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PH 1609

ghosting Speed 23.83 scale 4.00 maxOffset 32.00 previewScale 0.10 #Reg Zone moved -1 to 1248 #Reg Trying FAST #Reg using FAST 0.00 0.00 0.00 nFeatures: 18 non-maxFeatures: 12 matches: 0 Registration slice: 0 0.00 0.00 quality: 0 size: 2592 240 AQDepth: 0 took: 2.7 ms Blending: 0.00 0.00 took: 0.0 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (3.507217, 36.936733). Quality = 1.000000 Registration slice: 1 3.51 36.94 quality: 0 size: 2592 240 AQDepth: 0 took: 27.7 ms Blending: 3.51 36.94 took: 0.0 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (2.217500, 27.733700). Quality = 0.215113 Registration slice: 2 2.22 27.73 quality: 0 size: 2592 240 AQDepth: 0 took: 26.5 ms Blending: 2.22 27.73 took: 24.0 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (9.139629, 42.466976). Quality = 0.103645 Registration slice: 3 9.14 42.47 quality: 0 size: 2592 240 AQDepth: 0 took: 26.3 ms Blending: 9.14 42.47 took: 18.8 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (13.805981, 69.016815). Quality = 0.223431 Registration slice: 4 13.81 69.02 quality: 0 size: 2592 240 AQDepth: 0 took: 26.1 ms Blending: 13.81 69.02 took: 22.5 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (12.932772, 85.767624). Quality = 0.025312 Registration slice: 5 12.93 85.77 quality: 0 size: 2592 240 AQDepth: 0 took: 26.3 ms Blending: 12.93 85.77 took: 26.7 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (11.040678, 109.568100). Quality = 0.017440 Registration slice: 6 11.04 109.57 quality: 0 size: 2592 240 AQDepth: 0 took: 26.2 ms Blending: 11.04 109.57 took: 31.4 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (7.959892, 94.507629). Quality = 0.103229 Registration slice: 7 7.96 94.51 quality: 0 size: 2592 240 AQDepth: 0 took: 25.7 ms Blending: 7.96 94.51 took: 28.5 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (1.283855, 103.600204). Quality = 0.103944 Registration slice: 8 1.28 103.60 quality: 0 size: 2592 240 AQDepth: 0 took: 25.9 ms Blending: 1.28 103.60 took: 33.3 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-5.810148, 89.346924). Quality = 0.079267 Registration slice: 9 -5.81 89.35 quality: 0 size: 2592 240 AQDepth: 0 took: 26.7 ms #Reg Trying projection Blending: -5.81 89.35 took: 47.1 ms 2592 240 #Reg using projection (tx, ty) = (-13.527691, 78.013496). Quality = 0.344658 Registration slice: 10 -13.53 78.01 quality: 0 size: 2592 240 AQDepth: 0 took: 27.0 ms Blending: -13.53 78.01 took: 32.2 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-18.401125, 70.583763). Quality = 0.513523 Registration slice: 11 -18.40 70.58 quality: 0 size: 2592 240 AQDepth: 0 took: 27.1 ms Blending: -18.40 70.58 took: 23.7 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-9.975439, 76.286575). Quality = 0.339341 Registration slice: 12 -9.98 76.29 quality: 0 size: 2592 240 AQDepth: 0 took: 26.0 ms Blending: -9.98 76.29 took: 25.5 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-2.784574, 70.653000). Quality = 0.053344 Registration slice: 13 -2.78 70.65 quality: 0 size: 2592 240 AQDepth: 0 took: 25.8 ms Blending: -2.78 70.65 took: 23.8 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-6.400927, 79.902298). Quality = 0.275597 Registration slice: 14 -6.40 79.90 quality: 0 size: 2592 240 AQDepth: 0 took: 26.0 ms Blending: -6.40 79.90 took: 30.9 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-6.114345, 60.327145). Quality = 0.082445 Registration slice: 15 -6.11 60.33 quality: 0 size: 2592 240 AQDepth: 0 took: 27.3 ms Blending: -6.11 60.33 took: 23.1 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-1.810794, 53.287666). Quality = 0.087731 Registration slice: 16 -1.81 53.29 quality: 0 size: 2592 240 AQDepth: 0 took: 27.3 ms Blending: -1.81 53.29 took: 20.5 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (1.942583, 32.941734). Quality = 0.097124 Registration slice: 17 1.94 32.94 quality: 0 size: 2592 240 AQDepth: 0 took: 26.1 ms Blending: 1.94 32.94 took: 16.8 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-4.127555, 44.627357). Quality = 0.051325 Registration slice: 18 -4.13 44.63 quality: 0 size: 2592 240 AQDepth: 0 took: 26.2 ms Blending: -4.13 44.63 took: 18.7 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-2.514278, 39.386955). Quality = 0.258992 Registration slice: 19 -2.51 39.39 quality: 0 size: 2592 240 AQDepth: 0 took: 26.4 ms Blending: -2.51 39.39 took: 18.8 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-3.998857, 30.026281). Quality = 0.365871 Registration slice: 20 -4.00 30.03 quality: 0 size: 2592 240 AQDepth: 0 took: 26.0 ms Blending: -4.00 30.03 took: 16.3 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-4.672949, 27.599300). Quality = 0.415435 Registration slice: 21 -4.67 27.60 quality: 0 size: 2592 240 AQDepth: 0 took: 25.9 ms Blending: -4.67 27.60 took: 14.7 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-0.796494, 27.059155). Quality = 0.495320 Registration slice: 22 -0.80 27.06 quality: 0 size: 2592 240 AQDepth: 0 took: 26.1 ms Blending: -0.80 27.06 took: 14.5 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-5.697958, 36.142689). Quality = 0.175212 Registration slice: 23 -5.70 36.14 quality: 0 size: 2592 240 AQDepth: 0 took: 25.8 ms Blending: -5.70 36.14 took: 17.4 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-0.527283, 31.439493). Quality = 0.027208 Registration slice: 24 -0.53 31.44 quality: 0 size: 2592 240 AQDepth: 0 took: 25.9 ms Blending: -0.53 31.44 took: 16.2 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (5.763227, 44.255119). Quality = 0.067180 Registration slice: 25 5.76 44.26 quality: 0 size: 2592 240 AQDepth: 0 took: 26.0 ms Blending: 5.76 44.26 took: 20.6 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (8.200854, 59.236801). Quality = 0.145555 Registration slice: 26 8.20 59.24 quality: 0 size: 2592 240 AQDepth: 0 took: 26.7 ms Blending: 8.20 59.24 took: 21.6 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (8.003603, 55.670406). Quality = 0.061704 Registration slice: 27 8.00 55.67 quality: 0 size: 2592 240 AQDepth: 0 took: 25.4 ms Blending: 8.00 55.67 took: 20.0 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (8.788337, 49.569431). Quality = 0.060763 Registration slice: 28 8.79 49.57 quality: 0 size: 2592 240 AQDepth: 0 took: 25.7 ms Blending: 8.79 49.57 took: 18.7 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (4.620648, 53.011677). Quality = 0.459682 Registration slice: 29 4.62 53.01 quality: 0 size: 2592 240 AQDepth: 0 took: 25.7 ms Blending: 4.62 53.01 took: 20.3 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (10.279879, 59.489964). Quality = 0.038478 Registration slice: 30 10.28 59.49 quality: 0 size: 2592 240 AQDepth: 0 took: 26.0 ms Blending: 10.28 59.49 took: 22.6 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (11.774375, 59.076576). Quality = 0.018925 Registration slice: 31 11.77 59.08 quality: 0 size: 2592 240 AQDepth: 0 took: 25.4 ms Blending: 11.77 59.08 took: 20.7 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (28.462263, 101.915436). Quality = 0.103803 #Reg: Tx deviation 28.46 101.92 to 11.77 59.08 Registration slice: 32 28.46 101.92 quality: 0 size: 2592 240 AQDepth: 0 took: 26.2 ms Blending: 28.46 101.92 took: 31.8 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (14.136030, 98.922073). Quality = 0.045211 Registration slice: 33 14.14 98.92 quality: 0 size: 2592 240 AQDepth: 0 took: 26.9 ms Blending: 14.14 98.92 took: 32.5 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (4.904414, 117.386017). Quality = 0.324773 Registration slice: 34 4.90 117.39 quality: 0 size: 2592 240 AQDepth: 0 took: 26.8 ms Blending: 4.90 117.39 took: 37.1 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-5.678518, 91.609100). Quality = 0.931050 Registration slice: 35 -5.68 91.61 quality: 0 size: 2592 240 AQDepth: 0 took: 26.9 ms Blending: -5.68 91.61 took: 30.0 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-3.973182, 87.673248). Quality = 0.030114 Registration slice: 36 -3.97 87.67 quality: 0 size: 2592 240 AQDepth: 0 took: 26.0 ms Blending: -3.97 87.67 took: 28.9 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-8.500636, 78.843231). Quality = 0.016022 Registration slice: 37 -8.50 78.84 quality: 0 size: 2592 240 AQDepth: 0 took: 27.5 ms Blending: -8.50 78.84 took: 30.7 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-14.255210, 78.831863). Quality = 0.110619 Registration slice: 38 -14.26 78.83 quality: 0 size: 2592 240 AQDepth: 0 took: 26.8 ms Blending: -14.26 78.83 took: 26.8 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-11.728987, 84.894417). Quality = 0.332945 Registration slice: 39 -11.73 84.89 quality: 0 size: 2592 240 AQDepth: 0 took: 25.9 ms Blending: -11.73 84.89 took: 29.7 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-12.077875, 97.479645). Quality = 0.131146 Registration slice: 40 -12.08 97.48 quality: 0 size: 2592 240 AQDepth: 0 took: 26.2 ms #Reg Trying projection Blending: -12.08 97.48 took: 41.7 ms 2592 240 #Reg using projection (tx, ty) = (-10.300502, 88.492615). Quality = 0.431899 Registration slice: 41 -10.30 88.49 quality: 0 size: 2592 240 AQDepth: 0 took: 27.4 ms Blending: -10.30 88.49 took: 29.5 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-7.284846, 69.815689). Quality = 0.091999 Registration slice: 42 -7.28 69.82 quality: 0 size: 2592 240 AQDepth: 0 took: 26.8 ms Blending: -7.28 69.82 took: 22.9 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-17.150906, 69.030739). Quality = 0.704631 Registration slice: 43 -17.15 69.03 quality: 0 size: 2592 240 AQDepth: 0 took: 26.1 ms Blending: -17.15 69.03 took: 23.3 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (0.530625, 44.201775). Quality = 0.149728 #Reg: Tx deviation 0.53 44.20 to -17.15 69.03 Registration slice: 44 0.53 44.20 quality: 0 size: 2592 240 AQDepth: 0 took: 26.1 ms Blending: 0.53 44.20 took: 20.1 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-30.105509, 149.429443). Quality = 0.098304 #Reg: Tx deviation -30.11 149.43 to 0.53 44.20 Registration slice: 45 -30.11 149.43 quality: 0 size: 2592 240 AQDepth: 0 took: 25.9 ms #Reg Trying projection Blending: -30.11 149.43 took: 45.1 ms 2592 240 #Reg using projection (tx, ty) = (-21.845654, 70.445374). Quality = 0.009111 Registration slice: 46 -21.85 70.45 quality: 0 size: 2592 240 AQDepth: 0 took: 26.7 ms Blending: -21.85 70.45 took: 24.5 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-8.203055, 96.832764). Quality = 0.109192 Registration slice: 47 -8.20 96.83 quality: 0 size: 2592 240 AQDepth: 0 took: 25.9 ms Blending: -8.20 96.83 took: 28.6 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (17.929596, 132.133179). Quality = 0.176176 #Reg: Tx deviation 17.93 132.13 to -8.20 96.83 Registration slice: 48 17.93 132.13 quality: 0 size: 2592 240 AQDepth: 0 took: 26.3 ms Blending: 17.93 132.13 took: 37.6 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-3.856055, 99.803375). Quality = 0.037878 #Reg: Tx deviation -3.86 99.80 to 17.93 132.13 Registration slice: 49 -3.86 99.80 quality: 0 size: 2592 240 AQDepth: 0 took: 27.1 ms Blending: -3.86 99.80 took: 32.9 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-8.401949, 90.777252). Quality = 0.121086 Registration slice: 50 -8.40 90.78 quality: 0 size: 2592 240 AQDepth: 0 took: 26.9 ms #Reg Trying projection Blending: -8.40 90.78 took: 55.1 ms 2592 240 #Reg using projection (tx, ty) = (-4.940858, 77.081329). Quality = 0.465062 Registration slice: 51 -4.94 77.08 quality: 0 size: 2592 240 AQDepth: 0 took: 27.1 ms Blending: -4.94 77.08 took: 24.6 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (13.535818, 94.534592). Quality = 0.054576 #Reg: Tx deviation 13.54 94.53 to -4.94 77.08 Registration slice: 52 13.54 94.53 quality: 0 size: 2592 240 AQDepth: 0 took: 27.0 ms Blending: 13.54 94.53 took: 32.2 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-18.355064, 102.387085). Quality = 0.135986 #Reg: Tx deviation -18.36 102.39 to 13.54 94.53 Registration slice: 53 -18.36 102.39 quality: 0 size: 2592 240 AQDepth: 0 took: 27.0 ms Blending: -18.36 102.39 took: 36.0 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-17.006611, 132.369095). Quality = 0.410193 Registration slice: 54 -17.01 132.37 quality: 0 size: 2592 240 AQDepth: 0 took: 26.4 ms #Reg Trying projection #Reg using projection (tx, ty) = (22.932657, 117.204178). Quality = 0.155116 #Reg: Tx deviation 22.93 117.20 to -17.01 132.37 Registration slice: 55 22.93 117.20 quality: 0 size: 2592 240 AQDepth: 0 took: 27.5 ms Blending: -17.01 132.37 took: 70.4 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (16.809107, 100.243668). Quality = 0.345328 Registration slice: 56 16.81 100.24 quality: 0 size: 2592 240 AQDepth: 0 took: 26.7 ms Blending: 22.93 117.20 took: 67.4 ms 2592 240 Blending: 16.81 100.24 took: 32.2 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (10.853576, 131.466843). Quality = 0.250610 Registration slice: 57 10.85 131.47 quality: 0 size: 2592 240 AQDepth: 0 took: 27.0 ms Blending: 10.85 131.47 took: 37.7 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (20.133327, 118.384079). Quality = 0.018143 Registration slice: 58 20.13 118.38 quality: 0 size: 2592 240 AQDepth: 0 took: 26.7 ms #Reg Trying projection Blending: 20.13 118.38 took: 38.3 ms 2592 240 #Reg using projection (tx, ty) = (-4.267752, 93.898796). Quality = 0.035287 #Reg: Tx deviation -4.27 93.90 to 20.13 118.38 Registration slice: 59 -4.27 93.90 quality: 0 size: 2592 240 AQDepth: 0 took: 26.7 ms Blending: -4.27 93.90 took: 27.8 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-6.438161, 103.491226). Quality = 0.186456 Registration slice: 60 -6.44 103.49 quality: 0 size: 2592 240 AQDepth: 0 took: 26.4 ms Blending: -6.44 103.49 took: 34.7 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-8.617739, 95.125412). Quality = 0.060175 Registration slice: 61 -8.62 95.13 quality: 0 size: 2592 240 AQDepth: 0 took: 26.8 ms Blending: -8.62 95.13 took: 33.7 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-9.223491, 71.237968). Quality = 0.596913 Registration slice: 62 -9.22 71.24 quality: 0 size: 2592 240 AQDepth: 0 took: 26.4 ms Blending: -9.22 71.24 took: 24.2 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-7.348030, 61.941696). Quality = 0.187219 Registration slice: 63 -7.35 61.94 quality: 0 size: 2592 240 AQDepth: 0 took: 27.4 ms Blending: -7.35 61.94 took: 22.7 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-5.715439, 85.103836). Quality = 1.000000 Registration slice: 64 -5.72 85.10 quality: 0 size: 2592 240 AQDepth: 0 took: 26.2 ms Blending: -5.72 85.10 took: 27.9 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (2.295247, 114.152237). Quality = 0.018813 Registration slice: 65 2.30 114.15 quality: 0 size: 2592 240 AQDepth: 0 took: 26.2 ms Blending: 2.30 114.15 took: 33.1 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-1.339253, 82.651604). Quality = 0.050248 Registration slice: 66 -1.34 82.65 quality: 0 size: 2592 240 AQDepth: 0 took: 26.7 ms Blending: -1.34 82.65 took: 26.7 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-3.040337, -2.231430). Quality = 0.005653 #Reg: wrong direction Registration slice: 67 -3.04 -2.23 quality: -9 size: 2592 240 AQDepth: 0 took: 22.0 ms #Reg Dead reckoning skipped slice #Reg Trying projection #Reg using projection (tx, ty) = (5.757242, 72.745399). Quality = 0.179176 Registration slice: 68 5.76 72.75 quality: 0 size: 2592 240 AQDepth: 0 took: 25.8 ms Blending: 5.76 72.75 took: 24.9 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-4.471966, 66.602562). Quality = 0.419290 Registration slice: 69 -4.47 66.60 quality: 0 size: 2592 240 AQDepth: 0 took: 26.0 ms Blending: -4.47 66.60 took: 24.6 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (3.083223, 89.682465). Quality = 0.191764 Registration slice: 70 3.08 89.68 quality: 0 size: 2592 240 AQDepth: 0 took: 27.1 ms Blending: 3.08 89.68 took: 29.6 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-10.559309, 91.614029). Quality = 0.356440 Registration slice: 71 -10.56 91.61 quality: 0 size: 2592 240 AQDepth: 0 took: 27.2 ms Blending: -10.56 91.61 took: 31.6 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-11.270763, 83.589424). Quality = 0.243768 Registration slice: 72 -11.27 83.59 quality: 0 size: 2592 240 AQDepth: 0 took: 26.5 ms Blending: -11.27 83.59 took: 26.5 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-6.942922, 104.856079). Quality = 0.055715 Registration slice: 73 -6.94 104.86 quality: 0 size: 2592 240 AQDepth: 0 took: 26.2 ms Blending: -6.94 104.86 took: 34.8 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-23.835289, 97.847214). Quality = 0.379156 #Reg: Tx deviation -23.84 97.85 to -6.94 104.86 Registration slice: 74 -23.84 97.85 quality: 0 size: 2592 240 AQDepth: 0 took: 26.9 ms Blending: -23.84 97.85 took: 35.8 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (4.935900, 102.597366). Quality = 0.228187 #Reg: Tx deviation 4.94 102.60 to -23.84 97.85 Registration slice: 75 4.94 102.60 quality: 0 size: 2592 240 AQDepth: 0 took: 27.0 ms Blending: 4.94 102.60 took: 36.9 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-4.285491, 112.421158). Quality = 0.000329 Registration slice: 76 -4.29 112.42 quality: 0 size: 2592 240 AQDepth: 0 took: 26.5 ms Blending: -4.29 112.42 took: 40.8 ms 2592 240 === SUMMARY ==== receivedCount: 77 processedCount: 77 usedCount: 76 droppedCount: 0 processingQueueMaxDepth: 24
PH 1609