loading data from Downloads/sequence_BlenderSceneCity/images_ZAxis!
loading calibration from Downloads/sequence_BlenderSceneCity/camera.txt!

=============== PRESET Settings: ===============
FAST settings:
- 5x real-time enforcing
- 800 active points
- 4-6 active frames
- 1-4 LM iteration each KF
- 424 x 320 image resolution
==============================================
PHOTOMETRIC MODE WITHOUT CALIBRATION!
USING SAMPLE OUTPUT WRAPPER!
SAVE IMAGES!
loading additional camera poses from Camera_Z-Axis_ideal.csv!
Reading Calibration from file Downloads/sequence_BlenderSceneCity/camera.txt ... found!
Input resolution: 1920 1080
In: 600.000000 600.000000 960.000000 540.000000 0.000000
Out: Rectify Crop
Output resolution: 424 320
finding CROP optimal new model!
initial range: x: -1.6159 - 1.6143; y: -0.9089 - 0.9073!
iteration 00001: range: x: -1.6078 - 1.6062; y: -0.9089 - 0.9073!
iteration 00002: range: x: -1.5998 - 1.5982; y: -0.9089 - 0.9073!
iteration 00003: range: x: -1.5998 - 1.5982; y: -0.9044 - 0.9027!
iteration 00004: range: x: -1.5998 - 1.5982; y: -0.8998 - 0.8982!
iteration 00005: range: x: -1.5998 - 1.5982; y: -0.8998 - 0.8982!

Rectified Kamera Matrix:
132.272       0 211.606
      0 177.413 159.642
      0       0       1

NO PHOTOMETRIC Calibration!
Reading Photometric Calibration from file 
PhotometricUndistorter: Could not open file!
set timestamps and exposures to zero!
set EXPOSURES to zero!
got 101 images and 0 timestamps and 0 exposures.!

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 0, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 0.1, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 0.2, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 0.3, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 0.4, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 0.5, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 0.6, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 0.7, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 0.8, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 0.9, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 1, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 1.1, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 1.2, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 1.3, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 1.4, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 1.5, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 1.6, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 1.7, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 1.8, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 1.9, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 2, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 2.1, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 2.2, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 2.3, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 2.4, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 2.5, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 2.6, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 2.7, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 2.8, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 2.9, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 3, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 3.1, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 3.2, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 3.3, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 3.4, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 3.5, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 3.6, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 3.7, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 3.8, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 3.9, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 4, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 4.1, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 4.2, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 4.3, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 4.4, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 4.5, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 4.6, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 4.7, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 4.8, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 4.9, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 5, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 5.1, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 5.2, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 5.3, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 5.4, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 5.5, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 5.6, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 5.7, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 5.8, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 5.9, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 6, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 6.1, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 6.2, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 6.3, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 6.4, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 6.5, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 6.6, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 6.7, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 6.8, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 6.9, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 7, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 7.1, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 7.2, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 7.3, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 7.4, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 7.5, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 7.6, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 7.7, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 7.8, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 7.9, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 8, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 8.1, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 8.2, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 8.3, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 8.4, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 8.5, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 8.6, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 8.7, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 8.8, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 8.9, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 9, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 9.1, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 9.2, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 9.3, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 9.4, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 9.5, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 9.6, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 9.7, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 9.8, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 9.9, 10)

Quaternion read: (0.707107, 0.707107, -0, -0)
Translation read: (30, 10, 10)
Also got 101 camera poses!
ImageFolderReader: got 101 files in Downloads/sequence_BlenderSceneCity/images_ZAxis!
using pyramid levels 0 to 3. coarsest resolution: 53 x 40!
FUNCTION: CoarseInitializer::CoarseInitializer(ww=424, hh=320)
FUNCTION: FullSystem::mappingLoop()
OUT: Created SampleOutputWrapper
START PANGOLIN!
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=0 )

Loading Camera pose number 0

FUNCTION: CoarseInitializer::setFirst(CalibHessian* HCalib, FrameHessian* newFrameHessian)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::setFirst(), translation set to %s
30
 0
10
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=1 )

Loading Camera pose number 1

FUNCTION: CoarseInitializer::trackFrame(FrameHessian* newFrameHessian, std::vector<IOWrap::Output3DWrapper*> &wraps)
FUNCTION: CoarseInitializer::trackFrame(), translation set to %s
 30
0.1
 10
FUNCTION: CoarseInitializer::resetPoints(lvl=3)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::doStep(lvl=3, lambda=0.10, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=3)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=3)
FUNCTION: CoarseInitializer::doStep(lvl=3, lambda=0.05, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=3)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=3)
FUNCTION: CoarseInitializer::doStep(lvl=3, lambda=0.03, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=3)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=3)
FUNCTION: CoarseInitializer::doStep(lvl=3, lambda=0.01, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=3)
FUNCTION: CoarseInitializer::propagateUp(srcLvl=3)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::resetPoints(lvl=2)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::doStep(lvl=2, lambda=0.10, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=2)
FUNCTION: CoarseInitializer::doStep(lvl=2, lambda=0.40, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=2)
FUNCTION: CoarseInitializer::propagateUp(srcLvl=2)
FUNCTION: CoarseInitializer::optReg(lvl=1)
FUNCTION: CoarseInitializer::resetPoints(lvl=1)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::doStep(lvl=1, lambda=0.10, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=1)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=1)
FUNCTION: CoarseInitializer::doStep(lvl=1, lambda=0.05, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=1)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=1)
FUNCTION: CoarseInitializer::doStep(lvl=1, lambda=0.03, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=1)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=1)
FUNCTION: CoarseInitializer::doStep(lvl=1, lambda=0.01, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=1)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=1)
FUNCTION: CoarseInitializer::doStep(lvl=1, lambda=0.01, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=1)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=1)
FUNCTION: CoarseInitializer::doStep(lvl=1, lambda=0.00, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=1)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=1)
FUNCTION: CoarseInitializer::propagateUp(srcLvl=1)
FUNCTION: CoarseInitializer::optReg(lvl=0)
FUNCTION: CoarseInitializer::resetPoints(lvl=0)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::doStep(lvl=0, lambda=0.10, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=0)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=0)
FUNCTION: CoarseInitializer::doStep(lvl=0, lambda=0.05, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=0)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=0)
FUNCTION: CoarseInitializer::doStep(lvl=0, lambda=0.03, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=0)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=0)
FUNCTION: CoarseInitializer::doStep(lvl=0, lambda=0.01, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=0)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=0)
FUNCTION: CoarseInitializer::doStep(lvl=0, lambda=0.01, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=0)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=0)
FUNCTION: CoarseInitializer::doStep(lvl=0, lambda=0.00, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=0)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=0)
FUNCTION: CoarseInitializer::propagateUp(srcLvl=0)
FUNCTION: CoarseInitializer::optReg(lvl=1)
FUNCTION: CoarseInitializer::propagateUp(srcLvl=1)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::propagateUp(srcLvl=2)
FUNCTION: CoarseInitializer::optReg(lvl=3)
FUNCTION: CoarseInitializer::debugPlot(int lvl, std::vector<IOWrap::Output3DWrapper*> &wraps)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=2 )

Loading Camera pose number 2

FUNCTION: CoarseInitializer::trackFrame(FrameHessian* newFrameHessian, std::vector<IOWrap::Output3DWrapper*> &wraps)
FUNCTION: CoarseInitializer::trackFrame(), translation set to %s
 30
0.2
 10
FUNCTION: CoarseInitializer::resetPoints(lvl=3)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::doStep(lvl=3, lambda=0.10, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=3)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=3)
FUNCTION: CoarseInitializer::doStep(lvl=3, lambda=0.05, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=3)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=3)
FUNCTION: CoarseInitializer::doStep(lvl=3, lambda=0.03, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=3)
FUNCTION: CoarseInitializer::doStep(lvl=3, lambda=0.10, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=3)
FUNCTION: CoarseInitializer::propagateUp(srcLvl=3)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::resetPoints(lvl=2)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::doStep(lvl=2, lambda=0.10, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=2)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::doStep(lvl=2, lambda=0.05, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=2)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::doStep(lvl=2, lambda=0.03, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=2)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::doStep(lvl=2, lambda=0.01, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=2)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::doStep(lvl=2, lambda=0.01, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=2)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::doStep(lvl=2, lambda=0.00, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=2)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::doStep(lvl=2, lambda=0.00, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=2)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::doStep(lvl=2, lambda=0.00, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=2)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::doStep(lvl=2, lambda=0.00, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=2)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::doStep(lvl=2, lambda=0.00, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=2)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::doStep(lvl=2, lambda=0.00, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=2)
FUNCTION: CoarseInitializer::propagateUp(srcLvl=2)
FUNCTION: CoarseInitializer::optReg(lvl=1)
FUNCTION: CoarseInitializer::resetPoints(lvl=1)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::doStep(lvl=1, lambda=0.10, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=1)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=1)
FUNCTION: CoarseInitializer::doStep(lvl=1, lambda=0.05, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=1)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=1)
FUNCTION: CoarseInitializer::doStep(lvl=1, lambda=0.03, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=1)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=1)
FUNCTION: CoarseInitializer::doStep(lvl=1, lambda=0.01, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=1)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=1)
FUNCTION: CoarseInitializer::doStep(lvl=1, lambda=0.01, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=1)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=1)
FUNCTION: CoarseInitializer::doStep(lvl=1, lambda=0.00, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=1)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=1)
FUNCTION: CoarseInitializer::propagateUp(srcLvl=1)
FUNCTION: CoarseInitializer::optReg(lvl=0)
FUNCTION: CoarseInitializer::resetPoints(lvl=0)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::doStep(lvl=0, lambda=0.10, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=0)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=0)
FUNCTION: CoarseInitializer::doStep(lvl=0, lambda=0.05, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=0)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=0)
FUNCTION: CoarseInitializer::propagateUp(srcLvl=0)
FUNCTION: CoarseInitializer::optReg(lvl=1)
FUNCTION: CoarseInitializer::propagateUp(srcLvl=1)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::propagateUp(srcLvl=2)
FUNCTION: CoarseInitializer::optReg(lvl=3)
FUNCTION: CoarseInitializer::debugPlot(int lvl, std::vector<IOWrap::Output3DWrapper*> &wraps)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=3 )

Loading Camera pose number 3

FUNCTION: CoarseInitializer::trackFrame(FrameHessian* newFrameHessian, std::vector<IOWrap::Output3DWrapper*> &wraps)
FUNCTION: CoarseInitializer::trackFrame(), translation set to %s
 30
0.3
 10
FUNCTION: CoarseInitializer::resetPoints(lvl=3)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::doStep(lvl=3, lambda=0.10, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=3)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=3)
FUNCTION: CoarseInitializer::doStep(lvl=3, lambda=0.05, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=3)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=3)
FUNCTION: CoarseInitializer::doStep(lvl=3, lambda=0.03, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=3)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=3)
FUNCTION: CoarseInitializer::doStep(lvl=3, lambda=0.01, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=3)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=3)
FUNCTION: CoarseInitializer::doStep(lvl=3, lambda=0.01, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=3)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=3)
FUNCTION: CoarseInitializer::doStep(lvl=3, lambda=0.00, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=3)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=3)
FUNCTION: CoarseInitializer::doStep(lvl=3, lambda=0.00, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=3)
FUNCTION: CoarseInitializer::doStep(lvl=3, lambda=0.01, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=3)
FUNCTION: CoarseInitializer::propagateUp(srcLvl=3)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::resetPoints(lvl=2)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::doStep(lvl=2, lambda=0.10, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=2)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::doStep(lvl=2, lambda=0.05, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=2)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::doStep(lvl=2, lambda=0.03, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=2)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::doStep(lvl=2, lambda=0.01, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=2)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::doStep(lvl=2, lambda=0.01, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=2)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::doStep(lvl=2, lambda=0.00, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=2)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::doStep(lvl=2, lambda=0.00, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=2)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::doStep(lvl=2, lambda=0.00, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=2)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::doStep(lvl=2, lambda=0.00, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=2)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::doStep(lvl=2, lambda=0.00, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=2)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::doStep(lvl=2, lambda=0.00, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=2)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::propagateUp(srcLvl=2)
FUNCTION: CoarseInitializer::optReg(lvl=1)
FUNCTION: CoarseInitializer::resetPoints(lvl=1)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::doStep(lvl=1, lambda=0.10, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=1)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=1)
FUNCTION: CoarseInitializer::doStep(lvl=1, lambda=0.05, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=1)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=1)
FUNCTION: CoarseInitializer::doStep(lvl=1, lambda=0.03, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=1)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=1)
FUNCTION: CoarseInitializer::propagateUp(srcLvl=1)
FUNCTION: CoarseInitializer::optReg(lvl=0)
FUNCTION: CoarseInitializer::resetPoints(lvl=0)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::doStep(lvl=0, lambda=0.10, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=0)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=0)
FUNCTION: CoarseInitializer::doStep(lvl=0, lambda=0.05, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=0)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=0)
FUNCTION: CoarseInitializer::doStep(lvl=0, lambda=0.03, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=0)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=0)
FUNCTION: CoarseInitializer::doStep(lvl=0, lambda=0.01, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=0)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=0)
FUNCTION: CoarseInitializer::doStep(lvl=0, lambda=0.01, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=0)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=0)
FUNCTION: CoarseInitializer::propagateUp(srcLvl=0)
FUNCTION: CoarseInitializer::optReg(lvl=1)
FUNCTION: CoarseInitializer::propagateUp(srcLvl=1)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::propagateUp(srcLvl=2)
FUNCTION: CoarseInitializer::optReg(lvl=3)
FUNCTION: CoarseInitializer::debugPlot(int lvl, std::vector<IOWrap::Output3DWrapper*> &wraps)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=4 )

Loading Camera pose number 4

FUNCTION: CoarseInitializer::trackFrame(FrameHessian* newFrameHessian, std::vector<IOWrap::Output3DWrapper*> &wraps)
FUNCTION: CoarseInitializer::trackFrame(), translation set to %s
 30
0.4
 10
FUNCTION: CoarseInitializer::resetPoints(lvl=3)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::doStep(lvl=3, lambda=0.10, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=3)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=3)
FUNCTION: CoarseInitializer::doStep(lvl=3, lambda=0.05, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=3)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=3)
FUNCTION: CoarseInitializer::doStep(lvl=3, lambda=0.03, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=3)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=3)
FUNCTION: CoarseInitializer::doStep(lvl=3, lambda=0.01, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=3)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=3)
FUNCTION: CoarseInitializer::doStep(lvl=3, lambda=0.01, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=3)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=3)
FUNCTION: CoarseInitializer::doStep(lvl=3, lambda=0.00, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=3)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=3)
FUNCTION: CoarseInitializer::doStep(lvl=3, lambda=0.00, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=3)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=3)
FUNCTION: CoarseInitializer::doStep(lvl=3, lambda=0.00, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=3)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=3)
FUNCTION: CoarseInitializer::doStep(lvl=3, lambda=0.00, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=3)
FUNCTION: CoarseInitializer::doStep(lvl=3, lambda=0.00, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=3)
FUNCTION: CoarseInitializer::propagateUp(srcLvl=3)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::resetPoints(lvl=2)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::doStep(lvl=2, lambda=0.10, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=2)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::doStep(lvl=2, lambda=0.05, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=2)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::doStep(lvl=2, lambda=0.03, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=2)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::doStep(lvl=2, lambda=0.01, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=2)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::doStep(lvl=2, lambda=0.01, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=2)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::doStep(lvl=2, lambda=0.00, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=2)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::doStep(lvl=2, lambda=0.00, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=2)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::doStep(lvl=2, lambda=0.00, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=2)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::doStep(lvl=2, lambda=0.00, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=2)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::doStep(lvl=2, lambda=0.00, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=2)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::doStep(lvl=2, lambda=0.00, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=2)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::propagateUp(srcLvl=2)
FUNCTION: CoarseInitializer::optReg(lvl=1)
FUNCTION: CoarseInitializer::resetPoints(lvl=1)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::doStep(lvl=1, lambda=0.10, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=1)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=1)
FUNCTION: CoarseInitializer::doStep(lvl=1, lambda=0.05, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=1)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=1)
FUNCTION: CoarseInitializer::doStep(lvl=1, lambda=0.03, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=1)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=1)
FUNCTION: CoarseInitializer::doStep(lvl=1, lambda=0.01, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=1)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=1)
FUNCTION: CoarseInitializer::doStep(lvl=1, lambda=0.01, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=1)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=1)
FUNCTION: CoarseInitializer::doStep(lvl=1, lambda=0.00, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=1)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=1)
FUNCTION: CoarseInitializer::propagateUp(srcLvl=1)
FUNCTION: CoarseInitializer::optReg(lvl=0)
FUNCTION: CoarseInitializer::resetPoints(lvl=0)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::doStep(lvl=0, lambda=0.10, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=0)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=0)
FUNCTION: CoarseInitializer::doStep(lvl=0, lambda=0.05, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=0)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=0)
FUNCTION: CoarseInitializer::doStep(lvl=0, lambda=0.03, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=0)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=0)
FUNCTION: CoarseInitializer::doStep(lvl=0, lambda=0.01, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=0)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=0)
FUNCTION: CoarseInitializer::doStep(lvl=0, lambda=0.01, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=0)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=0)
FUNCTION: CoarseInitializer::propagateUp(srcLvl=0)
FUNCTION: CoarseInitializer::optReg(lvl=1)
FUNCTION: CoarseInitializer::propagateUp(srcLvl=1)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::propagateUp(srcLvl=2)
FUNCTION: CoarseInitializer::optReg(lvl=3)
FUNCTION: CoarseInitializer::debugPlot(int lvl, std::vector<IOWrap::Output3DWrapper*> &wraps)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=5 )

Loading Camera pose number 5

FUNCTION: CoarseInitializer::trackFrame(FrameHessian* newFrameHessian, std::vector<IOWrap::Output3DWrapper*> &wraps)
FUNCTION: CoarseInitializer::trackFrame(), translation set to %s
 30
0.5
 10
FUNCTION: CoarseInitializer::resetPoints(lvl=3)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::doStep(lvl=3, lambda=0.10, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=3)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=3)
FUNCTION: CoarseInitializer::doStep(lvl=3, lambda=0.05, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=3)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=3)
FUNCTION: CoarseInitializer::doStep(lvl=3, lambda=0.03, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=3)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=3)
FUNCTION: CoarseInitializer::doStep(lvl=3, lambda=0.01, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=3)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=3)
FUNCTION: CoarseInitializer::doStep(lvl=3, lambda=0.01, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=3)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=3)
FUNCTION: CoarseInitializer::doStep(lvl=3, lambda=0.00, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=3)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=3)
FUNCTION: CoarseInitializer::doStep(lvl=3, lambda=0.00, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=3)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=3)
FUNCTION: CoarseInitializer::doStep(lvl=3, lambda=0.00, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=3)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=3)
FUNCTION: CoarseInitializer::doStep(lvl=3, lambda=0.00, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=3)
FUNCTION: CoarseInitializer::doStep(lvl=3, lambda=0.00, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=3)
FUNCTION: CoarseInitializer::propagateUp(srcLvl=3)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::resetPoints(lvl=2)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::doStep(lvl=2, lambda=0.10, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=2)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::doStep(lvl=2, lambda=0.05, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=2)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::doStep(lvl=2, lambda=0.03, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=2)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::doStep(lvl=2, lambda=0.01, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=2)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::doStep(lvl=2, lambda=0.01, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=2)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::doStep(lvl=2, lambda=0.00, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=2)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::doStep(lvl=2, lambda=0.00, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=2)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::doStep(lvl=2, lambda=0.00, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=2)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::doStep(lvl=2, lambda=0.00, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=2)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::doStep(lvl=2, lambda=0.00, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=2)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::doStep(lvl=2, lambda=0.00, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=2)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::propagateUp(srcLvl=2)
FUNCTION: CoarseInitializer::optReg(lvl=1)
FUNCTION: CoarseInitializer::resetPoints(lvl=1)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::doStep(lvl=1, lambda=0.10, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=1)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=1)
FUNCTION: CoarseInitializer::doStep(lvl=1, lambda=0.05, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=1)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=1)
FUNCTION: CoarseInitializer::doStep(lvl=1, lambda=0.03, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=1)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=1)
FUNCTION: CoarseInitializer::doStep(lvl=1, lambda=0.01, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=1)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=1)
FUNCTION: CoarseInitializer::doStep(lvl=1, lambda=0.01, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=1)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=1)
FUNCTION: CoarseInitializer::propagateUp(srcLvl=1)
FUNCTION: CoarseInitializer::optReg(lvl=0)
FUNCTION: CoarseInitializer::resetPoints(lvl=0)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::doStep(lvl=0, lambda=0.10, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=0)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=0)
FUNCTION: CoarseInitializer::doStep(lvl=0, lambda=0.05, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=0)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=0)
FUNCTION: CoarseInitializer::doStep(lvl=0, lambda=0.03, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=0)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=0)
FUNCTION: CoarseInitializer::doStep(lvl=0, lambda=0.01, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=0)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=0)
FUNCTION: CoarseInitializer::propagateUp(srcLvl=0)
FUNCTION: CoarseInitializer::optReg(lvl=1)
FUNCTION: CoarseInitializer::propagateUp(srcLvl=1)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::propagateUp(srcLvl=2)
FUNCTION: CoarseInitializer::optReg(lvl=3)
FUNCTION: CoarseInitializer::debugPlot(int lvl, std::vector<IOWrap::Output3DWrapper*> &wraps)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=6 )

Loading Camera pose number 6

FUNCTION: CoarseInitializer::trackFrame(FrameHessian* newFrameHessian, std::vector<IOWrap::Output3DWrapper*> &wraps)
FUNCTION: CoarseInitializer::trackFrame(), translation set to %s
 30
0.6
 10
FUNCTION: CoarseInitializer::resetPoints(lvl=3)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::doStep(lvl=3, lambda=0.10, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=3)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=3)
FUNCTION: CoarseInitializer::doStep(lvl=3, lambda=0.05, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=3)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=3)
FUNCTION: CoarseInitializer::doStep(lvl=3, lambda=0.03, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=3)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=3)
FUNCTION: CoarseInitializer::doStep(lvl=3, lambda=0.01, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=3)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=3)
FUNCTION: CoarseInitializer::doStep(lvl=3, lambda=0.01, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=3)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=3)
FUNCTION: CoarseInitializer::doStep(lvl=3, lambda=0.00, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=3)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=3)
FUNCTION: CoarseInitializer::doStep(lvl=3, lambda=0.00, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=3)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=3)
FUNCTION: CoarseInitializer::doStep(lvl=3, lambda=0.00, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=3)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=3)
FUNCTION: CoarseInitializer::doStep(lvl=3, lambda=0.00, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=3)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=3)
FUNCTION: CoarseInitializer::doStep(lvl=3, lambda=0.00, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=3)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=3)
FUNCTION: CoarseInitializer::doStep(lvl=3, lambda=0.00, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=3)
FUNCTION: CoarseInitializer::doStep(lvl=3, lambda=0.00, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=3)
FUNCTION: CoarseInitializer::propagateUp(srcLvl=3)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::resetPoints(lvl=2)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::doStep(lvl=2, lambda=0.10, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=2)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::doStep(lvl=2, lambda=0.05, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=2)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::doStep(lvl=2, lambda=0.03, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=2)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::doStep(lvl=2, lambda=0.01, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=2)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::doStep(lvl=2, lambda=0.01, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=2)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::doStep(lvl=2, lambda=0.00, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=2)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::doStep(lvl=2, lambda=0.00, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=2)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::doStep(lvl=2, lambda=0.00, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=2)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::doStep(lvl=2, lambda=0.00, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=2)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::doStep(lvl=2, lambda=0.00, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=2)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::doStep(lvl=2, lambda=0.00, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=2)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::propagateUp(srcLvl=2)
FUNCTION: CoarseInitializer::optReg(lvl=1)
FUNCTION: CoarseInitializer::resetPoints(lvl=1)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::doStep(lvl=1, lambda=0.10, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=1)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=1)
FUNCTION: CoarseInitializer::doStep(lvl=1, lambda=0.05, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=1)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=1)
FUNCTION: CoarseInitializer::doStep(lvl=1, lambda=0.03, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=1)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=1)
FUNCTION: CoarseInitializer::doStep(lvl=1, lambda=0.01, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=1)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=1)
FUNCTION: CoarseInitializer::doStep(lvl=1, lambda=0.01, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=1)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=1)
FUNCTION: CoarseInitializer::doStep(lvl=1, lambda=0.00, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=1)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=1)
FUNCTION: CoarseInitializer::propagateUp(srcLvl=1)
FUNCTION: CoarseInitializer::optReg(lvl=0)
FUNCTION: CoarseInitializer::resetPoints(lvl=0)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::doStep(lvl=0, lambda=0.10, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=0)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=0)
FUNCTION: CoarseInitializer::doStep(lvl=0, lambda=0.05, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=0)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=0)
FUNCTION: CoarseInitializer::doStep(lvl=0, lambda=0.03, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=0)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=0)
FUNCTION: CoarseInitializer::doStep(lvl=0, lambda=0.01, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=0)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=0)
FUNCTION: CoarseInitializer::doStep(lvl=0, lambda=0.01, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=0)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=0)
FUNCTION: CoarseInitializer::propagateUp(srcLvl=0)
FUNCTION: CoarseInitializer::optReg(lvl=1)
FUNCTION: CoarseInitializer::propagateUp(srcLvl=1)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::propagateUp(srcLvl=2)
FUNCTION: CoarseInitializer::optReg(lvl=3)
FUNCTION: CoarseInitializer::debugPlot(int lvl, std::vector<IOWrap::Output3DWrapper*> &wraps)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=7 )

Loading Camera pose number 7

FUNCTION: CoarseInitializer::trackFrame(FrameHessian* newFrameHessian, std::vector<IOWrap::Output3DWrapper*> &wraps)
FUNCTION: CoarseInitializer::trackFrame(), translation set to %s
 30
0.7
 10
FUNCTION: CoarseInitializer::resetPoints(lvl=3)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::doStep(lvl=3, lambda=0.10, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=3)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=3)
FUNCTION: CoarseInitializer::doStep(lvl=3, lambda=0.05, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=3)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=3)
FUNCTION: CoarseInitializer::doStep(lvl=3, lambda=0.03, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=3)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=3)
FUNCTION: CoarseInitializer::doStep(lvl=3, lambda=0.01, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=3)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=3)
FUNCTION: CoarseInitializer::doStep(lvl=3, lambda=0.01, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=3)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=3)
FUNCTION: CoarseInitializer::doStep(lvl=3, lambda=0.00, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=3)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=3)
FUNCTION: CoarseInitializer::doStep(lvl=3, lambda=0.00, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=3)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=3)
FUNCTION: CoarseInitializer::doStep(lvl=3, lambda=0.00, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=3)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=3)
FUNCTION: CoarseInitializer::doStep(lvl=3, lambda=0.00, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=3)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=3)
FUNCTION: CoarseInitializer::doStep(lvl=3, lambda=0.00, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=3)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=3)
FUNCTION: CoarseInitializer::doStep(lvl=3, lambda=0.00, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=3)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=3)
FUNCTION: CoarseInitializer::doStep(lvl=3, lambda=0.00, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=3)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=3)
FUNCTION: CoarseInitializer::doStep(lvl=3, lambda=0.00, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=3)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=3)
FUNCTION: CoarseInitializer::doStep(lvl=3, lambda=0.00, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=3)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=3)
FUNCTION: CoarseInitializer::doStep(lvl=3, lambda=0.00, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=3)
FUNCTION: CoarseInitializer::doStep(lvl=3, lambda=0.00, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=3)
FUNCTION: CoarseInitializer::propagateUp(srcLvl=3)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::resetPoints(lvl=2)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::doStep(lvl=2, lambda=0.10, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=2)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::doStep(lvl=2, lambda=0.05, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=2)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::doStep(lvl=2, lambda=0.03, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=2)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::doStep(lvl=2, lambda=0.01, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=2)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::doStep(lvl=2, lambda=0.01, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=2)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::doStep(lvl=2, lambda=0.00, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=2)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::doStep(lvl=2, lambda=0.00, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=2)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::doStep(lvl=2, lambda=0.00, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=2)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::doStep(lvl=2, lambda=0.00, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=2)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::doStep(lvl=2, lambda=0.00, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=2)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::doStep(lvl=2, lambda=0.00, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=2)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::propagateUp(srcLvl=2)
FUNCTION: CoarseInitializer::optReg(lvl=1)
FUNCTION: CoarseInitializer::resetPoints(lvl=1)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::doStep(lvl=1, lambda=0.10, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=1)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=1)
FUNCTION: CoarseInitializer::doStep(lvl=1, lambda=0.05, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=1)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=1)
FUNCTION: CoarseInitializer::doStep(lvl=1, lambda=0.03, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=1)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=1)
FUNCTION: CoarseInitializer::doStep(lvl=1, lambda=0.01, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=1)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=1)
FUNCTION: CoarseInitializer::doStep(lvl=1, lambda=0.01, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=1)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=1)
FUNCTION: CoarseInitializer::propagateUp(srcLvl=1)
FUNCTION: CoarseInitializer::optReg(lvl=0)
FUNCTION: CoarseInitializer::resetPoints(lvl=0)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::doStep(lvl=0, lambda=0.10, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=0)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=0)
FUNCTION: CoarseInitializer::doStep(lvl=0, lambda=0.05, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=0)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=0)
FUNCTION: CoarseInitializer::doStep(lvl=0, lambda=0.03, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=0)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=0)
FUNCTION: CoarseInitializer::doStep(lvl=0, lambda=0.01, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=0)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=0)
FUNCTION: CoarseInitializer::doStep(lvl=0, lambda=0.01, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=0)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=0)
FUNCTION: CoarseInitializer::propagateUp(srcLvl=0)
FUNCTION: CoarseInitializer::optReg(lvl=1)
FUNCTION: CoarseInitializer::propagateUp(srcLvl=1)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::propagateUp(srcLvl=2)
FUNCTION: CoarseInitializer::optReg(lvl=3)
FUNCTION: CoarseInitializer::debugPlot(int lvl, std::vector<IOWrap::Output3DWrapper*> &wraps)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=8 )

Loading Camera pose number 8

FUNCTION: CoarseInitializer::trackFrame(FrameHessian* newFrameHessian, std::vector<IOWrap::Output3DWrapper*> &wraps)
FUNCTION: CoarseInitializer::trackFrame(), translation set to %s
 30
0.8
 10
FUNCTION: CoarseInitializer::resetPoints(lvl=3)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::doStep(lvl=3, lambda=0.10, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=3)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=3)
FUNCTION: CoarseInitializer::doStep(lvl=3, lambda=0.05, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=3)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=3)
FUNCTION: CoarseInitializer::doStep(lvl=3, lambda=0.03, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=3)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=3)
FUNCTION: CoarseInitializer::doStep(lvl=3, lambda=0.01, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=3)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=3)
FUNCTION: CoarseInitializer::doStep(lvl=3, lambda=0.01, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=3)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=3)
FUNCTION: CoarseInitializer::doStep(lvl=3, lambda=0.00, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=3)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=3)
FUNCTION: CoarseInitializer::doStep(lvl=3, lambda=0.00, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=3)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=3)
FUNCTION: CoarseInitializer::doStep(lvl=3, lambda=0.00, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=3)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=3)
FUNCTION: CoarseInitializer::doStep(lvl=3, lambda=0.00, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=3)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=3)
FUNCTION: CoarseInitializer::doStep(lvl=3, lambda=0.00, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=3)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=3)
FUNCTION: CoarseInitializer::doStep(lvl=3, lambda=0.00, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=3)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=3)
FUNCTION: CoarseInitializer::doStep(lvl=3, lambda=0.00, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=3)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=3)
FUNCTION: CoarseInitializer::doStep(lvl=3, lambda=0.00, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=3)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=3)
FUNCTION: CoarseInitializer::doStep(lvl=3, lambda=0.00, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=3)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=3)
FUNCTION: CoarseInitializer::doStep(lvl=3, lambda=0.00, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=3)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=3)
FUNCTION: CoarseInitializer::doStep(lvl=3, lambda=0.00, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=3)
FUNCTION: CoarseInitializer::doStep(lvl=3, lambda=0.00, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=3)
FUNCTION: CoarseInitializer::propagateUp(srcLvl=3)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::resetPoints(lvl=2)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::doStep(lvl=2, lambda=0.10, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=2)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::doStep(lvl=2, lambda=0.05, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=2)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::doStep(lvl=2, lambda=0.03, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=2)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::doStep(lvl=2, lambda=0.01, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=2)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::doStep(lvl=2, lambda=0.01, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=2)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::doStep(lvl=2, lambda=0.00, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=2)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::doStep(lvl=2, lambda=0.00, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=2)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::doStep(lvl=2, lambda=0.00, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=2)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::doStep(lvl=2, lambda=0.00, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=2)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::doStep(lvl=2, lambda=0.00, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=2)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::doStep(lvl=2, lambda=0.00, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=2)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::propagateUp(srcLvl=2)
FUNCTION: CoarseInitializer::optReg(lvl=1)
FUNCTION: CoarseInitializer::resetPoints(lvl=1)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::doStep(lvl=1, lambda=0.10, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=1)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=1)
FUNCTION: CoarseInitializer::doStep(lvl=1, lambda=0.05, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=1)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=1)
FUNCTION: CoarseInitializer::doStep(lvl=1, lambda=0.03, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=1)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=1)
FUNCTION: CoarseInitializer::doStep(lvl=1, lambda=0.01, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=1)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=1)
FUNCTION: CoarseInitializer::doStep(lvl=1, lambda=0.01, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=1)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=1)
FUNCTION: CoarseInitializer::propagateUp(srcLvl=1)
FUNCTION: CoarseInitializer::optReg(lvl=0)
FUNCTION: CoarseInitializer::resetPoints(lvl=0)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::doStep(lvl=0, lambda=0.10, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=0)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=0)
FUNCTION: CoarseInitializer::doStep(lvl=0, lambda=0.05, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=0)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=0)
FUNCTION: CoarseInitializer::doStep(lvl=0, lambda=0.03, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=0)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=0)
FUNCTION: CoarseInitializer::doStep(lvl=0, lambda=0.01, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=0)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=0)
FUNCTION: CoarseInitializer::doStep(lvl=0, lambda=0.01, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=0)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=0)
FUNCTION: CoarseInitializer::doStep(lvl=0, lambda=0.00, Vec8f inc)
FUNCTION: CoarseInitializer::calcResAndGS()
FUNCTION: CoarseInitializer::calcEC(lvl=0)
FUNCTION: CoarseInitializer::makeGradients(Eigen::Vector3f** data)
FUNCTION: CoarseInitializer::optReg(lvl=0)
FUNCTION: CoarseInitializer::propagateUp(srcLvl=0)
FUNCTION: CoarseInitializer::optReg(lvl=1)
FUNCTION: CoarseInitializer::propagateUp(srcLvl=1)
FUNCTION: CoarseInitializer::optReg(lvl=2)
FUNCTION: CoarseInitializer::propagateUp(srcLvl=2)
FUNCTION: CoarseInitializer::optReg(lvl=3)
FUNCTION: CoarseInitializer::debugPlot(int lvl, std::vector<IOWrap::Output3DWrapper*> &wraps)
FUNCTION: FullSystem::initializeFromInitializer(FrameHessian* newFrame)
Initialization: keep 19.6% (need 800, have 4075)!
INITIALIZE FROM INITIALIZER (798 pts)!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
SPARSITY:  MinActDist 1.900000 (need 800 points, have 798 points)!
OPTIMIZE 798 pts, 798 active res, 0 lin res!
Initial Error       	A(259499.865321)=(AV inf). Num: A(0) + M(0); ab 0.000000 0.000000!
STEPS: A 0.9; B 13.4; R 0.6; T 8.4. 	REJECT 0 (L -1.00, dir nan, ss 1.0): 	A(395408.422697)=(AV 10.672). Num: A(434) + M(0); ab -0.007239 1.135034!
STEPS: A 1.4; B 21.2; R 1.8; T 7.5. 	ACCEPT 1 (L -1.60, dir 0.98, ss 1.0): 	A(355829.107442)=(AV 8.304). Num: A(645) + M(0); ab -0.019080 2.935853!
STEPS: A 0.4; B 6.1; R 0.2; T 0.4. 	ACCEPT 2 (L -2.20, dir 0.96, ss 1.0): 	A(329407.467219)=(AV 7.984). Num: A(646) + M(0); ab -0.022478 3.454059!
STEPS: A 0.1; B 1.6; R 0.6; T 0.7. 	ACCEPT 3 (L -2.81, dir -0.89, ss 1.0): 	A(321017.910949)=(AV 7.956). Num: A(634) + M(0); ab -0.021624 3.319927!
STEPS: A 0.1; B 0.8; R 0.3; T 0.4. 	ACCEPT 4 (L -3.41, dir 0.87, ss 1.0): 	A(320257.138736)=(AV 7.978). Num: A(629) + M(0); ab -0.021145 3.248288!
LOG 8: 7.954 fine. Res: 629 A, 0 L, 0 M; (0 / 0) forceDrop. a=-0.021145, b=3.248288. Window 8 (2)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=9 )

Loading Camera pose number 9

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.045843 6.455167 (exp 1.000000). Res 6.698957!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeNonKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=10 )

Loading Camera pose number 10

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.044576 6.170864 (exp 1.000000). Res 6.563516!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeNonKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=11 )

Loading Camera pose number 11

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.048975 6.963858 (exp 1.000000). Res 7.010898!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeNonKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=12 )

Loading Camera pose number 12

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.046026 6.661943 (exp 1.000000). Res 7.009689!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeNonKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=13 )

Loading Camera pose number 13

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.050330 7.185237 (exp 1.000000). Res 7.587719!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
SPARSITY:  MinActDist 1.400000 (need 800 points, have 616 points)!
OPTIMIZE 782 pts, 1530 active res, 0 lin res!
Initial Error       	A(468333.883463)=(AV 9.647). Num: A(629) + M(0); ab -0.050330 7.185236!
STEPS: A 2.5; B 33.7; R 1.8; T 4.7. 	REJECT 0 (L -1.00, dir nan, ss 1.0): 	A(530153.355429)=(AV 7.287). Num: A(1248) + M(0); ab -0.025724 3.944475!
STEPS: A 0.2; B 2.1; R 0.8; T 2.0. 	ACCEPT 1 (L -1.60, dir -0.68, ss 1.0): 	A(515989.879623)=(AV 6.783). Num: A(1402) + M(0); ab -0.027527 4.162717!
STEPS: A 0.1; B 0.8; R 0.4; T 0.6. 	ACCEPT 2 (L -2.20, dir -0.22, ss 1.0): 	A(507721.086756)=(AV 6.731). Num: A(1401) + M(0); ab -0.027121 4.148947!
LOG 13: 6.731 fine. Res: 1401 A, 0 L, 0 M; (0 / 0) forceDrop. a=-0.027121, b=4.148947. Window 13 (3)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=14 )

Loading Camera pose number 14

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.045928 6.513661 (exp 1.000000). Res 6.127203!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeNonKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=15 )

Loading Camera pose number 15

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.049810 7.269558 (exp 1.000000). Res 6.217424!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeNonKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=16 )

Loading Camera pose number 16

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.049076 7.106019 (exp 1.000000). Res 6.550449!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeNonKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=17 )

Loading Camera pose number 17

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.046805 6.845912 (exp 1.000000). Res 6.629053!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
SPARSITY:  MinActDist 1.300000 (need 800 points, have 760 points)!
OPTIMIZE 938 pts, 2603 active res, 0 lin res!
Initial Error       	A(786859.335956)=(AV 8.379). Num: A(1401) + M(0); ab -0.046805 6.845912!
STEPS: A 1.9; B 25.6; R 1.8; T 4.1. 	REJECT 0 (L -1.00, dir nan, ss 1.0): 	A(844914.088716)=(AV 6.836). Num: A(2260) + M(0); ab -0.027257 4.291424!
STEPS: A 0.1; B 1.6; R 1.0; T 1.8. 	ACCEPT 1 (L -1.60, dir 0.32, ss 1.0): 	A(825055.867705)=(AV 6.557). Num: A(2399) + M(0); ab -0.027381 4.288217!
STEPS: A 0.0; B 0.5; R 0.3; T 0.7. 	ACCEPT 2 (L -2.20, dir -0.25, ss 1.0): 	A(813279.765360)=(AV 6.514). Num: A(2396) + M(0); ab -0.027160 4.249529!
LOG 17: 6.510 fine. Res: 2396 A, 0 L, 0 M; (0 / 0) forceDrop. a=-0.027160, b=4.249529. Window 17 (4)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=18 )

Loading Camera pose number 18

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.051646 7.413509 (exp 1.000000). Res 6.157774!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeNonKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=19 )

Loading Camera pose number 19

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.045695 6.599253 (exp 1.000000). Res 6.253168!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeNonKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=20 )

Loading Camera pose number 20

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.053150 7.733538 (exp 1.000000). Res 6.524719!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeNonKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=21 )

Loading Camera pose number 21

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.054458 7.945471 (exp 1.000000). Res 6.599869!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeNonKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=22 )

Loading Camera pose number 22

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.053513 7.815644 (exp 1.000000). Res 7.100976!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
SPARSITY:  MinActDist 1.400000 (need 800 points, have 881 points)!
OPTIMIZE 1053 pts, 3739 active res, 0 lin res!
Initial Error       	A(1149987.513046)=(AV 7.746). Num: A(2396) + M(0); ab -0.053513 7.815644!
STEPS: A 2.3; B 32.5; R 1.3; T 4.3. 	REJECT 0 (L -1.00, dir nan, ss 1.0): 	A(1235873.748551)=(AV 6.808). Num: A(3333) + M(0); ab -0.027043 4.131059!
STEPS: A 0.1; B 1.8; R 0.9; T 1.5. 	ACCEPT 1 (L -1.60, dir -0.31, ss 1.0): 	A(1216133.088878)=(AV 6.588). Num: A(3503) + M(0); ab -0.028592 4.302849!
STEPS: A 0.0; B 0.6; R 0.2; T 0.6. 	ACCEPT 2 (L -2.20, dir 0.03, ss 1.0): 	A(1203439.016914)=(AV 6.554). Num: A(3502) + M(0); ab -0.028511 4.316129!
LOG 22: 6.544 fine. Res: 3502 A, 0 L, 48 M; (0 / 0) forceDrop. a=-0.028511, b=4.316129. Window 22 (5)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=23 )

Loading Camera pose number 23

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.052920 7.403983 (exp 1.000000). Res 6.136282!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeNonKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=24 )

Loading Camera pose number 24

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.049125 6.829852 (exp 1.000000). Res 6.237445!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeNonKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=25 )

Loading Camera pose number 25

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.053169 7.544572 (exp 1.000000). Res 6.663774!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeNonKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=26 )

Loading Camera pose number 26

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.048180 6.798149 (exp 1.000000). Res 6.675824!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeNonKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=27 )

Loading Camera pose number 27

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.052812 7.419570 (exp 1.000000). Res 7.113571!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
SPARSITY:  MinActDist 1.700000 (need 800 points, have 980 points)!
OPTIMIZE 1137 pts, 4929 active res, 0 lin res!
Initial Error       	A(1520244.638490)=(AV 7.366). Num: A(3502) + M(48); ab -0.052812 7.419570!
STEPS: A 1.8; B 25.0; R 1.7; T 4.4. 	REJECT 0 (L -1.00, dir nan, ss 1.0): 	A(1597538.215878)=(AV 6.648). Num: A(4518) + M(48); ab -0.029881 4.335889!
STEPS: A 0.1; B 1.6; R 0.2; T 0.9. 	ACCEPT 1 (L -1.60, dir -0.11, ss 1.0): 	A(1585257.157262)=(AV 6.489). Num: A(4706) + M(48); ab -0.030809 4.466307!
STEPS: A 0.0; B 0.5; R 0.3; T 0.6. 	ACCEPT 2 (L -2.20, dir 0.27, ss 1.0): 	A(1572629.280495)=(AV 6.467). Num: A(4701) + M(48); ab -0.030756 4.443501!
LOG 27: 6.461 fine. Res: 4701 A, 0 L, 220 M; (0 / 0) forceDrop. a=-0.030756, b=4.443501. Window 27 (6)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=28 )

Loading Camera pose number 28

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.056209 7.630356 (exp 1.000000). Res 6.034187!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeNonKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=29 )

Loading Camera pose number 29

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.054632 7.460050 (exp 1.000000). Res 6.169224!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeNonKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=30 )

Loading Camera pose number 30

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.056038 7.654055 (exp 1.000000). Res 6.365903!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeNonKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=31 )

Loading Camera pose number 31

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.053695 7.382393 (exp 1.000000). Res 6.450639!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeNonKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=32 )

Loading Camera pose number 32

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.060803 8.461411 (exp 1.000000). Res 6.873553!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
SPARSITY:  MinActDist 2.500000 (need 800 points, have 1056 points)!
OPTIMIZE 1126 pts, 5796 active res, 0 lin res!
Initial Error       	A(1788021.531040)=(AV 6.895). Num: A(4701) + M(220); ab -0.060803 8.461411!
STEPS: A 1.9; B 24.7; R 0.9; T 1.5. 	REJECT 0 (L -1.00, dir nan, ss 1.0): 	A(1870069.146964)=(AV 6.581). Num: A(5397) + M(220); ab -0.031743 4.682013!
STEPS: A 0.1; B 1.2; R 0.2; T 0.7. 	ACCEPT 1 (L -1.60, dir -0.41, ss 1.0): 	A(1853058.945144)=(AV 6.461). Num: A(5548) + M(220); ab -0.032461 4.789473!
STEPS: A 0.0; B 0.7; R 0.1; T 0.2. 	ACCEPT 2 (L -2.20, dir 0.79, ss 1.0): 	A(1841340.226831)=(AV 6.443). Num: A(5545) + M(220); ab -0.032542 4.813952!
LOG 32: 6.439 fine. Res: 5545 A, 0 L, 1314 M; (480 / 236) forceDrop. a=-0.032542, b=4.813953. Window 32 (6)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=33 )

Loading Camera pose number 33

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.055914 7.825632 (exp 1.000000). Res 6.188935!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeNonKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=34 )

Loading Camera pose number 34

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.054656 7.725262 (exp 1.000000). Res 6.303843!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeNonKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=35 )

Loading Camera pose number 35

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.055422 7.882909 (exp 1.000000). Res 6.619473!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeNonKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=36 )

Loading Camera pose number 36

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.055170 7.781045 (exp 1.000000). Res 6.584366!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeNonKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=37 )

Loading Camera pose number 37

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.056187 7.938191 (exp 1.000000). Res 6.929100!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
SPARSITY:  MinActDist 2.600000 (need 800 points, have 884 points)!
OPTIMIZE 998 pts, 5072 active res, 0 lin res!
Initial Error       	A(1630689.470163)=(AV 6.063). Num: A(5545) + M(1314); ab -0.056187 7.938190!
STEPS: A 1.7; B 23.1; R 1.2; T 2.8. 	REJECT 0 (L -1.00, dir nan, ss 1.0): 	A(1725484.891606)=(AV 6.776). Num: A(4698) + M(1314); ab -0.030657 4.522560!
STEPS: A 0.2; B 2.1; R 0.3; T 0.8. 	ACCEPT 1 (L -1.60, dir -0.42, ss 1.0): 	A(1712191.680735)=(AV 6.646). Num: A(4846) + M(1314); ab -0.032540 4.748613!
STEPS: A 0.0; B 0.3; R 0.1; T 0.2. 	ACCEPT 2 (L -2.20, dir 0.56, ss 1.0): 	A(1701550.410157)=(AV 6.628). Num: A(4842) + M(1314); ab -0.032693 4.776615!
LOG 37: 6.625 fine. Res: 4842 A, 0 L, 2272 M; (921 / 415) forceDrop. a=-0.032693, b=4.776615. Window 37 (6)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=38 )

Loading Camera pose number 38

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.056562 7.897114 (exp 1.000000). Res 6.059927!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeNonKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=39 )

Loading Camera pose number 39

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.057877 8.082602 (exp 1.000000). Res 6.060245!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeNonKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=40 )

Loading Camera pose number 40

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.057878 7.982039 (exp 1.000000). Res 6.412361!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeNonKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=41 )

Loading Camera pose number 41

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.054050 7.512283 (exp 1.000000). Res 7.284694!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeNonKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=42 )

Loading Camera pose number 42

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.053196 7.060957 (exp 1.000000). Res 9.881401!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
SPARSITY:  MinActDist 2.500000 (need 800 points, have 770 points)!
OPTIMIZE 913 pts, 4592 active res, 0 lin res!
Initial Error       	A(1582445.717639)=(AV 6.392). Num: A(4842) + M(2272); ab -0.053196 7.060957!
STEPS: A 1.2; B 14.5; R 1.7; T 3.5. 	REJECT 0 (L -1.00, dir nan, ss 1.0): 	A(1902148.403576)=(AV 7.602). Num: A(4114) + M(2272); ab -0.036530 5.165456!
STEPS: A 0.3; B 5.0; R 0.5; T 1.2. 	ACCEPT 1 (L -1.60, dir -0.62, ss 1.0): 	A(1886278.448270)=(AV 7.412). Num: A(4292) + M(2272); ab -0.041553 5.919528!
STEPS: A 0.1; B 0.6; R 0.2; T 0.4. 	ACCEPT 2 (L -2.20, dir 0.77, ss 1.0): 	A(1865983.963190)=(AV 7.377). Num: A(4286) + M(2272); ab -0.042368 6.008084!
LOG 42: 7.374 fine. Res: 4286 A, 0 L, 3188 M; (1318 / 568) forceDrop. a=-0.042368, b=6.008084. Window 42 (6)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=43 )

Loading Camera pose number 43

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.072594 9.966564 (exp 1.000000). Res 9.967772!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeNonKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=44 )

Loading Camera pose number 44

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.075063 10.728540 (exp 1.000000). Res 10.094705!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeNonKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=45 )

Loading Camera pose number 45

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.069953 9.880612 (exp 1.000000). Res 10.279957!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeNonKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=46 )

Loading Camera pose number 46

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.076249 11.078204 (exp 1.000000). Res 10.245275!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeNonKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=47 )

Loading Camera pose number 47

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.072539 10.392657 (exp 1.000000). Res 10.413692!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeNonKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=48 )

Loading Camera pose number 48

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.077302 11.114478 (exp 1.000000). Res 10.314241!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
SPARSITY:  MinActDist 2.300000 (need 800 points, have 688 points)!
OPTIMIZE 837 pts, 4024 active res, 0 lin res!
Initial Error       	A(1543559.232068)=(AV 6.710). Num: A(4286) + M(3188); ab -0.077302 11.114478!
STEPS: A 2.6; B 34.7; R 1.4; T 5.4. 	REJECT 0 (L -1.00, dir nan, ss 1.0): 	A(2123876.528623)=(AV 8.653). Num: A(3546) + M(3188); ab -0.037574 5.766769!
STEPS: A 1.2; B 15.8; R 1.3; T 3.1. 	REJECT 1 (L -1.60, dir -0.96, ss 1.0): 	A(2125410.506635)=(AV 8.416). Num: A(3751) + M(3188); ab -0.056864 8.227392!
STEPS: A 0.4; B 5.1; R 0.6; T 1.5. 	ACCEPT 2 (L -2.20, dir 0.93, ss 1.0): 	A(2108530.266958)=(AV 8.375). Num: A(3758) + M(3188); ab -0.062428 9.009556!
STEPS: A 0.1; B 1.2; R 0.4; T 0.9. 	ACCEPT 3 (L -2.81, dir 0.87, ss 1.0): 	A(2090201.905750)=(AV 8.339). Num: A(3757) + M(3188); ab -0.063476 9.184629!
LOG 48: 8.339 fine. Res: 3757 A, 0 L, 4056 M; (1726 / 641) forceDrop. a=-0.063476, b=9.184629. Window 48 (6)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=49 )

Loading Camera pose number 49

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.093010 12.765045 (exp 1.000000). Res 7.958725!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeNonKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=50 )

Loading Camera pose number 50

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.093152 12.855664 (exp 1.000000). Res 7.484956!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeNonKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=51 )

Loading Camera pose number 51

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.087895 12.121861 (exp 1.000000). Res 8.260118!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeNonKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=52 )

Loading Camera pose number 52

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.087852 12.199530 (exp 1.000000). Res 8.566772!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeNonKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=53 )

Loading Camera pose number 53

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.091244 12.800243 (exp 1.000000). Res 8.720811!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeNonKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=54 )

Loading Camera pose number 54

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.088528 12.375883 (exp 1.000000). Res 8.507323!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
SPARSITY:  MinActDist 1.800000 (need 800 points, have 561 points)!
OPTIMIZE 702 pts, 3370 active res, 0 lin res!
Initial Error       	A(1463642.182203)=(AV 6.978). Num: A(3757) + M(4056); ab -0.088528 12.375883!
STEPS: A 2.9; B 40.8; R 2.5; T 7.0. 	REJECT 0 (L -1.00, dir nan, ss 1.0): 	A(1517881.907921)=(AV 7.801). Num: A(3118) + M(4056); ab -0.047371 6.727549!
STEPS: A 0.6; B 8.1; R 0.6; T 1.7. 	ACCEPT 1 (L -1.60, dir 0.91, ss 1.0): 	A(1492129.316000)=(AV 7.610). Num: A(3221) + M(4056); ab -0.041087 5.830186!
STEPS: A 0.1; B 2.6; R 0.5; T 0.7. 	ACCEPT 2 (L -2.20, dir 0.90, ss 1.0): 	A(1483860.448264)=(AV 7.599). Num: A(3212) + M(4056); ab -0.039744 5.596768!
STEPS: A 0.0; B 0.7; R 0.3; T 0.5. 	ACCEPT 3 (L -2.81, dir 0.61, ss 1.0): 	A(1476274.817147)=(AV 7.587). Num: A(3206) + M(4056); ab -0.039199 5.499124!
LOG 54: 7.583 fine. Res: 3206 A, 0 L, 4551 M; (2000 / 785) forceDrop. a=-0.039199, b=5.499124. Window 54 (6)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=55 )

Loading Camera pose number 55

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.060180 8.119063 (exp 1.000000). Res 6.396065!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeNonKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=56 )

Loading Camera pose number 56

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.057867 7.799865 (exp 1.000000). Res 6.106311!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeNonKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=57 )

Loading Camera pose number 57

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.061345 8.488315 (exp 1.000000). Res 6.429768!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeNonKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=58 )

Loading Camera pose number 58

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.060058 8.369995 (exp 1.000000). Res 6.348064!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeNonKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=59 )

Loading Camera pose number 59

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.061965 8.320145 (exp 1.000000). Res 6.695920!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeNonKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=60 )

Loading Camera pose number 60

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.063468 8.664815 (exp 1.000000). Res 6.425353!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
SPARSITY:  MinActDist 1.300000 (need 800 points, have 579 points)!
OPTIMIZE 885 pts, 3994 active res, 0 lin res!
Initial Error       	A(1655574.323961)=(AV 8.034). Num: A(3206) + M(4551); ab -0.063468 8.664815!
STEPS: A 1.9; B 25.8; R 3.4; T 8.5. 	REJECT 0 (L -1.00, dir nan, ss 1.0): 	A(1667454.874989)=(AV 7.486). Num: A(3719) + M(4551); ab -0.042363 5.951602!
STEPS: A 0.4; B 6.6; R 0.6; T 2.1. 	ACCEPT 1 (L -1.60, dir 0.90, ss 1.0): 	A(1651720.696760)=(AV 7.373). Num: A(3798) + M(4551); ab -0.037501 5.281768!
STEPS: A 0.2; B 2.5; R 0.4; T 1.0. 	ACCEPT 2 (L -2.20, dir 0.94, ss 1.0): 	A(1643375.850517)=(AV 7.351). Num: A(3801) + M(4551); ab -0.036097 5.061118!
STEPS: A 0.1; B 1.2; R 0.3; T 0.7. 	ACCEPT 3 (L -2.81, dir 0.92, ss 1.0): 	A(1638371.685645)=(AV 7.340). Num: A(3801) + M(4551); ab -0.035506 4.963526!
LOG 60: 7.340 fine. Res: 3801 A, 0 L, 5369 M; (2302 / 1026) forceDrop. a=-0.035506, b=4.963526. Window 60 (6)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=61 )

Loading Camera pose number 61

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.060571 8.236198 (exp 1.000000). Res 6.317333!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeNonKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=62 )

Loading Camera pose number 62

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.057770 8.007931 (exp 1.000000). Res 6.211796!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeNonKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=63 )

Loading Camera pose number 63

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.064175 8.863729 (exp 1.000000). Res 6.326267!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeNonKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=64 )

Loading Camera pose number 64

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.062322 8.655302 (exp 1.000000). Res 6.509160!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeNonKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=65 )

Loading Camera pose number 65

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.058354 7.982338 (exp 1.000000). Res 6.746648!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeNonKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=66 )

Loading Camera pose number 66

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.060676 8.410730 (exp 1.000000). Res 6.513661!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
SPARSITY:  MinActDist 1.100000 (need 800 points, have 653 points)!
OPTIMIZE 1012 pts, 4405 active res, 0 lin res!
Initial Error       	A(1699252.860802)=(AV 7.475). Num: A(3801) + M(5369); ab -0.060676 8.410729!
STEPS: A 2.0; B 27.2; R 3.6; T 8.7. 	ACCEPT 0 (L -1.00, dir nan, ss 1.0): 	A(1675700.803795)=(AV 7.065). Num: A(4196) + M(5369); ab -0.039447 5.555673!
STEPS: A 0.4; B 5.9; R 0.5; T 0.9. 	ACCEPT 1 (L -1.60, dir 0.94, ss 1.0): 	A(1658018.529364)=(AV 6.970). Num: A(4266) + M(5369); ab -0.034776 4.873589!
STEPS: A 0.0; B 0.9; R 0.2; T 0.3. 	ACCEPT 2 (L -2.20, dir 0.81, ss 1.0): 	A(1651092.889842)=(AV 6.960). Num: A(4261) + M(5369); ab -0.034271 4.772707!
LOG 66: 6.960 fine. Res: 4261 A, 0 L, 6041 M; (2636 / 1181) forceDrop. a=-0.034271, b=4.772707. Window 66 (6)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=67 )

Loading Camera pose number 67

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.065037 9.090815 (exp 1.000000). Res 6.487623!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeNonKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=68 )

Loading Camera pose number 68

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.058698 8.164883 (exp 1.000000). Res 6.399454!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeNonKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=69 )

Loading Camera pose number 69

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.061057 8.451294 (exp 1.000000). Res 6.547029!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeNonKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=70 )

Loading Camera pose number 70

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.059807 8.427296 (exp 1.000000). Res 6.681749!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeNonKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=71 )

Loading Camera pose number 71

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.061547 8.598088 (exp 1.000000). Res 6.969954!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeNonKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=72 )

Loading Camera pose number 72

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.058938 8.307421 (exp 1.000000). Res 6.943154!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
SPARSITY:  MinActDist 1.200000 (need 800 points, have 843 points)!
OPTIMIZE 1090 pts, 4830 active res, 0 lin res!
Initial Error       	A(1734839.345820)=(AV 7.134). Num: A(4261) + M(6041); ab -0.058938 8.307421!
STEPS: A 2.0; B 27.9; R 1.5; T 4.9. 	ACCEPT 0 (L -1.00, dir nan, ss 1.0): 	A(1712471.555419)=(AV 6.859). Num: A(4550) + M(6041); ab -0.034477 4.967587!
STEPS: A 0.3; B 4.0; R 0.6; T 1.8. 	ACCEPT 1 (L -1.60, dir 0.92, ss 1.0): 	A(1696278.370157)=(AV 6.771). Num: A(4625) + M(6041); ab -0.031383 4.517231!
STEPS: A 0.0; B 0.7; R 0.2; T 0.2. 	ACCEPT 2 (L -2.20, dir 0.69, ss 1.0): 	A(1689255.526708)=(AV 6.758). Num: A(4623) + M(6041); ab -0.030789 4.442487!
LOG 72: 6.758 fine. Res: 4623 A, 0 L, 7114 M; (2965 / 1538) forceDrop. a=-0.030789, b=4.442487. Window 72 (6)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=73 )

Loading Camera pose number 73

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.059535 8.319162 (exp 1.000000). Res 6.377795!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeNonKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=74 )

Loading Camera pose number 74

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.053365 7.510690 (exp 1.000000). Res 6.282865!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeNonKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=75 )

Loading Camera pose number 75

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.057085 8.026839 (exp 1.000000). Res 6.374543!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeNonKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=76 )

Loading Camera pose number 76

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.057640 8.188234 (exp 1.000000). Res 6.437090!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeNonKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=77 )

Loading Camera pose number 77

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.061326 8.716494 (exp 1.000000). Res 6.797450!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeNonKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=78 )

Loading Camera pose number 78

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.057347 8.248943 (exp 1.000000). Res 6.636209!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
SPARSITY:  MinActDist 1.100000 (need 800 points, have 779 points)!
OPTIMIZE 1027 pts, 4447 active res, 0 lin res!
Initial Error       	A(1593881.916918)=(AV 6.565). Num: A(4623) + M(7114); ab -0.057347 8.248943!
STEPS: A 1.7; B 24.3; R 1.4; T 5.2. 	ACCEPT 0 (L -1.00, dir nan, ss 1.0): 	A(1560905.854856)=(AV 6.817). Num: A(4199) + M(7114); ab -0.034187 4.855389!
STEPS: A 0.2; B 2.5; R 0.3; T 1.0. 	ACCEPT 1 (L -1.60, dir 0.85, ss 1.0): 	A(1542988.444252)=(AV 6.737). Num: A(4250) + M(7114); ab -0.032294 4.583207!
STEPS: A 0.1; B 1.2; R 0.2; T 0.3. 	ACCEPT 2 (L -2.20, dir 0.53, ss 1.0): 	A(1535269.826483)=(AV 6.722). Num: A(4247) + M(7114); ab -0.031588 4.468977!
STEPS: A 0.0; B 0.5; R 0.2; T 0.5. 	ACCEPT 3 (L -2.81, dir 0.51, ss 1.0): 	A(1528939.046116)=(AV 6.711). Num: A(4244) + M(7114); ab -0.031262 4.432918!
LOG 78: 6.710 fine. Res: 4244 A, 0 L, 7622 M; (3115 / 1864) forceDrop. a=-0.031262, b=4.432918. Window 78 (6)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=79 )

Loading Camera pose number 79

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.055509 7.632457 (exp 1.000000). Res 6.399801!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeNonKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=80 )

Loading Camera pose number 80

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.051565 7.125090 (exp 1.000000). Res 6.374938!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeNonKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=81 )

Loading Camera pose number 81

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.053026 7.455356 (exp 1.000000). Res 6.196767!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeNonKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=82 )

Loading Camera pose number 82

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.054517 7.723473 (exp 1.000000). Res 6.340931!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeNonKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=83 )

Loading Camera pose number 83

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.060431 8.464462 (exp 1.000000). Res 6.716485!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeNonKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=84 )

Loading Camera pose number 84

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.053681 7.490786 (exp 1.000000). Res 6.514221!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
SPARSITY:  MinActDist 1.200000 (need 800 points, have 885 points)!
OPTIMIZE 1107 pts, 4955 active res, 0 lin res!
Initial Error       	A(1619253.025423)=(AV 6.906). Num: A(4244) + M(7622); ab -0.053681 7.490786!
STEPS: A 1.2; B 17.2; R 1.1; T 5.9. 	ACCEPT 0 (L -1.00, dir nan, ss 1.0): 	A(1581099.794382)=(AV 6.494). Num: A(4687) + M(7622); ab -0.037495 5.360405!
STEPS: A 0.2; B 2.6; R 0.8; T 1.7. 	ACCEPT 1 (L -1.60, dir 0.83, ss 1.0): 	A(1556028.403523)=(AV 6.411). Num: A(4732) + M(7622); ab -0.034881 5.028805!
STEPS: A 0.1; B 1.3; R 0.3; T 0.3. 	ACCEPT 2 (L -2.20, dir 0.62, ss 1.0): 	A(1543407.776904)=(AV 6.381). Num: A(4738) + M(7622); ab -0.034098 4.895643!
STEPS: A 0.0; B 0.8; R 0.2; T 0.2. 	ACCEPT 3 (L -2.81, dir -0.84, ss 1.0): 	A(1537689.356431)=(AV 6.371). Num: A(4736) + M(7622); ab -0.034182 4.926176!
LOG 84: 6.370 fine. Res: 4736 A, 0 L, 8698 M; (3555 / 2136) forceDrop. a=-0.034182, b=4.926176. Window 84 (6)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=85 )

Loading Camera pose number 85

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.058302 8.243189 (exp 1.000000). Res 6.380967!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeNonKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=86 )

Loading Camera pose number 86

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.057872 8.200259 (exp 1.000000). Res 6.229270!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeNonKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=87 )

Loading Camera pose number 87

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.059150 8.464047 (exp 1.000000). Res 6.356392!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeNonKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=88 )

Loading Camera pose number 88

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.059119 8.373798 (exp 1.000000). Res 6.487374!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeNonKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=89 )

Loading Camera pose number 89

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.061096 8.637774 (exp 1.000000). Res 6.713137!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeNonKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=90 )

Loading Camera pose number 90

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.061565 8.765710 (exp 1.000000). Res 6.574536!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
SPARSITY:  MinActDist 1.100000 (need 800 points, have 798 points)!
OPTIMIZE 1027 pts, 4502 active res, 0 lin res!
Initial Error       	A(1461371.922870)=(AV 6.211). Num: A(4736) + M(8698); ab -0.061565 8.765710!
STEPS: A 1.7; B 22.9; R 2.6; T 4.6. 	ACCEPT 0 (L -1.00, dir nan, ss 1.0): 	A(1423422.050666)=(AV 6.454). Num: A(4271) + M(8698); ab -0.038420 5.634451!
STEPS: A 0.2; B 2.7; R 0.5; T 1.1. 	ACCEPT 1 (L -1.60, dir 0.87, ss 1.0): 	A(1412313.866373)=(AV 6.389). Num: A(4325) + M(8698); ab -0.035653 5.336702!
STEPS: A 0.0; B 0.5; R 0.4; T 0.5. 	ACCEPT 2 (L -2.20, dir 0.51, ss 1.0): 	A(1407550.965918)=(AV 6.379). Num: A(4324) + M(8698); ab -0.035183 5.266830!
LOG 90: 6.378 fine. Res: 4324 A, 0 L, 9715 M; (3936 / 2417) forceDrop. a=-0.035183, b=5.266830. Window 90 (6)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=91 )

Loading Camera pose number 91

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.060812 8.840874 (exp 1.000000). Res 6.274803!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeNonKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=92 )

Loading Camera pose number 92

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.057992 8.558736 (exp 1.000000). Res 6.279275!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeNonKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=93 )

Loading Camera pose number 93

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.061237 9.004523 (exp 1.000000). Res 6.373862!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeNonKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=94 )

Loading Camera pose number 94

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.063961 9.363887 (exp 1.000000). Res 6.488332!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeNonKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=95 )

Loading Camera pose number 95

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.060759 8.991173 (exp 1.000000). Res 6.891162!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeNonKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=96 )

Loading Camera pose number 96

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.060913 9.124100 (exp 1.000000). Res 6.678973!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
SPARSITY:  MinActDist 1.000000 (need 800 points, have 743 points)!
OPTIMIZE 976 pts, 4184 active res, 0 lin res!
Initial Error       	A(1413354.617051)=(AV 6.392). Num: A(4324) + M(9715); ab -0.060913 9.124100!
STEPS: A 1.4; B 20.5; R 1.3; T 3.7. 	ACCEPT 0 (L -1.00, dir nan, ss 1.0): 	A(1380307.322232)=(AV 6.591). Num: A(3972) + M(9715); ab -0.042664 6.563546!
STEPS: A 0.3; B 4.8; R 0.5; T 1.1. 	ACCEPT 1 (L -1.60, dir 0.90, ss 1.0): 	A(1367399.142462)=(AV 6.534). Num: A(4004) + M(9715); ab -0.038705 5.993125!
STEPS: A 0.1; B 0.5; R 0.1; T 0.3. 	ACCEPT 2 (L -2.20, dir 0.69, ss 1.0): 	A(1359893.538412)=(AV 6.517). Num: A(4002) + M(9715); ab -0.038146 5.922711!
LOG 96: 6.517 fine. Res: 4002 A, 0 L, 10655 M; (4277 / 2687) forceDrop. a=-0.038146, b=5.922711. Window 96 (6)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=97 )

Loading Camera pose number 97

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.059275 8.643548 (exp 1.000000). Res 6.129086!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeNonKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=98 )

Loading Camera pose number 98

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.059771 8.862418 (exp 1.000000). Res 6.226190!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeNonKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=99 )

Loading Camera pose number 99

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.060020 8.951630 (exp 1.000000). Res 6.278093!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeNonKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
ADDED NEW ACTIVE FRAME: FullSystem::addActiveFrame( ImageAndExposure* image, id=100 )

Loading Camera pose number 100

FUNCTION: FullSystem::trackNewCoarse(FrameHessian* fh)
FUNCTION: CoarseTracker::trackNewestCoarse(FrameHessian* fh)
Coarse Tracker tracked ab = -0.060293 8.909209 (exp 1.000000). Res 6.463449!
FUNCTION: FullSystem::deliverTrackedFrame(FrameHessian* fh, bool needKF)
FUNCTION: FullSystem::makeNonKeyFrame( FrameHessian* fh)
FUNCTION: FullSystem::traceNewCoarse(FrameHessian* fh)
FUNCTION: FullSystem::blockUntilMappingIsFinished()

======================
100 Frames (10.0 fps)
1269.60ms per frame (single core); 
infms per frame (multi core); 
0.079x (single core); 
0.000x (multi core); 
======================

QUIT Pangolin thread!
I'll just kill the whole process.
So Long, and Thanks for All the Fish!
