ghosting Speed 23.83 scale 4.00 maxOffset 32.00 previewScale 0.10 #Reg Trying FAST #Reg using FAST 0.00 0.00 0.00 nFeatures: 3 non-maxFeatures: 3 matches: 0 Registration slice: 0 0.00 0.00 quality: 0 size: 2592 240 AQDepth: 0 took: 6.4 ms Blending: 0.00 0.00 took: 0.2 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (3.736213, -5.260010). Quality = 0.012704 #Reg: wrong direction Registration slice: 1 3.74 -5.26 quality: -9 size: 2592 240 AQDepth: 0 took: 24.5 ms #Reg Dead reckoning skipped slice #Reg Trying projection #Reg using projection (tx, ty) = (3.753514, -6.134453). Quality = 0.013715 #Reg: wrong direction Registration slice: 2 3.75 -6.13 quality: -9 size: 2592 240 AQDepth: 0 took: 21.2 ms #Reg Dead reckoning skipped slice #Reg Trying projection #Reg using projection (tx, ty) = (-1.909922, 2.661373). Quality = 0.012151 Registration slice: 3 -1.91 2.66 quality: 0 size: 2592 240 AQDepth: 0 took: 26.0 ms #Reg Trying projection #Reg using projection (tx, ty) = (-4.947417, 14.314228). Quality = 0.014454 Registration slice: 4 -4.95 14.31 quality: 0 size: 2592 240 AQDepth: 0 took: 26.0 ms Blending: -4.95 14.31 took: 0.0 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-0.416737, 3.489777). Quality = 0.009717 Registration slice: 5 -0.42 3.49 quality: 0 size: 2592 240 AQDepth: 0 took: 26.8 ms #Reg Trying projection #Reg using projection (tx, ty) = (-5.949918, 8.864601). Quality = 0.012883 Registration slice: 6 -5.95 8.86 quality: 0 size: 2592 240 AQDepth: 0 took: 27.0 ms Blending: -5.95 8.86 took: 18.0 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-5.486495, 5.795441). Quality = 0.009684 Registration slice: 7 -5.49 5.80 quality: 0 size: 2592 240 AQDepth: 0 took: 26.0 ms #Reg Trying projection #Reg using projection (tx, ty) = (-7.949981, 23.714464). Quality = 0.016309 Registration slice: 8 -7.95 23.71 quality: 0 size: 2592 240 AQDepth: 0 took: 26.0 ms Blending: -7.95 23.71 took: 15.0 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-3.216356, 20.952742). Quality = 0.005049 Registration slice: 9 -3.22 20.95 quality: 0 size: 2592 240 AQDepth: 0 took: 26.4 ms Blending: -3.22 20.95 took: 12.8 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-2.247061, 12.634117). Quality = 0.002391 Registration slice: 10 -2.25 12.63 quality: 0 size: 2592 240 AQDepth: 0 took: 27.7 ms Blending: -2.25 12.63 took: 8.0 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-2.054387, 8.728313). Quality = 0.003133 Registration slice: 11 -2.05 8.73 quality: 0 size: 2592 240 AQDepth: 0 took: 26.4 ms Blending: -2.05 8.73 took: 13.5 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-2.218950, 11.261429). Quality = 0.003973 Registration slice: 12 -2.22 11.26 quality: 0 size: 2592 240 AQDepth: 0 took: 26.0 ms Blending: -2.22 11.26 took: 6.9 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (0.639714, 12.056110). Quality = 0.003150 Registration slice: 13 0.64 12.06 quality: 0 size: 2592 240 AQDepth: 0 took: 25.9 ms Blending: 0.64 12.06 took: 12.0 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (3.573556, 18.037573). Quality = 0.028554 Registration slice: 14 3.57 18.04 quality: 0 size: 2592 240 AQDepth: 0 took: 25.9 ms Blending: 3.57 18.04 took: 12.1 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-3.479102, 24.165199). Quality = 0.006015 Registration slice: 15 -3.48 24.17 quality: 0 size: 2592 240 AQDepth: 0 took: 25.8 ms Blending: -3.48 24.17 took: 14.7 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (2.317243, 29.733643). Quality = 0.009994 Registration slice: 16 2.32 29.73 quality: 0 size: 2592 240 AQDepth: 0 took: 25.8 ms Blending: 2.32 29.73 took: 14.4 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (0.851251, 26.821724). Quality = 0.000115 Registration slice: 17 0.85 26.82 quality: 0 size: 2592 240 AQDepth: 0 took: 25.8 ms Blending: 0.85 26.82 took: 13.7 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-0.955508, 30.122622). Quality = 0.087978 Registration slice: 18 -0.96 30.12 quality: 0 size: 2592 240 AQDepth: 0 took: 26.3 ms Blending: -0.96 30.12 took: 17.4 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-5.062779, 30.278646). Quality = 0.159991 Registration slice: 19 -5.06 30.28 quality: 0 size: 2592 240 AQDepth: 0 took: 26.2 ms Blending: -5.06 30.28 took: 16.3 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (0.592219, 24.431614). Quality = 0.211863 Registration slice: 20 0.59 24.43 quality: 0 size: 2592 240 AQDepth: 0 took: 26.1 ms Blending: 0.59 24.43 took: 14.1 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-3.833707, 32.607189). Quality = 0.024350 Registration slice: 21 -3.83 32.61 quality: 0 size: 2592 240 AQDepth: 0 took: 25.5 ms Blending: -3.83 32.61 took: 15.8 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-0.861186, 30.387989). Quality = 0.057281 Registration slice: 22 -0.86 30.39 quality: 0 size: 2592 240 AQDepth: 0 took: 26.2 ms Blending: -0.86 30.39 took: 14.8 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (0.580587, 30.007431). Quality = 0.288363 Registration slice: 23 0.58 30.01 quality: 0 size: 2592 240 AQDepth: 0 took: 25.8 ms Blending: 0.58 30.01 took: 15.6 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-0.559633, 34.141029). Quality = 0.000382 Registration slice: 24 -0.56 34.14 quality: 0 size: 2592 240 AQDepth: 0 took: 26.4 ms Blending: -0.56 34.14 took: 16.3 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-0.620860, 28.766512). Quality = 0.173028 Registration slice: 25 -0.62 28.77 quality: 0 size: 2592 240 AQDepth: 0 took: 25.5 ms Blending: -0.62 28.77 took: 14.5 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-1.895547, 35.961975). Quality = 0.030252 Registration slice: 26 -1.90 35.96 quality: 0 size: 2592 240 AQDepth: 0 took: 26.2 ms Blending: -1.90 35.96 took: 16.5 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-9.388502, 41.800369). Quality = 0.051008 Registration slice: 27 -9.39 41.80 quality: 0 size: 2592 240 AQDepth: 0 took: 26.5 ms Blending: -9.39 41.80 took: 17.3 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-12.891115, 46.133881). Quality = 0.001858 Registration slice: 28 -12.89 46.13 quality: 0 size: 2592 240 AQDepth: 0 took: 25.7 ms Blending: -12.89 46.13 took: 19.0 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-10.225059, 47.838890). Quality = 0.000404 Registration slice: 29 -10.23 47.84 quality: 0 size: 2592 240 AQDepth: 0 took: 25.8 ms Blending: -10.23 47.84 took: 18.3 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-7.474249, 47.842834). Quality = 0.002444 Registration slice: 30 -7.47 47.84 quality: 0 size: 2592 240 AQDepth: 0 took: 25.8 ms Blending: -7.47 47.84 took: 18.5 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-2.625641, 169.812683). Quality = 0.000332 #Reg: Ty deviation -2.63 169.81 to -7.47 47.84 Registration slice: 31 -2.63 169.81 quality: -7 size: 2592 240 AQDepth: 0 took: 26.6 ms #Reg Trying projection Blending: -2.63 169.81 took: 49.6 ms 2592 240 #Reg using projection (tx, ty) = (-0.487068, 45.789886). Quality = 0.076012 #Reg: Ty deviation -0.49 45.79 to -2.63 169.81 Registration slice: 32 -0.49 45.79 quality: -7 size: 2592 240 AQDepth: 0 took: 27.1 ms Blending: -0.49 45.79 took: 19.6 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-3.837386, 49.205296). Quality = 0.022952 Registration slice: 33 -3.84 49.21 quality: 0 size: 2592 240 AQDepth: 0 took: 25.8 ms Blending: -3.84 49.21 took: 21.5 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-1.677643, 69.230576). Quality = 0.011153 Registration slice: 34 -1.68 69.23 quality: 0 size: 2592 240 AQDepth: 0 took: 26.3 ms Blending: -1.68 69.23 took: 23.7 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-0.078306, 42.445190). Quality = 0.050876 Registration slice: 35 -0.08 42.45 quality: 0 size: 2592 240 AQDepth: 0 took: 25.8 ms Blending: -0.08 42.45 took: 18.2 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-22.946432, 50.388496). Quality = 0.039252 #Reg: Tx deviation -22.95 50.39 to -0.08 42.45 Registration slice: 36 -22.95 50.39 quality: 0 size: 2592 240 AQDepth: 0 took: 25.9 ms Blending: -22.95 50.39 took: 19.4 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-19.186649, 60.791782). Quality = 0.133810 Registration slice: 37 -19.19 60.79 quality: 0 size: 2592 240 AQDepth: 0 took: 26.4 ms Blending: -19.19 60.79 took: 22.1 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-12.716352, 40.122383). Quality = 0.223650 Registration slice: 38 -12.72 40.12 quality: 0 size: 2592 240 AQDepth: 0 took: 26.6 ms #Reg Trying projection Blending: -12.72 40.12 took: 54.4 ms 2592 240 #Reg using projection (tx, ty) = (-12.244969, 41.945435). Quality = 0.218969 Registration slice: 39 -12.24 41.95 quality: 0 size: 2592 240 AQDepth: 0 took: 26.8 ms Blending: -12.24 41.95 took: 19.0 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-5.972193, 37.535511). Quality = 0.418511 Registration slice: 40 -5.97 37.54 quality: 0 size: 2592 240 AQDepth: 0 took: 26.5 ms Blending: -5.97 37.54 took: 16.9 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-3.367268, 44.850800). Quality = 0.021354 Registration slice: 41 -3.37 44.85 quality: 0 size: 2592 240 AQDepth: 0 took: 25.6 ms Blending: -3.37 44.85 took: 17.9 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (6.487891, 46.578762). Quality = 0.025880 Registration slice: 42 6.49 46.58 quality: 0 size: 2592 240 AQDepth: 0 took: 25.6 ms Blending: 6.49 46.58 took: 18.0 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (7.405181, 50.287239). Quality = 0.319431 Registration slice: 43 7.41 50.29 quality: 0 size: 2592 240 AQDepth: 0 took: 26.2 ms Blending: 7.41 50.29 took: 18.2 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (7.973841, 50.463734). Quality = 0.513924 Registration slice: 44 7.97 50.46 quality: 0 size: 2592 240 AQDepth: 0 took: 25.5 ms Blending: 7.97 50.46 took: 18.3 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-3.223204, 53.302994). Quality = 0.056061 Registration slice: 45 -3.22 53.30 quality: 0 size: 2592 240 AQDepth: 0 took: 26.1 ms Blending: -3.22 53.30 took: 19.5 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-1.878764, 50.523029). Quality = 0.022143 Registration slice: 46 -1.88 50.52 quality: 0 size: 2592 240 AQDepth: 0 took: 26.1 ms Blending: -1.88 50.52 took: 18.6 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-0.677987, 46.520035). Quality = 0.079620 Registration slice: 47 -0.68 46.52 quality: 0 size: 2592 240 AQDepth: 0 took: 26.4 ms Blending: -0.68 46.52 took: 20.2 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-8.194048, 46.434185). Quality = 0.016885 Registration slice: 48 -8.19 46.43 quality: 0 size: 2592 240 AQDepth: 0 took: 26.2 ms Blending: -8.19 46.43 took: 22.1 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-15.989046, 46.139633). Quality = 0.279471 Registration slice: 49 -15.99 46.14 quality: 0 size: 2592 240 AQDepth: 0 took: 26.2 ms Blending: -15.99 46.14 took: 19.8 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-12.034017, 50.948437). Quality = 0.037660 Registration slice: 50 -12.03 50.95 quality: 0 size: 2592 240 AQDepth: 0 took: 25.3 ms Blending: -12.03 50.95 took: 21.4 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-13.492948, 48.609035). Quality = 0.057675 Registration slice: 51 -13.49 48.61 quality: 0 size: 2592 240 AQDepth: 0 took: 25.4 ms Blending: -13.49 48.61 took: 20.5 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-9.063030, 47.748375). Quality = 0.441898 Registration slice: 52 -9.06 47.75 quality: 0 size: 2592 240 AQDepth: 0 took: 25.8 ms Blending: -9.06 47.75 took: 24.0 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-14.683288, 42.246532). Quality = 0.286986 Registration slice: 53 -14.68 42.25 quality: 0 size: 2592 240 AQDepth: 0 took: 26.3 ms Blending: -14.68 42.25 took: 20.1 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-13.587366, 40.340614). Quality = 0.073990 Registration slice: 54 -13.59 40.34 quality: 0 size: 2592 240 AQDepth: 0 took: 25.9 ms Blending: -13.59 40.34 took: 20.2 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-16.367163, 44.209747). Quality = 0.418341 Registration slice: 55 -16.37 44.21 quality: 0 size: 2592 240 AQDepth: 0 took: 25.6 ms Blending: -16.37 44.21 took: 19.6 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-8.305677, 45.100075). Quality = 0.171155 Registration slice: 56 -8.31 45.10 quality: 0 size: 2592 240 AQDepth: 0 took: 26.1 ms Blending: -8.31 45.10 took: 20.0 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-12.939349, 37.855408). Quality = 0.174751 Registration slice: 57 -12.94 37.86 quality: 0 size: 2592 240 AQDepth: 0 took: 25.8 ms Blending: -12.94 37.86 took: 17.1 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-6.592223, 28.461779). Quality = 0.027410 Registration slice: 58 -6.59 28.46 quality: 0 size: 2592 240 AQDepth: 0 took: 26.8 ms Blending: -6.59 28.46 took: 17.6 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-7.685036, 29.022942). Quality = 0.026790 Registration slice: 59 -7.69 29.02 quality: 0 size: 2592 240 AQDepth: 0 took: 25.9 ms Blending: -7.69 29.02 took: 17.7 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-4.025916, 29.398798). Quality = 0.115700 Registration slice: 60 -4.03 29.40 quality: 0 size: 2592 240 AQDepth: 0 took: 25.5 ms Blending: -4.03 29.40 took: 15.1 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-2.532242, 32.231255). Quality = 0.486994 Registration slice: 61 -2.53 32.23 quality: 0 size: 2592 240 AQDepth: 0 took: 25.6 ms Blending: -2.53 32.23 took: 16.3 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-6.500719, 35.596363). Quality = 0.482374 Registration slice: 62 -6.50 35.60 quality: 0 size: 2592 240 AQDepth: 0 took: 25.5 ms Blending: -6.50 35.60 took: 16.8 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-9.656134, 40.149158). Quality = 0.123180 Registration slice: 63 -9.66 40.15 quality: 0 size: 2592 240 AQDepth: 0 took: 25.8 ms Blending: -9.66 40.15 took: 26.1 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-6.671298, 44.363358). Quality = 0.019110 Registration slice: 64 -6.67 44.36 quality: 0 size: 2592 240 AQDepth: 0 took: 26.1 ms Blending: -6.67 44.36 took: 20.4 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-4.495770, 47.165173). Quality = 0.042544 Registration slice: 65 -4.50 47.17 quality: 0 size: 2592 240 AQDepth: 0 took: 25.8 ms Blending: -4.50 47.17 took: 19.1 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-4.266078, 48.645695). Quality = 0.229338 Registration slice: 66 -4.27 48.65 quality: 0 size: 2592 240 AQDepth: 0 took: 25.9 ms Blending: -4.27 48.65 took: 19.4 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (0.970288, 51.749786). Quality = 1.000000 Registration slice: 67 0.97 51.75 quality: 0 size: 2592 240 AQDepth: 0 took: 26.2 ms Blending: 0.97 51.75 took: 19.5 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (0.560420, 45.412659). Quality = 0.017928 Registration slice: 68 0.56 45.41 quality: 0 size: 2592 240 AQDepth: 0 took: 26.0 ms Blending: 0.56 45.41 took: 19.4 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (0.769671, 40.579178). Quality = 0.274916 Registration slice: 69 0.77 40.58 quality: 0 size: 2592 240 AQDepth: 0 took: 25.8 ms Blending: 0.77 40.58 took: 17.4 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (0.020600, 43.270126). Quality = 0.059972 Registration slice: 70 0.02 43.27 quality: 0 size: 2592 240 AQDepth: 0 took: 26.1 ms Blending: 0.02 43.27 took: 18.8 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (1.566793, 44.045944). Quality = 0.028628 Registration slice: 71 1.57 44.05 quality: 0 size: 2592 240 AQDepth: 0 took: 26.1 ms Blending: 1.57 44.05 took: 18.6 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (5.683520, 40.774986). Quality = 0.064262 Registration slice: 72 5.68 40.77 quality: 0 size: 2592 240 AQDepth: 0 took: 27.9 ms Blending: 5.68 40.77 took: 19.4 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-3.234929, 48.530190). Quality = 0.154633 Registration slice: 73 -3.23 48.53 quality: 0 size: 2592 240 AQDepth: 0 took: 25.9 ms Blending: -3.23 48.53 took: 18.9 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (2.356118, 54.713741). Quality = 0.188890 Registration slice: 74 2.36 54.71 quality: 0 size: 2592 240 AQDepth: 0 took: 25.9 ms Blending: 2.36 54.71 took: 20.1 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-0.908605, 194.760681). Quality = 0.004491 #Reg: Ty deviation -0.91 194.76 to 2.36 54.71 Registration slice: 75 -0.91 194.76 quality: -7 size: 2592 240 AQDepth: 0 took: 25.9 ms #Reg Trying projection Blending: -0.91 194.76 took: 53.5 ms 2592 240 #Reg using projection (tx, ty) = (-8.535095, 53.153275). Quality = 0.030283 #Reg: Ty deviation -8.54 53.15 to -0.91 194.76 Registration slice: 76 -8.54 53.15 quality: -7 size: 2592 240 AQDepth: 0 took: 27.4 ms Blending: -8.54 53.15 took: 20.2 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-19.875896, 170.702026). Quality = 0.010605 Registration slice: 77 -19.88 170.70 quality: 0 size: 2592 240 AQDepth: 0 took: 25.6 ms #Reg Trying projection #Reg using projection (tx, ty) = (-11.180436, 191.318909). Quality = 0.050936 Registration slice: 78 -11.18 191.32 quality: 0 size: 2592 240 AQDepth: 0 took: 26.9 ms Blending: -19.88 170.70 took: 71.5 ms 2592 240 #Reg Trying projection Blending: -11.18 191.32 took: 56.2 ms 2592 240 #Reg using projection (tx, ty) = (2.617754, 142.581512). Quality = 0.090907 Registration slice: 79 2.62 142.58 quality: 0 size: 2592 240 AQDepth: 0 took: 27.0 ms Blending: 2.62 142.58 took: 32.9 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-11.740383, 47.776806). Quality = 0.004518 Registration slice: 80 -11.74 47.78 quality: 0 size: 2592 240 AQDepth: 0 took: 26.8 ms Blending: -11.74 47.78 took: 19.4 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-6.204431, 40.649811). Quality = 0.062993 Registration slice: 81 -6.20 40.65 quality: 0 size: 2592 240 AQDepth: 0 took: 25.3 ms Blending: -6.20 40.65 took: 17.9 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-9.400102, 181.102844). Quality = 0.014950 #Reg: Ty deviation -9.40 181.10 to -6.20 40.65 Registration slice: 82 -9.40 181.10 quality: -7 size: 2592 240 AQDepth: 0 took: 26.0 ms #Reg Trying projection Blending: -9.40 181.10 took: 51.2 ms 2592 240 #Reg using projection (tx, ty) = (-5.209294, 160.269623). Quality = 0.000916 Registration slice: 83 -5.21 160.27 quality: 0 size: 2592 240 AQDepth: 0 took: 27.2 ms Blending: -5.21 160.27 took: 32.5 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (0.824851, 87.122429). Quality = 0.028213 Registration slice: 84 0.82 87.12 quality: 0 size: 2592 240 AQDepth: 0 took: 27.0 ms Blending: 0.82 87.12 took: 25.4 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-3.884971, 52.980167). Quality = 0.076179 Registration slice: 85 -3.88 52.98 quality: 0 size: 2592 240 AQDepth: 0 took: 25.5 ms Blending: -3.88 52.98 took: 19.5 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (8.233545, -2.953087). Quality = 0.050507 #Reg: wrong direction Registration slice: 86 8.23 -2.95 quality: -9 size: 2592 240 AQDepth: 0 took: 21.5 ms #Reg Dead reckoning skipped slice #Reg Trying projection #Reg using projection (tx, ty) = (-3.218168, 83.390244). Quality = 0.092805 Registration slice: 87 -3.22 83.39 quality: 0 size: 2592 240 AQDepth: 0 took: 26.0 ms Blending: -3.22 83.39 took: 30.1 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (5.337635, 51.624004). Quality = 0.079705 Registration slice: 88 5.34 51.62 quality: 0 size: 2592 240 AQDepth: 0 took: 26.9 ms Blending: 5.34 51.62 took: 19.2 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (8.926403, 49.581829). Quality = 0.278302 Registration slice: 89 8.93 49.58 quality: 0 size: 2592 240 AQDepth: 0 took: 25.8 ms Blending: 8.93 49.58 took: 19.4 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (10.457856, 64.625450). Quality = 0.001321 Registration slice: 90 10.46 64.63 quality: 0 size: 2592 240 AQDepth: 0 took: 25.5 ms Blending: 10.46 64.63 took: 22.5 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (0.618532, 50.207535). Quality = 0.010671 Registration slice: 91 0.62 50.21 quality: 0 size: 2592 240 AQDepth: 0 took: 25.7 ms Blending: 0.62 50.21 took: 18.7 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-8.385050, 56.733780). Quality = 0.177837 Registration slice: 92 -8.39 56.73 quality: 0 size: 2592 240 AQDepth: 0 took: 25.8 ms Blending: -8.39 56.73 took: 20.2 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-7.084868, 55.423096). Quality = 0.046167 Registration slice: 93 -7.08 55.42 quality: 0 size: 2592 240 AQDepth: 0 took: 25.3 ms Blending: -7.08 55.42 took: 22.6 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-4.721751, 51.108051). Quality = 0.162187 Registration slice: 94 -4.72 51.11 quality: 0 size: 2592 240 AQDepth: 0 took: 26.3 ms Blending: -4.72 51.11 took: 20.9 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-4.567534, 47.686787). Quality = 0.198951 Registration slice: 95 -4.57 47.69 quality: 0 size: 2592 240 AQDepth: 0 took: 25.8 ms Blending: -4.57 47.69 took: 18.1 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-1.430100, 49.148788). Quality = 0.877853 Registration slice: 96 -1.43 49.15 quality: 0 size: 2592 240 AQDepth: 0 took: 25.7 ms Blending: -1.43 49.15 took: 18.8 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-0.494623, 53.700184). Quality = 0.014881 Registration slice: 97 -0.49 53.70 quality: 0 size: 2592 240 AQDepth: 0 took: 25.8 ms Blending: -0.49 53.70 took: 19.1 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (3.363055, 50.663887). Quality = 0.545889 Registration slice: 98 3.36 50.66 quality: 0 size: 2592 240 AQDepth: 0 took: 25.6 ms Blending: 3.36 50.66 took: 18.8 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (4.793998, 46.362530). Quality = 0.061498 Registration slice: 99 4.79 46.36 quality: 0 size: 2592 240 AQDepth: 0 took: 25.6 ms Blending: 4.79 46.36 took: 17.9 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-1.930520, 49.325031). Quality = 0.062866 Registration slice: 100 -1.93 49.33 quality: 0 size: 2592 240 AQDepth: 0 took: 25.6 ms Blending: -1.93 49.33 took: 19.5 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-1.918561, 60.568375). Quality = 0.492824 Registration slice: 101 -1.92 60.57 quality: 0 size: 2592 240 AQDepth: 0 took: 25.6 ms Blending: -1.92 60.57 took: 20.5 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (2.479291, 58.699039). Quality = 0.235675 Registration slice: 102 2.48 58.70 quality: 0 size: 2592 240 AQDepth: 0 took: 25.7 ms Blending: 2.48 58.70 took: 19.8 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (2.014576, 63.416519). Quality = 0.093044 Registration slice: 103 2.01 63.42 quality: 0 size: 2592 240 AQDepth: 0 took: 25.7 ms Blending: 2.01 63.42 took: 20.5 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (4.459421, 65.421371). Quality = 0.556192 Registration slice: 104 4.46 65.42 quality: 0 size: 2592 240 AQDepth: 0 took: 26.0 ms Blending: 4.46 65.42 took: 21.2 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-1.508942, 68.438423). Quality = 0.055245 Registration slice: 105 -1.51 68.44 quality: 0 size: 2592 240 AQDepth: 0 took: 25.8 ms Blending: -1.51 68.44 took: 21.5 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-4.148764, 56.147057). Quality = 0.032974 Registration slice: 106 -4.15 56.15 quality: 0 size: 2592 240 AQDepth: 0 took: 25.7 ms Blending: -4.15 56.15 took: 19.6 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (3.768093, 54.276466). Quality = 0.028177 Registration slice: 107 3.77 54.28 quality: 0 size: 2592 240 AQDepth: 0 took: 25.7 ms Blending: 3.77 54.28 took: 19.9 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (5.842624, 68.853806). Quality = 0.518349 Registration slice: 108 5.84 68.85 quality: 0 size: 2592 240 AQDepth: 0 took: 26.2 ms Blending: 5.84 68.85 took: 24.6 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (5.108232, 65.295357). Quality = 0.125482 Registration slice: 109 5.11 65.30 quality: 0 size: 2592 240 AQDepth: 0 took: 26.0 ms Blending: 5.11 65.30 took: 22.9 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (3.652007, 76.825729). Quality = 0.002850 Registration slice: 110 3.65 76.83 quality: 0 size: 2592 240 AQDepth: 0 took: 25.9 ms Blending: 3.65 76.83 took: 23.5 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-1.384553, 70.779190). Quality = 0.004784 Registration slice: 111 -1.38 70.78 quality: 0 size: 2592 240 AQDepth: 0 took: 26.0 ms Blending: -1.38 70.78 took: 20.3 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (4.712907, 73.098366). Quality = 0.016531 Registration slice: 112 4.71 73.10 quality: 0 size: 2592 240 AQDepth: 0 took: 25.9 ms Blending: 4.71 73.10 took: 21.1 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-2.272147, 82.322014). Quality = 0.401097 Registration slice: 113 -2.27 82.32 quality: 0 size: 2592 240 AQDepth: 0 took: 26.0 ms Blending: -2.27 82.32 took: 22.3 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-1.068274, 78.408493). Quality = 0.248228 Registration slice: 114 -1.07 78.41 quality: 0 size: 2592 240 AQDepth: 0 took: 26.0 ms Blending: -1.07 78.41 took: 22.0 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (-7.137076, 94.798233). Quality = 0.001491 Registration slice: 115 -7.14 94.80 quality: 0 size: 2592 240 AQDepth: 0 took: 25.9 ms Blending: -7.14 94.80 took: 26.1 ms 2592 240 #Reg Trying projection #Reg using projection (tx, ty) = (0.936545, 74.825111). Quality = 0.002129 Registration slice: 116 0.94 74.83 quality: 0 size: 2592 240 AQDepth: 0 took: 25.8 ms Blending: 0.94 74.83 took: 25.4 ms 2592 240 === SUMMARY ==== receivedCount: 117 processedCount: 117 usedCount: 111 droppedCount: 0 processingQueueMaxDepth: 24