From 93587b7859cbd8f7d8381f9828604cfba947a59a Mon Sep 17 00:00:00 2001 From: gfuse Date: Wed, 22 Sep 2021 19:39:13 +0200 Subject: [PATCH] detected problem depth estimation some times goes too off --- GPU_version/vio/depth_filter_log.txt | 2263 +++++++++++++- GPU_version/vio/frame_handler_log.txt | 2720 ++++++++++++----- .../vio/include/vio/frame_handler_mono.h | 25 +- GPU_version/vio/include/vio/ukf.h | 14 +- GPU_version/vio/param/vo_fast.yaml | 2 +- GPU_version/vio/src/bundle_adjustment.cpp | 2 +- GPU_version/vio/src/depth_filter.cpp | 19 +- GPU_version/vio/src/feature_detection.cpp | 2 +- GPU_version/vio/src/frame.cpp | 8 +- GPU_version/vio/src/frame_handler_mono.cpp | 134 +- GPU_version/vio/src/pose_optimizer.cpp | 4 +- GPU_version/vio/src/reprojector.cpp | 3 +- 12 files changed, 4192 insertions(+), 1004 deletions(-) diff --git a/GPU_version/vio/depth_filter_log.txt b/GPU_version/vio/depth_filter_log.txt index d6f9143..88400d5 100755 --- a/GPU_version/vio/depth_filter_log.txt +++ b/GPU_version/vio/depth_filter_log.txt @@ -1,15 +1,2248 @@ -[11:00:32.178] init depth filter -[11:00:37.126] init depth filter -[11:00:41.808] DepthFilter: RESET. -[11:00:56.780] add key frame -[11:00:56.780] init seeds -[11:00:56.780] update seed -[11:00:56.780] init seeds -[11:00:56.782] DepthFilter: Initialized 74 new seeds -[11:00:56.782] add key frame -[11:00:56.782] update seed -[11:00:56.782] init seeds -[11:00:56.787] DepthFilter: Initialized 78 new seeds -[11:00:56.792] DepthFilter: Initialized 137 new seeds -[11:01:16.929] DepthFilter stop thread invoked. -[11:01:16.929] DepthFilter interrupt and join thread +[19:35:56.735] init depth filter +[19:35:57.620] init depth filter +[19:36:01.512] DepthFilter: RESET. +[19:36:13.284] add key frame +[19:36:13.284] init seeds +[19:36:13.284] update 0 seeds +[19:36:13.284] init seeds +[19:36:13.287] DepthFilter: Initialized 248 new seeds +[19:36:13.287] add key frame +[19:36:13.287] update 248 seeds +[19:36:13.287] If point is visible? -1.921773, 2.026455, 3.332691 mu:-0.274802 unit_bearing:-0.528852 -0.474669 0.703565 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.287] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.287] If point is visible? -1.902330, 2.042336, 3.334801 mu:-0.274802 unit_bearing:-0.523509 -0.478930 0.704673 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.287] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.287] If point is visible? -1.889831, 2.082317, 3.309492 mu:-0.274802 unit_bearing:-0.520075 -0.490683 0.699109 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.287] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.287] If point is visible? -1.892595, 2.050261, 3.335779 mu:-0.274802 unit_bearing:-0.520834 -0.481059 0.705205 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.287] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.287] If point is visible? -1.919965, 1.804629, 3.509772 mu:-0.274802 unit_bearing:-0.528355 -0.408235 0.744436 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.287] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.287] If point is visible? -1.910638, 1.805966, 3.515935 mu:-0.274802 unit_bearing:-0.525792 -0.408393 0.746162 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.287] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.287] If point is visible? -1.881727, 1.823452, 3.525134 mu:-0.274802 unit_bearing:-0.517848 -0.412854 0.749256 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.287] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.287] If point is visible? -1.862545, 1.832823, 3.532587 mu:-0.274802 unit_bearing:-0.512576 -0.415161 0.751603 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.287] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.287] If point is visible? -1.939018, 1.795176, 3.501863 mu:-0.274802 unit_bearing:-0.533591 -0.405921 0.741962 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.287] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.287] If point is visible? -2.159697, 1.273003, 3.637479 mu:-0.274802 unit_bearing:-0.594234 -0.258955 0.761464 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.287] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.288] If point is visible? 0.517417, 1.203564, 4.397414 mu:-0.274802 unit_bearing:0.141442 -0.214565 0.966414 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.288] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.288] If point is visible? 0.496555, 1.188831, 4.405693 mu:-0.274802 unit_bearing:0.135709 -0.210269 0.968179 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.288] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.288] If point is visible? 0.507024, 1.188605, 4.404236 mu:-0.274802 unit_bearing:0.138586 -0.210256 0.967774 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.288] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.288] If point is visible? 0.517491, 1.188375, 4.402749 mu:-0.274802 unit_bearing:0.141462 -0.210243 0.967360 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.288] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.288] If point is visible? 0.454753, 1.166862, 4.419077 mu:-0.274802 unit_bearing:0.124222 -0.203829 0.971094 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.288] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.288] If point is visible? 0.465232, 1.166657, 4.417744 mu:-0.274802 unit_bearing:0.127102 -0.203818 0.970723 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.288] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.288] If point is visible? 0.475709, 1.166448, 4.416381 mu:-0.274802 unit_bearing:0.129981 -0.203806 0.970344 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.288] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.288] If point is visible? 0.465263, 1.159043, 4.420331 mu:-0.274802 unit_bearing:0.127110 -0.201654 0.971174 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.288] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.288] If point is visible? 0.454814, 1.151628, 4.424233 mu:-0.274802 unit_bearing:0.124239 -0.199501 0.971990 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.288] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.288] If point is visible? 0.350077, 1.099937, 4.453348 mu:-0.274802 unit_bearing:0.095457 -0.184427 0.978200 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.288] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.288] If point is visible? 0.360577, 1.099783, 4.452324 mu:-0.274802 unit_bearing:0.098342 -0.184419 0.977915 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.288] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.288] If point is visible? 0.882733, 1.116535, 4.351811 mu:-0.274802 unit_bearing:0.241832 -0.192355 0.951061 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.288] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.288] If point is visible? 2.375151, 0.971097, 3.584788 mu:-0.274802 unit_bearing:0.651951 -0.178374 0.736982 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.288] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.288] If point is visible? 0.339595, 1.092432, 4.456768 mu:-0.274802 unit_bearing:0.092576 -0.182266 0.978881 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.288] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.288] If point is visible? 0.934678, 1.099286, 4.343456 mu:-0.274802 unit_bearing:0.256106 -0.187930 0.948205 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.288] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.288] If point is visible? 0.934616, 1.106888, 4.340963 mu:-0.274802 unit_bearing:0.256089 -0.190087 0.947779 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.288] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.288] If point is visible? 0.024121, 1.102426, 4.469928 mu:-0.274802 unit_bearing:0.005883 -0.184551 0.982805 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.288] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.288] If point is visible? 1.007136, 1.088624, 4.325906 mu:-0.274802 unit_bearing:0.276018 -0.185610 0.943061 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.288] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.288] If point is visible? 2.313545, 0.943270, 3.650129 mu:-0.274802 unit_bearing:0.635022 -0.168595 0.753872 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.288] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.288] If point is visible? 2.304718, 0.937146, 3.659972 mu:-0.274802 unit_bearing:0.632596 -0.166595 0.756352 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.288] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.288] If point is visible? 2.295870, 0.931004, 3.669762 mu:-0.274802 unit_bearing:0.630165 -0.164592 0.758816 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.288] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.288] If point is visible? 2.242129, 0.901156, 3.725091 mu:-0.274802 unit_bearing:0.615396 -0.154598 0.772908 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.288] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.288] If point is visible? -2.282634, 0.858715, 3.700537 mu:-0.274802 unit_bearing:-0.628018 -0.143845 0.764789 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.288] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.288] If point is visible? 2.233130, 0.894899, 3.734524 mu:-0.274802 unit_bearing:0.612924 -0.152576 0.775271 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.288] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.288] If point is visible? 2.169095, 0.872903, 3.792542 mu:-0.274802 unit_bearing:0.595327 -0.144633 0.790359 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.289] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.289] If point is visible? 2.178387, 0.871842, 3.785635 mu:-0.274802 unit_bearing:0.597880 -0.144575 0.788440 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.289] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.289] If point is visible? 2.187665, 0.870774, 3.778694 mu:-0.274802 unit_bearing:0.600430 -0.144516 0.786511 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.289] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.289] If point is visible? 2.160250, 0.851674, 3.805922 mu:-0.274802 unit_bearing:0.592896 -0.138395 0.793298 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.289] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.289] If point is visible? 2.142298, 0.816497, 3.830039 mu:-0.274802 unit_bearing:0.587963 -0.127993 0.798698 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.289] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.289] If point is visible? -2.302741, 0.767727, 3.710834 mu:-0.274802 unit_bearing:-0.633543 -0.118682 0.764551 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.289] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.289] If point is visible? 2.151219, 0.837831, 3.817005 mu:-0.274802 unit_bearing:0.590414 -0.134248 0.795857 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.289] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.289] If point is visible? 2.151363, 0.830384, 3.819101 mu:-0.274802 unit_bearing:0.590454 -0.132147 0.796179 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.289] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.289] If point is visible? 2.114690, 0.789614, 3.858284 mu:-0.274802 unit_bearing:0.580376 -0.119714 0.805501 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.289] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.289] If point is visible? 2.124083, 0.788624, 3.851589 mu:-0.274802 unit_bearing:0.582957 -0.119668 0.803642 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.289] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.289] If point is visible? 2.133462, 0.787630, 3.844858 mu:-0.274802 unit_bearing:0.585535 -0.119622 0.801773 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.289] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.289] If point is visible? -0.565040, 0.826215, 4.500193 mu:-0.274802 unit_bearing:-0.156019 -0.108200 0.981810 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.289] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.289] If point is visible? -0.565060, 0.818457, 4.502013 mu:-0.274802 unit_bearing:-0.156025 -0.106023 0.982047 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.289] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.289] If point is visible? -0.575542, 0.818227, 4.500350 mu:-0.274802 unit_bearing:-0.158905 -0.106016 0.981585 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.289] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.289] If point is visible? 1.818882, 0.642630, 4.089210 mu:-0.274802 unit_bearing:0.499087 -0.071890 0.863565 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.289] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.289] If point is visible? 1.828671, 0.641864, 4.083589 mu:-0.274802 unit_bearing:0.501777 -0.071869 0.862006 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.289] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.289] If point is visible? 1.809137, 0.635747, 4.096344 mu:-0.274802 unit_bearing:0.496409 -0.069774 0.865280 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.289] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.289] If point is visible? 1.750315, 0.609539, 4.135154 mu:-0.274802 unit_bearing:0.480245 -0.061326 0.874988 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.289] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.289] If point is visible? 1.799380, 0.628851, 4.103426 mu:-0.274802 unit_bearing:0.493728 -0.067656 0.866981 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.289] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.289] If point is visible? 1.691098, 0.583015, 4.172451 mu:-0.274802 unit_bearing:0.463972 -0.052842 0.884272 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.289] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.289] If point is visible? 1.701019, 0.582329, 4.167274 mu:-0.274802 unit_bearing:0.466698 -0.052828 0.882837 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.289] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.289] If point is visible? 1.710931, 0.581639, 4.162063 mu:-0.274802 unit_bearing:0.469422 -0.052815 0.881393 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.289] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.289] If point is visible? 1.701055, 0.574636, 4.168660 mu:-0.274802 unit_bearing:0.466708 -0.050683 0.882958 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.289] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.289] If point is visible? -2.360689, 0.485080, 3.726212 mu:-0.274802 unit_bearing:-0.649467 -0.041074 0.759279 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.289] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.290] If point is visible? -1.744765, 0.471074, 4.159012 mu:-0.274802 unit_bearing:-0.480210 -0.022760 0.876858 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.290] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.290] If point is visible? -1.332829, 0.510938, 4.348281 mu:-0.274802 unit_bearing:-0.367009 -0.027294 0.929817 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.290] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.290] If point is visible? -1.625630, 0.471187, 4.222062 mu:-0.274802 unit_bearing:-0.447472 -0.020679 0.894059 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.290] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.290] If point is visible? 0.561180, 0.474602, 4.566435 mu:-0.274802 unit_bearing:0.153468 -0.010077 0.988102 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.290] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.290] If point is visible? -1.625643, 0.463442, 4.223180 mu:-0.274802 unit_bearing:-0.447475 -0.018529 0.894104 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.290] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.290] If point is visible? 1.450788, 0.458401, 4.308851 mu:-0.274802 unit_bearing:0.397934 -0.014285 0.917303 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.290] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.290] If point is visible? 1.440668, 0.451159, 4.314258 mu:-0.274802 unit_bearing:0.395153 -0.012129 0.918535 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.290] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.290] If point is visible? 1.450795, 0.450617, 4.309917 mu:-0.274802 unit_bearing:0.397936 -0.012126 0.917333 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.290] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.290] If point is visible? 1.369606, 0.415823, 4.348791 mu:-0.274802 unit_bearing:0.375625 -0.001334 0.926771 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.290] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.290] If point is visible? 1.379781, 0.415317, 4.344680 mu:-0.274802 unit_bearing:0.378421 -0.001334 0.925632 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.290] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.290] If point is visible? -1.505297, 0.423981, 4.286580 mu:-0.274802 unit_bearing:-0.414404 -0.005643 0.910076 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.290] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.290] If point is visible? -1.754723, 0.393109, 4.164151 mu:-0.274802 unit_bearing:-0.482947 -0.001322 0.875649 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.290] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.290] If point is visible? -1.695365, 0.397019, 4.195936 mu:-0.274802 unit_bearing:-0.466635 -0.001324 0.884449 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.290] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.290] If point is visible? -1.444687, 0.396104, 4.317186 mu:-0.274802 unit_bearing:-0.397748 0.002986 0.917490 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.290] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.290] If point is visible? 0.529691, 0.427898, 4.577126 mu:-0.274802 unit_bearing:0.144815 0.003019 0.989454 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.290] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.290] If point is visible? -1.695365, 0.389266, 4.196890 mu:-0.274802 unit_bearing:-0.466635 0.000822 0.884450 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.290] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.290] If point is visible? 0.508686, 0.436152, 4.579162 mu:-0.274802 unit_bearing:0.139043 0.000836 0.990286 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.290] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.290] If point is visible? 0.519190, 0.435970, 4.577683 mu:-0.274802 unit_bearing:0.141929 0.000836 0.989876 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.290] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.290] If point is visible? -0.134032, 0.432245, 4.612650 mu:-0.274802 unit_bearing:-0.037577 0.003024 0.999289 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.290] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.290] If point is visible? -1.675490, 0.359482, 4.210851 mu:-0.274802 unit_bearing:-0.461173 0.009413 0.887260 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.290] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.290] If point is visible? -0.186748, 0.408253, 4.613061 mu:-0.274802 unit_bearing:-0.052064 0.009581 0.998598 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.290] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.290] If point is visible? -0.176206, 0.408318, 4.613592 mu:-0.274802 unit_bearing:-0.049167 0.009581 0.998745 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.290] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.290] If point is visible? -0.102395, 0.408665, 4.616454 mu:-0.274802 unit_bearing:-0.028883 0.009582 0.999537 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.290] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.290] If point is visible? -0.186747, 0.400348, 4.613946 mu:-0.274802 unit_bearing:-0.052064 0.011767 0.998574 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.290] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.290] If point is visible? -0.102394, 0.400759, 4.617339 mu:-0.274802 unit_bearing:-0.028883 0.011768 0.999514 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.290] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.290] If point is visible? -0.112939, 0.384901, 4.618740 mu:-0.274802 unit_bearing:-0.031781 0.016140 0.999365 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.290] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.290] If point is visible? 1.369606, 0.408013, 4.349752 mu:-0.274802 unit_bearing:0.375626 0.000828 0.926771 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.290] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.290] If point is visible? -1.675474, 0.343945, 4.212562 mu:-0.274802 unit_bearing:-0.461169 0.013709 0.887206 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.290] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.290] If point is visible? -0.197283, 0.360723, 4.617551 mu:-0.274802 unit_bearing:-0.054959 0.022695 0.998231 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.290] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.290] If point is visible? -1.645475, 0.275706, 4.234613 mu:-0.274802 unit_bearing:-0.452925 0.033060 0.890935 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.291] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.291] If point is visible? -0.176199, 0.352936, 4.619424 mu:-0.274802 unit_bearing:-0.049165 0.024882 0.998481 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.291] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.291] If point is visible? -0.102391, 0.353278, 4.622287 mu:-0.274802 unit_bearing:-0.028882 0.024885 0.999273 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.291] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.291] If point is visible? -0.081299, 0.353343, 4.622832 mu:-0.274802 unit_bearing:-0.023086 0.024885 0.999424 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.291] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.291] If point is visible? -0.134024, 0.337311, 4.622753 mu:-0.274802 unit_bearing:-0.037575 0.029255 0.998865 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.291] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.291] If point is visible? -0.134025, 0.345233, 4.622007 mu:-0.274802 unit_bearing:-0.037575 0.027070 0.998927 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.291] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.291] If point is visible? -0.134022, 0.329387, 4.623483 mu:-0.274802 unit_bearing:-0.037575 0.031441 0.998799 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.291] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.291] If point is visible? -0.596762, 0.173220, 4.587102 mu:-0.274802 unit_bearing:-0.164737 0.072818 0.983646 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.291] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.291] If point is visible? 1.379265, 0.172344, 4.366182 mu:-0.274802 unit_bearing:0.378280 0.065658 0.923360 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.291] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.291] If point is visible? -0.586236, 0.149574, 4.589910 mu:-0.274802 unit_bearing:-0.161844 0.079361 0.983620 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.291] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.291] If point is visible? -0.575752, 0.149763, 4.591607 mu:-0.274802 unit_bearing:-0.158963 0.079367 0.984089 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.291] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.291] If point is visible? -1.841820, 0.084385, 4.137745 mu:-0.274802 unit_bearing:-0.506881 0.081999 0.858107 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.291] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.291] If point is visible? -1.841886, 0.092175, 4.137487 mu:-0.274802 unit_bearing:-0.506899 0.079865 0.858298 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.291] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.291] If point is visible? -1.723754, 0.068046, 4.204656 mu:-0.274802 unit_bearing:-0.474436 0.088696 0.875810 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.291] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.291] If point is visible? 1.389116, 0.108916, 4.364788 mu:-0.274802 unit_bearing:0.380987 0.082912 0.920855 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.291] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.291] If point is visible? 1.389159, 0.116792, 4.364505 mu:-0.274802 unit_bearing:0.380999 0.080754 0.921042 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.291] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.291] If point is visible? -0.197113, 0.034692, 4.635345 mu:-0.274802 unit_bearing:-0.054912 0.112218 0.992165 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.291] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.291] If point is visible? -0.186581, 0.034752, 4.635909 mu:-0.274802 unit_bearing:-0.052018 0.112220 0.992321 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.291] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.291] If point is visible? -0.102302, 0.035115, 4.639316 mu:-0.274802 unit_bearing:-0.028858 0.112235 0.993263 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.291] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.291] If point is visible? 0.034690, 0.011302, 4.640843 mu:-0.274802 unit_bearing:0.008788 0.118781 0.992882 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.291] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.291] If point is visible? -0.354948, 0.009455, 4.623370 mu:-0.274802 unit_bearing:-0.098286 0.118700 0.988054 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.291] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.291] If point is visible? -0.344445, 0.017546, 4.624362 mu:-0.274802 unit_bearing:-0.095399 0.116526 0.988595 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.291] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.291] If point is visible? 0.024153, 0.019298, 4.640887 mu:-0.274802 unit_bearing:0.005892 0.116602 0.993161 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.291] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.291] If point is visible? 1.408738, 0.005528, 4.358394 mu:-0.274802 unit_bearing:0.386379 0.110897 0.915649 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.291] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.291] If point is visible? 1.418277, -0.065964, 4.353737 mu:-0.274802 unit_bearing:0.389000 0.130241 0.911985 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.291] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.291] If point is visible? 1.418205, -0.073864, 4.353603 mu:-0.274802 unit_bearing:0.388981 0.132391 0.911684 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.291] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.291] If point is visible? -0.344321, -0.054344, 4.624009 mu:-0.274802 unit_bearing:-0.095365 0.136123 0.986091 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.291] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.291] If point is visible? -0.323291, -0.054143, 4.625965 mu:-0.274802 unit_bearing:-0.089586 0.136133 0.986632 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.291] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.291] If point is visible? -0.344305, -0.062338, 4.623881 mu:-0.274802 unit_bearing:-0.095361 0.138299 0.985789 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.291] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.291] If point is visible? -0.007456, -0.060633, 4.640482 mu:-0.274802 unit_bearing:-0.002794 0.138390 0.990374 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.291] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.291] If point is visible? 0.024145, -0.060638, 4.640433 mu:-0.274802 unit_bearing:0.005890 0.138389 0.990360 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.291] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.291] If point is visible? 0.560218, -0.120976, 4.596006 mu:-0.274802 unit_bearing:0.153204 0.153359 0.976222 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.291] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.291] If point is visible? 0.570692, -0.121140, 4.594360 mu:-0.274802 unit_bearing:0.156082 0.153349 0.975768 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.291] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.291] If point is visible? 0.581164, -0.121308, 4.592683 mu:-0.274802 unit_bearing:0.158960 0.153338 0.975305 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.291] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.292] If point is visible? 0.024143, -0.076639, 4.640131 mu:-0.274802 unit_bearing:0.005889 0.142744 0.989742 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.292] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.292] If point is visible? 0.570663, -0.129133, 4.594086 mu:-0.274802 unit_bearing:0.156074 0.155520 0.975425 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.292] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.292] If point is visible? 0.581134, -0.129300, 4.592409 mu:-0.274802 unit_bearing:0.158952 0.155509 0.974962 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.292] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.292] If point is visible? -0.585298, -0.169431, 4.589181 mu:-0.274802 unit_bearing:-0.161586 0.166347 0.972738 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.292] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.292] If point is visible? 0.570634, -0.137127, 4.593795 mu:-0.274802 unit_bearing:0.156066 0.157690 0.975078 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.292] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.292] If point is visible? -0.616579, -0.193939, 4.582670 mu:-0.274802 unit_bearing:-0.170182 0.172813 0.970141 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.292] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.292] If point is visible? -0.606051, -0.209763, 4.583583 mu:-0.274802 unit_bearing:-0.167289 0.177160 0.969860 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.292] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.292] If point is visible? -0.606086, -0.201763, 4.584037 mu:-0.274802 unit_bearing:-0.167299 0.174993 0.970252 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.292] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.292] If point is visible? -1.608154, -0.406067, 4.239675 mu:-0.274802 unit_bearing:-0.442669 0.219185 0.869484 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.292] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.292] If point is visible? -1.911988, -0.380814, 4.073029 mu:-0.274802 unit_bearing:-0.526163 0.206716 0.824876 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.292] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.292] If point is visible? -1.795509, -0.390748, 4.141432 mu:-0.274802 unit_bearing:-0.494155 0.211717 0.843201 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.292] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.292] If point is visible? -1.736870, -0.388024, 4.174634 mu:-0.274802 unit_bearing:-0.478041 0.212086 0.852348 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.292] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.292] If point is visible? 1.444757, -0.375709, 4.321889 mu:-0.274802 unit_bearing:0.396277 0.213658 0.892925 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.292] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.292] If point is visible? -2.408488, -0.456230, 3.689055 mu:-0.274802 unit_bearing:-0.662603 0.214427 0.717620 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.292] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.292] If point is visible? -1.548460, -0.403648, 4.268994 mu:-0.274802 unit_bearing:-0.426265 0.219507 0.877562 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.292] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.292] If point is visible? -1.795335, -0.398591, 4.140545 mu:-0.274802 unit_bearing:-0.494107 0.213826 0.842696 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.292] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.292] If point is visible? -1.677711, -0.393254, 4.205724 mu:-0.274802 unit_bearing:-0.461784 0.214553 0.860652 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.292] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.292] If point is visible? -1.677553, -0.401125, 4.204831 mu:-0.274802 unit_bearing:-0.461740 0.216670 0.860145 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.292] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.292] If point is visible? -2.399408, -0.463291, 3.695971 mu:-0.274802 unit_bearing:-0.660107 0.216585 0.719270 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.292] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.292] If point is visible? 2.350908, -0.498227, 3.736966 mu:-0.274802 unit_bearing:0.645289 0.227487 0.729282 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.292] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.292] If point is visible? 2.122192, -0.523901, 3.913294 mu:-0.274802 unit_bearing:0.582438 0.240394 0.776516 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.292] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.292] If point is visible? 2.131469, -0.524387, 3.906430 mu:-0.274802 unit_bearing:0.584987 0.240297 0.774627 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.292] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.292] If point is visible? 2.037802, -0.527372, 3.972284 mu:-0.274802 unit_bearing:0.559247 0.243317 0.792489 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.292] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.292] If point is visible? 2.047206, -0.527840, 3.965737 mu:-0.274802 unit_bearing:0.561831 0.243225 0.790688 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.292] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.292] If point is visible? 1.999810, -0.533299, 3.996912 mu:-0.274802 unit_bearing:0.548807 0.245758 0.799008 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.292] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.292] If point is visible? 1.894507, -0.543999, 4.062635 mu:-0.274802 unit_bearing:0.519869 0.250878 0.816576 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.292] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.292] If point is visible? 1.904097, -0.544433, 4.056609 mu:-0.274802 unit_bearing:0.522505 0.250794 0.814918 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.292] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.293] If point is visible? 1.903865, -0.552241, 4.055351 mu:-0.274802 unit_bearing:0.522441 0.252882 0.814313 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.293] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.293] If point is visible? 1.729337, -0.552623, 4.157263 mu:-0.274802 unit_bearing:0.474480 0.256399 0.842097 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.293] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.293] If point is visible? 1.787402, -0.570710, 4.121532 mu:-0.274802 unit_bearing:0.490437 0.260136 0.831746 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.293] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.293] If point is visible? 1.777897, -0.562468, 4.128445 mu:-0.274802 unit_bearing:0.487825 0.258119 0.833908 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.293] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.293] If point is visible? 1.689940, -0.558917, 4.177403 mu:-0.274802 unit_bearing:0.463654 0.258790 0.847380 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.293] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.293] If point is visible? -0.238065, -0.574717, 4.587255 mu:-0.274802 unit_bearing:-0.066166 0.276826 0.958639 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.293] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.293] If point is visible? -0.227588, -0.574661, 4.587953 mu:-0.274802 unit_bearing:-0.063287 0.276834 0.958832 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.293] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.293] If point is visible? -0.217109, -0.574608, 4.588619 mu:-0.274802 unit_bearing:-0.060407 0.276841 0.959015 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.293] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.293] If point is visible? 0.034539, -0.574073, 4.595293 mu:-0.274802 unit_bearing:0.008746 0.276919 0.960853 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.293] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.293] If point is visible? 0.034542, -0.566041, 4.596567 mu:-0.274802 unit_bearing:0.008747 0.274771 0.961470 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.293] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.293] If point is visible? 1.481246, -0.574967, 4.277006 mu:-0.274802 unit_bearing:0.406304 0.266503 0.874010 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.293] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.293] If point is visible? -1.461501, -0.732637, 4.251868 mu:-0.274802 unit_bearing:-0.402369 0.308667 0.861873 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.293] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.293] If point is visible? 0.254196, -0.727272, 4.558706 mu:-0.274802 unit_bearing:0.069109 0.317479 0.945744 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.293] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.293] If point is visible? -1.717331, -0.756545, 4.118313 mu:-0.274802 unit_bearing:-0.472671 0.310715 0.824644 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.293] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.293] If point is visible? 0.222802, -0.735141, 4.559170 mu:-0.274802 unit_bearing:0.060481 0.319641 0.945606 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.293] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.293] If point is visible? 1.062617, -0.754054, 4.400577 mu:-0.274802 unit_bearing:0.291264 0.319489 0.901716 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.293] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.293] If point is visible? -0.767735, -0.804625, 4.466291 mu:-0.274802 unit_bearing:-0.211720 0.335483 0.917947 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.293] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.293] If point is visible? 1.040645, -0.841119, 4.386898 mu:-0.274802 unit_bearing:0.285226 0.342778 0.895070 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.293] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.293] If point is visible? 1.384671, -0.848843, 4.259602 mu:-0.274802 unit_bearing:0.379765 0.340621 0.860090 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.293] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.293] If point is visible? 1.384464, -0.856733, 4.257624 mu:-0.274802 unit_bearing:0.379708 0.342707 0.859287 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.293] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.293] If point is visible? -1.474626, -0.969297, 4.183234 mu:-0.274802 unit_bearing:-0.405975 0.370918 0.835227 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.293] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.293] If point is visible? -1.484771, -0.961689, 4.180815 mu:-0.274802 unit_bearing:-0.408763 0.368762 0.834822 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.293] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.293] If point is visible? -0.069843, -1.022953, 4.493508 mu:-0.274802 unit_bearing:-0.019938 0.395944 0.918058 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.293] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.293] If point is visible? 2.310824, -1.172849, 3.559212 mu:-0.274802 unit_bearing:0.634274 0.405539 0.658205 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.293] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.293] If point is visible? -0.017668, -1.237779, 4.423960 mu:-0.274802 unit_bearing:-0.005600 0.452209 0.891894 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.293] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.293] If point is visible? -1.872354, 1.824763, 3.531162 mu:-0.274802 unit_bearing:-0.515272 -0.413010 0.750945 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.293] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.293] If point is visible? -1.913681, 2.015021, 3.349214 mu:-0.274802 unit_bearing:-0.526629 -0.470997 0.707689 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.293] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.293] If point is visible? -1.949624, 1.773525, 3.509046 mu:-0.274802 unit_bearing:-0.536506 -0.399775 0.743196 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.294] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.294] If point is visible? -1.948749, 1.787061, 3.500100 mu:-0.274802 unit_bearing:-0.536265 -0.403767 0.741210 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.294] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.294] If point is visible? -1.930151, 1.789763, 3.512593 mu:-0.274802 unit_bearing:-0.531155 -0.404086 0.744708 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.294] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.294] If point is visible? 0.486050, 1.196650, 4.404460 mu:-0.274802 unit_bearing:0.132822 -0.212443 0.968104 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.294] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.294] If point is visible? 0.360466, 1.137992, 4.439922 mu:-0.274802 unit_bearing:0.098312 -0.195256 0.975812 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.294] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.294] If point is visible? 0.318549, 1.108021, 4.453791 mu:-0.274802 unit_bearing:0.086793 -0.186617 0.978591 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.294] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.294] If point is visible? 0.903533, 1.108129, 4.349072 mu:-0.274802 unit_bearing:0.247548 -0.190154 0.950033 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.294] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.294] If point is visible? 0.924259, 1.107306, 4.343698 mu:-0.274802 unit_bearing:0.253243 -0.190109 0.948539 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.294] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.294] If point is visible? -0.438601, 1.029426, 4.464348 mu:-0.274802 unit_bearing:-0.121274 -0.164826 0.978839 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.294] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.294] If point is visible? 2.141584, 0.853748, 3.819559 mu:-0.274802 unit_bearing:0.587767 -0.138504 0.797087 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.294] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.294] If point is visible? 1.420394, 0.452230, 4.322841 mu:-0.274802 unit_bearing:0.389582 -0.012133 0.920912 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.294] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.294] If point is visible? -1.655603, 0.376253, 4.219257 mu:-0.274802 unit_bearing:-0.455708 0.005121 0.890114 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.294] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.294] If point is visible? -0.102392, 0.361196, 4.621506 mu:-0.274802 unit_bearing:-0.028883 0.022699 0.999325 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.294] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.294] If point is visible? -0.123480, 0.345278, 4.622385 mu:-0.274802 unit_bearing:-0.034678 0.027070 0.999032 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.294] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.294] If point is visible? -0.355000, 0.041378, 4.623141 mu:-0.274802 unit_bearing:-0.098300 0.109985 0.989060 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.294] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.294] If point is visible? -0.333963, 0.041594, 4.625155 mu:-0.274802 unit_bearing:-0.092519 0.109994 0.989617 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.294] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.294] If point is visible? -0.354975, 0.025419, 4.623290 mu:-0.274802 unit_bearing:-0.098293 0.114343 0.988567 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.294] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.294] If point is visible? -0.333747, -0.086225, 4.624388 mu:-0.274802 unit_bearing:-0.092459 0.144831 0.985127 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.294] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.294] If point is visible? -0.354802, -0.070438, 4.622712 mu:-0.274802 unit_bearing:-0.098245 0.140469 0.985199 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.294] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.294] If point is visible? -0.312382, -0.246184, 4.618966 mu:-0.274802 unit_bearing:-0.086588 0.188279 0.978291 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.294] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.294] If point is visible? -2.400008, -0.448020, 3.698018 mu:-0.274802 unit_bearing:-0.660272 0.212488 0.720340 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.294] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.294] If point is visible? -2.382389, -0.446868, 3.713807 mu:-0.274802 unit_bearing:-0.655431 0.212703 0.724685 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.294] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.294] If point is visible? -2.411615, -0.586365, 3.660853 mu:-0.274802 unit_bearing:-0.663462 0.248977 0.705570 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.294] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.294] If point is visible? -2.394156, -0.585356, 3.676824 mu:-0.274802 unit_bearing:-0.658664 0.249237 0.709960 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.294] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.294] If point is visible? 2.350601, -0.505882, 3.735824 mu:-0.274802 unit_bearing:0.645205 0.229536 0.728714 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.294] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.294] If point is visible? 1.748040, -0.584811, 4.141130 mu:-0.274802 unit_bearing:0.479620 0.264638 0.836619 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.294] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.295] If point is visible? 1.729337, -0.552623, 4.157263 mu:-0.274802 unit_bearing:0.474480 0.256399 0.842097 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.295] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.295] If point is visible? -0.206649, -0.566527, 4.590529 mu:-0.274802 unit_bearing:-0.057533 0.274701 0.959807 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.295] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.295] If point is visible? -0.185686, -0.566433, 4.591706 mu:-0.274802 unit_bearing:-0.051772 0.274715 0.960131 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.295] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.295] If point is visible? 0.003076, -0.566030, 4.596710 mu:-0.274802 unit_bearing:0.000100 0.274773 0.961509 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.295] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.295] If point is visible? 0.024054, -0.566035, 4.596646 mu:-0.274802 unit_bearing:0.005865 0.274772 0.961492 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.295] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.295] If point is visible? -0.185721, -0.550372, 4.594202 mu:-0.274802 unit_bearing:-0.051782 0.270418 0.961349 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.295] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.295] If point is visible? 0.003076, -0.549965, 4.599203 mu:-0.274802 unit_bearing:0.000100 0.270475 0.962727 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.295] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.295] If point is visible? -0.206219, -0.727069, 4.561501 mu:-0.274802 unit_bearing:-0.057414 0.317518 0.946513 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.295] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.295] If point is visible? 0.254196, -0.727272, 4.558706 mu:-0.274802 unit_bearing:0.069109 0.317479 0.945744 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.295] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.295] If point is visible? -0.435831, -0.760656, 4.533488 mu:-0.274802 unit_bearing:-0.120512 0.325741 0.937747 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.295] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.295] If point is visible? -2.124347, -0.956349, 3.795442 mu:-0.274802 unit_bearing:-0.584520 0.354399 0.729889 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.295] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.295] If point is visible? 0.273033, -1.158893, 4.440927 mu:-0.274802 unit_bearing:0.074285 0.431261 0.899164 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.295] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.295] If point is visible? 2.310824, -1.172849, 3.559212 mu:-0.274802 unit_bearing:0.634274 0.405539 0.658205 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.295] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.295] If point is visible? -2.075270, 1.509641, 3.579842 mu:-0.274802 unit_bearing:-0.571034 -0.325429 0.753669 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.295] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.295] If point is visible? 0.402168, 1.213440, 4.409392 mu:-0.274802 unit_bearing:0.109772 -0.216858 0.970012 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.295] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.295] If point is visible? 0.318511, 1.123311, 4.448849 mu:-0.274802 unit_bearing:0.086782 -0.190953 0.977755 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.295] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.295] If point is visible? -1.864241, 1.945088, 3.446056 mu:-0.274802 unit_bearing:-0.513042 -0.448679 0.731761 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.295] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.295] If point is visible? 0.402281, 1.183039, 4.420053 mu:-0.274802 unit_bearing:0.109802 -0.208209 0.971902 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.295] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.295] If point is visible? 0.360420, 1.153249, 4.434839 mu:-0.274802 unit_bearing:0.098299 -0.199588 0.974937 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.295] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.295] If point is visible? 1.720321, 0.665346, 4.140382 mu:-0.274802 unit_bearing:0.472003 -0.076372 0.878283 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.295] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.295] If point is visible? 1.359394, 0.470938, 4.345643 mu:-0.274802 unit_bearing:0.372819 -0.016472 0.927758 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.295] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.295] If point is visible? 1.400077, 0.468866, 4.329139 mu:-0.274802 unit_bearing:0.383999 -0.016460 0.923187 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.295] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.295] If point is visible? -0.312690, -0.102030, 4.625871 mu:-0.274802 unit_bearing:-0.086673 0.149192 0.985002 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.295] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.295] If point is visible? -0.060109, -0.100697, 4.639065 mu:-0.274802 unit_bearing:-0.017263 0.149270 0.988646 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.295] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.295] If point is visible? -0.312943, 0.057752, 4.626825 mu:-0.274802 unit_bearing:-0.086743 0.105642 0.990614 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.295] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.295] If point is visible? -0.060159, 0.059167, 4.639977 mu:-0.274802 unit_bearing:-0.017277 0.105697 0.994248 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.295] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.295] If point is visible? -0.018002, 0.059219, 4.640461 mu:-0.274802 unit_bearing:-0.005692 0.105699 0.994382 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.295] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.295] If point is visible? -2.418146, -0.433920, 3.684062 mu:-0.274802 unit_bearing:-0.665257 0.208175 0.717006 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.295] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.295] If point is visible? -2.382968, -0.431579, 3.715774 mu:-0.274802 unit_bearing:-0.655590 0.208598 0.725733 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.296] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.296] If point is visible? -2.347493, -0.429263, 3.746917 mu:-0.274802 unit_bearing:-0.645841 0.209010 0.734305 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.296] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.296] If point is visible? -1.549292, -0.356264, 4.274106 mu:-0.274802 unit_bearing:-0.426494 0.206754 0.880543 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.296] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.296] If point is visible? 2.242174, -0.514942, 3.823691 mu:-0.274802 unit_bearing:0.615409 0.234950 0.752376 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.296] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.296] If point is visible? 2.314321, -0.519085, 3.764120 mu:-0.274802 unit_bearing:0.635235 0.234085 0.735989 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.296] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.296] If point is visible? -2.411615, -0.586365, 3.660853 mu:-0.274802 unit_bearing:-0.663462 0.248977 0.705570 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.296] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.296] If point is visible? 1.903631, -0.560049, 4.054074 mu:-0.274802 unit_bearing:0.522377 0.254969 0.813704 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.296] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.296] If point is visible? 2.129813, -0.570806, 3.898882 mu:-0.274802 unit_bearing:0.584532 0.252705 0.771014 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.296] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.296] If point is visible? -0.895345, -0.495256, 4.493496 mu:-0.274802 unit_bearing:-0.246788 0.252012 0.935727 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.296] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.296] If point is visible? -2.339944, -0.612929, 3.718354 mu:-0.274802 unit_bearing:-0.643767 0.258149 0.720364 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.296] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.296] If point is visible? -0.059891, -0.517881, 4.603418 mu:-0.274802 unit_bearing:-0.017203 0.261865 0.964951 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.296] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.296] If point is visible? -0.895008, -0.527218, 4.488899 mu:-0.274802 unit_bearing:-0.246695 0.260576 0.933403 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.296] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.296] If point is visible? -1.732959, -0.866627, 4.080752 mu:-0.274802 unit_bearing:-0.476966 0.339482 0.810713 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.296] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.296] If point is visible? 1.269094, -0.600092, 4.360346 mu:-0.274802 unit_bearing:0.348005 0.276147 0.895899 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.296] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.296] If point is visible? 1.901682, -0.622487, 4.043172 mu:-0.274802 unit_bearing:0.521841 0.271634 0.808639 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.296] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.296] If point is visible? -1.654118, -0.895579, 4.115706 mu:-0.274802 unit_bearing:-0.455300 0.348550 0.819277 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.296] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.296] If point is visible? 0.273033, -1.158893, 4.440927 mu:-0.274802 unit_bearing:0.074285 0.431261 0.899164 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.296] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.296] If point is visible? 0.982054, -0.656709, 4.444665 mu:-0.274802 unit_bearing:0.269125 0.294414 0.917002 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.296] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.296] If point is visible? -0.059868, -0.550010, 4.598652 mu:-0.274802 unit_bearing:-0.017197 0.270468 0.962575 T_cur_ref: x=0.002712 y=0.000000 z=1.002018 +[19:36:13.296] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:13.296] init seeds +[19:36:13.296] DepthFilter: Initialized 316 new seeds +[19:36:13.302] DepthFilter: Initialized 293 new seeds +[19:36:15.394] add new frame +[19:36:15.394] add key frame +[19:36:15.394] update 857 seeds +[19:36:15.394] If point is visible? -1.926739, 2.026455, 3.866729 mu:-0.274802 unit_bearing:-0.528852 -0.474669 0.703565 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.394] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.394] If point is visible? -1.907296, 2.042336, 3.868839 mu:-0.274802 unit_bearing:-0.523509 -0.478930 0.704673 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.394] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.394] If point is visible? -1.894797, 2.082317, 3.843530 mu:-0.274802 unit_bearing:-0.520075 -0.490683 0.699109 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.394] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.394] If point is visible? -1.897560, 2.050261, 3.869817 mu:-0.274802 unit_bearing:-0.520834 -0.481059 0.705205 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.394] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.394] If point is visible? -1.924930, 1.804629, 4.043810 mu:-0.274802 unit_bearing:-0.528355 -0.408235 0.744436 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.394] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.394] If point is visible? -1.915604, 1.805966, 4.049973 mu:-0.274802 unit_bearing:-0.525792 -0.408393 0.746162 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.394] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.394] If point is visible? -1.886692, 1.823452, 4.059171 mu:-0.274802 unit_bearing:-0.517848 -0.412854 0.749256 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.394] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.394] If point is visible? -1.867510, 1.832823, 4.066624 mu:-0.274802 unit_bearing:-0.512576 -0.415161 0.751603 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.394] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.394] If point is visible? -1.943983, 1.795176, 4.035901 mu:-0.274802 unit_bearing:-0.533591 -0.405921 0.741962 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.394] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.394] If point is visible? -2.164662, 1.273003, 4.171516 mu:-0.274802 unit_bearing:-0.594234 -0.258955 0.761464 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.394] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.394] If point is visible? 0.512452, 1.203564, 4.931451 mu:-0.274802 unit_bearing:0.141442 -0.214565 0.966414 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.394] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.394] If point is visible? 0.491590, 1.188831, 4.939730 mu:-0.274802 unit_bearing:0.135709 -0.210269 0.968179 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.394] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.395] If point is visible? 0.502058, 1.188605, 4.938274 mu:-0.274802 unit_bearing:0.138586 -0.210256 0.967774 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.395] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.395] If point is visible? 0.512525, 1.188375, 4.936786 mu:-0.274802 unit_bearing:0.141462 -0.210243 0.967360 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.395] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.395] If point is visible? 0.449788, 1.166862, 4.953114 mu:-0.274802 unit_bearing:0.124222 -0.203829 0.971094 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.395] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.395] If point is visible? 0.460267, 1.166657, 4.951782 mu:-0.274802 unit_bearing:0.127102 -0.203818 0.970723 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.395] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.395] If point is visible? 0.470744, 1.166448, 4.950418 mu:-0.274802 unit_bearing:0.129981 -0.203806 0.970344 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.395] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.395] If point is visible? 0.460298, 1.159043, 4.954369 mu:-0.274802 unit_bearing:0.127110 -0.201654 0.971174 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.395] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.395] If point is visible? 0.449848, 1.151628, 4.958271 mu:-0.274802 unit_bearing:0.124239 -0.199501 0.971990 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.395] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.395] If point is visible? 0.345111, 1.099937, 4.987385 mu:-0.274802 unit_bearing:0.095457 -0.184427 0.978200 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.395] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.395] If point is visible? 0.355612, 1.099783, 4.986361 mu:-0.274802 unit_bearing:0.098342 -0.184419 0.977915 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.395] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.395] If point is visible? 0.877768, 1.116535, 4.885848 mu:-0.274802 unit_bearing:0.241832 -0.192355 0.951061 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.395] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.395] If point is visible? 2.370186, 0.971097, 4.118825 mu:-0.274802 unit_bearing:0.651951 -0.178374 0.736982 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.395] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.395] If point is visible? 0.334630, 1.092432, 4.990806 mu:-0.274802 unit_bearing:0.092576 -0.182266 0.978881 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.395] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.395] If point is visible? 0.929713, 1.099286, 4.877494 mu:-0.274802 unit_bearing:0.256106 -0.187930 0.948205 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.395] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.395] If point is visible? 0.929650, 1.106888, 4.875001 mu:-0.274802 unit_bearing:0.256089 -0.190087 0.947779 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.395] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.395] If point is visible? 0.019156, 1.102426, 5.003965 mu:-0.274802 unit_bearing:0.005883 -0.184551 0.982805 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.395] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.395] If point is visible? 1.002170, 1.088624, 4.859943 mu:-0.274802 unit_bearing:0.276018 -0.185610 0.943061 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.395] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.395] If point is visible? 2.308579, 0.943270, 4.184167 mu:-0.274802 unit_bearing:0.635022 -0.168595 0.753872 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.395] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.395] If point is visible? 2.299753, 0.937146, 4.194010 mu:-0.274802 unit_bearing:0.632596 -0.166595 0.756352 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.395] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.395] If point is visible? 2.290904, 0.931004, 4.203799 mu:-0.274802 unit_bearing:0.630165 -0.164592 0.758816 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.395] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.395] If point is visible? 2.237163, 0.901156, 4.259129 mu:-0.274802 unit_bearing:0.615396 -0.154598 0.772908 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.395] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.395] If point is visible? -2.287599, 0.858715, 4.234574 mu:-0.274802 unit_bearing:-0.628018 -0.143845 0.764789 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.395] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.395] If point is visible? 2.228165, 0.894899, 4.268562 mu:-0.274802 unit_bearing:0.612924 -0.152576 0.775271 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.395] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.396] If point is visible? 2.164129, 0.872903, 4.326579 mu:-0.274802 unit_bearing:0.595327 -0.144633 0.790359 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.396] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.396] If point is visible? 2.173422, 0.871842, 4.319673 mu:-0.274802 unit_bearing:0.597880 -0.144575 0.788440 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.396] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.396] If point is visible? 2.182700, 0.870774, 4.312732 mu:-0.274802 unit_bearing:0.600430 -0.144516 0.786511 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.396] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.396] If point is visible? 2.155285, 0.851674, 4.339959 mu:-0.274802 unit_bearing:0.592896 -0.138395 0.793298 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.396] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.396] If point is visible? 2.137332, 0.816497, 4.364077 mu:-0.274802 unit_bearing:0.587963 -0.127993 0.798698 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.396] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.396] If point is visible? -2.307707, 0.767727, 4.244871 mu:-0.274802 unit_bearing:-0.633543 -0.118682 0.764551 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.396] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.396] calculated Z= 0.835002 tau: 0.003560 tau_inv: 0.005106 +[19:36:15.396] seeds updated +[19:36:15.396] If point is visible? 2.146254, 0.837831, 4.351043 mu:-0.274802 unit_bearing:0.590414 -0.134248 0.795857 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.396] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.396] If point is visible? 2.146398, 0.830384, 4.353139 mu:-0.274802 unit_bearing:0.590454 -0.132147 0.796179 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.396] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.396] If point is visible? 2.109725, 0.789614, 4.392322 mu:-0.274802 unit_bearing:0.580376 -0.119714 0.805501 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.396] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.396] If point is visible? 2.119118, 0.788624, 4.385627 mu:-0.274802 unit_bearing:0.582957 -0.119668 0.803642 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.396] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.396] If point is visible? 2.128497, 0.787630, 4.378896 mu:-0.274802 unit_bearing:0.585535 -0.119622 0.801773 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.396] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.396] If point is visible? -0.570006, 0.826215, 5.034230 mu:-0.274802 unit_bearing:-0.156019 -0.108200 0.981810 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.396] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.396] If point is visible? -0.570025, 0.818457, 5.036050 mu:-0.274802 unit_bearing:-0.156025 -0.106023 0.982047 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.396] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.396] If point is visible? -0.580507, 0.818227, 5.034388 mu:-0.274802 unit_bearing:-0.158905 -0.106016 0.981585 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.396] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.396] If point is visible? 1.813916, 0.642630, 4.623247 mu:-0.274802 unit_bearing:0.499087 -0.071890 0.863565 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.396] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.396] If point is visible? 1.823706, 0.641864, 4.617627 mu:-0.274802 unit_bearing:0.501777 -0.071869 0.862006 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.396] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.396] If point is visible? 1.804172, 0.635747, 4.630381 mu:-0.274802 unit_bearing:0.496409 -0.069774 0.865280 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.396] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.396] If point is visible? 1.745350, 0.609539, 4.669192 mu:-0.274802 unit_bearing:0.480245 -0.061326 0.874988 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.396] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.396] If point is visible? 1.794414, 0.628851, 4.637463 mu:-0.274802 unit_bearing:0.493728 -0.067656 0.866981 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.396] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.396] If point is visible? 1.686132, 0.583015, 4.706489 mu:-0.274802 unit_bearing:0.463972 -0.052842 0.884272 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.396] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.396] If point is visible? 1.696054, 0.582329, 4.701311 mu:-0.274802 unit_bearing:0.466698 -0.052828 0.882837 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.396] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.396] If point is visible? 1.705965, 0.581639, 4.696100 mu:-0.274802 unit_bearing:0.469422 -0.052815 0.881393 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.396] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.396] If point is visible? 1.696090, 0.574636, 4.702698 mu:-0.274802 unit_bearing:0.466708 -0.050683 0.882958 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.396] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.396] If point is visible? -2.365655, 0.485080, 4.260250 mu:-0.274802 unit_bearing:-0.649467 -0.041074 0.759279 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.396] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.397] If point is visible? -1.749731, 0.471074, 4.693050 mu:-0.274802 unit_bearing:-0.480210 -0.022760 0.876858 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.397] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.397] If point is visible? -1.337794, 0.510938, 4.882318 mu:-0.274802 unit_bearing:-0.367009 -0.027294 0.929817 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.397] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.397] If point is visible? -1.630596, 0.471187, 4.756100 mu:-0.274802 unit_bearing:-0.447472 -0.020679 0.894059 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.397] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.397] If point is visible? 0.556214, 0.474602, 5.100472 mu:-0.274802 unit_bearing:0.153468 -0.010077 0.988102 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.397] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.397] If point is visible? -1.630609, 0.463442, 4.757217 mu:-0.274802 unit_bearing:-0.447475 -0.018529 0.894104 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.397] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.397] If point is visible? 1.445823, 0.458401, 4.842889 mu:-0.274802 unit_bearing:0.397934 -0.014285 0.917303 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.397] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.397] If point is visible? 1.435703, 0.451159, 4.848296 mu:-0.274802 unit_bearing:0.395153 -0.012129 0.918535 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.397] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.397] If point is visible? 1.445830, 0.450617, 4.843955 mu:-0.274802 unit_bearing:0.397936 -0.012126 0.917333 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.397] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.397] If point is visible? 1.364641, 0.415823, 4.882829 mu:-0.274802 unit_bearing:0.375625 -0.001334 0.926771 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.397] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.397] If point is visible? 1.374815, 0.415317, 4.878718 mu:-0.274802 unit_bearing:0.378421 -0.001334 0.925632 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.397] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.397] If point is visible? -1.510263, 0.423981, 4.820618 mu:-0.274802 unit_bearing:-0.414404 -0.005643 0.910076 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.397] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.397] If point is visible? -1.759688, 0.393109, 4.698189 mu:-0.274802 unit_bearing:-0.482947 -0.001322 0.875649 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.397] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.397] If point is visible? -1.700330, 0.397019, 4.729974 mu:-0.274802 unit_bearing:-0.466635 -0.001324 0.884449 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.397] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.397] If point is visible? -1.449652, 0.396104, 4.851224 mu:-0.274802 unit_bearing:-0.397748 0.002986 0.917490 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.397] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.397] If point is visible? 0.524725, 0.427898, 5.111164 mu:-0.274802 unit_bearing:0.144815 0.003019 0.989454 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.397] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.397] If point is visible? -1.700330, 0.389266, 4.730928 mu:-0.274802 unit_bearing:-0.466635 0.000822 0.884450 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.397] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.397] If point is visible? 0.503721, 0.436152, 5.113200 mu:-0.274802 unit_bearing:0.139043 0.000836 0.990286 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.397] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.397] If point is visible? 0.514224, 0.435970, 5.111721 mu:-0.274802 unit_bearing:0.141929 0.000836 0.989876 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.397] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.397] If point is visible? -0.138997, 0.432245, 5.146688 mu:-0.274802 unit_bearing:-0.037577 0.003024 0.999289 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.397] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.397] If point is visible? -1.680455, 0.359482, 4.744889 mu:-0.274802 unit_bearing:-0.461173 0.009413 0.887260 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.397] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.397] If point is visible? -0.191713, 0.408253, 5.147099 mu:-0.274802 unit_bearing:-0.052064 0.009581 0.998598 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.397] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.397] If point is visible? -0.181171, 0.408318, 5.147629 mu:-0.274802 unit_bearing:-0.049167 0.009581 0.998745 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.397] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.397] If point is visible? -0.107360, 0.408665, 5.150491 mu:-0.274802 unit_bearing:-0.028883 0.009582 0.999537 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.397] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.397] If point is visible? -0.191712, 0.400348, 5.147984 mu:-0.274802 unit_bearing:-0.052064 0.011767 0.998574 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.397] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.397] If point is visible? -0.107360, 0.400759, 5.151377 mu:-0.274802 unit_bearing:-0.028883 0.011768 0.999514 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.397] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.397] If point is visible? -0.117904, 0.384901, 5.152777 mu:-0.274802 unit_bearing:-0.031781 0.016140 0.999365 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.397] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.397] If point is visible? 1.364641, 0.408013, 4.883790 mu:-0.274802 unit_bearing:0.375626 0.000828 0.926771 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.397] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.398] If point is visible? -1.680439, 0.343945, 4.746600 mu:-0.274802 unit_bearing:-0.461169 0.013709 0.887206 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.398] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.398] If point is visible? -0.202249, 0.360723, 5.151589 mu:-0.274802 unit_bearing:-0.054959 0.022695 0.998231 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.398] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.398] If point is visible? -1.650440, 0.275706, 4.768650 mu:-0.274802 unit_bearing:-0.452925 0.033060 0.890935 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.398] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.398] If point is visible? -0.181164, 0.352936, 5.153462 mu:-0.274802 unit_bearing:-0.049165 0.024882 0.998481 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.398] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.398] If point is visible? -0.107356, 0.353278, 5.156325 mu:-0.274802 unit_bearing:-0.028882 0.024885 0.999273 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.398] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.398] If point is visible? -0.086264, 0.353343, 5.156869 mu:-0.274802 unit_bearing:-0.023086 0.024885 0.999424 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.398] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.398] If point is visible? -0.138989, 0.337311, 5.156791 mu:-0.274802 unit_bearing:-0.037575 0.029255 0.998865 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.398] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.398] If point is visible? -0.138990, 0.345233, 5.156044 mu:-0.274802 unit_bearing:-0.037575 0.027070 0.998927 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.398] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.398] If point is visible? -0.138988, 0.329387, 5.157521 mu:-0.274802 unit_bearing:-0.037575 0.031441 0.998799 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.398] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.398] If point is visible? -0.601727, 0.173220, 5.121140 mu:-0.274802 unit_bearing:-0.164737 0.072818 0.983646 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.398] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.398] If point is visible? 1.374300, 0.172344, 4.900219 mu:-0.274802 unit_bearing:0.378280 0.065658 0.923360 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.398] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.398] If point is visible? -0.591201, 0.149574, 5.123948 mu:-0.274802 unit_bearing:-0.161844 0.079361 0.983620 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.398] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.398] If point is visible? -0.580717, 0.149763, 5.125645 mu:-0.274802 unit_bearing:-0.158963 0.079367 0.984089 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.398] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.398] If point is visible? -1.846785, 0.084385, 4.671782 mu:-0.274802 unit_bearing:-0.506881 0.081999 0.858107 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.398] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.398] If point is visible? -1.846851, 0.092175, 4.671524 mu:-0.274802 unit_bearing:-0.506899 0.079865 0.858298 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.398] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.398] If point is visible? -1.728719, 0.068046, 4.738693 mu:-0.274802 unit_bearing:-0.474436 0.088696 0.875810 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.398] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.398] If point is visible? 1.384151, 0.108916, 4.898825 mu:-0.274802 unit_bearing:0.380987 0.082912 0.920855 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.398] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.398] If point is visible? 1.384194, 0.116792, 4.898543 mu:-0.274802 unit_bearing:0.380999 0.080754 0.921042 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.398] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.398] If point is visible? -0.202078, 0.034692, 5.169383 mu:-0.274802 unit_bearing:-0.054912 0.112218 0.992165 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.398] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.398] If point is visible? -0.191546, 0.034752, 5.169946 mu:-0.274802 unit_bearing:-0.052018 0.112220 0.992321 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.398] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.398] If point is visible? -0.107268, 0.035115, 5.173354 mu:-0.274802 unit_bearing:-0.028858 0.112235 0.993263 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.398] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.398] If point is visible? 0.029724, 0.011302, 5.174881 mu:-0.274802 unit_bearing:0.008788 0.118781 0.992882 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.398] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.398] If point is visible? -0.359914, 0.009455, 5.157408 mu:-0.274802 unit_bearing:-0.098286 0.118700 0.988054 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.398] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.398] If point is visible? -0.349410, 0.017546, 5.158399 mu:-0.274802 unit_bearing:-0.095399 0.116526 0.988595 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.398] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.398] If point is visible? 0.019188, 0.019298, 5.174925 mu:-0.274802 unit_bearing:0.005892 0.116602 0.993161 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.398] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.398] If point is visible? 1.403772, 0.005528, 4.892432 mu:-0.274802 unit_bearing:0.386379 0.110897 0.915649 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.398] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.398] If point is visible? 1.413312, -0.065964, 4.887775 mu:-0.274802 unit_bearing:0.389000 0.130241 0.911985 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.398] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.398] If point is visible? 1.413240, -0.073864, 4.887641 mu:-0.274802 unit_bearing:0.388981 0.132391 0.911684 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.398] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.398] If point is visible? -0.349286, -0.054344, 5.158046 mu:-0.274802 unit_bearing:-0.095365 0.136123 0.986091 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.398] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.398] If point is visible? -0.328257, -0.054143, 5.160002 mu:-0.274802 unit_bearing:-0.089586 0.136133 0.986632 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.398] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.398] If point is visible? -0.349271, -0.062338, 5.157919 mu:-0.274802 unit_bearing:-0.095361 0.138299 0.985789 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.398] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.399] If point is visible? -0.012422, -0.060633, 5.174520 mu:-0.274802 unit_bearing:-0.002794 0.138390 0.990374 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.399] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.399] If point is visible? 0.019179, -0.060638, 5.174471 mu:-0.274802 unit_bearing:0.005890 0.138389 0.990360 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.399] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.399] If point is visible? 0.555252, -0.120976, 5.130044 mu:-0.274802 unit_bearing:0.153204 0.153359 0.976222 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.399] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.399] If point is visible? 0.565726, -0.121140, 5.128398 mu:-0.274802 unit_bearing:0.156082 0.153349 0.975768 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.399] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.399] If point is visible? 0.576198, -0.121308, 5.126721 mu:-0.274802 unit_bearing:0.158960 0.153338 0.975305 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.399] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.399] If point is visible? 0.019177, -0.076639, 5.174169 mu:-0.274802 unit_bearing:0.005889 0.142744 0.989742 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.399] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.399] If point is visible? 0.565698, -0.129133, 5.128124 mu:-0.274802 unit_bearing:0.156074 0.155520 0.975425 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.399] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.399] If point is visible? 0.576169, -0.129300, 5.126447 mu:-0.274802 unit_bearing:0.158952 0.155509 0.974962 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.399] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.399] If point is visible? -0.590263, -0.169431, 5.123219 mu:-0.274802 unit_bearing:-0.161586 0.166347 0.972738 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.399] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.399] If point is visible? 0.565669, -0.137127, 5.127832 mu:-0.274802 unit_bearing:0.156066 0.157690 0.975078 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.399] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.399] If point is visible? -0.621544, -0.193939, 5.116707 mu:-0.274802 unit_bearing:-0.170182 0.172813 0.970141 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.399] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.399] If point is visible? -0.611016, -0.209763, 5.117621 mu:-0.274802 unit_bearing:-0.167289 0.177160 0.969860 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.399] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.399] If point is visible? -0.611052, -0.201763, 5.118074 mu:-0.274802 unit_bearing:-0.167299 0.174993 0.970252 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.399] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.399] If point is visible? -1.613120, -0.406067, 4.773712 mu:-0.274802 unit_bearing:-0.442669 0.219185 0.869484 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.399] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.399] If point is visible? -1.916953, -0.380814, 4.607066 mu:-0.274802 unit_bearing:-0.526163 0.206716 0.824876 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.399] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.399] If point is visible? -1.800475, -0.390748, 4.675469 mu:-0.274802 unit_bearing:-0.494155 0.211717 0.843201 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.399] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.399] If point is visible? -1.741836, -0.388024, 4.708672 mu:-0.274802 unit_bearing:-0.478041 0.212086 0.852348 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.399] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.399] If point is visible? 1.439792, -0.375709, 4.855927 mu:-0.274802 unit_bearing:0.396277 0.213658 0.892925 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.399] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.399] If point is visible? -2.413453, -0.456230, 4.223093 mu:-0.274802 unit_bearing:-0.662603 0.214427 0.717620 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.399] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.399] If point is visible? -1.553425, -0.403648, 4.803032 mu:-0.274802 unit_bearing:-0.426265 0.219507 0.877562 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.399] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.399] If point is visible? -1.800300, -0.398591, 4.674583 mu:-0.274802 unit_bearing:-0.494107 0.213826 0.842696 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.399] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.399] If point is visible? -1.682677, -0.393254, 4.739761 mu:-0.274802 unit_bearing:-0.461784 0.214553 0.860652 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.399] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.399] If point is visible? -1.682518, -0.401125, 4.738869 mu:-0.274802 unit_bearing:-0.461740 0.216670 0.860145 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.399] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.399] If point is visible? -2.404373, -0.463291, 4.230009 mu:-0.274802 unit_bearing:-0.660107 0.216585 0.719270 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.400] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.400] If point is visible? 2.345943, -0.498227, 4.271004 mu:-0.274802 unit_bearing:0.645289 0.227487 0.729282 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.400] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.400] If point is visible? 2.117227, -0.523901, 4.447332 mu:-0.274802 unit_bearing:0.582438 0.240394 0.776516 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.400] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.400] If point is visible? 2.126504, -0.524387, 4.440468 mu:-0.274802 unit_bearing:0.584987 0.240297 0.774627 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.400] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.400] If point is visible? 2.032837, -0.527372, 4.506322 mu:-0.274802 unit_bearing:0.559247 0.243317 0.792489 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.400] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.400] If point is visible? 2.042240, -0.527840, 4.499774 mu:-0.274802 unit_bearing:0.561831 0.243225 0.790688 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.400] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.400] If point is visible? 1.994845, -0.533299, 4.530949 mu:-0.274802 unit_bearing:0.548807 0.245758 0.799008 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.400] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.400] If point is visible? 1.889541, -0.543999, 4.596672 mu:-0.274802 unit_bearing:0.519869 0.250878 0.816576 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.400] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.400] If point is visible? 1.899132, -0.544433, 4.590647 mu:-0.274802 unit_bearing:0.522505 0.250794 0.814918 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.400] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.400] If point is visible? 1.898900, -0.552241, 4.589389 mu:-0.274802 unit_bearing:0.522441 0.252882 0.814313 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.400] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.400] If point is visible? 1.724372, -0.552623, 4.691301 mu:-0.274802 unit_bearing:0.474480 0.256399 0.842097 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.400] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.400] If point is visible? 1.782437, -0.570710, 4.655570 mu:-0.274802 unit_bearing:0.490437 0.260136 0.831746 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.400] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.400] If point is visible? 1.772931, -0.562468, 4.662483 mu:-0.274802 unit_bearing:0.487825 0.258119 0.833908 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.400] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.400] If point is visible? 1.684975, -0.558917, 4.711441 mu:-0.274802 unit_bearing:0.463654 0.258790 0.847380 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.400] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.400] If point is visible? -0.243031, -0.574717, 5.121293 mu:-0.274802 unit_bearing:-0.066166 0.276826 0.958639 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.400] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.400] If point is visible? -0.232553, -0.574661, 5.121990 mu:-0.274802 unit_bearing:-0.063287 0.276834 0.958832 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.400] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.400] If point is visible? -0.222074, -0.574608, 5.122656 mu:-0.274802 unit_bearing:-0.060407 0.276841 0.959015 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.400] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.400] If point is visible? 0.029574, -0.574073, 5.129331 mu:-0.274802 unit_bearing:0.008746 0.276919 0.960853 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.400] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.400] If point is visible? 0.029577, -0.566041, 5.130605 mu:-0.274802 unit_bearing:0.008747 0.274771 0.961470 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.400] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.400] If point is visible? 1.476280, -0.574967, 4.811044 mu:-0.274802 unit_bearing:0.406304 0.266503 0.874010 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.400] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.400] If point is visible? -1.466466, -0.732637, 4.785906 mu:-0.274802 unit_bearing:-0.402369 0.308667 0.861873 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.400] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.401] If point is visible? 0.249231, -0.727272, 5.092744 mu:-0.274802 unit_bearing:0.069109 0.317479 0.945744 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.401] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.401] If point is visible? -1.722296, -0.756545, 4.652350 mu:-0.274802 unit_bearing:-0.472671 0.310715 0.824644 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.401] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.401] If point is visible? 0.217836, -0.735141, 5.093207 mu:-0.274802 unit_bearing:0.060481 0.319641 0.945606 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.401] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.401] If point is visible? 1.057652, -0.754054, 4.934614 mu:-0.274802 unit_bearing:0.291264 0.319489 0.901716 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.401] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.401] If point is visible? -0.772701, -0.804625, 5.000329 mu:-0.274802 unit_bearing:-0.211720 0.335483 0.917947 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.401] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.401] If point is visible? 1.035680, -0.841119, 4.920936 mu:-0.274802 unit_bearing:0.285226 0.342778 0.895070 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.401] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.401] If point is visible? 1.379706, -0.848843, 4.793640 mu:-0.274802 unit_bearing:0.379765 0.340621 0.860090 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.401] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.401] If point is visible? 1.379499, -0.856733, 4.791661 mu:-0.274802 unit_bearing:0.379708 0.342707 0.859287 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.401] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.401] If point is visible? -1.479591, -0.969297, 4.717272 mu:-0.274802 unit_bearing:-0.405975 0.370918 0.835227 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.401] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.401] If point is visible? -1.489736, -0.961689, 4.714853 mu:-0.274802 unit_bearing:-0.408763 0.368762 0.834822 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.401] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.401] If point is visible? -0.074808, -1.022953, 5.027546 mu:-0.274802 unit_bearing:-0.019938 0.395944 0.918058 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.401] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.401] If point is visible? 2.305859, -1.172849, 4.093250 mu:-0.274802 unit_bearing:0.634274 0.405539 0.658205 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.401] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.401] If point is visible? -0.022634, -1.237779, 4.957998 mu:-0.274802 unit_bearing:-0.005600 0.452209 0.891894 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.401] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.401] If point is visible? -1.877319, 1.824763, 4.065200 mu:-0.274802 unit_bearing:-0.515272 -0.413010 0.750945 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.401] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.401] If point is visible? -1.918647, 2.015021, 3.883252 mu:-0.274802 unit_bearing:-0.526629 -0.470997 0.707689 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.401] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.401] If point is visible? -1.954589, 1.773525, 4.043084 mu:-0.274802 unit_bearing:-0.536506 -0.399775 0.743196 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.401] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.401] If point is visible? -1.953714, 1.787061, 4.034138 mu:-0.274802 unit_bearing:-0.536265 -0.403767 0.741210 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.401] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.401] If point is visible? -1.935116, 1.789763, 4.046631 mu:-0.274802 unit_bearing:-0.531155 -0.404086 0.744708 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.401] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.401] If point is visible? 0.481085, 1.196650, 4.938498 mu:-0.274802 unit_bearing:0.132822 -0.212443 0.968104 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.401] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.401] If point is visible? 0.355501, 1.137992, 4.973960 mu:-0.274802 unit_bearing:0.098312 -0.195256 0.975812 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.401] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.402] If point is visible? 0.313584, 1.108021, 4.987828 mu:-0.274802 unit_bearing:0.086793 -0.186617 0.978591 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.402] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.402] If point is visible? 0.898568, 1.108129, 4.883110 mu:-0.274802 unit_bearing:0.247548 -0.190154 0.950033 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.402] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.402] If point is visible? 0.919293, 1.107306, 4.877735 mu:-0.274802 unit_bearing:0.253243 -0.190109 0.948539 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.402] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.402] If point is visible? -0.443566, 1.029426, 4.998385 mu:-0.274802 unit_bearing:-0.121274 -0.164826 0.978839 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.402] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.402] If point is visible? 2.136619, 0.853748, 4.353597 mu:-0.274802 unit_bearing:0.587767 -0.138504 0.797087 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.402] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.402] If point is visible? 1.415428, 0.452230, 4.856879 mu:-0.274802 unit_bearing:0.389582 -0.012133 0.920912 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.402] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.402] If point is visible? -1.660569, 0.376253, 4.753294 mu:-0.274802 unit_bearing:-0.455708 0.005121 0.890114 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.402] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.402] If point is visible? -0.107357, 0.361196, 5.155543 mu:-0.274802 unit_bearing:-0.028883 0.022699 0.999325 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.402] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.402] If point is visible? -0.128446, 0.345278, 5.156423 mu:-0.274802 unit_bearing:-0.034678 0.027070 0.999032 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.402] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.402] If point is visible? -0.359965, 0.041378, 5.157178 mu:-0.274802 unit_bearing:-0.098300 0.109985 0.989060 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.402] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.402] calculated Z= 0.725111 tau: 0.013982 tau_inv: 0.026603 +[19:36:15.402] seeds updated +[19:36:15.402] If point is visible? -0.338929, 0.041594, 5.159192 mu:-0.274802 unit_bearing:-0.092519 0.109994 0.989617 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.402] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.402] If point is visible? -0.359940, 0.025419, 5.157328 mu:-0.274802 unit_bearing:-0.098293 0.114343 0.988567 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.402] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.402] If point is visible? -0.338712, -0.086225, 5.158425 mu:-0.274802 unit_bearing:-0.092459 0.144831 0.985127 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.402] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.402] If point is visible? -0.359767, -0.070438, 5.156749 mu:-0.274802 unit_bearing:-0.098245 0.140469 0.985199 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.402] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.402] If point is visible? -0.317347, -0.246184, 5.153003 mu:-0.274802 unit_bearing:-0.086588 0.188279 0.978291 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.402] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.402] If point is visible? -2.404973, -0.448020, 4.232056 mu:-0.274802 unit_bearing:-0.660272 0.212488 0.720340 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.402] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.402] If point is visible? -2.387355, -0.446868, 4.247845 mu:-0.274802 unit_bearing:-0.655431 0.212703 0.724685 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.402] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.402] If point is visible? -2.416580, -0.586365, 4.194891 mu:-0.274802 unit_bearing:-0.663462 0.248977 0.705570 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.402] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.402] If point is visible? -2.399121, -0.585356, 4.210861 mu:-0.274802 unit_bearing:-0.658664 0.249237 0.709960 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.402] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.402] If point is visible? 2.345636, -0.505882, 4.269862 mu:-0.274802 unit_bearing:0.645205 0.229536 0.728714 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.402] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.402] If point is visible? 1.743075, -0.584811, 4.675168 mu:-0.274802 unit_bearing:0.479620 0.264638 0.836619 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.402] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.402] If point is visible? 1.724372, -0.552623, 4.691301 mu:-0.274802 unit_bearing:0.474480 0.256399 0.842097 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.402] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.402] If point is visible? -0.211615, -0.566527, 5.124567 mu:-0.274802 unit_bearing:-0.057533 0.274701 0.959807 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.402] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.402] If point is visible? -0.190652, -0.566433, 5.125744 mu:-0.274802 unit_bearing:-0.051772 0.274715 0.960131 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.402] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.402] If point is visible? -0.001890, -0.566030, 5.130748 mu:-0.274802 unit_bearing:0.000100 0.274773 0.961509 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.402] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.402] If point is visible? 0.019088, -0.566035, 5.130683 mu:-0.274802 unit_bearing:0.005865 0.274772 0.961492 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.402] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.402] If point is visible? -0.190687, -0.550372, 5.128239 mu:-0.274802 unit_bearing:-0.051782 0.270418 0.961349 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.402] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.403] If point is visible? -0.001889, -0.549965, 5.133240 mu:-0.274802 unit_bearing:0.000100 0.270475 0.962727 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.403] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.403] If point is visible? -0.211184, -0.727069, 5.095539 mu:-0.274802 unit_bearing:-0.057414 0.317518 0.946513 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.403] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.403] If point is visible? 0.249231, -0.727272, 5.092744 mu:-0.274802 unit_bearing:0.069109 0.317479 0.945744 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.403] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.403] If point is visible? -0.440796, -0.760656, 5.067526 mu:-0.274802 unit_bearing:-0.120512 0.325741 0.937747 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.403] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.403] If point is visible? -2.129312, -0.956349, 4.329480 mu:-0.274802 unit_bearing:-0.584520 0.354399 0.729889 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.403] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.403] If point is visible? 0.268068, -1.158893, 4.974964 mu:-0.274802 unit_bearing:0.074285 0.431261 0.899164 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.403] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.403] If point is visible? 2.305859, -1.172849, 4.093250 mu:-0.274802 unit_bearing:0.634274 0.405539 0.658205 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.403] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.403] If point is visible? -2.080235, 1.509641, 4.113880 mu:-0.274802 unit_bearing:-0.571034 -0.325429 0.753669 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.403] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.403] If point is visible? 0.397203, 1.213440, 4.943430 mu:-0.274802 unit_bearing:0.109772 -0.216858 0.970012 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.403] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.403] If point is visible? 0.313545, 1.123311, 4.982886 mu:-0.274802 unit_bearing:0.086782 -0.190953 0.977755 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.403] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.403] If point is visible? -1.869206, 1.945088, 3.980093 mu:-0.274802 unit_bearing:-0.513042 -0.448679 0.731761 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.403] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.403] If point is visible? 0.397316, 1.183039, 4.954091 mu:-0.274802 unit_bearing:0.109802 -0.208209 0.971902 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.403] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.403] If point is visible? 0.355455, 1.153249, 4.968877 mu:-0.274802 unit_bearing:0.098299 -0.199588 0.974937 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.403] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.403] If point is visible? 1.715356, 0.665346, 4.674420 mu:-0.274802 unit_bearing:0.472003 -0.076372 0.878283 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.403] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.403] If point is visible? 1.354429, 0.470938, 4.879681 mu:-0.274802 unit_bearing:0.372819 -0.016472 0.927758 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.403] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.403] If point is visible? 1.395112, 0.468866, 4.863177 mu:-0.274802 unit_bearing:0.383999 -0.016460 0.923187 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.403] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.403] If point is visible? -0.317655, -0.102030, 5.159909 mu:-0.274802 unit_bearing:-0.086673 0.149192 0.985002 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.403] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.403] If point is visible? -0.065074, -0.100697, 5.173103 mu:-0.274802 unit_bearing:-0.017263 0.149270 0.988646 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.403] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.403] If point is visible? -0.317908, 0.057752, 5.160863 mu:-0.274802 unit_bearing:-0.086743 0.105642 0.990614 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.403] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.403] If point is visible? -0.065124, 0.059167, 5.174015 mu:-0.274802 unit_bearing:-0.017277 0.105697 0.994248 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.403] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.403] If point is visible? -0.022967, 0.059219, 5.174498 mu:-0.274802 unit_bearing:-0.005692 0.105699 0.994382 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.403] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.403] If point is visible? -2.423111, -0.433920, 4.218100 mu:-0.274802 unit_bearing:-0.665257 0.208175 0.717006 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.403] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.403] If point is visible? -2.387934, -0.431579, 4.249811 mu:-0.274802 unit_bearing:-0.655590 0.208598 0.725733 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.403] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.403] If point is visible? -2.352459, -0.429263, 4.280954 mu:-0.274802 unit_bearing:-0.645841 0.209010 0.734305 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.403] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.404] If point is visible? -1.554258, -0.356264, 4.808144 mu:-0.274802 unit_bearing:-0.426494 0.206754 0.880543 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.404] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.404] If point is visible? 2.237209, -0.514942, 4.357729 mu:-0.274802 unit_bearing:0.615409 0.234950 0.752376 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.404] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.404] If point is visible? 2.309356, -0.519085, 4.298158 mu:-0.274802 unit_bearing:0.635235 0.234085 0.735989 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.404] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.404] If point is visible? -2.416580, -0.586365, 4.194891 mu:-0.274802 unit_bearing:-0.663462 0.248977 0.705570 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.404] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.404] If point is visible? 1.898666, -0.560049, 4.588112 mu:-0.274802 unit_bearing:0.522377 0.254969 0.813704 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.404] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.404] If point is visible? 2.124847, -0.570806, 4.432920 mu:-0.274802 unit_bearing:0.584532 0.252705 0.771014 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.404] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.404] If point is visible? -0.900310, -0.495256, 5.027533 mu:-0.274802 unit_bearing:-0.246788 0.252012 0.935727 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.404] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.404] If point is visible? -2.344909, -0.612929, 4.252392 mu:-0.274802 unit_bearing:-0.643767 0.258149 0.720364 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.404] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.404] If point is visible? -0.064856, -0.517881, 5.137455 mu:-0.274802 unit_bearing:-0.017203 0.261865 0.964951 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.404] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.404] If point is visible? -0.899973, -0.527218, 5.022937 mu:-0.274802 unit_bearing:-0.246695 0.260576 0.933403 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.404] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.404] If point is visible? -1.737924, -0.866627, 4.614790 mu:-0.274802 unit_bearing:-0.476966 0.339482 0.810713 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.404] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.404] If point is visible? 1.264129, -0.600092, 4.894383 mu:-0.274802 unit_bearing:0.348005 0.276147 0.895899 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.404] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.404] If point is visible? 1.896717, -0.622487, 4.577210 mu:-0.274802 unit_bearing:0.521841 0.271634 0.808639 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.404] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.404] If point is visible? -1.659083, -0.895579, 4.649744 mu:-0.274802 unit_bearing:-0.455300 0.348550 0.819277 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.404] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.404] If point is visible? 0.268068, -1.158893, 4.974964 mu:-0.274802 unit_bearing:0.074285 0.431261 0.899164 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.404] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.404] If point is visible? 0.977089, -0.656709, 4.978703 mu:-0.274802 unit_bearing:0.269125 0.294414 0.917002 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.404] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.404] If point is visible? -0.064834, -0.550010, 5.132689 mu:-0.274802 unit_bearing:-0.017197 0.270468 0.962575 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.404] Z inverse min: -0.240267, Z inverse max: 0.000000 +[19:36:15.404] If point is visible? -0.621961, 0.681849, 2.291631 mu:-0.839226 unit_bearing:-0.520075 -0.490683 0.699109 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.404] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.404] If point is visible? -0.622866, 0.671352, 2.300239 mu:-0.839226 unit_bearing:-0.520834 -0.481059 0.705205 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.404] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.405] If point is visible? -0.626054, 0.668757, 2.299919 mu:-0.839226 unit_bearing:-0.523509 -0.478930 0.704673 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.405] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.405] If point is visible? -0.625575, 0.594007, 2.359753 mu:-0.839226 unit_bearing:-0.523107 -0.410546 0.746867 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.405] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.405] If point is visible? -0.619308, 0.597084, 2.362243 mu:-0.839226 unit_bearing:-0.517848 -0.412854 0.749256 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.405] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.405] If point is visible? -0.641397, 0.582953, 2.355513 mu:-0.839226 unit_bearing:-0.536386 -0.401772 0.742206 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.405] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.405] If point is visible? -0.638067, 0.587825, 2.354623 mu:-0.839226 unit_bearing:-0.533591 -0.405921 0.741962 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.405] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.405] If point is visible? -0.613026, 0.600153, 2.364683 mu:-0.839226 unit_bearing:-0.512576 -0.415161 0.751603 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.405] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.405] If point is visible? -0.118305, 0.558487, 2.582227 mu:-0.839226 unit_bearing:-0.097394 -0.358205 0.928549 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.405] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.405] If point is visible? -0.114894, 0.558549, 2.582567 mu:-0.839226 unit_bearing:-0.094531 -0.358222 0.928839 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.405] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.405] If point is visible? -0.710328, 0.416841, 2.399030 mu:-0.839226 unit_bearing:-0.594234 -0.258955 0.761464 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.405] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.405] If point is visible? 0.254862, 0.421220, 2.620636 mu:-0.839226 unit_bearing:0.215778 -0.239938 0.946504 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.405] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.405] If point is visible? 0.241230, 0.424159, 2.622635 mu:-0.839226 unit_bearing:0.204338 -0.242181 0.948469 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.405] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.405] If point is visible? 0.292224, 0.417311, 2.612617 mu:-0.839226 unit_bearing:0.247133 -0.237502 0.939424 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.405] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.405] If point is visible? 0.295611, 0.417170, 2.611740 mu:-0.839226 unit_bearing:0.249976 -0.237474 0.938679 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.405] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.406] If point is visible? 0.227790, 0.399903, 2.634695 mu:-0.839226 unit_bearing:0.193058 -0.220743 0.956034 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.406] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.406] If point is visible? 0.231201, 0.399796, 2.634014 mu:-0.839226 unit_bearing:0.195921 -0.220723 0.955456 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.406] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.406] If point is visible? 0.234611, 0.399687, 2.633323 mu:-0.839226 unit_bearing:0.198783 -0.220703 0.954869 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.406] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.406] If point is visible? 0.302510, 0.404567, 2.614617 mu:-0.839226 unit_bearing:0.255766 -0.226682 0.939787 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.406] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.406] If point is visible? 0.224361, 0.402485, 2.634464 mu:-0.839226 unit_bearing:0.190181 -0.222918 0.956106 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.406] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.406] If point is visible? 0.227772, 0.402380, 2.633794 mu:-0.839226 unit_bearing:0.193044 -0.222898 0.955537 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.406] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.406] If point is visible? 0.231183, 0.402272, 2.633113 mu:-0.839226 unit_bearing:0.195906 -0.222878 0.954959 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.406] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.406] If point is visible? 0.159454, 0.389279, 2.650579 mu:-0.839226 unit_bearing:0.135709 -0.210269 0.968179 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.406] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.406] If point is visible? 0.162882, 0.389205, 2.650102 mu:-0.839226 unit_bearing:0.138586 -0.210256 0.967774 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.406] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.406] If point is visible? 0.166309, 0.389130, 2.649615 mu:-0.839226 unit_bearing:0.141462 -0.210243 0.967360 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.406] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.406] If point is visible? 0.265255, 0.398633, 2.626643 mu:-0.839226 unit_bearing:0.224500 -0.220509 0.949197 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.406] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.406] If point is visible? 0.268654, 0.398508, 2.625849 mu:-0.839226 unit_bearing:0.227353 -0.220486 0.948523 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.406] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.406] If point is visible? 0.272052, 0.398381, 2.625046 mu:-0.839226 unit_bearing:0.230205 -0.220462 0.947841 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.406] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.406] If point is visible? 0.265296, 0.393682, 2.628430 mu:-0.839226 unit_bearing:0.224534 -0.216202 0.950179 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.406] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.406] If point is visible? 0.268696, 0.393557, 2.627637 mu:-0.839226 unit_bearing:0.227388 -0.216179 0.949506 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.406] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.406] If point is visible? 0.272095, 0.393431, 2.626833 mu:-0.839226 unit_bearing:0.230240 -0.216156 0.948823 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.406] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.406] If point is visible? 0.145766, 0.382086, 2.654962 mu:-0.839226 unit_bearing:0.124222 -0.203829 0.971094 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.406] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.406] If point is visible? 0.149197, 0.382019, 2.654525 mu:-0.839226 unit_bearing:0.127102 -0.203818 0.970723 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.406] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.407] If point is visible? 0.152628, 0.381950, 2.654079 mu:-0.839226 unit_bearing:0.129981 -0.203806 0.970344 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.407] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.407] If point is visible? 0.258625, 0.376552, 2.636056 mu:-0.839226 unit_bearing:0.218936 -0.201153 0.954780 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.407] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.407] If point is visible? 0.149207, 0.379525, 2.655373 mu:-0.839226 unit_bearing:0.127110 -0.201654 0.971174 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.407] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.407] If point is visible? 0.285907, 0.365606, 2.632936 mu:-0.839226 unit_bearing:0.241832 -0.192355 0.951061 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.407] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.407] If point is visible? 0.262065, 0.371458, 2.636966 mu:-0.839226 unit_bearing:0.221823 -0.196817 0.955017 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.407] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.407] If point is visible? 0.302916, 0.359958, 2.630200 mu:-0.839226 unit_bearing:0.256106 -0.187930 0.948205 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.407] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.407] If point is visible? 0.265413, 0.378797, 2.633652 mu:-0.839226 unit_bearing:0.224633 -0.203269 0.953007 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.407] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.407] If point is visible? 0.145786, 0.377097, 2.656650 mu:-0.839226 unit_bearing:0.124239 -0.199501 0.971990 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.407] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.407] If point is visible? 0.302896, 0.362447, 2.629384 mu:-0.839226 unit_bearing:0.256089 -0.190087 0.947779 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.407] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.407] If point is visible? 0.004757, 0.360986, 2.671613 mu:-0.839226 unit_bearing:0.005883 -0.184551 0.982805 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.407] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.407] If point is visible? 0.111490, 0.360171, 2.666184 mu:-0.839226 unit_bearing:0.095457 -0.184427 0.978200 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.407] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.407] If point is visible? 0.114928, 0.360121, 2.665848 mu:-0.839226 unit_bearing:0.098342 -0.184419 0.977915 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.407] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.407] If point is visible? 0.774595, 0.317983, 2.381776 mu:-0.839226 unit_bearing:0.651951 -0.178374 0.736982 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.407] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.407] If point is visible? 0.326642, 0.356467, 2.624453 mu:-0.839226 unit_bearing:0.276018 -0.185610 0.943061 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.407] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.407] If point is visible? 0.754422, 0.308871, 2.403172 mu:-0.839226 unit_bearing:0.635022 -0.168595 0.753872 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.407] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.407] If point is visible? 0.108058, 0.357714, 2.667304 mu:-0.839226 unit_bearing:0.092576 -0.182266 0.978881 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.407] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.407] If point is visible? 0.748634, 0.304855, 2.409601 mu:-0.839226 unit_bearing:0.630165 -0.164592 0.758816 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.407] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.407] If point is visible? 0.733976, 0.297124, 2.424612 mu:-0.839226 unit_bearing:0.617863 -0.156618 0.770530 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.407] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.408] If point is visible? 0.722120, 0.291338, 2.436197 mu:-0.839226 unit_bearing:0.607913 -0.150613 0.779588 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.408] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.408] If point is visible? 0.725137, 0.290978, 2.433878 mu:-0.839226 unit_bearing:0.610445 -0.150550 0.777619 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.408] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.408] If point is visible? -0.750583, 0.281184, 2.419678 mu:-0.839226 unit_bearing:-0.628018 -0.143845 0.764789 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.408] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.408] If point is visible? 0.707122, 0.285830, 2.449805 mu:-0.839226 unit_bearing:0.595327 -0.144633 0.790359 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.408] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.408] If point is visible? 0.710165, 0.285482, 2.447543 mu:-0.839226 unit_bearing:0.597880 -0.144575 0.788440 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.408] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.408] If point is visible? 0.713203, 0.285132, 2.445270 mu:-0.839226 unit_bearing:0.600430 -0.144516 0.786511 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.408] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.408] If point is visible? 0.704176, 0.281312, 2.453482 mu:-0.839226 unit_bearing:0.592854 -0.140494 0.792960 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.408] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.408] If point is visible? 0.704226, 0.278878, 2.454186 mu:-0.839226 unit_bearing:0.592896 -0.138395 0.793298 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.408] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.408] If point is visible? 0.701269, 0.274345, 2.457815 mu:-0.839226 unit_bearing:0.590414 -0.134248 0.795857 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.408] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.408] If point is visible? 0.701316, 0.271907, 2.458502 mu:-0.839226 unit_bearing:0.590454 -0.132147 0.796179 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.408] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.408] If point is visible? -0.757167, 0.251390, 2.423050 mu:-0.839226 unit_bearing:-0.633543 -0.118682 0.764551 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.408] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.408] If point is visible? -0.225851, 0.277241, 2.673153 mu:-0.839226 unit_bearing:-0.187649 -0.114636 0.975524 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.408] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.408] If point is visible? 0.695370, 0.262802, 2.465629 mu:-0.839226 unit_bearing:0.585464 -0.123833 0.801185 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.408] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.408] If point is visible? 0.692383, 0.258233, 2.469140 mu:-0.839226 unit_bearing:0.582957 -0.119668 0.803642 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.408] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.408] If point is visible? 0.695454, 0.257907, 2.466936 mu:-0.839226 unit_bearing:0.585535 -0.119622 0.801773 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.408] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.409] If point is visible? -0.191595, 0.270466, 2.680978 mu:-0.839226 unit_bearing:-0.158900 -0.108192 0.981349 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.409] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.409] If point is visible? -0.191601, 0.267926, 2.681574 mu:-0.839226 unit_bearing:-0.158905 -0.106016 0.981585 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.409] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.409] If point is visible? 0.655456, 0.242275, 2.499679 mu:-0.839226 unit_bearing:0.551967 -0.103252 0.827448 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.409] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.409] If point is visible? 0.658583, 0.241978, 2.497613 mu:-0.839226 unit_bearing:0.554591 -0.103217 0.825697 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.409] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.409] If point is visible? 0.655488, 0.239804, 2.500275 mu:-0.839226 unit_bearing:0.551994 -0.101133 0.827692 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.409] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.409] If point is visible? 0.636756, 0.231628, 2.514762 mu:-0.839226 unit_bearing:0.536273 -0.092841 0.838923 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.409] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.409] If point is visible? 0.011676, 0.234265, 2.704292 mu:-0.839226 unit_bearing:0.011690 -0.075654 0.997066 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.409] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.409] If point is visible? 0.592446, 0.210427, 2.546948 mu:-0.839226 unit_bearing:0.499087 -0.071890 0.863565 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.409] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.409] If point is visible? 0.595651, 0.210176, 2.545107 mu:-0.839226 unit_bearing:0.501777 -0.071869 0.862006 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.409] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.409] If point is visible? 0.589255, 0.208173, 2.549284 mu:-0.839226 unit_bearing:0.496409 -0.069774 0.865280 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.409] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.409] If point is visible? 0.586060, 0.205915, 2.551603 mu:-0.839226 unit_bearing:0.493728 -0.067656 0.866981 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.409] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.409] If point is visible? 0.569994, 0.199592, 2.561992 mu:-0.839226 unit_bearing:0.480245 -0.061326 0.874988 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.409] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.409] If point is visible? 0.570008, 0.197080, 2.562470 mu:-0.839226 unit_bearing:0.480257 -0.059184 0.875129 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.409] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.409] If point is visible? 0.553840, 0.193200, 2.572050 mu:-0.839226 unit_bearing:0.466688 -0.054973 0.882712 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.409] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.409] If point is visible? 0.557085, 0.192974, 2.570343 mu:-0.839226 unit_bearing:0.469412 -0.054959 0.881267 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.409] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.409] If point is visible? 0.560327, 0.192746, 2.568626 mu:-0.839226 unit_bearing:0.472133 -0.054945 0.879813 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.409] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.409] If point is visible? -0.776142, 0.158838, 2.428085 mu:-0.839226 unit_bearing:-0.649467 -0.041074 0.759279 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.409] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.409] If point is visible? 0.544131, 0.183784, 2.578906 mu:-0.839226 unit_bearing:0.458540 -0.046428 0.887460 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.409] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.410] If point is visible? 0.557098, 0.190456, 2.570803 mu:-0.839226 unit_bearing:0.469422 -0.052815 0.881393 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.410] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.410] If point is visible? 0.553864, 0.188163, 2.572964 mu:-0.839226 unit_bearing:0.466708 -0.050683 0.882958 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.410] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.410] If point is visible? -0.439572, 0.167305, 2.631780 mu:-0.839226 unit_bearing:-0.367009 -0.027294 0.929817 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.410] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.410] If point is visible? -0.535449, 0.154289, 2.590450 mu:-0.839226 unit_bearing:-0.447472 -0.020679 0.894059 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.410] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.410] If point is visible? -0.574460, 0.154252, 2.569804 mu:-0.839226 unit_bearing:-0.480210 -0.022760 0.876858 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.410] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.410] If point is visible? -0.535454, 0.151753, 2.590816 mu:-0.839226 unit_bearing:-0.447475 -0.018529 0.894104 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.410] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.410] If point is visible? 0.461964, 0.145530, 2.623793 mu:-0.839226 unit_bearing:0.389584 -0.009973 0.920937 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.410] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.410] If point is visible? 0.465285, 0.145356, 2.622393 mu:-0.839226 unit_bearing:0.392370 -0.009971 0.919753 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.410] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.410] If point is visible? 0.471917, 0.147553, 2.619218 mu:-0.839226 unit_bearing:0.397936 -0.012126 0.917333 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.410] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.410] If point is visible? 0.451992, 0.140938, 2.628598 mu:-0.839226 unit_bearing:0.381215 -0.005656 0.924469 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.410] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.410] If point is visible? 0.455319, 0.140768, 2.627230 mu:-0.839226 unit_bearing:0.384007 -0.005655 0.923313 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.410] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.410] If point is visible? 0.445332, 0.136160, 2.631947 mu:-0.839226 unit_bearing:0.375625 -0.001334 0.926771 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.410] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.410] If point is visible? 0.448663, 0.135994, 2.630601 mu:-0.839226 unit_bearing:0.378421 -0.001334 0.925632 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.410] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.410] If point is visible? 0.180615, 0.155407, 2.703214 mu:-0.839226 unit_bearing:0.153468 -0.010077 0.988102 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.410] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.410] If point is visible? -0.577721, 0.128722, 2.571487 mu:-0.839226 unit_bearing:-0.482947 -0.001322 0.875649 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.410] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.410] If point is visible? -0.558284, 0.130003, 2.581895 mu:-0.839226 unit_bearing:-0.466635 -0.001324 0.884449 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.410] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.410] If point is visible? -0.476200, 0.129703, 2.621598 mu:-0.839226 unit_bearing:-0.397748 0.002986 0.917490 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.410] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.411] If point is visible? 0.445332, 0.133603, 2.632262 mu:-0.839226 unit_bearing:0.375626 0.000828 0.926771 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.411] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.411] If point is visible? -0.558284, 0.127464, 2.582207 mu:-0.839226 unit_bearing:-0.466635 0.000822 0.884450 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.411] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.411] If point is visible? -0.551774, 0.115168, 2.587062 mu:-0.839226 unit_bearing:-0.461171 0.011561 0.887236 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.411] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.411] If point is visible? -0.047030, 0.141537, 2.718347 mu:-0.839226 unit_bearing:-0.037577 0.003024 0.999289 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.411] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.411] If point is visible? 0.163426, 0.142817, 2.707381 mu:-0.839226 unit_bearing:0.139043 0.000836 0.990286 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.411] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.411] If point is visible? 0.166865, 0.142757, 2.706897 mu:-0.839226 unit_bearing:0.141929 0.000836 0.989876 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.411] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.411] If point is visible? 0.170304, 0.140114, 2.706714 mu:-0.839226 unit_bearing:0.144815 0.003019 0.989454 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.411] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.411] If point is visible? -0.064292, 0.133681, 2.718481 mu:-0.839226 unit_bearing:-0.052064 0.009581 0.998598 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.411] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.411] If point is visible? -0.060840, 0.133702, 2.718655 mu:-0.839226 unit_bearing:-0.049167 0.009581 0.998745 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.411] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.411] If point is visible? -0.036670, 0.133816, 2.719592 mu:-0.839226 unit_bearing:-0.028883 0.009582 0.999537 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.411] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.411] If point is visible? -0.064291, 0.131093, 2.718771 mu:-0.839226 unit_bearing:-0.052064 0.011767 0.998574 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.411] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.411] If point is visible? -0.036670, 0.131227, 2.719882 mu:-0.839226 unit_bearing:-0.028883 0.011768 0.999514 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.411] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.411] If point is visible? -0.064291, 0.128503, 2.719055 mu:-0.839226 unit_bearing:-0.052063 0.013953 0.998546 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.411] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.411] If point is visible? -0.551771, 0.112624, 2.587339 mu:-0.839226 unit_bearing:-0.461169 0.013709 0.887206 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.411] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.411] If point is visible? -0.064289, 0.115547, 2.720391 mu:-0.839226 unit_bearing:-0.052062 0.024881 0.998334 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.411] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.411] If point is visible? -0.060837, 0.115568, 2.720565 mu:-0.839226 unit_bearing:-0.049165 0.024882 0.998481 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.411] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.411] If point is visible? -0.036669, 0.115680, 2.721502 mu:-0.839226 unit_bearing:-0.028882 0.024885 0.999273 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.411] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.411] If point is visible? -0.029763, 0.115701, 2.721681 mu:-0.839226 unit_bearing:-0.023086 0.024885 0.999424 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.411] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.411] If point is visible? -0.541940, 0.087726, 2.594778 mu:-0.839226 unit_bearing:-0.452919 0.035208 0.890856 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.411] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.411] If point is visible? -0.050479, 0.105246, 2.721993 mu:-0.839226 unit_bearing:-0.040472 0.033626 0.998615 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.411] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.411] If point is visible? -0.541947, 0.090279, 2.594560 mu:-0.839226 unit_bearing:-0.452925 0.033060 0.890935 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.411] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.411] If point is visible? -0.050479, 0.107841, 2.721760 mu:-0.839226 unit_bearing:-0.040472 0.031441 0.998686 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.411] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.411] If point is visible? -0.047027, 0.107857, 2.721894 mu:-0.839226 unit_bearing:-0.037575 0.031441 0.998799 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.411] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.412] If point is visible? 0.448495, 0.056434, 2.637641 mu:-0.839226 unit_bearing:0.378280 0.065658 0.923360 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.412] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.412] If point is visible? -0.198550, 0.056720, 2.709981 mu:-0.839226 unit_bearing:-0.164737 0.072818 0.983646 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.412] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.412] If point is visible? -0.195103, 0.048978, 2.710901 mu:-0.839226 unit_bearing:-0.161844 0.079361 0.983620 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.412] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.412] If point is visible? -0.191670, 0.049039, 2.711456 mu:-0.839226 unit_bearing:-0.158963 0.079367 0.984089 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.412] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.412] If point is visible? -0.606240, 0.027632, 2.562840 mu:-0.839226 unit_bearing:-0.506881 0.081999 0.858107 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.412] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.412] If point is visible? 0.451735, 0.038243, 2.637093 mu:-0.839226 unit_bearing:0.380999 0.080754 0.921042 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.412] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.412] If point is visible? -0.567601, 0.024842, 2.584681 mu:-0.839226 unit_bearing:-0.474454 0.086556 0.876015 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.412] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.412] If point is visible? -0.567580, 0.022281, 2.584750 mu:-0.839226 unit_bearing:-0.474436 0.088696 0.875810 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.412] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.412] If point is visible? -0.067686, 0.011360, 2.725778 mu:-0.839226 unit_bearing:-0.054912 0.112218 0.992165 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.412] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.412] If point is visible? -0.064237, 0.011379, 2.725963 mu:-0.839226 unit_bearing:-0.052018 0.112220 0.992321 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.412] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.412] If point is visible? -0.036640, 0.011498, 2.727079 mu:-0.839226 unit_bearing:-0.028858 0.112235 0.993263 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.412] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.412] If point is visible? 0.004767, 0.006319, 2.727593 mu:-0.839226 unit_bearing:0.005892 0.116602 0.993161 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.412] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.412] If point is visible? 0.458145, 0.001810, 2.635091 mu:-0.839226 unit_bearing:0.386379 0.110897 0.915649 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.412] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.412] If point is visible? -0.119368, 0.003096, 2.721857 mu:-0.839226 unit_bearing:-0.098286 0.118700 0.988054 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.412] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.412] If point is visible? -0.115929, 0.005745, 2.722182 mu:-0.839226 unit_bearing:-0.095399 0.116526 0.988595 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.412] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.412] If point is visible? -0.115893, -0.015178, 2.722102 mu:-0.839226 unit_bearing:-0.095369 0.133947 0.986389 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.412] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.412] If point is visible? 0.461269, -0.021600, 2.633567 mu:-0.839226 unit_bearing:0.389000 0.130241 0.911985 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.412] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.412] If point is visible? -0.026277, -0.022498, 2.727176 mu:-0.839226 unit_bearing:-0.020161 0.140563 0.989866 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.412] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.412] If point is visible? 0.004764, -0.022475, 2.727398 mu:-0.839226 unit_bearing:0.005890 0.140567 0.990054 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.412] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.412] If point is visible? 0.461221, -0.026773, 2.633473 mu:-0.839226 unit_bearing:0.388960 0.134541 0.911377 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.412] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.412] If point is visible? 0.461245, -0.024186, 2.633523 mu:-0.839226 unit_bearing:0.388981 0.132391 0.911684 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.412] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.412] If point is visible? 0.180291, -0.042231, 2.712807 mu:-0.839226 unit_bearing:0.153196 0.155530 0.975880 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.412] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.412] If point is visible? 0.183720, -0.042284, 2.712268 mu:-0.839226 unit_bearing:0.156074 0.155520 0.975425 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.412] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.412] If point is visible? 0.187149, -0.042339, 2.711719 mu:-0.839226 unit_bearing:0.158952 0.155509 0.974962 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.412] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.412] If point is visible? 0.004764, -0.025095, 2.727345 mu:-0.839226 unit_bearing:0.005889 0.142744 0.989742 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.412] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.412] If point is visible? -0.115888, -0.017795, 2.722066 mu:-0.839226 unit_bearing:-0.095365 0.136123 0.986091 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.413] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.413] If point is visible? -0.109002, -0.017729, 2.722707 mu:-0.839226 unit_bearing:-0.089586 0.136133 0.986632 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.413] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.413] If point is visible? 0.080571, -0.051597, 2.723628 mu:-0.839226 unit_bearing:0.069508 0.164438 0.983935 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.413] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.413] If point is visible? -0.115883, -0.020412, 2.722024 mu:-0.839226 unit_bearing:-0.095361 0.138299 0.985789 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.413] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.413] If point is visible? 0.183711, -0.044902, 2.712173 mu:-0.839226 unit_bearing:0.156066 0.157690 0.975078 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.413] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.413] If point is visible? -0.205039, -0.063505, 2.708530 mu:-0.839226 unit_bearing:-0.170182 0.172813 0.970141 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.413] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.413] If point is visible? 0.166503, -0.060361, 2.714074 mu:-0.839226 unit_bearing:0.141625 0.170762 0.975081 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.413] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.413] If point is visible? -0.201603, -0.066067, 2.708977 mu:-0.839226 unit_bearing:-0.167299 0.174993 0.970252 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.413] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.413] If point is visible? 0.159553, -0.083862, 2.713611 mu:-0.839226 unit_bearing:0.135792 0.190290 0.972291 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.413] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.413] If point is visible? 0.159563, -0.081239, 2.713793 mu:-0.839226 unit_bearing:0.135801 0.188124 0.972711 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.413] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.413] If point is visible? 0.149239, -0.088979, 2.714607 mu:-0.839226 unit_bearing:0.127137 0.194654 0.972598 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.413] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.413] If point is visible? 0.152671, -0.089021, 2.714157 mu:-0.839226 unit_bearing:0.130017 0.194643 0.972219 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.413] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.413] If point is visible? 0.156102, -0.089064, 2.713698 mu:-0.839226 unit_bearing:0.132896 0.194632 0.971832 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.413] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.413] If point is visible? 0.090819, -0.091034, 2.720497 mu:-0.839226 unit_bearing:0.078109 0.196968 0.977293 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.413] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.413] calculated Z= 0.887684 tau: 0.008124 tau_inv: 0.010310 +[19:36:15.413] seeds updated +[19:36:15.413] If point is visible? 0.152651, -0.094268, 2.713752 mu:-0.839226 unit_bearing:0.130000 0.198973 0.971344 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.413] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.413] If point is visible? 0.152661, -0.091645, 2.713958 mu:-0.839226 unit_bearing:0.130008 0.196808 0.971784 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.413] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.413] If point is visible? 0.114847, -0.104363, 2.717261 mu:-0.839226 unit_bearing:0.098274 0.207740 0.973235 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.413] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.413] If point is visible? 0.118283, -0.104395, 2.716912 mu:-0.839226 unit_bearing:0.101157 0.207731 0.972941 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.413] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.413] If point is visible? 0.128586, -0.104497, 2.715806 mu:-0.839226 unit_bearing:0.109804 0.207702 0.972010 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.413] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.413] If point is visible? -0.591076, -0.127949, 2.564048 mu:-0.839226 unit_bearing:-0.494155 0.211717 0.843201 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.413] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.413] If point is visible? -0.571875, -0.127057, 2.574920 mu:-0.839226 unit_bearing:-0.478041 0.212086 0.852348 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.413] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.413] If point is visible? -0.591019, -0.130518, 2.563757 mu:-0.839226 unit_bearing:-0.494107 0.213826 0.842696 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.413] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.413] If point is visible? -0.552503, -0.128770, 2.585100 mu:-0.839226 unit_bearing:-0.461784 0.214553 0.860652 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.413] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.413] If point is visible? -0.510227, -0.129587, 2.606112 mu:-0.839226 unit_bearing:-0.426304 0.217383 0.878071 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.413] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.413] If point is visible? 0.469940, -0.123025, 2.623138 mu:-0.839226 unit_bearing:0.396277 0.213658 0.892925 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.413] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.414] If point is visible? -0.510180, -0.132173, 2.605818 mu:-0.839226 unit_bearing:-0.426265 0.219507 0.877562 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.414] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.414] If point is visible? -0.791794, -0.149391, 2.415918 mu:-0.839226 unit_bearing:-0.662603 0.214427 0.717620 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.414] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.414] calculated Z= 0.877722 tau: 0.003499 tau_inv: 0.004542 +[19:36:15.414] seeds updated +[19:36:15.414] If point is visible? -0.552451, -0.131347, 2.584808 mu:-0.839226 unit_bearing:-0.461740 0.216670 0.860145 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.414] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.414] If point is visible? -0.788821, -0.151703, 2.418183 mu:-0.839226 unit_bearing:-0.660107 0.216585 0.719270 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.414] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.414] If point is visible? 0.766656, -0.163143, 2.431607 mu:-0.839226 unit_bearing:0.645289 0.227487 0.729282 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.414] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.414] If point is visible? 0.651690, -0.174627, 2.516725 mu:-0.839226 unit_bearing:0.548807 0.245758 0.799008 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.414] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.414] If point is visible? 0.691764, -0.171550, 2.489345 mu:-0.839226 unit_bearing:0.582438 0.240394 0.776516 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.414] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.414] If point is visible? 0.694802, -0.171709, 2.487097 mu:-0.839226 unit_bearing:0.584987 0.240297 0.774627 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.414] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.414] If point is visible? 0.713015, -0.170147, 2.473760 mu:-0.839226 unit_bearing:0.600272 0.237632 0.763678 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.414] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.414] If point is visible? 0.716019, -0.170311, 2.471432 mu:-0.839226 unit_bearing:0.602793 0.237530 0.761722 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.414] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.414] If point is visible? 0.617134, -0.180689, 2.537834 mu:-0.839226 unit_bearing:0.519806 0.252966 0.815972 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.414] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.414] If point is visible? 0.620273, -0.180830, 2.535861 mu:-0.839226 unit_bearing:0.522441 0.252882 0.814313 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.414] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.414] If point is visible? 0.664131, -0.172687, 2.508661 mu:-0.839226 unit_bearing:0.559247 0.243317 0.792489 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.414] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.414] If point is visible? 0.667210, -0.172840, 2.506517 mu:-0.839226 unit_bearing:0.561831 0.243225 0.790688 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.414] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.414] If point is visible? 0.563125, -0.180955, 2.569232 mu:-0.839226 unit_bearing:0.474480 0.256399 0.842097 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.414] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.414] If point is visible? 0.550224, -0.183016, 2.575826 mu:-0.839226 unit_bearing:0.463654 0.258790 0.847380 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.414] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.414] If point is visible? -0.077665, -0.188171, 2.710260 mu:-0.839226 unit_bearing:-0.063287 0.276834 0.958832 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.414] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.415] If point is visible? -0.074233, -0.188154, 2.710478 mu:-0.839226 unit_bearing:-0.060407 0.276841 0.959015 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.415] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.415] If point is visible? 0.008168, -0.187979, 2.712663 mu:-0.839226 unit_bearing:0.008746 0.276919 0.960853 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.415] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.415] If point is visible? 0.582138, -0.186877, 2.557532 mu:-0.839226 unit_bearing:0.490437 0.260136 0.831746 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.415] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.415] If point is visible? 0.579025, -0.184179, 2.559795 mu:-0.839226 unit_bearing:0.487825 0.258119 0.833908 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.415] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.415] If point is visible? 0.210160, -0.200023, 2.691357 mu:-0.839226 unit_bearing:0.178263 0.284773 0.941874 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.415] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.415] If point is visible? 0.210182, -0.197400, 2.691804 mu:-0.839226 unit_bearing:0.178281 0.282634 0.942515 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.415] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.415] If point is visible? 0.008169, -0.185349, 2.713080 mu:-0.839226 unit_bearing:0.008747 0.274771 0.961470 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.415] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.415] If point is visible? 0.481888, -0.188271, 2.608441 mu:-0.839226 unit_bearing:0.406304 0.266503 0.874010 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.415] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.415] If point is visible? 0.086970, -0.230300, 2.701753 mu:-0.839226 unit_bearing:0.074879 0.311056 0.947437 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.415] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.415] If point is visible? 0.090394, -0.230320, 2.701482 mu:-0.839226 unit_bearing:0.077753 0.311045 0.947210 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.415] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.415] If point is visible? -0.565477, -0.247728, 2.556477 mu:-0.839226 unit_bearing:-0.472671 0.310715 0.824644 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.415] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.415] If point is visible? -0.481706, -0.239900, 2.600210 mu:-0.839226 unit_bearing:-0.402369 0.308667 0.861873 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.415] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.415] If point is visible? 0.069814, -0.240720, 2.700835 mu:-0.839226 unit_bearing:0.060481 0.319641 0.945606 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.415] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.415] If point is visible? 0.344809, -0.246913, 2.648904 mu:-0.839226 unit_bearing:0.291264 0.319489 0.901716 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.415] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.415] If point is visible? -0.254534, -0.263472, 2.670422 mu:-0.839226 unit_bearing:-0.211720 0.335483 0.917947 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.415] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.415] If point is visible? 0.450265, -0.277951, 2.602742 mu:-0.839226 unit_bearing:0.379765 0.340621 0.860090 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.415] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.415] If point is visible? 0.450197, -0.280535, 2.602094 mu:-0.839226 unit_bearing:0.379708 0.342707 0.859287 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.415] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.415] If point is visible? 0.337614, -0.275422, 2.644425 mu:-0.839226 unit_bearing:0.285226 0.342778 0.895070 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.415] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.415] If point is visible? 0.556318, -0.296275, 2.546040 mu:-0.839226 unit_bearing:0.468768 0.350085 0.810985 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.415] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.415] If point is visible? -0.489325, -0.314902, 2.576944 mu:-0.839226 unit_bearing:-0.408763 0.368762 0.834822 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.416] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.416] If point is visible? -0.026011, -0.334963, 2.679334 mu:-0.839226 unit_bearing:-0.019938 0.395944 0.918058 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.416] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.416] If point is visible? 0.753531, -0.384046, 2.373402 mu:-0.839226 unit_bearing:0.634274 0.405539 0.658205 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.416] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.416] If point is visible? -0.008928, -0.402711, 2.657496 mu:-0.839226 unit_bearing:-0.005601 0.450143 0.892939 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.416] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.416] If point is visible? -0.008927, -0.405307, 2.656561 mu:-0.839226 unit_bearing:-0.005600 0.452209 0.891894 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.416] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.416] If point is visible? -0.641540, 0.580736, 2.356975 mu:-0.839226 unit_bearing:-0.536506 -0.399775 0.743196 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.416] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.416] If point is visible? -0.629417, 0.664046, 2.301273 mu:-0.839226 unit_bearing:-0.526332 -0.474868 0.705319 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.416] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.416] If point is visible? -0.616238, 0.597513, 2.364217 mu:-0.839226 unit_bearing:-0.515272 -0.413010 0.750945 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.416] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.416] If point is visible? -0.629771, 0.659813, 2.304638 mu:-0.839226 unit_bearing:-0.526629 -0.470997 0.707689 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.416] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.416] If point is visible? -0.641254, 0.585168, 2.354046 mu:-0.839226 unit_bearing:-0.536265 -0.403767 0.741210 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.416] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.416] If point is visible? -0.635164, 0.586053, 2.358136 mu:-0.839226 unit_bearing:-0.531155 -0.404086 0.744708 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.416] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.416] If point is visible? 0.265255, 0.398633, 2.626643 mu:-0.839226 unit_bearing:0.224500 -0.220509 0.949197 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.416] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.416] If point is visible? 0.272052, 0.398381, 2.625046 mu:-0.839226 unit_bearing:0.230205 -0.220462 0.947841 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.416] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.416] If point is visible? 0.278846, 0.398122, 2.623407 mu:-0.839226 unit_bearing:0.235906 -0.220414 0.946449 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.416] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.417] If point is visible? 0.114892, 0.372632, 2.661788 mu:-0.839226 unit_bearing:0.098312 -0.195256 0.975812 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.417] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.417] If point is visible? 0.101166, 0.362818, 2.666329 mu:-0.839226 unit_bearing:0.086793 -0.186617 0.978591 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.417] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.417] If point is visible? 0.155991, 0.396812, 2.648418 mu:-0.839226 unit_bearing:0.132803 -0.216765 0.967149 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.417] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.417] If point is visible? 0.265296, 0.393682, 2.628430 mu:-0.839226 unit_bearing:0.224534 -0.216202 0.950179 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.417] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.417] If point is visible? 0.292718, 0.362854, 2.632039 mu:-0.839226 unit_bearing:0.247548 -0.190154 0.950033 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.417] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.417] If point is visible? 0.299504, 0.362584, 2.630279 mu:-0.839226 unit_bearing:0.253243 -0.190109 0.948539 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.417] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.417] If point is visible? 0.156014, 0.391839, 2.650176 mu:-0.839226 unit_bearing:0.132822 -0.212443 0.968104 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.417] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.417] If point is visible? -0.146760, 0.337082, 2.669786 mu:-0.839226 unit_bearing:-0.121274 -0.164826 0.978839 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.417] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.417] If point is visible? 0.698114, 0.279557, 2.458651 mu:-0.839226 unit_bearing:0.587767 -0.138504 0.797087 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.417] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.417] If point is visible? -0.002134, 0.292880, 2.691076 mu:-0.839226 unit_bearing:0.000101 -0.125830 0.992052 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.417] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.417] If point is visible? -0.545265, 0.133370, 2.588292 mu:-0.839226 unit_bearing:-0.455709 -0.003475 0.890122 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.417] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.417] If point is visible? -0.545264, 0.123203, 2.589531 mu:-0.839226 unit_bearing:-0.455708 0.005121 0.890114 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.417] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.417] If point is visible? 0.461962, 0.148081, 2.623450 mu:-0.839226 unit_bearing:0.389582 -0.012133 0.920912 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.417] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.417] If point is visible? -0.036669, 0.118273, 2.721246 mu:-0.839226 unit_bearing:-0.028883 0.022699 0.999325 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.417] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.417] If point is visible? -0.043575, 0.113060, 2.721535 mu:-0.839226 unit_bearing:-0.034678 0.027070 0.999032 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.417] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.417] If point is visible? -0.119377, 0.008323, 2.721831 mu:-0.839226 unit_bearing:-0.098293 0.114343 0.988567 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.417] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.417] If point is visible? -0.119320, -0.023065, 2.721641 mu:-0.839226 unit_bearing:-0.098245 0.140469 0.985199 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.417] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.417] If point is visible? 0.163107, -0.049834, 2.715048 mu:-0.839226 unit_bearing:0.138775 0.162092 0.976969 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.417] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.417] If point is visible? -0.105430, -0.080612, 2.720415 mu:-0.839226 unit_bearing:-0.086588 0.188279 0.978291 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.417] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.417] If point is visible? 0.156151, -0.075950, 2.714610 mu:-0.839226 unit_bearing:0.132938 0.183802 0.973932 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.417] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.418] If point is visible? -0.794956, -0.142086, 2.414283 mu:-0.839226 unit_bearing:-0.665257 0.208175 0.717006 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.418] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.418] If point is visible? -0.789209, -0.141702, 2.419499 mu:-0.839226 unit_bearing:-0.660434 0.208388 0.721389 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.418] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.418] If point is visible? 0.563125, -0.180955, 2.569232 mu:-0.839226 unit_bearing:0.474480 0.256399 0.842097 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.418] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.418] If point is visible? -0.783248, -0.146326, 2.424023 mu:-0.839226 unit_bearing:-0.655431 0.212703 0.724685 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.418] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.418] If point is visible? -0.792818, -0.192003, 2.406684 mu:-0.839226 unit_bearing:-0.663462 0.248977 0.705570 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.418] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.418] If point is visible? -0.787101, -0.191673, 2.411913 mu:-0.839226 unit_bearing:-0.658664 0.249237 0.709960 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.418] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.418] If point is visible? -0.070808, -0.185508, 2.711103 mu:-0.839226 unit_bearing:-0.057533 0.274701 0.959807 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.418] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.418] If point is visible? -0.063944, -0.185477, 2.711489 mu:-0.839226 unit_bearing:-0.051772 0.274715 0.960131 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.418] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.418] If point is visible? -0.002134, -0.185345, 2.713127 mu:-0.839226 unit_bearing:0.000100 0.274773 0.961509 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.418] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.418] If point is visible? 0.004735, -0.185346, 2.713106 mu:-0.839226 unit_bearing:0.005865 0.274772 0.961492 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.418] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.418] If point is visible? -0.063955, -0.180218, 2.712306 mu:-0.839226 unit_bearing:-0.051782 0.270418 0.961349 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.418] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.418] If point is visible? -0.002134, -0.180084, 2.713943 mu:-0.839226 unit_bearing:0.000100 0.270475 0.962727 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.418] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.418] If point is visible? 0.766556, -0.165650, 2.431233 mu:-0.839226 unit_bearing:0.645205 0.229536 0.728714 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.418] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.418] If point is visible? 0.210094, -0.207890, 2.689980 mu:-0.839226 unit_bearing:0.178208 0.291185 0.939922 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.418] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.418] If point is visible? -0.070667, -0.238077, 2.701598 mu:-0.839226 unit_bearing:-0.057414 0.317518 0.946513 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.418] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.418] If point is visible? 0.210138, -0.202645, 2.690904 mu:-0.839226 unit_bearing:0.178245 0.286911 0.941228 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.418] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.418] If point is visible? 0.210003, -0.218377, 2.688058 mu:-0.839226 unit_bearing:0.178132 0.299724 0.937249 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.418] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.418] If point is visible? 0.080094, -0.238143, 2.700683 mu:-0.839226 unit_bearing:0.069109 0.317479 0.945744 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.418] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.418] If point is visible? 0.569249, -0.191495, 2.563949 mu:-0.839226 unit_bearing:0.479620 0.264638 0.836619 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.418] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.418] If point is visible? -0.145853, -0.249075, 2.692425 mu:-0.839226 unit_bearing:-0.120512 0.325741 0.937747 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.419] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.419] If point is visible? -0.698753, -0.313154, 2.450754 mu:-0.839226 unit_bearing:-0.584520 0.354399 0.729889 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.419] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.419] If point is visible? 0.553235, -0.293627, 2.548511 mu:-0.839226 unit_bearing:0.466181 0.348132 0.813314 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.419] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.419] If point is visible? 0.514330, -0.307935, 2.564728 mu:-0.839226 unit_bearing:0.433531 0.361709 0.825359 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.419] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.419] If point is visible? 0.086262, -0.379476, 2.662116 mu:-0.839226 unit_bearing:0.074285 0.431261 0.899164 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.419] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.419] If point is visible? 0.753531, -0.384046, 2.373402 mu:-0.839226 unit_bearing:0.634274 0.405539 0.658205 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.419] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.419] If point is visible? -0.682683, 0.494327, 2.380157 mu:-0.839226 unit_bearing:-0.571034 -0.325429 0.753669 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.419] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.419] If point is visible? 0.128547, 0.397337, 2.651790 mu:-0.839226 unit_bearing:0.109772 -0.216858 0.970012 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.419] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.419] If point is visible? 0.101154, 0.367825, 2.664711 mu:-0.839226 unit_bearing:0.086782 -0.190953 0.977755 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.419] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.419] If point is visible? 0.114877, 0.377628, 2.660123 mu:-0.839226 unit_bearing:0.098299 -0.199588 0.974937 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.419] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.419] If point is visible? -0.613582, 0.636913, 2.336349 mu:-0.839226 unit_bearing:-0.513042 -0.448679 0.731761 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.419] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.419] If point is visible? 0.128584, 0.387383, 2.655281 mu:-0.839226 unit_bearing:0.109802 -0.208209 0.971902 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.419] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.419] If point is visible? 0.661306, 0.268762, 2.488581 mu:-0.839226 unit_bearing:0.556877 -0.126450 0.820913 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.419] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.419] If point is visible? -0.009035, 0.287802, 2.692332 mu:-0.839226 unit_bearing:-0.005691 -0.121471 0.992579 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.419] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.419] If point is visible? 0.661461, 0.258930, 2.491193 mu:-0.839226 unit_bearing:0.557007 -0.117993 0.822084 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.419] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.419] If point is visible? 0.560173, 0.217866, 2.563704 mu:-0.839226 unit_bearing:0.472003 -0.076372 0.878283 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.419] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.420] If point is visible? 0.441988, 0.154207, 2.630916 mu:-0.839226 unit_bearing:0.372819 -0.016472 0.927758 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.420] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.420] If point is visible? 0.455309, 0.153529, 2.625512 mu:-0.839226 unit_bearing:0.383999 -0.016460 0.923187 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.420] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.420] If point is visible? -0.105531, -0.033410, 2.722676 mu:-0.839226 unit_bearing:-0.086673 0.149192 0.985002 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.420] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.420] If point is visible? -0.022824, -0.032973, 2.726996 mu:-0.839226 unit_bearing:-0.017263 0.149270 0.988646 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.420] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.420] If point is visible? -0.105614, 0.018911, 2.722988 mu:-0.839226 unit_bearing:-0.086743 0.105642 0.990614 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.420] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.420] If point is visible? -0.022841, 0.019374, 2.727295 mu:-0.839226 unit_bearing:-0.017277 0.105697 0.994248 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.420] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.420] If point is visible? -0.009036, 0.019391, 2.727453 mu:-0.839226 unit_bearing:-0.005692 0.105699 0.994382 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.420] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.420] If point is visible? -0.795334, -0.132092, 2.415502 mu:-0.839226 unit_bearing:-0.665574 0.199975 0.719042 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.420] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.420] If point is visible? -0.783805, -0.131304, 2.425880 mu:-0.839226 unit_bearing:-0.655898 0.200380 0.727768 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.420] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.420] If point is visible? -0.772178, -0.130526, 2.436072 mu:-0.839226 unit_bearing:-0.646140 0.200774 0.736337 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.420] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.420] If point is visible? -0.510453, -0.116657, 2.607492 mu:-0.839226 unit_bearing:-0.426494 0.206754 0.880543 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.420] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.420] If point is visible? 0.156257, -0.044502, 2.716201 mu:-0.839226 unit_bearing:0.133027 0.157769 0.978475 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.420] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.420] If point is visible? 0.694259, -0.186909, 2.484626 mu:-0.839226 unit_bearing:0.584532 0.252705 0.771014 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.420] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.420] If point is visible? 0.087412, -0.075257, 2.721866 mu:-0.839226 unit_bearing:0.075250 0.183967 0.980048 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.420] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.420] If point is visible? 0.101174, -0.075365, 2.720738 mu:-0.839226 unit_bearing:0.086799 0.183941 0.979097 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.420] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.420] If point is visible? 0.114930, -0.075488, 2.719449 mu:-0.839226 unit_bearing:0.098343 0.183912 0.978011 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.420] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.420] If point is visible? 0.128679, -0.075627, 2.717998 mu:-0.839226 unit_bearing:0.109882 0.183879 0.976788 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.420] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.420] If point is visible? -0.783438, -0.141319, 2.424667 mu:-0.839226 unit_bearing:-0.655590 0.208598 0.725733 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.420] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.420] If point is visible? -0.771821, -0.140561, 2.434865 mu:-0.839226 unit_bearing:-0.645841 0.209010 0.734305 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.420] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.420] If point is visible? 0.101149, -0.085864, 2.720026 mu:-0.839226 unit_bearing:0.086778 0.192614 0.977430 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.420] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.420] If point is visible? 0.114901, -0.085985, 2.718735 mu:-0.839226 unit_bearing:0.098319 0.192583 0.976343 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.420] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.421] If point is visible? 0.128646, -0.086122, 2.717283 mu:-0.839226 unit_bearing:0.109855 0.192548 0.975119 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.421] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.421] If point is visible? -0.022753, -0.169579, 2.715324 mu:-0.839226 unit_bearing:-0.017203 0.261865 0.964951 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.421] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.421] If point is visible? -0.296320, -0.162170, 2.679330 mu:-0.839226 unit_bearing:-0.246788 0.252012 0.935727 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.421] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.421] If point is visible? -0.769349, -0.200702, 2.425512 mu:-0.839226 unit_bearing:-0.643767 0.258149 0.720364 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.421] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.421] If point is visible? 0.210138, -0.202645, 2.690904 mu:-0.839226 unit_bearing:0.178245 0.286911 0.941228 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.421] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.421] If point is visible? -0.022745, -0.180099, 2.713763 mu:-0.839226 unit_bearing:-0.017197 0.270468 0.962575 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.421] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.421] If point is visible? 0.619884, -0.193611, 2.533708 mu:-0.839226 unit_bearing:0.522114 0.263308 0.811213 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.421] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.421] If point is visible? -0.570594, -0.283775, 2.544178 mu:-0.839226 unit_bearing:-0.476966 0.339482 0.810713 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.421] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.421] If point is visible? 0.412420, -0.196498, 2.635730 mu:-0.839226 unit_bearing:0.348005 0.276147 0.895899 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.421] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.421] If point is visible? 0.619559, -0.203831, 2.531873 mu:-0.839226 unit_bearing:0.521841 0.271634 0.808639 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.421] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.421] If point is visible? -0.296209, -0.172636, 2.677825 mu:-0.839226 unit_bearing:-0.246695 0.260576 0.933403 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.421] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.421] If point is visible? 0.731052, -0.168616, 2.460005 mu:-0.839226 unit_bearing:0.615409 0.234950 0.752376 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.421] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.421] If point is visible? 0.754676, -0.169973, 2.440498 mu:-0.839226 unit_bearing:0.635235 0.234085 0.735989 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.421] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.421] If point is visible? -0.544778, -0.293255, 2.555624 mu:-0.839226 unit_bearing:-0.455300 0.348550 0.819277 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.421] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.421] If point is visible? 0.318429, -0.215038, 2.663341 mu:-0.839226 unit_bearing:0.269125 0.294414 0.917002 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.421] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.421] If point is visible? 0.086262, -0.379476, 2.662116 mu:-0.839226 unit_bearing:0.074285 0.431261 0.899164 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056 +[19:36:15.421] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.421] If point is visible? -0.163105, 0.716435, 1.472953 mu:-0.839226 unit_bearing:-0.147040 -0.500741 0.853017 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.421] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.421] If point is visible? -0.264849, 0.635469, 1.507941 mu:-0.839226 unit_bearing:-0.232764 -0.429720 0.872446 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.421] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.421] If point is visible? -0.268364, 0.623805, 1.514516 mu:-0.839226 unit_bearing:-0.235785 -0.419332 0.876679 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.422] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.422] If point is visible? -0.282603, 0.560145, 1.548436 mu:-0.839226 unit_bearing:-0.248098 -0.362835 0.898219 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.422] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.422] If point is visible? -0.289759, 0.521817, 1.566728 mu:-0.839226 unit_bearing:-0.254292 -0.329039 0.909433 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.422] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.422] If point is visible? 0.242222, 0.531042, 1.571700 mu:-0.839226 unit_bearing:0.192012 -0.336214 0.922004 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.422] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.422] If point is visible? 0.296277, 0.521555, 1.562183 mu:-0.839226 unit_bearing:0.237519 -0.329285 0.913869 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.422] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.422] If point is visible? 0.316459, 0.518175, 1.557771 mu:-0.839226 unit_bearing:0.254521 -0.326922 0.910133 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.422] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.422] calculated Z= 0.724885 tau: 0.001711 tau_inv: 0.003256 +[19:36:15.422] seeds updated +[19:36:15.422] If point is visible? 0.279414, 0.524720, 1.565370 mu:-0.839226 unit_bearing:0.223319 -0.331596 0.916610 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.422] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.422] If point is visible? 0.282779, 0.524569, 1.564513 mu:-0.839226 unit_bearing:0.226155 -0.331558 0.915928 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.422] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.422] If point is visible? 0.813699, 0.471661, 1.260105 mu:-0.839226 unit_bearing:0.675997 -0.318620 0.664461 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.422] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.422] If point is visible? 0.323424, 0.505853, 1.561716 mu:-0.839226 unit_bearing:0.260332 -0.316254 0.912256 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.422] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.422] If point is visible? 0.229144, 0.505096, 1.587565 mu:-0.839226 unit_bearing:0.180861 -0.312980 0.932380 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.422] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.422] If point is visible? 0.283300, 0.498143, 1.577401 mu:-0.839226 unit_bearing:0.226457 -0.308227 0.923966 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.422] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.422] If point is visible? 0.286669, 0.497995, 1.576535 mu:-0.839226 unit_bearing:0.229297 -0.308192 0.923277 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.422] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.422] If point is visible? 0.283345, 0.495730, 1.578537 mu:-0.839226 unit_bearing:0.226483 -0.306102 0.924666 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.422] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.422] If point is visible? 0.286714, 0.495582, 1.577671 mu:-0.839226 unit_bearing:0.229323 -0.306067 0.923977 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.422] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.422] If point is visible? -0.293304, 0.504888, 1.574133 mu:-0.839226 unit_bearing:-0.257341 -0.314180 0.913820 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.422] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.422] If point is visible? 0.774386, 0.445635, 1.317536 mu:-0.839226 unit_bearing:0.642252 -0.291068 0.709078 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.422] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.422] If point is visible? 0.283390, 0.493316, 1.579667 mu:-0.839226 unit_bearing:0.226509 -0.303975 0.925361 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.422] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.422] If point is visible? 0.286759, 0.493168, 1.578801 mu:-0.839226 unit_bearing:0.229349 -0.303940 0.924672 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.422] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.422] If point is visible? 0.758193, 0.432433, 1.340537 mu:-0.839226 unit_bearing:0.628365 -0.277718 0.726656 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.422] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.422] If point is visible? 0.761073, 0.431967, 1.338051 mu:-0.839226 unit_bearing:0.630818 -0.277585 0.724580 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.422] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.422] If point is visible? 0.744335, 0.423135, 1.358268 mu:-0.839226 unit_bearing:0.616505 -0.268160 0.740278 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.422] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.422] If point is visible? 0.747249, 0.422689, 1.355839 mu:-0.839226 unit_bearing:0.618985 -0.268037 0.738251 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.422] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.422] If point is visible? 0.161608, 0.470641, 1.615980 mu:-0.839226 unit_bearing:0.123853 -0.281373 0.951572 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.422] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.422] If point is visible? 0.165021, 0.470560, 1.615484 mu:-0.839226 unit_bearing:0.126724 -0.281357 0.951199 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.422] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.422] If point is visible? 0.168433, 0.470478, 1.614978 mu:-0.839226 unit_bearing:0.129594 -0.281340 0.950817 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.423] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.423] If point is visible? 0.736036, 0.415140, 1.369756 mu:-0.839226 unit_bearing:0.609395 -0.260325 0.748912 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.423] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.423] If point is visible? 0.738852, 0.417037, 1.366303 mu:-0.839226 unit_bearing:0.611802 -0.262259 0.746269 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.423] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.423] If point is visible? 0.741659, 0.418928, 1.362832 mu:-0.839226 unit_bearing:0.614203 -0.264189 0.743612 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.423] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.423] If point is visible? 0.137867, 0.454010, 1.626431 mu:-0.839226 unit_bearing:0.103814 -0.266452 0.958241 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.423] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.423] If point is visible? 0.141287, 0.453943, 1.626006 mu:-0.839226 unit_bearing:0.106690 -0.266439 0.957929 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.423] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.423] If point is visible? 0.351396, 0.446419, 1.579775 mu:-0.839226 unit_bearing:0.283653 -0.264900 0.921612 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.423] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.423] If point is visible? 0.148101, 0.456256, 1.624106 mu:-0.839226 unit_bearing:0.112430 -0.268560 0.956679 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.423] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.423] If point is visible? 0.718761, 0.408313, 1.388058 mu:-0.839226 unit_bearing:0.594655 -0.252767 0.763213 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.423] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.423] If point is visible? 0.721730, 0.407899, 1.385731 mu:-0.839226 unit_bearing:0.597180 -0.252660 0.761275 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.423] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.423] If point is visible? 0.351350, 0.448854, 1.578748 mu:-0.839226 unit_bearing:0.283624 -0.267033 0.921005 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.423] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.423] If point is visible? 0.090153, 0.422726, 1.644040 mu:-0.839226 unit_bearing:0.063585 -0.238592 0.969036 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.423] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.423] If point is visible? 0.680997, 0.380239, 1.431101 mu:-0.839226 unit_bearing:0.562414 -0.224980 0.795660 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.423] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.423] If point is visible? 0.672007, 0.376550, 1.439448 mu:-0.839226 unit_bearing:0.554760 -0.221054 0.802107 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.423] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.423] If point is visible? 0.675066, 0.376190, 1.437303 mu:-0.839226 unit_bearing:0.557357 -0.220973 0.800327 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.423] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.423] If point is visible? -0.023264, 0.418296, 1.649629 mu:-0.839226 unit_bearing:-0.031654 -0.234330 0.971642 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.423] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.423] If point is visible? 0.678035, 0.378217, 1.434211 mu:-0.839226 unit_bearing:0.559888 -0.222978 0.798001 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.423] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.423] If point is visible? 0.644879, 0.360434, 1.465509 mu:-0.839226 unit_bearing:0.531661 -0.204964 0.821783 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.423] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.423] If point is visible? 0.647982, 0.360101, 1.463466 mu:-0.839226 unit_bearing:0.534293 -0.204895 0.820091 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.423] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.423] If point is visible? -0.318032, 0.374373, 1.621090 mu:-0.839226 unit_bearing:-0.278523 -0.200663 0.939233 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.423] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.423] If point is visible? 0.031908, 0.388423, 1.659923 mu:-0.839226 unit_bearing:0.014548 -0.208394 0.977937 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.423] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.423] If point is visible? -0.318047, 0.371893, 1.621937 mu:-0.839226 unit_bearing:-0.278543 -0.198510 0.939685 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.423] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.423] If point is visible? 0.641913, 0.355933, 1.469296 mu:-0.839226 unit_bearing:0.529127 -0.200827 0.824435 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.423] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.423] If point is visible? 0.642927, 0.317060, 1.482488 mu:-0.839226 unit_bearing:0.529860 -0.167098 0.831461 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.423] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.423] If point is visible? 0.193546, 0.338511, 1.659139 mu:-0.839226 unit_bearing:0.150276 -0.166899 0.974455 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.423] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.423] If point is visible? 0.193528, 0.341022, 1.658383 mu:-0.839226 unit_bearing:0.150268 -0.169068 0.974082 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.423] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.424] If point is visible? -0.246652, 0.327097, 1.654058 mu:-0.839226 unit_bearing:-0.219007 -0.157911 0.962860 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.424] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.424] If point is visible? -0.160850, 0.346847, 1.663306 mu:-0.839226 unit_bearing:-0.147173 -0.173417 0.973790 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.424] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.424] If point is visible? -0.246659, 0.324585, 1.654786 mu:-0.839226 unit_bearing:-0.219018 -0.155745 0.963211 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.424] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.424] If point is visible? 0.649793, 0.287067, 1.487313 mu:-0.839226 unit_bearing:0.535605 -0.141621 0.832509 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.424] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.424] If point is visible? -0.246665, 0.322073, 1.655509 mu:-0.839226 unit_bearing:-0.219030 -0.153578 0.963556 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.424] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.424] If point is visible? 0.653095, 0.276935, 1.488036 mu:-0.839226 unit_bearing:0.538383 -0.133108 0.832122 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.424] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.424] If point is visible? 0.653140, 0.274476, 1.488715 mu:-0.839226 unit_bearing:0.538416 -0.130990 0.832436 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.424] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.424] If point is visible? 0.653185, 0.272016, 1.489388 mu:-0.839226 unit_bearing:0.538449 -0.128872 0.832746 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.424] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.424] If point is visible? -0.555614, 0.275914, 1.554090 mu:-0.839226 unit_bearing:-0.476775 -0.125502 0.870020 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.424] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.424] If point is visible? -0.699001, 0.238450, 1.472816 mu:-0.839226 unit_bearing:-0.595893 -0.102607 0.796482 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.424] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.424] calculated Z= 0.975837 tau: 0.004047 tau_inv: 0.004250 +[19:36:15.424] seeds updated +[19:36:15.424] If point is visible? 0.659851, 0.244285, 1.492262 mu:-0.839226 unit_bearing:0.544049 -0.105479 0.832397 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.424] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.424] If point is visible? 0.659813, 0.246756, 1.491655 mu:-0.839226 unit_bearing:0.544022 -0.107599 0.832144 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.424] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.424] If point is visible? -0.243361, 0.266628, 1.670667 mu:-0.839226 unit_bearing:-0.216374 -0.105844 0.970556 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.424] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.424] If point is visible? -0.680464, 0.232950, 1.487602 mu:-0.839226 unit_bearing:-0.580536 -0.096514 0.808495 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.424] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.424] calculated Z= 0.971974 tau: 0.003987 tau_inv: 0.004220 +[19:36:15.424] seeds updated +[19:36:15.424] If point is visible? 0.176859, 0.252864, 1.684189 mu:-0.839226 unit_bearing:0.136071 -0.092995 0.986325 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.424] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.424] If point is visible? 0.663097, 0.234094, 1.492548 mu:-0.839226 unit_bearing:0.546786 -0.096961 0.831639 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.424] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.424] If point is visible? 0.176868, 0.250316, 1.684745 mu:-0.839226 unit_bearing:0.136075 -0.090816 0.986527 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.424] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.424] If point is visible? -0.708745, 0.190726, 1.476463 mu:-0.839226 unit_bearing:-0.604038 -0.062482 0.794502 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.424] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.424] If point is visible? 0.672721, 0.205937, 1.492255 mu:-0.839226 unit_bearing:0.554914 -0.073537 0.828651 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.424] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.424] If point is visible? -0.702612, 0.186386, 1.481876 mu:-0.839226 unit_bearing:-0.598960 -0.058313 0.798653 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.424] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.424] If point is visible? -0.624006, 0.193374, 1.533660 mu:-0.839226 unit_bearing:-0.533736 -0.058837 0.843602 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.424] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.424] If point is visible? -0.705718, 0.183611, 1.480125 mu:-0.839226 unit_bearing:-0.601537 -0.056180 0.796867 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.424] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.424] If point is visible? -0.702630, 0.183910, 1.482347 mu:-0.839226 unit_bearing:-0.598977 -0.056203 0.798791 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.424] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.424] If point is visible? 0.682308, 0.165232, 1.493310 mu:-0.839226 unit_bearing:0.563014 -0.039523 0.825502 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.424] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.424] If point is visible? 0.682335, 0.160238, 1.494137 mu:-0.839226 unit_bearing:0.563033 -0.035279 0.825681 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.424] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.424] If point is visible? 0.685438, 0.154961, 1.492776 mu:-0.839226 unit_bearing:0.565666 -0.031023 0.824051 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.424] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.424] If point is visible? 0.685459, 0.149962, 1.493555 mu:-0.839226 unit_bearing:0.565681 -0.026779 0.824189 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.424] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.425] If point is visible? 0.685449, 0.152462, 1.493169 mu:-0.839226 unit_bearing:0.565674 -0.028901 0.824123 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.425] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.425] If point is visible? -0.098845, 0.151525, 1.712204 mu:-0.839226 unit_bearing:-0.095492 -0.005718 0.995414 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.425] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.425] If point is visible? 0.688560, 0.142181, 1.492503 mu:-0.839226 unit_bearing:0.568311 -0.020405 0.822561 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.425] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.425] If point is visible? 0.688568, 0.139679, 1.492866 mu:-0.839226 unit_bearing:0.568316 -0.018283 0.822607 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.425] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.425] If point is visible? -0.088487, 0.159365, 1.711949 mu:-0.839226 unit_bearing:-0.086810 -0.012274 0.996149 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.425] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.425] If point is visible? -0.655969, 0.130709, 1.523461 mu:-0.839226 unit_bearing:-0.560307 -0.007683 0.828249 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.425] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.425] If point is visible? -0.757718, 0.126482, 1.449032 mu:-0.839226 unit_bearing:-0.644638 -0.011774 0.764397 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.425] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.425] If point is visible? 0.163313, 0.153099, 1.703692 mu:-0.839226 unit_bearing:0.124603 -0.007899 0.992175 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.425] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.425] If point is visible? -0.095392, 0.136051, 1.714361 mu:-0.839226 unit_bearing:-0.092598 0.007392 0.995676 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.425] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.425] If point is visible? -0.699764, 0.122015, 1.494358 mu:-0.839226 unit_bearing:-0.596635 -0.003417 0.802506 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.425] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.425] If point is visible? 0.066911, 0.138789, 1.715317 mu:-0.839226 unit_bearing:0.043574 0.005209 0.999037 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.425] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.425] If point is visible? -0.085034, 0.125788, 1.716246 mu:-0.839226 unit_bearing:-0.083916 0.016134 0.996342 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.425] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.425] If point is visible? -0.081581, 0.125815, 1.716471 mu:-0.839226 unit_bearing:-0.081021 0.016134 0.996582 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.425] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.425] If point is visible? -0.702851, 0.104244, 1.494214 mu:-0.839226 unit_bearing:-0.599192 0.011371 0.800525 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.425] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.425] If point is visible? -0.081581, 0.130993, 1.715909 mu:-0.839226 unit_bearing:-0.081022 0.011764 0.996643 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.425] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.425] If point is visible? 0.694717, 0.101522, 1.493197 mu:-0.839226 unit_bearing:0.573537 0.013534 0.819068 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.425] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.425] If point is visible? 0.697743, 0.088692, 1.492257 mu:-0.839226 unit_bearing:0.576112 0.024125 0.817015 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.425] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.425] If point is visible? -0.264006, 0.083930, 1.694082 mu:-0.839226 unit_bearing:-0.233710 0.048734 0.971084 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.425] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.425] If point is visible? 0.697734, 0.086177, 1.492493 mu:-0.839226 unit_bearing:0.576105 0.026244 0.816955 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.425] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.425] If point is visible? -0.267422, 0.076071, 1.693856 mu:-0.839226 unit_bearing:-0.236560 0.055257 0.970044 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.425] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.425] If point is visible? -0.243414, 0.053295, 1.700293 mu:-0.839226 unit_bearing:-0.216466 0.074887 0.973414 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.425] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.425] If point is visible? -0.243411, 0.050697, 1.700409 mu:-0.839226 unit_bearing:-0.216460 0.077063 0.973245 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.425] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.425] If point is visible? 0.706347, 0.019869, 1.489804 mu:-0.839226 unit_bearing:0.583483 0.081201 0.808055 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.425] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.425] If point is visible? 0.706315, 0.017342, 1.489877 mu:-0.839226 unit_bearing:0.583460 0.083314 0.807857 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.425] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.425] If point is visible? 0.211144, 0.040679, 1.705144 mu:-0.839226 unit_bearing:0.164911 0.085892 0.982561 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.425] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.425] If point is visible? -0.171239, 0.031226, 1.713541 mu:-0.839226 unit_bearing:-0.156051 0.094625 0.983206 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.425] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.425] If point is visible? -0.112660, 0.031950, 1.720305 mu:-0.839226 unit_bearing:-0.106993 0.094713 0.989738 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.425] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.425] If point is visible? -0.109211, 0.031982, 1.720612 mu:-0.839226 unit_bearing:-0.104103 0.094718 0.990046 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.425] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.425] If point is visible? -0.078158, 0.032228, 1.722925 mu:-0.839226 unit_bearing:-0.078078 0.094750 0.992435 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.425] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.425] If point is visible? -0.026386, 0.024606, 1.725165 mu:-0.839226 unit_bearing:-0.034655 0.101328 0.994249 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.425] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.425] If point is visible? -0.019482, 0.024615, 1.725269 mu:-0.839226 unit_bearing:-0.028863 0.101330 0.994434 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.425] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.425] If point is visible? -0.026383, 0.027218, 1.725108 mu:-0.839226 unit_bearing:-0.034656 0.099146 0.994469 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.425] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.426] If point is visible? -0.174678, 0.025960, 1.713178 mu:-0.839226 unit_bearing:-0.158922 0.098974 0.982318 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.426] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.426] If point is visible? -0.171236, 0.026012, 1.713667 mu:-0.839226 unit_bearing:-0.156041 0.098981 0.982779 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.426] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.426] If point is visible? 0.709142, 0.001939, 1.487922 mu:-0.839226 unit_bearing:0.585886 0.095944 0.804694 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.426] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.426] If point is visible? -0.671041, 0.000837, 1.522062 mu:-0.839226 unit_bearing:-0.572712 0.100354 0.813591 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.426] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.426] If point is visible? -0.174660, -0.000136, 1.713467 mu:-0.839226 unit_bearing:-0.158866 0.120740 0.979889 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.426] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.426] If point is visible? -0.756642, -0.020630, 1.458378 mu:-0.839226 unit_bearing:-0.643614 0.111722 0.757152 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.426] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.426] If point is visible? -0.119561, -0.009915, 1.720047 mu:-0.839226 unit_bearing:-0.112707 0.129559 0.985145 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.426] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.426] If point is visible? -0.116114, -0.009882, 1.720375 mu:-0.839226 unit_bearing:-0.109820 0.129565 0.985471 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.426] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.426] If point is visible? -0.098877, -0.009733, 1.721866 mu:-0.839226 unit_bearing:-0.095377 0.129593 0.986970 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.426] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.426] If point is visible? -0.026425, -0.004155, 1.725411 mu:-0.839226 unit_bearing:-0.034641 0.125310 0.991513 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.426] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.426] If point is visible? -0.022974, -0.004150, 1.725469 mu:-0.839226 unit_bearing:-0.031746 0.125311 0.991609 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.426] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.426] If point is visible? -0.160894, -0.002553, 1.715363 mu:-0.839226 unit_bearing:-0.147338 0.122947 0.981415 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.426] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.426] If point is visible? -0.026429, -0.006772, 1.725399 mu:-0.839226 unit_bearing:-0.034640 0.127488 0.991235 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.426] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.426] If point is visible? -0.022978, -0.006767, 1.725457 mu:-0.839226 unit_bearing:-0.031745 0.127490 0.991332 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.426] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.426] If point is visible? -0.026433, -0.009389, 1.725381 mu:-0.839226 unit_bearing:-0.034638 0.129667 0.990952 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.426] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.426] If point is visible? -0.022982, -0.009384, 1.725439 mu:-0.839226 unit_bearing:-0.031744 0.129669 0.991049 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.426] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.426] If point is visible? -0.260393, -0.025210, 1.697640 mu:-0.839226 unit_bearing:-0.230541 0.140007 0.962938 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.426] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.426] If point is visible? 0.711352, -0.043846, 1.485256 mu:-0.839226 unit_bearing:0.587856 0.133809 0.797822 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.426] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.426] If point is visible? 0.711405, -0.041313, 1.485329 mu:-0.839226 unit_bearing:0.587895 0.131706 0.798143 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.426] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.426] If point is visible? -0.174635, -0.028886, 1.713117 mu:-0.839226 unit_bearing:-0.158791 0.144653 0.976658 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.426] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.426] If point is visible? 0.713915, -0.064328, 1.482153 mu:-0.839226 unit_bearing:0.590085 0.150552 0.793179 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.426] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.426] If point is visible? -0.270560, -0.054153, 1.694372 mu:-0.839226 unit_bearing:-0.238978 0.163782 0.957113 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.426] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.426] If point is visible? -0.267119, -0.061917, 1.694766 mu:-0.839226 unit_bearing:-0.236082 0.170289 0.956696 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.426] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.426] If point is visible? -0.270552, -0.056765, 1.694249 mu:-0.839226 unit_bearing:-0.238964 0.165945 0.956744 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.426] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.426] If point is visible? -0.760867, -0.101363, 1.449564 mu:-0.839226 unit_bearing:-0.646897 0.178069 0.741496 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.426] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.426] If point is visible? -0.653564, -0.110058, 1.527545 mu:-0.839226 unit_bearing:-0.557933 0.193287 0.807063 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.426] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.426] If point is visible? -0.653510, -0.112605, 1.527294 mu:-0.839226 unit_bearing:-0.557880 0.195383 0.806595 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.426] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.426] If point is visible? 0.714506, -0.145622, 1.472656 mu:-0.839226 unit_bearing:0.590853 0.217297 0.776965 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.426] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.426] If point is visible? 0.821052, -0.160062, 1.377794 mu:-0.839226 unit_bearing:0.681606 0.219623 0.697982 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.426] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.426] If point is visible? 0.714416, -0.148156, 1.472329 mu:-0.839226 unit_bearing:0.590786 0.219374 0.776432 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.426] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.426] If point is visible? 0.812590, -0.161975, 1.385635 mu:-0.839226 unit_bearing:0.674399 0.222018 0.704197 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.426] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.426] If point is visible? 0.713454, -0.173481, 1.468718 mu:-0.839226 unit_bearing:0.590073 0.240100 0.770821 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.426] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.426] If point is visible? 0.713555, -0.170950, 1.469107 mu:-0.839226 unit_bearing:0.590148 0.238031 0.771406 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.426] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.426] If point is visible? -0.825459, -0.220135, 1.369609 mu:-0.839226 unit_bearing:-0.699777 0.268825 0.661850 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.426] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.427] If point is visible? -0.023470, -0.201115, 1.708371 mu:-0.839226 unit_bearing:-0.031586 0.287629 0.957221 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.427] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.427] If point is visible? -0.020037, -0.201114, 1.708421 mu:-0.839226 unit_bearing:-0.028705 0.287633 0.957310 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.427] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.427] If point is visible? -0.813765, -0.229426, 1.378464 mu:-0.839226 unit_bearing:-0.690072 0.277470 0.668440 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.427] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.427] If point is visible? 0.743734, -0.223146, 1.433763 mu:-0.839226 unit_bearing:0.616054 0.277894 0.737056 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.427] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.427] If point is visible? 0.656618, -0.229155, 1.498219 mu:-0.839226 unit_bearing:0.542065 0.289492 0.788898 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.427] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.427] If point is visible? -0.761645, -0.239392, 1.422844 mu:-0.839226 unit_bearing:-0.646940 0.290310 0.705116 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.427] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.427] calculated Z= 0.833872 tau: 0.002826 tau_inv: 0.004064 +[19:36:15.427] seeds updated +[19:36:15.427] If point is visible? -0.357473, -0.228460, 1.649113 mu:-0.839226 unit_bearing:-0.310976 0.304346 0.900371 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.427] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.427] If point is visible? -0.354114, -0.228388, 1.650184 mu:-0.839226 unit_bearing:-0.308172 0.304396 0.901317 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.427] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.427] If point is visible? -0.350753, -0.228317, 1.651244 mu:-0.839226 unit_bearing:-0.305367 0.304445 0.902255 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.427] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.427] If point is visible? 0.865180, -0.237221, 1.312769 mu:-0.839226 unit_bearing:0.719675 0.277243 0.636556 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.427] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.427] If point is visible? 0.865005, -0.239666, 1.312215 mu:-0.839226 unit_bearing:0.719540 0.279224 0.635842 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.427] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.427] If point is visible? 0.472147, -0.248055, 1.597373 mu:-0.839226 unit_bearing:0.385922 0.315376 0.866950 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.427] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.427] If point is visible? -0.023645, -0.248425, 1.699278 mu:-0.839226 unit_bearing:-0.031525 0.326106 0.944807 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.427] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.427] If point is visible? -0.551284, -0.259411, 1.560727 mu:-0.839226 unit_bearing:-0.472316 0.321087 0.820866 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.427] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.427] calculated Z= 0.728127 tau: 0.001699 tau_inv: 0.003205 +[19:36:15.427] seeds updated +[19:36:15.427] If point is visible? -0.532021, -0.256265, 1.571530 mu:-0.839226 unit_bearing:-0.456309 0.319571 0.830455 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.427] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.427] If point is visible? -0.023655, -0.251051, 1.698715 mu:-0.839226 unit_bearing:-0.031521 0.328237 0.944069 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.427] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.427] If point is visible? 0.841396, -0.272831, 1.327187 mu:-0.839226 unit_bearing:0.699577 0.308380 0.644588 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.427] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.427] If point is visible? -0.293071, -0.263758, 1.659771 mu:-0.839226 unit_bearing:-0.257024 0.334838 0.906544 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.427] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.427] If point is visible? -0.827492, -0.279316, 1.349685 mu:-0.839226 unit_bearing:-0.701103 0.316083 0.639176 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.427] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.427] If point is visible? -0.830391, -0.276981, 1.347551 mu:-0.839226 unit_bearing:-0.703509 0.313920 0.637597 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.427] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.427] If point is visible? 0.143868, -0.257117, 1.687982 mu:-0.839226 unit_bearing:0.109209 0.332192 0.936868 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.427] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.427] If point is visible? -0.810294, -0.288479, 1.363541 mu:-0.839226 unit_bearing:-0.686849 0.325133 0.650021 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.427] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.427] If point is visible? 0.309333, -0.275249, 1.649969 mu:-0.839226 unit_bearing:0.248615 0.343407 0.905683 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.427] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.427] If point is visible? 0.437930, -0.298885, 1.599101 mu:-0.839226 unit_bearing:0.357273 0.357893 0.862710 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.427] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.427] If point is visible? -0.356722, -0.285679, 1.636083 mu:-0.839226 unit_bearing:-0.310066 0.350675 0.883678 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.427] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.427] If point is visible? 0.302576, -0.277730, 1.651237 mu:-0.839226 unit_bearing:0.242931 0.345603 0.906390 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.427] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.428] If point is visible? -0.456138, -0.292901, 1.597288 mu:-0.839226 unit_bearing:-0.392932 0.352723 0.849230 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.428] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.428] If point is visible? -0.452853, -0.292827, 1.598696 mu:-0.839226 unit_bearing:-0.390195 0.352805 0.850457 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.428] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.428] If point is visible? 0.427954, -0.303816, 1.601805 mu:-0.839226 unit_bearing:0.348872 0.362277 0.864317 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.428] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.428] If point is visible? -0.848381, -0.326262, 1.309957 mu:-0.839226 unit_bearing:-0.717996 0.351125 0.600994 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.428] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.428] If point is visible? 0.431308, -0.301309, 1.601149 mu:-0.839226 unit_bearing:0.351692 0.360122 0.864075 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.428] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.428] If point is visible? -0.020533, -0.319233, 1.681948 mu:-0.839226 unit_bearing:-0.028550 0.383315 0.923176 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.428] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.428] If point is visible? 0.731063, -0.335396, 1.409035 mu:-0.839226 unit_bearing:0.605960 0.368866 0.704805 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.428] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.428] If point is visible? -0.071740, -0.316671, 1.680820 mu:-0.839226 unit_bearing:-0.071507 0.381066 0.921778 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.428] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.428] If point is visible? -0.791030, -0.363745, 1.352354 mu:-0.839226 unit_bearing:-0.670399 0.386683 0.633278 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.428] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.428] If point is visible? -0.281439, -0.396031, 1.623336 mu:-0.839226 unit_bearing:-0.246528 0.441291 0.862836 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.428] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.428] If point is visible? -0.224102, -0.416230, 1.628835 mu:-0.839226 unit_bearing:-0.198458 0.458678 0.866157 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.428] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.428] If point is visible? 0.659769, -0.428122, 1.425491 mu:-0.839226 unit_bearing:0.546066 0.447787 0.708025 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.428] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.428] If point is visible? 0.662719, -0.428163, 1.423264 mu:-0.839226 unit_bearing:0.548573 0.447593 0.706207 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.428] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.428] If point is visible? 0.894212, 0.535013, 1.104206 mu:-0.839226 unit_bearing:0.745625 -0.387335 0.542232 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.428] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.428] If point is visible? 0.115797, 0.591679, 1.561258 mu:-0.839226 unit_bearing:0.085969 -0.387791 0.917729 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.428] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.428] If point is visible? 0.266808, 0.477066, 1.591580 mu:-0.839226 unit_bearing:0.212457 -0.289221 0.933388 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.428] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.428] If point is visible? 0.279974, 0.495876, 1.579392 mu:-0.839226 unit_bearing:0.223643 -0.306136 0.925346 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.428] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.428] If point is visible? 0.286714, 0.495582, 1.577671 mu:-0.839226 unit_bearing:0.229323 -0.306067 0.923977 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.428] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.428] If point is visible? 0.293449, 0.495281, 1.575909 mu:-0.839226 unit_bearing:0.234999 -0.305996 0.922574 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.428] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.428] If point is visible? 0.280062, 0.491045, 1.581646 mu:-0.839226 unit_bearing:0.223694 -0.301881 0.926730 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.428] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.428] If point is visible? 0.286804, 0.490752, 1.579926 mu:-0.839226 unit_bearing:0.229375 -0.301813 0.925363 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.428] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.428] If point is visible? 0.286893, 0.485916, 1.582157 mu:-0.839226 unit_bearing:0.229427 -0.297556 0.926727 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.428] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.428] If point is visible? 0.158195, 0.470719, 1.616466 mu:-0.839226 unit_bearing:0.120982 -0.281389 0.951937 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.428] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.429] If point is visible? 0.083255, 0.427754, 1.642682 mu:-0.839226 unit_bearing:0.057807 -0.242919 0.968323 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.429] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.429] If point is visible? -0.184825, 0.391258, 1.645081 mu:-0.839226 unit_bearing:-0.167112 -0.212274 0.962815 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.429] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.429] If point is visible? 0.641701, 0.363181, 1.466653 mu:-0.839226 unit_bearing:0.528973 -0.207135 0.822972 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.429] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.429] If point is visible? -0.033393, 0.333274, 1.677703 mu:-0.839226 unit_bearing:-0.040401 -0.160638 0.986186 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.429] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.429] If point is visible? -0.019601, 0.333316, 1.677950 mu:-0.839226 unit_bearing:-0.028831 -0.160647 0.986591 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.429] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.429] If point is visible? -0.581799, 0.251545, 1.545886 mu:-0.839226 unit_bearing:-0.498591 -0.106042 0.860327 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.429] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.429] If point is visible? -0.689960, 0.217244, 1.484530 mu:-0.839226 unit_bearing:-0.588434 -0.083746 0.804197 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.429] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.429] If point is visible? -0.581753, 0.256514, 1.544664 mu:-0.839226 unit_bearing:-0.498543 -0.110306 0.859818 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.429] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.429] If point is visible? -0.102297, 0.159234, 1.710906 mu:-0.839226 unit_bearing:-0.098384 -0.012272 0.995073 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.429] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.429] If point is visible? -0.095393, 0.159302, 1.711448 mu:-0.839226 unit_bearing:-0.092598 -0.012273 0.995628 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.429] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.429] If point is visible? -0.067766, 0.133678, 1.716423 mu:-0.839226 unit_bearing:-0.069442 0.009580 0.997540 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.429] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.429] If point is visible? -0.171241, 0.033832, 1.713468 mu:-0.839226 unit_bearing:-0.156056 0.092446 0.983413 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.429] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.429] If point is visible? -0.026374, 0.035051, 1.724904 mu:-0.839226 unit_bearing:-0.034659 0.092600 0.995100 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.429] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.429] If point is visible? -0.171238, 0.028619, 1.713607 mu:-0.839226 unit_bearing:-0.156046 0.096803 0.982995 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.429] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.429] If point is visible? -0.178093, -0.008023, 1.712940 mu:-0.839226 unit_bearing:-0.161726 0.127256 0.978596 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.429] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.429] If point is visible? -0.033274, 0.040256, 1.724595 mu:-0.839226 unit_bearing:-0.040453 0.088233 0.995278 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.429] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.429] If point is visible? -0.171218, -0.002697, 1.713954 mu:-0.839226 unit_bearing:-0.155980 0.122924 0.980082 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.429] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.429] If point is visible? -0.171221, 0.002526, 1.713954 mu:-0.839226 unit_bearing:-0.155992 0.118572 0.980616 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.429] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.429] If point is visible? -0.033345, -0.017257, 1.725149 mu:-0.839226 unit_bearing:-0.040422 0.136196 0.989857 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.429] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.429] If point is visible? -0.700397, -0.100017, 1.496441 mu:-0.839226 unit_bearing:-0.596813 0.181742 0.781526 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.429] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.429] If point is visible? -0.143643, -0.086134, 1.714376 mu:-0.839226 unit_bearing:-0.132705 0.192468 0.972289 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.429] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.429] If point is visible? 0.909589, -0.147151, 1.283561 mu:-0.839226 unit_bearing:0.757193 0.199231 0.622066 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.429] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.429] If point is visible? 0.823820, -0.160256, 1.375038 mu:-0.839226 unit_bearing:0.683968 0.219503 0.695706 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.429] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.429] If point is visible? 0.829335, -0.160644, 1.369493 mu:-0.839226 unit_bearing:0.688674 0.219259 0.691125 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.429] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.429] If point is visible? 0.845712, -0.161819, 1.352581 mu:-0.839226 unit_bearing:0.702654 0.218508 0.677150 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.429] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.429] If point is visible? 0.851112, -0.162214, 1.346852 mu:-0.839226 unit_bearing:0.707266 0.218251 0.672414 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.429] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.429] If point is visible? 0.850855, -0.167155, 1.346121 mu:-0.839226 unit_bearing:0.707069 0.222292 0.671297 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.429] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.429] If point is visible? -0.927051, -0.204172, 1.260619 mu:-0.839226 unit_bearing:-0.783528 0.244381 0.571281 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.429] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.429] If point is visible? 0.963232, -0.147222, 1.212837 mu:-0.839226 unit_bearing:0.803193 0.192057 0.563911 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.429] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.430] If point is visible? 0.967858, -0.147678, 1.206091 mu:-0.839226 unit_bearing:0.807170 0.191746 0.558311 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.430] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.430] If point is visible? -0.842152, -0.218565, 1.353304 mu:-0.839226 unit_bearing:-0.713559 0.265849 0.648196 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.430] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.430] If point is visible? -0.790991, -0.230788, 1.399341 mu:-0.839226 unit_bearing:-0.671251 0.280739 0.686008 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.430] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.430] If point is visible? -0.926733, -0.208975, 1.259656 mu:-0.839226 unit_bearing:-0.783240 0.248283 0.569992 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.430] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.430] If point is visible? -0.921750, -0.208651, 1.266035 mu:-0.839226 unit_bearing:-0.779148 0.248666 0.575408 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.430] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.430] If point is visible? -0.714285, -0.237332, 1.461609 mu:-0.839226 unit_bearing:-0.607745 0.292559 0.738279 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.430] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.430] If point is visible? 0.740946, -0.220483, 1.436730 mu:-0.839226 unit_bearing:0.613669 0.275980 0.739760 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.430] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.430] If point is visible? -0.360862, -0.225929, 1.648552 mu:-0.839226 unit_bearing:-0.313816 0.302180 0.900115 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.430] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.430] If point is visible? 0.649488, -0.251780, 1.497442 mu:-0.839226 unit_bearing:0.536132 0.308258 0.785837 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.430] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.430] If point is visible? 0.698341, -0.243706, 1.464531 mu:-0.839226 unit_bearing:0.577570 0.298167 0.759940 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.430] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.430] If point is visible? -0.033943, -0.253683, 1.697934 mu:-0.839226 unit_bearing:-0.040138 0.330349 0.943005 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.430] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.430] If point is visible? -0.027092, -0.253679, 1.698085 mu:-0.839226 unit_bearing:-0.034391 0.330361 0.943228 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.430] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.430] If point is visible? 0.137021, -0.259674, 1.688273 mu:-0.839226 unit_bearing:0.103465 0.334351 0.936752 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.430] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.430] If point is visible? 0.137081, -0.254427, 1.689433 mu:-0.839226 unit_bearing:0.103490 0.330100 0.938256 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.430] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.430] If point is visible? -0.638955, -0.285085, 1.501835 mu:-0.839226 unit_bearing:-0.545015 0.336449 0.767958 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.430] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.430] If point is visible? -0.225231, -0.270650, 1.673371 mu:-0.839226 unit_bearing:-0.200277 0.341970 0.918121 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.430] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.430] If point is visible? -0.810135, -0.290930, 1.362839 mu:-0.839226 unit_bearing:-0.686702 0.327103 0.649187 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.430] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.430] If point is visible? -0.033981, -0.264186, 1.695594 mu:-0.839226 unit_bearing:-0.040119 0.338858 0.939982 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.430] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.430] If point is visible? -0.027132, -0.264181, 1.695746 mu:-0.839226 unit_bearing:-0.034374 0.338870 0.940205 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.430] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.430] If point is visible? -0.594249, -0.309150, 1.522481 mu:-0.839226 unit_bearing:-0.507749 0.358607 0.783321 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.430] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.430] If point is visible? -0.673698, -0.331433, 1.462907 mu:-0.839226 unit_bearing:-0.573545 0.371075 0.730308 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.430] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.430] If point is visible? 0.734295, -0.330519, 1.408166 mu:-0.839226 unit_bearing:0.608676 0.364715 0.704625 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.430] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.430] If point is visible? 0.733939, -0.335485, 1.406573 mu:-0.839226 unit_bearing:0.608408 0.368689 0.702786 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.430] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.430] If point is visible? -0.150105, -0.343122, 1.665873 mu:-0.839226 unit_bearing:-0.137009 0.401570 0.905522 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.430] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.430] If point is visible? -0.284789, -0.396062, 1.622469 mu:-0.839226 unit_bearing:-0.249327 0.441228 0.862064 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.431] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.431] If point is visible? -0.244332, -0.411207, 1.626494 mu:-0.839226 unit_bearing:-0.215409 0.454255 0.864437 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.431] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.431] If point is visible? -0.061791, -0.426009, 1.645405 mu:-0.839226 unit_bearing:-0.062476 0.468519 0.881242 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.431] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.431] If point is visible? -0.212198, 0.405411, 1.635194 mu:-0.839226 unit_bearing:-0.189967 -0.225074 0.955643 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.431] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.431] If point is visible? 0.115663, 0.601090, 1.555795 mu:-0.839226 unit_bearing:0.085917 -0.396189 0.914140 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.431] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.431] If point is visible? 0.089904, 0.457236, 1.630297 mu:-0.839226 unit_bearing:0.063509 -0.268743 0.961116 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.431] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.431] If point is visible? 0.117312, 0.456835, 1.627747 mu:-0.839226 unit_bearing:0.086543 -0.268670 0.959337 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.431] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.431] If point is visible? 0.280062, 0.491045, 1.581646 mu:-0.839226 unit_bearing:0.223694 -0.301881 0.926730 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.431] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.431] If point is visible? 0.130909, 0.466396, 1.622092 mu:-0.839226 unit_bearing:0.098016 -0.277213 0.955796 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.431] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.431] If point is visible? 0.306188, 0.528236, 1.555800 mu:-0.839226 unit_bearing:0.245913 -0.335503 0.909376 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.431] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.431] If point is visible? 0.635333, 0.368668, 1.468891 mu:-0.839226 unit_bearing:0.523589 -0.211476 0.825307 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.431] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.431] If point is visible? 0.741042, 0.430540, 1.357419 mu:-0.839226 unit_bearing:0.613741 -0.274415 0.740282 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.431] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.431] If point is visible? 0.294221, 0.451592, 1.595358 mu:-0.839226 unit_bearing:0.235450 -0.267616 0.934315 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.431] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.431] If point is visible? -0.280902, 0.303350, 1.652826 mu:-0.839226 unit_bearing:-0.247688 -0.138257 0.958924 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.431] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.431] If point is visible? -0.033384, 0.328232, 1.679160 mu:-0.839226 unit_bearing:-0.040405 -0.156290 0.986885 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.431] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.431] If point is visible? -0.689960, 0.217244, 1.484530 mu:-0.839226 unit_bearing:-0.588434 -0.083746 0.804197 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.431] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.431] If point is visible? 0.146061, 0.215111, 1.696263 mu:-0.839226 unit_bearing:0.110125 -0.060313 0.992086 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.431] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.431] If point is visible? -0.690055, 0.207370, 1.486665 mu:-0.839226 unit_bearing:-0.588526 -0.075302 0.804964 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.431] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.431] If point is visible? -0.171244, 0.039043, 1.713307 mu:-0.839226 unit_bearing:-0.156065 0.088089 0.983811 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.431] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.431] If point is visible? -0.157470, 0.039244, 1.715161 mu:-0.839226 unit_bearing:-0.144534 0.088111 0.985569 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.431] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.431] If point is visible? -0.060894, 0.040155, 1.723621 mu:-0.839226 unit_bearing:-0.063615 0.088218 0.994068 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.431] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.431] If point is visible? -0.047084, 0.040214, 1.724188 mu:-0.839226 unit_bearing:-0.052036 0.088226 0.994740 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.431] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.431] If point is visible? -0.171218, -0.002697, 1.713954 mu:-0.839226 unit_bearing:-0.155980 0.122924 0.980082 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.431] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.431] If point is visible? -0.060950, -0.022586, 1.724082 mu:-0.839226 unit_bearing:-0.063561 0.140526 0.988035 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.431] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.431] If point is visible? -0.047152, -0.022532, 1.724652 mu:-0.839226 unit_bearing:-0.051991 0.140540 0.988709 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.431] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.431] If point is visible? -0.171209, -0.013149, 1.713885 mu:-0.839226 unit_bearing:-0.155955 0.131623 0.978955 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.431] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.431] If point is visible? -0.157446, -0.012961, 1.715744 mu:-0.839226 unit_bearing:-0.144432 0.131656 0.980717 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.431] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.431] If point is visible? -0.047139, -0.012058, 1.724804 mu:-0.839226 unit_bearing:-0.052000 0.131831 0.989907 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.431] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.431] If point is visible? -0.033338, -0.012020, 1.725213 mu:-0.839226 unit_bearing:-0.040425 0.131841 0.990446 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.431] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.431] If point is visible? 0.822562, -0.185098, 1.371167 mu:-0.839226 unit_bearing:0.683009 0.239799 0.689924 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.431] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.432] If point is visible? -0.790991, -0.230788, 1.399341 mu:-0.839226 unit_bearing:-0.671251 0.280739 0.686008 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.432] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.432] If point is visible? -0.767938, -0.229691, 1.420019 mu:-0.839226 unit_bearing:-0.652198 0.281941 0.703667 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.432] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.432] If point is visible? -0.645146, -0.285281, 1.497694 mu:-0.839226 unit_bearing:-0.550152 0.336189 0.764402 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.432] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.432] If point is visible? -0.825328, -0.222599, 1.369085 mu:-0.839226 unit_bearing:-0.699655 0.270824 0.661163 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.432] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.432] If point is visible? -0.696171, -0.236576, 1.475375 mu:-0.839226 unit_bearing:-0.592739 0.293337 0.750076 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.432] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.432] If point is visible? -0.609432, -0.233202, 1.534081 mu:-0.839226 unit_bearing:-0.520781 0.296531 0.800535 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.432] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.432] If point is visible? 0.116613, -0.254244, 1.691806 mu:-0.839226 unit_bearing:0.086282 0.330190 0.939963 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.432] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.432] If point is visible? 0.130261, -0.254363, 1.690265 mu:-0.839226 unit_bearing:0.097755 0.330131 0.938859 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.432] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.432] If point is visible? 0.733579, -0.340447, 1.404955 mu:-0.839226 unit_bearing:0.608138 0.372656 0.700925 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.432] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.432] If point is visible? 0.006797, -0.316642, 1.682710 mu:-0.839226 unit_bearing:-0.005632 0.381235 0.924461 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.432] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.432] If point is visible? -0.278017, -0.401159, 1.622322 mu:-0.839226 unit_bearing:-0.243633 0.445459 0.861516 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.432] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.432] If point is visible? -0.703990, -0.327230, 1.441856 mu:-0.839226 unit_bearing:-0.598676 0.365421 0.712779 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.432] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.432] If point is visible? -0.692034, -0.326910, 1.451052 mu:-0.839226 unit_bearing:-0.588773 0.366095 0.720639 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.432] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.432] If point is visible? -0.034356, -0.358429, 1.670045 mu:-0.839226 unit_bearing:-0.039915 0.414747 0.909061 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.432] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.432] If point is visible? -0.251050, -0.411255, 1.624983 mu:-0.839226 unit_bearing:-0.221024 0.454141 0.863078 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038 +[19:36:15.432] Z inverse min: -0.800251, Z inverse max: 0.000000 +[19:36:15.432] init seeds +[19:36:15.435] DepthFilter: Initialized 353 new seeds +[19:37:42.370] DepthFilter stop thread invoked. +[19:37:42.370] DepthFilter interrupt and join thread diff --git a/GPU_version/vio/frame_handler_log.txt b/GPU_version/vio/frame_handler_log.txt index 10d95af..67a087b 100755 --- a/GPU_version/vio/frame_handler_log.txt +++ b/GPU_version/vio/frame_handler_log.txt @@ -1,848 +1,1872 @@ -[11:00:41.815] Init: frame zero: 0.000000, 0.000000 0.000000 -[11:00:41.815] Init: Selected first frame. -[11:00:41.917] Init: px average disparity is:0.189021 ,While minimum is: 40.000000 KLT tracked : 138 -[11:00:41.917] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:42.011] Init: px average disparity is:0.226319 ,While minimum is: 40.000000 KLT tracked : 138 -[11:00:42.011] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:42.112] Init: px average disparity is:0.239368 ,While minimum is: 40.000000 KLT tracked : 138 -[11:00:42.112] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:42.213] Init: px average disparity is:0.262005 ,While minimum is: 40.000000 KLT tracked : 138 -[11:00:42.213] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:42.313] Init: px average disparity is:0.234037 ,While minimum is: 40.000000 KLT tracked : 138 -[11:00:42.313] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:42.411] Init: px average disparity is:0.228880 ,While minimum is: 40.000000 KLT tracked : 138 -[11:00:42.411] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:42.517] Init: px average disparity is:0.239129 ,While minimum is: 40.000000 KLT tracked : 138 -[11:00:42.517] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:42.617] Init: px average disparity is:0.236235 ,While minimum is: 40.000000 KLT tracked : 138 -[11:00:42.617] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:42.710] Init: px average disparity is:0.262387 ,While minimum is: 40.000000 KLT tracked : 138 -[11:00:42.710] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:42.810] Init: px average disparity is:0.233398 ,While minimum is: 40.000000 KLT tracked : 138 -[11:00:42.810] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:42.911] Init: px average disparity is:0.237637 ,While minimum is: 40.000000 KLT tracked : 138 -[11:00:42.911] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:43.010] Init: px average disparity is:0.242423 ,While minimum is: 40.000000 KLT tracked : 138 -[11:00:43.010] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:43.112] Init: px average disparity is:0.231325 ,While minimum is: 40.000000 KLT tracked : 138 -[11:00:43.112] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:43.210] Init: px average disparity is:0.244046 ,While minimum is: 40.000000 KLT tracked : 138 -[11:00:43.210] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:43.310] Init: px average disparity is:0.223792 ,While minimum is: 40.000000 KLT tracked : 138 -[11:00:43.310] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:43.412] Init: px average disparity is:0.241348 ,While minimum is: 40.000000 KLT tracked : 138 -[11:00:43.412] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:43.512] Init: px average disparity is:0.261645 ,While minimum is: 40.000000 KLT tracked : 138 -[11:00:43.512] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:43.617] Init: px average disparity is:0.239367 ,While minimum is: 40.000000 KLT tracked : 138 -[11:00:43.617] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:43.717] Init: px average disparity is:0.227767 ,While minimum is: 40.000000 KLT tracked : 138 -[11:00:43.717] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:43.818] Init: px average disparity is:0.230022 ,While minimum is: 40.000000 KLT tracked : 138 -[11:00:43.818] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:43.917] Init: px average disparity is:0.256177 ,While minimum is: 40.000000 KLT tracked : 138 -[11:00:43.917] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:44.017] Init: px average disparity is:0.259031 ,While minimum is: 40.000000 KLT tracked : 138 -[11:00:44.017] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:44.118] Init: px average disparity is:0.234985 ,While minimum is: 40.000000 KLT tracked : 138 -[11:00:44.118] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:44.217] Init: px average disparity is:0.230246 ,While minimum is: 40.000000 KLT tracked : 138 -[11:00:44.217] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:44.317] Init: px average disparity is:0.257716 ,While minimum is: 40.000000 KLT tracked : 138 -[11:00:44.317] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:44.420] Init: px average disparity is:0.238368 ,While minimum is: 40.000000 KLT tracked : 138 -[11:00:44.420] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:44.518] Init: px average disparity is:0.218522 ,While minimum is: 40.000000 KLT tracked : 138 -[11:00:44.518] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:44.621] Init: px average disparity is:0.264158 ,While minimum is: 40.000000 KLT tracked : 138 -[11:00:44.621] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:44.719] Init: px average disparity is:0.221493 ,While minimum is: 40.000000 KLT tracked : 138 -[11:00:44.719] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:44.755] Odometry x=0.000110, y=0.000030, theta=0.054677 -[11:00:44.819] Init: px average disparity is:0.233489 ,While minimum is: 40.000000 KLT tracked : 138 -[11:00:44.819] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:44.855] Odometry x=0.000114, y=0.000031, theta=0.057499 -[11:00:44.920] Init: px average disparity is:0.209077 ,While minimum is: 40.000000 KLT tracked : 138 -[11:00:44.920] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:44.956] Odometry x=-0.000170, y=0.005086, theta=0.060844 -[11:00:45.020] Init: px average disparity is:1.657877 ,While minimum is: 40.000000 KLT tracked : 138 -[11:00:45.020] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:45.057] Odometry x=-0.000516, y=0.011100, theta=0.063465 -[11:00:45.121] Init: px average disparity is:5.894453 ,While minimum is: 40.000000 KLT tracked : 138 -[11:00:45.121] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:45.157] Odometry x=-0.000353, y=0.016653, theta=0.032491 -[11:00:45.220] Init: px average disparity is:7.641684 ,While minimum is: 40.000000 KLT tracked : 138 -[11:00:45.220] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:45.257] Odometry x=-0.000522, y=0.022270, theta=0.033282 -[11:00:45.320] Init: px average disparity is:4.938877 ,While minimum is: 40.000000 KLT tracked : 138 -[11:00:45.320] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:45.358] Odometry x=-0.000670, y=0.027824, theta=0.034200 -[11:00:45.420] Init: px average disparity is:5.291002 ,While minimum is: 40.000000 KLT tracked : 138 -[11:00:45.420] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:45.458] Odometry x=-0.000826, y=0.033421, theta=0.037971 -[11:00:45.520] Init: px average disparity is:4.261852 ,While minimum is: 40.000000 KLT tracked : 138 -[11:00:45.520] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:45.558] Odometry x=-0.001012, y=0.038917, theta=0.042409 -[11:00:45.622] Init: px average disparity is:5.711665 ,While minimum is: 40.000000 KLT tracked : 138 -[11:00:45.622] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:45.659] Odometry x=-0.001243, y=0.044473, theta=0.033817 -[11:00:45.721] Init: px average disparity is:4.534912 ,While minimum is: 40.000000 KLT tracked : 138 -[11:00:45.721] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:45.760] Odometry x=-0.001414, y=0.049995, theta=0.052358 -[11:00:45.822] Init: px average disparity is:6.380539 ,While minimum is: 40.000000 KLT tracked : 138 -[11:00:45.822] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:45.860] Odometry x=-0.001686, y=0.055788, theta=0.055038 -[11:00:45.922] Init: px average disparity is:7.852481 ,While minimum is: 40.000000 KLT tracked : 138 -[11:00:45.922] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:45.959] Odometry x=-0.001974, y=0.061247, theta=0.071089 -[11:00:46.019] Init: px average disparity is:9.230810 ,While minimum is: 40.000000 KLT tracked : 138 -[11:00:46.019] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:46.060] Odometry x=-0.002358, y=0.066575, theta=0.069577 -[11:00:46.122] Init: px average disparity is:12.547097 ,While minimum is: 40.000000 KLT tracked : 138 -[11:00:46.122] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:46.155] Odometry x=-0.001134, y=0.072068, theta=0.042243 -[11:00:46.222] Init: px average disparity is:15.403352 ,While minimum is: 40.000000 KLT tracked : 138 -[11:00:46.222] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:46.261] Odometry x=-0.001287, y=0.077587, theta=0.049047 -[11:00:46.322] Init: px average disparity is:13.661554 ,While minimum is: 40.000000 KLT tracked : 138 -[11:00:46.322] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:46.356] Odometry x=-0.001597, y=0.083108, theta=0.051623 -[11:00:46.423] Init: px average disparity is:12.853010 ,While minimum is: 40.000000 KLT tracked : 138 -[11:00:46.423] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:46.456] Odometry x=-0.001846, y=0.088784, theta=0.049851 -[11:00:46.523] Init: px average disparity is:11.247024 ,While minimum is: 40.000000 KLT tracked : 138 -[11:00:46.523] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:46.556] Odometry x=-0.002092, y=0.094334, theta=0.046088 -[11:00:46.622] Init: px average disparity is:12.576255 ,While minimum is: 40.000000 KLT tracked : 138 -[11:00:46.622] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:46.657] Odometry x=-0.002350, y=0.099985, theta=0.034640 -[11:00:46.722] Init: px average disparity is:12.845121 ,While minimum is: 40.000000 KLT tracked : 137 -[11:00:46.722] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:46.757] Odometry x=-0.002498, y=0.105667, theta=0.023831 -[11:00:46.821] Init: px average disparity is:18.946960 ,While minimum is: 40.000000 KLT tracked : 137 -[11:00:46.821] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:46.868] Odometry x=-0.002598, y=0.111659, theta=0.003609 -[11:00:46.921] Init: px average disparity is:13.849020 ,While minimum is: 40.000000 KLT tracked : 137 -[11:00:46.921] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:46.958] Odometry x=-0.002510, y=0.117746, theta=0.001457 -[11:00:47.021] Init: px average disparity is:13.715514 ,While minimum is: 40.000000 KLT tracked : 137 -[11:00:47.021] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:47.057] Odometry x=-0.002472, y=0.122959, theta=0.009787 -[11:00:47.123] Init: px average disparity is:9.256243 ,While minimum is: 40.000000 KLT tracked : 137 -[11:00:47.123] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:47.159] Odometry x=-0.002446, y=0.128488, theta=0.010786 -[11:00:47.220] Init: px average disparity is:9.889799 ,While minimum is: 40.000000 KLT tracked : 137 -[11:00:47.220] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:47.255] Odometry x=-0.002427, y=0.134005, theta=0.026390 -[11:00:47.322] Init: px average disparity is:9.803692 ,While minimum is: 40.000000 KLT tracked : 136 -[11:00:47.322] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:47.359] Odometry x=-0.002488, y=0.139344, theta=0.032169 -[11:00:47.420] Init: px average disparity is:10.761024 ,While minimum is: 40.000000 KLT tracked : 136 -[11:00:47.420] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:47.463] Odometry x=-0.002648, y=0.144902, theta=0.055121 -[11:00:47.524] Init: px average disparity is:11.469574 ,While minimum is: 40.000000 KLT tracked : 136 -[11:00:47.524] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:47.564] Odometry x=-0.002798, y=0.150610, theta=0.063998 -[11:00:47.621] Init: px average disparity is:9.532410 ,While minimum is: 40.000000 KLT tracked : 136 -[11:00:47.621] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:47.664] Odometry x=-0.003156, y=0.156163, theta=0.061140 -[11:00:47.721] Init: px average disparity is:11.617722 ,While minimum is: 40.000000 KLT tracked : 136 -[11:00:47.721] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:47.762] Odometry x=-0.003474, y=0.161722, theta=0.067792 -[11:00:47.821] Init: px average disparity is:13.975035 ,While minimum is: 40.000000 KLT tracked : 136 -[11:00:47.821] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:47.863] Odometry x=-0.001607, y=0.167281, theta=0.035804 -[11:00:47.922] Init: px average disparity is:15.045519 ,While minimum is: 40.000000 KLT tracked : 136 -[11:00:47.922] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:47.963] Odometry x=-0.001744, y=0.172704, theta=0.044296 -[11:00:48.023] Init: px average disparity is:16.040362 ,While minimum is: 40.000000 KLT tracked : 136 -[11:00:48.023] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:48.055] Odometry x=-0.001985, y=0.178239, theta=0.044426 -[11:00:48.121] Init: px average disparity is:16.535108 ,While minimum is: 40.000000 KLT tracked : 136 -[11:00:48.122] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:48.154] Odometry x=-0.002203, y=0.183574, theta=0.053147 -[11:00:48.223] Init: px average disparity is:16.941362 ,While minimum is: 40.000000 KLT tracked : 136 -[11:00:48.223] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:48.260] Odometry x=-0.002499, y=0.189094, theta=0.052482 -[11:00:48.324] Init: px average disparity is:19.108076 ,While minimum is: 40.000000 KLT tracked : 136 -[11:00:48.324] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:48.360] Odometry x=-0.002768, y=0.194601, theta=0.062322 -[11:00:48.423] Init: px average disparity is:21.657105 ,While minimum is: 40.000000 KLT tracked : 136 -[11:00:48.423] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:48.460] Odometry x=-0.003114, y=0.200255, theta=0.064568 -[11:00:48.523] Init: px average disparity is:19.625751 ,While minimum is: 40.000000 KLT tracked : 136 -[11:00:48.523] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:48.560] Odometry x=-0.003442, y=0.205806, theta=0.046759 -[11:00:48.624] Init: px average disparity is:18.851104 ,While minimum is: 40.000000 KLT tracked : 136 -[11:00:48.624] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:48.659] Odometry x=-0.003708, y=0.211312, theta=0.055808 -[11:00:48.723] Init: px average disparity is:18.613570 ,While minimum is: 40.000000 KLT tracked : 135 -[11:00:48.723] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:48.758] Odometry x=-0.004090, y=0.216889, theta=0.038677 -[11:00:48.815] Init: px average disparity is:19.034570 ,While minimum is: 40.000000 KLT tracked : 135 -[11:00:48.815] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:48.856] Odometry x=-0.004246, y=0.222411, theta=0.035104 -[11:00:48.924] Init: px average disparity is:21.781473 ,While minimum is: 40.000000 KLT tracked : 135 -[11:00:48.924] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:48.961] Odometry x=-0.004547, y=0.228039, theta=0.025734 -[11:00:49.025] Init: px average disparity is:21.318519 ,While minimum is: 40.000000 KLT tracked : 135 -[11:00:49.025] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:49.062] Odometry x=-0.004661, y=0.233626, theta=0.018423 -[11:00:49.125] Init: px average disparity is:22.124115 ,While minimum is: 40.000000 KLT tracked : 129 -[11:00:49.125] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:49.161] Odometry x=-0.004778, y=0.239210, theta=0.025821 -[11:00:49.213] Init: px average disparity is:22.537750 ,While minimum is: 40.000000 KLT tracked : 129 -[11:00:49.213] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:49.259] Odometry x=-0.004875, y=0.244764, theta=0.031494 -[11:00:49.325] Init: px average disparity is:20.996093 ,While minimum is: 40.000000 KLT tracked : 129 -[11:00:49.325] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:49.358] Odometry x=-0.005044, y=0.250338, theta=0.053279 -[11:00:49.425] Init: px average disparity is:21.907496 ,While minimum is: 40.000000 KLT tracked : 129 -[11:00:49.426] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:49.457] Odometry x=-0.005279, y=0.255681, theta=0.065235 -[11:00:49.525] Init: px average disparity is:21.622618 ,While minimum is: 40.000000 KLT tracked : 129 -[11:00:49.525] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:49.557] Odometry x=-0.005682, y=0.261210, theta=0.068169 -[11:00:49.625] Init: px average disparity is:23.295516 ,While minimum is: 40.000000 KLT tracked : 128 -[11:00:49.625] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:49.657] Odometry x=-0.002523, y=0.266714, theta=0.031984 -[11:00:49.725] Init: px average disparity is:21.658694 ,While minimum is: 40.000000 KLT tracked : 128 -[11:00:49.725] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:49.761] Odometry x=-0.002716, y=0.272387, theta=0.032130 -[11:00:49.825] Init: px average disparity is:22.852721 ,While minimum is: 40.000000 KLT tracked : 128 -[11:00:49.825] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:49.862] Odometry x=-0.002873, y=0.278053, theta=0.039113 -[11:00:49.924] Init: px average disparity is:21.617063 ,While minimum is: 40.000000 KLT tracked : 128 -[11:00:49.924] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:49.960] Odometry x=-0.003110, y=0.283756, theta=0.036692 -[11:00:50.027] Init: px average disparity is:23.650167 ,While minimum is: 40.000000 KLT tracked : 128 -[11:00:50.027] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:50.057] Odometry x=-0.003273, y=0.289289, theta=0.053044 -[11:00:50.114] Init: px average disparity is:21.942198 ,While minimum is: 40.000000 KLT tracked : 128 -[11:00:50.114] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:50.155] Odometry x=-0.003664, y=0.294661, theta=0.034965 -[11:00:50.216] Init: px average disparity is:23.336778 ,While minimum is: 40.000000 KLT tracked : 128 -[11:00:50.216] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:50.257] Odometry x=-0.003759, y=0.300084, theta=0.052001 -[11:00:50.325] Init: px average disparity is:21.919299 ,While minimum is: 40.000000 KLT tracked : 128 -[11:00:50.325] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:50.359] Odometry x=-0.004176, y=0.305837, theta=0.032980 -[11:00:50.424] Init: px average disparity is:23.677905 ,While minimum is: 40.000000 KLT tracked : 125 -[11:00:50.425] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:50.460] Odometry x=-0.004449, y=0.311858, theta=0.018852 -[11:00:50.524] Init: px average disparity is:24.118021 ,While minimum is: 40.000000 KLT tracked : 125 -[11:00:50.524] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:50.561] Odometry x=-0.004500, y=0.317598, theta=0.021968 -[11:00:50.624] Init: px average disparity is:26.440350 ,While minimum is: 40.000000 KLT tracked : 125 -[11:00:50.624] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:50.658] Odometry x=-0.004879, y=0.323070, theta=0.006659 -[11:00:50.727] Init: px average disparity is:28.132271 ,While minimum is: 40.000000 KLT tracked : 125 -[11:00:50.728] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:50.764] Odometry x=-0.004849, y=0.328495, theta=0.000999 -[11:00:50.825] Init: px average disparity is:27.921493 ,While minimum is: 40.000000 KLT tracked : 125 -[11:00:50.826] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:50.860] Odometry x=-0.004934, y=0.334120, theta=0.017871 -[11:00:50.924] Init: px average disparity is:27.307170 ,While minimum is: 40.000000 KLT tracked : 125 -[11:00:50.925] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:50.960] Odometry x=-0.004951, y=0.339815, theta=0.018980 -[11:00:51.028] Init: px average disparity is:26.441648 ,While minimum is: 40.000000 KLT tracked : 125 -[11:00:51.028] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:51.059] Odometry x=-0.005065, y=0.345151, theta=0.047352 -[11:00:51.126] Init: px average disparity is:25.863517 ,While minimum is: 40.000000 KLT tracked : 125 -[11:00:51.126] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:51.159] Odometry x=-0.005317, y=0.350865, theta=0.052839 -[11:00:51.228] Init: px average disparity is:25.405952 ,While minimum is: 40.000000 KLT tracked : 125 -[11:00:51.228] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:51.264] Odometry x=-0.005615, y=0.356427, theta=0.074656 -[11:00:51.329] Init: px average disparity is:26.042722 ,While minimum is: 40.000000 KLT tracked : 125 -[11:00:51.329] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:51.360] Odometry x=-0.002511, y=0.361862, theta=0.034620 -[11:00:51.425] Init: px average disparity is:25.949775 ,While minimum is: 40.000000 KLT tracked : 125 -[11:00:51.425] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:51.460] Odometry x=-0.002734, y=0.367338, theta=0.030001 -[11:00:51.528] Init: px average disparity is:26.922595 ,While minimum is: 40.000000 KLT tracked : 125 -[11:00:51.528] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:51.562] Odometry x=-0.002887, y=0.372848, theta=0.033950 -[11:00:51.626] Init: px average disparity is:26.363942 ,While minimum is: 40.000000 KLT tracked : 125 -[11:00:51.627] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:51.663] Odometry x=-0.003123, y=0.378607, theta=0.030688 -[11:00:51.727] Init: px average disparity is:26.350570 ,While minimum is: 40.000000 KLT tracked : 123 -[11:00:51.727] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:51.758] Odometry x=-0.003277, y=0.384131, theta=0.027416 -[11:00:51.824] Init: px average disparity is:26.471329 ,While minimum is: 40.000000 KLT tracked : 123 -[11:00:51.825] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:51.863] Odometry x=-0.003547, y=0.389693, theta=0.023953 -[11:00:51.925] Init: px average disparity is:26.929668 ,While minimum is: 40.000000 KLT tracked : 123 -[11:00:51.925] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:51.963] Odometry x=-0.003671, y=0.395428, theta=0.019666 -[11:00:52.026] Init: px average disparity is:29.026461 ,While minimum is: 40.000000 KLT tracked : 123 -[11:00:52.026] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:52.064] Odometry x=-0.003910, y=0.400960, theta=0.021047 -[11:00:52.125] Init: px average disparity is:28.143281 ,While minimum is: 40.000000 KLT tracked : 123 -[11:00:52.125] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:52.161] Odometry x=-0.004032, y=0.406538, theta=0.024595 -[11:00:52.226] Init: px average disparity is:30.996289 ,While minimum is: 40.000000 KLT tracked : 123 -[11:00:52.226] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:52.263] Odometry x=-0.004157, y=0.412041, theta=0.007077 -[11:00:52.325] Init: px average disparity is:30.208277 ,While minimum is: 40.000000 KLT tracked : 123 -[11:00:52.325] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:52.363] Odometry x=-0.004253, y=0.417729, theta=0.002520 -[11:00:52.425] Init: px average disparity is:33.985446 ,While minimum is: 40.000000 KLT tracked : 123 -[11:00:52.425] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:52.458] Odometry x=-0.004208, y=0.423172, theta=0.001992 -[11:00:52.526] Init: px average disparity is:30.965337 ,While minimum is: 40.000000 KLT tracked : 123 -[11:00:52.526] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:52.558] Odometry x=-0.004433, y=0.428618, theta=0.013661 -[11:00:52.625] Init: px average disparity is:33.544270 ,While minimum is: 40.000000 KLT tracked : 123 -[11:00:52.625] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:52.659] Odometry x=-0.004444, y=0.434099, theta=0.005963 -[11:00:52.727] Init: px average disparity is:32.559544 ,While minimum is: 40.000000 KLT tracked : 123 -[11:00:52.727] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:52.760] Odometry x=-0.004666, y=0.439994, theta=0.028291 -[11:00:52.825] Init: px average disparity is:32.134094 ,While minimum is: 40.000000 KLT tracked : 123 -[11:00:52.825] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:52.861] Odometry x=-0.004749, y=0.445372, theta=0.024991 -[11:00:52.927] Init: px average disparity is:30.703967 ,While minimum is: 40.000000 KLT tracked : 123 -[11:00:52.927] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:52.958] Odometry x=-0.004920, y=0.450919, theta=0.048461 -[11:00:53.025] Init: px average disparity is:30.734284 ,While minimum is: 40.000000 KLT tracked : 123 -[11:00:53.025] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:53.058] Odometry x=-0.005143, y=0.456276, theta=0.059979 -[11:00:53.125] Init: px average disparity is:30.257921 ,While minimum is: 40.000000 KLT tracked : 123 -[11:00:53.125] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:53.158] Odometry x=-0.005527, y=0.461642, theta=0.073438 -[11:00:53.225] Init: px average disparity is:30.793904 ,While minimum is: 40.000000 KLT tracked : 123 -[11:00:53.225] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:53.259] Odometry x=-0.002452, y=0.467324, theta=0.035926 -[11:00:53.327] Init: px average disparity is:30.882009 ,While minimum is: 40.000000 KLT tracked : 117 -[11:00:53.327] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:53.359] Odometry x=-0.002720, y=0.473017, theta=0.032938 -[11:00:53.427] Init: px average disparity is:30.155297 ,While minimum is: 40.000000 KLT tracked : 117 -[11:00:53.427] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:53.460] Odometry x=-0.002853, y=0.478585, theta=0.046627 -[11:00:53.528] Init: px average disparity is:31.306083 ,While minimum is: 40.000000 KLT tracked : 115 -[11:00:53.528] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:53.559] Odometry x=-0.003235, y=0.484041, theta=0.041520 -[11:00:53.627] Init: px average disparity is:30.944595 ,While minimum is: 40.000000 KLT tracked : 115 -[11:00:53.627] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:53.659] Odometry x=-0.003431, y=0.489598, theta=0.047550 -[11:00:53.727] Init: px average disparity is:32.033161 ,While minimum is: 40.000000 KLT tracked : 115 -[11:00:53.727] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:53.761] Odometry x=-0.003778, y=0.495104, theta=0.040291 -[11:00:53.827] Init: px average disparity is:34.538447 ,While minimum is: 40.000000 KLT tracked : 114 -[11:00:53.827] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:53.861] Odometry x=-0.003918, y=0.500612, theta=0.032183 -[11:00:53.927] Init: px average disparity is:35.050096 ,While minimum is: 40.000000 KLT tracked : 114 -[11:00:53.927] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:53.961] Odometry x=-0.004079, y=0.506271, theta=0.033897 -[11:00:54.027] Init: px average disparity is:37.943538 ,While minimum is: 40.000000 KLT tracked : 113 -[11:00:54.027] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:54.061] Odometry x=-0.004253, y=0.512096, theta=0.008836 -[11:00:54.126] Init: px average disparity is:37.897043 ,While minimum is: 40.000000 KLT tracked : 113 -[11:00:54.126] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:54.161] Odometry x=-0.004505, y=0.517313, theta=0.022908 -[11:00:54.227] Init: px average disparity is:39.432213 ,While minimum is: 40.000000 KLT tracked : 113 -[11:00:54.227] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:54.261] Odometry x=-0.004606, y=0.522826, theta=0.018852 -[11:00:54.326] Init: px average disparity is:36.895047 ,While minimum is: 40.000000 KLT tracked : 113 -[11:00:54.326] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:54.361] Odometry x=-0.004797, y=0.528346, theta=0.041740 -[11:00:54.427] Init: px average disparity is:38.778878 ,While minimum is: 40.000000 KLT tracked : 113 -[11:00:54.427] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:54.460] Odometry x=-0.004976, y=0.533856, theta=0.038337 -[11:00:54.527] Init: px average disparity is:34.839421 ,While minimum is: 40.000000 KLT tracked : 112 -[11:00:54.527] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:54.560] Odometry x=-0.005249, y=0.539387, theta=0.060367 -[11:00:54.627] Init: px average disparity is:35.739706 ,While minimum is: 40.000000 KLT tracked : 112 -[11:00:54.627] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:54.659] Odometry x=-0.002316, y=0.544867, theta=0.035001 -[11:00:54.727] Init: px average disparity is:34.684776 ,While minimum is: 40.000000 KLT tracked : 112 -[11:00:54.727] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:54.763] Odometry x=-0.002631, y=0.550506, theta=0.026744 -[11:00:54.827] Init: px average disparity is:37.345118 ,While minimum is: 40.000000 KLT tracked : 111 -[11:00:54.827] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:54.863] Odometry x=-0.002732, y=0.556108, theta=0.044144 -[11:00:54.927] Init: px average disparity is:36.516405 ,While minimum is: 40.000000 KLT tracked : 111 -[11:00:54.927] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:54.956] Odometry x=-0.002985, y=0.561702, theta=0.027220 -[11:00:55.028] Init: px average disparity is:38.348014 ,While minimum is: 40.000000 KLT tracked : 111 -[11:00:55.028] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:55.055] Odometry x=-0.003106, y=0.566924, theta=0.038720 -[11:00:55.128] Init: px average disparity is:37.618456 ,While minimum is: 40.000000 KLT tracked : 111 -[11:00:55.128] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:55.155] Odometry x=-0.003276, y=0.572474, theta=0.033065 -[11:00:55.228] Init: px average disparity is:39.542794 ,While minimum is: 40.000000 KLT tracked : 111 -[11:00:55.228] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:55.260] Odometry x=-0.003453, y=0.577968, theta=0.039785 -[11:00:55.328] Init: px average disparity is:38.392091 ,While minimum is: 40.000000 KLT tracked : 111 -[11:00:55.328] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:55.361] Odometry x=-0.003638, y=0.583857, theta=0.044704 -[11:00:55.427] Init: px average disparity is:37.143448 ,While minimum is: 40.000000 KLT tracked : 111 -[11:00:55.427] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:55.462] Odometry x=-0.003888, y=0.589076, theta=0.039959 -[11:00:55.526] Init: px average disparity is:38.525293 ,While minimum is: 40.000000 KLT tracked : 111 -[11:00:55.526] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:55.560] Odometry x=-0.004046, y=0.594413, theta=0.032571 -[11:00:55.626] Init: px average disparity is:38.052283 ,While minimum is: 40.000000 KLT tracked : 111 -[11:00:55.627] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:55.658] Odometry x=-0.004469, y=0.600200, theta=0.029317 -[11:00:55.757] Odometry x=-0.004620, y=0.605655, theta=0.010777 -[11:00:55.791] Init: Homography RANSAC (inlier) is:10 ,While 20 inliers minimum required. px average disparity is:41.422063 ,While minimum is: 40.000000 KLT tracked: 111 -[11:00:55.791] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:55.855] Odometry x=-0.004747, y=0.611102, theta=0.017284 -[11:00:55.879] Init: Homography RANSAC (inlier) is:6 ,While 20 inliers minimum required. px average disparity is:41.463055 ,While minimum is: 40.000000 KLT tracked: 111 -[11:00:55.879] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:55.959] Odometry x=-0.004861, y=0.616655, theta=0.016642 -[11:00:55.979] Init: Homography RANSAC (inlier) is:5 ,While 20 inliers minimum required. px average disparity is:43.441515 ,While minimum is: 40.000000 KLT tracked: 111 -[11:00:55.979] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:56.057] Odometry x=-0.004928, y=0.622305, theta=0.033105 -[11:00:56.080] Init: Homography RANSAC (inlier) is:11 ,While 20 inliers minimum required. px average disparity is:44.974138 ,While minimum is: 40.000000 KLT tracked: 111 -[11:00:56.080] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:56.160] Odometry x=-0.005096, y=0.627878, theta=0.029168 -[11:00:56.182] Init: Homography RANSAC (inlier) is:11 ,While 20 inliers minimum required. px average disparity is:45.359074 ,While minimum is: 40.000000 KLT tracked: 111 -[11:00:56.182] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:56.259] Odometry x=-0.005253, y=0.633404, theta=0.034477 -[11:00:56.279] Init: Homography RANSAC (inlier) is:11 ,While 20 inliers minimum required. px average disparity is:44.494661 ,While minimum is: 40.000000 KLT tracked: 111 -[11:00:56.279] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:56.362] Odometry x=-0.005419, y=0.638979, theta=0.047807 -[11:00:56.379] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required. px average disparity is:43.209866 ,While minimum is: 40.000000 KLT tracked: 111 -[11:00:56.379] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:56.455] Odometry x=-0.005753, y=0.644498, theta=0.056749 -[11:00:56.479] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required. px average disparity is:42.733702 ,While minimum is: 40.000000 KLT tracked: 111 -[11:00:56.479] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:56.559] Odometry x=-0.006029, y=0.649772, theta=0.079803 -[11:00:56.579] Init: Homography RANSAC (inlier) is:12 ,While 20 inliers minimum required. px average disparity is:41.631212 ,While minimum is: 40.000000 KLT tracked: 111 -[11:00:56.579] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:56.656] Odometry x=-0.006498, y=0.655526, theta=0.076187 -[11:00:56.689] Init: Homography RANSAC (inlier) is:9 ,While 20 inliers minimum required. px average disparity is:41.603089 ,While minimum is: 40.000000 KLT tracked: 111 -[11:00:56.689] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[11:00:56.760] Odometry x=-0.006864, y=0.660779, theta=0.099394 -[11:00:56.779] Init finished: Homography RANSAC (inlier) is:20 ,While 20 inliers minimum required. px average disparity is:41.250735 ,While minimum is: 40.000000 KLT tracked: 111 -[11:00:56.780] Init: distance between the first and current frame is x:-0.007417 ,z=0.666284,angle between two frames: 0.099110 -[11:00:56.782] Init: Selected Second frame. The number of features: 20 depth mean:-2.407255 min:-4.082716 -[11:00:56.857] Odometry x=-0.007410, y=0.666288, theta=0.090300 -[11:00:56.954] After Reprojection Map nPoint:13 ,nCell:13 ,nMatches:0 ,distance between two frames x:-0.000075 ,z=0.000061,angle between two frames:0.002322 -[11:00:56.954] After pose optimization, distance between two frames x:-0.000075 ,z=0.000061,angle between two frames:0.002322 -[11:00:56.960] Odometry x=-0.007920, y=0.671879, theta=0.093477 -[11:00:56.961] Image Alignment failed 0 -[11:00:57.036] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000001,angle between two frames:0.000520 -[11:00:57.041] Image Alignment failed 0 -[11:00:57.057] Odometry x=-0.008425, y=0.677386, theta=0.097830 -[11:00:57.113] 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 -[11:00:57.117] Image Alignment failed 0 -[11:00:57.159] Odometry x=-0.008990, y=0.682909, theta=0.091914 -[11:00:57.189] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000003 ,z=0.000005,angle between two frames:0.000180 -[11:00:57.210] Image Alignment failed 0 -[11:00:57.257] Odometry x=-0.009490, y=0.688389, theta=0.095874 -[11:00:57.281] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000551 -[11:00:57.308] Image Alignment failed 0 -[11:00:57.358] Odometry x=-0.010030, y=0.693901, theta=0.084027 -[11:00:57.380] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000008 ,z=0.000003,angle between two frames:0.002901 -[11:00:57.408] Image Alignment failed 0 -[11:00:57.456] Odometry x=-0.010490, y=0.699436, theta=0.087508 -[11:00:57.480] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000001,angle between two frames:0.000829 -[11:00:57.508] Image Alignment failed 0 -[11:00:57.556] Odometry x=-0.010995, y=0.704816, theta=0.079536 -[11:00:57.580] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000036 ,z=0.000091,angle between two frames:0.001949 -[11:00:57.608] Image Alignment failed 0 -[11:00:57.664] Odometry x=-0.011424, y=0.710224, theta=0.075500 -[11:00:57.679] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000004,angle between two frames:0.001299 -[11:00:57.708] Image Alignment failed 0 -[11:00:57.754] Odometry x=-0.011880, y=0.716035, theta=0.072006 -[11:00:57.780] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000007 ,z=0.000016,angle between two frames:0.002808 -[11:00:57.808] Image Alignment failed 0 -[11:00:57.862] Odometry x=-0.012253, y=0.721260, theta=0.070732 -[11:00:57.880] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000003,angle between two frames:0.000131 -[11:00:57.908] Image Alignment failed 0 -[11:00:57.971] Odometry x=-0.012668, y=0.727075, theta=0.066269 -[11:00:57.980] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000008,angle between two frames:0.002395 -[11:00:58.009] Image Alignment failed 0 -[11:00:58.056] Odometry x=-0.013060, y=0.733118, theta=0.071748 -[11:00:58.080] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=0.000001,angle between two frames:0.001258 -[11:00:58.108] Image Alignment failed 0 -[11:00:58.169] Odometry x=-0.013399, y=0.737848, theta=0.078321 -[11:00:58.180] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000007,angle between two frames:0.001121 -[11:00:58.209] Image Alignment failed 0 -[11:00:58.263] Odometry x=-0.013856, y=0.743752, theta=0.086046 -[11:00:58.297] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000002,angle between two frames:0.001806 -[11:00:58.308] Image Alignment failed 0 -[11:00:58.361] Odometry x=-0.014328, y=0.749168, theta=0.085910 -[11:00:58.392] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000106 -[11:00:58.408] Image Alignment failed 0 -[11:00:58.459] Odometry x=-0.014767, y=0.754327, theta=0.096835 -[11:00:58.482] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000717 -[11:00:58.512] Image Alignment failed 0 -[11:00:58.558] Odometry x=-0.015290, y=0.759877, theta=0.117922 -[11:00:58.586] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000005,angle between two frames:0.004026 -[11:00:58.608] Image Alignment failed 0 -[11:00:58.655] Odometry x=-0.015946, y=0.765515, theta=0.128761 -[11:00:58.682] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000003,angle between two frames:0.002054 -[11:00:58.707] Image Alignment failed 0 -[11:00:58.759] Odometry x=-0.016595, y=0.770604, theta=0.142125 -[11:00:58.779] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.003241 -[11:00:58.808] Image Alignment failed 0 -[11:00:58.859] Odometry x=-0.017440, y=0.776524, theta=0.141034 -[11:00:58.880] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000020,angle between two frames:0.000511 -[11:00:58.908] Image Alignment failed 0 -[11:00:58.960] Odometry x=-0.018193, y=0.781862, theta=0.150429 -[11:00:58.980] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000001,angle between two frames:0.002543 -[11:00:59.008] Image Alignment failed 0 -[11:00:59.060] Odometry x=-0.018955, y=0.786987, theta=0.154904 -[11:00:59.079] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000002,angle between two frames:0.000517 -[11:00:59.108] Image Alignment failed 0 -[11:00:59.158] Odometry x=-0.019881, y=0.792848, theta=0.144479 -[11:00:59.180] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.002926 -[11:00:59.208] Image Alignment failed 0 -[11:00:59.262] Odometry x=-0.020653, y=0.798150, theta=0.137832 -[11:00:59.280] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000004,angle between two frames:0.001476 -[11:00:59.308] Image Alignment failed 0 -[11:00:59.361] Odometry x=-0.021434, y=0.803804, theta=0.137928 -[11:00:59.380] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.001404 -[11:00:59.408] Image Alignment failed 0 -[11:00:59.459] Odometry x=-0.022182, y=0.809169, theta=0.132759 -[11:00:59.481] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000009,angle between two frames:0.001808 -[11:00:59.508] Image Alignment failed 0 -[11:00:59.557] Odometry x=-0.022913, y=0.814620, theta=0.123098 -[11:00:59.579] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000001,angle between two frames:0.002179 -[11:00:59.608] Image Alignment failed 0 -[11:00:59.657] Odometry x=-0.023595, y=0.820102, theta=0.115040 -[11:00:59.679] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000003,angle between two frames:0.001573 -[11:00:59.709] Image Alignment failed 0 -[11:00:59.757] Odometry x=-0.024208, y=0.825478, theta=0.113542 -[11:00:59.780] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000002,angle between two frames:0.000055 -[11:00:59.808] Image Alignment failed 0 -[11:00:59.858] Odometry x=-0.024849, y=0.831134, theta=0.116856 -[11:00:59.880] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000001,angle between two frames:0.001120 -[11:00:59.913] Image Alignment failed 0 -[11:00:59.957] Odometry x=-0.025475, y=0.836553, theta=0.132109 -[11:00:59.990] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000001,angle between two frames:0.004343 -[11:01:00.008] Image Alignment failed 0 -[11:01:00.058] Odometry x=-0.026188, y=0.841977, theta=0.143327 -[11:01:00.081] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000003,angle between two frames:0.001830 -[11:01:00.108] Image Alignment failed 0 -[11:01:00.161] Odometry x=-0.026953, y=0.847352, theta=0.164545 -[11:01:00.180] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000003,angle between two frames:0.005411 -[11:01:00.208] Image Alignment failed 0 -[11:01:00.259] Odometry x=-0.027885, y=0.853040, theta=0.178530 -[11:01:00.280] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000001,angle between two frames:0.003347 -[11:01:00.308] Image Alignment failed 0 -[11:01:00.356] Odometry x=-0.028831, y=0.858318, theta=0.189713 -[11:01:00.380] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000001,angle between two frames:0.003439 -[11:01:00.408] Image Alignment failed 0 -[11:01:00.459] Odometry x=-0.029841, y=0.863594, theta=0.191731 -[11:01:00.481] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000003,angle between two frames:0.000504 -[11:01:00.509] Image Alignment failed 0 -[11:01:00.563] Odometry x=-0.030921, y=0.869133, theta=0.187556 -[11:01:00.581] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000002,angle between two frames:0.002598 -[11:01:00.608] Image Alignment failed 0 -[11:01:00.657] Odometry x=-0.031965, y=0.874681, theta=0.192830 -[11:01:00.680] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000003,angle between two frames:0.002171 -[11:01:00.709] Image Alignment failed 0 -[11:01:00.759] Odometry x=-0.032994, y=0.879956, theta=0.189629 -[11:01:00.782] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000001,angle between two frames:0.001208 -[11:01:00.811] Image Alignment failed 0 -[11:01:00.858] Odometry x=-0.033958, y=0.884977, theta=0.188288 -[11:01:00.884] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000004,angle between two frames:0.000303 -[11:01:00.909] Image Alignment failed 0 -[11:01:00.953] Odometry x=-0.035071, y=0.890810, theta=0.184616 -[11:01:00.979] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000003,angle between two frames:0.001561 -[11:01:01.010] Image Alignment failed 0 -[11:01:01.058] Odometry x=-0.036065, y=0.896122, theta=0.181273 -[11:01:01.081] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000002,angle between two frames:0.000383 -[11:01:01.108] Image Alignment failed 0 -[11:01:01.162] Odometry x=-0.037096, y=0.901728, theta=0.180648 -[11:01:01.181] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000006,angle between two frames:0.000467 -[11:01:01.210] Image Alignment failed 0 -[11:01:01.257] Odometry x=-0.038110, y=0.907265, theta=0.177589 -[11:01:01.285] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000006,angle between two frames:0.000980 -[11:01:01.308] Image Alignment failed 0 -[11:01:01.353] Odometry x=-0.039043, y=0.912460, theta=0.176048 -[11:01:01.380] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000421 -[11:01:01.412] Image Alignment failed 0 -[11:01:01.459] Odometry x=-0.039942, y=0.917499, theta=0.171797 -[11:01:01.489] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000005,angle between two frames:0.002797 -[11:01:01.508] Image Alignment failed 0 -[11:01:01.557] Odometry x=-0.040974, y=0.923436, theta=0.168249 -[11:01:01.580] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000003,angle between two frames:0.000355 -[11:01:01.608] Image Alignment failed 0 -[11:01:01.654] Odometry x=-0.041865, y=0.928663, theta=0.164644 -[11:01:01.680] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000002,angle between two frames:0.001029 -[11:01:01.709] Image Alignment failed 0 -[11:01:01.757] Odometry x=-0.042770, y=0.934154, theta=0.170257 -[11:01:01.780] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000002,angle between two frames:0.000597 -[11:01:01.809] Image Alignment failed 0 -[11:01:01.860] Odometry x=-0.043720, y=0.939705, theta=0.173597 -[11:01:01.881] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000001,angle between two frames:0.001299 -[11:01:01.909] Image Alignment failed 0 -[11:01:01.958] Odometry x=-0.044673, y=0.945123, theta=0.176398 -[11:01:01.981] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000001,angle between two frames:0.001820 -[11:01:02.009] Image Alignment failed 0 -[11:01:02.061] Odometry x=-0.045630, y=0.950564, theta=0.194775 -[11:01:02.081] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.004852 -[11:01:02.109] Image Alignment failed 0 -[11:01:02.159] Odometry x=-0.046684, y=0.955968, theta=0.211156 -[11:01:02.181] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000001,angle between two frames:0.003797 -[11:01:02.213] Image Alignment failed 0 -[11:01:02.257] Odometry x=-0.047832, y=0.961352, theta=0.224539 -[11:01:02.289] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000001,angle between two frames:0.004372 -[11:01:02.309] Image Alignment failed 0 -[11:01:02.357] Odometry x=-0.049046, y=0.966729, theta=0.237514 -[11:01:02.381] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000003,angle between two frames:0.001498 -[11:01:02.408] Image Alignment failed 0 -[11:01:02.455] Odometry x=-0.050341, y=0.972088, theta=0.237846 -[11:01:02.480] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000003 ,z=0.000003,angle between two frames:0.000434 -[11:01:02.509] Image Alignment failed 0 -[11:01:02.558] Odometry x=-0.051583, y=0.977241, theta=0.239405 -[11:01:02.581] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000006,angle between two frames:0.000450 -[11:01:02.609] Image Alignment failed 0 -[11:01:02.656] Odometry x=-0.052909, y=0.982657, theta=0.238123 -[11:01:02.680] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000001,angle between two frames:0.000948 -[11:01:02.709] Image Alignment failed 0 -[11:01:02.756] Odometry x=-0.054213, y=0.988040, theta=0.235902 -[11:01:02.781] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000004 ,z=0.000015,angle between two frames:0.000635 -[11:01:02.809] Image Alignment failed 0 -[11:01:02.859] Odometry x=-0.055515, y=0.993431, theta=0.229040 -[11:01:02.880] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000004,angle between two frames:0.001546 -[11:01:02.909] Image Alignment failed 0 -[11:01:02.957] Odometry x=-0.056771, y=0.998829, theta=0.227841 -[11:01:02.982] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=0.000011,angle between two frames:0.000518 -[11:01:03.009] Image Alignment failed 0 -[11:01:03.054] Odometry x=-0.058022, y=1.004219, theta=0.226930 -[11:01:03.080] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000002,angle between two frames:0.000400 -[11:01:03.109] Image Alignment failed 0 -[11:01:03.157] Odometry x=-0.059229, y=1.009481, theta=0.224143 -[11:01:03.180] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000035,angle between two frames:0.000410 -[11:01:03.209] Image Alignment failed 0 -[11:01:03.256] Odometry x=-0.060490, y=1.015010, theta=0.218557 -[11:01:03.280] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=0.000009,angle between two frames:0.001371 -[11:01:03.309] Image Alignment failed 0 -[11:01:03.359] Odometry x=-0.061687, y=1.020387, theta=0.212466 -[11:01:03.381] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000001,angle between two frames:0.002512 -[11:01:03.409] Image Alignment failed 0 -[11:01:03.455] Odometry x=-0.062848, y=1.025780, theta=0.211094 -[11:01:03.481] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000006,angle between two frames:0.000978 -[11:01:03.508] Image Alignment failed 0 -[11:01:03.553] Odometry x=-0.063957, y=1.030991, theta=0.220318 -[11:01:03.580] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000001,angle between two frames:0.002375 -[11:01:03.610] Image Alignment failed 0 -[11:01:03.656] Odometry x=-0.065172, y=1.036470, theta=0.232561 -[11:01:03.682] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000004,angle between two frames:0.001864 -[11:01:03.713] Image Alignment failed 0 -[11:01:03.759] Odometry x=-0.066438, y=1.041842, theta=0.240923 -[11:01:03.786] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000007,angle between two frames:0.001681 -[11:01:03.811] Image Alignment failed 0 -[11:01:03.857] Odometry x=-0.067794, y=1.047427, theta=0.255651 -[11:01:03.884] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.003573 -[11:01:03.908] Image Alignment failed 0 -[11:01:03.956] Odometry x=-0.069147, y=1.052696, theta=0.255676 -[11:01:03.980] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000008 ,z=0.000002,angle between two frames:0.000050 -[11:01:04.009] Image Alignment failed 0 -[11:01:04.062] Odometry x=-0.070501, y=1.057907, theta=0.270582 -[11:01:04.080] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000001,angle between two frames:0.003730 -[11:01:04.108] Image Alignment failed 0 -[11:01:04.157] Odometry x=-0.071995, y=1.063326, theta=0.280688 -[11:01:04.179] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000002,angle between two frames:0.003453 -[11:01:04.208] Image Alignment failed 0 -[11:01:04.261] Odometry x=-0.073478, y=1.068512, theta=0.300564 -[11:01:04.280] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=0.000006,angle between two frames:0.005384 -[11:01:04.308] Image Alignment failed 0 -[11:01:04.356] Odometry x=-0.075121, y=1.073838, theta=0.308606 -[11:01:04.380] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000006,angle between two frames:0.001876 -[11:01:04.408] Image Alignment failed 0 -[11:01:04.460] Odometry x=-0.076811, y=1.079152, theta=0.319088 -[11:01:04.480] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000002,angle between two frames:0.002584 -[11:01:04.508] Image Alignment failed 0 -[11:01:04.553] Odometry x=-0.078542, y=1.084467, theta=0.329285 -[11:01:04.581] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000005 ,z=0.000011,angle between two frames:0.003600 -[11:01:04.610] Image Alignment failed 0 -[11:01:04.655] Odometry x=-0.080251, y=1.089472, theta=0.328627 -[11:01:04.681] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000002,angle between two frames:0.000730 -[11:01:04.708] Image Alignment failed 0 -[11:01:04.756] Odometry x=-0.082058, y=1.094768, theta=0.322646 -[11:01:04.780] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000005,angle between two frames:0.001301 -[11:01:04.811] Image Alignment failed 0 -[11:01:04.861] Odometry x=-0.083849, y=1.100126, theta=0.320914 -[11:01:04.883] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000002,angle between two frames:0.001323 -[11:01:04.909] Image Alignment failed 0 -[11:01:04.959] Odometry x=-0.085616, y=1.105440, theta=0.307023 -[11:01:04.980] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000003,angle between two frames:0.002103 -[11:01:05.008] Image Alignment failed 0 -[11:01:05.063] Odometry x=-0.087319, y=1.110770, theta=0.290707 -[11:01:05.080] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=0.000006,angle between two frames:0.003777 -[11:01:05.109] Image Alignment failed 0 -[11:01:05.157] Odometry x=-0.088915, y=1.116091, theta=0.280225 -[11:01:05.181] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=0.000007,angle between two frames:0.003049 -[11:01:05.209] Image Alignment failed 0 -[11:01:05.255] Odometry x=-0.090384, y=1.121194, theta=0.277274 -[11:01:05.280] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000004,angle between two frames:0.000726 -[11:01:05.309] Image Alignment failed 0 -[11:01:05.358] Odometry x=-0.091897, y=1.126492, theta=0.275459 -[11:01:05.381] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000133 -[11:01:05.409] Image Alignment failed 0 -[11:01:05.457] Odometry x=-0.093386, y=1.131784, theta=0.273119 -[11:01:05.481] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000001,angle between two frames:0.000374 -[11:01:05.509] Image Alignment failed 0 -[11:01:05.557] Odometry x=-0.094878, y=1.137091, theta=0.263990 -[11:01:05.581] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=0.000000,angle between two frames:0.003077 -[11:01:05.609] Image Alignment failed 0 -[11:01:05.655] Odometry x=-0.096308, y=1.142407, theta=0.270237 -[11:01:05.681] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000003,angle between two frames:0.001565 -[11:01:05.709] Image Alignment failed 0 -[11:01:05.758] Odometry x=-0.097774, y=1.147709, theta=0.274432 -[11:01:05.780] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.002155 -[11:01:05.809] Image Alignment failed 0 -[11:01:05.857] Odometry x=-0.099263, y=1.153026, theta=0.274816 -[11:01:05.881] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=0.000002,angle between two frames:0.000113 -[11:01:05.908] Image Alignment failed 0 -[11:01:05.960] Odometry x=-0.100762, y=1.158329, theta=0.272532 -[11:01:05.979] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000002,angle between two frames:0.001142 -[11:01:06.008] Image Alignment failed 0 -[11:01:06.060] Odometry x=-0.102320, y=1.163949, theta=0.283196 -[11:01:06.079] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000003 ,z=0.000010,angle between two frames:0.002571 -[11:01:06.108] Image Alignment failed 0 -[11:01:06.154] Odometry x=-0.103783, y=1.169025, theta=0.294214 -[11:01:06.180] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000006,angle between two frames:0.003258 -[11:01:06.208] Image Alignment failed 0 -[11:01:06.257] Odometry x=-0.105315, y=1.174081, theta=0.297707 -[11:01:06.280] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000005 ,z=0.000018,angle between two frames:0.000561 -[11:01:06.310] Image Alignment failed 0 -[11:01:06.358] Odometry x=-0.106911, y=1.179336, theta=0.310383 -[11:01:06.382] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=0.000008,angle between two frames:0.002699 -[11:01:06.414] Image Alignment failed 0 -[11:01:06.461] Odometry x=-0.108643, y=1.184776, theta=0.324593 -[11:01:06.487] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=0.000006,angle between two frames:0.005503 -[11:01:06.509] Image Alignment failed 0 -[11:01:06.560] Odometry x=-0.110431, y=1.190096, theta=0.328552 -[11:01:06.581] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000003,angle between two frames:0.001053 -[11:01:06.608] Image Alignment failed 0 -[11:01:06.657] Odometry x=-0.112251, y=1.195432, theta=0.319851 -[11:01:06.680] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.002511 -[11:01:06.713] Image Alignment failed 0 -[11:01:06.762] Odometry x=-0.113928, y=1.200478, theta=0.312724 -[11:01:06.790] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.002612 -[11:01:06.808] Image Alignment failed 0 -[11:01:06.855] Odometry x=-0.115720, y=1.206029, theta=0.312092 -[11:01:06.880] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000002,angle between two frames:0.000215 -[11:01:06.908] Image Alignment failed 0 -[11:01:06.959] Odometry x=-0.117275, y=1.210833, theta=0.303187 -[11:01:06.980] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.001621 -[11:01:07.009] Image Alignment failed 0 -[11:01:07.058] Odometry x=-0.118966, y=1.216239, theta=0.296693 -[11:01:07.080] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000001,angle between two frames:0.002602 -[11:01:07.108] Image Alignment failed 0 -[11:01:07.157] Odometry x=-0.120587, y=1.221536, theta=0.295463 -[11:01:07.181] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000001,angle between two frames:0.000235 -[11:01:07.213] Image Alignment failed 0 -[11:01:07.260] Odometry x=-0.122189, y=1.226833, theta=0.315115 -[11:01:07.284] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000004 ,z=0.000012,angle between two frames:0.005886 -[11:01:07.308] Image Alignment failed 0 -[11:01:07.359] Odometry x=-0.123883, y=1.232061, theta=0.324574 -[11:01:07.380] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000002,angle between two frames:0.002312 -[11:01:07.408] Image Alignment failed 0 -[11:01:07.457] Odometry x=-0.125660, y=1.237358, theta=0.330096 -[11:01:07.483] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000002,angle between two frames:0.001356 -[11:01:07.508] Image Alignment failed 0 -[11:01:07.558] Odometry x=-0.127438, y=1.242569, theta=0.341886 -[11:01:07.581] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000003,angle between two frames:0.003737 -[11:01:07.609] Image Alignment failed 0 -[11:01:07.680] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000005,angle between two frames:0.002641 -[11:01:07.708] Image Alignment failed 0 -[11:01:07.780] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000001,angle between two frames:0.003958 -[11:01:07.808] Image Alignment failed 0 -[11:01:07.880] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=0.000001,angle between two frames:0.003476 -[11:01:07.908] Image Alignment failed 0 -[11:01:07.981] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=0.000006,angle between two frames:0.005136 -[11:01:08.008] Image Alignment failed 0 -[11:01:08.081] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=0.000005,angle between two frames:0.002886 -[11:01:08.109] Image Alignment failed 0 -[11:01:08.187] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000002,angle between two frames:0.000903 -[11:01:08.210] Image Alignment failed 0 -[11:01:08.282] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.001157 -[11:01:08.309] Image Alignment failed 0 -[11:01:08.382] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000014 ,z=0.000005,angle between two frames:0.004040 -[11:01:08.408] Image Alignment failed 0 -[11:01:08.480] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000004 ,z=0.000004,angle between two frames:0.000473 -[11:01:08.507] Image Alignment failed 0 -[11:01:08.579] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000003,angle between two frames:0.000921 -[11:01:08.609] Image Alignment failed 0 -[11:01:08.682] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000003,angle between two frames:0.000820 -[11:01:08.709] Image Alignment failed 0 -[11:01:08.782] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=0.000004,angle between two frames:0.000931 -[11:01:08.809] Image Alignment failed 0 -[11:01:08.882] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000003,angle between two frames:0.000770 -[11:01:08.909] Image Alignment failed 0 -[11:01:08.982] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000003,angle between two frames:0.000781 -[11:01:09.008] Image Alignment failed 0 -[11:01:09.079] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000003,angle between two frames:0.000756 -[11:01:09.109] Image Alignment failed 0 -[11:01:09.181] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=0.000004,angle between two frames:0.000855 -[11:01:09.209] Image Alignment failed 0 -[11:01:09.281] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=0.000005,angle between two frames:0.000935 -[11:01:09.309] Image Alignment failed 0 -[11:01:09.383] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000003,angle between two frames:0.000757 -[11:01:09.409] Image Alignment failed 0 -[11:01:09.486] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000003,angle between two frames:0.000755 -[11:01:09.508] Image Alignment failed 0 -[11:01:09.581] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000003,angle between two frames:0.000620 -[11:01:09.608] Image Alignment failed 0 -[11:01:09.681] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=0.000005,angle between two frames:0.000914 -[11:01:09.717] Image Alignment failed 0 -[11:01:09.790] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=0.000004,angle between two frames:0.000919 -[11:01:09.808] Image Alignment failed 0 -[11:01:09.881] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000002,angle between two frames:0.000454 -[11:01:09.909] Image Alignment failed 0 -[11:01:09.981] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000003,angle between two frames:0.000758 -[11:01:10.009] Image Alignment failed 0 -[11:01:10.081] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=0.000003,angle between two frames:0.000745 -[11:01:10.108] Image Alignment failed 0 -[11:01:10.181] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000003,angle between two frames:0.000758 -[11:01:10.209] Image Alignment failed 0 -[11:01:10.281] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000003,angle between two frames:0.000766 -[11:01:10.309] Image Alignment failed 0 -[11:01:10.381] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000003,angle between two frames:0.000768 -[11:01:10.409] Image Alignment failed 0 -[11:01:10.480] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=0.000004,angle between two frames:0.000911 -[11:01:10.509] Image Alignment failed 0 -[11:01:10.582] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=0.000005,angle between two frames:0.000903 -[11:01:10.609] Image Alignment failed 0 -[11:01:10.681] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000003,angle between two frames:0.000756 -[11:01:10.711] Image Alignment failed 0 -[11:01:10.792] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000003,angle between two frames:0.000765 -[11:01:10.809] Image Alignment failed 0 -[11:01:10.898] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000003,angle between two frames:0.000611 -[11:01:10.908] Image Alignment failed 0 -[11:01:10.987] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000001,angle between two frames:0.000307 -[11:01:11.010] Image Alignment failed 0 -[11:01:11.083] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000002,angle between two frames:0.000602 -[11:01:11.108] Image Alignment failed 0 -[11:01:11.181] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=0.000003,angle between two frames:0.000753 -[11:01:11.208] Image Alignment failed 0 -[11:01:11.281] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=0.000003,angle between two frames:0.000766 -[11:01:11.308] Image Alignment failed 0 -[11:01:11.398] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000003,angle between two frames:0.000748 -[11:01:11.410] Image Alignment failed 0 -[11:01:11.483] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000001,angle between two frames:0.000307 -[11:01:11.510] Image Alignment failed 0 -[11:01:11.599] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=0.000003,angle between two frames:0.000759 -[11:01:11.609] Image Alignment failed 0 -[11:01:11.690] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000001,angle between two frames:0.000305 -[11:01:11.709] Image Alignment failed 0 -[11:01:11.781] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000003,angle between two frames:0.000610 -[11:01:11.809] Image Alignment failed 0 -[11:01:11.901] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=0.000004,angle between two frames:0.000758 -[11:01:11.908] Image Alignment failed 0 -[11:01:11.981] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000002,angle between two frames:0.000246 -[11:01:12.010] Image Alignment failed 0 -[11:01:12.095] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=0.000003,angle between two frames:0.000809 -[11:01:12.110] Image Alignment failed 0 -[11:01:12.189] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000003,angle between two frames:0.000546 -[11:01:12.210] Image Alignment failed 0 -[11:01:12.289] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=0.000004,angle between two frames:0.000710 -[11:01:12.310] Image Alignment failed 0 -[11:01:12.390] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000003,angle between two frames:0.000607 -[11:01:12.409] Image Alignment failed 0 -[11:01:12.482] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=0.000004,angle between two frames:0.000711 -[11:01:12.509] Image Alignment failed 0 -[11:01:12.582] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000003 ,z=0.000005,angle between two frames:0.000924 -[11:01:12.609] Image Alignment failed 0 -[11:01:12.681] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=0.000003,angle between two frames:0.000751 +[19:36:01.520] Init: frame zero: 0.000000, 0.000000 0.000000 +[19:36:01.520] Init: Selected first frame. +[19:36:01.520] frame process finished the id is: 0 the obs is:0 +[19:36:01.629] Init: px average disparity is:0.168943 ,While minimum is: 40.000000 KLT tracked : 303 +[19:36:01.629] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:01.629] frame process finished the id is: 1 the obs is:0 +[19:36:01.714] Init: px average disparity is:0.193173 ,While minimum is: 40.000000 KLT tracked : 303 +[19:36:01.714] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:01.714] frame process finished the id is: 2 the obs is:0 +[19:36:01.815] Init: px average disparity is:0.292307 ,While minimum is: 40.000000 KLT tracked : 303 +[19:36:01.815] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:01.815] frame process finished the id is: 3 the obs is:0 +[19:36:01.914] Init: px average disparity is:0.338398 ,While minimum is: 40.000000 KLT tracked : 303 +[19:36:01.914] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:01.914] frame process finished the id is: 4 the obs is:0 +[19:36:02.017] Init: px average disparity is:0.339446 ,While minimum is: 40.000000 KLT tracked : 303 +[19:36:02.017] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:02.017] frame process finished the id is: 5 the obs is:0 +[19:36:02.115] Init: px average disparity is:0.347838 ,While minimum is: 40.000000 KLT tracked : 303 +[19:36:02.115] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:02.115] frame process finished the id is: 6 the obs is:0 +[19:36:02.215] Init: px average disparity is:0.351188 ,While minimum is: 40.000000 KLT tracked : 303 +[19:36:02.215] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:02.215] frame process finished the id is: 7 the obs is:0 +[19:36:02.318] Init: px average disparity is:0.430135 ,While minimum is: 40.000000 KLT tracked : 303 +[19:36:02.318] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:02.318] frame process finished the id is: 8 the obs is:0 +[19:36:02.417] Init: px average disparity is:0.398687 ,While minimum is: 40.000000 KLT tracked : 303 +[19:36:02.417] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:02.417] frame process finished the id is: 9 the obs is:0 +[19:36:02.517] Init: px average disparity is:0.508031 ,While minimum is: 40.000000 KLT tracked : 303 +[19:36:02.517] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:02.517] frame process finished the id is: 10 the obs is:0 +[19:36:02.616] Init: px average disparity is:0.484707 ,While minimum is: 40.000000 KLT tracked : 303 +[19:36:02.616] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:02.616] frame process finished the id is: 11 the obs is:0 +[19:36:02.716] Init: px average disparity is:0.523842 ,While minimum is: 40.000000 KLT tracked : 303 +[19:36:02.716] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:02.716] frame process finished the id is: 12 the obs is:0 +[19:36:02.815] Init: px average disparity is:0.523347 ,While minimum is: 40.000000 KLT tracked : 303 +[19:36:02.815] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:02.815] frame process finished the id is: 13 the obs is:0 +[19:36:02.918] Init: px average disparity is:0.559057 ,While minimum is: 40.000000 KLT tracked : 303 +[19:36:02.918] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:02.918] frame process finished the id is: 14 the obs is:0 +[19:36:03.015] Init: px average disparity is:0.528241 ,While minimum is: 40.000000 KLT tracked : 303 +[19:36:03.015] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:03.015] frame process finished the id is: 15 the obs is:0 +[19:36:03.117] Init: px average disparity is:0.593502 ,While minimum is: 40.000000 KLT tracked : 303 +[19:36:03.117] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:03.117] frame process finished the id is: 16 the obs is:0 +[19:36:03.216] Init: px average disparity is:0.595440 ,While minimum is: 40.000000 KLT tracked : 303 +[19:36:03.216] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:03.216] frame process finished the id is: 17 the obs is:0 +[19:36:03.315] Init: px average disparity is:0.529546 ,While minimum is: 40.000000 KLT tracked : 303 +[19:36:03.315] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:03.315] frame process finished the id is: 18 the obs is:0 +[19:36:03.415] Init: px average disparity is:0.558468 ,While minimum is: 40.000000 KLT tracked : 303 +[19:36:03.415] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:03.415] frame process finished the id is: 19 the obs is:0 +[19:36:03.516] Init: px average disparity is:0.554140 ,While minimum is: 40.000000 KLT tracked : 303 +[19:36:03.516] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:03.517] frame process finished the id is: 20 the obs is:0 +[19:36:03.615] Init: px average disparity is:0.552234 ,While minimum is: 40.000000 KLT tracked : 303 +[19:36:03.615] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:03.615] frame process finished the id is: 21 the obs is:0 +[19:36:03.718] Init: px average disparity is:0.536561 ,While minimum is: 40.000000 KLT tracked : 303 +[19:36:03.718] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:03.718] frame process finished the id is: 22 the obs is:0 +[19:36:03.815] Init: px average disparity is:0.528499 ,While minimum is: 40.000000 KLT tracked : 303 +[19:36:03.815] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:03.815] frame process finished the id is: 23 the obs is:0 +[19:36:03.922] Init: px average disparity is:0.534556 ,While minimum is: 40.000000 KLT tracked : 303 +[19:36:03.922] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:03.922] frame process finished the id is: 24 the obs is:0 +[19:36:04.024] Init: px average disparity is:0.486761 ,While minimum is: 40.000000 KLT tracked : 303 +[19:36:04.025] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:04.025] frame process finished the id is: 25 the obs is:0 +[19:36:04.115] Init: px average disparity is:0.553926 ,While minimum is: 40.000000 KLT tracked : 303 +[19:36:04.115] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:04.115] frame process finished the id is: 26 the obs is:0 +[19:36:04.215] Init: px average disparity is:0.493806 ,While minimum is: 40.000000 KLT tracked : 303 +[19:36:04.215] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:04.215] frame process finished the id is: 27 the obs is:0 +[19:36:04.315] Init: px average disparity is:0.478637 ,While minimum is: 40.000000 KLT tracked : 303 +[19:36:04.316] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:04.316] frame process finished the id is: 28 the obs is:0 +[19:36:04.416] Init: px average disparity is:0.528387 ,While minimum is: 40.000000 KLT tracked : 303 +[19:36:04.416] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:04.416] frame process finished the id is: 29 the obs is:0 +[19:36:04.516] Init: px average disparity is:0.523711 ,While minimum is: 40.000000 KLT tracked : 303 +[19:36:04.516] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:04.516] frame process finished the id is: 30 the obs is:0 +[19:36:04.616] Init: px average disparity is:0.489782 ,While minimum is: 40.000000 KLT tracked : 303 +[19:36:04.616] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:04.616] frame process finished the id is: 31 the obs is:0 +[19:36:04.715] Init: px average disparity is:0.555440 ,While minimum is: 40.000000 KLT tracked : 303 +[19:36:04.715] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:04.715] frame process finished the id is: 32 the obs is:0 +[19:36:04.816] Init: px average disparity is:0.507123 ,While minimum is: 40.000000 KLT tracked : 303 +[19:36:04.816] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:04.816] frame process finished the id is: 33 the obs is:0 +[19:36:04.915] Init: px average disparity is:0.526400 ,While minimum is: 40.000000 KLT tracked : 303 +[19:36:04.915] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:04.915] frame process finished the id is: 34 the obs is:0 +[19:36:05.017] Init: px average disparity is:0.523447 ,While minimum is: 40.000000 KLT tracked : 303 +[19:36:05.017] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:05.017] frame process finished the id is: 35 the obs is:0 +[19:36:05.119] Init: px average disparity is:0.535432 ,While minimum is: 40.000000 KLT tracked : 303 +[19:36:05.119] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:05.119] frame process finished the id is: 36 the obs is:0 +[19:36:05.214] Init: px average disparity is:0.507648 ,While minimum is: 40.000000 KLT tracked : 303 +[19:36:05.214] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:05.214] frame process finished the id is: 37 the obs is:0 +[19:36:05.315] Init: px average disparity is:0.504852 ,While minimum is: 40.000000 KLT tracked : 303 +[19:36:05.315] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:05.315] frame process finished the id is: 38 the obs is:0 +[19:36:05.415] Init: px average disparity is:0.495800 ,While minimum is: 40.000000 KLT tracked : 303 +[19:36:05.415] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:05.415] frame process finished the id is: 39 the obs is:0 +[19:36:05.515] Init: px average disparity is:0.557929 ,While minimum is: 40.000000 KLT tracked : 303 +[19:36:05.515] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:05.515] frame process finished the id is: 40 the obs is:0 +[19:36:05.615] Init: px average disparity is:0.503548 ,While minimum is: 40.000000 KLT tracked : 303 +[19:36:05.616] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:05.616] frame process finished the id is: 41 the obs is:0 +[19:36:05.715] Init: px average disparity is:0.510333 ,While minimum is: 40.000000 KLT tracked : 303 +[19:36:05.715] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:05.715] frame process finished the id is: 42 the obs is:0 +[19:36:05.822] Init: px average disparity is:0.516831 ,While minimum is: 40.000000 KLT tracked : 303 +[19:36:05.822] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:05.823] frame process finished the id is: 43 the obs is:0 +[19:36:05.922] Init: px average disparity is:0.512812 ,While minimum is: 40.000000 KLT tracked : 303 +[19:36:05.922] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:05.922] frame process finished the id is: 44 the obs is:0 +[19:36:06.024] Init: px average disparity is:0.516375 ,While minimum is: 40.000000 KLT tracked : 303 +[19:36:06.024] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:06.024] frame process finished the id is: 45 the obs is:0 +[19:36:06.124] Init: px average disparity is:0.524005 ,While minimum is: 40.000000 KLT tracked : 303 +[19:36:06.124] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:06.124] frame process finished the id is: 46 the obs is:0 +[19:36:06.225] Init: px average disparity is:0.503440 ,While minimum is: 40.000000 KLT tracked : 303 +[19:36:06.225] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:06.225] frame process finished the id is: 47 the obs is:0 +[19:36:06.324] Init: px average disparity is:0.515995 ,While minimum is: 40.000000 KLT tracked : 303 +[19:36:06.324] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:06.324] frame process finished the id is: 48 the obs is:0 +[19:36:06.414] Init: px average disparity is:0.507110 ,While minimum is: 40.000000 KLT tracked : 303 +[19:36:06.414] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:06.414] frame process finished the id is: 49 the obs is:0 +[19:36:06.524] Init: px average disparity is:0.503360 ,While minimum is: 40.000000 KLT tracked : 303 +[19:36:06.524] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:06.524] frame process finished the id is: 50 the obs is:0 +[19:36:06.625] Init: px average disparity is:0.496155 ,While minimum is: 40.000000 KLT tracked : 303 +[19:36:06.625] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:06.625] frame process finished the id is: 51 the obs is:0 +[19:36:06.725] Init: px average disparity is:0.518306 ,While minimum is: 40.000000 KLT tracked : 303 +[19:36:06.725] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:06.725] frame process finished the id is: 52 the obs is:0 +[19:36:06.824] Init: px average disparity is:0.573323 ,While minimum is: 40.000000 KLT tracked : 303 +[19:36:06.824] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:06.824] frame process finished the id is: 53 the obs is:0 +[19:36:06.925] Init: px average disparity is:0.530005 ,While minimum is: 40.000000 KLT tracked : 303 +[19:36:06.925] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:06.925] frame process finished the id is: 54 the obs is:0 +[19:36:07.026] Init: px average disparity is:0.539632 ,While minimum is: 40.000000 KLT tracked : 303 +[19:36:07.026] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:07.026] frame process finished the id is: 55 the obs is:0 +[19:36:07.125] Init: px average disparity is:0.500980 ,While minimum is: 40.000000 KLT tracked : 303 +[19:36:07.126] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:07.126] frame process finished the id is: 56 the obs is:0 +[19:36:07.225] Init: px average disparity is:0.515943 ,While minimum is: 40.000000 KLT tracked : 303 +[19:36:07.225] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:07.225] frame process finished the id is: 57 the obs is:0 +[19:36:07.325] Init: px average disparity is:0.491486 ,While minimum is: 40.000000 KLT tracked : 303 +[19:36:07.325] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:07.325] frame process finished the id is: 58 the obs is:0 +[19:36:07.425] Init: px average disparity is:0.499411 ,While minimum is: 40.000000 KLT tracked : 303 +[19:36:07.425] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:07.425] frame process finished the id is: 59 the obs is:0 +[19:36:07.525] Init: px average disparity is:0.499589 ,While minimum is: 40.000000 KLT tracked : 303 +[19:36:07.525] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:07.526] frame process finished the id is: 60 the obs is:0 +[19:36:07.625] Init: px average disparity is:0.518927 ,While minimum is: 40.000000 KLT tracked : 303 +[19:36:07.625] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:07.625] frame process finished the id is: 61 the obs is:0 +[19:36:07.724] Init: px average disparity is:0.542994 ,While minimum is: 40.000000 KLT tracked : 303 +[19:36:07.724] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:07.725] frame process finished the id is: 62 the obs is:0 +[19:36:07.815] Init: px average disparity is:0.527972 ,While minimum is: 40.000000 KLT tracked : 303 +[19:36:07.815] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:07.815] frame process finished the id is: 63 the obs is:0 +[19:36:07.917] Init: px average disparity is:0.493685 ,While minimum is: 40.000000 KLT tracked : 303 +[19:36:07.917] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:07.917] frame process finished the id is: 64 the obs is:0 +[19:36:08.025] Init: px average disparity is:0.507685 ,While minimum is: 40.000000 KLT tracked : 303 +[19:36:08.025] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:08.025] frame process finished the id is: 65 the obs is:0 +[19:36:08.124] Init: px average disparity is:0.525407 ,While minimum is: 40.000000 KLT tracked : 303 +[19:36:08.124] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:08.124] frame process finished the id is: 66 the obs is:0 +[19:36:08.224] Init: px average disparity is:0.532813 ,While minimum is: 40.000000 KLT tracked : 303 +[19:36:08.224] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:08.224] frame process finished the id is: 67 the obs is:0 +[19:36:08.325] Init: px average disparity is:0.524193 ,While minimum is: 40.000000 KLT tracked : 303 +[19:36:08.325] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:08.325] frame process finished the id is: 68 the obs is:0 +[19:36:08.426] Init: px average disparity is:0.522961 ,While minimum is: 40.000000 KLT tracked : 303 +[19:36:08.426] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:08.426] frame process finished the id is: 69 the obs is:0 +[19:36:08.526] Init: px average disparity is:0.492178 ,While minimum is: 40.000000 KLT tracked : 303 +[19:36:08.526] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:08.526] frame process finished the id is: 70 the obs is:0 +[19:36:08.624] Init: px average disparity is:0.492403 ,While minimum is: 40.000000 KLT tracked : 303 +[19:36:08.624] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:08.624] frame process finished the id is: 71 the obs is:0 +[19:36:08.725] Init: px average disparity is:0.546256 ,While minimum is: 40.000000 KLT tracked : 303 +[19:36:08.725] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:08.725] frame process finished the id is: 72 the obs is:0 +[19:36:08.825] Init: px average disparity is:0.447880 ,While minimum is: 40.000000 KLT tracked : 303 +[19:36:08.825] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:08.825] frame process finished the id is: 73 the obs is:0 +[19:36:08.924] Init: px average disparity is:0.512080 ,While minimum is: 40.000000 KLT tracked : 303 +[19:36:08.924] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:08.924] frame process finished the id is: 74 the obs is:0 +[19:36:09.026] Init: px average disparity is:0.530535 ,While minimum is: 40.000000 KLT tracked : 303 +[19:36:09.026] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:09.027] frame process finished the id is: 75 the obs is:0 +[19:36:09.126] Init: px average disparity is:0.557441 ,While minimum is: 40.000000 KLT tracked : 303 +[19:36:09.126] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:09.126] frame process finished the id is: 76 the obs is:0 +[19:36:09.215] Init: px average disparity is:0.536575 ,While minimum is: 40.000000 KLT tracked : 303 +[19:36:09.215] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:09.215] frame process finished the id is: 77 the obs is:0 +[19:36:09.324] Init: px average disparity is:0.535832 ,While minimum is: 40.000000 KLT tracked : 303 +[19:36:09.324] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:09.324] frame process finished the id is: 78 the obs is:0 +[19:36:09.373] Odometry x=0.000000, y=0.000000, theta=-0.000000 +[19:36:09.425] Init: px average disparity is:0.503832 ,While minimum is: 40.000000 KLT tracked : 303 +[19:36:09.426] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:09.426] frame process finished the id is: 79 the obs is:0 +[19:36:09.474] Odometry x=0.000000, y=0.000000, theta=-0.000000 +[19:36:09.526] Init: px average disparity is:0.526052 ,While minimum is: 40.000000 KLT tracked : 303 +[19:36:09.526] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:09.526] frame process finished the id is: 80 the obs is:0 +[19:36:09.574] Odometry x=0.000000, y=0.033365, theta=-0.000089 +[19:36:09.628] Init: px average disparity is:6.196233 ,While minimum is: 40.000000 KLT tracked : 303 +[19:36:09.628] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:09.628] frame process finished the id is: 81 the obs is:0 +[19:36:09.674] Odometry x=-0.000028, y=0.068204, theta=-0.000356 +[19:36:09.726] Init: px average disparity is:3.437639 ,While minimum is: 40.000000 KLT tracked : 303 +[19:36:09.726] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:09.726] frame process finished the id is: 82 the obs is:0 +[19:36:09.770] Odometry x=0.000004, y=0.093973, theta=-0.002213 +[19:36:09.826] Init: px average disparity is:5.220143 ,While minimum is: 40.000000 KLT tracked : 303 +[19:36:09.826] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:09.826] frame process finished the id is: 83 the obs is:0 +[19:36:09.872] Odometry x=-0.000495, y=0.120480, theta=-0.001550 +[19:36:09.927] Init: px average disparity is:5.622700 ,While minimum is: 40.000000 KLT tracked : 303 +[19:36:09.927] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:09.927] frame process finished the id is: 84 the obs is:0 +[19:36:09.964] Odometry x=-0.000304, y=0.146622, theta=0.000146 +[19:36:10.027] Init: px average disparity is:7.445617 ,While minimum is: 40.000000 KLT tracked : 302 +[19:36:10.027] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:10.027] frame process finished the id is: 85 the obs is:0 +[19:36:10.070] Odometry x=-0.000331, y=0.171347, theta=0.000208 +[19:36:10.127] Init: px average disparity is:8.893740 ,While minimum is: 40.000000 KLT tracked : 302 +[19:36:10.127] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:10.127] frame process finished the id is: 86 the obs is:0 +[19:36:10.171] Odometry x=-0.000284, y=0.197152, theta=-0.000059 +[19:36:10.228] Init: px average disparity is:12.603634 ,While minimum is: 40.000000 KLT tracked : 302 +[19:36:10.228] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:10.228] frame process finished the id is: 87 the obs is:0 +[19:36:10.275] Odometry x=-0.000041, y=0.223470, theta=0.001294 +[19:36:10.332] Init: px average disparity is:10.362381 ,While minimum is: 40.000000 KLT tracked : 302 +[19:36:10.332] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:10.332] frame process finished the id is: 88 the obs is:0 +[19:36:10.374] Odometry x=-0.000107, y=0.250153, theta=0.001387 +[19:36:10.431] Init: px average disparity is:11.327714 ,While minimum is: 40.000000 KLT tracked : 302 +[19:36:10.431] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:10.431] frame process finished the id is: 89 the obs is:0 +[19:36:10.468] Odometry x=-0.000044, y=0.275809, theta=0.000384 +[19:36:10.516] Init: px average disparity is:15.641016 ,While minimum is: 40.000000 KLT tracked : 297 +[19:36:10.516] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:10.516] frame process finished the id is: 90 the obs is:0 +[19:36:10.569] Odometry x=-0.000038, y=0.300827, theta=0.000854 +[19:36:10.629] Init: px average disparity is:21.142899 ,While minimum is: 40.000000 KLT tracked : 297 +[19:36:10.629] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:10.629] frame process finished the id is: 91 the obs is:0 +[19:36:10.671] Odometry x=-0.000033, y=0.326457, theta=0.001789 +[19:36:10.731] Init: px average disparity is:21.339623 ,While minimum is: 40.000000 KLT tracked : 297 +[19:36:10.731] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:10.731] frame process finished the id is: 92 the obs is:0 +[19:36:10.771] Odometry x=0.000017, y=0.353577, theta=0.002763 +[19:36:10.830] Init: px average disparity is:21.827965 ,While minimum is: 40.000000 KLT tracked : 297 +[19:36:10.830] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:10.830] frame process finished the id is: 93 the obs is:0 +[19:36:10.867] Odometry x=0.000065, y=0.379669, theta=0.004955 +[19:36:10.931] Init: px average disparity is:24.351869 ,While minimum is: 40.000000 KLT tracked : 293 +[19:36:10.931] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:10.931] frame process finished the id is: 94 the obs is:0 +[19:36:10.972] Odometry x=0.000105, y=0.404015, theta=0.005131 +[19:36:11.031] Init: px average disparity is:25.856957 ,While minimum is: 40.000000 KLT tracked : 293 +[19:36:11.031] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:11.031] frame process finished the id is: 95 the obs is:0 +[19:36:11.072] Odometry x=0.000471, y=0.431384, theta=0.008080 +[19:36:11.131] Init: px average disparity is:25.382122 ,While minimum is: 40.000000 KLT tracked : 290 +[19:36:11.131] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:11.131] frame process finished the id is: 96 the obs is:0 +[19:36:11.172] Odometry x=0.000332, y=0.455770, theta=0.008577 +[19:36:11.231] Init: px average disparity is:25.225370 ,While minimum is: 40.000000 KLT tracked : 278 +[19:36:11.231] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:11.231] frame process finished the id is: 97 the obs is:0 +[19:36:11.272] Odometry x=0.000294, y=0.482131, theta=0.008368 +[19:36:11.331] Init: px average disparity is:28.630839 ,While minimum is: 40.000000 KLT tracked : 278 +[19:36:11.331] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:11.331] frame process finished the id is: 98 the obs is:0 +[19:36:11.367] Odometry x=0.000210, y=0.507962, theta=0.010468 +[19:36:11.430] Init: px average disparity is:30.999341 ,While minimum is: 40.000000 KLT tracked : 276 +[19:36:11.430] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:11.430] frame process finished the id is: 99 the obs is:0 +[19:36:11.472] Odometry x=0.000182, y=0.533657, theta=0.012161 +[19:36:11.530] Init: px average disparity is:30.403530 ,While minimum is: 40.000000 KLT tracked : 273 +[19:36:11.530] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:11.530] frame process finished the id is: 100 the obs is:0 +[19:36:11.584] Odometry x=0.000199, y=0.560972, theta=0.014262 +[19:36:11.633] Init: px average disparity is:28.805378 ,While minimum is: 40.000000 KLT tracked : 268 +[19:36:11.633] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:11.633] frame process finished the id is: 101 the obs is:0 +[19:36:11.677] Odometry x=-0.000040, y=0.594038, theta=0.015798 +[19:36:11.718] Init: px average disparity is:30.493566 ,While minimum is: 40.000000 KLT tracked : 268 +[19:36:11.718] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:11.718] frame process finished the id is: 102 the obs is:0 +[19:36:11.771] Odometry x=-0.000217, y=0.617296, theta=0.016378 +[19:36:11.830] Init: px average disparity is:31.200964 ,While minimum is: 40.000000 KLT tracked : 268 +[19:36:11.830] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:11.830] frame process finished the id is: 103 the obs is:0 +[19:36:11.866] Odometry x=0.000640, y=0.642665, theta=0.016419 +[19:36:11.931] Init: px average disparity is:30.562232 ,While minimum is: 40.000000 KLT tracked : 267 +[19:36:11.931] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:11.931] frame process finished the id is: 104 the obs is:0 +[19:36:11.972] Odometry x=0.000462, y=0.667014, theta=0.015139 +[19:36:12.030] Init: px average disparity is:29.452489 ,While minimum is: 40.000000 KLT tracked : 267 +[19:36:12.031] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:12.031] frame process finished the id is: 105 the obs is:0 +[19:36:12.069] Odometry x=0.000152, y=0.693301, theta=0.014045 +[19:36:12.131] Init: px average disparity is:30.966072 ,While minimum is: 40.000000 KLT tracked : 267 +[19:36:12.131] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:12.131] frame process finished the id is: 106 the obs is:0 +[19:36:12.170] Odometry x=0.000037, y=0.719165, theta=0.013579 +[19:36:12.231] Init: px average disparity is:33.838454 ,While minimum is: 40.000000 KLT tracked : 267 +[19:36:12.231] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:12.231] frame process finished the id is: 107 the obs is:0 +[19:36:12.271] Odometry x=0.004842, y=0.743017, theta=0.014772 +[19:36:12.332] Init: px average disparity is:34.462483 ,While minimum is: 40.000000 KLT tracked : 267 +[19:36:12.332] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:12.332] frame process finished the id is: 108 the obs is:0 +[19:36:12.372] Odometry x=0.004722, y=0.769045, theta=0.011937 +[19:36:12.432] Init: px average disparity is:33.812972 ,While minimum is: 40.000000 KLT tracked : 265 +[19:36:12.432] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:12.432] frame process finished the id is: 109 the obs is:0 +[19:36:12.467] Odometry x=0.004590, y=0.794744, theta=0.009505 +[19:36:12.532] Init: px average disparity is:34.111387 ,While minimum is: 40.000000 KLT tracked : 265 +[19:36:12.532] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:12.532] frame process finished the id is: 110 the obs is:0 +[19:36:12.567] Odometry x=0.004491, y=0.820458, theta=0.012933 +[19:36:12.633] Init: px average disparity is:36.170728 ,While minimum is: 40.000000 KLT tracked : 265 +[19:36:12.633] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:12.633] frame process finished the id is: 111 the obs is:0 +[19:36:12.676] Odometry x=0.003822, y=0.845113, theta=0.015075 +[19:36:12.732] Init: px average disparity is:37.365904 ,While minimum is: 40.000000 KLT tracked : 265 +[19:36:12.732] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:12.732] frame process finished the id is: 112 the obs is:0 +[19:36:12.772] Odometry x=0.003586, y=0.875567, theta=0.017172 +[19:36:12.871] Odometry x=0.003413, y=0.900710, theta=0.018573 +[19:36:12.887] Init: Homography RANSAC (inlier) is:0 ,While 20 inliers minimum required. px average disparity is:41.171500 ,While minimum is: 40.000000 KLT tracked: 265 +[19:36:12.887] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:12.887] frame process finished the id is: 113 the obs is:0 +[19:36:12.968] Odometry x=0.003096, y=0.925275, theta=0.018924 +[19:36:12.983] Init: Homography RANSAC (inlier) is:0 ,While 20 inliers minimum required. px average disparity is:44.553054 ,While minimum is: 40.000000 KLT tracked: 265 +[19:36:12.983] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:12.983] frame process finished the id is: 114 the obs is:0 +[19:36:13.074] Odometry x=0.003128, y=0.950317, theta=0.016531 +[19:36:13.082] Init: Homography RANSAC (inlier) is:0 ,While 20 inliers minimum required. px average disparity is:46.983861 ,While minimum is: 40.000000 KLT tracked: 265 +[19:36:13.082] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:13.082] frame process finished the id is: 115 the obs is:0 +[19:36:13.169] Odometry x=0.002886, y=0.976798, theta=0.017065 +[19:36:13.183] Init: Homography RANSAC (inlier) is:0 ,While 20 inliers minimum required. px average disparity is:45.701029 ,While minimum is: 40.000000 KLT tracked: 262 +[19:36:13.184] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[19:36:13.184] frame process finished the id is: 116 the obs is:0 +[19:36:13.266] Odometry x=0.002712, y=1.002018, theta=0.016770 +[19:36:13.284] Init finished: Homography RANSAC (inlier) is:48 ,While 20 inliers minimum required. px average disparity is:46.244439 ,While minimum is: 40.000000 KLT tracked: 260 +[19:36:13.284] Init: distance between the first and current frame is x:0.002712 ,z=1.002018,angle between two frames: 0.016770 +[19:36:13.287] Init: Selected Second frame. The number of features: 48 depth mean:-1.191574 min:-8.552608 +[19:36:13.287] frame process finished the id is: 117 the obs is:48 +[19:36:13.363] Odometry x=0.002489, y=1.028529, theta=0.017362 +[19:36:13.456] After Reprojection Map nPoint:34 ,nCell:34 ,nMatches:1 ,distance between ekf and vo x:-0.000038 ,z=-0.000030,angle between two frames:0.000002 +[19:36:13.456] n deleted obs = 0 n obs with reprojection error less than 0.5 px =1 error init =0.377568 error end=0.377568 +[19:36:13.456] After pose optimization, distance between ekf and vo x:-0.000038 ,z=-0.000030,angle between two frames:0.000002 +[19:36:13.456] frame process finished the id is: 117 the obs is:48 +[19:36:13.466] Odometry x=0.002283, y=1.054201, theta=0.017982 +[19:36:13.566] Odometry x=0.002018, y=1.079953, theta=0.019363 +[19:36:13.607] After Reprojection Map nPoint:34 ,nCell:33 ,nMatches:3 ,distance between ekf and vo x:-0.000067 ,z=-0.000041,angle between two frames:0.000007 +[19:36:13.607] n deleted obs = 1 n obs with reprojection error less than 0.5 px =2 error init =0.579911 error end=0.579911 +[19:36:13.607] After pose optimization, distance between ekf and vo x:-0.000067 ,z=-0.000041,angle between two frames:0.000007 +[19:36:13.607] frame process finished the id is: 117 the obs is:48 +[19:36:13.672] Odometry x=0.001769, y=1.105786, theta=0.018901 +[19:36:13.755] After Reprojection Map nPoint:35 ,nCell:35 ,nMatches:2 ,distance between ekf and vo x:-0.000078 ,z=-0.000037,angle between two frames:0.000011 +[19:36:13.755] n deleted obs = 2 n obs with reprojection error less than 0.5 px =0 error init =0.690700 error end=0.690700 +[19:36:13.755] After pose optimization, distance between ekf and vo x:-0.000078 ,z=-0.000037,angle between two frames:0.000011 +[19:36:13.755] frame process finished the id is: 117 the obs is:48 +[19:36:13.768] Odometry x=0.001475, y=1.132761, theta=0.018473 +[19:36:13.868] Odometry x=0.001278, y=1.157244, theta=0.018404 +[19:36:13.905] After Reprojection Map nPoint:35 ,nCell:35 ,nMatches:4 ,distance between ekf and vo x:-0.000078 ,z=-0.000038,angle between two frames:0.000012 +[19:36:13.905] n deleted obs = 2 n obs with reprojection error less than 0.5 px =2 error init =0.469952 error end=0.469952 +[19:36:13.905] After pose optimization, distance between ekf and vo x:-0.000078 ,z=-0.000038,angle between two frames:0.000012 +[19:36:13.905] frame process finished the id is: 117 the obs is:48 +[19:36:13.967] Odometry x=0.000996, y=1.183866, theta=0.019239 +[19:36:14.055] After Reprojection Map nPoint:34 ,nCell:34 ,nMatches:3 ,distance between ekf and vo x:-0.000057 ,z=-0.000033,angle between two frames:0.000007 +[19:36:14.055] n deleted obs = 2 n obs with reprojection error less than 0.5 px =1 error init =0.465612 error end=0.465612 +[19:36:14.055] After pose optimization, distance between ekf and vo x:-0.000057 ,z=-0.000033,angle between two frames:0.000007 +[19:36:14.055] frame process finished the id is: 117 the obs is:48 +[19:36:14.070] Odometry x=0.000745, y=1.212571, theta=0.018921 +[19:36:14.167] Odometry x=0.000523, y=1.239290, theta=0.019779 +[19:36:14.203] After Reprojection Map nPoint:36 ,nCell:36 ,nMatches:3 ,distance between ekf and vo x:-0.000060 ,z=-0.000034,angle between two frames:0.000007 +[19:36:14.203] n deleted obs = 3 n obs with reprojection error less than 0.5 px =0 error init =0.844841 error end=0.844841 +[19:36:14.203] After pose optimization, distance between ekf and vo x:-0.000060 ,z=-0.000034,angle between two frames:0.000007 +[19:36:14.203] frame process finished the id is: 117 the obs is:48 +[19:36:14.266] Odometry x=0.000267, y=1.264576, theta=0.020485 +[19:36:14.352] After Reprojection Map nPoint:34 ,nCell:33 ,nMatches:2 ,distance between ekf and vo x:-0.000037 ,z=-0.000020,angle between two frames:0.000005 +[19:36:14.352] n deleted obs = 0 n obs with reprojection error less than 0.5 px =2 error init =0.327220 error end=0.327220 +[19:36:14.352] After pose optimization, distance between ekf and vo x:-0.000037 ,z=-0.000020,angle between two frames:0.000005 +[19:36:14.352] frame process finished the id is: 117 the obs is:48 +[19:36:14.365] Odometry x=-0.000130, y=1.290434, theta=0.019853 +[19:36:14.469] Odometry x=-0.000329, y=1.316671, theta=0.019056 +[19:36:14.500] After Reprojection Map nPoint:32 ,nCell:30 ,nMatches:7 ,distance between ekf and vo x:-0.000037 ,z=-0.000019,angle between two frames:0.000005 +[19:36:14.500] n deleted obs = 5 n obs with reprojection error less than 0.5 px =2 error init =2.183998 error end=2.183998 +[19:36:14.500] After pose optimization, distance between ekf and vo x:-0.000037 ,z=-0.000019,angle between two frames:0.000005 +[19:36:14.500] frame process finished the id is: 117 the obs is:48 +[19:36:14.566] Odometry x=-0.000612, y=1.343356, theta=0.018886 +[19:36:14.649] After Reprojection Map nPoint:32 ,nCell:32 ,nMatches:2 ,distance between ekf and vo x:-0.000067 ,z=-0.000033,angle between two frames:0.000009 +[19:36:14.649] n deleted obs = 1 n obs with reprojection error less than 0.5 px =1 error init =0.353428 error end=0.353428 +[19:36:14.649] After pose optimization, distance between ekf and vo x:-0.000067 ,z=-0.000033,angle between two frames:0.000009 +[19:36:14.649] frame process finished the id is: 117 the obs is:48 +[19:36:14.664] Odometry x=-0.000803, y=1.370740, theta=0.018422 +[19:36:14.767] Odometry x=-0.000974, y=1.396851, theta=0.017665 +[19:36:14.796] After Reprojection Map nPoint:33 ,nCell:33 ,nMatches:2 ,distance between ekf and vo x:-0.000065 ,z=-0.000031,angle between two frames:0.000009 +[19:36:14.797] n deleted obs = 1 n obs with reprojection error less than 0.5 px =1 error init =0.599142 error end=0.599142 +[19:36:14.797] After pose optimization, distance between ekf and vo x:-0.000065 ,z=-0.000031,angle between two frames:0.000009 +[19:36:14.797] frame process finished the id is: 117 the obs is:48 +[19:36:14.874] Odometry x=-0.001125, y=1.421620, theta=0.017305 +[19:36:14.946] After Reprojection Map nPoint:31 ,nCell:31 ,nMatches:3 ,distance between ekf and vo x:-0.000068 ,z=-0.000037,angle between two frames:0.000009 +[19:36:14.946] n deleted obs = 2 n obs with reprojection error less than 0.5 px =1 error init =0.411325 error end=0.411325 +[19:36:14.946] After pose optimization, distance between ekf and vo x:-0.000068 ,z=-0.000037,angle between two frames:0.000009 +[19:36:14.946] frame process finished the id is: 117 the obs is:48 +[19:36:14.968] Odometry x=-0.001361, y=1.448635, theta=0.018816 +[19:36:15.071] Odometry x=-0.001622, y=1.473980, theta=0.019080 +[19:36:15.097] After Reprojection Map nPoint:34 ,nCell:32 ,nMatches:3 ,distance between ekf and vo x:-0.000065 ,z=-0.000038,angle between two frames:0.000008 +[19:36:15.097] n deleted obs = 1 n obs with reprojection error less than 0.5 px =2 error init =0.472581 error end=0.472581 +[19:36:15.097] After pose optimization, distance between ekf and vo x:-0.000065 ,z=-0.000038,angle between two frames:0.000008 +[19:36:15.097] frame process finished the id is: 117 the obs is:48 +[19:36:15.169] Odometry x=-0.001840, y=1.500242, theta=0.018595 +[19:36:15.245] After Reprojection Map nPoint:34 ,nCell:34 ,nMatches:3 ,distance between ekf and vo x:-0.000055 ,z=-0.000031,angle between two frames:0.000006 +[19:36:15.245] n deleted obs = 1 n obs with reprojection error less than 0.5 px =2 error init =0.607810 error end=0.607810 +[19:36:15.245] After pose optimization, distance between ekf and vo x:-0.000055 ,z=-0.000031,angle between two frames:0.000006 +[19:36:15.245] frame process finished the id is: 117 the obs is:48 +[19:36:15.270] Odometry x=-0.002117, y=1.526190, theta=0.019049 +[19:36:15.367] Odometry x=-0.002377, y=1.552454, theta=0.018216 +[19:36:15.394] After Reprojection Map nPoint:34 ,nCell:32 ,nMatches:5 ,distance between ekf and vo x:-0.000048 ,z=-0.000031,angle between two frames:0.000003 +[19:36:15.394] n deleted obs = 1 n obs with reprojection error less than 0.5 px =4 error init =0.351010 error end=0.351010 +[19:36:15.394] After pose optimization, distance between ekf and vo x:-0.000048 ,z=-0.000031,angle between two frames:0.000003 +[19:36:15.394] Update EKF and 3D points the number of feature in the new frame: 5 and number of obs: 5 +[19:36:15.394] key frame check new frame:-0.002254 1.536056 0.018925, key close:0.002712 1.002018 0.016770 +[19:36:15.394] Choose frame as a key frame Scene Depth mean:-73907394.681269 ,depth min:-214041251.037587 +[19:36:15.394] frame process finished the id is: 131 the obs is:5 +[19:36:15.401] Image Alignment failed 0 +[19:36:15.401] frame process finished the id is: 131 the obs is:5 +[19:36:15.412] Image Alignment failed 0 +[19:36:15.412] frame process finished the id is: 131 the obs is:5 +[19:36:15.471] Odometry x=-0.002461, y=1.571396, theta=0.018689 +[19:36:15.518] Image Alignment failed 0 +[19:36:15.518] frame process finished the id is: 131 the obs is:5 +[19:36:15.570] Odometry x=-0.002648, y=1.597695, theta=0.022060 +[19:36:15.618] Image Alignment failed 0 +[19:36:15.618] frame process finished the id is: 131 the obs is:5 +[19:36:15.671] Odometry x=-0.002894, y=1.623153, theta=0.025538 +[19:36:15.719] Image Alignment failed 0 +[19:36:15.719] frame process finished the id is: 131 the obs is:5 +[19:36:15.777] Odometry x=-0.003241, y=1.649579, theta=0.029278 +[19:36:15.819] Image Alignment failed 0 +[19:36:15.819] frame process finished the id is: 131 the obs is:5 +[19:36:15.872] Odometry x=-0.003488, y=1.676909, theta=0.029802 +[19:36:15.918] Image Alignment failed 0 +[19:36:15.918] frame process finished the id is: 131 the obs is:5 +[19:36:15.971] Odometry x=-0.003734, y=1.701211, theta=0.031550 +[19:36:16.012] Image Alignment failed 0 +[19:36:16.012] frame process finished the id is: 131 the obs is:5 +[19:36:16.071] Odometry x=-0.005592, y=1.733615, theta=0.033803 +[19:36:16.118] Image Alignment failed 0 +[19:36:16.118] frame process finished the id is: 131 the obs is:5 +[19:36:16.172] Odometry x=-0.006091, y=1.759319, theta=0.033576 +[19:36:16.218] Image Alignment failed 0 +[19:36:16.218] frame process finished the id is: 131 the obs is:5 +[19:36:16.268] Odometry x=-0.007453, y=1.785525, theta=0.034422 +[19:36:16.318] Image Alignment failed 0 +[19:36:16.318] frame process finished the id is: 131 the obs is:5 +[19:36:16.374] Odometry x=-0.007649, y=1.810142, theta=0.036091 +[19:36:16.419] Image Alignment failed 0 +[19:36:16.419] frame process finished the id is: 131 the obs is:5 +[19:36:16.469] Odometry x=-0.007853, y=1.837772, theta=0.036599 +[19:36:16.519] Image Alignment failed 0 +[19:36:16.519] frame process finished the id is: 131 the obs is:5 +[19:36:16.571] Odometry x=-0.008365, y=1.862529, theta=0.036646 +[19:36:16.619] Image Alignment failed 0 +[19:36:16.619] frame process finished the id is: 131 the obs is:5 +[19:36:16.672] Odometry x=-0.008839, y=1.887464, theta=0.034785 +[19:36:16.719] Image Alignment failed 0 +[19:36:16.719] frame process finished the id is: 131 the obs is:5 +[19:36:16.773] Odometry x=-0.009299, y=1.916839, theta=0.033469 +[19:36:16.818] Image Alignment failed 0 +[19:36:16.818] frame process finished the id is: 131 the obs is:5 +[19:36:16.868] Odometry x=-0.009896, y=1.944087, theta=0.034308 +[19:36:16.918] Image Alignment failed 0 +[19:36:16.918] frame process finished the id is: 131 the obs is:5 +[19:36:16.969] Odometry x=-0.010309, y=1.969447, theta=0.033449 +[19:36:17.020] Image Alignment failed 0 +[19:36:17.020] frame process finished the id is: 131 the obs is:5 +[19:36:17.071] Odometry x=-0.010212, y=1.995416, theta=0.034555 +[19:36:17.118] Image Alignment failed 0 +[19:36:17.118] frame process finished the id is: 131 the obs is:5 +[19:36:17.172] Odometry x=-0.010637, y=2.021583, theta=0.032538 +[19:36:17.219] Image Alignment failed 0 +[19:36:17.219] frame process finished the id is: 131 the obs is:5 +[19:36:17.273] Odometry x=-0.010809, y=2.047350, theta=0.031374 +[19:36:17.318] Image Alignment failed 0 +[19:36:17.318] frame process finished the id is: 131 the obs is:5 +[19:36:17.371] Odometry x=-0.011249, y=2.073414, theta=0.032611 +[19:36:17.418] Image Alignment failed 0 +[19:36:17.419] frame process finished the id is: 131 the obs is:5 +[19:36:17.466] Odometry x=-0.011639, y=2.099138, theta=0.032084 +[19:36:17.519] Image Alignment failed 0 +[19:36:17.519] frame process finished the id is: 131 the obs is:5 +[19:36:17.566] Odometry x=-0.012125, y=2.125951, theta=0.031325 +[19:36:17.619] Image Alignment failed 0 +[19:36:17.619] frame process finished the id is: 131 the obs is:5 +[19:36:17.671] Odometry x=-0.012495, y=2.151896, theta=0.029718 +[19:36:17.718] Image Alignment failed 0 +[19:36:17.719] frame process finished the id is: 131 the obs is:5 +[19:36:17.772] Odometry x=-0.012551, y=2.177918, theta=0.029746 +[19:36:17.824] Image Alignment failed 0 +[19:36:17.825] frame process finished the id is: 131 the obs is:5 +[19:36:17.872] Odometry x=-0.012736, y=2.203131, theta=0.029093 +[19:36:17.919] Image Alignment failed 0 +[19:36:17.919] frame process finished the id is: 131 the obs is:5 +[19:36:17.971] Odometry x=-0.013072, y=2.231575, theta=0.029375 +[19:36:18.017] Image Alignment failed 0 +[19:36:18.018] frame process finished the id is: 131 the obs is:5 +[19:36:18.068] Odometry x=-0.013433, y=2.258948, theta=0.031600 +[19:36:18.118] Image Alignment failed 0 +[19:36:18.118] frame process finished the id is: 131 the obs is:5 +[19:36:18.164] Odometry x=-0.013861, y=2.284579, theta=0.033298 +[19:36:18.218] Image Alignment failed 0 +[19:36:18.218] frame process finished the id is: 131 the obs is:5 +[19:36:18.270] Odometry x=-0.014233, y=2.309020, theta=0.034243 +[19:36:18.318] Image Alignment failed 0 +[19:36:18.318] frame process finished the id is: 131 the obs is:5 +[19:36:18.372] Odometry x=-0.014658, y=2.334961, theta=0.036109 +[19:36:18.418] Image Alignment failed 0 +[19:36:18.418] frame process finished the id is: 131 the obs is:5 +[19:36:18.471] Odometry x=-0.015332, y=2.363539, theta=0.037769 +[19:36:18.521] Image Alignment failed 0 +[19:36:18.521] frame process finished the id is: 131 the obs is:5 +[19:36:18.573] Odometry x=-0.015565, y=2.389684, theta=0.036387 +[19:36:18.619] Image Alignment failed 0 +[19:36:18.619] frame process finished the id is: 131 the obs is:5 +[19:36:18.674] Odometry x=-0.016034, y=2.416165, theta=0.036282 +[19:36:18.721] Image Alignment failed 0 +[19:36:18.721] frame process finished the id is: 131 the obs is:5 +[19:36:18.770] Odometry x=-0.016407, y=2.442134, theta=0.035536 +[19:36:18.819] Image Alignment failed 0 +[19:36:18.819] frame process finished the id is: 131 the obs is:5 +[19:36:18.872] Odometry x=-0.016840, y=2.467783, theta=0.037177 +[19:36:18.919] Image Alignment failed 0 +[19:36:18.919] frame process finished the id is: 131 the obs is:5 +[19:36:18.972] Odometry x=-0.017308, y=2.494642, theta=0.036611 +[19:36:19.019] Image Alignment failed 0 +[19:36:19.019] frame process finished the id is: 131 the obs is:5 +[19:36:19.072] Odometry x=-0.017888, y=2.524848, theta=0.037153 +[19:36:19.119] Image Alignment failed 0 +[19:36:19.119] frame process finished the id is: 131 the obs is:5 +[19:36:19.174] Odometry x=-0.018519, y=2.552078, theta=0.036219 +[19:36:19.221] Image Alignment failed 0 +[19:36:19.221] frame process finished the id is: 131 the obs is:5 +[19:36:19.274] Odometry x=-0.018968, y=2.579018, theta=0.033809 +[19:36:19.320] Image Alignment failed 0 +[19:36:19.320] frame process finished the id is: 131 the obs is:5 +[19:36:19.372] Odometry x=-0.019452, y=2.604788, theta=0.034054 +[19:36:19.419] Image Alignment failed 0 +[19:36:19.419] frame process finished the id is: 131 the obs is:5 +[19:36:19.474] Odometry x=-0.019940, y=2.629172, theta=0.033234 +[19:36:19.519] Image Alignment failed 0 +[19:36:19.519] frame process finished the id is: 131 the obs is:5 +[19:36:19.574] Odometry x=-0.020356, y=2.659994, theta=0.032291 +[19:36:19.620] Image Alignment failed 0 +[19:36:19.620] frame process finished the id is: 131 the obs is:5 +[19:36:19.670] Odometry x=-0.020644, y=2.697627, theta=0.035578 +[19:36:19.721] Image Alignment failed 0 +[19:36:19.721] frame process finished the id is: 131 the obs is:5 +[19:36:19.769] Odometry x=-0.014170, y=2.717230, theta=0.039001 +[19:36:19.820] Image Alignment failed 0 +[19:36:19.820] frame process finished the id is: 131 the obs is:5 +[19:36:19.872] Odometry x=-0.015653, y=2.721471, theta=0.041635 +[19:36:19.920] Image Alignment failed 0 +[19:36:19.920] frame process finished the id is: 131 the obs is:5 +[19:36:19.973] Odometry x=-0.016055, y=2.724989, theta=0.038881 +[19:36:20.020] Image Alignment failed 0 +[19:36:20.020] frame process finished the id is: 131 the obs is:5 +[19:36:20.074] Odometry x=-0.008615, y=2.751562, theta=0.027748 +[19:36:20.119] Image Alignment failed 0 +[19:36:20.119] frame process finished the id is: 131 the obs is:5 +[19:36:20.173] Odometry x=-0.009811, y=2.778723, theta=0.027340 +[19:36:20.213] Image Alignment failed 0 +[19:36:20.213] frame process finished the id is: 131 the obs is:5 +[19:36:20.271] Odometry x=-0.009944, y=2.804715, theta=0.023057 +[19:36:20.316] Image Alignment failed 0 +[19:36:20.316] frame process finished the id is: 131 the obs is:5 +[19:36:20.371] Odometry x=-0.007281, y=2.835330, theta=0.020826 +[19:36:20.419] Image Alignment failed 0 +[19:36:20.419] frame process finished the id is: 131 the obs is:5 +[19:36:20.473] Odometry x=-0.007996, y=2.860047, theta=0.020333 +[19:36:20.520] Image Alignment failed 0 +[19:36:20.520] frame process finished the id is: 131 the obs is:5 +[19:36:20.574] Odometry x=-0.009651, y=2.886202, theta=0.024502 +[19:36:20.619] Image Alignment failed 0 +[19:36:20.619] frame process finished the id is: 131 the obs is:5 +[19:36:20.664] Odometry x=-0.010019, y=2.913645, theta=0.026602 +[19:36:20.719] Image Alignment failed 0 +[19:36:20.719] frame process finished the id is: 131 the obs is:5 +[19:36:20.770] Odometry x=-0.011040, y=2.931327, theta=0.026670 +[19:36:20.818] Image Alignment failed 0 +[19:36:20.818] frame process finished the id is: 131 the obs is:5 +[19:36:20.871] Odometry x=-0.014779, y=2.957444, theta=0.027255 +[19:36:20.918] Image Alignment failed 0 +[19:36:20.918] frame process finished the id is: 131 the obs is:5 +[19:36:20.964] Odometry x=-0.014970, y=2.982878, theta=0.028369 +[19:36:21.019] Image Alignment failed 0 +[19:36:21.019] frame process finished the id is: 131 the obs is:5 +[19:36:21.064] Odometry x=-0.010377, y=3.007143, theta=0.028960 +[19:36:21.119] Image Alignment failed 0 +[19:36:21.119] frame process finished the id is: 131 the obs is:5 +[19:36:21.170] Odometry x=-0.010087, y=3.029670, theta=0.023527 +[19:36:21.223] Image Alignment failed 0 +[19:36:21.223] frame process finished the id is: 131 the obs is:5 +[19:36:21.271] Odometry x=-0.010805, y=3.056666, theta=0.025095 +[19:36:21.318] Image Alignment failed 0 +[19:36:21.318] frame process finished the id is: 131 the obs is:5 +[19:36:21.376] Odometry x=-0.011184, y=3.083688, theta=0.024810 +[19:36:21.421] Image Alignment failed 0 +[19:36:21.421] frame process finished the id is: 131 the obs is:5 +[19:36:21.471] Odometry x=-0.011508, y=3.130392, theta=0.023589 +[19:36:21.522] Image Alignment failed 0 +[19:36:21.522] frame process finished the id is: 131 the obs is:5 +[19:36:21.572] Odometry x=-0.011808, y=3.155369, theta=0.024220 +[19:36:21.622] Image Alignment failed 0 +[19:36:21.622] frame process finished the id is: 131 the obs is:5 +[19:36:21.670] Odometry x=-0.014713, y=3.182227, theta=0.025278 +[19:36:21.721] Image Alignment failed 0 +[19:36:21.721] frame process finished the id is: 131 the obs is:5 +[19:36:21.774] Odometry x=-0.015164, y=3.211401, theta=0.024313 +[19:36:21.822] Image Alignment failed 0 +[19:36:21.822] frame process finished the id is: 131 the obs is:5 +[19:36:21.876] Odometry x=-0.015171, y=3.216647, theta=0.022902 +[19:36:21.921] Image Alignment failed 0 +[19:36:21.921] frame process finished the id is: 131 the obs is:5 +[19:36:21.971] Odometry x=-0.014998, y=3.242348, theta=0.025176 +[19:36:22.021] Image Alignment failed 0 +[19:36:22.021] frame process finished the id is: 131 the obs is:5 +[19:36:22.079] Odometry x=-0.018370, y=3.274099, theta=0.032120 +[19:36:22.121] Image Alignment failed 0 +[19:36:22.121] frame process finished the id is: 131 the obs is:5 +[19:36:22.174] Odometry x=-0.018855, y=3.302591, theta=0.033204 +[19:36:22.221] Image Alignment failed 0 +[19:36:22.221] frame process finished the id is: 131 the obs is:5 +[19:36:22.271] Odometry x=-0.020724, y=3.327186, theta=0.033910 +[19:36:22.321] Image Alignment failed 0 +[19:36:22.321] frame process finished the id is: 131 the obs is:5 +[19:36:22.371] Odometry x=-0.021219, y=3.351577, theta=0.031064 +[19:36:22.422] Image Alignment failed 0 +[19:36:22.422] frame process finished the id is: 131 the obs is:5 +[19:36:22.471] Odometry x=-0.021733, y=3.392196, theta=0.027675 +[19:36:22.522] Image Alignment failed 0 +[19:36:22.522] frame process finished the id is: 131 the obs is:5 +[19:36:22.570] Odometry x=-0.022967, y=3.417783, theta=0.025827 +[19:36:22.615] Image Alignment failed 0 +[19:36:22.615] frame process finished the id is: 131 the obs is:5 +[19:36:22.674] Odometry x=-0.021998, y=3.441945, theta=0.028858 +[19:36:22.721] Image Alignment failed 0 +[19:36:22.721] frame process finished the id is: 131 the obs is:5 +[19:36:22.774] Odometry x=-0.022425, y=3.467585, theta=0.033673 +[19:36:22.821] Image Alignment failed 0 +[19:36:22.821] frame process finished the id is: 131 the obs is:5 +[19:36:22.870] Odometry x=-0.023024, y=3.493657, theta=0.033206 +[19:36:22.924] Image Alignment failed 0 +[19:36:22.924] frame process finished the id is: 131 the obs is:5 +[19:36:22.975] Odometry x=-0.023377, y=3.522421, theta=0.029650 +[19:36:23.021] Image Alignment failed 0 +[19:36:23.021] frame process finished the id is: 131 the obs is:5 +[19:36:23.070] Odometry x=-0.023149, y=3.543128, theta=0.024824 +[19:36:23.121] Image Alignment failed 0 +[19:36:23.121] frame process finished the id is: 131 the obs is:5 +[19:36:23.171] Odometry x=-0.023374, y=3.568546, theta=0.023507 +[19:36:23.222] Image Alignment failed 0 +[19:36:23.222] frame process finished the id is: 131 the obs is:5 +[19:36:23.267] Odometry x=-0.023457, y=3.590215, theta=0.028695 +[19:36:23.329] Image Alignment failed 0 +[19:36:23.329] frame process finished the id is: 131 the obs is:5 +[19:36:23.371] Odometry x=-0.023818, y=3.615534, theta=0.034744 +[19:36:23.453] Image Alignment failed 0 +[19:36:23.453] frame process finished the id is: 131 the obs is:5 +[19:36:23.472] Odometry x=-0.024780, y=3.641479, theta=0.037318 +[19:36:23.552] Image Alignment failed 0 +[19:36:23.552] frame process finished the id is: 131 the obs is:5 +[19:36:23.576] Odometry x=-0.015442, y=3.663419, theta=0.038202 +[19:36:23.653] Image Alignment failed 0 +[19:36:23.653] frame process finished the id is: 131 the obs is:5 +[19:36:23.672] Odometry x=-0.016965, y=3.689837, theta=0.038863 +[19:36:23.752] Image Alignment failed 0 +[19:36:23.752] frame process finished the id is: 131 the obs is:5 +[19:36:23.764] Odometry x=-0.017509, y=3.712318, theta=0.037197 +[19:36:23.854] Image Alignment failed 0 +[19:36:23.854] frame process finished the id is: 131 the obs is:5 +[19:36:23.866] Odometry x=-0.015321, y=3.725937, theta=0.035350 +[19:36:23.952] Image Alignment failed 0 +[19:36:23.952] frame process finished the id is: 131 the obs is:5 +[19:36:23.970] Odometry x=-0.016003, y=3.758151, theta=0.035059 +[19:36:24.053] Image Alignment failed 0 +[19:36:24.053] frame process finished the id is: 131 the obs is:5 +[19:36:24.066] Odometry x=-0.016361, y=3.786095, theta=0.030891 +[19:36:24.153] Image Alignment failed 0 +[19:36:24.153] frame process finished the id is: 131 the obs is:5 +[19:36:24.167] Odometry x=-0.016672, y=3.811362, theta=0.031064 +[19:36:24.253] Image Alignment failed 0 +[19:36:24.253] frame process finished the id is: 131 the obs is:5 +[19:36:24.266] Odometry x=-0.015151, y=3.837136, theta=0.034066 +[19:36:24.353] Image Alignment failed 0 +[19:36:24.353] frame process finished the id is: 131 the obs is:5 +[19:36:24.367] Odometry x=-0.017218, y=3.853735, theta=0.037706 +[19:36:24.453] Image Alignment failed 0 +[19:36:24.453] frame process finished the id is: 131 the obs is:5 +[19:36:24.466] Odometry x=-0.018282, y=3.889853, theta=0.036712 +[19:36:24.555] Image Alignment failed 0 +[19:36:24.555] frame process finished the id is: 131 the obs is:5 +[19:36:24.567] Odometry x=-0.017964, y=3.915561, theta=0.036551 +[19:36:24.653] Image Alignment failed 0 +[19:36:24.653] frame process finished the id is: 131 the obs is:5 +[19:36:24.667] Odometry x=-0.018412, y=3.937240, theta=0.036476 +[19:36:24.753] Image Alignment failed 0 +[19:36:24.753] frame process finished the id is: 131 the obs is:5 +[19:36:24.769] Odometry x=-0.017548, y=3.964507, theta=0.035518 +[19:36:24.853] Image Alignment failed 0 +[19:36:24.853] frame process finished the id is: 131 the obs is:5 +[19:36:24.869] Odometry x=-0.018227, y=3.990168, theta=0.037613 +[19:36:24.953] Image Alignment failed 0 +[19:36:24.953] frame process finished the id is: 131 the obs is:5 +[19:36:24.969] Odometry x=-0.018606, y=4.015837, theta=0.034365 +[19:36:25.046] Image Alignment failed 0 +[19:36:25.046] frame process finished the id is: 131 the obs is:5 +[19:36:25.067] Odometry x=-0.020392, y=4.042873, theta=0.035711 +[19:36:25.153] Image Alignment failed 0 +[19:36:25.153] frame process finished the id is: 131 the obs is:5 +[19:36:25.167] Odometry x=-0.005854, y=4.070192, theta=0.034488 +[19:36:25.253] Image Alignment failed 0 +[19:36:25.253] frame process finished the id is: 131 the obs is:5 +[19:36:25.266] Odometry x=-0.004783, y=4.096115, theta=0.034611 +[19:36:25.353] Image Alignment failed 0 +[19:36:25.353] frame process finished the id is: 131 the obs is:5 +[19:36:25.366] Odometry x=-0.005394, y=4.131205, theta=0.035727 +[19:36:25.453] Image Alignment failed 0 +[19:36:25.453] frame process finished the id is: 131 the obs is:5 +[19:36:25.467] Odometry x=-0.005894, y=4.157271, theta=0.035114 +[19:36:25.553] Image Alignment failed 0 +[19:36:25.553] frame process finished the id is: 131 the obs is:5 +[19:36:25.571] Odometry x=-0.006112, y=4.202052, theta=0.032171 +[19:36:25.653] Image Alignment failed 0 +[19:36:25.653] frame process finished the id is: 131 the obs is:5 +[19:36:25.666] Odometry x=-0.002042, y=4.229296, theta=0.030684 +[19:36:25.753] Image Alignment failed 0 +[19:36:25.753] frame process finished the id is: 131 the obs is:5 +[19:36:25.766] Odometry x=-0.004388, y=4.272305, theta=0.031707 +[19:36:25.853] Image Alignment failed 0 +[19:36:25.853] frame process finished the id is: 131 the obs is:5 +[19:36:25.872] Odometry x=-0.004875, y=4.293608, theta=0.035447 +[19:36:25.953] Image Alignment failed 0 +[19:36:25.953] frame process finished the id is: 131 the obs is:5 +[19:36:25.972] Odometry x=-0.005995, y=4.320526, theta=0.039332 +[19:36:26.054] Image Alignment failed 0 +[19:36:26.054] frame process finished the id is: 131 the obs is:5 +[19:36:26.066] Odometry x=-0.005494, y=4.351929, theta=0.040540 +[19:36:26.154] Image Alignment failed 0 +[19:36:26.154] frame process finished the id is: 131 the obs is:5 +[19:36:26.169] Odometry x=-0.005922, y=4.385517, theta=0.043907 +[19:36:26.253] Image Alignment failed 0 +[19:36:26.253] frame process finished the id is: 131 the obs is:5 +[19:36:26.275] Odometry x=-0.003333, y=4.414578, theta=0.043492 +[19:36:26.353] Image Alignment failed 0 +[19:36:26.353] frame process finished the id is: 131 the obs is:5 +[19:36:26.372] Odometry x=-0.001132, y=4.440742, theta=0.046101 +[19:36:26.455] Image Alignment failed 0 +[19:36:26.455] frame process finished the id is: 131 the obs is:5 +[19:36:26.553] Image Alignment failed 0 +[19:36:26.553] frame process finished the id is: 131 the obs is:5 +[19:36:26.654] Image Alignment failed 0 +[19:36:26.654] frame process finished the id is: 131 the obs is:5 +[19:36:26.754] Image Alignment failed 0 +[19:36:26.754] frame process finished the id is: 131 the obs is:5 +[19:36:26.853] Image Alignment failed 0 +[19:36:26.853] frame process finished the id is: 131 the obs is:5 +[19:36:26.953] Image Alignment failed 0 +[19:36:26.953] frame process finished the id is: 131 the obs is:5 +[19:36:27.052] Image Alignment failed 0 +[19:36:27.052] frame process finished the id is: 131 the obs is:5 +[19:36:27.147] Image Alignment failed 0 +[19:36:27.147] frame process finished the id is: 131 the obs is:5 +[19:36:27.251] Image Alignment failed 0 +[19:36:27.251] frame process finished the id is: 131 the obs is:5 +[19:36:27.357] Image Alignment failed 0 +[19:36:27.357] frame process finished the id is: 131 the obs is:5 +[19:36:27.454] Image Alignment failed 0 +[19:36:27.454] frame process finished the id is: 131 the obs is:5 +[19:36:27.547] Image Alignment failed 0 +[19:36:27.547] frame process finished the id is: 131 the obs is:5 +[19:36:27.653] Image Alignment failed 0 +[19:36:27.653] frame process finished the id is: 131 the obs is:5 +[19:36:27.753] Image Alignment failed 0 +[19:36:27.753] frame process finished the id is: 131 the obs is:5 +[19:36:27.852] Image Alignment failed 0 +[19:36:27.852] frame process finished the id is: 131 the obs is:5 +[19:36:27.953] Image Alignment failed 0 +[19:36:27.953] frame process finished the id is: 131 the obs is:5 +[19:36:28.052] Image Alignment failed 0 +[19:36:28.052] frame process finished the id is: 131 the obs is:5 +[19:36:28.146] Image Alignment failed 0 +[19:36:28.146] frame process finished the id is: 131 the obs is:5 +[19:36:28.253] Image Alignment failed 0 +[19:36:28.253] frame process finished the id is: 131 the obs is:5 +[19:36:28.354] Image Alignment failed 0 +[19:36:28.354] frame process finished the id is: 131 the obs is:5 +[19:36:28.446] Image Alignment failed 0 +[19:36:28.446] frame process finished the id is: 131 the obs is:5 +[19:36:28.546] Image Alignment failed 0 +[19:36:28.546] frame process finished the id is: 131 the obs is:5 +[19:36:28.648] Image Alignment failed 0 +[19:36:28.648] frame process finished the id is: 131 the obs is:5 +[19:36:28.750] Image Alignment failed 0 +[19:36:28.750] frame process finished the id is: 131 the obs is:5 +[19:36:28.850] Image Alignment failed 0 +[19:36:28.850] frame process finished the id is: 131 the obs is:5 +[19:36:28.946] Image Alignment failed 0 +[19:36:28.946] frame process finished the id is: 131 the obs is:5 +[19:36:29.046] Image Alignment failed 0 +[19:36:29.046] frame process finished the id is: 131 the obs is:5 +[19:36:29.147] Image Alignment failed 0 +[19:36:29.147] frame process finished the id is: 131 the obs is:5 +[19:36:29.250] Image Alignment failed 0 +[19:36:29.250] frame process finished the id is: 131 the obs is:5 +[19:36:29.349] Image Alignment failed 0 +[19:36:29.349] frame process finished the id is: 131 the obs is:5 +[19:36:29.446] Image Alignment failed 0 +[19:36:29.446] frame process finished the id is: 131 the obs is:5 +[19:36:29.552] Image Alignment failed 0 +[19:36:29.552] frame process finished the id is: 131 the obs is:5 +[19:36:29.654] Image Alignment failed 0 +[19:36:29.654] frame process finished the id is: 131 the obs is:5 +[19:36:29.753] Image Alignment failed 0 +[19:36:29.753] frame process finished the id is: 131 the obs is:5 +[19:36:29.853] Image Alignment failed 0 +[19:36:29.853] frame process finished the id is: 131 the obs is:5 +[19:36:29.948] Image Alignment failed 0 +[19:36:29.948] frame process finished the id is: 131 the obs is:5 +[19:36:30.047] Image Alignment failed 0 +[19:36:30.047] frame process finished the id is: 131 the obs is:5 +[19:36:30.147] Image Alignment failed 0 +[19:36:30.147] frame process finished the id is: 131 the obs is:5 +[19:36:30.247] Image Alignment failed 0 +[19:36:30.247] frame process finished the id is: 131 the obs is:5 +[19:36:30.355] Image Alignment failed 0 +[19:36:30.355] frame process finished the id is: 131 the obs is:5 +[19:36:30.448] Image Alignment failed 0 +[19:36:30.448] frame process finished the id is: 131 the obs is:5 +[19:36:30.547] Image Alignment failed 0 +[19:36:30.547] frame process finished the id is: 131 the obs is:5 +[19:36:30.647] Image Alignment failed 0 +[19:36:30.647] frame process finished the id is: 131 the obs is:5 +[19:36:30.747] Image Alignment failed 0 +[19:36:30.747] frame process finished the id is: 131 the obs is:5 +[19:36:30.847] Image Alignment failed 0 +[19:36:30.847] frame process finished the id is: 131 the obs is:5 +[19:36:30.947] Image Alignment failed 0 +[19:36:30.947] frame process finished the id is: 131 the obs is:5 +[19:36:31.047] Image Alignment failed 0 +[19:36:31.047] frame process finished the id is: 131 the obs is:5 +[19:36:31.146] Image Alignment failed 0 +[19:36:31.146] frame process finished the id is: 131 the obs is:5 +[19:36:31.247] Image Alignment failed 0 +[19:36:31.247] frame process finished the id is: 131 the obs is:5 +[19:36:31.347] Image Alignment failed 0 +[19:36:31.347] frame process finished the id is: 131 the obs is:5 +[19:36:31.458] Image Alignment failed 0 +[19:36:31.458] frame process finished the id is: 131 the obs is:5 +[19:36:31.555] Image Alignment failed 0 +[19:36:31.555] frame process finished the id is: 131 the obs is:5 +[19:36:31.651] Image Alignment failed 0 +[19:36:31.651] frame process finished the id is: 131 the obs is:5 +[19:36:31.746] Image Alignment failed 0 +[19:36:31.746] frame process finished the id is: 131 the obs is:5 +[19:36:31.846] Image Alignment failed 0 +[19:36:31.846] frame process finished the id is: 131 the obs is:5 +[19:36:31.954] Image Alignment failed 0 +[19:36:31.954] frame process finished the id is: 131 the obs is:5 +[19:36:32.053] Image Alignment failed 0 +[19:36:32.053] frame process finished the id is: 131 the obs is:5 +[19:36:32.153] Image Alignment failed 0 +[19:36:32.153] frame process finished the id is: 131 the obs is:5 +[19:36:32.254] Image Alignment failed 0 +[19:36:32.254] frame process finished the id is: 131 the obs is:5 +[19:36:32.355] Image Alignment failed 0 +[19:36:32.355] frame process finished the id is: 131 the obs is:5 +[19:36:32.455] Image Alignment failed 0 +[19:36:32.455] frame process finished the id is: 131 the obs is:5 +[19:36:32.555] Image Alignment failed 0 +[19:36:32.555] frame process finished the id is: 131 the obs is:5 +[19:36:32.655] Image Alignment failed 0 +[19:36:32.655] frame process finished the id is: 131 the obs is:5 +[19:36:32.754] Image Alignment failed 0 +[19:36:32.754] frame process finished the id is: 131 the obs is:5 +[19:36:32.854] Image Alignment failed 0 +[19:36:32.854] frame process finished the id is: 131 the obs is:5 +[19:36:32.954] Image Alignment failed 0 +[19:36:32.954] frame process finished the id is: 131 the obs is:5 +[19:36:33.053] Image Alignment failed 0 +[19:36:33.053] frame process finished the id is: 131 the obs is:5 +[19:36:33.155] Image Alignment failed 0 +[19:36:33.155] frame process finished the id is: 131 the obs is:5 +[19:36:33.254] Image Alignment failed 0 +[19:36:33.254] frame process finished the id is: 131 the obs is:5 +[19:36:33.355] Image Alignment failed 0 +[19:36:33.355] frame process finished the id is: 131 the obs is:5 +[19:36:33.454] Image Alignment failed 0 +[19:36:33.454] frame process finished the id is: 131 the obs is:5 +[19:36:33.555] Image Alignment failed 0 +[19:36:33.555] frame process finished the id is: 131 the obs is:5 +[19:36:33.655] Image Alignment failed 0 +[19:36:33.655] frame process finished the id is: 131 the obs is:5 +[19:36:33.754] Image Alignment failed 0 +[19:36:33.754] frame process finished the id is: 131 the obs is:5 +[19:36:33.855] Image Alignment failed 0 +[19:36:33.855] frame process finished the id is: 131 the obs is:5 +[19:36:33.954] Image Alignment failed 0 +[19:36:33.954] frame process finished the id is: 131 the obs is:5 +[19:36:34.053] Image Alignment failed 0 +[19:36:34.053] frame process finished the id is: 131 the obs is:5 +[19:36:34.155] Image Alignment failed 0 +[19:36:34.155] frame process finished the id is: 131 the obs is:5 +[19:36:34.255] Image Alignment failed 0 +[19:36:34.255] frame process finished the id is: 131 the obs is:5 +[19:36:34.355] Image Alignment failed 0 +[19:36:34.355] frame process finished the id is: 131 the obs is:5 +[19:36:34.454] Image Alignment failed 0 +[19:36:34.454] frame process finished the id is: 131 the obs is:5 +[19:36:34.554] Image Alignment failed 0 +[19:36:34.554] frame process finished the id is: 131 the obs is:5 +[19:36:34.655] Image Alignment failed 0 +[19:36:34.655] frame process finished the id is: 131 the obs is:5 +[19:36:34.755] Image Alignment failed 0 +[19:36:34.755] frame process finished the id is: 131 the obs is:5 +[19:36:34.853] Image Alignment failed 0 +[19:36:34.853] frame process finished the id is: 131 the obs is:5 +[19:36:34.956] Image Alignment failed 0 +[19:36:34.956] frame process finished the id is: 131 the obs is:5 +[19:36:35.055] Image Alignment failed 0 +[19:36:35.055] frame process finished the id is: 131 the obs is:5 +[19:36:35.154] Image Alignment failed 0 +[19:36:35.154] frame process finished the id is: 131 the obs is:5 +[19:36:35.254] Image Alignment failed 0 +[19:36:35.254] frame process finished the id is: 131 the obs is:5 +[19:36:35.346] Image Alignment failed 0 +[19:36:35.346] frame process finished the id is: 131 the obs is:5 +[19:36:35.455] Image Alignment failed 0 +[19:36:35.455] frame process finished the id is: 131 the obs is:5 +[19:36:35.554] Image Alignment failed 0 +[19:36:35.554] frame process finished the id is: 131 the obs is:5 +[19:36:35.656] Image Alignment failed 0 +[19:36:35.656] frame process finished the id is: 131 the obs is:5 +[19:36:35.754] Image Alignment failed 0 +[19:36:35.755] frame process finished the id is: 131 the obs is:5 +[19:36:35.853] Image Alignment failed 0 +[19:36:35.853] frame process finished the id is: 131 the obs is:5 +[19:36:35.955] Image Alignment failed 0 +[19:36:35.955] frame process finished the id is: 131 the obs is:5 +[19:36:36.055] Image Alignment failed 0 +[19:36:36.055] frame process finished the id is: 131 the obs is:5 +[19:36:36.153] Image Alignment failed 0 +[19:36:36.154] frame process finished the id is: 131 the obs is:5 +[19:36:36.255] Image Alignment failed 0 +[19:36:36.255] frame process finished the id is: 131 the obs is:5 +[19:36:36.355] Image Alignment failed 0 +[19:36:36.355] frame process finished the id is: 131 the obs is:5 +[19:36:36.454] Image Alignment failed 0 +[19:36:36.454] frame process finished the id is: 131 the obs is:5 +[19:36:36.555] Image Alignment failed 0 +[19:36:36.555] frame process finished the id is: 131 the obs is:5 +[19:36:36.654] Image Alignment failed 0 +[19:36:36.654] frame process finished the id is: 131 the obs is:5 +[19:36:36.755] Image Alignment failed 0 +[19:36:36.755] frame process finished the id is: 131 the obs is:5 +[19:36:36.853] Image Alignment failed 0 +[19:36:36.853] frame process finished the id is: 131 the obs is:5 +[19:36:36.956] Image Alignment failed 0 +[19:36:36.956] frame process finished the id is: 131 the obs is:5 +[19:36:37.057] Image Alignment failed 0 +[19:36:37.057] frame process finished the id is: 131 the obs is:5 +[19:36:37.155] Image Alignment failed 0 +[19:36:37.155] frame process finished the id is: 131 the obs is:5 +[19:36:37.254] Image Alignment failed 0 +[19:36:37.254] frame process finished the id is: 131 the obs is:5 +[19:36:37.354] Image Alignment failed 0 +[19:36:37.354] frame process finished the id is: 131 the obs is:5 +[19:36:37.455] Image Alignment failed 0 +[19:36:37.455] frame process finished the id is: 131 the obs is:5 +[19:36:37.554] Image Alignment failed 0 +[19:36:37.554] frame process finished the id is: 131 the obs is:5 +[19:36:37.653] Image Alignment failed 0 +[19:36:37.654] frame process finished the id is: 131 the obs is:5 +[19:36:37.754] Image Alignment failed 0 +[19:36:37.754] frame process finished the id is: 131 the obs is:5 +[19:36:37.855] Image Alignment failed 0 +[19:36:37.855] frame process finished the id is: 131 the obs is:5 +[19:36:37.955] Image Alignment failed 0 +[19:36:37.955] frame process finished the id is: 131 the obs is:5 +[19:36:38.054] Image Alignment failed 0 +[19:36:38.054] frame process finished the id is: 131 the obs is:5 +[19:36:38.155] Image Alignment failed 0 +[19:36:38.155] frame process finished the id is: 131 the obs is:5 +[19:36:38.256] Image Alignment failed 0 +[19:36:38.256] frame process finished the id is: 131 the obs is:5 +[19:36:38.357] Image Alignment failed 0 +[19:36:38.357] frame process finished the id is: 131 the obs is:5 +[19:36:38.456] Image Alignment failed 0 +[19:36:38.456] frame process finished the id is: 131 the obs is:5 +[19:36:38.553] Image Alignment failed 0 +[19:36:38.553] frame process finished the id is: 131 the obs is:5 +[19:36:38.655] Image Alignment failed 0 +[19:36:38.655] frame process finished the id is: 131 the obs is:5 +[19:36:38.757] Image Alignment failed 0 +[19:36:38.757] frame process finished the id is: 131 the obs is:5 +[19:36:38.855] Image Alignment failed 0 +[19:36:38.855] frame process finished the id is: 131 the obs is:5 +[19:36:38.956] Image Alignment failed 0 +[19:36:38.956] frame process finished the id is: 131 the obs is:5 +[19:36:39.048] Image Alignment failed 0 +[19:36:39.048] frame process finished the id is: 131 the obs is:5 +[19:36:39.153] Image Alignment failed 0 +[19:36:39.153] frame process finished the id is: 131 the obs is:5 +[19:36:39.254] Image Alignment failed 0 +[19:36:39.254] frame process finished the id is: 131 the obs is:5 +[19:36:39.353] Image Alignment failed 0 +[19:36:39.353] frame process finished the id is: 131 the obs is:5 +[19:36:39.454] Image Alignment failed 0 +[19:36:39.454] frame process finished the id is: 131 the obs is:5 +[19:36:39.554] Image Alignment failed 0 +[19:36:39.554] frame process finished the id is: 131 the obs is:5 +[19:36:39.654] Image Alignment failed 0 +[19:36:39.654] frame process finished the id is: 131 the obs is:5 +[19:36:39.755] Image Alignment failed 0 +[19:36:39.755] frame process finished the id is: 131 the obs is:5 +[19:36:39.855] Image Alignment failed 0 +[19:36:39.855] frame process finished the id is: 131 the obs is:5 +[19:36:39.954] Image Alignment failed 0 +[19:36:39.955] frame process finished the id is: 131 the obs is:5 +[19:36:40.057] Image Alignment failed 0 +[19:36:40.058] frame process finished the id is: 131 the obs is:5 +[19:36:40.156] Image Alignment failed 0 +[19:36:40.156] frame process finished the id is: 131 the obs is:5 +[19:36:40.253] Image Alignment failed 0 +[19:36:40.253] frame process finished the id is: 131 the obs is:5 +[19:36:40.356] Image Alignment failed 0 +[19:36:40.356] frame process finished the id is: 131 the obs is:5 +[19:36:40.456] Image Alignment failed 0 +[19:36:40.456] frame process finished the id is: 131 the obs is:5 +[19:36:40.555] Image Alignment failed 0 +[19:36:40.555] frame process finished the id is: 131 the obs is:5 +[19:36:40.656] Image Alignment failed 0 +[19:36:40.656] frame process finished the id is: 131 the obs is:5 +[19:36:40.756] Image Alignment failed 0 +[19:36:40.757] frame process finished the id is: 131 the obs is:5 +[19:36:40.855] Image Alignment failed 0 +[19:36:40.855] frame process finished the id is: 131 the obs is:5 +[19:36:40.956] Image Alignment failed 0 +[19:36:40.956] frame process finished the id is: 131 the obs is:5 +[19:36:41.057] Image Alignment failed 0 +[19:36:41.057] frame process finished the id is: 131 the obs is:5 +[19:36:41.155] Image Alignment failed 0 +[19:36:41.155] frame process finished the id is: 131 the obs is:5 +[19:36:41.253] Image Alignment failed 0 +[19:36:41.253] frame process finished the id is: 131 the obs is:5 +[19:36:41.355] Image Alignment failed 0 +[19:36:41.355] frame process finished the id is: 131 the obs is:5 +[19:36:41.457] Image Alignment failed 0 +[19:36:41.457] frame process finished the id is: 131 the obs is:5 +[19:36:41.556] Image Alignment failed 0 +[19:36:41.556] frame process finished the id is: 131 the obs is:5 +[19:36:41.656] Image Alignment failed 0 +[19:36:41.656] frame process finished the id is: 131 the obs is:5 +[19:36:41.756] Image Alignment failed 0 +[19:36:41.756] frame process finished the id is: 131 the obs is:5 +[19:36:41.855] Image Alignment failed 0 +[19:36:41.856] frame process finished the id is: 131 the obs is:5 +[19:36:41.957] Image Alignment failed 0 +[19:36:41.957] frame process finished the id is: 131 the obs is:5 +[19:36:42.056] Image Alignment failed 0 +[19:36:42.056] frame process finished the id is: 131 the obs is:5 +[19:36:42.146] Image Alignment failed 0 +[19:36:42.146] frame process finished the id is: 131 the obs is:5 +[19:36:42.254] Image Alignment failed 0 +[19:36:42.254] frame process finished the id is: 131 the obs is:5 +[19:36:42.357] Image Alignment failed 0 +[19:36:42.357] frame process finished the id is: 131 the obs is:5 +[19:36:42.455] Image Alignment failed 0 +[19:36:42.455] frame process finished the id is: 131 the obs is:5 +[19:36:42.555] Image Alignment failed 0 +[19:36:42.555] frame process finished the id is: 131 the obs is:5 +[19:36:42.655] Image Alignment failed 0 +[19:36:42.655] frame process finished the id is: 131 the obs is:5 +[19:36:42.755] Image Alignment failed 0 +[19:36:42.755] frame process finished the id is: 131 the obs is:5 +[19:36:42.858] Image Alignment failed 0 +[19:36:42.858] frame process finished the id is: 131 the obs is:5 +[19:36:42.947] Image Alignment failed 0 +[19:36:42.947] frame process finished the id is: 131 the obs is:5 +[19:36:43.055] Image Alignment failed 0 +[19:36:43.056] frame process finished the id is: 131 the obs is:5 +[19:36:43.148] Image Alignment failed 0 +[19:36:43.148] frame process finished the id is: 131 the obs is:5 +[19:36:43.255] Image Alignment failed 0 +[19:36:43.255] frame process finished the id is: 131 the obs is:5 +[19:36:43.355] Image Alignment failed 0 +[19:36:43.355] frame process finished the id is: 131 the obs is:5 +[19:36:43.455] Image Alignment failed 0 +[19:36:43.455] frame process finished the id is: 131 the obs is:5 +[19:36:43.555] Image Alignment failed 0 +[19:36:43.555] frame process finished the id is: 131 the obs is:5 +[19:36:43.656] Image Alignment failed 0 +[19:36:43.656] frame process finished the id is: 131 the obs is:5 +[19:36:43.756] Image Alignment failed 0 +[19:36:43.757] frame process finished the id is: 131 the obs is:5 +[19:36:43.855] Image Alignment failed 0 +[19:36:43.855] frame process finished the id is: 131 the obs is:5 +[19:36:43.956] Image Alignment failed 0 +[19:36:43.956] frame process finished the id is: 131 the obs is:5 +[19:36:44.057] Image Alignment failed 0 +[19:36:44.057] frame process finished the id is: 131 the obs is:5 +[19:36:44.154] Image Alignment failed 0 +[19:36:44.154] frame process finished the id is: 131 the obs is:5 +[19:36:44.255] Image Alignment failed 0 +[19:36:44.255] frame process finished the id is: 131 the obs is:5 +[19:36:44.356] Image Alignment failed 0 +[19:36:44.356] frame process finished the id is: 131 the obs is:5 +[19:36:44.455] Image Alignment failed 0 +[19:36:44.455] frame process finished the id is: 131 the obs is:5 +[19:36:44.557] Image Alignment failed 0 +[19:36:44.557] frame process finished the id is: 131 the obs is:5 +[19:36:44.655] Image Alignment failed 0 +[19:36:44.655] frame process finished the id is: 131 the obs is:5 +[19:36:44.756] Image Alignment failed 0 +[19:36:44.756] frame process finished the id is: 131 the obs is:5 +[19:36:44.856] Image Alignment failed 0 +[19:36:44.856] frame process finished the id is: 131 the obs is:5 +[19:36:44.955] Image Alignment failed 0 +[19:36:44.955] frame process finished the id is: 131 the obs is:5 +[19:36:45.056] Image Alignment failed 0 +[19:36:45.056] frame process finished the id is: 131 the obs is:5 +[19:36:45.155] Image Alignment failed 0 +[19:36:45.156] frame process finished the id is: 131 the obs is:5 +[19:36:45.257] Image Alignment failed 0 +[19:36:45.257] frame process finished the id is: 131 the obs is:5 +[19:36:45.355] Image Alignment failed 0 +[19:36:45.355] frame process finished the id is: 131 the obs is:5 +[19:36:45.458] Image Alignment failed 0 +[19:36:45.458] frame process finished the id is: 131 the obs is:5 +[19:36:45.555] Image Alignment failed 0 +[19:36:45.555] frame process finished the id is: 131 the obs is:5 +[19:36:45.656] Image Alignment failed 0 +[19:36:45.656] frame process finished the id is: 131 the obs is:5 +[19:36:45.756] Image Alignment failed 0 +[19:36:45.756] frame process finished the id is: 131 the obs is:5 +[19:36:45.856] Image Alignment failed 0 +[19:36:45.856] frame process finished the id is: 131 the obs is:5 +[19:36:45.956] Image Alignment failed 0 +[19:36:45.956] frame process finished the id is: 131 the obs is:5 +[19:36:46.055] Image Alignment failed 0 +[19:36:46.055] frame process finished the id is: 131 the obs is:5 +[19:36:46.156] Image Alignment failed 0 +[19:36:46.156] frame process finished the id is: 131 the obs is:5 +[19:36:46.254] Image Alignment failed 0 +[19:36:46.255] frame process finished the id is: 131 the obs is:5 +[19:36:46.355] Image Alignment failed 0 +[19:36:46.355] frame process finished the id is: 131 the obs is:5 +[19:36:46.456] Image Alignment failed 0 +[19:36:46.456] frame process finished the id is: 131 the obs is:5 +[19:36:46.556] Image Alignment failed 0 +[19:36:46.556] frame process finished the id is: 131 the obs is:5 +[19:36:46.654] Image Alignment failed 0 +[19:36:46.654] frame process finished the id is: 131 the obs is:5 +[19:36:46.748] Image Alignment failed 0 +[19:36:46.748] frame process finished the id is: 131 the obs is:5 +[19:36:46.855] Image Alignment failed 0 +[19:36:46.855] frame process finished the id is: 131 the obs is:5 +[19:36:46.956] Image Alignment failed 0 +[19:36:46.956] frame process finished the id is: 131 the obs is:5 +[19:36:47.055] Image Alignment failed 0 +[19:36:47.055] frame process finished the id is: 131 the obs is:5 +[19:36:47.155] Image Alignment failed 0 +[19:36:47.155] frame process finished the id is: 131 the obs is:5 +[19:36:47.256] Image Alignment failed 0 +[19:36:47.256] frame process finished the id is: 131 the obs is:5 +[19:36:47.356] Image Alignment failed 0 +[19:36:47.356] frame process finished the id is: 131 the obs is:5 +[19:36:47.456] Image Alignment failed 0 +[19:36:47.456] frame process finished the id is: 131 the obs is:5 +[19:36:47.556] Image Alignment failed 0 +[19:36:47.556] frame process finished the id is: 131 the obs is:5 +[19:36:47.657] Image Alignment failed 0 +[19:36:47.657] frame process finished the id is: 131 the obs is:5 +[19:36:47.756] Image Alignment failed 0 +[19:36:47.756] frame process finished the id is: 131 the obs is:5 +[19:36:47.855] Image Alignment failed 0 +[19:36:47.855] frame process finished the id is: 131 the obs is:5 +[19:36:47.962] Image Alignment failed 0 +[19:36:47.962] frame process finished the id is: 131 the obs is:5 +[19:36:48.055] Image Alignment failed 0 +[19:36:48.055] frame process finished the id is: 131 the obs is:5 +[19:36:48.155] Image Alignment failed 0 +[19:36:48.155] frame process finished the id is: 131 the obs is:5 +[19:36:48.256] Image Alignment failed 0 +[19:36:48.256] frame process finished the id is: 131 the obs is:5 +[19:36:48.355] Image Alignment failed 0 +[19:36:48.355] frame process finished the id is: 131 the obs is:5 +[19:36:48.455] Image Alignment failed 0 +[19:36:48.455] frame process finished the id is: 131 the obs is:5 +[19:36:48.565] Image Alignment failed 0 +[19:36:48.565] frame process finished the id is: 131 the obs is:5 +[19:36:48.655] Image Alignment failed 0 +[19:36:48.655] frame process finished the id is: 131 the obs is:5 +[19:36:48.755] Image Alignment failed 0 +[19:36:48.755] frame process finished the id is: 131 the obs is:5 +[19:36:48.856] Image Alignment failed 0 +[19:36:48.856] frame process finished the id is: 131 the obs is:5 +[19:36:48.955] Image Alignment failed 0 +[19:36:48.955] frame process finished the id is: 131 the obs is:5 +[19:36:49.057] Image Alignment failed 0 +[19:36:49.057] frame process finished the id is: 131 the obs is:5 +[19:36:49.155] Image Alignment failed 0 +[19:36:49.155] frame process finished the id is: 131 the obs is:5 +[19:36:49.254] Image Alignment failed 0 +[19:36:49.254] frame process finished the id is: 131 the obs is:5 +[19:36:49.355] Image Alignment failed 0 +[19:36:49.355] frame process finished the id is: 131 the obs is:5 +[19:36:49.457] Image Alignment failed 0 +[19:36:49.457] frame process finished the id is: 131 the obs is:5 +[19:36:49.555] Image Alignment failed 0 +[19:36:49.555] frame process finished the id is: 131 the obs is:5 +[19:36:49.655] Image Alignment failed 0 +[19:36:49.655] frame process finished the id is: 131 the obs is:5 +[19:36:49.753] Image Alignment failed 0 +[19:36:49.754] frame process finished the id is: 131 the obs is:5 +[19:36:49.856] Image Alignment failed 0 +[19:36:49.856] frame process finished the id is: 131 the obs is:5 +[19:36:49.954] Image Alignment failed 0 +[19:36:49.954] frame process finished the id is: 131 the obs is:5 +[19:36:50.056] Image Alignment failed 0 +[19:36:50.056] frame process finished the id is: 131 the obs is:5 +[19:36:50.154] Image Alignment failed 0 +[19:36:50.155] frame process finished the id is: 131 the obs is:5 +[19:36:50.255] Image Alignment failed 0 +[19:36:50.255] frame process finished the id is: 131 the obs is:5 +[19:36:50.354] Image Alignment failed 0 +[19:36:50.354] frame process finished the id is: 131 the obs is:5 +[19:36:50.455] Image Alignment failed 0 +[19:36:50.455] frame process finished the id is: 131 the obs is:5 +[19:36:50.547] Image Alignment failed 0 +[19:36:50.547] frame process finished the id is: 131 the obs is:5 +[19:36:50.628] Odometry x=-0.002244, y=4.466538, theta=0.045132 +[19:36:50.654] Image Alignment failed 0 +[19:36:50.654] frame process finished the id is: 131 the obs is:5 +[19:36:50.731] Odometry x=6.965980, y=-1.042297, theta=2.634269 +[19:36:50.756] Image Alignment failed 0 +[19:36:50.756] frame process finished the id is: 131 the obs is:5 +[19:36:50.833] Odometry x=6.956908, y=-1.020789, theta=2.593266 +[19:36:50.856] Image Alignment failed 0 +[19:36:50.856] frame process finished the id is: 131 the obs is:5 +[19:36:50.931] Odometry x=6.962661, y=-0.997909, theta=2.592067 +[19:36:50.951] Image Alignment failed 0 +[19:36:50.951] frame process finished the id is: 131 the obs is:5 +[19:36:51.031] Odometry x=6.973037, y=-0.959213, theta=2.585476 +[19:36:51.056] Image Alignment failed 0 +[19:36:51.056] frame process finished the id is: 131 the obs is:5 +[19:36:51.131] Odometry x=6.979196, y=-0.937634, theta=2.590164 +[19:36:51.159] Image Alignment failed 0 +[19:36:51.159] frame process finished the id is: 131 the obs is:5 +[19:36:51.232] Odometry x=6.986119, y=-0.916492, theta=2.593562 +[19:36:51.258] Image Alignment failed 0 +[19:36:51.258] frame process finished the id is: 131 the obs is:5 +[19:36:51.326] Odometry x=6.991481, y=-0.898510, theta=2.598658 +[19:36:51.356] Image Alignment failed 0 +[19:36:51.356] frame process finished the id is: 131 the obs is:5 +[19:36:51.435] Odometry x=6.997631, y=-0.877403, theta=2.596210 +[19:36:51.457] Image Alignment failed 0 +[19:36:51.457] frame process finished the id is: 131 the obs is:5 +[19:36:51.530] Odometry x=7.000140, y=-0.867660, theta=2.597267 +[19:36:51.561] Image Alignment failed 0 +[19:36:51.561] frame process finished the id is: 131 the obs is:5 +[19:36:51.627] Odometry x=7.004504, y=-0.853349, theta=2.592549 +[19:36:51.657] Image Alignment failed 0 +[19:36:51.658] frame process finished the id is: 131 the obs is:5 +[19:36:51.734] Odometry x=7.011457, y=-0.831910, theta=2.596155 +[19:36:51.758] Image Alignment failed 0 +[19:36:51.758] frame process finished the id is: 131 the obs is:5 +[19:36:51.828] Odometry x=7.018734, y=-0.808985, theta=2.595996 +[19:36:51.857] Image Alignment failed 0 +[19:36:51.857] frame process finished the id is: 131 the obs is:5 +[19:36:51.929] Odometry x=7.027411, y=-0.791693, theta=2.597806 +[19:36:51.957] Image Alignment failed 0 +[19:36:51.957] frame process finished the id is: 131 the obs is:5 +[19:36:52.032] Odometry x=7.033645, y=-0.770767, theta=2.601872 +[19:36:52.056] Image Alignment failed 0 +[19:36:52.056] frame process finished the id is: 131 the obs is:5 +[19:36:52.130] Odometry x=7.042626, y=-0.751040, theta=2.599795 +[19:36:52.156] Image Alignment failed 0 +[19:36:52.156] frame process finished the id is: 131 the obs is:5 +[19:36:52.230] Odometry x=7.052644, y=-0.731809, theta=2.599189 +[19:36:52.252] Image Alignment failed 0 +[19:36:52.252] frame process finished the id is: 131 the obs is:5 +[19:36:52.326] Odometry x=7.058606, y=-0.709718, theta=2.596810 +[19:36:52.356] Image Alignment failed 0 +[19:36:52.356] frame process finished the id is: 131 the obs is:5 +[19:36:52.429] Odometry x=7.070342, y=-0.686297, theta=2.596939 +[19:36:52.458] Image Alignment failed 0 +[19:36:52.458] frame process finished the id is: 131 the obs is:5 +[19:36:52.535] Odometry x=7.084799, y=-0.672383, theta=2.600062 +[19:36:52.556] Image Alignment failed 0 +[19:36:52.556] frame process finished the id is: 131 the obs is:5 +[19:36:52.635] Odometry x=7.091722, y=-0.650059, theta=2.600262 +[19:36:52.657] Image Alignment failed 0 +[19:36:52.657] frame process finished the id is: 131 the obs is:5 +[19:36:52.730] Odometry x=7.094927, y=-0.646015, theta=2.601798 +[19:36:52.758] Image Alignment failed 0 +[19:36:52.758] frame process finished the id is: 131 the obs is:5 +[19:36:52.828] Odometry x=7.098456, y=-0.628225, theta=2.603996 +[19:36:52.858] Image Alignment failed 0 +[19:36:52.858] frame process finished the id is: 131 the obs is:5 +[19:36:52.932] Odometry x=7.097464, y=-0.604491, theta=2.610489 +[19:36:52.958] Image Alignment failed 0 +[19:36:52.958] frame process finished the id is: 131 the obs is:5 +[19:36:53.034] Odometry x=7.103791, y=-0.581917, theta=2.607197 +[19:36:53.061] Image Alignment failed 0 +[19:36:53.061] frame process finished the id is: 131 the obs is:5 +[19:36:53.131] Odometry x=7.106433, y=-0.556247, theta=2.603584 +[19:36:53.158] Image Alignment failed 0 +[19:36:53.158] frame process finished the id is: 131 the obs is:5 +[19:36:53.229] Odometry x=7.116220, y=-0.538843, theta=2.606548 +[19:36:53.253] Image Alignment failed 0 +[19:36:53.253] frame process finished the id is: 131 the obs is:5 +[19:36:53.330] Odometry x=7.122326, y=-0.516215, theta=2.608013 +[19:36:53.348] Image Alignment failed 0 +[19:36:53.348] frame process finished the id is: 131 the obs is:5 +[19:36:53.432] Odometry x=7.123812, y=-0.488799, theta=2.609862 +[19:36:53.455] Image Alignment failed 0 +[19:36:53.455] frame process finished the id is: 131 the obs is:5 +[19:36:53.533] Odometry x=7.130753, y=-0.465451, theta=2.608593 +[19:36:53.555] Image Alignment failed 0 +[19:36:53.555] frame process finished the id is: 131 the obs is:5 +[19:36:53.633] Odometry x=7.138387, y=-0.439749, theta=2.609898 +[19:36:53.657] Image Alignment failed 0 +[19:36:53.657] frame process finished the id is: 131 the obs is:5 +[19:36:53.732] Odometry x=7.145284, y=-0.418498, theta=2.610942 +[19:36:53.759] Image Alignment failed 0 +[19:36:53.759] frame process finished the id is: 131 the obs is:5 +[19:36:53.832] Odometry x=7.152174, y=-0.400209, theta=2.608802 +[19:36:53.855] Image Alignment failed 0 +[19:36:53.855] frame process finished the id is: 131 the obs is:5 +[19:36:53.931] Odometry x=7.156547, y=-0.375607, theta=2.603919 +[19:36:53.955] Image Alignment failed 0 +[19:36:53.955] frame process finished the id is: 131 the obs is:5 +[19:36:54.030] Odometry x=7.154972, y=-0.357954, theta=2.606524 +[19:36:54.057] Image Alignment failed 0 +[19:36:54.057] frame process finished the id is: 131 the obs is:5 +[19:36:54.132] Odometry x=7.162927, y=-0.331467, theta=2.609820 +[19:36:54.156] Image Alignment failed 0 +[19:36:54.156] frame process finished the id is: 131 the obs is:5 +[19:36:54.231] Odometry x=7.170774, y=-0.304427, theta=2.611689 +[19:36:54.256] Image Alignment failed 0 +[19:36:54.256] frame process finished the id is: 131 the obs is:5 +[19:36:54.333] Odometry x=7.174716, y=-0.292348, theta=2.609541 +[19:36:54.356] Image Alignment failed 0 +[19:36:54.356] frame process finished the id is: 131 the obs is:5 +[19:36:54.434] Odometry x=7.181563, y=-0.269222, theta=2.610063 +[19:36:54.456] Image Alignment failed 0 +[19:36:54.456] frame process finished the id is: 131 the obs is:5 +[19:36:54.535] Odometry x=7.189294, y=-0.264152, theta=2.609955 +[19:36:54.556] Image Alignment failed 0 +[19:36:54.556] frame process finished the id is: 131 the obs is:5 +[19:36:54.635] Odometry x=7.194128, y=-0.247845, theta=2.610866 +[19:36:54.655] Image Alignment failed 0 +[19:36:54.655] frame process finished the id is: 131 the obs is:5 +[19:36:54.736] Odometry x=7.201950, y=-0.226876, theta=2.610024 +[19:36:54.755] Image Alignment failed 0 +[19:36:54.755] frame process finished the id is: 131 the obs is:5 +[19:36:54.830] Odometry x=7.206529, y=-0.209177, theta=2.610313 +[19:36:54.856] Image Alignment failed 0 +[19:36:54.856] frame process finished the id is: 131 the obs is:5 +[19:36:54.931] Odometry x=7.223313, y=-0.176913, theta=2.609236 +[19:36:54.955] Image Alignment failed 0 +[19:36:54.955] frame process finished the id is: 131 the obs is:5 +[19:36:55.026] Odometry x=7.231353, y=-0.156868, theta=2.609955 +[19:36:55.057] Image Alignment failed 0 +[19:36:55.057] frame process finished the id is: 131 the obs is:5 +[19:36:55.132] Odometry x=7.231606, y=-0.134130, theta=2.609595 +[19:36:55.156] Image Alignment failed 0 +[19:36:55.156] frame process finished the id is: 131 the obs is:5 +[19:36:55.232] Odometry x=7.238921, y=-0.114089, theta=2.612269 +[19:36:55.255] Image Alignment failed 0 +[19:36:55.256] frame process finished the id is: 131 the obs is:5 +[19:36:55.326] Odometry x=7.246790, y=-0.096777, theta=2.613622 +[19:36:55.355] Image Alignment failed 0 +[19:36:55.355] frame process finished the id is: 131 the obs is:5 +[19:36:55.432] Odometry x=7.252160, y=-0.074771, theta=2.612379 +[19:36:55.456] Image Alignment failed 0 +[19:36:55.456] frame process finished the id is: 131 the obs is:5 +[19:36:55.526] Odometry x=7.265822, y=-0.059410, theta=2.610277 +[19:36:55.557] Image Alignment failed 0 +[19:36:55.557] frame process finished the id is: 131 the obs is:5 +[19:36:55.631] Odometry x=7.271512, y=-0.045522, theta=2.614901 +[19:36:55.657] Image Alignment failed 0 +[19:36:55.657] frame process finished the id is: 131 the obs is:5 +[19:36:55.735] Odometry x=7.276674, y=-0.029240, theta=2.616582 +[19:36:55.749] Image Alignment failed 0 +[19:36:55.749] frame process finished the id is: 131 the obs is:5 +[19:36:55.830] Odometry x=7.283233, y=-0.005684, theta=2.620602 +[19:36:55.858] Image Alignment failed 0 +[19:36:55.858] frame process finished the id is: 131 the obs is:5 +[19:36:55.929] Odometry x=7.289842, y=0.019245, theta=2.619614 +[19:36:55.958] Image Alignment failed 0 +[19:36:55.958] frame process finished the id is: 131 the obs is:5 +[19:36:56.031] Odometry x=7.299469, y=0.031673, theta=2.616506 +[19:36:56.058] Image Alignment failed 0 +[19:36:56.058] frame process finished the id is: 131 the obs is:5 +[19:36:56.132] Odometry x=7.305606, y=0.053473, theta=2.619959 +[19:36:56.156] Image Alignment failed 0 +[19:36:56.156] frame process finished the id is: 131 the obs is:5 +[19:36:56.229] Odometry x=7.311264, y=0.076710, theta=2.620988 +[19:36:56.256] Image Alignment failed 0 +[19:36:56.256] frame process finished the id is: 131 the obs is:5 +[19:36:56.325] Odometry x=7.317541, y=0.098606, theta=2.622000 +[19:36:56.356] Image Alignment failed 0 +[19:36:56.356] frame process finished the id is: 131 the obs is:5 +[19:36:56.428] Odometry x=7.323625, y=0.119728, theta=2.623361 +[19:36:56.455] Image Alignment failed 0 +[19:36:56.455] frame process finished the id is: 131 the obs is:5 +[19:36:56.527] Odometry x=7.330930, y=0.145245, theta=2.625672 +[19:36:56.555] Image Alignment failed 0 +[19:36:56.555] frame process finished the id is: 131 the obs is:5 +[19:36:56.630] Odometry x=7.337458, y=0.168183, theta=2.626968 +[19:36:56.656] Image Alignment failed 0 +[19:36:56.656] frame process finished the id is: 131 the obs is:5 +[19:36:56.730] Odometry x=7.338736, y=0.196079, theta=2.628255 +[19:36:56.755] Image Alignment failed 0 +[19:36:56.755] frame process finished the id is: 131 the obs is:5 +[19:36:56.835] Odometry x=7.344328, y=0.219309, theta=2.629037 +[19:36:56.856] Image Alignment failed 0 +[19:36:56.856] frame process finished the id is: 131 the obs is:5 +[19:36:56.930] Odometry x=7.351197, y=0.239856, theta=2.630488 +[19:36:56.956] Image Alignment failed 0 +[19:36:56.956] frame process finished the id is: 131 the obs is:5 +[19:36:57.026] Odometry x=7.359055, y=0.259341, theta=2.632135 +[19:36:57.055] Image Alignment failed 0 +[19:36:57.055] frame process finished the id is: 131 the obs is:5 +[19:36:57.131] Odometry x=7.366873, y=0.280316, theta=2.633452 +[19:36:57.156] Image Alignment failed 0 +[19:36:57.156] frame process finished the id is: 131 the obs is:5 +[19:36:57.232] Odometry x=7.379816, y=0.326083, theta=2.636725 +[19:36:57.256] Image Alignment failed 0 +[19:36:57.257] frame process finished the id is: 131 the obs is:5 +[19:36:57.328] Odometry x=7.384206, y=0.342294, theta=2.640747 +[19:36:57.356] Image Alignment failed 0 +[19:36:57.356] frame process finished the id is: 131 the obs is:5 +[19:36:57.432] Odometry x=7.386999, y=0.352725, theta=2.640591 +[19:36:57.456] Image Alignment failed 0 +[19:36:57.456] frame process finished the id is: 131 the obs is:5 +[19:36:57.528] Odometry x=7.392373, y=0.370755, theta=2.639202 +[19:36:57.556] Image Alignment failed 0 +[19:36:57.557] frame process finished the id is: 131 the obs is:5 +[19:36:57.629] Odometry x=7.401131, y=0.391703, theta=2.639693 +[19:36:57.667] Image Alignment failed 0 +[19:36:57.667] frame process finished the id is: 131 the obs is:5 +[19:36:57.731] Odometry x=7.401422, y=0.403411, theta=2.641111 +[19:36:57.757] Image Alignment failed 0 +[19:36:57.757] frame process finished the id is: 131 the obs is:5 +[19:36:57.829] Odometry x=7.404586, y=0.429226, theta=2.643172 +[19:36:57.856] Image Alignment failed 0 +[19:36:57.856] frame process finished the id is: 131 the obs is:5 +[19:36:57.928] Odometry x=7.410096, y=0.449340, theta=2.643208 +[19:36:57.956] Image Alignment failed 0 +[19:36:57.956] frame process finished the id is: 131 the obs is:5 +[19:36:58.032] Odometry x=7.413272, y=0.475195, theta=2.644949 +[19:36:58.047] Image Alignment failed 0 +[19:36:58.047] frame process finished the id is: 131 the obs is:5 +[19:36:58.128] Odometry x=7.419839, y=0.499886, theta=2.648001 +[19:36:58.156] Image Alignment failed 0 +[19:36:58.156] frame process finished the id is: 131 the obs is:5 +[19:36:58.228] Odometry x=7.427402, y=0.526907, theta=2.647822 +[19:36:58.255] Image Alignment failed 0 +[19:36:58.255] frame process finished the id is: 131 the obs is:5 +[19:36:58.329] Odometry x=7.430750, y=0.539879, theta=2.648379 +[19:36:58.356] Image Alignment failed 0 +[19:36:58.356] frame process finished the id is: 131 the obs is:5 +[19:36:58.429] Odometry x=7.435459, y=0.558705, theta=2.647410 +[19:36:58.456] Image Alignment failed 0 +[19:36:58.456] frame process finished the id is: 131 the obs is:5 +[19:36:58.529] Odometry x=7.441539, y=0.581281, theta=2.647620 +[19:36:58.556] Image Alignment failed 0 +[19:36:58.556] frame process finished the id is: 131 the obs is:5 +[19:36:58.631] Odometry x=7.453608, y=0.630207, theta=2.648249 +[19:36:58.658] Image Alignment failed 0 +[19:36:58.658] frame process finished the id is: 131 the obs is:5 +[19:36:58.730] Odometry x=7.456204, y=0.658699, theta=2.648509 +[19:36:58.756] Image Alignment failed 0 +[19:36:58.756] frame process finished the id is: 131 the obs is:5 +[19:36:58.834] Odometry x=7.464688, y=0.690117, theta=2.649969 +[19:36:58.857] Image Alignment failed 0 +[19:36:58.857] frame process finished the id is: 131 the obs is:5 +[19:36:58.927] Odometry x=7.472600, y=0.719388, theta=2.649728 +[19:36:58.956] Image Alignment failed 0 +[19:36:58.956] frame process finished the id is: 131 the obs is:5 +[19:36:59.032] Odometry x=7.476246, y=0.746360, theta=2.650793 +[19:36:59.057] Image Alignment failed 0 +[19:36:59.057] frame process finished the id is: 131 the obs is:5 +[19:36:59.135] Odometry x=7.481393, y=0.765403, theta=2.647250 +[19:36:59.156] Image Alignment failed 0 +[19:36:59.156] frame process finished the id is: 131 the obs is:5 +[19:36:59.233] Odometry x=7.487211, y=0.786842, theta=2.643775 +[19:36:59.259] Image Alignment failed 0 +[19:36:59.259] frame process finished the id is: 131 the obs is:5 +[19:36:59.349] Odometry x=7.493089, y=0.808684, theta=2.643294 +[19:36:59.357] Image Alignment failed 0 +[19:36:59.357] frame process finished the id is: 131 the obs is:5 +[19:36:59.431] Odometry x=7.500006, y=0.835210, theta=2.643205 +[19:36:59.456] Image Alignment failed 0 +[19:36:59.456] frame process finished the id is: 131 the obs is:5 +[19:36:59.533] Odometry x=7.505127, y=0.853858, theta=2.642905 +[19:36:59.557] Image Alignment failed 0 +[19:36:59.557] frame process finished the id is: 131 the obs is:5 +[19:36:59.627] Odometry x=7.511356, y=0.877789, theta=2.644861 +[19:36:59.656] Image Alignment failed 0 +[19:36:59.656] frame process finished the id is: 131 the obs is:5 +[19:36:59.727] Odometry x=7.516467, y=0.897566, theta=2.647313 +[19:36:59.756] Image Alignment failed 0 +[19:36:59.756] frame process finished the id is: 131 the obs is:5 +[19:36:59.827] Odometry x=7.521784, y=0.917484, theta=2.646422 +[19:36:59.856] Image Alignment failed 0 +[19:36:59.856] frame process finished the id is: 131 the obs is:5 +[19:36:59.927] Odometry x=7.525877, y=0.941486, theta=2.643890 +[19:37:00.031] Odometry x=7.525877, y=0.941486, theta=2.643890 +[19:37:00.040] Image Alignment failed 0 +[19:37:00.040] frame process finished the id is: 131 the obs is:5 +[19:37:00.057] Image Alignment failed 0 +[19:37:00.057] frame process finished the id is: 131 the obs is:5 +[19:37:00.129] Odometry x=7.525790, y=0.944724, theta=2.646124 +[19:37:00.155] Image Alignment failed 0 +[19:37:00.155] frame process finished the id is: 131 the obs is:5 +[19:37:00.229] Odometry x=7.536150, y=0.982646, theta=2.645347 +[19:37:00.256] Image Alignment failed 0 +[19:37:00.256] frame process finished the id is: 131 the obs is:5 +[19:37:00.329] Odometry x=7.541681, y=1.002735, theta=2.647653 +[19:37:00.358] Image Alignment failed 0 +[19:37:00.358] frame process finished the id is: 131 the obs is:5 +[19:37:00.432] Odometry x=7.547658, y=1.024019, theta=2.648827 +[19:37:00.447] Image Alignment failed 0 +[19:37:00.447] frame process finished the id is: 131 the obs is:5 +[19:37:00.532] Odometry x=7.553388, y=1.045834, theta=2.649184 +[19:37:00.556] Image Alignment failed 0 +[19:37:00.556] frame process finished the id is: 131 the obs is:5 +[19:37:00.633] Odometry x=7.559414, y=1.068449, theta=2.648194 +[19:37:00.656] Image Alignment failed 0 +[19:37:00.656] frame process finished the id is: 131 the obs is:5 +[19:37:00.733] Odometry x=7.565393, y=1.090374, theta=2.647992 +[19:37:00.756] Image Alignment failed 0 +[19:37:00.756] frame process finished the id is: 131 the obs is:5 +[19:37:00.833] Odometry x=7.571508, y=1.112918, theta=2.649562 +[19:37:00.857] Image Alignment failed 0 +[19:37:00.857] frame process finished the id is: 131 the obs is:5 +[19:37:00.933] Odometry x=7.577779, y=1.135096, theta=2.650456 +[19:37:00.957] Image Alignment failed 0 +[19:37:00.957] frame process finished the id is: 131 the obs is:5 +[19:37:01.033] Odometry x=7.583629, y=1.156823, theta=2.650862 +[19:37:01.057] Image Alignment failed 0 +[19:37:01.057] frame process finished the id is: 131 the obs is:5 +[19:37:01.133] Odometry x=7.589582, y=1.179594, theta=2.651573 +[19:37:01.158] Image Alignment failed 0 +[19:37:01.158] frame process finished the id is: 131 the obs is:5 +[19:37:01.233] Odometry x=7.595795, y=1.202648, theta=2.651883 +[19:37:01.258] Image Alignment failed 0 +[19:37:01.258] frame process finished the id is: 131 the obs is:5 +[19:37:01.334] Odometry x=7.602394, y=1.224056, theta=2.652761 +[19:37:01.358] Image Alignment failed 0 +[19:37:01.358] frame process finished the id is: 131 the obs is:5 +[19:37:01.435] Odometry x=7.608752, y=1.247800, theta=2.652640 +[19:37:01.458] Image Alignment failed 0 +[19:37:01.458] frame process finished the id is: 131 the obs is:5 +[19:37:01.532] Odometry x=7.614721, y=1.269149, theta=2.653022 +[19:37:01.558] Image Alignment failed 0 +[19:37:01.558] frame process finished the id is: 131 the obs is:5 +[19:37:01.633] Odometry x=7.620611, y=1.291380, theta=2.652318 +[19:37:01.658] Image Alignment failed 0 +[19:37:01.659] frame process finished the id is: 131 the obs is:5 +[19:37:01.726] Odometry x=7.626503, y=1.313427, theta=2.652252 +[19:37:01.757] Image Alignment failed 0 +[19:37:01.757] frame process finished the id is: 131 the obs is:5 +[19:37:01.833] Odometry x=7.631958, y=1.334561, theta=2.651479 +[19:37:01.856] Image Alignment failed 0 +[19:37:01.856] frame process finished the id is: 131 the obs is:5 +[19:37:01.928] Odometry x=7.637429, y=1.358728, theta=2.648939 +[19:37:01.955] Image Alignment failed 0 +[19:37:01.955] frame process finished the id is: 131 the obs is:5 +[19:37:02.029] Odometry x=7.643368, y=1.380764, theta=2.650601 +[19:37:02.059] Image Alignment failed 0 +[19:37:02.059] frame process finished the id is: 131 the obs is:5 +[19:37:02.129] Odometry x=7.649382, y=1.403468, theta=2.651773 +[19:37:02.158] Image Alignment failed 0 +[19:37:02.159] frame process finished the id is: 131 the obs is:5 +[19:37:02.231] Odometry x=7.653813, y=1.424095, theta=2.651724 +[19:37:02.258] Image Alignment failed 0 +[19:37:02.258] frame process finished the id is: 131 the obs is:5 +[19:37:02.331] Odometry x=7.659621, y=1.445653, theta=2.652447 +[19:37:02.359] Image Alignment failed 0 +[19:37:02.359] frame process finished the id is: 131 the obs is:5 +[19:37:02.431] Odometry x=7.665581, y=1.468705, theta=2.651046 +[19:37:02.458] Image Alignment failed 0 +[19:37:02.458] frame process finished the id is: 131 the obs is:5 +[19:37:02.526] Odometry x=7.671661, y=1.491290, theta=2.652905 +[19:37:02.557] Image Alignment failed 0 +[19:37:02.557] frame process finished the id is: 131 the obs is:5 +[19:37:02.626] Odometry x=7.678434, y=1.513008, theta=2.655450 +[19:37:02.660] Image Alignment failed 0 +[19:37:02.660] frame process finished the id is: 131 the obs is:5 +[19:37:02.732] Odometry x=7.684517, y=1.535836, theta=2.656574 +[19:37:02.758] Image Alignment failed 0 +[19:37:02.758] frame process finished the id is: 131 the obs is:5 +[19:37:02.832] Odometry x=7.689690, y=1.559578, theta=2.656745 +[19:37:02.862] Image Alignment failed 0 +[19:37:02.862] frame process finished the id is: 131 the obs is:5 +[19:37:02.930] Odometry x=7.694775, y=1.580937, theta=2.655416 +[19:37:02.949] Image Alignment failed 0 +[19:37:02.949] frame process finished the id is: 131 the obs is:5 +[19:37:03.026] Odometry x=7.700312, y=1.603096, theta=2.655382 +[19:37:03.058] Image Alignment failed 0 +[19:37:03.058] frame process finished the id is: 131 the obs is:5 +[19:37:03.131] Odometry x=7.706460, y=1.626395, theta=2.658383 +[19:37:03.160] Image Alignment failed 0 +[19:37:03.160] frame process finished the id is: 131 the obs is:5 +[19:37:03.232] Odometry x=7.712515, y=1.649120, theta=2.659686 +[19:37:03.258] Image Alignment failed 0 +[19:37:03.258] frame process finished the id is: 131 the obs is:5 +[19:37:03.329] Odometry x=7.718332, y=1.671570, theta=2.662407 +[19:37:03.358] Image Alignment failed 0 +[19:37:03.358] frame process finished the id is: 131 the obs is:5 +[19:37:03.430] Odometry x=7.724373, y=1.694767, theta=2.661433 +[19:37:03.459] Image Alignment failed 0 +[19:37:03.459] frame process finished the id is: 131 the obs is:5 +[19:37:03.536] Odometry x=7.730307, y=1.716957, theta=2.660657 +[19:37:03.558] Image Alignment failed 0 +[19:37:03.558] frame process finished the id is: 131 the obs is:5 +[19:37:03.631] Odometry x=7.736650, y=1.741019, theta=2.663347 +[19:37:03.658] Image Alignment failed 0 +[19:37:03.658] frame process finished the id is: 131 the obs is:5 +[19:37:03.726] Odometry x=7.742884, y=1.763360, theta=2.665461 +[19:37:03.758] Image Alignment failed 0 +[19:37:03.758] frame process finished the id is: 131 the obs is:5 +[19:37:03.833] Odometry x=7.748830, y=1.785330, theta=2.667191 +[19:37:03.860] Image Alignment failed 0 +[19:37:03.860] frame process finished the id is: 131 the obs is:5 +[19:37:03.935] Odometry x=7.753928, y=1.809091, theta=2.669026 +[19:37:03.957] Image Alignment failed 0 +[19:37:03.957] frame process finished the id is: 131 the obs is:5 +[19:37:04.031] Odometry x=7.760148, y=1.833340, theta=2.668354 +[19:37:04.059] Image Alignment failed 0 +[19:37:04.059] frame process finished the id is: 131 the obs is:5 +[19:37:04.128] Odometry x=7.766060, y=1.855041, theta=2.668450 +[19:37:04.157] Image Alignment failed 0 +[19:37:04.157] frame process finished the id is: 131 the obs is:5 +[19:37:04.235] Odometry x=7.771680, y=1.876996, theta=2.670521 +[19:37:04.258] Image Alignment failed 0 +[19:37:04.258] frame process finished the id is: 131 the obs is:5 +[19:37:04.327] Odometry x=7.779784, y=1.898050, theta=2.671285 +[19:37:04.356] Image Alignment failed 0 +[19:37:04.356] frame process finished the id is: 131 the obs is:5 +[19:37:04.432] Odometry x=7.785507, y=1.920438, theta=2.672441 +[19:37:04.465] Image Alignment failed 0 +[19:37:04.465] frame process finished the id is: 131 the obs is:5 +[19:37:04.532] Odometry x=7.791621, y=1.944447, theta=2.672653 +[19:37:04.556] Image Alignment failed 0 +[19:37:04.556] frame process finished the id is: 131 the obs is:5 +[19:37:04.626] Odometry x=7.796772, y=1.964921, theta=2.673797 +[19:37:04.656] Image Alignment failed 0 +[19:37:04.656] frame process finished the id is: 131 the obs is:5 +[19:37:04.727] Odometry x=7.800321, y=1.989415, theta=2.674065 +[19:37:04.756] Image Alignment failed 0 +[19:37:04.756] frame process finished the id is: 131 the obs is:5 +[19:37:04.834] Odometry x=7.805774, y=2.011346, theta=2.676270 +[19:37:04.857] Image Alignment failed 0 +[19:37:04.857] frame process finished the id is: 131 the obs is:5 +[19:37:04.926] Odometry x=7.811842, y=2.036641, theta=2.678058 +[19:37:04.956] Image Alignment failed 0 +[19:37:04.956] frame process finished the id is: 131 the obs is:5 +[19:37:05.028] Odometry x=7.817363, y=2.058637, theta=2.676750 +[19:37:05.060] Image Alignment failed 0 +[19:37:05.060] frame process finished the id is: 131 the obs is:5 +[19:37:05.130] Odometry x=7.822656, y=2.080812, theta=2.675325 +[19:37:05.158] Image Alignment failed 0 +[19:37:05.158] frame process finished the id is: 131 the obs is:5 +[19:37:05.229] Odometry x=7.828281, y=2.103936, theta=2.672411 +[19:37:05.256] Image Alignment failed 0 +[19:37:05.256] frame process finished the id is: 131 the obs is:5 +[19:37:05.327] Odometry x=7.834186, y=2.126270, theta=2.669643 +[19:37:05.348] Image Alignment failed 0 +[19:37:05.348] frame process finished the id is: 131 the obs is:5 +[19:37:05.435] Odometry x=7.840131, y=2.148797, theta=2.671924 +[19:37:05.457] Image Alignment failed 0 +[19:37:05.457] frame process finished the id is: 131 the obs is:5 +[19:37:05.535] Odometry x=7.846082, y=2.171812, theta=2.672774 +[19:37:05.556] Image Alignment failed 0 +[19:37:05.556] frame process finished the id is: 131 the obs is:5 +[19:37:05.636] Odometry x=7.851724, y=2.195171, theta=2.673448 +[19:37:05.657] Image Alignment failed 0 +[19:37:05.658] frame process finished the id is: 131 the obs is:5 +[19:37:05.730] Odometry x=7.857067, y=2.218842, theta=2.671793 +[19:37:05.756] Image Alignment failed 0 +[19:37:05.756] frame process finished the id is: 131 the obs is:5 +[19:37:05.828] Odometry x=7.862266, y=2.241184, theta=2.669766 +[19:37:05.857] Image Alignment failed 0 +[19:37:05.857] frame process finished the id is: 131 the obs is:5 +[19:37:05.930] Odometry x=7.868032, y=2.264365, theta=2.667861 +[19:37:05.956] Image Alignment failed 0 +[19:37:05.956] frame process finished the id is: 131 the obs is:5 +[19:37:06.026] Odometry x=7.873724, y=2.286501, theta=2.670314 +[19:37:06.056] Image Alignment failed 0 +[19:37:06.056] frame process finished the id is: 131 the obs is:5 +[19:37:06.127] Odometry x=7.879572, y=2.309376, theta=2.671442 +[19:37:06.157] Image Alignment failed 0 +[19:37:06.157] frame process finished the id is: 131 the obs is:5 +[19:37:06.227] Odometry x=7.885505, y=2.332268, theta=2.672778 +[19:37:06.257] Image Alignment failed 0 +[19:37:06.258] frame process finished the id is: 131 the obs is:5 +[19:37:06.329] Odometry x=7.891247, y=2.355503, theta=2.675115 +[19:37:06.356] Image Alignment failed 0 +[19:37:06.356] frame process finished the id is: 131 the obs is:5 +[19:37:06.434] Odometry x=7.897059, y=2.378731, theta=2.675064 +[19:37:06.460] Image Alignment failed 0 +[19:37:06.460] frame process finished the id is: 131 the obs is:5 +[19:37:06.528] Odometry x=7.902975, y=2.402033, theta=2.676137 +[19:37:06.557] Image Alignment failed 0 +[19:37:06.557] frame process finished the id is: 131 the obs is:5 +[19:37:06.629] Odometry x=7.908656, y=2.424390, theta=2.677850 +[19:37:06.658] Image Alignment failed 0 +[19:37:06.658] frame process finished the id is: 131 the obs is:5 +[19:37:06.730] Odometry x=7.914556, y=2.447573, theta=2.679197 +[19:37:06.757] Image Alignment failed 0 +[19:37:06.757] frame process finished the id is: 131 the obs is:5 +[19:37:06.830] Odometry x=7.919934, y=2.471022, theta=2.678837 +[19:37:06.858] Image Alignment failed 0 +[19:37:06.858] frame process finished the id is: 131 the obs is:5 +[19:37:06.926] Odometry x=7.925701, y=2.493957, theta=2.679543 +[19:37:06.956] Image Alignment failed 0 +[19:37:06.956] frame process finished the id is: 131 the obs is:5 +[19:37:07.036] Odometry x=7.931141, y=2.515904, theta=2.679900 +[19:37:07.057] Image Alignment failed 0 +[19:37:07.057] frame process finished the id is: 131 the obs is:5 +[19:37:07.131] Odometry x=7.937211, y=2.540246, theta=2.678578 +[19:37:07.157] Image Alignment failed 0 +[19:37:07.157] frame process finished the id is: 131 the obs is:5 +[19:37:07.227] Odometry x=7.942890, y=2.562293, theta=2.678763 +[19:37:07.257] Image Alignment failed 0 +[19:37:07.257] frame process finished the id is: 131 the obs is:5 +[19:37:07.335] Odometry x=7.948408, y=2.584777, theta=2.679778 +[19:37:07.359] Image Alignment failed 0 +[19:37:07.359] frame process finished the id is: 131 the obs is:5 +[19:37:07.429] Odometry x=7.954398, y=2.608972, theta=2.677288 +[19:37:07.458] Image Alignment failed 0 +[19:37:07.458] frame process finished the id is: 131 the obs is:5 +[19:37:07.531] Odometry x=7.959759, y=2.631233, theta=2.675413 +[19:37:07.562] Image Alignment failed 0 +[19:37:07.562] frame process finished the id is: 131 the obs is:5 +[19:37:07.629] Odometry x=7.965928, y=2.655869, theta=2.673749 +[19:37:07.656] Image Alignment failed 0 +[19:37:07.656] frame process finished the id is: 131 the obs is:5 +[19:37:07.759] Image Alignment failed 0 +[19:37:07.759] frame process finished the id is: 131 the obs is:5 +[19:37:07.856] Image Alignment failed 0 +[19:37:07.856] frame process finished the id is: 131 the obs is:5 +[19:37:07.957] Image Alignment failed 0 +[19:37:07.957] frame process finished the id is: 131 the obs is:5 +[19:37:08.058] Image Alignment failed 0 +[19:37:08.058] frame process finished the id is: 131 the obs is:5 +[19:37:08.159] Image Alignment failed 0 +[19:37:08.159] frame process finished the id is: 131 the obs is:5 +[19:37:08.257] Image Alignment failed 0 +[19:37:08.257] frame process finished the id is: 131 the obs is:5 +[19:37:08.358] Image Alignment failed 0 +[19:37:08.358] frame process finished the id is: 131 the obs is:5 +[19:37:08.457] Image Alignment failed 0 +[19:37:08.457] frame process finished the id is: 131 the obs is:5 +[19:37:08.555] Image Alignment failed 0 +[19:37:08.556] frame process finished the id is: 131 the obs is:5 +[19:37:08.659] Image Alignment failed 0 +[19:37:08.659] frame process finished the id is: 131 the obs is:5 +[19:37:08.758] Image Alignment failed 0 +[19:37:08.758] frame process finished the id is: 131 the obs is:5 +[19:37:08.857] Image Alignment failed 0 +[19:37:08.857] frame process finished the id is: 131 the obs is:5 +[19:37:08.957] Image Alignment failed 0 +[19:37:08.957] frame process finished the id is: 131 the obs is:5 +[19:37:09.058] Image Alignment failed 0 +[19:37:09.058] frame process finished the id is: 131 the obs is:5 +[19:37:09.157] Image Alignment failed 0 +[19:37:09.158] frame process finished the id is: 131 the obs is:5 +[19:37:09.260] Image Alignment failed 0 +[19:37:09.260] frame process finished the id is: 131 the obs is:5 +[19:37:09.358] Image Alignment failed 0 +[19:37:09.358] frame process finished the id is: 131 the obs is:5 +[19:37:09.458] Image Alignment failed 0 +[19:37:09.458] frame process finished the id is: 131 the obs is:5 +[19:37:09.558] Image Alignment failed 0 +[19:37:09.558] frame process finished the id is: 131 the obs is:5 +[19:37:09.660] Image Alignment failed 0 +[19:37:09.660] frame process finished the id is: 131 the obs is:5 +[19:37:09.757] Image Alignment failed 0 +[19:37:09.758] frame process finished the id is: 131 the obs is:5 +[19:37:09.858] Image Alignment failed 0 +[19:37:09.858] frame process finished the id is: 131 the obs is:5 +[19:37:09.958] Image Alignment failed 0 +[19:37:09.958] frame process finished the id is: 131 the obs is:5 +[19:37:10.057] Image Alignment failed 0 +[19:37:10.057] frame process finished the id is: 131 the obs is:5 +[19:37:10.157] Image Alignment failed 0 +[19:37:10.157] frame process finished the id is: 131 the obs is:5 +[19:37:10.257] Image Alignment failed 0 +[19:37:10.257] frame process finished the id is: 131 the obs is:5 +[19:37:10.357] Image Alignment failed 0 +[19:37:10.357] frame process finished the id is: 131 the obs is:5 +[19:37:10.457] Image Alignment failed 0 +[19:37:10.457] frame process finished the id is: 131 the obs is:5 +[19:37:10.558] Image Alignment failed 0 +[19:37:10.558] frame process finished the id is: 131 the obs is:5 +[19:37:10.657] Image Alignment failed 0 +[19:37:10.657] frame process finished the id is: 131 the obs is:5 +[19:37:10.758] Image Alignment failed 0 +[19:37:10.758] frame process finished the id is: 131 the obs is:5 +[19:37:10.858] Image Alignment failed 0 +[19:37:10.858] frame process finished the id is: 131 the obs is:5 +[19:37:10.957] Image Alignment failed 0 +[19:37:10.957] frame process finished the id is: 131 the obs is:5 +[19:37:11.048] Image Alignment failed 0 +[19:37:11.048] frame process finished the id is: 131 the obs is:5 diff --git a/GPU_version/vio/include/vio/frame_handler_mono.h b/GPU_version/vio/include/vio/frame_handler_mono.h index bc4e770..ddeea41 100644 --- a/GPU_version/vio/include/vio/frame_handler_mono.h +++ b/GPU_version/vio/include/vio/frame_handler_mono.h @@ -40,28 +40,11 @@ public: /// Provide an image. void addImage(const cv::Mat& img, double timestamp,const ros::Time& time); - /// Set the first frame (used for synthetic datasets in benchmark node) - void setFirstFrame(const FramePtr& first_frame); - - /// Get the last frame that has been processed. - FramePtr lastFrame() { return last_frame_; } - - /// Get the set of spatially closest keyframes of the last frame. - const set& coreKeyframes() { /*return core_kfs_;*/ } - - /// Return the feature track to visualize the KLT tracking during initialization. - const vector& initFeatureTrackRefPx() const { return klt_homography_init_->px_ref_; } - const vector& initFeatureTrackCurPx() const { return klt_homography_init_->px_cur_; } /// Access the depth filter. DepthFilter* depthFilter() const{ return depth_filter_; } - /// An external place recognition module may know where to relocalize. - bool relocalizeFrameAtPose( - const int keyframe_id, - const SE3& T_kf_f, - const cv::Mat& img, - const double timestamp); + void UpdateIMU(double* value,const ros::Time& time); void UpdateCmd(double* value,const ros::Time& time); UKF ukfPtr_; @@ -93,17 +76,13 @@ protected: /// Processes all frames after the first two keyframes. virtual UpdateResult processFrame(); - /// Try relocalizing the frame at relative position to provided keyframe. - virtual UpdateResult relocalizeFrame( - FramePtr ref_keyframe); /// Reset the frame handler. Implement in derived class. virtual void resetAll(); /// Keyframe selection criterion. - virtual bool needNewKf(double scene_depth_mean); + virtual bool needNewKf(); - void setCoreKfs(size_t n_closest); }; } // namespace vio diff --git a/GPU_version/vio/include/vio/ukf.h b/GPU_version/vio/include/vio/ukf.h index f9857e1..f06f2ca 100644 --- a/GPU_version/vio/include/vio/ukf.h +++ b/GPU_version/vio/include/vio/ukf.h @@ -30,7 +30,7 @@ public: } t_cmd=time; state_h_(2)=state_(2)+dt*dpitch; - state_h_(1)=state_(1)+dt*(dy*cos(state_(2))-dx*sin(state_(2))); + state_h_(1)=state_(1)+dt*2.0*(dy*cos(state_(2))-dx*sin(state_(2))); state_h_(0)=state_(0)+dt*(dx*cos(state_(2))+dy*sin(state_(2))); state_h_(3)=dpitch; Eigen::Matrix R; @@ -40,7 +40,7 @@ public: 0,0,0,vio::Config::Cmd_Cov(); Eigen::Matrix G; G<<1.0,0,dt*(-dx*sin(state_(2))+dy*cos(state_(2))),0.0, - 0,1.0,dt*(-dy*sin(state_(2))-dx*cos(state_(2))),0.0, + 0,1.0,dt*2.0*(-dy*sin(state_(2))-dx*cos(state_(2))),0.0, 0,0,1.0,dt, 0,0,0,1.0; cov_h_=G*cov_*G.transpose()+R; @@ -57,7 +57,7 @@ public: Eigen::Matrix E; Eigen::Matrix k; E(0)=state_(0)+pow(dt,2)*(ddx*cos(state_(2))+ddy*sin(state_(2)))-state_h_(0); - E(1)=state_(1)+pow(dt,2)*(ddy*cos(state_(2))-ddx*sin(state_(2)))-state_h_(1); + E(1)=state_(1)+2.0*pow(dt,2)*(ddy*cos(state_(2))-ddx*sin(state_(2)))-state_h_(1); E(2)=state_(2)+dt*state_(3)-state_h_(2); E(3)=dpitch-state_h_(3); H<<1.0,0,pow(dt,2)*(ddy*cos(state_(2))-ddx*sin(state_(2))),0.0, @@ -72,7 +72,7 @@ public: state_=state_h_+k*E; cov_=(Eigen::MatrixXd::Identity(4,4)-k*H)*cov_h_; state_h_(2)=state_(2)+dt*state_(3); - state_h_(1)=state_(1)+pow(dt,2)*(ddy*cos(state_(2))-ddx*sin(state_(2))); + state_h_(1)=state_(1)+2.0*pow(dt,2)*(ddy*cos(state_(2))-ddx*sin(state_(2))); state_h_(0)=state_(0)+pow(dt,2)*(ddx*cos(state_(2))+ddy*sin(state_(2))); state_h_(3)=state_(3); Eigen::Matrix R; @@ -82,7 +82,7 @@ public: 0,0,0,vio::Config::GYO_Noise(); Eigen::Matrix G; G<<1.0,0,pow(dt,2)*(ddy*cos(state_(2))-ddx*sin(state_(2))),0, - 0,1.0,pow(dt,2)*(ddx*cos(state_(2))+ddy*sin(state_(2))),0, + 0,1.0,2.0*pow(dt,2)*(ddx*cos(state_(2))+ddy*sin(state_(2))),0, 0,0,1.0,dt, 0,0,0,1.0; cov_h_=G*cov_*G.transpose()+R; @@ -124,12 +124,12 @@ public: void UpdateIMU(double x/*in imu frame*/,double y/*in imu frame*/,double theta/*in imu frame*/,const ros::Time& time) { if(abs(x)<1.0)x=pow(x,3);//picked up from your code if(abs(y)<1.0)y=pow(y,3);//picked up from your code -/* ++imu_syn_count_; + ++imu_syn_count_; if(imu_syn_[imu_syn_count_ % 7]){ imu_syn_[imu_syn_count_ % 7]=false; }else{ return; - }*/ + } if(imu_syn_count_>50)imu_syn_count_=0; boost::unique_lock lock(ekf_mut_); filter_->correct(x,y,theta,1e-9*time.toNSec()); diff --git a/GPU_version/vio/param/vo_fast.yaml b/GPU_version/vio/param/vo_fast.yaml index 60a4324..d09a936 100644 --- a/GPU_version/vio/param/vo_fast.yaml +++ b/GPU_version/vio/param/vo_fast.yaml @@ -13,4 +13,4 @@ svo: ACC_noise: 0.5 #acc white noise in continuous in EKF GYO_noise: 0.5 #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: 0.1 #control vector noise in EKF + Cmd_Cov: 1.0 #control vector noise in EKF diff --git a/GPU_version/vio/src/bundle_adjustment.cpp b/GPU_version/vio/src/bundle_adjustment.cpp index dd20656..519587c 100644 --- a/GPU_version/vio/src/bundle_adjustment.cpp +++ b/GPU_version/vio/src/bundle_adjustment.cpp @@ -1,3 +1,4 @@ +/* // // Created by root on 9/18/21. // @@ -20,7 +21,6 @@ // You should have received a copy of the GNU General Public License // along with this program. If not, see . -/* #include #include #include diff --git a/GPU_version/vio/src/depth_filter.cpp b/GPU_version/vio/src/depth_filter.cpp index 71d2b72..fd31ac7 100644 --- a/GPU_version/vio/src/depth_filter.cpp +++ b/GPU_version/vio/src/depth_filter.cpp @@ -246,7 +246,7 @@ namespace vio { lock_t lock(seeds_mut_); std::list>::iterator it=seeds_.begin(); #if VIO_DEBUG - fprintf(log_,"[%s] update seed\n",vio::time_in_HH_MM_SS_MMM().c_str()); + fprintf(log_,"[%s] update %d seeds\n",vio::time_in_HH_MM_SS_MMM().c_str(),seeds_.size()); #endif const double focal_length = frame->cam_->errorMultiplier2(); double px_noise = 1.0; @@ -254,8 +254,6 @@ namespace vio { while( it!=seeds_.end()) { // set this value true when seeds updating should be interrupted - if(seeds_updating_halt_) - return; if((*it)->ftr->frame == NULL){ it = seeds_.erase(it); @@ -295,21 +293,21 @@ namespace vio { ++n_failed_matches; continue; } -#if VIO_DEBUG - fprintf(log_,"[%s] calculated Z= %f\n",vio::time_in_HH_MM_SS_MMM().c_str(),z); -#endif + double tau = computeTau(T_cur_ref.inverse(), (*it)->ftr->f, z, px_error_angle); double tau_inverse = 0.5 * (1.0/max(0.0000001, z-tau) - 1.0/(z+tau)); +#if VIO_DEBUG + fprintf(log_,"[%s] calculated Z= %f tau: %f tau_inv: %f\n",vio::time_in_HH_MM_SS_MMM().c_str(),z, + tau,tau_inverse); +#endif // update the estimate if(!updateSeed(1.0/z, tau_inverse*tau_inverse, *it)){ ++it; ++n_failed_matches; continue; } -#if VIO_DEBUG - fprintf(log_,"[%s] update seeds 305\n",vio::time_in_HH_MM_SS_MMM().c_str()); -#endif + ++n_updates; if(frame->isKeyframe()) @@ -334,6 +332,9 @@ namespace vio { } else ++it; +#if VIO_DEBUG + fprintf(log_,"[%s] seeds updated\n",vio::time_in_HH_MM_SS_MMM().c_str()); +#endif } } diff --git a/GPU_version/vio/src/feature_detection.cpp b/GPU_version/vio/src/feature_detection.cpp index fe7bc9f..1a60ca5 100644 --- a/GPU_version/vio/src/feature_detection.cpp +++ b/GPU_version/vio/src/feature_detection.cpp @@ -111,7 +111,7 @@ void FastDetector::detect( if(score > corners.at(k).score){ corners.at(k) = Corner(fast_corners[i].x, fast_corners[i].y, score, L, 0.0f); fts.push_back(make_shared(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)keypoints.push_back(cv::KeyPoint(fast_corners[i].x*scale, fast_corners[i].y*scale, 7)); } } } diff --git a/GPU_version/vio/src/frame.cpp b/GPU_version/vio/src/frame.cpp index 9802022..4b8fac6 100644 --- a/GPU_version/vio/src/frame.cpp +++ b/GPU_version/vio/src/frame.cpp @@ -180,9 +180,11 @@ bool getSceneDepth(const FramePtr frame, double& depth_mean, double& depth_min) { if((*it)->point != NULL) { - double z = frame->w2f((*it)->point->pos_).z(); - depth_vec.push_back(z); - depth_min = fmin(z, depth_min); + Vector2d e = vk::project2d((*it)->f) - vk::project2d(Vector3d(frame->se3()*(*it)->point->pos_)); + if((e /= (1<<(*it)->level)).norm()>0.5)continue; + double z = frame->w2f((*it)->point->pos_).z(); + depth_vec.push_back(z); + depth_min = fmin(z, depth_min); } } diff --git a/GPU_version/vio/src/frame_handler_mono.cpp b/GPU_version/vio/src/frame_handler_mono.cpp index 9b2469c..a50d902 100644 --- a/GPU_version/vio/src/frame_handler_mono.cpp +++ b/GPU_version/vio/src/frame_handler_mono.cpp @@ -105,7 +105,6 @@ void FrameHandlerMono::addImage(const cv::Mat& img, const double timestamp,const } // some cleanup from last iteration, can't do before because of visualization - //core_kfs_.clear(); overlap_kfs_.clear(); // create new frame @@ -123,10 +122,11 @@ void FrameHandlerMono::addImage(const cv::Mat& img, const double timestamp,const last_frame_ = new_frame_; // finish processing finishFrameProcessingCommon(last_frame_->id_, res, last_frame_->nObs()); - if(stage_ == STAGE_RELOCALIZING){ - depthFilter()->stopThread(); - start(); - } +#if VIO_DEBUG + fprintf(log_,"[%s] frame process finished the id is: %d the obs is:%d \n",vio::time_in_HH_MM_SS_MMM().c_str(), + last_frame_->id_,last_frame_->nObs()); +#endif + } FrameHandlerMono::UpdateResult FrameHandlerMono::processFirstFrame() @@ -161,10 +161,10 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processSecondFrame() } new_frame_->setKeyframe(); double depth_mean, depth_min; - frame_utils::getSceneDepth(new_frame_, depth_mean, depth_min); - depth_filter_->addKeyframe(new_frame_, depth_mean, 0.5*depth_min); frame_utils::getSceneDepth(klt_homography_init_->frame_ref_, depth_mean, depth_min); depth_filter_->addKeyframe(klt_homography_init_->frame_ref_, depth_mean, 0.5*depth_min); + frame_utils::getSceneDepth(new_frame_, depth_mean, depth_min); + depth_filter_->addKeyframe(new_frame_, depth_mean, 0.5*depth_min); // add frame to map map_.addKeyframe(new_frame_); stage_ = STAGE_DEFAULT_FRAME; @@ -191,46 +191,40 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame() #if VIO_DEBUG fprintf(log_,"[%s] Image Alignment failed -1\n",vio::time_in_HH_MM_SS_MMM().c_str()); #endif - new_frame_->T_f_w_=init_f.second; + new_frame_=last_frame_; + return RESULT_FAILURE; }else if(err==0){ #if VIO_DEBUG fprintf(log_,"[%s] Image Alignment failed 0\n",vio::time_in_HH_MM_SS_MMM().c_str()); #endif - new_frame_->T_f_w_=init_f.second; + new_frame_=last_frame_; + return RESULT_FAILURE; } reprojector_.reprojectMap2(new_frame_, last_frame_,overlap_kfs_, gpu_fast_); int n_point=0; for(auto i:overlap_kfs_)n_point+=i.second; #if VIO_DEBUG - fprintf(log_,"[%s] After Reprojection Map nPoint:%d ,nCell:%d ,nMatches:%d ,distance between two frames x:%f ,z=%f,angle between two frames:%f\n",vio::time_in_HH_MM_SS_MMM().c_str(), + fprintf(log_,"[%s] After Reprojection Map nPoint:%d ,nCell:%d ,nMatches:%d ,distance between ekf and vo x:%f ,z=%f,angle between two frames:%f\n",vio::time_in_HH_MM_SS_MMM().c_str(), n_point, reprojector_.n_trials_,reprojector_.n_matches_, - new_frame_->T_f_w_.se2().translation().x()-last_frame_->T_f_w_.se2().translation().x(), - new_frame_->T_f_w_.se2().translation().y()-last_frame_->T_f_w_.se2().translation().y(), - fabs(new_frame_->T_f_w_.pitch()-last_frame_->T_f_w_.pitch())); + new_frame_->T_f_w_.se2().translation().x()-init_f.second.se2().translation().x(), + new_frame_->T_f_w_.se2().translation().y()-init_f.second.se2().translation().y(), + fabs(new_frame_->T_f_w_.pitch()-init_f.second.pitch())); #endif - if( reprojector_.n_trials_ < 10){ - auto init_f= ukfPtr_.get_location(); - new_frame_->T_f_w_=init_f.second; - new_frame_->Cov_ = init_f.first; - return RESULT_FAILURE; - } size_t sfba_n_edges_final=0; double sfba_thresh, sfba_error_init, sfba_error_final; pose_optimizer::optimizeGaussNewton( Config::poseOptimThresh(), 70, false, new_frame_, sfba_thresh, sfba_error_init, sfba_error_final, sfba_n_edges_final,log_); #if VIO_DEBUG - fprintf(log_,"[%s] After pose optimization, distance between two frames x:%f ,z=%f,angle between two frames:%f\n",vio::time_in_HH_MM_SS_MMM().c_str(), - new_frame_->T_f_w_.se2().translation().x()-last_frame_->T_f_w_.se2().translation().x(), - new_frame_->T_f_w_.se2().translation().y()-last_frame_->T_f_w_.se2().translation().y(), - fabs(new_frame_->T_f_w_.pitch()-last_frame_->T_f_w_.pitch())); + fprintf(log_,"[%s] After pose optimization, distance between ekf and vo x:%f ,z=%f,angle between two frames:%f\n",vio::time_in_HH_MM_SS_MMM().c_str(), + new_frame_->T_f_w_.se2().translation().x()-init_f.second.se2().translation().x(), + new_frame_->T_f_w_.se2().translation().y()-init_f.second.se2().translation().y(), + fabs(new_frame_->T_f_w_.pitch()-init_f.second.pitch())); #endif - if((last_frame_->T_f_w_.se2().translation()-new_frame_->T_f_w_.se2().translation()).norm()>0.1 || - fabs(new_frame_->T_f_w_.pitch()-last_frame_->T_f_w_.pitch())>M_PI_2 || sfba_n_edges_final<10){ - auto init_f= ukfPtr_.get_location(); - new_frame_->T_f_w_=init_f.second; - new_frame_->Cov_ = init_f.first; + if((init_f.second.se2().translation()-new_frame_->T_f_w_.se2().translation()).norm()>0.1 || + fabs(new_frame_->T_f_w_.pitch()-init_f.second.pitch())>0.25*M_PI_2 || sfba_n_edges_final<4){ + new_frame_=last_frame_; return RESULT_FAILURE; } auto result=ukfPtr_.UpdateSvo(new_frame_->T_f_w_.se2().translation()(0), @@ -238,32 +232,22 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame() new_frame_->T_f_w_ =result.second; new_frame_->Cov_ = result.first; #if VIO_DEBUG - fprintf(log_,"[%s] Update EKF and 3D points, distance between two frames x:%f ,z=%f,angle between two frames:%f\n",vio::time_in_HH_MM_SS_MMM().c_str(), - new_frame_->T_f_w_.se2().translation().x()-last_frame_->T_f_w_.se2().translation().x(), - new_frame_->T_f_w_.se2().translation().y()-last_frame_->T_f_w_.se2().translation().y(), - fabs(new_frame_->T_f_w_.pitch()-last_frame_->T_f_w_.pitch())); + fprintf(log_,"[%s] Update EKF and 3D points the number of feature in the new frame: %d and number of obs: %d\n",vio::time_in_HH_MM_SS_MMM().c_str(), + new_frame_->fts_.size(),new_frame_->nObs()); #endif optimizeStructure(new_frame_, Config::structureOptimMaxPts(), Config::structureOptimNumIter()); depth_filter_->addFrame(new_frame_); -/* if(sfba_n_edges_final < Config::qualityMinFts()){ - return RESULT_FAILURE; - }*/ // select keyframe - //core_kfs_.insert(new_frame_); - setTrackingQuality(sfba_n_edges_final); - if(tracking_quality_ == TRACKING_INSUFFICIENT || tracking_quality_ == TRACKING_BAD) + if(!needNewKf())//edited { - return RESULT_NO_KEYFRAME; + return RESULT_NO_KEYFRAME; } - double depth_mean, depth_min; + double depth_mean=0.0, depth_min=0.0; frame_utils::getSceneDepth(new_frame_, depth_mean, depth_min); - if(!needNewKf(depth_mean))//edited - { - return RESULT_NO_KEYFRAME; - } + new_frame_->setKeyframe(); #if VIO_DEBUG fprintf(log_,"[%s] Choose frame as a key frame Scene Depth mean:%f ,depth min:%f\n",vio::time_in_HH_MM_SS_MMM().c_str(), @@ -292,70 +276,34 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame() return RESULT_IS_KEYFRAME; } -FrameHandlerMono::UpdateResult FrameHandlerMono::relocalizeFrame( - FramePtr ref_keyframe) -{ - return RESULT_FAILURE; -} - -bool FrameHandlerMono::relocalizeFrameAtPose( - const int keyframe_id, - const SE3& T_f_kf, - const cv::Mat& img, - const double timestamp) -{ - /* - FramePtr ref_keyframe; - if(!map_.getKeyframeById(keyframe_id, ref_keyframe)) - return false; - new_frame_.reset(new Frame(cam_, img.clone(), timestamp)); - UpdateResult res = relocalizeFrame(T_f_kf, ref_keyframe); - if(res != RESULT_FAILURE) { - last_frame_ = new_frame_; - return true; - }*/ - return false; -} void FrameHandlerMono::resetAll() { resetCommon(); last_frame_.reset(); new_frame_.reset(); - //core_kfs_.clear(); overlap_kfs_.clear(); depth_filter_->reset(); } - -void FrameHandlerMono::setFirstFrame(const FramePtr& first_frame) +bool FrameHandlerMono::needNewKf() { - resetAll(); - last_frame_ = first_frame; - last_frame_->setKeyframe(); - map_.addKeyframe(last_frame_); - stage_ = STAGE_DEFAULT_FRAME; -} - -bool FrameHandlerMono::needNewKf(double scene_depth_mean) -{ - if(scene_depth_mean >10.0)return true; + size_t com_obs=0; + SE2_5 closest_kfs(0,0,0); for(auto&& it:overlap_kfs_) { - if(fabs(it.first->T_f_w_.pitch()-new_frame_->T_f_w_.pitch())>0.0523599)return true; - if(fabs((it.first->T_f_w_.translation()-new_frame_->T_f_w_.translation()).norm()) > Config::kfSelectMinDist()) - return true; + if(it.second>com_obs){ + com_obs=it.second; + closest_kfs=SE2_5(it.first->T_f_w_.se2()); + } } +#if VIO_DEBUG + fprintf(log_,"[%s] key frame check new frame:%f %f %f, key close:%f %f %f\n",vio::time_in_HH_MM_SS_MMM().c_str(), + new_frame_->T_f_w_.se2().translation().x(),new_frame_->T_f_w_.se2().translation().y(),new_frame_->T_f_w_.pitch(), + closest_kfs.se2().translation().x(),closest_kfs.se2().translation().y(),closest_kfs.pitch()); +#endif + if(fabs(closest_kfs.pitch()-new_frame_->T_f_w_.pitch()) > 0.43 || fabs((closest_kfs.se2().translation()-new_frame_->T_f_w_.se2().translation()).norm())>0.2)return true; return false; } - -void FrameHandlerMono::setCoreKfs(size_t n_closest) -{ - size_t n = min(n_closest, overlap_kfs_.size()-1); - std::partial_sort(overlap_kfs_.begin(), overlap_kfs_.begin()+n, overlap_kfs_.end(), - boost::bind(&pair::second, _1) > - boost::bind(&pair::second, _2)); - //std::for_each(overlap_kfs_.begin(), overlap_kfs_.end(), [&](pair& i){ core_kfs_.insert(i.first); }); -} void FrameHandlerMono::UpdateIMU(double* value,const ros::Time& time){ if(value== nullptr)return; ukfPtr_.UpdateIMU(value[0],value[1],value[2],time); diff --git a/GPU_version/vio/src/pose_optimizer.cpp b/GPU_version/vio/src/pose_optimizer.cpp index 92b1183..10285ff 100644 --- a/GPU_version/vio/src/pose_optimizer.cpp +++ b/GPU_version/vio/src/pose_optimizer.cpp @@ -125,11 +125,11 @@ void optimizeGaussNewton( Vector2d e = vk::project2d((*it)->f) - vk::project2d(Vector3d(frame->se3()*(*it)->point->pos_)); e /= (1<<(*it)->level); chi2_vec_final.push_back(e.norm()); - if(e.norm() > 0.5) + if(e.norm() > 0.5/* 2.0 / frame->cam_->errorMultiplier2()*/) { // we don't need to delete a reference in the point since it was not created yet - (*it)->point = NULL; ++n_deleted_refs; + } } num_obs -= n_deleted_refs; diff --git a/GPU_version/vio/src/reprojector.cpp b/GPU_version/vio/src/reprojector.cpp index e102315..edcb49b 100644 --- a/GPU_version/vio/src/reprojector.cpp +++ b/GPU_version/vio/src/reprojector.cpp @@ -97,7 +97,7 @@ namespace vio { cv::Mat descriptors_ref; overlap_kfs.push_back(pair(it_frame.item.first, 0)); for (auto &&it_ftr:it_frame.item.first->fts_) { - keypoints_kfs.push_back(cv::KeyPoint(it_ftr->px.x(), it_ftr->px.y(), 1)); + keypoints_kfs.push_back(cv::KeyPoint(it_ftr->px.x(), it_ftr->px.y(), 7)); } extractor->compute(it_frame.item.first->img(), keypoints_kfs, descriptors_ref); matcher->match(descriptors_ref, descriptors_cur, matches); @@ -185,6 +185,7 @@ namespace vio { if(it->pt->type_ == Point::TYPE_CANDIDATE && it->pt->n_failed_reproj_ > 30) map_.point_candidates_.deleteCandidatePoint(it->pt); it = cell.erase(it); + // ++it; continue; } syn_=false;