参考DSO初探

其中Pangolin安装的时候could not find GLEW，参考这里

libx11-dev libxmu-dev libglu1-mesa-dev libgl2ps-dev libxi-dev g++ libzip-dev libpng12-dev libcurl4-gnutls-dev libfontconfig1-dev libsqlite3-dev libglew*-dev libssl-dev

有的装了，有的没有装，反正再装一次。

另外Pangolin里的cmake --build .改成cmake --build ./

DSO安装顺利

大笔记本还没装ros，先试一下数据集，用EuRoC里的一只眼

进入dso/build/bin目录

cp /media/s/新加卷/share/Euroc/MH01/cam0/sensor.yaml ./camera.txt

gedit camera.txt    改成DSO初探里一样的格式就行了

./dso_dataset files=/media/s/新加卷/share/Euroc/MH01/cam0/data/ calib=./camera.txt mode=1

就可以看到运行状态了，大笔记本风扇也开始呼呼的转，试着把PC mode从1改成4,帧率从十几一下飙到六十多，虽然后来又慢到三四十。

打印一堆信息：

 LOG 3515: 6.494 fine. Res: 11409 A, 0 L, 1545535 M; (379951 / 497845) forceDrop. a=-0.411063, b=20.404273. Window 599 (7)

 Coarse Tracker tracked ab = -0.439150 21.756347 (exp 1.000000). Res 4.520759!

 Coarse Tracker tracked ab = -0.442950 21.824893 (exp 1.000000). Res 5.100926!

 Coarse Tracker tracked ab = -0.447521 22.172793 (exp 1.000000). Res 5.635111!

 Coarse Tracker tracked ab = -0.482409 21.329564 (exp 1.000000). Res 5.915498!

 Coarse Tracker tracked ab = -0.482681 21.348590 (exp 1.000000). Res 6.359708!

 Coarse Tracker tracked ab = -0.488281 21.571762 (exp 1.000000). Res 6.806852!

 Coarse Tracker tracked ab = -0.486420 21.539310 (exp 1.000000). Res 7.015682!

 SPARSITY:  MinActDist 0.000000 (need 2000 points, have 1948 points)!

 OPTIMIZE 2964 pts, 11848 active res, 0 lin res!

 Initial Error           A(4041063.572128)=(AV 6.654). Num: A(11409) + M(1545535); ab -0.486420 21.539310!

 STEPS: A 1.4; B 7.5; R 1.8; T 4.3.     ACCEPT 0 (L -1.00, dir nan, ss 1.0):     A(3905155.109453)=(AV 6.623). Num: A(11127) + M(1545535); ab -0.466524 20.396908!

 STEPS: A 0.5; B 1.4; R 0.7; T 2.6.     ACCEPT 1 (L -1.60, dir 0.79, ss 1.0):     A(3857559.268340)=(AV 6.552). Num: A(11233) + M(1545535); ab -0.459890 20.204327!

 STEPS: A 0.2; B 0.5; R 0.2; T 0.2.     ACCEPT 2 (L -2.20, dir 0.44, ss 1.0):     A(3851105.804031)=(AV 6.547). Num: A(11231) + M(1545535); ab -0.457761 20.162762!

 LOG 3522: 6.547 fine. Res: 11231 A, 0 L, 1548292 M; (380140 / 499341) forceDrop. a=-0.457761, b=20.162761. Window 606 (7)

 Coarse Tracker tracked ab = -0.482468 21.349888 (exp 1.000000). Res 4.527213!

 Coarse Tracker tracked ab = -0.485080 21.429837 (exp 1.000000). Res 4.919219!

 Coarse Tracker tracked ab = -0.486855 21.467365 (exp 1.000000). Res 5.456377!

 Coarse Tracker tracked ab = -0.484017 21.346011 (exp 1.000000). Res 5.654254!

 Coarse Tracker tracked ab = -0.492589 21.590215 (exp 1.000000). Res 6.190560!

 Coarse Tracker tracked ab = -0.488271 21.403911 (exp 1.000000). Res 6.402214!

 Coarse Tracker tracked ab = -0.490001 21.438879 (exp 1.000000). Res 6.682506!

 Coarse Tracker tracked ab = -0.493538 21.607911 (exp 1.000000). Res 7.023437!

 SPARSITY:  MinActDist 0.100000 (need 2000 points, have 2118 points)!

 OPTIMIZE 3091 pts, 12032 active res, 0 lin res!

 Initial Error           A(4191638.442813)=(AV 6.830). Num: A(11231) + M(1548292); ab -0.493538 21.607912!

 STEPS: A 1.7; B 9.6; R 1.2; T 2.6.     ACCEPT 0 (L -1.00, dir nan, ss 1.0):     A(4069716.243623)=(AV 6.730). Num: A(11230) + M(1548292); ab -0.470659 20.313332!

 STEPS: A 0.7; B 2.1; R 0.4; T 1.0.     ACCEPT 1 (L -1.60, dir 0.92, ss 1.0):     A(3994668.576166)=(AV 6.618). Num: A(11400) + M(1548292); ab -0.461625 20.046017!

 STEPS: A 0.3; B 0.7; R 0.2; T 0.4.     ACCEPT 2 (L -2.20, dir 0.88, ss 1.0):     A(3982943.163990)=(AV 6.616). Num: A(11373) + M(1548292); ab -0.458368 19.978136!

 LOG 3530: 6.615 fine. Res: 11373 A, 0 L, 1551570 M; (380327 / 500760) forceDrop. a=-0.458368, b=19.978135. Window 614 (7)

 Coarse Tracker tracked ab = -0.515360 20.203885 (exp 1.000000). Res 4.491930!

 Coarse Tracker tracked ab = -0.516320 20.332697 (exp 1.000000). Res 4.986600!

 Coarse Tracker tracked ab = -0.518035 20.302591 (exp 1.000000). Res 5.439945!

 Coarse Tracker tracked ab = -0.560864 19.631352 (exp 1.000000). Res 5.951073!

 Coarse Tracker tracked ab = -0.566610 19.783823 (exp 1.000000). Res 6.350681!

 Coarse Tracker tracked ab = -0.566989 19.847650 (exp 1.000000). Res 6.843104!

 SPARSITY:  MinActDist 0.200000 (need 2000 points, have 2057 points)!

 OPTIMIZE 3043 pts, 11540 active res, 0 lin res!

 Initial Error           A(3999803.778278)=(AV 6.630). Num: A(11373) + M(1551570); ab -0.566989 19.847651!

 STEPS: A 1.2; B 7.2; R 1.2; T 2.7.     ACCEPT 0 (L -1.00, dir nan, ss 1.0):     A(3902951.617964)=(AV 6.742). Num: A(10734) + M(1551570); ab -0.554572 18.929129!

 STEPS: A 0.5; B 1.2; R 0.3; T 0.8.     ACCEPT 1 (L -1.60, dir 0.71, ss 1.0):     A(3843418.948927)=(AV 6.642). Num: A(10891) + M(1551570); ab -0.548741 18.809622!

 STEPS: A 0.2; B 0.5; R 0.2; T 0.2.     ACCEPT 2 (L -2.20, dir 0.75, ss 1.0):     A(3836312.187649)=(AV 6.644). Num: A(10863) + M(1551570); ab -0.546877 18.749277!

 LOG 3536: 6.643 fine. Res: 10863 A, 0 L, 1551874 M; (380441 / 501833) forceDrop. a=-0.546877, b=18.749277. Window 620 (7)

 Coarse Tracker tracked ab = -0.533565 20.650096 (exp 1.000000). Res 4.692057!

 Coarse Tracker tracked ab = -0.536723 20.801608 (exp 1.000000). Res 5.615653!

 Coarse Tracker tracked ab = -0.539632 20.801419 (exp 1.000000). Res 6.027147!

 Coarse Tracker tracked ab = -0.542036 20.870434 (exp 1.000000). Res 6.791760!

 Coarse Tracker tracked ab = -0.544538 20.939407 (exp 1.000000). Res 7.168687!

 Coarse Tracker tracked ab = -0.544391 20.970498 (exp 1.000000). Res 7.578021!

 Coarse Tracker tracked ab = -0.549414 20.995232 (exp 1.000000). Res 7.906918!

 SPARSITY:  MinActDist 1.000000 (need 2000 points, have 2870 points)!

 OPTIMIZE 3552 pts, 14327 active res, 0 lin res!

 Initial Error           A(4746337.184407)=(AV 7.390). Num: A(10863) + M(1551874); ab -0.549414 20.995232!

 STEPS: A 1.0; B 8.0; R 1.7; T 3.3.     REJECT 0 (L -1.00, dir nan, ss 1.0):     A(4868718.195650)=(AV 6.807). Num: A(13136) + M(1551874); ab -0.543385 19.870882!

 STEPS: A 0.3; B 0.9; R 0.4; T 1.3.     ACCEPT 1 (L -1.60, dir 0.60, ss 1.0):     A(4803798.852629)=(AV 6.690). Num: A(13418) + M(1551874); ab -0.540971 19.803959!

 STEPS: A 0.1; B 0.4; R 0.3; T 0.4.     ACCEPT 2 (L -2.20, dir 0.39, ss 1.0):     A(4754081.077807)=(AV 6.658). Num: A(13405) + M(1551874); ab -0.539149 19.745584!

 LOG 3543: 6.655 fine. Res: 13405 A, 0 L, 1555304 M; (381348 / 502919) forceDrop. a=-0.539149, b=19.745585. Window 627 (7)

 Coarse Tracker tracked ab = -0.565013 21.428502 (exp 1.000000). Res 5.272741!

 Coarse Tracker tracked ab = -0.568845 21.425267 (exp 1.000000). Res 5.833981!

 Coarse Tracker tracked ab = -0.570378 21.592566 (exp 1.000000). Res 6.345471!

 Coarse Tracker tracked ab = -0.573043 21.512337 (exp 1.000000). Res 6.712543!

 Coarse Tracker tracked ab = -0.572301 21.470545 (exp 1.000000). Res 7.040757!

 Coarse Tracker tracked ab = -0.577477 21.639466 (exp 1.000000). Res 7.419428!

 Coarse Tracker tracked ab = -0.578413 21.663325 (exp 1.000000). Res 7.723998!

 SPARSITY:  MinActDist 1.300000 (need 2000 points, have 2454 points)!

 OPTIMIZE 3151 pts, 12076 active res, 0 lin res!

 Initial Error           A(4292702.003948)=(AV 6.327). Num: A(13405) + M(1555304); ab -0.578413 21.663324!

 STEPS: A 1.4; B 10.1; R 0.9; T 3.5.     REJECT 0 (L -1.00, dir nan, ss 1.0):     A(4451056.056775)=(AV 7.088). Num: A(11073) + M(1555304); ab -0.558298 20.127375!

 STEPS: A 0.3; B 1.1; R 0.3; T 1.5.     ACCEPT 1 (L -1.60, dir 0.75, ss 1.0):     A(4399178.852369)=(AV 6.977). Num: A(11298) + M(1555304); ab -0.554356 20.039057!

 STEPS: A 0.1; B 0.3; R 0.2; T 0.3.     ACCEPT 2 (L -2.20, dir 0.53, ss 1.0):     A(4371503.098351)=(AV 6.958). Num: A(11287) + M(1555304); ab -0.553152 20.009480!

 LOG 3550: 6.953 fine. Res: 11287 A, 0 L, 1555604 M; (381445 / 503690) forceDrop. a=-0.553152, b=20.009479. Window 634 (7)

 Coarse Tracker tracked ab = -0.578976 21.710632 (exp 1.000000). Res 5.453732!

 Coarse Tracker tracked ab = -0.583693 22.122692 (exp 1.000000). Res 6.673831!

 Coarse Tracker tracked ab = -0.587533 22.118041 (exp 1.000000). Res 7.038856!

 Coarse Tracker tracked ab = -0.587043 22.121218 (exp 1.000000). Res 7.271992!

 Coarse Tracker tracked ab = -0.540533 24.674598 (exp 1.000000). Res 8.510056!

 Coarse Tracker tracked ab = -0.547901 24.835105 (exp 1.000000). Res 9.331614!

 SPARSITY:  MinActDist 2.100000 (need 2000 points, have 2817 points)!

 OPTIMIZE 3133 pts, 13423 active res, 0 lin res!

 Initial Error           A(4741986.785141)=(AV 7.247). Num: A(11287) + M(1555604); ab -0.547901 24.835106!

 STEPS: A 1.0; B 8.2; R 1.9; T 3.2.     REJECT 0 (L -1.00, dir nan, ss 1.0):     A(5220279.125379)=(AV 7.318). Num: A(12184) + M(1555604); ab -0.546990 23.484320!

 STEPS: A 0.4; B 0.7; R 0.8; T 2.8.     ACCEPT 1 (L -1.60, dir 0.60, ss 1.0):     A(5186579.359699)=(AV 7.174). Num: A(12596) + M(1555604); ab -0.549179 23.537437!

 STEPS: A 0.1; B 0.3; R 0.4; T 1.2.     ACCEPT 2 (L -2.20, dir 0.31, ss 1.0):     A(5091495.018560)=(AV 7.109). Num: A(12595) + M(1555604); ab -0.550224 23.575474!

 STEPS: A 0.1; B 0.2; R 0.2; T 0.5.     ACCEPT 3 (L -2.81, dir 0.45, ss 1.0):     A(5076645.783977)=(AV 7.105). Num: A(12570) + M(1555604); ab -0.551241 23.579025!

 LOG 3556: 7.098 fine. Res: 12570 A, 0 L, 1559282 M; (382045 / 504552) forceDrop. a=-0.551241, b=23.579025. Window 640 (7)

 Coarse Tracker tracked ab = -0.574224 24.530204 (exp 1.000000). Res 5.885880!

 Coarse Tracker tracked ab = -0.584600 25.031962 (exp 1.000000). Res 7.566053!

 Coarse Tracker tracked ab = -0.583795 24.169435 (exp 1.000000). Res 8.162289!

 Coarse Tracker tracked ab = -0.590764 24.232162 (exp 1.000000). Res 8.895510!

 SPARSITY:  MinActDist 2.200000 (need 2000 points, have 2125 points)!

 OPTIMIZE 2562 pts, 10507 active res, 0 lin res!

 Initial Error           A(4077978.551079)=(AV 6.368). Num: A(12570) + M(1559282); ab -0.590764 24.232162!

 STEPS: A 0.8; B 7.1; R 1.2; T 3.1.     REJECT 0 (L -1.00, dir nan, ss 1.0):     A(4394737.823781)=(AV 7.614). Num: A(9477) + M(1559282); ab -0.579820 23.069780!

 STEPS: A 0.2; B 0.9; R 0.4; T 2.0.     ACCEPT 1 (L -1.60, dir 0.69, ss 1.0):     A(4360206.025086)=(AV 7.488). Num: A(9721) + M(1559282); ab -0.578368 23.010695!

 STEPS: A 0.2; B 0.9; R 0.2; T 0.6.     ACCEPT 2 (L -2.20, dir 0.29, ss 1.0):     A(4304687.602623)=(AV 7.445). Num: A(9707) + M(1559282); ab -0.579667 23.094473!

 LOG 3560: 7.434 fine. Res: 9707 A, 0 L, 1562272 M; (382577 / 505106) forceDrop. a=-0.579667, b=23.094472. Window 644 (7)

 Coarse Tracker tracked ab = -0.599773 23.866346 (exp 1.000000). Res 5.564568!

 Coarse Tracker tracked ab = -0.603269 23.696425 (exp 1.000000). Res 6.634344!

 Coarse Tracker tracked ab = -0.608045 23.585734 (exp 1.000000). Res 7.803376!

 SPARSITY:  MinActDist 2.000000 (need 2000 points, have 1639 points)!

 OPTIMIZE 2379 pts, 9024 active res, 0 lin res!

 Initial Error           A(3763684.764729)=(AV 6.962). Num: A(9707) + M(1562272); ab -0.608045 23.585735!

 STEPS: A 1.5; B 7.0; R 1.9; T 7.7.     REJECT 0 (L -1.00, dir nan, ss 1.0):     A(3767652.709352)=(AV 7.500). Num: A(8373) + M(1562272); ab -0.588905 22.648849!

 STEPS: A 0.3; B 1.9; R 0.6; T 3.4.     ACCEPT 1 (L -1.60, dir 0.66, ss 1.0):     A(3720683.519887)=(AV 7.399). Num: A(8495) + M(1562272); ab -0.584073 22.400019!

 STEPS: A 0.1; B 0.4; R 0.8; T 1.0.     ACCEPT 2 (L -2.20, dir 0.63, ss 1.0):     A(3712437.459359)=(AV 7.395). Num: A(8485) + M(1562272); ab -0.583038 22.351107!

 LOG 3563: 7.392 fine. Res: 8485 A, 0 L, 1563993 M; (383456 / 505528) forceDrop. a=-0.583038, b=22.351107. Window 647 (7)

 Coarse Tracker tracked ab = -0.638401 23.055077 (exp 1.000000). Res 6.356299!

 Coarse Tracker tracked ab = -0.645836 23.259264 (exp 1.000000). Res 7.859235!

 Coarse Tracker tracked ab = -0.642835 22.927462 (exp 1.000000). Res 7.852398!

 SPARSITY:  MinActDist 1.800000 (need 2000 points, have 1747 points)!

 OPTIMIZE 2538 pts, 9347 active res, 0 lin res!

 Initial Error           A(3901252.687007)=(AV 7.581). Num: A(8485) + M(1563993); ab -0.642835 22.927462!

 STEPS: A 2.0; B 9.3; R 2.5; T 12.0.     ACCEPT 0 (L -1.00, dir nan, ss 1.0):     A(3783648.461383)=(AV 7.329). Num: A(8805) + M(1563993); ab -0.619085 21.718359!

 STEPS: A 0.4; B 1.7; R 1.0; T 6.3.     ACCEPT 1 (L -1.60, dir 0.72, ss 1.0):     A(3743720.396233)=(AV 7.259). Num: A(8880) + M(1563993); ab -0.613764 21.527103!

 STEPS: A 0.1; B 0.2; R 0.6; T 1.4.     ACCEPT 2 (L -2.20, dir 0.37, ss 1.0):     A(3733857.744270)=(AV 7.258). Num: A(8859) + M(1563993); ab -0.612171 21.516808!

 STEPS: A 0.0; B 0.1; R 0.3; T 0.8.     ACCEPT 3 (L -2.81, dir 0.78, ss 1.0):     A(3729960.055846)=(AV 7.257). Num: A(8854) + M(1563993); ab -0.611475 21.512625!

 LOG 3566: 7.257 fine. Res: 8854 A, 0 L, 1565847 M; (384111 / 506173) forceDrop. a=-0.611475, b=21.512625. Window 650 (7)

 Coarse Tracker tracked ab = -0.919756 18.133972 (exp 1.000000). Res 4.928670!

 SPARSITY:  MinActDist 1.600000 (need 2000 points, have 1755 points)!

 OPTIMIZE 2739 pts, 9898 active res, 0 lin res!

 Initial Error           A(3494946.620038)=(AV 7.024). Num: A(8854) + M(1565847); ab -0.919756 18.133972!

 STEPS: A 0.8; B 3.3; R 2.3; T 8.9.     ACCEPT 0 (L -1.00, dir nan, ss 1.0):     A(3332572.439636)=(AV 6.579). Num: A(9625) + M(1565847); ab -0.911341 17.729996!

 STEPS: A 0.3; B 1.3; R 0.9; T 6.0.     ACCEPT 1 (L -1.60, dir 0.75, ss 1.0):     A(3308844.359525)=(AV 6.556). Num: A(9624) + M(1565847); ab -0.908647 17.622437!

 STEPS: A 0.1; B 0.4; R 0.2; T 0.5.     ACCEPT 2 (L -2.20, dir 0.19, ss 1.0):     A(3301833.450856)=(AV 6.550). Num: A(9619) + M(1565847); ab -0.907472 17.589685!

 LOG 3567: 6.550 fine. Res: 9619 A, 0 L, 1568107 M; (384746 / 506995) forceDrop. a=-0.907472, b=17.589685. Window 651 (7)

 Coarse Tracker tracked ab = -0.924651 18.625473 (exp 1.000000). Res 4.142955!

 Coarse Tracker tracked ab = -0.919938 17.975505 (exp 1.000000). Res 5.489502!

 Coarse Tracker tracked ab = -0.811517 19.663165 (exp 1.000000). Res 6.555064!

 SPARSITY:  MinActDist 1.500000 (need 2000 points, have 1922 points)!

 OPTIMIZE 2832 pts, 10099 active res, 0 lin res!

 Initial Error           A(3220848.082762)=(AV 6.470). Num: A(9619) + M(1568107); ab -0.811517 19.663166!

 STEPS: A 1.4; B 6.5; R 1.2; T 6.6.     ACCEPT 0 (L -1.00, dir nan, ss 1.0):     A(3068279.613496)=(AV 6.305). Num: A(9648) + M(1568107); ab -0.795582 18.967468!

 STEPS: A 0.3; B 1.0; R 0.4; T 2.6.     ACCEPT 1 (L -1.60, dir 0.59, ss 1.0):     A(3044331.427175)=(AV 6.258). Num: A(9716) + M(1568107); ab -0.794497 18.998106!

 STEPS: A 0.2; B 0.7; R 0.4; T 0.8.     ACCEPT 2 (L -2.20, dir 0.45, ss 1.0):     A(3038299.403326)=(AV 6.257). Num: A(9702) + M(1568107); ab -0.792083 18.900082!

 LOG 3570: 6.256 fine. Res: 9702 A, 0 L, 1568741 M; (384746 / 507055) forceDrop. a=-0.792083, b=18.900081. Window 565 (7)

 Coarse Tracker tracked ab = -0.810025 19.890657 (exp 1.000000). Res 4.483004!

 Coarse Tracker tracked ab = -0.817131 20.361082 (exp 1.000000). Res 5.834725!

 Coarse Tracker tracked ab = -0.879194 20.438067 (exp 1.000000). Res 8.066789!

 SPARSITY:  MinActDist 1.800000 (need 2000 points, have 2587 points)!

 OPTIMIZE 3080 pts, 12958 active res, 0 lin res!

 Initial Error           A(4252047.595964)=(AV 7.402). Num: A(9702) + M(1568741); ab -0.879194 20.438066!

 STEPS: A 0.6; B 7.1; R 1.3; T 5.3.     ACCEPT 0 (L -1.00, dir nan, ss 1.0):     A(4209727.996122)=(AV 6.550). Num: A(12264) + M(1568741); ab -0.877730 20.168821!

 STEPS: A 0.1; B 0.6; R 0.5; T 2.6.     ACCEPT 1 (L -1.60, dir 0.38, ss 1.0):     A(4179051.288258)=(AV 6.504). Num: A(12348) + M(1568741); ab -0.878859 20.198629!

 STEPS: A 0.0; B 0.3; R 0.5; T 0.8.     ACCEPT 2 (L -2.20, dir -0.15, ss 1.0):     A(4174742.823263)=(AV 6.505). Num: A(12332) + M(1568741); ab -0.878932 20.201794!

 LOG 3573: 6.505 fine. Res: 12332 A, 0 L, 1568904 M; (384746 / 507214) forceDrop. a=-0.878932, b=20.201794. Window 58 (7)

 Coarse Tracker tracked ab = -0.912803 22.418842 (exp 1.000000). Res 5.532815!

 Coarse Tracker tracked ab = -0.913510 22.029906 (exp 1.000000). Res 6.175230!

 Coarse Tracker tracked ab = -1.196964 17.101834 (exp 1.000000). Res 6.096161!

 SPARSITY:  MinActDist 2.600000 (need 2000 points, have 2934 points)!

 OPTIMIZE 3154 pts, 15396 active res, 0 lin res!

 Initial Error           A(4849841.686309)=(AV 7.011). Num: A(12332) + M(1568904); ab -1.196964 17.101833!

 STEPS: A 1.6; B 5.1; R 3.8; T 7.1.     ACCEPT 0 (L -1.00, dir nan, ss 1.0):     A(4839513.724102)=(AV 6.459). Num: A(14501) + M(1568904); ab -1.205866 17.040535!

 STEPS: A 0.3; B 0.8; R 1.1; T 4.3.     ACCEPT 1 (L -1.60, dir 0.81, ss 1.0):     A(4801856.485791)=(AV 6.417). Num: A(14575) + M(1568904); ab -1.209723 17.120869!

 STEPS: A 0.1; B 0.3; R 0.5; T 0.5.     ACCEPT 2 (L -2.20, dir 0.26, ss 1.0):     A(4792802.500648)=(AV 6.416). Num: A(14555) + M(1568904); ab -1.210961 17.135674!

 LOG 3576: 6.414 fine. Res: 14555 A, 0 L, 1573375 M; (385781 / 507806) forceDrop. a=-1.210960, b=17.135674. Window 61 (7)

 Coarse Tracker tracked ab = -1.207390 16.703884 (exp 1.000000). Res 4.563560!

 Coarse Tracker tracked ab = -1.199307 16.381920 (exp 1.000000). Res 6.404975!

 Coarse Tracker tracked ab = -1.288650 16.102436 (exp 1.000000). Res 5.488285!

 Coarse Tracker tracked ab = -1.290582 16.318026 (exp 1.000000). Res 5.833166!

 SPARSITY:  MinActDist 2.700000 (need 2000 points, have 2024 points)!

 OPTIMIZE 2440 pts, 11434 active res, 0 lin res!

 Initial Error           A(3731541.949262)=(AV 5.661). Num: A(14555) + M(1573375); ab -1.290581 16.318026!

 STEPS: A 1.0; B 5.3; R 1.3; T 6.3.     ACCEPT 0 (L -1.00, dir nan, ss 1.0):     A(3678546.766610)=(AV 6.470). Num: A(10985) + M(1573375); ab -1.276022 15.506185!

 STEPS: A 0.3; B 0.9; R 0.4; T 3.5.     ACCEPT 1 (L -1.60, dir 0.82, ss 1.0):     A(3650446.475072)=(AV 6.437). Num: A(11011) + M(1573375); ab -1.272359 15.364106!

 STEPS: A 0.1; B 0.5; R 0.3; T 0.5.     ACCEPT 2 (L -2.20, dir 0.41, ss 1.0):     A(3644865.229039)=(AV 6.436). Num: A(11000) + M(1573375); ab -1.271579 15.337726!

 LOG 3580: 6.434 fine. Res: 11000 A, 0 L, 1574954 M; (385781 / 508090) forceDrop. a=-1.271579, b=15.337725. Window 37 (7)

 Coarse Tracker tracked ab = -1.291080 16.429815 (exp 1.000000). Res 3.740711!

 Coarse Tracker tracked ab = -1.291387 16.406229 (exp 1.000000). Res 4.390131!

 Coarse Tracker tracked ab = -1.280974 15.777180 (exp 1.000000). Res 5.109801!

 Coarse Tracker tracked ab = -1.278162 15.778687 (exp 1.000000). Res 5.967123!

 SPARSITY:  MinActDist 2.799999 (need 2000 points, have 2061 points)!

 OPTIMIZE 2426 pts, 12142 active res, 0 lin res!

 Initial Error           A(3827188.957163)=(AV 6.595). Num: A(11000) + M(1574954); ab -1.278162 15.778687!

 STEPS: A 1.4; B 4.6; R 1.3; T 3.2.     ACCEPT 0 (L -1.00, dir nan, ss 1.0):     A(3773769.628312)=(AV 6.368). Num: A(11633) + M(1574954); ab -1.258974 15.167351!

 STEPS: A 0.4; B 1.2; R 0.3; T 2.4.     ACCEPT 1 (L -1.60, dir 0.82, ss 1.0):     A(3745976.174807)=(AV 6.335). Num: A(11666) + M(1574954); ab -1.253946 15.054601!

 STEPS: A 0.1; B 0.6; R 0.2; T 0.3.     ACCEPT 2 (L -2.20, dir 0.53, ss 1.0):     A(3739316.262337)=(AV 6.334). Num: A(11652) + M(1574954); ab -1.252190 15.042438!

 LOG 3584: 6.333 fine. Res: 11652 A, 0 L, 1576828 M; (385781 / 508496) forceDrop. a=-1.252189, b=15.042438. Window 21 (7)

 Coarse Tracker tracked ab = -1.270637 16.110265 (exp 1.000000). Res 4.480076!

 Coarse Tracker tracked ab = -1.275137 16.396952 (exp 1.000000). Res 5.452961!

 Coarse Tracker tracked ab = -1.279598 16.462965 (exp 1.000000). Res 6.137908!

 Coarse Tracker tracked ab = -1.285592 16.845802 (exp 1.000000). Res 6.895945!

 SPARSITY:  MinActDist 2.899999 (need 2000 points, have 2009 points)!

 OPTIMIZE 2400 pts, 12721 active res, 0 lin res!

 Initial Error           A(3806150.029884)=(AV 6.390). Num: A(11652) + M(1576828); ab -1.285592 16.845802!

 STEPS: A 1.0; B 4.6; R 6.0; T 13.3.     ACCEPT 0 (L -1.00, dir nan, ss 1.0):     A(3744356.847371)=(AV 6.220). Num: A(12097) + M(1576828); ab -1.274196 16.185003!

 STEPS: A 0.4; B 0.8; R 0.9; T 9.8.     ACCEPT 1 (L -1.60, dir 0.80, ss 1.0):     A(3717221.508429)=(AV 6.181). Num: A(12161) + M(1576828); ab -1.269267 16.098639!

 STEPS: A 0.1; B 0.2; R 0.3; T 0.4.     ACCEPT 2 (L -2.20, dir 0.19, ss 1.0):     A(3711374.432759)=(AV 6.178). Num: A(12153) + M(1576828); ab -1.267938 16.086655!

 LOG 3588: 6.177 fine. Res: 12153 A, 0 L, 1579014 M; (386710 / 508876) forceDrop. a=-1.267938, b=16.086655. Window 25 (7)

 Coarse Tracker tracked ab = -1.283008 16.915387 (exp 1.000000). Res 3.722077!

 Coarse Tracker tracked ab = -1.280257 16.861533 (exp 1.000000). Res 4.935525!

 Coarse Tracker tracked ab = -1.317155 16.129456 (exp 1.000000). Res 5.655260!

 Coarse Tracker tracked ab = -1.317618 16.217729 (exp 1.000000). Res 6.097449!

 Coarse Tracker tracked ab = -1.318080 16.369253 (exp 1.000000). Res 6.560112!

 Coarse Tracker tracked ab = -1.359540 15.990987 (exp 1.000000). Res 6.847795!

 SPARSITY:  MinActDist 2.799999 (need 2000 points, have 1909 points)!

 OPTIMIZE 2395 pts, 12490 active res, 0 lin res!

 Initial Error           A(3802122.902743)=(AV 6.254). Num: A(12153) + M(1579014); ab -1.359540 15.990987!

 STEPS: A 1.0; B 5.9; R 1.7; T 7.5.     REJECT 0 (L -1.00, dir nan, ss 1.0):     A(3806388.333498)=(AV 6.343). Num: A(11826) + M(1579014); ab -1.345363 15.086832!

 STEPS: A 0.3; B 1.0; R 0.5; T 5.1.     ACCEPT 1 (L -1.60, dir 0.85, ss 1.0):     A(3767453.530282)=(AV 6.292). Num: A(11894) + M(1579014); ab -1.341019 14.940457!

 STEPS: A 0.1; B 0.4; R 0.3; T 0.5.     ACCEPT 2 (L -2.20, dir 0.31, ss 1.0):     A(3756723.937808)=(AV 6.287). Num: A(11879) + M(1579014); ab -1.339683 14.878068!

 LOG 3594: 6.283 fine. Res: 11879 A, 0 L, 1580599 M; (387836 / 509241) forceDrop. a=-1.339683, b=14.878068. Window 31 (7)

 Coarse Tracker tracked ab = -1.353780 15.742190 (exp 1.000000). Res 4.094257!

 Coarse Tracker tracked ab = -1.350774 15.886673 (exp 1.000000). Res 5.114299!

 Coarse Tracker tracked ab = -1.349437 15.900463 (exp 1.000000). Res 5.757301!

 Coarse Tracker tracked ab = -1.347318 15.899585 (exp 1.000000). Res 6.398729!

 Coarse Tracker tracked ab = -1.346779 15.899326 (exp 1.000000). Res 6.821929!

 Coarse Tracker tracked ab = -1.383243 15.234761 (exp 1.000000). Res 7.070474!

 SPARSITY:  MinActDist 2.700000 (need 2000 points, have 1908 points)!

 OPTIMIZE 2473 pts, 12509 active res, 0 lin res!

 Initial Error           A(3826076.349954)=(AV 6.345). Num: A(11879) + M(1580599); ab -1.383243 15.234761!

 STEPS: A 1.4; B 8.0; R 0.9; T 4.2.     REJECT 0 (L -1.00, dir nan, ss 1.0):     A(3857826.433563)=(AV 6.387). Num: A(11822) + M(1580599); ab -1.362565 14.038905!

 STEPS: A 0.4; B 1.3; R 0.5; T 3.4.     ACCEPT 1 (L -1.60, dir 0.81, ss 1.0):     A(3823667.392446)=(AV 6.340). Num: A(11890) + M(1580599); ab -1.357727 13.857033!

 STEPS: A 0.1; B 0.4; R 0.6; T 0.9.     ACCEPT 2 (L -2.20, dir 0.43, ss 1.0):     A(3807465.921774)=(AV 6.327). Num: A(11888) + M(1580599); ab -1.356361 13.822309!

 LOG 3600: 6.327 fine. Res: 11888 A, 0 L, 1584102 M; (387836 / 509748) forceDrop. a=-1.356361, b=13.822308. Window 33 (7)

 Coarse Tracker tracked ab = -1.367808 14.632935 (exp 1.000000). Res 3.706122!

 Coarse Tracker tracked ab = -1.373702 15.106462 (exp 1.000000). Res 4.880355!

 Coarse Tracker tracked ab = -1.377174 15.297891 (exp 1.000000). Res 5.977083!

 Coarse Tracker tracked ab = -1.375694 15.325778 (exp 1.000000). Res 6.395158!

 Coarse Tracker tracked ab = -1.375178 15.313077 (exp 1.000000). Res 6.703243!

 Coarse Tracker tracked ab = -1.373208 15.315672 (exp 1.000000). Res 6.984370!

 Coarse Tracker tracked ab = -1.372719 15.233327 (exp 1.000000). Res 7.333912!

 SPARSITY:  MinActDist 2.500000 (need 2000 points, have 1746 points)!

 OPTIMIZE 2473 pts, 12359 active res, 0 lin res!

 Initial Error           A(3794099.743729)=(AV 6.316). Num: A(11888) + M(1584102); ab -1.372719 15.233327!

 STEPS: A 0.6; B 5.7; R 2.0; T 6.1.     REJECT 0 (L -1.00, dir nan, ss 1.0):     A(3865894.580061)=(AV 6.464). Num: A(11567) + M(1584102); ab -1.366341 14.415168!

 STEPS: A 0.1; B 0.3; R 0.4; T 3.2.     ACCEPT 1 (L -1.60, dir 0.68, ss 1.0):     A(3819527.009311)=(AV 6.391). Num: A(11690) + M(1584102); ab -1.364330 14.370486!

 STEPS: A 0.1; B 0.4; R 0.2; T 0.8.     ACCEPT 2 (L -2.20, dir 0.56, ss 1.0):     A(3803509.000139)=(AV 6.381). Num: A(11677) + M(1584102); ab -1.363033 14.299182!

 LOG 3607: 6.378 fine. Res: 11677 A, 0 L, 1586651 M; (388791 / 510133) forceDrop. a=-1.363033, b=14.299182. Window 40 (7)

 Coarse Tracker tracked ab = -1.370407 14.841875 (exp 1.000000). Res 4.025662!

 Coarse Tracker tracked ab = -1.373686 15.091553 (exp 1.000000). Res 4.592738!

 Coarse Tracker tracked ab = -1.377526 15.708474 (exp 1.000000). Res 6.065886!

 Coarse Tracker tracked ab = -1.376979 15.578448 (exp 1.000000). Res 6.029643!

 Coarse Tracker tracked ab = -1.375106 15.679956 (exp 1.000000). Res 6.342971!

 Coarse Tracker tracked ab = -1.372760 15.616651 (exp 1.000000). Res 6.762615!

 Coarse Tracker tracked ab = -1.373177 15.849583 (exp 1.000000). Res 7.095775!

 SPARSITY:  MinActDist 2.299999 (need 2000 points, have 1784 points)!

 OPTIMIZE 2526 pts, 11738 active res, 0 lin res!

 Initial Error           A(3823548.139631)=(AV 6.398). Num: A(11677) + M(1586651); ab -1.373177 15.849583!

 STEPS: A 0.7; B 5.4; R 2.2; T 7.8.     REJECT 0 (L -1.00, dir nan, ss 1.0):     A(3850631.845445)=(AV 6.594). Num: A(11071) + M(1586651); ab -1.362557 15.021430!

 STEPS: A 0.3; B 1.7; R 0.7; T 3.6.     ACCEPT 1 (L -1.60, dir 0.87, ss 1.0):     A(3802414.493148)=(AV 6.523). Num: A(11171) + M(1586651); ab -1.358739 14.768740!

 STEPS: A 0.1; B 0.2; R 0.2; T 0.8.     ACCEPT 2 (L -2.20, dir 0.60, ss 1.0):     A(3786722.771426)=(AV 6.513). Num: A(11158) + M(1586651); ab -1.357602 14.742032!

 LOG 3614: 6.512 fine. Res: 11158 A, 0 L, 1588707 M; (389674 / 510478) forceDrop. a=-1.357602, b=14.742032. Window 47 (7)

 Coarse Tracker tracked ab = -1.372852 16.344481 (exp 1.000000). Res 6.172453!

 Coarse Tracker tracked ab = -1.371721 16.434261 (exp 1.000000). Res 6.901333!

 Coarse Tracker tracked ab = -1.370888 16.483215 (exp 1.000000). Res 7.592788!

 Coarse Tracker tracked ab = -1.368025 16.413304 (exp 1.000000). Res 8.063396!

 SPARSITY:  MinActDist 2.200000 (need 2000 points, have 1903 points)!

 OPTIMIZE 2511 pts, 11560 active res, 0 lin res!

 Initial Error           A(3954217.446843)=(AV 6.656). Num: A(11158) + M(1588707); ab -1.368025 16.413303!

 STEPS: A 0.4; B 5.5; R 1.7; T 8.2.     REJECT 0 (L -1.00, dir nan, ss 1.0):     A(4018747.355447)=(AV 6.799). Num: A(10868) + M(1588707); ab -1.364585 15.618359!

 STEPS: A 0.2; B 0.5; R 0.6; T 3.3.     ACCEPT 1 (L -1.60, dir 0.65, ss 1.0):     A(3979869.568927)=(AV 6.732). Num: A(10977) + M(1588707); ab -1.365037 15.566052!

 STEPS: A 0.1; B 0.1; R 0.1; T 0.4.     ACCEPT 2 (L -2.20, dir 0.46, ss 1.0):     A(3963049.124465)=(AV 6.723). Num: A(10960) + M(1588707); ab -1.365241 15.556767!

 LOG 3618: 6.720 fine. Res: 10960 A, 0 L, 1590589 M; (390841 / 510753) forceDrop. a=-1.365241, b=15.556766. Window 51 (7)

 Coarse Tracker tracked ab = -1.374441 16.265487 (exp 1.000000). Res 4.566412!

 Coarse Tracker tracked ab = -1.374266 16.364755 (exp 1.000000). Res 5.706420!

 Coarse Tracker tracked ab = -1.345275 17.759881 (exp 1.000000). Res 6.830241!

 Coarse Tracker tracked ab = -1.342881 17.820090 (exp 1.000000). Res 7.257461!

 SPARSITY:  MinActDist 2.100000 (need 2000 points, have 1878 points)!

 OPTIMIZE 2541 pts, 11115 active res, 0 lin res!

 Initial Error           A(3908899.251627)=(AV 6.677). Num: A(10960) + M(1590589); ab -1.342880 17.820089!

 STEPS: A 0.5; B 5.9; R 1.5; T 11.9.     REJECT 0 (L -1.00, dir nan, ss 1.0):     A(3929503.641280)=(AV 6.845). Num: A(10484) + M(1590589); ab -1.335933 16.882263!

 STEPS: A 0.1; B 1.2; R 0.3; T 3.5.     ACCEPT 1 (L -1.60, dir 0.74, ss 1.0):     A(3892836.841011)=(AV 6.787). Num: A(10564) + M(1590589); ab -1.333552 16.703087!

 STEPS: A 0.0; B 0.3; R 0.1; T 0.4.     ACCEPT 2 (L -2.20, dir 0.38, ss 1.0):     A(3885190.449748)=(AV 6.784). Num: A(10552) + M(1590589); ab -1.333210 16.667900!

 LOG 3622: 6.783 fine. Res: 10552 A, 0 L, 1592269 M; (391874 / 511118) forceDrop. a=-1.333210, b=16.667899. Window 55 (7)

 Coarse Tracker tracked ab = -1.347557 17.993393 (exp 1.000000). Res 4.839972!

 Coarse Tracker tracked ab = -1.347436 18.485665 (exp 1.000000). Res 6.477069!

 Coarse Tracker tracked ab = -1.349268 18.594577 (exp 1.000000). Res 7.897568!

 Coarse Tracker tracked ab = -1.350330 18.829397 (exp 1.000000). Res 9.054663!

 SPARSITY:  MinActDist 2.000000 (need 2000 points, have 1806 points)!

 OPTIMIZE 2462 pts, 10713 active res, 0 lin res!

 Initial Error           A(3919999.879649)=(AV 6.814). Num: A(10552) + M(1592269); ab -1.350330 18.829397!

 STEPS: A 0.6; B 8.0; R 1.6; T 13.1.     REJECT 0 (L -1.00, dir nan, ss 1.0):     A(3950690.672014)=(AV 7.007). Num: A(10058) + M(1592269); ab -1.343657 17.700127!

 STEPS: A 0.1; B 0.7; R 0.4; T 4.2.     ACCEPT 1 (L -1.60, dir 0.72, ss 1.0):     A(3900035.904882)=(AV 6.927). Num: A(10159) + M(1592269); ab -1.343194 17.647398!

 STEPS: A 0.0; B 0.4; R 0.1; T 0.5.     ACCEPT 2 (L -2.20, dir 0.38, ss 1.0):     A(3886829.812161)=(AV 6.917). Num: A(10154) + M(1592269); ab -1.342937 17.596056!

 LOG 3626: 6.916 fine. Res: 10154 A, 0 L, 1593996 M; (392789 / 511549) forceDrop. a=-1.342937, b=17.596056. Window 59 (7)

 Coarse Tracker tracked ab = -1.354622 18.855152 (exp 1.000000). Res 4.979733!

 Coarse Tracker tracked ab = -1.354116 18.744416 (exp 1.000000). Res 6.027993!

 Coarse Tracker tracked ab = -1.359045 18.940663 (exp 1.000000). Res 7.358060!

 SPARSITY:  MinActDist 1.800000 (need 2000 points, have 1741 points)!

 OPTIMIZE 2602 pts, 11027 active res, 0 lin res!

 Initial Error           A(4027022.892805)=(AV 7.041). Num: A(10154) + M(1593996); ab -1.359045 18.940662!

 STEPS: A 0.6; B 8.6; R 1.9; T 14.4.     ACCEPT 0 (L -1.00, dir nan, ss 1.0):     A(3982037.706326)=(AV 6.938). Num: A(10340) + M(1593996); ab -1.353056 17.903242!

 STEPS: A 0.0; B 1.1; R 0.4; T 6.0.     ACCEPT 1 (L -1.60, dir 0.71, ss 1.0):     A(3942109.579324)=(AV 6.882). Num: A(10403) + M(1593996); ab -1.353180 17.788992!

 STEPS: A 0.0; B 0.1; R 0.1; T 0.6.     ACCEPT 2 (L -2.20, dir 0.43, ss 1.0):     A(3936151.290717)=(AV 6.880). Num: A(10395) + M(1593996); ab -1.353398 17.784990!

 LOG 3629: 6.879 fine. Res: 10395 A, 0 L, 1596675 M; (393548 / 512064) forceDrop. a=-1.353398, b=17.784991. Window 62 (7)

 Coarse Tracker tracked ab = -1.359064 18.088537 (exp 1.000000). Res 5.756738!

 Coarse Tracker tracked ab = -1.363814 18.204150 (exp 1.000000). Res 7.396456!

 Coarse Tracker tracked ab = -1.366635 18.738715 (exp 1.000000). Res 7.262323!

 SPARSITY:  MinActDist 1.600000 (need 2000 points, have 1609 points)!

 OPTIMIZE 2506 pts, 10304 active res, 0 lin res!

 Initial Error           A(3778876.388276)=(AV 6.741). Num: A(10395) + M(1596675); ab -1.366635 18.738716!

 STEPS: A 0.8; B 8.2; R 2.5; T 19.9.     ACCEPT 0 (L -1.00, dir nan, ss 1.0):     A(3695996.320003)=(AV 6.850). Num: A(9846) + M(1596675); ab -1.355583 17.540098!

 STEPS: A 0.1; B 1.4; R 0.3; T 1.9.     ACCEPT 1 (L -1.60, dir 0.77, ss 1.0):     A(3668146.670407)=(AV 6.815). Num: A(9873) + M(1596675); ab -1.353765 17.340975!

 STEPS: A 0.1; B 0.2; R 0.4; T 1.6.     ACCEPT 2 (L -2.20, dir 0.18, ss 1.0):     A(3665347.531987)=(AV 6.814). Num: A(9868) + M(1596675); ab -1.353199 17.322329!

 STEPS: A 0.0; B 0.3; R 0.1; T 0.6.     ACCEPT 3 (L -2.81, dir 0.43, ss 1.0):     A(3660204.556256)=(AV 6.810). Num: A(9865) + M(1596675); ab -1.352605 17.281288!

 LOG 3632: 6.810 fine. Res: 9865 A, 0 L, 1598283 M; (393724 / 512367) forceDrop. a=-1.352605, b=17.281287. Window 65 (7)

 Coarse Tracker tracked ab = -1.369044 19.201495 (exp 1.000000). Res 5.156442!

 Coarse Tracker tracked ab = -1.368885 19.316423 (exp 1.000000). Res 6.334778!

 Coarse Tracker tracked ab = -1.369036 19.207456 (exp 1.000000). Res 7.232442!

 SPARSITY:  MinActDist 1.700000 (need 2000 points, have 2085 points)!

 OPTIMIZE 2793 pts, 12058 active res, 0 lin res!

 Initial Error           A(4553533.619322)=(AV 7.596). Num: A(9865) + M(1598283); ab -1.369036 19.207457!

 STEPS: A 0.7; B 6.5; R 2.7; T 13.5.     ACCEPT 0 (L -1.00, dir nan, ss 1.0):     A(4455427.362778)=(AV 6.952). Num: A(11523) + M(1598283); ab -1.362932 18.461111!

 STEPS: A 0.1; B 0.8; R 0.6; T 1.6.     ACCEPT 1 (L -1.60, dir 0.80, ss 1.0):     A(4434255.911281)=(AV 6.926). Num: A(11556) + M(1598283); ab -1.362228 18.393652!

 STEPS: A 0.1; B 0.4; R 0.1; T 1.1.     ACCEPT 2 (L -2.20, dir 0.67, ss 1.0):     A(4428506.654787)=(AV 6.923). Num: A(11550) + M(1598283); ab -1.361813 18.367044!

 STEPS: A 0.0; B 0.2; R 0.1; T 0.8.     ACCEPT 3 (L -2.81, dir 0.27, ss 1.0):     A(4421869.955051)=(AV 6.918). Num: A(11550) + M(1598283); ab -1.361939 18.388674!

 LOG 3635: 6.918 fine. Res: 11550 A, 0 L, 1600941 M; (394814 / 512909) forceDrop. a=-1.361939, b=18.388674. Window 68 (7)

 Coarse Tracker tracked ab = -1.368486 19.128635 (exp 1.000000). Res 4.960980!

 Coarse Tracker tracked ab = -1.374775 19.341448 (exp 1.000000). Res 6.103814!

 SPARSITY:  MinActDist 1.600000 (need 2000 points, have 1957 points)!

 OPTIMIZE 2947 pts, 12369 active res, 0 lin res!

 Initial Error           A(4558862.368546)=(AV 7.024). Num: A(11550) + M(1600941); ab -1.374775 19.341448!

 STEPS: A 1.0; B 10.5; R 0.8; T 6.4.     ACCEPT 0 (L -1.00, dir nan, ss 1.0):     A(4405206.932928)=(AV 6.820). Num: A(11839) + M(1600941); ab -1.364346 18.151218!

 STEPS: A 0.2; B 1.8; R 0.3; T 3.0.     ACCEPT 1 (L -1.60, dir 0.90, ss 1.0):     A(4378204.537863)=(AV 6.795). Num: A(11853) + M(1600941); ab -1.362420 18.006651!

 STEPS: A 0.1; B 0.9; R 0.2; T 0.8.     ACCEPT 2 (L -2.20, dir 0.85, ss 1.0):     A(4372273.075978)=(AV 6.792). Num: A(11848) + M(1600941); ab -1.361508 17.921131!

 LOG 3637: 6.792 fine. Res: 11848 A, 0 L, 1602887 M; (395803 / 513673) forceDrop. a=-1.361508, b=17.921131. Window 70 (7)

 Coarse Tracker tracked ab = -1.373589 19.001482 (exp 1.000000). Res 4.972305!

 Coarse Tracker tracked ab = -1.380279 19.239373 (exp 1.000000). Res 6.362997!

 SPARSITY:  MinActDist 1.700000 (need 2000 points, have 2173 points)!

 OPTIMIZE 2946 pts, 12596 active res, 0 lin res!

 Initial Error           A(4091595.424657)=(AV 6.570). Num: A(11848) + M(1602887); ab -1.380279 19.239374!

 STEPS: A 1.3; B 11.1; R 0.8; T 10.2.     ACCEPT 0 (L -1.00, dir nan, ss 1.0):     A(3925120.735883)=(AV 6.365). Num: A(12112) + M(1602887); ab -1.363814 17.773170!

 STEPS: A 0.3; B 1.8; R 0.2; T 2.6.     ACCEPT 1 (L -1.60, dir 0.95, ss 1.0):     A(3901938.536347)=(AV 6.342). Num: A(12127) + M(1602887); ab -1.360195 17.569653!

 STEPS: A 0.1; B 0.6; R 0.1; T 1.0.     ACCEPT 2 (L -2.20, dir 0.86, ss 1.0):     A(3893335.193848)=(AV 6.336). Num: A(12122) + M(1602887); ab -1.359287 17.512854!

 LOG 3639: 6.336 fine. Res: 12122 A, 0 L, 1604930 M; (396727 / 514562) forceDrop. a=-1.359287, b=17.512854. Window 72 (7)

 Coarse Tracker tracked ab = -1.374802 18.916379 (exp 1.000000). Res 4.716662!

 Coarse Tracker tracked ab = -1.381036 19.010762 (exp 1.000000). Res 6.025854!

 Coarse Tracker tracked ab = -1.380622 18.690060 (exp 1.000000). Res 6.926570!

 SPARSITY:  MinActDist 1.800000 (need 2000 points, have 2173 points)!

 OPTIMIZE 2876 pts, 12589 active res, 0 lin res!

 Initial Error           A(3932299.625565)=(AV 6.368). Num: A(12122) + M(1604930); ab -1.380622 18.690060!

 STEPS: A 1.4; B 11.6; R 0.8; T 10.1.     ACCEPT 0 (L -1.00, dir nan, ss 1.0):     A(3787756.017903)=(AV 6.283). Num: A(11993) + M(1604930); ab -1.362302 17.087521!

 STEPS: A 0.3; B 1.4; R 0.1; T 1.5.     ACCEPT 1 (L -1.60, dir 0.95, ss 1.0):     A(3756142.330132)=(AV 6.247). Num: A(12032) + M(1604930); ab -1.358914 16.923069!

 STEPS: A 0.1; B 0.7; R 0.1; T 0.6.     ACCEPT 2 (L -2.20, dir 0.95, ss 1.0):     A(3748513.598891)=(AV 6.244). Num: A(12018) + M(1604930); ab -1.357438 16.830370!

 LOG 3642: 6.244 fine. Res: 12018 A, 0 L, 1607422 M; (397605 / 515419) forceDrop. a=-1.357438, b=16.830370. Window 75 (7)

 Coarse Tracker tracked ab = -1.371121 18.188287 (exp 1.000000). Res 4.336508!

 Coarse Tracker tracked ab = -1.375005 18.492724 (exp 1.000000). Res 5.582816!

 Coarse Tracker tracked ab = -1.380565 18.748073 (exp 1.000000). Res 6.572521!

 Coarse Tracker tracked ab = -1.380652 18.888791 (exp 1.000000). Res 7.041836!

 SPARSITY:  MinActDist 1.700000 (need 2000 points, have 1947 points)!

 OPTIMIZE 2935 pts, 12885 active res, 0 lin res!

 Initial Error           A(3991496.387066)=(AV 6.443). Num: A(12018) + M(1607422); ab -1.380652 18.888792!

 STEPS: A 1.3; B 11.4; R 0.3; T 6.8.     ACCEPT 0 (L -1.00, dir nan, ss 1.0):     A(3833682.157549)=(AV 6.247). Num: A(12279) + M(1607422); ab -1.364785 17.370794!

 STEPS: A 0.4; B 2.3; R 0.1; T 1.4.     ACCEPT 1 (L -1.60, dir 0.95, ss 1.0):     A(3801965.865681)=(AV 6.208). Num: A(12331) + M(1607422); ab -1.360518 17.085339!

 STEPS: A 0.1; B 0.7; R 0.1; T 0.5.     ACCEPT 2 (L -2.20, dir 0.96, ss 1.0):     A(3793083.501593)=(AV 6.202). Num: A(12328) + M(1607422); ab -1.359312 17.001072!

 LOG 3646: 6.201 fine. Res: 12328 A, 0 L, 1609976 M; (398482 / 516308) forceDrop. a=-1.359312, b=17.001071. Window 79 (7)

 Coarse Tracker tracked ab = -1.369970 18.094218 (exp 1.000000). Res 4.610327!

 Coarse Tracker tracked ab = -1.368350 18.092893 (exp 1.000000). Res 5.479140!

 Coarse Tracker tracked ab = -1.371303 18.240808 (exp 1.000000). Res 6.017460!

 Coarse Tracker tracked ab = -1.373713 18.547322 (exp 1.000000). Res 6.860645!

 Coarse Tracker tracked ab = -1.376732 18.482127 (exp 1.000000). Res 7.317912!

 SPARSITY:  MinActDist 1.800000 (need 2000 points, have 2008 points)!

 OPTIMIZE 2882 pts, 12439 active res, 0 lin res!

 Initial Error           A(4036065.476394)=(AV 6.397). Num: A(12328) + M(1609976); ab -1.376732 18.482126!

 STEPS: A 0.6; B 7.7; R 0.5; T 4.4.     ACCEPT 0 (L -1.00, dir nan, ss 1.0):     A(3977702.405984)=(AV 6.526). Num: A(11674) + M(1609976); ab -1.368400 17.433630!

 STEPS: A 0.2; B 1.6; R 0.2; T 1.5.     ACCEPT 1 (L -1.60, dir 0.82, ss 1.0):     A(3935429.566464)=(AV 6.461). Num: A(11786) + M(1609976); ab -1.366832 17.310398!

 STEPS: A 0.0; B 0.2; R 0.1; T 0.6.     ACCEPT 2 (L -2.20, dir 0.48, ss 1.0):     A(3926181.064991)=(AV 6.454). Num: A(11782) + M(1609976); ab -1.366556 17.299044!

 LOG 3651: 6.453 fine. Res: 11782 A, 0 L, 1612451 M; (399333 / 517097) forceDrop. a=-1.366556, b=17.299044. Window 84 (7)

 Coarse Tracker tracked ab = -1.374026 18.182461 (exp 1.000000). Res 4.376009!

 Coarse Tracker tracked ab = -1.381433 18.506937 (exp 1.000000). Res 5.806598!

 Coarse Tracker tracked ab = -1.388429 18.980214 (exp 1.000000). Res 7.722476!

 SPARSITY:  MinActDist 1.700000 (need 2000 points, have 1957 points)!

 OPTIMIZE 2816 pts, 12024 active res, 0 lin res!

 Initial Error           A(4100628.212548)=(AV 6.596). Num: A(11782) + M(1612451); ab -1.388429 18.980215!

 STEPS: A 0.8; B 9.1; R 0.8; T 6.5.     ACCEPT 0 (L -1.00, dir nan, ss 1.0):     A(4036983.923180)=(AV 6.689). Num: A(11280) + M(1612451); ab -1.376193 17.559000!

 STEPS: A 0.2; B 1.9; R 0.3; T 1.5.     ACCEPT 1 (L -1.60, dir 0.84, ss 1.0):     A(4005641.198644)=(AV 6.629). Num: A(11395) + M(1612451); ab -1.373714 17.336872!

 STEPS: A 0.1; B 0.3; R 0.1; T 0.5.     ACCEPT 2 (L -2.20, dir 0.78, ss 1.0):     A(3996962.546087)=(AV 6.624). Num: A(11388) + M(1612451); ab -1.373078 17.303089!

 LOG 3654: 6.623 fine. Res: 11388 A, 0 L, 1614833 M; (400152 / 517889) forceDrop. a=-1.373078, b=17.303089. Window 87 (7)

 Coarse Tracker tracked ab = -1.391450 18.688211 (exp 1.000000). Res 4.975814!

 Coarse Tracker tracked ab = -1.398415 19.063870 (exp 1.000000). Res 6.849802!

 SPARSITY:  MinActDist 1.600000 (need 2000 points, have 1869 points)!

 OPTIMIZE 2669 pts, 11442 active res, 0 lin res!

 Initial Error           A(3991935.743602)=(AV 6.619). Num: A(11388) + M(1614833); ab -1.398414 19.063869!

 STEPS: A 1.0; B 11.0; R 0.7; T 4.9.     ACCEPT 0 (L -1.00, dir nan, ss 1.0):     A(3953902.572558)=(AV 6.798). Num: A(10695) + M(1614833); ab -1.385460 17.532896!

 STEPS: A 0.2; B 1.7; R 0.2; T 2.9.     ACCEPT 1 (L -1.60, dir 0.86, ss 1.0):     A(3914679.980293)=(AV 6.727). Num: A(10812) + M(1614833); ab -1.382625 17.351864!

 STEPS: A 0.1; B 0.5; R 0.1; T 0.6.     ACCEPT 2 (L -2.20, dir 0.82, ss 1.0):     A(3903660.194238)=(AV 6.723). Num: A(10797) + M(1614833); ab -1.381341 17.305086!

 LOG 3656: 6.722 fine. Res: 10797 A, 0 L, 1616988 M; (400933 / 518650) forceDrop. a=-1.381341, b=17.305086. Window 89 (7)

 Coarse Tracker tracked ab = -1.400334 18.549339 (exp 1.000000). Res 5.825713!

 Coarse Tracker tracked ab = -1.409122 19.076032 (exp 1.000000). Res 8.077417!

 SPARSITY:  MinActDist 1.399999 (need 2000 points, have 1789 points)!

 OPTIMIZE 2582 pts, 11138 active res, 0 lin res!

 Initial Error           A(3944530.108414)=(AV 6.758). Num: A(10797) + M(1616988); ab -1.409122 19.076033!

 STEPS: A 1.3; B 10.8; R 1.4; T 5.6.     ACCEPT 0 (L -1.00, dir nan, ss 1.0):     A(3848454.504725)=(AV 6.772). Num: A(10491) + M(1616988); ab -1.390920 17.505495!

 STEPS: A 0.5; B 2.3; R 0.4; T 2.0.     ACCEPT 1 (L -1.60, dir 0.97, ss 1.0):     A(3795113.506284)=(AV 6.697). Num: A(10577) + M(1616988); ab -1.384351 17.188278!

 STEPS: A 0.2; B 0.8; R 0.1; T 0.4.     ACCEPT 2 (L -2.20, dir 0.97, ss 1.0):     A(3778885.261256)=(AV 6.690). Num: A(10554) + M(1616988); ab -1.381602 17.080618!

 LOG 3658: 6.689 fine. Res: 10554 A, 0 L, 1619074 M; (401670 / 519424) forceDrop. a=-1.381602, b=17.080618. Window 91 (7)

 Coarse Tracker tracked ab = -1.400193 18.794120 (exp 1.000000). Res 7.070770!

 Coarse Tracker tracked ab = -1.408866 19.367959 (exp 1.000000). Res 9.151204!

 SPARSITY:  MinActDist 1.199999 (need 2000 points, have 1794 points)!

 OPTIMIZE 2387 pts, 10586 active res, 0 lin res!

 Initial Error           A(3800638.781006)=(AV 6.709). Num: A(10554) + M(1619074); ab -1.408866 19.367960!

 STEPS: A 1.3; B 11.1; R 0.9; T 7.8.     REJECT 0 (L -1.00, dir nan, ss 1.0):     A(3910326.221530)=(AV 7.066). Num: A(9789) + M(1619074); ab -1.393065 17.863733!

 STEPS: A 0.3; B 1.6; R 0.1; T 1.6.     ACCEPT 1 (L -1.60, dir 0.79, ss 1.0):     A(3864674.282486)=(AV 6.963). Num: A(9965) + M(1619074); ab -1.389625 17.831270!

 STEPS: A 0.1; B 0.6; R 0.1; T 0.4.     ACCEPT 2 (L -2.20, dir 0.96, ss 1.0):     A(3837191.445013)=(AV 6.941). Num: A(9956) + M(1619074); ab -1.388123 17.807096!

 LOG 3660: 6.938 fine. Res: 9956 A, 0 L, 1621150 M; (402337 / 520183) forceDrop. a=-1.388123, b=17.807096. Window 93 (7)

 Coarse Tracker tracked ab = -1.410557 19.532611 (exp 1.000000). Res 7.273173!

 SPARSITY:  MinActDist 0.699999 (need 2000 points, have 1593 points)!

 OPTIMIZE 2209 pts, 10035 active res, 0 lin res!

 Initial Error           A(3600781.549595)=(AV 6.724). Num: A(9956) + M(1621150); ab -1.410557 19.532610!

 STEPS: A 1.8; B 13.3; R 0.7; T 4.2.     ACCEPT 0 (L -1.00, dir nan, ss 1.0):     A(3552563.265047)=(AV 6.849). Num: A(9467) + M(1621150); ab -1.388858 17.763533!

 STEPS: A 0.5; B 2.2; R 0.4; T 3.0.     ACCEPT 1 (L -1.60, dir 0.91, ss 1.0):     A(3522228.873667)=(AV 6.806). Num: A(9506) + M(1621150); ab -1.382746 17.507309!

 STEPS: A 0.2; B 0.9; R 0.1; T 0.5.     ACCEPT 2 (L -2.20, dir 0.94, ss 1.0):     A(3513854.892304)=(AV 6.802). Num: A(9494) + M(1621150); ab -1.380315 17.404633!

 LOG 3661: 6.799 fine. Res: 9494 A, 0 L, 1623158 M; (402926 / 520845) forceDrop. a=-1.380315, b=17.404632. Window 94 (7)

 INCREASING cutoff to 40.000000 (ratio is 0.454273)!

 REPEAT LEVEL!

 Coarse Tracker tracked ab = -1.399356 19.227361 (exp 1.000000). Res 7.429829!

 Coarse Tracker tracked ab = -1.359993 21.129554 (exp 1.000000). Res 9.902951!

 SPARSITY:  MinActDist 0.199999 (need 2000 points, have 1467 points)!

 OPTIMIZE 1974 pts, 8872 active res, 0 lin res!

 Initial Error           A(3329201.821581)=(AV 6.621). Num: A(9494) + M(1623158); ab -1.359993 21.129555!

 STEPS: A 0.8; B 7.9; R 1.7; T 2.9.     REJECT 0 (L -1.00, dir nan, ss 1.0):     A(3380608.279774)=(AV 7.141). Num: A(8287) + M(1623158); ab -1.355375 20.012730!

 STEPS: A 0.2; B 1.4; R 0.2; T 1.7.     ACCEPT 1 (L -1.60, dir 0.82, ss 1.0):     A(3361909.856495)=(AV 7.055). Num: A(8443) + M(1623158); ab -1.355386 19.870886!

 STEPS: A 0.1; B 0.4; R 0.2; T 0.3.     ACCEPT 2 (L -2.20, dir 0.71, ss 1.0):     A(3350608.830725)=(AV 7.043). Num: A(8444) + M(1623158); ab -1.355757 19.832447!

 LOG 3663: 7.043 fine. Res: 8444 A, 0 L, 1624985 M; (403494 / 521437) forceDrop. a=-1.355757, b=19.832447. Window 96 (7)

 INCREASING cutoff to 40.000000 (ratio is 0.432396)!

 REPEAT LEVEL!

 Coarse Tracker tracked ab = -1.359306 19.550810 (exp 1.000000). Res 9.376997!

 Coarse Tracker tracked ab = -1.359678 20.216687 (exp 1.000000). Res 9.348607!

 SPARSITY:  MinActDist 0.000000 (need 2000 points, have 1408 points)!

 OPTIMIZE 1791 pts, 7789 active res, 0 lin res!

 Initial Error           A(3089529.353189)=(AV 6.763). Num: A(8444) + M(1624985); ab -1.359678 20.216686!

 STEPS: A 0.4; B 4.2; R 1.3; T 3.4.     ACCEPT 0 (L -1.00, dir nan, ss 1.0):     A(3019275.795144)=(AV 7.140). Num: A(7404) + M(1624985); ab -1.364755 19.709894!

 STEPS: A 0.2; B 0.8; R 0.4; T 1.1.     ACCEPT 1 (L -1.60, dir 0.77, ss 1.0):     A(2986413.646694)=(AV 7.060). Num: A(7489) + M(1624985); ab -1.368101 19.663063!

 STEPS: A 0.1; B 0.2; R 0.1; T 0.5.     ACCEPT 2 (L -2.20, dir 0.83, ss 1.0):     A(2979947.548367)=(AV 7.058). Num: A(7478) + M(1624985); ab -1.370010 19.683260!

 LOG 3665: 7.057 fine. Res: 7478 A, 0 L, 1625983 M; (404512 / 521643) forceDrop. a=-1.370010, b=19.683261. Window 98 (7)

 Coarse Tracker tracked ab = -1.376564 20.661906 (exp 1.000000). Res 7.006686!

 RE-TRACK ATTEMPT 1 with initOption 1 and start-lvl 4 (ab -1.395564 21.321118): 11.627520 11.562826 11.237362 10.356576 10.202271 -> 11.627018 11.569202 11.241519 10.372392 10.213739

 RE-TRACK ATTEMPT 2 with initOption 2 and start-lvl 4 (ab -1.395088 21.349944): 11.627018 11.562826 11.237362 10.356576 10.202271 -> 11.626760 11.562716 11.271170 10.337990 10.264682

 RE-TRACK ATTEMPT 3 with initOption 3 and start-lvl 4 (ab -1.394801 21.365287): 11.626760 11.562716 11.237362 10.337990 10.202271 -> 11.626524 11.568872 11.239628 10.363132 10.199185

 RE-TRACK ATTEMPT 4 with initOption 4 and start-lvl 4 (ab -1.395990 21.347134): 11.626524 11.562716 11.237362 10.337990 10.199185 -> 11.627185 11.568335 11.237756 10.369718 10.181753

 INCREASING cutoff to 40.000000 (ratio is 0.434066)!

 REPEAT LEVEL!

 RE-TRACK ATTEMPT 5 with initOption 5 and start-lvl 4 (ab -1.395699 21.334213): 11.626524 11.562716 11.237362 10.337990 10.181753 -> 11.628298 11.564369 11.236423 10.356002 10.188666

 RE-TRACK ATTEMPT 6 with initOption 6 and start-lvl 4 (ab -1.394658 21.351105): 11.626524 11.562716 11.236423 10.337990 10.181753 -> 11.627024 11.563839 11.251948 10.354592 10.191586

 RE-TRACK ATTEMPT 7 with initOption 7 and start-lvl 4 (ab -1.395640 21.331077): 11.626524 11.562716 11.236423 10.337990 10.181753 -> 11.628421 11.563875 11.238039 10.355991 10.199730

 RE-TRACK ATTEMPT 8 with initOption 8 and start-lvl 4 (ab -1.395478 21.326665): 11.626524 11.562716 11.236423 10.337990 10.181753 -> 11.627934 11.563652 11.237498 10.359652 10.188804

 RE-TRACK ATTEMPT 9 with initOption 9 and start-lvl 4 (ab -1.395915 21.331857): 11.626524 11.562716 11.236423 10.337990 10.181753 -> 11.627493 11.569058 11.240548 10.369581 10.228709

 RE-TRACK ATTEMPT 10 with initOption 10 and start-lvl 4 (ab -1.395603 21.319905): 11.626524 11.562716 11.236423 10.337990 10.181753 -> 11.627600 11.562422 11.240206 10.360741 10.189199

 INCREASING cutoff to 40.000000 (ratio is 0.451730)!

 REPEAT LEVEL!

 RE-TRACK ATTEMPT 11 with initOption 11 and start-lvl 4 (ab -1.395608 21.330508): 11.626524 11.562422 11.236423 10.337990 10.181753 -> 11.627870 11.562852 11.237607 10.359280 10.189323

 RE-TRACK ATTEMPT 12 with initOption 12 and start-lvl 4 (ab -1.395175 21.348435): 11.626524 11.562422 11.236423 10.337990 10.181753 -> 11.626596 11.567616 11.234201 10.366101 10.178309

 INCREASING cutoff to 40.000000 (ratio is 0.424354)!

 REPEAT LEVEL!

 RE-TRACK ATTEMPT 13 with initOption 13 and start-lvl 4 (ab -1.395692 21.330850): 11.626524 11.562422 11.234201 10.337990 10.178309 -> 11.627875 11.562782 11.238036 10.359040 10.190294

 RE-TRACK ATTEMPT 14 with initOption 14 and start-lvl 4 (ab -1.395470 21.340981): 11.626524 11.562422 11.234201 10.337990 10.178309 -> 11.627133 11.565679 11.233476 10.368087 10.177715

 RE-TRACK ATTEMPT 15 with initOption 15 and start-lvl 4 (ab -1.395562 21.323369): 11.626524 11.562422 11.233476 10.337990 10.177715 -> 11.627099 11.569334 11.238873 10.370375 10.189418

 RE-TRACK ATTEMPT 16 with initOption 16 and start-lvl 4 (ab -1.395934 21.343848): 11.626524 11.562422 11.233476 10.337990 10.177715 -> 11.627090 11.568634 11.238770 10.370014 10.186240

 INCREASING cutoff to 40.000000 (ratio is 0.439539)!

 REPEAT LEVEL!

 RE-TRACK ATTEMPT 17 with initOption 17 and start-lvl 4 (ab -1.395682 21.338150): 11.626524 11.562422 11.233476 10.337990 10.177715 -> 11.627147 11.563148 11.235575 10.367994 10.179108

 RE-TRACK ATTEMPT 18 with initOption 18 and start-lvl 4 (ab -1.396817 21.328278): 11.626524 11.562422 11.233476 10.337990 10.177715 -> 11.631259 11.564023 11.238782 10.353151 12.869760

 INCREASING cutoff to 40.000000 (ratio is 0.440520)!

 REPEAT LEVEL!

 RE-TRACK ATTEMPT 19 with initOption 19 and start-lvl 4 (ab -1.395608 21.330612): 11.626524 11.562422 11.233476 10.337990 10.177715 -> 11.627873 11.562888 11.237769 10.359167 10.189545

 RE-TRACK ATTEMPT 20 with initOption 20 and start-lvl 4 (ab -1.395464 21.319118): 11.626524 11.562422 11.233476 10.337990 10.177715 -> 11.626973 11.569918 11.241130 10.375085 10.211497

 RE-TRACK ATTEMPT 21 with initOption 21 and start-lvl 4 (ab -1.395506 21.323835): 11.626524 11.562422 11.233476 10.337990 10.177715 -> 11.626922 11.570347 11.241203 10.374485 10.210646

 RE-TRACK ATTEMPT 22 with initOption 22 and start-lvl 4 (ab -1.394852 21.381320): 11.626524 11.562422 11.233476 10.337990 10.177715 -> 11.627422 11.570486 11.240923 10.342211 10.202299

 RE-TRACK ATTEMPT 23 with initOption 23 and start-lvl 4 (ab -1.395424 21.318287): 11.626524 11.562422 11.233476 10.337990 10.177715 -> 11.626959 11.570818 11.242971 10.378642 10.225288

 RE-TRACK ATTEMPT 24 with initOption 24 and start-lvl 4 (ab -1.395300 21.319158): 11.626524 11.562422 11.233476 10.337990 10.177715 -> 11.626869 11.571278 11.240860 10.376832 10.201611

 RE-TRACK ATTEMPT 25 with initOption 25 and start-lvl 4 (ab -1.395173 21.353523): 11.626524 11.562422 11.233476 10.337990 10.177715 -> 11.625705 11.561526 11.252276 10.357467 10.196213

 RE-TRACK ATTEMPT 26 with initOption 26 and start-lvl 4 (ab -1.395562 21.322989): 11.625705 11.561526 11.233476 10.337990 10.177715 -> 11.627134 11.569368 11.239035 10.367413 10.178557

 INCREASING cutoff to 40.000000 (ratio is 0.452794)!

 REPEAT LEVEL!

 RE-TRACK ATTEMPT 27 with initOption 27 and start-lvl 4 (ab -1.395608 21.330625): 11.625705 11.561526 11.233476 10.337990 10.177715 -> 11.627875 11.562894 11.237762 10.358854 10.189501

 INCREASING cutoff to 40.000000 (ratio is 0.457627)!

 REPEAT LEVEL!

 RE-TRACK ATTEMPT 28 with initOption 28 and start-lvl 4 (ab -1.395616 21.329671): 11.625705 11.561526 11.233476 10.337990 10.177715 -> 11.627863 11.562996 11.237810 10.359001 10.190306

 INCREASING cutoff to 40.000000 (ratio is 0.419238)!

 REPEAT LEVEL!

 RE-TRACK ATTEMPT 29 with initOption 29 and start-lvl 4 (ab -1.395608 21.330617): 11.625705 11.561526 11.233476 10.337990 10.177715 -> 11.627876 11.562873 11.237741 10.359016 10.188342

 INCREASING cutoff to 40.000000 (ratio is 0.434307)!

 REPEAT LEVEL!

 RE-TRACK ATTEMPT 30 with initOption 30 and start-lvl 4 (ab -1.395608 21.330605): 11.625705 11.561526 11.233476 10.337990 10.177715 -> 11.627872 11.562872 11.237730 10.359156 10.189252

 Coarse Tracker tracked ab = -1.395173 21.353523 (exp 1.000000). Res 11.625705!

 Coarse Tracker tracked ab = -1.364526 20.471710 (exp 1.000000). Res 7.804246!

 INCREASING cutoff to 40.000000 (ratio is 0.409539)!

 REPEAT LEVEL!

 Coarse Tracker tracked ab = -1.402712 19.340783 (exp 1.000000). Res 7.396069!

 SPARSITY:  MinActDist 0.000000 (need 2000 points, have 1314 points)!

 OPTIMIZE 1952 pts, 7765 active res, 0 lin res!

 Initial Error           A(3191974.134625)=(AV 7.305). Num: A(7478) + M(1625983); ab -1.402712 19.340782!

 STEPS: A 0.8; B 4.2; R 1.0; T 4.1.     ACCEPT 0 (L -1.00, dir nan, ss 1.0):     A(3047049.108862)=(AV 7.149). Num: A(7452) + M(1625983); ab -1.392271 18.771637!

 STEPS: A 0.2; B 0.7; R 0.4; T 2.9.     ACCEPT 1 (L -1.60, dir 0.79, ss 1.0):     A(3023081.488363)=(AV 7.116). Num: A(7462) + M(1625983); ab -1.389304 18.691910!

 STEPS: A 0.1; B 0.1; R 0.3; T 1.4.     ACCEPT 2 (L -2.20, dir 0.81, ss 1.0):     A(3013742.743616)=(AV 7.105). Num: A(7462) + M(1625983); ab -1.388339 18.693697!

 STEPS: A 0.0; B 0.2; R 0.1; T 0.7.     ACCEPT 3 (L -2.81, dir 0.83, ss 1.0):     A(3010853.300879)=(AV 7.103). Num: A(7459) + M(1625983); ab -1.387727 18.673536!

 LOG 3669: 7.103 fine. Res: 7459 A, 0 L, 1627669 M; (404992 / 522102) forceDrop. a=-1.387727, b=18.673536. Window 102 (7)

 Coarse Tracker tracked ab = -1.405317 19.757017 (exp 1.000000). Res 6.968638!

 Coarse Tracker tracked ab = -1.391880 18.946365 (exp 1.000000). Res 6.628254!

 Coarse Tracker tracked ab = -1.388099 18.505606 (exp 1.000000). Res 6.835980!

 Coarse Tracker tracked ab = -1.388712 18.395186 (exp 1.000000). Res 6.732686!

 Coarse Tracker tracked ab = -1.388305 18.392035 (exp 1.000000). Res 7.028200!

 Coarse Tracker tracked ab = -1.388542 18.346620 (exp 1.000000). Res 7.000930!

 Coarse Tracker tracked ab = -1.387877 18.463515 (exp 1.000000). Res 7.010442!

 Coarse Tracker tracked ab = -1.388651 18.373662 (exp 1.000000). Res 7.027171!

 Coarse Tracker tracked ab = -1.386685 18.393683 (exp 1.000000). Res 7.020790!

 Coarse Tracker tracked ab = -1.389076 18.386118 (exp 1.000000). Res 6.981512!

 Coarse Tracker tracked ab = -1.387130 18.403474 (exp 1.000000). Res 7.052348!

 Coarse Tracker tracked ab = -1.388756 18.402295 (exp 1.000000). Res 6.988896!

 ======================

 3681 Frames (10.0 fps)

 102.83ms per frame (single core);

 infms per frame (multi core);

 0.972x (single core);

 0.000x (multi core);

 ======================

 QUIT Pangolin thread!

 I'll just kill the whole process.

 So Long, and Thanks for All the Fish!

 root@s-Lenovo-Rescuer-15ISK:/home/s/downloads/dso/build/bin# ./dso_dataset files=/media/s/新加卷/share/EuRoC/MH01/cam0/data/ calib=./camera.txt mode=1

多核下inf ms每帧是几个意思~

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