08:39.121]  If point is visible? -0.882283, 0.643489, 2.004136
-[01:08:39.121]  If point is visible? -0.181929, -0.491193, 2.226171
-[01:08:39.121]  If point is visible? -0.155841, -0.491232, 2.228248
-[01:08:39.121]  If point is visible? -0.131519, -0.156400, 2.278546
-[01:08:39.121]  If point is visible? 0.001235, 0.534142, 2.224287
-[01:08:39.121]  If point is visible? 0.405697, -1.029752, 2.000638
-[01:08:39.121]  If point is visible? -0.744655, 0.655617, 2.056528
-[01:08:39.121]  If point is visible? -0.882283, 0.643489, 2.004136
-[01:08:39.121]  If point is visible? -0.181929, -0.491193, 2.226171
-[01:08:39.121]  If point is visible? -0.155841, -0.491232, 2.228248
-[01:08:39.121]  If point is visible? -0.131519, -0.156400, 2.278546
-[01:08:39.121]  If point is visible? 0.001235, 0.534142, 2.224287
-[01:08:39.121]  If point is visible? -0.819794, -0.700572, 2.054410
-[01:08:39.121]  If point is visible? -0.146900, -0.229301, 2.309039
-[01:08:39.121]  If point is visible? -0.140266, -0.224284, 2.309975
-[01:08:39.121]  If point is visible? -0.548343, -0.773054, 2.119511
-[01:08:39.121]  If point is visible? 0.001140, 0.542984, 2.260693
-[01:08:39.121]  If point is visible? -0.819794, -0.700572, 2.054410
-[01:08:39.121]  If point is visible? -0.140266, -0.224284, 2.309975
-[01:08:39.121]  If point is visible? -0.548343, -0.773054, 2.119511
-[01:08:39.121]  If point is visible? 0.001140, 0.542984, 2.260693
-[01:08:39.121]  If point is visible? -1.830760, 0.398837, 1.410677
-[01:08:39.121]  If point is visible? -0.660543, 0.826559, 2.105370
-[01:08:39.121]  If point is visible? -1.830760, 0.398837, 1.410677
-[01:08:39.121]  If point is visible? -0.660543, 0.826559, 2.105370
-[01:08:39.121]  If point is visible? 0.542651, -0.426406, 2.302338
-[01:08:39.121]  If point is visible? -1.837331, 0.440829, 1.459717
-[01:08:39.121]  If point is visible? 0.542651, -0.426406, 2.302338
-[01:08:39.121]  If point is visible? -1.837331, 0.440829, 1.459717
-[01:08:39.121]  If point is visible? -0.633542, 1.100719, 1.967158
-[01:08:39.121]  If point is visible? -0.633542, 1.100719, 1.967158
-[01:08:39.121]  If point is visible? -0.108628, -0.171198, 2.345779
-[01:08:39.121]  If point is visible? 0.026210, 0.022327, 2.354782
-[01:08:39.121]  If point is visible? -0.108628, -0.171198, 2.345779
-[01:08:39.121]  If point is visible? 0.026210, 0.022327, 2.354782
-[01:08:39.121]  If point is visible? -0.553739, -0.059267, 2.296658
-[01:08:39.121]  If point is visible? -0.553772, 0.032566, 2.297189
-[01:08:39.121]  If point is visible? -0.755738, 0.737773, 2.111215
-[01:08:39.121]  If point is visible? -0.553739, -0.059267, 2.296658
-[01:08:39.121]  If point is visible? -0.553772, 0.032566, 2.297189
-[01:08:39.121]  If point is visible? -0.755738, 0.737773, 2.111215
-[01:08:39.121]  If point is visible? 0.326398, 0.411859, 2.308894
-[01:08:39.121]  If point is visible? 0.515752, 0.390556, 2.278028
-[01:08:39.121]  If point is visible? 0.515657, 0.410912, 2.274441
-[01:08:39.121]  If point is visible? 1.368002, 0.991303, 1.656050
-[01:08:39.121]  If point is visible? 0.326398, 0.411859, 2.308894
-[01:08:39.121]  If point is visible? 0.515657, 0.410912, 2.274441
-[01:08:39.121]  If point is visible? 1.368002, 0.991303, 1.656050
-[01:08:39.121]  If point is visible? 0.364590, -1.113394, 2.071429
-[01:08:39.121]  If point is visible? 1.320624, 0.947247, 1.738052
-[01:08:39.121]  If point is visible? 0.364590, -1.113394, 2.071429
-[01:08:39.121]  If point is visible? 1.320624, 0.947247, 1.738052
-[01:08:39.122]  If point is visible? 0.121234, -0.854836, 2.262173
-[01:08:39.122]  If point is visible? -1.018926, 1.020786, 1.942066
-[01:08:39.122]  If point is visible? 0.121234, -0.854836, 2.262173
-[01:08:39.122]  If point is visible? -1.018926, 1.020786, 1.942066
-[01:08:39.122]  If point is visible? 0.066811, 0.633068, 2.340689
-[01:08:39.122]  If point is visible? 0.066811, 0.633068, 2.340689
-[01:08:39.405] add new frame
-[01:08:39.405] update seed
-[01:08:39.405]  If point is visible? -0.520667, -0.607778, 1.742559
-[01:08:39.405]  If point is visible? -0.432025, -0.601628, 1.769904
-[01:08:39.405]  If point is visible? -0.427068, -0.601688, 1.771123
-[01:08:39.405]  If point is visible? 0.113868, -0.044577, 1.919785
-[01:08:39.405]  If point is visible? 0.118962, -0.044575, 1.919363
-[01:08:39.405]  If point is visible? 0.407957, 0.294827, 1.845266
-[01:08:39.405]  If point is visible? -0.591270, 0.535254, 1.745244
-[01:08:39.405]  If point is visible? -0.897987, 0.494892, 1.613607
-[01:08:39.405]  If point is visible? -0.530381, -0.611315, 1.738115
-[01:08:39.405]  If point is visible? -0.461629, -0.604955, 1.760892
-[01:08:39.405]  If point is visible? -0.451740, -0.605088, 1.763499
-[01:08:39.405]  If point is visible? -0.441841, -0.605217, 1.766043
-[01:08:39.405]  If point is visible? -0.176146, -0.129046, 1.915198
-[01:08:39.406]  If point is visible? -0.165992, -0.129051, 1.916025
-[01:08:39.406]  If point is visible? -0.830942, 0.130033, 1.726898
-[01:08:39.406]  If point is visible? -0.802057, 0.152897, 1.739380
-[01:08:39.406]  If point is visible? -0.821264, 0.145208, 1.730507
-[01:08:39.406]  If point is visible? -0.821332, 0.137650, 1.731157
-[01:08:39.406]  If point is visible? -0.811771, 0.137711, 1.735967
-[01:08:39.406]  If point is visible? -0.522458, 0.540029, 1.766531
-[01:08:39.406]  If point is visible? -0.062469, 0.475154, 1.860339
-[01:08:39.406]  If point is visible? -0.471510, -0.604819, 1.758224
-[01:08:39.406]  If point is visible? -0.451740, -0.605088, 1.763499
-[01:08:39.406]  If point is visible? -0.194914, -0.381199, 1.876229
-[01:08:39.406]  If point is visible? -0.174810, -0.366031, 1.881380
-[01:08:39.406]  If point is visible? 0.271602, -0.243274, 1.883102
-[01:08:39.406]  If point is visible? -0.558138, -0.135995, 1.838969
-[01:08:39.406]  If point is visible? -0.072851, 0.444910, 1.868310
-[01:08:39.406]  If point is visible? -0.520667, -0.607778, 1.742559
-[01:08:39.406]  If point is visible? -0.432025, -0.601628, 1.769904
-[01:08:39.406]  If point is visible? -0.427068, -0.601688, 1.771123
-[01:08:39.406]  If point is visible? 0.113868, -0.044577, 1.919785
-[01:08:39.406]  If point is visible? 0.118962, -0.044575, 1.919363
-[01:08:39.406]  If point is visible? 0.407957, 0.294827, 1.845266
-[01:08:39.406]  If point is visible? -0.897987, 0.494892, 1.613607
-[01:08:39.406]  If point is visible? -0.591270, 0.535254, 1.745244
-[01:08:39.406]  If point is visible? -0.461629, -0.604955, 1.760892
-[01:08:39.406]  If point is visible? -0.451740, -0.605088, 1.763499
-[01:08:39.406]  If point is visible? -0.441841, -0.605217, 1.766043
-[01:08:39.406]  If point is visible? -0.176146, -0.129046, 1.915198
-[01:08:39.406]  If point is visible? -0.165992, -0.129051, 1.916025
-[01:08:39.406]  If point is visible? -0.802057, 0.152897, 1.739380
-[01:08:39.406]  If point is visible? -0.821264, 0.145208, 1.730507
-[01:08:39.406]  If point is visible? -0.821332, 0.137650, 1.731157
-[01:08:39.406]  If point is visible? -0.811771, 0.137711, 1.735967
-[01:08:39.406]  If point is visible? -0.522458, 0.540029, 1.766531
-[01:08:39.406]  If point is visible? -0.062469, 0.475154, 1.860339
-[01:08:39.406]  If point is visible? -0.194914, -0.381199, 1.876229
-[01:08:39.406]  If point is visible? -0.174810, -0.366031, 1.881380
-[01:08:39.406]  If point is visible? -0.471510, -0.604819, 1.758224
-[01:08:39.406]  If point is visible? -0.451740, -0.605088, 1.763499
-[01:08:39.406]  If point is visible? 0.271602, -0.243274, 1.883102
-[01:08:39.406]  If point is visible? -0.558138, -0.135995, 1.838969
-[01:08:39.406]  If point is visible? -0.072851, 0.444910, 1.868310
-[01:08:39.406]  If point is visible? 0.336321, -0.952041, 2.007227
-[01:08:39.406]  If point is visible? 0.101716, -0.744069, 2.130686
-[01:08:39.406]  If point is visible? 0.101688, -0.739618, 2.132371
-[01:08:39.406]  If point is visible? -0.493706, -0.706682, 2.093433
-[01:08:39.406]  If point is visible? -0.777156, -0.402656, 2.091723
-[01:08:39.406]  If point is visible? -0.284032, 0.107374, 2.252832
-[01:08:39.406]  If point is visible? 0.499801, 0.361769, 2.171133
-[01:08:39.406]  If point is visible? 0.499821, 0.352697, 2.172746
-[01:08:39.406]  If point is visible? 0.499811, 0.357233, 2.171945
-[01:08:39.406]  If point is visible? 0.336747, 0.394694, 2.201110
-[01:08:39.406]  If point is visible? 0.276135, 0.390482, 2.211899
-[01:08:39.406]  If point is visible? 0.221534, 0.404388, 2.216612
-[01:08:39.406]  If point is visible? 0.161188, 0.531704, 2.193872
-[01:08:39.406]  If point is visible? -0.689901, 0.645047, 2.057347
-[01:08:39.406]  If point is visible? 0.137381, 0.635504, 2.165852
-[01:08:39.406]  If point is visible? 0.143432, 0.635471, 2.165349
-[01:08:39.406]  If point is visible? 0.137402, 0.639994, 2.164415
-[01:08:39.406]  If point is visible? 0.143453, 0.639961, 2.163912
-[01:08:39.406]  If point is visible? 0.587192, 0.749737, 2.033722
-[01:08:39.406]  If point is visible? -0.870461, 0.768754, 1.935235
-[01:08:39.406]  If point is visible? -0.673770, 0.791183, 2.006663
-[01:08:39.406]  If point is visible? 0.174371, 0.800188, 2.102204
-[01:08:39.406]  If point is visible? -0.684648, 0.812837, 1.993313
-[01:08:39.406]  If point is visible? 0.330366, -0.952150, 2.008344
-[01:08:39.406]  If point is visible? -0.071398, -0.016621, 2.270643
-[01:08:39.406]  If point is visible? -0.362737, 0.093548, 2.242348
-[01:08:39.406]  If point is visible? -0.350649, 0.093558, 2.244258
-[01:08:39.406]  If point is visible? -0.350628, 0.102735, 2.243827
-[01:08:39.406]  If point is visible? -0.435170, 0.075139, 2.230131
-[01:08:39.406]  If point is visible? -0.447229, 0.065959, 2.228031
-[01:08:39.406]  If point is visible? -0.791368, 0.211166, 2.116549
-[01:08:39.406]  If point is visible? 0.306456, 0.394869, 2.206295
-[01:08:39.406]  If point is visible? -0.056840, 0.577521, 2.190047
-[01:08:39.406]  If point is visible? 0.186592, 0.844160, 2.082072
-[01:08:39.406]  If point is visible? 0.186555, 0.835363, 2.085934
-[01:08:39.406]  If point is visible? -0.203735, -0.401502, 2.225013
-[01:08:39.406]  If point is visible? -0.447271, -0.034932, 2.228783
-[01:08:39.406]  If point is visible? 0.330666, -0.291063, 2.219600
-[01:08:39.406]  If point is visible? -0.662076, -0.162710, 2.166883
-[01:08:39.406]  If point is visible? -0.732724, 0.202381, 2.139427
-[01:08:39.406]  If point is visible? -0.709138, 0.202494, 2.147683
-[01:08:39.406]  If point is visible? -0.662545, -0.016531, 2.173283
-[01:08:39.406]  If point is visible? -0.709273, 0.184268, 2.149417
-[01:08:39.406]  If point is visible? -0.081454, 0.532310, 2.201937
-[01:08:39.406]  If point is visible? 0.186555, 0.835363, 2.085934
-[01:08:39.406]  If point is visible? 0.336321, -0.952041, 2.007227
-[01:08:39.406]  If point is visible? 0.101716, -0.744069, 2.130686
-[01:08:39.406]  If point is visible? 0.101688, -0.739618, 2.132371
-[01:08:39.406]  If point is visible? -0.493706, -0.706682, 2.093433
-[01:08:39.406]  If point is visible? -0.777156, -0.402656, 2.091723
-[01:08:39.406]  If point is visible? -0.284032, 0.107374, 2.252832
-[01:08:39.406]  If point is visible? 0.499811, 0.357233, 2.171945
-[01:08:39.406]  If point is visible? 0.276135, 0.390482, 2.211899
-[01:08:39.406]  If point is visible? 0.318578, 0.399346, 2.203389
-[01:08:39.406]  If point is visible? 0.221534, 0.404388, 2.216612
-[01:08:39.406]  If point is visible? 0.161188, 0.531704, 2.193872
-[01:08:39.406]  If point is visible? 0.137381, 0.635504, 2.165852
-[01:08:39.406]  If point is visible? 0.143432, 0.635471, 2.165349
-[01:08:39.406]  If point is visible? -0.689901, 0.645047, 2.057347
-[01:08:39.406]  If point is visible? 0.137402, 0.639994, 2.164415
-[01:08:39.406]  If point is visible? 0.143453, 0.639961, 2.163912
-[01:08:39.406]  If point is visible? 0.587192, 0.749737, 2.033722
-[01:08:39.406]  If point is visible? -0.870461, 0.768754, 1.935235
-[01:08:39.406]  If point is visible? -0.673770, 0.791183, 2.006663
-[01:08:39.406]  If point is visible? 0.174371, 0.800188, 2.102204
-[01:08:39.406]  If point is visible? -0.684648, 0.812837, 1.993313
-[01:08:39.406]  If point is visible? 0.330366, -0.952150, 2.008344
-[01:08:39.406]  If point is visible? -0.447244, 0.056788, 2.228302
-[01:08:39.406]  If point is visible? -0.435203, 0.056796, 2.230711
-[01:08:39.406]  If point is visible? -0.071398, -0.016621, 2.270643
-[01:08:39.406]  If point is visible? -0.447229, 0.065959, 2.228031
-[01:08:39.406]  If point is visible? -0.791368, 0.211166, 2.116549
-[01:08:39.406]  If point is visible? 0.306456, 0.394869, 2.206295
-[01:08:39.406]  If point is visible? -0.056840, 0.577521, 2.190047
-[01:08:39.406]  If point is visible? 0.186555, 0.835363, 2.085934
-[01:08:39.406]  If point is visible? -0.203735, -0.401502, 2.225013
-[01:08:39.406]  If point is visible? 0.330666, -0.291063, 2.219600
-[01:08:39.406]  If point is visible? -0.662076, -0.162710, 2.166883
-[01:08:39.406]  If point is visible? -0.447271, -0.034932, 2.228783
-[01:08:39.406]  If point is visible? -0.662545, -0.016531, 2.173283
-[01:08:39.406]  If point is visible? -0.732724, 0.202381, 2.139427
-[01:08:39.406]  If point is visible? -0.709138, 0.202494, 2.147683
-[01:08:39.406]  If point is visible? -0.709273, 0.184268, 2.149417
-[01:08:39.406]  If point is visible? -0.081454, 0.532310, 2.201937
-[01:08:39.406]  If point is visible? 0.186555, 0.835363, 2.085934
-[01:08:39.406]  If point is visible? 0.197955, 0.429304, 2.224883
-[01:08:39.406]  If point is visible? 0.204056, 0.429278, 2.224205
-[01:08:39.406]  If point is visible? 0.204046, 0.424709, 2.225155
-[01:08:39.406]  If point is visible? -1.741824, 0.469185, 1.312885
-[01:08:39.406]  If point is visible? 0.584069, 0.726972, 2.055223
-[01:08:39.406]  If point is visible? -0.766241, 0.753381, 1.999713
-[01:08:39.406]  If point is visible? -0.760428, 0.753515, 2.001988
-[01:08:39.406]  If point is visible? 0.392073, 0.810237, 2.073856
-[01:08:39.406]  If point is visible? -0.636079, 0.800250, 2.027399
-[01:08:39.406]  If point is visible? 0.398047, 0.818964, 2.068786
-[01:08:39.407]  If point is visible? -0.413398, 0.047867, 2.245692
-[01:08:39.407]  If point is visible? -0.401276, 0.047873, 2.247899
-[01:08:39.407]  If point is visible? -0.413371, 0.066305, 2.245190
-[01:08:39.407]  If point is visible? -0.413386, 0.057086, 2.245461
-[01:08:39.407]  If point is visible? -0.204565, -0.458339, 2.223680
-[01:08:39.407]  If point is visible? -0.180221, -0.458376, 2.225605
-[01:08:39.407]  If point is visible? -0.253696, -0.403360, 2.230418
-[01:08:39.407]  If point is visible? -0.205018, -0.403448, 2.235123
-[01:08:39.407]  If point is visible? -0.180655, -0.403480, 2.237047
-[01:08:39.407]  If point is visible? -0.854360, 0.184467, 2.104844
-[01:08:39.407]  If point is visible? -0.033528, 0.516646, 2.217316
-[01:08:39.407]  If point is visible? 0.210407, 0.534024, 2.198764
-[01:08:39.407]  If point is visible? 0.415228, -0.992753, 1.992415
-[01:08:39.407]  If point is visible? -0.442507, -0.725943, 2.112281
-[01:08:39.407]  If point is visible? -0.436422, -0.726008, 2.113571
-[01:08:39.407]  If point is visible? -0.127017, -0.209071, 2.271747
-[01:08:39.407]  If point is visible? -0.127028, -0.204391, 2.272200
-[01:08:39.407]  If point is visible? 0.245683, 0.440581, 2.223171
-[01:08:39.407]  If point is visible? 0.245683, 0.435942, 2.224147
-[01:08:39.407]  If point is visible? 0.546172, 0.622003, 2.115020
-[01:08:39.407]  If point is visible? 0.552259, 0.621913, 2.113313
-[01:08:39.407]  If point is visible? -0.639645, 0.807605, 2.025907
-[01:08:39.407]  If point is visible? 0.257779, 0.838660, 2.095482
-[01:08:39.407]  If point is visible? -0.775360, 0.638163, 2.040859
-[01:08:39.407]  If point is visible? -0.846539, 0.627642, 2.014316
-[01:08:39.407]  If point is visible? 0.263912, 0.834100, 2.096571
-[01:08:39.407]  If point is visible? -0.144523, -0.465492, 2.229756
-[01:08:39.407]  If point is visible? 0.400305, -0.315513, 2.220886
-[01:08:39.407]  If point is visible? 0.424974, -0.315389, 2.215846
-[01:08:39.407]  If point is visible? -0.710306, 0.206519, 2.158114
-[01:08:39.407]  If point is visible? 0.004349, 0.524667, 2.219740
-[01:08:39.407]  If point is visible? 0.251854, 0.542314, 2.198243
-[01:08:39.407]  If point is visible? 0.300696, 0.815695, 2.098768
-[01:08:39.407]  If point is visible? 0.211220, -0.801875, 2.124558
-[01:08:39.407]  If point is visible? 0.198275, -0.792426, 2.129360
-[01:08:39.407]  If point is visible? -0.350247, 0.075652, 2.251842
-[01:08:39.407]  If point is visible? 0.282038, 0.169006, 2.258844
-[01:08:39.407]  If point is visible? 0.618736, 0.363184, 2.167058
-[01:08:39.407]  If point is visible? -1.788461, 0.382316, 1.332514
-[01:08:39.407]  If point is visible? -1.788222, 0.386799, 1.331520
-[01:08:39.407]  If point is visible? -0.748542, 0.808468, 1.990738
-[01:08:39.407]  If point is visible? -0.773252, 0.812589, 1.979307
-[01:08:39.407]  If point is visible? -0.517014, -0.756784, 2.084818
-[01:08:39.407]  If point is visible? -0.134163, -0.488854, 2.223571
-[01:08:39.407]  If point is visible? 0.022205, 0.550998, 2.213425
-[01:08:39.407]  If point is visible? -0.614084, 0.909876, 1.993611
-[01:08:39.407]  If point is visible? 0.022301, 0.570420, 2.208432
-[01:08:39.407]  If point is visible? 0.282184, 0.569531, 2.191467
-[01:08:39.407]  If point is visible? 0.597763, -0.368348, 2.329766
-[01:08:39.407]  If point is visible? -0.291108, 0.112243, 2.411008
-[01:08:39.407]  If point is visible? 0.293486, 0.493608, 2.363852
-[01:08:39.407]  If point is visible? 0.293483, 0.488411, 2.364945
-[01:08:39.407]  If point is visible? -1.874575, 0.562003, 1.412234
-[01:08:39.407]  If point is visible? -0.668863, 0.728190, 2.216922
-[01:08:39.407]  If point is visible? 0.590603, -0.456609, 2.315719
-[01:08:39.407]  If point is visible? -0.552133, -0.807351, 2.222168
-[01:08:39.407]  If point is visible? -0.938629, 0.188975, 2.229744
-[01:08:39.407]  If point is visible? 0.023116, 0.587814, 2.359365
-[01:08:39.407]  If point is visible? 0.300466, 0.607586, 2.335940
-[01:08:39.407]  If point is visible? 0.424637, -1.029752, 2.001656
-[01:08:39.407]  If point is visible? -0.863261, 0.643489, 2.016623
-[01:08:39.407]  If point is visible? -0.160958, -0.491193, 2.232412
-[01:08:39.407]  If point is visible? -0.134853, -0.491232, 2.234257
-[01:08:39.407]  If point is visible? -0.110084, -0.156400, 2.284337
-[01:08:39.407]  If point is visible? 0.022183, 0.534142, 2.228898
-[01:08:39.407]  If point is visible? 0.424637, -1.029752, 2.001656
-[01:08:39.407]  If point is visible? -0.725172, 0.655617, 2.067787
-[01:08:39.407]  If point is visible? -0.863261, 0.643489, 2.016623
-[01:08:39.407]  If point is visible? -0.160958, -0.491193, 2.232412
-[01:08:39.407]  If point is visible? -0.134853, -0.491232, 2.234257
-[01:08:39.407]  If point is visible? -0.110084, -0.156400, 2.284337
-[01:08:39.407]  If point is visible? 0.022183, 0.534142, 2.228898
-[01:08:39.407]  If point is visible? -0.800327, -0.700572, 2.066339
-[01:08:39.407]  If point is visible? -0.125192, -0.229301, 2.314965
-[01:08:39.407]  If point is visible? -0.118550, -0.224284, 2.315842
-[01:08:39.407]  If point is visible? -0.528307, -0.773054, 2.129019
-[01:08:39.407]  If point is visible? 0.022411, 0.542984, 2.265303
-[01:08:39.407]  If point is visible? -0.800327, -0.700572, 2.066339
-[01:08:39.407]  If point is visible? -0.118550, -0.224284, 2.315842
-[01:08:39.407]  If point is visible? -0.528307, -0.773054, 2.129019
-[01:08:39.407]  If point is visible? 0.022411, 0.542984, 2.265303
-[01:08:39.407]  If point is visible? -1.816985, 0.398837, 1.431634
-[01:08:39.407]  If point is visible? -0.640628, 0.826559, 2.115879
-[01:08:39.407]  If point is visible? -1.816985, 0.398837, 1.431634
-[01:08:39.407]  If point is visible? -0.640628, 0.826559, 2.115879
-[01:08:39.407]  If point is visible? 0.564272, -0.426406, 2.302124
-[01:08:39.407]  If point is visible? -1.823119, 0.440829, 1.480731
-[01:08:39.407]  If point is visible? 0.564272, -0.426406, 2.302124
-[01:08:39.407]  If point is visible? -1.823119, 0.440829, 1.480731
-[01:08:39.407]  If point is visible? -0.614859, 1.100719, 1.977432
-[01:08:39.407]  If point is visible? -0.614859, 1.100719, 1.977432
-[01:08:39.407]  If point is visible? -0.086594, -0.171198, 2.351363
-[01:08:39.407]  If point is visible? 0.048318, 0.022327, 2.359165
-[01:08:39.407]  If point is visible? -0.086594, -0.171198, 2.351363
-[01:08:39.407]  If point is visible? 0.048318, 0.022327, 2.359165
-[01:08:39.407]  If point is visible? -0.532125, -0.059267, 2.306208
-[01:08:39.407]  If point is visible? -0.532154, 0.032566, 2.306740
-[01:08:39.407]  If point is visible? -0.735768, 0.737773, 2.122571
-[01:08:39.407]  If point is visible? -0.532125, -0.059267, 2.306208
-[01:08:39.407]  If point is visible? -0.532154, 0.032566, 2.306740
-[01:08:39.407]  If point is visible? -0.735768, 0.737773, 2.122571
-[01:08:39.407]  If point is visible? 0.348169, 0.411859, 2.310582
-[01:08:39.407]  If point is visible? 0.537241, 0.390556, 2.278030
-[01:08:39.407]  If point is visible? 0.537114, 0.410912, 2.274444
-[01:08:39.407]  If point is visible? 1.383919, 0.991303, 1.648488
-[01:08:39.407]  If point is visible? 0.348169, 0.411859, 2.310582
-[01:08:39.407]  If point is visible? 0.537114, 0.410912, 2.274444
-[01:08:39.407]  If point is visible? 1.383919, 0.991303, 1.648488
-[01:08:39.407]  If point is visible? 0.384270, -1.113394, 2.072778
-[01:08:39.407]  If point is visible? 1.337297, 0.947247, 1.730901
-[01:08:39.407]  If point is visible? 0.384270, -1.113394, 2.072778
-[01:08:39.407]  If point is visible? 1.337297, 0.947247, 1.730901
-[01:08:39.407]  If point is visible? 0.142660, -0.854836, 2.265671
-[01:08:39.407]  If point is visible? -1.000306, 1.020786, 1.955729
-[01:08:39.407]  If point is visible? 0.142660, -0.854836, 2.265671
-[01:08:39.407]  If point is visible? -1.000306, 1.020786, 1.955729
-[01:08:39.407]  If point is visible? 0.088938, 0.633068, 2.344668
-[01:08:39.407]  If point is visible? 0.088938, 0.633068, 2.344668
-[01:08:39.691] add new frame
-[01:08:39.691] update seed
-[01:08:39.691]  If point is visible? -0.515218, -0.607778, 1.737494
-[01:08:39.691]  If point is visible? -0.426576, -0.601628, 1.764841
-[01:08:39.691]  If point is visible? -0.421619, -0.601688, 1.766059
-[01:08:39.691]  If point is visible? 0.119314, -0.044577, 1.914730
-[01:08:39.691]  If point is visible? 0.124408, -0.044575, 1.914307
-[01:08:39.691]  If point is visible? 0.413405, 0.294827, 1.840215
-[01:08:39.691]  If point is visible? -0.585821, 0.535254, 1.740178
-[01:08:39.691]  If point is visible? -0.892536, 0.494892, 1.608537
-[01:08:39.691]  If point is visible? -0.524932, -0.611315, 1.733050
-[01:08:39.691]  If point is visible? -0.456180, -0.604955, 1.755828
-[01:08:39.691]  If point is visible? -0.446291, -0.605088, 1.758435
-[01:08:39.691]  If point is visible? -0.436392, -0.605217, 1.760980
-[01:08:39.691]  If point is visible? -0.170699, -0.129046, 1.910138
-[01:08:39.691]  If point is visible? -0.160545, -0.129051, 1.910965
-[01:08:39.691]  If point is visible? -0.825492, 0.130033, 1.721829
-[01:08:39.691]  If point is visible? -0.796608, 0.152897, 1.734311
-[01:08:39.691]  If point is visible? -0.815815, 0.145208, 1.725438
-[01:08:39.691]  If point is visible? -0.815883, 0.137650, 1.726088
-[01:08:39.691]  If point is visible? -0.806322, 0.137711, 1.730898
-[01:08:39.691]  If point is visible? -0.517009, 0.540029, 1.761466
-[01:08:39.691]  If point is visible? -0.057021, 0.475154, 1.855281
-[01:08:39.691]  If point is visible? -0.466061, -0.604819, 1.753160
-[01:08:39.691]  If point is visible? -0.446291, -0.605088, 1.758435
-[01:08:39.691]  If point is visible? -0.189467, -0.381199, 1.871169
-[01:08:39.691]  If point is visible? -0.169363, -0.366031, 1.876321
-[01:08:39.691]  If point is visible? 0.277049, -0.243274, 1.878049
-[01:08:39.691]  If point is visible? -0.552690, -0.135995, 1.833904
-[01:08:39.691]  If point is visible? -0.067403, 0.444910, 1.863251
-[01:08:39.691]  If point is visible? -0.515218, -0.607778, 1.737494
-[01:08:39.691]  If point is visible? -0.426576, -0.601628, 1.764841
-[01:08:39.691]  If point is visible? -0.421619, -0.601688, 1.766059
-[01:08:39.691]  If point is visible? 0.119314, -0.044577, 1.914730
-[01:08:39.691]  If point is visible? 0.124408, -0.044575, 1.914307
-[01:08:39.691]  If point is visible? 0.413405, 0.294827, 1.840215
-[01:08:39.691]  If point is visible? -0.892536, 0.494892, 1.608537
-[01:08:39.691]  If point is visible? -0.585821, 0.535254, 1.740178
-[01:08:39.691]  If point is visible? -0.456180, -0.604955, 1.755828
-[01:08:39.691]  If point is visible? -0.446291, -0.605088, 1.758435
-[01:08:39.691]  If point is visible? -0.436392, -0.605217, 1.760980
-[01:08:39.691]  If point is visible? -0.170699, -0.129046, 1.910138
-[01:08:39.691]  If point is visible? -0.160545, -0.129051, 1.910965
-[01:08:39.691]  If point is visible? -0.796608, 0.152897, 1.734311
-[01:08:39.691]  If point is visible? -0.815815, 0.145208, 1.725438
-[01:08:39.691]  If point is visible? -0.815883, 0.137650, 1.726088
-[01:08:39.691]  If point is visible? -0.806322, 0.137711, 1.730898
-[01:08:39.691]  If point is visible? -0.517009, 0.540029, 1.761466
-[01:08:39.691]  If point is visible? -0.057021, 0.475154, 1.855281
-[01:08:39.691]  If point is visible? -0.189467, -0.381199, 1.871169
-[01:08:39.691]  If point is visible? -0.169363, -0.366031, 1.876321
-[01:08:39.691]  If point is visible? -0.466061, -0.604819, 1.753160
-[01:08:39.691]  If point is visible? -0.446291, -0.605088, 1.758435
-[01:08:39.692]  If point is visible? 0.277049, -0.243274, 1.878049
-[01:08:39.692]  If point is visible? -0.552690, -0.135995, 1.833904
-[01:08:39.692]  If point is visible? -0.067403, 0.444910, 1.863251
-[01:08:39.692]  If point is visible? 0.341767, -0.952041, 2.002174
-[01:08:39.692]  If point is visible? 0.107160, -0.744069, 2.125631
-[01:08:39.692]  If point is visible? 0.107131, -0.739618, 2.127315
-[01:08:39.692]  If point is visible? -0.488262, -0.706682, 2.088369
-[01:08:39.692]  If point is visible? -0.771712, -0.402656, 2.086655
-[01:08:39.692]  If point is visible? -0.278590, 0.107374, 2.247770
-[01:08:39.692]  If point is visible? 0.505244, 0.361769, 2.166083
-[01:08:39.692]  If point is visible? 0.505264, 0.352697, 2.167696
-[01:08:39.692]  If point is visible? 0.505254, 0.357233, 2.166895
-[01:08:39.692]  If point is visible? 0.342190, 0.394694, 2.196058
-[01:08:39.692]  If point is visible? 0.281578, 0.390482, 2.206846
-[01:08:39.692]  If point is visible? 0.226976, 0.404388, 2.211558
-[01:08:39.692]  If point is visible? 0.166631, 0.531704, 2.188817
-[01:08:39.692]  If point is visible? -0.684456, 0.645047, 2.052280
-[01:08:39.692]  If point is visible? 0.142824, 0.635504, 2.160797
-[01:08:39.692]  If point is visible? 0.148876, 0.635471, 2.160294
-[01:08:39.692]  If point is visible? 0.142845, 0.639994, 2.159360
-[01:08:39.692]  If point is visible? 0.148896, 0.639961, 2.158857
-[01:08:39.692]  If point is visible? 0.592637, 0.749737, 2.028673
-[01:08:39.692]  If point is visible? -0.865014, 0.768754, 1.930166
-[01:08:39.692]  If point is visible? -0.668325, 0.791183, 2.001597
-[01:08:39.692]  If point is visible? 0.179815, 0.800188, 2.097149
-[01:08:39.692]  If point is visible? -0.679203, 0.812837, 1.988246
-[01:08:39.692]  If point is visible? 0.335811, -0.952150, 2.003292
-[01:08:39.692]  If point is visible? -0.065957, -0.016621, 2.265585
-[01:08:39.692]  If point is visible? -0.357295, 0.093548, 2.237285
-[01:08:39.692]  If point is visible? -0.345207, 0.093558, 2.239196
-[01:08:39.692]  If point is visible? -0.345185, 0.102735, 2.238765
-[01:08:39.692]  If point is visible? -0.429728, 0.075139, 2.225067
-[01:08:39.692]  If point is visible? -0.441787, 0.065959, 2.222968
-[01:08:39.692]  If point is visible? -0.785924, 0.211166, 2.111481
-[01:08:39.692]  If point is visible? 0.311899, 0.394869, 2.201242
-[01:08:39.692]  If point is visible? -0.051397, 0.577521, 2.184989
-[01:08:39.692]  If point is visible? 0.192036, 0.844160, 2.077018
-[01:08:39.692]  If point is visible? 0.192000, 0.835363, 2.080880
-[01:08:39.692]  If point is visible? -0.198292, -0.401502, 2.219953
-[01:08:39.692]  If point is visible? -0.441829, -0.034932, 2.223719
-[01:08:39.692]  If point is visible? 0.336108, -0.291063, 2.214547
-[01:08:39.692]  If point is visible? -0.656632, -0.162710, 2.161817
-[01:08:39.692]  If point is visible? -0.727281, 0.202381, 2.134359
-[01:08:39.692]  If point is visible? -0.703695, 0.202494, 2.142615
-[01:08:39.692]  If point is visible? -0.657101, -0.016531, 2.168216
-[01:08:39.692]  If point is visible? -0.703829, 0.184268, 2.144350
-[01:08:39.692]  If point is visible? -0.076011, 0.532310, 2.196879
-[01:08:39.692]  If point is visible? 0.192000, 0.835363, 2.080880
-[01:08:39.692]  If point is visible? 0.341767, -0.952041, 2.002174
-[01:08:39.692]  If point is visible? 0.107160, -0.744069, 2.125631
-[01:08:39.692]  If point is visible? 0.107131, -0.739618, 2.127315
-[01:08:39.692]  If point is visible? -0.488262, -0.706682, 2.088369
-[01:08:39.692]  If point is visible? -0.771712, -0.402656, 2.086655
-[01:08:39.692]  If point is visible? -0.278590, 0.107374, 2.247770
-[01:08:39.692]  If point is visible? 0.505254, 0.357233, 2.166895
-[01:08:39.692]  If point is visible? 0.281578, 0.390482, 2.206846
-[01:08:39.692]  If point is visible? 0.324020, 0.399346, 2.198336
-[01:08:39.692]  If point is visible? 0.226976, 0.404388, 2.211558
-[01:08:39.692]  If point is visible? 0.166631, 0.531704, 2.188817
-[01:08:39.692]  If point is visible? 0.142824, 0.635504, 2.160797
-[01:08:39.692]  If point is visible? 0.148876, 0.635471, 2.160294
-[01:08:39.692]  If point is visible? -0.684456, 0.645047, 2.052280
-[01:08:39.692]  If point is visible? 0.142845, 0.639994, 2.159360
-[01:08:39.692]  If point is visible? 0.148896, 0.639961, 2.158857
-[01:08:39.692]  If point is visible? 0.592637, 0.749737, 2.028673
-[01:08:39.692]  If point is visible? -0.865014, 0.768754, 1.930166
-[01:08:39.692]  If point is visible? -0.668325, 0.791183, 2.001597
-[01:08:39.692]  If point is visible? 0.179815, 0.800188, 2.097149
-[01:08:39.692]  If point is visible? -0.679203, 0.812837, 1.988246
-[01:08:39.692]  If point is visible? 0.335811, -0.952150, 2.003292
-[01:08:39.692]  If point is visible? -0.441802, 0.056788, 2.223238
-[01:08:39.692]  If point is visible? -0.429760, 0.056796, 2.225648
-[01:08:39.692]  If point is visible? -0.065957, -0.016621, 2.265585
-[01:08:39.692]  If point is visible? -0.441787, 0.065959, 2.222968
-[01:08:39.692]  If point is visible? -0.785924, 0.211166, 2.111481
-[01:08:39.692]  If point is visible? 0.311899, 0.394869, 2.201242
-[01:08:39.692]  If point is visible? -0.051397, 0.577521, 2.184989
-[01:08:39.692]  If point is visible? 0.192000, 0.835363, 2.080880
-[01:08:39.692]  If point is visible? -0.198292, -0.401502, 2.219953
-[01:08:39.692]  If point is visible? 0.336108, -0.291063, 2.214547
-[01:08:39.692]  If point is visible? -0.656632, -0.162710, 2.161817
-[01:08:39.692]  If point is visible? -0.441829, -0.034932, 2.223719
-[01:08:39.692]  If point is visible? -0.657101, -0.016531, 2.168216
-[01:08:39.692]  If point is visible? -0.727281, 0.202381, 2.134359
-[01:08:39.692]  If point is visible? -0.703695, 0.202494, 2.142615
-[01:08:39.692]  If point is visible? -0.703829, 0.184268, 2.144350
-[01:08:39.692]  If point is visible? -0.076011, 0.532310, 2.196879
-[01:08:39.692]  If point is visible? 0.192000, 0.835363, 2.080880
-[01:08:39.692]  If point is visible? 0.203398, 0.429304, 2.219828
-[01:08:39.692]  If point is visible? 0.209499, 0.429278, 2.219151
-[01:08:39.692]  If point is visible? 0.209488, 0.424709, 2.220101
-[01:08:39.692]  If point is visible? -1.736368, 0.469185, 1.307803
-[01:08:39.692]  If point is visible? 0.589514, 0.726972, 2.050174
-[01:08:39.692]  If point is visible? -0.760795, 0.753381, 1.994645
-[01:08:39.692]  If point is visible? -0.754982, 0.753515, 1.996920
-[01:08:39.692]  If point is visible? 0.397517, 0.810237, 2.068805
-[01:08:39.692]  If point is visible? -0.630634, 0.800250, 2.022333
-[01:08:39.692]  If point is visible? 0.403492, 0.818964, 2.063734
-[01:08:39.692]  If point is visible? -0.407956, 0.047867, 2.240629
-[01:08:39.692]  If point is visible? -0.395834, 0.047873, 2.242836
-[01:08:39.692]  If point is visible? -0.407929, 0.066305, 2.240127
-[01:08:39.692]  If point is visible? -0.407944, 0.057086, 2.240398
-[01:08:39.692]  If point is visible? -0.199122, -0.458339, 2.218620
-[01:08:39.692]  If point is visible? -0.174779, -0.458376, 2.220546
-[01:08:39.692]  If point is visible? -0.248254, -0.403360, 2.225357
-[01:08:39.692]  If point is visible? -0.199576, -0.403448, 2.230063
-[01:08:39.692]  If point is visible? -0.175213, -0.403480, 2.231987
-[01:08:39.692]  If point is visible? -0.848916, 0.184467, 2.099775
-[01:08:39.692]  If point is visible? -0.028085, 0.516646, 2.212258
-[01:08:39.692]  If point is visible? 0.215850, 0.534024, 2.193710
-[01:08:39.692]  If point is visible? 0.420673, -0.992753, 1.987363
-[01:08:39.692]  If point is visible? -0.437064, -0.725943, 2.107217
-[01:08:39.692]  If point is visible? -0.430979, -0.726008, 2.108507
-[01:08:39.692]  If point is visible? -0.121575, -0.209071, 2.266688
-[01:08:39.692]  If point is visible? -0.121587, -0.204391, 2.267141
-[01:08:39.692]  If point is visible? 0.251125, 0.440581, 2.218117
-[01:08:39.692]  If point is visible? 0.251125, 0.435942, 2.219093
-[01:08:39.692]  If point is visible? 0.551616, 0.622003, 2.109971
-[01:08:39.692]  If point is visible? 0.557702, 0.621913, 2.108264
-[01:08:39.692]  If point is visible? -0.634200, 0.807605, 2.020841
-[01:08:39.692]  If point is visible? 0.263223, 0.838660, 2.090428
-[01:08:39.692]  If point is visible? -0.769915, 0.638163, 2.035791
-[01:08:39.692]  If point is visible? -0.841093, 0.627642, 2.009247
-[01:08:39.692]  If point is visible? 0.269356, 0.834100, 2.091518
-[01:08:39.692]  If point is visible? -0.139081, -0.465492, 2.224697
-[01:08:39.692]  If point is visible? 0.405747, -0.315513, 2.215835
-[01:08:39.692]  If point is visible? 0.430416, -0.315389, 2.210795
-[01:08:39.692]  If point is visible? -0.704863, 0.206519, 2.153047
-[01:08:39.692]  If point is visible? 0.009791, 0.524667, 2.214683
-[01:08:39.692]  If point is visible? 0.257297, 0.542314, 2.193189
-[01:08:39.692]  If point is visible? 0.306140, 0.815695, 2.093715
-[01:08:39.692]  If point is visible? 0.216662, -0.801875, 2.119503
-[01:08:39.692]  If point is visible? 0.203717, -0.792426, 2.124305
-[01:08:39.692]  If point is visible? -0.344807, 0.075652, 2.246780
-[01:08:39.692]  If point is visible? 0.287478, 0.169006, 2.253790
-[01:08:39.692]  If point is visible? 0.624177, 0.363184, 2.162009
-[01:08:39.692]  If point is visible? -1.783008, 0.382316, 1.327431
-[01:08:39.692]  If point is visible? -1.782769, 0.386799, 1.326437
-[01:08:39.692]  If point is visible? -0.743098, 0.808468, 1.985670
-[01:08:39.692]  If point is visible? -0.767808, 0.812589, 1.974238
-[01:08:39.692]  If point is visible? -0.511572, -0.756784, 2.079753
-[01:08:39.692]  If point is visible? -0.128723, -0.488854, 2.218511
-[01:08:39.692]  If point is visible? 0.027645, 0.550998, 2.208367
-[01:08:39.692]  If point is visible? -0.608640, 0.909876, 1.988544
-[01:08:39.692]  If point is visible? 0.027742, 0.570420, 2.203375
-[01:08:39.692]  If point is visible? 0.287625, 0.569531, 2.186414
-[01:08:39.692]  If point is visible? 0.603202, -0.368348, 2.324716
-[01:08:39.693]  If point is visible? -0.285670, 0.112243, 2.405946
-[01:08:39.693]  If point is visible? 0.298924, 0.493608, 2.358799
-[01:08:39.693]  If point is visible? 0.298922, 0.488411, 2.359892
-[01:08:39.693]  If point is visible? -1.869123, 0.562003, 1.407149
-[01:08:39.693]  If point is visible? -0.663422, 0.728190, 2.211854
-[01:08:39.693]  If point is visible? 0.596042, -0.456609, 2.310670
-[01:08:39.693]  If point is visible? -0.546693, -0.807351, 2.217102
-[01:08:39.693]  If point is visible? -0.933189, 0.188975, 2.224673
-[01:08:39.693]  If point is visible? 0.028554, 0.587814, 2.354308
-[01:08:39.693]  If point is visible? 0.305905, 0.607586, 2.330887
-[01:08:39.693]  If point is visible? 0.430080, -1.029752, 1.996604
-[01:08:39.693]  If point is visible? -0.857818, 0.643489, 2.011553
-[01:08:39.693]  If point is visible? -0.155517, -0.491193, 2.227352
-[01:08:39.693]  If point is visible? -0.129412, -0.491232, 2.229198
-[01:08:39.693]  If point is visible? -0.104644, -0.156400, 2.279277
-[01:08:39.693]  If point is visible? 0.027623, 0.534142, 2.223840
-[01:08:39.693]  If point is visible? 0.430080, -1.029752, 1.996604
-[01:08:39.693]  If point is visible? -0.719730, 0.655617, 2.062719
-[01:08:39.693]  If point is visible? -0.857818, 0.643489, 2.011553
-[01:08:39.693]  If point is visible? -0.155517, -0.491193, 2.227352
-[01:08:39.693]  If point is visible? -0.129412, -0.491232, 2.229198
-[01:08:39.693]  If point is visible? -0.104644, -0.156400, 2.279277
-[01:08:39.693]  If point is visible? 0.027623, 0.534142, 2.223840
-[01:08:39.693]  If point is visible? -0.794884, -0.700572, 2.061269
-[01:08:39.693]  If point is visible? -0.119753, -0.229301, 2.309906
-[01:08:39.693]  If point is visible? -0.113111, -0.224284, 2.310783
-[01:08:39.693]  If point is visible? -0.522865, -0.773054, 2.123954
-[01:08:39.693]  If point is visible? 0.027851, 0.542984, 2.260246
-[01:08:39.693]  If point is visible? -0.794884, -0.700572, 2.061269
-[01:08:39.693]  If point is visible? -0.113111, -0.224284, 2.310783
-[01:08:39.693]  If point is visible? -0.522865, -0.773054, 2.123954
-[01:08:39.693]  If point is visible? 0.027851, 0.542984, 2.260246
-[01:08:39.693]  If point is visible? -1.811534, 0.398837, 1.426550
-[01:08:39.693]  If point is visible? -0.635186, 0.826559, 2.110812
-[01:08:39.693]  If point is visible? -1.811534, 0.398837, 1.426550
-[01:08:39.693]  If point is visible? -0.635186, 0.826559, 2.110812
-[01:08:39.693]  If point is visible? 0.569711, -0.426406, 2.297074
-[01:08:39.693]  If point is visible? -1.817668, 0.440829, 1.475648
-[01:08:39.693]  If point is visible? 0.569711, -0.426406, 2.297074
-[01:08:39.693]  If point is visible? -1.817668, 0.440829, 1.475648
-[01:08:39.693]  If point is visible? -0.609415, 1.100719, 1.972365
-[01:08:39.693]  If point is visible? -0.609415, 1.100719, 1.972365
-[01:08:39.693]  If point is visible? -0.081155, -0.171198, 2.346304
-[01:08:39.693]  If point is visible? 0.053757, 0.022327, 2.354108
-[01:08:39.693]  If point is visible? -0.081155, -0.171198, 2.346304
-[01:08:39.693]  If point is visible? 0.053757, 0.022327, 2.354108
-[01:08:39.693]  If point is visible? -0.526685, -0.059267, 2.301143
-[01:08:39.693]  If point is visible? -0.526714, 0.032566, 2.301674
-[01:08:39.693]  If point is visible? -0.730326, 0.737773, 2.117503
-[01:08:39.693]  If point is visible? -0.526685, -0.059267, 2.301143
-[01:08:39.693]  If point is visible? -0.526714, 0.032566, 2.301674
-[01:08:39.693]  If point is visible? -0.730326, 0.737773, 2.117503
-[01:08:39.693]  If point is visible? 0.353608, 0.411859, 2.305529
-[01:08:39.693]  If point is visible? 0.542680, 0.390556, 2.272980
-[01:08:39.693]  If point is visible? 0.542553, 0.410912, 2.269394
-[01:08:39.693]  If point is visible? 1.389367, 0.991303, 1.643450
-[01:08:39.693]  If point is visible? 0.353608, 0.411859, 2.305529
-[01:08:39.693]  If point is visible? 0.542553, 0.410912, 2.269394
-[01:08:39.693]  If point is visible? 1.389367, 0.991303, 1.643450
-[01:08:39.693]  If point is visible? 0.389712, -1.113394, 2.067726
-[01:08:39.693]  If point is visible? 1.342744, 0.947247, 1.725862
-[01:08:39.693]  If point is visible? 0.389712, -1.113394, 2.067726
-[01:08:39.693]  If point is visible? 1.342744, 0.947247, 1.725862
-[01:08:39.693]  If point is visible? 0.148100, -0.854836, 2.260615
-[01:08:39.693]  If point is visible? -0.994862, 1.020786, 1.950657
-[01:08:39.693]  If point is visible? 0.148100, -0.854836, 2.260615
-[01:08:39.693]  If point is visible? -0.994862, 1.020786, 1.950657
-[01:08:39.693]  If point is visible? 0.094376, 0.633068, 2.339612
-[01:08:39.693]  If point is visible? 0.094376,
\ No newline at end of file
+[19:09:06.917] init depth filter
+[19:09:30.462] DepthFilter: RESET.
+[19:10:06.503] DepthFilter stop thread invoked.
+[19:10:06.503] DepthFilter interrupt and join thread 
diff --git a/GPU_version/vio/frame_handler_log.txt b/GPU_version/vio/frame_handler_log.txt
index 0f36a06..db5786c 100755
--- a/GPU_version/vio/frame_handler_log.txt
+++ b/GPU_version/vio/frame_handler_log.txt
@@ -1,1807 +1,3515 @@
-[01:08:09.931] Odometry x=0.000000, y=-0.000000, theta=-0.000000
-[01:08:09.951] Odometry x=0.000000, y=-0.000000, theta=-0.000000
-[01:08:09.971] Odometry x=0.000000, y=-0.000000, theta=-0.000000
-[01:08:09.992] Odometry x=0.000000, y=-0.000000, theta=-0.000000
-[01:08:10.012] Odometry x=0.000000, y=-0.000000, theta=-0.000000
-[01:08:10.032] Odometry x=0.000000, y=-0.000000, theta=-0.000000
-[01:08:10.052] Odometry x=0.000000, y=-0.000000, theta=-0.000000
-[01:08:10.073] Odometry x=0.000000, y=-0.000000, theta=-0.000000
-[01:08:10.093] Odometry x=0.000000, y=-0.000000, theta=-0.000000
-[01:08:10.113] Odometry x=0.000000, y=-0.000000, theta=-0.000000
-[01:08:10.133] Odometry x=0.000000, y=-0.000000, theta=-0.000000
-[01:08:10.153] Odometry x=0.000000, y=-0.000000, theta=0.000000
-[01:08:10.174] Odometry x=0.000000, y=-0.000001, theta=0.000544
-[01:08:10.194] Odometry x=0.000000, y=-0.000001, theta=0.001008
-[01:08:10.214] Odometry x=0.000000, y=-0.000001, theta=0.001408
-[01:08:10.234] Init: frame zero: 0.000000, 0.000000 0.000000
-[01:08:10.234] Init: Selected first frame. 
-[01:08:10.234] Odometry x=0.000000, y=-0.000002, theta=0.001998
-[01:08:10.255] Odometry x=0.000000, y=-0.000002, theta=0.002509
-[01:08:10.275] Odometry x=0.000000, y=-0.000003, theta=0.003067
-[01:08:10.295] Odometry x=0.000000, y=-0.000004, theta=0.003729
-[01:08:10.316] Odometry x=0.000001, y=-0.000004, theta=0.004230
-[01:08:10.336] Odometry x=0.000001, y=-0.000005, theta=0.004821
-[01:08:10.342] Init: px average disparity is:0.037014 ,While minimum is: 40.000000  KLT tracked : 208
-[01:08:10.343] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[01:08:10.356] Odometry x=0.000001, y=-0.000006, theta=0.005427
-[01:08:10.376] Odometry x=0.000001, y=-0.000006, theta=0.005963
-[01:08:10.397] Odometry x=0.000001, y=-0.000007, theta=0.006495
-[01:08:10.417] Odometry x=0.000001, y=-0.000008, theta=0.007033
-[01:08:10.437] Odometry x=0.000001, y=-0.000008, theta=0.007565
-[01:08:10.438] Init: px average disparity is:0.034697 ,While minimum is: 40.000000  KLT tracked : 208
-[01:08:10.438] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[01:08:10.457] Odometry x=0.000001, y=-0.000009, theta=0.008094
-[01:08:10.478] Odometry x=0.000001, y=-0.000009, theta=0.008555
-[01:08:10.498] Odometry x=0.000001, y=-0.000010, theta=0.009131
-[01:08:10.518] Odometry x=0.000001, y=-0.000011, theta=0.009718
-[01:08:10.537] Init: px average disparity is:0.027820 ,While minimum is: 40.000000  KLT tracked : 208
-[01:08:10.537] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[01:08:10.538] Odometry x=0.000001, y=-0.000011, theta=0.010203
-[01:08:10.558] Odometry x=0.000001, y=-0.000012, theta=0.010802
-[01:08:10.579] Odometry x=0.000002, y=-0.000012, theta=0.011407
-[01:08:10.599] Odometry x=0.000002, y=-0.000013, theta=0.011937
-[01:08:10.619] Odometry x=0.000002, y=-0.000014, theta=0.012458
-[01:08:10.638] Init: px average disparity is:0.028191 ,While minimum is: 40.000000  KLT tracked : 208
-[01:08:10.638] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[01:08:10.639] Odometry x=0.000002, y=-0.000014, theta=0.012978
-[01:08:10.660] Odometry x=0.000002, y=-0.000015, theta=0.013494
-[01:08:10.680] Odometry x=0.000002, y=-0.000016, theta=0.014029
-[01:08:10.700] Odometry x=0.000002, y=-0.000016, theta=0.014570
-[01:08:10.721] Odometry x=0.000002, y=-0.000017, theta=0.015103
-[01:08:10.737] Init: px average disparity is:0.027771 ,While minimum is: 40.000000  KLT tracked : 208
-[01:08:10.737] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[01:08:10.741] Odometry x=0.000002, y=-0.000017, theta=0.015654
-[01:08:10.761] Odometry x=0.000002, y=-0.000018, theta=0.016188
-[01:08:10.781] Odometry x=0.000002, y=-0.000018, theta=0.016720
-[01:08:10.802] Odometry x=0.000002, y=-0.000019, theta=0.017264
-[01:08:10.822] Odometry x=0.000002, y=-0.000020, theta=0.017809
-[01:08:10.839] Init: px average disparity is:0.031274 ,While minimum is: 40.000000  KLT tracked : 208
-[01:08:10.839] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[01:08:10.842] Odometry x=0.000002, y=-0.000020, theta=0.018353
-[01:08:10.862] Odometry x=0.000002, y=-0.000021, theta=0.018885
-[01:08:10.883] Odometry x=0.000002, y=-0.000021, theta=0.019409
-[01:08:10.903] Odometry x=0.000003, y=-0.000022, theta=0.019930
-[01:08:10.923] Odometry x=0.000003, y=-0.000022, theta=0.020457
-[01:08:10.938] Init: px average disparity is:0.028016 ,While minimum is: 40.000000  KLT tracked : 208
-[01:08:10.938] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[01:08:10.944] Odometry x=0.000003, y=-0.000023, theta=0.020901
-[01:08:10.964] Odometry x=0.000003, y=-0.000023, theta=0.021378
-[01:08:10.984] Odometry x=0.000003, y=-0.000024, theta=0.021909
-[01:08:11.005] Odometry x=0.000003, y=-0.000025, theta=0.022538
-[01:08:11.025] Odometry x=0.000003, y=-0.000026, theta=0.023158
-[01:08:11.038] Init: px average disparity is:0.039501 ,While minimum is: 40.000000  KLT tracked : 208
-[01:08:11.038] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[01:08:11.045] Odometry x=0.000003, y=-0.000026, theta=0.023652
-[01:08:11.065] Odometry x=0.000003, y=-0.000027, theta=0.024151
-[01:08:11.086] Odometry x=0.000003, y=-0.000027, theta=0.024679
-[01:08:11.106] Odometry x=0.000003, y=-0.000028, theta=0.025206
-[01:08:11.126] Odometry x=0.000003, y=-0.000028, theta=0.025652
-[01:08:11.138] Init: px average disparity is:0.026378 ,While minimum is: 40.000000  KLT tracked : 208
-[01:08:11.138] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[01:08:11.146] Odometry x=0.000003, y=-0.000029, theta=0.026186
-[01:08:11.166] Odometry x=0.000003, y=-0.000030, theta=0.026829
-[01:08:11.187] Odometry x=0.000003, y=-0.000031, theta=0.027434
-[01:08:11.207] Odometry x=0.000003, y=-0.000031, theta=0.027993
-[01:08:11.227] Odometry x=0.000003, y=-0.000032, theta=0.028532
-[01:08:11.238] Init: px average disparity is:0.026018 ,While minimum is: 40.000000  KLT tracked : 208
-[01:08:11.238] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[01:08:11.247] Odometry x=0.000004, y=-0.000032, theta=0.029071
-[01:08:11.268] Odometry x=0.000004, y=-0.000033, theta=0.029607
-[01:08:11.288] Odometry x=0.000004, y=-0.000033, theta=0.030059
-[01:08:11.308] Odometry x=0.000004, y=-0.000034, theta=0.030549
-[01:08:11.329] Odometry x=0.000004, y=-0.000034, theta=0.031085
-[01:08:11.340] Init: px average disparity is:0.027507 ,While minimum is: 40.000000  KLT tracked : 208
-[01:08:11.340] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[01:08:11.349] Odometry x=0.000004, y=-0.000035, theta=0.031612
-[01:08:11.369] Odometry x=0.000004, y=-0.000036, theta=0.032148
-[01:08:11.390] Odometry x=0.000004, y=-0.000036, theta=0.032731
-[01:08:11.410] Odometry x=0.000004, y=-0.000037, theta=0.033303
-[01:08:11.430] Odometry x=0.000004, y=-0.000038, theta=0.033933
-[01:08:11.438] Init: px average disparity is:0.036265 ,While minimum is: 40.000000  KLT tracked : 208
-[01:08:11.438] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[01:08:11.450] Odometry x=0.000004, y=-0.000039, theta=0.034525
-[01:08:11.470] Odometry x=0.000004, y=-0.000039, theta=0.035067
-[01:08:11.491] Odometry x=0.000004, y=-0.000040, theta=0.035597
-[01:08:11.511] Odometry x=0.000004, y=-0.000040, theta=0.036131
-[01:08:11.531] Odometry x=0.000004, y=-0.000041, theta=0.036666
-[01:08:11.539] Init: px average disparity is:0.028122 ,While minimum is: 40.000000  KLT tracked : 208
-[01:08:11.539] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[01:08:11.551] Odometry x=0.000004, y=-0.000041, theta=0.037204
-[01:08:11.572] Odometry x=0.000004, y=-0.000042, theta=0.037745
-[01:08:11.592] Odometry x=0.000004, y=-0.000042, theta=0.038300
-[01:08:11.612] Odometry x=0.000004, y=-0.000043, theta=0.038777
-[01:08:11.632] Odometry x=0.000004, y=-0.000044, theta=0.039340
-[01:08:11.640] Init: px average disparity is:0.029980 ,While minimum is: 40.000000  KLT tracked : 208
-[01:08:11.640] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[01:08:11.653] Odometry x=0.000005, y=-0.000044, theta=0.039839
-[01:08:11.673] Odometry x=0.000005, y=-0.000045, theta=0.040319
-[01:08:11.693] Odometry x=0.000005, y=-0.000045, theta=0.040885
-[01:08:11.714] Odometry x=0.000005, y=-0.000046, theta=0.041432
-[01:08:11.734] Odometry x=0.000005, y=-0.000047, theta=0.042053
-[01:08:11.738] Init: px average disparity is:0.034267 ,While minimum is: 40.000000  KLT tracked : 208
-[01:08:11.738] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[01:08:11.754] Odometry x=0.000005, y=-0.000047, theta=0.042573
-[01:08:11.775] Odometry x=0.000005, y=-0.000048, theta=0.043076
-[01:08:11.815] Odometry x=0.000005, y=-0.000049, theta=0.043938
-[01:08:11.835] Odometry x=0.000005, y=-0.000051, theta=0.044680
-[01:08:11.841] Init: px average disparity is:0.090504 ,While minimum is: 40.000000  KLT tracked : 208
-[01:08:11.841] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[01:08:11.855] Odometry x=0.000005, y=-0.000051, theta=0.045210
-[01:08:11.876] Odometry x=0.000015, y=0.000121, theta=0.044488
-[01:08:11.896] Odometry x=0.000022, y=0.000322, theta=0.049725
-[01:08:11.916] Odometry x=0.000031, y=0.000762, theta=0.054159
-[01:08:11.942] Init: px average disparity is:1.479604 ,While minimum is: 40.000000  KLT tracked : 208
-[01:08:11.942] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[01:08:11.956] Odometry x=0.000477, y=0.007603, theta=0.050392
-[01:08:11.977] Odometry x=0.000586, y=0.008549, theta=0.046188
-[01:08:11.997] Odometry x=0.000606, y=0.008631, theta=0.039873
-[01:08:12.017] Odometry x=0.000613, y=0.008656, theta=0.033091
-[01:08:12.042] Init: px average disparity is:6.427854 ,While minimum is: 40.000000  KLT tracked : 204
-[01:08:12.042] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[01:08:12.058] Odometry x=0.000740, y=0.012600, theta=0.030531
-[01:08:12.078] Odometry x=0.000741, y=0.012608, theta=0.030226
-[01:08:12.098] Odometry x=0.000741, y=0.012610, theta=0.034273
-[01:08:12.118] Odometry x=0.000740, y=0.012543, theta=0.039062
-[01:08:12.140] Init: px average disparity is:5.381243 ,While minimum is: 40.000000  KLT tracked : 204
-[01:08:12.140] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[01:08:12.159] Odometry x=0.000883, y=0.016298, theta=0.036449
-[01:08:12.179] Odometry x=0.000885, y=0.016254, theta=0.031769
-[01:08:12.199] Odometry x=0.000896, y=0.016250, theta=0.025373
-[01:08:12.219] Odometry x=0.000907, y=0.016250, theta=0.022291
-[01:08:12.242] Init: px average disparity is:8.920299 ,While minimum is: 40.000000  KLT tracked : 204
-[01:08:12.242] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[01:08:12.260] Odometry x=0.000995, y=0.019900, theta=0.021221
-[01:08:12.280] Odometry x=0.001000, y=0.019923, theta=0.020399
-[01:08:12.300] Odometry x=0.001001, y=0.019950, theta=0.018377
-[01:08:12.320] Odometry x=0.001015, y=0.019952, theta=0.016211
-[01:08:12.339] Init: px average disparity is:12.989191 ,While minimum is: 40.000000  KLT tracked : 204
-[01:08:12.339] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[01:08:12.361] Odometry x=0.001077, y=0.023987, theta=0.013445
-[01:08:12.381] Odometry x=0.001078, y=0.023990, theta=0.010131
-[01:08:12.401] Odometry x=0.001078, y=0.023973, theta=0.009201
-[01:08:12.422] Odometry x=0.001078, y=0.023958, theta=0.007409
-[01:08:12.440] Init: px average disparity is:19.008366 ,While minimum is: 40.000000  KLT tracked : 204
-[01:08:12.440] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[01:08:12.462] Odometry x=0.001095, y=0.027753, theta=-0.001577
-[01:08:12.482] Odometry x=0.001097, y=0.027713, theta=-0.008908
-[01:08:12.502] Odometry x=0.001071, y=0.027694, theta=-0.011232
-[01:08:12.523] Odometry x=0.001056, y=0.027680, theta=-0.010625
-[01:08:12.564] Odometry x=0.001032, y=0.031364, theta=0.001831
-[01:08:12.584] Odometry x=0.001026, y=0.031274, theta=0.015876
-[01:08:12.604] Odometry x=0.001025, y=0.031272, theta=0.022221
-[01:08:12.624] Odometry x=0.001025, y=0.031272, theta=0.023936
-[01:08:12.640] Init: px average disparity is:14.679688 ,While minimum is: 40.000000  KLT tracked : 204
-[01:08:12.640] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[01:08:12.665] Odometry x=0.001097, y=0.035081, theta=0.021683
-[01:08:12.685] Odometry x=0.001084, y=0.035050, theta=0.018999
-[01:08:12.705] Odometry x=0.001082, y=0.035051, theta=0.016777
-[01:08:12.725] Odometry x=0.001082, y=0.035040, theta=0.018748
-[01:08:12.766] Odometry x=0.001170, y=0.038909, theta=0.028240
-[01:08:12.786] Odometry x=0.001167, y=0.038866, theta=0.039749
-[01:08:12.806] Odometry x=0.001167, y=0.038863, theta=0.047926
-[01:08:12.826] Odometry x=0.001168, y=0.038862, theta=0.053818
-[01:08:12.867] Odometry x=0.001391, y=0.042651, theta=0.065727
-[01:08:12.887] Odometry x=0.001389, y=0.042631, theta=0.076585
-[01:08:12.907] Odometry x=0.001385, y=0.042629, theta=0.077660
-[01:08:12.928] Odometry x=0.001380, y=0.042648, theta=0.072124
-[01:08:12.942] Init: px average disparity is:16.607689 ,While minimum is: 40.000000  KLT tracked : 204
-[01:08:12.942] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[01:08:12.968] Odometry x=0.000000, y=0.047896, theta=-0.002310
-[01:08:12.988] Odometry x=-0.000010, y=0.047895, theta=-0.004519
-[01:08:13.008] Odometry x=-0.000025, y=0.047893, theta=-0.002683
-[01:08:13.028] Odometry x=-0.000022, y=0.047886, theta=0.002075
-[01:08:13.042] Init: px average disparity is:20.784350 ,While minimum is: 40.000000  KLT tracked : 204
-[01:08:13.042] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[01:08:13.069] Odometry x=0.000011, y=0.051709, theta=0.005103
-[01:08:13.089] Odometry x=0.000035, y=0.051709, theta=0.006725
-[01:08:13.109] Odometry x=0.000078, y=0.051709, theta=0.005102
-[01:08:13.130] Odometry x=0.000112, y=0.051701, theta=0.002192
-[01:08:13.142] Init: px average disparity is:20.551683 ,While minimum is: 40.000000  KLT tracked : 204
-[01:08:13.142] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[01:08:13.170] Odometry x=0.000117, y=0.055448, theta=0.000227
-[01:08:13.190] Odometry x=0.000116, y=0.055402, theta=0.000719
-[01:08:13.210] Odometry x=0.000117, y=0.055398, theta=0.004023
-[01:08:13.231] Odometry x=0.000118, y=0.055394, theta=0.008039
-[01:08:13.243] Init: px average disparity is:24.903689 ,While minimum is: 40.000000  KLT tracked : 204
-[01:08:13.243] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[01:08:13.271] Odometry x=0.000153, y=0.059207, theta=0.010828
-[01:08:13.291] Odometry x=0.000152, y=0.059203, theta=0.012958
-[01:08:13.312] Odometry x=0.000155, y=0.059203, theta=0.013501
-[01:08:13.332] Odometry x=0.000123, y=0.059204, theta=0.014470
-[01:08:13.342] Init: px average disparity is:25.987329 ,While minimum is: 40.000000  KLT tracked : 204
-[01:08:13.342] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[01:08:13.372] Odometry x=0.000173, y=0.063213, theta=0.017757
-[01:08:13.393] Odometry x=0.000166, y=0.063262, theta=0.023278
-[01:08:13.413] Odometry x=0.000167, y=0.063293, theta=0.027584
-[01:08:13.433] Odometry x=0.000167, y=0.063294, theta=0.030390
-[01:08:13.444] Init: px average disparity is:26.923791 ,While minimum is: 40.000000  KLT tracked : 204
-[01:08:13.445] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[01:08:13.473] Odometry x=0.000294, y=0.067156, theta=0.034473
-[01:08:13.494] Odometry x=0.000297, y=0.067223, theta=0.037351
-[01:08:13.514] Odometry x=0.000300, y=0.067281, theta=0.037920
-[01:08:13.534] Odometry x=0.000296, y=0.067303, theta=0.038012
-[01:08:13.545] Init: px average disparity is:28.605109 ,While minimum is: 40.000000  KLT tracked : 201
-[01:08:13.545] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[01:08:13.574] Odometry x=0.000434, y=0.071080, theta=0.033784
-[01:08:13.595] Odometry x=0.000433, y=0.071054, theta=0.028539
-[01:08:13.615] Odometry x=0.000433, y=0.071048, theta=0.025025
-[01:08:13.644] Init: px average disparity is:31.270717 ,While minimum is: 40.000000  KLT tracked : 199
-[01:08:13.644] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[01:08:13.656] Odometry x=0.000504, y=0.074104, theta=0.020607
-[01:08:13.676] Odometry x=0.000504, y=0.074100, theta=0.014648
-[01:08:13.696] Odometry x=0.000503, y=0.074073, theta=0.013114
-[01:08:13.716] Odometry x=0.000502, y=0.073992, theta=0.014777
-[01:08:13.745] Init: px average disparity is:30.876650 ,While minimum is: 40.000000  KLT tracked : 199
-[01:08:13.745] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[01:08:13.757] Odometry x=0.000575, y=0.077806, theta=0.025535
-[01:08:13.777] Odometry x=0.000573, y=0.077803, theta=0.036555
-[01:08:13.797] Odometry x=0.000561, y=0.077800, theta=0.040723
-[01:08:13.817] Odometry x=0.000547, y=0.077799, theta=0.041238
-[01:08:13.845] Init: px average disparity is:30.429134 ,While minimum is: 40.000000  KLT tracked : 197
-[01:08:13.845] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[01:08:13.858] Odometry x=0.000694, y=0.081574, theta=0.033322
-[01:08:13.878] Odometry x=0.000697, y=0.081541, theta=0.027414
-[01:08:13.898] Odometry x=0.000712, y=0.081517, theta=0.024888
-[01:08:13.918] Odometry x=0.000721, y=0.081471, theta=0.022231
-[01:08:13.946] Init: px average disparity is:34.051234 ,While minimum is: 40.000000  KLT tracked : 192
-[01:08:13.946] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[01:08:13.959] Odometry x=0.000776, y=0.085760, theta=0.020794
-[01:08:13.979] Odometry x=0.000757, y=0.085964, theta=0.016812
-[01:08:13.999] Odometry x=0.000756, y=0.085992, theta=0.012826
-[01:08:14.019] Odometry x=0.000729, y=0.085981, theta=0.010891
-[01:08:14.045] Init: px average disparity is:33.562953 ,While minimum is: 40.000000  KLT tracked : 191
-[01:08:14.045] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[01:08:14.060] Odometry x=0.000755, y=0.089767, theta=0.013533
-[01:08:14.080] Odometry x=0.000741, y=0.089644, theta=0.016650
-[01:08:14.100] Odometry x=0.000744, y=0.089430, theta=0.018180
-[01:08:14.120] Odometry x=0.000745, y=0.089243, theta=0.018061
-[01:08:14.145] Init: px average disparity is:31.549844 ,While minimum is: 40.000000  KLT tracked : 189
-[01:08:14.145] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[01:08:14.161] Odometry x=0.000803, y=0.093066, theta=0.007729
-[01:08:14.181] Odometry x=0.000807, y=0.093068, theta=-0.001135
-[01:08:14.201] Odometry x=0.000806, y=0.093069, theta=-0.005199
-[01:08:14.221] Odometry x=0.000799, y=0.093071, theta=-0.007789
-[01:08:14.245] Init: px average disparity is:28.567195 ,While minimum is: 40.000000  KLT tracked : 188
-[01:08:14.245] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[01:08:14.262] Odometry x=0.000767, y=0.096903, theta=-0.007163
-[01:08:14.282] Odometry x=0.000766, y=0.096885, theta=-0.003683
-[01:08:14.302] Odometry x=0.000767, y=0.096872, theta=0.001417
-[01:08:14.322] Odometry x=0.000785, y=0.096840, theta=0.007116
-[01:08:14.345] Init: px average disparity is:33.117474 ,While minimum is: 40.000000  KLT tracked : 188
-[01:08:14.345] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[01:08:14.363] Odometry x=0.000832, y=0.100474, theta=0.003550
-[01:08:14.383] Odometry x=0.000848, y=0.100315, theta=-0.002511
-[01:08:14.403] Odometry x=0.000841, y=0.100279, theta=-0.008999
-[01:08:14.423] Odometry x=0.000833, y=0.100273, theta=-0.016442
-[01:08:14.445] Init: px average disparity is:28.199869 ,While minimum is: 40.000000  KLT tracked : 188
-[01:08:14.445] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[01:08:14.464] Odometry x=0.000756, y=0.104085, theta=-0.014260
-[01:08:14.484] Odometry x=0.000737, y=0.104079, theta=-0.007460
-[01:08:14.504] Odometry x=0.000731, y=0.104072, theta=0.001716
-[01:08:14.524] Odometry x=0.000738, y=0.103973, theta=0.006834
-[01:08:14.545] Init: px average disparity is:33.448428 ,While minimum is: 40.000000  KLT tracked : 188
-[01:08:14.545] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
-[01:08:14.565] Odometry x=0.000825, y=0.107982, theta=0.003490
-[01:08:14.585] Odometry x=0.000866, y=0.107982, theta=0.001072
-[01:08:14.605] Odometry x=0.000833, y=0.107991, theta=0.004267
-[01:08:14.625] Odometry x=0.000773, y=0.107999, theta=0.009717
-[01:08:14.666] Odometry x=0.000824, y=0.111817, theta=0.019383
-[01:08:14.686] Odometry x=0.000826, y=0.111812, theta=0.030170
-[01:08:14.706] Odometry x=0.000854, y=0.111806, theta=0.036026
-[01:08:14.712] homography: x=371.529591 y=-133.177829 z=0.304053 roll=0.000000 pitch=-0.002453 yaw=0.000000 	 ekf: x=0.000854 z=0.111806 pitch=-0.036026
-[01:08:14.712] homography after fuse: x=0.000854 y=0.000000 z=0.111806 pitch=-0.036026	 number of outlier: 115
-[01:08:14.712] Init finished: Homography RANSAC (inlier) is:72 ,While 30 inliers minimum required.  px average disparity is:40.806370 ,While minimum is: 40.000000  KLT tracked: 187
-[01:08:14.712] Init: distance between the first and current frame is x:0.000854 ,z=0.111806,angle between two frames: -0.036026 
-[01:08:14.712] Init: Selected Second frame. 	 The number of features: 72
-[01:08:14.726] Odometry x=0.000908, y=0.111747, theta=0.038512
-[01:08:14.766] Odometry x=0.001052, y=0.115564, theta=0.042893
-[01:08:14.787] Odometry x=0.001044, y=0.115562, theta=0.048020
-[01:08:14.797] After Reprojection Map nPoint:28 ,nCell:27 ,nMatches:7 ,distance between two frames x:-0.000165 ,z=0.000174,angle between two frames:0.000123
-[01:08:14.797] n deleted obs = 5 	 n obs felt =2 	 error init =0.629001 	 error end=0.591898
-[01:08:14.797] After pose optimization, distance between two frames x:-0.152167 ,z=-0.034000,angle between two frames:0.073312
-[01:08:14.797] Update EKF and 3D points, distance between two frames x:-0.152120 ,z=-0.033988,angle between two frames:0.073294
-[01:08:14.807] Odometry x=-0.093088, y=0.092233, theta=0.091007
-[01:08:14.827] Odometry x=-0.093088, y=0.092233, theta=0.093880
-[01:08:14.867] Odometry x=-0.092732, y=0.095956, theta=0.094387
-[01:08:14.887] Odometry x=-0.092729, y=0.095955, theta=0.094404
-[01:08:14.907] Odometry x=-0.092724, y=0.095958, theta=0.093464
-[01:08:14.928] Odometry x=-0.092723, y=0.095959, theta=0.093423
-[01:08:14.930] After Reprojection Map nPoint:7 ,nCell:6 ,nMatches:4 ,distance between two frames x:0.058177 ,z=0.014415,angle between two frames:0.015440
-[01:08:14.968] Odometry x=-0.092371, y=0.099786, theta=0.097284
-[01:08:14.988] Odometry x=-0.092380, y=0.099774, theta=0.104422
-[01:08:15.008] Odometry x=-0.092380, y=0.099764, theta=0.109957
-[01:08:15.012] After Reprojection Map nPoint:5 ,nCell:5 ,nMatches:0 ,distance between two frames x:-0.003756 ,z=0.000808,angle between two frames:0.004288
-[01:08:15.024] Image Alignment failed 0
-[01:08:15.028] Odometry x=-0.092375, y=0.099751, theta=0.111496
-[01:08:15.063] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
-[01:08:15.068] Odometry x=-0.091932, y=0.103486, theta=0.113773
-[01:08:15.089] Odometry x=-0.091922, y=0.103447, theta=0.116550
-[01:08:15.109] Odometry x=-0.091923, y=0.103406, theta=0.116525
-[01:08:15.128] Image Alignment failed 0
-[01:08:15.129] Odometry x=-0.091923, y=0.103381, theta=0.115180
-[01:08:15.169] Odometry x=-0.091496, y=0.107184, theta=0.110140
-[01:08:15.190] Odometry x=-0.091499, y=0.107180, theta=0.106957
-[01:08:15.193] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000452 ,z=0.003655,angle between two frames:0.005029
-[01:08:15.210] Odometry x=-0.091496, y=0.107178, theta=0.106689
-[01:08:15.227] Image Alignment failed 0
-[01:08:15.230] Odometry x=-0.091494, y=0.107176, theta=0.106420
-[01:08:15.270] Odometry x=-0.091044, y=0.111147, theta=0.102126
-[01:08:15.290] Odometry x=-0.091016, y=0.111176, theta=0.097865
-[01:08:15.292] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000003 ,z=-0.000001,angle between two frames:0.000268
-[01:08:15.310] Odometry x=-0.091010, y=0.111175, theta=0.094371
-[01:08:15.328] Image Alignment failed 0
-[01:08:15.331] Odometry x=-0.091018, y=0.111176, theta=0.087415
-[01:08:15.371] Odometry x=-0.090721, y=0.114956, theta=0.087920
-[01:08:15.391] Odometry x=-0.090753, y=0.114956, theta=0.089098
-[01:08:15.392] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000006 ,z=-0.000001,angle between two frames:0.003494
-[01:08:15.411] Odometry x=-0.090760, y=0.114936, theta=0.092078
-[01:08:15.429] Image Alignment failed 0
-[01:08:15.431] Odometry x=-0.090761, y=0.114915, theta=0.097398
-[01:08:15.472] Odometry x=-0.090327, y=0.118764, theta=0.095640
-[01:08:15.492] Odometry x=-0.090301, y=0.118522, theta=0.089597
-[01:08:15.494] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000008 ,z=-0.000020,angle between two frames:0.002980
-[01:08:15.512] Odometry x=-0.090304, y=0.118386, theta=0.082938
-[01:08:15.529] Image Alignment failed 0
-[01:08:15.532] Odometry x=-0.090305, y=0.118384, theta=0.077381
-[01:08:15.573] Odometry x=-0.090009, y=0.122276, theta=0.073160
-[01:08:15.584] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000004 ,z=-0.000136,angle between two frames:0.006659
-[01:08:15.593] Odometry x=-0.090006, y=0.122288, theta=0.071495
-[01:08:15.613] Odometry x=-0.089989, y=0.122287, theta=0.074016
-[01:08:15.627] Image Alignment failed 0
-[01:08:15.633] Odometry x=-0.089923, y=0.122293, theta=0.076295
-[01:08:15.673] Odometry x=-0.089582, y=0.126108, theta=0.072006
-[01:08:15.694] Odometry x=-0.089542, y=0.126105, theta=0.066163
-[01:08:15.695] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000020 ,z=0.000011,angle between two frames:0.000856
-[01:08:15.714] Odometry x=-0.089538, y=0.126103, theta=0.059389
-[01:08:15.724] Image Alignment failed 0
-[01:08:15.754] Odometry x=-0.089364, y=0.129059, theta=0.060733
-[01:08:15.763] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000004 ,z=-0.000002,angle between two frames:0.006774
-[01:08:15.775] Odometry x=-0.089365, y=0.129060, theta=0.061029
-[01:08:15.795] Odometry x=-0.089363, y=0.129064, theta=0.060257
-[01:08:15.815] Odometry x=-0.089342, y=0.129065, theta=0.061711
-[01:08:15.827] Image Alignment failed 0
-[01:08:15.856] Odometry x=-0.089090, y=0.132893, theta=0.064647
-[01:08:15.876] Odometry x=-0.089080, y=0.132892, theta=0.067260
-[01:08:15.896] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000021 ,z=0.000006,angle between two frames:0.000978
-[01:08:15.896] Odometry x=-0.089054, y=0.132891, theta=0.067352
-[01:08:15.916] Odometry x=-0.089036, y=0.132890, theta=0.068020
-[01:08:15.930] Image Alignment failed 0
-[01:08:15.936] Odometry x=-0.089034, y=0.132893, theta=0.070520
-[01:08:15.977] Odometry x=-0.088697, y=0.137754, theta=0.065821
-[01:08:15.989] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000018 ,z=-0.000001,angle between two frames:0.000668
-[01:08:15.997] Odometry x=-0.088683, y=0.137899, theta=0.059908
-[01:08:16.017] Odometry x=-0.088586, y=0.137899, theta=0.054804
-[01:08:16.029] Image Alignment failed 0
-[01:08:16.037] Odometry x=-0.088519, y=0.137893, theta=0.051748
-[01:08:16.078] Odometry x=-0.088306, y=0.141694, theta=0.062959
-[01:08:16.088] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000110 ,z=0.000146,angle between two frames:0.011017
-[01:08:16.098] Odometry x=-0.088320, y=0.141687, theta=0.074598
-[01:08:16.118] Odometry x=-0.088329, y=0.141682, theta=0.082345
-[01:08:16.124] Image Alignment failed 0
-[01:08:16.158] Odometry x=-0.088064, y=0.144848, theta=0.085444
-[01:08:16.165] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000023 ,z=-0.000012,angle between two frames:0.019386
-[01:08:16.179] Odometry x=-0.088060, y=0.144890, theta=0.085957
-[01:08:16.199] Odometry x=-0.088057, y=0.144924, theta=0.084094
-[01:08:16.219] Odometry x=-0.088062, y=0.144950, theta=0.082907
-[01:08:16.229] Image Alignment failed 0
-[01:08:16.239] Odometry x=-0.088063, y=0.144963, theta=0.083148
-[01:08:16.280] Odometry x=-0.087667, y=0.149440, theta=0.089596
-[01:08:16.292] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=0.000102,angle between two frames:0.002537
-[01:08:16.300] Odometry x=-0.087673, y=0.149288, theta=0.100173
-[01:08:16.320] Odometry x=-0.087675, y=0.149238, theta=0.107936
-[01:08:16.324] Image Alignment failed 0
-[01:08:16.360] Odometry x=-0.087335, y=0.152170, theta=0.122938
-[01:08:16.363] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000009 ,z=-0.000202,angle between two frames:0.018340
-[01:08:16.380] Odometry x=-0.087338, y=0.152141, theta=0.137800
-[01:08:16.401] Odometry x=-0.087338, y=0.152141, theta=0.147849
-[01:08:16.421] Odometry x=-0.087337, y=0.152148, theta=0.156149
-[01:08:16.429] Image Alignment failed 0
-[01:08:16.461] Odometry x=-0.086747, y=0.155924, theta=0.153193
-[01:08:16.481] Odometry x=-0.086746, y=0.155927, theta=0.148461
-[01:08:16.493] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=-0.000022,angle between two frames:0.033211
-[01:08:16.501] Odometry x=-0.086747, y=0.155927, theta=0.145948
-[01:08:16.522] Odometry x=-0.086747, y=0.155928, theta=0.145362
-[01:08:16.528] Image Alignment failed 0
-[01:08:16.562] Odometry x=-0.086162, y=0.159857, theta=0.152054
-[01:08:16.582] Odometry x=-0.086154, y=0.159909, theta=0.158047
-[01:08:16.592] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000001,angle between two frames:0.003100
-[01:08:16.602] Odometry x=-0.086147, y=0.159943, theta=0.156587
-[01:08:16.622] Odometry x=-0.086146, y=0.159944, theta=0.151228
-[01:08:16.624] Image Alignment failed 0
-[01:08:16.663] Odometry x=-0.085524, y=0.163724, theta=0.144342
-[01:08:16.671] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000008 ,z=0.000035,angle between two frames:0.006820
-[01:08:16.683] Odometry x=-0.085487, y=0.163720, theta=0.139034
-[01:08:16.703] Odometry x=-0.085496, y=0.163697, theta=0.138360
-[01:08:16.723] Odometry x=-0.085506, y=0.163680, theta=0.139583
-[01:08:16.726] Image Alignment failed 0
-[01:08:16.764] Odometry x=-0.084984, y=0.167541, theta=0.149266
-[01:08:16.784] Odometry x=-0.084995, y=0.167624, theta=0.154992
-[01:08:16.786] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000018 ,z=-0.000044,angle between two frames:0.004759
-[01:08:16.805] Odometry x=-0.084987, y=0.167673, theta=0.152708
-[01:08:16.824] Image Alignment failed 0
-[01:08:16.825] Odometry x=-0.084986, y=0.167673, theta=0.147856
-[01:08:16.865] Odometry x=-0.084438, y=0.171395, theta=0.143169
-[01:08:16.871] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000008 ,z=0.000049,angle between two frames:0.002284
-[01:08:16.885] Odometry x=-0.084434, y=0.171434, theta=0.138691
-[01:08:16.905] Odometry x=-0.084435, y=0.171458, theta=0.137918
-[01:08:16.926] Odometry x=-0.084446, y=0.171432, theta=0.138738
-[01:08:16.929] Image Alignment failed 0
-[01:08:16.966] Odometry x=-0.083852, y=0.175188, theta=0.137913
-[01:08:16.986] Odometry x=-0.083803, y=0.175181, theta=0.134051
-[01:08:16.992] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000008 ,z=0.000037,angle between two frames:0.004431
-[01:08:17.006] Odometry x=-0.083797, y=0.175180, theta=0.127128
-[01:08:17.026] Odometry x=-0.083795, y=0.175174, theta=0.121630
-[01:08:17.028] Image Alignment failed 0
-[01:08:17.067] Odometry x=-0.083306, y=0.179130, theta=0.123786
-[01:08:17.087] Odometry x=-0.083303, y=0.179115, theta=0.127821
-[01:08:17.088] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000008 ,z=-0.000007,angle between two frames:0.012421
-[01:08:17.107] Odometry x=-0.083304, y=0.179102, theta=0.130987
-[01:08:17.127] Odometry x=-0.083307, y=0.179099, theta=0.132230
-[01:08:17.130] Image Alignment failed 0
-[01:08:17.168] Odometry x=-0.082820, y=0.182808, theta=0.133392
-[01:08:17.188] Odometry x=-0.082833, y=0.182756, theta=0.133718
-[01:08:17.197] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000004 ,z=-0.000015,angle between two frames:0.004408
-[01:08:17.208] Odometry x=-0.082805, y=0.182704, theta=0.133263
-[01:08:17.228] Odometry x=-0.082785, y=0.182663, theta=0.134892
-[01:08:17.229] Image Alignment failed 0
-[01:08:17.268] Odometry x=-0.082281, y=0.186362, theta=0.131025
-[01:08:17.289] Odometry x=-0.082284, y=0.186302, theta=0.126299
-[01:08:17.296] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000048 ,z=-0.000093,angle between two frames:0.001174
-[01:08:17.309] Odometry x=-0.082286, y=0.186302, theta=0.121414
-[01:08:17.324] Image Alignment failed 0
-[01:08:17.329] Odometry x=-0.082289, y=0.186296, theta=0.118023
-[01:08:17.366] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000003 ,z=-0.000000,angle between two frames:0.004885
-[01:08:17.369] Odometry x=-0.081809, y=0.190341, theta=0.118004
-[01:08:17.389] Odometry x=-0.081808, y=0.190340, theta=0.120708
-[01:08:17.409] Odometry x=-0.081804, y=0.190338, theta=0.124068
-[01:08:17.429] Image Alignment failed 0
-[01:08:17.429] Odometry x=-0.081801, y=0.190336, theta=0.123197
-[01:08:17.470] Odometry x=-0.081339, y=0.194137, theta=0.117995
-[01:08:17.490] Odometry x=-0.081343, y=0.194129, theta=0.108420
-[01:08:17.493] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000485 ,z=0.004043,angle between two frames:0.006044
-[01:08:17.510] Odometry x=-0.081347, y=0.194113, theta=0.097835
-[01:08:17.523] Image Alignment failed 0
-[01:08:17.530] Odometry x=-0.081345, y=0.194106, theta=0.092881
-[01:08:17.563] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000003 ,z=-0.000015,angle between two frames:0.010584
-[01:08:17.571] Odometry x=-0.080996, y=0.197829, theta=0.095301
-[01:08:17.591] Odometry x=-0.081006, y=0.197828, theta=0.101571
-[01:08:17.611] Odometry x=-0.081012, y=0.197829, theta=0.107922
-[01:08:17.629] Image Alignment failed 0
-[01:08:17.631] Odometry x=-0.081002, y=0.197829, theta=0.111896
-[01:08:17.672] Odometry x=-0.080583, y=0.201559, theta=0.111666
-[01:08:17.692] Odometry x=-0.080584, y=0.201557, theta=0.109073
-[01:08:17.693] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000333 ,z=0.003723,angle between two frames:0.015041
-[01:08:17.712] Odometry x=-0.080576, y=0.201551, theta=0.102090
-[01:08:17.729] Image Alignment failed 0
-[01:08:17.752] Odometry x=-0.080205, y=0.204696, theta=0.105387
-[01:08:17.772] Odometry x=-0.080183, y=0.204623, theta=0.112842
-[01:08:17.793] Odometry x=-0.080187, y=0.204583, theta=0.122295
-[01:08:17.797] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000009 ,z=-0.000006,angle between two frames:0.006983
-[01:08:17.813] Odometry x=-0.080189, y=0.204572, theta=0.132510
-[01:08:17.824] Image Alignment failed 0
-[01:08:17.834] Odometry x=-0.080190, y=0.204571, theta=0.142627
-[01:08:17.866] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=-0.000012,angle between two frames:0.010215
-[01:08:17.874] Odometry x=-0.079542, y=0.209132, theta=0.141246
-[01:08:17.894] Odometry x=-0.079546, y=0.209139, theta=0.137931
-[01:08:17.914] Odometry x=-0.079547, y=0.209139, theta=0.134009
-[01:08:17.929] Image Alignment failed 0
-[01:08:17.934] Odometry x=-0.079556, y=0.209110, theta=0.134121
-[01:08:17.975] Odometry x=-0.079091, y=0.212344, theta=0.147073
-[01:08:17.993] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000643 ,z=0.004567,angle between two frames:0.008617
-[01:08:17.995] Odometry x=-0.079196, y=0.211657, theta=0.163658
-[01:08:18.015] Odometry x=-0.079247, y=0.211355, theta=0.178417
-[01:08:18.028] Image Alignment failed 0
-[01:08:18.035] Odometry x=-0.079266, y=0.211265, theta=0.192687
-[01:08:18.075] Odometry x=-0.078535, y=0.214945, theta=0.201038
-[01:08:18.092] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000156 ,z=-0.000989,angle between two frames:0.031344
-[01:08:18.096] Odometry x=-0.078547, y=0.214891, theta=0.208933
-[01:08:18.116] Odometry x=-0.078548, y=0.214884, theta=0.210146
-[01:08:18.129] Image Alignment failed 0
-[01:08:18.156] Odometry x=-0.077903, y=0.217958, theta=0.200803
-[01:08:18.176] Odometry x=-0.077903, y=0.217943, theta=0.192527
-[01:08:18.188] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000013 ,z=-0.000061,angle between two frames:0.009109
-[01:08:18.197] Odometry x=-0.077911, y=0.217898, theta=0.191310
-[01:08:18.217] Odometry x=-0.077917, y=0.217869, theta=0.191719
-[01:08:18.229] Image Alignment failed 0
-[01:08:18.257] Odometry x=-0.077179, y=0.221678, theta=0.188696
-[01:08:18.277] Odometry x=-0.077185, y=0.221639, theta=0.185575
-[01:08:18.296] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000014 ,z=-0.000074,angle between two frames:0.000808
-[01:08:18.297] Odometry x=-0.077201, y=0.221588, theta=0.184086
-[01:08:18.318] Odometry x=-0.077217, y=0.221571, theta=0.186469
-[01:08:18.328] Image Alignment failed 0
-[01:08:18.358] Odometry x=-0.076511, y=0.225330, theta=0.194180
-[01:08:18.378] Odometry x=-0.076520, y=0.225335, theta=0.200794
-[01:08:18.384] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000032 ,z=-0.000068,angle between two frames:0.000895
-[01:08:18.398] Odometry x=-0.076490, y=0.225328, theta=0.204138
-[01:08:18.418] Odometry x=-0.076465, y=0.225322, theta=0.205355
-[01:08:18.425] Image Alignment failed 0
-[01:08:18.459] Odometry x=-0.075660, y=0.229132, theta=0.213427
-[01:08:18.476] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000055 ,z=-0.000014,angle between two frames:0.004560
-[01:08:18.479] Odometry x=-0.075646, y=0.229126, theta=0.221665
-[01:08:18.499] Odometry x=-0.075636, y=0.229014, theta=0.224214
-[01:08:18.520] Odometry x=-0.075636, y=0.228843, theta=0.223639
-[01:08:18.525] Image Alignment failed 0
-[01:08:18.560] Odometry x=-0.074742, y=0.232230, theta=0.221950
-[01:08:18.578] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000023 ,z=-0.000290,angle between two frames:0.010212
-[01:08:18.580] Odometry x=-0.074721, y=0.231947, theta=0.220294
-[01:08:18.601] Odometry x=-0.074756, y=0.231769, theta=0.219334
-[01:08:18.621] Odometry x=-0.074806, y=0.231533, theta=0.220572
-[01:08:18.629] Image Alignment failed 0
-[01:08:18.662] Odometry x=-0.073978, y=0.235187, theta=0.225950
-[01:08:18.682] Odometry x=-0.073990, y=0.235126, theta=0.229241
-[01:08:18.695] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000063 ,z=-0.000697,angle between two frames:0.001378
-[01:08:18.702] Odometry x=-0.073974, y=0.235108, theta=0.227596
-[01:08:18.722] Odometry x=-0.073960, y=0.235096, theta=0.224971
-[01:08:18.725] Image Alignment failed 0
-[01:08:18.763] Odometry x=-0.073133, y=0.238757, theta=0.218208
-[01:08:18.764] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000029 ,z=-0.000030,angle between two frames:0.004270
-[01:08:18.783] Odometry x=-0.073141, y=0.238717, theta=0.210475
-[01:08:18.803] Odometry x=-0.073142, y=0.238716, theta=0.206696
-[01:08:18.823] Odometry x=-0.073145, y=0.238712, theta=0.204166
-[01:08:18.827] Image Alignment failed 0
-[01:08:18.863] Odometry x=-0.072326, y=0.242639, theta=0.208146
-[01:08:18.883] Odometry x=-0.072322, y=0.242633, theta=0.213721
-[01:08:18.890] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000011 ,z=-0.000045,angle between two frames:0.014042
-[01:08:18.903] Odometry x=-0.072314, y=0.242617, theta=0.213599
-[01:08:18.924] Odometry x=-0.072311, y=0.242604, theta=0.210872
-[01:08:18.930] Image Alignment failed 0
-[01:08:18.964] Odometry x=-0.071525, y=0.246344, theta=0.200647
-[01:08:18.984] Odometry x=-0.071523, y=0.246343, theta=0.190651
-[01:08:18.990] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000011 ,z=-0.000029,angle between two frames:0.002849
-[01:08:19.005] Odometry x=-0.071524, y=0.246332, theta=0.189288
-[01:08:19.025] Odometry x=-0.071516, y=0.246202, theta=0.192165
-[01:08:19.029] Image Alignment failed 0
-[01:08:19.065] Odometry x=-0.070852, y=0.249609, theta=0.192769
-[01:08:19.085] Odometry x=-0.070902, y=0.249399, theta=0.194800
-[01:08:19.090] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000007 ,z=-0.000140,angle between two frames:0.001514
-[01:08:19.106] Odometry x=-0.070908, y=0.249400, theta=0.198348
-[01:08:19.124] Image Alignment failed 0
-[01:08:19.126] Odometry x=-0.070907, y=0.249403, theta=0.198242
-[01:08:19.165] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000006 ,z=0.000001,angle between two frames:0.003548
-[01:08:19.166] Odometry x=-0.070160, y=0.253151, theta=0.194392
-[01:08:19.186] Odometry x=-0.070160, y=0.253148, theta=0.188161
-[01:08:19.206] Odometry x=-0.070161, y=0.253140, theta=0.181174
-[01:08:19.227] Odometry x=-0.070159, y=0.253108, theta=0.173570
-[01:08:19.228] Image Alignment failed 0
-[01:08:19.267] Odometry x=-0.069518, y=0.256780, theta=0.169984
-[01:08:19.268] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000748 ,z=0.003705,angle between two frames:0.024672
-[01:08:19.287] Odometry x=-0.069529, y=0.256684, theta=0.166280
-[01:08:19.307] Odometry x=-0.069533, y=0.256638, theta=0.163484
-[01:08:19.327] Odometry x=-0.069540, y=0.256601, theta=0.159520
-[01:08:19.329] Image Alignment failed 0
-[01:08:19.368] Odometry x=-0.068949, y=0.260346, theta=0.157967
-[01:08:19.388] Odometry x=-0.068962, y=0.260300, theta=0.157053
-[01:08:19.394] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000021 ,z=-0.000179,angle between two frames:0.010464
-[01:08:19.408] Odometry x=-0.068964, y=0.260270, theta=0.158708
-[01:08:19.424] Image Alignment failed 0
-[01:08:19.428] Odometry x=-0.068959, y=0.260256, theta=0.161464
-[01:08:19.469] Odometry x=-0.068280, y=0.264143, theta=0.161444
-[01:08:19.469] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=-0.000029,angle between two frames:0.001655
-[01:08:19.489] Odometry x=-0.068183, y=0.264058, theta=0.160054
-[01:08:19.509] Odometry x=-0.068138, y=0.264031, theta=0.158504
-[01:08:19.526] Image Alignment failed 0
-[01:08:19.529] Odometry x=-0.068167, y=0.264029, theta=0.158820
-[01:08:19.569] Odometry x=-0.067627, y=0.267707, theta=0.164272
-[01:08:19.590] Odometry x=-0.067669, y=0.267680, theta=0.168705
-[01:08:19.594] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000142 ,z=-0.000112,angle between two frames:0.002940
-[01:08:19.610] Odometry x=-0.067678, y=0.267625, theta=0.173207
-[01:08:19.630] Image Alignment failed 0
-[01:08:19.630] Odometry x=-0.067683, y=0.267557, theta=0.179613
-[01:08:19.670] Odometry x=-0.067052, y=0.270226, theta=0.183107
-[01:08:19.690] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000009 ,z=-0.000055,angle between two frames:0.004502
-[01:08:19.690] Odometry x=-0.067100, y=0.269414, theta=0.187483
-[01:08:19.711] Odometry x=-0.067099, y=0.269360, theta=0.191187
-[01:08:19.730] Image Alignment failed 0
-[01:08:19.731] Odometry x=-0.067101, y=0.269349, theta=0.194459
-[01:08:19.771] Odometry x=-0.066364, y=0.273080, theta=0.196087
-[01:08:19.791] Odometry x=-0.066365, y=0.273072, theta=0.198077
-[01:08:19.796] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000047 ,z=-0.000866,angle between two frames:0.008079
-[01:08:19.812] Odometry x=-0.066357, y=0.273071, theta=0.198588
-[01:08:19.824] Image Alignment failed 0
-[01:08:19.832] Odometry x=-0.066353, y=0.273068, theta=0.201327
-[01:08:19.867] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000008 ,z=-0.000001,angle between two frames:0.000511
-[01:08:19.872] Odometry x=-0.065578, y=0.276801, theta=0.209884
-[01:08:19.892] Odometry x=-0.065577, y=0.276791, theta=0.216449
-[01:08:19.913] Odometry x=-0.065570, y=0.276745, theta=0.218888
-[01:08:19.928] Image Alignment failed 0
-[01:08:19.933] Odometry x=-0.065578, y=0.276672, theta=0.221982
-[01:08:19.974] Odometry x=-0.064754, y=0.280320, theta=0.224671
-[01:08:19.992] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000783 ,z=0.003677,angle between two frames:0.017561
-[01:08:19.994] Odometry x=-0.064768, y=0.280273, theta=0.227428
-[01:08:20.014] Odometry x=-0.064775, y=0.280258, theta=0.231001
-[01:08:20.030] Image Alignment failed 0
-[01:08:20.034] Odometry x=-0.064784, y=0.280238, theta=0.238749
-[01:08:20.075] Odometry x=-0.063831, y=0.284119, theta=0.242569
-[01:08:20.094] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000022 ,z=-0.000063,angle between two frames:0.006329
-[01:08:20.095] Odometry x=-0.063816, y=0.284110, theta=0.244276
-[01:08:20.115] Odometry x=-0.063750, y=0.284093, theta=0.241338
-[01:08:20.124] Image Alignment failed 0
-[01:08:20.155] Odometry x=-0.062991, y=0.286858, theta=0.237180
-[01:08:20.164] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000080 ,z=-0.000025,angle between two frames:0.001231
-[01:08:20.176] Odometry x=-0.062942, y=0.286846, theta=0.233197
-[01:08:20.196] Odometry x=-0.062940, y=0.286845, theta=0.232835
-[01:08:20.217] Odometry x=-0.062940, y=0.286842, theta=0.237701
-[01:08:20.227] Image Alignment failed 0
-[01:08:20.257] Odometry x=-0.062038, y=0.290538, theta=0.241729
-[01:08:20.277] Odometry x=-0.062045, y=0.290515, theta=0.244393
-[01:08:20.296] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000051 ,z=-0.000016,angle between two frames:0.000521
-[01:08:20.297] Odometry x=-0.061969, y=0.290490, theta=0.244013
-[01:08:20.317] Odometry x=-0.061906, y=0.290456, theta=0.243088
-[01:08:20.324] Image Alignment failed 0
-[01:08:20.357] Odometry x=-0.060982, y=0.294159, theta=0.241959
-[01:08:20.366] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000139 ,z=-0.000059,angle between two frames:0.001305
-[01:08:20.378] Odometry x=-0.060986, y=0.294127, theta=0.241763
-[01:08:20.398] Odometry x=-0.060990, y=0.294124, theta=0.244800
-[01:08:20.418] Odometry x=-0.060992, y=0.294125, theta=0.249080
-[01:08:20.424] Image Alignment failed 0
-[01:08:20.438] Odometry x=-0.060986, y=0.294113, theta=0.252795
-[01:08:20.468] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000010 ,z=-0.000035,angle between two frames:0.007121
-[01:08:20.478] Odometry x=-0.059683, y=0.298681, theta=0.249842
-[01:08:20.498] Odometry x=-0.059613, y=0.298643, theta=0.246513
-[01:08:20.518] Odometry x=-0.059624, y=0.298635, theta=0.243120
-[01:08:20.524] Image Alignment failed 0
-[01:08:20.559] Odometry x=-0.058910, y=0.301520, theta=0.242025
-[01:08:20.563] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.001362 ,z=0.004521,angle between two frames:0.009674
-[01:08:20.579] Odometry x=-0.058932, y=0.301428, theta=0.240737
-[01:08:20.599] Odometry x=-0.058913, y=0.301369, theta=0.240532
-[01:08:20.619] Odometry x=-0.058888, y=0.301308, theta=0.241126
-[01:08:20.630] Image Alignment failed 0
-[01:08:20.659] Odometry x=-0.058022, y=0.304832, theta=0.241963
-[01:08:20.673] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000021 ,z=-0.000212,angle between two frames:0.000900
-[01:08:20.679] Odometry x=-0.058036, y=0.304776, theta=0.242507
-[01:08:20.699] Odometry x=-0.058047, y=0.304732, theta=0.240733
-[01:08:20.720] Odometry x=-0.058054, y=0.304708, theta=0.234263
-[01:08:20.723] Image Alignment failed 0
-[01:08:20.760] Odometry x=-0.057285, y=0.307975, theta=0.228600
-[01:08:20.763] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000032 ,z=-0.000124,angle between two frames:0.007700
-[01:08:20.780] Odometry x=-0.057292, y=0.307948, theta=0.225272
-[01:08:20.800] Odometry x=-0.057292, y=0.307947, theta=0.225571
-[01:08:20.820] Odometry x=-0.057292, y=0.307946, theta=0.226861
-[01:08:20.824] Image Alignment failed 0
-[01:08:20.860] Odometry x=-0.056350, y=0.312060, theta=0.222747
-[01:08:20.864] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000007 ,z=-0.000029,angle between two frames:0.001739
-[01:08:20.880] Odometry x=-0.056354, y=0.312051, theta=0.216124
-[01:08:20.901] Odometry x=-0.056354, y=0.312045, theta=0.211036
-[01:08:20.921] Odometry x=-0.056352, y=0.312009, theta=0.207065
-[01:08:20.924] Image Alignment failed 0
-[01:08:20.961] Odometry x=-0.055531, y=0.315821, theta=0.195648
-[01:08:20.965] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=-0.000051,angle between two frames:0.015682
-[01:08:20.981] Odometry x=-0.055511, y=0.315795, theta=0.186604
-[01:08:21.001] Odometry x=-0.055512, y=0.315792, theta=0.184946
-[01:08:21.021] Odometry x=-0.055516, y=0.315776, theta=0.185547
-[01:08:21.030] Image Alignment failed 0
-[01:08:21.062] Odometry x=-0.054808, y=0.319530, theta=0.191512
-[01:08:21.082] Odometry x=-0.054815, y=0.319519, theta=0.192591
-[01:08:21.098] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000016 ,z=-0.000045,angle between two frames:0.010101
-[01:08:21.102] Odometry x=-0.054805, y=0.319494, theta=0.187894
-[01:08:21.122] Odometry x=-0.054795, y=0.319479, theta=0.183264
-[01:08:21.129] Image Alignment failed 0
-[01:08:21.163] Odometry x=-0.054125, y=0.323061, theta=0.179935
-[01:08:21.183] Odometry x=-0.054140, y=0.322938, theta=0.178668
-[01:08:21.196] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000020 ,z=-0.000041,angle between two frames:0.009326
-[01:08:21.203] Odometry x=-0.054141, y=0.322935, theta=0.180692
-[01:08:21.223] Odometry x=-0.054141, y=0.322935, theta=0.182694
-[01:08:21.230] Image Alignment failed 0
-[01:08:21.263] Odometry x=-0.053432, y=0.326709, theta=0.192029
-[01:08:21.284] Odometry x=-0.053459, y=0.326591, theta=0.203301
-[01:08:21.296] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=-0.000004,angle between two frames:0.004026
-[01:08:21.304] Odometry x=-0.053461, y=0.326582, theta=0.211365
-[01:08:21.324] Odometry x=-0.053461, y=0.326582, theta=0.215771
-[01:08:21.324] Image Alignment failed 0
-[01:08:21.364] Odometry x=-0.052644, y=0.330304, theta=0.216245
-[01:08:21.364] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=-0.000009,angle between two frames:0.012469
-[01:08:21.385] Odometry x=-0.052647, y=0.330298, theta=0.215793
-[01:08:21.405] Odometry x=-0.052648, y=0.330296, theta=0.216219
-[01:08:21.425] Odometry x=-0.052648, y=0.330295, theta=0.218693
-[01:08:21.429] Image Alignment failed 0
-[01:08:21.465] Odometry x=-0.051803, y=0.334036, theta=0.227574
-[01:08:21.485] Odometry x=-0.051804, y=0.334029, theta=0.236897
-[01:08:21.493] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000004 ,z=-0.000009,angle between two frames:0.002448
-[01:08:21.506] Odometry x=-0.051796, y=0.334021, theta=0.241160
-[01:08:21.526] Odometry x=-0.051784, y=0.334016, theta=0.245503
-[01:08:21.529] Image Alignment failed 0
-[01:08:21.566] Odometry x=-0.050862, y=0.337575, theta=0.248167
-[01:08:21.586] Odometry x=-0.050850, y=0.337528, theta=0.249612
-[01:08:21.589] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000020 ,z=-0.000013,angle between two frames:0.008606
-[01:08:21.606] Odometry x=-0.050873, y=0.337407, theta=0.250567
-[01:08:21.627] Odometry x=-0.050898, y=0.337308, theta=0.251748
-[01:08:21.630] Image Alignment failed 0
-[01:08:21.667] Odometry x=-0.049932, y=0.341050, theta=0.254588
-[01:08:21.687] Odometry x=-0.049939, y=0.341030, theta=0.257280
-[01:08:21.697] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000048 ,z=-0.000220,angle between two frames:0.002136
-[01:08:21.707] Odometry x=-0.049944, y=0.341026, theta=0.258664
-[01:08:21.727] Odometry x=-0.049948, y=0.341017, theta=0.263143
-[01:08:21.729] Image Alignment failed 0
-[01:08:21.768] Odometry x=-0.048910, y=0.344667, theta=0.275368
-[01:08:21.788] Odometry x=-0.048872, y=0.344571, theta=0.288585
-[01:08:21.789] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000010 ,z=-0.000013,angle between two frames:0.005862
-[01:08:21.808] Odometry x=-0.048855, y=0.344523, theta=0.293206
-[01:08:21.828] Odometry x=-0.048856, y=0.344514, theta=0.292426
-[01:08:21.830] Image Alignment failed 0
-[01:08:21.869] Odometry x=-0.047777, y=0.348255, theta=0.290358
-[01:08:21.889] Odometry x=-0.047816, y=0.348268, theta=0.290319
-[01:08:21.897] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000016 ,z=-0.000057,angle between two frames:0.003841
-[01:08:21.909] Odometry x=-0.047830, y=0.348254, theta=0.295021
-[01:08:21.929] Odometry x=-0.047826, y=0.348237, theta=0.301576
-[01:08:21.930] Image Alignment failed 0
-[01:08:21.970] Odometry x=-0.046576, y=0.351842, theta=0.301614
-[01:08:21.990] Odometry x=-0.046506, y=0.351817, theta=0.300375
-[01:08:21.997] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000010 ,z=-0.000031,angle between two frames:0.011257
-[01:08:22.010] Odometry x=-0.046508, y=0.351810, theta=0.298569
-[01:08:22.030] Image Alignment failed 0
-[01:08:22.030] Odometry x=-0.046514, y=0.351792, theta=0.298931
-[01:08:22.070] Odometry x=-0.045424, y=0.355288, theta=0.303055
-[01:08:22.090] Odometry x=-0.045478, y=0.355077, theta=0.307261
-[01:08:22.097] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=-0.000007,angle between two frames:0.001806
-[01:08:22.111] Odometry x=-0.045495, y=0.355002, theta=0.307304
-[01:08:22.125] Image Alignment failed 0
-[01:08:22.131] Odometry x=-0.045495, y=0.354999, theta=0.305833
-[01:08:22.164] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000017 ,z=-0.000075,angle between two frames:0.000043
-[01:08:22.171] Odometry x=-0.044337, y=0.358638, theta=0.298926
-[01:08:22.191] Odometry x=-0.044327, y=0.358634, theta=0.293058
-[01:08:22.212] Odometry x=-0.044331, y=0.358635, theta=0.289819
-[01:08:22.230] Image Alignment failed 0
-[01:08:22.232] Odometry x=-0.044333, y=0.358636, theta=0.287648
-[01:08:22.272] Odometry x=-0.043177, y=0.362479, theta=0.293418
-[01:08:22.292] Odometry x=-0.043173, y=0.362478, theta=0.297620
-[01:08:22.293] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.001165 ,z=0.003637,angle between two frames:0.016013
-[01:08:22.312] Odometry x=-0.043175, y=0.362472, theta=0.299654
-[01:08:22.327] Image Alignment failed 0
-[01:08:22.333] Odometry x=-0.043181, y=0.362465, theta=0.301030
-[01:08:22.373] Odometry x=-0.042067, y=0.366114, theta=0.293354
-[01:08:22.389] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=-0.000006,angle between two frames:0.002035
-[01:08:22.393] Odometry x=-0.042079, y=0.366090, theta=0.284262
-[01:08:22.413] Odometry x=-0.042085, y=0.366073, theta=0.278660
-[01:08:22.429] Image Alignment failed 0
-[01:08:22.433] Odometry x=-0.042088, y=0.366067, theta=0.275296
-[01:08:22.474] Odometry x=-0.041055, y=0.369724, theta=0.274903
-[01:08:22.488] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000018 ,z=-0.000041,angle between two frames:0.014693
-[01:08:22.494] Odometry x=-0.041060, y=0.369699, theta=0.275736
-[01:08:22.514] Odometry x=-0.041057, y=0.369664, theta=0.276846
-[01:08:22.529] Image Alignment failed 0
-[01:08:22.534] Odometry x=-0.041058, y=0.369634, theta=0.278053
-[01:08:22.574] Odometry x=-0.040023, y=0.373264, theta=0.274789
-[01:08:22.595] Odometry x=-0.040017, y=0.373232, theta=0.269704
-[01:08:22.596] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=-0.000060,angle between two frames:0.001943
-[01:08:22.615] Odometry x=-0.039989, y=0.373222, theta=0.262468
-[01:08:22.629] Image Alignment failed 0
-[01:08:22.635] Odometry x=-0.039923, y=0.373205, theta=0.252219
-[01:08:22.675] Odometry x=-0.039143, y=0.376261, theta=0.249059
-[01:08:22.688] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000029 ,z=-0.000009,angle between two frames:0.007236
-[01:08:22.696] Odometry x=-0.039265, y=0.375790, theta=0.249062
-[01:08:22.716] Odometry x=-0.039271, y=0.375775, theta=0.254492
-[01:08:22.724] Image Alignment failed 0
-[01:08:22.757] Odometry x=-0.038500, y=0.378731, theta=0.256498
-[01:08:22.772] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000128 ,z=-0.000486,angle between two frames:0.005433
-[01:08:22.777] Odometry x=-0.038502, y=0.378727, theta=0.258473
-[01:08:22.797] Odometry x=-0.038465, y=0.378717, theta=0.255544
-[01:08:22.817] Odometry x=-0.038343, y=0.378686, theta=0.250831
-[01:08:22.830] Image Alignment failed 0
-[01:08:22.858] Odometry x=-0.037798, y=0.380818, theta=0.248278
-[01:08:22.878] Odometry x=-0.038051, y=0.379805, theta=0.248318
-[01:08:22.893] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000157 ,z=-0.000045,angle between two frames:0.005667
-[01:08:22.898] Odometry x=-0.038108, y=0.379710, theta=0.254050
-[01:08:22.918] Odometry x=-0.038151, y=0.379721, theta=0.259741
-[01:08:22.925] Image Alignment failed 0
-[01:08:22.938] Odometry x=-0.038172, y=0.379726, theta=0.265032
-[01:08:22.965] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000100 ,z=-0.000084,angle between two frames:0.011423
-[01:08:22.979] Odometry x=-0.036948, y=0.384186, theta=0.272393
-[01:08:22.999] Odometry x=-0.036949, y=0.384189, theta=0.278370
-[01:08:23.020] Odometry x=-0.036943, y=0.384187, theta=0.275802
-[01:08:23.030] Image Alignment failed 0
-[01:08:23.060] Odometry x=-0.036111, y=0.387227, theta=0.270490
-[01:08:23.080] Odometry x=-0.036101, y=0.387343, theta=0.265200
-[01:08:23.093] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.001230 ,z=0.004461,angle between two frames:0.010771
-[01:08:23.100] Odometry x=-0.036131, y=0.387350, theta=0.264349
-[01:08:23.121] Odometry x=-0.036174, y=0.387305, theta=0.268679
-[01:08:23.128] Image Alignment failed 0
-[01:08:23.161] Odometry x=-0.035018, y=0.391418, theta=0.282019
-[01:08:23.181] Odometry x=-0.035012, y=0.391380, theta=0.296800
-[01:08:23.193] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000073 ,z=-0.000038,angle between two frames:0.003479
-[01:08:23.201] Odometry x=-0.034959, y=0.391348, theta=0.304485
-[01:08:23.221] Odometry x=-0.034932, y=0.391335, theta=0.311420
-[01:08:23.229] Image Alignment failed 0
-[01:08:23.262] Odometry x=-0.033809, y=0.394837, theta=0.308514
-[01:08:23.282] Odometry x=-0.033808, y=0.394835, theta=0.308292
-[01:08:23.285] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000080 ,z=-0.000045,angle between two frames:0.014620
-[01:08:23.302] Odometry x=-0.033809, y=0.394831, theta=0.313050
-[01:08:23.323] Odometry x=-0.033795, y=0.394824, theta=0.321836
-[01:08:23.326] Image Alignment failed 0
-[01:08:23.363] Odometry x=-0.032529, y=0.398631, theta=0.325435
-[01:08:23.372] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000013 ,z=-0.000010,angle between two frames:0.013544
-[01:08:23.383] Odometry x=-0.032535, y=0.398633, theta=0.327721
-[01:08:23.403] Odometry x=-0.032536, y=0.398633, theta=0.320779
-[01:08:23.423] Odometry x=-0.032536, y=0.398633, theta=0.309739
-[01:08:23.425] Image Alignment failed 0
-[01:08:23.464] Odometry x=-0.031336, y=0.402312, theta=0.310313
-[01:08:23.481] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000007 ,z=0.000001,angle between two frames:0.015696
-[01:08:23.484] Odometry x=-0.031323, y=0.402306, theta=0.315469
-[01:08:23.504] Odometry x=-0.031292, y=0.402296, theta=0.322272
-[01:08:23.524] Odometry x=-0.031269, y=0.402288, theta=0.329502
-[01:08:23.530] Image Alignment failed 0
-[01:08:23.565] Odometry x=-0.030051, y=0.405858, theta=0.327896
-[01:08:23.585] Odometry x=-0.030069, y=0.405803, theta=0.326217
-[01:08:23.598] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000068 ,z=-0.000024,angle between two frames:0.019189
-[01:08:23.605] Odometry x=-0.030069, y=0.405800, theta=0.322810
-[01:08:23.625] Odometry x=-0.030062, y=0.405796, theta=0.316564
-[01:08:23.629] Image Alignment failed 0
-[01:08:23.665] Odometry x=-0.028919, y=0.409296, theta=0.314881
-[01:08:23.685] Odometry x=-0.028952, y=0.409192, theta=0.314608
-[01:08:23.696] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000007 ,z=-0.000007,angle between two frames:0.009654
-[01:08:23.706] Odometry x=-0.028967, y=0.409143, theta=0.318763
-[01:08:23.726] Odometry x=-0.028978, y=0.409109, theta=0.325388
-[01:08:23.730] Image Alignment failed 0
-[01:08:23.766] Odometry x=-0.027725, y=0.412717, theta=0.325895
-[01:08:23.786] Odometry x=-0.027704, y=0.412710, theta=0.327342
-[01:08:23.790] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000026 ,z=-0.000083,angle between two frames:0.010780
-[01:08:23.807] Odometry x=-0.027703, y=0.412710, theta=0.325959
-[01:08:23.827] Odometry x=-0.027702, y=0.412710, theta=0.319228
-[01:08:23.831] Image Alignment failed 0
-[01:08:23.867] Odometry x=-0.026265, y=0.416575, theta=0.319339
-[01:08:23.887] Odometry x=-0.026117, y=0.416703, theta=0.322340
-[01:08:23.897] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000002 ,z=-0.000000,angle between two frames:0.008114
-[01:08:23.907] Odometry x=-0.026119, y=0.416670, theta=0.328639
-[01:08:23.927] Odometry x=-0.026123, y=0.416645, theta=0.332022
-[01:08:23.929] Image Alignment failed 0
-[01:08:23.968] Odometry x=-0.024829, y=0.420435, theta=0.322585
-[01:08:23.988] Odometry x=-0.024827, y=0.420428, theta=0.310159
-[01:08:23.996] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000006 ,z=-0.000058,angle between two frames:0.009682
-[01:08:24.008] Odometry x=-0.024826, y=0.420428, theta=0.302605
-[01:08:24.024] Image Alignment failed 0
-[01:08:24.028] Odometry x=-0.024824, y=0.420432, theta=0.300428
-[01:08:24.069] Odometry x=-0.023690, y=0.424086, theta=0.301609
-[01:08:24.069] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=0.000000,angle between two frames:0.007554
-[01:08:24.089] Odometry x=-0.023689, y=0.424092, theta=0.303624
-[01:08:24.109] Odometry x=-0.023679, y=0.424089, theta=0.305671
-[01:08:24.127] Image Alignment failed 0
-[01:08:24.129] Odometry x=-0.023670, y=0.424084, theta=0.306391
-[01:08:24.170] Odometry x=-0.022539, y=0.427696, theta=0.298835
-[01:08:24.186] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000011 ,z=0.000003,angle between two frames:0.004061
-[01:08:24.190] Odometry x=-0.022552, y=0.427641, theta=0.290266
-[01:08:24.210] Odometry x=-0.022573, y=0.427569, theta=0.285369
-[01:08:24.230] Image Alignment failed 0
-[01:08:24.230] Odometry x=-0.022637, y=0.427458, theta=0.283612
-[01:08:24.271] Odometry x=-0.021566, y=0.431117, theta=0.287374
-[01:08:24.291] Odometry x=-0.021568, y=0.431111, theta=0.289958
-[01:08:24.292] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000034 ,z=-0.000127,angle between two frames:0.013466
-[01:08:24.312] Odometry x=-0.021565, y=0.431110, theta=0.287493
-[01:08:24.329] Image Alignment failed 0
-[01:08:24.332] Odometry x=-0.021561, y=0.431108, theta=0.282646
-[01:08:24.372] Odometry x=-0.020397, y=0.434755, theta=0.276392
-[01:08:24.389] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000003 ,z=-0.000002,angle between two frames:0.002464
-[01:08:24.392] Odometry x=-0.020328, y=0.434741, theta=0.271640
-[01:08:24.413] Odometry x=-0.020325, y=0.434739, theta=0.272248
-[01:08:24.430] Image Alignment failed 0
-[01:08:24.433] Odometry x=-0.020322, y=0.434738, theta=0.272100
-[01:08:24.473] Odometry x=-0.019248, y=0.438599, theta=0.270038
-[01:08:24.489] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000072 ,z=-0.000016,angle between two frames:0.004144
-[01:08:24.494] Odometry x=-0.019247, y=0.438595, theta=0.269200
-[01:08:24.514] Odometry x=-0.019246, y=0.438593, theta=0.271537
-[01:08:24.528] Image Alignment failed 0
-[01:08:24.534] Odometry x=-0.019247, y=0.438593, theta=0.275093
-[01:08:24.574] Odometry x=-0.018202, y=0.442270, theta=0.279580
-[01:08:24.587] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000006,angle between two frames:0.001499
-[01:08:24.594] Odometry x=-0.018209, y=0.442272, theta=0.284501
-[01:08:24.614] Odometry x=-0.018212, y=0.442273, theta=0.287616
-[01:08:24.630] Image Alignment failed 0
-[01:08:24.635] Odometry x=-0.018212, y=0.442273, theta=0.288306
-[01:08:24.675] Odometry x=-0.017107, y=0.446026, theta=0.282017
-[01:08:24.695] Odometry x=-0.017076, y=0.446096, theta=0.274792
-[01:08:24.696] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000011 ,z=0.000003,angle between two frames:0.008036
-[01:08:24.715] Odometry x=-0.017045, y=0.446070, theta=0.273850
-[01:08:24.729] Image Alignment failed 0
-[01:08:24.735] Odometry x=-0.017018, y=0.446023, theta=0.275738
-[01:08:24.776] Odometry x=-0.015977, y=0.449663, theta=0.280743
-[01:08:24.796] Odometry x=-0.015997, y=0.449591, theta=0.286216
-[01:08:24.797] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000031 ,z=-0.000027,angle between two frames:0.000941
-[01:08:24.816] Odometry x=-0.016002, y=0.449554, theta=0.287868
-[01:08:24.825] Image Alignment failed 0
-[01:08:24.856] Odometry x=-0.015120, y=0.452524, theta=0.290780
-[01:08:24.865] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000006 ,z=-0.000038,angle between two frames:0.001652
-[01:08:24.876] Odometry x=-0.015112, y=0.452554, theta=0.292614
-[01:08:24.897] Odometry x=-0.015112, y=0.452556, theta=0.293878
-[01:08:24.917] Odometry x=-0.015111, y=0.452556, theta=0.295877
-[01:08:24.930] Image Alignment failed 0
-[01:08:24.957] Odometry x=-0.013936, y=0.456188, theta=0.296693
-[01:08:24.977] Odometry x=-0.013900, y=0.456170, theta=0.296662
-[01:08:24.994] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000009 ,z=0.000032,angle between two frames:0.005097
-[01:08:24.998] Odometry x=-0.013914, y=0.456124, theta=0.295902
-[01:08:25.018] Odometry x=-0.013963, y=0.456073, theta=0.299691
-[01:08:25.029] Image Alignment failed 0
-[01:08:25.058] Odometry x=-0.012775, y=0.459885, theta=0.305540
-[01:08:25.078] Odometry x=-0.012779, y=0.459879, theta=0.311532
-[01:08:25.089] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000063 ,z=-0.000098,angle between two frames:0.003029
-[01:08:25.098] Odometry x=-0.012777, y=0.459881, theta=0.314032
-[01:08:25.119] Odometry x=-0.012775, y=0.459881, theta=0.315459
-[01:08:25.130] Image Alignment failed 0
-[01:08:25.159] Odometry x=-0.011599, y=0.463496, theta=0.314223
-[01:08:25.179] Odometry x=-0.011628, y=0.463443, theta=0.315170
-[01:08:25.190] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000003 ,z=0.000002,angle between two frames:0.003928
-[01:08:25.199] Odometry x=-0.011645, y=0.463410, theta=0.321476
-[01:08:25.220] Odometry x=-0.011641, y=0.463402, theta=0.331582
-[01:08:25.225] Image Alignment failed 0
-[01:08:25.260] Odometry x=-0.010382, y=0.467004, theta=0.340438
-[01:08:25.273] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000013 ,z=-0.000040,angle between two frames:0.016412
-[01:08:25.280] Odometry x=-0.010382, y=0.467001, theta=0.348909
-[01:08:25.300] Odometry x=-0.010380, y=0.466997, theta=0.349304
-[01:08:25.321] Odometry x=-0.010380, y=0.466973, theta=0.344538
-[01:08:25.326] Image Alignment failed 0
-[01:08:25.361] Odometry x=-0.009005, y=0.470407, theta=0.339036
-[01:08:25.381] Odometry x=-0.008951, y=0.470289, theta=0.334076
-[01:08:25.382] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000002 ,z=-0.000032,angle between two frames:0.004100
-[01:08:25.401] Odometry x=-0.008964, y=0.470280, theta=0.333604
-[01:08:25.421] Odometry x=-0.008980, y=0.470286, theta=0.337045
-[01:08:25.431] Image Alignment failed 0
-[01:08:25.462] Odometry x=-0.007705, y=0.473883, theta=0.346665
-[01:08:25.482] Odometry x=-0.007693, y=0.473873, theta=0.354793
-[01:08:25.497] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000030 ,z=-0.000003,angle between two frames:0.002968
-[01:08:25.502] Odometry x=-0.007641, y=0.473846, theta=0.355291
-[01:08:25.522] Odometry x=-0.007604, y=0.473824, theta=0.352741
-[01:08:25.529] Image Alignment failed 0
-[01:08:25.562] Odometry x=-0.006264, y=0.477328, theta=0.355845
-[01:08:25.583] Odometry x=-0.006260, y=0.477254, theta=0.357608
-[01:08:25.585] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000090 ,z=-0.000049,angle between two frames:0.002052
-[01:08:25.603] Odometry x=-0.006264, y=0.477238, theta=0.357193
-[01:08:25.623] Odometry x=-0.006265, y=0.477234, theta=0.356586
-[01:08:25.629] Image Alignment failed 0
-[01:08:25.663] Odometry x=-0.005104, y=0.480388, theta=0.347670
-[01:08:25.683] Odometry x=-0.005132, y=0.480303, theta=0.339324
-[01:08:25.698] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000005 ,z=-0.000020,angle between two frames:0.001022
-[01:08:25.704] Odometry x=-0.005134, y=0.480292, theta=0.334128
-[01:08:25.724] Odometry x=-0.005139, y=0.480272, theta=0.330707
-[01:08:25.729] Image Alignment failed 0
-[01:08:25.764] Odometry x=-0.003737, y=0.484323, theta=0.337170
-[01:08:25.784] Odometry x=-0.003739, y=0.484317, theta=0.345246
-[01:08:25.785] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000007 ,z=-0.000031,angle between two frames:0.008618
-[01:08:25.804] Odometry x=-0.003741, y=0.484313, theta=0.351491
-[01:08:25.825] Odometry x=-0.003741, y=0.484313, theta=0.355835
-[01:08:25.831] Image Alignment failed 0
-[01:08:25.865] Odometry x=-0.002508, y=0.487552, theta=0.347334
-[01:08:25.885] Odometry x=-0.002485, y=0.487538, theta=0.339096
-[01:08:25.894] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=-0.000004,angle between two frames:0.010589
-[01:08:25.905] Odometry x=-0.002487, y=0.487531, theta=0.334237
-[01:08:25.924] Image Alignment failed 0
-[01:08:25.925] Odometry x=-0.002514, y=0.487484, theta=0.331383
-[01:08:25.966] Odometry x=-0.001172, y=0.491375, theta=0.331926
-[01:08:25.968] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=-0.000007,angle between two frames:0.004860
-[01:08:25.986] Odometry x=-0.001177, y=0.491358, theta=0.329911
-[01:08:26.006] Odometry x=-0.001177, y=0.491358, theta=0.326255
-[01:08:26.025] Image Alignment failed 0
-[01:08:26.026] Odometry x=-0.001173, y=0.491357, theta=0.323211
-[01:08:26.067] Odometry x=0.000082, y=0.495094, theta=0.315603
-[01:08:26.087] Odometry x=0.000084, y=0.495089, theta=0.309638
-[01:08:26.093] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000005 ,z=-0.000017,angle between two frames:0.005671
-[01:08:26.107] Odometry x=0.000081, y=0.495082, theta=0.307468
-[01:08:26.124] Image Alignment failed 0
-[01:08:26.127] Odometry x=0.000085, y=0.495075, theta=0.305532
-[01:08:26.165] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000004 ,z=-0.000006,angle between two frames:0.002170
-[01:08:26.167] Odometry x=0.001183, y=0.498518, theta=0.295523
-[01:08:26.188] Odometry x=0.001199, y=0.498504, theta=0.284117
-[01:08:26.208] Odometry x=0.001203, y=0.498502, theta=0.275016
-[01:08:26.228] Odometry x=0.001190, y=0.498481, theta=0.271394
-[01:08:26.231] Image Alignment failed 0
-[01:08:26.269] Odometry x=0.002180, y=0.501980, theta=0.280986
-[01:08:26.289] Odometry x=0.002145, y=0.501890, theta=0.293625
-[01:08:26.298] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.001106 ,z=0.003406,angle between two frames:0.034138
-[01:08:26.309] Odometry x=0.002155, y=0.501887, theta=0.301114
-[01:08:26.329] Image Alignment failed 0
-[01:08:26.329] Odometry x=0.002172, y=0.501874, theta=0.303150
-[01:08:26.369] Odometry x=0.003399, y=0.505842, theta=0.293664
-[01:08:26.389] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000010 ,z=-0.000003,angle between two frames:0.007490
-[01:08:26.390] Odometry x=0.003406, y=0.505829, theta=0.279100
-[01:08:26.410] Odometry x=0.003390, y=0.505750, theta=0.268420
-[01:08:26.430] Image Alignment failed 0
-[01:08:26.430] Odometry x=0.003377, y=0.505703, theta=0.264701
-[01:08:26.471] Odometry x=0.004320, y=0.509297, theta=0.275475
-[01:08:26.491] Odometry x=0.004270, y=0.509229, theta=0.289108
-[01:08:26.492] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000009 ,z=-0.000091,angle between two frames:0.025244
-[01:08:26.511] Odometry x=0.004275, y=0.509212, theta=0.301360
-[01:08:26.530] Image Alignment failed 0
-[01:08:26.531] Odometry x=0.004283, y=0.509192, theta=0.313344
-[01:08:26.571] Odometry x=0.005472, y=0.512832, theta=0.310624
-[01:08:26.590] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000004 ,z=-0.000017,angle between two frames:0.012252
-[01:08:26.591] Odometry x=0.005481, y=0.512834, theta=0.307902
-[01:08:26.612] Odometry x=0.005481, y=0.512834, theta=0.308498
-[01:08:26.629] Image Alignment failed 0
-[01:08:26.632] Odometry x=0.005471, y=0.512800, theta=0.311475
-[01:08:26.672] Odometry x=0.006569, y=0.516152, theta=0.321017
-[01:08:26.689] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000009 ,z=0.000002,angle between two frames:0.002126
-[01:08:26.693] Odometry x=0.006500, y=0.515941, theta=0.331728
-[01:08:26.713] Odometry x=0.006510, y=0.515886, theta=0.338149
-[01:08:26.730] Image Alignment failed 0
-[01:08:26.733] Odometry x=0.006495, y=0.515789, theta=0.343098
-[01:08:26.774] Odometry x=0.007811, y=0.519462, theta=0.344906
-[01:08:26.790] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000059 ,z=-0.000266,angle between two frames:0.017132
-[01:08:26.794] Odometry x=0.007747, y=0.519288, theta=0.346141
-[01:08:26.814] Odometry x=0.007719, y=0.519203, theta=0.345564
-[01:08:26.834] Odometry x=0.007743, y=0.519165, theta=0.346601
-[01:08:26.837] Image Alignment failed 0
-[01:08:26.875] Odometry x=0.009053, y=0.522536, theta=0.357620
-[01:08:26.895] Odometry x=0.009062, y=0.522433, theta=0.366993
-[01:08:26.902] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000068 ,z=-0.000297,angle between two frames:0.001695
-[01:08:26.915] Odometry x=0.009042, y=0.522375, theta=0.370536
-[01:08:26.929] Image Alignment failed 0
-[01:08:26.935] Odometry x=0.009042, y=0.522370, theta=0.372082
-[01:08:26.976] Odometry x=0.010438, y=0.525945, theta=0.372559
-[01:08:26.996] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000020 ,z=-0.000058,angle between two frames:0.003543
-[01:08:26.996] Odometry x=0.010417, y=0.525862, theta=0.373037
-[01:08:27.016] Odometry x=0.010419, y=0.525833, theta=0.373636
-[01:08:27.030] Image Alignment failed 0
-[01:08:27.056] Odometry x=0.011553, y=0.528594, theta=0.373552
-[01:08:27.076] Odometry x=0.011552, y=0.528510, theta=0.374385
-[01:08:27.089] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000029,angle between two frames:0.000600
-[01:08:27.096] Odometry x=0.011548, y=0.528506, theta=0.376300
-[01:08:27.116] Odometry x=0.011551, y=0.528515, theta=0.376775
-[01:08:27.125] Image Alignment failed 0
-[01:08:27.137] Odometry x=0.011552, y=0.528515, theta=0.375871
-[01:08:27.168] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000005,angle between two frames:0.002390
-[01:08:27.177] Odometry x=0.013307, y=0.532958, theta=0.376135
-[01:08:27.197] Odometry x=0.013305, y=0.532943, theta=0.375852
-[01:08:27.217] Odometry x=0.013304, y=0.532934, theta=0.374248
-[01:08:27.230] Image Alignment failed 0
-[01:08:27.258] Odometry x=0.014437, y=0.535578, theta=0.388819
-[01:08:27.278] Odometry x=0.014412, y=0.535408, theta=0.406190
-[01:08:27.293] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.001752 ,z=0.004419,angle between two frames:0.001623
-[01:08:27.298] Odometry x=0.014395, y=0.535334, theta=0.415117
-[01:08:27.318] Odometry x=0.014401, y=0.535309, theta=0.416700
-[01:08:27.329] Image Alignment failed 0
-[01:08:27.359] Odometry x=0.015954, y=0.538800, theta=0.421997
-[01:08:27.379] Odometry x=0.016015, y=0.538975, theta=0.426518
-[01:08:27.388] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000011 ,z=-0.000100,angle between two frames:0.010510
-[01:08:27.399] Odometry x=0.016064, y=0.539110, theta=0.428552
-[01:08:27.419] Odometry x=0.016082, y=0.539149, theta=0.428538
-[01:08:27.430] Image Alignment failed 0
-[01:08:27.460] Odometry x=0.017835, y=0.542987, theta=0.428797
-[01:08:27.480] Odometry x=0.017958, y=0.543257, theta=0.428367
-[01:08:27.496] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000067 ,z=0.000174,angle between two frames:0.002020
-[01:08:27.500] Odometry x=0.018124, y=0.543619, theta=0.425851
-[01:08:27.520] Odometry x=0.018314, y=0.544038, theta=0.422621
-[01:08:27.529] Image Alignment failed 0
-[01:08:27.560] Odometry x=0.020220, y=0.548280, theta=0.419442
-[01:08:27.580] Odometry x=0.020562, y=0.549047, theta=0.415755
-[01:08:27.589] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000356 ,z=0.000780,angle between two frames:0.005746
-[01:08:27.601] Odometry x=0.020774, y=0.549531, theta=0.412346
-[01:08:27.621] Odometry x=0.021063, y=0.550192, theta=0.407616
-[01:08:27.627] Image Alignment failed 0
-[01:08:27.661] Odometry x=0.023025, y=0.554739, theta=0.400299
-[01:08:27.679] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000502 ,z=0.001145,angle between two frames:0.008139
-[01:08:27.681] Odometry x=0.023299, y=0.555378, theta=0.392977
-[01:08:27.702] Odometry x=0.023352, y=0.555472, theta=0.386493
-[01:08:27.722] Odometry x=0.023409, y=0.555591, theta=0.380392
-[01:08:27.739] Image Alignment failed 0
-[01:08:27.762] Odometry x=0.025299, y=0.560324, theta=0.374678
-[01:08:27.782] Odometry x=0.025677, y=0.561283, theta=0.368095
-[01:08:27.803] Odometry x=0.025828, y=0.561673, theta=0.363520
-[01:08:27.803] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000384 ,z=0.000852,angle between two frames:0.019906
-[01:08:27.823] Odometry x=0.025927, y=0.561930, theta=0.361206
-[01:08:27.831] Image Alignment failed 0
-[01:08:27.863] Odometry x=0.027430, y=0.565912, theta=0.360134
-[01:08:27.883] Odometry x=0.027619, y=0.566411, theta=0.357513
-[01:08:27.897] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000099 ,z=0.000258,angle between two frames:0.002314
-[01:08:27.903] Odometry x=0.027802, y=0.566900, theta=0.356250
-[01:08:27.923] Odometry x=0.027943, y=0.567270, theta=0.357311
-[01:08:27.929] Image Alignment failed 0
-[01:08:27.964] Odometry x=0.029389, y=0.571097, theta=0.363689
-[01:08:27.984] Odometry x=0.029483, y=0.571331, theta=0.371719
-[01:08:27.996] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000325 ,z=0.000859,angle between two frames:0.000202
-[01:08:28.004] Odometry x=0.029536, y=0.571469, theta=0.378690
-[01:08:28.024] Odometry x=0.029604, y=0.571646, theta=0.385715
-[01:08:28.028] Image Alignment failed 0
-[01:08:28.064] Odometry x=0.031215, y=0.575803, theta=0.396387
-[01:08:28.083] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000122 ,z=0.000315,angle between two frames:0.013996
-[01:08:28.085] Odometry x=0.031372, y=0.576390, theta=0.404954
-[01:08:28.105] Odometry x=0.031450, y=0.576643, theta=0.406947
-[01:08:28.125] Image Alignment failed 0
-[01:08:28.125] Odometry x=0.031527, y=0.576844, theta=0.408912
-[01:08:28.165] Odometry x=0.033281, y=0.580875, theta=0.409586
-[01:08:28.171] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000235 ,z=0.000840,angle between two frames:0.010560
-[01:08:28.185] Odometry x=0.033440, y=0.581226, theta=0.409423
-[01:08:28.205] Odometry x=0.033453, y=0.581252, theta=0.407124
-[01:08:28.226] Odometry x=0.033458, y=0.581263, theta=0.402910
-[01:08:28.230] Image Alignment failed 0
-[01:08:28.266] Odometry x=0.034987, y=0.584855, theta=0.401737
-[01:08:28.286] Odometry x=0.035004, y=0.584895, theta=0.400461
-[01:08:28.296] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000177 ,z=0.000389,angle between two frames:0.006676
-[01:08:28.306] Odometry x=0.035004, y=0.584895, theta=0.397894
-[01:08:28.326] Odometry x=0.035004, y=0.584895, theta=0.395790
-[01:08:28.328] Image Alignment failed 0
-[01:08:28.366] Odometry x=0.036397, y=0.588244, theta=0.391458
-[01:08:28.372] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.004672
-[01:08:28.387] Odometry x=0.036396, y=0.588240, theta=0.386636
-[01:08:28.407] Odometry x=0.036398, y=0.588222, theta=0.384970
-[01:08:28.427] Odometry x=0.036399, y=0.588206, theta=0.385737
-[01:08:28.429] Image Alignment failed 0
-[01:08:28.467] Odometry x=0.037982, y=0.592108, theta=0.382980
-[01:08:28.487] Odometry x=0.037988, y=0.592100, theta=0.379812
-[01:08:28.494] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000002 ,z=-0.000038,angle between two frames:0.005720
-[01:08:28.508] Odometry x=0.037998, y=0.592095, theta=0.378433
-[01:08:28.526] Image Alignment failed 0
-[01:08:28.528] Odometry x=0.038005, y=0.592091, theta=0.378479
-[01:08:28.568] Odometry x=0.039438, y=0.595652, theta=0.379942
-[01:08:28.577] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000011 ,z=-0.000005,angle between two frames:0.001379
-[01:08:28.588] Odometry x=0.039447, y=0.595648, theta=0.381537
-[01:08:28.609] Odometry x=0.039450, y=0.595647, theta=0.382788
-[01:08:28.625] Image Alignment failed 0
-[01:08:28.629] Odometry x=0.039450, y=0.595646, theta=0.383422
-[01:08:28.669] Odometry x=0.040876, y=0.599187, theta=0.382472
-[01:08:28.679] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000012 ,z=-0.000005,angle between two frames:0.002846
-[01:08:28.689] Odometry x=0.040873, y=0.599182, theta=0.381308
-[01:08:28.710] Odometry x=0.040868, y=0.599166, theta=0.381102
-[01:08:28.725] Image Alignment failed 0
-[01:08:28.730] Odometry x=0.040858, y=0.599142, theta=0.382697
-[01:08:28.770] Odometry x=0.042286, y=0.602680, theta=0.384267
-[01:08:28.778] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000008 ,z=-0.000021,angle between two frames:0.001371
-[01:08:28.790] Odometry x=0.042279, y=0.602663, theta=0.385533
-[01:08:28.811] Odometry x=0.042279, y=0.602661, theta=0.385583
-[01:08:28.830] Image Alignment failed 0
-[01:08:28.831] Odometry x=0.042279, y=0.602660, theta=0.384887
-[01:08:28.870] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000007 ,z=-0.000020,angle between two frames:0.001316
-[01:08:28.871] Odometry x=0.043662, y=0.606075, theta=0.384381
-[01:08:28.892] Odometry x=0.043663, y=0.606074, theta=0.384426
-[01:08:28.912] Odometry x=0.043663, y=0.606070, theta=0.385683
-[01:08:28.932] Image Alignment failed 0
-[01:08:28.932] Odometry x=0.043663, y=0.606067, theta=0.387525
-[01:08:28.972] Odometry x=0.045161, y=0.609719, theta=0.388586
-[01:08:28.993] Odometry x=0.045159, y=0.609705, theta=0.390363
-[01:08:28.994] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.001384 ,z=0.003410,angle between two frames:0.000796
-[01:08:29.013] Odometry x=0.045159, y=0.609703, theta=0.391848
-[01:08:29.024] Image Alignment failed 0
-[01:08:29.033] Odometry x=0.045159, y=0.609703, theta=0.392753
-[01:08:29.073] Odometry x=0.046660, y=0.613326, theta=0.393024
-[01:08:29.093] Odometry x=0.046660, y=0.613325, theta=0.393425
-[01:08:29.094] After Reprojection Map nPoint:37 ,nCell:34 ,nMatches:11 ,distance between two frames x:-0.000000 ,z=-0.000002,angle between two frames:0.001485
-[01:08:29.094] n deleted obs = 11 	 n obs felt =0 	 error init =2.644630 	 error end=2.498564
-[01:08:29.094] After pose optimization, distance between two frames x:0.375596 ,z=-0.011784,angle between two frames:0.707406
-[01:08:29.094] Update EKF and 3D points, distance between two frames x:0.375481 ,z=-0.011779,angle between two frames:0.707188
-[01:08:29.113] Odometry x=0.277803, y=0.603796, theta=0.830335
-[01:08:29.130] Image Alignment failed 0
-[01:08:29.133] Odometry x=0.277801, y=0.603788, theta=0.834678
-[01:08:29.174] Odometry x=0.280657, y=0.606368, theta=0.838333
-[01:08:29.194] Odometry x=0.280639, y=0.606353, theta=0.841620
-[01:08:29.214] Odometry x=0.280627, y=0.606345, theta=0.841900
-[01:08:29.216] After Reprojection Map nPoint:10 ,nCell:9 ,nMatches:9 ,distance between two frames x:-0.142837 ,z=0.005869,angle between two frames:0.267216
-[01:08:29.254] Odometry x=0.282875, y=0.608357, theta=0.838945
-[01:08:29.274] Odometry x=0.282851, y=0.608335, theta=0.836477
-[01:08:29.294] Odometry x=0.282846, y=0.608330, theta=0.837102
-[01:08:29.297] After Reprojection Map nPoint:44 ,nCell:42 ,nMatches:12 ,distance between two frames x:0.000009 ,z=0.000003,angle between two frames:0.000021
-[01:08:29.297] n deleted obs = 6 	 n obs felt =6 	 error init =2.446192 	 error end=0.538091
-[01:08:29.297] After pose optimization, distance between two frames x:-0.600471 ,z=0.091583,angle between two frames:0.310832
-[01:08:29.314] Odometry x=0.282846, y=0.608329, theta=0.838266
-[01:08:29.355] Odometry x=0.285702, y=0.610894, theta=0.837844
-[01:08:29.375] Odometry x=0.285703, y=0.610892, theta=0.837409
-[01:08:29.395] Odometry x=0.285703, y=0.610892, theta=0.837469
-[01:08:29.415] Odometry x=0.285703, y=0.610892, theta=0.837175
-[01:08:29.455] Odometry x=0.288543, y=0.613453, theta=0.836730
-[01:08:29.468] After Reprojection Map nPoint:42 ,nCell:36 ,nMatches:17 ,distance between two frames x:0.000490 ,z=-0.000004,angle between two frames:0.001314
-[01:08:29.468] n deleted obs = 13 	 n obs felt =10 	 error init =1.157158 	 error end=0.460260
-[01:08:29.468] After pose optimization, distance between two frames x:-0.753357 ,z=0.376560,angle between two frames:0.101775
-[01:08:29.475] Odometry x=0.288542, y=0.613453, theta=0.835731
-[01:08:29.496] Odometry x=0.288542, y=0.613452, theta=0.835061
-[01:08:29.516] Odometry x=0.288542, y=0.613451, theta=0.835598
-[01:08:29.556] Odometry x=0.291370, y=0.616003, theta=0.836613
-[01:08:29.576] Odometry x=0.291365, y=0.615995, theta=0.837839
-[01:08:29.596] Odometry x=0.291364, y=0.615993, theta=0.838203
-[01:08:29.616] After Reprojection Map nPoint:44 ,nCell:35 ,nMatches:13 ,distance between two frames x:0.000020 ,z=-0.000002,angle between two frames:0.000014
-[01:08:29.616] n deleted obs = 10 	 n obs felt =9 	 error init =1.254151 	 error end=0.543234
-[01:08:29.616] After pose optimization, distance between two frames x:-0.760827 ,z=0.488816,angle between two frames:0.098748
-[01:08:29.616] Odometry x=0.291363, y=0.615992, theta=0.837310
-[01:08:29.657] Odometry x=0.294072, y=0.618436, theta=0.835589
-[01:08:29.677] Odometry x=0.294072, y=0.618436, theta=0.833779
-[01:08:29.697] Odometry x=0.294072, y=0.618434, theta=0.833029
-[01:08:29.717] Odometry x=0.294074, y=0.618433, theta=0.833140
-[01:08:29.757] Odometry x=0.297107, y=0.621189, theta=0.832596
-[01:08:29.765] After Reprojection Map nPoint:45 ,nCell:33 ,nMatches:16 ,distance between two frames x:-0.000023 ,z=0.000002,angle between two frames:0.000926
-[01:08:29.765] n deleted obs = 7 	 n obs felt =16 	 error init =1.022885 	 error end=0.546440
-[01:08:29.765] After pose optimization, distance between two frames x:-0.487932 ,z=0.460541,angle between two frames:0.000926
-[01:08:29.777] Odometry x=0.297106, y=0.621187, theta=0.832045
-[01:08:29.797] Odometry x=0.297106, y=0.621186, theta=0.831486
-[01:08:29.818] Odometry x=0.297105, y=0.621185, theta=0.830237
-[01:08:29.858] Odometry x=0.299913, y=0.623762, theta=0.824836
-[01:08:29.878] Odometry x=0.299896, y=0.623745, theta=0.819226
-[01:08:29.898] Odometry x=0.299867, y=0.623716, theta=0.817025
-[01:08:29.911] After Reprojection Map nPoint:42 ,nCell:36 ,nMatches:14 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
-[01:08:29.912] n deleted obs = 12 	 n obs felt =5 	 error init =1.339484 	 error end=0.585493
-[01:08:29.912] After pose optimization, distance between two frames x:-0.686519 ,z=0.336764,angle between two frames:0.002630
-[01:08:29.918] Odometry x=0.299846, y=0.623691, theta=0.817204
-[01:08:29.958] Odometry x=0.302626, y=0.626298, theta=0.817605
-[01:08:29.979] Odometry x=0.302623, y=0.626293, theta=0.817728
-[01:08:29.999] Odometry x=0.302621, y=0.626290, theta=0.817538
-[01:08:30.019] Odometry x=0.302619, y=0.626288, theta=0.817454
-[01:08:30.059] Odometry x=0.305399, y=0.628894, theta=0.816946
-[01:08:30.066] After Reprojection Map nPoint:12 ,nCell:12 ,nMatches:8 ,distance between two frames x:0.000019 ,z=-0.000044,angle between two frames:0.000469
-[01:08:30.066] n deleted obs = 3 	 n obs felt =13 	 error init =0.417592 	 error end=0.417592
-[01:08:30.066] After pose optimization, distance between two frames x:0.000019 ,z=-0.000044,angle between two frames:0.000469
-[01:08:30.066] Update EKF and 3D points, distance between two frames x:0.000021 ,z=-0.000043,angle between two frames:0.000469
-[01:08:30.079] Odometry x=0.301984, y=0.625657, theta=0.816512
-[01:08:30.099] Odometry x=0.301979, y=0.625653, theta=0.817205
-[01:08:30.119] Odometry x=0.301978, y=0.625651, theta=0.818279
-[01:08:30.160] Odometry x=0.304764, y=0.628256, theta=0.819955
-[01:08:30.180] Odometry x=0.304760, y=0.628252, theta=0.822240
-[01:08:30.200] Odometry x=0.304760, y=0.628252, theta=0.823843
-[01:08:30.213] After Reprojection Map nPoint:7 ,nCell:7 ,nMatches:0 ,distance between two frames x:-0.000003 ,z=0.000011,angle between two frames:0.000064
-[01:08:30.216] Image Alignment failed 0
-[01:08:30.220] Odometry x=0.304759, y=0.628251, theta=0.824816
-[01:08:30.260] Odometry x=0.307563, y=0.630842, theta=0.824508
-[01:08:30.281] Odometry x=0.307562, y=0.630841, theta=0.824109
-[01:08:30.301] Odometry x=0.307561, y=0.630841, theta=0.823486
-[01:08:30.321] Odometry x=0.307561, y=0.630840, theta=0.823664
-[01:08:30.356] After Reprojection Map nPoint:29 ,nCell:27 ,nMatches:7 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
-[01:08:30.356] n deleted obs = 6 	 n obs felt =1 	 error init =1.964783 	 error end=0.910066
-[01:08:30.356] After pose optimization, distance between two frames x:-0.526874 ,z=-0.038758,angle between two frames:0.077213
-[01:08:30.361] Odometry x=0.310379, y=0.633446, theta=0.826364
-[01:08:30.381] Odometry x=0.310379, y=0.633446, theta=0.829177
-[01:08:30.401] Odometry x=0.310379, y=0.633446, theta=0.831375
-[01:08:30.422] Odometry x=0.310379, y=0.633446, theta=0.833324
-[01:08:30.462] Odometry x=0.313204, y=0.636022, theta=0.828073
-[01:08:30.482] Odometry x=0.313204, y=0.636022, theta=0.822155
-[01:08:30.502] Odometry x=0.313199, y=0.636016, theta=0.817529
-[01:08:30.522] Odometry x=0.313171, y=0.635986, theta=0.816786
-[01:08:30.525] After Reprojection Map nPoint:40 ,nCell:25 ,nMatches:17 ,distance between two frames x:-0.000049 ,z=-0.000477,angle between two frames:0.001702
-[01:08:30.525] n deleted obs = 17 	 n obs felt =6 	 error init =1.068978 	 error end=0.610618
-[01:08:30.525] After pose optimization, distance between two frames x:-0.709830 ,z=0.155833,angle between two frames:0.061329
-[01:08:30.562] Odometry x=0.315875, y=0.638503, theta=0.823931
-[01:08:30.583] Odometry x=0.315808, y=0.638436, theta=0.832059
-[01:08:30.603] Odometry x=0.315790, y=0.638420, theta=0.838056
-[01:08:30.623] Odometry x=0.315779, y=0.638409, theta=0.843712
-[01:08:30.663] Odometry x=0.318665, y=0.640956, theta=0.852214
-[01:08:30.681] After Reprojection Map nPoint:41 ,nCell:32 ,nMatches:12 ,distance between two frames x:0.000079 ,z=0.000010,angle between two frames:0.000028
-[01:08:30.682] n deleted obs = 11 	 n obs felt =8 	 error init =0.758605 	 error end=0.700364
-[01:08:30.682] After pose optimization, distance between two frames x:-0.400855 ,z=0.112471,angle between two frames:0.000321
-[01:08:30.682] Update EKF and 3D points, distance between two frames x:-0.400730 ,z=0.112438,angle between two frames:0.000336
-[01:08:30.683] Odometry x=0.067590, y=0.707364, theta=0.840509
-[01:08:30.703] Odometry x=0.067597, y=0.707359, theta=0.846323
-[01:08:30.724] Odometry x=0.067605, y=0.707357, theta=0.849912
-[01:08:30.764] Odometry x=0.070544, y=0.709931, theta=0.854242
-[01:08:30.784] Odometry x=0.070546, y=0.709934, theta=0.858164
-[01:08:30.804] Odometry x=0.070546, y=0.709934, theta=0.860209
-[01:08:30.824] Odometry x=0.070546, y=0.709935, theta=0.861553
-[01:08:30.825] After Reprojection Map nPoint:41 ,nCell:29 ,nMatches:10 ,distance between two frames x:0.155149 ,z=-0.041059,angle between two frames:0.023388
-[01:08:30.825] n deleted obs = 9 	 n obs felt =6 	 error init =0.665590 	 error end=0.665590
-[01:08:30.825] After pose optimization, distance between two frames x:0.155149 ,z=-0.041059,angle between two frames:0.023388
-[01:08:30.825] Update EKF and 3D points, distance between two frames x:0.155150 ,z=-0.041059,angle between two frames:0.023395
-[01:08:30.865] Odometry x=0.071328, y=0.710710, theta=0.840945
-[01:08:30.885] Odometry x=0.071327, y=0.710710, theta=0.842574
-[01:08:30.905] Odometry x=0.071327, y=0.710710, theta=0.845357
-[01:08:30.925] Odometry x=0.071327, y=0.710709, theta=0.848779
-[01:08:30.965] Odometry x=0.074199, y=0.713225, theta=0.855314
-[01:08:30.985] Odometry x=0.074195, y=0.713224, theta=0.861053
-[01:08:30.988] After Reprojection Map nPoint:47 ,nCell:37 ,nMatches:18 ,distance between two frames x:-0.000653 ,z=-0.000171,angle between two frames:0.000246
-[01:08:30.988] n deleted obs = 18 	 n obs felt =7 	 error init =1.014864 	 error end=0.747469
-[01:08:30.988] After pose optimization, distance between two frames x:-0.470086 ,z=-0.047114,angle between two frames:0.168500
-[01:08:30.988] Update EKF and 3D points, distance between two frames x:-0.469938 ,z=-0.047098,angle between two frames:0.168441
-[01:08:31.005] Odometry x=-0.220330, y=0.680497, theta=0.745047
-[01:08:31.026] Odometry x=-0.220336, y=0.680497, theta=0.743142
-[01:08:31.066] Odometry x=-0.217736, y=0.683334, theta=0.739882
-[01:08:31.086] Odometry x=-0.217736, y=0.683333, theta=0.737618
-[01:08:31.106] Odometry x=-0.217736, y=0.683333, theta=0.737863
-[01:08:31.126] Odometry x=-0.217737, y=0.683332, theta=0.739017
-[01:08:31.134] After Reprojection Map nPoint:50 ,nCell:37 ,nMatches:15 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
-[01:08:31.134] n deleted obs = 20 	 n obs felt =7 	 error init =0.616368 	 error end=0.609847
-[01:08:31.134] After pose optimization, distance between two frames x:-0.090261 ,z=-0.005907,angle between two frames:0.082294
-[01:08:31.134] Update EKF and 3D points, distance between two frames x:-0.090176 ,z=-0.005898,angle between two frames:0.082248
-[01:08:31.167] Odometry x=-0.489787, y=0.658448, theta=0.589645
-[01:08:31.187] Odometry x=-0.489784, y=0.658442, theta=0.589418
-[01:08:31.207] Odometry x=-0.489784, y=0.658441, theta=0.589732
-[01:08:31.227] Odometry x=-0.489784, y=0.658441, theta=0.589495
-[01:08:31.267] Odometry x=-0.487809, y=0.661391, theta=0.590560
-[01:08:31.283] After Reprojection Map nPoint:46 ,nCell:34 ,nMatches:13 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
-[01:08:31.283] n deleted obs = 22 	 n obs felt =3 	 error init =0.741944 	 error end=0.741944
-[01:08:31.283] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
-[01:08:31.283] Update EKF and 3D points, distance between two frames x:0.000001 ,z=0.000002,angle between two frames:0.000001
-[01:08:31.288] Odometry x=-0.490722, y=0.657052, theta=0.591310
-[01:08:31.308] Odometry x=-0.490723, y=0.657047, theta=0.593227
-[01:08:31.328] Odometry x=-0.490731, y=0.657034, theta=0.595771
-[01:08:31.368] Odometry x=-0.488321, y=0.660592, theta=0.594533
-[01:08:31.388] Odometry x=-0.488325, y=0.660586, theta=0.593412
-[01:08:31.408] Odometry x=-0.488327, y=0.660583, theta=0.592676
-[01:08:31.428] Odometry x=-0.488328, y=0.660582, theta=0.591009
-[01:08:31.431] After Reprojection Map nPoint:47 ,nCell:38 ,nMatches:10 ,distance between two frames x:-0.000017 ,z=-0.000070,angle between two frames:0.000100
-[01:08:31.431] n deleted obs = 16 	 n obs felt =3 	 error init =0.681750 	 error end=0.643716
-[01:08:31.431] After pose optimization, distance between two frames x:-0.171719 ,z=0.010127,angle between two frames:0.158286
-[01:08:31.431] Update EKF and 3D points, distance between two frames x:-0.171665 ,z=0.010126,angle between two frames:0.158237
-[01:08:31.469] Odometry x=-0.662107, y=0.669014, theta=0.429796
-[01:08:31.489] Odometry x=-0.662107, y=0.669013, theta=0.427312
-[01:08:31.509] Odometry x=-0.662107, y=0.669013, theta=0.425984
-[01:08:31.529] Odometry x=-0.662107, y=0.669013, theta=0.425335
-[01:08:31.569] Odometry x=-0.660588, y=0.672366, theta=0.425632
-[01:08:31.589] Odometry x=-0.660589, y=0.672364, theta=0.425189
-[01:08:31.594] After Reprojection Map nPoint:49 ,nCell:37 ,nMatches:14 ,distance between two frames x:0.000808 ,z=-0.000879,angle between two frames:0.000436
-[01:08:31.594] n deleted obs = 11 	 n obs felt =11 	 error init =0.710194 	 error end=0.581259
-[01:08:31.594] After pose optimization, distance between two frames x:-0.263068 ,z=0.625831,angle between two frames:0.000436
-[01:08:31.610] Odometry x=-0.660590, y=0.672362, theta=0.423999
-[01:08:31.630] Odometry x=-0.660592, y=0.672358, theta=0.422505
-[01:08:31.670] Odometry x=-0.658905, y=0.676122, theta=0.419717
-[01:08:31.690] Odometry x=-0.658906, y=0.676120, theta=0.416779
-[01:08:31.710] Odometry x=-0.658907, y=0.676117, theta=0.414455
-[01:08:31.730] Odometry x=-0.658912, y=0.676104, theta=0.412483
-[01:08:31.741] After Reprojection Map nPoint:45 ,nCell:35 ,nMatches:13 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
-[01:08:31.741] n deleted obs = 18 	 n obs felt =3 	 error init =0.921758 	 error end=0.921758
-[01:08:31.741] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
-[01:08:31.741] Update EKF and 3D points, distance between two frames x:0.000001 ,z=0.000001,angle between two frames:0.000004
-[01:08:31.771] Odometry x=-0.658595, y=0.676767, theta=0.425395
-[01:08:31.791] Odometry x=-0.658600, y=0.676755, theta=0.424479
-[01:08:31.811] Odometry x=-0.658601, y=0.676753, theta=0.423125
-[01:08:31.851] Odometry x=-0.657316, y=0.679616, theta=0.419797
-[01:08:31.871] Odometry x=-0.657317, y=0.679612, theta=0.415896
-[01:08:31.892] Odometry x=-0.657318, y=0.679609, theta=0.413079
-[01:08:31.896] After Reprojection Map nPoint:48 ,nCell:35 ,nMatches:9 ,distance between two frames x:-0.000243 ,z=0.000148,angle between two frames:0.000255
-[01:08:31.896] n deleted obs = 13 	 n obs felt =6 	 error init =0.614922 	 error end=0.614922
-[01:08:31.896] After pose optimization, distance between two frames x:-0.000243 ,z=0.000148,angle between two frames:0.000255
-[01:08:31.896] Update EKF and 3D points, distance between two frames x:-0.000242 ,z=0.000150,angle between two frames:0.000251
-[01:08:31.912] Odometry x=-0.659490, y=0.675220, theta=0.419382
-[01:08:31.932] Odometry x=-0.659493, y=0.675210, theta=0.418725
-[01:08:31.972] Odometry x=-0.657595, y=0.679469, theta=0.419971
-[01:08:31.992] Odometry x=-0.657599, y=0.679461, theta=0.420853
-[01:08:32.012] Odometry x=-0.657601, y=0.679458, theta=0.421300
-[01:08:32.053] Odometry x=-0.656348, y=0.682254, theta=0.421066
-[01:08:32.054] After Reprojection Map nPoint:51 ,nCell:34 ,nMatches:13 ,distance between two frames x:0.000126 ,z=0.000089,angle between two frames:0.000000
-[01:08:32.054] n deleted obs = 16 	 n obs felt =5 	 error init =0.621473 	 error end=0.621473
-[01:08:32.054] After pose optimization, distance between two frames x:0.000126 ,z=0.000089,angle between two frames:0.000000
-[01:08:32.054] Update EKF and 3D points, distance between two frames x:0.000127 ,z=0.000092,angle between two frames:0.000001
-[01:08:32.073] Odometry x=-0.659045, y=0.676279, theta=0.423568
-[01:08:32.093] Odometry x=-0.659049, y=0.676270, theta=0.423983
-[01:08:32.113] Odometry x=-0.659051, y=0.676265, theta=0.424952
-[01:08:32.133] Odometry x=-0.659051, y=0.676264, theta=0.426391
-[01:08:32.173] Odometry x=-0.657148, y=0.680432, theta=0.431035
-[01:08:32.194] Odometry x=-0.657150, y=0.680432, theta=0.435393
-[01:08:32.203] After Reprojection Map nPoint:46 ,nCell:38 ,nMatches:11 ,distance between two frames x:0.000004 ,z=-0.000038,angle between two frames:0.000024
-[01:08:32.203] n deleted obs = 14 	 n obs felt =5 	 error init =0.652269 	 error end=0.628173
-[01:08:32.203] After pose optimization, distance between two frames x:-0.139527 ,z=0.235788,angle between two frames:0.000024
-[01:08:32.203] Update EKF and 3D points, distance between two frames x:-0.139483 ,z=0.235717,angle between two frames:0.000020
-[01:08:32.214] Odometry x=-0.745552, y=0.821277, theta=0.431273
-[01:08:32.254] Odometry x=-0.744276, y=0.824056, theta=0.429954
-[01:08:32.274] Odometry x=-0.744277, y=0.824056, theta=0.427689
-[01:08:32.294] Odometry x=-0.744278, y=0.824053, theta=0.425421
-[01:08:32.314] Odometry x=-0.744281, y=0.824046, theta=0.424294
-[01:08:32.349] After Reprojection Map nPoint:46 ,nCell:37 ,nMatches:11 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
-[01:08:32.349] n deleted obs = 17 	 n obs felt =2 	 error init =1.132406 	 error end=0.834262
-[01:08:32.349] After pose optimization, distance between two frames x:-0.202039 ,z=-0.075529,angle between two frames:0.174074
-[01:08:32.349] Update EKF and 3D points, distance between two frames x:-0.201959 ,z=-0.075528,angle between two frames:0.174021
-[01:08:32.355] Odometry x=-0.902262, y=0.832863, theta=0.322179
-[01:08:32.375] Odometry x=-0.902301, y=0.832744, theta=0.328036
-[01:08:32.395] Odometry x=-0.902313, y=0.832707, theta=0.332091
-[01:08:32.415] Odometry x=-0.902319, y=0.832690, theta=0.335134
-[01:08:32.455] Odometry x=-0.901063, y=0.836282, theta=0.337684
-[01:08:32.476] Odometry x=-0.901066, y=0.836269, theta=0.340593
-[01:08:32.496] After Reprojection Map nPoint:47 ,nCell:34 ,nMatches:11 ,distance between two frames x:-0.000589 ,z=-0.000265,angle between two frames:0.000066
-[01:08:32.496] n deleted obs = 20 	 n obs felt =1 	 error init =0.857576 	 error end=0.857576
-[01:08:32.496] After pose optimization, distance between two frames x:-0.000589 ,z=-0.000265,angle between two frames:0.000066
-[01:08:32.496] Update EKF and 3D points, distance between two frames x:-0.000557 ,z=-0.000264,angle between two frames:0.000096
-[01:08:32.496] Odometry x=-0.901068, y=0.836259, theta=0.343299
-[01:08:32.516] Odometry x=-0.963884, y=0.833934, theta=0.291476
-[01:08:32.556] Odometry x=-0.962776, y=0.837568, theta=0.302651
-[01:08:32.576] Odometry x=-0.962781, y=0.837557, theta=0.311904
-[01:08:32.597] Odometry x=-0.962778, y=0.837556, theta=0.314859
-[01:08:32.617] Odometry x=-0.962777, y=0.837556, theta=0.316561
-[01:08:32.647] After Reprojection Map nPoint:50 ,nCell:32 ,nMatches:17 ,distance between two frames x:-0.001484 ,z=0.000258,angle between two frames:0.000067
-[01:08:32.648] n deleted obs = 27 	 n obs felt =4 	 error init =0.869755 	 error end=0.869755
-[01:08:32.648] After pose optimization, distance between two frames x:-0.001484 ,z=0.000258,angle between two frames:0.000067
-[01:08:32.648] Update EKF and 3D points, distance between two frames x:-0.001470 ,z=0.000263,angle between two frames:0.000046
-[01:08:32.657] Odometry x=-0.987169, y=0.838444, theta=0.276694
-[01:08:32.677] Odometry x=-0.987168, y=0.838442, theta=0.277350
-[01:08:32.697] Odometry x=-0.987168, y=0.838440, theta=0.278702
-[01:08:32.717] Odometry x=-0.987169, y=0.838437, theta=0.280844
-[01:08:32.757] Odometry x=-0.986171, y=0.841886, theta=0.282429
-[01:08:32.778] Odometry x=-0.986181, y=0.841855, theta=0.282550
-[01:08:32.798] Odometry x=-0.986185, y=0.841842, theta=0.281657
-[01:08:32.802] After Reprojection Map nPoint:52 ,nCell:36 ,nMatches:17 ,distance between two frames x:-0.000145 ,z=0.000084,angle between two frames:0.000067
-[01:08:32.802] n deleted obs = 30 	 n obs felt =4 	 error init =0.883934 	 error end=0.883934
-[01:08:32.802] After pose optimization, distance between two frames x:-0.000145 ,z=0.000084,angle between two frames:0.000067
-[01:08:32.802] Update EKF and 3D points, distance between two frames x:-0.000139 ,z=0.000087,angle between two frames:0.000077
-[01:08:32.818] Odometry x=-0.997389, y=0.836296, theta=0.262708
-[01:08:32.858] Odometry x=-0.996350, y=0.840160, theta=0.262670
-[01:08:32.878] Odometry x=-0.996356, y=0.840137, theta=0.263936
-[01:08:32.898] Odometry x=-0.996361, y=0.840116, theta=0.265882
-[01:08:32.919] Odometry x=-0.996366, y=0.840098, theta=0.266706
-[01:08:32.959] Odometry x=-0.995367, y=0.843753, theta=0.267068
-[01:08:32.969] After Reprojection Map nPoint:57 ,nCell:32 ,nMatches:23 ,distance between two frames x:-0.000186 ,z=0.000951,angle between two frames:0.000146
-[01:08:32.969] n deleted obs = 39 	 n obs felt =6 	 error init =0.778095 	 error end=0.778095
-[01:08:32.969] After pose optimization, distance between two frames x:-0.000186 ,z=0.000951,angle between two frames:0.000146
-[01:08:32.969] Update EKF and 3D points, distance between two frames x:-0.000183 ,z=0.000954,angle between two frames:0.000151
-[01:08:32.979] Odometry x=-1.001015, y=0.837604, theta=0.257597
-[01:08:32.999] Odometry x=-1.001016, y=0.837601, theta=0.257702
-[01:08:33.019] Odometry x=-1.001016, y=0.837600, theta=0.258106
-[01:08:33.059] Odometry x=-1.000040, y=0.841292, theta=0.257962
-[01:08:33.080] Odometry x=-1.000039, y=0.841291, theta=0.257997
-[01:08:33.100] Odometry x=-1.000040, y=0.841286, theta=0.258281
-[01:08:33.120] Odometry x=-1.000043, y=0.841274, theta=0.258519
-[01:08:33.124] After Reprojection Map nPoint:60 ,nCell:41 ,nMatches:24 ,distance between two frames x:0.000412 ,z=0.000420,angle between two frames:0.000156
-[01:08:33.124] n deleted obs = 42 	 n obs felt =7 	 error init =0.805249 	 error end=0.805249
-[01:08:33.124] After pose optimization, distance between two frames x:0.000412 ,z=0.000420,angle between two frames:0.000156
-[01:08:33.124] Update EKF and 3D points, distance between two frames x:0.000413 ,z=0.000422,angle between two frames:0.000154
-[01:08:33.160] Odometry x=-1.002839, y=0.839085, theta=0.250887
-[01:08:33.180] Odometry x=-1.002843, y=0.839067, theta=0.249791
-[01:08:33.200] Odometry x=-1.002844, y=0.839063, theta=0.248384
-[01:08:33.221] Odometry x=-1.002844, y=0.839062, theta=0.246491
-[01:08:33.261] Odometry x=-1.001912, y=0.842758, theta=0.245587
-[01:08:33.281] Odometry x=-1.001911, y=0.842752, theta=0.244941
-[01:08:33.298] After Reprojection Map nPoint:67 ,nCell:45 ,nMatches:29 ,distance between two frames x:0.000229 ,z=0.000130,angle between two frames:0.000008
-[01:08:33.298] n deleted obs = 51 	 n obs felt =9 	 error init =0.706843 	 error end=0.706843
-[01:08:33.298] After pose optimization, distance between two frames x:0.000229 ,z=0.000130,angle between two frames:0.000008
-[01:08:33.298] Update EKF and 3D points, distance between two frames x:0.000229 ,z=0.000133,angle between two frames:0.000010
-[01:08:33.301] Odometry x=-1.003108, y=0.837582, theta=0.249530
-[01:08:33.321] Odometry x=-1.003106, y=0.837578, theta=0.250262
-[01:08:33.361] Odometry x=-1.002161, y=0.841264, theta=0.250186
-[01:08:33.382] Odometry x=-1.002163, y=0.841252, theta=0.250093
-[01:08:33.402] Odometry x=-1.002165, y=0.841242, theta=0.249956
-[01:08:33.422] Odometry x=-1.002167, y=0.841234, theta=0.249440
-[01:08:33.462] Odometry x=-1.001184, y=0.845099, theta=0.248368
-[01:08:33.466] After Reprojection Map nPoint:73 ,nCell:47 ,nMatches:33 ,distance between two frames x:0.001033 ,z=0.004240,angle between two frames:0.001428
-[01:08:33.467] n deleted obs = 51 	 n obs felt =15 	 error init =0.724436 	 error end=0.724436
-[01:08:33.467] After pose optimization, distance between two frames x:0.001033 ,z=0.004240,angle between two frames:0.001428
-[01:08:33.467] Update EKF and 3D points, distance between two frames x:0.001034 ,z=0.004242,angle between two frames:0.001429
-[01:08:33.467] Choose frame as a key frame Scene Depth mean:1.756760 ,depth min:1.210826
-[01:08:33.482] Odometry x=-1.002196, y=0.841086, theta=0.248399
-[01:08:33.502] Odometry x=-1.002196, y=0.841082, theta=0.248368
-[01:08:33.523] Odometry x=-1.002194, y=0.841077, theta=0.248389
-[01:08:33.563] Odometry x=-1.001257, y=0.844776, theta=0.247679
-[01:08:33.583] Odometry x=-1.001258, y=0.844770, theta=0.246141
-[01:08:33.603] Odometry x=-1.001259, y=0.844766, theta=0.244459
-[01:08:33.623] Odometry x=-1.001260, y=0.844763, theta=0.242734
-[01:08:33.636] After Reprojection Map nPoint:95 ,nCell:46 ,nMatches:29 ,distance between two frames x:0.000122 ,z=0.000116,angle between two frames:0.000091
-[01:08:33.636] n deleted obs = 60 	 n obs felt =24 	 error init =0.678291 	 error end=0.678291
-[01:08:33.636] After pose optimization, distance between two frames x:0.000122 ,z=0.000116,angle between two frames:0.000091
-[01:08:33.636] Update EKF and 3D points, distance between two frames x:0.000122 ,z=0.000118,angle between two frames:0.000088
-[01:08:33.637] Choose frame as a key frame Scene Depth mean:2.101864 ,depth min:1.210871
-[01:08:33.663] Odometry x=-1.001446, y=0.843637, theta=0.248010
-[01:08:33.684] Odometry x=-1.001446, y=0.843636, theta=0.245141
-[01:08:33.704] Odometry x=-1.001444, y=0.843636, theta=0.244353
-[01:08:33.724] Odometry x=-1.001441, y=0.843635, theta=0.244422
-[01:08:33.764] Odometry x=-1.000514, y=0.847345, theta=0.244769
-[01:08:33.784] Odometry x=-1.000513, y=0.847345, theta=0.245165
-[01:08:33.804] Odometry x=-1.000513, y=0.847344, theta=0.245156
-[01:08:33.808] After Reprojection Map nPoint:122 ,nCell:50 ,nMatches:32 ,distance between two frames x:0.000285 ,z=-0.000162,angle between two frames:0.000071
-[01:08:33.809] n deleted obs = 77 	 n obs felt =25 	 error init =0.675999 	 error end=0.675999
-[01:08:33.809] After pose optimization, distance between two frames x:0.000285 ,z=-0.000162,angle between two frames:0.000071
-[01:08:33.809] Update EKF and 3D points, distance between two frames x:0.000286 ,z=-0.000159,angle between two frames:0.000073
-[01:08:33.809] Choose frame as a key frame Scene Depth mean:2.112052 ,depth min:1.079618
-[01:08:33.824] Odometry x=-1.001685, y=0.841933, theta=0.246881
-[01:08:33.865] Odometry x=-1.000803, y=0.845437, theta=0.246240
-[01:08:33.885] Odometry x=-1.000806, y=0.845421, theta=0.245848
-[01:08:33.905] Odometry x=-1.000807, y=0.845417, theta=0.245686
-[01:08:33.925] Odometry x=-1.000807, y=0.845416, theta=0.245854
-[01:08:33.965] Odometry x=-0.999823, y=0.849334, theta=0.245793
-[01:08:33.981] After Reprojection Map nPoint:169 ,nCell:49 ,nMatches:35 ,distance between two frames x:0.000003 ,z=0.000173,angle between two frames:0.000013
-[01:08:33.982] n deleted obs = 109 	 n obs felt =33 	 error init =0.653703 	 error end=0.653142
-[01:08:33.982] After pose optimization, distance between two frames x:-0.015632 ,z=0.029302,angle between two frames:0.010736
-[01:08:33.982] Update EKF and 3D points, distance between two frames x:-0.015626 ,z=0.029296,angle between two frames:0.010732
-[01:08:33.982] Choose frame as a key frame Scene Depth mean:2.144841 ,depth min:1.231029
-[01:08:33.986] Odometry x=-1.011077, y=0.860798, theta=0.255149
-[01:08:34.006] Odometry x=-1.011077, y=0.860798, theta=0.255063
-[01:08:34.026] Odometry x=-1.011077, y=0.860798, theta=0.254295
-[01:08:34.066] Odometry x=-1.010236, y=0.864029, theta=0.254969
-[01:08:34.086] Odometry x=-1.010235, y=0.864031, theta=0.256184
-[01:08:34.106] Odometry x=-1.010233, y=0.864031, theta=0.256913
-[01:08:34.127] Odometry x=-1.010231, y=0.864026, theta=0.258950
-[01:08:34.151] After Reprojection Map nPoint:205 ,nCell:35 ,nMatches:30 ,distance between two frames x:-0.000026 ,z=0.000019,angle between two frames:0.000000
-[01:08:34.156] n deleted obs = 26 	 n obs felt =142 	 error init =0.641991 	 error end=0.363870
-[01:08:34.156] After pose optimization, distance between two frames x:1.113251 ,z=8.096832,angle between two frames:0.889385
-[01:08:34.167] Odometry x=-1.009148, y=0.868093, theta=0.262387
-[01:08:34.187] Odometry x=-1.009150, y=0.868089, theta=0.265101
-[01:08:34.207] Odometry x=-1.009150, y=0.868088, theta=0.265575
-[01:08:34.227] Odometry x=-1.009150, y=0.868087, theta=0.265556
-[01:08:34.268] Odometry x=-1.008161, y=0.871711, theta=0.267692
-[01:08:34.288] Odometry x=-1.008162, y=0.871709, theta=0.269189
-[01:08:34.308] Odometry x=-1.008162, y=0.871707, theta=0.269777
-[01:08:34.318] After Reprojection Map nPoint:227 ,nCell:81 ,nMatches:34 ,distance between two frames x:0.000004 ,z=-0.000014,angle between two frames:0.000029
-[01:08:34.323] n deleted obs = 109 	 n obs felt =44 	 error init =0.621320 	 error end=0.596059
-[01:08:34.323] After pose optimization, distance between two frames x:-0.029973 ,z=0.114617,angle between two frames:0.000513
-[01:08:34.323] Update EKF and 3D points, distance between two frames x:-0.029963 ,z=0.114584,angle between two frames:0.000510
-[01:08:34.323] Choose frame as a key frame Scene Depth mean:2.252482 ,depth min:1.343761
-[01:08:34.328] Odometry x=-1.027958, y=0.937774, theta=0.264624
-[01:08:34.368] Odometry x=-1.026942, y=0.941520, theta=0.265291
-[01:08:34.388] Odometry x=-1.026942, y=0.941520, theta=0.266114
-[01:08:34.409] Odometry x=-1.026942, y=0.941520, theta=0.266470
-[01:08:34.429] Odometry x=-1.026942, y=0.941520, theta=0.266736
-[01:08:34.469] Odometry x=-1.025907, y=0.945304, theta=0.267328
-[01:08:34.489] Odometry x=-1.025907, y=0.945304, theta=0.267796
-[01:08:34.489] After Reprojection Map nPoint:265 ,nCell:58 ,nMatches:38 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
-[01:08:34.490] n deleted obs = 161 	 n obs felt =60 	 error init =0.596381 	 error end=0.596381
-[01:08:34.490] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
-[01:08:34.490] Update EKF and 3D points, distance between two frames x:0.000004 ,z=-0.000010,angle between two frames:0.000003
-[01:08:34.490] Choose frame as a key frame Scene Depth mean:2.402989 ,depth min:1.343748
-[01:08:34.509] Odometry x=-1.034735, y=0.965881, theta=0.262730
-[01:08:34.529] Odometry x=-1.034735, y=0.965881, theta=0.264141
-[01:08:34.570] Odometry x=-1.033703, y=0.969686, theta=0.266189
-[01:08:34.590] Odometry x=-1.033703, y=0.969686, theta=0.267643
-[01:08:34.610] Odometry x=-1.033704, y=0.969686, theta=0.267750
-[01:08:34.630] Odometry x=-1.033704, y=0.969686, theta=0.267388
-[01:08:34.659] After Reprojection Map nPoint:301 ,nCell:45 ,nMatches:37 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
-[01:08:34.659] n deleted obs = 184 	 n obs felt =63 	 error init =0.601597 	 error end=0.601597
-[01:08:34.659] After pose optimization, distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
-[01:08:34.659] Update EKF and 3D points, distance between two frames x:0.000003 ,z=0.000000,angle between two frames:0.000003
-[01:08:34.660] Choose frame as a key frame Scene Depth mean:2.263442 ,depth min:1.262519
-[01:08:34.670] Odometry x=-1.036683, y=0.978982, theta=0.261372
-[01:08:34.690] Odometry x=-1.036682, y=0.978981, theta=0.261498
-[01:08:34.710] Odometry x=-1.036681, y=0.978980, theta=0.262750
-[01:08:34.731] Odometry x=-1.036681, y=0.978980, theta=0.265310
-[01:08:34.771] Odometry x=-1.035718, y=0.982512, theta=0.266797
-[01:08:34.791] Odometry x=-1.035718, y=0.982512, theta=0.267580
-[01:08:34.811] Odometry x=-1.035718, y=0.982512, theta=0.267012
-[01:08:34.834] After Reprojection Map nPoint:363 ,nCell:44 ,nMatches:38 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
-[01:08:34.835] n deleted obs = 193 	 n obs felt =100 	 error init =0.549156 	 error end=0.549156
-[01:08:34.835] After pose optimization, distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
-[01:08:34.835] Update EKF and 3D points, distance between two frames x:0.000002 ,z=0.000004,angle between two frames:0.000003
-[01:08:34.835] Choose frame as a key frame Scene Depth mean:2.300910 ,depth min:1.243224
-[01:08:34.851] Odometry x=-1.037674, y=0.983064, theta=0.261163
-[01:08:34.871] Odometry x=-1.037674, y=0.983064, theta=0.260629
-[01:08:34.892] Odometry x=-1.037674, y=0.983064, theta=0.260952
-[01:08:34.912] Odometry x=-1.037674, y=0.983064, theta=0.261652
-[01:08:34.952] Odometry x=-1.036680, y=0.986770, theta=0.262569
-[01:08:34.972] Odometry x=-1.036681, y=0.986769, theta=0.263295
-[01:08:34.992] Odometry x=-1.036681, y=0.986767, theta=0.262805
-[01:08:35.013] Odometry x=-1.036683, y=0.986762, theta=0.261750
-[01:08:35.029] After Reprojection Map nPoint:424 ,nCell:57 ,nMatches:44 ,distance between two frames x:-0.000000 ,z=0.000013,angle between two frames:0.000000
-[01:08:35.030] n deleted obs = 240 	 n obs felt =108 	 error init =0.553580 	 error end=0.553580
-[01:08:35.030] After pose optimization, distance between two frames x:-0.000000 ,z=0.000013,angle between two frames:0.000000
-[01:08:35.030] Update EKF and 3D points, distance between two frames x:0.000001 ,z=0.000016,angle between two frames:0.000001
-[01:08:35.030] Choose frame as a key frame Scene Depth mean:2.336248 ,depth min:-25835850.575556
-[01:08:35.053] Odometry x=-1.038845, y=0.983685, theta=0.256958
-[01:08:35.073] Odometry x=-1.038847, y=0.983673, theta=0.254874
-[01:08:35.093] Odometry x=-1.038847, y=0.983668, theta=0.254261
-[01:08:35.113] Odometry x=-1.038846, y=0.983664, theta=0.254466
-[01:08:35.153] Odometry x=-1.037884, y=0.987357, theta=0.255817
-[01:08:35.174] Odometry x=-1.037884, y=0.987354, theta=0.257375
-[01:08:35.194] Odometry x=-1.037884, y=0.987354, theta=0.257881
-[01:08:35.214] Odometry x=-1.037885, y=0.987353, theta=0.257786
-[01:08:35.219] After Reprojection Map nPoint:435 ,nCell:59 ,nMatches:40 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
-[01:08:35.220] n deleted obs = 234 	 n obs felt =111 	 error init =0.537707 	 error end=0.537707
-[01:08:35.220] After pose optimization, distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
-[01:08:35.220] Update EKF and 3D points, distance between two frames x:0.000001 ,z=0.000003,angle between two frames:0.000000
-[01:08:35.220] Choose frame as a key frame Scene Depth mean:2.378204 ,depth min:1.343766
-[01:08:35.254] Odometry x=-1.038909, y=0.983444, theta=0.257489
-[01:08:35.274] Odometry x=-1.038913, y=0.983430, theta=0.255733
-[01:08:35.294] Odometry x=-1.038917, y=0.983410, theta=0.254466
-[01:08:35.314] Odometry x=-1.038922, y=0.983390, theta=0.254027
-[01:08:35.355] Odometry x=-1.037973, y=0.987045, theta=0.253543
-[01:08:35.375] Odometry x=-1.037981, y=0.987013, theta=0.253048
-[01:08:35.395] Odometry x=-1.037983, y=0.987007, theta=0.252225
-[01:08:35.415] Odometry x=-1.037984, y=0.987003, theta=0.250589
-[01:08:35.418] After Reprojection Map nPoint:567 ,nCell:66 ,nMatches:40 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
-[01:08:35.419] n deleted obs = 302 	 n obs felt =134 	 error init =0.556420 	 error end=0.556420
-[01:08:35.419] After pose optimization, distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
-[01:08:35.419] Update EKF and 3D points, distance between two frames x:0.000001 ,z=0.000003,angle between two frames:0.000003
-[01:08:35.419] Choose frame as a key frame Scene Depth mean:2.322735 ,depth min:1.243008
-[01:08:35.455] Odometry x=-1.038901, y=0.983471, theta=0.255365
-[01:08:35.475] Odometry x=-1.038903, y=0.983456, theta=0.250252
-[01:08:35.495] Odometry x=-1.038904, y=0.983448, theta=0.247099
-[01:08:35.516] Odometry x=-1.038907, y=0.983434, theta=0.244525
-[01:08:35.556] Odometry x=-1.037932, y=0.987338, theta=0.244769
-[01:08:35.576] Odometry x=-1.037934, y=0.987332, theta=0.245435
-[01:08:35.596] Odometry x=-1.037934, y=0.987330, theta=0.246545
-[01:08:35.616] Odometry x=-1.037933, y=0.987330, theta=0.248177
-[01:08:35.624] After Reprojection Map nPoint:586 ,nCell:61 ,nMatches:41 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
-[01:08:35.624] n deleted obs = 341 	 n obs felt =106 	 error init =0.591164 	 error end=0.591164
-[01:08:35.624] After pose optimization, distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
-[01:08:35.624] Update EKF and 3D points, distance between two frames x:0.000001 ,z=0.000003,angle between two frames:0.000003
-[01:08:35.625] Choose frame as a key frame Scene Depth mean:2.330212 ,depth min:1.262543
-[01:08:35.657] Odometry x=-1.038950, y=0.983239, theta=0.261166
-[01:08:35.677] Odometry x=-1.038954, y=0.983185, theta=0.264296
-[01:08:35.697] Odometry x=-1.038973, y=0.983112, theta=0.266332
-[01:08:35.717] Odometry x=-1.038988, y=0.983056, theta=0.268593
-[01:08:35.757] Odometry x=-1.037930, y=0.986887, theta=0.270766
-[01:08:35.777] Odometry x=-1.037937, y=0.986862, theta=0.272921
-[01:08:35.797] Odometry x=-1.037938, y=0.986861, theta=0.275025
-[01:08:35.818] Odometry x=-1.037938, y=0.986861, theta=0.276747
-[01:08:35.856] After Reprojection Map nPoint:601 ,nCell:50 ,nMatches:38 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
-[01:08:35.857] n deleted obs = 288 	 n obs felt =166 	 error init =0.539257 	 error end=0.539257
-[01:08:35.857] After pose optimization, distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
-[01:08:35.857] Update EKF and 3D points, distance between two frames x:0.000001 ,z=0.000005,angle between two frames:0.000006
-[01:08:35.857] Choose frame as a key frame Scene Depth mean:2.340891 ,depth min:1.262555
-[01:08:35.858] Odometry x=-1.038345, y=0.985271, theta=0.267354
-[01:08:35.878] Odometry x=-1.038345, y=0.985271, theta=0.269254
-[01:08:35.898] Odometry x=-1.038344, y=0.985271, theta=0.269704
-[01:08:35.918] Odometry x=-1.038337, y=0.985265, theta=0.271629
-[01:08:35.959] Odometry x=-1.037316, y=0.988875, theta=0.280022
-[01:08:35.979] Odometry x=-1.037341, y=0.988788, theta=0.289179
-[01:08:35.999] Odometry x=-1.037348, y=0.988764, theta=0.294537
-[01:08:36.019] Odometry x=-1.037354, y=0.988740, theta=0.299540
-[01:08:36.059] Odometry x=-1.036223, y=0.992389, theta=0.301799
-[01:08:36.078] After Reprojection Map nPoint:739 ,nCell:59 ,nMatches:46 ,distance between two frames x:0.001836 ,z=0.006639,angle between two frames:0.008905
-[01:08:36.079] n deleted obs = 392 	 n obs felt =165 	 error init =0.563170 	 error end=0.563170
-[01:08:36.079] After pose optimization, distance between two frames x:0.001836 ,z=0.006639,angle between two frames:0.008905
-[01:08:36.079] Update EKF and 3D points, distance between two frames x:0.001837 ,z=0.006641,angle between two frames:0.008916
-[01:08:36.080] Odometry x=-1.037543, y=0.987979, theta=0.283099
-[01:08:36.080] Choose frame as a key frame Scene Depth mean:2.379319 ,depth min:1.029125
-[01:08:36.100] Odometry x=-1.037544, y=0.987973, theta=0.285353
-[01:08:36.120] Odometry x=-1.037548, y=0.987960, theta=0.287372
-[01:08:36.160] Odometry x=-1.036472, y=0.991587, theta=0.289545
-[01:08:36.180] Odometry x=-1.036480, y=0.991561, theta=0.292584
-[01:08:36.200] Odometry x=-1.036481, y=0.991557, theta=0.295058
-[01:08:36.220] Odometry x=-1.036481, y=0.991556, theta=0.296543
-[01:08:36.261] Odometry x=-1.035357, y=0.995227, theta=0.297395
-[01:08:36.281] Odometry x=-1.035357, y=0.995226, theta=0.298696
-[01:08:36.301] Odometry x=-1.035358, y=0.995225, theta=0.299302
-[01:08:36.316] After Reprojection Map nPoint:776 ,nCell:55 ,nMatches:40 ,distance between two frames x:0.000801 ,z=0.002705,angle between two frames:0.015733
-[01:08:36.317] n deleted obs = 408 	 n obs felt =170 	 error init =0.571726 	 error end=0.571726
-[01:08:36.317] After pose optimization, distance between two frames x:0.000801 ,z=0.002705,angle between two frames:0.015733
-[01:08:36.317] Update EKF and 3D points, distance between two frames x:0.000802 ,z=0.002708,angle between two frames:0.015738
-[01:08:36.318] Choose frame as a key frame Scene Depth mean:2.352297 ,depth min:1.301310
-[01:08:36.321] Odometry x=-1.036710, y=0.990743, theta=0.289844
-[01:08:36.361] Odometry x=-1.035614, y=0.994412, theta=0.290335
-[01:08:36.382] Odometry x=-1.035616, y=0.994408, theta=0.291226
-[01:08:36.402] Odometry x=-1.035617, y=0.994405, theta=0.293258
-[01:08:36.422] Odometry x=-1.035617, y=0.994403, theta=0.294636
-[01:08:36.462] Odometry x=-1.034453, y=0.998241, theta=0.294039
-[01:08:36.482] Odometry x=-1.034453, y=0.998241, theta=0.293127
-[01:08:36.502] Odometry x=-1.034450, y=0.998240, theta=0.291900
-[01:08:36.522] Odometry x=-1.034446, y=0.998236, theta=0.291333
-[01:08:36.563] Odometry x=-1.033345, y=1.001872, theta=0.298031
-[01:08:36.579] After Reprojection Map nPoint:785 ,nCell:76 ,nMatches:43 ,distance between two frames x:0.000840 ,z=0.002776,angle between two frames:0.006740
-[01:08:36.580] n deleted obs = 438 	 n obs felt =143 	 error init =0.596925 	 error end=0.596925
-[01:08:36.580] After pose optimization, distance between two frames x:0.000840 ,z=0.002776,angle between two frames:0.006740
-[01:08:36.580] Update EKF and 3D points, distance between two frames x:0.000841 ,z=0.002779,angle between two frames:0.006746
-[01:08:36.581] Choose frame as a key frame Scene Depth mean:2.368235 ,depth min:1.256542
-[01:08:36.583] Odometry x=-1.035431, y=0.994973, theta=0.300543
-[01:08:36.603] Odometry x=-1.035435, y=0.994959, theta=0.304479
-[01:08:36.623] Odometry x=-1.035437, y=0.994954, theta=0.305245
-[01:08:36.663] Odometry x=-1.034257, y=0.998704, theta=0.303863
-[01:08:36.684] Odometry x=-1.034258, y=0.998704, theta=0.303019
-[01:08:36.704] Odometry x=-1.034259, y=0.998704, theta=0.303231
-[01:08:36.724] Odometry x=-1.034259, y=0.998704, theta=0.303331
-[01:08:36.764] Odometry x=-1.033220, y=1.002027, theta=0.302652
-[01:08:36.784] Odometry x=-1.033220, y=1.002027, theta=0.302101
-[01:08:36.804] Odometry x=-1.033220, y=1.002026, theta=0.302217
-[01:08:36.825] Odometry x=-1.033220, y=1.002026, theta=0.302267
-[01:08:36.832] After Reprojection Map nPoint:829 ,nCell:58 ,nMatches:35 ,distance between two frames x:0.001271 ,z=0.004213,angle between two frames:0.010693
-[01:08:36.833] n deleted obs = 397 	 n obs felt =185 	 error init =0.568753 	 error end=0.568753
-[01:08:36.833] After pose optimization, distance between two frames x:0.001271 ,z=0.004213,angle between two frames:0.010693
-[01:08:36.833] Update EKF and 3D points, distance between two frames x:0.001271 ,z=0.004216,angle between two frames:0.010694
-[01:08:36.834] Choose frame as a key frame Scene Depth mean:2.413362 ,depth min:1.324303
-[01:08:36.865] Odometry x=-1.034112, y=0.999228, theta=0.299605
-[01:08:36.885] Odometry x=-1.034117, y=0.999213, theta=0.297968
-[01:08:36.905] Odometry x=-1.034119, y=0.999208, theta=0.296409
-[01:08:36.925] Odometry x=-1.034124, y=0.999190, theta=0.295290
-[01:08:36.966] Odometry x=-1.032927, y=1.003134, theta=0.293708
-[01:08:36.986] Odometry x=-1.032933, y=1.003113, theta=0.292507
-[01:08:37.006] Odometry x=-1.032936, y=1.003103, theta=0.292166
-[01:08:37.026] Odometry x=-1.032939, y=1.003093, theta=0.291406
-[01:08:37.066] Odometry x=-1.031863, y=1.006694, theta=0.288633
-[01:08:37.086] Odometry x=-1.031873, y=1.006661, theta=0.285807
-[01:08:37.093] After Reprojection Map nPoint:848 ,nCell:68 ,nMatches:40 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
-[01:08:37.094] n deleted obs = 427 	 n obs felt =176 	 error init =0.577023 	 error end=0.577023
-[01:08:37.094] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
-[01:08:37.094] Update EKF and 3D points, distance between two frames x:0.000001 ,z=0.000004,angle between two frames:0.000005
-[01:08:37.094] Choose frame as a key frame Scene Depth mean:2.400975 ,depth min:1.324311
-[01:08:37.107] Odometry x=-1.034076, y=0.999421, theta=0.292684
-[01:08:37.127] Odometry x=-1.034079, y=0.999411, theta=0.291117
-[01:08:37.167] Odometry x=-1.033033, y=1.002912, theta=0.289732
-[01:08:37.187] Odometry x=-1.033038, y=1.002893, theta=0.287950
-[01:08:37.207] Odometry x=-1.033039, y=1.002890, theta=0.286670
-[01:08:37.227] Odometry x=-1.033040, y=1.002889, theta=0.285840
-[01:08:37.268] Odometry x=-1.031848, y=1.006957, theta=0.283406
-[01:08:37.288] Odometry x=-1.031847, y=1.006954, theta=0.281029
-[01:08:37.308] Odometry x=-1.031848, y=1.006951, theta=0.279403
-[01:08:37.328] Odometry x=-1.031848, y=1.006946, theta=0.277329
-[01:08:37.366] After Reprojection Map nPoint:982 ,nCell:72 ,nMatches:45 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
-[01:08:37.368] n deleted obs = 520 	 n obs felt =178 	 error init =0.592373 	 error end=0.592373
-[01:08:37.368] After pose optimization, distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
-[01:08:37.368] Update EKF and 3D points, distance between two frames x:0.000002 ,z=0.000007,angle between two frames:0.000007
-[01:08:37.368] Choose frame as a key frame Scene Depth mean:2.417542 ,depth min:1.004509
-[01:08:37.369] Odometry x=-1.032958, y=1.003350, theta=0.290982
-[01:08:37.389] Odometry x=-1.032964, y=1.003327, theta=0.290332
-[01:08:37.409] Odometry x=-1.032966, y=1.003320, theta=0.290035
-[01:08:37.429] Odometry x=-1.032967, y=1.003317, theta=0.289619
-[01:08:37.469] Odometry x=-1.031867, y=1.007016, theta=0.287699
-[01:08:37.489] Odometry x=-1.031869, y=1.007007, theta=0.286022
-[01:08:37.510] Odometry x=-1.031877, y=1.006977, theta=0.286043
-[01:08:37.530] Odometry x=-1.031890, y=1.006932, theta=0.286599
-[01:08:37.570] Odometry x=-1.030796, y=1.010641, theta=0.287521
-[01:08:37.590] Odometry x=-1.030799, y=1.010631, theta=0.287981
-[01:08:37.610] Odometry x=-1.030799, y=1.010631, theta=0.287902
-[01:08:37.631] Odometry x=-1.030798, y=1.010631, theta=0.288044
-[01:08:37.653] After Reprojection Map nPoint:1019 ,nCell:76 ,nMatches:44 ,distance between two frames x:0.002469 ,z=0.008364,angle between two frames:0.009549
-[01:08:37.654] n deleted obs = 507 	 n obs felt =226 	 error init =0.557128 	 error end=0.557128
-[01:08:37.655] After pose optimization, distance between two frames x:0.002469 ,z=0.008364,angle between two frames:0.009549
-[01:08:37.655] Update EKF and 3D points, distance between two frames x:0.002471 ,z=0.008369,angle between two frames:0.009550
-[01:08:37.655] Choose frame as a key frame Scene Depth mean:2.397238 ,depth min:-177682440600669.312500
-[01:08:37.671] Odometry x=-1.031085, y=1.009635, theta=0.291822
-[01:08:37.691] Odometry x=-1.031086, y=1.009618, theta=0.294464
-[01:08:37.711] Odometry x=-1.031089, y=1.009596, theta=0.297258
-[01:08:37.731] Odometry x=-1.031094, y=1.009562, theta=0.300549
-[01:08:37.772] Odometry x=-1.029932, y=1.013301, theta=0.302531
-[01:08:37.792] Odometry x=-1.029938, y=1.013281, theta=0.304714
-[01:08:37.812] Odometry x=-1.029938, y=1.013280, theta=0.306435
-[01:08:37.832] Odometry x=-1.029938, y=1.013279, theta=0.308187
-[01:08:37.872] Odometry x=-1.028721, y=1.017068, theta=0.311010
-[01:08:37.892] Odometry x=-1.028720, y=1.017058, theta=0.314103
-[01:08:37.913] Odometry x=-1.028728, y=1.017030, theta=0.315337
-[01:08:37.933] Odometry x=-1.028740, y=1.016996, theta=0.316599
-[01:08:37.958] After Reprojection Map nPoint:949 ,nCell:69 ,nMatches:37 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
-[01:08:37.960] n deleted obs = 484 	 n obs felt =177 	 error init =0.569485 	 error end=0.569485
-[01:08:37.960] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
-[01:08:37.960] Update EKF and 3D points, distance between two frames x:0.000002 ,z=0.000007,angle between two frames:0.000008
-[01:08:37.973] Odometry x=-1.030169, y=1.012213, theta=0.304365
-[01:08:37.993] Odometry x=-1.030182, y=1.012174, theta=0.308938
-[01:08:38.013] Odometry x=-1.030182, y=1.012173, theta=0.312015
-[01:08:38.033] Odometry x=-1.030182, y=1.012173, theta=0.314132
-[01:08:38.074] Odometry x=-1.028998, y=1.015805, theta=0.316069
-[01:08:38.094] Odometry x=-1.028999, y=1.015803, theta=0.318458
-[01:08:38.114] Odometry x=-1.029000, y=1.015799, theta=0.320894
-[01:08:38.134] Odometry x=-1.029001, y=1.015795, theta=0.322982
-[01:08:38.174] Odometry x=-1.027784, y=1.019407, theta=0.326452
-[01:08:38.194] Odometry x=-1.027785, y=1.019402, theta=0.329571
-[01:08:38.215] Odometry x=-1.027784, y=1.019402, theta=0.330154
-[01:08:38.235] Odometry x=-1.027783, y=1.019402, theta=0.329110
-[01:08:38.245] After Reprojection Map nPoint:887 ,nCell:84 ,nMatches:32 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
-[01:08:38.246] n deleted obs = 446 	 n obs felt =139 	 error init =0.580818 	 error end=0.580818
-[01:08:38.246] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
-[01:08:38.246] Update EKF and 3D points, distance between two frames x:0.000002 ,z=0.000005,angle between two frames:0.000011
-[01:08:38.275] Odometry x=-1.031521, y=1.008146, theta=0.290320
-[01:08:38.295] Odometry x=-1.031531, y=1.008112, theta=0.290884
-[01:08:38.315] Odometry x=-1.031546, y=1.008057, theta=0.293601
-[01:08:38.335] Odometry x=-1.031559, y=1.008012, theta=0.297347
-[01:08:38.376] Odometry x=-1.030427, y=1.011683, theta=0.297113
-[01:08:38.396] Odometry x=-1.030423, y=1.011682, theta=0.296311
-[01:08:38.416] Odometry x=-1.030423, y=1.011682, theta=0.295420
-[01:08:38.456] Odometry x=-1.029534, y=1.014606, theta=0.294613
-[01:08:38.476] Odometry x=-1.029536, y=1.014600, theta=0.292646
-[01:08:38.496] Odometry x=-1.029539, y=1.014590, theta=0.291255
-[01:08:38.517] Odometry x=-1.029543, y=1.014576, theta=0.290706
-[01:08:38.531] After Reprojection Map nPoint:1037 ,nCell:82 ,nMatches:38 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
-[01:08:38.532] n deleted obs = 564 	 n obs felt =171 	 error init =0.583377 	 error end=0.583377
-[01:08:38.532] After pose optimization, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
-[01:08:38.532] Update EKF and 3D points, distance between two frames x:0.000001 ,z=0.000004,angle between two frames:0.000000
-[01:08:38.557] Odometry x=-1.031519, y=1.008155, theta=0.289857
-[01:08:38.577] Odometry x=-1.031526, y=1.008130, theta=0.288146
-[01:08:38.597] Odometry x=-1.031528, y=1.008122, theta=0.286770
-[01:08:38.617] Odometry x=-1.031530, y=1.008118, theta=0.285675
-[01:08:38.658] Odometry x=-1.030463, y=1.011749, theta=0.283711
-[01:08:38.678] Odometry x=-1.030472, y=1.011710, theta=0.281926
-[01:08:38.698] Odometry x=-1.030476, y=1.011693, theta=0.281718
-[01:08:38.718] Odometry x=-1.030479, y=1.011684, theta=0.281748
-[01:08:38.758] Odometry x=-1.029404, y=1.015399, theta=0.281357
-[01:08:38.778] Odometry x=-1.029407, y=1.015389, theta=0.280763
-[01:08:38.798] Odometry x=-1.029410, y=1.015378, theta=0.279923
-[01:08:38.818] After Reprojection Map nPoint:942 ,nCell:65 ,nMatches:37 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
-[01:08:38.819] Odometry x=-1.029411, y=1.015367, theta=0.278778
-[01:08:38.819] n deleted obs = 462 	 n obs felt =185 	 error init =0.566665 	 error end=0.566665
-[01:08:38.819] After pose optimization, distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
-[01:08:38.819] Update EKF and 3D points, distance between two frames x:0.000001 ,z=0.000004,angle between two frames:0.000004
-[01:08:38.859] Odometry x=-1.031528, y=1.008110, theta=0.289573
-[01:08:38.879] Odometry x=-1.031539, y=1.008062, theta=0.287686
-[01:08:38.899] Odometry x=-1.031541, y=1.008053, theta=0.286067
-[01:08:38.919] Odometry x=-1.031544, y=1.008045, theta=0.284124
-[01:08:38.960] Odometry x=-1.030469, y=1.011736, theta=0.282061
-[01:08:38.980] Odometry x=-1.030469, y=1.011733, theta=0.280017
-[01:08:39.000] Odometry x=-1.030470, y=1.011731, theta=0.278747
-[01:08:39.020] Odometry x=-1.030469, y=1.011729, theta=0.276849
-[01:08:39.060] Odometry x=-1.029383, y=1.015565, theta=0.274294
-[01:08:39.080] Odometry x=-1.029388, y=1.015549, theta=0.270985
-[01:08:39.101] Odometry x=-1.029389, y=1.015544, theta=0.268803
-[01:08:39.118] After Reprojection Map nPoint:1004 ,nCell:69 ,nMatches:43 ,distance between two frames x:-0.000000 ,z=0.000003,angle between two frames:0.000000
-[01:08:39.119] n deleted obs = 488 	 n obs felt =204 	 error init =0.561224 	 error end=0.561224
-[01:08:39.119] After pose optimization, distance between two frames x:-0.000000 ,z=0.000003,angle between two frames:0.000000
-[01:08:39.119] Update EKF and 3D points, distance between two frames x:0.000001 ,z=0.000007,angle between two frames:0.000007
-[01:08:39.121] Odometry x=-1.031590, y=1.008022, theta=0.282077
-[01:08:39.161] Odometry x=-1.030526, y=1.011689, theta=0.283212
-[01:08:39.181] Odometry x=-1.030526, y=1.011688, theta=0.284773
-[01:08:39.201] Odometry x=-1.030527, y=1.011687, theta=0.286138
-[01:08:39.221] Odometry x=-1.030525, y=1.011684, theta=0.287453
-[01:08:39.262] Odometry x=-1.029486, y=1.015166, theta=0.290163
-[01:08:39.282] Odometry x=-1.029485, y=1.015158, theta=0.293070
-[01:08:39.302] Odometry x=-1.029486, y=1.015153, theta=0.294953
-[01:08:39.322] Odometry x=-1.029486, y=1.015151, theta=0.296587
-[01:08:39.362] Odometry x=-1.028502, y=1.018360, theta=0.296831
-[01:08:39.383] Odometry x=-1.028502, y=1.018350, theta=0.297841
-[01:08:39.403] Odometry x=-1.028502, y=1.018348, theta=0.299655
-[01:08:39.404] After Reprojection Map nPoint:901 ,nCell:56 ,nMatches:31 ,distance between two frames x:0.001359 ,z=0.004641,angle between two frames:0.008911
-[01:08:39.405] n deleted obs = 432 	 n obs felt =164 	 error init =0.555242 	 error end=0.555242
-[01:08:39.405] After pose optimization, distance between two frames x:0.001359 ,z=0.004641,angle between two frames:0.008911
-[01:08:39.405] Update EKF and 3D points, distance between two frames x:0.001360 ,z=0.004644,angle between two frames:0.008905
-[01:08:39.423] Odometry x=-1.030410, y=1.011968, theta=0.291137
-[01:08:39.463] Odometry x=-1.029196, y=1.015992, theta=0.296027
-[01:08:39.483] Odometry x=-1.029197, y=1.015992, theta=0.300313
-[01:08:39.503] Odometry x=-1.029197, y=1.015993, theta=0.303224
-[01:08:39.524] Odometry x=-1.029197, y=1.015993, theta=0.306303
-[01:08:39.564] Odometry x=-1.027962, y=1.019887, theta=0.308428
-[01:08:39.584] Odometry x=-1.027962, y=1.019887, theta=0.310486
-[01:08:39.604] Odometry x=-1.027962, y=1.019887, theta=0.311912
-[01:08:39.624] Odometry x=-1.027962, y=1.019887, theta=0.313761
-[01:08:39.664] Odometry x=-1.026807, y=1.023424, theta=0.318298
-[01:08:39.685] Odometry x=-1.026810, y=1.023418, theta=0.323701
-[01:08:39.689] After Reprojection Map nPoint:914 ,nCell:55 ,nMatches:36 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
-[01:08:39.690] n deleted obs = 399 	 n obs felt =214 	 error init =0.539727 	 error end=0.538913
-[01:08:39.690] After pose optimization, distance between two frames x:0.005472 ,z=-0.005064,angle between two frames:0.000000
-[01:08:39.690] Update EKF and 3D points, distance between two frames x:0.005472 ,z=-0.005058,angle between two frames:0.000014
-[01:08
\ No newline at end of file
+[19:09:30.184] Odometry x=0.000000, y=-0.000000, theta=-0.000000
+[19:09:30.195] Odometry x=0.000000, y=-0.000000, theta=-0.000000
+[19:09:30.205] Odometry x=0.000000, y=-0.000000, theta=-0.000000
+[19:09:30.215] Odometry x=0.000000, y=-0.000000, theta=-0.000000
+[19:09:30.225] Odometry x=0.000000, y=-0.000000, theta=-0.000000
+[19:09:30.235] Odometry x=0.000000, y=-0.000000, theta=-0.000000
+[19:09:30.245] Odometry x=0.000000, y=-0.000000, theta=-0.000000
+[19:09:30.255] Odometry x=0.000000, y=-0.000000, theta=-0.000000
+[19:09:30.266] Odometry x=0.000000, y=-0.000000, theta=-0.000000
+[19:09:30.276] Odometry x=0.000000, y=-0.000000, theta=-0.000000
+[19:09:30.286] Odometry x=0.000000, y=-0.000000, theta=-0.000000
+[19:09:30.296] Odometry x=0.000000, y=-0.000000, theta=-0.000000
+[19:09:30.306] Odometry x=0.000000, y=-0.000000, theta=-0.000000
+[19:09:30.316] Odometry x=0.000000, y=-0.000000, theta=-0.000000
+[19:09:30.326] Odometry x=0.000000, y=-0.000000, theta=-0.000000
+[19:09:30.336] Odometry x=0.000000, y=-0.000000, theta=-0.000000
+[19:09:30.347] Odometry x=0.000000, y=-0.000000, theta=-0.000000
+[19:09:30.357] Odometry x=0.000000, y=-0.000000, theta=-0.000000
+[19:09:30.367] Odometry x=0.000000, y=-0.000000, theta=-0.000000
+[19:09:30.377] Odometry x=0.000000, y=-0.000000, theta=-0.000000
+[19:09:30.387] Odometry x=0.000000, y=-0.000000, theta=-0.000000
+[19:09:30.397] Odometry x=0.000000, y=-0.000000, theta=-0.000000
+[19:09:30.407] Odometry x=0.000000, y=-0.000000, theta=-0.000000
+[19:09:30.417] Odometry x=0.000000, y=-0.000000, theta=-0.000000
+[19:09:30.428] Odometry x=0.000000, y=-0.000000, theta=-0.000000
+[19:09:30.438] Odometry x=0.000000, y=-0.000000, theta=-0.000000
+[19:09:30.448] Odometry x=0.000000, y=-0.000000, theta=-0.000000
+[19:09:30.458] Odometry x=0.000000, y=-0.000000, theta=-0.000000
+[19:09:30.468] Odometry x=0.000000, y=-0.000000, theta=-0.000000
+[19:09:30.478] Odometry x=0.000000, y=-0.000000, theta=0.000000
+[19:09:30.488] Odometry x=0.000000, y=-0.000000, theta=0.000314
+[19:09:30.498] Odometry x=0.000000, y=-0.000000, theta=0.000629
+[19:09:30.509] Odometry x=0.000000, y=-0.000000, theta=0.000958
+[19:09:30.519] Odometry x=0.000000, y=-0.000000, theta=0.001279
+[19:09:30.529] Odometry x=0.000000, y=-0.000000, theta=0.001584
+[19:09:30.539] Odometry x=0.000000, y=-0.000000, theta=0.001896
+[19:09:30.549] Odometry x=0.000000, y=-0.000000, theta=0.002107
+[19:09:30.559] Odometry x=0.000000, y=-0.000000, theta=0.002451
+[19:09:30.569] Odometry x=0.000000, y=-0.000000, theta=0.002830
+[19:09:30.580] Odometry x=0.000000, y=-0.000000, theta=0.003153
+[19:09:30.590] Odometry x=0.000000, y=-0.000000, theta=0.003473
+[19:09:30.600] Odometry x=0.000000, y=-0.000000, theta=0.003789
+[19:09:30.610] Odometry x=0.000000, y=-0.000000, theta=0.004098
+[19:09:30.620] Odometry x=0.000000, y=-0.000000, theta=0.004502
+[19:09:30.630] Odometry x=0.000000, y=-0.000000, theta=0.004882
+[19:09:30.640] Odometry x=0.000000, y=-0.000000, theta=0.005198
+[19:09:30.651] Odometry x=0.000000, y=-0.000000, theta=0.005514
+[19:09:30.661] Odometry x=0.000000, y=-0.000000, theta=0.005832
+[19:09:30.671] Odometry x=0.000000, y=-0.000000, theta=0.006153
+[19:09:30.681] Odometry x=0.000000, y=-0.000000, theta=0.006468
+[19:09:30.691] Odometry x=0.000000, y=-0.000000, theta=0.006782
+[19:09:30.701] Odometry x=0.000001, y=-0.000000, theta=0.007100
+[19:09:30.711] Odometry x=0.000001, y=-0.000000, theta=0.007427
+[19:09:30.721] Odometry x=0.000001, y=-0.000001, theta=0.007748
+[19:09:30.731] Odometry x=0.000001, y=-0.000001, theta=0.008064
+[19:09:30.742] Odometry x=0.000001, y=-0.000001, theta=0.008389
+[19:09:30.752] Odometry x=0.000001, y=-0.000001, theta=0.008709
+[19:09:30.762] Odometry x=0.000001, y=-0.000001, theta=0.009022
+[19:09:30.772] Odometry x=0.000001, y=-0.000001, theta=0.009334
+[19:09:30.782] Odometry x=0.000001, y=-0.000001, theta=0.009647
+[19:09:30.792] Odometry x=0.000001, y=-0.000001, theta=0.009958
+[19:09:30.802] Odometry x=0.000001, y=-0.000001, theta=0.010270
+[19:09:30.813] Odometry x=0.000001, y=-0.000001, theta=0.010589
+[19:09:30.823] Odometry x=0.000001, y=-0.000001, theta=0.010905
+[19:09:30.833] Odometry x=0.000001, y=-0.000001, theta=0.011220
+[19:09:30.842] Init: frame zero: 0.000000, 0.000000 0.000000
+[19:09:30.842] Init: Selected first frame. 
+[19:09:30.843] Odometry x=0.000001, y=-0.000001, theta=0.011538
+[19:09:30.853] Odometry x=0.000001, y=-0.000001, theta=0.011864
+[19:09:30.863] Odometry x=0.000001, y=-0.000001, theta=0.012185
+[19:09:30.874] Odometry x=0.000001, y=-0.000001, theta=0.012499
+[19:09:30.884] Odometry x=0.000001, y=-0.000001, theta=0.012821
+[19:09:30.894] Odometry x=0.000001, y=-0.000001, theta=0.013142
+[19:09:30.904] Odometry x=0.000001, y=-0.000001, theta=0.013458
+[19:09:30.914] Odometry x=0.000001, y=-0.000001, theta=0.013772
+[19:09:30.924] Odometry x=0.000001, y=-0.000001, theta=0.014083
+[19:09:30.934] Odometry x=0.000001, y=-0.000001, theta=0.014399
+[19:09:30.943] Init: px average disparity is:0.127224 ,While minimum is: 40.000000  KLT tracked : 65
+[19:09:30.943] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:30.945] Odometry x=0.000001, y=-0.000001, theta=0.014714
+[19:09:30.955] Odometry x=0.000001, y=-0.000001, theta=0.015029
+[19:09:30.965] Odometry x=0.000001, y=-0.000001, theta=0.015346
+[19:09:30.975] Odometry x=0.000001, y=-0.000001, theta=0.015755
+[19:09:30.985] Odometry x=0.000001, y=-0.000001, theta=0.016124
+[19:09:30.995] Odometry x=0.000001, y=-0.000001, theta=0.016440
+[19:09:31.005] Odometry x=0.000001, y=-0.000001, theta=0.016751
+[19:09:31.015] Odometry x=0.000001, y=-0.000001, theta=0.016965
+[19:09:31.025] Odometry x=0.000001, y=-0.000001, theta=0.017324
+[19:09:31.036] Odometry x=0.000001, y=-0.000001, theta=0.017711
+[19:09:31.045] Init: px average disparity is:0.196499 ,While minimum is: 40.000000  KLT tracked : 65
+[19:09:31.045] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:31.046] Odometry x=0.000001, y=-0.000001, theta=0.018038
+[19:09:31.056] Odometry x=0.000001, y=-0.000001, theta=0.018360
+[19:09:31.066] Odometry x=0.000001, y=-0.000001, theta=0.018685
+[19:09:31.076] Odometry x=0.000001, y=-0.000001, theta=0.019004
+[19:09:31.086] Odometry x=0.000001, y=-0.000001, theta=0.019319
+[19:09:31.096] Odometry x=0.000001, y=-0.000001, theta=0.019634
+[19:09:31.106] Odometry x=0.000001, y=-0.000001, theta=0.019950
+[19:09:31.117] Odometry x=0.000001, y=-0.000001, theta=0.020268
+[19:09:31.127] Odometry x=0.000001, y=-0.000001, theta=0.020585
+[19:09:31.137] Odometry x=0.000001, y=-0.000001, theta=0.020908
+[19:09:31.143] Init: px average disparity is:0.156558 ,While minimum is: 40.000000  KLT tracked : 65
+[19:09:31.143] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:31.147] Odometry x=0.000002, y=-0.000001, theta=0.021225
+[19:09:31.157] Odometry x=0.000002, y=-0.000001, theta=0.021540
+[19:09:31.167] Odometry x=0.000002, y=-0.000001, theta=0.021854
+[19:09:31.177] Odometry x=0.000002, y=-0.000002, theta=0.022169
+[19:09:31.187] Odometry x=0.000002, y=-0.000002, theta=0.022485
+[19:09:31.198] Odometry x=0.000002, y=-0.000002, theta=0.022795
+[19:09:31.208] Odometry x=0.000002, y=-0.000002, theta=0.023106
+[19:09:31.218] Odometry x=0.000002, y=-0.000002, theta=0.023418
+[19:09:31.228] Odometry x=0.000002, y=-0.000002, theta=0.023724
+[19:09:31.238] Odometry x=0.000002, y=-0.000002, theta=0.024041
+[19:09:31.243] Init: px average disparity is:0.226505 ,While minimum is: 40.000000  KLT tracked : 65
+[19:09:31.243] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:31.248] Odometry x=0.000002, y=-0.000002, theta=0.024360
+[19:09:31.258] Odometry x=0.000002, y=-0.000002, theta=0.024675
+[19:09:31.268] Odometry x=0.000002, y=-0.000002, theta=0.024997
+[19:09:31.278] Odometry x=0.000002, y=-0.000002, theta=0.025312
+[19:09:31.289] Odometry x=0.000002, y=-0.000002, theta=0.025622
+[19:09:31.299] Odometry x=0.000002, y=-0.000002, theta=0.025942
+[19:09:31.309] Odometry x=0.000002, y=-0.000002, theta=0.026257
+[19:09:31.319] Odometry x=0.000002, y=-0.000002, theta=0.026577
+[19:09:31.329] Odometry x=0.000002, y=-0.000002, theta=0.026899
+[19:09:31.339] Odometry x=0.000002, y=-0.000002, theta=0.027223
+[19:09:31.344] Init: px average disparity is:0.272998 ,While minimum is: 40.000000  KLT tracked : 65
+[19:09:31.344] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:31.349] Odometry x=0.000002, y=-0.000002, theta=0.027546
+[19:09:31.359] Odometry x=0.000002, y=-0.000002, theta=0.027868
+[19:09:31.370] Odometry x=0.000002, y=-0.000002, theta=0.028187
+[19:09:31.380] Odometry x=0.000002, y=-0.000002, theta=0.028502
+[19:09:31.390] Odometry x=0.000002, y=-0.000002, theta=0.028914
+[19:09:31.400] Odometry x=0.000002, y=-0.000002, theta=0.029193
+[19:09:31.410] Odometry x=0.000002, y=-0.000002, theta=0.029544
+[19:09:31.420] Odometry x=0.000002, y=-0.000002, theta=0.029912
+[19:09:31.430] Odometry x=0.000002, y=-0.000002, theta=0.030229
+[19:09:31.440] Odometry x=0.000002, y=-0.000002, theta=0.030548
+[19:09:31.444] Init: px average disparity is:0.251505 ,While minimum is: 40.000000  KLT tracked : 65
+[19:09:31.444] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:31.450] Odometry x=0.000002, y=-0.000002, theta=0.030862
+[19:09:31.461] Odometry x=0.000002, y=-0.000002, theta=0.031179
+[19:09:31.471] Odometry x=0.000002, y=-0.000002, theta=0.031497
+[19:09:31.481] Odometry x=0.000002, y=-0.000002, theta=0.031726
+[19:09:31.491] Odometry x=0.000002, y=-0.000002, theta=0.032070
+[19:09:31.501] Odometry x=0.000002, y=-0.000002, theta=0.032436
+[19:09:31.511] Odometry x=0.000002, y=-0.000002, theta=0.032749
+[19:09:31.521] Odometry x=0.000002, y=-0.000002, theta=0.033060
+[19:09:31.531] Odometry x=0.000002, y=-0.000002, theta=0.033377
+[19:09:31.542] Odometry x=0.000002, y=-0.000003, theta=0.033695
+[19:09:31.544] Init: px average disparity is:0.251640 ,While minimum is: 40.000000  KLT tracked : 65
+[19:09:31.544] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:31.552] Odometry x=0.000002, y=-0.000003, theta=0.033923
+[19:09:31.562] Odometry x=0.000002, y=-0.000003, theta=0.034186
+[19:09:31.572] Odometry x=0.000002, y=-0.000003, theta=0.034498
+[19:09:31.582] Odometry x=0.000002, y=-0.000003, theta=0.034808
+[19:09:31.592] Odometry x=0.000002, y=-0.000003, theta=0.035119
+[19:09:31.603] Odometry x=0.000003, y=-0.000003, theta=0.035433
+[19:09:31.613] Odometry x=0.000003, y=-0.000003, theta=0.035750
+[19:09:31.623] Odometry x=0.000003, y=-0.000003, theta=0.036071
+[19:09:31.633] Odometry x=0.000003, y=-0.000003, theta=0.036441
+[19:09:31.643] Odometry x=0.000003, y=-0.000003, theta=0.036826
+[19:09:31.643] Init: px average disparity is:0.231264 ,While minimum is: 40.000000  KLT tracked : 65
+[19:09:31.643] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:31.653] Odometry x=0.000003, y=-0.000003, theta=0.037164
+[19:09:31.663] Odometry x=0.000003, y=-0.000003, theta=0.037483
+[19:09:31.673] Odometry x=0.000003, y=-0.000003, theta=0.037799
+[19:09:31.684] Odometry x=0.000003, y=-0.000003, theta=0.038025
+[19:09:31.694] Odometry x=0.000003, y=-0.000003, theta=0.038400
+[19:09:31.704] Odometry x=0.000003, y=-0.000003, theta=0.038786
+[19:09:31.714] Odometry x=0.000003, y=-0.000003, theta=0.039104
+[19:09:31.724] Odometry x=0.000003, y=-0.000003, theta=0.039424
+[19:09:31.734] Odometry x=0.000003, y=-0.000003, theta=0.039747
+[19:09:31.744] Init: px average disparity is:0.245182 ,While minimum is: 40.000000  KLT tracked : 65
+[19:09:31.744] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:31.744] Odometry x=0.000003, y=-0.000003, theta=0.040064
+[19:09:31.754] Odometry x=0.000003, y=-0.000003, theta=0.040378
+[19:09:31.765] Odometry x=0.000003, y=-0.000003, theta=0.040699
+[19:09:31.775] Odometry x=0.000003, y=-0.000003, theta=0.041019
+[19:09:31.785] Odometry x=0.000003, y=-0.000003, theta=0.041337
+[19:09:31.795] Odometry x=0.000003, y=-0.000003, theta=0.041652
+[19:09:31.805] Odometry x=0.000003, y=-0.000003, theta=0.041977
+[19:09:31.815] Odometry x=0.000003, y=-0.000003, theta=0.042291
+[19:09:31.825] Odometry x=0.000003, y=-0.000003, theta=0.042597
+[19:09:31.836] Odometry x=0.000003, y=-0.000003, theta=0.043010
+[19:09:31.843] Init: px average disparity is:0.223204 ,While minimum is: 40.000000  KLT tracked : 65
+[19:09:31.843] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:31.846] Odometry x=0.000003, y=-0.000003, theta=0.043288
+[19:09:31.856] Odometry x=0.000003, y=-0.000003, theta=0.043654
+[19:09:31.866] Odometry x=0.000003, y=-0.000003, theta=0.044051
+[19:09:31.876] Odometry x=0.000003, y=-0.000004, theta=0.044380
+[19:09:31.886] Odometry x=0.000003, y=-0.000004, theta=0.044693
+[19:09:31.896] Odometry x=0.000003, y=-0.000004, theta=0.045010
+[19:09:31.906] Odometry x=0.000003, y=-0.000004, theta=0.045325
+[19:09:31.916] Odometry x=0.000003, y=-0.000004, theta=0.045539
+[19:09:31.927] Odometry x=0.000003, y=-0.000004, theta=0.045890
+[19:09:31.937] Odometry x=0.000003, y=-0.000004, theta=0.046275
+[19:09:31.944] Init: px average disparity is:0.262615 ,While minimum is: 40.000000  KLT tracked : 65
+[19:09:31.944] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:31.947] Odometry x=0.000003, y=-0.000004, theta=0.046501
+[19:09:31.957] Odometry x=0.000003, y=-0.000004, theta=0.046850
+[19:09:31.967] Odometry x=0.000003, y=-0.000004, theta=0.047227
+[19:09:31.977] Odometry x=0.000003, y=-0.000004, theta=0.047451
+[19:09:31.987] Odometry x=0.000003, y=-0.000004, theta=0.047612
+[19:09:31.997] Odometry x=0.000003, y=-0.000004, theta=0.047956
+[19:09:32.008] Odometry x=0.000003, y=-0.000004, theta=0.048422
+[19:09:32.018] Odometry x=0.000003, y=-0.000004, theta=0.048703
+[19:09:32.028] Odometry x=0.000003, y=-0.000004, theta=0.049057
+[19:09:32.038] Odometry x=0.000004, y=-0.000004, theta=0.049338
+[19:09:32.044] Init: px average disparity is:0.236461 ,While minimum is: 40.000000  KLT tracked : 65
+[19:09:32.044] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:32.048] Odometry x=0.000004, y=-0.000004, theta=0.049596
+[19:09:32.058] Odometry x=0.000004, y=-0.000004, theta=0.050007
+[19:09:32.068] Odometry x=0.000004, y=-0.000004, theta=0.050377
+[19:09:32.079] Odometry x=0.000004, y=-0.000004, theta=0.050595
+[19:09:32.089] Odometry x=0.000004, y=-0.000004, theta=0.050949
+[19:09:32.099] Odometry x=0.000004, y=-0.000004, theta=0.051331
+[19:09:32.109] Odometry x=0.000004, y=-0.000004, theta=0.051662
+[19:09:32.119] Odometry x=0.000004, y=-0.000004, theta=0.051985
+[19:09:32.129] Odometry x=0.000004, y=-0.000004, theta=0.052298
+[19:09:32.139] Odometry x=0.000004, y=-0.000004, theta=0.052622
+[19:09:32.143] Init: px average disparity is:0.204739 ,While minimum is: 40.000000  KLT tracked : 65
+[19:09:32.143] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:32.149] Odometry x=0.000004, y=-0.000004, theta=0.052854
+[19:09:32.160] Odometry x=0.000004, y=-0.000004, theta=0.053214
+[19:09:32.170] Odometry x=0.000004, y=-0.000004, theta=0.053594
+[19:09:32.180] Odometry x=0.000004, y=-0.000004, theta=0.053918
+[19:09:32.190] Odometry x=0.000004, y=-0.000005, theta=0.054237
+[19:09:32.200] Odometry x=0.000004, y=-0.000005, theta=0.054556
+[19:09:32.210] Odometry x=0.000004, y=-0.000005, theta=0.054877
+[19:09:32.220] Odometry x=0.000004, y=-0.000005, theta=0.055100
+[19:09:32.230] Odometry x=0.000004, y=-0.000005, theta=0.055454
+[19:09:32.241] Odometry x=0.000004, y=-0.000005, theta=0.055731
+[19:09:32.244] Init: px average disparity is:0.256949 ,While minimum is: 40.000000  KLT tracked : 65
+[19:09:32.244] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:32.251] Odometry x=0.000004, y=-0.000005, theta=0.055992
+[19:09:32.261] Odometry x=0.000004, y=-0.000005, theta=0.056404
+[19:09:32.271] Odometry x=0.000004, y=-0.000005, theta=0.056775
+[19:09:32.281] Odometry x=0.000004, y=-0.000005, theta=0.056992
+[19:09:32.291] Odometry x=0.000004, y=-0.000005, theta=0.057345
+[19:09:32.301] Odometry x=0.000004, y=-0.000005, theta=0.057719
+[19:09:32.311] Odometry x=0.000004, y=-0.000005, theta=0.058039
+[19:09:32.322] Odometry x=0.000004, y=-0.000005, theta=0.058355
+[19:09:32.332] Odometry x=0.000004, y=-0.000005, theta=0.058673
+[19:09:32.342] Odometry x=0.000004, y=-0.000005, theta=0.058994
+[19:09:32.344] Init: px average disparity is:0.267681 ,While minimum is: 40.000000  KLT tracked : 65
+[19:09:32.344] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:32.352] Odometry x=0.000004, y=-0.000005, theta=0.059315
+[19:09:32.362] Odometry x=0.000004, y=-0.000005, theta=0.059650
+[19:09:32.372] Odometry x=0.000004, y=-0.000005, theta=0.059965
+[19:09:32.382] Odometry x=0.000004, y=-0.000005, theta=0.060275
+[19:09:32.392] Odometry x=0.000004, y=-0.000005, theta=0.060596
+[19:09:32.403] Odometry x=0.000004, y=-0.000005, theta=0.060919
+[19:09:32.413] Odometry x=0.000004, y=-0.000005, theta=0.061247
+[19:09:32.423] Odometry x=0.000004, y=-0.000005, theta=0.061562
+[19:09:32.433] Odometry x=0.000004, y=-0.000005, theta=0.061881
+[19:09:32.448] Init: px average disparity is:0.243928 ,While minimum is: 40.000000  KLT tracked : 65
+[19:09:32.448] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:32.453] Odometry x=0.000004, y=-0.000005, theta=0.062394
+[19:09:32.463] Odometry x=0.000004, y=-0.000005, theta=0.062830
+[19:09:32.473] Odometry x=0.000005, y=-0.000006, theta=0.063150
+[19:09:32.484] Odometry x=0.000005, y=-0.000006, theta=0.063461
+[19:09:32.494] Odometry x=0.000005, y=-0.000006, theta=0.063778
+[19:09:32.504] Odometry x=0.000005, y=-0.000006, theta=0.064050
+[19:09:32.514] Odometry x=0.000005, y=-0.000006, theta=0.064563
+[19:09:32.524] Odometry x=0.000005, y=-0.000003, theta=0.066538
+[19:09:32.534] Odometry x=0.000005, y=0.000006, theta=0.071900
+[19:09:32.547] Init: px average disparity is:5.743434 ,While minimum is: 40.000000  KLT tracked : 65
+[19:09:32.547] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:32.554] Odometry x=0.000418, y=-0.000232, theta=0.032761
+[19:09:32.564] Odometry x=0.000431, y=-0.000238, theta=0.037865
+[19:09:32.575] Odometry x=0.000437, y=-0.000240, theta=0.039032
+[19:09:32.585] Odometry x=0.000443, y=-0.000238, theta=0.038073
+[19:09:32.595] Odometry x=0.000446, y=-0.000232, theta=0.036430
+[19:09:32.605] Odometry x=0.000447, y=-0.000224, theta=0.035040
+[19:09:32.615] Odometry x=0.000448, y=-0.000216, theta=0.033908
+[19:09:32.625] Odometry x=0.000448, y=-0.000211, theta=0.033170
+[19:09:32.635] Odometry x=0.000448, y=-0.000207, theta=0.031892
+[19:09:32.644] Init: px average disparity is:4.110993 ,While minimum is: 40.000000  KLT tracked : 65
+[19:09:32.644] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:32.656] Odometry x=0.000830, y=-0.000328, theta=0.031294
+[19:09:32.666] Odometry x=0.000830, y=-0.000329, theta=0.030730
+[19:09:32.676] Odometry x=0.000830, y=-0.000335, theta=0.030215
+[19:09:32.686] Odometry x=0.000830, y=-0.000355, theta=0.029449
+[19:09:32.696] Odometry x=0.000830, y=-0.000386, theta=0.028699
+[19:09:32.706] Odometry x=0.000830, y=-0.000429, theta=0.028017
+[19:09:32.716] Odometry x=0.000830, y=-0.000457, theta=0.027561
+[19:09:32.726] Odometry x=0.000830, y=-0.000490, theta=0.027379
+[19:09:32.736] Odometry x=0.000830, y=-0.000529, theta=0.027551
+[19:09:32.743] Init: px average disparity is:8.270291 ,While minimum is: 40.000000  KLT tracked : 65
+[19:09:32.743] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:32.757] Odometry x=0.001196, y=-0.000689, theta=0.027950
+[19:09:32.767] Odometry x=0.001196, y=-0.000736, theta=0.028171
+[19:09:32.777] Odometry x=0.001196, y=-0.000752, theta=0.028003
+[19:09:32.787] Odometry x=0.001196, y=-0.000789, theta=0.027915
+[19:09:32.797] Odometry x=0.001196, y=-0.000817, theta=0.027994
+[19:09:32.807] Odometry x=0.001196, y=-0.000824, theta=0.028221
+[19:09:32.817] Odometry x=0.001196, y=-0.000825, theta=0.028440
+[19:09:32.827] Odometry x=0.001198, y=-0.000825, theta=0.028877
+[19:09:32.838] Odometry x=0.001199, y=-0.000825, theta=0.029932
+[19:09:32.844] Init: px average disparity is:6.718490 ,While minimum is: 40.000000  KLT tracked : 65
+[19:09:32.844] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:32.858] Odometry x=0.001604, y=-0.000948, theta=0.031751
+[19:09:32.868] Odometry x=0.001605, y=-0.000948, theta=0.033498
+[19:09:32.878] Odometry x=0.001605, y=-0.000948, theta=0.034484
+[19:09:32.888] Odometry x=0.001605, y=-0.000948, theta=0.035343
+[19:09:32.898] Odometry x=0.001605, y=-0.000949, theta=0.035893
+[19:09:32.908] Odometry x=0.001605, y=-0.000950, theta=0.036239
+[19:09:32.918] Odometry x=0.001605, y=-0.000952, theta=0.036410
+[19:09:32.929] Odometry x=0.001605, y=-0.000955, theta=0.036094
+[19:09:32.944] Init: px average disparity is:10.524718 ,While minimum is: 40.000000  KLT tracked : 65
+[19:09:32.944] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:32.949] Odometry x=0.001949, y=-0.001095, theta=0.035599
+[19:09:32.959] Odometry x=0.001949, y=-0.001108, theta=0.035505
+[19:09:32.969] Odometry x=0.001950, y=-0.001112, theta=0.036063
+[19:09:32.979] Odometry x=0.001951, y=-0.001114, theta=0.036523
+[19:09:32.989] Odometry x=0.001953, y=-0.001115, theta=0.036941
+[19:09:33.000] Odometry x=0.001954, y=-0.001115, theta=0.037570
+[19:09:33.010] Odometry x=0.001955, y=-0.001116, theta=0.038314
+[19:09:33.020] Odometry x=0.001955, y=-0.001117, theta=0.039136
+[19:09:33.030] Odometry x=0.001955, y=-0.001120, theta=0.040043
+[19:09:33.044] Init: px average disparity is:10.470684 ,While minimum is: 40.000000  KLT tracked : 65
+[19:09:33.044] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:33.050] Odometry x=0.002336, y=-0.001282, theta=0.042581
+[19:09:33.060] Odometry x=0.002336, y=-0.001287, theta=0.045324
+[19:09:33.070] Odometry x=0.002336, y=-0.001289, theta=0.047014
+[19:09:33.081] Odometry x=0.002336, y=-0.001290, theta=0.048375
+[19:09:33.091] Odometry x=0.002336, y=-0.001290, theta=0.049501
+[19:09:33.101] Odometry x=0.002336, y=-0.001290, theta=0.050607
+[19:09:33.111] Odometry x=0.002336, y=-0.001290, theta=0.051929
+[19:09:33.121] Odometry x=0.002336, y=-0.001290, theta=0.053478
+[19:09:33.131] Odometry x=0.002336, y=-0.001290, theta=0.054643
+[19:09:33.144] Init: px average disparity is:12.396080 ,While minimum is: 40.000000  KLT tracked : 65
+[19:09:33.144] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:33.151] Odometry x=0.002699, y=-0.001492, theta=0.057345
+[19:09:33.162] Odometry x=0.002699, y=-0.001491, theta=0.059698
+[19:09:33.172] Odometry x=0.002699, y=-0.001492, theta=0.060765
+[19:09:33.182] Odometry x=0.002699, y=-0.001494, theta=0.061363
+[19:09:33.192] Odometry x=0.002699, y=-0.001496, theta=0.061941
+[19:09:33.202] Odometry x=0.002699, y=-0.001499, theta=0.062782
+[19:09:33.212] Odometry x=0.002699, y=-0.001502, theta=0.063558
+[19:09:33.222] Odometry x=0.002699, y=-0.001504, theta=0.063983
+[19:09:33.232] Odometry x=0.002699, y=-0.001505, theta=0.064145
+[19:09:33.243] Init: px average disparity is:12.007768 ,While minimum is: 40.000000  KLT tracked : 65
+[19:09:33.244] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:33.253] Odometry x=0.003099, y=-0.001768, theta=0.064818
+[19:09:33.263] Odometry x=0.003100, y=-0.001774, theta=0.066035
+[19:09:33.273] Odometry x=0.003101, y=-0.001776, theta=0.067250
+[19:09:33.283] Odometry x=0.003101, y=-0.001777, theta=0.068079
+[19:09:33.293] Odometry x=0.003101, y=-0.001778, theta=0.069461
+[19:09:33.303] Odometry x=0.003101, y=-0.001779, theta=0.070759
+[19:09:33.313] Odometry x=0.003101, y=-0.001779, theta=0.071291
+[19:09:33.324] Odometry x=0.003101, y=-0.001780, theta=0.071505
+[19:09:33.334] Odometry x=0.003101, y=-0.001784, theta=0.072089
+[19:09:33.346] Init: px average disparity is:14.306049 ,While minimum is: 40.000000  KLT tracked : 65
+[19:09:33.346] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:33.354] Odometry x=0.001587, y=-0.002009, theta=0.028635
+[19:09:33.364] Odometry x=0.001587, y=-0.002009, theta=0.029850
+[19:09:33.374] Odometry x=0.001587, y=-0.002009, theta=0.030649
+[19:09:33.384] Odometry x=0.001587, y=-0.002009, theta=0.031079
+[19:09:33.395] Odometry x=0.001587, y=-0.002009, theta=0.030654
+[19:09:33.405] Odometry x=0.001587, y=-0.002010, theta=0.030112
+[19:09:33.415] Odometry x=0.001587, y=-0.002010, theta=0.030015
+[19:09:33.425] Odometry x=0.001587, y=-0.002010, theta=0.030969
+[19:09:33.435] Odometry x=0.001587, y=-0.002011, theta=0.032153
+[19:09:33.448] Init: px average disparity is:14.177493 ,While minimum is: 40.000000  KLT tracked : 65
+[19:09:33.448] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:33.455] Odometry x=0.001968, y=-0.002134, theta=0.032818
+[19:09:33.466] Odometry x=0.001968, y=-0.002134, theta=0.033483
+[19:09:33.476] Odometry x=0.001968, y=-0.002134, theta=0.033992
+[19:09:33.486] Odometry x=0.001968, y=-0.002135, theta=0.034428
+[19:09:33.496] Odometry x=0.001968, y=-0.002135, theta=0.034534
+[19:09:33.506] Odometry x=0.001968, y=-0.002136, theta=0.034376
+[19:09:33.516] Odometry x=0.001968, y=-0.002136, theta=0.034075
+[19:09:33.526] Odometry x=0.001968, y=-0.002137, theta=0.033848
+[19:09:33.536] Odometry x=0.001968, y=-0.002137, theta=0.033845
+[19:09:33.544] Init: px average disparity is:13.985313 ,While minimum is: 40.000000  KLT tracked : 65
+[19:09:33.544] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:33.557] Odometry x=0.002352, y=-0.002268, theta=0.034493
+[19:09:33.567] Odometry x=0.002352, y=-0.002269, theta=0.035351
+[19:09:33.577] Odometry x=0.002353, y=-0.002272, theta=0.036225
+[19:09:33.587] Odometry x=0.002353, y=-0.002276, theta=0.037137
+[19:09:33.597] Odometry x=0.002353, y=-0.002280, theta=0.037926
+[19:09:33.607] Odometry x=0.002353, y=-0.002282, theta=0.038479
+[19:09:33.617] Odometry x=0.002353, y=-0.002283, theta=0.038832
+[19:09:33.627] Odometry x=0.002353, y=-0.002284, theta=0.039182
+[19:09:33.638] Odometry x=0.002353, y=-0.002286, theta=0.039486
+[19:09:33.644] Init: px average disparity is:15.078056 ,While minimum is: 40.000000  KLT tracked : 65
+[19:09:33.644] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:33.658] Odometry x=0.002734, y=-0.002442, theta=0.040092
+[19:09:33.668] Odometry x=0.002734, y=-0.002445, theta=0.040678
+[19:09:33.678] Odometry x=0.002734, y=-0.002445, theta=0.040894
+[19:09:33.688] Odometry x=0.002734, y=-0.002444, theta=0.040534
+[19:09:33.698] Odometry x=0.002734, y=-0.002444, theta=0.040083
+[19:09:33.708] Odometry x=0.002734, y=-0.002443, theta=0.039361
+[19:09:33.719] Odometry x=0.002733, y=-0.002442, theta=0.038803
+[19:09:33.729] Odometry x=0.002733, y=-0.002442, theta=0.038462
+[19:09:33.739] Odometry x=0.002733, y=-0.002442, theta=0.038630
+[19:09:33.745] Init: px average disparity is:13.650564 ,While minimum is: 40.000000  KLT tracked : 65
+[19:09:33.745] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:33.759] Odometry x=0.003134, y=-0.002597, theta=0.038258
+[19:09:33.769] Odometry x=0.003134, y=-0.002598, theta=0.037125
+[19:09:33.779] Odometry x=0.003134, y=-0.002600, theta=0.036128
+[19:09:33.789] Odometry x=0.003135, y=-0.002624, theta=0.035539
+[19:09:33.800] Odometry x=0.003136, y=-0.002652, theta=0.035003
+[19:09:33.810] Odometry x=0.003136, y=-0.002675, theta=0.034556
+[19:09:33.820] Odometry x=0.003136, y=-0.002686, theta=0.034314
+[19:09:33.830] Odometry x=0.003136, y=-0.002696, theta=0.034046
+[19:09:33.847] Init: px average disparity is:10.561809 ,While minimum is: 40.000000  KLT tracked : 65
+[19:09:33.847] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:33.850] Odometry x=0.003480, y=-0.002813, theta=0.033040
+[19:09:33.860] Odometry x=0.003480, y=-0.002814, theta=0.031969
+[19:09:33.870] Odometry x=0.003480, y=-0.002814, theta=0.031411
+[19:09:33.881] Odometry x=0.003480, y=-0.002813, theta=0.031098
+[19:09:33.891] Odometry x=0.003480, y=-0.002812, theta=0.030548
+[19:09:33.901] Odometry x=0.003480, y=-0.002809, theta=0.030100
+[19:09:33.911] Odometry x=0.003480, y=-0.002808, theta=0.029833
+[19:09:33.921] Odometry x=0.003480, y=-0.002808, theta=0.029477
+[19:09:33.931] Odometry x=0.003480, y=-0.002808, theta=0.028959
+[19:09:33.941] Odometry x=0.003480, y=-0.002810, theta=0.028211
+[19:09:33.945] Init: px average disparity is:9.359647 ,While minimum is: 40.000000  KLT tracked : 65
+[19:09:33.945] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:33.962] Odometry x=0.003900, y=-0.002932, theta=0.027469
+[19:09:33.972] Odometry x=0.003900, y=-0.002937, theta=0.026835
+[19:09:33.982] Odometry x=0.003900, y=-0.002941, theta=0.026480
+[19:09:33.992] Odometry x=0.003900, y=-0.002948, theta=0.025984
+[19:09:34.002] Odometry x=0.003901, y=-0.002955, theta=0.025619
+[19:09:34.012] Odometry x=0.003901, y=-0.002958, theta=0.025592
+[19:09:34.022] Odometry x=0.003901, y=-0.002958, theta=0.025740
+[19:09:34.033] Odometry x=0.003901, y=-0.002959, theta=0.025613
+[19:09:34.043] Init: px average disparity is:10.846139 ,While minimum is: 40.000000  KLT tracked : 65
+[19:09:34.043] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:34.053] Odometry x=0.004249, y=-0.003045, theta=0.023588
+[19:09:34.063] Odometry x=0.004249, y=-0.003045, theta=0.021175
+[19:09:34.073] Odometry x=0.004249, y=-0.003046, theta=0.019360
+[19:09:34.083] Odometry x=0.004248, y=-0.003050, theta=0.017678
+[19:09:34.093] Odometry x=0.004248, y=-0.003055, theta=0.016545
+[19:09:34.103] Odometry x=0.004249, y=-0.003072, theta=0.015660
+[19:09:34.113] Odometry x=0.004249, y=-0.003089, theta=0.015073
+[19:09:34.124] Odometry x=0.004249, y=-0.003099, theta=0.014757
+[19:09:34.134] Odometry x=0.004249, y=-0.003121, theta=0.014495
+[19:09:34.144] Init: px average disparity is:9.693116 ,While minimum is: 40.000000  KLT tracked : 65
+[19:09:34.144] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:34.154] Odometry x=0.004647, y=-0.003187, theta=0.015857
+[19:09:34.164] Odometry x=0.004647, y=-0.003191, theta=0.017353
+[19:09:34.174] Odometry x=0.004647, y=-0.003192, theta=0.018288
+[19:09:34.184] Odometry x=0.004648, y=-0.003193, theta=0.018800
+[19:09:34.194] Odometry x=0.004648, y=-0.003195, theta=0.018810
+[19:09:34.205] Odometry x=0.004648, y=-0.003196, theta=0.018593
+[19:09:34.215] Odometry x=0.004648, y=-0.003196, theta=0.018303
+[19:09:34.225] Odometry x=0.004648, y=-0.003196, theta=0.018158
+[19:09:34.235] Odometry x=0.004648, y=-0.003196, theta=0.018079
+[19:09:34.244] Init: px average disparity is:11.548339 ,While minimum is: 40.000000  KLT tracked : 65
+[19:09:34.244] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:34.255] Odometry x=0.005036, y=-0.003267, theta=0.017483
+[19:09:34.265] Odometry x=0.005036, y=-0.003268, theta=0.016721
+[19:09:34.275] Odometry x=0.005036, y=-0.003270, theta=0.016097
+[19:09:34.286] Odometry x=0.005036, y=-0.003272, theta=0.015563
+[19:09:34.296] Odometry x=0.005036, y=-0.003275, theta=0.014422
+[19:09:34.306] Odometry x=0.005036, y=-0.003280, theta=0.013341
+[19:09:34.316] Odometry x=0.005036, y=-0.003283, theta=0.012752
+[19:09:34.326] Odometry x=0.005036, y=-0.003298, theta=0.011897
+[19:09:34.336] Odometry x=0.005036, y=-0.003310, theta=0.011145
+[19:09:34.346] Init: px average disparity is:11.815609 ,While minimum is: 40.000000  KLT tracked : 65
+[19:09:34.346] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:34.356] Odometry x=0.005424, y=-0.003356, theta=0.010459
+[19:09:34.366] Odometry x=0.005424, y=-0.003359, theta=0.009595
+[19:09:34.377] Odometry x=0.005424, y=-0.003361, theta=0.008915
+[19:09:34.387] Odometry x=0.005424, y=-0.003363, theta=0.008532
+[19:09:34.397] Odometry x=0.005424, y=-0.003365, theta=0.008913
+[19:09:34.407] Odometry x=0.005424, y=-0.003366, theta=0.009380
+[19:09:34.417] Odometry x=0.005424, y=-0.003367, theta=0.009643
+[19:09:34.427] Odometry x=0.005425, y=-0.003368, theta=0.009694
+[19:09:34.437] Odometry x=0.005425, y=-0.003369, theta=0.009575
+[19:09:34.446] Init: px average disparity is:13.033936 ,While minimum is: 40.000000  KLT tracked : 65
+[19:09:34.446] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:34.457] Odometry x=0.005762, y=-0.003419, theta=0.008961
+[19:09:34.468] Odometry x=0.005762, y=-0.003436, theta=0.008514
+[19:09:34.478] Odometry x=0.005762, y=-0.003445, theta=0.008471
+[19:09:34.488] Odometry x=0.005762, y=-0.003454, theta=0.008549
+[19:09:34.498] Odometry x=0.005762, y=-0.003461, theta=0.008781
+[19:09:34.508] Odometry x=0.005762, y=-0.003464, theta=0.009085
+[19:09:34.518] Odometry x=0.005762, y=-0.003465, theta=0.009326
+[19:09:34.528] Odometry x=0.005762, y=-0.003465, theta=0.010067
+[19:09:34.539] Odometry x=0.005762, y=-0.003465, theta=0.010850
+[19:09:34.544] Init: px average disparity is:12.154461 ,While minimum is: 40.000000  KLT tracked : 65
+[19:09:34.544] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:34.559] Odometry x=0.006191, y=-0.003512, theta=0.011332
+[19:09:34.569] Odometry x=0.006191, y=-0.003512, theta=0.011844
+[19:09:34.579] Odometry x=0.006191, y=-0.003513, theta=0.012137
+[19:09:34.589] Odometry x=0.006191, y=-0.003517, theta=0.012386
+[19:09:34.599] Odometry x=0.006192, y=-0.003524, theta=0.012601
+[19:09:34.609] Odometry x=0.006192, y=-0.003533, theta=0.012700
+[19:09:34.620] Odometry x=0.006192, y=-0.003542, theta=0.012504
+[19:09:34.630] Odometry x=0.006192, y=-0.003557, theta=0.012298
+[19:09:34.646] Init: px average disparity is:11.750295 ,While minimum is: 40.000000  KLT tracked : 65
+[19:09:34.646] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:34.650] Odometry x=0.006536, y=-0.003624, theta=0.012197
+[19:09:34.660] Odometry x=0.006537, y=-0.003676, theta=0.012123
+[19:09:34.670] Odometry x=0.006537, y=-0.003714, theta=0.011994
+[19:09:34.680] Odometry x=0.006537, y=-0.003738, theta=0.011753
+[19:09:34.690] Odometry x=0.006538, y=-0.003761, theta=0.011669
+[19:09:34.700] Odometry x=0.006538, y=-0.003774, theta=0.011727
+[19:09:34.711] Odometry x=0.006538, y=-0.003781, theta=0.011737
+[19:09:34.721] Odometry x=0.006538, y=-0.003784, theta=0.011838
+[19:09:34.731] Odometry x=0.006538, y=-0.003786, theta=0.012053
+[19:09:34.741] Odometry x=0.006538, y=-0.003787, theta=0.012192
+[19:09:34.746] Init: px average disparity is:9.553872 ,While minimum is: 40.000000  KLT tracked : 65
+[19:09:34.746] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:34.761] Odometry x=0.006960, y=-0.003838, theta=0.012102
+[19:09:34.771] Odometry x=0.006960, y=-0.003839, theta=0.012016
+[19:09:34.781] Odometry x=0.006960, y=-0.003838, theta=0.011963
+[19:09:34.792] Odometry x=0.006960, y=-0.003838, theta=0.011665
+[19:09:34.802] Odometry x=0.006960, y=-0.003838, theta=0.010783
+[19:09:34.812] Odometry x=0.006960, y=-0.003838, theta=0.010055
+[19:09:34.822] Odometry x=0.006960, y=-0.003839, theta=0.008694
+[19:09:34.832] Odometry x=0.006960, y=-0.003839, theta=0.007576
+[19:09:34.842] Odometry x=0.006960, y=-0.003848, theta=0.006080
+[19:09:34.845] Init: px average disparity is:13.082321 ,While minimum is: 40.000000  KLT tracked : 65
+[19:09:34.845] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:34.863] Odometry x=0.007362, y=-0.003887, theta=0.004621
+[19:09:34.873] Odometry x=0.007363, y=-0.003902, theta=0.003165
+[19:09:34.883] Odometry x=0.007364, y=-0.003905, theta=0.002566
+[19:09:34.893] Odometry x=0.007364, y=-0.003913, theta=0.001416
+[19:09:34.903] Odometry x=0.007365, y=-0.003922, theta=0.000262
+[19:09:34.913] Odometry x=0.007365, y=-0.003926, theta=-0.000295
+[19:09:34.923] Odometry x=0.007365, y=-0.003932, theta=-0.000648
+[19:09:34.933] Odometry x=0.007365, y=-0.003949, theta=-0.000857
+[19:09:34.944] Init: px average disparity is:14.680376 ,While minimum is: 40.000000  KLT tracked : 65
+[19:09:34.944] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:34.954] Odometry x=0.007710, y=-0.003995, theta=0.000128
+[19:09:34.964] Odometry x=0.007710, y=-0.004035, theta=0.001542
+[19:09:34.974] Odometry x=0.007711, y=-0.004051, theta=0.003484
+[19:09:34.984] Odometry x=0.007711, y=-0.004058, theta=0.005167
+[19:09:34.994] Odometry x=0.007711, y=-0.004071, theta=0.008493
+[19:09:35.004] Odometry x=0.007712, y=-0.004081, theta=0.012411
+[19:09:35.014] Odometry x=0.007712, y=-0.004083, theta=0.014774
+[19:09:35.025] Odometry x=0.007712, y=-0.004084, theta=0.017777
+[19:09:35.035] Odometry x=0.007712, y=-0.004084, theta=0.020841
+[19:09:35.044] Init: px average disparity is:9.333451 ,While minimum is: 40.000000  KLT tracked : 65
+[19:09:35.044] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:35.055] Odometry x=0.008096, y=-0.004171, theta=0.024072
+[19:09:35.065] Odometry x=0.008096, y=-0.004171, theta=0.027690
+[19:09:35.075] Odometry x=0.008096, y=-0.004171, theta=0.030135
+[19:09:35.085] Odometry x=0.008096, y=-0.004171, theta=0.032235
+[19:09:35.096] Odometry x=0.008096, y=-0.004171, theta=0.034223
+[19:09:35.106] Odometry x=0.008096, y=-0.004172, theta=0.036193
+[19:09:35.116] Odometry x=0.008096, y=-0.004172, theta=0.038130
+[19:09:35.126] Odometry x=0.008096, y=-0.004173, theta=0.040094
+[19:09:35.136] Odometry x=0.008097, y=-0.004174, theta=0.041513
+[19:09:35.146] Init: px average disparity is:10.540338 ,While minimum is: 40.000000  KLT tracked : 65
+[19:09:35.146] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:35.156] Odometry x=0.008460, y=-0.004385, theta=0.045154
+[19:09:35.166] Odometry x=0.008461, y=-0.004429, theta=0.049050
+[19:09:35.177] Odometry x=0.008462, y=-0.004445, theta=0.051995
+[19:09:35.187] Odometry x=0.008462, y=-0.004457, theta=0.055338
+[19:09:35.197] Odometry x=0.008462, y=-0.004463, theta=0.058675
+[19:09:35.207] Odometry x=0.008462, y=-0.004465, theta=0.061670
+[19:09:35.217] Odometry x=0.008462, y=-0.004465, theta=0.063468
+[19:09:35.227] Odometry x=0.008462, y=-0.004465, theta=0.066110
+[19:09:35.237] Odometry x=0.008462, y=-0.004466, theta=0.068996
+[19:09:35.244] Init: px average disparity is:14.666819 ,While minimum is: 40.000000  KLT tracked : 65
+[19:09:35.244] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:35.258] Odometry x=0.008862, y=-0.004744, theta=0.070687
+[19:09:35.268] Odometry x=0.008863, y=-0.004743, theta=0.072624
+[19:09:35.278] Odometry x=0.008863, y=-0.004744, theta=0.073431
+[19:09:35.288] Odometry x=0.008863, y=-0.004748, theta=0.074389
+[19:09:35.298] Odometry x=0.008863, y=-0.004756, theta=0.075525
+[19:09:35.308] Odometry x=0.008863, y=-0.004768, theta=0.076835
+[19:09:35.318] Odometry x=0.008863, y=-0.004774, theta=0.077833
+[19:09:35.328] Odometry x=0.008863, y=-0.004782, theta=0.079219
+[19:09:35.339] Odometry x=0.008863, y=-0.004789, theta=0.080733
+[19:09:35.344] Init: px average disparity is:18.060102 ,While minimum is: 40.000000  KLT tracked : 65
+[19:09:35.344] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:35.359] Odometry x=0.000525, y=-0.004800, theta=0.001609
+[19:09:35.369] Odometry x=0.000525, y=-0.004814, theta=0.003934
+[19:09:35.379] Odometry x=0.000525, y=-0.004818, theta=0.005171
+[19:09:35.389] Odometry x=0.000525, y=-0.004827, theta=0.007121
+[19:09:35.399] Odometry x=0.000525, y=-0.004837, theta=0.009064
+[19:09:35.409] Odometry x=0.000525, y=-0.004840, theta=0.010615
+[19:09:35.420] Odometry x=0.000525, y=-0.004842, theta=0.012088
+[19:09:35.430] Odometry x=0.000525, y=-0.004842, theta=0.013183
+[19:09:35.440] Odometry x=0.000525, y=-0.004842, theta=0.013767
+[19:09:35.445] Init: px average disparity is:20.992842 ,While minimum is: 40.000000  KLT tracked : 65
+[19:09:35.445] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:35.460] Odometry x=0.000888, y=-0.004896, theta=0.015768
+[19:09:35.470] Odometry x=0.000888, y=-0.004896, theta=0.017847
+[19:09:35.480] Odometry x=0.000888, y=-0.004896, theta=0.018808
+[19:09:35.490] Odometry x=0.000888, y=-0.004897, theta=0.020236
+[19:09:35.501] Odometry x=0.000888, y=-0.004898, theta=0.021834
+[19:09:35.511] Odometry x=0.000888, y=-0.004899, theta=0.023632
+[19:09:35.521] Odometry x=0.000888, y=-0.004901, theta=0.025747
+[19:09:35.531] Odometry x=0.000888, y=-0.004904, theta=0.027974
+[19:09:35.541] Odometry x=0.000888, y=-0.004908, theta=0.030013
+[19:09:35.547] Init: px average disparity is:24.520579 ,While minimum is: 40.000000  KLT tracked : 65
+[19:09:35.547] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:35.561] Odometry x=0.001290, y=-0.005034, theta=0.030631
+[19:09:35.572] Odometry x=0.001290, y=-0.005037, theta=0.031181
+[19:09:35.582] Odometry x=0.001290, y=-0.005037, theta=0.031365
+[19:09:35.592] Odometry x=0.001290, y=-0.005037, theta=0.031358
+[19:09:35.602] Odometry x=0.001291, y=-0.005038, theta=0.031103
+[19:09:35.612] Odometry x=0.001291, y=-0.005038, theta=0.030672
+[19:09:35.622] Odometry x=0.001291, y=-0.005038, theta=0.029966
+[19:09:35.632] Odometry x=0.001291, y=-0.005038, theta=0.029027
+[19:09:35.642] Odometry x=0.001291, y=-0.005038, theta=0.028224
+[19:09:35.645] Init: px average disparity is:23.129135 ,While minimum is: 40.000000  KLT tracked : 65
+[19:09:35.645] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:35.663] Odometry x=0.001673, y=-0.005145, theta=0.027558
+[19:09:35.673] Odometry x=0.001673, y=-0.005145, theta=0.027078
+[19:09:35.683] Odometry x=0.001673, y=-0.005145, theta=0.026962
+[19:09:35.693] Odometry x=0.001673, y=-0.005152, theta=0.026651
+[19:09:35.703] Odometry x=0.001673, y=-0.005160, theta=0.026189
+[19:09:35.713] Odometry x=0.001673, y=-0.005163, theta=0.025825
+[19:09:35.723] Odometry x=0.001673, y=-0.005173, theta=0.025272
+[19:09:35.734] Odometry x=0.001673, y=-0.005187, theta=0.024291
+[19:09:35.744] Odometry x=0.001673, y=-0.005211, theta=0.022659
+[19:09:35.745] Init: px average disparity is:21.095019 ,While minimum is: 40.000000  KLT tracked : 65
+[19:09:35.745] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:35.764] Odometry x=0.002074, y=-0.005321, theta=0.021686
+[19:09:35.774] Odometry x=0.002074, y=-0.005342, theta=0.020769
+[19:09:35.784] Odometry x=0.002074, y=-0.005353, theta=0.020291
+[19:09:35.794] Odometry x=0.002074, y=-0.005365, theta=0.019828
+[19:09:35.804] Odometry x=0.002074, y=-0.005376, theta=0.019351
+[19:09:35.815] Odometry x=0.002073, y=-0.005380, theta=0.018996
+[19:09:35.825] Odometry x=0.002073, y=-0.005387, theta=0.018304
+[19:09:35.835] Odometry x=0.002073, y=-0.005391, theta=0.017607
+[19:09:35.844] Init: px average disparity is:18.431209 ,While minimum is: 40.000000  KLT tracked : 65
+[19:09:35.844] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:35.855] Odometry x=0.002420, y=-0.005452, theta=0.017414
+[19:09:35.865] Odometry x=0.002420, y=-0.005452, theta=0.017149
+[19:09:35.875] Odometry x=0.002420, y=-0.005452, theta=0.016787
+[19:09:35.885] Odometry x=0.002420, y=-0.005452, theta=0.016130
+[19:09:35.896] Odometry x=0.002421, y=-0.005452, theta=0.015392
+[19:09:35.906] Odometry x=0.002421, y=-0.005453, theta=0.014609
+[19:09:35.916] Odometry x=0.002421, y=-0.005455, theta=0.013958
+[19:09:35.926] Odometry x=0.002421, y=-0.005467, theta=0.012405
+[19:09:35.936] Odometry x=0.002421, y=-0.005480, theta=0.010580
+[19:09:35.944] Init: px average disparity is:14.051409 ,While minimum is: 40.000000  KLT tracked : 65
+[19:09:35.944] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:35.956] Odometry x=0.002803, y=-0.005526, theta=0.008974
+[19:09:35.966] Odometry x=0.002803, y=-0.005532, theta=0.007182
+[19:09:35.977] Odometry x=0.002802, y=-0.005532, theta=0.005916
+[19:09:35.987] Odometry x=0.002802, y=-0.005532, theta=0.004697
+[19:09:35.997] Odometry x=0.002802, y=-0.005532, theta=0.003421
+[19:09:36.007] Odometry x=0.002802, y=-0.005533, theta=0.002028
+[19:09:36.017] Odometry x=0.002802, y=-0.005533, theta=0.001095
+[19:09:36.027] Odometry x=0.002802, y=-0.005540, theta=0.000230
+[19:09:36.037] Odometry x=0.002802, y=-0.005547, theta=-0.000430
+[19:09:36.047] Init: px average disparity is:10.957356 ,While minimum is: 40.000000  KLT tracked : 65
+[19:09:36.047] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:36.058] Odometry x=0.003184, y=-0.005554, theta=-0.001569
+[19:09:36.068] Odometry x=0.003184, y=-0.005565, theta=-0.002871
+[19:09:36.078] Odometry x=0.003184, y=-0.005573, theta=-0.003882
+[19:09:36.088] Odometry x=0.003184, y=-0.005596, theta=-0.005958
+[19:09:36.098] Odometry x=0.003184, y=-0.005610, theta=-0.007599
+[19:09:36.108] Odometry x=0.003184, y=-0.005620, theta=-0.009374
+[19:09:36.118] Odometry x=0.003184, y=-0.005626, theta=-0.010601
+[19:09:36.129] Odometry x=0.003184, y=-0.005627, theta=-0.010792
+[19:09:36.139] Odometry x=0.003184, y=-0.005626, theta=-0.010837
+[19:09:36.144] Init: px average disparity is:8.026888 ,While minimum is: 40.000000  KLT tracked : 65
+[19:09:36.144] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:36.159] Odometry x=0.003585, y=-0.005581, theta=-0.011774
+[19:09:36.169] Odometry x=0.003585, y=-0.005581, theta=-0.012668
+[19:09:36.179] Odometry x=0.003585, y=-0.005581, theta=-0.012960
+[19:09:36.189] Odometry x=0.003587, y=-0.005582, theta=-0.012704
+[19:09:36.199] Odometry x=0.003589, y=-0.005583, theta=-0.012028
+[19:09:36.209] Odometry x=0.003589, y=-0.005583, theta=-0.011279
+[19:09:36.220] Odometry x=0.003589, y=-0.005583, theta=-0.010824
+[19:09:36.230] Odometry x=0.003589, y=-0.005583, theta=-0.010900
+[19:09:36.240] Odometry x=0.003589, y=-0.005583, theta=-0.011329
+[19:09:36.244] Init: px average disparity is:6.523508 ,While minimum is: 40.000000  KLT tracked : 65
+[19:09:36.244] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:36.260] Odometry x=0.003971, y=-0.005547, theta=-0.012240
+[19:09:36.270] Odometry x=0.003971, y=-0.005557, theta=-0.013027
+[19:09:36.280] Odometry x=0.003971, y=-0.005561, theta=-0.013248
+[19:09:36.290] Odometry x=0.003970, y=-0.005573, theta=-0.013855
+[19:09:36.300] Odometry x=0.003969, y=-0.005584, theta=-0.014733
+[19:09:36.311] Odometry x=0.003969, y=-0.005589, theta=-0.015810
+[19:09:36.321] Odometry x=0.003969, y=-0.005594, theta=-0.016979
+[19:09:36.331] Odometry x=0.003969, y=-0.005596, theta=-0.017745
+[19:09:36.344] Init: px average disparity is:7.314412 ,While minimum is: 40.000000  KLT tracked : 65
+[19:09:36.344] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:36.351] Odometry x=0.004295, y=-0.005549, theta=-0.018959
+[19:09:36.361] Odometry x=0.004295, y=-0.005557, theta=-0.020362
+[19:09:36.371] Odometry x=0.004295, y=-0.005558, theta=-0.021326
+[19:09:36.381] Odometry x=0.004295, y=-0.005559, theta=-0.021990
+[19:09:36.392] Odometry x=0.004296, y=-0.005560, theta=-0.022194
+[19:09:36.402] Odometry x=0.004296, y=-0.005559, theta=-0.022170
+[19:09:36.412] Odometry x=0.004297, y=-0.005559, theta=-0.022124
+[19:09:36.422] Odometry x=0.004297, y=-0.005559, theta=-0.022124
+[19:09:36.432] Odometry x=0.004297, y=-0.005559, theta=-0.022475
+[19:09:36.442] Odometry x=0.004297, y=-0.005559, theta=-0.023270
+[19:09:36.443] Init: px average disparity is:7.011569 ,While minimum is: 40.000000  KLT tracked : 65
+[19:09:36.443] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:36.462] Odometry x=0.004737, y=-0.005456, theta=-0.023847
+[19:09:36.473] Odometry x=0.004737, y=-0.005456, theta=-0.024371
+[19:09:36.483] Odometry x=0.004737, y=-0.005456, theta=-0.024575
+[19:09:36.493] Odometry x=0.004737, y=-0.005456, theta=-0.025261
+[19:09:36.503] Odometry x=0.004737, y=-0.005456, theta=-0.026445
+[19:09:36.513] Odometry x=0.004737, y=-0.005456, theta=-0.028055
+[19:09:36.523] Odometry x=0.004737, y=-0.005456, theta=-0.029786
+[19:09:36.533] Odometry x=0.004737, y=-0.005458, theta=-0.031239
+[19:09:36.546] Init: px average disparity is:11.253655 ,While minimum is: 40.000000  KLT tracked : 65
+[19:09:36.546] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:36.554] Odometry x=0.005081, y=-0.005359, theta=-0.032717
+[19:09:36.564] Odometry x=0.005081, y=-0.005369, theta=-0.034157
+[19:09:36.574] Odometry x=0.005081, y=-0.005376, theta=-0.035282
+[19:09:36.584] Odometry x=0.005081, y=-0.005378, theta=-0.036081
+[19:09:36.594] Odometry x=0.005081, y=-0.005380, theta=-0.037129
+[19:09:36.604] Odometry x=0.005081, y=-0.005382, theta=-0.038581
+[19:09:36.614] Odometry x=0.005081, y=-0.005383, theta=-0.039593
+[19:09:36.624] Odometry x=0.005081, y=-0.005384, theta=-0.040271
+[19:09:36.635] Odometry x=0.005081, y=-0.005390, theta=-0.041294
+[19:09:36.646] Init: px average disparity is:12.627623 ,While minimum is: 40.000000  KLT tracked : 65
+[19:09:36.646] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:36.655] Odometry x=0.005443, y=-0.005243, theta=-0.041258
+[19:09:36.665] Odometry x=0.005443, y=-0.005245, theta=-0.040810
+[19:09:36.675] Odometry x=0.005444, y=-0.005245, theta=-0.039371
+[19:09:36.685] Odometry x=0.005444, y=-0.005245, theta=-0.038211
+[19:09:36.695] Odometry x=0.005445, y=-0.005245, theta=-0.037517
+[19:09:36.705] Odometry x=0.005446, y=-0.005244, theta=-0.036793
+[19:09:36.716] Odometry x=0.005446, y=-0.005244, theta=-0.036043
+[19:09:36.726] Odometry x=0.005446, y=-0.005244, theta=-0.034830
+[19:09:36.736] Odometry x=0.005447, y=-0.005244, theta=-0.033361
+[19:09:36.745] Init: px average disparity is:10.283434 ,While minimum is: 40.000000  KLT tracked : 65
+[19:09:36.745] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:36.746] Odometry x=0.005447, y=-0.005244, theta=-0.032279
+[19:09:36.766] Odometry x=0.005830, y=-0.005123, theta=-0.030106
+[19:09:36.776] Odometry x=0.005830, y=-0.005123, theta=-0.027847
+[19:09:36.786] Odometry x=0.005830, y=-0.005126, theta=-0.025977
+[19:09:36.796] Odometry x=0.005830, y=-0.005129, theta=-0.023776
+[19:09:36.807] Odometry x=0.005830, y=-0.005130, theta=-0.022366
+[19:09:36.817] Odometry x=0.005830, y=-0.005130, theta=-0.021073
+[19:09:36.827] Odometry x=0.005831, y=-0.005132, theta=-0.019193
+[19:09:36.837] Odometry x=0.005831, y=-0.005137, theta=-0.017868
+[19:09:36.848] Init: px average disparity is:9.413691 ,While minimum is: 40.000000  KLT tracked : 65
+[19:09:36.849] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:36.857] Odometry x=0.006213, y=-0.005080, theta=-0.016117
+[19:09:36.867] Odometry x=0.006213, y=-0.005085, theta=-0.014198
+[19:09:36.877] Odometry x=0.006213, y=-0.005087, theta=-0.012898
+[19:09:36.887] Odometry x=0.006213, y=-0.005090, theta=-0.011615
+[19:09:36.898] Odometry x=0.006213, y=-0.005098, theta=-0.010228
+[19:09:36.908] Odometry x=0.006213, y=-0.005111, theta=-0.008976
+[19:09:36.918] Odometry x=0.006213, y=-0.005119, theta=-0.007947
+[19:09:36.928] Odometry x=0.006213, y=-0.005121, theta=-0.007227
+[19:09:36.938] Odometry x=0.006213, y=-0.005121, theta=-0.005576
+[19:09:36.945] Init: px average disparity is:4.848485 ,While minimum is: 40.000000  KLT tracked : 65
+[19:09:36.945] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:36.958] Odometry x=0.006638, y=-0.005099, theta=-0.004210
+[19:09:36.968] Odometry x=0.006638, y=-0.005099, theta=-0.002666
+[19:09:36.979] Odometry x=0.006638, y=-0.005099, theta=-0.001377
+[19:09:36.989] Odometry x=0.006638, y=-0.005098, theta=-0.000250
+[19:09:36.999] Odometry x=0.006639, y=-0.005098, theta=0.001601
+[19:09:37.009] Odometry x=0.006639, y=-0.005098, theta=0.004144
+[19:09:37.019] Odometry x=0.006639, y=-0.005098, theta=0.006724
+[19:09:37.029] Odometry x=0.006639, y=-0.005099, theta=0.009098
+[19:09:37.039] Odometry x=0.006639, y=-0.005103, theta=0.011538
+[19:09:37.047] Init: px average disparity is:10.886173 ,While minimum is: 40.000000  KLT tracked : 65
+[19:09:37.047] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:37.059] Odometry x=0.006995, y=-0.005166, theta=0.013658
+[19:09:37.070] Odometry x=0.006995, y=-0.005182, theta=0.016189
+[19:09:37.080] Odometry x=0.006995, y=-0.005185, theta=0.017826
+[19:09:37.090] Odometry x=0.006995, y=-0.005185, theta=0.019629
+[19:09:37.100] Odometry x=0.006995, y=-0.005186, theta=0.021588
+[19:09:37.110] Odometry x=0.006995, y=-0.005186, theta=0.023374
+[19:09:37.120] Odometry x=0.006995, y=-0.005186, theta=0.025240
+[19:09:37.130] Odometry x=0.006995, y=-0.005186, theta=0.026613
+[19:09:37.144] Init: px average disparity is:14.273606 ,While minimum is: 40.000000  KLT tracked : 65
+[19:09:37.144] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:37.151] Odometry x=0.007332, y=-0.005278, theta=0.029033
+[19:09:37.161] Odometry x=0.007332, y=-0.005278, theta=0.031041
+[19:09:37.171] Odometry x=0.007332, y=-0.005280, theta=0.031737
+[19:09:37.181] Odometry x=0.007332, y=-0.005286, theta=0.032134
+[19:09:37.191] Odometry x=0.007332, y=-0.005292, theta=0.032462
+[19:09:37.201] Odometry x=0.007332, y=-0.005297, theta=0.032815
+[19:09:37.212] Odometry x=0.007333, y=-0.005301, theta=0.033355
+[19:09:37.222] Odometry x=0.007333, y=-0.005304, theta=0.033984
+[19:09:37.232] Odometry x=0.007333, y=-0.005305, theta=0.034348
+[19:09:37.242] Odometry x=0.007333, y=-0.005306, theta=0.034581
+[19:09:37.244] Init: px average disparity is:14.000291 ,While minimum is: 40.000000  KLT tracked : 65
+[19:09:37.245] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:37.262] Odometry x=0.007793, y=-0.005465, theta=0.034678
+[19:09:37.272] Odometry x=0.007793, y=-0.005465, theta=0.034623
+[19:09:37.282] Odometry x=0.007793, y=-0.005465, theta=0.034556
+[19:09:37.293] Odometry x=0.007793, y=-0.005465, theta=0.034610
+[19:09:37.303] Odometry x=0.007793, y=-0.005465, theta=0.034802
+[19:09:37.313] Odometry x=0.007793, y=-0.005465, theta=0.034983
+[19:09:37.323] Odometry x=0.007793, y=-0.005465, theta=0.034886
+[19:09:37.333] Odometry x=0.007793, y=-0.005465, theta=0.034543
+[19:09:37.345] Init: px average disparity is:13.721376 ,While minimum is: 40.000000  KLT tracked : 65
+[19:09:37.345] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:37.354] Odometry x=0.008146, y=-0.005588, theta=0.034358
+[19:09:37.364] Odometry x=0.008146, y=-0.005589, theta=0.034212
+[19:09:37.374] Odometry x=0.008146, y=-0.005589, theta=0.034297
+[19:09:37.384] Odometry x=0.008146, y=-0.005589, theta=0.034570
+[19:09:37.394] Odometry x=0.008146, y=-0.005589, theta=0.034893
+[19:09:37.404] Odometry x=0.008146, y=-0.005589, theta=0.034880
+[19:09:37.414] Odometry x=0.008146, y=-0.005591, theta=0.034208
+[19:09:37.424] Odometry x=0.008146, y=-0.005594, theta=0.033046
+[19:09:37.435] Odometry x=0.008146, y=-0.005595, theta=0.031935
+[19:09:37.445] Init: px average disparity is:11.822510 ,While minimum is: 40.000000  KLT tracked : 65
+[19:09:37.445] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:37.455] Odometry x=0.008530, y=-0.005719, theta=0.032151
+[19:09:37.465] Odometry x=0.008531, y=-0.005722, theta=0.032575
+[19:09:37.475] Odometry x=0.008532, y=-0.005723, theta=0.033058
+[19:09:37.485] Odometry x=0.008532, y=-0.005725, theta=0.033507
+[19:09:37.495] Odometry x=0.008532, y=-0.005729, theta=0.033885
+[19:09:37.506] Odometry x=0.008532, y=-0.005731, theta=0.034122
+[19:09:37.516] Odometry x=0.008532, y=-0.005733, theta=0.034266
+[19:09:37.526] Odometry x=0.008532, y=-0.005734, theta=0.034550
+[19:09:37.536] Odometry x=0.008532, y=-0.005734, theta=0.035639
+[19:09:37.545] Init: px average disparity is:13.085038 ,While minimum is: 40.000000  KLT tracked : 65
+[19:09:37.545] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:37.556] Odometry x=0.008933, y=-0.005879, theta=0.036833
+[19:09:37.566] Odometry x=0.008933, y=-0.005879, theta=0.038114
+[19:09:37.577] Odometry x=0.008933, y=-0.005879, theta=0.038837
+[19:09:37.587] Odometry x=0.008933, y=-0.005879, theta=0.039152
+[19:09:37.597] Odometry x=0.008933, y=-0.005879, theta=0.039260
+[19:09:37.607] Odometry x=0.008933, y=-0.005879, theta=0.039602
+[19:09:37.617] Odometry x=0.008933, y=-0.005879, theta=0.039997
+[19:09:37.627] Odometry x=0.008933, y=-0.005879, theta=0.040268
+[19:09:37.637] Odometry x=0.008933, y=-0.005880, theta=0.040419
+[19:09:37.645] Init: px average disparity is:12.980950 ,While minimum is: 40.000000  KLT tracked : 65
+[19:09:37.645] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:37.658] Odometry x=0.009314, y=-0.006039, theta=0.040294
+[19:09:37.668] Odometry x=0.009314, y=-0.006044, theta=0.040166
+[19:09:37.678] Odometry x=0.009315, y=-0.006046, theta=0.040142
+[19:09:37.688] Odometry x=0.009315, y=-0.006046, theta=0.040214
+[19:09:37.698] Odometry x=0.009315, y=-0.006046, theta=0.040661
+[19:09:37.708] Odometry x=0.009315, y=-0.006046, theta=0.041205
+[19:09:37.718] Odometry x=0.009315, y=-0.006046, theta=0.041610
+[19:09:37.728] Odometry x=0.009315, y=-0.006046, theta=0.041945
+[19:09:37.739] Odometry x=0.009315, y=-0.006047, theta=0.042289
+[19:09:37.745] Init: px average disparity is:14.013417 ,While minimum is: 40.000000  KLT tracked : 65
+[19:09:37.745] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:37.759] Odometry x=0.009697, y=-0.006210, theta=0.043085
+[19:09:37.769] Odometry x=0.009697, y=-0.006211, theta=0.044140
+[19:09:37.779] Odometry x=0.009697, y=-0.006212, theta=0.045037
+[19:09:37.789] Odometry x=0.009697, y=-0.006214, theta=0.046172
+[19:09:37.799] Odometry x=0.009697, y=-0.006215, theta=0.047617
+[19:09:37.809] Odometry x=0.009697, y=-0.006215, theta=0.048874
+[19:09:37.820] Odometry x=0.009696, y=-0.006215, theta=0.049957
+[19:09:37.830] Odometry x=0.009696, y=-0.006215, theta=0.051050
+[19:09:37.840] Odometry x=0.009696, y=-0.006215, theta=0.052285
+[19:09:37.845] Init: px average disparity is:17.116836 ,While minimum is: 40.000000  KLT tracked : 65
+[19:09:37.845] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:37.860] Odometry x=0.010078, y=-0.006415, theta=0.053671
+[19:09:37.870] Odometry x=0.010078, y=-0.006413, theta=0.055063
+[19:09:37.880] Odometry x=0.010078, y=-0.006412, theta=0.055948
+[19:09:37.891] Odometry x=0.010078, y=-0.006412, theta=0.056983
+[19:09:37.901] Odometry x=0.010078, y=-0.006412, theta=0.058075
+[19:09:37.911] Odometry x=0.010078, y=-0.006415, theta=0.058815
+[19:09:37.921] Odometry x=0.010078, y=-0.006423, theta=0.059629
+[19:09:37.931] Odometry x=0.010079, y=-0.006431, theta=0.060412
+[19:09:37.941] Odometry x=0.010079, y=-0.006437, theta=0.061129
+[19:09:37.944] Init: px average disparity is:18.877649 ,While minimum is: 40.000000  KLT tracked : 65
+[19:09:37.944] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:37.961] Odometry x=0.010479, y=-0.006691, theta=0.061917
+[19:09:37.971] Odometry x=0.010480, y=-0.006697, theta=0.062781
+[19:09:37.982] Odometry x=0.010480, y=-0.006698, theta=0.063469
+[19:09:37.992] Odometry x=0.010480, y=-0.006698, theta=0.064527
+[19:09:38.002] Odometry x=0.010480, y=-0.006698, theta=0.065794
+[19:09:38.012] Odometry x=0.010480, y=-0.006698, theta=0.066644
+[19:09:38.022] Odometry x=0.010480, y=-0.006698, theta=0.067603
+[19:09:38.032] Odometry x=0.010480, y=-0.006698, theta=0.068552
+[19:09:38.047] Init: px average disparity is:21.666755 ,While minimum is: 40.000000  KLT tracked : 65
+[19:09:38.047] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:38.052] Odometry x=0.010822, y=-0.006935, theta=0.069655
+[19:09:38.063] Odometry x=0.010822, y=-0.006936, theta=0.070865
+[19:09:38.073] Odometry x=0.010822, y=-0.006937, theta=0.071453
+[19:09:38.083] Odometry x=0.010822, y=-0.006938, theta=0.071865
+[19:09:38.093] Odometry x=0.010822, y=-0.006939, theta=0.072258
+[19:09:38.103] Odometry x=0.010822, y=-0.006940, theta=0.072828
+[19:09:38.113] Odometry x=0.010822, y=-0.006940, theta=0.073376
+[19:09:38.123] Odometry x=0.010822, y=-0.006940, theta=0.074354
+[19:09:38.134] Odometry x=0.010822, y=-0.006940, theta=0.075475
+[19:09:38.144] Init: px average disparity is:22.502479 ,While minimum is: 40.000000  KLT tracked : 65
+[19:09:38.144] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:38.154] Odometry x=0.004515, y=-0.007161, theta=0.029522
+[19:09:38.164] Odometry x=0.004515, y=-0.007161, theta=0.030201
+[19:09:38.174] Odometry x=0.004515, y=-0.007161, theta=0.030667
+[19:09:38.185] Odometry x=0.004515, y=-0.007161, theta=0.031115
+[19:09:38.195] Odometry x=0.004515, y=-0.007161, theta=0.031430
+[19:09:38.205] Odometry x=0.004515, y=-0.007162, theta=0.031818
+[19:09:38.215] Odometry x=0.004515, y=-0.007163, theta=0.032118
+[19:09:38.225] Odometry x=0.004515, y=-0.007164, theta=0.032377
+[19:09:38.235] Odometry x=0.004516, y=-0.007166, theta=0.032777
+[19:09:38.246] Init: px average disparity is:23.142387 ,While minimum is: 40.000000  KLT tracked : 65
+[19:09:38.246] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:38.255] Odometry x=0.004898, y=-0.007299, theta=0.032799
+[19:09:38.265] Odometry x=0.004898, y=-0.007307, theta=0.032764
+[19:09:38.276] Odometry x=0.004898, y=-0.007310, theta=0.032780
+[19:09:38.286] Odometry x=0.004898, y=-0.007311, theta=0.033154
+[19:09:38.296] Odometry x=0.004898, y=-0.007311, theta=0.033686
+[19:09:38.306] Odometry x=0.004898, y=-0.007311, theta=0.034376
+[19:09:38.316] Odometry x=0.004898, y=-0.007310, theta=0.034975
+[19:09:38.326] Odometry x=0.004898, y=-0.007309, theta=0.035316
+[19:09:38.336] Odometry x=0.004898, y=-0.007309, theta=0.035687
+[19:09:38.345] Init: px average disparity is:24.212986 ,While minimum is: 40.000000  KLT tracked : 65
+[19:09:38.345] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:38.356] Odometry x=0.005279, y=-0.007445, theta=0.035574
+[19:09:38.367] Odometry x=0.005278, y=-0.007446, theta=0.035660
+[19:09:38.377] Odometry x=0.005278, y=-0.007449, theta=0.035999
+[19:09:38.387] Odometry x=0.005278, y=-0.007451, theta=0.036245
+[19:09:38.397] Odometry x=0.005278, y=-0.007452, theta=0.036239
+[19:09:38.407] Odometry x=0.005278, y=-0.007453, theta=0.036172
+[19:09:38.417] Odometry x=0.005278, y=-0.007454, theta=0.036139
+[19:09:38.427] Odometry x=0.005278, y=-0.007454, theta=0.036200
+[19:09:38.438] Odometry x=0.005278, y=-0.007454, theta=0.036055
+[19:09:38.445] Init: px average disparity is:22.266096 ,While minimum is: 40.000000  KLT tracked : 65
+[19:09:38.445] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:38.448] Odometry x=0.005278, y=-0.007454, theta=0.035634
+[19:09:38.468] Odometry x=0.005717, y=-0.007607, theta=0.033470
+[19:09:38.478] Odometry x=0.005717, y=-0.007608, theta=0.031309
+[19:09:38.488] Odometry x=0.005717, y=-0.007608, theta=0.029861
+[19:09:38.498] Odometry x=0.005717, y=-0.007608, theta=0.028409
+[19:09:38.508] Odometry x=0.005717, y=-0.007608, theta=0.026998
+[19:09:38.518] Odometry x=0.005717, y=-0.007610, theta=0.025618
+[19:09:38.529] Odometry x=0.005717, y=-0.007615, theta=0.024277
+[19:09:38.544] Init: px average disparity is:17.212644 ,While minimum is: 40.000000  KLT tracked : 65
+[19:09:38.544] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:38.549] Odometry x=0.006022, y=-0.007700, theta=0.022314
+[19:09:38.559] Odometry x=0.006022, y=-0.007710, theta=0.020146
+[19:09:38.569] Odometry x=0.006022, y=-0.007711, theta=0.018738
+[19:09:38.579] Odometry x=0.006022, y=-0.007713, theta=0.017452
+[19:09:38.589] Odometry x=0.006022, y=-0.007714, theta=0.016345
+[19:09:38.599] Odometry x=0.006022, y=-0.007716, theta=0.015472
+[19:09:38.610] Odometry x=0.006022, y=-0.007717, theta=0.014676
+[19:09:38.620] Odometry x=0.006022, y=-0.007718, theta=0.013775
+[19:09:38.630] Odometry x=0.006022, y=-0.007718, theta=0.012759
+[19:09:38.640] Odometry x=0.006022, y=-0.007718, theta=0.011815
+[19:09:38.645] Init: px average disparity is:13.173805 ,While minimum is: 40.000000  KLT tracked : 65
+[19:09:38.645] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:38.660] Odometry x=0.006443, y=-0.007766, theta=0.010306
+[19:09:38.670] Odometry x=0.006443, y=-0.007766, theta=0.008666
+[19:09:38.680] Odometry x=0.006443, y=-0.007766, theta=0.007487
+[19:09:38.691] Odometry x=0.006443, y=-0.007766, theta=0.006329
+[19:09:38.701] Odometry x=0.006443, y=-0.007766, theta=0.005177
+[19:09:38.711] Odometry x=0.006443, y=-0.007766, theta=0.003826
+[19:09:38.721] Odometry x=0.006443, y=-0.007769, theta=0.001824
+[19:09:38.731] Odometry x=0.006443, y=-0.007775, theta=-0.000081
+[19:09:38.741] Odometry x=0.006443, y=-0.007782, theta=-0.001638
+[19:09:38.747] Init: px average disparity is:8.984985 ,While minimum is: 40.000000  KLT tracked : 65
+[19:09:38.747] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:38.761] Odometry x=0.006844, y=-0.007787, theta=-0.003323
+[19:09:38.772] Odometry x=0.006844, y=-0.007799, theta=-0.005089
+[19:09:38.782] Odometry x=0.006844, y=-0.007800, theta=-0.006077
+[19:09:38.792] Odometry x=0.006844, y=-0.007801, theta=-0.007044
+[19:09:38.802] Odometry x=0.006844, y=-0.007802, theta=-0.008238
+[19:09:38.812] Odometry x=0.006844, y=-0.007802, theta=-0.009179
+[19:09:38.822] Odometry x=0.006844, y=-0.007803, theta=-0.010823
+[19:09:38.832] Odometry x=0.006844, y=-0.007806, theta=-0.012457
+[19:09:38.843] Odometry x=0.006844, y=-0.007809, theta=-0.013679
+[19:09:38.845] Init: px average disparity is:7.066202 ,While minimum is: 40.000000  KLT tracked : 65
+[19:09:38.845] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:38.863] Odometry x=0.007226, y=-0.007764, theta=-0.013502
+[19:09:38.873] Odometry x=0.007226, y=-0.007769, theta=-0.013152
+[19:09:38.883] Odometry x=0.007226, y=-0.007769, theta=-0.012602
+[19:09:38.893] Odometry x=0.007226, y=-0.007770, theta=-0.011929
+[19:09:38.903] Odometry x=0.007226, y=-0.007770, theta=-0.011332
+[19:09:38.913] Odometry x=0.007226, y=-0.007770, theta=-0.010936
+[19:09:38.924] Odometry x=0.007226, y=-0.007773, theta=-0.010608
+[19:09:38.934] Odometry x=0.007226, y=-0.007777, theta=-0.010163
+[19:09:38.945] Init: px average disparity is:7.768930 ,While minimum is: 40.000000  KLT tracked : 65
+[19:09:38.945] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:38.954] Odometry x=0.007581, y=-0.007743, theta=-0.009438
+[19:09:38.964] Odometry x=0.007581, y=-0.007743, theta=-0.008463
+[19:09:38.974] Odometry x=0.007581, y=-0.007743, theta=-0.008227
+[19:09:38.984] Odometry x=0.007581, y=-0.007743, theta=-0.008319
+[19:09:38.994] Odometry x=0.007581, y=-0.007743, theta=-0.008259
+[19:09:39.005] Odometry x=0.007581, y=-0.007744, theta=-0.008041
+[19:09:39.015] Odometry x=0.007581, y=-0.007744, theta=-0.007823
+[19:09:39.025] Odometry x=0.007582, y=-0.007746, theta=-0.007793
+[19:09:39.035] Odometry x=0.007582, y=-0.007752, theta=-0.007619
+[19:09:39.046] Init: px average disparity is:8.043892 ,While minimum is: 40.000000  KLT tracked : 65
+[19:09:39.046] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:39.056] Odometry x=0.007964, y=-0.007746, theta=-0.006827
+[19:09:39.066] Odometry x=0.007964, y=-0.007763, theta=-0.006032
+[19:09:39.076] Odometry x=0.007964, y=-0.007768, theta=-0.005624
+[19:09:39.086] Odometry x=0.007964, y=-0.007770, theta=-0.005126
+[19:09:39.096] Odometry x=0.007964, y=-0.007771, theta=-0.004472
+[19:09:39.106] Odometry x=0.007964, y=-0.007771, theta=-0.003675
+[19:09:39.116] Odometry x=0.007964, y=-0.007771, theta=-0.003023
+[19:09:39.126] Odometry x=0.007964, y=-0.007771, theta=-0.002643
+[19:09:39.137] Odometry x=0.007964, y=-0.007771, theta=-0.002382
+[19:09:39.145] Init: px average disparity is:7.188615 ,While minimum is: 40.000000  KLT tracked : 65
+[19:09:39.145] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:39.157] Odometry x=0.008346, y=-0.007763, theta=-0.002059
+[19:09:39.167] Odometry x=0.008346, y=-0.007764, theta=-0.001330
+[19:09:39.177] Odometry x=0.008346, y=-0.007765, theta=-0.000701
+[19:09:39.187] Odometry x=0.008346, y=-0.007765, theta=-0.000167
+[19:09:39.197] Odometry x=0.008346, y=-0.007766, theta=0.000353
+[19:09:39.207] Odometry x=0.008346, y=-0.007766, theta=0.000841
+[19:09:39.217] Odometry x=0.008346, y=-0.007766, theta=0.001157
+[19:09:39.228] Odometry x=0.008346, y=-0.007768, theta=0.001637
+[19:09:39.238] Odometry x=0.008346, y=-0.007769, theta=0.002291
+[19:09:39.244] Init: px average disparity is:8.569766 ,While minimum is: 40.000000  KLT tracked : 65
+[19:09:39.244] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:39.258] Odometry x=0.008747, y=-0.007781, theta=0.003703
+[19:09:39.268] Odometry x=0.008747, y=-0.007781, theta=0.005229
+[19:09:39.278] Odometry x=0.008747, y=-0.007781, theta=0.006273
+[19:09:39.288] Odometry x=0.008747, y=-0.007781, theta=0.007421
+[19:09:39.298] Odometry x=0.008747, y=-0.007781, theta=0.008672
+[19:09:39.309] Odometry x=0.008748, y=-0.007781, theta=0.009857
+[19:09:39.319] Odometry x=0.008748, y=-0.007781, theta=0.010647
+[19:09:39.329] Odometry x=0.008748, y=-0.007781, theta=0.011798
+[19:09:39.339] Odometry x=0.008748, y=-0.007781, theta=0.013037
+[19:09:39.347] Init: px average disparity is:11.945490 ,While minimum is: 40.000000  KLT tracked : 65
+[19:09:39.347] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:39.359] Odometry x=0.009130, y=-0.007835, theta=0.014337
+[19:09:39.369] Odometry x=0.009130, y=-0.007836, theta=0.015962
+[19:09:39.379] Odometry x=0.009130, y=-0.007837, theta=0.016819
+[19:09:39.390] Odometry x=0.009130, y=-0.007845, theta=0.018124
+[19:09:39.400] Odometry x=0.009130, y=-0.007852, theta=0.019453
+[19:09:39.410] Odometry x=0.009130, y=-0.007856, theta=0.020655
+[19:09:39.420] Odometry x=0.009130, y=-0.007858, theta=0.022277
+[19:09:39.430] Odometry x=0.009130, y=-0.007858, theta=0.023998
+[19:09:39.440] Odometry x=0.009130, y=-0.007858, theta=0.025685
+[19:09:39.449] Init: px average disparity is:15.070319 ,While minimum is: 40.000000  KLT tracked : 65
+[19:09:39.449] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:39.460] Odometry x=0.009516, y=-0.007960, theta=0.027426
+[19:09:39.471] Odometry x=0.009516, y=-0.007959, theta=0.029269
+[19:09:39.481] Odometry x=0.009516, y=-0.007959, theta=0.030108
+[19:09:39.491] Odometry x=0.009516, y=-0.007960, theta=0.030939
+[19:09:39.501] Odometry x=0.009516, y=-0.007960, theta=0.031831
+[19:09:39.511] Odometry x=0.009516, y=-0.007960, theta=0.032803
+[19:09:39.521] Odometry x=0.009516, y=-0.007960, theta=0.033955
+[19:09:39.531] Odometry x=0.009516, y=-0.007961, theta=0.035096
+[19:09:39.544] Init: px average disparity is:18.835272 ,While minimum is: 40.000000  KLT tracked : 65
+[19:09:39.544] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:39.552] Odometry x=0.009850, y=-0.008086, theta=0.037367
+[19:09:39.562] Odometry x=0.009850, y=-0.008090, theta=0.040217
+[19:09:39.572] Odometry x=0.009850, y=-0.008091, theta=0.042741
+[19:09:39.582] Odometry x=0.009850, y=-0.008091, theta=0.045375
+[19:09:39.592] Odometry x=0.009850, y=-0.008091, theta=0.047800
+[19:09:39.602] Odometry x=0.009850, y=-0.008091, theta=0.049810
+[19:09:39.612] Odometry x=0.009850, y=-0.008091, theta=0.051609
+[19:09:39.623] Odometry x=0.009850, y=-0.008091, theta=0.053558
+[19:09:39.633] Odometry x=0.009850, y=-0.008093, theta=0.055450
+[19:09:39.646] Init: px average disparity is:23.586891 ,While minimum is: 40.000000  KLT tracked : 65
+[19:09:39.646] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:39.653] Odometry x=0.010250, y=-0.008326, theta=0.058499
+[19:09:39.663] Odometry x=0.010250, y=-0.008331, theta=0.061876
+[19:09:39.673] Odometry x=0.010250, y=-0.008334, theta=0.064335
+[19:09:39.684] Odometry x=0.010250, y=-0.008337, theta=0.066844
+[19:09:39.694] Odometry x=0.010250, y=-0.008340, theta=0.069562
+[19:09:39.704] Odometry x=0.010250, y=-0.008341, theta=0.072517
+[19:09:39.714] Odometry x=0.010250, y=-0.008341, theta=0.074646
+[19:09:39.724] Odometry x=0.010250, y=-0.008341, theta=0.078655
+[19:09:39.734] Odometry x=0.010250, y=-0.008341, theta=0.082093
+[19:09:39.743] Init: px average disparity is:32.117019 ,While minimum is: 40.000000  KLT tracked : 63
+[19:09:39.743] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:39.754] Odometry x=0.000483, y=-0.008341, theta=0.004761
+[19:09:39.764] Odometry x=0.000483, y=-0.008341, theta=0.011104
+[19:09:39.775] Odometry x=0.000483, y=-0.008341, theta=0.014913
+[19:09:39.785] Odometry x=0.000483, y=-0.008341, theta=0.017304
+[19:09:39.795] Odometry x=0.000483, y=-0.008341, theta=0.019904
+[19:09:39.805] Odometry x=0.000483, y=-0.008341, theta=0.022716
+[19:09:39.815] Odometry x=0.000483, y=-0.008341, theta=0.024965
+[19:09:39.825] Odometry x=0.000483, y=-0.008341, theta=0.027013
+[19:09:39.835] Odometry x=0.000483, y=-0.008341, theta=0.028923
+[19:09:39.844] Init: px average disparity is:36.699137 ,While minimum is: 40.000000  KLT tracked : 62
+[19:09:39.844] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:39.855] Odometry x=0.000861, y=-0.008453, theta=0.031132
+[19:09:39.866] Odometry x=0.000861, y=-0.008452, theta=0.033603
+[19:09:39.876] Odometry x=0.000861, y=-0.008452, theta=0.035226
+[19:09:39.886] Odometry x=0.000861, y=-0.008452, theta=0.037677
+[19:09:39.896] Odometry x=0.000861, y=-0.008452, theta=0.040627
+[19:09:39.906] Odometry x=0.000861, y=-0.008452, theta=0.043748
+[19:09:39.916] Odometry x=0.000861, y=-0.008452, theta=0.045976
+[19:09:39.926] Odometry x=0.000861, y=-0.008452, theta=0.048706
+[19:09:39.936] Odometry x=0.000861, y=-0.008452, theta=0.053026
+[19:09:39.957] Odometry x=0.001286, y=-0.008680, theta=0.055076
+[19:09:39.967] Odometry x=0.001286, y=-0.008680, theta=0.057355
+[19:09:39.977] Odometry x=0.001286, y=-0.008680, theta=0.058984
+[19:09:39.987] Odometry x=0.001286, y=-0.008680, theta=0.060118
+[19:09:39.997] Odometry x=0.001286, y=-0.008679, theta=0.061568
+[19:09:40.007] Odometry x=0.001286, y=-0.008677, theta=0.063940
+[19:09:40.010] homography: x=107.304233 y=669.213278 z=0.616267 roll=-0.000000 pitch=0.005283 yaw=0.000000 	 ekf: x=0.001286 z=-0.008677 pitch=0.063940
+[19:09:40.010] homography after fuse: x=0.001286 y=0.000000 z=-0.008677 pitch=0.063940	 number of outlier: 47
+[19:09:40.010] Init: Homography RANSAC (inlier) is:15 ,While 30 inliers minimum required.  px average disparity is:42.974533 ,While minimum is: 40.000000  KLT tracked: 62
+[19:09:40.010] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:40.017] Odometry x=0.001287, y=-0.008676, theta=0.065483
+[19:09:40.028] Odometry x=0.001287, y=-0.008675, theta=0.066492
+[19:09:40.038] Odometry x=0.001287, y=-0.008674, theta=0.067599
+[19:09:40.058] Odometry x=0.001635, y=-0.008908, theta=0.068547
+[19:09:40.068] Odometry x=0.001635, y=-0.008906, theta=0.069647
+[19:09:40.078] Odometry x=0.001636, y=-0.008907, theta=0.070506
+[19:09:40.088] Odometry x=0.001636, y=-0.008907, theta=0.070967
+[19:09:40.098] Odometry x=0.001638, y=-0.008908, theta=0.070847
+[19:09:40.108] Odometry x=0.001639, y=-0.008911, theta=0.070226
+[19:09:40.112] homography: x=79.319019 y=87.483557 z=1.683344 roll=-0.000000 pitch=0.031567 yaw=-0.000000 	 ekf: x=0.001639 z=-0.008911 pitch=0.070226
+[19:09:40.112] homography after fuse: x=0.001639 y=0.000000 z=-0.008911 pitch=0.070226	 number of outlier: 46
+[19:09:40.112] Init: Homography RANSAC (inlier) is:15 ,While 30 inliers minimum required.  px average disparity is:46.758605 ,While minimum is: 40.000000  KLT tracked: 61
+[19:09:40.112] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:40.119] Odometry x=0.001640, y=-0.008912, theta=0.069616
+[19:09:40.129] Odometry x=0.001641, y=-0.008913, theta=0.068249
+[19:09:40.139] Odometry x=0.001642, y=-0.008915, theta=0.065904
+[19:09:40.159] Odometry x=0.002034, y=-0.009172, theta=0.064309
+[19:09:40.169] Odometry x=0.002034, y=-0.009173, theta=0.062819
+[19:09:40.179] Odometry x=0.002034, y=-0.009172, theta=0.062251
+[19:09:40.189] Odometry x=0.002034, y=-0.009170, theta=0.061944
+[19:09:40.200] Odometry x=0.002034, y=-0.009166, theta=0.061501
+[19:09:40.210] Odometry x=0.002034, y=-0.009160, theta=0.060616
+[19:09:40.215] homography: x=-269.951888 y=-26.505587 z=-0.742705 roll=0.000000 pitch=-0.000309 yaw=0.000000 	 ekf: x=0.002034 z=-0.009160 pitch=0.060616
+[19:09:40.215] homography after fuse: x=0.002034 y=0.000000 z=-0.009160 pitch=0.060616	 number of outlier: 44
+[19:09:40.215] Init: Homography RANSAC (inlier) is:17 ,While 30 inliers minimum required.  px average disparity is:43.850793 ,While minimum is: 40.000000  KLT tracked: 61
+[19:09:40.215] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:40.220] Odometry x=0.002035, y=-0.009157, theta=0.059333
+[19:09:40.230] Odometry x=0.002035, y=-0.009156, theta=0.058214
+[19:09:40.240] Odometry x=0.002036, y=-0.009157, theta=0.055246
+[19:09:40.246] Init: px average disparity is:39.139464 ,While minimum is: 40.000000  KLT tracked : 61
+[19:09:40.246] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:40.260] Odometry x=0.002438, y=-0.009375, theta=0.052525
+[19:09:40.270] Odometry x=0.002438, y=-0.009376, theta=0.049380
+[19:09:40.281] Odometry x=0.002438, y=-0.009376, theta=0.047063
+[19:09:40.291] Odometry x=0.002438, y=-0.009376, theta=0.045020
+[19:09:40.301] Odometry x=0.002438, y=-0.009375, theta=0.043081
+[19:09:40.311] Odometry x=0.002438, y=-0.009374, theta=0.041103
+[19:09:40.321] Odometry x=0.002438, y=-0.009373, theta=0.039046
+[19:09:40.331] Odometry x=0.002438, y=-0.009372, theta=0.036679
+[19:09:40.341] Odometry x=0.002438, y=-0.009372, theta=0.033857
+[19:09:40.345] Init: px average disparity is:30.024989 ,While minimum is: 40.000000  KLT tracked : 61
+[19:09:40.345] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:40.362] Odometry x=0.002831, y=-0.009502, theta=0.031015
+[19:09:40.372] Odometry x=0.002831, y=-0.009503, theta=0.027473
+[19:09:40.382] Odometry x=0.002831, y=-0.009504, theta=0.024717
+[19:09:40.392] Odometry x=0.002831, y=-0.009506, theta=0.022176
+[19:09:40.402] Odometry x=0.002831, y=-0.009507, theta=0.019758
+[19:09:40.412] Odometry x=0.002832, y=-0.009508, theta=0.017580
+[19:09:40.422] Odometry x=0.002832, y=-0.009508, theta=0.015612
+[19:09:40.432] Odometry x=0.002832, y=-0.009508, theta=0.013844
+[19:09:40.446] Init: px average disparity is:25.234834 ,While minimum is: 40.000000  KLT tracked : 61
+[19:09:40.446] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:40.453] Odometry x=0.003169, y=-0.009552, theta=0.011612
+[19:09:40.463] Odometry x=0.003169, y=-0.009552, theta=0.009259
+[19:09:40.473] Odometry x=0.003169, y=-0.009552, theta=0.007591
+[19:09:40.483] Odometry x=0.003170, y=-0.009552, theta=0.005985
+[19:09:40.493] Odometry x=0.003170, y=-0.009552, theta=0.004436
+[19:09:40.503] Odometry x=0.003170, y=-0.009552, theta=0.002646
+[19:09:40.513] Odometry x=0.003170, y=-0.009552, theta=0.001173
+[19:09:40.524] Odometry x=0.003170, y=-0.009552, theta=-0.000666
+[19:09:40.534] Odometry x=0.003170, y=-0.009553, theta=-0.003071
+[19:09:40.545] Init: px average disparity is:19.225405 ,While minimum is: 40.000000  KLT tracked : 61
+[19:09:40.545] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:40.554] Odometry x=0.003544, y=-0.009540, theta=-0.005707
+[19:09:40.564] Odometry x=0.003545, y=-0.009542, theta=-0.008532
+[19:09:40.574] Odometry x=0.003545, y=-0.009543, theta=-0.009816
+[19:09:40.584] Odometry x=0.003545, y=-0.009543, theta=-0.010382
+[19:09:40.594] Odometry x=0.003545, y=-0.009543, theta=-0.010921
+[19:09:40.604] Odometry x=0.003545, y=-0.009543, theta=-0.011529
+[19:09:40.615] Odometry x=0.003545, y=-0.009544, theta=-0.012144
+[19:09:40.625] Odometry x=0.003546, y=-0.009544, theta=-0.012750
+[19:09:40.635] Odometry x=0.003546, y=-0.009545, theta=-0.013387
+[19:09:40.645] Init: px average disparity is:17.432534 ,While minimum is: 40.000000  KLT tracked : 61
+[19:09:40.645] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:40.655] Odometry x=0.003944, y=-0.009495, theta=-0.013666
+[19:09:40.665] Odometry x=0.003944, y=-0.009497, theta=-0.013920
+[19:09:40.675] Odometry x=0.003944, y=-0.009498, theta=-0.013956
+[19:09:40.685] Odometry x=0.003944, y=-0.009498, theta=-0.014037
+[19:09:40.695] Odometry x=0.003944, y=-0.009498, theta=-0.014264
+[19:09:40.706] Odometry x=0.003944, y=-0.009498, theta=-0.014671
+[19:09:40.716] Odometry x=0.003945, y=-0.009498, theta=-0.015110
+[19:09:40.726] Odometry x=0.003945, y=-0.009498, theta=-0.015521
+[19:09:40.736] Odometry x=0.003945, y=-0.009498, theta=-0.015960
+[19:09:40.748] Init: px average disparity is:15.932412 ,While minimum is: 40.000000  KLT tracked : 61
+[19:09:40.749] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:40.756] Odometry x=0.004335, y=-0.009435, theta=-0.016603
+[19:09:40.766] Odometry x=0.004335, y=-0.009436, theta=-0.017477
+[19:09:40.777] Odometry x=0.004335, y=-0.009437, theta=-0.018226
+[19:09:40.787] Odometry x=0.004335, y=-0.009437, theta=-0.018979
+[19:09:40.797] Odometry x=0.004335, y=-0.009438, theta=-0.019634
+[19:09:40.807] Odometry x=0.004336, y=-0.009438, theta=-0.020109
+[19:09:40.817] Odometry x=0.004336, y=-0.009438, theta=-0.020569
+[19:09:40.827] Odometry x=0.004336, y=-0.009438, theta=-0.021069
+[19:09:40.837] Odometry x=0.004336, y=-0.009438, theta=-0.021602
+[19:09:40.847] Init: px average disparity is:14.152430 ,While minimum is: 40.000000  KLT tracked : 61
+[19:09:40.847] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:40.858] Odometry x=0.004730, y=-0.009354, theta=-0.022952
+[19:09:40.868] Odometry x=0.004730, y=-0.009356, theta=-0.024355
+[19:09:40.878] Odometry x=0.004730, y=-0.009357, theta=-0.025157
+[19:09:40.888] Odometry x=0.004730, y=-0.009357, theta=-0.026025
+[19:09:40.898] Odometry x=0.004730, y=-0.009357, theta=-0.027228
+[19:09:40.908] Odometry x=0.004730, y=-0.009357, theta=-0.028549
+[19:09:40.918] Odometry x=0.004730, y=-0.009357, theta=-0.029369
+[19:09:40.928] Odometry x=0.004730, y=-0.009357, theta=-0.029841
+[19:09:40.939] Odometry x=0.004730, y=-0.009356, theta=-0.030179
+[19:09:40.945] Init: px average disparity is:11.360671 ,While minimum is: 40.000000  KLT tracked : 61
+[19:09:40.945] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:40.959] Odometry x=0.005100, y=-0.009244, theta=-0.030431
+[19:09:40.969] Odometry x=0.005100, y=-0.009244, theta=-0.030783
+[19:09:40.979] Odometry x=0.005100, y=-0.009244, theta=-0.030968
+[19:09:40.989] Odometry x=0.005100, y=-0.009244, theta=-0.030988
+[19:09:40.999] Odometry x=0.005100, y=-0.009244, theta=-0.030849
+[19:09:41.009] Odometry x=0.005100, y=-0.009244, theta=-0.030578
+[19:09:41.019] Odometry x=0.005101, y=-0.009244, theta=-0.030651
+[19:09:41.030] Odometry x=0.005101, y=-0.009246, theta=-0.031226
+[19:09:41.040] Odometry x=0.005103, y=-0.009248, theta=-0.032310
+[19:09:41.045] Init: px average disparity is:9.580465 ,While minimum is: 40.000000  KLT tracked : 61
+[19:09:41.045] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:41.060] Odometry x=0.005500, y=-0.009141, theta=-0.033189
+[19:09:41.070] Odometry x=0.005504, y=-0.009161, theta=-0.033980
+[19:09:41.080] Odometry x=0.005505, y=-0.009172, theta=-0.034213
+[19:09:41.090] Odometry x=0.005505, y=-0.009179, theta=-0.034451
+[19:09:41.100] Odometry x=0.005506, y=-0.009183, theta=-0.034607
+[19:09:41.110] Odometry x=0.005506, y=-0.009184, theta=-0.034615
+[19:09:41.121] Odometry x=0.005505, y=-0.009184, theta=-0.034245
+[19:09:41.131] Odometry x=0.005505, y=-0.009184, theta=-0.033580
+[19:09:41.148] Init: px average disparity is:8.548578 ,While minimum is: 40.000000  KLT tracked : 61
+[19:09:41.148] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:41.151] Odometry x=0.005859, y=-0.009066, theta=-0.032419
+[19:09:41.161] Odometry x=0.005859, y=-0.009066, theta=-0.031122
+[19:09:41.171] Odometry x=0.005859, y=-0.009065, theta=-0.030126
+[19:09:41.181] Odometry x=0.005859, y=-0.009065, theta=-0.029169
+[19:09:41.191] Odometry x=0.005859, y=-0.009065, theta=-0.028543
+[19:09:41.202] Odometry x=0.005859, y=-0.009065, theta=-0.028361
+[19:09:41.212] Odometry x=0.005859, y=-0.009065, theta=-0.028216
+[19:09:41.222] Odometry x=0.005860, y=-0.009066, theta=-0.027783
+[19:09:41.232] Odometry x=0.005862, y=-0.009067, theta=-0.027525
+[19:09:41.245] Init: px average disparity is:8.274736 ,While minimum is: 40.000000  KLT tracked : 61
+[19:09:41.245] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:41.252] Odometry x=0.006254, y=-0.008962, theta=-0.027772
+[19:09:41.262] Odometry x=0.006255, y=-0.008970, theta=-0.028290
+[19:09:41.272] Odometry x=0.006256, y=-0.008973, theta=-0.028657
+[19:09:41.282] Odometry x=0.006257, y=-0.008977, theta=-0.029054
+[19:09:41.293] Odometry x=0.006260, y=-0.008986, theta=-0.029375
+[19:09:41.303] Odometry x=0.006265, y=-0.008993, theta=-0.029470
+[19:09:41.313] Odometry x=0.006270, y=-0.008997, theta=-0.029241
+[19:09:41.323] Odometry x=0.006271, y=-0.008998, theta=-0.028914
+[19:09:41.333] Odometry x=0.006272, y=-0.008999, theta=-0.028784
+[19:09:41.346] Init: px average disparity is:8.091409 ,While minimum is: 40.000000  KLT tracked : 61
+[19:09:41.347] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:41.354] Odometry x=0.006650, y=-0.008892, theta=-0.028630
+[19:09:41.364] Odometry x=0.006650, y=-0.008893, theta=-0.028277
+[19:09:41.374] Odometry x=0.006650, y=-0.008894, theta=-0.027870
+[19:09:41.384] Odometry x=0.006650, y=-0.008895, theta=-0.027324
+[19:09:41.394] Odometry x=0.006650, y=-0.008895, theta=-0.026732
+[19:09:41.404] Odometry x=0.006650, y=-0.008896, theta=-0.025939
+[19:09:41.414] Odometry x=0.006650, y=-0.008896, theta=-0.025264
+[19:09:41.424] Odometry x=0.006650, y=-0.008896, theta=-0.024603
+[19:09:41.435] Odometry x=0.006650, y=-0.008896, theta=-0.024874
+[19:09:41.445] Init: px average disparity is:7.933215 ,While minimum is: 40.000000  KLT tracked : 61
+[19:09:41.445] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:41.455] Odometry x=0.007045, y=-0.008796, theta=-0.025493
+[19:09:41.465] Odometry x=0.007045, y=-0.008795, theta=-0.026005
+[19:09:41.475] Odometry x=0.007045, y=-0.008795, theta=-0.025922
+[19:09:41.485] Odometry x=0.007045, y=-0.008795, theta=-0.025744
+[19:09:41.495] Odometry x=0.007046, y=-0.008795, theta=-0.025562
+[19:09:41.505] Odometry x=0.007047, y=-0.008796, theta=-0.025363
+[19:09:41.516] Odometry x=0.007048, y=-0.008799, theta=-0.025301
+[19:09:41.526] Odometry x=0.007048, y=-0.008804, theta=-0.025467
+[19:09:41.536] Odometry x=0.007048, y=-0.008811, theta=-0.025799
+[19:09:41.545] Init: px average disparity is:6.999121 ,While minimum is: 40.000000  KLT tracked : 61
+[19:09:41.545] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:41.556] Odometry x=0.007424, y=-0.008747, theta=-0.026200
+[19:09:41.566] Odometry x=0.007425, y=-0.008780, theta=-0.026668
+[19:09:41.576] Odometry x=0.007427, y=-0.008794, theta=-0.026934
+[19:09:41.586] Odometry x=0.007429, y=-0.008797, theta=-0.027013
+[19:09:41.597] Odometry x=0.007430, y=-0.008797, theta=-0.026985
+[19:09:41.607] Odometry x=0.007430, y=-0.008797, theta=-0.027106
+[19:09:41.617] Odometry x=0.007430, y=-0.008796, theta=-0.027487
+[19:09:41.627] Odometry x=0.007430, y=-0.008795, theta=-0.027969
+[19:09:41.637] Odometry x=0.007430, y=-0.008795, theta=-0.028249
+[19:09:41.646] Init: px average disparity is:6.941838 ,While minimum is: 40.000000  KLT tracked : 61
+[19:09:41.646] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:41.657] Odometry x=0.007820, y=-0.008685, theta=-0.027897
+[19:09:41.667] Odometry x=0.007820, y=-0.008685, theta=-0.027374
+[19:09:41.678] Odometry x=0.007820, y=-0.008685, theta=-0.026842
+[19:09:41.688] Odometry x=0.007820, y=-0.008685, theta=-0.026570
+[19:09:41.698] Odometry x=0.007820, y=-0.008685, theta=-0.026534
+[19:09:41.708] Odometry x=0.007820, y=-0.008684, theta=-0.026362
+[19:09:41.718] Odometry x=0.007820, y=-0.008684, theta=-0.026229
+[19:09:41.728] Odometry x=0.007820, y=-0.008682, theta=-0.026122
+[19:09:41.738] Odometry x=0.007820, y=-0.008680, theta=-0.025881
+[19:09:41.745] Init: px average disparity is:6.505381 ,While minimum is: 40.000000  KLT tracked : 61
+[19:09:41.745] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:41.759] Odometry x=0.008211, y=-0.008575, theta=-0.025870
+[19:09:41.769] Odometry x=0.008212, y=-0.008572, theta=-0.026114
+[19:09:41.779] Odometry x=0.008212, y=-0.008572, theta=-0.026425
+[19:09:41.789] Odometry x=0.008212, y=-0.008577, theta=-0.027548
+[19:09:41.799] Odometry x=0.008212, y=-0.008585, theta=-0.028770
+[19:09:41.809] Odometry x=0.008213, y=-0.008593, theta=-0.029593
+[19:09:41.819] Odometry x=0.008213, y=-0.008601, theta=-0.030196
+[19:09:41.829] Odometry x=0.008214, y=-0.008606, theta=-0.030688
+[19:09:41.840] Odometry x=0.008215, y=-0.008609, theta=-0.031137
+[19:09:41.845] Init: px average disparity is:7.755273 ,While minimum is: 40.000000  KLT tracked : 61
+[19:09:41.845] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:41.860] Odometry x=0.008610, y=-0.008485, theta=-0.031612
+[19:09:41.870] Odometry x=0.008611, y=-0.008485, theta=-0.032196
+[19:09:41.880] Odometry x=0.008611, y=-0.008484, theta=-0.032555
+[19:09:41.890] Odometry x=0.008611, y=-0.008484, theta=-0.033697
+[19:09:41.900] Odometry x=0.008612, y=-0.008483, theta=-0.035224
+[19:09:41.911] Odometry x=0.008612, y=-0.008483, theta=-0.036743
+[19:09:41.921] Odometry x=0.008612, y=-0.008483, theta=-0.038527
+[19:09:41.931] Odometry x=0.008612, y=-0.008483, theta=-0.040490
+[19:09:41.947] Init: px average disparity is:11.400398 ,While minimum is: 40.000000  KLT tracked : 61
+[19:09:41.947] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:41.951] Odometry x=0.008963, y=-0.008340, theta=-0.041452
+[19:09:41.961] Odometry x=0.008963, y=-0.008340, theta=-0.042311
+[19:09:41.971] Odometry x=0.008963, y=-0.008340, theta=-0.042942
+[19:09:41.981] Odometry x=0.008963, y=-0.008340, theta=-0.043762
+[19:09:41.992] Odometry x=0.008963, y=-0.008340, theta=-0.044471
+[19:09:42.002] Odometry x=0.008963, y=-0.008340, theta=-0.044725
+[19:09:42.012] Odometry x=0.008963, y=-0.008340, theta=-0.044449
+[19:09:42.022] Odometry x=0.008963, y=-0.008340, theta=-0.043933
+[19:09:42.032] Odometry x=0.008963, y=-0.008340, theta=-0.043191
+[19:09:42.050] Init: px average disparity is:9.980629 ,While minimum is: 40.000000  KLT tracked : 61
+[19:09:42.050] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:42.052] Odometry x=0.009334, y=-0.008182, theta=-0.041853
+[19:09:42.062] Odometry x=0.009334, y=-0.008181, theta=-0.040402
+[19:09:42.073] Odometry x=0.009334, y=-0.008181, theta=-0.039776
+[19:09:42.083] Odometry x=0.009334, y=-0.008181, theta=-0.039626
+[19:09:42.093] Odometry x=0.009334, y=-0.008182, theta=-0.039994
+[19:09:42.103] Odometry x=0.009335, y=-0.008182, theta=-0.040217
+[19:09:42.113] Odometry x=0.009336, y=-0.008183, theta=-0.040151
+[19:09:42.123] Odometry x=0.009336, y=-0.008182, theta=-0.039593
+[19:09:42.133] Odometry x=0.009337, y=-0.008182, theta=-0.038572
+[19:09:42.148] Init: px average disparity is:10.404829 ,While minimum is: 40.000000  KLT tracked : 61
+[19:09:42.148] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:42.154] Odometry x=0.009715, y=-0.008037, theta=-0.037918
+[19:09:42.164] Odometry x=0.009716, y=-0.008037, theta=-0.037245
+[19:09:42.174] Odometry x=0.009716, y=-0.008037, theta=-0.036652
+[19:09:42.184] Odometry x=0.009716, y=-0.008037, theta=-0.036221
+[19:09:42.194] Odometry x=0.009716, y=-0.008037, theta=-0.035646
+[19:09:42.204] Odometry x=0.009716, y=-0.008037, theta=-0.034270
+[19:09:42.214] Odometry x=0.009716, y=-0.008035, theta=-0.032687
+[19:09:42.224] Odometry x=0.009716, y=-0.008033, theta=-0.031308
+[19:09:42.235] Odometry x=0.009716, y=-0.008030, theta=-0.030047
+[19:09:42.244] Init: px average disparity is:9.679756 ,While minimum is: 40.000000  KLT tracked : 61
+[19:09:42.244] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:42.255] Odometry x=0.010113, y=-0.007907, theta=-0.028832
+[19:09:42.265] Odometry x=0.010113, y=-0.007901, theta=-0.027248
+[19:09:42.275] Odometry x=0.010113, y=-0.007899, theta=-0.025764
+[19:09:42.285] Odometry x=0.010113, y=-0.007898, theta=-0.024322
+[19:09:42.295] Odometry x=0.010113, y=-0.007897, theta=-0.023085
+[19:09:42.305] Odometry x=0.010114, y=-0.007897, theta=-0.021986
+[19:09:42.316] Odometry x=0.010114, y=-0.007897, theta=-0.020959
+[19:09:42.326] Odometry x=0.010114, y=-0.007897, theta=-0.020007
+[19:09:42.336] Odometry x=0.010115, y=-0.007897, theta=-0.019144
+[19:09:42.350] Init: px average disparity is:8.178523 ,While minimum is: 40.000000  KLT tracked : 61
+[19:09:42.350] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:42.356] Odometry x=0.010503, y=-0.007826, theta=-0.017391
+[19:09:42.366] Odometry x=0.010504, y=-0.007826, theta=-0.015604
+[19:09:42.376] Odometry x=0.010504, y=-0.007826, theta=-0.014365
+[19:09:42.387] Odometry x=0.010505, y=-0.007825, theta=-0.013088
+[19:09:42.397] Odometry x=0.010505, y=-0.007825, theta=-0.012007
+[19:09:42.407] Odometry x=0.010505, y=-0.007825, theta=-0.011098
+[19:09:42.417] Odometry x=0.010505, y=-0.007825, theta=-0.010511
+[19:09:42.427] Odometry x=0.010506, y=-0.007825, theta=-0.010203
+[19:09:42.437] Odometry x=0.010506, y=-0.007826, theta=-0.009973
+[19:09:42.448] Init: px average disparity is:9.025494 ,While minimum is: 40.000000  KLT tracked : 61
+[19:09:42.448] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:42.457] Odometry x=0.010893, y=-0.007789, theta=-0.009163
+[19:09:42.468] Odometry x=0.010893, y=-0.007788, theta=-0.008243
+[19:09:42.478] Odometry x=0.010893, y=-0.007788, theta=-0.007449
+[19:09:42.488] Odometry x=0.010893, y=-0.007788, theta=-0.006584
+[19:09:42.498] Odometry x=0.010893, y=-0.007787, theta=-0.005563
+[19:09:42.508] Odometry x=0.010893, y=-0.007787, theta=-0.004354
+[19:09:42.518] Odometry x=0.010893, y=-0.007787, theta=-0.003019
+[19:09:42.528] Odometry x=0.010893, y=-0.007787, theta=-0.002007
+[19:09:42.538] Odometry x=0.010893, y=-0.007786, theta=-0.000185
+[19:09:42.551] Init: px average disparity is:11.258851 ,While minimum is: 40.000000  KLT tracked : 61
+[19:09:42.551] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:42.559] Odometry x=0.011278, y=-0.007787, theta=0.001071
+[19:09:42.569] Odometry x=0.011278, y=-0.007786, theta=0.002772
+[19:09:42.579] Odometry x=0.011278, y=-0.007786, theta=0.004406
+[19:09:42.589] Odometry x=0.011278, y=-0.007787, theta=0.006901
+[19:09:42.599] Odometry x=0.011278, y=-0.007787, theta=0.008665
+[19:09:42.609] Odometry x=0.011280, y=-0.007786, theta=0.012257
+[19:09:42.620] Odometry x=0.011282, y=-0.007784, theta=0.015785
+[19:09:42.630] Odometry x=0.011282, y=-0.007784, theta=0.017495
+[19:09:42.640] Odometry x=0.011282, y=-0.007784, theta=0.020557
+[19:09:42.648] Init: px average disparity is:16.270667 ,While minimum is: 40.000000  KLT tracked : 61
+[19:09:42.648] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:42.660] Odometry x=0.011693, y=-0.007871, theta=0.022572
+[19:09:42.670] Odometry x=0.011693, y=-0.007871, theta=0.025172
+[19:09:42.680] Odometry x=0.011693, y=-0.007871, theta=0.026648
+[19:09:42.691] Odometry x=0.011693, y=-0.007870, theta=0.028627
+[19:09:42.701] Odometry x=0.011693, y=-0.007869, theta=0.030437
+[19:09:42.711] Odometry x=0.011693, y=-0.007869, theta=0.031548
+[19:09:42.721] Odometry x=0.011693, y=-0.007869, theta=0.032500
+[19:09:42.731] Odometry x=0.011693, y=-0.007869, theta=0.033482
+[19:09:42.741] Odometry x=0.011693, y=-0.007869, theta=0.034789
+[19:09:42.744] Init: px average disparity is:19.275365 ,While minimum is: 40.000000  KLT tracked : 61
+[19:09:42.744] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:42.761] Odometry x=0.012069, y=-0.008003, theta=0.037027
+[19:09:42.772] Odometry x=0.012070, y=-0.008003, theta=0.039464
+[19:09:42.782] Odometry x=0.012071, y=-0.008003, theta=0.041113
+[19:09:42.792] Odometry x=0.012072, y=-0.008004, theta=0.042727
+[19:09:42.802] Odometry x=0.012072, y=-0.008004, theta=0.044652
+[19:09:42.812] Odometry x=0.012072, y=-0.008004, theta=0.046937
+[19:09:42.822] Odometry x=0.012072, y=-0.008005, theta=0.049219
+[19:09:42.832] Odometry x=0.012072, y=-0.008005, theta=0.050758
+[19:09:42.847] Init: px average disparity is:25.686954 ,While minimum is: 40.000000  KLT tracked : 61
+[19:09:42.847] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:42.853] Odometry x=0.012400, y=-0.008175, theta=0.053882
+[19:09:42.863] Odometry x=0.012400, y=-0.008175, theta=0.057114
+[19:09:42.873] Odometry x=0.012400, y=-0.008175, theta=0.059293
+[19:09:42.883] Odometry x=0.012400, y=-0.008175, theta=0.061657
+[19:09:42.893] Odometry x=0.012400, y=-0.008175, theta=0.064127
+[19:09:42.903] Odometry x=0.012400, y=-0.008175, theta=0.066569
+[19:09:42.913] Odometry x=0.012401, y=-0.008175, theta=0.068818
+[19:09:42.923] Odometry x=0.012401, y=-0.008175, theta=0.071009
+[19:09:42.934] Odometry x=0.012402, y=-0.008175, theta=0.073230
+[19:09:42.944] Odometry x=0.012404, y=-0.008176, theta=0.075169
+[19:09:42.946] Init: px average disparity is:29.162750 ,While minimum is: 40.000000  KLT tracked : 61
+[19:09:42.946] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:42.964] Odometry x=0.000577, y=-0.008176, theta=0.000974
+[19:09:42.974] Odometry x=0.000579, y=-0.008177, theta=0.002215
+[19:09:42.984] Odometry x=0.000580, y=-0.008179, theta=0.002758
+[19:09:42.994] Odometry x=0.000580, y=-0.008182, theta=0.003869
+[19:09:43.004] Odometry x=0.000580, y=-0.008183, theta=0.006129
+[19:09:43.014] Odometry x=0.000580, y=-0.008183, theta=0.007591
+[19:09:43.025] Odometry x=0.000580, y=-0.008181, theta=0.008605
+[19:09:43.035] Odometry x=0.000580, y=-0.008178, theta=0.009651
+[19:09:43.047] Init: px average disparity is:31.461848 ,While minimum is: 40.000000  KLT tracked : 61
+[19:09:43.047] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:43.055] Odometry x=0.000924, y=-0.008211, theta=0.009882
+[19:09:43.065] Odometry x=0.000924, y=-0.008211, theta=0.010171
+[19:09:43.075] Odometry x=0.000924, y=-0.008211, theta=0.011034
+[19:09:43.085] Odometry x=0.000925, y=-0.008211, theta=0.012135
+[19:09:43.095] Odometry x=0.000925, y=-0.008211, theta=0.012458
+[19:09:43.106] Odometry x=0.000925, y=-0.008211, theta=0.012657
+[19:09:43.116] Odometry x=0.000925, y=-0.008212, theta=0.013491
+[19:09:43.126] Odometry x=0.000925, y=-0.008212, theta=0.014282
+[19:09:43.136] Odometry x=0.000925, y=-0.008212, theta=0.015475
+[19:09:43.145] Init: px average disparity is:33.371926 ,While minimum is: 40.000000  KLT tracked : 61
+[19:09:43.145] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:43.156] Odometry x=0.001330, y=-0.008277, theta=0.016684
+[19:09:43.166] Odometry x=0.001330, y=-0.008276, theta=0.017611
+[19:09:43.176] Odometry x=0.001330, y=-0.008276, theta=0.017700
+[19:09:43.186] Odometry x=0.001330, y=-0.008277, theta=0.017374
+[19:09:43.197] Odometry x=0.001330, y=-0.008277, theta=0.017046
+[19:09:43.207] Odometry x=0.001330, y=-0.008277, theta=0.016828
+[19:09:43.217] Odometry x=0.001330, y=-0.008277, theta=0.016396
+[19:09:43.227] Odometry x=0.001330, y=-0.008277, theta=0.016059
+[19:09:43.237] Odometry x=0.001330, y=-0.008277, theta=0.016318
+[19:09:43.245] Init: px average disparity is:32.588008 ,While minimum is: 40.000000  KLT tracked : 61
+[19:09:43.245] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:43.257] Odometry x=0.001712, y=-0.008338, theta=0.015597
+[19:09:43.267] Odometry x=0.001712, y=-0.008338, theta=0.014606
+[19:09:43.278] Odometry x=0.001712, y=-0.008339, theta=0.013599
+[19:09:43.288] Odometry x=0.001712, y=-0.008341, theta=0.012599
+[19:09:43.298] Odometry x=0.001712, y=-0.008349, theta=0.011778
+[19:09:43.308] Odometry x=0.001713, y=-0.008360, theta=0.011160
+[19:09:43.318] Odometry x=0.001713, y=-0.008372, theta=0.010807
+[19:09:43.328] Odometry x=0.001713, y=-0.008378, theta=0.010971
+[19:09:43.338] Odometry x=0.001713, y=-0.008380, theta=0.011817
+[19:09:43.345] Init: px average disparity is:32.953286 ,While minimum is: 40.000000  KLT tracked : 61
+[19:09:43.345] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:43.359] Odometry x=0.002095, y=-0.008428, theta=0.013844
+[19:09:43.369] Odometry x=0.002095, y=-0.008428, theta=0.015655
+[19:09:43.379] Odometry x=0.002095, y=-0.008428, theta=0.016514
+[19:09:43.389] Odometry x=0.002095, y=-0.008428, theta=0.017018
+[19:09:43.399] Odometry x=0.002095, y=-0.008428, theta=0.017119
+[19:09:43.409] Odometry x=0.002095, y=-0.008428, theta=0.017153
+[19:09:43.419] Odometry x=0.002095, y=-0.008427, theta=0.017738
+[19:09:43.429] Odometry x=0.002095, y=-0.008427, theta=0.018958
+[19:09:43.446] Init: px average disparity is:33.122728 ,While minimum is: 40.000000  KLT tracked : 61
+[19:09:43.446] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:43.450] Odometry x=0.002439, y=-0.008492, theta=0.018637
+[19:09:43.460] Odometry x=0.002440, y=-0.008492, theta=0.017952
+[19:09:43.470] Odometry x=0.002440, y=-0.008492, theta=0.017245
+[19:09:43.480] Odometry x=0.002440, y=-0.008492, theta=0.016648
+[19:09:43.490] Odometry x=0.002441, y=-0.008493, theta=0.014990
+[19:09:43.500] Odometry x=0.002442, y=-0.008493, theta=0.013241
+[19:09:43.510] Odometry x=0.002442, y=-0.008493, theta=0.011709
+[19:09:43.520] Odometry x=0.002442, y=-0.008495, theta=0.010301
+[19:09:43.531] Odometry x=0.002442, y=-0.008496, theta=0.009336
+[19:09:43.541] Odometry x=0.002442, y=-0.008502, theta=0.007471
+[19:09:43.546] Init: px average disparity is:30.845362 ,While minimum is: 40.000000  KLT tracked : 61
+[19:09:43.546] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:43.561] Odometry x=0.002881, y=-0.008548, theta=0.005135
+[19:09:43.571] Odometry x=0.002881, y=-0.008564, theta=0.002609
+[19:09:43.581] Odometry x=0.002882, y=-0.008568, theta=0.001432
+[19:09:43.591] Odometry x=0.002882, y=-0.008572, theta=0.000901
+[19:09:43.601] Odometry x=0.002882, y=-0.008576, theta=0.000838
+[19:09:43.612] Odometry x=0.002882, y=-0.008576, theta=0.000755
+[19:09:43.622] Odometry x=0.002882, y=-0.008576, theta=0.000107
+[19:09:43.632] Odometry x=0.002883, y=-0.008576, theta=-0.000728
+[19:09:43.642] Odometry x=0.002883, y=-0.008576, theta=-0.001241
+[19:09:43.646] Init: px average disparity is:28.410786 ,While minimum is: 40.000000  KLT tracked : 61
+[19:09:43.646] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:43.662] Odometry x=0.003265, y=-0.008570, theta=-0.001625
+[19:09:43.672] Odometry x=0.003265, y=-0.008570, theta=-0.002610
+[19:09:43.682] Odometry x=0.003265, y=-0.008570, theta=-0.004270
+[19:09:43.693] Odometry x=0.003265, y=-0.008571, theta=-0.006061
+[19:09:43.703] Odometry x=0.003265, y=-0.008572, theta=-0.007998
+[19:09:43.713] Odometry x=0.003265, y=-0.008575, theta=-0.010061
+[19:09:43.723] Odometry x=0.003266, y=-0.008579, theta=-0.012052
+[19:09:43.733] Odometry x=0.003267, y=-0.008584, theta=-0.013925
+[19:09:43.748] Init: px average disparity is:22.611265 ,While minimum is: 40.000000  KLT tracked : 61
+[19:09:43.748] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:43.753] Odometry x=0.003612, y=-0.008537, theta=-0.015938
+[19:09:43.763] Odometry x=0.003613, y=-0.008540, theta=-0.018363
+[19:09:43.773] Odometry x=0.003613, y=-0.008541, theta=-0.020132
+[19:09:43.784] Odometry x=0.003614, y=-0.008541, theta=-0.021962
+[19:09:43.794] Odometry x=0.003614, y=-0.008541, theta=-0.023834
+[19:09:43.804] Odometry x=0.003614, y=-0.008541, theta=-0.026007
+[19:09:43.814] Odometry x=0.003614, y=-0.008541, theta=-0.028502
+[19:09:43.824] Odometry x=0.003614, y=-0.008542, theta=-0.030931
+[19:09:43.834] Odometry x=0.003614, y=-0.008542, theta=-0.032382
+[19:09:43.845] Init: px average disparity is:17.071774 ,While minimum is: 40.000000  KLT tracked : 61
+[19:09:43.845] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:43.855] Odometry x=0.003977, y=-0.008426, theta=-0.033752
+[19:09:43.865] Odometry x=0.003978, y=-0.008430, theta=-0.034962
+[19:09:43.875] Odometry x=0.003978, y=-0.008432, theta=-0.035429
+[19:09:43.885] Odometry x=0.003978, y=-0.008433, theta=-0.036919
+[19:09:43.895] Odometry x=0.003978, y=-0.008442, theta=-0.038781
+[19:09:43.905] Odometry x=0.003978, y=-0.008448, theta=-0.040722
+[19:09:43.915] Odometry x=0.003978, y=-0.008448, theta=-0.042992
+[19:09:43.925] Odometry x=0.003978, y=-0.008448, theta=-0.045193
+[19:09:43.936] Odometry x=0.003978, y=-0.008448, theta=-0.047244
+[19:09:43.946] Init: px average disparity is:12.453810 ,While minimum is: 40.000000  KLT tracked : 61
+[19:09:43.946] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:43.956] Odometry x=0.004382, y=-0.008257, theta=-0.049172
+[19:09:43.966] Odometry x=0.004384, y=-0.008258, theta=-0.050788
+[19:09:43.976] Odometry x=0.004385, y=-0.008258, theta=-0.051245
+[19:09:43.986] Odometry x=0.004386, y=-0.008258, theta=-0.051669
+[19:09:43.996] Odometry x=0.004386, y=-0.008259, theta=-0.051572
+[19:09:44.006] Odometry x=0.004386, y=-0.008259, theta=-0.050907
+[19:09:44.017] Odometry x=0.004386, y=-0.008259, theta=-0.050056
+[19:09:44.027] Odometry x=0.004387, y=-0.008259, theta=-0.049685
+[19:09:44.037] Odometry x=0.004387, y=-0.008260, theta=-0.049783
+[19:09:44.045] Init: px average disparity is:11.813791 ,While minimum is: 40.000000  KLT tracked : 61
+[19:09:44.045] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:44.057] Odometry x=0.004788, y=-0.008078, theta=-0.050572
+[19:09:44.067] Odometry x=0.004789, y=-0.008095, theta=-0.050974
+[19:09:44.077] Odometry x=0.004790, y=-0.008101, theta=-0.051015
+[19:09:44.087] Odometry x=0.004791, y=-0.008102, theta=-0.051219
+[19:09:44.098] Odometry x=0.004792, y=-0.008102, theta=-0.051563
+[19:09:44.108] Odometry x=0.004792, y=-0.008101, theta=-0.051905
+[19:09:44.118] Odometry x=0.004793, y=-0.008101, theta=-0.051955
+[19:09:44.128] Odometry x=0.004793, y=-0.008101, theta=-0.051650
+[19:09:44.148] Init: px average disparity is:12.141186 ,While minimum is: 40.000000  KLT tracked : 61
+[19:09:44.148] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:44.148] Odometry x=0.005136, y=-0.007923, theta=-0.051578
+[19:09:44.158] Odometry x=0.005136, y=-0.007923, theta=-0.051802
+[19:09:44.168] Odometry x=0.005137, y=-0.007923, theta=-0.052345
+[19:09:44.179] Odometry x=0.005137, y=-0.007924, theta=-0.052969
+[19:09:44.189] Odometry x=0.005138, y=-0.007926, theta=-0.053817
+[19:09:44.199] Odometry x=0.005138, y=-0.007931, theta=-0.054451
+[19:09:44.209] Odometry x=0.005138, y=-0.007938, theta=-0.054606
+[19:09:44.219] Odometry x=0.005138, y=-0.007942, theta=-0.054539
+[19:09:44.229] Odometry x=0.005139, y=-0.007942, theta=-0.053750
+[19:09:44.245] Init: px average disparity is:12.839897 ,While minimum is: 40.000000  KLT tracked : 61
+[19:09:44.245] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:44.249] Odometry x=0.005521, y=-0.007738, theta=-0.052986
+[19:09:44.260] Odometry x=0.005521, y=-0.007738, theta=-0.051966
+[19:09:44.270] Odometry x=0.005521, y=-0.007738, theta=-0.050767
+[19:09:44.280] Odometry x=0.005521, y=-0.007738, theta=-0.049848
+[19:09:44.290] Odometry x=0.005521, y=-0.007741, theta=-0.049354
+[19:09:44.300] Odometry x=0.005521, y=-0.007753, theta=-0.049419
+[19:09:44.310] Odometry x=0.005522, y=-0.007765, theta=-0.049909
+[19:09:44.320] Odometry x=0.005524, y=-0.007782, theta=-0.050470
+[19:09:44.330] Odometry x=0.005525, y=-0.007802, theta=-0.050648
+[19:09:44.346] Init: px average disparity is:12.946338 ,While minimum is: 40.000000  KLT tracked : 61
+[19:09:44.346] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:44.351] Odometry x=0.005914, y=-0.007610, theta=-0.049769
+[19:09:44.361] Odometry x=0.005916, y=-0.007611, theta=-0.048769
+[19:09:44.371] Odometry x=0.005917, y=-0.007610, theta=-0.048344
+[19:09:44.381] Odometry x=0.005917, y=-0.007609, theta=-0.048164
+[19:09:44.391] Odometry x=0.005918, y=-0.007608, theta=-0.047868
+[19:09:44.401] Odometry x=0.005919, y=-0.007608, theta=-0.047733
+[19:09:44.411] Odometry x=0.005919, y=-0.007608, theta=-0.047760
+[19:09:44.422] Odometry x=0.005919, y=-0.007608, theta=-0.047831
+[19:09:44.432] Odometry x=0.005919, y=-0.007609, theta=-0.047776
+[19:09:44.445] Init: px average disparity is:13.035949 ,While minimum is: 40.000000  KLT tracked : 61
+[19:09:44.445] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:44.452] Odometry x=0.006302, y=-0.007428, theta=-0.046716
+[19:09:44.462] Odometry x=0.006302, y=-0.007427, theta=-0.045613
+[19:09:44.472] Odometry x=0.006302, y=-0.007427, theta=-0.044778
+[19:09:44.482] Odometry x=0.006302, y=-0.007427, theta=-0.044030
+[19:09:44.492] Odometry x=0.006302, y=-0.007427, theta=-0.043418
+[19:09:44.502] Odometry x=0.006302, y=-0.007429, theta=-0.042581
+[19:09:44.513] Odometry x=0.006302, y=-0.007432, theta=-0.041944
+[19:09:44.523] Odometry x=0.006303, y=-0.007439, theta=-0.041474
+[19:09:44.533] Odometry x=0.006304, y=-0.007446, theta=-0.040918
+[19:09:44.545] Init: px average disparity is:14.859181 ,While minimum is: 40.000000  KLT tracked : 61
+[19:09:44.545] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:44.553] Odometry x=0.006691, y=-0.007321, theta=-0.039035
+[19:09:44.563] Odometry x=0.006694, y=-0.007340, theta=-0.036926
+[19:09:44.573] Odometry x=0.006696, y=-0.007342, theta=-0.035351
+[19:09:44.584] Odometry x=0.006697, y=-0.007342, theta=-0.033767
+[19:09:44.594] Odometry x=0.006697, y=-0.007341, theta=-0.032396
+[19:09:44.604] Odometry x=0.006697, y=-0.007341, theta=-0.031386
+[19:09:44.614] Odometry x=0.006698, y=-0.007341, theta=-0.030819
+[19:09:44.624] Odometry x=0.006698, y=-0.007341, theta=-0.030222
+[19:09:44.634] Odometry x=0.006698, y=-0.007340, theta=-0.029549
+[19:09:44.645] Init: px average disparity is:14.878321 ,While minimum is: 40.000000  KLT tracked : 61
+[19:09:44.645] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:44.654] Odometry x=0.007100, y=-0.007222, theta=-0.028449
+[19:09:44.664] Odometry x=0.007100, y=-0.007221, theta=-0.027422
+[19:09:44.675] Odometry x=0.007100, y=-0.007221, theta=-0.026972
+[19:09:44.685] Odometry x=0.007100, y=-0.007221, theta=-0.026538
+[19:09:44.695] Odometry x=0.007100, y=-0.007221, theta=-0.025941
+[19:09:44.705] Odometry x=0.007100, y=-0.007221, theta=-0.024948
+[19:09:44.715] Odometry x=0.007100, y=-0.007223, theta=-0.023383
+[19:09:44.725] Odometry x=0.007101, y=-0.007223, theta=-0.021747
+[19:09:44.735] Odometry x=0.007101, y=-0.007223, theta=-0.021148
+[19:09:44.746] Init: px average disparity is:17.917753 ,While minimum is: 40.000000  KLT tracked : 61
+[19:09:44.746] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:44.756] Odometry x=0.007466, y=-0.007150, theta=-0.018606
+[19:09:44.766] Odometry x=0.007467, y=-0.007149, theta=-0.016336
+[19:09:44.776] Odometry x=0.007467, y=-0.007150, theta=-0.015654
+[19:09:44.786] Odometry x=0.007467, y=-0.007153, theta=-0.015319
+[19:09:44.796] Odometry x=0.007467, y=-0.007159, theta=-0.015101
+[19:09:44.806] Odometry x=0.007468, y=-0.007165, theta=-0.014803
+[19:09:44.817] Odometry x=0.007468, y=-0.007168, theta=-0.014532
+[19:09:44.827] Odometry x=0.007469, y=-0.007169, theta=-0.013938
+[19:09:44.837] Odometry x=0.007470, y=-0.007170, theta=-0.012922
+[19:09:44.846] Init: px average disparity is:18.749842 ,While minimum is: 40.000000  KLT tracked : 61
+[19:09:44.846] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:44.857] Odometry x=0.007853, y=-0.007122, theta=-0.011859
+[19:09:44.867] Odometry x=0.007853, y=-0.007122, theta=-0.010955
+[19:09:44.877] Odometry x=0.007853, y=-0.007122, theta=-0.010459
+[19:09:44.887] Odometry x=0.007853, y=-0.007121, theta=-0.009923
+[19:09:44.898] Odometry x=0.007853, y=-0.007121, theta=-0.009529
+[19:09:44.908] Odometry x=0.007853, y=-0.007120, theta=-0.009898
+[19:09:44.918] Odometry x=0.007854, y=-0.007121, theta=-0.010439
+[19:09:44.928] Odometry x=0.007855, y=-0.007125, theta=-0.010709
+[19:09:44.938] Odometry x=0.007858, y=-0.007128, theta=-0.010604
+[19:09:44.947] Init: px average disparity is:20.083290 ,While minimum is: 40.000000  KLT tracked : 61
+[19:09:44.947] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:44.958] Odometry x=0.008285, y=-0.007091, theta=-0.011431
+[19:09:44.968] Odometry x=0.008292, y=-0.007099, theta=-0.012153
+[19:09:44.979] Odometry x=0.008292, y=-0.007103, theta=-0.012226
+[19:09:44.989] Odometry x=0.008293, y=-0.007106, theta=-0.011815
+[19:09:44.999] Odometry x=0.008293, y=-0.007109, theta=-0.011490
+[19:09:45.009] Odometry x=0.008294, y=-0.007110, theta=-0.011735
+[19:09:45.019] Odometry x=0.008294, y=-0.007111, theta=-0.012067
+[19:09:45.029] Odometry x=0.008294, y=-0.007112, theta=-0.012224
+[19:09:45.048] Init: px average disparity is:20.660106 ,While minimum is: 40.000000  KLT tracked : 61
+[19:09:45.048] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:45.049] Odometry x=0.008622, y=-0.007076, theta=-0.011748
+[19:09:45.059] Odometry x=0.008623, y=-0.007078, theta=-0.010546
+[19:09:45.070] Odometry x=0.008624, y=-0.007079, theta=-0.009388
+[19:09:45.080] Odometry x=0.008625, y=-0.007079, theta=-0.008707
+[19:09:45.090] Odometry x=0.008625, y=-0.007082, theta=-0.008200
+[19:09:45.100] Odometry x=0.008626, y=-0.007085, theta=-0.008144
+[19:09:45.110] Odometry x=0.008626, y=-0.007089, theta=-0.008507
+[19:09:45.120] Odometry x=0.008626, y=-0.007092, theta=-0.008869
+[19:09:45.130] Odometry x=0.008627, y=-0.007094, theta=-0.008748
+[19:09:45.140] Odometry x=0.008627, y=-0.007096, theta=-0.007876
+[19:09:45.145] Init: px average disparity is:21.979398 ,While minimum is: 40.000000  KLT tracked : 61
+[19:09:45.145] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:45.161] Odometry x=0.009071, y=-0.007069, theta=-0.006012
+[19:09:45.171] Odometry x=0.009073, y=-0.007071, theta=-0.004212
+[19:09:45.181] Odometry x=0.009075, y=-0.007072, theta=-0.003717
+[19:09:45.191] Odometry x=0.009080, y=-0.007071, theta=-0.004076
+[19:09:45.201] Odometry x=0.009084, y=-0.007071, theta=-0.004548
+[19:09:45.211] Odometry x=0.009087, y=-0.007071, theta=-0.004803
+[19:09:45.221] Odometry x=0.009088, y=-0.007071, theta=-0.004865
+[19:09:45.232] Odometry x=0.009090, y=-0.007071, theta=-0.005406
+[19:09:45.245] Init: px average disparity is:25.831889 ,While minimum is: 40.000000  KLT tracked : 61
+[19:09:45.246] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:45.252] Odometry x=0.009437, y=-0.007066, theta=-0.007310
+[19:09:45.262] Odometry x=0.009437, y=-0.007147, theta=-0.009202
+[19:09:45.272] Odometry x=0.009437, y=-0.007238, theta=-0.009774
+[19:09:45.282] Odometry x=0.009437, y=-0.007301, theta=-0.009445
+[19:09:45.292] Odometry x=0.009437, y=-0.007351, theta=-0.008817
+[19:09:45.302] Odometry x=0.009438, y=-0.007394, theta=-0.008521
+[19:09:45.313] Odometry x=0.009438, y=-0.007428, theta=-0.008312
+[19:09:45.323] Odometry x=0.009438, y=-0.007451, theta=-0.007731
+[19:09:45.333] Odometry x=0.009439, y=-0.007467, theta=-0.006874
+[19:09:45.348] Init: px average disparity is:25.947930 ,While minimum is: 40.000000  KLT tracked : 61
+[19:09:45.348] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:45.353] Odometry x=0.009830, y=-0.007443, theta=-0.006513
+[19:09:45.363] Odometry x=0.009833, y=-0.007445, theta=-0.006308
+[19:09:45.373] Odometry x=0.009835, y=-0.007446, theta=-0.006101
+[19:09:45.383] Odometry x=0.009838, y=-0.007446, theta=-0.005899
+[19:09:45.394] Odometry x=0.009840, y=-0.007448, theta=-0.006203
+[19:09:45.404] Odometry x=0.009840, y=-0.007455, theta=-0.006645
+[19:09:45.414] Odometry x=0.009841, y=-0.007472, theta=-0.006721
+[19:09:45.424] Odometry x=0.009841, y=-0.007495, theta=-0.005991
+[19:09:45.434] Odometry x=0.009841, y=-0.007510, theta=-0.004423
+[19:09:45.446] Init: px average disparity is:30.826194 ,While minimum is: 40.000000  KLT tracked : 61
+[19:09:45.446] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:45.455] Odometry x=0.010231, y=-0.007533, theta=-0.004306
+[19:09:45.465] Odometry x=0.010232, y=-0.007570, theta=-0.004368
+[19:09:45.475] Odometry x=0.010233, y=-0.007589, theta=-0.004670
+[19:09:45.485] Odometry x=0.010234, y=-0.007609, theta=-0.005273
+[19:09:45.495] Odometry x=0.010234, y=-0.007631, theta=-0.005875
+[19:09:45.505] Odometry x=0.010236, y=-0.007658, theta=-0.005959
+[19:09:45.515] Odometry x=0.010237, y=-0.007694, theta=-0.005310
+[19:09:45.525] Odometry x=0.010239, y=-0.007729, theta=-0.004095
+[19:09:45.535] Odometry x=0.010240, y=-0.007766, theta=-0.002805
+[19:09:45.547] Init: px average disparity is:31.447062 ,While minimum is: 40.000000  KLT tracked : 61
+[19:09:45.547] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:45.556] Odometry x=0.010625, y=-0.007810, theta=-0.000536
+[19:09:45.566] Odometry x=0.010627, y=-0.007850, theta=0.002085
+[19:09:45.576] Odometry x=0.010629, y=-0.007861, theta=0.003875
+[19:09:45.586] Odometry x=0.010630, y=-0.007869, theta=0.005534
+[19:09:45.596] Odometry x=0.010631, y=-0.007875, theta=0.007676
+[19:09:45.606] Odometry x=0.010631, y=-0.007878, theta=0.010239
+[19:09:45.616] Odometry x=0.010631, y=-0.007879, theta=0.012245
+[19:09:45.626] Odometry x=0.010632, y=-0.007880, theta=0.013214
+[19:09:45.637] Odometry x=0.010632, y=-0.007883, theta=0.013457
+[19:09:45.646] Init: px average disparity is:32.951310 ,While minimum is: 40.000000  KLT tracked : 61
+[19:09:45.646] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:45.657] Odometry x=0.011016, y=-0.007988, theta=0.014222
+[19:09:45.667] Odometry x=0.011017, y=-0.008033, theta=0.015210
+[19:09:45.677] Odometry x=0.011017, y=-0.008048, theta=0.015733
+[19:09:45.687] Odometry x=0.011018, y=-0.008061, theta=0.016018
+[19:09:45.697] Odometry x=0.011018, y=-0.008074, theta=0.016163
+[19:09:45.707] Odometry x=0.011018, y=-0.008087, theta=0.016137
+[19:09:45.717] Odometry x=0.011018, y=-0.008108, theta=0.015816
+[19:09:45.728] Odometry x=0.011018, y=-0.008132, theta=0.015533
+[19:09:45.738] Odometry x=0.011018, y=-0.008154, theta=0.015140
+[19:09:45.747] Init: px average disparity is:35.544460 ,While minimum is: 40.000000  KLT tracked : 61
+[19:09:45.747] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:45.758] Odometry x=0.011421, y=-0.008253, theta=0.013812
+[19:09:45.768] Odometry x=0.011422, y=-0.008290, theta=0.012419
+[19:09:45.778] Odometry x=0.011424, y=-0.008311, theta=0.011773
+[19:09:45.788] Odometry x=0.011426, y=-0.008339, theta=0.011199
+[19:09:45.799] Odometry x=0.011428, y=-0.008373, theta=0.010597
+[19:09:45.809] Odometry x=0.011429, y=-0.008416, theta=0.010147
+[19:09:45.819] Odometry x=0.011430, y=-0.008466, theta=0.009983
+[19:09:45.829] Odometry x=0.011431, y=-0.008529, theta=0.010402
+[19:09:45.839] Odometry x=0.011432, y=-0.008602, theta=0.011522
+[19:09:45.846] Init: px average disparity is:38.025629 ,While minimum is: 40.000000  KLT tracked : 61
+[19:09:45.847] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:45.860] Odometry x=0.011815, y=-0.008705, theta=0.014368
+[19:09:45.870] Odometry x=0.011815, y=-0.008784, theta=0.016331
+[19:09:45.880] Odometry x=0.011816, y=-0.008851, theta=0.016754
+[19:09:45.890] Odometry x=0.011817, y=-0.008924, theta=0.017410
+[19:09:45.900] Odometry x=0.011818, y=-0.008987, theta=0.018524
+[19:09:45.910] Odometry x=0.011819, y=-0.009025, theta=0.019905
+[19:09:45.920] Odometry x=0.011820, y=-0.009051, theta=0.021426
+[19:09:45.930] Odometry x=0.011821, y=-0.009067, theta=0.023259
+[19:09:45.941] Odometry x=0.011822, y=-0.009076, theta=0.025160
+[19:09:45.949] Init: px average disparity is:33.939635 ,While minimum is: 40.000000  KLT tracked : 61
+[19:09:45.949] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:45.961] Odometry x=0.012204, y=-0.009202, theta=0.027808
+[19:09:45.971] Odometry x=0.012205, y=-0.009222, theta=0.031039
+[19:09:45.981] Odometry x=0.012205, y=-0.009225, theta=0.033527
+[19:09:45.991] Odometry x=0.012206, y=-0.009227, theta=0.035923
+[19:09:46.001] Odometry x=0.012207, y=-0.009229, theta=0.038335
+[19:09:46.012] Odometry x=0.012207, y=-0.009231, theta=0.041172
+[19:09:46.022] Odometry x=0.012207, y=-0.009232, theta=0.043641
+[19:09:46.032] Odometry x=0.012208, y=-0.009232, theta=0.045545
+[19:09:46.042] Odometry x=0.012209, y=-0.009233, theta=0.045966
+[19:09:46.047] Init: px average disparity is:36.150721 ,While minimum is: 40.000000  KLT tracked : 61
+[19:09:46.047] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:46.062] Odometry x=0.012610, y=-0.009422, theta=0.045638
+[19:09:46.072] Odometry x=0.012611, y=-0.009433, theta=0.045659
+[19:09:46.082] Odometry x=0.012611, y=-0.009443, theta=0.046116
+[19:09:46.092] Odometry x=0.012611, y=-0.009456, theta=0.046656
+[19:09:46.102] Odometry x=0.012611, y=-0.009473, theta=0.047251
+[19:09:46.113] Odometry x=0.012611, y=-0.009483, theta=0.047654
+[19:09:46.123] Odometry x=0.012610, y=-0.009528, theta=0.047474
+[19:09:46.133] Odometry x=0.012610, y=-0.009583, theta=0.046986
+[19:09:46.143] Odometry x=0.012610, y=-0.009636, theta=0.046283
+[19:09:46.147] Init: px average disparity is:37.267900 ,While minimum is: 40.000000  KLT tracked : 61
+[19:09:46.147] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:46.163] Odometry x=0.012990, y=-0.010024, theta=0.045891
+[19:09:46.173] Odometry x=0.012990, y=-0.010215, theta=0.045789
+[19:09:46.184] Odometry x=0.012990, y=-0.010284, theta=0.045631
+[19:09:46.194] Odometry x=0.012990, y=-0.010345, theta=0.044899
+[19:09:46.204] Odometry x=0.012993, y=-0.010395, theta=0.044159
+[19:09:46.214] Odometry x=0.012996, y=-0.010439, theta=0.043710
+[19:09:46.224] Odometry x=0.012998, y=-0.010471, theta=0.043492
+[19:09:46.234] Odometry x=0.012999, y=-0.010496, theta=0.043552
+[19:09:46.248] Init: px average disparity is:32.349149 ,While minimum is: 40.000000  KLT tracked : 61
+[19:09:46.248] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:46.254] Odometry x=0.013350, y=-0.010690, theta=0.043511
+[19:09:46.265] Odometry x=0.013358, y=-0.010728, theta=0.042701
+[19:09:46.275] Odometry x=0.013363, y=-0.010743, theta=0.041713
+[19:09:46.285] Odometry x=0.013365, y=-0.010751, theta=0.042018
+[19:09:46.295] Odometry x=0.013366, y=-0.010753, theta=0.043620
+[19:09:46.305] Odometry x=0.013366, y=-0.010753, theta=0.045368
+[19:09:46.315] Odometry x=0.013366, y=-0.010753, theta=0.046586
+[19:09:46.325] Odometry x=0.013366, y=-0.010753, theta=0.047184
+[19:09:46.335] Odometry x=0.013366, y=-0.010753, theta=0.047127
+[19:09:46.346] Init: px average disparity is:31.377801 ,While minimum is: 40.000000  KLT tracked : 61
+[19:09:46.346] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:46.356] Odometry x=0.013748, y=-0.010931, theta=0.045832
+[19:09:46.366] Odometry x=0.013748, y=-0.010932, theta=0.043980
+[19:09:46.376] Odometry x=0.013748, y=-0.010934, theta=0.041999
+[19:09:46.386] Odometry x=0.013749, y=-0.010936, theta=0.039607
+[19:09:46.396] Odometry x=0.013749, y=-0.010941, theta=0.037175
+[19:09:46.406] Odometry x=0.013750, y=-0.010945, theta=0.035210
+[19:09:46.416] Odometry x=0.013750, y=-0.010948, theta=0.034175
+[19:09:46.426] Odometry x=0.013751, y=-0.010950, theta=0.033351
+[19:09:46.437] Odometry x=0.013751, y=-0.010951, theta=0.032490
+[19:09:46.446] Init: px average disparity is:26.779414 ,While minimum is: 40.000000  KLT tracked : 60
+[19:09:46.446] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:46.457] Odometry x=0.014132, y=-0.011109, theta=0.031614
+[19:09:46.467] Odometry x=0.014132, y=-0.011134, theta=0.030998
+[19:09:46.477] Odometry x=0.014132, y=-0.011152, theta=0.030098
+[19:09:46.487] Odometry x=0.014132, y=-0.011166, theta=0.028195
+[19:09:46.497] Odometry x=0.014132, y=-0.011172, theta=0.025913
+[19:09:46.507] Odometry x=0.014133, y=-0.011176, theta=0.023834
+[19:09:46.517] Odometry x=0.014134, y=-0.011179, theta=0.022241
+[19:09:46.528] Odometry x=0.014134, y=-0.011180, theta=0.021392
+[19:09:46.538] Odometry x=0.014136, y=-0.011180, theta=0.020955
+[19:09:46.547] Init: px average disparity is:22.377525 ,While minimum is: 40.000000  KLT tracked : 60
+[19:09:46.547] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:46.558] Odometry x=0.014538, y=-0.011267, theta=0.022495
+[19:09:46.568] Odometry x=0.014540, y=-0.011267, theta=0.024151
+[19:09:46.578] Odometry x=0.014540, y=-0.011267, theta=0.025230
+[19:09:46.588] Odometry x=0.014541, y=-0.011267, theta=0.026205
+[19:09:46.598] Odometry x=0.014541, y=-0.011267, theta=0.027084
+[19:09:46.609] Odometry x=0.014541, y=-0.011267, theta=0.027812
+[19:09:46.619] Odometry x=0.014542, y=-0.011267, theta=0.028495
+[19:09:46.629] Odometry x=0.014542, y=-0.011267, theta=0.029401
+[19:09:46.639] Odometry x=0.014542, y=-0.011268, theta=0.030554
+[19:09:46.649] Init: px average disparity is:24.134872 ,While minimum is: 40.000000  KLT tracked : 60
+[19:09:46.650] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:46.659] Odometry x=0.014924, y=-0.011389, theta=0.031792
+[19:09:46.669] Odometry x=0.014924, y=-0.011392, theta=0.033008
+[19:09:46.679] Odometry x=0.014924, y=-0.011395, theta=0.033207
+[19:09:46.690] Odometry x=0.014924, y=-0.011403, theta=0.032007
+[19:09:46.700] Odometry x=0.014924, y=-0.011417, theta=0.030293
+[19:09:46.710] Odometry x=0.014924, y=-0.011436, theta=0.028922
+[19:09:46.720] Odometry x=0.014924, y=-0.011460, theta=0.027972
+[19:09:46.730] Odometry x=0.014924, y=-0.011490, theta=0.027337
+[19:09:46.740] Odometry x=0.014924, y=-0.011522, theta=0.026911
+[19:09:46.747] Init: px average disparity is:21.600981 ,While minimum is: 40.000000  KLT tracked : 60
+[19:09:46.747] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:46.760] Odometry x=0.015305, y=-0.011690, theta=0.026953
+[19:09:46.770] Odometry x=0.015305, y=-0.011740, theta=0.027379
+[19:09:46.781] Odometry x=0.015305, y=-0.011751, theta=0.027908
+[19:09:46.791] Odometry x=0.015305, y=-0.011755, theta=0.028591
+[19:09:46.801] Odometry x=0.015305, y=-0.011757, theta=0.029573
+[19:09:46.811] Odometry x=0.015305, y=-0.011757, theta=0.030636
+[19:09:46.821] Odometry x=0.015305, y=-0.011757, theta=0.032244
+[19:09:46.831] Odometry x=0.015306, y=-0.011757, theta=0.034413
+[19:09:46.847] Init: px average disparity is:21.929850 ,While minimum is: 40.000000  KLT tracked : 60
+[19:09:46.847] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:46.851] Odometry x=0.015656, y=-0.011878, theta=0.035400
+[19:09:46.861] Odometry x=0.015663, y=-0.011880, theta=0.035925
+[19:09:46.872] Odometry x=0.015675, y=-0.011881, theta=0.036681
+[19:09:46.882] Odometry x=0.015682, y=-0.011880, theta=0.037705
+[19:09:46.892] Odometry x=0.015684, y=-0.011849, theta=0.040093
+[19:09:46.902] Odometry x=0.015685, y=-0.011816, theta=0.042490
+[19:09:46.912] Odometry x=0.015686, y=-0.011800, theta=0.043735
+[19:09:46.922] Odometry x=0.015686, y=-0.011794, theta=0.044100
+[19:09:46.932] Odometry x=0.015686, y=-0.011794, theta=0.044122
+[19:09:46.942] Odometry x=0.015686, y=-0.011794, theta=0.043938
+[19:09:46.947] Init: px average disparity is:20.144158 ,While minimum is: 40.000000  KLT tracked : 55
+[19:09:46.947] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:46.963] Odometry x=0.016124, y=-0.011997, theta=0.042907
+[19:09:46.973] Odometry x=0.016124, y=-0.012014, theta=0.041372
+[19:09:46.983] Odometry x=0.016124, y=-0.012035, theta=0.039626
+[19:09:46.993] Odometry x=0.016124, y=-0.012059, theta=0.037813
+[19:09:47.003] Odometry x=0.016124, y=-0.012078, theta=0.036493
+[19:09:47.013] Odometry x=0.016124, y=-0.012085, theta=0.035835
+[19:09:47.023] Odometry x=0.016124, y=-0.012087, theta=0.035674
+[19:09:47.034] Odometry x=0.016124, y=-0.012088, theta=0.035802
+[19:09:47.044] Odometry x=0.016124, y=-0.012087, theta=0.036128
+[19:09:47.047] Init: px average disparity is:19.286931 ,While minimum is: 40.000000  KLT tracked : 55
+[19:09:47.047] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:47.064] Odometry x=0.016507, y=-0.012162, theta=0.036958
+[19:09:47.074] Odometry x=0.016509, y=-0.012104, theta=0.037641
+[19:09:47.084] Odometry x=0.016510, y=-0.012088, theta=0.037519
+[19:09:47.094] Odometry x=0.016511, y=-0.012085, theta=0.037422
+[19:09:47.104] Odometry x=0.016512, y=-0.012085, theta=0.037580
+[19:09:47.115] Odometry x=0.016512, y=-0.012085, theta=0.037711
+[19:09:47.125] Odometry x=0.016512, y=-0.012086, theta=0.037557
+[19:09:47.135] Odometry x=0.016512, y=-0.012087, theta=0.037304
+[19:09:47.146] Init: px average disparity is:18.355183 ,While minimum is: 40.000000  KLT tracked : 55
+[19:09:47.146] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:47.155] Odometry x=0.016856, y=-0.012216, theta=0.037819
+[19:09:47.165] Odometry x=0.016856, y=-0.012216, theta=0.038512
+[19:09:47.175] Odometry x=0.016856, y=-0.012216, theta=0.038720
+[19:09:47.185] Odometry x=0.016856, y=-0.012216, theta=0.038394
+[19:09:47.196] Odometry x=0.016856, y=-0.012217, theta=0.037485
+[19:09:47.206] Odometry x=0.016856, y=-0.012221, theta=0.036218
+[19:09:47.216] Odometry x=0.016857, y=-0.012227, theta=0.035237
+[19:09:47.226] Odometry x=0.016857, y=-0.012230, theta=0.034777
+[19:09:47.236] Odometry x=0.016859, y=-0.012232, theta=0.034391
+[19:09:47.249] Init: px average disparity is:16.489177 ,While minimum is: 40.000000  KLT tracked : 55
+[19:09:47.249] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:47.256] Odometry x=0.017243, y=-0.012364, theta=0.034357
+[19:09:47.267] Odometry x=0.017245, y=-0.012365, theta=0.034437
+[19:09:47.277] Odometry x=0.017245, y=-0.012365, theta=0.034431
+[19:09:47.287] Odometry x=0.017245, y=-0.012365, theta=0.033993
+[19:09:47.297] Odometry x=0.017245, y=-0.012365, theta=0.033414
+[19:09:47.307] Odometry x=0.017245, y=-0.012365, theta=0.032860
+[19:09:47.317] Odometry x=0.017245, y=-0.012365, theta=0.032248
+[19:09:47.327] Odometry x=0.017246, y=-0.012365, theta=0.031730
+[19:09:47.337] Odometry x=0.017246, y=-0.012365, theta=0.031616
+[19:09:47.346] Init: px average disparity is:16.150156 ,While minimum is: 40.000000  KLT tracked : 55
+[19:09:47.346] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:47.358] Odometry x=0.017630, y=-0.012487, theta=0.031817
+[19:09:47.368] Odometry x=0.017631, y=-0.012487, theta=0.032134
+[19:09:47.378] Odometry x=0.017631, y=-0.012486, theta=0.032375
+[19:09:47.388] Odometry x=0.017631, y=-0.012486, theta=0.032513
+[19:09:47.398] Odometry x=0.017631, y=-0.012485, theta=0.032766
+[19:09:47.408] Odometry x=0.017631, y=-0.012484, theta=0.033277
+[19:09:47.418] Odometry x=0.017631, y=-0.012483, theta=0.033179
+[19:09:47.428] Odometry x=0.017631, y=-0.012482, theta=0.032602
+[19:09:47.439] Odometry x=0.017631, y=-0.012482, theta=0.031521
+[19:09:47.449] Init: px average disparity is:13.852818 ,While minimum is: 40.000000  KLT tracked : 55
+[19:09:47.449] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:47.459] Odometry x=0.018009, y=-0.012602, theta=0.029756
+[19:09:47.469] Odometry x=0.018009, y=-0.012611, theta=0.027773
+[19:09:47.479] Odometry x=0.018008, y=-0.012621, theta=0.026822
+[19:09:47.489] Odometry x=0.018008, y=-0.012631, theta=0.026418
+[19:09:47.499] Odometry x=0.018009, y=-0.012636, theta=0.026558
+[19:09:47.509] Odometry x=0.018013, y=-0.012640, theta=0.026582
+[19:09:47.520] Odometry x=0.018017, y=-0.012644, theta=0.026033
+[19:09:47.530] Odometry x=0.018019, y=-0.012648, theta=0.025640
+[19:09:47.540] Odometry x=0.018021, y=-0.012651, theta=0.025534
+[19:09:47.548] Init: px average disparity is:13.470753 ,While minimum is: 40.000000  KLT tracked : 55
+[19:09:47.548] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:47.560] Odometry x=0.018426, y=-0.012755, theta=0.025154
+[19:09:47.570] Odometry x=0.018426, y=-0.012755, theta=0.024875
+[19:09:47.580] Odometry x=0.018427, y=-0.012755, theta=0.025101
+[19:09:47.590] Odometry x=0.018427, y=-0.012755, theta=0.025549
+[19:09:47.600] Odometry x=0.018428, y=-0.012755, theta=0.026036
+[19:09:47.611] Odometry x=0.018428, y=-0.012755, theta=0.026523
+[19:09:47.621] Odometry x=0.018428, y=-0.012754, theta=0.027062
+[19:09:47.631] Odometry x=0.018428, y=-0.012753, theta=0.027429
+[19:09:47.645] Init: px average disparity is:13.537745 ,While minimum is: 40.000000  KLT tracked : 55
+[19:09:47.645] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:47.651] Odometry x=0.018754, y=-0.012840, theta=0.027333
+[19:09:47.661] Odometry x=0.018754, y=-0.012839, theta=0.026939
+[19:09:47.671] Odometry x=0.018754, y=-0.012840, theta=0.026671
+[19:09:47.681] Odometry x=0.018755, y=-0.012841, theta=0.026740
+[19:09:47.691] Odometry x=0.018755, y=-0.012843, theta=0.026708
+[19:09:47.702] Odometry x=0.018757, y=-0.012845, theta=0.026491
+[19:09:47.712] Odometry x=0.018758, y=-0.012846, theta=0.026311
+[19:09:47.722] Odometry x=0.018759, y=-0.012847, theta=0.026356
+[19:09:47.732] Odometry x=0.018759, y=-0.012847, theta=0.026515
+[19:09:47.742] Odometry x=0.018760, y=-0.012847, theta=0.026901
+[19:09:47.745] Init: px average disparity is:13.694361 ,While minimum is: 40.000000  KLT tracked : 55
+[19:09:47.745] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:47.762] Odometry x=0.019178, y=-0.012959, theta=0.026688
+[19:09:47.772] Odometry x=0.019178, y=-0.012958, theta=0.026352
+[19:09:47.782] Odometry x=0.019178, y=-0.012957, theta=0.026127
+[19:09:47.793] Odometry x=0.019178, y=-0.012956, theta=0.025259
+[19:09:47.803] Odometry x=0.019178, y=-0.012955, theta=0.024036
+[19:09:47.813] Odometry x=0.019178, y=-0.012955, theta=0.023394
+[19:09:47.823] Odometry x=0.019178, y=-0.012956, theta=0.023110
+[19:09:47.833] Odometry x=0.019178, y=-0.012957, theta=0.022915
+[19:09:47.843] Odometry x=0.019179, y=-0.012959, theta=0.022781
+[19:09:47.846] Init: px average disparity is:13.906797 ,While minimum is: 40.000000  KLT tracked : 55
+[19:09:47.846] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:47.863] Odometry x=0.019562, y=-0.013047, theta=0.023025
+[19:09:47.873] Odometry x=0.019562, y=-0.013047, theta=0.023653
+[19:09:47.884] Odometry x=0.019562, y=-0.013047, theta=0.024312
+[19:09:47.894] Odometry x=0.019562, y=-0.013047, theta=0.025833
+[19:09:47.904] Odometry x=0.019563, y=-0.013046, theta=0.027699
+[19:09:47.914] Odometry x=0.019563, y=-0.013045, theta=0.028913
+[19:09:47.924] Odometry x=0.019563, y=-0.013045, theta=0.029825
+[19:09:47.934] Odometry x=0.019563, y=-0.013044, theta=0.030595
+[19:09:47.944] Odometry x=0.019563, y=-0.013044, theta=0.031349
+[19:09:47.945] Init: px average disparity is:15.923862 ,While minimum is: 40.000000  KLT tracked : 55
+[19:09:47.945] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:47.965] Odometry x=0.019943, y=-0.013165, theta=0.032273
+[19:09:47.975] Odometry x=0.019943, y=-0.013165, theta=0.033604
+[19:09:47.985] Odometry x=0.019943, y=-0.013165, theta=0.034948
+[19:09:47.995] Odometry x=0.019943, y=-0.013165, theta=0.036164
+[19:09:48.005] Odometry x=0.019943, y=-0.013164, theta=0.037205
+[19:09:48.015] Odometry x=0.019943, y=-0.013164, theta=0.037772
+[19:09:48.025] Odometry x=0.019943, y=-0.013164, theta=0.037690
+[19:09:48.036] Odometry x=0.019943, y=-0.013164, theta=0.037840
+[19:09:48.045] Init: px average disparity is:16.601019 ,While minimum is: 40.000000  KLT tracked : 55
+[19:09:48.045] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:48.056] Odometry x=0.020280, y=-0.013292, theta=0.038411
+[19:09:48.066] Odometry x=0.020281, y=-0.013292, theta=0.038874
+[19:09:48.076] Odometry x=0.020282, y=-0.013293, theta=0.039267
+[19:09:48.086] Odometry x=0.020283, y=-0.013293, theta=0.039648
+[19:09:48.096] Odometry x=0.020283, y=-0.013295, theta=0.040301
+[19:09:48.106] Odometry x=0.020283, y=-0.013296, theta=0.040892
+[19:09:48.117] Odometry x=0.020283, y=-0.013298, theta=0.042227
+[19:09:48.127] Odometry x=0.020283, y=-0.013299, theta=0.044177
+[19:09:48.137] Odometry x=0.020283, y=-0.013299, theta=0.046188
+[19:09:48.145] Init: px average disparity is:19.643818 ,While minimum is: 40.000000  KLT tracked : 55
+[19:09:48.145] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:48.157] Odometry x=0.020680, y=-0.013482, theta=0.047298
+[19:09:48.167] Odometry x=0.020680, y=-0.013480, theta=0.048284
+[19:09:48.177] Odometry x=0.020680, y=-0.013479, theta=0.048532
+[19:09:48.187] Odometry x=0.020680, y=-0.013479, theta=0.048630
+[19:09:48.197] Odometry x=0.020680, y=-0.013479, theta=0.048994
+[19:09:48.208] Odometry x=0.020680, y=-0.013479, theta=0.049467
+[19:09:48.218] Odometry x=0.020680, y=-0.013478, theta=0.050077
+[19:09:48.228] Odometry x=0.020680, y=-0.013478, theta=0.050566
+[19:09:48.238] Odometry x=0.020680, y=-0.013478, theta=0.051019
+[19:09:48.249] Init: px average disparity is:19.389219 ,While minimum is: 40.000000  KLT tracked : 55
+[19:09:48.249] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:48.259] Odometry x=0.021082, y=-0.013683, theta=0.050942
+[19:09:48.269] Odometry x=0.021082, y=-0.013683, theta=0.051023
+[19:09:48.279] Odometry x=0.021082, y=-0.013683, theta=0.051497
+[19:09:48.289] Odometry x=0.021082, y=-0.013683, theta=0.052305
+[19:09:48.299] Odometry x=0.021083, y=-0.013683, theta=0.053300
+[19:09:48.310] Odometry x=0.021083, y=-0.013683, theta=0.054439
+[19:09:48.320] Odometry x=0.021083, y=-0.013683, theta=0.055636
+[19:09:48.330] Odometry x=0.021083, y=-0.013683, theta=0.056599
+[19:09:48.345] Init: px average disparity is:21.701428 ,While minimum is: 40.000000  KLT tracked : 55
+[19:09:48.345] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:48.350] Odometry x=0.021429, y=-0.013881, theta=0.058164
+[19:09:48.360] Odometry x=0.021429, y=-0.013881, theta=0.059719
+[19:09:48.370] Odometry x=0.021429, y=-0.013881, theta=0.060746
+[19:09:48.380] Odometry x=0.021429, y=-0.013880, theta=0.061450
+[19:09:48.391] Odometry x=0.021429, y=-0.013880, theta=0.061484
+[19:09:48.401] Odometry x=0.021429, y=-0.013880, theta=0.061222
+[19:09:48.411] Odometry x=0.021429, y=-0.013880, theta=0.060999
+[19:09:48.421] Odometry x=0.021429, y=-0.013880, theta=0.060755
+[19:09:48.431] Odometry x=0.021429, y=-0.013880, theta=0.060602
+[19:09:48.446] Init: px average disparity is:21.756878 ,While minimum is: 40.000000  KLT tracked : 55
+[19:09:48.446] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:48.451] Odometry x=0.021833, y=-0.014125, theta=0.060889
+[19:09:48.461] Odometry x=0.021833, y=-0.014125, theta=0.061263
+[19:09:48.471] Odometry x=0.021833, y=-0.014124, theta=0.061448
+[19:09:48.482] Odometry x=0.021833, y=-0.014122, theta=0.061538
+[19:09:48.492] Odometry x=0.021833, y=-0.014118, theta=0.061482
+[19:09:48.502] Odometry x=0.021833, y=-0.014117, theta=0.061358
+[19:09:48.512] Odometry x=0.021833, y=-0.014116, theta=0.061300
+[19:09:48.522] Odometry x=0.021833, y=-0.014117, theta=0.061407
+[19:09:48.532] Odometry x=0.021833, y=-0.014117, theta=0.061745
+[19:09:48.545] Init: px average disparity is:21.614342 ,While minimum is: 40.000000  KLT tracked : 55
+[19:09:48.545] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:48.553] Odometry x=0.022215, y=-0.014354, theta=0.062476
+[19:09:48.563] Odometry x=0.022215, y=-0.014354, theta=0.062965
+[19:09:48.573] Odometry x=0.022216, y=-0.014354, theta=0.063017
+[19:09:48.583] Odometry x=0.022216, y=-0.014355, theta=0.063191
+[19:09:48.593] Odometry x=0.022216, y=-0.014355, theta=0.063634
+[19:09:48.603] Odometry x=0.022216, y=-0.014355, theta=0.064300
+[19:09:48.613] Odometry x=0.022216, y=-0.014355, theta=0.064742
+[19:09:48.624] Odometry x=0.022216, y=-0.014355, theta=0.064994
+[19:09:48.634] Odometry x=0.022217, y=-0.014355, theta=0.065165
+[19:09:48.646] Init: px average disparity is:21.386795 ,While minimum is: 40.000000  KLT tracked : 55
+[19:09:48.646] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:48.654] Odometry x=0.022597, y=-0.014602, theta=0.065388
+[19:09:48.664] Odometry x=0.022598, y=-0.014601, theta=0.065722
+[19:09:48.674] Odometry x=0.022598, y=-0.014601, theta=0.066006
+[19:09:48.684] Odometry x=0.022598, y=-0.014601, theta=0.066200
+[19:09:48.694] Odometry x=0.022598, y=-0.014601, theta=0.066195
+[19:09:48.705] Odometry x=0.022598, y=-0.014601, theta=0.066219
+[19:09:48.715] Odometry x=0.022598, y=-0.014601, theta=0.066130
+[19:09:48.725] Odometry x=0.022598, y=-0.014601, theta=0.065849
+[19:09:48.735] Odometry x=0.022598, y=-0.014600, theta=0.065507
+[19:09:48.745] Init: px average disparity is:20.611391 ,While minimum is: 40.000000  KLT tracked : 55
+[19:09:48.745] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:48.755] Odometry x=0.022997, y=-0.014862, theta=0.065594
+[19:09:48.765] Odometry x=0.022997, y=-0.014862, theta=0.065865
+[19:09:48.775] Odometry x=0.022997, y=-0.014862, theta=0.065765
+[19:09:48.785] Odometry x=0.022997, y=-0.014862, theta=0.065517
+[19:09:48.796] Odometry x=0.022997, y=-0.014862, theta=0.065228
+[19:09:48.806] Odometry x=0.022997, y=-0.014862, theta=0.065001
+[19:09:48.816] Odometry x=0.022997, y=-0.014862, theta=0.065019
+[19:09:48.826] Odometry x=0.022998, y=-0.014864, theta=0.065145
+[19:09:48.836] Odometry x=0.023000, y=-0.014866, theta=0.065355
+[19:09:48.847] Init: px average disparity is:20.230384 ,While minimum is: 40.000000  KLT tracked : 55
+[19:09:48.847] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:48.856] Odometry x=0.023383, y=-0.015118, theta=0.065976
+[19:09:48.866] Odometry x=0.023384, y=-0.015119, theta=0.066471
+[19:09:48.877] Odometry x=0.023385, y=-0.015119, theta=0.066576
+[19:09:48.887] Odometry x=0.023385, y=-0.015119, theta=0.066771
+[19:09:48.897] Odometry x=0.023385, y=-0.015119, theta=0.067122
+[19:09:48.907] Odometry x=0.023385, y=-0.015119, theta=0.067168
+[19:09:48.917] Odometry x=0.023385, y=-0.015120, theta=0.067218
+[19:09:48.927] Odometry x=0.023385, y=-0.015121, theta=0.067474
+[19:09:48.937] Odometry x=0.023385, y=-0.015123, theta=0.067635
+[19:09:48.946] Init: px average disparity is:20.032404 ,While minimum is: 40.000000  KLT tracked : 55
+[19:09:48.946] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:48.958] Odometry x=0.023777, y=-0.015389, theta=0.066877
+[19:09:48.968] Odometry x=0.023778, y=-0.015390, theta=0.066017
+[19:09:48.978] Odometry x=0.023778, y=-0.015390, theta=0.065371
+[19:09:48.988] Odometry x=0.023778, y=-0.015388, theta=0.064358
+[19:09:48.998] Odometry x=0.023779, y=-0.015385, theta=0.063543
+[19:09:49.008] Odometry x=0.023779, y=-0.015383, theta=0.063267
+[19:09:49.018] Odometry x=0.023779, y=-0.015383, theta=0.063002
+[19:09:49.028] Odometry x=0.023779, y=-0.015383, theta=0.062287
+[19:09:49.039] Odometry x=0.023779, y=-0.015383, theta=0.061203
+[19:09:49.046] Init: px average disparity is:17.126268 ,While minimum is: 40.000000  KLT tracked : 55
+[19:09:49.046] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:49.059] Odometry x=0.024161, y=-0.015615, theta=0.059958
+[19:09:49.069] Odometry x=0.024161, y=-0.015616, theta=0.058744
+[19:09:49.079] Odometry x=0.024162, y=-0.015616, theta=0.058440
+[19:09:49.089] Odometry x=0.024163, y=-0.015618, theta=0.058404
+[19:09:49.099] Odometry x=0.024165, y=-0.015619, theta=0.058356
+[19:09:49.110] Odometry x=0.024167, y=-0.015621, theta=0.058939
+[19:09:49.120] Odometry x=0.024169, y=-0.015623, theta=0.060070
+[19:09:49.130] Odometry x=0.024170, y=-0.015625, theta=0.061515
+[19:09:49.140] Odometry x=0.024170, y=-0.015625, theta=0.062531
+[19:09:49.145] Init: px average disparity is:19.314279 ,While minimum is: 40.000000  KLT tracked : 55
+[19:09:49.145] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:49.160] Odometry x=0.024571, y=-0.015870, theta=0.063279
+[19:09:49.170] Odometry x=0.024571, y=-0.015858, theta=0.063928
+[19:09:49.180] Odometry x=0.024571, y=-0.015852, theta=0.063782
+[19:09:49.190] Odometry x=0.024571, y=-0.015848, theta=0.061933
+[19:09:49.201] Odometry x=0.024571, y=-0.015847, theta=0.059629
+[19:09:49.211] Odometry x=0.024571, y=-0.015847, theta=0.057781
+[19:09:49.221] Odometry x=0.024571, y=-0.015847, theta=0.056437
+[19:09:49.231] Odometry x=0.024571, y=-0.015847, theta=0.055732
+[19:09:49.247] Init: px average disparity is:16.143721 ,While minimum is: 40.000000  KLT tracked : 55
+[19:09:49.247] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:49.252] Odometry x=0.024895, y=-0.016027, theta=0.054982
+[19:09:49.262] Odometry x=0.024895, y=-0.016027, theta=0.054257
+[19:09:49.272] Odometry x=0.024895, y=-0.016027, theta=0.054015
+[19:09:49.282] Odometry x=0.024895, y=-0.016027, theta=0.053735
+[19:09:49.292] Odometry x=0.024895, y=-0.016027, theta=0.053197
+[19:09:49.302] Odometry x=0.024895, y=-0.016028, theta=0.052645
+[19:09:49.312] Odometry x=0.024895, y=-0.016029, theta=0.052249
+[19:09:49.322] Odometry x=0.024896, y=-0.016031, theta=0.051920
+[19:09:49.333] Odometry x=0.024897, y=-0.016033, theta=0.051646
+[19:09:49.343] Odometry x=0.024898, y=-0.016034, theta=0.051588
+[19:09:49.348] Init: px average disparity is:15.817585 ,While minimum is: 40.000000  KLT tracked : 55
+[19:09:49.348] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:49.363] Odometry x=0.025334, y=-0.016260, theta=0.051949
+[19:09:49.373] Odometry x=0.025336, y=-0.016260, theta=0.052485
+[19:09:49.383] Odometry x=0.025336, y=-0.016257, theta=0.053160
+[19:09:49.393] Odometry x=0.025336, y=-0.016247, theta=0.053687
+[19:09:49.404] Odometry x=0.025336, y=-0.016232, theta=0.053318
+[19:09:49.414] Odometry x=0.025337, y=-0.016225, theta=0.052814
+[19:09:49.424] Odometry x=0.025336, y=-0.016224, theta=0.051968
+[19:09:49.434] Odometry x=0.025336, y=-0.016224, theta=0.050455
+[19:09:49.446] Init: px average disparity is:15.086435 ,While minimum is: 40.000000  KLT tracked : 55
+[19:09:49.446] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:49.455] Odometry x=0.025683, y=-0.016397, theta=0.048438
+[19:09:49.465] Odometry x=0.025683, y=-0.016400, theta=0.046604
+[19:09:49.475] Odometry x=0.025683, y=-0.016406, theta=0.046047
+[19:09:49.485] Odometry x=0.025683, y=-0.016413, theta=0.046099
+[19:09:49.495] Odometry x=0.025683, y=-0.016417, theta=0.046676
+[19:09:49.505] Odometry x=0.025683, y=-0.016418, theta=0.047602
+[19:09:49.515] Odometry x=0.025683, y=-0.016418, theta=0.048522
+[19:09:49.525] Odometry x=0.025683, y=-0.016418, theta=0.049301
+[19:09:49.536] Odometry x=0.025683, y=-0.016418, theta=0.049820
+[19:09:49.546] Init: px average disparity is:15.299697 ,While minimum is: 40.000000  KLT tracked : 55
+[19:09:49.546] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:49.556] Odometry x=0.026082, y=-0.016618, theta=0.050728
+[19:09:49.566] Odometry x=0.026082, y=-0.016618, theta=0.052381
+[19:09:49.576] Odometry x=0.026082, y=-0.016618, theta=0.054409
+[19:09:49.586] Odometry x=0.026082, y=-0.016613, theta=0.056210
+[19:09:49.596] Odometry x=0.026082, y=-0.016606, theta=0.057751
+[19:09:49.606] Odometry x=0.026082, y=-0.016601, theta=0.059297
+[19:09:49.617] Odometry x=0.026082, y=-0.016600, theta=0.060783
+[19:09:49.627] Odometry x=0.026082, y=-0.016600, theta=0.062024
+[19:09:49.637] Odometry x=0.026082, y=-0.016604, theta=0.062878
+[19:09:49.646] Init: px average disparity is:18.740563 ,While minimum is: 40.000000  KLT tracked : 55
+[19:09:49.646] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:49.657] Odometry x=0.026469, y=-0.016867, theta=0.063312
+[19:09:49.667] Odometry x=0.026469, y=-0.016883, theta=0.063751
+[19:09:49.677] Odometry x=0.026469, y=-0.016892, theta=0.064289
+[19:09:49.687] Odometry x=0.026469, y=-0.016896, theta=0.065130
+[19:09:49.698] Odometry x=0.026469, y=-0.016896, theta=0.065874
+[19:09:49.708] Odometry x=0.026469, y=-0.016896, theta=0.066454
+[19:09:49.718] Odometry x=0.026469, y=-0.016896, theta=0.067094
+[19:09:49.728] Odometry x=0.026469, y=-0.016896, theta=0.067577
+[19:09:49.738] Odometry x=0.026469, y=-0.016896, theta=0.067718
+[19:09:49.747] Init: px average disparity is:18.804376 ,While minimum is: 40.000000  KLT tracked : 55
+[19:09:49.747] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:49.758] Odometry x=0.026831, y=-0.017142, theta=0.067820
+[19:09:49.768] Odometry x=0.026831, y=-0.017143, theta=0.068327
+[19:09:49.778] Odometry x=0.026831, y=-0.017144, theta=0.069247
+[19:09:49.789] Odometry x=0.026831, y=-0.017145, theta=0.070363
+[19:09:49.799] Odometry x=0.026831, y=-0.017146, theta=0.071332
+[19:09:49.809] Odometry x=0.026831, y=-0.017147, theta=0.072222
+[19:09:49.819] Odometry x=0.026831, y=-0.017149, theta=0.073352
+[19:09:49.829] Odometry x=0.026831, y=-0.017153, theta=0.075364
+[19:09:49.839] Odometry x=0.026831, y=-0.017158, theta=0.077579
+[19:09:49.847] Init: px average disparity is:21.441254 ,While minimum is: 40.000000  KLT tracked : 55
+[19:09:49.847] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:49.859] Odometry x=0.000513, y=-0.017164, theta=0.001994
+[19:09:49.869] Odometry x=0.000515, y=-0.017169, theta=0.004898
+[19:09:49.880] Odometry x=0.000516, y=-0.017170, theta=0.006115
+[19:09:49.890] Odometry x=0.000517, y=-0.017170, theta=0.008779
+[19:09:49.900] Odometry x=0.000517, y=-0.017170, theta=0.011126
+[19:09:49.910] Odometry x=0.000517, y=-0.017170, theta=0.014399
+[19:09:49.920] Odometry x=0.000517, y=-0.017170, theta=0.017545
+[19:09:49.930] Odometry x=0.000517, y=-0.017170, theta=0.019669
+[19:09:49.940] Odometry x=0.000517, y=-0.017170, theta=0.021402
+[19:09:49.946] Init: px average disparity is:26.263371 ,While minimum is: 40.000000  KLT tracked : 55
+[19:09:49.946] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:49.961] Odometry x=0.000920, y=-0.017258, theta=0.022637
+[19:09:49.971] Odometry x=0.000920, y=-0.017258, theta=0.024101
+[19:09:49.981] Odometry x=0.000920, y=-0.017258, theta=0.024906
+[19:09:49.991] Odometry x=0.000920, y=-0.017258, theta=0.026593
+[19:09:50.001] Odometry x=0.000920, y=-0.017258, theta=0.028634
+[19:09:50.011] Odometry x=0.000920, y=-0.017259, theta=0.030221
+[19:09:50.021] Odometry x=0.000920, y=-0.017260, theta=0.031583
+[19:09:50.031] Odometry x=0.000920, y=-0.017262, theta=0.033206
+[19:09:50.046] Init: px average disparity is:30.162372 ,While minimum is: 40.000000  KLT tracked : 54
+[19:09:50.046] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:50.052] Odometry x=0.001266, y=-0.017381, theta=0.035855
+[19:09:50.062] Odometry x=0.001267, y=-0.017383, theta=0.038968
+[19:09:50.072] Odometry x=0.001268, y=-0.017383, theta=0.041491
+[19:09:50.082] Odometry x=0.001268, y=-0.017383, theta=0.043823
+[19:09:50.092] Odometry x=0.001268, y=-0.017383, theta=0.045691
+[19:09:50.102] Odometry x=0.001268, y=-0.017382, theta=0.047289
+[19:09:50.112] Odometry x=0.001268, y=-0.017380, theta=0.048715
+[19:09:50.123] Odometry x=0.001268, y=-0.017377, theta=0.049817
+[19:09:50.133] Odometry x=0.001268, y=-0.017376, theta=0.050492
+[19:09:50.146] Init: px average disparity is:31.739379 ,While minimum is: 40.000000  KLT tracked : 54
+[19:09:50.146] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:50.153] Odometry x=0.001631, y=-0.017561, theta=0.051462
+[19:09:50.163] Odometry x=0.001631, y=-0.017561, theta=0.052052
+[19:09:50.173] Odometry x=0.001631, y=-0.017561, theta=0.051824
+[19:09:50.183] Odometry x=0.001631, y=-0.017562, theta=0.051653
+[19:09:50.193] Odometry x=0.001631, y=-0.017562, theta=0.051666
+[19:09:50.204] Odometry x=0.001631, y=-0.017564, theta=0.051867
+[19:09:50.214] Odometry x=0.001631, y=-0.017565, theta=0.052114
+[19:09:50.224] Odometry x=0.001631, y=-0.017567, theta=0.052987
+[19:09:50.234] Odometry x=0.001631, y=-0.017569, theta=0.054002
+[19:09:50.247] Init: px average disparity is:34.047762 ,While minimum is: 40.000000  KLT tracked : 54
+[19:09:50.247] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:50.254] Odometry x=0.002036, y=-0.017792, theta=0.055107
+[19:09:50.264] Odometry x=0.002036, y=-0.017795, theta=0.056484
+[19:09:50.275] Odometry x=0.002036, y=-0.017802, theta=0.057678
+[19:09:50.285] Odometry x=0.002036, y=-0.017808, theta=0.058875
+[19:09:50.295] Odometry x=0.002036, y=-0.017814, theta=0.060149
+[19:09:50.305] Odometry x=0.002036, y=-0.017820, theta=0.061524
+[19:09:50.315] Odometry x=0.002036, y=-0.017825, theta=0.063427
+[19:09:50.325] Odometry x=0.002036, y=-0.017826, theta=0.066503
+[19:09:50.335] Odometry x=0.002036, y=-0.017826, theta=0.070200
+[19:09:50.356] Odometry x=0.002418, y=-0.018100, theta=0.074032
+[19:09:50.366] Odometry x=0.002419, y=-0.018099, theta=0.078255
+[19:09:50.376] Odometry x=0.002419, y=-0.018100, theta=0.081090
+[19:09:50.386] Odometry x=0.002421, y=-0.018101, theta=0.083329
+[19:09:50.397] Odometry x=0.002422, y=-0.018101, theta=0.084634
+[19:09:50.407] Odometry x=0.002422, y=-0.018101, theta=0.086095
+[19:09:50.410] homography: x=448.129282 y=499.635818 z=0.652578 roll=0.000000 pitch=-0.002470 yaw=0.000000 	 ekf: x=0.002422 z=-0.018101 pitch=0.086095
+[19:09:50.410] homography after fuse: x=0.002422 y=0.000000 z=-0.018101 pitch=0.086095	 number of outlier: 50
+[19:09:50.410] Init: Homography RANSAC (inlier) is:4 ,While 30 inliers minimum required.  px average disparity is:42.615506 ,While minimum is: 40.000000  KLT tracked: 54
+[19:09:50.410] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:50.417] Odometry x=0.002422, y=-0.018101, theta=0.087814
+[19:09:50.427] Odometry x=0.002422, y=-0.018101, theta=0.089124
+[19:09:50.437] Odometry x=0.002422, y=-0.018102, theta=0.090055
+[19:09:50.457] Odometry x=0.002794, y=-0.018439, theta=0.091047
+[19:09:50.467] Odometry x=0.002794, y=-0.018440, theta=0.092623
+[19:09:50.478] Odometry x=0.002794, y=-0.018441, theta=0.094138
+[19:09:50.488] Odometry x=0.002794, y=-0.018442, theta=0.095329
+[19:09:50.498] Odometry x=0.002794, y=-0.018443, theta=0.095645
+[19:09:50.508] Odometry x=0.002795, y=-0.018445, theta=0.095364
+[19:09:50.509] homography: x=451.844143 y=506.919027 z=0.638715 roll=0.000000 pitch=-0.002591 yaw=0.000000 	 ekf: x=0.002795 z=-0.018445 pitch=0.095364
+[19:09:50.510] homography after fuse: x=0.002795 y=0.000000 z=-0.018445 pitch=0.095364	 number of outlier: 52
+[19:09:50.510] Init: Homography RANSAC (inlier) is:2 ,While 30 inliers minimum required.  px average disparity is:45.726006 ,While minimum is: 40.000000  KLT tracked: 54
+[19:09:50.510] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:50.518] Odometry x=0.002796, y=-0.018447, theta=0.095331
+[19:09:50.528] Odometry x=0.002797, y=-0.018450, theta=0.095987
+[19:09:50.538] Odometry x=0.002798, y=-0.018453, theta=0.096881
+[19:09:50.558] Odometry x=0.003189, y=-0.018834, theta=0.097404
+[19:09:50.569] Odometry x=0.003189, y=-0.018833, theta=0.097836
+[19:09:50.579] Odometry x=0.003189, y=-0.018833, theta=0.098204
+[19:09:50.589] Odometry x=0.003189, y=-0.018833, theta=0.098568
+[19:09:50.599] Odometry x=0.003189, y=-0.018833, theta=0.099250
+[19:09:50.609] Odometry x=0.003189, y=-0.018833, theta=0.100362
+[19:09:50.615] homography: x=455.121680 y=506.841197 z=0.626860 roll=0.000000 pitch=-0.002672 yaw=0.000000 	 ekf: x=0.003189 z=-0.018833 pitch=0.100362
+[19:09:50.615] homography after fuse: x=0.003189 y=0.000000 z=-0.018833 pitch=0.100362	 number of outlier: 48
+[19:09:50.615] Init: Homography RANSAC (inlier) is:6 ,While 30 inliers minimum required.  px average disparity is:44.191951 ,While minimum is: 40.000000  KLT tracked: 54
+[19:09:50.615] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:50.619] Odometry x=0.003189, y=-0.018832, theta=0.101806
+[19:09:50.630] Odometry x=0.003189, y=-0.018832, theta=0.102660
+[19:09:50.640] Odometry x=0.003190, y=-0.018835, theta=0.102936
+[19:09:50.660] Odometry x=0.003573, y=-0.019234, theta=0.104470
+[19:09:50.670] Odometry x=0.003575, y=-0.019238, theta=0.106562
+[19:09:50.680] Odometry x=0.003576, y=-0.019239, theta=0.108020
+[19:09:50.690] Odometry x=0.003576, y=-0.019239, theta=0.108739
+[19:09:50.700] Odometry x=0.003576, y=-0.019239, theta=0.108982
+[19:09:50.710] Odometry x=0.003576, y=-0.019239, theta=0.108498
+[19:09:50.718] homography: x=449.945109 y=505.098825 z=0.635433 roll=0.000000 pitch=-0.002602 yaw=0.000000 	 ekf: x=0.003576 z=-0.019239 pitch=0.108498
+[19:09:50.718] homography after fuse: x=0.003576 y=0.000000 z=-0.019239 pitch=0.108498	 number of outlier: 50
+[19:09:50.718] Init: Homography RANSAC (inlier) is:4 ,While 30 inliers minimum required.  px average disparity is:46.452194 ,While minimum is: 40.000000  KLT tracked: 54
+[19:09:50.718] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:50.721] Odometry x=0.003576, y=-0.019239, theta=0.107818
+[19:09:50.731] Odometry x=0.003576, y=-0.019239, theta=0.107422
+[19:09:50.741] Odometry x=0.003576, y=-0.019239, theta=0.106385
+[19:09:50.761] Odometry x=0.003975, y=-0.019665, theta=0.106402
+[19:09:50.771] Odometry x=0.003975, y=-0.019665, theta=0.106421
+[19:09:50.781] Odometry x=0.003975, y=-0.019665, theta=0.106642
+[19:09:50.791] Odometry x=0.003975, y=-0.019666, theta=0.107021
+[19:09:50.802] Odometry x=0.003975, y=-0.019666, theta=0.107365
+[19:09:50.812] Odometry x=0.003975, y=-0.019666, theta=0.107709
+[19:09:50.818] homography: x=454.625414 y=509.419669 z=0.625985 roll=0.000000 pitch=-0.002654 yaw=0.000000 	 ekf: x=0.003975 z=-0.019666 pitch=0.107709
+[19:09:50.818] homography after fuse: x=0.003975 y=0.000000 z=-0.019666 pitch=0.107709	 number of outlier: 50
+[19:09:50.818] Init: Homography RANSAC (inlier) is:4 ,While 30 inliers minimum required.  px average disparity is:44.328015 ,While minimum is: 40.000000  KLT tracked: 54
+[19:09:50.818] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:50.822] Odometry x=0.003975, y=-0.019666, theta=0.107452
+[19:09:50.832] Odometry x=0.003975, y=-0.019667, theta=0.106855
+[19:09:50.852] Odometry x=0.004314, y=-0.020034, theta=0.107438
+[19:09:50.862] Odometry x=0.004315, y=-0.020038, theta=0.108019
+[19:09:50.872] Odometry x=0.004316, y=-0.020038, theta=0.108277
+[19:09:50.883] Odometry x=0.004316, y=-0.020038, theta=0.108346
+[19:09:50.893] Odometry x=0.004316, y=-0.020038, theta=0.108280
+[19:09:50.903] Odometry x=0.004315, y=-0.020038, theta=0.108027
+[19:09:50.913] Odometry x=0.004315, y=-0.020039, theta=0.107608
+[19:09:50.923] Odometry x=0.004315, y=-0.020040, theta=0.107450
+[19:09:50.923] homography: x=-1045.356580 y=-2614.512853 z=-8.084845 roll=0.000000 pitch=-0.000399 yaw=0.000000 	 ekf: x=0.004315 z=-0.020040 pitch=0.107450
+[19:09:50.923] homography after fuse: x=0.004315 y=0.000000 z=-0.020040 pitch=0.107450	 number of outlier: 52
+[19:09:50.923] Init: Homography RANSAC (inlier) is:2 ,While 30 inliers minimum required.  px average disparity is:46.618497 ,While minimum is: 40.000000  KLT tracked: 54
+[19:09:50.923] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:50.933] Odometry x=0.004315, y=-0.020040, theta=0.107613
+[19:09:50.943] Odometry x=0.004315, y=-0.020040, theta=0.107866
+[19:09:50.963] Odometry x=0.004763, y=-0.020524, theta=0.107900
+[19:09:50.974] Odometry x=0.004763, y=-0.020525, theta=0.107851
+[19:09:50.984] Odometry x=0.004763, y=-0.020525, theta=0.107912
+[19:09:50.994] Odometry x=0.004763, y=-0.020527, theta=0.108109
+[19:09:51.004] Odometry x=0.004763, y=-0.020529, theta=0.108164
+[19:09:51.011] homography: x=-2482.486571 y=-7029.741868 z=-22.106139 roll=0.000000 pitch=-0.000435 yaw=0.000000 	 ekf: x=0.004763 z=-0.020529 pitch=0.108164
+[19:09:51.011] homography after fuse: x=0.004763 y=0.000000 z=-0.020529 pitch=0.108164	 number of outlier: 51
+[19:09:51.011] Init: Homography RANSAC (inlier) is:3 ,While 30 inliers minimum required.  px average disparity is:46.634389 ,While minimum is: 40.000000  KLT tracked: 54
+[19:09:51.011] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:51.014] Odometry x=0.004763, y=-0.020529, theta=0.108019
+[19:09:51.024] Odometry x=0.004764, y=-0.020530, theta=0.107410
+[19:09:51.034] Odometry x=0.004764, y=-0.020530, theta=0.106788
+[19:09:51.055] Odometry x=0.005090, y=-0.020879, theta=0.105084
+[19:09:51.065] Odometry x=0.005090, y=-0.020882, theta=0.103200
+[19:09:51.075] Odometry x=0.005090, y=-0.020891, theta=0.103170
+[19:09:51.085] Odometry x=0.005090, y=-0.020896, theta=0.103775
+[19:09:51.095] Odometry x=0.005090, y=-0.020904, theta=0.105130
+[19:09:51.105] Odometry x=0.005089, y=-0.020913, theta=0.106367
+[19:09:51.111] homography: x=-17767.211047 y=-51606.191672 z=-163.660384 roll=0.000000 pitch=-0.000431 yaw=0.000000 	 ekf: x=0.005089 z=-0.020913 pitch=0.106367
+[19:09:51.111] homography after fuse: x=0.005089 y=0.000000 z=-0.020913 pitch=0.106367	 number of outlier: 50
+[19:09:51.111] Init: Homography RANSAC (inlier) is:4 ,While 30 inliers minimum required.  px average disparity is:41.460720 ,While minimum is: 40.000000  KLT tracked: 54
+[19:09:51.111] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:51.115] Odometry x=0.005089, y=-0.020917, theta=0.106921
+[19:09:51.125] Odometry x=0.005089, y=-0.020919, theta=0.107705
+[19:09:51.135] Odometry x=0.005089, y=-0.020920, theta=0.109086
+[19:09:51.156] Odometry x=0.005477, y=-0.021347, theta=0.111446
+[19:09:51.166] Odometry x=0.005477, y=-0.021344, theta=0.114009
+[19:09:51.176] Odometry x=0.005477, y=-0.021340, theta=0.115105
+[19:09:51.186] Odometry x=0.005477, y=-0.021336, theta=0.115636
+[19:09:51.196] Odometry x=0.005478, y=-0.021334, theta=0.116296
+[19:09:51.206] Odometry x=0.005478, y=-0.021334, theta=0.117010
+[19:09:51.212] homography: x=-3440.286365 y=-9679.292127 z=-30.420452 roll=0.000000 pitch=-0.000456 yaw=0.000000 	 ekf: x=0.005478 z=-0.021334 pitch=0.117010
+[19:09:51.212] homography after fuse: x=0.005478 y=0.000000 z=-0.021334 pitch=0.117010	 number of outlier: 52
+[19:09:51.212] Init: Homography RANSAC (inlier) is:2 ,While 30 inliers minimum required.  px average disparity is:47.820915 ,While minimum is: 40.000000  KLT tracked: 54
+[19:09:51.212] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:51.216] Odometry x=0.005478, y=-0.021334, theta=0.116814
+[19:09:51.226] Odometry x=0.005478, y=-0.021334, theta=0.115931
+[19:09:51.237] Odometry x=0.005478, y=-0.021335, theta=0.115311
+[19:09:51.257] Odometry x=0.005861, y=-0.021779, theta=0.115108
+[19:09:51.267] Odometry x=0.005861, y=-0.021781, theta=0.114812
+[19:09:51.277] Odometry x=0.005861, y=-0.021783, theta=0.113976
+[19:09:51.287] Odometry x=0.005861, y=-0.021785, theta=0.112959
+[19:09:51.297] Odometry x=0.005861, y=-0.021785, theta=0.112262
+[19:09:51.307] Odometry x=0.005862, y=-0.021785, theta=0.111735
+[19:09:51.318] Odometry x=0.005862, y=-0.021786, theta=0.111004
+[19:09:51.328] Odometry x=0.005862, y=-0.021787, theta=0.110446
+[19:09:51.334] homography: x=457.472583 y=509.101627 z=0.631280 roll=0.000000 pitch=-0.002721 yaw=0.000000 	 ekf: x=0.005862 z=-0.021787 pitch=0.110446
+[19:09:51.334] homography after fuse: x=0.005862 y=0.000000 z=-0.021787 pitch=0.110446	 number of outlier: 51
+[19:09:51.334] Init: Homography RANSAC (inlier) is:3 ,While 30 inliers minimum required.  px average disparity is:47.377371 ,While minimum is: 40.000000  KLT tracked: 54
+[19:09:51.334] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:51.338] Odometry x=0.005861, y=-0.021797, theta=0.109624
+[19:09:51.358] Odometry x=0.006262, y=-0.022238, theta=0.109492
+[19:09:51.368] Odometry x=0.006263, y=-0.022238, theta=0.109399
+[19:09:51.378] Odometry x=0.006263, y=-0.022238, theta=0.109214
+[19:09:51.388] Odometry x=0.006263, y=-0.022238, theta=0.108425
+[19:09:51.399] Odometry x=0.006263, y=-0.022238, theta=0.107306
+[19:09:51.409] Odometry x=0.006263, y=-0.022238, theta=0.105731
+[19:09:51.419] Odometry x=0.006263, y=-0.022238, theta=0.103403
+[19:09:51.429] Odometry x=0.006263, y=-0.022238, theta=0.100891
+[19:09:51.430] homography: x=-2655.587144 y=-7394.682137 z=-23.440194 roll=0.000000 pitch=-0.000427 yaw=0.000000 	 ekf: x=0.006263 z=-0.022238 pitch=0.100891
+[19:09:51.431] homography after fuse: x=0.006263 y=0.000000 z=-0.022238 pitch=0.100891	 number of outlier: 49
+[19:09:51.431] Init: Homography RANSAC (inlier) is:5 ,While 30 inliers minimum required.  px average disparity is:41.262058 ,While minimum is: 40.000000  KLT tracked: 54
+[19:09:51.431] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:51.439] Odometry x=0.006263, y=-0.022239, theta=0.098862
+[19:09:51.450] Init: px average disparity is:38.349332 ,While minimum is: 40.000000  KLT tracked : 54
+[19:09:51.450] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:51.459] Odometry x=0.002774, y=-0.022527, theta=0.036232
+[19:09:51.469] Odometry x=0.002774, y=-0.022529, theta=0.034467
+[19:09:51.479] Odometry x=0.002774, y=-0.022530, theta=0.033152
+[19:09:51.490] Odometry x=0.002774, y=-0.022530, theta=0.032177
+[19:09:51.500] Odometry x=0.002774, y=-0.022531, theta=0.031426
+[19:09:51.510] Odometry x=0.002774, y=-0.022530, theta=0.030476
+[19:09:51.520] Odometry x=0.002774, y=-0.022530, theta=0.029249
+[19:09:51.530] Odometry x=0.002774, y=-0.022530, theta=0.027640
+[19:09:51.546] Init: px average disparity is:36.837973 ,While minimum is: 40.000000  KLT tracked : 54
+[19:09:51.546] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:51.550] Odometry x=0.003119, y=-0.022627, theta=0.026801
+[19:09:51.560] Odometry x=0.003119, y=-0.022630, theta=0.025752
+[19:09:51.571] Odometry x=0.003119, y=-0.022632, theta=0.024741
+[19:09:51.581] Odometry x=0.003119, y=-0.022635, theta=0.023525
+[19:09:51.591] Odometry x=0.003119, y=-0.022637, theta=0.022557
+[19:09:51.601] Odometry x=0.003119, y=-0.022638, theta=0.022281
+[19:09:51.611] Odometry x=0.003119, y=-0.022639, theta=0.022167
+[19:09:51.621] Odometry x=0.003119, y=-0.022639, theta=0.021003
+[19:09:51.631] Odometry x=0.003119, y=-0.022640, theta=0.019380
+[19:09:51.646] Init: px average disparity is:29.683630 ,While minimum is: 40.000000  KLT tracked : 54
+[19:09:51.646] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:51.652] Odometry x=0.003502, y=-0.022712, theta=0.017797
+[19:09:51.662] Odometry x=0.003503, y=-0.022712, theta=0.016244
+[19:09:51.672] Odometry x=0.003503, y=-0.022712, theta=0.015445
+[19:09:51.682] Odometry x=0.003503, y=-0.022713, theta=0.014596
+[19:09:51.692] Odometry x=0.003503, y=-0.022713, theta=0.013535
+[19:09:51.702] Odometry x=0.003503, y=-0.022713, theta=0.012365
+[19:09:51.712] Odometry x=0.003503, y=-0.022713, theta=0.011205
+[19:09:51.722] Odometry x=0.003503, y=-0.022713, theta=0.009879
+[19:09:51.732] Odometry x=0.003503, y=-0.022713, theta=0.008461
+[19:09:51.746] Init: px average disparity is:26.413877 ,While minimum is: 40.000000  KLT tracked : 54
+[19:09:51.746] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:51.753] Odometry x=0.003886, y=-0.022745, theta=0.007835
+[19:09:51.763] Odometry x=0.003886, y=-0.022745, theta=0.007507
+[19:09:51.773] Odometry x=0.003886, y=-0.022745, theta=0.007751
+[19:09:51.783] Odometry x=0.003886, y=-0.022745, theta=0.008040
+[19:09:51.793] Odometry x=0.003885, y=-0.022744, theta=0.008500
+[19:09:51.803] Odometry x=0.003884, y=-0.022744, theta=0.008866
+[19:09:51.813] Odometry x=0.003884, y=-0.022744, theta=0.009002
+[19:09:51.824] Odometry x=0.003884, y=-0.022850, theta=0.007450
+[19:09:51.834] Odometry x=0.003884, y=-0.022934, theta=0.006075
+[19:09:51.844] Odometry x=0.003884, y=-0.023101, theta=0.005026
+[19:09:51.845] Init: px average disparity is:28.716277 ,While minimum is: 40.000000  KLT tracked : 54
+[19:09:51.845] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:51.864] Odometry x=0.004323, y=-0.023211, theta=0.004094
+[19:09:51.874] Odometry x=0.004323, y=-0.023270, theta=0.003149
+[19:09:51.884] Odometry x=0.004324, y=-0.023271, theta=0.002893
+[19:09:51.894] Odometry x=0.004324, y=-0.023271, theta=0.002864
+[19:09:51.905] Odometry x=0.004324, y=-0.023271, theta=0.002795
+[19:09:51.915] Odometry x=0.004324, y=-0.023270, theta=0.002612
+[19:09:51.925] Odometry x=0.004324, y=-0.023269, theta=0.002038
+[19:09:51.935] Odometry x=0.004324, y=-0.023269, theta=0.001381
+[19:09:51.946] Init: px average disparity is:27.303849 ,While minimum is: 40.000000  KLT tracked : 54
+[19:09:51.946] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:51.955] Odometry x=0.004668, y=-0.023272, theta=0.000346
+[19:09:51.965] Odometry x=0.004668, y=-0.023272, theta=-0.000818
+[19:09:51.975] Odometry x=0.004668, y=-0.023272, theta=-0.001456
+[19:09:51.986] Odometry x=0.004668, y=-0.023273, theta=-0.001740
+[19:09:51.996] Odometry x=0.004668, y=-0.023273, theta=-0.001772
+[19:09:52.006] Odometry x=0.004668, y=-0.023273, theta=-0.001672
+[19:09:52.016] Odometry x=0.004668, y=-0.023272, theta=-0.001775
+[19:09:52.026] Odometry x=0.004668, y=-0.023271, theta=-0.002079
+[19:09:52.036] Odometry x=0.004668, y=-0.023270, theta=-0.002594
+[19:09:52.046] Init: px average disparity is:27.199892 ,While minimum is: 40.000000  KLT tracked : 54
+[19:09:52.046] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:52.056] Odometry x=0.005051, y=-0.023263, theta=-0.004871
+[19:09:52.066] Odometry x=0.005051, y=-0.023272, theta=-0.007716
+[19:09:52.077] Odometry x=0.005051, y=-0.023289, theta=-0.010140
+[19:09:52.087] Odometry x=0.005051, y=-0.023322, theta=-0.012414
+[19:09:52.097] Odometry x=0.005052, y=-0.023371, theta=-0.014312
+[19:09:52.107] Odometry x=0.005053, y=-0.023422, theta=-0.015682
+[19:09:52.117] Odometry x=0.005054, y=-0.023461, theta=-0.016589
+[19:09:52.127] Odometry x=0.005056, y=-0.023484, theta=-0.017331
+[19:09:52.137] Odometry x=0.005057, y=-0.023500, theta=-0.017906
+[19:09:52.146] Init: px average disparity is:25.522430 ,While minimum is: 40.000000  KLT tracked : 54
+[19:09:52.146] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:52.158] Odometry x=0.005440, y=-0.023441, theta=-0.017012
+[19:09:52.168] Odometry x=0.005441, y=-0.023447, theta=-0.015788
+[19:09:52.178] Odometry x=0.005441, y=-0.023447, theta=-0.013861
+[19:09:52.188] Odometry x=0.005441, y=-0.023447, theta=-0.012031
+[19:09:52.198] Odometry x=0.005441, y=-0.023447, theta=-0.010820
+[19:09:52.208] Odometry x=0.005442, y=-0.023447, theta=-0.009759
+[19:09:52.218] Odometry x=0.005442, y=-0.023447, theta=-0.008656
+[19:09:52.228] Odometry x=0.005442, y=-0.023447, theta=-0.007848
+[19:09:52.239] Odometry x=0.005442, y=-0.023447, theta=-0.005990
+[19:09:52.246] Init: px average disparity is:26.497161 ,While minimum is: 40.000000  KLT tracked : 54
+[19:09:52.246] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:52.259] Odometry x=0.005843, y=-0.023430, theta=-0.002989
+[19:09:52.269] Odometry x=0.005844, y=-0.023431, theta=0.000604
+[19:09:52.279] Odometry x=0.005844, y=-0.023433, theta=0.002667
+[19:09:52.289] Odometry x=0.005844, y=-0.023436, theta=0.003945
+[19:09:52.299] Odometry x=0.005845, y=-0.023439, theta=0.004877
+[19:09:52.309] Odometry x=0.005845, y=-0.023440, theta=0.005609
+[19:09:52.319] Odometry x=0.005847, y=-0.023441, theta=0.006367
+[19:09:52.330] Odometry x=0.005849, y=-0.023441, theta=0.007534
+[19:09:52.340] Odometry x=0.005851, y=-0.023442, theta=0.009094
+[19:09:52.347] Init: px average disparity is:30.365206 ,While minimum is: 40.000000  KLT tracked : 54
+[19:09:52.347] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:52.360] Odometry x=0.006233, y=-0.023495, theta=0.010452
+[19:09:52.370] Odometry x=0.006234, y=-0.023510, theta=0.011758
+[19:09:52.380] Odometry x=0.006234, y=-0.023523, theta=0.012684
+[19:09:52.390] Odometry x=0.006234, y=-0.023534, theta=0.013986
+[19:09:52.400] Odometry x=0.006234, y=-0.023543, theta=0.015465
+[19:09:52.411] Odometry x=0.006235, y=-0.023549, theta=0.017116
+[19:09:52.421] Odometry x=0.006236, y=-0.023551, theta=0.018834
+[19:09:52.431] Odometry x=0.006237, y=-0.023552, theta=0.020222
+[19:09:52.448] Init: px average disparity is:32.303709 ,While minimum is: 40.000000  KLT tracked : 54
+[19:09:52.448] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:52.451] Odometry x=0.006581, y=-0.023624, theta=0.022006
+[19:09:52.461] Odometry x=0.006582, y=-0.023624, theta=0.024003
+[19:09:52.471] Odometry x=0.006582, y=-0.023623, theta=0.025433
+[19:09:52.481] Odometry x=0.006582, y=-0.023622, theta=0.026879
+[19:09:52.491] Odometry x=0.006582, y=-0.023622, theta=0.028246
+[19:09:52.502] Odometry x=0.006582, y=-0.023624, theta=0.029587
+[19:09:52.512] Odometry x=0.006582, y=-0.023631, theta=0.030803
+[19:09:52.522] Odometry x=0.006582, y=-0.023642, theta=0.031951
+[19:09:52.532] Odometry x=0.006582, y=-0.023648, theta=0.033340
+[19:09:52.546] Init: px average disparity is:33.977328 ,While minimum is: 40.000000  KLT tracked : 54
+[19:09:52.546] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:52.552] Odometry x=0.006966, y=-0.023782, theta=0.035920
+[19:09:52.562] Odometry x=0.006967, y=-0.023783, theta=0.038750
+[19:09:52.573] Odometry x=0.006967, y=-0.023783, theta=0.040574
+[19:09:52.583] Odometry x=0.006968, y=-0.023783, theta=0.042236
+[19:09:52.593] Odometry x=0.006968, y=-0.023783, theta=0.043860
+[19:09:52.603] Odometry x=0.006969, y=-0.023783, theta=0.045354
+[19:09:52.613] Odometry x=0.006969, y=-0.023783, theta=0.046668
+[19:09:52.623] Odometry x=0.006969, y=-0.023784, theta=0.047816
+[19:09:52.633] Odometry x=0.006969, y=-0.023784, theta=0.048545
+[19:09:52.644] Odometry x=0.006969, y=-0.023788, theta=0.048700
+[19:09:52.646] Init: px average disparity is:33.589843 ,While minimum is: 40.000000  KLT tracked : 54
+[19:09:52.646] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:52.664] Odometry x=0.007389, y=-0.024007, theta=0.048719
+[19:09:52.674] Odometry x=0.007389, y=-0.024019, theta=0.049189
+[19:09:52.685] Odometry x=0.007389, y=-0.024020, theta=0.049692
+[19:09:52.695] Odometry x=0.007389, y=-0.024021, theta=0.050685
+[19:09:52.705] Odometry x=0.007390, y=-0.024022, theta=0.051841
+[19:09:52.715] Odometry x=0.007390, y=-0.024022, theta=0.053068
+[19:09:52.725] Odometry x=0.007390, y=-0.024022, theta=0.054575
+[19:09:52.735] Odometry x=0.007391, y=-0.024022, theta=0.055562
+[19:09:52.745] Odometry x=0.007391, y=-0.024023, theta=0.055633
+[19:09:52.748] Init: px average disparity is:37.743002 ,While minimum is: 40.000000  KLT tracked : 54
+[19:09:52.748] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:52.765] Odometry x=0.007776, y=-0.024236, theta=0.055603
+[19:09:52.776] Odometry x=0.007777, y=-0.024235, theta=0.055601
+[19:09:52.786] Odometry x=0.007777, y=-0.024234, theta=0.055252
+[19:09:52.796] Odometry x=0.007777, y=-0.024234, theta=0.054326
+[19:09:52.806] Odometry x=0.007777, y=-0.024235, theta=0.053712
+[19:09:52.816] Odometry x=0.007777, y=-0.024236, theta=0.053589
+[19:09:52.826] Odometry x=0.007777, y=-0.024239, theta=0.053695
+[19:09:52.836] Odometry x=0.007779, y=-0.024243, theta=0.053953
+[19:09:52.846] Init: px average disparity is:36.936867 ,While minimum is: 40.000000  KLT tracked : 54
+[19:09:52.846] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:52.857] Odometry x=0.008152, y=-0.024446, theta=0.054653
+[19:09:52.867] Odometry x=0.008152, y=-0.024447, theta=0.055668
+[19:09:52.877] Odometry x=0.008152, y=-0.024447, theta=0.056377
+[19:09:52.887] Odometry x=0.008152, y=-0.024447, theta=0.056642
+[19:09:52.897] Odometry x=0.008152, y=-0.024447, theta=0.056623
+[19:09:52.907] Odometry x=0.008152, y=-0.024447, theta=0.056623
+[19:09:52.917] Odometry x=0.008152, y=-0.024447, theta=0.056923
+[19:09:52.928] Odometry x=0.008152, y=-0.024453, theta=0.057565
+[19:09:52.938] Odometry x=0.008155, y=-0.024494, theta=0.057317
+[19:09:52.951] Init: px average disparity is:36.654069 ,While minimum is: 40.000000  KLT tracked : 54
+[19:09:52.951] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:52.958] Odometry x=0.008544, y=-0.024756, theta=0.058779
+[19:09:52.968] Odometry x=0.008548, y=-0.024783, theta=0.060727
+[19:09:52.978] Odometry x=0.008548, y=-0.024786, theta=0.062682
+[19:09:52.989] Odometry x=0.008548, y=-0.024787, theta=0.064692
+[19:09:52.999] Odometry x=0.008548, y=-0.024787, theta=0.066483
+[19:09:53.009] Odometry x=0.008548, y=-0.024786, theta=0.067924
+[19:09:53.019] Odometry x=0.008548, y=-0.024786, theta=0.068748
+[19:09:53.029] Odometry x=0.008548, y=-0.024783, theta=0.070313
+[19:09:53.039] Odometry x=0.008549, y=-0.024782, theta=0.071547
+[19:09:53.059] Odometry x=0.008920, y=-0.025050, theta=0.072739
+[19:09:53.069] Odometry x=0.008921, y=-0.025050, theta=0.073694
+[19:09:53.080] Odometry x=0.008921, y=-0.025050, theta=0.073954
+[19:09:53.090] Odometry x=0.008921, y=-0.025050, theta=0.074004
+[19:09:53.100] Odometry x=0.008921, y=-0.025050, theta=0.074138
+[19:09:53.110] Odometry x=0.008921, y=-0.025050, theta=0.074489
+[19:09:53.114] homography: x=0.731302 y=-492.278738 z=-1.818554 roll=0.000000 pitch=-0.001079 yaw=0.000000 	 ekf: x=0.008921 z=-0.025050 pitch=0.074489
+[19:09:53.114] homography after fuse: x=0.008921 y=0.000000 z=-0.025050 pitch=0.074489	 number of outlier: 46
+[19:09:53.114] Init: Homography RANSAC (inlier) is:8 ,While 30 inliers minimum required.  px average disparity is:41.567981 ,While minimum is: 40.000000  KLT tracked: 54
+[19:09:53.114] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:53.120] Odometry x=0.008921, y=-0.025050, theta=0.074775
+[19:09:53.130] Odometry x=0.008921, y=-0.025050, theta=0.075001
+[19:09:53.151] Odometry x=0.009248, y=-0.025296, theta=0.072762
+[19:09:53.162] Odometry x=0.009249, y=-0.025298, theta=0.070656
+[19:09:53.172] Odometry x=0.009249, y=-0.025298, theta=0.069623
+[19:09:53.182] Odometry x=0.009249, y=-0.025299, theta=0.068863
+[19:09:53.192] Odometry x=0.009249, y=-0.025299, theta=0.068351
+[19:09:53.202] Odometry x=0.009250, y=-0.025300, theta=0.068010
+[19:09:53.212] Odometry x=0.009250, y=-0.025301, theta=0.067825
+[19:09:53.215] homography: x=468.626478 y=508.809301 z=0.631809 roll=0.000000 pitch=-0.002874 yaw=0.000000 	 ekf: x=0.009250 z=-0.025301 pitch=0.067825
+[19:09:53.215] homography after fuse: x=0.009250 y=0.000000 z=-0.025301 pitch=0.067825	 number of outlier: 46
+[19:09:53.215] Init: Homography RANSAC (inlier) is:8 ,While 30 inliers minimum required.  px average disparity is:40.156834 ,While minimum is: 40.000000  KLT tracked: 54
+[19:09:53.215] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:53.222] Odometry x=0.009250, y=-0.025301, theta=0.067969
+[19:09:53.232] Odometry x=0.009250, y=-0.025301, theta=0.068160
+[19:09:53.242] Odometry x=0.009251, y=-0.025307, theta=0.067386
+[19:09:53.248] Init: px average disparity is:38.166900 ,While minimum is: 40.000000  KLT tracked : 54
+[19:09:53.248] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:53.263] Odometry x=0.009718, y=-0.025625, theta=0.067676
+[19:09:53.273] Odometry x=0.009718, y=-0.025626, theta=0.068390
+[19:09:53.283] Odometry x=0.009718, y=-0.025627, theta=0.069087
+[19:09:53.293] Odometry x=0.009718, y=-0.025627, theta=0.070941
+[19:09:53.303] Odometry x=0.009718, y=-0.025626, theta=0.072519
+[19:09:53.313] Odometry x=0.009719, y=-0.025625, theta=0.073070
+[19:09:53.323] Odometry x=0.009719, y=-0.025624, theta=0.073575
+[19:09:53.333] Odometry x=0.009719, y=-0.025624, theta=0.074137
+[19:09:53.354] Odometry x=0.010050, y=-0.025864, theta=0.075791
+[19:09:53.364] Odometry x=0.010050, y=-0.025859, theta=0.077372
+[19:09:53.374] Odometry x=0.010050, y=-0.025859, theta=0.077472
+[19:09:53.384] Odometry x=0.010050, y=-0.025858, theta=0.076154
+[19:09:53.394] Odometry x=0.010050, y=-0.025858, theta=0.073812
+[19:09:53.404] Odometry x=0.010050, y=-0.025860, theta=0.071604
+[19:09:53.414] Odometry x=0.010050, y=-0.025870, theta=0.070186
+[19:09:53.414] homography: x=462.787754 y=506.376588 z=0.651012 roll=0.000000 pitch=-0.002781 yaw=0.000000 	 ekf: x=0.010050 z=-0.025870 pitch=0.070186
+[19:09:53.415] homography after fuse: x=0.010050 y=0.000000 z=-0.025870 pitch=0.070186	 number of outlier: 46
+[19:09:53.415] Init: Homography RANSAC (inlier) is:8 ,While 30 inliers minimum required.  px average disparity is:41.052141 ,While minimum is: 40.000000  KLT tracked: 54
+[19:09:53.415] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:53.425] Odometry x=0.010050, y=-0.025897, theta=0.069155
+[19:09:53.435] Odometry x=0.010050, y=-0.025917, theta=0.068472
+[19:09:53.455] Odometry x=0.010424, y=-0.026310, theta=0.067353
+[19:09:53.465] Odometry x=0.010423, y=-0.026452, theta=0.066412
+[19:09:53.475] Odometry x=0.010422, y=-0.026496, theta=0.066329
+[19:09:53.485] Odometry x=0.010422, y=-0.026506, theta=0.066420
+[19:09:53.495] Odometry x=0.010423, y=-0.026508, theta=0.066666
+[19:09:53.506] Odometry x=0.010424, y=-0.026510, theta=0.067093
+[19:09:53.516] Odometry x=0.010428, y=-0.026512, theta=0.067057
+[19:09:53.516] homography: x=476.212338 y=514.503540 z=0.629566 roll=0.000000 pitch=-0.002978 yaw=0.000000 	 ekf: x=0.010428 z=-0.026512 pitch=0.067057
+[19:09:53.516] homography after fuse: x=0.010428 y=0.000000 z=-0.026512 pitch=0.067057	 number of outlier: 43
+[19:09:53.516] Init: Homography RANSAC (inlier) is:11 ,While 30 inliers minimum required.  px average disparity is:41.733841 ,While minimum is: 40.000000  KLT tracked: 54
+[19:09:53.516] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:53.526] Odometry x=0.010430, y=-0.026513, theta=0.066598
+[19:09:53.536] Odometry x=0.010431, y=-0.026513, theta=0.066295
+[19:09:53.556] Odometry x=0.010816, y=-0.026777, theta=0.065853
+[19:09:53.567] Odometry x=0.010815, y=-0.026785, theta=0.065608
+[19:09:53.577] Odometry x=0.010815, y=-0.026790, theta=0.065198
+[19:09:53.587] Odometry x=0.010815, y=-0.026794, theta=0.064407
+[19:09:53.597] Odometry x=0.010815, y=-0.026818, theta=0.062900
+[19:09:53.607] Odometry x=0.010815, y=-0.026857, theta=0.061664
+[19:09:53.617] Odometry x=0.010815, y=-0.026883, theta=0.061077
+[19:09:53.627] Odometry x=0.010815, y=-0.026893, theta=0.061205
+[19:09:53.630] homography: x=472.037806 y=509.403923 z=0.643656 roll=0.000000 pitch=-0.002883 yaw=0.000000 	 ekf: x=0.010815 z=-0.026893 pitch=0.061205
+[19:09:53.630] homography after fuse: x=0.010815 y=0.000000 z=-0.026893 pitch=0.061205	 number of outlier: 46
+[19:09:53.630] Init: Homography RANSAC (inlier) is:8 ,While 30 inliers minimum required.  px average disparity is:40.132645 ,While minimum is: 40.000000  KLT tracked: 54
+[19:09:53.630] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:53.637] Odometry x=0.010816, y=-0.026897, theta=0.061878
+[19:09:53.651] Init: px average disparity is:38.107209 ,While minimum is: 40.000000  KLT tracked : 54
+[19:09:53.651] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:53.658] Odometry x=0.011218, y=-0.027146, theta=0.061965
+[19:09:53.668] Odometry x=0.011219, y=-0.027147, theta=0.062081
+[19:09:53.678] Odometry x=0.011219, y=-0.027147, theta=0.062216
+[19:09:53.688] Odometry x=0.011219, y=-0.027147, theta=0.062303
+[19:09:53.698] Odometry x=0.011219, y=-0.027146, theta=0.062534
+[19:09:53.708] Odometry x=0.011219, y=-0.027145, theta=0.063647
+[19:09:53.719] Odometry x=0.011220, y=-0.027144, theta=0.064267
+[19:09:53.729] Odometry x=0.011220, y=-0.027144, theta=0.063561
+[19:09:53.746] Init: px average disparity is:39.118678 ,While minimum is: 40.000000  KLT tracked : 54
+[19:09:53.746] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:53.749] Odometry x=0.011554, y=-0.027366, theta=0.061994
+[19:09:53.759] Odometry x=0.011555, y=-0.027374, theta=0.060849
+[19:09:53.769] Odometry x=0.011555, y=-0.027412, theta=0.060798
+[19:09:53.779] Odometry x=0.011554, y=-0.027439, theta=0.060941
+[19:09:53.789] Odometry x=0.011554, y=-0.027463, theta=0.060120
+[19:09:53.800] Odometry x=0.011554, y=-0.027515, theta=0.057785
+[19:09:53.810] Odometry x=0.011554, y=-0.027547, theta=0.055857
+[19:09:53.820] Odometry x=0.011554, y=-0.027588, theta=0.053257
+[19:09:53.830] Odometry x=0.011554, y=-0.027614, theta=0.051285
+[19:09:53.846] Init: px average disparity is:36.395055 ,While minimum is: 40.000000  KLT tracked : 54
+[19:09:53.846] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:53.850] Odometry x=0.011974, y=-0.027832, theta=0.051455
+[19:09:53.860] Odometry x=0.011976, y=-0.027835, theta=0.051908
+[19:09:53.871] Odometry x=0.011976, y=-0.027835, theta=0.052064
+[19:09:53.881] Odometry x=0.011977, y=-0.027836, theta=0.051482
+[19:09:53.891] Odometry x=0.011977, y=-0.027840, theta=0.050693
+[19:09:53.901] Odometry x=0.011977, y=-0.027846, theta=0.050174
+[19:09:53.911] Odometry x=0.011977, y=-0.027852, theta=0.049925
+[19:09:53.921] Odometry x=0.011977, y=-0.027856, theta=0.049585
+[19:09:53.931] Odometry x=0.011977, y=-0.027857, theta=0.048983
+[19:09:53.946] Init: px average disparity is:35.220241 ,While minimum is: 40.000000  KLT tracked : 54
+[19:09:53.946] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:53.952] Odometry x=0.012360, y=-0.028043, theta=0.048035
+[19:09:53.962] Odometry x=0.012361, y=-0.028044, theta=0.047218
+[19:09:53.972] Odometry x=0.012361, y=-0.028044, theta=0.046993
+[19:09:53.982] Odometry x=0.012361, y=-0.028044, theta=0.046852
+[19:09:53.992] Odometry x=0.012361, y=-0.028044, theta=0.045758
+[19:09:54.002] Odometry x=0.012361, y=-0.028046, theta=0.043649
+[19:09:54.012] Odometry x=0.012361, y=-0.028052, theta=0.041124
+[19:09:54.022] Odometry x=0.012361, y=-0.028066, theta=0.038648
+[19:09:54.033] Odometry x=0.012361, y=-0.028095, theta=0.036665
+[19:09:54.046] Init: px average disparity is:33.663844 ,While minimum is: 40.000000  KLT tracked : 54
+[19:09:54.046] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:54.053] Odometry x=0.012743, y=-0.028324, theta=0.034536
+[19:09:54.063] Odometry x=0.012743, y=-0.028403, theta=0.032093
+[19:09:54.073] Odometry x=0.012743, y=-0.028447, theta=0.030424
+[19:09:54.083] Odometry x=0.012743, y=-0.028480, theta=0.029177
+[19:09:54.093] Odometry x=0.012744, y=-0.028495, theta=0.028142
+[19:09:54.103] Odometry x=0.012744, y=-0.028500, theta=0.026972
+[19:09:54.114] Odometry x=0.012745, y=-0.028502, theta=0.025730
+[19:09:54.124] Odometry x=0.012745, y=-0.028505, theta=0.024535
+[19:09:54.134] Odometry x=0.012745, y=-0.028509, theta=0.023461
+[19:09:54.149] Init: px average disparity is:28.224589 ,While minimum is: 40.000000  KLT tracked : 54
+[19:09:54.149] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:54.154] Odometry x=0.013127, y=-0.028636, theta=0.023246
+[19:09:54.164] Odometry x=0.013127, y=-0.028672, theta=0.023453
+[19:09:54.174] Odometry x=0.013126, y=-0.028701, theta=0.025100
+[19:09:54.184] Odometry x=0.013125, y=-0.028715, theta=0.026469
+[19:09:54.194] Odometry x=0.013125, y=-0.028724, theta=0.026915
+[19:09:54.205] Odometry x=0.013125, y=-0.028731, theta=0.026834
+[19:09:54.215] Odometry x=0.013126, y=-0.028734, theta=0.025253
+[19:09:54.225] Odometry x=0.013127, y=-0.028740, theta=0.022858
+[19:09:54.235] Odometry x=0.013128, y=-0.028746, theta=0.021381
+[19:09:54.245] Odometry x=0.013128, y=-0.028748, theta=0.021156
+[19:09:54.247] Init: px average disparity is:23.149908 ,While minimum is: 40.000000  KLT tracked : 54
+[19:09:54.247] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:54.265] Odometry x=0.013553, y=-0.028841, theta=0.023074
+[19:09:54.275] Odometry x=0.013555, y=-0.028841, theta=0.025013
+[19:09:54.286] Odometry x=0.013555, y=-0.028840, theta=0.025949
+[19:09:54.296] Odometry x=0.013555, y=-0.028840, theta=0.026664
+[19:09:54.306] Odometry x=0.013555, y=-0.028839, theta=0.027045
+[19:09:54.316] Odometry x=0.013555, y=-0.028839, theta=0.026701
+[19:09:54.326] Odometry x=0.013555, y=-0.028840, theta=0.025924
+[19:09:54.336] Odometry x=0.013555, y=-0.028843, theta=0.025414
+[19:09:54.348] Init: px average disparity is:22.489989 ,While minimum is: 40.000000  KLT tracked : 54
+[19:09:54.348] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:54.356] Odometry x=0.013919, y=-0.028943, theta=0.026098
+[19:09:54.367] Odometry x=0.013917, y=-0.028948, theta=0.027081
+[19:09:54.377] Odometry x=0.013917, y=-0.028950, theta=0.027792
+[19:09:54.387] Odometry x=0.013917, y=-0.028954, theta=0.027465
+[19:09:54.397] Odometry x=0.013917, y=-0.028957, theta=0.026748
+[19:09:54.407] Odometry x=0.013918, y=-0.028959, theta=0.026913
+[19:09:54.417] Odometry x=0.013918, y=-0.028960, theta=0.028169
+[19:09:54.427] Odometry x=0.013919, y=-0.028960, theta=0.030068
+[19:09:54.437] Odometry x=0.013919, y=-0.028959, theta=0.031996
+[19:09:54.447] Init: px average disparity is:22.472931 ,While minimum is: 40.000000  KLT tracked : 54
+[19:09:54.447] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:54.458] Odometry x=0.014301, y=-0.029081, theta=0.034852
+[19:09:54.468] Odometry x=0.014301, y=-0.029076, theta=0.038100
+[19:09:54.478] Odometry x=0.014301, y=-0.029075, theta=0.040167
+[19:09:54.488] Odometry x=0.014301, y=-0.029074, theta=0.041522
+[19:09:54.498] Odometry x=0.014302, y=-0.029071, theta=0.042589
+[19:09:54.508] Odometry x=0.014303, y=-0.029064, theta=0.043817
+[19:09:54.518] Odometry x=0.014304, y=-0.029050, theta=0.045066
+[19:09:54.529] Odometry x=0.014305, y=-0.029034, theta=0.046018
+[19:09:54.539] Odometry x=0.014305, y=-0.029022, theta=0.046514
+[19:09:54.548] Init: px average disparity is:24.169840 ,While minimum is: 40.000000  KLT tracked : 54
+[19:09:54.548] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:54.559] Odometry x=0.014688, y=-0.029199, theta=0.046713
+[19:09:54.569] Odometry x=0.014688, y=-0.029198, theta=0.047069
+[19:09:54.579] Odometry x=0.014688, y=-0.029198, theta=0.047323
+[19:09:54.589] Odometry x=0.014688, y=-0.029198, theta=0.047078
+[19:09:54.600] Odometry x=0.014688, y=-0.029198, theta=0.046558
+[19:09:54.610] Odometry x=0.014688, y=-0.029198, theta=0.046182
+[19:09:54.620] Odometry x=0.014688, y=-0.029198, theta=0.046111
+[19:09:54.630] Odometry x=0.014688, y=-0.029198, theta=0.046385
+[19:09:54.640] Odometry x=0.014688, y=-0.029199, theta=0.047034
+[19:09:54.646] Init: px average disparity is:28.448990 ,While minimum is: 40.000000  KLT tracked : 54
+[19:09:54.646] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:54.660] Odometry x=0.015070, y=-0.029383, theta=0.048917
+[19:09:54.670] Odometry x=0.015070, y=-0.029384, theta=0.051004
+[19:09:54.681] Odometry x=0.015070, y=-0.029384, theta=0.052260
+[19:09:54.691] Odometry x=0.015070, y=-0.029384, theta=0.053259
+[19:09:54.701] Odometry x=0.015070, y=-0.029382, theta=0.054408
+[19:09:54.711] Odometry x=0.015070, y=-0.029378, theta=0.055921
+[19:09:54.721] Odometry x=0.015070, y=-0.029374, theta=0.057453
+[19:09:54.731] Odometry x=0.015070, y=-0.029373, theta=0.058667
+[19:09:54.741] Odometry x=0.015070, y=-0.029373, theta=0.059436
+[19:09:54.747] Init: px average disparity is:34.916719 ,While minimum is: 40.000000  KLT tracked : 54
+[19:09:54.747] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:54.762] Odometry x=0.015451, y=-0.029601, theta=0.060156
+[19:09:54.772] Odometry x=0.015451, y=-0.029602, theta=0.061079
+[19:09:54.782] Odometry x=0.015451, y=-0.029602, theta=0.062137
+[19:09:54.792] Odometry x=0.015451, y=-0.029602, theta=0.063170
+[19:09:54.802] Odometry x=0.015451, y=-0.029601, theta=0.064154
+[19:09:54.812] Odometry x=0.015450, y=-0.029598, theta=0.065158
+[19:09:54.822] Odometry x=0.015450, y=-0.029592, theta=0.066223
+[19:09:54.833] Odometry x=0.015450, y=-0.029587, theta=0.067210
+[19:09:54.846] Init: px average disparity is:36.532309 ,While minimum is: 40.000000  KLT tracked : 54
+[19:09:54.846] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:54.853] Odometry x=0.015795, y=-0.029819, theta=0.067290
+[19:09:54.863] Odometry x=0.015795, y=-0.029819, theta=0.067420
+[19:09:54.873] Odometry x=0.015795, y=-0.029821, theta=0.067787
+[19:09:54.883] Odometry x=0.015795, y=-0.029822, theta=0.068205
+[19:09:54.893] Odometry x=0.015795, y=-0.029826, theta=0.069378
+[19:09:54.903] Odometry x=0.015795, y=-0.029830, theta=0.070613
+[19:09:54.913] Odometry x=0.015795, y=-0.029832, theta=0.071267
+[19:09:54.924] Odometry x=0.015795, y=-0.029832, theta=0.072019
+[19:09:54.934] Odometry x=0.015795, y=-0.029833, theta=0.073023
+[19:09:54.949] Init: px average disparity is:38.788114 ,While minimum is: 40.000000  KLT tracked : 54
+[19:09:54.949] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:54.954] Odometry x=0.006416, y=-0.030050, theta=0.029904
+[19:09:54.964] Odometry x=0.006416, y=-0.030049, theta=0.031979
+[19:09:54.974] Odometry x=0.006416, y=-0.030047, theta=0.033269
+[19:09:54.984] Odometry x=0.006416, y=-0.030044, theta=0.034500
+[19:09:54.994] Odometry x=0.006416, y=-0.030042, theta=0.035592
+[19:09:55.004] Odometry x=0.006416, y=-0.030042, theta=0.036422
+[19:09:55.015] Odometry x=0.006416, y=-0.030042, theta=0.036956
+[19:09:55.025] Odometry x=0.006416, y=-0.030042, theta=0.037583
+[19:09:55.035] Odometry x=0.006416, y=-0.030042, theta=0.038676
+[19:09:55.055] Odometry x=0.006823, y=-0.030202, theta=0.039837
+[19:09:55.065] Odometry x=0.006823, y=-0.030203, theta=0.041222
+[19:09:55.075] Odometry x=0.006823, y=-0.030203, theta=0.042376
+[19:09:55.085] Odometry x=0.006823, y=-0.030203, theta=0.043497
+[19:09:55.096] Odometry x=0.006823, y=-0.030203, theta=0.044521
+[19:09:55.106] Odometry x=0.006823, y=-0.030203, theta=0.045524
+[19:09:55.112] homography: x=332.400180 y=146.134754 z=0.926478 roll=0.000000 pitch=-0.000631 yaw=0.000000 	 ekf: x=0.006823 z=-0.030203 pitch=0.045524
+[19:09:55.112] homography after fuse: x=0.006823 y=0.000000 z=-0.030203 pitch=0.045524	 number of outlier: 45
+[19:09:55.112] Init: Homography RANSAC (inlier) is:9 ,While 30 inliers minimum required.  px average disparity is:40.582802 ,While minimum is: 40.000000  KLT tracked: 54
+[19:09:55.112] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:55.116] Odometry x=0.006823, y=-0.030203, theta=0.046794
+[19:09:55.126] Odometry x=0.006823, y=-0.030203, theta=0.048157
+[19:09:55.136] Odometry x=0.006823, y=-0.030203, theta=0.049403
+[19:09:55.156] Odometry x=0.007204, y=-0.030395, theta=0.051594
+[19:09:55.166] Odometry x=0.007204, y=-0.030395, theta=0.054393
+[19:09:55.176] Odometry x=0.007204, y=-0.030395, theta=0.056829
+[19:09:55.187] Odometry x=0.007204, y=-0.030395, theta=0.059352
+[19:09:55.197] Odometry x=0.007204, y=-0.030395, theta=0.062017
+[19:09:55.207] Odometry x=0.007204, y=-0.030395, theta=0.064701
+[19:09:55.214] homography: x=384.230578 y=387.283486 z=1.044378 roll=0.000000 pitch=-0.000213 yaw=0.000000 	 ekf: x=0.007204 z=-0.030395 pitch=0.064701
+[19:09:55.215] homography after fuse: x=0.007204 y=0.000000 z=-0.030395 pitch=0.064701	 number of outlier: 46
+[19:09:55.215] Init: Homography RANSAC (inlier) is:8 ,While 30 inliers minimum required.  px average disparity is:43.600471 ,While minimum is: 40.000000  KLT tracked: 54
+[19:09:55.215] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:55.217] Odometry x=0.007204, y=-0.030395, theta=0.067506
+[19:09:55.227] Odometry x=0.007204, y=-0.030395, theta=0.070325
+[19:09:55.237] Odometry x=0.007204, y=-0.030394, theta=0.072972
+[19:09:55.257] Odometry x=0.007587, y=-0.030674, theta=0.074251
+[19:09:55.268] Odometry x=0.007587, y=-0.030671, theta=0.075176
+[19:09:55.278] Odometry x=0.007587, y=-0.030671, theta=0.075268
+[19:09:55.288] Odometry x=0.007587, y=-0.030671, theta=0.075225
+[19:09:55.298] Odometry x=0.007587, y=-0.030671, theta=0.074999
+[19:09:55.308] Odometry x=0.007587, y=-0.030671, theta=0.074687
+[19:09:55.312] homography: x=378.178698 y=386.901826 z=1.042932 roll=0.000000 pitch=-0.000193 yaw=0.000000 	 ekf: x=0.007587 z=-0.030671 pitch=0.074687
+[19:09:55.312] homography after fuse: x=0.007587 y=0.000000 z=-0.030671 pitch=0.074687	 number of outlier: 48
+[19:09:55.312] Init: Homography RANSAC (inlier) is:6 ,While 30 inliers minimum required.  px average disparity is:49.520878 ,While minimum is: 40.000000  KLT tracked: 54
+[19:09:55.312] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:55.318] Odometry x=0.007587, y=-0.030671, theta=0.074522
+[19:09:55.328] Odometry x=0.007587, y=-0.030671, theta=0.074574
+[19:09:55.338] Odometry x=0.007587, y=-0.030671, theta=0.074769
+[19:09:55.359] Odometry x=0.007971, y=-0.030958, theta=0.075068
+[19:09:55.369] Odometry x=0.007971, y=-0.030958, theta=0.075362
+[19:09:55.379] Odometry x=0.007971, y=-0.030957, theta=0.075535
+[19:09:55.389] Odometry x=0.007971, y=-0.030957, theta=0.075626
+[19:09:55.399] Odometry x=0.007971, y=-0.030957, theta=0.075580
+[19:09:55.409] Odometry x=0.007971, y=-0.030957, theta=0.075735
+[19:09:55.412] homography: x=378.667742 y=386.283561 z=1.043962 roll=0.000000 pitch=-0.000186 yaw=0.000000 	 ekf: x=0.007971 z=-0.030957 pitch=0.075735
+[19:09:55.412] homography after fuse: x=0.007971 y=0.000000 z=-0.030957 pitch=0.075735	 number of outlier: 46
+[19:09:55.412] Init: Homography RANSAC (inlier) is:8 ,While 30 inliers minimum required.  px average disparity is:49.282249 ,While minimum is: 40.000000  KLT tracked: 54
+[19:09:55.412] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:55.419] Odometry x=0.007971, y=-0.030957, theta=0.076321
+[19:09:55.429] Odometry x=0.007971, y=-0.030957, theta=0.076992
+[19:09:55.440] Odometry x=0.007971, y=-0.030957, theta=0.077417
+[19:09:55.460] Odometry x=0.008357, y=-0.031257, theta=0.077842
+[19:09:55.470] Odometry x=0.008357, y=-0.031257, theta=0.078133
+[19:09:55.480] Odometry x=0.008357, y=-0.031257, theta=0.078087
+[19:09:55.490] Odometry x=0.008357, y=-0.031259, theta=0.078085
+[19:09:55.500] Odometry x=0.008357, y=-0.031259, theta=0.078375
+[19:09:55.510] Odometry x=0.008357, y=-0.031259, theta=0.079042
+[19:09:55.516] homography: x=377.990694 y=385.706035 z=1.042863 roll=0.000000 pitch=-0.000184 yaw=0.000000 	 ekf: x=0.008357 z=-0.031259 pitch=0.079042
+[19:09:55.516] homography after fuse: x=0.008357 y=0.000000 z=-0.031259 pitch=0.079042	 number of outlier: 46
+[19:09:55.516] Init: Homography RANSAC (inlier) is:8 ,While 30 inliers minimum required.  px average disparity is:49.494776 ,While minimum is: 40.000000  KLT tracked: 54
+[19:09:55.516] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:55.520] Odometry x=0.008357, y=-0.031259, theta=0.079819
+[19:09:55.531] Odometry x=0.008357, y=-0.031257, theta=0.080486
+[19:09:55.541] Odometry x=0.008357, y=-0.031255, theta=0.080737
+[19:09:55.561] Odometry x=0.008741, y=-0.031564, theta=0.079992
+[19:09:55.571] Odometry x=0.008741, y=-0.031564, theta=0.079232
+[19:09:55.581] Odometry x=0.008741, y=-0.031564, theta=0.079035
+[19:09:55.591] Odometry x=0.008741, y=-0.031565, theta=0.079059
+[19:09:55.601] Odometry x=0.008741, y=-0.031567, theta=0.079031
+[19:09:55.612] Odometry x=0.008741, y=-0.031569, theta=0.079166
+[19:09:55.613] homography: x=378.377733 y=387.386177 z=1.042706 roll=0.000000 pitch=-0.000190 yaw=0.000000 	 ekf: x=0.008741 z=-0.031569 pitch=0.079166
+[19:09:55.613] homography after fuse: x=0.008741 y=0.000000 z=-0.031569 pitch=0.079166	 number of outlier: 48
+[19:09:55.613] Init: Homography RANSAC (inlier) is:6 ,While 30 inliers minimum required.  px average disparity is:49.366439 ,While minimum is: 40.000000  KLT tracked: 54
+[19:09:55.613] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:55.622] Odometry x=0.008741, y=-0.031570, theta=0.079668
+[19:09:55.632] Odometry x=0.008741, y=-0.031571, theta=0.080369
+[19:09:55.652] Odometry x=0.009087, y=-0.031850, theta=0.081320
+[19:09:55.662] Odometry x=0.009087, y=-0.031850, theta=0.082507
+[19:09:55.672] Odometry x=0.009087, y=-0.031850, theta=0.083382
+[19:09:55.682] Odometry x=0.009087, y=-0.031850, theta=0.084063
+[19:09:55.692] Odometry x=0.009087, y=-0.031850, theta=0.084685
+[19:09:55.703] Odometry x=0.009087, y=-0.031850, theta=0.085266
+[19:09:55.713] Odometry x=0.009087, y=-0.031850, theta=0.085775
+[19:09:55.716] homography: x=377.415066 y=387.571862 z=1.042465 roll=0.000000 pitch=-0.000185 yaw=0.000000 	 ekf: x=0.009087 z=-0.031850 pitch=0.085775
+[19:09:55.716] homography after fuse: x=0.009087 y=0.000000 z=-0.031850 pitch=0.085775	 number of outlier: 48
+[19:09:55.716] Init: Homography RANSAC (inlier) is:6 ,While 30 inliers minimum required.  px average disparity is:49.573308 ,While minimum is: 40.000000  KLT tracked: 54
+[19:09:55.716] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:55.723] Odometry x=0.009087, y=-0.031850, theta=0.086265
+[19:09:55.733] Odometry x=0.009087, y=-0.031850, theta=0.086862
+[19:09:55.753] Odometry x=0.009472, y=-0.032187, theta=0.087813
+[19:09:55.763] Odometry x=0.009472, y=-0.032187, theta=0.089050
+[19:09:55.773] Odometry x=0.009472, y=-0.032187, theta=0.090126
+[19:09:55.784] Odometry x=0.009472, y=-0.032187, theta=0.091418
+[19:09:55.794] Odometry x=0.009472, y=-0.032187, theta=0.092599
+[19:09:55.804] Odometry x=0.009472, y=-0.032187, theta=0.093469
+[19:09:55.814] Odometry x=0.009472, y=-0.032186, theta=0.094093
+[19:09:55.818] homography: x=375.534603 y=385.142661 z=1.042527 roll=0.000000 pitch=-0.000172 yaw=0.000000 	 ekf: x=0.009472 z=-0.032186 pitch=0.094093
+[19:09:55.818] homography after fuse: x=0.009472 y=0.000000 z=-0.032186 pitch=0.094093	 number of outlier: 46
+[19:09:55.818] Init: Homography RANSAC (inlier) is:8 ,While 30 inliers minimum required.  px average disparity is:50.648096 ,While minimum is: 40.000000  KLT tracked: 54
+[19:09:55.818] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:55.824] Odometry x=0.009472, y=-0.032185, theta=0.094494
+[19:09:55.834] Odometry x=0.009472, y=-0.032184, theta=0.094832
+[19:09:55.855] Odometry x=0.009857, y=-0.032550, theta=0.094697
+[19:09:55.865] Odometry x=0.009857, y=-0.032550, theta=0.094529
+[19:09:55.875] Odometry x=0.009857, y=-0.032550, theta=0.094526
+[19:09:55.885] Odometry x=0.009857, y=-0.032550, theta=0.094496
+[19:09:55.895] Odometry x=0.009857, y=-0.032550, theta=0.094307
+[19:09:55.905] Odometry x=0.009857, y=-0.032551, theta=0.094147
+[19:09:55.915] homography: x=421.779490 y=290.984118 z=-3.115538 roll=0.000000 pitch=-0.043694 yaw=0.000000 	 ekf: x=0.009857 z=-0.032551 pitch=0.094147
+[19:09:55.915] homography after fuse: x=0.009857 y=0.000000 z=-0.032551 pitch=0.094147	 number of outlier: 48
+[19:09:55.915] Init: Homography RANSAC (inlier) is:6 ,While 30 inliers minimum required.  px average disparity is:50.982172 ,While minimum is: 40.000000  KLT tracked: 54
+[19:09:55.915] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:55.915] Odometry x=0.009857, y=-0.032553, theta=0.094053
+[19:09:55.925] Odometry x=0.009857, y=-0.032554, theta=0.094219
+[19:09:55.935] Odometry x=0.009857, y=-0.032555, theta=0.094491
+[19:09:55.956] Odometry x=0.010241, y=-0.032921, theta=0.095635
+[19:09:55.966] Odometry x=0.010241, y=-0.032920, theta=0.096930
+[19:09:55.976] Odometry x=0.010242, y=-0.032920, theta=0.098035
+[19:09:55.986] Odometry x=0.010242, y=-0.032919, theta=0.099233
+[19:09:55.996] Odometry x=0.010242, y=-0.032918, theta=0.100321
+[19:09:56.006] Odometry x=0.010242, y=-0.032916, theta=0.101071
+[19:09:56.016] Odometry x=0.010242, y=-0.032916, theta=0.101467
+[19:09:56.017] homography: x=108.579961 y=276.186402 z=1.321544 roll=-0.000000 pitch=0.001775 yaw=-0.000000 	 ekf: x=0.010242 z=-0.032916 pitch=0.101467
+[19:09:56.017] homography after fuse: x=0.010242 y=0.000000 z=-0.032916 pitch=0.101467	 number of outlier: 46
+[19:09:56.017] Init: Homography RANSAC (inlier) is:8 ,While 30 inliers minimum required.  px average disparity is:51.179237 ,While minimum is: 40.000000  KLT tracked: 54
+[19:09:56.017] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:56.027] Odometry x=0.010242, y=-0.032916, theta=0.102182
+[19:09:56.037] Odometry x=0.010242, y=-0.032916, theta=0.103322
+[19:09:56.057] Odometry x=0.010613, y=-0.033303, theta=0.105173
+[19:09:56.067] Odometry x=0.010613, y=-0.033303, theta=0.107327
+[19:09:56.077] Odometry x=0.010613, y=-0.033303, theta=0.108908
+[19:09:56.087] Odometry x=0.010613, y=-0.033302, theta=0.110460
+[19:09:56.097] Odometry x=0.010613, y=-0.033301, theta=0.112033
+[19:09:56.107] Odometry x=0.010613, y=-0.033297, theta=0.113651
+[19:09:56.111] homography: x=370.844082 y=378.603421 z=1.040619 roll=0.000000 pitch=-0.000143 yaw=0.000000 	 ekf: x=0.010613 z=-0.033297 pitch=0.113651
+[19:09:56.111] homography after fuse: x=0.010613 y=0.000000 z=-0.033297 pitch=0.113651	 number of outlier: 48
+[19:09:56.111] Init: Homography RANSAC (inlier) is:6 ,While 30 inliers minimum required.  px average disparity is:52.629495 ,While minimum is: 40.000000  KLT tracked: 54
+[19:09:56.111] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:56.118] Odometry x=0.010613, y=-0.033295, theta=0.114694
+[19:09:56.128] Odometry x=0.010613, y=-0.033283, theta=0.115787
+[19:09:56.138] Odometry x=0.010614, y=-0.033272, theta=0.116346
+[19:09:56.148] Odometry x=0.010614, y=-0.033270, theta=0.116398
+[19:09:56.158] Odometry x=0.010614, y=-0.033270, theta=0.116369
+[19:09:56.168] Odometry x=0.010614, y=-0.033270, theta=0.116055
+[19:09:56.178] Odometry x=0.010614, y=-0.033271, theta=0.115638
+[19:09:56.188] Odometry x=0.010614, y=-0.033271, theta=0.115434
+[19:09:56.198] Odometry x=0.010614, y=-0.033271, theta=0.115570
+[19:09:56.209] Odometry x=0.010614, y=-0.033271, theta=0.115907
+[19:09:56.215] homography: x=244.253743 y=212.156043 z=1.365674 roll=-0.000000 pitch=0.007169 yaw=0.000000 	 ekf: x=0.010614 z=-0.033271 pitch=0.115907
+[19:09:56.215] homography after fuse: x=0.010614 y=0.000000 z=-0.033271 pitch=0.115907	 number of outlier: 47
+[19:09:56.215] Init: Homography RANSAC (inlier) is:7 ,While 30 inliers minimum required.  px average disparity is:52.045866 ,While minimum is: 40.000000  KLT tracked: 54
+[19:09:56.215] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:56.219] Odometry x=0.010614, y=-0.033271, theta=0.116086
+[19:09:56.229] Odometry x=0.010615, y=-0.033272, theta=0.116370
+[19:09:56.239] Odometry x=0.010615, y=-0.033272, theta=0.116717
+[19:09:56.249] Odometry x=0.010615, y=-0.033271, theta=0.116898
+[19:09:56.259] Odometry x=0.010615, y=-0.033271, theta=0.117006
+[19:09:56.269] Odometry x=0.010615, y=-0.033270, theta=0.117132
+[19:09:56.279] Odometry x=0.010615, y=-0.033269, theta=0.117294
+[19:09:56.290] Odometry x=0.010615, y=-0.033269, theta=0.117436
+[19:09:56.300] Odometry x=0.010615, y=-0.033268, theta=0.117994
+[19:09:56.310] Odometry x=0.010615, y=-0.033268, theta=0.118686
+[19:09:56.319] homography: x=369.883217 y=378.254045 z=1.040377 roll=0.000000 pitch=-0.000137 yaw=0.000000 	 ekf: x=0.010615 z=-0.033268 pitch=0.118686
+[19:09:56.319] homography after fuse: x=0.010615 y=0.000000 z=-0.033268 pitch=0.118686	 number of outlier: 48
+[19:09:56.319] Init: Homography RANSAC (inlier) is:6 ,While 30 inliers minimum required.  px average disparity is:50.668423 ,While minimum is: 40.000000  KLT tracked: 54
+[19:09:56.319] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:56.320] Odometry x=0.010615, y=-0.033268, theta=0.119101
+[19:09:56.330] Odometry x=0.010615, y=-0.033268, theta=0.119771
+[19:09:56.340] Odometry x=0.010615, y=-0.033268, theta=0.120850
+[19:09:56.350] Odometry x=0.010615, y=-0.033267, theta=0.121660
+[19:09:56.360] Odometry x=0.010616, y=-0.033267, theta=0.122198
+[19:09:56.371] Odometry x=0.010616, y=-0.033266, theta=0.122505
+[19:09:56.381] Odometry x=0.010616, y=-0.033257, theta=0.122230
+[19:09:56.391] Odometry x=0.010616, y=-0.033252, theta=0.121899
+[19:09:56.401] Odometry x=0.010617, y=-0.033245, theta=0.120950
+[19:09:56.411] Odometry x=0.010617, y=-0.033240, theta=0.119539
+[19:09:56.421] Odometry x=0.010617, y=-0.033238, theta=0.118293
+[19:09:56.431] Odometry x=0.010617, y=-0.033237, theta=0.117312
+[19:09:56.432] homography: x=368.988996 y=378.012921 z=1.040173 roll=0.000000 pitch=-0.000134 yaw=0.000000 	 ekf: x=0.010617 z=-0.033237 pitch=0.117312
+[19:09:56.432] homography after fuse: x=0.010617 y=0.000000 z=-0.033237 pitch=0.117312	 number of outlier: 48
+[19:09:56.432] Init: Homography RANSAC (inlier) is:6 ,While 30 inliers minimum required.  px average disparity is:50.175601 ,While minimum is: 40.000000  KLT tracked: 54
+[19:09:56.432] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:56.441] Odometry x=0.010617, y=-0.033236, theta=0.116384
+[19:09:56.452] Odometry x=0.010617, y=-0.033236, theta=0.115223
+[19:09:56.462] Odometry x=0.010617, y=-0.033236, theta=0.113963
+[19:09:56.472] Odometry x=0.010617, y=-0.033236, theta=0.113158
+[19:09:56.482] Odometry x=0.010617, y=-0.033236, theta=0.112827
+[19:09:56.492] Odometry x=0.010618, y=-0.033232, theta=0.112850
+[19:09:56.502] Odometry x=0.010618, y=-0.033226, theta=0.112470
+[19:09:56.513] Odometry x=0.010618, y=-0.033223, theta=0.111645
+[19:09:56.523] Odometry x=0.010618, y=-0.033222, theta=0.110626
+[19:09:56.533] Odometry x=0.010618, y=-0.033221, theta=0.109625
+[19:09:56.534] homography: x=371.266729 y=378.008680 z=1.039813 roll=0.000000 pitch=-0.000136 yaw=0.000000 	 ekf: x=0.010618 z=-0.033221 pitch=0.109625
+[19:09:56.534] homography after fuse: x=0.010618 y=0.000000 z=-0.033221 pitch=0.109625	 number of outlier: 47
+[19:09:56.534] Init: Homography RANSAC (inlier) is:7 ,While 30 inliers minimum required.  px average disparity is:46.561698 ,While minimum is: 40.000000  KLT tracked: 54
+[19:09:56.534] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:56.543] Odometry x=0.010618, y=-0.033221, theta=0.108889
+[19:09:56.553] Odometry x=0.010618, y=-0.033221, theta=0.108288
+[19:09:56.563] Odometry x=0.010618, y=-0.033221, theta=0.107739
+[19:09:56.573] Odometry x=0.010618, y=-0.033221, theta=0.106939
+[19:09:56.583] Odometry x=0.010619, y=-0.033222, theta=0.105910
+[19:09:56.594] Odometry x=0.010619, y=-0.033222, theta=0.104950
+[19:09:56.604] Odometry x=0.010619, y=-0.033222, theta=0.104187
+[19:09:56.614] Odometry x=0.010619, y=-0.033222, theta=0.103442
+[19:09:56.624] Odometry x=0.010620, y=-0.033222, theta=0.102447
+[19:09:56.634] Odometry x=0.010620, y=-0.033222, theta=0.101211
+[19:09:56.637] homography: x=373.020725 y=378.672228 z=1.038952 roll=0.000000 pitch=-0.000143 yaw=0.000000 	 ekf: x=0.010620 z=-0.033222 pitch=0.101211
+[19:09:56.637] homography after fuse: x=0.010620 y=0.000000 z=-0.033222 pitch=0.101211	 number of outlier: 46
+[19:09:56.637] Init: Homography RANSAC (inlier) is:8 ,While 30 inliers minimum required.  px average disparity is:43.235048 ,While minimum is: 40.000000  KLT tracked: 54
+[19:09:56.637] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:56.644] Odometry x=0.010621, y=-0.033223, theta=0.099888
+[19:09:56.654] Odometry x=0.010622, y=-0.033224, theta=0.098525
+[19:09:56.657] Init: px average disparity is:39.714462 ,While minimum is: 40.000000  KLT tracked : 54
+[19:09:56.657] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:56.664] Odometry x=0.004058, y=-0.033224, theta=0.036161
+[19:09:56.675] Odometry x=0.004058, y=-0.033224, theta=0.035060
+[19:09:56.685] Odometry x=0.004059, y=-0.033224, theta=0.033760
+[19:09:56.695] Odometry x=0.004059, y=-0.033223, theta=0.031821
+[19:09:56.705] Odometry x=0.004059, y=-0.033223, theta=0.029953
+[19:09:56.715] Odometry x=0.004059, y=-0.033223, theta=0.028453
+[19:09:56.725] Odometry x=0.004059, y=-0.033223, theta=0.026941
+[19:09:56.735] Odometry x=0.004059, y=-0.033223, theta=0.025202
+[19:09:56.745] Odometry x=0.004059, y=-0.033222, theta=0.023318
+[19:09:56.749] Init: px average disparity is:34.320764 ,While minimum is: 40.000000  KLT tracked : 54
+[19:09:56.749] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:56.756] Odometry x=0.004059, y=-0.033222, theta=0.021614
+[19:09:56.766] Odometry x=0.004059, y=-0.033222, theta=0.020040
+[19:09:56.776] Odometry x=0.004059, y=-0.033222, theta=0.018555
+[19:09:56.786] Odometry x=0.004059, y=-0.033221, theta=0.017295
+[19:09:56.796] Odometry x=0.004059, y=-0.033221, theta=0.016143
+[19:09:56.806] Odometry x=0.004060, y=-0.033221, theta=0.015013
+[19:09:56.816] Odometry x=0.004060, y=-0.033221, theta=0.013976
+[19:09:56.827] Odometry x=0.004060, y=-0.033220, theta=0.013134
+[19:09:56.837] Odometry x=0.004060, y=-0.033219, theta=0.012661
+[19:09:56.847] Odometry x=0.004060, y=-0.033219, theta=0.012084
+[19:09:56.847] Init: px average disparity is:35.876851 ,While minimum is: 40.000000  KLT tracked : 54
+[19:09:56.847] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:56.857] Odometry x=0.004060, y=-0.033219, theta=0.011098
+[19:09:56.867] Odometry x=0.004061, y=-0.033220, theta=0.010350
+[19:09:56.877] Odometry x=0.004062, y=-0.033226, theta=0.009459
+[19:09:56.887] Odometry x=0.004064, y=-0.033230, theta=0.008809
+[19:09:56.897] Odometry x=0.004066, y=-0.033230, theta=0.008705
+[19:09:56.908] Odometry x=0.004067, y=-0.033230, theta=0.008965
+[19:09:56.918] Odometry x=0.004067, y=-0.033230, theta=0.009222
+[19:09:56.928] Odometry x=0.004068, y=-0.033215, theta=0.009219
+[19:09:56.938] Odometry x=0.004068, y=-0.033197, theta=0.008974
+[19:09:56.945] Init: px average disparity is:32.063054 ,While minimum is: 40.000000  KLT tracked : 53
+[19:09:56.946] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:56.948] Odometry x=0.004068, y=-0.033183, theta=0.008335
+[19:09:56.958] Odometry x=0.004068, y=-0.033173, theta=0.007262
+[19:09:56.968] Odometry x=0.004068, y=-0.033167, theta=0.005881
+[19:09:56.978] Odometry x=0.004068, y=-0.033164, theta=0.004224
+[19:09:56.989] Odometry x=0.004068, y=-0.033163, theta=0.002455
+[19:09:56.999] Odometry x=0.004061, y=-0.033162, theta=-0.000547
+[19:09:57.009] Odometry x=0.004050, y=-0.033167, theta=-0.003088
+[19:09:57.019] Odometry x=0.004044, y=-0.033174, theta=-0.004029
+[19:09:57.029] Odometry x=0.004042, y=-0.033200, theta=-0.003770
+[19:09:57.039] Odometry x=0.004041, y=-0.033224, theta=-0.001771
+[19:09:57.049] Init: px average disparity is:32.382502 ,While minimum is: 40.000000  KLT tracked : 53
+[19:09:57.049] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:57.049] Odometry x=0.004041, y=-0.033230, theta=0.000135
+[19:09:57.059] Odometry x=0.004042, y=-0.033225, theta=0.000884
+[19:09:57.070] Odometry x=0.004044, y=-0.033210, theta=0.001154
+[19:09:57.080] Odometry x=0.004044, y=-0.033200, theta=0.001336
+[19:09:57.090] Odometry x=0.004044, y=-0.033198, theta=0.001583
+[19:09:57.100] Odometry x=0.004045, y=-0.033197, theta=0.001927
+[19:09:57.110] Odometry x=0.004045, y=-0.033197, theta=0.002296
+[19:09:57.120] Odometry x=0.004045, y=-0.033197, theta=0.002650
+[19:09:57.130] Odometry x=0.004045, y=-0.033196, theta=0.002963
+[19:09:57.140] Odometry x=0.004045, y=-0.033196, theta=0.003254
+[19:09:57.147] Init: px average disparity is:32.139511 ,While minimum is: 40.000000  KLT tracked : 53
+[19:09:57.147] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:57.150] Odometry x=0.004045, y=-0.033196, theta=0.003565
+[19:09:57.161] Odometry x=0.004046, y=-0.033196, theta=0.003891
+[19:09:57.171] Odometry x=0.004046, y=-0.033196, theta=0.004224
+[19:09:57.181] Odometry x=0.004046, y=-0.033195, theta=0.004447
+[19:09:57.191] Odometry x=0.004046, y=-0.033195, theta=0.004789
+[19:09:57.201] Odometry x=0.004046, y=-0.033195, theta=0.005177
+[19:09:57.211] Odometry x=0.004046, y=-0.033195, theta=0.005512
+[19:09:57.221] Odometry x=0.004047, y=-0.033194, theta=0.005843
+[19:09:57.231] Odometry x=0.004047, y=-0.033194, theta=0.006155
+[19:09:57.241] Odometry x=0.004047, y=-0.033194, theta=0.006465
+[19:09:57.249] Init: px average disparity is:31.549894 ,While minimum is: 40.000000  KLT tracked : 53
+[19:09:57.249] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:57.252] Odometry x=0.004047, y=-0.033194, theta=0.006790
+[19:09:57.262] Odometry x=0.004047, y=-0.033194, theta=0.007109
+[19:09:57.272] Odometry x=0.004047, y=-0.033194, theta=0.007429
+[19:09:57.282] Odometry x=0.004048, y=-0.033193, theta=0.007761
+[19:09:57.292] Odometry x=0.004048, y=-0.033193, theta=0.008094
+[19:09:57.302] Odometry x=0.004048, y=-0.033193, theta=0.008418
+[19:09:57.312] Odometry x=0.004048, y=-0.033193, theta=0.008640
+[19:09:57.323] Odometry x=0.004048, y=-0.033193, theta=0.008991
+[19:09:57.333] Odometry x=0.004049, y=-0.033193, theta=0.009362
+[19:09:57.343] Odometry x=0.004049, y=-0.033192, theta=0.009677
+[19:09:57.347] Init: px average disparity is:28.876697 ,While minimum is: 40.000000  KLT tracked : 53
+[19:09:57.347] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:57.353] Odometry x=0.004049, y=-0.033192, theta=0.009984
+[19:09:57.363] Odometry x=0.004049, y=-0.033192, theta=0.010310
+[19:09:57.373] Odometry x=0.004049, y=-0.033192, theta=0.010640
+[19:09:57.383] Odometry x=0.004049, y=-0.033192, theta=0.010962
+[19:09:57.394] Odometry x=0.004050, y=-0.033192, theta=0.011287
+[19:09:57.404] Odometry x=0.004050, y=-0.033191, theta=0.011610
+[19:09:57.414] Odometry x=0.004050, y=-0.033191, theta=0.011838
+[19:09:57.424] Odometry x=0.004050, y=-0.033191, theta=0.012187
+[19:09:57.434] Odometry x=0.004050, y=-0.033191, theta=0.012567
+[19:09:57.444] Odometry x=0.004050, y=-0.033191, theta=0.012882
+[19:09:57.448] Init: px average disparity is:31.704469 ,While minimum is: 40.000000  KLT tracked : 53
+[19:09:57.448] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:57.454] Odometry x=0.004051, y=-0.033191, theta=0.013196
+[19:09:57.465] Odometry x=0.004051, y=-0.033190, theta=0.013509
+[19:09:57.475] Odometry x=0.004051, y=-0.033190, theta=0.013829
+[19:09:57.485] Odometry x=0.004051, y=-0.033190, theta=0.014144
+[19:09:57.495] Odometry x=0.004051, y=-0.033190, theta=0.014450
+[19:09:57.505] Odometry x=0.004051, y=-0.033190, theta=0.014757
+[19:09:57.515] Odometry x=0.004052, y=-0.033190, theta=0.015070
+[19:09:57.525] Odometry x=0.004052, y=-0.033189, theta=0.015384
+[19:09:57.535] Odometry x=0.004052, y=-0.033189, theta=0.015703
+[19:09:57.546] Odometry x=0.004052, y=-0.033189, theta=0.016023
+[19:09:57.547] Init: px average disparity is:31.603940 ,While minimum is: 40.000000  KLT tracked : 53
+[19:09:57.547] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:57.556] Odometry x=0.004052, y=-0.033189, theta=0.016340
+[19:09:57.566] Odometry x=0.004052, y=-0.033189, theta=0.016661
+[19:09:57.576] Odometry x=0.004053, y=-0.033189, theta=0.016982
+[19:09:57.586] Odometry x=0.004053, y=-0.033189, theta=0.017298
+[19:09:57.596] Odometry x=0.004053, y=-0.033188, theta=0.017610
+[19:09:57.606] Odometry x=0.004053, y=-0.033188, theta=0.017924
+[19:09:57.616] Odometry x=0.004053, y=-0.033188, theta=0.018242
+[19:09:57.626] Odometry x=0.004053, y=-0.033188, theta=0.018556
+[19:09:57.637] Odometry x=0.004054, y=-0.033188, theta=0.018871
+[19:09:57.647] Odometry x=0.004054, y=-0.033188, theta=0.019187
+[19:09:57.647] Init: px average disparity is:30.244425 ,While minimum is: 40.000000  KLT tracked : 52
+[19:09:57.647] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:57.657] Odometry x=0.004054, y=-0.033188, theta=0.019504
+[19:09:57.667] Odometry x=0.004054, y=-0.033187, theta=0.019816
+[19:09:57.677] Odometry x=0.004054, y=-0.033187, theta=0.020136
+[19:09:57.687] Odometry x=0.004054, y=-0.033187, theta=0.020459
+[19:09:57.697] Odometry x=0.004055, y=-0.033187, theta=0.020794
+[19:09:57.707] Odometry x=0.004055, y=-0.033187, theta=0.021121
+[19:09:57.718] Odometry x=0.004055, y=-0.033187, theta=0.021437
+[19:09:57.728] Odometry x=0.004055, y=-0.033187, theta=0.021762
+[19:09:57.738] Odometry x=0.004055, y=-0.033186, theta=0.022086
+[19:09:57.747] Init: px average disparity is:29.923458 ,While minimum is: 40.000000  KLT tracked : 52
+[19:09:57.747] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:57.748] Odometry x=0.004055, y=-0.033186, theta=0.022392
+[19:09:57.758] Odometry x=0.004056, y=-0.033186, theta=0.022695
+[19:09:57.768] Odometry x=0.004056, y=-0.033186, theta=0.023015
+[19:09:57.778] Odometry x=0.004056, y=-0.033186, theta=0.023348
+[19:09:57.788] Odometry x=0.004056, y=-0.033186, theta=0.023673
+[19:09:57.798] Odometry x=0.004056, y=-0.033186, theta=0.023999
+[19:09:57.809] Odometry x=0.004056, y=-0.033185, theta=0.024326
+[19:09:57.819] Odometry x=0.004057, y=-0.033185, theta=0.024645
+[19:09:57.829] Odometry x=0.004057, y=-0.033185, theta=0.024969
+[19:09:57.839] Odometry x=0.004057, y=-0.033185, theta=0.025291
+[19:09:57.848] Init: px average disparity is:31.732863 ,While minimum is: 40.000000  KLT tracked : 52
+[19:09:57.848] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:57.849] Odometry x=0.004057, y=-0.033185, theta=0.025613
+[19:09:57.859] Odometry x=0.004057, y=-0.033185, theta=0.025940
+[19:09:57.869] Odometry x=0.004057, y=-0.033184, theta=0.026261
+[19:09:57.880] Odometry x=0.004057, y=-0.033184, theta=0.026580
+[19:09:57.890] Odometry x=0.004058, y=-0.033184, theta=0.026890
+[19:09:57.900] Odometry x=0.004058, y=-0.033184, theta=0.027199
+[19:09:57.910] Odometry x=0.004058, y=-0.033184, theta=0.027607
+[19:09:57.920] Odometry x=0.004058, y=-0.033184, theta=0.027882
+[19:09:57.930] Odometry x=0.004058, y=-0.033183, theta=0.028142
+[19:09:57.940] Odometry x=0.004059, y=-0.033183, theta=0.028567
+[19:09:57.949] Init: px average disparity is:32.384590 ,While minimum is: 40.000000  KLT tracked : 52
+[19:09:57.949] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:57.950] Odometry x=0.004059, y=-0.033183, theta=0.028952
+[19:09:57.961] Odometry x=0.004059, y=-0.033183, theta=0.029272
+[19:09:57.971] Odometry x=0.004059, y=-0.033183, theta=0.029588
+[19:09:57.981] Odometry x=0.004059, y=-0.033183, theta=0.029806
+[19:09:57.991] Odometry x=0.004059, y=-0.033183, theta=0.030160
+[19:09:58.001] Odometry x=0.004060, y=-0.033182, theta=0.030537
+[19:09:58.011] Odometry x=0.004060, y=-0.033182, theta=0.030853
+[19:09:58.021] Odometry x=0.004060, y=-0.033182, theta=0.031176
+[19:09:58.031] Odometry x=0.004060, y=-0.033182, theta=0.031495
+[19:09:58.042] Odometry x=0.004060, y=-0.033182, theta=0.031810
+[19:09:58.047] Init: px average disparity is:32.423829 ,While minimum is: 40.000000  KLT tracked : 52
+[19:09:58.047] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:58.052] Odometry x=0.004061, y=-0.033182, theta=0.032124
+[19:09:58.062] Odometry x=0.004061, y=-0.033182, theta=0.032442
+[19:09:58.072] Odometry x=0.004061, y=-0.033182, theta=0.032763
+[19:09:58.082] Odometry x=0.004061, y=-0.033181, theta=0.033085
+[19:09:58.092] Odometry x=0.004061, y=-0.033181, theta=0.033407
+[19:09:58.102] Odometry x=0.004061, y=-0.033181, theta=0.033730
+[19:09:58.112] Odometry x=0.004062, y=-0.033181, theta=0.034049
+[19:09:58.123] Odometry x=0.004062, y=-0.033181, theta=0.034368
+[19:09:58.133] Odometry x=0.004062, y=-0.033181, theta=0.034681
+[19:09:58.143] Odometry x=0.004062, y=-0.033181, theta=0.034993
+[19:09:58.148] Init: px average disparity is:32.405232 ,While minimum is: 40.000000  KLT tracked : 52
+[19:09:58.148] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:58.153] Odometry x=0.004062, y=-0.033180, theta=0.035310
+[19:09:58.163] Odometry x=0.004062, y=-0.033180, theta=0.035623
+[19:09:58.173] Odometry x=0.004062, y=-0.033180, theta=0.035937
+[19:09:58.183] Odometry x=0.004063, y=-0.033180, theta=0.036248
+[19:09:58.194] Odometry x=0.004063, y=-0.033180, theta=0.036568
+[19:09:58.204] Odometry x=0.004063, y=-0.033180, theta=0.036891
+[19:09:58.214] Odometry x=0.004063, y=-0.033180, theta=0.037212
+[19:09:58.224] Odometry x=0.004063, y=-0.033180, theta=0.037523
+[19:09:58.234] Odometry x=0.004063, y=-0.033180, theta=0.037835
+[19:09:58.244] Odometry x=0.004064, y=-0.033179, theta=0.038149
+[19:09:58.246] Init: px average disparity is:32.439230 ,While minimum is: 40.000000  KLT tracked : 52
+[19:09:58.246] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:58.254] Odometry x=0.004064, y=-0.033179, theta=0.038460
+[19:09:58.264] Odometry x=0.004064, y=-0.033179, theta=0.038776
+[19:09:58.275] Odometry x=0.004064, y=-0.033179, theta=0.039091
+[19:09:58.285] Odometry x=0.004064, y=-0.033179, theta=0.039410
+[19:09:58.295] Odometry x=0.004065, y=-0.033179, theta=0.039825
+[19:09:58.305] Odometry x=0.004065, y=-0.033179, theta=0.040203
+[19:09:58.315] Odometry x=0.004065, y=-0.033178, theta=0.040424
+[19:09:58.325] Odometry x=0.004065, y=-0.033178, theta=0.040683
+[19:09:58.335] Odometry x=0.004065, y=-0.033178, theta=0.041089
+[19:09:58.345] Odometry x=0.004065, y=-0.033178, theta=0.041363
+[19:09:58.347] Init: px average disparity is:32.431154 ,While minimum is: 40.000000  KLT tracked : 52
+[19:09:58.347] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:58.355] Odometry x=0.004066, y=-0.033178, theta=0.041717
+[19:09:58.366] Odometry x=0.004066, y=-0.033178, theta=0.042095
+[19:09:58.376] Odometry x=0.004066, y=-0.033177, theta=0.042415
+[19:09:58.386] Odometry x=0.004066, y=-0.033177, theta=0.042731
+[19:09:58.396] Odometry x=0.004066, y=-0.033177, theta=0.043043
+[19:09:58.406] Odometry x=0.004067, y=-0.033177, theta=0.043356
+[19:09:58.416] Odometry x=0.004067, y=-0.033177, theta=0.043671
+[19:09:58.426] Odometry x=0.004067, y=-0.033177, theta=0.043982
+[19:09:58.436] Odometry x=0.004067, y=-0.033177, theta=0.044295
+[19:09:58.447] Odometry x=0.004067, y=-0.033177, theta=0.044606
+[19:09:58.447] Init: px average disparity is:31.297368 ,While minimum is: 40.000000  KLT tracked : 52
+[19:09:58.447] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:58.457] Odometry x=0.004067, y=-0.033177, theta=0.044919
+[19:09:58.467] Odometry x=0.004068, y=-0.033176, theta=0.045236
+[19:09:58.477] Odometry x=0.004068, y=-0.033176, theta=0.045554
+[19:09:58.487] Odometry x=0.004068, y=-0.033176, theta=0.045874
+[19:09:58.497] Odometry x=0.004068, y=-0.033176, theta=0.046192
+[19:09:58.507] Odometry x=0.004068, y=-0.033176, theta=0.046513
+[19:09:58.517] Odometry x=0.004068, y=-0.033176, theta=0.046837
+[19:09:58.528] Odometry x=0.004068, y=-0.033176, theta=0.047060
+[19:09:58.538] Odometry x=0.004069, y=-0.033176, theta=0.047406
+[19:09:58.548] Odometry x=0.004069, y=-0.033176, theta=0.047776
+[19:09:58.549] Init: px average disparity is:30.411767 ,While minimum is: 40.000000  KLT tracked : 52
+[19:09:58.549] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:58.558] Odometry x=0.004069, y=-0.033175, theta=0.048092
+[19:09:58.568] Odometry x=0.004069, y=-0.033175, theta=0.048407
+[19:09:58.578] Odometry x=0.004069, y=-0.033175, theta=0.048722
+[19:09:58.588] Odometry x=0.004070, y=-0.033175, theta=0.049037
+[19:09:58.598] Odometry x=0.004070, y=-0.033175, theta=0.049361
+[19:09:58.609] Odometry x=0.004070, y=-0.033175, theta=0.049685
+[19:09:58.619] Odometry x=0.004070, y=-0.033175, theta=0.049998
+[19:09:58.629] Odometry x=0.004070, y=-0.033175, theta=0.050313
+[19:09:58.639] Odometry x=0.004070, y=-0.033174, theta=0.050630
+[19:09:58.647] Init: px average disparity is:32.455472 ,While minimum is: 40.000000  KLT tracked : 52
+[19:09:58.647] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:58.649] Odometry x=0.004071, y=-0.033174, theta=0.050946
+[19:09:58.659] Odometry x=0.004071, y=-0.033174, theta=0.051266
+[19:09:58.669] Odometry x=0.004071, y=-0.033174, theta=0.051580
+[19:09:58.679] Odometry x=0.004071, y=-0.033174, theta=0.051900
+[19:09:58.690] Odometry x=0.004071, y=-0.033174, theta=0.052211
+[19:09:58.700] Odometry x=0.004071, y=-0.033174, theta=0.052528
+[19:09:58.710] Odometry x=0.004072, y=-0.033174, theta=0.052848
+[19:09:58.720] Odometry x=0.004072, y=-0.033174, theta=0.053162
+[19:09:58.730] Odometry x=0.004072, y=-0.033173, theta=0.053484
+[19:09:58.740] Odometry x=0.004072, y=-0.033173, theta=0.053804
+[19:09:58.750] Odometry x=0.004072, y=-0.033173, theta=0.054121
+[19:09:58.757] Init: px average disparity is:31.425099 ,While minimum is: 40.000000  KLT tracked : 52
+[19:09:58.758] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:58.760] Odometry x=0.004072, y=-0.033173, theta=0.054546
+[19:09:58.771] Odometry x=0.004073, y=-0.033173, theta=0.054923
+[19:09:58.781] Odometry x=0.004073, y=-0.033173, theta=0.055136
+[19:09:58.791] Odometry x=0.004073, y=-0.033173, theta=0.055508
+[19:09:58.801] Odometry x=0.004073, y=-0.033173, theta=0.055903
+[19:09:58.811] Odometry x=0.004073, y=-0.033172, theta=0.056231
+[19:09:58.821] Odometry x=0.004074, y=-0.033172, theta=0.056591
+[19:09:58.831] Odometry x=0.004074, y=-0.033172, theta=0.056938
+[19:09:58.842] Odometry x=0.004074, y=-0.033172, theta=0.057158
+[19:09:58.846] Init: px average disparity is:31.174095 ,While minimum is: 40.000000  KLT tracked : 52
+[19:09:58.846] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:58.852] Odometry x=0.004074, y=-0.033172, theta=0.057417
+[19:09:58.862] Odometry x=0.004074, y=-0.033172, theta=0.057732
+[19:09:58.872] Odometry x=0.004074, y=-0.033172, theta=0.058050
+[19:09:58.882] Odometry x=0.004075, y=-0.033172, theta=0.058270
+[19:09:58.892] Odometry x=0.004075, y=-0.033172, theta=0.058527
+[19:09:58.902] Odometry x=0.004075, y=-0.033172, theta=0.058846
+[19:09:58.912] Odometry x=0.004075, y=-0.033172, theta=0.059161
+[19:09:58.923] Odometry x=0.004075, y=-0.033171, theta=0.059477
+[19:09:58.933] Odometry x=0.004075, y=-0.033171, theta=0.059846
+[19:09:58.943] Odometry x=0.004076, y=-0.033171, theta=0.060212
+[19:09:58.947] Init: px average disparity is:32.447960 ,While minimum is: 40.000000  KLT tracked : 52
+[19:09:58.947] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:58.953] Odometry x=0.004076, y=-0.033171, theta=0.060533
+[19:09:58.963] Odometry x=0.004076, y=-0.033171, theta=0.060843
+[19:09:58.973] Odometry x=0.004076, y=-0.033171, theta=0.061205
+[19:09:58.983] Odometry x=0.004076, y=-0.033171, theta=0.061546
+[19:09:58.994] Odometry x=0.004077, y=-0.033171, theta=0.061947
+[19:09:59.004] Odometry x=0.004077, y=-0.033171, theta=0.062219
+[19:09:59.014] Odometry x=0.004077, y=-0.033170, theta=0.062477
+[19:09:59.024] Odometry x=0.004077, y=-0.033170, theta=0.062795
+[19:09:59.034] Odometry x=0.004077, y=-0.033170, theta=0.063018
+[19:09:59.044] Odometry x=0.004077, y=-0.033170, theta=0.063280
+[19:09:59.046] Init: px average disparity is:32.167606 ,While minimum is: 40.000000  KLT tracked : 52
+[19:09:59.046] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:59.054] Odometry x=0.004077, y=-0.033170, theta=0.063503
+[19:09:59.064] Odometry x=0.004077, y=-0.033170, theta=0.063778
+[19:09:59.075] Odometry x=0.004078, y=-0.033170, theta=0.064115
+[19:09:59.085] Odometry x=0.004078, y=-0.033170, theta=0.064362
+[19:09:59.095] Odometry x=0.004078, y=-0.033170, theta=0.064633
+[19:09:59.105] Odometry x=0.004078, y=-0.033170, theta=0.064955
+[19:09:59.115] Odometry x=0.004078, y=-0.033170, theta=0.065362
+[19:09:59.125] Odometry x=0.004079, y=-0.033169, theta=0.065787
+[19:09:59.135] Odometry x=0.004079, y=-0.033169, theta=0.066328
+[19:09:59.145] Odometry x=0.004079, y=-0.033169, theta=0.066676
+[19:09:59.147] Init: px average disparity is:30.230542 ,While minimum is: 40.000000  KLT tracked : 52
+[19:09:59.147] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:59.156] Odometry x=0.004079, y=-0.033169, theta=0.066939
+[19:09:59.166] Odometry x=0.004080, y=-0.033169, theta=0.067255
+[19:09:59.176] Odometry x=0.004080, y=-0.033169, theta=0.067669
+[19:09:59.186] Odometry x=0.004080, y=-0.033169, theta=0.068049
+[19:09:59.196] Odometry x=0.004080, y=-0.033169, theta=0.068363
+[19:09:59.206] Odometry x=0.004080, y=-0.033169, theta=0.068677
+[19:09:59.216] Odometry x=0.004081, y=-0.033169, theta=0.068992
+[19:09:59.227] Odometry x=0.004081, y=-0.033169, theta=0.069357
+[19:09:59.237] Odometry x=0.004081, y=-0.033168, theta=0.069722
+[19:09:59.246] Init: px average disparity is:30.311513 ,While minimum is: 40.000000  KLT tracked : 52
+[19:09:59.246] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:59.247] Odometry x=0.004081, y=-0.033168, theta=0.069951
+[19:09:59.257] Odometry x=0.004081, y=-0.033168, theta=0.070300
+[19:09:59.267] Odometry x=0.004082, y=-0.033168, theta=0.070679
+[19:09:59.277] Odometry x=0.004082, y=-0.033168, theta=0.070999
+[19:09:59.287] Odometry x=0.004082, y=-0.033168, theta=0.071309
+[19:09:59.297] Odometry x=0.004082, y=-0.033168, theta=0.071642
+[19:09:59.308] Odometry x=0.004082, y=-0.033168, theta=0.071884
+[19:09:59.318] Odometry x=0.004082, y=-0.033168, theta=0.072150
+[19:09:59.328] Odometry x=0.004083, y=-0.033168, theta=0.072373
+[19:09:59.338] Odometry x=0.004083, y=-0.033168, theta=0.072631
+[19:09:59.346] Init: px average disparity is:32.509271 ,While minimum is: 40.000000  KLT tracked : 52
+[19:09:59.346] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:59.348] Odometry x=0.001560, y=-0.033168, theta=0.028053
+[19:09:59.358] Odometry x=0.001560, y=-0.033167, theta=0.028362
+[19:09:59.368] Odometry x=0.001560, y=-0.033167, theta=0.028677
+[19:09:59.378] Odometry x=0.001560, y=-0.033167, theta=0.029033
+[19:09:59.389] Odometry x=0.001560, y=-0.033167, theta=0.029373
+[19:09:59.399] Odometry x=0.001560, y=-0.033167, theta=0.029687
+[19:09:59.409] Odometry x=0.001561, y=-0.033167, theta=0.029998
+[19:09:59.419] Odometry x=0.001561, y=-0.033166, theta=0.030368
+[19:09:59.429] Odometry x=0.001561, y=-0.033166, theta=0.030714
+[19:09:59.439] Odometry x=0.001561, y=-0.033166, theta=0.031050
+[19:09:59.447] Init: px average disparity is:32.455401 ,While minimum is: 40.000000  KLT tracked : 52
+[19:09:59.447] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:59.449] Odometry x=0.001561, y=-0.033166, theta=0.031388
+[19:09:59.459] Odometry x=0.001562, y=-0.033166, theta=0.031727
+[19:09:59.470] Odometry x=0.001562, y=-0.033166, theta=0.032078
+[19:09:59.480] Odometry x=0.001562, y=-0.033165, theta=0.032412
+[19:09:59.490] Odometry x=0.001562, y=-0.033165, theta=0.032737
+[19:09:59.500] Odometry x=0.001562, y=-0.033165, theta=0.033057
+[19:09:59.510] Odometry x=0.001562, y=-0.033165, theta=0.033379
+[19:09:59.520] Odometry x=0.001563, y=-0.033165, theta=0.033698
+[19:09:59.530] Odometry x=0.001563, y=-0.033165, theta=0.034023
+[19:09:59.540] Odometry x=0.001563, y=-0.033165, theta=0.034364
+[19:09:59.550] Init: px average disparity is:32.475602 ,While minimum is: 40.000000  KLT tracked : 52
+[19:09:59.550] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:59.551] Odometry x=0.001563, y=-0.033164, theta=0.034693
+[19:09:59.561] Odometry x=0.001563, y=-0.033164, theta=0.035016
+[19:09:59.571] Odometry x=0.001564, y=-0.033164, theta=0.035337
+[19:09:59.581] Odometry x=0.001564, y=-0.033164, theta=0.035655
+[19:09:59.591] Odometry x=0.001564, y=-0.033164, theta=0.035975
+[19:09:59.601] Odometry x=0.001564, y=-0.033164, theta=0.036297
+[19:09:59.611] Odometry x=0.001564, y=-0.033164, theta=0.036610
+[19:09:59.621] Odometry x=0.001564, y=-0.033163, theta=0.036922
+[19:09:59.632] Odometry x=0.001564, y=-0.033163, theta=0.037237
+[19:09:59.642] Odometry x=0.001565, y=-0.033163, theta=0.037556
+[19:09:59.647] Init: px average disparity is:29.376110 ,While minimum is: 40.000000  KLT tracked : 52
+[19:09:59.647] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:59.652] Odometry x=0.001565, y=-0.033163, theta=0.037869
+[19:09:59.662] Odometry x=0.001565, y=-0.033163, theta=0.038188
+[19:09:59.672] Odometry x=0.001565, y=-0.033163, theta=0.038511
+[19:09:59.682] Odometry x=0.001565, y=-0.033163, theta=0.038833
+[19:09:59.692] Odometry x=0.001565, y=-0.033163, theta=0.039151
+[19:09:59.702] Odometry x=0.001566, y=-0.033163, theta=0.039476
+[19:09:59.713] Odometry x=0.001566, y=-0.033162, theta=0.039797
+[19:09:59.723] Odometry x=0.001566, y=-0.033162, theta=0.040116
+[19:09:59.733] Odometry x=0.001566, y=-0.033162, theta=0.040435
+[19:09:59.743] Odometry x=0.001566, y=-0.033162, theta=0.040747
+[19:09:59.747] Init: px average disparity is:32.454232 ,While minimum is: 40.000000  KLT tracked : 52
+[19:09:59.747] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:59.753] Odometry x=0.001566, y=-0.033162, theta=0.041063
+[19:09:59.763] Odometry x=0.001567, y=-0.033162, theta=0.041378
+[19:09:59.773] Odometry x=0.001567, y=-0.033162, theta=0.041703
+[19:09:59.783] Odometry x=0.001567, y=-0.033162, theta=0.042045
+[19:09:59.794] Odometry x=0.001567, y=-0.033161, theta=0.042379
+[19:09:59.804] Odometry x=0.001567, y=-0.033161, theta=0.042784
+[19:09:59.814] Odometry x=0.001568, y=-0.033161, theta=0.043056
+[19:09:59.824] Odometry x=0.001568, y=-0.033161, theta=0.043312
+[19:09:59.834] Odometry x=0.001568, y=-0.033161, theta=0.043713
+[19:09:59.844] Odometry x=0.001568, y=-0.033161, theta=0.043988
+[19:09:59.847] Init: px average disparity is:32.111502 ,While minimum is: 40.000000  KLT tracked : 52
+[19:09:59.847] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:59.854] Odometry x=0.001568, y=-0.033160, theta=0.044336
+[19:09:59.864] Odometry x=0.001569, y=-0.033160, theta=0.044706
+[19:09:59.874] Odometry x=0.001569, y=-0.033160, theta=0.045021
+[19:09:59.885] Odometry x=0.001569, y=-0.033160, theta=0.045339
+[19:09:59.895] Odometry x=0.001569, y=-0.033160, theta=0.045661
+[19:09:59.905] Odometry x=0.001569, y=-0.033160, theta=0.045993
+[19:09:59.915] Odometry x=0.001569, y=-0.033160, theta=0.046313
+[19:09:59.925] Odometry x=0.001570, y=-0.033160, theta=0.046626
+[19:09:59.935] Odometry x=0.001570, y=-0.033160, theta=0.046946
+[19:09:59.945] Odometry x=0.001570, y=-0.033160, theta=0.047261
+[19:09:59.947] Init: px average disparity is:32.454578 ,While minimum is: 40.000000  KLT tracked : 52
+[19:09:59.947] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:09:59.956] Odometry x=0.001570, y=-0.033159, theta=0.047478
+[19:09:59.966] Odometry x=0.001570, y=-0.033159, theta=0.047834
+[19:09:59.976] Odometry x=0.001570, y=-0.033159, theta=0.048211
+[19:09:59.986] Odometry x=0.001571, y=-0.033159, theta=0.048522
+[19:09:59.996] Odometry x=0.001571, y=-0.033159, theta=0.048841
+[19:10:00.006] Odometry x=0.001571, y=-0.033159, theta=0.049163
+[19:10:00.016] Odometry x=0.001571, y=-0.033159, theta=0.049477
+[19:10:00.026] Odometry x=0.001571, y=-0.033159, theta=0.049799
+[19:10:00.036] Odometry x=0.001571, y=-0.033158, theta=0.050112
+[19:10:00.047] Odometry x=0.001571, y=-0.033158, theta=0.050326
+[19:10:00.047] Init: px average disparity is:32.436791 ,While minimum is: 40.000000  KLT tracked : 52
+[19:10:00.047] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:10:00.057] Odometry x=0.001572, y=-0.033158, theta=0.050683
+[19:10:00.067] Odometry x=0.001572, y=-0.033158, theta=0.051061
+[19:10:00.077] Odometry x=0.001572, y=-0.033158, theta=0.051371
+[19:10:00.087] Odometry x=0.001572, y=-0.033158, theta=0.051683
+[19:10:00.097] Odometry x=0.001572, y=-0.033158, theta=0.052008
+[19:10:00.107] Odometry x=0.001573, y=-0.033158, theta=0.052331
+[19:10:00.117] Odometry x=0.001573, y=-0.033157, theta=0.052643
+[19:10:00.128] Odometry x=0.001573, y=-0.033157, theta=0.052962
+[19:10:00.138] Odometry x=0.001573, y=-0.033157, theta=0.053280
+[19:10:00.147] Init: px average disparity is:30.257368 ,While minimum is: 40.000000  KLT tracked : 52
+[19:10:00.147] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:10:00.148] Odometry x=0.001573, y=-0.033157, theta=0.053596
+[19:10:00.158] Odometry x=0.001573, y=-0.033157, theta=0.053908
+[19:10:00.168] Odometry x=0.001574, y=-0.033157, theta=0.054226
+[19:10:00.178] Odometry x=0.001574, y=-0.033157, theta=0.054545
+[19:10:00.188] Odometry x=0.001574, y=-0.033157, theta=0.054865
+[19:10:00.199] Odometry x=0.001574, y=-0.033157, theta=0.055282
+[19:10:00.209] Odometry x=0.001574, y=-0.033157, theta=0.055562
+[19:10:00.219] Odometry x=0.001574, y=-0.033156, theta=0.055827
+[19:10:00.229] Odometry x=0.001575, y=-0.033156, theta=0.056247
+[19:10:00.239] Odometry x=0.001575, y=-0.033156, theta=0.056625
+[19:10:00.247] Init: px average disparity is:32.510580 ,While minimum is: 40.000000  KLT tracked : 52
+[19:10:00.247] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:10:00.249] Odometry x=0.001575, y=-0.033156, theta=0.056843
+[19:10:00.259] Odometry x=0.001575, y=-0.033156, theta=0.057190
+[19:10:00.269] Odometry x=0.001576, y=-0.033156, theta=0.057560
+[19:10:00.279] Odometry x=0.001576, y=-0.033156, theta=0.057875
+[19:10:00.290] Odometry x=0.001576, y=-0.033156, theta=0.058186
+[19:10:00.300] Odometry x=0.001576, y=-0.033155, theta=0.058495
+[19:10:00.310] Odometry x=0.001576, y=-0.033155, theta=0.058805
+[19:10:00.320] Odometry x=0.001576, y=-0.033155, theta=0.059023
+[19:10:00.330] Odometry x=0.001576, y=-0.033155, theta=0.059280
+[19:10:00.340] Odometry x=0.001576, y=-0.033155, theta=0.059600
+[19:10:00.347] Init: px average disparity is:31.525537 ,While minimum is: 40.000000  KLT tracked : 52
+[19:10:00.347] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:10:00.350] Odometry x=0.001577, y=-0.033155, theta=0.059922
+[19:10:00.360] Odometry x=0.001577, y=-0.033155, theta=0.060237
+[19:10:00.371] Odometry x=0.001577, y=-0.033155, theta=0.060560
+[19:10:00.381] Odometry x=0.001577, y=-0.033155, theta=0.060878
+[19:10:00.391] Odometry x=0.001577, y=-0.033154, theta=0.061188
+[19:10:00.401] Odometry x=0.001577, y=-0.033154, theta=0.061517
+[19:10:00.411] Odometry x=0.001578, y=-0.033154, theta=0.061851
+[19:10:00.421] Odometry x=0.001578, y=-0.033154, theta=0.062185
+[19:10:00.431] Odometry x=0.001578, y=-0.033154, theta=0.062503
+[19:10:00.442] Odometry x=0.001578, y=-0.033154, theta=0.062824
+[19:10:00.447] Init: px average disparity is:32.481744 ,While minimum is: 40.000000  KLT tracked : 52
+[19:10:00.447] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:10:00.452] Odometry x=0.001578, y=-0.033154, theta=0.063146
+[19:10:00.462] Odometry x=0.001579, y=-0.033154, theta=0.063466
+[19:10:00.472] Odometry x=0.001579, y=-0.033154, theta=0.063793
+[19:10:00.482] Odometry x=0.001579, y=-0.033153, theta=0.064116
+[19:10:00.492] Odometry x=0.001579, y=-0.033153, theta=0.064427
+[19:10:00.502] Odometry x=0.001579, y=-0.033153, theta=0.064758
+[19:10:00.512] Odometry x=0.001579, y=-0.033153, theta=0.065096
+[19:10:00.523] Odometry x=0.001580, y=-0.033153, theta=0.065418
+[19:10:00.533] Odometry x=0.001580, y=-0.033153, theta=0.065748
+[19:10:00.543] Odometry x=0.001580, y=-0.033153, theta=0.066068
+[19:10:00.548] Init: px average disparity is:32.092461 ,While minimum is: 40.000000  KLT tracked : 52
+[19:10:00.548] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:10:00.553] Odometry x=0.001580, y=-0.033153, theta=0.066385
+[19:10:00.563] Odometry x=0.001580, y=-0.033153, theta=0.066604
+[19:10:00.573] Odometry x=0.001580, y=-0.033153, theta=0.066957
+[19:10:00.583] Odometry x=0.001581, y=-0.033152, theta=0.067329
+[19:10:00.593] Odometry x=0.001581, y=-0.033152, theta=0.067643
+[19:10:00.604] Odometry x=0.001581, y=-0.033152, theta=0.067981
+[19:10:00.614] Odometry x=0.001581, y=-0.033152, theta=0.068321
+[19:10:00.624] Odometry x=0.001581, y=-0.033152, theta=0.068638
+[19:10:00.634] Odometry x=0.001581, y=-0.033152, theta=0.068973
+[19:10:00.644] Odometry x=0.001582, y=-0.033152, theta=0.069308
+[19:10:00.647] Init: px average disparity is:30.502346 ,While minimum is: 40.000000  KLT tracked : 52
+[19:10:00.647] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:10:00.654] Odometry x=0.001582, y=-0.033152, theta=0.069633
+[19:10:00.664] Odometry x=0.001582, y=-0.033152, theta=0.069947
+[19:10:00.675] Odometry x=0.001582, y=-0.033152, theta=0.070259
+[19:10:00.685] Odometry x=0.001582, y=-0.033151, theta=0.070571
+[19:10:00.695] Odometry x=0.001582, y=-0.033151, theta=0.070891
+[19:10:00.705] Odometry x=0.001583, y=-0.033151, theta=0.071209
+[19:10:00.715] Odometry x=0.001583, y=-0.033151, theta=0.071513
+[19:10:00.725] Odometry x=0.001583, y=-0.033151, theta=0.071825
+[19:10:00.735] Odometry x=0.001583, y=-0.033151, theta=0.072174
+[19:10:00.746] Odometry x=0.001583, y=-0.033151, theta=0.072507
+[19:10:00.747] Init: px average disparity is:32.505400 ,While minimum is: 40.000000  KLT tracked : 52
+[19:10:00.747] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:10:00.756] Odometry x=0.000605, y=-0.033151, theta=0.028008
+[19:10:00.766] Odometry x=0.000605, y=-0.033151, theta=0.028315
+[19:10:00.776] Odometry x=0.000605, y=-0.033151, theta=0.028625
+[19:10:00.786] Odometry x=0.000605, y=-0.033150, theta=0.028941
+[19:10:00.796] Odometry x=0.000606, y=-0.033150, theta=0.029258
+[19:10:00.806] Odometry x=0.000606, y=-0.033150, theta=0.029586
+[19:10:00.816] Odometry x=0.000606, y=-0.033150, theta=0.029907
+[19:10:00.826] Odometry x=0.000606, y=-0.033150, theta=0.030217
+[19:10:00.837] Odometry x=0.000606, y=-0.033150, theta=0.030532
+[19:10:00.847] Odometry x=0.000606, y=-0.033150, theta=0.030845
+[19:10:00.848] Init: px average disparity is:32.471070 ,While minimum is: 40.000000  KLT tracked : 52
+[19:10:00.848] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:10:00.857] Odometry x=0.000607, y=-0.033149, theta=0.031161
+[19:10:00.867] Odometry x=0.000607, y=-0.033149, theta=0.031479
+[19:10:00.877] Odometry x=0.000607, y=-0.033149, theta=0.031798
+[19:10:00.887] Odometry x=0.000607, y=-0.033149, theta=0.032111
+[19:10:00.898] Odometry x=0.000607, y=-0.033149, theta=0.032424
+[19:10:00.908] Odometry x=0.000607, y=-0.033149, theta=0.032738
+[19:10:00.918] Odometry x=0.000608, y=-0.033149, theta=0.033044
+[19:10:00.928] Odometry x=0.000608, y=-0.033148, theta=0.033360
+[19:10:00.938] Odometry x=0.000608, y=-0.033148, theta=0.033678
+[19:10:00.947] Init: px average disparity is:32.500865 ,While minimum is: 40.000000  KLT tracked : 52
+[19:10:00.947] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:10:00.948] Odometry x=0.000608, y=-0.033148, theta=0.033992
+[19:10:00.958] Odometry x=0.000608, y=-0.033148, theta=0.034309
+[19:10:00.968] Odometry x=0.000608, y=-0.033148, theta=0.034634
+[19:10:00.979] Odometry x=0.000608, y=-0.033148, theta=0.034960
+[19:10:00.989] Odometry x=0.000609, y=-0.033148, theta=0.035278
+[19:10:00.999] Odometry x=0.000609, y=-0.033147, theta=0.035691
+[19:10:01.009] Odometry x=0.000609, y=-0.033147, theta=0.036068
+[19:10:01.019] Odometry x=0.000609, y=-0.033147, theta=0.036285
+[19:10:01.029] Odometry x=0.000609, y=-0.033147, theta=0.036633
+[19:10:01.039] Odometry x=0.000610, y=-0.033147, theta=0.036999
+[19:10:01.048] Init: px average disparity is:29.110303 ,While minimum is: 40.000000  KLT tracked : 52
+[19:10:01.048] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:10:01.049] Odometry x=0.000610, y=-0.033146, theta=0.037313
+[19:10:01.060] Odometry x=0.000610, y=-0.033146, theta=0.037631
+[19:10:01.070] Odometry x=0.000610, y=-0.033146, theta=0.037947
+[19:10:01.080] Odometry x=0.000610, y=-0.033146, theta=0.038253
+[19:10:01.090] Odometry x=0.000610, y=-0.033146, theta=0.038558
+[19:10:01.100] Odometry x=0.000611, y=-0.033146, theta=0.038875
+[19:10:01.110] Odometry x=0.000611, y=-0.033146, theta=0.039185
+[19:10:01.120] Odometry x=0.000611, y=-0.033145, theta=0.039492
+[19:10:01.132] Odometry x=0.000611, y=-0.033145, theta=0.039801
+[19:10:01.142] Odometry x=0.000611, y=-0.033145, theta=0.040115
+[19:10:01.147] Init: px average disparity is:31.851712 ,While minimum is: 40.000000  KLT tracked : 52
+[19:10:01.147] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 
+[19:10:01.152] Odometry x=0.000611, y=-0.033145, theta=0.040436
+[19:10:01.162] Odometry x=0.000612, y=-0.033145, theta=0.040751
+[19:10:01.172] Odometry x=0.000612, y=-0.033145, theta=0.040962
+[19:10:01.182] Odometry x=0.000612, y=-0.033145, theta=0.041310
+[19:10:01.192] Odometry x=0.000612, y=-0.033145, theta=0.041680
+[19:10:01.202] Odometry x=0.000612, y=-0.033144, theta=0.041997
+[19:10:01.213] Odometry x=0.000612, y=-0.033144, theta=0.042314
+[19:10:01.223] Odometry x=0.000613, y=-0.033144, theta=0.042530
+[19:10:01.233] Odometry x=0.000613, y=-0.033144, theta=0.042684
+[19:10:01.243] Odometry x=0.000613, y=-0.033144, theta=0.042843
+[19:10:01.253] Odometry x=0.000613, y=-0.033144, theta=0.042999
+[19:10:01.263] Odometry x=0.000613, y=-0.033144, theta=0.043156
+[19:10:01.273] Odometry x=0.000613, y=-0.033144, theta=0.043314
+[19:10:01.284] Odometry x=0.000613, y=-0.033144, theta=0.043471
+[19:10:01.294] Odometry x=0.000613, y=-0.033144, theta=0.043629
+[19:10:01.304] Odometry x=0.000613, y=-0.033144, theta=0.043785
diff --git a/GPU_version/vio/include/vio/feature_detection.h b/GPU_version/vio/include/vio/feature_detection.h
index 8770c05..f53d3dd 100644
--- a/GPU_version/vio/include/vio/feature_detection.h
+++ b/GPU_version/vio/include/vio/feature_detection.h
@@ -104,7 +104,7 @@ public:
       std::shared_ptr<Frame> frame,
       const ImgPyr& img_pyr,
       const double detection_threshold,
-      Features& fts,
+      list<shared_ptr<Feature>>& fts,
       cv::Mat* descriptors= nullptr);
   opencl* gpu_fast_;
 };
diff --git a/GPU_version/vio/include/vio/ukf.h b/GPU_version/vio/include/vio/ukf.h
index 38ebef5..7db67e8 100644
--- a/GPU_version/vio/include/vio/ukf.h
+++ b/GPU_version/vio/include/vio/ukf.h
@@ -132,12 +132,12 @@ public:
     std::pair<Eigen::Matrix<double,3,3>,vio::SE2_5> UpdateSvo(double x/*in camera frame*/,double z/*in camera frame*/,double pitch/*in camera frame*/) {
         while(lock)usleep(5);
         lock=true;
-        filter_->correct(x,-1.0*z,pitch);
+        filter_->correct(10.0*x,-1.0*z,-1.0*pitch);
         lock=false;
-        return std::pair<Eigen::Matrix<double,3,3>,vio::SE2_5>(filter_->cov_,vio::SE2_5(filter_->state_(0),-1.0*filter_->state_(1),(filter_->state_(2))));
+        return std::pair<Eigen::Matrix<double,3,3>,vio::SE2_5>(filter_->cov_,vio::SE2_5(0.1*filter_->state_(0),-1.0*filter_->state_(1),-1.0*(filter_->state_(2))));
     };
     std::pair<Eigen::Matrix<double,3,3>,vio::SE2_5> get_location(){
-        return std::pair<Eigen::Matrix<double,3,3>,vio::SE2_5>(filter_->cov_,vio::SE2_5(filter_->state_(0),-1.0*filter_->state_(1),(filter_->state_(2))));
+        return std::pair<Eigen::Matrix<double,3,3>,vio::SE2_5>(filter_->cov_,vio::SE2_5(0.1*filter_->state_(0),-1.0*filter_->state_(1),-1.0*(filter_->state_(2))));
     }
     bool start_=false;
 private:
diff --git a/GPU_version/vio/launch/Px30.launch b/GPU_version/vio/launch/Px30.launch
index d12f08d..7c4cbdf 100644
--- a/GPU_version/vio/launch/Px30.launch
+++ b/GPU_version/vio/launch/Px30.launch
@@ -1,6 +1,6 @@
 <launch>
 
-  <node pkg="vio" type="vio" name="vio" clear_params="true" output="screen" />
+  <!-- node pkg="vio" type="vio" name="vio" clear_params="true" output="screen" / -->
 
     <!-- Camera topic to subscribe to -->
     <param name="vio/cam_topic" value="/CoreNode/grey_img" type="str" />
diff --git a/GPU_version/vio/out.txt b/GPU_version/vio/out.txt
deleted file mode 100644
index 72bd21a..0000000
Binary files a/GPU_version/vio/out.txt and /dev/null differ
diff --git a/GPU_version/vio/param/vo_fast.yaml b/GPU_version/vio/param/vo_fast.yaml
index 3209aa8..52e2887 100644
--- a/GPU_version/vio/param/vo_fast.yaml
+++ b/GPU_version/vio/param/vo_fast.yaml
@@ -10,7 +10,8 @@ svo:
   kfselect_mindist: 0.01
   poseoptim_thresh: 8.0
   init_min_inliers: 30
-  ACC_noise: 100          #acc white noise in continuous in EKF
-  GYO_noise: 100          #gyro white noise in continuous in EKF
-  svo_ekf: 0.05              #Svo noise that will be devided by number of Reprojected points after opmization in EKF
-  Cmd_Cov: 100  #control vector noise in EKF
+  map_scale: 0.5
+  ACC_noise: 2000          #acc white noise in continuous in EKF
+  GYO_noise: 2000         #gyro white noise in continuous in EKF
+  svo_ekf: 0.0001              #Svo noise that will be devided by number of Reprojected points after opmization in EKF
+  Cmd_Cov: 2000  #control vector noise in EKF
diff --git a/GPU_version/vio/src/depth_filter.cpp b/GPU_version/vio/src/depth_filter.cpp
index 8cc0f40..9330adb 100644
--- a/GPU_version/vio/src/depth_filter.cpp
+++ b/GPU_version/vio/src/depth_filter.cpp
@@ -269,7 +269,7 @@ namespace vio {
 #if VIO_DEBUG
             fprintf(log_,"[%s]  If point is visible? %f, %f, %f\n",vio::time_in_HH_MM_SS_MMM().c_str(),xyz_f.x(),xyz_f.y(),xyz_f.z());
 #endif
-            if(xyz_f.z() > 0.0)  {
+            if(xyz_f.z() < 0.0)  {
                 ++it; // behind the camera
                 continue;
             }
diff --git a/GPU_version/vio/src/feature_detection.cpp b/GPU_version/vio/src/feature_detection.cpp
index 5bf96d1..42e2e43 100644
--- a/GPU_version/vio/src/feature_detection.cpp
+++ b/GPU_version/vio/src/feature_detection.cpp
@@ -69,51 +69,51 @@ void FastDetector::detect(
     std::shared_ptr<Frame> frame,
     const ImgPyr& img_pyr,
     const double detection_threshold,
-    Features& fts,
+    list<shared_ptr<Feature>>& fts,
     cv::Mat* descriptors){
-  Corners corners(grid_n_cols_*grid_n_rows_, Corner(0,0,detection_threshold,0,0.0f));
+  Corners corners(grid_n_cols_*grid_n_rows_, Corner(0,0,0.0,0,0.0f));
   std::vector<cv::KeyPoint> keypoints;
+  fts.clear();
   for(int L=0; L<n_pyr_levels_; ++L)
   {
     const int scale = (1<<L);
     cv::Mat img=img_pyr.at(L);
     if(!gpu_fast_->reload_buf(0,0,img)){
-        std::cerr<<"Failed to write into GPU goodbye :)"<<'\n';
+        ROS_ERROR("Failed to write into GPU goodbye :)");
         exit(0);
     };
     cl_int icorner[1]={0};
     if(!gpu_fast_->reload_buf(0,2,icorner)){
-          std::cerr<<"Failed to write into GPU goodbye :)"<<'\n';
+          ROS_ERROR("Failed to write into GPU goodbye :)");
           exit(0);
       };
     gpu_fast_->run(0,img.cols,img.rows);
-    int count[1]={0};
+    cl_int count[1]={0};
     gpu_fast_->read(0,2,1,count);
     cl_int2 fast_corners[350000]={0};
     gpu_fast_->read(0,1,count[0],fast_corners);
+    if(count[0]<1 ){
+          ROS_ERROR("Can not communicate with GPU");
+          exit(0);
+    }
     for(uint i=0;i<count[0];++i)
     {
-      if(fast_corners[i].x<0 || fast_corners[i].x>img_pyr[L].cols || fast_corners[i].y>img_pyr[L].rows || fast_corners[i].y<0)
+      if(fast_corners[i].x<0 || fast_corners[i].x>img_pyr[L].cols || fast_corners[i].y>img_pyr[L].rows || fast_corners[i].y<0){
           continue;
-
+      }
       const int k = static_cast<int>((fast_corners[i].y*scale)/cell_size_)*grid_n_cols_
                   + static_cast<int>((fast_corners[i].x*scale)/cell_size_);
 
-      if(grid_occupancy_[k] || k > corners.size())
-        continue;
-
+      if(grid_occupancy_[k] || k > corners.size()){
+          continue;
+      }
       const float score = vk::shiTomasiScore(img_pyr[L], fast_corners[i].x, fast_corners[i].y);
-
       if(score > corners.at(k).score){
-          corners.at(k) = Corner(fast_corners[i].x, fast_corners[i].y, score, L, 0.0f);
-          // Create feature for every corner that has high enough corner score
-          if(corners.at(k).score > detection_threshold){
-              fts.push_back(make_shared<Feature>(frame, Vector2d(corners.at(k).x, corners.at(k).y)*scale, corners.at(k).level));
-              if(descriptors)keypoints.push_back(cv::KeyPoint(fast_corners[i].x*scale, fast_corners[i].y*scale, 1));
-          }
+          corners.at(k) = Corner(fast_corners[i].x*scale, fast_corners[i].y*scale, score, L, 0.0f);
+          fts.push_back(make_shared<Feature>(frame, Vector2d(corners.at(k).x, corners.at(k).y)*scale, corners.at(k).level));
+          if(descriptors)keypoints.push_back(cv::KeyPoint(fast_corners[i].x*scale, fast_corners[i].y*scale, 1));
       }
     }
-
   }
   if(descriptors){
       cv::Ptr<cv::xfeatures2d::FREAK> extractor = cv::xfeatures2d::FREAK::create(true, true, 22.0f, 4);
diff --git a/GPU_version/vio/src/frame_handler_mono.cpp b/GPU_version/vio/src/frame_handler_mono.cpp
index e811d7c..5c3d7ce 100644
--- a/GPU_version/vio/src/frame_handler_mono.cpp
+++ b/GPU_version/vio/src/frame_handler_mono.cpp
@@ -131,8 +131,9 @@ void FrameHandlerMono::addImage(const cv::Mat& img, const double timestamp,const
 FrameHandlerMono::UpdateResult FrameHandlerMono::processFirstFrame()
 {
     ukfPtr_.start_=true;
-  if(klt_homography_init_->addFirstFrame(new_frame_) == initialization::FAILURE)
-    return RESULT_NO_KEYFRAME;
+  if(klt_homography_init_->addFirstFrame(new_frame_) == initialization::FAILURE){
+      return RESULT_NO_KEYFRAME;
+  }
   new_frame_->setKeyframe();
   map_.reset();
   map_.addKeyframe(new_frame_);
@@ -224,7 +225,8 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame()
             fabs(new_frame_->T_f_w_.pitch()-last_frame_->T_f_w_.pitch()));
 #endif
     if((last_frame_->T_f_w_.se2().translation()-new_frame_->T_f_w_.se2().translation()).norm()>0.5 ||
-       fabs(new_frame_->T_f_w_.pitch()-last_frame_->T_f_w_.pitch())>M_PI_2){
+       fabs(new_frame_->T_f_w_.pitch()-last_frame_->T_f_w_.pitch())>M_PI_2 ||
+            sfba_n_edges_final < Config::qualityMinFts()/*10*/){
         auto init_f= ukfPtr_.get_location();
         new_frame_->T_f_w_=init_f.second;
         new_frame_->Cov_ = init_f.first;
@@ -242,7 +244,7 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame()
 #endif
   optimizeStructure(new_frame_, Config::structureOptimMaxPts(), Config::structureOptimNumIter());
   depth_filter_->addFrame(new_frame_);
-  if(sfba_n_edges_final < Config::qualityMinFts() || reprojector_.n_matches_ < Config::qualityMinFts()/*10*/){
+  if(sfba_n_edges_final < Config::qualityMinFts()){
       return RESULT_FAILURE;
   }
 
diff --git a/GPU_version/vio/src/initialization.cpp b/GPU_version/vio/src/initialization.cpp
index 7b46693..b3e5e1d 100644
--- a/GPU_version/vio/src/initialization.cpp
+++ b/GPU_version/vio/src/initialization.cpp
@@ -28,9 +28,12 @@ namespace initialization {
 InitResult KltHomographyInit::addFirstFrame(FramePtr frame_ref)
 {
   reset();
+  features_ref_.clear();
+  px_ref_.clear();
   detectFeatures(frame_ref, px_ref_, features_ref_, gpu_fast_);
   if(px_ref_.size() < 100)
   {
+    ROS_WARN("Process first frame. Detected observations are px=%d, features=%d less than 100",px_ref_.size(),features_ref_.size());
     return FAILURE;
   }
 #if VIO_DEBUG
@@ -80,6 +83,15 @@ InitResult KltHomographyInit::addSecondFrame(FramePtr frame_cur)
       return NO_KEYFRAME;
   }
     frame_cur->T_f_w_ = T_cur_from_ref_;
+    // Rescale the map such that the mean scene depth is equal to the specified scale
+    vector<double> depth_vec;
+    for(size_t i=0; i<xyz_in_cur_.size(); ++i)
+        depth_vec.push_back((xyz_in_cur_[i]).z());
+    double scene_depth_median = vk::getMedian(depth_vec);
+    double scale = Config::mapScale()/scene_depth_median;
+    frame_cur->T_f_w_ = SE2_5(T_cur_from_ref_.se2() * frame_ref_->T_f_w_.se2());
+    frame_cur->T_f_w_ = SE2_5(SE2(frame_cur->T_f_w_.se2().rotation_matrix(),
+                                  -frame_cur->T_f_w_.se2().rotation_matrix()*(frame_ref_->pos() + scale*(frame_cur->pos() - frame_ref_->pos()))));
   // For each inlier create 3D point and add feature in both frames
   for(auto&& id:inliers_){
       Features::iterator first=features_ref_.begin();
diff --git a/GPU_version/vio/src/pose_optimizer.cpp b/GPU_version/vio/src/pose_optimizer.cpp
index 9a189c0..92b1183 100644
--- a/GPU_version/vio/src/pose_optimizer.cpp
+++ b/GPU_version/vio/src/pose_optimizer.cpp
@@ -102,10 +102,7 @@ void optimizeGaussNewton(
     // check if error increased
     if((iter > 0 && new_chi2 > chi2) || (bool) std::isnan((double)dT[0]))
     {
-//#if VIO_DEBUG
-//          fprintf(log,"[%s] it:%d \t FAILURE \t new_chi2: %f\n",
-//                  vio::time_in_HH_MM_SS_MMM().c_str(),iter,new_chi2);
-//#endif
+
       frame->T_f_w_ = T_old; // roll-back
       break;
     }
@@ -113,12 +110,7 @@ void optimizeGaussNewton(
     // update the model
     T_old = frame->T_f_w_;
     frame->T_f_w_=SE2_5(T_old.se2().translation().x()+dT.x(),T_old.se2().translation().y()+dT.y(),T_old.pitch()+dT.z());
-
     chi2 = new_chi2;
-//#if VIO_DEBUG
-//      fprintf(log,"[%s] it:%d \t Success \t new_chi2: %f \t dT = %f, %f, %f\n",
-//              vio::time_in_HH_MM_SS_MMM().c_str(),iter,new_chi2,dT.x(),dT.y(),dT.z());
-//#endif
 
     // stop when converged
     if(vk::norm_max(dT) <= EPS)
@@ -148,7 +140,7 @@ void optimizeGaussNewton(
         error_init /=chi2_vec_init.size();
     if(!chi2_vec_final.empty())for(auto&& i:chi2_vec_final)error_final+=i;
         error_final /= chi2_vec_final.size();
-    fprintf(log,"[%s] n deleted obs = %d \t n obs felt =%d \t error init =%f \t error end=%f\n",
+    fprintf(log,"[%s] n deleted obs = %d \t n obs with reprojection error less than 0.5 px =%d \t error init =%f \t error end=%f\n",
             vio::time_in_HH_MM_SS_MMM().c_str(),n_deleted_refs,num_obs,error_init,error_final);
 #endif
 }
diff --git a/GPU_version/vio/src/reprojector.cpp b/GPU_version/vio/src/reprojector.cpp
index 428bcb1..e102315 100644
--- a/GPU_version/vio/src/reprojector.cpp
+++ b/GPU_version/vio/src/reprojector.cpp
@@ -112,6 +112,7 @@ namespace vio {
                         const int k = static_cast<int>((*point)->px.y() / grid_.cell_size) *
                                       grid_.grid_n_cols
                                       + static_cast<int>((*point)->px.x() / grid_.cell_size);
+                        if(k>grid_.cells.size()-1)continue;
                         assert(grid_.cells.at(k) != nullptr);
                         Vector2d px((int) (*point)->px.x(),
                                     (int) (*point)->px.y());
@@ -129,6 +130,7 @@ namespace vio {
                         const int k = static_cast<int>((*point)->px.y()/ grid_.cell_size) *
                                       grid_.grid_n_cols
                                       + static_cast<int>((*point)->px.x() / grid_.cell_size);
+                        if(k>grid_.cells.size()-1)continue;
                         assert(grid_.cells.at(k) != nullptr);
                         Vector2d px((int) (*point)->px.x(),
                                     (int) (*point)->px.y());
diff --git a/GPU_version/vio/src/vo_node.cpp b/GPU_version/vio/src/vo_node.cpp
index 3ecda7a..6ef8480 100644
--- a/GPU_version/vio/src/vo_node.cpp
+++ b/GPU_version/vio/src/vo_node.cpp
@@ -119,12 +119,22 @@ void VioNode::imgCb(const sensor_msgs::ImageConstPtr& msg)
       try {
           cv::Mat img=cv_bridge::toCvShare(msg, "mono8")->image;
           if(img.empty())return;
-          cv::Mat imgbul;//tem;
-          cv::Laplacian(img,imgbul,CV_64F);
+          cv::Mat imgbul,float_img,frame,show;//tem;
+          img.convertTo(float_img,CV_64F,1.f/255);
+          float_img*=2.0;
+          float_img+=0.2;
+          float_img.convertTo(frame,CV_8UC1,255);
+          cv::Laplacian(frame,imgbul,CV_64F);
           cv::Scalar mean, stddev;
           meanStdDev(imgbul, mean, stddev, cv::Mat());
-          if(stddev.val[0] * stddev.val[0]< 50.0)return;
-          vo_->addImage(img, msg->header.stamp.toSec(),msg->header.stamp);
+          cv::cvtColor(frame,show,CV_GRAY2RGB);
+          imshow("New Image", show);
+          cv::waitKey(10);
+          if(stddev.val[0] * stddev.val[0]< 30.0){
+              ROS_WARN("Frame is blur or too dark");
+              return;
+          }
+          vo_->addImage(frame, msg->header.stamp.toSec(),msg->header.stamp);
       } catch (cv_bridge::Exception& e) {
         ROS_ERROR("vo exception: %s", e.what());
       }
@@ -152,7 +162,7 @@ void VioNode::imuCb(const sensor_msgs::ImuPtr &imu) {
     auto odom=vo_->ukfPtr_.get_location();
     fprintf(vo_->log_,"[%s] Odometry x=%f, y=%f, theta=%f\n",vio::time_in_HH_MM_SS_MMM().c_str(),
             odom.second.se2().translation()(0),odom.second.se2().translation()(1),
-            -odom.second.pitch());
+            odom.second.pitch());
     visualizer_.publishMinimal(vo_->ukfPtr_, imu->header.stamp.toSec());
 #endif
 }
@@ -170,7 +180,7 @@ void VioNode::imu_th(){
     while(start_ && !boost::this_thread::interruption_requested())
     {
         Q.callOne(ros::WallDuration(10,0.0));
-        usleep(20000);
+        usleep(10000);
     }
 
 }