From d6e035fb906afb617c2a6f92d843e8ae1f21f475 Mon Sep 17 00:00:00 2001 From: gfuse Date: Tue, 21 Sep 2021 15:47:44 +0200 Subject: [PATCH] apply all chenges in dev 2 --- GPU_version/vio/depth_filter_log.txt | 5740 +++++++++++++++++--- GPU_version/vio/frame_handler_log.txt | 1650 +++--- GPU_version/vio/include/vio/frame.h | 2 +- GPU_version/vio/include/vio/ukf.h | 16 +- GPU_version/vio/src/frame.cpp | 11 +- GPU_version/vio/src/frame_handler_mono.cpp | 13 +- 6 files changed, 5706 insertions(+), 1726 deletions(-) diff --git a/GPU_version/vio/depth_filter_log.txt b/GPU_version/vio/depth_filter_log.txt index 49c42b7..a14675f 100755 --- a/GPU_version/vio/depth_filter_log.txt +++ b/GPU_version/vio/depth_filter_log.txt @@ -1,870 +1,4870 @@ -[16:56:40.309] init depth filter -[16:56:43.421] init depth filter -[16:56:47.074] DepthFilter: RESET. -[16:57:03.840] add key frame -[16:57:03.840] update seed -[16:57:03.840] init seeds -[16:57:03.845] DepthFilter: Initialized 65 new seeds -[16:57:06.661] add new frame -[16:57:06.661] update seed -[16:57:06.662] If point is visible? -0.179351, -1.189585, -1.699112 -[16:57:06.662] If point is visible? -0.164602, -1.167021, -1.717044 -[16:57:06.662] If point is visible? -0.078735, -0.579468, -2.012863 -[16:57:06.662] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.662] If point is visible? -0.074434, -0.520351, -2.029918 -[16:57:06.662] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.662] If point is visible? 0.389323, -0.512534, -1.988616 -[16:57:06.662] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.662] If point is visible? 1.177754, -0.442963, -1.637355 -[16:57:06.662] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.662] If point is visible? -0.036256, -0.353963, -2.067936 -[16:57:06.662] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.662] If point is visible? -0.402407, 0.042201, -2.062437 -[16:57:06.662] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.662] If point is visible? -0.402295, 0.046593, -2.062360 -[16:57:06.662] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.662] If point is visible? -0.366723, 0.098568, -2.067021 -[16:57:06.662] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.662] If point is visible? -0.372412, 0.098693, -2.066006 -[16:57:06.662] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.662] If point is visible? -0.378098, 0.098819, -2.064975 -[16:57:06.662] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.662] If point is visible? -0.406483, 0.099476, -2.059570 -[16:57:06.662] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.662] If point is visible? -0.444479, 0.148868, -2.048562 -[16:57:06.662] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.662] If point is visible? 1.271653, 0.185938, -1.613627 -[16:57:06.662] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.662] If point is visible? -0.427221, 0.157244, -2.051577 -[16:57:06.662] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.662] If point is visible? -0.860018, 0.309218, -1.888446 -[16:57:06.662] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.662] If point is visible? -0.398598, 0.403606, -2.021672 -[16:57:06.662] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.662] If point is visible? 0.108153, 0.532170, -2.023080 -[16:57:06.662] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.662] If point is visible? 0.371849, 0.574091, -1.974562 -[16:57:06.662] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.662] If point is visible? -0.860419, 0.680836, -1.782159 -[16:57:06.662] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.662] If point is visible? -0.152893, -1.170822, -1.715290 -[16:57:06.662] If point is visible? 0.927863, -1.117044, -1.459474 -[16:57:06.662] If point is visible? 1.161718, -0.523909, -1.624256 -[16:57:06.662] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.662] If point is visible? 1.172412, -0.451542, -1.639017 -[16:57:06.662] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.662] If point is visible? 1.183086, -0.442316, -1.633365 -[16:57:06.662] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.662] If point is visible? -0.018651, -0.362530, -2.066431 -[16:57:06.662] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.662] If point is visible? -0.030337, -0.362546, -2.066408 -[16:57:06.662] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.662] If point is visible? 0.404675, -0.279093, -2.033636 -[16:57:06.662] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.662] If point is visible? 0.156952, -0.189051, -2.082639 -[16:57:06.662] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.662] If point is visible? 1.276995, 0.149535, -1.613087 -[16:57:06.662] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.662] If point is visible? -0.427535, 0.148437, -2.052201 -[16:57:06.662] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.662] If point is visible? -0.417949, 0.095351, -2.057484 -[16:57:06.662] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.662] If point is visible? -1.109430, 0.291846, -1.751658 -[16:57:06.662] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.662] If point is visible? -1.119416, 0.292459, -1.744920 -[16:57:06.662] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.662] If point is visible? -0.388579, 0.270999, -2.046743 -[16:57:06.662] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.662] If point is visible? -0.298729, 0.463126, -2.025268 -[16:57:06.662] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.662] If point is visible? -0.310075, 0.463355, -2.023541 -[16:57:06.662] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.662] If point is visible? -0.257290, 0.391844, -2.046520 -[16:57:06.662] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.662] If point is visible? -0.478181, 0.476118, -1.987467 -[16:57:06.662] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.662] If point is visible? -0.801438, 0.530573, -1.862789 -[16:57:06.662] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.662] If point is visible? 0.957923, 0.569725, -1.747480 -[16:57:06.663] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.663] If point is visible? 0.287807, 0.630652, -1.972120 -[16:57:06.663] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.663] If point is visible? 0.068241, -0.895469, -1.885479 -[16:57:06.663] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.663] If point is visible? 1.012133, -0.918253, -1.544280 -[16:57:06.663] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.663] If point is visible? 0.922482, -0.810057, -1.665409 -[16:57:06.663] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.663] If point is visible? 1.012271, -0.932869, -1.534774 -[16:57:06.663] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.663] If point is visible? 0.481551, -0.686706, -1.909297 -[16:57:06.663] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.663] If point is visible? 0.361877, -1.133419, -1.701851 -[16:57:06.663] If point is visible? 0.969712, -1.011761, -1.511117 -[16:57:06.663] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.663] If point is visible? 0.004914, -0.379619, -2.063029 -[16:57:06.663] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.663] If point is visible? -0.018477, -0.379682, -2.063189 -[16:57:06.663] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.663] If point is visible? 0.005110, -0.396742, -2.059635 -[16:57:06.663] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.663] If point is visible? -0.018279, -0.396811, -2.059796 -[16:57:06.663] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.663] If point is visible? -0.315094, -0.581611, -1.990350 -[16:57:06.663] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.663] If point is visible? 1.183082, -0.450241, -1.631058 -[16:57:06.663] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.663] If point is visible? -0.015009, -0.566682, -2.017547 -[16:57:06.663] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.663] If point is visible? -0.019211, -0.241867, -2.084901 -[16:57:06.663] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.663] If point is visible? -0.019197, -0.224550, -2.086936 -[16:57:06.663] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.663] If point is visible? -1.819097, 0.137130, -0.962549 -[16:57:06.663] If point is visible? -1.109987, 0.283157, -1.752803 -[16:57:06.663] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.663] If point is visible? -0.299806, 0.445532, -2.029262 -[16:57:06.663] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.663] calculated Z= 0.921898 -[16:57:06.663] update seeds -[16:57:06.663] If point is visible? -0.306563, 0.322203, -2.052688 -[16:57:06.663] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.663] If point is visible? -0.478777, 0.467328, -1.989520 -[16:57:06.663] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.663] If point is visible? 0.903568, 0.611183, -1.763959 -[16:57:06.663] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.953] add new frame -[16:57:06.953] update seed -[16:57:06.953] If point is visible? -0.180433, -1.189585, -1.706183 -[16:57:06.953] If point is visible? -0.165685, -1.167021, -1.724115 -[16:57:06.953] If point is visible? -0.079818, -0.579468, -2.019934 -[16:57:06.953] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.953] If point is visible? -0.075517, -0.520351, -2.036989 -[16:57:06.953] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.953] If point is visible? 0.388240, -0.512534, -1.995687 -[16:57:06.953] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.953] If point is visible? 1.176671, -0.442963, -1.644426 -[16:57:06.953] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.953] If point is visible? -0.037339, -0.353963, -2.075007 -[16:57:06.953] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.953] If point is visible? -0.403490, 0.042201, -2.069508 -[16:57:06.953] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.953] If point is visible? -0.403378, 0.046593, -2.069430 -[16:57:06.953] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.953] If point is visible? -0.367806, 0.098568, -2.074092 -[16:57:06.953] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.953] If point is visible? -0.373495, 0.098693, -2.073077 -[16:57:06.953] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.953] If point is visible? -0.379181, 0.098819, -2.072046 -[16:57:06.953] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.953] If point is visible? -0.407566, 0.099476, -2.066641 -[16:57:06.953] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.953] If point is visible? -0.445561, 0.148868, -2.055633 -[16:57:06.953] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.953] If point is visible? 1.270570, 0.185938, -1.620698 -[16:57:06.953] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.953] If point is visible? -0.428303, 0.157244, -2.058648 -[16:57:06.953] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.953] If point is visible? -0.861101, 0.309218, -1.895517 -[16:57:06.953] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.953] If point is visible? -0.399681, 0.403606, -2.028743 -[16:57:06.953] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.953] If point is visible? 0.107071, 0.532170, -2.030151 -[16:57:06.953] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.953] If point is visible? 0.370766, 0.574091, -1.981633 -[16:57:06.953] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.953] If point is visible? -0.861502, 0.680836, -1.789229 -[16:57:06.953] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.953] If point is visible? -0.153976, -1.170822, -1.722361 -[16:57:06.953] If point is visible? 0.926780, -1.117044, -1.466545 -[16:57:06.953] If point is visible? 1.160635, -0.523909, -1.631327 -[16:57:06.953] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.953] If point is visible? 1.171329, -0.451542, -1.646088 -[16:57:06.953] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.953] If point is visible? 1.182003, -0.442316, -1.640436 -[16:57:06.953] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.953] If point is visible? -0.019733, -0.362530, -2.073502 -[16:57:06.953] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.953] If point is visible? -0.031420, -0.362546, -2.073479 -[16:57:06.953] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.953] If point is visible? 0.403592, -0.279093, -2.040707 -[16:57:06.953] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.953] If point is visible? 0.155869, -0.189051, -2.089710 -[16:57:06.954] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.954] If point is visible? 1.275913, 0.149535, -1.620158 -[16:57:06.954] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.954] If point is visible? -0.428617, 0.148437, -2.059272 -[16:57:06.954] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.954] If point is visible? -0.419032, 0.095351, -2.064555 -[16:57:06.954] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.954] If point is visible? -1.110512, 0.291846, -1.758729 -[16:57:06.954] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.954] If point is visible? -1.120499, 0.292459, -1.751991 -[16:57:06.954] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.954] If point is visible? -0.389662, 0.270999, -2.053814 -[16:57:06.954] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.954] If point is visible? -0.299811, 0.463126, -2.032338 -[16:57:06.954] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.954] If point is visible? -0.311158, 0.463355, -2.030612 -[16:57:06.954] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.954] If point is visible? -0.258373, 0.391844, -2.053591 -[16:57:06.954] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.954] If point is visible? -0.479264, 0.476118, -1.994538 -[16:57:06.954] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.954] If point is visible? -0.802520, 0.530573, -1.869860 -[16:57:06.954] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.954] If point is visible? 0.956840, 0.569725, -1.754551 -[16:57:06.954] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.954] If point is visible? 0.286725, 0.630652, -1.979191 -[16:57:06.954] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.954] If point is visible? 0.067158, -0.895469, -1.892550 -[16:57:06.954] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.954] If point is visible? 1.011050, -0.918253, -1.551351 -[16:57:06.954] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.954] If point is visible? 0.921400, -0.810057, -1.672480 -[16:57:06.954] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.954] If point is visible? 1.011188, -0.932869, -1.541845 -[16:57:06.954] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.954] If point is visible? 0.480468, -0.686706, -1.916368 -[16:57:06.954] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.954] If point is visible? 0.360794, -1.133419, -1.708922 -[16:57:06.954] If point is visible? 0.968629, -1.011761, -1.518188 -[16:57:06.954] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.954] If point is visible? 0.003832, -0.379619, -2.070100 -[16:57:06.954] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.954] If point is visible? -0.019559, -0.379682, -2.070260 -[16:57:06.954] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.954] If point is visible? 0.004027, -0.396742, -2.066706 -[16:57:06.954] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.954] If point is visible? -0.019362, -0.396811, -2.066867 -[16:57:06.954] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.954] If point is visible? -0.316177, -0.581611, -1.997421 -[16:57:06.954] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.954] If point is visible? 1.181999, -0.450241, -1.638129 -[16:57:06.954] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.954] If point is visible? -0.016092, -0.566682, -2.024618 -[16:57:06.954] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.954] If point is visible? -0.020294, -0.241867, -2.091972 -[16:57:06.954] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.954] If point is visible? -0.020280, -0.224550, -2.094007 -[16:57:06.954] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.954] If point is visible? -1.820180, 0.137130, -0.969620 -[16:57:06.954] If point is visible? -1.111070, 0.283157, -1.759874 -[16:57:06.954] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.954] If point is visible? -0.226345, 0.326334, -1.520538 -[16:57:06.954] Z inverse min: 1.042875, Z inverse max: 0.323593 -[16:57:06.954] If point is visible? -0.307646, 0.322203, -2.059759 -[16:57:06.954] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.954] If point is visible? -0.479860, 0.467328, -1.996591 -[16:57:06.954] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:06.954] If point is visible? 0.902485, 0.611183, -1.771030 -[16:57:06.954] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:07.115] add new frame -[16:57:07.115] update seed -[16:57:07.115] If point is visible? -0.180175, -1.189585, -1.706297 -[16:57:07.115] If point is visible? -0.165427, -1.167021, -1.724228 -[16:57:07.115] If point is visible? -0.079560, -0.579468, -2.020047 -[16:57:07.115] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:07.115] If point is visible? -0.075259, -0.520351, -2.037103 -[16:57:07.115] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:07.115] If point is visible? 0.388498, -0.512534, -1.995800 -[16:57:07.115] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:07.115] If point is visible? 1.176929, -0.442963, -1.644540 -[16:57:07.115] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:07.115] If point is visible? -0.037081, -0.353963, -2.075120 -[16:57:07.115] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:07.115] If point is visible? -0.403232, 0.042201, -2.069622 -[16:57:07.115] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:07.115] If point is visible? -0.403120, 0.046593, -2.069544 -[16:57:07.115] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:07.115] If point is visible? -0.367548, 0.098568, -2.074206 -[16:57:07.115] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:07.115] If point is visible? -0.373237, 0.098693, -2.073191 -[16:57:07.115] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:07.115] If point is visible? -0.378923, 0.098819, -2.072159 -[16:57:07.115] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:07.115] If point is visible? -0.407308, 0.099476, -2.066754 -[16:57:07.115] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:07.115] If point is visible? -0.445303, 0.148868, -2.055747 -[16:57:07.115] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:07.115] If point is visible? 1.270828, 0.185938, -1.620811 -[16:57:07.115] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:07.115] If point is visible? -0.428045, 0.157244, -2.058761 -[16:57:07.115] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:07.115] If point is visible? -0.860843, 0.309218, -1.895631 -[16:57:07.115] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:07.115] If point is visible? -0.399423, 0.403606, -2.028856 -[16:57:07.115] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:07.115] If point is visible? 0.107329, 0.532170, -2.030264 -[16:57:07.115] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:07.115] If point is visible? 0.371024, 0.574091, -1.981747 -[16:57:07.115] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:07.115] If point is visible? -0.861244, 0.680836, -1.789343 -[16:57:07.115] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:07.115] If point is visible? -0.153718, -1.170822, -1.722475 -[16:57:07.115] If point is visible? 0.927038, -1.117044, -1.466658 -[16:57:07.115] If point is visible? 1.160893, -0.523909, -1.631440 -[16:57:07.115] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:07.115] If point is visible? 1.171587, -0.451542, -1.646201 -[16:57:07.115] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:07.115] If point is visible? 1.182261, -0.442316, -1.640550 -[16:57:07.115] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:07.115] If point is visible? -0.019475, -0.362530, -2.073615 -[16:57:07.115] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:07.115] If point is visible? -0.031162, -0.362546, -2.073593 -[16:57:07.115] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:07.115] If point is visible? 0.403850, -0.279093, -2.040821 -[16:57:07.115] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:07.115] If point is visible? 0.156127, -0.189051, -2.089823 -[16:57:07.115] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:07.115] If point is visible? 1.276171, 0.149535, -1.620272 -[16:57:07.115] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:07.115] If point is visible? -0.428360, 0.148437, -2.059386 -[16:57:07.115] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:07.115] If point is visible? -0.418774, 0.095351, -2.064669 -[16:57:07.115] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:07.115] If point is visible? -1.110254, 0.291846, -1.758842 -[16:57:07.115] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:07.115] If point is visible? -1.120241, 0.292459, -1.752105 -[16:57:07.115] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:07.116] If point is visible? -0.389404, 0.270999, -2.053928 -[16:57:07.116] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:07.116] If point is visible? -0.299553, 0.463126, -2.032452 -[16:57:07.116] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:07.116] If point is visible? -0.310900, 0.463355, -2.030726 -[16:57:07.116] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:07.116] If point is visible? -0.258115, 0.391844, -2.053705 -[16:57:07.116] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:07.116] If point is visible? -0.479006, 0.476118, -1.994652 -[16:57:07.116] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:07.116] If point is visible? -0.802262, 0.530573, -1.869974 -[16:57:07.116] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:07.116] If point is visible? 0.957098, 0.569725, -1.754664 -[16:57:07.116] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:07.116] If point is visible? 0.286983, 0.630652, -1.979304 -[16:57:07.116] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:07.116] If point is visible? 0.067416, -0.895469, -1.892663 -[16:57:07.116] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:07.116] If point is visible? 1.011308, -0.918253, -1.551464 -[16:57:07.116] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:07.116] If point is visible? 0.921658, -0.810057, -1.672593 -[16:57:07.116] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:07.116] If point is visible? 1.011446, -0.932869, -1.541959 -[16:57:07.116] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:07.116] If point is visible? 0.480726, -0.686706, -1.916481 -[16:57:07.116] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:07.116] If point is visible? 0.361052, -1.133419, -1.709035 -[16:57:07.116] If point is visible? 0.968887, -1.011761, -1.518302 -[16:57:07.116] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:07.116] If point is visible? 0.004090, -0.379619, -2.070214 -[16:57:07.116] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:07.116] If point is visible? -0.019301, -0.379682, -2.070373 -[16:57:07.116] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:07.116] If point is visible? 0.004285, -0.396742, -2.066820 -[16:57:07.116] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:07.116] If point is visible? -0.019104, -0.396811, -2.066980 -[16:57:07.116] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:07.116] If point is visible? -0.315919, -0.581611, -1.997534 -[16:57:07.116] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:07.116] If point is visible? 1.182257, -0.450241, -1.638243 -[16:57:07.116] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:07.116] If point is visible? -0.015834, -0.566682, -2.024731 -[16:57:07.116] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:07.116] If point is visible? -0.020036, -0.241867, -2.092085 -[16:57:07.116] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:07.116] If point is visible? -0.020022, -0.224550, -2.094120 -[16:57:07.116] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:07.116] If point is visible? -1.819922, 0.137130, -0.969733 -[16:57:07.116] If point is visible? -1.110812, 0.283157, -1.759988 -[16:57:07.116] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:07.116] If point is visible? -0.226087, 0.326334, -1.520651 -[16:57:07.116] Z inverse min: 1.042875, Z inverse max: 0.323593 -[16:57:07.116] If point is visible? -0.307388, 0.322203, -2.059872 -[16:57:07.116] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:07.116] If point is visible? -0.479602, 0.467328, -1.996705 -[16:57:07.116] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:07.116] If point is visible? 0.902743, 0.611183, -1.771144 -[16:57:07.116] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:08.647] add new frame -[16:57:08.647] add key frame -[16:57:08.647] update seed -[16:57:08.647] init seeds -[16:57:08.647] update seed -[16:57:08.647] init seeds -[16:57:08.650] DepthFilter: Initialized 54 new seeds -[16:57:08.655] DepthFilter: Initialized 96 new seeds -[16:57:08.967] add new frame -[16:57:08.967] add key frame -[16:57:08.967] update seed -[16:57:08.967] init seeds -[16:57:08.967] update seed -[16:57:08.967] init seeds -[16:57:08.971] DepthFilter: Initialized 22 new seeds -[16:57:08.974] DepthFilter: Initialized 83 new seeds -[16:57:09.122] add new frame -[16:57:09.122] add key frame -[16:57:09.122] update seed -[16:57:09.122] init seeds -[16:57:09.125] DepthFilter: Initialized 24 new seeds -[16:57:09.445] add new frame -[16:57:09.445] add key frame -[16:57:09.445] update seed -[16:57:09.445] init seeds -[16:57:09.448] DepthFilter: Initialized 13 new seeds -[16:57:09.963] add new frame -[16:57:09.963] add key frame -[16:57:09.963] update seed -[16:57:09.963] init seeds -[16:57:09.963] update seed -[16:57:09.963] init seeds -[16:57:09.966] DepthFilter: Initialized 13 new seeds -[16:57:09.969] DepthFilter: Initialized 93 new seeds -[16:57:10.158] add new frame -[16:57:10.158] update seed -[16:57:10.158] If point is visible? -0.209392, -1.189585, -1.801518 -[16:57:10.158] If point is visible? -0.194643, -1.167021, -1.819450 -[16:57:10.158] If point is visible? -0.108776, -0.579468, -2.115269 -[16:57:10.158] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:10.158] If point is visible? -0.104475, -0.520351, -2.132324 -[16:57:10.158] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:10.158] add key frame -[16:57:10.158] init seeds -[16:57:10.158] update seed -[16:57:10.158] init seeds -[16:57:10.161] DepthFilter: Initialized 16 new seeds -[16:57:10.164] DepthFilter: Initialized 87 new seeds -[16:57:10.342] add new frame -[16:57:10.342] update seed -[16:57:10.342] If point is visible? -0.210671, -1.189585, -1.805557 -[16:57:10.342] If point is visible? -0.195922, -1.167021, -1.823488 -[16:57:10.342] If point is visible? -0.110055, -0.579468, -2.119308 -[16:57:10.342] add key frame -[16:57:10.342] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:10.342] init seeds -[16:57:10.342] update seed -[16:57:10.342] init seeds -[16:57:10.346] DepthFilter: Initialized 13 new seeds -[16:57:10.348] DepthFilter: Initialized 103 new seeds -[16:57:10.522] add new frame -[16:57:10.522] update seed -[16:57:10.522] If point is visible? -0.211787, -1.189585, -1.809065 -[16:57:10.522] If point is visible? -0.197038, -1.167021, -1.826996 -[16:57:10.522] If point is visible? -0.111171, -0.579468, -2.122815 -[16:57:10.522] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:10.522] add key frame -[16:57:10.522] init seeds -[16:57:10.522] update seed -[16:57:10.523] init seeds -[16:57:10.526] DepthFilter: Initialized 7 new seeds -[16:57:10.528] DepthFilter: Initialized 98 new seeds -[16:57:10.892] add new frame -[16:57:10.892] update seed -[16:57:10.892] If point is visible? -0.214452, -1.189585, -1.818033 -[16:57:10.892] If point is visible? -0.199704, -1.167021, -1.835964 -[16:57:10.892] If point is visible? -0.113837, -0.579468, -2.131783 -[16:57:10.892] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:10.892] add key frame -[16:57:10.893] init seeds -[16:57:10.893] update seed -[16:57:10.893] init seeds -[16:57:10.896] DepthFilter: Initialized 8 new seeds -[16:57:10.898] DepthFilter: Initialized 99 new seeds -[16:57:11.097] add new frame -[16:57:11.097] update seed -[16:57:11.097] If point is visible? -0.216085, -1.189585, -1.821615 -[16:57:11.097] If point is visible? -0.201337, -1.167021, -1.839546 -[16:57:11.097] add key frame -[16:57:11.097] If point is visible? -0.115470, -0.579468, -2.135365 -[16:57:11.097] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:11.097] init seeds -[16:57:11.097] update seed -[16:57:11.097] init seeds -[16:57:11.100] DepthFilter: Initialized 12 new seeds -[16:57:11.102] DepthFilter: Initialized 99 new seeds -[16:57:11.296] add new frame -[16:57:11.296] add key frame -[16:57:11.296] update seed -[16:57:11.296] init seeds -[16:57:11.296] update seed -[16:57:11.296] init seeds -[16:57:11.298] DepthFilter: Initialized 11 new seeds -[16:57:11.301] DepthFilter: Initialized 111 new seeds -[16:57:11.512] add new frame -[16:57:11.512] update seed -[16:57:11.512] If point is visible? -0.217935, -1.189585, -1.827810 -[16:57:11.512] If point is visible? -0.203186, -1.167021, -1.845741 -[16:57:11.512] If point is visible? -0.117319, -0.579468, -2.141560 -[16:57:11.512] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:11.512] add key frame -[16:57:11.512] init seeds -[16:57:11.512] update seed -[16:57:11.512] init seeds -[16:57:11.515] DepthFilter: Initialized 4 new seeds -[16:57:11.517] DepthFilter: Initialized 117 new seeds -[16:57:11.728] add new frame -[16:57:11.728] update seed -[16:57:11.728] If point is visible? -0.218959, -1.189585, -1.831097 -[16:57:11.728] If point is visible? -0.204210, -1.167021, -1.849028 -[16:57:11.728] If point is visible? -0.118343, -0.579468, -2.144847 -[16:57:11.728] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:11.728] add key frame -[16:57:11.728] init seeds -[16:57:11.728] update seed -[16:57:11.728] init seeds -[16:57:11.731] DepthFilter: Initialized 4 new seeds -[16:57:11.733] DepthFilter: Initialized 90 new seeds -[16:57:12.223] add new frame -[16:57:12.223] update seed -[16:57:12.223] add key frame -[16:57:12.223] If point is visible? -0.223316, -1.189585, -1.843837 -[16:57:12.223] init seeds -[16:57:12.223] update seed -[16:57:12.223] init seeds -[16:57:12.226] DepthFilter: Initialized 5 new seeds -[16:57:12.228] DepthFilter: Initialized 105 new seeds -[16:57:12.911] add new frame -[16:57:12.911] update seed -[16:57:12.911] If point is visible? -0.230395, -1.189585, -1.865398 -[16:57:12.911] If point is visible? -0.215646, -1.167021, -1.883329 -[16:57:12.911] add key frame -[16:57:12.911] If point is visible? -0.129779, -0.579468, -2.179148 -[16:57:12.911] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:12.911] init seeds -[16:57:12.911] update seed -[16:57:12.911] init seeds -[16:57:12.914] DepthFilter: Initialized 5 new seeds -[16:57:12.917] DepthFilter: Initialized 97 new seeds -[16:57:13.155] add new frame -[16:57:13.155] update seed -[16:57:13.155] add key frame -[16:57:13.155] If point is visible? -0.231376, -1.189585, -1.868343 -[16:57:13.155] init seeds -[16:57:13.155] update seed -[16:57:13.155] init seeds -[16:57:13.158] DepthFilter: Initialized 5 new seeds -[16:57:13.160] DepthFilter: Initialized 98 new seeds -[16:57:13.932] add new frame -[16:57:13.932] update seed -[16:57:13.932] If point is visible? -0.231325, -1.189585, -1.868780 -[16:57:13.932] If point is visible? -0.216576, -1.167021, -1.886711 -[16:57:13.932] add key frame -[16:57:13.932] If point is visible? -0.130709, -0.579468, -2.182530 -[16:57:13.932] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:13.932] init seeds -[16:57:13.932] update seed -[16:57:13.932] init seeds -[16:57:13.935] DepthFilter: Initialized 3 new seeds -[16:57:13.937] DepthFilter: Initialized 99 new seeds -[16:57:14.455] add new frame -[16:57:14.455] update seed -[16:57:14.455] If point is visible? -0.231355, -1.189585, -1.869405 -[16:57:14.455] If point is visible? -0.216606, -1.167021, -1.887336 -[16:57:14.455] If point is visible? -0.130739, -0.579468, -2.183155 -[16:57:14.455] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:14.455] If point is visible? -0.126438, -0.520351, -2.200211 -[16:57:14.455] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:14.455] add key frame -[16:57:14.455] init seeds -[16:57:14.455] update seed -[16:57:14.455] init seeds -[16:57:14.458] DepthFilter: Initialized 1 new seeds -[16:57:14.460] DepthFilter: Initialized 99 new seeds -[16:57:14.727] add new frame -[16:57:14.727] update seed -[16:57:14.727] If point is visible? -0.231372, -1.189585, -1.869650 -[16:57:14.727] add key frame -[16:57:14.727] If point is visible? -0.216623, -1.167021, -1.887581 -[16:57:14.727] init seeds -[16:57:14.727] remove key frame -[16:57:14.728] update seed -[16:57:14.728] If point is visible? -0.231372, -1.189585, -1.869650 -[16:57:14.728] If point is visible? -0.216623, -1.167021, -1.887581 -[16:57:14.728] If point is visible? -0.130756, -0.579468, -2.183400 -[16:57:14.728] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:14.728] If point is visible? -0.126455, -0.520351, -2.200456 -[16:57:14.728] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:14.728] If point is visible? 0.337302, -0.512534, -2.159153 -[16:57:14.728] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:14.728] If point is visible? 1.125733, -0.442963, -1.807893 -[16:57:14.728] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:14.728] If point is visible? -0.088277, -0.353963, -2.238474 -[16:57:14.728] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:14.728] If point is visible? -0.454428, 0.042201, -2.232975 -[16:57:14.728] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:14.728] If point is visible? -0.454316, 0.046593, -2.232897 -[16:57:14.728] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:14.728] If point is visible? -0.418744, 0.098568, -2.237559 -[16:57:14.728] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:14.728] If point is visible? -0.424433, 0.098693, -2.236544 -[16:57:14.728] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:14.728] If point is visible? -0.430119, 0.098819, -2.235513 -[16:57:14.728] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:14.728] If point is visible? -0.458504, 0.099476, -2.230107 -[16:57:14.728] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:14.728] If point is visible? -0.496500, 0.148868, -2.219100 -[16:57:14.728] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:14.728] If point is visible? 1.219632, 0.185938, -1.784165 -[16:57:14.728] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:14.728] If point is visible? -0.479242, 0.157244, -2.222114 -[16:57:14.728] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:14.728] If point is visible? -0.912039, 0.309218, -2.058984 -[16:57:14.728] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:14.728] If point is visible? -0.450619, 0.403606, -2.192209 -[16:57:14.728] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:14.728] If point is visible? 0.056132, 0.532170, -2.193617 -[16:57:14.728] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:14.728] If point is visible? 0.319828, 0.574091, -2.145100 -[16:57:14.728] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:14.728] If point is visible? -0.912440, 0.680836, -1.952696 -[16:57:14.728] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:14.728] If point is visible? -0.204914, -1.170822, -1.885828 -[16:57:14.728] If point is visible? 0.875842, -1.117044, -1.630011 -[16:57:14.728] If point is visible? 1.109697, -0.523909, -1.794794 -[16:57:14.728] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:14.728] If point is visible? 1.120391, -0.451542, -1.809554 -[16:57:14.728] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:14.729] calculated Z= 0.930841 -[16:57:14.729] update seeds -[16:57:14.729] If point is visible? 1.131065, -0.442316, -1.803903 -[16:57:14.729] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:14.729] If point is visible? -0.070672, -0.362530, -2.236969 -[16:57:14.729] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:14.729] If point is visible? -0.082358, -0.362546, -2.236946 -[16:57:14.729] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:14.729] If point is visible? 0.352654, -0.279093, -2.204174 -[16:57:14.729] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:14.729] If point is visible? 0.104931, -0.189051, -2.253177 -[16:57:14.729] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:14.729] If point is visible? 1.224974, 0.149535, -1.783625 -[16:57:14.729] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:14.729] If point is visible? -0.479556, 0.148437, -2.222739 -[16:57:14.729] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:14.729] If point is visible? -0.469970, 0.095351, -2.228022 -[16:57:14.729] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:14.729] If point is visible? -1.161451, 0.291846, -1.922196 -[16:57:14.729] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:14.729] If point is visible? -1.171437, 0.292459, -1.915458 -[16:57:14.729] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:14.729] If point is visible? -0.440600, 0.270999, -2.217281 -[16:57:14.729] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:14.729] If point is visible? -0.350750, 0.463126, -2.195805 -[16:57:14.729] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:14.729] If point is visible? -0.362096, 0.463355, -2.194079 -[16:57:14.729] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:14.729] If point is visible? -0.309311, 0.391844, -2.217058 -[16:57:14.729] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:14.729] If point is visible? -0.530202, 0.476118, -2.158005 -[16:57:14.729] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:14.729] If point is visible? -0.853459, 0.530573, -2.033327 -[16:57:14.729] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:14.729] If point is visible? 0.905902, 0.569725, -1.918018 -[16:57:14.729] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:14.729] If point is visible? 0.235786, 0.630652, -2.142658 -[16:57:14.729] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:14.729] If point is visible? 0.016220, -0.895469, -2.056017 -[16:57:14.729] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:14.729] If point is visible? 0.960112, -0.918253, -1.714817 -[16:57:14.729] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:14.729] If point is visible? 0.870461, -0.810057, -1.835947 -[16:57:14.729] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:14.730] If point is visible? 0.960250, -0.932869, -1.705312 -[16:57:14.730] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:14.730] If point is visible? 0.429530, -0.686706, -2.079834 -[16:57:14.730] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:14.730] If point is visible? 0.309856, -1.133419, -1.872389 -[16:57:14.730] If point is visible? 0.917691, -1.011761, -1.681655 -[16:57:14.730] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:14.730] If point is visible? -0.047107, -0.379619, -2.233567 -[16:57:14.730] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:14.730] If point is visible? -0.070498, -0.379682, -2.233727 -[16:57:14.730] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:14.730] If point is visible? -0.046911, -0.396742, -2.230173 -[16:57:14.730] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:14.730] If point is visible? -0.070300, -0.396811, -2.230334 -[16:57:14.730] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:14.730] If point is visible? -0.367115, -0.581611, -2.160888 -[16:57:14.730] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:14.730] If point is visible? 1.131061, -0.450241, -1.801596 -[16:57:14.730] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:14.730] If point is visible? -0.067030, -0.566682, -2.188084 -[16:57:14.730] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:14.730] If point is visible? -0.071232, -0.241867, -2.255439 -[16:57:14.730] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:14.730] If point is visible? -0.071218, -0.224550, -2.257473 -[16:57:14.730] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:14.730] If point is visible? -1.871118, 0.137130, -1.133086 -[16:57:14.730] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:14.730] If point is visible? -1.162008, 0.283157, -1.923341 -[16:57:14.730] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:14.730] If point is visible? -0.277284, 0.326334, -1.684005 -[16:57:14.730] Z inverse min: 1.042875, Z inverse max: 0.323593 -[16:57:14.730] If point is visible? -0.358584, 0.322203, -2.223226 -[16:57:14.730] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:14.730] If point is visible? -0.530798, 0.467328, -2.160058 -[16:57:14.730] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:14.730] If point is visible? 0.851547, 0.611183, -1.934497 -[16:57:14.730] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:14.730] If point is visible? -0.042559, -0.025568, -0.409253 -[16:57:14.730] Z inverse min: 5.408916, Z inverse max: 1.176790 -[16:57:14.730] If point is visible? -0.057284, -0.002275, -0.409612 -[16:57:14.730] Z inverse min: 5.408916, Z inverse max: 1.176790 -[16:57:14.730] If point is visible? -0.129447, 0.008900, -0.395314 -[16:57:14.730] Z inverse min: 5.408916, Z inverse max: 1.176790 -[16:57:14.731] If point is visible? -0.124918, 0.016753, -0.396405 -[16:57:14.731] Z inverse min: 5.408916, Z inverse max: 1.176790 -[16:57:14.731] init seeds -[16:57:14.731] DepthFilter: Initialized 0 new seeds -[16:57:14.733] DepthFilter: Initialized 0 new seeds -[16:57:15.291] add new frame -[16:57:15.291] update seed -[16:57:15.291] If point is visible? -0.231445, -1.189585, -1.870357 -[16:57:15.291] If point is visible? -0.216696, -1.167021, -1.888288 -[16:57:15.291] If point is visible? -0.130829, -0.579468, -2.184107 -[16:57:15.291] Z inverse min: 0.845768, Z inverse max: 0.155113 -[16:57:15.291] add key frame -[16:57:15.291] remove key frame -[16:57:15.291] init seeds -[16:57:15.291] update seed -[16:57:15.291] If point is visible? -0.042632, -0.025568, -0.409959 -[16:57:15.291] Z inverse min: 5.408916, Z inverse max: 1.176790 -[16:57:15.291] If point is visible? -0.057357, -0.002275, -0.410319 -[16:57:15.291] Z inverse min: 5.408916, Z inverse max: 1.176790 -[16:57:15.291] If point is visible? -0.129520, 0.008900, -0.396021 -[16:57:15.291] Z inverse min: 5.408916, Z inverse max: 1.176790 -[16:57:15.292] If point is visible? -0.124991, 0.016753, -0.397112 -[16:57:15.292] Z inverse min: 5.408916, Z inverse max: 1.176790 -[16:57:15.292] If point is visible? -0.125829, 0.016785, -0.396849 -[16:57:15.292] Z inverse min: 5.408916, Z inverse max: 1.176790 -[16:57:15.292] If point is visible? -0.130009, 0.016945, -0.395500 -[16:57:15.292] Z inverse min: 5.408916, Z inverse max: 1.176790 -[16:57:15.292] If point is visible? 0.024549, 0.019519, -0.404517 -[16:57:15.292] Z inverse min: 5.408916, Z inverse max: 1.176790 -[16:57:15.292] If point is visible? -0.126042, 0.028853, -0.395829 -[16:57:15.292] Z inverse min: 5.408916, Z inverse max: 1.176790 -[16:57:15.292] If point is visible? -0.229002, 0.046173, -0.336775 -[16:57:15.292] Z inverse min: 5.408916, Z inverse max: 1.176790 -[16:57:15.292] If point is visible? 0.027254, 0.039910, -0.401908 -[16:57:15.292] Z inverse min: 5.408916, Z inverse max: 1.176790 -[16:57:15.292] If point is visible? -0.128286, 0.065844, -0.388960 -[16:57:15.292] Z inverse min: 5.408916, Z inverse max: 1.176790 -[16:57:15.292] If point is visible? -0.129113, 0.065876, -0.388678 -[16:57:15.292] Z inverse min: 5.408916, Z inverse max: 1.176790 -[16:57:15.292] If point is visible? 0.123147, -0.157030, -0.313457 -[16:57:15.292] Z inverse min: 5.408916, Z inverse max: 1.176790 -[16:57:15.292] If point is visible? 0.123097, -0.155993, -0.314282 -[16:57:15.292] Z inverse min: 5.408916, Z inverse max: 1.176790 -[16:57:15.292] If point is visible? 0.000363, -0.168123, -0.357807 -[16:57:15.292] Z inverse min: 5.408916, Z inverse max: 1.176790 -[16:57:15.292] calculated Z= 0.882540 -[16:57:15.292] update seeds -[16:57:15.292] If point is visible? 0.077595, -0.171591, -0.331099 -[16:57:15.292] Z inverse min: 5.408916, Z inverse max: 1.176790 -[16:57:15.292] If point is visible? -0.001451, -0.150694, -0.368910 -[16:57:15.292] Z inverse min: 5.408916, Z inverse max: 1.176790 -[16:57:15.292] If point is visible? 0.130881, -0.142904, -0.317603 -[16:57:15.292] Z inverse min: 5.408916, Z inverse max: 1.176790 -[16:57:15.292] If point is visible? 0.135531, -0.133434, -0.320085 -[16:57:15.292] Z inverse min: 5.408916, Z inverse max: 1.176790 -[16:57:15.292] If point is visible? 0.091381, -0.143385, -0.343244 -[16:57:15.292] Z inverse min: 5.408916, Z inverse max: 1.176790 -[16:57:15.292] If point is visible? 0.137077, -0.129890, -0.321029 -[16:57:15.292] Z inverse min: 5.408916, Z inverse max: 1.176790 -[16:57:15.292] If point is visible? 0.137110, -0.130975, -0.320339 -[16:57:15.292] Z inverse min: 5.408916, Z inverse max: 1.176790 -[16:57:15.292] If point is visible? 0.099213, -0.125314, -0.349127 -[16:57:15.292] Z inverse min: 5.408916, Z inverse max: 1.176790 -[16:57:15.292] If point is visible? 0.146453, -0.109449, -0.324676 -[16:57:15.292] Z inverse min: 5.408916, Z inverse max: 1.176790 -[16:57:15.293] If point is visible? -0.048027, -0.030151, -0.409359 -[16:57:15.293] Z inverse min: 5.408916, Z inverse max: 1.176790 -[16:57:15.293] If point is visible? 0.016883, 0.031972, -0.404885 -[16:57:15.293] Z inverse min: 5.408916, Z inverse max: 1.176790 -[16:57:15.293] If point is visible? -0.273685, 0.040636, -0.291215 -[16:57:15.293] Z inverse min: 5.408916, Z inverse max: 1.176790 -[16:57:15.293] If point is visible? -0.274849, 0.040772, -0.289666 -[16:57:15.293] Z inverse min: 5.408916, Z inverse max: 1.176790 -[16:57:15.293] If point is visible? 0.016944, 0.033290, -0.404729 -[16:57:15.293] Z inverse min: 5.408916, Z inverse max: 1.176790 -[16:57:15.293] If point is visible? -0.125004, 0.044917, -0.394094 -[16:57:15.293] Z inverse min: 5.408916, Z inverse max: 1.176790 -[16:57:15.293] If point is visible? -0.126671, 0.044980, -0.393557 -[16:57:15.293] Z inverse min: 5.408916, Z inverse max: 1.176790 -[16:57:15.293] If point is visible? -0.126767, 0.043641, -0.393734 -[16:57:15.293] Z inverse min: 5.408916, Z inverse max: 1.176790 -[16:57:15.293] If point is visible? -0.216345, 0.093565, -0.332637 -[16:57:15.293] Z inverse min: 5.408916, Z inverse max: 1.176790 -[16:57:15.293] If point is visible? 0.107810, 0.098511, -0.356486 -[16:57:15.293] Z inverse min: 5.408916, Z inverse max: 1.176790 -[16:57:15.293] If point is visible? 0.109449, 0.097246, -0.356035 -[16:57:15.293] Z inverse min: 5.408916, Z inverse max: 1.176790 -[16:57:15.293] If point is visible? 0.097965, 0.106130, -0.358809 -[16:57:15.293] Z inverse min: 5.408916, Z inverse max: 1.176790 -[16:57:15.293] If point is visible? -0.005446, 0.097949, -0.393335 -[16:57:15.293] Z inverse min: 5.408916, Z inverse max: 1.176790 -[16:57:15.293] If point is visible? 0.130962, -0.145024, -0.316082 -[16:57:15.293] Z inverse min: 5.408916, Z inverse max: 1.176790 -[16:57:15.293] If point is visible? 0.124706, -0.154645, -0.314056 -[16:57:15.293] Z inverse min: 5.408916, Z inverse max: 1.176790 -[16:57:15.293] If point is visible? 0.140210, -0.123854, -0.322060 -[16:57:15.293] Z inverse min: 5.408916, Z inverse max: 1.176790 -[16:57:15.293] If point is visible? 0.130881, -0.142904, -0.317603 -[16:57:15.293] Z inverse min: 5.408916, Z inverse max: 1.176790 -[16:57:15.293] If point is visible? 0.133953, -0.135887, -0.319794 -[16:57:15.293] Z inverse min: 5.408916, Z inverse max: 1.176790 -[16:57:15.293] If point is visible? 0.137110, -0.130975, -0.320339 -[16:57:15.293] Z inverse min: 5.408916, Z inverse max: 1.176790 -[16:57:15.293] If point is visible? -0.112887, -0.092668, -0.386055 -[16:57:15.293] Z inverse min: 5.408916, Z inverse max: 1.176790 -[16:57:15.293] If point is visible? 0.121591, -0.159407, -0.312823 -[16:57:15.293] Z inverse min: 5.408916, Z inverse max: 1.176790 -[16:57:15.293] If point is visible? 0.140269, -0.126039, -0.320736 -[16:57:15.293] Z inverse min: 5.408916, Z inverse max: 1.176790 -[16:57:15.293] If point is visible? 0.093196, -0.144284, -0.341708 -[16:57:15.293] Z inverse min: 5.408916, Z inverse max: 1.176790 -[16:57:15.294] If point is visible? 0.105712, -0.112931, -0.351512 -[16:57:15.294] Z inverse min: 5.408916, Z inverse max: 1.176790 -[16:57:15.294] If point is visible? -0.111074, 0.087310, -0.388275 -[16:57:15.294] Z inverse min: 5.408916, Z inverse max: 1.176790 -[16:57:15.294] If point is visible? -0.110969, 0.052478, -0.396842 -[16:57:15.294] Z inverse min: 5.408916, Z inverse max: 1.176790 -[16:57:15.294] If point is visible? -0.114343, 0.052591, -0.395919 -[16:57:15.294] Z inverse min: 5.408916, Z inverse max: 1.176790 -[16:57:15.294] If point is visible? 0.114475, 0.095913, -0.353562 -[16:57:15.294] Z inverse min: 5.408916, Z inverse max: 1.176790 -[16:57:15.294] If point is visible? 0.111088, 0.095983, -0.355566 -[16:57:15.294] Z inverse min: 5.408916, Z inverse max: 1.176790 -[16:57:15.294] If point is visible? -0.005188, 0.100558, -0.392401 -[16:57:15.294] Z inverse min: 5.408916, Z inverse max: 1.176790 -[16:57:15.294] If point is visible? -0.061731, -0.142829, -0.374140 -[16:57:15.294] Z inverse min: 5.408916, Z inverse max: 1.176790 -[16:57:15.294] If point is visible? -0.062665, -0.142220, -0.374371 -[16:57:15.294] Z inverse min: 5.408916, Z inverse max: 1.176790 -[16:57:15.294] init seeds -[16:57:15.294] DepthFilter: Initialized 0 new seeds -[16:57:15.296] DepthFilter: Initialized 0 new seeds -[16:57:15.588] add new frame -[16:57:15.588] update seed -[16:57:15.588] If point is visible? -0.042479, -0.025568, -0.410364 -[16:57:15.588] Z inverse min: 5.408916, Z inverse max: 1.176790 -[16:57:15.588] add key frame -[16:57:15.588] If point is visible? -0.057203, -0.002275, -0.410723 -[16:57:15.588] Z inverse min: 5.408916, Z inverse max: 1.176790 -[16:57:15.588] remove key frame -[16:57:15.588] init seeds -[16:57:15.588] update seed -[16:57:15.588] init seeds -[16:57:15.591] DepthFilter: Initialized 0 new seeds -[16:57:15.593] DepthFilter: Initialized 113 new seeds -[16:57:16.208] add new frame -[16:57:16.208] update seed -[16:57:16.208] If point is visible? -0.093186, -0.162757, -0.524512 -[16:57:16.208] Z inverse min: 4.329425, Z inverse max: 0.018509 -[16:57:16.208] add key frame -[16:57:16.208] remove key frame -[16:57:16.208] init seeds -[16:57:16.208] update seed -[16:57:16.208] init seeds -[16:57:16.211] DepthFilter: Initialized 2 new seeds -[16:57:16.213] DepthFilter: Initialized 95 new seeds -[16:57:25.024] DepthFilter stop thread invoked. -[16:57:25.024] DepthFilter interrupt and join thread +[14:39:30.947] init depth filter +[14:39:36.585] init depth filter +[14:39:39.992] DepthFilter: RESET. +[14:39:52.575] add key frame +[14:39:52.575] add key frame +[14:39:52.575] update seed +[14:39:52.575] init seeds +[14:39:52.581] DepthFilter: Initialized 109 new seeds +[14:39:59.573] add new frame +[14:39:59.573] add key frame +[14:39:59.573] update seed +[14:39:59.573] init seeds +[14:39:59.578] DepthFilter: Initialized 31 new seeds +[14:39:59.723] add new frame +[14:39:59.723] add key frame +[14:39:59.723] update seed +[14:39:59.723] init seeds +[14:39:59.725] DepthFilter: Initialized 43 new seeds +[14:40:00.031] add new frame +[14:40:00.031] add key frame +[14:40:00.031] update seed +[14:40:00.031] init seeds +[14:40:00.033] DepthFilter: Initialized 22 new seeds +[14:40:00.187] add new frame +[14:40:00.187] add key frame +[14:40:00.187] update seed +[14:40:00.187] init seeds +[14:40:00.190] DepthFilter: Initialized 22 new seeds +[14:40:00.692] add new frame +[14:40:00.692] add key frame +[14:40:00.692] update seed +[14:40:00.692] init seeds +[14:40:00.695] DepthFilter: Initialized 16 new seeds +[14:40:00.859] add new frame +[14:40:00.860] add key frame +[14:40:00.860] update seed +[14:40:00.860] init seeds +[14:40:00.862] DepthFilter: Initialized 16 new seeds +[14:40:01.033] add new frame +[14:40:01.033] update seed +[14:40:01.033] If point is visible? 1.022704, -1.533224, -3.219091 +[14:40:01.033] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:01.033] add key frame +[14:40:01.033] init seeds +[14:40:01.033] update seed +[14:40:01.033] init seeds +[14:40:01.036] DepthFilter: Initialized 17 new seeds +[14:40:01.039] DepthFilter: Initialized 92 new seeds +[14:40:01.211] add new frame +[14:40:01.211] add key frame +[14:40:01.211] update seed +[14:40:01.211] init seeds +[14:40:01.214] DepthFilter: Initialized 26 new seeds +[14:40:01.399] add new frame +[14:40:01.399] add key frame +[14:40:01.399] update seed +[14:40:01.399] init seeds +[14:40:01.402] DepthFilter: Initialized 14 new seeds +[14:40:01.587] add new frame +[14:40:01.588] add key frame +[14:40:01.588] update seed +[14:40:01.588] init seeds +[14:40:01.590] DepthFilter: Initialized 13 new seeds +[14:40:01.794] add new frame +[14:40:01.794] add key frame +[14:40:01.794] update seed +[14:40:01.794] init seeds +[14:40:01.797] DepthFilter: Initialized 11 new seeds +[14:40:02.009] add new frame +[14:40:02.009] add key frame +[14:40:02.009] update seed +[14:40:02.009] init seeds +[14:40:02.012] DepthFilter: Initialized 11 new seeds +[14:40:02.226] add new frame +[14:40:02.226] add key frame +[14:40:02.226] update seed +[14:40:02.226] init seeds +[14:40:02.229] DepthFilter: Initialized 7 new seeds +[14:40:02.449] add new frame +[14:40:02.449] add key frame +[14:40:02.449] update seed +[14:40:02.449] init seeds +[14:40:02.452] DepthFilter: Initialized 14 new seeds +[14:40:02.679] add new frame +[14:40:02.679] update seed +[14:40:02.679] add key frame +[14:40:02.679] If point is visible? 1.015999, -1.533224, -3.272256 +[14:40:02.679] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:02.679] init seeds +[14:40:02.679] update seed +[14:40:02.679] init seeds +[14:40:02.682] DepthFilter: Initialized 4 new seeds +[14:40:02.684] DepthFilter: Initialized 86 new seeds +[14:40:02.915] add new frame +[14:40:02.915] add key frame +[14:40:02.915] update seed +[14:40:02.915] init seeds +[14:40:02.917] DepthFilter: Initialized 7 new seeds +[14:40:03.390] add new frame +[14:40:03.390] add key frame +[14:40:03.390] update seed +[14:40:03.390] init seeds +[14:40:03.393] DepthFilter: Initialized 14 new seeds +[14:40:04.392] add new frame +[14:40:04.392] add key frame +[14:40:04.392] update seed +[14:40:04.392] init seeds +[14:40:04.395] DepthFilter: Initialized 13 new seeds +[14:40:04.894] add new frame +[14:40:04.894] update seed +[14:40:04.894] If point is visible? 0.998518, -1.533224, -3.388633 +[14:40:04.894] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.894] If point is visible? -0.493032, -1.545108, -3.624236 +[14:40:04.894] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.894] If point is visible? -0.493118, -1.540077, -3.627860 +[14:40:04.894] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.894] If point is visible? -0.320218, -1.494212, -3.686364 +[14:40:04.894] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.895] If point is visible? -0.335158, -1.514268, -3.670839 +[14:40:04.895] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.895] If point is visible? -0.183667, -1.531804, -3.671241 +[14:40:04.895] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.895] If point is visible? -0.191241, -1.531734, -3.670907 +[14:40:04.895] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.895] If point is visible? -0.100464, -1.356739, -3.786802 +[14:40:04.895] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.895] If point is visible? -0.100460, -1.361983, -3.783690 +[14:40:04.895] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.895] If point is visible? -0.008853, -1.282693, -3.828151 +[14:40:04.895] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.895] If point is visible? -0.001205, -1.277343, -3.830847 +[14:40:04.895] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.895] If point is visible? -0.016286, -1.137895, -3.902274 +[14:40:04.895] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.895] If point is visible? 0.481830, -0.931211, -3.926802 +[14:40:04.895] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.895] If point is visible? 0.474220, -0.931473, -3.928438 +[14:40:04.895] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.895] If point is visible? 0.451548, -0.910149, -3.941502 +[14:40:04.895] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.896] If point is visible? 0.443926, -0.910394, -3.943046 +[14:40:04.896] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.896] If point is visible? 0.466653, -0.926216, -3.932145 +[14:40:04.896] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.896] If point is visible? 0.405936, -0.889412, -3.958502 +[14:40:04.896] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.896] If point is visible? 0.694451, -0.867254, -3.892027 +[14:40:04.896] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.896] If point is visible? 0.329721, -0.846970, -3.987059 +[14:40:04.896] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.896] If point is visible? 0.846594, -0.659356, -3.904380 +[14:40:04.896] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.896] If point is visible? 0.392223, -0.489647, -4.070477 +[14:40:04.896] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.896] If point is visible? 0.384555, -0.489826, -4.071829 +[14:40:04.896] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.896] If point is visible? 0.376886, -0.490002, -4.073158 +[14:40:04.896] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.896] If point is visible? 0.392233, -0.483930, -4.071555 +[14:40:04.896] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.896] If point is visible? 0.384565, -0.484108, -4.072907 +[14:40:04.896] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.896] If point is visible? 0.353893, -0.473347, -4.080207 +[14:40:04.896] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.896] If point is visible? 0.877751, -0.443420, -3.941356 +[14:40:04.896] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.897] If point is visible? 0.870273, -0.443793, -3.944194 +[14:40:04.897] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.897] If point is visible? 0.115338, -0.448326, -4.113234 +[14:40:04.897] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.897] If point is visible? 0.353901, -0.467622, -4.081247 +[14:40:04.897] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.897] If point is visible? 0.115340, -0.442583, -4.114211 +[14:40:04.897] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.897] If point is visible? 0.907706, -0.413493, -3.934712 +[14:40:04.897] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.897] If point is visible? 0.900245, -0.413873, -3.937646 +[14:40:04.897] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.897] If point is visible? 0.892779, -0.414251, -3.940556 +[14:40:04.897] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.897] If point is visible? 0.877835, -0.414997, -3.946304 +[14:40:04.897] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.897] If point is visible? 0.870371, -0.409674, -3.950092 +[14:40:04.897] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.897] If point is visible? 0.376970, -0.426999, -4.084321 +[14:40:04.897] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.897] If point is visible? 0.376976, -0.421261, -4.085259 +[14:40:04.897] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.897] If point is visible? 0.384657, -0.409609, -4.085769 +[14:40:04.897] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.897] If point is visible? 0.922739, -0.350098, -3.938513 +[14:40:04.897] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.897] If point is visible? 0.900378, -0.339800, -3.948991 +[14:40:04.897] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.898] If point is visible? 0.900395, -0.294073, -3.954882 +[14:40:04.898] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.898] If point is visible? 0.930215, -0.286901, -3.943673 +[14:40:04.898] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.898] If point is visible? 0.930212, -0.281180, -3.944337 +[14:40:04.898] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.898] If point is visible? 0.621478, -0.265005, -4.051321 +[14:40:04.898] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.898] If point is visible? 0.944714, -0.125504, -3.951241 +[14:40:04.898] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.898] If point is visible? 0.765082, -0.144550, -4.017463 +[14:40:04.898] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.898] If point is visible? 0.907468, -0.121427, -3.966611 +[14:40:04.898] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.898] If point is visible? 0.376838, -0.120697, -4.116531 +[14:40:04.898] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.898] If point is visible? 0.369167, -0.120844, -4.117842 +[14:40:04.898] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.898] If point is visible? 0.376827, -0.114881, -4.116795 +[14:40:04.898] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.898] If point is visible? 0.369157, -0.115027, -4.118105 +[14:40:04.898] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.898] If point is visible? 0.914814, -0.098041, -3.964711 +[14:40:04.898] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.898] If point is visible? 0.613559, -0.103304, -4.065082 +[14:40:04.898] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.898] If point is visible? 0.605958, -0.103527, -4.067104 +[14:40:04.898] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.898] If point is visible? 1.229674, -0.035846, -3.815356 +[14:40:04.898] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.898] If point is visible? 0.951186, 0.024823, -3.951621 +[14:40:04.898] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.899] If point is visible? 0.914035, 0.023266, -3.966858 +[14:40:04.899] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.899] If point is visible? 0.928863, 0.029666, -3.960792 +[14:40:04.899] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.899] If point is visible? 1.292134, 0.426182, -3.739242 +[14:40:04.899] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.899] If point is visible? -0.499099, 0.411243, -4.092360 +[14:40:04.899] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.899] If point is visible? -0.506731, 0.411344, -4.091094 +[14:40:04.899] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.899] If point is visible? -0.276617, 0.561824, -4.090753 +[14:40:04.899] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.899] If point is visible? -0.284264, 0.561866, -4.090145 +[14:40:04.899] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.899] If point is visible? -0.284240, 0.567735, -4.088870 +[14:40:04.899] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.899] If point is visible? -0.503640, 0.750825, -4.014504 +[14:40:04.899] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.899] If point is visible? -0.320079, -1.509500, -3.675880 +[14:40:04.899] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.899] If point is visible? -0.290203, -1.458909, -3.713103 +[14:40:04.899] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.899] If point is visible? -0.320172, -1.499313, -3.682883 +[14:40:04.899] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.899] If point is visible? -0.092836, -1.367234, -3.780622 +[14:40:04.899] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.900] If point is visible? -0.001237, -1.293262, -3.822074 +[14:40:04.900] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.900] If point is visible? -0.092841, -1.356750, -3.786860 +[14:40:04.900] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.900] If point is visible? 1.212895, -1.008424, -3.595534 +[14:40:04.900] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.900] If point is visible? 0.504596, -0.935911, -3.919647 +[14:40:04.900] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.900] If point is visible? 0.489390, -0.936456, -3.923036 +[14:40:04.900] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.900] If point is visible? 0.367897, -0.862709, -3.975106 +[14:40:04.900] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.900] If point is visible? 0.474265, -0.925958, -3.930532 +[14:40:04.900] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.900] If point is visible? 0.674585, -0.240165, -4.038678 +[14:40:04.900] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.900] If point is visible? 0.369167, -0.120844, -4.117842 +[14:40:04.900] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.900] If point is visible? 1.178910, -0.010114, -3.843473 +[14:40:04.900] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.900] If point is visible? 1.441399, 0.324918, -3.658715 +[14:40:04.900] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.900] calculated Z= 0.644836 +[14:40:04.900] update seeds +[14:40:04.900] If point is visible? 1.341707, 0.411219, -3.711065 +[14:40:04.900] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.901] If point is visible? 1.383775, 0.401763, -3.685320 +[14:40:04.901] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.901] If point is visible? -0.506772, 0.405477, -4.092010 +[14:40:04.901] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.901] If point is visible? -0.307810, 0.415178, -4.115643 +[14:40:04.901] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.901] If point is visible? 1.445729, 0.574955, -3.602973 +[14:40:04.901] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.901] If point is visible? -0.276593, 0.567693, -4.089477 +[14:40:04.901] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.901] If point is visible? 1.687076, 0.695769, -3.364994 +[14:40:04.901] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.901] If point is visible? -0.276640, 0.555954, -4.092014 +[14:40:04.901] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.901] If point is visible? 1.634432, 0.727178, -3.401605 +[14:40:04.901] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.901] If point is visible? 0.943462, 0.788636, -3.825155 +[14:40:04.901] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.901] If point is visible? -0.425590, -1.527161, -3.649131 +[14:40:04.901] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.901] If point is visible? 0.671278, -0.917917, -3.880485 +[14:40:04.901] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.901] If point is visible? 0.641097, -0.919324, -3.889206 +[14:40:04.901] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.902] If point is visible? 0.610866, -0.920668, -3.897554 +[14:40:04.902] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.902] If point is visible? 0.610628, -0.942656, -3.889082 +[14:40:04.902] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.902] If point is visible? 0.398472, -0.861874, -3.969715 +[14:40:04.902] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.902] If point is visible? 0.883464, -0.707557, -3.876128 +[14:40:04.902] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.902] If point is visible? 0.461074, -0.522138, -4.050549 +[14:40:04.902] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.902] If point is visible? 0.430464, -0.522956, -4.056639 +[14:40:04.902] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.902] If point is visible? 0.674608, -0.263213, -4.036390 +[14:40:04.902] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.902] If point is visible? 0.399763, -0.085338, -4.113848 +[14:40:04.902] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.902] If point is visible? 1.265471, -0.027973, -3.794940 +[14:40:04.902] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.902] If point is visible? 0.973608, 0.002684, -3.942239 +[14:40:04.902] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.902] If point is visible? 0.943950, 0.001387, -3.954762 +[14:40:04.902] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.902] If point is visible? 0.397853, 0.335745, -4.093993 +[14:40:04.902] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.902] If point is visible? -0.491807, 0.358331, -4.101355 +[14:40:04.902] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.902] If point is visible? 0.397688, 0.359202, -4.090886 +[14:40:04.902] Z inverse min: 5.577651, Z inverse max: 0.000000 +[14:40:04.903] If point is visible? -0.039524, 0.011608, -0.212407 +[14:40:04.903] Z inverse min: -41.077831, Z inverse max: 0.000000 +[14:40:04.903] If point is visible? -0.025464, 0.007407, -0.211341 +[14:40:04.903] Z inverse min: -41.077831, Z inverse max: 0.000000 +[14:40:04.903] If point is visible? -0.032030, 0.007733, -0.209931 +[14:40:04.903] Z inverse min: -41.077831, Z inverse max: 0.000000 +[14:40:04.903] If point is visible? -0.047875, 0.006286, -0.214257 +[14:40:04.903] Z inverse min: -41.077831, Z inverse max: 0.000000 +[14:40:04.903] If point is visible? -0.049201, -0.002836, -0.214471 +[14:40:04.903] Z inverse min: -41.077831, Z inverse max: 0.000000 +[14:40:04.903] If point is visible? -0.021133, -0.003577, -0.212536 +[14:40:04.903] Z inverse min: -41.077831, Z inverse max: 0.000000 +[14:40:04.903] calculated Z= 0.206281 +[14:40:04.903] update seeds +[14:40:04.903] If point is visible? -0.021461, -0.005901, -0.212889 +[14:40:04.903] Z inverse min: -41.077831, Z inverse max: 0.000000 +[14:40:04.903] If point is visible? -0.021466, -0.005952, -0.212901 +[14:40:04.903] Z inverse min: -41.077831, Z inverse max: 0.000000 +[14:40:04.903] If point is visible? -0.038052, -0.007360, -0.210144 +[14:40:04.903] Z inverse min: -41.077831, Z inverse max: 0.000000 +[14:40:04.903] If point is visible? -0.037964, 0.003747, -0.209242 +[14:40:04.903] Z inverse min: -41.077831, Z inverse max: 0.000000 +[14:40:04.903] calculated Z= 0.063170 +[14:40:04.903] update seeds +[14:40:04.903] If point is visible? -0.032640, 0.000493, -0.208602 +[14:40:04.903] Z inverse min: -41.077831, Z inverse max: 0.000000 +[14:40:04.904] If point is visible? -0.033340, 0.000290, -0.208575 +[14:40:04.904] Z inverse min: -41.077831, Z inverse max: 0.000000 +[14:40:04.904] If point is visible? -0.032642, 0.000389, -0.208600 +[14:40:04.904] Z inverse min: -41.077831, Z inverse max: 0.000000 +[14:40:04.904] If point is visible? -0.027894, -0.003371, -0.209559 +[14:40:04.904] Z inverse min: -41.077831, Z inverse max: 0.000000 +[14:40:04.904] If point is visible? -0.021184, -0.003469, -0.212484 +[14:40:04.904] Z inverse min: -41.077831, Z inverse max: 0.000000 +[14:40:04.904] calculated Z= 0.208937 +[14:40:04.904] update seeds +[14:40:04.904] If point is visible? -0.027888, -0.003266, -0.209545 +[14:40:04.904] Z inverse min: -41.077831, Z inverse max: 0.000000 +[14:40:04.904] If point is visible? -0.021655, -0.007083, -0.213163 +[14:40:04.904] Z inverse min: -41.077831, Z inverse max: 0.000000 +[14:40:04.904] If point is visible? -0.026668, -0.006244, -0.210536 +[14:40:04.904] Z inverse min: -41.077831, Z inverse max: 0.000000 +[14:40:04.904] If point is visible? -0.038191, -0.007358, -0.210171 +[14:40:04.904] Z inverse min: -41.077831, Z inverse max: 0.000000 +[14:40:04.904] If point is visible? -0.019594, -0.008619, -0.215329 +[14:40:04.904] Z inverse min: -41.077831, Z inverse max: 0.000000 +[14:40:04.904] If point is visible? -0.045071, 0.008848, -0.213384 +[14:40:04.904] Z inverse min: -41.077831, Z inverse max: 0.000000 +[14:40:04.904] If point is visible? -0.032615, 0.003285, -0.208826 +[14:40:04.904] Z inverse min: -41.077831, Z inverse max: 0.000000 +[14:40:04.904] If point is visible? -0.028870, 0.007087, -0.210189 +[14:40:04.904] Z inverse min: -41.077831, Z inverse max: 0.000000 +[14:40:04.904] If point is visible? -0.037963, 0.003645, -0.209225 +[14:40:04.904] Z inverse min: -41.077831, Z inverse max: 0.000000 +[14:40:04.904] If point is visible? -0.032895, 0.002257, -0.208693 +[14:40:04.904] Z inverse min: -41.077831, Z inverse max: 0.000000 +[14:40:04.905] If point is visible? -0.027058, -0.006231, -0.210409 +[14:40:04.905] Z inverse min: -41.077831, Z inverse max: 0.000000 +[14:40:04.905] If point is visible? -0.025006, -0.006307, -0.211169 +[14:40:04.905] Z inverse min: -41.077831, Z inverse max: 0.000000 +[14:40:04.905] If point is visible? -0.027039, -0.006022, -0.210357 +[14:40:04.905] Z inverse min: -41.077831, Z inverse max: 0.000000 +[14:40:04.905] If point is visible? -0.038601, -0.007252, -0.210221 +[14:40:04.905] Z inverse min: -41.077831, Z inverse max: 0.000000 +[14:40:04.905] If point is visible? -0.038615, -0.007455, -0.210292 +[14:40:04.905] Z inverse min: -41.077831, Z inverse max: 0.000000 +[14:40:04.905] If point is visible? -0.034387, -0.006685, -0.209537 +[14:40:04.905] Z inverse min: -41.077831, Z inverse max: 0.000000 +[14:40:04.905] If point is visible? -0.014626, 0.074550, -0.015010 +[14:40:04.905] If point is visible? -0.014648, 0.075019, -0.015175 +[14:40:04.905] If point is visible? 0.048322, 0.066235, -0.026930 +[14:40:04.905] If point is visible? -0.164334, 0.053792, -0.053343 +[14:40:04.905] If point is visible? -0.175157, -0.020401, -0.054846 +[14:40:04.905] If point is visible? 0.030979, -0.016707, -0.011091 +[14:40:04.905] If point is visible? 0.029686, -0.017655, -0.010796 +[14:40:04.905] If point is visible? 0.030310, -0.017676, -0.010976 +[14:40:04.905] If point is visible? 0.030333, -0.017181, -0.010942 +[14:40:04.905] If point is visible? 0.029663, -0.018150, -0.010831 +[14:40:04.905] If point is visible? 0.030288, -0.018171, -0.011010 +[14:40:04.905] If point is visible? -0.080304, -0.024386, -0.008381 +[14:40:04.905] If point is visible? 0.025411, -0.046809, -0.014010 +[14:40:04.905] If point is visible? 0.026034, -0.046828, -0.014182 +[14:40:04.905] If point is visible? 0.026657, -0.046848, -0.014356 +[14:40:04.905] If point is visible? 0.086454, -0.056355, -0.043453 +[14:40:04.905] If point is visible? 0.037747, -0.061588, -0.021570 +[14:40:04.905] If point is visible? 0.084612, -0.067526, -0.046077 +[14:40:04.905] If point is visible? -0.062930, 0.132872, -0.047869 +[14:40:04.905] If point is visible? -0.121957, 0.119399, -0.058885 +[14:40:04.905] If point is visible? -0.018118, 0.099944, -0.025503 +[14:40:04.905] If point is visible? -0.016820, 0.099945, -0.025593 +[14:40:04.905] If point is visible? -0.070000, 0.035459, -0.007832 +[14:40:04.905] If point is visible? -0.022088, 0.021337, -0.002835 +[14:40:04.905] If point is visible? -0.022094, 0.020361, -0.002744 +[14:40:04.905] If point is visible? 0.028457, -0.017118, -0.010409 +[14:40:04.905] If point is visible? 0.029708, -0.017160, -0.010762 +[14:40:04.905] If point is visible? 0.025290, -0.029921, -0.010950 +[14:40:04.905] If point is visible? -0.117025, -0.051229, -0.025004 +[14:40:04.905] If point is visible? 0.036573, -0.061053, -0.021018 +[14:40:04.905] If point is visible? 0.085225, -0.067068, -0.046301 +[14:40:04.905] If point is visible? -0.024785, -0.067357, -0.012057 +[14:40:04.905] If point is visible? -0.023574, -0.068361, -0.012416 +[14:40:04.905] If point is visible? -0.131393, 0.101638, -0.052653 +[14:40:04.905] If point is visible? -0.018050, 0.099037, -0.025059 +[14:40:04.905] If point is visible? -0.020650, 0.099033, -0.024902 +[14:40:04.905] If point is visible? -0.133757, 0.096264, -0.050979 +[14:40:04.905] If point is visible? 0.014676, 0.067039, -0.016853 +[14:40:04.905] If point is visible? 0.012073, -0.056335, -0.013179 +[14:40:04.905] If point is visible? 0.014593, -0.056404, -0.013726 +[14:40:04.905] If point is visible? 0.053660, -0.059724, -0.027078 +[14:40:04.905] If point is visible? -0.037483, -0.063225, -0.010789 +[14:40:04.905] If point is visible? 0.101077, -0.077568, -0.062173 +[14:40:04.905] If point is visible? -0.053569, 0.050077, -0.070304 +[14:40:04.905] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:04.905] If point is visible? -0.123542, -0.012575, -0.093896 +[14:40:04.905] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:04.905] If point is visible? 0.010011, -0.011649, -0.065226 +[14:40:04.905] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:04.905] If point is visible? -0.124717, -0.017753, -0.095569 +[14:40:04.905] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:04.905] If point is visible? 0.027351, -0.033002, -0.074671 +[14:40:04.905] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:04.905] If point is visible? -0.008617, -0.040043, -0.066467 +[14:40:04.905] If point is visible? -0.028690, 0.016728, -0.060438 +[14:40:04.905] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:04.906] If point is visible? -0.028692, 0.016083, -0.060366 +[14:40:04.906] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:04.906] If point is visible? -0.124716, -0.016850, -0.095430 +[14:40:04.906] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:04.906] If point is visible? 0.010455, -0.019222, -0.066168 +[14:40:04.906] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:04.906] If point is visible? 0.028988, -0.032416, -0.075231 +[14:40:04.906] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:04.906] If point is visible? -0.008589, -0.039717, -0.066380 +[14:40:04.906] If point is visible? -0.092618, 0.073204, -0.095314 +[14:40:04.906] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:04.906] If point is visible? -0.091085, 0.076673, -0.096773 +[14:40:04.906] If point is visible? -0.020844, 0.016697, -0.060670 +[14:40:04.906] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:04.906] If point is visible? -0.105569, -0.029132, -0.083942 +[14:40:04.906] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:04.906] If point is visible? 0.002634, -0.036074, -0.067485 +[14:40:04.906] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:04.906] If point is visible? 0.004295, -0.036122, -0.067883 +[14:40:04.906] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:04.906] If point is visible? -0.087078, -0.032683, -0.075157 +[14:40:04.906] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:04.906] If point is visible? -0.063637, -0.047936, -0.071696 +[14:40:04.906] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:04.906] If point is visible? -0.061814, -0.046685, -0.070818 +[14:40:04.906] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:04.906] If point is visible? 0.028454, -0.038288, -0.076565 +[14:40:04.906] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:04.906] If point is visible? -0.228849, 0.053838, 0.022835 +[14:40:04.906] If point is visible? -0.033308, 0.032578, 0.101139 +[14:40:04.906] Z inverse min: -3.042733, Z inverse max: 0.000000 +[14:40:04.906] If point is visible? 0.050444, 0.001032, 0.092476 +[14:40:04.906] Z inverse min: -3.042733, Z inverse max: 0.000000 +[14:40:04.906] If point is visible? 0.051305, 0.001004, 0.092245 +[14:40:04.906] Z inverse min: -3.042733, Z inverse max: 0.000000 +[14:40:04.906] If point is visible? 0.051287, 0.000329, 0.092251 +[14:40:04.906] Z inverse min: -3.042733, Z inverse max: 0.000000 +[14:40:04.906] If point is visible? 0.055579, 0.000186, 0.091058 +[14:40:04.906] Z inverse min: -3.042733, Z inverse max: 0.000000 +[14:40:04.906] If point is visible? -0.224054, -0.022842, 0.032032 +[14:40:04.906] If point is visible? -0.224883, -0.031610, 0.030333 +[14:40:04.906] If point is visible? 0.142187, -0.070304, 0.041050 +[14:40:04.906] If point is visible? 0.142119, -0.070972, 0.040905 +[14:40:04.906] If point is visible? 0.067000, -0.079603, 0.076506 +[14:40:04.906] If point is visible? 0.072888, -0.079142, 0.074559 +[14:40:04.906] If point is visible? 0.072951, -0.078467, 0.074726 +[14:40:04.906] If point is visible? -0.007272, 0.055735, 0.097031 +[14:40:04.906] Z inverse min: -3.042733, Z inverse max: 0.000000 +[14:40:04.907] If point is visible? -0.009048, 0.054425, 0.097392 +[14:40:04.907] Z inverse min: -3.042733, Z inverse max: 0.000000 +[14:40:04.907] If point is visible? -0.032393, 0.037238, 0.100618 +[14:40:04.907] Z inverse min: -3.042733, Z inverse max: 0.000000 +[14:40:04.907] If point is visible? 0.032222, -0.055429, 0.091617 +[14:40:04.907] Z inverse min: -3.042733, Z inverse max: 0.000000 +[14:40:04.907] If point is visible? -0.037030, -0.083848, 0.091143 +[14:40:04.907] If point is visible? -0.106151, -0.093743, 0.077920 +[14:40:04.907] If point is visible? 0.037922, -0.071884, 0.086813 +[14:40:04.907] If point is visible? 0.041355, -0.071984, 0.085979 +[14:40:04.907] If point is visible? -0.019409, -0.086816, 0.090243 +[14:40:04.907] If point is visible? -0.071578, 0.050818, 0.083056 +[14:40:04.907] Z inverse min: -3.513273, Z inverse max: 0.000000 +[14:40:04.907] If point is visible? 0.072914, 0.037192, 0.070702 +[14:40:04.907] Z inverse min: -3.513273, Z inverse max: 0.000000 +[14:40:04.907] If point is visible? 0.133607, -0.007003, 0.039941 +[14:40:04.907] If point is visible? -0.056774, 0.154535, 0.040781 +[14:40:04.907] If point is visible? 0.006394, -0.076080, 0.079089 +[14:40:04.907] If point is visible? -0.106184, -0.085525, 0.064784 +[14:40:04.907] If point is visible? -0.148019, 0.108098, 0.036349 +[14:40:04.907] If point is visible? 0.036751, 0.082086, 0.071568 +[14:40:04.907] If point is visible? 0.039764, 0.081997, 0.070826 +[14:40:04.907] If point is visible? -0.012939, 0.128823, 0.058779 +[14:40:04.907] If point is visible? -0.009363, 0.080511, 0.079190 +[14:40:04.907] If point is visible? -0.008293, 0.041684, 0.088246 +[14:40:04.907] Z inverse min: -3.513273, Z inverse max: 0.000000 +[14:40:04.907] If point is visible? 0.032632, -0.072124, 0.075627 +[14:40:04.907] If point is visible? 0.081953, -0.074043, 0.058342 +[14:40:04.907] If point is visible? 0.032880, -0.069770, 0.076233 +[14:40:04.907] If point is visible? 0.079422, -0.071566, 0.060245 +[14:40:04.907] If point is visible? 0.009962, 0.148661, 0.145536 +[14:40:04.907] If point is visible? 0.179678, 0.061471, 0.108328 +[14:40:04.907] Z inverse min: -2.818008, Z inverse max: 0.000000 +[14:40:04.907] If point is visible? 0.119148, 0.037951, 0.147515 +[14:40:04.907] Z inverse min: -2.818008, Z inverse max: 0.000000 +[14:40:04.907] If point is visible? 0.014707, -0.103212, 0.162646 +[14:40:04.907] If point is visible? -0.054045, 0.052830, 0.175177 +[14:40:04.907] Z inverse min: -2.818008, Z inverse max: 0.000000 +[14:40:04.907] If point is visible? 0.070992, -0.050026, 0.163531 +[14:40:04.907] Z inverse min: -2.818008, Z inverse max: 0.000000 +[14:40:04.907] If point is visible? 0.113737, -0.082783, 0.141335 +[14:40:04.907] Z inverse min: -2.818008, Z inverse max: 0.000000 +[14:40:04.907] If point is visible? 0.014790, -0.102447, 0.162873 +[14:40:04.907] If point is visible? -0.035316, -0.115009, 0.160880 +[14:40:04.907] If point is visible? -0.008144, 0.168361, 0.136978 +[14:40:04.907] If point is visible? -0.007860, 0.165573, 0.138474 +[14:40:04.907] If point is visible? -0.213754, 0.167716, 0.072607 +[14:40:04.907] If point is visible? -0.003320, 0.102274, 0.164555 +[14:40:04.907] If point is visible? 0.058473, -0.060453, 0.165141 +[14:40:04.907] Z inverse min: -2.818008, Z inverse max: 0.000000 +[14:40:04.907] If point is visible? -0.146650, -0.114397, 0.137877 +[14:40:04.907] If point is visible? 0.188655, -0.119005, 0.081702 +[14:40:04.907] If point is visible? 0.002340, 0.081649, 0.082976 +[14:40:04.907] If point is visible? -0.172449, 0.120196, 0.016754 +[14:40:04.907] If point is visible? -0.056778, 0.150537, 0.048201 +[14:40:04.907] If point is visible? -0.173797, 0.117102, 0.017645 +[14:40:04.907] If point is visible? -0.171069, 0.122339, 0.016453 +[14:40:04.907] If point is visible? -0.000521, 0.076624, 0.084828 +[14:40:04.907] If point is visible? 0.081960, -0.064184, 0.066570 +[14:40:04.907] If point is visible? -0.151827, 0.092467, 0.045616 +[14:40:04.907] If point is visible? 0.040369, 0.081495, 0.076072 +[14:40:04.907] If point is visible? -0.011798, 0.125916, 0.065249 +[14:40:04.907] If point is visible? -0.171031, 0.121400, 0.017096 +[14:40:04.907] If point is visible? -0.168352, 0.127536, 0.015082 +[14:40:04.907] If point is visible? -0.146274, 0.107442, 0.041849 +[14:40:04.907] If point is visible? -0.008353, 0.077779, 0.085085 +[14:40:04.907] If point is visible? -0.005235, 0.077770, 0.084875 +[14:40:04.907] If point is visible? 0.140074, -0.090631, 0.020036 +[14:40:04.908] If point is visible? -0.120431, -0.086943, 0.063510 +[14:40:04.908] If point is visible? -0.056345, 0.132185, 0.059866 +[14:40:04.908] If point is visible? -0.007269, 0.127002, 0.064380 +[14:40:04.908] If point is visible? -0.004794, 0.125414, 0.065044 +[14:40:04.908] If point is visible? -0.003916, 0.124350, 0.065536 +[14:40:04.908] If point is visible? -0.003970, 0.124883, 0.065258 +[14:40:04.908] If point is visible? 0.000089, 0.122746, 0.065999 +[14:40:04.908] If point is visible? -0.065391, 0.093980, 0.076639 +[14:40:04.908] If point is visible? -0.066043, 0.091227, 0.077563 +[14:40:04.908] If point is visible? -0.066702, 0.088468, 0.078452 +[14:40:04.908] If point is visible? 0.002657, 0.090007, 0.080085 +[14:40:04.908] If point is visible? 0.002623, 0.090562, 0.079887 +[14:40:04.908] If point is visible? -0.066675, 0.087920, 0.078651 +[14:40:04.908] If point is visible? -0.066596, 0.086277, 0.079241 +[14:40:04.908] If point is visible? -0.067344, 0.085152, 0.079500 +[14:40:04.908] If point is visible? -0.068020, 0.082377, 0.080314 +[14:40:04.908] If point is visible? -0.067268, 0.083505, 0.080070 +[14:40:04.908] If point is visible? -0.067902, 0.079624, 0.081225 +[14:40:04.908] If point is visible? 0.002340, 0.081649, 0.082976 +[14:40:04.908] If point is visible? -0.003001, 0.058550, 0.089800 +[14:40:04.908] If point is visible? -0.002222, 0.058544, 0.089737 +[14:40:04.908] If point is visible? -0.008188, 0.021817, 0.095794 +[14:40:04.908] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:04.908] If point is visible? 0.052855, -0.007016, 0.085704 +[14:40:04.908] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:04.908] If point is visible? 0.073758, -0.013169, 0.078185 +[14:40:04.908] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:04.908] If point is visible? 0.048084, -0.014482, 0.086783 +[14:40:04.908] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:04.908] If point is visible? 0.048825, -0.014508, 0.086572 +[14:40:04.908] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:04.908] If point is visible? 0.049566, -0.014534, 0.086358 +[14:40:04.908] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:04.908] If point is visible? 0.053260, -0.014668, 0.085256 +[14:40:04.908] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:04.908] If point is visible? 0.062551, -0.019736, 0.081899 +[14:40:04.908] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:04.908] If point is visible? 0.055809, -0.022412, 0.083902 +[14:40:04.908] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:04.908] If point is visible? 0.056542, -0.022440, 0.083667 +[14:40:04.908] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:04.908] If point is visible? 0.058105, -0.020735, 0.083309 +[14:40:04.908] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:04.908] If point is visible? -0.076430, -0.028640, 0.090430 +[14:40:04.908] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:04.908] If point is visible? 0.135252, -0.040939, 0.040312 +[14:40:04.908] If point is visible? 0.082753, -0.048919, 0.069845 +[14:40:04.908] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:04.908] If point is visible? 0.050245, -0.057564, 0.080021 +[14:40:04.908] If point is visible? 0.050978, -0.057591, 0.079795 +[14:40:04.908] If point is visible? 0.051709, -0.057618, 0.079567 +[14:40:04.908] If point is visible? 0.131238, -0.071591, 0.035039 +[14:40:04.908] If point is visible? 0.047883, -0.079807, 0.074532 +[14:40:04.908] If point is visible? 0.005240, -0.079653, 0.083291 +[14:40:04.908] If point is visible? 0.129518, -0.087715, 0.029999 +[14:40:04.908] If point is visible? -0.056778, 0.150537, 0.048201 +[14:40:04.908] If point is visible? -0.158881, 0.144034, 0.010032 +[14:40:04.908] If point is visible? -0.137862, 0.123518, 0.037717 +[14:40:04.908] If point is visible? -0.171069, 0.122339, 0.016453 +[14:40:04.908] If point is visible? -0.172449, 0.120196, 0.016754 +[14:40:04.908] If point is visible? -0.056345, 0.132185, 0.059866 +[14:40:04.908] If point is visible? -0.175149, 0.113994, 0.018476 +[14:40:04.908] If point is visible? -0.173797, 0.117102, 0.017645 +[14:40:04.908] If point is visible? -0.000521, 0.076624, 0.084828 +[14:40:04.908] If point is visible? -0.003061, 0.060824, 0.089281 +[14:40:04.908] If point is visible? -0.002731, 0.043690, 0.092691 +[14:40:04.908] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:04.908] If point is visible? -0.010881, 0.003240, 0.096818 +[14:40:04.908] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:04.908] If point is visible? 0.055525, -0.013577, 0.084618 +[14:40:04.908] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:04.908] If point is visible? 0.053636, -0.021741, 0.084636 +[14:40:04.908] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:04.909] If point is visible? 0.054053, -0.013522, 0.085078 +[14:40:04.909] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:04.909] If point is visible? 0.055171, -0.020622, 0.084254 +[14:40:04.909] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:04.909] If point is visible? -0.077202, -0.028067, 0.090336 +[14:40:04.909] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:04.909] If point is visible? -0.075602, -0.028058, 0.090659 +[14:40:04.909] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:04.909] If point is visible? 0.174850, -0.036907, 0.004119 +[14:40:04.909] If point is visible? 0.049644, -0.038092, 0.083901 +[14:40:04.909] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:04.909] If point is visible? 0.081960, -0.064184, 0.066570 +[14:40:04.909] If point is visible? 0.130764, -0.070397, 0.035811 +[14:40:04.909] If point is visible? 0.005304, -0.079071, 0.083467 +[14:40:04.909] If point is visible? -0.041786, -0.084969, 0.082660 +[14:40:04.909] If point is visible? 0.064680, -0.078694, 0.069300 +[14:40:04.909] If point is visible? -0.008353, 0.077779, 0.085085 +[14:40:04.909] If point is visible? -0.005235, 0.077770, 0.084875 +[14:40:04.909] If point is visible? -0.171031, 0.121400, 0.017096 +[14:40:04.909] If point is visible? -0.168352, 0.127536, 0.015082 +[14:40:04.909] If point is visible? 0.037375, 0.081583, 0.076811 +[14:40:04.909] If point is visible? 0.040369, 0.081495, 0.076072 +[14:40:04.909] If point is visible? -0.162962, 0.137801, 0.011807 +[14:40:04.909] If point is visible? -0.151827, 0.092467, 0.045616 +[14:40:04.909] If point is visible? -0.011798, 0.125916, 0.065249 +[14:40:04.909] If point is visible? -0.146274, 0.107442, 0.041849 +[14:40:04.909] If point is visible? -0.004589, 0.059697, 0.089663 +[14:40:04.909] If point is visible? -0.067814, 0.045486, 0.089616 +[14:40:04.909] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:04.909] If point is visible? -0.004290, 0.043703, 0.092812 +[14:40:04.909] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:04.909] If point is visible? -0.007364, 0.027598, 0.095204 +[14:40:04.909] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:04.909] If point is visible? 0.055171, -0.020622, 0.084254 +[14:40:04.909] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:04.909] If point is visible? 0.067317, -0.011706, 0.080709 +[14:40:04.909] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:04.909] If point is visible? 0.035663, -0.045874, 0.086288 +[14:40:04.909] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:04.909] If point is visible? 0.038647, -0.045969, 0.085554 +[14:40:04.909] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:04.909] If point is visible? 0.061962, -0.077412, 0.070710 +[14:40:04.909] If point is visible? 0.140074, -0.090631, 0.020036 +[14:40:04.909] If point is visible? -0.126454, -0.084624, 0.061792 +[14:40:04.909] If point is visible? 0.035993, -0.074121, 0.079496 +[14:40:04.909] If point is visible? 0.059365, -0.074963, 0.072398 +[14:40:04.909] If point is visible? 0.064303, -0.013928, 0.081677 +[14:40:04.909] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:04.909] If point is visible? -0.120431, -0.086943, 0.063510 +[14:40:04.909] If point is visible? -0.132464, -0.082318, 0.059881 +[14:40:04.909] If point is visible? 0.018536, 0.143678, 0.023227 +[14:40:04.909] If point is visible? 0.001396, 0.080406, 0.060436 +[14:40:04.909] If point is visible? -0.059068, 0.042499, 0.069175 +[14:40:04.909] Z inverse min: -3.882996, Z inverse max: 0.000000 +[14:40:04.909] If point is visible? -0.031733, 0.036221, 0.072786 +[14:40:04.909] Z inverse min: -3.882996, Z inverse max: 0.000000 +[14:40:04.909] If point is visible? 0.052510, -0.018184, 0.062626 +[14:40:04.909] Z inverse min: -3.882996, Z inverse max: 0.000000 +[14:40:04.910] If point is visible? 0.056495, -0.017289, 0.061322 +[14:40:04.910] Z inverse min: -3.882996, Z inverse max: 0.000000 +[14:40:04.910] If point is visible? 0.119177, -0.063993, 0.017757 +[14:40:04.910] If point is visible? -0.145039, 0.129421, -0.003036 +[14:40:04.910] If point is visible? -0.163347, 0.093960, 0.006412 +[14:40:04.910] If point is visible? -0.164598, 0.091993, 0.006453 +[14:40:04.910] If point is visible? 0.049850, -0.018609, 0.063464 +[14:40:04.910] Z inverse min: -3.882996, Z inverse max: 0.000000 +[14:40:04.910] If point is visible? 0.051167, -0.018660, 0.063032 +[14:40:04.910] Z inverse min: -3.882996, Z inverse max: 0.000000 +[14:40:04.910] If point is visible? 0.158035, -0.032391, -0.010719 +[14:40:04.910] If point is visible? 0.027636, -0.049623, 0.064876 +[14:40:04.910] If point is visible? -0.124170, -0.074971, 0.040146 +[14:40:04.910] If point is visible? -0.129420, -0.070950, 0.038920 +[14:40:04.910] If point is visible? -0.034741, -0.080628, 0.061435 +[14:40:04.910] If point is visible? -0.013175, 0.115094, 0.046004 +[14:40:04.910] If point is visible? 0.033892, 0.073278, 0.056908 +[14:40:04.910] If point is visible? 0.036577, 0.073195, 0.056222 +[14:40:04.910] If point is visible? -0.126273, 0.111870, 0.021352 +[14:40:04.910] If point is visible? -0.121459, 0.123042, 0.016828 +[14:40:04.910] If point is visible? -0.148710, 0.123817, -0.001452 +[14:40:04.910] If point is visible? 0.058038, -0.012598, 0.061081 +[14:40:04.910] Z inverse min: -3.882996, Z inverse max: 0.000000 +[14:40:04.910] If point is visible? -0.126853, -0.073940, 0.039178 +[14:40:04.910] If point is visible? -0.124231, -0.075953, 0.039753 +[14:40:04.910] If point is visible? -0.160822, -0.040472, 0.501713 +[14:40:04.910] Z inverse min: -1.443578, Z inverse max: 0.000000 +[14:40:04.910] calculated Z= 1.007325 +[14:40:04.910] update seeds +[14:40:04.910] If point is visible? -0.158794, -0.040452, 0.502134 +[14:40:04.910] Z inverse min: -1.443578, Z inverse max: 0.000000 +[14:40:04.910] If point is visible? 0.159868, -0.208014, 0.457688 +[14:40:04.910] Z inverse min: -1.443578, Z inverse max: 0.000000 +[14:40:04.910] If point is visible? 0.160045, -0.206539, 0.458132 +[14:40:04.910] Z inverse min: -1.443578, Z inverse max: 0.000000 +[14:40:04.910] If point is visible? 0.329623, -0.214129, 0.376389 +[14:40:04.910] Z inverse min: -1.443578, Z inverse max: 0.000000 +[14:40:04.910] If point is visible? -0.099681, 0.340221, 0.420132 +[14:40:04.910] If point is visible? -0.417837, 0.264625, 0.321651 +[14:40:04.910] Z inverse min: -1.443578, Z inverse max: 0.000000 +[14:40:04.910] If point is visible? -0.033110, -0.023968, 0.516639 +[14:40:04.910] Z inverse min: -1.443578, Z inverse max: 0.000000 +[14:40:04.910] If point is visible? 0.176083, -0.096898, 0.479768 +[14:40:04.910] Z inverse min: -1.443578, Z inverse max: 0.000000 +[14:40:04.910] If point is visible? -0.060230, -0.232842, 0.474642 +[14:40:04.910] Z inverse min: -1.443578, Z inverse max: 0.000000 +[14:40:04.910] If point is visible? -0.292850, 0.357239, 0.347476 +[14:40:04.910] If point is visible? 0.032466, 0.075611, 0.510585 +[14:40:04.910] Z inverse min: -1.443578, Z inverse max: 0.000000 +[14:40:04.910] If point is visible? 0.148389, -0.116808, 0.484463 +[14:40:04.910] Z inverse min: -1.443578, Z inverse max: 0.000000 +[14:40:04.910] If point is visible? 0.141683, -0.188092, 0.469124 +[14:40:04.910] Z inverse min: -1.443578, Z inverse max: 0.000000 +[14:40:04.910] If point is visible? 0.017704, 0.003978, 0.378985 +[14:40:04.910] Z inverse min: -1.768857, Z inverse max: 0.000000 +[14:40:04.910] If point is visible? -0.125902, -0.034187, 0.369129 +[14:40:04.910] Z inverse min: -1.768857, Z inverse max: 0.000000 +[14:40:04.910] If point is visible? -0.083597, 0.294724, 0.287157 +[14:40:04.910] If point is visible? -0.080382, 0.264171, 0.306613 +[14:40:04.910] If point is visible? 0.296055, -0.164096, 0.242209 +[14:40:04.910] Z inverse min: -1.768857, Z inverse max: 0.000000 +[14:40:04.910] If point is visible? 0.298495, -0.164244, 0.240166 +[14:40:04.910] Z inverse min: -1.768857, Z inverse max: 0.000000 +[14:40:04.911] If point is visible? -0.073404, -0.171684, 0.349413 +[14:40:04.911] Z inverse min: -1.768857, Z inverse max: 0.000000 +[14:40:04.911] If point is visible? 0.114994, 0.162403, 0.336241 +[14:40:04.911] Z inverse min: -1.768857, Z inverse max: 0.000000 +[14:40:04.911] If point is visible? -0.241031, 0.265415, 0.254315 +[14:40:04.911] If point is visible? -0.073861, -0.176256, 0.347776 +[14:40:04.911] Z inverse min: -1.768857, Z inverse max: 0.000000 +[14:40:04.911] If point is visible? 0.111740, -0.153083, 0.340140 +[14:40:04.911] Z inverse min: -1.768857, Z inverse max: 0.000000 +[14:40:04.911] If point is visible? -0.283765, -0.168058, 0.280153 +[14:40:04.911] Z inverse min: -1.768857, Z inverse max: 0.000000 +[14:40:04.911] If point is visible? -0.277820, -0.168183, 0.283651 +[14:40:04.911] Z inverse min: -1.768857, Z inverse max: 0.000000 +[14:40:04.911] If point is visible? 0.260092, 0.153608, 0.410360 +[14:40:04.911] Z inverse min: -1.490735, Z inverse max: 0.000000 +[14:40:04.911] If point is visible? -0.142706, -0.040093, 0.483724 +[14:40:04.911] Z inverse min: -1.490735, Z inverse max: 0.000000 +[14:40:04.911] If point is visible? -0.093278, 0.321167, 0.406434 +[14:40:04.911] If point is visible? 0.181067, -0.090502, 0.456468 +[14:40:04.911] Z inverse min: -1.490735, Z inverse max: 0.000000 +[14:40:04.911] If point is visible? -0.314965, 0.256472, 0.366467 +[14:40:04.911] Z inverse min: -1.490735, Z inverse max: 0.000000 +[14:40:04.911] If point is visible? 0.143966, 0.202856, 0.440455 +[14:40:04.911] Z inverse min: -1.490735, Z inverse max: 0.000000 +[14:40:04.911] If point is visible? 0.151173, 0.202610, 0.438458 +[14:40:04.911] Z inverse min: -1.490735, Z inverse max: 0.000000 +[14:40:04.911] If point is visible? 0.151474, 0.197171, 0.440211 +[14:40:04.911] Z inverse min: -1.490735, Z inverse max: 0.000000 +[14:40:04.911] If point is visible? 0.036485, 0.072393, 0.489354 +[14:40:04.911] Z inverse min: -1.490735, Z inverse max: 0.000000 +[14:40:04.911] If point is visible? -0.092958, -0.214123, 0.455692 +[14:40:04.911] Z inverse min: -1.490735, Z inverse max: 0.000000 +[14:40:04.911] If point is visible? -0.333935, -0.214861, 0.374305 +[14:40:04.911] Z inverse min: -1.490735, Z inverse max: 0.000000 +[14:40:04.911] If point is visible? -6365.151974, 8138.023098, 39717.537842 +[14:40:04.911] Z inverse min: -0.000024, Z inverse max: 0.000000 +[14:40:04.911] If point is visible? -7714.940323, -2450.950198, 40233.044155 +[14:40:04.911] Z inverse min: -0.000024, Z inverse max: 0.000000 +[14:40:04.911] If point is visible? 11982.904066, -4977.094383, 38934.089985 +[14:40:04.911] Z inverse min: -0.000024, Z inverse max: 0.000000 +[14:40:04.911] If point is visible? 18107.775395, -10233.808907, 35378.004430 +[14:40:04.911] Z inverse min: -0.000024, Z inverse max: 0.000000 +[14:40:04.911] If point is visible? -4337.083740, 23504.601884, 33360.912980 +[14:40:04.911] If point is visible? -23665.204435, 17019.847686, 28887.923400 +[14:40:04.911] Z inverse min: -0.000024, Z inverse max: 0.000000 +[14:40:04.911] If point is visible? -23451.978866, 17353.404813, 28863.354986 +[14:40:04.911] Z inverse min: -0.000024, Z inverse max: 0.000000 +[14:40:04.911] If point is visible? -17908.114181, 17880.680198, 32308.028885 +[14:40:04.911] Z inverse min: -0.000024, Z inverse max: 0.000000 +[14:40:04.911] If point is visible? -23461.466664, 17645.719608, 28677.821522 +[14:40:04.911] Z inverse min: -0.000024, Z inverse max: 0.000000 +[14:40:04.911] If point is visible? -16304.692760, 22299.210773, 30350.134944 +[14:40:04.911] If point is visible? 37382.671338, -8793.953138, 14471.799529 +[14:40:04.911] If point is visible? 0.119848, -0.052634, 0.327709 +[14:40:04.911] Z inverse min: -1.768118, Z inverse max: 0.000000 +[14:40:04.911] If point is visible? -0.072196, 0.288395, 0.253601 +[14:40:04.911] If point is visible? 0.295578, -0.126896, 0.212671 +[14:40:04.911] Z inverse min: -1.768118, Z inverse max: 0.000000 +[14:40:04.911] If point is visible? 0.295285, -0.128994, 0.212168 +[14:40:04.911] Z inverse min: -1.768118, Z inverse max: 0.000000 +[14:40:04.911] If point is visible? -0.286627, 0.239353, 0.195129 +[14:40:04.911] If point is visible? -0.216070, 0.261146, 0.226298 +[14:40:04.911] If point is visible? 0.196046, -0.109974, 0.286533 +[14:40:04.912] Z inverse min: -1.768118, Z inverse max: 0.000000 +[14:40:04.912] If point is visible? -0.375356, 0.165963, 0.339516 +[14:40:04.912] Z inverse min: -1.516564, Z inverse max: 0.000000 +[14:40:04.912] If point is visible? 0.032885, 0.060503, 0.476897 +[14:40:04.912] Z inverse min: -1.516564, Z inverse max: 0.000000 +[14:40:04.912] If point is visible? 0.541710, -0.069041, 0.103464 +[14:40:04.912] If point is visible? -0.144783, -0.037778, 0.468012 +[14:40:04.912] Z inverse min: -1.516564, Z inverse max: 0.000000 +[14:40:04.912] If point is visible? -0.141093, -0.037745, 0.468776 +[14:40:04.912] Z inverse min: -1.516564, Z inverse max: 0.000000 +[14:40:04.912] If point is visible? -0.123620, -0.058798, 0.470370 +[14:40:04.912] Z inverse min: -1.516564, Z inverse max: 0.000000 +[14:40:04.912] If point is visible? 0.016845, 0.303200, 0.400463 +[14:40:04.912] If point is visible? 0.144784, 0.191470, 0.427680 +[14:40:04.912] Z inverse min: -1.516564, Z inverse max: 0.000000 +[14:40:04.912] If point is visible? -0.085669, 0.319735, 0.387718 +[14:40:04.912] If point is visible? 0.144466, 0.196601, 0.425984 +[14:40:04.912] Z inverse min: -1.516564, Z inverse max: 0.000000 +[14:40:04.912] If point is visible? 0.029132, 0.105431, 0.471034 +[14:40:04.912] Z inverse min: -1.516564, Z inverse max: 0.000000 +[14:40:04.912] If point is visible? 0.036501, 0.073712, 0.475109 +[14:40:04.912] Z inverse min: -1.516564, Z inverse max: 0.000000 +[14:40:04.912] If point is visible? 0.022172, 0.079139, 0.475582 +[14:40:04.912] Z inverse min: -1.516564, Z inverse max: 0.000000 +[14:40:04.912] If point is visible? 0.536980, -0.166632, 0.061688 +[14:40:04.912] If point is visible? -0.099663, 0.024849, 0.282145 +[14:40:04.912] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:04.912] If point is visible? 0.358684, -0.049177, 0.032862 +[14:40:04.912] If point is visible? -0.191848, 0.201515, 0.192133 +[14:40:04.912] If point is visible? 0.085019, -0.070463, 0.271849 +[14:40:04.912] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:04.912] If point is visible? 0.018732, 0.199671, 0.237192 +[14:40:04.912] If point is visible? 0.024983, 0.196434, 0.238308 +[14:40:04.912] If point is visible? -0.081623, 0.148372, 0.257872 +[14:40:04.912] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:04.912] If point is visible? -0.083664, 0.141652, 0.260114 +[14:40:04.912] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:04.912] If point is visible? 0.028390, 0.148459, 0.260514 +[14:40:04.912] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:04.912] If point is visible? -0.084697, 0.138282, 0.261182 +[14:40:04.912] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:04.912] If point is visible? -0.084650, 0.137450, 0.261494 +[14:40:04.912] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:04.912] If point is visible? -0.083326, 0.135833, 0.262311 +[14:40:04.912] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:04.912] If point is visible? -0.086616, 0.128178, 0.264387 +[14:40:04.912] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:04.912] If point is visible? 0.028196, 0.134074, 0.265890 +[14:40:04.912] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:04.912] If point is visible? -0.086574, 0.127341, 0.264676 +[14:40:04.912] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:04.912] If point is visible? 0.017946, 0.101567, 0.276840 +[14:40:04.912] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:04.912] If point is visible? 0.019138, 0.101559, 0.276733 +[14:40:04.912] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:04.912] If point is visible? 0.020328, 0.101550, 0.276623 +[14:40:04.912] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:04.912] If point is visible? 0.020360, 0.100686, 0.276842 +[14:40:04.912] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:04.912] If point is visible? -0.087558, 0.086593, 0.275773 +[14:40:04.912] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:04.912] If point is visible? -0.099663, 0.024849, 0.282145 +[14:40:04.912] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:04.912] If point is visible? 0.011132, 0.007577, 0.290212 +[14:40:04.912] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:04.913] If point is visible? 0.103731, -0.008165, 0.272765 +[14:40:04.913] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:04.913] If point is visible? 0.109346, -0.008386, 0.270967 +[14:40:04.913] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:04.913] If point is visible? 0.145518, -0.014521, 0.257001 +[14:40:04.913] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:04.913] If point is visible? 0.109309, -0.009281, 0.270959 +[14:40:04.913] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:04.913] If point is visible? 0.144350, -0.016256, 0.257438 +[14:40:04.913] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:04.913] If point is visible? 0.104325, -0.019857, 0.272158 +[14:40:04.913] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:04.913] If point is visible? -0.103581, -0.026001, 0.281243 +[14:40:04.913] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:04.913] If point is visible? 0.359266, -0.048459, 0.031625 +[14:40:04.913] If point is visible? 0.358684, -0.049177, 0.032862 +[14:40:04.913] If point is visible? 0.114924, -0.031073, 0.267933 +[14:40:04.913] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:04.913] If point is visible? 0.116036, -0.031120, 0.267544 +[14:40:04.913] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:04.913] If point is visible? 0.116088, -0.030222, 0.267598 +[14:40:04.913] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:04.913] If point is visible? 0.117199, -0.030269, 0.267206 +[14:40:04.913] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:04.913] If point is visible? -0.091971, -0.040882, 0.282334 +[14:40:04.913] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:04.913] If point is visible? 0.257843, -0.059145, 0.178393 +[14:40:04.913] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:04.913] If point is visible? 0.257759, -0.060028, 0.178294 +[14:40:04.913] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:04.913] If point is visible? 0.257952, -0.067165, 0.176568 +[14:40:04.913] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:04.913] If point is visible? 0.104829, -0.087423, 0.262554 +[14:40:04.913] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:04.913] If point is visible? 0.105940, -0.087467, 0.262183 +[14:40:04.913] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:04.913] If point is visible? 0.107050, -0.087512, 0.261809 +[14:40:04.913] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:04.913] If point is visible? 0.123986, -0.094532, 0.254085 +[14:40:04.913] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:04.913] If point is visible? 0.249931, -0.115351, 0.168888 +[14:40:04.913] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:04.913] If point is visible? 0.249794, -0.116225, 0.168661 +[14:40:04.913] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:04.913] If point is visible? 0.101485, -0.141094, 0.247121 +[14:40:04.913] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:04.913] If point is visible? 0.002243, -0.137773, 0.266795 +[14:40:04.913] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:04.913] If point is visible? 0.130053, -0.139625, 0.237076 +[14:40:04.913] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:04.913] If point is visible? 0.113497, -0.141585, 0.242774 +[14:40:04.913] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:04.913] If point is visible? 0.013929, 0.200467, 0.237201 +[14:40:04.913] If point is visible? -0.086658, 0.129015, 0.264097 +[14:40:04.913] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:04.913] If point is visible? 0.025427, 0.120443, 0.270719 +[14:40:04.913] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:04.913] If point is visible? 0.019138, 0.101559, 0.276733 +[14:40:04.913] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:04.913] If point is visible? -0.008754, 0.040527, 0.289175 +[14:40:04.913] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:04.913] If point is visible? 0.099865, -0.018789, 0.273582 +[14:40:04.913] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:04.914] If point is visible? 0.113328, -0.019319, 0.269248 +[14:40:04.914] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:04.914] If point is visible? 0.133137, -0.021993, 0.261805 +[14:40:04.914] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:04.914] If point is visible? 0.111183, -0.017434, 0.270059 +[14:40:04.914] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:04.914] If point is visible? -0.103543, -0.025123, 0.281307 +[14:40:04.914] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:04.914] If point is visible? -0.106085, -0.026902, 0.280632 +[14:40:04.914] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:04.914] If point is visible? 0.112749, -0.030083, 0.268754 +[14:40:04.914] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:04.914] If point is visible? 0.114976, -0.030175, 0.267987 +[14:40:04.914] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:04.914] If point is visible? 0.104222, -0.056758, 0.268536 +[14:40:04.914] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:04.914] If point is visible? 0.218285, -0.145054, 0.182897 +[14:40:04.914] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:04.914] If point is visible? 0.220144, -0.145163, 0.181370 +[14:40:04.914] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:04.914] If point is visible? 0.128313, -0.136873, 0.238870 +[14:40:04.914] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:04.914] If point is visible? 0.130453, -0.136968, 0.237948 +[14:40:04.914] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:04.914] If point is visible? 0.128048, -0.138645, 0.238291 +[14:40:04.914] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:04.914] If point is visible? 0.130187, -0.138740, 0.237369 +[14:40:04.914] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:04.914] If point is visible? 0.003420, -0.137806, 0.266720 +[14:40:04.914] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:04.914] If point is visible? 0.005770, -0.137871, 0.266561 +[14:40:04.914] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:04.914] If point is visible? 0.011764, 0.198847, 0.238300 +[14:40:04.914] If point is visible? 0.016476, 0.198861, 0.237872 +[14:40:04.914] If point is visible? -0.183694, 0.217289, 0.185865 +[14:40:04.914] If point is visible? 0.087698, 0.127771, 0.256186 +[14:40:04.914] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:04.914] If point is visible? 0.092238, 0.127621, 0.254925 +[14:40:04.914] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:04.914] If point is visible? -0.191848, 0.201515, 0.192133 +[14:40:04.914] If point is visible? 0.016856, 0.195628, 0.239631 +[14:40:04.914] If point is visible? 0.021559, 0.195629, 0.239145 +[14:40:04.914] If point is visible? -0.088874, 0.123897, 0.265387 +[14:40:04.914] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:04.914] If point is visible? 0.013265, 0.125639, 0.270224 +[14:40:04.914] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:04.914] If point is visible? 0.022780, 0.125594, 0.269364 +[14:40:04.914] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:04.914] If point is visible? 0.015114, 0.073768, 0.283231 +[14:40:04.914] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:04.914] If point is visible? -0.088718, 0.120539, 0.266489 +[14:40:04.914] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:04.914] If point is visible? 0.013448, 0.122222, 0.271303 +[14:40:04.914] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:04.914] If point is visible? 0.022965, 0.122174, 0.270442 +[14:40:04.914] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:04.914] If point is visible? 0.128928, -0.018203, 0.263654 +[14:40:04.914] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:04.915] If point is visible? 0.085019, -0.070463, 0.271849 +[14:40:04.915] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:04.915] If point is visible? 0.089545, -0.070624, 0.270597 +[14:40:04.915] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:04.915] If point is visible? 0.122381, -0.133043, 0.242690 +[14:40:04.915] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:04.915] If point is visible? -0.065505, 0.143240, 0.687309 +[14:40:04.915] Z inverse min: -1.151231, Z inverse max: 0.000000 +[14:40:04.915] If point is visible? 0.455556, -0.299706, 0.478287 +[14:40:04.915] Z inverse min: -1.151231, Z inverse max: 0.000000 +[14:40:04.915] If point is visible? 0.562158, -0.316489, 0.363063 +[14:40:04.915] Z inverse min: -1.151231, Z inverse max: 0.000000 +[14:40:04.915] If point is visible? 0.190154, 0.254508, 0.632414 +[14:40:04.915] Z inverse min: -1.151231, Z inverse max: 0.000000 +[14:40:04.915] If point is visible? 0.199207, 0.254216, 0.629936 +[14:40:04.915] Z inverse min: -1.151231, Z inverse max: 0.000000 +[14:40:04.915] If point is visible? 0.257900, -0.271893, 0.603760 +[14:40:04.915] Z inverse min: -1.151231, Z inverse max: 0.000000 +[14:40:04.915] If point is visible? 0.547678, -0.294995, 0.393453 +[14:40:04.915] Z inverse min: -1.151231, Z inverse max: 0.000000 +[14:40:04.915] If point is visible? 0.158468, -0.133814, 0.605734 +[14:40:04.915] Z inverse min: -1.319619, Z inverse max: 0.000000 +[14:40:04.915] If point is visible? 0.633945, -0.224187, 0.146752 +[14:40:04.915] If point is visible? 0.474028, -0.204594, 0.409753 +[14:40:04.915] Z inverse min: -1.319619, Z inverse max: 0.000000 +[14:40:04.915] If point is visible? 0.473546, -0.207672, 0.408938 +[14:40:04.915] Z inverse min: -1.319619, Z inverse max: 0.000000 +[14:40:04.915] If point is visible? -0.330587, 0.376229, 0.444132 +[14:40:04.915] If point is visible? 0.159274, -0.124284, 0.607320 +[14:40:04.915] Z inverse min: -1.319619, Z inverse max: 0.000000 +[14:40:04.915] If point is visible? 0.167311, -0.124555, 0.605224 +[14:40:04.915] Z inverse min: -1.319619, Z inverse max: 0.000000 +[14:40:04.915] If point is visible? 0.643642, -0.160859, 0.171175 +[14:40:04.915] If point is visible? 0.637077, -0.195392, 0.163680 +[14:40:04.915] If point is visible? 0.635871, -0.201113, 0.162239 +[14:40:04.915] If point is visible? 0.642627, -0.166636, 0.170063 +[14:40:04.915] If point is visible? 0.619834, -0.240323, 0.168736 +[14:40:04.915] If point is visible? 0.298503, -0.256920, 0.515917 +[14:40:04.915] Z inverse min: -1.319619, Z inverse max: 0.000000 +[14:40:04.915] If point is visible? 0.624657, -0.234926, 0.161543 +[14:40:04.915] If point is visible? 0.318211, 0.287336, 0.524894 +[14:40:04.915] Z inverse min: -1.319235, Z inverse max: 0.000000 +[14:40:04.915] If point is visible? 0.321342, 0.274419, 0.529638 +[14:40:04.915] Z inverse min: -1.319235, Z inverse max: 0.000000 +[14:40:04.915] If point is visible? 0.327464, 0.246929, 0.538875 +[14:40:04.915] Z inverse min: -1.319235, Z inverse max: 0.000000 +[14:40:04.915] If point is visible? 0.318055, 0.288751, 0.524242 +[14:40:04.915] Z inverse min: -1.319235, Z inverse max: 0.000000 +[14:40:04.915] If point is visible? -0.141953, 0.001976, 0.660338 +[14:40:04.915] Z inverse min: -1.319235, Z inverse max: 0.000000 +[14:40:04.915] If point is visible? -0.142029, -0.001035, 0.660324 +[14:40:04.915] Z inverse min: -1.319235, Z inverse max: 0.000000 +[14:40:04.915] If point is visible? 0.614527, -0.267736, 0.159400 +[14:40:04.915] If point is visible? -0.337366, 0.274114, 0.524604 +[14:40:04.915] Z inverse min: -1.319235, Z inverse max: 0.000000 +[14:40:04.915] If point is visible? -0.301791, 0.356400, 0.497117 +[14:40:04.915] If point is visible? -0.316090, 0.329034, 0.506650 +[14:40:04.915] Z inverse min: -1.319235, Z inverse max: 0.000000 +[14:40:04.915] If point is visible? -0.143877, -0.055329, 0.657707 +[14:40:04.915] Z inverse min: -1.319235, Z inverse max: 0.000000 +[14:40:04.915] If point is visible? -0.143628, -0.049290, 0.658222 +[14:40:04.915] Z inverse min: -1.319235, Z inverse max: 0.000000 +[14:40:04.915] If point is visible? 0.193691, -0.121477, 0.634586 +[14:40:04.915] Z inverse min: -1.319235, Z inverse max: 0.000000 +[14:40:05.404] add new frame +[14:40:05.404] add key frame +[14:40:05.404] remove key frame +[14:40:05.404] update seed +[14:40:05.404] If point is visible? -0.044413, 0.011608, -0.243054 +[14:40:05.404] Z inverse min: -41.077831, Z inverse max: 0.000000 +[14:40:05.404] If point is visible? -0.030354, 0.007407, -0.241988 +[14:40:05.404] Z inverse min: -41.077831, Z inverse max: 0.000000 +[14:40:05.404] If point is visible? -0.036919, 0.007733, -0.240578 +[14:40:05.404] Z inverse min: -41.077831, Z inverse max: 0.000000 +[14:40:05.404] If point is visible? -0.052764, 0.006286, -0.244904 +[14:40:05.404] Z inverse min: -41.077831, Z inverse max: 0.000000 +[14:40:05.404] If point is visible? -0.054091, -0.002836, -0.245118 +[14:40:05.404] Z inverse min: -41.077831, Z inverse max: 0.000000 +[14:40:05.404] If point is visible? -0.026022, -0.003577, -0.243183 +[14:40:05.404] Z inverse min: -41.077847, Z inverse max: 0.000000 +[14:40:05.404] If point is visible? -0.026350, -0.005901, -0.243536 +[14:40:05.404] Z inverse min: -41.077831, Z inverse max: 0.000000 +[14:40:05.404] If point is visible? -0.026356, -0.005952, -0.243548 +[14:40:05.404] Z inverse min: -41.077831, Z inverse max: 0.000000 +[14:40:05.405] If point is visible? -0.042942, -0.007360, -0.240791 +[14:40:05.405] Z inverse min: -41.077831, Z inverse max: 0.000000 +[14:40:05.405] If point is visible? -0.042854, 0.003747, -0.239889 +[14:40:05.405] Z inverse min: -41.077847, Z inverse max: 0.000000 +[14:40:05.405] If point is visible? -0.037529, 0.000493, -0.239249 +[14:40:05.405] Z inverse min: -41.077831, Z inverse max: 0.000000 +[14:40:05.405] If point is visible? -0.038229, 0.000290, -0.239222 +[14:40:05.405] Z inverse min: -41.077831, Z inverse max: 0.000000 +[14:40:05.405] If point is visible? -0.037532, 0.000389, -0.239247 +[14:40:05.405] Z inverse min: -41.077831, Z inverse max: 0.000000 +[14:40:05.405] If point is visible? -0.032784, -0.003371, -0.240206 +[14:40:05.405] Z inverse min: -41.077831, Z inverse max: 0.000000 +[14:40:05.405] If point is visible? -0.026074, -0.003469, -0.243131 +[14:40:05.405] Z inverse min: -41.077847, Z inverse max: 0.000000 +[14:40:05.405] calculated Z= 0.300896 +[14:40:05.405] update seeds +[14:40:05.405] If point is visible? -0.032778, -0.003266, -0.240192 +[14:40:05.405] Z inverse min: -41.077831, Z inverse max: 0.000000 +[14:40:05.405] If point is visible? -0.026544, -0.007083, -0.243810 +[14:40:05.405] Z inverse min: -41.077831, Z inverse max: 0.000000 +[14:40:05.405] If point is visible? -0.031558, -0.006244, -0.241183 +[14:40:05.405] Z inverse min: -41.077831, Z inverse max: 0.000000 +[14:40:05.405] If point is visible? -0.043081, -0.007358, -0.240818 +[14:40:05.405] Z inverse min: -41.077831, Z inverse max: 0.000000 +[14:40:05.405] If point is visible? -0.024483, -0.008619, -0.245976 +[14:40:05.405] Z inverse min: -41.077831, Z inverse max: 0.000000 +[14:40:05.406] If point is visible? -0.049961, 0.008848, -0.244031 +[14:40:05.406] Z inverse min: -41.077831, Z inverse max: 0.000000 +[14:40:05.406] If point is visible? -0.037505, 0.003285, -0.239473 +[14:40:05.406] Z inverse min: -41.077831, Z inverse max: 0.000000 +[14:40:05.406] If point is visible? -0.033760, 0.007087, -0.240836 +[14:40:05.406] Z inverse min: -41.077831, Z inverse max: 0.000000 +[14:40:05.406] If point is visible? -0.042853, 0.003645, -0.239872 +[14:40:05.406] Z inverse min: -41.077831, Z inverse max: 0.000000 +[14:40:05.406] If point is visible? -0.037784, 0.002257, -0.239340 +[14:40:05.406] Z inverse min: -41.077831, Z inverse max: 0.000000 +[14:40:05.406] If point is visible? -0.031948, -0.006231, -0.241056 +[14:40:05.406] Z inverse min: -41.077831, Z inverse max: 0.000000 +[14:40:05.406] If point is visible? -0.029895, -0.006307, -0.241816 +[14:40:05.406] Z inverse min: -41.077831, Z inverse max: 0.000000 +[14:40:05.406] If point is visible? -0.031929, -0.006022, -0.241004 +[14:40:05.406] Z inverse min: -41.077831, Z inverse max: 0.000000 +[14:40:05.406] If point is visible? -0.043491, -0.007252, -0.240868 +[14:40:05.406] Z inverse min: -41.077831, Z inverse max: 0.000000 +[14:40:05.406] If point is visible? -0.043505, -0.007455, -0.240939 +[14:40:05.406] Z inverse min: -41.077831, Z inverse max: 0.000000 +[14:40:05.406] If point is visible? -0.039277, -0.006685, -0.240184 +[14:40:05.406] Z inverse min: -41.077831, Z inverse max: 0.000000 +[14:40:05.406] If point is visible? -0.019516, 0.074550, -0.045657 +[14:40:05.406] If point is visible? -0.019538, 0.075019, -0.045821 +[14:40:05.406] If point is visible? 0.043432, 0.066235, -0.057577 +[14:40:05.406] If point is visible? -0.169224, 0.053792, -0.083990 +[14:40:05.406] If point is visible? -0.180047, -0.020401, -0.085493 +[14:40:05.406] If point is visible? 0.026090, -0.016707, -0.041738 +[14:40:05.406] Z inverse min: -4.237934, Z inverse max: 0.000000 +[14:40:05.406] If point is visible? 0.024796, -0.017655, -0.041443 +[14:40:05.406] Z inverse min: -4.237934, Z inverse max: 0.000000 +[14:40:05.406] If point is visible? 0.025421, -0.017676, -0.041623 +[14:40:05.406] Z inverse min: -4.237934, Z inverse max: 0.000000 +[14:40:05.406] If point is visible? 0.025443, -0.017181, -0.041589 +[14:40:05.406] Z inverse min: -4.237934, Z inverse max: 0.000000 +[14:40:05.406] If point is visible? 0.024773, -0.018150, -0.041478 +[14:40:05.406] Z inverse min: -4.237934, Z inverse max: 0.000000 +[14:40:05.406] If point is visible? 0.025398, -0.018171, -0.041657 +[14:40:05.406] Z inverse min: -4.237934, Z inverse max: 0.000000 +[14:40:05.406] If point is visible? -0.085194, -0.024386, -0.039028 +[14:40:05.406] If point is visible? 0.020521, -0.046809, -0.044657 +[14:40:05.407] If point is visible? 0.021144, -0.046828, -0.044829 +[14:40:05.407] If point is visible? 0.021767, -0.046848, -0.045003 +[14:40:05.407] If point is visible? 0.081564, -0.056355, -0.074100 +[14:40:05.407] Z inverse min: -4.237934, Z inverse max: 0.000000 +[14:40:05.407] If point is visible? 0.032857, -0.061588, -0.052217 +[14:40:05.407] If point is visible? 0.079722, -0.067526, -0.076723 +[14:40:05.407] If point is visible? -0.067820, 0.132872, -0.078516 +[14:40:05.407] If point is visible? -0.126847, 0.119399, -0.089532 +[14:40:05.407] If point is visible? -0.023008, 0.099944, -0.056150 +[14:40:05.407] If point is visible? -0.021710, 0.099945, -0.056240 +[14:40:05.407] If point is visible? -0.074889, 0.035459, -0.038479 +[14:40:05.407] Z inverse min: -4.237934, Z inverse max: 0.000000 +[14:40:05.407] If point is visible? -0.026978, 0.021337, -0.033482 +[14:40:05.407] Z inverse min: -4.237934, Z inverse max: 0.000000 +[14:40:05.407] If point is visible? -0.026983, 0.020361, -0.033391 +[14:40:05.407] Z inverse min: -4.237934, Z inverse max: 0.000000 +[14:40:05.407] If point is visible? 0.023567, -0.017118, -0.041056 +[14:40:05.407] Z inverse min: -4.237934, Z inverse max: 0.000000 +[14:40:05.407] If point is visible? 0.024818, -0.017160, -0.041409 +[14:40:05.407] Z inverse min: -4.237934, Z inverse max: 0.000000 +[14:40:05.407] If point is visible? 0.020400, -0.029921, -0.041597 +[14:40:05.407] If point is visible? -0.121915, -0.051229, -0.055651 +[14:40:05.407] If point is visible? 0.031683, -0.061053, -0.051665 +[14:40:05.407] If point is visible? 0.080335, -0.067068, -0.076948 +[14:40:05.407] If point is visible? -0.029675, -0.067357, -0.042704 +[14:40:05.407] If point is visible? -0.028464, -0.068361, -0.043063 +[14:40:05.407] If point is visible? -0.136283, 0.101638, -0.083300 +[14:40:05.407] If point is visible? -0.022940, 0.099037, -0.055706 +[14:40:05.407] If point is visible? -0.025540, 0.099033, -0.055549 +[14:40:05.407] If point is visible? -0.138647, 0.096264, -0.081626 +[14:40:05.407] If point is visible? 0.009786, 0.067039, -0.047500 +[14:40:05.407] If point is visible? 0.007183, -0.056335, -0.043826 +[14:40:05.407] If point is visible? 0.009703, -0.056404, -0.044373 +[14:40:05.407] If point is visible? 0.048770, -0.059724, -0.057725 +[14:40:05.407] If point is visible? -0.042373, -0.063225, -0.041436 +[14:40:05.407] If point is visible? 0.096187, -0.077568, -0.092820 +[14:40:05.407] If point is visible? -0.058459, 0.050077, -0.100951 +[14:40:05.407] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:05.407] If point is visible? -0.128431, -0.012575, -0.124543 +[14:40:05.407] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:05.407] If point is visible? 0.005121, -0.011649, -0.095873 +[14:40:05.407] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:05.407] If point is visible? -0.129606, -0.017753, -0.126216 +[14:40:05.407] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:05.407] If point is visible? 0.022461, -0.033002, -0.105318 +[14:40:05.407] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:05.407] If point is visible? -0.013507, -0.040043, -0.097114 +[14:40:05.407] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:05.407] If point is visible? -0.033580, 0.016728, -0.091085 +[14:40:05.407] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:05.407] If point is visible? -0.033582, 0.016083, -0.091013 +[14:40:05.407] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:05.407] If point is visible? -0.129605, -0.016850, -0.126076 +[14:40:05.407] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:05.407] If point is visible? 0.005565, -0.019222, -0.096815 +[14:40:05.407] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:05.407] If point is visible? 0.024098, -0.032416, -0.105878 +[14:40:05.407] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:05.407] If point is visible? -0.013479, -0.039717, -0.097027 +[14:40:05.407] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:05.407] If point is visible? -0.097508, 0.073204, -0.125961 +[14:40:05.407] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:05.407] If point is visible? -0.095975, 0.076673, -0.127420 +[14:40:05.407] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:05.407] If point is visible? -0.025733, 0.016697, -0.091317 +[14:40:05.407] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:05.408] If point is visible? -0.110458, -0.029132, -0.114588 +[14:40:05.408] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:05.408] If point is visible? -0.002256, -0.036074, -0.098132 +[14:40:05.408] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:05.408] If point is visible? -0.000595, -0.036122, -0.098530 +[14:40:05.408] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:05.408] If point is visible? -0.091968, -0.032683, -0.105804 +[14:40:05.408] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:05.408] If point is visible? -0.068527, -0.047936, -0.102343 +[14:40:05.408] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:05.408] If point is visible? -0.066704, -0.046685, -0.101465 +[14:40:05.408] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:05.408] If point is visible? 0.023564, -0.038288, -0.107212 +[14:40:05.408] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:05.408] If point is visible? -0.233739, 0.053838, -0.007812 +[14:40:05.408] If point is visible? -0.038197, 0.032578, 0.070492 +[14:40:05.408] Z inverse min: -3.042733, Z inverse max: 0.000000 +[14:40:05.408] If point is visible? 0.045554, 0.001032, 0.061829 +[14:40:05.408] Z inverse min: -3.042733, Z inverse max: 0.000000 +[14:40:05.408] If point is visible? 0.046415, 0.001004, 0.061598 +[14:40:05.408] Z inverse min: -3.042733, Z inverse max: 0.000000 +[14:40:05.408] If point is visible? 0.046397, 0.000329, 0.061604 +[14:40:05.408] Z inverse min: -3.042733, Z inverse max: 0.000000 +[14:40:05.408] If point is visible? 0.050689, 0.000186, 0.060411 +[14:40:05.408] Z inverse min: -3.042733, Z inverse max: 0.000000 +[14:40:05.408] If point is visible? -0.228943, -0.022842, 0.001385 +[14:40:05.408] If point is visible? -0.229773, -0.031610, -0.000314 +[14:40:05.408] If point is visible? 0.137297, -0.070304, 0.010403 +[14:40:05.408] If point is visible? 0.137229, -0.070972, 0.010258 +[14:40:05.408] If point is visible? 0.062110, -0.079603, 0.045859 +[14:40:05.408] If point is visible? 0.067998, -0.079142, 0.043912 +[14:40:05.408] If point is visible? 0.068061, -0.078467, 0.044079 +[14:40:05.408] If point is visible? -0.012162, 0.055735, 0.066384 +[14:40:05.408] If point is visible? -0.013938, 0.054425, 0.066745 +[14:40:05.408] If point is visible? -0.037283, 0.037238, 0.069972 +[14:40:05.408] Z inverse min: -3.042733, Z inverse max: 0.000000 +[14:40:05.408] If point is visible? 0.027332, -0.055429, 0.060970 +[14:40:05.408] If point is visible? -0.041920, -0.083848, 0.060497 +[14:40:05.408] If point is visible? -0.111041, -0.093743, 0.047273 +[14:40:05.408] If point is visible? 0.033032, -0.071884, 0.056166 +[14:40:05.408] If point is visible? 0.036465, -0.071984, 0.055332 +[14:40:05.408] If point is visible? -0.024299, -0.086816, 0.059596 +[14:40:05.408] If point is visible? -0.076468, 0.050818, 0.052409 +[14:40:05.408] If point is visible? 0.068024, 0.037192, 0.040055 +[14:40:05.408] Z inverse min: -3.513273, Z inverse max: 0.000000 +[14:40:05.408] If point is visible? 0.128717, -0.007003, 0.009294 +[14:40:05.408] If point is visible? -0.061663, 0.154535, 0.010134 +[14:40:05.408] If point is visible? 0.001504, -0.076080, 0.048442 +[14:40:05.408] If point is visible? -0.111074, -0.085525, 0.034137 +[14:40:05.408] If point is visible? -0.152908, 0.108098, 0.005702 +[14:40:05.408] If point is visible? 0.031861, 0.082086, 0.040921 +[14:40:05.408] If point is visible? 0.034874, 0.081997, 0.040179 +[14:40:05.408] If point is visible? -0.017829, 0.128823, 0.028132 +[14:40:05.408] If point is visible? -0.014253, 0.080511, 0.048543 +[14:40:05.408] If point is visible? -0.013183, 0.041684, 0.057599 +[14:40:05.409] If point is visible? 0.027742, -0.072124, 0.044980 +[14:40:05.409] If point is visible? 0.077063, -0.074043, 0.027695 +[14:40:05.409] If point is visible? 0.027990, -0.069770, 0.045586 +[14:40:05.409] If point is visible? 0.074532, -0.071566, 0.029598 +[14:40:05.409] If point is visible? 0.005073, 0.148661, 0.114889 +[14:40:05.409] If point is visible? 0.174789, 0.061471, 0.077681 +[14:40:05.409] If point is visible? 0.114258, 0.037951, 0.116868 +[14:40:05.409] Z inverse min: -2.818008, Z inverse max: 0.000000 +[14:40:05.409] If point is visible? 0.009817, -0.103212, 0.131999 +[14:40:05.409] If point is visible? -0.058935, 0.052830, 0.144530 +[14:40:05.409] Z inverse min: -2.818008, Z inverse max: 0.000000 +[14:40:05.409] If point is visible? 0.066102, -0.050026, 0.132884 +[14:40:05.409] Z inverse min: -2.818008, Z inverse max: 0.000000 +[14:40:05.409] If point is visible? 0.108848, -0.082783, 0.110688 +[14:40:05.409] Z inverse min: -2.818008, Z inverse max: 0.000000 +[14:40:05.409] If point is visible? 0.009900, -0.102447, 0.132226 +[14:40:05.409] If point is visible? -0.040206, -0.115009, 0.130233 +[14:40:05.409] If point is visible? -0.013034, 0.168361, 0.106331 +[14:40:05.409] If point is visible? -0.012750, 0.165573, 0.107827 +[14:40:05.409] If point is visible? -0.218644, 0.167716, 0.041960 +[14:40:05.409] If point is visible? -0.008210, 0.102274, 0.133908 +[14:40:05.409] If point is visible? 0.053583, -0.060453, 0.134494 +[14:40:05.409] Z inverse min: -2.818008, Z inverse max: 0.000000 +[14:40:05.409] If point is visible? -0.151539, -0.114397, 0.107230 +[14:40:05.409] If point is visible? 0.183766, -0.119005, 0.051055 +[14:40:05.409] If point is visible? -0.002550, 0.081649, 0.052329 +[14:40:05.409] If point is visible? -0.177339, 0.120196, -0.013893 +[14:40:05.409] If point is visible? -0.061668, 0.150537, 0.017554 +[14:40:05.409] If point is visible? -0.178687, 0.117102, -0.013002 +[14:40:05.409] If point is visible? -0.175959, 0.122339, -0.014194 +[14:40:05.409] If point is visible? -0.005411, 0.076624, 0.054181 +[14:40:05.409] If point is visible? 0.077070, -0.064184, 0.035923 +[14:40:05.409] If point is visible? -0.156717, 0.092467, 0.014969 +[14:40:05.409] If point is visible? 0.035479, 0.081495, 0.045425 +[14:40:05.409] If point is visible? -0.016688, 0.125916, 0.034602 +[14:40:05.409] If point is visible? -0.175921, 0.121400, -0.013551 +[14:40:05.409] If point is visible? -0.173242, 0.127536, -0.015565 +[14:40:05.409] If point is visible? -0.151164, 0.107442, 0.011202 +[14:40:05.409] If point is visible? -0.013242, 0.077779, 0.054438 +[14:40:05.409] If point is visible? -0.010125, 0.077770, 0.054228 +[14:40:05.409] If point is visible? 0.135184, -0.090631, -0.010611 +[14:40:05.409] If point is visible? -0.125321, -0.086943, 0.032863 +[14:40:05.409] If point is visible? -0.061235, 0.132185, 0.029220 +[14:40:05.409] If point is visible? -0.012159, 0.127002, 0.033733 +[14:40:05.409] If point is visible? -0.009684, 0.125414, 0.034397 +[14:40:05.409] If point is visible? -0.008806, 0.124350, 0.034889 +[14:40:05.409] If point is visible? -0.008860, 0.124883, 0.034611 +[14:40:05.409] If point is visible? -0.004801, 0.122746, 0.035352 +[14:40:05.409] If point is visible? -0.070281, 0.093980, 0.045992 +[14:40:05.409] If point is visible? -0.070933, 0.091227, 0.046916 +[14:40:05.409] If point is visible? -0.071592, 0.088468, 0.047805 +[14:40:05.409] If point is visible? -0.002233, 0.090007, 0.049438 +[14:40:05.409] If point is visible? -0.002266, 0.090562, 0.049240 +[14:40:05.409] If point is visible? -0.071565, 0.087920, 0.048004 +[14:40:05.409] If point is visible? -0.071485, 0.086277, 0.048594 +[14:40:05.409] If point is visible? -0.072234, 0.085152, 0.048853 +[14:40:05.409] If point is visible? -0.072910, 0.082377, 0.049667 +[14:40:05.409] If point is visible? -0.072158, 0.083505, 0.049423 +[14:40:05.409] If point is visible? -0.072792, 0.079624, 0.050578 +[14:40:05.409] If point is visible? -0.002550, 0.081649, 0.052329 +[14:40:05.409] If point is visible? -0.007890, 0.058550, 0.059153 +[14:40:05.409] If point is visible? -0.007112, 0.058544, 0.059090 +[14:40:05.409] If point is visible? -0.013078, 0.021817, 0.065147 +[14:40:05.409] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:05.409] If point is visible? 0.047965, -0.007016, 0.055057 +[14:40:05.409] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:05.409] If point is visible? 0.068868, -0.013169, 0.047538 +[14:40:05.409] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:05.409] If point is visible? 0.043194, -0.014482, 0.056136 +[14:40:05.409] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:05.409] If point is visible? 0.043935, -0.014508, 0.055925 +[14:40:05.409] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:05.409] If point is visible? 0.044676, -0.014534, 0.055711 +[14:40:05.409] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:05.409] If point is visible? 0.048371, -0.014668, 0.054609 +[14:40:05.409] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:05.409] If point is visible? 0.057661, -0.019736, 0.051252 +[14:40:05.409] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:05.410] If point is visible? 0.050919, -0.022412, 0.053255 +[14:40:05.410] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:05.410] If point is visible? 0.051653, -0.022440, 0.053020 +[14:40:05.410] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:05.410] If point is visible? 0.053216, -0.020735, 0.052662 +[14:40:05.410] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:05.410] If point is visible? -0.081319, -0.028640, 0.059783 +[14:40:05.410] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:05.410] If point is visible? 0.130362, -0.040939, 0.009665 +[14:40:05.410] If point is visible? 0.077863, -0.048919, 0.039199 +[14:40:05.410] If point is visible? 0.045355, -0.057564, 0.049374 +[14:40:05.410] If point is visible? 0.046088, -0.057591, 0.049148 +[14:40:05.410] If point is visible? 0.046820, -0.057618, 0.048920 +[14:40:05.410] If point is visible? 0.126348, -0.071591, 0.004392 +[14:40:05.410] If point is visible? 0.042993, -0.079807, 0.043885 +[14:40:05.410] If point is visible? 0.000350, -0.079653, 0.052644 +[14:40:05.410] If point is visible? 0.124628, -0.087715, -0.000648 +[14:40:05.410] If point is visible? -0.061668, 0.150537, 0.017554 +[14:40:05.410] If point is visible? -0.163771, 0.144034, -0.020615 +[14:40:05.410] If point is visible? -0.142752, 0.123518, 0.007070 +[14:40:05.410] If point is visible? -0.175959, 0.122339, -0.014194 +[14:40:05.410] If point is visible? -0.177339, 0.120196, -0.013893 +[14:40:05.410] If point is visible? -0.061235, 0.132185, 0.029220 +[14:40:05.410] If point is visible? -0.180039, 0.113994, -0.012171 +[14:40:05.410] If point is visible? -0.178687, 0.117102, -0.013002 +[14:40:05.410] If point is visible? -0.005411, 0.076624, 0.054181 +[14:40:05.410] If point is visible? -0.007951, 0.060824, 0.058634 +[14:40:05.410] If point is visible? -0.007621, 0.043690, 0.062044 +[14:40:05.410] If point is visible? -0.015771, 0.003240, 0.066171 +[14:40:05.410] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:05.410] If point is visible? 0.050635, -0.013577, 0.053971 +[14:40:05.410] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:05.410] If point is visible? 0.048746, -0.021741, 0.053989 +[14:40:05.410] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:05.410] If point is visible? 0.049163, -0.013522, 0.054431 +[14:40:05.410] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:05.410] If point is visible? 0.050281, -0.020622, 0.053607 +[14:40:05.410] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:05.410] If point is visible? -0.082092, -0.028067, 0.059689 +[14:40:05.410] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:05.410] If point is visible? -0.080492, -0.028058, 0.060012 +[14:40:05.410] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:05.410] If point is visible? 0.169960, -0.036907, -0.026528 +[14:40:05.410] If point is visible? 0.044754, -0.038092, 0.053254 +[14:40:05.410] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:05.411] If point is visible? 0.077070, -0.064184, 0.035923 +[14:40:05.411] If point is visible? 0.125875, -0.070397, 0.005164 +[14:40:05.411] If point is visible? 0.000414, -0.079071, 0.052820 +[14:40:05.411] If point is visible? -0.046676, -0.084969, 0.052013 +[14:40:05.411] If point is visible? 0.059790, -0.078694, 0.038653 +[14:40:05.411] If point is visible? -0.013242, 0.077779, 0.054438 +[14:40:05.411] If point is visible? -0.010125, 0.077770, 0.054228 +[14:40:05.411] If point is visible? -0.175921, 0.121400, -0.013551 +[14:40:05.411] If point is visible? -0.173242, 0.127536, -0.015565 +[14:40:05.411] If point is visible? 0.032485, 0.081583, 0.046164 +[14:40:05.411] If point is visible? 0.035479, 0.081495, 0.045425 +[14:40:05.411] If point is visible? -0.167852, 0.137801, -0.018840 +[14:40:05.411] If point is visible? -0.156717, 0.092467, 0.014969 +[14:40:05.411] If point is visible? -0.016688, 0.125916, 0.034602 +[14:40:05.411] If point is visible? -0.151164, 0.107442, 0.011202 +[14:40:05.411] If point is visible? -0.009478, 0.059697, 0.059017 +[14:40:05.411] If point is visible? -0.072703, 0.045486, 0.058969 +[14:40:05.411] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:05.411] If point is visible? -0.009180, 0.043703, 0.062165 +[14:40:05.411] If point is visible? -0.012254, 0.027598, 0.064557 +[14:40:05.411] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:05.411] If point is visible? 0.050281, -0.020622, 0.053607 +[14:40:05.411] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:05.411] If point is visible? 0.062427, -0.011706, 0.050062 +[14:40:05.411] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:05.411] If point is visible? 0.030773, -0.045874, 0.055641 +[14:40:05.411] If point is visible? 0.033757, -0.045969, 0.054907 +[14:40:05.411] If point is visible? 0.057072, -0.077412, 0.040064 +[14:40:05.411] If point is visible? 0.135184, -0.090631, -0.010611 +[14:40:05.411] If point is visible? -0.131344, -0.084624, 0.031145 +[14:40:05.411] If point is visible? 0.031103, -0.074121, 0.048849 +[14:40:05.411] If point is visible? 0.054475, -0.074963, 0.041751 +[14:40:05.411] If point is visible? 0.059413, -0.013928, 0.051030 +[14:40:05.411] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:05.411] If point is visible? -0.125321, -0.086943, 0.032863 +[14:40:05.411] If point is visible? -0.137353, -0.082318, 0.029234 +[14:40:05.411] If point is visible? 0.013646, 0.143678, -0.007420 +[14:40:05.411] If point is visible? -0.003494, 0.080406, 0.029789 +[14:40:05.411] If point is visible? -0.063958, 0.042499, 0.038528 +[14:40:05.411] If point is visible? -0.036623, 0.036221, 0.042139 +[14:40:05.411] If point is visible? 0.047620, -0.018184, 0.031979 +[14:40:05.411] Z inverse min: -3.882996, Z inverse max: 0.000000 +[14:40:05.411] If point is visible? 0.051605, -0.017289, 0.030675 +[14:40:05.411] Z inverse min: -3.882996, Z inverse max: 0.000000 +[14:40:05.411] If point is visible? 0.114287, -0.063993, -0.012890 +[14:40:05.411] If point is visible? -0.149929, 0.129421, -0.033682 +[14:40:05.411] If point is visible? -0.168237, 0.093960, -0.024235 +[14:40:05.411] If point is visible? -0.169488, 0.091993, -0.024194 +[14:40:05.411] If point is visible? 0.044960, -0.018609, 0.032817 +[14:40:05.411] Z inverse min: -3.882996, Z inverse max: 0.000000 +[14:40:05.411] If point is visible? 0.046277, -0.018660, 0.032385 +[14:40:05.411] Z inverse min: -3.882996, Z inverse max: 0.000000 +[14:40:05.411] If point is visible? 0.153145, -0.032391, -0.041366 +[14:40:05.411] If point is visible? 0.022746, -0.049623, 0.034229 +[14:40:05.411] If point is visible? -0.129060, -0.074971, 0.009499 +[14:40:05.411] If point is visible? -0.134310, -0.070950, 0.008274 +[14:40:05.411] If point is visible? -0.039631, -0.080628, 0.030788 +[14:40:05.411] If point is visible? -0.018065, 0.115094, 0.015357 +[14:40:05.411] If point is visible? 0.029002, 0.073278, 0.026261 +[14:40:05.411] If point is visible? 0.031687, 0.073195, 0.025575 +[14:40:05.411] If point is visible? -0.131162, 0.111870, -0.009295 +[14:40:05.411] If point is visible? -0.126348, 0.123042, -0.013819 +[14:40:05.411] If point is visible? -0.153600, 0.123817, -0.032099 +[14:40:05.411] If point is visible? 0.053148, -0.012598, 0.030434 +[14:40:05.412] Z inverse min: -3.882996, Z inverse max: 0.000000 +[14:40:05.412] If point is visible? -0.131743, -0.073940, 0.008531 +[14:40:05.412] If point is visible? -0.129121, -0.075953, 0.009106 +[14:40:05.412] If point is visible? -0.165711, -0.040472, 0.471066 +[14:40:05.412] Z inverse min: -1.443579, Z inverse max: 0.000000 +[14:40:05.412] calculated Z= 1.218759 +[14:40:05.412] update seeds +[14:40:05.412] If point is visible? -0.163683, -0.040452, 0.471488 +[14:40:05.412] Z inverse min: -1.443578, Z inverse max: 0.000000 +[14:40:05.412] If point is visible? 0.154978, -0.208014, 0.427041 +[14:40:05.412] Z inverse min: -1.443578, Z inverse max: 0.000000 +[14:40:05.412] If point is visible? 0.155156, -0.206539, 0.427485 +[14:40:05.412] Z inverse min: -1.443578, Z inverse max: 0.000000 +[14:40:05.412] If point is visible? 0.324733, -0.214129, 0.345742 +[14:40:05.412] Z inverse min: -1.443578, Z inverse max: 0.000000 +[14:40:05.412] If point is visible? -0.104571, 0.340221, 0.389485 +[14:40:05.412] If point is visible? -0.422727, 0.264625, 0.291004 +[14:40:05.412] Z inverse min: -1.443578, Z inverse max: 0.000000 +[14:40:05.412] If point is visible? -0.037999, -0.023968, 0.485992 +[14:40:05.412] Z inverse min: -1.443578, Z inverse max: 0.000000 +[14:40:05.412] calculated Z= 1.252548 +[14:40:05.412] update seeds +[14:40:05.412] If point is visible? 0.171193, -0.096898, 0.449121 +[14:40:05.412] Z inverse min: -1.443578, Z inverse max: 0.000000 +[14:40:05.412] If point is visible? -0.065119, -0.232842, 0.443995 +[14:40:05.412] Z inverse min: -1.443578, Z inverse max: 0.000000 +[14:40:05.412] If point is visible? -0.297740, 0.357239, 0.316829 +[14:40:05.412] If point is visible? 0.027576, 0.075611, 0.479938 +[14:40:05.412] Z inverse min: -1.443578, Z inverse max: 0.000000 +[14:40:05.412] If point is visible? 0.143499, -0.116808, 0.453816 +[14:40:05.412] Z inverse min: -1.443578, Z inverse max: 0.000000 +[14:40:05.412] If point is visible? 0.136793, -0.188092, 0.438477 +[14:40:05.412] Z inverse min: -1.443578, Z inverse max: 0.000000 +[14:40:05.412] If point is visible? 0.012814, 0.003978, 0.348338 +[14:40:05.412] Z inverse min: -1.768857, Z inverse max: 0.000000 +[14:40:05.412] If point is visible? -0.130791, -0.034187, 0.338482 +[14:40:05.412] Z inverse min: -1.768857, Z inverse max: 0.000000 +[14:40:05.412] If point is visible? -0.088487, 0.294724, 0.256510 +[14:40:05.412] If point is visible? -0.085272, 0.264171, 0.275966 +[14:40:05.412] If point is visible? 0.291166, -0.164096, 0.211562 +[14:40:05.412] Z inverse min: -1.768857, Z inverse max: 0.000000 +[14:40:05.412] calculated Z= 1.272937 +[14:40:05.412] update seeds +[14:40:05.412] If point is visible? 0.293605, -0.164244, 0.209519 +[14:40:05.412] Z inverse min: -1.768857, Z inverse max: 0.000000 +[14:40:05.412] If point is visible? -0.078294, -0.171684, 0.318766 +[14:40:05.412] Z inverse min: -1.768857, Z inverse max: 0.000000 +[14:40:05.412] If point is visible? 0.110104, 0.162403, 0.305594 +[14:40:05.412] Z inverse min: -1.768857, Z inverse max: 0.000000 +[14:40:05.412] If point is visible? -0.245921, 0.265415, 0.223668 +[14:40:05.412] If point is visible? -0.078750, -0.176256, 0.317129 +[14:40:05.412] Z inverse min: -1.768857, Z inverse max: 0.000000 +[14:40:05.412] If point is visible? 0.106851, -0.153083, 0.309493 +[14:40:05.412] Z inverse min: -1.768857, Z inverse max: 0.000000 +[14:40:05.412] If point is visible? -0.288655, -0.168058, 0.249506 +[14:40:05.412] Z inverse min: -1.768857, Z inverse max: 0.000000 +[14:40:05.412] If point is visible? -0.282710, -0.168183, 0.253004 +[14:40:05.412] Z inverse min: -1.768857, Z inverse max: 0.000000 +[14:40:05.413] If point is visible? 0.255202, 0.153608, 0.379713 +[14:40:05.413] Z inverse min: -1.490735, Z inverse max: 0.000000 +[14:40:05.413] If point is visible? -0.147596, -0.040093, 0.453077 +[14:40:05.413] Z inverse min: -1.490735, Z inverse max: 0.000000 +[14:40:05.413] If point is visible? -0.098168, 0.321167, 0.375787 +[14:40:05.413] If point is visible? 0.176177, -0.090502, 0.425821 +[14:40:05.413] Z inverse min: -1.490735, Z inverse max: 0.000000 +[14:40:05.413] If point is visible? -0.319855, 0.256472, 0.335820 +[14:40:05.413] If point is visible? 0.139076, 0.202856, 0.409808 +[14:40:05.413] Z inverse min: -1.490735, Z inverse max: 0.000000 +[14:40:05.413] If point is visible? 0.146283, 0.202610, 0.407811 +[14:40:05.413] Z inverse min: -1.490735, Z inverse max: 0.000000 +[14:40:05.413] If point is visible? 0.146584, 0.197171, 0.409564 +[14:40:05.413] Z inverse min: -1.490735, Z inverse max: 0.000000 +[14:40:05.413] If point is visible? 0.031595, 0.072393, 0.458707 +[14:40:05.413] Z inverse min: -1.490735, Z inverse max: 0.000000 +[14:40:05.413] If point is visible? -0.097848, -0.214123, 0.425045 +[14:40:05.413] Z inverse min: -1.490735, Z inverse max: 0.000000 +[14:40:05.413] If point is visible? -0.338824, -0.214861, 0.343658 +[14:40:05.413] Z inverse min: -1.490735, Z inverse max: 0.000000 +[14:40:05.413] If point is visible? -6365.156864, 8138.023098, 39717.507196 +[14:40:05.413] Z inverse min: -0.000024, Z inverse max: 0.000000 +[14:40:05.413] If point is visible? -7714.945212, -2450.950198, 40233.013508 +[14:40:05.413] Z inverse min: -0.000024, Z inverse max: 0.000000 +[14:40:05.413] If point is visible? 11982.899176, -4977.094383, 38934.059338 +[14:40:05.413] Z inverse min: -0.000024, Z inverse max: 0.000000 +[14:40:05.413] If point is visible? 18107.770506, -10233.808907, 35377.973783 +[14:40:05.413] Z inverse min: -0.000024, Z inverse max: 0.000000 +[14:40:05.413] If point is visible? -4337.088630, 23504.601884, 33360.882333 +[14:40:05.413] If point is visible? -23665.209325, 17019.847686, 28887.892753 +[14:40:05.413] Z inverse min: -0.000024, Z inverse max: 0.000000 +[14:40:05.413] If point is visible? -23451.983756, 17353.404813, 28863.324339 +[14:40:05.413] Z inverse min: -0.000024, Z inverse max: 0.000000 +[14:40:05.413] If point is visible? -17908.119071, 17880.680198, 32307.998238 +[14:40:05.413] Z inverse min: -0.000024, Z inverse max: 0.000000 +[14:40:05.413] If point is visible? -23461.471554, 17645.719608, 28677.790876 +[14:40:05.413] Z inverse min: -0.000024, Z inverse max: 0.000000 +[14:40:05.413] If point is visible? -16304.697650, 22299.210773, 30350.104297 +[14:40:05.413] If point is visible? 37382.666448, -8793.953138, 14471.768882 +[14:40:05.413] If point is visible? 0.114958, -0.052634, 0.297062 +[14:40:05.413] Z inverse min: -1.768118, Z inverse max: 0.000000 +[14:40:05.413] If point is visible? -0.077086, 0.288395, 0.222954 +[14:40:05.413] If point is visible? 0.290689, -0.126896, 0.182024 +[14:40:05.413] Z inverse min: -1.768118, Z inverse max: 0.000000 +[14:40:05.413] If point is visible? 0.290395, -0.128994, 0.181521 +[14:40:05.413] Z inverse min: -1.768118, Z inverse max: 0.000000 +[14:40:05.413] If point is visible? -0.291517, 0.239353, 0.164482 +[14:40:05.413] If point is visible? -0.220960, 0.261146, 0.195651 +[14:40:05.413] If point is visible? 0.191156, -0.109974, 0.255887 +[14:40:05.413] Z inverse min: -1.768118, Z inverse max: 0.000000 +[14:40:05.413] If point is visible? -0.380245, 0.165963, 0.308869 +[14:40:05.413] Z inverse min: -1.516564, Z inverse max: 0.000000 +[14:40:05.413] If point is visible? 0.027995, 0.060503, 0.446250 +[14:40:05.413] Z inverse min: -1.516564, Z inverse max: 0.000000 +[14:40:05.413] If point is visible? 0.536820, -0.069041, 0.072817 +[14:40:05.413] If point is visible? -0.149673, -0.037778, 0.437365 +[14:40:05.413] Z inverse min: -1.516564, Z inverse max: 0.000000 +[14:40:05.413] If point is visible? -0.145983, -0.037745, 0.438129 +[14:40:05.413] Z inverse min: -1.516564, Z inverse max: 0.000000 +[14:40:05.413] If point is visible? -0.128510, -0.058798, 0.439723 +[14:40:05.413] Z inverse min: -1.516564, Z inverse max: 0.000000 +[14:40:05.414] If point is visible? 0.011955, 0.303200, 0.369816 +[14:40:05.414] If point is visible? 0.139895, 0.191470, 0.397033 +[14:40:05.414] Z inverse min: -1.516564, Z inverse max: 0.000000 +[14:40:05.414] If point is visible? -0.090559, 0.319735, 0.357071 +[14:40:05.414] If point is visible? 0.139576, 0.196601, 0.395337 +[14:40:05.414] Z inverse min: -1.516564, Z inverse max: 0.000000 +[14:40:05.414] If point is visible? 0.024243, 0.105431, 0.440387 +[14:40:05.414] Z inverse min: -1.516564, Z inverse max: 0.000000 +[14:40:05.414] If point is visible? 0.031611, 0.073712, 0.444462 +[14:40:05.414] Z inverse min: -1.516564, Z inverse max: 0.000000 +[14:40:05.414] If point is visible? 0.017282, 0.079139, 0.444935 +[14:40:05.414] Z inverse min: -1.516564, Z inverse max: 0.000000 +[14:40:05.414] If point is visible? 0.532090, -0.166632, 0.031041 +[14:40:05.414] If point is visible? -0.104553, 0.024849, 0.251498 +[14:40:05.414] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.414] If point is visible? 0.353795, -0.049177, 0.002216 +[14:40:05.414] If point is visible? -0.196738, 0.201515, 0.161486 +[14:40:05.414] If point is visible? 0.080129, -0.070463, 0.241202 +[14:40:05.414] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.414] If point is visible? 0.013842, 0.199671, 0.206545 +[14:40:05.414] If point is visible? 0.020094, 0.196434, 0.207661 +[14:40:05.414] If point is visible? -0.086513, 0.148372, 0.227225 +[14:40:05.414] If point is visible? -0.088554, 0.141652, 0.229467 +[14:40:05.414] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.414] If point is visible? 0.023501, 0.148459, 0.229867 +[14:40:05.414] If point is visible? -0.089587, 0.138282, 0.230535 +[14:40:05.414] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.414] If point is visible? -0.089539, 0.137450, 0.230847 +[14:40:05.414] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.414] If point is visible? -0.088216, 0.135833, 0.231664 +[14:40:05.414] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.414] If point is visible? -0.091506, 0.128178, 0.233740 +[14:40:05.414] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.414] If point is visible? 0.023307, 0.134074, 0.235244 +[14:40:05.414] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.414] If point is visible? -0.091464, 0.127341, 0.234029 +[14:40:05.414] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.414] If point is visible? 0.013057, 0.101567, 0.246193 +[14:40:05.414] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.414] If point is visible? 0.014248, 0.101559, 0.246086 +[14:40:05.414] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.414] If point is visible? 0.015439, 0.101550, 0.245976 +[14:40:05.414] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.414] If point is visible? 0.015470, 0.100686, 0.246195 +[14:40:05.414] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.414] If point is visible? -0.092448, 0.086593, 0.245126 +[14:40:05.414] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.414] If point is visible? -0.104553, 0.024849, 0.251498 +[14:40:05.414] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.415] If point is visible? 0.006242, 0.007577, 0.259565 +[14:40:05.415] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.415] If point is visible? 0.098841, -0.008165, 0.242118 +[14:40:05.415] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.415] If point is visible? 0.104457, -0.008386, 0.240320 +[14:40:05.415] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.415] If point is visible? 0.140628, -0.014521, 0.226354 +[14:40:05.415] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.415] If point is visible? 0.104419, -0.009281, 0.240312 +[14:40:05.415] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.415] If point is visible? 0.139460, -0.016256, 0.226791 +[14:40:05.415] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.415] If point is visible? 0.099435, -0.019857, 0.241512 +[14:40:05.415] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.415] If point is visible? -0.108471, -0.026001, 0.250596 +[14:40:05.415] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.415] If point is visible? 0.354376, -0.048459, 0.000978 +[14:40:05.415] If point is visible? 0.353795, -0.049177, 0.002216 +[14:40:05.415] If point is visible? 0.110034, -0.031073, 0.237286 +[14:40:05.415] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.415] If point is visible? 0.111146, -0.031120, 0.236897 +[14:40:05.415] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.415] If point is visible? 0.111198, -0.030222, 0.236951 +[14:40:05.415] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.415] If point is visible? 0.112309, -0.030269, 0.236559 +[14:40:05.415] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.415] If point is visible? -0.096861, -0.040882, 0.251687 +[14:40:05.415] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.415] If point is visible? 0.252953, -0.059145, 0.147746 +[14:40:05.415] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.415] If point is visible? 0.252869, -0.060028, 0.147647 +[14:40:05.415] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.415] If point is visible? 0.253062, -0.067165, 0.145921 +[14:40:05.415] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.415] If point is visible? 0.099939, -0.087423, 0.231907 +[14:40:05.415] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.415] If point is visible? 0.101050, -0.087467, 0.231536 +[14:40:05.415] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.415] If point is visible? 0.102160, -0.087512, 0.231162 +[14:40:05.415] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.415] If point is visible? 0.119096, -0.094532, 0.223438 +[14:40:05.415] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.415] If point is visible? 0.245041, -0.115351, 0.138241 +[14:40:05.415] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.415] If point is visible? 0.244904, -0.116225, 0.138014 +[14:40:05.415] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.415] If point is visible? 0.096595, -0.141094, 0.216474 +[14:40:05.415] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.415] If point is visible? -0.002646, -0.137773, 0.236148 +[14:40:05.415] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.416] If point is visible? 0.125163, -0.139625, 0.206429 +[14:40:05.416] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.416] If point is visible? 0.108608, -0.141585, 0.212127 +[14:40:05.416] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.416] If point is visible? 0.009039, 0.200467, 0.206554 +[14:40:05.416] If point is visible? -0.091548, 0.129015, 0.233450 +[14:40:05.416] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.416] If point is visible? 0.020537, 0.120443, 0.240072 +[14:40:05.416] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.416] If point is visible? 0.014248, 0.101559, 0.246086 +[14:40:05.416] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.416] If point is visible? -0.013644, 0.040527, 0.258528 +[14:40:05.416] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.416] If point is visible? 0.094975, -0.018789, 0.242935 +[14:40:05.416] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.416] If point is visible? 0.108438, -0.019319, 0.238601 +[14:40:05.416] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.416] If point is visible? 0.128247, -0.021993, 0.231158 +[14:40:05.416] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.416] If point is visible? 0.106293, -0.017434, 0.239412 +[14:40:05.416] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.416] If point is visible? -0.108433, -0.025123, 0.250660 +[14:40:05.416] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.416] If point is visible? -0.110975, -0.026902, 0.249985 +[14:40:05.416] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.416] If point is visible? 0.107859, -0.030083, 0.238107 +[14:40:05.416] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.416] If point is visible? 0.110086, -0.030175, 0.237340 +[14:40:05.416] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.416] If point is visible? 0.099332, -0.056758, 0.237889 +[14:40:05.416] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.416] If point is visible? 0.213395, -0.145054, 0.152250 +[14:40:05.416] If point is visible? 0.215254, -0.145163, 0.150723 +[14:40:05.416] If point is visible? 0.123424, -0.136873, 0.208223 +[14:40:05.416] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.416] If point is visible? 0.125563, -0.136968, 0.207301 +[14:40:05.416] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.416] If point is visible? 0.123158, -0.138645, 0.207644 +[14:40:05.416] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.416] If point is visible? 0.125297, -0.138740, 0.206722 +[14:40:05.416] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.416] If point is visible? -0.001470, -0.137806, 0.236073 +[14:40:05.416] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.416] If point is visible? 0.000880, -0.137871, 0.235914 +[14:40:05.416] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.416] If point is visible? 0.006874, 0.198847, 0.207653 +[14:40:05.416] If point is visible? 0.011587, 0.198861, 0.207225 +[14:40:05.416] If point is visible? -0.188583, 0.217289, 0.155218 +[14:40:05.416] If point is visible? 0.082808, 0.127771, 0.225539 +[14:40:05.416] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.416] If point is visible? 0.087349, 0.127621, 0.224278 +[14:40:05.416] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.416] If point is visible? -0.196738, 0.201515, 0.161486 +[14:40:05.416] If point is visible? 0.011966, 0.195628, 0.208984 +[14:40:05.416] If point is visible? 0.016669, 0.195629, 0.208498 +[14:40:05.416] If point is visible? -0.093763, 0.123897, 0.234740 +[14:40:05.417] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.417] If point is visible? 0.008375, 0.125639, 0.239577 +[14:40:05.417] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.417] If point is visible? 0.017890, 0.125594, 0.238717 +[14:40:05.417] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.417] If point is visible? 0.010224, 0.073768, 0.252584 +[14:40:05.417] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.417] If point is visible? -0.093608, 0.120539, 0.235842 +[14:40:05.417] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.417] If point is visible? 0.008558, 0.122222, 0.240656 +[14:40:05.417] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.417] If point is visible? 0.018075, 0.122174, 0.239795 +[14:40:05.417] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.417] If point is visible? 0.124038, -0.018203, 0.233007 +[14:40:05.417] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.417] If point is visible? 0.080129, -0.070463, 0.241202 +[14:40:05.417] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.417] If point is visible? 0.084655, -0.070624, 0.239950 +[14:40:05.417] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.417] If point is visible? 0.117491, -0.133043, 0.212043 +[14:40:05.417] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.417] If point is visible? -0.070395, 0.143240, 0.656662 +[14:40:05.417] Z inverse min: -1.151231, Z inverse max: 0.000000 +[14:40:05.417] If point is visible? 0.450666, -0.299706, 0.447640 +[14:40:05.417] Z inverse min: -1.151231, Z inverse max: 0.000000 +[14:40:05.417] If point is visible? 0.557268, -0.316489, 0.332416 +[14:40:05.417] Z inverse min: -1.151231, Z inverse max: 0.000000 +[14:40:05.417] If point is visible? 0.185264, 0.254508, 0.601767 +[14:40:05.417] Z inverse min: -1.151231, Z inverse max: 0.000000 +[14:40:05.417] If point is visible? 0.194318, 0.254216, 0.599289 +[14:40:05.417] Z inverse min: -1.151231, Z inverse max: 0.000000 +[14:40:05.417] If point is visible? 0.253011, -0.271893, 0.573113 +[14:40:05.417] Z inverse min: -1.151231, Z inverse max: 0.000000 +[14:40:05.417] If point is visible? 0.542789, -0.294995, 0.362806 +[14:40:05.417] Z inverse min: -1.151231, Z inverse max: 0.000000 +[14:40:05.417] If point is visible? 0.153579, -0.133814, 0.575087 +[14:40:05.417] Z inverse min: -1.319619, Z inverse max: 0.000000 +[14:40:05.417] If point is visible? 0.629055, -0.224187, 0.116105 +[14:40:05.417] If point is visible? 0.469138, -0.204594, 0.379106 +[14:40:05.417] Z inverse min: -1.319619, Z inverse max: 0.000000 +[14:40:05.417] If point is visible? 0.468656, -0.207672, 0.378291 +[14:40:05.417] Z inverse min: -1.319619, Z inverse max: 0.000000 +[14:40:05.417] If point is visible? -0.335477, 0.376229, 0.413485 +[14:40:05.417] If point is visible? 0.154384, -0.124284, 0.576673 +[14:40:05.417] Z inverse min: -1.319619, Z inverse max: 0.000000 +[14:40:05.417] If point is visible? 0.162421, -0.124555, 0.574577 +[14:40:05.417] Z inverse min: -1.319619, Z inverse max: 0.000000 +[14:40:05.417] If point is visible? 0.638752, -0.160859, 0.140528 +[14:40:05.417] If point is visible? 0.632187, -0.195392, 0.133033 +[14:40:05.417] If point is visible? 0.630981, -0.201113, 0.131592 +[14:40:05.417] If point is visible? 0.637737, -0.166636, 0.139416 +[14:40:05.417] If point is visible? 0.614944, -0.240323, 0.138089 +[14:40:05.417] If point is visible? 0.293613, -0.256920, 0.485270 +[14:40:05.417] Z inverse min: -1.319619, Z inverse max: 0.000000 +[14:40:05.417] If point is visible? 0.619767, -0.234926, 0.130896 +[14:40:05.417] If point is visible? 0.313321, 0.287336, 0.494247 +[14:40:05.417] Z inverse min: -1.319235, Z inverse max: 0.000000 +[14:40:05.417] If point is visible? 0.316452, 0.274419, 0.498991 +[14:40:05.417] Z inverse min: -1.319235, Z inverse max: 0.000000 +[14:40:05.417] If point is visible? 0.322574, 0.246929, 0.508228 +[14:40:05.417] Z inverse min: -1.319235, Z inverse max: 0.000000 +[14:40:05.417] If point is visible? 0.313165, 0.288751, 0.493595 +[14:40:05.417] Z inverse min: -1.319235, Z inverse max: 0.000000 +[14:40:05.417] If point is visible? -0.146843, 0.001976, 0.629691 +[14:40:05.417] Z inverse min: -1.319235, Z inverse max: 0.000000 +[14:40:05.417] If point is visible? -0.146919, -0.001035, 0.629677 +[14:40:05.418] Z inverse min: -1.319235, Z inverse max: 0.000000 +[14:40:05.418] If point is visible? 0.609637, -0.267736, 0.128753 +[14:40:05.418] If point is visible? -0.342256, 0.274114, 0.493957 +[14:40:05.418] Z inverse min: -1.319235, Z inverse max: 0.000000 +[14:40:05.418] If point is visible? -0.306681, 0.356400, 0.466470 +[14:40:05.418] If point is visible? -0.320980, 0.329034, 0.476003 +[14:40:05.418] If point is visible? -0.148767, -0.055329, 0.627060 +[14:40:05.418] Z inverse min: -1.319235, Z inverse max: 0.000000 +[14:40:05.418] If point is visible? -0.148518, -0.049290, 0.627575 +[14:40:05.418] Z inverse min: -1.319235, Z inverse max: 0.000000 +[14:40:05.418] If point is visible? 0.188802, -0.121477, 0.603939 +[14:40:05.418] Z inverse min: -1.319235, Z inverse max: 0.000000 +[14:40:05.418] init seeds +[14:40:05.420] DepthFilter: Initialized 27 new seeds +[14:40:05.662] add new frame +[14:40:05.662] update seed +[14:40:05.662] If point is visible? -0.045430, 0.011608, -0.249641 +[14:40:05.662] Z inverse min: -41.077831, Z inverse max: 0.000000 +[14:40:05.662] add key frame +[14:40:05.662] remove key frame +[14:40:05.662] init seeds +[14:40:05.663] update seed +[14:40:05.663] If point is visible? -0.045430, 0.011608, -0.249641 +[14:40:05.663] Z inverse min: -41.077831, Z inverse max: 0.000000 +[14:40:05.663] If point is visible? -0.031371, 0.007407, -0.248576 +[14:40:05.663] Z inverse min: -41.077831, Z inverse max: 0.000000 +[14:40:05.663] If point is visible? -0.037937, 0.007733, -0.247166 +[14:40:05.663] Z inverse min: -41.077831, Z inverse max: 0.000000 +[14:40:05.663] If point is visible? -0.053781, 0.006286, -0.251492 +[14:40:05.663] Z inverse min: -41.077831, Z inverse max: 0.000000 +[14:40:05.663] If point is visible? -0.055108, -0.002836, -0.251706 +[14:40:05.663] Z inverse min: -41.077831, Z inverse max: 0.000000 +[14:40:05.663] If point is visible? -0.027039, -0.003577, -0.249771 +[14:40:05.663] Z inverse min: -41.077847, Z inverse max: 0.000000 +[14:40:05.663] If point is visible? -0.027367, -0.005901, -0.250124 +[14:40:05.663] Z inverse min: -41.077831, Z inverse max: 0.000000 +[14:40:05.664] If point is visible? -0.027373, -0.005952, -0.250136 +[14:40:05.664] Z inverse min: -41.077831, Z inverse max: 0.000000 +[14:40:05.664] If point is visible? -0.043959, -0.007360, -0.247379 +[14:40:05.664] Z inverse min: -41.077831, Z inverse max: 0.000000 +[14:40:05.664] If point is visible? -0.043871, 0.003747, -0.246476 +[14:40:05.664] Z inverse min: -41.077847, Z inverse max: 0.000000 +[14:40:05.664] If point is visible? -0.038546, 0.000493, -0.245837 +[14:40:05.664] Z inverse min: -41.077831, Z inverse max: 0.000000 +[14:40:05.664] If point is visible? -0.039246, 0.000290, -0.245810 +[14:40:05.664] Z inverse min: -41.077831, Z inverse max: 0.000000 +[14:40:05.664] If point is visible? -0.038549, 0.000389, -0.245835 +[14:40:05.664] Z inverse min: -41.077831, Z inverse max: 0.000000 +[14:40:05.664] If point is visible? -0.033801, -0.003371, -0.246793 +[14:40:05.664] Z inverse min: -41.077831, Z inverse max: 0.000000 +[14:40:05.664] If point is visible? -0.027091, -0.003469, -0.249719 +[14:40:05.664] Z inverse min: -41.077847, Z inverse max: 0.000000 +[14:40:05.665] If point is visible? -0.033795, -0.003266, -0.246780 +[14:40:05.665] Z inverse min: -41.077831, Z inverse max: 0.000000 +[14:40:05.665] If point is visible? -0.027562, -0.007083, -0.250398 +[14:40:05.665] Z inverse min: -41.077831, Z inverse max: 0.000000 +[14:40:05.665] If point is visible? -0.032575, -0.006244, -0.247771 +[14:40:05.665] Z inverse min: -41.077831, Z inverse max: 0.000000 +[14:40:05.665] If point is visible? -0.044098, -0.007358, -0.247405 +[14:40:05.665] Z inverse min: -41.077831, Z inverse max: 0.000000 +[14:40:05.665] If point is visible? -0.025500, -0.008619, -0.252564 +[14:40:05.665] Z inverse min: -41.077831, Z inverse max: 0.000000 +[14:40:05.665] If point is visible? -0.050978, 0.008848, -0.250618 +[14:40:05.665] Z inverse min: -41.077831, Z inverse max: 0.000000 +[14:40:05.665] If point is visible? -0.038522, 0.003285, -0.246061 +[14:40:05.665] Z inverse min: -41.077831, Z inverse max: 0.000000 +[14:40:05.665] If point is visible? -0.034777, 0.007087, -0.247424 +[14:40:05.665] Z inverse min: -41.077831, Z inverse max: 0.000000 +[14:40:05.665] init seeds +[14:40:05.665] DepthFilter: Initialized 15 new seeds +[14:40:05.668] DepthFilter: Initialized 15 new seeds +[14:40:05.932] add new frame +[14:40:05.932] add key frame +[14:40:05.932] remove key frame +[14:40:05.932] update seed +[14:40:05.932] If point is visible? -0.022906, 0.074550, -0.061341 +[14:40:05.932] If point is visible? -0.022928, 0.075019, -0.061505 +[14:40:05.932] If point is visible? 0.040042, 0.066235, -0.073260 +[14:40:05.932] If point is visible? -0.172614, 0.053792, -0.099673 +[14:40:05.932] Z inverse min: -4.237934, Z inverse max: 0.000000 +[14:40:05.932] If point is visible? -0.183436, -0.020401, -0.101176 +[14:40:05.932] If point is visible? 0.022700, -0.016707, -0.057421 +[14:40:05.932] Z inverse min: -4.237934, Z inverse max: 0.000000 +[14:40:05.933] If point is visible? 0.021406, -0.017655, -0.057126 +[14:40:05.933] Z inverse min: -4.237934, Z inverse max: 0.000000 +[14:40:05.933] If point is visible? 0.022031, -0.017676, -0.057306 +[14:40:05.933] Z inverse min: -4.237934, Z inverse max: 0.000000 +[14:40:05.933] If point is visible? 0.022053, -0.017181, -0.057272 +[14:40:05.933] Z inverse min: -4.237934, Z inverse max: 0.000000 +[14:40:05.933] If point is visible? 0.021383, -0.018150, -0.057161 +[14:40:05.933] Z inverse min: -4.237934, Z inverse max: 0.000000 +[14:40:05.933] If point is visible? 0.022008, -0.018171, -0.057341 +[14:40:05.933] Z inverse min: -4.237934, Z inverse max: 0.000000 +[14:40:05.933] If point is visible? -0.088584, -0.024386, -0.054711 +[14:40:05.933] Z inverse min: -4.237934, Z inverse max: 0.000000 +[14:40:05.933] If point is visible? 0.017131, -0.046809, -0.060340 +[14:40:05.933] If point is visible? 0.017755, -0.046828, -0.060512 +[14:40:05.933] If point is visible? 0.018377, -0.046848, -0.060686 +[14:40:05.933] If point is visible? 0.078174, -0.056355, -0.089783 +[14:40:05.933] Z inverse min: -4.237934, Z inverse max: 0.000000 +[14:40:05.933] If point is visible? 0.029467, -0.061588, -0.067901 +[14:40:05.933] If point is visible? 0.076333, -0.067526, -0.092407 +[14:40:05.933] If point is visible? -0.071210, 0.132872, -0.094199 +[14:40:05.933] If point is visible? -0.130236, 0.119399, -0.105215 +[14:40:05.933] If point is visible? -0.026398, 0.099944, -0.071833 +[14:40:05.933] If point is visible? -0.025100, 0.099945, -0.071923 +[14:40:05.933] If point is visible? -0.078279, 0.035459, -0.054162 +[14:40:05.933] Z inverse min: -4.237934, Z inverse max: 0.000000 +[14:40:05.933] If point is visible? -0.030367, 0.021337, -0.049165 +[14:40:05.933] Z inverse min: -4.237934, Z inverse max: 0.000000 +[14:40:05.933] If point is visible? -0.030373, 0.020361, -0.049074 +[14:40:05.933] Z inverse min: -4.237934, Z inverse max: 0.000000 +[14:40:05.933] If point is visible? 0.020178, -0.017118, -0.056739 +[14:40:05.933] Z inverse min: -4.237934, Z inverse max: 0.000000 +[14:40:05.933] If point is visible? 0.021429, -0.017160, -0.057093 +[14:40:05.933] Z inverse min: -4.237934, Z inverse max: 0.000000 +[14:40:05.933] If point is visible? 0.017010, -0.029921, -0.057280 +[14:40:05.933] Z inverse min: -4.237934, Z inverse max: 0.000000 +[14:40:05.933] If point is visible? -0.125305, -0.051229, -0.071335 +[14:40:05.933] Z inverse min: -4.237934, Z inverse max: 0.000000 +[14:40:05.933] If point is visible? 0.028293, -0.061053, -0.067349 +[14:40:05.933] If point is visible? 0.076946, -0.067068, -0.092631 +[14:40:05.933] If point is visible? -0.033065, -0.067357, -0.058387 +[14:40:05.933] If point is visible? -0.031854, -0.068361, -0.058746 +[14:40:05.933] If point is visible? -0.139672, 0.101638, -0.098984 +[14:40:05.933] If point is visible? -0.026330, 0.099037, -0.071389 +[14:40:05.933] If point is visible? -0.028930, 0.099033, -0.071232 +[14:40:05.933] If point is visible? -0.142037, 0.096264, -0.097309 +[14:40:05.933] If point is visible? 0.006396, 0.067039, -0.063183 +[14:40:05.933] If point is visible? 0.003793, -0.056335, -0.059509 +[14:40:05.933] If point is visible? 0.006313, -0.056404, -0.060056 +[14:40:05.933] If point is visible? 0.045381, -0.059724, -0.073409 +[14:40:05.933] If point is visible? -0.045762, -0.063225, -0.057120 +[14:40:05.933] If point is visible? 0.092798, -0.077568, -0.108503 +[14:40:05.933] Z inverse min: -4.237934, Z inverse max: 0.000000 +[14:40:05.933] If point is visible? -0.061848, 0.050077, -0.116635 +[14:40:05.933] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:05.933] If point is visible? -0.131821, -0.012575, -0.140226 +[14:40:05.933] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:05.933] If point is visible? 0.001731, -0.011649, -0.111556 +[14:40:05.933] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:05.933] If point is visible? -0.132996, -0.017753, -0.141899 +[14:40:05.933] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:05.933] If point is visible? 0.019072, -0.033002, -0.121001 +[14:40:05.933] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:05.934] If point is visible? -0.016896, -0.040043, -0.112798 +[14:40:05.934] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:05.934] If point is visible? -0.036970, 0.016728, -0.106768 +[14:40:05.934] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:05.934] If point is visible? -0.036971, 0.016083, -0.106696 +[14:40:05.934] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:05.934] If point is visible? -0.132995, -0.016850, -0.141760 +[14:40:05.934] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:05.934] If point is visible? 0.002176, -0.019222, -0.112499 +[14:40:05.934] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:05.934] If point is visible? 0.020708, -0.032416, -0.121561 +[14:40:05.934] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:05.934] If point is visible? -0.016869, -0.039717, -0.112710 +[14:40:05.934] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:05.934] calculated Z= 0.523423 +[14:40:05.934] update seeds +[14:40:05.934] If point is visible? -0.100897, 0.073204, -0.141644 +[14:40:05.934] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:05.934] If point is visible? -0.099365, 0.076673, -0.143104 +[14:40:05.934] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:05.934] If point is visible? -0.029123, 0.016697, -0.107000 +[14:40:05.934] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:05.934] If point is visible? -0.113848, -0.029132, -0.130272 +[14:40:05.934] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:05.934] If point is visible? -0.005646, -0.036074, -0.113815 +[14:40:05.934] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:05.935] If point is visible? -0.003984, -0.036122, -0.114213 +[14:40:05.935] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:05.935] If point is visible? -0.095358, -0.032683, -0.121488 +[14:40:05.935] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:05.935] If point is visible? -0.071917, -0.047936, -0.118026 +[14:40:05.935] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:05.935] If point is visible? -0.070094, -0.046685, -0.117148 +[14:40:05.935] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:05.935] If point is visible? 0.020174, -0.038288, -0.122895 +[14:40:05.935] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:05.935] If point is visible? -0.237129, 0.053838, -0.023495 +[14:40:05.935] If point is visible? -0.041587, 0.032578, 0.054809 +[14:40:05.935] Z inverse min: -3.042733, Z inverse max: 0.000000 +[14:40:05.935] If point is visible? 0.042165, 0.001032, 0.046145 +[14:40:05.935] Z inverse min: -3.042733, Z inverse max: 0.000000 +[14:40:05.935] If point is visible? 0.043025, 0.001004, 0.045914 +[14:40:05.935] Z inverse min: -3.042733, Z inverse max: 0.000000 +[14:40:05.935] If point is visible? 0.043007, 0.000329, 0.045921 +[14:40:05.935] Z inverse min: -3.042733, Z inverse max: 0.000000 +[14:40:05.935] If point is visible? 0.047299, 0.000186, 0.044728 +[14:40:05.935] Z inverse min: -3.042733, Z inverse max: 0.000000 +[14:40:05.935] If point is visible? -0.232333, -0.022842, -0.014298 +[14:40:05.935] If point is visible? -0.233162, -0.031610, -0.015997 +[14:40:05.935] If point is visible? 0.133908, -0.070304, -0.005281 +[14:40:05.935] If point is visible? 0.133839, -0.070972, -0.005425 +[14:40:05.935] If point is visible? 0.058720, -0.079603, 0.030176 +[14:40:05.935] If point is visible? 0.064609, -0.079142, 0.028229 +[14:40:05.935] If point is visible? 0.064672, -0.078467, 0.028396 +[14:40:05.935] If point is visible? -0.015551, 0.055735, 0.050701 +[14:40:05.935] If point is visible? -0.017327, 0.054425, 0.051062 +[14:40:05.935] If point is visible? -0.040673, 0.037238, 0.054288 +[14:40:05.935] Z inverse min: -3.042733, Z inverse max: 0.000000 +[14:40:05.935] If point is visible? 0.023942, -0.055429, 0.045287 +[14:40:05.935] If point is visible? -0.045309, -0.083848, 0.044813 +[14:40:05.935] If point is visible? -0.114431, -0.093743, 0.031589 +[14:40:05.935] If point is visible? 0.029643, -0.071884, 0.040482 +[14:40:05.935] If point is visible? 0.033076, -0.071984, 0.039649 +[14:40:05.935] If point is visible? -0.027688, -0.086816, 0.043912 +[14:40:05.935] If point is visible? -0.079858, 0.050818, 0.036726 +[14:40:05.935] If point is visible? 0.064634, 0.037192, 0.024372 +[14:40:05.935] If point is visible? 0.125327, -0.007003, -0.006389 +[14:40:05.935] If point is visible? -0.065053, 0.154535, -0.005549 +[14:40:05.935] If point is visible? -0.001886, -0.076080, 0.032759 +[14:40:05.935] If point is visible? -0.114464, -0.085525, 0.018454 +[14:40:05.935] If point is visible? -0.156298, 0.108098, -0.009981 +[14:40:05.935] If point is visible? 0.028471, 0.082086, 0.025238 +[14:40:05.935] If point is visible? 0.031484, 0.081997, 0.024495 +[14:40:05.935] If point is visible? -0.021219, 0.128823, 0.012449 +[14:40:05.935] If point is visible? -0.017642, 0.080511, 0.032860 +[14:40:05.935] If point is visible? -0.016572, 0.041684, 0.041915 +[14:40:05.935] If point is visible? 0.024353, -0.072124, 0.029297 +[14:40:05.935] If point is visible? 0.073674, -0.074043, 0.012012 +[14:40:05.935] If point is visible? 0.024600, -0.069770, 0.029903 +[14:40:05.935] If point is visible? 0.071142, -0.071566, 0.013914 +[14:40:05.935] If point is visible? 0.001683, 0.148661, 0.099206 +[14:40:05.935] If point is visible? 0.171399, 0.061471, 0.061998 +[14:40:05.935] If point is visible? 0.110868, 0.037951, 0.101185 +[14:40:05.935] Z inverse min: -2.818008, Z inverse max: 0.000000 +[14:40:05.936] If point is visible? 0.006428, -0.103212, 0.116316 +[14:40:05.936] If point is visible? -0.062324, 0.052830, 0.128847 +[14:40:05.936] Z inverse min: -2.818008, Z inverse max: 0.000000 +[14:40:05.936] calculated Z= 1.643618 +[14:40:05.936] update seeds +[14:40:05.936] If point is visible? 0.062713, -0.050026, 0.117201 +[14:40:05.936] Z inverse min: -2.818008, Z inverse max: 0.000000 +[14:40:05.936] If point is visible? 0.105458, -0.082783, 0.095005 +[14:40:05.936] If point is visible? 0.006510, -0.102447, 0.116543 +[14:40:05.936] If point is visible? -0.043596, -0.115009, 0.114549 +[14:40:05.936] If point is visible? -0.016423, 0.168361, 0.090647 +[14:40:05.936] If point is visible? -0.016139, 0.165573, 0.092144 +[14:40:05.936] If point is visible? -0.222034, 0.167716, 0.026277 +[14:40:05.936] If point is visible? -0.011600, 0.102274, 0.118225 +[14:40:05.936] If point is visible? 0.050193, -0.060453, 0.118811 +[14:40:05.936] Z inverse min: -2.818008, Z inverse max: 0.000000 +[14:40:05.936] If point is visible? -0.154929, -0.114397, 0.091547 +[14:40:05.936] If point is visible? 0.180376, -0.119005, 0.035372 +[14:40:05.936] If point is visible? -0.005939, 0.081649, 0.036645 +[14:40:05.936] If point is visible? -0.180729, 0.120196, -0.029576 +[14:40:05.936] If point is visible? -0.065057, 0.150537, 0.001870 +[14:40:05.936] If point is visible? -0.182077, 0.117102, -0.028685 +[14:40:05.936] If point is visible? -0.179348, 0.122339, -0.029877 +[14:40:05.936] If point is visible? -0.008801, 0.076624, 0.038498 +[14:40:05.936] If point is visible? 0.073681, -0.064184, 0.020239 +[14:40:05.936] If point is visible? -0.160106, 0.092467, -0.000714 +[14:40:05.936] If point is visible? 0.032090, 0.081495, 0.029742 +[14:40:05.936] If point is visible? -0.020078, 0.125916, 0.018919 +[14:40:05.936] If point is visible? -0.179311, 0.121400, -0.029234 +[14:40:05.936] If point is visible? -0.176632, 0.127536, -0.031249 +[14:40:05.936] If point is visible? -0.154554, 0.107442, -0.004482 +[14:40:05.936] If point is visible? -0.016632, 0.077779, 0.038755 +[14:40:05.936] If point is visible? -0.013515, 0.077770, 0.038545 +[14:40:05.936] If point is visible? 0.131795, -0.090631, -0.026294 +[14:40:05.936] If point is visible? -0.128711, -0.086943, 0.017179 +[14:40:05.936] If point is visible? -0.064625, 0.132185, 0.013536 +[14:40:05.936] If point is visible? -0.015549, 0.127002, 0.018050 +[14:40:05.936] If point is visible? -0.013073, 0.125414, 0.018714 +[14:40:05.936] If point is visible? -0.012196, 0.124350, 0.019206 +[14:40:05.936] If point is visible? -0.012249, 0.124883, 0.018928 +[14:40:05.936] If point is visible? -0.008191, 0.122746, 0.019669 +[14:40:05.936] If point is visible? -0.073670, 0.093980, 0.030309 +[14:40:05.936] If point is visible? -0.074322, 0.091227, 0.031233 +[14:40:05.936] If point is visible? -0.074982, 0.088468, 0.032122 +[14:40:05.936] If point is visible? -0.005623, 0.090007, 0.033754 +[14:40:05.936] If point is visible? -0.005656, 0.090562, 0.033557 +[14:40:05.936] If point is visible? -0.074955, 0.087920, 0.032321 +[14:40:05.936] If point is visible? -0.074875, 0.086277, 0.032911 +[14:40:05.936] If point is visible? -0.075623, 0.085152, 0.033169 +[14:40:05.936] If point is visible? -0.076299, 0.082377, 0.033983 +[14:40:05.936] If point is visible? -0.075548, 0.083505, 0.033740 +[14:40:05.936] If point is visible? -0.076182, 0.079624, 0.034895 +[14:40:05.936] If point is visible? -0.005939, 0.081649, 0.036645 +[14:40:05.936] If point is visible? -0.011280, 0.058550, 0.043470 +[14:40:05.936] If point is visible? -0.010502, 0.058544, 0.043406 +[14:40:05.936] If point is visible? -0.016467, 0.021817, 0.049464 +[14:40:05.936] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:05.936] If point is visible? 0.044576, -0.007016, 0.039374 +[14:40:05.936] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:05.936] If point is visible? 0.065479, -0.013169, 0.031855 +[14:40:05.936] If point is visible? 0.039804, -0.014482, 0.040453 +[14:40:05.936] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:05.936] If point is visible? 0.040546, -0.014508, 0.040241 +[14:40:05.936] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:05.936] If point is visible? 0.041286, -0.014534, 0.040028 +[14:40:05.936] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:05.936] If point is visible? 0.044981, -0.014668, 0.038926 +[14:40:05.936] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:05.936] If point is visible? 0.054271, -0.019736, 0.035569 +[14:40:05.936] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:05.936] If point is visible? 0.047529, -0.022412, 0.037572 +[14:40:05.936] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:05.936] If point is visible? 0.048263, -0.022440, 0.037336 +[14:40:05.936] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:05.937] If point is visible? 0.049826, -0.020735, 0.036978 +[14:40:05.937] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:05.937] If point is visible? -0.084709, -0.028640, 0.044100 +[14:40:05.937] If point is visible? 0.126972, -0.040939, -0.006018 +[14:40:05.937] If point is visible? 0.074473, -0.048919, 0.023515 +[14:40:05.937] If point is visible? 0.041966, -0.057564, 0.033691 +[14:40:05.937] If point is visible? 0.042698, -0.057591, 0.033465 +[14:40:05.937] If point is visible? 0.043430, -0.057618, 0.033237 +[14:40:05.937] If point is visible? 0.122959, -0.071591, -0.011291 +[14:40:05.937] If point is visible? 0.039604, -0.079807, 0.028202 +[14:40:05.937] If point is visible? -0.003039, -0.079653, 0.036961 +[14:40:05.937] If point is visible? 0.121238, -0.087715, -0.016332 +[14:40:05.937] If point is visible? -0.065057, 0.150537, 0.001870 +[14:40:05.937] If point is visible? -0.167160, 0.144034, -0.036298 +[14:40:05.937] If point is visible? -0.146142, 0.123518, -0.008613 +[14:40:05.937] If point is visible? -0.179348, 0.122339, -0.029877 +[14:40:05.937] If point is visible? -0.180729, 0.120196, -0.029576 +[14:40:05.937] If point is visible? -0.064625, 0.132185, 0.013536 +[14:40:05.937] If point is visible? -0.183429, 0.113994, -0.027854 +[14:40:05.937] If point is visible? -0.182077, 0.117102, -0.028685 +[14:40:05.937] If point is visible? -0.008801, 0.076624, 0.038498 +[14:40:05.937] If point is visible? -0.011341, 0.060824, 0.042951 +[14:40:05.937] If point is visible? -0.011010, 0.043690, 0.046361 +[14:40:05.937] If point is visible? -0.019160, 0.003240, 0.050488 +[14:40:05.937] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:05.937] If point is visible? 0.047245, -0.013577, 0.038287 +[14:40:05.937] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:05.937] calculated Z= 0.993624 +[14:40:05.937] update seeds +[14:40:05.937] If point is visible? 0.045356, -0.021741, 0.038306 +[14:40:05.937] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:05.937] If point is visible? 0.045773, -0.013522, 0.038747 +[14:40:05.937] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:05.937] If point is visible? 0.046891, -0.020622, 0.037924 +[14:40:05.937] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:05.937] If point is visible? -0.085482, -0.028067, 0.044006 +[14:40:05.937] If point is visible? -0.083882, -0.028058, 0.044328 +[14:40:05.937] If point is visible? 0.166570, -0.036907, -0.042211 +[14:40:05.937] If point is visible? 0.041364, -0.038092, 0.037571 +[14:40:05.937] If point is visible? 0.073681, -0.064184, 0.020239 +[14:40:05.937] If point is visible? 0.122485, -0.070397, -0.010519 +[14:40:05.937] If point is visible? -0.002976, -0.079071, 0.037136 +[14:40:05.937] If point is visible? -0.050065, -0.084969, 0.036329 +[14:40:05.937] If point is visible? 0.056400, -0.078694, 0.022970 +[14:40:05.937] If point is visible? -0.016632, 0.077779, 0.038755 +[14:40:05.937] If point is visible? -0.013515, 0.077770, 0.038545 +[14:40:05.937] If point is visible? -0.179311, 0.121400, -0.029234 +[14:40:05.937] If point is visible? -0.176632, 0.127536, -0.031249 +[14:40:05.937] If point is visible? 0.029095, 0.081583, 0.030481 +[14:40:05.937] If point is visible? 0.032090, 0.081495, 0.029742 +[14:40:05.937] If point is visible? -0.171242, 0.137801, -0.034523 +[14:40:05.937] If point is visible? -0.160106, 0.092467, -0.000714 +[14:40:05.937] If point is visible? -0.020078, 0.125916, 0.018919 +[14:40:05.937] If point is visible? -0.154554, 0.107442, -0.004482 +[14:40:05.937] If point is visible? -0.012868, 0.059697, 0.043333 +[14:40:05.937] If point is visible? -0.076093, 0.045486, 0.043286 +[14:40:05.937] If point is visible? -0.012569, 0.043703, 0.046481 +[14:40:05.937] If point is visible? -0.015643, 0.027598, 0.048874 +[14:40:05.937] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:05.937] If point is visible? 0.046891, -0.020622, 0.037924 +[14:40:05.937] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:05.937] If point is visible? 0.059037, -0.011706, 0.034379 +[14:40:05.937] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:05.937] If point is visible? 0.027383, -0.045874, 0.039958 +[14:40:05.937] If point is visible? 0.030367, -0.045969, 0.039224 +[14:40:05.937] If point is visible? 0.053682, -0.077412, 0.024380 +[14:40:05.937] If point is visible? 0.131795, -0.090631, -0.026294 +[14:40:05.937] If point is visible? -0.134734, -0.084624, 0.015462 +[14:40:05.937] If point is visible? 0.027714, -0.074121, 0.033166 +[14:40:05.937] If point is visible? 0.051085, -0.074963, 0.026068 +[14:40:05.937] If point is visible? 0.056024, -0.013928, 0.035347 +[14:40:05.937] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:05.937] If point is visible? -0.128711, -0.086943, 0.017179 +[14:40:05.937] If point is visible? -0.140743, -0.082318, 0.013551 +[14:40:05.937] If point is visible? 0.010256, 0.143678, -0.023103 +[14:40:05.937] If point is visible? -0.006884, 0.080406, 0.014105 +[14:40:05.937] If point is visible? -0.067347, 0.042499, 0.022845 +[14:40:05.937] If point is visible? -0.040013, 0.036221, 0.026456 +[14:40:05.938] If point is visible? 0.044230, -0.018184, 0.016295 +[14:40:05.938] If point is visible? 0.048216, -0.017289, 0.014992 +[14:40:05.938] If point is visible? 0.110897, -0.063993, -0.028574 +[14:40:05.938] If point is visible? -0.153319, 0.129421, -0.049366 +[14:40:05.938] If point is visible? -0.171627, 0.093960, -0.039918 +[14:40:05.938] If point is visible? -0.172877, 0.091993, -0.039877 +[14:40:05.938] If point is visible? 0.041571, -0.018609, 0.017134 +[14:40:05.938] If point is visible? 0.042887, -0.018660, 0.016702 +[14:40:05.938] If point is visible? 0.149755, -0.032391, -0.057049 +[14:40:05.938] If point is visible? 0.019357, -0.049623, 0.018546 +[14:40:05.938] If point is visible? -0.132450, -0.074971, -0.006184 +[14:40:05.938] If point is visible? -0.137700, -0.070950, -0.007410 +[14:40:05.938] If point is visible? -0.043020, -0.080628, 0.015104 +[14:40:05.938] If point is visible? -0.021455, 0.115094, -0.000327 +[14:40:05.938] If point is visible? 0.025612, 0.073278, 0.010578 +[14:40:05.938] If point is visible? 0.028298, 0.073195, 0.009892 +[14:40:05.938] If point is visible? -0.134552, 0.111870, -0.024978 +[14:40:05.938] If point is visible? -0.129738, 0.123042, -0.029502 +[14:40:05.938] If point is visible? -0.156990, 0.123817, -0.047782 +[14:40:05.938] If point is visible? 0.049758, -0.012598, 0.014751 +[14:40:05.938] If point is visible? -0.135133, -0.073940, -0.007152 +[14:40:05.938] If point is visible? -0.132511, -0.075953, -0.006578 +[14:40:05.938] If point is visible? -0.169101, -0.040472, 0.455383 +[14:40:05.938] Z inverse min: -1.443579, Z inverse max: 0.000000 +[14:40:05.938] If point is visible? -0.167073, -0.040452, 0.455804 +[14:40:05.938] Z inverse min: -1.443578, Z inverse max: 0.000000 +[14:40:05.938] calculated Z= 1.166114 +[14:40:05.938] update seeds +[14:40:05.938] If point is visible? 0.151589, -0.208014, 0.411358 +[14:40:05.938] Z inverse min: -1.443578, Z inverse max: 0.000000 +[14:40:05.938] If point is visible? 0.151766, -0.206539, 0.411802 +[14:40:05.938] Z inverse min: -1.443578, Z inverse max: 0.000000 +[14:40:05.938] If point is visible? 0.321343, -0.214129, 0.330059 +[14:40:05.938] Z inverse min: -1.443578, Z inverse max: 0.000000 +[14:40:05.938] If point is visible? -0.107961, 0.340221, 0.373801 +[14:40:05.938] If point is visible? -0.426116, 0.264625, 0.275321 +[14:40:05.938] If point is visible? -0.041389, -0.023968, 0.470309 +[14:40:05.938] Z inverse min: -1.443579, Z inverse max: 0.000000 +[14:40:05.938] If point is visible? 0.167803, -0.096898, 0.433437 +[14:40:05.938] Z inverse min: -1.443578, Z inverse max: 0.000000 +[14:40:05.938] If point is visible? -0.068509, -0.232842, 0.428311 +[14:40:05.938] Z inverse min: -1.443578, Z inverse max: 0.000000 +[14:40:05.938] If point is visible? -0.301130, 0.357239, 0.301146 +[14:40:05.938] If point is visible? 0.024187, 0.075611, 0.464254 +[14:40:05.938] Z inverse min: -1.443578, Z inverse max: 0.000000 +[14:40:05.938] If point is visible? 0.140109, -0.116808, 0.438133 +[14:40:05.938] Z inverse min: -1.443578, Z inverse max: 0.000000 +[14:40:05.938] If point is visible? 0.133403, -0.188092, 0.422794 +[14:40:05.938] Z inverse min: -1.443578, Z inverse max: 0.000000 +[14:40:05.938] If point is visible? 0.009424, 0.003978, 0.332655 +[14:40:05.938] Z inverse min: -1.768857, Z inverse max: 0.000000 +[14:40:05.938] If point is visible? -0.134181, -0.034187, 0.322799 +[14:40:05.938] Z inverse min: -1.768857, Z inverse max: 0.000000 +[14:40:05.938] If point is visible? -0.091877, 0.294724, 0.240827 +[14:40:05.938] If point is visible? -0.088661, 0.264171, 0.260283 +[14:40:05.938] If point is visible? 0.287776, -0.164096, 0.195879 +[14:40:05.938] Z inverse min: -1.768857, Z inverse max: 0.000000 +[14:40:05.938] calculated Z= 1.349545 +[14:40:05.938] update seeds +[14:40:05.938] If point is visible? 0.290215, -0.164244, 0.193835 +[14:40:05.938] Z inverse min: -1.768857, Z inverse max: 0.000000 +[14:40:05.938] If point is visible? -0.081683, -0.171684, 0.303083 +[14:40:05.938] Z inverse min: -1.768857, Z inverse max: 0.000000 +[14:40:05.938] If point is visible? 0.106715, 0.162403, 0.289911 +[14:40:05.938] Z inverse min: -1.768857, Z inverse max: 0.000000 +[14:40:05.938] If point is visible? -0.249311, 0.265415, 0.207985 +[14:40:05.939] If point is visible? -0.082140, -0.176256, 0.301446 +[14:40:05.939] Z inverse min: -1.768857, Z inverse max: 0.000000 +[14:40:05.939] calculated Z= 1.410269 +[14:40:05.939] update seeds +[14:40:05.939] If point is visible? 0.103461, -0.153083, 0.293810 +[14:40:05.939] Z inverse min: -1.768857, Z inverse max: 0.000000 +[14:40:05.939] If point is visible? -0.292045, -0.168058, 0.233823 +[14:40:05.939] Z inverse min: -1.768857, Z inverse max: 0.000000 +[14:40:05.939] If point is visible? -0.286100, -0.168183, 0.237321 +[14:40:05.939] Z inverse min: -1.768857, Z inverse max: 0.000000 +[14:40:05.939] If point is visible? 0.251813, 0.153608, 0.364029 +[14:40:05.939] Z inverse min: -1.490735, Z inverse max: 0.000000 +[14:40:05.939] If point is visible? -0.150986, -0.040093, 0.437394 +[14:40:05.939] Z inverse min: -1.490735, Z inverse max: 0.000000 +[14:40:05.939] If point is visible? -0.101558, 0.321167, 0.360103 +[14:40:05.939] If point is visible? 0.172787, -0.090502, 0.410138 +[14:40:05.939] Z inverse min: -1.490735, Z inverse max: 0.000000 +[14:40:05.939] If point is visible? -0.323245, 0.256472, 0.320136 +[14:40:05.939] If point is visible? 0.135686, 0.202856, 0.394125 +[14:40:05.939] Z inverse min: -1.490735, Z inverse max: 0.000000 +[14:40:05.939] If point is visible? 0.142893, 0.202610, 0.392128 +[14:40:05.939] Z inverse min: -1.490735, Z inverse max: 0.000000 +[14:40:05.939] If point is visible? 0.143194, 0.197171, 0.393881 +[14:40:05.939] Z inverse min: -1.490735, Z inverse max: 0.000000 +[14:40:05.939] If point is visible? 0.028206, 0.072393, 0.443024 +[14:40:05.939] Z inverse min: -1.490735, Z inverse max: 0.000000 +[14:40:05.939] If point is visible? -0.101238, -0.214123, 0.409362 +[14:40:05.939] Z inverse min: -1.490735, Z inverse max: 0.000000 +[14:40:05.939] If point is visible? -0.342214, -0.214861, 0.327975 +[14:40:05.939] Z inverse min: -1.490735, Z inverse max: 0.000000 +[14:40:05.939] If point is visible? -6365.160253, 8138.023098, 39717.491512 +[14:40:05.939] Z inverse min: -0.000024, Z inverse max: 0.000000 +[14:40:05.939] If point is visible? -7714.948602, -2450.950198, 40232.997825 +[14:40:05.939] Z inverse min: -0.000024, Z inverse max: 0.000000 +[14:40:05.939] If point is visible? 11982.895787, -4977.094383, 38934.043654 +[14:40:05.939] Z inverse min: -0.000024, Z inverse max: 0.000000 +[14:40:05.939] If point is visible? 18107.767116, -10233.808907, 35377.958100 +[14:40:05.939] Z inverse min: -0.000024, Z inverse max: 0.000000 +[14:40:05.939] If point is visible? -4337.092020, 23504.601884, 33360.866650 +[14:40:05.939] If point is visible? -23665.212715, 17019.847686, 28887.877070 +[14:40:05.939] Z inverse min: -0.000024, Z inverse max: 0.000000 +[14:40:05.939] If point is visible? -23451.987146, 17353.404813, 28863.308656 +[14:40:05.939] Z inverse min: -0.000024, Z inverse max: 0.000000 +[14:40:05.939] If point is visible? -17908.122460, 17880.680198, 32307.982555 +[14:40:05.939] Z inverse min: -0.000024, Z inverse max: 0.000000 +[14:40:05.939] If point is visible? -23461.474943, 17645.719608, 28677.775192 +[14:40:05.939] Z inverse min: -0.000024, Z inverse max: 0.000000 +[14:40:05.939] If point is visible? -16304.701040, 22299.210773, 30350.088614 +[14:40:05.939] If point is visible? 37382.663059, -8793.953138, 14471.753199 +[14:40:05.939] If point is visible? 0.111568, -0.052634, 0.281379 +[14:40:05.939] Z inverse min: -1.768118, Z inverse max: 0.000000 +[14:40:05.939] If point is visible? -0.080476, 0.288395, 0.207271 +[14:40:05.939] If point is visible? 0.287299, -0.126896, 0.166340 +[14:40:05.939] Z inverse min: -1.768118, Z inverse max: 0.000000 +[14:40:05.939] If point is visible? 0.287005, -0.128994, 0.165838 +[14:40:05.939] Z inverse min: -1.768118, Z inverse max: 0.000000 +[14:40:05.939] If point is visible? -0.294907, 0.239353, 0.148799 +[14:40:05.939] If point is visible? -0.224349, 0.261146, 0.179968 +[14:40:05.939] If point is visible? 0.187767, -0.109974, 0.240203 +[14:40:05.940] Z inverse min: -1.768118, Z inverse max: 0.000000 +[14:40:05.940] If point is visible? -0.383635, 0.165963, 0.293186 +[14:40:05.940] Z inverse min: -1.516564, Z inverse max: 0.000000 +[14:40:05.940] If point is visible? 0.024605, 0.060503, 0.430567 +[14:40:05.940] Z inverse min: -1.516564, Z inverse max: 0.000000 +[14:40:05.940] If point is visible? 0.533430, -0.069041, 0.057134 +[14:40:05.940] If point is visible? -0.153063, -0.037778, 0.421682 +[14:40:05.940] Z inverse min: -1.516564, Z inverse max: 0.000000 +[14:40:05.940] If point is visible? -0.149372, -0.037745, 0.422446 +[14:40:05.940] Z inverse min: -1.516564, Z inverse max: 0.000000 +[14:40:05.940] If point is visible? -0.131899, -0.058798, 0.424039 +[14:40:05.940] Z inverse min: -1.516564, Z inverse max: 0.000000 +[14:40:05.940] If point is visible? 0.008565, 0.303200, 0.354133 +[14:40:05.940] If point is visible? 0.136505, 0.191470, 0.381350 +[14:40:05.940] Z inverse min: -1.516564, Z inverse max: 0.000000 +[14:40:05.940] calculated Z= 1.194405 +[14:40:05.940] update seeds +[14:40:05.940] If point is visible? -0.093948, 0.319735, 0.341388 +[14:40:05.940] If point is visible? 0.136186, 0.196601, 0.379654 +[14:40:05.940] Z inverse min: -1.516564, Z inverse max: 0.000000 +[14:40:05.940] If point is visible? 0.020853, 0.105431, 0.424704 +[14:40:05.940] Z inverse min: -1.516564, Z inverse max: 0.000000 +[14:40:05.940] If point is visible? 0.028222, 0.073712, 0.428779 +[14:40:05.940] Z inverse min: -1.516564, Z inverse max: 0.000000 +[14:40:05.940] If point is visible? 0.013892, 0.079139, 0.429251 +[14:40:05.940] Z inverse min: -1.516564, Z inverse max: 0.000000 +[14:40:05.940] If point is visible? 0.528700, -0.166632, 0.015357 +[14:40:05.940] If point is visible? -0.107942, 0.024849, 0.235814 +[14:40:05.940] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.940] If point is visible? 0.350405, -0.049177, -0.013468 +[14:40:05.940] If point is visible? -0.200127, 0.201515, 0.145803 +[14:40:05.940] If point is visible? 0.076739, -0.070463, 0.225519 +[14:40:05.940] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.940] If point is visible? 0.010452, 0.199671, 0.190862 +[14:40:05.940] If point is visible? 0.016704, 0.196434, 0.191978 +[14:40:05.940] If point is visible? -0.089903, 0.148372, 0.211542 +[14:40:05.940] If point is visible? -0.091944, 0.141652, 0.213784 +[14:40:05.940] If point is visible? 0.020111, 0.148459, 0.214183 +[14:40:05.940] If point is visible? -0.092977, 0.138282, 0.214852 +[14:40:05.940] If point is visible? -0.092929, 0.137450, 0.215164 +[14:40:05.940] If point is visible? -0.091605, 0.135833, 0.215981 +[14:40:05.940] If point is visible? -0.094895, 0.128178, 0.218057 +[14:40:05.940] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.940] If point is visible? 0.019917, 0.134074, 0.219560 +[14:40:05.940] If point is visible? -0.094853, 0.127341, 0.218346 +[14:40:05.940] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.940] If point is visible? 0.009667, 0.101567, 0.230510 +[14:40:05.940] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.940] If point is visible? 0.010858, 0.101559, 0.230403 +[14:40:05.940] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.940] If point is visible? 0.012049, 0.101550, 0.230292 +[14:40:05.940] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.940] If point is visible? 0.012081, 0.100686, 0.230512 +[14:40:05.940] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.940] calculated Z= 1.249018 +[14:40:05.940] update seeds +[14:40:05.940] If point is visible? -0.095837, 0.086593, 0.229443 +[14:40:05.940] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.940] If point is visible? -0.107942, 0.024849, 0.235814 +[14:40:05.940] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.941] If point is visible? 0.002852, 0.007577, 0.243882 +[14:40:05.941] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.941] If point is visible? 0.095451, -0.008165, 0.226435 +[14:40:05.941] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.941] If point is visible? 0.101067, -0.008386, 0.224637 +[14:40:05.941] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.941] If point is visible? 0.137239, -0.014521, 0.210671 +[14:40:05.941] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.941] If point is visible? 0.101029, -0.009281, 0.224629 +[14:40:05.941] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.941] If point is visible? 0.136070, -0.016256, 0.211107 +[14:40:05.941] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.941] If point is visible? 0.096046, -0.019857, 0.225828 +[14:40:05.941] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.941] If point is visible? -0.111860, -0.026001, 0.234913 +[14:40:05.941] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.941] If point is visible? 0.350986, -0.048459, -0.014705 +[14:40:05.941] If point is visible? 0.350405, -0.049177, -0.013468 +[14:40:05.941] If point is visible? 0.106644, -0.031073, 0.221603 +[14:40:05.941] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.941] If point is visible? 0.107756, -0.031120, 0.221214 +[14:40:05.941] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.941] If point is visible? 0.107809, -0.030222, 0.221268 +[14:40:05.941] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.941] If point is visible? 0.108920, -0.030269, 0.220876 +[14:40:05.941] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.941] If point is visible? -0.100251, -0.040882, 0.236004 +[14:40:05.941] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.941] If point is visible? 0.249563, -0.059145, 0.132063 +[14:40:05.941] If point is visible? 0.249479, -0.060028, 0.131963 +[14:40:05.941] If point is visible? 0.249672, -0.067165, 0.130238 +[14:40:05.941] If point is visible? 0.096549, -0.087423, 0.216223 +[14:40:05.941] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.941] If point is visible? 0.097660, -0.087467, 0.215853 +[14:40:05.941] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.941] If point is visible? 0.098770, -0.087512, 0.215479 +[14:40:05.941] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.941] If point is visible? 0.115706, -0.094532, 0.207754 +[14:40:05.941] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.941] If point is visible? 0.241651, -0.115351, 0.122558 +[14:40:05.941] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.941] If point is visible? 0.241515, -0.116225, 0.122331 +[14:40:05.941] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.941] If point is visible? 0.093205, -0.141094, 0.200790 +[14:40:05.941] If point is visible? -0.006036, -0.137773, 0.220464 +[14:40:05.941] If point is visible? 0.121774, -0.139625, 0.190746 +[14:40:05.941] If point is visible? 0.105218, -0.141585, 0.196443 +[14:40:05.941] If point is visible? 0.005650, 0.200467, 0.190870 +[14:40:05.941] If point is visible? -0.094938, 0.129015, 0.217767 +[14:40:05.941] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.941] If point is visible? 0.017147, 0.120443, 0.224389 +[14:40:05.941] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.941] If point is visible? 0.010858, 0.101559, 0.230403 +[14:40:05.941] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.941] If point is visible? -0.017033, 0.040527, 0.242844 +[14:40:05.941] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.942] If point is visible? 0.091586, -0.018789, 0.227251 +[14:40:05.942] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.942] If point is visible? 0.105048, -0.019319, 0.222918 +[14:40:05.942] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.942] If point is visible? 0.124857, -0.021993, 0.215475 +[14:40:05.942] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.942] If point is visible? 0.102903, -0.017434, 0.223728 +[14:40:05.942] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.942] If point is visible? -0.111823, -0.025123, 0.234977 +[14:40:05.942] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.942] If point is visible? -0.114365, -0.026902, 0.234302 +[14:40:05.942] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.942] If point is visible? 0.104469, -0.030083, 0.222424 +[14:40:05.942] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.942] If point is visible? 0.106697, -0.030175, 0.221656 +[14:40:05.942] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.942] If point is visible? 0.095942, -0.056758, 0.222206 +[14:40:05.942] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.942] If point is visible? 0.210005, -0.145054, 0.136566 +[14:40:05.942] If point is visible? 0.211864, -0.145163, 0.135039 +[14:40:05.942] If point is visible? 0.120034, -0.136873, 0.192540 +[14:40:05.942] If point is visible? 0.122174, -0.136968, 0.191617 +[14:40:05.942] If point is visible? 0.119769, -0.138645, 0.191961 +[14:40:05.942] If point is visible? 0.121908, -0.138740, 0.191039 +[14:40:05.942] If point is visible? -0.004860, -0.137806, 0.220390 +[14:40:05.942] If point is visible? -0.002509, -0.137871, 0.220231 +[14:40:05.942] If point is visible? 0.003484, 0.198847, 0.191970 +[14:40:05.942] If point is visible? 0.008197, 0.198861, 0.191541 +[14:40:05.942] If point is visible? -0.191973, 0.217289, 0.139535 +[14:40:05.942] If point is visible? 0.079418, 0.127771, 0.209855 +[14:40:05.942] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.942] If point is visible? 0.083959, 0.127621, 0.208595 +[14:40:05.942] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.942] If point is visible? -0.200127, 0.201515, 0.145803 +[14:40:05.942] If point is visible? 0.008576, 0.195628, 0.193301 +[14:40:05.942] If point is visible? 0.013279, 0.195629, 0.192815 +[14:40:05.942] If point is visible? -0.097153, 0.123897, 0.219056 +[14:40:05.942] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.942] If point is visible? 0.004985, 0.125639, 0.223894 +[14:40:05.942] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.942] If point is visible? 0.014500, 0.125594, 0.223034 +[14:40:05.942] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.942] If point is visible? 0.006835, 0.073768, 0.236901 +[14:40:05.942] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.942] If point is visible? -0.096997, 0.120539, 0.220159 +[14:40:05.942] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.942] If point is visible? 0.005169, 0.122222, 0.224973 +[14:40:05.942] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.942] If point is visible? 0.014686, 0.122174, 0.224111 +[14:40:05.942] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.942] If point is visible? 0.120648, -0.018203, 0.217324 +[14:40:05.942] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.942] If point is visible? 0.076739, -0.070463, 0.225519 +[14:40:05.942] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.942] If point is visible? 0.081265, -0.070624, 0.224266 +[14:40:05.942] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.943] If point is visible? 0.114102, -0.133043, 0.196360 +[14:40:05.943] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:05.943] If point is visible? -0.073785, 0.143240, 0.640979 +[14:40:05.943] Z inverse min: -1.151231, Z inverse max: 0.000000 +[14:40:05.943] If point is visible? 0.447277, -0.299706, 0.431956 +[14:40:05.943] Z inverse min: -1.151231, Z inverse max: 0.000000 +[14:40:05.943] If point is visible? 0.553879, -0.316489, 0.316732 +[14:40:05.943] Z inverse min: -1.151231, Z inverse max: 0.000000 +[14:40:05.943] If point is visible? 0.181875, 0.254508, 0.586084 +[14:40:05.943] Z inverse min: -1.151231, Z inverse max: 0.000000 +[14:40:05.943] calculated Z= 1.200489 +[14:40:05.943] update seeds +[14:40:05.943] If point is visible? 0.190928, 0.254216, 0.583605 +[14:40:05.943] Z inverse min: -1.151231, Z inverse max: 0.000000 +[14:40:05.943] If point is visible? 0.249621, -0.271893, 0.557430 +[14:40:05.943] Z inverse min: -1.151231, Z inverse max: 0.000000 +[14:40:05.943] If point is visible? 0.539399, -0.294995, 0.347123 +[14:40:05.943] Z inverse min: -1.151231, Z inverse max: 0.000000 +[14:40:05.943] If point is visible? 0.150189, -0.133814, 0.559403 +[14:40:05.943] Z inverse min: -1.319619, Z inverse max: 0.000000 +[14:40:05.943] If point is visible? 0.625665, -0.224187, 0.100422 +[14:40:05.943] If point is visible? 0.465748, -0.204594, 0.363423 +[14:40:05.943] Z inverse min: -1.319619, Z inverse max: 0.000000 +[14:40:05.943] If point is visible? 0.465267, -0.207672, 0.362607 +[14:40:05.943] Z inverse min: -1.319619, Z inverse max: 0.000000 +[14:40:05.943] If point is visible? -0.338867, 0.376229, 0.397801 +[14:40:05.943] If point is visible? 0.150995, -0.124284, 0.560990 +[14:40:05.943] Z inverse min: -1.319619, Z inverse max: 0.000000 +[14:40:05.943] If point is visible? 0.159031, -0.124555, 0.558894 +[14:40:05.943] Z inverse min: -1.319619, Z inverse max: 0.000000 +[14:40:05.943] If point is visible? 0.635363, -0.160859, 0.124845 +[14:40:05.943] If point is visible? 0.628797, -0.195392, 0.117350 +[14:40:05.943] If point is visible? 0.627592, -0.201113, 0.115909 +[14:40:05.943] If point is visible? 0.634347, -0.166636, 0.123732 +[14:40:05.943] If point is visible? 0.611554, -0.240323, 0.122406 +[14:40:05.943] If point is visible? 0.290223, -0.256920, 0.469587 +[14:40:05.943] Z inverse min: -1.319619, Z inverse max: 0.000000 +[14:40:05.943] If point is visible? 0.616378, -0.234926, 0.115212 +[14:40:05.943] If point is visible? 0.309931, 0.287336, 0.478563 +[14:40:05.943] Z inverse min: -1.319235, Z inverse max: 0.000000 +[14:40:05.943] If point is visible? 0.313062, 0.274419, 0.483307 +[14:40:05.943] Z inverse min: -1.319235, Z inverse max: 0.000000 +[14:40:05.943] If point is visible? 0.319184, 0.246929, 0.492545 +[14:40:05.943] Z inverse min: -1.319235, Z inverse max: 0.000000 +[14:40:05.943] If point is visible? 0.309776, 0.288751, 0.477912 +[14:40:05.943] Z inverse min: -1.319235, Z inverse max: 0.000000 +[14:40:05.943] If point is visible? -0.150232, 0.001976, 0.614007 +[14:40:05.943] Z inverse min: -1.319235, Z inverse max: 0.000000 +[14:40:05.943] If point is visible? -0.150309, -0.001035, 0.613994 +[14:40:05.943] Z inverse min: -1.319235, Z inverse max: 0.000000 +[14:40:05.943] If point is visible? 0.606247, -0.267736, 0.113069 +[14:40:05.943] If point is visible? -0.345645, 0.274114, 0.478274 +[14:40:05.943] Z inverse min: -1.319235, Z inverse max: 0.000000 +[14:40:05.943] If point is visible? -0.310070, 0.356400, 0.450787 +[14:40:05.943] If point is visible? -0.324370, 0.329034, 0.460320 +[14:40:05.943] If point is visible? -0.152157, -0.055329, 0.611377 +[14:40:05.943] Z inverse min: -1.319235, Z inverse max: 0.000000 +[14:40:05.943] If point is visible? -0.151908, -0.049290, 0.611891 +[14:40:05.943] Z inverse min: -1.319235, Z inverse max: 0.000000 +[14:40:05.943] If point is visible? 0.185412, -0.121477, 0.588256 +[14:40:05.943] Z inverse min: -1.319235, Z inverse max: 0.000000 +[14:40:05.943] If point is visible? 0.548632, 0.457975, 0.843946 +[14:40:05.943] Z inverse min: -0.857255, Z inverse max: 0.000000 +[14:40:05.943] calculated Z= 1.044593 +[14:40:05.943] update seeds +[14:40:05.943] If point is visible? 0.563327, 0.397784, 0.864107 +[14:40:05.943] Z inverse min: -0.857255, Z inverse max: 0.000000 +[14:40:05.943] If point is visible? -0.199344, 0.351882, 1.028928 +[14:40:05.943] Z inverse min: -0.857255, Z inverse max: 0.000000 +[14:40:05.943] If point is visible? -0.199457, 0.354179, 1.028130 +[14:40:05.943] Z inverse min: -0.857255, Z inverse max: 0.000000 +[14:40:05.943] If point is visible? -0.196081, 0.354309, 1.028714 +[14:40:05.943] Z inverse min: -0.857255, Z inverse max: 0.000000 +[14:40:05.943] If point is visible? 0.593868, 0.224801, 0.904196 +[14:40:05.943] Z inverse min: -0.857255, Z inverse max: 0.000000 +[14:40:05.944] If point is visible? -0.139636, 0.601513, 0.918688 +[14:40:05.944] If point is visible? 0.130404, 0.269116, 1.062791 +[14:40:05.944] Z inverse min: -0.857255, Z inverse max: 0.000000 +[14:40:05.944] calculated Z= 10.091534 +[14:40:05.944] update seeds +[14:40:05.944] If point is visible? -0.189125, 0.003854, 1.088363 +[14:40:05.944] Z inverse min: -0.857255, Z inverse max: 0.000000 +[14:40:05.944] If point is visible? 0.530721, -0.012800, 0.968183 +[14:40:05.944] Z inverse min: -0.857255, Z inverse max: 0.000000 +[14:40:05.944] If point is visible? 0.399184, -0.143909, 1.019041 +[14:40:05.944] Z inverse min: -0.857255, Z inverse max: 0.000000 +[14:40:05.944] If point is visible? 0.340189, -0.195846, 1.031708 +[14:40:05.944] Z inverse min: -0.857255, Z inverse max: 0.000000 +[14:40:05.944] If point is visible? 0.944251, -0.320526, 0.486979 +[14:40:05.944] If point is visible? -0.554808, -0.390885, 0.876829 +[14:40:05.944] Z inverse min: -0.857255, Z inverse max: 0.000000 +[14:40:05.944] If point is visible? -0.523122, 0.507232, 0.836388 +[14:40:05.944] Z inverse min: -0.857255, Z inverse max: 0.000000 +[14:40:05.944] If point is visible? -0.478451, 0.602372, 0.799727 +[14:40:05.944] If point is visible? -0.203036, 0.275172, 1.051018 +[14:40:05.944] Z inverse min: -0.857255, Z inverse max: 0.000000 +[14:40:05.944] If point is visible? 0.525503, 0.002249, 0.971078 +[14:40:05.944] Z inverse min: -0.857255, Z inverse max: 0.000000 +[14:40:05.944] If point is visible? 0.106559, 0.154213, 1.087748 +[14:40:05.944] Z inverse min: -0.857255, Z inverse max: 0.000000 +[14:40:05.944] If point is visible? -0.219154, -0.078590, 1.080081 +[14:40:05.944] Z inverse min: -0.857255, Z inverse max: 0.000000 +[14:40:05.944] If point is visible? -0.205633, -0.078501, 1.082663 +[14:40:05.944] Z inverse min: -0.857255, Z inverse max: 0.000000 +[14:40:05.944] If point is visible? 0.945342, -0.098159, 0.570580 +[14:40:05.944] Z inverse min: -0.857255, Z inverse max: 0.000000 +[14:40:05.944] If point is visible? 0.525149, -0.007543, 0.971241 +[14:40:05.944] Z inverse min: -0.857255, Z inverse max: 0.000000 +[14:40:05.944] If point is visible? -0.218737, -0.068920, 1.080814 +[14:40:05.944] Z inverse min: -0.857255, Z inverse max: 0.000000 +[14:40:05.944] If point is visible? -0.205212, -0.068820, 1.083390 +[14:40:05.944] Z inverse min: -0.857255, Z inverse max: 0.000000 +[14:40:05.944] If point is visible? 0.604652, -0.278659, 0.882128 +[14:40:05.944] Z inverse min: -0.857255, Z inverse max: 0.000000 +[14:40:05.944] If point is visible? 0.334923, -0.185735, 1.035258 +[14:40:05.944] Z inverse min: -0.857255, Z inverse max: 0.000000 +[14:40:05.944] If point is visible? 0.344624, 0.282470, 0.506553 +[14:40:05.944] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:05.944] If point is visible? -0.104765, 0.169791, 0.644185 +[14:40:05.944] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:05.944] If point is visible? -0.117201, 0.170842, 0.641839 +[14:40:05.944] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:05.944] If point is visible? 0.055647, 0.076425, 0.666835 +[14:40:05.944] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:05.944] If point is visible? 0.079532, 0.093845, 0.662152 +[14:40:05.944] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:05.944] If point is visible? -0.120064, -0.074367, 0.659266 +[14:40:05.944] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:05.944] If point is visible? 0.592650, -0.194614, 0.263233 +[14:40:05.944] If point is visible? 0.593219, -0.191857, 0.263944 +[14:40:05.944] If point is visible? -0.289304, 0.362716, 0.493096 +[14:40:05.944] If point is visible? 0.216964, 0.229452, 0.595331 +[14:40:05.944] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:05.944] If point is visible? -0.121429, 0.173553, 0.640361 +[14:40:05.944] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:05.944] If point is visible? 0.075561, 0.093901, 0.662617 +[14:40:05.944] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:05.944] If point is visible? -0.122594, -0.041902, 0.661635 +[14:40:05.944] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:05.944] If point is visible? -0.114344, -0.041855, 0.663065 +[14:40:05.944] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:05.944] If point is visible? -0.122856, -0.047806, 0.661193 +[14:40:05.944] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:05.944] If point is visible? 0.344624, 0.282470, 0.506553 +[14:40:05.944] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:05.944] If point is visible? -0.104765, 0.169791, 0.644185 +[14:40:05.944] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:05.944] If point is visible? -0.108847, 0.168245, 0.643933 +[14:40:05.944] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:05.944] If point is visible? -0.117201, 0.170842, 0.641839 +[14:40:05.944] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:05.944] If point is visible? 0.079532, 0.093845, 0.662152 +[14:40:05.944] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:05.944] If point is visible? 0.055647, 0.076425, 0.666835 +[14:40:05.944] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:05.944] If point is visible? -0.120064, -0.074367, 0.659266 +[14:40:05.944] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:05.944] If point is visible? 0.593219, -0.191857, 0.263944 +[14:40:05.944] If point is visible? -0.289304, 0.362716, 0.493096 +[14:40:05.944] If point is visible? 0.216964, 0.229452, 0.595331 +[14:40:05.944] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:05.944] If point is visible? -0.121429, 0.173553, 0.640361 +[14:40:05.944] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:05.944] If point is visible? 0.075561, 0.093901, 0.662617 +[14:40:05.944] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:05.944] If point is visible? -0.122856, -0.047806, 0.661193 +[14:40:05.944] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:05.944] If point is visible? -0.122594, -0.041902, 0.661635 +[14:40:05.944] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:05.944] If point is visible? -0.114344, -0.041855, 0.663065 +[14:40:05.944] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:05.944] init seeds +[14:40:05.947] DepthFilter: Initialized 17 new seeds +[14:40:06.226] add new frame +[14:40:06.226] update seed +[14:40:06.226] If point is visible? -0.022488, 0.074550, -0.063799 +[14:40:06.226] If point is visible? -0.022510, 0.075019, -0.063964 +[14:40:06.226] If point is visible? 0.040460, 0.066235, -0.075719 +[14:40:06.226] If point is visible? -0.172196, 0.053792, -0.102132 +[14:40:06.226] Z inverse min: -4.237934, Z inverse max: 0.000000 +[14:40:06.226] If point is visible? -0.183019, -0.020401, -0.103635 +[14:40:06.226] If point is visible? 0.023118, -0.016707, -0.059880 +[14:40:06.226] Z inverse min: -4.237934, Z inverse max: 0.000000 +[14:40:06.226] If point is visible? 0.021824, -0.017655, -0.059585 +[14:40:06.226] Z inverse min: -4.237934, Z inverse max: 0.000000 +[14:40:06.226] If point is visible? 0.022449, -0.017676, -0.059765 +[14:40:06.226] Z inverse min: -4.237934, Z inverse max: 0.000000 +[14:40:06.226] If point is visible? 0.022471, -0.017181, -0.059731 +[14:40:06.226] Z inverse min: -4.237934, Z inverse max: 0.000000 +[14:40:06.226] If point is visible? 0.021801, -0.018150, -0.059620 +[14:40:06.226] Z inverse min: -4.237934, Z inverse max: 0.000000 +[14:40:06.226] If point is visible? 0.022426, -0.018171, -0.059799 +[14:40:06.226] Z inverse min: -4.237934, Z inverse max: 0.000000 +[14:40:06.226] If point is visible? -0.088166, -0.024386, -0.057170 +[14:40:06.226] Z inverse min: -4.237934, Z inverse max: 0.000000 +[14:40:06.226] If point is visible? 0.017549, -0.046809, -0.062799 +[14:40:06.226] If point is visible? 0.018172, -0.046828, -0.062971 +[14:40:06.226] If point is visible? 0.018795, -0.046848, -0.063145 +[14:40:06.226] If point is visible? 0.078592, -0.056355, -0.092242 +[14:40:06.226] Z inverse min: -4.237934, Z inverse max: 0.000000 +[14:40:06.226] If point is visible? 0.029885, -0.061588, -0.070359 +[14:40:06.226] If point is visible? 0.076750, -0.067526, -0.094866 +[14:40:06.226] Z inverse min: -4.237934, Z inverse max: 0.000000 +[14:40:06.226] If point is visible? -0.070792, 0.132872, -0.096658 +[14:40:06.226] If point is visible? -0.129819, 0.119399, -0.107674 +[14:40:06.226] If point is visible? -0.025980, 0.099944, -0.074292 +[14:40:06.226] If point is visible? -0.024682, 0.099945, -0.074382 +[14:40:06.226] If point is visible? -0.077861, 0.035459, -0.056621 +[14:40:06.226] Z inverse min: -4.237934, Z inverse max: 0.000000 +[14:40:06.226] If point is visible? -0.029950, 0.021337, -0.051624 +[14:40:06.226] Z inverse min: -4.237934, Z inverse max: 0.000000 +[14:40:06.226] If point is visible? -0.029955, 0.020361, -0.051533 +[14:40:06.226] Z inverse min: -4.237934, Z inverse max: 0.000000 +[14:40:06.227] If point is visible? 0.020595, -0.017118, -0.059198 +[14:40:06.227] Z inverse min: -4.237934, Z inverse max: 0.000000 +[14:40:06.227] If point is visible? 0.021846, -0.017160, -0.059552 +[14:40:06.227] Z inverse min: -4.237934, Z inverse max: 0.000000 +[14:40:06.227] If point is visible? 0.017428, -0.029921, -0.059739 +[14:40:06.227] Z inverse min: -4.237934, Z inverse max: 0.000000 +[14:40:06.227] If point is visible? -0.124887, -0.051229, -0.073794 +[14:40:06.227] Z inverse min: -4.237934, Z inverse max: 0.000000 +[14:40:06.227] If point is visible? 0.028711, -0.061053, -0.069807 +[14:40:06.227] If point is visible? 0.077364, -0.067068, -0.095090 +[14:40:06.227] Z inverse min: -4.237934, Z inverse max: 0.000000 +[14:40:06.227] If point is visible? -0.032647, -0.067357, -0.060846 +[14:40:06.227] If point is visible? -0.031436, -0.068361, -0.061205 +[14:40:06.227] If point is visible? -0.139255, 0.101638, -0.101443 +[14:40:06.227] If point is visible? -0.025912, 0.099037, -0.073848 +[14:40:06.227] If point is visible? -0.028512, 0.099033, -0.073691 +[14:40:06.227] If point is visible? -0.141619, 0.096264, -0.099768 +[14:40:06.227] If point is visible? 0.006814, 0.067039, -0.065642 +[14:40:06.227] If point is visible? 0.004211, -0.056335, -0.061968 +[14:40:06.227] If point is visible? 0.006731, -0.056404, -0.062515 +[14:40:06.227] If point is visible? 0.045799, -0.059724, -0.075868 +[14:40:06.227] If point is visible? -0.045344, -0.063225, -0.059579 +[14:40:06.227] If point is visible? 0.093215, -0.077568, -0.110962 +[14:40:06.227] Z inverse min: -4.237934, Z inverse max: 0.000000 +[14:40:06.227] If point is visible? -0.061430, 0.050077, -0.119093 +[14:40:06.227] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:06.227] If point is visible? -0.131403, -0.012575, -0.142685 +[14:40:06.227] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:06.227] If point is visible? 0.002149, -0.011649, -0.114015 +[14:40:06.227] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:06.227] If point is visible? -0.132578, -0.017753, -0.144358 +[14:40:06.227] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:06.227] If point is visible? 0.019490, -0.033002, -0.123460 +[14:40:06.227] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:06.227] If point is visible? -0.016478, -0.040043, -0.115257 +[14:40:06.227] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:06.227] If point is visible? -0.036552, 0.016728, -0.109227 +[14:40:06.227] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:06.227] If point is visible? -0.036554, 0.016083, -0.109155 +[14:40:06.227] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:06.228] If point is visible? -0.132577, -0.016850, -0.144219 +[14:40:06.228] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:06.228] If point is visible? 0.002594, -0.019222, -0.114957 +[14:40:06.228] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:06.228] If point is visible? 0.021126, -0.032416, -0.124020 +[14:40:06.228] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:06.228] If point is visible? -0.016451, -0.039717, -0.115169 +[14:40:06.228] Z inverse min: -6.523604, Z inverse max: 0.000000 +[14:40:06.228] If point is visible? -0.100480, 0.073204, -0.144103 +[14:40:06.228] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:06.228] If point is visible? -0.098947, 0.076673, -0.145562 +[14:40:06.228] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:06.228] If point is visible? -0.028705, 0.016697, -0.109459 +[14:40:06.228] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:06.228] If point is visible? -0.113430, -0.029132, -0.132731 +[14:40:06.228] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:06.228] If point is visible? -0.005228, -0.036074, -0.116274 +[14:40:06.228] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:06.228] If point is visible? -0.003566, -0.036122, -0.116672 +[14:40:06.228] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:06.228] If point is visible? -0.094940, -0.032683, -0.123947 +[14:40:06.228] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:06.228] If point is visible? -0.071499, -0.047936, -0.120485 +[14:40:06.228] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:06.228] If point is visible? -0.069676, -0.046685, -0.119607 +[14:40:06.228] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:06.228] If point is visible? 0.020592, -0.038288, -0.125354 +[14:40:06.228] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:06.228] If point is visible? -0.236711, 0.053838, -0.025954 +[14:40:06.228] If point is visible? -0.041169, 0.032578, 0.052350 +[14:40:06.228] Z inverse min: -3.042733, Z inverse max: 0.000000 +[14:40:06.229] If point is visible? 0.042582, 0.001032, 0.043687 +[14:40:06.229] Z inverse min: -3.042733, Z inverse max: 0.000000 +[14:40:06.229] If point is visible? 0.043443, 0.001004, 0.043456 +[14:40:06.229] Z inverse min: -3.042733, Z inverse max: 0.000000 +[14:40:06.229] If point is visible? 0.043425, 0.000329, 0.043462 +[14:40:06.229] Z inverse min: -3.042733, Z inverse max: 0.000000 +[14:40:06.229] If point is visible? 0.047717, 0.000186, 0.042269 +[14:40:06.229] Z inverse min: -3.042733, Z inverse max: 0.000000 +[14:40:06.229] If point is visible? -0.231915, -0.022842, -0.016757 +[14:40:06.229] If point is visible? -0.232744, -0.031610, -0.018456 +[14:40:06.229] If point is visible? 0.134325, -0.070304, -0.007739 +[14:40:06.229] If point is visible? 0.134257, -0.070972, -0.007884 +[14:40:06.229] If point is visible? 0.059138, -0.079603, 0.027717 +[14:40:06.229] If point is visible? 0.065026, -0.079142, 0.025770 +[14:40:06.229] If point is visible? 0.065089, -0.078467, 0.025937 +[14:40:06.229] If point is visible? -0.015133, 0.055735, 0.048242 +[14:40:06.229] If point is visible? -0.016910, 0.054425, 0.048603 +[14:40:06.229] If point is visible? -0.040255, 0.037238, 0.051829 +[14:40:06.229] If point is visible? 0.024360, -0.055429, 0.042828 +[14:40:06.229] If point is visible? -0.044891, -0.083848, 0.042354 +[14:40:06.229] If point is visible? -0.114013, -0.093743, 0.029131 +[14:40:06.229] If point is visible? 0.030060, -0.071884, 0.038024 +[14:40:06.229] If point is visible? 0.033493, -0.071984, 0.037190 +[14:40:06.229] If point is visible? -0.027270, -0.086816, 0.041453 +[14:40:06.229] If point is visible? -0.079440, 0.050818, 0.034267 +[14:40:06.229] If point is visible? 0.065052, 0.037192, 0.021913 +[14:40:06.229] If point is visible? 0.125745, -0.007003, -0.008848 +[14:40:06.229] If point is visible? -0.064635, 0.154535, -0.008008 +[14:40:06.229] If point is visible? -0.001468, -0.076080, 0.030300 +[14:40:06.229] If point is visible? -0.114046, -0.085525, 0.015995 +[14:40:06.229] If point is visible? -0.155880, 0.108098, -0.012440 +[14:40:06.229] If point is visible? 0.028889, 0.082086, 0.022779 +[14:40:06.229] If point is visible? 0.031902, 0.081997, 0.022037 +[14:40:06.229] If point is visible? -0.020801, 0.128823, 0.009990 +[14:40:06.229] If point is visible? -0.017224, 0.080511, 0.030401 +[14:40:06.229] If point is visible? -0.016154, 0.041684, 0.039457 +[14:40:06.229] If point is visible? 0.024771, -0.072124, 0.026838 +[14:40:06.229] If point is visible? 0.074091, -0.074043, 0.009553 +[14:40:06.229] If point is visible? 0.025018, -0.069770, 0.027444 +[14:40:06.229] If point is visible? 0.071560, -0.071566, 0.011456 +[14:40:06.229] If point is visible? 0.002101, 0.148661, 0.096747 +[14:40:06.229] If point is visible? 0.171817, 0.061471, 0.059539 +[14:40:06.229] If point is visible? 0.111286, 0.037951, 0.098726 +[14:40:06.229] Z inverse min: -2.818008, Z inverse max: 0.000000 +[14:40:06.229] If point is visible? 0.006845, -0.103212, 0.113857 +[14:40:06.229] If point is visible? -0.061906, 0.052830, 0.126388 +[14:40:06.229] Z inverse min: -2.818013, Z inverse max: 0.000000 +[14:40:06.229] If point is visible? 0.063131, -0.050026, 0.114742 +[14:40:06.229] Z inverse min: -2.818008, Z inverse max: 0.000000 +[14:40:06.229] If point is visible? 0.105876, -0.082783, 0.092546 +[14:40:06.229] If point is visible? 0.006928, -0.102447, 0.114084 +[14:40:06.229] If point is visible? -0.043178, -0.115009, 0.112091 +[14:40:06.229] If point is visible? -0.016005, 0.168361, 0.088188 +[14:40:06.229] If point is visible? -0.015722, 0.165573, 0.089685 +[14:40:06.229] If point is visible? -0.221616, 0.167716, 0.023818 +[14:40:06.229] If point is visible? -0.011182, 0.102274, 0.115766 +[14:40:06.229] If point is visible? 0.050611, -0.060453, 0.116352 +[14:40:06.229] Z inverse min: -2.818008, Z inverse max: 0.000000 +[14:40:06.229] If point is visible? -0.154511, -0.114397, 0.089088 +[14:40:06.229] If point is visible? 0.180794, -0.119005, 0.032913 +[14:40:06.229] If point is visible? -0.005522, 0.081649, 0.034186 +[14:40:06.229] If point is visible? -0.180311, 0.120196, -0.032035 +[14:40:06.229] If point is visible? -0.064640, 0.150537, -0.000589 +[14:40:06.229] If point is visible? -0.181659, 0.117102, -0.031144 +[14:40:06.229] If point is visible? -0.178930, 0.122339, -0.032336 +[14:40:06.229] If point is visible? -0.008383, 0.076624, 0.036039 +[14:40:06.229] If point is visible? 0.074098, -0.064184, 0.017781 +[14:40:06.229] If point is visible? -0.159689, 0.092467, -0.003173 +[14:40:06.229] If point is visible? 0.032507, 0.081495, 0.027283 +[14:40:06.229] If point is visible? -0.019660, 0.125916, 0.016460 +[14:40:06.229] If point is visible? -0.178893, 0.121400, -0.031693 +[14:40:06.229] If point is visible? -0.176214, 0.127536, -0.033707 +[14:40:06.229] If point is visible? -0.154136, 0.107442, -0.006941 +[14:40:06.229] If point is visible? -0.016214, 0.077779, 0.036296 +[14:40:06.229] If point is visible? -0.013097, 0.077770, 0.036086 +[14:40:06.229] If point is visible? 0.132212, -0.090631, -0.028753 +[14:40:06.229] If point is visible? -0.128293, -0.086943, 0.014720 +[14:40:06.229] If point is visible? -0.064207, 0.132185, 0.011077 +[14:40:06.229] If point is visible? -0.015131, 0.127002, 0.015591 +[14:40:06.229] If point is visible? -0.012656, 0.125414, 0.016255 +[14:40:06.229] If point is visible? -0.011778, 0.124350, 0.016747 +[14:40:06.229] If point is visible? -0.011832, 0.124883, 0.016469 +[14:40:06.229] If point is visible? -0.007773, 0.122746, 0.017210 +[14:40:06.229] If point is visible? -0.073252, 0.093980, 0.027850 +[14:40:06.229] If point is visible? -0.073904, 0.091227, 0.028774 +[14:40:06.229] If point is visible? -0.074564, 0.088468, 0.029663 +[14:40:06.229] If point is visible? -0.005205, 0.090007, 0.031296 +[14:40:06.229] If point is visible? -0.005238, 0.090562, 0.031098 +[14:40:06.229] If point is visible? -0.074537, 0.087920, 0.029862 +[14:40:06.229] If point is visible? -0.074457, 0.086277, 0.030452 +[14:40:06.229] If point is visible? -0.075205, 0.085152, 0.030711 +[14:40:06.229] If point is visible? -0.075881, 0.082377, 0.031524 +[14:40:06.229] If point is visible? -0.075130, 0.083505, 0.031281 +[14:40:06.229] If point is visible? -0.075764, 0.079624, 0.032436 +[14:40:06.229] If point is visible? -0.005522, 0.081649, 0.034186 +[14:40:06.229] If point is visible? -0.010862, 0.058550, 0.041011 +[14:40:06.229] If point is visible? -0.010084, 0.058544, 0.040948 +[14:40:06.229] If point is visible? -0.016050, 0.021817, 0.047005 +[14:40:06.229] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:06.229] If point is visible? 0.044993, -0.007016, 0.036915 +[14:40:06.229] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:06.230] If point is visible? 0.065896, -0.013169, 0.029396 +[14:40:06.230] If point is visible? 0.040222, -0.014482, 0.037994 +[14:40:06.230] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:06.230] If point is visible? 0.040963, -0.014508, 0.037782 +[14:40:06.230] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:06.230] If point is visible? 0.041704, -0.014534, 0.037569 +[14:40:06.230] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:06.230] If point is visible? 0.045399, -0.014668, 0.036467 +[14:40:06.230] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:06.230] If point is visible? 0.054689, -0.019736, 0.033110 +[14:40:06.230] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:06.230] If point is visible? 0.047947, -0.022412, 0.035113 +[14:40:06.230] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:06.230] If point is visible? 0.048681, -0.022440, 0.034878 +[14:40:06.230] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:06.230] If point is visible? 0.050244, -0.020735, 0.034520 +[14:40:06.230] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:06.230] If point is visible? -0.084291, -0.028640, 0.041641 +[14:40:06.230] If point is visible? 0.127390, -0.040939, -0.008477 +[14:40:06.230] If point is visible? 0.074891, -0.048919, 0.021056 +[14:40:06.230] If point is visible? 0.042384, -0.057564, 0.031232 +[14:40:06.230] If point is visible? 0.043116, -0.057591, 0.031006 +[14:40:06.230] If point is visible? 0.043848, -0.057618, 0.030778 +[14:40:06.230] If point is visible? 0.123377, -0.071591, -0.013750 +[14:40:06.230] If point is visible? 0.040022, -0.079807, 0.025743 +[14:40:06.230] If point is visible? -0.002622, -0.079653, 0.034502 +[14:40:06.230] If point is visible? 0.121656, -0.087715, -0.018790 +[14:40:06.230] If point is visible? -0.064640, 0.150537, -0.000589 +[14:40:06.230] If point is visible? -0.166743, 0.144034, -0.038757 +[14:40:06.230] If point is visible? -0.145724, 0.123518, -0.011072 +[14:40:06.230] If point is visible? -0.178930, 0.122339, -0.032336 +[14:40:06.230] If point is visible? -0.180311, 0.120196, -0.032035 +[14:40:06.230] If point is visible? -0.064207, 0.132185, 0.011077 +[14:40:06.230] If point is visible? -0.183011, 0.113994, -0.030313 +[14:40:06.230] If point is visible? -0.181659, 0.117102, -0.031144 +[14:40:06.230] If point is visible? -0.008383, 0.076624, 0.036039 +[14:40:06.230] If point is visible? -0.010923, 0.060824, 0.040492 +[14:40:06.230] If point is visible? -0.010592, 0.043690, 0.043902 +[14:40:06.230] If point is visible? -0.018743, 0.003240, 0.048029 +[14:40:06.230] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:06.230] If point is visible? 0.047663, -0.013577, 0.035828 +[14:40:06.230] Z inverse min: -3.409560, Z inverse max: 0.000000 +[14:40:06.230] calculated Z= 0.993585 +[14:40:06.230] update seeds +[14:40:06.230] If point is visible? 0.045774, -0.021741, 0.035847 +[14:40:06.230] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:06.230] If point is visible? 0.046191, -0.013522, 0.036288 +[14:40:06.230] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:06.231] If point is visible? 0.047309, -0.020622, 0.035465 +[14:40:06.231] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:06.231] If point is visible? -0.085064, -0.028067, 0.041547 +[14:40:06.231] If point is visible? -0.083464, -0.028058, 0.041869 +[14:40:06.231] If point is visible? 0.166988, -0.036907, -0.044670 +[14:40:06.231] If point is visible? 0.041782, -0.038092, 0.035112 +[14:40:06.231] If point is visible? 0.074098, -0.064184, 0.017781 +[14:40:06.231] If point is visible? 0.122903, -0.070397, -0.012978 +[14:40:06.231] If point is visible? -0.002558, -0.079071, 0.034677 +[14:40:06.231] If point is visible? -0.049648, -0.084969, 0.033871 +[14:40:06.231] If point is visible? 0.056818, -0.078694, 0.020511 +[14:40:06.231] If point is visible? -0.016214, 0.077779, 0.036296 +[14:40:06.231] If point is visible? -0.013097, 0.077770, 0.036086 +[14:40:06.231] If point is visible? -0.178893, 0.121400, -0.031693 +[14:40:06.231] If point is visible? -0.176214, 0.127536, -0.033707 +[14:40:06.231] If point is visible? 0.029513, 0.081583, 0.028022 +[14:40:06.231] If point is visible? 0.032507, 0.081495, 0.027283 +[14:40:06.231] If point is visible? -0.170824, 0.137801, -0.036982 +[14:40:06.231] If point is visible? -0.159689, 0.092467, -0.003173 +[14:40:06.231] If point is visible? -0.019660, 0.125916, 0.016460 +[14:40:06.231] If point is visible? -0.154136, 0.107442, -0.006941 +[14:40:06.231] If point is visible? -0.012450, 0.059697, 0.040874 +[14:40:06.231] If point is visible? -0.075675, 0.045486, 0.040827 +[14:40:06.231] If point is visible? -0.012152, 0.043703, 0.044023 +[14:40:06.231] If point is visible? -0.015226, 0.027598, 0.046415 +[14:40:06.231] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:06.231] If point is visible? 0.047309, -0.020622, 0.035465 +[14:40:06.231] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:06.231] If point is visible? 0.059455, -0.011706, 0.031920 +[14:40:06.231] If point is visible? 0.027801, -0.045874, 0.037499 +[14:40:06.231] If point is visible? 0.030785, -0.045969, 0.036765 +[14:40:06.231] If point is visible? 0.054100, -0.077412, 0.021921 +[14:40:06.231] If point is visible? 0.132212, -0.090631, -0.028753 +[14:40:06.231] If point is visible? -0.134316, -0.084624, 0.013003 +[14:40:06.231] If point is visible? 0.028131, -0.074121, 0.030707 +[14:40:06.231] If point is visible? 0.051503, -0.074963, 0.023609 +[14:40:06.231] If point is visible? 0.056442, -0.013928, 0.032888 +[14:40:06.231] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:06.231] If point is visible? -0.128293, -0.086943, 0.014720 +[14:40:06.231] If point is visible? -0.140325, -0.082318, 0.011092 +[14:40:06.231] If point is visible? 0.010674, 0.143678, -0.025562 +[14:40:06.231] If point is visible? -0.006466, 0.080406, 0.011646 +[14:40:06.231] If point is visible? -0.066930, 0.042499, 0.020386 +[14:40:06.231] If point is visible? -0.039595, 0.036221, 0.023997 +[14:40:06.231] If point is visible? 0.044648, -0.018184, 0.013836 +[14:40:06.231] If point is visible? 0.048633, -0.017289, 0.012533 +[14:40:06.231] If point is visible? 0.111315, -0.063993, -0.031032 +[14:40:06.231] If point is visible? -0.152901, 0.129421, -0.051825 +[14:40:06.231] If point is visible? -0.171209, 0.093960, -0.042377 +[14:40:06.231] If point is visible? -0.172460, 0.091993, -0.042336 +[14:40:06.231] If point is visible? 0.041988, -0.018609, 0.014675 +[14:40:06.231] If point is visible? 0.043305, -0.018660, 0.014243 +[14:40:06.231] If point is visible? 0.150173, -0.032391, -0.059508 +[14:40:06.231] If point is visible? 0.019775, -0.049623, 0.016087 +[14:40:06.231] If point is visible? -0.132032, -0.074971, -0.008643 +[14:40:06.231] If point is visible? -0.137282, -0.070950, -0.009869 +[14:40:06.231] If point is visible? -0.042603, -0.080628, 0.012646 +[14:40:06.231] If point is visible? -0.021037, 0.115094, -0.002785 +[14:40:06.231] If point is visible? 0.026030, 0.073278, 0.008119 +[14:40:06.231] If point is visible? 0.028716, 0.073195, 0.007433 +[14:40:06.231] If point is visible? -0.134134, 0.111870, -0.027437 +[14:40:06.231] If point is visible? -0.129320, 0.123042, -0.031961 +[14:40:06.231] If point is visible? -0.156572, 0.123817, -0.050241 +[14:40:06.231] If point is visible? 0.050176, -0.012598, 0.012292 +[14:40:06.231] If point is visible? -0.134715, -0.073940, -0.009611 +[14:40:06.231] If point is visible? -0.132093, -0.075953, -0.009037 +[14:40:06.231] If point is visible? -0.168683, -0.040472, 0.452924 +[14:40:06.231] Z inverse min: -1.443579, Z inverse max: 0.000000 +[14:40:06.231] calculated Z= 1.055988 +[14:40:06.231] update seeds +[14:40:06.231] If point is visible? -0.166655, -0.040452, 0.453345 +[14:40:06.231] Z inverse min: -1.443579, Z inverse max: 0.000000 +[14:40:06.231] If point is visible? 0.152006, -0.208014, 0.408899 +[14:40:06.231] Z inverse min: -1.443578, Z inverse max: 0.000000 +[14:40:06.231] If point is visible? 0.152184, -0.206539, 0.409343 +[14:40:06.231] Z inverse min: -1.443578, Z inverse max: 0.000000 +[14:40:06.231] If point is visible? 0.321761, -0.214129, 0.327600 +[14:40:06.231] Z inverse min: -1.443578, Z inverse max: 0.000000 +[14:40:06.231] If point is visible? -0.107543, 0.340221, 0.371342 +[14:40:06.231] If point is visible? -0.425698, 0.264625, 0.272862 +[14:40:06.231] If point is visible? -0.040971, -0.023968, 0.467850 +[14:40:06.231] Z inverse min: -1.443579, Z inverse max: 0.000000 +[14:40:06.231] If point is visible? 0.168221, -0.096898, 0.430978 +[14:40:06.231] Z inverse min: -1.443578, Z inverse max: 0.000000 +[14:40:06.231] If point is visible? -0.068091, -0.232842, 0.425853 +[14:40:06.231] Z inverse min: -1.443578, Z inverse max: 0.000000 +[14:40:06.231] If point is visible? -0.300712, 0.357239, 0.298687 +[14:40:06.231] If point is visible? 0.024604, 0.075611, 0.461795 +[14:40:06.231] Z inverse min: -1.443578, Z inverse max: 0.000000 +[14:40:06.231] If point is visible? 0.140527, -0.116808, 0.435674 +[14:40:06.231] Z inverse min: -1.443578, Z inverse max: 0.000000 +[14:40:06.231] If point is visible? 0.133821, -0.188092, 0.420335 +[14:40:06.231] Z inverse min: -1.443578, Z inverse max: 0.000000 +[14:40:06.231] If point is visible? 0.009842, 0.003978, 0.330196 +[14:40:06.231] Z inverse min: -1.768857, Z inverse max: 0.000000 +[14:40:06.232] If point is visible? -0.133763, -0.034187, 0.320340 +[14:40:06.232] Z inverse min: -1.768857, Z inverse max: 0.000000 +[14:40:06.232] If point is visible? -0.091459, 0.294724, 0.238368 +[14:40:06.232] If point is visible? -0.088244, 0.264171, 0.257824 +[14:40:06.232] If point is visible? 0.288194, -0.164096, 0.193420 +[14:40:06.232] Z inverse min: -1.768857, Z inverse max: 0.000000 +[14:40:06.232] If point is visible? 0.290633, -0.164244, 0.191377 +[14:40:06.232] Z inverse min: -1.768857, Z inverse max: 0.000000 +[14:40:06.232] If point is visible? -0.081266, -0.171684, 0.300624 +[14:40:06.232] Z inverse min: -1.768857, Z inverse max: 0.000000 +[14:40:06.232] If point is visible? 0.107132, 0.162403, 0.287452 +[14:40:06.232] Z inverse min: -1.768857, Z inverse max: 0.000000 +[14:40:06.232] If point is visible? -0.248893, 0.265415, 0.205526 +[14:40:06.232] If point is visible? -0.081722, -0.176256, 0.298987 +[14:40:06.232] Z inverse min: -1.768857, Z inverse max: 0.000000 +[14:40:06.232] If point is visible? 0.103879, -0.153083, 0.291351 +[14:40:06.232] Z inverse min: -1.768857, Z inverse max: 0.000000 +[14:40:06.232] If point is visible? -0.291627, -0.168058, 0.231364 +[14:40:06.232] Z inverse min: -1.768857, Z inverse max: 0.000000 +[14:40:06.232] If point is visible? -0.285682, -0.168183, 0.234862 +[14:40:06.232] Z inverse min: -1.768857, Z inverse max: 0.000000 +[14:40:06.232] If point is visible? 0.252230, 0.153608, 0.361571 +[14:40:06.232] Z inverse min: -1.490735, Z inverse max: 0.000000 +[14:40:06.232] If point is visible? -0.150568, -0.040093, 0.434935 +[14:40:06.232] Z inverse min: -1.490735, Z inverse max: 0.000000 +[14:40:06.232] If point is visible? -0.101140, 0.321167, 0.357644 +[14:40:06.232] If point is visible? 0.173205, -0.090502, 0.407679 +[14:40:06.232] Z inverse min: -1.490735, Z inverse max: 0.000000 +[14:40:06.232] If point is visible? -0.322827, 0.256472, 0.317678 +[14:40:06.232] If point is visible? 0.136104, 0.202856, 0.391666 +[14:40:06.232] Z inverse min: -1.490735, Z inverse max: 0.000000 +[14:40:06.232] If point is visible? 0.143311, 0.202610, 0.389669 +[14:40:06.232] Z inverse min: -1.490735, Z inverse max: 0.000000 +[14:40:06.232] If point is visible? 0.143612, 0.197171, 0.391422 +[14:40:06.232] Z inverse min: -1.490735, Z inverse max: 0.000000 +[14:40:06.232] If point is visible? 0.028623, 0.072393, 0.440565 +[14:40:06.232] Z inverse min: -1.490735, Z inverse max: 0.000000 +[14:40:06.232] If point is visible? -0.100820, -0.214123, 0.406903 +[14:40:06.232] Z inverse min: -1.490735, Z inverse max: 0.000000 +[14:40:06.232] If point is visible? -0.341796, -0.214861, 0.325516 +[14:40:06.232] Z inverse min: -1.490735, Z inverse max: 0.000000 +[14:40:06.232] If point is visible? -6365.159835, 8138.023098, 39717.489053 +[14:40:06.232] Z inverse min: -0.000024, Z inverse max: 0.000000 +[14:40:06.232] If point is visible? -7714.948184, -2450.950198, 40232.995366 +[14:40:06.232] Z inverse min: -0.000024, Z inverse max: 0.000000 +[14:40:06.232] If point is visible? 11982.896205, -4977.094383, 38934.041195 +[14:40:06.232] Z inverse min: -0.000024, Z inverse max: 0.000000 +[14:40:06.232] If point is visible? 18107.767534, -10233.808907, 35377.955641 +[14:40:06.232] Z inverse min: -0.000024, Z inverse max: 0.000000 +[14:40:06.232] If point is visible? -4337.091602, 23504.601884, 33360.864191 +[14:40:06.232] If point is visible? -23665.212297, 17019.847686, 28887.874611 +[14:40:06.232] Z inverse min: -0.000024, Z inverse max: 0.000000 +[14:40:06.233] If point is visible? -23451.986728, 17353.404813, 28863.306197 +[14:40:06.233] Z inverse min: -0.000024, Z inverse max: 0.000000 +[14:40:06.233] If point is visible? -17908.122043, 17880.680198, 32307.980096 +[14:40:06.233] Z inverse min: -0.000024, Z inverse max: 0.000000 +[14:40:06.233] If point is visible? -23461.474525, 17645.719608, 28677.772733 +[14:40:06.233] Z inverse min: -0.000024, Z inverse max: 0.000000 +[14:40:06.233] If point is visible? -16304.700622, 22299.210773, 30350.086155 +[14:40:06.233] If point is visible? 37382.663476, -8793.953138, 14471.750740 +[14:40:06.233] If point is visible? 0.111986, -0.052634, 0.278920 +[14:40:06.233] Z inverse min: -1.768118, Z inverse max: 0.000000 +[14:40:06.233] If point is visible? -0.080058, 0.288395, 0.204812 +[14:40:06.233] If point is visible? 0.287717, -0.126896, 0.163881 +[14:40:06.233] Z inverse min: -1.768118, Z inverse max: 0.000000 +[14:40:06.233] If point is visible? 0.287423, -0.128994, 0.163379 +[14:40:06.233] Z inverse min: -1.768118, Z inverse max: 0.000000 +[14:40:06.233] If point is visible? -0.294489, 0.239353, 0.146340 +[14:40:06.233] If point is visible? -0.223931, 0.261146, 0.177509 +[14:40:06.233] If point is visible? 0.188185, -0.109974, 0.237744 +[14:40:06.233] Z inverse min: -1.768118, Z inverse max: 0.000000 +[14:40:06.233] If point is visible? -0.383217, 0.165963, 0.290727 +[14:40:06.233] Z inverse min: -1.516564, Z inverse max: 0.000000 +[14:40:06.233] If point is visible? 0.025023, 0.060503, 0.428108 +[14:40:06.233] Z inverse min: -1.516564, Z inverse max: 0.000000 +[14:40:06.233] If point is visible? 0.533848, -0.069041, 0.054675 +[14:40:06.233] If point is visible? -0.152645, -0.037778, 0.419223 +[14:40:06.233] Z inverse min: -1.516564, Z inverse max: 0.000000 +[14:40:06.233] If point is visible? -0.148954, -0.037745, 0.419987 +[14:40:06.233] Z inverse min: -1.516564, Z inverse max: 0.000000 +[14:40:06.233] If point is visible? -0.131482, -0.058798, 0.421580 +[14:40:06.233] Z inverse min: -1.516564, Z inverse max: 0.000000 +[14:40:06.233] If point is visible? 0.008983, 0.303200, 0.351674 +[14:40:06.233] If point is visible? 0.136923, 0.191470, 0.378891 +[14:40:06.233] Z inverse min: -1.516563, Z inverse max: 0.000000 +[14:40:06.233] If point is visible? -0.093531, 0.319735, 0.338929 +[14:40:06.233] If point is visible? 0.136604, 0.196601, 0.377195 +[14:40:06.233] Z inverse min: -1.516564, Z inverse max: 0.000000 +[14:40:06.233] If point is visible? 0.021271, 0.105431, 0.422245 +[14:40:06.233] Z inverse min: -1.516564, Z inverse max: 0.000000 +[14:40:06.233] If point is visible? 0.028639, 0.073712, 0.426320 +[14:40:06.233] Z inverse min: -1.516564, Z inverse max: 0.000000 +[14:40:06.233] If point is visible? 0.014310, 0.079139, 0.426792 +[14:40:06.233] Z inverse min: -1.516564, Z inverse max: 0.000000 +[14:40:06.233] If point is visible? 0.529118, -0.166632, 0.012899 +[14:40:06.233] If point is visible? -0.107525, 0.024849, 0.233355 +[14:40:06.233] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:06.233] If point is visible? 0.350823, -0.049177, -0.015927 +[14:40:06.233] If point is visible? -0.199710, 0.201515, 0.143344 +[14:40:06.233] If point is visible? 0.077157, -0.070463, 0.223060 +[14:40:06.233] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:06.233] If point is visible? 0.010870, 0.199671, 0.188403 +[14:40:06.233] If point is visible? 0.017122, 0.196434, 0.189519 +[14:40:06.233] If point is visible? -0.089485, 0.148372, 0.209083 +[14:40:06.233] If point is visible? -0.091526, 0.141652, 0.211325 +[14:40:06.233] If point is visible? 0.020529, 0.148459, 0.211724 +[14:40:06.233] If point is visible? -0.092559, 0.138282, 0.212393 +[14:40:06.233] If point is visible? -0.092511, 0.137450, 0.212705 +[14:40:06.233] If point is visible? -0.091188, 0.135833, 0.213522 +[14:40:06.233] If point is visible? -0.094478, 0.128178, 0.215598 +[14:40:06.233] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:06.233] If point is visible? 0.020335, 0.134074, 0.217101 +[14:40:06.233] If point is visible? -0.094436, 0.127341, 0.215887 +[14:40:06.233] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:06.233] If point is visible? 0.010085, 0.101567, 0.228051 +[14:40:06.233] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:06.233] If point is visible? 0.011276, 0.101559, 0.227944 +[14:40:06.233] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:06.233] If point is visible? 0.012467, 0.101550, 0.227834 +[14:40:06.233] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:06.234] If point is visible? 0.012498, 0.100686, 0.228053 +[14:40:06.234] Z inverse min: -2.332187, Z inverse max: 0.000000 +[14:40:06.234] If point is visible? -0.095419, 0.086593, 0.226984 +[14:40:06.234] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:06.234] If point is visible? -0.107525, 0.024849, 0.233355 +[14:40:06.234] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:06.234] If point is visible? 0.003270, 0.007577, 0.241423 +[14:40:06.234] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:06.234] If point is visible? 0.095869, -0.008165, 0.223976 +[14:40:06.234] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:06.234] If point is visible? 0.101485, -0.008386, 0.222178 +[14:40:06.234] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:06.234] If point is visible? 0.137657, -0.014521, 0.208212 +[14:40:06.234] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:06.234] If point is visible? 0.101447, -0.009281, 0.222170 +[14:40:06.234] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:06.234] If point is visible? 0.136488, -0.016256, 0.208649 +[14:40:06.234] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:06.234] If point is visible? 0.096463, -0.019857, 0.223369 +[14:40:06.234] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:06.234] If point is visible? -0.111442, -0.026001, 0.232454 +[14:40:06.234] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:06.234] If point is visible? 0.351404, -0.048459, -0.017164 +[14:40:06.234] If point is visible? 0.350823, -0.049177, -0.015927 +[14:40:06.234] If point is visible? 0.107062, -0.031073, 0.219144 +[14:40:06.234] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:06.234] If point is visible? 0.108174, -0.031120, 0.218755 +[14:40:06.234] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:06.234] If point is visible? 0.108227, -0.030222, 0.218809 +[14:40:06.234] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:06.234] If point is visible? 0.109338, -0.030269, 0.218417 +[14:40:06.234] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:06.234] If point is visible? -0.099833, -0.040882, 0.233545 +[14:40:06.234] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:06.234] If point is visible? 0.249981, -0.059145, 0.129604 +[14:40:06.234] If point is visible? 0.249897, -0.060028, 0.129504 +[14:40:06.234] If point is visible? 0.250090, -0.067165, 0.127779 +[14:40:06.234] If point is visible? 0.096967, -0.087423, 0.213765 +[14:40:06.234] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:06.234] If point is visible? 0.098078, -0.087467, 0.213394 +[14:40:06.234] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:06.234] If point is visible? 0.099188, -0.087512, 0.213020 +[14:40:06.234] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:06.234] If point is visible? 0.116124, -0.094532, 0.205295 +[14:40:06.234] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:06.234] If point is visible? 0.242069, -0.115351, 0.120099 +[14:40:06.234] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:06.234] If point is visible? 0.241932, -0.116225, 0.119872 +[14:40:06.234] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:06.234] If point is visible? 0.093623, -0.141094, 0.198331 +[14:40:06.234] If point is visible? -0.005618, -0.137773, 0.218005 +[14:40:06.234] If point is visible? 0.122191, -0.139625, 0.188287 +[14:40:06.234] If point is visible? 0.105636, -0.141585, 0.193984 +[14:40:06.234] If point is visible? 0.006068, 0.200467, 0.188412 +[14:40:06.234] If point is visible? -0.094520, 0.129015, 0.215308 +[14:40:06.234] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:06.234] If point is visible? 0.017565, 0.120443, 0.221930 +[14:40:06.234] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:06.235] If point is visible? 0.011276, 0.101559, 0.227944 +[14:40:06.235] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:06.235] If point is visible? -0.016616, 0.040527, 0.240386 +[14:40:06.235] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:06.235] If point is visible? 0.092003, -0.018789, 0.224792 +[14:40:06.235] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:06.235] If point is visible? 0.105466, -0.019319, 0.220459 +[14:40:06.235] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:06.235] If point is visible? 0.125275, -0.021993, 0.213016 +[14:40:06.235] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:06.235] If point is visible? 0.103321, -0.017434, 0.221270 +[14:40:06.235] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:06.235] If point is visible? -0.111405, -0.025123, 0.232518 +[14:40:06.235] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:06.235] If point is visible? -0.113947, -0.026902, 0.231843 +[14:40:06.235] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:06.235] If point is visible? 0.104887, -0.030083, 0.219965 +[14:40:06.235] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:06.235] If point is visible? 0.107114, -0.030175, 0.219197 +[14:40:06.235] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:06.235] If point is visible? 0.096360, -0.056758, 0.219747 +[14:40:06.235] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:06.235] If point is visible? 0.210423, -0.145054, 0.134107 +[14:40:06.235] If point is visible? 0.212282, -0.145163, 0.132581 +[14:40:06.235] If point is visible? 0.120452, -0.136873, 0.190081 +[14:40:06.235] If point is visible? 0.122592, -0.136968, 0.189159 +[14:40:06.235] If point is visible? 0.120187, -0.138645, 0.189502 +[14:40:06.235] If point is visible? 0.122326, -0.138740, 0.188580 +[14:40:06.235] If point is visible? -0.004442, -0.137806, 0.217931 +[14:40:06.235] If point is visible? -0.002092, -0.137871, 0.217772 +[14:40:06.235] If point is visible? 0.003902, 0.198847, 0.189511 +[14:40:06.235] If point is visible? 0.008615, 0.198861, 0.189082 +[14:40:06.235] If point is visible? -0.191555, 0.217289, 0.137076 +[14:40:06.235] If point is visible? 0.079836, 0.127771, 0.207397 +[14:40:06.235] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:06.235] If point is visible? 0.084377, 0.127621, 0.206136 +[14:40:06.235] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:06.235] If point is visible? -0.199710, 0.201515, 0.143344 +[14:40:06.235] If point is visible? 0.008994, 0.195628, 0.190842 +[14:40:06.235] If point is visible? 0.013697, 0.195629, 0.190356 +[14:40:06.235] If point is visible? -0.096735, 0.123897, 0.216598 +[14:40:06.235] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:06.235] If point is visible? 0.005403, 0.125639, 0.221435 +[14:40:06.235] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:06.235] If point is visible? 0.014918, 0.125594, 0.220575 +[14:40:06.235] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:06.235] If point is visible? 0.007252, 0.073768, 0.234442 +[14:40:06.235] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:06.235] calculated Z= 1.449482 +[14:40:06.235] update seeds +[14:40:06.235] If point is visible? -0.096579, 0.120539, 0.217700 +[14:40:06.235] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:06.235] If point is visible? 0.005586, 0.122222, 0.222514 +[14:40:06.235] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:06.235] If point is visible? 0.015104, 0.122174, 0.221652 +[14:40:06.235] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:06.235] If point is visible? 0.121066, -0.018203, 0.214865 +[14:40:06.235] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:06.235] If point is visible? 0.077157, -0.070463, 0.223060 +[14:40:06.235] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:06.235] If point is visible? 0.081683, -0.070624, 0.221807 +[14:40:06.235] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:06.236] If point is visible? 0.114519, -0.133043, 0.193901 +[14:40:06.236] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:06.236] If point is visible? -0.073367, 0.143240, 0.638520 +[14:40:06.236] Z inverse min: -1.151231, Z inverse max: 0.000000 +[14:40:06.236] If point is visible? 0.447694, -0.299706, 0.429497 +[14:40:06.236] Z inverse min: -1.151231, Z inverse max: 0.000000 +[14:40:06.236] If point is visible? 0.554296, -0.316489, 0.314273 +[14:40:06.236] Z inverse min: -1.151231, Z inverse max: 0.000000 +[14:40:06.236] If point is visible? 0.182292, 0.254508, 0.583625 +[14:40:06.236] Z inverse min: -1.151231, Z inverse max: 0.000000 +[14:40:06.236] calculated Z= 1.196055 +[14:40:06.236] update seeds +[14:40:06.236] If point is visible? 0.191346, 0.254216, 0.581147 +[14:40:06.236] Z inverse min: -1.151231, Z inverse max: 0.000000 +[14:40:06.236] If point is visible? 0.250039, -0.271893, 0.554971 +[14:40:06.236] Z inverse min: -1.151231, Z inverse max: 0.000000 +[14:40:06.236] If point is visible? 0.539817, -0.294995, 0.344664 +[14:40:06.236] Z inverse min: -1.151231, Z inverse max: 0.000000 +[14:40:06.236] If point is visible? 0.150607, -0.133814, 0.556944 +[14:40:06.236] Z inverse min: -1.319619, Z inverse max: 0.000000 +[14:40:06.236] If point is visible? 0.626083, -0.224187, 0.097963 +[14:40:06.236] If point is visible? 0.466166, -0.204594, 0.360964 +[14:40:06.236] Z inverse min: -1.319619, Z inverse max: 0.000000 +[14:40:06.236] If point is visible? 0.465685, -0.207672, 0.360148 +[14:40:06.236] Z inverse min: -1.319619, Z inverse max: 0.000000 +[14:40:06.236] If point is visible? -0.338449, 0.376229, 0.395343 +[14:40:06.236] If point is visible? 0.151412, -0.124284, 0.558531 +[14:40:06.236] Z inverse min: -1.319619, Z inverse max: 0.000000 +[14:40:06.236] If point is visible? 0.159449, -0.124555, 0.556435 +[14:40:06.236] Z inverse min: -1.319619, Z inverse max: 0.000000 +[14:40:06.236] If point is visible? 0.635780, -0.160859, 0.122386 +[14:40:06.236] If point is visible? 0.629215, -0.195392, 0.114891 +[14:40:06.236] If point is visible? 0.628010, -0.201113, 0.113450 +[14:40:06.236] If point is visible? 0.634765, -0.166636, 0.121273 +[14:40:06.236] If point is visible? 0.611972, -0.240323, 0.119947 +[14:40:06.236] If point is visible? 0.290641, -0.256920, 0.467128 +[14:40:06.236] Z inverse min: -1.319619, Z inverse max: 0.000000 +[14:40:06.236] If point is visible? 0.616796, -0.234926, 0.112753 +[14:40:06.236] If point is visible? 0.310349, 0.287336, 0.476104 +[14:40:06.236] Z inverse min: -1.319235, Z inverse max: 0.000000 +[14:40:06.236] If point is visible? 0.313480, 0.274419, 0.480848 +[14:40:06.236] Z inverse min: -1.319235, Z inverse max: 0.000000 +[14:40:06.236] If point is visible? 0.319602, 0.246929, 0.490086 +[14:40:06.236] Z inverse min: -1.319235, Z inverse max: 0.000000 +[14:40:06.236] If point is visible? 0.310194, 0.288751, 0.475453 +[14:40:06.236] Z inverse min: -1.319235, Z inverse max: 0.000000 +[14:40:06.236] If point is visible? -0.149815, 0.001976, 0.611548 +[14:40:06.236] Z inverse min: -1.319235, Z inverse max: 0.000000 +[14:40:06.236] If point is visible? -0.149891, -0.001035, 0.611535 +[14:40:06.236] Z inverse min: -1.319235, Z inverse max: 0.000000 +[14:40:06.236] If point is visible? 0.606665, -0.267736, 0.110611 +[14:40:06.236] If point is visible? -0.345228, 0.274114, 0.475815 +[14:40:06.236] Z inverse min: -1.319235, Z inverse max: 0.000000 +[14:40:06.236] If point is visible? -0.309653, 0.356400, 0.448328 +[14:40:06.236] If point is visible? -0.323952, 0.329034, 0.457861 +[14:40:06.236] If point is visible? -0.151739, -0.055329, 0.608918 +[14:40:06.236] Z inverse min: -1.319235, Z inverse max: 0.000000 +[14:40:06.236] If point is visible? -0.151490, -0.049290, 0.609432 +[14:40:06.236] Z inverse min: -1.319235, Z inverse max: 0.000000 +[14:40:06.236] If point is visible? 0.185830, -0.121477, 0.585797 +[14:40:06.236] Z inverse min: -1.319235, Z inverse max: 0.000000 +[14:40:06.236] If point is visible? 0.549027, 0.457957, 0.841452 +[14:40:06.236] Z inverse min: -0.857291, Z inverse max: 0.000000 +[14:40:06.236] If point is visible? 0.563745, 0.397784, 0.861648 +[14:40:06.236] Z inverse min: -0.857255, Z inverse max: 0.000000 +[14:40:06.236] If point is visible? -0.198926, 0.351882, 1.026469 +[14:40:06.236] Z inverse min: -0.857255, Z inverse max: 0.000000 +[14:40:06.236] If point is visible? -0.199040, 0.354179, 1.025671 +[14:40:06.236] Z inverse min: -0.857255, Z inverse max: 0.000000 +[14:40:06.236] If point is visible? -0.195663, 0.354309, 1.026255 +[14:40:06.236] Z inverse min: -0.857255, Z inverse max: 0.000000 +[14:40:06.236] If point is visible? 0.594286, 0.224801, 0.901737 +[14:40:06.236] Z inverse min: -0.857255, Z inverse max: 0.000000 +[14:40:06.236] If point is visible? -0.139218, 0.601513, 0.916229 +[14:40:06.236] If point is visible? 0.130813, 0.269100, 1.060267 +[14:40:06.236] Z inverse min: -0.857314, Z inverse max: 0.000000 +[14:40:06.236] If point is visible? -0.188707, 0.003854, 1.085904 +[14:40:06.236] Z inverse min: -0.857255, Z inverse max: 0.000000 +[14:40:06.236] If point is visible? 0.531139, -0.012800, 0.965724 +[14:40:06.236] Z inverse min: -0.857255, Z inverse max: 0.000000 +[14:40:06.236] If point is visible? 0.399602, -0.143909, 1.016582 +[14:40:06.236] Z inverse min: -0.857255, Z inverse max: 0.000000 +[14:40:06.236] If point is visible? 0.340606, -0.195846, 1.029249 +[14:40:06.236] Z inverse min: -0.857255, Z inverse max: 0.000000 +[14:40:06.237] If point is visible? 0.944669, -0.320526, 0.484520 +[14:40:06.237] If point is visible? -0.554390, -0.390885, 0.874370 +[14:40:06.237] Z inverse min: -0.857255, Z inverse max: 0.000000 +[14:40:06.237] If point is visible? -0.522704, 0.507232, 0.833929 +[14:40:06.237] Z inverse min: -0.857255, Z inverse max: 0.000000 +[14:40:06.237] If point is visible? -0.478034, 0.602372, 0.797268 +[14:40:06.237] If point is visible? -0.202618, 0.275172, 1.048559 +[14:40:06.237] Z inverse min: -0.857255, Z inverse max: 0.000000 +[14:40:06.237] If point is visible? 0.525920, 0.002249, 0.968619 +[14:40:06.237] Z inverse min: -0.857255, Z inverse max: 0.000000 +[14:40:06.237] If point is visible? 0.106977, 0.154213, 1.085289 +[14:40:06.237] Z inverse min: -0.857255, Z inverse max: 0.000000 +[14:40:06.237] If point is visible? -0.218736, -0.078590, 1.077622 +[14:40:06.237] Z inverse min: -0.857255, Z inverse max: 0.000000 +[14:40:06.237] If point is visible? -0.205215, -0.078501, 1.080205 +[14:40:06.237] Z inverse min: -0.857255, Z inverse max: 0.000000 +[14:40:06.237] If point is visible? 0.945759, -0.098159, 0.568121 +[14:40:06.237] Z inverse min: -0.857255, Z inverse max: 0.000000 +[14:40:06.237] If point is visible? 0.525567, -0.007543, 0.968782 +[14:40:06.237] Z inverse min: -0.857255, Z inverse max: 0.000000 +[14:40:06.237] If point is visible? -0.218320, -0.068920, 1.078355 +[14:40:06.237] Z inverse min: -0.857255, Z inverse max: 0.000000 +[14:40:06.237] If point is visible? -0.204794, -0.068820, 1.080931 +[14:40:06.237] Z inverse min: -0.857255, Z inverse max: 0.000000 +[14:40:06.237] If point is visible? 0.605070, -0.278659, 0.879669 +[14:40:06.237] Z inverse min: -0.857255, Z inverse max: 0.000000 +[14:40:06.237] If point is visible? 0.335340, -0.185735, 1.032799 +[14:40:06.237] Z inverse min: -0.857255, Z inverse max: 0.000000 +[14:40:06.237] If point is visible? 0.345042, 0.282470, 0.504094 +[14:40:06.237] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:06.237] If point is visible? -0.104347, 0.169791, 0.641726 +[14:40:06.237] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:06.237] If point is visible? -0.116784, 0.170842, 0.639380 +[14:40:06.237] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:06.237] If point is visible? 0.056065, 0.076425, 0.664376 +[14:40:06.237] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:06.237] If point is visible? 0.079949, 0.093845, 0.659693 +[14:40:06.237] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:06.237] If point is visible? -0.119646, -0.074367, 0.656807 +[14:40:06.237] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:06.237] If point is visible? 0.593067, -0.194614, 0.260774 +[14:40:06.237] If point is visible? 0.593637, -0.191857, 0.261485 +[14:40:06.237] If point is visible? -0.288886, 0.362716, 0.490637 +[14:40:06.237] If point is visible? 0.217382, 0.229452, 0.592873 +[14:40:06.237] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:06.237] If point is visible? -0.121011, 0.173553, 0.637902 +[14:40:06.237] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:06.237] If point is visible? 0.075979, 0.093901, 0.660158 +[14:40:06.237] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:06.237] If point is visible? -0.122176, -0.041902, 0.659176 +[14:40:06.237] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:06.237] If point is visible? -0.113926, -0.041855, 0.660606 +[14:40:06.237] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:06.237] If point is visible? -0.122438, -0.047806, 0.658735 +[14:40:06.237] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:06.237] If point is visible? 0.345042, 0.282470, 0.504094 +[14:40:06.237] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:06.237] If point is visible? -0.104347, 0.169791, 0.641726 +[14:40:06.237] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:06.237] If point is visible? -0.108429, 0.168245, 0.641474 +[14:40:06.237] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:06.237] If point is visible? -0.116784, 0.170842, 0.639380 +[14:40:06.237] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:06.237] If point is visible? 0.079949, 0.093845, 0.659693 +[14:40:06.237] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:06.237] If point is visible? 0.056065, 0.076425, 0.664376 +[14:40:06.237] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:06.237] If point is visible? -0.119646, -0.074367, 0.656807 +[14:40:06.237] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:06.237] If point is visible? 0.593637, -0.191857, 0.261485 +[14:40:06.237] If point is visible? -0.288886, 0.362716, 0.490637 +[14:40:06.237] If point is visible? 0.217382, 0.229452, 0.592873 +[14:40:06.237] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:06.237] If point is visible? -0.121011, 0.173553, 0.637902 +[14:40:06.237] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:06.237] If point is visible? 0.075979, 0.093901, 0.660158 +[14:40:06.237] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:06.237] If point is visible? -0.122438, -0.047806, 0.658735 +[14:40:06.237] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:06.237] If point is visible? -0.122176, -0.041902, 0.659176 +[14:40:06.237] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:06.237] If point is visible? -0.113926, -0.041855, 0.660606 +[14:40:06.237] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:06.237] If point is visible? 0.619063, 0.471322, 0.902892 +[14:40:06.237] Z inverse min: -0.801755, Z inverse max: 0.000000 +[14:40:06.237] If point is visible? 0.619347, 0.468895, 0.903957 +[14:40:06.237] Z inverse min: -0.801755, Z inverse max: 0.000000 +[14:40:06.237] If point is visible? 0.629733, 0.426857, 0.917476 +[14:40:06.237] Z inverse min: -0.801755, Z inverse max: 0.000000 +[14:40:06.237] If point is visible? 0.148091, 0.382386, 1.118478 +[14:40:06.237] Z inverse min: -0.801755, Z inverse max: 0.000000 +[14:40:06.237] If point is visible? 0.151545, 0.382351, 1.118029 +[14:40:06.237] Z inverse min: -0.801755, Z inverse max: 0.000000 +[14:40:06.237] If point is visible? 0.658584, 0.273257, 0.954971 +[14:40:06.237] Z inverse min: -0.801755, Z inverse max: 0.000000 +[14:40:06.237] If point is visible? 0.658462, 0.275783, 0.954331 +[14:40:06.237] Z inverse min: -0.801755, Z inverse max: 0.000000 +[14:40:06.237] If point is visible? -0.189395, 0.313819, 1.133329 +[14:40:06.237] Z inverse min: -0.801755, Z inverse max: 0.000000 +[14:40:06.237] If point is visible? 0.438795, -0.148610, 1.097662 +[14:40:06.237] Z inverse min: -0.801755, Z inverse max: 0.000000 +[14:40:06.237] If point is visible? 0.668141, -0.188381, 0.968717 +[14:40:06.237] Z inverse min: -0.801755, Z inverse max: 0.000000 +[14:40:06.237] If point is visible? 1.058010, -0.338082, 0.435406 +[14:40:06.237] If point is visible? 0.367833, 0.411745, 1.055841 +[14:40:06.237] Z inverse min: -0.801755, Z inverse max: 0.000000 +[14:40:06.237] If point is visible? 0.380881, 0.411198, 1.051433 +[14:40:06.237] Z inverse min: -0.801755, Z inverse max: 0.000000 +[14:40:06.237] If point is visible? -0.196265, 0.303655, 1.134922 +[14:40:06.237] Z inverse min: -0.801755, Z inverse max: 0.000000 +[14:40:06.237] If point is visible? -0.226865, -0.062892, 1.167546 +[14:40:06.238] Z inverse min: -0.801755, Z inverse max: 0.000000 +[14:40:06.238] If point is visible? -0.212396, -0.062785, 1.170270 +[14:40:06.238] Z inverse min: -0.801755, Z inverse max: 0.000000 +[14:40:06.238] If point is visible? -0.197935, -0.062693, 1.172807 +[14:40:06.238] Z inverse min: -0.801755, Z inverse max: 0.000000 +[14:40:07.039] add new frame +[14:40:07.039] add key frame +[14:40:07.039] remove key frame +[14:40:07.039] update seed +[14:40:07.039] If point is visible? -0.061449, 0.050077, -0.118955 +[14:40:07.039] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:07.040] If point is visible? -0.131422, -0.012575, -0.142546 +[14:40:07.040] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:07.040] If point is visible? 0.002131, -0.011649, -0.113876 +[14:40:07.040] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:07.040] If point is visible? -0.132597, -0.017753, -0.144219 +[14:40:07.040] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:07.040] If point is visible? 0.019471, -0.033002, -0.123321 +[14:40:07.040] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:07.040] If point is visible? -0.016497, -0.040043, -0.115118 +[14:40:07.040] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:07.040] If point is visible? -0.036571, 0.016728, -0.109088 +[14:40:07.040] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:07.040] If point is visible? -0.036572, 0.016083, -0.109016 +[14:40:07.040] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:07.040] If point is visible? -0.132596, -0.016850, -0.144080 +[14:40:07.040] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:07.040] If point is visible? 0.002575, -0.019222, -0.114819 +[14:40:07.040] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:07.040] If point is visible? 0.021108, -0.032416, -0.123882 +[14:40:07.040] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:07.040] If point is visible? -0.016469, -0.039717, -0.115030 +[14:40:07.040] Z inverse min: -6.523604, Z inverse max: 0.000000 +[14:40:07.041] If point is visible? -0.100498, 0.073204, -0.143964 +[14:40:07.041] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:07.041] If point is visible? -0.098965, 0.076673, -0.145424 +[14:40:07.041] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:07.041] If point is visible? -0.028724, 0.016697, -0.109320 +[14:40:07.041] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:07.041] If point is visible? -0.113449, -0.029132, -0.132592 +[14:40:07.041] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:07.041] If point is visible? -0.005246, -0.036074, -0.116135 +[14:40:07.041] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:07.041] If point is visible? -0.003585, -0.036122, -0.116533 +[14:40:07.041] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:07.041] If point is visible? -0.094958, -0.032683, -0.123808 +[14:40:07.041] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:07.041] If point is visible? -0.071517, -0.047936, -0.120346 +[14:40:07.041] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:07.041] If point is visible? -0.069695, -0.046685, -0.119468 +[14:40:07.041] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:07.041] If point is visible? 0.020574, -0.038288, -0.125215 +[14:40:07.041] Z inverse min: -6.523605, Z inverse max: 0.000000 +[14:40:07.041] If point is visible? -0.236730, 0.053838, -0.025815 +[14:40:07.041] If point is visible? -0.041188, 0.032578, 0.052489 +[14:40:07.041] Z inverse min: -3.042733, Z inverse max: 0.000000 +[14:40:07.041] If point is visible? 0.042564, 0.001032, 0.043825 +[14:40:07.041] Z inverse min: -3.042733, Z inverse max: 0.000000 +[14:40:07.041] If point is visible? 0.043424, 0.001004, 0.043594 +[14:40:07.041] Z inverse min: -3.042733, Z inverse max: 0.000000 +[14:40:07.041] If point is visible? 0.043406, 0.000329, 0.043601 +[14:40:07.041] Z inverse min: -3.042733, Z inverse max: 0.000000 +[14:40:07.041] If point is visible? 0.047699, 0.000186, 0.042408 +[14:40:07.041] Z inverse min: -3.042733, Z inverse max: 0.000000 +[14:40:07.041] If point is visible? -0.231934, -0.022842, -0.016618 +[14:40:07.041] If point is visible? -0.232763, -0.031610, -0.018317 +[14:40:07.041] If point is visible? 0.134307, -0.070304, -0.007601 +[14:40:07.041] If point is visible? 0.134239, -0.070972, -0.007745 +[14:40:07.041] If point is visible? 0.059119, -0.079603, 0.027856 +[14:40:07.041] If point is visible? 0.065008, -0.079142, 0.025909 +[14:40:07.041] If point is visible? 0.065071, -0.078467, 0.026076 +[14:40:07.041] If point is visible? -0.015152, 0.055735, 0.048381 +[14:40:07.041] If point is visible? -0.016928, 0.054425, 0.048742 +[14:40:07.041] If point is visible? -0.040274, 0.037238, 0.051968 +[14:40:07.041] If point is visible? 0.024341, -0.055429, 0.042967 +[14:40:07.041] If point is visible? -0.044910, -0.083848, 0.042493 +[14:40:07.041] If point is visible? -0.114032, -0.093743, 0.029269 +[14:40:07.041] If point is visible? 0.030042, -0.071884, 0.038162 +[14:40:07.042] If point is visible? 0.033475, -0.071984, 0.037329 +[14:40:07.042] If point is visible? -0.027289, -0.086816, 0.041592 +[14:40:07.042] If point is visible? -0.079459, 0.050818, 0.034406 +[14:40:07.042] If point is visible? 0.065034, 0.037192, 0.022052 +[14:40:07.042] If point is visible? 0.125727, -0.007003, -0.008709 +[14:40:07.042] If point is visible? -0.064654, 0.154535, -0.007869 +[14:40:07.042] If point is visible? -0.001486, -0.076080, 0.030439 +[14:40:07.042] If point is visible? -0.114064, -0.085525, 0.016134 +[14:40:07.042] If point is visible? -0.155899, 0.108098, -0.012301 +[14:40:07.042] If point is visible? 0.028871, 0.082086, 0.022918 +[14:40:07.042] If point is visible? 0.031884, 0.081997, 0.022175 +[14:40:07.042] If point is visible? -0.020819, 0.128823, 0.010129 +[14:40:07.042] If point is visible? -0.017243, 0.080511, 0.030539 +[14:40:07.042] If point is visible? -0.016173, 0.041684, 0.039595 +[14:40:07.042] If point is visible? 0.024752, -0.072124, 0.026977 +[14:40:07.042] If point is visible? 0.074073, -0.074043, 0.009692 +[14:40:07.042] If point is visible? 0.024999, -0.069770, 0.027583 +[14:40:07.042] If point is visible? 0.071542, -0.071566, 0.011594 +[14:40:07.042] If point is visible? 0.002082, 0.148661, 0.096886 +[14:40:07.042] If point is visible? 0.171798, 0.061471, 0.059678 +[14:40:07.042] If point is visible? 0.111267, 0.037951, 0.098865 +[14:40:07.042] Z inverse min: -2.818008, Z inverse max: 0.000000 +[14:40:07.042] If point is visible? 0.006827, -0.103212, 0.113996 +[14:40:07.042] If point is visible? -0.061925, 0.052830, 0.126527 +[14:40:07.042] Z inverse min: -2.818013, Z inverse max: 0.000000 +[14:40:07.042] If point is visible? 0.063112, -0.050026, 0.114881 +[14:40:07.042] Z inverse min: -2.818008, Z inverse max: 0.000000 +[14:40:07.042] If point is visible? 0.105857, -0.082783, 0.092685 +[14:40:07.042] If point is visible? 0.006910, -0.102447, 0.114223 +[14:40:07.042] If point is visible? -0.043197, -0.115009, 0.112229 +[14:40:07.042] If point is visible? -0.016024, 0.168361, 0.088327 +[14:40:07.042] If point is visible? -0.015740, 0.165573, 0.089824 +[14:40:07.042] If point is visible? -0.221634, 0.167716, 0.023956 +[14:40:07.042] If point is visible? -0.011200, 0.102274, 0.115905 +[14:40:07.042] If point is visible? 0.050592, -0.060453, 0.116491 +[14:40:07.042] Z inverse min: -2.818008, Z inverse max: 0.000000 +[14:40:07.042] If point is visible? -0.154530, -0.114397, 0.089227 +[14:40:07.042] If point is visible? 0.180775, -0.119005, 0.033052 +[14:40:07.042] If point is visible? -0.005540, 0.081649, 0.034325 +[14:40:07.042] If point is visible? -0.180330, 0.120196, -0.031896 +[14:40:07.042] If point is visible? -0.064658, 0.150537, -0.000450 +[14:40:07.042] If point is visible? -0.181677, 0.117102, -0.031005 +[14:40:07.042] If point is visible? -0.178949, 0.122339, -0.032198 +[14:40:07.042] If point is visible? -0.008402, 0.076624, 0.036178 +[14:40:07.042] If point is visible? 0.074080, -0.064184, 0.017919 +[14:40:07.042] If point is visible? -0.159707, 0.092467, -0.003034 +[14:40:07.042] If point is visible? 0.032489, 0.081495, 0.027422 +[14:40:07.042] If point is visible? -0.019678, 0.125916, 0.016599 +[14:40:07.042] If point is visible? -0.178912, 0.121400, -0.031554 +[14:40:07.042] If point is visible? -0.176233, 0.127536, -0.033569 +[14:40:07.042] If point is visible? -0.154155, 0.107442, -0.006802 +[14:40:07.042] If point is visible? -0.016233, 0.077779, 0.036435 +[14:40:07.042] If point is visible? -0.013115, 0.077770, 0.036225 +[14:40:07.042] If point is visible? 0.132194, -0.090631, -0.028614 +[14:40:07.042] If point is visible? -0.128311, -0.086943, 0.014859 +[14:40:07.042] If point is visible? -0.064226, 0.132185, 0.011216 +[14:40:07.042] If point is visible? -0.015149, 0.127002, 0.015730 +[14:40:07.042] If point is visible? -0.012674, 0.125414, 0.016394 +[14:40:07.042] If point is visible? -0.011797, 0.124350, 0.016885 +[14:40:07.042] If point is visible? -0.011850, 0.124883, 0.016607 +[14:40:07.042] If point is visible? -0.007791, 0.122746, 0.017349 +[14:40:07.042] If point is visible? -0.073271, 0.093980, 0.027989 +[14:40:07.042] If point is visible? -0.073923, 0.091227, 0.028913 +[14:40:07.042] If point is visible? -0.074583, 0.088468, 0.029802 +[14:40:07.042] If point is visible? -0.005224, 0.090007, 0.031434 +[14:40:07.042] If point is visible? -0.005257, 0.090562, 0.031237 +[14:40:07.042] If point is visible? -0.074555, 0.087920, 0.030001 +[14:40:07.042] If point is visible? -0.074476, 0.086277, 0.030591 +[14:40:07.042] If point is visible? -0.075224, 0.085152, 0.030849 +[14:40:07.042] If point is visible? -0.075900, 0.082377, 0.031663 +[14:40:07.042] If point is visible? -0.075148, 0.083505, 0.031420 +[14:40:07.042] If point is visible? -0.075783, 0.079624, 0.032575 +[14:40:07.042] If point is visible? -0.005540, 0.081649, 0.034325 +[14:40:07.042] If point is visible? -0.010881, 0.058550, 0.041150 +[14:40:07.042] If point is visible? -0.010102, 0.058544, 0.041086 +[14:40:07.042] If point is visible? -0.016068, 0.021817, 0.047144 +[14:40:07.042] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:07.042] If point is visible? 0.044975, -0.007016, 0.037054 +[14:40:07.042] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:07.042] If point is visible? 0.065878, -0.013169, 0.029535 +[14:40:07.042] If point is visible? 0.040203, -0.014482, 0.038133 +[14:40:07.042] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:07.042] If point is visible? 0.040945, -0.014508, 0.037921 +[14:40:07.042] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:07.042] If point is visible? 0.041686, -0.014534, 0.037707 +[14:40:07.042] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:07.042] If point is visible? 0.045380, -0.014668, 0.036606 +[14:40:07.042] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:07.043] If point is visible? 0.054671, -0.019736, 0.033248 +[14:40:07.043] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:07.043] If point is visible? 0.047928, -0.022412, 0.035252 +[14:40:07.043] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:07.043] If point is visible? 0.048662, -0.022440, 0.035016 +[14:40:07.043] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:07.043] If point is visible? 0.050225, -0.020735, 0.034658 +[14:40:07.043] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:07.043] If point is visible? -0.084310, -0.028640, 0.041780 +[14:40:07.043] If point is visible? 0.127372, -0.040939, -0.008338 +[14:40:07.043] If point is visible? 0.074872, -0.048919, 0.021195 +[14:40:07.043] If point is visible? 0.042365, -0.057564, 0.031371 +[14:40:07.043] If point is visible? 0.043097, -0.057591, 0.031145 +[14:40:07.043] If point is visible? 0.043829, -0.057618, 0.030917 +[14:40:07.043] If point is visible? 0.123358, -0.071591, -0.013611 +[14:40:07.043] If point is visible? 0.040003, -0.079807, 0.025882 +[14:40:07.043] If point is visible? -0.002640, -0.079653, 0.034641 +[14:40:07.043] If point is visible? 0.121638, -0.087715, -0.018652 +[14:40:07.043] If point is visible? -0.064658, 0.150537, -0.000450 +[14:40:07.043] If point is visible? -0.166761, 0.144034, -0.038618 +[14:40:07.043] If point is visible? -0.145742, 0.123518, -0.010933 +[14:40:07.043] If point is visible? -0.178949, 0.122339, -0.032198 +[14:40:07.043] If point is visible? -0.180330, 0.120196, -0.031896 +[14:40:07.043] If point is visible? -0.064226, 0.132185, 0.011216 +[14:40:07.043] If point is visible? -0.183030, 0.113994, -0.030174 +[14:40:07.043] If point is visible? -0.181677, 0.117102, -0.031005 +[14:40:07.043] If point is visible? -0.008402, 0.076624, 0.036178 +[14:40:07.043] If point is visible? -0.010941, 0.060824, 0.040631 +[14:40:07.043] If point is visible? -0.010611, 0.043690, 0.044041 +[14:40:07.043] If point is visible? -0.018761, 0.003240, 0.048168 +[14:40:07.043] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:07.043] If point is visible? 0.047645, -0.013577, 0.035967 +[14:40:07.043] Z inverse min: -3.409560, Z inverse max: 0.000000 +[14:40:07.043] If point is visible? 0.045755, -0.021741, 0.035986 +[14:40:07.043] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:07.043] If point is visible? 0.046172, -0.013522, 0.036427 +[14:40:07.043] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:07.043] If point is visible? 0.047291, -0.020622, 0.035604 +[14:40:07.043] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:07.043] If point is visible? -0.085082, -0.028067, 0.041686 +[14:40:07.043] If point is visible? -0.083482, -0.028058, 0.042008 +[14:40:07.043] If point is visible? 0.166969, -0.036907, -0.044531 +[14:40:07.043] If point is visible? 0.041763, -0.038092, 0.035251 +[14:40:07.043] If point is visible? 0.074080, -0.064184, 0.017919 +[14:40:07.043] If point is visible? 0.122884, -0.070397, -0.012839 +[14:40:07.043] If point is visible? -0.002576, -0.079071, 0.034816 +[14:40:07.043] If point is visible? -0.049666, -0.084969, 0.034009 +[14:40:07.043] If point is visible? 0.056800, -0.078694, 0.020650 +[14:40:07.043] If point is visible? -0.016233, 0.077779, 0.036435 +[14:40:07.043] If point is visible? -0.013115, 0.077770, 0.036225 +[14:40:07.043] If point is visible? -0.178912, 0.121400, -0.031554 +[14:40:07.043] If point is visible? -0.176233, 0.127536, -0.033569 +[14:40:07.043] If point is visible? 0.029495, 0.081583, 0.028161 +[14:40:07.043] If point is visible? 0.032489, 0.081495, 0.027422 +[14:40:07.043] If point is visible? -0.170842, 0.137801, -0.036843 +[14:40:07.043] If point is visible? -0.159707, 0.092467, -0.003034 +[14:40:07.043] If point is visible? -0.019678, 0.125916, 0.016599 +[14:40:07.043] If point is visible? -0.154155, 0.107442, -0.006802 +[14:40:07.043] If point is visible? -0.012469, 0.059697, 0.041013 +[14:40:07.043] If point is visible? -0.075694, 0.045486, 0.040966 +[14:40:07.043] If point is visible? -0.012170, 0.043703, 0.044161 +[14:40:07.043] If point is visible? -0.015244, 0.027598, 0.046554 +[14:40:07.043] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:07.043] If point is visible? 0.047291, -0.020622, 0.035604 +[14:40:07.043] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:07.044] If point is visible? 0.059437, -0.011706, 0.032059 +[14:40:07.044] If point is visible? 0.027783, -0.045874, 0.037638 +[14:40:07.044] If point is visible? 0.030767, -0.045969, 0.036904 +[14:40:07.044] If point is visible? 0.054082, -0.077412, 0.022060 +[14:40:07.044] If point is visible? 0.132194, -0.090631, -0.028614 +[14:40:07.044] If point is visible? -0.134334, -0.084624, 0.013141 +[14:40:07.044] If point is visible? 0.028113, -0.074121, 0.030846 +[14:40:07.044] If point is visible? 0.051485, -0.074963, 0.023748 +[14:40:07.044] If point is visible? 0.056423, -0.013928, 0.033027 +[14:40:07.044] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:07.044] If point is visible? -0.128311, -0.086943, 0.014859 +[14:40:07.044] If point is visible? -0.140344, -0.082318, 0.011231 +[14:40:07.044] If point is visible? 0.010655, 0.143678, -0.025423 +[14:40:07.044] If point is visible? -0.006484, 0.080406, 0.011785 +[14:40:07.044] If point is visible? -0.066948, 0.042499, 0.020525 +[14:40:07.044] If point is visible? -0.039613, 0.036221, 0.024136 +[14:40:07.044] If point is visible? 0.044630, -0.018184, 0.013975 +[14:40:07.044] If point is visible? 0.048615, -0.017289, 0.012672 +[14:40:07.044] If point is visible? 0.111296, -0.063993, -0.030894 +[14:40:07.044] If point is visible? -0.152919, 0.129421, -0.051686 +[14:40:07.044] If point is visible? -0.171227, 0.093960, -0.042238 +[14:40:07.044] If point is visible? -0.172478, 0.091993, -0.042197 +[14:40:07.044] If point is visible? 0.041970, -0.018609, 0.014814 +[14:40:07.044] If point is visible? 0.043287, -0.018660, 0.014382 +[14:40:07.044] If point is visible? 0.150154, -0.032391, -0.059369 +[14:40:07.044] If point is visible? 0.019756, -0.049623, 0.016226 +[14:40:07.044] If point is visible? -0.132051, -0.074971, -0.008504 +[14:40:07.044] If point is visible? -0.137301, -0.070950, -0.009730 +[14:40:07.044] If point is visible? -0.042621, -0.080628, 0.012784 +[14:40:07.044] If point is visible? -0.021056, 0.115094, -0.002647 +[14:40:07.044] If point is visible? 0.026012, 0.073278, 0.008258 +[14:40:07.044] If point is visible? 0.028697, 0.073195, 0.007572 +[14:40:07.044] If point is visible? -0.134153, 0.111870, -0.027299 +[14:40:07.044] If point is visible? -0.129339, 0.123042, -0.031822 +[14:40:07.044] If point is visible? -0.156591, 0.123817, -0.050102 +[14:40:07.044] If point is visible? 0.050157, -0.012598, 0.012431 +[14:40:07.044] If point is visible? -0.134733, -0.073940, -0.009472 +[14:40:07.044] If point is visible? -0.132111, -0.075953, -0.008898 +[14:40:07.044] If point is visible? -0.168702, -0.040472, 0.453063 +[14:40:07.044] Z inverse min: -1.443579, Z inverse max: 0.000000 +[14:40:07.044] If point is visible? -0.166674, -0.040452, 0.453484 +[14:40:07.044] Z inverse min: -1.443579, Z inverse max: 0.000000 +[14:40:07.044] If point is visible? 0.151988, -0.208014, 0.409038 +[14:40:07.044] Z inverse min: -1.443578, Z inverse max: 0.000000 +[14:40:07.044] If point is visible? 0.152165, -0.206539, 0.409482 +[14:40:07.044] Z inverse min: -1.443578, Z inverse max: 0.000000 +[14:40:07.044] If point is visible? 0.321743, -0.214129, 0.327738 +[14:40:07.044] Z inverse min: -1.443578, Z inverse max: 0.000000 +[14:40:07.044] If point is visible? -0.107561, 0.340221, 0.371481 +[14:40:07.044] If point is visible? -0.425717, 0.264625, 0.273001 +[14:40:07.044] If point is visible? -0.040990, -0.023968, 0.467989 +[14:40:07.044] Z inverse min: -1.443579, Z inverse max: 0.000000 +[14:40:07.044] If point is visible? 0.168203, -0.096898, 0.431117 +[14:40:07.044] Z inverse min: -1.443578, Z inverse max: 0.000000 +[14:40:07.044] If point is visible? -0.068110, -0.232842, 0.425991 +[14:40:07.044] Z inverse min: -1.443578, Z inverse max: 0.000000 +[14:40:07.044] If point is visible? -0.300730, 0.357239, 0.298826 +[14:40:07.044] If point is visible? 0.024586, 0.075611, 0.461934 +[14:40:07.044] Z inverse min: -1.443578, Z inverse max: 0.000000 +[14:40:07.044] If point is visible? 0.140508, -0.116808, 0.435812 +[14:40:07.044] Z inverse min: -1.443578, Z inverse max: 0.000000 +[14:40:07.044] If point is visible? 0.133802, -0.188092, 0.420474 +[14:40:07.044] Z inverse min: -1.443578, Z inverse max: 0.000000 +[14:40:07.044] If point is visible? 0.009824, 0.003978, 0.330335 +[14:40:07.044] Z inverse min: -1.768857, Z inverse max: 0.000000 +[14:40:07.044] If point is visible? -0.133782, -0.034187, 0.320479 +[14:40:07.044] Z inverse min: -1.768857, Z inverse max: 0.000000 +[14:40:07.044] If point is visible? -0.091478, 0.294724, 0.238507 +[14:40:07.044] If point is visible? -0.088262, 0.264171, 0.257963 +[14:40:07.044] If point is visible? 0.288175, -0.164096, 0.193559 +[14:40:07.044] Z inverse min: -1.768857, Z inverse max: 0.000000 +[14:40:07.044] If point is visible? 0.290615, -0.164244, 0.191515 +[14:40:07.044] Z inverse min: -1.768857, Z inverse max: 0.000000 +[14:40:07.044] If point is visible? -0.081284, -0.171684, 0.300763 +[14:40:07.044] Z inverse min: -1.768857, Z inverse max: 0.000000 +[14:40:07.045] If point is visible? 0.107114, 0.162403, 0.287591 +[14:40:07.045] Z inverse min: -1.768857, Z inverse max: 0.000000 +[14:40:07.045] If point is visible? -0.248912, 0.265415, 0.205665 +[14:40:07.045] If point is visible? -0.081741, -0.176256, 0.299126 +[14:40:07.045] Z inverse min: -1.768857, Z inverse max: 0.000000 +[14:40:07.045] If point is visible? 0.103860, -0.153083, 0.291490 +[14:40:07.045] Z inverse min: -1.768857, Z inverse max: 0.000000 +[14:40:07.045] If point is visible? -0.291646, -0.168058, 0.231503 +[14:40:07.045] Z inverse min: -1.768857, Z inverse max: 0.000000 +[14:40:07.045] If point is visible? -0.285700, -0.168183, 0.235001 +[14:40:07.045] Z inverse min: -1.768857, Z inverse max: 0.000000 +[14:40:07.045] If point is visible? 0.252212, 0.153608, 0.361709 +[14:40:07.045] Z inverse min: -1.490735, Z inverse max: 0.000000 +[14:40:07.045] If point is visible? -0.150587, -0.040093, 0.435074 +[14:40:07.045] Z inverse min: -1.490735, Z inverse max: 0.000000 +[14:40:07.045] If point is visible? -0.101158, 0.321167, 0.357783 +[14:40:07.045] If point is visible? 0.173187, -0.090502, 0.407817 +[14:40:07.045] Z inverse min: -1.490735, Z inverse max: 0.000000 +[14:40:07.045] If point is visible? -0.322845, 0.256472, 0.317816 +[14:40:07.045] If point is visible? 0.136086, 0.202856, 0.391804 +[14:40:07.045] Z inverse min: -1.490735, Z inverse max: 0.000000 +[14:40:07.045] If point is visible? 0.143292, 0.202610, 0.389808 +[14:40:07.045] Z inverse min: -1.490735, Z inverse max: 0.000000 +[14:40:07.045] If point is visible? 0.143594, 0.197171, 0.391560 +[14:40:07.045] Z inverse min: -1.490735, Z inverse max: 0.000000 +[14:40:07.045] If point is visible? 0.028605, 0.072393, 0.440704 +[14:40:07.045] Z inverse min: -1.490735, Z inverse max: 0.000000 +[14:40:07.045] If point is visible? -0.100838, -0.214123, 0.407042 +[14:40:07.045] Z inverse min: -1.490735, Z inverse max: 0.000000 +[14:40:07.045] If point is visible? -0.341815, -0.214861, 0.325655 +[14:40:07.045] Z inverse min: -1.490735, Z inverse max: 0.000000 +[14:40:07.045] If point is visible? -6365.159854, 8138.023098, 39717.489192 +[14:40:07.045] Z inverse min: -0.000024, Z inverse max: 0.000000 +[14:40:07.045] If point is visible? -7714.948203, -2450.950198, 40232.995505 +[14:40:07.045] Z inverse min: -0.000024, Z inverse max: 0.000000 +[14:40:07.045] If point is visible? 11982.896186, -4977.094383, 38934.041334 +[14:40:07.045] Z inverse min: -0.000024, Z inverse max: 0.000000 +[14:40:07.045] If point is visible? 18107.767515, -10233.808907, 35377.955780 +[14:40:07.045] Z inverse min: -0.000024, Z inverse max: 0.000000 +[14:40:07.045] If point is visible? -4337.091621, 23504.601884, 33360.864330 +[14:40:07.045] If point is visible? -23665.212315, 17019.847686, 28887.874750 +[14:40:07.045] Z inverse min: -0.000024, Z inverse max: 0.000000 +[14:40:07.045] If point is visible? -23451.986746, 17353.404813, 28863.306335 +[14:40:07.045] Z inverse min: -0.000024, Z inverse max: 0.000000 +[14:40:07.045] If point is visible? -17908.122061, 17880.680198, 32307.980235 +[14:40:07.045] Z inverse min: -0.000024, Z inverse max: 0.000000 +[14:40:07.045] If point is visible? -23461.474544, 17645.719608, 28677.772872 +[14:40:07.045] Z inverse min: -0.000024, Z inverse max: 0.000000 +[14:40:07.045] If point is visible? -16304.700640, 22299.210773, 30350.086294 +[14:40:07.045] If point is visible? 37382.663458, -8793.953138, 14471.750879 +[14:40:07.045] If point is visible? 0.111968, -0.052634, 0.279059 +[14:40:07.045] Z inverse min: -1.768118, Z inverse max: 0.000000 +[14:40:07.045] If point is visible? -0.080076, 0.288395, 0.204951 +[14:40:07.045] If point is visible? 0.287698, -0.126896, 0.164020 +[14:40:07.045] Z inverse min: -1.768118, Z inverse max: 0.000000 +[14:40:07.045] If point is visible? 0.287404, -0.128994, 0.163517 +[14:40:07.045] Z inverse min: -1.768118, Z inverse max: 0.000000 +[14:40:07.045] If point is visible? -0.294507, 0.239353, 0.146479 +[14:40:07.045] If point is visible? -0.223950, 0.261146, 0.177648 +[14:40:07.045] If point is visible? 0.188166, -0.109974, 0.237883 +[14:40:07.046] Z inverse min: -1.768118, Z inverse max: 0.000000 +[14:40:07.046] If point is visible? -0.383236, 0.165963, 0.290866 +[14:40:07.046] Z inverse min: -1.516564, Z inverse max: 0.000000 +[14:40:07.046] If point is visible? 0.025005, 0.060503, 0.428247 +[14:40:07.046] Z inverse min: -1.516564, Z inverse max: 0.000000 +[14:40:07.046] If point is visible? 0.533829, -0.069041, 0.054813 +[14:40:07.046] If point is visible? -0.152663, -0.037778, 0.419362 +[14:40:07.046] Z inverse min: -1.516564, Z inverse max: 0.000000 +[14:40:07.046] If point is visible? -0.148973, -0.037745, 0.420126 +[14:40:07.046] Z inverse min: -1.516564, Z inverse max: 0.000000 +[14:40:07.046] If point is visible? -0.131500, -0.058798, 0.421719 +[14:40:07.046] Z inverse min: -1.516564, Z inverse max: 0.000000 +[14:40:07.046] calculated Z= 1.320217 +[14:40:07.046] update seeds +[14:40:07.046] If point is visible? 0.008964, 0.303200, 0.351813 +[14:40:07.046] If point is visible? 0.136904, 0.191470, 0.379030 +[14:40:07.046] Z inverse min: -1.516563, Z inverse max: 0.000000 +[14:40:07.046] If point is visible? -0.093549, 0.319735, 0.339068 +[14:40:07.046] If point is visible? 0.136585, 0.196601, 0.377334 +[14:40:07.046] Z inverse min: -1.516564, Z inverse max: 0.000000 +[14:40:07.046] If point is visible? 0.021252, 0.105431, 0.422384 +[14:40:07.046] Z inverse min: -1.516564, Z inverse max: 0.000000 +[14:40:07.046] If point is visible? 0.028621, 0.073712, 0.426458 +[14:40:07.046] Z inverse min: -1.516564, Z inverse max: 0.000000 +[14:40:07.046] If point is visible? 0.014292, 0.079139, 0.426931 +[14:40:07.046] Z inverse min: -1.516564, Z inverse max: 0.000000 +[14:40:07.046] If point is visible? 0.529100, -0.166632, 0.013037 +[14:40:07.046] If point is visible? -0.107543, 0.024849, 0.233494 +[14:40:07.046] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:07.046] If point is visible? 0.350804, -0.049177, -0.015788 +[14:40:07.046] If point is visible? -0.199728, 0.201515, 0.143483 +[14:40:07.046] If point is visible? 0.077139, -0.070463, 0.223199 +[14:40:07.046] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:07.046] If point is visible? 0.010851, 0.199671, 0.188542 +[14:40:07.046] If point is visible? 0.017103, 0.196434, 0.189658 +[14:40:07.046] If point is visible? -0.089503, 0.148372, 0.209222 +[14:40:07.046] If point is visible? -0.091544, 0.141652, 0.211464 +[14:40:07.046] If point is visible? 0.020510, 0.148459, 0.211863 +[14:40:07.046] If point is visible? -0.092577, 0.138282, 0.212532 +[14:40:07.046] If point is visible? -0.092530, 0.137450, 0.212844 +[14:40:07.046] If point is visible? -0.091206, 0.135833, 0.213661 +[14:40:07.046] If point is visible? -0.094496, 0.128178, 0.215737 +[14:40:07.046] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:07.046] If point is visible? 0.020316, 0.134074, 0.217240 +[14:40:07.046] If point is visible? -0.094454, 0.127341, 0.216025 +[14:40:07.046] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:07.046] If point is visible? 0.010066, 0.101567, 0.228190 +[14:40:07.046] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:07.046] If point is visible? 0.011258, 0.101559, 0.228083 +[14:40:07.046] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:07.046] If point is visible? 0.012448, 0.101550, 0.227972 +[14:40:07.046] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:07.046] If point is visible? 0.012480, 0.100686, 0.228192 +[14:40:07.046] Z inverse min: -2.332187, Z inverse max: 0.000000 +[14:40:07.046] If point is visible? -0.095438, 0.086593, 0.227123 +[14:40:07.046] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:07.046] If point is visible? -0.107543, 0.024849, 0.233494 +[14:40:07.046] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:07.046] If point is visible? 0.003251, 0.007577, 0.241562 +[14:40:07.046] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:07.046] If point is visible? 0.095851, -0.008165, 0.224115 +[14:40:07.046] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:07.047] If point is visible? 0.101466, -0.008386, 0.222317 +[14:40:07.047] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:07.047] If point is visible? 0.137638, -0.014521, 0.208351 +[14:40:07.047] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:07.047] If point is visible? 0.101429, -0.009281, 0.222308 +[14:40:07.047] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:07.047] If point is visible? 0.136469, -0.016256, 0.208787 +[14:40:07.047] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:07.047] If point is visible? 0.096445, -0.019857, 0.223508 +[14:40:07.047] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:07.047] If point is visible? -0.111461, -0.026001, 0.232593 +[14:40:07.047] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:07.047] If point is visible? 0.351386, -0.048459, -0.017025 +[14:40:07.047] If point is visible? 0.350804, -0.049177, -0.015788 +[14:40:07.047] If point is visible? 0.107044, -0.031073, 0.219283 +[14:40:07.047] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:07.047] If point is visible? 0.108156, -0.031120, 0.218894 +[14:40:07.047] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:07.047] If point is visible? 0.108208, -0.030222, 0.218948 +[14:40:07.047] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:07.047] If point is visible? 0.109319, -0.030269, 0.218556 +[14:40:07.047] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:07.047] If point is visible? -0.099852, -0.040882, 0.233684 +[14:40:07.047] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:07.047] If point is visible? 0.249963, -0.059145, 0.129743 +[14:40:07.047] If point is visible? 0.249879, -0.060028, 0.129643 +[14:40:07.047] If point is visible? 0.250071, -0.067165, 0.127918 +[14:40:07.047] If point is visible? 0.096948, -0.087423, 0.213903 +[14:40:07.047] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:07.047] If point is visible? 0.098060, -0.087467, 0.213533 +[14:40:07.047] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:07.047] If point is visible? 0.099170, -0.087512, 0.213159 +[14:40:07.047] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:07.047] If point is visible? 0.116106, -0.094532, 0.205434 +[14:40:07.047] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:07.047] If point is visible? 0.242051, -0.115351, 0.120238 +[14:40:07.047] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:07.047] If point is visible? 0.241914, -0.116225, 0.120011 +[14:40:07.047] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:07.047] If point is visible? 0.093605, -0.141094, 0.198470 +[14:40:07.047] If point is visible? -0.005637, -0.137773, 0.218144 +[14:40:07.047] If point is visible? 0.122173, -0.139625, 0.188426 +[14:40:07.047] If point is visible? 0.105617, -0.141585, 0.194123 +[14:40:07.047] If point is visible? 0.006049, 0.200467, 0.188550 +[14:40:07.047] If point is visible? -0.094539, 0.129015, 0.215447 +[14:40:07.047] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:07.047] If point is visible? 0.017547, 0.120443, 0.222068 +[14:40:07.047] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:07.047] If point is visible? 0.011258, 0.101559, 0.228083 +[14:40:07.047] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:07.047] If point is visible? -0.016634, 0.040527, 0.240524 +[14:40:07.047] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:07.047] If point is visible? 0.091985, -0.018789, 0.224931 +[14:40:07.047] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:07.047] If point is visible? 0.105448, -0.019319, 0.220598 +[14:40:07.047] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:07.047] If point is visible? 0.125257, -0.021993, 0.213154 +[14:40:07.047] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:07.047] If point is visible? 0.103302, -0.017434, 0.221408 +[14:40:07.048] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:07.048] If point is visible? -0.111424, -0.025123, 0.232657 +[14:40:07.048] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:07.048] If point is visible? -0.113966, -0.026902, 0.231982 +[14:40:07.048] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:07.048] If point is visible? 0.104869, -0.030083, 0.220104 +[14:40:07.048] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:07.048] If point is visible? 0.107096, -0.030175, 0.219336 +[14:40:07.048] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:07.048] If point is visible? 0.096341, -0.056758, 0.219885 +[14:40:07.048] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:07.048] If point is visible? 0.210405, -0.145054, 0.134246 +[14:40:07.048] If point is visible? 0.212263, -0.145163, 0.132719 +[14:40:07.048] If point is visible? 0.120433, -0.136873, 0.190220 +[14:40:07.048] If point is visible? 0.122573, -0.136968, 0.189297 +[14:40:07.048] If point is visible? 0.120168, -0.138645, 0.189641 +[14:40:07.048] If point is visible? 0.122307, -0.138740, 0.188719 +[14:40:07.048] If point is visible? -0.004461, -0.137806, 0.218070 +[14:40:07.048] If point is visible? -0.002110, -0.137871, 0.217911 +[14:40:07.048] If point is visible? 0.003884, 0.198847, 0.189649 +[14:40:07.048] If point is visible? 0.008596, 0.198861, 0.189221 +[14:40:07.048] If point is visible? -0.191574, 0.217289, 0.137214 +[14:40:07.048] If point is visible? 0.079818, 0.127771, 0.207535 +[14:40:07.048] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:07.048] If point is visible? 0.084358, 0.127621, 0.206275 +[14:40:07.048] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:07.048] If point is visible? -0.199728, 0.201515, 0.143483 +[14:40:07.048] If point is visible? 0.008975, 0.195628, 0.190981 +[14:40:07.048] If point is visible? 0.013679, 0.195629, 0.190495 +[14:40:07.048] If point is visible? -0.096754, 0.123897, 0.216736 +[14:40:07.048] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:07.048] If point is visible? 0.005385, 0.125639, 0.221574 +[14:40:07.048] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:07.048] If point is visible? 0.014899, 0.125594, 0.220714 +[14:40:07.048] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:07.048] If point is visible? 0.007234, 0.073768, 0.234581 +[14:40:07.048] Z inverse min: -2.332187, Z inverse max: 0.000000 +[14:40:07.048] If point is visible? -0.096598, 0.120539, 0.217839 +[14:40:07.048] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:07.048] If point is visible? 0.005568, 0.122222, 0.222653 +[14:40:07.048] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:07.048] If point is visible? 0.015085, 0.122174, 0.221791 +[14:40:07.048] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:07.048] If point is visible? 0.121048, -0.018203, 0.215004 +[14:40:07.048] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:07.048] If point is visible? 0.077139, -0.070463, 0.223199 +[14:40:07.048] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:07.048] If point is visible? 0.081665, -0.070624, 0.221946 +[14:40:07.048] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:07.048] If point is visible? 0.114501, -0.133043, 0.194040 +[14:40:07.048] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:07.048] If point is visible? -0.073386, 0.143240, 0.638659 +[14:40:07.048] Z inverse min: -1.151231, Z inverse max: 0.000000 +[14:40:07.048] If point is visible? 0.447676, -0.299706, 0.429636 +[14:40:07.048] Z inverse min: -1.151231, Z inverse max: 0.000000 +[14:40:07.049] If point is visible? 0.554278, -0.316489, 0.314412 +[14:40:07.049] Z inverse min: -1.151231, Z inverse max: 0.000000 +[14:40:07.049] If point is visible? 0.182274, 0.254508, 0.583764 +[14:40:07.049] Z inverse min: -1.151231, Z inverse max: 0.000000 +[14:40:07.049] If point is visible? 0.191327, 0.254216, 0.581285 +[14:40:07.049] Z inverse min: -1.151231, Z inverse max: 0.000000 +[14:40:07.049] If point is visible? 0.250020, -0.271893, 0.555110 +[14:40:07.049] Z inverse min: -1.151231, Z inverse max: 0.000000 +[14:40:07.049] If point is visible? 0.539798, -0.294995, 0.344803 +[14:40:07.049] Z inverse min: -1.151231, Z inverse max: 0.000000 +[14:40:07.049] If point is visible? 0.150588, -0.133814, 0.557083 +[14:40:07.049] Z inverse min: -1.319619, Z inverse max: 0.000000 +[14:40:07.049] If point is visible? 0.626064, -0.224187, 0.098102 +[14:40:07.049] If point is visible? 0.466147, -0.204594, 0.361103 +[14:40:07.049] Z inverse min: -1.319619, Z inverse max: 0.000000 +[14:40:07.049] If point is visible? 0.465666, -0.207672, 0.360287 +[14:40:07.049] Z inverse min: -1.319619, Z inverse max: 0.000000 +[14:40:07.049] If point is visible? -0.338467, 0.376229, 0.395481 +[14:40:07.049] If point is visible? 0.151394, -0.124284, 0.558670 +[14:40:07.049] Z inverse min: -1.319619, Z inverse max: 0.000000 +[14:40:07.049] If point is visible? 0.159431, -0.124555, 0.556574 +[14:40:07.049] Z inverse min: -1.319619, Z inverse max: 0.000000 +[14:40:07.049] If point is visible? 0.635762, -0.160859, 0.122524 +[14:40:07.049] If point is visible? 0.629196, -0.195392, 0.115030 +[14:40:07.049] If point is visible? 0.627991, -0.201113, 0.113589 +[14:40:07.049] If point is visible? 0.634747, -0.166636, 0.121412 +[14:40:07.049] If point is visible? 0.611953, -0.240323, 0.120086 +[14:40:07.049] If point is visible? 0.290623, -0.256920, 0.467267 +[14:40:07.049] Z inverse min: -1.319619, Z inverse max: 0.000000 +[14:40:07.049] If point is visible? 0.616777, -0.234926, 0.112892 +[14:40:07.049] If point is visible? 0.310330, 0.287336, 0.476243 +[14:40:07.049] Z inverse min: -1.319235, Z inverse max: 0.000000 +[14:40:07.049] If point is visible? 0.313462, 0.274419, 0.480987 +[14:40:07.049] Z inverse min: -1.319235, Z inverse max: 0.000000 +[14:40:07.049] If point is visible? 0.319584, 0.246929, 0.490225 +[14:40:07.049] Z inverse min: -1.319235, Z inverse max: 0.000000 +[14:40:07.049] If point is visible? 0.310175, 0.288751, 0.475592 +[14:40:07.049] Z inverse min: -1.319235, Z inverse max: 0.000000 +[14:40:07.049] If point is visible? -0.149833, 0.001976, 0.611687 +[14:40:07.049] Z inverse min: -1.319235, Z inverse max: 0.000000 +[14:40:07.049] If point is visible? -0.149910, -0.001035, 0.611674 +[14:40:07.049] Z inverse min: -1.319235, Z inverse max: 0.000000 +[14:40:07.049] If point is visible? 0.606647, -0.267736, 0.110749 +[14:40:07.049] If point is visible? -0.345246, 0.274114, 0.475954 +[14:40:07.049] Z inverse min: -1.319235, Z inverse max: 0.000000 +[14:40:07.049] If point is visible? -0.309671, 0.356400, 0.448467 +[14:40:07.049] If point is visible? -0.323971, 0.329034, 0.458000 +[14:40:07.049] If point is visible? -0.151757, -0.055329, 0.609057 +[14:40:07.049] Z inverse min: -1.319235, Z inverse max: 0.000000 +[14:40:07.049] If point is visible? -0.151509, -0.049290, 0.609571 +[14:40:07.049] Z inverse min: -1.319235, Z inverse max: 0.000000 +[14:40:07.049] If point is visible? 0.185811, -0.121477, 0.585936 +[14:40:07.049] Z inverse min: -1.319235, Z inverse max: 0.000000 +[14:40:07.049] If point is visible? 0.549009, 0.457957, 0.841591 +[14:40:07.049] Z inverse min: -0.857291, Z inverse max: 0.000000 +[14:40:07.049] If point is visible? 0.563726, 0.397784, 0.861787 +[14:40:07.049] Z inverse min: -0.857255, Z inverse max: 0.000000 +[14:40:07.049] If point is visible? -0.198944, 0.351882, 1.026607 +[14:40:07.049] Z inverse min: -0.857255, Z inverse max: 0.000000 +[14:40:07.049] If point is visible? -0.199058, 0.354179, 1.025809 +[14:40:07.049] Z inverse min: -0.857255, Z inverse max: 0.000000 +[14:40:07.049] If point is visible? -0.195681, 0.354309, 1.026394 +[14:40:07.049] Z inverse min: -0.857255, Z inverse max: 0.000000 +[14:40:07.049] If point is visible? 0.594267, 0.224801, 0.901876 +[14:40:07.049] Z inverse min: -0.857255, Z inverse max: 0.000000 +[14:40:07.049] If point is visible? -0.139237, 0.601513, 0.916367 +[14:40:07.049] If point is visible? 0.130795, 0.269100, 1.060406 +[14:40:07.049] Z inverse min: -0.857314, Z inverse max: 0.000000 +[14:40:07.049] If point is visible? -0.188726, 0.003854, 1.086043 +[14:40:07.049] Z inverse min: -0.857255, Z inverse max: 0.000000 +[14:40:07.049] If point is visible? 0.531120, -0.012800, 0.965863 +[14:40:07.049] Z inverse min: -0.857255, Z inverse max: 0.000000 +[14:40:07.049] If point is visible? 0.399584, -0.143909, 1.016721 +[14:40:07.049] Z inverse min: -0.857255, Z inverse max: 0.000000 +[14:40:07.049] If point is visible? 0.340588, -0.195846, 1.029388 +[14:40:07.049] Z inverse min: -0.857255, Z inverse max: 0.000000 +[14:40:07.050] If point is visible? 0.944651, -0.320526, 0.484659 +[14:40:07.050] If point is visible? -0.554409, -0.390885, 0.874509 +[14:40:07.050] Z inverse min: -0.857255, Z inverse max: 0.000000 +[14:40:07.050] If point is visible? -0.522722, 0.507232, 0.834068 +[14:40:07.050] Z inverse min: -0.857255, Z inverse max: 0.000000 +[14:40:07.050] If point is visible? -0.478052, 0.602372, 0.797407 +[14:40:07.050] If point is visible? -0.202637, 0.275172, 1.048698 +[14:40:07.050] Z inverse min: -0.857255, Z inverse max: 0.000000 +[14:40:07.050] If point is visible? 0.525902, 0.002249, 0.968758 +[14:40:07.050] Z inverse min: -0.857255, Z inverse max: 0.000000 +[14:40:07.050] If point is visible? 0.106958, 0.154213, 1.085428 +[14:40:07.050] Z inverse min: -0.857255, Z inverse max: 0.000000 +[14:40:07.050] If point is visible? -0.218754, -0.078590, 1.077761 +[14:40:07.050] Z inverse min: -0.857255, Z inverse max: 0.000000 +[14:40:07.050] If point is visible? -0.205233, -0.078501, 1.080343 +[14:40:07.050] Z inverse min: -0.857255, Z inverse max: 0.000000 +[14:40:07.050] If point is visible? 0.945741, -0.098159, 0.568259 +[14:40:07.050] Z inverse min: -0.857255, Z inverse max: 0.000000 +[14:40:07.050] If point is visible? 0.525548, -0.007543, 0.968921 +[14:40:07.050] Z inverse min: -0.857255, Z inverse max: 0.000000 +[14:40:07.050] If point is visible? -0.218338, -0.068920, 1.078494 +[14:40:07.050] Z inverse min: -0.857255, Z inverse max: 0.000000 +[14:40:07.050] If point is visible? -0.204813, -0.068820, 1.081070 +[14:40:07.050] Z inverse min: -0.857255, Z inverse max: 0.000000 +[14:40:07.050] If point is visible? 0.605052, -0.278659, 0.879808 +[14:40:07.050] Z inverse min: -0.857255, Z inverse max: 0.000000 +[14:40:07.050] If point is visible? 0.335322, -0.185735, 1.032938 +[14:40:07.050] Z inverse min: -0.857255, Z inverse max: 0.000000 +[14:40:07.050] If point is visible? 0.345023, 0.282470, 0.504233 +[14:40:07.050] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:07.050] If point is visible? -0.104366, 0.169791, 0.641865 +[14:40:07.050] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:07.050] If point is visible? -0.116802, 0.170842, 0.639519 +[14:40:07.050] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:07.050] If point is visible? 0.056046, 0.076425, 0.664515 +[14:40:07.050] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:07.050] If point is visible? 0.079931, 0.093845, 0.659832 +[14:40:07.050] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:07.050] If point is visible? -0.119665, -0.074367, 0.656946 +[14:40:07.050] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:07.050] If point is visible? 0.593049, -0.194614, 0.260913 +[14:40:07.050] If point is visible? 0.593618, -0.191857, 0.261623 +[14:40:07.050] If point is visible? -0.288905, 0.362716, 0.490776 +[14:40:07.050] If point is visible? 0.217363, 0.229452, 0.593011 +[14:40:07.050] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:07.050] If point is visible? -0.121030, 0.173553, 0.638041 +[14:40:07.050] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:07.050] If point is visible? 0.075960, 0.093901, 0.660297 +[14:40:07.050] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:07.050] If point is visible? -0.122195, -0.041902, 0.659315 +[14:40:07.050] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:07.050] If point is visible? -0.113945, -0.041855, 0.660745 +[14:40:07.050] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:07.050] If point is visible? -0.122457, -0.047806, 0.658873 +[14:40:07.050] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:07.050] If point is visible? 0.345023, 0.282470, 0.504233 +[14:40:07.050] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:07.050] If point is visible? -0.104366, 0.169791, 0.641865 +[14:40:07.050] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:07.050] If point is visible? -0.108448, 0.168245, 0.641613 +[14:40:07.050] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:07.050] If point is visible? -0.116802, 0.170842, 0.639519 +[14:40:07.050] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:07.050] If point is visible? 0.079931, 0.093845, 0.659832 +[14:40:07.050] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:07.050] If point is visible? 0.056046, 0.076425, 0.664515 +[14:40:07.050] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:07.050] If point is visible? -0.119665, -0.074367, 0.656946 +[14:40:07.050] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:07.050] If point is visible? 0.593618, -0.191857, 0.261623 +[14:40:07.050] If point is visible? -0.288905, 0.362716, 0.490776 +[14:40:07.050] If point is visible? 0.217363, 0.229452, 0.593011 +[14:40:07.050] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:07.050] If point is visible? -0.121030, 0.173553, 0.638041 +[14:40:07.050] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:07.050] If point is visible? 0.075960, 0.093901, 0.660297 +[14:40:07.050] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:07.050] If point is visible? -0.122457, -0.047806, 0.658873 +[14:40:07.050] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:07.050] If point is visible? -0.122195, -0.041902, 0.659315 +[14:40:07.050] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:07.050] If point is visible? -0.113945, -0.041855, 0.660745 +[14:40:07.050] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:07.050] If point is visible? 0.619044, 0.471322, 0.903030 +[14:40:07.050] Z inverse min: -0.801755, Z inverse max: 0.000000 +[14:40:07.050] If point is visible? 0.619328, 0.468895, 0.904096 +[14:40:07.050] Z inverse min: -0.801755, Z inverse max: 0.000000 +[14:40:07.050] If point is visible? 0.629714, 0.426857, 0.917615 +[14:40:07.050] Z inverse min: -0.801755, Z inverse max: 0.000000 +[14:40:07.050] If point is visible? 0.148073, 0.382386, 1.118617 +[14:40:07.050] Z inverse min: -0.801755, Z inverse max: 0.000000 +[14:40:07.050] If point is visible? 0.151526, 0.382351, 1.118168 +[14:40:07.050] Z inverse min: -0.801755, Z inverse max: 0.000000 +[14:40:07.050] If point is visible? 0.658566, 0.273257, 0.955110 +[14:40:07.050] Z inverse min: -0.801755, Z inverse max: 0.000000 +[14:40:07.051] If point is visible? 0.658444, 0.275783, 0.954470 +[14:40:07.051] Z inverse min: -0.801755, Z inverse max: 0.000000 +[14:40:07.051] If point is visible? -0.189413, 0.313819, 1.133468 +[14:40:07.051] Z inverse min: -0.801755, Z inverse max: 0.000000 +[14:40:07.051] If point is visible? 0.438776, -0.148610, 1.097801 +[14:40:07.051] Z inverse min: -0.801755, Z inverse max: 0.000000 +[14:40:07.051] If point is visible? 0.668123, -0.188381, 0.968856 +[14:40:07.051] Z inverse min: -0.801755, Z inverse max: 0.000000 +[14:40:07.051] If point is visible? 1.057991, -0.338082, 0.435545 +[14:40:07.051] If point is visible? 0.367814, 0.411745, 1.055979 +[14:40:07.051] Z inverse min: -0.801755, Z inverse max: 0.000000 +[14:40:07.051] If point is visible? 0.380863, 0.411198, 1.051572 +[14:40:07.051] Z inverse min: -0.801755, Z inverse max: 0.000000 +[14:40:07.051] If point is visible? -0.196283, 0.303655, 1.135061 +[14:40:07.051] Z inverse min: -0.801755, Z inverse max: 0.000000 +[14:40:07.051] If point is visible? -0.226884, -0.062892, 1.167685 +[14:40:07.051] Z inverse min: -0.801755, Z inverse max: 0.000000 +[14:40:07.051] If point is visible? -0.212415, -0.062785, 1.170409 +[14:40:07.051] Z inverse min: -0.801755, Z inverse max: 0.000000 +[14:40:07.051] If point is visible? -0.197954, -0.062693, 1.172946 +[14:40:07.051] Z inverse min: -0.801755, Z inverse max: 0.000000 +[14:40:07.051] init seeds +[14:40:07.053] DepthFilter: Initialized 29 new seeds +[14:40:08.356] add new frame +[14:40:08.356] add key frame +[14:40:08.356] remove key frame +[14:40:08.356] update seed +[14:40:08.356] If point is visible? -0.194064, 0.053838, -0.042984 +[14:40:08.356] If point is visible? 0.001477, 0.032578, 0.035320 +[14:40:08.356] If point is visible? 0.085229, 0.001032, 0.026657 +[14:40:08.356] If point is visible? 0.086090, 0.001004, 0.026426 +[14:40:08.356] If point is visible? 0.086072, 0.000329, 0.026432 +[14:40:08.356] If point is visible? 0.090364, 0.000186, 0.025240 +[14:40:08.356] If point is visible? -0.189269, -0.022842, -0.033787 +[14:40:08.356] If point is visible? -0.190098, -0.031610, -0.035485 +[14:40:08.356] If point is visible? 0.176972, -0.070304, -0.024769 +[14:40:08.356] If point is visible? 0.176904, -0.070972, -0.024913 +[14:40:08.356] If point is visible? 0.101785, -0.079603, 0.010688 +[14:40:08.356] If point is visible? 0.107673, -0.079142, 0.008740 +[14:40:08.356] If point is visible? 0.107736, -0.078467, 0.008908 +[14:40:08.356] If point is visible? 0.027513, 0.055735, 0.031213 +[14:40:08.356] If point is visible? 0.025737, 0.054425, 0.031574 +[14:40:08.356] If point is visible? 0.002392, 0.037238, 0.034800 +[14:40:08.356] If point is visible? 0.067007, -0.055429, 0.025799 +[14:40:08.356] If point is visible? -0.002245, -0.083848, 0.025325 +[14:40:08.356] If point is visible? -0.071366, -0.093743, 0.012101 +[14:40:08.356] If point is visible? 0.072707, -0.071884, 0.020994 +[14:40:08.356] If point is visible? 0.076140, -0.071984, 0.020161 +[14:40:08.356] If point is visible? 0.015376, -0.086816, 0.024424 +[14:40:08.356] If point is visible? -0.036793, 0.050818, 0.017237 +[14:40:08.356] If point is visible? 0.107699, 0.037192, 0.004884 +[14:40:08.356] If point is visible? 0.168392, -0.007003, -0.025877 +[14:40:08.356] If point is visible? -0.021988, 0.154535, -0.025038 +[14:40:08.356] If point is visible? 0.041179, -0.076080, 0.013271 +[14:40:08.356] If point is visible? -0.071399, -0.085525, -0.001034 +[14:40:08.356] If point is visible? -0.113234, 0.108098, -0.029469 +[14:40:08.356] If point is visible? 0.071536, 0.082086, 0.005750 +[14:40:08.356] If point is visible? 0.074549, 0.081997, 0.005007 +[14:40:08.356] If point is visible? 0.021846, 0.128823, -0.007039 +[14:40:08.356] If point is visible? 0.025422, 0.080511, 0.013371 +[14:40:08.356] If point is visible? 0.026492, 0.041684, 0.022427 +[14:40:08.356] If point is visible? 0.067417, -0.072124, 0.009809 +[14:40:08.356] If point is visible? 0.116738, -0.074043, -0.007476 +[14:40:08.356] If point is visible? 0.067665, -0.069770, 0.010414 +[14:40:08.356] If point is visible? 0.114207, -0.071566, -0.005574 +[14:40:08.356] If point is visible? 0.044747, 0.148661, 0.079717 +[14:40:08.356] If point is visible? 0.214463, 0.061471, 0.042510 +[14:40:08.356] If point is visible? 0.153933, 0.037951, 0.081697 +[14:40:08.356] If point is visible? 0.049492, -0.103212, 0.096828 +[14:40:08.356] If point is visible? -0.019260, 0.052830, 0.109358 +[14:40:08.356] Z inverse min: -2.818013, Z inverse max: 0.000000 +[14:40:08.356] If point is visible? 0.105777, -0.050026, 0.097712 +[14:40:08.356] Z inverse min: -2.818008, Z inverse max: 0.000000 +[14:40:08.356] If point is visible? 0.148523, -0.082783, 0.075516 +[14:40:08.356] Z inverse min: -2.818008, Z inverse max: 0.000000 +[14:40:08.356] If point is visible? 0.049575, -0.102447, 0.097054 +[14:40:08.356] If point is visible? -0.000531, -0.115009, 0.095061 +[14:40:08.356] If point is visible? 0.026641, 0.168361, 0.071159 +[14:40:08.356] If point is visible? 0.026925, 0.165573, 0.072655 +[14:40:08.356] If point is visible? -0.178969, 0.167716, 0.006788 +[14:40:08.356] If point is visible? 0.031465, 0.102274, 0.098736 +[14:40:08.356] If point is visible? 0.093258, -0.060453, 0.099323 +[14:40:08.356] Z inverse min: -2.818008, Z inverse max: 0.000000 +[14:40:08.356] If point is visible? -0.111865, -0.114397, 0.072058 +[14:40:08.356] If point is visible? 0.223440, -0.119005, 0.015883 +[14:40:08.356] If point is visible? 0.037125, 0.081649, 0.017157 +[14:40:08.356] If point is visible? -0.137664, 0.120196, -0.049064 +[14:40:08.356] If point is visible? -0.021993, 0.150537, -0.017618 +[14:40:08.356] If point is visible? -0.139012, 0.117102, -0.048173 +[14:40:08.356] If point is visible? -0.136284, 0.122339, -0.049366 +[14:40:08.356] If point is visible? 0.034264, 0.076624, 0.019009 +[14:40:08.356] If point is visible? 0.116745, -0.064184, 0.000751 +[14:40:08.356] If point is visible? -0.117042, 0.092467, -0.020203 +[14:40:08.356] If point is visible? 0.075154, 0.081495, 0.010254 +[14:40:08.356] If point is visible? 0.022987, 0.125916, -0.000569 +[14:40:08.356] If point is visible? -0.136246, 0.121400, -0.048722 +[14:40:08.356] If point is visible? -0.133567, 0.127536, -0.050737 +[14:40:08.356] If point is visible? -0.111489, 0.107442, -0.023970 +[14:40:08.356] If point is visible? 0.026432, 0.077779, 0.019267 +[14:40:08.357] If point is visible? 0.029550, 0.077770, 0.019056 +[14:40:08.357] If point is visible? 0.174859, -0.090631, -0.045782 +[14:40:08.357] If point is visible? -0.085646, -0.086943, -0.002309 +[14:40:08.357] If point is visible? -0.021560, 0.132185, -0.005952 +[14:40:08.357] If point is visible? 0.027516, 0.127002, -0.001438 +[14:40:08.357] If point is visible? 0.029991, 0.125414, -0.000775 +[14:40:08.357] If point is visible? 0.030869, 0.124350, -0.000283 +[14:40:08.357] If point is visible? 0.030815, 0.124883, -0.000561 +[14:40:08.357] If point is visible? 0.034874, 0.122746, 0.000180 +[14:40:08.357] If point is visible? -0.030606, 0.093980, 0.010821 +[14:40:08.357] If point is visible? -0.031258, 0.091227, 0.011744 +[14:40:08.357] If point is visible? -0.031917, 0.088468, 0.012634 +[14:40:08.357] If point is visible? 0.037442, 0.090007, 0.014266 +[14:40:08.357] If point is visible? 0.037408, 0.090562, 0.014069 +[14:40:08.357] If point is visible? -0.031890, 0.087920, 0.012833 +[14:40:08.357] If point is visible? -0.031811, 0.086277, 0.013422 +[14:40:08.357] If point is visible? -0.032559, 0.085152, 0.013681 +[14:40:08.357] If point is visible? -0.033235, 0.082377, 0.014495 +[14:40:08.357] If point is visible? -0.032483, 0.083505, 0.014251 +[14:40:08.357] If point is visible? -0.033117, 0.079624, 0.015407 +[14:40:08.357] If point is visible? 0.037125, 0.081649, 0.017157 +[14:40:08.357] If point is visible? 0.031784, 0.058550, 0.023982 +[14:40:08.357] If point is visible? 0.032563, 0.058544, 0.023918 +[14:40:08.357] If point is visible? 0.026597, 0.021817, 0.029976 +[14:40:08.357] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:08.357] If point is visible? 0.087640, -0.007016, 0.019886 +[14:40:08.357] If point is visible? 0.108543, -0.013169, 0.012367 +[14:40:08.357] If point is visible? 0.082869, -0.014482, 0.020965 +[14:40:08.357] If point is visible? 0.083610, -0.014508, 0.020753 +[14:40:08.357] If point is visible? 0.084351, -0.014534, 0.020539 +[14:40:08.357] If point is visible? 0.088045, -0.014668, 0.019438 +[14:40:08.357] If point is visible? 0.097336, -0.019736, 0.016080 +[14:40:08.357] If point is visible? 0.090594, -0.022412, 0.018083 +[14:40:08.357] If point is visible? 0.091327, -0.022440, 0.017848 +[14:40:08.357] If point is visible? 0.092890, -0.020735, 0.017490 +[14:40:08.357] If point is visible? -0.041645, -0.028640, 0.024612 +[14:40:08.357] If point is visible? 0.170037, -0.040939, -0.025506 +[14:40:08.357] If point is visible? 0.117538, -0.048919, 0.004027 +[14:40:08.357] If point is visible? 0.085030, -0.057564, 0.014202 +[14:40:08.357] If point is visible? 0.085763, -0.057591, 0.013977 +[14:40:08.357] If point is visible? 0.086494, -0.057618, 0.013749 +[14:40:08.357] If point is visible? 0.166023, -0.071591, -0.030780 +[14:40:08.357] If point is visible? 0.082668, -0.079807, 0.008713 +[14:40:08.357] If point is visible? 0.040025, -0.079653, 0.017473 +[14:40:08.357] If point is visible? 0.164303, -0.087715, -0.035820 +[14:40:08.357] If point is visible? -0.021993, 0.150537, -0.017618 +[14:40:08.357] If point is visible? -0.124096, 0.144034, -0.055787 +[14:40:08.357] If point is visible? -0.103077, 0.123518, -0.028102 +[14:40:08.357] If point is visible? -0.136284, 0.122339, -0.049366 +[14:40:08.357] If point is visible? -0.137664, 0.120196, -0.049064 +[14:40:08.357] If point is visible? -0.021560, 0.132185, -0.005952 +[14:40:08.357] If point is visible? -0.140364, 0.113994, -0.047343 +[14:40:08.357] If point is visible? -0.139012, 0.117102, -0.048173 +[14:40:08.357] If point is visible? 0.034264, 0.076624, 0.019009 +[14:40:08.357] If point is visible? 0.031724, 0.060824, 0.023463 +[14:40:08.357] If point is visible? 0.032054, 0.043690, 0.026872 +[14:40:08.357] If point is visible? 0.023904, 0.003240, 0.031000 +[14:40:08.357] Z inverse min: -3.409561, Z inverse max: 0.000000 +[14:40:08.357] If point is visible? 0.090310, -0.013577, 0.018799 +[14:40:08.357] If point is visible? 0.088421, -0.021741, 0.018817 +[14:40:08.357] If point is visible? 0.088838, -0.013522, 0.019259 +[14:40:08.357] If point is visible? 0.089956, -0.020622, 0.018436 +[14:40:08.357] If point is visible? -0.042417, -0.028067, 0.024518 +[14:40:08.357] If point is visible? -0.040817, -0.028058, 0.024840 +[14:40:08.357] If point is visible? 0.209635, -0.036907, -0.061700 +[14:40:08.357] If point is visible? 0.084429, -0.038092, 0.018083 +[14:40:08.357] If point is visible? 0.116745, -0.064184, 0.000751 +[14:40:08.357] If point is visible? 0.165550, -0.070397, -0.030007 +[14:40:08.357] If point is visible? 0.040089, -0.079071, 0.017648 +[14:40:08.357] If point is visible? -0.007001, -0.084969, 0.016841 +[14:40:08.357] If point is visible? 0.099465, -0.078694, 0.003481 +[14:40:08.357] If point is visible? 0.026432, 0.077779, 0.019267 +[14:40:08.357] If point is visible? 0.029550, 0.077770, 0.019056 +[14:40:08.357] If point is visible? -0.136246, 0.121400, -0.048722 +[14:40:08.357] If point is visible? -0.133567, 0.127536, -0.050737 +[14:40:08.357] If point is visible? 0.072160, 0.081583, 0.010992 +[14:40:08.357] If point is visible? 0.075154, 0.081495, 0.010254 +[14:40:08.357] If point is visible? -0.128177, 0.137801, -0.054012 +[14:40:08.357] If point is visible? -0.117042, 0.092467, -0.020203 +[14:40:08.357] If point is visible? 0.022987, 0.125916, -0.000569 +[14:40:08.357] If point is visible? -0.111489, 0.107442, -0.023970 +[14:40:08.357] If point is visible? 0.030196, 0.059697, 0.023845 +[14:40:08.357] If point is visible? -0.033029, 0.045486, 0.023797 +[14:40:08.357] If point is visible? 0.030495, 0.043703, 0.026993 +[14:40:08.357] If point is visible? 0.027421, 0.027598, 0.029386 +[14:40:08.357] If point is visible? 0.089956, -0.020622, 0.018436 +[14:40:08.357] If point is visible? 0.102102, -0.011706, 0.014890 +[14:40:08.357] If point is visible? 0.070448, -0.045874, 0.020469 +[14:40:08.357] If point is visible? 0.073432, -0.045969, 0.019736 +[14:40:08.357] If point is visible? 0.096747, -0.077412, 0.004892 +[14:40:08.357] If point is visible? 0.174859, -0.090631, -0.045782 +[14:40:08.357] If point is visible? -0.091669, -0.084624, -0.004027 +[14:40:08.357] If point is visible? 0.070778, -0.074121, 0.013677 +[14:40:08.357] If point is visible? 0.094150, -0.074963, 0.006580 +[14:40:08.357] If point is visible? 0.099088, -0.013928, 0.015858 +[14:40:08.357] If point is visible? -0.085646, -0.086943, -0.002309 +[14:40:08.357] If point is visible? -0.097679, -0.082318, -0.005937 +[14:40:08.357] If point is visible? 0.053321, 0.143678, -0.042592 +[14:40:08.357] If point is visible? 0.036181, 0.080406, -0.005383 +[14:40:08.357] If point is visible? -0.024283, 0.042499, 0.003356 +[14:40:08.357] If point is visible? 0.003052, 0.036221, 0.006968 +[14:40:08.357] If point is visible? 0.087295, -0.018184, -0.003193 +[14:40:08.357] If point is visible? 0.091280, -0.017289, -0.004496 +[14:40:08.357] If point is visible? 0.153962, -0.063993, -0.048062 +[14:40:08.357] If point is visible? -0.110254, 0.129421, -0.068854 +[14:40:08.357] If point is visible? -0.128562, 0.093960, -0.059406 +[14:40:08.357] If point is visible? -0.129813, 0.091993, -0.059365 +[14:40:08.357] If point is visible? 0.084635, -0.018609, -0.002354 +[14:40:08.357] If point is visible? 0.085952, -0.018660, -0.002786 +[14:40:08.357] If point is visible? 0.192820, -0.032391, -0.076537 +[14:40:08.357] If point is visible? 0.062421, -0.049623, -0.000943 +[14:40:08.357] If point is visible? -0.089385, -0.074971, -0.025672 +[14:40:08.357] If point is visible? -0.094635, -0.070950, -0.026898 +[14:40:08.357] If point is visible? 0.000044, -0.080628, -0.004384 +[14:40:08.357] If point is visible? 0.021610, 0.115094, -0.019815 +[14:40:08.357] If point is visible? 0.068677, 0.073278, -0.008911 +[14:40:08.357] If point is visible? 0.071362, 0.073195, -0.009597 +[14:40:08.357] If point is visible? -0.091488, 0.111870, -0.044467 +[14:40:08.357] If point is visible? -0.086674, 0.123042, -0.048991 +[14:40:08.357] If point is visible? -0.113925, 0.123817, -0.067271 +[14:40:08.357] If point is visible? 0.092823, -0.012598, -0.004737 +[14:40:08.357] If point is visible? -0.092068, -0.073940, -0.026641 +[14:40:08.357] If point is visible? -0.089446, -0.075953, -0.026066 +[14:40:08.357] If point is visible? -0.126037, -0.040472, 0.435895 +[14:40:08.357] Z inverse min: -1.443579, Z inverse max: 0.000000 +[14:40:08.357] If point is visible? -0.124009, -0.040452, 0.436316 +[14:40:08.357] Z inverse min: -1.443579, Z inverse max: 0.000000 +[14:40:08.357] If point is visible? 0.194653, -0.208014, 0.391870 +[14:40:08.357] Z inverse min: -1.443578, Z inverse max: 0.000000 +[14:40:08.357] If point is visible? 0.194830, -0.206539, 0.392313 +[14:40:08.357] Z inverse min: -1.443578, Z inverse max: 0.000000 +[14:40:08.357] If point is visible? 0.364408, -0.214129, 0.310570 +[14:40:08.357] Z inverse min: -1.443578, Z inverse max: 0.000000 +[14:40:08.357] If point is visible? -0.064896, 0.340221, 0.354313 +[14:40:08.357] If point is visible? -0.383052, 0.264625, 0.255833 +[14:40:08.357] If point is visible? 0.001676, -0.023968, 0.450820 +[14:40:08.357] Z inverse min: -1.443579, Z inverse max: 0.000000 +[14:40:08.358] If point is visible? 0.210868, -0.096898, 0.413949 +[14:40:08.358] Z inverse min: -1.443578, Z inverse max: 0.000000 +[14:40:08.358] If point is visible? -0.025445, -0.232842, 0.408823 +[14:40:08.358] Z inverse min: -1.443578, Z inverse max: 0.000000 +[14:40:08.358] If point is visible? -0.258065, 0.357239, 0.281657 +[14:40:08.358] If point is visible? 0.067251, 0.075611, 0.444766 +[14:40:08.358] Z inverse min: -1.443578, Z inverse max: 0.000000 +[14:40:08.358] If point is visible? 0.183174, -0.116808, 0.418644 +[14:40:08.358] Z inverse min: -1.443578, Z inverse max: 0.000000 +[14:40:08.358] If point is visible? 0.176468, -0.188092, 0.403306 +[14:40:08.358] Z inverse min: -1.443578, Z inverse max: 0.000000 +[14:40:08.358] If point is visible? 0.052489, 0.003978, 0.313167 +[14:40:08.358] Z inverse min: -1.768857, Z inverse max: 0.000000 +[14:40:08.358] If point is visible? -0.091117, -0.034187, 0.303311 +[14:40:08.358] Z inverse min: -1.768857, Z inverse max: 0.000000 +[14:40:08.358] calculated Z= 1.568425 +[14:40:08.358] update seeds +[14:40:08.358] If point is visible? -0.048812, 0.294724, 0.221338 +[14:40:08.358] If point is visible? -0.045597, 0.264171, 0.240795 +[14:40:08.358] If point is visible? 0.330840, -0.164096, 0.176390 +[14:40:08.358] Z inverse min: -1.768857, Z inverse max: 0.000000 +[14:40:08.358] If point is visible? 0.333280, -0.164244, 0.174347 +[14:40:08.358] Z inverse min: -1.768857, Z inverse max: 0.000000 +[14:40:08.358] If point is visible? -0.038619, -0.171684, 0.283594 +[14:40:08.358] Z inverse min: -1.768857, Z inverse max: 0.000000 +[14:40:08.358] If point is visible? 0.149779, 0.162403, 0.270422 +[14:40:08.358] Z inverse min: -1.768857, Z inverse max: 0.000000 +[14:40:08.358] If point is visible? -0.206246, 0.265415, 0.188497 +[14:40:08.358] If point is visible? -0.039076, -0.176256, 0.281958 +[14:40:08.358] If point is visible? 0.146525, -0.153083, 0.274321 +[14:40:08.358] Z inverse min: -1.768857, Z inverse max: 0.000000 +[14:40:08.358] If point is visible? -0.248980, -0.168058, 0.214334 +[14:40:08.358] Z inverse min: -1.768857, Z inverse max: 0.000000 +[14:40:08.358] If point is visible? -0.243035, -0.168183, 0.217833 +[14:40:08.358] Z inverse min: -1.768857, Z inverse max: 0.000000 +[14:40:08.358] If point is visible? 0.294877, 0.153608, 0.344541 +[14:40:08.358] Z inverse min: -1.490735, Z inverse max: 0.000000 +[14:40:08.358] If point is visible? -0.107921, -0.040093, 0.417905 +[14:40:08.358] Z inverse min: -1.490735, Z inverse max: 0.000000 +[14:40:08.358] If point is visible? -0.058493, 0.321167, 0.340615 +[14:40:08.358] If point is visible? 0.215852, -0.090502, 0.390649 +[14:40:08.358] Z inverse min: -1.490735, Z inverse max: 0.000000 +[14:40:08.358] If point is visible? -0.280180, 0.256472, 0.300648 +[14:40:08.358] If point is visible? 0.178751, 0.202856, 0.374636 +[14:40:08.358] Z inverse min: -1.490735, Z inverse max: 0.000000 +[14:40:08.358] If point is visible? 0.185958, 0.202610, 0.372639 +[14:40:08.358] Z inverse min: -1.490735, Z inverse max: 0.000000 +[14:40:08.358] If point is visible? 0.186259, 0.197171, 0.374392 +[14:40:08.358] Z inverse min: -1.490735, Z inverse max: 0.000000 +[14:40:08.358] If point is visible? 0.071270, 0.072393, 0.423536 +[14:40:08.358] Z inverse min: -1.490735, Z inverse max: 0.000000 +[14:40:08.359] If point is visible? -0.058173, -0.214123, 0.389874 +[14:40:08.359] Z inverse min: -1.490735, Z inverse max: 0.000000 +[14:40:08.359] If point is visible? -0.299150, -0.214861, 0.308487 +[14:40:08.359] Z inverse min: -1.490735, Z inverse max: 0.000000 +[14:40:08.359] If point is visible? -6365.117189, 8138.023098, 39717.472024 +[14:40:08.359] Z inverse min: -0.000024, Z inverse max: 0.000000 +[14:40:08.359] If point is visible? -7714.905538, -2450.950198, 40232.978336 +[14:40:08.359] Z inverse min: -0.000024, Z inverse max: 0.000000 +[14:40:08.359] If point is visible? 11982.938851, -4977.094383, 38934.024166 +[14:40:08.359] Z inverse min: -0.000024, Z inverse max: 0.000000 +[14:40:08.359] If point is visible? 18107.810180, -10233.808907, 35377.938612 +[14:40:08.359] Z inverse min: -0.000024, Z inverse max: 0.000000 +[14:40:08.359] If point is visible? -4337.048955, 23504.601884, 33360.847162 +[14:40:08.359] If point is visible? -23665.169650, 17019.847686, 28887.857582 +[14:40:08.359] Z inverse min: -0.000024, Z inverse max: 0.000000 +[14:40:08.359] If point is visible? -23451.944081, 17353.404813, 28863.289167 +[14:40:08.359] Z inverse min: -0.000024, Z inverse max: 0.000000 +[14:40:08.359] If point is visible? -17908.079396, 17880.680198, 32307.963067 +[14:40:08.359] Z inverse min: -0.000024, Z inverse max: 0.000000 +[14:40:08.359] If point is visible? -23461.431879, 17645.719608, 28677.755704 +[14:40:08.359] Z inverse min: -0.000024, Z inverse max: 0.000000 +[14:40:08.359] If point is visible? -16304.657975, 22299.210773, 30350.069125 +[14:40:08.359] If point is visible? 37382.706123, -8793.953138, 14471.733711 +[14:40:08.359] If point is visible? 0.154633, -0.052634, 0.261891 +[14:40:08.359] Z inverse min: -1.768118, Z inverse max: 0.000000 +[14:40:08.359] If point is visible? -0.037411, 0.288395, 0.187783 +[14:40:08.359] If point is visible? 0.330363, -0.126896, 0.146852 +[14:40:08.359] If point is visible? 0.330070, -0.128994, 0.146349 +[14:40:08.359] If point is visible? -0.251842, 0.239353, 0.129310 +[14:40:08.359] If point is visible? -0.181285, 0.261146, 0.160479 +[14:40:08.359] If point is visible? 0.230831, -0.109974, 0.220715 +[14:40:08.359] Z inverse min: -1.768118, Z inverse max: 0.000000 +[14:40:08.359] If point is visible? -0.340571, 0.165963, 0.273698 +[14:40:08.359] Z inverse min: -1.516564, Z inverse max: 0.000000 +[14:40:08.359] If point is visible? 0.067670, 0.060503, 0.411079 +[14:40:08.359] Z inverse min: -1.516564, Z inverse max: 0.000000 +[14:40:08.359] If point is visible? 0.576495, -0.069041, 0.037645 +[14:40:08.359] If point is visible? -0.109998, -0.037778, 0.402194 +[14:40:08.359] Z inverse min: -1.516564, Z inverse max: 0.000000 +[14:40:08.359] If point is visible? -0.106308, -0.037745, 0.402957 +[14:40:08.359] Z inverse min: -1.516564, Z inverse max: 0.000000 +[14:40:08.359] If point is visible? -0.088835, -0.058798, 0.404551 +[14:40:08.359] Z inverse min: -1.516563, Z inverse max: 0.000000 +[14:40:08.359] If point is visible? 0.051630, 0.303200, 0.334644 +[14:40:08.359] If point is visible? 0.179570, 0.191470, 0.361861 +[14:40:08.359] Z inverse min: -1.516563, Z inverse max: 0.000000 +[14:40:08.359] If point is visible? -0.050884, 0.319735, 0.321900 +[14:40:08.359] If point is visible? 0.179251, 0.196601, 0.360166 +[14:40:08.359] Z inverse min: -1.516564, Z inverse max: 0.000000 +[14:40:08.359] If point is visible? 0.063917, 0.105431, 0.405215 +[14:40:08.359] Z inverse min: -1.516564, Z inverse max: 0.000000 +[14:40:08.359] If point is visible? 0.071286, 0.073712, 0.409290 +[14:40:08.359] Z inverse min: -1.516564, Z inverse max: 0.000000 +[14:40:08.359] If point is visible? 0.056957, 0.079139, 0.409763 +[14:40:08.359] Z inverse min: -1.516564, Z inverse max: 0.000000 +[14:40:08.359] If point is visible? 0.571765, -0.166632, -0.004131 +[14:40:08.359] If point is visible? -0.064878, 0.024849, 0.216326 +[14:40:08.359] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:08.359] If point is visible? 0.393469, -0.049177, -0.032956 +[14:40:08.359] If point is visible? -0.157063, 0.201515, 0.126315 +[14:40:08.359] If point is visible? 0.119804, -0.070463, 0.206031 +[14:40:08.359] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:08.359] If point is visible? 0.053517, 0.199671, 0.171373 +[14:40:08.359] If point is visible? 0.059768, 0.196434, 0.172489 +[14:40:08.359] If point is visible? -0.046838, 0.148372, 0.192054 +[14:40:08.359] If point is visible? -0.048879, 0.141652, 0.194295 +[14:40:08.359] If point is visible? 0.063175, 0.148459, 0.194695 +[14:40:08.359] If point is visible? -0.049912, 0.138282, 0.195364 +[14:40:08.359] If point is visible? -0.049865, 0.137450, 0.195676 +[14:40:08.359] If point is visible? -0.048541, 0.135833, 0.196493 +[14:40:08.359] If point is visible? -0.051831, 0.128178, 0.198569 +[14:40:08.359] If point is visible? 0.062981, 0.134074, 0.200072 +[14:40:08.359] If point is visible? -0.051789, 0.127341, 0.198857 +[14:40:08.359] If point is visible? 0.052731, 0.101567, 0.211022 +[14:40:08.359] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:08.360] If point is visible? 0.053923, 0.101559, 0.210915 +[14:40:08.360] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:08.360] If point is visible? 0.055113, 0.101550, 0.210804 +[14:40:08.360] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:08.360] If point is visible? 0.055145, 0.100686, 0.211024 +[14:40:08.360] Z inverse min: -2.332187, Z inverse max: 0.000000 +[14:40:08.360] If point is visible? -0.052773, 0.086593, 0.209954 +[14:40:08.360] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:08.360] If point is visible? -0.064878, 0.024849, 0.216326 +[14:40:08.360] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:08.360] If point is visible? 0.045917, 0.007577, 0.224394 +[14:40:08.360] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:08.360] If point is visible? 0.138516, -0.008165, 0.206947 +[14:40:08.360] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:08.360] If point is visible? 0.144131, -0.008386, 0.205148 +[14:40:08.360] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:08.360] If point is visible? 0.180303, -0.014521, 0.191183 +[14:40:08.360] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:08.360] If point is visible? 0.144094, -0.009281, 0.205140 +[14:40:08.360] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:08.360] If point is visible? 0.179135, -0.016256, 0.191619 +[14:40:08.360] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:08.360] If point is visible? 0.139110, -0.019857, 0.206340 +[14:40:08.360] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:08.360] If point is visible? -0.068796, -0.026001, 0.215424 +[14:40:08.360] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:08.360] If point is visible? 0.394051, -0.048459, -0.034193 +[14:40:08.360] If point is visible? 0.393469, -0.049177, -0.032956 +[14:40:08.360] If point is visible? 0.149709, -0.031073, 0.202115 +[14:40:08.360] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:08.360] If point is visible? 0.150821, -0.031120, 0.201726 +[14:40:08.360] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:08.360] If point is visible? 0.150873, -0.030222, 0.201779 +[14:40:08.360] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:08.360] If point is visible? 0.151984, -0.030269, 0.201387 +[14:40:08.360] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:08.360] If point is visible? -0.057186, -0.040882, 0.216516 +[14:40:08.360] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:08.360] If point is visible? 0.292628, -0.059145, 0.112575 +[14:40:08.360] If point is visible? 0.292544, -0.060028, 0.112475 +[14:40:08.360] If point is visible? 0.292737, -0.067165, 0.110749 +[14:40:08.360] If point is visible? 0.139614, -0.087423, 0.196735 +[14:40:08.360] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:08.360] If point is visible? 0.140725, -0.087467, 0.196364 +[14:40:08.360] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:08.360] If point is visible? 0.141835, -0.087512, 0.195990 +[14:40:08.360] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:08.361] If point is visible? 0.158771, -0.094532, 0.188266 +[14:40:08.361] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:08.361] If point is visible? 0.284716, -0.115351, 0.103069 +[14:40:08.361] If point is visible? 0.284579, -0.116225, 0.102843 +[14:40:08.361] If point is visible? 0.136270, -0.141094, 0.181302 +[14:40:08.361] If point is visible? 0.037028, -0.137773, 0.200976 +[14:40:08.361] If point is visible? 0.164838, -0.139625, 0.171258 +[14:40:08.361] If point is visible? 0.148282, -0.141585, 0.176955 +[14:40:08.361] If point is visible? 0.048714, 0.200467, 0.171382 +[14:40:08.361] If point is visible? -0.051873, 0.129015, 0.198278 +[14:40:08.361] If point is visible? 0.060212, 0.120443, 0.204900 +[14:40:08.361] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:08.361] If point is visible? 0.053923, 0.101559, 0.210915 +[14:40:08.361] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:08.361] If point is visible? 0.026031, 0.040527, 0.223356 +[14:40:08.361] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:08.361] If point is visible? 0.134650, -0.018789, 0.207763 +[14:40:08.361] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:08.361] If point is visible? 0.148113, -0.019319, 0.203429 +[14:40:08.361] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:08.361] If point is visible? 0.167922, -0.021993, 0.195986 +[14:40:08.361] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:08.361] If point is visible? 0.145968, -0.017434, 0.204240 +[14:40:08.361] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:08.361] If point is visible? -0.068758, -0.025123, 0.215489 +[14:40:08.361] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:08.361] If point is visible? -0.071300, -0.026902, 0.214814 +[14:40:08.361] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:08.361] calculated Z= 1.228768 +[14:40:08.361] update seeds +[14:40:08.361] If point is visible? 0.147534, -0.030083, 0.202936 +[14:40:08.361] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:08.361] If point is visible? 0.149761, -0.030175, 0.202168 +[14:40:08.361] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:08.361] If point is visible? 0.139007, -0.056758, 0.202717 +[14:40:08.361] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:08.361] If point is visible? 0.253070, -0.145054, 0.117078 +[14:40:08.361] If point is visible? 0.254929, -0.145163, 0.115551 +[14:40:08.361] If point is visible? 0.163098, -0.136873, 0.173052 +[14:40:08.361] If point is visible? 0.165238, -0.136968, 0.172129 +[14:40:08.361] If point is visible? 0.162833, -0.138645, 0.172473 +[14:40:08.361] If point is visible? 0.164972, -0.138740, 0.171550 +[14:40:08.361] If point is visible? 0.038205, -0.137806, 0.200902 +[14:40:08.361] If point is visible? 0.040555, -0.137871, 0.200743 +[14:40:08.361] If point is visible? 0.046549, 0.198847, 0.172481 +[14:40:08.361] If point is visible? 0.051261, 0.198861, 0.172053 +[14:40:08.361] If point is visible? -0.148908, 0.217289, 0.120046 +[14:40:08.361] If point is visible? 0.122483, 0.127771, 0.190367 +[14:40:08.361] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:08.361] If point is visible? 0.127024, 0.127621, 0.189107 +[14:40:08.361] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:08.361] If point is visible? -0.157063, 0.201515, 0.126315 +[14:40:08.361] If point is visible? 0.051641, 0.195628, 0.173812 +[14:40:08.361] If point is visible? 0.056344, 0.195629, 0.173326 +[14:40:08.361] If point is visible? -0.054088, 0.123897, 0.199568 +[14:40:08.361] If point is visible? 0.048050, 0.125639, 0.204406 +[14:40:08.361] If point is visible? 0.057565, 0.125594, 0.203545 +[14:40:08.361] If point is visible? 0.049899, 0.073768, 0.217413 +[14:40:08.361] Z inverse min: -2.332187, Z inverse max: 0.000000 +[14:40:08.361] If point is visible? -0.053933, 0.120539, 0.200671 +[14:40:08.361] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:08.362] If point is visible? 0.048233, 0.122222, 0.205485 +[14:40:08.362] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:08.362] If point is visible? 0.057750, 0.122174, 0.204623 +[14:40:08.362] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:08.362] If point is visible? 0.163713, -0.018203, 0.197836 +[14:40:08.362] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:08.362] If point is visible? 0.119804, -0.070463, 0.206031 +[14:40:08.362] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:08.362] If point is visible? 0.124330, -0.070624, 0.204778 +[14:40:08.362] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:08.362] If point is visible? 0.157166, -0.133043, 0.176871 +[14:40:08.362] Z inverse min: -2.332186, Z inverse max: 0.000000 +[14:40:08.362] If point is visible? -0.030720, 0.143240, 0.621491 +[14:40:08.362] Z inverse min: -1.151231, Z inverse max: 0.000000 +[14:40:08.362] If point is visible? 0.490341, -0.299706, 0.412468 +[14:40:08.362] Z inverse min: -1.151231, Z inverse max: 0.000000 +[14:40:08.362] If point is visible? 0.596943, -0.316489, 0.297244 +[14:40:08.362] Z inverse min: -1.151231, Z inverse max: 0.000000 +[14:40:08.362] If point is visible? 0.224939, 0.254508, 0.566596 +[14:40:08.362] Z inverse min: -1.151231, Z inverse max: 0.000000 +[14:40:08.362] If point is visible? 0.233992, 0.254216, 0.564117 +[14:40:08.362] Z inverse min: -1.151231, Z inverse max: 0.000000 +[14:40:08.362] If point is visible? 0.292685, -0.271893, 0.537942 +[14:40:08.362] Z inverse min: -1.151231, Z inverse max: 0.000000 +[14:40:08.362] If point is visible? 0.582463, -0.294995, 0.327635 +[14:40:08.362] Z inverse min: -1.151231, Z inverse max: 0.000000 +[14:40:08.362] If point is visible? 0.193253, -0.133814, 0.539915 +[14:40:08.362] Z inverse min: -1.319619, Z inverse max: 0.000000 +[14:40:08.362] If point is visible? 0.668730, -0.224187, 0.080933 +[14:40:08.362] If point is visible? 0.508813, -0.204594, 0.343935 +[14:40:08.362] Z inverse min: -1.319619, Z inverse max: 0.000000 +[14:40:08.362] calculated Z= 1.082266 +[14:40:08.362] update seeds +[14:40:08.362] If point is visible? 0.508331, -0.207672, 0.343119 +[14:40:08.362] Z inverse min: -1.319619, Z inverse max: 0.000000 +[14:40:08.362] If point is visible? -0.295802, 0.376229, 0.378313 +[14:40:08.362] If point is visible? 0.194059, -0.124284, 0.541501 +[14:40:08.362] Z inverse min: -1.319619, Z inverse max: 0.000000 +[14:40:08.362] If point is visible? 0.202096, -0.124555, 0.539406 +[14:40:08.362] Z inverse min: -1.319619, Z inverse max: 0.000000 +[14:40:08.362] If point is visible? 0.678427, -0.160859, 0.105356 +[14:40:08.362] If point is visible? 0.671862, -0.195392, 0.097861 +[14:40:08.362] If point is visible? 0.670656, -0.201113, 0.096421 +[14:40:08.362] If point is visible? 0.677412, -0.166636, 0.104244 +[14:40:08.362] If point is visible? 0.654619, -0.240323, 0.102917 +[14:40:08.362] If point is visible? 0.333288, -0.256920, 0.450098 +[14:40:08.362] Z inverse min: -1.319619, Z inverse max: 0.000000 +[14:40:08.362] If point is visible? 0.659442, -0.234926, 0.095724 +[14:40:08.362] If point is visible? 0.352996, 0.287336, 0.459075 +[14:40:08.362] Z inverse min: -1.319235, Z inverse max: 0.000000 +[14:40:08.362] If point is visible? 0.356127, 0.274419, 0.463819 +[14:40:08.362] Z inverse min: -1.319235, Z inverse max: 0.000000 +[14:40:08.362] If point is visible? 0.362249, 0.246929, 0.473057 +[14:40:08.362] Z inverse min: -1.319235, Z inverse max: 0.000000 +[14:40:08.362] If point is visible? 0.352840, 0.288751, 0.458423 +[14:40:08.362] Z inverse min: -1.319235, Z inverse max: 0.000000 +[14:40:08.362] If point is visible? -0.107168, 0.001976, 0.594519 +[14:40:08.362] Z inverse min: -1.319235, Z inverse max: 0.000000 +[14:40:08.362] If point is visible? -0.107244, -0.001035, 0.594506 +[14:40:08.362] Z inverse min: -1.319235, Z inverse max: 0.000000 +[14:40:08.363] If point is visible? 0.649312, -0.267736, 0.093581 +[14:40:08.363] If point is visible? -0.302581, 0.274114, 0.458785 +[14:40:08.363] Z inverse min: -1.319235, Z inverse max: 0.000000 +[14:40:08.363] If point is visible? -0.267006, 0.356400, 0.431299 +[14:40:08.363] If point is visible? -0.281305, 0.329034, 0.440832 +[14:40:08.363] If point is visible? -0.109092, -0.055329, 0.591889 +[14:40:08.363] Z inverse min: -1.319235, Z inverse max: 0.000000 +[14:40:08.363] If point is visible? -0.108843, -0.049290, 0.592403 +[14:40:08.363] Z inverse min: -1.319235, Z inverse max: 0.000000 +[14:40:08.363] If point is visible? 0.228477, -0.121477, 0.568768 +[14:40:08.363] Z inverse min: -1.319235, Z inverse max: 0.000000 +[14:40:08.363] If point is visible? 0.591674, 0.457957, 0.824423 +[14:40:08.363] Z inverse min: -0.857291, Z inverse max: 0.000000 +[14:40:08.363] If point is visible? 0.606391, 0.397784, 0.844618 +[14:40:08.363] Z inverse min: -0.857255, Z inverse max: 0.000000 +[14:40:08.363] If point is visible? -0.156279, 0.351882, 1.009439 +[14:40:08.363] Z inverse min: -0.857255, Z inverse max: 0.000000 +[14:40:08.363] If point is visible? -0.156393, 0.354179, 1.008641 +[14:40:08.363] Z inverse min: -0.857255, Z inverse max: 0.000000 +[14:40:08.363] If point is visible? -0.153016, 0.354309, 1.009226 +[14:40:08.363] Z inverse min: -0.857255, Z inverse max: 0.000000 +[14:40:08.363] If point is visible? 0.636932, 0.224801, 0.884708 +[14:40:08.363] Z inverse min: -0.857255, Z inverse max: 0.000000 +[14:40:08.363] If point is visible? -0.096571, 0.601513, 0.899199 +[14:40:08.363] If point is visible? 0.173460, 0.269100, 1.043238 +[14:40:08.363] Z inverse min: -0.857314, Z inverse max: 0.000000 +[14:40:08.363] If point is visible? -0.146061, 0.003854, 1.068874 +[14:40:08.363] Z inverse min: -0.857255, Z inverse max: 0.000000 +[14:40:08.363] If point is visible? 0.573786, -0.012800, 0.948694 +[14:40:08.363] Z inverse min: -0.857255, Z inverse max: 0.000000 +[14:40:08.363] If point is visible? 0.442249, -0.143909, 0.999553 +[14:40:08.363] Z inverse min: -0.857255, Z inverse max: 0.000000 +[14:40:08.363] If point is visible? 0.383253, -0.195846, 1.012220 +[14:40:08.363] Z inverse min: -0.857255, Z inverse max: 0.000000 +[14:40:08.363] If point is visible? 0.987316, -0.320526, 0.467491 +[14:40:08.363] If point is visible? -0.511743, -0.390885, 0.857340 +[14:40:08.363] Z inverse min: -0.857255, Z inverse max: 0.000000 +[14:40:08.363] If point is visible? -0.480057, 0.507232, 0.816899 +[14:40:08.363] Z inverse min: -0.857255, Z inverse max: 0.000000 +[14:40:08.363] If point is visible? -0.435387, 0.602372, 0.780239 +[14:40:08.363] If point is visible? -0.159972, 0.275172, 1.031530 +[14:40:08.363] Z inverse min: -0.857255, Z inverse max: 0.000000 +[14:40:08.363] If point is visible? 0.568567, 0.002249, 0.951590 +[14:40:08.363] Z inverse min: -0.857255, Z inverse max: 0.000000 +[14:40:08.363] If point is visible? 0.149624, 0.154213, 1.068259 +[14:40:08.363] Z inverse min: -0.857255, Z inverse max: 0.000000 +[14:40:08.363] If point is visible? -0.176089, -0.078590, 1.060593 +[14:40:08.363] Z inverse min: -0.857255, Z inverse max: 0.000000 +[14:40:08.363] If point is visible? -0.162568, -0.078501, 1.063175 +[14:40:08.363] Z inverse min: -0.857255, Z inverse max: 0.000000 +[14:40:08.363] If point is visible? 0.988406, -0.098159, 0.551091 +[14:40:08.363] If point is visible? 0.568214, -0.007543, 0.951753 +[14:40:08.363] Z inverse min: -0.857255, Z inverse max: 0.000000 +[14:40:08.363] If point is visible? -0.175673, -0.068920, 1.061325 +[14:40:08.363] Z inverse min: -0.857255, Z inverse max: 0.000000 +[14:40:08.363] If point is visible? -0.162147, -0.068820, 1.063902 +[14:40:08.363] Z inverse min: -0.857255, Z inverse max: 0.000000 +[14:40:08.363] If point is visible? 0.647717, -0.278659, 0.862639 +[14:40:08.363] Z inverse min: -0.857255, Z inverse max: 0.000000 +[14:40:08.363] If point is visible? 0.377987, -0.185735, 1.015770 +[14:40:08.363] Z inverse min: -0.857255, Z inverse max: 0.000000 +[14:40:08.363] If point is visible? 0.387688, 0.282470, 0.487064 +[14:40:08.363] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:08.363] If point is visible? -0.061701, 0.169791, 0.624697 +[14:40:08.363] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:08.363] If point is visible? -0.074137, 0.170842, 0.622351 +[14:40:08.363] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:08.363] If point is visible? 0.098711, 0.076425, 0.647346 +[14:40:08.363] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:08.363] If point is visible? 0.122596, 0.093845, 0.642664 +[14:40:08.363] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:08.363] If point is visible? -0.076999, -0.074367, 0.639778 +[14:40:08.363] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:08.363] If point is visible? 0.635714, -0.194614, 0.243744 +[14:40:08.363] If point is visible? 0.636284, -0.191857, 0.244455 +[14:40:08.363] If point is visible? -0.246240, 0.362716, 0.473608 +[14:40:08.363] If point is visible? 0.260028, 0.229452, 0.575843 +[14:40:08.363] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:08.363] If point is visible? -0.078364, 0.173553, 0.620873 +[14:40:08.363] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:08.363] If point is visible? 0.118625, 0.093901, 0.643129 +[14:40:08.363] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:08.363] If point is visible? -0.079530, -0.041902, 0.642147 +[14:40:08.363] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:08.363] If point is visible? -0.071279, -0.041855, 0.643576 +[14:40:08.363] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:08.363] If point is visible? -0.079791, -0.047806, 0.641705 +[14:40:08.364] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:08.364] If point is visible? 0.387688, 0.282470, 0.487064 +[14:40:08.364] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:08.364] If point is visible? -0.061701, 0.169791, 0.624697 +[14:40:08.364] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:08.364] If point is visible? -0.065783, 0.168245, 0.624444 +[14:40:08.364] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:08.364] If point is visible? -0.074137, 0.170842, 0.622351 +[14:40:08.364] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:08.364] If point is visible? 0.122596, 0.093845, 0.642664 +[14:40:08.364] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:08.364] If point is visible? 0.098711, 0.076425, 0.647346 +[14:40:08.364] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:08.364] If point is visible? -0.076999, -0.074367, 0.639778 +[14:40:08.364] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:08.364] If point is visible? 0.636284, -0.191857, 0.244455 +[14:40:08.364] If point is visible? -0.246240, 0.362716, 0.473608 +[14:40:08.364] If point is visible? 0.260028, 0.229452, 0.575843 +[14:40:08.364] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:08.364] If point is visible? -0.078364, 0.173553, 0.620873 +[14:40:08.364] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:08.364] If point is visible? 0.118625, 0.093901, 0.643129 +[14:40:08.364] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:08.364] If point is visible? -0.079791, -0.047806, 0.641705 +[14:40:08.364] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:08.364] If point is visible? -0.079530, -0.041902, 0.642147 +[14:40:08.364] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:08.364] If point is visible? -0.071279, -0.041855, 0.643576 +[14:40:08.364] Z inverse min: -1.367991, Z inverse max: 0.000000 +[14:40:08.364] If point is visible? 0.661710, 0.471322, 0.885862 +[14:40:08.364] Z inverse min: -0.801755, Z inverse max: 0.000000 +[14:40:08.364] If point is visible? 0.661993, 0.468895, 0.886928 +[14:40:08.364] Z inverse min: -0.801755, Z inverse max: 0.000000 +[14:40:08.364] If point is visible? 0.672379, 0.426857, 0.900447 +[14:40:08.364] Z inverse min: -0.801755, Z inverse max: 0.000000 +[14:40:08.364] If point is visible? 0.190738, 0.382386, 1.101448 +[14:40:08.364] Z inverse min: -0.801755, Z inverse max: 0.000000 +[14:40:08.364] If point is visible? 0.194192, 0.382351, 1.101000 +[14:40:08.364] Z inverse min: -0.801755, Z inverse max: 0.000000 +[14:40:08.364] If point is visible? 0.701231, 0.273257, 0.937942 +[14:40:08.364] Z inverse min: -0.801755, Z inverse max: 0.000000 +[14:40:08.364] If point is visible? 0.701109, 0.275783, 0.937302 +[14:40:08.364] Z inverse min: -0.801755, Z inverse max: 0.000000 +[14:40:08.364] If point is visible? -0.146748, 0.313819, 1.116300 +[14:40:08.364] Z inverse min: -0.801755, Z inverse max: 0.000000 +[14:40:08.364] If point is visible? 0.481441, -0.148610, 1.080633 +[14:40:08.364] Z inverse min: -0.801755, Z inverse max: 0.000000 +[14:40:08.364] If point is visible? 0.710788, -0.188381, 0.951688 +[14:40:08.364] Z inverse min: -0.801755, Z inverse max: 0.000000 +[14:40:08.364] If point is visible? 1.100656, -0.338082, 0.418376 +[14:40:08.364] If point is visible? 0.410480, 0.411745, 1.038811 +[14:40:08.364] Z inverse min: -0.801755, Z inverse max: 0.000000 +[14:40:08.364] If point is visible? 0.423528, 0.411198, 1.034404 +[14:40:08.364] Z inverse min: -0.801755, Z inverse max: 0.000000 +[14:40:08.364] If point is visible? -0.153618, 0.303655, 1.117892 +[14:40:08.364] Z inverse min: -0.801755, Z inverse max: 0.000000 +[14:40:08.364] calculated Z= 1.017820 +[14:40:08.364] update seeds +[14:40:08.364] If point is visible? -0.184219, -0.062892, 1.150517 +[14:40:08.364] Z inverse min: -0.801755, Z inverse max: 0.000000 +[14:40:08.364] If point is visible? -0.169750, -0.062785, 1.153241 +[14:40:08.364] Z inverse min: -0.801755, Z inverse max: 0.000000 +[14:40:08.364] If point is visible? -0.155288, -0.062693, 1.155778 +[14:40:08.364] Z inverse min: -0.801755, Z inverse max: 0.000000 +[14:40:08.364] If point is visible? 0.671176, 0.440351, 0.876251 +[14:40:08.364] Z inverse min: -0.811973, Z inverse max: 0.000000 +[14:40:08.364] If point is visible? -0.178900, 0.437011, 1.053842 +[14:40:08.364] Z inverse min: -0.811973, Z inverse max: 0.000000 +[14:40:08.364] If point is visible? -0.184592, 0.417789, 1.060301 +[14:40:08.364] Z inverse min: -0.811973, Z inverse max: 0.000000 +[14:40:08.364] If point is visible? -0.184409, 0.415426, 1.061253 +[14:40:08.364] Z inverse min: -0.811973, Z inverse max: 0.000000 +[14:40:08.364] If point is visible? -0.197263, 0.333416, 1.086644 +[14:40:08.364] Z inverse min: -0.811973, Z inverse max: 0.000000 +[14:40:08.364] If point is visible? -0.021334, 0.277313, 1.125694 +[14:40:08.364] Z inverse min: -0.811973, Z inverse max: 0.000000 +[14:40:08.364] If point is visible? -0.021240, 0.274838, 1.126297 +[14:40:08.364] Z inverse min: -0.811973, Z inverse max: 0.000000 +[14:40:08.364] If point is visible? -0.017663, 0.274890, 1.126479 +[14:40:08.364] Z inverse min: -0.811973, Z inverse max: 0.000000 +[14:40:08.364] If point is visible? 1.169302, -0.167937, 0.282198 +[14:40:08.364] If point is visible? 1.164926, -0.169036, 0.297620 +[14:40:08.364] If point is visible? 0.696496, -0.214937, 0.938573 +[14:40:08.364] Z inverse min: -0.811973, Z inverse max: 0.000000 +[14:40:08.364] If point is visible? 0.680673, -0.346298, 0.910278 +[14:40:08.364] Z inverse min: -0.811973, Z inverse max: 0.000000 +[14:40:08.364] If point is visible? 0.436941, -0.332354, 1 \ No newline at end of file diff --git a/GPU_version/vio/frame_handler_log.txt b/GPU_version/vio/frame_handler_log.txt index 5fa6732..8b13e5a 100755 --- a/GPU_version/vio/frame_handler_log.txt +++ b/GPU_version/vio/frame_handler_log.txt @@ -1,834 +1,816 @@ -[16:56:47.087] Init: frame zero: 0.000000, 0.000000 0.000000 -[16:56:47.087] Init: Selected first frame. -[16:56:47.188] Init: px average disparity is:0.199845 ,While minimum is: 40.000000 KLT tracked : 141 -[16:56:47.188] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:47.281] Init: px average disparity is:0.228584 ,While minimum is: 40.000000 KLT tracked : 141 -[16:56:47.281] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:47.381] Init: px average disparity is:0.247869 ,While minimum is: 40.000000 KLT tracked : 141 -[16:56:47.381] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:47.482] Init: px average disparity is:0.264516 ,While minimum is: 40.000000 KLT tracked : 141 -[16:56:47.482] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:47.582] Init: px average disparity is:0.244909 ,While minimum is: 40.000000 KLT tracked : 141 -[16:56:47.582] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:47.681] Init: px average disparity is:0.247212 ,While minimum is: 40.000000 KLT tracked : 141 -[16:56:47.681] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:47.786] Init: px average disparity is:0.245599 ,While minimum is: 40.000000 KLT tracked : 141 -[16:56:47.786] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:47.884] Init: px average disparity is:0.243039 ,While minimum is: 40.000000 KLT tracked : 141 -[16:56:47.884] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:47.980] Init: px average disparity is:0.265452 ,While minimum is: 40.000000 KLT tracked : 141 -[16:56:47.980] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:48.081] Init: px average disparity is:0.234299 ,While minimum is: 40.000000 KLT tracked : 141 -[16:56:48.081] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:48.180] Init: px average disparity is:0.243746 ,While minimum is: 40.000000 KLT tracked : 141 -[16:56:48.180] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:48.279] Init: px average disparity is:0.254030 ,While minimum is: 40.000000 KLT tracked : 141 -[16:56:48.279] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:48.380] Init: px average disparity is:0.239410 ,While minimum is: 40.000000 KLT tracked : 141 -[16:56:48.380] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:48.480] Init: px average disparity is:0.257267 ,While minimum is: 40.000000 KLT tracked : 141 -[16:56:48.480] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:48.580] Init: px average disparity is:0.238989 ,While minimum is: 40.000000 KLT tracked : 141 -[16:56:48.580] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:48.680] Init: px average disparity is:0.256103 ,While minimum is: 40.000000 KLT tracked : 141 -[16:56:48.680] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:48.781] Init: px average disparity is:0.261871 ,While minimum is: 40.000000 KLT tracked : 141 -[16:56:48.781] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:48.880] Init: px average disparity is:0.252308 ,While minimum is: 40.000000 KLT tracked : 141 -[16:56:48.880] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:48.981] Init: px average disparity is:0.232597 ,While minimum is: 40.000000 KLT tracked : 141 -[16:56:48.981] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:49.080] Init: px average disparity is:0.237933 ,While minimum is: 40.000000 KLT tracked : 141 -[16:56:49.080] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:49.179] Init: px average disparity is:0.266207 ,While minimum is: 40.000000 KLT tracked : 141 -[16:56:49.179] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:49.279] Init: px average disparity is:0.267942 ,While minimum is: 40.000000 KLT tracked : 141 -[16:56:49.279] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:49.381] Init: px average disparity is:0.241865 ,While minimum is: 40.000000 KLT tracked : 141 -[16:56:49.381] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:49.479] Init: px average disparity is:0.233046 ,While minimum is: 40.000000 KLT tracked : 141 -[16:56:49.479] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:49.579] Init: px average disparity is:0.264817 ,While minimum is: 40.000000 KLT tracked : 141 -[16:56:49.579] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:49.682] Init: px average disparity is:0.254301 ,While minimum is: 40.000000 KLT tracked : 141 -[16:56:49.682] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:49.780] Init: px average disparity is:0.224649 ,While minimum is: 40.000000 KLT tracked : 141 -[16:56:49.780] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:49.882] Init: px average disparity is:0.269531 ,While minimum is: 40.000000 KLT tracked : 141 -[16:56:49.882] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:49.980] Init: px average disparity is:0.232919 ,While minimum is: 40.000000 KLT tracked : 141 -[16:56:49.980] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:50.016] Odometry x=0.001748, y=-0.001846, theta=0.046293 -[16:56:50.080] Init: px average disparity is:0.233538 ,While minimum is: 40.000000 KLT tracked : 141 -[16:56:50.080] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:50.116] Odometry x=0.001858, y=-0.001908, theta=0.049126 -[16:56:50.180] Init: px average disparity is:0.216412 ,While minimum is: 40.000000 KLT tracked : 141 -[16:56:50.180] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:50.217] Odometry x=0.001830, y=-0.005507, theta=0.052242 -[16:56:50.280] Init: px average disparity is:1.668148 ,While minimum is: 40.000000 KLT tracked : 141 -[16:56:50.281] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:50.317] Odometry x=0.001727, y=-0.009872, theta=0.055510 -[16:56:50.381] Init: px average disparity is:5.889293 ,While minimum is: 40.000000 KLT tracked : 141 -[16:56:50.381] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:50.418] Odometry x=0.001632, y=-0.013943, theta=0.064133 -[16:56:50.480] Init: px average disparity is:7.604896 ,While minimum is: 40.000000 KLT tracked : 141 -[16:56:50.481] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:50.517] Odometry x=0.001490, y=-0.018079, theta=0.065692 -[16:56:50.581] Init: px average disparity is:4.900131 ,While minimum is: 40.000000 KLT tracked : 141 -[16:56:50.581] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:50.618] Odometry x=0.001368, y=-0.021957, theta=0.065981 -[16:56:50.680] Init: px average disparity is:5.242668 ,While minimum is: 40.000000 KLT tracked : 141 -[16:56:50.680] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:50.719] Odometry x=0.001295, y=-0.026015, theta=0.068299 -[16:56:50.782] Init: px average disparity is:4.227580 ,While minimum is: 40.000000 KLT tracked : 141 -[16:56:50.782] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:50.818] Odometry x=0.000528, y=-0.029837, theta=0.029658 -[16:56:50.882] Init: px average disparity is:5.631726 ,While minimum is: 40.000000 KLT tracked : 141 -[16:56:50.882] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:50.917] Odometry x=0.000539, y=-0.033897, theta=0.022544 -[16:56:50.983] Init: px average disparity is:4.536826 ,While minimum is: 40.000000 KLT tracked : 141 -[16:56:50.983] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:51.017] Odometry x=0.000558, y=-0.037777, theta=0.039868 -[16:56:51.081] Init: px average disparity is:6.439505 ,While minimum is: 40.000000 KLT tracked : 141 -[16:56:51.081] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:51.117] Odometry x=0.000595, y=-0.041802, theta=0.039951 -[16:56:51.183] Init: px average disparity is:7.900317 ,While minimum is: 40.000000 KLT tracked : 141 -[16:56:51.183] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:51.217] Odometry x=0.000589, y=-0.045501, theta=0.057023 -[16:56:51.280] Init: px average disparity is:9.271796 ,While minimum is: 40.000000 KLT tracked : 141 -[16:56:51.280] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:51.320] Odometry x=0.000434, y=-0.049494, theta=0.057566 -[16:56:51.382] Init: px average disparity is:12.623408 ,While minimum is: 40.000000 KLT tracked : 141 -[16:56:51.382] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:51.419] Odometry x=0.000135, y=-0.053327, theta=0.035957 -[16:56:51.482] Init: px average disparity is:15.328059 ,While minimum is: 40.000000 KLT tracked : 141 -[16:56:51.482] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:51.522] Odometry x=0.000252, y=-0.057327, theta=0.038459 -[16:56:51.583] Init: px average disparity is:13.620907 ,While minimum is: 40.000000 KLT tracked : 141 -[16:56:51.583] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:51.616] Odometry x=-0.000035, y=-0.061318, theta=0.043685 -[16:56:51.683] Init: px average disparity is:12.845169 ,While minimum is: 40.000000 KLT tracked : 141 -[16:56:51.683] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:51.717] Odometry x=0.000016, y=-0.065465, theta=0.040170 -[16:56:51.784] Init: px average disparity is:11.228482 ,While minimum is: 40.000000 KLT tracked : 141 -[16:56:51.784] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:51.817] Odometry x=-0.000014, y=-0.069456, theta=0.037026 -[16:56:51.882] Init: px average disparity is:12.517680 ,While minimum is: 40.000000 KLT tracked : 141 -[16:56:51.882] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:51.920] Odometry x=-0.000023, y=-0.073584, theta=0.027114 -[16:56:51.982] Init: px average disparity is:12.672291 ,While minimum is: 40.000000 KLT tracked : 140 -[16:56:51.982] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:52.020] Odometry x=0.000088, y=-0.077726, theta=0.015746 -[16:56:52.082] Init: px average disparity is:18.810323 ,While minimum is: 40.000000 KLT tracked : 140 -[16:56:52.082] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:52.131] Odometry x=0.000199, y=-0.082119, theta=-0.001302 -[16:56:52.183] Init: px average disparity is:13.644659 ,While minimum is: 40.000000 KLT tracked : 140 -[16:56:52.183] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:52.217] Odometry x=0.000506, y=-0.086442, theta=-0.005196 -[16:56:52.282] Init: px average disparity is:13.433403 ,While minimum is: 40.000000 KLT tracked : 140 -[16:56:52.282] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:52.322] Odometry x=0.000629, y=-0.090230, theta=0.006733 -[16:56:52.383] Init: px average disparity is:8.942875 ,While minimum is: 40.000000 KLT tracked : 140 -[16:56:52.383] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:52.420] Odometry x=0.000856, y=-0.094088, theta=0.004129 -[16:56:52.481] Init: px average disparity is:9.564199 ,While minimum is: 40.000000 KLT tracked : 140 -[16:56:52.481] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:52.520] Odometry x=0.001121, y=-0.098073, theta=0.020498 -[16:56:52.581] Init: px average disparity is:9.621380 ,While minimum is: 40.000000 KLT tracked : 139 -[16:56:52.581] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:52.620] Odometry x=0.001276, y=-0.102021, theta=0.022698 -[16:56:52.682] Init: px average disparity is:10.655478 ,While minimum is: 40.000000 KLT tracked : 139 -[16:56:52.682] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:52.724] Odometry x=0.001333, y=-0.105727, theta=0.046843 -[16:56:52.784] Init: px average disparity is:11.881271 ,While minimum is: 40.000000 KLT tracked : 139 -[16:56:52.784] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:52.824] Odometry x=0.001482, y=-0.109798, theta=0.051030 -[16:56:52.882] Init: px average disparity is:10.134313 ,While minimum is: 40.000000 KLT tracked : 139 -[16:56:52.882] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:52.924] Odometry x=0.001336, y=-0.113695, theta=0.053150 -[16:56:52.982] Init: px average disparity is:12.372132 ,While minimum is: 40.000000 KLT tracked : 139 -[16:56:52.983] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:53.024] Odometry x=0.001275, y=-0.117747, theta=0.058155 -[16:56:53.082] Init: px average disparity is:14.799960 ,While minimum is: 40.000000 KLT tracked : 139 -[16:56:53.082] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:53.124] Odometry x=0.001031, y=-0.121803, theta=0.067822 -[16:56:53.183] Init: px average disparity is:15.967116 ,While minimum is: 40.000000 KLT tracked : 139 -[16:56:53.183] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:53.224] Odometry x=0.000428, y=-0.125687, theta=0.030984 -[16:56:53.278] Init: px average disparity is:16.881765 ,While minimum is: 40.000000 KLT tracked : 139 -[16:56:53.278] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:53.317] Odometry x=0.000283, y=-0.129749, theta=0.032906 -[16:56:53.383] Init: px average disparity is:17.417264 ,While minimum is: 40.000000 KLT tracked : 139 -[16:56:53.383] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:53.417] Odometry x=0.000290, y=-0.133622, theta=0.039261 -[16:56:53.483] Init: px average disparity is:17.972542 ,While minimum is: 40.000000 KLT tracked : 139 -[16:56:53.483] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:53.516] Odometry x=0.000146, y=-0.137629, theta=0.040263 -[16:56:53.586] Init: px average disparity is:20.458865 ,While minimum is: 40.000000 KLT tracked : 139 -[16:56:53.586] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:53.621] Odometry x=0.000117, y=-0.141583, theta=0.048100 -[16:56:53.685] Init: px average disparity is:23.029251 ,While minimum is: 40.000000 KLT tracked : 139 -[16:56:53.685] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:53.720] Odometry x=-0.000091, y=-0.145625, theta=0.048468 -[16:56:53.785] Init: px average disparity is:21.158786 ,While minimum is: 40.000000 KLT tracked : 139 -[16:56:53.785] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:53.819] Odometry x=-0.000137, y=-0.149689, theta=0.031550 -[16:56:53.885] Init: px average disparity is:20.309493 ,While minimum is: 40.000000 KLT tracked : 139 -[16:56:53.885] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:53.919] Odometry x=-0.000223, y=-0.153613, theta=0.036548 -[16:56:53.992] Init: px average disparity is:20.115124 ,While minimum is: 40.000000 KLT tracked : 138 -[16:56:53.992] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:54.019] Odometry x=-0.000413, y=-0.157640, theta=0.022272 -[16:56:54.085] Init: px average disparity is:20.367568 ,While minimum is: 40.000000 KLT tracked : 138 -[16:56:54.085] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:54.118] Odometry x=-0.000283, y=-0.161637, theta=0.015980 -[16:56:54.187] Init: px average disparity is:22.556545 ,While minimum is: 40.000000 KLT tracked : 138 -[16:56:54.187] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:54.218] Odometry x=-0.000381, y=-0.165710, theta=0.012817 -[16:56:54.287] Init: px average disparity is:22.160010 ,While minimum is: 40.000000 KLT tracked : 138 -[16:56:54.287] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:54.319] Odometry x=-0.000277, y=-0.169798, theta=0.003755 -[16:56:54.386] Init: px average disparity is:23.012553 ,While minimum is: 40.000000 KLT tracked : 133 -[16:56:54.386] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:54.418] Odometry x=-0.000329, y=-0.173760, theta=0.012404 -[16:56:54.487] Init: px average disparity is:23.446189 ,While minimum is: 40.000000 KLT tracked : 133 -[16:56:54.488] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:54.518] Odometry x=-0.000242, y=-0.177762, theta=0.015281 -[16:56:54.586] Init: px average disparity is:22.011711 ,While minimum is: 40.000000 KLT tracked : 133 -[16:56:54.586] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:54.618] Odometry x=-0.000251, y=-0.181711, theta=0.040094 -[16:56:54.685] Init: px average disparity is:22.996573 ,While minimum is: 40.000000 KLT tracked : 133 -[16:56:54.685] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:54.718] Odometry x=-0.000262, y=-0.185528, theta=0.044769 -[16:56:54.785] Init: px average disparity is:22.768269 ,While minimum is: 40.000000 KLT tracked : 133 -[16:56:54.785] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:54.818] Odometry x=-0.000546, y=-0.189502, theta=0.054347 -[16:56:54.884] Init: px average disparity is:24.337389 ,While minimum is: 40.000000 KLT tracked : 132 -[16:56:54.884] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:54.918] Odometry x=-0.000681, y=-0.193387, theta=0.060758 -[16:56:54.986] Init: px average disparity is:23.094483 ,While minimum is: 40.000000 KLT tracked : 132 -[16:56:54.986] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:55.018] Odometry x=-0.000957, y=-0.197461, theta=0.063246 -[16:56:55.086] Init: px average disparity is:24.222666 ,While minimum is: 40.000000 KLT tracked : 132 -[16:56:55.086] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:55.124] Odometry x=-0.001073, y=-0.201378, theta=0.066331 -[16:56:55.186] Init: px average disparity is:23.117713 ,While minimum is: 40.000000 KLT tracked : 132 -[16:56:55.186] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:55.221] Odometry x=-0.001473, y=-0.205617, theta=0.069284 -[16:56:55.285] Init: px average disparity is:25.206573 ,While minimum is: 40.000000 KLT tracked : 132 -[16:56:55.285] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:55.318] Odometry x=-0.000616, y=-0.209498, theta=0.032237 -[16:56:55.389] Init: px average disparity is:23.432607 ,While minimum is: 40.000000 KLT tracked : 132 -[16:56:55.389] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:55.421] Odometry x=-0.000903, y=-0.213591, theta=0.018187 -[16:56:55.484] Init: px average disparity is:24.976364 ,While minimum is: 40.000000 KLT tracked : 132 -[16:56:55.484] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:55.518] Odometry x=-0.000725, y=-0.217456, theta=0.029001 -[16:56:55.587] Init: px average disparity is:23.540417 ,While minimum is: 40.000000 KLT tracked : 132 -[16:56:55.587] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:55.620] Odometry x=-0.000918, y=-0.221552, theta=0.016630 -[16:56:55.687] Init: px average disparity is:25.422799 ,While minimum is: 40.000000 KLT tracked : 129 -[16:56:55.687] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:55.720] Odometry x=-0.000904, y=-0.225706, theta=0.002476 -[16:56:55.786] Init: px average disparity is:25.606499 ,While minimum is: 40.000000 KLT tracked : 129 -[16:56:55.786] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:55.822] Odometry x=-0.000798, y=-0.229909, theta=0.003524 -[16:56:55.885] Init: px average disparity is:27.805471 ,While minimum is: 40.000000 KLT tracked : 129 -[16:56:55.885] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:55.918] Odometry x=-0.001015, y=-0.233660, theta=-0.009173 -[16:56:55.989] Init: px average disparity is:29.274710 ,While minimum is: 40.000000 KLT tracked : 129 -[16:56:55.989] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:56.024] Odometry x=-0.000745, y=-0.237615, theta=-0.016914 -[16:56:56.086] Init: px average disparity is:29.080838 ,While minimum is: 40.000000 KLT tracked : 129 -[16:56:56.086] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:56.123] Odometry x=-0.000785, y=-0.241570, theta=0.000758 -[16:56:56.185] Init: px average disparity is:28.571370 ,While minimum is: 40.000000 KLT tracked : 129 -[16:56:56.185] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:56.218] Odometry x=-0.000569, y=-0.245722, theta=-0.002792 -[16:56:56.288] Init: px average disparity is:27.890500 ,While minimum is: 40.000000 KLT tracked : 129 -[16:56:56.288] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:56.319] Odometry x=-0.000727, y=-0.249482, theta=0.023446 -[16:56:56.386] Init: px average disparity is:27.323397 ,While minimum is: 40.000000 KLT tracked : 129 -[16:56:56.386] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:56.419] Odometry x=-0.000718, y=-0.253662, theta=0.025499 -[16:56:56.488] Init: px average disparity is:26.864283 ,While minimum is: 40.000000 KLT tracked : 129 -[16:56:56.488] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:56.525] Odometry x=-0.000854, y=-0.257585, theta=0.047857 -[16:56:56.587] Init: px average disparity is:27.671257 ,While minimum is: 40.000000 KLT tracked : 129 -[16:56:56.587] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:56.618] Odometry x=-0.000999, y=-0.261466, theta=0.053275 -[16:56:56.687] Init: px average disparity is:27.577535 ,While minimum is: 40.000000 KLT tracked : 129 -[16:56:56.687] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:56.718] Odometry x=-0.001273, y=-0.265342, theta=0.052462 -[16:56:56.790] Init: px average disparity is:28.541893 ,While minimum is: 40.000000 KLT tracked : 129 -[16:56:56.790] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:56.824] Odometry x=-0.001380, y=-0.269318, theta=0.053591 -[16:56:56.889] Init: px average disparity is:28.339669 ,While minimum is: 40.000000 KLT tracked : 129 -[16:56:56.889] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:56.922] Odometry x=-0.001619, y=-0.273381, theta=0.054341 -[16:56:56.990] Init: px average disparity is:29.375958 ,While minimum is: 40.000000 KLT tracked : 128 -[16:56:56.990] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:57.018] Odometry x=-0.001716, y=-0.277285, theta=0.047431 -[16:56:57.087] Init: px average disparity is:29.436318 ,While minimum is: 40.000000 KLT tracked : 128 -[16:56:57.087] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:57.123] Odometry x=-0.002021, y=-0.281255, theta=0.048654 -[16:56:57.187] Init: px average disparity is:30.050139 ,While minimum is: 40.000000 KLT tracked : 128 -[16:56:57.187] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:57.219] Odometry x=-0.002118, y=-0.285362, theta=0.040875 -[16:56:57.288] Init: px average disparity is:31.933067 ,While minimum is: 40.000000 KLT tracked : 128 -[16:56:57.288] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:57.320] Odometry x=-0.002281, y=-0.289207, theta=0.044516 -[16:56:57.386] Init: px average disparity is:31.196739 ,While minimum is: 40.000000 KLT tracked : 128 -[16:56:57.386] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:57.423] Odometry x=-0.002477, y=-0.293131, theta=0.044912 -[16:56:57.487] Init: px average disparity is:33.847034 ,While minimum is: 40.000000 KLT tracked : 128 -[16:56:57.488] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:57.524] Odometry x=-0.002510, y=-0.297018, theta=0.032715 -[16:56:57.587] Init: px average disparity is:32.836846 ,While minimum is: 40.000000 KLT tracked : 128 -[16:56:57.587] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:57.618] Odometry x=-0.002781, y=-0.301129, theta=0.029614 -[16:56:57.687] Init: px average disparity is:36.742226 ,While minimum is: 40.000000 KLT tracked : 128 -[16:56:57.687] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:57.719] Odometry x=-0.002692, y=-0.304867, theta=0.029751 -[16:56:57.788] Init: px average disparity is:33.684067 ,While minimum is: 40.000000 KLT tracked : 128 -[16:56:57.788] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:57.820] Odometry x=-0.002990, y=-0.308861, theta=0.039648 -[16:56:57.886] Init: px average disparity is:36.308023 ,While minimum is: 40.000000 KLT tracked : 128 -[16:56:57.886] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:57.922] Odometry x=-0.002959, y=-0.312797, theta=0.033273 -[16:56:57.988] Init: px average disparity is:35.402450 ,While minimum is: 40.000000 KLT tracked : 128 -[16:56:57.988] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:58.018] Odometry x=-0.003221, y=-0.317000, theta=0.050796 -[16:56:58.088] Init: px average disparity is:35.080882 ,While minimum is: 40.000000 KLT tracked : 128 -[16:56:58.088] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:58.117] Odometry x=-0.003375, y=-0.320814, theta=0.046080 -[16:56:58.190] Init: px average disparity is:33.866669 ,While minimum is: 40.000000 KLT tracked : 128 -[16:56:58.190] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:58.219] Odometry x=-0.003647, y=-0.324776, theta=0.064601 -[16:56:58.280] Init: px average disparity is:34.136894 ,While minimum is: 40.000000 KLT tracked : 128 -[16:56:58.280] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:58.318] Odometry x=-0.001494, y=-0.328705, theta=0.031319 -[16:56:58.387] Init: px average disparity is:33.815742 ,While minimum is: 40.000000 KLT tracked : 128 -[16:56:58.387] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:58.418] Odometry x=-0.001661, y=-0.332476, theta=0.047700 -[16:56:58.487] Init: px average disparity is:34.465015 ,While minimum is: 40.000000 KLT tracked : 128 -[16:56:58.488] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:58.518] Odometry x=-0.001637, y=-0.336670, theta=0.056361 -[16:56:58.590] Init: px average disparity is:35.652162 ,While minimum is: 40.000000 KLT tracked : 123 -[16:56:58.590] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:58.617] Odometry x=-0.001928, y=-0.340685, theta=0.056105 -[16:56:58.689] Init: px average disparity is:35.245859 ,While minimum is: 40.000000 KLT tracked : 123 -[16:56:58.689] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:58.721] Odometry x=-0.001971, y=-0.344761, theta=0.066375 -[16:56:58.792] Init: px average disparity is:36.054419 ,While minimum is: 40.000000 KLT tracked : 119 -[16:56:58.792] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:58.819] Odometry x=-0.002205, y=-0.348495, theta=0.062097 -[16:56:58.887] Init: px average disparity is:35.766178 ,While minimum is: 40.000000 KLT tracked : 119 -[16:56:58.887] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:58.919] Odometry x=-0.002272, y=-0.352565, theta=0.067690 -[16:56:58.990] Init: px average disparity is:37.025734 ,While minimum is: 40.000000 KLT tracked : 119 -[16:56:58.990] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:59.019] Odometry x=-0.002597, y=-0.356386, theta=0.063527 -[16:56:59.089] Init: px average disparity is:39.402319 ,While minimum is: 40.000000 KLT tracked : 118 -[16:56:59.089] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:59.119] Odometry x=-0.002604, y=-0.360311, theta=0.053191 -[16:56:59.189] Init: px average disparity is:39.908562 ,While minimum is: 40.000000 KLT tracked : 118 -[16:56:59.189] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:59.219] Odometry x=-0.002913, y=-0.364224, theta=0.057275 -[16:56:59.318] Odometry x=-0.002933, y=-0.368153, theta=0.032662 -[16:56:59.359] Init: Homography RANSAC (inlier) is:19 ,While 30 inliers minimum required. px average disparity is:42.799618 ,While minimum is: 40.000000 KLT tracked: 117 -[16:56:59.359] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:59.421] Odometry x=-0.003066, y=-0.372017, theta=0.044534 -[16:56:59.443] Init: Homography RANSAC (inlier) is:19 ,While 30 inliers minimum required. px average disparity is:42.733281 ,While minimum is: 40.000000 KLT tracked: 117 -[16:56:59.443] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:59.518] Odometry x=-0.003089, y=-0.375886, theta=0.042443 -[16:56:59.543] Init: Homography RANSAC (inlier) is:18 ,While 30 inliers minimum required. px average disparity is:44.212266 ,While minimum is: 40.000000 KLT tracked: 117 -[16:56:59.543] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:59.621] Odometry x=-0.003235, y=-0.379836, theta=0.061590 -[16:56:59.640] Init: Homography RANSAC (inlier) is:18 ,While 30 inliers minimum required. px average disparity is:41.919257 ,While minimum is: 40.000000 KLT tracked: 117 -[16:56:59.640] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:59.719] Odometry x=-0.003338, y=-0.383913, theta=0.057502 -[16:56:59.741] Init: Homography RANSAC (inlier) is:18 ,While 30 inliers minimum required. px average disparity is:43.720157 ,While minimum is: 40.000000 KLT tracked: 117 -[16:56:59.741] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:59.818] Odometry x=-0.003577, y=-0.387721, theta=0.080515 -[16:56:59.841] Init: Homography RANSAC (inlier) is:18 ,While 30 inliers minimum required. px average disparity is:40.664316 ,While minimum is: 40.000000 KLT tracked: 116 -[16:56:59.841] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:56:59.921] Odometry x=-0.003721, y=-0.391560, theta=0.096118 -[16:56:59.940] Init: Homography RANSAC (inlier) is:18 ,While 30 inliers minimum required. px average disparity is:41.536004 ,While minimum is: 40.000000 KLT tracked: 116 -[16:56:59.941] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:57:00.022] Odometry x=-0.004241, y=-0.395581, theta=0.091328 -[16:57:00.041] Init: Homography RANSAC (inlier) is:18 ,While 30 inliers minimum required. px average disparity is:40.484126 ,While minimum is: 40.000000 KLT tracked: 116 -[16:57:00.041] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:57:00.120] Odometry x=-0.004406, y=-0.399443, theta=0.105963 -[16:57:00.140] Init: Homography RANSAC (inlier) is:18 ,While 30 inliers minimum required. px average disparity is:42.972791 ,While minimum is: 40.000000 KLT tracked: 114 -[16:57:00.140] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:57:00.218] Odometry x=-0.004758, y=-0.403410, theta=0.091724 -[16:57:00.241] Init: Homography RANSAC (inlier) is:18 ,While 30 inliers minimum required. px average disparity is:42.124904 ,While minimum is: 40.000000 KLT tracked: 114 -[16:57:00.241] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:57:00.316] Odometry x=-0.004980, y=-0.407058, theta=0.101284 -[16:57:00.341] Init: Homography RANSAC (inlier) is:18 ,While 30 inliers minimum required. px average disparity is:43.877975 ,While minimum is: 40.000000 KLT tracked: 114 -[16:57:00.341] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:57:00.414] Odometry x=-0.005281, y=-0.411017, theta=0.094386 -[16:57:00.442] Init: Homography RANSAC (inlier) is:18 ,While 30 inliers minimum required. px average disparity is:43.138903 ,While minimum is: 40.000000 KLT tracked: 114 -[16:57:00.442] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:57:00.523] Odometry x=-0.005637, y=-0.414845, theta=0.102645 -[16:57:00.540] Init: Homography RANSAC (inlier) is:18 ,While 30 inliers minimum required. px average disparity is:45.000427 ,While minimum is: 40.000000 KLT tracked: 114 -[16:57:00.540] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:57:00.620] Odometry x=-0.005895, y=-0.419047, theta=0.104206 -[16:57:00.641] Init: Homography RANSAC (inlier) is:18 ,While 30 inliers minimum required. px average disparity is:43.806255 ,While minimum is: 40.000000 KLT tracked: 114 -[16:57:00.641] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:57:00.721] Odometry x=-0.006352, y=-0.422797, theta=0.102488 -[16:57:00.739] Init: Homography RANSAC (inlier) is:18 ,While 30 inliers minimum required. px average disparity is:42.862623 ,While minimum is: 40.000000 KLT tracked: 114 -[16:57:00.739] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:57:00.819] Odometry x=-0.006467, y=-0.426652, theta=0.092999 -[16:57:00.840] Init: Homography RANSAC (inlier) is:18 ,While 30 inliers minimum required. px average disparity is:44.241816 ,While minimum is: 40.000000 KLT tracked: 114 -[16:57:00.840] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:57:00.918] Odometry x=-0.006937, y=-0.430801, theta=0.093203 -[16:57:00.939] Init: Homography RANSAC (inlier) is:18 ,While 30 inliers minimum required. px average disparity is:43.744958 ,While minimum is: 40.000000 KLT tracked: 114 -[16:57:00.939] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:57:01.017] Odometry x=-0.007161, y=-0.434686, theta=0.074563 -[16:57:01.040] Init: Homography RANSAC (inlier) is:18 ,While 30 inliers minimum required. px average disparity is:47.034720 ,While minimum is: 40.000000 KLT tracked: 114 -[16:57:01.040] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:57:01.117] Odometry x=-0.007478, y=-0.438573, theta=0.079855 -[16:57:01.140] Init: Homography RANSAC (inlier) is:18 ,While 30 inliers minimum required. px average disparity is:46.988252 ,While minimum is: 40.000000 KLT tracked: 114 -[16:57:01.140] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:57:01.220] Odometry x=-0.007721, y=-0.442449, theta=0.080750 -[16:57:01.240] Init: Homography RANSAC (inlier) is:18 ,While 30 inliers minimum required. px average disparity is:49.191608 ,While minimum is: 40.000000 KLT tracked: 114 -[16:57:01.240] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:57:01.318] Odometry x=-0.007989, y=-0.446442, theta=0.094894 -[16:57:01.342] Init: Homography RANSAC (inlier) is:18 ,While 30 inliers minimum required. px average disparity is:50.458442 ,While minimum is: 40.000000 KLT tracked: 114 -[16:57:01.342] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:57:01.417] Odometry x=-0.008269, y=-0.450400, theta=0.090314 -[16:57:01.445] Init: Homography RANSAC (inlier) is:18 ,While 30 inliers minimum required. px average disparity is:50.910475 ,While minimum is: 40.000000 KLT tracked: 114 -[16:57:01.445] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:57:01.520] Odometry x=-0.008561, y=-0.454282, theta=0.097253 -[16:57:01.542] Init: Homography RANSAC (inlier) is:18 ,While 30 inliers minimum required. px average disparity is:50.026571 ,While minimum is: 40.000000 KLT tracked: 114 -[16:57:01.542] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:57:01.618] Odometry x=-0.008816, y=-0.458317, theta=0.106177 -[16:57:01.642] Init: Homography RANSAC (inlier) is:18 ,While 30 inliers minimum required. px average disparity is:48.747043 ,While minimum is: 40.000000 KLT tracked: 114 -[16:57:01.642] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:57:01.716] Odometry x=-0.009344, y=-0.462087, theta=0.120254 -[16:57:01.742] Init: Homography RANSAC (inlier) is:18 ,While 30 inliers minimum required. px average disparity is:48.211866 ,While minimum is: 40.000000 KLT tracked: 114 -[16:57:01.742] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:57:01.819] Odometry x=-0.009683, y=-0.465887, theta=0.138566 -[16:57:01.840] Init: Homography RANSAC (inlier) is:18 ,While 30 inliers minimum required. px average disparity is:47.226457 ,While minimum is: 40.000000 KLT tracked: 114 -[16:57:01.840] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:57:01.916] Odometry x=-0.010273, y=-0.469823, theta=0.137745 -[16:57:01.940] Init: Homography RANSAC (inlier) is:29 ,While 30 inliers minimum required. px average disparity is:47.204117 ,While minimum is: 40.000000 KLT tracked: 114 -[16:57:01.940] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:57:02.019] Odometry x=-0.010690, y=-0.473533, theta=0.155984 -[16:57:02.041] Init: Homography RANSAC (inlier) is:27 ,While 30 inliers minimum required. px average disparity is:46.898639 ,While minimum is: 40.000000 KLT tracked: 114 -[16:57:02.041] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:57:02.118] Odometry x=-0.011223, y=-0.477441, theta=0.145973 -[16:57:02.140] Init: Homography RANSAC (inlier) is:26 ,While 30 inliers minimum required. px average disparity is:47.868773 ,While minimum is: 40.000000 KLT tracked: 114 -[16:57:02.140] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:57:02.221] Odometry x=-0.011838, y=-0.481456, theta=0.150806 -[16:57:02.241] Init: Homography RANSAC (inlier) is:26 ,While 30 inliers minimum required. px average disparity is:47.294273 ,While minimum is: 40.000000 KLT tracked: 114 -[16:57:02.241] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:57:02.320] Odometry x=-0.012345, y=-0.485334, theta=0.152724 -[16:57:02.340] Init: Homography RANSAC (inlier) is:26 ,While 30 inliers minimum required. px average disparity is:48.700626 ,While minimum is: 40.000000 KLT tracked: 114 -[16:57:02.340] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:57:02.418] Odometry x=-0.012997, y=-0.489307, theta=0.149647 -[16:57:02.441] Init: Homography RANSAC (inlier) is:29 ,While 30 inliers minimum required. px average disparity is:48.353654 ,While minimum is: 40.000000 KLT tracked: 114 -[16:57:02.441] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:57:02.521] Odometry x=-0.013521, y=-0.493160, theta=0.152365 -[16:57:02.541] Init: Homography RANSAC (inlier) is:27 ,While 30 inliers minimum required. px average disparity is:51.413175 ,While minimum is: 40.000000 KLT tracked: 114 -[16:57:02.541] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:57:02.623] Odometry x=-0.014160, y=-0.497130, theta=0.142399 -[16:57:02.641] Init: Homography RANSAC (inlier) is:29 ,While 30 inliers minimum required. px average disparity is:48.726179 ,While minimum is: 40.000000 KLT tracked: 114 -[16:57:02.641] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:57:02.716] Odometry x=-0.014655, y=-0.500996, theta=0.144415 -[16:57:02.740] Init: Homography RANSAC (inlier) is:29 ,While 30 inliers minimum required. px average disparity is:49.939785 ,While minimum is: 40.000000 KLT tracked: 114 -[16:57:02.740] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:57:02.817] Odometry x=-0.015196, y=-0.504841, theta=0.138633 -[16:57:02.840] Init: Homography RANSAC (inlier) is:29 ,While 30 inliers minimum required. px average disparity is:48.905919 ,While minimum is: 40.000000 KLT tracked: 114 -[16:57:02.840] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:57:02.920] Odometry x=-0.015702, y=-0.508799, theta=0.133739 -[16:57:02.941] Init: Homography RANSAC (inlier) is:29 ,While 30 inliers minimum required. px average disparity is:50.259221 ,While minimum is: 40.000000 KLT tracked: 114 -[16:57:02.941] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:57:03.014] Odometry x=-0.016313, y=-0.512975, theta=0.132449 -[16:57:03.043] Init: Homography RANSAC (inlier) is:29 ,While 30 inliers minimum required. px average disparity is:50.525339 ,While minimum is: 40.000000 KLT tracked: 114 -[16:57:03.043] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:57:03.122] Odometry x=-0.016774, y=-0.516729, theta=0.129860 -[16:57:03.140] Init: Homography RANSAC (inlier) is:29 ,While 30 inliers minimum required. px average disparity is:51.588312 ,While minimum is: 40.000000 KLT tracked: 114 -[16:57:03.140] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:57:03.234] Odometry x=-0.017269, y=-0.520933, theta=0.127142 -[16:57:03.241] Init: Homography RANSAC (inlier) is:29 ,While 30 inliers minimum required. px average disparity is:53.369681 ,While minimum is: 40.000000 KLT tracked: 114 -[16:57:03.241] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:57:03.317] Odometry x=-0.017740, y=-0.525162, theta=0.131926 -[16:57:03.342] Init: Homography RANSAC (inlier) is:29 ,While 30 inliers minimum required. px average disparity is:55.476506 ,While minimum is: 40.000000 KLT tracked: 114 -[16:57:03.342] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:57:03.430] Odometry x=-0.018188, y=-0.528566, theta=0.138793 -[16:57:03.445] Init: Homography RANSAC (inlier) is:29 ,While 30 inliers minimum required. px average disparity is:55.603795 ,While minimum is: 40.000000 KLT tracked: 114 -[16:57:03.445] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:57:03.523] Odometry x=-0.018758, y=-0.532754, theta=0.145018 -[16:57:03.541] Init: Homography RANSAC (inlier) is:29 ,While 30 inliers minimum required. px average disparity is:54.641108 ,While minimum is: 40.000000 KLT tracked: 112 -[16:57:03.541] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:57:03.622] Odometry x=-0.019305, y=-0.536573, theta=0.146286 -[16:57:03.641] Init: Homography RANSAC (inlier) is:17 ,While 30 inliers minimum required. px average disparity is:55.714571 ,While minimum is: 40.000000 KLT tracked: 112 -[16:57:03.641] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:57:03.719] Odometry x=-0.019782, y=-0.540184, theta=0.158947 -[16:57:03.740] Init: Homography RANSAC (inlier) is:21 ,While 30 inliers minimum required. px average disparity is:56.139668 ,While minimum is: 40.000000 KLT tracked: 112 -[16:57:03.740] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[16:57:03.819] Odometry x=-0.020360, y=-0.544179, theta=0.177084 -[16:57:03.840] Init finished: Homography RANSAC (inlier) is:30 ,While 30 inliers minimum required. px average disparity is:54.009591 ,While minimum is: 40.000000 KLT tracked: 111 -[16:57:03.840] Init: distance between the first and current frame is x:-0.021045 ,z=-0.548093,angle between two frames: 0.179187 -[16:57:03.840] Init: Selected Second frame. The number of features: 30 -[16:57:03.915] Odometry x=-0.021006, y=-0.548187, theta=0.186057 -[16:57:04.011] After Reprojection Map nPoint:31 ,nCell:14 ,nMatches:9 ,distance between two frames x:-0.000011 ,z=-0.000017,angle between two frames:0.002546 -[16:57:04.011] n deleted obs = 8 n obs with reprojection error less than 0.5 px =23 error init =0.320186 error end=0.306870 -[16:57:04.011] After pose optimization, distance between two frames x:-0.044057 ,z=0.011984,angle between two frames:0.018650 -[16:57:04.019] Odometry x=-0.021638, y=-0.551806, theta=0.197303 -[16:57:04.118] Odometry x=-0.022426, y=-0.556072, theta=0.195814 -[16:57:04.161] After Reprojection Map nPoint:29 ,nCell:23 ,nMatches:7 ,distance between two frames x:0.001225 ,z=0.000604,angle between two frames:0.000808 -[16:57:04.161] n deleted obs = 3 n obs with reprojection error less than 0.5 px =14 error init =0.332397 error end=0.287844 -[16:57:04.161] After pose optimization, distance between two frames x:-0.029314 ,z=0.041206,angle between two frames:0.005888 -[16:57:04.221] Odometry x=-0.023161, y=-0.559878, theta=0.206286 -[16:57:04.305] After Reprojection Map nPoint:29 ,nCell:25 ,nMatches:9 ,distance between two frames x:-0.000469 ,z=0.000091,angle between two frames:0.000607 -[16:57:04.306] n deleted obs = 4 n obs with reprojection error less than 0.5 px =17 error init =0.404105 error end=0.306786 -[16:57:04.306] After pose optimization, distance between two frames x:-0.078383 ,z=0.119370,angle between two frames:0.020204 -[16:57:04.320] Odometry x=-0.023770, y=-0.563553, theta=0.208526 -[16:57:04.419] Odometry x=-0.024662, y=-0.567688, theta=0.199490 -[16:57:04.452] After Reprojection Map nPoint:26 ,nCell:23 ,nMatches:9 ,distance between two frames x:-0.001145 ,z=-0.000128,angle between two frames:0.000452 -[16:57:04.453] n deleted obs = 5 n obs with reprojection error less than 0.5 px =14 error init =0.392450 error end=0.276496 -[16:57:04.453] After pose optimization, distance between two frames x:-0.084639 ,z=0.114951,angle between two frames:0.016781 -[16:57:04.521] Odometry x=-0.025372, y=-0.571478, theta=0.192947 -[16:57:04.597] After Reprojection Map nPoint:25 ,nCell:21 ,nMatches:8 ,distance between two frames x:-0.002004 ,z=-0.000369,angle between two frames:0.001182 -[16:57:04.598] n deleted obs = 3 n obs with reprojection error less than 0.5 px =15 error init =0.333162 error end=0.211289 -[16:57:04.598] After pose optimization, distance between two frames x:-0.081410 ,z=0.156270,angle between two frames:0.008023 -[16:57:04.619] Odometry x=-0.026146, y=-0.575497, theta=0.192885 -[16:57:04.719] Odometry x=-0.026835, y=-0.579372, theta=0.187491 -[16:57:04.743] After Reprojection Map nPoint:32 ,nCell:28 ,nMatches:12 ,distance between two frames x:-0.000748 ,z=-0.000129,angle between two frames:0.000402 -[16:57:04.744] n deleted obs = 8 n obs with reprojection error less than 0.5 px =18 error init =0.453924 error end=0.272833 -[16:57:04.744] After pose optimization, distance between two frames x:-0.145987 ,z=0.201035,angle between two frames:0.055548 -[16:57:04.818] Odometry x=-0.027496, y=-0.583251, theta=0.179033 -[16:57:04.890] After Reprojection Map nPoint:35 ,nCell:31 ,nMatches:11 ,distance between two frames x:0.001649 ,z=0.000677,angle between two frames:0.000484 -[16:57:04.890] n deleted obs = 7 n obs with reprojection error less than 0.5 px =18 error init =0.439960 error end=0.321213 -[16:57:04.890] After pose optimization, distance between two frames x:-0.078617 ,z=0.102380,angle between two frames:0.010314 -[16:57:04.917] Odometry x=-0.028168, y=-0.587159, theta=0.172317 -[16:57:05.018] Odometry x=-0.028729, y=-0.591077, theta=0.171013 -[16:57:05.036] After Reprojection Map nPoint:31 ,nCell:26 ,nMatches:11 ,distance between two frames x:-0.000474 ,z=-0.000073,angle between two frames:0.000689 -[16:57:05.037] n deleted obs = 5 n obs with reprojection error less than 0.5 px =19 error init =0.419491 error end=0.302210 -[16:57:05.037] After pose optimization, distance between two frames x:-0.073334 ,z=0.114291,angle between two frames:0.008850 -[16:57:05.120] Odometry x=-0.029387, y=-0.595004, theta=0.174559 -[16:57:05.188] After Reprojection Map nPoint:31 ,nCell:26 ,nMatches:10 ,distance between two frames x:0.002253 ,z=0.000560,angle between two frames:0.001314 -[16:57:05.189] n deleted obs = 6 n obs with reprojection error less than 0.5 px =16 error init =0.443003 error end=0.332857 -[16:57:05.189] After pose optimization, distance between two frames x:-0.058298 ,z=0.132800,angle between two frames:0.030072 -[16:57:05.218] Odometry x=-0.030043, y=-0.598864, theta=0.188462 -[16:57:05.319] Odometry x=-0.030728, y=-0.602719, theta=0.198780 -[16:57:05.339] After Reprojection Map nPoint:31 ,nCell:24 ,nMatches:9 ,distance between two frames x:0.004000 ,z=0.001724,angle between two frames:0.003083 -[16:57:05.339] n deleted obs = 6 n obs with reprojection error less than 0.5 px =15 error init =0.901406 error end=0.818028 -[16:57:05.339] After pose optimization, distance between two frames x:-0.054497 ,z=0.037545,angle between two frames:0.014091 -[16:57:05.421] Odometry x=-0.031498, y=-0.606514, theta=0.219147 -[16:57:05.486] After Reprojection Map nPoint:30 ,nCell:26 ,nMatches:9 ,distance between two frames x:-0.000246 ,z=0.000014,angle between two frames:0.000079 -[16:57:05.487] n deleted obs = 5 n obs with reprojection error less than 0.5 px =16 error init =0.417430 error end=0.296814 -[16:57:05.487] After pose optimization, distance between two frames x:-0.070377 ,z=0.107558,angle between two frames:0.020433 -[16:57:05.519] Odometry x=-0.032325, y=-0.610511, theta=0.230366 -[16:57:05.616] Odometry x=-0.033141, y=-0.614246, theta=0.241339 -[16:57:05.643] After Reprojection Map nPoint:31 ,nCell:28 ,nMatches:10 ,distance between two frames x:-0.000736 ,z=-0.000216,angle between two frames:0.000213 -[16:57:05.644] n deleted obs = 6 n obs with reprojection error less than 0.5 px =17 error init =0.524247 error end=0.340504 -[16:57:05.644] After pose optimization, distance between two frames x:-0.119881 ,z=0.155360,angle between two frames:0.013792 -[16:57:05.719] Odometry x=-0.033988, y=-0.617995, theta=0.242211 -[16:57:05.791] After Reprojection Map nPoint:30 ,nCell:24 ,nMatches:10 ,distance between two frames x:0.000225 ,z=0.000154,angle between two frames:0.000244 -[16:57:05.792] n deleted obs = 6 n obs with reprojection error less than 0.5 px =17 error init =0.894112 error end=0.345368 -[16:57:05.792] After pose optimization, distance between two frames x:-0.176334 ,z=0.244320,angle between two frames:0.120512 -[16:57:05.821] Odometry x=-0.034907, y=-0.621891, theta=0.240063 -[16:57:05.919] Odometry x=-0.035778, y=-0.625814, theta=0.243675 -[16:57:05.937] After Reprojection Map nPoint:30 ,nCell:27 ,nMatches:11 ,distance between two frames x:0.000269 ,z=0.000170,angle between two frames:0.000490 -[16:57:05.937] n deleted obs = 5 n obs with reprojection error less than 0.5 px =17 error init =0.437482 error end=0.316087 -[16:57:05.937] After pose optimization, distance between two frames x:-0.064134 ,z=0.145069,angle between two frames:0.036484 -[16:57:06.019] Odometry x=-0.036656, y=-0.629517, theta=0.240250 -[16:57:06.082] After Reprojection Map nPoint:26 ,nCell:25 ,nMatches:9 ,distance between two frames x:-0.000954 ,z=-0.000218,angle between two frames:0.000525 -[16:57:06.082] n deleted obs = 6 n obs with reprojection error less than 0.5 px =13 error init =0.598469 error end=0.471030 -[16:57:06.082] After pose optimization, distance between two frames x:-0.084128 ,z=0.103365,angle between two frames:0.018333 -[16:57:06.119] Odometry x=-0.037575, y=-0.633114, theta=0.238920 -[16:57:06.215] Odometry x=-0.038567, y=-0.637235, theta=0.235605 -[16:57:06.226] After Reprojection Map nPoint:29 ,nCell:23 ,nMatches:8 ,distance between two frames x:-0.000292 ,z=-0.000047,angle between two frames:0.000140 -[16:57:06.227] n deleted obs = 5 n obs with reprojection error less than 0.5 px =16 error init =0.488488 error end=0.299266 -[16:57:06.227] After pose optimization, distance between two frames x:-0.084316 ,z=0.189263,angle between two frames:0.082876 -[16:57:06.319] Odometry x=-0.039446, y=-0.640984, theta=0.232506 -[16:57:06.374] After Reprojection Map nPoint:33 ,nCell:31 ,nMatches:11 ,distance between two frames x:0.001414 ,z=0.000845,angle between two frames:0.000858 -[16:57:06.374] n deleted obs = 7 n obs with reprojection error less than 0.5 px =16 error init =0.470497 error end=0.452040 -[16:57:06.374] After pose optimization, distance between two frames x:-0.054791 ,z=0.016222,angle between two frames:0.023115 -[16:57:06.423] Odometry x=-0.040385, y=-0.645011, theta=0.232381 -[16:57:06.518] Odometry x=-0.041277, y=-0.648930, theta=0.230315 -[16:57:06.518] After Reprojection Map nPoint:31 ,nCell:26 ,nMatches:9 ,distance between two frames x:-0.000567 ,z=-0.000022,angle between two frames:0.000199 -[16:57:06.518] n deleted obs = 6 n obs with reprojection error less than 0.5 px =14 error init =0.472911 error end=0.416737 -[16:57:06.518] After pose optimization, distance between two frames x:-0.058418 ,z=0.015028,angle between two frames:0.023782 -[16:57:06.613] Odometry x=-0.042128, y=-0.652635, theta=0.228827 -[16:57:06.661] After Reprojection Map nPoint:29 ,nCell:24 ,nMatches:8 ,distance between two frames x:-0.000904 ,z=-0.000101,angle between two frames:0.000348 -[16:57:06.661] n deleted obs = 7 n obs with reprojection error less than 0.5 px =11 error init =0.480341 error end=0.480341 -[16:57:06.661] After pose optimization, distance between two frames x:-0.000904 ,z=-0.000101,angle between two frames:0.000348 -[16:57:06.661] Update EKF and 3D points, distance between two frames x:-0.000949 ,z=-0.000518,angle between two frames:0.000584 -[16:57:06.719] Odometry x=-0.042509, y=-0.652019, theta=0.227237 -[16:57:06.808] After Reprojection Map nPoint:29 ,nCell:28 ,nMatches:11 ,distance between two frames x:-0.002960 ,z=-0.003318,angle between two frames:0.002998 -[16:57:06.809] n deleted obs = 10 n obs with reprojection error less than 0.5 px =12 error init =0.884337 error end=0.437390 -[16:57:06.809] After pose optimization, distance between two frames x:-0.133865 ,z=0.190830,angle between two frames:0.036201 -[16:57:06.814] Odometry x=-0.043457, y=-0.656211, theta=0.223775 -[16:57:06.916] Odometry x=-0.044256, y=-0.659937, theta=0.222031 -[16:57:06.953] After Reprojection Map nPoint:29 ,nCell:24 ,nMatches:10 ,distance between two frames x:0.000259 ,z=0.000139,angle between two frames:0.000164 -[16:57:06.953] n deleted obs = 13 n obs with reprojection error less than 0.5 px =12 error init =0.991870 error end=0.991870 -[16:57:06.953] After pose optimization, distance between two frames x:0.000259 ,z=0.000139,angle between two frames:0.000164 -[16:57:06.953] Update EKF and 3D points, distance between two frames x:0.000148 ,z=-0.000307,angle between two frames:0.000129 -[16:57:07.019] Odometry x=-0.043969, y=-0.659322, theta=0.226920 -[16:57:07.115] After Reprojection Map nPoint:32 ,nCell:22 ,nMatches:9 ,distance between two frames x:0.000366 ,z=0.000288,angle between two frames:0.000267 -[16:57:07.115] n deleted obs = 13 n obs with reprojection error less than 0.5 px =13 error init =1.075156 error end=1.075156 -[16:57:07.115] After pose optimization, distance between two frames x:0.000366 ,z=0.000288,angle between two frames:0.000267 -[16:57:07.115] Update EKF and 3D points, distance between two frames x:0.000258 ,z=-0.000114,angle between two frames:0.000592 -[16:57:07.120] Odometry x=-0.043716, y=-0.659116, theta=0.226605 -[16:57:07.217] Odometry x=-0.044589, y=-0.662854, theta=0.230779 -[16:57:07.261] After Reprojection Map nPoint:34 ,nCell:23 ,nMatches:8 ,distance between two frames x:-0.001247 ,z=-0.002600,angle between two frames:0.001889 -[16:57:07.263] n deleted obs = 11 n obs with reprojection error less than 0.5 px =16 error init =1.683323 error end=0.610423 -[16:57:07.263] After pose optimization, distance between two frames x:-0.127539 ,z=0.293230,angle between two frames:0.220580 -[16:57:07.320] Odometry x=-0.045453, y=-0.666570, theta=0.247918 -[16:57:07.412] After Reprojection Map nPoint:37 ,nCell:26 ,nMatches:14 ,distance between two frames x:0.000582 ,z=0.000379,angle between two frames:0.001197 -[16:57:07.412] n deleted obs = 28 n obs with reprojection error less than 0.5 px =7 error init =1.833810 error end=0.934215 -[16:57:07.412] After pose optimization, distance between two frames x:-0.281233 ,z=0.099094,angle between two frames:0.100665 -[16:57:07.417] Odometry x=-0.046366, y=-0.670380, theta=0.262991 -[16:57:07.519] Odometry x=-0.047350, y=-0.674162, theta=0.275379 -[16:57:07.564] After Reprojection Map nPoint:34 ,nCell:19 ,nMatches:15 ,distance between two frames x:0.000253 ,z=0.000146,angle between two frames:0.000137 -[16:57:07.565] n deleted obs = 19 n obs with reprojection error less than 0.5 px =22 error init =2.921414 error end=0.693298 -[16:57:07.565] After pose optimization, distance between two frames x:-0.403667 ,z=0.519699,angle between two frames:0.521608 -[16:57:07.617] Odometry x=-0.048354, y=-0.677981, theta=0.285735 -[16:57:07.710] After Reprojection Map nPoint:41 ,nCell:28 ,nMatches:14 ,distance between two frames x:-0.000268 ,z=-0.000118,angle between two frames:0.000334 -[16:57:07.712] n deleted obs = 4 n obs with reprojection error less than 0.5 px =32 error init =2.828647 error end=0.248795 -[16:57:07.712] After pose optimization, distance between two frames x:-0.383334 ,z=0.801532,angle between two frames:0.265850 -[16:57:07.715] Odometry x=-0.049379, y=-0.681786, theta=0.286618 -[16:57:07.816] Odometry x=-0.050363, y=-0.685504, theta=0.287190 -[16:57:07.864] After Reprojection Map nPoint:40 ,nCell:34 ,nMatches:11 ,distance between two frames x:-0.000345 ,z=-0.000186,angle between two frames:0.000161 -[16:57:07.865] n deleted obs = 2 n obs with reprojection error less than 0.5 px =24 error init =5.617108 error end=0.328347 -[16:57:07.865] After pose optimization, distance between two frames x:4.273812 ,z=34.032846,angle between two frames:2.440983 -[16:57:07.918] Odometry x=-0.051468, y=-0.689338, theta=0.287511 -[16:57:08.016] Odometry x=-0.052566, y=-0.693224, theta=0.284596 -[16:57:08.030] After Reprojection Map nPoint:36 ,nCell:29 ,nMatches:12 ,distance between two frames x:-0.000729 ,z=-0.000216,angle between two frames:0.000320 -[16:57:08.030] n deleted obs = 22 n obs with reprojection error less than 0.5 px =7 error init =8.404643 error end=0.761826 -[16:57:08.030] After pose optimization, distance between two frames x:12.495614 ,z=20.647873,angle between two frames:3.410851 -[16:57:08.118] Odometry x=-0.053648, y=-0.697068, theta=0.279036 -[16:57:08.180] After Reprojection Map nPoint:35 ,nCell:16 ,nMatches:12 ,distance between two frames x:0.000471 ,z=0.000181,angle between two frames:0.000241 -[16:57:08.180] n deleted obs = 39 n obs with reprojection error less than 0.5 px =0 error init =12.362821 error end=4.386689 -[16:57:08.180] After pose optimization, distance between two frames x:21.370085 ,z=5.977602,angle between two frames:3.120183 -[16:57:08.185] Image Alignment failed 0 -[16:57:08.220] Odometry x=-0.054692, y=-0.700945, theta=0.277710 -[16:57:08.317] Odometry x=-0.055749, y=-0.704757, theta=0.276979 -[16:57:08.325] After Reprojection Map nPoint:41 ,nCell:22 ,nMatches:20 ,distance between two frames x:-0.000002 ,z=-0.000008,angle between two frames:0.000097 -[16:57:08.327] n deleted obs = 35 n obs with reprojection error less than 0.5 px =21 error init =13.420795 error end=0.652936 -[16:57:08.327] After pose optimization, distance between two frames x:6.204062 ,z=17.927219,angle between two frames:2.849369 -[16:57:08.419] Odometry x=-0.056766, y=-0.708528, theta=0.274070 -[16:57:08.495] After Reprojection Map nPoint:54 ,nCell:31 ,nMatches:21 ,distance between two frames x:0.002239 ,z=0.001227,angle between two frames:0.000916 -[16:57:08.496] n deleted obs = 20 n obs with reprojection error less than 0.5 px =39 error init =10.577184 error end=0.443697 -[16:57:08.496] After pose optimization, distance between two frames x:-34.598309 ,z=-267.704768,angle between two frames:0.483368 -[16:57:08.516] Odometry x=-0.057834, y=-0.712518, theta=0.268929 -[16:57:08.618] Odometry x=-0.058829, y=-0.716291, theta=0.264262 -[16:57:08.647] After Reprojection Map nPoint:51 ,nCell:38 ,nMatches:15 ,distance between two frames x:-0.001071 ,z=-0.000350,angle between two frames:0.000452 -[16:57:08.647] n deleted obs = 30 n obs with reprojection error less than 0.5 px =10 error init =3.426891 error end=3.426891 -[16:57:08.647] After pose optimization, distance between two frames x:-0.001071 ,z=-0.000350,angle between two frames:0.000452 -[16:57:08.647] Update EKF and 3D points, distance between two frames x:-0.001125 ,z=-0.000768,angle between two frames:0.000743 -[16:57:08.647] Choose frame as a key frame Scene Depth mean:0.303688 ,depth min:0.157525 -[16:57:08.715] Odometry x=-0.059306, y=-0.715961, theta=0.265280 -[16:57:08.814] Odometry x=-0.060238, y=-0.719764, theta=0.275873 -[16:57:08.819] After Reprojection Map nPoint:49 ,nCell:26 ,nMatches:18 ,distance between two frames x:-0.009117 ,z=-0.008677,angle between two frames:0.006741 -[16:57:08.819] n deleted obs = 50 n obs with reprojection error less than 0.5 px =7 error init =4.615433 error end=4.615433 -[16:57:08.819] After pose optimization, distance between two frames x:-0.009117 ,z=-0.008677,angle between two frames:0.006741 -[16:57:08.917] Odometry x=-0.061313, y=-0.723658, theta=0.285102 -[16:57:08.967] After Reprojection Map nPoint:61 ,nCell:29 ,nMatches:24 ,distance between two frames x:-0.000993 ,z=-0.003628,angle between two frames:0.000558 -[16:57:08.967] n deleted obs = 61 n obs with reprojection error less than 0.5 px =13 error init =3.446296 error end=3.446296 -[16:57:08.967] After pose optimization, distance between two frames x:-0.000993 ,z=-0.003628,angle between two frames:0.000558 -[16:57:08.967] Update EKF and 3D points, distance between two frames x:-0.001058 ,z=-0.003865,angle between two frames:0.001265 -[16:57:08.967] Choose frame as a key frame Scene Depth mean:0.459989 ,depth min:0.154646 -[16:57:09.020] Odometry x=-0.061694, y=-0.725182, theta=0.287107 -[16:57:09.119] Odometry x=-0.062800, y=-0.729061, theta=0.298968 -[16:57:09.122] After Reprojection Map nPoint:100 ,nCell:35 ,nMatches:25 ,distance between two frames x:-0.000552 ,z=-0.001524,angle between two frames:0.004609 -[16:57:09.122] n deleted obs = 90 n obs with reprojection error less than 0.5 px =18 error init =3.626424 error end=3.626424 -[16:57:09.122] After pose optimization, distance between two frames x:-0.000552 ,z=-0.001524,angle between two frames:0.004609 -[16:57:09.122] Update EKF and 3D points, distance between two frames x:-0.000773 ,z=-0.002302,angle between two frames:0.005612 -[16:57:09.122] Choose frame as a key frame Scene Depth mean:0.315688 ,depth min:0.151923 -[16:57:09.217] Odometry x=-0.063312, y=-0.730826, theta=0.289295 -[16:57:09.276] After Reprojection Map nPoint:114 ,nCell:30 ,nMatches:23 ,distance between two frames x:-0.001572 ,z=-0.004789,angle between two frames:0.006170 -[16:57:09.276] n deleted obs = 87 n obs with reprojection error less than 0.5 px =24 error init =3.404891 error end=3.404891 -[16:57:09.276] After pose optimization, distance between two frames x:-0.001572 ,z=-0.004789,angle between two frames:0.006170 -[16:57:09.323] Odometry x=-0.064413, y=-0.734539, theta=0.303506 -[16:57:09.418] Odometry x=-0.065584, y=-0.738425, theta=0.312618 -[16:57:09.444] After Reprojection Map nPoint:130 ,nCell:33 ,nMatches:27 ,distance between two frames x:-0.003672 ,z=-0.001897,angle between two frames:0.000490 -[16:57:09.445] n deleted obs = 100 n obs with reprojection error less than 0.5 px =24 error init =3.516763 error end=3.516763 -[16:57:09.445] After pose optimization, distance between two frames x:-0.003672 ,z=-0.001897,angle between two frames:0.000490 -[16:57:09.445] Update EKF and 3D points, distance between two frames x:-0.003593 ,z=-0.002228,angle between two frames:0.000831 -[16:57:09.445] Choose frame as a key frame Scene Depth mean:0.292367 ,depth min:0.123542 -[16:57:09.521] Odometry x=-0.067527, y=-0.738852, theta=0.318795 -[16:57:09.618] Odometry x=-0.068688, y=-0.742738, theta=0.324676 -[16:57:09.631] After Reprojection Map nPoint:150 ,nCell:36 ,nMatches:28 ,distance between two frames x:-0.002625 ,z=-0.004213,angle between two frames:0.007324 -[16:57:09.636] n deleted obs = 21 n obs with reprojection error less than 0.5 px =130 error init =5.260816 error end=0.300573 -[16:57:09.636] After pose optimization, distance between two frames x:-2.781231 ,z=11.102395,angle between two frames:0.528309 -[16:57:09.720] Odometry x=-0.069949, y=-0.746524, theta=0.336334 -[16:57:09.807] After Reprojection Map nPoint:170 ,nCell:71 ,nMatches:30 ,distance between two frames x:-0.000516 ,z=-0.000175,angle between two frames:0.000305 -[16:57:09.807] n deleted obs = 138 n obs with reprojection error less than 0.5 px =0 error init =59.062118 error end=2.173062 -[16:57:09.807] After pose optimization, distance between two frames x:36.270899 ,z=14.127681,angle between two frames:2.388093 -[16:57:09.812] Image Alignment failed 0 -[16:57:09.813] Odometry x=-0.071137, y=-0.750430, theta=0.343618 -[16:57:09.915] Odometry x=-0.072402, y=-0.753988, theta=0.342746 -[16:57:09.963] After Reprojection Map nPoint:153 ,nCell:40 ,nMatches:34 ,distance between two frames x:-0.000001 ,z=-0.000009,angle between two frames:0.000023 -[16:57:09.963] n deleted obs = 129 n obs with reprojection error less than 0.5 px =35 error init =3.419291 error end=3.419291 -[16:57:09.963] After pose optimization, distance between two frames x:-0.000001 ,z=-0.000009,angle between two frames:0.000023 -[16:57:09.963] Update EKF and 3D points, distance between two frames x:-0.000149 ,z=-0.000436,angle between two frames:0.000234 -[16:57:09.963] Choose frame as a key frame Scene Depth mean:0.385474 ,depth min:0.099109 -[16:57:10.017] Odometry x=-0.072228, y=-0.753596, theta=0.339623 -[16:57:10.120] Odometry x=-0.073550, y=-0.757370, theta=0.337384 -[16:57:10.158] After Reprojection Map nPoint:193 ,nCell:47 ,nMatches:32 ,distance between two frames x:-0.000823 ,z=-0.000424,angle between two frames:0.000384 -[16:57:10.158] n deleted obs = 154 n obs with reprojection error less than 0.5 px =34 error init =4.230090 error end=4.230090 -[16:57:10.158] After pose optimization, distance between two frames x:-0.000823 ,z=-0.000424,angle between two frames:0.000384 -[16:57:10.158] Update EKF and 3D points, distance between two frames x:-0.000981 ,z=-0.000997,angle between two frames:0.000837 -[16:57:10.158] Choose frame as a key frame Scene Depth mean:0.364365 ,depth min:0.098316 -[16:57:10.220] Odometry x=-0.073228, y=-0.755495, theta=0.326669 -[16:57:10.323] Odometry x=-0.074548, y=-0.759349, theta=0.312902 -[16:57:10.342] After Reprojection Map nPoint:223 ,nCell:49 ,nMatches:35 ,distance between two frames x:-0.001145 ,z=-0.003596,angle between two frames:0.003262 -[16:57:10.342] n deleted obs = 169 n obs with reprojection error less than 0.5 px =41 error init =4.115191 error end=4.115191 -[16:57:10.342] After pose optimization, distance between two frames x:-0.001145 ,z=-0.003596,angle between two frames:0.003262 -[16:57:10.342] Update EKF and 3D points, distance between two frames x:-0.001279 ,z=-0.004039,angle between two frames:0.004930 -[16:57:10.342] Choose frame as a key frame Scene Depth mean:0.476566 ,depth min:0.095463 -[16:57:10.416] Odometry x=-0.074392, y=-0.758833, theta=0.320299 -[16:57:10.518] Odometry x=-0.075528, y=-0.762435, theta=0.317420 -[16:57:10.522] After Reprojection Map nPoint:259 ,nCell:46 ,nMatches:32 ,distance between two frames x:-0.000867 ,z=-0.002733,angle between two frames:0.010676 -[16:57:10.522] n deleted obs = 179 n obs with reprojection error less than 0.5 px =56 error init =4.209288 error end=4.209288 -[16:57:10.522] After pose optimization, distance between two frames x:-0.000867 ,z=-0.002733,angle between two frames:0.010676 -[16:57:10.522] Update EKF and 3D points, distance between two frames x:-0.001116 ,z=-0.003508,angle between two frames:0.011231 -[16:57:10.522] Choose frame as a key frame Scene Depth mean:0.388197 ,depth min:0.094579 -[16:57:10.620] Odometry x=-0.076208, y=-0.764292, theta=0.322887 -[16:57:10.707] After Reprojection Map nPoint:311 ,nCell:44 ,nMatches:34 ,distance between two frames x:-0.001534 ,z=-0.004801,angle between two frames:0.003936 -[16:57:10.707] n deleted obs = 240 n obs with reprojection error less than 0.5 px =40 error init =3.663614 error end=3.663614 -[16:57:10.707] After pose optimization, distance between two frames x:-0.001534 ,z=-0.004801,angle between two frames:0.003936 -[16:57:10.718] Odometry x=-0.077338, y=-0.768014, theta=0.318433 -[16:57:10.815] Odometry x=-0.078498, y=-0.771714, theta=0.312232 -[16:57:10.892] After Reprojection Map nPoint:326 ,nCell:45 ,nMatches:36 ,distance between two frames x:0.000167 ,z=0.000080,angle between two frames:0.000529 -[16:57:10.892] n deleted obs = 230 n obs with reprojection error less than 0.5 px =57 error init =3.662255 error end=3.662255 -[16:57:10.892] After pose optimization, distance between two frames x:0.000167 ,z=0.000080,angle between two frames:0.000529 -[16:57:10.892] Update EKF and 3D points, distance between two frames x:0.000024 ,z=-0.000357,angle between two frames:0.000656 -[16:57:10.892] Choose frame as a key frame Scene Depth mean:0.332232 ,depth min:0.087272 -[16:57:10.916] Odometry x=-0.078206, y=-0.771052, theta=0.318154 -[16:57:11.019] Odometry x=-0.079370, y=-0.774753, theta=0.323167 -[16:57:11.096] After Reprojection Map nPoint:330 ,nCell:39 ,nMatches:33 ,distance between two frames x:-0.001535 ,z=-0.003173,angle between two frames:0.000978 -[16:57:11.097] n deleted obs = 247 n obs with reprojection error less than 0.5 px =51 error init =3.870413 error end=3.870413 -[16:57:11.097] After pose optimization, distance between two frames x:-0.001535 ,z=-0.003173,angle between two frames:0.000978 -[16:57:11.097] Update EKF and 3D points, distance between two frames x:-0.001633 ,z=-0.003582,angle between two frames:0.000725 -[16:57:11.097] Choose frame as a key frame Scene Depth mean:0.290793 ,depth min:0.083851 -[16:57:11.116] Odometry x=-0.079567, y=-0.774488, theta=0.319371 -[16:57:11.223] Odometry x=-0.080769, y=-0.778193, theta=0.318885 -[16:57:11.295] After Reprojection Map nPoint:413 ,nCell:43 ,nMatches:37 ,distance between two frames x:-0.000660 ,z=-0.002562,angle between two frames:0.001466 -[16:57:11.295] n deleted obs = 322 n obs with reprojection error less than 0.5 px =45 error init =4.487689 error end=4.487689 -[16:57:11.295] After pose optimization, distance between two frames x:-0.000660 ,z=-0.002562,angle between two frames:0.001466 -[16:57:11.295] Update EKF and 3D points, distance between two frames x:-0.000801 ,z=-0.003010,angle between two frames:0.001859 -[16:57:11.296] Choose frame as a key frame Scene Depth mean:0.396633 ,depth min:0.080427 -[16:57:11.320] Odometry x=-0.080627, y=-0.777805, theta=0.326490 -[16:57:11.415] Odometry x=-0.081838, y=-0.781638, theta=0.333647 -[16:57:11.511] After Reprojection Map nPoint:447 ,nCell:45 ,nMatches:41 ,distance between two frames x:-0.000914 ,z=-0.002757,angle between two frames:0.002904 -[16:57:11.512] n deleted obs = 353 n obs with reprojection error less than 0.5 px =50 error init =3.611283 error end=3.611283 -[16:57:11.512] After pose optimization, distance between two frames x:-0.000914 ,z=-0.002757,angle between two frames:0.002904 -[16:57:11.512] Update EKF and 3D points, distance between two frames x:-0.001049 ,z=-0.003185,angle between two frames:0.003850 -[16:57:11.512] Choose frame as a key frame Scene Depth mean:0.283221 ,depth min:0.076375 -[16:57:11.518] Odometry x=-0.081644, y=-0.780792, theta=0.330331 -[16:57:11.618] Odometry x=-0.082866, y=-0.784612, theta=0.341181 -[16:57:11.721] Odometry x=-0.084203, y=-0.788492, theta=0.352987 -[16:57:11.727] After Reprojection Map nPoint:436 ,nCell:43 ,nMatches:40 ,distance between two frames x:-0.000796 ,z=-0.002623,angle between two frames:0.006309 -[16:57:11.728] n deleted obs = 332 n obs with reprojection error less than 0.5 px =71 error init =3.095068 error end=3.095068 -[16:57:11.728] After pose optimization, distance between two frames x:-0.000796 ,z=-0.002623,angle between two frames:0.006309 -[16:57:11.728] Update EKF and 3D points, distance between two frames x:-0.001024 ,z=-0.003287,angle between two frames:0.007672 -[16:57:11.728] Choose frame as a key frame Scene Depth mean:0.284055 ,depth min:0.056632 -[16:57:11.820] Odometry x=-0.083233, y=-0.785667, theta=0.342864 -[16:57:11.917] Odometry x=-0.084559, y=-0.789503, theta=0.334729 -[16:57:11.993] After Reprojection Map nPoint:461 ,nCell:39 ,nMatches:35 ,distance between two frames x:-0.003598 ,z=-0.005813,angle between two frames:0.007424 -[16:57:11.994] n deleted obs = 361 n obs with reprojection error less than 0.5 px =61 error init =3.579419 error end=3.579419 -[16:57:11.994] After pose optimization, distance between two frames x:-0.003598 ,z=-0.005813,angle between two frames:0.007424 -[16:57:12.025] Odometry x=-0.085783, y=-0.793069, theta=0.328878 -[16:57:12.115] Odometry x=-0.087099, y=-0.797008, theta=0.327133 -[16:57:12.220] Odometry x=-0.088187, y=-0.800445, theta=0.319522 -[16:57:12.222] After Reprojection Map nPoint:515 ,nCell:55 ,nMatches:47 ,distance between two frames x:-0.000095 ,z=-0.000142,angle between two frames:0.000376 -[16:57:12.223] n deleted obs = 395 n obs with reprojection error less than 0.5 px =78 error init =3.187368 error end=3.187368 -[16:57:12.223] After pose optimization, distance between two frames x:-0.000095 ,z=-0.000142,angle between two frames:0.000376 -[16:57:12.223] Update EKF and 3D points, distance between two frames x:-0.000420 ,z=-0.001132,angle between two frames:0.000969 -[16:57:12.223] Choose frame as a key frame Scene Depth mean:0.331601 ,depth min:0.059186 -[16:57:12.319] Odometry x=-0.088244, y=-0.800432, theta=0.318796 -[16:57:12.421] Odometry x=-0.089451, y=-0.804226, theta=0.319223 -[16:57:12.455] After Reprojection Map nPoint:542 ,nCell:49 ,nMatches:40 ,distance between two frames x:-0.002159 ,z=-0.006192,angle between two frames:0.003717 -[16:57:12.456] n deleted obs = 410 n obs with reprojection error less than 0.5 px =85 error init =5.028159 error end=5.028159 -[16:57:12.456] After pose optimization, distance between two frames x:-0.002159 ,z=-0.006192,angle between two frames:0.003717 -[16:57:12.519] Odometry x=-0.090758, y=-0.808181, theta=0.338048 -[16:57:12.620] Odometry x=-0.091918, y=-0.811570, theta=0.344830 -[16:57:12.686] After Reprojection Map nPoint:554 ,nCell:51 ,nMatches:43 ,distance between two frames x:-0.000664 ,z=-0.000384,angle between two frames:0.000794 -[16:57:12.688] n deleted obs = 117 n obs with reprojection error less than 0.5 px =381 error init =132.584561 error end=0.417699 -[16:57:12.688] After pose optimization, distance between two frames x:4630.350083 ,z=-66878.623095,angle between two frames:0.296461 -[16:57:12.717] Odometry x=-0.093160, y=-0.815324, theta=0.350337 -[16:57:12.818] Odometry x=-0.094485, y=-0.818947, theta=0.361652 -[16:57:12.910] After Reprojection Map nPoint:551 ,nCell:84 ,nMatches:37 ,distance between two frames x:0.000080 ,z=0.000031,angle between two frames:0.000142 -[16:57:12.911] n deleted obs = 386 n obs with reprojection error less than 0.5 px =64 error init =12.796887 error end=12.796887 -[16:57:12.911] After pose optimization, distance between two frames x:0.000080 ,z=0.000031,angle between two frames:0.000142 -[16:57:12.911] Update EKF and 3D points, distance between two frames x:-0.000080 ,z=-0.000399,angle between two frames:0.001528 -[16:57:12.911] Choose frame as a key frame Scene Depth mean:0.280771 ,depth min:0.045475 -[16:57:13.154] After Reprojection Map nPoint:617 ,nCell:41 ,nMatches:36 ,distance between two frames x:-0.000981 ,z=-0.002950,angle between two frames:0.008825 -[16:57:13.155] n deleted obs = 479 n obs with reprojection error less than 0.5 px =80 error init =11.081945 error end=11.081945 -[16:57:13.155] After pose optimization, distance between two frames x:-0.000981 ,z=-0.002950,angle between two frames:0.008825 -[16:57:13.155] Update EKF and 3D points, distance between two frames x:-0.000982 ,z=-0.002945,angle between two frames:0.010647 -[16:57:13.155] Choose frame as a key frame Scene Depth mean:0.308601 ,depth min:0.081042 -[16:57:13.410] After Reprojection Map nPoint:653 ,nCell:41 ,nMatches:35 ,distance between two frames x:0.000205 ,z=-0.000428,angle between two frames:0.011692 -[16:57:13.426] n deleted obs = 147 n obs with reprojection error less than 0.5 px =446 error init =17.986318 error end=0.383636 -[16:57:13.426] After pose optimization, distance between two frames x:-3.753411 ,z=53.461298,angle between two frames:1.551438 -[16:57:13.676] After Reprojection Map nPoint:655 ,nCell:88 ,nMatches:39 ,distance between two frames x:0.000225 ,z=-0.000009,angle between two frames:0.000049 -[16:57:13.679] n deleted obs = 122 n obs with reprojection error less than 0.5 px =434 error init =11.457302 error end=0.363173 -[16:57:13.679] After pose optimization, distance between two frames x:-3.046133 ,z=34.763231,angle between two frames:1.192111 -[16:57:13.931] After Reprojection Map nPoint:625 ,nCell:86 ,nMatches:36 ,distance between two frames x:0.000071 ,z=0.000018,angle between two frames:0.000434 -[16:57:13.931] n deleted obs = 444 n obs with reprojection error less than 0.5 px =75 error init =14.838809 error end=14.838809 -[16:57:13.931] After pose optimization, distance between two frames x:0.000071 ,z=0.000018,angle between two frames:0.000434 -[16:57:13.931] Update EKF and 3D points, distance between two frames x:0.000065 ,z=-0.000011,angle between two frames:0.000913 -[16:57:13.932] Choose frame as a key frame Scene Depth mean:0.318475 ,depth min:0.009242 -[16:57:14.190] After Reprojection Map nPoint:723 ,nCell:39 ,nMatches:37 ,distance between two frames x:0.000249 ,z=-0.000237,angle between two frames:0.003028 -[16:57:14.191] n deleted obs = 198 n obs with reprojection error less than 0.5 px =452 error init =14.658043 error end=0.425869 -[16:57:14.191] After pose optimization, distance between two frames x:1.413224 ,z=10.578393,angle between two frames:0.999683 -[16:57:14.454] After Reprojection Map nPoint:669 ,nCell:70 ,nMatches:37 ,distance between two frames x:0.000025 ,z=0.000009,angle between two frames:0.000193 -[16:57:14.455] n deleted obs = 486 n obs with reprojection error less than 0.5 px =79 error init =8.830209 error end=8.830209 -[16:57:14.455] After pose optimization, distance between two frames x:0.000025 ,z=0.000009,angle between two frames:0.000193 -[16:57:14.455] Update EKF and 3D points, distance between two frames x:0.000022 ,z=-0.000019,angle between two frames:0.000657 -[16:57:14.455] Choose frame as a key frame Scene Depth mean:0.328377 ,depth min:0.005036 -[16:57:14.726] After Reprojection Map nPoint:749 ,nCell:44 ,nMatches:40 ,distance between two frames x:-0.000015 ,z=-0.000219,angle between two frames:0.002936 -[16:57:14.727] n deleted obs = 593 n obs with reprojection error less than 0.5 px =86 error init =15.421143 error end=15.421143 -[16:57:14.727] After pose optimization, distance between two frames x:-0.000015 ,z=-0.000219,angle between two frames:0.002936 -[16:57:14.727] Update EKF and 3D points, distance between two frames x:-0.000017 ,z=-0.000245,angle between two frames:0.003423 -[16:57:14.727] Choose frame as a key frame Scene Depth mean:0.351507 ,depth min:0.003695 -[16:57:15.014] After Reprojection Map nPoint:801 ,nCell:48 ,nMatches:40 ,distance between two frames x:0.000878 ,z=-0.000299,angle between two frames:0.003085 -[16:57:15.016] n deleted obs = 317 n obs with reprojection error less than 0.5 px =410 error init =8.655468 error end=0.497873 -[16:57:15.016] After pose optimization, distance between two frames x:2.227401 ,z=4.045424,angle between two frames:0.487325 -[16:57:15.290] After Reprojection Map nPoint:803 ,nCell:57 ,nMatches:35 ,distance between two frames x:-0.000030 ,z=-0.000009,angle between two frames:0.000140 -[16:57:15.291] n deleted obs = 597 n obs with reprojection error less than 0.5 px =88 error init =11.631466 error end=11.631466 -[16:57:15.291] After pose optimization, distance between two frames x:-0.000030 ,z=-0.000009,angle between two frames:0.000140 -[16:57:15.291] Update EKF and 3D points, distance between two frames x:-0.000030 ,z=-0.000035,angle between two frames:0.000619 -[16:57:15.291] Choose frame as a key frame Scene Depth mean:0.370439 ,depth min:0.055015 -[16:57:15.586] After Reprojection Map nPoint:940 ,nCell:46 ,nMatches:40 ,distance between two frames x:0.000165 ,z=-0.000387,angle between two frames:0.003046 -[16:57:15.587] n deleted obs = 719 n obs with reprojection error less than 0.5 px =130 error init =13.403856 error end=13.403856 -[16:57:15.588] After pose optimization, distance between two frames x:0.000165 ,z=-0.000387,angle between two frames:0.003046 -[16:57:15.588] Update EKF and 3D points, distance between two frames x:0.000153 ,z=-0.000405,angle between two frames:0.003576 -[16:57:15.588] Choose frame as a key frame Scene Depth mean:0.341954 ,depth min:0.054013 -[16:57:15.895] After Reprojection Map nPoint:945 ,nCell:41 ,nMatches:33 ,distance between two frames x:0.000216 ,z=-0.000290,angle between two frames:0.003318 -[16:57:15.898] n deleted obs = 190 n obs with reprojection error less than 0.5 px =647 error init =12.778012 error end=0.378965 -[16:57:15.898] After pose optimization, distance between two frames x:91.374530 ,z=-911.030551,angle between two frames:1.145878 -[16:57:16.206] After Reprojection Map nPoint:942 ,nCell:77 ,nMatches:34 ,distance between two frames x:-0.000403 ,z=-0.000352,angle between two frames:0.000049 -[16:57:16.208] n deleted obs = 689 n obs with reprojection error less than 0.5 px =102 error init =23.829769 error end=23.829769 -[16:57:16.208] After pose optimization, distance between two frames x:-0.000403 ,z=-0.000352,angle between two frames:0.000049 -[16:57:16.208] Update EKF and 3D points, distance between two frames x:-0.000382 ,z=-0.000364,angle between two frames:0.000513 -[16:57:16.208] Choose frame as a key frame Scene Depth mean:0.349214 ,depth min:0.050744 -[16:57:16.530] After Reprojection Map nPoint:961 ,nCell:35 ,nMatches:34 ,distance between two frames x:0.000318 ,z=-0.000138,angle between two frames:0.003562 -[16:57:16.535] n deleted obs = 250 n obs with reprojection error less than 0.5 px =620 error init =12.213993 error end=0.411763 -[16:57:16.535] After pose optimization, distance between two frames x:6.276927 ,z=-148.314403,angle between two frames:0.950186 -[16:57:16.843] After Reprojection Map nPoint:989 ,nCell:64 ,nMatches:42 ,distance between two frames x:-0.000040 ,z=-0.000174,angle between two frames:0.000053 -[16:57:16.846] n deleted obs = 184 n obs with reprojection error less than 0.5 px =670 error init =13.528270 error end=0.372262 -[16:57:16.846] After pose optimization, distance between two frames x:-772.120755 ,z=5799.458727,angle between two frames:0.897264 -[16:57:17.169] After Reprojection Map nPoint:1028 ,nCell:78 ,nMatches:40 ,distance between two frames x:-0.000255 ,z=-0.000261,angle between two frames:0.000002 -[16:57:17.173] n deleted obs = 218 n obs with reprojection error less than 0.5 px =658 error init =19.641106 error end=0.380484 -[16:57:17.173] After pose optimization, distance between two frames x:47.517090 ,z=-937.379122,angle between two frames:1.567944 -[16:57:17.490] After Reprojection Map nPoint:987 ,nCell:68 ,nMatches:38 ,distance between two frames x:-0.000060 ,z=-0.000160,angle between two frames:0.000087 -[16:57:17.492] n deleted obs = 257 n obs with reprojection error less than 0.5 px =600 error init =55.783201 error end=0.467115 -[16:57:17.492] After pose optimization, distance between two frames x:2656.743532 ,z=-6511.028731,angle between two frames:2.559673 -[16:57:17.823] After Reprojection Map nPoint:1074 ,nCell:89 ,nMatches:42 ,distance between two frames x:-0.000359 ,z=-0.000426,angle between two frames:0.000075 -[16:57:17.826] n deleted obs = 216 n obs with reprojection error less than 0.5 px =697 error init =8.406800 error end=0.402245 -[16:57:17.826] After pose optimization, distance between two frames x:-80.345420 ,z=595.224475,angle between two frames:0.414437 -[16:57:18.144] After Reprojection Map nPoint:1056 ,nCell:66 ,nMatches:44 ,distance between two frames x:-0.000035 ,z=-0.000073,angle between two frames:0.000121 -[16:57:18.146] n deleted obs = 397 n obs with reprojection error less than 0.5 px =521 error init =13.713360 error end=0.557514 -[16:57:18.146] After pose optimization, distance between two frames x:262.151117 ,z=-447.091004,angle between two frames:0.063391 -[16:57:18.467] After Reprojection Map nPoint:1028 ,nCell:76 ,nMatches:38 ,distance between two frames x:-0.000138 ,z=-0.000154,angle between two frames:0.000101 -[16:57:18.469] n deleted obs = 253 n obs with reprojection error less than 0.5 px =624 error init =20.823346 error end=0.414697 -[16:57:18.469] After pose optimization, distance between two frames x:-16.538165 ,z=2059.648834,angle between two frames:1.581722 +[14:39:40.000] Init: frame zero: 0.000000, 0.000000 0.000000 +[14:39:40.000] Init: Selected first frame. +[14:39:40.102] Init: px average disparity is:0.185329 ,While minimum is: 40.000000 KLT tracked : 133 +[14:39:40.102] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:40.197] Init: px average disparity is:0.208402 ,While minimum is: 40.000000 KLT tracked : 133 +[14:39:40.197] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:40.295] Init: px average disparity is:0.224003 ,While minimum is: 40.000000 KLT tracked : 133 +[14:39:40.295] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:40.396] Init: px average disparity is:0.247565 ,While minimum is: 40.000000 KLT tracked : 133 +[14:39:40.396] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:40.495] Init: px average disparity is:0.210998 ,While minimum is: 40.000000 KLT tracked : 133 +[14:39:40.495] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:40.596] Init: px average disparity is:0.219199 ,While minimum is: 40.000000 KLT tracked : 133 +[14:39:40.596] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:40.699] Init: px average disparity is:0.232666 ,While minimum is: 40.000000 KLT tracked : 133 +[14:39:40.699] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:40.806] Init: px average disparity is:0.215697 ,While minimum is: 40.000000 KLT tracked : 133 +[14:39:40.806] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:40.901] Init: px average disparity is:0.234529 ,While minimum is: 40.000000 KLT tracked : 133 +[14:39:40.901] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:41.001] Init: px average disparity is:0.212527 ,While minimum is: 40.000000 KLT tracked : 133 +[14:39:41.001] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:41.103] Init: px average disparity is:0.224120 ,While minimum is: 40.000000 KLT tracked : 133 +[14:39:41.103] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:41.202] Init: px average disparity is:0.229779 ,While minimum is: 40.000000 KLT tracked : 133 +[14:39:41.202] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:41.304] Init: px average disparity is:0.218821 ,While minimum is: 40.000000 KLT tracked : 133 +[14:39:41.304] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:41.403] Init: px average disparity is:0.237569 ,While minimum is: 40.000000 KLT tracked : 133 +[14:39:41.403] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:41.502] Init: px average disparity is:0.220580 ,While minimum is: 40.000000 KLT tracked : 133 +[14:39:41.502] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:41.604] Init: px average disparity is:0.227654 ,While minimum is: 40.000000 KLT tracked : 133 +[14:39:41.604] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:41.703] Init: px average disparity is:0.243743 ,While minimum is: 40.000000 KLT tracked : 133 +[14:39:41.703] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:41.803] Init: px average disparity is:0.229160 ,While minimum is: 40.000000 KLT tracked : 133 +[14:39:41.803] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:41.903] Init: px average disparity is:0.212138 ,While minimum is: 40.000000 KLT tracked : 133 +[14:39:41.903] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:42.004] Init: px average disparity is:0.221515 ,While minimum is: 40.000000 KLT tracked : 133 +[14:39:42.004] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:42.103] Init: px average disparity is:0.240434 ,While minimum is: 40.000000 KLT tracked : 133 +[14:39:42.103] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:42.203] Init: px average disparity is:0.240619 ,While minimum is: 40.000000 KLT tracked : 133 +[14:39:42.203] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:42.304] Init: px average disparity is:0.220091 ,While minimum is: 40.000000 KLT tracked : 133 +[14:39:42.304] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:42.403] Init: px average disparity is:0.206555 ,While minimum is: 40.000000 KLT tracked : 133 +[14:39:42.403] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:42.502] Init: px average disparity is:0.237788 ,While minimum is: 40.000000 KLT tracked : 133 +[14:39:42.503] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:42.605] Init: px average disparity is:0.230328 ,While minimum is: 40.000000 KLT tracked : 133 +[14:39:42.605] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:42.704] Init: px average disparity is:0.213564 ,While minimum is: 40.000000 KLT tracked : 133 +[14:39:42.704] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:42.805] Init: px average disparity is:0.242551 ,While minimum is: 40.000000 KLT tracked : 133 +[14:39:42.805] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:42.905] Init: px average disparity is:0.213061 ,While minimum is: 40.000000 KLT tracked : 133 +[14:39:42.905] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:42.942] Odometry x=0.000073, y=-0.000047, theta=0.046301 +[14:39:43.004] Init: px average disparity is:0.213175 ,While minimum is: 40.000000 KLT tracked : 133 +[14:39:43.004] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:43.039] Odometry x=0.000077, y=-0.000049, theta=0.049072 +[14:39:43.104] Init: px average disparity is:0.198053 ,While minimum is: 40.000000 KLT tracked : 133 +[14:39:43.104] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:43.140] Odometry x=-0.000090, y=-0.007073, theta=0.052186 +[14:39:43.204] Init: px average disparity is:1.706535 ,While minimum is: 40.000000 KLT tracked : 133 +[14:39:43.204] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:43.242] Odometry x=-0.000294, y=-0.015579, theta=0.055455 +[14:39:43.305] Init: px average disparity is:5.913308 ,While minimum is: 40.000000 KLT tracked : 133 +[14:39:43.305] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:43.342] Odometry x=-0.000497, y=-0.023322, theta=0.063975 +[14:39:43.404] Init: px average disparity is:7.600024 ,While minimum is: 40.000000 KLT tracked : 133 +[14:39:43.405] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:43.443] Odometry x=-0.000735, y=-0.031168, theta=0.065573 +[14:39:43.504] Init: px average disparity is:4.836922 ,While minimum is: 40.000000 KLT tracked : 133 +[14:39:43.504] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:43.540] Odometry x=-0.000949, y=-0.038867, theta=0.066221 +[14:39:43.604] Init: px average disparity is:5.126085 ,While minimum is: 40.000000 KLT tracked : 133 +[14:39:43.604] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:43.639] Odometry x=-0.001174, y=-0.046631, theta=0.068697 +[14:39:43.704] Init: px average disparity is:4.011718 ,While minimum is: 40.000000 KLT tracked : 133 +[14:39:43.704] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:43.740] Odometry x=-0.000568, y=-0.054253, theta=0.029856 +[14:39:43.805] Init: px average disparity is:5.430815 ,While minimum is: 40.000000 KLT tracked : 133 +[14:39:43.805] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:43.839] Odometry x=-0.000670, y=-0.062008, theta=0.022954 +[14:39:43.903] Init: px average disparity is:4.012376 ,While minimum is: 40.000000 KLT tracked : 133 +[14:39:43.904] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:43.943] Odometry x=-0.000755, y=-0.069674, theta=0.040510 +[14:39:44.005] Init: px average disparity is:5.852628 ,While minimum is: 40.000000 KLT tracked : 133 +[14:39:44.005] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:44.039] Odometry x=-0.000882, y=-0.077383, theta=0.040857 +[14:39:44.106] Init: px average disparity is:7.048330 ,While minimum is: 40.000000 KLT tracked : 133 +[14:39:44.106] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:44.144] Odometry x=-0.001005, y=-0.084942, theta=0.058147 +[14:39:44.202] Init: px average disparity is:8.609390 ,While minimum is: 40.000000 KLT tracked : 133 +[14:39:44.202] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:44.243] Odometry x=-0.001230, y=-0.092793, theta=0.058409 +[14:39:44.306] Init: px average disparity is:12.060310 ,While minimum is: 40.000000 KLT tracked : 133 +[14:39:44.306] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:44.343] Odometry x=-0.000605, y=-0.100414, theta=0.036758 +[14:39:44.406] Init: px average disparity is:14.992569 ,While minimum is: 40.000000 KLT tracked : 133 +[14:39:44.406] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:44.445] Odometry x=-0.000668, y=-0.108109, theta=0.039273 +[14:39:44.506] Init: px average disparity is:13.134141 ,While minimum is: 40.000000 KLT tracked : 133 +[14:39:44.506] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:44.542] Odometry x=-0.000866, y=-0.115807, theta=0.044441 +[14:39:44.606] Init: px average disparity is:12.380481 ,While minimum is: 40.000000 KLT tracked : 133 +[14:39:44.606] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:44.644] Odometry x=-0.001005, y=-0.123728, theta=0.040934 +[14:39:44.706] Init: px average disparity is:10.697329 ,While minimum is: 40.000000 KLT tracked : 133 +[14:39:44.706] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:44.744] Odometry x=-0.001126, y=-0.131452, theta=0.037257 +[14:39:44.805] Init: px average disparity is:12.349201 ,While minimum is: 40.000000 KLT tracked : 133 +[14:39:44.805] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:44.844] Odometry x=-0.001269, y=-0.139718, theta=0.028283 +[14:39:44.905] Init: px average disparity is:12.975809 ,While minimum is: 40.000000 KLT tracked : 133 +[14:39:44.905] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:44.944] Odometry x=-0.001331, y=-0.147557, theta=0.016902 +[14:39:45.006] Init: px average disparity is:19.088124 ,While minimum is: 40.000000 KLT tracked : 133 +[14:39:45.006] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:45.055] Odometry x=-0.001318, y=-0.156053, theta=-0.000061 +[14:39:45.105] Init: px average disparity is:13.869548 ,While minimum is: 40.000000 KLT tracked : 133 +[14:39:45.106] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:45.145] Odometry x=-0.001219, y=-0.164912, theta=-0.004366 +[14:39:45.205] Init: px average disparity is:13.689438 ,While minimum is: 40.000000 KLT tracked : 133 +[14:39:45.205] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:45.244] Odometry x=-0.001170, y=-0.172057, theta=0.007706 +[14:39:45.306] Init: px average disparity is:9.083336 ,While minimum is: 40.000000 KLT tracked : 133 +[14:39:45.306] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:45.342] Odometry x=-0.001122, y=-0.179753, theta=0.005201 +[14:39:45.405] Init: px average disparity is:9.617094 ,While minimum is: 40.000000 KLT tracked : 133 +[14:39:45.405] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:45.439] Odometry x=-0.001070, y=-0.187426, theta=0.020883 +[14:39:45.505] Init: px average disparity is:9.404863 ,While minimum is: 40.000000 KLT tracked : 132 +[14:39:45.505] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:45.544] Odometry x=-0.001075, y=-0.194857, theta=0.023732 +[14:39:45.605] Init: px average disparity is:10.354295 ,While minimum is: 40.000000 KLT tracked : 132 +[14:39:45.606] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:45.645] Odometry x=-0.001157, y=-0.202590, theta=0.047878 +[14:39:45.708] Init: px average disparity is:11.159064 ,While minimum is: 40.000000 KLT tracked : 132 +[14:39:45.708] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:45.748] Odometry x=-0.001162, y=-0.210553, theta=0.052073 +[14:39:45.805] Init: px average disparity is:9.219696 ,While minimum is: 40.000000 KLT tracked : 132 +[14:39:45.805] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:45.849] Odometry x=-0.001354, y=-0.218274, theta=0.054194 +[14:39:45.905] Init: px average disparity is:11.565565 ,While minimum is: 40.000000 KLT tracked : 132 +[14:39:45.906] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:45.950] Odometry x=-0.001547, y=-0.226020, theta=0.059200 +[14:39:46.005] Init: px average disparity is:13.601034 ,While minimum is: 40.000000 KLT tracked : 132 +[14:39:46.005] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:46.046] Odometry x=-0.001778, y=-0.233790, theta=0.069025 +[14:39:46.106] Init: px average disparity is:14.587497 ,While minimum is: 40.000000 KLT tracked : 132 +[14:39:46.106] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:46.146] Odometry x=-0.000828, y=-0.241318, theta=0.031566 +[14:39:46.207] Init: px average disparity is:15.643374 ,While minimum is: 40.000000 KLT tracked : 132 +[14:39:46.207] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:46.242] Odometry x=-0.000949, y=-0.249031, theta=0.033319 +[14:39:46.306] Init: px average disparity is:16.070990 ,While minimum is: 40.000000 KLT tracked : 132 +[14:39:46.306] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:46.342] Odometry x=-0.001058, y=-0.256472, theta=0.039659 +[14:39:46.407] Init: px average disparity is:16.611615 ,While minimum is: 40.000000 KLT tracked : 132 +[14:39:46.407] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:46.443] Odometry x=-0.001210, y=-0.264163, theta=0.040611 +[14:39:46.507] Init: px average disparity is:18.746639 ,While minimum is: 40.000000 KLT tracked : 132 +[14:39:46.507] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:46.545] Odometry x=-0.001355, y=-0.271821, theta=0.048354 +[14:39:46.607] Init: px average disparity is:21.603493 ,While minimum is: 40.000000 KLT tracked : 132 +[14:39:46.607] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:46.645] Odometry x=-0.001532, y=-0.279696, theta=0.048825 +[14:39:46.707] Init: px average disparity is:19.606999 ,While minimum is: 40.000000 KLT tracked : 132 +[14:39:46.707] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:46.745] Odometry x=-0.001653, y=-0.287487, theta=0.032113 +[14:39:46.808] Init: px average disparity is:18.898368 ,While minimum is: 40.000000 KLT tracked : 132 +[14:39:46.808] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:46.845] Odometry x=-0.001907, y=-0.295152, theta=0.037774 +[14:39:46.908] Init: px average disparity is:18.607698 ,While minimum is: 40.000000 KLT tracked : 131 +[14:39:46.908] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:46.945] Odometry x=-0.002101, y=-0.302878, theta=0.023607 +[14:39:47.010] Init: px average disparity is:19.098517 ,While minimum is: 40.000000 KLT tracked : 131 +[14:39:47.010] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:47.044] Odometry x=-0.002143, y=-0.310596, theta=0.017476 +[14:39:47.108] Init: px average disparity is:21.892323 ,While minimum is: 40.000000 KLT tracked : 131 +[14:39:47.108] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:47.143] Odometry x=-0.002284, y=-0.318600, theta=0.015074 +[14:39:47.209] Init: px average disparity is:21.380715 ,While minimum is: 40.000000 KLT tracked : 131 +[14:39:47.209] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:47.244] Odometry x=-0.002306, y=-0.326423, theta=0.005564 +[14:39:47.308] Init: px average disparity is:22.068395 ,While minimum is: 40.000000 KLT tracked : 126 +[14:39:47.308] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:47.343] Odometry x=-0.002344, y=-0.334164, theta=0.014148 +[14:39:47.408] Init: px average disparity is:22.435534 ,While minimum is: 40.000000 KLT tracked : 126 +[14:39:47.408] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:47.444] Odometry x=-0.002363, y=-0.341910, theta=0.016999 +[14:39:47.508] Init: px average disparity is:20.733564 ,While minimum is: 40.000000 KLT tracked : 126 +[14:39:47.508] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:47.544] Odometry x=-0.002437, y=-0.349761, theta=0.042115 +[14:39:47.608] Init: px average disparity is:21.433349 ,While minimum is: 40.000000 KLT tracked : 126 +[14:39:47.609] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:47.639] Odometry x=-0.002561, y=-0.357214, theta=0.046280 +[14:39:47.709] Init: px average disparity is:21.261774 ,While minimum is: 40.000000 KLT tracked : 126 +[14:39:47.709] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:47.739] Odometry x=-0.002736, y=-0.364920, theta=0.055562 +[14:39:47.809] Init: px average disparity is:23.129382 ,While minimum is: 40.000000 KLT tracked : 126 +[14:39:47.809] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:47.844] Odometry x=-0.002944, y=-0.372576, theta=0.061870 +[14:39:47.909] Init: px average disparity is:21.978819 ,While minimum is: 40.000000 KLT tracked : 126 +[14:39:47.909] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:47.945] Odometry x=-0.003201, y=-0.380548, theta=0.064353 +[14:39:48.009] Init: px average disparity is:22.976098 ,While minimum is: 40.000000 KLT tracked : 126 +[14:39:48.009] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:48.045] Odometry x=-0.003442, y=-0.388404, theta=0.067137 +[14:39:48.108] Init: px average disparity is:21.981422 ,While minimum is: 40.000000 KLT tracked : 126 +[14:39:48.109] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:48.143] Odometry x=-0.003736, y=-0.396396, theta=0.069847 +[14:39:48.208] Init: px average disparity is:24.028336 ,While minimum is: 40.000000 KLT tracked : 126 +[14:39:48.208] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:48.242] Odometry x=-0.001661, y=-0.404062, theta=0.032535 +[14:39:48.312] Init: px average disparity is:22.395056 ,While minimum is: 40.000000 KLT tracked : 126 +[14:39:48.312] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:48.339] Odometry x=-0.001899, y=-0.412004, theta=0.017576 +[14:39:48.398] Init: px average disparity is:23.758734 ,While minimum is: 40.000000 KLT tracked : 126 +[14:39:48.398] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:48.441] Odometry x=-0.001892, y=-0.419530, theta=0.029551 +[14:39:48.498] Init: px average disparity is:22.400473 ,While minimum is: 40.000000 KLT tracked : 126 +[14:39:48.498] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:48.544] Odometry x=-0.002110, y=-0.427735, theta=0.016740 +[14:39:48.608] Init: px average disparity is:24.167842 ,While minimum is: 40.000000 KLT tracked : 123 +[14:39:48.608] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:48.647] Odometry x=-0.002176, y=-0.436086, theta=0.001680 +[14:39:48.708] Init: px average disparity is:24.717937 ,While minimum is: 40.000000 KLT tracked : 123 +[14:39:48.708] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:48.743] Odometry x=-0.002122, y=-0.444176, theta=0.002585 +[14:39:48.808] Init: px average disparity is:27.104673 ,While minimum is: 40.000000 KLT tracked : 123 +[14:39:48.808] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:48.844] Odometry x=-0.002298, y=-0.451787, theta=-0.009837 +[14:39:48.910] Init: px average disparity is:28.645882 ,While minimum is: 40.000000 KLT tracked : 123 +[14:39:48.910] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:48.947] Odometry x=-0.002165, y=-0.459485, theta=-0.017389 +[14:39:49.010] Init: px average disparity is:28.502679 ,While minimum is: 40.000000 KLT tracked : 123 +[14:39:49.010] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:49.042] Odometry x=-0.002172, y=-0.467326, theta=0.000111 +[14:39:49.109] Init: px average disparity is:27.975025 ,While minimum is: 40.000000 KLT tracked : 123 +[14:39:49.109] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:49.142] Odometry x=-0.002104, y=-0.475276, theta=-0.003562 +[14:39:49.211] Init: px average disparity is:27.458201 ,While minimum is: 40.000000 KLT tracked : 123 +[14:39:49.211] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:49.243] Odometry x=-0.002144, y=-0.482659, theta=0.022676 +[14:39:49.309] Init: px average disparity is:26.793379 ,While minimum is: 40.000000 KLT tracked : 123 +[14:39:49.309] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:49.342] Odometry x=-0.002228, y=-0.490629, theta=0.024794 +[14:39:49.412] Init: px average disparity is:26.337731 ,While minimum is: 40.000000 KLT tracked : 123 +[14:39:49.412] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:49.443] Odometry x=-0.002336, y=-0.498369, theta=0.047119 +[14:39:49.511] Init: px average disparity is:27.061674 ,While minimum is: 40.000000 KLT tracked : 123 +[14:39:49.511] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:49.543] Odometry x=-0.002511, y=-0.505931, theta=0.052548 +[14:39:49.610] Init: px average disparity is:26.891156 ,While minimum is: 40.000000 KLT tracked : 123 +[14:39:49.610] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:49.642] Odometry x=-0.002731, y=-0.513615, theta=0.051786 +[14:39:49.711] Init: px average disparity is:27.984972 ,While minimum is: 40.000000 KLT tracked : 123 +[14:39:49.711] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:49.746] Odometry x=-0.002925, y=-0.521278, theta=0.052916 +[14:39:49.812] Init: px average disparity is:27.743960 ,While minimum is: 40.000000 KLT tracked : 123 +[14:39:49.812] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:49.847] Odometry x=-0.003165, y=-0.529327, theta=0.053668 +[14:39:49.912] Init: px average disparity is:28.299451 ,While minimum is: 40.000000 KLT tracked : 121 +[14:39:49.912] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:49.941] Odometry x=-0.003360, y=-0.536995, theta=0.046743 +[14:39:50.014] Init: px average disparity is:28.330781 ,While minimum is: 40.000000 KLT tracked : 121 +[14:39:50.014] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:50.045] Odometry x=-0.003642, y=-0.544852, theta=0.047884 +[14:39:50.113] Init: px average disparity is:29.220252 ,While minimum is: 40.000000 KLT tracked : 121 +[14:39:50.113] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:50.144] Odometry x=-0.003823, y=-0.552844, theta=0.040344 +[14:39:50.214] Init: px average disparity is:31.058063 ,While minimum is: 40.000000 KLT tracked : 121 +[14:39:50.214] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:50.247] Odometry x=-0.004078, y=-0.560624, theta=0.044602 +[14:39:50.313] Init: px average disparity is:30.359679 ,While minimum is: 40.000000 KLT tracked : 121 +[14:39:50.314] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:50.345] Odometry x=-0.004260, y=-0.568394, theta=0.044918 +[14:39:50.412] Init: px average disparity is:33.197778 ,While minimum is: 40.000000 KLT tracked : 121 +[14:39:50.412] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:50.446] Odometry x=-0.004392, y=-0.576059, theta=0.032722 +[14:39:50.511] Init: px average disparity is:32.195577 ,While minimum is: 40.000000 KLT tracked : 121 +[14:39:50.511] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:50.545] Odometry x=-0.004575, y=-0.584052, theta=0.029491 +[14:39:50.615] Init: px average disparity is:36.176916 ,While minimum is: 40.000000 KLT tracked : 121 +[14:39:50.615] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:50.643] Odometry x=-0.004634, y=-0.591597, theta=0.029644 +[14:39:50.712] Init: px average disparity is:33.244501 ,While minimum is: 40.000000 KLT tracked : 121 +[14:39:50.712] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:50.742] Odometry x=-0.004995, y=-0.599196, theta=0.039542 +[14:39:50.811] Init: px average disparity is:35.770948 ,While minimum is: 40.000000 KLT tracked : 121 +[14:39:50.811] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:50.846] Odometry x=-0.005120, y=-0.606761, theta=0.033273 +[14:39:50.912] Init: px average disparity is:34.884663 ,While minimum is: 40.000000 KLT tracked : 121 +[14:39:50.912] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:50.941] Odometry x=-0.005466, y=-0.614965, theta=0.050894 +[14:39:51.010] Init: px average disparity is:34.481505 ,While minimum is: 40.000000 KLT tracked : 121 +[14:39:51.010] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:51.045] Odometry x=-0.005633, y=-0.622455, theta=0.045692 +[14:39:51.112] Init: px average disparity is:33.242450 ,While minimum is: 40.000000 KLT tracked : 121 +[14:39:51.112] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:51.142] Odometry x=-0.005847, y=-0.630161, theta=0.064733 +[14:39:51.209] Init: px average disparity is:33.404843 ,While minimum is: 40.000000 KLT tracked : 121 +[14:39:51.209] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:51.242] Odometry x=-0.002526, y=-0.637612, theta=0.031194 +[14:39:51.310] Init: px average disparity is:33.056189 ,While minimum is: 40.000000 KLT tracked : 121 +[14:39:51.310] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:51.343] Odometry x=-0.002706, y=-0.645082, theta=0.047263 +[14:39:51.412] Init: px average disparity is:33.647945 ,While minimum is: 40.000000 KLT tracked : 121 +[14:39:51.412] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:51.442] Odometry x=-0.002849, y=-0.653071, theta=0.055925 +[14:39:51.501] Init: px average disparity is:34.426186 ,While minimum is: 40.000000 KLT tracked : 115 +[14:39:51.501] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:51.545] Odometry x=-0.003124, y=-0.660942, theta=0.055588 +[14:39:51.620] Init: px average disparity is:33.922031 ,While minimum is: 40.000000 KLT tracked : 115 +[14:39:51.621] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:51.645] Odometry x=-0.003299, y=-0.668752, theta=0.065799 +[14:39:51.705] Init: px average disparity is:34.535187 ,While minimum is: 40.000000 KLT tracked : 111 +[14:39:51.706] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:51.743] Odometry x=-0.003683, y=-0.676683, theta=0.061668 +[14:39:51.801] Init: px average disparity is:34.303472 ,While minimum is: 40.000000 KLT tracked : 111 +[14:39:51.801] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:51.841] Odometry x=-0.003872, y=-0.684038, theta=0.067237 +[14:39:51.906] Init: px average disparity is:35.561634 ,While minimum is: 40.000000 KLT tracked : 111 +[14:39:51.906] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:51.944] Odometry x=-0.004194, y=-0.691693, theta=0.062805 +[14:39:52.002] Init: px average disparity is:37.932930 ,While minimum is: 40.000000 KLT tracked : 110 +[14:39:52.002] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:52.043] Odometry x=-0.004361, y=-0.699357, theta=0.052629 +[14:39:52.101] Init: px average disparity is:38.585193 ,While minimum is: 40.000000 KLT tracked : 110 +[14:39:52.101] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:52.141] Odometry x=-0.004616, y=-0.707201, theta=0.056573 +[14:39:52.243] Odometry x=-0.004762, y=-0.714931, theta=0.032101 +[14:39:52.269] Init: Homography RANSAC (inlier) is:18 ,While 20 inliers minimum required. px average disparity is:41.401150 ,While minimum is: 40.000000 KLT tracked: 109 +[14:39:52.269] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:52.340] Odometry x=-0.004909, y=-0.722483, theta=0.043858 +[14:39:52.366] Init: Homography RANSAC (inlier) is:17 ,While 20 inliers minimum required. px average disparity is:41.470735 ,While minimum is: 40.000000 KLT tracked: 109 +[14:39:52.367] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:52.442] Odometry x=-0.005054, y=-0.730144, theta=0.041831 +[14:39:52.466] Init: Homography RANSAC (inlier) is:18 ,While 20 inliers minimum required. px average disparity is:42.869076 ,While minimum is: 40.000000 KLT tracked: 109 +[14:39:52.466] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[14:39:52.540] Odometry x=-0.005299, y=-0.737801, theta=0.060951 +[14:39:52.575] Init finished: Homography RANSAC (inlier) is:20 ,While 20 inliers minimum required. px average disparity is:40.352081 ,While minimum is: 40.000000 KLT tracked: 109 +[14:39:52.575] Init: distance between the first and current frame is x:-0.005529 ,z=-0.745440,angle between two frames: 0.061551 +[14:39:52.575] Init: Selected Second frame. The number of features: 20 depth mean:2.663866 min:-0.064075 +[14:39:52.642] Odometry x=-0.005481, y=-0.745452, theta=0.056770 +[14:39:52.745] Odometry x=-0.005739, y=-0.753147, theta=0.079563 +[14:39:52.758] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:0 ,distance between two frames x:0.000665 ,z=0.000275,angle between two frames:0.000403 +[14:39:52.758] After pose optimization, distance between two frames x:0.000665 ,z=0.000275,angle between two frames:0.000403 +[14:39:52.763] Image Alignment failed 0 +[14:39:52.842] Odometry x=-0.006027, y=-0.760736, theta=0.095415 +[14:39:52.904] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:2 ,distance between two frames x:0.000000 ,z=-0.000001,angle between two frames:0.000826 +[14:39:52.904] n deleted obs = 0 n obs with reprojection error less than 0.5 px =2 error init =0.369440 error end=0.369440 +[14:39:52.904] After pose optimization, distance between two frames x:0.000000 ,z=-0.000001,angle between two frames:0.000826 +[14:39:52.945] Odometry x=-0.006502, y=-0.768569, theta=0.090263 +[14:39:53.043] Odometry x=-0.006810, y=-0.776321, theta=0.104710 +[14:39:53.077] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:2 ,distance between two frames x:-0.012290 ,z=-0.001171,angle between two frames:0.001293 +[14:39:53.077] n deleted obs = 1 n obs with reprojection error less than 0.5 px =1 error init =0.546946 error end=0.546946 +[14:39:53.077] After pose optimization, distance between two frames x:-0.012290 ,z=-0.001171,angle between two frames:0.001293 +[14:39:53.139] Odometry x=-0.007207, y=-0.784120, theta=0.090475 +[14:39:53.225] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:1 ,distance between two frames x:-0.012411 ,z=-0.001198,angle between two frames:0.007721 +[14:39:53.225] n deleted obs = 2 n obs with reprojection error less than 0.5 px =0 error init =8.664162 error end=0.808703 +[14:39:53.225] After pose optimization, distance between two frames x:0.226604 ,z=-0.548714,angle between two frames:0.190523 +[14:39:53.230] Image Alignment failed 0 +[14:39:53.237] Odometry x=-0.007527, y=-0.791344, theta=0.099909 +[14:39:53.340] Odometry x=-0.007870, y=-0.799047, theta=0.092941 +[14:39:53.366] After Reprojection Map nPoint:18 ,nCell:17 ,nMatches:2 ,distance between two frames x:0.000001 ,z=-0.000001,angle between two frames:0.000148 +[14:39:53.366] n deleted obs = 2 n obs with reprojection error less than 0.5 px =1 error init =2.482774 error end=1.107721 +[14:39:53.366] After pose optimization, distance between two frames x:-0.107962 ,z=0.223237,angle between two frames:0.012658 +[14:39:53.447] Odometry x=-0.008221, y=-0.806649, theta=0.101202 +[14:39:53.510] After Reprojection Map nPoint:19 ,nCell:18 ,nMatches:2 ,distance between two frames x:-0.001056 ,z=0.001067,angle between two frames:0.000405 +[14:39:53.510] n deleted obs = 3 n obs with reprojection error less than 0.5 px =0 error init =76.813859 error end=1.696668 +[14:39:53.510] After pose optimization, distance between two frames x:-125.366061 ,z=59.801038,angle between two frames:3.026605 +[14:39:53.514] Image Alignment failed 0 +[14:39:53.544] Odometry x=-0.008598, y=-0.814791, theta=0.102766 +[14:39:53.645] Odometry x=-0.008981, y=-0.822064, theta=0.101051 +[14:39:53.648] After Reprojection Map nPoint:17 ,nCell:17 ,nMatches:2 ,distance between two frames x:0.000002 ,z=-0.000006,angle between two frames:0.000403 +[14:39:53.648] n deleted obs = 2 n obs with reprojection error less than 0.5 px =1 error init =2.738380 error end=1.133015 +[14:39:53.648] After pose optimization, distance between two frames x:-0.185071 ,z=0.176212,angle between two frames:0.045443 +[14:39:53.742] Odometry x=-0.009297, y=-0.829492, theta=0.091564 +[14:39:53.792] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:3 ,distance between two frames x:0.000714 ,z=-0.007173,angle between two frames:0.000074 +[14:39:53.792] n deleted obs = 3 n obs with reprojection error less than 0.5 px =1 error init =2.467093 error end=2.467093 +[14:39:53.792] After pose optimization, distance between two frames x:0.000714 ,z=-0.007173,angle between two frames:0.000074 +[14:39:53.841] Odometry x=-0.009818, y=-0.837508, theta=0.091771 +[14:39:53.941] Odometry x=-0.010149, y=-0.845091, theta=0.073133 +[14:39:53.985] After Reprojection Map nPoint:18 ,nCell:18 ,nMatches:4 ,distance between two frames x:0.000424 ,z=0.000095,angle between two frames:0.000216 +[14:39:53.985] n deleted obs = 5 n obs with reprojection error less than 0.5 px =1 error init =4.431863 error end=4.431863 +[14:39:53.985] After pose optimization, distance between two frames x:0.000424 ,z=0.000095,angle between two frames:0.000216 +[14:39:54.041] Odometry x=-0.010519, y=-0.852649, theta=0.078428 +[14:39:54.132] After Reprojection Map nPoint:20 ,nCell:17 ,nMatches:4 ,distance between two frames x:-0.001131 ,z=0.000185,angle between two frames:0.000000 +[14:39:54.132] n deleted obs = 6 n obs with reprojection error less than 0.5 px =1 error init =10.919392 error end=1.253776 +[14:39:54.132] After pose optimization, distance between two frames x:-0.820729 ,z=-0.813845,angle between two frames:0.467293 +[14:39:54.143] Odometry x=-0.010840, y=-0.860338, theta=0.079325 +[14:39:54.240] Odometry x=-0.011136, y=-0.868175, theta=0.093272 +[14:39:54.298] After Reprojection Map nPoint:20 ,nCell:17 ,nMatches:3 ,distance between two frames x:0.001945 ,z=0.001828,angle between two frames:0.000545 +[14:39:54.298] n deleted obs = 6 n obs with reprojection error less than 0.5 px =0 error init =5.889976 error end=5.889976 +[14:39:54.298] After pose optimization, distance between two frames x:0.001945 ,z=0.001828,angle between two frames:0.000545 +[14:39:54.302] Image Alignment failed 0 +[14:39:54.343] Odometry x=-0.011483, y=-0.875899, theta=0.088561 +[14:39:54.436] After Reprojection Map nPoint:18 ,nCell:13 ,nMatches:3 ,distance between two frames x:-0.000000 ,z=-0.000001,angle between two frames:0.000784 +[14:39:54.436] n deleted obs = 6 n obs with reprojection error less than 0.5 px =0 error init =5.500385 error end=5.500385 +[14:39:54.436] After pose optimization, distance between two frames x:-0.000000 ,z=-0.000001,angle between two frames:0.000784 +[14:39:54.441] Image Alignment failed 0 +[14:39:54.445] Odometry x=-0.011820, y=-0.883549, theta=0.095503 +[14:39:54.543] Odometry x=-0.012181, y=-0.891278, theta=0.104285 +[14:39:54.577] After Reprojection Map nPoint:19 ,nCell:14 ,nMatches:3 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000908 +[14:39:54.577] n deleted obs = 5 n obs with reprojection error less than 0.5 px =1 error init =4.596979 error end=4.596979 +[14:39:54.577] After pose optimization, distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000908 +[14:39:54.641] Odometry x=-0.012641, y=-0.898903, theta=0.118057 +[14:39:54.726] After Reprojection Map nPoint:19 ,nCell:17 ,nMatches:2 ,distance between two frames x:0.006209 ,z=-0.011249,angle between two frames:0.001108 +[14:39:54.726] n deleted obs = 4 n obs with reprojection error less than 0.5 px =0 error init =13.974532 error end=13.974532 +[14:39:54.726] After pose optimization, distance between two frames x:0.006209 ,z=-0.011249,angle between two frames:0.001108 +[14:39:54.730] Image Alignment failed 0 +[14:39:54.738] Odometry x=-0.013069, y=-0.906203, theta=0.136096 +[14:39:54.840] Odometry x=-0.013595, y=-0.913769, theta=0.135471 +[14:39:54.867] After Reprojection Map nPoint:17 ,nCell:15 ,nMatches:3 ,distance between two frames x:-0.000000 ,z=-0.000003,angle between two frames:0.000426 +[14:39:54.867] n deleted obs = 1 n obs with reprojection error less than 0.5 px =4 error init =3.756207 error end=0.362455 +[14:39:54.867] After pose optimization, distance between two frames x:-0.057239 ,z=0.386516,angle between two frames:0.045041 +[14:39:54.943] Odometry x=-0.014104, y=-0.921419, theta=0.153713 +[14:39:55.015] After Reprojection Map nPoint:17 ,nCell:17 ,nMatches:1 ,distance between two frames x:0.001162 ,z=0.000331,angle between two frames:0.001386 +[14:39:55.015] n deleted obs = 0 n obs with reprojection error less than 0.5 px =1 error init =0.480586 error end=0.480586 +[14:39:55.015] After pose optimization, distance between two frames x:0.001162 ,z=0.000331,angle between two frames:0.001386 +[14:39:55.041] Odometry x=-0.014686, y=-0.929023, theta=0.143992 +[14:39:55.144] Odometry x=-0.015250, y=-0.936760, theta=0.148829 +[14:39:55.160] After Reprojection Map nPoint:17 ,nCell:17 ,nMatches:3 ,distance between two frames x:-0.000371 ,z=0.000063,angle between two frames:0.000006 +[14:39:55.160] n deleted obs = 1 n obs with reprojection error less than 0.5 px =3 error init =4.294341 error end=0.516281 +[14:39:55.160] After pose optimization, distance between two frames x:-0.940055 ,z=1.336447,angle between two frames:0.241051 +[14:39:55.241] Odometry x=-0.015815, y=-0.944362, theta=0.150908 +[14:39:55.309] After Reprojection Map nPoint:16 ,nCell:16 ,nMatches:5 ,distance between two frames x:-0.000647 ,z=-0.000770,angle between two frames:0.000336 +[14:39:55.309] n deleted obs = 9 n obs with reprojection error less than 0.5 px =0 error init =16.234327 error end=6.493717 +[14:39:55.309] After pose optimization, distance between two frames x:-12.297448 ,z=4.668541,angle between two frames:2.932574 +[14:39:55.314] Image Alignment failed 0 +[14:39:55.343] Odometry x=-0.016410, y=-0.952013, theta=0.147834 +[14:39:55.441] Odometry x=-0.016970, y=-0.959577, theta=0.150538 +[14:39:55.450] After Reprojection Map nPoint:21 ,nCell:16 ,nMatches:8 ,distance between two frames x:-0.000000 ,z=-0.000001,angle between two frames:0.000002 +[14:39:55.450] n deleted obs = 14 n obs with reprojection error less than 0.5 px =4 error init =31.365845 error end=1.258134 +[14:39:55.450] After pose optimization, distance between two frames x:2.912012 ,z=-1.473783,angle between two frames:0.627716 +[14:39:55.547] Odometry x=-0.017551, y=-0.967199, theta=0.140694 +[14:39:55.608] After Reprojection Map nPoint:26 ,nCell:18 ,nMatches:12 ,distance between two frames x:0.008984 ,z=0.000234,angle between two frames:0.002050 +[14:39:55.610] n deleted obs = 19 n obs with reprojection error less than 0.5 px =7 error init =24.001543 error end=1.052547 +[14:39:55.610] After pose optimization, distance between two frames x:-1.768182 ,z=-1.574898,angle between two frames:1.593651 +[14:39:55.639] Odometry x=-0.018089, y=-0.974839, theta=0.142694 +[14:39:55.739] Odometry x=-0.018650, y=-0.982335, theta=0.136916 +[14:39:55.752] After Reprojection Map nPoint:26 ,nCell:18 ,nMatches:9 ,distance between two frames x:-0.001623 ,z=-0.000382,angle between two frames:0.000447 +[14:39:55.752] n deleted obs = 24 n obs with reprojection error less than 0.5 px =0 error init =16.322909 error end=3.746595 +[14:39:55.752] After pose optimization, distance between two frames x:0.660175 ,z=-0.130204,angle between two frames:0.302623 +[14:39:55.756] Image Alignment failed 0 +[14:39:55.847] Odometry x=-0.019165, y=-0.989824, theta=0.132060 +[14:39:55.891] After Reprojection Map nPoint:29 ,nCell:21 ,nMatches:15 ,distance between two frames x:-0.000000 ,z=-0.000005,angle between two frames:0.000004 +[14:39:55.892] n deleted obs = 27 n obs with reprojection error less than 0.5 px =9 error init =8.121672 error end=0.962419 +[14:39:55.892] After pose optimization, distance between two frames x:-0.979870 ,z=-1.347535,angle between two frames:0.499638 +[14:39:55.940] Odometry x=-0.019706, y=-0.997882, theta=0.131217 +[14:39:56.042] After Reprojection Map nPoint:36 ,nCell:23 ,nMatches:13 ,distance between two frames x:0.000323 ,z=0.000046,angle between two frames:0.000502 +[14:39:56.043] n deleted obs = 35 n obs with reprojection error less than 0.5 px =0 error init =6.347624 error end=2.203948 +[14:39:56.043] After pose optimization, distance between two frames x:-1.000854 ,z=-0.376933,angle between two frames:0.455387 +[14:39:56.047] Image Alignment failed 0 +[14:39:56.048] Odometry x=-0.020180, y=-1.005102, theta=0.128575 +[14:39:56.155] Odometry x=-0.020699, y=-1.013173, theta=0.125693 +[14:39:56.182] After Reprojection Map nPoint:36 ,nCell:21 ,nMatches:19 ,distance between two frames x:0.000001 ,z=-0.000001,angle between two frames:0.000259 +[14:39:56.183] n deleted obs = 47 n obs with reprojection error less than 0.5 px =0 error init =4.607488 error end=4.607488 +[14:39:56.183] After pose optimization, distance between two frames x:0.000001 ,z=-0.000001,angle between two frames:0.000259 +[14:39:56.187] Image Alignment failed 0 +[14:39:56.240] Odometry x=-0.021224, y=-1.021518, theta=0.130597 +[14:39:56.323] After Reprojection Map nPoint:35 ,nCell:14 ,nMatches:14 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[14:39:56.323] n deleted obs = 36 n obs with reprojection error less than 0.5 px =7 error init =3.015374 error end=1.459080 +[14:39:56.323] After pose optimization, distance between two frames x:-6.727743 ,z=-1.787747,angle between two frames:3.264942 +[14:39:56.353] Odometry x=-0.021654, y=-1.028060, theta=0.137466 +[14:39:56.447] Odometry x=-0.022219, y=-1.036211, theta=0.143696 +[14:39:56.466] After Reprojection Map nPoint:41 ,nCell:19 ,nMatches:16 ,distance between two frames x:-0.001775 ,z=-0.000234,angle between two frames:0.000553 +[14:39:56.466] n deleted obs = 45 n obs with reprojection error less than 0.5 px =0 error init =2.869611 error end=2.679592 +[14:39:56.466] After pose optimization, distance between two frames x:-0.179054 ,z=-0.042700,angle between two frames:0.085092 +[14:39:56.471] Image Alignment failed 0 +[14:39:56.550] Odometry x=-0.022760, y=-1.043691, theta=0.145266 +[14:39:56.606] After Reprojection Map nPoint:41 ,nCell:21 ,nMatches:19 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000071 +[14:39:56.606] n deleted obs = 52 n obs with reprojection error less than 0.5 px =2 error init =2.358094 error end=2.358094 +[14:39:56.606] After pose optimization, distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000071 +[14:39:56.643] Odometry x=-0.023308, y=-1.051191, theta=0.157626 +[14:39:56.742] Odometry x=-0.023885, y=-1.058459, theta=0.175768 +[14:39:56.749] After Reprojection Map nPoint:44 ,nCell:19 ,nMatches:18 ,distance between two frames x:-0.053179 ,z=-0.005545,angle between two frames:0.016666 +[14:39:56.749] n deleted obs = 56 n obs with reprojection error less than 0.5 px =0 error init =2.014217 error end=1.718103 +[14:39:56.749] After pose optimization, distance between two frames x:-4.335391 ,z=-1.007053,angle between two frames:2.068187 +[14:39:56.753] Image Alignment failed 0 +[14:39:56.839] Odometry x=-0.024574, y=-1.066231, theta=0.184773 +[14:39:56.889] After Reprojection Map nPoint:45 ,nCell:24 ,nMatches:23 ,distance between two frames x:-0.000000 ,z=-0.000006,angle between two frames:0.000619 +[14:39:56.889] n deleted obs = 57 n obs with reprojection error less than 0.5 px =6 error init =1.812314 error end=1.812314 +[14:39:56.889] After pose optimization, distance between two frames x:-0.000000 ,z=-0.000006,angle between two frames:0.000619 +[14:39:56.943] Odometry x=-0.025226, y=-1.073242, theta=0.196024 +[14:39:57.034] After Reprojection Map nPoint:46 ,nCell:26 ,nMatches:23 ,distance between two frames x:-0.001342 ,z=-0.000275,angle between two frames:0.000509 +[14:39:57.034] n deleted obs = 58 n obs with reprojection error less than 0.5 px =3 error init =1.955919 error end=1.880284 +[14:39:57.034] After pose optimization, distance between two frames x:-0.242041 ,z=-0.071472,angle between two frames:0.119320 +[14:39:57.042] Odometry x=-0.026035, y=-1.081412, theta=0.194607 +[14:39:57.144] Odometry x=-0.026758, y=-1.088759, theta=0.205084 +[14:39:57.181] After Reprojection Map nPoint:46 ,nCell:25 ,nMatches:21 ,distance between two frames x:0.012526 ,z=0.001235,angle between two frames:0.003952 +[14:39:57.181] n deleted obs = 56 n obs with reprojection error less than 0.5 px =2 error init =1.920665 error end=1.920665 +[14:39:57.181] After pose optimization, distance between two frames x:0.012526 ,z=0.001235,angle between two frames:0.003952 +[14:39:57.244] Odometry x=-0.027482, y=-1.095814, theta=0.207329 +[14:39:57.333] After Reprojection Map nPoint:44 ,nCell:22 ,nMatches:20 ,distance between two frames x:0.068005 ,z=0.024488,angle between two frames:0.022972 +[14:39:57.333] n deleted obs = 53 n obs with reprojection error less than 0.5 px =5 error init =1.944393 error end=1.568995 +[14:39:57.333] After pose optimization, distance between two frames x:-0.155457 ,z=-0.057111,angle between two frames:0.092029 +[14:39:57.343] Odometry x=-0.028332, y=-1.103893, theta=0.198299 +[14:39:57.445] Odometry x=-0.029065, y=-1.111204, theta=0.191761 +[14:39:57.488] After Reprojection Map nPoint:43 ,nCell:25 ,nMatches:21 ,distance between two frames x:0.030628 ,z=0.006958,angle between two frames:0.009617 +[14:39:57.489] n deleted obs = 53 n obs with reprojection error less than 0.5 px =5 error init =1.647059 error end=1.505320 +[14:39:57.489] After pose optimization, distance between two frames x:-0.099183 ,z=-0.047392,angle between two frames:0.059906 +[14:39:57.542] Odometry x=-0.029821, y=-1.118996, theta=0.191705 +[14:39:57.642] Odometry x=-0.030537, y=-1.126401, theta=0.186315 +[14:39:57.654] After Reprojection Map nPoint:46 ,nCell:25 ,nMatches:21 ,distance between two frames x:0.027568 ,z=0.005117,angle between two frames:0.008235 +[14:39:57.657] n deleted obs = 43 n obs with reprojection error less than 0.5 px =18 error init =1.584328 error end=0.758819 +[14:39:57.657] After pose optimization, distance between two frames x:-4.144342 ,z=-6.581484,angle between two frames:1.397233 +[14:39:57.742] Odometry x=-0.031238, y=-1.133918, theta=0.177862 +[14:39:57.801] After Reprojection Map nPoint:48 ,nCell:34 ,nMatches:21 ,distance between two frames x:0.000089 ,z=0.000050,angle between two frames:0.000560 +[14:39:57.802] n deleted obs = 47 n obs with reprojection error less than 0.5 px =4 error init =1.522893 error end=1.500595 +[14:39:57.802] After pose optimization, distance between two frames x:-0.099332 ,z=-0.029300,angle between two frames:0.047244 +[14:39:57.841] Odometry x=-0.031917, y=-1.141489, theta=0.171150 +[14:39:57.942] Odometry x=-0.032555, y=-1.148915, theta=0.169851 +[14:39:57.953] After Reprojection Map nPoint:38 ,nCell:24 ,nMatches:21 ,distance between two frames x:0.051707 ,z=0.008850,angle between two frames:0.015611 +[14:39:57.953] n deleted obs = 46 n obs with reprojection error less than 0.5 px =7 error init =1.463765 error end=1.441660 +[14:39:57.953] After pose optimization, distance between two frames x:-0.046673 ,z=-0.019315,angle between two frames:0.028911 +[14:39:58.044] Odometry x=-0.033223, y=-1.156714, theta=0.173402 +[14:39:58.105] After Reprojection Map nPoint:40 ,nCell:23 ,nMatches:20 ,distance between two frames x:0.001077 ,z=0.000247,angle between two frames:0.000540 +[14:39:58.105] n deleted obs = 49 n obs with reprojection error less than 0.5 px =4 error init =1.424384 error end=1.424384 +[14:39:58.105] After pose optimization, distance between two frames x:0.001077 ,z=0.000247,angle between two frames:0.000540 +[14:39:58.142] Odometry x=-0.033878, y=-1.164183, theta=0.187309 +[14:39:58.242] Odometry x=-0.034587, y=-1.171654, theta=0.197632 +[14:39:58.249] After Reprojection Map nPoint:38 ,nCell:15 ,nMatches:14 ,distance between two frames x:-0.004042 ,z=-0.000837,angle between two frames:0.000472 +[14:39:58.249] n deleted obs = 45 n obs with reprojection error less than 0.5 px =3 error init =1.536511 error end=1.536511 +[14:39:58.249] After pose optimization, distance between two frames x:-0.004042 ,z=-0.000837,angle between two frames:0.000472 +[14:39:58.345] Odometry x=-0.035329, y=-1.179054, theta=0.218004 +[14:39:58.405] After Reprojection Map nPoint:37 ,nCell:22 ,nMatches:21 ,distance between two frames x:0.016644 ,z=0.001806,angle between two frames:0.006182 +[14:39:58.405] n deleted obs = 48 n obs with reprojection error less than 0.5 px =6 error init =1.319769 error end=1.319769 +[14:39:58.405] After pose optimization, distance between two frames x:0.016644 ,z=0.001806,angle between two frames:0.006182 +[14:39:58.443] Odometry x=-0.036196, y=-1.186880, theta=0.229230 +[14:39:58.540] Odometry x=-0.037041, y=-1.194136, theta=0.240208 +[14:39:58.548] After Reprojection Map nPoint:37 ,nCell:25 ,nMatches:21 ,distance between two frames x:-0.002298 ,z=-0.000624,angle between two frames:0.000086 +[14:39:58.548] n deleted obs = 27 n obs with reprojection error less than 0.5 px =26 error init =1.039049 error end=0.631725 +[14:39:58.548] After pose optimization, distance between two frames x:-0.035419 ,z=-0.389782,angle between two frames:0.082284 +[14:39:58.642] Odometry x=-0.037926, y=-1.201388, theta=0.241086 +[14:39:58.692] After Reprojection Map nPoint:41 ,nCell:30 ,nMatches:16 ,distance between two frames x:-0.000750 ,z=-0.000172,angle between two frames:0.000044 +[14:39:58.693] n deleted obs = 32 n obs with reprojection error less than 0.5 px =7 error init =1.078935 error end=1.000526 +[14:39:58.693] After pose optimization, distance between two frames x:-0.039575 ,z=-0.033961,angle between two frames:0.026321 +[14:39:58.745] Odometry x=-0.038860, y=-1.209004, theta=0.238945 +[14:39:58.836] After Reprojection Map nPoint:31 ,nCell:19 ,nMatches:16 ,distance between two frames x:-0.000141 ,z=-0.000151,angle between two frames:0.000144 +[14:39:58.837] n deleted obs = 16 n obs with reprojection error less than 0.5 px =23 error init =1.122569 error end=0.505423 +[14:39:58.837] After pose optimization, distance between two frames x:0.090126 ,z=-0.671843,angle between two frames:0.113215 +[14:39:58.843] Odometry x=-0.039787, y=-1.216630, theta=0.242564 +[14:39:58.943] Odometry x=-0.040683, y=-1.223881, theta=0.239145 +[14:39:58.981] After Reprojection Map nPoint:32 ,nCell:25 ,nMatches:12 ,distance between two frames x:-0.000591 ,z=-0.000185,angle between two frames:0.000213 +[14:39:58.981] n deleted obs = 23 n obs with reprojection error less than 0.5 px =7 error init =1.173093 error end=1.060061 +[14:39:58.981] After pose optimization, distance between two frames x:-0.049936 ,z=-0.049456,angle between two frames:0.027762 +[14:39:59.041] Odometry x=-0.041522, y=-1.230793, theta=0.237868 +[14:39:59.125] After Reprojection Map nPoint:34 ,nCell:22 ,nMatches:16 ,distance between two frames x:-0.000812 ,z=-0.000346,angle between two frames:0.000282 +[14:39:59.125] n deleted obs = 29 n obs with reprojection error less than 0.5 px =14 error init =1.024383 error end=1.019476 +[14:39:59.125] After pose optimization, distance between two frames x:0.196968 ,z=-0.020528,angle between two frames:0.081144 +[14:39:59.138] Odometry x=-0.042494, y=-1.238810, theta=0.234561 +[14:39:59.242] Odometry x=-0.043367, y=-1.246122, theta=0.231528 +[14:39:59.269] After Reprojection Map nPoint:40 ,nCell:23 ,nMatches:12 ,distance between two frames x:-0.000497 ,z=-0.000159,angle between two frames:0.000291 +[14:39:59.269] n deleted obs = 29 n obs with reprojection error less than 0.5 px =11 error init =1.041168 error end=0.787406 +[14:39:59.269] After pose optimization, distance between two frames x:-0.374122 ,z=-0.527941,angle between two frames:0.274728 +[14:39:59.346] Odometry x=-0.044276, y=-1.253844, theta=0.231410 +[14:39:59.420] After Reprojection Map nPoint:32 ,nCell:20 ,nMatches:13 ,distance between two frames x:0.001865 ,z=0.000407,angle between two frames:0.000536 +[14:39:59.420] n deleted obs = 28 n obs with reprojection error less than 0.5 px =9 error init =0.948924 error end=0.847500 +[14:39:59.420] After pose optimization, distance between two frames x:0.099221 ,z=-0.076424,angle between two frames:0.013619 +[14:39:59.441] Odometry x=-0.045173, y=-1.261460, theta=0.229350 +[14:39:59.537] Odometry x=-0.046007, y=-1.268607, theta=0.227867 +[14:39:59.572] After Reprojection Map nPoint:33 ,nCell:21 ,nMatches:17 ,distance between two frames x:0.001828 ,z=0.000181,angle between two frames:0.000399 +[14:39:59.573] n deleted obs = 34 n obs with reprojection error less than 0.5 px =11 error init =0.911571 error end=0.911571 +[14:39:59.573] After pose optimization, distance between two frames x:0.001828 ,z=0.000181,angle between two frames:0.000399 +[14:39:59.573] Update EKF and 3D points, distance between two frames x:0.001626 ,z=-0.000649,angle between two frames:0.000210 +[14:39:59.573] Choose frame as a key frame Scene Depth mean:-0.023769 ,depth min:-0.335643 +[14:39:59.643] Odometry x=-0.044793, y=-1.267240, theta=0.226031 +[14:39:59.722] After Reprojection Map nPoint:54 ,nCell:21 ,nMatches:13 ,distance between two frames x:-0.002443 ,z=-0.005452,angle between two frames:0.001779 +[14:39:59.723] n deleted obs = 36 n obs with reprojection error less than 0.5 px =22 error init =0.839685 error end=0.839685 +[14:39:59.723] After pose optimization, distance between two frames x:-0.002443 ,z=-0.005452,angle between two frames:0.001779 +[14:39:59.723] Update EKF and 3D points, distance between two frames x:-0.002428 ,z=-0.005909,angle between two frames:0.002050 +[14:39:59.723] Choose frame as a key frame Scene Depth mean:-0.224802 ,depth min:-1.584045 +[14:39:59.740] Odometry x=-0.045882, y=-1.270841, theta=0.225146 +[14:39:59.842] Odometry x=-0.046704, y=-1.278033, theta=0.223210 +[14:39:59.877] After Reprojection Map nPoint:65 ,nCell:27 ,nMatches:20 ,distance between two frames x:0.000124 ,z=-0.002722,angle between two frames:0.001753 +[14:39:59.877] n deleted obs = 35 n obs with reprojection error less than 0.5 px =35 error init =0.966024 error end=0.598162 +[14:39:59.877] After pose optimization, distance between two frames x:0.629716 ,z=-0.934388,angle between two frames:0.112607 +[14:39:59.941] Odometry x=-0.047559, y=-1.285572, theta=0.227592 +[14:40:00.030] After Reprojection Map nPoint:69 ,nCell:43 ,nMatches:25 ,distance between two frames x:-0.000547 ,z=-0.000101,angle between two frames:0.000023 +[14:40:00.031] n deleted obs = 45 n obs with reprojection error less than 0.5 px =24 error init =0.814339 error end=0.814339 +[14:40:00.031] After pose optimization, distance between two frames x:-0.000547 ,z=-0.000101,angle between two frames:0.000023 +[14:40:00.031] Update EKF and 3D points, distance between two frames x:-0.000566 ,z=-0.000539,angle between two frames:0.000367 +[14:40:00.031] Choose frame as a key frame Scene Depth mean:-0.148844 ,depth min:-1.710749 +[14:40:00.044] Odometry x=-0.048246, y=-1.288813, theta=0.227072 +[14:40:00.141] Odometry x=-0.049106, y=-1.296257, theta=0.230887 +[14:40:00.187] After Reprojection Map nPoint:62 ,nCell:22 ,nMatches:20 ,distance between two frames x:-0.000149 ,z=-0.002704,angle between two frames:0.002218 +[14:40:00.187] n deleted obs = 45 n obs with reprojection error less than 0.5 px =24 error init =0.882249 error end=0.882249 +[14:40:00.187] After pose optimization, distance between two frames x:-0.000149 ,z=-0.002704,angle between two frames:0.002218 +[14:40:00.187] Update EKF and 3D points, distance between two frames x:-0.000248 ,z=-0.003572,angle between two frames:0.003019 +[14:40:00.187] Choose frame as a key frame Scene Depth mean:-0.307665 ,depth min:-1.605983 +[14:40:00.243] Odometry x=-0.048990, y=-1.295044, theta=0.240543 +[14:40:00.340] Odometry x=-0.049900, y=-1.302473, theta=0.255678 +[14:40:00.351] After Reprojection Map nPoint:68 ,nCell:32 ,nMatches:24 ,distance between two frames x:-0.000239 ,z=-0.000031,angle between two frames:0.000062 +[14:40:00.351] n deleted obs = 60 n obs with reprojection error less than 0.5 px =15 error init =0.962689 error end=0.933272 +[14:40:00.351] After pose optimization, distance between two frames x:0.172750 ,z=-0.079507,angle between two frames:0.062827 +[14:40:00.443] Odometry x=-0.050868, y=-1.309874, theta=0.268073 +[14:40:00.529] After Reprojection Map nPoint:65 ,nCell:26 ,nMatches:21 ,distance between two frames x:0.003458 ,z=0.001380,angle between two frames:0.001029 +[14:40:00.529] n deleted obs = 36 n obs with reprojection error less than 0.5 px =38 error init =0.678374 error end=0.670352 +[14:40:00.529] After pose optimization, distance between two frames x:-0.130182 ,z=-0.062499,angle between two frames:0.069981 +[14:40:00.541] Odometry x=-0.051882, y=-1.317264, theta=0.278435 +[14:40:00.638] Odometry x=-0.052930, y=-1.324634, theta=0.279325 +[14:40:00.692] After Reprojection Map nPoint:70 ,nCell:35 ,nMatches:26 ,distance between two frames x:-0.000211 ,z=-0.000029,angle between two frames:0.000365 +[14:40:00.692] n deleted obs = 38 n obs with reprojection error less than 0.5 px =41 error init =0.663205 error end=0.663205 +[14:40:00.692] After pose optimization, distance between two frames x:-0.000211 ,z=-0.000029,angle between two frames:0.000365 +[14:40:00.692] Update EKF and 3D points, distance between two frames x:-0.000319 ,z=-0.000868,angle between two frames:0.000488 +[14:40:00.692] Choose frame as a key frame Scene Depth mean:-0.268350 ,depth min:-1.563452 +[14:40:00.741] Odometry x=-0.052868, y=-1.323344, theta=0.278635 +[14:40:00.838] Odometry x=-0.053932, y=-1.330795, theta=0.279039 +[14:40:00.859] After Reprojection Map nPoint:72 ,nCell:39 ,nMatches:29 ,distance between two frames x:-0.000697 ,z=-0.005189,angle between two frames:0.000722 +[14:40:00.859] n deleted obs = 46 n obs with reprojection error less than 0.5 px =38 error init =0.694262 error end=0.694262 +[14:40:00.859] After pose optimization, distance between two frames x:-0.000697 ,z=-0.005189,angle between two frames:0.000722 +[14:40:00.859] Update EKF and 3D points, distance between two frames x:-0.000818 ,z=-0.006053,angle between two frames:0.000723 +[14:40:00.860] Choose frame as a key frame Scene Depth mean:-0.350715 ,depth min:-10.007900 +[14:40:00.941] Odometry x=-0.053778, y=-1.329576, theta=0.276042 +[14:40:01.033] After Reprojection Map nPoint:95 ,nCell:44 ,nMatches:32 ,distance between two frames x:-0.000021 ,z=0.000031,angle between two frames:0.000000 +[14:40:01.033] n deleted obs = 85 n obs with reprojection error less than 0.5 px =21 error init =0.927546 error end=0.927546 +[14:40:01.033] After pose optimization, distance between two frames x:-0.000021 ,z=0.000031,angle between two frames:0.000000 +[14:40:01.033] Update EKF and 3D points, distance between two frames x:-0.000125 ,z=-0.000717,angle between two frames:0.000495 +[14:40:01.033] Choose frame as a key frame Scene Depth mean:-0.266712 ,depth min:-0.980981 +[14:40:01.043] Odometry x=-0.053787, y=-1.329523, theta=0.275341 +[14:40:01.141] Odometry x=-0.054835, y=-1.336956, theta=0.274121 +[14:40:01.211] After Reprojection Map nPoint:110 ,nCell:34 ,nMatches:26 ,distance between two frames x:-0.000677 ,z=-0.004620,angle between two frames:0.003178 +[14:40:01.211] n deleted obs = 78 n obs with reprojection error less than 0.5 px =28 error init =0.989883 error end=0.989883 +[14:40:01.211] After pose optimization, distance between two frames x:-0.000677 ,z=-0.004620,angle between two frames:0.003178 +[14:40:01.211] Update EKF and 3D points, distance between two frames x:-0.000797 ,z=-0.005485,angle between two frames:0.003271 +[14:40:01.211] Choose frame as a key frame Scene Depth mean:-0.239743 ,depth min:-1.156850 +[14:40:01.238] Odometry x=-0.054680, y=-1.335728, theta=0.274313 +[14:40:01.341] Odometry x=-0.055691, y=-1.342979, theta=0.271542 +[14:40:01.399] After Reprojection Map nPoint:149 ,nCell:45 ,nMatches:32 ,distance between two frames x:-0.000095 ,z=-0.004996,angle between two frames:0.000480 +[14:40:01.399] n deleted obs = 105 n obs with reprojection error less than 0.5 px =47 error init =0.862812 error end=0.862812 +[14:40:01.399] After pose optimization, distance between two frames x:-0.000095 ,z=-0.004996,angle between two frames:0.000480 +[14:40:01.399] Update EKF and 3D points, distance between two frames x:-0.000253 ,z=-0.005881,angle between two frames:0.000911 +[14:40:01.399] Choose frame as a key frame Scene Depth mean:-0.675315 ,depth min:-8.957657 +[14:40:01.443] Odometry x=-0.055171, y=-1.341748, theta=0.270500 +[14:40:01.541] Odometry x=-0.056191, y=-1.349125, theta=0.265888 +[14:40:01.587] After Reprojection Map nPoint:158 ,nCell:40 ,nMatches:31 ,distance between two frames x:-0.001000 ,z=-0.005460,angle between two frames:0.002833 +[14:40:01.587] n deleted obs = 116 n obs with reprojection error less than 0.5 px =36 error init =0.900479 error end=0.900479 +[14:40:01.587] After pose optimization, distance between two frames x:-0.001000 ,z=-0.005460,angle between two frames:0.002833 +[14:40:01.587] Update EKF and 3D points, distance between two frames x:-0.001117 ,z=-0.006320,angle between two frames:0.003224 +[14:40:01.588] Choose frame as a key frame Scene Depth mean:-0.532341 ,depth min:-3.040338 +[14:40:01.639] Odometry x=-0.056034, y=-1.347927, theta=0.267873 +[14:40:01.737] Odometry x=-0.057014, y=-1.355082, theta=0.278346 +[14:40:01.794] After Reprojection Map nPoint:155 ,nCell:43 ,nMatches:34 ,distance between two frames x:0.001149 ,z=0.000337,angle between two frames:0.000321 +[14:40:01.794] n deleted obs = 123 n obs with reprojection error less than 0.5 px =32 error init =0.979704 error end=0.979704 +[14:40:01.794] After pose optimization, distance between two frames x:0.001149 ,z=0.000337,angle between two frames:0.000321 +[14:40:01.794] Update EKF and 3D points, distance between two frames x:0.000921 ,z=-0.000846,angle between two frames:0.001037 +[14:40:01.794] Choose frame as a key frame Scene Depth mean:-0.647178 ,depth min:-6.123546 +[14:40:01.840] Odometry x=-0.055803, y=-1.350755, theta=0.280807 +[14:40:01.944] Odometry x=-0.056864, y=-1.358140, theta=0.289612 +[14:40:02.008] After Reprojection Map nPoint:153 ,nCell:38 ,nMatches:32 ,distance between two frames x:-0.001149 ,z=-0.007298,angle between two frames:0.004857 +[14:40:02.008] n deleted obs = 89 n obs with reprojection error less than 0.5 px =60 error init =0.801845 error end=0.801845 +[14:40:02.009] After pose optimization, distance between two frames x:-0.001149 ,z=-0.007298,angle between two frames:0.004857 +[14:40:02.009] Update EKF and 3D points, distance between two frames x:-0.001292 ,z=-0.008175,angle between two frames:0.006210 +[14:40:02.009] Choose frame as a key frame Scene Depth mean:-41039.450996 ,depth min:-2462326.176942 +[14:40:02.017] Image Alignment failed 0 +[14:40:02.041] Odometry x=-0.056568, y=-1.357025, theta=0.288540 +[14:40:02.141] Odometry x=-0.057619, y=-1.364284, theta=0.288898 +[14:40:02.226] After Reprojection Map nPoint:136 ,nCell:37 ,nMatches:24 ,distance between two frames x:-0.000887 ,z=-0.005417,angle between two frames:0.008637 +[14:40:02.226] n deleted obs = 92 n obs with reprojection error less than 0.5 px =30 error init =0.882999 error end=0.882999 +[14:40:02.226] After pose optimization, distance between two frames x:-0.000887 ,z=-0.005417,angle between two frames:0.008637 +[14:40:02.226] Update EKF and 3D points, distance between two frames x:-0.001010 ,z=-0.006256,angle between two frames:0.009536 +[14:40:02.226] Choose frame as a key frame Scene Depth mean:-0.487926 ,depth min:-1.184660 +[14:40:02.235] Image Alignment failed 0 +[14:40:02.246] Odometry x=-0.057454, y=-1.363067, theta=0.294499 +[14:40:02.341] Odometry x=-0.058590, y=-1.370555, theta=0.303619 +[14:40:02.445] Odometry x=-0.059712, y=-1.377715, theta=0.322392 +[14:40:02.448] After Reprojection Map nPoint:137 ,nCell:39 ,nMatches:26 ,distance between two frames x:-0.000760 ,z=-0.005189,angle between two frames:0.005858 +[14:40:02.449] n deleted obs = 87 n obs with reprojection error less than 0.5 px =42 error init =0.789799 error end=0.789799 +[14:40:02.449] After pose optimization, distance between two frames x:-0.000760 ,z=-0.005189,angle between two frames:0.005858 +[14:40:02.449] Update EKF and 3D points, distance between two frames x:-0.001072 ,z=-0.007162,angle between two frames:0.007529 +[14:40:02.449] Choose frame as a key frame Scene Depth mean:-0.611580 ,depth min:-2.811884 +[14:40:02.457] Image Alignment failed 0 +[14:40:02.545] Odometry x=-0.059711, y=-1.377252, theta=0.311889 +[14:40:02.644] Odometry x=-0.060964, y=-1.385023, theta=0.323532 +[14:40:02.679] After Reprojection Map nPoint:137 ,nCell:45 ,nMatches:33 ,distance between two frames x:-0.001944 ,z=-0.012182,angle between two frames:0.010954 +[14:40:02.679] n deleted obs = 103 n obs with reprojection error less than 0.5 px =36 error init =0.854694 error end=0.854694 +[14:40:02.679] After pose optimization, distance between two frames x:-0.001944 ,z=-0.012182,angle between two frames:0.010954 +[14:40:02.679] Update EKF and 3D points, distance between two frames x:-0.002084 ,z=-0.013041,angle between two frames:0.012236 +[14:40:02.679] Choose frame as a key frame Scene Depth mean:-0.407666 ,depth min:-2.759307 +[14:40:02.687] Image Alignment failed 0 +[14:40:02.737] Odometry x=-0.060718, y=-1.383445, theta=0.318285 +[14:40:02.840] Odometry x=-0.061868, y=-1.390426, theta=0.317489 +[14:40:02.914] After Reprojection Map nPoint:152 ,nCell:50 ,nMatches:38 ,distance between two frames x:-0.000868 ,z=-0.005312,angle between two frames:0.008297 +[14:40:02.914] n deleted obs = 109 n obs with reprojection error less than 0.5 px =47 error init =0.831854 error end=0.831854 +[14:40:02.914] After pose optimization, distance between two frames x:-0.000868 ,z=-0.005312,angle between two frames:0.008297 +[14:40:02.914] Update EKF and 3D points, distance between two frames x:-0.001006 ,z=-0.006152,angle between two frames:0.008144 +[14:40:02.915] Choose frame as a key frame Scene Depth mean:-0.811778 ,depth min:-4.133976 +[14:40:02.922] Image Alignment failed 0 +[14:40:02.941] Odometry x=-0.061707, y=-1.389427, theta=0.313594 +[14:40:03.045] Odometry x=-0.062918, y=-1.396897, theta=0.311363 +[14:40:03.143] Odometry x=-0.064109, y=-1.404318, theta=0.296326 +[14:40:03.153] After Reprojection Map nPoint:149 ,nCell:38 ,nMatches:32 ,distance between two frames x:-0.000850 ,z=-0.005199,angle between two frames:0.001205 +[14:40:03.153] n deleted obs = 112 n obs with reprojection error less than 0.5 px =38 error init =0.924158 error end=0.880123 +[14:40:03.153] After pose optimization, distance between two frames x:-0.091551 ,z=-0.073285,angle between two frames:0.037630 +[14:40:03.161] Image Alignment failed 0 +[14:40:03.246] Odometry x=-0.065246, y=-1.411773, theta=0.282566 +[14:40:03.344] Odometry x=-0.066322, y=-1.419219, theta=0.273453 +[14:40:03.390] After Reprojection Map nPoint:134 ,nCell:36 ,nMatches:27 ,distance between two frames x:-0.000002 ,z=-0.000010,angle between two frames:0.001281 +[14:40:03.390] n deleted obs = 97 n obs with reprojection error less than 0.5 px =36 error init =0.848964 error end=0.848964 +[14:40:03.390] After pose optimization, distance between two frames x:-0.000002 ,z=-0.000010,angle between two frames:0.001281 +[14:40:03.390] Update EKF and 3D points, distance between two frames x:-0.000126 ,z=-0.000881,angle between two frames:0.002572 +[14:40:03.390] Choose frame as a key frame Scene Depth mean:-0.720915 ,depth min:-4.937716 +[14:40:03.398] Image Alignment failed 0 +[14:40:03.441] Odometry x=-0.066129, y=-1.417983, theta=0.283707 +[14:40:03.544] Odometry x=-0.067145, y=-1.424967, theta=0.283803 +[14:40:03.632] After Reprojection Map nPoint:144 ,nCell:39 ,nMatches:27 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[14:40:03.633] n deleted obs = 99 n obs with reprojection error less than 0.5 px =37 error init =0.851597 error end=0.841506 +[14:40:03.633] After pose optimization, distance between two frames x:-0.135049 ,z=-0.064131,angle between two frames:0.056510 +[14:40:03.642] Odometry x=-0.068264, y=-1.432668, theta=0.279118 +[14:40:03.648] Image Alignment failed 0 +[14:40:03.739] Odometry x=-0.069262, y=-1.439664, theta=0.272923 +[14:40:03.840] Odometry x=-0.070293, y=-1.447029, theta=0.277433 +[14:40:03.882] After Reprojection Map nPoint:129 ,nCell:36 ,nMatches:30 ,distance between two frames x:0.000001 ,z=-0.000000,angle between two frames:0.000672 +[14:40:03.883] n deleted obs = 97 n obs with reprojection error less than 0.5 px =38 error init =0.876247 error end=0.811748 +[14:40:03.883] After pose optimization, distance between two frames x:-0.115925 ,z=-0.118655,angle between two frames:0.034864 +[14:40:03.942] Odometry x=-0.071338, y=-1.454382, theta=0.282453 +[14:40:04.039] Odometry x=-0.072406, y=-1.461765, theta=0.281098 +[14:40:04.134] After Reprojection Map nPoint:132 ,nCell:43 ,nMatches:29 ,distance between two frames x:0.000460 ,z=0.000259,angle between two frames:0.000495 +[14:40:04.134] n deleted obs = 74 n obs with reprojection error less than 0.5 px =52 error init =0.725685 error end=0.662887 +[14:40:04.134] After pose optimization, distance between two frames x:0.065674 ,z=-0.100691,angle between two frames:0.017313 +[14:40:04.147] Odometry x=-0.073467, y=-1.469123, theta=0.280620 +[14:40:04.156] Image Alignment failed 0 +[14:40:04.240] Odometry x=-0.074597, y=-1.476976, theta=0.291307 +[14:40:04.338] Odometry x=-0.075651, y=-1.484021, theta=0.299511 +[14:40:04.392] After Reprojection Map nPoint:130 ,nCell:44 ,nMatches:30 ,distance between two frames x:-0.000000 ,z=-0.000001,angle between two frames:0.000288 +[14:40:04.392] n deleted obs = 81 n obs with reprojection error less than 0.5 px =47 error init =0.731011 error end=0.731011 +[14:40:04.392] After pose optimization, distance between two frames x:-0.000000 ,z=-0.000001,angle between two frames:0.000288 +[14:40:04.392] Update EKF and 3D points, distance between two frames x:-0.000190 ,z=-0.001278,angle between two frames:0.001475 +[14:40:04.392] Choose frame as a key frame Scene Depth mean:-0.698217 ,depth min:-2.950252 +[14:40:04.441] Odometry x=-0.074832, y=-1.478286, theta=0.293689 +[14:40:04.542] Odometry x=-0.075933, y=-1.485605, theta=0.304527 +[14:40:04.642] After Reprojection Map nPoint:130 ,nCell:44 ,nMatches:34 ,distance between two frames x:-0.001436 ,z=-0.007963,angle between two frames:0.007572 +[14:40:04.643] n deleted obs = 69 n obs with reprojection error less than 0.5 px =64 error init =0.782450 error end=0.627675 +[14:40:04.643] After pose optimization, distance between two frames x:-0.234300 ,z=-0.491710,angle between two frames:0.042496 +[14:40:04.645] Odometry x=-0.077122, y=-1.493169, theta=0.316373 +[14:40:04.651] Image Alignment failed 0 +[14:40:04.743] Odometry x=-0.078334, y=-1.500577, theta=0.319593 +[14:40:04.842] Odometry x=-0.079565, y=-1.508037, theta=0.311466 +[14:40:04.894] After Reprojection Map nPoint:137 ,nCell:42 ,nMatches:29 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[14:40:04.894] n deleted obs = 100 n obs with reprojection error less than 0.5 px =26 error init =0.912627 error end=0.912627 +[14:40:04.894] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[14:40:04.894] Update EKF and 3D points, distance between two frames x:-0.000208 ,z=-0.001274,angle between two frames:0.000534 +[14:40:04.902] Image Alignment failed 0 +[14:40:04.949] Odometry x=-0.078616, y=-1.502324, theta=0.310996 +[14:40:05.040] Odometry x=-0.079857, y=-1.510048, theta=0.309273 +[14:40:05.143] After Reprojection Map nPoint:104 ,nCell:41 ,nMatches:29 ,distance between two frames x:-0.001285 ,z=-0.007877,angle between two frames:0.003287 +[14:40:05.143] Odometry x=-0.080923, y=-1.516731, theta=0.301604 +[14:40:05.144] n deleted obs = 77 n obs with reprojection error less than 0.5 px =31 error init =0.812999 error end=0.810011 +[14:40:05.144] After pose optimization, distance between two frames x:-0.056436 ,z=-0.029095,angle between two frames:0.022110 +[14:40:05.153] Image Alignment failed 0 +[14:40:05.242] Odometry x=-0.082093, y=-1.524254, theta=0.294961 +[14:40:05.340] Odometry x=-0.083212, y=-1.531627, theta=0.295163 +[14:40:05.403] After Reprojection Map nPoint:104 ,nCell:35 ,nMatches:24 ,distance between two frames x:-0.001167 ,z=-0.007500,angle between two frames:0.000021 +[14:40:05.403] n deleted obs = 53 n obs with reprojection error less than 0.5 px =49 error init =0.599454 error end=0.599454 +[14:40:05.403] After pose optimization, distance between two frames x:-0.001167 ,z=-0.007500,angle between two frames:0.000021 +[14:40:05.403] Update EKF and 3D points, distance between two frames x:-0.001297 ,z=-0.008360,angle between two frames:0.000407 +[14:40:05.404] Choose frame as a key frame Scene Depth mean:-1.119567 ,depth min:-9.272885 +[14:40:05.411] Image Alignment failed 0 +[14:40:05.443] Odometry x=-0.083028, y=-1.530405, theta=0.311270 +[14:40:05.544] Odometry x=-0.084197, y=-1.537669, theta=0.318060 +[14:40:05.640] Odometry x=-0.085410, y=-1.545047, theta=0.323489 +[14:40:05.662] After Reprojection Map nPoint:78 ,nCell:37 ,nMatches:20 ,distance between two frames x:-0.000808 ,z=-0.005314,angle between two frames:0.003058 +[14:40:05.662] n deleted obs = 40 n obs with reprojection error less than 0.5 px =29 error init =0.686001 error end=0.686001 +[14:40:05.662] After pose optimization, distance between two frames x:-0.000808 ,z=-0.005314,angle between two frames:0.003058 +[14:40:05.662] Update EKF and 3D points, distance between two frames x:-0.001017 ,z=-0.006588,angle between two frames:0.004314 +[14:40:05.662] Choose frame as a key frame Scene Depth mean:-0.682707 ,depth min:-3.444722 +[14:40:05.741] Odometry x=-0.084532, y=-1.539560, theta=0.322658 +[14:40:05.932] After Reprojection Map nPoint:83 ,nCell:41 ,nMatches:27 ,distance between two frames x:-0.002364 ,z=-0.008719,angle between two frames:0.007925 +[14:40:05.932] n deleted obs = 54 n obs with reprojection error less than 0.5 px =24 error init =0.764059 error end=0.764059 +[14:40:05.932] After pose optimization, distance between two frames x:-0.002364 ,z=-0.008719,angle between two frames:0.007925 +[14:40:05.932] Update EKF and 3D points, distance between two frames x:-0.002373 ,z=-0.009096,angle between two frames:0.009834 +[14:40:05.932] Choose frame as a key frame Scene Depth mean:-1.193535 ,depth min:-9.235445 +[14:40:06.225] After Reprojection Map nPoint:64 ,nCell:39 ,nMatches:26 ,distance between two frames x:0.000448 ,z=-0.002459,angle between two frames:0.012330 +[14:40:06.226] n deleted obs = 54 n obs with reprojection error less than 0.5 px =16 error init =0.829118 error end=0.829118 +[14:40:06.226] After pose optimization, distance between two frames x:0.000448 ,z=-0.002459,angle between two frames:0.012330 +[14:40:06.226] Update EKF and 3D points, distance between two frames x:0.000418 ,z=-0.002459,angle between two frames:0.014490 +[14:40:06.510] After Reprojection Map nPoint:63 ,nCell:35 ,nMatches:26 ,distance between two frames x:-0.000559 ,z=-0.000313,angle between two frames:0.013410 +[14:40:06.511] n deleted obs = 40 n obs with reprojection error less than 0.5 px =32 error init =0.727074 error end=0.701580 +[14:40:06.511] After pose optimization, distance between two frames x:-0.064228 ,z=-0.068465,angle between two frames:0.013626 +[14:40:06.519] Image Alignment failed 0 +[14:40:06.769] After Reprojection Map nPoint:47 ,nCell:24 ,nMatches:12 ,distance between two frames x:0.000005 ,z=0.000004,angle between two frames:0.001551 +[14:40:06.770] n deleted obs = 25 n obs with reprojection error less than 0.5 px =12 error init =0.782176 error end=0.755124 +[14:40:06.770] After pose optimization, distance between two frames x:-0.088277 ,z=-0.069742,angle between two frames:0.036866 +[14:40:07.039] After Reprojection Map nPoint:49 ,nCell:30 ,nMatches:20 ,distance between two frames x:0.000045 ,z=-0.000150,angle between two frames:0.000143 +[14:40:07.039] n deleted obs = 31 n obs with reprojection error less than 0.5 px =24 error init =0.710368 error end=0.710368 +[14:40:07.039] After pose optimization, distance between two frames x:0.000045 ,z=-0.000150,angle between two frames:0.000143 +[14:40:07.039] Update EKF and 3D points, distance between two frames x:0.000042 ,z=-0.000146,angle between two frames:0.000620 +[14:40:07.039] Choose frame as a key frame Scene Depth mean:-1.177766 ,depth min:-8.986634 +[14:40:07.047] Image Alignment failed 0 +[14:40:07.300] After Reprojection Map nPoint:54 ,nCell:30 ,nMatches:18 ,distance between two frames x:-0.000021 ,z=0.000027,angle between two frames:0.003045 +[14:40:07.301] n deleted obs = 33 n obs with reprojection error less than 0.5 px =21 error init =0.731101 error end=0.717928 +[14:40:07.301] After pose optimization, distance between two frames x:-0.055643 ,z=-0.040445,angle between two frames:0.018183 +[14:40:07.310] Image Alignment failed 0 +[14:40:07.575] After Reprojection Map nPoint:59 ,nCell:29 ,nMatches:16 ,distance between two frames x:-0.000000 ,z=-0.000001,angle between two frames:0.000157 +[14:40:07.576] n deleted obs = 34 n obs with reprojection error less than 0.5 px =19 error init =0.685237 error end=0.680899 +[14:40:07.576] After pose optimization, distance between two frames x:-0.055357 ,z=-0.023770,angle between two frames:0.020767 +[14:40:07.583] Image Alignment failed 0 +[14:40:07.839] After Reprojection Map nPoint:56 ,nCell:28 ,nMatches:21 ,distance between two frames x:-0.000000 ,z=-0.000001,angle between two frames:0.000151 +[14:40:07.839] n deleted obs = 35 n obs with reprojection error less than 0.5 px =29 error init =0.662670 error end=0.636777 +[14:40:07.839] After pose optimization, distance between two frames x:0.075565 ,z=-0.064457,angle between two frames:0.017241 +[14:40:07.847] Image Alignment failed 0 +[14:40:08.097] After Reprojection Map nPoint:63 ,nCell:34 ,nMatches:25 ,distance between two frames x:-0.000000 ,z=-0.000001,angle between two frames:0.000148 +[14:40:08.097] n deleted obs = 37 n obs with reprojection error less than 0.5 px =33 error init =0.757998 error end=0.716845 +[14:40:08.097] After pose optimization, distance between two frames x:-0.177160 ,z=-0.124812,angle between two frames:0.064448 +[14:40:08.105] Image Alignment failed 0 +[14:40:08.355] After Reprojection Map nPoint:63 ,nCell:29 ,nMatches:18 ,distance between two frames x:-0.000000 ,z=-0.000001,angle between two frames:0.000151 +[14:40:08.355] n deleted obs = 36 n obs with reprojection error less than 0.5 px =23 error init =0.672690 error end=0.667118 +[14:40:08.355] After p \ No newline at end of file diff --git a/GPU_version/vio/include/vio/frame.h b/GPU_version/vio/include/vio/frame.h index 06c8d29..70fa205 100644 --- a/GPU_version/vio/include/vio/frame.h +++ b/GPU_version/vio/include/vio/frame.h @@ -212,7 +212,7 @@ namespace vio { void createImgPyramid(const cv::Mat& img_level_0, int n_levels, ImgPyr& pyr); /// Get the average depth of the features in the image. - bool getSceneDepth(const Frame& frame, double& depth_mean, double& depth_min); + bool getSceneDepth(const FramePtr frame, double& depth_mean, double& depth_min); } // namespace frame_utils } // namespace vio diff --git a/GPU_version/vio/include/vio/ukf.h b/GPU_version/vio/include/vio/ukf.h index 563b0a7..b02f552 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)+2.0*dt*(dy*cos(state_(2))-dx*sin(state_(2))); state_h_(0)=state_(0)+dt*(dx*cos(state_(2))+dy*sin(state_(2))); Eigen::Matrix R; R< G; G<<1.0,0,dt*(-dx*sin(state_(2))+dy*cos(state_(2))), - 0,1.0,dt*(-dy*sin(state_(2))-dx*cos(state_(2))), + 0,1.0,2.0*dt*(-dy*sin(state_(2))-dx*cos(state_(2))), 0,0,1.0; cov_h_=G*cov_*G.transpose()+R; } @@ -54,19 +54,19 @@ public: Eigen::Matrix E; Eigen::Matrix k; H<<1.0,0,pow(dt,2)*(ddy*cos(state_(2))-ddx*sin(state_(2))), - 0,1.0,-pow(dt,2)*(ddx*cos(state_(2))+ddy*sin(state_(2))), + 0,1.0,-2.0*pow(dt,2)*(ddx*cos(state_(2))+ddy*sin(state_(2))), 0,0,1.0; Q< R; R< G; G<<1.0,0,pow(dt,2)*(ddy*cos(state_(2))-ddx*sin(state_(2))), - 0,1.0,-pow(dt,2)*(ddx*cos(state_(2))+ddy*sin(state_(2))), + 0,1.0,-2.0*pow(dt,2)*(ddx*cos(state_(2))+ddy*sin(state_(2))), 0,0,1.0; cov_h_=G*cov_*G.transpose()+R; @@ -114,8 +114,8 @@ public: }; void UpdateIMU(double x/*in imu frame*/,double y/*in imu frame*/,double theta/*in imu frame*/,const ros::Time& time) { if(!start_)return; - /*x=pow(x,3);//picked up from your code - y=pow(y,3);//picked up from your code*/ + 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 boost::unique_lock lock(ekf_mut_); filter_->correct(x,y,theta,1e-9*time.toNSec()); }; diff --git a/GPU_version/vio/src/frame.cpp b/GPU_version/vio/src/frame.cpp index 64520cb..9802022 100644 --- a/GPU_version/vio/src/frame.cpp +++ b/GPU_version/vio/src/frame.cpp @@ -171,22 +171,19 @@ void createImgPyramid(const cv::Mat& img_level_0, int n_levels, ImgPyr& pyr) } } -bool getSceneDepth(const Frame& frame, double& depth_mean, double& depth_min) +bool getSceneDepth(const FramePtr frame, double& depth_mean, double& depth_min) { vector depth_vec; //depth_vec.reserve(frame.fts_.size()); depth_min = std::numeric_limits::max(); - for(auto it=frame.fts_.begin(), ite=frame.fts_.end(); it!=ite; ++it) + for(auto it=frame->fts_.begin(), ite=frame->fts_.end(); it!=ite; ++it) { if((*it)->point != NULL) { - double z = frame.w2f((*it)->point->pos_).z(); - if(z>0 && z<20.0){ + double z = frame->w2f((*it)->point->pos_).z(); depth_vec.push_back(z); depth_min = fmin(z, depth_min); - }else{ - (*it)->point.reset(); - } + } } if(depth_vec.empty()) diff --git a/GPU_version/vio/src/frame_handler_mono.cpp b/GPU_version/vio/src/frame_handler_mono.cpp index ca00677..615ee89 100644 --- a/GPU_version/vio/src/frame_handler_mono.cpp +++ b/GPU_version/vio/src/frame_handler_mono.cpp @@ -161,16 +161,17 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processSecondFrame() } new_frame_->setKeyframe(); double depth_mean, depth_min; - frame_utils::getSceneDepth(*new_frame_, 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(klt_homography_init_->frame_ref_, depth_mean, depth_min); + depth_filter_->addKeyframe(klt_homography_init_->frame_ref_, depth_mean, 0.5*depth_min); // add frame to map map_.addKeyframe(new_frame_); stage_ = STAGE_DEFAULT_FRAME; klt_homography_init_->reset(); #if VIO_DEBUG - fprintf(log_,"[%s] Init: Selected Second frame. \t The number of features: %d\n",vio::time_in_HH_MM_SS_MMM().c_str(),new_frame_->fts_.size()); + fprintf(log_,"[%s] Init: Selected Second frame. \t The number of features: %d depth mean:%f min:%f\n", + vio::time_in_HH_MM_SS_MMM().c_str(),new_frame_->fts_.size(),depth_mean,depth_min); #endif return RESULT_IS_KEYFRAME; } @@ -225,7 +226,7 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame() 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())); #endif - if((last_frame_->T_f_w_.se2().translation()-new_frame_->T_f_w_.se2().translation()).norm()>0.005 || + if((last_frame_->T_f_w_.se2().translation()-new_frame_->T_f_w_.se2().translation()).norm()>0.05 || fabs(new_frame_->T_f_w_.pitch()-last_frame_->T_f_w_.pitch())>M_PI_2 || sfba_n_edges_final < Config::qualityMinFts()){ auto init_f= ukfPtr_.get_location(); new_frame_->T_f_w_=init_f.second; @@ -257,7 +258,7 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame() } double depth_mean, depth_min; - frame_utils::getSceneDepth(*new_frame_, depth_mean, depth_min); + frame_utils::getSceneDepth(new_frame_, depth_mean, depth_min); if(!needNewKf(depth_mean))//edited {